diff --git a/.gitattributes b/.gitattributes index edb70af0b645bc048d0bbb243dc4b19fd97dbc46..3121bf854d0189ce0a744c07659a737cefd7946a 100644 --- a/.gitattributes +++ b/.gitattributes @@ -129,3 +129,9 @@ raw/v2/press_button/DATA-010-20260926T073438Z/demo_07-a1/capture.json filter=lfs raw/v2/press_button/DATA-010-20260926T073438Z/demo_08-a1/capture.json filter=lfs diff=lfs merge=lfs -text raw/v2/press_button/DATA-010-20260926T073438Z/demo_09-a1/capture.json filter=lfs diff=lfs merge=lfs -text raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/capture.json filter=lfs diff=lfs merge=lfs -text +raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/capture.json filter=lfs diff=lfs merge=lfs -text +raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/capture.json filter=lfs diff=lfs merge=lfs -text +raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/capture.json filter=lfs diff=lfs merge=lfs -text +raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/capture.json filter=lfs diff=lfs merge=lfs -text +raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/capture.json filter=lfs diff=lfs merge=lfs -text +raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/capture.json filter=lfs diff=lfs merge=lfs -text diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/contact_sensor.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/contact_sensor.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6777a6caeb914408488da1272229608bb4999b86 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/contact_sensor.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7896a92cb4de125334b91255e2b9657cc22cc8661991277acb5db258a13ca90a +size 72664 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/controller_100hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/controller_100hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..67352e8c80a654c0bec3faf15b7e3e665fc0d4bf --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/controller_100hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc6df08e82566a755eeba4c6d6ea1335622b4ba3a224c30ef26e07c5c30d9ee6 +size 335697 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/physics_500hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/physics_500hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..62ec73ba104069ac2ab71009f0242646414c3830 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/physics_500hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad6fbbcf0e58107d7ddbc93279860578a0fbd47b21ebf9b7b9ac06288e5a5e29 +size 1813157 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/policy_50hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/policy_50hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ab6f24f77f3d00094f0dbcbb971428b101f4e47b --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/streams/policy_50hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb075a9a67a56220ddf60e7d7d535ce7dfd58f591d7bcba18ce3e5a19eab47be +size 191728 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/summary.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b9729fd828e57ba54d715dd848e33ce11ca4ae1b --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/summary.json @@ -0,0 +1,111 @@ +{ + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 458, + "n_boundaries": 459, + "initial_geometry": { + "center": [ + 30.597004513098184, + -14.857134744329521, + 0.13983054458748057 + ], + "face_center": [ + 30.541686160369046, + -14.857134733110076, + 0.13983054469072476 + ], + "face_normal": [ + -0.9999998814777626, + 2.028159258316009e-07, + 1.866363933200727e-09 + ], + "footprint_xy": [ + [ + 30.541686144484686, + -14.934350060324189 + ], + [ + 30.652322881711683, + -14.934350060324189 + ], + [ + 30.652322881711683, + -14.779919428334852 + ], + [ + 30.541686144484686, + -14.779919428334852 + ] + ], + "projected_box_corners": [ + [ + 30.65232284994296, + -14.934350060293152 + ], + [ + 30.652322850390693, + -14.934350060324189 + ], + [ + 30.541686144484686, + -14.934350037854264 + ], + [ + 30.54168614493242, + -14.9343500378853 + ], + [ + 30.65232288126395, + -14.77991945077374 + ], + [ + 30.652322881711683, + -14.779919450804776 + ], + [ + 30.541686175805676, + -14.779919428334852 + ], + [ + 30.54168617625341, + -14.779919428365888 + ] + ], + "yaw_rad": 1.5707961239789467, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 30.17782211303711, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0081", + "seed": 202610070081, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.004078303652400661, + "approach_continuity_verified": true +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/cameras/ego.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/cameras/ego.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..324f13c23f1c810994f13d8cf4f0babc87844f93 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/cameras/ego.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a87e444d4c6192911cd07952096482a88159f65d1a9f5b74caf06a58303fa9d0 +size 2763905 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/cameras/observer.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/cameras/observer.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ab1047bfacc280937b139276478a6b3d4aa7ebf3 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/cameras/observer.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:308bf3baf8ebcff94b2c93931602c9d3e2d458be49f35c16f47b82c383fe658d +size 1000098 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/cameras/task_centric.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/cameras/task_centric.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..917a589495dbf772972770808ab3ed9702496855 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/cameras/task_centric.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbed83d6be1c7f6e297029b68e9b1c5da522c25f7dd6b305fdde142bfcc99cb5 +size 3348299 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/capture.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/capture.json new file mode 100644 index 0000000000000000000000000000000000000000..70ee13cfdd93a33a0467491fec5345623648267f --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/capture.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48e47704c7e71cae5b8a3a02e14f21b7ede802f821a8f7e073ca49416299f2ea +size 20569313 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/manifest.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9dda5d83c69c56af0b3a302991af723ca068fe --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/manifest.json @@ -0,0 +1,289 @@ +{ + "dataset_schema_version": "wam-quadruped-v2.1.0", + "profile_hash": "905d76c38f7c95a8bad986b945d1535f9ef0668476cc9f825005fc8d4da4603e", + "diagnostic_only": false, + "episode_uid": "push_box__ep0082", + "n_actions": 475, + "n_boundaries": 476, + "reset_epoch": 0, + "streams": { + "policy": "streams/policy_50hz.parquet", + "controller": "streams/controller_100hz.parquet", + "physics": "streams/physics_500hz.parquet", + "contact_sensor": "streams/contact_sensor.parquet", + "camera_index": "streams/camera_index.parquet" + }, + "stream_sha256": { + "policy": "e4da32d342403bec4a0fddce6d6fd4d56c03fccab5b223b0507ec75f18198c68", + "controller": "a2238a070e37618b4fbdab92981f45b416f9fe8ce72a2b293a34a4f9b226e84d", + "physics": "53c5ed9ca0c6254e52b93532b55329f6d81f9edafa2899d18e4edadc867f0366", + "contact_sensor": "5116418ce6fb57f07566485272c624212c464fba470eff277bc704b13f5cb167", + "camera_index": "fa683ee76e1755a1a0ae01231cc49546b9db29d1ed19d5f39d82983e07ea3508" + }, + "videos": { + "observation.images.ego": { + "path": "cameras/ego.mp4", + "sha256": "a87e444d4c6192911cd07952096482a88159f65d1a9f5b74caf06a58303fa9d0", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0082__a06/raw/push_box__ep0082/cameras/ego.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + }, + "observation.images.task_centric": { + "path": "cameras/task_centric.mp4", + "sha256": "cbed83d6be1c7f6e297029b68e9b1c5da522c25f7dd6b305fdde142bfcc99cb5", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0082__a06/raw/push_box__ep0082/cameras/task_centric.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + } + }, + "observer": { + "present": true, + "source_key": "approved_fixed_observer", + "canonical_key": "monitor.images.observer", + "reason": "monitor only", + "path": "cameras/observer.mp4", + "crf": 23, + "sha256": "308bf3baf8ebcff94b2c93931602c9d3e2d458be49f35c16f47b82c383fe658d" + }, + "terminal": { + "simulation_time_ns": 9500000000, + "state": { + "observation.state.base.position": [ + 15.59426212310791, + 0.057371266186237335, + 0.2815284729003906 + ], + "observation.state.base.orientation": [ + -0.01025092788040638, + 0.021863270550966263, + 0.03624267876148224, + 0.9990512728691101 + ], + "observation.state.base.linear_velocity": [ + 0.1459980607032776, + 0.05392293632030487, + 0.18609632551670074 + ], + "observation.state.base.angular_velocity": [ + -0.7385024428367615, + -0.14554418623447418, + 0.0061697508208453655 + ], + "observation.state.projected_gravity": [ + 0.04442809894680977, + 0.018897639587521553, + -0.9988338351249695 + ], + "observation.state.joint_position": [ + 0.18177255988121033, + 0.6175729036331177, + 0.02791602723300457, + -0.0320877730846405, + 0.023828454315662384, + 0.8206791281700134, + 0.9222380518913269, + 1.0318297147750854, + -1.55244779586792, + -1.9498589038848877, + -1.7844394445419312, + -1.7075177431106567 + ], + "observation.state.joint_velocity": [ + 1.1449553966522217, + 0.07868172973394394, + 0.57831871509552, + 0.6138553023338318, + -0.38841497898101807, + 0.07998054474592209, + 0.16338510811328888, + -0.40680381655693054, + -0.3091740310192108, + 1.3136276006698608, + 0.7684511542320251, + 1.5042957067489624 + ], + "observation.state.fl_ee_position": [ + 0.3918077349662781, + 0.17638014256954193, + 0.05952876806259155 + ], + "observation.state.fl_ee_velocity": [ + 0.12211920320987701, + 0.04394342005252838, + 0.3795103430747986 + ], + "observation.state.fl_contact_force": [ + -2.6184027194976807, + -0.25827133655548096, + 0.4062461853027344 + ], + "task.object.position": [ + 16.05854034423828, + 0.2871361970901489, + 0.038140662014484406 + ], + "task.object.orientation": [ + 0.0594075508415699, + 0.7053933143615723, + 0.6778488755226135, + -0.1985243707895279 + ], + "task.object.linear_velocity": [ + 0.2174420952796936, + 0.010872729122638702, + 0.051856447011232376 + ], + "task.object.angular_velocity": [ + -0.6898016333580017, + 1.7623945474624634, + -0.09750143438577652 + ], + "observation.state.foot_contact": [ + true, + true, + true, + true + ], + "task.goal.position": [ + 16.143132570919434, + 0.15795786232917963, + 0.0 + ], + "task.progress": [ + 0.44476539056027065 + ], + "task.success": [ + true + ], + "task.contact.fl_object": [ + false + ], + "task.contact.body_object": [ + false + ] + } + }, + "extensions": { + "task_profile_version": "push-box-v2-2", + "contact_diagnostics": { + "path": "metadata/contact_provenance.json", + "sha256": "31130363be46e1ac817ce6e3a8ed30ff1e8a433a2de7cf9c97c0cf474186030d" + }, + "provenance": { + "path": "metadata/provenance.json", + "sha256": "414848c0358f665bf9cc16b71defbf87a445d3e0c9e572224d97186b818fc11f" + }, + "origin": "real_isaac_acquisition", + "purpose": "demonstration", + "task_review": { + "path": "metadata/task_review.json", + "sha256": "0846ff9b5b9df0aae2eabe1319748192d07305c16a4f8f7a759e9c614e41ed38" + } + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/metadata/contact_provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/metadata/contact_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..0434697161c27624fe95affa120beb7eed903260 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/metadata/contact_provenance.json @@ -0,0 +1,3816 @@ +{ + "version": "push-box-contact-diagnostic-v1", + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns_are_invalid_placeholders": true, + "rows": [ + { + "simulation_time_ns": 0, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 20000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 40000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 60000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 80000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/metadata/provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/metadata/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..2c3e2176f1f1e620266faab85276cdcbd68b6534 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/metadata/provenance.json @@ -0,0 +1,317 @@ +{ + "work_id": "QLM-DATA-001", + "scenario": { + "id": "push_box__ep0082", + "seed": 202610070082, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "task_profile": { + "task_profile_version": "push-box-v2-2", + "asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a", + "scale": 1, + "initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command", + "initial_floor_clearance": 0.02, + "goal_x": [ + 15.943132570919435, + 16.343132570919433 + ], + "goal_y": [ + -0.09204213767082037, + 0.40795786232917963 + ], + "goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal", + "success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks", + "fall": { + "base_height_lt": 0.1, + "projected_gravity_error_gt": 0.75 + }, + "contact": { + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact" + }, + "observer": { + "position": [ + 1.8, + 2.0, + 1.5 + ], + "look_at": [ + 0.65, + 0.1, + 0.2 + ], + "fps": 25, + "model_input": false + }, + "policy_rgb_fps": 50, + "policy_fps": 50, + "controller_fps": 100, + "physics_fps": 500, + "force_zero": true, + "success_policy_ticks": 3, + "initial_box_yaw_rad": 0.0, + "push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)", + "robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment", + "expert": { + "settle_seconds": 2.1, + "normal_approach_seconds": 1.0, + "standoff_m": 0.1, + "penetration_m": 0.015, + "align_base_speed": 0.14, + "push_base_speed": 0.12, + "face_distance_for_foot_approach": 0.405, + "approach_foot_x": 0.28, + "push_foot_x": 0.38, + "motion": "coordinated", + "transition_s": 0.45, + "leg_finish_max_x": 0.4, + "lateral_tracking_gain": 2.0, + "lateral_tracking_limit_m": 0.015, + "corner_recovery": false + }, + "initial_face_distance_x": 0.54, + "asset_id": "cardboard-box-01", + "source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00", + "goal_color": [ + 0.05, + 0.8, + 0.15 + ], + "scaleup_recovery": false, + "recovery_progress_m": 0.12, + "episode_scenario": { + "work_id": "QLM-DATA-001", + "authorization": "qlm-scaleup-push-v1", + "selected_face": "local_x_max" + }, + "instruction": "Push the box into the target area.", + "scaleup_metadata": { + "episode_uid": "push_box__ep0082", + "task_id": "push_box", + "split": "train", + "difficulty": "randomized", + "trajectory_type": "normal", + "recovery_type": null, + "appearance_preset": "ap_03", + "asset_id": "cardboard-box-01", + "initial_condition_id": "ic_0082", + "goal_condition_id": "gc_0082", + "environment_seed": 202610070082 + }, + "scaleup_motion_revision": "continuous-v2", + "canonical_goal_position": [ + 16.143132570919434, + 0.15795786232917963, + 0.0 + ], + "environment_origin": [ + 15.0, + 0.0, + 0.0 + ], + "initial_center_x_world": 15.620586604039143 + }, + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706", + "capture_sha256": "48e47704c7e71cae5b8a3a02e14f21b7ede802f821a8f7e073ca49416299f2ea", + "terminal_gate": { + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 475, + "n_boundaries": 476, + "initial_geometry": { + "center": [ + 15.620586320792945, + 0.14898140353685274, + 0.13983054459767388 + ], + "face_center": [ + 15.543371006881507, + 0.14898140385067243, + 0.13983054446862794 + ], + "face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "footprint_xy": [ + [ + 15.54337100645622, + 0.09366304390176888 + ], + [ + 15.697801635129672, + 0.09366304390176888 + ], + [ + 15.697801635129672, + 0.20429976317193663 + ], + [ + 15.54337100645622, + 0.20429976317193663 + ] + ], + "projected_box_corners": [ + [ + 15.697801635129672, + 0.20429976247295495 + ], + [ + 15.697801634728746, + 0.20429976254429727 + ], + [ + 15.69780163468002, + 0.09366304390176888 + ], + [ + 15.697801634279095, + 0.09366304397311119 + ], + [ + 15.543371007306796, + 0.20429976310059433 + ], + [ + 15.54337100690587, + 0.20429976317193663 + ], + [ + 15.543371006857145, + 0.09366304452940825 + ], + [ + 15.54337100645622, + 0.09366304460075056 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.177821159362793, + 0.1420000046491623, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0082", + "seed": 202610070082, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.007296559812486442, + "approach_continuity_verified": true + }, + "collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench", + "fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4", + "initial_geometry": { + "center": [ + 15.620586320792945, + 0.14898140353685274, + 0.13983054459767388 + ], + "face_center": [ + 15.543371006881507, + 0.14898140385067243, + 0.13983054446862794 + ], + "face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "footprint_xy": [ + [ + 15.54337100645622, + 0.09366304390176888 + ], + [ + 15.697801635129672, + 0.09366304390176888 + ], + [ + 15.697801635129672, + 0.20429976317193663 + ], + [ + 15.54337100645622, + 0.20429976317193663 + ] + ], + "projected_box_corners": [ + [ + 15.697801635129672, + 0.20429976247295495 + ], + [ + 15.697801634728746, + 0.20429976254429727 + ], + [ + 15.69780163468002, + 0.09366304390176888 + ], + [ + 15.697801634279095, + 0.09366304397311119 + ], + [ + 15.543371007306796, + 0.20429976310059433 + ], + [ + 15.54337100690587, + 0.20429976317193663 + ], + [ + 15.543371006857145, + 0.09366304452940825 + ], + [ + 15.54337100645622, + 0.09366304460075056 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.177821159362793, + 0.1420000046491623, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/metadata/task_review.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/metadata/task_review.json new file mode 100644 index 0000000000000000000000000000000000000000..c29319a5ca23da721c282b90696b361424226c8d --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/metadata/task_review.json @@ -0,0 +1,84636 @@ +{ + "boundaries": [ + { + "simulation_time_ns": 0, + "center": [ + 15.620586320792945, + 0.14898140353685274, + 0.13983054459767388 + ], + "face_center": [ + 15.543371006881507, + 0.14898140385067243, + 0.13983054446862794 + ], + "face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "footprint_xy": [ + [ + 15.54337100645622, + 0.09366304390176888 + ], + [ + 15.697801635129672, + 0.09366304390176888 + ], + [ + 15.697801635129672, + 0.20429976317193663 + ], + [ + 15.54337100645622, + 0.20429976317193663 + ] + ], + "projected_box_corners": [ + [ + 15.697801635129672, + 0.20429976247295495 + ], + [ + 15.697801634728746, + 0.20429976254429727 + ], + [ + 15.69780163468002, + 0.09366304390176888 + ], + [ + 15.697801634279095, + 0.09366304397311119 + ], + [ + 15.543371007306796, + 0.20429976310059433 + ], + [ + 15.54337100690587, + 0.20429976317193663 + ], + [ + 15.543371006857145, + 0.09366304452940825 + ], + [ + 15.54337100645622, + 0.09366304460075056 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.177821159362793, + 0.1420000046491623, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + { + "simulation_time_ns": 20000000, + "center": [ + 15.620586320824973, + 0.1489814035321211, + 0.13767234982490587 + ], + "face_center": [ + 15.543371006913535, + 0.14898140384594077, + 0.1376723495520352 + ], + "face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "footprint_xy": [ + [ + 15.543371006264824, + 0.09366304386402913 + ], + [ + 15.69780163538512, + 0.09366304386402913 + ], + [ + 15.69780163538512, + 0.2042997632002131 + ], + [ + 15.543371006264824, + 0.2042997632002131 + ] + ], + "projected_box_corners": [ + [ + 15.69780163538512, + 0.2042997624352152 + ], + [ + 15.697801634537353, + 0.2042997625725737 + ], + [ + 15.69780163493547, + 0.09366304386402913 + ], + [ + 15.6978016340877, + 0.09366304400138764 + ], + [ + 15.543371007562245, + 0.20429976306285455 + ], + [ + 15.543371006714477, + 0.2042997632002131 + ], + [ + 15.543371007112594, + 0.09366304449166848 + ], + [ + 15.543371006264824, + 0.09366304462902701 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.197816848754883, + 0.1542181521654129, + 0.05081212520599365 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543371006881507, + 0.14898140385067243, + 0.13983054446862794 + ], + "intended_face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "commanded_contact_point": [ + 15.193400382995605, + 0.1420000046491623, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.543371006881507, + 0.14898140353685274, + 0.13983054459767388 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.177821159362793, + 0.1420000046491623, + 0.08869010210037231 + ], + "box_pose": [ + 15.61628532409668, + 0.14742061495780945, + 0.15702493488788605, + -8.356240144280491e-10, + 1.48693918289311e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 40000000, + "center": [ + 15.620586320824973, + 0.1489814035321211, + 0.13159014286041307 + ], + "face_center": [ + 15.543371006913535, + 0.14898140384594077, + 0.1315901425875424 + ], + "face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "footprint_xy": [ + [ + 15.543371006264824, + 0.09366304386402913 + ], + [ + 15.69780163538512, + 0.09366304386402913 + ], + [ + 15.69780163538512, + 0.2042997632002131 + ], + [ + 15.543371006264824, + 0.2042997632002131 + ] + ], + "projected_box_corners": [ + [ + 15.69780163538512, + 0.2042997624352152 + ], + [ + 15.697801634537353, + 0.2042997625725737 + ], + [ + 15.69780163493547, + 0.09366304386402913 + ], + [ + 15.6978016340877, + 0.09366304400138764 + ], + [ + 15.543371007562245, + 0.20429976306285455 + ], + [ + 15.543371006714477, + 0.2042997632002131 + ], + [ + 15.543371007112594, + 0.09366304449166848 + ], + [ + 15.543371006264824, + 0.09366304462902701 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.207003593444824, + 0.1349307745695114, + 0.0503593385219574 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543371006913535, + 0.14898140384594077, + 0.1376723495520352 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + 15.190520286560059, + 0.14200758934020996, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.543371006913535, + 0.1489814035321211, + 0.13767234982490587 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.197816848754883, + 0.1542181521654129, + 0.05081212520599365 + ], + "box_pose": [ + 15.61628532409668, + 0.14742061495780945, + 0.15486674010753632, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028801064226535358 + } + } + }, + { + "simulation_time_ns": 60000000, + "center": [ + 15.620586320824973, + 0.1489814035321211, + 0.1215839535140996 + ], + "face_center": [ + 15.543371006913535, + 0.14898140384594077, + 0.12158395324122893 + ], + "face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "footprint_xy": [ + [ + 15.543371006264824, + 0.09366304386402913 + ], + [ + 15.69780163538512, + 0.09366304386402913 + ], + [ + 15.69780163538512, + 0.2042997632002131 + ], + [ + 15.543371006264824, + 0.2042997632002131 + ] + ], + "projected_box_corners": [ + [ + 15.69780163538512, + 0.2042997624352152 + ], + [ + 15.697801634537353, + 0.2042997625725737 + ], + [ + 15.69780163493547, + 0.09366304386402913 + ], + [ + 15.6978016340877, + 0.09366304400138764 + ], + [ + 15.543371007562245, + 0.20429976306285455 + ], + [ + 15.543371006714477, + 0.2042997632002131 + ], + [ + 15.543371007112594, + 0.09366304449166848 + ], + [ + 15.543371006264824, + 0.09366304462902701 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.180109977722168, + 0.10886424034833908, + 0.03378978371620178 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543371006913535, + 0.14898140384594077, + 0.1315901425875424 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + 15.190152168273926, + 0.1418628990650177, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 15.543371006913535, + 0.1489814035321211, + 0.13159014286041307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.207003593444824, + 0.1349307745695114, + 0.0503593385219574 + ], + "box_pose": [ + 15.61628532409668, + 0.14742061495780945, + 0.14878453314304352, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003955329961464881 + } + } + }, + { + "simulation_time_ns": 80000000, + "center": [ + 15.622424312253356, + 0.14706193379241694, + 0.11921138179462494 + ], + "face_center": [ + 15.5452186570632, + 0.14700023636050955, + 0.1204322228126434 + ], + "face_normal": [ + -0.9998749118433379, + -0.0007990310313073408, + 0.01581086647421643 + ], + "footprint_xy": [ + [ + 15.543290142645585, + 0.08984946929015689 + ], + [ + 15.701558481861126, + 0.08984946929015689 + ], + [ + 15.701558481861126, + 0.20427439829467697 + ], + [ + 15.543290142645585, + 0.20427439829467697 + ] + ], + "projected_box_corners": [ + [ + 15.697701453025894, + 0.20427439829467697 + ], + [ + 15.701496918895453, + 0.20059657033920375 + ], + [ + 15.697763015991567, + 0.09365069210944488 + ], + [ + 15.701558481861126, + 0.08997286415397163 + ], + [ + 15.543290142645585, + 0.20415100343086223 + ], + [ + 15.547085608515143, + 0.200473175475389 + ], + [ + 15.54335170561126, + 0.09352729724563011 + ], + [ + 15.547147171480816, + 0.08984946929015689 + ] + ], + "yaw_rad": -3.1407935227667743, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.163036346435547, + 0.09329574555158615, + 0.023787498474121094 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543371006913535, + 0.14898140384594077, + 0.12158395324122893 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + 15.190797805786133, + 0.14186660945415497, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.543371006913535, + 0.1489814035321211, + 0.1215839535140996 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.180109977722168, + 0.10886424034833908, + 0.03378978371620178 + ], + "box_pose": [ + 15.61628532409668, + 0.14742061495780945, + 0.13877834379673004, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006456481760827151 + } + } + }, + { + "simulation_time_ns": 100000000, + "center": [ + 15.623220562597107, + 0.1466116397674613, + 0.1194778120710999 + ], + "face_center": [ + 15.546026633426282, + 0.14618362098041107, + 0.1212443594749381 + ], + "face_normal": [ + -0.9997230505254677, + -0.005543185222832193, + 0.022878200117975773 + ], + "footprint_xy": [ + [ + 15.542986319229675, + 0.08886561688942352 + ], + [ + 15.703454805964538, + 0.08886561688942352 + ], + [ + 15.703454805964538, + 0.2043576626454991 + ], + [ + 15.542986319229675, + 0.2043576626454991 + ] + ], + "projected_box_corners": [ + [ + 15.697374177571323, + 0.2043576626454991 + ], + [ + 15.702884152128345, + 0.20034118300420248 + ], + [ + 15.697944831407517, + 0.09373813410482061 + ], + [ + 15.703454805964538, + 0.08972165446352398 + ], + [ + 15.542986319229675, + 0.20350162507139863 + ], + [ + 15.548496293786696, + 0.199485145430102 + ], + [ + 15.543556973065868, + 0.09288209653072015 + ], + [ + 15.54906694762289, + 0.08886561688942352 + ] + ], + "yaw_rad": -3.1360479895805606, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.161595344543457, + 0.09303581714630127, + 0.02312946319580078 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.5452186570632, + 0.14700023636050955, + 0.1204322228126434 + ], + "intended_face_normal": [ + -0.9998749118433379, + -0.0007990310313073408, + 0.01581086647421643 + ], + "commanded_contact_point": [ + 15.191505432128906, + 0.1417919546365738, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.545199338412292, + 0.14706193379241694, + 0.11921138179462494 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.163036346435547, + 0.09329574555158615, + 0.023787498474121094 + ], + "box_pose": [ + 15.618396759033203, + 0.14523428678512573, + 0.13644565641880035, + 0.007908511906862259, + -0.007668591570109129, + 0.9999393224716187, + -0.0003388889308553189 + ], + "box_yaw_rad": -3.1407935227667743, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007115534998311328 + } + } + }, + { + "simulation_time_ns": 120000000, + "center": [ + 15.62318647857586, + 0.14714483584830843, + 0.1191966525667553 + ], + "face_center": [ + 15.545995274274107, + 0.14633093681094927, + 0.12094556315215221 + ], + "face_normal": [ + -0.9996877612942052, + -0.010540642731734148, + 0.022649789229670536 + ], + "footprint_xy": [ + [ + 15.542695431716764, + 0.08983150006337401 + ], + [ + 15.703677525434959, + 0.08983150006337401 + ], + [ + 15.703677525434959, + 0.20445817163324287 + ], + [ + 15.542695431716764, + 0.20445817163324287 + ] + ], + "projected_box_corners": [ + [ + 15.697077840320274, + 0.20445817163324287 + ], + [ + 15.70253649776014, + 0.20208443938759652 + ], + [ + 15.698218867995092, + 0.09383303038373869 + ], + [ + 15.703677525434959, + 0.09145929813809235 + ], + [ + 15.542695431716764, + 0.2028303735585245 + ], + [ + 15.54815408915663, + 0.20045664131287816 + ], + [ + 15.543836459391583, + 0.09220523230902036 + ], + [ + 15.549295116831448, + 0.08983150006337401 + ] + ], + "yaw_rad": -3.1310491093465176, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.160524368286133, + 0.0931297093629837, + 0.023204833269119263 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.546026633426282, + 0.14618362098041107, + 0.1212443594749381 + ], + "intended_face_normal": [ + -0.9997230505254677, + -0.005543185222832193, + 0.022878200117975773 + ], + "commanded_contact_point": [ + 15.192178726196289, + 0.14142048358917236, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 15.545983858020922, + 0.1466116397674613, + 0.1194778120710999 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.161595344543457, + 0.09303581714630127, + 0.02312946319580078 + ], + "box_pose": [ + 15.61932373046875, + 0.14473937451839447, + 0.13673733174800873, + 0.011462780646979809, + -0.00840282253921032, + 0.999895453453064, + -0.0026755526196211576 + ], + "box_yaw_rad": -3.1360479895805606, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000768970507467293 + } + } + }, + { + "simulation_time_ns": 140000000, + "center": [ + 15.622155065941751, + 0.14758667601974407, + 0.11897530580920253 + ], + "face_center": [ + 15.544951540792116, + 0.146764357446494, + 0.12004547476732041 + ], + "face_normal": [ + -0.9998473261169898, + -0.01064968244761955, + 0.013859542931410163 + ], + "footprint_xy": [ + [ + 15.54269684712956, + 0.09071073161671636 + ], + [ + 15.701613284753941, + 0.09071073161671636 + ], + [ + 15.701613284753941, + 0.2044626204227718 + ], + [ + 15.54269684712956, + 0.2044626204227718 + ] + ], + "projected_box_corners": [ + [ + 15.697103897428832, + 0.2044626204227718 + ], + [ + 15.70044462833127, + 0.20298372058406233 + ], + [ + 15.698272553851503, + 0.09383426860192595 + ], + [ + 15.701613284753941, + 0.09235536876321651 + ], + [ + 15.54269684712956, + 0.20281798327627165 + ], + [ + 15.546037578032001, + 0.20133908343756218 + ], + [ + 15.543865503552233, + 0.0921896314554258 + ], + [ + 15.547206234454672, + 0.09071073161671636 + ] + ], + "yaw_rad": -3.1309417477364314, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.159537315368652, + 0.0931774377822876, + 0.023270398378372192 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545995274274107, + 0.14633093681094927, + 0.12094556315215221 + ], + "intended_face_normal": [ + -0.9996877612942052, + -0.010540642731734148, + 0.022649789229670536 + ], + "commanded_contact_point": [ + 15.192148208618164, + 0.14070837199687958, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.545947047524434, + 0.14714483584830843, + 0.1191966525667553 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.160524368286133, + 0.0931297093629837, + 0.023204833269119263 + ], + "box_pose": [ + 15.619294166564941, + 0.14536873996257782, + 0.1364673525094986, + 0.011352029629051685, + -0.005007050931453705, + 0.9999094009399414, + -0.0052139535546302795 + ], + "box_yaw_rad": -3.1310491093465176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007127652096809962 + } + } + }, + { + "simulation_time_ns": 160000000, + "center": [ + 15.621732865049351, + 0.14690125929633108, + 0.11885400335874816 + ], + "face_center": [ + 15.54452618091095, + 0.14605798108357798, + 0.11964298019216774 + ], + "face_normal": [ + -0.9998882375451226, + -0.010921126523169858, + 0.010217880281164257 + ], + "footprint_xy": [ + [ + 15.542687573717377, + 0.08930662104425241 + ], + [ + 15.700778156381327, + 0.08930662104425241 + ], + [ + 15.700778156381327, + 0.20449589754840972 + ], + [ + 15.542687573717377, + 0.20449589754840972 + ] + ], + "projected_box_corners": [ + [ + 15.697100941994178, + 0.20449589754840972 + ], + [ + 15.699583604793201, + 0.20161533040262866 + ], + [ + 15.698295493582306, + 0.09387374461553964 + ], + [ + 15.700778156381327, + 0.0909931774697586 + ], + [ + 15.542687573717377, + 0.20280934112290352 + ], + [ + 15.545170236516398, + 0.1999287739771225 + ], + [ + 15.543882125305503, + 0.09218718819003346 + ], + [ + 15.546364788104524, + 0.08930662104425241 + ] + ], + "yaw_rad": -3.130670740664052, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15874195098877, + 0.0931522399187088, + 0.023323476314544678 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544951540792116, + 0.146764357446494, + 0.12004547476732041 + ], + "intended_face_normal": [ + -0.9998473261169898, + -0.01064968244761955, + 0.013859542931410163 + ], + "commanded_contact_point": [ + 15.190319061279297, + 0.1393500417470932, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.5449279614684, + 0.14758667601974407, + 0.11897530580920253 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.159537315368652, + 0.0931774377822876, + 0.023270398378372192 + ], + "box_pose": [ + 15.618110656738281, + 0.14587420225143433, + 0.13621746003627777, + 0.006946613546460867, + -0.0031193450558930635, + 0.9999569654464722, + -0.005303400568664074 + ], + "box_yaw_rad": -3.1309417477364314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002278341733611659 + } + } + }, + { + "simulation_time_ns": 180000000, + "center": [ + 15.621161629820245, + 0.1463866513161925, + 0.11884535190396288 + ], + "face_center": [ + 15.5439522353808, + 0.14552131969810836, + 0.11925616386738414 + ], + "face_normal": [ + -0.9999233381087964, + -0.011206735739967695, + 0.005320343110855361 + ], + "footprint_xy": [ + [ + 15.542677196381206, + 0.08826362987105607 + ], + [ + 15.699646063259284, + 0.08826362987105607 + ], + [ + 15.699646063259284, + 0.2045096727613289 + ], + [ + 15.542677196381206, + 0.2045096727613289 + ] + ], + "projected_box_corners": [ + [ + 15.697095985260093, + 0.2045096727613289 + ], + [ + 15.698415939209463, + 0.2006094725208315 + ], + [ + 15.698326109309912, + 0.09389449334772176 + ], + [ + 15.699646063259284, + 0.08999429310722434 + ], + [ + 15.542677196381206, + 0.20277900952516062 + ], + [ + 15.543997150330576, + 0.19887880928466323 + ], + [ + 15.543907320431025, + 0.09216383011155348 + ], + [ + 15.545227274380396, + 0.08826362987105607 + ] + ], + "yaw_rad": -3.1303855278817267, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.158186912536621, + 0.09304378926753998, + 0.0233592689037323 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54452618091095, + 0.14605798108357798, + 0.11964298019216774 + ], + "intended_face_normal": [ + -0.9998882375451226, + -0.010921126523169858, + 0.010217880281164257 + ], + "commanded_contact_point": [ + 15.18652057647705, + 0.13773983716964722, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.544508920400284, + 0.14690125929633108, + 0.11885400335874816 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15874195098877, + 0.0931522399187088, + 0.023323476314544678 + ], + "box_pose": [ + 15.617627143859863, + 0.14508724212646484, + 0.13607126474380493, + 0.0051419297233223915, + -0.0060319676995277405, + 0.9999538660049438, + -0.0054297978058457375 + ], + "box_yaw_rad": -3.130670740664052, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004125681225521689 + } + } + }, + { + "simulation_time_ns": 200000000, + "center": [ + 15.620535796674877, + 0.1458961584683977, + 0.11885489533431885 + ], + "face_center": [ + 15.543325338014686, + 0.14503036752239934, + 0.1188515396927527 + ], + "face_normal": [ + -0.9999371206176604, + -0.011212684403399495, + -4.345823899667761e-05 + ], + "footprint_xy": [ + [ + 15.542682887990589, + 0.08727683167928127 + ], + [ + 15.698388705359166, + 0.08727683167928127 + ], + [ + 15.698388705359166, + 0.20451548525751417 + ], + [ + 15.542682887990589, + 0.20451548525751417 + ] + ], + "projected_box_corners": [ + [ + 15.697103805310972, + 0.20451548525751417 + ], + [ + 15.69714833140091, + 0.19961508907150932 + ], + [ + 15.69834417926923, + 0.09390880975728287 + ], + [ + 15.698388705359166, + 0.08900841357127802 + ], + [ + 15.542682887990589, + 0.2027839033655174 + ], + [ + 15.542727414080526, + 0.19788350717951256 + ], + [ + 15.543923261948846, + 0.09217722786528612 + ], + [ + 15.543967788038783, + 0.08727683167928127 + ] + ], + "yaw_rad": -3.130379734050854, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.157814025878906, + 0.09287773817777634, + 0.023384004831314087 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.5439522353808, + 0.14552131969810836, + 0.11925616386738414 + ], + "intended_face_normal": [ + -0.9999233381087964, + -0.011206735739967695, + 0.005320343110855361 + ], + "commanded_contact_point": [ + 15.181020736694336, + 0.13616704940795898, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.543940395982979, + 0.1463866513161925, + 0.11884535190396288 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.158186912536621, + 0.09304378926753998, + 0.0233592689037323 + ], + "box_pose": [ + 15.616972923278809, + 0.14449842274188995, + 0.13603462278842926, + 0.0027057724073529243, + -0.00814445037394762, + 0.9999476671218872, + -0.005581622943282127 + ], + "box_yaw_rad": -3.1303855278817267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005720305846677182 + } + } + }, + { + "simulation_time_ns": 220000000, + "center": [ + 15.619871475129106, + 0.14539287340226936, + 0.1188675736768057 + ], + "face_center": [ + 15.542662261394259, + 0.14452966509425696, + 0.11842511974305583 + ], + "face_normal": [ + -0.999920997839896, + -0.011179237178294324, + -0.005730131904369845 + ], + "footprint_xy": [ + [ + 15.541382183915228, + 0.08626878163208875 + ], + [ + 15.698360766342981, + 0.08626878163208875 + ], + [ + 15.698360766342981, + 0.20451696517245 + ], + [ + 15.541382183915228, + 0.20451696517245 + ] + ], + "projected_box_corners": [ + [ + 15.697108668354588, + 0.20451696517245 + ], + [ + 15.695800611384922, + 0.19859123303672646 + ], + [ + 15.698360766342981, + 0.09392093038383711 + ], + [ + 15.697052709373315, + 0.08799519824811358 + ], + [ + 15.542690240884895, + 0.2027905485564252 + ], + [ + 15.541382183915228, + 0.19686481642070164 + ], + [ + 15.54394233887329, + 0.09219451376781229 + ], + [ + 15.542634281903624, + 0.08626878163208875 + ] + ], + "yaw_rad": -3.1304129989429663, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.157561302185059, + 0.0926847904920578, + 0.023400604724884033 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543325338014686, + 0.14503036752239934, + 0.1188515396927527 + ], + "intended_face_normal": [ + -0.9999371206176604, + -0.011212684403399495, + -4.345823899667761e-05 + ], + "commanded_contact_point": [ + 15.174572944641113, + 0.1344296932220459, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.54331562720688, + 0.1458961584683977, + 0.11885489533431885 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157814025878906, + 0.09287773817777634, + 0.023384004831314087 + ], + "box_pose": [ + 15.616255760192871, + 0.14393633604049683, + 0.13601362705230713, + 3.5539200325729325e-05, + -0.010214454494416714, + 0.9999321103096008, + -0.005606359802186489 + ], + "box_yaw_rad": -3.130379734050854, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006677756275835155 + } + } + }, + { + "simulation_time_ns": 240000000, + "center": [ + 15.619319762415337, + 0.14488289404544383, + 0.11892024960129191 + ], + "face_center": [ + 15.542113443072815, + 0.14402190620632688, + 0.11811477050374448 + ], + "face_normal": [ + -0.9998835131470722, + -0.011150480332236548, + -0.01043159778475124 + ], + "footprint_xy": [ + [ + 15.540268164416023, + 0.08525063420045434 + ], + [ + 15.698371360414649, + 0.08525063420045434 + ], + [ + 15.698371360414649, + 0.20451515389043334 + ], + [ + 15.540268164416023, + 0.20451515389043334 + ] + ], + "projected_box_corners": [ + [ + 15.697104809781102, + 0.20451515389043334 + ], + [ + 15.694680803101068, + 0.1975558952594253 + ], + [ + 15.698371360414649, + 0.09393186850969631 + ], + [ + 15.695947353734615, + 0.08697260987868825 + ], + [ + 15.542692171096057, + 0.20279317821219942 + ], + [ + 15.540268164416023, + 0.19583391958119137 + ], + [ + 15.543958721729604, + 0.09220989283146239 + ], + [ + 15.54153471504957, + 0.08525063420045434 + ] + ], + "yaw_rad": -3.1304413364739245, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15738296508789, + 0.09247833490371704, + 0.02341213822364807 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542662261394259, + 0.14452966509425696, + 0.11842511974305583 + ], + "intended_face_normal": [ + -0.999920997839896, + -0.011179237178294324, + -0.005730131904369845 + ], + "commanded_contact_point": [ + 15.168002128601074, + 0.13244940340518951, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.54265006055911, + 0.14539287340226936, + 0.1188675736768057 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157561302185059, + 0.0926847904920578, + 0.023400604724884033 + ], + "box_pose": [ + 15.615494728088379, + 0.14335985481739044, + 0.1359933614730835, + -0.0027959479484707117, + -0.012336055748164654, + 0.9999041557312012, + -0.0056246486492455006 + ], + "box_yaw_rad": -3.1304129989429663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006862737878666161 + } + } + }, + { + "simulation_time_ns": 260000000, + "center": [ + 15.61929063520488, + 0.14479608854574094, + 0.11894811937767254 + ], + "face_center": [ + 15.542084524030953, + 0.14393510398005363, + 0.11812273782454882 + ], + "face_normal": [ + -0.9998808171974671, + -0.01115043793870775, + -0.010689350483899825 + ], + "footprint_xy": [ + [ + 15.540208515300929, + 0.0850774042849021 + ], + [ + 15.698372755108833, + 0.0850774042849021 + ], + [ + 15.698372755108833, + 0.20451477280657981 + ], + [ + 15.540208515300929, + 0.20451477280657981 + ] + ], + "projected_box_corners": [ + [ + 15.697104547703189, + 0.20451477280657981 + ], + [ + 15.694620737648783, + 0.19738028670989682 + ], + [ + 15.698372755108833, + 0.09393385951295972 + ], + [ + 15.695888945054428, + 0.08679937341627675 + ], + [ + 15.542692325355334, + 0.20279280367520514 + ], + [ + 15.540208515300929, + 0.19565831757852217 + ], + [ + 15.543960532760979, + 0.09221189038158507 + ], + [ + 15.541476722706571, + 0.0850774042849021 + ] + ], + "yaw_rad": -3.1304413488027545, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.157227516174316, + 0.0922747552394867, + 0.02342367172241211 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542113443072815, + 0.14402190620632688, + 0.11811477050374448 + ], + "intended_face_normal": [ + -0.9998835131470722, + -0.011150480332236548, + -0.01043159778475124 + ], + "commanded_contact_point": [ + 15.161938667297363, + 0.1301645040512085, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.542095452887112, + 0.14488289404544383, + 0.11892024960129191 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15738296508789, + 0.09247833490371704, + 0.02341213822364807 + ], + "box_pose": [ + 15.614863395690918, + 0.14277610182762146, + 0.13601656258106232, + -0.0051346831023693085, + -0.01447763480246067, + 0.9998660683631897, + -0.005650334991514683 + ], + "box_yaw_rad": -3.1304413364739245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006479685797894578 + } + } + }, + { + "simulation_time_ns": 280000000, + "center": [ + 15.619322475039777, + 0.144825841860031, + 0.11894475228056242 + ], + "face_center": [ + 15.542116176637135, + 0.14396343530462, + 0.11813930495061975 + ], + "face_normal": [ + -0.9998832419588906, + -0.01116885384161146, + -0.010431186368891506 + ], + "footprint_xy": [ + [ + 15.54027038847712, + 0.08513531672023905 + ], + [ + 15.698374561602435, + 0.08513531672023905 + ], + [ + 15.698374561602435, + 0.20451636699982292 + ], + [ + 15.54027038847712, + 0.20451636699982292 + ] + ], + "projected_box_corners": [ + [ + 15.697105443182842, + 0.20451636699982292 + ], + [ + 15.694682985282405, + 0.197441828896188 + ], + [ + 15.698374561602435, + 0.09393466793469596 + ], + [ + 15.695952103701998, + 0.08686012983106106 + ], + [ + 15.542692846377557, + 0.20279155388900091 + ], + [ + 15.54027038847712, + 0.19571701578536602 + ], + [ + 15.54396196479715, + 0.09220985482387396 + ], + [ + 15.541539506896713, + 0.08513531672023905 + ] + ], + "yaw_rad": -3.1304229600835565, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.157059669494629, + 0.0920831635594368, + 0.023436397314071655 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542084524030953, + 0.14393510398005363, + 0.11812273782454882 + ], + "intended_face_normal": [ + -0.9998808171974671, + -0.01115043793870775, + -0.010689350483899825 + ], + "commanded_contact_point": [ + 15.156571388244629, + 0.12767931818962097, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.542066117458994, + 0.14479608854574094, + 0.11894811937767254 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157227516174316, + 0.0922747552394867, + 0.02342367172241211 + ], + "box_pose": [ + 15.614830017089844, + 0.14267677068710327, + 0.1360417753458023, + -0.005261491984128952, + -0.014842251315712929, + 0.9998600482940674, + -0.00565410265699029 + ], + "box_yaw_rad": -3.1304413488027545, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005914713281011144 + } + } + }, + { + "simulation_time_ns": 300000000, + "center": [ + 15.619369878015952, + 0.14486794452282326, + 0.11894123650086891 + ], + "face_center": [ + 15.542163292255669, + 0.1440029553013711, + 0.11816722561145784 + ], + "face_normal": [ + -0.9998869634698979, + -0.011202301430053832, + -0.01002405935043939 + ], + "footprint_xy": [ + [ + 15.540364950863012, + 0.08521692897076691 + ], + [ + 15.698374805168894, + 0.08521692897076691 + ], + [ + 15.698374805168894, + 0.20451896007487963 + ], + [ + 15.540364950863012, + 0.20451896007487963 + ] + ], + "projected_box_corners": [ + [ + 15.6971036927456, + 0.20451896007487963 + ], + [ + 15.694778122383577, + 0.19752971099431127 + ], + [ + 15.698374805168894, + 0.09393615649423957 + ], + [ + 15.69604923480687, + 0.08694690741367121 + ], + [ + 15.542690521225035, + 0.2027889816319753 + ], + [ + 15.540364950863012, + 0.19579973255140695 + ], + [ + 15.543961633648328, + 0.09220617805133527 + ], + [ + 15.541636063286305, + 0.08521692897076691 + ] + ], + "yaw_rad": -3.130389554469032, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156880378723145, + 0.09190679341554642, + 0.023448646068572998 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542116176637135, + 0.14396343530462, + 0.11813930495061975 + ], + "intended_face_normal": [ + -0.9998832419588906, + -0.01116885384161146, + -0.010431186368891506 + ], + "commanded_contact_point": [ + 15.151860237121582, + 0.12515249848365784, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.542098144566786, + 0.144825841860031, + 0.11894475228056242 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157059669494629, + 0.0920831635594368, + 0.023436397314071655 + ], + "box_pose": [ + 15.614866256713867, + 0.14271073043346405, + 0.1360400766134262, + -0.00513298436999321, + -0.014717944897711277, + 0.9998624920845032, + -0.005660752300173044 + ], + "box_yaw_rad": -3.1304229600835565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005346004370619703 + } + } + }, + { + "simulation_time_ns": 320000000, + "center": [ + 15.61943504470725, + 0.14492702412466332, + 0.11893578592323265 + ], + "face_center": [ + 15.542228072876405, + 0.14406080331420074, + 0.1182037207611947 + ], + "face_normal": [ + -0.9998919633921062, + -0.011218251491616045, + -0.009480828671856244 + ], + "footprint_xy": [ + [ + 15.540494485747104, + 0.08533287539697584 + ], + [ + 15.6983756036674, + 0.08533287539697584 + ], + [ + 15.6983756036674, + 0.20452117285235083 + ], + [ + 15.540494485747104, + 0.20452117285235083 + ] + ], + "projected_box_corners": [ + [ + 15.697104969306722, + 0.20452117285235083 + ], + [ + 15.694908429408795, + 0.19764965690059583 + ], + [ + 15.6983756036674, + 0.09393683296965603 + ], + [ + 15.696179063769472, + 0.08706531701790102 + ], + [ + 15.54269102564503, + 0.20278873123142566 + ], + [ + 15.540494485747104, + 0.19591721527967065 + ], + [ + 15.543961660005706, + 0.09220439134873085 + ], + [ + 15.54176512010778, + 0.08533287539697584 + ] + ], + "yaw_rad": -3.130373660704929, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156685829162598, + 0.09175069630146027, + 0.023459553718566895 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542163292255669, + 0.1440029553013711, + 0.11816722561145784 + ], + "intended_face_normal": [ + -0.9998869634698979, + -0.011202301430053832, + -0.01002405935043939 + ], + "commanded_contact_point": [ + 15.147665023803711, + 0.12275895476341248, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.542145834966648, + 0.14486794452282326, + 0.11894123650086891 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156880378723145, + 0.09190679341554642, + 0.023448646068572998 + ], + "box_pose": [ + 15.614920616149902, + 0.1427587866783142, + 0.1360391080379486, + -0.004930189345031977, + -0.01454119198024273, + 0.9998660087585449, + -0.005673601757735014 + ], + "box_yaw_rad": -3.130389554469032, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004829996513876296 + } + } + }, + { + "simulation_time_ns": 340000000, + "center": [ + 15.619522566467182, + 0.14500190786619147, + 0.11893036525098764 + ], + "face_center": [ + 15.54231505163704, + 0.1441339194954957, + 0.11825563750822711 + ], + "face_normal": [ + -0.9998989956667783, + -0.01124114280868312, + -0.008738263287181719 + ], + "footprint_xy": [ + [ + 15.540669911982038, + 0.08548078157101048 + ], + [ + 15.698375220952327, + 0.08548078157101048 + ], + [ + 15.698375220952327, + 0.20452303416137246 + ], + [ + 15.540669911982038, + 0.20452303416137246 + ] + ], + "projected_box_corners": [ + [ + 15.697104988932063, + 0.20452303416137246 + ], + [ + 15.695084941642321, + 0.19780310910229637 + ], + [ + 15.698375220952327, + 0.09393668337147813 + ], + [ + 15.696355173662583, + 0.08721675831240203 + ], + [ + 15.54268995927178, + 0.20278705741998093 + ], + [ + 15.540669911982038, + 0.1960671323609048 + ], + [ + 15.543960191292042, + 0.09220070663008659 + ], + [ + 15.5419401440023, + 0.08548078157101048 + ] + ], + "yaw_rad": -3.130350848859141, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156488418579102, + 0.09161143004894257, + 0.023472577333450317 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542228072876405, + 0.14406080331420074, + 0.1182037207611947 + ], + "intended_face_normal": [ + -0.9998919633921062, + -0.011218251491616045, + -0.009480828671856244 + ], + "commanded_contact_point": [ + 15.1438627243042, + 0.12063568085432053, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.542211387813873, + 0.14492702412466332, + 0.11893578592323265 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156685829162598, + 0.09175069630146027, + 0.023459553718566895 + ], + "box_pose": [ + 15.614995002746582, + 0.14282621443271637, + 0.13603708148002625, + -0.0046598585322499275, + -0.014297228306531906, + 0.999870777130127, + -0.0056764823384583 + ], + "box_yaw_rad": -3.130373660704929, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0043549711338902895 + } + } + }, + { + "simulation_time_ns": 360000000, + "center": [ + 15.619630976373392, + 0.14509618793659487, + 0.11892291402179497 + ], + "face_center": [ + 15.542422927699747, + 0.14422652579498138, + 0.11831897763734125 + ], + "face_normal": [ + -0.9999059093666034, + -0.011262819479189688, + -0.007821458644154358 + ], + "footprint_xy": [ + [ + 15.540887250287913, + 0.08566716905402415 + ], + [ + 15.698374702458871, + 0.08566716905402415 + ], + [ + 15.698374702458871, + 0.2045252068191656 + ], + [ + 15.540887250287913, + 0.2045252068191656 + ] + ], + "projected_box_corners": [ + [ + 15.697105563271593, + 0.2045252068191656 + ], + [ + 15.6953033476352, + 0.19799518883697603 + ], + [ + 15.698374702458871, + 0.09393651131944072 + ], + [ + 15.696572486822477, + 0.08740649333725112 + ], + [ + 15.542689465924305, + 0.20278588253593863 + ], + [ + 15.540887250287913, + 0.19625586455374905 + ], + [ + 15.543958605111582, + 0.09219718703621374 + ], + [ + 15.54215638947519, + 0.08566716905402415 + ] + ], + "yaw_rad": -3.130329250616948, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156282424926758, + 0.09147945046424866, + 0.023485928773880005 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54231505163704, + 0.1441339194954957, + 0.11825563750822711 + ], + "intended_face_normal": [ + -0.9998989956667783, + -0.01124114280868312, + -0.008738263287181719 + ], + "commanded_contact_point": [ + 15.140467643737793, + 0.11876776814460754, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.542299452686628, + 0.14500190786619147, + 0.11893036525098764 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156488418579102, + 0.09161143004894257, + 0.023472577333450317 + ], + "box_pose": [ + 15.615095138549805, + 0.14291183650493622, + 0.1360362470149994, + -0.004290217068046331, + -0.013983228243887424, + 0.9998769760131836, + -0.005681261420249939 + ], + "box_yaw_rad": -3.130350848859141, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038750057992442658 + } + } + }, + { + "simulation_time_ns": 380000000, + "center": [ + 15.619763740042222, + 0.1452123126602469, + 0.11891326437509131 + ], + "face_center": [ + 15.542555038131008, + 0.1443413656928116, + 0.11839521827024521 + ], + "face_normal": [ + -0.9999143693149863, + -0.011279458999988098, + -0.006709110908236071 + ], + "footprint_xy": [ + [ + 15.541152563144058, + 0.08589641707573228 + ], + [ + 15.698374916940388, + 0.08589641707573228 + ], + [ + 15.698374916940388, + 0.20452820824476153 + ], + [ + 15.541152563144058, + 0.20452820824476153 + ] + ], + "projected_box_corners": [ + [ + 15.697107962589419, + 0.20452820824476153 + ], + [ + 15.695569966966486, + 0.19822990675339675 + ], + [ + 15.698374916940388, + 0.09393661250196762 + ], + [ + 15.696836921317455, + 0.08763831101060283 + ], + [ + 15.54269055876699, + 0.20278631430989097 + ], + [ + 15.541152563144058, + 0.19648801281852618 + ], + [ + 15.54395751311796, + 0.09219471856709707 + ], + [ + 15.542419517495027, + 0.08589641707573228 + ] + ], + "yaw_rad": -3.130312707073218, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15606689453125, + 0.09134960919618607, + 0.02349787950515747 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542422927699747, + 0.14422652579498138, + 0.11831897763734125 + ], + "intended_face_normal": [ + -0.9999059093666034, + -0.011262819479189688, + -0.007821458644154358 + ], + "commanded_contact_point": [ + 15.137548446655273, + 0.11704486608505249, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.542408396540505, + 0.14509618793659487, + 0.11892291402179497 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156282424926758, + 0.09147945046424866, + 0.023485928773880005 + ], + "box_pose": [ + 15.615219116210938, + 0.14301960170269012, + 0.13603445887565613, + -0.0038339265156537294, + -0.013589853420853615, + 0.9998841285705566, + -0.005684170871973038 + ], + "box_yaw_rad": -3.130329250616948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003389705461166958 + } + } + }, + { + "simulation_time_ns": 400000000, + "center": [ + 15.619913627262969, + 0.1453442784495884, + 0.11890326037048121 + ], + "face_center": [ + 15.542704380765919, + 0.14447141588774662, + 0.11848418019910623 + ], + "face_normal": [ + -0.9999214221366133, + -0.011304267477859262, + -0.005427423009063388 + ], + "footprint_xy": [ + [ + 15.541454967730395, + 0.08615654466181313 + ], + [ + 15.698372286795543, + 0.08615654466181313 + ], + [ + 15.698372286795543, + 0.20453201223736361 + ], + [ + 15.541454967730395, + 0.20453201223736361 + ] + ], + "projected_box_corners": [ + [ + 15.6971069259454, + 0.20453201223736361 + ], + [ + 15.695873460724496, + 0.19849690668928935 + ], + [ + 15.698372286795543, + 0.09393737533357094 + ], + [ + 15.697138821574638, + 0.08790226978549667 + ], + [ + 15.5426884329513, + 0.2027862871136801 + ], + [ + 15.541454967730395, + 0.19675118156560584 + ], + [ + 15.543953793801442, + 0.0921916502098874 + ], + [ + 15.542720328580538, + 0.08615654466181313 + ] + ], + "yaw_rad": -3.1302879793643283, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155838012695312, + 0.09121708571910858, + 0.023513346910476685 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542555038131008, + 0.1443413656928116, + 0.11839521827024521 + ], + "intended_face_normal": [ + -0.9999143693149863, + -0.011279458999988098, + -0.006709110908236071 + ], + "commanded_contact_point": [ + 15.135148048400879, + 0.11533273011445999, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.542541813564322, + 0.1452123126602469, + 0.11891326437509131 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15606689453125, + 0.09134960919618607, + 0.02349787950515747 + ], + "box_pose": [ + 15.615370750427246, + 0.14315222203731537, + 0.13603165745735168, + -0.003280399600043893, + -0.013109884224832058, + 0.9998926520347595, + -0.005683345254510641 + ], + "box_yaw_rad": -3.130312707073218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029484438881471936 + } + } + }, + { + "simulation_time_ns": 420000000, + "center": [ + 15.620065854310475, + 0.14547741930485947, + 0.11889339903583845 + ], + "face_center": [ + 15.542856142439671, + 0.1446022898957319, + 0.11857557029549748 + ], + "face_normal": [ + -0.9999274490985066, + -0.011333624961122422, + -0.004116136090640153 + ], + "footprint_xy": [ + [ + 15.541762964061077, + 0.0864202532022056 + ], + [ + 15.698368744559874, + 0.0864202532022056 + ], + [ + 15.698368744559874, + 0.20453458540751335 + ], + [ + 15.541762964061077, + 0.20453458540751335 + ] + ], + "projected_box_corners": [ + [ + 15.697104254656722, + 0.20453458540751335 + ], + [ + 15.696182387802686, + 0.1987681725117571 + ], + [ + 15.698368744559874, + 0.093936924916217 + ], + [ + 15.697446877705838, + 0.08817051202046075 + ], + [ + 15.542684830915112, + 0.20278432658925818 + ], + [ + 15.541762964061077, + 0.19701791369350197 + ], + [ + 15.543949320818264, + 0.09218666609796183 + ], + [ + 15.543027453964228, + 0.0864202532022056 + ] + ], + "yaw_rad": -3.130258691644555, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155606269836426, + 0.0910792201757431, + 0.02352726459503174 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542704380765919, + 0.14447141588774662, + 0.11848418019910623 + ], + "intended_face_normal": [ + -0.9999214221366133, + -0.011304267477859262, + -0.005427423009063388 + ], + "commanded_contact_point": [ + 15.133256912231445, + 0.11355677247047424, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.54269224546034, + 0.1453442784495884, + 0.11890326037048121 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155838012695312, + 0.09121708571910858, + 0.023513346910476685 + ], + "box_pose": [ + 15.6155424118042, + 0.14330290257930756, + 0.1360294669866562, + -0.0026425300166010857, + -0.012564772740006447, + 0.9999014139175415, + -0.0056858970783650875 + ], + "box_yaw_rad": -3.1302879793643283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025943056037590244 + } + } + }, + { + "simulation_time_ns": 440000000, + "center": [ + 15.620225924789727, + 0.1456160192590827, + 0.11888336622388604 + ], + "face_center": [ + 15.543015883278542, + 0.14473897799123003, + 0.11867014638168588 + ], + "face_normal": [ + -0.999931718204776, + -0.011358385058935383, + -0.0027613672910105375 + ], + "footprint_xy": [ + [ + 15.542084232264095, + 0.08669554040304836 + ], + [ + 15.698367617315359, + 0.08669554040304836 + ], + [ + 15.698367617315359, + 0.20453649811511707 + ], + [ + 15.542084232264095, + 0.20453649811511707 + ] + ], + "projected_box_corners": [ + [ + 15.697104308734364, + 0.20453649811511707 + ], + [ + 15.696504315286466, + 0.19905027187028437 + ], + [ + 15.698367617315359, + 0.09393584918358641 + ], + [ + 15.697767623867461, + 0.08844962293875372 + ], + [ + 15.542684225711993, + 0.20278241557941168 + ], + [ + 15.542084232264095, + 0.197296189334579 + ], + [ + 15.543947534292988, + 0.09218176664788105 + ], + [ + 15.543347540845092, + 0.08669554040304836 + ] + ], + "yaw_rad": -3.1302339814286673, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155444145202637, + 0.09095171093940735, + 0.023535966873168945 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542856142439671, + 0.1446022898957319, + 0.11857557029549748 + ], + "intended_face_normal": [ + -0.9999274490985066, + -0.011333624961122422, + -0.004116136090640153 + ], + "commanded_contact_point": [ + 15.131845474243164, + 0.11170172691345215, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.54284493795194, + 0.14547741930485947, + 0.11889339903583845 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155606269836426, + 0.0910792201757431, + 0.02352726459503174 + ], + "box_pose": [ + 15.615716934204102, + 0.1434551328420639, + 0.13602754473686218, + -0.001989905722439289, + -0.012008300051093102, + 0.9999097585678101, + -0.005691221449524164 + ], + "box_yaw_rad": -3.130258691644555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002330955000653176 + } + } + }, + { + "simulation_time_ns": 460000000, + "center": [ + 15.620395125749505, + 0.14576339624067222, + 0.11887268973976824 + ], + "face_center": [ + 15.543184868513292, + 0.1448870041284624, + 0.11877050291959734 + ], + "face_normal": [ + -0.9999345120162386, + -0.011349977974770423, + -0.0013234009549984204 + ], + "footprint_xy": [ + [ + 15.542426300535992, + 0.08699122873689069 + ], + [ + 15.698363950963019, + 0.08699122873689069 + ], + [ + 15.698363950963019, + 0.20453556374445372 + ], + [ + 15.542426300535992, + 0.20453556374445372 + ] + ], + "projected_box_corners": [ + [ + 15.697105354713244, + 0.20453556374445372 + ], + [ + 15.69684681500842, + 0.19934770831421872 + ], + [ + 15.698363950963019, + 0.09393186839154531 + ], + [ + 15.698105411258197, + 0.08874401296131032 + ], + [ + 15.542684840240815, + 0.20278277952003412 + ], + [ + 15.542426300535992, + 0.19759492408979912 + ], + [ + 15.543943436490592, + 0.0921790841671257 + ], + [ + 15.543684896785768, + 0.08699122873689069 + ] + ], + "yaw_rad": -3.1302424197128755, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155388832092285, + 0.09085426479578018, + 0.023539841175079346 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543015883278542, + 0.14473897799123003, + 0.11867014638168588 + ], + "intended_face_normal": [ + -0.999931718204776, + -0.011358385058935383, + -0.0027613672910105375 + ], + "commanded_contact_point": [ + 15.13060188293457, + 0.11009302735328674, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + 15.543005338118002, + 0.1456160192590827, + 0.11888336622388604 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155444145202637, + 0.09095171093940735, + 0.023535966873168945 + ], + "box_pose": [ + 15.615900039672852, + 0.14361366629600525, + 0.13602568209171295, + -0.0013157129287719727, + -0.011428016237914562, + 0.9999176263809204, + -0.0056946976110339165 + ], + "box_yaw_rad": -3.1302339814286673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020333306711368625 + } + } + }, + { + "simulation_time_ns": 480000000, + "center": [ + 15.62057845797978, + 0.14592369878686423, + 0.11886151526995456 + ], + "face_center": [ + 15.54336812950653, + 0.14504706132553366, + 0.11887965339253533 + ], + "face_normal": [ + -0.9999354345927534, + -0.011353155441885764, + 0.00023490317738743532 + ], + "footprint_xy": [ + [ + 15.542684703286223, + 0.08731199844139076 + ], + [ + 15.698472212673336, + 0.08731199844139076 + ], + [ + 15.698472212673336, + 0.20453539913233768 + ], + [ + 15.542684703286223, + 0.20453539913233768 + ] + ], + "projected_box_corners": [ + [ + 15.697105360232722, + 0.20453539913233768 + ], + [ + 15.697216921936326, + 0.19967211361751788 + ], + [ + 15.698360650969734, + 0.09392855887887167 + ], + [ + 15.698472212673336, + 0.08906527336405187 + ], + [ + 15.542684703286223, + 0.20278212420967656 + ], + [ + 15.542796264989825, + 0.19791883869485677 + ], + [ + 15.543939994023233, + 0.09217528395621055 + ], + [ + 15.544051555726837, + 0.08731199844139076 + ] + ], + "yaw_rad": -3.1302392529212972, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.1553955078125, + 0.09079279005527496, + 0.0235385000705719 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543184868513292, + 0.1448870041284624, + 0.11877050291959734 + ], + "intended_face_normal": [ + -0.9999345120162386, + -0.011349977974770423, + -0.0013234009549984204 + ], + "commanded_contact_point": [ + 15.129258155822754, + 0.10901334136724472, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 15.543174754831671, + 0.14576339624067222, + 0.11887268973976824 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155388832092285, + 0.09085426479578018, + 0.023539841175079346 + ], + "box_pose": [ + 15.616093635559082, + 0.14378242194652557, + 0.1360236257314682, + -0.0006003234884701669, + -0.01081009116023779, + 0.9999251961708069, + -0.005681903567165136 + ], + "box_yaw_rad": -3.1302424197128755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001723752992632905 + } + } + }, + { + "simulation_time_ns": 500000000, + "center": [ + 15.620778303988633, + 0.14610097656125492, + 0.11884851085063035 + ], + "face_center": [ + 15.543568069797233, + 0.14522494334677774, + 0.1189986332356489 + ], + "face_normal": [ + -0.9999342135674807, + -0.011345329962421224, + 0.0019442048139663853 + ], + "footprint_xy": [ + [ + 15.542683869915425, + 0.08766815968102948 + ], + [ + 15.69887273806184, + 0.08766815968102948 + ], + [ + 15.69887273806184, + 0.20453379344148037 + ], + [ + 15.542683869915425, + 0.20453379344148037 + ] + ], + "projected_box_corners": [ + [ + 15.697104338298224, + 0.20453379344148037 + ], + [ + 15.697621790025611, + 0.20003037823563996 + ], + [ + 15.698355286334454, + 0.09392364131582431 + ], + [ + 15.69887273806184, + 0.08942022610998387 + ], + [ + 15.542683869915425, + 0.20278172701252598 + ], + [ + 15.543201321642812, + 0.19827831180668556 + ], + [ + 15.543934817951653, + 0.09217157488686992 + ], + [ + 15.544452269679041, + 0.08766815968102948 + ] + ], + "yaw_rad": -3.1302470640450637, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15540885925293, + 0.09076857566833496, + 0.023538321256637573 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54336812950653, + 0.14504706132553366, + 0.11887965339253533 + ], + "intended_face_normal": [ + -0.9999354345927534, + -0.011353155441885764, + 0.00023490317738743532 + ], + "commanded_contact_point": [ + 15.127840995788574, + 0.10843800008296967, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.543358158308246, + 0.14592369878686423, + 0.11886151526995456 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1553955078125, + 0.09079279005527496, + 0.0235385000705719 + ], + "box_pose": [ + 15.616303443908691, + 0.1439659297466278, + 0.13602173328399658, + 0.00017499784007668495, + -0.010137892328202724, + 0.9999324679374695, + -0.0056751868687570095 + ], + "box_yaw_rad": -3.1302392529212972, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001529496700835227 + } + } + }, + { + "simulation_time_ns": 520000000, + "center": [ + 15.621002362744221, + 0.14630052168699811, + 0.11883348650149775 + ], + "face_center": [ + 15.543792596313134, + 0.14542500539786532, + 0.11913109659730228 + ], + "face_normal": [ + -0.9999281556977695, + -0.011338635366255812, + 0.003854288491864117 + ], + "footprint_xy": [ + [ + 15.542683588691373, + 0.08806927185942252 + ], + [ + 15.699321136797069, + 0.08806927185942252 + ], + [ + 15.699321136797069, + 0.2045317715145737 + ], + [ + 15.542683588691373, + 0.2045317715145737 + ] + ], + "projected_box_corners": [ + [ + 15.697103121553551, + 0.2045317715145737 + ], + [ + 15.698074145109077, + 0.2004337515632863 + ], + [ + 15.698350113241544, + 0.09391832438897547 + ], + [ + 15.699321136797069, + 0.08982030443768807 + ], + [ + 15.542683588691373, + 0.20278073893630816 + ], + [ + 15.5436546122469, + 0.19868271898502074 + ], + [ + 15.543930580379367, + 0.09216729181070993 + ], + [ + 15.544901603934893, + 0.08806927185942252 + ] + ], + "yaw_rad": -3.1302536895318176, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155404090881348, + 0.09077784419059753, + 0.02354016900062561 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543568069797233, + 0.14522494334677774, + 0.1189986332356489 + ], + "intended_face_normal": [ + -0.9999342135674807, + -0.011345329962421224, + 0.0019442048139663853 + ], + "commanded_contact_point": [ + 15.126452445983887, + 0.1082909107208252, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.543557910022958, + 0.14610097656125492, + 0.11884851085063035 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15540885925293, + 0.09076857566833496, + 0.023538321256637573 + ], + "box_pose": [ + 15.616532325744629, + 0.14416898787021637, + 0.13601885735988617, + 0.0010253579821437597, + -0.00939253717660904, + 0.9999394416809082, + -0.005663377232849598 + ], + "box_yaw_rad": -3.1302470640450637, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013963186744320364 + } + } + }, + { + "simulation_time_ns": 540000000, + "center": [ + 15.621248962408837, + 0.1465046730789477, + 0.11882363900200227 + ], + "face_center": [ + 15.544039990345546, + 0.14562955276185716, + 0.11928305035893484 + ], + "face_normal": [ + -0.9999178680001948, + -0.01133350721197995, + 0.005949744081329422 + ], + "footprint_xy": [ + [ + 15.542683683832896, + 0.08847986602515658 + ], + [ + 15.699814240984777, + 0.08847986602515658 + ], + [ + 15.699814240984777, + 0.20452948013273886 + ], + [ + 15.542683683832896, + 0.20452948013273886 + ] + ], + "projected_box_corners": [ + [ + 15.697101627959478, + 0.20452948013273886 + ], + [ + 15.698570615633967, + 0.20084665803689655 + ], + [ + 15.698345253310288, + 0.09391292875518004 + ], + [ + 15.699814240984777, + 0.09023010665933773 + ], + [ + 15.542683683832896, + 0.2027792394985577 + ], + [ + 15.544152671507385, + 0.19909641740271541 + ], + [ + 15.543927309183706, + 0.09216268812099887 + ], + [ + 15.545396296858195, + 0.08847986602515658 + ] + ], + "yaw_rad": -3.1302587007968197, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155379295349121, + 0.0908125638961792, + 0.023540794849395752 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543792596313134, + 0.14542500539786532, + 0.11913109659730228 + ], + "intended_face_normal": [ + -0.9999281556977695, + -0.011338635366255812, + 0.003854288491864117 + ], + "commanded_contact_point": [ + 15.125247955322266, + 0.10848531126976013, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.54378150095385, + 0.14630052168699811, + 0.11883348650149775 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155404090881348, + 0.09077784419059753, + 0.02354016900062561 + ], + "box_pose": [ + 15.616788864135742, + 0.14439757168293, + 0.13601507246494293, + 0.0019755989778786898, + -0.008552857674658298, + 0.9999454617500305, + -0.005652728956192732 + ], + "box_yaw_rad": -3.1302536895318176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012200775909171617 + } + } + }, + { + "simulation_time_ns": 560000000, + "center": [ + 15.621466270525335, + 0.1466756331193421, + 0.11881824120534626 + ], + "face_center": [ + 15.544258248254435, + 0.14580097968152994, + 0.11942075862039038 + ], + "face_normal": [ + -0.9999055674299828, + -0.011327460752349274, + 0.00780308185673073 + ], + "footprint_xy": [ + [ + 15.542682888426222, + 0.08882406538355991 + ], + [ + 15.700249652624446, + 0.08882406538355991 + ], + [ + 15.700249652624446, + 0.20452720085512427 + ], + [ + 15.542682888426222, + 0.20452720085512427 + ] + ], + "projected_box_corners": [ + [ + 15.697098932968025, + 0.20452720085512427 + ], + [ + 15.699008581463808, + 0.20119232031198203 + ], + [ + 15.698340004128662, + 0.09390825280232645 + ], + [ + 15.700249652624446, + 0.09057337225918421 + ], + [ + 15.542682888426222, + 0.20277789397949997 + ], + [ + 15.544592536922007, + 0.19944301343635773 + ], + [ + 15.543923959586861, + 0.09215894592670215 + ], + [ + 15.545833608082646, + 0.08882406538355991 + ] + ], + "yaw_rad": -3.130264607635815, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155349731445312, + 0.09086672961711884, + 0.023542076349258423 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544039990345546, + 0.14562955276185716, + 0.11928305035893484 + ], + "intended_face_normal": [ + -0.9999178680001948, + -0.01133350721197995, + 0.005949744081329422 + ], + "commanded_contact_point": [ + 15.12435531616211, + 0.10895752906799316, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.54402730612834, + 0.1465046730789477, + 0.11882363900200227 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155379295349121, + 0.0908125638961792, + 0.023540794849395752 + ], + "box_pose": [ + 15.617071151733398, + 0.14463146030902863, + 0.13601720333099365, + 0.0030184427741914988, + -0.007693276274949312, + 0.9999498724937439, + -0.0056438148021698 + ], + "box_yaw_rad": -3.1302587007968197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010098486615460684 + } + } + }, + { + "simulation_time_ns": 580000000, + "center": [ + 15.62164936489181, + 0.14682236813628935, + 0.11881209906256608 + ], + "face_center": [ + 15.54444237682123, + 0.14594840659663477, + 0.119535547238624 + ], + "face_normal": [ + -0.9998921737096411, + -0.011318500118473275, + 0.009369231819580201 + ], + "footprint_xy": [ + [ + 15.542681906936958, + 0.08912004784078079 + ], + [ + 15.700616822846666, + 0.08912004784078079 + ], + [ + 15.700616822846666, + 0.2045246884317979 + ], + [ + 15.542681906936958, + 0.2045246884317979 + ] + ], + "projected_box_corners": [ + [ + 15.697095883078116, + 0.2045246884317979 + ], + [ + 15.699377856186755, + 0.2014887559989511 + ], + [ + 15.698334849738027, + 0.09390390335293672 + ], + [ + 15.700616822846666, + 0.09086797092008991 + ], + [ + 15.542681906936958, + 0.20277676535248879 + ], + [ + 15.544963880045595, + 0.19974083291964198 + ], + [ + 15.543920873596868, + 0.09215598027362759 + ], + [ + 15.546202846705505, + 0.08912004784078079 + ] + ], + "yaw_rad": -3.1302734163588606, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155317306518555, + 0.09093689173460007, + 0.02354493737220764 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544258248254435, + 0.14580097968152994, + 0.11942075862039038 + ], + "intended_face_normal": [ + -0.9999055674299828, + -0.011327460752349274, + 0.00780308185673073 + ], + "commanded_contact_point": [ + 15.123847961425781, + 0.10966278612613678, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.544243664284727, + 0.1466756331193421, + 0.11881824120534626 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155349731445312, + 0.09086672961711884, + 0.023542076349258423 + ], + "box_pose": [ + 15.61732006072998, + 0.14482735097408295, + 0.13602215051651, + 0.003941034432500601, + -0.006973212119191885, + 0.9999520778656006, + -0.005636518821120262 + ], + "box_yaw_rad": -3.130264607635815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008687901629369317 + } + } + }, + { + "simulation_time_ns": 600000000, + "center": [ + 15.621806771611077, + 0.14694642366836808, + 0.11880640891810408 + ], + "face_center": [ + 15.544600822152654, + 0.14607263399999446, + 0.11963312370118345 + ], + "face_normal": [ + -0.9998787228524766, + -0.011316274248082686, + 0.010706616876900414 + ], + "footprint_xy": [ + [ + 15.5426817901516, + 0.08936981494586838 + ], + [ + 15.700931753070552, + 0.08936981494586838 + ], + [ + 15.700931753070552, + 0.2045230323908678 + ], + [ + 15.5426817901516, + 0.2045230323908678 + ] + ], + "projected_box_corners": [ + [ + 15.697093689068444, + 0.2045230323908678 + ], + [ + 15.699693659331928, + 0.20173958916206358 + ], + [ + 15.698331782807067, + 0.09390083751141984 + ], + [ + 15.700931753070552, + 0.09111739428261563 + ], + [ + 15.5426817901516, + 0.20277545305412054 + ], + [ + 15.545281760415085, + 0.19999200982531634 + ], + [ + 15.543919883890224, + 0.0921532581746726 + ], + [ + 15.546519854153708, + 0.08936981494586838 + ] + ], + "yaw_rad": -3.1302754899551637, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155288696289062, + 0.09101985394954681, + 0.023545116186141968 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54444237682123, + 0.14594840659663477, + 0.119535547238624 + ], + "intended_face_normal": [ + -0.9998921737096411, + -0.011318500118473275, + 0.009369231819580201 + ], + "commanded_contact_point": [ + 15.12369441986084, + 0.11056333035230637, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.544425724241673, + 0.14682236813628935, + 0.11881209906256608 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155317306518555, + 0.09093689173460007, + 0.02354493737220764 + ], + "box_pose": [ + 15.61752986907959, + 0.1449955254793167, + 0.13602471351623535, + 0.004720611032098532, + -0.006354461424052715, + 0.9999528527259827, + -0.005629518534988165 + ], + "box_yaw_rad": -3.1302734163588606, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009135397723548107 + } + } + }, + { + "simulation_time_ns": 620000000, + "center": [ + 15.62194254978828, + 0.1470509796598993, + 0.11880221722526554 + ], + "face_center": [ + 15.544737637191753, + 0.14617587582390193, + 0.11971765921740518 + ], + "face_normal": [ + -0.999865294662609, + -0.01133329376865678, + 0.011855705115562928 + ], + "footprint_xy": [ + [ + 15.54268115690799, + 0.08957859356487591 + ], + [ + 15.701203942668569, + 0.08957859356487591 + ], + [ + 15.701203942668569, + 0.2045233657549227 + ], + [ + 15.54268115690799, + 0.2045233657549227 + ] + ], + "projected_box_corners": [ + [ + 15.697090982101042, + 0.2045233657549227 + ], + [ + 15.69996428540279, + 0.20195203674891982 + ], + [ + 15.698330639366821, + 0.09390013024287355 + ], + [ + 15.701203942668569, + 0.09132880123687068 + ], + [ + 15.54268115690799, + 0.20277315808292795 + ], + [ + 15.545554460209738, + 0.20020182907692505 + ], + [ + 15.54392081417377, + 0.09214992257087881 + ], + [ + 15.546794117475518, + 0.08957859356487591 + ] + ], + "yaw_rad": -3.1302583183485106, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155281066894531, + 0.0911126360297203, + 0.023543894290924072 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544600822152654, + 0.14607263399999446, + 0.11963312370118345 + ], + "intended_face_normal": [ + -0.9998787228524766, + -0.011316274248082686, + 0.010706616876900414 + ], + "commanded_contact_point": [ + 15.123821258544922, + 0.1116243302822113, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.54458209211079, + 0.14694642366836808, + 0.11880640891810408 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155288696289062, + 0.09101985394954681, + 0.023545116186141968 + ], + "box_pose": [ + 15.61771011352539, + 0.14513766765594482, + 0.13602638244628906, + 0.005386379547417164, + -0.005831926129758358, + 0.9999526739120483, + -0.005626990459859371 + ], + "box_yaw_rad": -3.1302754899551637, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010685545862135241 + } + } + }, + { + "simulation_time_ns": 640000000, + "center": [ + 15.622057373540152, + 0.14714063502252975, + 0.11879827606309215 + ], + "face_center": [ + 15.544853378856612, + 0.14626509095873796, + 0.11978947438872416 + ], + "face_normal": [ + -0.9998534069561482, + -0.011338995070278267, + 0.012836810153603094 + ], + "footprint_xy": [ + [ + 15.542679958430039, + 0.08975830069597437 + ], + [ + 15.701434788650264, + 0.08975830069597437 + ], + [ + 15.701434788650264, + 0.20452296934908512 + ], + [ + 15.542679958430039, + 0.20452296934908512 + ] + ], + "projected_box_corners": [ + [ + 15.697087947797119, + 0.20452296934908512 + ], + [ + 15.70019459278266, + 0.20213351680635572 + ], + [ + 15.698328143664725, + 0.09389884136628734 + ], + [ + 15.701434788650264, + 0.09150938882355794 + ], + [ + 15.542679958430039, + 0.20277188122150155 + ], + [ + 15.54578660341558, + 0.20038242867877215 + ], + [ + 15.543920154297645, + 0.09214775323870378 + ], + [ + 15.547026799283186, + 0.08975830069597437 + ] + ], + "yaw_rad": -3.1302524821964237, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155274391174316, + 0.09121321141719818, + 0.023545533418655396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544737637191753, + 0.14617587582390193, + 0.11971765921740518 + ], + "intended_face_normal": [ + -0.999865294662609, + -0.01133329376865678, + 0.011855705115562928 + ], + "commanded_contact_point": [ + 15.124140739440918, + 0.11281674355268478, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.544716833160628, + 0.1470509796598993, + 0.11880221722526554 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155281066894531, + 0.0911126360297203, + 0.023543894290924072 + ], + "box_pose": [ + 15.617865562438965, + 0.14525733888149261, + 0.1360284388065338, + 0.005958528723567724, + -0.0053930808790028095, + 0.9999517798423767, + -0.0056347837671637535 + ], + "box_yaw_rad": -3.1302583183485106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012344705144341555 + } + } + }, + { + "simulation_time_ns": 660000000, + "center": [ + 15.622153905422971, + 0.14721777467327282, + 0.11879404378778041 + ], + "face_center": [ + 15.544950765194264, + 0.14634226223921387, + 0.11984888518040557 + ], + "face_normal": [ + -0.9998423410834816, + -0.011338585439970116, + 0.013661038713576896 + ], + "footprint_xy": [ + [ + 15.542679343307041, + 0.08991348684562951 + ], + [ + 15.701628467538901, + 0.08991348684562951 + ], + [ + 15.701628467538901, + 0.20452206250091615 + ], + [ + 15.542679343307041, + 0.20452206250091615 + ] + ], + "projected_box_corners": [ + [ + 15.697085623764458, + 0.20452206250091615 + ], + [ + 15.700388243749867, + 0.20228932008696987 + ], + [ + 15.698325847553491, + 0.0938972541276937 + ], + [ + 15.701628467538901, + 0.09166451171374743 + ], + [ + 15.542679343307041, + 0.20277103763279825 + ], + [ + 15.545981963292451, + 0.20053829521885197 + ], + [ + 15.543919567096074, + 0.09214622925957579 + ], + [ + 15.547222187081484, + 0.08991348684562951 + ] + ], + "yaw_rad": -3.1302527663407202, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155277252197266, + 0.09132052958011627, + 0.023543506860733032 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544853378856612, + 0.14626509095873796, + 0.11978947438872416 + ], + "intended_face_normal": [ + -0.9998534069561482, + -0.011338995070278267, + 0.012836810153603094 + ], + "commanded_contact_point": [ + 15.124576568603516, + 0.11410927772521973, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.544830738741252, + 0.14714063502252975, + 0.11879827606309215 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155274391174316, + 0.09121321141719818, + 0.023545533418655396 + ], + "box_pose": [ + 15.617997169494629, + 0.14535999298095703, + 0.13602980971336365, + 0.0064470041543245316, + -0.005016764625906944, + 0.9999507665634155, + -0.005637431982904673 + ], + "box_yaw_rad": -3.1302524821964237, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013640350610671177 + } + } + }, + { + "simulation_time_ns": 680000000, + "center": [ + 15.622238061280017, + 0.14728221741111522, + 0.11879110255291506 + ], + "face_center": [ + 15.54503566929834, + 0.146406193513135, + 0.1199007983252402 + ], + "face_normal": [ + -0.9998326506867012, + -0.011345209306343014, + 0.014371446752102876 + ], + "footprint_xy": [ + [ + 15.54267932789201, + 0.09004238905869238 + ], + [ + 15.701796794668025, + 0.09004238905869238 + ], + [ + 15.701796794668025, + 0.20452204576353808 + ], + [ + 15.54267932789201, + 0.20452204576353808 + ] + ], + "projected_box_corners": [ + [ + 15.697084111855368, + 0.20452204576353808 + ], + [ + 15.700555710918376, + 0.20241981882526686 + ], + [ + 15.698325195605017, + 0.09389666379292409 + ], + [ + 15.701796794668025, + 0.09179443685465286 + ], + [ + 15.54267932789201, + 0.2027699979675776 + ], + [ + 15.546150926955018, + 0.20066777102930636 + ], + [ + 15.54392041164166, + 0.09214461599696361 + ], + [ + 15.547392010704668, + 0.09004238905869238 + ] + ], + "yaw_rad": -3.130246032321088, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15528678894043, + 0.09143038094043732, + 0.02354291081428528 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544950765194264, + 0.14634226223921387, + 0.11984888518040557 + ], + "intended_face_normal": [ + -0.9998423410834816, + -0.011338585439970116, + 0.013661038713576896 + ], + "commanded_contact_point": [ + 15.125094413757324, + 0.11546570062637329, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.544926415909211, + 0.14721777467327282, + 0.11879404378778041 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155277252197266, + 0.09132052958011627, + 0.023543506860733032 + ], + "box_pose": [ + 15.618107795715332, + 0.14544835686683655, + 0.13603004813194275, + 0.006857318338006735, + -0.004692446906119585, + 0.99994957447052, + -0.005637399386614561 + ], + "box_yaw_rad": -3.1302527663407202, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014519113924357358 + } + } + }, + { + "simulation_time_ns": 700000000, + "center": [ + 15.622309711996236, + 0.1473385027928507, + 0.11878823814668057 + ], + "face_center": [ + 15.545108000141552, + 0.14646298552804915, + 0.11994475785272034 + ], + "face_normal": [ + -0.9998238424987869, + -0.011338648001945908, + 0.014977854099851667 + ], + "footprint_xy": [ + [ + 15.542679830281212, + 0.09015563630414353 + ], + [ + 15.70193959371126, + 0.09015563630414353 + ], + [ + 15.70193959371126, + 0.20452136928155792 + ], + [ + 15.542679830281212, + 0.20452136928155792 + ] + ], + "projected_box_corners": [ + [ + 15.69708325399058, + 0.20452136928155792 + ], + [ + 15.700699046698226, + 0.20253250884950352 + ], + [ + 15.698323801003614, + 0.093895531265801 + ], + [ + 15.70193959371126, + 0.09190667083374662 + ], + [ + 15.542679830281212, + 0.2027703347519548 + ], + [ + 15.546295622988858, + 0.20078147431990043 + ], + [ + 15.543920377294246, + 0.0921444967361979 + ], + [ + 15.547536170001893, + 0.09015563630414353 + ] + ], + "yaw_rad": -3.1302524939849308, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15530776977539, + 0.09154020994901657, + 0.023539960384368896 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54503566929834, + 0.146406193513135, + 0.1199007983252402 + ], + "intended_face_normal": [ + -0.9998326506867012, + -0.011345209306343014, + 0.014371446752102876 + ], + "commanded_contact_point": [ + 15.125663757324219, + 0.11685028672218323, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 15.545009823275981, + 0.14728221741111522, + 0.11879110255291506 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15528678894043, + 0.09143038094043732, + 0.02354291081428528 + ], + "box_pose": [ + 15.618204116821289, + 0.1455221176147461, + 0.136030912399292, + 0.007211042568087578, + -0.004422434139996767, + 0.9999483823776245, + -0.005641005467623472 + ], + "box_yaw_rad": -3.130246032321088, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014970740643323011 + } + } + }, + { + "simulation_time_ns": 720000000, + "center": [ + 15.622372968582106, + 0.14738793178111165, + 0.11878625999117327 + ], + "face_center": [ + 15.545171941212535, + 0.14651187405558921, + 0.11998431767993634 + ], + "face_normal": [ + -0.9998149778697574, + -0.011345647400037925, + 0.015515804159485483 + ], + "footprint_xy": [ + [ + 15.542679302095044, + 0.09025439401871807 + ], + [ + 15.702066635069169, + 0.09025439401871807 + ], + [ + 15.702066635069169, + 0.2045214695435052 + ], + [ + 15.542679302095044, + 0.2045214695435052 + ] + ], + "projected_box_corners": [ + [ + 15.697081356834184, + 0.2045214695435052 + ], + [ + 15.70082509741065, + 0.2026326472530689 + ], + [ + 15.698322894492703, + 0.09389533176019921 + ], + [ + 15.702066635069169, + 0.09200650946976291 + ], + [ + 15.542679302095044, + 0.20276935409246039 + ], + [ + 15.546423042671508, + 0.2008805318020241 + ], + [ + 15.54392083975356, + 0.09214321630915437 + ], + [ + 15.547664580330027, + 0.09025439401871807 + ] + ], + "yaw_rad": -3.1302453936560815, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155336380004883, + 0.0916471779346466, + 0.023537755012512207 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545108000141552, + 0.14646298552804915, + 0.11994475785272034 + ], + "intended_face_normal": [ + -0.9998238424987869, + -0.011338648001945908, + 0.014977854099851667 + ], + "commanded_contact_point": [ + 15.126279830932617, + 0.1182275041937828, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.545080793631517, + 0.1473385027928507, + 0.11878823814668057 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15530776977539, + 0.09154020994901657, + 0.023539960384368896 + ], + "box_pose": [ + 15.6182861328125, + 0.1455865502357483, + 0.13603129982948303, + 0.007512935437262058, + -0.004187826532870531, + 0.999947190284729, + -0.00563815888017416 + ], + "box_yaw_rad": -3.1302524939849308, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001508732797836069 + } + } + }, + { + "simulation_time_ns": 740000000, + "center": [ + 15.622389723856259, + 0.1474040324311337, + 0.11878628879351244 + ], + "face_center": [ + 15.545188815092661, + 0.14652824452318572, + 0.1199948632678736 + ], + "face_normal": [ + -0.9998134418276559, + -0.011342153046900387, + 0.015652004934504696 + ], + "footprint_xy": [ + [ + 15.54268015977943, + 0.09028685543683229 + ], + [ + 15.702099287933088, + 0.09028685543683229 + ], + [ + 15.702099287933088, + 0.2045212094254351 + ], + [ + 15.54268015977943, + 0.2045212094254351 + ] + ], + "projected_box_corners": [ + [ + 15.697081977306626, + 0.2045212094254351 + ], + [ + 15.700858023172819, + 0.2026647504846916 + ], + [ + 15.698323242066895, + 0.09389489019347179 + ], + [ + 15.702099287933088, + 0.09203843125272827 + ], + [ + 15.54268015977943, + 0.20276963360953915 + ], + [ + 15.546456205645622, + 0.20091317466879563 + ], + [ + 15.5439214245397, + 0.09214331437757581 + ], + [ + 15.547697470405893, + 0.09028685543683229 + ] + ], + "yaw_rad": -3.1302488707797544, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155364990234375, + 0.0917486622929573, + 0.023536354303359985 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545171941212535, + 0.14651187405558921, + 0.11998431767993634 + ], + "intended_face_normal": [ + -0.9998149778697574, + -0.011345647400037925, + 0.015515804159485483 + ], + "commanded_contact_point": [ + 15.12692928314209, + 0.11956316232681274, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.545143365484984, + 0.14738793178111165, + 0.11878625999117327 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155336380004883, + 0.0916471779346466, + 0.023537755012512207 + ], + "box_pose": [ + 15.618358612060547, + 0.14564311504364014, + 0.13603219389915466, + 0.007780784275382757, + -0.003980859648436308, + 0.9999458193778992, + -0.005642155185341835 + ], + "box_yaw_rad": -3.1302453936560815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014851837668172698 + } + } + }, + { + "simulation_time_ns": 760000000, + "center": [ + 15.622388816536253, + 0.14740586470190428, + 0.11878665732809678 + ], + "face_center": [ + 15.545187936580273, + 0.14653011836201277, + 0.11999503340461642 + ], + "face_normal": [ + -0.9998130687459736, + -0.011341614707361678, + 0.015649435523963345 + ], + "footprint_xy": [ + [ + 15.542679626809454, + 0.09029080858010588 + ], + [ + 15.702098006263052, + 0.09029080858010588 + ], + [ + 15.702098006263052, + 0.20452092082370266 + ], + [ + 15.542679626809454, + 0.20452092082370266 + ] + ], + "projected_box_corners": [ + [ + 15.697081386721411, + 0.20452092082370266 + ], + [ + 15.700856768845128, + 0.2026685894836077 + ], + [ + 15.698322624139333, + 0.09389463259998387 + ], + [ + 15.702098006263052, + 0.09204230125988891 + ], + [ + 15.542679626809454, + 0.20276942814391963 + ], + [ + 15.546455008933172, + 0.20091709680382466 + ], + [ + 15.543920864227376, + 0.09214313992020084 + ], + [ + 15.547696246351094, + 0.09029080858010588 + ] + ], + "yaw_rad": -3.1302494049180773, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155396461486816, + 0.09184287488460541, + 0.023533374071121216 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545188815092661, + 0.14652824452318572, + 0.1199948632678736 + ], + "intended_face_normal": [ + -0.9998134418276559, + -0.011342153046900387, + 0.015652004934504696 + ], + "commanded_contact_point": [ + 15.127603530883789, + 0.12082825601100922, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.54516000210908, + 0.1474040324311337, + 0.11878628879351244 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155364990234375, + 0.0917486622929573, + 0.023536354303359985 + ], + "box_pose": [ + 15.618377685546875, + 0.14566154778003693, + 0.13603299856185913, + 0.007848504930734634, + -0.0039137741550803185, + 0.9999457001686096, + -0.0056406655348837376 + ], + "box_yaw_rad": -3.1302488707797544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014335522477765502 + } + } + }, + { + "simulation_time_ns": 780000000, + "center": [ + 15.622386235653249, + 0.1474043485173801, + 0.11878686606544518 + ], + "face_center": [ + 15.545185328830685, + 0.14652860832970618, + 0.11999397990891111 + ], + "face_normal": [ + -0.9998134166896997, + -0.011341535031228839, + 0.01563308859756021 + ], + "footprint_xy": [ + [ + 15.542678970534439, + 0.09028760764553181 + ], + [ + 15.702093500772058, + 0.09028760764553181 + ], + [ + 15.702093500772058, + 0.20452108938922836 + ], + [ + 15.542678970534439, + 0.20452108938922836 + ] + ], + "projected_box_corners": [ + [ + 15.697080784179564, + 0.20452108938922836 + ], + [ + 15.70085228241519, + 0.2026653743845528 + ], + [ + 15.698322002536433, + 0.09389480302555522 + ], + [ + 15.702093500772058, + 0.09203908802087962 + ], + [ + 15.542678970534439, + 0.20276960901388055 + ], + [ + 15.546450468770065, + 0.20091389400920495 + ], + [ + 15.543920188891308, + 0.09214332265020742 + ], + [ + 15.547691687126934, + 0.09028760764553181 + ] + ], + "yaw_rad": -3.130249488546036, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155427932739258, + 0.09192832559347153, + 0.023530900478363037 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545187936580273, + 0.14653011836201277, + 0.11999503340461642 + ], + "intended_face_normal": [ + -0.9998130687459736, + -0.011341614707361678, + 0.015649435523963345 + ], + "commanded_contact_point": [ + 15.128274917602539, + 0.12199899554252625, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.545159065970694, + 0.14740586470190428, + 0.11878665732809678 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155396461486816, + 0.09184287488460541, + 0.023533374071121216 + ], + "box_pose": [ + 15.618376731872559, + 0.14566367864608765, + 0.13603338599205017, + 0.007847171276807785, + -0.0039051619824022055, + 0.9999456405639648, + -0.005640469491481781 + ], + "box_yaw_rad": -3.1302494049180773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001349589262575389 + } + } + }, + { + "simulation_time_ns": 800000000, + "center": [ + 15.622380526006495, + 0.14739926120498661, + 0.11878735726483312 + ], + "face_center": [ + 15.545179520342305, + 0.14652346413773235, + 0.11999011714537194 + ], + "face_normal": [ + -0.9998146967677366, + -0.011342271667233603, + 0.015576701299412302 + ], + "footprint_xy": [ + [ + 15.542679839610049, + 0.09027743062108251 + ], + [ + 15.702081212402941, + 0.09027743062108251 + ], + [ + 15.702081212402941, + 0.20452109178889072 + ], + [ + 15.542679839610049, + 0.20452109178889072 + ] + ], + "projected_box_corners": [ + [ + 15.697081850938428, + 0.20452109178889072 + ], + [ + 15.700839935855518, + 0.2026553193913151 + ], + [ + 15.698323127485853, + 0.09389479715316663 + ], + [ + 15.702081212402941, + 0.09202902475559102 + ], + [ + 15.542679839610049, + 0.2027694976543822 + ], + [ + 15.546437924527137, + 0.20090372525680658 + ], + [ + 15.543921116157474, + 0.09214320301865814 + ], + [ + 15.547679201074562, + 0.09027743062108251 + ] + ], + "yaw_rad": -3.1302487663898875, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155457496643066, + 0.09200435131788254, + 0.023528575897216797 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545185328830685, + 0.14652860832970618, + 0.11999397990891111 + ], + "intended_face_normal": [ + -0.9998134166896997, + -0.011341535031228839, + 0.01563308859756021 + ], + "commanded_contact_point": [ + 15.128949165344238, + 0.12305936962366104, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 15.545156511964311, + 0.1474043485173801, + 0.11878686606544518 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155427932739258, + 0.09192832559347153, + 0.023530900478363037 + ], + "box_pose": [ + 15.61837387084961, + 0.14566192030906677, + 0.13603350520133972, + 0.007839036174118519, + -0.003912168089300394, + 0.9999457001686096, + -0.005640406161546707 + ], + "box_yaw_rad": -3.130249488546036, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001256583945564904 + } + } + }, + { + "simulation_time_ns": 820000000, + "center": [ + 15.622373062897628, + 0.1473933683068429, + 0.11878747704178187 + ], + "face_center": [ + 15.545172010150928, + 0.14651760435038427, + 0.11998518313623496 + ], + "face_normal": [ + -0.9998153065238533, + -0.011341842855979483, + 0.015511250732294 + ], + "footprint_xy": [ + [ + 15.54268015277985, + 0.09026592365225711 + ], + [ + 15.702065973015408, + 0.09026592365225711 + ], + [ + 15.702065973015408, + 0.2045208129614287 + ], + [ + 15.54268015277985, + 0.2045208129614287 + ] + ], + "projected_box_corners": [ + [ + 15.697082258273248, + 0.2045208129614287 + ], + [ + 15.700824768189031, + 0.20264366013794985 + ], + [ + 15.698323463099625, + 0.0938946043886533 + ], + [ + 15.702065973015408, + 0.09201745156517444 + ], + [ + 15.54268015277985, + 0.2027692850485114 + ], + [ + 15.546422662695631, + 0.20089213222503255 + ], + [ + 15.543921357606225, + 0.09214307647573598 + ], + [ + 15.547663867522008, + 0.09026592365225711 + ] + ], + "yaw_rad": -3.130249202142857, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155487060546875, + 0.0920703262090683, + 0.0235271155834198 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545179520342305, + 0.14652346413773235, + 0.11999011714537194 + ], + "intended_face_normal": [ + -0.9998146967677366, + -0.011342271667233603, + 0.015576701299412302 + ], + "commanded_contact_point": [ + 15.129592895507812, + 0.12399889528751373, + 0.05000004544854164 + ], + "centerline_face_intersection": [ + 15.545150901195953, + 0.14739926120498661, + 0.11878735726483312 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155457496643066, + 0.09200435131788254, + 0.023528575897216797 + ], + "box_pose": [ + 15.618367195129395, + 0.14565610885620117, + 0.13603369891643524, + 0.007810957729816437, + -0.003932974301278591, + 0.9999459385871887, + -0.00564072048291564 + ], + "box_yaw_rad": -3.1302487663898875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011389016623873382 + } + } + }, + { + "simulation_time_ns": 840000000, + "center": [ + 15.622363079555777, + 0.14738490728888398, + 0.11878774533452265 + ], + "face_center": [ + 15.545161891458081, + 0.1465093566651928, + 0.11997888814910534 + ], + "face_normal": [ + -0.9998170594273861, + -0.011339080026216166, + 0.015426251014777646 + ], + "footprint_xy": [ + [ + 15.542680313212527, + 0.09024915861309316 + ], + [ + 15.702045845899027, + 0.09024915861309316 + ], + [ + 15.702045845899027, + 0.20452065596467484 + ], + [ + 15.542680313212527, + 0.20452065596467484 + ] + ], + "projected_box_corners": [ + [ + 15.697082689407921, + 0.20452065596467484 + ], + [ + 15.700804993450937, + 0.20262645506349505 + ], + [ + 15.698323541856013, + 0.09389446076165532 + ], + [ + 15.702045845899027, + 0.09200025986047555 + ], + [ + 15.542680313212527, + 0.2027695547172924 + ], + [ + 15.546402617255543, + 0.20087535381611266 + ], + [ + 15.543921165660619, + 0.09214335951427292 + ], + [ + 15.547643469703635, + 0.09024915861309316 + ] + ], + "yaw_rad": -3.130251985008589, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155512809753418, + 0.09212612360715866, + 0.023523956537246704 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545172010150928, + 0.14651760435038427, + 0.11998518313623496 + ], + "intended_face_normal": [ + -0.9998153065238533, + -0.011341842855979483, + 0.015511250732294 + ], + "commanded_contact_point": [ + 15.130206108093262, + 0.12481164932250977, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54514348518702, + 0.1473933683068429, + 0.11878747704178187 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155487060546875, + 0.0920703262090683, + 0.0235271155834198 + ], + "box_pose": [ + 15.618358612060547, + 0.14564940333366394, + 0.13603347539901733, + 0.007778361905366182, + -0.003956508822739124, + 0.9999459981918335, + -0.005640450865030289 + ], + "box_yaw_rad": -3.130249202142857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010181349615391673 + } + } + }, + { + "simulation_time_ns": 860000000, + "center": [ + 15.622348739019047, + 0.14737319976900054, + 0.11878881796919662 + ], + "face_center": [ + 15.545147471803041, + 0.14649714767553493, + 0.1199714440471644 + ], + "face_normal": [ + -0.999818084072706, + -0.011345574460402994, + 0.0153159524718658 + ], + "footprint_xy": [ + [ + 15.542678660734637, + 0.09022522128948995 + ], + [ + 15.70201881730346, + 0.09022522128948995 + ], + [ + 15.70201881730346, + 0.20452117824851113 + ], + [ + 15.542678660734637, + 0.20452117824851113 + ] + ], + "projected_box_corners": [ + [ + 15.69708119516665, + 0.20452117824851113 + ], + [ + 15.70077731577625, + 0.20260335989072747 + ], + [ + 15.69832269669386, + 0.09389514383420482 + ], + [ + 15.70201881730346, + 0.09197732547642117 + ], + [ + 15.542678660734637, + 0.20276907406157993 + ], + [ + 15.546374781344237, + 0.20085125570379628 + ], + [ + 15.543920162261847, + 0.0921430396472736 + ], + [ + 15.547616282871447, + 0.09022522128948995 + ] + ], + "yaw_rad": -3.130245501849874, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155546188354492, + 0.09217137843370438, + 0.023522883653640747 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545161891458081, + 0.1465093566651928, + 0.11997888814910534 + ], + "intended_face_normal": [ + -0.9998170594273861, + -0.011339080026216166, + 0.015426251014777646 + ], + "commanded_contact_point": [ + 15.130758285522461, + 0.12549491226673126, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.54513363724594, + 0.14738490728888398, + 0.11878774533452265 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155512809753418, + 0.09212612360715866, + 0.023523956537246704 + ], + "box_pose": [ + 15.61834716796875, + 0.14563973248004913, + 0.13603328168392181, + 0.007736050523817539, + -0.003991791512817144, + 0.9999462962150574, + -0.005638962145894766 + ], + "box_yaw_rad": -3.130251985008589, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008784919838285748 + } + } + }, + { + "simulation_time_ns": 880000000, + "center": [ + 15.622333943738907, + 0.14735786160400374, + 0.11879012983540678 + ], + "face_center": [ + 15.545132505158499, + 0.14648144299764515, + 0.11996201160161238 + ], + "face_normal": [ + -0.9998203033786166, + -0.01135032109516253, + 0.01517680505125818 + ], + "footprint_xy": [ + [ + 15.542679991348754, + 0.09019434940096246 + ], + [ + 15.70198789612906, + 0.09019434940096246 + ], + [ + 15.70198789612906, + 0.204521373807045 + ], + [ + 15.542679991348754, + 0.204521373807045 + ] + ], + "projected_box_corners": [ + [ + 15.697082868509572, + 0.204521373807045 + ], + [ + 15.700745958124276, + 0.2025731186888508 + ], + [ + 15.698324806514357, + 0.09389544173187386 + ], + [ + 15.70198789612906, + 0.09194718661367965 + ], + [ + 15.542679991348754, + 0.2027685365943278 + ], + [ + 15.546343080963458, + 0.20082028147613362 + ], + [ + 15.543921929353537, + 0.09214260451915668 + ], + [ + 15.547585018968242, + 0.09019434940096246 + ] + ], + "yaw_rad": -3.130240780158675, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155570983886719, + 0.09220720827579498, + 0.02352157235145569 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545147471803041, + 0.14649714767553493, + 0.1199714440471644 + ], + "intended_face_normal": [ + -0.999818084072706, + -0.011345574460402994, + 0.0153159524718658 + ], + "commanded_contact_point": [ + 15.13126277923584, + 0.1260496824979782, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.545119375856395, + 0.14737319976900054, + 0.11878881796919662 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155546188354492, + 0.09217137843370438, + 0.023522883653640747 + ], + "box_pose": [ + 15.618330955505371, + 0.14562630653381348, + 0.13603374361991882, + 0.007681186310946941, + -0.004040732514113188, + 0.9999463558197021, + -0.00564205227419734 + ], + "box_yaw_rad": -3.130245501849874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007498559308271437 + } + } + }, + { + "simulation_time_ns": 900000000, + "center": [ + 15.622313835082792, + 0.14734250904580604, + 0.11879116213000629 + ], + "face_center": [ + 15.545112186298827, + 0.14646670381375537, + 0.11995056853843047 + ], + "face_normal": [ + -0.9998230256826102, + -0.011342377407869546, + 0.015015239201824203 + ], + "footprint_xy": [ + [ + 15.542679360331743, + 0.09016425961691332 + ], + [ + 15.701948309833842, + 0.09016425961691332 + ], + [ + 15.701948309833842, + 0.20452075847469872 + ], + [ + 15.542679360331743, + 0.20452075847469872 + ] + ], + "projected_box_corners": [ + [ + 15.697082657899674, + 0.20452075847469872 + ], + [ + 15.700707316844234, + 0.2025417172215214 + ], + [ + 15.698323650889284, + 0.09389491133419195 + ], + [ + 15.701948309833842, + 0.09191587008101462 + ], + [ + 15.542679360331743, + 0.20276914801059742 + ], + [ + 15.5463040192763, + 0.2007901067574201 + ], + [ + 15.54392035332135, + 0.09214330087009065 + ], + [ + 15.54754501226591, + 0.09016425961691332 + ] + ], + "yaw_rad": -3.1302487551350318, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155591011047363, + 0.09223334491252899, + 0.023519009351730347 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545132505158499, + 0.14648144299764515, + 0.11996201160161238 + ], + "intended_face_normal": [ + -0.9998203033786166, + -0.01135032109516253, + 0.01517680505125818 + ], + "commanded_contact_point": [ + 15.131698608398438, + 0.1264793574810028, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.545104752002642, + 0.14735786160400374, + 0.11879012983540678 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155570983886719, + 0.09220720827579498, + 0.02352157235145569 + ], + "box_pose": [ + 15.618313789367676, + 0.14560876786708832, + 0.1360342800617218, + 0.007611971348524094, + -0.0041037979535758495, + 0.999946653842926, + -0.005644223652780056 + ], + "box_yaw_rad": -3.130240780158675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006120193225151171 + } + } + }, + { + "simulation_time_ns": 920000000, + "center": [ + 15.62229142749376, + 0.14732442038288263, + 0.1187914549548766 + ], + "face_center": [ + 15.545089572821032, + 0.14644878920613197, + 0.11993579997496678 + ], + "face_normal": [ + -0.999825692106548, + -0.011340123252687344, + 0.01482018219083713 + ], + "footprint_xy": [ + [ + 15.542680103337027, + 0.0901286619790772 + ], + [ + 15.701902751650495, + 0.0901286619790772 + ], + [ + 15.701902751650495, + 0.20452017878668804 + ], + [ + 15.542680103337027, + 0.20452017878668804 + ] + ], + "projected_box_corners": [ + [ + 15.697083812682482, + 0.20452017878668804 + ], + [ + 15.700662070730337, + 0.20250560808935597 + ], + [ + 15.698324493602641, + 0.09389449502991055 + ], + [ + 15.701902751650495, + 0.0918799243325785 + ], + [ + 15.542680103337027, + 0.20276891643318673 + ], + [ + 15.546258361384881, + 0.20075434573585468 + ], + [ + 15.543920784257185, + 0.09214323267640925 + ], + [ + 15.54749904230504, + 0.0901286619790772 + ] + ], + "yaw_rad": -3.130251039643467, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155609130859375, + 0.09225068986415863, + 0.023517459630966187 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545112186298827, + 0.14646670381375537, + 0.11995056853843047 + ], + "intended_face_normal": [ + -0.9998230256826102, + -0.011342377407869546, + 0.015015239201824203 + ], + "commanded_contact_point": [ + 15.132061004638672, + 0.1267889142036438, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.545084853625077, + 0.14734250904580604, + 0.11879116213000629 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155591011047363, + 0.09223334491252899, + 0.023519009351730347 + ], + "box_pose": [ + 15.618290901184082, + 0.14559124410152435, + 0.13603444397449493, + 0.007531523238867521, + -0.004167479928582907, + 0.9999470710754395, + -0.005640099756419659 + ], + "box_yaw_rad": -3.1302487551350318, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047660927483214295 + } + } + }, + { + "simulation_time_ns": 940000000, + "center": [ + 15.622263876626834, + 0.14730073587038664, + 0.1187934535744006 + ], + "face_center": [ + 15.545061742309956, + 0.14642490644723133, + 0.11992007674353297 + ], + "face_normal": [ + -0.9998293137216752, + -0.01134269070200024, + 0.014590670063512877 + ], + "footprint_xy": [ + [ + 15.542679442617985, + 0.09008074654551197 + ], + [ + 15.701848310635683, + 0.09008074654551197 + ], + [ + 15.701848310635683, + 0.2045207251952613 + ], + [ + 15.542679442617985, + 0.2045207251952613 + ] + ], + "projected_box_corners": [ + [ + 15.697083711251738, + 0.2045207251952613 + ], + [ + 15.700607454906713, + 0.20245792732725681 + ], + [ + 15.698324566980709, + 0.09389520325982703 + ], + [ + 15.701848310635683, + 0.09183240539182257 + ], + [ + 15.542679442617985, + 0.2027690663489507 + ], + [ + 15.54620318627296, + 0.20070626848094625 + ], + [ + 15.543920298346954, + 0.09214354441351644 + ], + [ + 15.54744404200193, + 0.09008074654551197 + ] + ], + "yaw_rad": -3.1302485131646725, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155628204345703, + 0.09225831925868988, + 0.023517370223999023 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545089572821032, + 0.14644878920613197, + 0.11993579997496678 + ], + "intended_face_normal": [ + -0.999825692106548, + -0.011340123252687344, + 0.01482018219083713 + ], + "commanded_contact_point": [ + 15.132353782653809, + 0.12698623538017273, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.545062651997151, + 0.14732442038288263, + 0.1187914549548766 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155609130859375, + 0.09225068986415863, + 0.023517459630966187 + ], + "box_pose": [ + 15.618265151977539, + 0.14557062089443207, + 0.13603369891643524, + 0.00743439607322216, + -0.004240976646542549, + 0.9999474287033081, + -0.005638828966766596 + ], + "box_yaw_rad": -3.130251039643467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003530646024938917 + } + } + }, + { + "simulation_time_ns": 960000000, + "center": [ + 15.622234861234734, + 0.14727737287008152, + 0.11879451972535626 + ], + "face_center": [ + 15.545032428286753, + 0.1464019969248592, + 0.11990150257266173 + ], + "face_normal": [ + -0.9998331812330468, + -0.011336817800499086, + 0.014336312205829146 + ], + "footprint_xy": [ + [ + 15.542680738942284, + 0.0900342218750555 + ], + [ + 15.701788983527182, + 0.0900342218750555 + ], + [ + 15.701788983527182, + 0.20452052386510755 + ], + [ + 15.542680738942284, + 0.20452052386510755 + ] + ], + "projected_box_corners": [ + [ + 15.697085604838247, + 0.20452052386510755 + ], + [ + 15.7005488464236, + 0.20241032635167694 + ], + [ + 15.698325741941831, + 0.09389517127893074 + ], + [ + 15.701788983527182, + 0.09178497376550013 + ], + [ + 15.542680738942284, + 0.20276977197466292 + ], + [ + 15.546143980527637, + 0.2006595744612323 + ], + [ + 15.543920876045867, + 0.0921444193884861 + ], + [ + 15.54738411763122, + 0.0900342218750555 + ] + ], + "yaw_rad": -3.1302544301677173, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155640602111816, + 0.09225988388061523, + 0.023516088724136353 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545061742309956, + 0.14642490644723133, + 0.11992007674353297 + ], + "intended_face_normal": [ + -0.9998293137216752, + -0.01134269070200024, + 0.014590670063512877 + ], + "commanded_contact_point": [ + 15.132590293884277, + 0.12707988917827606, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.545035380870875, + 0.14730073587038664, + 0.1187934535744006 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155628204345703, + 0.09225831925868988, + 0.023517370223999023 + ], + "box_pose": [ + 15.618233680725098, + 0.14554347097873688, + 0.13603442907333374, + 0.007320198230445385, + -0.004340860061347485, + 0.9999479055404663, + -0.005639863200485706 + ], + "box_yaw_rad": -3.1302485131646725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000254378847460679 + } + } + }, + { + "simulation_time_ns": 980000000, + "center": [ + 15.622200695909147, + 0.14725003065916117, + 0.1187959320286855 + ], + "face_center": [ + 15.544997956939001, + 0.14637448082270738, + 0.11988061678994932 + ], + "face_normal": [ + -0.9998371444645393, + -0.011339069830863208, + 0.014047534178361343 + ], + "footprint_xy": [ + [ + 15.542680507312493, + 0.08997920975975363 + ], + [ + 15.701720884505798, + 0.08997920975975363 + ], + [ + 15.701720884505798, + 0.20452085155856875 + ], + [ + 15.542680507312493, + 0.20452085155856875 + ] + ], + "projected_box_corners": [ + [ + 15.697085985252784, + 0.20452085155856875 + ], + [ + 15.700480572521684, + 0.20235541997440457 + ], + [ + 15.6983262972369, + 0.09389574101682543 + ], + [ + 15.701720884505798, + 0.09173030943266125 + ], + [ + 15.542680507312493, + 0.2027697518856611 + ], + [ + 15.546075094581393, + 0.20060432030149694 + ], + [ + 15.54392081929661, + 0.09214464134391781 + ], + [ + 15.547315406565508, + 0.08997920975975363 + ] + ], + "yaw_rad": -3.13025222299961, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15565013885498, + 0.09225499629974365, + 0.023515254259109497 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545032428286753, + 0.1464019969248592, + 0.11990150257266173 + ], + "intended_face_normal": [ + -0.9998331812330468, + -0.011336817800499086, + 0.014336312205829146 + ], + "commanded_contact_point": [ + 15.132762908935547, + 0.12708109617233276, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.545006664210694, + 0.14727737287008152, + 0.11879451972535626 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155640602111816, + 0.09225988388061523, + 0.023516088724136353 + ], + "box_pose": [ + 15.618200302124023, + 0.14551673829555511, + 0.13603413105010986, + 0.007193548139184713, + -0.004438918083906174, + 0.9999484419822693, + -0.005636767949908972 + ], + "box_yaw_rad": -3.1302544301677173, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017261927368522392 + } + } + }, + { + "simulation_time_ns": 1000000000, + "center": [ + 15.622161420448109, + 0.14721870139220958, + 0.1187976949377324 + ], + "face_center": [ + 15.54495832982122, + 0.14634320794793562, + 0.11985733999352095 + ], + "face_normal": [ + -0.9998416987002816, + -0.01133833950708419, + 0.013723249989035895 + ], + "footprint_xy": [ + [ + 15.54267950254046, + 0.08991657152931887 + ], + [ + 15.701643338355757, + 0.08991657152931887 + ], + [ + 15.701643338355757, + 0.2045208312551003 + ], + [ + 15.54267950254046, + 0.2045208312551003 + ] + ], + "projected_box_corners": [ + [ + 15.697085683794235, + 0.2045208312551003 + ], + [ + 15.700403179354527, + 0.2022924085005386 + ], + [ + 15.698325842795464, + 0.09389598117242852 + ], + [ + 15.701643338355757, + 0.0916675584178668 + ], + [ + 15.54267950254046, + 0.20276984436655238 + ], + [ + 15.545996998100751, + 0.20054142161199065 + ], + [ + 15.54391966154169, + 0.0921449942838806 + ], + [ + 15.54723715710198, + 0.08991657152931887 + ] + ], + "yaw_rad": -3.1302530049958337, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155659675598145, + 0.09224437922239304, + 0.023514986038208008 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544997956939001, + 0.14637448082270738, + 0.11988061678994932 + ], + "intended_face_normal": [ + -0.9998371444645393, + -0.011339069830863208, + 0.014047534178361343 + ], + "commanded_contact_point": [ + 15.1328706741333, + 0.12700143456459045, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.544972805008184, + 0.14725003065916117, + 0.1187959320286855 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15565013885498, + 0.09225499629974365, + 0.023515254259109497 + ], + "box_pose": [ + 15.61816120147705, + 0.14548543095588684, + 0.13603398203849792, + 0.007049797102808952, + -0.004553238861262798, + 0.9999489188194275, + -0.005637723486870527 + ], + "box_yaw_rad": -3.13025222299961, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00013401234887330072 + } + } + }, + { + "simulation_time_ns": 1020000000, + "center": [ + 15.622116461986959, + 0.14718247384376332, + 0.1187993203605609 + ], + "face_center": [ + 15.54491300236239, + 0.14630710098536176, + 0.11982944156191552 + ], + "face_normal": [ + -0.99984647751501, + -0.011336777823704288, + 0.013340892488452674 + ], + "footprint_xy": [ + [ + 15.542679744993183, + 0.08984419974900631 + ], + [ + 15.701553178980733, + 0.08984419974900631 + ], + [ + 15.701553178980733, + 0.2045207479385203 + ], + [ + 15.542679744993183, + 0.2045207479385203 + ] + ], + "projected_box_corners": [ + [ + 15.697086664242319, + 0.2045207479385203 + ], + [ + 15.70031324536753, + 0.20221943432273803 + ], + [ + 15.69832659785552, + 0.09389625908159169 + ], + [ + 15.701553178980733, + 0.09159494546580942 + ], + [ + 15.542679744993183, + 0.2027700022217172 + ], + [ + 15.545906326118397, + 0.20046868860593492 + ], + [ + 15.543919678606386, + 0.09214551336478857 + ], + [ + 15.547146259731598, + 0.08984419974900631 + ] + ], + "yaw_rad": -3.1302546209119524, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155664443969727, + 0.09222929179668427, + 0.023515164852142334 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54495832982122, + 0.14634320794793562, + 0.11985733999352095 + ], + "intended_face_normal": [ + -0.9998416987002816, + -0.01133833950708419, + 0.013723249989035895 + ], + "commanded_contact_point": [ + 15.132926940917969, + 0.12685292959213257, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 15.544933881316853, + 0.14721870139220958, + 0.1187976949377324 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155659675598145, + 0.09224437922239304, + 0.023514986038208008 + ], + "box_pose": [ + 15.61811637878418, + 0.14544959366321564, + 0.13603398203849792, + 0.0068883756175637245, + -0.004683617502450943, + 0.9999494552612305, + -0.005637192167341709 + ], + "box_yaw_rad": -3.1302530049958337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00015880704683241727 + } + } + }, + { + "simulation_time_ns": 1040000000, + "center": [ + 15.622065790028378, + 0.1471405832196809, + 0.11880153659578618 + ], + "face_center": [ + 15.544861878633371, + 0.14626494431481146, + 0.11979774976039981 + ], + "face_normal": [ + -0.9998523283031031, + -0.011340223337999389, + 0.01290175632460977 + ], + "footprint_xy": [ + [ + 15.542680642833856, + 0.08975970084303556 + ], + [ + 15.7014509372229, + 0.08975970084303556 + ], + [ + 15.7014509372229, + 0.20452146559632628 + ], + [ + 15.542680642833856, + 0.20452146559632628 + ] + ], + "projected_box_corners": [ + [ + 15.697088465623867, + 0.20452146559632628 + ], + [ + 15.700210659616927, + 0.20213509392704296 + ], + [ + 15.69832874322984, + 0.09389735032205776 + ], + [ + 15.7014509372229, + 0.09151097865277442 + ], + [ + 15.542680642833856, + 0.2027701877865874 + ], + [ + 15.545802836826915, + 0.20038381611730408 + ], + [ + 15.543920920439827, + 0.09214607251231888 + ], + [ + 15.547043114432887, + 0.08975970084303556 + ] + ], + "yaw_rad": -3.1302512416724158, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156490325927734, + 0.09110287576913834, + 0.026531845331192017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54491300236239, + 0.14630710098536176, + 0.11982944156191552 + ], + "intended_face_normal": [ + -0.99984647751501, + -0.011336777823704288, + 0.013340892488452674 + ], + "commanded_contact_point": [ + 15.13293743133545, + 0.12664806842803955, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 15.54488929196847, + 0.14718247384376332, + 0.1187993203605609 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155664443969727, + 0.09222929179668427, + 0.023515164852142334 + ], + "box_pose": [ + 15.618064880371094, + 0.14540815353393555, + 0.1360335350036621, + 0.006698030047118664, + -0.004834465216845274, + 0.9999499320983887, + -0.005636289715766907 + ], + "box_yaw_rad": -3.1302546209119524, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002051295820023548 + } + } + }, + { + "simulation_time_ns": 1060000000, + "center": [ + 15.622006680488425, + 0.14709214970805792, + 0.11880396001822226 + ], + "face_center": [ + 15.544802267712274, + 0.14621596428528705, + 0.11976126689956335 + ], + "face_normal": [ + -0.9998588215894519, + -0.011347301181418601, + 0.012397888875243833 + ], + "footprint_xy": [ + [ + 15.542680524809837, + 0.08966239064843817 + ], + [ + 15.701332836167012, + 0.08966239064843817 + ], + [ + 15.701332836167012, + 0.20452190876767767 + ], + [ + 15.542680524809837, + 0.20452190876767767 + ] + ], + "projected_box_corners": [ + [ + 15.697089350362138, + 0.20452190876767767 + ], + [ + 15.700091773416796, + 0.20203843529821525 + ], + [ + 15.698330413112354, + 0.09389823496344234 + ], + [ + 15.701332836167012, + 0.0914147614939799 + ], + [ + 15.542680524809837, + 0.20276953792213592 + ], + [ + 15.545682947864496, + 0.2002860644526735 + ], + [ + 15.543921587560053, + 0.0921458641179006 + ], + [ + 15.546924010614712, + 0.08966239064843817 + ] + ], + "yaw_rad": -3.130244237387787, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.154980659484863, + 0.08472196757793427, + 0.043204545974731445 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544861878633371, + 0.14626494431481146, + 0.11979774976039981 + ], + "intended_face_normal": [ + -0.9998523283031031, + -0.011340223337999389, + 0.01290175632460977 + ], + "commanded_contact_point": [ + 15.132636070251465, + 0.1265825778245926, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.54483907191643, + 0.1471405832196809, + 0.11880153659578618 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156490325927734, + 0.09110287576913834, + 0.026531845331192017 + ], + "box_pose": [ + 15.618006706237793, + 0.14536015689373016, + 0.13603335618972778, + 0.006479447707533836, + -0.005010530352592468, + 0.9999505281448364, + -0.0056379251182079315 + ], + "box_yaw_rad": -3.1302512416724158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003083950769189796 + } + } + }, + { + "simulation_time_ns": 1080000000, + "center": [ + 15.62193922813657, + 0.14703799061140646, + 0.11880646870958725 + ], + "face_center": [ + 15.544734295608675, + 0.1461610949379707, + 0.11971944664156386 + ], + "face_normal": [ + -0.9998655527897744, + -0.011356499494925662, + 0.01182379356799283 + ], + "footprint_xy": [ + [ + 15.542680248501487, + 0.08955308944854735 + ], + [ + 15.701198207771656, + 0.08955308944854735 + ], + [ + 15.701198207771656, + 0.20452289177426558 + ], + [ + 15.542680248501487, + 0.20452289177426558 + ] + ], + "projected_box_corners": [ + [ + 15.697090113557278, + 0.20452289177426558 + ], + [ + 15.699956063946463, + 0.20192999598987513 + ], + [ + 15.69833225738247, + 0.09389977657980933 + ], + [ + 15.701198207771656, + 0.0913068807954189 + ], + [ + 15.542680248501487, + 0.20276910042739402 + ], + [ + 15.545546198890671, + 0.2001762046430036 + ], + [ + 15.543922392326678, + 0.0921459852329378 + ], + [ + 15.546788342715864, + 0.08955308944854735 + ] + ], + "yaw_rad": -3.130235115415273, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.143973350524902, + 0.08347858488559723, + 0.05141568183898926 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544802267712274, + 0.14621596428528705, + 0.11976126689956335 + ], + "intended_face_normal": [ + -0.9998588215894519, + -0.011347301181418601, + 0.012397888875243833 + ], + "commanded_contact_point": [ + 15.1318359375, + 0.12627831101417542, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.544780463902477, + 0.14709214970805792, + 0.11880396001822226 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.154980659484863, + 0.08472196757793427, + 0.043204545974731445 + ], + "box_pose": [ + 15.617938995361328, + 0.14530473947525024, + 0.13603302836418152, + 0.006228649523109198, + -0.0052115279249846935, + 0.9999511241912842, + -0.005641465540975332 + ], + "box_yaw_rad": -3.130244237387787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008560319574117471 + } + } + }, + { + "simulation_time_ns": 1100000000, + "center": [ + 15.621861979327315, + 0.14697653903387098, + 0.11880874615537924 + ], + "face_center": [ + 15.544656434695755, + 0.14610012903330014, + 0.11967007659780045 + ], + "face_normal": [ + -0.9998734800212343, + -0.011350209643336023, + 0.011154917318721317 + ], + "footprint_xy": [ + [ + 15.542682192003324, + 0.08942970133784364 + ], + [ + 15.701041766651306, + 0.08942970133784364 + ], + [ + 15.701041766651306, + 0.20452337672989832 + ], + [ + 15.542682192003324, + 0.20452337672989832 + ] + ], + "projected_box_corners": [ + [ + 15.697093281266449, + 0.20452337672989832 + ], + [ + 15.699800161793597, + 0.2018050226487652 + ], + [ + 15.698334886124158, + 0.09390087542011837 + ], + [ + 15.701041766651306, + 0.09118252133898527 + ], + [ + 15.542682192003324, + 0.20277055672875666 + ], + [ + 15.545389072530474, + 0.20005220264762358 + ], + [ + 15.543923796861034, + 0.09214805541897672 + ], + [ + 15.546630677388183, + 0.08942970133784364 + ] + ], + "yaw_rad": -3.130241495289282, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.137389183044434, + 0.08908972144126892, + 0.05456143617630005 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544734295608675, + 0.1461610949379707, + 0.11971944664156386 + ], + "intended_face_normal": [ + -0.9998655527897744, + -0.011356499494925662, + 0.01182379356799283 + ], + "commanded_contact_point": [ + 15.132657051086426, + 0.12490613758563995, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.544713531445655, + 0.14703799061140646, + 0.11880646870958725 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.143973350524902, + 0.08347858488559723, + 0.05141568183898926 + ], + "box_pose": [ + 15.6178617477417, + 0.14524270594120026, + 0.13603240251541138, + 0.005942888557910919, + -0.005438013933598995, + 0.9999516010284424, + -0.005646205507218838 + ], + "box_yaw_rad": -3.130235115415273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015990895659457828 + } + } + }, + { + "simulation_time_ns": 1120000000, + "center": [ + 15.621768497126176, + 0.14690583741448443, + 0.11881096011665669 + ], + "face_center": [ + 15.544562326422298, + 0.14603040539420892, + 0.11961215387932157 + ], + "face_normal": [ + -0.9998815881578982, + -0.011337544017234302, + 0.010376099274605189 + ], + "footprint_xy": [ + [ + 15.54268127053866, + 0.08928888904542626 + ], + [ + 15.700855723713692, + 0.08928888904542626 + ], + [ + 15.700855723713692, + 0.2045227857835426 + ], + [ + 15.54268127053866, + 0.2045227857835426 + ] + ], + "projected_box_corners": [ + [ + 15.69709361194642, + 0.2045227857835426 + ], + [ + 15.699615225901928, + 0.20166145680393396 + ], + [ + 15.698334109758184, + 0.09390108206558587 + ], + [ + 15.700855723713692, + 0.09103975308597723 + ], + [ + 15.54268127053866, + 0.2027719217429916 + ], + [ + 15.54520288449417, + 0.19991059276338297 + ], + [ + 15.543921768350426, + 0.09215021802503488 + ], + [ + 15.546443382305934, + 0.08928888904542626 + ] + ], + "yaw_rad": -3.1302542528248303, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.138639450073242, + 0.09366331994533539, + 0.059223175048828125 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544656434695755, + 0.14610012903330014, + 0.11967007659780045 + ], + "intended_face_normal": [ + -0.9998734800212343, + -0.011350209643336023, + 0.011154917318721317 + ], + "commanded_contact_point": [ + 15.134354591369629, + 0.1235864907503128, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.544636894899835, + 0.14697653903387098, + 0.11880874615537924 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137389183044434, + 0.08908972144126892, + 0.05456143617630005 + ], + "box_pose": [ + 15.617773056030273, + 0.14517229795455933, + 0.13603103160858154, + 0.00560988113284111, + -0.005697611719369888, + 0.9999521374702454, + -0.005643412005156279 + ], + "box_yaw_rad": -3.130241495289282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002150142037899314 + } + } + }, + { + "simulation_time_ns": 1140000000, + "center": [ + 15.621663693559059, + 0.14682014050438624, + 0.11881464140087412 + ], + "face_center": [ + 15.544456821602974, + 0.1459445678897816, + 0.11954636826640055 + ], + "face_normal": [ + -0.9998906699341681, + -0.011339364826113125, + 0.009476447461777839 + ], + "footprint_xy": [ + [ + 15.542682386579976, + 0.08911700872181286 + ], + [ + 15.700645000538142, + 0.08911700872181286 + ], + [ + 15.700645000538142, + 0.20452327228695963 + ], + [ + 15.542682386579976, + 0.20452327228695963 + ] + ], + "projected_box_corners": [ + [ + 15.697096130492145, + 0.20452327228695963 + ], + [ + 15.699403870278266, + 0.20148889350809718 + ], + [ + 15.698337260752021, + 0.09390253272988461 + ], + [ + 15.700645000538142, + 0.09086815395102214 + ], + [ + 15.542682386579976, + 0.20277212705775033 + ], + [ + 15.544990126366097, + 0.19973774827888788 + ], + [ + 15.543923516839852, + 0.09215138750067531 + ], + [ + 15.546231256625973, + 0.08911700872181286 + ] + ], + "yaw_rad": -3.1302525350262433, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.142593383789062, + 0.09723877906799316, + 0.06352287530899048 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544562326422298, + 0.14603040539420892, + 0.11961215387932157 + ], + "intended_face_normal": [ + -0.9998815881578982, + -0.011337544017234302, + 0.010376099274605189 + ], + "commanded_contact_point": [ + 15.135781288146973, + 0.12300831079483032, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.544544038924387, + 0.14690583741448443, + 0.11881096011665669 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138639450073242, + 0.09366331994533539, + 0.059223175048828125 + ], + "box_pose": [ + 15.617666244506836, + 0.14509141445159912, + 0.13602900505065918, + 0.005222087260335684, + -0.00599339883774519, + 0.9999524354934692, + -0.00563774211332202 + ], + "box_yaw_rad": -3.1302542528248303, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015394011028379334 + } + } + }, + { + "simulation_time_ns": 1160000000, + "center": [ + 15.621540354075579, + 0.1467228757855039, + 0.11881855077141741 + ], + "face_center": [ + 15.544332746168763, + 0.14584800372497558, + 0.11946982137861122 + ], + "face_normal": [ + -0.9999002010840565, + -0.011330292091173956, + 0.008434474642436485 + ], + "footprint_xy": [ + [ + 15.542682355106695, + 0.0889222339974104 + ], + [ + 15.700398353044463, + 0.0889222339974104 + ], + [ + 15.700398353044463, + 0.20452351757359735 + ], + [ + 15.542682355106695, + 0.20452351757359735 + ] + ], + "projected_box_corners": [ + [ + 15.697097570920326, + 0.20452351757359735 + ], + [ + 15.699157538580186, + 0.20129154935175347 + ], + [ + 15.698338385384604, + 0.09390394634031085 + ], + [ + 15.700398353044463, + 0.09067197811846696 + ], + [ + 15.542682355106695, + 0.2027737734525408 + ], + [ + 15.544742322766554, + 0.1995418052306969 + ], + [ + 15.543923169570972, + 0.0921542022192543 + ], + [ + 15.545983137230833, + 0.0889222339974104 + ] + ], + "yaw_rad": -3.1302617155867636, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.145925521850586, + 0.103237085044384, + 0.06755584478378296 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544456821602974, + 0.1459445678897816, + 0.11954636826640055 + ], + "intended_face_normal": [ + -0.9998906699341681, + -0.011339364826113125, + 0.009476447461777839 + ], + "commanded_contact_point": [ + 15.136691093444824, + 0.12263672053813934, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.544439936769207, + 0.14682014050438624, + 0.11881464140087412 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.142593383789062, + 0.09723877906799316, + 0.06352287530899048 + ], + "box_pose": [ + 15.617546081542969, + 0.14499332010746002, + 0.13602770864963531, + 0.004774271044880152, + -0.006351575721055269, + 0.999952495098114, + -0.005639626178890467 + ], + "box_yaw_rad": -3.1302525350262433, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009827639588834726 + } + } + }, + { + "simulation_time_ns": 1180000000, + "center": [ + 15.621401583924543, + 0.14661101959818867, + 0.11882290914997241 + ], + "face_center": [ + 15.544193267485237, + 0.14573578402812284, + 0.11938139520555999 + ], + "face_normal": [ + -0.9999093771458376, + -0.011334999830081221, + 0.007232840576522424 + ], + "footprint_xy": [ + [ + 15.54268494313761, + 0.088696570721786 + ], + [ + 15.700118224711478, + 0.088696570721786 + ], + [ + 15.700118224711478, + 0.20452546847459133 + ], + [ + 15.54268494313761, + 0.20452546847459133 + ] + ], + "projected_box_corners": [ + [ + 15.697101576016223, + 0.20452546847459133 + ], + [ + 15.698875864918108, + 0.2010651173880578 + ], + [ + 15.698343935809593, + 0.09390739294845116 + ], + [ + 15.700118224711478, + 0.09044704186191763 + ], + [ + 15.54268494313761, + 0.2027749973344597 + ], + [ + 15.544459232039495, + 0.19931464624792616 + ], + [ + 15.54392730293098, + 0.09215692180831953 + ], + [ + 15.545701591832865, + 0.088696570721786 + ] + ], + "yaw_rad": -3.1302571119997955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.144794464111328, + 0.11030711233615875, + 0.06860470771789551 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544332746168763, + 0.14584800372497558, + 0.11946982137861122 + ], + "intended_face_normal": [ + -0.9999002010840565, + -0.011330292091173956, + 0.008434474642436485 + ], + "commanded_contact_point": [ + 15.137181282043457, + 0.12171446532011032, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.54431733339039, + 0.1467228757855039, + 0.11881855077141741 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.145925521850586, + 0.103237085044384, + 0.06755584478378296 + ], + "box_pose": [ + 15.61740493774414, + 0.1448819488286972, + 0.13602584600448608, + 0.004255547188222408, + -0.006760481279343367, + 0.9999521970748901, + -0.005636645946651697 + ], + "box_yaw_rad": -3.1302617155867636, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010444326460482775 + } + } + }, + { + "simulation_time_ns": 1200000000, + "center": [ + 15.621239999699386, + 0.14648344437846042, + 0.11882717575172554 + ], + "face_center": [ + 15.544030973014012, + 0.1456081315255693, + 0.11927958227895313 + ], + "face_normal": [ + -0.9999185753997994, + -0.011336000704407623, + 0.005859025940715372 + ], + "footprint_xy": [ + [ + 15.542685170991586, + 0.08844007639705417 + ], + [ + 15.699794828407184, + 0.08844007639705417 + ], + [ + 15.699794828407184, + 0.2045268123598667 + ], + [ + 15.542685170991586, + 0.2045268123598667 + ] + ], + "projected_box_corners": [ + [ + 15.697103224362333, + 0.2045268123598667 + ], + [ + 15.698550875371094, + 0.2008070092924812 + ], + [ + 15.698347177398423, + 0.09391050517022191 + ], + [ + 15.699794828407184, + 0.0901907021028364 + ], + [ + 15.542685170991586, + 0.20277618665408448 + ], + [ + 15.544132822000346, + 0.19905638358669897 + ], + [ + 15.543929124027677, + 0.09215987946443968 + ], + [ + 15.545376775036436, + 0.08844007639705417 + ] + ], + "yaw_rad": -3.1302562154393363, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.140410423278809, + 0.11544498801231384, + 0.06738141179084778 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544193267485237, + 0.14573578402812284, + 0.11938139520555999 + ], + "intended_face_normal": [ + -0.9999093771458376, + -0.011334999830081221, + 0.007232840576522424 + ], + "commanded_contact_point": [ + 15.137434005737305, + 0.12013640999794006, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.544179271906785, + 0.14661101959818867, + 0.11882290914997241 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.144794464111328, + 0.11030711233615875, + 0.06860470771789551 + ], + "box_pose": [ + 15.6172456741333, + 0.14475372433662415, + 0.13602350652217865, + 0.003657403402030468, + -0.007233159616589546, + 0.999951183795929, + -0.0056413207203149796 + ], + "box_yaw_rad": -3.1302571119997955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015981639046574847 + } + } + }, + { + "simulation_time_ns": 1220000000, + "center": [ + 15.621052749633373, + 0.1463355297614844, + 0.1188312276293393 + ], + "face_center": [ + 15.543843089104929, + 0.1454603682628556, + 0.1191598582590556 + ], + "face_normal": [ + -0.9999267841739243, + -0.01133404054579836, + 0.004256029187334913 + ], + "footprint_xy": [ + [ + 15.542686897755992, + 0.08814298003695435 + ], + [ + 15.699418601510754, + 0.08814298003695435 + ], + [ + 15.699418601510754, + 0.20452807948601442 + ], + [ + 15.542686897755992, + 0.20452807948601442 + ] + ], + "projected_box_corners": [ + [ + 15.69710621881288, + 0.20452807948601442 + ], + [ + 15.698172720876919, + 0.20050738221463468 + ], + [ + 15.698352099446716, + 0.09391400030559166 + ], + [ + 15.699418601510754, + 0.08989330303421192 + ], + [ + 15.542686897755992, + 0.20277775648875684 + ], + [ + 15.54375339982003, + 0.19875705921737713 + ], + [ + 15.543932778389827, + 0.0921636773083341 + ], + [ + 15.544999280453865, + 0.08814298003695435 + ] + ], + "yaw_rad": -3.130258268546702, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.136958122253418, + 0.1155223473906517, + 0.06661850214004517 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544030973014012, + 0.1456081315255693, + 0.11927958227895313 + ], + "intended_face_normal": [ + -0.9999185753997994, + -0.011336000704407623, + 0.005859025940715372 + ], + "commanded_contact_point": [ + 15.137282371520996, + 0.11831355094909668, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 15.544018398049907, + 0.14648344437846042, + 0.11882717575172554 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140410423278809, + 0.11544498801231384, + 0.06738141179084778 + ], + "box_pose": [ + 15.617060661315918, + 0.1446075737476349, + 0.13602007925510406, + 0.0029735269490629435, + -0.0077701108530163765, + 0.9999494552612305, + -0.005645181052386761 + ], + "box_yaw_rad": -3.1302562154393363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018291550100055023 + } + } + }, + { + "simulation_time_ns": 1240000000, + "center": [ + 15.62083604314269, + 0.14616430861726454, + 0.11883562439490075 + ], + "face_center": [ + 15.543625930763447, + 0.1452886661997526, + 0.11902252292755487 + ], + "face_normal": [ + -0.9999326360027443, + -0.011340268829526132, + 0.002420485305136299 + ], + "footprint_xy": [ + [ + 15.54268607771531, + 0.0877990517356722 + ], + [ + 15.698986008570072, + 0.0877990517356722 + ], + [ + 15.698986008570072, + 0.20452956549885687 + ], + [ + 15.54268607771531, + 0.20452956549885687 + ] + ], + "projected_box_corners": [ + [ + 15.697106302473797, + 0.20452956549885687 + ], + [ + 15.697736446700237, + 0.20016158432277142 + ], + [ + 15.69835586434363, + 0.09391831774678158 + ], + [ + 15.698986008570072, + 0.08955033657069612 + ], + [ + 15.54268607771531, + 0.20277828066383297 + ], + [ + 15.543316221941751, + 0.1984102994877475 + ], + [ + 15.543935639585145, + 0.09216703291175768 + ], + [ + 15.544565783811585, + 0.0877990517356722 + ] + ], + "yaw_rad": -3.1302521069696394, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135035514831543, + 0.11137492209672928, + 0.06597386300563812 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543843089104929, + 0.1454603682628556, + 0.1191598582590556 + ], + "intended_face_normal": [ + -0.9999267841739243, + -0.01133404054579836, + 0.004256029187334913 + ], + "commanded_contact_point": [ + 15.13672161102295, + 0.1163879856467247, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 15.543831781924993, + 0.1463355297614844, + 0.1188312276293393 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.136958122253418, + 0.1155223473906517, + 0.06661850214004517 + ], + "box_pose": [ + 15.616846084594727, + 0.14443813264369965, + 0.13601510226726532, + 0.002175542525947094, + -0.00839280430227518, + 0.9999464750289917, + -0.005649063736200333 + ], + "box_yaw_rad": -3.130258268546702, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002005555800736711 + } + } + }, + { + "simulation_time_ns": 1260000000, + "center": [ + 15.620588021126181, + 0.14596785631943762, + 0.1188397849210938 + ], + "face_center": [ + 15.543377686276928, + 0.14509203566008252, + 0.11886253720819615 + ], + "face_normal": [ + -0.999935517167112, + -0.01134257720378661, + 0.0002946602940505066 + ], + "footprint_xy": [ + [ + 15.542688303378764, + 0.08740448978371958 + ], + [ + 15.6984877388736, + 0.08740448978371958 + ], + [ + 15.6984877388736, + 0.20453122285515568 + ], + [ + 15.542688303378764, + 0.20453122285515568 + ] + ], + "projected_box_corners": [ + [ + 15.697108973077274, + 0.20453122285515568 + ], + [ + 15.697233729187626, + 0.19976387054721786 + ], + [ + 15.698362982763246, + 0.0939234834103676 + ], + [ + 15.6984877388736, + 0.08915613110242979 + ], + [ + 15.542688303378764, + 0.20277958153644549 + ], + [ + 15.542813059489118, + 0.19801222922850767 + ], + [ + 15.543942313064736, + 0.09217184209165738 + ], + [ + 15.54406706917509, + 0.08740448978371958 + ] + ], + "yaw_rad": -3.130249831416744, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.132674217224121, + 0.1067507266998291, + 0.06461988389492035 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543625930763447, + 0.1452886661997526, + 0.11902252292755487 + ], + "intended_face_normal": [ + -0.9999326360027443, + -0.011340268829526132, + 0.002420485305136299 + ], + "commanded_contact_point": [ + 15.13586139678955, + 0.11417204886674881, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.543615527348638, + 0.14616430861726454, + 0.11883562439490075 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135035514831543, + 0.11137492209672928, + 0.06597386300563812 + ], + "box_pose": [ + 15.616598129272461, + 0.1442420333623886, + 0.13600905239582062, + 0.0012618782930076122, + -0.009111558087170124, + 0.9999416470527649, + -0.005658966954797506 + ], + "box_yaw_rad": -3.1302521069696394, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023770452972547798 + } + } + }, + { + "simulation_time_ns": 1280000000, + "center": [ + 15.620303955249012, + 0.1457412621090543, + 0.11884383846177575 + ], + "face_center": [ + 15.543093777912876, + 0.14486553623282894, + 0.11867976247838047 + ], + "face_normal": [ + -0.9999334772463775, + -0.011341349686537027, + -0.0021249150600291334 + ], + "footprint_xy": [ + [ + 15.54223877782679, + 0.08695138155186286 + ], + [ + 15.698369132671232, + 0.08695138155186286 + ], + [ + 15.698369132671232, + 0.20453114266624572 + ], + [ + 15.54223877782679, + 0.20453114266624572 + ] + ], + "projected_box_corners": [ + [ + 15.697109542477227, + 0.20453114266624572 + ], + [ + 15.696659132499061, + 0.19930619572364028 + ], + [ + 15.698369132671232, + 0.093927780246919 + ], + [ + 15.697918722693066, + 0.08870283330431353 + ], + [ + 15.542689187804957, + 0.20277969091379505 + ], + [ + 15.54223877782679, + 0.19755474397118958 + ], + [ + 15.543948777998962, + 0.0921763284944683 + ], + [ + 15.543498368020796, + 0.08695138155186286 + ] + ], + "yaw_rad": -3.130251035719725, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.12819766998291, + 0.10251705348491669, + 0.060872435569763184 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543377686276928, + 0.14509203566008252, + 0.11886253720819615 + ], + "intended_face_normal": [ + -0.999935517167112, + -0.01134257720378661, + 0.0002946602940505066 + ], + "commanded_contact_point": [ + 15.134825706481934, + 0.11118119955062866, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.543367727831475, + 0.14596785631943762, + 0.1188397849210938 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132674217224121, + 0.1067507266998291, + 0.06461988389492035 + ], + "box_pose": [ + 15.616313934326172, + 0.14401699602603912, + 0.13600102066993713, + 0.00020368874538689852, + -0.009938073344528675, + 0.9999344944953918, + -0.005669635720551014 + ], + "box_yaw_rad": -3.130249831416744, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031650962144471615 + } + } + }, + { + "simulation_time_ns": 1300000000, + "center": [ + 15.619979125186315, + 0.14549514438871874, + 0.11885174183825331 + ], + "face_center": [ + 15.542769663753987, + 0.14462166146395453, + 0.11847385499860627 + ], + "face_normal": [ + -0.9999242057201918, + -0.011312301673293189, + -0.00489393645514993 + ], + "footprint_xy": [ + [ + 15.541583094296007, + 0.08646107714319472 + ], + [ + 15.698375156076626, + 0.08646107714319472 + ], + [ + 15.698375156076626, + 0.20452921163424276 + ], + [ + 15.541583094296007, + 0.20452921163424276 + ] + ], + "projected_box_corners": [ + [ + 15.697111052836842, + 0.20452921163424276 + ], + [ + 15.696002017160666, + 0.19880621197293621 + ], + [ + 15.698375156076626, + 0.09393104265402968 + ], + [ + 15.697266120400451, + 0.08820804299272315 + ], + [ + 15.542692129972181, + 0.20278224578471432 + ], + [ + 15.541583094296007, + 0.19705924612340778 + ], + [ + 15.543956233211967, + 0.09218407680450125 + ], + [ + 15.54284719753579, + 0.08646107714319472 + ] + ], + "yaw_rad": -3.1302799770546055, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.123848915100098, + 0.09980195760726929, + 0.06264263391494751 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543093777912876, + 0.14486553623282894, + 0.11867976247838047 + ], + "intended_face_normal": [ + -0.9999334772463775, + -0.011341349686537027, + -0.0021249150600291334 + ], + "commanded_contact_point": [ + 15.134246826171875, + 0.10807661712169647, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.543083504420549, + 0.1457412621090543, + 0.11884383846177575 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12819766998291, + 0.10251705348491669, + 0.060872435569763184 + ], + "box_pose": [ + 15.615988731384277, + 0.1437576711177826, + 0.13599102199077606, + -0.0010006841039285064, + -0.010885140858590603, + 0.9999241232872009, + -0.005681998562067747 + ], + "box_yaw_rad": -3.130251035719725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031580903206031396 + } + } + }, + { + "simulation_time_ns": 1320000000, + "center": [ + 15.619631872088934, + 0.14523661840017577, + 0.11886070849068432 + ], + "face_center": [ + 15.542423823360863, + 0.14436663567813768, + 0.11825380606434217 + ], + "face_normal": [ + -0.9999059100714935, + -0.01126697125178967, + -0.007859871256085739 + ], + "footprint_xy": [ + [ + 15.540882141209321, + 0.08594632060532534 + ], + [ + 15.698381602968547, + 0.08594632060532534 + ], + [ + 15.698381602968547, + 0.2045269161950262 + ], + [ + 15.540882141209321, + 0.2045269161950262 + ] + ], + "projected_box_corners": [ + [ + 15.69711287112754, + 0.2045269161950262 + ], + [ + 15.695298238665467, + 0.19827847497438733 + ], + [ + 15.698381602968547, + 0.09393472727004039 + ], + [ + 15.696566970506474, + 0.08768628604940151 + ], + [ + 15.542696773671395, + 0.20278695075095002 + ], + [ + 15.540882141209321, + 0.19653850953031116 + ], + [ + 15.543965505512404, + 0.09219476182596421 + ], + [ + 15.54215087305033, + 0.08594632060532534 + ] + ], + "yaw_rad": -3.130325098988543, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.120704650878906, + 0.0990418866276741, + 0.06958609819412231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542769663753987, + 0.14462166146395453, + 0.11847385499860627 + ], + "intended_face_normal": [ + -0.9999242057201918, + -0.011312301673293189, + -0.00489393645514993 + ], + "commanded_contact_point": [ + 15.134381294250488, + 0.1049661636352539, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.542757958352151, + 0.14549514438871874, + 0.11885174183825331 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.123848915100098, + 0.09980195760726929, + 0.06264263391494751 + ], + "box_pose": [ + 15.615616798400879, + 0.14347605407238007, + 0.13598285615444183, + -0.0023794418666511774, + -0.011915602721273899, + 0.9999100565910339, + -0.005685014650225639 + ], + "box_yaw_rad": -3.1302799770546055, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003113358725804685 + } + } + }, + { + "simulation_time_ns": 1340000000, + "center": [ + 15.619399863057648, + 0.14501146652853397, + 0.118891426259888 + ], + "face_center": [ + 15.542193167987639, + 0.14414265571633145, + 0.11813341888133043 + ], + "face_normal": [ + -0.9998883791181665, + -0.01125179408321788, + -0.009816801100193277 + ], + "footprint_xy": [ + [ + 15.540416418830585, + 0.08549845385263932 + ], + [ + 15.69838330728471, + 0.08549845385263932 + ], + [ + 15.69838330728471, + 0.20452447920442862 + ], + [ + 15.540416418830585, + 0.20452447920442862 + ] + ], + "projected_box_corners": [ + [ + 15.697108645891808, + 0.20452447920442862 + ], + [ + 15.694829808970601, + 0.19782259165289898 + ], + [ + 15.69838330728471, + 0.09393796302857405 + ], + [ + 15.696104470363503, + 0.08723607547704439 + ], + [ + 15.542695255751791, + 0.20278685758002357 + ], + [ + 15.540416418830585, + 0.19608497002849393 + ], + [ + 15.543969917144693, + 0.092200341404169 + ], + [ + 15.541691080223487, + 0.08549845385263932 + ] + ], + "yaw_rad": -3.1303400783906223, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.122052192687988, + 0.09880773723125458, + 0.07702076435089111 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542423823360863, + 0.14436663567813768, + 0.11825380606434217 + ], + "intended_face_normal": [ + -0.9999059100714935, + -0.01126697125178967, + -0.007859871256085739 + ], + "commanded_contact_point": [ + 15.134994506835938, + 0.10157676786184311, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.542409292310486, + 0.14523661840017577, + 0.11886070849068432 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.120704650878906, + 0.0990418866276741, + 0.06958609819412231 + ], + "box_pose": [ + 15.615219116210938, + 0.14318014681339264, + 0.1359744518995285, + -0.0038564419373869896, + -0.013002684339880943, + 0.9998919367790222, + -0.005684243980795145 + ], + "box_yaw_rad": -3.130325098988543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003444420616686712 + } + } + }, + { + "simulation_time_ns": 1360000000, + "center": [ + 15.619405759600241, + 0.14499916765882784, + 0.11889938522297773 + ], + "face_center": [ + 15.542199004085036, + 0.14413028151634816, + 0.1181447928729201 + ], + "face_normal": [ + -0.9998891619317505, + -0.011252769670485756, + -0.009772573752961932 + ], + "footprint_xy": [ + [ + 15.540427665434102, + 0.0854736831671913 + ], + [ + 15.698383853766382, + 0.0854736831671913 + ], + [ + 15.698383853766382, + 0.20452465215046436 + ], + [ + 15.540427665434102, + 0.20452465215046436 + ] + ], + "projected_box_corners": [ + [ + 15.697109111269826, + 0.20452465215046436 + ], + [ + 15.69484117646451, + 0.19779768645292248 + ], + [ + 15.698383853766382, + 0.0939384211496925 + ], + [ + 15.696115918961066, + 0.08721145545215063 + ], + [ + 15.542695600239417, + 0.20278687986550503 + ], + [ + 15.540427665434102, + 0.19605991416796315 + ], + [ + 15.543970342735971, + 0.09220064886473317 + ], + [ + 15.541702407930655, + 0.0854736831671913 + ] + ], + "yaw_rad": -3.13033911162766, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.126533508300781, + 0.09489065408706665, + 0.07958255708217621 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542193167987639, + 0.14414265571633145, + 0.11813341888133043 + ], + "intended_face_normal": [ + -0.9998883791181665, + -0.01125179408321788, + -0.009816801100193277 + ], + "commanded_contact_point": [ + 15.136028289794922, + 0.09837409853935242, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.54217592934263, + 0.14501146652853397, + 0.118891426259888 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.122052192687988, + 0.09880773723125458, + 0.07702076435089111 + ], + "box_pose": [ + 15.614953994750977, + 0.14292263984680176, + 0.13599267601966858, + -0.004829616751521826, + -0.013942532241344452, + 0.9998748898506165, + -0.005693946499377489 + ], + "box_yaw_rad": -3.1303400783906223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003365382295762783 + } + } + }, + { + "simulation_time_ns": 1380000000, + "center": [ + 15.619436513164091, + 0.14501068929271163, + 0.11890423073311202 + ], + "face_center": [ + 15.54222957112452, + 0.14414085253406012, + 0.11817007431708199 + ], + "face_normal": [ + -0.9998915775712838, + -0.011265080909328175, + -0.009507912081689959 + ], + "footprint_xy": [ + [ + 15.540489654997055, + 0.08549540612955558 + ], + [ + 15.698383371331127, + 0.08549540612955558 + ], + [ + 15.698383371331127, + 0.2045259724558677 + ], + [ + 15.540489654997055, + 0.2045259724558677 + ] + ], + "projected_box_corners": [ + [ + 15.69710818109742, + 0.2045259724558677 + ], + [ + 15.694903539076194, + 0.19782158724780427 + ], + [ + 15.698383371331127, + 0.09393946485492205 + ], + [ + 15.696178729309901, + 0.08723507964685862 + ], + [ + 15.542694297018281, + 0.20278629893856465 + ], + [ + 15.540489654997055, + 0.1960819137305012 + ], + [ + 15.543969487251989, + 0.092199791337619 + ], + [ + 15.541764845230762, + 0.08549540612955558 + ] + ], + "yaw_rad": -3.1303268277999363, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.131840705871582, + 0.09032732248306274, + 0.07881346344947815 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542199004085036, + 0.14413028151634816, + 0.1181447928729201 + ], + "intended_face_normal": [ + -0.9998891619317505, + -0.011252769670485756, + -0.009772573752961932 + ], + "commanded_contact_point": [ + 15.136833190917969, + 0.09598377346992493, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.542181886343869, + 0.14499916765882784, + 0.11889938522297773 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.126533508300781, + 0.09489065408706665, + 0.07958255708217621 + ], + "box_pose": [ + 15.614960670471191, + 0.14290854334831238, + 0.1360006183385849, + -0.004807198420166969, + -0.013994940556585789, + 0.9998743534088135, + -0.0056943767704069614 + ], + "box_yaw_rad": -3.13033911162766, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025222053357074575 + } + } + }, + { + "simulation_time_ns": 1400000000, + "center": [ + 15.619492520902172, + 0.14504652454173766, + 0.11890558596444678 + ], + "face_center": [ + 15.542285259118831, + 0.14417583820698074, + 0.11820722109556675 + ], + "face_normal": [ + -0.9998957185085608, + -0.011276083598592512, + -0.009044382953373866 + ], + "footprint_xy": [ + [ + 15.540600796944654, + 0.08556592371507103 + ], + [ + 15.698384244859689, + 0.08556592371507103 + ], + [ + 15.698384244859689, + 0.20452712536840428 + ], + [ + 15.540600796944654, + 0.20452712536840428 + ] + ], + "projected_box_corners": [ + [ + 15.697109555704529, + 0.20452712536840428 + ], + [ + 15.695015320511336, + 0.197894709386179 + ], + [ + 15.698384244859689, + 0.0939397123668102 + ], + [ + 15.696290009666498, + 0.08730729638458491 + ], + [ + 15.542695032137846, + 0.20278575269889043 + ], + [ + 15.540600796944654, + 0.19615333671666513 + ], + [ + 15.543969721293006, + 0.09219833969729632 + ], + [ + 15.541875486099816, + 0.08556592371507103 + ] + ], + "yaw_rad": -3.130315872013059, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135159492492676, + 0.08796843886375427, + 0.07586799561977386 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54222957112452, + 0.14414085253406012, + 0.11817007431708199 + ], + "intended_face_normal": [ + -0.9998915775712838, + -0.011265080909328175, + -0.009507912081689959 + ], + "commanded_contact_point": [ + 15.137120246887207, + 0.09442853927612305, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.542212826472987, + 0.14501068929271163, + 0.11890423073311202 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131840705871582, + 0.09032732248306274, + 0.07881346344947815 + ], + "box_pose": [ + 15.614995956420898, + 0.14292162656784058, + 0.13600683212280273, + -0.0046750521287322044, + -0.013948587700724602, + 0.9998756051063538, + -0.005698459688574076 + ], + "box_yaw_rad": -3.1303268277999363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015815038814909095 + } + } + }, + { + "simulation_time_ns": 1420000000, + "center": [ + 15.619570869108127, + 0.14510293178494438, + 0.11890484230331816 + ], + "face_center": [ + 15.542363182829888, + 0.1442310610171331, + 0.1182577685476934 + ], + "face_normal": [ + -0.9999012160566041, + -0.011291422952851723, + -0.008380122061886739 + ], + "footprint_xy": [ + [ + 15.540758144433887, + 0.08567723583204158 + ], + [ + 15.698383593782365, + 0.08567723583204158 + ], + [ + 15.698383593782365, + 0.20452862773784714 + ], + [ + 15.540758144433887, + 0.20452862773784714 + ] + ], + "projected_box_corners": [ + [ + 15.69710965590183, + 0.20452862773784714 + ], + [ + 15.695173516990367, + 0.19800979470447683 + ], + [ + 15.698383593782365, + 0.09393981040103443 + ], + [ + 15.696447454870903, + 0.0874209773676641 + ], + [ + 15.542694283345352, + 0.20278488620222462 + ], + [ + 15.540758144433887, + 0.19626605316885432 + ], + [ + 15.543968221225887, + 0.0921960688654119 + ], + [ + 15.542032082314424, + 0.08567723583204158 + ] + ], + "yaw_rad": -3.1303005950922698, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13583755493164, + 0.08792279660701752, + 0.07017068564891815 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542285259118831, + 0.14417583820698074, + 0.11820722109556675 + ], + "intended_face_normal": [ + -0.9998957185085608, + -0.011276083598592512, + -0.009044382953373866 + ], + "commanded_contact_point": [ + 15.137064933776855, + 0.09346935153007507, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.542269154022861, + 0.14504652454173766, + 0.11890558596444678 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135159492492676, + 0.08796843886375427, + 0.07586799561977386 + ], + "box_pose": [ + 15.615059852600098, + 0.14296256005764008, + 0.13601085543632507, + -0.004444070626050234, + -0.013799834996461868, + 0.9998787045478821, + -0.00570006063207984 + ], + "box_yaw_rad": -3.130315872013059, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009607812829843923 + } + } + }, + { + "simulation_time_ns": 1440000000, + "center": [ + 15.619672579597147, + 0.14518113391036566, + 0.11890200493618872 + ], + "face_center": [ + 15.542464368102099, + 0.14430839954995586, + 0.11832148835400783 + ], + "face_normal": [ + -0.9999080180338398, + -0.011302607166899278, + -0.007518153495389739 + ], + "footprint_xy": [ + [ + 15.540962762818285, + 0.08583147104017619 + ], + [ + 15.698382396376006, + 0.08583147104017619 + ], + [ + 15.698382396376006, + 0.20453079678055514 + ], + [ + 15.540962762818285, + 0.20453079678055514 + ] + ], + "projected_box_corners": [ + [ + 15.697110322959444, + 0.20453079678055514 + ], + [ + 15.695379185808378, + 0.1981676804547882 + ], + [ + 15.698382396376006, + 0.09394005608676273 + ], + [ + 15.69665125922494, + 0.08757693976099579 + ], + [ + 15.542693899969352, + 0.20278532805973554 + ], + [ + 15.540962762818285, + 0.19642221173396862 + ], + [ + 15.543965973385914, + 0.09219458736594313 + ], + [ + 15.542234836234847, + 0.08583147104017619 + ] + ], + "yaw_rad": -3.130289488085812, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13590145111084, + 0.08904506266117096, + 0.0650085061788559 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542363182829888, + 0.1442310610171331, + 0.1182577685476934 + ], + "intended_face_normal": [ + -0.9999012160566041, + -0.011291422952851723, + -0.008380122061886739 + ], + "commanded_contact_point": [ + 15.136816024780273, + 0.09307949244976044, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.542347926809928, + 0.14510293178494438, + 0.11890484230331816 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13583755493164, + 0.08792279660701752, + 0.07017068564891815 + ], + "box_pose": [ + 15.61514949798584, + 0.14302702248096466, + 0.13601401448249817, + -0.0041131917387247086, + -0.013564888387918472, + 0.9998832941055298, + -0.005702171940356493 + ], + "box_yaw_rad": -3.1303005950922698, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004625427453817563 + } + } + }, + { + "simulation_time_ns": 1460000000, + "center": [ + 15.61980099858701, + 0.14528277081834487, + 0.11889652165196062 + ], + "face_center": [ + 15.542592216332508, + 0.1444087503237824, + 0.11839985884578524 + ], + "face_normal": [ + -0.9999154098247358, + -0.011319263631628072, + -0.006432180108016057 + ], + "footprint_xy": [ + [ + 15.541220665647492, + 0.08603333908277914 + ], + [ + 15.698381331526528, + 0.08603333908277914 + ], + [ + 15.698381331526528, + 0.20453220255391064 + ], + [ + 15.541220665647492, + 0.20453220255391064 + ] + ], + "projected_box_corners": [ + [ + 15.697111175417504, + 0.20453220255391064 + ], + [ + 15.695638230156494, + 0.19837457451573062 + ], + [ + 15.698381331526528, + 0.09393900811008411 + ], + [ + 15.696908386265516, + 0.08778138007190411 + ], + [ + 15.542693610908502, + 0.20278416156478565 + ], + [ + 15.541220665647492, + 0.19662653352660564 + ], + [ + 15.543963767017525, + 0.09219096712095914 + ], + [ + 15.542490821756514, + 0.08603333908277914 + ] + ], + "yaw_rad": -3.130272915893829, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135625839233398, + 0.0905778706073761, + 0.061326101422309875 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542464368102099, + 0.14430839954995586, + 0.11832148835400783 + ], + "intended_face_normal": [ + -0.9999080180338398, + -0.011302607166899278, + -0.007518153495389739 + ], + "commanded_contact_point": [ + 15.136550903320312, + 0.09305684268474579, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.542450162615964, + 0.14518113391036566, + 0.11890200493618872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13590145111084, + 0.08904506266117096, + 0.0650085061788559 + ], + "box_pose": [ + 15.615265846252441, + 0.1431163102388382, + 0.13601629436016083, + -0.0036839917302131653, + -0.013242674060165882, + 0.9998893141746521, + -0.005700720474123955 + ], + "box_yaw_rad": -3.130289488085812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00026608720823338955 + } + } + }, + { + "simulation_time_ns": 1480000000, + "center": [ + 15.619956998618513, + 0.14540625651834604, + 0.11888977867130379 + ], + "face_center": [ + 15.542747676483025, + 0.14452967040498332, + 0.11849448025581198 + ], + "face_normal": [ + -0.9999224017148125, + -0.011352490444681947, + -0.005119430271891285 + ], + "footprint_xy": [ + [ + 15.541532517975863, + 0.08627740862975893 + ], + [ + 15.698381479261162, + 0.08627740862975893 + ], + [ + 15.698381479261162, + 0.20453510440693318 + ], + [ + 15.541532517975863, + 0.20453510440693318 + ] + ], + "projected_box_corners": [ + [ + 15.697111922676447, + 0.20453510440693318 + ], + [ + 15.69595116224684, + 0.19862660039030977 + ], + [ + 15.698381479261162, + 0.09393908487310776 + ], + [ + 15.697220718831554, + 0.08803058085648435 + ], + [ + 15.542693278405471, + 0.20278193218020774 + ], + [ + 15.541532517975863, + 0.19687342816358433 + ], + [ + 15.543962834990184, + 0.09218591264638233 + ], + [ + 15.542802074560578, + 0.08627740862975893 + ] + ], + "yaw_rad": -3.1302397699181377, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135701179504395, + 0.09012886881828308, + 0.0589311420917511 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542592216332508, + 0.1444087503237824, + 0.11839985884578524 + ], + "intended_face_normal": [ + -0.9999154098247358, + -0.011319263631628072, + -0.006432180108016057 + ], + "commanded_contact_point": [ + 15.136225700378418, + 0.09340237081050873, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.542579152466075, + 0.14528277081834487, + 0.11889652165196062 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135625839233398, + 0.0905778706073761, + 0.061326101422309875 + ], + "box_pose": [ + 15.615412712097168, + 0.1432325690984726, + 0.136017307639122, + -0.00314334942959249, + -0.012817329727113247, + 0.9998967051506042, + -0.005700509995222092 + ], + "box_yaw_rad": -3.130272915893829, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047449619622733373 + } + } + }, + { + "simulation_time_ns": 1500000000, + "center": [ + 15.620116524961173, + 0.14553861001701682, + 0.11888128219490618 + ], + "face_center": [ + 15.542906753294334, + 0.14466035627344348, + 0.11858876624311848 + ], + "face_normal": [ + -0.9999282235049205, + -0.011374087588125987, + -0.003788315257297215 + ], + "footprint_xy": [ + [ + 15.541850598529598, + 0.08653895071087656 + ], + [ + 15.69838245139275, + 0.08653895071087656 + ], + [ + 15.69838245139275, + 0.20453826932315705 + ], + [ + 15.541850598529598, + 0.20453826932315705 + ] + ], + "projected_box_corners": [ + [ + 15.697114555284005, + 0.20453826932315705 + ], + [ + 15.696270141863275, + 0.1988944055534769 + ], + [ + 15.69838245139275, + 0.0939393219677034 + ], + [ + 15.69753803797202, + 0.08829545819802323 + ], + [ + 15.542695011950327, + 0.20278176183601038 + ], + [ + 15.541850598529598, + 0.19713789806633022 + ], + [ + 15.54396290805907, + 0.09218281448055672 + ], + [ + 15.543118494638342, + 0.08653895071087656 + ] + ], + "yaw_rad": -3.130218240106544, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.1357421875, + 0.0880841463804245, + 0.057952284812927246 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542747676483025, + 0.14452967040498332, + 0.11849448025581198 + ], + "intended_face_normal": [ + -0.9999224017148125, + -0.011352490444681947, + -0.005119430271891285 + ], + "commanded_contact_point": [ + 15.13598346710205, + 0.09419682621955872, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 15.542735692466136, + 0.14540625651834604, + 0.11888977867130379 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135701179504395, + 0.09012886881828308, + 0.0589311420917511 + ], + "box_pose": [ + 15.615591049194336, + 0.14337372779846191, + 0.13601838052272797, + -0.0024897411931306124, + -0.012301651760935783, + 0.9999049305915833, + -0.0057074157521128654 + ], + "box_yaw_rad": -3.1302397699181377, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008305638794387685 + } + } + }, + { + "simulation_time_ns": 1520000000, + "center": [ + 15.620278111302236, + 0.14567736323302108, + 0.11887182928577517 + ], + "face_center": [ + 15.54306801096619, + 0.14479931397753662, + 0.11868592413187477 + ], + "face_normal": [ + -0.9999324800337248, + -0.011371439304016098, + -0.002407620256697088 + ], + "footprint_xy": [ + [ + 15.542177897036789, + 0.08681721906655022 + ], + [ + 15.698378325567685, + 0.08681721906655022 + ], + [ + 15.698378325567685, + 0.20453750739949195 + ], + [ + 15.542177897036789, + 0.20453750739949195 + ] + ], + "projected_box_corners": [ + [ + 15.697114590048304, + 0.20453750739949195 + ], + [ + 15.69659809770888, + 0.19917524268801573 + ], + [ + 15.698378325567685, + 0.09393558228899536 + ], + [ + 15.697861833228261, + 0.08857331757751916 + ], + [ + 15.542694389376212, + 0.202781408888523 + ], + [ + 15.542177897036789, + 0.1974191441770468 + ], + [ + 15.543958124895592, + 0.09217948377802643 + ], + [ + 15.543441632556167, + 0.08681721906655022 + ] + ], + "yaw_rad": -3.1302209366415363, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.133532524108887, + 0.08922262489795685, + 0.059839874505996704 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.542906753294334, + 0.14466035627344348, + 0.11858876624311848 + ], + "intended_face_normal": [ + -0.9999282235049205, + -0.011374087588125987, + -0.003788315257297215 + ], + "commanded_contact_point": [ + 15.13553237915039, + 0.09543296694755554, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.542895668407304, + 0.14553861001701682, + 0.11888128219490618 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1357421875, + 0.0880841463804245, + 0.057952284812927246 + ], + "box_pose": [ + 15.61577320098877, + 0.1435249149799347, + 0.13601785898208618, + -0.001827214495278895, + -0.011753711849451065, + 0.9999129772186279, + -0.005709017161279917 + ], + "box_yaw_rad": -3.130218240106544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00131587394549541 + } + } + }, + { + "simulation_time_ns": 1540000000, + "center": [ + 15.620450536926487, + 0.14582570212212037, + 0.11886216655894355 + ], + "face_center": [ + 15.54324024506326, + 0.14494813053301764, + 0.11878992494358415 + ], + "face_normal": [ + -0.9999349604637424, + -0.011365253142780151, + -0.0009355866304224057 + ], + "footprint_xy": [ + [ + 15.542527144465385, + 0.08711506910056827 + ], + [ + 15.698373929387591, + 0.08711506910056827 + ], + [ + 15.698373929387591, + 0.20453633514367248 + ], + [ + 15.542527144465385, + 0.20453633514367248 + ] + ], + "projected_box_corners": [ + [ + 15.69711461145536, + 0.20453633514367248 + ], + [ + 15.696947728191844, + 0.19947515711190045 + ], + [ + 15.698373929387591, + 0.09393139031054573 + ], + [ + 15.698207046124075, + 0.08887021227877372 + ], + [ + 15.542694027728901, + 0.202781191965467 + ], + [ + 15.542527144465385, + 0.19772001393369498 + ], + [ + 15.543953345661132, + 0.0921762471323403 + ], + [ + 15.543786462397616, + 0.08711506910056827 + ] + ], + "yaw_rad": -3.1302271506117467, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.131407737731934, + 0.09131729602813721, + 0.06410934031009674 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54306801096619, + 0.14479931397753662, + 0.11868592413187477 + ], + "intended_face_normal": [ + -0.9999324800337248, + -0.011371439304016098, + -0.002407620256697088 + ], + "commanded_contact_point": [ + 15.13530445098877, + 0.09617479145526886, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.543057583463362, + 0.14567736323302108, + 0.11887182928577517 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133532524108887, + 0.08922262489795685, + 0.059839874505996704 + ], + "box_pose": [ + 15.615958213806152, + 0.14368382096290588, + 0.13601668179035187, + -0.0011402403470128775, + -0.011170590296387672, + 0.9999207258224487, + -0.00569890858605504 + ], + "box_yaw_rad": -3.1302209366415363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007760508019193002 + } + } + }, + { + "simulation_time_ns": 1560000000, + "center": [ + 15.620638900500575, + 0.14598830789249018, + 0.11885109055915336 + ], + "face_center": [ + 15.543428574707532, + 0.14511112328441933, + 0.11890235366041413 + ], + "face_normal": [ + -0.9999353998819573, + -0.011360241429270572, + 0.0006638981137806494 + ], + "footprint_xy": [ + [ + 15.542694495301614, + 0.08744169608451996 + ], + [ + 15.698583305699538, + 0.08744169608451996 + ], + [ + 15.698583305699538, + 0.2045349197004604 + ], + [ + 15.542694495301614, + 0.2045349197004604 + ] + ], + "projected_box_corners": [ + [ + 15.697115146887702, + 0.2045349197004604 + ], + [ + 15.697328139237284, + 0.1998041453835118 + ], + [ + 15.698370313349956, + 0.09392683961761025 + ], + [ + 15.698583305699538, + 0.08919606530066165 + ], + [ + 15.542694495301614, + 0.2027805504843187 + ], + [ + 15.542907487651195, + 0.1980497761673701 + ], + [ + 15.543949661763866, + 0.09217247040146856 + ], + [ + 15.544162654113448, + 0.08744169608451996 + ] + ], + "yaw_rad": -3.130232166996022, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.129446029663086, + 0.09388025104999542, + 0.06825484335422516 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54324024506326, + 0.14494813053301764, + 0.11878992494358415 + ], + "intended_face_normal": [ + -0.9999349604637424, + -0.011365253142780151, + -0.0009355866304224057 + ], + "commanded_contact_point": [ + 15.13552474975586, + 0.09643778204917908, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.543230200640188, + 0.14582570212212037, + 0.11886216655894355 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131407737731934, + 0.09131729602813721, + 0.06410934031009674 + ], + "box_pose": [ + 15.616155624389648, + 0.14385372400283813, + 0.13601578772068024, + -0.0004078376805409789, + -0.010547107085585594, + 0.9999281167984009, + -0.005687336903065443 + ], + "box_yaw_rad": -3.1302271506117467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003430679225584908 + } + } + }, + { + "simulation_time_ns": 1580000000, + "center": [ + 15.620847948442552, + 0.14616909483021004, + 0.11883894823174931 + ], + "face_center": [ + 15.543637844617908, + 0.14529171583531864, + 0.11902788701271927 + ], + "face_normal": [ + -0.999932525213858, + -0.011362758893886257, + 0.0024469081507155627 + ], + "footprint_xy": [ + [ + 15.542693579502183, + 0.08780440527705444 + ], + [ + 15.699002317382922, + 0.08780440527705444 + ], + [ + 15.699002317382922, + 0.20453378438336567 + ], + [ + 15.542693579502183, + 0.20453378438336567 + ] + ], + "projected_box_corners": [ + [ + 15.697113787151473, + 0.20453378438336567 + ], + [ + 15.69775031534177, + 0.20017044483861846 + ], + [ + 15.698365789192625, + 0.09392250281158446 + ], + [ + 15.699002317382922, + 0.08955916326683724 + ], + [ + 15.542693579502183, + 0.20277902639358283 + ], + [ + 15.54333010769248, + 0.19841568684883565 + ], + [ + 15.543945581543335, + 0.09216774482180162 + ], + [ + 15.544582109733632, + 0.08780440527705444 + ] + ], + "yaw_rad": -3.1302296170294945, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.127328872680664, + 0.09743069112300873, + 0.07322825491428375 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543428574707532, + 0.14511112328441933, + 0.11890235366041413 + ], + "intended_face_normal": [ + -0.9999353998819573, + -0.011360241429270572, + 0.0006638981137806494 + ], + "commanded_contact_point": [ + 15.135651588439941, + 0.0964963287115097, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.54341859814849, + 0.14598830789249018, + 0.11885109055915336 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129446029663086, + 0.09388025104999542, + 0.06825484335422516 + ], + "box_pose": [ + 15.616371154785156, + 0.14403998851776123, + 0.1360141932964325, + 0.0003879623836837709, + -0.009862871840596199, + 0.9999352097511292, + -0.0056766620837152 + ], + "box_yaw_rad": -3.130232166996022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00013969883526292784 + } + } + }, + { + "simulation_time_ns": 1600000000, + "center": [ + 15.621080116831079, + 0.14637457291361433, + 0.11882407206841528 + ], + "face_center": [ + 15.543870530526807, + 0.14549745082404086, + 0.11916690942613606 + ], + "face_normal": [ + -0.9999258229116106, + -0.011359431764785575, + 0.004440017664294097 + ], + "footprint_xy": [ + [ + 15.542691335201377, + 0.0882177973880071 + ], + [ + 15.69946889846078, + 0.0882177973880071 + ], + [ + 15.69946889846078, + 0.20453134843922158 + ], + [ + 15.542691335201377, + 0.20453134843922158 + ] + ], + "projected_box_corners": [ + [ + 15.697110507809922, + 0.20453134843922158 + ], + [ + 15.69822038893939, + 0.2005866851752285 + ], + [ + 15.698359017331313, + 0.09391670483114711 + ], + [ + 15.69946889846078, + 0.08997204156715405 + ], + [ + 15.542691335201377, + 0.20277710426007461 + ], + [ + 15.543801216330845, + 0.19883244099608155 + ], + [ + 15.543939844722768, + 0.09216246065200015 + ], + [ + 15.545049725852234, + 0.0882177973880071 + ] + ], + "yaw_rad": -3.1302328678183238, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.123247146606445, + 0.1037931963801384, + 0.07732224464416504 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543637844617908, + 0.14529171583531864, + 0.11902788701271927 + ], + "intended_face_normal": [ + -0.999932525213858, + -0.011362758893886257, + 0.0024469081507155627 + ], + "commanded_contact_point": [ + 15.1353178024292, + 0.09667101502418518, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.543627424092747, + 0.14616909483021004, + 0.11883894823174931 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.127328872680664, + 0.09743069112300873, + 0.07322825491428375 + ], + "box_pose": [ + 15.616610527038574, + 0.14424705505371094, + 0.13601252436637878, + 0.0012751375325024128, + -0.009101971983909607, + 0.9999417066574097, + -0.005670103710144758 + ], + "box_yaw_rad": -3.1302296170294945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003767338701633263 + } + } + }, + { + "simulation_time_ns": 1620000000, + "center": [ + 15.62132315866865, + 0.14656582697712656, + 0.11881869524088835 + ], + "face_center": [ + 15.544114450367394, + 0.1456885465394107, + 0.11932199170175833 + ], + "face_normal": [ + -0.9999144520711418, + -0.011361482499728659, + 0.006518091235726171 + ], + "footprint_xy": [ + [ + 15.542689379708277, + 0.08860181671688508 + ], + [ + 15.699956937629025, + 0.08860181671688508 + ], + [ + 15.699956937629025, + 0.20452983723736803 + ], + [ + 15.542689379708277, + 0.20452983723736803 + ] + ], + "projected_box_corners": [ + [ + 15.69710679631079, + 0.20452983723736803 + ], + [ + 15.69871079622829, + 0.2009738255792457 + ], + [ + 15.698352937711524, + 0.09391238925043913 + ], + [ + 15.699956937629025, + 0.0903563775923168 + ], + [ + 15.542689379708277, + 0.20277527636193632 + ], + [ + 15.544293379625778, + 0.199219264703814 + ], + [ + 15.543935521109011, + 0.09215782837500741 + ], + [ + 15.545539521026512, + 0.08860181671688508 + ] + ], + "yaw_rad": -3.1302306880023814, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.117195129394531, + 0.11005763709545135, + 0.0788978785276413 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.543870530526807, + 0.14549745082404086, + 0.11916690942613606 + ], + "intended_face_normal": [ + -0.9999258229116106, + -0.011359431764785575, + 0.004440017664294097 + ], + "commanded_contact_point": [ + 15.134869575500488, + 0.09743190556764603, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.543859074887587, + 0.14637457291361433, + 0.11882407206841528 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.123247146606445, + 0.1037931963801384, + 0.07732224464416504 + ], + "box_pose": [ + 15.616876602172852, + 0.14448250830173492, + 0.1360093057155609, + 0.002266748109832406, + -0.008234857581555843, + 0.9999475479125977, + -0.005661346483975649 + ], + "box_yaw_rad": -3.1302328678183238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008830978430666636 + } + } + }, + { + "simulation_time_ns": 1640000000, + "center": [ + 15.621530244923008, + 0.14672641981662246, + 0.11881472822566065 + ], + "face_center": [ + 15.544322577197239, + 0.1458487600542517, + 0.11945544234061181 + ], + "face_normal": [ + -0.9999009757873021, + -0.011366395057039748, + 0.008297759634649864 + ], + "footprint_xy": [ + [ + 15.54268643726515, + 0.08892451526508355 + ], + [ + 15.700374052580868, + 0.08892451526508355 + ], + [ + 15.700374052580868, + 0.20452832436816137 + ], + [ + 15.54268643726515, + 0.20452832436816137 + ] + ], + "projected_box_corners": [ + [ + 15.697101772716689, + 0.20452832436816137 + ], + [ + 15.699129027272146, + 0.20129938398216776 + ], + [ + 15.69834679802541, + 0.09390877517581864 + ], + [ + 15.700374052580868, + 0.09067983478982503 + ], + [ + 15.54268643726515, + 0.2027730048434199 + ], + [ + 15.544713691820608, + 0.19954406445742628 + ], + [ + 15.543931462573871, + 0.09215345565107716 + ], + [ + 15.545958717129329, + 0.08892451526508355 + ] + ], + "yaw_rad": -3.1302256224740117, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.112139701843262, + 0.10610533505678177, + 0.07516714930534363 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544114450367394, + 0.1456885465394107, + 0.11932199170175833 + ], + "intended_face_normal": [ + -0.9999144520711418, + -0.011361482499728659, + 0.006518091235726171 + ], + "commanded_contact_point": [ + 15.134740829467773, + 0.0983947217464447, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.544101238581886, + 0.14656582697712656, + 0.11881869524088835 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.117195129394531, + 0.11005763709545135, + 0.0788978785276413 + ], + "box_pose": [ + 15.617155075073242, + 0.14470157027244568, + 0.13601559400558472, + 0.0033012384083122015, + -0.007430590223520994, + 0.9999510049819946, + -0.005656488239765167 + ], + "box_yaw_rad": -3.1302306880023814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009713858839015726 + } + } + }, + { + "simulation_time_ns": 1660000000, + "center": [ + 15.621706855366368, + 0.14686489167950714, + 0.11880929930345874 + ], + "face_center": [ + 15.544500202399094, + 0.14598800093892259, + 0.11956574180411293 + ], + "face_normal": [ + -0.9998878338541124, + -0.011356435610561776, + 0.009796534681213597 + ], + "footprint_xy": [ + [ + 15.542686918161879, + 0.08920354941304215 + ], + [ + 15.700726792570856, + 0.08920354941304215 + ], + [ + 15.700726792570856, + 0.20452623394597214 + ], + [ + 15.542686918161879, + 0.20452623394597214 + ] + ], + "projected_box_corners": [ + [ + 15.697100224096424, + 0.20452623394597214 + ], + [ + 15.699483828144741, + 0.20157859681206652 + ], + [ + 15.69834318852254, + 0.09390496802811688 + ], + [ + 15.700726792570856, + 0.09095733089421126 + ], + [ + 15.542686918161879, + 0.20277245246480302 + ], + [ + 15.545070522210196, + 0.1998248153308974 + ], + [ + 15.543929882587992, + 0.09215118654694775 + ], + [ + 15.54631348663631, + 0.08920354941304215 + ] + ], + "yaw_rad": -3.130235432363226, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.113411903381348, + 0.09566304087638855, + 0.06739169359207153 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544322577197239, + 0.1458487600542517, + 0.11945544234061181 + ], + "intended_face_normal": [ + -0.9999009757873021, + -0.011366395057039748, + 0.008297759634649864 + ], + "commanded_contact_point": [ + 15.13480281829834, + 0.09885524958372116, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.544307284068669, + 0.14672641981662246, + 0.11881472822566065 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.112139701843262, + 0.10610533505678177, + 0.07516714930534363 + ], + "box_pose": [ + 15.617392539978027, + 0.14488555490970612, + 0.1360214799642563, + 0.0041872733272612095, + -0.006753861438483, + 0.9999524354934692, + -0.005655186250805855 + ], + "box_yaw_rad": -3.1302256224740117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004646810777528208 + } + } + }, + { + "simulation_time_ns": 1680000000, + "center": [ + 15.62185829822228, + 0.14698095110466824, + 0.11880520761333893 + ], + "face_center": [ + 15.54465274253423, + 0.14610275790806898, + 0.11966149363612205 + ], + "face_normal": [ + -0.9998736232115724, + -0.011373303456442522, + 0.011089588054582308 + ], + "footprint_xy": [ + [ + 15.542685006642916, + 0.0894358318295956 + ], + [ + 15.701031589801643, + 0.0894358318295956 + ], + [ + 15.701031589801643, + 0.2045260703797409 + ], + [ + 15.542685006642916, + 0.2045260703797409 + ] + ], + "projected_box_corners": [ + [ + 15.697096118019013, + 0.2045260703797409 + ], + [ + 15.699787311335239, + 0.20181469138352717 + ], + [ + 15.698340396485417, + 0.09390359721900784 + ], + [ + 15.701031589801643, + 0.09119221822279411 + ], + [ + 15.542685006642916, + 0.20276968398654238 + ], + [ + 15.545376199959142, + 0.20005830499032867 + ], + [ + 15.54392928510932, + 0.09214721082580933 + ], + [ + 15.546620478425545, + 0.0894358318295956 + ] + ], + "yaw_rad": -3.1302184031646423, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.121369361877441, + 0.08894038945436478, + 0.06055213510990143 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544500202399094, + 0.14598800093892259, + 0.11956574180411293 + ], + "intended_face_normal": [ + -0.9998878338541124, + -0.011356435610561776, + 0.009796534681213597 + ], + "commanded_contact_point": [ + 15.13502311706543, + 0.09892691671848297, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54448287953919, + 0.14686489167950714, + 0.11880929930345874 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.113411903381348, + 0.09566304087638855, + 0.06739169359207153 + ], + "box_pose": [ + 15.617594718933105, + 0.145044207572937, + 0.1360243260860443, + 0.0049333577044308186, + -0.006171713583171368, + 0.9999529123306274, + -0.005648036487400532 + ], + "box_yaw_rad": -3.130235432363226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00023166295605538082 + } + } + }, + { + "simulation_time_ns": 1700000000, + "center": [ + 15.62198643088816, + 0.14708050597127853, + 0.11880103163975093 + ], + "face_center": [ + 15.544781822757741, + 0.14620206223373047, + 0.11974192848619095 + ], + "face_normal": [ + -0.9998613515832977, + -0.01137654816187855, + 0.012185365813822511 + ], + "footprint_xy": [ + [ + 15.542683723154052, + 0.08963584261609012 + ], + [ + 15.701289138622268, + 0.08963584261609012 + ], + [ + 15.701289138622268, + 0.20452516932646692 + ], + [ + 15.542683723154052, + 0.20452516932646692 + ] + ], + "projected_box_corners": [ + [ + 15.69709293941489, + 0.20452516932646692 + ], + [ + 15.700044738057745, + 0.20201627274077566 + ], + [ + 15.698337339979414, + 0.09390162667687746 + ], + [ + 15.701289138622268, + 0.0913927300911862 + ], + [ + 15.542683723154052, + 0.20276828185137083 + ], + [ + 15.545635521796907, + 0.20025938526567957 + ], + [ + 15.543928123718576, + 0.09214473920178137 + ], + [ + 15.54687992236143, + 0.08963584261609012 + ] + ], + "yaw_rad": -3.130215018841332, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.129096984863281, + 0.08894087374210358, + 0.055872246623039246 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54465274253423, + 0.14610275790806898, + 0.11966149363612205 + ], + "intended_face_normal": [ + -0.9998736232115724, + -0.011373303456442522, + 0.011089588054582308 + ], + "commanded_contact_point": [ + 15.135486602783203, + 0.09950219839811325, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.544633224854083, + 0.14698095110466824, + 0.11880520761333893 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.121369361877441, + 0.08894038945436478, + 0.06055213510990143 + ], + "box_pose": [ + 15.617768287658691, + 0.14517711102962494, + 0.1360272765159607, + 0.0055771986953914165, + -0.005682954099029303, + 0.9999522566795349, + -0.005655226763337851 + ], + "box_yaw_rad": -3.1302184031646423, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007387611399127182 + } + } + }, + { + "simulation_time_ns": 1720000000, + "center": [ + 15.622094462780042, + 0.14716520925111945, + 0.11879732289684083 + ], + "face_center": [ + 15.54489078290631, + 0.1462863514520366, + 0.11981017968331995 + ], + "face_normal": [ + -0.9998493299176681, + -0.011381910589534625, + 0.013117304523825408 + ], + "footprint_xy": [ + [ + 15.542681584556872, + 0.08980591232549112 + ], + [ + 15.701507341003213, + 0.08980591232549112 + ], + [ + 15.701507341003213, + 0.20452450617674778 + ], + [ + 15.542681584556872, + 0.20452450617674778 + ] + ], + "projected_box_corners": [ + [ + 15.69708894430434, + 0.20452450617674778 + ], + [ + 15.700262388706514, + 0.20218794792588263 + ], + [ + 15.698333896601037, + 0.09390018617452196 + ], + [ + 15.701507341003213, + 0.0915636279236568 + ], + [ + 15.542681584556872, + 0.20276679057858213 + ], + [ + 15.545855028959048, + 0.20043023232771695 + ], + [ + 15.543926536853569, + 0.09214247057635629 + ], + [ + 15.547099981255744, + 0.08980591232549112 + ] + ], + "yaw_rad": -3.130209519513258, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135025024414062, + 0.0909397155046463, + 0.053194448351860046 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544781822757741, + 0.14620206223373047, + 0.11974192848619095 + ], + "intended_face_normal": [ + -0.9998613515832977, + -0.01137654816187855, + 0.012185365813822511 + ], + "commanded_contact_point": [ + 15.136393547058105, + 0.10070767998695374, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.544760409711158, + 0.14708050597127853, + 0.11880103163975093 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129096984863281, + 0.08894087374210358, + 0.055872246623039246 + ], + "box_pose": [ + 15.617915153503418, + 0.14529114961624146, + 0.13602904975414276, + 0.0061227548867464066, + -0.005264009814709425, + 0.9999514818191528, + -0.0056563182733953 + ], + "box_yaw_rad": -3.130215018841332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015085535386009325 + } + } + }, + { + "simulation_time_ns": 1740000000, + "center": [ + 15.622186837297567, + 0.14723785836986955, + 0.11879354061132882 + ], + "face_center": [ + 15.544983956869006, + 0.14635938878020813, + 0.11986731524465732 + ], + "face_normal": [ + -0.9998389764640385, + -0.011376882967399353, + 0.013906239305846224 + ], + "footprint_xy": [ + [ + 15.542681195350287, + 0.08995260186786622 + ], + [ + 15.701692479244848, + 0.08995260186786622 + ], + [ + 15.701692479244848, + 0.2045231148718729 + ], + [ + 15.542681195350287, + 0.2045231148718729 + ] + ], + "projected_box_corners": [ + [ + 15.69708695620741, + 0.2045231148718729 + ], + [ + 15.700447990276626, + 0.2023345388764764 + ], + [ + 15.698331445175633, + 0.09389811704258559 + ], + [ + 15.701692479244848, + 0.09170954104718909 + ], + [ + 15.542681195350287, + 0.20276617569255004 + ], + [ + 15.546042229419502, + 0.20057759969715352 + ], + [ + 15.54392568431851, + 0.09214117786326273 + ], + [ + 15.547286718387724, + 0.08995260186786622 + ] + ], + "yaw_rad": -3.13021442943028, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.14066219329834, + 0.09173589199781418, + 0.056557103991508484 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54489078290631, + 0.1462863514520366, + 0.11981017968331995 + ], + "intended_face_normal": [ + -0.9998493299176681, + -0.011381910589534625, + 0.013117304523825408 + ], + "commanded_contact_point": [ + 15.13714599609375, + 0.10203203558921814, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.544867513077735, + 0.14716520925111945, + 0.11879732289684083 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135025024414062, + 0.0909397155046463, + 0.053194448351860046 + ], + "box_pose": [ + 15.61803913116455, + 0.1453881710767746, + 0.136030375957489, + 0.006586750503629446, + -0.004907446913421154, + 0.9999502897262573, + -0.005658912472426891 + ], + "box_yaw_rad": -3.130209519513258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001523186565301028 + } + } + }, + { + "simulation_time_ns": 1760000000, + "center": [ + 15.622264872617103, + 0.1472989595926977, + 0.1187907830810677 + ], + "face_center": [ + 15.54506276980952, + 0.14641991073984506, + 0.11991688166209405 + ], + "face_normal": [ + -0.99982890565113, + -0.011384384888480387, + 0.01458387622846313 + ], + "footprint_xy": [ + [ + 15.542678927686238, + 0.09007486551721611 + ], + [ + 15.701850817547967, + 0.09007486551721611 + ], + [ + 15.701850817547967, + 0.2045230536681793 + ], + [ + 15.542678927686238, + 0.2045230536681793 + ] + ], + "projected_box_corners": [ + [ + 15.697083133301401, + 0.2045230536681793 + ], + [ + 15.70060535541723, + 0.20245842177119058 + ], + [ + 15.69832859543214, + 0.09389759511991012 + ], + [ + 15.701850817547967, + 0.0918329632229214 + ], + [ + 15.542678927686238, + 0.202764955962474 + ], + [ + 15.546201149802066, + 0.2007003240654853 + ], + [ + 15.543924389816976, + 0.09213949741420484 + ], + [ + 15.547446611932804, + 0.09007486551721611 + ] + ], + "yaw_rad": -3.1302068125997717, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.141457557678223, + 0.09195177257061005, + 0.06130978465080261 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544983956869006, + 0.14635938878020813, + 0.11986731524465732 + ], + "intended_face_normal": [ + -0.9998389764640385, + -0.011376882967399353, + 0.013906239305846224 + ], + "commanded_contact_point": [ + 15.13726806640625, + 0.10353385657072067, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 15.544959087900848, + 0.14723785836986955, + 0.11879354061132882 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.14066219329834, + 0.09173589199781418, + 0.056557103991508484 + ], + "box_pose": [ + 15.618144989013672, + 0.14547143876552582, + 0.13603085279464722, + 0.006979501806199551, + -0.0046012140810489655, + 0.9999491572380066, + -0.005656614899635315 + ], + "box_yaw_rad": -3.13021442943028, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001506773845678914 + } + } + }, + { + "simulation_time_ns": 1780000000, + "center": [ + 15.622333258495436, + 0.14735173647150152, + 0.11878791493269084 + ], + "face_center": [ + 15.545131814731482, + 0.14647310336812336, + 0.11995834392149624 + ], + "face_normal": [ + -0.9998203705096778, + -0.011379000600656684, + 0.015157990423348179 + ], + "footprint_xy": [ + [ + 15.542679915596533, + 0.0901815971398899 + ], + [ + 15.701986601394339, + 0.0901815971398899 + ], + [ + 15.701986601394339, + 0.20452187580311312 + ], + [ + 15.542679915596533, + 0.20452187580311312 + ] + ], + "projected_box_corners": [ + [ + 15.697082803124443, + 0.20452187580311312 + ], + [ + 15.700741536078656, + 0.2025647379249763 + ], + [ + 15.698327868440128, + 0.093896001224783 + ], + [ + 15.701986601394339, + 0.0919388633466462 + ], + [ + 15.542679915596533, + 0.20276460959635684 + ], + [ + 15.546338648550746, + 0.20080747171822003 + ], + [ + 15.543924980912218, + 0.09213873501802669 + ], + [ + 15.547583713866429, + 0.0901815971398899 + ] + ], + "yaw_rad": -3.1302120999683414, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.139636993408203, + 0.0926598608493805, + 0.06545060873031616 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54506276980952, + 0.14641991073984506, + 0.11991688166209405 + ], + "intended_face_normal": [ + -0.99982890565113, + -0.011384384888480387, + 0.01458387622846313 + ], + "commanded_contact_point": [ + 15.13753890991211, + 0.1048194020986557, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.545036345341076, + 0.1472989595926977, + 0.1187907830810677 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.141457557678223, + 0.09195177257061005, + 0.06130978465080261 + ], + "box_pose": [ + 15.618234634399414, + 0.14554138481616974, + 0.13603171706199646, + 0.007316914852708578, + -0.004344817250967026, + 0.9999477863311768, + -0.005660697352141142 + ], + "box_yaw_rad": -3.1302068125997717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013137669158246673 + } + } + }, + { + "simulation_time_ns": 1800000000, + "center": [ + 15.622391596615731, + 0.14739612293619636, + 0.11878581110971873 + ], + "face_center": [ + 15.545190715288621, + 0.14651719476986683, + 0.11999418948012494 + ], + "face_normal": [ + -0.999813086503234, + -0.011382821901593714, + 0.015649465231627 + ], + "footprint_xy": [ + [ + 15.542680053644226, + 0.09027038523701972 + ], + [ + 15.702103139587237, + 0.09027038523701972 + ], + [ + 15.702103139587237, + 0.204521860635373 + ], + [ + 15.542680053644226, + 0.204521860635373 + ] + ], + "projected_box_corners": [ + [ + 15.697081816298446, + 0.204521860635373 + ], + [ + 15.7008574531266, + 0.20265447799145386 + ], + [ + 15.698327502759083, + 0.09389562421359797 + ], + [ + 15.702103139587237, + 0.09202824156967881 + ], + [ + 15.542680053644226, + 0.2027640043027139 + ], + [ + 15.54645569047238, + 0.20089662165879477 + ], + [ + 15.54392574010486, + 0.09213776788093887 + ], + [ + 15.547701376933016, + 0.09027038523701972 + ] + ], + "yaw_rad": -3.1302081955438217, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.138705253601074, + 0.09408855438232422, + 0.06923238933086395 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545131814731482, + 0.14647310336812336, + 0.11995834392149624 + ], + "intended_face_normal": [ + -0.9998203705096778, + -0.011379000600656684, + 0.015157990423348179 + ], + "commanded_contact_point": [ + 15.137937545776367, + 0.10585558414459229, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + 15.54510407194458, + 0.14735173647150152, + 0.11878791493269084 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.139636993408203, + 0.0926598608493805, + 0.06545060873031616 + ], + "box_pose": [ + 15.61831283569336, + 0.14560188353061676, + 0.13603192567825317, + 0.007602727506309748, + -0.0041223689913749695, + 0.9999465942382812, + -0.00565846124663949 + ], + "box_yaw_rad": -3.1302120999683414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011102179016257586 + } + } + }, + { + "simulation_time_ns": 1820000000, + "center": [ + 15.622392206987243, + 0.14739989939378376, + 0.11878624831400907 + ], + "face_center": [ + 15.545191347085447, + 0.1465214431467757, + 0.1199962375486346 + ], + "face_normal": [ + -0.9998128090282865, + -0.011376710169379078, + 0.01567032721013517 + ], + "footprint_xy": [ + [ + 15.5426785529852, + 0.090278860623856 + ], + [ + 15.702105860989288, + 0.090278860623856 + ], + [ + 15.702105860989288, + 0.20452093816371153 + ], + [ + 15.5426785529852, + 0.20452093816371153 + ] + ], + "projected_box_corners": [ + [ + 15.69708027278879, + 0.20452093816371153 + ], + [ + 15.70086080727611, + 0.20266204540310157 + ], + [ + 15.698325326501969, + 0.09389466587848205 + ], + [ + 15.702105860989288, + 0.0920357731178721 + ], + [ + 15.5426785529852, + 0.20276402566969542 + ], + [ + 15.546459087472519, + 0.20090513290908546 + ], + [ + 15.543923606698376, + 0.09213775338446595 + ], + [ + 15.547704141185696, + 0.090278860623856 + ] + ], + "yaw_rad": -3.130214304469286, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.139260292053223, + 0.09690816700458527, + 0.07160861790180206 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545190715288621, + 0.14651719476986683, + 0.11999418948012494 + ], + "intended_face_normal": [ + -0.999813086503234, + -0.011382821901593714, + 0.015649465231627 + ], + "commanded_contact_point": [ + 15.138487815856934, + 0.10689665377140045, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.545161847421817, + 0.14739612293619636, + 0.11878581110971873 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138705253601074, + 0.09408855438232422, + 0.06923238933086395 + ], + "box_pose": [ + 15.618379592895508, + 0.1456526815891266, + 0.13603243231773376, + 0.007847445085644722, + -0.003936695866286755, + 0.9999455213546753, + -0.005660826340317726 + ], + "box_yaw_rad": -3.1302081955438217, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011775496307934404 + } + } + }, + { + "simulation_time_ns": 1840000000, + "center": [ + 15.622391469189967, + 0.1473997706414436, + 0.11878654838739944 + ], + "face_center": [ + 15.545190629296116, + 0.14652121132365753, + 0.11999555428384591 + ], + "face_normal": [ + -0.9998125499094435, + -0.011378045018294517, + 0.015657592195158762 + ], + "footprint_xy": [ + [ + 15.542679283341295, + 0.09027896281247447 + ], + [ + 15.702103655038641, + 0.09027896281247447 + ], + [ + 15.702103655038641, + 0.20452057847041277 + ], + [ + 15.542679283341295, + 0.20452057847041277 + ] + ], + "projected_box_corners": [ + [ + 15.697080963129, + 0.20452057847041277 + ], + [ + 15.700858437998791, + 0.20266230520729003 + ], + [ + 15.698326180168852, + 0.09389435471116936 + ], + [ + 15.702103655038641, + 0.09203608144804665 + ], + [ + 15.542679283341295, + 0.2027634598348406 + ], + [ + 15.546456758211084, + 0.20090518657171785 + ], + [ + 15.543924500381145, + 0.0921372360755972 + ], + [ + 15.547701975250936, + 0.09027896281247447 + ] + ], + "yaw_rad": -3.130212966594327, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13892936706543, + 0.10072937607765198, + 0.07130494713783264 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545191347085447, + 0.1465214431467757, + 0.1199962375486346 + ], + "intended_face_normal": [ + -0.9998128090282865, + -0.011376710169379078, + 0.01567032721013517 + ], + "commanded_contact_point": [ + 15.138924598693848, + 0.10763506591320038, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 15.545162436359997, + 0.14739989939378376, + 0.11878624831400907 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.139260292053223, + 0.09690816700458527, + 0.07160861790180206 + ], + "box_pose": [ + 15.618380546569824, + 0.14565709233283997, + 0.13603301346302032, + 0.007857765071094036, + -0.003919035196304321, + 0.9999455213546753, + -0.005657868459820747 + ], + "box_yaw_rad": -3.130214304469286, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008579229207249051 + } + } + }, + { + "simulation_time_ns": 1860000000, + "center": [ + 15.62238891377121, + 0.1473982220631908, + 0.11878643798533292 + ], + "face_center": [ + 15.545188046110582, + 0.14651962571720006, + 0.11999406203951349 + ], + "face_normal": [ + -0.9998129095113897, + -0.011378524563125672, + 0.01563969623390571 + ], + "footprint_xy": [ + [ + 15.542678804527343, + 0.09027551433718714 + ], + [ + 15.702099023015078, + 0.09027551433718714 + ], + [ + 15.702099023015078, + 0.20452092978919448 + ], + [ + 15.542678804527343, + 0.20452092978919448 + ] + ], + "projected_box_corners": [ + [ + 15.697080539848605, + 0.20452092978919448 + ], + [ + 15.700853764297067, + 0.20265892624314208 + ], + [ + 15.698325798566614, + 0.09389471057522106 + ], + [ + 15.702099023015078, + 0.09203270702916866 + ], + [ + 15.542678804527343, + 0.20276373709721296 + ], + [ + 15.546452028975807, + 0.20090173355116056 + ], + [ + 15.543924063245354, + 0.09213751788323954 + ], + [ + 15.547697287693818, + 0.09027551433718714 + ] + ], + "yaw_rad": -3.1302124911144418, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.136492729187012, + 0.10468745231628418, + 0.06860749423503876 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545190629296116, + 0.14652121132365753, + 0.11999555428384591 + ], + "intended_face_normal": [ + -0.9998125499094435, + -0.011378045018294517, + 0.015657592195158762 + ], + "commanded_contact_point": [ + 15.139119148254395, + 0.1079048216342926, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.545161678547279, + 0.1473997706414436, + 0.11878654838739944 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13892936706543, + 0.10072937607765198, + 0.07130494713783264 + ], + "box_pose": [ + 15.618379592895508, + 0.1456570029258728, + 0.13603326678276062, + 0.007851392962038517, + -0.003917713649570942, + 0.9999454617500305, + -0.005658571608364582 + ], + "box_yaw_rad": -3.130212966594327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003325923644912984 + } + } + }, + { + "simulation_time_ns": 1880000000, + "center": [ + 15.622383035075927, + 0.14739239992756442, + 0.11878707756453877 + ], + "face_center": [ + 15.545182102463443, + 0.14651363527055875, + 0.11999108421684751 + ], + "face_normal": [ + -0.9998137506897864, + -0.011380704325227094, + 0.01559284798983893 + ], + "footprint_xy": [ + [ + 15.542678314753015, + 0.0902639577576385 + ], + [ + 15.702087755398837, + 0.0902639577576385 + ], + [ + 15.702087755398837, + 0.20452084209749033 + ], + [ + 15.542678314753015, + 0.20452084209749033 + ] + ], + "projected_box_corners": [ + [ + 15.697080179977984, + 0.20452084209749033 + ], + [ + 15.700842295120866, + 0.20264767832159367 + ], + [ + 15.698325640255955, + 0.0938946508475465 + ], + [ + 15.702087755398837, + 0.09202148707164984 + ], + [ + 15.542678314753015, + 0.20276331278347898 + ], + [ + 15.546440429895897, + 0.2008901490075823 + ], + [ + 15.543923775030988, + 0.09213712153353516 + ], + [ + 15.54768589017387, + 0.0902639577576385 + ] + ], + "yaw_rad": -3.13021032080238, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.134272575378418, + 0.10908374190330505, + 0.06676904857158661 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545188046110582, + 0.14651962571720006, + 0.11999406203951349 + ], + "intended_face_normal": [ + -0.9998129095113897, + -0.011378524563125672, + 0.01563969623390571 + ], + "commanded_contact_point": [ + 15.139164924621582, + 0.10775715112686157, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.545159150905702, + 0.1473982220631908, + 0.11878643798533292 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.136492729187012, + 0.10468745231628418, + 0.06860749423503876 + ], + "box_pose": [ + 15.618376731872559, + 0.14565518498420715, + 0.1360330581665039, + 0.007842488586902618, + -0.003925439901649952, + 0.9999455213546753, + -0.005658785346895456 + ], + "box_yaw_rad": -3.1302124911144418, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00015460289351342324 + } + } + }, + { + "simulation_time_ns": 1900000000, + "center": [ + 15.622374720081112, + 0.14738480778261356, + 0.11878752229087872 + ], + "face_center": [ + 15.54517372895094, + 0.14650589366041936, + 0.11998598836758134 + ], + "face_normal": [ + -0.9998145085405676, + -0.01138264001882161, + 0.015521093109550875 + ], + "footprint_xy": [ + [ + 15.542678375689448, + 0.09024836091421433 + ], + [ + 15.702071064472774, + 0.09024836091421433 + ], + [ + 15.702071064472774, + 0.20452125465101278 + ], + [ + 15.542678375689448, + 0.20452125465101278 + ] + ], + "projected_box_corners": [ + [ + 15.697080357949789, + 0.20452125465101278 + ], + [ + 15.700825440485763, + 0.20263228356281937 + ], + [ + 15.698325981936799, + 0.09389516024679616 + ], + [ + 15.702071064472774, + 0.09200618915860273 + ], + [ + 15.542678375689448, + 0.20276342640662437 + ], + [ + 15.546423458225423, + 0.20087445531843096 + ], + [ + 15.543923999676458, + 0.09213733200240776 + ], + [ + 15.547669082212433, + 0.09024836091421433 + ] + ], + "yaw_rad": -3.1302083936274907, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.1334810256958, + 0.1114170253276825, + 0.06666482985019684 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545182102463443, + 0.14651363527055875, + 0.11999108421684751 + ], + "intended_face_normal": [ + -0.9998137506897864, + -0.011380704325227094, + 0.01559284798983893 + ], + "commanded_contact_point": [ + 15.13903522491455, + 0.10724055767059326, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.545153337186528, + 0.14739239992756442, + 0.11878707756453877 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.134272575378418, + 0.10908374190330505, + 0.06676904857158661 + ], + "box_pose": [ + 15.618370056152344, + 0.1456485539674759, + 0.13603343069553375, + 0.00781919714063406, + -0.003948577214032412, + 0.9999456405639648, + -0.005659785121679306 + ], + "box_yaw_rad": -3.13021032080238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005326263354248746 + } + } + }, + { + "simulation_time_ns": 1920000000, + "center": [ + 15.622364827925745, + 0.14737549564943347, + 0.11878765983987324 + ], + "face_center": [ + 15.545163697595795, + 0.1464964639829736, + 0.11997911645366689 + ], + "face_normal": [ + -0.9998163112889258, + -0.011384162310963978, + 0.015430314965243604 + ], + "footprint_xy": [ + [ + 15.542679069459831, + 0.09022972702655954 + ], + [ + 15.70205058639166, + 0.09022972702655954 + ], + [ + 15.70205058639166, + 0.2045212642723074 + ], + [ + 15.542679069459831, + 0.2045212642723074 + ] + ], + "projected_box_corners": [ + [ + 15.697081330119731, + 0.2045212642723074 + ], + [ + 15.700804845090452, + 0.2026138614884093 + ], + [ + 15.69832707142094, + 0.09389519314337733 + ], + [ + 15.70205058639166, + 0.09198779035947922 + ], + [ + 15.542679069459831, + 0.2027632009393877 + ], + [ + 15.54640258443055, + 0.2008557981554896 + ], + [ + 15.54392481076104, + 0.09213712981045763 + ], + [ + 15.547648325731759, + 0.09022972702655954 + ] + ], + "yaw_rad": -3.130206891777967, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.134544372558594, + 0.11022670567035675, + 0.06700001657009125 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54517372895094, + 0.14650589366041936, + 0.11998598836758134 + ], + "intended_face_normal": [ + -0.9998145085405676, + -0.01138264001882161, + 0.015521093109550875 + ], + "commanded_contact_point": [ + 15.138747215270996, + 0.10624729096889496, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.54514508073116, + 0.14738480778261356, + 0.11878752229087872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1334810256958, + 0.1114170253276825, + 0.06666482985019684 + ], + "box_pose": [ + 15.61836051940918, + 0.1456398218870163, + 0.13603347539901733, + 0.007783506065607071, + -0.003981329500675201, + 0.9999457001686096, + -0.005660638678818941 + ], + "box_yaw_rad": -3.1302083936274907, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010341800112204957 + } + } + }, + { + "simulation_time_ns": 1940000000, + "center": [ + 15.622350667667494, + 0.14736424267895523, + 0.11878750334417992 + ], + "face_center": [ + 15.545149388244146, + 0.1464861307993437, + 0.11996979575120459 + ], + "face_normal": [ + -0.9998182421675084, + -0.011372250336489809, + 0.015311631166593325 + ], + "footprint_xy": [ + [ + 15.542679567768094, + 0.09020837563695845 + ], + [ + 15.702021767566894, + 0.09020837563695845 + ], + [ + 15.702021767566894, + 0.204520109720952 + ], + [ + 15.542679567768094, + 0.204520109720952 + ] + ], + "projected_box_corners": [ + [ + 15.697082126614786, + 0.204520109720952 + ], + [ + 15.7007773943042, + 0.20259060074234567 + ], + [ + 15.69832649987748, + 0.09389410837478782 + ], + [ + 15.702021767566894, + 0.09196459939618148 + ], + [ + 15.542679567768094, + 0.20276388596172895 + ], + [ + 15.546374835457508, + 0.20083437698312262 + ], + [ + 15.543923941030787, + 0.09213788461556478 + ], + [ + 15.547619208720201, + 0.09020837563695845 + ] + ], + "yaw_rad": -3.1302188263617405, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.136030197143555, + 0.10572271049022675, + 0.06698796153068542 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545163697595795, + 0.1464964639829736, + 0.11997911645366689 + ], + "intended_face_normal": [ + -0.9998163112889258, + -0.011384162310963978, + 0.015430314965243604 + ], + "commanded_contact_point": [ + 15.138401985168457, + 0.10473769903182983, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.545135327826976, + 0.14737549564943347, + 0.11878765983987324 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.134544372558594, + 0.11022670567035675, + 0.06700001657009125 + ], + "box_pose": [ + 15.618349075317383, + 0.1456291824579239, + 0.13603311777114868, + 0.007738330867141485, + -0.004019495565444231, + 0.9999459981918335, + -0.005661282688379288 + ], + "box_yaw_rad": -3.130206891777967, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015485643803746243 + } + } + }, + { + "simulation_time_ns": 1960000000, + "center": [ + 15.622333152852288, + 0.14734959853003105, + 0.11878825617797686 + ], + "face_center": [ + 15.545131705235452, + 0.14647135813990816, + 0.11995919522089056 + ], + "face_normal": [ + -0.9998204204075831, + -0.011373914650275041, + 0.015164596031516563 + ], + "footprint_xy": [ + [ + 15.542679300119321, + 0.09017912049538934 + ], + [ + 15.701987005585258, + 0.09017912049538934 + ], + [ + 15.701987005585258, + 0.20452007656467278 + ], + [ + 15.542679300119321, + 0.20452007656467278 + ] + ], + "projected_box_corners": [ + [ + 15.697082195352996, + 0.20452007656467278 + ], + [ + 15.700742519182027, + 0.20256148699125875 + ], + [ + 15.698326681756225, + 0.09389419084904913 + ], + [ + 15.701987005585258, + 0.09193560127563512 + ], + [ + 15.542679300119321, + 0.202763595784427 + ], + [ + 15.546339623948352, + 0.200805006211013 + ], + [ + 15.54392378652255, + 0.09213771006880334 + ], + [ + 15.547584110351583, + 0.09017912049538934 + ] + ], + "yaw_rad": -3.130217186741626, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13540267944336, + 0.09931690990924835, + 0.06532944738864899 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545149388244146, + 0.1464861307993437, + 0.11996979575120459 + ], + "intended_face_normal": [ + -0.9998182421675084, + -0.011372250336489809, + 0.015311631166593325 + ], + "commanded_contact_point": [ + 15.137800216674805, + 0.1029268205165863, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.545121316716623, + 0.14736424267895523, + 0.11878750334417992 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.136030197143555, + 0.10572271049022675, + 0.06698796153068542 + ], + "box_pose": [ + 15.618332862854004, + 0.14561639726161957, + 0.1360323280096054, + 0.007679217495024204, + -0.004065189976245165, + 0.9999462962150574, + -0.005655211396515369 + ], + "box_yaw_rad": -3.1302188263617405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019082469224339744 + } + } + }, + { + "simulation_time_ns": 1980000000, + "center": [ + 15.622313172928076, + 0.1473333897869741, + 0.11878893137113547 + ], + "face_center": [ + 15.545111546015848, + 0.1464558242904316, + 0.11994680813583244 + ], + "face_normal": [ + -0.9998227424261366, + -0.011365174239257973, + 0.014995429093573324 + ], + "footprint_xy": [ + [ + 15.542679776661942, + 0.09014724635171144 + ], + [ + 15.701946569194211, + 0.09014724635171144 + ], + [ + 15.701946569194211, + 0.20451953322223676 + ], + [ + 15.542679776661942, + 0.20451953322223676 + ] + ], + "projected_box_corners": [ + [ + 15.6970830304864, + 0.20451953322223676 + ], + [ + 15.700703122117506, + 0.20252811300833043 + ], + [ + 15.698326477563105, + 0.09389379755870274 + ], + [ + 15.701946569194211, + 0.09190237734479642 + ], + [ + 15.542679776661942, + 0.20276440222915176 + ], + [ + 15.546299868293048, + 0.20077298201524546 + ], + [ + 15.543923223738647, + 0.09213866656561776 + ], + [ + 15.547543315369753, + 0.09014724635171144 + ] + ], + "yaw_rad": -3.1302259539883734, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.132428169250488, + 0.09144728630781174, + 0.0609024316072464 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545131705235452, + 0.14647135813990816, + 0.11995919522089056 + ], + "intended_face_normal": [ + -0.9998204204075831, + -0.011373914650275041, + 0.015164596031516563 + ], + "commanded_contact_point": [ + 15.137076377868652, + 0.10071572661399841, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 15.545103970155699, + 0.14734959853003105, + 0.11878825617797686 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13540267944336, + 0.09931690990924835, + 0.06532944738864899 + ], + "box_pose": [ + 15.61831283569336, + 0.14559966325759888, + 0.13603228330612183, + 0.007606036961078644, + -0.0041253939270973206, + 0.9999465942382812, + -0.005655881483107805 + ], + "box_yaw_rad": -3.130217186741626, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002326559448392865 + } + } + }, + { + "simulation_time_ns": 2000000000, + "center": [ + 15.622290607518277, + 0.14731350282667666, + 0.11879064999909002 + ], + "face_center": [ + 15.545088762696393, + 0.1464357378789199, + 0.11993412698265749 + ], + "face_normal": [ + -0.9998255645302374, + -0.011367757291817798, + 0.014808940424421237 + ], + "footprint_xy": [ + [ + 15.542679043442048, + 0.09010740009079837 + ], + [ + 15.701902171594504, + 0.09010740009079837 + ], + [ + 15.701902171594504, + 0.2045196055625549 + ], + [ + 15.542679043442048, + 0.2045196055625549 + ] + ], + "projected_box_corners": [ + [ + 15.697082733085814, + 0.2045196055625549 + ], + [ + 15.700658536688257, + 0.20248851696158668 + ], + [ + 15.698326367992061, + 0.09389401858728014 + ], + [ + 15.701902171594504, + 0.09186292998631188 + ], + [ + 15.542679043442048, + 0.2027640756670414 + ], + [ + 15.54625484704449, + 0.20073298706607318 + ], + [ + 15.543922678348295, + 0.09213848869176663 + ], + [ + 15.547498481950738, + 0.09010740009079837 + ] + ], + "yaw_rad": -3.130223402899855, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.130250930786133, + 0.08640353381633759, + 0.06076802313327789 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545111546015848, + 0.1464558242904316, + 0.11994680813583244 + ], + "intended_face_normal": [ + -0.9998227424261366, + -0.011365174239257973, + 0.014995429093573324 + ], + "commanded_contact_point": [ + 15.13689136505127, + 0.09900075942277908, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.545084169590874, + 0.1473333897869741, + 0.11878893137113547 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132428169250488, + 0.09144728630781174, + 0.0609024316072464 + ], + "box_pose": [ + 15.618289947509766, + 0.14558114111423492, + 0.13603204488754272, + 0.007521811872720718, + -0.0041933124884963036, + 0.9999468922615051, + -0.005651345942169428 + ], + "box_yaw_rad": -3.1302259539883734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017249180300045145 + } + } + }, + { + "simulation_time_ns": 2020000000, + "center": [ + 15.622263856309617, + 0.147289885845479, + 0.11879298456995013 + ], + "face_center": [ + 15.545061731016508, + 0.14641192877822914, + 0.11991943244721687 + ], + "face_normal": [ + -0.9998291968566944, + -0.01137024539273159, + 0.014588399893818035 + ], + "footprint_xy": [ + [ + 15.542678112805133, + 0.09005959864619856 + ], + [ + 15.701849599814103, + 0.09005959864619856 + ], + [ + 15.701849599814103, + 0.20452017304475945 + ], + [ + 15.542678112805133, + 0.20452017304475945 + ] + ], + "projected_box_corners": [ + [ + 15.697082363391354, + 0.20452017304475945 + ], + [ + 15.700605805015025, + 0.20244095273275844 + ], + [ + 15.698326158190433, + 0.09389473309269926 + ], + [ + 15.701849599814103, + 0.09181551278069824 + ], + [ + 15.542678112805133, + 0.20276425891025976 + ], + [ + 15.546201554428803, + 0.20068503859825876 + ], + [ + 15.543921907604211, + 0.09213881895819956 + ], + [ + 15.547445349227882, + 0.09005959864619856 + ] + ], + "yaw_rad": -3.1302209559959393, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.127893447875977, + 0.08897425979375839, + 0.06557279825210571 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545088762696393, + 0.1464357378789199, + 0.11993412698265749 + ], + "intended_face_normal": [ + -0.9998255645302374, + -0.011367757291817798, + 0.014808940424421237 + ], + "commanded_contact_point": [ + 15.137356758117676, + 0.09792159497737885, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.545061822167387, + 0.14731350282667666, + 0.11879064999909002 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130250930786133, + 0.08640353381633759, + 0.06076802313327789 + ], + "box_pose": [ + 15.618264198303223, + 0.1455584019422531, + 0.13603273034095764, + 0.007429028861224651, + -0.004275477025657892, + 0.9999472498893738, + -0.005652414169162512 + ], + "box_yaw_rad": -3.130223402899855, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011752389573282363 + } + } + }, + { + "simulation_time_ns": 2040000000, + "center": [ + 15.622232252116806, + 0.1472643992457092, + 0.11879414439608815 + ], + "face_center": [ + 15.545029816434994, + 0.146386478489879, + 0.11989967733595847 + ], + "face_normal": [ + -0.9998332166383428, + -0.011369775130838937, + 0.01431753474625886 + ], + "footprint_xy": [ + [ + 15.542678465579286, + 0.09000868000728202 + ], + [ + 15.701786038654324, + 0.09000868000728202 + ], + [ + 15.701786038654324, + 0.20452011848413637 + ], + [ + 15.542678465579286, + 0.20452011848413637 + ] + ], + "projected_box_corners": [ + [ + 15.69708333694291, + 0.20452011848413637 + ], + [ + 15.700542371205026, + 0.2023897660940295 + ], + [ + 15.69832700439221, + 0.09389487390904927 + ], + [ + 15.701786038654324, + 0.0917645215189424 + ], + [ + 15.542678465579286, + 0.20276427697247598 + ], + [ + 15.546137499841402, + 0.20063392458236912 + ], + [ + 15.543922133028584, + 0.09213903239738888 + ], + [ + 15.5473811672907, + 0.09000868000728202 + ] + ], + "yaw_rad": -3.1302214719908856, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.126849174499512, + 0.09398442506790161, + 0.07214725017547607 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545061731016508, + 0.14641192877822914, + 0.11991943244721687 + ], + "intended_face_normal": [ + -0.9998291968566944, + -0.01137024539273159, + 0.014588399893818035 + ], + "commanded_contact_point": [ + 15.137986183166504, + 0.09697451442480087, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.54503535152681, + 0.147289885845479, + 0.11879298456995013 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.127893447875977, + 0.08897425979375839, + 0.06557279825210571 + ], + "box_pose": [ + 15.618233680725098, + 0.1455313265323639, + 0.136033833026886, + 0.007319317199289799, + -0.004375184886157513, + 0.999947726726532, + -0.005653394851833582 + ], + "box_yaw_rad": -3.1302209559959393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011371620226086016 + } + } + }, + { + "simulation_time_ns": 2060000000, + "center": [ + 15.62219471016817, + 0.14723522777373832, + 0.11879538684731436 + ], + "face_center": [ + 15.544991956940063, + 0.14635718901232106, + 0.1198766495037451 + ], + "face_normal": [ + -0.9998373291165501, + -0.01137130339746253, + 0.014003215186962735 + ], + "footprint_xy": [ + [ + 15.542677926662774, + 0.08995020028761465 + ], + [ + 15.701711493673567, + 0.08995020028761465 + ], + [ + 15.701711493673567, + 0.204520255259862 + ], + [ + 15.542677926662774, + 0.204520255259862 + ] + ], + "projected_box_corners": [ + [ + 15.69708343311899, + 0.204520255259862 + ], + [ + 15.700467724372867, + 0.20233124128602215 + ], + [ + 15.69832720241969, + 0.09389529178428904 + ], + [ + 15.701711493673567, + 0.09170627781044918 + ], + [ + 15.542677926662774, + 0.20276417773702748 + ], + [ + 15.546062217916651, + 0.20057516376318762 + ], + [ + 15.543921695963473, + 0.09213921426145451 + ], + [ + 15.547305987217351, + 0.08995020028761465 + ] + ], + "yaw_rad": -3.1302199904405894, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.1279296875, + 0.0948638767004013, + 0.0756402313709259 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.545029816434994, + 0.146386478489879, + 0.11989967733595847 + ], + "intended_face_normal": [ + -0.9998332166383428, + -0.011369775130838937, + 0.01431753474625886 + ], + "commanded_contact_point": [ + 15.138337135314941, + 0.09632506966590881, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.54500405782751, + 0.1472643992457092, + 0.11879414439608815 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.126849174499512, + 0.09398442506790161, + 0.07214725017547607 + ], + "box_pose": [ + 15.618197441101074, + 0.14550217986106873, + 0.1360335350036621, + 0.007184470072388649, + -0.004480993840843439, + 0.999948263168335, + -0.005652986466884613 + ], + "box_yaw_rad": -3.1302214719908856, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007382045146638986 + } + } + }, + { + "simulation_time_ns": 2080000000, + "center": [ + 15.622152221619384, + 0.14720189118079854, + 0.11879675634988382 + ], + "face_center": [ + 15.54494906431666, + 0.14632430106286068, + 0.1198503123478231 + ], + "face_normal": [ + -0.9998425622056313, + -0.011365493105997333, + 0.013644391825534358 + ], + "footprint_xy": [ + [ + 15.542678053482264, + 0.08988368452672935 + ], + [ + 15.701626389756504, + 0.08988368452672935 + ], + [ + 15.701626389756504, + 0.20452009783486777 + ], + [ + 15.542678053482264, + 0.20452009783486777 + ] + ], + "projected_box_corners": [ + [ + 15.697084368087712, + 0.20452009783486777 + ], + [ + 15.700383322834561, + 0.20226356980205829 + ], + [ + 15.698327435009654, + 0.09389539279541458 + ], + [ + 15.701626389756504, + 0.09163886476260508 + ], + [ + 15.542678053482264, + 0.20276491759899204 + ], + [ + 15.545977008229112, + 0.20050838956618255 + ], + [ + 15.543921120404205, + 0.09214021255953883 + ], + [ + 15.547220075151055, + 0.08988368452672935 + ] + ], + "yaw_rad": -3.130225860414174, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.130925178527832, + 0.09496133029460907, + 0.07591530680656433 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.544991956940063, + 0.14635718901232106, + 0.1198766495037451 + ], + "intended_face_normal": [ + -0.9998373291165501, + -0.01137130339746253, + 0.014003215186962735 + ], + "commanded_contact_point": [ + 15.138459205627441, + 0.09601256251335144, + 0.04999994859099388 + ], + "centerline_face_intersection": [ + 15.544966833529813, + 0.14723522777373832, + 0.11879538684731436 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1279296875, + 0.0948638767004013, + 0.0756402313709259 + ], + "box_pose": [ + 15.618154525756836, + 0.1454688012599945, + 0.1360330879688263, + 0.007027987856417894, + -0.004602381959557533, + 0.9999487400054932, + -0.005653596017509699 + ], + "box_yaw_rad": -3.1302199904405894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00033550243827693433 + } + } + }, + { + "simulation_time_ns": 2100000000, + "center": [ + 15.622104764169018, + 0.14716334915354432, + 0.11879856862530458 + ], + "face_center": [ + 15.544901219058291, + 0.1462853247939122, + 0.11982090472307365 + ], + "face_normal": [ + -0.9998475846290766, + -0.011371116882839795, + 0.013240069177749413 + ], + "footprint_xy": [ + [ + 15.542677977183917, + 0.08980589741208092 + ], + [ + 15.701531551154119, + 0.08980589741208092 + ], + [ + 15.701531551154119, + 0.20452080089500774 + ], + [ + 15.542677977183917, + 0.20452080089500774 + ] + ], + "projected_box_corners": [ + [ + 15.697085067405371, + 0.20452080089500774 + ], + [ + 15.70028791478915, + 0.20218626112818794 + ], + [ + 15.69832870377034, + 0.09389648589816499 + ], + [ + 15.701531551154119, + 0.09156194613134516 + ], + [ + 15.542677977183917, + 0.20276475217574347 + ], + [ + 15.545880824567696, + 0.20043021240892367 + ], + [ + 15.543921613548886, + 0.09214043717890072 + ], + [ + 15.547124460932663, + 0.08980589741208092 + ] + ], + "yaw_rad": -3.13022029359973, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.133954048156738, + 0.09584550559520721, + 0.0739976316690445 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54494906431666, + 0.14632430106286068, + 0.1198503123478231 + ], + "intended_face_normal": [ + -0.9998425622056313, + -0.011365493105997333, + 0.013644391825534358 + ], + "commanded_contact_point": [ + 15.13862133026123, + 0.09584955871105194, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.544924749185022, + 0.14720189118079854, + 0.11879675634988382 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130925178527832, + 0.09496133029460907, + 0.07591530680656433 + ], + "box_pose": [ + 15.6181058883667, + 0.14543065428733826, + 0.13603252172470093, + 0.006849337834864855, + -0.004742070101201534, + 0.9999493956565857, + -0.0056505524553358555 + ], + "box_yaw_rad": -3.130225860414174, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022990136487074792 + } + } + }, + { + "simulation_time_ns": 2120000000, + "center": [ + 15.622049736822596, + 0.14711978462198202, + 0.11880052649651343 + ], + "face_center": [ + 15.544845728184418, + 0.1462421061712595, + 0.11978715332396106 + ], + "face_normal": [ + -0.9998535876798713, + -0.011366637086125148, + 0.01277760560009163 + ], + "footprint_xy": [ + [ + 15.542677727462099, + 0.08971910534280135 + ], + [ + 15.701421746183094, + 0.08971910534280135 + ], + [ + 15.701421746183094, + 0.20452046390116269 + ], + [ + 15.542677727462099, + 0.20452046390116269 + ] + ], + "projected_box_corners": [ + [ + 15.697085744738455, + 0.20452046390116269 + ], + [ + 15.700178620363273, + 0.20209837536461844 + ], + [ + 15.698328870558278, + 0.0938965507807907 + ], + [ + 15.701421746183094, + 0.09147446224424644 + ], + [ + 15.542677727462099, + 0.20276510699971761 + ], + [ + 15.545770603086915, + 0.20034301846317334 + ], + [ + 15.54392085328192, + 0.0921411938793456 + ], + [ + 15.547013728906737, + 0.08971910534280135 + ] + ], + "yaw_rad": -3.1302248417462035, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13588809967041, + 0.0963539108633995, + 0.06940753757953644 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544901219058291, + 0.1462853247939122, + 0.11982090472307365 + ], + "intended_face_normal": [ + -0.9998475846290766, + -0.011371116882839795, + 0.013240069177749413 + ], + "commanded_contact_point": [ + 15.138708114624023, + 0.09593383967876434, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.54487767966285, + 0.14716334915354432, + 0.11879856862530458 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133954048156738, + 0.09584550559520721, + 0.0739976316690445 + ], + "box_pose": [ + 15.618051528930664, + 0.1453865021467209, + 0.1360321342945099, + 0.006648088805377483, + -0.0049035511910915375, + 0.9999498724937439, + -0.005653242580592632 + ], + "box_yaw_rad": -3.13022029359973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00012097441523860352 + } + } + }, + { + "simulation_time_ns": 2140000000, + "center": [ + 15.621988248866453, + 0.14706979710567372, + 0.11880297941378717 + ], + "face_center": [ + 15.544783736700161, + 0.14619210573749267, + 0.11974856809320042 + ], + "face_normal": [ + -0.9998601087711954, + -0.01136680437753203, + 0.012246128798981229 + ], + "footprint_xy": [ + [ + 15.542678893986121, + 0.08961843723853805 + ], + [ + 15.701297603746784, + 0.08961843723853805 + ], + [ + 15.701297603746784, + 0.2045211569728094 + ], + [ + 15.542678893986121, + 0.2045211569728094 + ] + ], + "projected_box_corners": [ + [ + 15.697087918318706, + 0.2045211569728094 + ], + [ + 15.700054438013474, + 0.20199723455939728 + ], + [ + 15.698331084052016, + 0.09389774238831225 + ], + [ + 15.701297603746784, + 0.09137381997490013 + ], + [ + 15.542678893986121, + 0.20276577423644732 + ], + [ + 15.545645413680889, + 0.2002418518230352 + ], + [ + 15.543922059719431, + 0.09214235965195017 + ], + [ + 15.5468885794142, + 0.08961843723853805 + ] + ], + "yaw_rad": -3.130224748587535, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.137201309204102, + 0.09695251286029816, + 0.06412941217422485 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544845728184418, + 0.1462421061712595, + 0.11978715332396106 + ], + "intended_face_normal": [ + -0.9998535876798713, + -0.011366637086125148, + 0.01277760560009163 + ], + "commanded_contact_point": [ + 15.138690116212368, + 0.09647014819502664, + 0.050126825685459744 + ], + "centerline_face_intersection": [ + 15.544823115982425, + 0.14711978462198202, + 0.11880052649651343 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13588809967041, + 0.0963539108633995, + 0.06940753757953644 + ], + "box_pose": [ + 15.617988586425781, + 0.14533668756484985, + 0.13603158295154572, + 0.006417854223400354, + -0.005084712989628315, + 0.9999504685401917, + -0.0056509654968976974 + ], + "box_yaw_rad": -3.1302248417462035, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005513879933308303 + } + } + }, + { + "simulation_time_ns": 2160000000, + "center": [ + 15.621916697174766, + 0.14701312310120268, + 0.11880528450714706 + ], + "face_center": [ + 15.544711603262932, + 0.1461353062367314, + 0.11970359192237517 + ], + "face_normal": [ + -0.9998676428407025, + -0.011368429654745538, + 0.011633798656292877 + ], + "footprint_xy": [ + [ + 15.542679421638988, + 0.08950445505605192 + ], + [ + 15.701153972710545, + 0.08950445505605192 + ], + [ + 15.701153972710545, + 0.2045217911463534 + ], + [ + 15.542679421638988, + 0.2045217911463534 + ] + ], + "projected_box_corners": [ + [ + 15.697089609462658, + 0.2045217911463534 + ], + [ + 15.699910528245388, + 0.20188295759725428 + ], + [ + 15.698333053927815, + 0.09389892233409361 + ], + [ + 15.701153972710545, + 0.09126008878499448 + ], + [ + 15.542679421638988, + 0.20276615741741086 + ], + [ + 15.54550034042172, + 0.20012732386831172 + ], + [ + 15.543922866104145, + 0.09214328860515106 + ], + [ + 15.546743784886875, + 0.08950445505605192 + ] + ], + "yaw_rad": -3.1302232089557993, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.137849807739258, + 0.09713373333215714, + 0.059979990124702454 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544783736700161, + 0.14619210573749267, + 0.11974856809320042 + ], + "intended_face_normal": [ + -0.9998601087711954, + -0.01136680437753203, + 0.012246128798981229 + ], + "commanded_contact_point": [ + 15.13887629225731, + 0.09742966670305168, + 0.0504987927541508 + ], + "centerline_face_intersection": [ + 15.544762131698588, + 0.14706979710567372, + 0.11880297941378717 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137201309204102, + 0.09695251286029816, + 0.06412941217422485 + ], + "box_pose": [ + 15.617918014526367, + 0.1452794075012207, + 0.1360311359167099, + 0.006153291091322899, + -0.005295471753925085, + 0.9999510049819946, + -0.005651094485074282 + ], + "box_yaw_rad": -3.130224748587535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010457995922466673 + } + } + }, + { + "simulation_time_ns": 2180000000, + "center": [ + 15.621835101180263, + 0.14694705149318923, + 0.11880873487605875 + ], + "face_center": [ + 15.544629391180719, + 0.14606913314698955, + 0.11965341072045585 + ], + "face_normal": [ + -0.9998756216687086, + -0.011369743924198894, + 0.010939226969482968 + ], + "footprint_xy": [ + [ + 15.542679607780459, + 0.08937144285970228 + ], + [ + 15.700990594580068, + 0.08937144285970228 + ], + [ + 15.700990594580068, + 0.20452266012667622 + ], + [ + 15.542679607780459, + 0.20452266012667622 + ] + ], + "projected_box_corners": [ + [ + 15.697091027779546, + 0.20452266012667622 + ], + [ + 15.699746835360326, + 0.20174946463238771 + ], + [ + 15.698334786999288, + 0.09390047504639012 + ], + [ + 15.700990594580068, + 0.09112727955210163 + ], + [ + 15.542679607780459, + 0.20276682343427685 + ], + [ + 15.545335415361238, + 0.19999362793998834 + ], + [ + 15.5439233670002, + 0.09214463835399077 + ], + [ + 15.54657917458098, + 0.08937144285970228 + ] + ], + "yaw_rad": -3.1302219854110875, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.138140678405762, + 0.09652293473482132, + 0.05710422992706299 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544711603262932, + 0.1461353062367314, + 0.11970359192237517 + ], + "intended_face_normal": [ + -0.9998676428407025, + -0.011368429654745538, + 0.011633798656292877 + ], + "commanded_contact_point": [ + 15.13930106111288, + 0.09884896284602783, + 0.051103024453661335 + ], + "centerline_face_intersection": [ + 15.544691161910857, + 0.14701312310120268, + 0.11880528450714706 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137849807739258, + 0.09713373333215714, + 0.059979990124702454 + ], + "box_pose": [ + 15.617835998535156, + 0.1452144980430603, + 0.13603010773658752, + 0.005848457105457783, + -0.005533264949917793, + 0.9999516010284424, + -0.00565212732180953 + ], + "box_yaw_rad": -3.1302232089557993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001599976896340278 + } + } + }, + { + "simulation_time_ns": 2200000000, + "center": [ + 15.621739270248277, + 0.14687216391579416, + 0.11881151786771003 + ], + "face_center": [ + 15.544532888689286, + 0.14599494322414994, + 0.11959370367303146 + ], + "face_normal": [ + -0.9998843189000479, + -0.011360708740371733, + 0.0101299310421578 + ], + "footprint_xy": [ + [ + 15.542679673829554, + 0.08922169687369842 + ], + [ + 15.700798866667002, + 0.08922169687369842 + ], + [ + 15.700798866667002, + 0.2045226309578899 + ], + [ + 15.542679673829554, + 0.2045226309578899 + ] + ], + "projected_box_corners": [ + [ + 15.697092436947537, + 0.2045226309578899 + ], + [ + 15.699555780343598, + 0.2015975099571789 + ], + [ + 15.698335523270941, + 0.09390125925769786 + ], + [ + 15.700798866667002, + 0.09097613825698686 + ], + [ + 15.542679673829554, + 0.20276818957460147 + ], + [ + 15.545143017225614, + 0.19984306857389045 + ], + [ + 15.543922760152958, + 0.09214681787440943 + ], + [ + 15.546386103549018, + 0.08922169687369842 + ] + ], + "yaw_rad": -3.1302311193691694, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.137677192687988, + 0.09581249952316284, + 0.05728253722190857 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544629391180719, + 0.14606913314698955, + 0.11965341072045585 + ], + "intended_face_normal": [ + -0.9998756216687086, + -0.011369743924198894, + 0.010939226969482968 + ], + "commanded_contact_point": [ + 15.140072986450194, + 0.10068693026047958, + 0.05192665978465476 + ], + "centerline_face_intersection": [ + 15.544610182162264, + 0.14694705149318923, + 0.11880873487605875 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138140678405762, + 0.09652293473482132, + 0.05710422992706299 + ], + "box_pose": [ + 15.617742538452148, + 0.14513880014419556, + 0.13602973520755768, + 0.005502730142325163, + -0.0058113690465688705, + 0.9999520182609558, + -0.005653164815157652 + ], + "box_yaw_rad": -3.1302219854110875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021569348857662313 + } + } + }, + { + "simulation_time_ns": 2220000000, + "center": [ + 15.621630245133101, + 0.1467852040452891, + 0.11881523867163186 + ], + "face_center": [ + 15.54442314542691, + 0.14590831437990834, + 0.11952553103326664 + ], + "face_normal": [ + -0.9998936194800025, + -0.011356421685813987, + 0.0091988535130407 + ], + "footprint_xy": [ + [ + 15.542680603007883, + 0.0890465434498988 + ], + [ + 15.700579887258321, + 0.0890465434498988 + ], + [ + 15.700579887258321, + 0.20452386464067943 + ], + [ + 15.542680603007883, + 0.20452386464067943 + ] + ], + "projected_box_corners": [ + [ + 15.697094802420267, + 0.20452386464067943 + ], + [ + 15.699336774825255, + 0.2014206959702805 + ], + [ + 15.698337914853331, + 0.0939034914510593 + ], + [ + 15.700579887258321, + 0.09080032278066039 + ], + [ + 15.542680603007883, + 0.20277008530991786 + ], + [ + 15.54492257541287, + 0.1996669166395189 + ], + [ + 15.543923715440947, + 0.09214971212029774 + ], + [ + 15.546165687845937, + 0.0890465434498988 + ] + ], + "yaw_rad": -3.1302355119976326, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.134527206420898, + 0.09705734252929688, + 0.06070403754711151 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544532888689286, + 0.14599494322414994, + 0.11959370367303146 + ], + "intended_face_normal": [ + -0.9998843189000479, + -0.011360708740371733, + 0.0101299310421578 + ], + "commanded_contact_point": [ + 15.14078860014677, + 0.10276107436568233, + 0.05295673492576432 + ], + "centerline_face_intersection": [ + 15.544515022950968, + 0.14687216391579416, + 0.11881151786771003 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137677192687988, + 0.09581249952316284, + 0.05728253722190857 + ], + "box_pose": [ + 15.617632865905762, + 0.14505307376384735, + 0.13602808117866516, + 0.00509981531649828, + -0.006125733256340027, + 0.9999523162841797, + -0.005649383645504713 + ], + "box_yaw_rad": -3.1302311193691694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024238876888597943 + } + } + }, + { + "simulation_time_ns": 2240000000, + "center": [ + 15.621504589119414, + 0.14668545287448304, + 0.11881954883495895 + ], + "face_center": [ + 15.544296783169807, + 0.14580817759625705, + 0.11944679066739305 + ], + "face_normal": [ + -0.9999027658964026, + -0.011361415680212983, + 0.008123282813478211 + ], + "footprint_xy": [ + [ + 15.542681434869355, + 0.08884531932825711 + ], + [ + 15.700327743369472, + 0.08884531932825711 + ], + [ + 15.700327743369472, + 0.20452558642070898 + ], + [ + 15.542681434869355, + 0.20452558642070898 + ] + ], + "projected_box_corners": [ + [ + 15.697097046768565, + 0.20452558642070898 + ], + [ + 15.69908330381682, + 0.20121897058182991 + ], + [ + 15.698341486321219, + 0.09390648572358812 + ], + [ + 15.700327743369472, + 0.09059986988470906 + ], + [ + 15.542681434869355, + 0.20277103586425702 + ], + [ + 15.544667691917608, + 0.19946442002537795 + ], + [ + 15.543925874422007, + 0.09215193516713616 + ], + [ + 15.545912131470262, + 0.08884531932825711 + ] + ], + "yaw_rad": -3.1302306220403695, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.131690979003906, + 0.09846682846546173, + 0.06545300781726837 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54442314542691, + 0.14590831437990834, + 0.11952553103326664 + ], + "intended_face_normal": [ + -0.9998936194800025, + -0.011356421685813987, + 0.0091988535130407 + ], + "commanded_contact_point": [ + 15.14211856151581, + 0.10421904374958381, + 0.05418052644909743 + ], + "centerline_face_intersection": [ + 15.544406716142493, + 0.1467852040452891, + 0.11881523867163186 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.134527206420898, + 0.09705734252929688, + 0.06070403754711151 + ], + "box_pose": [ + 15.617507934570312, + 0.1449533849954605, + 0.13602665066719055, + 0.004636329598724842, + -0.006494220346212387, + 0.9999523162841797, + -0.005648370832204819 + ], + "box_yaw_rad": -3.1302355119976326, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023220976853082225 + } + } + }, + { + "simulation_time_ns": 2260000000, + "center": [ + 15.621360731202923, + 0.14657091442823844, + 0.11882370987115183 + ], + "face_center": [ + 15.544152231681943, + 0.14569410355686127, + 0.11935537810079556 + ], + "face_normal": [ + -0.9999117481997697, + -0.01135540124052113, + 0.006885528306645749 + ], + "footprint_xy": [ + [ + 15.542683808701115, + 0.08861594763834185 + ], + [ + 15.700037653704731, + 0.08861594763834185 + ], + [ + 15.700037653704731, + 0.20452588121813503 + ], + [ + 15.542683808701115, + 0.20452588121813503 + ] + ], + "projected_box_corners": [ + [ + 15.697100807743075, + 0.20452588121813503 + ], + [ + 15.698792734703574, + 0.2009871082675886 + ], + [ + 15.698345726744233, + 0.09390834233164264 + ], + [ + 15.700037653704731, + 0.0903695693810962 + ], + [ + 15.542683808701115, + 0.2027722594753807 + ], + [ + 15.544375735661612, + 0.19923348652483425 + ], + [ + 15.543928727702273, + 0.0921547205888883 + ], + [ + 15.545620654662772, + 0.08861594763834185 + ] + ], + "yaw_rad": -3.1302367382922824, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.130379676818848, + 0.1004772037267685, + 0.07022243738174438 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544296783169807, + 0.14580817759625705, + 0.11944679066739305 + ], + "intended_face_normal": [ + -0.9999027658964026, + -0.011361415680212983, + 0.008123282813478211 + ], + "commanded_contact_point": [ + 15.14423538044572, + 0.10527104820440536, + 0.055585174847285874 + ], + "centerline_face_intersection": [ + 15.544281766516043, + 0.14668545287448304, + 0.11881954883495895 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131690979003906, + 0.09846682846546173, + 0.06545300781726837 + ], + "box_pose": [ + 15.617363929748535, + 0.14483904838562012, + 0.13602499663829803, + 0.004100928548723459, + -0.006915268488228321, + 0.9999517798423767, + -0.005652621388435364 + ], + "box_yaw_rad": -3.1302306220403695, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027496677758452313 + } + } + }, + { + "simulation_time_ns": 2280000000, + "center": [ + 15.621192613611427, + 0.1464396816841117, + 0.11882778542121485 + ], + "face_center": [ + 15.543983445504406, + 0.1455630919316749, + 0.11924842926745531 + ], + "face_normal": [ + -0.9999204069231178, + -0.011352537573598404, + 0.0054476738477411074 + ], + "footprint_xy": [ + [ + 15.542685305793299, + 0.08835202955383936 + ], + [ + 15.699699921429556, + 0.08835202955383936 + ], + [ + 15.699699921429556, + 0.20452733381438404 + ], + [ + 15.542685305793299, + 0.20452733381438404 + ] + ], + "projected_box_corners": [ + [ + 15.69710364200734, + 0.20452733381438404 + ], + [ + 15.698453655336612, + 0.2007208342543084 + ], + [ + 15.698349908100283, + 0.09391170861878861 + ], + [ + 15.699699921429556, + 0.09010520905871296 + ], + [ + 15.542685305793299, + 0.20277415430951046 + ], + [ + 15.54403531912257, + 0.19896765474943479 + ], + [ + 15.54393157188624, + 0.09215852911391503 + ], + [ + 15.545281585215513, + 0.08835202955383936 + ] + ], + "yaw_rad": -3.13023970014505, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.131255149841309, + 0.10386306047439575, + 0.07667365670204163 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544152231681943, + 0.14569410355686127, + 0.11935537810079556 + ], + "intended_face_normal": [ + -0.9999117481997697, + -0.01135540124052113, + 0.006885528306645749 + ], + "commanded_contact_point": [ + 15.146505108947753, + 0.10621022347394987, + 0.05715769319705264 + ], + "centerline_face_intersection": [ + 15.544138602299592, + 0.14657091442823844, + 0.11882370987115183 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130379676818848, + 0.1004772037267685, + 0.07022243738174438 + ], + "box_pose": [ + 15.617198944091797, + 0.14470791816711426, + 0.13602226972579956, + 0.003484738292172551, + -0.007395685184746981, + 0.9999505877494812, + -0.0056522078812122345 + ], + "box_yaw_rad": -3.1302367382922824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029165958959413945 + } + } + }, + { + "simulation_time_ns": 2300000000, + "center": [ + 15.620998729050745, + 0.14628754390834023, + 0.11883170813316554 + ], + "face_center": [ + 15.543788957739082, + 0.14541059825077565, + 0.11912399890517744 + ], + "face_normal": [ + -0.9999282189051026, + -0.01135714682932429, + 0.00378539899931189 + ], + "footprint_xy": [ + [ + 15.542687001991164, + 0.08804612151525665 + ], + [ + 15.699310456110325, + 0.08804612151525665 + ], + [ + 15.699310456110325, + 0.2045289663014238 + ], + [ + 15.542687001991164, + 0.2045289663014238 + ] + ], + "projected_box_corners": [ + [ + 15.697106544614488, + 0.2045289663014238 + ], + [ + 15.698061318543093, + 0.2004132984682503 + ], + [ + 15.698355682181722, + 0.09391568066355929 + ], + [ + 15.699310456110325, + 0.08980001283038577 + ], + [ + 15.542687001991164, + 0.20277507498629466 + ], + [ + 15.543641775919767, + 0.19865940715312114 + ], + [ + 15.543936139558397, + 0.09216178934843017 + ], + [ + 15.544890913487, + 0.08804612151525665 + ] + ], + "yaw_rad": -3.1302351798405903, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.131135940551758, + 0.10844967514276505, + 0.0811799019575119 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543983445504406, + 0.1455630919316749, + 0.11924842926745531 + ], + "intended_face_normal": [ + -0.9999204069231178, + -0.011352537573598404, + 0.0054476738477411074 + ], + "commanded_contact_point": [ + 15.148537466367483, + 0.10732351072959426, + 0.058885227839959836 + ], + "centerline_face_intersection": [ + 15.54397115340637, + 0.1464396816841117, + 0.11882778542121485 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131255149841309, + 0.10386306047439575, + 0.07667365670204163 + ], + "box_pose": [ + 15.617006301879883, + 0.14455753564834595, + 0.136018306016922, + 0.002768931444734335, + -0.00794969405978918, + 0.9999485015869141, + -0.005654547829180956 + ], + "box_yaw_rad": -3.13023970014505, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002890373875046782 + } + } + }, + { + "simulation_time_ns": 2320000000, + "center": [ + 15.620775672288834, + 0.14611069628380127, + 0.11883575020402731 + ], + "face_center": [ + 15.543565479065055, + 0.14523434689671116, + 0.11898060615412542 + ], + "face_normal": [ + -0.9999336830040733, + -0.011349424650338611, + 0.001876000274560241 + ], + "footprint_xy": [ + [ + 15.542689297989336, + 0.08769151843890788 + ], + [ + 15.698862046588333, + 0.08769151843890788 + ], + [ + 15.698862046588333, + 0.20452987412869467 + ], + [ + 15.542689297989336, + 0.20452987412869467 + ] + ], + "projected_box_corners": [ + [ + 15.697109684436896, + 0.20452987412869467 + ], + [ + 15.697610476726837, + 0.2000545386182937 + ], + [ + 15.698361254298392, + 0.09391955272348905 + ], + [ + 15.698862046588333, + 0.0894442172130881 + ], + [ + 15.542689297989336, + 0.20277717535451445 + ], + [ + 15.543190090279277, + 0.19830183984411348 + ], + [ + 15.543940867850832, + 0.09216685394930883 + ], + [ + 15.544441660140773, + 0.08769151843890788 + ] + ], + "yaw_rad": -3.130242963593425, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.129291534423828, + 0.11010873317718506, + 0.0815727710723877 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543788957739082, + 0.14541059825077565, + 0.11912399890517744 + ], + "intended_face_normal": [ + -0.9999282189051026, + -0.01135714682932429, + 0.00378539899931189 + ], + "commanded_contact_point": [ + 15.150943022966384, + 0.10876724866460735, + 0.06075495816766351 + ], + "centerline_face_intersection": [ + 15.54377787214165, + 0.14628754390834023, + 0.11883170813316554 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131135940551758, + 0.10844967514276505, + 0.0811799019575119 + ], + "box_pose": [ + 15.61678409576416, + 0.1443832516670227, + 0.13601286709308624, + 0.0019414413254708052, + -0.008589469827711582, + 0.9999451637268066, + -0.005662207957357168 + ], + "box_yaw_rad": -3.1302351798405903, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003371494219756269 + } + } + }, + { + "simulation_time_ns": 2340000000, + "center": [ + 15.620518219548865, + 0.14590735670163144, + 0.11883945883248018 + ], + "face_center": [ + 15.543307887986352, + 0.14503115019499754, + 0.11881535301026666 + ], + "face_normal": [ + -0.9999354746011875, + -0.011347574234287686, + -0.00031218965503621715 + ], + "footprint_xy": [ + [ + 15.542670225650221, + 0.08728433266632014 + ], + [ + 15.69836621344751, + 0.08728433266632014 + ], + [ + 15.69836621344751, + 0.2045303807369427 + ], + [ + 15.542670225650221, + 0.2045303807369427 + ] + ], + "projected_box_corners": [ + [ + 15.697110311985297, + 0.2045303807369427 + ], + [ + 15.697090888775248, + 0.19964337028616733 + ], + [ + 15.69836621344751, + 0.09392375613036327 + ], + [ + 15.69834679023746, + 0.08903674567958789 + ], + [ + 15.542689648860271, + 0.20277796772367496 + ], + [ + 15.542670225650221, + 0.19789095727289957 + ], + [ + 15.543945550322483, + 0.09217134311709553 + ], + [ + 15.543926127112433, + 0.08728433266632014 + ] + ], + "yaw_rad": -3.130244834224192, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.1284818649292, + 0.10517926514148712, + 0.07827901840209961 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543565479065055, + 0.14523434689671116, + 0.11898060615412542 + ], + "intended_face_normal": [ + -0.9999336830040733, + -0.011349424650338611, + 0.001876000274560241 + ], + "commanded_contact_point": [ + 15.153815782580375, + 0.11037823581233333, + 0.0627539865897581 + ], + "centerline_face_intersection": [ + 15.543555237350127, + 0.14611069628380127, + 0.11883575020402731 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129291534423828, + 0.11010873317718506, + 0.0815727710723877 + ], + "box_pose": [ + 15.616528511047363, + 0.14418070018291473, + 0.13600602746009827, + 0.0009909432847052813, + -0.00933381263166666, + 0.9999398589134216, + -0.0056658037938177586 + ], + "box_yaw_rad": -3.130242963593425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00385280962704614 + } + } + }, + { + "simulation_time_ns": 2360000000, + "center": [ + 15.620223299125087, + 0.14567298453966684, + 0.11884304760070535 + ], + "face_center": [ + 15.543013251844625, + 0.14479727124254813, + 0.11862510044036051 + ], + "face_normal": [ + -0.9999317929215121, + -0.011341186777056974, + -0.002822589837487676 + ], + "footprint_xy": [ + [ + 15.542074443127872, + 0.0868159953883387 + ], + [ + 15.698372155122302, + 0.0868159953883387 + ], + [ + 15.698372155122302, + 0.20452997369099496 + ], + [ + 15.542074443127872, + 0.20452997369099496 + ] + ], + "projected_box_corners": [ + [ + 15.697110742826345, + 0.20452997369099496 + ], + [ + 15.696494537688796, + 0.19916940867748223 + ], + [ + 15.698372155122302, + 0.09392798699608887 + ], + [ + 15.697755949984751, + 0.08856742198257611 + ], + [ + 15.542690648265422, + 0.20277854709675755 + ], + [ + 15.542074443127872, + 0.1974179820832448 + ], + [ + 15.543952060561377, + 0.09217656040185146 + ], + [ + 15.543335855423829, + 0.0868159953883387 + ] + ], + "yaw_rad": -3.1302511795167276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.132869720458984, + 0.10083818435668945, + 0.07438503205776215 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543307887986352, + 0.14503115019499754, + 0.11881535301026666 + ], + "intended_face_normal": [ + -0.9999354746011875, + -0.011347574234287686, + -0.00031218965503621715 + ], + "commanded_contact_point": [ + 15.156632671813966, + 0.11195979283478383, + 0.06486934997758956 + ], + "centerline_face_intersection": [ + 15.543297922966994, + 0.14590735670163144, + 0.11883945883248018 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1284818649292, + 0.10517926514148712, + 0.07827901840209961 + ], + "box_pose": [ + 15.616233825683594, + 0.14394791424274445, + 0.13599714636802673, + -9.829533519223332e-05, + -0.010185797698795795, + 0.9999319911003113, + -0.005675174295902252 + ], + "box_yaw_rad": -3.130244834224192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003861469905639647 + } + } + }, + { + "simulation_time_ns": 2380000000, + "center": [ + 15.619888535310261, + 0.14542204374018872, + 0.1188525427657334 + ], + "face_center": [ + 15.542679393091698, + 0.1445487333160625, + 0.11841389591932489 + ], + "face_normal": [ + -0.9999200716469157, + -0.011310067652225886, + -0.005680827081939137 + ], + "footprint_xy": [ + [ + 15.541398187588102, + 0.08631655605206169 + ], + [ + 15.698378883032419, + 0.08631655605206169 + ], + [ + 15.698378883032419, + 0.20452753142831573 + ], + [ + 15.541398187588102, + 0.20452753142831573 + ] + ], + "projected_box_corners": [ + [ + 15.697112593784777, + 0.20452753142831573 + ], + [ + 15.695816472025232, + 0.19865973505801338 + ], + [ + 15.698378883032419, + 0.0939309732706165 + ], + [ + 15.697082761272874, + 0.08806317690031414 + ], + [ + 15.542694309347649, + 0.20278091058006328 + ], + [ + 15.541398187588102, + 0.19691311420976093 + ], + [ + 15.543960598595291, + 0.09218435242236406 + ], + [ + 15.542664476835746, + 0.08631655605206169 + ] + ], + "yaw_rad": -3.1302821642012075, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.140170097351074, + 0.101193368434906, + 0.07219867408275604 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543013251844625, + 0.14479727124254813, + 0.11862510044036051 + ], + "intended_face_normal": [ + -0.9999317929215121, + -0.011341186777056974, + -0.002822589837487676 + ], + "commanded_contact_point": [ + 15.159537813932893, + 0.11368687296082258, + 0.06708811897813785 + ], + "centerline_face_intersection": [ + 15.543002718223427, + 0.14567298453966684, + 0.11884304760070535 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132869720458984, + 0.10083818435668945, + 0.07438503205776215 + ], + "box_pose": [ + 15.615896224975586, + 0.1436796933412552, + 0.1359861195087433, + -0.0013479116605594754, + -0.011165882460772991, + 0.9999206066131592, + -0.005686095450073481 + ], + "box_yaw_rad": -3.1302511795167276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040429682623925245 + } + } + }, + { + "simulation_time_ns": 2400000000, + "center": [ + 15.6195402926721, + 0.14515219648833916, + 0.11886650417264492 + ], + "face_center": [ + 15.542332766706728, + 0.14428169876118493, + 0.11819875292871629 + ], + "face_normal": [ + -0.9998991398769128, + -0.011273640979464983, + -0.008647912054006779 + ], + "footprint_xy": [ + [ + 15.540695746564172, + 0.08577878101537081 + ], + [ + 15.698384838780031, + 0.08577878101537081 + ], + [ + 15.698384838780031, + 0.20452561196130753 + ], + [ + 15.540695746564172, + 0.20452561196130753 + ] + ], + "projected_box_corners": [ + [ + 15.697112461977634, + 0.20452561196130753 + ], + [ + 15.695110798494916, + 0.19810989901534776 + ], + [ + 15.698384838780031, + 0.09393548941563908 + ], + [ + 15.696383175297314, + 0.08751977646967929 + ], + [ + 15.54269741004689, + 0.20278461650699905 + ], + [ + 15.540695746564172, + 0.19636890356103925 + ], + [ + 15.543969786849285, + 0.09219449396133059 + ], + [ + 15.541968123366567, + 0.08577878101537081 + ] + ], + "yaw_rad": -3.130318353150652, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.147215843200684, + 0.10563510656356812, + 0.07114817202091217 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542679393091698, + 0.1445487333160625, + 0.11841389591932489 + ], + "intended_face_normal": [ + -0.9999200716469157, + -0.011310067652225886, + -0.005680827081939137 + ], + "commanded_contact_point": [ + 15.163058536424636, + 0.11568084068883058, + 0.06939917235110624 + ], + "centerline_face_intersection": [ + 15.542667049212618, + 0.14542204374018872, + 0.1188525427657334 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140170097351074, + 0.101193368434906, + 0.07219867408275604 + ], + "box_pose": [ + 15.61551284790039, + 0.14339260756969452, + 0.13597902655601501, + -0.002771178027614951, + -0.012215237133204937, + 0.9999054074287415, + -0.005689422599971294 + ], + "box_yaw_rad": -3.1302821642012075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00465965254680109 + } + } + }, + { + "simulation_time_ns": 2420000000, + "center": [ + 15.61940655314972, + 0.1450062298182049, + 0.11889328179491541 + ], + "face_center": [ + 15.542199790202732, + 0.1441362049036176, + 0.11813934727271477 + ], + "face_normal": [ + -0.9998892581792642, + -0.011267517679008642, + -0.009764054356696299 + ], + "footprint_xy": [ + [ + 15.540428657077788, + 0.08548828024027874 + ], + [ + 15.698384449221649, + 0.08548828024027874 + ], + [ + 15.698384449221649, + 0.2045241793961311 + ], + [ + 15.540428657077788, + 0.2045241793961311 + ] + ], + "projected_box_corners": [ + [ + 15.69710817869226, + 0.2045241793961311 + ], + [ + 15.694842182971762, + 0.19781478960829843 + ], + [ + 15.698384449221649, + 0.09393771985728605 + ], + [ + 15.696118453501152, + 0.08722833006945338 + ], + [ + 15.542694652798286, + 0.20278412956695643 + ], + [ + 15.540428657077788, + 0.19607473977912376 + ], + [ + 15.543970923327677, + 0.0921976700281114 + ], + [ + 15.541704927607178, + 0.08548828024027874 + ] + ], + "yaw_rad": -3.130324364939186, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.154364585876465, + 0.1095278263092041, + 0.0710739940404892 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542332766706728, + 0.14428169876118493, + 0.11819875292871629 + ], + "intended_face_normal": [ + -0.9998991398769128, + -0.011273640979464983, + -0.008647912054006779 + ], + "commanded_contact_point": [ + 15.167213099747897, + 0.11792121484691834, + 0.0717897953917781 + ], + "centerline_face_intersection": [ + 15.542317190029024, + 0.14515219648833916, + 0.11886650417264492 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.147215843200684, + 0.10563510656356812, + 0.07114817202091217 + ], + "box_pose": [ + 15.615114212036133, + 0.14308373630046844, + 0.13597536087036133, + -0.004248429089784622, + -0.013349168002605438, + 0.9998856782913208, + -0.005694184452295303 + ], + "box_yaw_rad": -3.130318353150652, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005291006643145417 + } + } + }, + { + "simulation_time_ns": 2440000000, + "center": [ + 15.619415879428345, + 0.14499776386702307, + 0.11890053821105247 + ], + "face_center": [ + 15.542209087328095, + 0.14412771175633504, + 0.11815178070319485 + ], + "face_normal": [ + -0.9998896357373224, + -0.011267869890238813, + -0.00969700788520289 + ], + "footprint_xy": [ + [ + 15.540446141722041, + 0.08547118322994723 + ], + [ + 15.698385617134651, + 0.08547118322994723 + ], + [ + 15.698385617134651, + 0.20452434450409893 + ], + [ + 15.540446141722041, + 0.20452434450409893 + ] + ], + "projected_box_corners": [ + [ + 15.697109438756435, + 0.20452434450409893 + ], + [ + 15.694859725922543, + 0.19779749091926646 + ], + [ + 15.698385617134651, + 0.09393814103615578 + ], + [ + 15.69613590430076, + 0.08721128745132328 + ], + [ + 15.542695854555932, + 0.20278424028272288 + ], + [ + 15.540446141722041, + 0.19605738669789038 + ], + [ + 15.54397203293415, + 0.09219803681477973 + ], + [ + 15.541722320100257, + 0.08547118322994723 + ] + ], + "yaw_rad": -3.130324016988349, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.162476539611816, + 0.11056585609912872, + 0.07438045740127563 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542199790202732, + 0.1441362049036176, + 0.11813934727271477 + ], + "intended_face_normal": [ + -0.9998892581792642, + -0.011267517679008642, + -0.009764054356696299 + ], + "commanded_contact_point": [ + 15.171486216125487, + 0.12001461299240551, + 0.07425045015853651 + ], + "centerline_face_intersection": [ + 15.542182687326775, + 0.1450062298182049, + 0.11889328179491541 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.154364585876465, + 0.1095278263092041, + 0.0710739940404892 + ], + "box_pose": [ + 15.614961624145508, + 0.14291679859161377, + 0.13599470257759094, + -0.004803044721484184, + -0.013958285562694073, + 0.9998748898506165, + -0.0057015144266188145 + ], + "box_yaw_rad": -3.130324364939186, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005356926474493174 + } + } + }, + { + "simulation_time_ns": 2460000000, + "center": [ + 15.619453296472107, + 0.14501578464620166, + 0.11890450539573974 + ], + "face_center": [ + 15.542246296137924, + 0.14414460209127244, + 0.118180574146124 + ], + "face_normal": [ + -0.9998923325330848, + -0.011282510046237875, + -0.009375488008066025 + ], + "footprint_xy": [ + [ + 15.540521505126042, + 0.08550618207092689 + ], + [ + 15.69838508781817, + 0.08550618207092689 + ], + [ + 15.69838508781817, + 0.20452538722147642 + ], + [ + 15.540521505126042, + 0.20452538722147642 + ] + ], + "projected_box_corners": [ + [ + 15.697108437310359, + 0.20452538722147642 + ], + [ + 15.694935505794406, + 0.19783518260948954 + ], + [ + 15.69838508781817, + 0.0939387517927722 + ], + [ + 15.69621215630222, + 0.08724854718078531 + ], + [ + 15.542694436641993, + 0.202783022111618 + ], + [ + 15.540521505126042, + 0.19609281749963112 + ], + [ + 15.543971087149806, + 0.09219638668291377 + ], + [ + 15.541798155633856, + 0.08550618207092689 + ] + ], + "yaw_rad": -3.1303094075073887, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.167184829711914, + 0.10978767275810242, + 0.07878445088863373 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542209087328095, + 0.14412771175633504, + 0.11815178070319485 + ], + "intended_face_normal": [ + -0.9998896357373224, + -0.011267869890238813, + -0.00969700788520289 + ], + "commanded_contact_point": [ + 15.175327200012205, + 0.12204603669324848, + 0.07675710295600618 + ], + "centerline_face_intersection": [ + 15.542192042765112, + 0.14499776386702307, + 0.11890053821105247 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.162476539611816, + 0.11056585609912872, + 0.07438045740127563 + ], + "box_pose": [ + 15.614972114562988, + 0.14290708303451538, + 0.13600210845470428, + -0.004769312217831612, + -0.013994887471199036, + 0.999874472618103, + -0.005701396614313126 + ], + "box_yaw_rad": -3.130324016988349, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00501628824106407 + } + } + }, + { + "simulation_time_ns": 2480000000, + "center": [ + 15.619513273309172, + 0.145056522914836, + 0.1189054361045645 + ], + "face_center": [ + 15.542305946827883, + 0.14418436520075106, + 0.11822092164541947 + ], + "face_normal": [ + -0.9998965563986695, + -0.01129513913632777, + -0.008865009082656042 + ], + "footprint_xy": [ + [ + 15.54064218473303, + 0.08558637027946685 + ], + [ + 15.698384361885312, + 0.08558637027946685 + ], + [ + 15.698384361885312, + 0.20452667555020515 + ], + [ + 15.54064218473303, + 0.20452667555020515 + ] + ], + "projected_box_corners": [ + [ + 15.697108207009274, + 0.20452667555020515 + ], + [ + 15.69505683769561, + 0.1979183200243769 + ], + [ + 15.698384361885312, + 0.09393904123346491 + ], + [ + 15.696332992571648, + 0.08733068570763668 + ], + [ + 15.542693554046696, + 0.20278236012203532 + ], + [ + 15.54064218473303, + 0.19617400459620707 + ], + [ + 15.543969708922733, + 0.09219472580529509 + ], + [ + 15.541918339609069, + 0.08558637027946685 + ] + ], + "yaw_rad": -3.13029682638028, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.170266151428223, + 0.10930441319942474, + 0.0840526819229126 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542246296137924, + 0.14414460209127244, + 0.118180574146124 + ], + "intended_face_normal": [ + -0.9998923325330848, + -0.011282510046237875, + -0.009375488008066025 + ], + "commanded_contact_point": [ + 15.179410109825135, + 0.1239812351801156, + 0.07930163278331803 + ], + "centerline_face_intersection": [ + 15.542229668088215, + 0.14501578464620166, + 0.11890450539573974 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.167184829711914, + 0.10978767275810242, + 0.07878445088863373 + ], + "box_pose": [ + 15.615015029907227, + 0.14292766153812408, + 0.13600781559944153, + -0.004608889110386372, + -0.013919361867010593, + 0.9998762011528015, + -0.00570611422881484 + ], + "box_yaw_rad": -3.1303094075073887, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005185535436786377 + } + } + }, + { + "simulation_time_ns": 2500000000, + "center": [ + 15.619598417424251, + 0.14511807238031105, + 0.11890411624990936 + ], + "face_center": [ + 15.542390628084458, + 0.14424490816740643, + 0.11827471924521908 + ], + "face_normal": [ + -0.9999025507860522, + -0.011308174100102817, + -0.008151194015893867 + ], + "footprint_xy": [ + [ + 15.540812373764577, + 0.08570837172870044 + ], + [ + 15.698384461083926, + 0.08570837172870044 + ], + [ + 15.698384461083926, + 0.20452777303192166 + ], + [ + 15.540812373764577, + 0.20452777303192166 + ] + ], + "projected_box_corners": [ + [ + 15.69710948308459, + 0.20452777303192166 + ], + [ + 15.695227952444162, + 0.19804389281947843 + ], + [ + 15.698384461083926, + 0.09393858036695293 + ], + [ + 15.696502930443497, + 0.0874547001545097 + ], + [ + 15.542693904405006, + 0.2027814446061124 + ], + [ + 15.540812373764577, + 0.19629756439366916 + ], + [ + 15.54396888240434, + 0.09219225194114367 + ], + [ + 15.54208735176391, + 0.08570837172870044 + ] + ], + "yaw_rad": -3.1302838595237343, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.173736572265625, + 0.11004049330949783, + 0.0891885757446289 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542305946827883, + 0.14418436520075106, + 0.11822092164541947 + ], + "intended_face_normal": [ + -0.9998965563986695, + -0.01129513913632777, + -0.008865009082656042 + ], + "commanded_contact_point": [ + 15.18382603413701, + 0.1259060096399937, + 0.08187091589145765 + ], + "centerline_face_intersection": [ + 15.542289971141251, + 0.145056522914836, + 0.1189054361045645 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.170266151428223, + 0.10930441319942474, + 0.0840526819229126 + ], + "box_pose": [ + 15.615083694458008, + 0.14297419786453247, + 0.13601170480251312, + -0.004354541189968586, + -0.01375014428049326, + 0.9998795986175537, + -0.005708132404834032 + ], + "box_yaw_rad": -3.13029682638028, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005459520119880338 + } + } + }, + { + "simulation_time_ns": 2520000000, + "center": [ + 15.619707621823173, + 0.14520262454858848, + 0.11890086419624865 + ], + "face_center": [ + 15.54249924537972, + 0.14432797035325237, + 0.11834292068679263 + ], + "face_normal": [ + -0.9999101542474875, + -0.011327470562889953, + -0.007225814170696174 + ], + "footprint_xy": [ + [ + 15.541031626971826, + 0.0858748159167004 + ], + [ + 15.69838361667452, + 0.0858748159167004 + ], + [ + 15.69838361667452, + 0.2045304331804766 + ], + [ + 15.541031626971826, + 0.2045304331804766 + ] + ], + "projected_box_corners": [ + [ + 15.697109802563816, + 0.2045304331804766 + ], + [ + 15.695448379858734, + 0.19821544969076632 + ], + [ + 15.69838361667452, + 0.09393910779708292 + ], + [ + 15.696722193969439, + 0.08762412430737264 + ], + [ + 15.542693049676908, + 0.20278112478980437 + ], + [ + 15.541031626971826, + 0.19646614130009407 + ], + [ + 15.543966863787611, + 0.09218979940641067 + ], + [ + 15.542305441082531, + 0.0858748159167004 + ] + ], + "yaw_rad": -3.130264649785554, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.177984237670898, + 0.11297469586133957, + 0.092979297041893 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542390628084458, + 0.14424490816740643, + 0.11827471924521908 + ], + "intended_face_normal": [ + -0.9999025507860522, + -0.011308174100102817, + -0.008151194015893867 + ], + "commanded_contact_point": [ + 15.18860544204712, + 0.12791955831134655, + 0.08445206036012884 + ], + "centerline_face_intersection": [ + 15.542375578207833, + 0.14511807238031105, + 0.11890411624990936 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.173736572265625, + 0.11004049330949783, + 0.0891885757446289 + ], + "box_pose": [ + 15.615180969238281, + 0.1430445909500122, + 0.13601459562778473, + -0.003999033011496067, + -0.013492637313902378, + 0.9998846054077148, + -0.005708703305572271 + ], + "box_yaw_rad": -3.1302838595237343, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00579304971420778 + } + } + }, + { + "simulation_time_ns": 2540000000, + "center": [ + 15.619844449673804, + 0.145313293589676, + 0.11889442037377845 + ], + "face_center": [ + 15.542635524366212, + 0.14443677895980697, + 0.11842539454581505 + ], + "face_normal": [ + -0.9999172624765609, + -0.011351564676333178, + -0.006074259161872309 + ], + "footprint_xy": [ + [ + 15.541305432450267, + 0.08609288952163086 + ], + [ + 15.698383466897344, + 0.08609288952163086 + ], + [ + 15.698383466897344, + 0.20453369765772117 + ], + [ + 15.541305432450267, + 0.20453369765772117 + ] + ], + "projected_box_corners": [ + [ + 15.697110922180821, + 0.20453369765772117 + ], + [ + 15.695723283065453, + 0.19843982159935064 + ], + [ + 15.698383466897344, + 0.09393979483973953 + ], + [ + 15.696995827781976, + 0.08784591878136898 + ], + [ + 15.542693071565635, + 0.20278066839798306 + ], + [ + 15.541305432450267, + 0.1966867923396125 + ], + [ + 15.543965616282156, + 0.09218676558000141 + ], + [ + 15.542577977166788, + 0.08609288952163086 + ] + ], + "yaw_rad": -3.130240637298784, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.181544303894043, + 0.11773756146430969, + 0.0946243405342102 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54249924537972, + 0.14432797035325237, + 0.11834292068679263 + ], + "intended_face_normal": [ + -0.9999101542474875, + -0.011327470562889953, + -0.007225814170696174 + ], + "commanded_contact_point": [ + 15.193464468262196, + 0.12979680845310654, + 0.08703207031340604 + ], + "centerline_face_intersection": [ + 15.542485369820392, + 0.14520262454858848, + 0.11890086419624865 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.177984237670898, + 0.11297469586133957, + 0.092979297041893 + ], + "box_pose": [ + 15.61530590057373, + 0.14314113557338715, + 0.136016845703125, + -0.003538233693689108, + -0.013143113814294338, + 0.9998911619186401, + -0.005710860248655081 + ], + "box_yaw_rad": -3.130264649785554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005812973009789713 + } + } + }, + { + "simulation_time_ns": 2560000000, + "center": [ + 15.61999429233582, + 0.14544009699090557, + 0.11888628799131262 + ], + "face_center": [ + 15.54278485826549, + 0.14456229850490593, + 0.11851644628478147 + ], + "face_normal": [ + -0.9999238513604174, + -0.01136819163885592, + -0.004789745554299497 + ], + "footprint_xy": [ + [ + 15.541608541741894, + 0.08634367990074665 + ], + [ + 15.698380042929744, + 0.08634367990074665 + ], + [ + 15.698380042929744, + 0.2045365140810645 + ], + [ + 15.541608541741894, + 0.2045365140810645 + ] + ], + "projected_box_corners": [ + [ + 15.697109787752824, + 0.2045365140810645 + ], + [ + 15.696027409882552, + 0.19869604466718926 + ], + [ + 15.698380042929744, + 0.0939397462866212 + ], + [ + 15.697297665059471, + 0.08809927687274595 + ], + [ + 15.542690919612166, + 0.2027809171090652 + ], + [ + 15.541608541741894, + 0.19694044769518998 + ], + [ + 15.543961174789086, + 0.0921841493146219 + ], + [ + 15.542878796918814, + 0.08634367990074665 + ] + ], + "yaw_rad": -3.1302240860123014, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.184017181396484, + 0.1228146106004715, + 0.0940181314945221 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542635524366212, + 0.14443677895980697, + 0.11842539454581505 + ], + "intended_face_normal": [ + -0.9999172624765609, + -0.011351564676333178, + -0.006074259161872309 + ], + "commanded_contact_point": [ + 15.19808519094467, + 0.13140591271898472, + 0.0895970605057666 + ], + "centerline_face_intersection": [ + 15.5426227466299, + 0.145313293589676, + 0.11889442037377845 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.181544303894043, + 0.11773756146430969, + 0.0946243405342102 + ], + "box_pose": [ + 15.615462303161621, + 0.14326751232147217, + 0.136017307639122, + -0.002964945510029793, + -0.012685392051935196, + 0.9998988509178162, + -0.005713971797376871 + ], + "box_yaw_rad": -3.130240637298784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005524442898040537 + } + } + }, + { + "simulation_time_ns": 2580000000, + "center": [ + 15.620148345498075, + 0.14556962919568645, + 0.11887853487257619 + ], + "face_center": [ + 15.542938477010637, + 0.1446898065616128, + 0.11861028845369533 + ], + "face_normal": [ + -0.9999294774090384, + -0.011394405973441758, + -0.003474005417999482 + ], + "footprint_xy": [ + [ + 15.54191904036521, + 0.08659974337522856 + ], + [ + 15.698377650630942, + 0.08659974337522856 + ], + [ + 15.698377650630942, + 0.20453951501614434 + ], + [ + 15.54191904036521, + 0.20453951501614434 + ] + ], + "projected_box_corners": [ + [ + 15.697108417737414, + 0.20453951501614434 + ], + [ + 15.696338777340088, + 0.19895903249887348 + ], + [ + 15.698377650630942, + 0.09393987116064675 + ], + [ + 15.697608010233614, + 0.0883593886433759 + ], + [ + 15.542688680762538, + 0.202779869747997 + ], + [ + 15.54191904036521, + 0.19719938723072616 + ], + [ + 15.543957913656063, + 0.09218022589249941 + ], + [ + 15.543188273258735, + 0.08659974337522856 + ] + ], + "yaw_rad": -3.130197937183923, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.187453269958496, + 0.12824055552482605, + 0.09483475983142853 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54278485826549, + 0.14456229850490593, + 0.11851644628478147 + ], + "intended_face_normal": [ + -0.9999238513604174, + -0.01136819163885592, + -0.004789745554299497 + ], + "commanded_contact_point": [ + 15.202548821015359, + 0.1328178452513833, + 0.09213472453844533 + ], + "centerline_face_intersection": [ + 15.542773098135497, + 0.14544009699090557, + 0.11888628799131262 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.184017181396484, + 0.1228146106004715, + 0.0940181314945221 + ], + "box_pose": [ + 15.615633964538574, + 0.14341236650943756, + 0.13601689040660858, + -0.002325615845620632, + -0.012160737067461014, + 0.9999070167541504, + -0.00571290822699666 + ], + "box_yaw_rad": -3.1302240860123014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005325155925111528 + } + } + }, + { + "simulation_time_ns": 2600000000, + "center": [ + 15.620309955048134, + 0.1457077147892362, + 0.11886933621302723 + ], + "face_center": [ + 15.54309983608054, + 0.14482796854259597, + 0.11870755282887309 + ], + "face_normal": [ + -0.9999327213271616, + -0.011393416695154843, + -0.0020952240683719363 + ], + "footprint_xy": [ + [ + 15.542246086696919, + 0.08687666591945437 + ], + [ + 15.698373823399349, + 0.08687666591945437 + ], + [ + 15.698373823399349, + 0.204538763659018 + ], + [ + 15.542246086696919, + 0.204538763659018 + ] + ], + "projected_box_corners": [ + [ + 15.697108481573698, + 0.204538763659018 + ], + [ + 15.696666324632108, + 0.19923866976689514 + ], + [ + 15.698373823399349, + 0.09393625230485761 + ], + [ + 15.69793166645776, + 0.08863615841273477 + ], + [ + 15.542688243638509, + 0.20277927116573757 + ], + [ + 15.542246086696919, + 0.19747917727361475 + ], + [ + 15.543953585464159, + 0.09217675981157722 + ], + [ + 15.543511428522569, + 0.08687666591945437 + ] + ], + "yaw_rad": -3.1301989633631475, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.191739082336426, + 0.13207608461380005, + 0.09778808057308197 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542938477010637, + 0.1446898065616128, + 0.11861028845369533 + ], + "intended_face_normal": [ + -0.9999294774090384, + -0.011394405973441758, + -0.003474005417999482 + ], + "commanded_contact_point": [ + 15.20690556854248, + 0.1340845709211974, + 0.09463329085968981 + ], + "centerline_face_intersection": [ + 15.542927585778585, + 0.14556962919568645, + 0.11887853487257619 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.187453269958496, + 0.12824055552482605, + 0.09483475983142853 + ], + "box_pose": [ + 15.61581039428711, + 0.14356037974357605, + 0.13601699471473694, + -0.001670698169618845, + -0.011622457765042782, + 0.999914824962616, + -0.005717107560485601 + ], + "box_yaw_rad": -3.130197937183923, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005179640585918614 + } + } + }, + { + "simulation_time_ns": 2620000000, + "center": [ + 15.620486709215214, + 0.14585595439950957, + 0.11886066423508539 + ], + "face_center": [ + 15.543276402316382, + 0.14497602353256914, + 0.11881443941986394 + ], + "face_normal": [ + -0.9999351551867988, + -0.01139580767553004, + -0.0005986482846454533 + ], + "footprint_xy": [ + [ + 15.542602148440418, + 0.08717314651591518 + ], + [ + 15.698371269990009, + 0.08717314651591518 + ], + [ + 15.698371269990009, + 0.20453876228310397 + ], + [ + 15.542602148440418, + 0.20453876228310397 + ] + ], + "projected_box_corners": [ + [ + 15.697109368705176, + 0.20453876228310397 + ], + [ + 15.69702276223808, + 0.19953853566373264 + ], + [ + 15.698371269990009, + 0.09393323486916735 + ], + [ + 15.698284663522912, + 0.08893300824979603 + ], + [ + 15.542688754907514, + 0.2027789005492231 + ], + [ + 15.542602148440418, + 0.19777867392985177 + ], + [ + 15.543950656192347, + 0.09217337313528651 + ], + [ + 15.54386404972525, + 0.08717314651591518 + ] + ], + "yaw_rad": -3.130196600268219, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.196826934814453, + 0.13307353854179382, + 0.1011291891336441 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54309983608054, + 0.14482796854259597, + 0.11870755282887309 + ], + "intended_face_normal": [ + -0.9999327213271616, + -0.011393416695154843, + -0.0020952240683719363 + ], + "commanded_contact_point": [ + 15.21115855872631, + 0.13519263850873028, + 0.09707865393114078 + ], + "centerline_face_intersection": [ + 15.54308944584332, + 0.1457077147892362, + 0.11886933621302723 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.191739082336426, + 0.13207608461380005, + 0.09778808057308197 + ], + "box_pose": [ + 15.615995407104492, + 0.14371852576732635, + 0.13601604104042053, + -0.000984661397524178, + -0.011041862890124321, + 0.9999222159385681, + -0.005708024837076664 + ], + "box_yaw_rad": -3.1301989633631475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00502946715204707 + } + } + }, + { + "simulation_time_ns": 2640000000, + "center": [ + 15.620678225764298, + 0.14602176495440927, + 0.11884950302076183 + ], + "face_center": [ + 15.54346798609286, + 0.14514145032884973, + 0.11892966636216025 + ], + "face_normal": [ + -0.9999342845383365, + -0.011400777656220063, + 0.0010381793110413604 + ], + "footprint_xy": [ + [ + 15.542687449041034, + 0.0875051259214977 + ], + [ + 15.69866900248756, + 0.0875051259214977 + ], + [ + 15.69866900248756, + 0.20453840398732084 + ], + [ + 15.542687449041034, + 0.20453840398732084 + ] + ], + "projected_box_corners": [ + [ + 15.697107928383907, + 0.20453840398732084 + ], + [ + 15.69741013038547, + 0.19987434975545354 + ], + [ + 15.698366800486, + 0.09392980940448406 + ], + [ + 15.69866900248756, + 0.08926575517261678 + ], + [ + 15.542687449041034, + 0.20277777473620176 + ], + [ + 15.542989651042594, + 0.19811372050433448 + ], + [ + 15.543946321143125, + 0.09216918015336498 + ], + [ + 15.544248523144686, + 0.0875051259214977 + ] + ], + "yaw_rad": -3.130191620684902, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.201627731323242, + 0.13111039996147156, + 0.1035369485616684 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543276402316382, + 0.14497602353256914, + 0.11881443941986394 + ], + "intended_face_normal": [ + -0.9999351551867988, + -0.01139580767553004, + -0.0005986482846454533 + ], + "commanded_contact_point": [ + 15.215318377838134, + 0.13614532767207374, + 0.09945917124716966 + ], + "centerline_face_intersection": [ + 15.543266387966469, + 0.14585595439950957, + 0.11886066423508539 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.196826934814453, + 0.13307353854179382, + 0.1011291891336441 + ], + "box_pose": [ + 15.61619758605957, + 0.1438882052898407, + 0.13601621985435486, + -0.00023993296781554818, + -0.010420998558402061, + 0.9999294877052307, + -0.005700806155800819 + ], + "box_yaw_rad": -3.130196600268219, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004886570819803562 + } + } + }, + { + "simulation_time_ns": 2660000000, + "center": [ + 15.620889767159673, + 0.14620909895913997, + 0.1188358305729108 + ], + "face_center": [ + 15.543679752349792, + 0.14532895474374227, + 0.11905540280446227 + ], + "face_normal": [ + -0.9999313724015639, + -0.011398570708489167, + 0.0028436358078308133 + ], + "footprint_xy": [ + [ + 15.542686640221502, + 0.08788095862173406 + ], + [ + 15.699092894097845, + 0.08788095862173406 + ], + [ + 15.699092894097845, + 0.20453723929654588 + ], + [ + 15.542686640221502, + 0.20453723929654588 + ] + ], + "projected_box_corners": [ + [ + 15.697106669841267, + 0.20453723929654588 + ], + [ + 15.697837618897424, + 0.20025317629087072 + ], + [ + 15.698361945041686, + 0.09392531005820468 + ], + [ + 15.699092894097845, + 0.08964124705252949 + ], + [ + 15.542686640221502, + 0.20277695086575045 + ], + [ + 15.54341758927766, + 0.1984928878600753 + ], + [ + 15.543941915421923, + 0.09216502162740925 + ], + [ + 15.54467286447808, + 0.08788095862173406 + ] + ], + "yaw_rad": -3.130193794296512, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.20462703704834, + 0.12726086378097534, + 0.10435299575328827 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54346798609286, + 0.14514145032884973, + 0.11892966636216025 + ], + "intended_face_normal": [ + -0.9999342845383365, + -0.011400777656220063, + 0.0010381793110413604 + ], + "commanded_contact_point": [ + 15.21936926486969, + 0.1370601997060682, + 0.1017597684018252 + ], + "centerline_face_intersection": [ + 15.54345783727938, + 0.14602176495440927, + 0.11884950302076183 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.201627731323242, + 0.13111039996147156, + 0.1035369485616684 + ], + "box_pose": [ + 15.616416931152344, + 0.14407804608345032, + 0.13601472973823547, + 0.0005745109519921243, + -0.009724861942231655, + 0.9999362826347351, + -0.005695164669305086 + ], + "box_yaw_rad": -3.130191620684902, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00474757031006561 + } + } + }, + { + "simulation_time_ns": 2680000000, + "center": [ + 15.621133053828533, + 0.14641691344293434, + 0.1188228330303874 + ], + "face_center": [ + 15.543923694867559, + 0.1455368081977362, + 0.11920200575286041 + ], + "face_normal": [ + -0.9999228786342824, + -0.01139806601327249, + 0.004910589664997026 + ], + "footprint_xy": [ + [ + 15.542686645743801, + 0.08829817887611562 + ], + [ + 15.699579461913265, + 0.08829817887611562 + ], + [ + 15.699579461913265, + 0.20453564800975305 + ], + [ + 15.542686645743801, + 0.20453564800975305 + ] + ], + "projected_box_corners": [ + [ + 15.697105363665752, + 0.20453564800975305 + ], + [ + 15.698327343492862, + 0.2006735704912157 + ], + [ + 15.698357482086156, + 0.09392046688504921 + ], + [ + 15.699579461913265, + 0.09005838936651187 + ], + [ + 15.542686645743801, + 0.20277543751935678 + ], + [ + 15.54390862557091, + 0.19891336000081944 + ], + [ + 15.543938764164205, + 0.09216025639465295 + ], + [ + 15.545160743991314, + 0.08829817887611562 + ] + ], + "yaw_rad": -3.130194202146739, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.20656967163086, + 0.12330543994903564, + 0.10204331576824188 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543679752349792, + 0.14532895474374227, + 0.11905540280446227 + ], + "intended_face_normal": [ + -0.9999313724015639, + -0.011398570708489167, + 0.0028436358078308133 + ], + "commanded_contact_point": [ + 15.223167087097167, + 0.13795859601329846, + 0.10396729133009462 + ], + "centerline_face_intersection": [ + 15.54366915378299, + 0.14620909895913997, + 0.1188358305729108 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.20462703704834, + 0.12726086378097534, + 0.10435299575328827 + ], + "box_pose": [ + 15.616659164428711, + 0.14429257810115814, + 0.13601170480251312, + 0.001472726697102189, + -0.008937865495681763, + 0.9999428987503052, + -0.005686447024345398 + ], + "box_yaw_rad": -3.130193794296512, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0044837179968419 + } + } + }, + { + "simulation_time_ns": 2700000000, + "center": [ + 15.621370203753253, + 0.14660164150515098, + 0.11881783621037266 + ], + "face_center": [ + 15.544161764173184, + 0.14572172002053996, + 0.11935391542637011 + ], + "face_normal": [ + -0.9999109719170918, + -0.011395686166868955, + 0.006942654103722336 + ], + "footprint_xy": [ + [ + 15.542684443712485, + 0.08866927955753301 + ], + [ + 15.700055963794023, + 0.08866927955753301 + ], + [ + 15.700055963794023, + 0.20453400345276895 + ], + [ + 15.542684443712485, + 0.20453400345276895 + ] + ], + "projected_box_corners": [ + [ + 15.697101322872623, + 0.20453400345276895 + ], + [ + 15.698806512480637, + 0.20104696869124866 + ], + [ + 15.698350774186009, + 0.09391615728827532 + ], + [ + 15.700055963794023, + 0.09042912252675503 + ], + [ + 15.542684443712485, + 0.2027741604835469 + ], + [ + 15.544389633320499, + 0.19928712572202661 + ], + [ + 15.54393389502587, + 0.09215631431905329 + ], + [ + 15.545639084633883, + 0.08866927955753301 + ] + ], + "yaw_rad": -3.130196446177411, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.210257530212402, + 0.12264977395534515, + 0.10388323664665222 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543923694867559, + 0.1455368081977362, + 0.11920200575286041 + ], + "intended_face_normal": [ + -0.9999228786342824, + -0.01139806601327249, + 0.004910589664997026 + ], + "commanded_contact_point": [ + 15.227296773906946, + 0.13901696887846218, + 0.10607125263602123 + ], + "centerline_face_intersection": [ + 15.543911784507342, + 0.14641691344293434, + 0.1188228330303874 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.20656967163086, + 0.12330543994903564, + 0.10204331576824188 + ], + "box_pose": [ + 15.616937637329102, + 0.14453059434890747, + 0.13601067662239075, + 0.0025012216065078974, + -0.008064087480306625, + 0.9999482035636902, + -0.005679157096892595 + ], + "box_yaw_rad": -3.130194202146739, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004754063466700711 + } + } + }, + { + "simulation_time_ns": 2720000000, + "center": [ + 15.621573292480546, + 0.14675840664272577, + 0.11881284281601194 + ], + "face_center": [ + 15.544365908714187, + 0.14587847575259513, + 0.1194828807715754 + ], + "face_normal": [ + -0.9998972982860821, + -0.011395807975861769, + 0.008677526796458437 + ], + "footprint_xy": [ + [ + 15.542683051917873, + 0.08898516735382866 + ], + [ + 15.70046353304322, + 0.08898516735382866 + ], + [ + 15.70046353304322, + 0.20453164593162287 + ], + [ + 15.542683051917873, + 0.20453164593162287 + ] + ], + "projected_box_corners": [ + [ + 15.69709781945059, + 0.20453164593162287 + ], + [ + 15.69921557033335, + 0.20136491058425351 + ], + [ + 15.69834578216046, + 0.09391176448145931 + ], + [ + 15.70046353304322, + 0.09074502913408994 + ], + [ + 15.542683051917873, + 0.2027717841513616 + ], + [ + 15.544800802800633, + 0.19960504880399224 + ], + [ + 15.543931014627743, + 0.09215190270119804 + ], + [ + 15.546048765510504, + 0.08898516735382866 + ] + ], + "yaw_rad": -3.1301961685416813, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.214231491088867, + 0.12756705284118652, + 0.10896682739257812 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544161764173184, + 0.14572172002053996, + 0.11935391542637011 + ], + "intended_face_normal": [ + -0.9999109719170918, + -0.011395686166868955, + 0.006942654103722336 + ], + "commanded_contact_point": [ + 15.232119249105454, + 0.14020469030017974, + 0.10806504592645762 + ], + "centerline_face_intersection": [ + 15.544148014898383, + 0.14660164150515098, + 0.11881783621037266 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.210257530212402, + 0.12264977395534515, + 0.10388323664665222 + ], + "box_pose": [ + 15.617209434509277, + 0.1447421759366989, + 0.13601702451705933, + 0.0035128402523696423, + -0.007288071326911449, + 0.999951183795929, + -0.005672518163919449 + ], + "box_yaw_rad": -3.130196446177411, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005351837151933152 + } + } + }, + { + "simulation_time_ns": 2740000000, + "center": [ + 15.621747173581058, + 0.14689305695537266, + 0.11880838271827193 + ], + "face_center": [ + 15.544540846220523, + 0.1460131064611542, + 0.11959343811465191 + ], + "face_normal": [ + -0.9998836169867271, + -0.011396061864460447, + 0.010167094538790555 + ], + "footprint_xy": [ + [ + 15.542681297954436, + 0.08925613135424916 + ], + [ + 15.700813049207678, + 0.08925613135424916 + ], + [ + 15.700813049207678, + 0.20452998255649618 + ], + [ + 15.542681297954436, + 0.20452998255649618 + ] + ], + "projected_box_corners": [ + [ + 15.697093952675505, + 0.20452998255649618 + ], + [ + 15.699565947268155, + 0.20163755093852626 + ], + [ + 15.698341054615028, + 0.09390846396065608 + ], + [ + 15.700813049207678, + 0.09101603234268613 + ], + [ + 15.542681297954436, + 0.20277008156805923 + ], + [ + 15.545153292547086, + 0.19987764995008928 + ], + [ + 15.54392839989396, + 0.0921485629722191 + ], + [ + 15.54640039448661, + 0.08925613135424916 + ] + ], + "yaw_rad": -3.13019575873314, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.218118667602539, + 0.13421675562858582, + 0.1156531572341919 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544365908714187, + 0.14587847575259513, + 0.1194828807715754 + ], + "intended_face_normal": [ + -0.9998972982860821, + -0.011395807975861769, + 0.008677526796458437 + ], + "commanded_contact_point": [ + 15.237211407074927, + 0.14140410617113613, + 0.10992953498491476 + ], + "centerline_face_intersection": [ + 15.544350047609505, + 0.14675840664272577, + 0.11881284281601194 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.214231491088867, + 0.12756705284118652, + 0.10896682739257812 + ], + "box_pose": [ + 15.61744213104248, + 0.14492186903953552, + 0.13602162897586823, + 0.004376532044261694, + -0.006625337526202202, + 0.9999523758888245, + -0.0056691779755055904 + ], + "box_yaw_rad": -3.1301961685416813, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005553826668764494 + } + } + }, + { + "simulation_time_ns": 2760000000, + "center": [ + 15.6218936315453, + 0.14700863616124585, + 0.11880340190634622 + ], + "face_center": [ + 15.544688362398485, + 0.14612933378697548, + 0.11968519079443313 + ], + "face_normal": [ + -0.9998699122736725, + -0.011387668193369994, + 0.01141987053369065 + ], + "footprint_xy": [ + [ + 15.542680565038598, + 0.08948934660357707 + ], + [ + 15.701106698052001, + 0.08948934660357707 + ], + [ + 15.701106698052001, + 0.20452792571891462 + ], + [ + 15.542680565038598, + 0.20452792571891462 + ] + ], + "projected_box_corners": [ + [ + 15.697091103332225, + 0.20452792571891462 + ], + [ + 15.699860959806523, + 0.2018707047750056 + ], + [ + 15.698336841577703, + 0.09390517229602681 + ], + [ + 15.701106698052001, + 0.0912479513521178 + ], + [ + 15.542680565038598, + 0.2027693209703739 + ], + [ + 15.545450421512896, + 0.20011210002646487 + ], + [ + 15.543926303284076, + 0.09214656754748608 + ], + [ + 15.546696159758374, + 0.08948934660357707 + ] + ], + "yaw_rad": -3.1302039962087487, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.222699165344238, + 0.13645723462104797, + 0.11927969753742218 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544540846220523, + 0.1460131064611542, + 0.11959343811465191 + ], + "intended_face_normal": [ + -0.9998836169867271, + -0.011396061864460447, + 0.010167094538790555 + ], + "commanded_contact_point": [ + 15.241899630432128, + 0.14256803862540532, + 0.11165231060562751 + ], + "centerline_face_intersection": [ + 15.544522872072713, + 0.14689305695537266, + 0.11880838271827193 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.218118667602539, + 0.13421675562858582, + 0.1156531572341919 + ], + "box_pose": [ + 15.61764144897461, + 0.14507615566253662, + 0.1360253393650055, + 0.005118121393024921, + -0.0060577914118766785, + 0.9999525547027588, + -0.005667295306921005 + ], + "box_yaw_rad": -3.13019575873314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005128560504120835 + } + } + }, + { + "simulation_time_ns": 2780000000, + "center": [ + 15.62201852243866, + 0.14710768160579552, + 0.11879851646773269 + ], + "face_center": [ + 15.544814237381622, + 0.1462282434181988, + 0.11976233617939719 + ], + "face_normal": [ + -0.9998571675249004, + -0.011389427084443286, + 0.012482235230824208 + ], + "footprint_xy": [ + [ + 15.542680117808496, + 0.08968834827734373 + ], + [ + 15.701356927068822, + 0.08968834827734373 + ], + [ + 15.701356927068822, + 0.2045270149342473 + ], + [ + 15.542680117808496, + 0.2045270149342473 + ] + ], + "projected_box_corners": [ + [ + 15.69708868792257, + 0.2045270149342473 + ], + [ + 15.700111142858136, + 0.20207096176837366 + ], + [ + 15.698334472133256, + 0.09390327781841082 + ], + [ + 15.701356927068822, + 0.09144722465253718 + ], + [ + 15.542680117808496, + 0.20276813855905385 + ], + [ + 15.545702572744064, + 0.2003120853931802 + ], + [ + 15.543925902019183, + 0.09214440144321738 + ], + [ + 15.54694835695475, + 0.08968834827734373 + ] + ], + "yaw_rad": -3.130202092140848, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.228446006774902, + 0.13743439316749573, + 0.12090599536895752 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544688362398485, + 0.14612933378697548, + 0.11968519079443313 + ], + "intended_face_normal": [ + -0.9998699122736725, + -0.011387668193369994, + 0.01141987053369065 + ], + "commanded_contact_point": [ + 15.245987866963148, + 0.14365021424286367, + 0.11321957709017277 + ], + "centerline_face_intersection": [ + 15.544668271562367, + 0.14700863616124585, + 0.11880340190634622 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.222699165344238, + 0.13645723462104797, + 0.11927969753742218 + ], + "box_pose": [ + 15.617809295654297, + 0.14520861208438873, + 0.13602721691131592, + 0.0057417550124228, + -0.005571042653173208, + 0.999951958656311, + -0.005662118550390005 + ], + "box_yaw_rad": -3.1302039962087487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00451011155451464 + } + } + }, + { + "simulation_time_ns": 2800000000, + "center": [ + 15.622125824425916, + 0.14719192511588297, + 0.11879487723678347 + ], + "face_center": [ + 15.544922451426979, + 0.14631218964066173, + 0.11982966023583579 + ], + "face_normal": [ + -0.9998453556439186, + -0.011393277196674413, + 0.013401266492798962 + ], + "footprint_xy": [ + [ + 15.542678834511806, + 0.08985738631527751 + ], + [ + 15.701572814340029, + 0.08985738631527751 + ], + [ + 15.701572814340029, + 0.20452646391648843 + ], + [ + 15.542678834511806, + 0.20452646391648843 + ] + ], + "projected_box_corners": [ + [ + 15.697085580509683, + 0.20452646391648843 + ], + [ + 15.700326594631099, + 0.20224138290143498 + ], + [ + 15.698331800218613, + 0.09390193828077345 + ], + [ + 15.701572814340029, + 0.09161685726572 + ], + [ + 15.542678834511806, + 0.20276699296604594 + ], + [ + 15.545919848633222, + 0.2004819119509925 + ], + [ + 15.543925054220736, + 0.09214246733033096 + ], + [ + 15.54716606834215, + 0.08985738631527751 + ] + ], + "yaw_rad": -3.1301981073797687, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.235260009765625, + 0.1397935152053833, + 0.12298831343650818 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544814237381622, + 0.1462282434181988, + 0.11976233617939719 + ], + "intended_face_normal": [ + -0.9998571675249004, + -0.011389427084443286, + 0.012482235230824208 + ], + "commanded_contact_point": [ + 15.24965888976097, + 0.1446150315187221, + 0.11461900686389158 + ], + "centerline_face_intersection": [ + 15.544792178097318, + 0.14710768160579552, + 0.11879851646773269 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.228446006774902, + 0.13743439316749573, + 0.12090599536895752 + ], + "box_pose": [ + 15.617952346801758, + 0.1453220546245575, + 0.13602812588214874, + 0.006270614452660084, + -0.005154745187610388, + 0.9999510049819946, + -0.005662667565047741 + ], + "box_yaw_rad": -3.130202092140848, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004045452317047047 + } + } + }, + { + "simulation_time_ns": 2820000000, + "center": [ + 15.62221807585728, + 0.1472633116051013, + 0.11879223295525942 + ], + "face_center": [ + 15.545015537672418, + 0.14638338662732378, + 0.11988840758559113 + ], + "face_normal": [ + -0.9998345441347278, + -0.011395731406165836, + 0.014196337161679682 + ], + "footprint_xy": [ + [ + 15.542677176549926, + 0.09000057914908696 + ], + [ + 15.701758975164633, + 0.09000057914908696 + ], + [ + 15.701758975164633, + 0.20452604406111563 + ], + [ + 15.542677176549926, + 0.20452604406111563 + ] + ], + "projected_box_corners": [ + [ + 15.697082252919651, + 0.20452604406111563 + ], + [ + 15.700512381777886, + 0.20238558786811647 + ], + [ + 15.698328846306401, + 0.09390088529764118 + ], + [ + 15.701758975164633, + 0.09176042910464201 + ], + [ + 15.542677176549926, + 0.20276619410556057 + ], + [ + 15.54610730540816, + 0.2006257379125614 + ], + [ + 15.543923769936676, + 0.09214103534208612 + ], + [ + 15.547353898794908, + 0.09000057914908696 + ] + ], + "yaw_rad": -3.1301955298809427, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.242959976196289, + 0.14294502139091492, + 0.1253611147403717 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544922451426979, + 0.14631218964066173, + 0.11982966023583579 + ], + "intended_face_normal": [ + -0.9998453556439186, + -0.011393277196674413, + 0.013401266492798962 + ], + "commanded_contact_point": [ + 15.252987487614154, + 0.1454533721962067, + 0.11583884642710324 + ], + "centerline_face_intersection": [ + 15.544898567755098, + 0.14719192511588297, + 0.11879487723678347 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.235260009765625, + 0.1397935152053833, + 0.12298831343650818 + ], + "box_pose": [ + 15.618075370788574, + 0.14541852474212646, + 0.136029452085495, + 0.006728166714310646, + -0.004800992086529732, + 0.9999498128890991, + -0.005664621014147997 + ], + "box_yaw_rad": -3.1301981073797687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003642854281977301 + } + } + }, + { + "simulation_time_ns": 2840000000, + "center": [ + 15.622297187471785, + 0.1473262919931048, + 0.11878954195797732 + ], + "face_center": [ + 15.545095427741012, + 0.14644650442479087, + 0.11993756940056652 + ], + "face_normal": [ + -0.9998244625323893, + -0.01139395184384007, + 0.014867872503968819 + ], + "footprint_xy": [ + [ + 15.542677230418267, + 0.09012701543113935 + ], + [ + 15.701917144525305, + 0.09012701543113935 + ], + [ + 15.701917144525305, + 0.2045255685550702 + ], + [ + 15.542677230418267, + 0.2045255685550702 + ] + ], + "projected_box_corners": [ + [ + 15.697080749879813, + 0.2045255685550702 + ], + [ + 15.700670545829487, + 0.20251222136596247 + ], + [ + 15.698327348575631, + 0.09389993775687493 + ], + [ + 15.701917144525305, + 0.09188659056776718 + ], + [ + 15.542677230418267, + 0.20276599341844237 + ], + [ + 15.546267026367941, + 0.20075264622933464 + ], + [ + 15.543923829114085, + 0.09214036262024708 + ], + [ + 15.54751362506376, + 0.09012701543113935 + ] + ], + "yaw_rad": -3.1301971946130585, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.250222206115723, + 0.1464366316795349, + 0.12679709494113922 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545015537672418, + 0.14638338662732378, + 0.11988840758559113 + ], + "intended_face_normal": [ + -0.9998345441347278, + -0.011395731406165836, + 0.014196337161679682 + ], + "commanded_contact_point": [ + 15.255863125, + 0.14615274461026292, + 0.11686605003614126 + ], + "centerline_face_intersection": [ + 15.544989984105097, + 0.1472633116051013, + 0.11879223295525942 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.242959976196289, + 0.14294502139091492, + 0.1253611147403717 + ], + "box_pose": [ + 15.618181228637695, + 0.14550025761127472, + 0.13603106141090393, + 0.007124043069779873, + -0.004501804243773222, + 0.9999485015869141, + -0.005666086450219154 + ], + "box_yaw_rad": -3.1301955298809427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003132660116072725 + } + } + }, + { + "simulation_time_ns": 2860000000, + "center": [ + 15.62236712257759, + 0.1473814439303033, + 0.11878734011918377 + ], + "face_center": [ + 15.545166043642833, + 0.14650198969594877, + 0.11998130534731542 + ], + "face_normal": [ + -0.9998156456801133, + -0.011389634902776022, + 0.01546280352497273 + ], + "footprint_xy": [ + [ + 15.542677236676461, + 0.09023809959320159 + ], + [ + 15.702057008478718, + 0.09023809959320159 + ], + [ + 15.702057008478718, + 0.204524788267405 + ], + [ + 15.542677236676461, + 0.204524788267405 + ] + ], + "projected_box_corners": [ + [ + 15.697079394545975, + 0.204524788267405 + ], + [ + 15.700810650151354, + 0.20262308194183004 + ], + [ + 15.698325752873341, + 0.09389871438748561 + ], + [ + 15.702057008478718, + 0.09199700806191062 + ], + [ + 15.542677236676461, + 0.20276587979869598 + ], + [ + 15.54640849228184, + 0.200864173473121 + ], + [ + 15.543923595003827, + 0.09213980591877657 + ], + [ + 15.547654850609204, + 0.09023809959320159 + ] + ], + "yaw_rad": -3.130201411307752, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.255705833435059, + 0.1493121087551117, + 0.1268046647310257 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545095427741012, + 0.14644650442479087, + 0.11993756940056652 + ], + "intended_face_normal": [ + -0.9998244625323893, + -0.01139395184384007, + 0.014867872503968819 + ], + "commanded_contact_point": [ + 15.258396834384204, + 0.14670545810738683, + 0.11768675962540769 + ], + "centerline_face_intersection": [ + 15.545068316999998, + 0.1473262919931048, + 0.11878954195797732 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.250222206115723, + 0.1464366316795349, + 0.12679709494113922 + ], + "box_pose": [ + 15.618271827697754, + 0.14557234942913055, + 0.13603198528289795, + 0.007458345964550972, + -0.004238762892782688, + 0.9999471306800842, + -0.005665661301463842 + ], + "box_yaw_rad": -3.1301971946130585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00272006244108884 + } + } + }, + { + "simulation_time_ns": 2880000000, + "center": [ + 15.62239196917481, + 0.1474047150257991, + 0.11878721256238599 + ], + "face_center": [ + 15.54519115608951, + 0.1465253283561066, + 0.1199981795737001 + ], + "face_normal": [ + -0.9998122027172602, + -0.011388759886427529, + 0.015682990199366736 + ], + "footprint_xy": [ + [ + 15.542676178663159, + 0.09028476511387325 + ], + [ + 15.70210775968646, + 0.09028476511387325 + ], + [ + 15.70210775968646, + 0.20452466493772495 + ], + [ + 15.542676178663159, + 0.20452466493772495 + ] + ], + "projected_box_corners": [ + [ + 15.697077804833759, + 0.20452466493772495 + ], + [ + 15.700861354995101, + 0.2026697799360483 + ], + [ + 15.698324209525117, + 0.0938984234549349 + ], + [ + 15.70210775968646, + 0.09204353845325823 + ], + [ + 15.542676178663159, + 0.20276589159833996 + ], + [ + 15.546459728824503, + 0.20091100659666328 + ], + [ + 15.543922583354519, + 0.09213965011554992 + ], + [ + 15.547706133515861, + 0.09028476511387325 + ] + ], + "yaw_rad": -3.1302022471513085, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.259427070617676, + 0.1500106006860733, + 0.12541158497333527 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545166043642833, + 0.14650198969594877, + 0.11998130534731542 + ], + "intended_face_normal": [ + -0.9998156456801133, + -0.011389634902776022, + 0.01546280352497273 + ], + "commanded_contact_point": [ + 15.260668863983154, + 0.14710999848448103, + 0.11828863201675477 + ], + "centerline_face_intersection": [ + 15.545137571064707, + 0.1473814439303033, + 0.11878734011918377 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.255705833435059, + 0.1493121087551117, + 0.1268046647310257 + ], + "box_pose": [ + 15.618351936340332, + 0.14563551545143127, + 0.13603296875953674, + 0.007754521444439888, + -0.004007735755294561, + 0.999945878982544, + -0.005664045922458172 + ], + "box_yaw_rad": -3.130201411307752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023849573980833138 + } + } + }, + { + "simulation_time_ns": 2900000000, + "center": [ + 15.62239028218161, + 0.1474058503402738, + 0.11878740849736172 + ], + "face_center": [ + 15.545189457449075, + 0.14652645542652593, + 0.1199973958367831 + ], + "face_normal": [ + -0.9998123535582768, + -0.011388866653530288, + 0.015670302665727352 + ], + "footprint_xy": [ + [ + 15.542675995701325, + 0.09028722534561895 + ], + [ + 15.702104568661897, + 0.09028722534561895 + ], + [ + 15.702104568661897, + 0.20452447533492862 + ], + [ + 15.542675995701325, + 0.20452447533492862 + ] + ], + "projected_box_corners": [ + [ + 15.697077645166397, + 0.20452447533492862 + ], + [ + 15.700858121644282, + 0.20267226085199244 + ], + [ + 15.698324092184011, + 0.09389822965605082 + ], + [ + 15.702104568661897, + 0.09204601517311466 + ], + [ + 15.542675995701325, + 0.2027656855074329 + ], + [ + 15.54645647217921, + 0.20091347102449675 + ], + [ + 15.543922442718939, + 0.09213943982855513 + ], + [ + 15.547702919196825, + 0.09028722534561895 + ] + ], + "yaw_rad": -3.130202142096336, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.259980201721191, + 0.1481635570526123, + 0.12298491597175598 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54519115608951, + 0.1465253283561066, + 0.1199981795737001 + ], + "intended_face_normal": [ + -0.9998122027172602, + -0.011388759886427529, + 0.015682990199366736 + ], + "commanded_contact_point": [ + 15.262695468022823, + 0.14733865216167624, + 0.11866038612686078 + ], + "centerline_face_intersection": [ + 15.545162151713507, + 0.1474047150257991, + 0.11878721256238599 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.259427070617676, + 0.1500106006860733, + 0.12541158497333527 + ], + "box_pose": [ + 15.618380546569824, + 0.14566214382648468, + 0.1360340565443039, + 0.007864074781537056, + -0.003910765517503023, + 0.9999454021453857, + -0.005663934629410505 + ], + "box_yaw_rad": -3.1302022471513085, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002073067185615929 + } + } + }, + { + "simulation_time_ns": 2920000000, + "center": [ + 15.622391179221196, + 0.14740499236979407, + 0.11878819462086956 + ], + "face_center": [ + 15.545190351501653, + 0.14652539751225, + 0.11999841373792815 + ], + "face_normal": [ + -0.9998123922424076, + -0.01139145608542022, + 0.015673304371288835 + ], + "footprint_xy": [ + [ + 15.542676382972282, + 0.09028557537032311 + ], + [ + 15.70210597547011, + 0.09028557537032311 + ], + [ + 15.70210597547011, + 0.20452440936926505 + ], + [ + 15.542676382972282, + 0.20452440936926505 + ] + ], + "projected_box_corners": [ + [ + 15.69707803841137, + 0.20452440936926505 + ], + [ + 15.700859253203621, + 0.2026710160501648 + ], + [ + 15.698324760677856, + 0.09389815840451152 + ], + [ + 15.70210597547011, + 0.09204476508541126 + ], + [ + 15.542676382972282, + 0.20276521965417688 + ], + [ + 15.546457597764535, + 0.20091182633507662 + ], + [ + 15.54392310523877, + 0.09213896868942337 + ], + [ + 15.547704320031022, + 0.09028557537032311 + ] + ], + "yaw_rad": -3.1301995529553217, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.256693840026855, + 0.14649496972560883, + 0.1212415099143982 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545189457449075, + 0.14652645542652593, + 0.1199973958367831 + ], + "intended_face_normal": [ + -0.9998123535582768, + -0.011388866653530288, + 0.015670302665727352 + ], + "commanded_contact_point": [ + 15.264256744384765, + 0.1474058503402738, + 0.11878740849736172 + ], + "centerline_face_intersection": [ + 15.545160476371917, + 0.1474058503402738, + 0.11878740849736172 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.259980201721191, + 0.1481635570526123, + 0.12298491597175598 + ], + "box_pose": [ + 15.618378639221191, + 0.14566347002983093, + 0.13603422045707703, + 0.007857698947191238, + -0.0039051638450473547, + 0.9999454617500305, + -0.00566405663266778 + ], + "box_yaw_rad": -3.130202142096336, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001567875682627008 + } + } + }, + { + "simulation_time_ns": 2940000000, + "center": [ + 15.622386950937736, + 0.14740239008155623, + 0.11878821224367839 + ], + "face_center": [ + 15.545186072242386, + 0.14652276020798796, + 0.1199959956666511 + ], + "face_normal": [ + -0.9998130524198305, + -0.011391909570906453, + 0.015641760187078815 + ], + "footprint_xy": [ + [ + 15.542675836838306, + 0.09028010796084815 + ], + [ + 15.702098065037166, + 0.09028010796084815 + ], + [ + 15.702098065037166, + 0.20452467220226433 + ], + [ + 15.542675836838306, + 0.20452467220226433 + ] + ], + "projected_box_corners": [ + [ + 15.697077594229006, + 0.20452467220226433 + ], + [ + 15.70085130609634, + 0.202665616850914 + ], + [ + 15.698324353169832, + 0.09389842305933496 + ], + [ + 15.702098065037166, + 0.09203936770798465 + ], + [ + 15.542675836838306, + 0.2027654124551278 + ], + [ + 15.54644954870564, + 0.2009063571037775 + ], + [ + 15.543922595779133, + 0.09213916331219846 + ], + [ + 15.547696307646467, + 0.09028010796084815 + ] + ], + "yaw_rad": -3.1301991069661392, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.255208015441895, + 0.14534543454647064, + 0.12234246730804443 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545190351501653, + 0.14652539751225, + 0.11999841373792815 + ], + "intended_face_normal": [ + -0.9998123922424076, + -0.01139145608542022, + 0.015673304371288835 + ], + "commanded_contact_point": [ + 15.266002922058105, + 0.14740499236979407, + 0.11878819462086956 + ], + "centerline_face_intersection": [ + 15.545161376399632, + 0.14740499236979407, + 0.11878819462086956 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.256693840026855, + 0.14649496972560883, + 0.1212415099143982 + ], + "box_pose": [ + 15.618379592895508, + 0.14566251635551453, + 0.1360350102186203, + 0.00785921886563301, + -0.003907639533281326, + 0.9999454617500305, + -0.005665326025336981 + ], + "box_yaw_rad": -3.1301995529553217, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017461780610734015 + } + } + }, + { + "simulation_time_ns": 2960000000, + "center": [ + 15.622380273607144, + 0.14739654329770635, + 0.11878897975077797 + ], + "face_center": [ + 15.545179347764977, + 0.14651671736055774, + 0.11999244096606362 + ], + "face_normal": [ + -0.9998136630087675, + -0.011394448750900938, + 0.015585784144657572 + ], + "footprint_xy": [ + [ + 15.54267563630972, + 0.09026838679073343 + ], + [ + 15.702084910904567, + 0.09026838679073343 + ], + [ + 15.702084910904567, + 0.20452469980467927 + ], + [ + 15.54267563630972, + 0.20452469980467927 + ] + ], + "projected_box_corners": [ + [ + 15.697077487994054, + 0.20452469980467927 + ], + [ + 15.700837904594334, + 0.20265421768110192 + ], + [ + 15.698324494304288, + 0.093898520788608 + ], + [ + 15.702084910904567, + 0.09202803866503063 + ], + [ + 15.54267563630972, + 0.20276504793038205 + ], + [ + 15.54643605291, + 0.2008945658068047 + ], + [ + 15.543922642619954, + 0.09213886891431078 + ], + [ + 15.547683059220233, + 0.09026838679073343 + ] + ], + "yaw_rad": -3.1301965746001197, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.25810432434082, + 0.14505182206630707, + 0.1271560788154602 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545186072242386, + 0.14652276020798796, + 0.1199959956666511 + ], + "intended_face_normal": [ + -0.9998130524198305, + -0.011391909570906453, + 0.015641760187078815 + ], + "commanded_contact_point": [ + 15.268185882568359, + 0.14740239008155623, + 0.11878821224367839 + ], + "centerline_face_intersection": [ + 15.545157199111078, + 0.14740239008155623, + 0.11878821224367839 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.255208015441895, + 0.14534543454647064, + 0.12234246730804443 + ], + "box_pose": [ + 15.618374824523926, + 0.14565950632095337, + 0.13603486120700836, + 0.00784351211041212, + -0.0039193532429635525, + 0.9999455809593201, + -0.00566552160307765 + ], + "box_yaw_rad": -3.1301991069661392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002182962061407076 + } + } + }, + { + "simulation_time_ns": 2980000000, + "center": [ + 15.622371136263972, + 0.14738955014941418, + 0.11878919411510255 + ], + "face_center": [ + 15.545170117600795, + 0.14650964928074653, + 0.11998654349571053 + ], + "face_normal": [ + -0.9998148651150007, + -0.011395419173932903, + 0.015506631003032338 + ], + "footprint_xy": [ + [ + 15.542675780908192, + 0.09025391761409113 + ], + [ + 15.702066491619753, + 0.09025391761409113 + ], + [ + 15.702066491619753, + 0.20452518268473724 + ], + [ + 15.542675780908192, + 0.20452518268473724 + ] + ], + "projected_box_corners": [ + [ + 15.697077818234545, + 0.20452518268473724 + ], + [ + 15.70081941500894, + 0.20263984154901865 + ], + [ + 15.698324894845358, + 0.09389906048714503 + ], + [ + 15.702066491619753, + 0.09201371935142641 + ], + [ + 15.542675780908192, + 0.20276538094740196 + ], + [ + 15.546417377682587, + 0.20088003981168334 + ], + [ + 15.543922857519005, + 0.09213925874980972 + ], + [ + 15.5476644542934, + 0.09025391761409113 + ] + ], + "yaw_rad": -3.130195617824101, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.263333320617676, + 0.14617100358009338, + 0.13558492064476013 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545179347764977, + 0.14651671736055774, + 0.11999244096606362 + ], + "intended_face_normal": [ + -0.9998136630087675, + -0.011394448750900938, + 0.015585784144657572 + ], + "commanded_contact_point": [ + 15.270435600280761, + 0.14739654329770635, + 0.11878897975077797 + ], + "centerline_face_intersection": [ + 15.545150568944905, + 0.14739654329770635, + 0.11878897975077797 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.25810432434082, + 0.14505182206630707, + 0.1271560788154602 + ], + "box_pose": [ + 15.618367195129395, + 0.14565283060073853, + 0.13603532314300537, + 0.007815660908818245, + -0.00394302187487483, + 0.9999456405639648, + -0.00566671509295702 + ], + "box_yaw_rad": -3.1301965746001197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002249725440902816 + } + } + }, + { + "simulation_time_ns": 3000000000, + "center": [ + 15.622361176903429, + 0.14738071225456678, + 0.11878964107032142 + ], + "face_center": [ + 15.545160057024438, + 0.14650072089732571, + 0.11998027743679776 + ], + "face_normal": [ + -0.9998161759406377, + -0.011396591073247378, + 0.015419692107215374 + ], + "footprint_xy": [ + [ + 15.542676007142491, + 0.09023601903293263 + ], + [ + 15.702046346664364, + 0.09023601903293263 + ], + [ + 15.702046346664364, + 0.20452540547620096 + ], + [ + 15.542676007142491, + 0.20452540547620096 + ] + ], + "projected_box_corners": [ + [ + 15.697078246900471, + 0.20452540547620096 + ], + [ + 15.700799191957973, + 0.20262205461544852 + ], + [ + 15.698325401606862, + 0.09389935260816726 + ], + [ + 15.702046346664364, + 0.09199600174741479 + ], + [ + 15.542676007142491, + 0.20276542276171877 + ], + [ + 15.546396952199993, + 0.20086207190096633 + ], + [ + 15.543923161848882, + 0.09213936989368507 + ], + [ + 15.547644106906384, + 0.09023601903293263 + ] + ], + "yaw_rad": -3.1301944608025605, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.267715454101562, + 0.1489058881998062, + 0.14194434881210327 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545170117600795, + 0.14650964928074653, + 0.11998654349571053 + ], + "intended_face_normal": [ + -0.9998148651150007, + -0.011395419173932903, + 0.015506631003032338 + ], + "commanded_contact_point": [ + 15.272548942565917, + 0.14738955014941418, + 0.11878919411510255 + ], + "centerline_face_intersection": [ + 15.545141524457234, + 0.14738955014941418, + 0.11878919411510255 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.263333320617676, + 0.14617100358009338, + 0.13558492064476013 + ], + "box_pose": [ + 15.618356704711914, + 0.14564476907253265, + 0.13603511452674866, + 0.007776256650686264, + -0.003973772283643484, + 0.9999458193778992, + -0.0056671155616641045 + ], + "box_yaw_rad": -3.130195617824101, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002113353866323513 + } + } + }, + { + "simulation_time_ns": 3020000000, + "center": [ + 15.622351272238998, + 0.1473715983007443, + 0.11879017628790958 + ], + "face_center": [ + 15.545150050093254, + 0.1464917063336123, + 0.11997387201309716 + ], + "face_normal": [ + -0.9998175003768166, + -0.011395303891935313, + 0.015329805257869082 + ], + "footprint_xy": [ + [ + 15.542676776475329, + 0.09021791290208225 + ], + [ + 15.702025768002667, + 0.09021791290208225 + ], + [ + 15.702025768002667, + 0.20452528369940637 + ], + [ + 15.542676776475329, + 0.20452528369940637 + ] + ], + "projected_box_corners": [ + [ + 15.69707922076682, + 0.20452528369940637 + ], + [ + 15.700778804883146, + 0.20260367618008204 + ], + [ + 15.698326183886339, + 0.09389930435567062 + ], + [ + 15.702025768002667, + 0.0919776968363463 + ], + [ + 15.542676776475329, + 0.20276549976514235 + ], + [ + 15.546376360591657, + 0.200843892245818 + ], + [ + 15.543923739594849, + 0.09213952042140658 + ], + [ + 15.547623323711177, + 0.09021791290208225 + ] + ], + "yaw_rad": -3.1301957631492194, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.269150733947754, + 0.14909061789512634, + 0.14097464084625244 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545160057024438, + 0.14650072089732571, + 0.11998027743679776 + ], + "intended_face_normal": [ + -0.9998161759406377, + -0.011396591073247378, + 0.015419692107215374 + ], + "commanded_contact_point": [ + 15.274939804077148, + 0.14738071225456678, + 0.11878964107032142 + ], + "centerline_face_intersection": [ + 15.545131666349858, + 0.14738071225456678, + 0.11878964107032142 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.267715454101562, + 0.1489058881998062, + 0.14194434881210327 + ], + "box_pose": [ + 15.618345260620117, + 0.14563463628292084, + 0.13603508472442627, + 0.007732996717095375, + -0.004011068493127823, + 0.9999459981918335, + -0.005667584016919136 + ], + "box_yaw_rad": -3.1301944608025605, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002390877887730267 + } + } + }, + { + "simulation_time_ns": 3040000000, + "center": [ + 15.622336018654975, + 0.14736106106615796, + 0.11879076245787468 + ], + "face_center": [ + 15.54513466739239, + 0.14648106563403693, + 0.11996581751349905 + ], + "face_normal": [ + -0.9998191725430512, + -0.011396643846197912, + 0.015217901684270656 + ], + "footprint_xy": [ + [ + 15.542674645838519, + 0.09019665369833069 + ], + [ + 15.701997391471432, + 0.09019665369833069 + ], + [ + 15.701997391471432, + 0.20452546843398522 + ], + [ + 15.542674645838519, + 0.20452546843398522 + ] + ], + "projected_box_corners": [ + [ + 15.69707734836369, + 0.20452546843398522 + ], + [ + 15.700750329341252, + 0.20258254056957348 + ], + [ + 15.698324410493871, + 0.09389957242698449 + ], + [ + 15.701997391471432, + 0.09195664456257274 + ], + [ + 15.542674645838519, + 0.20276547756974317 + ], + [ + 15.54634762681608, + 0.20082254970533142 + ], + [ + 15.543921707968698, + 0.09213958156274243 + ], + [ + 15.54759468894626, + 0.09019665369833069 + ] + ], + "yaw_rad": -3.1301944421859935, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.268630981445312, + 0.14290685951709747, + 0.13352595269680023 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545150050093254, + 0.1464917063336123, + 0.11997387201309716 + ], + "intended_face_normal": [ + -0.9998175003768166, + -0.011395303891935313, + 0.015329805257869082 + ], + "commanded_contact_point": [ + 15.2776167678833, + 0.1473715983007443, + 0.11879017628790958 + ], + "centerline_face_intersection": [ + 15.545121863989655, + 0.1473715983007443, + 0.11879017628790958 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.269150733947754, + 0.14909061789512634, + 0.14097464084625244 + ], + "box_pose": [ + 15.61833381652832, + 0.14562422037124634, + 0.13603512942790985, + 0.0076882606372237206, + -0.004048861563205719, + 0.9999461770057678, + -0.005666828248649836 + ], + "box_yaw_rad": -3.1301957631492194, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026769793742316707 + } + } + }, + { + "simulation_time_ns": 3060000000, + "center": [ + 15.62232048666028, + 0.14734671227826224, + 0.11879121806604784 + ], + "face_center": [ + 15.54511893068124, + 0.14646653185704323, + 0.11995458470319087 + ], + "face_normal": [ + -0.9998218237846876, + -0.011399039602798654, + 0.015066527327433542 + ], + "footprint_xy": [ + [ + 15.542676800976766, + 0.09016776303307046 + ], + [ + 15.701964172343795, + 0.09016776303307046 + ], + [ + 15.701964172343795, + 0.20452566152345403 + ], + [ + 15.542676800976766, + 0.20452566152345403 + ] + ], + "projected_box_corners": [ + [ + 15.697079912934848, + 0.20452566152345403 + ], + [ + 15.700716907898471, + 0.20255395125143694 + ], + [ + 15.69832717738017, + 0.09389983414752558 + ], + [ + 15.701964172343795, + 0.09192812387550849 + ], + [ + 15.542676800976766, + 0.202765300681016 + ], + [ + 15.546313795940389, + 0.2007935904089989 + ], + [ + 15.543924065422088, + 0.09213947330508755 + ], + [ + 15.547561060385712, + 0.09016776303307046 + ] + ], + "yaw_rad": -3.1301920765359905, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.270146369934082, + 0.1373429000377655, + 0.1286143958568573 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54513466739239, + 0.14648106563403693, + 0.11996581751349905 + ], + "intended_face_normal": [ + -0.9998191725430512, + -0.011396643846197912, + 0.015217901684270656 + ], + "commanded_contact_point": [ + 15.280165939331054, + 0.14736106106615796, + 0.11879076245787468 + ], + "centerline_face_intersection": [ + 15.545106739569398, + 0.14736106106615796, + 0.11879076245787468 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.268630981445312, + 0.14290685951709747, + 0.13352595269680023 + ], + "box_pose": [ + 15.618316650390625, + 0.14561215043067932, + 0.13603511452674866, + 0.0076325563713908195, + -0.004092988092452288, + 0.9999464154243469, + -0.005667385645210743 + ], + "box_yaw_rad": -3.1301944421859935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002549193293367865 + } + } + }, + { + "simulation_time_ns": 3080000000, + "center": [ + 15.622299512598632, + 0.1473320163262185, + 0.11879138552111249 + ], + "face_center": [ + 15.545097785187085, + 0.14645238121058382, + 0.1199418664203916 + ], + "face_normal": [ + -0.9998240439725823, + -0.01139197745985426, + 0.014899646728091593 + ], + "footprint_xy": [ + [ + 15.54267592870078, + 0.09013882527060935 + ], + [ + 15.701923096496484, + 0.09013882527060935 + ], + [ + 15.701923096496484, + 0.20452520738182764 + ], + [ + 15.54267592870078, + 0.20452520738182764 + ] + ], + "projected_box_corners": [ + [ + 15.697079383523873, + 0.20452520738182764 + ], + [ + 15.700676663880554, + 0.20252377832066085 + ], + [ + 15.698325816139803, + 0.09389952456304548 + ], + [ + 15.701923096496484, + 0.09189809550187869 + ], + [ + 15.54267592870078, + 0.2027659371505583 + ], + [ + 15.54627320905746, + 0.2007645080893915 + ], + [ + 15.54392236131671, + 0.09214025433177614 + ], + [ + 15.547519641673391, + 0.09013882527060935 + ] + ], + "yaw_rad": -3.1301991643180265, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.273640632629395, + 0.13668425381183624, + 0.12686435878276825 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54511893068124, + 0.14646653185704323, + 0.11995458470319087 + ], + "intended_face_normal": [ + -0.9998218237846876, + -0.011399039602798654, + 0.015066527327433542 + ], + "commanded_contact_point": [ + 15.28281524658203, + 0.14734671227826224, + 0.11879121806604784 + ], + "centerline_face_intersection": [ + 15.545091412364672, + 0.14734671227826224, + 0.11879121806604784 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.270146369934082, + 0.1373429000377655, + 0.1286143958568573 + ], + "box_pose": [ + 15.618298530578613, + 0.1455957293510437, + 0.13603475689888, + 0.007557203993201256, + -0.0041525596752762794, + 0.9999468326568604, + -0.00566843943670392 + ], + "box_yaw_rad": -3.1301920765359905, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026493461467633622 + } + } + }, + { + "simulation_time_ns": 3100000000, + "center": [ + 15.622274572585788, + 0.14731238865930377, + 0.11879231157188727 + ], + "face_center": [ + 15.545072607701808, + 0.14643251654810563, + 0.11992620644224945 + ], + "face_normal": [ + -0.9998271194303003, + -0.011395046741729267, + 0.014684844403568709 + ], + "footprint_xy": [ + [ + 15.542676154157775, + 0.09009907689331151 + ], + [ + 15.7018729910138, + 0.09009907689331151 + ], + [ + 15.7018729910138, + 0.20452570042529603 + ], + [ + 15.542676154157775, + 0.20452570042529603 + ] + ], + "projected_box_corners": [ + [ + 15.697080083925734, + 0.20452570042529603 + ], + [ + 15.700626288825996, + 0.20248433739524074 + ], + [ + 15.698326786113538, + 0.09390018414576305 + ], + [ + 15.7018729910138, + 0.09185882111570777 + ], + [ + 15.542676154157775, + 0.20276595620289975 + ], + [ + 15.546222359058037, + 0.20072459317284447 + ], + [ + 15.54392285634558, + 0.09214043992336679 + ], + [ + 15.547469061245842, + 0.09009907689331151 + ] + ], + "yaw_rad": -3.1301961299472456, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.277472496032715, + 0.1389511227607727, + 0.1258517950773239 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545097785187085, + 0.14645238121058382, + 0.1199418664203916 + ], + "intended_face_normal": [ + -0.9998240439725823, + -0.01139197745985426, + 0.014899646728091593 + ], + "commanded_contact_point": [ + 15.285850791931152, + 0.1473320163262185, + 0.11879138552111249 + ], + "centerline_face_intersection": [ + 15.545070609796255, + 0.1473320163262185, + 0.11879138552111249 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.273640632629395, + 0.13668425381183624, + 0.12686435878276825 + ], + "box_pose": [ + 15.618274688720703, + 0.14557893574237823, + 0.1360340416431427, + 0.007474089972674847, + -0.004214004147797823, + 0.9999471306800842, + -0.005664792377501726 + ], + "box_yaw_rad": -3.1301991643180265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030355809272062527 + } + } + }, + { + "simulation_time_ns": 3120000000, + "center": [ + 15.622246062513648, + 0.1472891979355127, + 0.1187938464112729 + ], + "face_center": [ + 15.545043821816202, + 0.14640952306377822, + 0.11991008777526062 + ], + "face_normal": [ + -0.999830691435027, + -0.011392492333106664, + 0.014456217393197301 + ], + "footprint_xy": [ + [ + 15.54267472126337, + 0.09005302431827664 + ], + [ + 15.701817403763927, + 0.09005302431827664 + ], + [ + 15.701817403763927, + 0.20452537155274877 + ], + [ + 15.54267472126337, + 0.20452537155274877 + ] + ], + "projected_box_corners": [ + [ + 15.69707920265826, + 0.20452537155274877 + ], + [ + 15.700571075326405, + 0.20243773323805603 + ], + [ + 15.698325531095783, + 0.09390001237643833 + ], + [ + 15.701817403763927, + 0.09181237406174558 + ], + [ + 15.54267472126337, + 0.2027660218092798 + ], + [ + 15.546166593931513, + 0.20067838349458708 + ], + [ + 15.543921049700892, + 0.09214066263296936 + ], + [ + 15.547412922369036, + 0.09005302431827664 + ] + ], + "yaw_rad": -3.1301987251684955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.281691551208496, + 0.14015080034732819, + 0.12418662011623383 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545072607701808, + 0.14643251654810563, + 0.11992620644224945 + ], + "intended_face_normal": [ + -0.9998271194303003, + -0.011395046741729267, + 0.014684844403568709 + ], + "commanded_contact_point": [ + 15.289183883666992, + 0.14731238865930377, + 0.11879231157188727 + ], + "centerline_face_intersection": [ + 15.545045907338704, + 0.14731238865930377, + 0.11879231157188727 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.277472496032715, + 0.1389511227607727, + 0.1258517950773239 + ], + "box_pose": [ + 15.618246078491211, + 0.14555643498897552, + 0.1360338181257248, + 0.0073671541176736355, + -0.004296642728149891, + 0.9999475479125977, + -0.005666166543960571 + ], + "box_yaw_rad": -3.1301961299472456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033331496549663677 + } + } + }, + { + "simulation_time_ns": 3140000000, + "center": [ + 15.622214304400892, + 0.1472638804006215, + 0.11879523855622826 + ], + "face_center": [ + 15.545011790367017, + 0.1463840325691227, + 0.11989122686046155 + ], + "face_normal": [ + -0.9998342313601318, + -0.011394732300226699, + 0.01419392408985538 + ], + "footprint_xy": [ + [ + 15.542673778452597, + 0.09000222897383403 + ], + [ + 15.701754830349184, + 0.09000222897383403 + ], + [ + 15.701754830349184, + 0.20452553182740896 + ], + [ + 15.542673778452597, + 0.20452553182740896 + ] + ], + "projected_box_corners": [ + [ + 15.697078806520345, + 0.20452553182740896 + ], + [ + 15.700508332022217, + 0.2023870531410245 + ], + [ + 15.698325304847314, + 0.09390040332321609 + ], + [ + 15.701754830349184, + 0.09176192463683165 + ], + [ + 15.542673778452597, + 0.20276583616441132 + ], + [ + 15.54610330395447, + 0.2006273574780269 + ], + [ + 15.543920276779566, + 0.09214070766021848 + ], + [ + 15.547349802281436, + 0.09000222897383403 + ] + ], + "yaw_rad": -3.130196525457734, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.287569046020508, + 0.13749340176582336, + 0.12311661243438721 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545043821816202, + 0.14640952306377822, + 0.11991008777526062 + ], + "intended_face_normal": [ + -0.999830691435027, + -0.011392492333106664, + 0.014456217393197301 + ], + "commanded_contact_point": [ + 15.292417793273925, + 0.1472891979355127, + 0.1187938464112729 + ], + "centerline_face_intersection": [ + 15.545017673174437, + 0.1472891979355127, + 0.1187938464112729 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.281691551208496, + 0.14015080034732819, + 0.12418662011623383 + ], + "box_pose": [ + 15.618213653564453, + 0.14552994072437286, + 0.13603410124778748, + 0.007253367453813553, + -0.004392438568174839, + 0.9999480247497559, + -0.005664680618792772 + ], + "box_yaw_rad": -3.1301987251684955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032339931217025314 + } + } + }, + { + "simulation_time_ns": 3160000000, + "center": [ + 15.62217762777948, + 0.1472339289283773, + 0.11879696888953253 + ], + "face_center": [ + 15.544974789939328, + 0.1463535341422567, + 0.11986903575519986 + ], + "face_normal": [ + -0.9998384249101029, + -0.011401815799523506, + 0.013884122350352988 + ], + "footprint_xy": [ + [ + 15.542673238019852, + 0.08994159482402445 + ], + [ + 15.701682017539108, + 0.08994159482402445 + ], + [ + 15.701682017539108, + 0.2045262630327302 + ], + [ + 15.542673238019852, + 0.2045262630327302 + ] + ], + "projected_box_corners": [ + [ + 15.697078913700155, + 0.2045262630327302 + ], + [ + 15.700434815148524, + 0.202327243149563 + ], + [ + 15.698326116090739, + 0.09390140427943285 + ], + [ + 15.701682017539108, + 0.09170238439626566 + ], + [ + 15.542673238019852, + 0.20276547346048898 + ], + [ + 15.54602913946822, + 0.20056645357732178 + ], + [ + 15.543920440410435, + 0.09214061470719165 + ], + [ + 15.547276341858804, + 0.08994159482402445 + ] + ], + "yaw_rad": -3.130189489528172, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.293335914611816, + 0.13553620874881744, + 0.12453705072402954 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545011790367017, + 0.1463840325691227, + 0.11989122686046155 + ], + "intended_face_normal": [ + -0.9998342313601318, + -0.011394732300226699, + 0.01419392408985538 + ], + "commanded_contact_point": [ + 15.294566421508788, + 0.1472638804006215, + 0.11879523855622826 + ], + "centerline_face_intersection": [ + 15.54498618848972, + 0.1472638804006215, + 0.11879523855622826 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.287569046020508, + 0.13749340176582336, + 0.12311661243438721 + ], + "box_pose": [ + 15.61817741394043, + 0.14550097286701202, + 0.1360340714454651, + 0.007122811395674944, + -0.00449767243117094, + 0.9999484419822693, + -0.0056656221859157085 + ], + "box_yaw_rad": -3.130196525457734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021487778403763017 + } + } + }, + { + "simulation_time_ns": 3180000000, + "center": [ + 15.622136064646387, + 0.14719889523846075, + 0.11879911105945976 + ], + "face_center": [ + 15.544932814368519, + 0.14631884209923463, + 0.11984358076601274 + ], + "face_normal": [ + -0.9998437663080215, + -0.01139739119930938, + 0.013526717093333949 + ], + "footprint_xy": [ + [ + 15.542674024571475, + 0.08987205494725425 + ], + [ + 15.701598104721299, + 0.08987205494725425 + ], + [ + 15.701598104721299, + 0.20452573552966724 + ], + [ + 15.542674024571475, + 0.20452573552966724 + ] + ], + "projected_box_corners": [ + [ + 15.697080525127213, + 0.20452573552966724 + ], + [ + 15.700351462926275, + 0.20225676846956886 + ], + [ + 15.698327166922235, + 0.09390112828580494 + ], + [ + 15.701598104721299, + 0.09163216122570653 + ], + [ + 15.542674024571475, + 0.202765629251215 + ], + [ + 15.54594496237054, + 0.2004966621911166 + ], + [ + 15.543920666366498, + 0.09214102200735266 + ], + [ + 15.547191604165562, + 0.08987205494725425 + ] + ], + "yaw_rad": -3.1301939751576633, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.296182632446289, + 0.1348254680633545, + 0.12861880660057068 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544974789939328, + 0.1463535341422567, + 0.11986903575519986 + ], + "intended_face_normal": [ + -0.9998384249101029, + -0.011401815799523506, + 0.013884122350352988 + ], + "commanded_contact_point": [ + 15.296774177551269, + 0.1472339289283773, + 0.11879696888953253 + ], + "centerline_face_intersection": [ + 15.544949835780608, + 0.1472339289283773, + 0.11879696888953253 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.293335914611816, + 0.13553620874881744, + 0.12453705072402954 + ], + "box_pose": [ + 15.618135452270508, + 0.1454666554927826, + 0.13603411614894867, + 0.0069686248898506165, + -0.00462300842627883, + 0.9999489188194275, + -0.005668981466442347 + ], + "box_yaw_rad": -3.130189489528172, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00220795987913095 + } + } + }, + { + "simulation_time_ns": 3200000000, + "center": [ + 15.622087822361921, + 0.1471592433284261, + 0.11880130975797651 + ], + "face_center": [ + 15.54488417534341, + 0.1462787935783545, + 0.11981379758425446 + ], + "face_normal": [ + -0.999848904416281, + -0.011402527626597705, + 0.013112526194469922 + ], + "footprint_xy": [ + [ + 15.54267434949936, + 0.08979198740021929 + ], + [ + 15.701501295224483, + 0.08979198740021929 + ], + [ + 15.701501295224483, + 0.20452649925663285 + ], + [ + 15.54267434949936, + 0.20452649925663285 + ] + ], + "projected_box_corners": [ + [ + 15.69708164353638, + 0.20452649925663285 + ], + [ + 15.700254135364139, + 0.20217709502597642 + ], + [ + 15.698328803396725, + 0.09390229113101889 + ], + [ + 15.701501295224483, + 0.09155288690036245 + ], + [ + 15.54267434949936, + 0.2027655997564897 + ], + [ + 15.545846841327117, + 0.20041619552583326 + ], + [ + 15.543921509359706, + 0.09214139163087573 + ], + [ + 15.547094001187462, + 0.08979198740021929 + ] + ], + "yaw_rad": -3.1301888971933285, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.297856330871582, + 0.13504396378993988, + 0.1306527554988861 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544932814368519, + 0.14631884209923463, + 0.11984358076601274 + ], + "intended_face_normal": [ + -0.9998437663080215, + -0.01139739119930938, + 0.013526717093333949 + ], + "commanded_contact_point": [ + 15.299485473632812, + 0.14719889523846075, + 0.11879911105945976 + ], + "centerline_face_intersection": [ + 15.544908685216338, + 0.14719889523846075, + 0.11879911105945976 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.296182632446289, + 0.1348254680633545, + 0.12861880660057068 + ], + "box_pose": [ + 15.618087768554688, + 0.14542663097381592, + 0.1360343098640442, + 0.00679071806371212, + -0.004767774138599634, + 0.99994957447052, + -0.005666604731231928 + ], + "box_yaw_rad": -3.1301939751576633, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002711523260108868 + } + } + }, + { + "simulation_time_ns": 3220000000, + "center": [ + 15.622032117395767, + 0.14711394300411945, + 0.11880354735953426 + ], + "face_center": [ + 15.544827972747893, + 0.14623329205499222, + 0.11977902300343363 + ], + "face_normal": [ + -0.999855349114068, + -0.011405133315099859, + 0.012633188864817527 + ], + "footprint_xy": [ + [ + 15.542674984812322, + 0.08970078103877008 + ], + [ + 15.701389249979211, + 0.08970078103877008 + ], + [ + 15.701389249979211, + 0.20452710496946883 + ], + [ + 15.542674984812322, + 0.20452710496946883 + ] + ], + "projected_box_corners": [ + [ + 15.697083274108069, + 0.20452710496946883 + ], + [ + 15.700141814402512, + 0.20208589852325423 + ], + [ + 15.698330709684768, + 0.09390328938323914 + ], + [ + 15.701389249979211, + 0.09146208293702454 + ], + [ + 15.542674984812322, + 0.20276580307121436 + ], + [ + 15.545733525106765, + 0.20032459662499977 + ], + [ + 15.543922420389022, + 0.09214198748498467 + ], + [ + 15.546980960683465, + 0.08970078103877008 + ] + ], + "yaw_rad": -3.130186364964846, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.300057411193848, + 0.1358625292778015, + 0.13018567860126495 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54488417534341, + 0.1462787935783545, + 0.11981379758425446 + ], + "intended_face_normal": [ + -0.999848904416281, + -0.011402527626597705, + 0.013112526194469922 + ], + "commanded_contact_point": [ + 15.302659301757812, + 0.1471592433284261, + 0.11880130975797651 + ], + "centerline_face_intersection": [ + 15.544860839794474, + 0.1471592433284261, + 0.11880130975797651 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.297856330871582, + 0.13504396378993988, + 0.1306527554988861 + ], + "box_pose": [ + 15.618032455444336, + 0.14538119733333588, + 0.13603425025939941, + 0.0065845646895468235, + -0.004934277851134539, + 0.9999500513076782, + -0.00566905690357089 + ], + "box_yaw_rad": -3.1301888971933285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003174076570482442 + } + } + }, + { + "simulation_time_ns": 3240000000, + "center": [ + 15.621969868018335, + 0.1470616913807459, + 0.1188064545510762 + ], + "face_center": [ + 15.544765220230664, + 0.1461809198671639, + 0.11974000003117699 + ], + "face_normal": [ + -0.999861865176378, + -0.011406694721104156, + 0.012090159746957803 + ], + "footprint_xy": [ + [ + 15.54267666981306, + 0.089595503415315 + ], + [ + 15.701263066223609, + 0.089595503415315 + ], + [ + 15.701263066223609, + 0.20452787934617678 + ], + [ + 15.54267666981306, + 0.20452787934617678 + ] + ], + "projected_box_corners": [ + [ + 15.6970859653884, + 0.20452787934617678 + ], + [ + 15.700015436842586, + 0.20198033015965616 + ], + [ + 15.698333594769421, + 0.09390459562899962 + ], + [ + 15.701263066223609, + 0.091357046442479 + ], + [ + 15.54267666981306, + 0.2027663363190128 + ], + [ + 15.545606141267246, + 0.20021878713249217 + ], + [ + 15.543924299194082, + 0.09214305260183563 + ], + [ + 15.54685377064827, + 0.089595503415315 + ] + ], + "yaw_rad": -3.1301848778742243, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.302250862121582, + 0.1376507580280304, + 0.12808756530284882 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544827972747893, + 0.14623329205499222, + 0.11977902300343363 + ], + "intended_face_normal": [ + -0.999855349114068, + -0.011405133315099859, + 0.012633188864817527 + ], + "commanded_contact_point": [ + 15.305928497314452, + 0.14711394300411945, + 0.11880354735953426 + ], + "centerline_face_intersection": [ + 15.544805632604886, + 0.14711394300411945, + 0.11880354735953426 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.300057411193848, + 0.1358625292778015, + 0.13018567860126495 + ], + "box_pose": [ + 15.617968559265137, + 0.1453293114900589, + 0.13603387773036957, + 0.006345963571220636, + -0.005124276503920555, + 0.9999507069587708, + -0.005670327693223953 + ], + "box_yaw_rad": -3.130186364964846, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032695101641991918 + } + } + }, + { + "simulation_time_ns": 3260000000, + "center": [ + 15.621894807764969, + 0.1470042432824081, + 0.11880831095254016 + ], + "face_center": [ + 15.544689568233252, + 0.14612352046167634, + 0.11969321084033277 + ], + "face_normal": [ + -0.9998695287345054, + -0.011406064109794183, + 0.011460160465157597 + ], + "footprint_xy": [ + [ + 15.542675899983195, + 0.08948002151965205 + ], + [ + 15.701113715546745, + 0.08948002151965205 + ], + [ + 15.701113715546745, + 0.20452846504516414 + ], + [ + 15.542675899983195, + 0.20452846504516414 + ] + ], + "projected_box_corners": [ + [ + 15.697086379046628, + 0.20452846504516414 + ], + [ + 15.69986602994392, + 0.20186419308026268 + ], + [ + 15.698334064649451, + 0.09390573912601699 + ], + [ + 15.701113715546745, + 0.09124146716111553 + ], + [ + 15.542675899983195, + 0.20276701940370065 + ], + [ + 15.545455550880487, + 0.2001027474387992 + ], + [ + 15.543923585586018, + 0.0921442934845535 + ], + [ + 15.546703236483312, + 0.08948002151965205 + ] + ], + "yaw_rad": -3.130185595913729, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.304128646850586, + 0.13976694643497467, + 0.12426435947418213 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544765220230664, + 0.1461809198671639, + 0.11974000003117699 + ], + "intended_face_normal": [ + -0.999861865176378, + -0.011406694721104156, + 0.012090159746957803 + ], + "commanded_contact_point": [ + 15.30873420715332, + 0.1470616913807459, + 0.1188064545510762 + ], + "centerline_face_intersection": [ + 15.544743886509561, + 0.1470616913807459, + 0.1188064545510762 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.302250862121582, + 0.1376507580280304, + 0.12808756530284882 + ], + "box_pose": [ + 15.617897033691406, + 0.14526943862438202, + 0.1360338032245636, + 0.006075685378164053, + -0.005344400182366371, + 0.999951183795929, + -0.00567115331068635 + ], + "box_yaw_rad": -3.1301848778742243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002806197851867179 + } + } + }, + { + "simulation_time_ns": 3280000000, + "center": [ + 15.621808289548605, + 0.1469364887765526, + 0.11881074165322623 + ], + "face_center": [ + 15.544602397896206, + 0.14605618999656803, + 0.11963846264000715 + ], + "face_normal": [ + -0.999877974218301, + -0.011400572443365814, + 0.010719648018659426 + ], + "footprint_xy": [ + [ + 15.542676971352122, + 0.08934408810962953 + ], + [ + 15.700939607745088, + 0.08934408810962953 + ], + [ + 15.700939607745088, + 0.2045288894434757 + ], + [ + 15.542676971352122, + 0.2045288894434757 + ] + ], + "projected_box_corners": [ + [ + 15.697088754656919, + 0.2045288894434757 + ], + [ + 15.699692299396688, + 0.20172671257491598 + ], + [ + 15.69833606300532, + 0.09390686253815839 + ], + [ + 15.700939607745088, + 0.0911046856695987 + ], + [ + 15.542676971352122, + 0.2027682918835065 + ], + [ + 15.54528051609189, + 0.19996611501494682 + ], + [ + 15.543924279700521, + 0.09214626497818922 + ], + [ + 15.54652782444029, + 0.08934408810962953 + ] + ], + "yaw_rad": -3.1301911838776033, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.307008743286133, + 0.143113911151886, + 0.12237401306629181 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544689568233252, + 0.14612352046167634, + 0.11969321084033277 + ], + "intended_face_normal": [ + -0.9998695287345054, + -0.011406064109794183, + 0.011460160465157597 + ], + "commanded_contact_point": [ + 15.311256675720214, + 0.1470042432824081, + 0.11880831095254016 + ], + "centerline_face_intersection": [ + 15.54466941815922, + 0.1470042432824081, + 0.11880831095254016 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.304128646850586, + 0.13976694643497467, + 0.12426435947418213 + ], + "box_pose": [ + 15.61781120300293, + 0.14520363509655, + 0.13603223860263824, + 0.005762036424130201, + -0.005585907027125359, + 0.9999517798423767, + -0.005671119317412376 + ], + "box_yaw_rad": -3.130185595913729, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025231233424468126 + } + } + }, + { + "simulation_time_ns": 3300000000, + "center": [ + 15.621707448006653, + 0.14685861728242905, + 0.118813648680805 + ], + "face_center": [ + 15.544500906702595, + 0.14597891109385827, + 0.11957563834040713 + ], + "face_normal": [ + -0.9998863877262776, + -0.011392897911154568, + 0.009868374821037371 + ], + "footprint_xy": [ + [ + 15.542676939073262, + 0.08918782779015402 + ], + [ + 15.700737956940044, + 0.08918782779015402 + ], + [ + 15.700737956940044, + 0.20452940677470408 + ], + [ + 15.542676939073262, + 0.20452940677470408 + ] + ], + "projected_box_corners": [ + [ + 15.69709002168138, + 0.20452940677470408 + ], + [ + 15.699491119479639, + 0.20156834800790607 + ], + [ + 15.698336859141785, + 0.09390829893409355 + ], + [ + 15.700737956940044, + 0.09094724016729555 + ], + [ + 15.542676939073262, + 0.20276999439756255 + ], + [ + 15.545078036871521, + 0.19980893563076454 + ], + [ + 15.543923776533667, + 0.09214888655695203 + ], + [ + 15.546324874331926, + 0.08918782779015402 + ] + ], + "yaw_rad": -3.1301989542137556, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.309610366821289, + 0.14696785807609558, + 0.12304501235485077 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544602397896206, + 0.14605618999656803, + 0.11963846264000715 + ], + "intended_face_normal": [ + -0.999877974218301, + -0.011400572443365814, + 0.010719648018659426 + ], + "commanded_contact_point": [ + 15.31373622894287, + 0.1469364887765526, + 0.11881074165322623 + ], + "centerline_face_intersection": [ + 15.544583552228229, + 0.1469364887765526, + 0.11881074165322623 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.307008743286133, + 0.143113911151886, + 0.12237401306629181 + ], + "box_pose": [ + 15.617712020874023, + 0.14512602984905243, + 0.1360306292772293, + 0.005393364932388067, + -0.005871240980923176, + 0.9999522566795349, + -0.005668891128152609 + ], + "box_yaw_rad": -3.1301911838776033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002480479946573756 + } + } + }, + { + "simulation_time_ns": 3320000000, + "center": [ + 15.621593388874913, + 0.14676747752286948, + 0.11881761859073636 + ], + "face_center": [ + 15.54438612505761, + 0.14588753407547161, + 0.11950453267308697 + ], + "face_normal": [ + -0.9998957448499977, + -0.011395970602503802, + 0.008896086120150597 + ], + "footprint_xy": [ + [ + 15.542677275165502, + 0.08900406857306753 + ], + [ + 15.700509502584325, + 0.08900406857306753 + ], + [ + 15.700509502584325, + 0.20453088647267142 + ], + [ + 15.542677275165502, + 0.20453088647267142 + ] + ], + "projected_box_corners": [ + [ + 15.69709180280011, + 0.20453088647267142 + ], + [ + 15.69926176072998, + 0.20138399800917817 + ], + [ + 15.698339544654452, + 0.0939108439313565 + ], + [ + 15.700509502584325, + 0.09076395546786323 + ], + [ + 15.542677275165502, + 0.20277099957787573 + ], + [ + 15.544847233095373, + 0.19962411111438244 + ], + [ + 15.543925017019845, + 0.09215095703656079 + ], + [ + 15.546094974949717, + 0.08900406857306753 + ] + ], + "yaw_rad": -3.1301959882151826, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.311455726623535, + 0.14901116490364075, + 0.12446312606334686 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544500906702595, + 0.14597891109385827, + 0.11957563834040713 + ], + "intended_face_normal": [ + -0.9998863877262776, + -0.011392897911154568, + 0.009868374821037371 + ], + "commanded_contact_point": [ + 15.316114692687988, + 0.14685861728242905, + 0.118813648680805 + ], + "centerline_face_intersection": [ + 15.544483360491046, + 0.14685861728242905, + 0.118813648680805 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.309610366821289, + 0.14696785807609558, + 0.12304501235485077 + ], + "box_pose": [ + 15.617596626281738, + 0.14503681659698486, + 0.13602887094020844, + 0.0049695526249706745, + -0.006199985276907682, + 0.9999523758888245, + -0.005665907636284828 + ], + "box_yaw_rad": -3.1301989542137556, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002379739945297228 + } + } + }, + { + "simulation_time_ns": 3340000000, + "center": [ + 15.621460100329946, + 0.14666287791316984, + 0.11882050088201793 + ], + "face_center": [ + 15.544252117847755, + 0.14578543176807446, + 0.11942036122083818 + ], + "face_normal": [ + -0.9999050521344077, + -0.011363628542671879, + 0.007768670596978603 + ], + "footprint_xy": [ + [ + 15.542678706945429, + 0.08879670397698183 + ], + [ + 15.700241493714463, + 0.08879670397698183 + ], + [ + 15.700241493714463, + 0.20452905184935788 + ], + [ + 15.542678706945429, + 0.20452905184935788 + ] + ], + "projected_box_corners": [ + [ + 15.697094671909811, + 0.20452905184935788 + ], + [ + 15.698996455588707, + 0.20117030407285957 + ], + [ + 15.698339710035567, + 0.0939103440436709 + ], + [ + 15.700241493714463, + 0.0905515962671726 + ], + [ + 15.542678706945429, + 0.2027741595591671 + ], + [ + 15.544580490624325, + 0.1994154117826688 + ], + [ + 15.543923745071185, + 0.09215545175348014 + ], + [ + 15.54582552875008, + 0.08879670397698183 + ] + ], + "yaw_rad": -3.1302284352300633, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.313486099243164, + 0.14733722805976868, + 0.12549574673175812 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54438612505761, + 0.14588753407547161, + 0.11950453267308697 + ], + "intended_face_normal": [ + -0.9998957448499977, + -0.011395970602503802, + 0.008896086120150597 + ], + "commanded_contact_point": [ + 15.31837776184082, + 0.14676747752286948, + 0.11881761859073636 + ], + "centerline_face_intersection": [ + 15.54437002402999, + 0.14676747752286948, + 0.11881761859073636 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.311455726623535, + 0.14901116490364075, + 0.12446312606334686 + ], + "box_pose": [ + 15.61746597290039, + 0.144932359457016, + 0.13602745532989502, + 0.004485583398491144, + -0.006584587041288614, + 0.9999522566795349, + -0.005668720230460167 + ], + "box_yaw_rad": -3.1301959882151826, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022649071076883765 + } + } + }, + { + "simulation_time_ns": 3360000000, + "center": [ + 15.621307654219091, + 0.14654150477361824, + 0.118824344426092 + ], + "face_center": [ + 15.544098929001823, + 0.14566467289927193, + 0.11932433884730262 + ], + "face_normal": [ + -0.9999146711470079, + -0.01135567324575033, + 0.00647532718424363 + ], + "footprint_xy": [ + [ + 15.542679081489739, + 0.08855340018008509 + ], + [ + 15.699936226948441, + 0.08855340018008509 + ], + [ + 15.699936226948441, + 0.20452960936715142 + ], + [ + 15.542679081489739, + 0.20452960936715142 + ] + ], + "projected_box_corners": [ + [ + 15.697096531924277, + 0.20452960936715142 + ], + [ + 15.698690809195089, + 0.20092416507338748 + ], + [ + 15.69834194967763, + 0.09391250822254169 + ], + [ + 15.699936226948441, + 0.09030706392877774 + ], + [ + 15.542679081489739, + 0.20277594561845874 + ], + [ + 15.54427335876055, + 0.19917050132469483 + ], + [ + 15.543924499243094, + 0.09215884447384903 + ], + [ + 15.545518776513905, + 0.08855340018008509 + ] + ], + "yaw_rad": -3.13023649949164, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.314957618713379, + 0.14241376519203186, + 0.12517182528972626 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544252117847755, + 0.14578543176807446, + 0.11942036122083818 + ], + "intended_face_normal": [ + -0.9999050521344077, + -0.011363628542671879, + 0.007768670596978603 + ], + "commanded_contact_point": [ + 15.320535926818847, + 0.14666287791316984, + 0.11882050088201793 + ], + "centerline_face_intersection": [ + 15.544237454293091, + 0.14666287791316984, + 0.11882050088201793 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.313486099243164, + 0.14733722805976868, + 0.12549574673175812 + ], + "box_pose": [ + 15.617313385009766, + 0.14481273293495178, + 0.1360240876674652, + 0.003924236632883549, + -0.0070229386910796165, + 0.9999516010284424, + -0.005654528271406889 + ], + "box_yaw_rad": -3.1302284352300633, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002160700224079248 + } + } + }, + { + "simulation_time_ns": 3380000000, + "center": [ + 15.621132921220674, + 0.1464008277172527, + 0.11882869182610015 + ], + "face_center": [ + 15.543923520857627, + 0.145523993936843, + 0.11921300963022902 + ], + "face_normal": [ + -0.9999234148241758, + -0.011355697930793676, + 0.00497722258268176 + ], + "footprint_xy": [ + [ + 15.542680835510653, + 0.08827088772641348 + ], + [ + 15.699585006930693, + 0.08827088772641348 + ], + [ + 15.699585006930693, + 0.20453076770809195 + ], + [ + 15.542680835510653, + 0.20453076770809195 + ] + ], + "projected_box_corners": [ + [ + 15.697099636236745, + 0.20453076770809195 + ], + [ + 15.698337763621215, + 0.20063961546989967 + ], + [ + 15.698346879546223, + 0.09391570752542514 + ], + [ + 15.699585006930693, + 0.09002455528723287 + ], + [ + 15.542680835510653, + 0.20277710014727254 + ], + [ + 15.543918962895123, + 0.19888594790908026 + ], + [ + 15.543928078820132, + 0.09216203996460574 + ], + [ + 15.545166206204602, + 0.08827088772641348 + ] + ], + "yaw_rad": -3.130236574101503, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.31564998626709, + 0.1372126340866089, + 0.12183167040348053 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544098929001823, + 0.14566467289927193, + 0.11932433884730262 + ], + "intended_face_normal": [ + -0.9999146711470079, + -0.01135567324575033, + 0.00647532718424363 + ], + "commanded_contact_point": [ + 15.322473793029785, + 0.14654150477361824, + 0.118824344426092 + ], + "centerline_face_intersection": [ + 15.54408575105123, + 0.14654150477361824, + 0.118824344426092 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.314957618713379, + 0.14241376519203186, + 0.12517182528972626 + ], + "box_pose": [ + 15.617138862609863, + 0.14467373490333557, + 0.136020690202713, + 0.0032804165966808796, + -0.007533501833677292, + 0.9999502897262573, + -0.005653404630720615 + ], + "box_yaw_rad": -3.13023649949164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001941667238053144 + } + } + }, + { + "simulation_time_ns": 3400000000, + "center": [ + 15.620932418851426, + 0.14623983882919647, + 0.11883343431778215 + ], + "face_center": [ + 15.543722490544138, + 0.14536199417201282, + 0.11908467873417346 + ], + "face_normal": [ + -0.9999302521238784, + -0.011368789592573526, + 0.003253815903403203 + ], + "footprint_xy": [ + [ + 15.542682610990317, + 0.08794574542728167 + ], + [ + 15.699182226712535, + 0.08794574542728167 + ], + [ + 15.699182226712535, + 0.20453393223111124 + ], + [ + 15.542682610990317, + 0.20453393223111124 + ] + ], + "projected_box_corners": [ + [ + 15.697102467604894, + 0.20453393223111124 + ], + [ + 15.697930955891279, + 0.20031390194112314 + ], + [ + 15.698353738426151, + 0.0939214650316371 + ], + [ + 15.699182226712535, + 0.08970143474164899 + ], + [ + 15.542682610990317, + 0.20277824291674396 + ], + [ + 15.543511099276703, + 0.19855821262675583 + ], + [ + 15.543933881811574, + 0.0921657757172698 + ], + [ + 15.544762370097958, + 0.08794574542728167 + ] + ], + "yaw_rad": -3.13022356086048, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.316999435424805, + 0.13516868650913239, + 0.12228180468082428 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543923520857627, + 0.145523993936843, + 0.11921300963022902 + ], + "intended_face_normal": [ + -0.9999234148241758, + -0.011355697930793676, + 0.00497722258268176 + ], + "commanded_contact_point": [ + 15.324667243957519, + 0.1464008277172527, + 0.11882869182610015 + ], + "centerline_face_intersection": [ + 15.543911693307919, + 0.1464008277172527, + 0.11882869182610015 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.31564998626709, + 0.1372126340866089, + 0.12183167040348053 + ], + "box_pose": [ + 15.616938591003418, + 0.1445126086473465, + 0.1360165923833847, + 0.0025347101036459208, + -0.008124827407300472, + 0.9999478459358215, + -0.005657549947500229 + ], + "box_yaw_rad": -3.130236574101503, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021979617618269184 + } + } + }, + { + "simulation_time_ns": 3420000000, + "center": [ + 15.620699154026646, + 0.1460559849365593, + 0.11883775714023204 + ], + "face_center": [ + 15.5434889068902, + 0.14517740847387212, + 0.11893576802728399 + ], + "face_normal": [ + -0.9999343812161574, + -0.01137826705846017, + 0.0012693192850887283 + ], + "footprint_xy": [ + [ + 15.542682569240636, + 0.08757585236107894 + ], + [ + 15.698715738812655, + 0.08757585236107894 + ], + [ + 15.698715738812655, + 0.20453611751203965 + ], + [ + 15.542682569240636, + 0.20453611751203965 + ] + ], + "projected_box_corners": [ + [ + 15.697103063513525, + 0.20453611751203965 + ], + [ + 15.697459806104954, + 0.19994226494945277 + ], + [ + 15.698358996221229, + 0.09392685784904016 + ], + [ + 15.698715738812655, + 0.0893330052864533 + ], + [ + 15.542682569240636, + 0.2027789645866653 + ], + [ + 15.543039311832063, + 0.19818511202407843 + ], + [ + 15.543938501948338, + 0.0921697049236658 + ], + [ + 15.544295244539766, + 0.08757585236107894 + ] + ], + "yaw_rad": -3.1302141309417815, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.319318771362305, + 0.13795620203018188, + 0.12550680339336395 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543722490544138, + 0.14536199417201282, + 0.11908467873417346 + ], + "intended_face_normal": [ + -0.9999302521238784, + -0.011368789592573526, + 0.003253815903403203 + ], + "commanded_contact_point": [ + 15.327660827636718, + 0.14623983882919647, + 0.11883343431778215 + ], + "centerline_face_intersection": [ + 15.543711718960179, + 0.14623983882919647, + 0.11883343431778215 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.316999435424805, + 0.13516868650913239, + 0.12228180468082428 + ], + "box_pose": [ + 15.616708755493164, + 0.1443280279636383, + 0.13601154088974, + 0.001676929066888988, + -0.008805524557828903, + 0.9999437928199768, + -0.005669947247952223 + ], + "box_yaw_rad": -3.13022356086048, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029979131337770394 + } + } + }, + { + "simulation_time_ns": 3440000000, + "center": [ + 15.620431706743323, + 0.14584503362471826, + 0.11884186615809936 + ], + "face_center": [ + 15.54322142618121, + 0.14496644797525082, + 0.11876426837070042 + ], + "face_normal": [ + -0.9999348141052471, + -0.011378386034603859, + -0.0010049533372089086 + ], + "footprint_xy": [ + [ + 15.542499013308767, + 0.08715303564881628 + ], + [ + 15.69836440017788, + 0.08715303564881628 + ], + [ + 15.69836440017788, + 0.20453703160062026 + ], + [ + 15.542499013308767, + 0.20453703160062026 + ] + ], + "projected_box_corners": [ + [ + 15.697103481754807, + 0.20453703160062026 + ], + [ + 15.69691957443299, + 0.1995155276491251 + ], + [ + 15.69836440017788, + 0.09393171089924635 + ], + [ + 15.698180492856062, + 0.0889102069477512 + ], + [ + 15.542682920630583, + 0.20277986030168535 + ], + [ + 15.542499013308767, + 0.19775835635019018 + ], + [ + 15.543943839053656, + 0.09217453960031144 + ], + [ + 15.54375993173184, + 0.08715303564881628 + ] + ], + "yaw_rad": -3.1302140168988206, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.321654319763184, + 0.14185665547847748, + 0.12989580631256104 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.5434889068902, + 0.14517740847387212, + 0.11893576802728399 + ], + "intended_face_normal": [ + -0.9999343812161574, + -0.01137826705846017, + 0.0012693192850887283 + ], + "commanded_contact_point": [ + 15.331076889038085, + 0.1460559849365593, + 0.11883775714023204 + ], + "centerline_face_intersection": [ + 15.543478773007717, + 0.1460559849365593, + 0.11883775714023204 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.319318771362305, + 0.13795620203018188, + 0.12550680339336395 + ], + "box_pose": [ + 15.61644172668457, + 0.14411738514900208, + 0.1360045224428177, + 0.0006891398807056248, + -0.009579166769981384, + 0.9999377131462097, + -0.005682886112481356 + ], + "box_yaw_rad": -3.1302141309417815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003421008102671276 + } + } + }, + { + "simulation_time_ns": 3460000000, + "center": [ + 15.620126121171703, + 0.1456035187257933, + 0.11884600407997523 + ], + "face_center": [ + 15.542916305713018, + 0.14472541239014974, + 0.11856663764590002 + ], + "face_normal": [ + -0.9999287906442977, + -0.011372178537675845, + -0.003618018498191003 + ], + "footprint_xy": [ + [ + 15.541880227492268, + 0.08667063361952601 + ], + [ + 15.698372014851138, + 0.08667063361952601 + ], + [ + 15.698372014851138, + 0.20453640383206062 + ], + [ + 15.541880227492268, + 0.20453640383206062 + ] + ], + "projected_box_corners": [ + [ + 15.697104980761093, + 0.20453640383206062 + ], + [ + 15.696299858409635, + 0.1990272310520717 + ], + [ + 15.698372014851138, + 0.09393601907080201 + ], + [ + 15.69756689249968, + 0.08842684629081313 + ], + [ + 15.542685349843726, + 0.2027801911607735 + ], + [ + 15.541880227492268, + 0.1972710183807846 + ], + [ + 15.54395238393377, + 0.0921798063995149 + ], + [ + 15.54314726158231, + 0.08667063361952601 + ] + ], + "yaw_rad": -3.130220155496774, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.324335098266602, + 0.14173658192157745, + 0.13156083226203918 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54322142618121, + 0.14496644797525082, + 0.11876426837070042 + ], + "intended_face_normal": [ + -0.9999348141052471, + -0.011378386034603859, + -0.0010049533372089086 + ], + "commanded_contact_point": [ + 15.334152488708495, + 0.14584503362471826, + 0.11884186615809936 + ], + "centerline_face_intersection": [ + 15.543211359154435, + 0.14584503362471826, + 0.11884186615809936 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.321654319763184, + 0.14185665547847748, + 0.12989580631256104 + ], + "box_pose": [ + 15.616135597229004, + 0.1438758373260498, + 0.1359955072402954, + -0.0004429225518833846, + -0.01046419981867075, + 0.9999289512634277, + -0.005694232415407896 + ], + "box_yaw_rad": -3.1302140168988206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030828283560104916 + } + } + }, + { + "simulation_time_ns": 3480000000, + "center": [ + 15.619782868657175, + 0.1453497125033906, + 0.11885588466494713 + ], + "face_center": [ + 15.542574172043611, + 0.14447509313644777, + 0.11835111145033567 + ], + "face_normal": [ + -0.9999143007061928, + -0.011327019507373312, + -0.0065372163764097595 + ], + "footprint_xy": [ + [ + 15.541188893434967, + 0.08616610231920535 + ], + [ + 15.698376843879386, + 0.08616610231920535 + ], + [ + 15.698376843879386, + 0.20453332268757585 + ], + [ + 15.541188893434967, + 0.20453332268757585 + ] + ], + "projected_box_corners": [ + [ + 15.697105919836513, + 0.20453332268757585 + ], + [ + 15.695606286662095, + 0.19851006198815743 + ], + [ + 15.698376843879386, + 0.09393860175250938 + ], + [ + 15.696877210704967, + 0.08791534105309097 + ], + [ + 15.542688526609384, + 0.20278408395369021 + ], + [ + 15.541188893434967, + 0.1967608232542718 + ], + [ + 15.543959450652256, + 0.09218936301862377 + ], + [ + 15.542459817477837, + 0.08616610231920535 + ] + ], + "yaw_rad": -3.1302651477929557, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.327566146850586, + 0.1404731571674347, + 0.13082163035869598 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542916305713018, + 0.14472541239014974, + 0.11856663764590002 + ], + "intended_face_normal": [ + -0.9999287906442977, + -0.011372178537675845, + -0.003618018498191003 + ], + "commanded_contact_point": [ + 15.336708335876464, + 0.1456035187257933, + 0.11884600407997523 + ], + "centerline_face_intersection": [ + 15.542905308415941, + 0.1456035187257933, + 0.11884600407997523 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.324335098266602, + 0.14173658192157745, + 0.13156083226203918 + ], + "box_pose": [ + 15.615785598754883, + 0.1435994654893875, + 0.1359844207763672, + -0.001743681263178587, + -0.011473402380943298, + 0.9999163746833801, + -0.005706572439521551 + ], + "box_yaw_rad": -3.130220155496774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002567236123696857 + } + } + }, + { + "simulation_time_ns": 3500000000, + "center": [ + 15.619446089791131, + 0.1450714174017021, + 0.11887606359948287 + ], + "face_center": [ + 15.54223909004866, + 0.1441991537979462, + 0.11815051368114547 + ], + "face_normal": [ + -0.9998923248699558, + -0.01129651049215864, + -0.00939645106111419 + ], + "footprint_xy": [ + [ + 15.540510644382909, + 0.08561181553006246 + ], + [ + 15.698381535199353, + 0.08561181553006246 + ], + [ + 15.698381535199353, + 0.20453101927334172 + ], + [ + 15.540510644382909, + 0.20453101927334172 + ] + ], + "projected_box_corners": [ + [ + 15.697103705623977, + 0.20453101927334172 + ], + [ + 15.694924643867852, + 0.19794432062159573 + ], + [ + 15.698381535199353, + 0.09394304138932022 + ], + [ + 15.696202473443227, + 0.08735634273757423 + ], + [ + 15.542689706139036, + 0.20278649206582994 + ], + [ + 15.540510644382909, + 0.19619979341408395 + ], + [ + 15.543967535714412, + 0.09219851418180845 + ], + [ + 15.541788473958285, + 0.08561181553006246 + ] + ], + "yaw_rad": -3.1302954072520874, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.332437515258789, + 0.14118438959121704, + 0.13087241351604462 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542574172043611, + 0.14447509313644777, + 0.11835111145033567 + ], + "intended_face_normal": [ + -0.9999143007061928, + -0.011327019507373312, + -0.0065372163764097595 + ], + "commanded_contact_point": [ + 15.339083938598632, + 0.1453497125033906, + 0.11885588466494713 + ], + "centerline_face_intersection": [ + 15.542560936880717, + 0.1453497125033906, + 0.11885588466494713 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.327566146850586, + 0.1404731571674347, + 0.13082163035869598 + ], + "box_pose": [ + 15.615392684936523, + 0.143309086561203, + 0.13597732782363892, + -0.0031974154990166426, + -0.01253688707947731, + 0.9998999834060669, + -0.005704165901988745 + ], + "box_yaw_rad": -3.1302651477929557, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002389142841703187 + } + } + }, + { + "simulation_time_ns": 3520000000, + "center": [ + 15.619400997305155, + 0.14500160319988406, + 0.1188965993747759 + ], + "face_center": [ + 15.542194329212641, + 0.14412928466078917, + 0.11814154695114792 + ], + "face_normal": [ + -0.999888029738051, + -0.011297221948684738, + -0.009778532073235858 + ], + "footprint_xy": [ + [ + 15.540419959945257, + 0.08547246506852131 + ], + [ + 15.698382034665052, + 0.08547246506852131 + ], + [ + 15.698382034665052, + 0.20453074133124682 + ], + [ + 15.540419959945257, + 0.20453074133124682 + ] + ], + "projected_box_corners": [ + [ + 15.697102355348674, + 0.20453074133124682 + ], + [ + 15.694833296130282, + 0.19780320694194037 + ], + [ + 15.698382034665052, + 0.09394463653601752 + ], + [ + 15.696112975446658, + 0.08721710214671108 + ], + [ + 15.54268901916365, + 0.20278610425305704 + ], + [ + 15.540419959945257, + 0.1960585698637506 + ], + [ + 15.543968698480025, + 0.09219999945782775 + ], + [ + 15.541699639261633, + 0.08547246506852131 + ] + ], + "yaw_rad": -3.130294647282237, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.33877182006836, + 0.1435244381427765, + 0.13142521679401398 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54223909004866, + 0.1441991537979462, + 0.11815051368114547 + ], + "intended_face_normal": [ + -0.9998923248699558, + -0.01129651049215864, + -0.00939645106111419 + ], + "commanded_contact_point": [ + 15.341381340026855, + 0.1450714174017021, + 0.11887606359948287 + ], + "centerline_face_intersection": [ + 15.5422224608154, + 0.1450714174017021, + 0.11887606359948287 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.332437515258789, + 0.14118438959121704, + 0.13087241351604462 + ], + "box_pose": [ + 15.615007400512695, + 0.14299063384532928, + 0.13598015904426575, + -0.004620505962520838, + -0.013703469187021255, + 0.9998791813850403, + -0.005712262354791164 + ], + "box_yaw_rad": -3.1302954072520874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002314283620350434 + } + } + }, + { + "simulation_time_ns": 3540000000, + "center": [ + 15.619417778930064, + 0.14500094407946817, + 0.11890302314182241 + ], + "face_center": [ + 15.542211003057814, + 0.14412829618564674, + 0.11815827394110974 + ], + "face_normal": [ + -0.999889425571749, + -0.011301487355504783, + -0.009645097105567161 + ], + "footprint_xy": [ + [ + 15.540452624216536, + 0.08547069693506643 + ], + [ + 15.69838293364359, + 0.08547069693506643 + ], + [ + 15.69838293364359, + 0.20453119122386992 + ], + [ + 15.540452624216536, + 0.20453119122386992 + ] + ], + "projected_box_corners": [ + [ + 15.697103188308764, + 0.20453119122386992 + ], + [ + 15.694866175961037, + 0.1978020882614288 + ], + [ + 15.69838293364359, + 0.09394509568515044 + ], + [ + 15.696145921295862, + 0.08721599272270933 + ], + [ + 15.542689636564265, + 0.20278589543622702 + ], + [ + 15.540452624216536, + 0.1960567924737859 + ], + [ + 15.54396938189909, + 0.09219979989750754 + ], + [ + 15.541732369551362, + 0.08547069693506643 + ] + ], + "yaw_rad": -3.1302903977189582, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.344167709350586, + 0.14598481357097626, + 0.13099342584609985 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542194329212641, + 0.14412928466078917, + 0.11814154695114792 + ], + "intended_face_normal": [ + -0.999888029738051, + -0.011297221948684738, + -0.009778532073235858 + ], + "commanded_contact_point": [ + 15.343384056091308, + 0.14500160319988406, + 0.1188965993747759 + ], + "centerline_face_intersection": [ + 15.542177036606608, + 0.14500160319988406, + 0.1188965993747759 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.33877182006836, + 0.1435244381427765, + 0.13142521679401398 + ], + "box_pose": [ + 15.61495590209961, + 0.14291074872016907, + 0.13599780201911926, + -0.004809861537069082, + -0.013996007852256298, + 0.9998740553855896, + -0.005716649815440178 + ], + "box_yaw_rad": -3.130294647282237, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020040377680225962 + } + } + }, + { + "simulation_time_ns": 3560000000, + "center": [ + 15.619462093021045, + 0.1450245458749589, + 0.11890605065071705 + ], + "face_center": [ + 15.542255041193107, + 0.144150462344554, + 0.1181894508195716 + ], + "face_normal": [ + -0.999892999418373, + -0.011320079996144379, + -0.00928054028203978 + ], + "footprint_xy": [ + [ + 15.540539796586609, + 0.08551636126887877 + ], + [ + 15.698384389455482, + 0.08551636126887877 + ], + [ + 15.698384389455482, + 0.204532730481039 + ], + [ + 15.540539796586609, + 0.204532730481039 + ] + ], + "projected_box_corners": [ + [ + 15.697103912074112, + 0.204532730481039 + ], + [ + 15.694953900242488, + 0.19785125173460488 + ], + [ + 15.698384389455482, + 0.09394600707612263 + ], + [ + 15.696234377623858, + 0.0872645283296885 + ], + [ + 15.542689808418233, + 0.20278456342022927 + ], + [ + 15.540539796586609, + 0.19610308467379514 + ], + [ + 15.543970285799604, + 0.09219784001531287 + ], + [ + 15.54182027396798, + 0.08551636126887877 + ] + ], + "yaw_rad": -3.1302718458611816, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.347386360168457, + 0.1475880891084671, + 0.12899813055992126 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542211003057814, + 0.14412829618564674, + 0.11815827394110974 + ], + "intended_face_normal": [ + -0.999889425571749, + -0.011301487355504783, + -0.009645097105567161 + ], + "commanded_contact_point": [ + 15.345176010131835, + 0.14500094407946817, + 0.11890302314182241 + ], + "centerline_face_intersection": [ + 15.542193926035244, + 0.14500094407946817, + 0.11890302314182241 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.344167709350586, + 0.14598481357097626, + 0.13099342584609985 + ], + "box_pose": [ + 15.614974975585938, + 0.1429099589586258, + 0.13600480556488037, + -0.0047430964186787605, + -0.013999649323523045, + 0.9998743534088135, + -0.005717863794416189 + ], + "box_yaw_rad": -3.1302903977189582, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017919656756157647 + } + } + }, + { + "simulation_time_ns": 3580000000, + "center": [ + 15.619528877839606, + 0.1450720603907636, + 0.11890602193231609 + ], + "face_center": [ + 15.542321450293308, + 0.14419788909126985, + 0.1182327091368656 + ], + "face_normal": [ + -0.9998978652712811, + -0.011321216675961102, + -0.008719938589160413 + ], + "footprint_xy": [ + [ + 15.54067386316264, + 0.08561078083585466 + ], + [ + 15.698383892516572, + 0.08561078083585466 + ], + [ + 15.698383892516572, + 0.20453333994567252 + ], + [ + 15.54067386316264, + 0.20453333994567252 + ] + ], + "projected_box_corners": [ + [ + 15.697105379835904, + 0.20453333994567252 + ], + [ + 15.695088718255237, + 0.1979470412906208 + ], + [ + 15.698383892516572, + 0.09394542208989387 + ], + [ + 15.696367230935905, + 0.08735912343484215 + ], + [ + 15.542690524743307, + 0.202784997346685 + ], + [ + 15.54067386316264, + 0.19619869869163328 + ], + [ + 15.543969037423976, + 0.09219707949090639 + ], + [ + 15.541952375843309, + 0.08561078083585466 + ] + ], + "yaw_rad": -3.130270764297263, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.349127769470215, + 0.14712916314601898, + 0.12609994411468506 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542255041193107, + 0.144150462344554, + 0.1181894508195716 + ], + "intended_face_normal": [ + -0.999892999418373, + -0.011320079996144379, + -0.00928054028203978 + ], + "commanded_contact_point": [ + 15.3469527053833, + 0.1450245458749589, + 0.11890605065071705 + ], + "centerline_face_intersection": [ + 15.542238516141966, + 0.1450245458749589, + 0.11890605065071705 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.347386360168457, + 0.1475880891084671, + 0.12899813055992126 + ], + "box_pose": [ + 15.615025520324707, + 0.14293688535690308, + 0.13600985705852509, + -0.004561259411275387, + -0.013901356607675552, + 0.9998766183853149, + -0.005724153947085142 + ], + "box_yaw_rad": -3.1302718458611816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001776854588067976 + } + } + }, + { + "simulation_time_ns": 3600000000, + "center": [ + 15.61962140778918, + 0.14513986612852248, + 0.11890467070461697 + ], + "face_center": [ + 15.54241348921761, + 0.14426358459254107, + 0.11829179131981479 + ], + "face_normal": [ + -0.9999042244408096, + -0.011348545924276653, + -0.007937277642944374 + ], + "footprint_xy": [ + [ + 15.540858965425599, + 0.08574393765244963 + ], + [ + 15.69838385015276, + 0.08574393765244963 + ], + [ + 15.69838385015276, + 0.2045357946045953 + ], + [ + 15.540858965425599, + 0.2045357946045953 + ] + ], + "projected_box_corners": [ + [ + 15.697105165276886, + 0.2045357946045953 + ], + [ + 15.69527480256874, + 0.19808611349001193 + ], + [ + 15.69838385015276, + 0.09394618183899578 + ], + [ + 15.696553487444614, + 0.08749650072441241 + ], + [ + 15.542689328133745, + 0.20278323153263253 + ], + [ + 15.540858965425599, + 0.19633355041804915 + ], + [ + 15.543968013009621, + 0.092193618767033 + ], + [ + 15.542137650301473, + 0.08574393765244963 + ] + ], + "yaw_rad": -3.130243507941588, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.348360061645508, + 0.1454692929983139, + 0.12315531075000763 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542321450293308, + 0.14419788909126985, + 0.1182327091368656 + ], + "intended_face_normal": [ + -0.9998978652712811, + -0.011321216675961102, + -0.008719938589160413 + ], + "commanded_contact_point": [ + 15.348758010864257, + 0.1450720603907636, + 0.11890602193231609 + ], + "centerline_face_intersection": [ + 15.542305676757476, + 0.1450720603907636, + 0.11890602193231609 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.349127769470215, + 0.14712916314601898, + 0.12609994411468506 + ], + "box_pose": [ + 15.61510181427002, + 0.14299120008945465, + 0.13601312041282654, + -0.004282091278582811, + -0.013704516924917698, + 0.9998805522918701, + -0.00571997556835413 + ], + "box_yaw_rad": -3.130270764297263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001805930649169674 + } + } + }, + { + "simulation_time_ns": 3620000000, + "center": [ + 15.619738871747648, + 0.14523156932841244, + 0.11890073840944401 + ], + "face_center": [ + 15.542530383194975, + 0.14435309593730605, + 0.11836503998098007 + ], + "face_normal": [ + -0.9999116061514293, + -0.011376932199148539, + -0.006937722600964395 + ], + "footprint_xy": [ + [ + 15.541094936024743, + 0.08592486078108649 + ], + [ + 15.698382807470555, + 0.08592486078108649 + ], + [ + 15.698382807470555, + 0.2045382778757384 + ], + [ + 15.541094936024743, + 0.2045382778757384 + ] + ], + "projected_box_corners": [ + [ + 15.697104513965355, + 0.2045382778757384 + ], + [ + 15.695511913130089, + 0.19827367728326573 + ], + [ + 15.698382807470555, + 0.09394640815577196 + ], + [ + 15.696790206635288, + 0.0876818075632993 + ], + [ + 15.54268753686001, + 0.20278133109352559 + ], + [ + 15.541094936024743, + 0.1965167305010529 + ], + [ + 15.54396583036521, + 0.09218946137355917 + ], + [ + 15.542373229529943, + 0.08592486078108649 + ] + ], + "yaw_rad": -3.1302152065991478, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.343875885009766, + 0.14449971914291382, + 0.12107674777507782 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54241348921761, + 0.14426358459254107, + 0.11829179131981479 + ], + "intended_face_normal": [ + -0.9999042244408096, + -0.011348545924276653, + -0.007937277642944374 + ], + "commanded_contact_point": [ + 15.350420265197753, + 0.14513986612852248, + 0.11890467070461697 + ], + "centerline_face_intersection": [ + 15.542398697829514, + 0.14513986612852248, + 0.11890467070461697 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.348360061645508, + 0.1454692929983139, + 0.12315531075000763 + ], + "box_pose": [ + 15.61520767211914, + 0.14306865632534027, + 0.136016383767128, + -0.003892213338986039, + -0.013421869836747646, + 0.9998859763145447, + -0.005727166775614023 + ], + "box_yaw_rad": -3.130243507941588, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001663637254065881 + } + } + }, + { + "simulation_time_ns": 3640000000, + "center": [ + 15.619882083975263, + 0.14534989375732593, + 0.11889351134300355 + ], + "face_center": [ + 15.542673045295437, + 0.14446961200554698, + 0.11845240133884136 + ], + "face_normal": [ + -0.999918730737547, + -0.011400351914499462, + -0.005712726942587155 + ], + "footprint_xy": [ + [ + 15.541383966978298, + 0.08615828052509822 + ], + [ + 15.698380200972228, + 0.08615828052509822 + ], + [ + 15.698380200972228, + 0.20454150698955362 + ], + [ + 15.541383966978298, + 0.20454150698955362 + ] + ], + "projected_box_corners": [ + [ + 15.697103438575798, + 0.20454150698955362 + ], + [ + 15.69580204433795, + 0.19851344061495035 + ], + [ + 15.698380200972228, + 0.09394691040325936 + ], + [ + 15.697078806734382, + 0.0879188440286561 + ], + [ + 15.542685361216146, + 0.20278094348599573 + ], + [ + 15.541383966978298, + 0.19675287711139247 + ], + [ + 15.543962123612575, + 0.09218634689970148 + ], + [ + 15.54266072937473, + 0.08615828052509822 + ] + ], + "yaw_rad": -3.1301918690774446, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.341647148132324, + 0.14373214542865753, + 0.12191121280193329 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542530383194975, + 0.14435309593730605, + 0.11836503998098007 + ], + "intended_face_normal": [ + -0.9999116061514293, + -0.011376932199148539, + -0.006937722600964395 + ], + "commanded_contact_point": [ + 15.352421073913574, + 0.14523156932841244, + 0.11890073840944401 + ], + "centerline_face_intersection": [ + 15.542516731874072, + 0.14523156932841244, + 0.11890073840944401 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.343875885009766, + 0.14449971914291382, + 0.12107674777507782 + ], + "box_pose": [ + 15.615342140197754, + 0.1431734710931778, + 0.13601841032505035, + -0.0033944689203053713, + -0.01303881499916315, + 0.9998928904533386, + -0.005733340047299862 + ], + "box_yaw_rad": -3.1302152065991478, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002002912992897573 + } + } + }, + { + "simulation_time_ns": 3660000000, + "center": [ + 15.620031910100318, + 0.14547825966978778, + 0.11888511541376229 + ], + "face_center": [ + 15.542822395606336, + 0.14459663463677475, + 0.11854325560564188 + ], + "face_normal": [ + -0.9999248929109885, + -0.011417748479585467, + -0.004427357616035785 + ], + "footprint_xy": [ + [ + 15.541687100208101, + 0.08641175610919374 + ], + [ + 15.698376719992536, + 0.08641175610919374 + ], + [ + 15.698376719992536, + 0.2045447632303818 + ], + [ + 15.541687100208101, + 0.2045447632303818 + ] + ], + "projected_box_corners": [ + [ + 15.697102088328089, + 0.2045447632303818 + ], + [ + 15.696106129196068, + 0.19877246563082623 + ], + [ + 15.698376719992536, + 0.09394730377477539 + ], + [ + 15.697380760860515, + 0.08817500617521981 + ], + [ + 15.542683059340122, + 0.20278151316435572 + ], + [ + 15.541687100208101, + 0.19700921556480017 + ], + [ + 15.54395769100457, + 0.09218405370874933 + ], + [ + 15.542961731872548, + 0.08641175610919374 + ] + ], + "yaw_rad": -3.1301745437231205, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.3446044921875, + 0.14338169991970062, + 0.1268823891878128 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542673045295437, + 0.14446961200554698, + 0.11845240133884136 + ], + "intended_face_normal": [ + -0.999918730737547, + -0.011400351914499462, + -0.005712726942587155 + ], + "commanded_contact_point": [ + 15.354814796447753, + 0.14534989375732593, + 0.11889351134300355 + ], + "centerline_face_intersection": [ + 15.542660494322188, + 0.14534989375732593, + 0.11889351134300355 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.341647148132324, + 0.14373214542865753, + 0.12191121280193329 + ], + "box_pose": [ + 15.615506172180176, + 0.1433086097240448, + 0.1360185295343399, + -0.0027846612501889467, + -0.012549159117043018, + 0.9999009370803833, + -0.0057356893084943295 + ], + "box_yaw_rad": -3.1301918690774446, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023966561020736087 + } + } + }, + { + "simulation_time_ns": 3680000000, + "center": [ + 15.620190346716846, + 0.14561089653980927, + 0.11887685171160689 + ], + "face_center": [ + 15.542980441138162, + 0.14472723845926183, + 0.1186383306970414 + ], + "face_normal": [ + -0.9999299577702978, + -0.01144407806929281, + -0.0030890376854398136 + ], + "footprint_xy": [ + [ + 15.542004675499463, + 0.08667420130269002 + ], + [ + 15.69837601793423, + 0.08667420130269002 + ], + [ + 15.69837601793423, + 0.20454759177692855 + ], + [ + 15.542004675499463, + 0.20454759177692855 + ] + ], + "projected_box_corners": [ + [ + 15.697102377690735, + 0.20454759177692855 + ], + [ + 15.696424486656833, + 0.19904187162092354 + ], + [ + 15.69837601793423, + 0.0939472376197899 + ], + [ + 15.697698126900328, + 0.08844151746378492 + ], + [ + 15.542682566533365, + 0.20278027561583364 + ], + [ + 15.542004675499463, + 0.19727455545982867 + ], + [ + 15.543956206776862, + 0.09217992145869501 + ], + [ + 15.543278315742958, + 0.08667420130269002 + ] + ], + "yaw_rad": -3.130148273559896, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.350231170654297, + 0.1444268822669983, + 0.13515762984752655 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542822395606336, + 0.14459663463677475, + 0.11854325560564188 + ], + "intended_face_normal": [ + -0.9999248929109885, + -0.011417748479585467, + -0.004427357616035785 + ], + "commanded_contact_point": [ + 15.357194213867187, + 0.14547825966978778, + 0.11888511541376229 + ], + "centerline_face_intersection": [ + 15.542810796335814, + 0.14547825966978778, + 0.11888511541376229 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.3446044921875, + 0.14338169991970062, + 0.1268823891878128 + ], + "box_pose": [ + 15.615677833557129, + 0.14345519244670868, + 0.13601785898208618, + -0.002144939498975873, + -0.012019598856568336, + 0.999908983707428, + -0.005735177546739578 + ], + "box_yaw_rad": -3.1301745437231205, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002382892266766169 + } + } + }, + { + "simulation_time_ns": 3700000000, + "center": [ + 15.620356946788768, + 0.14575190675004857, + 0.1188678656866372 + ], + "face_center": [ + 15.54314678885492, + 0.14486807788863906, + 0.11873909308121805 + ], + "face_normal": [ + -0.9999332259712581, + -0.011446289817887782, + -0.0016677081124975802 + ], + "footprint_xy": [ + [ + 15.542341608598964, + 0.08695695698934397 + ], + [ + 15.698372284978571, + 0.08695695698934397 + ], + [ + 15.698372284978571, + 0.20454685651075313 + ], + [ + 15.542341608598964, + 0.20454685651075313 + ] + ], + "projected_box_corners": [ + [ + 15.697102192013771, + 0.20454685651075313 + ], + [ + 15.696761924466658, + 0.199327913664308 + ], + [ + 15.698372284978571, + 0.09394355755860812 + ], + [ + 15.69803201743146, + 0.08872461471216297 + ], + [ + 15.542681876146077, + 0.20277919878793413 + ], + [ + 15.542341608598964, + 0.197560255941489 + ], + [ + 15.543951969110877, + 0.09217589983578911 + ], + [ + 15.543611701563764, + 0.08695695698934397 + ] + ], + "yaw_rad": -3.1301460993551116, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.354780197143555, + 0.1470824033021927, + 0.14100657403469086 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.542980441138162, + 0.14472723845926183, + 0.1186383306970414 + ], + "intended_face_normal": [ + -0.9999299577702978, + -0.01144407806929281, + -0.0030890376854398136 + ], + "commanded_contact_point": [ + 15.359419136047363, + 0.14561089653980927, + 0.11887685171160689 + ], + "centerline_face_intersection": [ + 15.542969624093816, + 0.14561089653980927, + 0.11887685171160689 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.350231170654297, + 0.1444268822669983, + 0.13515762984752655 + ], + "box_pose": [ + 15.615859031677246, + 0.1436067819595337, + 0.1360175907611847, + -0.0014788236003369093, + -0.011467664502561092, + 0.9999167323112488, + -0.005739475600421429 + ], + "box_yaw_rad": -3.130148273559896, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00222888751082251 + } + } + }, + { + "simulation_time_ns": 3720000000, + "center": [ + 15.620534291529557, + 0.14590594698380588, + 0.11885772811828316 + ], + "face_center": [ + 15.543324027742033, + 0.14502220917991038, + 0.11884619774144292 + ], + "face_normal": [ + -0.9999345968609465, + -0.011445110550338632, + -0.00014932759133065576 + ], + "footprint_xy": [ + [ + 15.542680691470522, + 0.08726540052176912 + ], + [ + 15.698387891588593, + 0.08726540052176912 + ], + [ + 15.698387891588593, + 0.20454649344584264 + ], + [ + 15.542680691470522, + 0.20454649344584264 + ] + ], + "projected_box_corners": [ + [ + 15.697101219045573, + 0.20454649344584264 + ], + [ + 15.697121569118194, + 0.19963920851922912 + ], + [ + 15.698367541515973, + 0.09394016105617367 + ], + [ + 15.698387891588593, + 0.08903287612956015 + ], + [ + 15.542680691470522, + 0.20277901783805163 + ], + [ + 15.542701041543143, + 0.1978717329114381 + ], + [ + 15.543947013940922, + 0.09217268544838267 + ], + [ + 15.543967364013543, + 0.08726540052176912 + ] + ], + "yaw_rad": -3.1301472942369135, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.355744361877441, + 0.1476643681526184, + 0.13992063701152802 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54314678885492, + 0.14486807788863906, + 0.11873909308121805 + ], + "intended_face_normal": [ + -0.9999332259712581, + -0.011446289817887782, + -0.0016677081124975802 + ], + "commanded_contact_point": [ + 15.361816673278808, + 0.14575190675004857, + 0.1188678656866372 + ], + "centerline_face_intersection": [ + 15.54313647655543, + 0.14575190675004857, + 0.1188678656866372 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.354780197143555, + 0.1470824033021927, + 0.14100657403469086 + ], + "box_pose": [ + 15.616049766540527, + 0.1437682956457138, + 0.1360170692205429, + -0.0007715837564319372, + -0.010873888619244099, + 0.9999241828918457, + -0.005731969606131315 + ], + "box_yaw_rad": -3.1301460993551116, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002401697192445988 + } + } + }, + { + "simulation_time_ns": 3740000000, + "center": [ + 15.620730024639352, + 0.14607691013135288, + 0.1188455784454433 + ], + "face_center": [ + 15.543519859865672, + 0.14519322007617086, + 0.11896299662055948 + ], + "face_normal": [ + -0.9999333145525657, + -0.011444492166354098, + 0.001520659169382682 + ], + "footprint_xy": [ + [ + 15.542680013781599, + 0.08760891708480209 + ], + [ + 15.698780035497105, + 0.08760891708480209 + ], + [ + 15.698780035497105, + 0.20454490317790366 + ], + [ + 15.542680013781599, + 0.20454490317790366 + ] + ], + "projected_box_corners": [ + [ + 15.697100343328962, + 0.20454490317790366 + ], + [ + 15.697517282361568, + 0.19998578327805933 + ], + [ + 15.6983630964645, + 0.09393541709501048 + ], + [ + 15.698780035497105, + 0.08937629719516615 + ], + [ + 15.542680013781599, + 0.20277752306753963 + ], + [ + 15.543096952814205, + 0.1982184031676953 + ], + [ + 15.543942766917137, + 0.09216803698464643 + ], + [ + 15.544359705949743, + 0.08760891708480209 + ] + ], + "yaw_rad": -3.130147897904957, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.354637145996094, + 0.14177727699279785, + 0.13272663950920105 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543324027742033, + 0.14502220917991038, + 0.11884619774144292 + ], + "intended_face_normal": [ + -0.9999345968609465, + -0.011445110550338632, + -0.00014932759133065576 + ], + "commanded_contact_point": [ + 15.364427833557128, + 0.14590594698380588, + 0.11885772811828316 + ], + "centerline_face_intersection": [ + 15.54331392716389, + 0.14590594698380588, + 0.11885772811828316 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.355744361877441, + 0.1476643681526184, + 0.13992063701152802 + ], + "box_pose": [ + 15.616252899169922, + 0.1439446359872818, + 0.13601595163345337, + -1.612587038835045e-05, + -0.010228529572486877, + 0.9999313354492188, + -0.005723113194108009 + ], + "box_yaw_rad": -3.1301472942369135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002615719626218749 + } + } + }, + { + "simulation_time_ns": 3760000000, + "center": [ + 15.620949134890248, + 0.14626853829809297, + 0.11883200476093354 + ], + "face_center": [ + 15.543739270708878, + 0.1453856311745028, + 0.11909346898307376 + ], + "face_normal": [ + -0.9999294216420151, + -0.01143435257678074, + 0.003386170552127806 + ], + "footprint_xy": [ + [ + 15.542680127925568, + 0.08799459251589359 + ], + [ + 15.699218141854928, + 0.08799459251589359 + ], + [ + 15.699218141854928, + 0.20454248408029235 + ], + [ + 15.542680127925568, + 0.20454248408029235 + ] + ], + "projected_box_corners": [ + [ + 15.69709985628831, + 0.20454248408029235 + ], + [ + 15.697959792704566, + 0.20037324031771242 + ], + [ + 15.698358205438671, + 0.09392965052565388 + ], + [ + 15.699218141854928, + 0.08976040676307395 + ], + [ + 15.542680127925568, + 0.202776669833112 + ], + [ + 15.543540064341824, + 0.19860742607053206 + ], + [ + 15.54393847707593, + 0.09216383627847352 + ], + [ + 15.544798413492186, + 0.08799459251589359 + ] + ], + "yaw_rad": -3.1301579923305742, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.356010437011719, + 0.13682731986045837, + 0.12839606404304504 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543519859865672, + 0.14519322007617086, + 0.11896299662055948 + ], + "intended_face_normal": [ + -0.9999333145525657, + -0.011444492166354098, + 0.001520659169382682 + ], + "commanded_contact_point": [ + 15.366965560913085, + 0.14607691013135288, + 0.1188455784454433 + ], + "centerline_face_intersection": [ + 15.543509561246761, + 0.14607691013135288, + 0.1188455784454433 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.354637145996094, + 0.14177727699279785, + 0.13272663950920105 + ], + "box_pose": [ + 15.616477012634277, + 0.14414051175117493, + 0.1360136866569519, + 0.000814714003354311, + -0.009507507085800171, + 0.9999381303787231, + -0.005714853759855032 + ], + "box_yaw_rad": -3.130147897904957, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025435086289497737 + } + } + }, + { + "simulation_time_ns": 3780000000, + "center": [ + 15.621197039122986, + 0.14647702199625706, + 0.11882112807526365 + ], + "face_center": [ + 15.543987944048345, + 0.14559343172007447, + 0.11924705228886756 + ], + "face_normal": [ + -0.9999194610954583, + -0.011443199948601327, + 0.005516058823414426 + ], + "footprint_xy": [ + [ + 15.542676743827705, + 0.0884130157297574 + ], + [ + 15.699717334418269, + 0.0884130157297574 + ], + [ + 15.699717334418269, + 0.20454102826275672 + ], + [ + 15.542676743827705, + 0.20454102826275672 + ] + ], + "projected_box_corners": [ + [ + 15.697094933976988, + 0.20454102826275672 + ], + [ + 15.698460997660268, + 0.20079620607039883 + ], + [ + 15.698351270734989, + 0.09392501847448051 + ], + [ + 15.699717334418269, + 0.09018019628212261 + ], + [ + 15.542676743827705, + 0.20277384771039153 + ], + [ + 15.544042807510985, + 0.19902902551803361 + ], + [ + 15.543933080585706, + 0.09215783792211532 + ], + [ + 15.545299144268984, + 0.0884130157297574 + ] + ], + "yaw_rad": -3.1301490315091858, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.3597412109375, + 0.13744373619556427, + 0.12755155563354492 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543739270708878, + 0.1453856311745028, + 0.11909346898307376 + ], + "intended_face_normal": [ + -0.9999294216420151, + -0.01143435257678074, + 0.003386170552127806 + ], + "commanded_contact_point": [ + 15.369672088623046, + 0.14626853829809297, + 0.11883200476093354 + ], + "centerline_face_intersection": [ + 15.543728370864082, + 0.14626853829809297, + 0.11883200476093354 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.356010437011719, + 0.13682731986045837, + 0.12839606404304504 + ], + "box_pose": [ + 15.616727828979492, + 0.14436008036136627, + 0.1360110640525818, + 0.0017427927814424038, + -0.008700091391801834, + 0.9999445080757141, + -0.005702330265194178 + ], + "box_yaw_rad": -3.1301579923305742, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002713337031034983 + } + } + }, + { + "simulation_time_ns": 3800000000, + "center": [ + 15.621429494625852, + 0.1466584018169446, + 0.11881574858912194 + ], + "face_center": [ + 15.544221379632852, + 0.14577499930783724, + 0.11939391188344209 + ], + "face_normal": [ + -0.99990676825526, + -0.011440768214975637, + 0.007487676537626669 + ], + "footprint_xy": [ + [ + 15.542676988484034, + 0.08877767146254995 + ], + [ + 15.700182000767672, + 0.08877767146254995 + ], + [ + 15.700182000767672, + 0.2045391321713392 + ], + [ + 15.542676988484034, + 0.2045391321713392 + ] + ], + "projected_box_corners": [ + [ + 15.697093218470037, + 0.2045391321713392 + ], + [ + 15.69892805248406, + 0.20116302457858692 + ], + [ + 15.698347166753647, + 0.09392058407351694 + ], + [ + 15.700182000767672, + 0.09054447648076464 + ], + [ + 15.542676988484034, + 0.20277232715312452 + ], + [ + 15.544511822498059, + 0.19939621956037223 + ], + [ + 15.543930936767644, + 0.09215377905530225 + ], + [ + 15.545765770781669, + 0.08877767146254995 + ] + ], + "yaw_rad": -3.1301513178982123, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.363419532775879, + 0.1407509595155716, + 0.12722410261631012 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.543987944048345, + 0.14559343172007447, + 0.11924705228886756 + ], + "intended_face_normal": [ + -0.9999194610954583, + -0.011443199948601327, + 0.005516058823414426 + ], + "commanded_contact_point": [ + 15.372753410339355, + 0.14647702199625706, + 0.11882112807526365 + ], + "centerline_face_intersection": [ + 15.543975505873853, + 0.14647702199625706, + 0.11882112807526365 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.3597412109375, + 0.13744373619556427, + 0.12755155563354492 + ], + "box_pose": [ + 15.617012023925781, + 0.14459890127182007, + 0.13601240515708923, + 0.0028027535881847143, + -0.007821450009942055, + 0.9999492764472961, + -0.005699967499822378 + ], + "box_yaw_rad": -3.1301490315091858, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003088385868716258 + } + } + }, + { + "simulation_time_ns": 3820000000, + "center": [ + 15.62163010779589, + 0.1468126540592225, + 0.1188117467205928 + ], + "face_center": [ + 15.544423121662048, + 0.14592907471875752, + 0.11952207040658788 + ], + "face_normal": [ + -0.9998921486273327, + -0.011443058322322192, + 0.009199259188530774 + ], + "footprint_xy": [ + [ + 15.542675746226069, + 0.08908763252683613 + ], + [ + 15.700584469365712, + 0.08908763252683613 + ], + [ + 15.700584469365712, + 0.20453767559160888 + ], + [ + 15.542675746226069, + 0.20453767559160888 + ] + ], + "projected_box_corners": [ + [ + 15.697089718493753, + 0.20453767559160888 + ], + [ + 15.6993315979487, + 0.2014752435348112 + ], + [ + 15.698342589910764, + 0.09391722326456381 + ], + [ + 15.700584469365712, + 0.09085479120776614 + ], + [ + 15.542675746226069, + 0.20277051691067888 + ], + [ + 15.544917625681016, + 0.1997080848538812 + ], + [ + 15.54392861764308, + 0.09215006458363381 + ], + [ + 15.546170497098027, + 0.08908763252683613 + ] + ], + "yaw_rad": -3.1301488605722065, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.367586135864258, + 0.1425730437040329, + 0.1257452666759491 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544221379632852, + 0.14577499930783724, + 0.11939391188344209 + ], + "intended_face_normal": [ + -0.99990676825526, + -0.011440768214975637, + 0.007487676537626669 + ], + "commanded_contact_point": [ + 15.376084594726562, + 0.1466584018169446, + 0.11881574858912194 + ], + "centerline_face_intersection": [ + 15.544206981124747, + 0.1466584018169446, + 0.11881574858912194 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.363419532775879, + 0.1407509595155716, + 0.12722410261631012 + ], + "box_pose": [ + 15.617278099060059, + 0.14480668306350708, + 0.1360180377960205, + 0.003784211352467537, + -0.0070584784261882305, + 0.9999517798423767, + -0.005693947896361351 + ], + "box_yaw_rad": -3.1301513178982123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033361230492587757 + } + } + }, + { + "simulation_time_ns": 3840000000, + "center": [ + 15.621799866555227, + 0.1469476903728059, + 0.11880609825988107 + ], + "face_center": [ + 15.544593994337207, + 0.14606463451133359, + 0.11962857388622508 + ], + "face_normal": [ + -0.9998777225275608, + -0.011436278851176204, + 0.010651716410650587 + ], + "footprint_xy": [ + [ + 15.542674693289936, + 0.0893599847224982 + ], + [ + 15.700925039820516, + 0.0893599847224982 + ], + [ + 15.700925039820516, + 0.20453539602311355 + ], + [ + 15.542674693289936, + 0.20453539602311355 + ] + ], + "projected_box_corners": [ + [ + 15.697086437725975, + 0.20453539602311355 + ], + [ + 15.699673618824132, + 0.20174809511789069 + ], + [ + 15.69833785872236, + 0.09391339735066571 + ], + [ + 15.700925039820516, + 0.09112609644544284 + ], + [ + 15.542674693289936, + 0.20276928430016894 + ], + [ + 15.545261874388093, + 0.19998198339494605 + ], + [ + 15.54392611428632, + 0.09214728562772109 + ], + [ + 15.546513295384479, + 0.0893599847224982 + ] + ], + "yaw_rad": -3.130155474889945, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.37439250946045, + 0.1412031352519989, + 0.12493453919887543 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544423121662048, + 0.14592907471875752, + 0.11952207040658788 + ], + "intended_face_normal": [ + -0.9998921486273327, + -0.011443058322322192, + 0.009199259188530774 + ], + "commanded_contact_point": [ + 15.379248886108398, + 0.1468126540592225, + 0.1188117467205928 + ], + "centerline_face_intersection": [ + 15.544406465208596, + 0.1468126540592225, + 0.1188117467205928 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.367586135864258, + 0.1425730437040329, + 0.1257452666759491 + ], + "box_pose": [ + 15.617507934570312, + 0.14498338103294373, + 0.13602346181869507, + 0.0046363333240151405, + -0.006409513298422098, + 0.999952495098114, + -0.0056920829229056835 + ], + "box_yaw_rad": -3.1301488605722065, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003168051407152459 + } + } + }, + { + "simulation_time_ns": 3860000000, + "center": [ + 15.621948986526037, + 0.14706331845844975, + 0.11880167918768993 + ], + "face_center": [ + 15.544744192983359, + 0.1461799443448389, + 0.11972167282355832 + ], + "face_normal": [ + -0.9998637528201753, + -0.011440400470611739, + 0.011914652538012993 + ], + "footprint_xy": [ + [ + 15.542674667586981, + 0.08959200475099129 + ], + [ + 15.701223305465094, + 0.08959200475099129 + ], + [ + 15.701223305465094, + 0.20453463216590823 + ], + [ + 15.542674667586981, + 0.20453463216590823 + ] + ], + "projected_box_corners": [ + [ + 15.697084254672339, + 0.20453463216590823 + ], + [ + 15.699971766876281, + 0.20198198746617096 + ], + [ + 15.698335793261151, + 0.09391139767795026 + ], + [ + 15.701223305465094, + 0.09135875297821298 + ], + [ + 15.542674667586981, + 0.20276788393868653 + ], + [ + 15.545562179790926, + 0.20021523923894927 + ], + [ + 15.543926206175794, + 0.09214464945072856 + ], + [ + 15.546813718379738, + 0.08959200475099129 + ] + ], + "yaw_rad": -3.130151193466402, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.379751205444336, + 0.13903982937335968, + 0.12472152709960938 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544593994337207, + 0.14606463451133359, + 0.11962857388622508 + ], + "intended_face_normal": [ + -0.9998777225275608, + -0.011436278851176204, + 0.010651716410650587 + ], + "commanded_contact_point": [ + 15.381752281188964, + 0.1469476903728059, + 0.11880609825988107 + ], + "centerline_face_intersection": [ + 15.544575109795723, + 0.1469476903728059, + 0.11880609825988107 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.37439250946045, + 0.1412031352519989, + 0.12493453919887543 + ], + "box_pose": [ + 15.61770248413086, + 0.14513814449310303, + 0.1360258162021637, + 0.005359326954931021, + -0.005840138532221317, + 0.9999523758888245, + -0.005687111057341099 + ], + "box_yaw_rad": -3.130155474889945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025070408134888205 + } + } + }, + { + "simulation_time_ns": 3880000000, + "center": [ + 15.622075367683367, + 0.14716369978124544, + 0.11879728543505133 + ], + "face_center": [ + 15.54487161228137, + 0.14628064633252735, + 0.11980122258595903 + ], + "face_normal": [ + -0.9998503080690369, + -0.01143624760408168, + 0.013001788117563896 + ], + "footprint_xy": [ + [ + 15.542673104732193, + 0.08979411809518947 + ], + [ + 15.701477630634542, + 0.08979411809518947 + ], + [ + 15.701477630634542, + 0.20453328146730143 + ], + [ + 15.542673104732193, + 0.20453328146730143 + ] + ], + "projected_box_corners": [ + [ + 15.69708061553619, + 0.20453328146730143 + ], + [ + 15.700226615434454, + 0.20218443091898558 + ], + [ + 15.698331630736277, + 0.0939090755409415 + ], + [ + 15.701477630634542, + 0.09156022499262567 + ], + [ + 15.542673104732193, + 0.2027671745698652 + ], + [ + 15.545819104630457, + 0.20041832402154938 + ], + [ + 15.54392411993228, + 0.0921429686435053 + ], + [ + 15.547070119830545, + 0.08979411809518947 + ] + ], + "yaw_rad": -3.130155192573974, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.382081985473633, + 0.1371559351682663, + 0.12649430334568024 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544744192983359, + 0.1461799443448389, + 0.11972167282355832 + ], + "intended_face_normal": [ + -0.9998637528201753, + -0.011440400470611739, + 0.011914652538012993 + ], + "commanded_contact_point": [ + 15.384466438293456, + 0.14706331845844975, + 0.11880167918768993 + ], + "centerline_face_intersection": [ + 15.544723150812274, + 0.14706331845844975, + 0.11880167918768993 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.379751205444336, + 0.13903982937335968, + 0.12472152709960938 + ], + "box_pose": [ + 15.617873191833496, + 0.14527055621147156, + 0.13602827489376068, + 0.005988075397908688, + -0.0053546251729130745, + 0.9999516010284424, + -0.005688411649316549 + ], + "box_yaw_rad": -3.130151193466402, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027166225667644944 + } + } + }, + { + "simulation_time_ns": 3900000000, + "center": [ + 15.622185127046608, + 0.14724989842594516, + 0.11879361975579435 + ], + "face_center": [ + 15.544982379423994, + 0.14636600378975306, + 0.11987026354141818 + ], + "face_normal": [ + -0.9998372565209119, + -0.011447141653867489, + 0.013943397120144904 + ], + "footprint_xy": [ + [ + 15.542671249417815, + 0.08996624104461817 + ], + [ + 15.7016990046754, + 0.08996624104461817 + ], + [ + 15.7016990046754, + 0.20453355580727212 + ], + [ + 15.542671249417815, + 0.20453355580727212 + ] + ], + "projected_box_corners": [ + [ + 15.697076744663041, + 0.20453355580727212 + ], + [ + 15.700446691240908, + 0.20235895373034268 + ], + [ + 15.698329058097533, + 0.09390863239393177 + ], + [ + 15.7016990046754, + 0.09173403031700234 + ], + [ + 15.542671249417815, + 0.20276576653488798 + ], + [ + 15.546041195995683, + 0.20059116445795855 + ], + [ + 15.543923562852306, + 0.0921408431215476 + ], + [ + 15.547293509430173, + 0.08996624104461817 + ] + ], + "yaw_rad": -3.1301441488897894, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.384040832519531, + 0.13627949357032776, + 0.12819193303585052 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54487161228137, + 0.14628064633252735, + 0.11980122258595903 + ], + "intended_face_normal": [ + -0.9998503080690369, + -0.01143624760408168, + 0.013001788117563896 + ], + "commanded_contact_point": [ + 15.387500076293945, + 0.14716369978124544, + 0.11879728543505133 + ], + "centerline_face_intersection": [ + 15.544848493532015, + 0.14716369978124544, + 0.11879728543505133 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.382081985473633, + 0.1371559351682663, + 0.12649430334568024 + ], + "box_pose": [ + 15.61801815032959, + 0.14538554847240448, + 0.13602977991104126, + 0.0065292674116790295, + -0.004932920448482037, + 0.9999504089355469, + -0.005686197429895401 + ], + "box_yaw_rad": -3.130155192573974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030353015061168136 + } + } + }, + { + "simulation_time_ns": 3920000000, + "center": [ + 15.622280752347226, + 0.14732710445699468, + 0.11878943522150359 + ], + "face_center": [ + 15.54507894503115, + 0.14644345701183073, + 0.11992950695311706 + ], + "face_normal": [ + -0.9998250788000664, + -0.01144394033258031, + 0.014764839691270126 + ], + "footprint_xy": [ + [ + 15.54267023273623, + 0.0901220297369236 + ], + [ + 15.701891271958223, + 0.0901220297369236 + ], + [ + 15.701891271958223, + 0.2045321791770658 + ], + [ + 15.54267023273623, + 0.2045321791770658 + ] + ], + "projected_box_corners": [ + [ + 15.69707384736838, + 0.2045321791770658 + ], + [ + 15.700639073278875, + 0.20251483921801672 + ], + [ + 15.698326046047729, + 0.09390666458630055 + ], + [ + 15.701891271958223, + 0.09188932462725151 + ], + [ + 15.54267023273623, + 0.20276488428673786 + ], + [ + 15.546235458646725, + 0.20074754432768882 + ], + [ + 15.543922431415577, + 0.09213936969597264 + ], + [ + 15.547487657326073, + 0.0901220297369236 + ] + ], + "yaw_rad": -3.1301472109227126, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.38681411743164, + 0.1372479498386383, + 0.12867359817028046 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.544982379423994, + 0.14636600378975306, + 0.11987026354141818 + ], + "intended_face_normal": [ + -0.9998372565209119, + -0.011447141653867489, + 0.013943397120144904 + ], + "commanded_contact_point": [ + 15.390774993896484, + 0.14724989842594516, + 0.11879361975579435 + ], + "centerline_face_intersection": [ + 15.54495724480093, + 0.14724989842594516, + 0.11879361975579435 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.384040832519531, + 0.13627949357032776, + 0.12819193303585052 + ], + "box_pose": [ + 15.618144035339355, + 0.14548417925834656, + 0.13603118062019348, + 0.006998082157224417, + -0.00457244087010622, + 0.9999488592147827, + -0.005691863596439362 + ], + "box_yaw_rad": -3.1301441488897894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032760538681426907 + } + } + }, + { + "simulation_time_ns": 3940000000, + "center": [ + 15.622367297892684, + 0.14739405590437668, + 0.11878677344535997 + ], + "face_center": [ + 15.545166305781237, + 0.14651009401361806, + 0.11998383154363688 + ], + "face_normal": [ + -0.9998145212488978, + -0.011448012654231798, + 0.01550285866414889 + ], + "footprint_xy": [ + [ + 15.542669467053264, + 0.0902560183123528 + ], + [ + 15.702065128732103, + 0.0902560183123528 + ], + [ + 15.702065128732103, + 0.20453209349640056 + ], + [ + 15.542669467053264, + 0.20453209349640056 + ] + ], + "projected_box_corners": [ + [ + 15.69707145127616, + 0.20453209349640056 + ], + [ + 15.70081220730617, + 0.2026500316563818 + ], + [ + 15.698324372702094, + 0.09390600393388882 + ], + [ + 15.702065128732103, + 0.09202394209387005 + ], + [ + 15.542669467053264, + 0.2027641697148833 + ], + [ + 15.546410223083274, + 0.20088210787486455 + ], + [ + 15.5439223884792, + 0.09213808015237157 + ], + [ + 15.547663144509208, + 0.0902560183123528 + ] + ], + "yaw_rad": -3.1301430175316267, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.38912296295166, + 0.13945463299751282, + 0.12724734842777252 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54507894503115, + 0.14644345701183073, + 0.11992950695311706 + ], + "intended_face_normal": [ + -0.9998250788000664, + -0.01144394033258031, + 0.014764839691270126 + ], + "commanded_contact_point": [ + 15.393883018493652, + 0.14732710445699468, + 0.11878943522150359 + ], + "centerline_face_intersection": [ + 15.545051929477422, + 0.14732710445699468, + 0.11878943522150359 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.38681411743164, + 0.1372479498386383, + 0.12867359817028046 + ], + "box_pose": [ + 15.618253707885742, + 0.14557266235351562, + 0.13603143393993378, + 0.007406979333609343, + -0.0042469799518585205, + 0.9999472498893738, + -0.005690813064575195 + ], + "box_yaw_rad": -3.1301472109227126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031089861978076975 + } + } + }, + { + "simulation_time_ns": 3960000000, + "center": [ + 15.622385607430486, + 0.14741054934209735, + 0.11878719786177239 + ], + "face_center": [ + 15.545184793912416, + 0.14652679742905084, + 0.11999634605697984 + ], + "face_normal": [ + -0.9998122083219969, + -0.011445293275115478, + 0.01565943507779135 + ], + "footprint_xy": [ + [ + 15.542669465847009, + 0.09028985574194219 + ], + [ + 15.702101749013963, + 0.09028985574194219 + ], + [ + 15.702101749013963, + 0.20453124294225253 + ], + [ + 15.542669465847009, + 0.20453124294225253 + ] + ], + "projected_box_corners": [ + [ + 15.697071092883151, + 0.20453124294225253 + ], + [ + 15.700849017500008, + 0.20268358655697996 + ], + [ + 15.698323824397105, + 0.09390501595330777 + ], + [ + 15.702101749013963, + 0.09205735956803521 + ], + [ + 15.542669465847009, + 0.2027637391161595 + ], + [ + 15.546447390463866, + 0.20091608273088693 + ], + [ + 15.543922197360963, + 0.09213751212721474 + ], + [ + 15.54770012197782, + 0.09028985574194219 + ] + ], + "yaw_rad": -3.1301457105802224, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.391453742980957, + 0.14157336950302124, + 0.12383568286895752 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545166305781237, + 0.14651009401361806, + 0.11998383154363688 + ], + "intended_face_normal": [ + -0.9998145212488978, + -0.011448012654231798, + 0.01550285866414889 + ], + "commanded_contact_point": [ + 15.396517066955566, + 0.14739405590437668, + 0.11878677344535997 + ], + "centerline_face_intersection": [ + 15.545137659524373, + 0.14739405590437668, + 0.11878677344535997 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.38912296295166, + 0.13945463299751282, + 0.12724734842777252 + ], + "box_pose": [ + 15.618352890014648, + 0.1456492841243744, + 0.13603270053863525, + 0.00777443777769804, + -0.003967131953686476, + 0.9999457597732544, + -0.005693472921848297 + ], + "box_yaw_rad": -3.1301430175316267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026349005448158044 + } + } + }, + { + "simulation_time_ns": 3980000000, + "center": [ + 15.622381541898484, + 0.14740626971774462, + 0.11878769143191859 + ], + "face_center": [ + 15.545180707293731, + 0.14652244983142867, + 0.1199936528624457 + ], + "face_normal": [ + -0.9998124814113598, + -0.011446173583256143, + 0.015618163929376754 + ], + "footprint_xy": [ + [ + 15.542670245058083, + 0.09028132206564857 + ], + [ + 15.702092838738883, + 0.09028132206564857 + ], + [ + 15.702092838738883, + 0.20453121736984067 + ], + [ + 15.542670245058083, + 0.20453121736984067 + ] + ], + "projected_box_corners": [ + [ + 15.697071914267587, + 0.20453121736984067 + ], + [ + 15.700840035027255, + 0.20267511755868506 + ], + [ + 15.698324717979215, + 0.09390506164943604 + ], + [ + 15.702092838738883, + 0.09204896183828043 + ], + [ + 15.542670245058083, + 0.2027635775972088 + ], + [ + 15.546438365817751, + 0.2009074777860532 + ], + [ + 15.543923048769711, + 0.09213742187680418 + ], + [ + 15.54769116952938, + 0.09028132206564857 + ] + ], + "yaw_rad": -3.1301448333487025, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.394829750061035, + 0.14516806602478027, + 0.12289012968540192 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545184793912416, + 0.14652679742905084, + 0.11999634605697984 + ], + "intended_face_normal": [ + -0.9998122083219969, + -0.011445293275115478, + 0.01565943507779135 + ], + "commanded_contact_point": [ + 15.39897850036621, + 0.14741054934209735, + 0.11878719786177239 + ], + "centerline_face_intersection": [ + 15.545155790402116, + 0.14741054934209735, + 0.11878719786177239 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.391453742980957, + 0.14157336950302124, + 0.12383568286895752 + ], + "box_pose": [ + 15.61837387084961, + 0.14566825330257416, + 0.13603399693965912, + 0.007852322421967983, + -0.0038958550430834293, + 0.9999454617500305, + -0.005692365579307079 + ], + "box_yaw_rad": -3.1301457105802224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002461488705774273 + } + } + }, + { + "simulation_time_ns": 4000000000, + "center": [ + 15.622374054866944, + 0.14740000803276357, + 0.11878829390914085 + ], + "face_center": [ + 15.54517311395246, + 0.14651613404738797, + 0.11998930972042854 + ], + "face_normal": [ + -0.9998138582073215, + -0.011446874209296857, + 0.015554114209328805 + ], + "footprint_xy": [ + [ + 15.542670240426181, + 0.09026850261946509 + ], + [ + 15.702077869307706, + 0.09026850261946509 + ], + [ + 15.702077869307706, + 0.20453151344606207 + ], + [ + 15.542670240426181, + 0.20453151344606207 + ] + ], + "projected_box_corners": [ + [ + 15.697072122255149, + 0.20453151344606207 + ], + [ + 15.700825025877176, + 0.20266240156776802 + ], + [ + 15.69832496568568, + 0.09390536246851033 + ], + [ + 15.702077869307706, + 0.09203625059021628 + ], + [ + 15.542670240426181, + 0.20276376547531086 + ], + [ + 15.546423144048207, + 0.2008946535970168 + ], + [ + 15.543923083856711, + 0.09213761449775915 + ], + [ + 15.547675987478739, + 0.09026850261946509 + ] + ], + "yaw_rad": -3.1301441484469286, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.397192001342773, + 0.14889352023601532, + 0.12350517511367798 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545180707293731, + 0.14652244983142867, + 0.1199936528624457 + ], + "intended_face_normal": [ + -0.9998124814113598, + -0.011446173583256143, + 0.015618163929376754 + ], + "commanded_contact_point": [ + 15.401380805969238, + 0.14740626971774462, + 0.11878769143191859 + ], + "centerline_face_intersection": [ + 15.545151745964711, + 0.14740626971774462, + 0.11878769143191859 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.394829750061035, + 0.14516806602478027, + 0.12289012968540192 + ], + "box_pose": [ + 15.618369102478027, + 0.14566336572170258, + 0.1360342651605606, + 0.007831786759197712, + -0.003913340158760548, + 0.9999454617500305, + -0.005692748818546534 + ], + "box_yaw_rad": -3.1301448333487025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024023094657293132 + } + } + }, + { + "simulation_time_ns": 4020000000, + "center": [ + 15.62236486744456, + 0.14739191541823365, + 0.11878877470267613 + ], + "face_center": [ + 15.545163867263676, + 0.14650794103428577, + 0.11998388845803379 + ], + "face_normal": [ + -0.9998146257545308, + -0.011448174451013322, + 0.015477677870071323 + ], + "footprint_xy": [ + [ + 15.542670022133011, + 0.0902522914172763 + ], + [ + 15.702059712756109, + 0.0902522914172763 + ], + [ + 15.702059712756109, + 0.20453153941919103 + ], + [ + 15.542670022133011, + 0.20453153941919103 + ] + ], + "projected_box_corners": [ + [ + 15.697072022494778, + 0.20453153941919103 + ], + [ + 15.700806773993593, + 0.20264628659226794 + ], + [ + 15.698324961257294, + 0.09390549301209519 + ], + [ + 15.702059712756109, + 0.0920202401851721 + ], + [ + 15.542670022133011, + 0.20276359065129523 + ], + [ + 15.546404773631826, + 0.20087833782437214 + ], + [ + 15.543922960895527, + 0.09213754424419938 + ], + [ + 15.547657712394342, + 0.0902522914172763 + ] + ], + "yaw_rad": -3.1301428569227294, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.398765563964844, + 0.1499936580657959, + 0.12434597313404083 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54517311395246, + 0.14651613404738797, + 0.11998930972042854 + ], + "intended_face_normal": [ + -0.9998138582073215, + -0.011446874209296857, + 0.015554114209328805 + ], + "commanded_contact_point": [ + 15.403656272888183, + 0.14740000803276357, + 0.11878829390914085 + ], + "centerline_face_intersection": [ + 15.545144365282638, + 0.14740000803276357, + 0.11878829390914085 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.397192001342773, + 0.14889352023601532, + 0.12350517511367798 + ], + "box_pose": [ + 15.61836051940918, + 0.14565616846084595, + 0.1360345184803009, + 0.0077999127097427845, + -0.003940281458199024, + 0.9999457001686096, + -0.00569301238283515 + ], + "box_yaw_rad": -3.1301441484469286, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002275475614216087 + } + } + }, + { + "simulation_time_ns": 4040000000, + "center": [ + 15.622354097012513, + 0.14738248362514225, + 0.11878920141055123 + ], + "face_center": [ + 15.545152974984141, + 0.14649843709765978, + 0.11997696518097428 + ], + "face_normal": [ + -0.9998162037768652, + -0.011449108767419114, + 0.015382489693499903 + ], + "footprint_xy": [ + [ + 15.542670413434688, + 0.09023337430572873 + ], + [ + 15.70203778059034, + 0.09023337430572873 + ], + [ + 15.70203778059034, + 0.20453159294455575 + ], + [ + 15.542670413434688, + 0.20453159294455575 + ] + ], + "projected_box_corners": [ + [ + 15.697072657491434, + 0.20453159294455575 + ], + [ + 15.700784788604967, + 0.20262745703873325 + ], + [ + 15.698325649476807, + 0.09390560326651617 + ], + [ + 15.70203778059034, + 0.09200146736069366 + ], + [ + 15.542670413434688, + 0.20276349988959083 + ], + [ + 15.546382544548221, + 0.20085936398376833 + ], + [ + 15.543923405420061, + 0.09213751021155124 + ], + [ + 15.547635536533594, + 0.09023337430572873 + ] + ], + "yaw_rad": -3.1301419406268587, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.400604248046875, + 0.14719617366790771, + 0.12492328882217407 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545163867263676, + 0.14650794103428577, + 0.11998388845803379 + ], + "intended_face_normal": [ + -0.9998146257545308, + -0.011448174451013322, + 0.015477677870071323 + ], + "commanded_contact_point": [ + 15.405786781311035, + 0.14739191541823365, + 0.11878877470267613 + ], + "centerline_face_intersection": [ + 15.545135237148678, + 0.14739191541823365, + 0.11878877470267613 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.398765563964844, + 0.1499936580657959, + 0.12434597313404083 + ], + "box_pose": [ + 15.6183500289917, + 0.14564691483974457, + 0.13603457808494568, + 0.007761884480714798, + -0.003973712213337421, + 0.9999457597732544, + -0.005693552549928427 + ], + "box_yaw_rad": -3.1301428569227294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021305238467132456 + } + } + }, + { + "simulation_time_ns": 4060000000, + "center": [ + 15.622339849893477, + 0.14737105961267477, + 0.11879008345500904 + ], + "face_center": [ + 15.545138574918735, + 0.14648703003065025, + 0.11996897967861454 + ], + "face_normal": [ + -0.9998181845545244, + -0.011448889310201634, + 0.015267647878212914 + ], + "footprint_xy": [ + [ + 15.542669699665792, + 0.09021020320591701 + ], + [ + 15.70201000012116, + 0.09021020320591701 + ], + [ + 15.70201000012116, + 0.20453191601943255 + ], + [ + 15.542669699665792, + 0.20453191601943255 + ] + ], + "projected_box_corners": [ + [ + 15.697072249615276, + 0.20453191601943255 + ], + [ + 15.700757096441029, + 0.2026041895435787 + ], + [ + 15.698325153295407, + 0.09390598884581992 + ], + [ + 15.70201000012116, + 0.09197826236996606 + ], + [ + 15.542669699665792, + 0.2027638568553835 + ], + [ + 15.546354546491546, + 0.20083613037952963 + ], + [ + 15.543922603345925, + 0.09213792968177087 + ], + [ + 15.547607450171677, + 0.09021020320591701 + ] + ], + "yaw_rad": -3.130142182778664, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.40146541595459, + 0.14174534380435944, + 0.12395261228084564 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545152974984141, + 0.14649843709765978, + 0.11997696518097428 + ], + "intended_face_normal": [ + -0.9998162037768652, + -0.011449108767419114, + 0.015382489693499903 + ], + "commanded_contact_point": [ + 15.407803802490234, + 0.14738248362514225, + 0.11878920141055123 + ], + "centerline_face_intersection": [ + 15.545124588609117, + 0.14738248362514225, + 0.11878920141055123 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.400604248046875, + 0.14719617366790771, + 0.12492328882217407 + ], + "box_pose": [ + 15.618337631225586, + 0.14563612639904022, + 0.13603448867797852, + 0.007714509963989258, + -0.004012803081423044, + 0.9999459981918335, + -0.005693905055522919 + ], + "box_yaw_rad": -3.1301419406268587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020170432762186183 + } + } + }, + { + "simulation_time_ns": 4080000000, + "center": [ + 15.62232400037978, + 0.14735571061383204, + 0.11879149239664223 + ], + "face_center": [ + 15.545122609682378, + 0.1464708021484779, + 0.11996003142989416 + ], + "face_normal": [ + -0.9998196832554096, + -0.011460271551431804, + 0.015133513989105474 + ], + "footprint_xy": [ + [ + 15.54266905743692, + 0.09017900691606709 + ], + [ + 15.70197894332264, + 0.09017900691606709 + ], + [ + 15.70197894332264, + 0.20453241431159697 + ], + [ + 15.54266905743692, + 0.20453241431159697 + ] + ], + "projected_box_corners": [ + [ + 15.69707183883172, + 0.20453241431159697 + ], + [ + 15.700724870149271, + 0.20257457875079737 + ], + [ + 15.69832591200509, + 0.09390665940757495 + ], + [ + 15.70197894332264, + 0.09194882384677536 + ], + [ + 15.54266905743692, + 0.2027625973808887 + ], + [ + 15.546322088754469, + 0.2008047618200891 + ], + [ + 15.543923130610288, + 0.09213684247686668 + ], + [ + 15.54757616192784, + 0.09017900691606709 + ] + ], + "yaw_rad": -3.130130817141127, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.401741027832031, + 0.13599713146686554, + 0.1200823038816452 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545138574918735, + 0.14648703003065025, + 0.11996897967861454 + ], + "intended_face_normal": [ + -0.9998181845545244, + -0.011448889310201634, + 0.015267647878212914 + ], + "commanded_contact_point": [ + 15.409519462585449, + 0.14737105961267477, + 0.11879008345500904 + ], + "centerline_face_intersection": [ + 15.545110494492382, + 0.14737105961267477, + 0.11879008345500904 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.40146541595459, + 0.14174534380435944, + 0.12395261228084564 + ], + "box_pose": [ + 15.618321418762207, + 0.14562301337718964, + 0.1360347419977188, + 0.007657360751181841, + -0.004061645362526178, + 0.9999462962150574, + -0.0056936489418148994 + ], + "box_yaw_rad": -3.130142182778664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017156983558819102 + } + } + }, + { + "simulation_time_ns": 4100000000, + "center": [ + 15.62230400765914, + 0.1473403201493839, + 0.1187919165359303 + ], + "face_center": [ + 15.545102404696383, + 0.14645590257762484, + 0.11994744440368664 + ], + "face_normal": [ + -0.9998224322613456, + -0.011453914087216441, + 0.014965009001733469 + ], + "footprint_xy": [ + [ + 15.542669276395817, + 0.09014844937491384 + ], + [ + 15.701938738922463, + 0.09014844937491384 + ], + [ + 15.701938738922463, + 0.20453219092385394 + ], + [ + 15.542669276395817, + 0.20453219092385394 + ] + ], + "projected_box_corners": [ + [ + 15.697072482321332, + 0.20453219092385394 + ], + [ + 15.700685431814707, + 0.20254294376349846 + ], + [ + 15.698325789429088, + 0.09390653167878744 + ], + [ + 15.701938738922463, + 0.09191728451843195 + ], + [ + 15.542669276395817, + 0.20276335578033583 + ], + [ + 15.546282225889192, + 0.20077410861998035 + ], + [ + 15.543922583503575, + 0.09213769653526932 + ], + [ + 15.547535532996948, + 0.09014844937491384 + ] + ], + "yaw_rad": -3.130137206411068, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.403238296508789, + 0.13378947973251343, + 0.1203349381685257 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545122609682378, + 0.1464708021484779, + 0.11996003142989416 + ], + "intended_face_normal": [ + -0.9998196832554096, + -0.011460271551431804, + 0.015133513989105474 + ], + "commanded_contact_point": [ + 15.41153839111328, + 0.14735571061383204, + 0.11879149239664223 + ], + "centerline_face_intersection": [ + 15.545094760743265, + 0.14735571061383204, + 0.11879149239664223 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.401741027832031, + 0.13599713146686554, + 0.1200823038816452 + ], + "box_pose": [ + 15.618303298950195, + 0.14560545980930328, + 0.13603539764881134, + 0.0075906673446297646, + -0.004124064464122057, + 0.9999464154243469, + -0.005699136760085821 + ], + "box_yaw_rad": -3.130130817141127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020189873643428314 + } + } + }, + { + "simulation_time_ns": 4120000000, + "center": [ + 15.622282574496012, + 0.14732153868337108, + 0.11879257157256448 + ], + "face_center": [ + 15.54508076019959, + 0.1464370738598038, + 0.11993291698247119 + ], + "face_normal": [ + -0.9998251692011157, + -0.0114545260358806, + 0.014768384043800141 + ], + "footprint_xy": [ + [ + 15.542671007376585, + 0.0901110359490766 + ], + [ + 15.701894141615439, + 0.0901110359490766 + ], + [ + 15.701894141615439, + 0.20453204141766557 + ], + [ + 15.542671007376585, + 0.20453204141766557 + ] + ], + "projected_box_corners": [ + [ + 15.697074635969427, + 0.20453204141766557 + ], + [ + 15.700640838666132, + 0.2025054600543294 + ], + [ + 15.698327938918734, + 0.09390654695954728 + ], + [ + 15.701894141615439, + 0.09187996559621112 + ], + [ + 15.542671007376585, + 0.20276311177053102 + ], + [ + 15.54623721007329, + 0.20073653040719486 + ], + [ + 15.543924310325894, + 0.09213761731241277 + ], + [ + 15.547490513022598, + 0.0901110359490766 + ] + ], + "yaw_rad": -3.130136625791325, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.405741691589355, + 0.13696137070655823, + 0.12375648319721222 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.545102404696383, + 0.14645590257762484, + 0.11994744440368664 + ], + "intended_face_normal": [ + -0.9998224322613456, + -0.011453914087216441, + 0.014965009001733469 + ], + "commanded_contact_point": [ + 15.414434700012206, + 0.1473403201493839, + 0.1187919165359303 + ], + "centerline_face_intersection": [ + 15.545074980363967, + 0.1473403201493839, + 0.1187919165359303 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.403238296508789, + 0.13378947973251343, + 0.1203349381685257 + ], + "box_pose": [ + 15.618280410766602, + 0.14558784663677216, + 0.13603492081165314, + 0.0075067635625600815, + -0.004189032129943371, + 0.9999468326568604, + -0.005695813801139593 + ], + "box_yaw_rad": -3.130137206411068, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028963498207721277 + } + } + }, + { + "simulation_time_ns": 4140000000, + "center": [ + 15.622255972053976, + 0.14729852771654553, + 0.11879399283846867 + ], + "face_center": [ + 15.545053881759214, + 0.1464136543021687, + 0.11991662127729728 + ], + "face_normal": [ + -0.9998287436001105, + -0.011459817613274508, + 0.014538935114816945 + ], + "footprint_xy": [ + [ + 15.542671137286327, + 0.09006437167383871 + ], + [ + 15.701840806821624, + 0.09006437167383871 + ], + [ + 15.701840806821624, + 0.20453268375925232 + ], + [ + 15.542671137286327, + 0.20453268375925232 + ] + ], + "projected_box_corners": [ + [ + 15.69707531787585, + 0.20453268375925232 + ], + [ + 15.700587014714458, + 0.20245945250832256 + ], + [ + 15.698329109983016, + 0.0939073497535221 + ], + [ + 15.701840806821624, + 0.09183411850259235 + ], + [ + 15.542671137286327, + 0.20276293693049868 + ], + [ + 15.546182834124934, + 0.20068970567956892 + ], + [ + 15.543924929393494, + 0.09213760292476848 + ], + [ + 15.547436626232102, + 0.09006437167383871 + ] + ], + "yaw_rad": -3.1301313749542783, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.408289909362793, + 0.14196749031543732, + 0.12855394184589386 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54508076019959, + 0.1464370738598038, + 0.11993291698247119 + ], + "intended_face_normal": [ + -0.9998251692011157, + -0.0114545260358806, + 0.014768384043800141 + ], + "commanded_contact_point": [ + 15.417834548950195, + 0.14732153868337108, + 0.11879257157256448 + ], + "centerline_face_intersection": [ + 15.545053758608995, + 0.14732153868337108, + 0.11879257157256448 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.405741691589355, + 0.13696137070655823, + 0.12375648319721222 + ], + "box_pose": [ + 15.618255615234375, + 0.14556638896465302, + 0.1360345184803009, + 0.007408883888274431, + -0.00426629139110446, + 0.999947190284729, + -0.005695955362170935 + ], + "box_yaw_rad": -3.130136625791325, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003399900877037245 + } + } + }, + { + "simulation_time_ns": 4160000000, + "center": [ + 15.622224326745494, + 0.147275040080744, + 0.11879440832588509 + ], + "face_center": [ + 15.545021938339268, + 0.1463910220877022, + 0.1198963971242499 + ], + "face_normal": [ + -0.9998326043817263, + -0.011448739223617239, + 0.014271635282461441 + ], + "footprint_xy": [ + [ + 15.542671640723748, + 0.09001832551228844 + ], + [ + 15.701777012767238, + 0.09001832551228844 + ], + [ + 15.701777012767238, + 0.20453175464919954 + ], + [ + 15.542671640723748, + 0.20453175464919954 + ] + ], + "projected_box_corners": [ + [ + 15.697076417536199, + 0.20453175464919954 + ], + [ + 15.700524497335813, + 0.20241150703038935 + ], + [ + 15.698328932967625, + 0.09390660911718224 + ], + [ + 15.701777012767238, + 0.09178636149837205 + ], + [ + 15.542671640723748, + 0.20276371866311593 + ], + [ + 15.546119720523361, + 0.20064347104430574 + ], + [ + 15.543924156155175, + 0.09213857313109863 + ], + [ + 15.547372235954787, + 0.09001832551228844 + ] + ], + "yaw_rad": -3.1301424979977166, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.411108016967773, + 0.14303693175315857, + 0.13071037828922272 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.545053881759214, + 0.1464136543021687, + 0.11991662127729728 + ], + "intended_face_normal": [ + -0.9998287436001105, + -0.011459817613274508, + 0.014538935114816945 + ], + "commanded_contact_point": [ + 15.417834548950195, + 0.14732153868337108, + 0.11879257157256448 + ], + "centerline_face_intersection": [ + 15.545027432260845, + 0.14729852771654553, + 0.11879399283846867 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.408289909362793, + 0.14196749031543732, + 0.12855394184589386 + ], + "box_pose": [ + 15.61822509765625, + 0.1455400139093399, + 0.13603468239307404, + 0.007294710725545883, + -0.004362890962511301, + 0.9999476671218872, + -0.005698380991816521 + ], + "box_yaw_rad": -3.1301313749542783, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 4180000000, + "center": [ + 15.622185885222246, + 0.14724608197587885, + 0.1187953266831114 + ], + "face_center": [ + 15.544983145646228, + 0.14636244947760496, + 0.11987286198869668 + ], + "face_normal": [ + -0.9998371523110781, + -0.01144374675841304, + 0.01395494301585246 + ], + "footprint_xy": [ + [ + 15.542670819646572, + 0.08996093725638872 + ], + [ + 15.701700950797921, + 0.08996093725638872 + ], + [ + 15.701700950797921, + 0.20453122669536894 + ], + [ + 15.542670819646572, + 0.20453122669536894 + ] + ], + "projected_box_corners": [ + [ + 15.697076298798608, + 0.20453122669536894 + ], + [ + 15.700449047438576, + 0.20235311728221006 + ], + [ + 15.69832820215795, + 0.09390631166609534 + ], + [ + 15.701700950797921, + 0.09172820225293646 + ], + [ + 15.542670819646572, + 0.20276396169882122 + ], + [ + 15.54604356828654, + 0.20058585228566234 + ], + [ + 15.543922723005915, + 0.09213904666954761 + ], + [ + 15.547295471645885, + 0.08996093725638872 + ] + ], + "yaw_rad": -3.130147542700164, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.413961410522461, + 0.14263221621513367, + 0.1305161863565445 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.545021938339268, + 0.1463910220877022, + 0.1198963971242499 + ], + "intended_face_normal": [ + -0.9998326043817263, + -0.011448739223617239, + 0.014271635282461441 + ], + "commanded_contact_point": [ + 15.420691985236127, + 0.14732168695863418, + 0.1187923202830378 + ], + "centerline_face_intersection": [ + 15.544996085164808, + 0.147275040080744, + 0.11879440832588509 + ], + "commanded_world_base_velocity": [ + 0.1374553599999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.411108016967773, + 0.14303693175315857, + 0.13071037828922272 + ], + "box_pose": [ + 15.618188858032227, + 0.14551320672035217, + 0.13603368401527405, + 0.007161578629165888, + -0.004460087511688471, + 0.9999482035636902, + -0.005692723207175732 + ], + "box_yaw_rad": -3.1301424979977166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028574363008289465 + } + } + }, + { + "simulation_time_ns": 4200000000, + "center": [ + 15.622145194307647, + 0.14721198453198753, + 0.1187972195353032 + ], + "face_center": [ + 15.544942083414789, + 0.1463287902331386, + 0.11984752512644438 + ], + "face_normal": [ + -0.9998419611607863, + -0.011438071725796303, + 0.01360229646085255 + ], + "footprint_xy": [ + [ + 15.542672025129942, + 0.08989284551538268 + ], + [ + 15.701618363485352, + 0.08989284551538268 + ], + [ + 15.701618363485352, + 0.20453112354859238 + ], + [ + 15.542672025129942, + 0.20453112354859238 + ] + ], + "projected_box_corners": [ + [ + 15.697078246915659, + 0.20453112354859238 + ], + [ + 15.700367164776686, + 0.20228384926745158 + ], + [ + 15.698329445624323, + 0.0939065083942213 + ], + [ + 15.701618363485352, + 0.09165923411308048 + ], + [ + 15.542672025129942, + 0.20276473495089456 + ], + [ + 15.545960942990972, + 0.20051746066975376 + ], + [ + 15.543923223838608, + 0.09214011979652348 + ], + [ + 15.547212141699635, + 0.08989284551538268 + ] + ], + "yaw_rad": -3.130153272928424, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.417519569396973, + 0.14394721388816833, + 0.1307864785194397 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544983145646228, + 0.14636244947760496, + 0.11987286198869668 + ], + "intended_face_normal": [ + -0.9998371523110781, + -0.01144374675841304, + 0.01395494301585246 + ], + "commanded_contact_point": [ + 15.423659498277434, + 0.14732198812740652, + 0.1187916064820344 + ], + "centerline_face_intersection": [ + 15.544957994927353, + 0.14724608197587885, + 0.1187953266831114 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.413961410522461, + 0.14263221621513367, + 0.1305161863565445 + ], + "box_pose": [ + 15.618144989013672, + 0.14548012614250183, + 0.13603290915489197, + 0.0070038894191384315, + -0.004579772241413593, + 0.9999487996101379, + -0.0056900884956121445 + ], + "box_yaw_rad": -3.130147542700164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029675131424380507 + } + } + }, + { + "simulation_time_ns": 4220000000, + "center": [ + 15.622096856898152, + 0.14717206720697976, + 0.11879985320792479 + ], + "face_center": [ + 15.544893295188208, + 0.14628947332220876, + 0.11981871662646805 + ], + "face_normal": [ + -0.999847799602192, + -0.01143029588383572, + 0.013195095207562799 + ], + "footprint_xy": [ + [ + 15.542672096620896, + 0.08981327600525489 + ], + [ + 15.701521617175407, + 0.08981327600525489 + ], + [ + 15.701521617175407, + 0.20453085840870464 + ], + [ + 15.542672096620896, + 0.20453085840870464 + ] + ], + "projected_box_corners": [ + [ + 15.697079220040782, + 0.20453085840870464 + ], + [ + 15.700271345593546, + 0.20220276567777015 + ], + [ + 15.698329491622644, + 0.09390655650573135 + ], + [ + 15.701521617175407, + 0.09157846377479686 + ], + [ + 15.542672096620896, + 0.20276567063916265 + ], + [ + 15.545864222173659, + 0.20043757790822817 + ], + [ + 15.543922368202757, + 0.09214136873618936 + ], + [ + 15.547114493755519, + 0.08981327600525489 + ] + ], + "yaw_rad": -3.1301611157295945, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.422784805297852, + 0.14675423502922058, + 0.13118520379066467 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544942083414789, + 0.1463287902331386, + 0.11984752512644438 + ], + "intended_face_normal": [ + -0.9998419611607863, + -0.011438071725796303, + 0.01360229646085255 + ], + "commanded_contact_point": [ + 15.426729882227532, + 0.14732218167484434, + 0.11879050433349655 + ], + "centerline_face_intersection": [ + 15.544917675448772, + 0.14721198453198753, + 0.1187972195353032 + ], + "commanded_world_base_velocity": [ + 0.11967871999999971, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.417519569396973, + 0.14394721388816833, + 0.1307864785194397 + ], + "box_pose": [ + 15.618098258972168, + 0.14544110000133514, + 0.13603287935256958, + 0.006828353740274906, + -0.004722913261502981, + 0.9999493360519409, + -0.0056870742700994015 + ], + "box_yaw_rad": -3.130153272928424, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003070384154012179 + } + } + }, + { + "simulation_time_ns": 4240000000, + "center": [ + 15.622040154335194, + 0.14712704906172225, + 0.11880203211701804 + ], + "face_center": [ + 15.544836155443045, + 0.1462437342473809, + 0.11978401551864586 + ], + "face_normal": [ + -0.9998534614609913, + -0.011439632497699406, + 0.01271746952624065 + ], + "footprint_xy": [ + [ + 15.542671214946525, + 0.08972228106173649 + ], + [ + 15.701409093723864, + 0.08972228106173649 + ], + [ + 15.701409093723864, + 0.20453181706170798 + ], + [ + 15.542671214946525, + 0.20453181706170798 + ] + ], + "projected_box_corners": [ + [ + 15.69707921273082, + 0.20453181706170798 + ], + [ + 15.700157807054147, + 0.2021127390349378 + ], + [ + 15.698330499400537, + 0.09390798871718939 + ], + [ + 15.701409093723864, + 0.0914889106904192 + ], + [ + 15.542671214946525, + 0.2027651874330253 + ], + [ + 15.54574980926985, + 0.20034610940625508 + ], + [ + 15.54392250161624, + 0.0921413590885067 + ], + [ + 15.547001095939567, + 0.08972228106173649 + ] + ], + "yaw_rad": -3.1301518436961744, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.42788028717041, + 0.14961087703704834, + 0.13061435520648956 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544893295188208, + 0.14628947332220876, + 0.11981871662646805 + ], + "intended_face_normal": [ + -0.999847799602192, + -0.01143029588383572, + 0.013195095207562799 + ], + "commanded_contact_point": [ + 15.429895819977355, + 0.14732193824568596, + 0.1187891064128114 + ], + "centerline_face_intersection": [ + 15.544869788996257, + 0.14717206720697976, + 0.11879985320792479 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.422784805297852, + 0.14675423502922058, + 0.13118520379066467 + ], + "box_pose": [ + 15.618042945861816, + 0.145395427942276, + 0.13603328168392181, + 0.00662567000836134, + -0.004890183452516794, + 0.9999499917030334, + -0.005683031398802996 + ], + "box_yaw_rad": -3.1301611157295945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031659380678084126 + } + } + }, + { + "simulation_time_ns": 4260000000, + "center": [ + 15.62197612101616, + 0.1470759934079256, + 0.11880404317609847 + ], + "face_center": [ + 15.544771560777857, + 0.14619296999945264, + 0.11974360938002192 + ], + "face_normal": [ + -0.9998607313421422, + -0.011435858558909058, + 0.012168132930225374 + ], + "footprint_xy": [ + [ + 15.542672125757164, + 0.08962036245016243 + ], + [ + 15.701280116275157, + 0.08962036245016243 + ], + [ + 15.701280116275157, + 0.20453162436568878 + ], + [ + 15.542672125757164, + 0.20453162436568878 + ] + ], + "projected_box_corners": [ + [ + 15.697081246233772, + 0.20453162436568878 + ], + [ + 15.700029207747752, + 0.20200979754440712 + ], + [ + 15.698332154761177, + 0.09390823608839001 + ], + [ + 15.701280116275157, + 0.09138640926710836 + ], + [ + 15.542672125757164, + 0.20276557754874286 + ], + [ + 15.545620087271145, + 0.2002437507274612 + ], + [ + 15.54392303428457, + 0.09214218927144407 + ], + [ + 15.54687099579855, + 0.08962036245016243 + ] + ], + "yaw_rad": -3.130155700844428, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.431313514709473, + 0.15142232179641724, + 0.12853534519672394 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544836155443045, + 0.1462437342473809, + 0.11978401551864586 + ], + "intended_face_normal": [ + -0.9998534614609913, + -0.011439632497699406, + 0.01271746952624065 + ], + "commanded_contact_point": [ + 15.433149898698296, + 0.14732089761961395, + 0.11878749513060816 + ], + "centerline_face_intersection": [ + 15.544813523746136, + 0.14712704906172225, + 0.11880203211701804 + ], + "commanded_world_base_velocity": [ + 0.09071999999999959, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.42788028717041, + 0.14961087703704834, + 0.13061435520648956 + ], + "box_pose": [ + 15.6179780960083, + 0.1453438550233841, + 0.1360328644514084, + 0.0063879359513521194, + -0.005078503396362066, + 0.9999504685401917, + -0.0056876568123698235 + ], + "box_yaw_rad": -3.1301518436961744, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032540792862519137 + } + } + }, + { + "simulation_time_ns": 4280000000, + "center": [ + 15.62190383359366, + 0.1470174156194987, + 0.11880683943009557 + ], + "face_center": [ + 15.544698693253247, + 0.14613424012890674, + 0.11969812284995915 + ], + "face_normal": [ + -0.9998682441278735, + -0.011437828143843268, + 0.011542832305076706 + ], + "footprint_xy": [ + [ + 15.542673427638318, + 0.08950205960793418 + ], + [ + 15.701134239549, + 0.08950205960793418 + ], + [ + 15.701134239549, + 0.2045327716310632 + ], + [ + 15.542673427638318, + 0.2045327716310632 + ] + ], + "projected_box_corners": [ + [ + 15.697083708319143, + 0.2045327716310632 + ], + [ + 15.69988302066687, + 0.20189121546286248 + ], + [ + 15.698334927201273, + 0.09390996675731879 + ], + [ + 15.701134239549, + 0.09126841058911805 + ], + [ + 15.542673427638318, + 0.20276642064987932 + ], + [ + 15.545472739986046, + 0.2001248644816786 + ], + [ + 15.543924646520448, + 0.09214361577613492 + ], + [ + 15.546723958868176, + 0.08950205960793418 + ] + ], + "yaw_rad": -3.130153817184852, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.43369197845459, + 0.15118886530399323, + 0.12556219100952148 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544771560777857, + 0.14619296999945264, + 0.11974360938002192 + ], + "intended_face_normal": [ + -0.9998607313421422, + -0.011435858558909058, + 0.012168132930225374 + ], + "commanded_contact_point": [ + 15.436484675674368, + 0.14731859733338226, + 0.11878577334584765 + ], + "centerline_face_intersection": [ + 15.54475005193373, + 0.1470759934079256, + 0.11880404317609847 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.431313514709473, + 0.15142232179641724, + 0.12853534519672394 + ], + "box_pose": [ + 15.617904663085938, + 0.1452854573726654, + 0.1360318958759308, + 0.006114449352025986, + -0.005291095934808254, + 0.999951183795929, + -0.0056858547031879425 + ], + "box_yaw_rad": -3.130155700844428, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033347782139142475 + } + } + }, + { + "simulation_time_ns": 4300000000, + "center": [ + 15.62181969027037, + 0.14695068774853606, + 0.11880973003278841 + ], + "face_center": [ + 15.544613949184274, + 0.14606753824997232, + 0.11964597507768239 + ], + "face_normal": [ + -0.9998760242643869, + -0.01143749152631388, + 0.010830041380821272 + ], + "footprint_xy": [ + [ + 15.542673338844331, + 0.08936817813247064 + ], + [ + 15.70096604169641, + 0.08936817813247064 + ], + [ + 15.70096604169641, + 0.2045331973646015 + ], + [ + 15.542673338844331, + 0.2045331973646015 + ] + ], + "projected_box_corners": [ + [ + 15.69708482101652, + 0.2045331973646015 + ], + [ + 15.699714664328779, + 0.20175655686896432 + ], + [ + 15.698336198384151, + 0.09391111762523527 + ], + [ + 15.70096604169641, + 0.0911344771295981 + ], + [ + 15.542673338844331, + 0.20276689836747402 + ], + [ + 15.545303182156587, + 0.19999025787183683 + ], + [ + 15.543924716211961, + 0.0921448186281078 + ], + [ + 15.546554559524218, + 0.08936817813247064 + ] + ], + "yaw_rad": -3.1301542427990516, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.433844566345215, + 0.14934533834457397, + 0.12253168225288391 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544698693253247, + 0.14613424012890674, + 0.11969812284995915 + ], + "intended_face_normal": [ + -0.9998682441278735, + -0.011437828143843268, + 0.011542832305076706 + ], + "commanded_contact_point": [ + 15.439892580030438, + 0.147314471877, + 0.11878410164844747 + ], + "centerline_face_intersection": [ + 15.544678344770592, + 0.1470174156194987, + 0.11880683943009557 + ], + "commanded_world_base_velocity": [ + 0.05746047999999954, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.43369197845459, + 0.15118886530399323, + 0.12556219100952148 + ], + "box_pose": [ + 15.61782169342041, + 0.14521829783916473, + 0.13603127002716064, + 0.005803196225315332, + -0.005538885947316885, + 0.9999517202377319, + -0.005687045399099588 + ], + "box_yaw_rad": -3.130153817184852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003407907263128611 + } + } + }, + { + "simulation_time_ns": 4320000000, + "center": [ + 15.62172486300208, + 0.14687458967559217, + 0.11881301226103029 + ], + "face_center": [ + 15.544518475927381, + 0.14599162047566544, + 0.11958646987894009 + ], + "face_normal": [ + -0.9998843903328758, + -0.011435156514929684, + 0.010016894042507034 + ], + "footprint_xy": [ + [ + 15.542674494523496, + 0.0892153894541341 + ], + [ + 15.700775231480668, + 0.0892153894541341 + ], + [ + 15.700775231480668, + 0.20453378989705023 + ], + [ + 15.542674494523496, + 0.20453378989705023 + ] + ], + "projected_box_corners": [ + [ + 15.697087268672895, + 0.20453378989705023 + ], + [ + 15.69952378428852, + 0.20160254699522628 + ], + [ + 15.698338715865042, + 0.09391257075581148 + ], + [ + 15.700775231480668, + 0.09098132785398752 + ], + [ + 15.542674494523496, + 0.20276785149719678 + ], + [ + 15.54511101013912, + 0.19983660859537283 + ], + [ + 15.543925941715642, + 0.09214663235595805 + ], + [ + 15.546362457331268, + 0.0892153894541341 + ] + ], + "yaw_rad": -3.130156673472201, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.430381774902344, + 0.1481620967388153, + 0.12061804533004761 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544613949184274, + 0.14606753824997232, + 0.11964597507768239 + ], + "intended_face_normal": [ + -0.9998760242643869, + -0.01143749152631388, + 0.010830041380821272 + ], + "commanded_contact_point": [ + 15.44336574882931, + 0.14730786589371347, + 0.11878260336801769 + ], + "centerline_face_intersection": [ + 15.544594802346642, + 0.14695068774853606, + 0.11880973003278841 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.433844566345215, + 0.14934533834457397, + 0.12253168225288391 + ], + "box_pose": [ + 15.617725372314453, + 0.14514189958572388, + 0.13603025674819946, + 0.005448373034596443, + -0.0058184280060231686, + 0.9999520778656006, + -0.005687317345291376 + ], + "box_yaw_rad": -3.1301542427990516, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003473175404340115 + } + } + }, + { + "simulation_time_ns": 4340000000, + "center": [ + 15.621611464478173, + 0.14678700431452862, + 0.1188160933559186 + ], + "face_center": [ + 15.544404371272922, + 0.1459045884146731, + 0.11951589263967047 + ], + "face_normal": [ + -0.9998935352876299, + -0.011427990836993872, + 0.009062959771872573 + ], + "footprint_xy": [ + [ + 15.542673934227501, + 0.08903923942899158 + ], + [ + 15.700548994728845, + 0.08903923942899158 + ], + [ + 15.700548994728845, + 0.20453476920006564 + ], + [ + 15.542673934227501, + 0.20453476920006564 + ] + ], + "projected_box_corners": [ + [ + 15.697088120638005, + 0.20453476920006564 + ], + [ + 15.699297800277991, + 0.2014242539166184 + ], + [ + 15.698339315088859, + 0.09391458651214984 + ], + [ + 15.700548994728845, + 0.09080407122870263 + ], + [ + 15.542673934227501, + 0.2027699374003546 + ], + [ + 15.544883613867487, + 0.19965942211690738 + ], + [ + 15.543925128678357, + 0.09214975471243882 + ], + [ + 15.546134808318342, + 0.08903923942899158 + ] + ], + "yaw_rad": -3.1301639435600532, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.428950309753418, + 0.1474132090806961, + 0.12141174077987671 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544518475927381, + 0.14599162047566544, + 0.11958646987894009 + ], + "intended_face_normal": [ + -0.9998843903328758, + -0.011435156514929684, + 0.010016894042507034 + ], + "commanded_contact_point": [ + 15.446896429776189, + 0.14729798021625662, + 0.1187814679115608 + ], + "centerline_face_intersection": [ + 15.544500621221756, + 0.14687458967559217, + 0.11881301226103029 + ], + "commanded_world_base_velocity": [ + 0.026781439999999587, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.430381774902344, + 0.1481620967388153, + 0.12061804533004761 + ], + "box_pose": [ + 15.617616653442383, + 0.14505474269390106, + 0.13602906465530396, + 0.005043596029281616, + -0.006138365250080824, + 0.9999522566795349, + -0.005686890333890915 + ], + "box_yaw_rad": -3.130156673472201, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035306949690583514 + } + } + }, + { + "simulation_time_ns": 4360000000, + "center": [ + 15.621483365786577, + 0.14668400570971685, + 0.1188200127638694 + ], + "face_center": [ + 15.544275558028136, + 0.14580141358135493, + 0.11943487957643605 + ], + "face_normal": [ + -0.9999027893222572, + -0.011430273136935218, + 0.007963016420186554 + ], + "footprint_xy": [ + [ + 15.54267533757326, + 0.08883219889770932 + ], + [ + 15.700291393999896, + 0.08883219889770932 + ], + [ + 15.700291393999896, + 0.20453581252172437 + ], + [ + 15.54267533757326, + 0.20453581252172437 + ] + ], + "projected_box_corners": [ + [ + 15.697090953090141, + 0.20453581252172437 + ], + [ + 15.699039139671653, + 0.20121626140605955 + ], + [ + 15.698343207418384, + 0.09391693427009801 + ], + [ + 15.700291393999896, + 0.09059738315443319 + ], + [ + 15.54267533757326, + 0.20277062826500053 + ], + [ + 15.54462352415477, + 0.1994510771493357 + ], + [ + 15.543927591901502, + 0.09215175001337414 + ], + [ + 15.545875778483014, + 0.08883219889770932 + ] + ], + "yaw_rad": -3.1301617670991506, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.43199634552002, + 0.14703138172626495, + 0.12551555037498474 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544404371272922, + 0.1459045884146731, + 0.11951589263967047 + ], + "intended_face_normal": [ + -0.9998935352876299, + -0.011427990836993872, + 0.009062959771872573 + ], + "commanded_contact_point": [ + 15.450475934388889, + 0.14728377477471719, + 0.11878087962078919 + ], + "centerline_face_intersection": [ + 15.544387928985241, + 0.14678700431452862, + 0.1188160933559186 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.428950309753418, + 0.1474132090806961, + 0.12141174077987671 + ], + "box_pose": [ + 15.617486953735352, + 0.1449543535709381, + 0.13602688908576965, + 0.0045687006786465645, + -0.006509317085146904, + 0.9999521970748901, + -0.005684528034180403 + ], + "box_yaw_rad": -3.1301639435600532, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035795328484312054 + } + } + }, + { + "simulation_time_ns": 4380000000, + "center": [ + 15.62133618966257, + 0.14656557444485185, + 0.1188242493906495 + ], + "face_center": [ + 15.544127643862486, + 0.14568269354652505, + 0.1193412051516012 + ], + "face_normal": [ + -0.99991234755113, + -0.01143401293866939, + 0.006694990083762533 + ], + "footprint_xy": [ + [ + 15.542677342726085, + 0.08859392558300422 + ], + [ + 15.699995036599052, + 0.08859392558300422 + ], + [ + 15.699995036599052, + 0.20453722330669943 + ], + [ + 15.542677342726085, + 0.20453722330669943 + ] + ], + "projected_box_corners": [ + [ + 15.697094434326253, + 0.20453722330669943 + ], + [ + 15.698741176691817, + 0.20097700303903365 + ], + [ + 15.698348294233488, + 0.09391990764732361 + ], + [ + 15.699995036599052, + 0.09035968737965783 + ], + [ + 15.542677342726085, + 0.20277146151004585 + ], + [ + 15.544324085091649, + 0.19921124124238007 + ], + [ + 15.543931202633322, + 0.09215414585067 + ], + [ + 15.545577944998886, + 0.08859392558300422 + ] + ], + "yaw_rad": -3.1301581367175078, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.437027931213379, + 0.1478009819984436, + 0.1321876049041748 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544275558028136, + 0.14580141358135493, + 0.11943487957643605 + ], + "intended_face_normal": [ + -0.9999027893222572, + -0.011430273136935218, + 0.007963016420186554 + ], + "commanded_contact_point": [ + 15.45409633489193, + 0.14726378964624479, + 0.11878117190213403 + ], + "centerline_face_intersection": [ + 15.544260544992392, + 0.14668400570971685, + 0.1188200127638694 + ], + "commanded_world_base_velocity": [ + 0.005564159999999768, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.43199634552002, + 0.14703138172626495, + 0.12551555037498474 + ], + "box_pose": [ + 15.617340087890625, + 0.14483638107776642, + 0.13602469861507416, + 0.0040211849845945835, + -0.0069419206120073795, + 0.9999516010284424, + -0.005687497090548277 + ], + "box_yaw_rad": -3.1301617670991506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036204556748015153 + } + } + }, + { + "simulation_time_ns": 4400000000, + "center": [ + 15.621166414226023, + 0.14642969213270227, + 0.11882910956827994 + ], + "face_center": [ + 15.543957181469144, + 0.1455463845938664, + 0.11923381227987594 + ], + "face_normal": [ + -0.9999212441904055, + -0.011439538274091185, + 0.00524122341923219 + ], + "footprint_xy": [ + [ + 15.542678507373926, + 0.08832009185304715 + ], + [ + 15.69965432107812, + 0.08832009185304715 + ], + [ + 15.69965432107812, + 0.20453929241235735 + ], + [ + 15.542678507373926, + 0.20453929241235735 + ] + ], + "projected_box_corners": [ + [ + 15.697096972887682, + 0.20453929241235735 + ], + [ + 15.698398143853545, + 0.20070207694751718 + ], + [ + 15.698353150112256, + 0.09392392239555902 + ], + [ + 15.69965432107812, + 0.09008670693071888 + ], + [ + 15.542678507373926, + 0.20277267733468562 + ], + [ + 15.54397967833979, + 0.19893546186984548 + ], + [ + 15.5439346845985, + 0.09215730731788731 + ], + [ + 15.545235855564364, + 0.08832009185304715 + ] + ], + "yaw_rad": -3.1301527133976053, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.440710067749023, + 0.14993929862976074, + 0.13595616817474365 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544127643862486, + 0.14568269354652505, + 0.1193412051516012 + ], + "intended_face_normal": [ + -0.99991234755113, + -0.01143401293866939, + 0.006694990083762533 + ], + "commanded_contact_point": [ + 15.457748728523066, + 0.14723670400991265, + 0.11878259280320559 + ], + "centerline_face_intersection": [ + 15.544114107046484, + 0.14656557444485185, + 0.1188242493906495 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.437027931213379, + 0.1478009819984436, + 0.1321876049041748 + ], + "box_pose": [ + 15.617171287536621, + 0.14470070600509644, + 0.13602185249328613, + 0.003390012076124549, + -0.007439989596605301, + 0.9999504089355469, + -0.005692067090421915 + ], + "box_yaw_rad": -3.1301581367175078, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003652494337767982 + } + } + }, + { + "simulation_time_ns": 4420000000, + "center": [ + 15.620970954212334, + 0.14627348993183872, + 0.1188338693232128 + ], + "face_center": [ + 15.543761181248355, + 0.145390038901129, + 0.1191086866112796 + ], + "face_normal": [ + -0.9999282403039382, + -0.011441396608488728, + 0.0035591034232149094 + ], + "footprint_xy": [ + [ + 15.542681123542442, + 0.08800560868867424 + ], + [ + 15.699260784882227, + 0.08800560868867424 + ], + [ + 15.699260784882227, + 0.2045413711750032 + ], + [ + 15.542681123542442, + 0.2045413711750032 + ] + ], + "projected_box_corners": [ + [ + 15.697100669470402, + 0.2045413711750032 + ], + [ + 15.698001966866041, + 0.20038538616993978 + ], + [ + 15.69835948748659, + 0.09392849575515708 + ], + [ + 15.699260784882227, + 0.08977251075009367 + ], + [ + 15.542681123542442, + 0.20277446911358377 + ], + [ + 15.54358242093808, + 0.19861848410852034 + ], + [ + 15.543939941558628, + 0.09216159369373764 + ], + [ + 15.544841238954266, + 0.08800560868867424 + ] + ], + "yaw_rad": -3.130150935206973, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.441384315490723, + 0.14997521042823792, + 0.13388602435588837 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.543957181469144, + 0.1455463845938664, + 0.11923381227987594 + ], + "intended_face_normal": [ + -0.9999212441904055, + -0.011439538274091185, + 0.00524122341923219 + ], + "commanded_contact_point": [ + 15.461423878930825, + 0.1472007896285332, + 0.11878551688511338 + ], + "centerline_face_intersection": [ + 15.543945018681061, + 0.14642969213270227, + 0.11882910956827994 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.440710067749023, + 0.14993929862976074, + 0.13595616817474365 + ], + "box_pose": [ + 15.616976737976074, + 0.14454497396945953, + 0.1360185295343399, + 0.002666414948180318, + -0.008013256825506687, + 0.9999482035636902, + -0.00569869764149189 + ], + "box_yaw_rad": -3.1301527133976053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036753270483989337 + } + } + }, + { + "simulation_time_ns": 4440000000, + "center": [ + 15.62074615923667, + 0.14609470398304897, + 0.11883840013937705 + ], + "face_center": [ + 15.543536009783935, + 0.14521021464239853, + 0.11896479933217535 + ], + "face_normal": [ + -0.999933116134077, + -0.011454843551693595, + 0.0016369705230141612 + ], + "footprint_xy": [ + [ + 15.542681945895426, + 0.0876452003793125 + ], + [ + 15.698810372577915, + 0.0876452003793125 + ], + [ + 15.698810372577915, + 0.2045442075867854 + ], + [ + 15.542681945895426, + 0.2045442075867854 + ] + ], + "projected_box_corners": [ + [ + 15.697102244800897, + 0.2045442075867854 + ], + [ + 15.697546685954208, + 0.20002400321449648 + ], + [ + 15.698365931424604, + 0.09393438343290231 + ], + [ + 15.698810372577915, + 0.08941417906061337 + ], + [ + 15.542681945895426, + 0.20277522890548455 + ], + [ + 15.543126387048737, + 0.1982550245331956 + ], + [ + 15.543945632519133, + 0.09216540475160144 + ], + [ + 15.544390073672444, + 0.0876452003793125 + ] + ], + "yaw_rad": -3.1301375449135342, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.440406799316406, + 0.14328314363956451, + 0.12725788354873657 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.543761181248355, + 0.145390038901129, + 0.1191086866112796 + ], + "intended_face_normal": [ + -0.9999282403039382, + -0.011441396608488728, + 0.0035591034232149094 + ], + "commanded_contact_point": [ + 15.465112204093922, + 0.1471538815504822, + 0.11879025903334578 + ], + "centerline_face_intersection": [ + 15.543750098955792, + 0.14627348993183872, + 0.1188338693232128 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.441384315490723, + 0.14997521042823792, + 0.13388602435588837 + ], + "box_pose": [ + 15.616752624511719, + 0.14436595141887665, + 0.13601376116275787, + 0.0018291338346898556, + -0.008672953583300114, + 0.9999444484710693, + -0.005705151241272688 + ], + "box_yaw_rad": -3.130150935206973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003688626487527489 + } + } + }, + { + "simulation_time_ns": 4460000000, + "center": [ + 15.620486302812392, + 0.14588892389814417, + 0.11884245935136217 + ], + "face_center": [ + 15.543276086939057, + 0.14500446223730024, + 0.11879776888411381 + ], + "face_normal": [ + -0.9999339763339152, + -0.011454485076086754, + -0.0005787772526525646 + ], + "footprint_xy": [ + [ + 15.542600782175453, + 0.08723303658037572 + ], + [ + 15.698371823449332, + 0.08723303658037572 + ], + [ + 15.698371823449332, + 0.2045448112159126 + ], + [ + 15.542600782175453, + 0.2045448112159126 + ] + ], + "projected_box_corners": [ + [ + 15.697103487496314, + 0.2045448112159126 + ], + [ + 15.697021213922124, + 0.1996079610969332 + ], + [ + 15.698371823449332, + 0.09393881002104294 + ], + [ + 15.698289549875142, + 0.08900195990206355 + ], + [ + 15.542683055749642, + 0.20277588789422474 + ], + [ + 15.542600782175453, + 0.19783903777524536 + ], + [ + 15.54395139170266, + 0.09216988669935511 + ], + [ + 15.543869118128471, + 0.08723303658037572 + ] + ], + "yaw_rad": -3.1301379132192433, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.442262649536133, + 0.13785333931446075, + 0.12306573987007141 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.543536009783935, + 0.14521021464239853, + 0.11896479933217535 + ], + "intended_face_normal": [ + -0.999933116134077, + -0.011454843551693595, + 0.0016369705230141612 + ], + "commanded_contact_point": [ + 15.468803616665783, + 0.147093656081209, + 0.11879716675850144 + ], + "centerline_face_intersection": [ + 15.543525680521087, + 0.14609470398304897, + 0.11883840013937705 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.440406799316406, + 0.14328314363956451, + 0.12725788354873657 + ], + "box_pose": [ + 15.616495132446289, + 0.14416104555130005, + 0.13600730895996094, + 0.0008724551880732179, + -0.009426720440387726, + 0.9999388456344604, + -0.005719547159969807 + ], + "box_yaw_rad": -3.1301375449135342, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003691910291368075 + } + } + }, + { + "simulation_time_ns": 4480000000, + "center": [ + 15.620188980149537, + 0.14565229301458615, + 0.11884592505153234 + ], + "face_center": [ + 15.542979114419161, + 0.14476802347250456, + 0.1186052357478025 + ], + "face_normal": [ + -0.9999294417028681, + -0.011451996984637166, + -0.0031171187622948265 + ], + "footprint_xy": [ + [ + 15.541999065689065, + 0.08675996707182476 + ], + [ + 15.69837889461001, + 0.08675996707182476 + ], + [ + 15.69837889461001, + 0.20454461895734755 + ], + [ + 15.541999065689065, + 0.20454461895734755 + ] + ], + "projected_box_corners": [ + [ + 15.697104426993679, + 0.20454461895734755 + ], + [ + 15.696418797149818, + 0.199129767007776 + ], + [ + 15.69837889461001, + 0.09394335810555954 + ], + [ + 15.697693264766148, + 0.08852850615598798 + ], + [ + 15.542684695532927, + 0.20277607987318436 + ], + [ + 15.541999065689065, + 0.19736122792361277 + ], + [ + 15.543959163149257, + 0.09217481902139633 + ], + [ + 15.543273533305396, + 0.08675996707182476 + ] + ], + "yaw_rad": -3.130140349217712, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.447208404541016, + 0.13860809803009033, + 0.12220039963722229 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.543276086939057, + 0.14500446223730024, + 0.11879776888411381 + ], + "intended_face_normal": [ + -0.9999339763339152, + -0.011454485076086754, + -0.0005787772526525646 + ], + "commanded_contact_point": [ + 15.472487029347679, + 0.14701684931413542, + 0.11880672569712962 + ], + "centerline_face_intersection": [ + 15.543265890526238, + 0.14588892389814417, + 0.11884245935136217 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.442262649536133, + 0.13785333931446075, + 0.12306573987007141 + ], + "box_pose": [ + 15.61619758605957, + 0.14392545819282532, + 0.13599860668182373, + -0.0002304489171365276, + -0.010288934223353863, + 0.9999305605888367, + -0.005730011500418186 + ], + "box_yaw_rad": -3.1301379132192433, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036842257854168754 + } + } + }, + { + "simulation_time_ns": 4500000000, + "center": [ + 15.619848188984214, + 0.14539747783044568, + 0.11885437731092396 + ], + "face_center": [ + 15.542639319624135, + 0.14451602035273586, + 0.11839002829248299 + ], + "face_normal": [ + -0.9999165379115751, + -0.01141557850455405, + -0.006013690742403249 + ], + "footprint_xy": [ + [ + 15.541312506179299, + 0.08625239997004593 + ], + [ + 15.69838387178913, + 0.08625239997004593 + ], + [ + 15.69838387178913, + 0.20454255569084542 + ], + [ + 15.541312506179299, + 0.20454255569084542 + ] + ], + "projected_box_corners": [ + [ + 15.697104845708298, + 0.20454255569084542 + ], + [ + 15.69573024489946, + 0.19861097372598915 + ], + [ + 15.69838387178913, + 0.09394689689032182 + ], + [ + 15.697009270980292, + 0.08801531492546553 + ], + [ + 15.542687106988136, + 0.20277964073542581 + ], + [ + 15.541312506179299, + 0.19684805877056955 + ], + [ + 15.543966133068968, + 0.09218398193490221 + ], + [ + 15.542591532260131, + 0.08625239997004593 + ] + ], + "yaw_rad": -3.130176618198437, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.45222282409668, + 0.1427130103111267, + 0.12161074578762054 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542979114419161, + 0.14476802347250456, + 0.1186052357478025 + ], + "intended_face_normal": [ + -0.9999294417028681, + -0.011451996984637166, + -0.0031171187622948265 + ], + "commanded_contact_point": [ + 15.47615155398463, + 0.14691993035859788, + 0.11881942034352229 + ], + "centerline_face_intersection": [ + 15.542968217672597, + 0.14565229301458615, + 0.11884592505153234 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.447208404541016, + 0.13860809803009033, + 0.12220039963722229 + ], + "box_pose": [ + 15.615857124328613, + 0.14365464448928833, + 0.1359872817993164, + -0.0014939068350940943, + -0.011278143152594566, + 0.9999187588691711, + -0.005743313580751419 + ], + "box_yaw_rad": -3.130140349217712, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036658280446323147 + } + } + }, + { + "simulation_time_ns": 4520000000, + "center": [ + 15.619502674533882, + 0.14512191669924335, + 0.11887045298708271 + ], + "face_center": [ + 15.542295468217189, + 0.14424297003144063, + 0.11817747651411055 + ], + "face_normal": [ + -0.9998950001711617, + -0.011383061510451584, + -0.008974598921749705 + ], + "footprint_xy": [ + [ + 15.540613374870457, + 0.0857034331894489 + ], + [ + 15.698391974197307, + 0.0857034331894489 + ], + [ + 15.698391974197307, + 0.2045404002090378 + ], + [ + 15.540613374870457, + 0.2045404002090378 + ] + ], + "projected_box_corners": [ + [ + 15.697106236008205, + 0.2045404002090378 + ], + [ + 15.695027787503845, + 0.19805038742840744 + ], + [ + 15.698391974197307, + 0.09395133930568471 + ], + [ + 15.696313525692947, + 0.08746132652505434 + ], + [ + 15.542691823374817, + 0.20278250687343236 + ], + [ + 15.540613374870457, + 0.19629249409280197 + ], + [ + 15.54397756156392, + 0.09219344597007925 + ], + [ + 15.54189911305956, + 0.0857034331894489 + ] + ], + "yaw_rad": -3.130208888500926, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.456978797912598, + 0.1458495557308197, + 0.11956410109996796 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542639319624135, + 0.14451602035273586, + 0.11839002829248299 + ], + "intended_face_normal": [ + -0.9999165379115751, + -0.01141557850455405, + -0.006013690742403249 + ], + "commanded_contact_point": [ + 15.47978484236228, + 0.14680359928697917, + 0.11883748902833223 + ], + "centerline_face_intersection": [ + 15.542626429983498, + 0.14539747783044568, + 0.11885437731092396 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.45222282409668, + 0.1427130103111267, + 0.12161074578762054 + ], + "box_pose": [ + 15.615467071533203, + 0.14336302876472473, + 0.13597887754440308, + -0.0029362011700868607, + -0.012347123585641384, + 0.9999029040336609, + -0.005744600668549538 + ], + "box_yaw_rad": -3.130176618198437, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003635195157176284 + } + } + }, + { + "simulation_time_ns": 4540000000, + "center": [ + 15.619403384268958, + 0.14500363454350146, + 0.11889521960903635 + ], + "face_center": [ + 15.542196773656693, + 0.14412440855851127, + 0.11813717110091437 + ], + "face_normal": [ + -0.9998872853229195, + -0.011386678891166778, + -0.009817333760909331 + ], + "footprint_xy": [ + [ + 15.540413044697278, + 0.08546765655534566 + ], + [ + 15.698393723840637, + 0.08546765655534566 + ], + [ + 15.698393723840637, + 0.20453961253165723 + ], + [ + 15.540413044697278, + 0.20453961253165723 + ] + ], + "projected_box_corners": [ + [ + 15.69710403211348, + 0.20453961253165723 + ], + [ + 15.694826265921808, + 0.19781217424421207 + ], + [ + 15.698393723840637, + 0.09395354681277118 + ], + [ + 15.696115957648965, + 0.08722610852532603 + ], + [ + 15.542690810888951, + 0.20278116056167686 + ], + [ + 15.540413044697278, + 0.1960537222742317 + ], + [ + 15.543980502616108, + 0.09219509484279081 + ], + [ + 15.541702736424435, + 0.08546765655534566 + ] + ], + "yaw_rad": -3.1302051833550664, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.463530540466309, + 0.14602628350257874, + 0.11948755383491516 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542295468217189, + 0.14424297003144063, + 0.11817747651411055 + ], + "intended_face_normal": [ + -0.9998950001711617, + -0.011383061510451584, + -0.008974598921749705 + ], + "commanded_contact_point": [ + 15.483388345434534, + 0.14666528654803193, + 0.1188613061014114 + ], + "centerline_face_intersection": [ + 15.542279252176314, + 0.14512191669924335, + 0.11887045298708271 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.456978797912598, + 0.1458495557308197, + 0.11956410109996796 + ], + "box_pose": [ + 15.615071296691895, + 0.14304767549037933, + 0.13597723841667175, + -0.004410151857882738, + -0.013502910733222961, + 0.9998825788497925, + -0.005751756019890308 + ], + "box_yaw_rad": -3.130208888500926, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003606235164055428 + } + } + }, + { + "simulation_time_ns": 4560000000, + "center": [ + 15.619417614278058, + 0.1450005358503385, + 0.11890197742378864 + ], + "face_center": [ + 15.542210962470008, + 0.14412074215562884, + 0.11815277378529707 + ], + "face_normal": [ + -0.9998878188412537, + -0.01139403118555915, + -0.009702785633311922 + ], + "footprint_xy": [ + [ + 15.540440787710638, + 0.08546083471450419 + ], + [ + 15.69839444084548, + 0.08546083471450419 + ], + [ + 15.69839444084548, + 0.2045402369861728 + ], + [ + 15.540440787710638, + 0.2045402369861728 + ] + ], + "projected_box_corners": [ + [ + 15.697104262110471, + 0.2045402369861728 + ], + [ + 15.69485409132674, + 0.1978063395159452 + ], + [ + 15.69839444084548, + 0.09395431957415114 + ], + [ + 15.696144270061748, + 0.08722042210392353 + ], + [ + 15.54269095849437, + 0.2027806495967535 + ], + [ + 15.540440787710638, + 0.19604675212652586 + ], + [ + 15.543981137229379, + 0.09219473218473181 + ], + [ + 15.541730966445646, + 0.08546083471450419 + ] + ], + "yaw_rad": -3.130197837265458, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.468782424926758, + 0.14439019560813904, + 0.11997504532337189 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542196773656693, + 0.14412440855851127, + 0.11813717110091437 + ], + "intended_face_normal": [ + -0.9998872853229195, + -0.011386678891166778, + -0.009817333760909331 + ], + "commanded_contact_point": [ + 15.487043329445422, + 0.14656575809068234, + 0.11888053920366018 + ], + "centerline_face_intersection": [ + 15.542179366077248, + 0.14500363454350146, + 0.11889521960903635 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.463530540466309, + 0.14602628350257874, + 0.11948755383491516 + ], + "box_pose": [ + 15.614957809448242, + 0.14291240274906158, + 0.1359962522983551, + -0.0048286388628184795, + -0.013995485380291939, + 0.9998738765716553, + -0.005761645268648863 + ], + "box_yaw_rad": -3.1302051833550664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036563894685729143 + } + } + }, + { + "simulation_time_ns": 4580000000, + "center": [ + 15.619457764699094, + 0.14502240158395116, + 0.11890496237499872 + ], + "face_center": [ + 15.542250835723797, + 0.14414307815996572, + 0.11818139588195381 + ], + "face_normal": [ + -0.9998914083785309, + -0.011387940803996077, + -0.00937076411908122 + ], + "footprint_xy": [ + [ + 15.540521141375168, + 0.08550453420931198 + ], + [ + 15.698394388023022, + 0.08550453420931198 + ], + [ + 15.698394388023022, + 0.20454026895859032 + ], + [ + 15.540521141375168, + 0.20454026895859032 + ] + ], + "projected_box_corners": [ + [ + 15.697106091006795, + 0.20454026895859032 + ], + [ + 15.694934999325763, + 0.1978497046718129 + ], + [ + 15.698394388023022, + 0.09395374534406029 + ], + [ + 15.69622329634199, + 0.08726318105728284 + ], + [ + 15.542692233056199, + 0.20278162211061945 + ], + [ + 15.540521141375168, + 0.196091057823842 + ], + [ + 15.543980530072426, + 0.09219509849608942 + ], + [ + 15.541809438391395, + 0.08550453420931198 + ] + ], + "yaw_rad": -3.130203968421067, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.472189903259277, + 0.14193220436573029, + 0.12256208062171936 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542210962470008, + 0.14412074215562884, + 0.11815277378529707 + ], + "intended_face_normal": [ + -0.9998878188412537, + -0.01139403118555915, + -0.009702785633311922 + ], + "commanded_contact_point": [ + 15.490713385070608, + 0.14650230188999439, + 0.11888971274051852 + ], + "centerline_face_intersection": [ + 15.5421936372914, + 0.1450005358503385, + 0.11890197742378864 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.468782424926758, + 0.14439019560813904, + 0.11997504532337189 + ], + "box_pose": [ + 15.614974021911621, + 0.14290881156921387, + 0.13600346446037292, + -0.004771237261593342, + -0.014009267091751099, + 0.9998738169670105, + -0.005764584522694349 + ], + "box_yaw_rad": -3.130197837265458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003670615634351077 + } + } + }, + { + "simulation_time_ns": 4600000000, + "center": [ + 15.61952359816103, + 0.14506514325123893, + 0.11890608879727002 + ], + "face_center": [ + 15.542316317423722, + 0.144183581004008, + 0.11822550911717065 + ], + "face_normal": [ + -0.9998959639775489, + -0.011416935353549736, + -0.008814050550645297 + ], + "footprint_xy": [ + [ + 15.540652389636593, + 0.08558816910325243 + ], + [ + 15.698394806685465, + 0.08558816910325243 + ], + [ + 15.698394806685465, + 0.20454211739922543 + ], + [ + 15.540652389636593, + 0.20454211739922543 + ] + ], + "projected_box_corners": [ + [ + 15.69710535706193, + 0.20454211739922543 + ], + [ + 15.695066951111205, + 0.197938877476788 + ], + [ + 15.698394806685465, + 0.09395453352015173 + ], + [ + 15.69635640073474, + 0.08735129359771432 + ], + [ + 15.542690795587319, + 0.20277899290476356 + ], + [ + 15.540652389636593, + 0.19617575298232615 + ], + [ + 15.543980245210852, + 0.09219140902568987 + ], + [ + 15.541941839260126, + 0.08558816910325243 + ] + ], + "yaw_rad": -3.130175026508349, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.475790023803711, + 0.1398998349905014, + 0.12513390183448792 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542250835723797, + 0.14414307815996572, + 0.11818139588195381 + ], + "intended_face_normal": [ + -0.9998914083785309, + -0.011387940803996077, + -0.00937076411908122 + ], + "commanded_contact_point": [ + 15.494365662555138, + 0.14644800887518294, + 0.11889639127627302 + ], + "centerline_face_intersection": [ + 15.542234064940883, + 0.14502240158395116, + 0.11890496237499872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.472189903259277, + 0.14193220436573029, + 0.12256208062171936 + ], + "box_pose": [ + 15.615019798278809, + 0.14293380081653595, + 0.13600829243659973, + -0.0046057915315032005, + -0.0139198899269104, + 0.9998759627342224, + -0.005758796818554401 + ], + "box_yaw_rad": -3.130203968421067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036526871147558766 + } + } + }, + { + "simulation_time_ns": 4620000000, + "center": [ + 15.619610135890735, + 0.1451291977917699, + 0.1189048581759853 + ], + "face_center": [ + 15.542402397625759, + 0.14424500801724227, + 0.11828154109020593 + ], + "face_normal": [ + -0.9999018893263631, + -0.011450963931089006, + -0.008072454208944636 + ], + "footprint_xy": [ + [ + 15.540826227297918, + 0.0857135308739227 + ], + [ + 15.69839404448355, + 0.0857135308739227 + ], + [ + 15.69839404448355, + 0.20454486470961705 + ], + [ + 15.540826227297918, + 0.20454486470961705 + ] + ], + "projected_box_corners": [ + [ + 15.697103545750753, + 0.20454486470961705 + ], + [ + 15.695241703827868, + 0.1980710850368156 + ], + [ + 15.69839404448355, + 0.09395569009577937 + ], + [ + 15.696532202560665, + 0.08748191042297787 + ], + [ + 15.542688069220803, + 0.20277648516056188 + ], + [ + 15.540826227297918, + 0.19630270548776038 + ], + [ + 15.5439785679536, + 0.09218731054672417 + ], + [ + 15.542116726030715, + 0.0857135308739227 + ] + ], + "yaw_rad": -3.1301410666955607, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.480147361755371, + 0.13969303667545319, + 0.12557734549045563 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542316317423722, + 0.144183581004008, + 0.11822550911717065 + ], + "intended_face_normal": [ + -0.9998959639775489, + -0.011416935353549736, + -0.008814050550645297 + ], + "commanded_contact_point": [ + 15.497995662289815, + 0.14640380956846694, + 0.11890072333825101 + ], + "centerline_face_intersection": [ + 15.542300250239633, + 0.14506514325123893, + 0.11890608879727002 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.475790023803711, + 0.1398998349905014, + 0.12513390183448792 + ], + "box_pose": [ + 15.615095138549805, + 0.14298266172409058, + 0.13601262867450714, + -0.004328289069235325, + -0.013739368878304958, + 0.9998795986175537, + -0.005768630187958479 + ], + "box_yaw_rad": -3.130175026508349, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036302713974623066 + } + } + }, + { + "simulation_time_ns": 4640000000, + "center": [ + 15.619721895323176, + 0.1452156043790569, + 0.11890115422959817 + ], + "face_center": [ + 15.54251359448679, + 0.1443300878221937, + 0.1183507096130006 + ], + "face_normal": [ + -0.9999091750755398, + -0.011468146822259034, + -0.0071286975175535155 + ], + "footprint_xy": [ + [ + 15.541050360640531, + 0.0858846811244236 + ], + [ + 15.698393430005819, + 0.0858846811244236 + ], + [ + 15.698393430005819, + 0.2045465276336902 + ], + [ + 15.541050360640531, + 0.2045465276336902 + ] + ], + "projected_box_corners": [ + [ + 15.697104388464703, + 0.2045465276336902 + ], + [ + 15.6954669623133, + 0.1982470421004824 + ], + [ + 15.698393430005819, + 0.09395519977135774 + ], + [ + 15.696756003854418, + 0.08765571423814997 + ], + [ + 15.542687786791934, + 0.2027754945199638 + ], + [ + 15.541050360640531, + 0.19647600898675605 + ], + [ + 15.54397682833305, + 0.09218416665763136 + ], + [ + 15.542339402181648, + 0.0858846811244236 + ] + ], + "yaw_rad": -3.130123967934088, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.483800888061523, + 0.14136801660060883, + 0.12419643998146057 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542402397625759, + 0.14424500801724227, + 0.11828154109020593 + ], + "intended_face_normal": [ + -0.9999018893263631, + -0.011450963931089006, + -0.008072454208944636 + ], + "commanded_contact_point": [ + 15.501596737510022, + 0.14637183543080978, + 0.11890226081231998 + ], + "centerline_face_intersection": [ + 15.54238724558951, + 0.1451291977917699, + 0.1189048581759853 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.480147361755371, + 0.13969303667545319, + 0.12557734549045563 + ], + "box_pose": [ + 15.615194320678711, + 0.14305582642555237, + 0.13601577281951904, + -0.003958825021982193, + -0.013471530750393867, + 0.9998847246170044, + -0.005779479630291462 + ], + "box_yaw_rad": -3.1301410666955607, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003601217495638403 + } + } + }, + { + "simulation_time_ns": 4660000000, + "center": [ + 15.61986273335687, + 0.14532682700120977, + 0.11889547041112163 + ], + "face_center": [ + 15.542653883090674, + 0.14443845789286314, + 0.11843726130248555 + ], + "face_normal": [ + -0.9999162906305097, + -0.011505089642781612, + -0.005934174005452059 + ], + "footprint_xy": [ + [ + 15.54133267998266, + 0.08610372108211616 + ], + [ + 15.698392786731079, + 0.08610372108211616 + ], + [ + 15.698392786731079, + 0.20454993292030338 + ], + [ + 15.54133267998266, + 0.20454993292030338 + ] + ], + "projected_box_corners": [ + [ + 15.697103702604556, + 0.20454993292030338 + ], + [ + 15.695750380515051, + 0.19847437583901428 + ], + [ + 15.698392786731079, + 0.09395601638009848 + ], + [ + 15.697039464641573, + 0.08788045929880939 + ], + [ + 15.542686002072164, + 0.20277319470361016 + ], + [ + 15.54133267998266, + 0.19669763762232106 + ], + [ + 15.543975086198689, + 0.09217927816340524 + ], + [ + 15.542621764109184, + 0.08610372108211616 + ] + ], + "yaw_rad": -3.130087108501495, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.486781120300293, + 0.14296436309814453, + 0.12093867361545563 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.54251359448679, + 0.1443300878221937, + 0.1183507096130006 + ], + "intended_face_normal": [ + -0.9999091750755398, + -0.011468146822259034, + -0.0071286975175535155 + ], + "commanded_contact_point": [ + 15.505166377137996, + 0.14635458263238094, + 0.11890032813246298 + ], + "centerline_face_intersection": [ + 15.542499567699664, + 0.1452156043790569, + 0.11890115422959817 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.483800888061523, + 0.14136801660060883, + 0.12419643998146057 + ], + "box_pose": [ + 15.61532211303711, + 0.14315462112426758, + 0.13601769506931305, + -0.003488941350951791, + -0.013110845349729061, + 0.9998913407325745, + -0.005780444480478764 + ], + "box_yaw_rad": -3.130123967934088, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003569681844073717 + } + } + }, + { + "simulation_time_ns": 4680000000, + "center": [ + 15.62001249305259, + 0.14545419140253035, + 0.11888741607140742 + ], + "face_center": [ + 15.542803138077462, + 0.1445642550867607, + 0.11852874631915593 + ], + "face_normal": [ + -0.9999228270143821, + -0.011525386230901522, + -0.004645059821460575 + ], + "footprint_xy": [ + [ + 15.541636037242151, + 0.08635544841266689 + ], + [ + 15.698388948863029, + 0.08635544841266689 + ], + [ + 15.698388948863029, + 0.2045529343923938 + ], + [ + 15.541636037242151, + 0.2045529343923938 + ] + ], + "projected_box_corners": [ + [ + 15.697101735972492, + 0.2045529343923938 + ], + [ + 15.696054747192408, + 0.19873212033013493 + ], + [ + 15.698388948863029, + 0.09395613510646501 + ], + [ + 15.697341960082944, + 0.08813532104420613 + ], + [ + 15.542683026022235, + 0.20277306176085458 + ], + [ + 15.541636037242151, + 0.19695224769859568 + ], + [ + 15.543970238912772, + 0.09217626247492577 + ], + [ + 15.542923250132688, + 0.08635544841266689 + ] + ], + "yaw_rad": -3.1300668882423412, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.489848136901855, + 0.14568758010864258, + 0.12017883360385895 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542653883090674, + 0.14443845789286314, + 0.11843726130248555 + ], + "intended_face_normal": [ + -0.9999162906305097, + -0.011505089642781612, + -0.005934174005452059 + ], + "commanded_contact_point": [ + 15.508702161922002, + 0.1463558361086511, + 0.11889428156975992 + ], + "centerline_face_intersection": [ + 15.542640955259076, + 0.14532682700120977, + 0.11889547041112163 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.486781120300293, + 0.14296436309814453, + 0.12093867361545563 + ], + "box_pose": [ + 15.615483283996582, + 0.1432816982269287, + 0.13601912558078766, + -0.0028941540513187647, + -0.012647389434278011, + 0.9998990893363953, + -0.005789732560515404 + ], + "box_yaw_rad": -3.130087108501495, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003535790176315914 + } + } + }, + { + "simulation_time_ns": 4700000000, + "center": [ + 15.620169186094481, + 0.1455848145165181, + 0.11887938172388621 + ], + "face_center": [ + 15.542959467785288, + 0.1446923021029072, + 0.11862324441404207 + ], + "face_normal": [ + -0.9999275324807919, + -0.01155874875590846, + -0.003317182782393638 + ], + "footprint_xy": [ + [ + 15.541950292334489, + 0.08661361986370568 + ], + [ + 15.698388079854473, + 0.08661361986370568 + ], + [ + 15.698388079854473, + 0.20455600916933053 + ], + [ + 15.541950292334489, + 0.20455600916933053 + ] + ], + "projected_box_corners": [ + [ + 15.697101104553266, + 0.20455600916933053 + ], + [ + 15.696369728952877, + 0.1989982578307976 + ], + [ + 15.698388079854473, + 0.09395639602946045 + ], + [ + 15.697656704254083, + 0.08839864469092751 + ], + [ + 15.542681667934877, + 0.20277098434210872 + ], + [ + 15.541950292334489, + 0.1972132330035758 + ], + [ + 15.543968643236084, + 0.09217137120223862 + ], + [ + 15.543237267635696, + 0.08661361986370568 + ] + ], + "yaw_rad": -3.1300335819775986, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.49233341217041, + 0.14816249907016754, + 0.12143157422542572 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542803138077462, + 0.1445642550867607, + 0.11852874631915593 + ], + "intended_face_normal": [ + -0.9999228270143821, + -0.011525386230901522, + -0.004645059821460575 + ], + "commanded_contact_point": [ + 15.512188682036482, + 0.14637285434215025, + 0.11888468193580608 + ], + "centerline_face_intersection": [ + 15.542791219744938, + 0.14545419140253035, + 0.11888741607140742 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.489848136901855, + 0.14568758010864258, + 0.12017883360385895 + ], + "box_pose": [ + 15.615654945373535, + 0.14342719316482544, + 0.1360188126564026, + -0.00225255754776299, + -0.01212000660598278, + 0.9999072551727295, + -0.0057905311696231365 + ], + "box_yaw_rad": -3.1300668882423412, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034865748639484736 + } + } + }, + { + "simulation_time_ns": 4720000000, + "center": [ + 15.620330843367336, + 0.14572362763481536, + 0.11887009699909358 + ], + "face_center": [ + 15.543120847819532, + 0.14483094064406293, + 0.11872019831392046 + ], + "face_normal": [ + -0.9999311229422752, + -0.011561009669355258, + -0.0019413077222615403 + ], + "footprint_xy": [ + [ + 15.542276796911391, + 0.08689101042375769 + ], + [ + 15.69838488982328, + 0.08689101042375769 + ], + [ + 15.69838488982328, + 0.20455624484587304 + ], + [ + 15.542276796911391, + 0.20455624484587304 + ] + ], + "projected_box_corners": [ + [ + 15.697101404191551, + 0.20455624484587304 + ], + [ + 15.696696788007001, + 0.19927891602576106 + ], + [ + 15.69838488982328, + 0.09395371322537453 + ], + [ + 15.69798027363873, + 0.08867638440526257 + ], + [ + 15.542681413095943, + 0.20277087086436815 + ], + [ + 15.542276796911391, + 0.1974935420442562 + ], + [ + 15.54396489872767, + 0.09216833924386966 + ], + [ + 15.54356028254312, + 0.08689101042375769 + ] + ], + "yaw_rad": -3.130031362712129, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.494874954223633, + 0.14831870794296265, + 0.1230836808681488 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.542959467785288, + 0.1446923021029072, + 0.11862324441404207 + ], + "intended_face_normal": [ + -0.9999275324807919, + -0.01155874875590846, + -0.003317182782393638 + ], + "commanded_contact_point": [ + 15.515618718014872, + 0.14639984171556575, + 0.11887308763213868 + ], + "centerline_face_intersection": [ + 15.54294827617527, + 0.1455848145165181, + 0.11887938172388621 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.49233341217041, + 0.14816249907016754, + 0.12143157422542572 + ], + "box_pose": [ + 15.61583423614502, + 0.1435764878988266, + 0.13601870834827423, + -0.001591609325259924, + -0.011575398966670036, + 0.9999148845672607, + -0.00579829141497612 + ], + "box_yaw_rad": -3.1300335819775986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034301617395175892 + } + } + }, + { + "simulation_time_ns": 4740000000, + "center": [ + 15.620505831478654, + 0.1458734341663477, + 0.11886040447985641 + ], + "face_center": [ + 15.54329568571795, + 0.14498038579483452, + 0.11882542839315771 + ], + "face_normal": [ + -0.9999330683193355, + -0.011565689838902543, + -0.0004529682640260317 + ], + "footprint_xy": [ + [ + 15.542629945223837, + 0.08719101303624316 + ], + [ + 15.698381717733474, + 0.08719101303624316 + ], + [ + 15.698381717733474, + 0.20455585529645226 + ], + [ + 15.542629945223837, + 0.20455585529645226 + ] + ], + "projected_box_corners": [ + [ + 15.697101363864851, + 0.20455585529645226 + ], + [ + 15.697050236745246, + 0.19958265696768143 + ], + [ + 15.698381717733474, + 0.09395030810804035 + ], + [ + 15.698330590613867, + 0.08897710977926954 + ], + [ + 15.542681072343441, + 0.20276975855342588 + ], + [ + 15.542629945223837, + 0.19779656022465505 + ], + [ + 15.543961426212064, + 0.09216421136501397 + ], + [ + 15.543910299092458, + 0.08719101303624316 + ] + ], + "yaw_rad": -3.130026705345713, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.497421264648438, + 0.1456182301044464, + 0.12375548481941223 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.543120847819532, + 0.14483094064406293, + 0.11872019831392046 + ], + "intended_face_normal": [ + -0.9999311229422752, + -0.011561009669355258, + -0.0019413077222615403 + ], + "commanded_contact_point": [ + 15.518984857474805, + 0.14643980990699673, + 0.11885858229430617 + ], + "centerline_face_intersection": [ + 15.543110210725926, + 0.14572362763481536, + 0.11887009699909358 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.494874954223633, + 0.14831870794296265, + 0.1230836808681488 + ], + "box_pose": [ + 15.616019248962402, + 0.1437353491783142, + 0.13601765036582947, + -0.0009070543455891311, + -0.010994778014719486, + 0.9999223351478577, + -0.005790927447378635 + ], + "box_yaw_rad": -3.130031362712129, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033664079855048545 + } + } + }, + { + "simulation_time_ns": 4760000000, + "center": [ + 15.620696735984827, + 0.14604004195006204, + 0.1188486156227728 + ], + "face_center": [ + 15.543486600455466, + 0.14514731795315924, + 0.11893860401370553 + ], + "face_normal": [ + -0.99993293581527, + -0.011561488928565405, + 0.0011654215514288824 + ], + "footprint_xy": [ + [ + 15.542681832363268, + 0.08752527267463636 + ], + [ + 15.698711639606387, + 0.08752527267463636 + ], + [ + 15.698711639606387, + 0.2045548112254877 + ], + [ + 15.542681832363268, + 0.2045548112254877 + ] + ], + "projected_box_corners": [ + [ + 15.697102103421992, + 0.2045548112254877 + ], + [ + 15.697435245846126, + 0.19991943795056388 + ], + [ + 15.698378497182254, + 0.09394609394336575 + ], + [ + 15.698711639606387, + 0.08931072066844195 + ], + [ + 15.542681832363268, + 0.2027693632316821 + ], + [ + 15.543014974787402, + 0.1981339899567583 + ], + [ + 15.54395822612353, + 0.09216064594956017 + ], + [ + 15.544291368547665, + 0.08752527267463636 + ] + ], + "yaw_rad": -3.130030904443529, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.499292373657227, + 0.14127831161022186, + 0.12183065712451935 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.54329568571795, + 0.14498038579483452, + 0.11882542839315771 + ], + "intended_face_normal": [ + -0.9999330683193355, + -0.011565689838902543, + -0.0004529682640260317 + ], + "commanded_contact_point": [ + 15.522286016852245, + 0.14649558546157407, + 0.118840930148016 + ], + "centerline_face_intersection": [ + 15.543285349070548, + 0.1458734341663477, + 0.11886040447985641 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.497421264648438, + 0.1456182301044464, + 0.12375548481941223 + ], + "box_pose": [ + 15.616219520568848, + 0.14390689134597778, + 0.13601680099964142, + -0.00016653418424539268, + -0.010365065187215805, + 0.9999295473098755, + -0.005784978624433279 + ], + "box_yaw_rad": -3.130026705345713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003301677716860786 + } + } + }, + { + "simulation_time_ns": 4780000000, + "center": [ + 15.620908935808478, + 0.1462261898575516, + 0.11883593780954879 + ], + "face_center": [ + 15.54369914794377, + 0.1453332554087665, + 0.1190666008294614 + ], + "face_normal": [ + -0.9999284332802738, + -0.01156421444856457, + 0.0029872703771840863 + ], + "footprint_xy": [ + [ + 15.542679569173792, + 0.08789878130033124 + ], + [ + 15.699138302443162, + 0.08789878130033124 + ], + [ + 15.699138302443162, + 0.20455359841477194 + ], + [ + 15.542679569173792, + 0.20455359841477194 + ] + ], + "projected_box_corners": [ + [ + 15.697099144903211, + 0.20455359841477194 + ], + [ + 15.697864948595923, + 0.2002965221651526 + ], + [ + 15.69837249875045, + 0.0939417264475208 + ], + [ + 15.699138302443162, + 0.08968465019790144 + ], + [ + 15.542679569173792, + 0.20276772951720176 + ], + [ + 15.543445372866506, + 0.19851065326758238 + ], + [ + 15.543952923021031, + 0.0921558575499506 + ], + [ + 15.544718726713745, + 0.08789878130033124 + ] + ], + "yaw_rad": -3.130028127036623, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.501784324645996, + 0.13643358647823334, + 0.11593815684318542 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.543486600455466, + 0.14514731795315924, + 0.11893860401370553 + ], + "intended_face_normal": [ + -0.99993293581527, + -0.011561488928565405, + 0.0011654215514288824 + ], + "commanded_contact_point": [ + 15.525518082864084, + 0.14657187759691656, + 0.11881866095409727 + ], + "centerline_face_intersection": [ + 15.543476243344006, + 0.14604004195006204, + 0.1188486156227728 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.499292373657227, + 0.14127831161022186, + 0.12183065712451935 + ], + "box_pose": [ + 15.616437911987305, + 0.1440976858139038, + 0.13601461052894592, + 0.0006385689484886825, + -0.009665493853390217, + 0.9999365210533142, + -0.005774938967078924 + ], + "box_yaw_rad": -3.130030904443529, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032330430111264384 + } + } + }, + { + "simulation_time_ns": 4800000000, + "center": [ + 15.621150368199125, + 0.14643267914042984, + 0.11882373212778251 + ], + "face_center": [ + 15.543941193887912, + 0.14554007222216717, + 0.11921381072107352 + ], + "face_normal": [ + -0.9999204872723293, + -0.01155997266664547, + 0.005051829404441929 + ], + "footprint_xy": [ + [ + 15.542678176385568, + 0.08831409492110286 + ], + [ + 15.69962256001268, + 0.08831409492110286 + ], + [ + 15.69962256001268, + 0.20455126335975682 + ], + [ + 15.542678176385568, + 0.20455126335975682 + ] + ], + "projected_box_corners": [ + [ + 15.69709652500799, + 0.20455126335975682 + ], + [ + 15.69835272271322, + 0.20071449042812478 + ], + [ + 15.698366362307448, + 0.09393608168926022 + ], + [ + 15.69962256001268, + 0.0900993087576282 + ], + [ + 15.542678176385568, + 0.20276604952323146 + ], + [ + 15.5439343740908, + 0.19892927659159945 + ], + [ + 15.543948013685027, + 0.09215086785273488 + ], + [ + 15.545204211390258, + 0.08831409492110286 + ] + ], + "yaw_rad": -3.1300322766978015, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.504791259765625, + 0.13490550220012665, + 0.1130504161119461 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.54369914794377, + 0.1453332554087665, + 0.1190666008294614 + ], + "intended_face_normal": [ + -0.9999284332802738, + -0.01156421444856457, + 0.0029872703771840863 + ], + "commanded_contact_point": [ + 15.528678966411055, + 0.14667205920913917, + 0.11879155508949521 + ], + "centerline_face_intersection": [ + 15.543688095454801, + 0.1462261898575516, + 0.11883593780954879 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.501784324645996, + 0.13643358647823334, + 0.11593815684318542 + ], + "box_pose": [ + 15.616681098937988, + 0.14431089162826538, + 0.13601262867450714, + 0.0015449624042958021, + -0.008882155641913414, + 0.9999426603317261, + -0.005768715403974056 + ], + "box_yaw_rad": -3.130028127036623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031625868969627938 + } + } + }, + { + "simulation_time_ns": 4820000000, + "center": [ + 15.621380948403699, + 0.1466120213669401, + 0.11881903125329747 + ], + "face_center": [ + 15.54417269049889, + 0.14571951484139928, + 0.1193612246488379 + ], + "face_normal": [ + -0.999908619077335, + -0.01155867250069672, + 0.0070218376132264535 + ], + "footprint_xy": [ + [ + 15.542676698744188, + 0.08867485327676386 + ], + [ + 15.700085198063208, + 0.08867485327676386 + ], + [ + 15.700085198063208, + 0.20454918945711634 + ], + [ + 15.542676698744188, + 0.20454918945711634 + ] + ], + "projected_box_corners": [ + [ + 15.697093214553806, + 0.20454918945711634 + ], + [ + 15.69881779364882, + 0.20107761677906097 + ], + [ + 15.698360618968195, + 0.09393143900590083 + ], + [ + 15.700085198063208, + 0.09045986632784547 + ], + [ + 15.542676698744188, + 0.20276417640603472 + ], + [ + 15.544401277839203, + 0.19929260372797936 + ], + [ + 15.543944103158577, + 0.09214642595481923 + ], + [ + 15.545668682253591, + 0.08867485327676386 + ] + ], + "yaw_rad": -3.1300334396077005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.508143424987793, + 0.13872836530208588, + 0.11333750188350677 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.543941193887912, + 0.14554007222216717, + 0.11921381072107352 + ], + "intended_face_normal": [ + -0.9999204872723293, + -0.01155997266664547, + 0.005051829404441929 + ], + "commanded_contact_point": [ + 15.53176910137362, + 0.14679795936612883, + 0.11875992057856538 + ], + "centerline_face_intersection": [ + 15.543928914199244, + 0.14643267914042984, + 0.11882373212778251 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.504791259765625, + 0.13490550220012665, + 0.1130504161119461 + ], + "box_pose": [ + 15.616957664489746, + 0.1445474773645401, + 0.13601236045360565, + 0.0025721946731209755, + -0.00801195576786995, + 0.9999480247497559, + -0.0057596773840487 + ], + "box_yaw_rad": -3.1300322766978015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003092860436339234 + } + } + }, + { + "simulation_time_ns": 4840000000, + "center": [ + 15.621577196618293, + 0.14676452378957947, + 0.11881462142217915 + ], + "face_center": [ + 15.544369962252832, + 0.1458723201925575, + 0.11948724631897291 + ], + "face_normal": [ + -0.9998953634251093, + -0.011554749334377903, + 0.008711029752015542 + ], + "footprint_xy": [ + [ + 15.542674085230194, + 0.08898160488893458 + ], + [ + 15.70048030800639, + 0.08898160488893458 + ], + [ + 15.70048030800639, + 0.20454744269022435 + ], + [ + 15.542674085230194, + 0.20454744269022435 + ] + ], + "projected_box_corners": [ + [ + 15.697088553961116, + 0.20454744269022435 + ], + [ + 15.699214791510474, + 0.20138574231952117 + ], + [ + 15.698354070457034, + 0.09392771245368169 + ], + [ + 15.70048030800639, + 0.09076601208297852 + ], + [ + 15.542674085230194, + 0.20276303549618038 + ], + [ + 15.544800322779553, + 0.19960133512547723 + ], + [ + 15.54393960172611, + 0.09214330525963774 + ], + [ + 15.54606583927547, + 0.08898160488893458 + ] + ], + "yaw_rad": -3.130037209433201, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.511788368225098, + 0.1445140689611435, + 0.11711958050727844 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.54417269049889, + 0.14571951484139928, + 0.1193612246488379 + ], + "intended_face_normal": [ + -0.999908619077335, + -0.01155867250069672, + 0.0070218376132264535 + ], + "commanded_contact_point": [ + 15.53475308826132, + 0.1469149665217404, + 0.11873276321728886 + ], + "centerline_face_intersection": [ + 15.544158577840788, + 0.1466120213669401, + 0.11881903125329747 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.508143424987793, + 0.13872836530208588, + 0.11333750188350677 + ], + "box_pose": [ + 15.61722183227539, + 0.14475296437740326, + 0.13601866364479065, + 0.003552845446392894, + -0.007256361655890942, + 0.9999508261680603, + -0.005753838457167149 + ], + "box_yaw_rad": -3.1300334396077005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029864035130414694 + } + } + }, + { + "simulation_time_ns": 4860000000, + "center": [ + 15.62174539484355, + 0.14689377044180776, + 0.11881011687330044 + ], + "face_center": [ + 15.544539189470035, + 0.14600076441727583, + 0.1195931967910065 + ], + "face_normal": [ + -0.999882037157406, + -0.01156514141166542, + 0.010141510511816443 + ], + "footprint_xy": [ + [ + 15.54267307265932, + 0.08924075840332232 + ], + [ + 15.700817717027784, + 0.08924075840332232 + ], + [ + 15.700817717027784, + 0.20454678248029318 + ], + [ + 15.54267307265932, + 0.20454678248029318 + ] + ], + "projected_box_corners": [ + [ + 15.697085483406353, + 0.20454678248029318 + ], + [ + 15.69955190647409, + 0.20164805043458783 + ], + [ + 15.698351293960046, + 0.0939255024980915 + ], + [ + 15.700817717027784, + 0.09102677045238615 + ], + [ + 15.54267307265932, + 0.20276077043122936 + ], + [ + 15.545139495727057, + 0.199862038385524 + ], + [ + 15.543938883213011, + 0.09213949044902767 + ], + [ + 15.546405306280748, + 0.08924075840332232 + ] + ], + "yaw_rad": -3.1300266635235134, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.515998840332031, + 0.1462232917547226, + 0.12214283645153046 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544369962252832, + 0.1458723201925575, + 0.11948724631897291 + ], + "intended_face_normal": [ + -0.9998953634251093, + -0.011554749334377903, + 0.008711029752015542 + ], + "commanded_contact_point": [ + 15.537604413062374, + 0.14702072285881074, + 0.11870741694477868 + ], + "centerline_face_intersection": [ + 15.544353802315374, + 0.14676452378957947, + 0.11881462142217915 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.511788368225098, + 0.1445140689611435, + 0.11711958050727844 + ], + "box_pose": [ + 15.617446899414062, + 0.14492766559123993, + 0.13602358102798462, + 0.004393754526972771, + -0.006615292280912399, + 0.999951958656311, + -0.005748584866523743 + ], + "box_yaw_rad": -3.130037209433201, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028533979668918363 + } + } + }, + { + "simulation_time_ns": 4880000000, + "center": [ + 15.62188679377101, + 0.14700465915557578, + 0.11880533903742412 + ], + "face_center": [ + 15.544681633233983, + 0.1461112070155498, + 0.11968204523124096 + ], + "face_normal": [ + -0.9998685056901726, + -0.01157091896370109, + 0.011354045582491305 + ], + "footprint_xy": [ + [ + 15.542671260209241, + 0.08946352928228044 + ], + [ + 15.701102327332778, + 0.08946352928228044 + ], + [ + 15.701102327332778, + 0.20454578902887116 + ], + [ + 15.542671260209241, + 0.20454578902887116 + ] + ], + "projected_box_corners": [ + [ + 15.697081581283296, + 0.20454578902887116 + ], + [ + 15.699836318964987, + 0.20187286797949178 + ], + [ + 15.698347589651087, + 0.0939233546117118 + ], + [ + 15.701102327332778, + 0.09125043356233242 + ], + [ + 15.542671260209241, + 0.20275888474881917 + ], + [ + 15.545425997890932, + 0.2000859636994398 + ], + [ + 15.543937268577032, + 0.09213645033165982 + ], + [ + 15.546692006258723, + 0.08946352928228044 + ] + ], + "yaw_rad": -3.1300207294735736, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.519949913024902, + 0.14606119692325592, + 0.125982403755188 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544539189470035, + 0.14600076441727583, + 0.1195931967910065 + ], + "intended_face_normal": [ + -0.999882037157406, + -0.01156514141166542, + 0.010141510511816443 + ], + "commanded_contact_point": [ + 15.54031821451068, + 0.14711589243714857, + 0.11868373832569663 + ], + "centerline_face_intersection": [ + 15.544520971319596, + 0.14689377044180776, + 0.11881011687330044 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.515998840332031, + 0.1462232917547226, + 0.12214283645153046 + ], + "box_pose": [ + 15.617639541625977, + 0.1450756937265396, + 0.13602691888809204, + 0.005105921067297459, + -0.006071289069950581, + 0.9999520778656006, + -0.005751846823841333 + ], + "box_yaw_rad": -3.1300266635235134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027155729094382086 + } + } + }, + { + "simulation_time_ns": 4900000000, + "center": [ + 15.622755734245288, + 0.14718820018450815, + 0.11879171253001097 + ], + "face_center": [ + 15.545552098997806, + 0.14639781036677862, + 0.11987649674484646 + ], + "face_normal": [ + -0.9998487519720654, + -0.010236179556766275, + 0.014048822181564625 + ], + "footprint_xy": [ + [ + 15.543296666523284, + 0.08998949084612565 + ], + [ + 15.702214801967294, + 0.08998949084612565 + ], + [ + 15.702214801967294, + 0.20438690952289068 + ], + [ + 15.543296666523284, + 0.20438690952289068 + ] + ], + "projected_box_corners": [ + [ + 15.697703937018249, + 0.20438690952289068 + ], + [ + 15.701096656614967, + 0.20219656284116616 + ], + [ + 15.698822082370576, + 0.09376061716330927 + ], + [ + 15.702214801967294, + 0.09157027048158475 + ], + [ + 15.543296666523284, + 0.20280612988743157 + ], + [ + 15.546689386120002, + 0.20061578320570705 + ], + [ + 15.544414811875612, + 0.09217983752785018 + ], + [ + 15.54780753147233, + 0.08998949084612565 + ] + ], + "yaw_rad": -3.131355283250123, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.524359703063965, + 0.14667250216007233, + 0.12631314992904663 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.544681633233983, + 0.1461112070155498, + 0.11968204523124096 + ], + "intended_face_normal": [ + -0.9998685056901726, + -0.01157091896370109, + 0.011354045582491305 + ], + "commanded_contact_point": [ + 15.542886068030276, + 0.14720224953777072, + 0.11866144015924517 + ], + "centerline_face_intersection": [ + 15.544661325149875, + 0.14700465915557578, + 0.11880533903742412 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.519949913024902, + 0.14606119692325592, + 0.125982403755188 + ], + "box_pose": [ + 15.617801666259766, + 0.14520272612571716, + 0.13602876663208008, + 0.005709544755518436, + -0.005604110658168793, + 0.9999514222145081, + -0.005753742065280676 + ], + "box_yaw_rad": -3.1300207294735736, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025694019644955527 + } + } + }, + { + "simulation_time_ns": 4920000000, + "center": [ + 15.627539234767907, + 0.14812295269751716, + 0.11884520000526388 + ], + "face_center": [ + 15.550343770820579, + 0.1469909995469939, + 0.1201808590805325 + ], + "face_normal": [ + -0.9997429271072749, + -0.014659697580476548, + 0.01729785204008305 + ], + "footprint_xy": [ + [ + 15.547453531093531, + 0.09102318574698129 + ], + [ + 15.707624938442283, + 0.09102318574698129 + ], + [ + 15.707624938442283, + 0.20522271964805303 + ], + [ + 15.547453531093531, + 0.20522271964805303 + ] + ], + "projected_box_corners": [ + [ + 15.701844458988187, + 0.20522271964805303 + ], + [ + 15.706013776948927, + 0.20391026814211743 + ], + [ + 15.703455620481543, + 0.09459954355396338 + ], + [ + 15.707624938442283, + 0.09328709204802778 + ], + [ + 15.547453531093531, + 0.20295881334700655 + ], + [ + 15.55162284905427, + 0.20164636184107093 + ], + [ + 15.549064692586887, + 0.09233563725291688 + ], + [ + 15.553234010547627, + 0.09102318574698129 + ] + ], + "yaw_rad": -3.1269302372600536, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.529369354248047, + 0.1482258290052414, + 0.12479977309703827 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.545552098997806, + 0.14639781036677862, + 0.11987649674484646 + ], + "intended_face_normal": [ + -0.9998487519720654, + -0.010236179556766275, + 0.014048822181564625 + ], + "commanded_contact_point": [ + 15.545943093286922, + 0.14733881019862125, + 0.11861169310859171 + ], + "centerline_face_intersection": [ + 15.545528739903252, + 0.14718820018450815, + 0.11879171253001097 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.524359703063965, + 0.14667250216007233, + 0.12631314992904663 + ], + "box_pose": [ + 15.618714332580566, + 0.14542654156684875, + 0.13602961599826813, + 0.007048153784126043, + -0.004601259250193834, + 0.9999516010284424, + -0.00508590554818511 + ], + "box_yaw_rad": -3.131355283250123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030604782310802506 + } + } + }, + { + "simulation_time_ns": 4940000000, + "center": [ + 15.632436459633125, + 0.14917915907677193, + 0.11890673065647889 + ], + "face_center": [ + 15.5552583227486, + 0.14725072110483073, + 0.12032751873442298 + ], + "face_normal": [ + -0.999518527801946, + -0.02497481230411138, + 0.01840034063157036 + ], + "footprint_xy": [ + [ + 15.551662937151896, + 0.09156812150684623 + ], + [ + 15.713209982114353, + 0.09156812150684623 + ], + [ + 15.713209982114353, + 0.20679019664669765 + ], + [ + 15.551662937151896, + 0.20679019664669765 + ] + ], + "projected_box_corners": [ + [ + 15.706019210920948, + 0.20679019664669765 + ], + [ + 15.71045381662686, + 0.2060266236199825 + ], + [ + 15.708775376408443, + 0.09618857047744378 + ], + [ + 15.713209982114353, + 0.09542499745072863 + ], + [ + 15.551662937151896, + 0.20293332070281525 + ], + [ + 15.556097542857808, + 0.2021697476761001 + ], + [ + 15.554419102639391, + 0.09233169453356137 + ], + [ + 15.558853708345302, + 0.09156812150684623 + ] + ], + "yaw_rad": -3.1166110089828405, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.534372329711914, + 0.14989343285560608, + 0.12309789657592773 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550343770820579, + 0.1469909995469939, + 0.1201808590805325 + ], + "intended_face_normal": [ + -0.9997429271072749, + -0.014659697580476548, + 0.01729785204008305 + ], + "commanded_contact_point": [ + 15.552313904465874, + 0.14821630383168038, + 0.11861136044722506 + ], + "centerline_face_intersection": [ + 15.55030406578816, + 0.14812295269751716, + 0.11884520000526388 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.529369354248047, + 0.1482258290052414, + 0.12479977309703827 + ], + "box_pose": [ + 15.623560905456543, + 0.14640523493289948, + 0.13610219955444336, + 0.008669966831803322, + -0.002798987552523613, + 0.999931812286377, + -0.007306079845875502 + ], + "box_yaw_rad": -3.1269302372600536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006430958736034826 + } + } + }, + { + "simulation_time_ns": 4960000000, + "center": [ + 15.637203703127227, + 0.15026212877072195, + 0.11896393493852227 + ], + "face_center": [ + 15.560051715620052, + 0.14751952784307387, + 0.12046615524054448 + ], + "face_normal": [ + -0.9991798724753713, + -0.03551887298928412, + 0.019454952986983735 + ], + "footprint_xy": [ + [ + 15.555749008632683, + 0.09211652966987383 + ], + [ + 15.718658397621772, + 0.09211652966987383 + ], + [ + 15.718658397621772, + 0.20840772787157008 + ], + [ + 15.555749008632683, + 0.20840772787157008 + ] + ], + "projected_box_corners": [ + [ + 15.710052983647037, + 0.20840772787157008 + ], + [ + 15.714731600854728, + 0.20816861182037177 + ], + [ + 15.71397978041408, + 0.09784084757636827 + ], + [ + 15.718658397621772, + 0.09760173152516996 + ], + [ + 15.555749008632683, + 0.20292252601627392 + ], + [ + 15.560427625840376, + 0.2026834099650756 + ], + [ + 15.559675805399726, + 0.09235564572107213 + ], + [ + 15.564354422607419, + 0.09211652966987383 + ] + ], + "yaw_rad": -3.1060595889086784, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.53918743133545, + 0.15077437460422516, + 0.12231685221195221 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.5552583227486, + 0.14725072110483073, + 0.12032751873442298 + ], + "intended_face_normal": [ + -0.999518527801946, + -0.02497481230411138, + 0.01840034063157036 + ], + "commanded_contact_point": [ + 15.558813142009134, + 0.1493216280332255, + 0.11864755753366349 + ], + "centerline_face_intersection": [ + 15.555183950786446, + 0.14917915907677193, + 0.11890673065647889 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.534372329711914, + 0.14989343285560608, + 0.12309789657592773 + ], + "box_pose": [ + 15.628494262695312, + 0.14745672047138214, + 0.13617154955863953, + 0.00922258198261261, + -0.0017067061271518469, + 0.9998781681060791, + -0.012473185546696186 + ], + "box_yaw_rad": -3.1166110089828405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006592658072682236 + } + } + }, + { + "simulation_time_ns": 4980000000, + "center": [ + 15.642445121863028, + 0.15119584587220905, + 0.11915233383318917 + ], + "face_center": [ + 15.56536932358703, + 0.14688905636512417, + 0.12087802707721593 + ], + "face_normal": [ + -0.9981931610664836, + -0.05577636467326361, + 0.022349106111334824 + ], + "footprint_xy": [ + [ + 15.559614352326198, + 0.0913360214031399 + ], + [ + 15.725275891399859, + 0.0913360214031399 + ], + [ + 15.725275891399859, + 0.2110556703412782 + ], + [ + 15.559614352326198, + 0.2110556703412782 + ] + ], + "projected_box_corners": [ + [ + 15.713765948878196, + 0.21041369659451542 + ], + [ + 15.719099908211348, + 0.2110556703412782 + ], + [ + 15.719941932066707, + 0.09994960041730969 + ], + [ + 15.725275891399859, + 0.10059157416407247 + ], + [ + 15.559614352326198, + 0.20180011758034563 + ], + [ + 15.56494831165935, + 0.20244209132710841 + ], + [ + 15.56579033551471, + 0.0913360214031399 + ], + [ + 15.571124294847861, + 0.09197799514990268 + ] + ], + "yaw_rad": -3.0857733736887285, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.54443645477295, + 0.15023697912693024, + 0.12229157984256744 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.560051715620052, + 0.14751952784307387, + 0.12046615524054448 + ], + "intended_face_normal": [ + -0.9991798724753713, + -0.03551887298928412, + 0.019454952986983735 + ], + "commanded_contact_point": [ + 15.565196391429097, + 0.15049781341704938, + 0.11868241438972738 + ], + "centerline_face_intersection": [ + 15.55992501083317, + 0.15026212877072195, + 0.11896393493852227 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.53918743133545, + 0.15077437460422516, + 0.12231685221195221 + ], + "box_pose": [ + 15.633296966552734, + 0.1485324203968048, + 0.13623608648777008, + 0.009741399437189102, + -0.0006714846822433174, + 0.9997947216033936, + -0.017756540328264236 + ], + "box_yaw_rad": -3.1060595889086784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006490801199774831 + } + } + }, + { + "simulation_time_ns": 5000000000, + "center": [ + 15.646000667583248, + 0.15185039786123292, + 0.11929792591644214 + ], + "face_center": [ + 15.569117927143537, + 0.1449435970146379, + 0.12118111934216574 + ], + "face_normal": [ + -0.9956929078588159, + -0.08944858858589583, + 0.024388859286171297 + ], + "footprint_xy": [ + [ + 15.56131255623779, + 0.08885205517673 + ], + [ + 15.730688778928707, + 0.08885205517673 + ], + [ + 15.730688778928707, + 0.21484874054573583 + ], + [ + 15.56131255623779, + 0.21484874054573583 + ] + ], + "projected_box_corners": [ + [ + 15.71507803711721, + 0.21285505849484432 + ], + [ + 15.720773187076764, + 0.21484874054573583 + ], + [ + 15.724993628969154, + 0.10266565686992005 + ], + [ + 15.730688778928707, + 0.10465933892081153 + ], + [ + 15.56131255623779, + 0.1990414568016543 + ], + [ + 15.567007706197343, + 0.20103513885254579 + ], + [ + 15.571228148089732, + 0.08885205517673 + ], + [ + 15.576923298049286, + 0.09084573722762151 + ] + ], + "yaw_rad": -3.051997641757262, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.547772407531738, + 0.14989010989665985, + 0.12041915953159332 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.56536932358703, + 0.14688905636512417, + 0.12087802707721593 + ], + "intended_face_normal": [ + -0.9981931610664836, + -0.05577636467326361, + 0.022349106111334824 + ], + "commanded_contact_point": [ + 15.57194333193297, + 0.15170928230228364, + 0.1188154145844235 + ], + "centerline_face_intersection": [ + 15.565090039777573, + 0.15119584587220905, + 0.11915233383318917 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.54443645477295, + 0.15023697912693024, + 0.12229157984256744 + ], + "box_pose": [ + 15.63862133026123, + 0.1494436115026474, + 0.13644076883792877, + 0.011150924488902092, + 0.001027239253744483, + 0.9995476603507996, + -0.027912262827157974 + ], + "box_yaw_rad": -3.0857733736887285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006856132442891253 + } + } + }, + { + "simulation_time_ns": 5020000000, + "center": [ + 15.64741918689373, + 0.15227848713637057, + 0.11932444905773144 + ], + "face_center": [ + 15.570793683604986, + 0.14294354102466986, + 0.12122087211255352 + ], + "face_normal": [ + -0.9923614812552377, + -0.12089500953667567, + 0.024560193551724403 + ], + "footprint_xy": [ + [ + 15.56129803299182, + 0.08661048723343215 + ], + [ + 15.73354034079564, + 0.08661048723343215 + ], + [ + 15.73354034079564, + 0.217946487039309 + ], + [ + 15.56129803299182, + 0.217946487039309 + ] + ], + "projected_box_corners": [ + [ + 15.714549039569306, + 0.21509775884998258 + ], + [ + 15.720137219372473, + 0.217946487039309 + ], + [ + 15.727952160992471, + 0.10528037945683355 + ], + [ + 15.73354034079564, + 0.10812910764615996 + ], + [ + 15.56129803299182, + 0.19642786662658118 + ], + [ + 15.566886212794987, + 0.1992765948159076 + ], + [ + 15.574701154414985, + 0.08661048723343215 + ], + [ + 15.580289334218154, + 0.08945921542275856 + ] + ], + "yaw_rad": -3.0203644567202677, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.547993659973145, + 0.15144824981689453, + 0.11647997796535492 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.569117927143537, + 0.1449435970146379, + 0.12118111934216574 + ], + "intended_face_normal": [ + -0.9956929078588159, + -0.08944858858589583, + 0.024388859286171297 + ], + "commanded_contact_point": [ + 15.576920657043914, + 0.15287915390221082, + 0.11892465485936274 + ], + "centerline_face_intersection": [ + 15.568451341579225, + 0.15185039786123292, + 0.11929792591644214 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.547772407531738, + 0.14989010989665985, + 0.12041915953159332 + ], + "box_pose": [ + 15.642266273498535, + 0.15005409717559814, + 0.13660137355327606, + 0.012045277282595634, + 0.0036193919368088245, + 0.9989160895347595, + -0.04481646791100502 + ], + "box_yaw_rad": -3.051997641757262, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00511412732125676 + } + } + }, + { + "simulation_time_ns": 5040000000, + "center": [ + 15.648037151692192, + 0.15225718192554222, + 0.1192410337393626 + ], + "face_center": [ + 15.571449496255108, + 0.14259894976913084, + 0.12104482866047389 + ], + "face_normal": [ + -0.9918713213408379, + -0.1250818220785697, + 0.02336058522251374 + ], + "footprint_xy": [ + [ + 15.561838602016184, + 0.08658530219306251 + ], + [ + 15.7342357013682, + 0.08658530219306251 + ], + [ + 15.7342357013682, + 0.21792906165802195 + ], + [ + 15.561838602016184, + 0.21792906165802195 + ] + ], + "projected_box_corners": [ + [ + 15.715013912890354, + 0.21566461812698917 + ], + [ + 15.720376737844314, + 0.21792906165802195 + ], + [ + 15.728872876414243, + 0.1059017665058853 + ], + [ + 15.7342357013682, + 0.10816621003691808 + ], + [ + 15.561838602016184, + 0.19634815381416637 + ], + [ + 15.567201426970142, + 0.19861259734519915 + ], + [ + 15.575697565540072, + 0.08658530219306251 + ], + [ + 15.581060390494029, + 0.08884974572409529 + ] + ], + "yaw_rad": -3.016147932651322, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.54990005493164, + 0.15361309051513672, + 0.11402139067649841 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.570793683604986, + 0.14294354102466986, + 0.12122087211255352 + ], + "intended_face_normal": [ + -0.9923614812552377, + -0.12089500953667567, + 0.024560193551724403 + ], + "commanded_contact_point": [ + 15.579645273854858, + 0.1538228305512193, + 0.1189495490206729 + ], + "centerline_face_intersection": [ + 15.569609522401544, + 0.15227848713637057, + 0.11932444905773144 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.547993659973145, + 0.15144824981689453, + 0.11647997796535492 + ], + "box_pose": [ + 15.6437406539917, + 0.15041346848011017, + 0.13663259148597717, + 0.011986655183136463, + 0.005220748018473387, + 0.9980748891830444, + -0.0606267973780632 + ], + "box_yaw_rad": -3.0203644567202677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028835190485986557 + } + } + }, + { + "simulation_time_ns": 5060000000, + "center": [ + 15.65254701888152, + 0.15262906437010315, + 0.11901875817078698 + ], + "face_center": [ + 15.575750712063138, + 0.1447583907212077, + 0.12062635071117417 + ], + "face_normal": [ + -0.9945735234135511, + -0.10193151138286798, + 0.020819607652324094 + ], + "footprint_xy": [ + [ + 15.567595635549404, + 0.08964969579697152 + ], + [ + 15.737498402213637, + 0.08964969579697152 + ], + [ + 15.737498402213637, + 0.21560843294323478 + ], + [ + 15.567595635549404, + 0.21560843294323478 + ] + ], + "projected_box_corners": [ + [ + 15.72118824918617, + 0.21560843294323478 + ], + [ + 15.726225029636943, + 0.21545147656313635 + ], + [ + 15.732461621762864, + 0.10554799947486088 + ], + [ + 15.737498402213637, + 0.10539104309476244 + ], + [ + 15.567595635549404, + 0.19986708564544384 + ], + [ + 15.572632416000177, + 0.19971012926534543 + ], + [ + 15.5788690081261, + 0.08980665217706996 + ], + [ + 15.583905788576871, + 0.08964969579697152 + ] + ], + "yaw_rad": -3.039461584595884, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.554707527160645, + 0.15607520937919617, + 0.11486673355102539 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.571449496255108, + 0.14259894976913084, + 0.12104482866047389 + ], + "intended_face_normal": [ + -0.9918713213408379, + -0.1250818220785697, + 0.02336058522251374 + ], + "commanded_contact_point": [ + 15.581644593702562, + 0.15394267688066696, + 0.118887879466148 + ], + "centerline_face_intersection": [ + 15.570189035459679, + 0.15225718192554222, + 0.1192410337393626 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.54990005493164, + 0.15361309051513672, + 0.11402139067649841 + ], + "box_pose": [ + 15.6443510055542, + 0.15033304691314697, + 0.13654108345508575, + 0.011452220380306244, + 0.004009589087218046, + 0.997957706451416, + -0.06271491199731827 + ], + "box_yaw_rad": -3.016147932651322, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020038578118366074 + } + } + }, + { + "simulation_time_ns": 5080000000, + "center": [ + 15.657170866443522, + 0.15295972697207535, + 0.11937137907838646 + ], + "face_center": [ + 15.580284432172602, + 0.1461648260381811, + 0.12149588256047328 + ], + "face_normal": [ + -0.9957407459238514, + -0.0879993953231563, + 0.02751401729096767 + ], + "footprint_xy": [ + [ + 15.572028347173406, + 0.09004152847640566 + ], + [ + 15.74231338571364, + 0.09004152847640566 + ], + [ + 15.74231338571364, + 0.21587792546774504 + ], + [ + 15.572028347173406, + 0.21587792546774504 + ] + ], + "projected_box_corners": [ + [ + 15.725801215715245, + 0.21587792546774504 + ], + [ + 15.732607618876733, + 0.2138348392869035 + ], + [ + 15.73550698255215, + 0.10567441652503567 + ], + [ + 15.74231338571364, + 0.10363133034419414 + ], + [ + 15.572028347173406, + 0.20228812359995654 + ], + [ + 15.578834750334893, + 0.20024503741911504 + ], + [ + 15.581734114010313, + 0.09208461465724718 + ], + [ + 15.5885405171718, + 0.09004152847640566 + ] + ], + "yaw_rad": -3.0534458510754727, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.559836387634277, + 0.15901629626750946, + 0.12024848163127899 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.575750712063138, + 0.1447583907212077, + 0.12062635071117417 + ], + "intended_face_normal": [ + -0.9945735234135511, + -0.10193151138286798, + 0.020819607652324094 + ], + "commanded_contact_point": [ + 15.5875271631829, + 0.1540337768467007, + 0.11870802914622315 + ], + "centerline_face_intersection": [ + 15.574910411739173, + 0.15262906437010315, + 0.11901875817078698 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.554707527160645, + 0.15607520937919617, + 0.11486673355102539 + ], + "box_pose": [ + 15.648789405822754, + 0.1506267488002777, + 0.13629454374313354, + 0.01046802569180727, + -0.0008624462643638253, + 0.998642086982727, + -0.05102601647377014 + ], + "box_yaw_rad": -3.039461584595884, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005886023193327938 + } + } + }, + { + "simulation_time_ns": 5100000000, + "center": [ + 15.66051072914096, + 0.15324198134123446, + 0.12017151771193359 + ], + "face_center": [ + 15.583597988743875, + 0.14720178396602668, + 0.12335801943240012 + ], + "face_normal": [ + -0.9960814312728064, + -0.07822538132961014, + 0.041267742874441724 + ], + "footprint_xy": [ + [ + 15.574228642606773, + 0.0906868109149096 + ], + [ + 15.746792815675148, + 0.0906868109149096 + ], + [ + 15.746792815675148, + 0.21579715176755931 + ], + [ + 15.574228642606773, + 0.21579715176755931 + ] + ], + "projected_box_corners": [ + [ + 15.728054123400941, + 0.21579715176755931 + ], + [ + 15.738198660165434, + 0.2130576893555347 + ], + [ + 15.736648278910655, + 0.10550666807734978 + ], + [ + 15.746792815675148, + 0.10276720566532518 + ], + [ + 15.574228642606773, + 0.20371675701714373 + ], + [ + 15.584373179371266, + 0.20097729460511915 + ], + [ + 15.582822798116487, + 0.0934262733269342 + ], + [ + 15.59296733488098, + 0.0906868109149096 + ] + ], + "yaw_rad": -3.063220389730265, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.564253807067871, + 0.16335758566856384, + 0.1252157986164093 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.580284432172602, + 0.1461648260381811, + 0.12149588256047328 + ], + "intended_face_normal": [ + -0.9957407459238514, + -0.0879993953231563, + 0.02751401729096767 + ], + "commanded_contact_point": [ + 15.593202833550267, + 0.15420757549978475, + 0.11895694672277068 + ], + "centerline_face_intersection": [ + 15.579625266117809, + 0.15295972697207535, + 0.11937137907838646 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559836387634277, + 0.15901629626750946, + 0.12024848163127899 + ], + "box_pose": [ + 15.653512954711914, + 0.1508801281452179, + 0.1366594284772873, + 0.013986633159220219, + -0.0048786369152367115, + 0.9989227056503296, + -0.04397884011268616 + ], + "box_yaw_rad": -3.0534458510754727, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005683783955318545 + } + } + }, + { + "simulation_time_ns": 5120000000, + "center": [ + 15.664211078349403, + 0.15363669823744228, + 0.12082526802307623 + ], + "face_center": [ + 15.587310816353883, + 0.14797867762149766, + 0.12489199456194612 + ], + "face_normal": [ + -0.9959198260039608, + -0.07327588698835144, + 0.05266735745624525 + ], + "footprint_xy": [ + [ + 15.576858503464509, + 0.09136590050893285 + ], + [ + 15.751563653234296, + 0.09136590050893285 + ], + [ + 15.751563653234296, + 0.2159074959659517 + ], + [ + 15.576858503464509, + 0.2159074959659517 + ] + ], + "projected_box_corners": [ + [ + 15.73065902745555, + 0.2159074959659517 + ], + [ + 15.743539236207727, + 0.21301313473810474 + ], + [ + 15.738683444482119, + 0.10557630296866903 + ], + [ + 15.751563653234296, + 0.10268194174082207 + ], + [ + 15.576858503464509, + 0.20459145473406248 + ], + [ + 15.589738712216686, + 0.20169709350621554 + ], + [ + 15.584882920491077, + 0.09426026173677982 + ], + [ + 15.597763129243255, + 0.09136590050893285 + ] + ], + "yaw_rad": -3.0681489003864586, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.567995071411133, + 0.1641189455986023, + 0.1264772117137909 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.583597988743875, + 0.14720178396602668, + 0.12335801943240012 + ], + "intended_face_normal": [ + -0.9960814312728064, + -0.07822538132961014, + 0.041267742874441724 + ], + "commanded_contact_point": [ + 15.597306493495472, + 0.1543822197183575, + 0.11954895117587447 + ], + "centerline_face_intersection": [ + 15.582991651395709, + 0.15324198134123446, + 0.12017151771193359 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.564253807067871, + 0.16335758566856384, + 0.1252157986164093 + ], + "box_pose": [ + 15.657074928283691, + 0.15115328133106232, + 0.137503981590271, + 0.020909659564495087, + -0.006532010622322559, + 0.9989985227584839, + -0.03901518136262894 + ], + "box_yaw_rad": -3.063220389730265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004149818649224884 + } + } + }, + { + "simulation_time_ns": 5140000000, + "center": [ + 15.667338933103231, + 0.15311934281316228, + 0.12051190031556222 + ], + "face_center": [ + 15.590715169080767, + 0.14432807762155134, + 0.12421584810961565 + ], + "face_normal": [ + -0.9923389563675025, + -0.11385390729219962, + 0.04796908289852542 + ], + "footprint_xy": [ + [ + 15.57847136424539, + 0.08760688211615719 + ], + [ + 15.756206501961074, + 0.08760688211615719 + ], + [ + 15.756206501961074, + 0.21863180351016737 + ], + [ + 15.57847136424539, + 0.21863180351016737 + ] + ], + "projected_box_corners": [ + [ + 15.73171889229032, + 0.21863180351016737 + ], + [ + 15.743705435479981, + 0.21509462983488983 + ], + [ + 15.744219958771414, + 0.10872658617465664 + ], + [ + 15.756206501961074, + 0.1051894124993791 + ], + [ + 15.57847136424539, + 0.20104927312694548 + ], + [ + 15.59045790743505, + 0.19751209945166792 + ], + [ + 15.590972430726483, + 0.09114405579143474 + ], + [ + 15.602958973916143, + 0.08760688211615719 + ] + ], + "yaw_rad": -3.0273592673697607, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.570246696472168, + 0.15941908955574036, + 0.12262886762619019 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.587310816353883, + 0.14797867762149766, + 0.12489199456194612 + ], + "intended_face_normal": [ + -0.9959198260039608, + -0.07327588698835144, + 0.05266735745624525 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15472705801360262, + 0.12003378632090358 + ], + "centerline_face_intersection": [ + 15.586679421788999, + 0.15363669823744228, + 0.12082526802307623 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.567995071411133, + 0.1641189455986023, + 0.1264772117137909 + ], + "box_pose": [ + 15.660964012145996, + 0.15155760943889618, + 0.1381952315568924, + 0.026617329567670822, + -0.007011099718511105, + 0.9989548325538635, + -0.03648946434259415 + ], + "box_yaw_rad": -3.0681489003864586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004191446987115912 + } + } + }, + { + "simulation_time_ns": 5160000000, + "center": [ + 15.669918842626807, + 0.15219908911204605, + 0.11948615093457296 + ], + "face_center": [ + 15.593719690570813, + 0.13992448236051044, + 0.12177349550900854 + ], + "face_normal": [ + -0.9868398921927575, + -0.15896596322348658, + 0.029622939525429298 + ], + "footprint_xy": [ + [ + 15.581196850315603, + 0.08439607814910505 + ], + [ + 15.758640834938008, + 0.08439607814910505 + ], + [ + 15.758640834938008, + 0.22000210007498708 + ], + [ + 15.581196850315603, + 0.22000210007498708 + ] + ], + "projected_box_corners": [ + [ + 15.73359515442759, + 0.22000210007498708 + ], + [ + 15.741087457022381, + 0.21817193713922647 + ], + [ + 15.751148532343219, + 0.11077545458793689 + ], + [ + 15.758640834938008, + 0.1089452916521763 + ], + [ + 15.581196850315603, + 0.1954528865719158 + ], + [ + 15.588689152910394, + 0.19362272363615524 + ], + [ + 15.598750228231232, + 0.08622624108486565 + ], + [ + 15.606242530826021, + 0.08439607814910505 + ] + ], + "yaw_rad": -2.981878804894288, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.5724458694458, + 0.15499775111675262, + 0.11784730851650238 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.590715169080767, + 0.14432807762155134, + 0.12421584810961565 + ], + "intended_face_normal": [ + -0.9923389563675025, + -0.11385390729219962, + 0.04796908289852542 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15286735294345916, + 0.12051190031556222 + ], + "centerline_face_intersection": [ + 15.58952750242627, + 0.15311934281316228, + 0.12051190031556222 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.570246696472168, + 0.15941908955574036, + 0.12262886762619019 + ], + "box_pose": [ + 15.664106369018555, + 0.15082566440105438, + 0.13785754144191742, + 0.024531615898013115, + -0.00878341868519783, + 0.9980442523956299, + -0.05682261288166046 + ], + "box_yaw_rad": -3.0273592673697607, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002519898697031231, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019201812257716047 + } + } + }, + { + "simulation_time_ns": 5180000000, + "center": [ + 15.672714692978026, + 0.15224780843827174, + 0.11880765759417354 + ], + "face_center": [ + 15.596693241972824, + 0.13879314867240364, + 0.12019216392835996 + ], + "face_normal": [ + -0.9845385216253053, + -0.17424859246573685, + 0.017930463065582863 + ], + "footprint_xy": [ + [ + 15.584799499597668, + 0.08389308755172854 + ], + [ + 15.760629886358384, + 0.08389308755172854 + ], + [ + 15.760629886358384, + 0.22060252932481494 + ], + [ + 15.584799499597668, + 0.22060252932481494 + ] + ], + "projected_box_corners": [ + [ + 15.73684240160807, + 0.22060252932481494 + ], + [ + 15.741362222729732, + 0.21974586478807415 + ], + [ + 15.756110065236722, + 0.11165907162020552 + ], + [ + 15.760629886358384, + 0.11080240708346474 + ], + [ + 15.584799499597668, + 0.19369320979307875 + ], + [ + 15.58931932071933, + 0.19283654525633795 + ], + [ + 15.60406716322632, + 0.08474975208846933 + ], + [ + 15.608586984347982, + 0.08389308755172854 + ] + ], + "yaw_rad": -2.966421581123103, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.57519817352295, + 0.15410061180591583, + 0.11547093093395233 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.593719690570813, + 0.13992448236051044, + 0.12177349550900854 + ], + "intended_face_normal": [ + -0.9868398921927575, + -0.15896596322348658, + 0.029622939525429298 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15183515276215467, + 0.11948615093457296 + ], + "centerline_face_intersection": [ + 15.591673815725972, + 0.15219908911204605, + 0.11948615093457296 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.5724458694458, + 0.15499775111675262, + 0.11784730851650238 + ], + "box_pose": [ + 15.666459083557129, + 0.14984330534934998, + 0.1367795616388321, + 0.01526407990604639, + -0.005047263111919165, + 0.9966917634010315, + -0.07966950535774231 + ], + "box_yaw_rad": -2.981878804894288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00036393634989138613, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014551972398561155 + } + } + }, + { + "simulation_time_ns": 5200000000, + "center": [ + 15.675511829844725, + 0.15284556058546794, + 0.1188034632011091 + ], + "face_center": [ + 15.599369127370052, + 0.14009481660818512, + 0.12018684419838546 + ], + "face_normal": [ + -0.986108825018911, + -0.16513232066772732, + 0.017915889053601777 + ], + "footprint_xy": [ + [ + 15.587992787039523, + 0.08513238464774622 + ], + [ + 15.763030872649928, + 0.08513238464774622 + ], + [ + 15.763030872649928, + 0.22055873652318964 + ], + [ + 15.587992787039523, + 0.22055873652318964 + ] + ], + "projected_box_corners": [ + [ + 15.740278191988873, + 0.22055873652318964 + ], + [ + 15.744771155840743, + 0.21975108610459565 + ], + [ + 15.758537908798056, + 0.11144152302090582 + ], + [ + 15.763030872649928, + 0.11063387260231183 + ], + [ + 15.587992787039523, + 0.19505724856862405 + ], + [ + 15.592485750891393, + 0.19424959815003007 + ], + [ + 15.606252503848708, + 0.08594003506634021 + ], + [ + 15.610745467700578, + 0.08513238464774622 + ] + ], + "yaw_rad": -2.9756736270339053, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.57778549194336, + 0.15543325245380402, + 0.11396798491477966 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.596693241972824, + 0.13879314867240364, + 0.12019216392835996 + ], + "intended_face_normal": [ + -0.9845385216253053, + -0.17424859246573685, + 0.017930463065582863 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1518097599536746, + 0.11880765759417354 + ], + "centerline_face_intersection": [ + 15.594286767391155, + 0.15224780843827174, + 0.11880765759417354 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.57519817352295, + 0.15410061180591583, + 0.11547093093395233 + ], + "box_pose": [ + 15.669075965881348, + 0.14990006387233734, + 0.13606539368629456, + 0.009228565730154514, + -0.002602514112368226, + 0.996123731136322, + -0.08743921667337418 + ], + "box_yaw_rad": -2.966421581123103, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00043804848459714997, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006789683407117507 + } + } + }, + { + "simulation_time_ns": 5220000000, + "center": [ + 15.677763985769545, + 0.15329112719731222, + 0.11881115523947391 + ], + "face_center": [ + 15.601560784233552, + 0.140908752878468, + 0.12020922856192848 + ], + "face_normal": [ + -0.9868923361937623, + -0.16036163931219888, + 0.018106166401888436 + ], + "footprint_xy": [ + [ + 15.590429798533053, + 0.08590808417436818 + ], + [ + 15.765098173006036, + 0.08590808417436818 + ], + [ + 15.765098173006036, + 0.22067417022025626 + ], + [ + 15.590429798533053, + 0.22067417022025626 + ] + ], + "projected_box_corners": [ + [ + 15.74283620160504, + 0.22067417022025626 + ], + [ + 15.747366204433332, + 0.21987711833049586 + ], + [ + 15.760568170177745, + 0.11146988470181707 + ], + [ + 15.765098173006036, + 0.11067283281205664 + ], + [ + 15.590429798533053, + 0.1959094215825678 + ], + [ + 15.594959801361345, + 0.1951123696928074 + ], + [ + 15.608161767105758, + 0.0867051360641286 + ], + [ + 15.612691769934049, + 0.08590808417436818 + ] + ], + "yaw_rad": -2.980509007416576, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.579583168029785, + 0.15615256130695343, + 0.11163061857223511 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.599369127370052, + 0.14009481660818512, + 0.12018684419838546 + ], + "intended_face_normal": [ + -0.986108825018911, + -0.16513232066772732, + 0.017915889053601777 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15230400442613734, + 0.1188034632011091 + ], + "centerline_face_intersection": [ + 15.597208794771534, + 0.15284556058546794, + 0.1188034632011091 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.57778549194336, + 0.15543325245380402, + 0.11396798491477966 + ], + "box_pose": [ + 15.671850204467773, + 0.15053808689117432, + 0.13606178760528564, + 0.009193170815706253, + -0.0024533618707209826, + 0.9965181350708008, + -0.08283201605081558 + ], + "box_yaw_rad": -2.9756736270339053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005415561593305929, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004942622699469904 + } + } + }, + { + "simulation_time_ns": 5240000000, + "center": [ + 15.678982291761423, + 0.15312676834983732, + 0.11902202104254166 + ], + "face_center": [ + 15.602933219415336, + 0.1398620271219904, + 0.12069146429504798 + ], + "face_normal": [ + -0.9848962400555958, + -0.17178899567851136, + 0.02162062378482448 + ], + "footprint_xy": [ + [ + 15.59071454463565, + 0.08484542365064376 + ], + [ + 15.767250038887196, + 0.08484542365064376 + ], + [ + 15.767250038887196, + 0.22140811304903085 + ], + [ + 15.59071454463565, + 0.22140811304903085 + ] + ], + "projected_box_corners": [ + [ + 15.742812689327826, + 0.22140811304903085 + ], + [ + 15.748259339999093, + 0.22036578619483593 + ], + [ + 15.761803388215927, + 0.11241723296053252 + ], + [ + 15.767250038887196, + 0.1113749061063376 + ], + [ + 15.59071454463565, + 0.19487863059333704 + ], + [ + 15.596161195306918, + 0.19383630373914212 + ], + [ + 15.609705243523752, + 0.08588775050483868 + ], + [ + 15.61515189419502, + 0.08484542365064376 + ] + ], + "yaw_rad": -2.968906464018885, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.580673217773438, + 0.15472067892551422, + 0.11294694244861603 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.601560784233552, + 0.140908752878468, + 0.12020922856192848 + ], + "intended_face_normal": [ + -0.9868923361937623, + -0.16036163931219888, + 0.018106166401888436 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15263511367359597, + 0.11881115523947391 + ], + "centerline_face_intersection": [ + 15.599523116852433, + 0.15329112719731222, + 0.11881115523947391 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.579583168029785, + 0.15615256130695343, + 0.11163061857223511 + ], + "box_pose": [ + 15.674094200134277, + 0.15100370347499847, + 0.13607041537761688, + 0.009277809411287308, + -0.002415321534499526, + 0.9967147707939148, + -0.08042261749505997 + ], + "box_yaw_rad": -2.980509007416576, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006560135237162413, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003311985827367443 + } + } + }, + { + "simulation_time_ns": 5260000000, + "center": [ + 15.679633848495413, + 0.1526590710974008, + 0.11920925437963623 + ], + "face_center": [ + 15.603693668733264, + 0.1388142117295666, + 0.1211103889764324 + ], + "face_normal": [ + -0.9834859941027982, + -0.17930198902919128, + 0.024621211784189412 + ], + "footprint_xy": [ + [ + 15.590668324145472, + 0.08375941548029991 + ], + [ + 15.768599372845355, + 0.08375941548029991 + ], + [ + 15.768599372845355, + 0.2215587267145017 + ], + [ + 15.590668324145472, + 0.2215587267145017 + ] + ], + "projected_box_corners": [ + [ + 15.742548683669773, + 0.2215587267145017 + ], + [ + 15.748783357913808, + 0.22029131985425632 + ], + [ + 15.762364698601319, + 0.11271654107621373 + ], + [ + 15.768599372845355, + 0.11144913421596833 + ], + [ + 15.590668324145472, + 0.19386900797883327 + ], + [ + 15.596902998389508, + 0.19260160111858787 + ], + [ + 15.610484339077018, + 0.0850268223405453 + ], + [ + 15.616719013321054, + 0.08375941548029991 + ] + ], + "yaw_rad": -2.961260499893657, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.581369400024414, + 0.1511756181716919, + 0.11487585306167603 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.602933219415336, + 0.1398620271219904, + 0.12069146429504798 + ], + "intended_face_normal": [ + -0.9848962400555958, + -0.17178899567851136, + 0.02162062378482448 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15240699840309402, + 0.11902202104254166 + ], + "centerline_face_intersection": [ + 15.600582851524877, + 0.15312676834983732, + 0.11902202104254166 + ], + "commanded_world_base_velocity": [ + 0.015144032921810845, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.580673217773438, + 0.15472067892551422, + 0.11294694244861603 + ], + "box_pose": [ + 15.67540454864502, + 0.15077562630176544, + 0.13629204034805298, + 0.011123333126306534, + -0.0031430325470864773, + 0.9962119460105896, + -0.0861860141158104 + ], + "box_yaw_rad": -2.968906464018885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007197699467433172, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00031064604220814375 + } + } + }, + { + "simulation_time_ns": 5280000000, + "center": [ + 15.681170505394396, + 0.15174124530604416, + 0.11948201856522642 + ], + "face_center": [ + 15.60553255390961, + 0.13637807165354313, + 0.12173654562202463 + ], + "face_normal": [ + -0.9795718964704114, + -0.19896537194839095, + 0.029197926455159395 + ], + "footprint_xy": [ + [ + 15.590818745248841, + 0.08143176041704014 + ], + [ + 15.771522265539952, + 0.08143176041704014 + ], + [ + 15.771522265539952, + 0.22205073019504817 + ], + [ + 15.590818745248841, + 0.22205073019504817 + ] + ], + "projected_box_corners": [ + [ + 15.74209464821841, + 0.22205073019504817 + ], + [ + 15.74954020217061, + 0.2205807412429755 + ], + [ + 15.764076711587752, + 0.11362809667411483 + ], + [ + 15.771522265539952, + 0.11215810772204218 + ], + [ + 15.590818745248841, + 0.1913243828900461 + ], + [ + 15.59826429920104, + 0.18985439393797346 + ], + [ + 15.61280080861818, + 0.08290174936911279 + ], + [ + 15.62024636257038, + 0.08143176041704014 + ] + ], + "yaw_rad": -2.941204070013317, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.583209037780762, + 0.14796000719070435, + 0.11823678016662598 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.603693668733264, + 0.1388142117295666, + 0.1211103889764324 + ], + "intended_face_normal": [ + -0.9834859941027982, + -0.17930198902919128, + 0.024621211784189412 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15199863926768584, + 0.11920925437963623 + ], + "centerline_face_intersection": [ + 15.601121989277857, + 0.1526590710974008, + 0.11920925437963623 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.581369400024414, + 0.1511756181716919, + 0.11487585306167603 + ], + "box_pose": [ + 15.676130294799805, + 0.15026158094406128, + 0.13648810982704163, + 0.012705210596323013, + -0.003800478996708989, + 0.9958556890487671, + -0.08997559547424316 + ], + "box_yaw_rad": -2.961260499893657, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006604318297149614, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004492365813142184 + } + } + }, + { + "simulation_time_ns": 5300000000, + "center": [ + 15.683944914563966, + 0.15092438661902444, + 0.12025639268860296 + ], + "face_center": [ + 15.60860569398784, + 0.13433329096591748, + 0.12356460070613651 + ], + "face_normal": [ + -0.9757030925567076, + -0.21486794280388613, + 0.04284393664873133 + ], + "footprint_xy": [ + [ + 15.591249240733227, + 0.07920149636573774 + ], + [ + 15.776640588394708, + 0.07920149636573774 + ], + [ + 15.776640588394708, + 0.22264727687231115 + ], + [ + 15.591249240733227, + 0.22264727687231115 + ] + ], + "projected_box_corners": [ + [ + 15.74192768188548, + 0.22264727687231115 + ], + [ + 15.752938153106566, + 0.22043146479315812 + ], + [ + 15.765630117173622, + 0.11459949975110473 + ], + [ + 15.776640588394708, + 0.11238368767195168 + ], + [ + 15.591249240733227, + 0.1894650855660972 + ], + [ + 15.602259711954312, + 0.18724927348694417 + ], + [ + 15.614951676021366, + 0.08141730844489078 + ], + [ + 15.625962147242454, + 0.07920149636573774 + ] + ], + "yaw_rad": -2.9248338756417738, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.586501121520996, + 0.14680257439613342, + 0.12393277883529663 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.60553255390961, + 0.13637807165354313, + 0.12173654562202463 + ], + "intended_face_normal": [ + -0.9795718964704114, + -0.19896537194839095, + 0.029197926455159395 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1512320630009428, + 0.11948201856522642 + ], + "centerline_face_intersection": [ + 15.602344934561199, + 0.15174124530604416, + 0.11948201856522642 + ], + "commanded_world_base_velocity": [ + 0.027617448559670976, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.583209037780762, + 0.14796000719070435, + 0.11823678016662598 + ], + "box_pose": [ + 15.677801132202148, + 0.1492505818605423, + 0.13677437603473663, + 0.01513627264648676, + -0.0045999023132026196, + 0.9948692321777344, + -0.09992575645446777 + ], + "box_yaw_rad": -2.941204070013317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005091823051013688, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008136580815516856 + } + } + }, + { + "simulation_time_ns": 5320000000, + "center": [ + 15.687705654360057, + 0.15054762293916216, + 0.12155806188042152 + ], + "face_center": [ + 15.612508890502637, + 0.13378761369211692, + 0.12673033838976683 + ], + "face_normal": [ + -0.9738581642453392, + -0.21705550878505925, + 0.0669851127624454 + ], + "footprint_xy": [ + [ + 15.59197986011319, + 0.07809735828610251 + ], + [ + 15.783431448606924, + 0.07809735828610251 + ], + [ + 15.783431448606924, + 0.22299788759222183 + ], + [ + 15.59197986011319, + 0.22299788759222183 + ] + ], + "projected_box_corners": [ + [ + 15.742373387828032, + 0.22299788759222183 + ], + [ + 15.759586254948518, + 0.21960508890671676 + ], + [ + 15.766218581486438, + 0.11501017546569806 + ], + [ + 15.783431448606924, + 0.11161737678019298 + ], + [ + 15.59197986011319, + 0.18947786909813136 + ], + [ + 15.609192727233676, + 0.18608507041262626 + ], + [ + 15.615825053771596, + 0.08149015697160758 + ], + [ + 15.633037920892082, + 0.07809735828610251 + ] + ], + "yaw_rad": -2.922295013959533, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.590263366699219, + 0.14711961150169373, + 0.12728582322597504 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.60860569398784, + 0.13433329096591748, + 0.12356460070613651 + ], + "intended_face_normal": [ + -0.9757030925567076, + -0.21486794280388613, + 0.04284393664873133 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15058007680283872, + 0.12025639268860296 + ], + "centerline_face_intersection": [ + 15.604806788938982, + 0.15092438661902444, + 0.12025639268860296 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.586501121520996, + 0.14680257439613342, + 0.12393277883529663 + ], + "box_pose": [ + 15.680871963500977, + 0.1483171582221985, + 0.13758674263954163, + 0.022321734577417374, + -0.007070854771882296, + 0.9938820600509644, + -0.10793648660182953 + ], + "box_yaw_rad": -2.9248338756417738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00034430981618572827, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010122950585048803 + } + } + }, + { + "simulation_time_ns": 5340000000, + "center": [ + 15.690452307241344, + 0.15016829821306024, + 0.12260252924314774 + ], + "face_center": [ + 15.615374127058365, + 0.13343500004538458, + 0.12934558966718226 + ], + "face_normal": [ + -0.9723224109286148, + -0.2167095789685956, + 0.08732801930674616 + ], + "footprint_xy": [ + [ + 15.592324312088138, + 0.07729397302033844 + ], + [ + 15.788580302394548, + 0.07729397302033844 + ], + [ + 15.788580302394548, + 0.22304262340578207 + ], + [ + 15.592324312088138, + 0.22304262340578207 + ] + ], + "projected_box_corners": [ + [ + 15.742480672454096, + 0.22304262340578207 + ], + [ + 15.764885800300474, + 0.2187499907081345 + ], + [ + 15.766175174548172, + 0.11505320205333736 + ], + [ + 15.788580302394548, + 0.11076056935568979 + ], + [ + 15.592324312088138, + 0.18957602707043072 + ], + [ + 15.614729439934516, + 0.18528339437278316 + ], + [ + 15.616018814182214, + 0.08158660571798601 + ], + [ + 15.63842394202859, + 0.07729397302033844 + ] + ], + "yaw_rad": -2.9222985784110196, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.592483520507812, + 0.14895978569984436, + 0.12877631187438965 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.612508890502637, + 0.13378761369211692, + 0.12673033838976683 + ], + "intended_face_normal": [ + -0.9738581642453392, + -0.21705550878505925, + 0.0669851127624454 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15034043358047516, + 0.12155806188042152 + ], + "centerline_face_intersection": [ + 15.60841760529259, + 0.15054762293916216, + 0.12155806188042152 + ], + "commanded_world_base_velocity": [ + 0.042240000000000236, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.590263366699219, + 0.14711961150169373, + 0.12728582322597504 + ], + "box_pose": [ + 15.685087203979492, + 0.1478474736213684, + 0.1389487087726593, + 0.034915123134851456, + -0.01094487402588129, + 0.9933827519416809, + -0.10886600613594055 + ], + "box_yaw_rad": -2.922295013959533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000207189358686991, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001323545072505802 + } + } + }, + { + "simulation_time_ns": 5360000000, + "center": [ + 15.691999507707218, + 0.1494007383654488, + 0.12313572873164229 + ], + "face_center": [ + 15.617008749263944, + 0.13263626515366195, + 0.13072151195566287 + ], + "face_normal": [ + -0.9711902295610164, + -0.2171133206945815, + 0.0982419527908813 + ], + "footprint_xy": [ + [ + 15.592490310932535, + 0.07575003526602765 + ], + [ + 15.791508704481902, + 0.07575003526602765 + ], + [ + 15.791508704481902, + 0.22305144146486988 + ], + [ + 15.592490310932535, + 0.22305144146486988 + ] + ], + "projected_box_corners": [ + [ + 15.742471827819084, + 0.22305144146486988 + ], + [ + 15.767893479759106, + 0.2172434022012636 + ], + [ + 15.76608705254188, + 0.11508702095320758 + ], + [ + 15.791508704481902, + 0.10927898168960129 + ], + [ + 15.592490310932535, + 0.18952249504129626 + ], + [ + 15.617911962872554, + 0.18371445577768997 + ], + [ + 15.61610553565533, + 0.08155807452963394 + ], + [ + 15.641527187595353, + 0.07575003526602765 + ] + ], + "yaw_rad": -2.9216550975096918, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.59299373626709, + 0.1512371450662613, + 0.1289607584476471 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.615374127058365, + 0.13343500004538458, + 0.12934558966718226 + ], + "intended_face_normal": [ + -0.9723224109286148, + -0.2167095789685956, + 0.08732801930674616 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15000944935490187, + 0.12260252924314774 + ], + "centerline_face_intersection": [ + 15.611039025141126, + 0.15016829821306024, + 0.12260252924314774 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.592483520507812, + 0.14895978569984436, + 0.12877631187438965 + ], + "box_pose": [ + 15.688210487365723, + 0.14740511775016785, + 0.14003585278987885, + 0.045501161366701126, + -0.013981379568576813, + 0.9929580688476562, + -0.10848254710435867 + ], + "box_yaw_rad": -2.9222985784110196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00015884885815835575, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010956562551177305 + } + } + }, + { + "simulation_time_ns": 5380000000, + "center": [ + 15.692573285997076, + 0.14914789371567277, + 0.1233652055734743 + ], + "face_center": [ + 15.617621516433633, + 0.13235626782938978, + 0.13126933506567467 + ], + "face_normal": [ + -0.9706852924202078, + -0.21746496952071112, + 0.10236479128047077 + ], + "footprint_xy": [ + [ + 15.592547047413166, + 0.07524020648469143 + ], + [ + 15.792599524580986, + 0.07524020648469143 + ], + [ + 15.792599524580986, + 0.22305558094665412 + ], + [ + 15.592547047413166, + 0.22305558094665412 + ] + ], + "projected_box_corners": [ + [ + 15.742450586540052, + 0.22305558094665412 + ], + [ + 15.768992495658171, + 0.21677353380054204 + ], + [ + 15.766057615462866, + 0.11510550540336953 + ], + [ + 15.792599524580986, + 0.10882345825725745 + ], + [ + 15.592547047413166, + 0.18947232917408813 + ], + [ + 15.619088956531286, + 0.18319028202797605 + ], + [ + 15.616154076335983, + 0.08152225363080351 + ], + [ + 15.642695985454102, + 0.07524020648469143 + ] + ], + "yaw_rad": -2.9211993639227405, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.592737197875977, + 0.15304473042488098, + 0.12849612534046173 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.617008749263944, + 0.13263626515366195, + 0.13072151195566287 + ], + "intended_face_normal": [ + -0.9711902295610164, + -0.2171133206945815, + 0.0982419527908813 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14916843323925794, + 0.12313572873164229 + ], + "centerline_face_intersection": [ + 15.612493648235855, + 0.1494007383654488, + 0.12313572873164229 + ], + "commanded_world_base_velocity": [ + 0.05800032921810725, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59299373626709, + 0.1512371450662613, + 0.1289607584476471 + ], + "box_pose": [ + 15.689977645874023, + 0.14652755856513977, + 0.14057816565036774, + 0.05143280327320099, + -0.017814377322793007, + 0.9926115870475769, + -0.10844162851572037 + ], + "box_yaw_rad": -2.9216550975096918, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00023230512619085592, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000995796064113364 + } + } + }, + { + "simulation_time_ns": 5400000000, + "center": [ + 15.692183707867907, + 0.14925734940753024, + 0.12322248035440524 + ], + "face_center": [ + 15.617206378911384, + 0.1324756427703126, + 0.1309021632748074 + ], + "face_normal": [ + -0.9710163069791842, + -0.2173365073211438, + 0.0994580288724897 + ], + "footprint_xy": [ + [ + 15.59250601508448, + 0.07546117946353181 + ], + [ + 15.791861400651333, + 0.07546117946353181 + ], + [ + 15.791861400651333, + 0.22305351935152867 + ], + [ + 15.59250601508448, + 0.22305351935152867 + ] + ], + "projected_box_corners": [ + [ + 15.742460672997526, + 0.22305351935152867 + ], + [ + 15.76824157427286, + 0.21698039051925574 + ], + [ + 15.766080499376, + 0.11509772157024005 + ], + [ + 15.791861400651333, + 0.10902459273796714 + ], + [ + 15.59250601508448, + 0.18949010607709335 + ], + [ + 15.618286916359814, + 0.18341697724482042 + ], + [ + 15.616125841462955, + 0.08153430829580474 + ], + [ + 15.641906742738287, + 0.07546117946353181 + ] + ], + "yaw_rad": -2.9213980682970955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.591751098632812, + 0.15295183658599854, + 0.128528892993927 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.617621516433633, + 0.13235626782938978, + 0.13126933506567467 + ], + "intended_face_normal": [ + -0.9706852924202078, + -0.21746496952071112, + 0.10236479128047077 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14875971512111358, + 0.1233652055734743 + ], + "centerline_face_intersection": [ + 15.613026068670937, + 0.14914789371567277, + 0.1233652055734743 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.592737197875977, + 0.15304473042488098, + 0.12849612534046173 + ], + "box_pose": [ + 15.690633773803711, + 0.14623942971229553, + 0.14081114530563354, + 0.053655438125133514, + -0.0190600473433733, + 0.9924612641334534, + -0.10852797329425812 + ], + "box_yaw_rad": -2.9211993639227405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003881785945591842, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00046873246211102124 + } + } + }, + { + "simulation_time_ns": 5420000000, + "center": [ + 15.690818049406289, + 0.14959985058471958, + 0.12272491047351183 + ], + "face_center": [ + 15.615755877207066, + 0.13285153393115706, + 0.12960753440143735 + ], + "face_normal": [ + -0.9721150947507016, + -0.2169040803586188, + 0.08913547817495823 + ], + "footprint_xy": [ + [ + 15.592378111051335, + 0.07615386815589886 + ], + [ + 15.789257987761243, + 0.07615386815589886 + ], + [ + 15.789257987761243, + 0.22304583301354033 + ], + [ + 15.592378111051335, + 0.22304583301354033 + ] + ], + "projected_box_corners": [ + [ + 15.742502455449781, + 0.22304583301354033 + ], + [ + 15.765600953377847, + 0.21762435297302918 + ], + [ + 15.766159489833177, + 0.11507198150353506 + ], + [ + 15.789257987761243, + 0.10965050146302391 + ], + [ + 15.592378111051335, + 0.1895491997064153 + ], + [ + 15.615476608979403, + 0.18412771966590413 + ], + [ + 15.616035145434731, + 0.08157534819641003 + ], + [ + 15.639133643362799, + 0.07615386815589886 + ] + ], + "yaw_rad": -2.922062696490924, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.590452194213867, + 0.15060459077358246, + 0.12864062190055847 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.617206378911384, + 0.1324756427703126, + 0.1309021632748074 + ], + "intended_face_normal": [ + -0.9710163069791842, + -0.2173365073211438, + 0.0994580288724897 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14872139132583231, + 0.12322248035440524 + ], + "centerline_face_intersection": [ + 15.61266360778673, + 0.14925734940753024, + 0.12322248035440524 + ], + "commanded_world_base_velocity": [ + 0.07388707818930067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.591751098632812, + 0.15295183658599854, + 0.128528892993927 + ], + "box_pose": [ + 15.69018840789795, + 0.14636433124542236, + 0.1406646966934204, + 0.05211916193366051, + -0.01845083199441433, + 0.9925561547279358, + -0.10851437598466873 + ], + "box_yaw_rad": -2.9213980682970955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005359580816979159, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00014778092381316602 + } + } + }, + { + "simulation_time_ns": 5440000000, + "center": [ + 15.688458379458638, + 0.15017662706958654, + 0.12182564483582367 + ], + "face_center": [ + 15.613271182461839, + 0.1334753828663373, + 0.12731747787437137 + ], + "face_normal": [ + -0.9737342657576393, + -0.21629445452238538, + 0.0711236250991165 + ], + "footprint_xy": [ + [ + 15.592201623642879, + 0.07732170958816426 + ], + [ + 15.784715135274398, + 0.07732170958816426 + ], + [ + 15.784715135274398, + 0.22303154455100882 + ], + [ + 15.592201623642879, + 0.22303154455100882 + ] + ], + "projected_box_corners": [ + [ + 15.742576017636477, + 0.22303154455100882 + ], + [ + 15.761000882606773, + 0.2187236877545857 + ], + [ + 15.766290270304102, + 0.11503205479108586 + ], + [ + 15.784715135274398, + 0.11072419799466271 + ], + [ + 15.592201623642879, + 0.18962905614451037 + ], + [ + 15.610626488613175, + 0.18532119934808722 + ], + [ + 15.615915876310503, + 0.08162956638458739 + ], + [ + 15.634340741280798, + 0.07732170958816426 + ] + ], + "yaw_rad": -2.9230127054596875, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.588458061218262, + 0.1467951089143753, + 0.12820732593536377 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.615755877207066, + 0.13285153393115706, + 0.12960753440143735 + ], + "intended_face_normal": [ + -0.9721150947507016, + -0.2169040803586188, + 0.08913547817495823 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14902370289546715, + 0.12272491047351183 + ], + "centerline_face_intersection": [ + 15.61138783139158, + 0.14959985058471958, + 0.12272491047351183 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.590452194213867, + 0.15060459077358246, + 0.12864062190055847 + ], + "box_pose": [ + 15.688626289367676, + 0.1467551440000534, + 0.1401514858007431, + 0.04668818414211273, + -0.016480790451169014, + 0.9928675293922424, + -0.10845614224672318 + ], + "box_yaw_rad": -2.922062696490924, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005761476892524309, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005822096456667094 + } + } + }, + { + "simulation_time_ns": 5460000000, + "center": [ + 15.685078549448157, + 0.15099165333116865, + 0.12044001191315434 + ], + "face_center": [ + 15.609761143169877, + 0.13433561444838296, + 0.12391386585085436 + ], + "face_normal": [ + -0.9754205799728581, + -0.21570900950929647, + 0.044989183644119496 + ], + "footprint_xy": [ + [ + 15.592047512774862, + 0.07897429384309226 + ], + [ + 15.778109586121452, + 0.07897429384309226 + ], + [ + 15.778109586121452, + 0.22300901281924507 + ], + [ + 15.592047512774862, + 0.22300901281924507 + ] + ], + "projected_box_corners": [ + [ + 15.742682325331424, + 0.22300901281924507 + ], + [ + 15.754329879686368, + 0.22031126556651043 + ], + [ + 15.766462031766508, + 0.11498411886139825 + ], + [ + 15.778109586121452, + 0.11228637160866364 + ], + [ + 15.592047512774862, + 0.1896969350536737 + ], + [ + 15.603695067129806, + 0.18699918780093908 + ], + [ + 15.615827219209946, + 0.08167204109582687 + ], + [ + 15.62747477356489, + 0.07897429384309226 + ] + ], + "yaw_rad": -2.923950837171089, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.586541175842285, + 0.14184938371181488, + 0.12510338425636292 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.613271182461839, + 0.1334753828663373, + 0.12731747787437137 + ], + "intended_face_normal": [ + -0.9737342657576393, + -0.21629445452238538, + 0.0711236250991165 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14973574010654256, + 0.12182564483582367 + ], + "centerline_face_intersection": [ + 15.609160241735859, + 0.15017662706958654, + 0.12182564483582367 + ], + "commanded_world_base_velocity": [ + 0.08888888888888913, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.588458061218262, + 0.1467951089143753, + 0.12820732593536377 + ], + "box_pose": [ + 15.685925483703613, + 0.14741399884223938, + 0.13921914994716644, + 0.037230245769023895, + -0.01310113724321127, + 0.9933254718780518, + -0.10838287323713303 + ], + "box_yaw_rad": -2.9230127054596875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004408869630439816, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00114702906549169 + } + } + }, + { + "simulation_time_ns": 5480000000, + "center": [ + 15.683719800205033, + 0.15062985947124688, + 0.11886521090207638 + ], + "face_center": [ + 15.6090117648848, + 0.13113946422884604, + 0.11988310942358789 + ], + "face_normal": [ + -0.967528739259157, + -0.2524161886430369, + 0.013182599020176058 + ], + "footprint_xy": [ + [ + 15.593183885757412, + 0.07670087360413967 + ], + [ + 15.774255714652654, + 0.07670087360413967 + ], + [ + 15.774255714652654, + 0.22455884533835407 + ], + [ + 15.593183885757412, + 0.22455884533835407 + ] + ], + "projected_box_corners": [ + [ + 15.74259995639788, + 0.22455884533835407 + ], + [ + 15.746344531056687, + 0.22273249081473045 + ], + [ + 15.770511139993847, + 0.11750801861256499 + ], + [ + 15.774255714652654, + 0.11568166408894134 + ], + [ + 15.593183885757412, + 0.1855780548535524 + ], + [ + 15.59692846041622, + 0.18375170032992877 + ], + [ + 15.621095069353379, + 0.0785272281277633 + ], + [ + 15.624839644012187, + 0.07670087360413967 + ] + ], + "yaw_rad": -2.886393437447815, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.58681583404541, + 0.1349993199110031, + 0.11509864032268524 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.609761143169877, + 0.13433561444838296, + 0.12391386585085436 + ], + "intended_face_normal": [ + -0.9754205799728581, + -0.21570900950929647, + 0.044989183644119496 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1509164571528988, + 0.12044001191315434 + ], + "centerline_face_intersection": [ + 15.605917502924424, + 0.15099165333116865, + 0.12044001191315434 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.586541175842285, + 0.14184938371181488, + 0.12510338425636292 + ], + "box_pose": [ + 15.682053565979004, + 0.14834658801555634, + 0.1377730667591095, + 0.023531241342425346, + -0.008222891949117184, + 0.9938021302223206, + -0.10833244025707245 + ], + "box_yaw_rad": -2.923950837171089, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -7.519617826983079e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018204591014195758 + } + } + }, + { + "simulation_time_ns": 5500000000, + "center": [ + 15.684473121989894, + 0.14907476101113892, + 0.11882204095697022 + ], + "face_center": [ + 15.610177603405258, + 0.12804785012854197, + 0.1193195740097643 + ], + "face_normal": [ + -0.9621863179867116, + -0.2723152936568223, + 0.006443450496940728 + ], + "footprint_xy": [ + [ + 15.593864244447118, + 0.073224209724131 + ], + [ + 15.775081999532668, + 0.073224209724131 + ], + [ + 15.775081999532668, + 0.22492531229814683 + ], + [ + 15.593864244447118, + 0.22492531229814683 + ] + ], + "projected_box_corners": [ + [ + 15.742455281616389, + 0.22492531229814683 + ], + [ + 15.744967780551573, + 0.22172331257621195 + ], + [ + 15.772569500597484, + 0.11848003121125979 + ], + [ + 15.775081999532668, + 0.1152780314893249 + ], + [ + 15.593864244447118, + 0.18287149053295293 + ], + [ + 15.596376743382303, + 0.17966949081101805 + ], + [ + 15.623978463428214, + 0.07642620944606589 + ], + [ + 15.626490962363398, + 0.073224209724131 + ] + ], + "yaw_rad": -2.865788283778782, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.587727546691895, + 0.1312079131603241, + 0.10832904279232025 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.6090117648848, + 0.13113946422884604, + 0.11988310942358789 + ], + "intended_face_normal": [ + -0.967528739259157, + -0.2524161886430369, + 0.013182599020176058 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1511798848753868, + 0.11886521090207638 + ], + "centerline_face_intersection": [ + 15.60391306085116, + 0.15062985947124688, + 0.11886521090207638 + ], + "commanded_world_base_velocity": [ + 0.10199440329218129, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.58681583404541, + 0.1349993199110031, + 0.11509864032268524 + ], + "box_pose": [ + 15.680220603942871, + 0.14790311455726624, + 0.1360960602760315, + 0.007257167249917984, + -0.004768668208271265, + 0.9918375015258789, + -0.12721185386180878 + ], + "box_yaw_rad": -2.886393437447815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005500254041399199, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001596681680695114 + } + } + }, + { + "simulation_time_ns": 5520000000, + "center": [ + 15.686319342272464, + 0.14952128744452303, + 0.11885003209959624 + ], + "face_center": [ + 15.611614838227077, + 0.12999462912997828, + 0.11923601158559657 + ], + "face_normal": [ + -0.9674830064288946, + -0.2528858243967101, + 0.004998742690381919 + ], + "footprint_xy": [ + [ + 15.596517269278896, + 0.07458610900353727 + ], + [ + 15.776121415266031, + 0.07458610900353727 + ], + [ + 15.776121415266031, + 0.22445646588550883 + ], + [ + 15.596517269278896, + 0.22445646588550883 + ] + ], + "projected_box_corners": [ + [ + 15.745926277369675, + 0.22445646588550883 + ], + [ + 15.748156398757786, + 0.22066572202034607 + ], + [ + 15.77389129387792, + 0.1174301694977895 + ], + [ + 15.776121415266031, + 0.11363942563262679 + ], + [ + 15.596517269278896, + 0.18540314925641932 + ], + [ + 15.598747390667008, + 0.1816124053912566 + ], + [ + 15.624482285787144, + 0.0783768528687 + ], + [ + 15.626712407175255, + 0.07458610900353727 + ] + ], + "yaw_rad": -2.8859274611302013, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.589234352111816, + 0.13385649025440216, + 0.10793933272361755 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.610177603405258, + 0.12804785012854197, + 0.1193195740097643 + ], + "intended_face_normal": [ + -0.9621863179867116, + -0.2723152936568223, + 0.006443450496940728 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15033946032931145, + 0.11882204095697022 + ], + "centerline_face_intersection": [ + 15.60422326552446, + 0.14907476101113892, + 0.11882204095697022 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.587727546691895, + 0.1312079131603241, + 0.10832904279232025 + ], + "box_pose": [ + 15.680939674377441, + 0.14617237448692322, + 0.13601717352867126, + 0.00426985090598464, + -0.007330365478992462, + 0.9904743432998657, + -0.13743551075458527 + ], + "box_yaw_rad": -2.865788283778782, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012646993181725128, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008415325672880647 + } + } + }, + { + "simulation_time_ns": 5540000000, + "center": [ + 15.689375188160774, + 0.1521985871583158, + 0.1190324002595199 + ], + "face_center": [ + 15.613868283411554, + 0.13608852453676049, + 0.12020476043074423 + ], + "face_normal": [ + -0.9778747365557872, + -0.20863818076337462, + 0.015183000778433042 + ], + "footprint_xy": [ + [ + 15.600204326712651, + 0.08071660352724871 + ], + [ + 15.778546049608895, + 0.08071660352724871 + ], + [ + 15.778546049608895, + 0.22368057078938286 + ], + [ + 15.600204326712651, + 0.22368057078938286 + ] + ], + "projected_box_corners": [ + [ + 15.751218136211092, + 0.22368057078938286 + ], + [ + 15.755485805230402, + 0.22113223792649483 + ], + [ + 15.774278380589585, + 0.11548506163324737 + ], + [ + 15.778546049608895, + 0.11293672877035935 + ], + [ + 15.600204326712651, + 0.19146044554627223 + ], + [ + 15.604471995731961, + 0.1889121126833842 + ], + [ + 15.623264571091145, + 0.08326493639013675 + ], + [ + 15.627532240110455, + 0.08071660352724871 + ] + ], + "yaw_rad": -2.931385708539554, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.591708183288574, + 0.14125613868236542, + 0.11217339336872101 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.611614838227077, + 0.12999462912997828, + 0.11923601158559657 + ], + "intended_face_normal": [ + -0.9674830064288946, + -0.2528858243967101, + 0.004998742690381919 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1514125786503004, + 0.11885003209959624 + ], + "centerline_face_intersection": [ + 15.606508830461564, + 0.14952128744452303, + 0.11885003209959624 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.589234352111816, + 0.13385649025440216, + 0.10793933272361755 + ], + "box_pose": [ + 15.68271255493164, + 0.14665207266807556, + 0.1360355019569397, + 0.0036032716743648052, + -0.008429158478975296, + 0.9918016195297241, + -0.12745748460292816 + ], + "box_yaw_rad": -2.8859274611302013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0018912912057773477, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010734833184114394 + } + } + }, + { + "simulation_time_ns": 5560000000, + "center": [ + 15.69226685394117, + 0.15549724978332222, + 0.11985997007915837 + ], + "face_center": [ + 15.616359933359439, + 0.14157204920997318, + 0.12239577448292475 + ], + "face_normal": [ + -0.9830552611466983, + -0.18034247182262989, + 0.032840692801881476 + ], + "footprint_xy": [ + [ + 15.602476491225772, + 0.08661268683339689 + ], + [ + 15.78205721665657, + 0.08661268683339689 + ], + [ + 15.78205721665657, + 0.22438181273324753 + ], + [ + 15.602476491225772, + 0.22438181273324753 + ] + ], + "projected_box_corners": [ + [ + 15.754290332389237, + 0.2232845926582715 + ], + [ + 15.762098880494728, + 0.22438181273324753 + ], + [ + 15.774248668551081, + 0.11446308798009494 + ], + [ + 15.78205721665657, + 0.11556030805507095 + ], + [ + 15.602476491225772, + 0.19543419151157346 + ], + [ + 15.610285039331261, + 0.19653141158654946 + ], + [ + 15.622434827387615, + 0.08661268683339689 + ], + [ + 15.630243375493105, + 0.0877099069083729 + ] + ], + "yaw_rad": -2.960159040106807, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.594511985778809, + 0.1466790735721588, + 0.1188793033361435 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.613868283411554, + 0.13608852453676049, + 0.12020476043074423 + ], + "intended_face_normal": [ + -0.9778747365557872, + -0.20863818076337462, + 0.015183000778433042 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15452757630313116, + 0.1190324002595199 + ], + "centerline_face_intersection": [ + 15.610412810849136, + 0.1521985871583158, + 0.1190324002595199 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.591708183288574, + 0.14125613868236542, + 0.11217339336872101 + ], + "box_pose": [ + 15.685800552368164, + 0.14959223568439484, + 0.13626639544963837, + 0.008289295248687267, + -0.006215052679181099, + 0.9944338798522949, + -0.10485118627548218 + ], + "box_yaw_rad": -2.931385708539554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002328989144815363, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003120331476445275 + } + } + }, + { + "simulation_time_ns": 5580000000, + "center": [ + 15.69430320937476, + 0.15831879528756404, + 0.12114469179538395 + ], + "face_center": [ + 15.618415006710423, + 0.14466500435489849, + 0.1252381989281509 + ], + "face_normal": [ + -0.9828128491632819, + -0.1768275001552898, + 0.05301418754137288 + ], + "footprint_xy": [ + [ + 15.602685993192184, + 0.08703780596095427 + ], + [ + 15.785920425557338, + 0.08703780596095427 + ], + [ + 15.785920425557338, + 0.2295997846141738 + ], + [ + 15.602685993192184, + 0.2295997846141738 + ] + ], + "projected_box_corners": [ + [ + 15.754462398520857, + 0.2231986292422013 + ], + [ + 15.766230835460185, + 0.2295997846141738 + ], + [ + 15.77415198861801, + 0.11434538782628538 + ], + [ + 15.785920425557338, + 0.1207465431982579 + ], + [ + 15.602685993192184, + 0.1958910473768702 + ], + [ + 15.61445443013151, + 0.2022922027488427 + ], + [ + 15.622375583289335, + 0.08703780596095427 + ], + [ + 15.634144020228662, + 0.0934389613329268 + ] + ], + "yaw_rad": -2.9635773907451264, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.596722602844238, + 0.14969800412654877, + 0.12481409311294556 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.616359933359439, + 0.14157204920997318, + 0.12239577448292475 + ], + "intended_face_normal": [ + -0.9830552611466983, + -0.18034247182262989, + 0.032840692801881476 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15817896597658412, + 0.11985997007915837 + ], + "centerline_face_intersection": [ + 15.613720594170006, + 0.15549724978332222, + 0.11985997007915837 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.594511985778809, + 0.1466790735721588, + 0.1188793033361435 + ], + "box_pose": [ + 15.68887996673584, + 0.1532650589942932, + 0.13718417286872864, + 0.016417285427451134, + 0.0008033756748773158, + 0.9957544803619385, + -0.09056893736124039 + ], + "box_yaw_rad": -2.960159040106807, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002681716193261899, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037439976433987503 + } + } + }, + { + "simulation_time_ns": 5600000000, + "center": [ + 15.696117936908884, + 0.16120856989037985, + 0.12202427405151207 + ], + "face_center": [ + 15.620258477952223, + 0.1477826931463289, + 0.12724885574053085 + ], + "face_normal": [ + -0.9824405951864392, + -0.1738758293393684, + 0.0676625066241539 + ], + "footprint_xy": [ + [ + 15.60329298317663, + 0.08747398658625921 + ], + [ + 15.78894289064114, + 0.08747398658625921 + ], + [ + 15.78894289064114, + 0.2349431531945005 + ], + [ + 15.60329298317663, + 0.2349431531945005 + ] + ], + "projected_box_corners": [ + [ + 15.75501190108995, + 0.223141184351527 + ], + [ + 15.769395503944093, + 0.2349431531945005 + ], + [ + 15.774559287786998, + 0.11432574007436111 + ], + [ + 15.78894289064114, + 0.12612770891733457 + ], + [ + 15.60329298317663, + 0.1962894308634251 + ], + [ + 15.617676586030772, + 0.20809139970639856 + ], + [ + 15.622840369873675, + 0.08747398658625921 + ], + [ + 15.637223972727819, + 0.09927595542923268 + ] + ], + "yaw_rad": -2.9664230235879776, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.598563194274902, + 0.1529441624879837, + 0.12694071233272552 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.618415006710423, + 0.14466500435489849, + 0.1252381989281509 + ], + "intended_face_normal": [ + -0.9828128491632819, + -0.1768275001552898, + 0.05301418754137288 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.16134534312726656, + 0.12114469179538395 + ], + "centerline_face_intersection": [ + 15.615737576073187, + 0.15831879528756404, + 0.12114469179538395 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.596722602844238, + 0.14969800412654877, + 0.12481409311294556 + ], + "box_pose": [ + 15.691197395324707, + 0.15648142993450165, + 0.13856765627861023, + 0.025629572570323944, + 0.011106730438768864, + 0.995631992816925, + -0.08908754587173462 + ], + "box_yaw_rad": -2.9635773907451264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00302654783970251, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034170826955907036 + } + } + }, + { + "simulation_time_ns": 5620000000, + "center": [ + 15.698391588560542, + 0.16485427647213674, + 0.122023553738336 + ], + "face_center": [ + 15.622411776527787, + 0.1521351513474418, + 0.12726767568801822 + ], + "face_normal": [ + -0.983999263668071, + -0.1647228312674238, + 0.06791556860983522 + ], + "footprint_xy": [ + [ + 15.606276177697504, + 0.08903488533102379 + ], + [ + 15.790506999423581, + 0.08903488533102379 + ], + [ + 15.790506999423581, + 0.2406736676132497 + ], + [ + 15.606276177697504, + 0.2406736676132497 + ] + ], + "projected_box_corners": [ + [ + 15.758235801763012, + 0.22330417164578145 + ], + [ + 15.771815696265014, + 0.2406736676132497 + ], + [ + 15.77692710492158, + 0.11447313558041369 + ], + [ + 15.790506999423581, + 0.13184263154788198 + ], + [ + 15.606276177697504, + 0.19786592139639153 + ], + [ + 15.619856072199505, + 0.21523541736385982 + ], + [ + 15.624967480856071, + 0.08903488533102379 + ], + [ + 15.638547375358073, + 0.10640438129849206 + ] + ], + "yaw_rad": -2.9757292085912432, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.60084342956543, + 0.15717580914497375, + 0.1270471066236496 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.620258477952223, + 0.1477826931463289, + 0.12724885574053085 + ], + "intended_face_normal": [ + -0.9824405951864392, + -0.1738758293393684, + 0.0676625066241539 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1645656940261782, + 0.12202427405151207 + ], + "centerline_face_intersection": [ + 15.617522534510243, + 0.16120856989037985, + 0.12202427405151207 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.598563194274902, + 0.1529441624879837, + 0.12694071233272552 + ], + "box_pose": [ + 15.693199157714844, + 0.15977153182029724, + 0.13951705396175385, + 0.032053735107183456, + 0.021877290681004524, + 0.9953600764274597, + -0.08804769814014435 + ], + "box_yaw_rad": -2.9664230235879776, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0033571241357983556, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00333831167769226 + } + } + }, + { + "simulation_time_ns": 5640000000, + "center": [ + 15.70046766063583, + 0.16895797269370946, + 0.1220288538619885 + ], + "face_center": [ + 15.624388007762311, + 0.15691022459427956, + 0.1274089164798729 + ], + "face_normal": [ + -0.9852922823156267, + -0.15602796244858957, + 0.06967610886170905 + ], + "footprint_xy": [ + [ + 15.608901379407362, + 0.09054454610860448 + ], + [ + 15.792033941864299, + 0.09054454610860448 + ], + [ + 15.792033941864299, + 0.24737139927881446 + ], + [ + 15.608901379407362, + 0.24737139927881446 + ] + ], + "projected_box_corners": [ + [ + 15.7610606851544, + 0.22335923140538438 + ], + [ + 15.774112310890374, + 0.24737139927881446 + ], + [ + 15.778982316128324, + 0.11464004230746427 + ], + [ + 15.792033941864299, + 0.13865221018089435 + ], + [ + 15.608901379407362, + 0.19926373520652457 + ], + [ + 15.621953005143336, + 0.22327590307995465 + ], + [ + 15.626823010381289, + 0.09054454610860448 + ], + [ + 15.639874636117263, + 0.11455671398203456 + ] + ], + "yaw_rad": -2.9845397576596295, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.602916717529297, + 0.1618393212556839, + 0.1272524744272232 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.622411776527787, + 0.1521351513474418, + 0.12726767568801822 + ], + "intended_face_normal": [ + -0.983999263668071, + -0.1647228312674238, + 0.06791556860983522 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.16851853930102162, + 0.122023553738336 + ], + "centerline_face_intersection": [ + 15.619920682369411, + 0.16485427647213674, + 0.122023553738336 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.60084342956543, + 0.15717580914497375, + 0.1270471066236496 + ], + "box_pose": [ + 15.695396423339844, + 0.1638554334640503, + 0.13953392207622528, + 0.031273942440748215, + 0.033735793083906174, + 0.9954202771186829, + -0.08380024880170822 + ], + "box_yaw_rad": -2.9757292085912432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003664262828884875, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0039528453404734844 + } + } + }, + { + "simulation_time_ns": 5660000000, + "center": [ + 15.70135345939563, + 0.17325158082092867, + 0.12213178646009214 + ], + "face_center": [ + 15.625272996385377, + 0.16142506177235558, + 0.12797175444898673 + ], + "face_normal": [ + -0.9853027742335532, + -0.15316286950717461, + 0.07563225081999603 + ], + "footprint_xy": [ + [ + 15.609712683375633, + 0.09122333972282044 + ], + [ + 15.792994235415629, + 0.09122333972282044 + ], + [ + 15.792994235415629, + 0.2552798219190369 + ], + [ + 15.609712683375633, + 0.2552798219190369 + ] + ], + "projected_box_corners": [ + [ + 15.761873609396142, + 0.22320222812081536 + ], + [ + 15.775108128278221, + 0.2552798219190369 + ], + [ + 15.77975971653355, + 0.11487637781996664 + ], + [ + 15.792994235415629, + 0.1469539716181882 + ], + [ + 15.609712683375633, + 0.19954919002366917 + ], + [ + 15.622947202257713, + 0.23162678382189072 + ], + [ + 15.627598790513039, + 0.09122333972282044 + ], + [ + 15.64083330939512, + 0.123300933521042 + ] + ], + "yaw_rad": -2.9873793656862158, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.6038179397583, + 0.1661520153284073, + 0.12766729295253754 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.624388007762311, + 0.15691022459427956, + 0.1274089164798729 + ], + "intended_face_normal": [ + -0.9852922823156267, + -0.15602796244858957, + 0.06967610886170905 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.17290698158011536, + 0.1220288538619885 + ], + "centerline_face_intersection": [ + 15.622099733374727, + 0.16895797269370946, + 0.1220288538619885 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.602916717529297, + 0.1618393212556839, + 0.1272524744272232 + ], + "box_pose": [ + 15.697418212890625, + 0.1684742122888565, + 0.13955165445804596, + 0.031170902773737907, + 0.04778753221035004, + 0.9951695799827576, + -0.0798894613981247 + ], + "box_yaw_rad": -2.9845397576596295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003949008886405898, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00438844547969417 + } + } + }, + { + "simulation_time_ns": 5680000000, + "center": [ + 15.701964928260042, + 0.1772255932850396, + 0.12242252706814262 + ], + "face_center": [ + 15.62596894184153, + 0.16528360252299007, + 0.12907112437188242 + ], + "face_normal": [ + -0.9842087348848398, + -0.15465832044335648, + 0.08610464643536142 + ], + "footprint_xy": [ + [ + 15.609560856122755, + 0.09147148858387208 + ], + [ + 15.794369000397326, + 0.09147148858387208 + ], + [ + 15.794369000397326, + 0.26297969798620713 + ], + [ + 15.609560856122755, + 0.26297969798620713 + ] + ], + "projected_box_corners": [ + [ + 15.761552828959779, + 0.22310279485889548 + ], + [ + 15.77594389388663, + 0.26297969798620713 + ], + [ + 15.779977935470477, + 0.11535547010797115 + ], + [ + 15.794369000397326, + 0.1552323732352828 + ], + [ + 15.609560856122755, + 0.1992188133347964 + ], + [ + 15.623951921049606, + 0.23909571646210803 + ], + [ + 15.627985962633453, + 0.09147148858387208 + ], + [ + 15.642377027560302, + 0.13134839171118373 + ] + ], + "yaw_rad": -2.9857274786114276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.603484153747559, + 0.16948747634887695, + 0.12741948664188385 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.625272996385377, + 0.16142506177235558, + 0.12797175444898673 + ], + "intended_face_normal": [ + -0.9853027742335532, + -0.15316286950717461, + 0.07563225081999603 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.17748457232703543, + 0.12213178646009214 + ], + "centerline_face_intersection": [ + 15.622986366629142, + 0.17325158082092867, + 0.12213178646009214 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.6038179397583, + 0.1661520153284073, + 0.12766729295253754 + ], + "box_pose": [ + 15.69831657409668, + 0.17336377501487732, + 0.13966308534145355, + 0.03289004787802696, + 0.06462691724300385, + 0.9942206740379333, + -0.0791645348072052 + ], + "box_yaw_rad": -2.9873793656862158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004232991506106753, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00457874788190403 + } + } + }, + { + "simulation_time_ns": 5700000000, + "center": [ + 15.70283780759115, + 0.18076765641972542, + 0.12266390583625628 + ], + "face_center": [ + 15.62690096893879, + 0.1689786012557016, + 0.13020182531811214 + ], + "face_normal": [ + -0.9834427240619217, + -0.1526776822735612, + 0.09762207909303433 + ], + "footprint_xy": [ + [ + 15.609562163278126, + 0.09200328623916956 + ], + [ + 15.796113451904175, + 0.09200328623916956 + ], + [ + 15.796113451904175, + 0.2695320266002813 + ], + [ + 15.609562163278126, + 0.2695320266002813 + ] + ], + "projected_box_corners": [ + [ + 15.761435840582847, + 0.22277342785965776 + ], + [ + 15.777479061707613, + 0.2695320266002813 + ], + [ + 15.78007023077941, + 0.1155813965672172 + ], + [ + 15.796113451904175, + 0.16233999530784074 + ], + [ + 15.609562163278126, + 0.19919531753161013 + ], + [ + 15.62560538440289, + 0.24595391627223367 + ], + [ + 15.628196553474687, + 0.09200328623916956 + ], + [ + 15.644239774599454, + 0.1387618849797931 + ] + ], + "yaw_rad": -2.9875740159094875, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.600488662719727, + 0.1723104864358902, + 0.1249435693025589 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.62596894184153, + 0.16528360252299007, + 0.12907112437188242 + ], + "intended_face_normal": [ + -0.9842087348848398, + -0.15465832044335648, + 0.08610464643536142 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.18176810946859284, + 0.12242252706814262 + ], + "centerline_face_intersection": [ + 15.623510723197056, + 0.1772255932850396, + 0.12242252706814262 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.603484153747559, + 0.16948747634887695, + 0.12741948664188385 + ], + "box_pose": [ + 15.699023246765137, + 0.17789852619171143, + 0.1399575024843216, + 0.03678937628865242, + 0.08072081208229065, + 0.9927681088447571, + -0.08088377118110657 + ], + "box_yaw_rad": -2.9857274786114276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0045425161835532584, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004293392661319412 + } + } + }, + { + "simulation_time_ns": 5720000000, + "center": [ + 15.703648142878784, + 0.18407402986144844, + 0.12278826099607906 + ], + "face_center": [ + 15.62777191281554, + 0.17245132883182138, + 0.13115000934408594 + ], + "face_normal": [ + -0.9826577944145787, + -0.15052326333812083, + 0.10829132104024564 + ], + "footprint_xy": [ + [ + 15.609564002863863, + 0.0925849129409411 + ], + [ + 15.797732282893703, + 0.0925849129409411 + ], + [ + 15.797732282893703, + 0.2755631467819558 + ], + [ + 15.609564002863863, + 0.2755631467819558 + ] + ], + "projected_box_corners": [ + [ + 15.761316462990349, + 0.22242583166580962 + ], + [ + 15.778884606776284, + 0.2755631467819558 + ], + [ + 15.78016413910777, + 0.11583031500019518 + ], + [ + 15.797732282893703, + 0.16896763011634133 + ], + [ + 15.609564002863863, + 0.19918042960655552 + ], + [ + 15.627132146649798, + 0.2523177447227017 + ], + [ + 15.628411678981283, + 0.0925849129409411 + ], + [ + 15.645979822767217, + 0.14572222805708726 + ] + ], + "yaw_rad": -2.9895943978510675, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.594919204711914, + 0.17621949315071106, + 0.12109152972698212 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.62690096893879, + 0.1689786012557016, + 0.13020182531811214 + ], + "intended_face_normal": [ + -0.9834427240619217, + -0.1526776822735612, + 0.09762207909303433 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.18564845940263208, + 0.12266390583625628 + ], + "centerline_face_intersection": [ + 15.624322493966666, + 0.18076765641972542, + 0.12266390583625628 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.600488662719727, + 0.1723104864358902, + 0.1249435693025589 + ], + "box_pose": [ + 15.700020790100098, + 0.181950181722641, + 0.14019238948822021, + 0.04148458316922188, + 0.09492044895887375, + 0.9913180470466614, + -0.08097963780164719 + ], + "box_yaw_rad": -2.9875740159094875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004880802982906668, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003887850218346175 + } + } + }, + { + "simulation_time_ns": 5740000000, + "center": [ + 15.704415347278479, + 0.18721827108811534, + 0.12281554181509052 + ], + "face_center": [ + 15.628601473071019, + 0.17577510457595472, + 0.13195406182349984 + ], + "face_normal": [ + -0.9818502362680914, + -0.1481981479125417, + 0.11835113458051505 + ], + "footprint_xy": [ + [ + 15.609568318196235, + 0.09321597827765088 + ], + [ + 15.799262376360721, + 0.09321597827765088 + ], + [ + 15.799262376360721, + 0.2812205638985798 + ], + [ + 15.609568318196235, + 0.2812205638985798 + ] + ], + "projected_box_corners": [ + [ + 15.761196066611156, + 0.22206105666908096 + ], + [ + 15.780196718354716, + 0.2812205638985798 + ], + [ + 15.78026172461716, + 0.11610231130197213 + ], + [ + 15.799262376360721, + 0.175261818531471 + ], + [ + 15.609568318196235, + 0.19917472364475972 + ], + [ + 15.628568969939796, + 0.25833423087425855 + ], + [ + 15.62863397620224, + 0.09321597827765088 + ], + [ + 15.6476346279458, + 0.15237548550714974 + ] + ], + "yaw_rad": -2.99178583456323, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.59172248840332, + 0.18047615885734558, + 0.1203051209449768 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.62777191281554, + 0.17245132883182138, + 0.13115000934408594 + ], + "intended_face_normal": [ + -0.9826577944145787, + -0.15052326333812083, + 0.10829132104024564 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1892690143127846, + 0.12278826099607906 + ], + "centerline_face_intersection": [ + 15.625070112611962, + 0.18407402986144844, + 0.12278826099607906 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.594919204711914, + 0.17621949315071106, + 0.12109152972698212 + ], + "box_pose": [ + 15.700946807861328, + 0.1857314258813858, + 0.14029647409915924, + 0.045850157737731934, + 0.10814119875431061, + 0.9897648096084595, + -0.08104947954416275 + ], + "box_yaw_rad": -2.9895943978510675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005194984451336163, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003622689893325673 + } + } + }, + { + "simulation_time_ns": 5760000000, + "center": [ + 15.705168802666012, + 0.19031316635456888, + 0.12275619411170112 + ], + "face_center": [ + 15.629420565170555, + 0.17906730978182286, + 0.13265282495522734 + ], + "face_normal": [ + -0.9810001884125836, + -0.14564282657251681, + 0.12816927552579993 + ], + "footprint_xy": [ + [ + 15.60957646429013, + 0.09391196971113445 + ], + [ + 15.800761141041896, + 0.09391196971113445 + ], + [ + 15.800761141041896, + 0.2867143629980033 + ], + [ + 15.60957646429013, + 0.2867143629980033 + ] + ], + "projected_box_corners": [ + [ + 15.761072939281046, + 0.22167000032398426 + ], + [ + 15.781467139759057, + 0.2867143629980033 + ], + [ + 15.780366940563885, + 0.11640368285662647 + ], + [ + 15.800761141041896, + 0.1814480455306455 + ], + [ + 15.60957646429013, + 0.19917828717849226 + ], + [ + 15.629970664768141, + 0.26422264985251126 + ], + [ + 15.62887046557297, + 0.09391196971113445 + ], + [ + 15.64926466605098, + 0.15895633238515347 + ] + ], + "yaw_rad": -2.9942056282975544, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.592616081237793, + 0.18493327498435974, + 0.12355393171310425 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.628601473071019, + 0.17577510457595472, + 0.13195406182349984 + ], + "intended_face_normal": [ + -0.9818502362680914, + -0.1481981479125417, + 0.11835113458051505 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1926829400286823, + 0.12281554181509052 + ], + "centerline_face_intersection": [ + 15.625772687676006, + 0.18721827108811534, + 0.12281554181509052 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59172248840332, + 0.18047615885734558, + 0.1203051209449768 + ], + "box_pose": [ + 15.701823234558105, + 0.18932628631591797, + 0.14029178023338318, + 0.049982983618974686, + 0.1206837147474289, + 0.9881095886230469, + -0.08109546452760696 + ], + "box_yaw_rad": -2.99178583456323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005464668940566953, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003414034715223859 + } + } + }, + { + "simulation_time_ns": 5780000000, + "center": [ + 15.705925554112833, + 0.19344376477400782, + 0.12260978887850192 + ], + "face_center": [ + 15.630248601921526, + 0.18241568808991976, + 0.13326749149597106 + ], + "face_normal": [ + -0.9800769867762966, + -0.14282240303700267, + 0.13802576299428093 + ], + "footprint_xy": [ + [ + 15.609583885205735, + 0.09468724658739695 + ], + [ + 15.802267223019932, + 0.09468724658739695 + ], + [ + 15.802267223019932, + 0.29220028296061873 + ], + [ + 15.609583885205735, + 0.29220028296061873 + ] + ], + "projected_box_corners": [ + [ + 15.76093778958835, + 0.22124158232055208 + ], + [ + 15.78272434319757, + 0.29220028296061873 + ], + [ + 15.780480669410712, + 0.1167433999555731 + ], + [ + 15.802267223019932, + 0.18770210059563974 + ], + [ + 15.609583885205735, + 0.19918542895237593 + ], + [ + 15.631370438814955, + 0.27014412959244255 + ], + [ + 15.629126765028097, + 0.09468724658739695 + ], + [ + 15.650913318637317, + 0.1656459472274636 + ] + ], + "yaw_rad": -2.9968855508086896, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.595175743103027, + 0.19041363894939423, + 0.13228583335876465 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.629420565170555, + 0.17906730978182286, + 0.13265282495522734 + ], + "intended_face_normal": [ + -0.9810001884125836, + -0.14564282657251681, + 0.12816927552579993 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1959930309499442, + 0.12275619411170112 + ], + "centerline_face_intersection": [ + 15.62645799830176, + 0.19031316635456888, + 0.12275619411170112 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.592616081237793, + 0.18493327498435974, + 0.12355393171310425 + ], + "box_pose": [ + 15.702683448791504, + 0.19286373257637024, + 0.14018890261650085, + 0.054035115987062454, + 0.13300494849681854, + 0.9863111972808838, + -0.08111876994371414 + ], + "box_yaw_rad": -2.9942056282975544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005679864595375318, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033106229107100027 + } + } + }, + { + "simulation_time_ns": 5800000000, + "center": [ + 15.706707746996731, + 0.19668322712389025, + 0.12236689975871343 + ], + "face_center": [ + 15.631109593032528, + 0.18590086437943654, + 0.13380672403901644 + ], + "face_normal": [ + -0.9790564867859044, + -0.13964021122572334, + 0.14815486333998362 + ], + "footprint_xy": [ + [ + 15.609594461626976, + 0.09556670257470058 + ], + [ + 15.803821032366486, + 0.09556670257470058 + ], + [ + 15.803821032366486, + 0.2977997516730799 + ], + [ + 15.609594461626976, + 0.2977997516730799 + ] + ], + "projected_box_corners": [ + [ + 15.760790769555383, + 0.2207633193582227 + ], + [ + 15.784002847254607, + 0.2977997516730799 + ], + [ + 15.780608954667262, + 0.11713142806360806 + ], + [ + 15.803821032366486, + 0.1941678603784653 + ], + [ + 15.609594461626976, + 0.1991985938693152 + ], + [ + 15.6328065393262, + 0.27623502618417245 + ], + [ + 15.629412646738855, + 0.09556670257470058 + ], + [ + 15.652624724438079, + 0.17260313488955784 + ] + ], + "yaw_rad": -2.9999208242333015, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.597456932067871, + 0.19783766567707062, + 0.14156949520111084 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.630248601921526, + 0.18241568808991976, + 0.13326749149597106 + ], + "intended_face_normal": [ + -0.9800769867762966, + -0.14282240303700267, + 0.13802576299428093 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.19924483440236768, + 0.12260978887850192 + ], + "centerline_face_intersection": [ + 15.62714060665129, + 0.19344376477400782, + 0.12260978887850192 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.595175743103027, + 0.19041363894939423, + 0.13228583335876465 + ], + "box_pose": [ + 15.703547477722168, + 0.19644120335578918, + 0.13998626172542572, + 0.05812208354473114, + 0.14545971155166626, + 0.9843170046806335, + -0.08113811165094376 + ], + "box_yaw_rad": -2.9968855508086896, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005801069628359862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032550975692752144 + } + } + }, + { + "simulation_time_ns": 5820000000, + "center": [ + 15.707528340442106, + 0.2001072135368716, + 0.12200841145252353 + ], + "face_center": [ + 15.632018349559239, + 0.1896109314269674, + 0.13426718746387037 + ], + "face_normal": [ + -0.9779147044519303, + -0.13593523846763, + 0.15876094249136963 + ], + "footprint_xy": [ + [ + 15.609606427985263, + 0.09658616511503848 + ], + [ + 15.80545025289895, + 0.09658616511503848 + ], + [ + 15.80545025289895, + 0.30362826195870474 + ], + [ + 15.609606427985263, + 0.30362826195870474 + ] + ], + "projected_box_corners": [ + [ + 15.760626409750996, + 0.22021642203459382 + ], + [ + 15.785327213765928, + 0.30362826195870474 + ], + [ + 15.780749448884016, + 0.11757872933484695 + ], + [ + 15.80545025289895, + 0.20099056925895786 + ], + [ + 15.609606427985263, + 0.19922385781478535 + ], + [ + 15.634307232000195, + 0.2826356977388963 + ], + [ + 15.629729467118283, + 0.09658616511503848 + ], + [ + 15.654430271133217, + 0.17999800503914942 + ] + ], + "yaw_rad": -3.003472512402091, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.598003387451172, + 0.20247282087802887, + 0.14479205012321472 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.631109593032528, + 0.18590086437943654, + 0.13380672403901644 + ], + "intended_face_normal": [ + -0.9790564867859044, + -0.13964021122572334, + 0.14815486333998362 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2024381192101229, + 0.12236689975871343 + ], + "centerline_face_intersection": [ + 15.627840679617478, + 0.19668322712389025, + 0.12236689975871343 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.597456932067871, + 0.19783766567707062, + 0.14156949520111084 + ], + "box_pose": [ + 15.704440116882324, + 0.20014218986034393, + 0.13967224955558777, + 0.0623464360833168, + 0.15834204852581024, + 0.9820672273635864, + -0.08114736527204514 + ], + "box_yaw_rad": -2.9999208242333015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005754892086232647, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003202508858372118 + } + } + }, + { + "simulation_time_ns": 5840000000, + "center": [ + 15.708409607926864, + 0.20379311076469356, + 0.12150560019784198 + ], + "face_center": [ + 15.633001343923805, + 0.19362871115293698, + 0.13463882577246655 + ], + "face_normal": [ + -0.976597260092058, + -0.13163709498629528, + 0.17008576290562916 + ], + "footprint_xy": [ + [ + 15.609622394298931, + 0.09778065426453063 + ], + [ + 15.807196821554795, + 0.09778065426453063 + ], + [ + 15.807196821554795, + 0.3098055672648565 + ], + [ + 15.609622394298931, + 0.3098055672648565 + ] + ], + "projected_box_corners": [ + [ + 15.760438922305047, + 0.2195839584378157 + ], + [ + 15.786719707422362, + 0.3098055672648565 + ], + [ + 15.78091603643748, + 0.11810945348804376 + ], + [ + 15.807196821554795, + 0.20833106231508453 + ], + [ + 15.609622394298931, + 0.19925515921430256 + ], + [ + 15.635903179416246, + 0.2894767680413433 + ], + [ + 15.630099508431364, + 0.09778065426453063 + ], + [ + 15.656380293548679, + 0.1880022630915714 + ] + ], + "yaw_rad": -3.0076086135079105, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.595833778381348, + 0.19984112679958344, + 0.13886430859565735 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.632018349559239, + 0.1896109314269674, + 0.13426718746387037 + ], + "intended_face_normal": [ + -0.9779147044519303, + -0.13593523846763, + 0.15876094249136963 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.20576748132945796, + 0.12200841145252353 + ], + "centerline_face_intersection": [ + 15.62856919036499, + 0.2001072135368716, + 0.12200841145252353 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.598003387451172, + 0.20247282087802887, + 0.14479205012321472 + ], + "box_pose": [ + 15.705376625061035, + 0.2040530890226364, + 0.13922415673732758, + 0.06680189073085785, + 0.17195872962474823, + 0.9794833064079285, + -0.08111908286809921 + ], + "box_yaw_rad": -3.003472512402091, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005660267792586357, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003348606573985398 + } + } + }, + { + "simulation_time_ns": 5860000000, + "center": [ + 15.709364544527645, + 0.20782300689904873, + 0.12081497874879446 + ], + "face_center": [ + 15.634075202198499, + 0.1980513027485276, + 0.1348944943064992 + ], + "face_normal": [ + -0.9750571294121682, + -0.12655137505144065, + 0.18234097414734607 + ], + "footprint_xy": [ + [ + 15.60963955635743, + 0.09920481150849694 + ], + [ + 15.80908953269786, + 0.09920481150849694 + ], + [ + 15.80908953269786, + 0.3164412022896005 + ], + [ + 15.60963955635743, + 0.3164412022896005 + ] + ], + "projected_box_corners": [ + [ + 15.760218241015723, + 0.21883989240708712 + ], + [ + 15.788196548712582, + 0.3164412022896005 + ], + [ + 15.781111225001, + 0.11874821980953917 + ], + [ + 15.80908953269786, + 0.21634952969205254 + ], + [ + 15.60963955635743, + 0.1992964841060449 + ], + [ + 15.63761786405429, + 0.29689779398855826 + ], + [ + 15.630532540342708, + 0.09920481150849694 + ], + [ + 15.658510848039567, + 0.19680612139101034 + ] + ], + "yaw_rad": -3.0125254659195555, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.593433380126953, + 0.1957230269908905, + 0.1319465935230255 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.633001343923805, + 0.19362871115293698, + 0.13463882577246655 + ], + "intended_face_normal": [ + -0.976597260092058, + -0.13163709498629528, + 0.17008576290562916 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2096114579158843, + 0.12150560019784198 + ], + "centerline_face_intersection": [ + 15.629343940771337, + 0.20379311076469356, + 0.12150560019784198 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.595833778381348, + 0.19984112679958344, + 0.13886430859565735 + ], + "box_pose": [ + 15.706381797790527, + 0.20826196670532227, + 0.1386082023382187, + 0.07159464806318283, + 0.18663111329078674, + 0.9764565825462341, + -0.08108945935964584 + ], + "box_yaw_rad": -3.0076086135079105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005818347151190762, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038767222179088884 + } + } + }, + { + "simulation_time_ns": 5880000000, + "center": [ + 15.710415290006521, + 0.21228133630837684, + 0.1198767363492351 + ], + "face_center": [ + 15.635266197840487, + 0.2029868058118693, + 0.1349907063384231 + ], + "face_normal": [ + -0.9732407777584986, + -0.12037159503318118, + 0.1957379854276442 + ], + "footprint_xy": [ + [ + 15.609663258508668, + 0.10093205744509809 + ], + [ + 15.811167321504373, + 0.10093205744509809 + ], + [ + 15.811167321504373, + 0.3236306151716556 + ], + [ + 15.609663258508668, + 0.3236306151716556 + ] + ], + "projected_box_corners": [ + [ + 15.759961442840737, + 0.2179464522549472 + ], + [ + 15.789786690747405, + 0.3236306151716556 + ], + [ + 15.781342073597704, + 0.11952111843811324 + ], + [ + 15.811167321504373, + 0.22520528135482165 + ], + [ + 15.609663258508668, + 0.19935739126193203 + ], + [ + 15.639488506415336, + 0.3050415541786405 + ], + [ + 15.631043889265635, + 0.10093205744509809 + ], + [ + 15.660869137172304, + 0.20661622036180652 + ] + ], + "yaw_rad": -3.018536372038382, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.592996597290039, + 0.1952618658542633, + 0.12744994461536407 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.634075202198499, + 0.1980513027485276, + 0.1348944943064992 + ], + "intended_face_normal": [ + -0.9750571294121682, + -0.12655137505144065, + 0.18234097414734607 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2141253532465658, + 0.12081497874879446 + ], + "centerline_face_intersection": [ + 15.630173990884918, + 0.20782300689904873, + 0.12081497874879446 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.593433380126953, + 0.1957230269908905, + 0.1319465935230255 + ], + "box_pose": [ + 15.707470893859863, + 0.21286217868328094, + 0.13777382671833038, + 0.07682758569717407, + 0.20269982516765594, + 0.9728521704673767, + -0.08104892820119858 + ], + "box_yaw_rad": -3.0125254659195555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006302346347517091, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004566421908040555 + } + } + }, + { + "simulation_time_ns": 5900000000, + "center": [ + 15.711588670131203, + 0.2172536123200688, + 0.11860231613829927 + ], + "face_center": [ + 15.63660924387178, + 0.20854016434242426, + 0.13486167715264255 + ], + "face_normal": [ + -0.9710434687272116, + -0.112846112205649, + 0.2105717142196939 + ], + "footprint_xy": [ + [ + 15.609693450813058, + 0.10304710104198313 + ], + [ + 15.81348388944935, + 0.10304710104198313 + ], + [ + 15.81348388944935, + 0.33146012359815447 + ], + [ + 15.609693450813058, + 0.33146012359815447 + ] + ], + "projected_box_corners": [ + [ + 15.759652303331904, + 0.21686714591848402 + ], + [ + 15.791513078687267, + 0.33146012359815447 + ], + [ + 15.781623114093987, + 0.12047399699727221 + ], + [ + 15.81348388944935, + 0.23506697467694262 + ], + [ + 15.609693450813058, + 0.19944024996319495 + ], + [ + 15.64155422616842, + 0.31403322764286534 + ], + [ + 15.631664261575139, + 0.10304710104198313 + ], + [ + 15.663525036930503, + 0.21764007872165356 + ] + ], + "yaw_rad": -3.025900415526109, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.593890190124512, + 0.1977429986000061, + 0.12372978031635284 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.635266197840487, + 0.2029868058118693, + 0.1349907063384231 + ], + "intended_face_normal": [ + -0.9732407777584986, + -0.12037159503318118, + 0.1957379854276442 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.21926446147405848, + 0.1198767363492351 + ], + "centerline_face_intersection": [ + 15.63107694365273, + 0.21228133630837684, + 0.1198767363492351 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.592996597290039, + 0.1952618658542633, + 0.12744994461536407 + ], + "box_pose": [ + 15.70866870880127, + 0.21794992685317993, + 0.1366516649723053, + 0.08261855691671371, + 0.22052906453609467, + 0.9684974551200867, + -0.08095590770244598 + ], + "box_yaw_rad": -3.018536372038382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006983125165681632, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0052240532323296375 + } + } + }, + { + "simulation_time_ns": 5920000000, + "center": [ + 15.712878260296819, + 0.22283535250832587, + 0.1168942575546719 + ], + "face_center": [ + 15.63810109085238, + 0.21484392107999253, + 0.13440765794359105 + ], + "face_normal": [ + -0.9684240813966554, + -0.10349542109611942, + 0.22681252593243517 + ], + "footprint_xy": [ + [ + 15.609733184028896, + 0.1056699277829898 + ], + [ + 15.816023336564744, + 0.1056699277829898 + ], + [ + 15.816023336564744, + 0.3400007772336619 + ], + [ + 15.609733184028896, + 0.3400007772336619 + ] + ], + "projected_box_corners": [ + [ + 15.759287522917772, + 0.21553904029990012 + ], + [ + 15.793351500015179, + 0.3400007772336619 + ], + [ + 15.781959359467338, + 0.12165279063965644 + ], + [ + 15.816023336564744, + 0.24611452757341823 + ], + [ + 15.609733184028896, + 0.19955617744323348 + ], + [ + 15.643797161126301, + 0.3240179143769953 + ], + [ + 15.63240502057846, + 0.1056699277829898 + ], + [ + 15.666468997675866, + 0.2301316647167516 + ] + ], + "yaw_rad": -3.0351268108842833, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.594879150390625, + 0.20027004182338715, + 0.11966896057128906 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.63660924387178, + 0.20854016434242426, + 0.13486167715264255 + ], + "intended_face_normal": [ + -0.9710434687272116, + -0.112846112205649, + 0.2105717142196939 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.22501716203455294, + 0.11860231613829927 + ], + "centerline_face_intersection": [ + 15.632070794363347, + 0.2172536123200688, + 0.11860231613829927 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.593890190124512, + 0.1977429986000061, + 0.12372978031635284 + ], + "box_pose": [ + 15.710005760192871, + 0.22362177073955536, + 0.13514083623886108, + 0.08912868052721024, + 0.2404923141002655, + 0.9631641507148743, + -0.08083546161651611 + ], + "box_yaw_rad": -3.025900415526109, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00776354971448414, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005892173674693825 + } + } + }, + { + "simulation_time_ns": 5940000000, + "center": [ + 15.71424212024643, + 0.2291335139752302, + 0.11465830085277201 + ], + "face_center": [ + 15.63969447862456, + 0.2220646670736669, + 0.13349675919944548 + ], + "face_normal": [ + -0.9654515127319385, + -0.09154721445115044, + 0.24397308503181403 + ], + "footprint_xy": [ + [ + 15.609786748633248, + 0.10899624339374545 + ], + [ + 15.818697491859611, + 0.10899624339374545 + ], + [ + 15.818697491859611, + 0.349270784556715 + ], + [ + 15.609786748633248, + 0.349270784556715 + ] + ], + "projected_box_corners": [ + [ + 15.758882031876986, + 0.2139144748624493 + ], + [ + 15.79524752827319, + 0.349270784556715 + ], + [ + 15.782331995463407, + 0.12313393719687207 + ], + [ + 15.818697491859611, + 0.25849024689113775 + ], + [ + 15.609786748633248, + 0.19977678105932267 + ], + [ + 15.646152245029452, + 0.3351330907535884 + ], + [ + 15.633236712219668, + 0.10899624339374545 + ], + [ + 15.669602208615872, + 0.24435255308801115 + ] + ], + "yaw_rad": -3.0470521162650575, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.59699821472168, + 0.2011747509241104, + 0.1193208396434784 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.63810109085238, + 0.21484392107999253, + 0.13440765794359105 + ], + "intended_face_normal": [ + -0.9684240813966554, + -0.10349542109611942, + 0.22681252593243517 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.23150151465020755, + 0.1168942575546719 + ], + "centerline_face_intersection": [ + 15.633145305081497, + 0.22283535250832587, + 0.1168942575546719 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.594879150390625, + 0.20027004182338715, + 0.11966896057128906 + ], + "box_pose": [ + 15.711474418640137, + 0.22998642921447754, + 0.13312610983848572, + 0.09638877958059311, + 0.2630649209022522, + 0.9565609693527222, + -0.080605648458004 + ], + "box_yaw_rad": -3.0351268108842833, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008666162141881689, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006705541959398207 + } + } + }, + { + "simulation_time_ns": 5960000000, + "center": [ + 15.715335994215089, + 0.23626043675711172, + 0.11191306254447286 + ], + "face_center": [ + 15.64098724933646, + 0.23037278636917435, + 0.13190819257422062 + ], + "face_normal": [ + -0.962875641014719, + -0.07624977597954441, + 0.2589529073556722 + ], + "footprint_xy": [ + [ + 15.609835446410306, + 0.11322989599554187 + ], + [ + 15.820836542019869, + 0.11322989599554187 + ], + [ + 15.820836542019869, + 0.35929097751868155 + ], + [ + 15.609835446410306, + 0.35929097751868155 + ] + ], + "projected_box_corners": [ + [ + 15.758532936167564, + 0.21188266910286124 + ], + [ + 15.79671355851049, + 0.35929097751868155 + ], + [ + 15.782655919676943, + 0.12500519677141655 + ], + [ + 15.820836542019869, + 0.2724135051872369 + ], + [ + 15.609835446410306, + 0.20010736832698656 + ], + [ + 15.648016068753233, + 0.34751567674280687 + ], + [ + 15.633958429919687, + 0.11322989599554187 + ], + [ + 15.672139052262612, + 0.2606382044113622 + ] + ], + "yaw_rad": -3.062567925630572, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.599218368530273, + 0.20296519994735718, + 0.12037110328674316 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.63969447862456, + 0.2220646670736669, + 0.13349675919944548 + ], + "intended_face_normal": [ + -0.9654515127319385, + -0.09154721445115044, + 0.24397308503181403 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2389180266391567, + 0.11465830085277201 + ], + "centerline_face_intersection": [ + 15.63426367193167, + 0.2291335139752302, + 0.11465830085277201 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59699821472168, + 0.2011747509241104, + 0.1193208396434784 + ], + "box_pose": [ + 15.713027000427246, + 0.23716065287590027, + 0.13049086928367615, + 0.10427486151456833, + 0.2886779308319092, + 0.9483621716499329, + -0.08000683784484863 + ], + "box_yaw_rad": -3.0470521162650575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00978451266392648, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007746234727594925 + } + } + }, + { + "simulation_time_ns": 5980000000, + "center": [ + 15.716505140150014, + 0.24413242633826182, + 0.1081789876379489 + ], + "face_center": [ + 15.642401311519498, + 0.23963705321478995, + 0.12940675885676983 + ], + "face_normal": [ + -0.9597037799458832, + -0.05821867315890028, + 0.2749165954718267 + ], + "footprint_xy": [ + [ + 15.609875738626295, + 0.11840250151269754 + ], + [ + 15.823134541673731, + 0.11840250151269754 + ], + [ + 15.823134541673731, + 0.3698623511638261 + ], + [ + 15.609875738626295, + 0.3698623511638261 + ] + ], + "projected_box_corners": [ + [ + 15.758083395887324, + 0.2093735139473321 + ], + [ + 15.798121332821943, + 0.3698623511638261 + ], + [ + 15.783096604739114, + 0.12739324775964134 + ], + [ + 15.823134541673731, + 0.2878820849761354 + ], + [ + 15.609875738626295, + 0.20038276770038832 + ], + [ + 15.649913675560912, + 0.3608716049168823 + ], + [ + 15.634888947478084, + 0.11840250151269754 + ], + [ + 15.674926884412702, + 0.2788913387291916 + ] + ], + "yaw_rad": -3.081003734019178, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.6002836227417, + 0.2077580988407135, + 0.12121954560279846 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.64098724933646, + 0.23037278636917435, + 0.13190819257422062 + ], + "intended_face_normal": [ + -0.962875641014719, + -0.07624977597954441, + 0.2589529073556722 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2473767588934284, + 0.11191306254447286 + ], + "centerline_face_intersection": [ + 15.63514358865162, + 0.23626043675711172, + 0.11191306254447286 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.599218368530273, + 0.20296519994735718, + 0.12037110328674316 + ], + "box_pose": [ + 15.714271545410156, + 0.24527224898338318, + 0.1272178292274475, + 0.11141257733106613, + 0.3181597590446472, + 0.9381962418556213, + -0.07841844111680984 + ], + "box_yaw_rad": -3.062567925630572, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011116322136316662, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008893058232059952 + } + } + }, + { + "simulation_time_ns": 6000000000, + "center": [ + 15.717789084791631, + 0.2527805690407713, + 0.10320056392302171 + ], + "face_center": [ + 15.643977488405707, + 0.2500198168667919, + 0.1257046150273678 + ], + "face_normal": [ + -0.955919138923429, + -0.03575394612972538, + 0.2914454395685948 + ], + "footprint_xy": [ + [ + 15.609926301522126, + 0.12488425618790577 + ], + [ + 15.825651868061136, + 0.12488425618790577 + ], + [ + 15.825651868061136, + 0.3806768818936368 + ], + [ + 15.609926301522126, + 0.3806768818936368 + ] + ], + "projected_box_corners": [ + [ + 15.757549494293974, + 0.2062680497115741 + ], + [ + 15.79958338823059, + 0.3806768818936368 + ], + [ + 15.783617974124521, + 0.13040576053586456 + ], + [ + 15.825651868061136, + 0.30481459271792727 + ], + [ + 15.609926301522126, + 0.2007465453636153 + ], + [ + 15.651960195458742, + 0.37515537754567807 + ], + [ + 15.635994781352673, + 0.12488425618790577 + ], + [ + 15.678028675289289, + 0.2992930883699685 + ] + ], + "yaw_rad": -3.104207391739002, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.601889610290527, + 0.21541424095630646, + 0.1221703290939331 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.642401311519498, + 0.23963705321478995, + 0.12940675885676983 + ], + "intended_face_normal": [ + -0.9597037799458832, + -0.05821867315890028, + 0.2749165954718267 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2567037215744804, + 0.1081789876379489 + ], + "centerline_face_intersection": [ + 15.636047695337416, + 0.24413242633826182, + 0.1081789876379489 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.6002836227417, + 0.2077580988407135, + 0.12121954560279846 + ], + "box_pose": [ + 15.71560001373291, + 0.254228413105011, + 0.12280203402042389, + 0.11936576664447784, + 0.3515779376029968, + 0.9253349900245667, + -0.07681078463792801 + ], + "box_yaw_rad": -3.081003734019178, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012571295236218595, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01004666851554628 + } + } + }, + { + "simulation_time_ns": 6020000000, + "center": [ + 15.719193802524336, + 0.2621292041928813, + 0.09655028762015029 + ], + "face_center": [ + 15.645732066868868, + 0.2615236599244051, + 0.12032443639089874 + ], + "face_normal": [ + -0.9513881629714547, + -0.007842282026732761, + 0.3078942189889453 + ], + "footprint_xy": [ + [ + 15.609995434286155, + 0.13299315748177976 + ], + [ + 15.828392170762516, + 0.13299315748177976 + ], + [ + 15.828392170762516, + 0.3912652509039829 + ], + [ + 15.609995434286155, + 0.3912652509039829 + ] + ], + "projected_box_corners": [ + [ + 15.75691890559709, + 0.2024416340744581 + ], + [ + 15.801069122323511, + 0.3912652509039829 + ], + [ + 15.784241954036094, + 0.13420424601873215 + ], + [ + 15.828392170762516, + 0.32302786284825696 + ], + [ + 15.609995434286155, + 0.2012305455375057 + ], + [ + 15.654145651012577, + 0.3900541623670305 + ], + [ + 15.63731848272516, + 0.13299315748177976 + ], + [ + 15.681468699451582, + 0.32181677431130457 + ] + ], + "yaw_rad": -3.133349851419555, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.604005813598633, + 0.22542040050029755, + 0.12086088955402374 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.643977488405707, + 0.2500198168667919, + 0.1257046150273678 + ], + "intended_face_normal": [ + -0.955919138923429, + -0.03575394612972538, + 0.2914454395685948 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.26684651740036847, + 0.10320056392302171 + ], + "centerline_face_intersection": [ + 15.637013095727955, + 0.2527805690407713, + 0.10320056392302171 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.601889610290527, + 0.21541424095630646, + 0.1221703290939331 + ], + "box_pose": [ + 15.717058181762695, + 0.2640571892261505, + 0.11694411933422089, + 0.12833775579929352, + 0.3893405497074127, + 0.9090508818626404, + -0.07463175803422928 + ], + "box_yaw_rad": -3.104207391739002, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014065948359597187, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011298717177228652 + } + } + }, + { + "simulation_time_ns": 6040000000, + "center": [ + 15.720740915317785, + 0.2719940567983115, + 0.08777174201822244 + ], + "face_center": [ + 15.647716778733868, + 0.27402787355417896, + 0.1127826015020962 + ], + "face_normal": [ + -0.9457209054109814, + 0.026339551739699374, + 0.32391061069258775 + ], + "footprint_xy": [ + [ + 15.610080160949725, + 0.13899848724753233 + ], + [ + 15.831401669685846, + 0.13899848724753233 + ], + [ + 15.831401669685846, + 0.40498962634909064 + ], + [ + 15.610080160949725, + 0.40498962634909064 + ] + ], + "projected_box_corners": [ + [ + 15.756128434117562, + 0.1977685814219695 + ], + [ + 15.802497953850027, + 0.40092199283735575 + ], + [ + 15.785032149953379, + 0.13899848724753233 + ], + [ + 15.831401669685846, + 0.3421518986629186 + ], + [ + 15.610080160949725, + 0.2018362149337044 + ], + [ + 15.656449680682192, + 0.40498962634909064 + ], + [ + 15.638983876785542, + 0.14306612075926725 + ], + [ + 15.685353396518009, + 0.3462195321746535 + ] + ], + "yaw_rad": 3.1137485568017094, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.60539722442627, + 0.23697932064533234, + 0.1189052164554596 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.645732066868868, + 0.2615236599244051, + 0.12032443639089874 + ], + "intended_face_normal": [ + -0.9513881629714547, + -0.007842282026732761, + 0.3078942189889453 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.27712920419288134, + 0.09655028762015029 + ], + "centerline_face_intersection": [ + 15.638033118676564, + 0.2621292041928813, + 0.09655028762015029 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.604005813598633, + 0.22542040050029755, + 0.12086088955402374 + ], + "box_pose": [ + 15.71865177154541, + 0.27466660737991333, + 0.10916382819414139, + 0.1384352147579193, + 0.43182575702667236, + 0.8883808851242065, + -0.07170464098453522 + ], + "box_yaw_rad": -3.133349851419555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.012245808367660007 + } + } + }, + { + "simulation_time_ns": 6060000000, + "center": [ + 15.722612004314922, + 0.282081933908155, + 0.07605991273575885 + ], + "face_center": [ + 15.65035364238193, + 0.28679846150800714, + 0.10286831650044859 + ], + "face_normal": [ + -0.9358035119285688, + 0.06108280030126867, + 0.3471902451298403 + ], + "footprint_xy": [ + [ + 15.610180761508605, + 0.14553382603184647 + ], + [ + 15.835043247121238, + 0.14553382603184647 + ], + [ + 15.835043247121238, + 0.4186300417844635 + ], + [ + 15.610180761508605, + 0.4186300417844635 + ] + ], + "projected_box_corners": [ + [ + 15.754697485374585, + 0.1931051065815647 + ], + [ + 15.803042685136878, + 0.4091969865847592 + ], + [ + 15.786698047358945, + 0.14553382603184647 + ], + [ + 15.835043247121238, + 0.36162570603504096 + ], + [ + 15.610180761508605, + 0.202538161781269 + ], + [ + 15.658525961270897, + 0.4186300417844635 + ], + [ + 15.642181323492963, + 0.15496688123155075 + ], + [ + 15.690526523255256, + 0.37105876123474524 + ] + ], + "yaw_rad": 3.0764120133545783, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.606047630310059, + 0.2502709627151489, + 0.1159437894821167 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.647716778733868, + 0.27402787355417896, + 0.1127826015020962 + ], + "intended_face_normal": [ + -0.9457209054109814, + 0.026339551739699374, + 0.32391061069258775 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2869940567983115, + 0.08777174201822244 + ], + "centerline_face_intersection": [ + 15.6390938739236, + 0.2719940567983115, + 0.08777174201822244 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.60539722442627, + 0.23697932064533234, + 0.1189052164554596 + ], + "box_pose": [ + 15.720404624938965, + 0.28583911061286926, + 0.09894237667322159, + 0.14999431371688843, + 0.47933217883110046, + 0.8620331287384033, + -0.06812652945518494 + ], + "box_yaw_rad": 3.1137485568017094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.013205233046485382 + } + } + }, + { + "simulation_time_ns": 6080000000, + "center": [ + 15.724288522657112, + 0.2923455776685368, + 0.061958392019802286 + ], + "face_center": [ + 15.652652048398073, + 0.3009741505403119, + 0.08945334381681096 + ], + "face_normal": [ + -0.927749569744698, + 0.11174691178062979, + 0.35608159060965505 + ], + "footprint_xy": [ + [ + 15.610506628992995, + 0.1534320736168565 + ], + [ + 15.838070416321226, + 0.1534320736168565 + ], + [ + 15.838070416321226, + 0.4312590817202171 + ], + [ + 15.610506628992995, + 0.4312590817202171 + ] + ], + "projected_box_corners": [ + [ + 15.753779577511073, + 0.1869710495976501 + ], + [ + 15.803837119015235, + 0.4140019359766669 + ], + [ + 15.788012874817063, + 0.1534320736168565 + ], + [ + 15.838070416321226, + 0.3804629599958733 + ], + [ + 15.610506628992995, + 0.2042281953412003 + ], + [ + 15.660564170497159, + 0.4312590817202171 + ], + [ + 15.644739926298987, + 0.1706892193604067 + ], + [ + 15.694797467803149, + 0.3977201057394235 + ] + ], + "yaw_rad": 3.0217206958459415, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.605917930603027, + 0.26580679416656494, + 0.11248920857906342 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.65035364238193, + 0.28679846150800714, + 0.10286831650044859 + ], + "intended_face_normal": [ + -0.9358035119285688, + 0.06108280030126867, + 0.3471902451298403 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.297081933908155, + 0.07605991273575885 + ], + "centerline_face_intersection": [ + 15.640099689574503, + 0.282081933908155, + 0.07605991273575885 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.606047630310059, + 0.2502709627151489, + 0.1159437894821167 + ], + "box_pose": [ + 15.722503662109375, + 0.2971617579460144, + 0.08550284057855606, + 0.1654292792081833, + 0.529414713382721, + 0.8292296528816223, + -0.0687858834862709 + ], + "box_yaw_rad": 3.0764120133545783, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.015457432184062002 + } + } + }, + { + "simulation_time_ns": 6100000000, + "center": [ + 15.725839578068081, + 0.3021366366353252, + 0.04450821779991829 + ], + "face_center": [ + 15.654729984425286, + 0.3152344515296634, + 0.07160206265389414 + ], + "face_normal": [ + -0.920926044856266, + 0.16962716630745955, + 0.3508869352658608 + ], + "footprint_xy": [ + [ + 15.611126649064666, + 0.1636766652113733 + ], + [ + 15.840552507071497, + 0.1636766652113733 + ], + [ + 15.840552507071497, + 0.44059660805927714 + ], + [ + 15.611126649064666, + 0.44059660805927714 + ] + ], + "projected_box_corners": [ + [ + 15.753345836350256, + 0.18097548390773371 + ], + [ + 15.804441993613528, + 0.41440097827060074 + ], + [ + 15.789456349808225, + 0.1636766652113733 + ], + [ + 15.840552507071497, + 0.39710215957424033 + ], + [ + 15.611126649064666, + 0.20717111369641011 + ], + [ + 15.662222806327938, + 0.44059660805927714 + ], + [ + 15.647237162522634, + 0.1898722950000497 + ], + [ + 15.698333319785906, + 0.42329778936291673 + ] + ], + "yaw_rad": 2.95944230740572, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.604276657104492, + 0.28128013014793396, + 0.10762986540794373 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.652652048398073, + 0.3009741505403119, + 0.08945334381681096 + ], + "intended_face_normal": [ + -0.927749569744698, + 0.11174691178062979, + 0.35608159060965505 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.3073455776685368, + 0.061958392019802286 + ], + "centerline_face_intersection": [ + 15.641059905334567, + 0.2923455776685368, + 0.061958392019802286 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.605917930603027, + 0.26580679416656494, + 0.11248920857906342 + ], + "box_pose": [ + 15.724369049072266, + 0.30862531065940857, + 0.06913791596889496, + 0.17939487099647522, + 0.5869282484054565, + 0.7870133519172668, + -0.06279240548610687 + ], + "box_yaw_rad": 3.0217206958459415, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.017441194619135937 + } + } + }, + { + "simulation_time_ns": 6120000000, + "center": [ + 15.728119453750784, + 0.3062483397828643, + 0.03606203095917759 + ], + "face_center": [ + 15.658544727957404, + 0.3214514516141952, + 0.06590206468766441 + ], + "face_normal": [ + -0.9010482800494586, + 0.19689244349596358, + 0.3864522750333155 + ], + "footprint_xy": [ + [ + 15.61205718431355, + 0.16930336235693408 + ], + [ + 15.84418172318802, + 0.16930336235693408 + ], + [ + 15.84418172318802, + 0.44319331720879457 + ], + [ + 15.61205718431355, + 0.44319331720879457 + ] + ], + "projected_box_corners": [ + [ + 15.75120663590031, + 0.17841840154200334 + ], + [ + 15.802408817840826, + 0.41278709354613274 + ], + [ + 15.792979541247503, + 0.16930336235693408 + ], + [ + 15.84418172318802, + 0.4036720543610635 + ], + [ + 15.61205718431355, + 0.2088246252046651 + ], + [ + 15.663259366254065, + 0.44319331720879457 + ], + [ + 15.653830089660744, + 0.19970958601959587 + ], + [ + 15.70503227160126, + 0.4340782780237253 + ] + ], + "yaw_rad": 2.9264593619095187, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.60222053527832, + 0.2943134307861328, + 0.09964339435100555 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.654729984425286, + 0.3152344515296634, + 0.07160206265389414 + ], + "intended_face_normal": [ + -0.920926044856266, + 0.16962716630745955, + 0.3508869352658608 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.3171366366353252, + 0.04450821779991829 + ], + "centerline_face_intersection": [ + 15.641994285231902, + 0.3021366366353252, + 0.04450821779991829 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.604276657104492, + 0.28128013014793396, + 0.10762986540794373 + ], + "box_pose": [ + 15.72605037689209, + 0.31935274600982666, + 0.04899629205465317, + 0.19157367944717407, + 0.6472905278205872, + 0.7358518838882446, + -0.05325833335518837 + ], + "box_yaw_rad": 2.95944230740572, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.02000933322215989 + } + } + }, + { + "simulation_time_ns": 6140000000, + "center": [ + 15.729144728886848, + 0.30613281844245144, + 0.036549466952513585 + ], + "face_center": [ + 15.660037954976927, + 0.32120562117628104, + 0.06752152598734067 + ], + "face_normal": [ + -0.8949879293268523, + 0.1952048365835477, + 0.4011129070892654 + ], + "footprint_xy": [ + [ + 15.612922887225755, + 0.16929433628744792 + ], + [ + 15.845366570547942, + 0.16929433628744792 + ], + [ + 15.845366570547942, + 0.44297130059745493 + ], + [ + 15.612922887225755, + 0.44297130059745493 + ] + ], + "projected_box_corners": [ + [ + 15.751136435045597, + 0.17836828933399757 + ], + [ + 15.801924854438184, + 0.4128256951297958 + ], + [ + 15.794578151155353, + 0.16929433628744792 + ], + [ + 15.845366570547942, + 0.40375174208324616 + ], + [ + 15.612922887225755, + 0.20851389480165675 + ], + [ + 15.663711306618342, + 0.44297130059745493 + ], + [ + 15.656364603335511, + 0.1994399417551071 + ], + [ + 15.7071530227281, + 0.4338973475509053 + ] + ], + "yaw_rad": 2.926846854951834, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.601752281188965, + 0.30408743023872375, + 0.08886051177978516 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.658544727957404, + 0.3214514516141952, + 0.06590206468766441 + ], + "intended_face_normal": [ + -0.9010482800494586, + 0.19689244349596358, + 0.3864522750333155 + ], + "commanded_contact_point": [ + 15.602663879394532, + 0.3212483397828643, + 0.03606203095917759 + ], + "centerline_face_intersection": [ + 15.642424474224049, + 0.3062483397828643, + 0.03606203095917759 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.60222053527832, + 0.2943134307861328, + 0.09964339435100555 + ], + "box_pose": [ + 15.728503227233887, + 0.32376477122306824, + 0.03916187584400177, + 0.2129814475774765, + 0.6743083000183105, + 0.7041537165641785, + -0.06414641439914703 + ], + "box_yaw_rad": 2.9264593619095187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009471238427069897 + } + } + }, + { + "simulation_time_ns": 6160000000, + "center": [ + 15.728758891079138, + 0.3061633488119252, + 0.035767144885643136 + ], + "face_center": [ + 15.659061195962407, + 0.32125526550330574, + 0.06537573984698446 + ], + "face_normal": [ + -0.9026408310231346, + 0.19545237760336232, + 0.3834549581097457 + ], + "footprint_xy": [ + [ + 15.613070598131886, + 0.16951884623939623 + ], + [ + 15.844447184026393, + 0.16951884623939623 + ], + [ + 15.844447184026393, + 0.44280785138445417 + ], + [ + 15.613070598131886, + 0.44280785138445417 + ] + ], + "projected_box_corners": [ + [ + 15.75246598836535, + 0.17808944823884545 + ], + [ + 15.802895943451917, + 0.41262401800169307 + ], + [ + 15.794017228939827, + 0.16951884623939623 + ], + [ + 15.844447184026393, + 0.40405341600224387 + ], + [ + 15.613070598131886, + 0.20827328162160652 + ], + [ + 15.663500553218451, + 0.44280785138445417 + ], + [ + 15.654621838706362, + 0.1997026796221573 + ], + [ + 15.705051793792927, + 0.43423724938500496 + ] + ], + "yaw_rad": 2.9283507880147606, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.604805946350098, + 0.3086149990558624, + 0.07880975306034088 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.660037954976927, + 0.32120562117628104, + 0.06752152598734067 + ], + "intended_face_normal": [ + -0.8949879293268523, + 0.1952048365835477, + 0.4011129070892654 + ], + "commanded_contact_point": [ + 15.603789215087891, + 0.32113281844245145, + 0.036549466952513585 + ], + "centerline_face_intersection": [ + 15.64286947155515, + 0.30613281844245144, + 0.036549466952513585 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.601752281188965, + 0.30408743023872375, + 0.08886051177978516 + ], + "box_pose": [ + 15.729548454284668, + 0.32364892959594727, + 0.03964858502149582, + 0.21810100972652435, + 0.6738353967666626, + 0.7024527192115784, + -0.0702705830335617 + ], + "box_yaw_rad": 2.926846854951834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001231795214489347 + } + } + }, + { + "simulation_time_ns": 6180000000, + "center": [ + 15.727587779658938, + 0.3061322750565482, + 0.03496258540527133 + ], + "face_center": [ + 15.656789640514674, + 0.321225099936125, + 0.06183328117868221 + ], + "face_normal": [ + -0.9168924602892403, + 0.19546413936602614, + 0.34799697640587457 + ], + "footprint_xy": [ + [ + 15.612807515256272, + 0.1694882191310232 + ], + [ + 15.842368044061606, + 0.1694882191310232 + ], + [ + 15.842368044061606, + 0.4427763309820733 + ], + [ + 15.612807515256272, + 0.4427763309820733 + ] + ], + "projected_box_corners": [ + [ + 15.7544037935448, + 0.178056221896682 + ], + [ + 15.804828681853865, + 0.41259068122291975 + ], + [ + 15.791943155752543, + 0.1694882191310232 + ], + [ + 15.842368044061606, + 0.404022678457261 + ], + [ + 15.612807515256272, + 0.20824187165583552 + ], + [ + 15.663232403565335, + 0.4427763309820733 + ], + [ + 15.650346877464013, + 0.19967386889017674 + ], + [ + 15.700771765773078, + 0.43420832821641453 + ] + ], + "yaw_rad": 2.9315556821329394, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.610735893249512, + 0.3063310980796814, + 0.06718622148036957 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.659061195962407, + 0.32125526550330574, + 0.06537573984698446 + ], + "intended_face_normal": [ + -0.9026408310231346, + 0.19545237760336232, + 0.3834549581097457 + ], + "commanded_contact_point": [ + 15.604567413330079, + 0.32106528280216773, + 0.035767144885643136 + ], + "centerline_face_intersection": [ + 15.643215105270208, + 0.3061633488119252, + 0.035767144885643136 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.604805946350098, + 0.3086149990558624, + 0.07880975306034088 + ], + "box_pose": [ + 15.729077339172363, + 0.3236931562423706, + 0.038798004388809204, + 0.21113154292106628, + 0.6761389374732971, + 0.7029626965522766, + -0.0640547052025795 + ], + "box_yaw_rad": 2.9283507880147606, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01490193399024251, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001105523126472123 + } + } + }, + { + "simulation_time_ns": 6200000000, + "center": [ + 15.72740090477572, + 0.30617002968717855, + 0.03509117471273669 + ], + "face_center": [ + 15.656493354421128, + 0.3212574094356391, + 0.06167491776497829 + ], + "face_normal": [ + -0.9183094228681199, + 0.19539362056812903, + 0.34428070942937294 + ], + "footprint_xy": [ + [ + 15.612746231346494, + 0.16955228059617913 + ], + [ + 15.842055578204949, + 0.16955228059617913 + ], + [ + 15.842055578204949, + 0.442787778778178 + ], + [ + 15.612746231346494, + 0.442787778778178 + ] + ], + "projected_box_corners": [ + [ + 15.75456133205568, + 0.17806584726425803 + ], + [ + 15.804924850187566, + 0.41261301928125704 + ], + [ + 15.791692060073062, + 0.16955228059617913 + ], + [ + 15.842055578204949, + 0.40409945261317815 + ], + [ + 15.612746231346494, + 0.208240606761179 + ], + [ + 15.663109749478378, + 0.442787778778178 + ], + [ + 15.649876959363876, + 0.1997270400931001 + ], + [ + 15.700240477495761, + 0.4342742121100991 + ] + ], + "yaw_rad": 2.9319438097612847, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.616711616516113, + 0.3000803589820862, + 0.05835902690887451 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.656789640514674, + 0.321225099936125, + 0.06183328117868221 + ], + "intended_face_normal": [ + -0.9168924602892403, + 0.19546413936602614, + 0.34799697640587457 + ], + "commanded_contact_point": [ + 15.605853919982911, + 0.3210262561258654, + 0.03496258540527133 + ], + "centerline_face_intersection": [ + 15.643373635410136, + 0.3061322750565482, + 0.03496258540527133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.610735893249512, + 0.3063310980796814, + 0.06718622148036957 + ], + "box_pose": [ + 15.727787971496582, + 0.3236621618270874, + 0.038003090769052505, + 0.19739878177642822, + 0.6772674322128296, + 0.7069335579872131, + -0.05086715146899223 + ], + "box_yaw_rad": 2.9315556821329394, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014893981069317183, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015178729876707204 + } + } + }, + { + "simulation_time_ns": 6220000000, + "center": [ + 15.727399103870482, + 0.3061786868250784, + 0.03504686580667582 + ], + "face_center": [ + 15.6564892031826, + 0.321273700097621, + 0.06162008900566682 + ], + "face_normal": [ + -0.9183398615618046, + 0.19549248080317128, + 0.3441444689258031 + ], + "footprint_xy": [ + [ + 15.61274582208852, + 0.16956669734835716 + ], + [ + 15.842052385652444, + 0.16956669734835716 + ], + [ + 15.842052385652444, + 0.44279067630179963 + ], + [ + 15.61274582208852, + 0.44279067630179963 + ] + ], + "projected_box_corners": [ + [ + 15.754565623464282, + 0.17805362791268103 + ], + [ + 15.804931400743575, + 0.4126006497567144 + ], + [ + 15.791686608373153, + 0.16956669734835716 + ], + [ + 15.842052385652444, + 0.40411371919239053 + ], + [ + 15.61274582208852, + 0.20824365445776627 + ], + [ + 15.663111599367811, + 0.44279067630179963 + ], + [ + 15.649866806997391, + 0.19975672389344246 + ], + [ + 15.700232584276682, + 0.43430374573747577 + ] + ], + "yaw_rad": 2.9318475703811844, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.62101936340332, + 0.29628676176071167, + 0.05458010733127594 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.656493354421128, + 0.3212574094356391, + 0.06167491776497829 + ], + "intended_face_normal": [ + -0.9183094228681199, + 0.19539362056812903, + 0.34428070942937294 + ], + "commanded_contact_point": [ + 15.608024482727052, + 0.32117002968717856, + 0.03509117471273669 + ], + "centerline_face_intersection": [ + 15.643316703973039, + 0.30617002968717855, + 0.03509117471273669 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.616711616516113, + 0.3000803589820862, + 0.05835902690887451 + ], + "box_pose": [ + 15.727584838867188, + 0.32370129227638245, + 0.03812476992607117, + 0.19592900574207306, + 0.6775452494621277, + 0.7071684002876282, + -0.04956946149468422 + ], + "box_yaw_rad": 2.9319438097612847, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002179116489125438 + } + } + }, + { + "simulation_time_ns": 6240000000, + "center": [ + 15.727396500870881, + 0.30618626416162065, + 0.035010125180506016 + ], + "face_center": [ + 15.656484702681393, + 0.32128679244577624, + 0.061575106739270545 + ], + "face_normal": [ + -0.9183644357234613, + 0.1955639046093256, + 0.34403773310088726 + ], + "footprint_xy": [ + [ + 15.612745319037888, + 0.16957977784913889 + ], + [ + 15.842047682703873, + 0.16957977784913889 + ], + [ + 15.842047682703873, + 0.4427927504741024 + ], + [ + 15.612745319037888, + 0.4427927504741024 + ] + ], + "projected_box_corners": [ + [ + 15.754568915416863, + 0.17804432190686914 + ], + [ + 15.804934005786066, + 0.4125916939057912 + ], + [ + 15.79168259233467, + 0.16957977784913889 + ], + [ + 15.842047682703873, + 0.404127149848061 + ], + [ + 15.612745319037888, + 0.20824537847518032 + ], + [ + 15.663110409407091, + 0.4427927504741024 + ], + [ + 15.649858995955695, + 0.1997808344174501 + ], + [ + 15.700224086324898, + 0.43432820641637215 + ] + ], + "yaw_rad": 2.9317786194618827, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.623157501220703, + 0.29622796177864075, + 0.05446162819862366 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.6564892031826, + 0.321273700097621, + 0.06162008900566682 + ], + "intended_face_normal": [ + -0.9183398615618046, + 0.19549248080317128, + 0.3441444689258031 + ], + "commanded_contact_point": [ + 15.610586051940919, + 0.32117868682507844, + 0.03504686580667582 + ], + "centerline_face_intersection": [ + 15.64331769006784, + 0.3061786868250784, + 0.03504686580667582 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.62101936340332, + 0.29628676176071167, + 0.05458010733127594 + ], + "box_pose": [ + 15.727582931518555, + 0.32371073961257935, + 0.03807591274380684, + 0.19590598344802856, + 0.6776386499404907, + 0.7070896625518799, + -0.04950889199972153 + ], + "box_yaw_rad": 2.9318475703811844, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002561967029964494 + } + } + }, + { + "simulation_time_ns": 6260000000, + "center": [ + 15.727393756471638, + 0.30619204574205233, + 0.03497978863145065 + ], + "face_center": [ + 15.656480454092334, + 0.32129754973615327, + 0.06153789619666154 + ], + "face_normal": [ + -0.9183839161832594, + 0.19562834402805374, + 0.34394870939295386 + ], + "footprint_xy": [ + [ + 15.612743773829937, + 0.16958976681928098 + ], + [ + 15.842043739113342, + 0.16958976681928098 + ], + [ + 15.842043739113342, + 0.44279432466482366 + ], + [ + 15.612743773829937, + 0.44279432466482366 + ] + ], + "projected_box_corners": [ + [ + 15.754570378588548, + 0.17803594164474645 + ], + [ + 15.804936223500508, + 0.41258331667662174 + ], + [ + 15.791677894201383, + 0.16958976681928098 + ], + [ + 15.842043739113342, + 0.4041371418511563 + ], + [ + 15.612743773829937, + 0.20824694963294837 + ], + [ + 15.663109618741895, + 0.44279432466482366 + ], + [ + 15.64985128944277, + 0.1998007748074829 + ], + [ + 15.700217134354729, + 0.4343481498393582 + ] + ], + "yaw_rad": 2.9317158190260475, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.62445068359375, + 0.2973141670227051, + 0.05464375019073486 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.656484702681393, + 0.32128679244577624, + 0.061575106739270545 + ], + "intended_face_normal": [ + -0.9183644357234613, + 0.1955639046093256, + 0.34403773310088726 + ], + "commanded_contact_point": [ + 15.613120918273927, + 0.32118626416162066, + 0.035010125180506016 + ], + "centerline_face_intersection": [ + 15.64331733697054, + 0.30618626416162065, + 0.035010125180506016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.623157501220703, + 0.29622796177864075, + 0.05446162819862366 + ], + "box_pose": [ + 15.727580070495605, + 0.32371896505355835, + 0.038035426288843155, + 0.19588547945022583, + 0.6777164340019226, + 0.7070237994194031, + -0.04946489259600639 + ], + "box_yaw_rad": 2.9317786194618827, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002535143904368527 + } + } + }, + { + "simulation_time_ns": 6280000000, + "center": [ + 15.727391936031696, + 0.3061969968207903, + 0.03495481428891059 + ], + "face_center": [ + 15.65647739156164, + 0.32130665440955053, + 0.061507221446268856 + ], + "face_normal": [ + -0.9184000022507064, + 0.1956821363970649, + 0.3438748845573887 + ], + "footprint_xy": [ + [ + 15.61274289240781, + 0.16959816125090435 + ], + [ + 15.84204097965558, + 0.16959816125090435 + ], + [ + 15.84204097965558, + 0.4427958323906763 + ], + [ + 15.61274289240781, + 0.4427958323906763 + ] + ], + "projected_box_corners": [ + [ + 15.754571981347917, + 0.17802917207657698 + ], + [ + 15.804938587403777, + 0.4125765172131559 + ], + [ + 15.79167437359972, + 0.16959816125090435 + ], + [ + 15.84204097965558, + 0.40414550638748326 + ], + [ + 15.61274289240781, + 0.20824848725409736 + ], + [ + 15.663109498463669, + 0.4427958323906763 + ], + [ + 15.649845284659614, + 0.19981747642842473 + ], + [ + 15.700211890715472, + 0.43436482156500367 + ] + ], + "yaw_rad": 2.931663359168192, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.627155303955078, + 0.2975746691226959, + 0.055266618728637695 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.656480454092334, + 0.32129754973615327, + 0.06153789619666154 + ], + "intended_face_normal": [ + -0.9183839161832594, + 0.19562834402805374, + 0.34394870939295386 + ], + "commanded_contact_point": [ + 15.615426902770997, + 0.32119204574205235, + 0.03497978863145065 + ], + "centerline_face_intersection": [ + 15.643316376031072, + 0.30619204574205233, + 0.03497978863145065 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.62445068359375, + 0.2973141670227051, + 0.05464375019073486 + ], + "box_pose": [ + 15.727577209472656, + 0.32372528314590454, + 0.038001980632543564, + 0.19587020576000214, + 0.6777804493904114, + 0.7069693207740784, + -0.04942622408270836 + ], + "box_yaw_rad": 2.9317158190260475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023061912829619095 + } + } + }, + { + "simulation_time_ns": 6300000000, + "center": [ + 15.731761494053998, + 0.30631016343442863, + 0.0351385504055304 + ], + "face_center": [ + 15.661484220179869, + 0.3211052134562785, + 0.06350080093633846 + ], + "face_normal": [ + -0.9101468389383811, + 0.1916077170756445, + 0.3673138020696012 + ], + "footprint_xy": [ + [ + 15.61702680051491, + 0.17014788715280962 + ], + [ + 15.846496187593086, + 0.17014788715280962 + ], + [ + 15.846496187593086, + 0.4424724397160476 + ], + [ + 15.61702680051491, + 0.4424724397160476 + ] + ], + "projected_box_corners": [ + [ + 15.757581348263171, + 0.17805590632759655 + ], + [ + 15.80663221042045, + 0.41288233967234783 + ], + [ + 15.797445325435808, + 0.17014788715280962 + ], + [ + 15.846496187593086, + 0.40497432049756094 + ], + [ + 15.61702680051491, + 0.20764600637129632 + ], + [ + 15.666077662672189, + 0.4424724397160476 + ], + [ + 15.656890777687549, + 0.19973798719650937 + ], + [ + 15.705941639844827, + 0.4345644205412607 + ] + ], + "yaw_rad": 2.9340986825850277, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.632712364196777, + 0.29733115434646606, + 0.05779263377189636 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.65647739156164, + 0.32130665440955053, + 0.061507221446268856 + ], + "intended_face_normal": [ + -0.9184000022507064, + 0.1956821363970649, + 0.3438748845573887 + ], + "commanded_contact_point": [ + 15.617425804138184, + 0.32119699682079034, + 0.03495481428891059 + ], + "centerline_face_intersection": [ + 15.643316028233125, + 0.3061969968207903, + 0.03495481428891059 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.627155303955078, + 0.2975746691226959, + 0.055266618728637695 + ], + "box_pose": [ + 15.727575302124023, + 0.3237306773662567, + 0.037974435836076736, + 0.1958576887845993, + 0.6778333187103271, + 0.706924319267273, + -0.049393970519304276 + ], + "box_yaw_rad": 2.931663359168192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001999063507422922 + } + } + }, + { + "simulation_time_ns": 6320000000, + "center": [ + 15.738548412517874, + 0.3064430598873014, + 0.03644696604373931 + ], + "face_center": [ + 15.668982722046433, + 0.3202819022693952, + 0.06696426164718829 + ], + "face_normal": [ + -0.9009312654123178, + 0.17922406425707482, + 0.39522335735694547 + ], + "footprint_xy": [ + [ + 15.624325260247131, + 0.17093393171636778 + ], + [ + 15.852771564788616, + 0.17093393171636778 + ], + [ + 15.852771564788616, + 0.44195218805823505 + ], + [ + 15.624325260247131, + 0.44195218805823505 + ] + ], + "projected_box_corners": [ + [ + 15.763456641190013, + 0.1788943404522352 + ], + [ + 15.809772732200294, + 0.4142745032940475 + ], + [ + 15.806455473778335, + 0.17093393171636778 + ], + [ + 15.852771564788616, + 0.40631409455818013 + ], + [ + 15.624325260247131, + 0.20657202521642273 + ], + [ + 15.67064135125741, + 0.44195218805823505 + ], + [ + 15.667324092835454, + 0.1986116164805553 + ], + [ + 15.713640183845735, + 0.43399177932236765 + ] + ], + "yaw_rad": 2.945224221256667, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.640491485595703, + 0.2968434989452362, + 0.06238992512226105 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.661484220179869, + 0.3211052134562785, + 0.06350080093633846 + ], + "intended_face_normal": [ + -0.9101468389383811, + 0.1916077170756445, + 0.3673138020696012 + ], + "commanded_contact_point": [ + 15.619120483398438, + 0.32131016343442864, + 0.0351385504055304 + ], + "centerline_face_intersection": [ + 15.646923190378182, + 0.30631016343442863, + 0.0351385504055304 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.632712364196777, + 0.29733115434646606, + 0.05779263377189636 + ], + "box_pose": [ + 15.731925010681152, + 0.3238537013530731, + 0.03810153156518936, + 0.2032945603132248, + 0.6787219047546387, + 0.7031429409980774, + -0.05998298525810242 + ], + "box_yaw_rad": 2.9340986825850277, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017083627946450999 + } + } + }, + { + "simulation_time_ns": 6340000000, + "center": [ + 15.744822469935128, + 0.3063137349027308, + 0.03695441060011143 + ], + "face_center": [ + 15.675449377988912, + 0.3192585813095837, + 0.06829141383147012 + ], + "face_normal": [ + -0.898436960649839, + 0.16764610219288834, + 0.4058392259766066 + ], + "footprint_xy": [ + [ + 15.63159803474402, + 0.17160454879023576 + ], + [ + 15.858046905126235, + 0.17160454879023576 + ], + [ + 15.858046905126235, + 0.4410229210152259 + ], + [ + 15.63159803474402, + 0.4410229210152259 + ] + ], + "projected_box_corners": [ + [ + 15.77034421863645, + 0.17920713724302967 + ], + [ + 15.813790583174805, + 0.4151332282015201 + ], + [ + 15.81460054058788, + 0.17160454879023576 + ], + [ + 15.858046905126235, + 0.40753063974872616 + ], + [ + 15.63159803474402, + 0.20509683005673543 + ], + [ + 15.675044399282374, + 0.4410229210152259 + ], + [ + 15.67585435669545, + 0.19749424160394152 + ], + [ + 15.719300721233804, + 0.43342033256243195 + ] + ], + "yaw_rad": 2.9571166826837243, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.648056983947754, + 0.2965516149997711, + 0.06704054772853851 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.668982722046433, + 0.3202819022693952, + 0.06696426164718829 + ], + "intended_face_normal": [ + -0.9009312654123178, + 0.17922406425707482, + 0.39522335735694547 + ], + "commanded_contact_point": [ + 15.620425109863282, + 0.32144305988730143, + 0.03644696604373931 + ], + "centerline_face_intersection": [ + 15.652842302766983, + 0.3064430598873014, + 0.03644696604373931 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.640491485595703, + 0.2968434989452362, + 0.06238992512226105 + ], + "box_pose": [ + 15.73859977722168, + 0.32397228479385376, + 0.03949742764234543, + 0.20967355370521545, + 0.6770917177200317, + 0.7014359831809998, + -0.07464144378900528 + ], + "box_yaw_rad": 2.945224221256667, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018524748749352844 + } + } + }, + { + "simulation_time_ns": 6360000000, + "center": [ + 15.749654956290392, + 0.3060096564971119, + 0.03608934303775141 + ], + "face_center": [ + 15.679516438703056, + 0.31823398138273196, + 0.0659783700519492 + ], + "face_normal": [ + -0.9083498341764482, + 0.1583147728913037, + 0.3870867772224429 + ], + "footprint_xy": [ + [ + 15.638032181735879, + 0.1722071647775852 + ], + [ + 15.861277730844908, + 0.1722071647775852 + ], + [ + 15.861277730844908, + 0.4398121482166387 + ], + [ + 15.638032181735879, + 0.4398121482166387 + ] + ], + "projected_box_corners": [ + [ + 15.778309216910552, + 0.17894316691665862 + ], + [ + 15.818980843034286, + 0.41536349844539866 + ], + [ + 15.820606104721174, + 0.1722071647775852 + ], + [ + 15.861277730844908, + 0.4086274963063252 + ], + [ + 15.638032181735879, + 0.20339181668789869 + ], + [ + 15.67870380785961, + 0.4398121482166387 + ], + [ + 15.6803290695465, + 0.19665581454882525 + ], + [ + 15.721000695670233, + 0.4330761460775653 + ] + ], + "yaw_rad": 2.9690375961747635, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.653053283691406, + 0.29685941338539124, + 0.06895093619823456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.675449377988912, + 0.3192585813095837, + 0.06829141383147012 + ], + "intended_face_normal": [ + -0.898436960649839, + 0.16764610219288834, + 0.4058392259766066 + ], + "commanded_contact_point": [ + 15.62155330657959, + 0.3213137349027308, + 0.03695441060011143 + ], + "centerline_face_intersection": [ + 15.658878416770188, + 0.3063137349027308, + 0.03695441060011143 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.648056983947754, + 0.2965516149997711, + 0.06704054772853851 + ], + "box_pose": [ + 15.744696617126465, + 0.3238373398780823, + 0.04003484547138214, + 0.2095249742269516, + 0.6773188710212708, + 0.7003268003463745, + -0.08295008540153503 + ], + "box_yaw_rad": 2.9571166826837243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012438057565855654 + } + } + }, + { + "simulation_time_ns": 6380000000, + "center": [ + 15.752244759733237, + 0.3058260221355593, + 0.034981500892309614 + ], + "face_center": [ + 15.681093808473179, + 0.31734422536986806, + 0.06267767831893965 + ], + "face_normal": [ + -0.9214616590391032, + 0.1491699334087997, + 0.35868762326597725 + ], + "footprint_xy": [ + [ + 15.642414294292259, + 0.17283776955935487 + ], + [ + 15.862075225174218, + 0.17283776955935487 + ], + [ + 15.862075225174218, + 0.43881427471176376 + ], + [ + 15.642414294292259, + 0.43881427471176376 + ] + ], + "projected_box_corners": [ + [ + 15.784716196812376, + 0.17893397833845706 + ], + [ + 15.822861557959655, + 0.4157778682431462 + ], + [ + 15.823929864026939, + 0.17283776955935487 + ], + [ + 15.862075225174218, + 0.409681659464044 + ], + [ + 15.642414294292259, + 0.2019703848070746 + ], + [ + 15.680559655439538, + 0.43881427471176376 + ], + [ + 15.681627961506821, + 0.1958741760279724 + ], + [ + 15.719773322654099, + 0.43271806593266154 + ] + ], + "yaw_rad": 2.9811009235818355, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.655014991760254, + 0.2977820634841919, + 0.06698237359523773 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.679516438703056, + 0.31823398138273196, + 0.0659783700519492 + ], + "intended_face_normal": [ + -0.9083498341764482, + 0.1583147728913037, + 0.3870867772224429 + ], + "commanded_contact_point": [ + 15.62281406402588, + 0.32100965649711194, + 0.03608934303775141 + ], + "centerline_face_intersection": [ + 15.664648815477426, + 0.3060096564971119, + 0.03608934303775141 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.653053283691406, + 0.29685941338539124, + 0.06895093619823456 + ], + "box_pose": [ + 15.749259948730469, + 0.3235407769680023, + 0.039103537797927856, + 0.19859139621257782, + 0.6805670261383057, + 0.7007163763046265, + -0.07991445809602737 + ], + "box_yaw_rad": 2.9690375961747635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015589467285909862 + } + } + }, + { + "simulation_time_ns": 6400000000, + "center": [ + 15.75232873625092, + 0.3058617583679702, + 0.03495500083198535 + ], + "face_center": [ + 15.68107284022031, + 0.31726102780898396, + 0.06242967529843245 + ], + "face_normal": [ + -0.9228207776547634, + 0.14762964577322268, + 0.3558189829799714 + ], + "footprint_xy": [ + [ + 15.64272240885131, + 0.17295930849014812 + ], + [ + 15.86193506365053, + 0.17295930849014812 + ], + [ + 15.86193506365053, + 0.4387642082457922 + ], + [ + 15.64272240885131, + 0.4387642082457922 + ] + ], + "projected_box_corners": [ + [ + 15.78523420091253, + 0.1790677389268909 + ], + [ + 15.823045082661924, + 0.41596566936376467 + ], + [ + 15.824124181901135, + 0.17295930849014812 + ], + [ + 15.86193506365053, + 0.40985723892702186 + ], + [ + 15.64272240885131, + 0.20186627780891847 + ], + [ + 15.680533290600705, + 0.4387642082457922 + ], + [ + 15.681612389839914, + 0.1957578473721757 + ], + [ + 15.719423271589308, + 0.43265577780904946 + ] + ], + "yaw_rad": 2.982960296835006, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.652469635009766, + 0.29972946643829346, + 0.06140144169330597 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.681093808473179, + 0.31734422536986806, + 0.06267767831893965 + ], + "intended_face_normal": [ + -0.9214616590391032, + 0.1491699334087997, + 0.35868762326597725 + ], + "commanded_contact_point": [ + 15.624371414184571, + 0.32082602213555933, + 0.034981500892309614 + ], + "centerline_face_intersection": [ + 15.668448203301407, + 0.3058260221355593, + 0.034981500892309614 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.655014991760254, + 0.2977820634841919, + 0.06698237359523773 + ], + "box_pose": [ + 15.751568794250488, + 0.3233571946620941, + 0.03794507309794426, + 0.18421262502670288, + 0.6834577918052673, + 0.7025783061981201, + -0.07304038107395172 + ], + "box_yaw_rad": 2.9811009235818355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019199935715350877 + } + } + }, + { + "simulation_time_ns": 6420000000, + "center": [ + 15.752236765303719, + 0.3058435838240288, + 0.034934930231161114 + ], + "face_center": [ + 15.680900910645393, + 0.3172249601305929, + 0.06220879412728639 + ], + "face_normal": [ + -0.9238563057600757, + 0.1473979153878462, + 0.35321832567315603 + ], + "footprint_xy": [ + [ + 15.64270385904649, + 0.17292870040125166 + ], + [ + 15.861769671560948, + 0.17292870040125166 + ], + [ + 15.861769671560948, + 0.438758467246806 + ], + [ + 15.64270385904649, + 0.438758467246806 + ] + ], + "projected_box_corners": [ + [ + 15.785375568363142, + 0.17909674529271477 + ], + [ + 15.823180593103732, + 0.41599571463367774 + ], + [ + 15.823964646820356, + 0.17292870040125166 + ], + [ + 15.861769671560948, + 0.40982766974221463 + ], + [ + 15.64270385904649, + 0.201859497905843 + ], + [ + 15.680508883787082, + 0.438758467246806 + ], + [ + 15.681292937503704, + 0.1956914530143799 + ], + [ + 15.719097962244296, + 0.43259042235534284 + ] + ], + "yaw_rad": 2.9833797344738966, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.644817352294922, + 0.303702712059021, + 0.05565255880355835 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.68107284022031, + 0.31726102780898396, + 0.06242967529843245 + ], + "intended_face_normal": [ + -0.9228207776547634, + 0.14762964577322268, + 0.3558189829799714 + ], + "commanded_contact_point": [ + 15.62581813812256, + 0.3208617583679702, + 0.03495500083198535 + ], + "centerline_face_intersection": [ + 15.668655594313575, + 0.3058617583679702, + 0.03495500083198535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.652469635009766, + 0.29972946643829346, + 0.06140144169330597 + ], + "box_pose": [ + 15.751618385314941, + 0.32339000701904297, + 0.03792780637741089, + 0.18257445096969604, + 0.6834749579429626, + 0.7030450701713562, + -0.07249925285577774 + ], + "box_yaw_rad": 2.982960296835006, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014474078500037347 + } + } + }, + { + "simulation_time_ns": 6440000000, + "center": [ + 15.752109372195877, + 0.30581254845225325, + 0.03492948840650466 + ], + "face_center": [ + 15.68066073899666, + 0.3171654613500189, + 0.06191853628733047 + ], + "face_normal": [ + -0.92531687795978, + 0.14702929150539745, + 0.3495297307446146 + ], + "footprint_xy": [ + [ + 15.642681573719605, + 0.17287505416226265 + ], + [ + 15.861537170672149, + 0.17287505416226265 + ], + [ + 15.861537170672149, + 0.43875004274224394 + ], + [ + 15.642681573719605, + 0.43875004274224394 + ] + ], + "projected_box_corners": [ + [ + 15.785578840118037, + 0.17914457828605454 + ], + [ + 15.823377480762074, + 0.41604421694671273 + ], + [ + 15.82373853002811, + 0.17287505416226265 + ], + [ + 15.861537170672149, + 0.40977469282292084 + ], + [ + 15.642681573719605, + 0.20185040408158572 + ], + [ + 15.680480214363643, + 0.43875004274224394 + ], + [ + 15.680841263629677, + 0.1955808799577938 + ], + [ + 15.718639904273717, + 0.432480518618452 + ] + ], + "yaw_rad": 2.9840138709883246, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.63658332824707, + 0.3078605830669403, + 0.053206801414489746 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.680900910645393, + 0.3172249601305929, + 0.06220879412728639 + ], + "intended_face_normal": [ + -0.9238563057600757, + 0.1473979153878462, + 0.35321832567315603 + ], + "commanded_contact_point": [ + 15.627499465942384, + 0.32084358382402883, + 0.034934930231161114 + ], + "centerline_face_intersection": [ + 15.668657410559897, + 0.3058435838240288, + 0.034934930231161114 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.644817352294922, + 0.303702712059021, + 0.05565255880355835 + ], + "box_pose": [ + 15.751517295837402, + 0.3233700692653656, + 0.037915926426649094, + 0.18152113258838654, + 0.6833760738372803, + 0.7035092711448669, + -0.07156727463006973 + ], + "box_yaw_rad": 2.9833797344738966, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016815458307104757 + } + } + }, + { + "simulation_time_ns": 6460000000, + "center": [ + 15.751954378330813, + 0.30577345289664853, + 0.03494023877378033 + ], + "face_center": [ + 15.680370799297533, + 0.3170899164627042, + 0.06158476574215377 + ], + "face_normal": [ + -0.9270645343148374, + 0.14655724354154742, + 0.3450679097016085 + ], + "footprint_xy": [ + [ + 15.642657770057914, + 0.17280739105757265 + ], + [ + 15.861250986603713, + 0.17280739105757265 + ], + [ + 15.861250986603713, + 0.4387395147357244 + ], + [ + 15.642657770057914, + 0.4387395147357244 + ] + ], + "projected_box_corners": [ + [ + 15.785824928124477, + 0.17920642532022207 + ], + [ + 15.823611613347405, + 0.41610658760361313 + ], + [ + 15.823464301380785, + 0.17280739105757265 + ], + [ + 15.861250986603713, + 0.4097075533409637 + ], + [ + 15.642657770057914, + 0.20183935245233336 + ], + [ + 15.680444455280842, + 0.4387395147357244 + ], + [ + 15.680297143314222, + 0.19544031818968394 + ], + [ + 15.71808382853715, + 0.432340480473075 + ] + ], + "yaw_rad": 2.9848027826173955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.631814002990723, + 0.31102272868156433, + 0.05563068389892578 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.68066073899666, + 0.3171654613500189, + 0.06191853628733047 + ], + "intended_face_normal": [ + -0.92531687795978, + 0.14702929150539745, + 0.3495297307446146 + ], + "commanded_contact_point": [ + 15.629705314636231, + 0.32073062706766575, + 0.03492948840650466 + ], + "centerline_face_intersection": [ + 15.66866194380606, + 0.30581254845225325, + 0.03492948840650466 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.63658332824707, + 0.3078605830669403, + 0.053206801414489746 + ], + "box_pose": [ + 15.75137710571289, + 0.32333606481552124, + 0.03792479261755943, + 0.18001879751682281, + 0.6831774115562439, + 0.7042208909988403, + -0.07024803012609482 + ], + "box_yaw_rad": 2.9840138709883246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014918078615412517, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022087456400439304 + } + } + }, + { + "simulation_time_ns": 6480000000, + "center": [ + 15.751940501475437, + 0.30577384479645014, + 0.034923065487854496 + ], + "face_center": [ + 15.680345197145092, + 0.31709029042981257, + 0.06153613018996755 + ], + "face_normal": [ + -0.927216386278765, + 0.14655701129884413, + 0.3446604482193374 + ], + "footprint_xy": [ + [ + 15.642655514679069, + 0.17280822288042352 + ], + [ + 15.861225488271803, + 0.17280822288042352 + ], + [ + 15.861225488271803, + 0.43873946671247677 + ], + [ + 15.642655514679069, + 0.43873946671247677 + ] + ], + "projected_box_corners": [ + [ + 15.785846123339756, + 0.1792062449994152 + ], + [ + 15.823631590888937, + 0.41610657544575197 + ], + [ + 15.823440020722623, + 0.17280822288042352 + ], + [ + 15.861225488271803, + 0.40970855332676026 + ], + [ + 15.642655514679069, + 0.20183913626614003 + ], + [ + 15.680440982228248, + 0.43873946671247677 + ], + [ + 15.680249412061936, + 0.19544111414714835 + ], + [ + 15.718034879611116, + 0.4323414445934851 + ] + ], + "yaw_rad": 2.98482828609561, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.633153915405273, + 0.3133581280708313, + 0.06406515836715698 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.680370799297533, + 0.3170899164627042, + 0.06158476574215377 + ], + "intended_face_normal": [ + -0.9270645343148374, + 0.14655724354154742, + 0.3450679097016085 + ], + "commanded_contact_point": [ + 15.632160072326661, + 0.3204815604806644, + 0.03494023877378033 + ], + "centerline_face_intersection": [ + 15.668664260918971, + 0.30577345289664853, + 0.03494023877378033 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.631814002990723, + 0.31102272868156433, + 0.05563068389892578 + ], + "box_pose": [ + 15.751206398010254, + 0.32329314947128296, + 0.0379539392888546, + 0.17819474637508392, + 0.6829103231430054, + 0.7050998210906982, + -0.06866036355495453 + ], + "box_yaw_rad": 2.9848027826173955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014708107584015886, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024673842533907767 + } + } + }, + { + "simulation_time_ns": 6500000000, + "center": [ + 15.751933529335082, + 0.30577597415168467, + 0.034907378245581724 + ], + "face_center": [ + 15.680333059365644, + 0.31709358175771385, + 0.06150607087593733 + ], + "face_normal": [ + -0.9272832854316917, + 0.14657205977314103, + 0.3444743184086896 + ], + "footprint_xy": [ + [ + 15.642653948067979, + 0.17281204959939858 + ], + [ + 15.861213110602185, + 0.17281204959939858 + ], + [ + 15.861213110602185, + 0.4387398987039708 + ], + [ + 15.642653948067979, + 0.4387398987039708 + ] + ], + "projected_box_corners": [ + [ + 15.785854888006854, + 0.17920411960424823 + ], + [ + 15.823639117704284, + 0.41610468349191254 + ], + [ + 15.823428880904755, + 0.17281204959939858 + ], + [ + 15.861213110602185, + 0.4097126134870629 + ], + [ + 15.642653948067979, + 0.2018393348163065 + ], + [ + 15.680438177765408, + 0.4387398987039708 + ], + [ + 15.680227940965882, + 0.19544726481145686 + ], + [ + 15.71801217066331, + 0.43234782869912114 + ] + ], + "yaw_rad": 2.9848235785304538, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.639721870422363, + 0.3148931860923767, + 0.07485458254814148 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.680345197145092, + 0.31709029042981257, + 0.06153613018996755 + ], + "intended_face_normal": [ + -0.927216386278765, + 0.14655701129884413, + 0.3446604482193374 + ], + "commanded_contact_point": [ + 15.634473686218263, + 0.32017858104949076, + 0.034923065487854496 + ], + "centerline_face_intersection": [ + 15.668664024642096, + 0.30577384479645014, + 0.034923065487854496 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.633153915405273, + 0.3133581280708313, + 0.06406515836715698 + ], + "box_pose": [ + 15.751191139221191, + 0.3232935667037964, + 0.03793628513813019, + 0.17803938686847687, + 0.682928740978241, + 0.7051358222961426, + -0.06851121038198471 + ], + "box_yaw_rad": 2.98482828609561, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01440473625304064, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023334310996632225 + } + } + }, + { + "simulation_time_ns": 6520000000, + "center": [ + 15.751927421028151, + 0.3057777369634116, + 0.03489460577778111 + ], + "face_center": [ + 15.680322501473347, + 0.31709635651683055, + 0.06148091180486767 + ], + "face_normal": [ + -0.9273409111168149, + 0.14658516530025167, + 0.3443139020010939 + ], + "footprint_xy": [ + [ + 15.6426525042221, + 0.17281529538451845 + ], + [ + 15.8612023378342, + 0.17281529538451845 + ], + [ + 15.8612023378342, + 0.43874017854230474 + ], + [ + 15.6426525042221, + 0.43874017854230474 + ] + ], + "projected_box_corners": [ + [ + 15.785862343331708, + 0.17920216831505378 + ], + [ + 15.823645488799484, + 0.4161029394354668 + ], + [ + 15.823419192366424, + 0.17281529538451845 + ], + [ + 15.8612023378342, + 0.4097160665049315 + ], + [ + 15.6426525042221, + 0.20183940742189171 + ], + [ + 15.680435649689876, + 0.43874017854230474 + ], + [ + 15.680209353256817, + 0.19545253449135638 + ], + [ + 15.717992498724593, + 0.4323533056117694 + ] + ], + "yaw_rad": 2.9848193735721624, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.648443222045898, + 0.31510183215141296, + 0.08253277838230133 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.680333059365644, + 0.31709358175771385, + 0.06150607087593733 + ], + "intended_face_normal": [ + -0.9272832854316917, + 0.14657205977314103, + 0.3444743184086896 + ], + "commanded_contact_point": [ + 15.636720542907716, + 0.3198160219270976, + 0.034907378245581724 + ], + "centerline_face_intersection": [ + 15.66866306051013, + 0.30577597415168467, + 0.034907378245581724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.639721870422363, + 0.3148931860923767, + 0.07485458254814148 + ], + "box_pose": [ + 15.75118350982666, + 0.32329586148262024, + 0.03791947662830353, + 0.17797209322452545, + 0.6829553842544556, + 0.7051337361335754, + -0.06844229251146317 + ], + "box_yaw_rad": 2.9848235785304538, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014040047775412958, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022759745582367264 + } + } + }, + { + "simulation_time_ns": 6540000000, + "center": [ + 15.751923149990903, + 0.30577931729787505, + 0.03488391962280725 + ], + "face_center": [ + 15.680314560254775, + 0.31709866552349164, + 0.06146000383532839 + ], + "face_normal": [ + -0.9273884428969623, + 0.14659460218732434, + 0.34418152133659063 + ], + "footprint_xy": [ + [ + 15.642652278678893, + 0.1728182606387981 + ], + [ + 15.861194021302914, + 0.1728182606387981 + ], + [ + 15.861194021302914, + 0.438740373956952 + ], + [ + 15.642652278678893, + 0.438740373956952 + ] + ], + "projected_box_corners": [ + [ + 15.78586945815115, + 0.179200694502649 + ], + [ + 15.823651297222154, + 0.41610167750571875 + ], + [ + 15.82341218223191, + 0.1728182606387981 + ], + [ + 15.861194021302914, + 0.40971924364186785 + ], + [ + 15.642652278678893, + 0.20183939095388226 + ], + [ + 15.680434117749897, + 0.438740373956952 + ], + [ + 15.680195002759653, + 0.19545695709003133 + ], + [ + 15.717976841830657, + 0.4323579400931011 + ] + ], + "yaw_rad": 2.984817350009966, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.656107902526855, + 0.3122544586658478, + 0.08282250165939331 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.680322501473347, + 0.31709635651683055, + 0.06148091180486767 + ], + "intended_face_normal": [ + -0.9273409111168149, + 0.14658516530025167, + 0.3443139020010939 + ], + "commanded_contact_point": [ + 15.639003639221192, + 0.3194448209313045, + 0.03489460577778111 + ], + "centerline_face_intersection": [ + 15.668662126694867, + 0.3057777369634116, + 0.03489460577778111 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.648443222045898, + 0.31510183215141296, + 0.08253277838230133 + ], + "box_pose": [ + 15.751176834106445, + 0.32329776883125305, + 0.037905726581811905, + 0.17791412770748138, + 0.6829785704612732, + 0.7051317095756531, + -0.06838290393352509 + ], + "box_yaw_rad": 2.9848193735721624, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013667083967892903, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023131109121314955 + } + } + }, + { + "simulation_time_ns": 6560000000, + "center": [ + 15.752296711892082, + 0.30569672792560887, + 0.03472828279266529 + ], + "face_center": [ + 15.68068371629385, + 0.3169773179222231, + 0.06130894436656021 + ], + "face_normal": [ + -0.9274455023309045, + 0.1460926521590329, + 0.3442408018230889 + ], + "footprint_xy": [ + [ + 15.643085759711246, + 0.17278227402292848 + ], + [ + 15.861507664072917, + 0.17278227402292848 + ], + [ + 15.861507664072917, + 0.43861118182828923 + ], + [ + 15.643085759711246, + 0.43861118182828923 + ] + ], + "projected_box_corners": [ + [ + 15.78631175090771, + 0.17912634854533846 + ], + [ + 15.823951986526177, + 0.41605000183506075 + ], + [ + 15.823867428454452, + 0.17278227402292848 + ], + [ + 15.861507664072917, + 0.40970592731265076 + ], + [ + 15.643085759711246, + 0.20168752853856697 + ], + [ + 15.680725995329713, + 0.43861118182828923 + ], + [ + 15.680641437257988, + 0.19534345401615696 + ], + [ + 15.718281672876454, + 0.43226710730587925 + ] + ], + "yaw_rad": 2.9853549078062245, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.660778999328613, + 0.30825361609458923, + 0.07551245391368866 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.680314560254775, + 0.31709866552349164, + 0.06146000383532839 + ], + "intended_face_normal": [ + -0.9273884428969623, + 0.14659460218732434, + 0.34418152133659063 + ], + "commanded_contact_point": [ + 15.641333465576173, + 0.31918739561104903, + 0.03488391962280725 + ], + "centerline_face_intersection": [ + 15.668662123284301, + 0.30577931729787505, + 0.03488391962280725 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.656107902526855, + 0.3122544586658478, + 0.08282250165939331 + ], + "box_pose": [ + 15.751172065734863, + 0.32329946756362915, + 0.037894222885370255, + 0.17786577343940735, + 0.6829980611801147, + 0.7051296830177307, + -0.06833449006080627 + ], + "box_yaw_rad": 2.984817350009966, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013408078313173994, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023440291879109213 + } + } + }, + { + "simulation_time_ns": 6580000000, + "center": [ + 15.755155095037908, + 0.30533154790504796, + 0.03461383900485944 + ], + "face_center": [ + 15.683830728378098, + 0.31642977769554304, + 0.06203411319567757 + ], + "face_normal": [ + -0.9237075270019162, + 0.14373094180804813, + 0.35511445595193436 + ], + "footprint_xy": [ + [ + 15.646038642966419, + 0.1727783837999993 + ], + [ + 15.8642715471094, + 0.1727783837999993 + ], + [ + 15.8642715471094, + 0.4378847120100967 + ], + [ + 15.646038642966419, + 0.4378847120100967 + ] + ], + "projected_box_corners": [ + [ + 15.78868737628604, + 0.17862081995119594 + ], + [ + 15.825419223061889, + 0.41568825242910656 + ], + [ + 15.827539700333551, + 0.1727783837999993 + ], + [ + 15.8642715471094, + 0.4098458162779099 + ], + [ + 15.646038642966419, + 0.2008172795321861 + ], + [ + 15.682770489742268, + 0.4378847120100967 + ], + [ + 15.68489096701393, + 0.19497484338098942 + ], + [ + 15.721622813789777, + 0.43204227585890004 + ] + ], + "yaw_rad": 2.9872283160545874, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.661111831665039, + 0.3079666793346405, + 0.06233218312263489 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.68068371629385, + 0.3169773179222231, + 0.06130894436656021 + ], + "intended_face_normal": [ + -0.9274455023309045, + 0.1460926521590329, + 0.3442408018230889 + ], + "commanded_contact_point": [ + 15.643999938964845, + 0.31900253071202367, + 0.03472828279266529 + ], + "centerline_face_intersection": [ + 15.669040807671967, + 0.30569672792560887, + 0.03472828279266529 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.660778999328613, + 0.30825361609458923, + 0.07551245391368866 + ], + "box_pose": [ + 15.751535415649414, + 0.32321688532829285, + 0.03773597255349159, + 0.1776978224515915, + 0.6831021308898926, + 0.7050490975379944, + -0.06856179982423782 + ], + "box_yaw_rad": 2.9853549078062245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013305802786414779, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002677401386845754 + } + } + }, + { + "simulation_time_ns": 6600000000, + "center": [ + 15.755756549520846, + 0.30532031142618893, + 0.03467879366428596 + ], + "face_center": [ + 15.684533898118403, + 0.3163371257048976, + 0.06239462056698322 + ], + "face_normal": [ + -0.9223902331619414, + 0.1426765458901631, + 0.3589420996783863 + ], + "footprint_xy": [ + [ + 15.64669144220512, + 0.17289364778141567 + ], + [ + 15.864821656836572, + 0.17289364778141567 + ], + [ + 15.864821656836572, + 0.4377469750709622 + ], + [ + 15.64669144220512, + 0.4377469750709622 + ] + ], + "projected_box_corners": [ + [ + 15.789136745010008, + 0.17859292593227735 + ], + [ + 15.825519010590826, + 0.41571334651354497 + ], + [ + 15.828439391255754, + 0.17289364778141567 + ], + [ + 15.864821656836572, + 0.4100140683626833 + ], + [ + 15.64669144220512, + 0.2006265544896946 + ], + [ + 15.683073707785937, + 0.4377469750709622 + ], + [ + 15.685994088450867, + 0.19492727633883292 + ], + [ + 15.722376354031685, + 0.43204769692010053 + ] + ], + "yaw_rad": 2.988127564326786, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.657759666442871, + 0.3100416660308838, + 0.04412934184074402 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.683830728378098, + 0.31642977769554304, + 0.06203411319567757 + ], + "intended_face_normal": [ + -0.9237075270019162, + 0.14373094180804813, + 0.35511445595193436 + ], + "commanded_contact_point": [ + 15.647078399658204, + 0.31853194543427904, + 0.03461383900485944 + ], + "centerline_face_intersection": [ + 15.671562278421964, + 0.30533154790504796, + 0.03461383900485944 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.661111831665039, + 0.3079666793346405, + 0.06233218312263489 + ], + "box_pose": [ + 15.754363059997559, + 0.32285892963409424, + 0.03757108747959137, + 0.18082833290100098, + 0.6842141151428223, + 0.7026413083076477, + -0.07380697131156921 + ], + "box_yaw_rad": 2.9872283160545874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013200397529231078, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003116322853100433 + } + } + }, + { + "simulation_time_ns": 6620000000, + "center": [ + 15.755729607214457, + 0.30531748575317647, + 0.034688525409174185 + ], + "face_center": [ + 15.684483606986172, + 0.31633117873430233, + 0.06234555889103881 + ], + "face_normal": [ + -0.9226926191091991, + 0.1426361225929611, + 0.3581806779104184 + ], + "footprint_xy": [ + [ + 15.646685163848693, + 0.17288920024504653 + ], + [ + 15.86477405058022, + 0.17288920024504653 + ], + [ + 15.86477405058022, + 0.4377457712613064 + ], + [ + 15.646685163848693, + 0.4377457712613064 + ] + ], + "projected_box_corners": [ + [ + 15.78917716430526, + 0.17859756931076948 + ], + [ + 15.825558053555351, + 0.41571838529905475 + ], + [ + 15.828393161330128, + 0.17288920024504653 + ], + [ + 15.86477405058022, + 0.4100100162333318 + ], + [ + 15.646685163848693, + 0.20062495527302118 + ], + [ + 15.683066053098784, + 0.4377457712613064 + ], + [ + 15.685901160873561, + 0.1949165862072982 + ], + [ + 15.722282050123653, + 0.4320374021955835 + ] + ], + "yaw_rad": 2.9882198598809104, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.653470039367676, + 0.3100370764732361, + 0.0266798734664917 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.684533898118403, + 0.3163371257048976, + 0.06239462056698322 + ], + "intended_face_normal": [ + -0.9223902331619414, + 0.1426765458901631, + 0.3589420996783863 + ], + "commanded_contact_point": [ + 15.650509719848634, + 0.3183318547712322, + 0.03467879366428596 + ], + "centerline_face_intersection": [ + 15.672044351434419, + 0.30532031142618893, + 0.03467879366428596 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.657759666442871, + 0.3100416660308838, + 0.04412934184074402 + ], + "box_pose": [ + 15.754951477050781, + 0.32284897565841675, + 0.03762488439679146, + 0.18185989558696747, + 0.6844789385795593, + 0.7019143104553223, + -0.07570866495370865 + ], + "box_yaw_rad": 2.988127564326786, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013011543345043284, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003437762881652858 + } + } + }, + { + "simulation_time_ns": 6640000000, + "center": [ + 15.756098181202775, + 0.30500497033669843, + 0.03485032878073859 + ], + "face_center": [ + 15.68489411537185, + 0.3157867363711438, + 0.06270601988568224 + ], + "face_normal": [ + -0.9221495351633422, + 0.13963248335442202, + 0.36075345283051874 + ], + "footprint_xy": [ + [ + 15.64731997237736, + 0.17280041984519987 + ], + [ + 15.864876390028188, + 0.17280041984519987 + ], + [ + 15.864876390028188, + 0.43720952082819703 + ], + [ + 15.64731997237736, + 0.43720952082819703 + ] + ], + "projected_box_corners": [ + [ + 15.78972810403921, + 0.17841138866087933 + ], + [ + 15.82535868326502, + 0.41564598875930636 + ], + [ + 15.829245810802378, + 0.17280041984519987 + ], + [ + 15.864876390028188, + 0.4100350199436269 + ], + [ + 15.64731997237736, + 0.19997492072977002 + ], + [ + 15.682950551603172, + 0.43720952082819703 + ], + [ + 15.68683767914053, + 0.19436395191409053 + ], + [ + 15.72246825836634, + 0.43159855201251757 + ] + ], + "yaw_rad": 2.991313606197023, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.655259132385254, + 0.3063270151615143, + 0.025184795260429382 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.684483606986172, + 0.31633117873430233, + 0.06234555889103881 + ], + "intended_face_normal": [ + -0.9226926191091991, + 0.1426361225929611, + 0.3581806779104184 + ], + "commanded_contact_point": [ + 15.653862838745118, + 0.3181402454694174, + 0.034688525409174185 + ], + "centerline_face_intersection": [ + 15.672044843391392, + 0.30531748575317647, + 0.034688525409174185 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.653470039367676, + 0.3100370764732361, + 0.0266798734664917 + ], + "box_pose": [ + 15.754921913146973, + 0.3228458762168884, + 0.03763553500175476, + 0.18155893683433533, + 0.6844794750213623, + 0.7020214796066284, + -0.07543259859085083 + ], + "box_yaw_rad": 2.9882198598809104, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0128227597162409, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003358603156873573 + } + } + }, + { + "simulation_time_ns": 6660000000, + "center": [ + 15.761003197313036, + 0.3018684258060583, + 0.036373937873083795 + ], + "face_center": [ + 15.690485307376914, + 0.3098553780812453, + 0.06679830424065279 + ], + "face_normal": [ + -0.9132630091616605, + 0.10343741248462202, + 0.39401984951410274 + ], + "footprint_xy": [ + [ + 15.655528502097502, + 0.1724874573370252 + ], + [ + 15.86647789252857, + 0.1724874573370252 + ], + [ + 15.86647789252857, + 0.43124939427509146 + ], + [ + 15.655528502097502, + 0.43124939427509146 + ] + ], + "projected_box_corners": [ + [ + 15.796564281969747, + 0.17685364124562866 + ], + [ + 15.82310115942688, + 0.4152754897247175 + ], + [ + 15.839941015071435, + 0.1724874573370252 + ], + [ + 15.86647789252857, + 0.41090930581611407 + ], + [ + 15.655528502097502, + 0.19282754579600264 + ], + [ + 15.682065379554636, + 0.43124939427509146 + ], + [ + 15.698905235199192, + 0.18846136188739918 + ], + [ + 15.725442112656326, + 0.426883210366488 + ] + ], + "yaw_rad": 3.0288119082306295, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.660053253173828, + 0.2985832393169403, + 0.03304903209209442 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.68489411537185, + 0.3157867363711438, + 0.06270601988568224 + ], + "intended_face_normal": [ + -0.9221495351633422, + 0.13963248335442202, + 0.36075345283051874 + ], + "commanded_contact_point": [ + 15.656541709899903, + 0.3177748482599467, + 0.03485032878073859 + ], + "centerline_face_intersection": [ + 15.672364132692127, + 0.30500497033669843, + 0.03485032878073859 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.655259132385254, + 0.3063270151615143, + 0.025184795260429382 + ], + "box_pose": [ + 15.755243301391602, + 0.32252997159957886, + 0.03780417516827583, + 0.1814340353012085, + 0.6845695376396179, + 0.7017402052879333, + -0.07750442624092102 + ], + "box_yaw_rad": 2.991313606197023, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012769877923248265, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027085136358671975 + } + } + }, + { + "simulation_time_ns": 6680000000, + "center": [ + 15.765649386645496, + 0.2989846359828934, + 0.03672935064108584 + ], + "face_center": [ + 15.69511283774169, + 0.30424250984087303, + 0.06769953594901924 + ], + "face_normal": [ + -0.913504657699221, + 0.06809366680824702, + 0.40108864082913165 + ], + "footprint_xy": [ + [ + 15.66430925384211, + 0.17274332311196958 + ], + [ + 15.86698951944888, + 0.17274332311196958 + ], + [ + 15.86698951944888, + 0.4252259488538172 + ], + [ + 15.66430925384211, + 0.4252259488538172 + ] + ], + "projected_box_corners": [ + [ + 15.805382351649722, + 0.17544205324004383 + ], + [ + 15.822693101481542, + 0.4147102011378579 + ], + [ + 15.84967876961706, + 0.17274332311196958 + ], + [ + 15.86698951944888, + 0.41201147100978364 + ], + [ + 15.66430925384211, + 0.18595780095600314 + ], + [ + 15.68162000367393, + 0.4252259488538172 + ], + [ + 15.70860567180945, + 0.1832590708279289 + ], + [ + 15.72591642164127, + 0.42252721872574295 + ] + ], + "yaw_rad": 3.0671891276284544, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.66504192352295, + 0.29330378770828247, + 0.04368869960308075 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.690485307376914, + 0.3098553780812453, + 0.06679830424065279 + ], + "intended_face_normal": [ + -0.9132630091616605, + 0.10343741248462202, + 0.39401984951410274 + ], + "commanded_contact_point": [ + 15.659330253601075, + 0.3147697111888713, + 0.036373937873083795 + ], + "centerline_face_intersection": [ + 15.676454372782938, + 0.3018684258060583, + 0.036373937873083795 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.660053253173828, + 0.2985832393169403, + 0.03304903209209442 + ], + "box_pose": [ + 15.759589195251465, + 0.31934040784835815, + 0.03942552208900452, + 0.18077214062213898, + 0.685257613658905, + 0.6978921890258789, + -0.10339244455099106 + ], + "box_yaw_rad": 3.0288119082306295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012901285382812986, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004373580850467235 + } + } + }, + { + "simulation_time_ns": 6700000000, + "center": [ + 15.769299232858366, + 0.29655439681983126, + 0.03554497749140854 + ], + "face_center": [ + 15.697785206185843, + 0.2992808559529975, + 0.06453658031646128 + ], + "face_normal": [ + -0.9261637756798464, + 0.0353098238555809, + 0.37546441704950695 + ], + "footprint_xy": [ + [ + 15.672682868183127, + 0.17345430624195604 + ], + [ + 15.865915597533602, + 0.17345430624195604 + ], + [ + 15.865915597533602, + 0.41965448739770644 + ], + [ + 15.672682868183127, + 0.41965448739770644 + ] + ], + "projected_box_corners": [ + [ + 15.815710921528172, + 0.1744646611062883 + ], + [ + 15.824384344823725, + 0.41420156913137396 + ], + [ + 15.857242174238051, + 0.17345430624195604 + ], + [ + 15.865915597533602, + 0.4131912142670417 + ], + [ + 15.672682868183127, + 0.17991757937262082 + ], + [ + 15.68135629147868, + 0.41965448739770644 + ], + [ + 15.714214120893006, + 0.17890722450828855 + ], + [ + 15.72288754418856, + 0.4186441325333742 + ] + ], + "yaw_rad": 3.1034862926440323, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.669734001159668, + 0.2916661202907562, + 0.05448475480079651 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.69511283774169, + 0.30424250984087303, + 0.06769953594901924 + ], + "intended_face_normal": [ + -0.913504657699221, + 0.06809366680824702, + 0.40108864082913165 + ], + "commanded_contact_point": [ + 15.662322883605958, + 0.3121131552966908, + 0.03672935064108584 + ], + "centerline_face_intersection": [ + 15.681122927737322, + 0.2989846359828934, + 0.03672935064108584 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.66504192352295, + 0.29330378770828247, + 0.04368869960308075 + ], + "box_pose": [ + 15.763586044311523, + 0.3163887858390808, + 0.03979852423071861, + 0.17019705474376678, + 0.6881300806999207, + 0.6951469779014587, + -0.11950117349624634 + ], + "box_yaw_rad": 3.0671891276284544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013128519313797422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004017392411759488 + } + } + }, + { + "simulation_time_ns": 6720000000, + "center": [ + 15.770869369594706, + 0.29530792189151855, + 0.03504383898758891 + ], + "face_center": [ + 15.698513798103438, + 0.296366737309973, + 0.06198370503376091 + ], + "face_normal": [ + -0.9370624533658898, + 0.013712505522788021, + 0.3488927866960516 + ], + "footprint_xy": [ + [ + 15.677328327650136, + 0.17385541276756464 + ], + [ + 15.864410411539277, + 0.17385541276756464 + ], + [ + 15.864410411539277, + 0.4167604310154725 + ], + [ + 15.677328327650136, + 0.4167604310154725 + ] + ], + "projected_box_corners": [ + [ + 15.822039470632674, + 0.17477712995838926 + ], + [ + 15.82581961454993, + 0.4146428001785637 + ], + [ + 15.860630267622023, + 0.17385541276756464 + ], + [ + 15.864410411539277, + 0.413721082987739 + ], + [ + 15.677328327650136, + 0.17689476079529806 + ], + [ + 15.681108471567391, + 0.4167604310154725 + ], + [ + 15.715919124639484, + 0.17597304360447344 + ], + [ + 15.719699268556738, + 0.4158387138246479 + ] + ], + "yaw_rad": 3.1269601957387407, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.674593925476074, + 0.29204875230789185, + 0.06373363733291626 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.697785206185843, + 0.2992808559529975, + 0.06453658031646128 + ], + "intended_face_normal": [ + -0.9261637756798464, + 0.0353098238555809, + 0.37546441704950695 + ], + "commanded_contact_point": [ + 15.665493850708009, + 0.3098784471947917, + 0.03554497749140854 + ], + "centerline_face_intersection": [ + 15.685928110019148, + 0.29655439681983126, + 0.03554497749140854 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.669734001159668, + 0.2916661202907562, + 0.05448475480079651 + ], + "box_pose": [ + 15.766523361206055, + 0.3138749599456787, + 0.038523949682712555, + 0.14812585711479187, + 0.6931501030921936, + 0.6947120428085327, + -0.12237954139709473 + ], + "box_yaw_rad": 3.1034862926440323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013324050374960423, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004056068591710263 + } + } + }, + { + "simulation_time_ns": 6740000000, + "center": [ + 15.77132905461213, + 0.2952847953873581, + 0.03513199565572437 + ], + "face_center": [ + 15.699094631083394, + 0.2963550322155561, + 0.06239459813351593 + ], + "face_normal": [ + -0.9354934904698453, + 0.01386042190316683, + 0.3530724813093471 + ], + "footprint_xy": [ + [ + 15.6777033652019, + 0.1738782945716303 + ], + [ + 15.86495474402236, + 0.1738782945716303 + ], + [ + 15.86495474402236, + 0.4166912962030859 + ], + [ + 15.6777033652019, + 0.4166912962030859 + ] + ], + "projected_box_corners": [ + [ + 15.822172212259373, + 0.17468366552546602 + ], + [ + 15.8258996903639, + 0.4145508225466899 + ], + [ + 15.861227265917831, + 0.1738782945716303 + ], + [ + 15.86495474402236, + 0.41374545159285414 + ], + [ + 15.6777033652019, + 0.17682413918186202 + ], + [ + 15.68143084330643, + 0.4166912962030859 + ], + [ + 15.716758418860358, + 0.17601876822802628 + ], + [ + 15.720485896964888, + 0.41588592524925017 + ] + ], + "yaw_rad": 3.1267775768724997, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.679404258728027, + 0.29400548338890076, + 0.07062248885631561 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.698513798103438, + 0.296366737309973, + 0.06198370503376091 + ], + "intended_face_normal": [ + -0.9370624533658898, + 0.013712505522788021, + 0.3488927866960516 + ], + "commanded_contact_point": [ + 15.668464546203614, + 0.30876233904982403, + 0.03504383898758891 + ], + "centerline_face_intersection": [ + 15.688467909975783, + 0.29530792189151855, + 0.03504383898758891 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.674593925476074, + 0.29204875230789185, + 0.06373363733291626 + ], + "box_pose": [ + 15.767654418945312, + 0.3125460743904114, + 0.03805911913514137, + 0.13061873614788055, + 0.6938493847846985, + 0.6979285478591919, + -0.12003159523010254 + ], + "box_yaw_rad": 3.1269601957387407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013454417158305492, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032127665521921034 + } + } + }, + { + "simulation_time_ns": 6760000000, + "center": [ + 15.772858127782229, + 0.2956899679071513, + 0.035292604437531155 + ], + "face_center": [ + 15.701130894597041, + 0.2971756630773417, + 0.06384433455274173 + ], + "face_normal": [ + -0.9289249703427345, + 0.019240939328362572, + 0.369767714056799 + ], + "footprint_xy": [ + [ + 15.67839528110352, + 0.17410954199773773 + ], + [ + 15.867320974460936, + 0.17410954199773773 + ], + [ + 15.867320974460936, + 0.41727039381656483 + ], + [ + 15.67839528110352, + 0.41727039381656483 + ] + ], + "projected_box_corners": [ + [ + 15.821849747473895, + 0.1744480024438658 + ], + [ + 15.826409756367307, + 0.414299003476184 + ], + [ + 15.862760965567526, + 0.17410954199773773 + ], + [ + 15.867320974460936, + 0.41396054303005586 + ], + [ + 15.67839528110352, + 0.1774193927842467 + ], + [ + 15.682955289996931, + 0.41727039381656483 + ], + [ + 15.71930649919715, + 0.1770809323381186 + ], + [ + 15.723866508090563, + 0.41693193337043677 + ] + ], + "yaw_rad": 3.1208824897109904, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.682164192199707, + 0.2982838749885559, + 0.07330964505672455 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.699094631083394, + 0.2963550322155561, + 0.06239459813351593 + ], + "intended_face_normal": [ + -0.9354934904698453, + 0.01386042190316683, + 0.3530724813093471 + ], + "commanded_contact_point": [ + 15.67104518890381, + 0.30879038502560185, + 0.03513199565572437 + ], + "centerline_face_intersection": [ + 15.68878939538622, + 0.2952847953873581, + 0.03513199565572437 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.679404258728027, + 0.29400548338890076, + 0.07062248885631561 + ], + "box_pose": [ + 15.768123626708984, + 0.31252533197402954, + 0.03814378380775452, + 0.13216374814510345, + 0.6939555406570435, + 0.6972606778144836, + -0.12159807235002518 + ], + "box_yaw_rad": 3.1267775768724997, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013505589638243784, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002582300315797028 + } + } + }, + { + "simulation_time_ns": 6780000000, + "center": [ + 15.773163988859215, + 0.29582346537996435, + 0.03497090704789244 + ], + "face_center": [ + 15.701167682244828, + 0.2973709246783484, + 0.06283389052855523 + ], + "face_normal": [ + -0.932409686205034, + 0.020040834129858354, + 0.36084789492172753 + ], + "footprint_xy": [ + [ + 15.678776262348809, + 0.17411176159216057 + ], + [ + 15.867551715369622, + 0.17411176159216057 + ], + [ + 15.867551715369622, + 0.4175351691677681 + ], + [ + 15.678776262348809, + 0.4175351691677681 + ] + ], + "projected_box_corners": [ + [ + 15.822768875577582, + 0.1745941343366481 + ], + [ + 15.827630065381095, + 0.414440250571 + ], + [ + 15.862690525566109, + 0.17411176159216057 + ], + [ + 15.867551715369622, + 0.41395787782651244 + ], + [ + 15.678776262348809, + 0.17768905293341625 + ], + [ + 15.683637452152322, + 0.4175351691677681 + ], + [ + 15.718697912337335, + 0.17720668018892874 + ], + [ + 15.723559102140849, + 0.4170527964232806 + ] + ], + "yaw_rad": 3.1201023696908416, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.682489395141602, + 0.30526602268218994, + 0.07369576394557953 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.701130894597041, + 0.2971756630773417, + 0.06384433455274173 + ], + "intended_face_normal": [ + -0.9289249703427345, + 0.019240939328362572, + 0.369767714056799 + ], + "commanded_contact_point": [ + 15.673480873107911, + 0.3090918012621389, + 0.035292604437531155 + ], + "centerline_face_intersection": [ + 15.689734822481318, + 0.2956899679071513, + 0.035292604437531155 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.682164192199707, + 0.2982838749885559, + 0.07330964505672455 + ], + "box_pose": [ + 15.769766807556152, + 0.31295907497406006, + 0.03825965151190758, + 0.14000657200813293, + 0.6946471929550171, + 0.6942101716995239, + -0.12623655796051025 + ], + "box_yaw_rad": 3.1208824897109904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0134018333549876, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024595130555765485 + } + } + }, + { + "simulation_time_ns": 6800000000, + "center": [ + 15.77292076889501, + 0.2957252140917669, + 0.03497773135129358 + ], + "face_center": [ + 15.700709058602433, + 0.29718296211970996, + 0.06228250664451485 + ], + "face_normal": [ + -0.9351993359167068, + 0.018879001510180515, + 0.35361865295967654 + ], + "footprint_xy": [ + [ + 15.678724015470552, + 0.173940226252685 + ], + [ + 15.867117522319468, + 0.173940226252685 + ], + [ + 15.867117522319468, + 0.41751020193084876 + ], + [ + 15.678724015470552, + 0.41751020193084876 + ] + ], + "projected_box_corners": [ + [ + 15.823147436055706, + 0.17474728646622037 + ], + [ + 15.82800263649727, + 0.41459470587496255 + ], + [ + 15.862262321877903, + 0.173940226252685 + ], + [ + 15.867117522319468, + 0.4137876456614271 + ], + [ + 15.678724015470552, + 0.17766278252210657 + ], + [ + 15.683579215912117, + 0.41751020193084876 + ], + [ + 15.71783890129275, + 0.1768557223085712 + ], + [ + 15.722694101734314, + 0.4167031417173134 + ] + ], + "yaw_rad": 3.121408253447286, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.680542945861816, + 0.31136003136634827, + 0.07212468981742859 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.701167682244828, + 0.2973709246783484, + 0.06283389052855523 + ], + "intended_face_normal": [ + -0.932409686205034, + 0.020040834129858354, + 0.36084789492172753 + ], + "commanded_contact_point": [ + 15.675758247375489, + 0.3088475964428629, + 0.03497090704789244 + ], + "centerline_face_intersection": [ + 15.690351342171997, + 0.29582346537996435, + 0.03497090704789244 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.682489395141602, + 0.30526602268218994, + 0.07369576394557953 + ], + "box_pose": [ + 15.770065307617188, + 0.3130936324596405, + 0.037924088537693024, + 0.13703720271587372, + 0.6948410272598267, + 0.695270299911499, + -0.12254033237695694 + ], + "box_yaw_rad": 3.1201023696908416, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013024131062898577, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023129113166926634 + } + } + }, + { + "simulation_time_ns": 6820000000, + "center": [ + 15.772647191724737, + 0.2956110853678661, + 0.03499826593573643 + ], + "face_center": [ + 15.700194355021448, + 0.2969644129045586, + 0.061662110929528155 + ], + "face_normal": [ + -0.9383221155636079, + 0.017526672730291182, + 0.34531809356332843 + ], + "footprint_xy": [ + [ + 15.678681287218929, + 0.1737396747635822 + ], + [ + 15.866613096230544, + 0.1737396747635822 + ], + [ + 15.866613096230544, + 0.41748249597215004 + ], + [ + 15.678681287218929, + 0.41748249597215004 + ] + ], + "projected_box_corners": [ + [ + 15.823586960625505, + 0.17493003156320464 + ], + [ + 15.828424160672151, + 0.4147758408987651 + ], + [ + 15.861775896183898, + 0.1737396747635822 + ], + [ + 15.866613096230544, + 0.4135854840991427 + ], + [ + 15.678681287218929, + 0.17763668663658957 + ], + [ + 15.683518487265575, + 0.41748249597215004 + ], + [ + 15.716870222777322, + 0.17644632983696715 + ], + [ + 15.721707422823968, + 0.4162921391725276 + ] + ], + "yaw_rad": 3.1229160876835307, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.678220748901367, + 0.31257930397987366, + 0.06783416867256165 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.700709058602433, + 0.29718296211970996, + 0.06228250664451485 + ], + "intended_face_normal": [ + -0.9351993359167068, + 0.018879001510180515, + 0.35361865295967654 + ], + "commanded_contact_point": [ + 15.677694206237794, + 0.3081239524636822, + 0.03497773135129358 + ], + "centerline_face_intersection": [ + 15.690355147913523, + 0.2957252140917669, + 0.03497773135129358 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.680542945861816, + 0.31136003136634827, + 0.07212468981742859 + ], + "box_pose": [ + 15.769798278808594, + 0.312985897064209, + 0.037961121648550034, + 0.13411571085453033, + 0.6942185163497925, + 0.6968933343887329, + -0.12005583196878433 + ], + "box_yaw_rad": 3.121408253447286, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012398738371915321, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020667955622793214 + } + } + }, + { + "simulation_time_ns": 6840000000, + "center": [ + 15.772617453898368, + 0.2956068416936175, + 0.03498186287269772 + ], + "face_center": [ + 15.700141966136322, + 0.29695603613121807, + 0.061584240135431255 + ], + "face_normal": [ + -0.93861546486972, + 0.01747314579525039, + 0.34452203734151876 + ], + "footprint_xy": [ + [ + 15.678674319525765, + 0.17373268466786101 + ], + [ + 15.86656058827097, + 0.17373268466786101 + ], + [ + 15.86656058827097, + 0.417480998719374 + ], + [ + 15.678674319525765, + 0.417480998719374 + ] + ], + "projected_box_corners": [ + [ + 15.823625295049856, + 0.17493692836686986 + ], + [ + 15.828459996044305, + 0.4147826098441728 + ], + [ + 15.86172588727652, + 0.17373268466786101 + ], + [ + 15.86656058827097, + 0.41357836614516397 + ], + [ + 15.678674319525765, + 0.17763531724207102 + ], + [ + 15.683509020520214, + 0.417480998719374 + ], + [ + 15.71677491175243, + 0.17643107354306217 + ], + [ + 15.721609612746878, + 0.41627675502036515 + ] + ], + "yaw_rad": 3.1229789311176352, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.677826881408691, + 0.3086925446987152, + 0.06352958083152771 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.700194355021448, + 0.2969644129045586, + 0.061662110929528155 + ], + "intended_face_normal": [ + -0.9383221155636079, + 0.017526672730291182, + 0.34531809356332843 + ], + "commanded_contact_point": [ + 15.679283981323243, + 0.30733109499530115, + 0.03499826593573643 + ], + "centerline_face_intersection": [ + 15.690356352970436, + 0.2956110853678661, + 0.03499826593573643 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.678220748901367, + 0.31257930397987366, + 0.06783416867256165 + ], + "box_pose": [ + 15.76949691772461, + 0.3128604292869568, + 0.03801780566573143, + 0.13075867295265198, + 0.6934546232223511, + 0.698771595954895, + -0.11722266674041748 + ], + "box_yaw_rad": 3.1229160876835307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011720009627435019, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017766343058268623 + } + } + }, + { + "simulation_time_ns": 6860000000, + "center": [ + 15.77339545367232, + 0.2949796720204182, + 0.03492825640359803 + ], + "face_center": [ + 15.700918484317436, + 0.2959812438377298, + 0.06154197109086999 + ], + "face_normal": [ + -0.9386346526805838, + 0.01297115515790459, + 0.3446688660463977 + ], + "footprint_xy": [ + [ + 15.680018943571318, + 0.17353934630755657 + ], + [ + 15.866771963773324, + 0.17353934630755657 + ], + [ + 15.866771963773324, + 0.4164199977332798 + ], + [ + 15.680018943571318, + 0.4164199977332798 + ] + ], + "projected_box_corners": [ + [ + 15.824972882281086, + 0.174550528120517 + ], + [ + 15.828649629640363, + 0.4144168540986567 + ], + [ + 15.863095216414047, + 0.17353934630755657 + ], + [ + 15.866771963773324, + 0.41340567228569625 + ], + [ + 15.680018943571318, + 0.17655367175514014 + ], + [ + 15.683695690930595, + 0.4164199977332798 + ], + [ + 15.718141277704278, + 0.17554248994217972 + ], + [ + 15.721818025063554, + 0.4154088159203194 + ] + ], + "yaw_rad": 3.1277743596275216, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.680672645568848, + 0.30057650804519653, + 0.0622456818819046 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.700141966136322, + 0.29695603613121807, + 0.061584240135431255 + ], + "intended_face_normal": [ + -0.93861546486972, + 0.01747314579525039, + 0.34452203734151876 + ], + "commanded_contact_point": [ + 15.680647735595704, + 0.30680342320084864, + 0.03498186287269772 + ], + "centerline_face_intersection": [ + 15.690352333834365, + 0.2956068416936175, + 0.03498186287269772 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.677826881408691, + 0.3086925446987152, + 0.06352958083152771 + ], + "box_pose": [ + 15.769464492797852, + 0.3128557503223419, + 0.03800107538700104, + 0.1304510235786438, + 0.6934571862220764, + 0.6988739967346191, + -0.1169390007853508 + ], + "box_yaw_rad": 3.1229789311176352, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01119658150723111, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001462372147845153 + } + } + }, + { + "simulation_time_ns": 6880000000, + "center": [ + 15.77853564015036, + 0.29135324821778297, + 0.034836780494169425 + ], + "face_center": [ + 15.70606543154051, + 0.29050016845707144, + 0.06147411856181038 + ], + "face_normal": [ + -0.9385470956314208, + -0.011048064399375335, + 0.3449748076941397 + ], + "footprint_xy": [ + [ + 15.685745677306807, + 0.1705474363684417 + ], + [ + 15.87132560299391, + 0.1705474363684417 + ], + [ + 15.87132560299391, + 0.4121590600671243 + ], + [ + 15.685745677306807, + 0.4121590600671243 + ] + ], + "projected_box_corners": [ + [ + 15.833156149438532, + 0.17227715060583457 + ], + [ + 15.830686094526504, + 0.4121590600671243 + ], + [ + 15.87132560299391, + 0.17225359588986477 + ], + [ + 15.868855548081884, + 0.4121355053511545 + ], + [ + 15.688215732218834, + 0.17057099108441146 + ], + [ + 15.685745677306807, + 0.4104529005457012 + ], + [ + 15.726385185774213, + 0.1705474363684417 + ], + [ + 15.723915130862187, + 0.41042934582973145 + ] + ], + "yaw_rad": -3.129821742791969, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.684773445129395, + 0.29121601581573486, + 0.057084426283836365 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.700918484317436, + 0.2959812438377298, + 0.06154197109086999 + ], + "intended_face_normal": [ + -0.9386346526805838, + 0.01297115515790459, + 0.3446688660463977 + ], + "commanded_contact_point": [ + 15.68178451538086, + 0.30595238008665815, + 0.03492825640359803 + ], + "centerline_face_intersection": [ + 15.691132015293048, + 0.2949796720204182, + 0.03492825640359803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.680672645568848, + 0.30057650804519653, + 0.0622456818819046 + ], + "box_pose": [ + 15.770159721374512, + 0.3122134208679199, + 0.03794647008180618, + 0.1288367658853531, + 0.6937913298606873, + 0.6985491514205933, + -0.11867490410804749 + ], + "box_yaw_rad": 3.1277743596275216, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010972708066239976, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001421061686092573 + } + } + }, + { + "simulation_time_ns": 6900000000, + "center": [ + 15.784001012636807, + 0.2879522428341558, + 0.03480496635877583 + ], + "face_center": [ + 15.711574939038153, + 0.2854268204519179, + 0.061456221059719776 + ], + "face_normal": [ + -0.9379755119784079, + -0.032706237329222176, + 0.3451550392129672 + ], + "footprint_xy": [ + [ + 15.688478718016965, + 0.16511274818697236 + ], + [ + 15.879523307256648, + 0.16511274818697236 + ], + [ + 15.879523307256648, + 0.4107917374813393 + ], + [ + 15.688478718016965, + 0.4107917374813393 + ] + ], + "projected_box_corners": [ + [ + 15.841343857376147, + 0.17016359295144812 + ], + [ + 15.833330865214274, + 0.40992439543278236 + ], + [ + 15.879523307256648, + 0.17103093500000505 + ], + [ + 15.871510315094776, + 0.4107917374813393 + ], + [ + 15.696491710178838, + 0.16511274818697236 + ], + [ + 15.688478718016965, + 0.4048735506683066 + ], + [ + 15.734671160059339, + 0.1659800902355293 + ], + [ + 15.726658167897467, + 0.40574089271686353 + ] + ], + "yaw_rad": -3.106737807875654, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.689334869384766, + 0.28233277797698975, + 0.05221469700336456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.70606543154051, + 0.29050016845707144, + 0.06147411856181038 + ], + "intended_face_normal": [ + -0.9385470956314208, + -0.011048064399375335, + 0.3449748076941397 + ], + "commanded_contact_point": [ + 15.683318977355958, + 0.3023314455801049, + 0.034836780494169425 + ], + "centerline_face_intersection": [ + 15.696264527415744, + 0.29135324821778297, + 0.034836780494169425 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.684773445129395, + 0.29121601581573486, + 0.057084426283836365 + ], + "box_pose": [ + 15.774860382080078, + 0.308498740196228, + 0.03785444796085358, + 0.12005685269832611, + 0.6953997015953064, + 0.6969166398048401, + -0.12772192060947418 + ], + "box_yaw_rad": -3.129821742791969, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0109781973623219, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0039337142875118065 + } + } + }, + { + "simulation_time_ns": 6920000000, + "center": [ + 15.788285090763196, + 0.2853471084171333, + 0.034781283732245524 + ], + "face_center": [ + 15.715987065472905, + 0.2815754091735808, + 0.06163223352168362 + ], + "face_normal": [ + -0.9363171840913793, + -0.0488465182940061, + 0.3477412501389914 + ], + "footprint_xy": [ + [ + 15.690636824039695, + 0.16093761808214319 + ], + [ + 15.885933357486698, + 0.16093761808214319 + ], + [ + 15.885933357486698, + 0.40975659875212345 + ], + [ + 15.690636824039695, + 0.40975659875212345 + ] + ], + "projected_box_corners": [ + [ + 15.847496591896565, + 0.16848101656924816 + ], + [ + 15.835232874620274, + 0.40806303541280897 + ], + [ + 15.885933357486698, + 0.17017457990856258 + ], + [ + 15.873669640210407, + 0.40975659875212345 + ], + [ + 15.702900541315985, + 0.16093761808214319 + ], + [ + 15.690636824039695, + 0.400519636925704 + ], + [ + 15.741337306906118, + 0.16263118142145763 + ], + [ + 15.729073589629827, + 0.4022132002650185 + ] + ], + "yaw_rad": -3.0894711309961003, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.693672180175781, + 0.2775135934352875, + 0.05213464796543121 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.711574939038153, + 0.2854268204519179, + 0.061456221059719776 + ], + "intended_face_normal": [ + -0.9379755119784079, + -0.032706237329222176, + 0.3451550392129672 + ], + "commanded_contact_point": [ + 15.68570125579834, + 0.29915521879076434, + 0.03480496635877583 + ], + "centerline_face_intersection": [ + 15.701679765519627, + 0.2879522428341558, + 0.03480496635877583 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.689334869384766, + 0.28233277797698975, + 0.05221469700336456 + ], + "box_pose": [ + 15.77993106842041, + 0.3050084710121155, + 0.03782196715474129, + 0.11208432167768478, + 0.6967570781707764, + 0.6953541040420532, + -0.1358281522989273 + ], + "box_yaw_rad": -3.106737807875654, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011202975956608543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003970475958065638 + } + } + }, + { + "simulation_time_ns": 6940000000, + "center": [ + 15.79101972942612, + 0.2839168815500591, + 0.034734092267022745 + ], + "face_center": [ + 15.719080777780762, + 0.27965951933885347, + 0.06246253183852771 + ], + "face_normal": [ + -0.9316668935370629, + -0.05513624170573994, + 0.35910544381530407 + ], + "footprint_xy": [ + [ + 15.692042480720517, + 0.15858622101350556 + ], + [ + 15.889996978131725, + 0.15858622101350556 + ], + [ + 15.889996978131725, + 0.4092475420866126 + ], + [ + 15.692042480720517, + 0.4092475420866126 + ] + ], + "projected_box_corners": [ + [ + 15.85035635013584, + 0.16710094543591683 + ], + [ + 15.835920384011233, + 0.4065617506556073 + ], + [ + 15.889996978131725, + 0.16978673686692214 + ], + [ + 15.875561012007118, + 0.4092475420866126 + ], + [ + 15.706478446845123, + 0.15858622101350556 + ], + [ + 15.692042480720517, + 0.39804702623319604 + ], + [ + 15.746119074841008, + 0.1612720124445109 + ], + [ + 15.731683108716402, + 0.4007328176642014 + ] + ], + "yaw_rad": -3.0824813884185973, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.697052001953125, + 0.2770404815673828, + 0.05566035211086273 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.715987065472905, + 0.2815754091735808, + 0.06163223352168362 + ], + "intended_face_normal": [ + -0.9363171840913793, + -0.0488465182940061, + 0.3477412501389914 + ], + "commanded_contact_point": [ + 15.688526039123536, + 0.29686342497301565, + 0.034781283732245524 + ], + "centerline_face_intersection": [ + 15.705818043032604, + 0.2853471084171333, + 0.034781283732245524 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.693672180175781, + 0.2775135934352875, + 0.05213464796543121 + ], + "box_pose": [ + 15.783921241760254, + 0.3023327589035034, + 0.037785641849040985, + 0.1069321483373642, + 0.6980306506156921, + 0.6934780478477478, + -0.14285264909267426 + ], + "box_yaw_rad": -3.0894711309961003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011516316555882375, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036376201841550157 + } + } + }, + { + "simulation_time_ns": 6960000000, + "center": [ + 15.79219401961588, + 0.2836546951788229, + 0.03475324387941516 + ], + "face_center": [ + 15.72029943396207, + 0.2791314607067887, + 0.06255458741252087 + ], + "face_normal": [ + -0.9310923185039428, + -0.05857949988032374, + 0.36004960835867905 + ], + "footprint_xy": [ + [ + 15.692748485406481, + 0.15798265755933133 + ], + [ + 15.891639553825282, + 0.15798265755933133 + ], + [ + 15.891639553825282, + 0.40932673279831444 + ], + [ + 15.692748485406481, + 0.40932673279831444 + ] + ], + "projected_box_corners": [ + [ + 15.851908499516462, + 0.16702912650339982 + ], + [ + 15.836537656714102, + 0.40643140827289753 + ], + [ + 15.891639553825282, + 0.16992445102881673 + ], + [ + 15.87626871102292, + 0.40932673279831444 + ], + [ + 15.708119328208841, + 0.15798265755933133 + ], + [ + 15.692748485406481, + 0.39738493932882907 + ], + [ + 15.74785038251766, + 0.16087798208474824 + ], + [ + 15.7324795397153, + 0.400280263854246 + ] + ], + "yaw_rad": -3.078760654516226, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.698678970336914, + 0.27871355414390564, + 0.05725674331188202 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.719080777780762, + 0.27965951933885347, + 0.06246253183852771 + ], + "intended_face_normal": [ + -0.9316668935370629, + -0.05513624170573994, + 0.35910544381530407 + ], + "commanded_contact_point": [ + 15.6913431930542, + 0.29570825410524854, + 0.034734092267022745 + ], + "centerline_face_intersection": [ + 15.708141058468637, + 0.2839168815500591, + 0.034734092267022745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.697052001953125, + 0.2770404815673828, + 0.05566035211086273 + ], + "box_pose": [ + 15.786537170410156, + 0.3008807897567749, + 0.0376860685646534, + 0.10830416530370712, + 0.6997864842414856, + 0.6900234222412109, + -0.1497889906167984 + ], + "box_yaw_rad": -3.0824813884185973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011791372555189427, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030451605930038716 + } + } + }, + { + "simulation_time_ns": 6980000000, + "center": [ + 15.793508764972149, + 0.28404151127562105, + 0.034668659510477665 + ], + "face_center": [ + 15.721553644064368, + 0.2796841329473805, + 0.062339497096336134 + ], + "face_normal": [ + -0.9318762984025426, + -0.05643153032102255, + 0.35835945208479636 + ], + "footprint_xy": [ + [ + 15.694406020383395, + 0.15861147660808056 + ], + [ + 15.892611509560902, + 0.15861147660808056 + ], + [ + 15.892611509560902, + 0.4094715459431616 + ], + [ + 15.694406020383395, + 0.4094715459431616 + ] + ], + "projected_box_corners": [ + [ + 15.853054990520913, + 0.16732623326456172 + ], + [ + 15.838316262198958, + 0.40676874348335046 + ], + [ + 15.892611509560902, + 0.1700290357243729 + ], + [ + 15.877872781238946, + 0.4094715459431616 + ], + [ + 15.709144748705352, + 0.15861147660808056 + ], + [ + 15.694406020383395, + 0.39805398682686927 + ], + [ + 15.74870126774534, + 0.1613142790678917 + ], + [ + 15.733962539423384, + 0.40075678928668046 + ] + ], + "yaw_rad": -3.0811096247988954, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.699899673461914, + 0.28033629059791565, + 0.0560319721698761 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.72029943396207, + 0.2791314607067887, + 0.06255458741252087 + ], + "intended_face_normal": [ + -0.9310923185039428, + -0.05857949988032374, + 0.36004960835867905 + ], + "commanded_contact_point": [ + 15.694045906066895, + 0.295643713375409, + 0.03475324387941516 + ], + "centerline_face_intersection": [ + 15.709264204411836, + 0.2836546951788229, + 0.03475324387941516 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.698678970336914, + 0.27871355414390564, + 0.05725674331188202 + ], + "box_pose": [ + 15.78764820098877, + 0.3006025552749634, + 0.03770066425204277, + 0.10731709748506546, + 0.7001056671142578, + 0.6894912719726562, + -0.15144942700862885 + ], + "box_yaw_rad": -3.078760654516226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011989018196586118, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002703551353138686 + } + } + }, + { + "simulation_time_ns": 7000000000, + "center": [ + 15.797024322572883, + 0.2846972074127335, + 0.03463309697649096 + ], + "face_center": [ + 15.72477121282495, + 0.28048997470862547, + 0.06154018102711614 + ], + "face_normal": [ + -0.9357354919362848, + -0.05448702454196486, + 0.3484682336652316 + ], + "footprint_xy": [ + [ + 15.698646760282285, + 0.1597507643787419 + ], + [ + 15.89540188486348, + 0.1597507643787419 + ], + [ + 15.89540188486348, + 0.4096436504467251 + ], + [ + 15.698646760282285, + 0.4096436504467251 + ] + ], + "projected_box_corners": [ + [ + 15.856898404967684, + 0.16816522978695797 + ], + [ + 15.843152979778154, + 0.4076670396742001 + ], + [ + 15.89540188486348, + 0.17014184055948298 + ], + [ + 15.88165645967395, + 0.4096436504467251 + ], + [ + 15.712392185471815, + 0.1597507643787419 + ], + [ + 15.698646760282285, + 0.39925257426598404 + ], + [ + 15.750895665367612, + 0.1617273751512669 + ], + [ + 15.737150240178082, + 0.401229185038509 + ] + ], + "yaw_rad": -3.0834292428093706, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.70327091217041, + 0.2812861502170563, + 0.05505584180355072 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.721553644064368, + 0.2796841329473805, + 0.062339497096336134 + ], + "intended_face_normal": [ + -0.9318762984025426, + -0.05643153032102255, + 0.35835945208479636 + ], + "commanded_contact_point": [ + 15.696524505615235, + 0.2961787382993154, + 0.034668659510477665 + ], + "centerline_face_intersection": [ + 15.710648717942513, + 0.28404151127562105, + 0.034668659510477665 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.699899673461914, + 0.28033629059791565, + 0.0560319721698761 + ], + "box_pose": [ + 15.789002418518066, + 0.3009987771511078, + 0.03762257099151611, + 0.10756735503673553, + 0.699802577495575, + 0.6900829672813416, + -0.1499699056148529 + ], + "box_yaw_rad": -3.0811096247988954, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012137227023694333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025370971415576643 + } + } + }, + { + "simulation_time_ns": 7020000000, + "center": [ + 15.802304356582379, + 0.2852105640731196, + 0.03454546665343897 + ], + "face_center": [ + 15.730258828289651, + 0.2815783819006441, + 0.062085482869596635 + ], + "face_normal": [ + -0.9330471462611811, + -0.047039660767829616, + 0.35666521083815894 + ], + "footprint_xy": [ + [ + 15.704432626563065, + 0.1606805901623347 + ], + [ + 15.900176086601693, + 0.1606805901623347 + ], + [ + 15.900176086601693, + 0.4097405379839045 + ], + [ + 15.704432626563065, + 0.4097405379839045 + ] + ], + "projected_box_corners": [ + [ + 15.86077733552191, + 0.16794495450728575 + ], + [ + 15.848523683148521, + 0.4075278830295286 + ], + [ + 15.900176086601693, + 0.17015760946166164 + ], + [ + 15.887922434228306, + 0.4097405379839045 + ], + [ + 15.716686278936452, + 0.1606805901623347 + ], + [ + 15.704432626563065, + 0.40026351868457755 + ], + [ + 15.756085030016237, + 0.1628932451167106 + ], + [ + 15.743831377642849, + 0.40247617363895344 + ] + ], + "yaw_rad": -3.091220206346413, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.708649635314941, + 0.2823168933391571, + 0.05542658269405365 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.72477121282495, + 0.28048997470862547, + 0.06154018102711614 + ], + "intended_face_normal": [ + -0.9357354919362848, + -0.05448702454196486, + 0.3484682336652316 + ], + "commanded_contact_point": [ + 15.698642616271973, + 0.29697087672425493, + 0.03463309697649096 + ], + "centerline_face_intersection": [ + 15.714506009890675, + 0.2846972074127335, + 0.03463309697649096 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.70327091217041, + 0.2812861502170563, + 0.05505584180355072 + ], + "box_pose": [ + 15.792557716369629, + 0.3016568422317505, + 0.03763341158628464, + 0.10506412386894226, + 0.6984547972679138, + 0.6928409934043884, + -0.14523686468601227 + ], + "box_yaw_rad": -3.0834292428093706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012273669311521422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022616676882949672 + } + } + }, + { + "simulation_time_ns": 7040000000, + "center": [ + 15.807196345320476, + 0.28599095587082835, + 0.034562437185097494 + ], + "face_center": [ + 15.735169133405668, + 0.2827743694819496, + 0.06220192009818152 + ], + "face_normal": [ + -0.9328099345347383, + -0.04165736336406045, + 0.35795338402412114 + ], + "footprint_xy": [ + [ + 15.709926521259865, + 0.16191777091528795 + ], + [ + 15.904466169381086, + 0.16191777091528795 + ], + [ + 15.904466169381086, + 0.4100641408263688 + ], + [ + 15.709926521259865, + 0.4100641408263688 + ] + ], + "projected_box_corners": [ + [ + 15.864916355281915, + 0.16835094369304546 + ], + [ + 15.85398094508948, + 0.4079973605056463 + ], + [ + 15.904466169381086, + 0.17041772401376795 + ], + [ + 15.89353075918865, + 0.4100641408263688 + ], + [ + 15.7208619314523, + 0.16191777091528795 + ], + [ + 15.709926521259865, + 0.40156418772788877 + ], + [ + 15.76041174555147, + 0.16398455123601044 + ], + [ + 15.749476335359034, + 0.40363096804861126 + ] + ], + "yaw_rad": -3.09696437289034, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.713435173034668, + 0.2837361991405487, + 0.054775580763816833 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.730258828289651, + 0.2815783819006441, + 0.062085482869596635 + ], + "intended_face_normal": [ + -0.9330471462611811, + -0.047039660767829616, + 0.35666521083815894 + ], + "commanded_contact_point": [ + 15.700232391357423, + 0.2975999802139995, + 0.03454546665343897 + ], + "centerline_face_intersection": [ + 15.719548287694705, + 0.2852105640731196, + 0.03454546665343897 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.708649635314941, + 0.2823168933391571, + 0.05542658269405365 + ], + "box_pose": [ + 15.797968864440918, + 0.30221137404441833, + 0.03750479593873024, + 0.11052429676055908, + 0.6990985870361328, + 0.6912197470664978, + -0.14581066370010376 + ], + "box_yaw_rad": -3.091220206346413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012389416140879923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017119681938173085 + } + } + }, + { + "simulation_time_ns": 7060000000, + "center": [ + 15.810066316531472, + 0.28640219243491266, + 0.03457236732640405 + ], + "face_center": [ + 15.738031569790655, + 0.2832892333456928, + 0.06220399229935904 + ], + "face_normal": [ + -0.9329075165508769, + -0.04031530704893971, + 0.3578516174219928 + ], + "footprint_xy": [ + [ + 15.7129671829363, + 0.16245549824714908 + ], + [ + 15.907165450126643, + 0.16245549824714908 + ], + [ + 15.907165450126643, + 0.4103488866226762 + ], + [ + 15.7129671829363, + 0.4103488866226762 + ] + ], + "projected_box_corners": [ + [ + 15.86762377610445, + 0.16868141642558887 + ], + [ + 15.857036676417932, + 0.40834344390089483 + ], + [ + 15.907165450126643, + 0.17068685914737028 + ], + [ + 15.896578350440125, + 0.4103488866226762 + ], + [ + 15.723554282622818, + 0.16245549824714908 + ], + [ + 15.7129671829363, + 0.402117525722455 + ], + [ + 15.76309595664501, + 0.1644609409689305 + ], + [ + 15.752508856958492, + 0.40412296844423645 + ] + ], + "yaw_rad": -3.0984048369900283, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.716007232666016, + 0.2845240831375122, + 0.052895888686180115 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.735169133405668, + 0.2827743694819496, + 0.06220192009818152 + ], + "intended_face_normal": [ + -0.9328099345347383, + -0.04165736336406045, + 0.35795338402412114 + ], + "commanded_contact_point": [ + 15.70147216796875, + 0.29847056228091945, + 0.034562437185097494 + ], + "centerline_face_intersection": [ + 15.724419231727715, + 0.28599095587082835, + 0.034562437185097494 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.713435173034668, + 0.2837361991405487, + 0.054775580763816833 + ], + "box_pose": [ + 15.802958488464355, + 0.30301740765571594, + 0.037515781819820404, + 0.11296417564153671, + 0.6989322304725647, + 0.6913021802902222, + -0.1443406194448471 + ], + "box_yaw_rad": -3.09696437289034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012479606410091108, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001515007320174918 + } + } + }, + { + "simulation_time_ns": 7080000000, + "center": [ + 15.811728718917552, + 0.2864276386313801, + 0.034563665245347396 + ], + "face_center": [ + 15.73952431088577, + 0.2829708353531212, + 0.06170733621878018 + ], + "face_normal": [ + -0.9351047658058818, + -0.04476836398313022, + 0.3515322233173226 + ], + "footprint_xy": [ + [ + 15.714392234103865, + 0.1622674448457866 + ], + [ + 15.909065203731238, + 0.1622674448457866 + ], + [ + 15.909065203731238, + 0.4105878324169736 + ], + [ + 15.714392234103865, + 0.4105878324169736 + ] + ], + "projected_box_corners": [ + [ + 15.87021360541043, + 0.1691810514023044 + ], + [ + 15.85880105016743, + 0.40880591950999023 + ], + [ + 15.909065203731238, + 0.17096296430928776 + ], + [ + 15.897652648488238, + 0.4105878324169736 + ], + [ + 15.725804789346865, + 0.1622674448457866 + ], + [ + 15.714392234103865, + 0.4018923129534724 + ], + [ + 15.764656387667673, + 0.16404935775276994 + ], + [ + 15.753243832424673, + 0.40367422586045576 + ] + ], + "yaw_rad": -3.0937539418484374, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.71740436553955, + 0.28418979048728943, + 0.05110378563404083 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.738031569790655, + 0.2832892333456928, + 0.06220399229935904 + ], + "intended_face_normal": [ + -0.9329075165508769, + -0.04031530704893971, + 0.3578516174219928 + ], + "commanded_contact_point": [ + 15.702729110717774, + 0.29895692321689976, + 0.03457236732640405 + ], + "centerline_face_intersection": [ + 15.727297861415025, + 0.28640219243491266, + 0.03457236732640405 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.716007232666016, + 0.2845240831375122, + 0.052895888686180115 + ], + "box_pose": [ + 15.805852890014648, + 0.30343466997146606, + 0.037525903433561325, + 0.11343211680650711, + 0.6988446116447449, + 0.6914260387420654, + -0.14380291104316711 + ], + "box_yaw_rad": -3.0984048369900283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012554730781987126, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013477947329161848 + } + } + }, + { + "simulation_time_ns": 7100000000, + "center": [ + 15.812252740157918, + 0.28633339043880895, + 0.034610580069189635 + ], + "face_center": [ + 15.740001121321354, + 0.2827295492767613, + 0.061609109909941465 + ], + "face_normal": [ + -0.9357161834430059, + -0.046672622042060574, + 0.3496525297004913 + ], + "footprint_xy": [ + [ + 15.714768405013652, + 0.16204954172398878 + ], + [ + 15.909737075302186, + 0.16204954172398878 + ], + [ + 15.909737075302186, + 0.41061723915362913 + ], + [ + 15.714768405013652, + 0.41061723915362913 + ] + ], + "projected_box_corners": [ + [ + 15.871092165990168, + 0.169257224048084 + ], + [ + 15.859271642686782, + 0.40886210875794965 + ], + [ + 15.909737075302186, + 0.17101235444376345 + ], + [ + 15.897916551998797, + 0.41061723915362913 + ], + [ + 15.72658892831704, + 0.16204954172398878 + ], + [ + 15.714768405013652, + 0.4016544264338544 + ], + [ + 15.765233837629056, + 0.16380467211966823 + ], + [ + 15.75341331432567, + 0.4034095568295339 + ] + ], + "yaw_rad": -3.091754920041421, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.716635704040527, + 0.28426361083984375, + 0.049337223172187805 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.73952431088577, + 0.2829708353531212, + 0.06170733621878018 + ], + "intended_face_normal": [ + -0.9351047658058818, + -0.04476836398313022, + 0.3515322233173226 + ], + "commanded_contact_point": [ + 15.704172973632813, + 0.2990718833391309, + 0.034563665245347396 + ], + "centerline_face_intersection": [ + 15.729154747812942, + 0.2864276386313801, + 0.034563665245347396 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.71740436553955, + 0.28418979048728943, + 0.05110378563404083 + ], + "box_pose": [ + 15.8074369430542, + 0.30343514680862427, + 0.03754812851548195, + 0.10969164222478867, + 0.6983105540275574, + 0.6927587985992432, + -0.1428823620080948 + ], + "box_yaw_rad": -3.0937539418484374, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012644244707750753, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014484583781880678 + } + } + }, + { + "simulation_time_ns": 7120000000, + "center": [ + 15.812244802465292, + 0.28633453508509454, + 0.03463938458078478 + ], + "face_center": [ + 15.739987308291285, + 0.2827316718085332, + 0.0616223138441781 + ], + "face_normal": [ + -0.9357922737565119, + -0.046659957643812255, + 0.3494504897608959 + ], + "footprint_xy": [ + [ + 15.714765874835853, + 0.1620498301110634 + ], + [ + 15.909723730094731, + 0.1620498301110634 + ], + [ + 15.909723730094731, + 0.4106192400591257 + ], + [ + 15.714765874835853, + 0.4106192400591257 + ] + ], + "projected_box_corners": [ + [ + 15.871101383808542, + 0.1692555566641861 + ], + [ + 15.85928086318387, + 0.4088604558260171 + ], + [ + 15.909723730094731, + 0.17101434089729473 + ], + [ + 15.897903209470057, + 0.4106192400591257 + ], + [ + 15.726586395460528, + 0.1620498301110634 + ], + [ + 15.714765874835853, + 0.40165472927289436 + ], + [ + 15.765208741746715, + 0.163808614344172 + ], + [ + 15.753388221122043, + 0.40341351350600296 + ] + ], + "yaw_rad": -3.0917724654688046, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.711909294128418, + 0.2862512469291687, + 0.04882945120334625 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.740001121321354, + 0.2827295492767613, + 0.061609109909941465 + ], + "intended_face_normal": [ + -0.9357161834430059, + -0.046672622042060574, + 0.3496525297004913 + ], + "commanded_contact_point": [ + 15.705468063354493, + 0.2990604263305183, + 0.034610580069189635 + ], + "centerline_face_intersection": [ + 15.729732724711225, + 0.28633339043880895, + 0.034610580069189635 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.716635704040527, + 0.28426361083984375, + 0.049337223172187805 + ], + "box_pose": [ + 15.807926177978516, + 0.3033308982849121, + 0.0376017801463604, + 0.10835299640893936, + 0.6982337832450867, + 0.6930567622184753, + -0.14283394813537598 + ], + "box_yaw_rad": -3.091754920041421, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01272703589170936, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012959898344288303 + } + } + }, + { + "simulation_time_ns": 7140000000, + "center": [ + 15.812190289607868, + 0.28630893639282995, + 0.034674088763653174 + ], + "face_center": [ + 15.739885958981155, + 0.28268309953093623, + 0.061528217554018966 + ], + "face_normal": [ + -0.9363988432352031, + -0.046957483926729715, + 0.3477824207406073 + ], + "footprint_xy": [ + [ + 15.714751999707996, + 0.16204248944872027 + ], + [ + 15.90962857950774, + 0.16204248944872027 + ], + [ + 15.90962857950774, + 0.41057538333693966 + ], + [ + 15.714751999707996, + 0.41057538333693966 + ] + ], + "projected_box_corners": [ + [ + 15.871186913788613, + 0.16929416317250776 + ], + [ + 15.859360660961423, + 0.4088985047228817 + ], + [ + 15.90962857950774, + 0.1709710417865657 + ], + [ + 15.89780232668055, + 0.41057538333693966 + ], + [ + 15.726578252535186, + 0.16204248944872027 + ], + [ + 15.714751999707996, + 0.40164683099909426 + ], + [ + 15.765019918254312, + 0.1637193680627782 + ], + [ + 15.753193665427123, + 0.40332370961315217 + ] + ], + "yaw_rad": -3.091487741495083, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.707579612731934, + 0.28886929154396057, + 0.050673216581344604 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.739987308291285, + 0.2827316718085332, + 0.0616223138441781 + ], + "intended_face_normal": [ + -0.9357922737565119, + -0.046659957643812255, + 0.3494504897608959 + ], + "commanded_contact_point": [ + 15.707092170715333, + 0.29906490250304096, + 0.03463938458078478 + ], + "centerline_face_intersection": [ + 15.729731496813093, + 0.28633453508509454, + 0.03463938458078478 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.711909294128418, + 0.2862512469291687, + 0.04882945120334625 + ], + "box_pose": [ + 15.807917594909668, + 0.3033321499824524, + 0.03762904182076454, + 0.10828020423650742, + 0.698261559009552, + 0.6930562257766724, + -0.142755925655365 + ], + "box_yaw_rad": -3.0917724654688046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012730367417946394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016243689407098528 + } + } + }, + { + "simulation_time_ns": 7160000000, + "center": [ + 15.812140055249476, + 0.2862858473789806, + 0.03470873194415913 + ], + "face_center": [ + 15.739793085256261, + 0.28263939827118933, + 0.06144490077795922 + ], + "face_normal": [ + -0.9369510570946105, + -0.04722442897756718, + 0.3462547450686415 + ], + "footprint_xy": [ + [ + 15.7147392985083, + 0.16203622385141359 + ], + [ + 15.90954081199065, + 0.16203622385141359 + ], + [ + 15.90954081199065, + 0.41053547090654763 + ], + [ + 15.7147392985083, + 0.41053547090654763 + ] + ], + "projected_box_corners": [ + [ + 15.871264639768707, + 0.1693291220669961 + ], + [ + 15.859433238494729, + 0.4089327931624528 + ], + [ + 15.90954081199065, + 0.17093179981109097 + ], + [ + 15.897709410716672, + 0.41053547090654763 + ], + [ + 15.726570699782279, + 0.16203622385141359 + ], + [ + 15.7147392985083, + 0.40163989494687025 + ], + [ + 15.764846872004224, + 0.16363890159550845 + ], + [ + 15.753015470730245, + 0.4032425726909651 + ] + ], + "yaw_rad": -3.091233032299717, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.706409454345703, + 0.2921135425567627, + 0.05343678593635559 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.739885958981155, + 0.28268309953093623, + 0.061528217554018966 + ], + "intended_face_normal": [ + -0.9363988432352031, + -0.046957483926729715, + 0.3477824207406073 + ], + "commanded_contact_point": [ + 15.709285621643067, + 0.29893688960473114, + 0.034674088763653174 + ], + "centerline_face_intersection": [ + 15.729730433458682, + 0.28630893639282995, + 0.034674088763653174 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.707579612731934, + 0.28886929154396057, + 0.050673216581344604 + ], + "box_pose": [ + 15.807857513427734, + 0.3033040761947632, + 0.03766975551843643, + 0.10761227458715439, + 0.6981104016304016, + 0.6934272050857544, + -0.14219804108142853 + ], + "box_yaw_rad": -3.091487741495083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01262795321190117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021974573158132183 + } + } + }, + { + "simulation_time_ns": 7180000000, + "center": [ + 15.812122468113834, + 0.28628022448074614, + 0.03472920159938615 + ], + "face_center": [ + 15.739762412105925, + 0.2826291388716572, + 0.06142932233006508 + ], + "face_normal": [ + -0.9371205314389073, + -0.04728447537332503, + 0.3457878933355447 + ], + "footprint_xy": [ + [ + 15.71473375466656, + 0.16203487753913134 + ], + [ + 15.90951118156111, + 0.16203487753913134 + ], + [ + 15.90951118156111, + 0.4105255714223609 + ], + [ + 15.71473375466656, + 0.4105255714223609 + ] + ], + "projected_box_corners": [ + [ + 15.871285832498032, + 0.16933704875730926 + ], + [ + 15.859453866682376, + 0.4089406044891905 + ], + [ + 15.90951118156111, + 0.17092201569047963 + ], + [ + 15.897679215745455, + 0.4105255714223609 + ], + [ + 15.726565720482213, + 0.16203487753913134 + ], + [ + 15.71473375466656, + 0.4016384332710126 + ], + [ + 15.764791069545293, + 0.1636198444723017 + ], + [ + 15.752959103729637, + 0.403223400204183 + ] + ], + "yaw_rad": -3.0911782113281894, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.709278106689453, + 0.2954545021057129, + 0.06015196442604065 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.739793085256261, + 0.28263939827118933, + 0.06144490077795922 + ], + "intended_face_normal": [ + -0.9369510570946105, + -0.04722442897756718, + 0.3462547450686415 + ], + "commanded_contact_point": [ + 15.711682205200196, + 0.2986806927837705, + 0.03470873194415913 + ], + "centerline_face_intersection": [ + 15.729728798731045, + 0.2862858473789806, + 0.03470873194415913 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.706409454345703, + 0.2921135425567627, + 0.05343678593635559 + ], + "box_pose": [ + 15.807802200317383, + 0.30327874422073364, + 0.03770975396037102, + 0.107001893222332, + 0.6979741454124451, + 0.6937633752822876, + -0.1416863054037094 + ], + "box_yaw_rad": -3.091233032299717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012394845404789885, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024104874418520703 + } + } + }, + { + "simulation_time_ns": 7200000000, + "center": [ + 15.812109478306311, + 0.2862755531060005, + 0.034745969827897016 + ], + "face_center": [ + 15.739739049572572, + 0.2826201349130964, + 0.061417378509264854 + ], + "face_normal": [ + -0.9372548665248388, + -0.04734058579489453, + 0.3454160493598275 + ], + "footprint_xy": [ + [ + 15.714729468255522, + 0.16203303526463722 + ], + [ + 15.909489488357101, + 0.16203303526463722 + ], + [ + 15.909489488357101, + 0.4105180709473638 + ], + [ + 15.714729468255522, + 0.4105180709473638 + ] + ], + "projected_box_corners": [ + [ + 15.871304614955086, + 0.1693438716504455 + ], + [ + 15.859470325722999, + 0.40894723231349034 + ], + [ + 15.909489488357101, + 0.17091471028431898 + ], + [ + 15.897655199125014, + 0.4105180709473638 + ], + [ + 15.72656375748761, + 0.16203303526463722 + ], + [ + 15.714729468255522, + 0.4016363959276821 + ], + [ + 15.764748630889624, + 0.1636038738985107 + ], + [ + 15.752914341657537, + 0.40320723456155555 + ] + ], + "yaw_rad": -3.091125710302508, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.713818550109863, + 0.29953667521476746, + 0.06630539894104004 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.739762412105925, + 0.2826291388716572, + 0.06142932233006508 + ], + "intended_face_normal": [ + -0.9371205314389073, + -0.04728447537332503, + 0.3457878933355447 + ], + "commanded_contact_point": [ + 15.71391571044922, + 0.2983080987805374, + 0.03472920159938615 + ], + "centerline_face_intersection": [ + 15.729726115327841, + 0.28628022448074614, + 0.03472920159938615 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.709278106689453, + 0.2954545021057129, + 0.06015196442604065 + ], + "box_pose": [ + 15.807783126831055, + 0.3032726049423218, + 0.037731003016233444, + 0.10681960731744766, + 0.6979495882987976, + 0.6938491463661194, + -0.14152491092681885 + ], + "box_yaw_rad": -3.0911782113281894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012027874299791215, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002264462628405613 + } + } + }, + { + "simulation_time_ns": 7220000000, + "center": [ + 15.812100104614164, + 0.2862719358723146, + 0.034759941627155455 + ], + "face_center": [ + 15.73972093166986, + 0.282612925476838, + 0.06140710540419719 + ], + "face_normal": [ + -0.937368111037145, + -0.04738710768790355, + 0.34510205848032527 + ], + "footprint_xy": [ + [ + 15.714727420902634, + 0.16203170056662192 + ], + [ + 15.909472788325694, + 0.16203170056662192 + ], + [ + 15.909472788325694, + 0.41051217117800726 + ], + [ + 15.714727420902634, + 0.41051217117800726 + ] + ], + "projected_box_corners": [ + [ + 15.871322110498365, + 0.1693497213575751 + ], + [ + 15.859485766791243, + 0.40895290078309443 + ], + [ + 15.909472788325694, + 0.1709089917524879 + ], + [ + 15.897636444618573, + 0.41051217117800726 + ], + [ + 15.726563764609756, + 0.16203170056662192 + ], + [ + 15.714727420902634, + 0.40163487999214126 + ], + [ + 15.764714442437084, + 0.16359097096153472 + ], + [ + 15.752878098729964, + 0.4031941503870541 + ] + ], + "yaw_rad": -3.0910822929820143, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.716358184814453, + 0.30318939685821533, + 0.06596449017524719 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.739739049572572, + 0.2826201349130964, + 0.061417378509264854 + ], + "intended_face_normal": [ + -0.9372548665248388, + -0.04734058579489453, + 0.3454160493598275 + ], + "commanded_contact_point": [ + 15.716092948913575, + 0.297772982521441, + 0.034745969827897016 + ], + "centerline_face_intersection": [ + 15.729724935244148, + 0.2862755531060005, + 0.034745969827897016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.713818550109863, + 0.29953667521476746, + 0.06630539894104004 + ], + "box_pose": [ + 15.807768821716309, + 0.3032674789428711, + 0.03774844482541084, + 0.10667156428098679, + 0.697929322719574, + 0.6939179301261902, + -0.1413992941379547 + ], + "box_yaw_rad": -3.091125710302508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011497429415440538, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002242096767515986 + } + } + }, + { + "simulation_time_ns": 7240000000, + "center": [ + 15.812090427473136, + 0.28626855346039237, + 0.034771584359830424 + ], + "face_center": [ + 15.73970386072461, + 0.282607089873311, + 0.06139826454421148 + ], + "face_normal": [ + -0.9374638667084838, + -0.04741887847896198, + 0.3448367795916818 + ], + "footprint_xy": [ + [ + 15.714724833980405, + 0.16203088175721644 + ], + [ + 15.909456020965866, + 0.16203088175721644 + ], + [ + 15.909456020965866, + 0.41050622516356833 + ], + [ + 15.714724833980405, + 0.41050622516356833 + ] + ], + "projected_box_corners": [ + [ + 15.871334226899174, + 0.16935380893137922 + ], + [ + 15.859497967477457, + 0.40895690010241675 + ], + [ + 15.909456020965866, + 0.1709031339925308 + ], + [ + 15.89761976154415, + 0.41050622516356833 + ], + [ + 15.726561093402122, + 0.16203088175721644 + ], + [ + 15.714724833980405, + 0.401633972928254 + ], + [ + 15.764682887468814, + 0.16358020681836802 + ], + [ + 15.752846628047097, + 0.40318329798940555 + ] + ], + "yaw_rad": -3.0910536397889663, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.715324401855469, + 0.3019134998321533, + 0.05737514793872833 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.73972093166986, + 0.282612925476838, + 0.06140710540419719 + ], + "intended_face_normal": [ + -0.937368111037145, + -0.04738710768790355, + 0.34510205848032527 + ], + "commanded_contact_point": [ + 15.718316917419434, + 0.2970926668483191, + 0.034759941627155455 + ], + "centerline_face_intersection": [ + 15.72972551452276, + 0.2862719358723146, + 0.034759941627155455 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.716358184814453, + 0.30318939685821533, + 0.06596449017524719 + ], + "box_pose": [ + 15.807758331298828, + 0.30326348543167114, + 0.03776292875409126, + 0.10654662549495697, + 0.6979133486747742, + 0.6939747929573059, + -0.14129312336444855 + ], + "box_yaw_rad": -3.0910822929820143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010820730976004509, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002325738708738419 + } + } + }, + { + "simulation_time_ns": 7260000000, + "center": [ + 15.812080635374103, + 0.2862658992312893, + 0.034781413237227145 + ], + "face_center": [ + 15.739687693433618, + 0.28260237077454375, + 0.061390496786598345 + ], + "face_normal": [ + -0.9375464305372958, + -0.047445620190671, + 0.3446088891109147 + ], + "footprint_xy": [ + [ + 15.714721124371295, + 0.16203040060425178 + ], + [ + 15.909440146376912, + 0.16203040060425178 + ], + [ + 15.909440146376912, + 0.41050139785832684 + ], + [ + 15.714721124371295, + 0.41050139785832684 + ] + ], + "projected_box_corners": [ + [ + 15.871343171178365, + 0.1693574575177428 + ], + [ + 15.859507008252265, + 0.4089605138082396 + ], + [ + 15.909440146376912, + 0.17089834156783004 + ], + [ + 15.89760398345081, + 0.41050139785832684 + ], + [ + 15.726557287297394, + 0.16203040060425178 + ], + [ + 15.714721124371295, + 0.40163345689474855 + ], + [ + 15.764654262495942, + 0.163571284654339 + ], + [ + 15.75281809956984, + 0.4031743409448358 + ] + ], + "yaw_rad": -3.091029632608694, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.712925910949707, + 0.29641014337539673, + 0.044562965631484985 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.73970386072461, + 0.282607089873311, + 0.06139826454421148 + ], + "intended_face_normal": [ + -0.9374638667084838, + -0.04741887847896198, + 0.3448367795916818 + ], + "commanded_contact_point": [ + 15.720638160705567, + 0.29646348658152644, + 0.034771584359830424 + ], + "centerline_face_intersection": [ + 15.729724251395814, + 0.28626855346039237, + 0.034771584359830424 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.715324401855469, + 0.3019134998321533, + 0.05737514793872833 + ], + "box_pose": [ + 15.807747840881348, + 0.30325981974601746, + 0.037774987518787384, + 0.10644380003213882, + 0.6978997588157654, + 0.6940229535102844, + -0.1412007212638855 + ], + "box_yaw_rad": -3.0910536397889663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010194933121134071, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024050309259471218 + } + } + }, + { + "simulation_time_ns": 7280000000, + "center": [ + 15.812075479105388, + 0.28626388084957993, + 0.03478953172228431 + ], + "face_center": [ + 15.739677525331102, + 0.28259869396937126, + 0.061384755130269 + ], + "face_normal": [ + -0.937611337788816, + -0.04746709809938032, + 0.3444293892075354 + ], + "footprint_xy": [ + [ + 15.71472065993816, + 0.16202998479000816 + ], + [ + 15.909430298272616, + 0.16202998479000816 + ], + [ + 15.909430298272616, + 0.41049777690915173 + ], + [ + 15.71472065993816, + 0.41049777690915173 + ] + ], + "projected_box_corners": [ + [ + 15.871352879927512, + 0.16936035855042553 + ], + [ + 15.859516567486734, + 0.40896336957201257 + ], + [ + 15.909430298272616, + 0.17089476588756466 + ], + [ + 15.897593985831838, + 0.41049777690915173 + ], + [ + 15.726556972378939, + 0.16202998479000816 + ], + [ + 15.71472065993816, + 0.40163299581159523 + ], + [ + 15.764634390724042, + 0.16356439212714732 + ], + [ + 15.752798078283265, + 0.4031674031487344 + ] + ], + "yaw_rad": -3.091010278415444, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.712496757507324, + 0.29168978333473206, + 0.033222079277038574 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.739687693433618, + 0.28260237077454375, + 0.061390496786598345 + ], + "intended_face_normal": [ + -0.9375464305372958, + -0.047445620190671, + 0.3446088891109147 + ], + "commanded_contact_point": [ + 15.72331512451172, + 0.2960550625866591, + 0.034781413237227145 + ], + "centerline_face_intersection": [ + 15.729721712768866, + 0.2862658992312893, + 0.034781413237227145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.712925910949707, + 0.29641014337539673, + 0.044562965631484985 + ], + "box_pose": [ + 15.807737350463867, + 0.30325692892074585, + 0.03778515011072159, + 0.10635557025671005, + 0.6978885531425476, + 0.6940639615058899, + -0.14112120866775513 + ], + "box_yaw_rad": -3.091029632608694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009789163355369775, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027079590074194117 + } + } + }, + { + "simulation_time_ns": 7300000000, + "center": [ + 15.812628507938808, + 0.28623063312868263, + 0.034906372682087926 + ], + "face_center": [ + 15.740138492801423, + 0.2825040660343562, + 0.061241108610967335 + ], + "face_normal": [ + -0.938803605985818, + -0.04826202090689691, + 0.3410558682579987 + ], + "footprint_xy": [ + [ + 15.715275416771556, + 0.16193724891081193 + ], + [ + 15.90998159910606, + 0.16193724891081193 + ], + [ + 15.90998159910606, + 0.4105240173465533 + ], + [ + 15.715275416771556, + 0.4105240173465533 + ] + ], + "projected_box_corners": [ + [ + 15.872277876628694, + 0.1693903830994648 + ], + [ + 15.860255447046326, + 0.40898413813567763 + ], + [ + 15.90998159910606, + 0.17093026231034045 + ], + [ + 15.897959169523691, + 0.4105240173465533 + ], + [ + 15.727297846353924, + 0.16193724891081193 + ], + [ + 15.715275416771556, + 0.4015310039470248 + ], + [ + 15.76500156883129, + 0.16347712812168758 + ], + [ + 15.752979139248922, + 0.4030708831579004 + ] + ], + "yaw_rad": -3.0902298631852037, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.714767456054688, + 0.2894041836261749, + 0.024329781532287598 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.739677525331102, + 0.28259869396937126, + 0.061384755130269 + ], + "intended_face_normal": [ + -0.937611337788816, + -0.04746709809938032, + 0.3444293892075354 + ], + "commanded_contact_point": [ + 15.726407890319825, + 0.2958360081055436, + 0.03478953172228431 + ], + "centerline_face_intersection": [ + 15.729722257893776, + 0.28626388084957993, + 0.03478953172228431 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.712496757507324, + 0.29168978333473206, + 0.033222079277038574 + ], + "box_pose": [ + 15.807731628417969, + 0.30325472354888916, + 0.03779350966215134, + 0.10628582537174225, + 0.697880208492279, + 0.6940957307815552, + -0.1410588175058365 + ], + "box_yaw_rad": -3.091010278415444, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009572127255963691, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031005243297356445 + } + } + }, + { + "simulation_time_ns": 7320000000, + "center": [ + 15.814631262975539, + 0.28620578688151027, + 0.0348819590246796 + ], + "face_center": [ + 15.742305372074872, + 0.28242759535272866, + 0.06165682992066793 + ], + "face_normal": [ + -0.9366780660067207, + -0.04893059857420212, + 0.34675596769181993 + ], + "footprint_xy": [ + [ + 15.716925010653021, + 0.1616871513044208 + ], + [ + 15.912337515298056, + 0.1616871513044208 + ], + [ + 15.912337515298056, + 0.4107244224585997 + ], + [ + 15.716925010653021, + 0.4107244224585997 + ] + ], + "projected_box_corners": [ + [ + 15.874020917862964, + 0.16924353436198397 + ], + [ + 15.861576792454358, + 0.40881700174786606 + ], + [ + 15.912337515298056, + 0.17115095507271758 + ], + [ + 15.89989338988945, + 0.4107244224585997 + ], + [ + 15.729369136061628, + 0.1616871513044208 + ], + [ + 15.716925010653021, + 0.40126061869030294 + ], + [ + 15.767685733496721, + 0.16359457201515443 + ], + [ + 15.755241608088115, + 0.4031680394010365 + ] + ], + "yaw_rad": -3.0894016555068102, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.714103698730469, + 0.2891000807285309, + 0.023700237274169922 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.740138492801423, + 0.2825040660343562, + 0.061241108610967335 + ], + "intended_face_normal": [ + -0.938803605985818, + -0.04826202090689691, + 0.3410558682579987 + ], + "commanded_contact_point": [ + 15.72980869293213, + 0.29567581836474666, + 0.034906372682087926 + ], + "centerline_face_intersection": [ + 15.730379874231915, + 0.28623063312868263, + 0.034906372682087926 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.714767456054688, + 0.2894041836261749, + 0.024329781532287598 + ], + "box_pose": [ + 15.808260917663574, + 0.30321747064590454, + 0.03789857402443886, + 0.10475897043943405, + 0.6980941295623779, + 0.6943100094795227, + -0.14008530974388123 + ], + "box_yaw_rad": -3.0902298631852037, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009445185236064, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034065776038133657 + } + } + }, + { + "simulation_time_ns": 7340000000, + "center": [ + 15.81728975447212, + 0.2856822768400954, + 0.03531155193403945 + ], + "face_center": [ + 15.745575161112221, + 0.2815687529681597, + 0.06363648418920106 + ], + "face_normal": [ + -0.9287612745076927, + -0.05327342030434146, + 0.3668305005876018 + ], + "footprint_xy": [ + [ + 15.718224228580493, + 0.16036835286917508 + ], + [ + 15.916355280363748, + 0.16036835286917508 + ], + [ + 15.916355280363748, + 0.41099620081101573 + ], + [ + 15.718224228580493, + 0.41099620081101573 + ] + ], + "projected_box_corners": [ + [ + 15.875872271328038, + 0.16859540061304648 + ], + [ + 15.86165341530029, + 0.4080670751360482 + ], + [ + 15.916355280363748, + 0.17152452628801407 + ], + [ + 15.902136424335998, + 0.41099620081101573 + ], + [ + 15.732443084608242, + 0.16036835286917508 + ], + [ + 15.718224228580493, + 0.3998400273921768 + ], + [ + 15.77292609364395, + 0.16329747854414264 + ], + [ + 15.758707237616202, + 0.40276915306714434 + ] + ], + "yaw_rad": -3.0842957880216573, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.718938827514648, + 0.28648221492767334, + 0.02679392695426941 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.742305372074872, + 0.28242759535272866, + 0.06165682992066793 + ], + "intended_face_normal": [ + -0.9366780660067207, + -0.04893059857420212, + 0.34675596769181993 + ], + "commanded_contact_point": [ + 15.732746963500977, + 0.29553520036369346, + 0.0348819590246796 + ], + "centerline_face_intersection": [ + 15.732195988024962, + 0.28620578688151027, + 0.0348819590246796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.714103698730469, + 0.2891000807285309, + 0.023700237274169922 + ], + "box_pose": [ + 15.810251235961914, + 0.30319347977638245, + 0.03785101696848869, + 0.1064002513885498, + 0.6987705230712891, + 0.6928627490997314, + -0.14261794090270996 + ], + "box_yaw_rad": -3.0894016555068102, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009329413482183175, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029417347576973316 + } + } + }, + { + "simulation_time_ns": 7360000000, + "center": [ + 15.826677180100727, + 0.28280824627818735, + 0.03664972622077755 + ], + "face_center": [ + 15.75606055167588, + 0.2764764448696084, + 0.06723407596362707 + ], + "face_normal": [ + -0.9145417514696774, + -0.08200188651491125, + 0.3960917620295916 + ], + "footprint_xy": [ + [ + 15.723257757826318, + 0.15473183024100673 + ], + [ + 15.930096602375137, + 0.15473183024100673 + ], + [ + 15.930096602375137, + 0.41088466231536797 + ], + [ + 15.723257757826318, + 0.41088466231536797 + ] + ], + "projected_box_corners": [ + [ + 15.88651270312626, + 0.1673954330581647 + ], + [ + 15.864491014676013, + 0.40627499473249934 + ], + [ + 15.930096602375137, + 0.1720051006410333 + ], + [ + 15.90807491392489, + 0.41088466231536797 + ], + [ + 15.745279446276564, + 0.15473183024100673 + ], + [ + 15.723257757826318, + 0.39361139191534134 + ], + [ + 15.788863345525442, + 0.15934149782387533 + ], + [ + 15.766841657075195, + 0.39822105949820996 + ] + ], + "yaw_rad": -3.0521673395900075, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.729079246520996, + 0.2773224711418152, + 0.03756335377693176 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.745575161112221, + 0.2815687529681597, + 0.06363648418920106 + ], + "intended_face_normal": [ + -0.9287612745076927, + -0.05327342030434146, + 0.3668305005876018 + ], + "commanded_contact_point": [ + 15.734578971862794, + 0.29497969279877545, + 0.03531155193403945 + ], + "centerline_face_intersection": [ + 15.734151798540045, + 0.2856822768400954, + 0.03531155193403945 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.718938827514648, + 0.28648221492767334, + 0.02679392695426941 + ], + "box_pose": [ + 15.812847137451172, + 0.30265840888023376, + 0.038253627717494965, + 0.11164622008800507, + 0.7000593543052673, + 0.6886926293373108, + -0.15216612815856934 + ], + "box_yaw_rad": -3.0842957880216573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009297415958680057, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001961987094814496 + } + } + }, + { + "simulation_time_ns": 7380000000, + "center": [ + 15.834916598913193, + 0.28022461674238597, + 0.0365946516116776 + ], + "face_center": [ + 15.764536070154, + 0.2714384019533284, + 0.06711657354730402 + ], + "face_normal": [ + -0.9114840721869797, + -0.11378850054452805, + 0.39528327205447233 + ], + "footprint_xy": [ + [ + 15.727724140159317, + 0.1493957665683381 + ], + [ + 15.942109057667068, + 0.1493957665683381 + ], + [ + 15.942109057667068, + 0.4110534669164338 + ], + [ + 15.727724140159317, + 0.4110534669164338 + ] + ], + "projected_box_corners": [ + [ + 15.898801169288996, + 0.16696819614645322 + ], + [ + 15.868485197677705, + 0.40493735363626376 + ], + [ + 15.942109057667068, + 0.17308430942662328 + ], + [ + 15.911793086055777, + 0.4110534669164338 + ], + [ + 15.758040111770608, + 0.1493957665683381 + ], + [ + 15.727724140159317, + 0.3873649240581486 + ], + [ + 15.801348000148682, + 0.15551187984850814 + ], + [ + 15.771032028537391, + 0.3934810373383187 + ] + ], + "yaw_rad": -3.017396465638213, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.739012718200684, + 0.2707521915435791, + 0.04900835454463959 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.75606055167588, + 0.2764764448696084, + 0.06723407596362707 + ], + "intended_face_normal": [ + -0.9145417514696774, + -0.08200188651491125, + 0.3960917620295916 + ], + "commanded_contact_point": [ + 15.736554985046388, + 0.2923250932423223, + 0.03664972622077755 + ], + "centerline_face_intersection": [ + 15.742246574513446, + 0.28280824627818735, + 0.03664972622077755 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.729079246520996, + 0.2773224711418152, + 0.03756335377693176 + ], + "box_pose": [ + 15.82178020477295, + 0.29964208602905273, + 0.03968668356537819, + 0.11134840548038483, + 0.7003583312034607, + 0.6832050085067749, + -0.17415669560432434 + ], + "box_yaw_rad": -3.0521673395900075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009516846964134943, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035696270573471046 + } + } + }, + { + "simulation_time_ns": 7400000000, + "center": [ + 15.84168665209273, + 0.2779434579812992, + 0.035252493934774545 + ], + "face_center": [ + 15.770749074567501, + 0.2664342355919701, + 0.06349438083303709 + ], + "face_normal": [ + -0.9186982987155901, + -0.14905362429180347, + 0.365754996873477 + ], + "footprint_xy": [ + [ + 15.731407135203318, + 0.1445730729250554 + ], + [ + 15.951966168982139, + 0.1445730729250554 + ], + [ + 15.951966168982139, + 0.41131384303754304 + ], + [ + 15.731407135203318, + 0.41131384303754304 + ] + ], + "projected_box_corners": [ + [ + 15.912105696995221, + 0.16759151770371367 + ], + [ + 15.873282290253774, + 0.40432345995137364 + ], + [ + 15.951966168982139, + 0.1745819007898831 + ], + [ + 15.913142762240692, + 0.41131384303754304 + ], + [ + 15.770230541944764, + 0.1445730729250554 + ], + [ + 15.731407135203318, + 0.38130501517271537 + ], + [ + 15.810091013931682, + 0.1515634560112248 + ], + [ + 15.771267607190236, + 0.38829539825888476 + ] + ], + "yaw_rad": -2.980749815108721, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.746294021606445, + 0.26926571130752563, + 0.0593305379152298 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.764536070154, + 0.2714384019533284, + 0.06711657354730402 + ], + "intended_face_normal": [ + -0.9114840721869797, + -0.11378850054452805, + 0.39528327205447233 + ], + "commanded_contact_point": [ + 15.73897445678711, + 0.29012036071447317, + 0.0365946516116776 + ], + "centerline_face_intersection": [ + 15.750202761044177, + 0.28022461674238597, + 0.0365946516116776 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.739012718200684, + 0.2707521915435791, + 0.04900835454463959 + ], + "box_pose": [ + 15.829434394836426, + 0.29687774181365967, + 0.03962789103388786, + 0.09884457290172577, + 0.7022483944892883, + 0.6801391243934631, + -0.18570861220359802 + ], + "box_yaw_rad": -3.017396465638213, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009895743972087218, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032737932488291154 + } + } + }, + { + "simulation_time_ns": 7420000000, + "center": [ + 15.845531796874928, + 0.2765307479861205, + 0.03509767885188491 + ], + "face_center": [ + 15.774451582072148, + 0.2632023881245663, + 0.06215617847466384 + ], + "face_normal": [ + -0.9205455654082613, + -0.17261290780791416, + 0.35042918628568476 + ], + "footprint_xy": [ + [ + 15.7333418110378, + 0.141810735165433 + ], + [ + 15.957721782712056, + 0.141810735165433 + ], + [ + 15.957721782712056, + 0.411250760806808 + ], + [ + 15.7333418110378, + 0.411250760806808 + ] + ], + "projected_box_corners": [ + [ + 15.919583072229623, + 0.16846745488854137 + ], + [ + 15.87550224064336, + 0.40427902921307246 + ], + [ + 15.957721782712056, + 0.1754391864822769 + ], + [ + 15.913640951125796, + 0.411250760806808 + ], + [ + 15.77742264262406, + 0.141810735165433 + ], + [ + 15.7333418110378, + 0.3776223094899641 + ], + [ + 15.815561353106496, + 0.1487824667591685 + ], + [ + 15.771480521520234, + 0.3845940410836996 + ] + ], + "yaw_rad": -2.9562335647788323, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.751099586486816, + 0.2712673544883728, + 0.06635890901088715 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.770749074567501, + 0.2664342355919701, + 0.06349438083303709 + ], + "intended_face_normal": [ + -0.9186982987155901, + -0.14905362429180347, + 0.365754996873477 + ], + "commanded_contact_point": [ + 15.741859321594239, + 0.2881863118203374, + 0.035252493934774545 + ], + "centerline_face_intersection": [ + 15.757638043295488, + 0.2779434579812992, + 0.035252493934774545 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.746294021606445, + 0.26926571130752563, + 0.0593305379152298 + ], + "box_pose": [ + 15.835515022277832, + 0.29436856508255005, + 0.03820352256298065, + 0.07493916898965836, + 0.7046677470207214, + 0.680288553237915, + -0.18717649579048157 + ], + "box_yaw_rad": -2.980749815108721, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010242853839038162, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037234899368722048 + } + } + }, + { + "simulation_time_ns": 7440000000, + "center": [ + 15.847297758141188, + 0.27605401482445585, + 0.035085739392822016 + ], + "face_center": [ + 15.776351760684172, + 0.262330993240157, + 0.06229875509036785 + ], + "face_normal": [ + -0.9188073435586617, + -0.177724092400096, + 0.3524302928918708 + ], + "footprint_xy": [ + [ + 15.734461501729124, + 0.1409080711393685 + ], + [ + 15.960134014553251, + 0.1409080711393685 + ], + [ + 15.960134014553251, + 0.41119995850954316 + ], + [ + 15.734461501729124, + 0.41119995850954316 + ] + ], + "projected_box_corners": [ + [ + 15.921831514680797, + 0.16835411430796615 + ], + [ + 15.876353496643157, + 0.4039003887276013 + ], + [ + 15.960134014553251, + 0.175653684089908 + ], + [ + 15.914655996515611, + 0.41119995850954316 + ], + [ + 15.779939519766764, + 0.1409080711393685 + ], + [ + 15.734461501729124, + 0.37645434555900364 + ], + [ + 15.818242019639218, + 0.14820764092131036 + ], + [ + 15.772764001601578, + 0.3837539153409455 + ] + ], + "yaw_rad": -2.95052316079852, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.754212379455566, + 0.27474910020828247, + 0.07051397860050201 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.774451582072148, + 0.2632023881245663, + 0.06215617847466384 + ], + "intended_face_normal": [ + -0.9205455654082613, + -0.17261290780791416, + 0.35042918628568476 + ], + "commanded_contact_point": [ + 15.744758491516114, + 0.2869841375650686, + 0.03509767885188491 + ], + "centerline_face_intersection": [ + 15.761651849142854, + 0.2765307479861205, + 0.03509767885188491 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.751099586486816, + 0.2712673544883728, + 0.06635890901088715 + ], + "box_pose": [ + 15.838951110839844, + 0.2927882969379425, + 0.03809240087866783, + 0.0611237958073616, + 0.7039291262626648, + 0.6817305684089661, + -0.18971318006515503 + ], + "box_yaw_rad": -2.9562335647788323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010453389578948069, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031423521263260626 + } + } + }, + { + "simulation_time_ns": 7460000000, + "center": [ + 15.84848448898172, + 0.27671465903437237, + 0.0351770578763621 + ], + "face_center": [ + 15.777866716553978, + 0.2635645221196442, + 0.06350388908749081 + ], + "face_normal": [ + -0.9145565672210765, + -0.17030477826989987, + 0.36685509358439106 + ], + "footprint_xy": [ + [ + 15.735794336899971, + 0.14170140097626122 + ], + [ + 15.96117464106347, + 0.14170140097626122 + ], + [ + 15.96117464106347, + 0.4117279170924836 + ], + [ + 15.735794336899971, + 0.4117279170924836 + ] + ], + "projected_box_corners": [ + [ + 15.921373207866083, + 0.16800167480571754 + ], + [ + 15.877029881755456, + 0.4037617453906347 + ], + [ + 15.96117464106347, + 0.17596784650756636 + ], + [ + 15.916831314952844, + 0.4117279170924836 + ], + [ + 15.780137663010597, + 0.14170140097626122 + ], + [ + 15.735794336899971, + 0.3774614715611784 + ], + [ + 15.819939096207985, + 0.14966757267811004 + ], + [ + 15.77559577009736, + 0.38542764326302725 + ] + ], + "yaw_rad": -2.957485687733445, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.755391120910645, + 0.2794981002807617, + 0.07132357358932495 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.776351760684172, + 0.262330993240157, + 0.06229875509036785 + ], + "intended_face_normal": [ + -0.9188073435586617, + -0.177724092400096, + 0.3524302928918708 + ], + "commanded_contact_point": [ + 15.74736297607422, + 0.28655960098805083, + 0.035085739392822016 + ], + "centerline_face_intersection": [ + 15.763259124304879, + 0.27605401482445585, + 0.035085739392822016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.754212379455566, + 0.27474910020828247, + 0.07051397860050201 + ], + "box_pose": [ + 15.84062671661377, + 0.29227519035339355, + 0.038077786564826965, + 0.05980698764324188, + 0.7042509913444519, + 0.6807600259780884, + -0.19240432977676392 + ], + "box_yaw_rad": -2.95052316079852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010505586163595005, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026388849291544515 + } + } + }, + { + "simulation_time_ns": 7480000000, + "center": [ + 15.849298405327081, + 0.2774111270750706, + 0.03498071781096502 + ], + "face_center": [ + 15.77847863554158, + 0.26471006919540213, + 0.06300652339924878 + ], + "face_normal": [ + -0.9171725943732838, + -0.16448884601098612, + 0.3629565712887981 + ], + "footprint_xy": [ + [ + 15.737382129118261, + 0.14287639280293873 + ], + [ + 15.9612146815359, + 0.14287639280293873 + ], + [ + 15.9612146815359, + 0.41194586134720246 + ], + [ + 15.737382129118261, + 0.41194586134720246 + ] + ], + "projected_box_corners": [ + [ + 15.921783907413342, + 0.16827850856227566 + ], + [ + 15.879021668689264, + 0.40433053348330067 + ], + [ + 15.9612146815359, + 0.17589383642617745 + ], + [ + 15.918452442811821, + 0.41194586134720246 + ], + [ + 15.78014436784234, + 0.14287639280293873 + ], + [ + 15.737382129118261, + 0.37892841772396374 + ], + [ + 15.819575141964897, + 0.1504917206668405 + ], + [ + 15.776812903240819, + 0.38654374558786553 + ] + ], + "yaw_rad": -2.9641357876476517, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.755115509033203, + 0.28592151403427124, + 0.07038231194019318 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.777866716553978, + 0.2635645221196442, + 0.06350388908749081 + ], + "intended_face_normal": [ + -0.9145565672210765, + -0.17030477826989987, + 0.36685509358439106 + ], + "commanded_contact_point": [ + 15.749853019714356, + 0.2871089075481118, + 0.0351770578763621 + ], + "centerline_face_intersection": [ + 15.76405525116425, + 0.27671465903437237, + 0.0351770578763621 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.755391120910645, + 0.2794981002807617, + 0.07132357358932495 + ], + "box_pose": [ + 15.841934204101562, + 0.2929924726486206, + 0.03812803328037262, + 0.06712739169597626, + 0.7055394053459167, + 0.6778587102890015, + -0.19548824429512024 + ], + "box_yaw_rad": -2.957485687733445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010394248513739431, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002551547391711037 + } + } + }, + { + "simulation_time_ns": 7500000000, + "center": [ + 15.84928432428656, + 0.2774138363709964, + 0.03494040266854455 + ], + "face_center": [ + 15.778433631601061, + 0.2647124198826526, + 0.06288778094697085 + ], + "face_normal": [ + -0.9175730706315619, + -0.16449349027981341, + 0.36194087497307237 + ], + "footprint_xy": [ + [ + 15.737410181145556, + 0.14290122404081496 + ], + [ + 15.961158467427563, + 0.14290122404081496 + ], + [ + 15.961158467427563, + 0.4119264487011779 + ], + [ + 15.737410181145556, + 0.4119264487011779 + ] + ], + "projected_box_corners": [ + [ + 15.921832308867575, + 0.1683040570175027 + ], + [ + 15.879111566516553, + 0.4043638703635418 + ], + [ + 15.961158467427563, + 0.17586663535513875 + ], + [ + 15.91843772507654, + 0.4119264487011779 + ], + [ + 15.78013092349658, + 0.14290122404081496 + ], + [ + 15.737410181145556, + 0.3789610373868541 + ], + [ + 15.819457082056568, + 0.15046380237845103 + ], + [ + 15.776736339705543, + 0.3865236157244902 + ] + ], + "yaw_rad": -2.9642067203415667, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.753608703613281, + 0.2909937798976898, + 0.06845018267631531 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.77847863554158, + 0.26471006919540213, + 0.06300652339924878 + ], + "intended_face_normal": [ + -0.9171725943732838, + -0.16448884601098612, + 0.3629565712887981 + ], + "commanded_contact_point": [ + 15.752178077697755, + 0.287464960110442, + 0.03498071781096502 + ], + "centerline_face_intersection": [ + 15.765109982793371, + 0.2774111270750706, + 0.03498071781096502 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.755115509033203, + 0.28592151403427124, + 0.07038231194019318 + ], + "box_pose": [ + 15.84284496307373, + 0.2937299311161041, + 0.037918634712696075, + 0.06801187992095947, + 0.7054274082183838, + 0.6789392232894897, + -0.19180195033550262 + ], + "box_yaw_rad": -2.9641357876476517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010053833035371405, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002360342660417513 + } + } + }, + { + "simulation_time_ns": 7520000000, + "center": [ + 15.849232800107766, + 0.27738641683589627, + 0.03490713756540256 + ], + "face_center": [ + 15.778338602778959, + 0.2646609084984892, + 0.06273295524057973 + ], + "face_normal": [ + -0.9181364905168863, + -0.16480549897138985, + 0.36036656805011447 + ], + "footprint_xy": [ + [ + 15.737395583809482, + 0.14289274098486252 + ], + [ + 15.96107001640605, + 0.14289274098486252 + ], + [ + 15.96107001640605, + 0.41188009268693004 + ], + [ + 15.737395583809482, + 0.41188009268693004 + ] + ], + "projected_box_corners": [ + [ + 15.92190530360026, + 0.16834375765967657 + ], + [ + 15.879183978467097, + 0.40440399102194197 + ], + [ + 15.96107001640605, + 0.17581985932466465 + ], + [ + 15.918348691272886, + 0.41188009268693004 + ], + [ + 15.780116908942647, + 0.14289274098486252 + ], + [ + 15.737395583809482, + 0.3789529743471279 + ], + [ + 15.819281621748434, + 0.15036884264985056 + ], + [ + 15.776560296615271, + 0.38642907601211596 + ] + ], + "yaw_rad": -2.9639840670875994, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.752134323120117, + 0.29171696305274963, + 0.06464278697967529 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.778433631601061, + 0.2647124198826526, + 0.06288778094697085 + ], + "intended_face_normal": [ + -0.9175730706315619, + -0.16449349027981341, + 0.36194087497307237 + ], + "commanded_contact_point": [ + 15.754177932739259, + 0.2869244716653001, + 0.03494040266854455 + ], + "centerline_face_intersection": [ + 15.76513264592672, + 0.2774138363709964, + 0.03494040266854455 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.753608703613281, + 0.2909937798976898, + 0.06845018267631531 + ], + "box_pose": [ + 15.842830657958984, + 0.2937324345111847, + 0.03787897154688835, + 0.06768077611923218, + 0.7053685188293457, + 0.6791478395462036, + -0.19139666855335236 + ], + "box_yaw_rad": -2.9642067203415667, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00951063529430367, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020719974075922134 + } + } + }, + { + "simulation_time_ns": 7540000000, + "center": [ + 15.849157488491448, + 0.2773381241011705, + 0.03488815344236445 + ], + "face_center": [ + 15.77819837995326, + 0.2645735559173237, + 0.06253006490105571 + ], + "face_normal": [ + -0.9189771425338691, + -0.16531135518644824, + 0.3579848356298223 + ], + "footprint_xy": [ + [ + 15.737378033253911, + 0.14287894397221026 + ], + [ + 15.960936943728985, + 0.14287894397221026 + ], + [ + 15.960936943728985, + 0.4117973042301307 + ], + [ + 15.737378033253911, + 0.4117973042301307 + ] + ], + "projected_box_corners": [ + [ + 15.922013233936292, + 0.1684080803399039 + ], + [ + 15.87929625033029, + 0.40446990625800106 + ], + [ + 15.960936943728985, + 0.1757354783120335 + ], + [ + 15.91821996012298, + 0.4117973042301307 + ], + [ + 15.780095016859915, + 0.14287894397221026 + ], + [ + 15.737378033253911, + 0.37894076989030745 + ], + [ + 15.819018726652606, + 0.15020634194433988 + ], + [ + 15.776301743046602, + 0.38626816786243706 + ] + ], + "yaw_rad": -2.9636098943538247, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.752205848693848, + 0.2881622016429901, + 0.06111058592796326 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.778338602778959, + 0.2646609084984892, + 0.06273295524057973 + ], + "intended_face_normal": [ + -0.9181364905168863, + -0.16480549897138985, + 0.36036656805011447 + ], + "commanded_contact_point": [ + 15.755866889953614, + 0.2863238302815258, + 0.03490713756540256 + ], + "centerline_face_intersection": [ + 15.765132761922846, + 0.27738641683589627, + 0.03490713756540256 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.752134323120117, + 0.29171696305274963, + 0.06464278697967529 + ], + "box_pose": [ + 15.842774391174316, + 0.29370248317718506, + 0.037849340587854385, + 0.06706593930721283, + 0.7052324414253235, + 0.6794964671134949, + -0.19087637960910797 + ], + "box_yaw_rad": -2.9639840670875994, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008937413445629535, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017928895980825873 + } + } + }, + { + "simulation_time_ns": 7560000000, + "center": [ + 15.849053578112681, + 0.2772678376652696, + 0.034882443421575864 + ], + "face_center": [ + 15.778005890714976, + 0.26444932921859404, + 0.0622706429795998 + ], + "face_normal": [ + -0.9201243095274165, + -0.16600992468123277, + 0.3546990638338503 + ], + "footprint_xy": [ + [ + 15.73735732129395, + 0.14286223487311345 + ], + [ + 15.960749834931411, + 0.14286223487311345 + ], + [ + 15.960749834931411, + 0.4116734404574257 + ], + [ + 15.73735732129395, + 0.4116734404574257 + ] + ], + "projected_box_corners": [ + [ + 15.922156187185202, + 0.16849925176646458 + ], + [ + 15.879452696089361, + 0.4045641978753349 + ], + [ + 15.960749834931411, + 0.17560849434855544 + ], + [ + 15.91804634383557, + 0.4116734404574257 + ], + [ + 15.780060812389792, + 0.14286223487311345 + ], + [ + 15.73735732129395, + 0.37892718098198375 + ], + [ + 15.818654460136, + 0.1499714774552043 + ], + [ + 15.77595096904016, + 0.38603642356407464 + ] + ], + "yaw_rad": -2.963091771718609, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.75473403930664, + 0.2807750999927521, + 0.060303106904029846 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.77819837995326, + 0.2645735559173237, + 0.06253006490105571 + ], + "intended_face_normal": [ + -0.9189771425338691, + -0.16531135518644824, + 0.3579848356298223 + ], + "commanded_contact_point": [ + 15.757415657043458, + 0.28584257444512723, + 0.03488815344236445 + ], + "centerline_face_intersection": [ + 15.765134382434061, + 0.2773381241011705, + 0.03488815344236445 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.752205848693848, + 0.2881622016429901, + 0.06111058592796326 + ], + "box_pose": [ + 15.842692375183105, + 0.2936500310897827, + 0.03783869370818138, + 0.06613936275243759, + 0.7049664258956909, + 0.6800815463066101, + -0.1900973618030548 + ], + "box_yaw_rad": -2.9636098943538247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00850445034395675, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016219269637003687 + } + } + }, + { + "simulation_time_ns": 7580000000, + "center": [ + 15.852057530731372, + 0.27539564853210724, + 0.03489130376672344 + ], + "face_center": [ + 15.780899430230694, + 0.2616252728511726, + 0.061520310156398736 + ], + "face_normal": [ + -0.9215542474164309, + -0.1783373657812044, + 0.34486690580857315 + ], + "footprint_xy": [ + [ + 15.739494954134441, + 0.14041487915841108 + ], + [ + 15.964620107328303, + 0.14041487915841108 + ], + [ + 15.964620107328303, + 0.4103764179058034 + ], + [ + 15.739494954134441, + 0.4103764179058034 + ] + ], + "projected_box_corners": [ + [ + 15.927080420169759, + 0.16795563052028034 + ], + [ + 15.881811155135798, + 0.40354063889609404 + ], + [ + 15.964620107328303, + 0.17479140952998967 + ], + [ + 15.919350842294342, + 0.4103764179058034 + ], + [ + 15.784764219168402, + 0.14041487915841108 + ], + [ + 15.739494954134441, + 0.3759998875342248 + ], + [ + 15.822303906326946, + 0.1472506581681204 + ], + [ + 15.777034641292985, + 0.38283566654393414 + ] + ], + "yaw_rad": -2.9504374516774363, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.757944107055664, + 0.27188992500305176, + 0.05440947413444519 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.778005890714976, + 0.26444932921859404, + 0.0622706429795998 + ], + "intended_face_normal": [ + -0.9201243095274165, + -0.16600992468123277, + 0.3546990638338503 + ], + "commanded_contact_point": [ + 15.7587260055542, + 0.285631997516127, + 0.034882443421575864 + ], + "centerline_face_intersection": [ + 15.765135228046377, + 0.2772678376652696, + 0.034882443421575864 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.75473403930664, + 0.2807750999927521, + 0.060303106904029846 + ], + "box_pose": [ + 15.84257984161377, + 0.29357388615608215, + 0.03784641623497009, + 0.06487143784761429, + 0.7045560479164124, + 0.6809279918670654, + -0.1890222281217575 + ], + "box_yaw_rad": -2.963091771718609, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00836415985085745, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001327173111153493 + } + } + }, + { + "simulation_time_ns": 7600000000, + "center": [ + 15.85582135991722, + 0.27343184703287443, + 0.0348434895822161 + ], + "face_center": [ + 15.784807410822086, + 0.25894386965588484, + 0.061476585443589145 + ], + "face_normal": [ + -0.9196873715566554, + -0.1876308810141798, + 0.3449198677340073 + ], + "footprint_xy": [ + [ + 15.742249517018674, + 0.13778177297592226 + ], + [ + 15.969393202815764, + 0.13778177297592226 + ], + [ + 15.969393202815764, + 0.40908192108982655 + ], + [ + 15.742249517018674, + 0.40908192108982655 + ] + ], + "projected_box_corners": [ + [ + 15.931916977230438, + 0.16675772772990138 + ], + [ + 15.88427741520894, + 0.40187483165732574 + ], + [ + 15.969393202815764, + 0.17396481716240225 + ], + [ + 15.921753640794266, + 0.40908192108982655 + ], + [ + 15.789889079040172, + 0.13778177297592226 + ], + [ + 15.742249517018674, + 0.3728988769033466 + ], + [ + 15.827365304625499, + 0.14498886240842312 + ], + [ + 15.779725742604, + 0.3801059663358475 + ] + ], + "yaw_rad": -2.940338614738543, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.76162052154541, + 0.2633930444717407, + 0.04932516813278198 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.780899430230694, + 0.2616252728511726, + 0.061520310156398736 + ], + "intended_face_normal": [ + -0.9215542474164309, + -0.1783373657812044, + 0.34486690580857315 + ], + "commanded_contact_point": [ + 15.760433082580567, + 0.2839000373241269, + 0.03489130376672344 + ], + "centerline_face_intersection": [ + 15.76826939332339, + 0.27539564853210724, + 0.03489130376672344 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.757944107055664, + 0.27188992500305176, + 0.05440947413444519 + ], + "box_pose": [ + 15.845378875732422, + 0.2916104197502136, + 0.03790102154016495, + 0.05720101669430733, + 0.7035211324691772, + 0.6825211644172668, + -0.18960702419281006 + ], + "box_yaw_rad": -2.9504374516774363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008504388792019668, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024318463327973354 + } + } + }, + { + "simulation_time_ns": 7620000000, + "center": [ + 15.859623450870986, + 0.2716910747854783, + 0.0348128287604542 + ], + "face_center": [ + 15.788825575398032, + 0.2564508186808979, + 0.06160093980967521 + ], + "face_normal": [ + -0.916889045535143, + -0.19737349150791816, + 0.3469274382533185 + ], + "footprint_xy": [ + [ + 15.744905869070607, + 0.13528179160857273 + ], + [ + 15.974341032671367, + 0.13528179160857273 + ], + [ + 15.974341032671367, + 0.4081003579623839 + ], + [ + 15.744905869070607, + 0.4081003579623839 + ] + ], + "projected_box_corners": [ + [ + 15.936750355244163, + 0.16576230381773363 + ], + [ + 15.886501620016517, + 0.40033638884764355 + ], + [ + 15.974341032671367, + 0.17352627293247397 + ], + [ + 15.92409229744372, + 0.4081003579623839 + ], + [ + 15.795154604298252, + 0.13528179160857273 + ], + [ + 15.744905869070607, + 0.3698558766384827 + ], + [ + 15.832745281725456, + 0.1430457607233131 + ], + [ + 15.78249654649781, + 0.37761984575322305 + ] + ], + "yaw_rad": -2.929563871280296, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.765620231628418, + 0.2596648633480072, + 0.049016863107681274 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.784807410822086, + 0.25894386965588484, + 0.061476585443589145 + ], + "intended_face_normal": [ + -0.9196873715566554, + -0.1876308810141798, + 0.3449198677340073 + ], + "commanded_contact_point": [ + 15.762966995239259, + 0.28233778792733943, + 0.0348434895822161 + ], + "centerline_face_intersection": [ + 15.771863140744607, + 0.27343184703287443, + 0.0348434895822161 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.76162052154541, + 0.2633930444717407, + 0.04932516813278198 + ], + "box_pose": [ + 15.848979949951172, + 0.2895783483982086, + 0.03785468265414238, + 0.05367550626397133, + 0.7037724852561951, + 0.6815775632858276, + -0.19306795299053192 + ], + "box_yaw_rad": -2.940338614738543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008905940894465017, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029771836919947367 + } + } + }, + { + "simulation_time_ns": 7640000000, + "center": [ + 15.862718145232689, + 0.271010169211811, + 0.03485479421134427 + ], + "face_center": [ + 15.792359751183747, + 0.25578312361643535, + 0.06278397024766 + ], + "face_normal": [ + -0.9111974100064941, + -0.19720240486026208, + 0.36170514139655063 + ], + "footprint_xy": [ + [ + 15.74731765928567, + 0.1341503683718854 + ], + [ + 15.978118631179708, + 0.1341503683718854 + ], + [ + 15.978118631179708, + 0.40786997005173653 + ], + [ + 15.74731765928567, + 0.40786997005173653 + ] + ], + "projected_box_corners": [ + [ + 15.939093614455206, + 0.16460445956263664 + ], + [ + 15.888034447383552, + 0.39900288150282043 + ], + [ + 15.978118631179708, + 0.1734715481115528 + ], + [ + 15.927059464108053, + 0.40786997005173653 + ], + [ + 15.798376826357325, + 0.1341503683718854 + ], + [ + 15.74731765928567, + 0.36854879031206916 + ], + [ + 15.837401843081826, + 0.14301745692080153 + ], + [ + 15.786342676010172, + 0.3774158788609853 + ] + ], + "yaw_rad": -2.928458517013769, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.769072532653809, + 0.26074397563934326, + 0.052863284945487976 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.788825575398032, + 0.2564508186808979, + 0.06160093980967521 + ], + "intended_face_normal": [ + -0.916889045535143, + -0.19737349150791816, + 0.3469274382533185 + ], + "commanded_contact_point": [ + 15.765871887207032, + 0.2810780641374422, + 0.0348128287604542 + ], + "centerline_face_intersection": [ + 15.775408992984895, + 0.2716910747854783, + 0.0348128287604542 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.765620231628418, + 0.2596648633480072, + 0.049016863107681274 + ], + "box_pose": [ + 15.852608680725098, + 0.28776460886001587, + 0.03781553730368614, + 0.05054179206490517, + 0.7043341994285583, + 0.6799690127372742, + -0.1974870264530182 + ], + "box_yaw_rad": -2.929563871280296, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009386989351963863, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031664240804508224 + } + } + }, + { + "simulation_time_ns": 7660000000, + "center": [ + 15.864904715775205, + 0.2712295137727753, + 0.03492046769948055 + ], + "face_center": [ + 15.794589706253182, + 0.25599885478938483, + 0.06295663366061474 + ], + "face_normal": [ + -0.9106355457244106, + -0.1972492011216751, + 0.363090746393782 + ], + "footprint_xy": [ + [ + 15.749441656694831, + 0.1343358458673911 + ], + [ + 15.980367774855582, + 0.1343358458673911 + ], + [ + 15.980367774855582, + 0.40812318167815953 + ], + [ + 15.749441656694831, + 0.40812318167815953 + ] + ], + "projected_box_corners": [ + [ + 15.941202596549914, + 0.16479716383417214 + ], + [ + 15.890071675738879, + 0.39917960408529224 + ], + [ + 15.980367774855582, + 0.17374074142703944 + ], + [ + 15.929236854044547, + 0.40812318167815953 + ], + [ + 15.800572577505866, + 0.1343358458673911 + ], + [ + 15.749441656694831, + 0.3687182861185112 + ], + [ + 15.839737755811534, + 0.14327942346025843 + ], + [ + 15.788606835000499, + 0.37766186371137855 + ] + ], + "yaw_rad": -2.928281876644911, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.771402359008789, + 0.26344814896583557, + 0.05542406439781189 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.792359751183747, + 0.25578312361643535, + 0.06278397024766 + ], + "intended_face_normal": [ + -0.9111974100064941, + -0.19720240486026208, + 0.36170514139655063 + ], + "commanded_contact_point": [ + 15.768671875, + 0.28080780630667357, + 0.03485479421134427 + ], + "centerline_face_intersection": [ + 15.777977656439061, + 0.271010169211811, + 0.03485479421134427 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.769072532653809, + 0.26074397563934326, + 0.052863284945487976 + ], + "box_pose": [ + 15.855690002441406, + 0.28708741068840027, + 0.03780593350529671, + 0.05505916103720665, + 0.7061892151832581, + 0.6759404540061951, + -0.20339570939540863 + ], + "box_yaw_rad": -2.928458517013769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00979763709486257, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002813313355268868 + } + } + }, + { + "simulation_time_ns": 7680000000, + "center": [ + 15.867110339268793, + 0.27219240434343284, + 0.034856780563214215 + ], + "face_center": [ + 15.796633433200721, + 0.25756699504635155, + 0.06280862673430813 + ], + "face_normal": [ + -0.9127322353297203, + -0.18941073416933696, + 0.36199873775237457 + ], + "footprint_xy": [ + [ + 15.752535757267099, + 0.13588168486025387 + ], + [ + 15.981684921270489, + 0.13588168486025387 + ], + [ + 15.981684921270489, + 0.4085031238266118 + ], + [ + 15.752535757267099, + 0.4085031238266118 + ] + ], + "projected_box_corners": [ + [ + 15.942555222982913, + 0.16513250345441643 + ], + [ + 15.893489569403243, + 0.39995623711437983 + ], + [ + 15.981684921270489, + 0.17367939016664838 + ], + [ + 15.93261926769082, + 0.4085031238266118 + ], + [ + 15.801601410846768, + 0.13588168486025387 + ], + [ + 15.752535757267099, + 0.37070541852021727 + ], + [ + 15.840731109134344, + 0.14442857157248581 + ], + [ + 15.791665455554673, + 0.3792523052324492 + ] + ], + "yaw_rad": -2.9369763237499344, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.773500442504883, + 0.26592743396759033, + 0.055255740880966187 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.794589706253182, + 0.25599885478938483, + 0.06295663366061474 + ], + "intended_face_normal": [ + -0.9106355457244106, + -0.1972492011216751, + 0.363090746393782 + ], + "commanded_contact_point": [ + 15.771283035278321, + 0.2813384054599155, + 0.03492046769948055 + ], + "centerline_face_intersection": [ + 15.780111941899886, + 0.2712295137727753, + 0.03492046769948055 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.771402359008789, + 0.26344814896583557, + 0.05542406439781189 + ], + "box_pose": [ + 15.85787582397461, + 0.2873064875602722, + 0.037871260195970535, + 0.05548486113548279, + 0.7062683701515198, + 0.675649881362915, + -0.20396925508975983 + ], + "box_yaw_rad": -2.928281876644911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01010889168714016, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026653342131040267 + } + } + }, + { + "simulation_time_ns": 7700000000, + "center": [ + 15.87098625301132, + 0.2733475759602626, + 0.034754559703232754 + ], + "face_center": [ + 15.800297219372066, + 0.2595884742188723, + 0.06261050280385097 + ], + "face_normal": [ + -0.9154794568384688, + -0.17819135925771512, + 0.36075671637581586 + ], + "footprint_xy": [ + [ + 15.757684879076248, + 0.13788361765466564 + ], + [ + 15.984287626946394, + 0.13788361765466564 + ], + [ + 15.984287626946394, + 0.4088115342658596 + ], + [ + 15.757684879076248, + 0.4088115342658596 + ] + ], + "projected_box_corners": [ + [ + 15.94518087136736, + 0.16540182113744623 + ], + [ + 15.899062946354757, + 0.4008225735175248 + ], + [ + 15.984287626946394, + 0.17339078188578103 + ], + [ + 15.938169701933793, + 0.4088115342658596 + ], + [ + 15.803802804088848, + 0.13788361765466564 + ], + [ + 15.757684879076248, + 0.3733043700347442 + ], + [ + 15.842909559667884, + 0.14587257840300044 + ], + [ + 15.796791634655284, + 0.381293330783079 + ] + ], + "yaw_rad": -2.949353646384658, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.77737808227539, + 0.2678965926170349, + 0.05510793626308441 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.796633433200721, + 0.25756699504635155, + 0.06280862673430813 + ], + "intended_face_normal": [ + -0.9127322353297203, + -0.18941073416933696, + 0.36199873775237457 + ], + "commanded_contact_point": [ + 15.773634796142579, + 0.2825518948456067, + 0.034856780563214215 + ], + "centerline_face_intersection": [ + 15.782512347741141, + 0.27219240434343284, + 0.034856780563214215 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.773500442504883, + 0.26592743396759033, + 0.055255740880966187 + ], + "box_pose": [ + 15.860219955444336, + 0.2883291244506836, + 0.0378081388771534, + 0.05817155912518501, + 0.7059574723243713, + 0.6767497062683105, + -0.20062367618083954 + ], + "box_yaw_rad": -2.9369763237499344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01035949050217386, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026471478430880467 + } + } + }, + { + "simulation_time_ns": 7720000000, + "center": [ + 15.876345843330428, + 0.2746043785535319, + 0.03484225719872156 + ], + "face_center": [ + 15.805485230524551, + 0.2620377586669442, + 0.06282537275419658 + ], + "face_normal": [ + -0.9177015441153245, + -0.162747766602374, + 0.3624037012602219 + ], + "footprint_xy": [ + [ + 15.76467663282759, + 0.14025690459841947 + ], + [ + 15.988015053833266, + 0.14025690459841947 + ], + [ + 15.988015053833266, + 0.4089518525086444 + ], + [ + 15.76467663282759, + 0.4089518525086444 + ] + ], + "projected_box_corners": [ + [ + 15.948608569986716, + 0.165390144371595 + ], + [ + 15.906397858439341, + 0.40154239198268793 + ], + [ + 15.988015053833266, + 0.17279960489755142 + ], + [ + 15.945804342285891, + 0.4089518525086444 + ], + [ + 15.806887344374964, + 0.14025690459841947 + ], + [ + 15.76467663282759, + 0.37640915220951243 + ], + [ + 15.846293828221514, + 0.14766636512437592 + ], + [ + 15.80408311667414, + 0.38381861273546886 + ] + ], + "yaw_rad": -2.9660747057311934, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.782812118530273, + 0.2701925039291382, + 0.055737316608428955 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.800297219372066, + 0.2595884742188723, + 0.06261050280385097 + ], + "intended_face_normal": [ + -0.9154794568384688, + -0.17819135925771512, + 0.36075671637581586 + ], + "commanded_contact_point": [ + 15.775648956298829, + 0.2839251057961656, + 0.034754559703232754 + ], + "centerline_face_intersection": [ + 15.786642127826804, + 0.2733475759602626, + 0.034754559703232754 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.77737808227539, + 0.2678965926170349, + 0.05510793626308441 + ], + "box_pose": [ + 15.86429500579834, + 0.2895674705505371, + 0.03770819306373596, + 0.06211322546005249, + 0.70548015832901, + 0.6782606244087219, + -0.195964977145195 + ], + "box_yaw_rad": -2.949353646384658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010577529835902969, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00243987674975093 + } + } + }, + { + "simulation_time_ns": 7740000000, + "center": [ + 15.881269019905144, + 0.27588681497600775, + 0.03481745457535143 + ], + "face_center": [ + 15.810179148914198, + 0.26456968309556556, + 0.06275236599930442 + ], + "face_normal": [ + -0.9206706207590187, + -0.14656589874674886, + 0.36177941924827106 + ], + "footprint_xy": [ + [ + 15.771432103164223, + 0.1427919102352149 + ], + [ + 15.991105936646067, + 0.1427919102352149 + ], + [ + 15.991105936646067, + 0.40898171971680064 + ], + [ + 15.771432103164223, + 0.40898171971680064 + ] + ], + "projected_box_corners": [ + [ + 15.95164175109436, + 0.1654261739960994 + ], + [ + 15.913611845146114, + 0.40228775482056384 + ], + [ + 15.991105936646067, + 0.17212013889233624 + ], + [ + 15.95307603069782, + 0.40898171971680064 + ], + [ + 15.809462009112469, + 0.1427919102352149 + ], + [ + 15.771432103164223, + 0.3796534910596793 + ], + [ + 15.848926194664175, + 0.14948587513145173 + ], + [ + 15.810896288715929, + 0.38634745595591613 + ] + ], + "yaw_rad": -2.9837226724140575, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.787619590759277, + 0.2727926969528198, + 0.05522185564041138 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.805485230524551, + 0.2620377586669442, + 0.06282537275419658 + ], + "intended_face_normal": [ + -0.9177015441153245, + -0.162747766602374, + 0.3624037012602219 + ], + "commanded_contact_point": [ + 15.777175788879395, + 0.28535838337441066, + 0.03484225719872156 + ], + "centerline_face_intersection": [ + 15.792205945771604, + 0.2746043785535319, + 0.03484225719872156 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.782812118530273, + 0.2701925039291382, + 0.055737316608428955 + ], + "box_pose": [ + 15.869929313659668, + 0.2909349501132965, + 0.03779559209942818, + 0.06859154999256134, + 0.7050114274024963, + 0.6795657873153687, + -0.19090382754802704 + ], + "box_yaw_rad": -2.9660747057311934, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010754004820878718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002095994560129903 + } + } + }, + { + "simulation_time_ns": 7760000000, + "center": [ + 15.884326540085329, + 0.2765608525237835, + 0.034787659761165976 + ], + "face_center": [ + 15.813091412122185, + 0.2660532856340339, + 0.06266871933556074 + ], + "face_normal": [ + -0.9225518145901361, + -0.13608138538167758, + 0.36108199477597047 + ], + "footprint_xy": [ + [ + 15.775704575820386, + 0.14430403149047796 + ], + [ + 15.992948504350272, + 0.14430403149047796 + ], + [ + 15.992948504350272, + 0.40881767355708903 + ], + [ + 15.775704575820386, + 0.40881767355708903 + ] + ], + "projected_box_corners": [ + [ + 15.953484470029586, + 0.16531916526997714 + ], + [ + 15.918174831746674, + 0.40260161158244495 + ], + [ + 15.992948504350272, + 0.17153522724462128 + ], + [ + 15.95763886606736, + 0.40881767355708903 + ], + [ + 15.811014214103299, + 0.14430403149047796 + ], + [ + 15.775704575820386, + 0.38158647780294574 + ], + [ + 15.850478248423984, + 0.15052009346512207 + ], + [ + 15.815168610141072, + 0.3878025397775898 + ] + ], + "yaw_rad": -2.9951432892717214, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.790413856506348, + 0.27452221512794495, + 0.05371272563934326 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.810179148914198, + 0.26456968309556556, + 0.06275236599930442 + ], + "intended_face_normal": [ + -0.9206706207590187, + -0.14656589874674886, + 0.36177941924827106 + ], + "commanded_contact_point": [ + 15.778387908935548, + 0.286764584517814, + 0.03481745457535143 + ], + "centerline_face_intersection": [ + 15.79740046564653, + 0.27588681497600775, + 0.03481745457535143 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.787619590759277, + 0.2727926969528198, + 0.05522185564041138 + ], + "box_pose": [ + 15.875140190124512, + 0.29232773184776306, + 0.03776964545249939, + 0.0745815560221672, + 0.7043789625167847, + 0.6813116669654846, + -0.18466824293136597 + ], + "box_yaw_rad": -2.9837226724140575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010877769541806236, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018566776393229018 + } + } + }, + { + "simulation_time_ns": 7780000000, + "center": [ + 15.886156304768907, + 0.27664806010474485, + 0.0347153554154305 + ], + "face_center": [ + 15.81482825173929, + 0.26636200684803757, + 0.062440975410507214 + ], + "face_normal": [ + -0.9237552684358121, + -0.13321260687361658, + 0.35906892804808876 + ], + "footprint_xy": [ + [ + 15.777957157954939, + 0.14467964869185035 + ], + [ + 15.994355451582873, + 0.14467964869185035 + ], + [ + 15.994355451582873, + 0.40861647151763936 + ], + [ + 15.777957157954939, + 0.40861647151763936 + ] + ], + "projected_box_corners": [ + [ + 15.955077545789413, + 0.16525175520526494 + ], + [ + 15.92061326401417, + 0.4026590273205411 + ], + [ + 15.994355451582873, + 0.1712091994023632 + ], + [ + 15.959891169807632, + 0.40861647151763936 + ], + [ + 15.812421439730182, + 0.14467964869185035 + ], + [ + 15.777957157954939, + 0.38208692080712653 + ], + [ + 15.851699345523642, + 0.15063709288894864 + ], + [ + 15.817235063748399, + 0.3880443650042248 + ] + ], + "yaw_rad": -2.998372320667207, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.792075157165527, + 0.2748706638813019, + 0.052644312381744385 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.813091412122185, + 0.2660532856340339, + 0.06266871933556074 + ], + "intended_face_normal": [ + -0.9225518145901361, + -0.13608138538167758, + 0.36108199477597047 + ], + "commanded_contact_point": [ + 15.779624824523927, + 0.2875201675614233, + 0.034787659761165976 + ], + "centerline_face_intersection": [ + 15.8006290038708, + 0.2765608525237835, + 0.034787659761165976 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.790413856506348, + 0.27452221512794495, + 0.05371272563934326 + ], + "box_pose": [ + 15.878384590148926, + 0.2930702865123749, + 0.037739530205726624, + 0.07835300266742706, + 0.7039228081703186, + 0.6824724078178406, + -0.18051302433013916 + ], + "box_yaw_rad": -2.9951432892717214, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010959315037639777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014497426114717588 + } + } + }, + { + "simulation_time_ns": 7800000000, + "center": [ + 15.886603123991048, + 0.276606450409022, + 0.0346991082918303 + ], + "face_center": [ + 15.815281705760265, + 0.2663210055404197, + 0.062441988906604545 + ], + "face_normal": [ + -0.9236693424906051, + -0.13320472776163506, + 0.35929246686212934 + ], + "footprint_xy": [ + [ + 15.778386385296628, + 0.14462105667492556 + ], + [ + 15.99481986268547, + 0.14462105667492556 + ], + [ + 15.99481986268547, + 0.40859184414311844 + ], + [ + 15.778386385296628, + 0.40859184414311844 + ] + ], + "projected_box_corners": [ + [ + 15.955522722309661, + 0.16519194641213014 + ], + [ + 15.921029221758195, + 0.4025947658040327 + ], + [ + 15.99481986268547, + 0.1711890247512159 + ], + [ + 15.960326362134003, + 0.40859184414311844 + ], + [ + 15.812879885848092, + 0.14462105667492556 + ], + [ + 15.778386385296628, + 0.3820238760668281 + ], + [ + 15.852177026223902, + 0.15061813501401133 + ], + [ + 15.817683525672436, + 0.3880209544059139 + ] + ], + "yaw_rad": -2.9983675352473025, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.791086196899414, + 0.2754620909690857, + 0.05119295418262482 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.81482825173929, + 0.26636200684803757, + 0.062440975410507214 + ], + "intended_face_normal": [ + -0.9237552684358121, + -0.13321260687361658, + 0.35906892804808876 + ], + "commanded_contact_point": [ + 15.781015281677247, + 0.2876784709913224, + 0.0347153554154305 + ], + "centerline_face_intersection": [ + 15.802567808389139, + 0.27664806010474485, + 0.0347153554154305 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.792075157165527, + 0.2748706638813019, + 0.052644312381744385 + ], + "box_pose": [ + 15.880267143249512, + 0.2931751310825348, + 0.037674304097890854, + 0.07881371676921844, + 0.7035713791847229, + 0.6832751631736755, + -0.17863576114177704 + ], + "box_yaw_rad": -2.998372320667207, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011030410886577496, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014013061726652308 + } + } + }, + { + "simulation_time_ns": 7820000000, + "center": [ + 15.886596999535469, + 0.2766117319968968, + 0.03470035510599123 + ], + "face_center": [ + 15.815270636286185, + 0.26633037408341054, + 0.062432109656375134 + ], + "face_normal": [ + -0.923733384430605, + -0.1331517984279449, + 0.3591483754400171 + ], + "footprint_xy": [ + [ + 15.77838438225741, + 0.14462265625189347 + ], + [ + 15.994809616813527, + 0.14462265625189347 + ], + [ + 15.994809616813527, + 0.4086008077419001 + ], + [ + 15.77838438225741, + 0.4086008077419001 + ] + ], + "projected_box_corners": [ + [ + 15.955530842622302, + 0.16518537207886602 + ], + [ + 15.921037108755979, + 0.40258808047661726 + ], + [ + 15.994809616813527, + 0.17119809934414887 + ], + [ + 15.960315882947203, + 0.4086008077419001 + ], + [ + 15.812878116123734, + 0.14462265625189347 + ], + [ + 15.77838438225741, + 0.3820253646496447 + ], + [ + 15.852156890314957, + 0.1506353835171763 + ], + [ + 15.817663156448633, + 0.38803809191492755 + ] + ], + "yaw_rad": -2.9984334623262052, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.78580093383789, + 0.2776751220226288, + 0.050170451402664185 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.815281705760265, + 0.2663210055404197, + 0.062441988906604545 + ], + "intended_face_normal": [ + -0.9236693424906051, + -0.13320472776163506, + 0.35929246686212934 + ], + "commanded_contact_point": [ + 15.782313232421876, + 0.28768263567319696, + 0.0346991082918303 + ], + "centerline_face_intersection": [ + 15.803006851646192, + 0.276606450409022, + 0.0346991082918303 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.791086196899414, + 0.2754620909690857, + 0.05119295418262482 + ], + "box_pose": [ + 15.880712509155273, + 0.29313379526138306, + 0.03765362501144409, + 0.07886677980422974, + 0.7036740779876709, + 0.6831379532814026, + -0.17873238027095795 + ], + "box_yaw_rad": -2.9983675352473025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011076185264174948, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012980591084704612 + } + } + }, + { + "simulation_time_ns": 7840000000, + "center": [ + 15.886552511594251, + 0.2765892263094749, + 0.03471086828530866 + ], + "face_center": [ + 15.81518738263489, + 0.26628864574522737, + 0.06233549408837884 + ], + "face_normal": [ + -0.9242354313447692, + -0.13340074711166494, + 0.3577609725805715 + ], + "footprint_xy": [ + [ + 15.778373878650802, + 0.14461647905494973 + ], + [ + 15.9947311445377, + 0.14461647905494973 + ], + [ + 15.9947311445377, + 0.4085619735640001 + ], + [ + 15.778373878650802, + 0.4085619735640001 + ] + ], + "projected_box_corners": [ + [ + 15.955597142180748, + 0.16521764018344484 + ], + [ + 15.92110413656952, + 0.4026207370778247 + ], + [ + 15.9947311445377, + 0.17115887666962026 + ], + [ + 15.960238138926472, + 0.4085619735640001 + ], + [ + 15.812866884262029, + 0.14461647905494973 + ], + [ + 15.778373878650802, + 0.38201957594932956 + ], + [ + 15.852000886618981, + 0.15055771554112513 + ], + [ + 15.817507881007753, + 0.38796081243550495 + ] + ], + "yaw_rad": -2.998246300021634, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.781582832336426, + 0.28001680970191956, + 0.05153413116931915 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.815270636286185, + 0.26633037408341054, + 0.062432109656375134 + ], + "intended_face_normal": [ + -0.923733384430605, + -0.1331517984279449, + 0.3591483754400171 + ], + "commanded_contact_point": [ + 15.783989791870118, + 0.2876453816600425, + 0.03470035510599123 + ], + "centerline_face_intersection": [ + 15.803006522875329, + 0.2766117319968968, + 0.03470035510599123 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.78580093383789, + 0.2776751220226288, + 0.050170451402664185 + ], + "box_pose": [ + 15.880705833435059, + 0.2931395173072815, + 0.03765132278203964, + 0.07881902903318405, + 0.703741729259491, + 0.6830917000770569, + -0.17866435647010803 + ], + "box_yaw_rad": -2.9984334623262052, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01103364966314567, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016769737623265944 + } + } + }, + { + "simulation_time_ns": 7860000000, + "center": [ + 15.886478767802657, + 0.27654366937998726, + 0.034728778407627434 + ], + "face_center": [ + 15.81504899619524, + 0.2662082930984762, + 0.062172776417367806 + ], + "face_normal": [ + -0.9250726052780749, + -0.13385137944741388, + 0.35542169835917825 + ], + "footprint_xy": [ + [ + 15.778360518709793, + 0.1446056003526173 + ], + [ + 15.994597016895524, + 0.1446056003526173 + ], + [ + 15.994597016895524, + 0.40848173840735724 + ], + [ + 15.778360518709793, + 0.40848173840735724 + ] + ], + "projected_box_corners": [ + [ + 15.955704168052259, + 0.1652763529156394 + ], + [ + 15.921220061924629, + 0.40268123270001654 + ], + [ + 15.994597016895524, + 0.1710768586229801 + ], + [ + 15.960112910767894, + 0.40848173840735724 + ], + [ + 15.812844624837423, + 0.1446056003526173 + ], + [ + 15.778360518709793, + 0.38201048013699446 + ], + [ + 15.851737473680686, + 0.15040610605995797 + ], + [ + 15.817253367553057, + 0.38781098584433515 + ] + ], + "yaw_rad": -2.9978970831343386, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.781133651733398, + 0.2829526364803314, + 0.053965747356414795 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.81518738263489, + 0.26628864574522737, + 0.06233549408837884 + ], + "intended_face_normal": [ + -0.9242354313447692, + -0.13340074711166494, + 0.3577609725805715 + ], + "commanded_contact_point": [ + 15.78622901916504, + 0.2874857726369228, + 0.03471086828530866 + ], + "centerline_face_intersection": [ + 15.803007441482528, + 0.2765892263094749, + 0.03471086828530866 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781582832336426, + 0.28001680970191956, + 0.05153413116931915 + ], + "box_pose": [ + 15.880657196044922, + 0.29311496019363403, + 0.037665024399757385, + 0.07827815413475037, + 0.7036301493644714, + 0.6833903193473816, + -0.1781986653804779 + ], + "box_yaw_rad": -2.998246300021634, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010896546327447885, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00224493306036588 + } + } + }, + { + "simulation_time_ns": 7880000000, + "center": [ + 15.886373109609126, + 0.2764759116625825, + 0.034753705290288886 + ], + "face_center": [ + 15.814853326346183, + 0.26608983831216243, + 0.06194299453083848 + ], + "face_normal": [ + -0.926238328124569, + -0.13450794699005453, + 0.3521230163194611 + ], + "footprint_xy": [ + [ + 15.778341047053, + 0.1445908048994499 + ], + [ + 15.994405172165253, + 0.1445908048994499 + ], + [ + 15.994405172165253, + 0.40836101842571515 + ], + [ + 15.778341047053, + 0.40836101842571515 + ] + ], + "projected_box_corners": [ + [ + 15.95585070249863, + 0.16536295160029013 + ], + [ + 15.921380613578888, + 0.40277014186585663 + ], + [ + 15.994405172165253, + 0.17095382816014867 + ], + [ + 15.959935083245512, + 0.40836101842571515 + ], + [ + 15.812811135972742, + 0.1445908048994499 + ], + [ + 15.778341047053, + 0.38199799516501637 + ], + [ + 15.851365605639364, + 0.15018168145930844 + ], + [ + 15.816895516719624, + 0.3875888717248749 + ] + ], + "yaw_rad": -2.997381173849151, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.78447151184082, + 0.28633829951286316, + 0.06051665544509888 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.81504899619524, + 0.2662082930984762, + 0.062172776417367806 + ], + "intended_face_normal": [ + -0.9250726052780749, + -0.13385137944741388, + 0.35542169835917825 + ], + "commanded_contact_point": [ + 15.788638000488282, + 0.28718385702342136, + 0.034728778407627434 + ], + "centerline_face_intersection": [ + 15.80300930446445, + 0.27654366937998726, + 0.034728778407627434 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781133651733398, + 0.2829526364803314, + 0.053965747356414795 + ], + "box_pose": [ + 15.880577087402344, + 0.29306560754776, + 0.037691451609134674, + 0.07737161964178085, + 0.7033753395080566, + 0.6839586496353149, + -0.17741858959197998 + ], + "box_yaw_rad": -2.9978970831343386, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010640187643434117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024278930837018163 + } + } + }, + { + "simulation_time_ns": 7900000000, + "center": [ + 15.886236453866147, + 0.27638699768623065, + 0.034785917606948866 + ], + "face_center": [ + 15.814600620003876, + 0.26592666202356374, + 0.06163907145141861 + ], + "face_normal": [ + -0.927741276094963, + -0.13546970325943875, + 0.3477697944124003 + ], + "footprint_xy": [ + [ + 15.778309057096614, + 0.1445684869555412 + ], + [ + 15.994163850635681, + 0.1445684869555412 + ], + [ + 15.994163850635681, + 0.40820550841692016 + ], + [ + 15.778309057096614, + 0.40820550841692016 + ] + ], + "projected_box_corners": [ + [ + 15.956055237923326, + 0.16548915828087504 + ], + [ + 15.921580724821155, + 0.40289511156000657 + ], + [ + 15.994163850635681, + 0.17079955513778866 + ], + [ + 15.95968933753351, + 0.40820550841692016 + ], + [ + 15.812783570198786, + 0.1445684869555412 + ], + [ + 15.778309057096614, + 0.3819744402346727 + ], + [ + 15.85089218291114, + 0.14987888381245482 + ], + [ + 15.816417669808967, + 0.38728483709158634 + ] + ], + "yaw_rad": -2.996596407599469, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.789000511169434, + 0.29086247086524963, + 0.06667366623878479 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.814853326346183, + 0.26608983831216243, + 0.06194299453083848 + ], + "intended_face_normal": [ + -0.926238328124569, + -0.13450794699005453, + 0.3521230163194611 + ], + "commanded_contact_point": [ + 15.790866737365723, + 0.2867216037920054, + 0.034753705290288886 + ], + "centerline_face_intersection": [ + 15.803008697268533, + 0.2764759116625825, + 0.034753705290288886 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.78447151184082, + 0.28633829951286316, + 0.06051665544509888 + ], + "box_pose": [ + 15.880462646484375, + 0.2929922342300415, + 0.03773015737533569, + 0.07609430700540543, + 0.7029767632484436, + 0.684794008731842, + -0.17632529139518738 + ], + "box_yaw_rad": -2.997381173849151, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010245692129422891, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022763056623180005 + } + } + }, + { + "simulation_time_ns": 7920000000, + "center": [ + 15.886437798654264, + 0.27643831221054926, + 0.03475676849019955 + ], + "face_center": [ + 15.814804247362922, + 0.26609565290595016, + 0.061661567038126947 + ], + "face_normal": [ + -0.927711714977967, + -0.13394570041457854, + 0.3484386345794803 + ], + "footprint_xy": [ + [ + 15.778646247440198, + 0.14471152575250643 + ], + [ + 15.994229349868329, + 0.14471152575250643 + ], + [ + 15.994229349868329, + 0.4081650986685921 + ], + [ + 15.778646247440198, + 0.4081650986685921 + ] + ], + "projected_box_corners": [ + [ + 15.95604663589324, + 0.16539684436170465 + ], + [ + 15.921913350022882, + 0.40285232099419654 + ], + [ + 15.994229349868329, + 0.17070962203610018 + ], + [ + 15.960096063997971, + 0.4081650986685921 + ], + [ + 15.812779533310556, + 0.14471152575250643 + ], + [ + 15.778646247440198, + 0.38216700238499834 + ], + [ + 15.850962247285645, + 0.15002430342690196 + ], + [ + 15.816828961415288, + 0.3874797800593939 + ] + ], + "yaw_rad": -2.998200685192984, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.791208267211914, + 0.2946016192436218, + 0.06597717106342316 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.814600620003876, + 0.26592666202356374, + 0.06163907145141861 + ], + "intended_face_normal": [ + -0.927741276094963, + -0.13546970325943875, + 0.3477697944124003 + ], + "commanded_contact_point": [ + 15.793065910339356, + 0.28605367088849276, + 0.034785917606948866 + ], + "centerline_face_intersection": [ + 15.803007092511814, + 0.27638699768623065, + 0.034785917606948866 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.789000511169434, + 0.29086247086524963, + 0.06667366623878479 + ], + "box_pose": [ + 15.8803129196167, + 0.2928951382637024, + 0.037781696766614914, + 0.07437741756439209, + 0.7024257183074951, + 0.685907244682312, + -0.17492082715034485 + ], + "box_yaw_rad": -2.996596407599469, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009666673202262131, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022985938668882784 + } + } + }, + { + "simulation_time_ns": 7940000000, + "center": [ + 15.886793815785442, + 0.27665793080297557, + 0.034707738228741535 + ], + "face_center": [ + 15.815425420160025, + 0.2664987090449744, + 0.062376328052341265 + ], + "face_normal": [ + -0.924277737279823, + -0.13157003764374053, + 0.35833034176788026 + ], + "footprint_xy": [ + [ + 15.77877642243934, + 0.14478562305557507 + ], + [ + 15.994811209131543, + 0.14478562305557507 + ], + [ + 15.994811209131543, + 0.40853023855037607 + ], + [ + 15.77877642243934, + 0.40853023855037607 + ] + ], + "projected_box_corners": [ + [ + 15.955616752132656, + 0.16510406657157736 + ], + [ + 15.92151321369017, + 0.40256292844275027 + ], + [ + 15.994811209131543, + 0.1710713766792032 + ], + [ + 15.960707670689056, + 0.40853023855037607 + ], + [ + 15.812879960881826, + 0.14478562305557507 + ], + [ + 15.77877642243934, + 0.38224448492674795 + ], + [ + 15.852074417880711, + 0.1507529331632009 + ], + [ + 15.817970879438226, + 0.3882117950343738 + ] + ], + "yaw_rad": -3.000193586781002, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.789393424987793, + 0.2925587296485901, + 0.05651077628135681 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.814804247362922, + 0.26609565290595016, + 0.061661567038126947 + ], + "intended_face_normal": [ + -0.927711714977967, + -0.13394570041457854, + 0.3484386345794803 + ], + "commanded_contact_point": [ + 15.795313720703126, + 0.2853784531314885, + 0.03475676849019955 + ], + "centerline_face_intersection": [ + 15.803205785233724, + 0.27643831221054926, + 0.03475676849019955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.791208267211914, + 0.2946016192436218, + 0.06597717106342316 + ], + "box_pose": [ + 15.880539894104004, + 0.2929565906524658, + 0.03774723410606384, + 0.07514971494674683, + 0.7025050520896912, + 0.6858152151107788, + -0.17463290691375732 + ], + "box_yaw_rad": -2.998200685192984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008940140920939229, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002347215397412606 + } + } + }, + { + "simulation_time_ns": 7960000000, + "center": [ + 15.886795659688115, + 0.2766612324505613, + 0.034709363928871174 + ], + "face_center": [ + 15.815427888142134, + 0.2665046228590469, + 0.06238043803799917 + ], + "face_normal": [ + -0.9242696549525888, + -0.131536208000961, + 0.35836251525008755 + ], + "footprint_xy": [ + [ + 15.77877777135549, + 0.14478670248633196 + ], + [ + 15.99481354802074, + 0.14478670248633196 + ], + [ + 15.99481354802074, + 0.4085357624147906 + ], + [ + 15.77877777135549, + 0.4085357624147906 + ] + ], + "projected_box_corners": [ + [ + 15.955616886582122, + 0.16509992166936077 + ], + [ + 15.92151331444745, + 0.4025586572429977 + ], + [ + 15.99481354802074, + 0.1710770268411537 + ], + [ + 15.96070997588607, + 0.4085357624147906 + ], + [ + 15.81288134349016, + 0.14478670248633196 + ], + [ + 15.77877777135549, + 0.3822454380599689 + ], + [ + 15.852078004928778, + 0.1507638076581249 + ], + [ + 15.817974432794108, + 0.38822254323176186 + ] + ], + "yaw_rad": -3.0002282414463726, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.786712646484375, + 0.2854645848274231, + 0.04374375939369202 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.815425420160025, + 0.2664987090449744, + 0.062376328052341265 + ], + "intended_face_normal": [ + -0.924277737279823, + -0.13157003764374053, + 0.35833034176788026 + ], + "commanded_contact_point": [ + 15.797670249938966, + 0.2849620397700902, + 0.034707738228741535 + ], + "centerline_face_intersection": [ + 15.803252569689128, + 0.27665793080297557, + 0.034707738228741535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.789393424987793, + 0.2925587296485901, + 0.05651077628135681 + ], + "box_pose": [ + 15.880927085876465, + 0.293195903301239, + 0.03765030950307846, + 0.07910130172967911, + 0.7038209438323975, + 0.6832093000411987, + -0.17777593433856964 + ], + "box_yaw_rad": -3.000193586781002, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008304108967114648, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002393540075590462 + } + } + }, + { + "simulation_time_ns": 7980000000, + "center": [ + 15.886755409976741, + 0.27663793326049546, + 0.034717993661676196 + ], + "face_center": [ + 15.815354419924375, + 0.2664613401250009, + 0.062295854852341306 + ], + "face_normal": [ + -0.9246998611475021, + -0.1317950108597188, + 0.35715533349117123 + ], + "footprint_xy": [ + [ + 15.778766440872445, + 0.1447799166836407 + ], + [ + 15.99474437908104, + 0.1447799166836407 + ], + [ + 15.99474437908104, + 0.4084959498373502 + ], + [ + 15.778766440872445, + 0.4084959498373502 + ] + ], + "projected_box_corners": [ + [ + 15.955672177263697, + 0.16513310295462982 + ], + [ + 15.92156842097718, + 0.4025921975498396 + ], + [ + 15.99474437908104, + 0.17103685524214046 + ], + [ + 15.960640622794523, + 0.4084959498373502 + ], + [ + 15.812870197158961, + 0.1447799166836407 + ], + [ + 15.778766440872445, + 0.38223901127885046 + ], + [ + 15.851942398976304, + 0.15068366897115132 + ], + [ + 15.817838642689788, + 0.38814276356636107 + ] + ], + "yaw_rad": -3.000018821385116, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.786910057067871, + 0.27930957078933716, + 0.03309425711631775 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.815427888142134, + 0.2665046228590469, + 0.06238043803799917 + ], + "intended_face_normal": [ + -0.9242696549525888, + -0.131536208000961, + 0.35836251525008755 + ], + "commanded_contact_point": [ + 15.80035484313965, + 0.2846132073226015, + 0.034709363928871174 + ], + "centerline_face_intersection": [ + 15.803253683060744, + 0.2766612324505613, + 0.034709363928871174 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.786712646484375, + 0.2854645848274231, + 0.04374375939369202 + ], + "box_pose": [ + 15.880928993225098, + 0.29319947957992554, + 0.03765049949288368, + 0.07911698520183563, + 0.7038512825965881, + 0.6831750869750977, + -0.17777974903583527 + ], + "box_yaw_rad": -3.0002282414463726, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007951974872040175, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027071622360838434 + } + } + }, + { + "simulation_time_ns": 8000000000, + "center": [ + 15.887697249613378, + 0.2763288054644626, + 0.03491120752908326 + ], + "face_center": [ + 15.815926067533484, + 0.2656864178721169, + 0.06132787593158616 + ], + "face_normal": [ + -0.9294941436385571, + -0.13782742118424807, + 0.3421169592446578 + ], + "footprint_xy": [ + [ + 15.779727585601357, + 0.14443390028964098 + ], + [ + 15.995666913625397, + 0.14443390028964098 + ], + [ + 15.995666913625397, + 0.4082237106392842 + ], + [ + 15.779727585601357, + 0.4082237106392842 + ] + ], + "projected_box_corners": [ + [ + 15.958167997096611, + 0.16571867547433236 + ], + [ + 15.923269949761146, + 0.40306193313682076 + ], + [ + 15.995666913625397, + 0.1708804529767958 + ], + [ + 15.960768866289934, + 0.4082237106392842 + ], + [ + 15.814625632936822, + 0.14443390028964098 + ], + [ + 15.779727585601357, + 0.3817771579521294 + ], + [ + 15.852124549465609, + 0.14959567779210442 + ], + [ + 15.817226502130143, + 0.3869389354545928 + ] + ], + "yaw_rad": -2.994383143994429, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.789847373962402, + 0.27655526995658875, + 0.025190383195877075 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.815354419924375, + 0.2664613401250009, + 0.062295854852341306 + ], + "intended_face_normal": [ + -0.9246998611475021, + -0.1317950108597188, + 0.35715533349117123 + ], + "commanded_contact_point": [ + 15.803441886901856, + 0.28448304263138197, + 0.034717993661676196 + ], + "centerline_face_intersection": [ + 15.803252300313009, + 0.27663793326049546, + 0.034717993661676196 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.786910057067871, + 0.27930957078933716, + 0.03309425711631775 + ], + "box_pose": [ + 15.880885124206543, + 0.29317405819892883, + 0.03766383230686188, + 0.07864069938659668, + 0.7037152051925659, + 0.6834726333618164, + -0.17738553881645203 + ], + "box_yaw_rad": -3.000018821385116, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007845109370886507, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030897987812978853 + } + } + }, + { + "simulation_time_ns": 8020000000, + "center": [ + 15.891325462488748, + 0.2759293923424676, + 0.03498968014910781 + ], + "face_center": [ + 15.819566668932739, + 0.26537686717198844, + 0.06147604320851366 + ], + "face_normal": [ + -0.9293337023574537, + -0.13666363103285928, + 0.34301956072838546 + ], + "footprint_xy": [ + [ + 15.783416302733839, + 0.1440553465760494 + ], + [ + 15.999234622243655, + 0.1440553465760494 + ], + [ + 15.999234622243655, + 0.40780343810888586 + ], + [ + 15.783416302733839, + 0.40780343810888586 + ] + ], + "projected_box_corners": [ + [ + 15.961651356040871, + 0.16516039691700773 + ], + [ + 15.926933889845857, + 0.40253098814415467 + ], + [ + 15.999234622243655, + 0.17043284688173893 + ], + [ + 15.964517156048643, + 0.40780343810888586 + ], + [ + 15.818133768928853, + 0.1440553465760494 + ], + [ + 15.783416302733839, + 0.38142593780319634 + ], + [ + 15.855717035131637, + 0.14932779654078057 + ], + [ + 15.820999568936623, + 0.38669838776792753 + ] + ], + "yaw_rad": -2.9955836503552518, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.789841651916504, + 0.2762739062309265, + 0.02378922700881958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.815926067533484, + 0.2656864178721169, + 0.06132787593158616 + ], + "intended_face_normal": [ + -0.9294941436385571, + -0.13782742118424807, + 0.3421169592446578 + ], + "commanded_contact_point": [ + 15.806826477050782, + 0.28416485625566407, + 0.03491120752908326 + ], + "centerline_face_intersection": [ + 15.804624844649991, + 0.2763288054644626, + 0.03491120752908326 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.789847373962402, + 0.27655526995658875, + 0.025190383195877075 + ], + "box_pose": [ + 15.88172721862793, + 0.2928202152252197, + 0.03790683671832085, + 0.0715915858745575, + 0.7022820115089417, + 0.6866928339004517, + -0.17357279360294342 + ], + "box_yaw_rad": -2.994383143994429, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007836050791201461, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034049999477909435 + } + } + }, + { + "simulation_time_ns": 8040000000, + "center": [ + 15.89346498507742, + 0.27586979576329324, + 0.035086885041990076 + ], + "face_center": [ + 15.822237034554632, + 0.26552500396169654, + 0.0630470532430009 + ], + "face_normal": [ + -0.9224588610036975, + -0.1339733179542808, + 0.36210651468800226 + ], + "footprint_xy": [ + [ + 15.784997302498873, + 0.14369928331916373 + ], + [ + 16.001932667655968, + 0.14369928331916373 + ], + [ + 16.001932667655968, + 0.4080403082074227 + ], + [ + 15.784997302498873, + 0.4080403082074227 + ] + ], + "projected_box_corners": [ + [ + 15.962367295228484, + 0.1643888669223571 + ], + [ + 15.927453203544449, + 0.401728463698101 + ], + [ + 16.001932667655968, + 0.17070071143167878 + ], + [ + 15.967018575971933, + 0.4080403082074227 + ], + [ + 15.819911394182908, + 0.14369928331916373 + ], + [ + 15.784997302498873, + 0.38103888009490766 + ], + [ + 15.859476766610392, + 0.1500111278284854 + ], + [ + 15.824562674926357, + 0.3873507246042293 + ] + ], + "yaw_rad": -2.997366073096407, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.795108795166016, + 0.2740243375301361, + 0.027265146374702454 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.819566668932739, + 0.26537686717198844, + 0.06147604320851366 + ], + "intended_face_normal": [ + -0.9293337023574537, + -0.13666363103285928, + 0.34301956072838546 + ], + "commanded_contact_point": [ + 15.809879188537598, + 0.2837516625781307, + 0.03498968014910781 + ], + "centerline_face_intersection": [ + 15.808238715806082, + 0.2759293923424676, + 0.03498968014910781 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.789841651916504, + 0.2762739062309265, + 0.02378922700881958 + ], + "box_pose": [ + 15.885370254516602, + 0.2924293279647827, + 0.037967830896377563, + 0.0722397044301033, + 0.7026472687721252, + 0.6862606406211853, + -0.17353588342666626 + ], + "box_yaw_rad": -2.9955836503552518, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007822270235663105, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003081547401710361 + } + } + }, + { + "simulation_time_ns": 8060000000, + "center": [ + 15.901946529999984, + 0.2739278138359474, + 0.03681800005387779 + ], + "face_center": [ + 15.83218484000554, + 0.2620553548399649, + 0.06771384010771529 + ], + "face_normal": [ + -0.9034696158129378, + -0.1537578285260821, + 0.40012581039654194 + ], + "footprint_xy": [ + [ + 15.790000883982943, + 0.13980276490031557 + ], + [ + 16.013892176017023, + 0.13980276490031557 + ], + [ + 16.013892176017023, + 0.40805286277157915 + ], + [ + 15.790000883982943, + 0.40805286277157915 + ] + ], + "projected_box_corners": [ + [ + 15.970369090630852, + 0.16354768289228053 + ], + [ + 15.929524263971828, + 0.39993741697243157 + ], + [ + 16.013892176017023, + 0.17166312869142814 + ], + [ + 15.973047349357998, + 0.40805286277157915 + ], + [ + 15.830845710641968, + 0.13980276490031557 + ], + [ + 15.790000883982943, + 0.3761924989804666 + ], + [ + 15.874368796028138, + 0.14791821069946315 + ], + [ + 15.833523969369114, + 0.38430794477961416 + ] + ], + "yaw_rad": -2.9730217818234825, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.804433822631836, + 0.26648667454719543, + 0.038549527525901794 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.822237034554632, + 0.26552500396169654, + 0.0630470532430009 + ], + "intended_face_normal": [ + -0.9224588610036975, + -0.1339733179542808, + 0.36210651468800226 + ], + "commanded_contact_point": [ + 15.811867599487305, + 0.28376588432828265, + 0.035086885041990076 + ], + "centerline_face_intersection": [ + 15.809759014897436, + 0.27586979576329324, + 0.035086885041990076 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.795108795166016, + 0.2740243375301361, + 0.027265146374702454 + ], + "box_pose": [ + 15.887553215026855, + 0.2923937439918518, + 0.03801807016134262, + 0.07938303798437119, + 0.7043125629425049, + 0.6820361018180847, + -0.1801915317773819 + ], + "box_yaw_rad": -2.997366073096407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00789608856498939, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001990836295201706 + } + } + }, + { + "simulation_time_ns": 8080000000, + "center": [ + 15.909259354543904, + 0.2722508385013443, + 0.03716167871294032 + ], + "face_center": [ + 15.840103061465424, + 0.2585421032758219, + 0.06865267040019463 + ], + "face_normal": [ + -0.8956292421189929, + -0.17753907264102597, + 0.4078334994969115 + ], + "footprint_xy": [ + [ + 15.794406753338109, + 0.13620588006034476 + ], + [ + 16.0241119557497, + 0.13620588006034476 + ], + [ + 16.0241119557497, + 0.40829579694234386 + ], + [ + 15.794406753338109, + 0.40829579694234386 + ] + ], + "projected_box_corners": [ + [ + 15.979993687812993, + 0.1636233505113896 + ], + [ + 15.93271933949507, + 0.39881141486255295 + ], + [ + 16.0241119557497, + 0.17310773259118048 + ], + [ + 15.97683760743178, + 0.40829579694234386 + ], + [ + 15.841681101656029, + 0.13620588006034476 + ], + [ + 15.794406753338109, + 0.37139394441150814 + ], + [ + 15.885799369592737, + 0.14569026214013564 + ], + [ + 15.838525021274817, + 0.38087832649129905 + ] + ], + "yaw_rad": -2.9459012190729372, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.813400268554688, + 0.2615766227245331, + 0.04991568624973297 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.83218484000554, + 0.2620553548399649, + 0.06771384010771529 + ], + "intended_face_normal": [ + -0.9034696158129378, + -0.1537578285260821, + 0.40012581039654194 + ], + "commanded_contact_point": [ + 15.813967590332032, + 0.28212154797248684, + 0.03681800005387779 + ], + "centerline_face_intersection": [ + 15.816481216546183, + 0.2739278138359474, + 0.03681800005387779 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.804433822631836, + 0.26648667454719543, + 0.038549527525901794 + ], + "box_pose": [ + 15.895747184753418, + 0.29032403230667114, + 0.039869844913482666, + 0.08509264886379242, + 0.7040253281593323, + 0.6753392815589905, + -0.20254455506801605 + ], + "box_yaw_rad": -2.9730217818234825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008193734136539467, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003179711116329627 + } + } + }, + { + "simulation_time_ns": 8100000000, + "center": [ + 15.91516638793949, + 0.27076309338580923, + 0.03609046073155827 + ], + "face_center": [ + 15.845701710537968, + 0.25486322707563774, + 0.06582353400425286 + ], + "face_normal": [ + -0.8996230654607444, + -0.20591597061183764, + 0.38506705168351596 + ], + "footprint_xy": [ + [ + 15.797974319805798, + 0.13292003446708564 + ], + [ + 16.03235845607318, + 0.13292003446708564 + ], + [ + 16.03235845607318, + 0.40860615230453284 + ], + [ + 15.797974319805798, + 0.40860615230453284 + ] + ], + "projected_box_corners": [ + [ + 15.990982494511417, + 0.16471976708742858 + ], + [ + 15.93690367460884, + 0.39843747125886625 + ], + [ + 16.03235845607318, + 0.1748884481330952 + ], + [ + 15.978279636170605, + 0.40860615230453284 + ], + [ + 15.852053139708374, + 0.13292003446708564 + ], + [ + 15.797974319805798, + 0.3666377386385233 + ], + [ + 15.893429101270138, + 0.14308871551275223 + ], + [ + 15.839350281367562, + 0.3768064196841899 + ] + ], + "yaw_rad": -2.916577434763064, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.82037353515625, + 0.26129305362701416, + 0.06005309522151947 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.840103061465424, + 0.2585421032758219, + 0.06865267040019463 + ], + "intended_face_normal": [ + -0.8956292421189929, + -0.17753907264102597, + 0.4078334994969115 + ], + "commanded_contact_point": [ + 15.816434745788575, + 0.2808715412689562, + 0.03716167871294032 + ], + "centerline_face_intersection": [ + 15.823045874366825, + 0.2722508385013443, + 0.03716167871294032 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.813400268554688, + 0.2615766227245331, + 0.04991568624973297 + ], + "box_pose": [ + 15.902641296386719, + 0.28847795724868774, + 0.04023797810077667, + 0.07846467941999435, + 0.7048645615577698, + 0.6715508699417114, + -0.214542955160141 + ], + "box_yaw_rad": -2.9459012190729372, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008620702767611916, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002787021317879776 + } + } + }, + { + "simulation_time_ns": 8120000000, + "center": [ + 15.91876558338935, + 0.2696419910282374, + 0.03510623191448929 + ], + "face_center": [ + 15.848801486208863, + 0.25171139254689023, + 0.06241413954697189 + ], + "face_normal": [ + -0.9060909505688528, + -0.23221557451560226, + 0.3536592192554364 + ], + "footprint_xy": [ + [ + 15.800076821071933, + 0.13066925047451003 + ], + [ + 16.037454345706767, + 0.13066925047451003 + ], + [ + 16.037454345706767, + 0.4086147315819647 + ], + [ + 15.800076821071933, + 0.4086147315819647 + ] + ], + "projected_box_corners": [ + [ + 15.999546574500574, + 0.16653044743720435 + ], + [ + 15.940005015432908, + 0.3989205090644968 + ], + [ + 16.037454345706767, + 0.17622466995467223 + ], + [ + 15.977912786639102, + 0.4086147315819647 + ], + [ + 15.8596183801396, + 0.13066925047451003 + ], + [ + 15.800076821071933, + 0.3630593121018025 + ], + [ + 15.897526151345794, + 0.14036347299197793 + ], + [ + 15.837984592278127, + 0.3727535346192704 + ] + ], + "yaw_rad": -2.8907095138157404, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.825434684753418, + 0.2641022503376007, + 0.06694769859313965 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.845701710537968, + 0.25486322707563774, + 0.06582353400425286 + ], + "intended_face_normal": [ + -0.8996230654607444, + -0.20591597061183764, + 0.38506705168351596 + ], + "commanded_contact_point": [ + 15.819314842224122, + 0.27976259774377293, + 0.03609046073155827 + ], + "centerline_face_intersection": [ + 15.82933564740385, + 0.27076309338580923, + 0.03609046073155827 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.82037353515625, + 0.26129305362701416, + 0.06005309522151947 + ], + "box_pose": [ + 15.908004760742188, + 0.2867724299430847, + 0.03908944129943848, + 0.05946123227477074, + 0.7066133618354797, + 0.6711997389793396, + -0.21599246561527252 + ], + "box_yaw_rad": -2.916577434763064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008999504357963718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00326683626521623 + } + } + }, + { + "simulation_time_ns": 8140000000, + "center": [ + 15.92153356888517, + 0.2705488146420283, + 0.035678812828007306 + ], + "face_center": [ + 15.852069477740823, + 0.2535781553001514, + 0.06481540375805929 + ], + "face_normal": [ + -0.8996154729619832, + -0.21978359579475892, + 0.37734212883561113 + ], + "footprint_xy": [ + [ + 15.803158825774243, + 0.1318722976646817 + ], + [ + 16.039908311996097, + 0.1318722976646817 + ], + [ + 16.039908311996097, + 0.4092253316193749 + ], + [ + 15.803158825774243, + 0.4092253316193749 + ] + ], + "projected_box_corners": [ + [ + 15.999495673284763, + 0.16581361634843553 + ], + [ + 15.942087008062936, + 0.3987366697106476 + ], + [ + 16.039908311996097, + 0.17630227825716283 + ], + [ + 15.982499646774269, + 0.4092253316193749 + ], + [ + 15.86056749099607, + 0.1318722976646817 + ], + [ + 15.803158825774243, + 0.36479535102689375 + ], + [ + 15.900980129707403, + 0.14236095957340902 + ], + [ + 15.843571464485576, + 0.3752840129356211 + ] + ], + "yaw_rad": -2.9019779445150005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.828660011291504, + 0.2681278586387634, + 0.07058683037757874 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.848801486208863, + 0.25171139254689023, + 0.06241413954697189 + ], + "intended_face_normal": [ + -0.9060909505688528, + -0.23221557451560226, + 0.3536592192554364 + ], + "commanded_contact_point": [ + 15.822190170288087, + 0.27886308501382656, + 0.03510623191448929 + ], + "centerline_face_intersection": [ + 15.833547522373554, + 0.2696419910282374, + 0.03510623191448929 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.825434684753418, + 0.2641022503376007, + 0.06694769859313965 + ], + "box_pose": [ + 15.91113567352295, + 0.28543636202812195, + 0.03809018433094025, + 0.03910157456994057, + 0.705964207649231, + 0.674284815788269, + -0.21313263475894928 + ], + "box_yaw_rad": -2.8907095138157404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009221093985589185, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031694385924179685 + } + } + }, + { + "simulation_time_ns": 8160000000, + "center": [ + 15.923643833707638, + 0.27186498858523356, + 0.03580814257944098 + ], + "face_center": [ + 15.854071331611445, + 0.255746167467121, + 0.06516888974550639 + ], + "face_normal": [ + -0.9010194813944352, + -0.20875161029067435, + 0.3802451311632389 + ], + "footprint_xy": [ + [ + 15.806325373945723, + 0.13389907393168884 + ], + [ + 16.04096229346955, + 0.13389907393168884 + ], + [ + 16.04096229346955, + 0.40983090323877835 + ], + [ + 15.806325373945723, + 0.40983090323877835 + ] + ], + "projected_box_corners": [ + [ + 16.00012172327226, + 0.16613671616791403 + ], + [ + 15.945470378138108, + 0.3997217570349342 + ], + [ + 16.04096229346955, + 0.17624586237175816 + ], + [ + 15.986310948335397, + 0.40983090323877835 + ], + [ + 15.860976719079877, + 0.13389907393168884 + ], + [ + 15.806325373945723, + 0.367484114798709 + ], + [ + 15.901817289277167, + 0.14400822013553297 + ], + [ + 15.847165944143011, + 0.37759326100255314 + ] + ], + "yaw_rad": -2.913925660158722, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.830164909362793, + 0.27320384979248047, + 0.07073594629764557 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.852069477740823, + 0.2535781553001514, + 0.06481540375805929 + ], + "intended_face_normal": [ + -0.8996154729619832, + -0.21978359579475892, + 0.37734212883561113 + ], + "commanded_contact_point": [ + 15.824751739501954, + 0.2798667468677481, + 0.035678812828007306 + ], + "centerline_face_intersection": [ + 15.835702103962488, + 0.2705488146420283, + 0.035678812828007306 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.828660011291504, + 0.2681278586387634, + 0.07058683037757874 + ], + "box_pose": [ + 15.914119720458984, + 0.28644606471061707, + 0.03866108879446983, + 0.051445797085762024, + 0.7070047855377197, + 0.670784592628479, + -0.21804946660995483 + ], + "box_yaw_rad": -2.9019779445150005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009317932225719779, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002810128619293874 + } + } + }, + { + "simulation_time_ns": 8180000000, + "center": [ + 15.925310196300623, + 0.2733173297911541, + 0.03503725142938822 + ], + "face_center": [ + 15.855000736724174, + 0.2581133164374006, + 0.06310184318149777 + ], + "face_normal": [ + -0.9105636694955663, + -0.19690411893153348, + 0.3634588830953689 + ], + "footprint_xy": [ + [ + 15.809845312589898, + 0.13640609875680842 + ], + [ + 16.04077508001135, + 0.13640609875680842 + ], + [ + 16.04077508001135, + 0.4102285608254997 + ], + [ + 15.809845312589898, + 0.4102285608254997 + ] + ], + "projected_box_corners": [ + [ + 16.001587142209605, + 0.1668141254643154 + ], + [ + 15.950464231742801, + 0.40119753089627985 + ], + [ + 16.04077508001135, + 0.1758451553935352 + ], + [ + 15.989652169544547, + 0.4102285608254997 + ], + [ + 15.860968223056702, + 0.13640609875680842 + ], + [ + 15.809845312589898, + 0.3707895041887729 + ], + [ + 15.900156160858447, + 0.14543712868602826 + ], + [ + 15.849033250391646, + 0.37982053411799277 + ] + ], + "yaw_rad": -2.9286275631798664, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.830413818359375, + 0.2797869145870209, + 0.06928502023220062 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.854071331611445, + 0.255746167467121, + 0.06516888974550639 + ], + "intended_face_normal": [ + -0.9010194813944352, + -0.20875161029067435, + 0.3802451311632389 + ], + "commanded_contact_point": [ + 15.827166442871095, + 0.28112936636266345, + 0.03580814257944098 + ], + "centerline_face_intersection": [ + 15.837946115172254, + 0.27186498858523356, + 0.03580814257944098 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.830164909362793, + 0.27320384979248047, + 0.07073594629764557 + ], + "box_pose": [ + 15.916427612304688, + 0.2878517806529999, + 0.038796499371528625, + 0.05673946440219879, + 0.7066932320594788, + 0.671635627746582, + -0.2151065170764923 + ], + "box_yaw_rad": -2.913925660158722, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009264377777429902, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027279528101646624 + } + } + }, + { + "simulation_time_ns": 8200000000, + "center": [ + 15.925560012671028, + 0.27356763409480833, + 0.03498461982642365 + ], + "face_center": [ + 15.855180499323879, + 0.2585555251388344, + 0.06297685279712407 + ], + "face_normal": [ + -0.9114709217898351, + -0.19441880367399733, + 0.36252177907100247 + ], + "footprint_xy": [ + [ + 15.810400838166089, + 0.13685350233345894 + ], + [ + 16.040719187175966, + 0.13685350233345894 + ], + [ + 16.040719187175966, + 0.4102817658561577 + ], + [ + 15.810400838166089, + 0.4102817658561577 + ] + ], + "projected_box_corners": [ + [ + 16.00160174948912, + 0.1668777202454068 + ], + [ + 15.951159864860388, + 0.40140888994158136 + ], + [ + 16.040719187175966, + 0.17575059615998317 + ], + [ + 15.990277302547238, + 0.4102817658561577 + ], + [ + 15.860842722794818, + 0.13685350233345894 + ], + [ + 15.810400838166089, + 0.3713846720296335 + ], + [ + 15.899960160481669, + 0.14572637824803528 + ], + [ + 15.849518275852938, + 0.38025754794420985 + ] + ], + "yaw_rad": -2.9314397918858957, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.829421997070312, + 0.28516054153442383, + 0.0673518031835556 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.855000736724174, + 0.2581133164374006, + 0.06310184318149777 + ], + "intended_face_normal": [ + -0.9105636694955663, + -0.19690411893153348, + 0.3634588830953689 + ], + "commanded_contact_point": [ + 15.829409484863282, + 0.2823229241767493, + 0.03503725142938822 + ], + "centerline_face_intersection": [ + 15.840510729225231, + 0.2733173297911541, + 0.03503725142938822 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.830413818359375, + 0.2797869145870209, + 0.06928502023220062 + ], + "box_pose": [ + 15.918282508850098, + 0.28939709067344666, + 0.03797571361064911, + 0.05565870925784111, + 0.7065363526344299, + 0.6753430366516113, + -0.20401033759117126 + ], + "box_yaw_rad": -2.9286275631798664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009005594385595232, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002655200707952522 + } + } + }, + { + "simulation_time_ns": 8220000000, + "center": [ + 15.925520786379165, + 0.2735480796707676, + 0.03494065794697326 + ], + "face_center": [ + 15.855107924600286, + 0.25851839021591905, + 0.06283946803163493 + ], + "face_normal": [ + -0.9119028106217186, + -0.19464648517892202, + 0.36131187806424236 + ], + "footprint_xy": [ + [ + 15.810389503524439, + 0.1368472223623594 + ], + [ + 16.040652069233893, + 0.1368472223623594 + ], + [ + 16.040652069233893, + 0.41024893697917575 + ], + [ + 15.810389503524439, + 0.41024893697917575 + ] + ], + "projected_box_corners": [ + [ + 16.00165831980292, + 0.16690660127205648 + ], + [ + 15.951215227082196, + 0.4014378782500782 + ], + [ + 16.040652069233893, + 0.175717660001154 + ], + [ + 15.990208976513166, + 0.41024893697917575 + ], + [ + 15.860832596245164, + 0.1368472223623594 + ], + [ + 15.810389503524439, + 0.37137849934038114 + ], + [ + 15.899826345676134, + 0.14565828109145695 + ], + [ + 15.849383252955409, + 0.38018955806947874 + ] + ], + "yaw_rad": -2.931297610632405, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.828373908996582, + 0.28637707233428955, + 0.06384705007076263 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.855180499323879, + 0.2585555251388344, + 0.06297685279712407 + ], + "intended_face_normal": [ + -0.9114709217898351, + -0.19441880367399733, + 0.36252177907100247 + ], + "commanded_contact_point": [ + 15.831316833496095, + 0.28210951218281893, + 0.03498461982642365 + ], + "centerline_face_intersection": [ + 15.840844952579136, + 0.27356763409480833, + 0.03498461982642365 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.829421997070312, + 0.28516054153442383, + 0.0673518031835556 + ], + "box_pose": [ + 15.91857624053955, + 0.28966644406318665, + 0.03792348504066467, + 0.05632317066192627, + 0.7064042091369629, + 0.6758169531822205, + -0.20271217823028564 + ], + "box_yaw_rad": -2.9314397918858957, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008541878088010612, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001919972284142579 + } + } + }, + { + "simulation_time_ns": 8240000000, + "center": [ + 15.925459588797725, + 0.27350896701467575, + 0.034911856215005824 + ], + "face_center": [ + 15.854994733139337, + 0.2584464307881317, + 0.0626612257524037 + ], + "face_normal": [ + -0.9125761728976229, + -0.1950718771126163, + 0.3593765035938983 + ], + "footprint_xy": [ + [ + 15.810373310891041, + 0.13683525952464407 + ], + [ + 16.040545866704413, + 0.13683525952464407 + ], + [ + 16.040545866704413, + 0.41018267450470747 + ], + [ + 15.810373310891041, + 0.41018267450470747 + ] + ], + "projected_box_corners": [ + [ + 16.001745260467583, + 0.1669603319777323 + ], + [ + 15.951303022207817, + 0.401492434603855 + ], + [ + 16.040545866704413, + 0.1756505718785848 + ], + [ + 15.990103628444647, + 0.41018267450470747 + ], + [ + 15.860815549150805, + 0.13683525952464407 + ], + [ + 15.810373310891041, + 0.37136736215076677 + ], + [ + 15.899616155387633, + 0.14552549942549653 + ], + [ + 15.84917391712787, + 0.38005760205161926 + ] + ], + "yaw_rad": -2.931002433655348, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.828529357910156, + 0.28336405754089355, + 0.060660600662231445 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.855107924600286, + 0.25851839021591905, + 0.06283946803163493 + ], + "intended_face_normal": [ + -0.9119028106217186, + -0.19464648517892202, + 0.36131187806424236 + ], + "commanded_contact_point": [ + 15.832939033508302, + 0.28157679805223734, + 0.03494065794697326 + ], + "centerline_face_intersection": [ + 15.84084584842301, + 0.2735480796707676, + 0.03494065794697326 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.828373908996582, + 0.28637707233428955, + 0.06384705007076263 + ], + "box_pose": [ + 15.918533325195312, + 0.2896450459957123, + 0.03788086026906967, + 0.05585343763232231, + 0.7063220143318176, + 0.6760625839233398, + -0.20230931043624878 + ], + "box_yaw_rad": -2.931297610632405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008028718381469735, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017079958639793608 + } + } + }, + { + "simulation_time_ns": 8260000000, + "center": [ + 15.925373454441363, + 0.2734472524724655, + 0.034897244050092494 + ], + "face_center": [ + 15.854834037941098, + 0.25833655858276, + 0.06243013248538043 + ], + "face_normal": [ + -0.9135417953642104, + -0.19569555732217392, + 0.3565729003817397 + ], + "footprint_xy": [ + [ + 15.81035585764758, + 0.13681931880459697 + ], + [ + 16.040391051235147, + 0.13681931880459697 + ], + [ + 16.040391051235147, + 0.41007518614033395 + ], + [ + 15.81035585764758, + 0.41007518614033395 + ] + ], + "projected_box_corners": [ + [ + 16.001866799276797, + 0.16704070658400788 + ], + [ + 15.951434690648112, + 0.4015757765774676 + ], + [ + 16.040391051235147, + 0.17554011614687423 + ], + [ + 15.98995894260646, + 0.41007518614033395 + ], + [ + 15.860787966276266, + 0.13681931880459697 + ], + [ + 15.81035585764758, + 0.3713543887980567 + ], + [ + 15.899312218234614, + 0.1453187283674633 + ], + [ + 15.848880109605927, + 0.37985379836092303 + ] + ], + "yaw_rad": -2.9305656734624725, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.830623626708984, + 0.2766568958759308, + 0.06016896665096283 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.854994733139337, + 0.2584464307881317, + 0.0626612257524037 + ], + "intended_face_normal": [ + -0.9125761728976229, + -0.1950718771126163, + 0.3593765035938983 + ], + "commanded_contact_point": [ + 15.834424858093263, + 0.2811434817750968, + 0.034911856215005824 + ], + "centerline_face_intersection": [ + 15.84084712990976, + 0.27350896701467575, + 0.034911856215005824 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.828529357910156, + 0.28336405754089355, + 0.060660600662231445 + ], + "box_pose": [ + 15.918466567993164, + 0.28960245847702026, + 0.037857845425605774, + 0.055101145058870316, + 0.7061147093772888, + 0.6765279769897461, + -0.2016822248697281 + ], + "box_yaw_rad": -2.931002433655348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007634514760421023, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015479881243322287 + } + } + }, + { + "simulation_time_ns": 8280000000, + "center": [ + 15.927892163683808, + 0.2716826426782454, + 0.034941888820156586 + ], + "face_center": [ + 15.857209294795597, + 0.25555599326802897, + 0.06151384462809145 + ], + "face_normal": [ + -0.9153996183876245, + -0.2088529929271914, + 0.3441280551991479 + ], + "footprint_xy": [ + [ + 15.812083403315945, + 0.13456287407637343 + ], + [ + 16.04370092405167, + 0.13456287407637343 + ], + [ + 16.04370092405167, + 0.40880241128011735 + ], + [ + 15.812083403315945, + 0.40880241128011735 + ] + ], + "projected_box_corners": [ + [ + 16.006480984517232, + 0.16681617289680628 + ], + [ + 15.953449141092367, + 0.40077583391953425 + ], + [ + 16.04370092405167, + 0.17484275025738935 + ], + [ + 15.990669080626805, + 0.40880241128011735 + ], + [ + 15.86511524674081, + 0.13456287407637343 + ], + [ + 15.812083403315945, + 0.36852253509910143 + ], + [ + 15.902335186275247, + 0.1425894514369565 + ], + [ + 15.849303342850384, + 0.3765491124596845 + ] + ], + "yaw_rad": -2.9172772807527663, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.83343505859375, + 0.2681427001953125, + 0.05412459373474121 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.854834037941098, + 0.25833655858276, + 0.06243013248538043 + ], + "intended_face_normal": [ + -0.9135417953642104, + -0.19569555732217392, + 0.3565729003817397 + ], + "commanded_contact_point": [ + 15.83569133758545, + 0.2809533814967479, + 0.034897244050092494 + ], + "centerline_face_intersection": [ + 15.84085043173647, + 0.2734472524724655, + 0.034897244050092494 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.830623626708984, + 0.2766568958759308, + 0.06016896665096283 + ], + "box_pose": [ + 15.918373107910156, + 0.2895355820655823, + 0.03785400465130806, + 0.05402291193604469, + 0.705762505531311, + 0.677251935005188, + -0.20077480375766754 + ], + "box_yaw_rad": -2.9305656734624725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007506129024282411, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012807505359449514 + } + } + }, + { + "simulation_time_ns": 8300000000, + "center": [ + 15.93118612451641, + 0.2697586258092193, + 0.03488995427862945 + ], + "face_center": [ + 15.860670826727675, + 0.2529559884424445, + 0.061488221805791846 + ], + "face_normal": [ + -0.91322943878221, + -0.21760757698979916, + 0.34446881298273624 + ], + "footprint_xy": [ + [ + 15.814441834055637, + 0.13203695649705932 + ], + [ + 16.04793041497718, + 0.13203695649705932 + ], + [ + 16.04793041497718, + 0.4074802951213792 + ], + [ + 15.814441834055637, + 0.4074802951213792 + ] + ], + "projected_box_corners": [ + [ + 16.010754351990258, + 0.16564223123060884 + ], + [ + 15.955472429633108, + 0.3990805034852833 + ], + [ + 16.04793041497718, + 0.1740420228667047 + ], + [ + 15.992648492620031, + 0.4074802951213792 + ], + [ + 15.869723756412789, + 0.13203695649705932 + ], + [ + 15.814441834055637, + 0.36547522875173377 + ], + [ + 15.906899819399712, + 0.14043674813315518 + ], + [ + 15.851617897042562, + 0.37387502038782966 + ] + ], + "yaw_rad": -2.907671245715885, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.836787223815918, + 0.2595856487751007, + 0.04866056144237518 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.857209294795597, + 0.25555599326802897, + 0.06151384462809145 + ], + "intended_face_normal": [ + -0.9153996183876245, + -0.2088529929271914, + 0.3441280551991479 + ], + "commanded_contact_point": [ + 15.837364082336427, + 0.2793303694018451, + 0.034941888820156586 + ], + "centerline_face_intersection": [ + 15.843540682253824, + 0.2716826426782454, + 0.034941888820156586 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.83343505859375, + 0.2681427001953125, + 0.05412459373474121 + ], + "box_pose": [ + 15.920679092407227, + 0.2876664698123932, + 0.03795363008975983, + 0.04528062790632248, + 0.7042901515960693, + 0.6794668436050415, + -0.2006237655878067 + ], + "box_yaw_rad": -2.9172772807527663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007647726723599727, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023311448727212627 + } + } + }, + { + "simulation_time_ns": 8320000000, + "center": [ + 15.934739117383105, + 0.26815577227651394, + 0.03485190652712954 + ], + "face_center": [ + 15.864434474727961, + 0.25067455827593327, + 0.06157023547796958 + ], + "face_normal": [ + -0.9105012865165705, + -0.22639568649077457, + 0.34602370433259644 + ], + "footprint_xy": [ + [ + 15.81700399811048, + 0.1297966090236362 + ], + [ + 16.052474236655733, + 0.1297966090236362 + ], + [ + 16.052474236655733, + 0.40651493552939166 + ], + [ + 15.81700399811048, + 0.40651493552939166 + ] + ], + "projected_box_corners": [ + [ + 16.0152346899482, + 0.16475903702479752 + ], + [ + 15.95761328342077, + 0.39763147017023703 + ], + [ + 16.052474236655733, + 0.17364250238395215 + ], + [ + 15.9948528301283, + 0.40651493552939166 + ], + [ + 15.87462540463791, + 0.1297966090236362 + ], + [ + 15.81700399811048, + 0.3626690421690757 + ], + [ + 15.911864951345441, + 0.13868007438279084 + ], + [ + 15.85424354481801, + 0.3715525075282303 + ] + ], + "yaw_rad": -2.8978854558864704, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.840567588806152, + 0.25578081607818604, + 0.04805995523929596 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.860670826727675, + 0.2529559884424445, + 0.061488221805791846 + ], + "intended_face_normal": [ + -0.91322943878221, + -0.21760757698979916, + 0.34446881298273624 + ], + "commanded_contact_point": [ + 15.839875106811524, + 0.27781327161418373, + 0.03488995427862945 + ], + "centerline_face_intersection": [ + 15.846634191965478, + 0.2697586258092193, + 0.03488995427862945 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.836787223815918, + 0.2595856487751007, + 0.04866056144237518 + ], + "box_pose": [ + 15.923820495605469, + 0.28567269444465637, + 0.0379018634557724, + 0.04201884567737579, + 0.7045150399208069, + 0.678434431552887, + -0.20400895178318024 + ], + "box_yaw_rad": -2.907671245715885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00805464580496447, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002934199517495368 + } + } + }, + { + "simulation_time_ns": 8340000000, + "center": [ + 15.937868808387558, + 0.26761757567824923, + 0.03487774847230051 + ], + "face_center": [ + 15.868007693453439, + 0.2502951218961056, + 0.06283417515249509 + ], + "face_normal": [ + -0.9047572482091724, + -0.22433961483354992, + 0.3620580590044504 + ], + "footprint_xy": [ + [ + 15.819587709422212, + 0.12888383392601827 + ], + [ + 16.056149907352903, + 0.12888383392601827 + ], + [ + 16.056149907352903, + 0.40635131743048014 + ], + [ + 15.819587709422212, + 0.40635131743048014 + ] + ], + "projected_box_corners": [ + [ + 16.017374920214685, + 0.16352874149030555 + ], + [ + 15.959309939290453, + 0.3962905050097099 + ], + [ + 16.056149907352903, + 0.17358955391107583 + ], + [ + 15.998084926428671, + 0.40635131743048014 + ], + [ + 15.877652690346446, + 0.12888383392601827 + ], + [ + 15.819587709422212, + 0.3616455974454226 + ], + [ + 15.916427677484664, + 0.13894464634678852 + ], + [ + 15.85836269656043, + 0.37170640986619286 + ] + ], + "yaw_rad": -2.8985390672615554, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.844001770019531, + 0.2570778727531433, + 0.05191861093044281 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.864434474727961, + 0.25067455827593327, + 0.06157023547796958 + ], + "intended_face_normal": [ + -0.9105012865165705, + -0.22639568649077457, + 0.34602370433259644 + ], + "commanded_contact_point": [ + 15.842782859802247, + 0.27670541632941154, + 0.03485190652712954 + ], + "centerline_face_intersection": [ + 15.849933840273776, + 0.26815577227651394, + 0.03485190652712954 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.840567588806152, + 0.25578081607818604, + 0.04805995523929596 + ], + "box_pose": [ + 15.927218437194824, + 0.2839983105659485, + 0.03785774111747742, + 0.03908099979162216, + 0.7049290537834167, + 0.6769975423812866, + -0.2078990936279297 + ], + "box_yaw_rad": -2.8978854558864704, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008549644052897586, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003111883419803582 + } + } + }, + { + "simulation_time_ns": 8360000000, + "center": [ + 15.94029102849043, + 0.26809523722058315, + 0.03507354927773038 + ], + "face_center": [ + 15.870501088723096, + 0.25099149700817724, + 0.06334069737385911 + ], + "face_normal": [ + -0.9038354729397398, + -0.22150709938216373, + 0.3660821495662079 + ], + "footprint_xy": [ + [ + 15.82215233197119, + 0.12948245025288163 + ], + [ + 16.05842972500967, + 0.12948245025288163 + ], + [ + 16.05842972500967, + 0.4067080241882846 + ], + [ + 15.82215233197119, + 0.4067080241882846 + ] + ], + "projected_box_corners": [ + [ + 16.019207206979676, + 0.16368993067769338 + ], + [ + 15.961732211505858, + 0.39659768841559895 + ], + [ + 16.05842972500967, + 0.17380026645037905 + ], + [ + 16.000954729535852, + 0.4067080241882846 + ], + [ + 15.879627327445005, + 0.12948245025288163 + ], + [ + 15.82215233197119, + 0.3623902079907872 + ], + [ + 15.918849845475002, + 0.13959278602556735 + ], + [ + 15.861374850001184, + 0.37250054376347286 + ] + ], + "yaw_rad": -2.901255024707949, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.846566200256348, + 0.2599528431892395, + 0.054907768964767456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.868007693453439, + 0.2502951218961056, + 0.06283417515249509 + ], + "intended_face_normal": [ + -0.9047572482091724, + -0.22433961483354992, + 0.3620580590044504 + ], + "commanded_contact_point": [ + 15.845600967407227, + 0.27658880784815104, + 0.03487774847230051 + ], + "centerline_face_intersection": [ + 15.852525127456264, + 0.26761757567824923, + 0.03487774847230051 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.844001770019531, + 0.2570778727531433, + 0.05191861093044281 + ], + "box_pose": [ + 15.930362701416016, + 0.28347763419151306, + 0.037827085703611374, + 0.04460158944129944, + 0.7069905996322632, + 0.6727131009101868, + -0.21361663937568665 + ], + "box_yaw_rad": -2.8985390672615554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008971232169901823, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002820637484201196 + } + } + }, + { + "simulation_time_ns": 8380000000, + "center": [ + 15.942755871398946, + 0.26917804502267356, + 0.034903070264289904 + ], + "face_center": [ + 15.8726934176763, + 0.2527763033068394, + 0.06291100480477604 + ], + "face_normal": [ + -0.9073647463636973, + -0.2124156580473926, + 0.3627251269432099 + ], + "footprint_xy": [ + [ + 15.82569472354227, + 0.13123418970294537 + ], + [ + 16.05981701925562, + 0.13123418970294537 + ], + [ + 16.05981701925562, + 0.4071219003424017 + ], + [ + 15.82569472354227, + 0.4071219003424017 + ] + ], + "projected_box_corners": [ + [ + 16.02084562889301, + 0.16403767313461354 + ], + [ + 15.96581963098756, + 0.3975364569972757 + ], + [ + 16.05981701925562, + 0.17362311647973955 + ], + [ + 16.004791021350172, + 0.4071219003424017 + ], + [ + 15.88072072144772, + 0.13123418970294537 + ], + [ + 15.82569472354227, + 0.3647329735656075 + ], + [ + 15.91969211181033, + 0.14081963304807135 + ], + [ + 15.86466611390488, + 0.37431841691073353 + ] + ], + "yaw_rad": -2.9116321212808436, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.848979949951172, + 0.2626114785671234, + 0.055204346776008606 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.870501088723096, + 0.25099149700817724, + 0.06334069737385911 + ], + "intended_face_normal": [ + -0.9038354729397398, + -0.22150709938216373, + 0.3660821495662079 + ], + "commanded_contact_point": [ + 15.84820068359375, + 0.2773921651517387, + 0.03507354927773038 + ], + "centerline_face_intersection": [ + 15.854860309932445, + 0.26809523722058315, + 0.03507354927773038 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.846566200256348, + 0.2599528431892395, + 0.054907768964767456 + ], + "box_pose": [ + 15.93283748626709, + 0.2839786410331726, + 0.038030557334423065, + 0.04703424125909805, + 0.7069805860519409, + 0.6723809838294983, + -0.21417298913002014 + ], + "box_yaw_rad": -2.901255024707949, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00929692793115557, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027280478667183585 + } + } + }, + { + "simulation_time_ns": 8400000000, + "center": [ + 15.946767959084266, + 0.2704346753282645, + 0.03482216491982085 + ], + "face_center": [ + 15.876446756779782, + 0.2550265271384566, + 0.06274569044425947 + ], + "face_normal": [ + -0.9107157472044634, + -0.19954782813523542, + 0.3616319627537288 + ], + "footprint_xy": [ + [ + 15.831123233249691, + 0.1334163506749724 + ], + [ + 16.062412684918836, + 0.1334163506749724 + ], + [ + 16.062412684918836, + 0.40745299998155654 + ], + [ + 15.831123233249691, + 0.40745299998155654 + ] + ], + "projected_box_corners": [ + [ + 16.023415321935513, + 0.16423264705458815 + ], + [ + 15.971765637858656, + 0.3985017642555757 + ], + [ + 16.062412684918836, + 0.17318388278056898 + ], + [ + 16.010763000841983, + 0.40745299998155654 + ], + [ + 15.882772917326548, + 0.1334163506749724 + ], + [ + 15.831123233249691, + 0.36768546787595996 + ], + [ + 15.921770280309874, + 0.14236758640095323 + ], + [ + 15.870120596233017, + 0.3766367036019408 + ] + ], + "yaw_rad": -2.925890475847206, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.853021621704102, + 0.2648232579231262, + 0.05518282949924469 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.8726934176763, + 0.2527763033068394, + 0.06291100480477604 + ], + "intended_face_normal": [ + -0.9073647463636973, + -0.2124156580473926, + 0.3627251269432099 + ], + "commanded_contact_point": [ + 15.85053337097168, + 0.2787376356120511, + 0.034903070264289904 + ], + "centerline_face_intersection": [ + 15.85765744298757, + 0.26917804502267356, + 0.034903070264289904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.848979949951172, + 0.2626114785671234, + 0.055204346776008606 + ], + "box_pose": [ + 15.93545913696289, + 0.28513550758361816, + 0.0378524512052536, + 0.04946492984890938, + 0.706716775894165, + 0.6739686727523804, + -0.20945413410663605 + ], + "box_yaw_rad": -2.9116321212808436, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009559590589377576, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00269829284117744 + } + } + }, + { + "simulation_time_ns": 8420000000, + "center": [ + 15.952204194881032, + 0.2718444532533444, + 0.034870609363331966 + ], + "face_center": [ + 15.881623418884107, + 0.25781566981235315, + 0.06286616724021729 + ], + "face_normal": [ + -0.9140774338867246, + -0.18168395270763948, + 0.36256483926225824 + ], + "footprint_xy": [ + [ + 15.838444209546577, + 0.136081446954717 + ], + [ + 16.065964180215488, + 0.136081446954717 + ], + [ + 16.065964180215488, + 0.4076074595519718 + ], + [ + 15.838444209546577, + 0.4076074595519718 + ] + ], + "projected_box_corners": [ + [ + 16.026705121758358, + 0.16413901383669946 + ], + [ + 15.979605761540428, + 0.3993649400148577 + ], + [ + 16.065964180215488, + 0.17238153337381357 + ], + [ + 16.018864819997557, + 0.4076074595519718 + ], + [ + 15.885543569764508, + 0.136081446954717 + ], + [ + 15.838444209546577, + 0.3713073731328752 + ], + [ + 15.924802628221636, + 0.1443239664918311 + ], + [ + 15.877703268003707, + 0.3795498926699893 + ] + ], + "yaw_rad": -2.9453876625529514, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.858532905578613, + 0.267485648393631, + 0.055700868368148804 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.876446756779782, + 0.2550265271384566, + 0.06274569044425947 + ], + "intended_face_normal": [ + -0.9107157472044634, + -0.19954782813523542, + 0.3616319627537288 + ], + "commanded_contact_point": [ + 15.85256088256836, + 0.2802187226138476, + 0.03482216491982085 + ], + "centerline_face_intersection": [ + 15.861982652419197, + 0.2704346753282645, + 0.03482216491982085 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.853021621704102, + 0.2648232579231262, + 0.05518282949924469 + ], + "box_pose": [ + 15.939699172973633, + 0.2864937484264374, + 0.037775155156850815, + 0.05413825437426567, + 0.7062167525291443, + 0.6757335066795349, + -0.20423325896263123 + ], + "box_yaw_rad": -2.925890475847206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009784047285583106, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025121639389826486 + } + } + }, + { + "simulation_time_ns": 8440000000, + "center": [ + 15.957204946712253, + 0.27325639432121845, + 0.034832502342875396 + ], + "face_center": [ + 15.88633161177022, + 0.2606534571372403, + 0.06276713817363722 + ], + "face_normal": [ + -0.9178663059418639, + -0.16321810461630815, + 0.3617758500962829 + ], + "footprint_xy": [ + [ + 15.845504779473728, + 0.13888010959978037 + ], + [ + 16.068905113950777, + 0.13888010959978037 + ], + [ + 16.068905113950777, + 0.40763267904265654 + ], + [ + 15.845504779473728, + 0.40763267904265654 + ] + ], + "projected_box_corners": [ + [ + 16.029570129412765, + 0.1640859839677367 + ], + [ + 15.987251449357796, + 0.4002189886458938 + ], + [ + 16.068905113950777, + 0.17149967436449945 + ], + [ + 16.026586433895805, + 0.40763267904265654 + ], + [ + 15.8878234595287, + 0.13888010959978037 + ], + [ + 15.845504779473728, + 0.3750131142779375 + ], + [ + 15.92715844406671, + 0.14629379999654313 + ], + [ + 15.884839764011739, + 0.38242680467470025 + ] + ], + "yaw_rad": -2.965608806776101, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.863422393798828, + 0.27040034532546997, + 0.05518476665019989 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.881623418884107, + 0.25781566981235315, + 0.06286616724021729 + ], + "intended_face_normal": [ + -0.9140774338867246, + -0.18168395270763948, + 0.36256483926225824 + ], + "commanded_contact_point": [ + 15.854106788635255, + 0.281802852733316, + 0.034870609363331966 + ], + "centerline_face_intersection": [ + 15.867730701663818, + 0.2718444532533444, + 0.034870609363331966 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.858532905578613, + 0.267485648393631, + 0.055700868368148804 + ], + "box_pose": [ + 15.945450782775879, + 0.2880389392375946, + 0.0378221720457077, + 0.06134184077382088, + 0.7057279348373413, + 0.6774856448173523, + -0.1979859322309494 + ], + "box_yaw_rad": -2.9453876625529514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009958399479971642, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022139649200417287 + } + } + }, + { + "simulation_time_ns": 8460000000, + "center": [ + 15.960339529343747, + 0.2740066040017092, + 0.0347982153220179 + ], + "face_center": [ + 15.8892836026658, + 0.26234423042923466, + 0.06267741364337712 + ], + "face_normal": [ + -0.9202310147886266, + -0.15103705446112237, + 0.3610578900622645 + ], + "footprint_xy": [ + [ + 15.850027064596109, + 0.14057616311358057 + ], + [ + 16.07065199409138, + 0.14057616311358057 + ], + [ + 16.07065199409138, + 0.40743704488983784 + ], + [ + 15.850027064596109, + 0.40743704488983784 + ] + ], + "projected_box_corners": [ + [ + 16.03129718730765, + 0.1639009102585296 + ], + [ + 15.992138917952, + 0.4005786383675123 + ], + [ + 16.07065199409138, + 0.1707593167808551 + ], + [ + 16.03149372473573, + 0.40743704488983784 + ], + [ + 15.889185333951762, + 0.14057616311358057 + ], + [ + 15.850027064596109, + 0.37725389122256325 + ], + [ + 15.928540140735493, + 0.14743456963590607 + ], + [ + 15.88938187137984, + 0.3841122977448888 + ] + ], + "yaw_rad": -2.9789135838170444, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.866313934326172, + 0.272307425737381, + 0.0537695586681366 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.88633161177022, + 0.2606534571372403, + 0.06276713817363722 + ], + "intended_face_normal": [ + -0.9178663059418639, + -0.16321810461630815, + 0.3617758500962829 + ], + "commanded_contact_point": [ + 15.855323677062989, + 0.28332903576102003, + 0.034832502342875396 + ], + "centerline_face_intersection": [ + 15.873080152707308, + 0.27325639432121845, + 0.034832502342875396 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.863422393798828, + 0.27040034532546997, + 0.05518476665019989 + ], + "box_pose": [ + 15.95077896118164, + 0.28958362340927124, + 0.03778378292918205, + 0.06819238513708115, + 0.705044686794281, + 0.6795918941497803, + -0.19083178043365479 + ], + "box_yaw_rad": -2.965608806776101, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01007264143980158, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019523074103771994 + } + } + }, + { + "simulation_time_ns": 8480000000, + "center": [ + 15.962215737209663, + 0.27409140163436346, + 0.034732820169745784 + ], + "face_center": [ + 15.891062952089976, + 0.26272778434923666, + 0.06248801358879791 + ], + "face_normal": [ + -0.9214854089862925, + -0.1471679218731179, + 0.3594519275138337 + ], + "footprint_xy": [ + [ + 15.85241416112376, + 0.14100865765276502 + ], + [ + 16.072017313295564, + 0.14100865765276502 + ], + [ + 16.072017313295564, + 0.4071741456159619 + ], + [ + 15.85241416112376, + 0.4071741456159619 + ] + ], + "projected_box_corners": [ + [ + 16.032796369907455, + 0.1637358922230186 + ], + [ + 15.994719731363132, + 0.40059047336698794 + ], + [ + 16.072017313295564, + 0.17031956447199248 + ], + [ + 16.03394067475124, + 0.4071741456159619 + ], + [ + 15.890490799668084, + 0.14100865765276502 + ], + [ + 15.85241416112376, + 0.3778632387967344 + ], + [ + 15.929711743056192, + 0.14759232990173893 + ], + [ + 15.891635104511868, + 0.38444691104570833 + ] + ], + "yaw_rad": -2.9832228245722634, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.868057250976562, + 0.27266737818717957, + 0.05294632911682129 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.8892836026658, + 0.26234423042923466, + 0.06267741364337712 + ], + "intended_face_normal": [ + -0.9202310147886266, + -0.15103705446112237, + 0.3610578900622645 + ], + "commanded_contact_point": [ + 15.856558685302735, + 0.28414721257208386, + 0.0347982153220179 + ], + "centerline_face_intersection": [ + 15.876430910018225, + 0.2740066040017092, + 0.0347982153220179 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.866313934326172, + 0.272307425737381, + 0.0537695586681366 + ], + "box_pose": [ + 15.954130172729492, + 0.2904174327850342, + 0.03774953633546829, + 0.0726265162229538, + 0.7045461535453796, + 0.6809774041175842, + -0.18603739142417908 + ], + "box_yaw_rad": -2.9789135838170444, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010140608570374708, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014818347567129768 + } + } + }, + { + "simulation_time_ns": 8500000000, + "center": [ + 15.962561113126522, + 0.27405808560193545, + 0.034723691695346566 + ], + "face_center": [ + 15.891416202419917, + 0.26271786582312057, + 0.06250869115759615 + ], + "face_normal": [ + -0.9213834290462799, + -0.14686490547485853, + 0.3598379395843363 + ], + "footprint_xy": [ + [ + 15.852767687032973, + 0.1409766906393158 + ], + [ + 16.07235453922007, + 0.1409766906393158 + ], + [ + 16.07235453922007, + 0.40713948056455507 + ], + [ + 15.852767687032973, + 0.40713948056455507 + ] + ], + "projected_box_corners": [ + [ + 16.03309639943243, + 0.16365713019694555 + ], + [ + 15.995057508446184, + 0.40051755931374183 + ], + [ + 16.07235453922007, + 0.1702790514477588 + ], + [ + 16.034315648233825, + 0.40713948056455507 + ], + [ + 15.89080657801922, + 0.1409766906393158 + ], + [ + 15.852767687032973, + 0.3778371197561121 + ], + [ + 15.930064717806859, + 0.14759861189012904 + ], + [ + 15.892025826820612, + 0.38445904100692535 + ] + ], + "yaw_rad": -2.9835262937401934, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.866754531860352, + 0.27337682247161865, + 0.05148442089557648 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.891062952089976, + 0.26272778434923666, + 0.06248801358879791 + ], + "intended_face_normal": [ + -0.9214854089862925, + -0.1471679218731179, + 0.3594519275138337 + ], + "commanded_contact_point": [ + 15.857925300598145, + 0.2842889711426255, + 0.034732820169745784 + ], + "centerline_face_intersection": [ + 15.87842134051229, + 0.27409140163436346, + 0.034732820169745784 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.868057250976562, + 0.27266737818717957, + 0.05294632911682129 + ], + "box_pose": [ + 15.956076622009277, + 0.29052767157554626, + 0.03768949210643768, + 0.07360505312681198, + 0.7042115926742554, + 0.6817834973335266, + -0.18395501375198364 + ], + "box_yaw_rad": -2.9832228245722634, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010197569508262064, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001375503320211077 + } + } + }, + { + "simulation_time_ns": 8520000000, + "center": [ + 15.962531572349965, + 0.27404633104679793, + 0.03472568411788384 + ], + "face_center": [ + 15.89136057094048, + 0.2626955153554074, + 0.06243940329345041 + ], + "face_normal": [ + -0.9217213244916209, + -0.14700213100744897, + 0.35891480292824784 + ], + "footprint_xy": [ + [ + 15.852760380268412, + 0.14097311720463926 + ], + [ + 16.07230276443152, + 0.14097311720463926 + ], + [ + 16.07230276443152, + 0.4071195448889566 + ], + [ + 15.852760380268412, + 0.4071195448889566 + ] + ], + "projected_box_corners": [ + [ + 16.033142059763886, + 0.16367474858742026 + ], + [ + 15.995102383087387, + 0.40053517676606265 + ], + [ + 16.07230276443152, + 0.17025911671031418 + ], + [ + 16.03426308775502, + 0.4071195448889566 + ], + [ + 15.890800056944911, + 0.14097311720463926 + ], + [ + 15.852760380268412, + 0.3778335453832817 + ], + [ + 15.929960761612545, + 0.14755748532753318 + ], + [ + 15.891921084936046, + 0.3844179135061756 + ] + ], + "yaw_rad": -2.9834380896787196, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.860897064208984, + 0.2757280766963959, + 0.05023588240146637 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.891416202419917, + 0.26271786582312057, + 0.06250869115759615 + ], + "intended_face_normal": [ + -0.9213834290462799, + -0.14686490547485853, + 0.3598379395843363 + ], + "commanded_contact_point": [ + 15.859151725769044, + 0.2842829056354102, + 0.034723691695346566 + ], + "centerline_face_intersection": [ + 15.878757441954182, + 0.27405808560193545, + 0.034723691695346566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.866754531860352, + 0.27337682247161865, + 0.05148442089557648 + ], + "box_pose": [ + 15.956425666809082, + 0.2904966175556183, + 0.037675414234399796, + 0.07382054626941681, + 0.7043206691741943, + 0.6816334128379822, + -0.1840076893568039 + ], + "box_yaw_rad": -2.9835262937401934, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010224820033474736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012264741412830104 + } + } + }, + { + "simulation_time_ns": 8540000000, + "center": [ + 15.962472199548312, + 0.2740116041417884, + 0.03473601822842394 + ], + "face_center": [ + 15.891249227501719, + 0.2626321831187174, + 0.062304160377620085 + ], + "face_normal": [ + -0.9223943857598229, + -0.14737259290459725, + 0.35702946413991654 + ], + "footprint_xy": [ + [ + 15.852747083424607, + 0.14096351040820324 + ], + [ + 16.072197315672017, + 0.14096351040820324 + ], + [ + 16.072197315672017, + 0.40705969787537355 + ], + [ + 15.852747083424607, + 0.40705969787537355 + ] + ], + "projected_box_corners": [ + [ + 16.033230557653024, + 0.1637223524543453 + ], + [ + 15.995193027517791, + 0.4005835929152301 + ], + [ + 16.072197315672017, + 0.17019845741448875 + ], + [ + 16.034159785536783, + 0.40705969787537355 + ], + [ + 15.89078461355984, + 0.14096351040820324 + ], + [ + 15.852747083424607, + 0.37782475086908807 + ], + [ + 15.929751371578831, + 0.14743961536834668 + ], + [ + 15.891713841443599, + 0.3843008558292315 + ] + ], + "yaw_rad": -2.9831599226921592, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.856619834899902, + 0.2780703604221344, + 0.05161198973655701 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.89136057094048, + 0.2626955153554074, + 0.06243940329345041 + ], + "intended_face_normal": [ + -0.9217213244916209, + -0.14700213100744897, + 0.35891480292824784 + ], + "commanded_contact_point": [ + 15.860821609497071, + 0.28420388125428875, + 0.03472568411788384 + ], + "centerline_face_intersection": [ + 15.878758622913185, + 0.27404633104679793, + 0.03472568411788384 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860897064208984, + 0.2757280766963959, + 0.05023588240146637 + ], + "box_pose": [ + 15.956393241882324, + 0.2904837429523468, + 0.03767763823270798, + 0.07346319407224655, + 0.7042827606201172, + 0.6817964911460876, + -0.18369106948375702 + ], + "box_yaw_rad": -2.9834380896787196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010157550207490817, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016717537162182997 + } + } + }, + { + "simulation_time_ns": 8560000000, + "center": [ + 15.962382387613175, + 0.2739539324825956, + 0.03475415094850402 + ], + "face_center": [ + 15.891082499179335, + 0.2625310594166159, + 0.06210458308568642 + ], + "face_normal": [ + -0.9233905144207384, + -0.14793533157271277, + 0.35420994556276675 + ], + "footprint_xy": [ + [ + 15.852730159336598, + 0.14095029682318247 + ], + [ + 16.072034615889756, + 0.14095029682318247 + ], + [ + 16.072034615889756, + 0.4069575681420087 + ], + [ + 15.852730159336598, + 0.4069575681420087 + ] + ], + "projected_box_corners": [ + [ + 16.03335524720219, + 0.16379604295514183 + ], + [ + 15.99532993620428, + 0.40065965430835015 + ], + [ + 16.072034615889756, + 0.17009395678880035 + ], + [ + 16.034009304891843, + 0.4069575681420087 + ], + [ + 15.890755470334508, + 0.14095029682318247 + ], + [ + 15.852730159336598, + 0.3778139081763908 + ], + [ + 15.92943483902207, + 0.147248210656841 + ], + [ + 15.89140952802416, + 0.38411182201004934 + ] + ], + "yaw_rad": -2.9827337620360583, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.856645584106445, + 0.2808941900730133, + 0.05418512225151062 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.891249227501719, + 0.2626321831187174, + 0.062304160377620085 + ], + "intended_face_normal": [ + -0.9223943857598229, + -0.14737259290459725, + 0.35702946413991654 + ], + "commanded_contact_point": [ + 15.863065605163575, + 0.28400680409806534, + 0.03473601822842394 + ], + "centerline_face_intersection": [ + 15.878760378332236, + 0.2740116041417884, + 0.03473601822842394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.856619834899902, + 0.2780703604221344, + 0.05161198973655701 + ], + "box_pose": [ + 15.956328392028809, + 0.2904459536075592, + 0.03769363462924957, + 0.07272849977016449, + 0.7040980458259583, + 0.6822339296340942, + -0.18306666612625122 + ], + "box_yaw_rad": -2.9831599226921592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009995199956276977, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002252656820430949 + } + } + }, + { + "simulation_time_ns": 8580000000, + "center": [ + 15.962261646055161, + 0.27387479616330546, + 0.03477999365306754 + ], + "face_center": [ + 15.890859838023427, + 0.26238798339878355, + 0.061836207474443156 + ], + "face_normal": [ + -0.9247104546337397, + -0.14876340174821667, + 0.35039958333145815 + ], + "footprint_xy": [ + [ + 15.852702941063471, + 0.14093111677747175 + ], + [ + 16.07182035104685, + 0.14093111677747175 + ], + [ + 16.07182035104685, + 0.4068184755491392 + ], + [ + 15.852702941063471, + 0.4068184755491392 + ] + ], + "projected_box_corners": [ + [ + 16.0335280687641, + 0.16390474230651558 + ], + [ + 15.995506557126937, + 0.40076896190614386 + ], + [ + 16.07182035104685, + 0.16995425594951094 + ], + [ + 16.033798839409688, + 0.4068184755491392 + ], + [ + 15.890724452700635, + 0.14093111677747175 + ], + [ + 15.852702941063471, + 0.3777953363771 + ], + [ + 15.929016734983383, + 0.1469806304204671 + ], + [ + 15.890995223346222, + 0.3838448500200954 + ] + ], + "yaw_rad": -2.982083708688958, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.860416412353516, + 0.28426477313041687, + 0.06082436442375183 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.891082499179335, + 0.2625310594166159, + 0.06210458308568642 + ], + "intended_face_normal": [ + -0.9233905144207384, + -0.14793533157271277, + 0.35420994556276675 + ], + "commanded_contact_point": [ + 15.865481262207032, + 0.28367152213525587, + 0.03475415094850402 + ], + "centerline_face_intersection": [ + 15.878760872441042, + 0.2739539324825956, + 0.03475415094850402 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.856645584106445, + 0.2808941900730133, + 0.05418512225151062 + ], + "box_pose": [ + 15.956231117248535, + 0.290383517742157, + 0.037722691893577576, + 0.07163994014263153, + 0.7037681937217712, + 0.6829389333724976, + -0.1821327954530716 + ], + "box_yaw_rad": -2.9827337620360583, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009717589652660268, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00243888124797548 + } + } + }, + { + "simulation_time_ns": 8600000000, + "center": [ + 15.962119684516155, + 0.2737822997879273, + 0.03481651139861069 + ], + "face_center": [ + 15.890599597771555, + 0.26220883222786534, + 0.06152117697741576 + ], + "face_normal": [ + -0.9262422584544723, + -0.1498856505762074, + 0.3458467527495124 + ], + "footprint_xy": [ + [ + 15.852658087335337, + 0.1409025467694295 + ], + [ + 16.071581281696975, + 0.1409025467694295 + ], + [ + 16.071581281696975, + 0.4066620528064251 + ], + [ + 15.852658087335337, + 0.4066620528064251 + ] + ], + "projected_box_corners": [ + [ + 16.033751590304295, + 0.16404948188955343 + ], + [ + 15.99569826082454, + 0.4009075836869963 + ], + [ + 16.071581281696975, + 0.1698039510089822 + ], + [ + 16.03352795221722, + 0.4066620528064251 + ], + [ + 15.89071141681509, + 0.1409025467694295 + ], + [ + 15.852658087335337, + 0.3777606485668724 + ], + [ + 15.928541108207773, + 0.1466570158888583 + ], + [ + 15.890487778728017, + 0.38351511768630114 + ] + ], + "yaw_rad": -2.9811621389177763, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.865045547485352, + 0.2889688014984131, + 0.06695437431335449 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.890859838023427, + 0.26238798339878355, + 0.061836207474443156 + ], + "intended_face_normal": [ + -0.9247104546337397, + -0.14876340174821667, + 0.35039958333145815 + ], + "commanded_contact_point": [ + 15.86771095275879, + 0.28317678673728125, + 0.03477999365306754 + ], + "centerline_face_intersection": [ + 15.878759493003349, + 0.27387479616330546, + 0.03477999365306754 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860416412353516, + 0.28426477313041687, + 0.06082436442375183 + ], + "box_pose": [ + 15.956099510192871, + 0.29029735922813416, + 0.03776481747627258, + 0.07015066593885422, + 0.7032893300056458, + 0.6839147210121155, + -0.18089669942855835 + ], + "box_yaw_rad": -2.982083708688958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009301990573975811, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022840645603805342 + } + } + }, + { + "simulation_time_ns": 8620000000, + "center": [ + 15.96293874575195, + 0.27433799404749926, + 0.0347070534563467 + ], + "face_center": [ + 15.891650014560117, + 0.2634173665311378, + 0.06229076220082871 + ], + "face_normal": [ + -0.923246019223555, + -0.14143085047723591, + 0.357231063984524 + ], + "footprint_xy": [ + [ + 15.85385349968891, + 0.1417182019933242 + ], + [ + 16.07202399181499, + 0.1417182019933242 + ], + [ + 16.07202399181499, + 0.40695778610167427 + ], + [ + 15.85385349968891, + 0.40695778610167427 + ] + ], + "projected_box_corners": [ + [ + 16.0330064564764, + 0.16355945702604702 + ], + [ + 15.996430962072575, + 0.4006504561786038 + ], + [ + 16.07202399181499, + 0.1698667869491175 + ], + [ + 16.035448497411167, + 0.40695778610167427 + ], + [ + 15.890428994092733, + 0.1417182019933242 + ], + [ + 15.85385349968891, + 0.37880920114588096 + ], + [ + 15.929446529431326, + 0.14802553191639467 + ], + [ + 15.8928710350275, + 0.38511653106895144 + ] + ], + "yaw_rad": -2.98958564856856, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.867144584655762, + 0.2925831377506256, + 0.06603635847568512 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.890599597771555, + 0.26220883222786534, + 0.06152117697741576 + ], + "intended_face_normal": [ + -0.9262422584544723, + -0.1498856505762074, + 0.3458467527495124 + ], + "commanded_contact_point": [ + 15.869925384521485, + 0.28247683029348364, + 0.03481651139861069 + ], + "centerline_face_intersection": [ + 15.878755625916325, + 0.2737822997879273, + 0.03481651139861069 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.865045547485352, + 0.2889688014984131, + 0.06695437431335449 + ], + "box_pose": [ + 15.955942153930664, + 0.29019543528556824, + 0.037821315228939056, + 0.06832215189933777, + 0.7027056217193604, + 0.6850736737251282, + -0.17947439849376678 + ], + "box_yaw_rad": -2.9811621389177763, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008694530505556379, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023227097538408067 + } + } + }, + { + "simulation_time_ns": 8640000000, + "center": [ + 15.963130447269254, + 0.2744444545393281, + 0.03477635682116129 + ], + "face_center": [ + 15.891917233375045, + 0.2635736568999438, + 0.06257394734806648 + ], + "face_normal": [ + -0.9222680098909919, + -0.14078551376288573, + 0.3600010039302255 + ], + "footprint_xy": [ + [ + 15.853997180561201, + 0.14180795244273448 + ], + [ + 16.072263713977307, + 0.14180795244273448 + ], + [ + 16.072263713977307, + 0.40708095663592164 + ], + [ + 15.853997180561201, + 0.40708095663592164 + ] + ], + "projected_box_corners": [ + [ + 16.03295551392045, + 0.16354954772150307 + ], + [ + 15.996423608349621, + 0.40064657815224397 + ], + [ + 16.072263713977307, + 0.16998392620518074 + ], + [ + 16.03573180840648, + 0.40708095663592164 + ], + [ + 15.890529086132029, + 0.14180795244273448 + ], + [ + 15.853997180561201, + 0.3789049828734754 + ], + [ + 15.929837286188887, + 0.14824233092641215 + ], + [ + 15.89330538061806, + 0.3853393613571531 + ] + ], + "yaw_rad": -2.9901106522235303, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.865154266357422, + 0.2898901402950287, + 0.05629558861255646 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.891650014560117, + 0.2634173665311378, + 0.06229076220082871 + ], + "intended_face_normal": [ + -0.923246019223555, + -0.14143085047723591, + 0.357231063984524 + ], + "commanded_contact_point": [ + 15.872198944091798, + 0.2823027188049306, + 0.0347070534563467 + ], + "centerline_face_intersection": [ + 15.879304143161, + 0.27433799404749926, + 0.0347070534563467 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.867144584655762, + 0.2925831377506256, + 0.06603635847568512 + ], + "box_pose": [ + 15.956896781921387, + 0.2908119857311249, + 0.037653908133506775, + 0.07500124722719193, + 0.7040972113609314, + 0.6825467944145203, + -0.180974543094635 + ], + "box_yaw_rad": -2.98958564856856, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007964724757431325, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002282842301020898 + } + } + }, + { + "simulation_time_ns": 8660000000, + "center": [ + 15.963097262315593, + 0.27442799029073195, + 0.034770449255253175 + ], + "face_center": [ + 15.891855403886545, + 0.2635432196059285, + 0.062489146283236555 + ], + "face_normal": [ + -0.9226389795003485, + -0.14096647586368327, + 0.3589792700936929 + ], + "footprint_xy": [ + [ + 15.853988882175337, + 0.14180313491626492 + ], + [ + 16.07220564245585, + 0.14180313491626492 + ], + [ + 16.07220564245585, + 0.40705284566519895 + ], + [ + 15.853988882175337, + 0.40705284566519895 + ] + ], + "projected_box_corners": [ + [ + 16.033003907384078, + 0.16357267628587183 + ], + [ + 15.996472599033433, + 0.40067013093454745 + ], + [ + 16.07220564245585, + 0.16995539101652335 + ], + [ + 16.035674334105202, + 0.40705284566519895 + ], + [ + 15.890520190525981, + 0.14180313491626492 + ], + [ + 15.853988882175337, + 0.37890058956494055 + ], + [ + 15.929721925597754, + 0.14818584964691645 + ], + [ + 15.893190617247107, + 0.38528330429559204 + ] + ], + "yaw_rad": -2.9899789654682123, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.862447738647461, + 0.2820354104042053, + 0.04356679320335388 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.891917233375045, + 0.2635736568999438, + 0.06257394734806648 + ], + "intended_face_normal": [ + -0.9222680098909919, + -0.14078551376288573, + 0.3600010039302255 + ], + "commanded_contact_point": [ + 15.874579315185548, + 0.28179135186653137, + 0.03477635682116129 + ], + "centerline_face_intersection": [ + 15.879407155250739, + 0.2744444545393281, + 0.03477635682116129 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.865154266357422, + 0.2898901402950287, + 0.05629558861255646 + ], + "box_pose": [ + 15.957099914550781, + 0.29092344641685486, + 0.03771865740418434, + 0.07614341378211975, + 0.7042802572250366, + 0.6819995045661926, + -0.1818462610244751 + ], + "box_yaw_rad": -2.9901106522235303, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007346897327203302, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024356653394961656 + } + } + }, + { + "simulation_time_ns": 8680000000, + "center": [ + 15.963035932884894, + 0.27439136838221334, + 0.03477368908807103 + ], + "face_center": [ + 15.891742644511334, + 0.2634766957160983, + 0.062347998187709516 + ], + "face_normal": [ + -0.9233050383675163, + -0.14135373040940635, + 0.3571093310747244 + ], + "footprint_xy": [ + [ + 15.853973168536982, + 0.14179253042508635 + ], + [ + 16.072098697232807, + 0.14179253042508635 + ], + [ + 16.072098697232807, + 0.40699020633934035 + ], + [ + 15.853973168536982, + 0.40699020633934035 + ] + ], + "projected_box_corners": [ + [ + 16.03308901289437, + 0.16362187575731652 + ], + [ + 15.996559745284102, + 0.40072018737537646 + ], + [ + 16.072098697232807, + 0.1698918947212804 + ], + [ + 16.035569429622537, + 0.40699020633934035 + ], + [ + 15.89050243614725, + 0.14179253042508635 + ], + [ + 15.853973168536982, + 0.37889084204314627 + ], + [ + 15.929512120485686, + 0.14806254938905025 + ], + [ + 15.892982852875418, + 0.38516086100711017 + ] + ], + "yaw_rad": -2.98967682834297, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.862988471984863, + 0.2754395604133606, + 0.033396631479263306 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.891855403886545, + 0.2635432196059285, + 0.062489146283236555 + ], + "intended_face_normal": [ + -0.9226389795003485, + -0.14096647586368327, + 0.3589792700936929 + ], + "commanded_contact_point": [ + 15.877281074523927, + 0.2814705908133963, + 0.034770449255253175 + ], + "centerline_face_intersection": [ + 15.879407633298126, + 0.27442799029073195, + 0.034770449255253175 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.862447738647461, + 0.2820354104042053, + 0.04356679320335388 + ], + "box_pose": [ + 15.957063674926758, + 0.29090550541877747, + 0.037714775651693344, + 0.07574586570262909, + 0.7042033076286316, + 0.6822149157524109, + -0.18150252103805542 + ], + "box_yaw_rad": -2.9899789654682123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007042600522664366, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027207399866692322 + } + } + }, + { + "simulation_time_ns": 8700000000, + "center": [ + 15.964073096103453, + 0.27404409583979206, + 0.03496313216275166 + ], + "face_center": [ + 15.892407992096802, + 0.2626411702195912, + 0.061350490027147174 + ], + "face_normal": [ + -0.9281203478476883, + -0.14767699621449992, + 0.34173736436091495 + ], + "footprint_xy": [ + [ + 15.855018802235023, + 0.1414080343831483 + ], + [ + 16.073127389971884, + 0.1414080343831483 + ], + [ + 16.073127389971884, + 0.40668015729643586 + ], + [ + 15.855018802235023, + 0.40668015729643586 + ] + ], + "projected_box_corners": [ + [ + 16.03571850299594, + 0.16421388562355 + ], + [ + 15.998349010248328, + 0.4011802318212684 + ], + [ + 16.073127389971884, + 0.16971381109871753 + ], + [ + 16.03575789722427, + 0.40668015729643586 + ], + [ + 15.892388294982638, + 0.1414080343831483 + ], + [ + 15.855018802235023, + 0.37837438058086664 + ], + [ + 15.929797181958579, + 0.1469079598583158 + ], + [ + 15.892427689210963, + 0.3838743060560342 + ] + ], + "yaw_rad": -2.9838013371748464, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.866290092468262, + 0.2727014720439911, + 0.026209264993667603 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.891742644511334, + 0.2634766957160983, + 0.062347998187709516 + ], + "intended_face_normal": [ + -0.9233050383675163, + -0.14135373040940635, + 0.3571093310747244 + ], + "commanded_contact_point": [ + 15.880387191772462, + 0.2813920412236318, + 0.03477368908807103 + ], + "centerline_face_intersection": [ + 15.879406676352339, + 0.27439136838221334, + 0.03477368908807103 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.862988471984863, + 0.2754395604133606, + 0.033396631479263306 + ], + "box_pose": [ + 15.95699691772461, + 0.2908656895160675, + 0.03772474825382233, + 0.07501381635665894, + 0.7039997577667236, + 0.682668924331665, + -0.18088793754577637 + ], + "box_yaw_rad": -2.98967682834297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007000672841418476, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031071119864299174 + } + } + }, + { + "simulation_time_ns": 8720000000, + "center": [ + 15.968035004215022, + 0.27368063979214347, + 0.03500992772055237 + ], + "face_center": [ + 15.896389311341116, + 0.2623852760841032, + 0.061496024392267395 + ], + "face_normal": [ + -0.9278689581717074, + -0.14628398352424554, + 0.34301611079498073 + ], + "footprint_xy": [ + [ + 15.859049573696563, + 0.1410716586611438 + ], + [ + 16.07702043473348, + 0.1410716586611438 + ], + [ + 16.07702043473348, + 0.40628962092314314 + ], + [ + 15.859049573696563, + 0.40628962092314314 + ] + ], + "projected_box_corners": [ + [ + 16.03948846339787, + 0.16366238607722428 + ], + [ + 16.00234095944438, + 0.4006646249082527 + ], + [ + 16.07702043473348, + 0.16928738209211464 + ], + [ + 16.03987293077999, + 0.40628962092314314 + ], + [ + 15.896197077650054, + 0.1410716586611438 + ], + [ + 15.859049573696563, + 0.37807389749217224 + ], + [ + 15.933729048985667, + 0.14669665467603415 + ], + [ + 15.896581545032175, + 0.38369889350706265 + ] + ], + "yaw_rad": -2.985223846292893, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.867325782775879, + 0.27253878116607666, + 0.02383488416671753 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.892407992096802, + 0.2626411702195912, + 0.061350490027147174 + ], + "intended_face_normal": [ + -0.9281203478476883, + -0.14767699621449992, + 0.34173736436091495 + ], + "commanded_contact_point": [ + 15.883786087036134, + 0.2810984736330426, + 0.03496313216275166 + ], + "centerline_face_intersection": [ + 15.880877728077635, + 0.27404409583979206, + 0.03496313216275166 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.866290092468262, + 0.2727014720439911, + 0.026209264993667603 + ], + "box_pose": [ + 15.957930564880371, + 0.2904708981513977, + 0.03796499967575073, + 0.06777438521385193, + 0.7025021910667419, + 0.6859670877456665, + -0.17704953253269196 + ], + "box_yaw_rad": -2.9838013371748464, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0070543777932505145, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034168054703479864 + } + } + }, + { + "simulation_time_ns": 8740000000, + "center": [ + 15.971130502087968, + 0.2734162389685591, + 0.035239350897307904 + ], + "face_center": [ + 15.900102081848141, + 0.2622723367357078, + 0.06339929027569614 + ], + "face_normal": [ + -0.9198747844410065, + -0.14432243642281595, + 0.3646937110258497 + ], + "footprint_xy": [ + [ + 15.861402349354577, + 0.1404021823922058 + ], + [ + 16.08085865482136, + 0.1404021823922058 + ], + [ + 16.08085865482136, + 0.4064302955449124 + ], + [ + 15.861402349354577, + 0.4064302955449124 + ] + ], + "projected_box_corners": [ + [ + 16.041086453221478, + 0.1626899868579084 + ], + [ + 16.003459189834235, + 0.39961449078713795 + ], + [ + 16.08085865482136, + 0.16950579161568285 + ], + [ + 16.043231391434116, + 0.4064302955449124 + ], + [ + 15.899029612741822, + 0.1404021823922058 + ], + [ + 15.861402349354577, + 0.37732668632143535 + ], + [ + 15.938801814341703, + 0.14721798714998027 + ], + [ + 15.901174550954458, + 0.38414249107920984 + ] + ], + "yaw_rad": -2.9859677437243066, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.872446060180664, + 0.2704187333583832, + 0.02742697298526764 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.896389311341116, + 0.2623852760841032, + 0.061496024392267395 + ], + "intended_face_normal": [ + -0.9278689581717074, + -0.14628398352424554, + 0.34301611079498073 + ], + "commanded_contact_point": [ + 15.886929397583009, + 0.28078069193043664, + 0.03500992772055237 + ], + "centerline_face_intersection": [ + 15.884817095876343, + 0.27368063979214347, + 0.03500992772055237 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.867325782775879, + 0.27253878116607666, + 0.02383488416671753 + ], + "box_pose": [ + 15.96191120147705, + 0.2901177704334259, + 0.03799345716834068, + 0.06862738728523254, + 0.7028977274894714, + 0.6854701042175293, + -0.17707559466362 + ], + "box_yaw_rad": -2.985223846292893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007100052138293187, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003159679766817615 + } + } + }, + { + "simulation_time_ns": 8760000000, + "center": [ + 15.978261233087602, + 0.27196366381859194, + 0.03632232502824865 + ], + "face_center": [ + 15.908231358361085, + 0.2594937183614094, + 0.06636429438766019 + ], + "face_normal": [ + -0.9069428223375056, + -0.16149575551146444, + 0.38906750277371316 + ], + "footprint_xy": [ + [ + 15.86579220418643, + 0.13734784748491954 + ], + [ + 16.090730261988774, + 0.13734784748491954 + ], + [ + 16.090730261988774, + 0.4065794801522643 + ], + [ + 15.86579220418643, + 0.4065794801522643 + ] + ], + "projected_box_corners": [ + [ + 16.048471711575782, + 0.16228773839928468 + ], + [ + 16.00585195363946, + 0.398364104079398 + ], + [ + 16.090730261988774, + 0.170503114472151 + ], + [ + 16.048110504052453, + 0.4065794801522643 + ], + [ + 15.90841196212275, + 0.13734784748491954 + ], + [ + 15.86579220418643, + 0.3734242131650329 + ], + [ + 15.950670512535742, + 0.14556322355778586 + ], + [ + 15.90805075459942, + 0.3816395892378992 + ] + ], + "yaw_rad": -2.965373569910762, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.881219863891602, + 0.26381343603134155, + 0.03894425928592682 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.900102081848141, + 0.2622723367357078, + 0.06339929027569614 + ], + "intended_face_normal": [ + -0.9198747844410065, + -0.14432243642281595, + 0.3646937110258497 + ], + "commanded_contact_point": [ + 15.889074211120606, + 0.28063619133125933, + 0.035239350897307904 + ], + "centerline_face_intersection": [ + 15.887189388343492, + 0.2734162389685591, + 0.035239350897307904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.872446060180664, + 0.2704187333583832, + 0.02742697298526764 + ], + "box_pose": [ + 15.965038299560547, + 0.28987303376197815, + 0.03817885369062424, + 0.07633384317159653, + 0.704675018787384, + 0.6807132363319397, + -0.18502911925315857 + ], + "box_yaw_rad": -2.9859677437243066, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007219952362700224, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002161883560291205 + } + } + }, + { + "simulation_time_ns": 8780000000, + "center": [ + 15.983998092850845, + 0.2707316099316123, + 0.03596176371625296 + ], + "face_center": [ + 15.91404301159255, + 0.25660236455253027, + 0.06543807320986444 + ], + "face_normal": [ + -0.9059741871739178, + -0.1829850150617478, + 0.38174175562401125 + ], + "footprint_xy": [ + [ + 15.869391532682647, + 0.13457584896495325 + ], + [ + 16.098604653019045, + 0.13457584896495325 + ], + [ + 16.098604653019045, + 0.40688737089827137 + ], + [ + 15.869391532682647, + 0.40688737089827137 + ] + ], + "projected_box_corners": [ + [ + 16.0573396016897, + 0.1628343397231174 + ], + [ + 16.009301695199234, + 0.39786813230900575 + ], + [ + 16.098604653019045, + 0.17185357831238296 + ], + [ + 16.050566746528578, + 0.40688737089827137 + ], + [ + 15.917429439173112, + 0.13457584896495325 + ], + [ + 15.869391532682647, + 0.36960964155084164 + ], + [ + 15.958694490502456, + 0.14359508755421885 + ], + [ + 15.91065658401199, + 0.37862888014010726 + ] + ], + "yaw_rad": -2.9422978467725436, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.889313697814941, + 0.25988441705703735, + 0.0501248836517334 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.908231358361085, + 0.2594937183614094, + 0.06636429438766019 + ], + "intended_face_normal": [ + -0.9069428223375056, + -0.16149575551146444, + 0.38906750277371316 + ], + "commanded_contact_point": [ + 15.891262893676759, + 0.27950962529278217, + 0.03632232502824865 + ], + "centerline_face_intersection": [ + 15.893123215552574, + 0.27196366381859194, + 0.03632232502824865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.881219863891602, + 0.26381343603134155, + 0.03894425928592682 + ], + "box_pose": [ + 15.971901893615723, + 0.2883055508136749, + 0.039336156100034714, + 0.07820241898298264, + 0.7047799229621887, + 0.6758377552032471, + -0.20102956891059875 + ], + "box_yaw_rad": -2.965373569910762, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0075459614741902395, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002689296439394985 + } + } + }, + { + "simulation_time_ns": 8800000000, + "center": [ + 15.988688790468878, + 0.26983648108246605, + 0.035074710210139644 + ], + "face_center": [ + 15.918485366699052, + 0.25414126246668933, + 0.06313428151323172 + ], + "face_normal": [ + -0.9091904210911537, + -0.20326561948292188, + 0.3633938642699164 + ], + "footprint_xy": [ + [ + 15.872536434146253, + 0.1324634519913266 + ], + [ + 16.1048411467915, + 0.1324634519913266 + ], + [ + 16.1048411467915, + 0.40720951017360557 + ], + [ + 15.872536434146253, + 0.40720951017360557 + ] + ], + "projected_box_corners": [ + [ + 16.0657331706011, + 0.16385388922288002 + ], + [ + 16.012943281685907, + 0.39786704532720973 + ], + [ + 16.1048411467915, + 0.17319635406927586 + ], + [ + 16.052051257876307, + 0.40720951017360557 + ], + [ + 15.925326323061446, + 0.1324634519913266 + ], + [ + 15.872536434146253, + 0.3664766080956563 + ], + [ + 15.964434299251849, + 0.14180591683772242 + ], + [ + 15.911644410336656, + 0.37581907294205213 + ] + ], + "yaw_rad": -2.9216419038905617, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.895720481872559, + 0.2602486312389374, + 0.05984334647655487 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.91404301159255, + 0.25660236455253027, + 0.06543807320986444 + ], + "intended_face_normal": [ + -0.9059741871739178, + -0.1829850150617478, + 0.38174175562401125 + ], + "commanded_contact_point": [ + 15.893766288757325, + 0.27871145912078554, + 0.03596176371625296 + ], + "centerline_face_intersection": [ + 15.898769048795735, + 0.2707316099316123, + 0.03596176371625296 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.889313697814941, + 0.25988441705703735, + 0.0501248836517334 + ], + "box_pose": [ + 15.977240562438965, + 0.28691768646240234, + 0.03894979506731033, + 0.06728877127170563, + 0.7058863043785095, + 0.6743230819702148, + -0.2061188966035843 + ], + "box_yaw_rad": -2.9422978467725436, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007979849189173239, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026521803534510784 + } + } + }, + { + "simulation_time_ns": 8820000000, + "center": [ + 15.993088916398456, + 0.26974466519322304, + 0.035060447389883787 + ], + "face_center": [ + 15.923047767876417, + 0.25336827773090426, + 0.06313631566222697 + ], + "face_normal": [ + -0.9070888269957962, + -0.21208730020966682, + 0.363604923040846 + ], + "footprint_xy": [ + [ + 15.875994808569352, + 0.13175838465064385 + ], + [ + 16.11018302422756, + 0.13175838465064385 + ], + [ + 16.11018302422756, + 0.40773094573580226 + ], + [ + 15.875994808569352, + 0.40773094573580226 + ] + ], + "projected_box_corners": [ + [ + 16.07114615946024, + 0.16451115957528148 + ], + [ + 16.01607710561343, + 0.3979984637603063 + ], + [ + 16.11018302422756, + 0.17424364155077743 + ], + [ + 16.05511397038075, + 0.40773094573580226 + ], + [ + 15.931063862416163, + 0.13175838465064385 + ], + [ + 15.875994808569352, + 0.36524568883566866 + ], + [ + 15.970100727183484, + 0.14149086662613983 + ], + [ + 15.91503167333667, + 0.37497817081116464 + ] + ], + "yaw_rad": -2.911907812640624, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.900679588317871, + 0.26340100169181824, + 0.06607583165168762 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.918485366699052, + 0.25414126246668933, + 0.06313428151323172 + ], + "intended_face_normal": [ + -0.9091904210911537, + -0.20326561948292188, + 0.3633938642699164 + ], + "commanded_contact_point": [ + 15.896634941101075, + 0.2781998442653804, + 0.035074710210139644 + ], + "centerline_face_intersection": [ + 15.903761241607585, + 0.26983648108246605, + 0.035074710210139644 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.895720481872559, + 0.2602486312389374, + 0.05984334647655487 + ], + "box_pose": [ + 15.981546401977539, + 0.28586673736572266, + 0.03800707310438156, + 0.05312832444906235, + 0.706851601600647, + 0.674504280090332, + -0.20635399222373962 + ], + "box_yaw_rad": -2.9216419038905617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008363363182914385, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030459448373668075 + } + } + }, + { + "simulation_time_ns": 8840000000, + "center": [ + 15.996987913021476, + 0.27047971083425126, + 0.03538228590359059 + ], + "face_center": [ + 15.927138684270373, + 0.25425326820586974, + 0.06401774212158215 + ], + "face_normal": [ + -0.9046033126436228, + -0.2101453948240426, + 0.37085203397392075 + ], + "footprint_xy": [ + [ + 15.879842716034847, + 0.13253155329835595 + ], + [ + 16.114133110008105, + 0.13253155329835595 + ], + [ + 16.114133110008105, + 0.40842786837014655 + ], + [ + 15.879842716034847, + 0.40842786837014655 + ] + ], + "projected_box_corners": [ + [ + 16.074307756665657, + 0.164984438555119 + ], + [ + 16.019541173537057, + 0.398542587485702 + ], + [ + 16.114133110008105, + 0.17486971943956353 + ], + [ + 16.059366526879504, + 0.40842786837014655 + ], + [ + 15.93460929916345, + 0.13253155329835595 + ], + [ + 15.879842716034847, + 0.36608970222893894 + ], + [ + 15.974434652505897, + 0.1424168341828005 + ], + [ + 15.919668069377295, + 0.3759749831133835 + ] + ], + "yaw_rad": -2.913334582415455, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.90423583984375, + 0.26770687103271484, + 0.06937788426876068 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.923047767876417, + 0.25336827773090426, + 0.06313631566222697 + ], + "intended_face_normal": [ + -0.9070888269957962, + -0.21208730020966682, + 0.363604923040846 + ], + "commanded_contact_point": [ + 15.899460678100587, + 0.2783617749161936, + 0.035060447389883787 + ], + "centerline_face_intersection": [ + 15.907964602645007, + 0.26974466519322304, + 0.035060447389883787 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.900679588317871, + 0.26340100169181824, + 0.06607583165168762 + ], + "box_pose": [ + 15.985791206359863, + 0.2857047915458679, + 0.0379929281771183, + 0.04976273700594902, + 0.7071101069450378, + 0.6734535694122314, + -0.20971213281154633 + ], + "box_yaw_rad": -2.911907812640624, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008617109722970577, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00283040890228319 + } + } + }, + { + "simulation_time_ns": 8860000000, + "center": [ + 16.000001830937606, + 0.27163553308460214, + 0.03506771653592546 + ], + "face_center": [ + 15.929834142193464, + 0.25592231544576494, + 0.06320656100825985 + ], + "face_normal": [ + -0.9087276239609494, + -0.20349872121040002, + 0.36442051514040585 + ], + "footprint_xy": [ + [ + 15.883780721212952, + 0.13422193420415363 + ], + [ + 16.116222940662258, + 0.13422193420415363 + ], + [ + 16.116222940662258, + 0.4090491319650507 + ], + [ + 15.883780721212952, + 0.4090491319650507 + ] + ], + "projected_box_corners": [ + [ + 16.077014507713578, + 0.1656483694818281 + ], + [ + 16.02411609870123, + 0.39963672998562594 + ], + [ + 16.116222940662258, + 0.17506077146125287 + ], + [ + 16.06332453164991, + 0.4090491319650507 + ], + [ + 15.936679130225297, + 0.13422193420415363 + ], + [ + 15.883780721212952, + 0.36821029470795147 + ], + [ + 15.975887563173977, + 0.14363433618357838 + ], + [ + 15.922989154161632, + 0.37762269668737625 + ] + ], + "yaw_rad": -2.921289189610715, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.906097412109375, + 0.27298504114151, + 0.06945592164993286 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.927138684270373, + 0.25425326820586974, + 0.06401774212158215 + ], + "intended_face_normal": [ + -0.9046033126436228, + -0.2101453948240426, + 0.37085203397392075 + ], + "commanded_contact_point": [ + 15.90197551727295, + 0.2792077341492833, + 0.03538228590359059 + ], + "centerline_face_intersection": [ + 15.911629709229603, + 0.27047971083425126, + 0.03538228590359059 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.90423583984375, + 0.26770687103271484, + 0.06937788426876068 + ], + "box_pose": [ + 15.989733695983887, + 0.2864554226398468, + 0.038337718695402145, + 0.05298074334859848, + 0.7069534063339233, + 0.672694981098175, + -0.2118755429983139 + ], + "box_yaw_rad": -2.913334582415455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008728023315032033, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002672759457154252 + } + } + }, + { + "simulation_time_ns": 8880000000, + "center": [ + 16.001769407620706, + 0.27261441295492117, + 0.03500898734339242 + ], + "face_center": [ + 15.931430643587417, + 0.25756387492899574, + 0.06308286179311265 + ], + "face_normal": [ + -0.9109431856220027, + -0.19491649082962503, + 0.36357910144507777 + ], + "footprint_xy": [ + [ + 15.886502838324121, + 0.1358273699148096 + ], + [ + 16.11703597691729, + 0.1358273699148096 + ], + [ + 16.11703597691729, + 0.40940145599503275 + ], + [ + 15.886502838324121, + 0.40940145599503275 + ] + ], + "projected_box_corners": [ + [ + 16.07782353791034, + 0.16592844596666043 + ], + [ + 16.0271803663907, + 0.4004155975856166 + ], + [ + 16.11703597691729, + 0.17491430437607652 + ], + [ + 16.066392805397648, + 0.40940145599503275 + ], + [ + 15.937146009843763, + 0.1358273699148096 + ], + [ + 15.886502838324121, + 0.3703145215337658 + ], + [ + 15.976358448850712, + 0.1448132283242257 + ], + [ + 15.92571527733107, + 0.3793003799431819 + ] + ], + "yaw_rad": -2.9307991178554857, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.906695365905762, + 0.2797837555408478, + 0.06817597150802612 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.929834142193464, + 0.25592231544576494, + 0.06320656100825985 + ], + "intended_face_normal": [ + -0.9087276239609494, + -0.20349872121040002, + 0.36442051514040585 + ], + "commanded_contact_point": [ + 15.904320602416993, + 0.28030957607735785, + 0.03506771653592546 + ], + "centerline_face_intersection": [ + 15.915031030143775, + 0.27163553308460214, + 0.03506771653592546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.906097412109375, + 0.27298504114151, + 0.06945592164993286 + ], + "box_pose": [ + 15.992855072021484, + 0.287663996219635, + 0.03799924999475479, + 0.05336117371916771, + 0.7069290280342102, + 0.6742515563964844, + -0.2068544328212738 + ], + "box_yaw_rad": -2.921289189610715, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008674042992755718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026100639559879218 + } + } + }, + { + "simulation_time_ns": 8900000000, + "center": [ + 16.00223728318446, + 0.27290526629487016, + 0.03497420242772982 + ], + "face_center": [ + 15.93183438344366, + 0.2580725914800919, + 0.06300324887044047 + ], + "face_normal": [ + -0.911773794270232, + -0.19209498820131188, + 0.3629985429426412 + ], + "footprint_xy": [ + [ + 15.887298605806762, + 0.1363326269924784 + ], + [ + 16.117175960562157, + 0.1363326269924784 + ], + [ + 16.117175960562157, + 0.4094779055972619 + ], + [ + 15.887298605806762, + 0.4094779055972619 + ] + ], + "projected_box_corners": [ + [ + 16.077994466348187, + 0.16599797662203494 + ], + [ + 16.02810440528836, + 0.40064670942954156 + ], + [ + 16.117175960562157, + 0.1748291727897553 + ], + [ + 16.06728589950233, + 0.4094779055972619 + ], + [ + 15.93718866686659, + 0.1363326269924784 + ], + [ + 15.887298605806762, + 0.37098135979998503 + ], + [ + 15.976370161080558, + 0.14516382316019874 + ], + [ + 15.926480100020731, + 0.37981255596770536 + ] + ], + "yaw_rad": -2.9339466600511055, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.905998229980469, + 0.285314679145813, + 0.06640227138996124 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.931430643587417, + 0.25756387492899574, + 0.06308286179311265 + ], + "intended_face_normal": [ + -0.9109431856220027, + -0.19491649082962503, + 0.36357910144507777 + ], + "commanded_contact_point": [ + 15.906512145996095, + 0.2810016822442398, + 0.03500898734339242 + ], + "centerline_face_intersection": [ + 15.917005269604005, + 0.27261441295492117, + 0.03500898734339242 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.906695365905762, + 0.2797837555408478, + 0.06817597150802612 + ], + "box_pose": [ + 15.99477481842041, + 0.28870952129364014, + 0.03794239088892937, + 0.05643625557422638, + 0.7065878510475159, + 0.67542964220047, + -0.20333045721054077 + ], + "box_yaw_rad": -2.9307991178554857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008387269289318653, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022989831063739757 + } + } + }, + { + "simulation_time_ns": 8920000000, + "center": [ + 16.002194650013013, + 0.2728816498706051, + 0.03493151758858865 + ], + "face_center": [ + 15.931755676163768, + 0.25802768922553254, + 0.06285855018501851 + ], + "face_normal": [ + -0.9122409827930653, + -0.1923706567081922, + 0.36167738213770306 + ], + "footprint_xy": [ + [ + 15.887285505841021, + 0.13632433930264465 + ], + [ + 16.117103794185006, + 0.13632433930264465 + ], + [ + 16.117103794185006, + 0.4094389604385655 + ], + [ + 15.887285505841021, + 0.4094389604385655 + ] + ], + "projected_box_corners": [ + [ + 16.078056270505645, + 0.16603226059278972 + ], + [ + 16.028163453539513, + 0.40068093307936015 + ], + [ + 16.117103794185006, + 0.17479028795199505 + ], + [ + 16.06721097721887, + 0.4094389604385655 + ], + [ + 15.937178322807155, + 0.13632433930264465 + ], + [ + 15.887285505841021, + 0.3709730117892151 + ], + [ + 15.976225846486514, + 0.14508236666184998 + ], + [ + 15.92633302952038, + 0.37973103914842044 + ] + ], + "yaw_rad": -2.933760634122282, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.90506649017334, + 0.28645583987236023, + 0.06324559450149536 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.93183438344366, + 0.2580725914800919, + 0.06300324887044047 + ], + "intended_face_normal": [ + -0.911773794270232, + -0.19209498820131188, + 0.3629985429426412 + ], + "commanded_contact_point": [ + 15.90838706970215, + 0.2807961590701511, + 0.03497420242772982 + ], + "centerline_face_intersection": [ + 15.917550363691188, + 0.27290526629487016, + 0.03497420242772982 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905998229980469, + 0.285314679145813, + 0.06640227138996124 + ], + "box_pose": [ + 15.995292663574219, + 0.28902190923690796, + 0.037908099591732025, + 0.0573459267616272, + 0.7064603567123413, + 0.6758702993392944, + -0.20205077528953552 + ], + "box_yaw_rad": -2.9339466600511055, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00789089277528094, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018864751970198294 + } + } + }, + { + "simulation_time_ns": 8940000000, + "center": [ + 16.00213518512495, + 0.2728438294171353, + 0.034902360324984325 + ], + "face_center": [ + 15.931646357502094, + 0.25795766465532316, + 0.06268605644644808 + ], + "face_normal": [ + -0.9128866289879127, + -0.19278772574681025, + 0.3598210602799625 + ], + "footprint_xy": [ + [ + 15.887268801453994, + 0.13631255416297275 + ], + [ + 16.117001568795907, + 0.13631255416297275 + ], + [ + 16.117001568795907, + 0.4093751046712979 + ], + [ + 15.887268801453994, + 0.4093751046712979 + ] + ], + "projected_box_corners": [ + [ + 16.07813921494944, + 0.16608488368659707 + ], + [ + 16.028246456699705, + 0.4007342659526664 + ], + [ + 16.117001568795907, + 0.17472572240522852 + ], + [ + 16.067108810546173, + 0.4093751046712979 + ], + [ + 15.937161559703728, + 0.13631255416297275 + ], + [ + 15.887268801453994, + 0.37096193642904207 + ], + [ + 15.976023913550195, + 0.1449533928816042 + ], + [ + 15.926131155300462, + 0.37960277514767354 + ] + ], + "yaw_rad": -2.9334660300631623, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.905169486999512, + 0.28312772512435913, + 0.0605379194021225 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.931755676163768, + 0.25802768922553254, + 0.06285855018501851 + ], + "intended_face_normal": [ + -0.9122409827930653, + -0.1923706567081922, + 0.36167738213770306 + ], + "commanded_contact_point": [ + 15.90998447418213, + 0.2802295750458158, + 0.03493151758858865 + ], + "centerline_face_intersection": [ + 15.917551101468392, + 0.2728816498706051, + 0.03493151758858865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.90506649017334, + 0.28645583987236023, + 0.06324559450149536 + ], + "box_pose": [ + 15.995245933532715, + 0.2889960706233978, + 0.03786793723702431, + 0.05682875216007233, + 0.7063498497009277, + 0.6761585474014282, + -0.20161885023117065 + ], + "box_yaw_rad": -2.933760634122282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007347925175210735, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016954469985187254 + } + } + }, + { + "simulation_time_ns": 8960000000, + "center": [ + 16.002051687725256, + 0.2727844365082437, + 0.03488722503275745 + ], + "face_center": [ + 15.931491185040615, + 0.2578514050296947, + 0.06246299293656095 + ], + "face_normal": [ + -0.9138148782969466, + -0.19339468716887387, + 0.3571282237540534 + ], + "footprint_xy": [ + [ + 15.887250882584881, + 0.1362969001438615 + ], + [ + 16.11685249286563, + 0.1362969001438615 + ], + [ + 16.11685249286563, + 0.40927197287262584 + ], + [ + 15.887250882584881, + 0.40927197287262584 + ] + ], + "projected_box_corners": [ + [ + 16.07825574801686, + 0.1661629631009594 + ], + [ + 16.028371887954165, + 0.4008150732468729 + ], + [ + 16.11685249286563, + 0.1746198627267124 + ], + [ + 16.066968632802933, + 0.40927197287262584 + ], + [ + 15.93713474264758, + 0.1362969001438615 + ], + [ + 15.887250882584881, + 0.370949010289775 + ], + [ + 15.975731487496347, + 0.14475379976961453 + ], + [ + 15.92584762743365, + 0.379405909915528 + ] + ], + "yaw_rad": -2.9330355829425745, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.906986236572266, + 0.2762424647808075, + 0.06016276776790619 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.931646357502094, + 0.25795766465532316, + 0.06268605644644808 + ], + "intended_face_normal": [ + -0.9128866289879127, + -0.19278772574681025, + 0.3598210602799625 + ], + "commanded_contact_point": [ + 15.911453132629395, + 0.2797803987640571, + 0.034902360324984325 + ], + "centerline_face_intersection": [ + 15.91755150139081, + 0.2728438294171353, + 0.034902360324984325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905169486999512, + 0.28312772512435913, + 0.0605379194021225 + ], + "box_pose": [ + 15.9951810836792, + 0.28895485401153564, + 0.03784465417265892, + 0.05610499531030655, + 0.7061455845832825, + 0.6766104698181152, + -0.20101988315582275 + ], + "box_yaw_rad": -2.9334660300631623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006936569346921782, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015360882503424602 + } + } + }, + { + "simulation_time_ns": 8980000000, + "center": [ + 16.004089789284176, + 0.2714618517418609, + 0.034945909228192476 + ], + "face_center": [ + 15.933312289933776, + 0.25571606286380755, + 0.06149442655905149 + ], + "face_normal": [ + -0.9166251584702323, + -0.20392054477837052, + 0.34382450819676524 + ], + "footprint_xy": [ + [ + 15.888815444649516, + 0.13468695081732504 + ], + [ + 16.119364133918836, + 0.13468695081732504 + ], + [ + 16.119364133918836, + 0.40823675266639675 + ], + [ + 15.888815444649516, + 0.40823675266639675 + ] + ], + "projected_box_corners": [ + [ + 16.08213338106155, + 0.16617852857343168 + ], + [ + 16.030370443350318, + 0.40042219965784853 + ], + [ + 16.119364133918836, + 0.1739930815819799 + ], + [ + 16.067601196207605, + 0.40823675266639675 + ], + [ + 15.940578382360746, + 0.13468695081732504 + ], + [ + 15.888815444649516, + 0.36893062190174186 + ], + [ + 15.977809135218035, + 0.14250150382587326 + ], + [ + 15.926046197506803, + 0.3767451749102901 + ] + ], + "yaw_rad": -2.922688698341146, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.90958309173584, + 0.2674354016780853, + 0.05377969145774841 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.931491185040615, + 0.2578514050296947, + 0.06246299293656095 + ], + "intended_face_normal": [ + -0.9138148782969466, + -0.19339468716887387, + 0.3571282237540534 + ], + "commanded_contact_point": [ + 15.912705307006837, + 0.2795826847242629, + 0.03488722503275745 + ], + "centerline_face_intersection": [ + 15.917553923741218, + 0.2727844365082437, + 0.03488722503275745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.906986236572266, + 0.2762424647808075, + 0.06016276776790619 + ], + "box_pose": [ + 15.99509048461914, + 0.28889045119285583, + 0.03784012049436569, + 0.05506682023406029, + 0.7058038115501404, + 0.6773096919059753, + -0.200150266289711 + ], + "box_yaw_rad": -2.9330355829425745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00679824821601923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012677778157560978 + } + } + }, + { + "simulation_time_ns": 9000000000, + "center": [ + 16.006958378268404, + 0.26982514279523895, + 0.03489422928461792 + ], + "face_center": [ + 15.936307789510819, + 0.2535684817559962, + 0.061472789935715366 + ], + "face_normal": [ + -0.9149815649084871, + -0.210536747385218, + 0.3442135931945014 + ], + "footprint_xy": [ + [ + 15.890967550451412, + 0.1325872447429933 + ], + [ + 16.122949206085398, + 0.1325872447429933 + ], + [ + 16.122949206085398, + 0.4070630408474846 + ], + [ + 15.890967550451412, + 0.4070630408474846 + ] + ], + "projected_box_corners": [ + [ + 16.085735953372193, + 0.16510056682147878 + ], + [ + 16.03226872796659, + 0.39896113913118536 + ], + [ + 16.122949206085398, + 0.17320246853777804 + ], + [ + 16.069481980679793, + 0.4070630408474846 + ], + [ + 15.944434775857019, + 0.1325872447429933 + ], + [ + 15.890967550451412, + 0.3664478170526999 + ], + [ + 15.981648028570223, + 0.1406891464592926 + ], + [ + 15.928180803164619, + 0.3745497187689992 + ] + ], + "yaw_rad": -2.9154298219772774, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.912540435791016, + 0.25869646668434143, + 0.047967150807380676 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.933312289933776, + 0.25571606286380755, + 0.06149442655905149 + ], + "intended_face_normal": [ + -0.9166251584702323, + -0.20392054477837052, + 0.34382450819676524 + ], + "commanded_contact_point": [ + 15.914372329711915, + 0.27842115796043115, + 0.034945909228192476 + ], + "centerline_face_intersection": [ + 15.919851086911764, + 0.2714618517418609, + 0.034945909228192476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.90958309173584, + 0.2674354016780853, + 0.05377969145774841 + ], + "box_pose": [ + 15.996962547302246, + 0.2874842584133148, + 0.037957001477479935, + 0.047074709087610245, + 0.7041625380516052, + 0.6800497770309448, + -0.19867445528507233 + ], + "box_yaw_rad": -2.922688698341146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006959306218570252, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002032622187504921 + } + } + }, + { + "simulation_time_ns": 9020000000, + "center": [ + 16.01024855314373, + 0.26840461236055413, + 0.034854604404289176 + ], + "face_center": [ + 15.939788831504025, + 0.25150437890948213, + 0.061538132864503256 + ], + "face_normal": [ + -0.9125096832542638, + -0.21887152424784162, + 0.34557301017799036 + ], + "footprint_xy": [ + [ + 15.89331751843148, + 0.13055861610666192 + ], + [ + 16.127179587855977, + 0.13055861610666192 + ], + [ + 16.127179587855977, + 0.40625060861444634 + ], + [ + 15.89331751843148, + 0.40625060861444634 + ] + ], + "projected_box_corners": [ + [ + 16.089912223860726, + 0.16435908300880592 + ], + [ + 16.034236961710892, + 0.3977043014500332 + ], + [ + 16.127179587855977, + 0.17290539017321907 + ], + [ + 16.07150432570614, + 0.40625060861444634 + ], + [ + 15.948992780581317, + 0.13055861610666192 + ], + [ + 15.89331751843148, + 0.3639038345478892 + ], + [ + 15.986260144576567, + 0.13910492327107504 + ], + [ + 15.930584882426732, + 0.37245014171230234 + ] + ], + "yaw_rad": -2.9061832111765393, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.916056632995605, + 0.2549973726272583, + 0.047222450375556946 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.936307789510819, + 0.2535684817559962, + 0.061472789935715366 + ], + "intended_face_normal": [ + -0.9149815649084871, + -0.210536747385218, + 0.3442135931945014 + ], + "commanded_contact_point": [ + 15.916903381347657, + 0.2772295960582451, + 0.03489422928461792 + ], + "centerline_face_intersection": [ + 15.922568356793862, + 0.26982514279523895, + 0.03489422928461792 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.912540435791016, + 0.25869646668434143, + 0.047967150807380676 + ], + "box_pose": [ + 15.999715805053711, + 0.2857956886291504, + 0.03790562227368355, + 0.044658102095127106, + 0.7043436765670776, + 0.6792575120925903, + -0.2012830525636673 + ], + "box_yaw_rad": -2.9154298219772774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007404453263006153, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027979837322797863 + } + } + }, + { + "simulation_time_ns": 9040000000, + "center": [ + 16.013457910548297, + 0.26809816146475207, + 0.03490759050795762 + ], + "face_center": [ + 15.943453951808815, + 0.25144993185845005, + 0.06291630839562987 + ], + "face_normal": [ + -0.9066071896019494, + -0.21560787314025198, + 0.36273527191506094 + ], + "footprint_xy": [ + [ + 15.896062441114196, + 0.12993906368508676 + ], + [ + 16.130853379982394, + 0.12993906368508676 + ], + [ + 16.130853379982394, + 0.4062572592444174 + ], + [ + 15.896062441114196, + 0.4062572592444174 + ] + ], + "projected_box_corners": [ + [ + 16.091913485549952, + 0.1632355228976909 + ], + [ + 16.036070358593157, + 0.3965402486414287 + ], + [ + 16.130853379982394, + 0.17295253350067957 + ], + [ + 16.0750102530256, + 0.4062572592444174 + ], + [ + 15.951905568070991, + 0.12993906368508676 + ], + [ + 15.896062441114196, + 0.3632437894288246 + ], + [ + 15.990845462503431, + 0.13965607428807547 + ], + [ + 15.935002335546637, + 0.3729608000318133 + ] + ], + "yaw_rad": -2.9081114733607976, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.919550895690918, + 0.2566944658756256, + 0.051105186343193054 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.939788831504025, + 0.25150437890948213, + 0.061538132864503256 + ], + "intended_face_normal": [ + -0.9125096832542638, + -0.21887152424784162, + 0.34557301017799036 + ], + "commanded_contact_point": [ + 15.919865493774415, + 0.2763453552128921, + 0.034854604404289176 + ], + "centerline_face_intersection": [ + 15.92562992900369, + 0.26840461236055413, + 0.034854604404289176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.916056632995605, + 0.2549973726272583, + 0.047222450375556946 + ], + "box_pose": [ + 16.002859115600586, + 0.28430864214897156, + 0.03786120563745499, + 0.041851017624139786, + 0.7047195434570312, + 0.6779566407203674, + -0.2049231231212616 + ], + "box_yaw_rad": -2.9061832111765393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007940742852337987, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003091530694087428 + } + } + }, + { + "simulation_time_ns": 9060000000, + "center": [ + 16.0161660189818, + 0.2687837356234696, + 0.03520423358138289 + ], + "face_center": [ + 15.946269245419215, + 0.2524867566863881, + 0.06368324165896483 + ], + "face_normal": [ + -0.9052190559343174, + -0.2110588963709099, + 0.36882590557419626 + ], + "footprint_xy": [ + [ + 15.899026260620364, + 0.13084304885452389 + ], + [ + 16.133305777343235, + 0.13084304885452389 + ], + [ + 16.133305777343235, + 0.40672442239241524 + ], + [ + 15.899026260620364, + 0.40672442239241524 + ] + ], + "projected_box_corners": [ + [ + 16.09367930137555, + 0.16343700672868683 + ], + [ + 16.038819807745533, + 0.39697453597449733 + ], + [ + 16.133305777343235, + 0.17318689314660474 + ], + [ + 16.078446283713216, + 0.40672442239241524 + ], + [ + 15.953885754250381, + 0.13084304885452389 + ], + [ + 15.899026260620364, + 0.3643805781003344 + ], + [ + 15.993512230218066, + 0.1405929352724418 + ], + [ + 15.938652736588049, + 0.3741304645182523 + ] + ], + "yaw_rad": -2.9125271833651203, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.922447204589844, + 0.25987720489501953, + 0.054398313164711 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.943453951808815, + 0.25144993185845005, + 0.06291630839562987 + ], + "intended_face_normal": [ + -0.9066071896019494, + -0.21560787314025198, + 0.36273527191506094 + ], + "commanded_contact_point": [ + 15.922719841003419, + 0.2764950521406551, + 0.03490759050795762 + ], + "centerline_face_intersection": [ + 15.928288374284923, + 0.26809816146475207, + 0.03490759050795762 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.919550895690918, + 0.2566944658756256, + 0.051105186343193054 + ], + "box_pose": [ + 16.006105422973633, + 0.28402984142303467, + 0.03785788267850876, + 0.04823038727045059, + 0.7067841291427612, + 0.6736169457435608, + -0.21064257621765137 + ], + "box_yaw_rad": -2.9081114733607976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008396890675903046, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028587610605095917 + } + } + }, + { + "simulation_time_ns": 9080000000, + "center": [ + 16.018940970103106, + 0.2699833543059289, + 0.03495989749162376 + ], + "face_center": [ + 15.948709520111503, + 0.2544516369467226, + 0.06304038596915104 + ], + "face_normal": [ + -0.9095533830524118, + -0.2011481475944059, + 0.3636647583889143 + ], + "footprint_xy": [ + [ + 15.90302579229192, + 0.13278575800181708 + ], + [ + 16.13485614791429, + 0.13278575800181708 + ], + [ + 16.13485614791429, + 0.4071809506100408 + ], + [ + 15.90302579229192, + 0.4071809506100408 + ] + ], + "projected_box_corners": [ + [ + 16.095680754766327, + 0.16384919272022969 + ], + [ + 16.043488692275126, + 0.39799718880670165 + ], + [ + 16.13485614791429, + 0.17303295452356882 + ], + [ + 16.082664085423087, + 0.4071809506100408 + ], + [ + 15.955217854783124, + 0.13278575800181708 + ], + [ + 15.90302579229192, + 0.36693375408828904 + ], + [ + 15.994393247931086, + 0.1419695198051562 + ], + [ + 15.942201185439881, + 0.3761175158916281 + ] + ], + "yaw_rad": -2.923945267100361, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.925212860107422, + 0.26279038190841675, + 0.05497920513153076 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.946269245419215, + 0.2524867566863881, + 0.06368324165896483 + ], + "intended_face_normal": [ + -0.9052190559343174, + -0.2110588963709099, + 0.36882590557419626 + ], + "commanded_contact_point": [ + 15.925336723327638, + 0.27753688752851063, + 0.03520423358138289 + ], + "centerline_face_intersection": [ + 15.930865877093225, + 0.2687837356234696, + 0.03520423358138289 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.922447204589844, + 0.25987720489501953, + 0.054398313164711 + ], + "box_pose": [ + 16.008899688720703, + 0.28475213050842285, + 0.03816944733262062, + 0.05204298719763756, + 0.7066686749458313, + 0.6732227802276611, + -0.21138113737106323 + ], + "box_yaw_rad": -2.9125271833651203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008753151905041048, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028322237177186 + } + } + }, + { + "simulation_time_ns": 9100000000, + "center": [ + 16.023108372359495, + 0.2713730044962602, + 0.0348794351111332 + ], + "face_center": [ + 15.952601513238424, + 0.25691793031420157, + 0.06284439603185352 + ], + "face_normal": [ + -0.9131201512945566, + -0.1872047583545129, + 0.36216858423699083 + ], + "footprint_xy": [ + [ + 15.908761735523345, + 0.13521242245025314 + ], + [ + 16.13745500919564, + 0.13521242245025314 + ], + [ + 16.13745500919564, + 0.40753358654226723 + ], + [ + 15.908761735523345, + 0.40753358654226723 + ] + ], + "projected_box_corners": [ + [ + 16.09828983712579, + 0.16412257081437034 + ], + [ + 16.049775453765484, + 0.39906072318419733 + ], + [ + 16.13745500919564, + 0.17259543417244022 + ], + [ + 16.088940625835335, + 0.40753358654226723 + ], + [ + 15.957276118883652, + 0.13521242245025314 + ], + [ + 15.908761735523345, + 0.3701505748200801 + ], + [ + 15.996441290953504, + 0.143685285808323 + ], + [ + 15.947926907593196, + 0.37862343817815 + ] + ], + "yaw_rad": -2.939378158246808, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.9293794631958, + 0.2652161717414856, + 0.0549955815076828 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.948709520111503, + 0.2544516369467226, + 0.06304038596915104 + ], + "intended_face_normal": [ + -0.9095533830524118, + -0.2011481475944059, + 0.3636647583889143 + ], + "commanded_contact_point": [ + 15.927683715820313, + 0.2790242251068704, + 0.03495989749162376 + ], + "centerline_face_intersection": [ + 15.934047312017523, + 0.2699833543059289, + 0.03495989749162376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.925212860107422, + 0.26279038190841675, + 0.05497920513153076 + ], + "box_pose": [ + 16.0118408203125, + 0.2860301434993744, + 0.03790440410375595, + 0.054116033017635345, + 0.7065474987030029, + 0.674957275390625, + -0.20565690100193024 + ], + "box_yaw_rad": -2.923945267100361, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009040870800941535, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027893094051102325 + } + } + }, + { + "simulation_time_ns": 9120000000, + "center": [ + 16.0286708155783, + 0.27294518136098433, + 0.034907303888004476 + ], + "face_center": [ + 15.957898888539072, + 0.25995082637824574, + 0.06291957858902891 + ], + "face_normal": [ + -0.9165529925890183, + -0.1682872778014275, + 0.3627813354893963 + ], + "footprint_xy": [ + [ + 15.916362902775571, + 0.13815810229461817 + ], + [ + 16.140978728381032, + 0.13815810229461817 + ], + [ + 16.140978728381032, + 0.4077322604273505 + ], + [ + 15.916362902775571, + 0.4077322604273505 + ] + ], + "projected_box_corners": [ + [ + 16.10158508588157, + 0.16414681226009536 + ], + [ + 16.05790675685403, + 0.4000317355630655 + ], + [ + 16.140978728381032, + 0.17184733712438038 + ], + [ + 16.09730039935349, + 0.4077322604273505 + ], + [ + 15.960041231803114, + 0.13815810229461817 + ], + [ + 15.916362902775571, + 0.3740430255975883 + ], + [ + 15.999434874302574, + 0.1458586271589032 + ], + [ + 15.955756545275031, + 0.3817435504618733 + ] + ], + "yaw_rad": -2.96000629593039, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.934988975524902, + 0.2681431770324707, + 0.05548979341983795 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.952601513238424, + 0.25691793031420157, + 0.06284439603185352 + ], + "intended_face_normal": [ + -0.9131201512945566, + -0.1872047583545129, + 0.36216858423699083 + ], + "commanded_contact_point": [ + 15.929710273742677, + 0.2806601486073927, + 0.0348794351111332 + ], + "centerline_face_intersection": [ + 15.938546320145482, + 0.2713730044962602, + 0.0348794351111332 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.9293794631958, + 0.2652161717414856, + 0.0549955815076828 + ], + "box_pose": [ + 16.01625633239746, + 0.28752636909484863, + 0.037829022854566574, + 0.059068404138088226, + 0.7059323787689209, + 0.676919162273407, + -0.19987715780735016 + ], + "box_yaw_rad": -2.939378158246808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009287144111132517, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026056970098092057 + } + } + }, + { + "simulation_time_ns": 9140000000, + "center": [ + 16.03377731617887, + 0.2745084685095494, + 0.03487083891543601 + ], + "face_center": [ + 15.962724989600193, + 0.2630102931152078, + 0.06282733949651437 + ], + "face_normal": [ + -0.9201843906271066, + -0.14891055688162425, + 0.3620590160799324 + ], + "footprint_xy": [ + [ + 15.923656040197969, + 0.14121284267505677 + ], + [ + 16.143898592159772, + 0.14121284267505677 + ], + [ + 16.143898592159772, + 0.4078040943440421 + ], + [ + 15.923656040197969, + 0.4078040943440421 + ] + ], + "projected_box_corners": [ + [ + 16.104427138627408, + 0.16420919346374008 + ], + [ + 16.065760693355323, + 0.40096743048230743 + ], + [ + 16.143898592159772, + 0.17104585732547473 + ], + [ + 16.10523214688769, + 0.4078040943440421 + ], + [ + 15.962322485470054, + 0.14121284267505677 + ], + [ + 15.923656040197969, + 0.37797107969362415 + ], + [ + 16.001793939002418, + 0.14804950653679141 + ], + [ + 15.963127493730335, + 0.38480774355535874 + ] + ], + "yaw_rad": -2.981156634353803, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.939966201782227, + 0.27131620049476624, + 0.054997652769088745 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.957898888539072, + 0.25995082637824574, + 0.06291957858902891 + ], + "intended_face_normal": [ + -0.9165529925890183, + -0.1682872778014275, + 0.3627813354893963 + ], + "commanded_contact_point": [ + 15.931267623901368, + 0.2824244056452574, + 0.034907303888004476 + ], + "centerline_face_intersection": [ + 15.944425480572276, + 0.27294518136098433, + 0.034907303888004476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.934988975524902, + 0.2681431770324707, + 0.05548979341983795 + ], + "box_pose": [ + 16.022153854370117, + 0.2892368733882904, + 0.03785547614097595, + 0.06655487418174744, + 0.7053417563438416, + 0.6788000464439392, + -0.19311662018299103 + ], + "box_yaw_rad": -2.96000629593039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009479224284273063, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023534483383230624 + } + } + }, + { + "simulation_time_ns": 9160000000, + "center": [ + 16.036965177769645, + 0.27536339974144347, + 0.03483855377373416 + ], + "face_center": [ + 15.965741605875289, + 0.26484458117394477, + 0.06274482603661202 + ], + "face_normal": [ + -0.9224021542675729, + -0.1362271035971343, + 0.36140851923343753 + ], + "footprint_xy": [ + [ + 15.928304755595931, + 0.1430765203745325 + ], + [ + 16.14562559994336, + 0.1430765203745325 + ], + [ + 16.14562559994336, + 0.4076502791083545 + ], + [ + 15.928304755595931, + 0.4076502791083545 + ] + ], + "projected_box_corners": [ + [ + 16.106132320204257, + 0.16411415750952993 + ], + [ + 16.070751899384646, + 0.4013857698679386 + ], + [ + 16.14562559994336, + 0.1703786667499458 + ], + [ + 16.110245179123748, + 0.4076502791083545 + ], + [ + 15.963685176415543, + 0.1430765203745325 + ], + [ + 15.928304755595931, + 0.38034813273294116 + ], + [ + 16.003178456154647, + 0.1493410296149484 + ], + [ + 15.967798035335035, + 0.3866126419733571 + ] + ], + "yaw_rad": -2.9949652579040573, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.94290542602539, + 0.273433119058609, + 0.053651317954063416 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.962724989600193, + 0.2630102931152078, + 0.06282733949651437 + ], + "intended_face_normal": [ + -0.9201843906271066, + -0.14891055688162425, + 0.3620590160799324 + ], + "commanded_contact_point": [ + 15.9324959564209, + 0.2841153835144138, + 0.03487083891543601 + ], + "centerline_face_intersection": [ + 15.949864445347824, + 0.2745084685095494, + 0.03487083891543601 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.939966201782227, + 0.27131620049476624, + 0.054997652769088745 + ], + "box_pose": [ + 16.027605056762695, + 0.29093390703201294, + 0.03781870752573013, + 0.07375198602676392, + 0.7045767903327942, + 0.6809285879135132, + -0.1856570839881897 + ], + "box_yaw_rad": -2.981156634353803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00960691500486439, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020903436623529426 + } + } + }, + { + "simulation_time_ns": 9180000000, + "center": [ + 16.03882933977648, + 0.27554062093767967, + 0.034777141036765276 + ], + "face_center": [ + 15.967513662170358, + 0.26539430818002313, + 0.062585990082902 + ], + "face_normal": [ + -0.9235949968152255, + -0.13140285577668998, + 0.3601468107483452 + ], + "footprint_xy": [ + [ + 15.93077804336558, + 0.14367430793892044 + ], + [ + 16.146880636187376, + 0.14367430793892044 + ], + [ + 16.146880636187376, + 0.40740693393643895 + ], + [ + 15.93077804336558, + 0.40740693393643895 + ] + ], + "projected_box_corners": [ + [ + 16.10748451422565, + 0.1639669334542335 + ], + [ + 16.073409398577823, + 0.40142994971771606 + ], + [ + 16.146880636187376, + 0.16994391767295633 + ], + [ + 16.112805520539553, + 0.40740693393643895 + ], + [ + 15.964853159013407, + 0.14367430793892044 + ], + [ + 15.93077804336558, + 0.38113732420240304 + ], + [ + 16.004249280975134, + 0.14965129215764328 + ], + [ + 15.97017416532731, + 0.3871143084211259 + ] + ], + "yaw_rad": -3.000267867180484, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.944646835327148, + 0.2739439904689789, + 0.05298098921775818 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.965741605875289, + 0.26484458117394477, + 0.06274482603661202 + ], + "intended_face_normal": [ + -0.9224021542675729, + -0.1362271035971343, + 0.36140851923343753 + ], + "commanded_contact_point": [ + 15.933730010986329, + 0.28504752597362126, + 0.03483855377373416 + ], + "centerline_face_intersection": [ + 15.953254061577868, + 0.27536339974144347, + 0.03483855377373416 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.94290542602539, + 0.273433119058609, + 0.053651317954063416 + ], + "box_pose": [ + 16.03101921081543, + 0.2918721139431, + 0.037786345928907394, + 0.07838335633277893, + 0.7040285468101501, + 0.6823084950447083, + -0.18070663511753082 + ], + "box_yaw_rad": -2.9949652579040573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00968412623217777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015468750967967395 + } + } + }, + { + "simulation_time_ns": 9200000000, + "center": [ + 16.039120444648, + 0.27551931924587036, + 0.034764609918570256 + ], + "face_center": [ + 15.96780053732687, + 0.265397177666513, + 0.06257138052124948 + ], + "face_normal": [ + -0.923649775003561, + -0.1310898197081336, + 0.3601198932451686 + ], + "footprint_xy": [ + [ + 15.931100240858939, + 0.1436705834126193 + ], + [ + 16.14714064843706, + 0.1436705834126193 + ], + [ + 16.14714064843706, + 0.4073680550791214 + ], + [ + 15.931100240858939, + 0.4073680550791214 + ] + ], + "projected_box_corners": [ + [ + 16.107747949502922, + 0.163914866571334 + ], + [ + 16.073740055501197, + 0.40138738098951676 + ], + [ + 16.14714064843706, + 0.16989554066093865 + ], + [ + 16.113132754435334, + 0.4073680550791214 + ], + [ + 15.965108134860662, + 0.1436705834126193 + ], + [ + 15.931100240858939, + 0.3811430978308021 + ], + [ + 16.0045008337948, + 0.14965125750222394 + ], + [ + 15.970492939793077, + 0.3871237719204067 + ] + ], + "yaw_rad": -3.000608341984594, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.943297386169434, + 0.27476850152015686, + 0.05165362358093262 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.967513662170358, + 0.26539430818002313, + 0.062585990082902 + ], + "intended_face_normal": [ + -0.9235949968152255, + -0.13140285577668998, + 0.3601468107483452 + ], + "commanded_contact_point": [ + 15.935082321166993, + 0.2852886123886055, + 0.034777141036765276 + ], + "centerline_face_intersection": [ + 15.955226338268574, + 0.27554062093767967, + 0.034777141036765276 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.944646835327148, + 0.2739439904689789, + 0.05298098921775818 + ], + "box_pose": [ + 16.032970428466797, + 0.29207974672317505, + 0.03772878274321556, + 0.07982288300991058, + 0.7036909461021423, + 0.6830933690071106, + -0.17841202020645142 + ], + "box_yaw_rad": -3.000267867180484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009747991450925801, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001375004366712928 + } + } + }, + { + "simulation_time_ns": 9220000000, + "center": [ + 16.039090773001867, + 0.2755082104440758, + 0.03475859568469353 + ], + "face_center": [ + 15.96774569081352, + 0.2653763752774722, + 0.062497190985603066 + ], + "face_normal": [ + -0.9239758096454267, + -0.13121535940686968, + 0.359236968624181 + ], + "footprint_xy": [ + [ + 15.93109206884632, + 0.1436670487272765 + ], + [ + 16.14708947715741, + 0.1436670487272765 + ], + [ + 16.14708947715741, + 0.4073493721608751 + ], + [ + 15.93109206884632, + 0.4073493721608751 + ] + ], + "projected_box_corners": [ + [ + 16.10779052476528, + 0.1639307190604837 + ], + [ + 16.073782233223014, + 0.40140334473653266 + ], + [ + 16.14708947715741, + 0.16987674648482612 + ], + [ + 16.113081185615144, + 0.4073493721608751 + ], + [ + 15.965100360388586, + 0.1436670487272765 + ], + [ + 15.93109206884632, + 0.38113967440332547 + ], + [ + 16.00439931278072, + 0.14961307615161892 + ], + [ + 15.970391021238452, + 0.3870857018276679 + ] + ], + "yaw_rad": -3.000524247933282, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.93738079071045, + 0.27725958824157715, + 0.050350189208984375 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.96780053732687, + 0.265397177666513, + 0.06257138052124948 + ], + "intended_face_normal": [ + -0.923649775003561, + -0.1310898197081336, + 0.3601198932451686 + ], + "commanded_contact_point": [ + 15.936323051452638, + 0.2852973434058247, + 0.034764609918570256 + ], + "centerline_face_intersection": [ + 15.95552240131914, + 0.27551931924587036, + 0.034764609918570256 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.943297386169434, + 0.27476850152015686, + 0.05165362358093262 + ], + "box_pose": [ + 16.033266067504883, + 0.292060524225235, + 0.037713587284088135, + 0.07991831749677658, + 0.7037330865859985, + 0.6830700039863586, + -0.17829222977161407 + ], + "box_yaw_rad": -3.000608341984594, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009778024159954341, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012408242830072515 + } + } + }, + { + "simulation_time_ns": 9240000000, + "center": [ + 16.039027507795485, + 0.2754737182195822, + 0.03476288587646077 + ], + "face_center": [ + 15.967629695732077, + 0.26531427657453466, + 0.062355306599661015 + ], + "face_normal": [ + -0.9246587036516871, + -0.13157288535665224, + 0.3573438910686466 + ], + "footprint_xy": [ + [ + 15.931076384208245, + 0.14365791379585968 + ], + [ + 16.146978631382726, + 0.14365791379585968 + ], + [ + 16.146978631382726, + 0.4072895226433047 + ], + [ + 15.931076384208245, + 0.4072895226433047 + ] + ], + "projected_box_corners": [ + [ + 16.1078760098471, + 0.16397679708595478 + ], + [ + 16.073872008335062, + 0.4014505132831532 + ], + [ + 16.146978631382726, + 0.16981580644610628 + ], + [ + 16.11297462987069, + 0.4072895226433047 + ], + [ + 15.965080385720285, + 0.14365791379585968 + ], + [ + 15.931076384208245, + 0.3811316299930581 + ], + [ + 16.00418300725591, + 0.1494969231560112 + ], + [ + 15.970179005743871, + 0.38697063935320963 + ] + ], + "yaw_rad": -3.0002480526859503, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.93315601348877, + 0.27972084283828735, + 0.051671773195266724 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.96774569081352, + 0.2653763752774722, + 0.062497190985603066 + ], + "intended_face_normal": [ + -0.9239758096454267, + -0.13121535940686968, + 0.359236968624181 + ], + "commanded_contact_point": [ + 15.937993888854981, + 0.2852161794921301, + 0.03475859568469353 + ], + "centerline_face_intersection": [ + 15.955522228127224, + 0.2755082104440758, + 0.03475859568469353 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.93738079071045, + 0.27725958824157715, + 0.050350189208984375 + ], + "box_pose": [ + 16.033233642578125, + 0.2920483946800232, + 0.03770783543586731, + 0.07957656681537628, + 0.7036989331245422, + 0.6832244992256165, + -0.17798779904842377 + ], + "box_yaw_rad": -3.000524247933282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009707969048054288, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016728183933010065 + } + } + }, + { + "simulation_time_ns": 9260000000, + "center": [ + 16.038935926398327, + 0.27541728073728705, + 0.03477601993739478 + ], + "face_center": [ + 15.967460203874007, + 0.265215084933827, + 0.06215011540188927 + ], + "face_normal": [ + -0.9256677063606631, + -0.13212658586302517, + 0.3545164045553344 + ], + "footprint_xy": [ + [ + 15.931058331566708, + 0.1436449498798825 + ], + [ + 16.146813521229944, + 0.1436449498798825 + ], + [ + 16.146813521229944, + 0.4071896115946917 + ], + [ + 15.931058331566708, + 0.4071896115946917 + ] + ], + "projected_box_corners": [ + [ + 16.108001983147943, + 0.16404934148680259 + ], + [ + 16.07400977661535, + 0.4015252684852426 + ], + [ + 16.146813521229944, + 0.16971368459625163 + ], + [ + 16.112821314697346, + 0.4071896115946917 + ], + [ + 15.965050538099305, + 0.1436449498798825 + ], + [ + 15.931058331566708, + 0.3811208768783225 + ], + [ + 16.003862076181306, + 0.14930929298933154 + ], + [ + 15.969869869648708, + 0.38678521998777154 + ] + ], + "yaw_rad": -2.999813812672242, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.933327674865723, + 0.28256678581237793, + 0.054206252098083496 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.967629695732077, + 0.26531427657453466, + 0.062355306599661015 + ], + "intended_face_normal": [ + -0.9246587036516871, + -0.13157288535665224, + 0.3573438910686466 + ], + "commanded_contact_point": [ + 15.9402445602417, + 0.2850118022828883, + 0.03476288587646077 + ], + "centerline_face_intersection": [ + 15.955520681323732, + 0.2754737182195822, + 0.03476288587646077 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.93315601348877, + 0.27972084283828735, + 0.051671773195266724 + ], + "box_pose": [ + 16.033164978027344, + 0.29201093316078186, + 0.0377180390059948, + 0.0788397267460823, + 0.7035149335861206, + 0.6836637258529663, + -0.17735527455806732 + ], + "box_yaw_rad": -3.0002480526859503, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009538084063306083, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022599358708594707 + } + } + }, + { + "simulation_time_ns": 9280000000, + "center": [ + 16.03881331644849, + 0.2753399303549921, + 0.03479770896425883 + ], + "face_center": [ + 15.967234366036118, + 0.2650755148570305, + 0.06187716047288198 + ], + "face_normal": [ + -0.9270045899764128, + -0.13293238061214563, + 0.35070052994515954 + ], + "footprint_xy": [ + [ + 15.931030923407139, + 0.1436265790584173 + ], + [ + 16.14659570948984, + 0.1436265790584173 + ], + [ + 16.14659570948984, + 0.4070532816515669 + ], + [ + 15.931030923407139, + 0.4070532816515669 + ] + ], + "projected_box_corners": [ + [ + 16.108175853623052, + 0.16415541005434045 + ], + [ + 16.074188824231886, + 0.40163210377240793 + ], + [ + 16.14659570948984, + 0.1695765879334994 + ], + [ + 16.11260868009867, + 0.4070532816515669 + ], + [ + 15.96501795279831, + 0.1436265790584173 + ], + [ + 15.931030923407139, + 0.3811032727764848 + ], + [ + 16.003437808665097, + 0.14904775693757624 + ], + [ + 15.969450779273927, + 0.3865244506556437 + ] + ], + "yaw_rad": -2.999163721478445, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.937183380126953, + 0.2859762907028198, + 0.060785114765167236 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.967460203874007, + 0.265215084933827, + 0.06215011540188927 + ], + "intended_face_normal": [ + -0.9256677063606631, + -0.13212658586302517, + 0.3545164045553344 + ], + "commanded_contact_point": [ + 15.94265926361084, + 0.2846693845975895, + 0.03477601993739478 + ], + "centerline_face_intersection": [ + 15.955520124614536, + 0.27541728073728705, + 0.03477601993739478 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.933327674865723, + 0.28256678581237793, + 0.054206252098083496 + ], + "box_pose": [ + 16.033065795898438, + 0.2919498085975647, + 0.03774229437112808, + 0.07774388045072556, + 0.7031904458999634, + 0.6843661665916443, + -0.1764144003391266 + ], + "box_yaw_rad": -2.999813812672242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009252103860302448, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024388962125726243 + } + } + }, + { + "simulation_time_ns": 9300000000, + "center": [ + 16.0386585449515, + 0.2752412520796208, + 0.034828170182841636 + ], + "face_center": [ + 15.966949353426092, + 0.2648838344979975, + 0.06152500162540779 + ], + "face_normal": [ + -0.9286913164356747, + -0.1341368318919578, + 0.34574529442677715 + ], + "footprint_xy": [ + [ + 15.930982893049865, + 0.14359599711802962 + ], + [ + 16.146334196853132, + 0.14359599711802962 + ], + [ + 16.146334196853132, + 0.406886507041212 + ], + [ + 15.930982893049865, + 0.406886507041212 + ] + ], + "projected_box_corners": [ + [ + 16.108422682380883, + 0.16431083228127621 + ], + [ + 16.07440127610068, + 0.40178153781016784 + ], + [ + 16.146334196853132, + 0.16941580151232039 + ], + [ + 16.11231279057293, + 0.406886507041212 + ], + [ + 15.965004299330069, + 0.14359599711802962 + ], + [ + 15.930982893049865, + 0.3810667026469212 + ], + [ + 16.00291581380232, + 0.14870096634907376 + ], + [ + 15.968894407522114, + 0.38617167187796536 + ] + ], + "yaw_rad": -2.9981482688156436, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.941766738891602, + 0.2908012866973877, + 0.06684845685958862 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.967234366036118, + 0.2650755148570305, + 0.06187716047288198 + ], + "intended_face_normal": [ + -0.9270045899764128, + -0.13293238061214563, + 0.35070052994515954 + ], + "commanded_contact_point": [ + 15.944894676208497, + 0.28416657980138144, + 0.03479770896425883 + ], + "centerline_face_intersection": [ + 15.955517813118346, + 0.2753399303549921, + 0.03479770896425883 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.937183380126953, + 0.2859762907028198, + 0.060785114765167236 + ], + "box_pose": [ + 16.03293228149414, + 0.29186561703681946, + 0.03778044506907463, + 0.07624971121549606, + 0.702720582485199, + 0.6853364706039429, + -0.17516714334487915 + ], + "box_yaw_rad": -2.999163721478445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00882664944638934, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002291364780809989 + } + } + }, + { + "simulation_time_ns": 9320000000, + "center": [ + 16.03923754354356, + 0.2755546331844472, + 0.03474777910861699 + ], + "face_center": [ + 15.967686797958, + 0.26559407012776304, + 0.06201467220830319 + ], + "face_normal": [ + -0.9266393149372689, + -0.12899724875959695, + 0.35312804829052347 + ], + "footprint_xy": [ + [ + 15.93177436678947, + 0.14406088688345378 + ], + [ + 16.146700720297655, + 0.14406088688345378 + ], + [ + 16.146700720297655, + 0.4070483794854406 + ], + [ + 15.93177436678947, + 0.4070483794854406 + ] + ], + "projected_box_corners": [ + [ + 16.108016536703555, + 0.16398201299682205 + ], + [ + 16.074875857960592, + 0.40157834742919357 + ], + [ + 16.146700720297655, + 0.16945204505306907 + ], + [ + 16.113560041554692, + 0.4070483794854406 + ], + [ + 15.964915045532432, + 0.14406088688345378 + ], + [ + 15.93177436678947, + 0.3816572213158253 + ], + [ + 16.003599229126532, + 0.1495309189397008 + ], + [ + 15.97045855038357, + 0.3871272533720723 + ] + ], + "yaw_rad": -3.003271832267067, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.943808555603027, + 0.29446253180503845, + 0.0659433901309967 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.966949353426092, + 0.2648838344979975, + 0.06152500162540779 + ], + "intended_face_normal": [ + -0.9286913164356747, + -0.1341368318919578, + 0.34574529442677715 + ], + "commanded_contact_point": [ + 15.947115783691407, + 0.2834455001412995, + 0.034828170182841636 + ], + "centerline_face_intersection": [ + 15.955514326259124, + 0.2752412520796208, + 0.034828170182841636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.941766738891602, + 0.2908012866973877, + 0.06684845685958862 + ], + "box_pose": [ + 16.032760620117188, + 0.29175686836242676, + 0.03783326596021652, + 0.07425326108932495, + 0.702089786529541, + 0.6865971088409424, + -0.1736110895872116 + ], + "box_yaw_rad": -2.9981482688156436, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008204248061678663, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002335423347631203 + } + } + }, + { + "simulation_time_ns": 9340000000, + "center": [ + 16.039481074408393, + 0.27568145798150384, + 0.03475924762426855 + ], + "face_center": [ + 15.968101034758032, + 0.265820099030365, + 0.0625053740725825 + ], + "face_normal": [ + -0.9244285367048874, + -0.12771247634179517, + 0.35933450299946124 + ], + "footprint_xy": [ + [ + 15.931863192646688, + 0.1440970902411395 + ], + [ + 16.147098956170097, + 0.1440970902411395 + ], + [ + 16.147098956170097, + 0.40726582572186815 + ], + [ + 15.931863192646688, + 0.40726582572186815 + ] + ], + "projected_box_corners": [ + [ + 16.107774605787885, + 0.16381980814341712 + ], + [ + 16.074623271947406, + 0.40141321130623053 + ], + [ + 16.147098956170097, + 0.16967242255905474 + ], + [ + 16.113947622329615, + 0.40726582572186815 + ], + [ + 15.965014526487167, + 0.1440970902411395 + ], + [ + 15.931863192646688, + 0.3816904934039529 + ], + [ + 16.004338876869376, + 0.14994970465677712 + ], + [ + 15.971187543028897, + 0.3875431078195905 + ] + ], + "yaw_rad": -3.004308769751778, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.941713333129883, + 0.29157117009162903, + 0.056172728538513184 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.967686797958, + 0.26559407012776304, + 0.06201467220830319 + ], + "intended_face_normal": [ + -0.9266393149372689, + -0.12899724875959695, + 0.35312804829052347 + ], + "commanded_contact_point": [ + 15.949400787353516, + 0.2830025653013022, + 0.03474777910861699 + ], + "centerline_face_intersection": [ + 15.955909205681417, + 0.2755546331844472, + 0.03474777910861699 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.943808555603027, + 0.29446253180503845, + 0.0659433901309967 + ], + "box_pose": [ + 16.033422470092773, + 0.2921065092086792, + 0.037714600563049316, + 0.07846932858228683, + 0.7029920220375061, + 0.6849247217178345, + -0.17470815777778625 + ], + "box_yaw_rad": -3.003271832267067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007447932116855012, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002328925875409452 + } + } + }, + { + "simulation_time_ns": 9360000000, + "center": [ + 16.03944941827532, + 0.275667304043901, + 0.03475534322567321 + ], + "face_center": [ + 15.9680448598927, + 0.2657935116168498, + 0.06243386508773682 + ], + "face_normal": [ + -0.9247460738749069, + -0.127873499787567, + 0.3584589696003757 + ], + "footprint_xy": [ + [ + 15.931852665472391, + 0.14409293585195687 + ], + [ + 16.14704617107825, + 0.14409293585195687 + ], + [ + 16.14704617107825, + 0.40724167223584506 + ], + [ + 15.931852665472391, + 0.40724167223584506 + ] + ], + "projected_box_corners": [ + [ + 16.107813378162646, + 0.16384052070605923 + ], + [ + 16.074661782237634, + 0.401434132907555 + ], + [ + 16.14704617107825, + 0.16964806003434937 + ], + [ + 16.113894575153235, + 0.40724167223584506 + ], + [ + 15.965004261397405, + 0.14409293585195687 + ], + [ + 15.931852665472391, + 0.3816865480534526 + ], + [ + 16.00423705431301, + 0.149900475180247 + ], + [ + 15.971085458387995, + 0.38749408738174274 + ] + ], + "yaw_rad": -3.0041844560272395, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.938924789428711, + 0.28333818912506104, + 0.04356148838996887 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.968101034758032, + 0.265820099030365, + 0.0625053740725825 + ], + "intended_face_normal": [ + -0.9244285367048874, + -0.12771247634179517, + 0.35933450299946124 + ], + "commanded_contact_point": [ + 15.951782112121583, + 0.2824938016139538, + 0.03475924762426855 + ], + "centerline_face_intersection": [ + 15.955953456160398, + 0.27568145798150384, + 0.03475924762426855 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.941713333129883, + 0.29157117009162903, + 0.056172728538513184 + ], + "box_pose": [ + 16.03368377685547, + 0.2922440469264984, + 0.03770095854997635, + 0.08090120553970337, + 0.7037108540534973, + 0.6833778619766235, + -0.17675037682056427 + ], + "box_yaw_rad": -3.004308769751778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006812343632450004, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002435093359077241 + } + } + }, + { + "simulation_time_ns": 9380000000, + "center": [ + 16.039390018007698, + 0.275629973106444, + 0.034761352800943585 + ], + "face_center": [ + 15.967932705859882, + 0.2657258131836137, + 0.06229253390098022 + ], + "face_normal": [ + -0.9254292772774946, + -0.12826678311752815, + 0.3565507890262998 + ], + "footprint_xy": [ + [ + 15.931840850209657, + 0.14408310456510992 + ], + [ + 16.146939185805742, + 0.14408310456510992 + ], + [ + 16.146939185805742, + 0.40717684164777806 + ], + [ + 15.931840850209657, + 0.40717684164777806 + ] + ], + "projected_box_corners": [ + [ + 16.10790334126157, + 0.16389142441077045 + ], + [ + 16.07475547450529, + 0.4014861550753858 + ], + [ + 16.146939185805742, + 0.1695821109831627 + ], + [ + 16.113791319049465, + 0.40717684164777806 + ], + [ + 15.964988716965934, + 0.14408310456510992 + ], + [ + 15.931840850209657, + 0.3816778352297253 + ], + [ + 16.004024561510107, + 0.14977379113750217 + ], + [ + 15.97087669475383, + 0.38736852180211756 + ] + ], + "yaw_rad": -3.003867639842106, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.939558029174805, + 0.2764265239238739, + 0.03371948003768921 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.9680448598927, + 0.2657935116168498, + 0.06243386508773682 + ], + "intended_face_normal": [ + -0.9247460738749069, + -0.127873499787567, + 0.3584589696003757 + ], + "commanded_contact_point": [ + 15.954484825134278, + 0.2821728122731046, + 0.03475534322567321 + ], + "centerline_face_intersection": [ + 15.955950481547871, + 0.275667304043901, + 0.03475534322567321 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.938924789428711, + 0.28333818912506104, + 0.04356148838996887 + ], + "box_pose": [ + 16.033649444580078, + 0.2922285795211792, + 0.03769917041063309, + 0.0805581659078598, + 0.703639566898346, + 0.6835674047470093, + -0.17645759880542755 + ], + "box_yaw_rad": -3.0041844560272395, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006505508229203602, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027217103134352465 + } + } + }, + { + "simulation_time_ns": 9400000000, + "center": [ + 16.040573403813838, + 0.27524762754875887, + 0.03495582000053063 + ], + "face_center": [ + 15.968731576247448, + 0.26484429630794765, + 0.06127553768554771 + ], + "face_normal": [ + -0.9304090591250826, + -0.1347314504573962, + 0.34086137000238637 + ], + "footprint_xy": [ + [ + 15.93301200248931, + 0.14363071425752688 + ], + [ + 16.148134805138362, + 0.14363071425752688 + ], + [ + 16.148134805138362, + 0.40686454083999085 + ], + [ + 15.93301200248931, + 0.40686454083999085 + ] + ], + "projected_box_corners": [ + [ + 16.11074845930701, + 0.1644373767391493 + ], + [ + 16.07669565762209, + 0.4019030026712013 + ], + [ + 16.148134805138362, + 0.16939891490793882 + ], + [ + 16.11408200345344, + 0.40686454083999085 + ], + [ + 15.967064804174234, + 0.14363071425752688 + ], + [ + 15.93301200248931, + 0.3810963401895789 + ], + [ + 16.004451150005586, + 0.1485922524263164 + ], + [ + 15.970398348320662, + 0.38605787835836847 + ] + ], + "yaw_rad": -2.997783467027461, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.942962646484375, + 0.2736061215400696, + 0.0269356369972229 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.967932705859882, + 0.2657258131836137, + 0.06229253390098022 + ], + "intended_face_normal": [ + -0.9254292772774946, + -0.12826678311752815, + 0.3565507890262998 + ], + "commanded_contact_point": [ + 15.957587127685548, + 0.2821036193029504, + 0.034761352800943585 + ], + "centerline_face_intersection": [ + 15.955952724842955, + 0.275629973106444, + 0.034761352800943585 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.939558029174805, + 0.2764265239238739, + 0.03371948003768921 + ], + "box_pose": [ + 16.033584594726562, + 0.29218798875808716, + 0.03771277517080307, + 0.07981065660715103, + 0.7034218311309814, + 0.6840412020683289, + -0.17582851648330688 + ], + "box_yaw_rad": -3.003867639842106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006473646196506406, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031030799057915233 + } + } + }, + { + "simulation_time_ns": 9420000000, + "center": [ + 16.04503300709376, + 0.2748132864637361, + 0.03496705906966258 + ], + "face_center": [ + 15.973248174343022, + 0.26445706951376746, + 0.06146027534601973 + ], + "face_normal": [ + -0.9296709307310635, + -0.1341212827528837, + 0.3431083153627208 + ], + "footprint_xy": [ + [ + 15.937422387237055, + 0.1431578141106963 + ], + [ + 16.152643626950464, + 0.1431578141106963 + ], + [ + 16.152643626950464, + 0.40646875881677585 + ], + [ + 15.937422387237055, + 0.40646875881677585 + ] + ], + "projected_box_corners": [ + [ + 16.1150304485579, + 0.1638702480106336 + ], + [ + 16.08099205273853, + 0.4013389290221071 + ], + [ + 16.152643626950464, + 0.16900007780530238 + ], + [ + 16.118605231131095, + 0.40646875881677585 + ], + [ + 15.971460783056422, + 0.1431578141106963 + ], + [ + 15.937422387237055, + 0.3806264951221698 + ], + [ + 16.00907396144899, + 0.14828764390536509 + ], + [ + 15.975035565629621, + 0.38575632491683853 + ] + ], + "yaw_rad": -2.998313741943398, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.945104598999023, + 0.2733793258666992, + 0.023859798908233643 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.968731576247448, + 0.26484429630794765, + 0.06127553768554771 + ], + "intended_face_normal": [ + -0.9304090591250826, + -0.1347314504573962, + 0.34086137000238637 + ], + "commanded_contact_point": [ + 15.960992698669434, + 0.28178693398561283, + 0.03495582000053063 + ], + "centerline_face_intersection": [ + 15.95758268789793, + 0.27524762754875887, + 0.03495582000053063 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.942962646484375, + 0.2736061215400696, + 0.0269356369972229 + ], + "box_pose": [ + 16.034658432006836, + 0.29175829887390137, + 0.037954576313495636, + 0.07235624641180038, + 0.702041745185852, + 0.6872713565826416, + -0.17193038761615753 + ], + "box_yaw_rad": -2.997783467027461, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006539306436853977, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034257876186686745 + } + } + }, + { + "simulation_time_ns": 9440000000, + "center": [ + 16.04923847974212, + 0.2742867603528164, + 0.035283739605655846 + ], + "face_center": [ + 15.978155997683483, + 0.2639981331337529, + 0.06363203015796606 + ], + "face_normal": [ + -0.9205749281828162, + -0.1332459417423859, + 0.3671330091958733 + ], + "footprint_xy": [ + [ + 15.94068237656599, + 0.14211871928822198 + ], + [ + 16.15779458291825, + 0.14211871928822198 + ], + [ + 16.15779458291825, + 0.40645480141741086 + ], + [ + 15.94068237656599, + 0.40645480141741086 + ] + ], + "projected_box_corners": [ + [ + 16.11768098616402, + 0.16269597372634897 + ], + [ + 16.082847340683262, + 0.400046984798647 + ], + [ + 16.15779458291825, + 0.16910379034511291 + ], + [ + 16.122960937437487, + 0.40645480141741086 + ], + [ + 15.975516022046751, + 0.14211871928822198 + ], + [ + 15.94068237656599, + 0.3794697303605199 + ], + [ + 16.01562961880098, + 0.14852653590698592 + ], + [ + 15.980795973320218, + 0.3858775469792839 + ] + ], + "yaw_rad": -2.997848837427374, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.950793266296387, + 0.2708613872528076, + 0.027745813131332397 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.973248174343022, + 0.26445706951376746, + 0.06146027534601973 + ], + "intended_face_normal": [ + -0.9296709307310635, + -0.1341212827528837, + 0.3431083153627208 + ], + "commanded_contact_point": [ + 15.964193229675294, + 0.28140995132447155, + 0.03496705906966258 + ], + "centerline_face_intersection": [ + 15.961976399256493, + 0.2748132864637361, + 0.03496705906966258 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.945104598999023, + 0.2733793258666992, + 0.023859798908233643 + ], + "box_pose": [ + 16.039125442504883, + 0.29132917523384094, + 0.037951648235321045, + 0.0732647106051445, + 0.7024146914482117, + 0.6866214871406555, + -0.17261745035648346 + ], + "box_yaw_rad": -2.998313741943398, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006596664860735453, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003222676056159436 + } + } + }, + { + "simulation_time_ns": 9460000000, + "center": [ + 16.056214002227534, + 0.27292293439790644, + 0.036173634749790566 + ], + "face_center": [ + 15.985935215375365, + 0.26138952972231977, + 0.0660077615386511 + ], + "face_normal": [ + -0.9101664332126589, + -0.1493668042172942, + 0.38637577544628954 + ], + "footprint_xy": [ + [ + 15.94520252587715, + 0.1392874739017935 + ], + [ + 16.16722547857792, + 0.1392874739017935 + ], + [ + 16.16722547857792, + 0.40655839489401935 + ], + [ + 15.94520252587715, + 0.40655839489401935 + ] + ], + "projected_box_corners": [ + [ + 16.12514887887628, + 0.16235428325296686 + ], + [ + 16.08576009958149, + 0.39899146298786814 + ], + [ + 16.16722547857792, + 0.16992121515911807 + ], + [ + 16.127836699283126, + 0.40655839489401935 + ], + [ + 15.984591305171943, + 0.1392874739017935 + ], + [ + 15.94520252587715, + 0.3759246536366948 + ], + [ + 16.02666790487358, + 0.1468544058079447 + ], + [ + 15.987279125578787, + 0.383491585542846 + ] + ], + "yaw_rad": -2.9789332220725804, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 15.959017753601074, + 0.2645747661590576, + 0.039229899644851685 + ], + "success_count": 1, + "first_fully_inside_policy_ns": 9460000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.978155997683483, + 0.2639981331337529, + 0.06363203015796606 + ], + "intended_face_normal": [ + -0.9205749281828162, + -0.1332459417423859, + 0.3671330091958733 + ], + "commanded_contact_point": [ + 15.966485862731934, + 0.28102044013755223, + 0.035283739605655846 + ], + "centerline_face_intersection": [ + 15.965361207455485, + 0.2742867603528164, + 0.035283739605655846 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.950793266296387, + 0.2708613872528076, + 0.027745813131332397 + ], + "box_pose": [ + 16.04334831237793, + 0.2908160090446472, + 0.03822847455739975, + 0.08141499012708664, + 0.7041836977005005, + 0.6814783811569214, + -0.18188996613025665 + ], + "box_yaw_rad": -2.997848837427374, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006733679784735804, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002346949479433593 + } + } + }, + { + "simulation_time_ns": 9480000000, + "center": [ + 16.06184352949534, + 0.2717390808547885, + 0.03560497501937668 + ], + "face_center": [ + 15.991452863251604, + 0.25866271799276774, + 0.06452489852754262 + ], + "face_normal": [ + -0.911615360710357, + -0.1693493453516055, + 0.37453611263350695 + ], + "footprint_xy": [ + [ + 15.948979006136101, + 0.13668349432899657 + ], + [ + 16.174708052854584, + 0.13668349432899657 + ], + [ + 16.174708052854584, + 0.40679466738058034 + ], + [ + 15.948979006136101, + 0.40679466738058034 + ] + ], + "projected_box_corners": [ + [ + 16.134084894799706, + 0.16283622005303805 + ], + [ + 16.08976033862358, + 0.39859882561768994 + ], + [ + 16.174708052854584, + 0.17103206181592845 + ], + [ + 16.130383496678455, + 0.40679466738058034 + ], + [ + 15.99330356231223, + 0.13668349432899657 + ], + [ + 15.948979006136101, + 0.37244609989364846 + ], + [ + 16.033926720367106, + 0.144879336091887 + ], + [ + 15.989602164190979, + 0.38064194165653886 + ] + ], + "yaw_rad": -2.957917998322122, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 15.966218948364258, + 0.2611372172832489, + 0.0499773770570755 + ], + "success_count": 2, + "first_fully_inside_policy_ns": 9460000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.985935215375365, + 0.26138952972231977, + 0.0660077615386511 + ], + "intended_face_normal": [ + -0.9101664332126589, + -0.1493668042172942, + 0.38637577544628954 + ], + "commanded_contact_point": [ + 15.968812828063966, + 0.2799905409121962, + 0.036173634749790566 + ], + "centerline_face_intersection": [ + 15.971377524970416, + 0.27292293439790644, + 0.036173634749790566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.959017753601074, + 0.2645747661590576, + 0.039229899644851685 + ], + "box_pose": [ + 16.05006980895996, + 0.2893480360507965, + 0.039181385189294815, + 0.08198034763336182, + 0.704273521900177, + 0.6775559186935425, + -0.1954377293586731 + ], + "box_yaw_rad": -2.9789332220725804, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007067606514289757, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026958066396570012 + } + } + }, + { + "simulation_time_ns": 9500000000, + "center": [ + 16.065351994599414, + 0.2709692448026291, + 0.035172031201319925 + ], + "face_center": [ + 15.994768113149288, + 0.25665911100139827, + 0.06301697069353492 + ], + "face_normal": [ + -0.914117651986551, + -0.18532766463455452, + 0.36061421085656287 + ], + "footprint_xy": [ + [ + 15.951309376016352, + 0.13503062963678714 + ], + [ + 16.179394613182478, + 0.13503062963678714 + ], + [ + 16.179394613182478, + 0.406907859968471 + ], + [ + 15.951309376016352, + 0.406907859968471 + ] + ], + "projected_box_corners": [ + [ + 16.140345336742733, + 0.1636508972392488 + ], + [ + 16.092477138916607, + 0.3987225915656927 + ], + [ + 16.179394613182478, + 0.1718361656420272 + ], + [ + 16.131526415356355, + 0.406907859968471 + ], + [ + 15.999177573842477, + 0.13503062963678714 + ], + [ + 15.951309376016352, + 0.370102323963231 + ], + [ + 16.03822685028222, + 0.14321589803956553 + ], + [ + 15.990358652456099, + 0.37828759236600934 + ] + ], + "yaw_rad": -2.941564447902895, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 15.972173690795898, + 0.2618364989757538, + 0.05952876806259155 + ], + "success_count": 3, + "first_fully_inside_policy_ns": 9460000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.991452863251604, + 0.25866271799276774, + 0.06452489852754262 + ], + "intended_face_normal": [ + -0.911615360710357, + -0.1693493453516055, + 0.37453611263350695 + ], + "commanded_contact_point": [ + 15.97138298034668, + 0.27923076191193985, + 0.03560497501937668 + ], + "centerline_face_intersection": [ + 15.977141891897583, + 0.2717390808547885, + 0.03560497501937668 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.966218948364258, + 0.2611372172832489, + 0.0499773770570755 + ], + "box_pose": [ + 16.05531883239746, + 0.2880244255065918, + 0.03857102245092392, + 0.07009944319725037, + 0.705521821975708, + 0.6767914295196533, + -0.19818714261054993 + ], + "box_yaw_rad": -2.957917998322122, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00749168105715134, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002739766554757774 + } + } + } + ], + "commands": [ + { + "simulation_time_ns": 0, + "phase": "settle", + "intended_face_center": [ + 15.543371006881507, + 0.14898140385067243, + 0.13983054446862794 + ], + "intended_face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "commanded_contact_point": [ + 15.193400382995605, + 0.1420000046491623, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.543371006881507, + 0.14898140353685274, + 0.13983054459767388 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.177821159362793, + 0.1420000046491623, + 0.08869010210037231 + ], + "box_pose": [ + 15.61628532409668, + 0.14742061495780945, + 0.15702493488788605, + -8.356240144280491e-10, + 1.48693918289311e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 20000000, + "phase": "settle", + "intended_face_center": [ + 15.543371006913535, + 0.14898140384594077, + 0.1376723495520352 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + 15.190520286560059, + 0.14200758934020996, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.543371006913535, + 0.1489814035321211, + 0.13767234982490587 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.197816848754883, + 0.1542181521654129, + 0.05081212520599365 + ], + "box_pose": [ + 15.61628532409668, + 0.14742061495780945, + 0.15486674010753632, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028801064226535358 + } + }, + { + "simulation_time_ns": 40000000, + "phase": "settle", + "intended_face_center": [ + 15.543371006913535, + 0.14898140384594077, + 0.1315901425875424 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + 15.190152168273926, + 0.1418628990650177, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 15.543371006913535, + 0.1489814035321211, + 0.13159014286041307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.207003593444824, + 0.1349307745695114, + 0.0503593385219574 + ], + "box_pose": [ + 15.61628532409668, + 0.14742061495780945, + 0.14878453314304352, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003955329961464881 + } + }, + { + "simulation_time_ns": 60000000, + "phase": "settle", + "intended_face_center": [ + 15.543371006913535, + 0.14898140384594077, + 0.12158395324122893 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + 15.190797805786133, + 0.14186660945415497, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.543371006913535, + 0.1489814035321211, + 0.1215839535140996 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.180109977722168, + 0.10886424034833908, + 0.03378978371620178 + ], + "box_pose": [ + 15.61628532409668, + 0.14742061495780945, + 0.13877834379673004, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006456481760827151 + } + }, + { + "simulation_time_ns": 80000000, + "phase": "settle", + "intended_face_center": [ + 15.5452186570632, + 0.14700023636050955, + 0.1204322228126434 + ], + "intended_face_normal": [ + -0.9998749118433379, + -0.0007990310313073408, + 0.01581086647421643 + ], + "commanded_contact_point": [ + 15.191505432128906, + 0.1417919546365738, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.545199338412292, + 0.14706193379241694, + 0.11921138179462494 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.163036346435547, + 0.09329574555158615, + 0.023787498474121094 + ], + "box_pose": [ + 15.618396759033203, + 0.14523428678512573, + 0.13644565641880035, + 0.007908511906862259, + -0.007668591570109129, + 0.9999393224716187, + -0.0003388889308553189 + ], + "box_yaw_rad": -3.1407935227667743, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007115534998311328 + } + }, + { + "simulation_time_ns": 100000000, + "phase": "settle", + "intended_face_center": [ + 15.546026633426282, + 0.14618362098041107, + 0.1212443594749381 + ], + "intended_face_normal": [ + -0.9997230505254677, + -0.005543185222832193, + 0.022878200117975773 + ], + "commanded_contact_point": [ + 15.192178726196289, + 0.14142048358917236, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 15.545983858020922, + 0.1466116397674613, + 0.1194778120710999 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.161595344543457, + 0.09303581714630127, + 0.02312946319580078 + ], + "box_pose": [ + 15.61932373046875, + 0.14473937451839447, + 0.13673733174800873, + 0.011462780646979809, + -0.00840282253921032, + 0.999895453453064, + -0.0026755526196211576 + ], + "box_yaw_rad": -3.1360479895805606, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000768970507467293 + } + }, + { + "simulation_time_ns": 120000000, + "phase": "settle", + "intended_face_center": [ + 15.545995274274107, + 0.14633093681094927, + 0.12094556315215221 + ], + "intended_face_normal": [ + -0.9996877612942052, + -0.010540642731734148, + 0.022649789229670536 + ], + "commanded_contact_point": [ + 15.192148208618164, + 0.14070837199687958, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.545947047524434, + 0.14714483584830843, + 0.1191966525667553 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.160524368286133, + 0.0931297093629837, + 0.023204833269119263 + ], + "box_pose": [ + 15.619294166564941, + 0.14536873996257782, + 0.1364673525094986, + 0.011352029629051685, + -0.005007050931453705, + 0.9999094009399414, + -0.0052139535546302795 + ], + "box_yaw_rad": -3.1310491093465176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007127652096809962 + } + }, + { + "simulation_time_ns": 140000000, + "phase": "settle", + "intended_face_center": [ + 15.544951540792116, + 0.146764357446494, + 0.12004547476732041 + ], + "intended_face_normal": [ + -0.9998473261169898, + -0.01064968244761955, + 0.013859542931410163 + ], + "commanded_contact_point": [ + 15.190319061279297, + 0.1393500417470932, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.5449279614684, + 0.14758667601974407, + 0.11897530580920253 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.159537315368652, + 0.0931774377822876, + 0.023270398378372192 + ], + "box_pose": [ + 15.618110656738281, + 0.14587420225143433, + 0.13621746003627777, + 0.006946613546460867, + -0.0031193450558930635, + 0.9999569654464722, + -0.005303400568664074 + ], + "box_yaw_rad": -3.1309417477364314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002278341733611659 + } + }, + { + "simulation_time_ns": 160000000, + "phase": "settle", + "intended_face_center": [ + 15.54452618091095, + 0.14605798108357798, + 0.11964298019216774 + ], + "intended_face_normal": [ + -0.9998882375451226, + -0.010921126523169858, + 0.010217880281164257 + ], + "commanded_contact_point": [ + 15.18652057647705, + 0.13773983716964722, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.544508920400284, + 0.14690125929633108, + 0.11885400335874816 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15874195098877, + 0.0931522399187088, + 0.023323476314544678 + ], + "box_pose": [ + 15.617627143859863, + 0.14508724212646484, + 0.13607126474380493, + 0.0051419297233223915, + -0.0060319676995277405, + 0.9999538660049438, + -0.0054297978058457375 + ], + "box_yaw_rad": -3.130670740664052, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004125681225521689 + } + }, + { + "simulation_time_ns": 180000000, + "phase": "settle", + "intended_face_center": [ + 15.5439522353808, + 0.14552131969810836, + 0.11925616386738414 + ], + "intended_face_normal": [ + -0.9999233381087964, + -0.011206735739967695, + 0.005320343110855361 + ], + "commanded_contact_point": [ + 15.181020736694336, + 0.13616704940795898, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.543940395982979, + 0.1463866513161925, + 0.11884535190396288 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.158186912536621, + 0.09304378926753998, + 0.0233592689037323 + ], + "box_pose": [ + 15.616972923278809, + 0.14449842274188995, + 0.13603462278842926, + 0.0027057724073529243, + -0.00814445037394762, + 0.9999476671218872, + -0.005581622943282127 + ], + "box_yaw_rad": -3.1303855278817267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005720305846677182 + } + }, + { + "simulation_time_ns": 200000000, + "phase": "settle", + "intended_face_center": [ + 15.543325338014686, + 0.14503036752239934, + 0.1188515396927527 + ], + "intended_face_normal": [ + -0.9999371206176604, + -0.011212684403399495, + -4.345823899667761e-05 + ], + "commanded_contact_point": [ + 15.174572944641113, + 0.1344296932220459, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.54331562720688, + 0.1458961584683977, + 0.11885489533431885 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157814025878906, + 0.09287773817777634, + 0.023384004831314087 + ], + "box_pose": [ + 15.616255760192871, + 0.14393633604049683, + 0.13601362705230713, + 3.5539200325729325e-05, + -0.010214454494416714, + 0.9999321103096008, + -0.005606359802186489 + ], + "box_yaw_rad": -3.130379734050854, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006677756275835155 + } + }, + { + "simulation_time_ns": 220000000, + "phase": "settle", + "intended_face_center": [ + 15.542662261394259, + 0.14452966509425696, + 0.11842511974305583 + ], + "intended_face_normal": [ + -0.999920997839896, + -0.011179237178294324, + -0.005730131904369845 + ], + "commanded_contact_point": [ + 15.168002128601074, + 0.13244940340518951, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.54265006055911, + 0.14539287340226936, + 0.1188675736768057 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157561302185059, + 0.0926847904920578, + 0.023400604724884033 + ], + "box_pose": [ + 15.615494728088379, + 0.14335985481739044, + 0.1359933614730835, + -0.0027959479484707117, + -0.012336055748164654, + 0.9999041557312012, + -0.0056246486492455006 + ], + "box_yaw_rad": -3.1304129989429663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006862737878666161 + } + }, + { + "simulation_time_ns": 240000000, + "phase": "settle", + "intended_face_center": [ + 15.542113443072815, + 0.14402190620632688, + 0.11811477050374448 + ], + "intended_face_normal": [ + -0.9998835131470722, + -0.011150480332236548, + -0.01043159778475124 + ], + "commanded_contact_point": [ + 15.161938667297363, + 0.1301645040512085, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.542095452887112, + 0.14488289404544383, + 0.11892024960129191 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15738296508789, + 0.09247833490371704, + 0.02341213822364807 + ], + "box_pose": [ + 15.614863395690918, + 0.14277610182762146, + 0.13601656258106232, + -0.0051346831023693085, + -0.01447763480246067, + 0.9998660683631897, + -0.005650334991514683 + ], + "box_yaw_rad": -3.1304413364739245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006479685797894578 + } + }, + { + "simulation_time_ns": 260000000, + "phase": "settle", + "intended_face_center": [ + 15.542084524030953, + 0.14393510398005363, + 0.11812273782454882 + ], + "intended_face_normal": [ + -0.9998808171974671, + -0.01115043793870775, + -0.010689350483899825 + ], + "commanded_contact_point": [ + 15.156571388244629, + 0.12767931818962097, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.542066117458994, + 0.14479608854574094, + 0.11894811937767254 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157227516174316, + 0.0922747552394867, + 0.02342367172241211 + ], + "box_pose": [ + 15.614830017089844, + 0.14267677068710327, + 0.1360417753458023, + -0.005261491984128952, + -0.014842251315712929, + 0.9998600482940674, + -0.00565410265699029 + ], + "box_yaw_rad": -3.1304413488027545, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005914713281011144 + } + }, + { + "simulation_time_ns": 280000000, + "phase": "settle", + "intended_face_center": [ + 15.542116176637135, + 0.14396343530462, + 0.11813930495061975 + ], + "intended_face_normal": [ + -0.9998832419588906, + -0.01116885384161146, + -0.010431186368891506 + ], + "commanded_contact_point": [ + 15.151860237121582, + 0.12515249848365784, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.542098144566786, + 0.144825841860031, + 0.11894475228056242 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157059669494629, + 0.0920831635594368, + 0.023436397314071655 + ], + "box_pose": [ + 15.614866256713867, + 0.14271073043346405, + 0.1360400766134262, + -0.00513298436999321, + -0.014717944897711277, + 0.9998624920845032, + -0.005660752300173044 + ], + "box_yaw_rad": -3.1304229600835565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005346004370619703 + } + }, + { + "simulation_time_ns": 300000000, + "phase": "settle", + "intended_face_center": [ + 15.542163292255669, + 0.1440029553013711, + 0.11816722561145784 + ], + "intended_face_normal": [ + -0.9998869634698979, + -0.011202301430053832, + -0.01002405935043939 + ], + "commanded_contact_point": [ + 15.147665023803711, + 0.12275895476341248, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.542145834966648, + 0.14486794452282326, + 0.11894123650086891 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156880378723145, + 0.09190679341554642, + 0.023448646068572998 + ], + "box_pose": [ + 15.614920616149902, + 0.1427587866783142, + 0.1360391080379486, + -0.004930189345031977, + -0.01454119198024273, + 0.9998660087585449, + -0.005673601757735014 + ], + "box_yaw_rad": -3.130389554469032, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004829996513876296 + } + }, + { + "simulation_time_ns": 320000000, + "phase": "settle", + "intended_face_center": [ + 15.542228072876405, + 0.14406080331420074, + 0.1182037207611947 + ], + "intended_face_normal": [ + -0.9998919633921062, + -0.011218251491616045, + -0.009480828671856244 + ], + "commanded_contact_point": [ + 15.1438627243042, + 0.12063568085432053, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.542211387813873, + 0.14492702412466332, + 0.11893578592323265 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156685829162598, + 0.09175069630146027, + 0.023459553718566895 + ], + "box_pose": [ + 15.614995002746582, + 0.14282621443271637, + 0.13603708148002625, + -0.0046598585322499275, + -0.014297228306531906, + 0.999870777130127, + -0.0056764823384583 + ], + "box_yaw_rad": -3.130373660704929, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0043549711338902895 + } + }, + { + "simulation_time_ns": 340000000, + "phase": "settle", + "intended_face_center": [ + 15.54231505163704, + 0.1441339194954957, + 0.11825563750822711 + ], + "intended_face_normal": [ + -0.9998989956667783, + -0.01124114280868312, + -0.008738263287181719 + ], + "commanded_contact_point": [ + 15.140467643737793, + 0.11876776814460754, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.542299452686628, + 0.14500190786619147, + 0.11893036525098764 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156488418579102, + 0.09161143004894257, + 0.023472577333450317 + ], + "box_pose": [ + 15.615095138549805, + 0.14291183650493622, + 0.1360362470149994, + -0.004290217068046331, + -0.013983228243887424, + 0.9998769760131836, + -0.005681261420249939 + ], + "box_yaw_rad": -3.130350848859141, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038750057992442658 + } + }, + { + "simulation_time_ns": 360000000, + "phase": "settle", + "intended_face_center": [ + 15.542422927699747, + 0.14422652579498138, + 0.11831897763734125 + ], + "intended_face_normal": [ + -0.9999059093666034, + -0.011262819479189688, + -0.007821458644154358 + ], + "commanded_contact_point": [ + 15.137548446655273, + 0.11704486608505249, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.542408396540505, + 0.14509618793659487, + 0.11892291402179497 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156282424926758, + 0.09147945046424866, + 0.023485928773880005 + ], + "box_pose": [ + 15.615219116210938, + 0.14301960170269012, + 0.13603445887565613, + -0.0038339265156537294, + -0.013589853420853615, + 0.9998841285705566, + -0.005684170871973038 + ], + "box_yaw_rad": -3.130329250616948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003389705461166958 + } + }, + { + "simulation_time_ns": 380000000, + "phase": "settle", + "intended_face_center": [ + 15.542555038131008, + 0.1443413656928116, + 0.11839521827024521 + ], + "intended_face_normal": [ + -0.9999143693149863, + -0.011279458999988098, + -0.006709110908236071 + ], + "commanded_contact_point": [ + 15.135148048400879, + 0.11533273011445999, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.542541813564322, + 0.1452123126602469, + 0.11891326437509131 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15606689453125, + 0.09134960919618607, + 0.02349787950515747 + ], + "box_pose": [ + 15.615370750427246, + 0.14315222203731537, + 0.13603165745735168, + -0.003280399600043893, + -0.013109884224832058, + 0.9998926520347595, + -0.005683345254510641 + ], + "box_yaw_rad": -3.130312707073218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029484438881471936 + } + }, + { + "simulation_time_ns": 400000000, + "phase": "settle", + "intended_face_center": [ + 15.542704380765919, + 0.14447141588774662, + 0.11848418019910623 + ], + "intended_face_normal": [ + -0.9999214221366133, + -0.011304267477859262, + -0.005427423009063388 + ], + "commanded_contact_point": [ + 15.133256912231445, + 0.11355677247047424, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.54269224546034, + 0.1453442784495884, + 0.11890326037048121 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155838012695312, + 0.09121708571910858, + 0.023513346910476685 + ], + "box_pose": [ + 15.6155424118042, + 0.14330290257930756, + 0.1360294669866562, + -0.0026425300166010857, + -0.012564772740006447, + 0.9999014139175415, + -0.0056858970783650875 + ], + "box_yaw_rad": -3.1302879793643283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025943056037590244 + } + }, + { + "simulation_time_ns": 420000000, + "phase": "settle", + "intended_face_center": [ + 15.542856142439671, + 0.1446022898957319, + 0.11857557029549748 + ], + "intended_face_normal": [ + -0.9999274490985066, + -0.011333624961122422, + -0.004116136090640153 + ], + "commanded_contact_point": [ + 15.131845474243164, + 0.11170172691345215, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.54284493795194, + 0.14547741930485947, + 0.11889339903583845 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155606269836426, + 0.0910792201757431, + 0.02352726459503174 + ], + "box_pose": [ + 15.615716934204102, + 0.1434551328420639, + 0.13602754473686218, + -0.001989905722439289, + -0.012008300051093102, + 0.9999097585678101, + -0.005691221449524164 + ], + "box_yaw_rad": -3.130258691644555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002330955000653176 + } + }, + { + "simulation_time_ns": 440000000, + "phase": "settle", + "intended_face_center": [ + 15.543015883278542, + 0.14473897799123003, + 0.11867014638168588 + ], + "intended_face_normal": [ + -0.999931718204776, + -0.011358385058935383, + -0.0027613672910105375 + ], + "commanded_contact_point": [ + 15.13060188293457, + 0.11009302735328674, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + 15.543005338118002, + 0.1456160192590827, + 0.11888336622388604 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155444145202637, + 0.09095171093940735, + 0.023535966873168945 + ], + "box_pose": [ + 15.615900039672852, + 0.14361366629600525, + 0.13602568209171295, + -0.0013157129287719727, + -0.011428016237914562, + 0.9999176263809204, + -0.0056946976110339165 + ], + "box_yaw_rad": -3.1302339814286673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020333306711368625 + } + }, + { + "simulation_time_ns": 460000000, + "phase": "settle", + "intended_face_center": [ + 15.543184868513292, + 0.1448870041284624, + 0.11877050291959734 + ], + "intended_face_normal": [ + -0.9999345120162386, + -0.011349977974770423, + -0.0013234009549984204 + ], + "commanded_contact_point": [ + 15.129258155822754, + 0.10901334136724472, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 15.543174754831671, + 0.14576339624067222, + 0.11887268973976824 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155388832092285, + 0.09085426479578018, + 0.023539841175079346 + ], + "box_pose": [ + 15.616093635559082, + 0.14378242194652557, + 0.1360236257314682, + -0.0006003234884701669, + -0.01081009116023779, + 0.9999251961708069, + -0.005681903567165136 + ], + "box_yaw_rad": -3.1302424197128755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001723752992632905 + } + }, + { + "simulation_time_ns": 480000000, + "phase": "settle", + "intended_face_center": [ + 15.54336812950653, + 0.14504706132553366, + 0.11887965339253533 + ], + "intended_face_normal": [ + -0.9999354345927534, + -0.011353155441885764, + 0.00023490317738743532 + ], + "commanded_contact_point": [ + 15.127840995788574, + 0.10843800008296967, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.543358158308246, + 0.14592369878686423, + 0.11886151526995456 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1553955078125, + 0.09079279005527496, + 0.0235385000705719 + ], + "box_pose": [ + 15.616303443908691, + 0.1439659297466278, + 0.13602173328399658, + 0.00017499784007668495, + -0.010137892328202724, + 0.9999324679374695, + -0.0056751868687570095 + ], + "box_yaw_rad": -3.1302392529212972, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001529496700835227 + } + }, + { + "simulation_time_ns": 500000000, + "phase": "settle", + "intended_face_center": [ + 15.543568069797233, + 0.14522494334677774, + 0.1189986332356489 + ], + "intended_face_normal": [ + -0.9999342135674807, + -0.011345329962421224, + 0.0019442048139663853 + ], + "commanded_contact_point": [ + 15.126452445983887, + 0.1082909107208252, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.543557910022958, + 0.14610097656125492, + 0.11884851085063035 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15540885925293, + 0.09076857566833496, + 0.023538321256637573 + ], + "box_pose": [ + 15.616532325744629, + 0.14416898787021637, + 0.13601885735988617, + 0.0010253579821437597, + -0.00939253717660904, + 0.9999394416809082, + -0.005663377232849598 + ], + "box_yaw_rad": -3.1302470640450637, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013963186744320364 + } + }, + { + "simulation_time_ns": 520000000, + "phase": "settle", + "intended_face_center": [ + 15.543792596313134, + 0.14542500539786532, + 0.11913109659730228 + ], + "intended_face_normal": [ + -0.9999281556977695, + -0.011338635366255812, + 0.003854288491864117 + ], + "commanded_contact_point": [ + 15.125247955322266, + 0.10848531126976013, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.54378150095385, + 0.14630052168699811, + 0.11883348650149775 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155404090881348, + 0.09077784419059753, + 0.02354016900062561 + ], + "box_pose": [ + 15.616788864135742, + 0.14439757168293, + 0.13601507246494293, + 0.0019755989778786898, + -0.008552857674658298, + 0.9999454617500305, + -0.005652728956192732 + ], + "box_yaw_rad": -3.1302536895318176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012200775909171617 + } + }, + { + "simulation_time_ns": 540000000, + "phase": "settle", + "intended_face_center": [ + 15.544039990345546, + 0.14562955276185716, + 0.11928305035893484 + ], + "intended_face_normal": [ + -0.9999178680001948, + -0.01133350721197995, + 0.005949744081329422 + ], + "commanded_contact_point": [ + 15.12435531616211, + 0.10895752906799316, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.54402730612834, + 0.1465046730789477, + 0.11882363900200227 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155379295349121, + 0.0908125638961792, + 0.023540794849395752 + ], + "box_pose": [ + 15.617071151733398, + 0.14463146030902863, + 0.13601720333099365, + 0.0030184427741914988, + -0.007693276274949312, + 0.9999498724937439, + -0.0056438148021698 + ], + "box_yaw_rad": -3.1302587007968197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010098486615460684 + } + }, + { + "simulation_time_ns": 560000000, + "phase": "settle", + "intended_face_center": [ + 15.544258248254435, + 0.14580097968152994, + 0.11942075862039038 + ], + "intended_face_normal": [ + -0.9999055674299828, + -0.011327460752349274, + 0.00780308185673073 + ], + "commanded_contact_point": [ + 15.123847961425781, + 0.10966278612613678, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.544243664284727, + 0.1466756331193421, + 0.11881824120534626 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155349731445312, + 0.09086672961711884, + 0.023542076349258423 + ], + "box_pose": [ + 15.61732006072998, + 0.14482735097408295, + 0.13602215051651, + 0.003941034432500601, + -0.006973212119191885, + 0.9999520778656006, + -0.005636518821120262 + ], + "box_yaw_rad": -3.130264607635815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008687901629369317 + } + }, + { + "simulation_time_ns": 580000000, + "phase": "settle", + "intended_face_center": [ + 15.54444237682123, + 0.14594840659663477, + 0.119535547238624 + ], + "intended_face_normal": [ + -0.9998921737096411, + -0.011318500118473275, + 0.009369231819580201 + ], + "commanded_contact_point": [ + 15.12369441986084, + 0.11056333035230637, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.544425724241673, + 0.14682236813628935, + 0.11881209906256608 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155317306518555, + 0.09093689173460007, + 0.02354493737220764 + ], + "box_pose": [ + 15.61752986907959, + 0.1449955254793167, + 0.13602471351623535, + 0.004720611032098532, + -0.006354461424052715, + 0.9999528527259827, + -0.005629518534988165 + ], + "box_yaw_rad": -3.1302734163588606, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009135397723548107 + } + }, + { + "simulation_time_ns": 600000000, + "phase": "settle", + "intended_face_center": [ + 15.544600822152654, + 0.14607263399999446, + 0.11963312370118345 + ], + "intended_face_normal": [ + -0.9998787228524766, + -0.011316274248082686, + 0.010706616876900414 + ], + "commanded_contact_point": [ + 15.123821258544922, + 0.1116243302822113, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.54458209211079, + 0.14694642366836808, + 0.11880640891810408 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155288696289062, + 0.09101985394954681, + 0.023545116186141968 + ], + "box_pose": [ + 15.61771011352539, + 0.14513766765594482, + 0.13602638244628906, + 0.005386379547417164, + -0.005831926129758358, + 0.9999526739120483, + -0.005626990459859371 + ], + "box_yaw_rad": -3.1302754899551637, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010685545862135241 + } + }, + { + "simulation_time_ns": 620000000, + "phase": "settle", + "intended_face_center": [ + 15.544737637191753, + 0.14617587582390193, + 0.11971765921740518 + ], + "intended_face_normal": [ + -0.999865294662609, + -0.01133329376865678, + 0.011855705115562928 + ], + "commanded_contact_point": [ + 15.124140739440918, + 0.11281674355268478, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.544716833160628, + 0.1470509796598993, + 0.11880221722526554 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155281066894531, + 0.0911126360297203, + 0.023543894290924072 + ], + "box_pose": [ + 15.617865562438965, + 0.14525733888149261, + 0.1360284388065338, + 0.005958528723567724, + -0.0053930808790028095, + 0.9999517798423767, + -0.0056347837671637535 + ], + "box_yaw_rad": -3.1302583183485106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012344705144341555 + } + }, + { + "simulation_time_ns": 640000000, + "phase": "settle", + "intended_face_center": [ + 15.544853378856612, + 0.14626509095873796, + 0.11978947438872416 + ], + "intended_face_normal": [ + -0.9998534069561482, + -0.011338995070278267, + 0.012836810153603094 + ], + "commanded_contact_point": [ + 15.124576568603516, + 0.11410927772521973, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.544830738741252, + 0.14714063502252975, + 0.11879827606309215 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155274391174316, + 0.09121321141719818, + 0.023545533418655396 + ], + "box_pose": [ + 15.617997169494629, + 0.14535999298095703, + 0.13602980971336365, + 0.0064470041543245316, + -0.005016764625906944, + 0.9999507665634155, + -0.005637431982904673 + ], + "box_yaw_rad": -3.1302524821964237, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013640350610671177 + } + }, + { + "simulation_time_ns": 660000000, + "phase": "settle", + "intended_face_center": [ + 15.544950765194264, + 0.14634226223921387, + 0.11984888518040557 + ], + "intended_face_normal": [ + -0.9998423410834816, + -0.011338585439970116, + 0.013661038713576896 + ], + "commanded_contact_point": [ + 15.125094413757324, + 0.11546570062637329, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.544926415909211, + 0.14721777467327282, + 0.11879404378778041 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155277252197266, + 0.09132052958011627, + 0.023543506860733032 + ], + "box_pose": [ + 15.618107795715332, + 0.14544835686683655, + 0.13603004813194275, + 0.006857318338006735, + -0.004692446906119585, + 0.99994957447052, + -0.005637399386614561 + ], + "box_yaw_rad": -3.1302527663407202, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014519113924357358 + } + }, + { + "simulation_time_ns": 680000000, + "phase": "settle", + "intended_face_center": [ + 15.54503566929834, + 0.146406193513135, + 0.1199007983252402 + ], + "intended_face_normal": [ + -0.9998326506867012, + -0.011345209306343014, + 0.014371446752102876 + ], + "commanded_contact_point": [ + 15.125663757324219, + 0.11685028672218323, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 15.545009823275981, + 0.14728221741111522, + 0.11879110255291506 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15528678894043, + 0.09143038094043732, + 0.02354291081428528 + ], + "box_pose": [ + 15.618204116821289, + 0.1455221176147461, + 0.136030912399292, + 0.007211042568087578, + -0.004422434139996767, + 0.9999483823776245, + -0.005641005467623472 + ], + "box_yaw_rad": -3.130246032321088, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014970740643323011 + } + }, + { + "simulation_time_ns": 700000000, + "phase": "settle", + "intended_face_center": [ + 15.545108000141552, + 0.14646298552804915, + 0.11994475785272034 + ], + "intended_face_normal": [ + -0.9998238424987869, + -0.011338648001945908, + 0.014977854099851667 + ], + "commanded_contact_point": [ + 15.126279830932617, + 0.1182275041937828, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.545080793631517, + 0.1473385027928507, + 0.11878823814668057 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15530776977539, + 0.09154020994901657, + 0.023539960384368896 + ], + "box_pose": [ + 15.6182861328125, + 0.1455865502357483, + 0.13603129982948303, + 0.007512935437262058, + -0.004187826532870531, + 0.999947190284729, + -0.00563815888017416 + ], + "box_yaw_rad": -3.1302524939849308, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001508732797836069 + } + }, + { + "simulation_time_ns": 720000000, + "phase": "settle", + "intended_face_center": [ + 15.545171941212535, + 0.14651187405558921, + 0.11998431767993634 + ], + "intended_face_normal": [ + -0.9998149778697574, + -0.011345647400037925, + 0.015515804159485483 + ], + "commanded_contact_point": [ + 15.12692928314209, + 0.11956316232681274, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.545143365484984, + 0.14738793178111165, + 0.11878625999117327 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155336380004883, + 0.0916471779346466, + 0.023537755012512207 + ], + "box_pose": [ + 15.618358612060547, + 0.14564311504364014, + 0.13603219389915466, + 0.007780784275382757, + -0.003980859648436308, + 0.9999458193778992, + -0.005642155185341835 + ], + "box_yaw_rad": -3.1302453936560815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014851837668172698 + } + }, + { + "simulation_time_ns": 740000000, + "phase": "settle", + "intended_face_center": [ + 15.545188815092661, + 0.14652824452318572, + 0.1199948632678736 + ], + "intended_face_normal": [ + -0.9998134418276559, + -0.011342153046900387, + 0.015652004934504696 + ], + "commanded_contact_point": [ + 15.127603530883789, + 0.12082825601100922, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.54516000210908, + 0.1474040324311337, + 0.11878628879351244 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155364990234375, + 0.0917486622929573, + 0.023536354303359985 + ], + "box_pose": [ + 15.618377685546875, + 0.14566154778003693, + 0.13603299856185913, + 0.007848504930734634, + -0.0039137741550803185, + 0.9999457001686096, + -0.0056406655348837376 + ], + "box_yaw_rad": -3.1302488707797544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014335522477765502 + } + }, + { + "simulation_time_ns": 760000000, + "phase": "settle", + "intended_face_center": [ + 15.545187936580273, + 0.14653011836201277, + 0.11999503340461642 + ], + "intended_face_normal": [ + -0.9998130687459736, + -0.011341614707361678, + 0.015649435523963345 + ], + "commanded_contact_point": [ + 15.128274917602539, + 0.12199899554252625, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.545159065970694, + 0.14740586470190428, + 0.11878665732809678 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155396461486816, + 0.09184287488460541, + 0.023533374071121216 + ], + "box_pose": [ + 15.618376731872559, + 0.14566367864608765, + 0.13603338599205017, + 0.007847171276807785, + -0.0039051619824022055, + 0.9999456405639648, + -0.005640469491481781 + ], + "box_yaw_rad": -3.1302494049180773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001349589262575389 + } + }, + { + "simulation_time_ns": 780000000, + "phase": "settle", + "intended_face_center": [ + 15.545185328830685, + 0.14652860832970618, + 0.11999397990891111 + ], + "intended_face_normal": [ + -0.9998134166896997, + -0.011341535031228839, + 0.01563308859756021 + ], + "commanded_contact_point": [ + 15.128949165344238, + 0.12305936962366104, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 15.545156511964311, + 0.1474043485173801, + 0.11878686606544518 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155427932739258, + 0.09192832559347153, + 0.023530900478363037 + ], + "box_pose": [ + 15.61837387084961, + 0.14566192030906677, + 0.13603350520133972, + 0.007839036174118519, + -0.003912168089300394, + 0.9999457001686096, + -0.005640406161546707 + ], + "box_yaw_rad": -3.130249488546036, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001256583945564904 + } + }, + { + "simulation_time_ns": 800000000, + "phase": "settle", + "intended_face_center": [ + 15.545179520342305, + 0.14652346413773235, + 0.11999011714537194 + ], + "intended_face_normal": [ + -0.9998146967677366, + -0.011342271667233603, + 0.015576701299412302 + ], + "commanded_contact_point": [ + 15.129592895507812, + 0.12399889528751373, + 0.05000004544854164 + ], + "centerline_face_intersection": [ + 15.545150901195953, + 0.14739926120498661, + 0.11878735726483312 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155457496643066, + 0.09200435131788254, + 0.023528575897216797 + ], + "box_pose": [ + 15.618367195129395, + 0.14565610885620117, + 0.13603369891643524, + 0.007810957729816437, + -0.003932974301278591, + 0.9999459385871887, + -0.00564072048291564 + ], + "box_yaw_rad": -3.1302487663898875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011389016623873382 + } + }, + { + "simulation_time_ns": 820000000, + "phase": "settle", + "intended_face_center": [ + 15.545172010150928, + 0.14651760435038427, + 0.11998518313623496 + ], + "intended_face_normal": [ + -0.9998153065238533, + -0.011341842855979483, + 0.015511250732294 + ], + "commanded_contact_point": [ + 15.130206108093262, + 0.12481164932250977, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54514348518702, + 0.1473933683068429, + 0.11878747704178187 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155487060546875, + 0.0920703262090683, + 0.0235271155834198 + ], + "box_pose": [ + 15.618358612060547, + 0.14564940333366394, + 0.13603347539901733, + 0.007778361905366182, + -0.003956508822739124, + 0.9999459981918335, + -0.005640450865030289 + ], + "box_yaw_rad": -3.130249202142857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010181349615391673 + } + }, + { + "simulation_time_ns": 840000000, + "phase": "settle", + "intended_face_center": [ + 15.545161891458081, + 0.1465093566651928, + 0.11997888814910534 + ], + "intended_face_normal": [ + -0.9998170594273861, + -0.011339080026216166, + 0.015426251014777646 + ], + "commanded_contact_point": [ + 15.130758285522461, + 0.12549491226673126, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.54513363724594, + 0.14738490728888398, + 0.11878774533452265 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155512809753418, + 0.09212612360715866, + 0.023523956537246704 + ], + "box_pose": [ + 15.61834716796875, + 0.14563973248004913, + 0.13603328168392181, + 0.007736050523817539, + -0.003991791512817144, + 0.9999462962150574, + -0.005638962145894766 + ], + "box_yaw_rad": -3.130251985008589, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008784919838285748 + } + }, + { + "simulation_time_ns": 860000000, + "phase": "settle", + "intended_face_center": [ + 15.545147471803041, + 0.14649714767553493, + 0.1199714440471644 + ], + "intended_face_normal": [ + -0.999818084072706, + -0.011345574460402994, + 0.0153159524718658 + ], + "commanded_contact_point": [ + 15.13126277923584, + 0.1260496824979782, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.545119375856395, + 0.14737319976900054, + 0.11878881796919662 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155546188354492, + 0.09217137843370438, + 0.023522883653640747 + ], + "box_pose": [ + 15.618330955505371, + 0.14562630653381348, + 0.13603374361991882, + 0.007681186310946941, + -0.004040732514113188, + 0.9999463558197021, + -0.00564205227419734 + ], + "box_yaw_rad": -3.130245501849874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007498559308271437 + } + }, + { + "simulation_time_ns": 880000000, + "phase": "settle", + "intended_face_center": [ + 15.545132505158499, + 0.14648144299764515, + 0.11996201160161238 + ], + "intended_face_normal": [ + -0.9998203033786166, + -0.01135032109516253, + 0.01517680505125818 + ], + "commanded_contact_point": [ + 15.131698608398438, + 0.1264793574810028, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.545104752002642, + 0.14735786160400374, + 0.11879012983540678 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155570983886719, + 0.09220720827579498, + 0.02352157235145569 + ], + "box_pose": [ + 15.618313789367676, + 0.14560876786708832, + 0.1360342800617218, + 0.007611971348524094, + -0.0041037979535758495, + 0.999946653842926, + -0.005644223652780056 + ], + "box_yaw_rad": -3.130240780158675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006120193225151171 + } + }, + { + "simulation_time_ns": 900000000, + "phase": "settle", + "intended_face_center": [ + 15.545112186298827, + 0.14646670381375537, + 0.11995056853843047 + ], + "intended_face_normal": [ + -0.9998230256826102, + -0.011342377407869546, + 0.015015239201824203 + ], + "commanded_contact_point": [ + 15.132061004638672, + 0.1267889142036438, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.545084853625077, + 0.14734250904580604, + 0.11879116213000629 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155591011047363, + 0.09223334491252899, + 0.023519009351730347 + ], + "box_pose": [ + 15.618290901184082, + 0.14559124410152435, + 0.13603444397449493, + 0.007531523238867521, + -0.004167479928582907, + 0.9999470710754395, + -0.005640099756419659 + ], + "box_yaw_rad": -3.1302487551350318, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047660927483214295 + } + }, + { + "simulation_time_ns": 920000000, + "phase": "settle", + "intended_face_center": [ + 15.545089572821032, + 0.14644878920613197, + 0.11993579997496678 + ], + "intended_face_normal": [ + -0.999825692106548, + -0.011340123252687344, + 0.01482018219083713 + ], + "commanded_contact_point": [ + 15.132353782653809, + 0.12698623538017273, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.545062651997151, + 0.14732442038288263, + 0.1187914549548766 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155609130859375, + 0.09225068986415863, + 0.023517459630966187 + ], + "box_pose": [ + 15.618265151977539, + 0.14557062089443207, + 0.13603369891643524, + 0.00743439607322216, + -0.004240976646542549, + 0.9999474287033081, + -0.005638828966766596 + ], + "box_yaw_rad": -3.130251039643467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003530646024938917 + } + }, + { + "simulation_time_ns": 940000000, + "phase": "settle", + "intended_face_center": [ + 15.545061742309956, + 0.14642490644723133, + 0.11992007674353297 + ], + "intended_face_normal": [ + -0.9998293137216752, + -0.01134269070200024, + 0.014590670063512877 + ], + "commanded_contact_point": [ + 15.132590293884277, + 0.12707988917827606, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.545035380870875, + 0.14730073587038664, + 0.1187934535744006 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155628204345703, + 0.09225831925868988, + 0.023517370223999023 + ], + "box_pose": [ + 15.618233680725098, + 0.14554347097873688, + 0.13603442907333374, + 0.007320198230445385, + -0.004340860061347485, + 0.9999479055404663, + -0.005639863200485706 + ], + "box_yaw_rad": -3.1302485131646725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000254378847460679 + } + }, + { + "simulation_time_ns": 960000000, + "phase": "settle", + "intended_face_center": [ + 15.545032428286753, + 0.1464019969248592, + 0.11990150257266173 + ], + "intended_face_normal": [ + -0.9998331812330468, + -0.011336817800499086, + 0.014336312205829146 + ], + "commanded_contact_point": [ + 15.132762908935547, + 0.12708109617233276, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.545006664210694, + 0.14727737287008152, + 0.11879451972535626 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155640602111816, + 0.09225988388061523, + 0.023516088724136353 + ], + "box_pose": [ + 15.618200302124023, + 0.14551673829555511, + 0.13603413105010986, + 0.007193548139184713, + -0.004438918083906174, + 0.9999484419822693, + -0.005636767949908972 + ], + "box_yaw_rad": -3.1302544301677173, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017261927368522392 + } + }, + { + "simulation_time_ns": 980000000, + "phase": "settle", + "intended_face_center": [ + 15.544997956939001, + 0.14637448082270738, + 0.11988061678994932 + ], + "intended_face_normal": [ + -0.9998371444645393, + -0.011339069830863208, + 0.014047534178361343 + ], + "commanded_contact_point": [ + 15.1328706741333, + 0.12700143456459045, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.544972805008184, + 0.14725003065916117, + 0.1187959320286855 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15565013885498, + 0.09225499629974365, + 0.023515254259109497 + ], + "box_pose": [ + 15.61816120147705, + 0.14548543095588684, + 0.13603398203849792, + 0.007049797102808952, + -0.004553238861262798, + 0.9999489188194275, + -0.005637723486870527 + ], + "box_yaw_rad": -3.13025222299961, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00013401234887330072 + } + }, + { + "simulation_time_ns": 1000000000, + "phase": "settle", + "intended_face_center": [ + 15.54495832982122, + 0.14634320794793562, + 0.11985733999352095 + ], + "intended_face_normal": [ + -0.9998416987002816, + -0.01133833950708419, + 0.013723249989035895 + ], + "commanded_contact_point": [ + 15.132926940917969, + 0.12685292959213257, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 15.544933881316853, + 0.14721870139220958, + 0.1187976949377324 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155659675598145, + 0.09224437922239304, + 0.023514986038208008 + ], + "box_pose": [ + 15.61811637878418, + 0.14544959366321564, + 0.13603398203849792, + 0.0068883756175637245, + -0.004683617502450943, + 0.9999494552612305, + -0.005637192167341709 + ], + "box_yaw_rad": -3.1302530049958337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00015880704683241727 + } + }, + { + "simulation_time_ns": 1020000000, + "phase": "settle", + "intended_face_center": [ + 15.54491300236239, + 0.14630710098536176, + 0.11982944156191552 + ], + "intended_face_normal": [ + -0.99984647751501, + -0.011336777823704288, + 0.013340892488452674 + ], + "commanded_contact_point": [ + 15.13293743133545, + 0.12664806842803955, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 15.54488929196847, + 0.14718247384376332, + 0.1187993203605609 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155664443969727, + 0.09222929179668427, + 0.023515164852142334 + ], + "box_pose": [ + 15.618064880371094, + 0.14540815353393555, + 0.1360335350036621, + 0.006698030047118664, + -0.004834465216845274, + 0.9999499320983887, + -0.005636289715766907 + ], + "box_yaw_rad": -3.1302546209119524, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002051295820023548 + } + }, + { + "simulation_time_ns": 1040000000, + "phase": "settle", + "intended_face_center": [ + 15.544861878633371, + 0.14626494431481146, + 0.11979774976039981 + ], + "intended_face_normal": [ + -0.9998523283031031, + -0.011340223337999389, + 0.01290175632460977 + ], + "commanded_contact_point": [ + 15.132636070251465, + 0.1265825778245926, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.54483907191643, + 0.1471405832196809, + 0.11880153659578618 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156490325927734, + 0.09110287576913834, + 0.026531845331192017 + ], + "box_pose": [ + 15.618006706237793, + 0.14536015689373016, + 0.13603335618972778, + 0.006479447707533836, + -0.005010530352592468, + 0.9999505281448364, + -0.0056379251182079315 + ], + "box_yaw_rad": -3.1302512416724158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003083950769189796 + } + }, + { + "simulation_time_ns": 1060000000, + "phase": "settle", + "intended_face_center": [ + 15.544802267712274, + 0.14621596428528705, + 0.11976126689956335 + ], + "intended_face_normal": [ + -0.9998588215894519, + -0.011347301181418601, + 0.012397888875243833 + ], + "commanded_contact_point": [ + 15.1318359375, + 0.12627831101417542, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.544780463902477, + 0.14709214970805792, + 0.11880396001822226 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.154980659484863, + 0.08472196757793427, + 0.043204545974731445 + ], + "box_pose": [ + 15.617938995361328, + 0.14530473947525024, + 0.13603302836418152, + 0.006228649523109198, + -0.0052115279249846935, + 0.9999511241912842, + -0.005641465540975332 + ], + "box_yaw_rad": -3.130244237387787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008560319574117471 + } + }, + { + "simulation_time_ns": 1080000000, + "phase": "settle", + "intended_face_center": [ + 15.544734295608675, + 0.1461610949379707, + 0.11971944664156386 + ], + "intended_face_normal": [ + -0.9998655527897744, + -0.011356499494925662, + 0.01182379356799283 + ], + "commanded_contact_point": [ + 15.132657051086426, + 0.12490613758563995, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.544713531445655, + 0.14703799061140646, + 0.11880646870958725 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.143973350524902, + 0.08347858488559723, + 0.05141568183898926 + ], + "box_pose": [ + 15.6178617477417, + 0.14524270594120026, + 0.13603240251541138, + 0.005942888557910919, + -0.005438013933598995, + 0.9999516010284424, + -0.005646205507218838 + ], + "box_yaw_rad": -3.130235115415273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015990895659457828 + } + }, + { + "simulation_time_ns": 1100000000, + "phase": "settle", + "intended_face_center": [ + 15.544656434695755, + 0.14610012903330014, + 0.11967007659780045 + ], + "intended_face_normal": [ + -0.9998734800212343, + -0.011350209643336023, + 0.011154917318721317 + ], + "commanded_contact_point": [ + 15.134354591369629, + 0.1235864907503128, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.544636894899835, + 0.14697653903387098, + 0.11880874615537924 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137389183044434, + 0.08908972144126892, + 0.05456143617630005 + ], + "box_pose": [ + 15.617773056030273, + 0.14517229795455933, + 0.13603103160858154, + 0.00560988113284111, + -0.005697611719369888, + 0.9999521374702454, + -0.005643412005156279 + ], + "box_yaw_rad": -3.130241495289282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002150142037899314 + } + }, + { + "simulation_time_ns": 1120000000, + "phase": "settle", + "intended_face_center": [ + 15.544562326422298, + 0.14603040539420892, + 0.11961215387932157 + ], + "intended_face_normal": [ + -0.9998815881578982, + -0.011337544017234302, + 0.010376099274605189 + ], + "commanded_contact_point": [ + 15.135781288146973, + 0.12300831079483032, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.544544038924387, + 0.14690583741448443, + 0.11881096011665669 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138639450073242, + 0.09366331994533539, + 0.059223175048828125 + ], + "box_pose": [ + 15.617666244506836, + 0.14509141445159912, + 0.13602900505065918, + 0.005222087260335684, + -0.00599339883774519, + 0.9999524354934692, + -0.00563774211332202 + ], + "box_yaw_rad": -3.1302542528248303, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015394011028379334 + } + }, + { + "simulation_time_ns": 1140000000, + "phase": "settle", + "intended_face_center": [ + 15.544456821602974, + 0.1459445678897816, + 0.11954636826640055 + ], + "intended_face_normal": [ + -0.9998906699341681, + -0.011339364826113125, + 0.009476447461777839 + ], + "commanded_contact_point": [ + 15.136691093444824, + 0.12263672053813934, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.544439936769207, + 0.14682014050438624, + 0.11881464140087412 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.142593383789062, + 0.09723877906799316, + 0.06352287530899048 + ], + "box_pose": [ + 15.617546081542969, + 0.14499332010746002, + 0.13602770864963531, + 0.004774271044880152, + -0.006351575721055269, + 0.999952495098114, + -0.005639626178890467 + ], + "box_yaw_rad": -3.1302525350262433, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009827639588834726 + } + }, + { + "simulation_time_ns": 1160000000, + "phase": "settle", + "intended_face_center": [ + 15.544332746168763, + 0.14584800372497558, + 0.11946982137861122 + ], + "intended_face_normal": [ + -0.9999002010840565, + -0.011330292091173956, + 0.008434474642436485 + ], + "commanded_contact_point": [ + 15.137181282043457, + 0.12171446532011032, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.54431733339039, + 0.1467228757855039, + 0.11881855077141741 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.145925521850586, + 0.103237085044384, + 0.06755584478378296 + ], + "box_pose": [ + 15.61740493774414, + 0.1448819488286972, + 0.13602584600448608, + 0.004255547188222408, + -0.006760481279343367, + 0.9999521970748901, + -0.005636645946651697 + ], + "box_yaw_rad": -3.1302617155867636, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010444326460482775 + } + }, + { + "simulation_time_ns": 1180000000, + "phase": "settle", + "intended_face_center": [ + 15.544193267485237, + 0.14573578402812284, + 0.11938139520555999 + ], + "intended_face_normal": [ + -0.9999093771458376, + -0.011334999830081221, + 0.007232840576522424 + ], + "commanded_contact_point": [ + 15.137434005737305, + 0.12013640999794006, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.544179271906785, + 0.14661101959818867, + 0.11882290914997241 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.144794464111328, + 0.11030711233615875, + 0.06860470771789551 + ], + "box_pose": [ + 15.6172456741333, + 0.14475372433662415, + 0.13602350652217865, + 0.003657403402030468, + -0.007233159616589546, + 0.999951183795929, + -0.0056413207203149796 + ], + "box_yaw_rad": -3.1302571119997955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015981639046574847 + } + }, + { + "simulation_time_ns": 1200000000, + "phase": "settle", + "intended_face_center": [ + 15.544030973014012, + 0.1456081315255693, + 0.11927958227895313 + ], + "intended_face_normal": [ + -0.9999185753997994, + -0.011336000704407623, + 0.005859025940715372 + ], + "commanded_contact_point": [ + 15.137282371520996, + 0.11831355094909668, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 15.544018398049907, + 0.14648344437846042, + 0.11882717575172554 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140410423278809, + 0.11544498801231384, + 0.06738141179084778 + ], + "box_pose": [ + 15.617060661315918, + 0.1446075737476349, + 0.13602007925510406, + 0.0029735269490629435, + -0.0077701108530163765, + 0.9999494552612305, + -0.005645181052386761 + ], + "box_yaw_rad": -3.1302562154393363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018291550100055023 + } + }, + { + "simulation_time_ns": 1220000000, + "phase": "settle", + "intended_face_center": [ + 15.543843089104929, + 0.1454603682628556, + 0.1191598582590556 + ], + "intended_face_normal": [ + -0.9999267841739243, + -0.01133404054579836, + 0.004256029187334913 + ], + "commanded_contact_point": [ + 15.13672161102295, + 0.1163879856467247, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 15.543831781924993, + 0.1463355297614844, + 0.1188312276293393 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.136958122253418, + 0.1155223473906517, + 0.06661850214004517 + ], + "box_pose": [ + 15.616846084594727, + 0.14443813264369965, + 0.13601510226726532, + 0.002175542525947094, + -0.00839280430227518, + 0.9999464750289917, + -0.005649063736200333 + ], + "box_yaw_rad": -3.130258268546702, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002005555800736711 + } + }, + { + "simulation_time_ns": 1240000000, + "phase": "settle", + "intended_face_center": [ + 15.543625930763447, + 0.1452886661997526, + 0.11902252292755487 + ], + "intended_face_normal": [ + -0.9999326360027443, + -0.011340268829526132, + 0.002420485305136299 + ], + "commanded_contact_point": [ + 15.13586139678955, + 0.11417204886674881, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.543615527348638, + 0.14616430861726454, + 0.11883562439490075 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135035514831543, + 0.11137492209672928, + 0.06597386300563812 + ], + "box_pose": [ + 15.616598129272461, + 0.1442420333623886, + 0.13600905239582062, + 0.0012618782930076122, + -0.009111558087170124, + 0.9999416470527649, + -0.005658966954797506 + ], + "box_yaw_rad": -3.1302521069696394, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023770452972547798 + } + }, + { + "simulation_time_ns": 1260000000, + "phase": "settle", + "intended_face_center": [ + 15.543377686276928, + 0.14509203566008252, + 0.11886253720819615 + ], + "intended_face_normal": [ + -0.999935517167112, + -0.01134257720378661, + 0.0002946602940505066 + ], + "commanded_contact_point": [ + 15.134825706481934, + 0.11118119955062866, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.543367727831475, + 0.14596785631943762, + 0.1188397849210938 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132674217224121, + 0.1067507266998291, + 0.06461988389492035 + ], + "box_pose": [ + 15.616313934326172, + 0.14401699602603912, + 0.13600102066993713, + 0.00020368874538689852, + -0.009938073344528675, + 0.9999344944953918, + -0.005669635720551014 + ], + "box_yaw_rad": -3.130249831416744, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031650962144471615 + } + }, + { + "simulation_time_ns": 1280000000, + "phase": "settle", + "intended_face_center": [ + 15.543093777912876, + 0.14486553623282894, + 0.11867976247838047 + ], + "intended_face_normal": [ + -0.9999334772463775, + -0.011341349686537027, + -0.0021249150600291334 + ], + "commanded_contact_point": [ + 15.134246826171875, + 0.10807661712169647, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.543083504420549, + 0.1457412621090543, + 0.11884383846177575 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12819766998291, + 0.10251705348491669, + 0.060872435569763184 + ], + "box_pose": [ + 15.615988731384277, + 0.1437576711177826, + 0.13599102199077606, + -0.0010006841039285064, + -0.010885140858590603, + 0.9999241232872009, + -0.005681998562067747 + ], + "box_yaw_rad": -3.130251035719725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031580903206031396 + } + }, + { + "simulation_time_ns": 1300000000, + "phase": "settle", + "intended_face_center": [ + 15.542769663753987, + 0.14462166146395453, + 0.11847385499860627 + ], + "intended_face_normal": [ + -0.9999242057201918, + -0.011312301673293189, + -0.00489393645514993 + ], + "commanded_contact_point": [ + 15.134381294250488, + 0.1049661636352539, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.542757958352151, + 0.14549514438871874, + 0.11885174183825331 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.123848915100098, + 0.09980195760726929, + 0.06264263391494751 + ], + "box_pose": [ + 15.615616798400879, + 0.14347605407238007, + 0.13598285615444183, + -0.0023794418666511774, + -0.011915602721273899, + 0.9999100565910339, + -0.005685014650225639 + ], + "box_yaw_rad": -3.1302799770546055, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003113358725804685 + } + }, + { + "simulation_time_ns": 1320000000, + "phase": "settle", + "intended_face_center": [ + 15.542423823360863, + 0.14436663567813768, + 0.11825380606434217 + ], + "intended_face_normal": [ + -0.9999059100714935, + -0.01126697125178967, + -0.007859871256085739 + ], + "commanded_contact_point": [ + 15.134994506835938, + 0.10157676786184311, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.542409292310486, + 0.14523661840017577, + 0.11886070849068432 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.120704650878906, + 0.0990418866276741, + 0.06958609819412231 + ], + "box_pose": [ + 15.615219116210938, + 0.14318014681339264, + 0.1359744518995285, + -0.0038564419373869896, + -0.013002684339880943, + 0.9998919367790222, + -0.005684243980795145 + ], + "box_yaw_rad": -3.130325098988543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003444420616686712 + } + }, + { + "simulation_time_ns": 1340000000, + "phase": "settle", + "intended_face_center": [ + 15.542193167987639, + 0.14414265571633145, + 0.11813341888133043 + ], + "intended_face_normal": [ + -0.9998883791181665, + -0.01125179408321788, + -0.009816801100193277 + ], + "commanded_contact_point": [ + 15.136028289794922, + 0.09837409853935242, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.54217592934263, + 0.14501146652853397, + 0.118891426259888 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.122052192687988, + 0.09880773723125458, + 0.07702076435089111 + ], + "box_pose": [ + 15.614953994750977, + 0.14292263984680176, + 0.13599267601966858, + -0.004829616751521826, + -0.013942532241344452, + 0.9998748898506165, + -0.005693946499377489 + ], + "box_yaw_rad": -3.1303400783906223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003365382295762783 + } + }, + { + "simulation_time_ns": 1360000000, + "phase": "settle", + "intended_face_center": [ + 15.542199004085036, + 0.14413028151634816, + 0.1181447928729201 + ], + "intended_face_normal": [ + -0.9998891619317505, + -0.011252769670485756, + -0.009772573752961932 + ], + "commanded_contact_point": [ + 15.136833190917969, + 0.09598377346992493, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.542181886343869, + 0.14499916765882784, + 0.11889938522297773 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.126533508300781, + 0.09489065408706665, + 0.07958255708217621 + ], + "box_pose": [ + 15.614960670471191, + 0.14290854334831238, + 0.1360006183385849, + -0.004807198420166969, + -0.013994940556585789, + 0.9998743534088135, + -0.0056943767704069614 + ], + "box_yaw_rad": -3.13033911162766, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025222053357074575 + } + }, + { + "simulation_time_ns": 1380000000, + "phase": "settle", + "intended_face_center": [ + 15.54222957112452, + 0.14414085253406012, + 0.11817007431708199 + ], + "intended_face_normal": [ + -0.9998915775712838, + -0.011265080909328175, + -0.009507912081689959 + ], + "commanded_contact_point": [ + 15.137120246887207, + 0.09442853927612305, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.542212826472987, + 0.14501068929271163, + 0.11890423073311202 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131840705871582, + 0.09032732248306274, + 0.07881346344947815 + ], + "box_pose": [ + 15.614995956420898, + 0.14292162656784058, + 0.13600683212280273, + -0.0046750521287322044, + -0.013948587700724602, + 0.9998756051063538, + -0.005698459688574076 + ], + "box_yaw_rad": -3.1303268277999363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015815038814909095 + } + }, + { + "simulation_time_ns": 1400000000, + "phase": "settle", + "intended_face_center": [ + 15.542285259118831, + 0.14417583820698074, + 0.11820722109556675 + ], + "intended_face_normal": [ + -0.9998957185085608, + -0.011276083598592512, + -0.009044382953373866 + ], + "commanded_contact_point": [ + 15.137064933776855, + 0.09346935153007507, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.542269154022861, + 0.14504652454173766, + 0.11890558596444678 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135159492492676, + 0.08796843886375427, + 0.07586799561977386 + ], + "box_pose": [ + 15.615059852600098, + 0.14296256005764008, + 0.13601085543632507, + -0.004444070626050234, + -0.013799834996461868, + 0.9998787045478821, + -0.00570006063207984 + ], + "box_yaw_rad": -3.130315872013059, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009607812829843923 + } + }, + { + "simulation_time_ns": 1420000000, + "phase": "settle", + "intended_face_center": [ + 15.542363182829888, + 0.1442310610171331, + 0.1182577685476934 + ], + "intended_face_normal": [ + -0.9999012160566041, + -0.011291422952851723, + -0.008380122061886739 + ], + "commanded_contact_point": [ + 15.136816024780273, + 0.09307949244976044, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.542347926809928, + 0.14510293178494438, + 0.11890484230331816 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13583755493164, + 0.08792279660701752, + 0.07017068564891815 + ], + "box_pose": [ + 15.61514949798584, + 0.14302702248096466, + 0.13601401448249817, + -0.0041131917387247086, + -0.013564888387918472, + 0.9998832941055298, + -0.005702171940356493 + ], + "box_yaw_rad": -3.1303005950922698, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004625427453817563 + } + }, + { + "simulation_time_ns": 1440000000, + "phase": "settle", + "intended_face_center": [ + 15.542464368102099, + 0.14430839954995586, + 0.11832148835400783 + ], + "intended_face_normal": [ + -0.9999080180338398, + -0.011302607166899278, + -0.007518153495389739 + ], + "commanded_contact_point": [ + 15.136550903320312, + 0.09305684268474579, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.542450162615964, + 0.14518113391036566, + 0.11890200493618872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13590145111084, + 0.08904506266117096, + 0.0650085061788559 + ], + "box_pose": [ + 15.615265846252441, + 0.1431163102388382, + 0.13601629436016083, + -0.0036839917302131653, + -0.013242674060165882, + 0.9998893141746521, + -0.005700720474123955 + ], + "box_yaw_rad": -3.130289488085812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00026608720823338955 + } + }, + { + "simulation_time_ns": 1460000000, + "phase": "settle", + "intended_face_center": [ + 15.542592216332508, + 0.1444087503237824, + 0.11839985884578524 + ], + "intended_face_normal": [ + -0.9999154098247358, + -0.011319263631628072, + -0.006432180108016057 + ], + "commanded_contact_point": [ + 15.136225700378418, + 0.09340237081050873, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.542579152466075, + 0.14528277081834487, + 0.11889652165196062 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135625839233398, + 0.0905778706073761, + 0.061326101422309875 + ], + "box_pose": [ + 15.615412712097168, + 0.1432325690984726, + 0.136017307639122, + -0.00314334942959249, + -0.012817329727113247, + 0.9998967051506042, + -0.005700509995222092 + ], + "box_yaw_rad": -3.130272915893829, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047449619622733373 + } + }, + { + "simulation_time_ns": 1480000000, + "phase": "settle", + "intended_face_center": [ + 15.542747676483025, + 0.14452967040498332, + 0.11849448025581198 + ], + "intended_face_normal": [ + -0.9999224017148125, + -0.011352490444681947, + -0.005119430271891285 + ], + "commanded_contact_point": [ + 15.13598346710205, + 0.09419682621955872, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 15.542735692466136, + 0.14540625651834604, + 0.11888977867130379 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135701179504395, + 0.09012886881828308, + 0.0589311420917511 + ], + "box_pose": [ + 15.615591049194336, + 0.14337372779846191, + 0.13601838052272797, + -0.0024897411931306124, + -0.012301651760935783, + 0.9999049305915833, + -0.0057074157521128654 + ], + "box_yaw_rad": -3.1302397699181377, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008305638794387685 + } + }, + { + "simulation_time_ns": 1500000000, + "phase": "settle", + "intended_face_center": [ + 15.542906753294334, + 0.14466035627344348, + 0.11858876624311848 + ], + "intended_face_normal": [ + -0.9999282235049205, + -0.011374087588125987, + -0.003788315257297215 + ], + "commanded_contact_point": [ + 15.13553237915039, + 0.09543296694755554, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.542895668407304, + 0.14553861001701682, + 0.11888128219490618 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1357421875, + 0.0880841463804245, + 0.057952284812927246 + ], + "box_pose": [ + 15.61577320098877, + 0.1435249149799347, + 0.13601785898208618, + -0.001827214495278895, + -0.011753711849451065, + 0.9999129772186279, + -0.005709017161279917 + ], + "box_yaw_rad": -3.130218240106544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00131587394549541 + } + }, + { + "simulation_time_ns": 1520000000, + "phase": "settle", + "intended_face_center": [ + 15.54306801096619, + 0.14479931397753662, + 0.11868592413187477 + ], + "intended_face_normal": [ + -0.9999324800337248, + -0.011371439304016098, + -0.002407620256697088 + ], + "commanded_contact_point": [ + 15.13530445098877, + 0.09617479145526886, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.543057583463362, + 0.14567736323302108, + 0.11887182928577517 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133532524108887, + 0.08922262489795685, + 0.059839874505996704 + ], + "box_pose": [ + 15.615958213806152, + 0.14368382096290588, + 0.13601668179035187, + -0.0011402403470128775, + -0.011170590296387672, + 0.9999207258224487, + -0.00569890858605504 + ], + "box_yaw_rad": -3.1302209366415363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007760508019193002 + } + }, + { + "simulation_time_ns": 1540000000, + "phase": "settle", + "intended_face_center": [ + 15.54324024506326, + 0.14494813053301764, + 0.11878992494358415 + ], + "intended_face_normal": [ + -0.9999349604637424, + -0.011365253142780151, + -0.0009355866304224057 + ], + "commanded_contact_point": [ + 15.13552474975586, + 0.09643778204917908, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.543230200640188, + 0.14582570212212037, + 0.11886216655894355 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131407737731934, + 0.09131729602813721, + 0.06410934031009674 + ], + "box_pose": [ + 15.616155624389648, + 0.14385372400283813, + 0.13601578772068024, + -0.0004078376805409789, + -0.010547107085585594, + 0.9999281167984009, + -0.005687336903065443 + ], + "box_yaw_rad": -3.1302271506117467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003430679225584908 + } + }, + { + "simulation_time_ns": 1560000000, + "phase": "settle", + "intended_face_center": [ + 15.543428574707532, + 0.14511112328441933, + 0.11890235366041413 + ], + "intended_face_normal": [ + -0.9999353998819573, + -0.011360241429270572, + 0.0006638981137806494 + ], + "commanded_contact_point": [ + 15.135651588439941, + 0.0964963287115097, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.54341859814849, + 0.14598830789249018, + 0.11885109055915336 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129446029663086, + 0.09388025104999542, + 0.06825484335422516 + ], + "box_pose": [ + 15.616371154785156, + 0.14403998851776123, + 0.1360141932964325, + 0.0003879623836837709, + -0.009862871840596199, + 0.9999352097511292, + -0.0056766620837152 + ], + "box_yaw_rad": -3.130232166996022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00013969883526292784 + } + }, + { + "simulation_time_ns": 1580000000, + "phase": "settle", + "intended_face_center": [ + 15.543637844617908, + 0.14529171583531864, + 0.11902788701271927 + ], + "intended_face_normal": [ + -0.999932525213858, + -0.011362758893886257, + 0.0024469081507155627 + ], + "commanded_contact_point": [ + 15.1353178024292, + 0.09667101502418518, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.543627424092747, + 0.14616909483021004, + 0.11883894823174931 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.127328872680664, + 0.09743069112300873, + 0.07322825491428375 + ], + "box_pose": [ + 15.616610527038574, + 0.14424705505371094, + 0.13601252436637878, + 0.0012751375325024128, + -0.009101971983909607, + 0.9999417066574097, + -0.005670103710144758 + ], + "box_yaw_rad": -3.1302296170294945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003767338701633263 + } + }, + { + "simulation_time_ns": 1600000000, + "phase": "settle", + "intended_face_center": [ + 15.543870530526807, + 0.14549745082404086, + 0.11916690942613606 + ], + "intended_face_normal": [ + -0.9999258229116106, + -0.011359431764785575, + 0.004440017664294097 + ], + "commanded_contact_point": [ + 15.134869575500488, + 0.09743190556764603, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.543859074887587, + 0.14637457291361433, + 0.11882407206841528 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.123247146606445, + 0.1037931963801384, + 0.07732224464416504 + ], + "box_pose": [ + 15.616876602172852, + 0.14448250830173492, + 0.1360093057155609, + 0.002266748109832406, + -0.008234857581555843, + 0.9999475479125977, + -0.005661346483975649 + ], + "box_yaw_rad": -3.1302328678183238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008830978430666636 + } + }, + { + "simulation_time_ns": 1620000000, + "phase": "settle", + "intended_face_center": [ + 15.544114450367394, + 0.1456885465394107, + 0.11932199170175833 + ], + "intended_face_normal": [ + -0.9999144520711418, + -0.011361482499728659, + 0.006518091235726171 + ], + "commanded_contact_point": [ + 15.134740829467773, + 0.0983947217464447, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.544101238581886, + 0.14656582697712656, + 0.11881869524088835 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.117195129394531, + 0.11005763709545135, + 0.0788978785276413 + ], + "box_pose": [ + 15.617155075073242, + 0.14470157027244568, + 0.13601559400558472, + 0.0033012384083122015, + -0.007430590223520994, + 0.9999510049819946, + -0.005656488239765167 + ], + "box_yaw_rad": -3.1302306880023814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009713858839015726 + } + }, + { + "simulation_time_ns": 1640000000, + "phase": "settle", + "intended_face_center": [ + 15.544322577197239, + 0.1458487600542517, + 0.11945544234061181 + ], + "intended_face_normal": [ + -0.9999009757873021, + -0.011366395057039748, + 0.008297759634649864 + ], + "commanded_contact_point": [ + 15.13480281829834, + 0.09885524958372116, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.544307284068669, + 0.14672641981662246, + 0.11881472822566065 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.112139701843262, + 0.10610533505678177, + 0.07516714930534363 + ], + "box_pose": [ + 15.617392539978027, + 0.14488555490970612, + 0.1360214799642563, + 0.0041872733272612095, + -0.006753861438483, + 0.9999524354934692, + -0.005655186250805855 + ], + "box_yaw_rad": -3.1302256224740117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004646810777528208 + } + }, + { + "simulation_time_ns": 1660000000, + "phase": "settle", + "intended_face_center": [ + 15.544500202399094, + 0.14598800093892259, + 0.11956574180411293 + ], + "intended_face_normal": [ + -0.9998878338541124, + -0.011356435610561776, + 0.009796534681213597 + ], + "commanded_contact_point": [ + 15.13502311706543, + 0.09892691671848297, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54448287953919, + 0.14686489167950714, + 0.11880929930345874 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.113411903381348, + 0.09566304087638855, + 0.06739169359207153 + ], + "box_pose": [ + 15.617594718933105, + 0.145044207572937, + 0.1360243260860443, + 0.0049333577044308186, + -0.006171713583171368, + 0.9999529123306274, + -0.005648036487400532 + ], + "box_yaw_rad": -3.130235432363226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00023166295605538082 + } + }, + { + "simulation_time_ns": 1680000000, + "phase": "settle", + "intended_face_center": [ + 15.54465274253423, + 0.14610275790806898, + 0.11966149363612205 + ], + "intended_face_normal": [ + -0.9998736232115724, + -0.011373303456442522, + 0.011089588054582308 + ], + "commanded_contact_point": [ + 15.135486602783203, + 0.09950219839811325, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.544633224854083, + 0.14698095110466824, + 0.11880520761333893 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.121369361877441, + 0.08894038945436478, + 0.06055213510990143 + ], + "box_pose": [ + 15.617768287658691, + 0.14517711102962494, + 0.1360272765159607, + 0.0055771986953914165, + -0.005682954099029303, + 0.9999522566795349, + -0.005655226763337851 + ], + "box_yaw_rad": -3.1302184031646423, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007387611399127182 + } + }, + { + "simulation_time_ns": 1700000000, + "phase": "settle", + "intended_face_center": [ + 15.544781822757741, + 0.14620206223373047, + 0.11974192848619095 + ], + "intended_face_normal": [ + -0.9998613515832977, + -0.01137654816187855, + 0.012185365813822511 + ], + "commanded_contact_point": [ + 15.136393547058105, + 0.10070767998695374, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.544760409711158, + 0.14708050597127853, + 0.11880103163975093 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129096984863281, + 0.08894087374210358, + 0.055872246623039246 + ], + "box_pose": [ + 15.617915153503418, + 0.14529114961624146, + 0.13602904975414276, + 0.0061227548867464066, + -0.005264009814709425, + 0.9999514818191528, + -0.0056563182733953 + ], + "box_yaw_rad": -3.130215018841332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015085535386009325 + } + }, + { + "simulation_time_ns": 1720000000, + "phase": "settle", + "intended_face_center": [ + 15.54489078290631, + 0.1462863514520366, + 0.11981017968331995 + ], + "intended_face_normal": [ + -0.9998493299176681, + -0.011381910589534625, + 0.013117304523825408 + ], + "commanded_contact_point": [ + 15.13714599609375, + 0.10203203558921814, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.544867513077735, + 0.14716520925111945, + 0.11879732289684083 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135025024414062, + 0.0909397155046463, + 0.053194448351860046 + ], + "box_pose": [ + 15.61803913116455, + 0.1453881710767746, + 0.136030375957489, + 0.006586750503629446, + -0.004907446913421154, + 0.9999502897262573, + -0.005658912472426891 + ], + "box_yaw_rad": -3.130209519513258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001523186565301028 + } + }, + { + "simulation_time_ns": 1740000000, + "phase": "settle", + "intended_face_center": [ + 15.544983956869006, + 0.14635938878020813, + 0.11986731524465732 + ], + "intended_face_normal": [ + -0.9998389764640385, + -0.011376882967399353, + 0.013906239305846224 + ], + "commanded_contact_point": [ + 15.13726806640625, + 0.10353385657072067, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 15.544959087900848, + 0.14723785836986955, + 0.11879354061132882 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.14066219329834, + 0.09173589199781418, + 0.056557103991508484 + ], + "box_pose": [ + 15.618144989013672, + 0.14547143876552582, + 0.13603085279464722, + 0.006979501806199551, + -0.0046012140810489655, + 0.9999491572380066, + -0.005656614899635315 + ], + "box_yaw_rad": -3.13021442943028, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001506773845678914 + } + }, + { + "simulation_time_ns": 1760000000, + "phase": "settle", + "intended_face_center": [ + 15.54506276980952, + 0.14641991073984506, + 0.11991688166209405 + ], + "intended_face_normal": [ + -0.99982890565113, + -0.011384384888480387, + 0.01458387622846313 + ], + "commanded_contact_point": [ + 15.13753890991211, + 0.1048194020986557, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.545036345341076, + 0.1472989595926977, + 0.1187907830810677 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.141457557678223, + 0.09195177257061005, + 0.06130978465080261 + ], + "box_pose": [ + 15.618234634399414, + 0.14554138481616974, + 0.13603171706199646, + 0.007316914852708578, + -0.004344817250967026, + 0.9999477863311768, + -0.005660697352141142 + ], + "box_yaw_rad": -3.1302068125997717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013137669158246673 + } + }, + { + "simulation_time_ns": 1780000000, + "phase": "settle", + "intended_face_center": [ + 15.545131814731482, + 0.14647310336812336, + 0.11995834392149624 + ], + "intended_face_normal": [ + -0.9998203705096778, + -0.011379000600656684, + 0.015157990423348179 + ], + "commanded_contact_point": [ + 15.137937545776367, + 0.10585558414459229, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + 15.54510407194458, + 0.14735173647150152, + 0.11878791493269084 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.139636993408203, + 0.0926598608493805, + 0.06545060873031616 + ], + "box_pose": [ + 15.61831283569336, + 0.14560188353061676, + 0.13603192567825317, + 0.007602727506309748, + -0.0041223689913749695, + 0.9999465942382812, + -0.00565846124663949 + ], + "box_yaw_rad": -3.1302120999683414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011102179016257586 + } + }, + { + "simulation_time_ns": 1800000000, + "phase": "settle", + "intended_face_center": [ + 15.545190715288621, + 0.14651719476986683, + 0.11999418948012494 + ], + "intended_face_normal": [ + -0.999813086503234, + -0.011382821901593714, + 0.015649465231627 + ], + "commanded_contact_point": [ + 15.138487815856934, + 0.10689665377140045, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.545161847421817, + 0.14739612293619636, + 0.11878581110971873 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138705253601074, + 0.09408855438232422, + 0.06923238933086395 + ], + "box_pose": [ + 15.618379592895508, + 0.1456526815891266, + 0.13603243231773376, + 0.007847445085644722, + -0.003936695866286755, + 0.9999455213546753, + -0.005660826340317726 + ], + "box_yaw_rad": -3.1302081955438217, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011775496307934404 + } + }, + { + "simulation_time_ns": 1820000000, + "phase": "settle", + "intended_face_center": [ + 15.545191347085447, + 0.1465214431467757, + 0.1199962375486346 + ], + "intended_face_normal": [ + -0.9998128090282865, + -0.011376710169379078, + 0.01567032721013517 + ], + "commanded_contact_point": [ + 15.138924598693848, + 0.10763506591320038, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 15.545162436359997, + 0.14739989939378376, + 0.11878624831400907 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.139260292053223, + 0.09690816700458527, + 0.07160861790180206 + ], + "box_pose": [ + 15.618380546569824, + 0.14565709233283997, + 0.13603301346302032, + 0.007857765071094036, + -0.003919035196304321, + 0.9999455213546753, + -0.005657868459820747 + ], + "box_yaw_rad": -3.130214304469286, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008579229207249051 + } + }, + { + "simulation_time_ns": 1840000000, + "phase": "settle", + "intended_face_center": [ + 15.545190629296116, + 0.14652121132365753, + 0.11999555428384591 + ], + "intended_face_normal": [ + -0.9998125499094435, + -0.011378045018294517, + 0.015657592195158762 + ], + "commanded_contact_point": [ + 15.139119148254395, + 0.1079048216342926, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.545161678547279, + 0.1473997706414436, + 0.11878654838739944 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13892936706543, + 0.10072937607765198, + 0.07130494713783264 + ], + "box_pose": [ + 15.618379592895508, + 0.1456570029258728, + 0.13603326678276062, + 0.007851392962038517, + -0.003917713649570942, + 0.9999454617500305, + -0.005658571608364582 + ], + "box_yaw_rad": -3.130212966594327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003325923644912984 + } + }, + { + "simulation_time_ns": 1860000000, + "phase": "settle", + "intended_face_center": [ + 15.545188046110582, + 0.14651962571720006, + 0.11999406203951349 + ], + "intended_face_normal": [ + -0.9998129095113897, + -0.011378524563125672, + 0.01563969623390571 + ], + "commanded_contact_point": [ + 15.139164924621582, + 0.10775715112686157, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.545159150905702, + 0.1473982220631908, + 0.11878643798533292 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.136492729187012, + 0.10468745231628418, + 0.06860749423503876 + ], + "box_pose": [ + 15.618376731872559, + 0.14565518498420715, + 0.1360330581665039, + 0.007842488586902618, + -0.003925439901649952, + 0.9999455213546753, + -0.005658785346895456 + ], + "box_yaw_rad": -3.1302124911144418, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00015460289351342324 + } + }, + { + "simulation_time_ns": 1880000000, + "phase": "settle", + "intended_face_center": [ + 15.545182102463443, + 0.14651363527055875, + 0.11999108421684751 + ], + "intended_face_normal": [ + -0.9998137506897864, + -0.011380704325227094, + 0.01559284798983893 + ], + "commanded_contact_point": [ + 15.13903522491455, + 0.10724055767059326, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.545153337186528, + 0.14739239992756442, + 0.11878707756453877 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.134272575378418, + 0.10908374190330505, + 0.06676904857158661 + ], + "box_pose": [ + 15.618370056152344, + 0.1456485539674759, + 0.13603343069553375, + 0.00781919714063406, + -0.003948577214032412, + 0.9999456405639648, + -0.005659785121679306 + ], + "box_yaw_rad": -3.13021032080238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005326263354248746 + } + }, + { + "simulation_time_ns": 1900000000, + "phase": "settle", + "intended_face_center": [ + 15.54517372895094, + 0.14650589366041936, + 0.11998598836758134 + ], + "intended_face_normal": [ + -0.9998145085405676, + -0.01138264001882161, + 0.015521093109550875 + ], + "commanded_contact_point": [ + 15.138747215270996, + 0.10624729096889496, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.54514508073116, + 0.14738480778261356, + 0.11878752229087872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1334810256958, + 0.1114170253276825, + 0.06666482985019684 + ], + "box_pose": [ + 15.61836051940918, + 0.1456398218870163, + 0.13603347539901733, + 0.007783506065607071, + -0.003981329500675201, + 0.9999457001686096, + -0.005660638678818941 + ], + "box_yaw_rad": -3.1302083936274907, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010341800112204957 + } + }, + { + "simulation_time_ns": 1920000000, + "phase": "settle", + "intended_face_center": [ + 15.545163697595795, + 0.1464964639829736, + 0.11997911645366689 + ], + "intended_face_normal": [ + -0.9998163112889258, + -0.011384162310963978, + 0.015430314965243604 + ], + "commanded_contact_point": [ + 15.138401985168457, + 0.10473769903182983, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.545135327826976, + 0.14737549564943347, + 0.11878765983987324 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.134544372558594, + 0.11022670567035675, + 0.06700001657009125 + ], + "box_pose": [ + 15.618349075317383, + 0.1456291824579239, + 0.13603311777114868, + 0.007738330867141485, + -0.004019495565444231, + 0.9999459981918335, + -0.005661282688379288 + ], + "box_yaw_rad": -3.130206891777967, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015485643803746243 + } + }, + { + "simulation_time_ns": 1940000000, + "phase": "settle", + "intended_face_center": [ + 15.545149388244146, + 0.1464861307993437, + 0.11996979575120459 + ], + "intended_face_normal": [ + -0.9998182421675084, + -0.011372250336489809, + 0.015311631166593325 + ], + "commanded_contact_point": [ + 15.137800216674805, + 0.1029268205165863, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.545121316716623, + 0.14736424267895523, + 0.11878750334417992 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.136030197143555, + 0.10572271049022675, + 0.06698796153068542 + ], + "box_pose": [ + 15.618332862854004, + 0.14561639726161957, + 0.1360323280096054, + 0.007679217495024204, + -0.004065189976245165, + 0.9999462962150574, + -0.005655211396515369 + ], + "box_yaw_rad": -3.1302188263617405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019082469224339744 + } + }, + { + "simulation_time_ns": 1960000000, + "phase": "settle", + "intended_face_center": [ + 15.545131705235452, + 0.14647135813990816, + 0.11995919522089056 + ], + "intended_face_normal": [ + -0.9998204204075831, + -0.011373914650275041, + 0.015164596031516563 + ], + "commanded_contact_point": [ + 15.137076377868652, + 0.10071572661399841, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 15.545103970155699, + 0.14734959853003105, + 0.11878825617797686 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13540267944336, + 0.09931690990924835, + 0.06532944738864899 + ], + "box_pose": [ + 15.61831283569336, + 0.14559966325759888, + 0.13603228330612183, + 0.007606036961078644, + -0.0041253939270973206, + 0.9999465942382812, + -0.005655881483107805 + ], + "box_yaw_rad": -3.130217186741626, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002326559448392865 + } + }, + { + "simulation_time_ns": 1980000000, + "phase": "settle", + "intended_face_center": [ + 15.545111546015848, + 0.1464558242904316, + 0.11994680813583244 + ], + "intended_face_normal": [ + -0.9998227424261366, + -0.011365174239257973, + 0.014995429093573324 + ], + "commanded_contact_point": [ + 15.13689136505127, + 0.09900075942277908, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.545084169590874, + 0.1473333897869741, + 0.11878893137113547 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132428169250488, + 0.09144728630781174, + 0.0609024316072464 + ], + "box_pose": [ + 15.618289947509766, + 0.14558114111423492, + 0.13603204488754272, + 0.007521811872720718, + -0.0041933124884963036, + 0.9999468922615051, + -0.005651345942169428 + ], + "box_yaw_rad": -3.1302259539883734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017249180300045145 + } + }, + { + "simulation_time_ns": 2000000000, + "phase": "settle", + "intended_face_center": [ + 15.545088762696393, + 0.1464357378789199, + 0.11993412698265749 + ], + "intended_face_normal": [ + -0.9998255645302374, + -0.011367757291817798, + 0.014808940424421237 + ], + "commanded_contact_point": [ + 15.137356758117676, + 0.09792159497737885, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.545061822167387, + 0.14731350282667666, + 0.11879064999909002 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130250930786133, + 0.08640353381633759, + 0.06076802313327789 + ], + "box_pose": [ + 15.618264198303223, + 0.1455584019422531, + 0.13603273034095764, + 0.007429028861224651, + -0.004275477025657892, + 0.9999472498893738, + -0.005652414169162512 + ], + "box_yaw_rad": -3.130223402899855, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011752389573282363 + } + }, + { + "simulation_time_ns": 2020000000, + "phase": "settle", + "intended_face_center": [ + 15.545061731016508, + 0.14641192877822914, + 0.11991943244721687 + ], + "intended_face_normal": [ + -0.9998291968566944, + -0.01137024539273159, + 0.014588399893818035 + ], + "commanded_contact_point": [ + 15.137986183166504, + 0.09697451442480087, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.54503535152681, + 0.147289885845479, + 0.11879298456995013 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.127893447875977, + 0.08897425979375839, + 0.06557279825210571 + ], + "box_pose": [ + 15.618233680725098, + 0.1455313265323639, + 0.136033833026886, + 0.007319317199289799, + -0.004375184886157513, + 0.999947726726532, + -0.005653394851833582 + ], + "box_yaw_rad": -3.1302209559959393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011371620226086016 + } + }, + { + "simulation_time_ns": 2040000000, + "phase": "settle", + "intended_face_center": [ + 15.545029816434994, + 0.146386478489879, + 0.11989967733595847 + ], + "intended_face_normal": [ + -0.9998332166383428, + -0.011369775130838937, + 0.01431753474625886 + ], + "commanded_contact_point": [ + 15.138337135314941, + 0.09632506966590881, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.54500405782751, + 0.1472643992457092, + 0.11879414439608815 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.126849174499512, + 0.09398442506790161, + 0.07214725017547607 + ], + "box_pose": [ + 15.618197441101074, + 0.14550217986106873, + 0.1360335350036621, + 0.007184470072388649, + -0.004480993840843439, + 0.999948263168335, + -0.005652986466884613 + ], + "box_yaw_rad": -3.1302214719908856, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007382045146638986 + } + }, + { + "simulation_time_ns": 2060000000, + "phase": "settle", + "intended_face_center": [ + 15.544991956940063, + 0.14635718901232106, + 0.1198766495037451 + ], + "intended_face_normal": [ + -0.9998373291165501, + -0.01137130339746253, + 0.014003215186962735 + ], + "commanded_contact_point": [ + 15.138459205627441, + 0.09601256251335144, + 0.04999994859099388 + ], + "centerline_face_intersection": [ + 15.544966833529813, + 0.14723522777373832, + 0.11879538684731436 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1279296875, + 0.0948638767004013, + 0.0756402313709259 + ], + "box_pose": [ + 15.618154525756836, + 0.1454688012599945, + 0.1360330879688263, + 0.007027987856417894, + -0.004602381959557533, + 0.9999487400054932, + -0.005653596017509699 + ], + "box_yaw_rad": -3.1302199904405894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00033550243827693433 + } + }, + { + "simulation_time_ns": 2080000000, + "phase": "settle", + "intended_face_center": [ + 15.54494906431666, + 0.14632430106286068, + 0.1198503123478231 + ], + "intended_face_normal": [ + -0.9998425622056313, + -0.011365493105997333, + 0.013644391825534358 + ], + "commanded_contact_point": [ + 15.13862133026123, + 0.09584955871105194, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.544924749185022, + 0.14720189118079854, + 0.11879675634988382 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130925178527832, + 0.09496133029460907, + 0.07591530680656433 + ], + "box_pose": [ + 15.6181058883667, + 0.14543065428733826, + 0.13603252172470093, + 0.006849337834864855, + -0.004742070101201534, + 0.9999493956565857, + -0.0056505524553358555 + ], + "box_yaw_rad": -3.130225860414174, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022990136487074792 + } + }, + { + "simulation_time_ns": 2100000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544901219058291, + 0.1462853247939122, + 0.11982090472307365 + ], + "intended_face_normal": [ + -0.9998475846290766, + -0.011371116882839795, + 0.013240069177749413 + ], + "commanded_contact_point": [ + 15.138708114624023, + 0.09593383967876434, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.54487767966285, + 0.14716334915354432, + 0.11879856862530458 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133954048156738, + 0.09584550559520721, + 0.0739976316690445 + ], + "box_pose": [ + 15.618051528930664, + 0.1453865021467209, + 0.1360321342945099, + 0.006648088805377483, + -0.0049035511910915375, + 0.9999498724937439, + -0.005653242580592632 + ], + "box_yaw_rad": -3.13022029359973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00012097441523860352 + } + }, + { + "simulation_time_ns": 2120000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544845728184418, + 0.1462421061712595, + 0.11978715332396106 + ], + "intended_face_normal": [ + -0.9998535876798713, + -0.011366637086125148, + 0.01277760560009163 + ], + "commanded_contact_point": [ + 15.138690116212368, + 0.09647014819502664, + 0.050126825685459744 + ], + "centerline_face_intersection": [ + 15.544823115982425, + 0.14711978462198202, + 0.11880052649651343 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13588809967041, + 0.0963539108633995, + 0.06940753757953644 + ], + "box_pose": [ + 15.617988586425781, + 0.14533668756484985, + 0.13603158295154572, + 0.006417854223400354, + -0.005084712989628315, + 0.9999504685401917, + -0.0056509654968976974 + ], + "box_yaw_rad": -3.1302248417462035, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005513879933308303 + } + }, + { + "simulation_time_ns": 2140000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544783736700161, + 0.14619210573749267, + 0.11974856809320042 + ], + "intended_face_normal": [ + -0.9998601087711954, + -0.01136680437753203, + 0.012246128798981229 + ], + "commanded_contact_point": [ + 15.13887629225731, + 0.09742966670305168, + 0.0504987927541508 + ], + "centerline_face_intersection": [ + 15.544762131698588, + 0.14706979710567372, + 0.11880297941378717 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137201309204102, + 0.09695251286029816, + 0.06412941217422485 + ], + "box_pose": [ + 15.617918014526367, + 0.1452794075012207, + 0.1360311359167099, + 0.006153291091322899, + -0.005295471753925085, + 0.9999510049819946, + -0.005651094485074282 + ], + "box_yaw_rad": -3.130224748587535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010457995922466673 + } + }, + { + "simulation_time_ns": 2160000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544711603262932, + 0.1461353062367314, + 0.11970359192237517 + ], + "intended_face_normal": [ + -0.9998676428407025, + -0.011368429654745538, + 0.011633798656292877 + ], + "commanded_contact_point": [ + 15.13930106111288, + 0.09884896284602783, + 0.051103024453661335 + ], + "centerline_face_intersection": [ + 15.544691161910857, + 0.14701312310120268, + 0.11880528450714706 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137849807739258, + 0.09713373333215714, + 0.059979990124702454 + ], + "box_pose": [ + 15.617835998535156, + 0.1452144980430603, + 0.13603010773658752, + 0.005848457105457783, + -0.005533264949917793, + 0.9999516010284424, + -0.00565212732180953 + ], + "box_yaw_rad": -3.1302232089557993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001599976896340278 + } + }, + { + "simulation_time_ns": 2180000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544629391180719, + 0.14606913314698955, + 0.11965341072045585 + ], + "intended_face_normal": [ + -0.9998756216687086, + -0.011369743924198894, + 0.010939226969482968 + ], + "commanded_contact_point": [ + 15.140072986450194, + 0.10068693026047958, + 0.05192665978465476 + ], + "centerline_face_intersection": [ + 15.544610182162264, + 0.14694705149318923, + 0.11880873487605875 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138140678405762, + 0.09652293473482132, + 0.05710422992706299 + ], + "box_pose": [ + 15.617742538452148, + 0.14513880014419556, + 0.13602973520755768, + 0.005502730142325163, + -0.0058113690465688705, + 0.9999520182609558, + -0.005653164815157652 + ], + "box_yaw_rad": -3.1302219854110875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021569348857662313 + } + }, + { + "simulation_time_ns": 2200000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544532888689286, + 0.14599494322414994, + 0.11959370367303146 + ], + "intended_face_normal": [ + -0.9998843189000479, + -0.011360708740371733, + 0.0101299310421578 + ], + "commanded_contact_point": [ + 15.14078860014677, + 0.10276107436568233, + 0.05295673492576432 + ], + "centerline_face_intersection": [ + 15.544515022950968, + 0.14687216391579416, + 0.11881151786771003 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137677192687988, + 0.09581249952316284, + 0.05728253722190857 + ], + "box_pose": [ + 15.617632865905762, + 0.14505307376384735, + 0.13602808117866516, + 0.00509981531649828, + -0.006125733256340027, + 0.9999523162841797, + -0.005649383645504713 + ], + "box_yaw_rad": -3.1302311193691694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024238876888597943 + } + }, + { + "simulation_time_ns": 2220000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54442314542691, + 0.14590831437990834, + 0.11952553103326664 + ], + "intended_face_normal": [ + -0.9998936194800025, + -0.011356421685813987, + 0.0091988535130407 + ], + "commanded_contact_point": [ + 15.14211856151581, + 0.10421904374958381, + 0.05418052644909743 + ], + "centerline_face_intersection": [ + 15.544406716142493, + 0.1467852040452891, + 0.11881523867163186 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.134527206420898, + 0.09705734252929688, + 0.06070403754711151 + ], + "box_pose": [ + 15.617507934570312, + 0.1449533849954605, + 0.13602665066719055, + 0.004636329598724842, + -0.006494220346212387, + 0.9999523162841797, + -0.005648370832204819 + ], + "box_yaw_rad": -3.1302355119976326, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023220976853082225 + } + }, + { + "simulation_time_ns": 2240000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544296783169807, + 0.14580817759625705, + 0.11944679066739305 + ], + "intended_face_normal": [ + -0.9999027658964026, + -0.011361415680212983, + 0.008123282813478211 + ], + "commanded_contact_point": [ + 15.14423538044572, + 0.10527104820440536, + 0.055585174847285874 + ], + "centerline_face_intersection": [ + 15.544281766516043, + 0.14668545287448304, + 0.11881954883495895 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131690979003906, + 0.09846682846546173, + 0.06545300781726837 + ], + "box_pose": [ + 15.617363929748535, + 0.14483904838562012, + 0.13602499663829803, + 0.004100928548723459, + -0.006915268488228321, + 0.9999517798423767, + -0.005652621388435364 + ], + "box_yaw_rad": -3.1302306220403695, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027496677758452313 + } + }, + { + "simulation_time_ns": 2260000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544152231681943, + 0.14569410355686127, + 0.11935537810079556 + ], + "intended_face_normal": [ + -0.9999117481997697, + -0.01135540124052113, + 0.006885528306645749 + ], + "commanded_contact_point": [ + 15.146505108947753, + 0.10621022347394987, + 0.05715769319705264 + ], + "centerline_face_intersection": [ + 15.544138602299592, + 0.14657091442823844, + 0.11882370987115183 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130379676818848, + 0.1004772037267685, + 0.07022243738174438 + ], + "box_pose": [ + 15.617198944091797, + 0.14470791816711426, + 0.13602226972579956, + 0.003484738292172551, + -0.007395685184746981, + 0.9999505877494812, + -0.0056522078812122345 + ], + "box_yaw_rad": -3.1302367382922824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029165958959413945 + } + }, + { + "simulation_time_ns": 2280000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543983445504406, + 0.1455630919316749, + 0.11924842926745531 + ], + "intended_face_normal": [ + -0.9999204069231178, + -0.011352537573598404, + 0.0054476738477411074 + ], + "commanded_contact_point": [ + 15.148537466367483, + 0.10732351072959426, + 0.058885227839959836 + ], + "centerline_face_intersection": [ + 15.54397115340637, + 0.1464396816841117, + 0.11882778542121485 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131255149841309, + 0.10386306047439575, + 0.07667365670204163 + ], + "box_pose": [ + 15.617006301879883, + 0.14455753564834595, + 0.136018306016922, + 0.002768931444734335, + -0.00794969405978918, + 0.9999485015869141, + -0.005654547829180956 + ], + "box_yaw_rad": -3.13023970014505, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002890373875046782 + } + }, + { + "simulation_time_ns": 2300000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543788957739082, + 0.14541059825077565, + 0.11912399890517744 + ], + "intended_face_normal": [ + -0.9999282189051026, + -0.01135714682932429, + 0.00378539899931189 + ], + "commanded_contact_point": [ + 15.150943022966384, + 0.10876724866460735, + 0.06075495816766351 + ], + "centerline_face_intersection": [ + 15.54377787214165, + 0.14628754390834023, + 0.11883170813316554 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131135940551758, + 0.10844967514276505, + 0.0811799019575119 + ], + "box_pose": [ + 15.61678409576416, + 0.1443832516670227, + 0.13601286709308624, + 0.0019414413254708052, + -0.008589469827711582, + 0.9999451637268066, + -0.005662207957357168 + ], + "box_yaw_rad": -3.1302351798405903, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003371494219756269 + } + }, + { + "simulation_time_ns": 2320000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543565479065055, + 0.14523434689671116, + 0.11898060615412542 + ], + "intended_face_normal": [ + -0.9999336830040733, + -0.011349424650338611, + 0.001876000274560241 + ], + "commanded_contact_point": [ + 15.153815782580375, + 0.11037823581233333, + 0.0627539865897581 + ], + "centerline_face_intersection": [ + 15.543555237350127, + 0.14611069628380127, + 0.11883575020402731 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129291534423828, + 0.11010873317718506, + 0.0815727710723877 + ], + "box_pose": [ + 15.616528511047363, + 0.14418070018291473, + 0.13600602746009827, + 0.0009909432847052813, + -0.00933381263166666, + 0.9999398589134216, + -0.0056658037938177586 + ], + "box_yaw_rad": -3.130242963593425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00385280962704614 + } + }, + { + "simulation_time_ns": 2340000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543307887986352, + 0.14503115019499754, + 0.11881535301026666 + ], + "intended_face_normal": [ + -0.9999354746011875, + -0.011347574234287686, + -0.00031218965503621715 + ], + "commanded_contact_point": [ + 15.156632671813966, + 0.11195979283478383, + 0.06486934997758956 + ], + "centerline_face_intersection": [ + 15.543297922966994, + 0.14590735670163144, + 0.11883945883248018 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1284818649292, + 0.10517926514148712, + 0.07827901840209961 + ], + "box_pose": [ + 15.616233825683594, + 0.14394791424274445, + 0.13599714636802673, + -9.829533519223332e-05, + -0.010185797698795795, + 0.9999319911003113, + -0.005675174295902252 + ], + "box_yaw_rad": -3.130244834224192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003861469905639647 + } + }, + { + "simulation_time_ns": 2360000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543013251844625, + 0.14479727124254813, + 0.11862510044036051 + ], + "intended_face_normal": [ + -0.9999317929215121, + -0.011341186777056974, + -0.002822589837487676 + ], + "commanded_contact_point": [ + 15.159537813932893, + 0.11368687296082258, + 0.06708811897813785 + ], + "centerline_face_intersection": [ + 15.543002718223427, + 0.14567298453966684, + 0.11884304760070535 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132869720458984, + 0.10083818435668945, + 0.07438503205776215 + ], + "box_pose": [ + 15.615896224975586, + 0.1436796933412552, + 0.1359861195087433, + -0.0013479116605594754, + -0.011165882460772991, + 0.9999206066131592, + -0.005686095450073481 + ], + "box_yaw_rad": -3.1302511795167276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040429682623925245 + } + }, + { + "simulation_time_ns": 2380000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542679393091698, + 0.1445487333160625, + 0.11841389591932489 + ], + "intended_face_normal": [ + -0.9999200716469157, + -0.011310067652225886, + -0.005680827081939137 + ], + "commanded_contact_point": [ + 15.163058536424636, + 0.11568084068883058, + 0.06939917235110624 + ], + "centerline_face_intersection": [ + 15.542667049212618, + 0.14542204374018872, + 0.1188525427657334 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140170097351074, + 0.101193368434906, + 0.07219867408275604 + ], + "box_pose": [ + 15.61551284790039, + 0.14339260756969452, + 0.13597902655601501, + -0.002771178027614951, + -0.012215237133204937, + 0.9999054074287415, + -0.005689422599971294 + ], + "box_yaw_rad": -3.1302821642012075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00465965254680109 + } + }, + { + "simulation_time_ns": 2400000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542332766706728, + 0.14428169876118493, + 0.11819875292871629 + ], + "intended_face_normal": [ + -0.9998991398769128, + -0.011273640979464983, + -0.008647912054006779 + ], + "commanded_contact_point": [ + 15.167213099747897, + 0.11792121484691834, + 0.0717897953917781 + ], + "centerline_face_intersection": [ + 15.542317190029024, + 0.14515219648833916, + 0.11886650417264492 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.147215843200684, + 0.10563510656356812, + 0.07114817202091217 + ], + "box_pose": [ + 15.615114212036133, + 0.14308373630046844, + 0.13597536087036133, + -0.004248429089784622, + -0.013349168002605438, + 0.9998856782913208, + -0.005694184452295303 + ], + "box_yaw_rad": -3.130318353150652, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005291006643145417 + } + }, + { + "simulation_time_ns": 2420000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542199790202732, + 0.1441362049036176, + 0.11813934727271477 + ], + "intended_face_normal": [ + -0.9998892581792642, + -0.011267517679008642, + -0.009764054356696299 + ], + "commanded_contact_point": [ + 15.171486216125487, + 0.12001461299240551, + 0.07425045015853651 + ], + "centerline_face_intersection": [ + 15.542182687326775, + 0.1450062298182049, + 0.11889328179491541 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.154364585876465, + 0.1095278263092041, + 0.0710739940404892 + ], + "box_pose": [ + 15.614961624145508, + 0.14291679859161377, + 0.13599470257759094, + -0.004803044721484184, + -0.013958285562694073, + 0.9998748898506165, + -0.0057015144266188145 + ], + "box_yaw_rad": -3.130324364939186, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005356926474493174 + } + }, + { + "simulation_time_ns": 2440000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542209087328095, + 0.14412771175633504, + 0.11815178070319485 + ], + "intended_face_normal": [ + -0.9998896357373224, + -0.011267869890238813, + -0.00969700788520289 + ], + "commanded_contact_point": [ + 15.175327200012205, + 0.12204603669324848, + 0.07675710295600618 + ], + "centerline_face_intersection": [ + 15.542192042765112, + 0.14499776386702307, + 0.11890053821105247 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.162476539611816, + 0.11056585609912872, + 0.07438045740127563 + ], + "box_pose": [ + 15.614972114562988, + 0.14290708303451538, + 0.13600210845470428, + -0.004769312217831612, + -0.013994887471199036, + 0.999874472618103, + -0.005701396614313126 + ], + "box_yaw_rad": -3.130324016988349, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00501628824106407 + } + }, + { + "simulation_time_ns": 2460000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542246296137924, + 0.14414460209127244, + 0.118180574146124 + ], + "intended_face_normal": [ + -0.9998923325330848, + -0.011282510046237875, + -0.009375488008066025 + ], + "commanded_contact_point": [ + 15.179410109825135, + 0.1239812351801156, + 0.07930163278331803 + ], + "centerline_face_intersection": [ + 15.542229668088215, + 0.14501578464620166, + 0.11890450539573974 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.167184829711914, + 0.10978767275810242, + 0.07878445088863373 + ], + "box_pose": [ + 15.615015029907227, + 0.14292766153812408, + 0.13600781559944153, + -0.004608889110386372, + -0.013919361867010593, + 0.9998762011528015, + -0.00570611422881484 + ], + "box_yaw_rad": -3.1303094075073887, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005185535436786377 + } + }, + { + "simulation_time_ns": 2480000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542305946827883, + 0.14418436520075106, + 0.11822092164541947 + ], + "intended_face_normal": [ + -0.9998965563986695, + -0.01129513913632777, + -0.008865009082656042 + ], + "commanded_contact_point": [ + 15.18382603413701, + 0.1259060096399937, + 0.08187091589145765 + ], + "centerline_face_intersection": [ + 15.542289971141251, + 0.145056522914836, + 0.1189054361045645 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.170266151428223, + 0.10930441319942474, + 0.0840526819229126 + ], + "box_pose": [ + 15.615083694458008, + 0.14297419786453247, + 0.13601170480251312, + -0.004354541189968586, + -0.01375014428049326, + 0.9998795986175537, + -0.005708132404834032 + ], + "box_yaw_rad": -3.13029682638028, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005459520119880338 + } + }, + { + "simulation_time_ns": 2500000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542390628084458, + 0.14424490816740643, + 0.11827471924521908 + ], + "intended_face_normal": [ + -0.9999025507860522, + -0.011308174100102817, + -0.008151194015893867 + ], + "commanded_contact_point": [ + 15.18860544204712, + 0.12791955831134655, + 0.08445206036012884 + ], + "centerline_face_intersection": [ + 15.542375578207833, + 0.14511807238031105, + 0.11890411624990936 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.173736572265625, + 0.11004049330949783, + 0.0891885757446289 + ], + "box_pose": [ + 15.615180969238281, + 0.1430445909500122, + 0.13601459562778473, + -0.003999033011496067, + -0.013492637313902378, + 0.9998846054077148, + -0.005708703305572271 + ], + "box_yaw_rad": -3.1302838595237343, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00579304971420778 + } + }, + { + "simulation_time_ns": 2520000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54249924537972, + 0.14432797035325237, + 0.11834292068679263 + ], + "intended_face_normal": [ + -0.9999101542474875, + -0.011327470562889953, + -0.007225814170696174 + ], + "commanded_contact_point": [ + 15.193464468262196, + 0.12979680845310654, + 0.08703207031340604 + ], + "centerline_face_intersection": [ + 15.542485369820392, + 0.14520262454858848, + 0.11890086419624865 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.177984237670898, + 0.11297469586133957, + 0.092979297041893 + ], + "box_pose": [ + 15.61530590057373, + 0.14314113557338715, + 0.136016845703125, + -0.003538233693689108, + -0.013143113814294338, + 0.9998911619186401, + -0.005710860248655081 + ], + "box_yaw_rad": -3.130264649785554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005812973009789713 + } + }, + { + "simulation_time_ns": 2540000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542635524366212, + 0.14443677895980697, + 0.11842539454581505 + ], + "intended_face_normal": [ + -0.9999172624765609, + -0.011351564676333178, + -0.006074259161872309 + ], + "commanded_contact_point": [ + 15.19808519094467, + 0.13140591271898472, + 0.0895970605057666 + ], + "centerline_face_intersection": [ + 15.5426227466299, + 0.145313293589676, + 0.11889442037377845 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.181544303894043, + 0.11773756146430969, + 0.0946243405342102 + ], + "box_pose": [ + 15.615462303161621, + 0.14326751232147217, + 0.136017307639122, + -0.002964945510029793, + -0.012685392051935196, + 0.9998988509178162, + -0.005713971797376871 + ], + "box_yaw_rad": -3.130240637298784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005524442898040537 + } + }, + { + "simulation_time_ns": 2560000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54278485826549, + 0.14456229850490593, + 0.11851644628478147 + ], + "intended_face_normal": [ + -0.9999238513604174, + -0.01136819163885592, + -0.004789745554299497 + ], + "commanded_contact_point": [ + 15.202548821015359, + 0.1328178452513833, + 0.09213472453844533 + ], + "centerline_face_intersection": [ + 15.542773098135497, + 0.14544009699090557, + 0.11888628799131262 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.184017181396484, + 0.1228146106004715, + 0.0940181314945221 + ], + "box_pose": [ + 15.615633964538574, + 0.14341236650943756, + 0.13601689040660858, + -0.002325615845620632, + -0.012160737067461014, + 0.9999070167541504, + -0.00571290822699666 + ], + "box_yaw_rad": -3.1302240860123014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005325155925111528 + } + }, + { + "simulation_time_ns": 2580000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542938477010637, + 0.1446898065616128, + 0.11861028845369533 + ], + "intended_face_normal": [ + -0.9999294774090384, + -0.011394405973441758, + -0.003474005417999482 + ], + "commanded_contact_point": [ + 15.20690556854248, + 0.1340845709211974, + 0.09463329085968981 + ], + "centerline_face_intersection": [ + 15.542927585778585, + 0.14556962919568645, + 0.11887853487257619 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.187453269958496, + 0.12824055552482605, + 0.09483475983142853 + ], + "box_pose": [ + 15.61581039428711, + 0.14356037974357605, + 0.13601699471473694, + -0.001670698169618845, + -0.011622457765042782, + 0.999914824962616, + -0.005717107560485601 + ], + "box_yaw_rad": -3.130197937183923, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005179640585918614 + } + }, + { + "simulation_time_ns": 2600000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54309983608054, + 0.14482796854259597, + 0.11870755282887309 + ], + "intended_face_normal": [ + -0.9999327213271616, + -0.011393416695154843, + -0.0020952240683719363 + ], + "commanded_contact_point": [ + 15.21115855872631, + 0.13519263850873028, + 0.09707865393114078 + ], + "centerline_face_intersection": [ + 15.54308944584332, + 0.1457077147892362, + 0.11886933621302723 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.191739082336426, + 0.13207608461380005, + 0.09778808057308197 + ], + "box_pose": [ + 15.615995407104492, + 0.14371852576732635, + 0.13601604104042053, + -0.000984661397524178, + -0.011041862890124321, + 0.9999222159385681, + -0.005708024837076664 + ], + "box_yaw_rad": -3.1301989633631475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00502946715204707 + } + }, + { + "simulation_time_ns": 2620000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543276402316382, + 0.14497602353256914, + 0.11881443941986394 + ], + "intended_face_normal": [ + -0.9999351551867988, + -0.01139580767553004, + -0.0005986482846454533 + ], + "commanded_contact_point": [ + 15.215318377838134, + 0.13614532767207374, + 0.09945917124716966 + ], + "centerline_face_intersection": [ + 15.543266387966469, + 0.14585595439950957, + 0.11886066423508539 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.196826934814453, + 0.13307353854179382, + 0.1011291891336441 + ], + "box_pose": [ + 15.61619758605957, + 0.1438882052898407, + 0.13601621985435486, + -0.00023993296781554818, + -0.010420998558402061, + 0.9999294877052307, + -0.005700806155800819 + ], + "box_yaw_rad": -3.130196600268219, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004886570819803562 + } + }, + { + "simulation_time_ns": 2640000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54346798609286, + 0.14514145032884973, + 0.11892966636216025 + ], + "intended_face_normal": [ + -0.9999342845383365, + -0.011400777656220063, + 0.0010381793110413604 + ], + "commanded_contact_point": [ + 15.21936926486969, + 0.1370601997060682, + 0.1017597684018252 + ], + "centerline_face_intersection": [ + 15.54345783727938, + 0.14602176495440927, + 0.11884950302076183 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.201627731323242, + 0.13111039996147156, + 0.1035369485616684 + ], + "box_pose": [ + 15.616416931152344, + 0.14407804608345032, + 0.13601472973823547, + 0.0005745109519921243, + -0.009724861942231655, + 0.9999362826347351, + -0.005695164669305086 + ], + "box_yaw_rad": -3.130191620684902, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00474757031006561 + } + }, + { + "simulation_time_ns": 2660000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543679752349792, + 0.14532895474374227, + 0.11905540280446227 + ], + "intended_face_normal": [ + -0.9999313724015639, + -0.011398570708489167, + 0.0028436358078308133 + ], + "commanded_contact_point": [ + 15.223167087097167, + 0.13795859601329846, + 0.10396729133009462 + ], + "centerline_face_intersection": [ + 15.54366915378299, + 0.14620909895913997, + 0.1188358305729108 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.20462703704834, + 0.12726086378097534, + 0.10435299575328827 + ], + "box_pose": [ + 15.616659164428711, + 0.14429257810115814, + 0.13601170480251312, + 0.001472726697102189, + -0.008937865495681763, + 0.9999428987503052, + -0.005686447024345398 + ], + "box_yaw_rad": -3.130193794296512, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0044837179968419 + } + }, + { + "simulation_time_ns": 2680000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543923694867559, + 0.1455368081977362, + 0.11920200575286041 + ], + "intended_face_normal": [ + -0.9999228786342824, + -0.01139806601327249, + 0.004910589664997026 + ], + "commanded_contact_point": [ + 15.227296773906946, + 0.13901696887846218, + 0.10607125263602123 + ], + "centerline_face_intersection": [ + 15.543911784507342, + 0.14641691344293434, + 0.1188228330303874 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.20656967163086, + 0.12330543994903564, + 0.10204331576824188 + ], + "box_pose": [ + 15.616937637329102, + 0.14453059434890747, + 0.13601067662239075, + 0.0025012216065078974, + -0.008064087480306625, + 0.9999482035636902, + -0.005679157096892595 + ], + "box_yaw_rad": -3.130194202146739, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004754063466700711 + } + }, + { + "simulation_time_ns": 2700000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544161764173184, + 0.14572172002053996, + 0.11935391542637011 + ], + "intended_face_normal": [ + -0.9999109719170918, + -0.011395686166868955, + 0.006942654103722336 + ], + "commanded_contact_point": [ + 15.232119249105454, + 0.14020469030017974, + 0.10806504592645762 + ], + "centerline_face_intersection": [ + 15.544148014898383, + 0.14660164150515098, + 0.11881783621037266 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.210257530212402, + 0.12264977395534515, + 0.10388323664665222 + ], + "box_pose": [ + 15.617209434509277, + 0.1447421759366989, + 0.13601702451705933, + 0.0035128402523696423, + -0.007288071326911449, + 0.999951183795929, + -0.005672518163919449 + ], + "box_yaw_rad": -3.130196446177411, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005351837151933152 + } + }, + { + "simulation_time_ns": 2720000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544365908714187, + 0.14587847575259513, + 0.1194828807715754 + ], + "intended_face_normal": [ + -0.9998972982860821, + -0.011395807975861769, + 0.008677526796458437 + ], + "commanded_contact_point": [ + 15.237211407074927, + 0.14140410617113613, + 0.10992953498491476 + ], + "centerline_face_intersection": [ + 15.544350047609505, + 0.14675840664272577, + 0.11881284281601194 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.214231491088867, + 0.12756705284118652, + 0.10896682739257812 + ], + "box_pose": [ + 15.61744213104248, + 0.14492186903953552, + 0.13602162897586823, + 0.004376532044261694, + -0.006625337526202202, + 0.9999523758888245, + -0.0056691779755055904 + ], + "box_yaw_rad": -3.1301961685416813, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005553826668764494 + } + }, + { + "simulation_time_ns": 2740000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544540846220523, + 0.1460131064611542, + 0.11959343811465191 + ], + "intended_face_normal": [ + -0.9998836169867271, + -0.011396061864460447, + 0.010167094538790555 + ], + "commanded_contact_point": [ + 15.241899630432128, + 0.14256803862540532, + 0.11165231060562751 + ], + "centerline_face_intersection": [ + 15.544522872072713, + 0.14689305695537266, + 0.11880838271827193 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.218118667602539, + 0.13421675562858582, + 0.1156531572341919 + ], + "box_pose": [ + 15.61764144897461, + 0.14507615566253662, + 0.1360253393650055, + 0.005118121393024921, + -0.0060577914118766785, + 0.9999525547027588, + -0.005667295306921005 + ], + "box_yaw_rad": -3.13019575873314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005128560504120835 + } + }, + { + "simulation_time_ns": 2760000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544688362398485, + 0.14612933378697548, + 0.11968519079443313 + ], + "intended_face_normal": [ + -0.9998699122736725, + -0.011387668193369994, + 0.01141987053369065 + ], + "commanded_contact_point": [ + 15.245987866963148, + 0.14365021424286367, + 0.11321957709017277 + ], + "centerline_face_intersection": [ + 15.544668271562367, + 0.14700863616124585, + 0.11880340190634622 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.222699165344238, + 0.13645723462104797, + 0.11927969753742218 + ], + "box_pose": [ + 15.617809295654297, + 0.14520861208438873, + 0.13602721691131592, + 0.0057417550124228, + -0.005571042653173208, + 0.999951958656311, + -0.005662118550390005 + ], + "box_yaw_rad": -3.1302039962087487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00451011155451464 + } + }, + { + "simulation_time_ns": 2780000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544814237381622, + 0.1462282434181988, + 0.11976233617939719 + ], + "intended_face_normal": [ + -0.9998571675249004, + -0.011389427084443286, + 0.012482235230824208 + ], + "commanded_contact_point": [ + 15.24965888976097, + 0.1446150315187221, + 0.11461900686389158 + ], + "centerline_face_intersection": [ + 15.544792178097318, + 0.14710768160579552, + 0.11879851646773269 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.228446006774902, + 0.13743439316749573, + 0.12090599536895752 + ], + "box_pose": [ + 15.617952346801758, + 0.1453220546245575, + 0.13602812588214874, + 0.006270614452660084, + -0.005154745187610388, + 0.9999510049819946, + -0.005662667565047741 + ], + "box_yaw_rad": -3.130202092140848, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004045452317047047 + } + }, + { + "simulation_time_ns": 2800000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544922451426979, + 0.14631218964066173, + 0.11982966023583579 + ], + "intended_face_normal": [ + -0.9998453556439186, + -0.011393277196674413, + 0.013401266492798962 + ], + "commanded_contact_point": [ + 15.252987487614154, + 0.1454533721962067, + 0.11583884642710324 + ], + "centerline_face_intersection": [ + 15.544898567755098, + 0.14719192511588297, + 0.11879487723678347 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.235260009765625, + 0.1397935152053833, + 0.12298831343650818 + ], + "box_pose": [ + 15.618075370788574, + 0.14541852474212646, + 0.136029452085495, + 0.006728166714310646, + -0.004800992086529732, + 0.9999498128890991, + -0.005664621014147997 + ], + "box_yaw_rad": -3.1301981073797687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003642854281977301 + } + }, + { + "simulation_time_ns": 2820000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545015537672418, + 0.14638338662732378, + 0.11988840758559113 + ], + "intended_face_normal": [ + -0.9998345441347278, + -0.011395731406165836, + 0.014196337161679682 + ], + "commanded_contact_point": [ + 15.255863125, + 0.14615274461026292, + 0.11686605003614126 + ], + "centerline_face_intersection": [ + 15.544989984105097, + 0.1472633116051013, + 0.11879223295525942 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.242959976196289, + 0.14294502139091492, + 0.1253611147403717 + ], + "box_pose": [ + 15.618181228637695, + 0.14550025761127472, + 0.13603106141090393, + 0.007124043069779873, + -0.004501804243773222, + 0.9999485015869141, + -0.005666086450219154 + ], + "box_yaw_rad": -3.1301955298809427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003132660116072725 + } + }, + { + "simulation_time_ns": 2840000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545095427741012, + 0.14644650442479087, + 0.11993756940056652 + ], + "intended_face_normal": [ + -0.9998244625323893, + -0.01139395184384007, + 0.014867872503968819 + ], + "commanded_contact_point": [ + 15.258396834384204, + 0.14670545810738683, + 0.11768675962540769 + ], + "centerline_face_intersection": [ + 15.545068316999998, + 0.1473262919931048, + 0.11878954195797732 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.250222206115723, + 0.1464366316795349, + 0.12679709494113922 + ], + "box_pose": [ + 15.618271827697754, + 0.14557234942913055, + 0.13603198528289795, + 0.007458345964550972, + -0.004238762892782688, + 0.9999471306800842, + -0.005665661301463842 + ], + "box_yaw_rad": -3.1301971946130585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00272006244108884 + } + }, + { + "simulation_time_ns": 2860000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545166043642833, + 0.14650198969594877, + 0.11998130534731542 + ], + "intended_face_normal": [ + -0.9998156456801133, + -0.011389634902776022, + 0.01546280352497273 + ], + "commanded_contact_point": [ + 15.260668863983154, + 0.14710999848448103, + 0.11828863201675477 + ], + "centerline_face_intersection": [ + 15.545137571064707, + 0.1473814439303033, + 0.11878734011918377 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.255705833435059, + 0.1493121087551117, + 0.1268046647310257 + ], + "box_pose": [ + 15.618351936340332, + 0.14563551545143127, + 0.13603296875953674, + 0.007754521444439888, + -0.004007735755294561, + 0.999945878982544, + -0.005664045922458172 + ], + "box_yaw_rad": -3.130201411307752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023849573980833138 + } + }, + { + "simulation_time_ns": 2880000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54519115608951, + 0.1465253283561066, + 0.1199981795737001 + ], + "intended_face_normal": [ + -0.9998122027172602, + -0.011388759886427529, + 0.015682990199366736 + ], + "commanded_contact_point": [ + 15.262695468022823, + 0.14733865216167624, + 0.11866038612686078 + ], + "centerline_face_intersection": [ + 15.545162151713507, + 0.1474047150257991, + 0.11878721256238599 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.259427070617676, + 0.1500106006860733, + 0.12541158497333527 + ], + "box_pose": [ + 15.618380546569824, + 0.14566214382648468, + 0.1360340565443039, + 0.007864074781537056, + -0.003910765517503023, + 0.9999454021453857, + -0.005663934629410505 + ], + "box_yaw_rad": -3.1302022471513085, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002073067185615929 + } + }, + { + "simulation_time_ns": 2900000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545189457449075, + 0.14652645542652593, + 0.1199973958367831 + ], + "intended_face_normal": [ + -0.9998123535582768, + -0.011388866653530288, + 0.015670302665727352 + ], + "commanded_contact_point": [ + 15.264256744384765, + 0.1474058503402738, + 0.11878740849736172 + ], + "centerline_face_intersection": [ + 15.545160476371917, + 0.1474058503402738, + 0.11878740849736172 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.259980201721191, + 0.1481635570526123, + 0.12298491597175598 + ], + "box_pose": [ + 15.618378639221191, + 0.14566347002983093, + 0.13603422045707703, + 0.007857698947191238, + -0.0039051638450473547, + 0.9999454617500305, + -0.00566405663266778 + ], + "box_yaw_rad": -3.130202142096336, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001567875682627008 + } + }, + { + "simulation_time_ns": 2920000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545190351501653, + 0.14652539751225, + 0.11999841373792815 + ], + "intended_face_normal": [ + -0.9998123922424076, + -0.01139145608542022, + 0.015673304371288835 + ], + "commanded_contact_point": [ + 15.266002922058105, + 0.14740499236979407, + 0.11878819462086956 + ], + "centerline_face_intersection": [ + 15.545161376399632, + 0.14740499236979407, + 0.11878819462086956 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.256693840026855, + 0.14649496972560883, + 0.1212415099143982 + ], + "box_pose": [ + 15.618379592895508, + 0.14566251635551453, + 0.1360350102186203, + 0.00785921886563301, + -0.003907639533281326, + 0.9999454617500305, + -0.005665326025336981 + ], + "box_yaw_rad": -3.1301995529553217, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017461780610734015 + } + }, + { + "simulation_time_ns": 2940000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545186072242386, + 0.14652276020798796, + 0.1199959956666511 + ], + "intended_face_normal": [ + -0.9998130524198305, + -0.011391909570906453, + 0.015641760187078815 + ], + "commanded_contact_point": [ + 15.268185882568359, + 0.14740239008155623, + 0.11878821224367839 + ], + "centerline_face_intersection": [ + 15.545157199111078, + 0.14740239008155623, + 0.11878821224367839 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.255208015441895, + 0.14534543454647064, + 0.12234246730804443 + ], + "box_pose": [ + 15.618374824523926, + 0.14565950632095337, + 0.13603486120700836, + 0.00784351211041212, + -0.0039193532429635525, + 0.9999455809593201, + -0.00566552160307765 + ], + "box_yaw_rad": -3.1301991069661392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002182962061407076 + } + }, + { + "simulation_time_ns": 2960000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545179347764977, + 0.14651671736055774, + 0.11999244096606362 + ], + "intended_face_normal": [ + -0.9998136630087675, + -0.011394448750900938, + 0.015585784144657572 + ], + "commanded_contact_point": [ + 15.270435600280761, + 0.14739654329770635, + 0.11878897975077797 + ], + "centerline_face_intersection": [ + 15.545150568944905, + 0.14739654329770635, + 0.11878897975077797 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.25810432434082, + 0.14505182206630707, + 0.1271560788154602 + ], + "box_pose": [ + 15.618367195129395, + 0.14565283060073853, + 0.13603532314300537, + 0.007815660908818245, + -0.00394302187487483, + 0.9999456405639648, + -0.00566671509295702 + ], + "box_yaw_rad": -3.1301965746001197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002249725440902816 + } + }, + { + "simulation_time_ns": 2980000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545170117600795, + 0.14650964928074653, + 0.11998654349571053 + ], + "intended_face_normal": [ + -0.9998148651150007, + -0.011395419173932903, + 0.015506631003032338 + ], + "commanded_contact_point": [ + 15.272548942565917, + 0.14738955014941418, + 0.11878919411510255 + ], + "centerline_face_intersection": [ + 15.545141524457234, + 0.14738955014941418, + 0.11878919411510255 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.263333320617676, + 0.14617100358009338, + 0.13558492064476013 + ], + "box_pose": [ + 15.618356704711914, + 0.14564476907253265, + 0.13603511452674866, + 0.007776256650686264, + -0.003973772283643484, + 0.9999458193778992, + -0.0056671155616641045 + ], + "box_yaw_rad": -3.130195617824101, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002113353866323513 + } + }, + { + "simulation_time_ns": 3000000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545160057024438, + 0.14650072089732571, + 0.11998027743679776 + ], + "intended_face_normal": [ + -0.9998161759406377, + -0.011396591073247378, + 0.015419692107215374 + ], + "commanded_contact_point": [ + 15.274939804077148, + 0.14738071225456678, + 0.11878964107032142 + ], + "centerline_face_intersection": [ + 15.545131666349858, + 0.14738071225456678, + 0.11878964107032142 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.267715454101562, + 0.1489058881998062, + 0.14194434881210327 + ], + "box_pose": [ + 15.618345260620117, + 0.14563463628292084, + 0.13603508472442627, + 0.007732996717095375, + -0.004011068493127823, + 0.9999459981918335, + -0.005667584016919136 + ], + "box_yaw_rad": -3.1301944608025605, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002390877887730267 + } + }, + { + "simulation_time_ns": 3020000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545150050093254, + 0.1464917063336123, + 0.11997387201309716 + ], + "intended_face_normal": [ + -0.9998175003768166, + -0.011395303891935313, + 0.015329805257869082 + ], + "commanded_contact_point": [ + 15.2776167678833, + 0.1473715983007443, + 0.11879017628790958 + ], + "centerline_face_intersection": [ + 15.545121863989655, + 0.1473715983007443, + 0.11879017628790958 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.269150733947754, + 0.14909061789512634, + 0.14097464084625244 + ], + "box_pose": [ + 15.61833381652832, + 0.14562422037124634, + 0.13603512942790985, + 0.0076882606372237206, + -0.004048861563205719, + 0.9999461770057678, + -0.005666828248649836 + ], + "box_yaw_rad": -3.1301957631492194, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026769793742316707 + } + }, + { + "simulation_time_ns": 3040000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54513466739239, + 0.14648106563403693, + 0.11996581751349905 + ], + "intended_face_normal": [ + -0.9998191725430512, + -0.011396643846197912, + 0.015217901684270656 + ], + "commanded_contact_point": [ + 15.280165939331054, + 0.14736106106615796, + 0.11879076245787468 + ], + "centerline_face_intersection": [ + 15.545106739569398, + 0.14736106106615796, + 0.11879076245787468 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.268630981445312, + 0.14290685951709747, + 0.13352595269680023 + ], + "box_pose": [ + 15.618316650390625, + 0.14561215043067932, + 0.13603511452674866, + 0.0076325563713908195, + -0.004092988092452288, + 0.9999464154243469, + -0.005667385645210743 + ], + "box_yaw_rad": -3.1301944421859935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002549193293367865 + } + }, + { + "simulation_time_ns": 3060000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54511893068124, + 0.14646653185704323, + 0.11995458470319087 + ], + "intended_face_normal": [ + -0.9998218237846876, + -0.011399039602798654, + 0.015066527327433542 + ], + "commanded_contact_point": [ + 15.28281524658203, + 0.14734671227826224, + 0.11879121806604784 + ], + "centerline_face_intersection": [ + 15.545091412364672, + 0.14734671227826224, + 0.11879121806604784 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.270146369934082, + 0.1373429000377655, + 0.1286143958568573 + ], + "box_pose": [ + 15.618298530578613, + 0.1455957293510437, + 0.13603475689888, + 0.007557203993201256, + -0.0041525596752762794, + 0.9999468326568604, + -0.00566843943670392 + ], + "box_yaw_rad": -3.1301920765359905, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026493461467633622 + } + }, + { + "simulation_time_ns": 3080000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545097785187085, + 0.14645238121058382, + 0.1199418664203916 + ], + "intended_face_normal": [ + -0.9998240439725823, + -0.01139197745985426, + 0.014899646728091593 + ], + "commanded_contact_point": [ + 15.285850791931152, + 0.1473320163262185, + 0.11879138552111249 + ], + "centerline_face_intersection": [ + 15.545070609796255, + 0.1473320163262185, + 0.11879138552111249 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.273640632629395, + 0.13668425381183624, + 0.12686435878276825 + ], + "box_pose": [ + 15.618274688720703, + 0.14557893574237823, + 0.1360340416431427, + 0.007474089972674847, + -0.004214004147797823, + 0.9999471306800842, + -0.005664792377501726 + ], + "box_yaw_rad": -3.1301991643180265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030355809272062527 + } + }, + { + "simulation_time_ns": 3100000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545072607701808, + 0.14643251654810563, + 0.11992620644224945 + ], + "intended_face_normal": [ + -0.9998271194303003, + -0.011395046741729267, + 0.014684844403568709 + ], + "commanded_contact_point": [ + 15.289183883666992, + 0.14731238865930377, + 0.11879231157188727 + ], + "centerline_face_intersection": [ + 15.545045907338704, + 0.14731238865930377, + 0.11879231157188727 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.277472496032715, + 0.1389511227607727, + 0.1258517950773239 + ], + "box_pose": [ + 15.618246078491211, + 0.14555643498897552, + 0.1360338181257248, + 0.0073671541176736355, + -0.004296642728149891, + 0.9999475479125977, + -0.005666166543960571 + ], + "box_yaw_rad": -3.1301961299472456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033331496549663677 + } + }, + { + "simulation_time_ns": 3120000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545043821816202, + 0.14640952306377822, + 0.11991008777526062 + ], + "intended_face_normal": [ + -0.999830691435027, + -0.011392492333106664, + 0.014456217393197301 + ], + "commanded_contact_point": [ + 15.292417793273925, + 0.1472891979355127, + 0.1187938464112729 + ], + "centerline_face_intersection": [ + 15.545017673174437, + 0.1472891979355127, + 0.1187938464112729 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.281691551208496, + 0.14015080034732819, + 0.12418662011623383 + ], + "box_pose": [ + 15.618213653564453, + 0.14552994072437286, + 0.13603410124778748, + 0.007253367453813553, + -0.004392438568174839, + 0.9999480247497559, + -0.005664680618792772 + ], + "box_yaw_rad": -3.1301987251684955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032339931217025314 + } + }, + { + "simulation_time_ns": 3140000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545011790367017, + 0.1463840325691227, + 0.11989122686046155 + ], + "intended_face_normal": [ + -0.9998342313601318, + -0.011394732300226699, + 0.01419392408985538 + ], + "commanded_contact_point": [ + 15.294566421508788, + 0.1472638804006215, + 0.11879523855622826 + ], + "centerline_face_intersection": [ + 15.54498618848972, + 0.1472638804006215, + 0.11879523855622826 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.287569046020508, + 0.13749340176582336, + 0.12311661243438721 + ], + "box_pose": [ + 15.61817741394043, + 0.14550097286701202, + 0.1360340714454651, + 0.007122811395674944, + -0.00449767243117094, + 0.9999484419822693, + -0.0056656221859157085 + ], + "box_yaw_rad": -3.130196525457734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021487778403763017 + } + }, + { + "simulation_time_ns": 3160000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544974789939328, + 0.1463535341422567, + 0.11986903575519986 + ], + "intended_face_normal": [ + -0.9998384249101029, + -0.011401815799523506, + 0.013884122350352988 + ], + "commanded_contact_point": [ + 15.296774177551269, + 0.1472339289283773, + 0.11879696888953253 + ], + "centerline_face_intersection": [ + 15.544949835780608, + 0.1472339289283773, + 0.11879696888953253 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.293335914611816, + 0.13553620874881744, + 0.12453705072402954 + ], + "box_pose": [ + 15.618135452270508, + 0.1454666554927826, + 0.13603411614894867, + 0.0069686248898506165, + -0.00462300842627883, + 0.9999489188194275, + -0.005668981466442347 + ], + "box_yaw_rad": -3.130189489528172, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00220795987913095 + } + }, + { + "simulation_time_ns": 3180000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544932814368519, + 0.14631884209923463, + 0.11984358076601274 + ], + "intended_face_normal": [ + -0.9998437663080215, + -0.01139739119930938, + 0.013526717093333949 + ], + "commanded_contact_point": [ + 15.299485473632812, + 0.14719889523846075, + 0.11879911105945976 + ], + "centerline_face_intersection": [ + 15.544908685216338, + 0.14719889523846075, + 0.11879911105945976 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.296182632446289, + 0.1348254680633545, + 0.12861880660057068 + ], + "box_pose": [ + 15.618087768554688, + 0.14542663097381592, + 0.1360343098640442, + 0.00679071806371212, + -0.004767774138599634, + 0.99994957447052, + -0.005666604731231928 + ], + "box_yaw_rad": -3.1301939751576633, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002711523260108868 + } + }, + { + "simulation_time_ns": 3200000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54488417534341, + 0.1462787935783545, + 0.11981379758425446 + ], + "intended_face_normal": [ + -0.999848904416281, + -0.011402527626597705, + 0.013112526194469922 + ], + "commanded_contact_point": [ + 15.302659301757812, + 0.1471592433284261, + 0.11880130975797651 + ], + "centerline_face_intersection": [ + 15.544860839794474, + 0.1471592433284261, + 0.11880130975797651 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.297856330871582, + 0.13504396378993988, + 0.1306527554988861 + ], + "box_pose": [ + 15.618032455444336, + 0.14538119733333588, + 0.13603425025939941, + 0.0065845646895468235, + -0.004934277851134539, + 0.9999500513076782, + -0.00566905690357089 + ], + "box_yaw_rad": -3.1301888971933285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003174076570482442 + } + }, + { + "simulation_time_ns": 3220000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544827972747893, + 0.14623329205499222, + 0.11977902300343363 + ], + "intended_face_normal": [ + -0.999855349114068, + -0.011405133315099859, + 0.012633188864817527 + ], + "commanded_contact_point": [ + 15.305928497314452, + 0.14711394300411945, + 0.11880354735953426 + ], + "centerline_face_intersection": [ + 15.544805632604886, + 0.14711394300411945, + 0.11880354735953426 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.300057411193848, + 0.1358625292778015, + 0.13018567860126495 + ], + "box_pose": [ + 15.617968559265137, + 0.1453293114900589, + 0.13603387773036957, + 0.006345963571220636, + -0.005124276503920555, + 0.9999507069587708, + -0.005670327693223953 + ], + "box_yaw_rad": -3.130186364964846, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032695101641991918 + } + }, + { + "simulation_time_ns": 3240000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544765220230664, + 0.1461809198671639, + 0.11974000003117699 + ], + "intended_face_normal": [ + -0.999861865176378, + -0.011406694721104156, + 0.012090159746957803 + ], + "commanded_contact_point": [ + 15.30873420715332, + 0.1470616913807459, + 0.1188064545510762 + ], + "centerline_face_intersection": [ + 15.544743886509561, + 0.1470616913807459, + 0.1188064545510762 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.302250862121582, + 0.1376507580280304, + 0.12808756530284882 + ], + "box_pose": [ + 15.617897033691406, + 0.14526943862438202, + 0.1360338032245636, + 0.006075685378164053, + -0.005344400182366371, + 0.999951183795929, + -0.00567115331068635 + ], + "box_yaw_rad": -3.1301848778742243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002806197851867179 + } + }, + { + "simulation_time_ns": 3260000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544689568233252, + 0.14612352046167634, + 0.11969321084033277 + ], + "intended_face_normal": [ + -0.9998695287345054, + -0.011406064109794183, + 0.011460160465157597 + ], + "commanded_contact_point": [ + 15.311256675720214, + 0.1470042432824081, + 0.11880831095254016 + ], + "centerline_face_intersection": [ + 15.54466941815922, + 0.1470042432824081, + 0.11880831095254016 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.304128646850586, + 0.13976694643497467, + 0.12426435947418213 + ], + "box_pose": [ + 15.61781120300293, + 0.14520363509655, + 0.13603223860263824, + 0.005762036424130201, + -0.005585907027125359, + 0.9999517798423767, + -0.005671119317412376 + ], + "box_yaw_rad": -3.130185595913729, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025231233424468126 + } + }, + { + "simulation_time_ns": 3280000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544602397896206, + 0.14605618999656803, + 0.11963846264000715 + ], + "intended_face_normal": [ + -0.999877974218301, + -0.011400572443365814, + 0.010719648018659426 + ], + "commanded_contact_point": [ + 15.31373622894287, + 0.1469364887765526, + 0.11881074165322623 + ], + "centerline_face_intersection": [ + 15.544583552228229, + 0.1469364887765526, + 0.11881074165322623 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.307008743286133, + 0.143113911151886, + 0.12237401306629181 + ], + "box_pose": [ + 15.617712020874023, + 0.14512602984905243, + 0.1360306292772293, + 0.005393364932388067, + -0.005871240980923176, + 0.9999522566795349, + -0.005668891128152609 + ], + "box_yaw_rad": -3.1301911838776033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002480479946573756 + } + }, + { + "simulation_time_ns": 3300000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544500906702595, + 0.14597891109385827, + 0.11957563834040713 + ], + "intended_face_normal": [ + -0.9998863877262776, + -0.011392897911154568, + 0.009868374821037371 + ], + "commanded_contact_point": [ + 15.316114692687988, + 0.14685861728242905, + 0.118813648680805 + ], + "centerline_face_intersection": [ + 15.544483360491046, + 0.14685861728242905, + 0.118813648680805 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.309610366821289, + 0.14696785807609558, + 0.12304501235485077 + ], + "box_pose": [ + 15.617596626281738, + 0.14503681659698486, + 0.13602887094020844, + 0.0049695526249706745, + -0.006199985276907682, + 0.9999523758888245, + -0.005665907636284828 + ], + "box_yaw_rad": -3.1301989542137556, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002379739945297228 + } + }, + { + "simulation_time_ns": 3320000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54438612505761, + 0.14588753407547161, + 0.11950453267308697 + ], + "intended_face_normal": [ + -0.9998957448499977, + -0.011395970602503802, + 0.008896086120150597 + ], + "commanded_contact_point": [ + 15.31837776184082, + 0.14676747752286948, + 0.11881761859073636 + ], + "centerline_face_intersection": [ + 15.54437002402999, + 0.14676747752286948, + 0.11881761859073636 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.311455726623535, + 0.14901116490364075, + 0.12446312606334686 + ], + "box_pose": [ + 15.61746597290039, + 0.144932359457016, + 0.13602745532989502, + 0.004485583398491144, + -0.006584587041288614, + 0.9999522566795349, + -0.005668720230460167 + ], + "box_yaw_rad": -3.1301959882151826, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022649071076883765 + } + }, + { + "simulation_time_ns": 3340000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544252117847755, + 0.14578543176807446, + 0.11942036122083818 + ], + "intended_face_normal": [ + -0.9999050521344077, + -0.011363628542671879, + 0.007768670596978603 + ], + "commanded_contact_point": [ + 15.320535926818847, + 0.14666287791316984, + 0.11882050088201793 + ], + "centerline_face_intersection": [ + 15.544237454293091, + 0.14666287791316984, + 0.11882050088201793 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.313486099243164, + 0.14733722805976868, + 0.12549574673175812 + ], + "box_pose": [ + 15.617313385009766, + 0.14481273293495178, + 0.1360240876674652, + 0.003924236632883549, + -0.0070229386910796165, + 0.9999516010284424, + -0.005654528271406889 + ], + "box_yaw_rad": -3.1302284352300633, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002160700224079248 + } + }, + { + "simulation_time_ns": 3360000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544098929001823, + 0.14566467289927193, + 0.11932433884730262 + ], + "intended_face_normal": [ + -0.9999146711470079, + -0.01135567324575033, + 0.00647532718424363 + ], + "commanded_contact_point": [ + 15.322473793029785, + 0.14654150477361824, + 0.118824344426092 + ], + "centerline_face_intersection": [ + 15.54408575105123, + 0.14654150477361824, + 0.118824344426092 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.314957618713379, + 0.14241376519203186, + 0.12517182528972626 + ], + "box_pose": [ + 15.617138862609863, + 0.14467373490333557, + 0.136020690202713, + 0.0032804165966808796, + -0.007533501833677292, + 0.9999502897262573, + -0.005653404630720615 + ], + "box_yaw_rad": -3.13023649949164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001941667238053144 + } + }, + { + "simulation_time_ns": 3380000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543923520857627, + 0.145523993936843, + 0.11921300963022902 + ], + "intended_face_normal": [ + -0.9999234148241758, + -0.011355697930793676, + 0.00497722258268176 + ], + "commanded_contact_point": [ + 15.324667243957519, + 0.1464008277172527, + 0.11882869182610015 + ], + "centerline_face_intersection": [ + 15.543911693307919, + 0.1464008277172527, + 0.11882869182610015 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.31564998626709, + 0.1372126340866089, + 0.12183167040348053 + ], + "box_pose": [ + 15.616938591003418, + 0.1445126086473465, + 0.1360165923833847, + 0.0025347101036459208, + -0.008124827407300472, + 0.9999478459358215, + -0.005657549947500229 + ], + "box_yaw_rad": -3.130236574101503, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021979617618269184 + } + }, + { + "simulation_time_ns": 3400000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543722490544138, + 0.14536199417201282, + 0.11908467873417346 + ], + "intended_face_normal": [ + -0.9999302521238784, + -0.011368789592573526, + 0.003253815903403203 + ], + "commanded_contact_point": [ + 15.327660827636718, + 0.14623983882919647, + 0.11883343431778215 + ], + "centerline_face_intersection": [ + 15.543711718960179, + 0.14623983882919647, + 0.11883343431778215 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.316999435424805, + 0.13516868650913239, + 0.12228180468082428 + ], + "box_pose": [ + 15.616708755493164, + 0.1443280279636383, + 0.13601154088974, + 0.001676929066888988, + -0.008805524557828903, + 0.9999437928199768, + -0.005669947247952223 + ], + "box_yaw_rad": -3.13022356086048, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029979131337770394 + } + }, + { + "simulation_time_ns": 3420000000, + "phase": "base_approach", + "intended_face_center": [ + 15.5434889068902, + 0.14517740847387212, + 0.11893576802728399 + ], + "intended_face_normal": [ + -0.9999343812161574, + -0.01137826705846017, + 0.0012693192850887283 + ], + "commanded_contact_point": [ + 15.331076889038085, + 0.1460559849365593, + 0.11883775714023204 + ], + "centerline_face_intersection": [ + 15.543478773007717, + 0.1460559849365593, + 0.11883775714023204 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.319318771362305, + 0.13795620203018188, + 0.12550680339336395 + ], + "box_pose": [ + 15.61644172668457, + 0.14411738514900208, + 0.1360045224428177, + 0.0006891398807056248, + -0.009579166769981384, + 0.9999377131462097, + -0.005682886112481356 + ], + "box_yaw_rad": -3.1302141309417815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003421008102671276 + } + }, + { + "simulation_time_ns": 3440000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54322142618121, + 0.14496644797525082, + 0.11876426837070042 + ], + "intended_face_normal": [ + -0.9999348141052471, + -0.011378386034603859, + -0.0010049533372089086 + ], + "commanded_contact_point": [ + 15.334152488708495, + 0.14584503362471826, + 0.11884186615809936 + ], + "centerline_face_intersection": [ + 15.543211359154435, + 0.14584503362471826, + 0.11884186615809936 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.321654319763184, + 0.14185665547847748, + 0.12989580631256104 + ], + "box_pose": [ + 15.616135597229004, + 0.1438758373260498, + 0.1359955072402954, + -0.0004429225518833846, + -0.01046419981867075, + 0.9999289512634277, + -0.005694232415407896 + ], + "box_yaw_rad": -3.1302140168988206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030828283560104916 + } + }, + { + "simulation_time_ns": 3460000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542916305713018, + 0.14472541239014974, + 0.11856663764590002 + ], + "intended_face_normal": [ + -0.9999287906442977, + -0.011372178537675845, + -0.003618018498191003 + ], + "commanded_contact_point": [ + 15.336708335876464, + 0.1456035187257933, + 0.11884600407997523 + ], + "centerline_face_intersection": [ + 15.542905308415941, + 0.1456035187257933, + 0.11884600407997523 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.324335098266602, + 0.14173658192157745, + 0.13156083226203918 + ], + "box_pose": [ + 15.615785598754883, + 0.1435994654893875, + 0.1359844207763672, + -0.001743681263178587, + -0.011473402380943298, + 0.9999163746833801, + -0.005706572439521551 + ], + "box_yaw_rad": -3.130220155496774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002567236123696857 + } + }, + { + "simulation_time_ns": 3480000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542574172043611, + 0.14447509313644777, + 0.11835111145033567 + ], + "intended_face_normal": [ + -0.9999143007061928, + -0.011327019507373312, + -0.0065372163764097595 + ], + "commanded_contact_point": [ + 15.339083938598632, + 0.1453497125033906, + 0.11885588466494713 + ], + "centerline_face_intersection": [ + 15.542560936880717, + 0.1453497125033906, + 0.11885588466494713 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.327566146850586, + 0.1404731571674347, + 0.13082163035869598 + ], + "box_pose": [ + 15.615392684936523, + 0.143309086561203, + 0.13597732782363892, + -0.0031974154990166426, + -0.01253688707947731, + 0.9998999834060669, + -0.005704165901988745 + ], + "box_yaw_rad": -3.1302651477929557, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002389142841703187 + } + }, + { + "simulation_time_ns": 3500000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54223909004866, + 0.1441991537979462, + 0.11815051368114547 + ], + "intended_face_normal": [ + -0.9998923248699558, + -0.01129651049215864, + -0.00939645106111419 + ], + "commanded_contact_point": [ + 15.341381340026855, + 0.1450714174017021, + 0.11887606359948287 + ], + "centerline_face_intersection": [ + 15.5422224608154, + 0.1450714174017021, + 0.11887606359948287 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.332437515258789, + 0.14118438959121704, + 0.13087241351604462 + ], + "box_pose": [ + 15.615007400512695, + 0.14299063384532928, + 0.13598015904426575, + -0.004620505962520838, + -0.013703469187021255, + 0.9998791813850403, + -0.005712262354791164 + ], + "box_yaw_rad": -3.1302954072520874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002314283620350434 + } + }, + { + "simulation_time_ns": 3520000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542194329212641, + 0.14412928466078917, + 0.11814154695114792 + ], + "intended_face_normal": [ + -0.999888029738051, + -0.011297221948684738, + -0.009778532073235858 + ], + "commanded_contact_point": [ + 15.343384056091308, + 0.14500160319988406, + 0.1188965993747759 + ], + "centerline_face_intersection": [ + 15.542177036606608, + 0.14500160319988406, + 0.1188965993747759 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.33877182006836, + 0.1435244381427765, + 0.13142521679401398 + ], + "box_pose": [ + 15.61495590209961, + 0.14291074872016907, + 0.13599780201911926, + -0.004809861537069082, + -0.013996007852256298, + 0.9998740553855896, + -0.005716649815440178 + ], + "box_yaw_rad": -3.130294647282237, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020040377680225962 + } + }, + { + "simulation_time_ns": 3540000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542211003057814, + 0.14412829618564674, + 0.11815827394110974 + ], + "intended_face_normal": [ + -0.999889425571749, + -0.011301487355504783, + -0.009645097105567161 + ], + "commanded_contact_point": [ + 15.345176010131835, + 0.14500094407946817, + 0.11890302314182241 + ], + "centerline_face_intersection": [ + 15.542193926035244, + 0.14500094407946817, + 0.11890302314182241 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.344167709350586, + 0.14598481357097626, + 0.13099342584609985 + ], + "box_pose": [ + 15.614974975585938, + 0.1429099589586258, + 0.13600480556488037, + -0.0047430964186787605, + -0.013999649323523045, + 0.9998743534088135, + -0.005717863794416189 + ], + "box_yaw_rad": -3.1302903977189582, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017919656756157647 + } + }, + { + "simulation_time_ns": 3560000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542255041193107, + 0.144150462344554, + 0.1181894508195716 + ], + "intended_face_normal": [ + -0.999892999418373, + -0.011320079996144379, + -0.00928054028203978 + ], + "commanded_contact_point": [ + 15.3469527053833, + 0.1450245458749589, + 0.11890605065071705 + ], + "centerline_face_intersection": [ + 15.542238516141966, + 0.1450245458749589, + 0.11890605065071705 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.347386360168457, + 0.1475880891084671, + 0.12899813055992126 + ], + "box_pose": [ + 15.615025520324707, + 0.14293688535690308, + 0.13600985705852509, + -0.004561259411275387, + -0.013901356607675552, + 0.9998766183853149, + -0.005724153947085142 + ], + "box_yaw_rad": -3.1302718458611816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001776854588067976 + } + }, + { + "simulation_time_ns": 3580000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542321450293308, + 0.14419788909126985, + 0.1182327091368656 + ], + "intended_face_normal": [ + -0.9998978652712811, + -0.011321216675961102, + -0.008719938589160413 + ], + "commanded_contact_point": [ + 15.348758010864257, + 0.1450720603907636, + 0.11890602193231609 + ], + "centerline_face_intersection": [ + 15.542305676757476, + 0.1450720603907636, + 0.11890602193231609 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.349127769470215, + 0.14712916314601898, + 0.12609994411468506 + ], + "box_pose": [ + 15.61510181427002, + 0.14299120008945465, + 0.13601312041282654, + -0.004282091278582811, + -0.013704516924917698, + 0.9998805522918701, + -0.00571997556835413 + ], + "box_yaw_rad": -3.130270764297263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001805930649169674 + } + }, + { + "simulation_time_ns": 3600000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54241348921761, + 0.14426358459254107, + 0.11829179131981479 + ], + "intended_face_normal": [ + -0.9999042244408096, + -0.011348545924276653, + -0.007937277642944374 + ], + "commanded_contact_point": [ + 15.350420265197753, + 0.14513986612852248, + 0.11890467070461697 + ], + "centerline_face_intersection": [ + 15.542398697829514, + 0.14513986612852248, + 0.11890467070461697 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.348360061645508, + 0.1454692929983139, + 0.12315531075000763 + ], + "box_pose": [ + 15.61520767211914, + 0.14306865632534027, + 0.136016383767128, + -0.003892213338986039, + -0.013421869836747646, + 0.9998859763145447, + -0.005727166775614023 + ], + "box_yaw_rad": -3.130243507941588, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001663637254065881 + } + }, + { + "simulation_time_ns": 3620000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542530383194975, + 0.14435309593730605, + 0.11836503998098007 + ], + "intended_face_normal": [ + -0.9999116061514293, + -0.011376932199148539, + -0.006937722600964395 + ], + "commanded_contact_point": [ + 15.352421073913574, + 0.14523156932841244, + 0.11890073840944401 + ], + "centerline_face_intersection": [ + 15.542516731874072, + 0.14523156932841244, + 0.11890073840944401 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.343875885009766, + 0.14449971914291382, + 0.12107674777507782 + ], + "box_pose": [ + 15.615342140197754, + 0.1431734710931778, + 0.13601841032505035, + -0.0033944689203053713, + -0.01303881499916315, + 0.9998928904533386, + -0.005733340047299862 + ], + "box_yaw_rad": -3.1302152065991478, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002002912992897573 + } + }, + { + "simulation_time_ns": 3640000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542673045295437, + 0.14446961200554698, + 0.11845240133884136 + ], + "intended_face_normal": [ + -0.999918730737547, + -0.011400351914499462, + -0.005712726942587155 + ], + "commanded_contact_point": [ + 15.354814796447753, + 0.14534989375732593, + 0.11889351134300355 + ], + "centerline_face_intersection": [ + 15.542660494322188, + 0.14534989375732593, + 0.11889351134300355 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.341647148132324, + 0.14373214542865753, + 0.12191121280193329 + ], + "box_pose": [ + 15.615506172180176, + 0.1433086097240448, + 0.1360185295343399, + -0.0027846612501889467, + -0.012549159117043018, + 0.9999009370803833, + -0.0057356893084943295 + ], + "box_yaw_rad": -3.1301918690774446, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023966561020736087 + } + }, + { + "simulation_time_ns": 3660000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542822395606336, + 0.14459663463677475, + 0.11854325560564188 + ], + "intended_face_normal": [ + -0.9999248929109885, + -0.011417748479585467, + -0.004427357616035785 + ], + "commanded_contact_point": [ + 15.357194213867187, + 0.14547825966978778, + 0.11888511541376229 + ], + "centerline_face_intersection": [ + 15.542810796335814, + 0.14547825966978778, + 0.11888511541376229 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.3446044921875, + 0.14338169991970062, + 0.1268823891878128 + ], + "box_pose": [ + 15.615677833557129, + 0.14345519244670868, + 0.13601785898208618, + -0.002144939498975873, + -0.012019598856568336, + 0.999908983707428, + -0.005735177546739578 + ], + "box_yaw_rad": -3.1301745437231205, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002382892266766169 + } + }, + { + "simulation_time_ns": 3680000000, + "phase": "base_approach", + "intended_face_center": [ + 15.542980441138162, + 0.14472723845926183, + 0.1186383306970414 + ], + "intended_face_normal": [ + -0.9999299577702978, + -0.01144407806929281, + -0.0030890376854398136 + ], + "commanded_contact_point": [ + 15.359419136047363, + 0.14561089653980927, + 0.11887685171160689 + ], + "centerline_face_intersection": [ + 15.542969624093816, + 0.14561089653980927, + 0.11887685171160689 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.350231170654297, + 0.1444268822669983, + 0.13515762984752655 + ], + "box_pose": [ + 15.615859031677246, + 0.1436067819595337, + 0.1360175907611847, + -0.0014788236003369093, + -0.011467664502561092, + 0.9999167323112488, + -0.005739475600421429 + ], + "box_yaw_rad": -3.130148273559896, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00222888751082251 + } + }, + { + "simulation_time_ns": 3700000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54314678885492, + 0.14486807788863906, + 0.11873909308121805 + ], + "intended_face_normal": [ + -0.9999332259712581, + -0.011446289817887782, + -0.0016677081124975802 + ], + "commanded_contact_point": [ + 15.361816673278808, + 0.14575190675004857, + 0.1188678656866372 + ], + "centerline_face_intersection": [ + 15.54313647655543, + 0.14575190675004857, + 0.1188678656866372 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.354780197143555, + 0.1470824033021927, + 0.14100657403469086 + ], + "box_pose": [ + 15.616049766540527, + 0.1437682956457138, + 0.1360170692205429, + -0.0007715837564319372, + -0.010873888619244099, + 0.9999241828918457, + -0.005731969606131315 + ], + "box_yaw_rad": -3.1301460993551116, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002401697192445988 + } + }, + { + "simulation_time_ns": 3720000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543324027742033, + 0.14502220917991038, + 0.11884619774144292 + ], + "intended_face_normal": [ + -0.9999345968609465, + -0.011445110550338632, + -0.00014932759133065576 + ], + "commanded_contact_point": [ + 15.364427833557128, + 0.14590594698380588, + 0.11885772811828316 + ], + "centerline_face_intersection": [ + 15.54331392716389, + 0.14590594698380588, + 0.11885772811828316 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.355744361877441, + 0.1476643681526184, + 0.13992063701152802 + ], + "box_pose": [ + 15.616252899169922, + 0.1439446359872818, + 0.13601595163345337, + -1.612587038835045e-05, + -0.010228529572486877, + 0.9999313354492188, + -0.005723113194108009 + ], + "box_yaw_rad": -3.1301472942369135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002615719626218749 + } + }, + { + "simulation_time_ns": 3740000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543519859865672, + 0.14519322007617086, + 0.11896299662055948 + ], + "intended_face_normal": [ + -0.9999333145525657, + -0.011444492166354098, + 0.001520659169382682 + ], + "commanded_contact_point": [ + 15.366965560913085, + 0.14607691013135288, + 0.1188455784454433 + ], + "centerline_face_intersection": [ + 15.543509561246761, + 0.14607691013135288, + 0.1188455784454433 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.354637145996094, + 0.14177727699279785, + 0.13272663950920105 + ], + "box_pose": [ + 15.616477012634277, + 0.14414051175117493, + 0.1360136866569519, + 0.000814714003354311, + -0.009507507085800171, + 0.9999381303787231, + -0.005714853759855032 + ], + "box_yaw_rad": -3.130147897904957, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025435086289497737 + } + }, + { + "simulation_time_ns": 3760000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543739270708878, + 0.1453856311745028, + 0.11909346898307376 + ], + "intended_face_normal": [ + -0.9999294216420151, + -0.01143435257678074, + 0.003386170552127806 + ], + "commanded_contact_point": [ + 15.369672088623046, + 0.14626853829809297, + 0.11883200476093354 + ], + "centerline_face_intersection": [ + 15.543728370864082, + 0.14626853829809297, + 0.11883200476093354 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.356010437011719, + 0.13682731986045837, + 0.12839606404304504 + ], + "box_pose": [ + 15.616727828979492, + 0.14436008036136627, + 0.1360110640525818, + 0.0017427927814424038, + -0.008700091391801834, + 0.9999445080757141, + -0.005702330265194178 + ], + "box_yaw_rad": -3.1301579923305742, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002713337031034983 + } + }, + { + "simulation_time_ns": 3780000000, + "phase": "base_approach", + "intended_face_center": [ + 15.543987944048345, + 0.14559343172007447, + 0.11924705228886756 + ], + "intended_face_normal": [ + -0.9999194610954583, + -0.011443199948601327, + 0.005516058823414426 + ], + "commanded_contact_point": [ + 15.372753410339355, + 0.14647702199625706, + 0.11882112807526365 + ], + "centerline_face_intersection": [ + 15.543975505873853, + 0.14647702199625706, + 0.11882112807526365 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.3597412109375, + 0.13744373619556427, + 0.12755155563354492 + ], + "box_pose": [ + 15.617012023925781, + 0.14459890127182007, + 0.13601240515708923, + 0.0028027535881847143, + -0.007821450009942055, + 0.9999492764472961, + -0.005699967499822378 + ], + "box_yaw_rad": -3.1301490315091858, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003088385868716258 + } + }, + { + "simulation_time_ns": 3800000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544221379632852, + 0.14577499930783724, + 0.11939391188344209 + ], + "intended_face_normal": [ + -0.99990676825526, + -0.011440768214975637, + 0.007487676537626669 + ], + "commanded_contact_point": [ + 15.376084594726562, + 0.1466584018169446, + 0.11881574858912194 + ], + "centerline_face_intersection": [ + 15.544206981124747, + 0.1466584018169446, + 0.11881574858912194 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.363419532775879, + 0.1407509595155716, + 0.12722410261631012 + ], + "box_pose": [ + 15.617278099060059, + 0.14480668306350708, + 0.1360180377960205, + 0.003784211352467537, + -0.0070584784261882305, + 0.9999517798423767, + -0.005693947896361351 + ], + "box_yaw_rad": -3.1301513178982123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033361230492587757 + } + }, + { + "simulation_time_ns": 3820000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544423121662048, + 0.14592907471875752, + 0.11952207040658788 + ], + "intended_face_normal": [ + -0.9998921486273327, + -0.011443058322322192, + 0.009199259188530774 + ], + "commanded_contact_point": [ + 15.379248886108398, + 0.1468126540592225, + 0.1188117467205928 + ], + "centerline_face_intersection": [ + 15.544406465208596, + 0.1468126540592225, + 0.1188117467205928 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.367586135864258, + 0.1425730437040329, + 0.1257452666759491 + ], + "box_pose": [ + 15.617507934570312, + 0.14498338103294373, + 0.13602346181869507, + 0.0046363333240151405, + -0.006409513298422098, + 0.999952495098114, + -0.0056920829229056835 + ], + "box_yaw_rad": -3.1301488605722065, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003168051407152459 + } + }, + { + "simulation_time_ns": 3840000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544593994337207, + 0.14606463451133359, + 0.11962857388622508 + ], + "intended_face_normal": [ + -0.9998777225275608, + -0.011436278851176204, + 0.010651716410650587 + ], + "commanded_contact_point": [ + 15.381752281188964, + 0.1469476903728059, + 0.11880609825988107 + ], + "centerline_face_intersection": [ + 15.544575109795723, + 0.1469476903728059, + 0.11880609825988107 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.37439250946045, + 0.1412031352519989, + 0.12493453919887543 + ], + "box_pose": [ + 15.61770248413086, + 0.14513814449310303, + 0.1360258162021637, + 0.005359326954931021, + -0.005840138532221317, + 0.9999523758888245, + -0.005687111057341099 + ], + "box_yaw_rad": -3.130155474889945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025070408134888205 + } + }, + { + "simulation_time_ns": 3860000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544744192983359, + 0.1461799443448389, + 0.11972167282355832 + ], + "intended_face_normal": [ + -0.9998637528201753, + -0.011440400470611739, + 0.011914652538012993 + ], + "commanded_contact_point": [ + 15.384466438293456, + 0.14706331845844975, + 0.11880167918768993 + ], + "centerline_face_intersection": [ + 15.544723150812274, + 0.14706331845844975, + 0.11880167918768993 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.379751205444336, + 0.13903982937335968, + 0.12472152709960938 + ], + "box_pose": [ + 15.617873191833496, + 0.14527055621147156, + 0.13602827489376068, + 0.005988075397908688, + -0.0053546251729130745, + 0.9999516010284424, + -0.005688411649316549 + ], + "box_yaw_rad": -3.130151193466402, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027166225667644944 + } + }, + { + "simulation_time_ns": 3880000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54487161228137, + 0.14628064633252735, + 0.11980122258595903 + ], + "intended_face_normal": [ + -0.9998503080690369, + -0.01143624760408168, + 0.013001788117563896 + ], + "commanded_contact_point": [ + 15.387500076293945, + 0.14716369978124544, + 0.11879728543505133 + ], + "centerline_face_intersection": [ + 15.544848493532015, + 0.14716369978124544, + 0.11879728543505133 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.382081985473633, + 0.1371559351682663, + 0.12649430334568024 + ], + "box_pose": [ + 15.61801815032959, + 0.14538554847240448, + 0.13602977991104126, + 0.0065292674116790295, + -0.004932920448482037, + 0.9999504089355469, + -0.005686197429895401 + ], + "box_yaw_rad": -3.130155192573974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030353015061168136 + } + }, + { + "simulation_time_ns": 3900000000, + "phase": "base_approach", + "intended_face_center": [ + 15.544982379423994, + 0.14636600378975306, + 0.11987026354141818 + ], + "intended_face_normal": [ + -0.9998372565209119, + -0.011447141653867489, + 0.013943397120144904 + ], + "commanded_contact_point": [ + 15.390774993896484, + 0.14724989842594516, + 0.11879361975579435 + ], + "centerline_face_intersection": [ + 15.54495724480093, + 0.14724989842594516, + 0.11879361975579435 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.384040832519531, + 0.13627949357032776, + 0.12819193303585052 + ], + "box_pose": [ + 15.618144035339355, + 0.14548417925834656, + 0.13603118062019348, + 0.006998082157224417, + -0.00457244087010622, + 0.9999488592147827, + -0.005691863596439362 + ], + "box_yaw_rad": -3.1301441488897894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032760538681426907 + } + }, + { + "simulation_time_ns": 3920000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54507894503115, + 0.14644345701183073, + 0.11992950695311706 + ], + "intended_face_normal": [ + -0.9998250788000664, + -0.01144394033258031, + 0.014764839691270126 + ], + "commanded_contact_point": [ + 15.393883018493652, + 0.14732710445699468, + 0.11878943522150359 + ], + "centerline_face_intersection": [ + 15.545051929477422, + 0.14732710445699468, + 0.11878943522150359 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.38681411743164, + 0.1372479498386383, + 0.12867359817028046 + ], + "box_pose": [ + 15.618253707885742, + 0.14557266235351562, + 0.13603143393993378, + 0.007406979333609343, + -0.0042469799518585205, + 0.9999472498893738, + -0.005690813064575195 + ], + "box_yaw_rad": -3.1301472109227126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031089861978076975 + } + }, + { + "simulation_time_ns": 3940000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545166305781237, + 0.14651009401361806, + 0.11998383154363688 + ], + "intended_face_normal": [ + -0.9998145212488978, + -0.011448012654231798, + 0.01550285866414889 + ], + "commanded_contact_point": [ + 15.396517066955566, + 0.14739405590437668, + 0.11878677344535997 + ], + "centerline_face_intersection": [ + 15.545137659524373, + 0.14739405590437668, + 0.11878677344535997 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.38912296295166, + 0.13945463299751282, + 0.12724734842777252 + ], + "box_pose": [ + 15.618352890014648, + 0.1456492841243744, + 0.13603270053863525, + 0.00777443777769804, + -0.003967131953686476, + 0.9999457597732544, + -0.005693472921848297 + ], + "box_yaw_rad": -3.1301430175316267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026349005448158044 + } + }, + { + "simulation_time_ns": 3960000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545184793912416, + 0.14652679742905084, + 0.11999634605697984 + ], + "intended_face_normal": [ + -0.9998122083219969, + -0.011445293275115478, + 0.01565943507779135 + ], + "commanded_contact_point": [ + 15.39897850036621, + 0.14741054934209735, + 0.11878719786177239 + ], + "centerline_face_intersection": [ + 15.545155790402116, + 0.14741054934209735, + 0.11878719786177239 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.391453742980957, + 0.14157336950302124, + 0.12383568286895752 + ], + "box_pose": [ + 15.61837387084961, + 0.14566825330257416, + 0.13603399693965912, + 0.007852322421967983, + -0.0038958550430834293, + 0.9999454617500305, + -0.005692365579307079 + ], + "box_yaw_rad": -3.1301457105802224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002461488705774273 + } + }, + { + "simulation_time_ns": 3980000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545180707293731, + 0.14652244983142867, + 0.1199936528624457 + ], + "intended_face_normal": [ + -0.9998124814113598, + -0.011446173583256143, + 0.015618163929376754 + ], + "commanded_contact_point": [ + 15.401380805969238, + 0.14740626971774462, + 0.11878769143191859 + ], + "centerline_face_intersection": [ + 15.545151745964711, + 0.14740626971774462, + 0.11878769143191859 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.394829750061035, + 0.14516806602478027, + 0.12289012968540192 + ], + "box_pose": [ + 15.618369102478027, + 0.14566336572170258, + 0.1360342651605606, + 0.007831786759197712, + -0.003913340158760548, + 0.9999454617500305, + -0.005692748818546534 + ], + "box_yaw_rad": -3.1301448333487025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024023094657293132 + } + }, + { + "simulation_time_ns": 4000000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54517311395246, + 0.14651613404738797, + 0.11998930972042854 + ], + "intended_face_normal": [ + -0.9998138582073215, + -0.011446874209296857, + 0.015554114209328805 + ], + "commanded_contact_point": [ + 15.403656272888183, + 0.14740000803276357, + 0.11878829390914085 + ], + "centerline_face_intersection": [ + 15.545144365282638, + 0.14740000803276357, + 0.11878829390914085 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.397192001342773, + 0.14889352023601532, + 0.12350517511367798 + ], + "box_pose": [ + 15.61836051940918, + 0.14565616846084595, + 0.1360345184803009, + 0.0077999127097427845, + -0.003940281458199024, + 0.9999457001686096, + -0.00569301238283515 + ], + "box_yaw_rad": -3.1301441484469286, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002275475614216087 + } + }, + { + "simulation_time_ns": 4020000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545163867263676, + 0.14650794103428577, + 0.11998388845803379 + ], + "intended_face_normal": [ + -0.9998146257545308, + -0.011448174451013322, + 0.015477677870071323 + ], + "commanded_contact_point": [ + 15.405786781311035, + 0.14739191541823365, + 0.11878877470267613 + ], + "centerline_face_intersection": [ + 15.545135237148678, + 0.14739191541823365, + 0.11878877470267613 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.398765563964844, + 0.1499936580657959, + 0.12434597313404083 + ], + "box_pose": [ + 15.6183500289917, + 0.14564691483974457, + 0.13603457808494568, + 0.007761884480714798, + -0.003973712213337421, + 0.9999457597732544, + -0.005693552549928427 + ], + "box_yaw_rad": -3.1301428569227294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021305238467132456 + } + }, + { + "simulation_time_ns": 4040000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545152974984141, + 0.14649843709765978, + 0.11997696518097428 + ], + "intended_face_normal": [ + -0.9998162037768652, + -0.011449108767419114, + 0.015382489693499903 + ], + "commanded_contact_point": [ + 15.407803802490234, + 0.14738248362514225, + 0.11878920141055123 + ], + "centerline_face_intersection": [ + 15.545124588609117, + 0.14738248362514225, + 0.11878920141055123 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.400604248046875, + 0.14719617366790771, + 0.12492328882217407 + ], + "box_pose": [ + 15.618337631225586, + 0.14563612639904022, + 0.13603448867797852, + 0.007714509963989258, + -0.004012803081423044, + 0.9999459981918335, + -0.005693905055522919 + ], + "box_yaw_rad": -3.1301419406268587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020170432762186183 + } + }, + { + "simulation_time_ns": 4060000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545138574918735, + 0.14648703003065025, + 0.11996897967861454 + ], + "intended_face_normal": [ + -0.9998181845545244, + -0.011448889310201634, + 0.015267647878212914 + ], + "commanded_contact_point": [ + 15.409519462585449, + 0.14737105961267477, + 0.11879008345500904 + ], + "centerline_face_intersection": [ + 15.545110494492382, + 0.14737105961267477, + 0.11879008345500904 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.40146541595459, + 0.14174534380435944, + 0.12395261228084564 + ], + "box_pose": [ + 15.618321418762207, + 0.14562301337718964, + 0.1360347419977188, + 0.007657360751181841, + -0.004061645362526178, + 0.9999462962150574, + -0.0056936489418148994 + ], + "box_yaw_rad": -3.130142182778664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017156983558819102 + } + }, + { + "simulation_time_ns": 4080000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545122609682378, + 0.1464708021484779, + 0.11996003142989416 + ], + "intended_face_normal": [ + -0.9998196832554096, + -0.011460271551431804, + 0.015133513989105474 + ], + "commanded_contact_point": [ + 15.41153839111328, + 0.14735571061383204, + 0.11879149239664223 + ], + "centerline_face_intersection": [ + 15.545094760743265, + 0.14735571061383204, + 0.11879149239664223 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.401741027832031, + 0.13599713146686554, + 0.1200823038816452 + ], + "box_pose": [ + 15.618303298950195, + 0.14560545980930328, + 0.13603539764881134, + 0.0075906673446297646, + -0.004124064464122057, + 0.9999464154243469, + -0.005699136760085821 + ], + "box_yaw_rad": -3.130130817141127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020189873643428314 + } + }, + { + "simulation_time_ns": 4100000000, + "phase": "base_approach", + "intended_face_center": [ + 15.545102404696383, + 0.14645590257762484, + 0.11994744440368664 + ], + "intended_face_normal": [ + -0.9998224322613456, + -0.011453914087216441, + 0.014965009001733469 + ], + "commanded_contact_point": [ + 15.414434700012206, + 0.1473403201493839, + 0.1187919165359303 + ], + "centerline_face_intersection": [ + 15.545074980363967, + 0.1473403201493839, + 0.1187919165359303 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.403238296508789, + 0.13378947973251343, + 0.1203349381685257 + ], + "box_pose": [ + 15.618280410766602, + 0.14558784663677216, + 0.13603492081165314, + 0.0075067635625600815, + -0.004189032129943371, + 0.9999468326568604, + -0.005695813801139593 + ], + "box_yaw_rad": -3.130137206411068, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028963498207721277 + } + }, + { + "simulation_time_ns": 4120000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54508076019959, + 0.1464370738598038, + 0.11993291698247119 + ], + "intended_face_normal": [ + -0.9998251692011157, + -0.0114545260358806, + 0.014768384043800141 + ], + "commanded_contact_point": [ + 15.417834548950195, + 0.14732153868337108, + 0.11879257157256448 + ], + "centerline_face_intersection": [ + 15.545053758608995, + 0.14732153868337108, + 0.11879257157256448 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.405741691589355, + 0.13696137070655823, + 0.12375648319721222 + ], + "box_pose": [ + 15.618255615234375, + 0.14556638896465302, + 0.1360345184803009, + 0.007408883888274431, + -0.00426629139110446, + 0.999947190284729, + -0.005695955362170935 + ], + "box_yaw_rad": -3.130136625791325, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003399900877037245 + } + }, + { + "simulation_time_ns": 4140000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.545053881759214, + 0.1464136543021687, + 0.11991662127729728 + ], + "intended_face_normal": [ + -0.9998287436001105, + -0.011459817613274508, + 0.014538935114816945 + ], + "commanded_contact_point": [ + 15.417834548950195, + 0.14732153868337108, + 0.11879257157256448 + ], + "centerline_face_intersection": [ + 15.545027432260845, + 0.14729852771654553, + 0.11879399283846867 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.408289909362793, + 0.14196749031543732, + 0.12855394184589386 + ], + "box_pose": [ + 15.61822509765625, + 0.1455400139093399, + 0.13603468239307404, + 0.007294710725545883, + -0.004362890962511301, + 0.9999476671218872, + -0.005698380991816521 + ], + "box_yaw_rad": -3.1301313749542783, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 4160000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.545021938339268, + 0.1463910220877022, + 0.1198963971242499 + ], + "intended_face_normal": [ + -0.9998326043817263, + -0.011448739223617239, + 0.014271635282461441 + ], + "commanded_contact_point": [ + 15.420691985236127, + 0.14732168695863418, + 0.1187923202830378 + ], + "centerline_face_intersection": [ + 15.544996085164808, + 0.147275040080744, + 0.11879440832588509 + ], + "commanded_world_base_velocity": [ + 0.1374553599999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.411108016967773, + 0.14303693175315857, + 0.13071037828922272 + ], + "box_pose": [ + 15.618188858032227, + 0.14551320672035217, + 0.13603368401527405, + 0.007161578629165888, + -0.004460087511688471, + 0.9999482035636902, + -0.005692723207175732 + ], + "box_yaw_rad": -3.1301424979977166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028574363008289465 + } + }, + { + "simulation_time_ns": 4180000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544983145646228, + 0.14636244947760496, + 0.11987286198869668 + ], + "intended_face_normal": [ + -0.9998371523110781, + -0.01144374675841304, + 0.01395494301585246 + ], + "commanded_contact_point": [ + 15.423659498277434, + 0.14732198812740652, + 0.1187916064820344 + ], + "centerline_face_intersection": [ + 15.544957994927353, + 0.14724608197587885, + 0.1187953266831114 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.413961410522461, + 0.14263221621513367, + 0.1305161863565445 + ], + "box_pose": [ + 15.618144989013672, + 0.14548012614250183, + 0.13603290915489197, + 0.0070038894191384315, + -0.004579772241413593, + 0.9999487996101379, + -0.0056900884956121445 + ], + "box_yaw_rad": -3.130147542700164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029675131424380507 + } + }, + { + "simulation_time_ns": 4200000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544942083414789, + 0.1463287902331386, + 0.11984752512644438 + ], + "intended_face_normal": [ + -0.9998419611607863, + -0.011438071725796303, + 0.01360229646085255 + ], + "commanded_contact_point": [ + 15.426729882227532, + 0.14732218167484434, + 0.11879050433349655 + ], + "centerline_face_intersection": [ + 15.544917675448772, + 0.14721198453198753, + 0.1187972195353032 + ], + "commanded_world_base_velocity": [ + 0.11967871999999971, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.417519569396973, + 0.14394721388816833, + 0.1307864785194397 + ], + "box_pose": [ + 15.618098258972168, + 0.14544110000133514, + 0.13603287935256958, + 0.006828353740274906, + -0.004722913261502981, + 0.9999493360519409, + -0.0056870742700994015 + ], + "box_yaw_rad": -3.130153272928424, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003070384154012179 + } + }, + { + "simulation_time_ns": 4220000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544893295188208, + 0.14628947332220876, + 0.11981871662646805 + ], + "intended_face_normal": [ + -0.999847799602192, + -0.01143029588383572, + 0.013195095207562799 + ], + "commanded_contact_point": [ + 15.429895819977355, + 0.14732193824568596, + 0.1187891064128114 + ], + "centerline_face_intersection": [ + 15.544869788996257, + 0.14717206720697976, + 0.11879985320792479 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.422784805297852, + 0.14675423502922058, + 0.13118520379066467 + ], + "box_pose": [ + 15.618042945861816, + 0.145395427942276, + 0.13603328168392181, + 0.00662567000836134, + -0.004890183452516794, + 0.9999499917030334, + -0.005683031398802996 + ], + "box_yaw_rad": -3.1301611157295945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031659380678084126 + } + }, + { + "simulation_time_ns": 4240000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544836155443045, + 0.1462437342473809, + 0.11978401551864586 + ], + "intended_face_normal": [ + -0.9998534614609913, + -0.011439632497699406, + 0.01271746952624065 + ], + "commanded_contact_point": [ + 15.433149898698296, + 0.14732089761961395, + 0.11878749513060816 + ], + "centerline_face_intersection": [ + 15.544813523746136, + 0.14712704906172225, + 0.11880203211701804 + ], + "commanded_world_base_velocity": [ + 0.09071999999999959, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.42788028717041, + 0.14961087703704834, + 0.13061435520648956 + ], + "box_pose": [ + 15.6179780960083, + 0.1453438550233841, + 0.1360328644514084, + 0.0063879359513521194, + -0.005078503396362066, + 0.9999504685401917, + -0.0056876568123698235 + ], + "box_yaw_rad": -3.1301518436961744, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032540792862519137 + } + }, + { + "simulation_time_ns": 4260000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544771560777857, + 0.14619296999945264, + 0.11974360938002192 + ], + "intended_face_normal": [ + -0.9998607313421422, + -0.011435858558909058, + 0.012168132930225374 + ], + "commanded_contact_point": [ + 15.436484675674368, + 0.14731859733338226, + 0.11878577334584765 + ], + "centerline_face_intersection": [ + 15.54475005193373, + 0.1470759934079256, + 0.11880404317609847 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.431313514709473, + 0.15142232179641724, + 0.12853534519672394 + ], + "box_pose": [ + 15.617904663085938, + 0.1452854573726654, + 0.1360318958759308, + 0.006114449352025986, + -0.005291095934808254, + 0.999951183795929, + -0.0056858547031879425 + ], + "box_yaw_rad": -3.130155700844428, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033347782139142475 + } + }, + { + "simulation_time_ns": 4280000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544698693253247, + 0.14613424012890674, + 0.11969812284995915 + ], + "intended_face_normal": [ + -0.9998682441278735, + -0.011437828143843268, + 0.011542832305076706 + ], + "commanded_contact_point": [ + 15.439892580030438, + 0.147314471877, + 0.11878410164844747 + ], + "centerline_face_intersection": [ + 15.544678344770592, + 0.1470174156194987, + 0.11880683943009557 + ], + "commanded_world_base_velocity": [ + 0.05746047999999954, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.43369197845459, + 0.15118886530399323, + 0.12556219100952148 + ], + "box_pose": [ + 15.61782169342041, + 0.14521829783916473, + 0.13603127002716064, + 0.005803196225315332, + -0.005538885947316885, + 0.9999517202377319, + -0.005687045399099588 + ], + "box_yaw_rad": -3.130153817184852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003407907263128611 + } + }, + { + "simulation_time_ns": 4300000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544613949184274, + 0.14606753824997232, + 0.11964597507768239 + ], + "intended_face_normal": [ + -0.9998760242643869, + -0.01143749152631388, + 0.010830041380821272 + ], + "commanded_contact_point": [ + 15.44336574882931, + 0.14730786589371347, + 0.11878260336801769 + ], + "centerline_face_intersection": [ + 15.544594802346642, + 0.14695068774853606, + 0.11880973003278841 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.433844566345215, + 0.14934533834457397, + 0.12253168225288391 + ], + "box_pose": [ + 15.617725372314453, + 0.14514189958572388, + 0.13603025674819946, + 0.005448373034596443, + -0.0058184280060231686, + 0.9999520778656006, + -0.005687317345291376 + ], + "box_yaw_rad": -3.1301542427990516, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003473175404340115 + } + }, + { + "simulation_time_ns": 4320000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544518475927381, + 0.14599162047566544, + 0.11958646987894009 + ], + "intended_face_normal": [ + -0.9998843903328758, + -0.011435156514929684, + 0.010016894042507034 + ], + "commanded_contact_point": [ + 15.446896429776189, + 0.14729798021625662, + 0.1187814679115608 + ], + "centerline_face_intersection": [ + 15.544500621221756, + 0.14687458967559217, + 0.11881301226103029 + ], + "commanded_world_base_velocity": [ + 0.026781439999999587, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.430381774902344, + 0.1481620967388153, + 0.12061804533004761 + ], + "box_pose": [ + 15.617616653442383, + 0.14505474269390106, + 0.13602906465530396, + 0.005043596029281616, + -0.006138365250080824, + 0.9999522566795349, + -0.005686890333890915 + ], + "box_yaw_rad": -3.130156673472201, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035306949690583514 + } + }, + { + "simulation_time_ns": 4340000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544404371272922, + 0.1459045884146731, + 0.11951589263967047 + ], + "intended_face_normal": [ + -0.9998935352876299, + -0.011427990836993872, + 0.009062959771872573 + ], + "commanded_contact_point": [ + 15.450475934388889, + 0.14728377477471719, + 0.11878087962078919 + ], + "centerline_face_intersection": [ + 15.544387928985241, + 0.14678700431452862, + 0.1188160933559186 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.428950309753418, + 0.1474132090806961, + 0.12141174077987671 + ], + "box_pose": [ + 15.617486953735352, + 0.1449543535709381, + 0.13602688908576965, + 0.0045687006786465645, + -0.006509317085146904, + 0.9999521970748901, + -0.005684528034180403 + ], + "box_yaw_rad": -3.1301639435600532, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035795328484312054 + } + }, + { + "simulation_time_ns": 4360000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544275558028136, + 0.14580141358135493, + 0.11943487957643605 + ], + "intended_face_normal": [ + -0.9999027893222572, + -0.011430273136935218, + 0.007963016420186554 + ], + "commanded_contact_point": [ + 15.45409633489193, + 0.14726378964624479, + 0.11878117190213403 + ], + "centerline_face_intersection": [ + 15.544260544992392, + 0.14668400570971685, + 0.1188200127638694 + ], + "commanded_world_base_velocity": [ + 0.005564159999999768, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.43199634552002, + 0.14703138172626495, + 0.12551555037498474 + ], + "box_pose": [ + 15.617340087890625, + 0.14483638107776642, + 0.13602469861507416, + 0.0040211849845945835, + -0.0069419206120073795, + 0.9999516010284424, + -0.005687497090548277 + ], + "box_yaw_rad": -3.1301617670991506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036204556748015153 + } + }, + { + "simulation_time_ns": 4380000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544127643862486, + 0.14568269354652505, + 0.1193412051516012 + ], + "intended_face_normal": [ + -0.99991234755113, + -0.01143401293866939, + 0.006694990083762533 + ], + "commanded_contact_point": [ + 15.457748728523066, + 0.14723670400991265, + 0.11878259280320559 + ], + "centerline_face_intersection": [ + 15.544114107046484, + 0.14656557444485185, + 0.1188242493906495 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.437027931213379, + 0.1478009819984436, + 0.1321876049041748 + ], + "box_pose": [ + 15.617171287536621, + 0.14470070600509644, + 0.13602185249328613, + 0.003390012076124549, + -0.007439989596605301, + 0.9999504089355469, + -0.005692067090421915 + ], + "box_yaw_rad": -3.1301581367175078, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003652494337767982 + } + }, + { + "simulation_time_ns": 4400000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.543957181469144, + 0.1455463845938664, + 0.11923381227987594 + ], + "intended_face_normal": [ + -0.9999212441904055, + -0.011439538274091185, + 0.00524122341923219 + ], + "commanded_contact_point": [ + 15.461423878930825, + 0.1472007896285332, + 0.11878551688511338 + ], + "centerline_face_intersection": [ + 15.543945018681061, + 0.14642969213270227, + 0.11882910956827994 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.440710067749023, + 0.14993929862976074, + 0.13595616817474365 + ], + "box_pose": [ + 15.616976737976074, + 0.14454497396945953, + 0.1360185295343399, + 0.002666414948180318, + -0.008013256825506687, + 0.9999482035636902, + -0.00569869764149189 + ], + "box_yaw_rad": -3.1301527133976053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036753270483989337 + } + }, + { + "simulation_time_ns": 4420000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.543761181248355, + 0.145390038901129, + 0.1191086866112796 + ], + "intended_face_normal": [ + -0.9999282403039382, + -0.011441396608488728, + 0.0035591034232149094 + ], + "commanded_contact_point": [ + 15.465112204093922, + 0.1471538815504822, + 0.11879025903334578 + ], + "centerline_face_intersection": [ + 15.543750098955792, + 0.14627348993183872, + 0.1188338693232128 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.441384315490723, + 0.14997521042823792, + 0.13388602435588837 + ], + "box_pose": [ + 15.616752624511719, + 0.14436595141887665, + 0.13601376116275787, + 0.0018291338346898556, + -0.008672953583300114, + 0.9999444484710693, + -0.005705151241272688 + ], + "box_yaw_rad": -3.130150935206973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003688626487527489 + } + }, + { + "simulation_time_ns": 4440000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.543536009783935, + 0.14521021464239853, + 0.11896479933217535 + ], + "intended_face_normal": [ + -0.999933116134077, + -0.011454843551693595, + 0.0016369705230141612 + ], + "commanded_contact_point": [ + 15.468803616665783, + 0.147093656081209, + 0.11879716675850144 + ], + "centerline_face_intersection": [ + 15.543525680521087, + 0.14609470398304897, + 0.11883840013937705 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.440406799316406, + 0.14328314363956451, + 0.12725788354873657 + ], + "box_pose": [ + 15.616495132446289, + 0.14416104555130005, + 0.13600730895996094, + 0.0008724551880732179, + -0.009426720440387726, + 0.9999388456344604, + -0.005719547159969807 + ], + "box_yaw_rad": -3.1301375449135342, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003691910291368075 + } + }, + { + "simulation_time_ns": 4460000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.543276086939057, + 0.14500446223730024, + 0.11879776888411381 + ], + "intended_face_normal": [ + -0.9999339763339152, + -0.011454485076086754, + -0.0005787772526525646 + ], + "commanded_contact_point": [ + 15.472487029347679, + 0.14701684931413542, + 0.11880672569712962 + ], + "centerline_face_intersection": [ + 15.543265890526238, + 0.14588892389814417, + 0.11884245935136217 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.442262649536133, + 0.13785333931446075, + 0.12306573987007141 + ], + "box_pose": [ + 15.61619758605957, + 0.14392545819282532, + 0.13599860668182373, + -0.0002304489171365276, + -0.010288934223353863, + 0.9999305605888367, + -0.005730011500418186 + ], + "box_yaw_rad": -3.1301379132192433, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036842257854168754 + } + }, + { + "simulation_time_ns": 4480000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542979114419161, + 0.14476802347250456, + 0.1186052357478025 + ], + "intended_face_normal": [ + -0.9999294417028681, + -0.011451996984637166, + -0.0031171187622948265 + ], + "commanded_contact_point": [ + 15.47615155398463, + 0.14691993035859788, + 0.11881942034352229 + ], + "centerline_face_intersection": [ + 15.542968217672597, + 0.14565229301458615, + 0.11884592505153234 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.447208404541016, + 0.13860809803009033, + 0.12220039963722229 + ], + "box_pose": [ + 15.615857124328613, + 0.14365464448928833, + 0.1359872817993164, + -0.0014939068350940943, + -0.011278143152594566, + 0.9999187588691711, + -0.005743313580751419 + ], + "box_yaw_rad": -3.130140349217712, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036658280446323147 + } + }, + { + "simulation_time_ns": 4500000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542639319624135, + 0.14451602035273586, + 0.11839002829248299 + ], + "intended_face_normal": [ + -0.9999165379115751, + -0.01141557850455405, + -0.006013690742403249 + ], + "commanded_contact_point": [ + 15.47978484236228, + 0.14680359928697917, + 0.11883748902833223 + ], + "centerline_face_intersection": [ + 15.542626429983498, + 0.14539747783044568, + 0.11885437731092396 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.45222282409668, + 0.1427130103111267, + 0.12161074578762054 + ], + "box_pose": [ + 15.615467071533203, + 0.14336302876472473, + 0.13597887754440308, + -0.0029362011700868607, + -0.012347123585641384, + 0.9999029040336609, + -0.005744600668549538 + ], + "box_yaw_rad": -3.130176618198437, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003635195157176284 + } + }, + { + "simulation_time_ns": 4520000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542295468217189, + 0.14424297003144063, + 0.11817747651411055 + ], + "intended_face_normal": [ + -0.9998950001711617, + -0.011383061510451584, + -0.008974598921749705 + ], + "commanded_contact_point": [ + 15.483388345434534, + 0.14666528654803193, + 0.1188613061014114 + ], + "centerline_face_intersection": [ + 15.542279252176314, + 0.14512191669924335, + 0.11887045298708271 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.456978797912598, + 0.1458495557308197, + 0.11956410109996796 + ], + "box_pose": [ + 15.615071296691895, + 0.14304767549037933, + 0.13597723841667175, + -0.004410151857882738, + -0.013502910733222961, + 0.9998825788497925, + -0.005751756019890308 + ], + "box_yaw_rad": -3.130208888500926, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003606235164055428 + } + }, + { + "simulation_time_ns": 4540000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542196773656693, + 0.14412440855851127, + 0.11813717110091437 + ], + "intended_face_normal": [ + -0.9998872853229195, + -0.011386678891166778, + -0.009817333760909331 + ], + "commanded_contact_point": [ + 15.487043329445422, + 0.14656575809068234, + 0.11888053920366018 + ], + "centerline_face_intersection": [ + 15.542179366077248, + 0.14500363454350146, + 0.11889521960903635 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.463530540466309, + 0.14602628350257874, + 0.11948755383491516 + ], + "box_pose": [ + 15.614957809448242, + 0.14291240274906158, + 0.1359962522983551, + -0.0048286388628184795, + -0.013995485380291939, + 0.9998738765716553, + -0.005761645268648863 + ], + "box_yaw_rad": -3.1302051833550664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036563894685729143 + } + }, + { + "simulation_time_ns": 4560000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542210962470008, + 0.14412074215562884, + 0.11815277378529707 + ], + "intended_face_normal": [ + -0.9998878188412537, + -0.01139403118555915, + -0.009702785633311922 + ], + "commanded_contact_point": [ + 15.490713385070608, + 0.14650230188999439, + 0.11888971274051852 + ], + "centerline_face_intersection": [ + 15.5421936372914, + 0.1450005358503385, + 0.11890197742378864 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.468782424926758, + 0.14439019560813904, + 0.11997504532337189 + ], + "box_pose": [ + 15.614974021911621, + 0.14290881156921387, + 0.13600346446037292, + -0.004771237261593342, + -0.014009267091751099, + 0.9998738169670105, + -0.005764584522694349 + ], + "box_yaw_rad": -3.130197837265458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003670615634351077 + } + }, + { + "simulation_time_ns": 4580000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542250835723797, + 0.14414307815996572, + 0.11818139588195381 + ], + "intended_face_normal": [ + -0.9998914083785309, + -0.011387940803996077, + -0.00937076411908122 + ], + "commanded_contact_point": [ + 15.494365662555138, + 0.14644800887518294, + 0.11889639127627302 + ], + "centerline_face_intersection": [ + 15.542234064940883, + 0.14502240158395116, + 0.11890496237499872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.472189903259277, + 0.14193220436573029, + 0.12256208062171936 + ], + "box_pose": [ + 15.615019798278809, + 0.14293380081653595, + 0.13600829243659973, + -0.0046057915315032005, + -0.0139198899269104, + 0.9998759627342224, + -0.005758796818554401 + ], + "box_yaw_rad": -3.130203968421067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036526871147558766 + } + }, + { + "simulation_time_ns": 4600000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542316317423722, + 0.144183581004008, + 0.11822550911717065 + ], + "intended_face_normal": [ + -0.9998959639775489, + -0.011416935353549736, + -0.008814050550645297 + ], + "commanded_contact_point": [ + 15.497995662289815, + 0.14640380956846694, + 0.11890072333825101 + ], + "centerline_face_intersection": [ + 15.542300250239633, + 0.14506514325123893, + 0.11890608879727002 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.475790023803711, + 0.1398998349905014, + 0.12513390183448792 + ], + "box_pose": [ + 15.615095138549805, + 0.14298266172409058, + 0.13601262867450714, + -0.004328289069235325, + -0.013739368878304958, + 0.9998795986175537, + -0.005768630187958479 + ], + "box_yaw_rad": -3.130175026508349, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036302713974623066 + } + }, + { + "simulation_time_ns": 4620000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542402397625759, + 0.14424500801724227, + 0.11828154109020593 + ], + "intended_face_normal": [ + -0.9999018893263631, + -0.011450963931089006, + -0.008072454208944636 + ], + "commanded_contact_point": [ + 15.501596737510022, + 0.14637183543080978, + 0.11890226081231998 + ], + "centerline_face_intersection": [ + 15.54238724558951, + 0.1451291977917699, + 0.1189048581759853 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.480147361755371, + 0.13969303667545319, + 0.12557734549045563 + ], + "box_pose": [ + 15.615194320678711, + 0.14305582642555237, + 0.13601577281951904, + -0.003958825021982193, + -0.013471530750393867, + 0.9998847246170044, + -0.005779479630291462 + ], + "box_yaw_rad": -3.1301410666955607, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003601217495638403 + } + }, + { + "simulation_time_ns": 4640000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.54251359448679, + 0.1443300878221937, + 0.1183507096130006 + ], + "intended_face_normal": [ + -0.9999091750755398, + -0.011468146822259034, + -0.0071286975175535155 + ], + "commanded_contact_point": [ + 15.505166377137996, + 0.14635458263238094, + 0.11890032813246298 + ], + "centerline_face_intersection": [ + 15.542499567699664, + 0.1452156043790569, + 0.11890115422959817 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.483800888061523, + 0.14136801660060883, + 0.12419643998146057 + ], + "box_pose": [ + 15.61532211303711, + 0.14315462112426758, + 0.13601769506931305, + -0.003488941350951791, + -0.013110845349729061, + 0.9998913407325745, + -0.005780444480478764 + ], + "box_yaw_rad": -3.130123967934088, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003569681844073717 + } + }, + { + "simulation_time_ns": 4660000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542653883090674, + 0.14443845789286314, + 0.11843726130248555 + ], + "intended_face_normal": [ + -0.9999162906305097, + -0.011505089642781612, + -0.005934174005452059 + ], + "commanded_contact_point": [ + 15.508702161922002, + 0.1463558361086511, + 0.11889428156975992 + ], + "centerline_face_intersection": [ + 15.542640955259076, + 0.14532682700120977, + 0.11889547041112163 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.486781120300293, + 0.14296436309814453, + 0.12093867361545563 + ], + "box_pose": [ + 15.615483283996582, + 0.1432816982269287, + 0.13601912558078766, + -0.0028941540513187647, + -0.012647389434278011, + 0.9998990893363953, + -0.005789732560515404 + ], + "box_yaw_rad": -3.130087108501495, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003535790176315914 + } + }, + { + "simulation_time_ns": 4680000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542803138077462, + 0.1445642550867607, + 0.11852874631915593 + ], + "intended_face_normal": [ + -0.9999228270143821, + -0.011525386230901522, + -0.004645059821460575 + ], + "commanded_contact_point": [ + 15.512188682036482, + 0.14637285434215025, + 0.11888468193580608 + ], + "centerline_face_intersection": [ + 15.542791219744938, + 0.14545419140253035, + 0.11888741607140742 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.489848136901855, + 0.14568758010864258, + 0.12017883360385895 + ], + "box_pose": [ + 15.615654945373535, + 0.14342719316482544, + 0.1360188126564026, + -0.00225255754776299, + -0.01212000660598278, + 0.9999072551727295, + -0.0057905311696231365 + ], + "box_yaw_rad": -3.1300668882423412, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034865748639484736 + } + }, + { + "simulation_time_ns": 4700000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.542959467785288, + 0.1446923021029072, + 0.11862324441404207 + ], + "intended_face_normal": [ + -0.9999275324807919, + -0.01155874875590846, + -0.003317182782393638 + ], + "commanded_contact_point": [ + 15.515618718014872, + 0.14639984171556575, + 0.11887308763213868 + ], + "centerline_face_intersection": [ + 15.54294827617527, + 0.1455848145165181, + 0.11887938172388621 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.49233341217041, + 0.14816249907016754, + 0.12143157422542572 + ], + "box_pose": [ + 15.61583423614502, + 0.1435764878988266, + 0.13601870834827423, + -0.001591609325259924, + -0.011575398966670036, + 0.9999148845672607, + -0.00579829141497612 + ], + "box_yaw_rad": -3.1300335819775986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034301617395175892 + } + }, + { + "simulation_time_ns": 4720000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.543120847819532, + 0.14483094064406293, + 0.11872019831392046 + ], + "intended_face_normal": [ + -0.9999311229422752, + -0.011561009669355258, + -0.0019413077222615403 + ], + "commanded_contact_point": [ + 15.518984857474805, + 0.14643980990699673, + 0.11885858229430617 + ], + "centerline_face_intersection": [ + 15.543110210725926, + 0.14572362763481536, + 0.11887009699909358 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.494874954223633, + 0.14831870794296265, + 0.1230836808681488 + ], + "box_pose": [ + 15.616019248962402, + 0.1437353491783142, + 0.13601765036582947, + -0.0009070543455891311, + -0.010994778014719486, + 0.9999223351478577, + -0.005790927447378635 + ], + "box_yaw_rad": -3.130031362712129, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033664079855048545 + } + }, + { + "simulation_time_ns": 4740000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.54329568571795, + 0.14498038579483452, + 0.11882542839315771 + ], + "intended_face_normal": [ + -0.9999330683193355, + -0.011565689838902543, + -0.0004529682640260317 + ], + "commanded_contact_point": [ + 15.522286016852245, + 0.14649558546157407, + 0.118840930148016 + ], + "centerline_face_intersection": [ + 15.543285349070548, + 0.1458734341663477, + 0.11886040447985641 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.497421264648438, + 0.1456182301044464, + 0.12375548481941223 + ], + "box_pose": [ + 15.616219520568848, + 0.14390689134597778, + 0.13601680099964142, + -0.00016653418424539268, + -0.010365065187215805, + 0.9999295473098755, + -0.005784978624433279 + ], + "box_yaw_rad": -3.130026705345713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003301677716860786 + } + }, + { + "simulation_time_ns": 4760000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.543486600455466, + 0.14514731795315924, + 0.11893860401370553 + ], + "intended_face_normal": [ + -0.99993293581527, + -0.011561488928565405, + 0.0011654215514288824 + ], + "commanded_contact_point": [ + 15.525518082864084, + 0.14657187759691656, + 0.11881866095409727 + ], + "centerline_face_intersection": [ + 15.543476243344006, + 0.14604004195006204, + 0.1188486156227728 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.499292373657227, + 0.14127831161022186, + 0.12183065712451935 + ], + "box_pose": [ + 15.616437911987305, + 0.1440976858139038, + 0.13601461052894592, + 0.0006385689484886825, + -0.009665493853390217, + 0.9999365210533142, + -0.005774938967078924 + ], + "box_yaw_rad": -3.130030904443529, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032330430111264384 + } + }, + { + "simulation_time_ns": 4780000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.54369914794377, + 0.1453332554087665, + 0.1190666008294614 + ], + "intended_face_normal": [ + -0.9999284332802738, + -0.01156421444856457, + 0.0029872703771840863 + ], + "commanded_contact_point": [ + 15.528678966411055, + 0.14667205920913917, + 0.11879155508949521 + ], + "centerline_face_intersection": [ + 15.543688095454801, + 0.1462261898575516, + 0.11883593780954879 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.501784324645996, + 0.13643358647823334, + 0.11593815684318542 + ], + "box_pose": [ + 15.616681098937988, + 0.14431089162826538, + 0.13601262867450714, + 0.0015449624042958021, + -0.008882155641913414, + 0.9999426603317261, + -0.005768715403974056 + ], + "box_yaw_rad": -3.130028127036623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031625868969627938 + } + }, + { + "simulation_time_ns": 4800000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.543941193887912, + 0.14554007222216717, + 0.11921381072107352 + ], + "intended_face_normal": [ + -0.9999204872723293, + -0.01155997266664547, + 0.005051829404441929 + ], + "commanded_contact_point": [ + 15.53176910137362, + 0.14679795936612883, + 0.11875992057856538 + ], + "centerline_face_intersection": [ + 15.543928914199244, + 0.14643267914042984, + 0.11882373212778251 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.504791259765625, + 0.13490550220012665, + 0.1130504161119461 + ], + "box_pose": [ + 15.616957664489746, + 0.1445474773645401, + 0.13601236045360565, + 0.0025721946731209755, + -0.00801195576786995, + 0.9999480247497559, + -0.0057596773840487 + ], + "box_yaw_rad": -3.1300322766978015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003092860436339234 + } + }, + { + "simulation_time_ns": 4820000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.54417269049889, + 0.14571951484139928, + 0.1193612246488379 + ], + "intended_face_normal": [ + -0.999908619077335, + -0.01155867250069672, + 0.0070218376132264535 + ], + "commanded_contact_point": [ + 15.53475308826132, + 0.1469149665217404, + 0.11873276321728886 + ], + "centerline_face_intersection": [ + 15.544158577840788, + 0.1466120213669401, + 0.11881903125329747 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.508143424987793, + 0.13872836530208588, + 0.11333750188350677 + ], + "box_pose": [ + 15.61722183227539, + 0.14475296437740326, + 0.13601866364479065, + 0.003552845446392894, + -0.007256361655890942, + 0.9999508261680603, + -0.005753838457167149 + ], + "box_yaw_rad": -3.1300334396077005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029864035130414694 + } + }, + { + "simulation_time_ns": 4840000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544369962252832, + 0.1458723201925575, + 0.11948724631897291 + ], + "intended_face_normal": [ + -0.9998953634251093, + -0.011554749334377903, + 0.008711029752015542 + ], + "commanded_contact_point": [ + 15.537604413062374, + 0.14702072285881074, + 0.11870741694477868 + ], + "centerline_face_intersection": [ + 15.544353802315374, + 0.14676452378957947, + 0.11881462142217915 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.511788368225098, + 0.1445140689611435, + 0.11711958050727844 + ], + "box_pose": [ + 15.617446899414062, + 0.14492766559123993, + 0.13602358102798462, + 0.004393754526972771, + -0.006615292280912399, + 0.999951958656311, + -0.005748584866523743 + ], + "box_yaw_rad": -3.130037209433201, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028533979668918363 + } + }, + { + "simulation_time_ns": 4860000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544539189470035, + 0.14600076441727583, + 0.1195931967910065 + ], + "intended_face_normal": [ + -0.999882037157406, + -0.01156514141166542, + 0.010141510511816443 + ], + "commanded_contact_point": [ + 15.54031821451068, + 0.14711589243714857, + 0.11868373832569663 + ], + "centerline_face_intersection": [ + 15.544520971319596, + 0.14689377044180776, + 0.11881011687330044 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.515998840332031, + 0.1462232917547226, + 0.12214283645153046 + ], + "box_pose": [ + 15.617639541625977, + 0.1450756937265396, + 0.13602691888809204, + 0.005105921067297459, + -0.006071289069950581, + 0.9999520778656006, + -0.005751846823841333 + ], + "box_yaw_rad": -3.1300266635235134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027155729094382086 + } + }, + { + "simulation_time_ns": 4880000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.544681633233983, + 0.1461112070155498, + 0.11968204523124096 + ], + "intended_face_normal": [ + -0.9998685056901726, + -0.01157091896370109, + 0.011354045582491305 + ], + "commanded_contact_point": [ + 15.542886068030276, + 0.14720224953777072, + 0.11866144015924517 + ], + "centerline_face_intersection": [ + 15.544661325149875, + 0.14700465915557578, + 0.11880533903742412 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.519949913024902, + 0.14606119692325592, + 0.125982403755188 + ], + "box_pose": [ + 15.617801666259766, + 0.14520272612571716, + 0.13602876663208008, + 0.005709544755518436, + -0.005604110658168793, + 0.9999514222145081, + -0.005753742065280676 + ], + "box_yaw_rad": -3.1300207294735736, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025694019644955527 + } + }, + { + "simulation_time_ns": 4900000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.545552098997806, + 0.14639781036677862, + 0.11987649674484646 + ], + "intended_face_normal": [ + -0.9998487519720654, + -0.010236179556766275, + 0.014048822181564625 + ], + "commanded_contact_point": [ + 15.545943093286922, + 0.14733881019862125, + 0.11861169310859171 + ], + "centerline_face_intersection": [ + 15.545528739903252, + 0.14718820018450815, + 0.11879171253001097 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.524359703063965, + 0.14667250216007233, + 0.12631314992904663 + ], + "box_pose": [ + 15.618714332580566, + 0.14542654156684875, + 0.13602961599826813, + 0.007048153784126043, + -0.004601259250193834, + 0.9999516010284424, + -0.00508590554818511 + ], + "box_yaw_rad": -3.131355283250123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030604782310802506 + } + }, + { + "simulation_time_ns": 4920000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550343770820579, + 0.1469909995469939, + 0.1201808590805325 + ], + "intended_face_normal": [ + -0.9997429271072749, + -0.014659697580476548, + 0.01729785204008305 + ], + "commanded_contact_point": [ + 15.552313904465874, + 0.14821630383168038, + 0.11861136044722506 + ], + "centerline_face_intersection": [ + 15.55030406578816, + 0.14812295269751716, + 0.11884520000526388 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.529369354248047, + 0.1482258290052414, + 0.12479977309703827 + ], + "box_pose": [ + 15.623560905456543, + 0.14640523493289948, + 0.13610219955444336, + 0.008669966831803322, + -0.002798987552523613, + 0.999931812286377, + -0.007306079845875502 + ], + "box_yaw_rad": -3.1269302372600536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006430958736034826 + } + }, + { + "simulation_time_ns": 4940000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.5552583227486, + 0.14725072110483073, + 0.12032751873442298 + ], + "intended_face_normal": [ + -0.999518527801946, + -0.02497481230411138, + 0.01840034063157036 + ], + "commanded_contact_point": [ + 15.558813142009134, + 0.1493216280332255, + 0.11864755753366349 + ], + "centerline_face_intersection": [ + 15.555183950786446, + 0.14917915907677193, + 0.11890673065647889 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.534372329711914, + 0.14989343285560608, + 0.12309789657592773 + ], + "box_pose": [ + 15.628494262695312, + 0.14745672047138214, + 0.13617154955863953, + 0.00922258198261261, + -0.0017067061271518469, + 0.9998781681060791, + -0.012473185546696186 + ], + "box_yaw_rad": -3.1166110089828405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006592658072682236 + } + }, + { + "simulation_time_ns": 4960000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.560051715620052, + 0.14751952784307387, + 0.12046615524054448 + ], + "intended_face_normal": [ + -0.9991798724753713, + -0.03551887298928412, + 0.019454952986983735 + ], + "commanded_contact_point": [ + 15.565196391429097, + 0.15049781341704938, + 0.11868241438972738 + ], + "centerline_face_intersection": [ + 15.55992501083317, + 0.15026212877072195, + 0.11896393493852227 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.53918743133545, + 0.15077437460422516, + 0.12231685221195221 + ], + "box_pose": [ + 15.633296966552734, + 0.1485324203968048, + 0.13623608648777008, + 0.009741399437189102, + -0.0006714846822433174, + 0.9997947216033936, + -0.017756540328264236 + ], + "box_yaw_rad": -3.1060595889086784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006490801199774831 + } + }, + { + "simulation_time_ns": 4980000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.56536932358703, + 0.14688905636512417, + 0.12087802707721593 + ], + "intended_face_normal": [ + -0.9981931610664836, + -0.05577636467326361, + 0.022349106111334824 + ], + "commanded_contact_point": [ + 15.57194333193297, + 0.15170928230228364, + 0.1188154145844235 + ], + "centerline_face_intersection": [ + 15.565090039777573, + 0.15119584587220905, + 0.11915233383318917 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.54443645477295, + 0.15023697912693024, + 0.12229157984256744 + ], + "box_pose": [ + 15.63862133026123, + 0.1494436115026474, + 0.13644076883792877, + 0.011150924488902092, + 0.001027239253744483, + 0.9995476603507996, + -0.027912262827157974 + ], + "box_yaw_rad": -3.0857733736887285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006856132442891253 + } + }, + { + "simulation_time_ns": 5000000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.569117927143537, + 0.1449435970146379, + 0.12118111934216574 + ], + "intended_face_normal": [ + -0.9956929078588159, + -0.08944858858589583, + 0.024388859286171297 + ], + "commanded_contact_point": [ + 15.576920657043914, + 0.15287915390221082, + 0.11892465485936274 + ], + "centerline_face_intersection": [ + 15.568451341579225, + 0.15185039786123292, + 0.11929792591644214 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.547772407531738, + 0.14989010989665985, + 0.12041915953159332 + ], + "box_pose": [ + 15.642266273498535, + 0.15005409717559814, + 0.13660137355327606, + 0.012045277282595634, + 0.0036193919368088245, + 0.9989160895347595, + -0.04481646791100502 + ], + "box_yaw_rad": -3.051997641757262, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00511412732125676 + } + }, + { + "simulation_time_ns": 5020000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.570793683604986, + 0.14294354102466986, + 0.12122087211255352 + ], + "intended_face_normal": [ + -0.9923614812552377, + -0.12089500953667567, + 0.024560193551724403 + ], + "commanded_contact_point": [ + 15.579645273854858, + 0.1538228305512193, + 0.1189495490206729 + ], + "centerline_face_intersection": [ + 15.569609522401544, + 0.15227848713637057, + 0.11932444905773144 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.547993659973145, + 0.15144824981689453, + 0.11647997796535492 + ], + "box_pose": [ + 15.6437406539917, + 0.15041346848011017, + 0.13663259148597717, + 0.011986655183136463, + 0.005220748018473387, + 0.9980748891830444, + -0.0606267973780632 + ], + "box_yaw_rad": -3.0203644567202677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028835190485986557 + } + }, + { + "simulation_time_ns": 5040000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.571449496255108, + 0.14259894976913084, + 0.12104482866047389 + ], + "intended_face_normal": [ + -0.9918713213408379, + -0.1250818220785697, + 0.02336058522251374 + ], + "commanded_contact_point": [ + 15.581644593702562, + 0.15394267688066696, + 0.118887879466148 + ], + "centerline_face_intersection": [ + 15.570189035459679, + 0.15225718192554222, + 0.1192410337393626 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.54990005493164, + 0.15361309051513672, + 0.11402139067649841 + ], + "box_pose": [ + 15.6443510055542, + 0.15033304691314697, + 0.13654108345508575, + 0.011452220380306244, + 0.004009589087218046, + 0.997957706451416, + -0.06271491199731827 + ], + "box_yaw_rad": -3.016147932651322, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020038578118366074 + } + }, + { + "simulation_time_ns": 5060000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.575750712063138, + 0.1447583907212077, + 0.12062635071117417 + ], + "intended_face_normal": [ + -0.9945735234135511, + -0.10193151138286798, + 0.020819607652324094 + ], + "commanded_contact_point": [ + 15.5875271631829, + 0.1540337768467007, + 0.11870802914622315 + ], + "centerline_face_intersection": [ + 15.574910411739173, + 0.15262906437010315, + 0.11901875817078698 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.554707527160645, + 0.15607520937919617, + 0.11486673355102539 + ], + "box_pose": [ + 15.648789405822754, + 0.1506267488002777, + 0.13629454374313354, + 0.01046802569180727, + -0.0008624462643638253, + 0.998642086982727, + -0.05102601647377014 + ], + "box_yaw_rad": -3.039461584595884, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005886023193327938 + } + }, + { + "simulation_time_ns": 5080000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.580284432172602, + 0.1461648260381811, + 0.12149588256047328 + ], + "intended_face_normal": [ + -0.9957407459238514, + -0.0879993953231563, + 0.02751401729096767 + ], + "commanded_contact_point": [ + 15.593202833550267, + 0.15420757549978475, + 0.11895694672277068 + ], + "centerline_face_intersection": [ + 15.579625266117809, + 0.15295972697207535, + 0.11937137907838646 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559836387634277, + 0.15901629626750946, + 0.12024848163127899 + ], + "box_pose": [ + 15.653512954711914, + 0.1508801281452179, + 0.1366594284772873, + 0.013986633159220219, + -0.0048786369152367115, + 0.9989227056503296, + -0.04397884011268616 + ], + "box_yaw_rad": -3.0534458510754727, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005683783955318545 + } + }, + { + "simulation_time_ns": 5100000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.583597988743875, + 0.14720178396602668, + 0.12335801943240012 + ], + "intended_face_normal": [ + -0.9960814312728064, + -0.07822538132961014, + 0.041267742874441724 + ], + "commanded_contact_point": [ + 15.597306493495472, + 0.1543822197183575, + 0.11954895117587447 + ], + "centerline_face_intersection": [ + 15.582991651395709, + 0.15324198134123446, + 0.12017151771193359 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.564253807067871, + 0.16335758566856384, + 0.1252157986164093 + ], + "box_pose": [ + 15.657074928283691, + 0.15115328133106232, + 0.137503981590271, + 0.020909659564495087, + -0.006532010622322559, + 0.9989985227584839, + -0.03901518136262894 + ], + "box_yaw_rad": -3.063220389730265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004149818649224884 + } + }, + { + "simulation_time_ns": 5120000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.587310816353883, + 0.14797867762149766, + 0.12489199456194612 + ], + "intended_face_normal": [ + -0.9959198260039608, + -0.07327588698835144, + 0.05266735745624525 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15472705801360262, + 0.12003378632090358 + ], + "centerline_face_intersection": [ + 15.586679421788999, + 0.15363669823744228, + 0.12082526802307623 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.567995071411133, + 0.1641189455986023, + 0.1264772117137909 + ], + "box_pose": [ + 15.660964012145996, + 0.15155760943889618, + 0.1381952315568924, + 0.026617329567670822, + -0.007011099718511105, + 0.9989548325538635, + -0.03648946434259415 + ], + "box_yaw_rad": -3.0681489003864586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004191446987115912 + } + }, + { + "simulation_time_ns": 5140000000, + "phase": "straight_push", + "intended_face_center": [ + 15.590715169080767, + 0.14432807762155134, + 0.12421584810961565 + ], + "intended_face_normal": [ + -0.9923389563675025, + -0.11385390729219962, + 0.04796908289852542 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15286735294345916, + 0.12051190031556222 + ], + "centerline_face_intersection": [ + 15.58952750242627, + 0.15311934281316228, + 0.12051190031556222 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.570246696472168, + 0.15941908955574036, + 0.12262886762619019 + ], + "box_pose": [ + 15.664106369018555, + 0.15082566440105438, + 0.13785754144191742, + 0.024531615898013115, + -0.00878341868519783, + 0.9980442523956299, + -0.05682261288166046 + ], + "box_yaw_rad": -3.0273592673697607, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002519898697031231, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019201812257716047 + } + }, + { + "simulation_time_ns": 5160000000, + "phase": "straight_push", + "intended_face_center": [ + 15.593719690570813, + 0.13992448236051044, + 0.12177349550900854 + ], + "intended_face_normal": [ + -0.9868398921927575, + -0.15896596322348658, + 0.029622939525429298 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15183515276215467, + 0.11948615093457296 + ], + "centerline_face_intersection": [ + 15.591673815725972, + 0.15219908911204605, + 0.11948615093457296 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.5724458694458, + 0.15499775111675262, + 0.11784730851650238 + ], + "box_pose": [ + 15.666459083557129, + 0.14984330534934998, + 0.1367795616388321, + 0.01526407990604639, + -0.005047263111919165, + 0.9966917634010315, + -0.07966950535774231 + ], + "box_yaw_rad": -2.981878804894288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00036393634989138613, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014551972398561155 + } + }, + { + "simulation_time_ns": 5180000000, + "phase": "straight_push", + "intended_face_center": [ + 15.596693241972824, + 0.13879314867240364, + 0.12019216392835996 + ], + "intended_face_normal": [ + -0.9845385216253053, + -0.17424859246573685, + 0.017930463065582863 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1518097599536746, + 0.11880765759417354 + ], + "centerline_face_intersection": [ + 15.594286767391155, + 0.15224780843827174, + 0.11880765759417354 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.57519817352295, + 0.15410061180591583, + 0.11547093093395233 + ], + "box_pose": [ + 15.669075965881348, + 0.14990006387233734, + 0.13606539368629456, + 0.009228565730154514, + -0.002602514112368226, + 0.996123731136322, + -0.08743921667337418 + ], + "box_yaw_rad": -2.966421581123103, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00043804848459714997, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006789683407117507 + } + }, + { + "simulation_time_ns": 5200000000, + "phase": "straight_push", + "intended_face_center": [ + 15.599369127370052, + 0.14009481660818512, + 0.12018684419838546 + ], + "intended_face_normal": [ + -0.986108825018911, + -0.16513232066772732, + 0.017915889053601777 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15230400442613734, + 0.1188034632011091 + ], + "centerline_face_intersection": [ + 15.597208794771534, + 0.15284556058546794, + 0.1188034632011091 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.57778549194336, + 0.15543325245380402, + 0.11396798491477966 + ], + "box_pose": [ + 15.671850204467773, + 0.15053808689117432, + 0.13606178760528564, + 0.009193170815706253, + -0.0024533618707209826, + 0.9965181350708008, + -0.08283201605081558 + ], + "box_yaw_rad": -2.9756736270339053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005415561593305929, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004942622699469904 + } + }, + { + "simulation_time_ns": 5220000000, + "phase": "straight_push", + "intended_face_center": [ + 15.601560784233552, + 0.140908752878468, + 0.12020922856192848 + ], + "intended_face_normal": [ + -0.9868923361937623, + -0.16036163931219888, + 0.018106166401888436 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15263511367359597, + 0.11881115523947391 + ], + "centerline_face_intersection": [ + 15.599523116852433, + 0.15329112719731222, + 0.11881115523947391 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.579583168029785, + 0.15615256130695343, + 0.11163061857223511 + ], + "box_pose": [ + 15.674094200134277, + 0.15100370347499847, + 0.13607041537761688, + 0.009277809411287308, + -0.002415321534499526, + 0.9967147707939148, + -0.08042261749505997 + ], + "box_yaw_rad": -2.980509007416576, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006560135237162413, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003311985827367443 + } + }, + { + "simulation_time_ns": 5240000000, + "phase": "straight_push", + "intended_face_center": [ + 15.602933219415336, + 0.1398620271219904, + 0.12069146429504798 + ], + "intended_face_normal": [ + -0.9848962400555958, + -0.17178899567851136, + 0.02162062378482448 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15240699840309402, + 0.11902202104254166 + ], + "centerline_face_intersection": [ + 15.600582851524877, + 0.15312676834983732, + 0.11902202104254166 + ], + "commanded_world_base_velocity": [ + 0.015144032921810845, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.580673217773438, + 0.15472067892551422, + 0.11294694244861603 + ], + "box_pose": [ + 15.67540454864502, + 0.15077562630176544, + 0.13629204034805298, + 0.011123333126306534, + -0.0031430325470864773, + 0.9962119460105896, + -0.0861860141158104 + ], + "box_yaw_rad": -2.968906464018885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007197699467433172, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00031064604220814375 + } + }, + { + "simulation_time_ns": 5260000000, + "phase": "straight_push", + "intended_face_center": [ + 15.603693668733264, + 0.1388142117295666, + 0.1211103889764324 + ], + "intended_face_normal": [ + -0.9834859941027982, + -0.17930198902919128, + 0.024621211784189412 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15199863926768584, + 0.11920925437963623 + ], + "centerline_face_intersection": [ + 15.601121989277857, + 0.1526590710974008, + 0.11920925437963623 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.581369400024414, + 0.1511756181716919, + 0.11487585306167603 + ], + "box_pose": [ + 15.676130294799805, + 0.15026158094406128, + 0.13648810982704163, + 0.012705210596323013, + -0.003800478996708989, + 0.9958556890487671, + -0.08997559547424316 + ], + "box_yaw_rad": -2.961260499893657, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006604318297149614, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004492365813142184 + } + }, + { + "simulation_time_ns": 5280000000, + "phase": "straight_push", + "intended_face_center": [ + 15.60553255390961, + 0.13637807165354313, + 0.12173654562202463 + ], + "intended_face_normal": [ + -0.9795718964704114, + -0.19896537194839095, + 0.029197926455159395 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1512320630009428, + 0.11948201856522642 + ], + "centerline_face_intersection": [ + 15.602344934561199, + 0.15174124530604416, + 0.11948201856522642 + ], + "commanded_world_base_velocity": [ + 0.027617448559670976, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.583209037780762, + 0.14796000719070435, + 0.11823678016662598 + ], + "box_pose": [ + 15.677801132202148, + 0.1492505818605423, + 0.13677437603473663, + 0.01513627264648676, + -0.0045999023132026196, + 0.9948692321777344, + -0.09992575645446777 + ], + "box_yaw_rad": -2.941204070013317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005091823051013688, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008136580815516856 + } + }, + { + "simulation_time_ns": 5300000000, + "phase": "straight_push", + "intended_face_center": [ + 15.60860569398784, + 0.13433329096591748, + 0.12356460070613651 + ], + "intended_face_normal": [ + -0.9757030925567076, + -0.21486794280388613, + 0.04284393664873133 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15058007680283872, + 0.12025639268860296 + ], + "centerline_face_intersection": [ + 15.604806788938982, + 0.15092438661902444, + 0.12025639268860296 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.586501121520996, + 0.14680257439613342, + 0.12393277883529663 + ], + "box_pose": [ + 15.680871963500977, + 0.1483171582221985, + 0.13758674263954163, + 0.022321734577417374, + -0.007070854771882296, + 0.9938820600509644, + -0.10793648660182953 + ], + "box_yaw_rad": -2.9248338756417738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00034430981618572827, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010122950585048803 + } + }, + { + "simulation_time_ns": 5320000000, + "phase": "straight_push", + "intended_face_center": [ + 15.612508890502637, + 0.13378761369211692, + 0.12673033838976683 + ], + "intended_face_normal": [ + -0.9738581642453392, + -0.21705550878505925, + 0.0669851127624454 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15034043358047516, + 0.12155806188042152 + ], + "centerline_face_intersection": [ + 15.60841760529259, + 0.15054762293916216, + 0.12155806188042152 + ], + "commanded_world_base_velocity": [ + 0.042240000000000236, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.590263366699219, + 0.14711961150169373, + 0.12728582322597504 + ], + "box_pose": [ + 15.685087203979492, + 0.1478474736213684, + 0.1389487087726593, + 0.034915123134851456, + -0.01094487402588129, + 0.9933827519416809, + -0.10886600613594055 + ], + "box_yaw_rad": -2.922295013959533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000207189358686991, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001323545072505802 + } + }, + { + "simulation_time_ns": 5340000000, + "phase": "straight_push", + "intended_face_center": [ + 15.615374127058365, + 0.13343500004538458, + 0.12934558966718226 + ], + "intended_face_normal": [ + -0.9723224109286148, + -0.2167095789685956, + 0.08732801930674616 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15000944935490187, + 0.12260252924314774 + ], + "centerline_face_intersection": [ + 15.611039025141126, + 0.15016829821306024, + 0.12260252924314774 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.592483520507812, + 0.14895978569984436, + 0.12877631187438965 + ], + "box_pose": [ + 15.688210487365723, + 0.14740511775016785, + 0.14003585278987885, + 0.045501161366701126, + -0.013981379568576813, + 0.9929580688476562, + -0.10848254710435867 + ], + "box_yaw_rad": -2.9222985784110196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00015884885815835575, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010956562551177305 + } + }, + { + "simulation_time_ns": 5360000000, + "phase": "straight_push", + "intended_face_center": [ + 15.617008749263944, + 0.13263626515366195, + 0.13072151195566287 + ], + "intended_face_normal": [ + -0.9711902295610164, + -0.2171133206945815, + 0.0982419527908813 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14916843323925794, + 0.12313572873164229 + ], + "centerline_face_intersection": [ + 15.612493648235855, + 0.1494007383654488, + 0.12313572873164229 + ], + "commanded_world_base_velocity": [ + 0.05800032921810725, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59299373626709, + 0.1512371450662613, + 0.1289607584476471 + ], + "box_pose": [ + 15.689977645874023, + 0.14652755856513977, + 0.14057816565036774, + 0.05143280327320099, + -0.017814377322793007, + 0.9926115870475769, + -0.10844162851572037 + ], + "box_yaw_rad": -2.9216550975096918, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00023230512619085592, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000995796064113364 + } + }, + { + "simulation_time_ns": 5380000000, + "phase": "straight_push", + "intended_face_center": [ + 15.617621516433633, + 0.13235626782938978, + 0.13126933506567467 + ], + "intended_face_normal": [ + -0.9706852924202078, + -0.21746496952071112, + 0.10236479128047077 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14875971512111358, + 0.1233652055734743 + ], + "centerline_face_intersection": [ + 15.613026068670937, + 0.14914789371567277, + 0.1233652055734743 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.592737197875977, + 0.15304473042488098, + 0.12849612534046173 + ], + "box_pose": [ + 15.690633773803711, + 0.14623942971229553, + 0.14081114530563354, + 0.053655438125133514, + -0.0190600473433733, + 0.9924612641334534, + -0.10852797329425812 + ], + "box_yaw_rad": -2.9211993639227405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003881785945591842, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00046873246211102124 + } + }, + { + "simulation_time_ns": 5400000000, + "phase": "straight_push", + "intended_face_center": [ + 15.617206378911384, + 0.1324756427703126, + 0.1309021632748074 + ], + "intended_face_normal": [ + -0.9710163069791842, + -0.2173365073211438, + 0.0994580288724897 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14872139132583231, + 0.12322248035440524 + ], + "centerline_face_intersection": [ + 15.61266360778673, + 0.14925734940753024, + 0.12322248035440524 + ], + "commanded_world_base_velocity": [ + 0.07388707818930067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.591751098632812, + 0.15295183658599854, + 0.128528892993927 + ], + "box_pose": [ + 15.69018840789795, + 0.14636433124542236, + 0.1406646966934204, + 0.05211916193366051, + -0.01845083199441433, + 0.9925561547279358, + -0.10851437598466873 + ], + "box_yaw_rad": -2.9213980682970955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005359580816979159, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00014778092381316602 + } + }, + { + "simulation_time_ns": 5420000000, + "phase": "straight_push", + "intended_face_center": [ + 15.615755877207066, + 0.13285153393115706, + 0.12960753440143735 + ], + "intended_face_normal": [ + -0.9721150947507016, + -0.2169040803586188, + 0.08913547817495823 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14902370289546715, + 0.12272491047351183 + ], + "centerline_face_intersection": [ + 15.61138783139158, + 0.14959985058471958, + 0.12272491047351183 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.590452194213867, + 0.15060459077358246, + 0.12864062190055847 + ], + "box_pose": [ + 15.688626289367676, + 0.1467551440000534, + 0.1401514858007431, + 0.04668818414211273, + -0.016480790451169014, + 0.9928675293922424, + -0.10845614224672318 + ], + "box_yaw_rad": -2.922062696490924, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005761476892524309, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005822096456667094 + } + }, + { + "simulation_time_ns": 5440000000, + "phase": "straight_push", + "intended_face_center": [ + 15.613271182461839, + 0.1334753828663373, + 0.12731747787437137 + ], + "intended_face_normal": [ + -0.9737342657576393, + -0.21629445452238538, + 0.0711236250991165 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.14973574010654256, + 0.12182564483582367 + ], + "centerline_face_intersection": [ + 15.609160241735859, + 0.15017662706958654, + 0.12182564483582367 + ], + "commanded_world_base_velocity": [ + 0.08888888888888913, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.588458061218262, + 0.1467951089143753, + 0.12820732593536377 + ], + "box_pose": [ + 15.685925483703613, + 0.14741399884223938, + 0.13921914994716644, + 0.037230245769023895, + -0.01310113724321127, + 0.9933254718780518, + -0.10838287323713303 + ], + "box_yaw_rad": -2.9230127054596875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004408869630439816, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00114702906549169 + } + }, + { + "simulation_time_ns": 5460000000, + "phase": "straight_push", + "intended_face_center": [ + 15.609761143169877, + 0.13433561444838296, + 0.12391386585085436 + ], + "intended_face_normal": [ + -0.9754205799728581, + -0.21570900950929647, + 0.044989183644119496 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1509164571528988, + 0.12044001191315434 + ], + "centerline_face_intersection": [ + 15.605917502924424, + 0.15099165333116865, + 0.12044001191315434 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.586541175842285, + 0.14184938371181488, + 0.12510338425636292 + ], + "box_pose": [ + 15.682053565979004, + 0.14834658801555634, + 0.1377730667591095, + 0.023531241342425346, + -0.008222891949117184, + 0.9938021302223206, + -0.10833244025707245 + ], + "box_yaw_rad": -2.923950837171089, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -7.519617826983079e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018204591014195758 + } + }, + { + "simulation_time_ns": 5480000000, + "phase": "straight_push", + "intended_face_center": [ + 15.6090117648848, + 0.13113946422884604, + 0.11988310942358789 + ], + "intended_face_normal": [ + -0.967528739259157, + -0.2524161886430369, + 0.013182599020176058 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1511798848753868, + 0.11886521090207638 + ], + "centerline_face_intersection": [ + 15.60391306085116, + 0.15062985947124688, + 0.11886521090207638 + ], + "commanded_world_base_velocity": [ + 0.10199440329218129, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.58681583404541, + 0.1349993199110031, + 0.11509864032268524 + ], + "box_pose": [ + 15.680220603942871, + 0.14790311455726624, + 0.1360960602760315, + 0.007257167249917984, + -0.004768668208271265, + 0.9918375015258789, + -0.12721185386180878 + ], + "box_yaw_rad": -2.886393437447815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005500254041399199, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001596681680695114 + } + }, + { + "simulation_time_ns": 5500000000, + "phase": "straight_push", + "intended_face_center": [ + 15.610177603405258, + 0.12804785012854197, + 0.1193195740097643 + ], + "intended_face_normal": [ + -0.9621863179867116, + -0.2723152936568223, + 0.006443450496940728 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15033946032931145, + 0.11882204095697022 + ], + "centerline_face_intersection": [ + 15.60422326552446, + 0.14907476101113892, + 0.11882204095697022 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.587727546691895, + 0.1312079131603241, + 0.10832904279232025 + ], + "box_pose": [ + 15.680939674377441, + 0.14617237448692322, + 0.13601717352867126, + 0.00426985090598464, + -0.007330365478992462, + 0.9904743432998657, + -0.13743551075458527 + ], + "box_yaw_rad": -2.865788283778782, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012646993181725128, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008415325672880647 + } + }, + { + "simulation_time_ns": 5520000000, + "phase": "straight_push", + "intended_face_center": [ + 15.611614838227077, + 0.12999462912997828, + 0.11923601158559657 + ], + "intended_face_normal": [ + -0.9674830064288946, + -0.2528858243967101, + 0.004998742690381919 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1514125786503004, + 0.11885003209959624 + ], + "centerline_face_intersection": [ + 15.606508830461564, + 0.14952128744452303, + 0.11885003209959624 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.589234352111816, + 0.13385649025440216, + 0.10793933272361755 + ], + "box_pose": [ + 15.68271255493164, + 0.14665207266807556, + 0.1360355019569397, + 0.0036032716743648052, + -0.008429158478975296, + 0.9918016195297241, + -0.12745748460292816 + ], + "box_yaw_rad": -2.8859274611302013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0018912912057773477, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010734833184114394 + } + }, + { + "simulation_time_ns": 5540000000, + "phase": "straight_push", + "intended_face_center": [ + 15.613868283411554, + 0.13608852453676049, + 0.12020476043074423 + ], + "intended_face_normal": [ + -0.9778747365557872, + -0.20863818076337462, + 0.015183000778433042 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15452757630313116, + 0.1190324002595199 + ], + "centerline_face_intersection": [ + 15.610412810849136, + 0.1521985871583158, + 0.1190324002595199 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.591708183288574, + 0.14125613868236542, + 0.11217339336872101 + ], + "box_pose": [ + 15.685800552368164, + 0.14959223568439484, + 0.13626639544963837, + 0.008289295248687267, + -0.006215052679181099, + 0.9944338798522949, + -0.10485118627548218 + ], + "box_yaw_rad": -2.931385708539554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002328989144815363, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003120331476445275 + } + }, + { + "simulation_time_ns": 5560000000, + "phase": "straight_push", + "intended_face_center": [ + 15.616359933359439, + 0.14157204920997318, + 0.12239577448292475 + ], + "intended_face_normal": [ + -0.9830552611466983, + -0.18034247182262989, + 0.032840692801881476 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.15817896597658412, + 0.11985997007915837 + ], + "centerline_face_intersection": [ + 15.613720594170006, + 0.15549724978332222, + 0.11985997007915837 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.594511985778809, + 0.1466790735721588, + 0.1188793033361435 + ], + "box_pose": [ + 15.68887996673584, + 0.1532650589942932, + 0.13718417286872864, + 0.016417285427451134, + 0.0008033756748773158, + 0.9957544803619385, + -0.09056893736124039 + ], + "box_yaw_rad": -2.960159040106807, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002681716193261899, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037439976433987503 + } + }, + { + "simulation_time_ns": 5580000000, + "phase": "straight_push", + "intended_face_center": [ + 15.618415006710423, + 0.14466500435489849, + 0.1252381989281509 + ], + "intended_face_normal": [ + -0.9828128491632819, + -0.1768275001552898, + 0.05301418754137288 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.16134534312726656, + 0.12114469179538395 + ], + "centerline_face_intersection": [ + 15.615737576073187, + 0.15831879528756404, + 0.12114469179538395 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.596722602844238, + 0.14969800412654877, + 0.12481409311294556 + ], + "box_pose": [ + 15.691197395324707, + 0.15648142993450165, + 0.13856765627861023, + 0.025629572570323944, + 0.011106730438768864, + 0.995631992816925, + -0.08908754587173462 + ], + "box_yaw_rad": -2.9635773907451264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00302654783970251, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034170826955907036 + } + }, + { + "simulation_time_ns": 5600000000, + "phase": "straight_push", + "intended_face_center": [ + 15.620258477952223, + 0.1477826931463289, + 0.12724885574053085 + ], + "intended_face_normal": [ + -0.9824405951864392, + -0.1738758293393684, + 0.0676625066241539 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1645656940261782, + 0.12202427405151207 + ], + "centerline_face_intersection": [ + 15.617522534510243, + 0.16120856989037985, + 0.12202427405151207 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.598563194274902, + 0.1529441624879837, + 0.12694071233272552 + ], + "box_pose": [ + 15.693199157714844, + 0.15977153182029724, + 0.13951705396175385, + 0.032053735107183456, + 0.021877290681004524, + 0.9953600764274597, + -0.08804769814014435 + ], + "box_yaw_rad": -2.9664230235879776, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0033571241357983556, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00333831167769226 + } + }, + { + "simulation_time_ns": 5620000000, + "phase": "straight_push", + "intended_face_center": [ + 15.622411776527787, + 0.1521351513474418, + 0.12726767568801822 + ], + "intended_face_normal": [ + -0.983999263668071, + -0.1647228312674238, + 0.06791556860983522 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.16851853930102162, + 0.122023553738336 + ], + "centerline_face_intersection": [ + 15.619920682369411, + 0.16485427647213674, + 0.122023553738336 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.60084342956543, + 0.15717580914497375, + 0.1270471066236496 + ], + "box_pose": [ + 15.695396423339844, + 0.1638554334640503, + 0.13953392207622528, + 0.031273942440748215, + 0.033735793083906174, + 0.9954202771186829, + -0.08380024880170822 + ], + "box_yaw_rad": -2.9757292085912432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003664262828884875, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0039528453404734844 + } + }, + { + "simulation_time_ns": 5640000000, + "phase": "straight_push", + "intended_face_center": [ + 15.624388007762311, + 0.15691022459427956, + 0.1274089164798729 + ], + "intended_face_normal": [ + -0.9852922823156267, + -0.15602796244858957, + 0.06967610886170905 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.17290698158011536, + 0.1220288538619885 + ], + "centerline_face_intersection": [ + 15.622099733374727, + 0.16895797269370946, + 0.1220288538619885 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.602916717529297, + 0.1618393212556839, + 0.1272524744272232 + ], + "box_pose": [ + 15.697418212890625, + 0.1684742122888565, + 0.13955165445804596, + 0.031170902773737907, + 0.04778753221035004, + 0.9951695799827576, + -0.0798894613981247 + ], + "box_yaw_rad": -2.9845397576596295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003949008886405898, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00438844547969417 + } + }, + { + "simulation_time_ns": 5660000000, + "phase": "straight_push", + "intended_face_center": [ + 15.625272996385377, + 0.16142506177235558, + 0.12797175444898673 + ], + "intended_face_normal": [ + -0.9853027742335532, + -0.15316286950717461, + 0.07563225081999603 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.17748457232703543, + 0.12213178646009214 + ], + "centerline_face_intersection": [ + 15.622986366629142, + 0.17325158082092867, + 0.12213178646009214 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.6038179397583, + 0.1661520153284073, + 0.12766729295253754 + ], + "box_pose": [ + 15.69831657409668, + 0.17336377501487732, + 0.13966308534145355, + 0.03289004787802696, + 0.06462691724300385, + 0.9942206740379333, + -0.0791645348072052 + ], + "box_yaw_rad": -2.9873793656862158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004232991506106753, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00457874788190403 + } + }, + { + "simulation_time_ns": 5680000000, + "phase": "straight_push", + "intended_face_center": [ + 15.62596894184153, + 0.16528360252299007, + 0.12907112437188242 + ], + "intended_face_normal": [ + -0.9842087348848398, + -0.15465832044335648, + 0.08610464643536142 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.18176810946859284, + 0.12242252706814262 + ], + "centerline_face_intersection": [ + 15.623510723197056, + 0.1772255932850396, + 0.12242252706814262 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.603484153747559, + 0.16948747634887695, + 0.12741948664188385 + ], + "box_pose": [ + 15.699023246765137, + 0.17789852619171143, + 0.1399575024843216, + 0.03678937628865242, + 0.08072081208229065, + 0.9927681088447571, + -0.08088377118110657 + ], + "box_yaw_rad": -2.9857274786114276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0045425161835532584, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004293392661319412 + } + }, + { + "simulation_time_ns": 5700000000, + "phase": "straight_push", + "intended_face_center": [ + 15.62690096893879, + 0.1689786012557016, + 0.13020182531811214 + ], + "intended_face_normal": [ + -0.9834427240619217, + -0.1526776822735612, + 0.09762207909303433 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.18564845940263208, + 0.12266390583625628 + ], + "centerline_face_intersection": [ + 15.624322493966666, + 0.18076765641972542, + 0.12266390583625628 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.600488662719727, + 0.1723104864358902, + 0.1249435693025589 + ], + "box_pose": [ + 15.700020790100098, + 0.181950181722641, + 0.14019238948822021, + 0.04148458316922188, + 0.09492044895887375, + 0.9913180470466614, + -0.08097963780164719 + ], + "box_yaw_rad": -2.9875740159094875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004880802982906668, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003887850218346175 + } + }, + { + "simulation_time_ns": 5720000000, + "phase": "straight_push", + "intended_face_center": [ + 15.62777191281554, + 0.17245132883182138, + 0.13115000934408594 + ], + "intended_face_normal": [ + -0.9826577944145787, + -0.15052326333812083, + 0.10829132104024564 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1892690143127846, + 0.12278826099607906 + ], + "centerline_face_intersection": [ + 15.625070112611962, + 0.18407402986144844, + 0.12278826099607906 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.594919204711914, + 0.17621949315071106, + 0.12109152972698212 + ], + "box_pose": [ + 15.700946807861328, + 0.1857314258813858, + 0.14029647409915924, + 0.045850157737731934, + 0.10814119875431061, + 0.9897648096084595, + -0.08104947954416275 + ], + "box_yaw_rad": -2.9895943978510675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005194984451336163, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003622689893325673 + } + }, + { + "simulation_time_ns": 5740000000, + "phase": "straight_push", + "intended_face_center": [ + 15.628601473071019, + 0.17577510457595472, + 0.13195406182349984 + ], + "intended_face_normal": [ + -0.9818502362680914, + -0.1481981479125417, + 0.11835113458051505 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1926829400286823, + 0.12281554181509052 + ], + "centerline_face_intersection": [ + 15.625772687676006, + 0.18721827108811534, + 0.12281554181509052 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59172248840332, + 0.18047615885734558, + 0.1203051209449768 + ], + "box_pose": [ + 15.701823234558105, + 0.18932628631591797, + 0.14029178023338318, + 0.049982983618974686, + 0.1206837147474289, + 0.9881095886230469, + -0.08109546452760696 + ], + "box_yaw_rad": -2.99178583456323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005464668940566953, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003414034715223859 + } + }, + { + "simulation_time_ns": 5760000000, + "phase": "straight_push", + "intended_face_center": [ + 15.629420565170555, + 0.17906730978182286, + 0.13265282495522734 + ], + "intended_face_normal": [ + -0.9810001884125836, + -0.14564282657251681, + 0.12816927552579993 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.1959930309499442, + 0.12275619411170112 + ], + "centerline_face_intersection": [ + 15.62645799830176, + 0.19031316635456888, + 0.12275619411170112 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.592616081237793, + 0.18493327498435974, + 0.12355393171310425 + ], + "box_pose": [ + 15.702683448791504, + 0.19286373257637024, + 0.14018890261650085, + 0.054035115987062454, + 0.13300494849681854, + 0.9863111972808838, + -0.08111876994371414 + ], + "box_yaw_rad": -2.9942056282975544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005679864595375318, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033106229107100027 + } + }, + { + "simulation_time_ns": 5780000000, + "phase": "straight_push", + "intended_face_center": [ + 15.630248601921526, + 0.18241568808991976, + 0.13326749149597106 + ], + "intended_face_normal": [ + -0.9800769867762966, + -0.14282240303700267, + 0.13802576299428093 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.19924483440236768, + 0.12260978887850192 + ], + "centerline_face_intersection": [ + 15.62714060665129, + 0.19344376477400782, + 0.12260978887850192 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.595175743103027, + 0.19041363894939423, + 0.13228583335876465 + ], + "box_pose": [ + 15.703547477722168, + 0.19644120335578918, + 0.13998626172542572, + 0.05812208354473114, + 0.14545971155166626, + 0.9843170046806335, + -0.08113811165094376 + ], + "box_yaw_rad": -2.9968855508086896, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005801069628359862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032550975692752144 + } + }, + { + "simulation_time_ns": 5800000000, + "phase": "straight_push", + "intended_face_center": [ + 15.631109593032528, + 0.18590086437943654, + 0.13380672403901644 + ], + "intended_face_normal": [ + -0.9790564867859044, + -0.13964021122572334, + 0.14815486333998362 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2024381192101229, + 0.12236689975871343 + ], + "centerline_face_intersection": [ + 15.627840679617478, + 0.19668322712389025, + 0.12236689975871343 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.597456932067871, + 0.19783766567707062, + 0.14156949520111084 + ], + "box_pose": [ + 15.704440116882324, + 0.20014218986034393, + 0.13967224955558777, + 0.0623464360833168, + 0.15834204852581024, + 0.9820672273635864, + -0.08114736527204514 + ], + "box_yaw_rad": -2.9999208242333015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005754892086232647, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003202508858372118 + } + }, + { + "simulation_time_ns": 5820000000, + "phase": "straight_push", + "intended_face_center": [ + 15.632018349559239, + 0.1896109314269674, + 0.13426718746387037 + ], + "intended_face_normal": [ + -0.9779147044519303, + -0.13593523846763, + 0.15876094249136963 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.20576748132945796, + 0.12200841145252353 + ], + "centerline_face_intersection": [ + 15.62856919036499, + 0.2001072135368716, + 0.12200841145252353 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.598003387451172, + 0.20247282087802887, + 0.14479205012321472 + ], + "box_pose": [ + 15.705376625061035, + 0.2040530890226364, + 0.13922415673732758, + 0.06680189073085785, + 0.17195872962474823, + 0.9794833064079285, + -0.08111908286809921 + ], + "box_yaw_rad": -3.003472512402091, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005660267792586357, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003348606573985398 + } + }, + { + "simulation_time_ns": 5840000000, + "phase": "straight_push", + "intended_face_center": [ + 15.633001343923805, + 0.19362871115293698, + 0.13463882577246655 + ], + "intended_face_normal": [ + -0.976597260092058, + -0.13163709498629528, + 0.17008576290562916 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2096114579158843, + 0.12150560019784198 + ], + "centerline_face_intersection": [ + 15.629343940771337, + 0.20379311076469356, + 0.12150560019784198 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.595833778381348, + 0.19984112679958344, + 0.13886430859565735 + ], + "box_pose": [ + 15.706381797790527, + 0.20826196670532227, + 0.1386082023382187, + 0.07159464806318283, + 0.18663111329078674, + 0.9764565825462341, + -0.08108945935964584 + ], + "box_yaw_rad": -3.0076086135079105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005818347151190762, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038767222179088884 + } + }, + { + "simulation_time_ns": 5860000000, + "phase": "straight_push", + "intended_face_center": [ + 15.634075202198499, + 0.1980513027485276, + 0.1348944943064992 + ], + "intended_face_normal": [ + -0.9750571294121682, + -0.12655137505144065, + 0.18234097414734607 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2141253532465658, + 0.12081497874879446 + ], + "centerline_face_intersection": [ + 15.630173990884918, + 0.20782300689904873, + 0.12081497874879446 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.593433380126953, + 0.1957230269908905, + 0.1319465935230255 + ], + "box_pose": [ + 15.707470893859863, + 0.21286217868328094, + 0.13777382671833038, + 0.07682758569717407, + 0.20269982516765594, + 0.9728521704673767, + -0.08104892820119858 + ], + "box_yaw_rad": -3.0125254659195555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006302346347517091, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004566421908040555 + } + }, + { + "simulation_time_ns": 5880000000, + "phase": "straight_push", + "intended_face_center": [ + 15.635266197840487, + 0.2029868058118693, + 0.1349907063384231 + ], + "intended_face_normal": [ + -0.9732407777584986, + -0.12037159503318118, + 0.1957379854276442 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.21926446147405848, + 0.1198767363492351 + ], + "centerline_face_intersection": [ + 15.63107694365273, + 0.21228133630837684, + 0.1198767363492351 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.592996597290039, + 0.1952618658542633, + 0.12744994461536407 + ], + "box_pose": [ + 15.70866870880127, + 0.21794992685317993, + 0.1366516649723053, + 0.08261855691671371, + 0.22052906453609467, + 0.9684974551200867, + -0.08095590770244598 + ], + "box_yaw_rad": -3.018536372038382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006983125165681632, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0052240532323296375 + } + }, + { + "simulation_time_ns": 5900000000, + "phase": "straight_push", + "intended_face_center": [ + 15.63660924387178, + 0.20854016434242426, + 0.13486167715264255 + ], + "intended_face_normal": [ + -0.9710434687272116, + -0.112846112205649, + 0.2105717142196939 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.22501716203455294, + 0.11860231613829927 + ], + "centerline_face_intersection": [ + 15.632070794363347, + 0.2172536123200688, + 0.11860231613829927 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.593890190124512, + 0.1977429986000061, + 0.12372978031635284 + ], + "box_pose": [ + 15.710005760192871, + 0.22362177073955536, + 0.13514083623886108, + 0.08912868052721024, + 0.2404923141002655, + 0.9631641507148743, + -0.08083546161651611 + ], + "box_yaw_rad": -3.025900415526109, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00776354971448414, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005892173674693825 + } + }, + { + "simulation_time_ns": 5920000000, + "phase": "straight_push", + "intended_face_center": [ + 15.63810109085238, + 0.21484392107999253, + 0.13440765794359105 + ], + "intended_face_normal": [ + -0.9684240813966554, + -0.10349542109611942, + 0.22681252593243517 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.23150151465020755, + 0.1168942575546719 + ], + "centerline_face_intersection": [ + 15.633145305081497, + 0.22283535250832587, + 0.1168942575546719 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.594879150390625, + 0.20027004182338715, + 0.11966896057128906 + ], + "box_pose": [ + 15.711474418640137, + 0.22998642921447754, + 0.13312610983848572, + 0.09638877958059311, + 0.2630649209022522, + 0.9565609693527222, + -0.080605648458004 + ], + "box_yaw_rad": -3.0351268108842833, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008666162141881689, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006705541959398207 + } + }, + { + "simulation_time_ns": 5940000000, + "phase": "straight_push", + "intended_face_center": [ + 15.63969447862456, + 0.2220646670736669, + 0.13349675919944548 + ], + "intended_face_normal": [ + -0.9654515127319385, + -0.09154721445115044, + 0.24397308503181403 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2389180266391567, + 0.11465830085277201 + ], + "centerline_face_intersection": [ + 15.63426367193167, + 0.2291335139752302, + 0.11465830085277201 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59699821472168, + 0.2011747509241104, + 0.1193208396434784 + ], + "box_pose": [ + 15.713027000427246, + 0.23716065287590027, + 0.13049086928367615, + 0.10427486151456833, + 0.2886779308319092, + 0.9483621716499329, + -0.08000683784484863 + ], + "box_yaw_rad": -3.0470521162650575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00978451266392648, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007746234727594925 + } + }, + { + "simulation_time_ns": 5960000000, + "phase": "straight_push", + "intended_face_center": [ + 15.64098724933646, + 0.23037278636917435, + 0.13190819257422062 + ], + "intended_face_normal": [ + -0.962875641014719, + -0.07624977597954441, + 0.2589529073556722 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2473767588934284, + 0.11191306254447286 + ], + "centerline_face_intersection": [ + 15.63514358865162, + 0.23626043675711172, + 0.11191306254447286 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.599218368530273, + 0.20296519994735718, + 0.12037110328674316 + ], + "box_pose": [ + 15.714271545410156, + 0.24527224898338318, + 0.1272178292274475, + 0.11141257733106613, + 0.3181597590446472, + 0.9381962418556213, + -0.07841844111680984 + ], + "box_yaw_rad": -3.062567925630572, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011116322136316662, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008893058232059952 + } + }, + { + "simulation_time_ns": 5980000000, + "phase": "straight_push", + "intended_face_center": [ + 15.642401311519498, + 0.23963705321478995, + 0.12940675885676983 + ], + "intended_face_normal": [ + -0.9597037799458832, + -0.05821867315890028, + 0.2749165954718267 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2567037215744804, + 0.1081789876379489 + ], + "centerline_face_intersection": [ + 15.636047695337416, + 0.24413242633826182, + 0.1081789876379489 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.6002836227417, + 0.2077580988407135, + 0.12121954560279846 + ], + "box_pose": [ + 15.71560001373291, + 0.254228413105011, + 0.12280203402042389, + 0.11936576664447784, + 0.3515779376029968, + 0.9253349900245667, + -0.07681078463792801 + ], + "box_yaw_rad": -3.081003734019178, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012571295236218595, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01004666851554628 + } + }, + { + "simulation_time_ns": 6000000000, + "phase": "straight_push", + "intended_face_center": [ + 15.643977488405707, + 0.2500198168667919, + 0.1257046150273678 + ], + "intended_face_normal": [ + -0.955919138923429, + -0.03575394612972538, + 0.2914454395685948 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.26684651740036847, + 0.10320056392302171 + ], + "centerline_face_intersection": [ + 15.637013095727955, + 0.2527805690407713, + 0.10320056392302171 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.601889610290527, + 0.21541424095630646, + 0.1221703290939331 + ], + "box_pose": [ + 15.717058181762695, + 0.2640571892261505, + 0.11694411933422089, + 0.12833775579929352, + 0.3893405497074127, + 0.9090508818626404, + -0.07463175803422928 + ], + "box_yaw_rad": -3.104207391739002, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014065948359597187, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011298717177228652 + } + }, + { + "simulation_time_ns": 6020000000, + "phase": "straight_push", + "intended_face_center": [ + 15.645732066868868, + 0.2615236599244051, + 0.12032443639089874 + ], + "intended_face_normal": [ + -0.9513881629714547, + -0.007842282026732761, + 0.3078942189889453 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.27712920419288134, + 0.09655028762015029 + ], + "centerline_face_intersection": [ + 15.638033118676564, + 0.2621292041928813, + 0.09655028762015029 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.604005813598633, + 0.22542040050029755, + 0.12086088955402374 + ], + "box_pose": [ + 15.71865177154541, + 0.27466660737991333, + 0.10916382819414139, + 0.1384352147579193, + 0.43182575702667236, + 0.8883808851242065, + -0.07170464098453522 + ], + "box_yaw_rad": -3.133349851419555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.012245808367660007 + } + }, + { + "simulation_time_ns": 6040000000, + "phase": "straight_push", + "intended_face_center": [ + 15.647716778733868, + 0.27402787355417896, + 0.1127826015020962 + ], + "intended_face_normal": [ + -0.9457209054109814, + 0.026339551739699374, + 0.32391061069258775 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.2869940567983115, + 0.08777174201822244 + ], + "centerline_face_intersection": [ + 15.6390938739236, + 0.2719940567983115, + 0.08777174201822244 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.60539722442627, + 0.23697932064533234, + 0.1189052164554596 + ], + "box_pose": [ + 15.720404624938965, + 0.28583911061286926, + 0.09894237667322159, + 0.14999431371688843, + 0.47933217883110046, + 0.8620331287384033, + -0.06812652945518494 + ], + "box_yaw_rad": 3.1137485568017094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.013205233046485382 + } + }, + { + "simulation_time_ns": 6060000000, + "phase": "straight_push", + "intended_face_center": [ + 15.65035364238193, + 0.28679846150800714, + 0.10286831650044859 + ], + "intended_face_normal": [ + -0.9358035119285688, + 0.06108280030126867, + 0.3471902451298403 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.297081933908155, + 0.07605991273575885 + ], + "centerline_face_intersection": [ + 15.640099689574503, + 0.282081933908155, + 0.07605991273575885 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.606047630310059, + 0.2502709627151489, + 0.1159437894821167 + ], + "box_pose": [ + 15.722503662109375, + 0.2971617579460144, + 0.08550284057855606, + 0.1654292792081833, + 0.529414713382721, + 0.8292296528816223, + -0.0687858834862709 + ], + "box_yaw_rad": 3.0764120133545783, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.015457432184062002 + } + }, + { + "simulation_time_ns": 6080000000, + "phase": "straight_push", + "intended_face_center": [ + 15.652652048398073, + 0.3009741505403119, + 0.08945334381681096 + ], + "intended_face_normal": [ + -0.927749569744698, + 0.11174691178062979, + 0.35608159060965505 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.3073455776685368, + 0.061958392019802286 + ], + "centerline_face_intersection": [ + 15.641059905334567, + 0.2923455776685368, + 0.061958392019802286 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.605917930603027, + 0.26580679416656494, + 0.11248920857906342 + ], + "box_pose": [ + 15.724369049072266, + 0.30862531065940857, + 0.06913791596889496, + 0.17939487099647522, + 0.5869282484054565, + 0.7870133519172668, + -0.06279240548610687 + ], + "box_yaw_rad": 3.0217206958459415, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.017441194619135937 + } + }, + { + "simulation_time_ns": 6100000000, + "phase": "straight_push", + "intended_face_center": [ + 15.654729984425286, + 0.3152344515296634, + 0.07160206265389414 + ], + "intended_face_normal": [ + -0.920926044856266, + 0.16962716630745955, + 0.3508869352658608 + ], + "commanded_contact_point": [ + 15.601455499313506, + 0.3171366366353252, + 0.04450821779991829 + ], + "centerline_face_intersection": [ + 15.641994285231902, + 0.3021366366353252, + 0.04450821779991829 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.604276657104492, + 0.28128013014793396, + 0.10762986540794373 + ], + "box_pose": [ + 15.72605037689209, + 0.31935274600982666, + 0.04899629205465317, + 0.19157367944717407, + 0.6472905278205872, + 0.7358518838882446, + -0.05325833335518837 + ], + "box_yaw_rad": 2.95944230740572, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.02000933322215989 + } + }, + { + "simulation_time_ns": 6120000000, + "phase": "straight_push", + "intended_face_center": [ + 15.658544727957404, + 0.3214514516141952, + 0.06590206468766441 + ], + "intended_face_normal": [ + -0.9010482800494586, + 0.19689244349596358, + 0.3864522750333155 + ], + "commanded_contact_point": [ + 15.602663879394532, + 0.3212483397828643, + 0.03606203095917759 + ], + "centerline_face_intersection": [ + 15.642424474224049, + 0.3062483397828643, + 0.03606203095917759 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.60222053527832, + 0.2943134307861328, + 0.09964339435100555 + ], + "box_pose": [ + 15.728503227233887, + 0.32376477122306824, + 0.03916187584400177, + 0.2129814475774765, + 0.6743083000183105, + 0.7041537165641785, + -0.06414641439914703 + ], + "box_yaw_rad": 2.9264593619095187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009471238427069897 + } + }, + { + "simulation_time_ns": 6140000000, + "phase": "straight_push", + "intended_face_center": [ + 15.660037954976927, + 0.32120562117628104, + 0.06752152598734067 + ], + "intended_face_normal": [ + -0.8949879293268523, + 0.1952048365835477, + 0.4011129070892654 + ], + "commanded_contact_point": [ + 15.603789215087891, + 0.32113281844245145, + 0.036549466952513585 + ], + "centerline_face_intersection": [ + 15.64286947155515, + 0.30613281844245144, + 0.036549466952513585 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.601752281188965, + 0.30408743023872375, + 0.08886051177978516 + ], + "box_pose": [ + 15.729548454284668, + 0.32364892959594727, + 0.03964858502149582, + 0.21810100972652435, + 0.6738353967666626, + 0.7024527192115784, + -0.0702705830335617 + ], + "box_yaw_rad": 2.926846854951834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001231795214489347 + } + }, + { + "simulation_time_ns": 6160000000, + "phase": "straight_push", + "intended_face_center": [ + 15.659061195962407, + 0.32125526550330574, + 0.06537573984698446 + ], + "intended_face_normal": [ + -0.9026408310231346, + 0.19545237760336232, + 0.3834549581097457 + ], + "commanded_contact_point": [ + 15.604567413330079, + 0.32106528280216773, + 0.035767144885643136 + ], + "centerline_face_intersection": [ + 15.643215105270208, + 0.3061633488119252, + 0.035767144885643136 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.604805946350098, + 0.3086149990558624, + 0.07880975306034088 + ], + "box_pose": [ + 15.729077339172363, + 0.3236931562423706, + 0.038798004388809204, + 0.21113154292106628, + 0.6761389374732971, + 0.7029626965522766, + -0.0640547052025795 + ], + "box_yaw_rad": 2.9283507880147606, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01490193399024251, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001105523126472123 + } + }, + { + "simulation_time_ns": 6180000000, + "phase": "straight_push", + "intended_face_center": [ + 15.656789640514674, + 0.321225099936125, + 0.06183328117868221 + ], + "intended_face_normal": [ + -0.9168924602892403, + 0.19546413936602614, + 0.34799697640587457 + ], + "commanded_contact_point": [ + 15.605853919982911, + 0.3210262561258654, + 0.03496258540527133 + ], + "centerline_face_intersection": [ + 15.643373635410136, + 0.3061322750565482, + 0.03496258540527133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.610735893249512, + 0.3063310980796814, + 0.06718622148036957 + ], + "box_pose": [ + 15.727787971496582, + 0.3236621618270874, + 0.038003090769052505, + 0.19739878177642822, + 0.6772674322128296, + 0.7069335579872131, + -0.05086715146899223 + ], + "box_yaw_rad": 2.9315556821329394, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014893981069317183, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015178729876707204 + } + }, + { + "simulation_time_ns": 6200000000, + "phase": "straight_push", + "intended_face_center": [ + 15.656493354421128, + 0.3212574094356391, + 0.06167491776497829 + ], + "intended_face_normal": [ + -0.9183094228681199, + 0.19539362056812903, + 0.34428070942937294 + ], + "commanded_contact_point": [ + 15.608024482727052, + 0.32117002968717856, + 0.03509117471273669 + ], + "centerline_face_intersection": [ + 15.643316703973039, + 0.30617002968717855, + 0.03509117471273669 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.616711616516113, + 0.3000803589820862, + 0.05835902690887451 + ], + "box_pose": [ + 15.727584838867188, + 0.32370129227638245, + 0.03812476992607117, + 0.19592900574207306, + 0.6775452494621277, + 0.7071684002876282, + -0.04956946149468422 + ], + "box_yaw_rad": 2.9319438097612847, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002179116489125438 + } + }, + { + "simulation_time_ns": 6220000000, + "phase": "straight_push", + "intended_face_center": [ + 15.6564892031826, + 0.321273700097621, + 0.06162008900566682 + ], + "intended_face_normal": [ + -0.9183398615618046, + 0.19549248080317128, + 0.3441444689258031 + ], + "commanded_contact_point": [ + 15.610586051940919, + 0.32117868682507844, + 0.03504686580667582 + ], + "centerline_face_intersection": [ + 15.64331769006784, + 0.3061786868250784, + 0.03504686580667582 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.62101936340332, + 0.29628676176071167, + 0.05458010733127594 + ], + "box_pose": [ + 15.727582931518555, + 0.32371073961257935, + 0.03807591274380684, + 0.19590598344802856, + 0.6776386499404907, + 0.7070896625518799, + -0.04950889199972153 + ], + "box_yaw_rad": 2.9318475703811844, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002561967029964494 + } + }, + { + "simulation_time_ns": 6240000000, + "phase": "straight_push", + "intended_face_center": [ + 15.656484702681393, + 0.32128679244577624, + 0.061575106739270545 + ], + "intended_face_normal": [ + -0.9183644357234613, + 0.1955639046093256, + 0.34403773310088726 + ], + "commanded_contact_point": [ + 15.613120918273927, + 0.32118626416162066, + 0.035010125180506016 + ], + "centerline_face_intersection": [ + 15.64331733697054, + 0.30618626416162065, + 0.035010125180506016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.623157501220703, + 0.29622796177864075, + 0.05446162819862366 + ], + "box_pose": [ + 15.727580070495605, + 0.32371896505355835, + 0.038035426288843155, + 0.19588547945022583, + 0.6777164340019226, + 0.7070237994194031, + -0.04946489259600639 + ], + "box_yaw_rad": 2.9317786194618827, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002535143904368527 + } + }, + { + "simulation_time_ns": 6260000000, + "phase": "straight_push", + "intended_face_center": [ + 15.656480454092334, + 0.32129754973615327, + 0.06153789619666154 + ], + "intended_face_normal": [ + -0.9183839161832594, + 0.19562834402805374, + 0.34394870939295386 + ], + "commanded_contact_point": [ + 15.615426902770997, + 0.32119204574205235, + 0.03497978863145065 + ], + "centerline_face_intersection": [ + 15.643316376031072, + 0.30619204574205233, + 0.03497978863145065 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.62445068359375, + 0.2973141670227051, + 0.05464375019073486 + ], + "box_pose": [ + 15.727577209472656, + 0.32372528314590454, + 0.038001980632543564, + 0.19587020576000214, + 0.6777804493904114, + 0.7069693207740784, + -0.04942622408270836 + ], + "box_yaw_rad": 2.9317158190260475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023061912829619095 + } + }, + { + "simulation_time_ns": 6280000000, + "phase": "straight_push", + "intended_face_center": [ + 15.65647739156164, + 0.32130665440955053, + 0.061507221446268856 + ], + "intended_face_normal": [ + -0.9184000022507064, + 0.1956821363970649, + 0.3438748845573887 + ], + "commanded_contact_point": [ + 15.617425804138184, + 0.32119699682079034, + 0.03495481428891059 + ], + "centerline_face_intersection": [ + 15.643316028233125, + 0.3061969968207903, + 0.03495481428891059 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.627155303955078, + 0.2975746691226959, + 0.055266618728637695 + ], + "box_pose": [ + 15.727575302124023, + 0.3237306773662567, + 0.037974435836076736, + 0.1958576887845993, + 0.6778333187103271, + 0.706924319267273, + -0.049393970519304276 + ], + "box_yaw_rad": 2.931663359168192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001999063507422922 + } + }, + { + "simulation_time_ns": 6300000000, + "phase": "straight_push", + "intended_face_center": [ + 15.661484220179869, + 0.3211052134562785, + 0.06350080093633846 + ], + "intended_face_normal": [ + -0.9101468389383811, + 0.1916077170756445, + 0.3673138020696012 + ], + "commanded_contact_point": [ + 15.619120483398438, + 0.32131016343442864, + 0.0351385504055304 + ], + "centerline_face_intersection": [ + 15.646923190378182, + 0.30631016343442863, + 0.0351385504055304 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.632712364196777, + 0.29733115434646606, + 0.05779263377189636 + ], + "box_pose": [ + 15.731925010681152, + 0.3238537013530731, + 0.03810153156518936, + 0.2032945603132248, + 0.6787219047546387, + 0.7031429409980774, + -0.05998298525810242 + ], + "box_yaw_rad": 2.9340986825850277, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017083627946450999 + } + }, + { + "simulation_time_ns": 6320000000, + "phase": "straight_push", + "intended_face_center": [ + 15.668982722046433, + 0.3202819022693952, + 0.06696426164718829 + ], + "intended_face_normal": [ + -0.9009312654123178, + 0.17922406425707482, + 0.39522335735694547 + ], + "commanded_contact_point": [ + 15.620425109863282, + 0.32144305988730143, + 0.03644696604373931 + ], + "centerline_face_intersection": [ + 15.652842302766983, + 0.3064430598873014, + 0.03644696604373931 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.640491485595703, + 0.2968434989452362, + 0.06238992512226105 + ], + "box_pose": [ + 15.73859977722168, + 0.32397228479385376, + 0.03949742764234543, + 0.20967355370521545, + 0.6770917177200317, + 0.7014359831809998, + -0.07464144378900528 + ], + "box_yaw_rad": 2.945224221256667, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018524748749352844 + } + }, + { + "simulation_time_ns": 6340000000, + "phase": "straight_push", + "intended_face_center": [ + 15.675449377988912, + 0.3192585813095837, + 0.06829141383147012 + ], + "intended_face_normal": [ + -0.898436960649839, + 0.16764610219288834, + 0.4058392259766066 + ], + "commanded_contact_point": [ + 15.62155330657959, + 0.3213137349027308, + 0.03695441060011143 + ], + "centerline_face_intersection": [ + 15.658878416770188, + 0.3063137349027308, + 0.03695441060011143 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.648056983947754, + 0.2965516149997711, + 0.06704054772853851 + ], + "box_pose": [ + 15.744696617126465, + 0.3238373398780823, + 0.04003484547138214, + 0.2095249742269516, + 0.6773188710212708, + 0.7003268003463745, + -0.08295008540153503 + ], + "box_yaw_rad": 2.9571166826837243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012438057565855654 + } + }, + { + "simulation_time_ns": 6360000000, + "phase": "straight_push", + "intended_face_center": [ + 15.679516438703056, + 0.31823398138273196, + 0.0659783700519492 + ], + "intended_face_normal": [ + -0.9083498341764482, + 0.1583147728913037, + 0.3870867772224429 + ], + "commanded_contact_point": [ + 15.62281406402588, + 0.32100965649711194, + 0.03608934303775141 + ], + "centerline_face_intersection": [ + 15.664648815477426, + 0.3060096564971119, + 0.03608934303775141 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.653053283691406, + 0.29685941338539124, + 0.06895093619823456 + ], + "box_pose": [ + 15.749259948730469, + 0.3235407769680023, + 0.039103537797927856, + 0.19859139621257782, + 0.6805670261383057, + 0.7007163763046265, + -0.07991445809602737 + ], + "box_yaw_rad": 2.9690375961747635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015589467285909862 + } + }, + { + "simulation_time_ns": 6380000000, + "phase": "straight_push", + "intended_face_center": [ + 15.681093808473179, + 0.31734422536986806, + 0.06267767831893965 + ], + "intended_face_normal": [ + -0.9214616590391032, + 0.1491699334087997, + 0.35868762326597725 + ], + "commanded_contact_point": [ + 15.624371414184571, + 0.32082602213555933, + 0.034981500892309614 + ], + "centerline_face_intersection": [ + 15.668448203301407, + 0.3058260221355593, + 0.034981500892309614 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.655014991760254, + 0.2977820634841919, + 0.06698237359523773 + ], + "box_pose": [ + 15.751568794250488, + 0.3233571946620941, + 0.03794507309794426, + 0.18421262502670288, + 0.6834577918052673, + 0.7025783061981201, + -0.07304038107395172 + ], + "box_yaw_rad": 2.9811009235818355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019199935715350877 + } + }, + { + "simulation_time_ns": 6400000000, + "phase": "straight_push", + "intended_face_center": [ + 15.68107284022031, + 0.31726102780898396, + 0.06242967529843245 + ], + "intended_face_normal": [ + -0.9228207776547634, + 0.14762964577322268, + 0.3558189829799714 + ], + "commanded_contact_point": [ + 15.62581813812256, + 0.3208617583679702, + 0.03495500083198535 + ], + "centerline_face_intersection": [ + 15.668655594313575, + 0.3058617583679702, + 0.03495500083198535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.652469635009766, + 0.29972946643829346, + 0.06140144169330597 + ], + "box_pose": [ + 15.751618385314941, + 0.32339000701904297, + 0.03792780637741089, + 0.18257445096969604, + 0.6834749579429626, + 0.7030450701713562, + -0.07249925285577774 + ], + "box_yaw_rad": 2.982960296835006, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014474078500037347 + } + }, + { + "simulation_time_ns": 6420000000, + "phase": "straight_push", + "intended_face_center": [ + 15.680900910645393, + 0.3172249601305929, + 0.06220879412728639 + ], + "intended_face_normal": [ + -0.9238563057600757, + 0.1473979153878462, + 0.35321832567315603 + ], + "commanded_contact_point": [ + 15.627499465942384, + 0.32084358382402883, + 0.034934930231161114 + ], + "centerline_face_intersection": [ + 15.668657410559897, + 0.3058435838240288, + 0.034934930231161114 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.644817352294922, + 0.303702712059021, + 0.05565255880355835 + ], + "box_pose": [ + 15.751517295837402, + 0.3233700692653656, + 0.037915926426649094, + 0.18152113258838654, + 0.6833760738372803, + 0.7035092711448669, + -0.07156727463006973 + ], + "box_yaw_rad": 2.9833797344738966, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016815458307104757 + } + }, + { + "simulation_time_ns": 6440000000, + "phase": "straight_push", + "intended_face_center": [ + 15.68066073899666, + 0.3171654613500189, + 0.06191853628733047 + ], + "intended_face_normal": [ + -0.92531687795978, + 0.14702929150539745, + 0.3495297307446146 + ], + "commanded_contact_point": [ + 15.629705314636231, + 0.32073062706766575, + 0.03492948840650466 + ], + "centerline_face_intersection": [ + 15.66866194380606, + 0.30581254845225325, + 0.03492948840650466 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.63658332824707, + 0.3078605830669403, + 0.053206801414489746 + ], + "box_pose": [ + 15.75137710571289, + 0.32333606481552124, + 0.03792479261755943, + 0.18001879751682281, + 0.6831774115562439, + 0.7042208909988403, + -0.07024803012609482 + ], + "box_yaw_rad": 2.9840138709883246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014918078615412517, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022087456400439304 + } + }, + { + "simulation_time_ns": 6460000000, + "phase": "straight_push", + "intended_face_center": [ + 15.680370799297533, + 0.3170899164627042, + 0.06158476574215377 + ], + "intended_face_normal": [ + -0.9270645343148374, + 0.14655724354154742, + 0.3450679097016085 + ], + "commanded_contact_point": [ + 15.632160072326661, + 0.3204815604806644, + 0.03494023877378033 + ], + "centerline_face_intersection": [ + 15.668664260918971, + 0.30577345289664853, + 0.03494023877378033 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.631814002990723, + 0.31102272868156433, + 0.05563068389892578 + ], + "box_pose": [ + 15.751206398010254, + 0.32329314947128296, + 0.0379539392888546, + 0.17819474637508392, + 0.6829103231430054, + 0.7050998210906982, + -0.06866036355495453 + ], + "box_yaw_rad": 2.9848027826173955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014708107584015886, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024673842533907767 + } + }, + { + "simulation_time_ns": 6480000000, + "phase": "straight_push", + "intended_face_center": [ + 15.680345197145092, + 0.31709029042981257, + 0.06153613018996755 + ], + "intended_face_normal": [ + -0.927216386278765, + 0.14655701129884413, + 0.3446604482193374 + ], + "commanded_contact_point": [ + 15.634473686218263, + 0.32017858104949076, + 0.034923065487854496 + ], + "centerline_face_intersection": [ + 15.668664024642096, + 0.30577384479645014, + 0.034923065487854496 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.633153915405273, + 0.3133581280708313, + 0.06406515836715698 + ], + "box_pose": [ + 15.751191139221191, + 0.3232935667037964, + 0.03793628513813019, + 0.17803938686847687, + 0.682928740978241, + 0.7051358222961426, + -0.06851121038198471 + ], + "box_yaw_rad": 2.98482828609561, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01440473625304064, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023334310996632225 + } + }, + { + "simulation_time_ns": 6500000000, + "phase": "straight_push", + "intended_face_center": [ + 15.680333059365644, + 0.31709358175771385, + 0.06150607087593733 + ], + "intended_face_normal": [ + -0.9272832854316917, + 0.14657205977314103, + 0.3444743184086896 + ], + "commanded_contact_point": [ + 15.636720542907716, + 0.3198160219270976, + 0.034907378245581724 + ], + "centerline_face_intersection": [ + 15.66866306051013, + 0.30577597415168467, + 0.034907378245581724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.639721870422363, + 0.3148931860923767, + 0.07485458254814148 + ], + "box_pose": [ + 15.75118350982666, + 0.32329586148262024, + 0.03791947662830353, + 0.17797209322452545, + 0.6829553842544556, + 0.7051337361335754, + -0.06844229251146317 + ], + "box_yaw_rad": 2.9848235785304538, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014040047775412958, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022759745582367264 + } + }, + { + "simulation_time_ns": 6520000000, + "phase": "straight_push", + "intended_face_center": [ + 15.680322501473347, + 0.31709635651683055, + 0.06148091180486767 + ], + "intended_face_normal": [ + -0.9273409111168149, + 0.14658516530025167, + 0.3443139020010939 + ], + "commanded_contact_point": [ + 15.639003639221192, + 0.3194448209313045, + 0.03489460577778111 + ], + "centerline_face_intersection": [ + 15.668662126694867, + 0.3057777369634116, + 0.03489460577778111 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.648443222045898, + 0.31510183215141296, + 0.08253277838230133 + ], + "box_pose": [ + 15.751176834106445, + 0.32329776883125305, + 0.037905726581811905, + 0.17791412770748138, + 0.6829785704612732, + 0.7051317095756531, + -0.06838290393352509 + ], + "box_yaw_rad": 2.9848193735721624, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013667083967892903, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023131109121314955 + } + }, + { + "simulation_time_ns": 6540000000, + "phase": "straight_push", + "intended_face_center": [ + 15.680314560254775, + 0.31709866552349164, + 0.06146000383532839 + ], + "intended_face_normal": [ + -0.9273884428969623, + 0.14659460218732434, + 0.34418152133659063 + ], + "commanded_contact_point": [ + 15.641333465576173, + 0.31918739561104903, + 0.03488391962280725 + ], + "centerline_face_intersection": [ + 15.668662123284301, + 0.30577931729787505, + 0.03488391962280725 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.656107902526855, + 0.3122544586658478, + 0.08282250165939331 + ], + "box_pose": [ + 15.751172065734863, + 0.32329946756362915, + 0.037894222885370255, + 0.17786577343940735, + 0.6829980611801147, + 0.7051296830177307, + -0.06833449006080627 + ], + "box_yaw_rad": 2.984817350009966, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013408078313173994, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023440291879109213 + } + }, + { + "simulation_time_ns": 6560000000, + "phase": "straight_push", + "intended_face_center": [ + 15.68068371629385, + 0.3169773179222231, + 0.06130894436656021 + ], + "intended_face_normal": [ + -0.9274455023309045, + 0.1460926521590329, + 0.3442408018230889 + ], + "commanded_contact_point": [ + 15.643999938964845, + 0.31900253071202367, + 0.03472828279266529 + ], + "centerline_face_intersection": [ + 15.669040807671967, + 0.30569672792560887, + 0.03472828279266529 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.660778999328613, + 0.30825361609458923, + 0.07551245391368866 + ], + "box_pose": [ + 15.751535415649414, + 0.32321688532829285, + 0.03773597255349159, + 0.1776978224515915, + 0.6831021308898926, + 0.7050490975379944, + -0.06856179982423782 + ], + "box_yaw_rad": 2.9853549078062245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013305802786414779, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002677401386845754 + } + }, + { + "simulation_time_ns": 6580000000, + "phase": "straight_push", + "intended_face_center": [ + 15.683830728378098, + 0.31642977769554304, + 0.06203411319567757 + ], + "intended_face_normal": [ + -0.9237075270019162, + 0.14373094180804813, + 0.35511445595193436 + ], + "commanded_contact_point": [ + 15.647078399658204, + 0.31853194543427904, + 0.03461383900485944 + ], + "centerline_face_intersection": [ + 15.671562278421964, + 0.30533154790504796, + 0.03461383900485944 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.661111831665039, + 0.3079666793346405, + 0.06233218312263489 + ], + "box_pose": [ + 15.754363059997559, + 0.32285892963409424, + 0.03757108747959137, + 0.18082833290100098, + 0.6842141151428223, + 0.7026413083076477, + -0.07380697131156921 + ], + "box_yaw_rad": 2.9872283160545874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013200397529231078, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003116322853100433 + } + }, + { + "simulation_time_ns": 6600000000, + "phase": "straight_push", + "intended_face_center": [ + 15.684533898118403, + 0.3163371257048976, + 0.06239462056698322 + ], + "intended_face_normal": [ + -0.9223902331619414, + 0.1426765458901631, + 0.3589420996783863 + ], + "commanded_contact_point": [ + 15.650509719848634, + 0.3183318547712322, + 0.03467879366428596 + ], + "centerline_face_intersection": [ + 15.672044351434419, + 0.30532031142618893, + 0.03467879366428596 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.657759666442871, + 0.3100416660308838, + 0.04412934184074402 + ], + "box_pose": [ + 15.754951477050781, + 0.32284897565841675, + 0.03762488439679146, + 0.18185989558696747, + 0.6844789385795593, + 0.7019143104553223, + -0.07570866495370865 + ], + "box_yaw_rad": 2.988127564326786, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013011543345043284, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003437762881652858 + } + }, + { + "simulation_time_ns": 6620000000, + "phase": "straight_push", + "intended_face_center": [ + 15.684483606986172, + 0.31633117873430233, + 0.06234555889103881 + ], + "intended_face_normal": [ + -0.9226926191091991, + 0.1426361225929611, + 0.3581806779104184 + ], + "commanded_contact_point": [ + 15.653862838745118, + 0.3181402454694174, + 0.034688525409174185 + ], + "centerline_face_intersection": [ + 15.672044843391392, + 0.30531748575317647, + 0.034688525409174185 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.653470039367676, + 0.3100370764732361, + 0.0266798734664917 + ], + "box_pose": [ + 15.754921913146973, + 0.3228458762168884, + 0.03763553500175476, + 0.18155893683433533, + 0.6844794750213623, + 0.7020214796066284, + -0.07543259859085083 + ], + "box_yaw_rad": 2.9882198598809104, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0128227597162409, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003358603156873573 + } + }, + { + "simulation_time_ns": 6640000000, + "phase": "straight_push", + "intended_face_center": [ + 15.68489411537185, + 0.3157867363711438, + 0.06270601988568224 + ], + "intended_face_normal": [ + -0.9221495351633422, + 0.13963248335442202, + 0.36075345283051874 + ], + "commanded_contact_point": [ + 15.656541709899903, + 0.3177748482599467, + 0.03485032878073859 + ], + "centerline_face_intersection": [ + 15.672364132692127, + 0.30500497033669843, + 0.03485032878073859 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.655259132385254, + 0.3063270151615143, + 0.025184795260429382 + ], + "box_pose": [ + 15.755243301391602, + 0.32252997159957886, + 0.03780417516827583, + 0.1814340353012085, + 0.6845695376396179, + 0.7017402052879333, + -0.07750442624092102 + ], + "box_yaw_rad": 2.991313606197023, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012769877923248265, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027085136358671975 + } + }, + { + "simulation_time_ns": 6660000000, + "phase": "straight_push", + "intended_face_center": [ + 15.690485307376914, + 0.3098553780812453, + 0.06679830424065279 + ], + "intended_face_normal": [ + -0.9132630091616605, + 0.10343741248462202, + 0.39401984951410274 + ], + "commanded_contact_point": [ + 15.659330253601075, + 0.3147697111888713, + 0.036373937873083795 + ], + "centerline_face_intersection": [ + 15.676454372782938, + 0.3018684258060583, + 0.036373937873083795 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.660053253173828, + 0.2985832393169403, + 0.03304903209209442 + ], + "box_pose": [ + 15.759589195251465, + 0.31934040784835815, + 0.03942552208900452, + 0.18077214062213898, + 0.685257613658905, + 0.6978921890258789, + -0.10339244455099106 + ], + "box_yaw_rad": 3.0288119082306295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012901285382812986, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004373580850467235 + } + }, + { + "simulation_time_ns": 6680000000, + "phase": "straight_push", + "intended_face_center": [ + 15.69511283774169, + 0.30424250984087303, + 0.06769953594901924 + ], + "intended_face_normal": [ + -0.913504657699221, + 0.06809366680824702, + 0.40108864082913165 + ], + "commanded_contact_point": [ + 15.662322883605958, + 0.3121131552966908, + 0.03672935064108584 + ], + "centerline_face_intersection": [ + 15.681122927737322, + 0.2989846359828934, + 0.03672935064108584 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.66504192352295, + 0.29330378770828247, + 0.04368869960308075 + ], + "box_pose": [ + 15.763586044311523, + 0.3163887858390808, + 0.03979852423071861, + 0.17019705474376678, + 0.6881300806999207, + 0.6951469779014587, + -0.11950117349624634 + ], + "box_yaw_rad": 3.0671891276284544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013128519313797422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004017392411759488 + } + }, + { + "simulation_time_ns": 6700000000, + "phase": "straight_push", + "intended_face_center": [ + 15.697785206185843, + 0.2992808559529975, + 0.06453658031646128 + ], + "intended_face_normal": [ + -0.9261637756798464, + 0.0353098238555809, + 0.37546441704950695 + ], + "commanded_contact_point": [ + 15.665493850708009, + 0.3098784471947917, + 0.03554497749140854 + ], + "centerline_face_intersection": [ + 15.685928110019148, + 0.29655439681983126, + 0.03554497749140854 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.669734001159668, + 0.2916661202907562, + 0.05448475480079651 + ], + "box_pose": [ + 15.766523361206055, + 0.3138749599456787, + 0.038523949682712555, + 0.14812585711479187, + 0.6931501030921936, + 0.6947120428085327, + -0.12237954139709473 + ], + "box_yaw_rad": 3.1034862926440323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013324050374960423, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004056068591710263 + } + }, + { + "simulation_time_ns": 6720000000, + "phase": "straight_push", + "intended_face_center": [ + 15.698513798103438, + 0.296366737309973, + 0.06198370503376091 + ], + "intended_face_normal": [ + -0.9370624533658898, + 0.013712505522788021, + 0.3488927866960516 + ], + "commanded_contact_point": [ + 15.668464546203614, + 0.30876233904982403, + 0.03504383898758891 + ], + "centerline_face_intersection": [ + 15.688467909975783, + 0.29530792189151855, + 0.03504383898758891 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.674593925476074, + 0.29204875230789185, + 0.06373363733291626 + ], + "box_pose": [ + 15.767654418945312, + 0.3125460743904114, + 0.03805911913514137, + 0.13061873614788055, + 0.6938493847846985, + 0.6979285478591919, + -0.12003159523010254 + ], + "box_yaw_rad": 3.1269601957387407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013454417158305492, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032127665521921034 + } + }, + { + "simulation_time_ns": 6740000000, + "phase": "straight_push", + "intended_face_center": [ + 15.699094631083394, + 0.2963550322155561, + 0.06239459813351593 + ], + "intended_face_normal": [ + -0.9354934904698453, + 0.01386042190316683, + 0.3530724813093471 + ], + "commanded_contact_point": [ + 15.67104518890381, + 0.30879038502560185, + 0.03513199565572437 + ], + "centerline_face_intersection": [ + 15.68878939538622, + 0.2952847953873581, + 0.03513199565572437 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.679404258728027, + 0.29400548338890076, + 0.07062248885631561 + ], + "box_pose": [ + 15.768123626708984, + 0.31252533197402954, + 0.03814378380775452, + 0.13216374814510345, + 0.6939555406570435, + 0.6972606778144836, + -0.12159807235002518 + ], + "box_yaw_rad": 3.1267775768724997, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013505589638243784, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002582300315797028 + } + }, + { + "simulation_time_ns": 6760000000, + "phase": "straight_push", + "intended_face_center": [ + 15.701130894597041, + 0.2971756630773417, + 0.06384433455274173 + ], + "intended_face_normal": [ + -0.9289249703427345, + 0.019240939328362572, + 0.369767714056799 + ], + "commanded_contact_point": [ + 15.673480873107911, + 0.3090918012621389, + 0.035292604437531155 + ], + "centerline_face_intersection": [ + 15.689734822481318, + 0.2956899679071513, + 0.035292604437531155 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.682164192199707, + 0.2982838749885559, + 0.07330964505672455 + ], + "box_pose": [ + 15.769766807556152, + 0.31295907497406006, + 0.03825965151190758, + 0.14000657200813293, + 0.6946471929550171, + 0.6942101716995239, + -0.12623655796051025 + ], + "box_yaw_rad": 3.1208824897109904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0134018333549876, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024595130555765485 + } + }, + { + "simulation_time_ns": 6780000000, + "phase": "straight_push", + "intended_face_center": [ + 15.701167682244828, + 0.2973709246783484, + 0.06283389052855523 + ], + "intended_face_normal": [ + -0.932409686205034, + 0.020040834129858354, + 0.36084789492172753 + ], + "commanded_contact_point": [ + 15.675758247375489, + 0.3088475964428629, + 0.03497090704789244 + ], + "centerline_face_intersection": [ + 15.690351342171997, + 0.29582346537996435, + 0.03497090704789244 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.682489395141602, + 0.30526602268218994, + 0.07369576394557953 + ], + "box_pose": [ + 15.770065307617188, + 0.3130936324596405, + 0.037924088537693024, + 0.13703720271587372, + 0.6948410272598267, + 0.695270299911499, + -0.12254033237695694 + ], + "box_yaw_rad": 3.1201023696908416, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013024131062898577, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023129113166926634 + } + }, + { + "simulation_time_ns": 6800000000, + "phase": "straight_push", + "intended_face_center": [ + 15.700709058602433, + 0.29718296211970996, + 0.06228250664451485 + ], + "intended_face_normal": [ + -0.9351993359167068, + 0.018879001510180515, + 0.35361865295967654 + ], + "commanded_contact_point": [ + 15.677694206237794, + 0.3081239524636822, + 0.03497773135129358 + ], + "centerline_face_intersection": [ + 15.690355147913523, + 0.2957252140917669, + 0.03497773135129358 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.680542945861816, + 0.31136003136634827, + 0.07212468981742859 + ], + "box_pose": [ + 15.769798278808594, + 0.312985897064209, + 0.037961121648550034, + 0.13411571085453033, + 0.6942185163497925, + 0.6968933343887329, + -0.12005583196878433 + ], + "box_yaw_rad": 3.121408253447286, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012398738371915321, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020667955622793214 + } + }, + { + "simulation_time_ns": 6820000000, + "phase": "straight_push", + "intended_face_center": [ + 15.700194355021448, + 0.2969644129045586, + 0.061662110929528155 + ], + "intended_face_normal": [ + -0.9383221155636079, + 0.017526672730291182, + 0.34531809356332843 + ], + "commanded_contact_point": [ + 15.679283981323243, + 0.30733109499530115, + 0.03499826593573643 + ], + "centerline_face_intersection": [ + 15.690356352970436, + 0.2956110853678661, + 0.03499826593573643 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.678220748901367, + 0.31257930397987366, + 0.06783416867256165 + ], + "box_pose": [ + 15.76949691772461, + 0.3128604292869568, + 0.03801780566573143, + 0.13075867295265198, + 0.6934546232223511, + 0.698771595954895, + -0.11722266674041748 + ], + "box_yaw_rad": 3.1229160876835307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011720009627435019, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017766343058268623 + } + }, + { + "simulation_time_ns": 6840000000, + "phase": "straight_push", + "intended_face_center": [ + 15.700141966136322, + 0.29695603613121807, + 0.061584240135431255 + ], + "intended_face_normal": [ + -0.93861546486972, + 0.01747314579525039, + 0.34452203734151876 + ], + "commanded_contact_point": [ + 15.680647735595704, + 0.30680342320084864, + 0.03498186287269772 + ], + "centerline_face_intersection": [ + 15.690352333834365, + 0.2956068416936175, + 0.03498186287269772 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.677826881408691, + 0.3086925446987152, + 0.06352958083152771 + ], + "box_pose": [ + 15.769464492797852, + 0.3128557503223419, + 0.03800107538700104, + 0.1304510235786438, + 0.6934571862220764, + 0.6988739967346191, + -0.1169390007853508 + ], + "box_yaw_rad": 3.1229789311176352, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01119658150723111, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001462372147845153 + } + }, + { + "simulation_time_ns": 6860000000, + "phase": "straight_push", + "intended_face_center": [ + 15.700918484317436, + 0.2959812438377298, + 0.06154197109086999 + ], + "intended_face_normal": [ + -0.9386346526805838, + 0.01297115515790459, + 0.3446688660463977 + ], + "commanded_contact_point": [ + 15.68178451538086, + 0.30595238008665815, + 0.03492825640359803 + ], + "centerline_face_intersection": [ + 15.691132015293048, + 0.2949796720204182, + 0.03492825640359803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.680672645568848, + 0.30057650804519653, + 0.0622456818819046 + ], + "box_pose": [ + 15.770159721374512, + 0.3122134208679199, + 0.03794647008180618, + 0.1288367658853531, + 0.6937913298606873, + 0.6985491514205933, + -0.11867490410804749 + ], + "box_yaw_rad": 3.1277743596275216, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010972708066239976, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001421061686092573 + } + }, + { + "simulation_time_ns": 6880000000, + "phase": "straight_push", + "intended_face_center": [ + 15.70606543154051, + 0.29050016845707144, + 0.06147411856181038 + ], + "intended_face_normal": [ + -0.9385470956314208, + -0.011048064399375335, + 0.3449748076941397 + ], + "commanded_contact_point": [ + 15.683318977355958, + 0.3023314455801049, + 0.034836780494169425 + ], + "centerline_face_intersection": [ + 15.696264527415744, + 0.29135324821778297, + 0.034836780494169425 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.684773445129395, + 0.29121601581573486, + 0.057084426283836365 + ], + "box_pose": [ + 15.774860382080078, + 0.308498740196228, + 0.03785444796085358, + 0.12005685269832611, + 0.6953997015953064, + 0.6969166398048401, + -0.12772192060947418 + ], + "box_yaw_rad": -3.129821742791969, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0109781973623219, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0039337142875118065 + } + }, + { + "simulation_time_ns": 6900000000, + "phase": "straight_push", + "intended_face_center": [ + 15.711574939038153, + 0.2854268204519179, + 0.061456221059719776 + ], + "intended_face_normal": [ + -0.9379755119784079, + -0.032706237329222176, + 0.3451550392129672 + ], + "commanded_contact_point": [ + 15.68570125579834, + 0.29915521879076434, + 0.03480496635877583 + ], + "centerline_face_intersection": [ + 15.701679765519627, + 0.2879522428341558, + 0.03480496635877583 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.689334869384766, + 0.28233277797698975, + 0.05221469700336456 + ], + "box_pose": [ + 15.77993106842041, + 0.3050084710121155, + 0.03782196715474129, + 0.11208432167768478, + 0.6967570781707764, + 0.6953541040420532, + -0.1358281522989273 + ], + "box_yaw_rad": -3.106737807875654, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011202975956608543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003970475958065638 + } + }, + { + "simulation_time_ns": 6920000000, + "phase": "straight_push", + "intended_face_center": [ + 15.715987065472905, + 0.2815754091735808, + 0.06163223352168362 + ], + "intended_face_normal": [ + -0.9363171840913793, + -0.0488465182940061, + 0.3477412501389914 + ], + "commanded_contact_point": [ + 15.688526039123536, + 0.29686342497301565, + 0.034781283732245524 + ], + "centerline_face_intersection": [ + 15.705818043032604, + 0.2853471084171333, + 0.034781283732245524 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.693672180175781, + 0.2775135934352875, + 0.05213464796543121 + ], + "box_pose": [ + 15.783921241760254, + 0.3023327589035034, + 0.037785641849040985, + 0.1069321483373642, + 0.6980306506156921, + 0.6934780478477478, + -0.14285264909267426 + ], + "box_yaw_rad": -3.0894711309961003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011516316555882375, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036376201841550157 + } + }, + { + "simulation_time_ns": 6940000000, + "phase": "straight_push", + "intended_face_center": [ + 15.719080777780762, + 0.27965951933885347, + 0.06246253183852771 + ], + "intended_face_normal": [ + -0.9316668935370629, + -0.05513624170573994, + 0.35910544381530407 + ], + "commanded_contact_point": [ + 15.6913431930542, + 0.29570825410524854, + 0.034734092267022745 + ], + "centerline_face_intersection": [ + 15.708141058468637, + 0.2839168815500591, + 0.034734092267022745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.697052001953125, + 0.2770404815673828, + 0.05566035211086273 + ], + "box_pose": [ + 15.786537170410156, + 0.3008807897567749, + 0.0376860685646534, + 0.10830416530370712, + 0.6997864842414856, + 0.6900234222412109, + -0.1497889906167984 + ], + "box_yaw_rad": -3.0824813884185973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011791372555189427, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030451605930038716 + } + }, + { + "simulation_time_ns": 6960000000, + "phase": "straight_push", + "intended_face_center": [ + 15.72029943396207, + 0.2791314607067887, + 0.06255458741252087 + ], + "intended_face_normal": [ + -0.9310923185039428, + -0.05857949988032374, + 0.36004960835867905 + ], + "commanded_contact_point": [ + 15.694045906066895, + 0.295643713375409, + 0.03475324387941516 + ], + "centerline_face_intersection": [ + 15.709264204411836, + 0.2836546951788229, + 0.03475324387941516 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.698678970336914, + 0.27871355414390564, + 0.05725674331188202 + ], + "box_pose": [ + 15.78764820098877, + 0.3006025552749634, + 0.03770066425204277, + 0.10731709748506546, + 0.7001056671142578, + 0.6894912719726562, + -0.15144942700862885 + ], + "box_yaw_rad": -3.078760654516226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011989018196586118, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002703551353138686 + } + }, + { + "simulation_time_ns": 6980000000, + "phase": "straight_push", + "intended_face_center": [ + 15.721553644064368, + 0.2796841329473805, + 0.062339497096336134 + ], + "intended_face_normal": [ + -0.9318762984025426, + -0.05643153032102255, + 0.35835945208479636 + ], + "commanded_contact_point": [ + 15.696524505615235, + 0.2961787382993154, + 0.034668659510477665 + ], + "centerline_face_intersection": [ + 15.710648717942513, + 0.28404151127562105, + 0.034668659510477665 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.699899673461914, + 0.28033629059791565, + 0.0560319721698761 + ], + "box_pose": [ + 15.789002418518066, + 0.3009987771511078, + 0.03762257099151611, + 0.10756735503673553, + 0.699802577495575, + 0.6900829672813416, + -0.1499699056148529 + ], + "box_yaw_rad": -3.0811096247988954, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012137227023694333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025370971415576643 + } + }, + { + "simulation_time_ns": 7000000000, + "phase": "straight_push", + "intended_face_center": [ + 15.72477121282495, + 0.28048997470862547, + 0.06154018102711614 + ], + "intended_face_normal": [ + -0.9357354919362848, + -0.05448702454196486, + 0.3484682336652316 + ], + "commanded_contact_point": [ + 15.698642616271973, + 0.29697087672425493, + 0.03463309697649096 + ], + "centerline_face_intersection": [ + 15.714506009890675, + 0.2846972074127335, + 0.03463309697649096 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.70327091217041, + 0.2812861502170563, + 0.05505584180355072 + ], + "box_pose": [ + 15.792557716369629, + 0.3016568422317505, + 0.03763341158628464, + 0.10506412386894226, + 0.6984547972679138, + 0.6928409934043884, + -0.14523686468601227 + ], + "box_yaw_rad": -3.0834292428093706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012273669311521422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022616676882949672 + } + }, + { + "simulation_time_ns": 7020000000, + "phase": "straight_push", + "intended_face_center": [ + 15.730258828289651, + 0.2815783819006441, + 0.062085482869596635 + ], + "intended_face_normal": [ + -0.9330471462611811, + -0.047039660767829616, + 0.35666521083815894 + ], + "commanded_contact_point": [ + 15.700232391357423, + 0.2975999802139995, + 0.03454546665343897 + ], + "centerline_face_intersection": [ + 15.719548287694705, + 0.2852105640731196, + 0.03454546665343897 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.708649635314941, + 0.2823168933391571, + 0.05542658269405365 + ], + "box_pose": [ + 15.797968864440918, + 0.30221137404441833, + 0.03750479593873024, + 0.11052429676055908, + 0.6990985870361328, + 0.6912197470664978, + -0.14581066370010376 + ], + "box_yaw_rad": -3.091220206346413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012389416140879923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017119681938173085 + } + }, + { + "simulation_time_ns": 7040000000, + "phase": "straight_push", + "intended_face_center": [ + 15.735169133405668, + 0.2827743694819496, + 0.06220192009818152 + ], + "intended_face_normal": [ + -0.9328099345347383, + -0.04165736336406045, + 0.35795338402412114 + ], + "commanded_contact_point": [ + 15.70147216796875, + 0.29847056228091945, + 0.034562437185097494 + ], + "centerline_face_intersection": [ + 15.724419231727715, + 0.28599095587082835, + 0.034562437185097494 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.713435173034668, + 0.2837361991405487, + 0.054775580763816833 + ], + "box_pose": [ + 15.802958488464355, + 0.30301740765571594, + 0.037515781819820404, + 0.11296417564153671, + 0.6989322304725647, + 0.6913021802902222, + -0.1443406194448471 + ], + "box_yaw_rad": -3.09696437289034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012479606410091108, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001515007320174918 + } + }, + { + "simulation_time_ns": 7060000000, + "phase": "straight_push", + "intended_face_center": [ + 15.738031569790655, + 0.2832892333456928, + 0.06220399229935904 + ], + "intended_face_normal": [ + -0.9329075165508769, + -0.04031530704893971, + 0.3578516174219928 + ], + "commanded_contact_point": [ + 15.702729110717774, + 0.29895692321689976, + 0.03457236732640405 + ], + "centerline_face_intersection": [ + 15.727297861415025, + 0.28640219243491266, + 0.03457236732640405 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.716007232666016, + 0.2845240831375122, + 0.052895888686180115 + ], + "box_pose": [ + 15.805852890014648, + 0.30343466997146606, + 0.037525903433561325, + 0.11343211680650711, + 0.6988446116447449, + 0.6914260387420654, + -0.14380291104316711 + ], + "box_yaw_rad": -3.0984048369900283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012554730781987126, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013477947329161848 + } + }, + { + "simulation_time_ns": 7080000000, + "phase": "straight_push", + "intended_face_center": [ + 15.73952431088577, + 0.2829708353531212, + 0.06170733621878018 + ], + "intended_face_normal": [ + -0.9351047658058818, + -0.04476836398313022, + 0.3515322233173226 + ], + "commanded_contact_point": [ + 15.704172973632813, + 0.2990718833391309, + 0.034563665245347396 + ], + "centerline_face_intersection": [ + 15.729154747812942, + 0.2864276386313801, + 0.034563665245347396 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.71740436553955, + 0.28418979048728943, + 0.05110378563404083 + ], + "box_pose": [ + 15.8074369430542, + 0.30343514680862427, + 0.03754812851548195, + 0.10969164222478867, + 0.6983105540275574, + 0.6927587985992432, + -0.1428823620080948 + ], + "box_yaw_rad": -3.0937539418484374, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012644244707750753, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014484583781880678 + } + }, + { + "simulation_time_ns": 7100000000, + "phase": "straight_push", + "intended_face_center": [ + 15.740001121321354, + 0.2827295492767613, + 0.061609109909941465 + ], + "intended_face_normal": [ + -0.9357161834430059, + -0.046672622042060574, + 0.3496525297004913 + ], + "commanded_contact_point": [ + 15.705468063354493, + 0.2990604263305183, + 0.034610580069189635 + ], + "centerline_face_intersection": [ + 15.729732724711225, + 0.28633339043880895, + 0.034610580069189635 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.716635704040527, + 0.28426361083984375, + 0.049337223172187805 + ], + "box_pose": [ + 15.807926177978516, + 0.3033308982849121, + 0.0376017801463604, + 0.10835299640893936, + 0.6982337832450867, + 0.6930567622184753, + -0.14283394813537598 + ], + "box_yaw_rad": -3.091754920041421, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01272703589170936, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012959898344288303 + } + }, + { + "simulation_time_ns": 7120000000, + "phase": "straight_push", + "intended_face_center": [ + 15.739987308291285, + 0.2827316718085332, + 0.0616223138441781 + ], + "intended_face_normal": [ + -0.9357922737565119, + -0.046659957643812255, + 0.3494504897608959 + ], + "commanded_contact_point": [ + 15.707092170715333, + 0.29906490250304096, + 0.03463938458078478 + ], + "centerline_face_intersection": [ + 15.729731496813093, + 0.28633453508509454, + 0.03463938458078478 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.711909294128418, + 0.2862512469291687, + 0.04882945120334625 + ], + "box_pose": [ + 15.807917594909668, + 0.3033321499824524, + 0.03762904182076454, + 0.10828020423650742, + 0.698261559009552, + 0.6930562257766724, + -0.142755925655365 + ], + "box_yaw_rad": -3.0917724654688046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012730367417946394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016243689407098528 + } + }, + { + "simulation_time_ns": 7140000000, + "phase": "straight_push", + "intended_face_center": [ + 15.739885958981155, + 0.28268309953093623, + 0.061528217554018966 + ], + "intended_face_normal": [ + -0.9363988432352031, + -0.046957483926729715, + 0.3477824207406073 + ], + "commanded_contact_point": [ + 15.709285621643067, + 0.29893688960473114, + 0.034674088763653174 + ], + "centerline_face_intersection": [ + 15.729730433458682, + 0.28630893639282995, + 0.034674088763653174 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.707579612731934, + 0.28886929154396057, + 0.050673216581344604 + ], + "box_pose": [ + 15.807857513427734, + 0.3033040761947632, + 0.03766975551843643, + 0.10761227458715439, + 0.6981104016304016, + 0.6934272050857544, + -0.14219804108142853 + ], + "box_yaw_rad": -3.091487741495083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01262795321190117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021974573158132183 + } + }, + { + "simulation_time_ns": 7160000000, + "phase": "straight_push", + "intended_face_center": [ + 15.739793085256261, + 0.28263939827118933, + 0.06144490077795922 + ], + "intended_face_normal": [ + -0.9369510570946105, + -0.04722442897756718, + 0.3462547450686415 + ], + "commanded_contact_point": [ + 15.711682205200196, + 0.2986806927837705, + 0.03470873194415913 + ], + "centerline_face_intersection": [ + 15.729728798731045, + 0.2862858473789806, + 0.03470873194415913 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.706409454345703, + 0.2921135425567627, + 0.05343678593635559 + ], + "box_pose": [ + 15.807802200317383, + 0.30327874422073364, + 0.03770975396037102, + 0.107001893222332, + 0.6979741454124451, + 0.6937633752822876, + -0.1416863054037094 + ], + "box_yaw_rad": -3.091233032299717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012394845404789885, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024104874418520703 + } + }, + { + "simulation_time_ns": 7180000000, + "phase": "straight_push", + "intended_face_center": [ + 15.739762412105925, + 0.2826291388716572, + 0.06142932233006508 + ], + "intended_face_normal": [ + -0.9371205314389073, + -0.04728447537332503, + 0.3457878933355447 + ], + "commanded_contact_point": [ + 15.71391571044922, + 0.2983080987805374, + 0.03472920159938615 + ], + "centerline_face_intersection": [ + 15.729726115327841, + 0.28628022448074614, + 0.03472920159938615 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.709278106689453, + 0.2954545021057129, + 0.06015196442604065 + ], + "box_pose": [ + 15.807783126831055, + 0.3032726049423218, + 0.037731003016233444, + 0.10681960731744766, + 0.6979495882987976, + 0.6938491463661194, + -0.14152491092681885 + ], + "box_yaw_rad": -3.0911782113281894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012027874299791215, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002264462628405613 + } + }, + { + "simulation_time_ns": 7200000000, + "phase": "straight_push", + "intended_face_center": [ + 15.739739049572572, + 0.2826201349130964, + 0.061417378509264854 + ], + "intended_face_normal": [ + -0.9372548665248388, + -0.04734058579489453, + 0.3454160493598275 + ], + "commanded_contact_point": [ + 15.716092948913575, + 0.297772982521441, + 0.034745969827897016 + ], + "centerline_face_intersection": [ + 15.729724935244148, + 0.2862755531060005, + 0.034745969827897016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.713818550109863, + 0.29953667521476746, + 0.06630539894104004 + ], + "box_pose": [ + 15.807768821716309, + 0.3032674789428711, + 0.03774844482541084, + 0.10667156428098679, + 0.697929322719574, + 0.6939179301261902, + -0.1413992941379547 + ], + "box_yaw_rad": -3.091125710302508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011497429415440538, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002242096767515986 + } + }, + { + "simulation_time_ns": 7220000000, + "phase": "straight_push", + "intended_face_center": [ + 15.73972093166986, + 0.282612925476838, + 0.06140710540419719 + ], + "intended_face_normal": [ + -0.937368111037145, + -0.04738710768790355, + 0.34510205848032527 + ], + "commanded_contact_point": [ + 15.718316917419434, + 0.2970926668483191, + 0.034759941627155455 + ], + "centerline_face_intersection": [ + 15.72972551452276, + 0.2862719358723146, + 0.034759941627155455 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.716358184814453, + 0.30318939685821533, + 0.06596449017524719 + ], + "box_pose": [ + 15.807758331298828, + 0.30326348543167114, + 0.03776292875409126, + 0.10654662549495697, + 0.6979133486747742, + 0.6939747929573059, + -0.14129312336444855 + ], + "box_yaw_rad": -3.0910822929820143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010820730976004509, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002325738708738419 + } + }, + { + "simulation_time_ns": 7240000000, + "phase": "straight_push", + "intended_face_center": [ + 15.73970386072461, + 0.282607089873311, + 0.06139826454421148 + ], + "intended_face_normal": [ + -0.9374638667084838, + -0.04741887847896198, + 0.3448367795916818 + ], + "commanded_contact_point": [ + 15.720638160705567, + 0.29646348658152644, + 0.034771584359830424 + ], + "centerline_face_intersection": [ + 15.729724251395814, + 0.28626855346039237, + 0.034771584359830424 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.715324401855469, + 0.3019134998321533, + 0.05737514793872833 + ], + "box_pose": [ + 15.807747840881348, + 0.30325981974601746, + 0.037774987518787384, + 0.10644380003213882, + 0.6978997588157654, + 0.6940229535102844, + -0.1412007212638855 + ], + "box_yaw_rad": -3.0910536397889663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010194933121134071, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024050309259471218 + } + }, + { + "simulation_time_ns": 7260000000, + "phase": "straight_push", + "intended_face_center": [ + 15.739687693433618, + 0.28260237077454375, + 0.061390496786598345 + ], + "intended_face_normal": [ + -0.9375464305372958, + -0.047445620190671, + 0.3446088891109147 + ], + "commanded_contact_point": [ + 15.72331512451172, + 0.2960550625866591, + 0.034781413237227145 + ], + "centerline_face_intersection": [ + 15.729721712768866, + 0.2862658992312893, + 0.034781413237227145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.712925910949707, + 0.29641014337539673, + 0.044562965631484985 + ], + "box_pose": [ + 15.807737350463867, + 0.30325692892074585, + 0.03778515011072159, + 0.10635557025671005, + 0.6978885531425476, + 0.6940639615058899, + -0.14112120866775513 + ], + "box_yaw_rad": -3.091029632608694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009789163355369775, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027079590074194117 + } + }, + { + "simulation_time_ns": 7280000000, + "phase": "straight_push", + "intended_face_center": [ + 15.739677525331102, + 0.28259869396937126, + 0.061384755130269 + ], + "intended_face_normal": [ + -0.937611337788816, + -0.04746709809938032, + 0.3444293892075354 + ], + "commanded_contact_point": [ + 15.726407890319825, + 0.2958360081055436, + 0.03478953172228431 + ], + "centerline_face_intersection": [ + 15.729722257893776, + 0.28626388084957993, + 0.03478953172228431 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.712496757507324, + 0.29168978333473206, + 0.033222079277038574 + ], + "box_pose": [ + 15.807731628417969, + 0.30325472354888916, + 0.03779350966215134, + 0.10628582537174225, + 0.697880208492279, + 0.6940957307815552, + -0.1410588175058365 + ], + "box_yaw_rad": -3.091010278415444, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009572127255963691, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031005243297356445 + } + }, + { + "simulation_time_ns": 7300000000, + "phase": "straight_push", + "intended_face_center": [ + 15.740138492801423, + 0.2825040660343562, + 0.061241108610967335 + ], + "intended_face_normal": [ + -0.938803605985818, + -0.04826202090689691, + 0.3410558682579987 + ], + "commanded_contact_point": [ + 15.72980869293213, + 0.29567581836474666, + 0.034906372682087926 + ], + "centerline_face_intersection": [ + 15.730379874231915, + 0.28623063312868263, + 0.034906372682087926 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.714767456054688, + 0.2894041836261749, + 0.024329781532287598 + ], + "box_pose": [ + 15.808260917663574, + 0.30321747064590454, + 0.03789857402443886, + 0.10475897043943405, + 0.6980941295623779, + 0.6943100094795227, + -0.14008530974388123 + ], + "box_yaw_rad": -3.0902298631852037, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009445185236064, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034065776038133657 + } + }, + { + "simulation_time_ns": 7320000000, + "phase": "straight_push", + "intended_face_center": [ + 15.742305372074872, + 0.28242759535272866, + 0.06165682992066793 + ], + "intended_face_normal": [ + -0.9366780660067207, + -0.04893059857420212, + 0.34675596769181993 + ], + "commanded_contact_point": [ + 15.732746963500977, + 0.29553520036369346, + 0.0348819590246796 + ], + "centerline_face_intersection": [ + 15.732195988024962, + 0.28620578688151027, + 0.0348819590246796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.714103698730469, + 0.2891000807285309, + 0.023700237274169922 + ], + "box_pose": [ + 15.810251235961914, + 0.30319347977638245, + 0.03785101696848869, + 0.1064002513885498, + 0.6987705230712891, + 0.6928627490997314, + -0.14261794090270996 + ], + "box_yaw_rad": -3.0894016555068102, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009329413482183175, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029417347576973316 + } + }, + { + "simulation_time_ns": 7340000000, + "phase": "straight_push", + "intended_face_center": [ + 15.745575161112221, + 0.2815687529681597, + 0.06363648418920106 + ], + "intended_face_normal": [ + -0.9287612745076927, + -0.05327342030434146, + 0.3668305005876018 + ], + "commanded_contact_point": [ + 15.734578971862794, + 0.29497969279877545, + 0.03531155193403945 + ], + "centerline_face_intersection": [ + 15.734151798540045, + 0.2856822768400954, + 0.03531155193403945 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.718938827514648, + 0.28648221492767334, + 0.02679392695426941 + ], + "box_pose": [ + 15.812847137451172, + 0.30265840888023376, + 0.038253627717494965, + 0.11164622008800507, + 0.7000593543052673, + 0.6886926293373108, + -0.15216612815856934 + ], + "box_yaw_rad": -3.0842957880216573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009297415958680057, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001961987094814496 + } + }, + { + "simulation_time_ns": 7360000000, + "phase": "straight_push", + "intended_face_center": [ + 15.75606055167588, + 0.2764764448696084, + 0.06723407596362707 + ], + "intended_face_normal": [ + -0.9145417514696774, + -0.08200188651491125, + 0.3960917620295916 + ], + "commanded_contact_point": [ + 15.736554985046388, + 0.2923250932423223, + 0.03664972622077755 + ], + "centerline_face_intersection": [ + 15.742246574513446, + 0.28280824627818735, + 0.03664972622077755 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.729079246520996, + 0.2773224711418152, + 0.03756335377693176 + ], + "box_pose": [ + 15.82178020477295, + 0.29964208602905273, + 0.03968668356537819, + 0.11134840548038483, + 0.7003583312034607, + 0.6832050085067749, + -0.17415669560432434 + ], + "box_yaw_rad": -3.0521673395900075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009516846964134943, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035696270573471046 + } + }, + { + "simulation_time_ns": 7380000000, + "phase": "straight_push", + "intended_face_center": [ + 15.764536070154, + 0.2714384019533284, + 0.06711657354730402 + ], + "intended_face_normal": [ + -0.9114840721869797, + -0.11378850054452805, + 0.39528327205447233 + ], + "commanded_contact_point": [ + 15.73897445678711, + 0.29012036071447317, + 0.0365946516116776 + ], + "centerline_face_intersection": [ + 15.750202761044177, + 0.28022461674238597, + 0.0365946516116776 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.739012718200684, + 0.2707521915435791, + 0.04900835454463959 + ], + "box_pose": [ + 15.829434394836426, + 0.29687774181365967, + 0.03962789103388786, + 0.09884457290172577, + 0.7022483944892883, + 0.6801391243934631, + -0.18570861220359802 + ], + "box_yaw_rad": -3.017396465638213, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009895743972087218, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032737932488291154 + } + }, + { + "simulation_time_ns": 7400000000, + "phase": "straight_push", + "intended_face_center": [ + 15.770749074567501, + 0.2664342355919701, + 0.06349438083303709 + ], + "intended_face_normal": [ + -0.9186982987155901, + -0.14905362429180347, + 0.365754996873477 + ], + "commanded_contact_point": [ + 15.741859321594239, + 0.2881863118203374, + 0.035252493934774545 + ], + "centerline_face_intersection": [ + 15.757638043295488, + 0.2779434579812992, + 0.035252493934774545 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.746294021606445, + 0.26926571130752563, + 0.0593305379152298 + ], + "box_pose": [ + 15.835515022277832, + 0.29436856508255005, + 0.03820352256298065, + 0.07493916898965836, + 0.7046677470207214, + 0.680288553237915, + -0.18717649579048157 + ], + "box_yaw_rad": -2.980749815108721, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010242853839038162, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037234899368722048 + } + }, + { + "simulation_time_ns": 7420000000, + "phase": "straight_push", + "intended_face_center": [ + 15.774451582072148, + 0.2632023881245663, + 0.06215617847466384 + ], + "intended_face_normal": [ + -0.9205455654082613, + -0.17261290780791416, + 0.35042918628568476 + ], + "commanded_contact_point": [ + 15.744758491516114, + 0.2869841375650686, + 0.03509767885188491 + ], + "centerline_face_intersection": [ + 15.761651849142854, + 0.2765307479861205, + 0.03509767885188491 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.751099586486816, + 0.2712673544883728, + 0.06635890901088715 + ], + "box_pose": [ + 15.838951110839844, + 0.2927882969379425, + 0.03809240087866783, + 0.0611237958073616, + 0.7039291262626648, + 0.6817305684089661, + -0.18971318006515503 + ], + "box_yaw_rad": -2.9562335647788323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010453389578948069, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031423521263260626 + } + }, + { + "simulation_time_ns": 7440000000, + "phase": "straight_push", + "intended_face_center": [ + 15.776351760684172, + 0.262330993240157, + 0.06229875509036785 + ], + "intended_face_normal": [ + -0.9188073435586617, + -0.177724092400096, + 0.3524302928918708 + ], + "commanded_contact_point": [ + 15.74736297607422, + 0.28655960098805083, + 0.035085739392822016 + ], + "centerline_face_intersection": [ + 15.763259124304879, + 0.27605401482445585, + 0.035085739392822016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.754212379455566, + 0.27474910020828247, + 0.07051397860050201 + ], + "box_pose": [ + 15.84062671661377, + 0.29227519035339355, + 0.038077786564826965, + 0.05980698764324188, + 0.7042509913444519, + 0.6807600259780884, + -0.19240432977676392 + ], + "box_yaw_rad": -2.95052316079852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010505586163595005, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026388849291544515 + } + }, + { + "simulation_time_ns": 7460000000, + "phase": "straight_push", + "intended_face_center": [ + 15.777866716553978, + 0.2635645221196442, + 0.06350388908749081 + ], + "intended_face_normal": [ + -0.9145565672210765, + -0.17030477826989987, + 0.36685509358439106 + ], + "commanded_contact_point": [ + 15.749853019714356, + 0.2871089075481118, + 0.0351770578763621 + ], + "centerline_face_intersection": [ + 15.76405525116425, + 0.27671465903437237, + 0.0351770578763621 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.755391120910645, + 0.2794981002807617, + 0.07132357358932495 + ], + "box_pose": [ + 15.841934204101562, + 0.2929924726486206, + 0.03812803328037262, + 0.06712739169597626, + 0.7055394053459167, + 0.6778587102890015, + -0.19548824429512024 + ], + "box_yaw_rad": -2.957485687733445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010394248513739431, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002551547391711037 + } + }, + { + "simulation_time_ns": 7480000000, + "phase": "straight_push", + "intended_face_center": [ + 15.77847863554158, + 0.26471006919540213, + 0.06300652339924878 + ], + "intended_face_normal": [ + -0.9171725943732838, + -0.16448884601098612, + 0.3629565712887981 + ], + "commanded_contact_point": [ + 15.752178077697755, + 0.287464960110442, + 0.03498071781096502 + ], + "centerline_face_intersection": [ + 15.765109982793371, + 0.2774111270750706, + 0.03498071781096502 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.755115509033203, + 0.28592151403427124, + 0.07038231194019318 + ], + "box_pose": [ + 15.84284496307373, + 0.2937299311161041, + 0.037918634712696075, + 0.06801187992095947, + 0.7054274082183838, + 0.6789392232894897, + -0.19180195033550262 + ], + "box_yaw_rad": -2.9641357876476517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010053833035371405, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002360342660417513 + } + }, + { + "simulation_time_ns": 7500000000, + "phase": "straight_push", + "intended_face_center": [ + 15.778433631601061, + 0.2647124198826526, + 0.06288778094697085 + ], + "intended_face_normal": [ + -0.9175730706315619, + -0.16449349027981341, + 0.36194087497307237 + ], + "commanded_contact_point": [ + 15.754177932739259, + 0.2869244716653001, + 0.03494040266854455 + ], + "centerline_face_intersection": [ + 15.76513264592672, + 0.2774138363709964, + 0.03494040266854455 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.753608703613281, + 0.2909937798976898, + 0.06845018267631531 + ], + "box_pose": [ + 15.842830657958984, + 0.2937324345111847, + 0.03787897154688835, + 0.06768077611923218, + 0.7053685188293457, + 0.6791478395462036, + -0.19139666855335236 + ], + "box_yaw_rad": -2.9642067203415667, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00951063529430367, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020719974075922134 + } + }, + { + "simulation_time_ns": 7520000000, + "phase": "straight_push", + "intended_face_center": [ + 15.778338602778959, + 0.2646609084984892, + 0.06273295524057973 + ], + "intended_face_normal": [ + -0.9181364905168863, + -0.16480549897138985, + 0.36036656805011447 + ], + "commanded_contact_point": [ + 15.755866889953614, + 0.2863238302815258, + 0.03490713756540256 + ], + "centerline_face_intersection": [ + 15.765132761922846, + 0.27738641683589627, + 0.03490713756540256 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.752134323120117, + 0.29171696305274963, + 0.06464278697967529 + ], + "box_pose": [ + 15.842774391174316, + 0.29370248317718506, + 0.037849340587854385, + 0.06706593930721283, + 0.7052324414253235, + 0.6794964671134949, + -0.19087637960910797 + ], + "box_yaw_rad": -2.9639840670875994, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008937413445629535, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017928895980825873 + } + }, + { + "simulation_time_ns": 7540000000, + "phase": "straight_push", + "intended_face_center": [ + 15.77819837995326, + 0.2645735559173237, + 0.06253006490105571 + ], + "intended_face_normal": [ + -0.9189771425338691, + -0.16531135518644824, + 0.3579848356298223 + ], + "commanded_contact_point": [ + 15.757415657043458, + 0.28584257444512723, + 0.03488815344236445 + ], + "centerline_face_intersection": [ + 15.765134382434061, + 0.2773381241011705, + 0.03488815344236445 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.752205848693848, + 0.2881622016429901, + 0.06111058592796326 + ], + "box_pose": [ + 15.842692375183105, + 0.2936500310897827, + 0.03783869370818138, + 0.06613936275243759, + 0.7049664258956909, + 0.6800815463066101, + -0.1900973618030548 + ], + "box_yaw_rad": -2.9636098943538247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00850445034395675, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016219269637003687 + } + }, + { + "simulation_time_ns": 7560000000, + "phase": "straight_push", + "intended_face_center": [ + 15.778005890714976, + 0.26444932921859404, + 0.0622706429795998 + ], + "intended_face_normal": [ + -0.9201243095274165, + -0.16600992468123277, + 0.3546990638338503 + ], + "commanded_contact_point": [ + 15.7587260055542, + 0.285631997516127, + 0.034882443421575864 + ], + "centerline_face_intersection": [ + 15.765135228046377, + 0.2772678376652696, + 0.034882443421575864 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.75473403930664, + 0.2807750999927521, + 0.060303106904029846 + ], + "box_pose": [ + 15.84257984161377, + 0.29357388615608215, + 0.03784641623497009, + 0.06487143784761429, + 0.7045560479164124, + 0.6809279918670654, + -0.1890222281217575 + ], + "box_yaw_rad": -2.963091771718609, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00836415985085745, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001327173111153493 + } + }, + { + "simulation_time_ns": 7580000000, + "phase": "straight_push", + "intended_face_center": [ + 15.780899430230694, + 0.2616252728511726, + 0.061520310156398736 + ], + "intended_face_normal": [ + -0.9215542474164309, + -0.1783373657812044, + 0.34486690580857315 + ], + "commanded_contact_point": [ + 15.760433082580567, + 0.2839000373241269, + 0.03489130376672344 + ], + "centerline_face_intersection": [ + 15.76826939332339, + 0.27539564853210724, + 0.03489130376672344 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.757944107055664, + 0.27188992500305176, + 0.05440947413444519 + ], + "box_pose": [ + 15.845378875732422, + 0.2916104197502136, + 0.03790102154016495, + 0.05720101669430733, + 0.7035211324691772, + 0.6825211644172668, + -0.18960702419281006 + ], + "box_yaw_rad": -2.9504374516774363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008504388792019668, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024318463327973354 + } + }, + { + "simulation_time_ns": 7600000000, + "phase": "straight_push", + "intended_face_center": [ + 15.784807410822086, + 0.25894386965588484, + 0.061476585443589145 + ], + "intended_face_normal": [ + -0.9196873715566554, + -0.1876308810141798, + 0.3449198677340073 + ], + "commanded_contact_point": [ + 15.762966995239259, + 0.28233778792733943, + 0.0348434895822161 + ], + "centerline_face_intersection": [ + 15.771863140744607, + 0.27343184703287443, + 0.0348434895822161 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.76162052154541, + 0.2633930444717407, + 0.04932516813278198 + ], + "box_pose": [ + 15.848979949951172, + 0.2895783483982086, + 0.03785468265414238, + 0.05367550626397133, + 0.7037724852561951, + 0.6815775632858276, + -0.19306795299053192 + ], + "box_yaw_rad": -2.940338614738543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008905940894465017, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029771836919947367 + } + }, + { + "simulation_time_ns": 7620000000, + "phase": "straight_push", + "intended_face_center": [ + 15.788825575398032, + 0.2564508186808979, + 0.06160093980967521 + ], + "intended_face_normal": [ + -0.916889045535143, + -0.19737349150791816, + 0.3469274382533185 + ], + "commanded_contact_point": [ + 15.765871887207032, + 0.2810780641374422, + 0.0348128287604542 + ], + "centerline_face_intersection": [ + 15.775408992984895, + 0.2716910747854783, + 0.0348128287604542 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.765620231628418, + 0.2596648633480072, + 0.049016863107681274 + ], + "box_pose": [ + 15.852608680725098, + 0.28776460886001587, + 0.03781553730368614, + 0.05054179206490517, + 0.7043341994285583, + 0.6799690127372742, + -0.1974870264530182 + ], + "box_yaw_rad": -2.929563871280296, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009386989351963863, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031664240804508224 + } + }, + { + "simulation_time_ns": 7640000000, + "phase": "straight_push", + "intended_face_center": [ + 15.792359751183747, + 0.25578312361643535, + 0.06278397024766 + ], + "intended_face_normal": [ + -0.9111974100064941, + -0.19720240486026208, + 0.36170514139655063 + ], + "commanded_contact_point": [ + 15.768671875, + 0.28080780630667357, + 0.03485479421134427 + ], + "centerline_face_intersection": [ + 15.777977656439061, + 0.271010169211811, + 0.03485479421134427 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.769072532653809, + 0.26074397563934326, + 0.052863284945487976 + ], + "box_pose": [ + 15.855690002441406, + 0.28708741068840027, + 0.03780593350529671, + 0.05505916103720665, + 0.7061892151832581, + 0.6759404540061951, + -0.20339570939540863 + ], + "box_yaw_rad": -2.928458517013769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00979763709486257, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002813313355268868 + } + }, + { + "simulation_time_ns": 7660000000, + "phase": "straight_push", + "intended_face_center": [ + 15.794589706253182, + 0.25599885478938483, + 0.06295663366061474 + ], + "intended_face_normal": [ + -0.9106355457244106, + -0.1972492011216751, + 0.363090746393782 + ], + "commanded_contact_point": [ + 15.771283035278321, + 0.2813384054599155, + 0.03492046769948055 + ], + "centerline_face_intersection": [ + 15.780111941899886, + 0.2712295137727753, + 0.03492046769948055 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.771402359008789, + 0.26344814896583557, + 0.05542406439781189 + ], + "box_pose": [ + 15.85787582397461, + 0.2873064875602722, + 0.037871260195970535, + 0.05548486113548279, + 0.7062683701515198, + 0.675649881362915, + -0.20396925508975983 + ], + "box_yaw_rad": -2.928281876644911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01010889168714016, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026653342131040267 + } + }, + { + "simulation_time_ns": 7680000000, + "phase": "straight_push", + "intended_face_center": [ + 15.796633433200721, + 0.25756699504635155, + 0.06280862673430813 + ], + "intended_face_normal": [ + -0.9127322353297203, + -0.18941073416933696, + 0.36199873775237457 + ], + "commanded_contact_point": [ + 15.773634796142579, + 0.2825518948456067, + 0.034856780563214215 + ], + "centerline_face_intersection": [ + 15.782512347741141, + 0.27219240434343284, + 0.034856780563214215 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.773500442504883, + 0.26592743396759033, + 0.055255740880966187 + ], + "box_pose": [ + 15.860219955444336, + 0.2883291244506836, + 0.0378081388771534, + 0.05817155912518501, + 0.7059574723243713, + 0.6767497062683105, + -0.20062367618083954 + ], + "box_yaw_rad": -2.9369763237499344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01035949050217386, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026471478430880467 + } + }, + { + "simulation_time_ns": 7700000000, + "phase": "straight_push", + "intended_face_center": [ + 15.800297219372066, + 0.2595884742188723, + 0.06261050280385097 + ], + "intended_face_normal": [ + -0.9154794568384688, + -0.17819135925771512, + 0.36075671637581586 + ], + "commanded_contact_point": [ + 15.775648956298829, + 0.2839251057961656, + 0.034754559703232754 + ], + "centerline_face_intersection": [ + 15.786642127826804, + 0.2733475759602626, + 0.034754559703232754 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.77737808227539, + 0.2678965926170349, + 0.05510793626308441 + ], + "box_pose": [ + 15.86429500579834, + 0.2895674705505371, + 0.03770819306373596, + 0.06211322546005249, + 0.70548015832901, + 0.6782606244087219, + -0.195964977145195 + ], + "box_yaw_rad": -2.949353646384658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010577529835902969, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00243987674975093 + } + }, + { + "simulation_time_ns": 7720000000, + "phase": "straight_push", + "intended_face_center": [ + 15.805485230524551, + 0.2620377586669442, + 0.06282537275419658 + ], + "intended_face_normal": [ + -0.9177015441153245, + -0.162747766602374, + 0.3624037012602219 + ], + "commanded_contact_point": [ + 15.777175788879395, + 0.28535838337441066, + 0.03484225719872156 + ], + "centerline_face_intersection": [ + 15.792205945771604, + 0.2746043785535319, + 0.03484225719872156 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.782812118530273, + 0.2701925039291382, + 0.055737316608428955 + ], + "box_pose": [ + 15.869929313659668, + 0.2909349501132965, + 0.03779559209942818, + 0.06859154999256134, + 0.7050114274024963, + 0.6795657873153687, + -0.19090382754802704 + ], + "box_yaw_rad": -2.9660747057311934, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010754004820878718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002095994560129903 + } + }, + { + "simulation_time_ns": 7740000000, + "phase": "straight_push", + "intended_face_center": [ + 15.810179148914198, + 0.26456968309556556, + 0.06275236599930442 + ], + "intended_face_normal": [ + -0.9206706207590187, + -0.14656589874674886, + 0.36177941924827106 + ], + "commanded_contact_point": [ + 15.778387908935548, + 0.286764584517814, + 0.03481745457535143 + ], + "centerline_face_intersection": [ + 15.79740046564653, + 0.27588681497600775, + 0.03481745457535143 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.787619590759277, + 0.2727926969528198, + 0.05522185564041138 + ], + "box_pose": [ + 15.875140190124512, + 0.29232773184776306, + 0.03776964545249939, + 0.0745815560221672, + 0.7043789625167847, + 0.6813116669654846, + -0.18466824293136597 + ], + "box_yaw_rad": -2.9837226724140575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010877769541806236, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018566776393229018 + } + }, + { + "simulation_time_ns": 7760000000, + "phase": "straight_push", + "intended_face_center": [ + 15.813091412122185, + 0.2660532856340339, + 0.06266871933556074 + ], + "intended_face_normal": [ + -0.9225518145901361, + -0.13608138538167758, + 0.36108199477597047 + ], + "commanded_contact_point": [ + 15.779624824523927, + 0.2875201675614233, + 0.034787659761165976 + ], + "centerline_face_intersection": [ + 15.8006290038708, + 0.2765608525237835, + 0.034787659761165976 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.790413856506348, + 0.27452221512794495, + 0.05371272563934326 + ], + "box_pose": [ + 15.878384590148926, + 0.2930702865123749, + 0.037739530205726624, + 0.07835300266742706, + 0.7039228081703186, + 0.6824724078178406, + -0.18051302433013916 + ], + "box_yaw_rad": -2.9951432892717214, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010959315037639777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014497426114717588 + } + }, + { + "simulation_time_ns": 7780000000, + "phase": "straight_push", + "intended_face_center": [ + 15.81482825173929, + 0.26636200684803757, + 0.062440975410507214 + ], + "intended_face_normal": [ + -0.9237552684358121, + -0.13321260687361658, + 0.35906892804808876 + ], + "commanded_contact_point": [ + 15.781015281677247, + 0.2876784709913224, + 0.0347153554154305 + ], + "centerline_face_intersection": [ + 15.802567808389139, + 0.27664806010474485, + 0.0347153554154305 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.792075157165527, + 0.2748706638813019, + 0.052644312381744385 + ], + "box_pose": [ + 15.880267143249512, + 0.2931751310825348, + 0.037674304097890854, + 0.07881371676921844, + 0.7035713791847229, + 0.6832751631736755, + -0.17863576114177704 + ], + "box_yaw_rad": -2.998372320667207, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011030410886577496, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014013061726652308 + } + }, + { + "simulation_time_ns": 7800000000, + "phase": "straight_push", + "intended_face_center": [ + 15.815281705760265, + 0.2663210055404197, + 0.062441988906604545 + ], + "intended_face_normal": [ + -0.9236693424906051, + -0.13320472776163506, + 0.35929246686212934 + ], + "commanded_contact_point": [ + 15.782313232421876, + 0.28768263567319696, + 0.0346991082918303 + ], + "centerline_face_intersection": [ + 15.803006851646192, + 0.276606450409022, + 0.0346991082918303 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.791086196899414, + 0.2754620909690857, + 0.05119295418262482 + ], + "box_pose": [ + 15.880712509155273, + 0.29313379526138306, + 0.03765362501144409, + 0.07886677980422974, + 0.7036740779876709, + 0.6831379532814026, + -0.17873238027095795 + ], + "box_yaw_rad": -2.9983675352473025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011076185264174948, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012980591084704612 + } + }, + { + "simulation_time_ns": 7820000000, + "phase": "straight_push", + "intended_face_center": [ + 15.815270636286185, + 0.26633037408341054, + 0.062432109656375134 + ], + "intended_face_normal": [ + -0.923733384430605, + -0.1331517984279449, + 0.3591483754400171 + ], + "commanded_contact_point": [ + 15.783989791870118, + 0.2876453816600425, + 0.03470035510599123 + ], + "centerline_face_intersection": [ + 15.803006522875329, + 0.2766117319968968, + 0.03470035510599123 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.78580093383789, + 0.2776751220226288, + 0.050170451402664185 + ], + "box_pose": [ + 15.880705833435059, + 0.2931395173072815, + 0.03765132278203964, + 0.07881902903318405, + 0.703741729259491, + 0.6830917000770569, + -0.17866435647010803 + ], + "box_yaw_rad": -2.9984334623262052, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01103364966314567, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016769737623265944 + } + }, + { + "simulation_time_ns": 7840000000, + "phase": "straight_push", + "intended_face_center": [ + 15.81518738263489, + 0.26628864574522737, + 0.06233549408837884 + ], + "intended_face_normal": [ + -0.9242354313447692, + -0.13340074711166494, + 0.3577609725805715 + ], + "commanded_contact_point": [ + 15.78622901916504, + 0.2874857726369228, + 0.03471086828530866 + ], + "centerline_face_intersection": [ + 15.803007441482528, + 0.2765892263094749, + 0.03471086828530866 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781582832336426, + 0.28001680970191956, + 0.05153413116931915 + ], + "box_pose": [ + 15.880657196044922, + 0.29311496019363403, + 0.037665024399757385, + 0.07827815413475037, + 0.7036301493644714, + 0.6833903193473816, + -0.1781986653804779 + ], + "box_yaw_rad": -2.998246300021634, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010896546327447885, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00224493306036588 + } + }, + { + "simulation_time_ns": 7860000000, + "phase": "straight_push", + "intended_face_center": [ + 15.81504899619524, + 0.2662082930984762, + 0.062172776417367806 + ], + "intended_face_normal": [ + -0.9250726052780749, + -0.13385137944741388, + 0.35542169835917825 + ], + "commanded_contact_point": [ + 15.788638000488282, + 0.28718385702342136, + 0.034728778407627434 + ], + "centerline_face_intersection": [ + 15.80300930446445, + 0.27654366937998726, + 0.034728778407627434 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781133651733398, + 0.2829526364803314, + 0.053965747356414795 + ], + "box_pose": [ + 15.880577087402344, + 0.29306560754776, + 0.037691451609134674, + 0.07737161964178085, + 0.7033753395080566, + 0.6839586496353149, + -0.17741858959197998 + ], + "box_yaw_rad": -2.9978970831343386, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010640187643434117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024278930837018163 + } + }, + { + "simulation_time_ns": 7880000000, + "phase": "straight_push", + "intended_face_center": [ + 15.814853326346183, + 0.26608983831216243, + 0.06194299453083848 + ], + "intended_face_normal": [ + -0.926238328124569, + -0.13450794699005453, + 0.3521230163194611 + ], + "commanded_contact_point": [ + 15.790866737365723, + 0.2867216037920054, + 0.034753705290288886 + ], + "centerline_face_intersection": [ + 15.803008697268533, + 0.2764759116625825, + 0.034753705290288886 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.78447151184082, + 0.28633829951286316, + 0.06051665544509888 + ], + "box_pose": [ + 15.880462646484375, + 0.2929922342300415, + 0.03773015737533569, + 0.07609430700540543, + 0.7029767632484436, + 0.684794008731842, + -0.17632529139518738 + ], + "box_yaw_rad": -2.997381173849151, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010245692129422891, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022763056623180005 + } + }, + { + "simulation_time_ns": 7900000000, + "phase": "straight_push", + "intended_face_center": [ + 15.814600620003876, + 0.26592666202356374, + 0.06163907145141861 + ], + "intended_face_normal": [ + -0.927741276094963, + -0.13546970325943875, + 0.3477697944124003 + ], + "commanded_contact_point": [ + 15.793065910339356, + 0.28605367088849276, + 0.034785917606948866 + ], + "centerline_face_intersection": [ + 15.803007092511814, + 0.27638699768623065, + 0.034785917606948866 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.789000511169434, + 0.29086247086524963, + 0.06667366623878479 + ], + "box_pose": [ + 15.8803129196167, + 0.2928951382637024, + 0.037781696766614914, + 0.07437741756439209, + 0.7024257183074951, + 0.685907244682312, + -0.17492082715034485 + ], + "box_yaw_rad": -2.996596407599469, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009666673202262131, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022985938668882784 + } + }, + { + "simulation_time_ns": 7920000000, + "phase": "straight_push", + "intended_face_center": [ + 15.814804247362922, + 0.26609565290595016, + 0.061661567038126947 + ], + "intended_face_normal": [ + -0.927711714977967, + -0.13394570041457854, + 0.3484386345794803 + ], + "commanded_contact_point": [ + 15.795313720703126, + 0.2853784531314885, + 0.03475676849019955 + ], + "centerline_face_intersection": [ + 15.803205785233724, + 0.27643831221054926, + 0.03475676849019955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.791208267211914, + 0.2946016192436218, + 0.06597717106342316 + ], + "box_pose": [ + 15.880539894104004, + 0.2929565906524658, + 0.03774723410606384, + 0.07514971494674683, + 0.7025050520896912, + 0.6858152151107788, + -0.17463290691375732 + ], + "box_yaw_rad": -2.998200685192984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008940140920939229, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002347215397412606 + } + }, + { + "simulation_time_ns": 7940000000, + "phase": "straight_push", + "intended_face_center": [ + 15.815425420160025, + 0.2664987090449744, + 0.062376328052341265 + ], + "intended_face_normal": [ + -0.924277737279823, + -0.13157003764374053, + 0.35833034176788026 + ], + "commanded_contact_point": [ + 15.797670249938966, + 0.2849620397700902, + 0.034707738228741535 + ], + "centerline_face_intersection": [ + 15.803252569689128, + 0.27665793080297557, + 0.034707738228741535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.789393424987793, + 0.2925587296485901, + 0.05651077628135681 + ], + "box_pose": [ + 15.880927085876465, + 0.293195903301239, + 0.03765030950307846, + 0.07910130172967911, + 0.7038209438323975, + 0.6832093000411987, + -0.17777593433856964 + ], + "box_yaw_rad": -3.000193586781002, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008304108967114648, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002393540075590462 + } + }, + { + "simulation_time_ns": 7960000000, + "phase": "straight_push", + "intended_face_center": [ + 15.815427888142134, + 0.2665046228590469, + 0.06238043803799917 + ], + "intended_face_normal": [ + -0.9242696549525888, + -0.131536208000961, + 0.35836251525008755 + ], + "commanded_contact_point": [ + 15.80035484313965, + 0.2846132073226015, + 0.034709363928871174 + ], + "centerline_face_intersection": [ + 15.803253683060744, + 0.2766612324505613, + 0.034709363928871174 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.786712646484375, + 0.2854645848274231, + 0.04374375939369202 + ], + "box_pose": [ + 15.880928993225098, + 0.29319947957992554, + 0.03765049949288368, + 0.07911698520183563, + 0.7038512825965881, + 0.6831750869750977, + -0.17777974903583527 + ], + "box_yaw_rad": -3.0002282414463726, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007951974872040175, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027071622360838434 + } + }, + { + "simulation_time_ns": 7980000000, + "phase": "straight_push", + "intended_face_center": [ + 15.815354419924375, + 0.2664613401250009, + 0.062295854852341306 + ], + "intended_face_normal": [ + -0.9246998611475021, + -0.1317950108597188, + 0.35715533349117123 + ], + "commanded_contact_point": [ + 15.803441886901856, + 0.28448304263138197, + 0.034717993661676196 + ], + "centerline_face_intersection": [ + 15.803252300313009, + 0.27663793326049546, + 0.034717993661676196 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.786910057067871, + 0.27930957078933716, + 0.03309425711631775 + ], + "box_pose": [ + 15.880885124206543, + 0.29317405819892883, + 0.03766383230686188, + 0.07864069938659668, + 0.7037152051925659, + 0.6834726333618164, + -0.17738553881645203 + ], + "box_yaw_rad": -3.000018821385116, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007845109370886507, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030897987812978853 + } + }, + { + "simulation_time_ns": 8000000000, + "phase": "straight_push", + "intended_face_center": [ + 15.815926067533484, + 0.2656864178721169, + 0.06132787593158616 + ], + "intended_face_normal": [ + -0.9294941436385571, + -0.13782742118424807, + 0.3421169592446578 + ], + "commanded_contact_point": [ + 15.806826477050782, + 0.28416485625566407, + 0.03491120752908326 + ], + "centerline_face_intersection": [ + 15.804624844649991, + 0.2763288054644626, + 0.03491120752908326 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.789847373962402, + 0.27655526995658875, + 0.025190383195877075 + ], + "box_pose": [ + 15.88172721862793, + 0.2928202152252197, + 0.03790683671832085, + 0.0715915858745575, + 0.7022820115089417, + 0.6866928339004517, + -0.17357279360294342 + ], + "box_yaw_rad": -2.994383143994429, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007836050791201461, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034049999477909435 + } + }, + { + "simulation_time_ns": 8020000000, + "phase": "straight_push", + "intended_face_center": [ + 15.819566668932739, + 0.26537686717198844, + 0.06147604320851366 + ], + "intended_face_normal": [ + -0.9293337023574537, + -0.13666363103285928, + 0.34301956072838546 + ], + "commanded_contact_point": [ + 15.809879188537598, + 0.2837516625781307, + 0.03498968014910781 + ], + "centerline_face_intersection": [ + 15.808238715806082, + 0.2759293923424676, + 0.03498968014910781 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.789841651916504, + 0.2762739062309265, + 0.02378922700881958 + ], + "box_pose": [ + 15.885370254516602, + 0.2924293279647827, + 0.037967830896377563, + 0.0722397044301033, + 0.7026472687721252, + 0.6862606406211853, + -0.17353588342666626 + ], + "box_yaw_rad": -2.9955836503552518, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007822270235663105, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003081547401710361 + } + }, + { + "simulation_time_ns": 8040000000, + "phase": "straight_push", + "intended_face_center": [ + 15.822237034554632, + 0.26552500396169654, + 0.0630470532430009 + ], + "intended_face_normal": [ + -0.9224588610036975, + -0.1339733179542808, + 0.36210651468800226 + ], + "commanded_contact_point": [ + 15.811867599487305, + 0.28376588432828265, + 0.035086885041990076 + ], + "centerline_face_intersection": [ + 15.809759014897436, + 0.27586979576329324, + 0.035086885041990076 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.795108795166016, + 0.2740243375301361, + 0.027265146374702454 + ], + "box_pose": [ + 15.887553215026855, + 0.2923937439918518, + 0.03801807016134262, + 0.07938303798437119, + 0.7043125629425049, + 0.6820361018180847, + -0.1801915317773819 + ], + "box_yaw_rad": -2.997366073096407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00789608856498939, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001990836295201706 + } + }, + { + "simulation_time_ns": 8060000000, + "phase": "straight_push", + "intended_face_center": [ + 15.83218484000554, + 0.2620553548399649, + 0.06771384010771529 + ], + "intended_face_normal": [ + -0.9034696158129378, + -0.1537578285260821, + 0.40012581039654194 + ], + "commanded_contact_point": [ + 15.813967590332032, + 0.28212154797248684, + 0.03681800005387779 + ], + "centerline_face_intersection": [ + 15.816481216546183, + 0.2739278138359474, + 0.03681800005387779 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.804433822631836, + 0.26648667454719543, + 0.038549527525901794 + ], + "box_pose": [ + 15.895747184753418, + 0.29032403230667114, + 0.039869844913482666, + 0.08509264886379242, + 0.7040253281593323, + 0.6753392815589905, + -0.20254455506801605 + ], + "box_yaw_rad": -2.9730217818234825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008193734136539467, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003179711116329627 + } + }, + { + "simulation_time_ns": 8080000000, + "phase": "straight_push", + "intended_face_center": [ + 15.840103061465424, + 0.2585421032758219, + 0.06865267040019463 + ], + "intended_face_normal": [ + -0.8956292421189929, + -0.17753907264102597, + 0.4078334994969115 + ], + "commanded_contact_point": [ + 15.816434745788575, + 0.2808715412689562, + 0.03716167871294032 + ], + "centerline_face_intersection": [ + 15.823045874366825, + 0.2722508385013443, + 0.03716167871294032 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.813400268554688, + 0.2615766227245331, + 0.04991568624973297 + ], + "box_pose": [ + 15.902641296386719, + 0.28847795724868774, + 0.04023797810077667, + 0.07846467941999435, + 0.7048645615577698, + 0.6715508699417114, + -0.214542955160141 + ], + "box_yaw_rad": -2.9459012190729372, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008620702767611916, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002787021317879776 + } + }, + { + "simulation_time_ns": 8100000000, + "phase": "straight_push", + "intended_face_center": [ + 15.845701710537968, + 0.25486322707563774, + 0.06582353400425286 + ], + "intended_face_normal": [ + -0.8996230654607444, + -0.20591597061183764, + 0.38506705168351596 + ], + "commanded_contact_point": [ + 15.819314842224122, + 0.27976259774377293, + 0.03609046073155827 + ], + "centerline_face_intersection": [ + 15.82933564740385, + 0.27076309338580923, + 0.03609046073155827 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.82037353515625, + 0.26129305362701416, + 0.06005309522151947 + ], + "box_pose": [ + 15.908004760742188, + 0.2867724299430847, + 0.03908944129943848, + 0.05946123227477074, + 0.7066133618354797, + 0.6711997389793396, + -0.21599246561527252 + ], + "box_yaw_rad": -2.916577434763064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008999504357963718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00326683626521623 + } + }, + { + "simulation_time_ns": 8120000000, + "phase": "straight_push", + "intended_face_center": [ + 15.848801486208863, + 0.25171139254689023, + 0.06241413954697189 + ], + "intended_face_normal": [ + -0.9060909505688528, + -0.23221557451560226, + 0.3536592192554364 + ], + "commanded_contact_point": [ + 15.822190170288087, + 0.27886308501382656, + 0.03510623191448929 + ], + "centerline_face_intersection": [ + 15.833547522373554, + 0.2696419910282374, + 0.03510623191448929 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.825434684753418, + 0.2641022503376007, + 0.06694769859313965 + ], + "box_pose": [ + 15.91113567352295, + 0.28543636202812195, + 0.03809018433094025, + 0.03910157456994057, + 0.705964207649231, + 0.674284815788269, + -0.21313263475894928 + ], + "box_yaw_rad": -2.8907095138157404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009221093985589185, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031694385924179685 + } + }, + { + "simulation_time_ns": 8140000000, + "phase": "straight_push", + "intended_face_center": [ + 15.852069477740823, + 0.2535781553001514, + 0.06481540375805929 + ], + "intended_face_normal": [ + -0.8996154729619832, + -0.21978359579475892, + 0.37734212883561113 + ], + "commanded_contact_point": [ + 15.824751739501954, + 0.2798667468677481, + 0.035678812828007306 + ], + "centerline_face_intersection": [ + 15.835702103962488, + 0.2705488146420283, + 0.035678812828007306 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.828660011291504, + 0.2681278586387634, + 0.07058683037757874 + ], + "box_pose": [ + 15.914119720458984, + 0.28644606471061707, + 0.03866108879446983, + 0.051445797085762024, + 0.7070047855377197, + 0.670784592628479, + -0.21804946660995483 + ], + "box_yaw_rad": -2.9019779445150005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009317932225719779, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002810128619293874 + } + }, + { + "simulation_time_ns": 8160000000, + "phase": "straight_push", + "intended_face_center": [ + 15.854071331611445, + 0.255746167467121, + 0.06516888974550639 + ], + "intended_face_normal": [ + -0.9010194813944352, + -0.20875161029067435, + 0.3802451311632389 + ], + "commanded_contact_point": [ + 15.827166442871095, + 0.28112936636266345, + 0.03580814257944098 + ], + "centerline_face_intersection": [ + 15.837946115172254, + 0.27186498858523356, + 0.03580814257944098 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.830164909362793, + 0.27320384979248047, + 0.07073594629764557 + ], + "box_pose": [ + 15.916427612304688, + 0.2878517806529999, + 0.038796499371528625, + 0.05673946440219879, + 0.7066932320594788, + 0.671635627746582, + -0.2151065170764923 + ], + "box_yaw_rad": -2.913925660158722, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009264377777429902, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027279528101646624 + } + }, + { + "simulation_time_ns": 8180000000, + "phase": "straight_push", + "intended_face_center": [ + 15.855000736724174, + 0.2581133164374006, + 0.06310184318149777 + ], + "intended_face_normal": [ + -0.9105636694955663, + -0.19690411893153348, + 0.3634588830953689 + ], + "commanded_contact_point": [ + 15.829409484863282, + 0.2823229241767493, + 0.03503725142938822 + ], + "centerline_face_intersection": [ + 15.840510729225231, + 0.2733173297911541, + 0.03503725142938822 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.830413818359375, + 0.2797869145870209, + 0.06928502023220062 + ], + "box_pose": [ + 15.918282508850098, + 0.28939709067344666, + 0.03797571361064911, + 0.05565870925784111, + 0.7065363526344299, + 0.6753430366516113, + -0.20401033759117126 + ], + "box_yaw_rad": -2.9286275631798664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009005594385595232, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002655200707952522 + } + }, + { + "simulation_time_ns": 8200000000, + "phase": "straight_push", + "intended_face_center": [ + 15.855180499323879, + 0.2585555251388344, + 0.06297685279712407 + ], + "intended_face_normal": [ + -0.9114709217898351, + -0.19441880367399733, + 0.36252177907100247 + ], + "commanded_contact_point": [ + 15.831316833496095, + 0.28210951218281893, + 0.03498461982642365 + ], + "centerline_face_intersection": [ + 15.840844952579136, + 0.27356763409480833, + 0.03498461982642365 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.829421997070312, + 0.28516054153442383, + 0.0673518031835556 + ], + "box_pose": [ + 15.91857624053955, + 0.28966644406318665, + 0.03792348504066467, + 0.05632317066192627, + 0.7064042091369629, + 0.6758169531822205, + -0.20271217823028564 + ], + "box_yaw_rad": -2.9314397918858957, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008541878088010612, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001919972284142579 + } + }, + { + "simulation_time_ns": 8220000000, + "phase": "straight_push", + "intended_face_center": [ + 15.855107924600286, + 0.25851839021591905, + 0.06283946803163493 + ], + "intended_face_normal": [ + -0.9119028106217186, + -0.19464648517892202, + 0.36131187806424236 + ], + "commanded_contact_point": [ + 15.832939033508302, + 0.28157679805223734, + 0.03494065794697326 + ], + "centerline_face_intersection": [ + 15.84084584842301, + 0.2735480796707676, + 0.03494065794697326 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.828373908996582, + 0.28637707233428955, + 0.06384705007076263 + ], + "box_pose": [ + 15.918533325195312, + 0.2896450459957123, + 0.03788086026906967, + 0.05585343763232231, + 0.7063220143318176, + 0.6760625839233398, + -0.20230931043624878 + ], + "box_yaw_rad": -2.931297610632405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008028718381469735, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017079958639793608 + } + }, + { + "simulation_time_ns": 8240000000, + "phase": "straight_push", + "intended_face_center": [ + 15.854994733139337, + 0.2584464307881317, + 0.0626612257524037 + ], + "intended_face_normal": [ + -0.9125761728976229, + -0.1950718771126163, + 0.3593765035938983 + ], + "commanded_contact_point": [ + 15.834424858093263, + 0.2811434817750968, + 0.034911856215005824 + ], + "centerline_face_intersection": [ + 15.84084712990976, + 0.27350896701467575, + 0.034911856215005824 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.828529357910156, + 0.28336405754089355, + 0.060660600662231445 + ], + "box_pose": [ + 15.918466567993164, + 0.28960245847702026, + 0.037857845425605774, + 0.055101145058870316, + 0.7061147093772888, + 0.6765279769897461, + -0.2016822248697281 + ], + "box_yaw_rad": -2.931002433655348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007634514760421023, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015479881243322287 + } + }, + { + "simulation_time_ns": 8260000000, + "phase": "straight_push", + "intended_face_center": [ + 15.854834037941098, + 0.25833655858276, + 0.06243013248538043 + ], + "intended_face_normal": [ + -0.9135417953642104, + -0.19569555732217392, + 0.3565729003817397 + ], + "commanded_contact_point": [ + 15.83569133758545, + 0.2809533814967479, + 0.034897244050092494 + ], + "centerline_face_intersection": [ + 15.84085043173647, + 0.2734472524724655, + 0.034897244050092494 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.830623626708984, + 0.2766568958759308, + 0.06016896665096283 + ], + "box_pose": [ + 15.918373107910156, + 0.2895355820655823, + 0.03785400465130806, + 0.05402291193604469, + 0.705762505531311, + 0.677251935005188, + -0.20077480375766754 + ], + "box_yaw_rad": -2.9305656734624725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007506129024282411, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012807505359449514 + } + }, + { + "simulation_time_ns": 8280000000, + "phase": "straight_push", + "intended_face_center": [ + 15.857209294795597, + 0.25555599326802897, + 0.06151384462809145 + ], + "intended_face_normal": [ + -0.9153996183876245, + -0.2088529929271914, + 0.3441280551991479 + ], + "commanded_contact_point": [ + 15.837364082336427, + 0.2793303694018451, + 0.034941888820156586 + ], + "centerline_face_intersection": [ + 15.843540682253824, + 0.2716826426782454, + 0.034941888820156586 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.83343505859375, + 0.2681427001953125, + 0.05412459373474121 + ], + "box_pose": [ + 15.920679092407227, + 0.2876664698123932, + 0.03795363008975983, + 0.04528062790632248, + 0.7042901515960693, + 0.6794668436050415, + -0.2006237655878067 + ], + "box_yaw_rad": -2.9172772807527663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007647726723599727, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023311448727212627 + } + }, + { + "simulation_time_ns": 8300000000, + "phase": "straight_push", + "intended_face_center": [ + 15.860670826727675, + 0.2529559884424445, + 0.061488221805791846 + ], + "intended_face_normal": [ + -0.91322943878221, + -0.21760757698979916, + 0.34446881298273624 + ], + "commanded_contact_point": [ + 15.839875106811524, + 0.27781327161418373, + 0.03488995427862945 + ], + "centerline_face_intersection": [ + 15.846634191965478, + 0.2697586258092193, + 0.03488995427862945 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.836787223815918, + 0.2595856487751007, + 0.04866056144237518 + ], + "box_pose": [ + 15.923820495605469, + 0.28567269444465637, + 0.0379018634557724, + 0.04201884567737579, + 0.7045150399208069, + 0.678434431552887, + -0.20400895178318024 + ], + "box_yaw_rad": -2.907671245715885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00805464580496447, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002934199517495368 + } + }, + { + "simulation_time_ns": 8320000000, + "phase": "straight_push", + "intended_face_center": [ + 15.864434474727961, + 0.25067455827593327, + 0.06157023547796958 + ], + "intended_face_normal": [ + -0.9105012865165705, + -0.22639568649077457, + 0.34602370433259644 + ], + "commanded_contact_point": [ + 15.842782859802247, + 0.27670541632941154, + 0.03485190652712954 + ], + "centerline_face_intersection": [ + 15.849933840273776, + 0.26815577227651394, + 0.03485190652712954 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.840567588806152, + 0.25578081607818604, + 0.04805995523929596 + ], + "box_pose": [ + 15.927218437194824, + 0.2839983105659485, + 0.03785774111747742, + 0.03908099979162216, + 0.7049290537834167, + 0.6769975423812866, + -0.2078990936279297 + ], + "box_yaw_rad": -2.8978854558864704, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008549644052897586, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003111883419803582 + } + }, + { + "simulation_time_ns": 8340000000, + "phase": "straight_push", + "intended_face_center": [ + 15.868007693453439, + 0.2502951218961056, + 0.06283417515249509 + ], + "intended_face_normal": [ + -0.9047572482091724, + -0.22433961483354992, + 0.3620580590044504 + ], + "commanded_contact_point": [ + 15.845600967407227, + 0.27658880784815104, + 0.03487774847230051 + ], + "centerline_face_intersection": [ + 15.852525127456264, + 0.26761757567824923, + 0.03487774847230051 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.844001770019531, + 0.2570778727531433, + 0.05191861093044281 + ], + "box_pose": [ + 15.930362701416016, + 0.28347763419151306, + 0.037827085703611374, + 0.04460158944129944, + 0.7069905996322632, + 0.6727131009101868, + -0.21361663937568665 + ], + "box_yaw_rad": -2.8985390672615554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008971232169901823, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002820637484201196 + } + }, + { + "simulation_time_ns": 8360000000, + "phase": "straight_push", + "intended_face_center": [ + 15.870501088723096, + 0.25099149700817724, + 0.06334069737385911 + ], + "intended_face_normal": [ + -0.9038354729397398, + -0.22150709938216373, + 0.3660821495662079 + ], + "commanded_contact_point": [ + 15.84820068359375, + 0.2773921651517387, + 0.03507354927773038 + ], + "centerline_face_intersection": [ + 15.854860309932445, + 0.26809523722058315, + 0.03507354927773038 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.846566200256348, + 0.2599528431892395, + 0.054907768964767456 + ], + "box_pose": [ + 15.93283748626709, + 0.2839786410331726, + 0.038030557334423065, + 0.04703424125909805, + 0.7069805860519409, + 0.6723809838294983, + -0.21417298913002014 + ], + "box_yaw_rad": -2.901255024707949, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00929692793115557, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027280478667183585 + } + }, + { + "simulation_time_ns": 8380000000, + "phase": "straight_push", + "intended_face_center": [ + 15.8726934176763, + 0.2527763033068394, + 0.06291100480477604 + ], + "intended_face_normal": [ + -0.9073647463636973, + -0.2124156580473926, + 0.3627251269432099 + ], + "commanded_contact_point": [ + 15.85053337097168, + 0.2787376356120511, + 0.034903070264289904 + ], + "centerline_face_intersection": [ + 15.85765744298757, + 0.26917804502267356, + 0.034903070264289904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.848979949951172, + 0.2626114785671234, + 0.055204346776008606 + ], + "box_pose": [ + 15.93545913696289, + 0.28513550758361816, + 0.0378524512052536, + 0.04946492984890938, + 0.706716775894165, + 0.6739686727523804, + -0.20945413410663605 + ], + "box_yaw_rad": -2.9116321212808436, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009559590589377576, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00269829284117744 + } + }, + { + "simulation_time_ns": 8400000000, + "phase": "straight_push", + "intended_face_center": [ + 15.876446756779782, + 0.2550265271384566, + 0.06274569044425947 + ], + "intended_face_normal": [ + -0.9107157472044634, + -0.19954782813523542, + 0.3616319627537288 + ], + "commanded_contact_point": [ + 15.85256088256836, + 0.2802187226138476, + 0.03482216491982085 + ], + "centerline_face_intersection": [ + 15.861982652419197, + 0.2704346753282645, + 0.03482216491982085 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.853021621704102, + 0.2648232579231262, + 0.05518282949924469 + ], + "box_pose": [ + 15.939699172973633, + 0.2864937484264374, + 0.037775155156850815, + 0.05413825437426567, + 0.7062167525291443, + 0.6757335066795349, + -0.20423325896263123 + ], + "box_yaw_rad": -2.925890475847206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009784047285583106, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025121639389826486 + } + }, + { + "simulation_time_ns": 8420000000, + "phase": "straight_push", + "intended_face_center": [ + 15.881623418884107, + 0.25781566981235315, + 0.06286616724021729 + ], + "intended_face_normal": [ + -0.9140774338867246, + -0.18168395270763948, + 0.36256483926225824 + ], + "commanded_contact_point": [ + 15.854106788635255, + 0.281802852733316, + 0.034870609363331966 + ], + "centerline_face_intersection": [ + 15.867730701663818, + 0.2718444532533444, + 0.034870609363331966 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.858532905578613, + 0.267485648393631, + 0.055700868368148804 + ], + "box_pose": [ + 15.945450782775879, + 0.2880389392375946, + 0.0378221720457077, + 0.06134184077382088, + 0.7057279348373413, + 0.6774856448173523, + -0.1979859322309494 + ], + "box_yaw_rad": -2.9453876625529514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009958399479971642, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022139649200417287 + } + }, + { + "simulation_time_ns": 8440000000, + "phase": "straight_push", + "intended_face_center": [ + 15.88633161177022, + 0.2606534571372403, + 0.06276713817363722 + ], + "intended_face_normal": [ + -0.9178663059418639, + -0.16321810461630815, + 0.3617758500962829 + ], + "commanded_contact_point": [ + 15.855323677062989, + 0.28332903576102003, + 0.034832502342875396 + ], + "centerline_face_intersection": [ + 15.873080152707308, + 0.27325639432121845, + 0.034832502342875396 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.863422393798828, + 0.27040034532546997, + 0.05518476665019989 + ], + "box_pose": [ + 15.95077896118164, + 0.28958362340927124, + 0.03778378292918205, + 0.06819238513708115, + 0.705044686794281, + 0.6795918941497803, + -0.19083178043365479 + ], + "box_yaw_rad": -2.965608806776101, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01007264143980158, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019523074103771994 + } + }, + { + "simulation_time_ns": 8460000000, + "phase": "straight_push", + "intended_face_center": [ + 15.8892836026658, + 0.26234423042923466, + 0.06267741364337712 + ], + "intended_face_normal": [ + -0.9202310147886266, + -0.15103705446112237, + 0.3610578900622645 + ], + "commanded_contact_point": [ + 15.856558685302735, + 0.28414721257208386, + 0.0347982153220179 + ], + "centerline_face_intersection": [ + 15.876430910018225, + 0.2740066040017092, + 0.0347982153220179 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.866313934326172, + 0.272307425737381, + 0.0537695586681366 + ], + "box_pose": [ + 15.954130172729492, + 0.2904174327850342, + 0.03774953633546829, + 0.0726265162229538, + 0.7045461535453796, + 0.6809774041175842, + -0.18603739142417908 + ], + "box_yaw_rad": -2.9789135838170444, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010140608570374708, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014818347567129768 + } + }, + { + "simulation_time_ns": 8480000000, + "phase": "straight_push", + "intended_face_center": [ + 15.891062952089976, + 0.26272778434923666, + 0.06248801358879791 + ], + "intended_face_normal": [ + -0.9214854089862925, + -0.1471679218731179, + 0.3594519275138337 + ], + "commanded_contact_point": [ + 15.857925300598145, + 0.2842889711426255, + 0.034732820169745784 + ], + "centerline_face_intersection": [ + 15.87842134051229, + 0.27409140163436346, + 0.034732820169745784 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.868057250976562, + 0.27266737818717957, + 0.05294632911682129 + ], + "box_pose": [ + 15.956076622009277, + 0.29052767157554626, + 0.03768949210643768, + 0.07360505312681198, + 0.7042115926742554, + 0.6817834973335266, + -0.18395501375198364 + ], + "box_yaw_rad": -2.9832228245722634, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010197569508262064, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001375503320211077 + } + }, + { + "simulation_time_ns": 8500000000, + "phase": "straight_push", + "intended_face_center": [ + 15.891416202419917, + 0.26271786582312057, + 0.06250869115759615 + ], + "intended_face_normal": [ + -0.9213834290462799, + -0.14686490547485853, + 0.3598379395843363 + ], + "commanded_contact_point": [ + 15.859151725769044, + 0.2842829056354102, + 0.034723691695346566 + ], + "centerline_face_intersection": [ + 15.878757441954182, + 0.27405808560193545, + 0.034723691695346566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.866754531860352, + 0.27337682247161865, + 0.05148442089557648 + ], + "box_pose": [ + 15.956425666809082, + 0.2904966175556183, + 0.037675414234399796, + 0.07382054626941681, + 0.7043206691741943, + 0.6816334128379822, + -0.1840076893568039 + ], + "box_yaw_rad": -2.9835262937401934, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010224820033474736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012264741412830104 + } + }, + { + "simulation_time_ns": 8520000000, + "phase": "straight_push", + "intended_face_center": [ + 15.89136057094048, + 0.2626955153554074, + 0.06243940329345041 + ], + "intended_face_normal": [ + -0.9217213244916209, + -0.14700213100744897, + 0.35891480292824784 + ], + "commanded_contact_point": [ + 15.860821609497071, + 0.28420388125428875, + 0.03472568411788384 + ], + "centerline_face_intersection": [ + 15.878758622913185, + 0.27404633104679793, + 0.03472568411788384 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860897064208984, + 0.2757280766963959, + 0.05023588240146637 + ], + "box_pose": [ + 15.956393241882324, + 0.2904837429523468, + 0.03767763823270798, + 0.07346319407224655, + 0.7042827606201172, + 0.6817964911460876, + -0.18369106948375702 + ], + "box_yaw_rad": -2.9834380896787196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010157550207490817, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016717537162182997 + } + }, + { + "simulation_time_ns": 8540000000, + "phase": "straight_push", + "intended_face_center": [ + 15.891249227501719, + 0.2626321831187174, + 0.062304160377620085 + ], + "intended_face_normal": [ + -0.9223943857598229, + -0.14737259290459725, + 0.35702946413991654 + ], + "commanded_contact_point": [ + 15.863065605163575, + 0.28400680409806534, + 0.03473601822842394 + ], + "centerline_face_intersection": [ + 15.878760378332236, + 0.2740116041417884, + 0.03473601822842394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.856619834899902, + 0.2780703604221344, + 0.05161198973655701 + ], + "box_pose": [ + 15.956328392028809, + 0.2904459536075592, + 0.03769363462924957, + 0.07272849977016449, + 0.7040980458259583, + 0.6822339296340942, + -0.18306666612625122 + ], + "box_yaw_rad": -2.9831599226921592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009995199956276977, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002252656820430949 + } + }, + { + "simulation_time_ns": 8560000000, + "phase": "straight_push", + "intended_face_center": [ + 15.891082499179335, + 0.2625310594166159, + 0.06210458308568642 + ], + "intended_face_normal": [ + -0.9233905144207384, + -0.14793533157271277, + 0.35420994556276675 + ], + "commanded_contact_point": [ + 15.865481262207032, + 0.28367152213525587, + 0.03475415094850402 + ], + "centerline_face_intersection": [ + 15.878760872441042, + 0.2739539324825956, + 0.03475415094850402 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.856645584106445, + 0.2808941900730133, + 0.05418512225151062 + ], + "box_pose": [ + 15.956231117248535, + 0.290383517742157, + 0.037722691893577576, + 0.07163994014263153, + 0.7037681937217712, + 0.6829389333724976, + -0.1821327954530716 + ], + "box_yaw_rad": -2.9827337620360583, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009717589652660268, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00243888124797548 + } + }, + { + "simulation_time_ns": 8580000000, + "phase": "straight_push", + "intended_face_center": [ + 15.890859838023427, + 0.26238798339878355, + 0.061836207474443156 + ], + "intended_face_normal": [ + -0.9247104546337397, + -0.14876340174821667, + 0.35039958333145815 + ], + "commanded_contact_point": [ + 15.86771095275879, + 0.28317678673728125, + 0.03477999365306754 + ], + "centerline_face_intersection": [ + 15.878759493003349, + 0.27387479616330546, + 0.03477999365306754 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860416412353516, + 0.28426477313041687, + 0.06082436442375183 + ], + "box_pose": [ + 15.956099510192871, + 0.29029735922813416, + 0.03776481747627258, + 0.07015066593885422, + 0.7032893300056458, + 0.6839147210121155, + -0.18089669942855835 + ], + "box_yaw_rad": -2.982083708688958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009301990573975811, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022840645603805342 + } + }, + { + "simulation_time_ns": 8600000000, + "phase": "straight_push", + "intended_face_center": [ + 15.890599597771555, + 0.26220883222786534, + 0.06152117697741576 + ], + "intended_face_normal": [ + -0.9262422584544723, + -0.1498856505762074, + 0.3458467527495124 + ], + "commanded_contact_point": [ + 15.869925384521485, + 0.28247683029348364, + 0.03481651139861069 + ], + "centerline_face_intersection": [ + 15.878755625916325, + 0.2737822997879273, + 0.03481651139861069 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.865045547485352, + 0.2889688014984131, + 0.06695437431335449 + ], + "box_pose": [ + 15.955942153930664, + 0.29019543528556824, + 0.037821315228939056, + 0.06832215189933777, + 0.7027056217193604, + 0.6850736737251282, + -0.17947439849376678 + ], + "box_yaw_rad": -2.9811621389177763, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008694530505556379, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023227097538408067 + } + }, + { + "simulation_time_ns": 8620000000, + "phase": "straight_push", + "intended_face_center": [ + 15.891650014560117, + 0.2634173665311378, + 0.06229076220082871 + ], + "intended_face_normal": [ + -0.923246019223555, + -0.14143085047723591, + 0.357231063984524 + ], + "commanded_contact_point": [ + 15.872198944091798, + 0.2823027188049306, + 0.0347070534563467 + ], + "centerline_face_intersection": [ + 15.879304143161, + 0.27433799404749926, + 0.0347070534563467 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.867144584655762, + 0.2925831377506256, + 0.06603635847568512 + ], + "box_pose": [ + 15.956896781921387, + 0.2908119857311249, + 0.037653908133506775, + 0.07500124722719193, + 0.7040972113609314, + 0.6825467944145203, + -0.180974543094635 + ], + "box_yaw_rad": -2.98958564856856, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007964724757431325, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002282842301020898 + } + }, + { + "simulation_time_ns": 8640000000, + "phase": "straight_push", + "intended_face_center": [ + 15.891917233375045, + 0.2635736568999438, + 0.06257394734806648 + ], + "intended_face_normal": [ + -0.9222680098909919, + -0.14078551376288573, + 0.3600010039302255 + ], + "commanded_contact_point": [ + 15.874579315185548, + 0.28179135186653137, + 0.03477635682116129 + ], + "centerline_face_intersection": [ + 15.879407155250739, + 0.2744444545393281, + 0.03477635682116129 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.865154266357422, + 0.2898901402950287, + 0.05629558861255646 + ], + "box_pose": [ + 15.957099914550781, + 0.29092344641685486, + 0.03771865740418434, + 0.07614341378211975, + 0.7042802572250366, + 0.6819995045661926, + -0.1818462610244751 + ], + "box_yaw_rad": -2.9901106522235303, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007346897327203302, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024356653394961656 + } + }, + { + "simulation_time_ns": 8660000000, + "phase": "straight_push", + "intended_face_center": [ + 15.891855403886545, + 0.2635432196059285, + 0.062489146283236555 + ], + "intended_face_normal": [ + -0.9226389795003485, + -0.14096647586368327, + 0.3589792700936929 + ], + "commanded_contact_point": [ + 15.877281074523927, + 0.2814705908133963, + 0.034770449255253175 + ], + "centerline_face_intersection": [ + 15.879407633298126, + 0.27442799029073195, + 0.034770449255253175 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.862447738647461, + 0.2820354104042053, + 0.04356679320335388 + ], + "box_pose": [ + 15.957063674926758, + 0.29090550541877747, + 0.037714775651693344, + 0.07574586570262909, + 0.7042033076286316, + 0.6822149157524109, + -0.18150252103805542 + ], + "box_yaw_rad": -2.9899789654682123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007042600522664366, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027207399866692322 + } + }, + { + "simulation_time_ns": 8680000000, + "phase": "straight_push", + "intended_face_center": [ + 15.891742644511334, + 0.2634766957160983, + 0.062347998187709516 + ], + "intended_face_normal": [ + -0.9233050383675163, + -0.14135373040940635, + 0.3571093310747244 + ], + "commanded_contact_point": [ + 15.880387191772462, + 0.2813920412236318, + 0.03477368908807103 + ], + "centerline_face_intersection": [ + 15.879406676352339, + 0.27439136838221334, + 0.03477368908807103 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.862988471984863, + 0.2754395604133606, + 0.033396631479263306 + ], + "box_pose": [ + 15.95699691772461, + 0.2908656895160675, + 0.03772474825382233, + 0.07501381635665894, + 0.7039997577667236, + 0.682668924331665, + -0.18088793754577637 + ], + "box_yaw_rad": -2.98967682834297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007000672841418476, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031071119864299174 + } + }, + { + "simulation_time_ns": 8700000000, + "phase": "straight_push", + "intended_face_center": [ + 15.892407992096802, + 0.2626411702195912, + 0.061350490027147174 + ], + "intended_face_normal": [ + -0.9281203478476883, + -0.14767699621449992, + 0.34173736436091495 + ], + "commanded_contact_point": [ + 15.883786087036134, + 0.2810984736330426, + 0.03496313216275166 + ], + "centerline_face_intersection": [ + 15.880877728077635, + 0.27404409583979206, + 0.03496313216275166 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.866290092468262, + 0.2727014720439911, + 0.026209264993667603 + ], + "box_pose": [ + 15.957930564880371, + 0.2904708981513977, + 0.03796499967575073, + 0.06777438521385193, + 0.7025021910667419, + 0.6859670877456665, + -0.17704953253269196 + ], + "box_yaw_rad": -2.9838013371748464, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0070543777932505145, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034168054703479864 + } + }, + { + "simulation_time_ns": 8720000000, + "phase": "straight_push", + "intended_face_center": [ + 15.896389311341116, + 0.2623852760841032, + 0.061496024392267395 + ], + "intended_face_normal": [ + -0.9278689581717074, + -0.14628398352424554, + 0.34301611079498073 + ], + "commanded_contact_point": [ + 15.886929397583009, + 0.28078069193043664, + 0.03500992772055237 + ], + "centerline_face_intersection": [ + 15.884817095876343, + 0.27368063979214347, + 0.03500992772055237 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.867325782775879, + 0.27253878116607666, + 0.02383488416671753 + ], + "box_pose": [ + 15.96191120147705, + 0.2901177704334259, + 0.03799345716834068, + 0.06862738728523254, + 0.7028977274894714, + 0.6854701042175293, + -0.17707559466362 + ], + "box_yaw_rad": -2.985223846292893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007100052138293187, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003159679766817615 + } + }, + { + "simulation_time_ns": 8740000000, + "phase": "straight_push", + "intended_face_center": [ + 15.900102081848141, + 0.2622723367357078, + 0.06339929027569614 + ], + "intended_face_normal": [ + -0.9198747844410065, + -0.14432243642281595, + 0.3646937110258497 + ], + "commanded_contact_point": [ + 15.889074211120606, + 0.28063619133125933, + 0.035239350897307904 + ], + "centerline_face_intersection": [ + 15.887189388343492, + 0.2734162389685591, + 0.035239350897307904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.872446060180664, + 0.2704187333583832, + 0.02742697298526764 + ], + "box_pose": [ + 15.965038299560547, + 0.28987303376197815, + 0.03817885369062424, + 0.07633384317159653, + 0.704675018787384, + 0.6807132363319397, + -0.18502911925315857 + ], + "box_yaw_rad": -2.9859677437243066, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007219952362700224, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002161883560291205 + } + }, + { + "simulation_time_ns": 8760000000, + "phase": "straight_push", + "intended_face_center": [ + 15.908231358361085, + 0.2594937183614094, + 0.06636429438766019 + ], + "intended_face_normal": [ + -0.9069428223375056, + -0.16149575551146444, + 0.38906750277371316 + ], + "commanded_contact_point": [ + 15.891262893676759, + 0.27950962529278217, + 0.03632232502824865 + ], + "centerline_face_intersection": [ + 15.893123215552574, + 0.27196366381859194, + 0.03632232502824865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.881219863891602, + 0.26381343603134155, + 0.03894425928592682 + ], + "box_pose": [ + 15.971901893615723, + 0.2883055508136749, + 0.039336156100034714, + 0.07820241898298264, + 0.7047799229621887, + 0.6758377552032471, + -0.20102956891059875 + ], + "box_yaw_rad": -2.965373569910762, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0075459614741902395, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002689296439394985 + } + }, + { + "simulation_time_ns": 8780000000, + "phase": "straight_push", + "intended_face_center": [ + 15.91404301159255, + 0.25660236455253027, + 0.06543807320986444 + ], + "intended_face_normal": [ + -0.9059741871739178, + -0.1829850150617478, + 0.38174175562401125 + ], + "commanded_contact_point": [ + 15.893766288757325, + 0.27871145912078554, + 0.03596176371625296 + ], + "centerline_face_intersection": [ + 15.898769048795735, + 0.2707316099316123, + 0.03596176371625296 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.889313697814941, + 0.25988441705703735, + 0.0501248836517334 + ], + "box_pose": [ + 15.977240562438965, + 0.28691768646240234, + 0.03894979506731033, + 0.06728877127170563, + 0.7058863043785095, + 0.6743230819702148, + -0.2061188966035843 + ], + "box_yaw_rad": -2.9422978467725436, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007979849189173239, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026521803534510784 + } + }, + { + "simulation_time_ns": 8800000000, + "phase": "straight_push", + "intended_face_center": [ + 15.918485366699052, + 0.25414126246668933, + 0.06313428151323172 + ], + "intended_face_normal": [ + -0.9091904210911537, + -0.20326561948292188, + 0.3633938642699164 + ], + "commanded_contact_point": [ + 15.896634941101075, + 0.2781998442653804, + 0.035074710210139644 + ], + "centerline_face_intersection": [ + 15.903761241607585, + 0.26983648108246605, + 0.035074710210139644 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.895720481872559, + 0.2602486312389374, + 0.05984334647655487 + ], + "box_pose": [ + 15.981546401977539, + 0.28586673736572266, + 0.03800707310438156, + 0.05312832444906235, + 0.706851601600647, + 0.674504280090332, + -0.20635399222373962 + ], + "box_yaw_rad": -2.9216419038905617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008363363182914385, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030459448373668075 + } + }, + { + "simulation_time_ns": 8820000000, + "phase": "straight_push", + "intended_face_center": [ + 15.923047767876417, + 0.25336827773090426, + 0.06313631566222697 + ], + "intended_face_normal": [ + -0.9070888269957962, + -0.21208730020966682, + 0.363604923040846 + ], + "commanded_contact_point": [ + 15.899460678100587, + 0.2783617749161936, + 0.035060447389883787 + ], + "centerline_face_intersection": [ + 15.907964602645007, + 0.26974466519322304, + 0.035060447389883787 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.900679588317871, + 0.26340100169181824, + 0.06607583165168762 + ], + "box_pose": [ + 15.985791206359863, + 0.2857047915458679, + 0.0379929281771183, + 0.04976273700594902, + 0.7071101069450378, + 0.6734535694122314, + -0.20971213281154633 + ], + "box_yaw_rad": -2.911907812640624, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008617109722970577, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00283040890228319 + } + }, + { + "simulation_time_ns": 8840000000, + "phase": "straight_push", + "intended_face_center": [ + 15.927138684270373, + 0.25425326820586974, + 0.06401774212158215 + ], + "intended_face_normal": [ + -0.9046033126436228, + -0.2101453948240426, + 0.37085203397392075 + ], + "commanded_contact_point": [ + 15.90197551727295, + 0.2792077341492833, + 0.03538228590359059 + ], + "centerline_face_intersection": [ + 15.911629709229603, + 0.27047971083425126, + 0.03538228590359059 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.90423583984375, + 0.26770687103271484, + 0.06937788426876068 + ], + "box_pose": [ + 15.989733695983887, + 0.2864554226398468, + 0.038337718695402145, + 0.05298074334859848, + 0.7069534063339233, + 0.672694981098175, + -0.2118755429983139 + ], + "box_yaw_rad": -2.913334582415455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008728023315032033, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002672759457154252 + } + }, + { + "simulation_time_ns": 8860000000, + "phase": "straight_push", + "intended_face_center": [ + 15.929834142193464, + 0.25592231544576494, + 0.06320656100825985 + ], + "intended_face_normal": [ + -0.9087276239609494, + -0.20349872121040002, + 0.36442051514040585 + ], + "commanded_contact_point": [ + 15.904320602416993, + 0.28030957607735785, + 0.03506771653592546 + ], + "centerline_face_intersection": [ + 15.915031030143775, + 0.27163553308460214, + 0.03506771653592546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.906097412109375, + 0.27298504114151, + 0.06945592164993286 + ], + "box_pose": [ + 15.992855072021484, + 0.287663996219635, + 0.03799924999475479, + 0.05336117371916771, + 0.7069290280342102, + 0.6742515563964844, + -0.2068544328212738 + ], + "box_yaw_rad": -2.921289189610715, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008674042992755718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026100639559879218 + } + }, + { + "simulation_time_ns": 8880000000, + "phase": "straight_push", + "intended_face_center": [ + 15.931430643587417, + 0.25756387492899574, + 0.06308286179311265 + ], + "intended_face_normal": [ + -0.9109431856220027, + -0.19491649082962503, + 0.36357910144507777 + ], + "commanded_contact_point": [ + 15.906512145996095, + 0.2810016822442398, + 0.03500898734339242 + ], + "centerline_face_intersection": [ + 15.917005269604005, + 0.27261441295492117, + 0.03500898734339242 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.906695365905762, + 0.2797837555408478, + 0.06817597150802612 + ], + "box_pose": [ + 15.99477481842041, + 0.28870952129364014, + 0.03794239088892937, + 0.05643625557422638, + 0.7065878510475159, + 0.67542964220047, + -0.20333045721054077 + ], + "box_yaw_rad": -2.9307991178554857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008387269289318653, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022989831063739757 + } + }, + { + "simulation_time_ns": 8900000000, + "phase": "straight_push", + "intended_face_center": [ + 15.93183438344366, + 0.2580725914800919, + 0.06300324887044047 + ], + "intended_face_normal": [ + -0.911773794270232, + -0.19209498820131188, + 0.3629985429426412 + ], + "commanded_contact_point": [ + 15.90838706970215, + 0.2807961590701511, + 0.03497420242772982 + ], + "centerline_face_intersection": [ + 15.917550363691188, + 0.27290526629487016, + 0.03497420242772982 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905998229980469, + 0.285314679145813, + 0.06640227138996124 + ], + "box_pose": [ + 15.995292663574219, + 0.28902190923690796, + 0.037908099591732025, + 0.0573459267616272, + 0.7064603567123413, + 0.6758702993392944, + -0.20205077528953552 + ], + "box_yaw_rad": -2.9339466600511055, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00789089277528094, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018864751970198294 + } + }, + { + "simulation_time_ns": 8920000000, + "phase": "straight_push", + "intended_face_center": [ + 15.931755676163768, + 0.25802768922553254, + 0.06285855018501851 + ], + "intended_face_normal": [ + -0.9122409827930653, + -0.1923706567081922, + 0.36167738213770306 + ], + "commanded_contact_point": [ + 15.90998447418213, + 0.2802295750458158, + 0.03493151758858865 + ], + "centerline_face_intersection": [ + 15.917551101468392, + 0.2728816498706051, + 0.03493151758858865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.90506649017334, + 0.28645583987236023, + 0.06324559450149536 + ], + "box_pose": [ + 15.995245933532715, + 0.2889960706233978, + 0.03786793723702431, + 0.05682875216007233, + 0.7063498497009277, + 0.6761585474014282, + -0.20161885023117065 + ], + "box_yaw_rad": -2.933760634122282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007347925175210735, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016954469985187254 + } + }, + { + "simulation_time_ns": 8940000000, + "phase": "straight_push", + "intended_face_center": [ + 15.931646357502094, + 0.25795766465532316, + 0.06268605644644808 + ], + "intended_face_normal": [ + -0.9128866289879127, + -0.19278772574681025, + 0.3598210602799625 + ], + "commanded_contact_point": [ + 15.911453132629395, + 0.2797803987640571, + 0.034902360324984325 + ], + "centerline_face_intersection": [ + 15.91755150139081, + 0.2728438294171353, + 0.034902360324984325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905169486999512, + 0.28312772512435913, + 0.0605379194021225 + ], + "box_pose": [ + 15.9951810836792, + 0.28895485401153564, + 0.03784465417265892, + 0.05610499531030655, + 0.7061455845832825, + 0.6766104698181152, + -0.20101988315582275 + ], + "box_yaw_rad": -2.9334660300631623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006936569346921782, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015360882503424602 + } + }, + { + "simulation_time_ns": 8960000000, + "phase": "straight_push", + "intended_face_center": [ + 15.931491185040615, + 0.2578514050296947, + 0.06246299293656095 + ], + "intended_face_normal": [ + -0.9138148782969466, + -0.19339468716887387, + 0.3571282237540534 + ], + "commanded_contact_point": [ + 15.912705307006837, + 0.2795826847242629, + 0.03488722503275745 + ], + "centerline_face_intersection": [ + 15.917553923741218, + 0.2727844365082437, + 0.03488722503275745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.906986236572266, + 0.2762424647808075, + 0.06016276776790619 + ], + "box_pose": [ + 15.99509048461914, + 0.28889045119285583, + 0.03784012049436569, + 0.05506682023406029, + 0.7058038115501404, + 0.6773096919059753, + -0.200150266289711 + ], + "box_yaw_rad": -2.9330355829425745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00679824821601923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012677778157560978 + } + }, + { + "simulation_time_ns": 8980000000, + "phase": "straight_push", + "intended_face_center": [ + 15.933312289933776, + 0.25571606286380755, + 0.06149442655905149 + ], + "intended_face_normal": [ + -0.9166251584702323, + -0.20392054477837052, + 0.34382450819676524 + ], + "commanded_contact_point": [ + 15.914372329711915, + 0.27842115796043115, + 0.034945909228192476 + ], + "centerline_face_intersection": [ + 15.919851086911764, + 0.2714618517418609, + 0.034945909228192476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.90958309173584, + 0.2674354016780853, + 0.05377969145774841 + ], + "box_pose": [ + 15.996962547302246, + 0.2874842584133148, + 0.037957001477479935, + 0.047074709087610245, + 0.7041625380516052, + 0.6800497770309448, + -0.19867445528507233 + ], + "box_yaw_rad": -2.922688698341146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006959306218570252, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002032622187504921 + } + }, + { + "simulation_time_ns": 9000000000, + "phase": "straight_push", + "intended_face_center": [ + 15.936307789510819, + 0.2535684817559962, + 0.061472789935715366 + ], + "intended_face_normal": [ + -0.9149815649084871, + -0.210536747385218, + 0.3442135931945014 + ], + "commanded_contact_point": [ + 15.916903381347657, + 0.2772295960582451, + 0.03489422928461792 + ], + "centerline_face_intersection": [ + 15.922568356793862, + 0.26982514279523895, + 0.03489422928461792 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.912540435791016, + 0.25869646668434143, + 0.047967150807380676 + ], + "box_pose": [ + 15.999715805053711, + 0.2857956886291504, + 0.03790562227368355, + 0.044658102095127106, + 0.7043436765670776, + 0.6792575120925903, + -0.2012830525636673 + ], + "box_yaw_rad": -2.9154298219772774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007404453263006153, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027979837322797863 + } + }, + { + "simulation_time_ns": 9020000000, + "phase": "straight_push", + "intended_face_center": [ + 15.939788831504025, + 0.25150437890948213, + 0.061538132864503256 + ], + "intended_face_normal": [ + -0.9125096832542638, + -0.21887152424784162, + 0.34557301017799036 + ], + "commanded_contact_point": [ + 15.919865493774415, + 0.2763453552128921, + 0.034854604404289176 + ], + "centerline_face_intersection": [ + 15.92562992900369, + 0.26840461236055413, + 0.034854604404289176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.916056632995605, + 0.2549973726272583, + 0.047222450375556946 + ], + "box_pose": [ + 16.002859115600586, + 0.28430864214897156, + 0.03786120563745499, + 0.041851017624139786, + 0.7047195434570312, + 0.6779566407203674, + -0.2049231231212616 + ], + "box_yaw_rad": -2.9061832111765393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007940742852337987, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003091530694087428 + } + }, + { + "simulation_time_ns": 9040000000, + "phase": "straight_push", + "intended_face_center": [ + 15.943453951808815, + 0.25144993185845005, + 0.06291630839562987 + ], + "intended_face_normal": [ + -0.9066071896019494, + -0.21560787314025198, + 0.36273527191506094 + ], + "commanded_contact_point": [ + 15.922719841003419, + 0.2764950521406551, + 0.03490759050795762 + ], + "centerline_face_intersection": [ + 15.928288374284923, + 0.26809816146475207, + 0.03490759050795762 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.919550895690918, + 0.2566944658756256, + 0.051105186343193054 + ], + "box_pose": [ + 16.006105422973633, + 0.28402984142303467, + 0.03785788267850876, + 0.04823038727045059, + 0.7067841291427612, + 0.6736169457435608, + -0.21064257621765137 + ], + "box_yaw_rad": -2.9081114733607976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008396890675903046, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028587610605095917 + } + }, + { + "simulation_time_ns": 9060000000, + "phase": "straight_push", + "intended_face_center": [ + 15.946269245419215, + 0.2524867566863881, + 0.06368324165896483 + ], + "intended_face_normal": [ + -0.9052190559343174, + -0.2110588963709099, + 0.36882590557419626 + ], + "commanded_contact_point": [ + 15.925336723327638, + 0.27753688752851063, + 0.03520423358138289 + ], + "centerline_face_intersection": [ + 15.930865877093225, + 0.2687837356234696, + 0.03520423358138289 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.922447204589844, + 0.25987720489501953, + 0.054398313164711 + ], + "box_pose": [ + 16.008899688720703, + 0.28475213050842285, + 0.03816944733262062, + 0.05204298719763756, + 0.7066686749458313, + 0.6732227802276611, + -0.21138113737106323 + ], + "box_yaw_rad": -2.9125271833651203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008753151905041048, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028322237177186 + } + }, + { + "simulation_time_ns": 9080000000, + "phase": "straight_push", + "intended_face_center": [ + 15.948709520111503, + 0.2544516369467226, + 0.06304038596915104 + ], + "intended_face_normal": [ + -0.9095533830524118, + -0.2011481475944059, + 0.3636647583889143 + ], + "commanded_contact_point": [ + 15.927683715820313, + 0.2790242251068704, + 0.03495989749162376 + ], + "centerline_face_intersection": [ + 15.934047312017523, + 0.2699833543059289, + 0.03495989749162376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.925212860107422, + 0.26279038190841675, + 0.05497920513153076 + ], + "box_pose": [ + 16.0118408203125, + 0.2860301434993744, + 0.03790440410375595, + 0.054116033017635345, + 0.7065474987030029, + 0.674957275390625, + -0.20565690100193024 + ], + "box_yaw_rad": -2.923945267100361, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009040870800941535, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027893094051102325 + } + }, + { + "simulation_time_ns": 9100000000, + "phase": "straight_push", + "intended_face_center": [ + 15.952601513238424, + 0.25691793031420157, + 0.06284439603185352 + ], + "intended_face_normal": [ + -0.9131201512945566, + -0.1872047583545129, + 0.36216858423699083 + ], + "commanded_contact_point": [ + 15.929710273742677, + 0.2806601486073927, + 0.0348794351111332 + ], + "centerline_face_intersection": [ + 15.938546320145482, + 0.2713730044962602, + 0.0348794351111332 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.9293794631958, + 0.2652161717414856, + 0.0549955815076828 + ], + "box_pose": [ + 16.01625633239746, + 0.28752636909484863, + 0.037829022854566574, + 0.059068404138088226, + 0.7059323787689209, + 0.676919162273407, + -0.19987715780735016 + ], + "box_yaw_rad": -2.939378158246808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009287144111132517, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026056970098092057 + } + }, + { + "simulation_time_ns": 9120000000, + "phase": "straight_push", + "intended_face_center": [ + 15.957898888539072, + 0.25995082637824574, + 0.06291957858902891 + ], + "intended_face_normal": [ + -0.9165529925890183, + -0.1682872778014275, + 0.3627813354893963 + ], + "commanded_contact_point": [ + 15.931267623901368, + 0.2824244056452574, + 0.034907303888004476 + ], + "centerline_face_intersection": [ + 15.944425480572276, + 0.27294518136098433, + 0.034907303888004476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.934988975524902, + 0.2681431770324707, + 0.05548979341983795 + ], + "box_pose": [ + 16.022153854370117, + 0.2892368733882904, + 0.03785547614097595, + 0.06655487418174744, + 0.7053417563438416, + 0.6788000464439392, + -0.19311662018299103 + ], + "box_yaw_rad": -2.96000629593039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009479224284273063, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023534483383230624 + } + }, + { + "simulation_time_ns": 9140000000, + "phase": "straight_push", + "intended_face_center": [ + 15.962724989600193, + 0.2630102931152078, + 0.06282733949651437 + ], + "intended_face_normal": [ + -0.9201843906271066, + -0.14891055688162425, + 0.3620590160799324 + ], + "commanded_contact_point": [ + 15.9324959564209, + 0.2841153835144138, + 0.03487083891543601 + ], + "centerline_face_intersection": [ + 15.949864445347824, + 0.2745084685095494, + 0.03487083891543601 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.939966201782227, + 0.27131620049476624, + 0.054997652769088745 + ], + "box_pose": [ + 16.027605056762695, + 0.29093390703201294, + 0.03781870752573013, + 0.07375198602676392, + 0.7045767903327942, + 0.6809285879135132, + -0.1856570839881897 + ], + "box_yaw_rad": -2.981156634353803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00960691500486439, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020903436623529426 + } + }, + { + "simulation_time_ns": 9160000000, + "phase": "straight_push", + "intended_face_center": [ + 15.965741605875289, + 0.26484458117394477, + 0.06274482603661202 + ], + "intended_face_normal": [ + -0.9224021542675729, + -0.1362271035971343, + 0.36140851923343753 + ], + "commanded_contact_point": [ + 15.933730010986329, + 0.28504752597362126, + 0.03483855377373416 + ], + "centerline_face_intersection": [ + 15.953254061577868, + 0.27536339974144347, + 0.03483855377373416 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.94290542602539, + 0.273433119058609, + 0.053651317954063416 + ], + "box_pose": [ + 16.03101921081543, + 0.2918721139431, + 0.037786345928907394, + 0.07838335633277893, + 0.7040285468101501, + 0.6823084950447083, + -0.18070663511753082 + ], + "box_yaw_rad": -2.9949652579040573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00968412623217777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015468750967967395 + } + }, + { + "simulation_time_ns": 9180000000, + "phase": "straight_push", + "intended_face_center": [ + 15.967513662170358, + 0.26539430818002313, + 0.062585990082902 + ], + "intended_face_normal": [ + -0.9235949968152255, + -0.13140285577668998, + 0.3601468107483452 + ], + "commanded_contact_point": [ + 15.935082321166993, + 0.2852886123886055, + 0.034777141036765276 + ], + "centerline_face_intersection": [ + 15.955226338268574, + 0.27554062093767967, + 0.034777141036765276 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.944646835327148, + 0.2739439904689789, + 0.05298098921775818 + ], + "box_pose": [ + 16.032970428466797, + 0.29207974672317505, + 0.03772878274321556, + 0.07982288300991058, + 0.7036909461021423, + 0.6830933690071106, + -0.17841202020645142 + ], + "box_yaw_rad": -3.000267867180484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009747991450925801, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001375004366712928 + } + }, + { + "simulation_time_ns": 9200000000, + "phase": "straight_push", + "intended_face_center": [ + 15.96780053732687, + 0.265397177666513, + 0.06257138052124948 + ], + "intended_face_normal": [ + -0.923649775003561, + -0.1310898197081336, + 0.3601198932451686 + ], + "commanded_contact_point": [ + 15.936323051452638, + 0.2852973434058247, + 0.034764609918570256 + ], + "centerline_face_intersection": [ + 15.95552240131914, + 0.27551931924587036, + 0.034764609918570256 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.943297386169434, + 0.27476850152015686, + 0.05165362358093262 + ], + "box_pose": [ + 16.033266067504883, + 0.292060524225235, + 0.037713587284088135, + 0.07991831749677658, + 0.7037330865859985, + 0.6830700039863586, + -0.17829222977161407 + ], + "box_yaw_rad": -3.000608341984594, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009778024159954341, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012408242830072515 + } + }, + { + "simulation_time_ns": 9220000000, + "phase": "straight_push", + "intended_face_center": [ + 15.96774569081352, + 0.2653763752774722, + 0.062497190985603066 + ], + "intended_face_normal": [ + -0.9239758096454267, + -0.13121535940686968, + 0.359236968624181 + ], + "commanded_contact_point": [ + 15.937993888854981, + 0.2852161794921301, + 0.03475859568469353 + ], + "centerline_face_intersection": [ + 15.955522228127224, + 0.2755082104440758, + 0.03475859568469353 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.93738079071045, + 0.27725958824157715, + 0.050350189208984375 + ], + "box_pose": [ + 16.033233642578125, + 0.2920483946800232, + 0.03770783543586731, + 0.07957656681537628, + 0.7036989331245422, + 0.6832244992256165, + -0.17798779904842377 + ], + "box_yaw_rad": -3.000524247933282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009707969048054288, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016728183933010065 + } + }, + { + "simulation_time_ns": 9240000000, + "phase": "straight_push", + "intended_face_center": [ + 15.967629695732077, + 0.26531427657453466, + 0.062355306599661015 + ], + "intended_face_normal": [ + -0.9246587036516871, + -0.13157288535665224, + 0.3573438910686466 + ], + "commanded_contact_point": [ + 15.9402445602417, + 0.2850118022828883, + 0.03476288587646077 + ], + "centerline_face_intersection": [ + 15.955520681323732, + 0.2754737182195822, + 0.03476288587646077 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.93315601348877, + 0.27972084283828735, + 0.051671773195266724 + ], + "box_pose": [ + 16.033164978027344, + 0.29201093316078186, + 0.0377180390059948, + 0.0788397267460823, + 0.7035149335861206, + 0.6836637258529663, + -0.17735527455806732 + ], + "box_yaw_rad": -3.0002480526859503, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009538084063306083, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022599358708594707 + } + }, + { + "simulation_time_ns": 9260000000, + "phase": "straight_push", + "intended_face_center": [ + 15.967460203874007, + 0.265215084933827, + 0.06215011540188927 + ], + "intended_face_normal": [ + -0.9256677063606631, + -0.13212658586302517, + 0.3545164045553344 + ], + "commanded_contact_point": [ + 15.94265926361084, + 0.2846693845975895, + 0.03477601993739478 + ], + "centerline_face_intersection": [ + 15.955520124614536, + 0.27541728073728705, + 0.03477601993739478 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.933327674865723, + 0.28256678581237793, + 0.054206252098083496 + ], + "box_pose": [ + 16.033065795898438, + 0.2919498085975647, + 0.03774229437112808, + 0.07774388045072556, + 0.7031904458999634, + 0.6843661665916443, + -0.1764144003391266 + ], + "box_yaw_rad": -2.999813812672242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009252103860302448, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024388962125726243 + } + }, + { + "simulation_time_ns": 9280000000, + "phase": "straight_push", + "intended_face_center": [ + 15.967234366036118, + 0.2650755148570305, + 0.06187716047288198 + ], + "intended_face_normal": [ + -0.9270045899764128, + -0.13293238061214563, + 0.35070052994515954 + ], + "commanded_contact_point": [ + 15.944894676208497, + 0.28416657980138144, + 0.03479770896425883 + ], + "centerline_face_intersection": [ + 15.955517813118346, + 0.2753399303549921, + 0.03479770896425883 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.937183380126953, + 0.2859762907028198, + 0.060785114765167236 + ], + "box_pose": [ + 16.03293228149414, + 0.29186561703681946, + 0.03778044506907463, + 0.07624971121549606, + 0.702720582485199, + 0.6853364706039429, + -0.17516714334487915 + ], + "box_yaw_rad": -2.999163721478445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00882664944638934, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002291364780809989 + } + }, + { + "simulation_time_ns": 9300000000, + "phase": "straight_push", + "intended_face_center": [ + 15.966949353426092, + 0.2648838344979975, + 0.06152500162540779 + ], + "intended_face_normal": [ + -0.9286913164356747, + -0.1341368318919578, + 0.34574529442677715 + ], + "commanded_contact_point": [ + 15.947115783691407, + 0.2834455001412995, + 0.034828170182841636 + ], + "centerline_face_intersection": [ + 15.955514326259124, + 0.2752412520796208, + 0.034828170182841636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.941766738891602, + 0.2908012866973877, + 0.06684845685958862 + ], + "box_pose": [ + 16.032760620117188, + 0.29175686836242676, + 0.03783326596021652, + 0.07425326108932495, + 0.702089786529541, + 0.6865971088409424, + -0.1736110895872116 + ], + "box_yaw_rad": -2.9981482688156436, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008204248061678663, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002335423347631203 + } + }, + { + "simulation_time_ns": 9320000000, + "phase": "straight_push", + "intended_face_center": [ + 15.967686797958, + 0.26559407012776304, + 0.06201467220830319 + ], + "intended_face_normal": [ + -0.9266393149372689, + -0.12899724875959695, + 0.35312804829052347 + ], + "commanded_contact_point": [ + 15.949400787353516, + 0.2830025653013022, + 0.03474777910861699 + ], + "centerline_face_intersection": [ + 15.955909205681417, + 0.2755546331844472, + 0.03474777910861699 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.943808555603027, + 0.29446253180503845, + 0.0659433901309967 + ], + "box_pose": [ + 16.033422470092773, + 0.2921065092086792, + 0.037714600563049316, + 0.07846932858228683, + 0.7029920220375061, + 0.6849247217178345, + -0.17470815777778625 + ], + "box_yaw_rad": -3.003271832267067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007447932116855012, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002328925875409452 + } + }, + { + "simulation_time_ns": 9340000000, + "phase": "straight_push", + "intended_face_center": [ + 15.968101034758032, + 0.265820099030365, + 0.0625053740725825 + ], + "intended_face_normal": [ + -0.9244285367048874, + -0.12771247634179517, + 0.35933450299946124 + ], + "commanded_contact_point": [ + 15.951782112121583, + 0.2824938016139538, + 0.03475924762426855 + ], + "centerline_face_intersection": [ + 15.955953456160398, + 0.27568145798150384, + 0.03475924762426855 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.941713333129883, + 0.29157117009162903, + 0.056172728538513184 + ], + "box_pose": [ + 16.03368377685547, + 0.2922440469264984, + 0.03770095854997635, + 0.08090120553970337, + 0.7037108540534973, + 0.6833778619766235, + -0.17675037682056427 + ], + "box_yaw_rad": -3.004308769751778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006812343632450004, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002435093359077241 + } + }, + { + "simulation_time_ns": 9360000000, + "phase": "straight_push", + "intended_face_center": [ + 15.9680448598927, + 0.2657935116168498, + 0.06243386508773682 + ], + "intended_face_normal": [ + -0.9247460738749069, + -0.127873499787567, + 0.3584589696003757 + ], + "commanded_contact_point": [ + 15.954484825134278, + 0.2821728122731046, + 0.03475534322567321 + ], + "centerline_face_intersection": [ + 15.955950481547871, + 0.275667304043901, + 0.03475534322567321 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.938924789428711, + 0.28333818912506104, + 0.04356148838996887 + ], + "box_pose": [ + 16.033649444580078, + 0.2922285795211792, + 0.03769917041063309, + 0.0805581659078598, + 0.703639566898346, + 0.6835674047470093, + -0.17645759880542755 + ], + "box_yaw_rad": -3.0041844560272395, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006505508229203602, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027217103134352465 + } + }, + { + "simulation_time_ns": 9380000000, + "phase": "straight_push", + "intended_face_center": [ + 15.967932705859882, + 0.2657258131836137, + 0.06229253390098022 + ], + "intended_face_normal": [ + -0.9254292772774946, + -0.12826678311752815, + 0.3565507890262998 + ], + "commanded_contact_point": [ + 15.957587127685548, + 0.2821036193029504, + 0.034761352800943585 + ], + "centerline_face_intersection": [ + 15.955952724842955, + 0.275629973106444, + 0.034761352800943585 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.939558029174805, + 0.2764265239238739, + 0.03371948003768921 + ], + "box_pose": [ + 16.033584594726562, + 0.29218798875808716, + 0.03771277517080307, + 0.07981065660715103, + 0.7034218311309814, + 0.6840412020683289, + -0.17582851648330688 + ], + "box_yaw_rad": -3.003867639842106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006473646196506406, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031030799057915233 + } + }, + { + "simulation_time_ns": 9400000000, + "phase": "straight_push", + "intended_face_center": [ + 15.968731576247448, + 0.26484429630794765, + 0.06127553768554771 + ], + "intended_face_normal": [ + -0.9304090591250826, + -0.1347314504573962, + 0.34086137000238637 + ], + "commanded_contact_point": [ + 15.960992698669434, + 0.28178693398561283, + 0.03495582000053063 + ], + "centerline_face_intersection": [ + 15.95758268789793, + 0.27524762754875887, + 0.03495582000053063 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.942962646484375, + 0.2736061215400696, + 0.0269356369972229 + ], + "box_pose": [ + 16.034658432006836, + 0.29175829887390137, + 0.037954576313495636, + 0.07235624641180038, + 0.702041745185852, + 0.6872713565826416, + -0.17193038761615753 + ], + "box_yaw_rad": -2.997783467027461, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006539306436853977, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034257876186686745 + } + }, + { + "simulation_time_ns": 9420000000, + "phase": "straight_push", + "intended_face_center": [ + 15.973248174343022, + 0.26445706951376746, + 0.06146027534601973 + ], + "intended_face_normal": [ + -0.9296709307310635, + -0.1341212827528837, + 0.3431083153627208 + ], + "commanded_contact_point": [ + 15.964193229675294, + 0.28140995132447155, + 0.03496705906966258 + ], + "centerline_face_intersection": [ + 15.961976399256493, + 0.2748132864637361, + 0.03496705906966258 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.945104598999023, + 0.2733793258666992, + 0.023859798908233643 + ], + "box_pose": [ + 16.039125442504883, + 0.29132917523384094, + 0.037951648235321045, + 0.0732647106051445, + 0.7024146914482117, + 0.6866214871406555, + -0.17261745035648346 + ], + "box_yaw_rad": -2.998313741943398, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006596664860735453, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003222676056159436 + } + }, + { + "simulation_time_ns": 9440000000, + "phase": "straight_push", + "intended_face_center": [ + 15.978155997683483, + 0.2639981331337529, + 0.06363203015796606 + ], + "intended_face_normal": [ + -0.9205749281828162, + -0.1332459417423859, + 0.3671330091958733 + ], + "commanded_contact_point": [ + 15.966485862731934, + 0.28102044013755223, + 0.035283739605655846 + ], + "centerline_face_intersection": [ + 15.965361207455485, + 0.2742867603528164, + 0.035283739605655846 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.950793266296387, + 0.2708613872528076, + 0.027745813131332397 + ], + "box_pose": [ + 16.04334831237793, + 0.2908160090446472, + 0.03822847455739975, + 0.08141499012708664, + 0.7041836977005005, + 0.6814783811569214, + -0.18188996613025665 + ], + "box_yaw_rad": -2.997848837427374, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006733679784735804, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002346949479433593 + } + }, + { + "simulation_time_ns": 9460000000, + "phase": "straight_push", + "intended_face_center": [ + 15.985935215375365, + 0.26138952972231977, + 0.0660077615386511 + ], + "intended_face_normal": [ + -0.9101664332126589, + -0.1493668042172942, + 0.38637577544628954 + ], + "commanded_contact_point": [ + 15.968812828063966, + 0.2799905409121962, + 0.036173634749790566 + ], + "centerline_face_intersection": [ + 15.971377524970416, + 0.27292293439790644, + 0.036173634749790566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.959017753601074, + 0.2645747661590576, + 0.039229899644851685 + ], + "box_pose": [ + 16.05006980895996, + 0.2893480360507965, + 0.039181385189294815, + 0.08198034763336182, + 0.704273521900177, + 0.6775559186935425, + -0.1954377293586731 + ], + "box_yaw_rad": -2.9789332220725804, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007067606514289757, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026958066396570012 + } + }, + { + "simulation_time_ns": 9480000000, + "phase": "straight_push", + "intended_face_center": [ + 15.991452863251604, + 0.25866271799276774, + 0.06452489852754262 + ], + "intended_face_normal": [ + -0.911615360710357, + -0.1693493453516055, + 0.37453611263350695 + ], + "commanded_contact_point": [ + 15.97138298034668, + 0.27923076191193985, + 0.03560497501937668 + ], + "centerline_face_intersection": [ + 15.977141891897583, + 0.2717390808547885, + 0.03560497501937668 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.966218948364258, + 0.2611372172832489, + 0.0499773770570755 + ], + "box_pose": [ + 16.05531883239746, + 0.2880244255065918, + 0.03857102245092392, + 0.07009944319725037, + 0.705521821975708, + 0.6767914295196533, + -0.19818714261054993 + ], + "box_yaw_rad": -2.957917998322122, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00749168105715134, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002739766554757774 + } + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/raw-validation.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/raw-validation.json new file mode 100644 index 0000000000000000000000000000000000000000..71557664e3fb2a456537a12355cd067e8deab87f --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/raw-validation.json @@ -0,0 +1,12 @@ +{ + "contract_valid": true, + "diagnostic_only": false, + "raw_actions": 475, + "raw_boundaries": 476, + "physics_steps": 4750, + "controller_steps": 950, + "sensor_updates": 951, + "sensor_rate": "observed timestamps, not assumed 200Hz", + "video_validation": "passed", + "published": false +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/review/terminal_pre_reset_ego.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/review/terminal_pre_reset_ego.png new file mode 100644 index 0000000000000000000000000000000000000000..1e8fa4aa435b4d879fd42bd1a02d4ed487770a11 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/review/terminal_pre_reset_ego.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ca9b77de5eca999293248e60c51ba9231e0f81ad90f1bd689134a69818bc56e +size 299754 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/review/terminal_pre_reset_task_centric.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/review/terminal_pre_reset_task_centric.png new file mode 100644 index 0000000000000000000000000000000000000000..0d728a4d7c7c451946fede38e6162fc5dcbf5c04 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/review/terminal_pre_reset_task_centric.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff577a27381b25fb060cbdb8606b1074a06c0d733cbba683f8b6811cfded7b04 +size 634359 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/camera_index.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/camera_index.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d9e9fa3d9f5e097cf9cb357ffbc7e288bc8a975d --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/camera_index.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa683ee76e1755a1a0ae01231cc49546b9db29d1ed19d5f39d82983e07ea3508 +size 12504 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/contact_sensor.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/contact_sensor.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d5950c2164fb84b59049f9166cf42760a26bdd61 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/contact_sensor.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5116418ce6fb57f07566485272c624212c464fba470eff277bc704b13f5cb167 +size 76205 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/controller_100hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/controller_100hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..47e8d89ecebbfda16298889312e94d94970191ba --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/controller_100hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2238a070e37618b4fbdab92981f45b416f9fe8ce72a2b293a34a4f9b226e84d +size 347907 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/physics_500hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/physics_500hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..11e2a0e555f2310d39d7ff8b13ef104ae23a1a12 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/physics_500hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53c5ed9ca0c6254e52b93532b55329f6d81f9edafa2899d18e4edadc867f0366 +size 1896690 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/policy_50hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/policy_50hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bb60f64cf9423752029058fa24d2be77487bb841 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/streams/policy_50hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4da32d342403bec4a0fddce6d6fd4d56c03fccab5b223b0507ec75f18198c68 +size 198291 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/summary.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4bd034b415e9a63137aa43456f862328879c6c4a --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0082/summary.json @@ -0,0 +1,111 @@ +{ + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 475, + "n_boundaries": 476, + "initial_geometry": { + "center": [ + 15.620586320792945, + 0.14898140353685274, + 0.13983054459767388 + ], + "face_center": [ + 15.543371006881507, + 0.14898140385067243, + 0.13983054446862794 + ], + "face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "footprint_xy": [ + [ + 15.54337100645622, + 0.09366304390176888 + ], + [ + 15.697801635129672, + 0.09366304390176888 + ], + [ + 15.697801635129672, + 0.20429976317193663 + ], + [ + 15.54337100645622, + 0.20429976317193663 + ] + ], + "projected_box_corners": [ + [ + 15.697801635129672, + 0.20429976247295495 + ], + [ + 15.697801634728746, + 0.20429976254429727 + ], + [ + 15.69780163468002, + 0.09366304390176888 + ], + [ + 15.697801634279095, + 0.09366304397311119 + ], + [ + 15.543371007306796, + 0.20429976310059433 + ], + [ + 15.54337100690587, + 0.20429976317193663 + ], + [ + 15.543371006857145, + 0.09366304452940825 + ], + [ + 15.54337100645622, + 0.09366304460075056 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.177821159362793, + 0.1420000046491623, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0082", + "seed": 202610070082, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.007296559812486442, + "approach_continuity_verified": true +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/cameras/ego.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/cameras/ego.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b171a609a07b154369d90675002ea3ceacd6c557 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/cameras/ego.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e6154a615e501c5129cbf95725f9df5e67c9e38a49ccd22f31d40a3167d354e +size 2568628 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/cameras/observer.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/cameras/observer.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..856a64fea94d56ebd1b805f3a558ed84d3f945be --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/cameras/observer.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f768234091f80c19c0f755597b7664f926d54f8fc1d56ed7a999a8238800bfc +size 936007 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/cameras/task_centric.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/cameras/task_centric.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..be3c90136818134b1c3a00aba4869053be63efdd --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/cameras/task_centric.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15163da9964ad47c8b822ea1942d04485d2ac251a232b89d210ec98d3a65c091 +size 3417920 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/capture.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/capture.json new file mode 100644 index 0000000000000000000000000000000000000000..cd9fa02794b64304c8da054f28c7d0a9687f2060 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/capture.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f1577591a6156238f3c18ea95ac2a2eb1484b4b0a1d54a2bb2a95e0e61b107f +size 19882633 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/manifest.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6fd021187d94f75f9461d55819f99cb11cfe1ae3 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/manifest.json @@ -0,0 +1,289 @@ +{ + "dataset_schema_version": "wam-quadruped-v2.1.0", + "profile_hash": "905d76c38f7c95a8bad986b945d1535f9ef0668476cc9f825005fc8d4da4603e", + "diagnostic_only": false, + "episode_uid": "push_box__ep0083", + "n_actions": 459, + "n_boundaries": 460, + "reset_epoch": 0, + "streams": { + "policy": "streams/policy_50hz.parquet", + "controller": "streams/controller_100hz.parquet", + "physics": "streams/physics_500hz.parquet", + "contact_sensor": "streams/contact_sensor.parquet", + "camera_index": "streams/camera_index.parquet" + }, + "stream_sha256": { + "policy": "0aa4132453d7ac57c78926baa642e1b536007bdbbea247d590f621f051345f10", + "controller": "8690ef06c70c9a608e340e380800b11b036c75b7e7167bef2fb47678395dc391", + "physics": "33db3cd7f7b1c768ed0bd5bede513f1e857d961910bd7c3474e236ced843762e", + "contact_sensor": "287e6e3408b427a94987760ada2ed297b5b1b30116b6d982572613b5876806d9", + "camera_index": "a1fb09138182deedf3f17a523f564a227856c19bc00ffad015417ab62883c09c" + }, + "videos": { + "observation.images.ego": { + "path": "cameras/ego.mp4", + "sha256": "3e6154a615e501c5129cbf95725f9df5e67c9e38a49ccd22f31d40a3167d354e", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0083__a05/raw/push_box__ep0083/cameras/ego.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + }, + "observation.images.task_centric": { + "path": "cameras/task_centric.mp4", + "sha256": "15163da9964ad47c8b822ea1942d04485d2ac251a232b89d210ec98d3a65c091", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0083__a05/raw/push_box__ep0083/cameras/task_centric.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + } + }, + "observer": { + "present": true, + "source_key": "approved_fixed_observer", + "canonical_key": "monitor.images.observer", + "reason": "monitor only", + "path": "cameras/observer.mp4", + "crf": 23, + "sha256": "4f768234091f80c19c0f755597b7664f926d54f8fc1d56ed7a999a8238800bfc" + }, + "terminal": { + "simulation_time_ns": 9180000000, + "state": { + "observation.state.base.position": [ + 0.5607895851135254, + -14.911407470703125, + 0.28578662872314453 + ], + "observation.state.base.orientation": [ + -0.0018164018401876092, + -0.02851184271275997, + -0.016797274351119995, + 0.99945068359375 + ], + "observation.state.base.linear_velocity": [ + 0.0600048303604126, + 0.07613179087638855, + -0.10800028592348099 + ], + "observation.state.base.angular_velocity": [ + 0.16061820089817047, + -0.4108511805534363, + 0.0687265619635582 + ], + "observation.state.projected_gravity": [ + -0.05705338343977928, + 0.0026729656383395195, + -0.9983675479888916 + ], + "observation.state.joint_position": [ + -0.2818361520767212, + 0.5680016875267029, + 0.04638615995645523, + -0.05223069339990616, + 0.1930822879076004, + 1.055838942527771, + 0.9302260279655457, + 1.1189683675765991, + -1.6470692157745361, + -1.8018300533294678, + -1.853724718093872, + -1.8291085958480835 + ], + "observation.state.joint_velocity": [ + -0.13150271773338318, + -0.3275079131126404, + -0.37700191140174866, + -0.44701144099235535, + 0.7816123366355896, + 0.7948927879333496, + 1.203616976737976, + 1.226105809211731, + -0.9125421047210693, + -0.31304800510406494, + -1.193222999572754, + -0.9102185964584351 + ], + "observation.state.fl_ee_position": [ + 0.377815842628479, + 0.07257437705993652, + 0.05557352304458618 + ], + "observation.state.fl_ee_velocity": [ + -0.06979287415742874, + 0.02423136681318283, + 0.10234475880861282 + ], + "observation.state.fl_contact_force": [ + 0.0, + 0.0, + 0.0 + ], + "task.object.position": [ + 1.0990897417068481, + -14.86051082611084, + 0.041750986129045486 + ], + "task.object.orientation": [ + 0.37043461203575134, + -0.5926482081413269, + 0.47107329964637756, + -0.5381786823272705 + ], + "task.object.linear_velocity": [ + -0.0001871192071121186, + 0.0008631742675788701, + 0.0008348638075403869 + ], + "task.object.angular_velocity": [ + -0.024358462542295456, + -0.003116040723398328, + 0.0008175639668479562 + ], + "observation.state.foot_contact": [ + false, + true, + true, + true + ], + "task.goal.position": [ + 1.1458927306978028, + -14.838643538791953, + 0.0 + ], + "task.progress": [ + 0.48153595603246613 + ], + "task.success": [ + true + ], + "task.contact.fl_object": [ + false + ], + "task.contact.body_object": [ + false + ] + } + }, + "extensions": { + "task_profile_version": "push-box-v2-2", + "contact_diagnostics": { + "path": "metadata/contact_provenance.json", + "sha256": "11da04627466fe237dd8fdb493c4a2d98215a9a5f61b970d79e685175c7f66a9" + }, + "provenance": { + "path": "metadata/provenance.json", + "sha256": "4d63034145939b1ea42831b219933e3ca00b4bdfd8a0cfec3617908f8af68f46" + }, + "origin": "real_isaac_acquisition", + "purpose": "demonstration", + "task_review": { + "path": "metadata/task_review.json", + "sha256": "5fcaf183013ecf5b7744cd4b5ebe3ffcf55f954bcb095b7833d35311b397683b" + } + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/metadata/contact_provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/metadata/contact_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..4c85ebebd1a3f94420f0caa03c1a807fe3e4f5e5 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/metadata/contact_provenance.json @@ -0,0 +1,3688 @@ +{ + "version": "push-box-contact-diagnostic-v1", + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns_are_invalid_placeholders": true, + "rows": [ + { + "simulation_time_ns": 0, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 20000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 40000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 60000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 80000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/metadata/provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/metadata/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..012a972b1782fa99306f250ff69fbb00222ab939 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/metadata/provenance.json @@ -0,0 +1,317 @@ +{ + "work_id": "QLM-DATA-001", + "scenario": { + "id": "push_box__ep0083", + "seed": 202610070083, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "task_profile": { + "task_profile_version": "push-box-v2-2", + "asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a", + "scale": 1, + "initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command", + "initial_floor_clearance": 0.02, + "goal_x": [ + 0.9458927306978028, + 1.3458927306978028 + ], + "goal_y": [ + -15.088643538791953, + -14.588643538791953 + ], + "goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal", + "success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks", + "fall": { + "base_height_lt": 0.1, + "projected_gravity_error_gt": 0.75 + }, + "contact": { + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact" + }, + "observer": { + "position": [ + 1.8, + 2.0, + 1.5 + ], + "look_at": [ + 0.65, + 0.1, + 0.2 + ], + "fps": 25, + "model_input": false + }, + "policy_rgb_fps": 50, + "policy_fps": 50, + "controller_fps": 100, + "physics_fps": 500, + "force_zero": true, + "success_policy_ticks": 3, + "initial_box_yaw_rad": 0.0, + "push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)", + "robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment", + "expert": { + "settle_seconds": 2.1, + "normal_approach_seconds": 1.0, + "standoff_m": 0.1, + "penetration_m": 0.015, + "align_base_speed": 0.14, + "push_base_speed": 0.12, + "face_distance_for_foot_approach": 0.405, + "approach_foot_x": 0.28, + "push_foot_x": 0.38, + "motion": "coordinated", + "transition_s": 0.45, + "leg_finish_max_x": 0.4, + "lateral_tracking_gain": 2.0, + "lateral_tracking_limit_m": 0.015, + "corner_recovery": false + }, + "initial_face_distance_x": 0.54, + "asset_id": "cardboard-box-01", + "source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00", + "goal_color": [ + 0.05, + 0.8, + 0.15 + ], + "scaleup_recovery": false, + "recovery_progress_m": 0.12, + "episode_scenario": { + "work_id": "QLM-DATA-001", + "authorization": "qlm-scaleup-push-v1", + "selected_face": "local_y_min" + }, + "instruction": "Push the box into the target area.", + "scaleup_metadata": { + "episode_uid": "push_box__ep0083", + "task_id": "push_box", + "split": "train", + "difficulty": "randomized", + "trajectory_type": "normal", + "recovery_type": null, + "appearance_preset": "ap_03", + "asset_id": "cardboard-box-01", + "initial_condition_id": "ic_0083", + "goal_condition_id": "gc_0083", + "environment_seed": 202610070083 + }, + "scaleup_motion_revision": "continuous-v2", + "canonical_goal_position": [ + 1.1458927306978028, + -14.838643538791953, + 0.0 + ], + "environment_origin": [ + -0.0, + -15.0, + 0.0 + ], + "initial_center_x_world": 0.6011076386596759 + }, + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706", + "capture_sha256": "6f1577591a6156238f3c18ea95ac2a2eb1484b4b0a1d54a2bb2a95e0e61b107f", + "terminal_gate": { + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 459, + "n_boundaries": 460, + "initial_geometry": { + "center": [ + 0.6011076166396196, + -14.854392126136387, + 0.13983054458908187 + ], + "face_center": [ + 0.5457892592474938, + -14.854392118703876, + 0.13983054449001223 + ], + "face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "footprint_xy": [ + [ + 0.5457892486581172, + -14.931607444863223 + ], + [ + 0.6564259846211221, + -14.931607444863223 + ], + [ + 0.6564259846211221, + -14.777176807409553 + ], + [ + 0.5457892486581172, + -14.777176807409553 + ] + ], + "projected_box_corners": [ + [ + 0.5457892698368704, + -14.777176807409553 + ], + [ + 0.5457892694072397, + -14.777176807461261 + ], + [ + 0.6564259846211221, + -14.777176822274576 + ], + [ + 0.6564259841914915, + -14.777176822326284 + ], + [ + 0.5457892490877478, + -14.931607429946492 + ], + [ + 0.5457892486581172, + -14.9316074299982 + ], + [ + 0.6564259638719996, + -14.931607444811515 + ], + [ + 0.6564259634423689, + -14.931607444863223 + ] + ], + "yaw_rad": -1.5707964611537577, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17782151699066162, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0083", + "seed": 202610070083, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.004470327843510972, + "approach_continuity_verified": true + }, + "collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench", + "fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4", + "initial_geometry": { + "center": [ + 0.6011076166396196, + -14.854392126136387, + 0.13983054458908187 + ], + "face_center": [ + 0.5457892592474938, + -14.854392118703876, + 0.13983054449001223 + ], + "face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "footprint_xy": [ + [ + 0.5457892486581172, + -14.931607444863223 + ], + [ + 0.6564259846211221, + -14.931607444863223 + ], + [ + 0.6564259846211221, + -14.777176807409553 + ], + [ + 0.5457892486581172, + -14.777176807409553 + ] + ], + "projected_box_corners": [ + [ + 0.5457892698368704, + -14.777176807409553 + ], + [ + 0.5457892694072397, + -14.777176807461261 + ], + [ + 0.6564259846211221, + -14.777176822274576 + ], + [ + 0.6564259841914915, + -14.777176822326284 + ], + [ + 0.5457892490877478, + -14.931607429946492 + ], + [ + 0.5457892486581172, + -14.9316074299982 + ], + [ + 0.6564259638719996, + -14.931607444811515 + ], + [ + 0.6564259634423689, + -14.931607444863223 + ] + ], + "yaw_rad": -1.5707964611537577, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17782151699066162, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/metadata/task_review.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/metadata/task_review.json new file mode 100644 index 0000000000000000000000000000000000000000..9d44cd62404689ae3b73a4f8e18083847bd72a34 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/metadata/task_review.json @@ -0,0 +1,81788 @@ +{ + "boundaries": [ + { + "simulation_time_ns": 0, + "center": [ + 0.6011076166396196, + -14.854392126136387, + 0.13983054458908187 + ], + "face_center": [ + 0.5457892592474938, + -14.854392118703876, + 0.13983054449001223 + ], + "face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "footprint_xy": [ + [ + 0.5457892486581172, + -14.931607444863223 + ], + [ + 0.6564259846211221, + -14.931607444863223 + ], + [ + 0.6564259846211221, + -14.777176807409553 + ], + [ + 0.5457892486581172, + -14.777176807409553 + ] + ], + "projected_box_corners": [ + [ + 0.5457892698368704, + -14.777176807409553 + ], + [ + 0.5457892694072397, + -14.777176807461261 + ], + [ + 0.6564259846211221, + -14.777176822274576 + ], + [ + 0.6564259841914915, + -14.777176822326284 + ], + [ + 0.5457892490877478, + -14.931607429946492 + ], + [ + 0.5457892486581172, + -14.9316074299982 + ], + [ + 0.6564259638719996, + -14.931607444811515 + ], + [ + 0.6564259634423689, + -14.931607444863223 + ] + ], + "yaw_rad": -1.5707964611537577, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17782151699066162, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + { + "simulation_time_ns": 20000000, + "center": [ + 0.6011076167581881, + -14.854392126485939, + 0.13767234981316268 + ], + "face_center": [ + 0.5457892640290516, + -14.854392119053427, + 0.13767234975590475 + ], + "face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "footprint_xy": [ + [ + 0.5457892535303364, + -14.931607438794671 + ], + [ + 0.6564259799860399, + -14.931607438794671 + ], + [ + 0.6564259799860399, + -14.777176814177206 + ], + [ + 0.5457892535303364, + -14.777176814177206 + ] + ], + "projected_box_corners": [ + [ + 0.5457892745277668, + -14.777176814177206 + ], + [ + 0.545789274279459, + -14.777176814410238 + ], + [ + 0.6564259799860399, + -14.77717682904223 + ], + [ + 0.656425979737732, + -14.77717682927526 + ], + [ + 0.5457892537786443, + -14.931607423696617 + ], + [ + 0.5457892535303364, + -14.931607423929648 + ], + [ + 0.6564259592369174, + -14.93160743856164 + ], + [ + 0.6564259589886094, + -14.931607438794671 + ] + ], + "yaw_rad": -1.570796461153769, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.21146400272846222, + -14.846510887145996, + 0.06415840983390808 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5457892592474938, + -14.854392118703876, + 0.13983054449001223 + ], + "intended_face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "commanded_contact_point": [ + 0.19339999556541443, + -14.857999801635742, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5457892554605593, + -14.854392126136387, + 0.13983054458908187 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17782151699066162, + -14.857999801635742, + 0.08869010210037231 + ], + "box_pose": [ + 0.6026684045791626, + -14.85869312286377, + 0.15702493488788605, + -7.093858833684408e-10, + 5.569715799680353e-10, + 0.7071068286895752, + -0.7071067094802856 + ], + "box_yaw_rad": -1.5707964611537577, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 40000000, + "center": [ + 0.6011076167581881, + -14.854392126485939, + 0.13159014284866988 + ], + "face_center": [ + 0.5457892640290516, + -14.854392119053427, + 0.13159014279141196 + ], + "face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "footprint_xy": [ + [ + 0.5457892535303364, + -14.931607438794671 + ], + [ + 0.6564259799860399, + -14.931607438794671 + ], + [ + 0.6564259799860399, + -14.777176814177206 + ], + [ + 0.5457892535303364, + -14.777176814177206 + ] + ], + "projected_box_corners": [ + [ + 0.5457892745277668, + -14.777176814177206 + ], + [ + 0.545789274279459, + -14.777176814410238 + ], + [ + 0.6564259799860399, + -14.77717682904223 + ], + [ + 0.656425979737732, + -14.77717682927526 + ], + [ + 0.5457892537786443, + -14.931607423696617 + ], + [ + 0.5457892535303364, + -14.931607423929648 + ], + [ + 0.6564259592369174, + -14.93160743856164 + ], + [ + 0.6564259589886094, + -14.931607438794671 + ] + ], + "yaw_rad": -1.570796461153769, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.22185350954532623, + -14.862276077270508, + 0.05387318134307861 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5457892640290516, + -14.854392119053427, + 0.13767234975590475 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 0.1902557760477066, + -14.858062744140625, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5457892509161378, + -14.854392126485939, + 0.13767234981316268 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21146400272846222, + -14.846510887145996, + 0.06415840983390808 + ], + "box_pose": [ + 0.6026684045791626, + -14.85869312286377, + 0.15486674010753632, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031448494613896373 + } + } + }, + { + "simulation_time_ns": 60000000, + "center": [ + 0.6011076167581881, + -14.854392126485939, + 0.12158395350235641 + ], + "face_center": [ + 0.5457892640290516, + -14.854392119053427, + 0.12158395344509847 + ], + "face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "footprint_xy": [ + [ + 0.5457892535303364, + -14.931607438794671 + ], + [ + 0.6564259799860399, + -14.931607438794671 + ], + [ + 0.6564259799860399, + -14.777176814177206 + ], + [ + 0.5457892535303364, + -14.777176814177206 + ] + ], + "projected_box_corners": [ + [ + 0.5457892745277668, + -14.777176814177206 + ], + [ + 0.545789274279459, + -14.777176814410238 + ], + [ + 0.6564259799860399, + -14.77717682904223 + ], + [ + 0.656425979737732, + -14.77717682927526 + ], + [ + 0.5457892537786443, + -14.931607423696617 + ], + [ + 0.5457892535303364, + -14.931607423929648 + ], + [ + 0.6564259592369174, + -14.93160743856164 + ], + [ + 0.6564259589886094, + -14.931607438794671 + ] + ], + "yaw_rad": -1.570796461153769, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1923995018005371, + -14.89034366607666, + 0.038210928440093994 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5457892640290516, + -14.854392119053427, + 0.13159014279141196 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 0.1892397403717041, + -14.858217239379883, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5457892509161378, + -14.854392126485939, + 0.13159014284866988 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.22185350954532623, + -14.862276077270508, + 0.05387318134307861 + ], + "box_pose": [ + 0.6026684045791626, + -14.85869312286377, + 0.14878453314304352, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010277145884198442 + } + } + }, + { + "simulation_time_ns": 80000000, + "center": [ + 0.6030266681735436, + -14.852554087886665, + 0.11921363364280166 + ], + "face_center": [ + 0.5477148239745601, + -14.852584804509107, + 0.12006203740921162 + ], + "face_normal": [ + -0.9998822255993535, + -0.0005552699472355371, + 0.015336748547257164 + ], + "footprint_xy": [ + [ + 0.5458148930572086, + -14.931687858062414 + ], + [ + 0.6602384432898784, + -14.931687858062414 + ], + [ + 0.6602384432898784, + -14.773420317710917 + ], + [ + 0.5458148930572086, + -14.773420317710917 + ] + ], + "projected_box_corners": [ + [ + 0.5458148930572086, + -14.777276577522755 + ], + [ + 0.5494915592346368, + -14.7734817509558 + ], + [ + 0.6564385814551754, + -14.777215144277873 + ], + [ + 0.6601152476326037, + -14.773420317710917 + ], + [ + 0.5459380887144833, + -14.931687858062414 + ], + [ + 0.5496147548919116, + -14.927893031495458 + ], + [ + 0.6565617771124502, + -14.93162642481753 + ], + [ + 0.6602384432898784, + -14.927831598250574 + ] + ], + "yaw_rad": -1.569998485920162, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1708497852087021, + -14.907748222351074, + 0.027197986841201782 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5457892640290516, + -14.854392119053427, + 0.12158395344509847 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 0.19042348861694336, + -14.858230590820312, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5457892509161378, + -14.854392126485939, + 0.12158395350235641 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1923995018005371, + -14.89034366607666, + 0.038210928440093994 + ], + "box_pose": [ + 0.6026684045791626, + -14.85869312286377, + 0.13877834379673004, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011838235379829408 + } + } + }, + { + "simulation_time_ns": 100000000, + "center": [ + 0.6034768872894125, + -14.851756944889077, + 0.11948054135773935 + ], + "face_center": [ + 0.5481671329345549, + -14.852042095240481, + 0.12041325504416579 + ], + "face_normal": [ + -0.9998444471085811, + -0.005154714548409767, + 0.016860834241505834 + ], + "footprint_xy": [ + [ + 0.5457316454475672, + -14.93199111576171 + ], + [ + 0.6612221291312577, + -14.93199111576171 + ], + [ + 0.6612221291312577, + -14.771522774016445 + ], + [ + 0.5457316454475672, + -14.771522774016445 + ] + ], + "projected_box_corners": [ + [ + 0.5457316454475672, + -14.777603300256416 + ], + [ + 0.549747088363219, + -14.772093074719253 + ], + [ + 0.6563511541572824, + -14.77703299955361 + ], + [ + 0.6603665970729341, + -14.771522774016445 + ], + [ + 0.5465871775058908, + -14.93199111576171 + ], + [ + 0.5506026204215425, + -14.926480890224544 + ], + [ + 0.657206686215606, + -14.931420815058903 + ], + [ + 0.6612221291312577, + -14.925910589521738 + ] + ], + "yaw_rad": -1.5652549354709793, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1668976992368698, + -14.909002304077148, + 0.023161649703979492 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5477148239745601, + -14.852584804509107, + 0.12006203740921162 + ], + "intended_face_normal": [ + -0.9998822255993535, + -0.0005552699472355371, + 0.015336748547257164 + ], + "commanded_contact_point": [ + 0.19148902595043182, + -14.858171463012695, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5477017930339401, + -14.852554087886665, + 0.11921363364280166 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1708497852087021, + -14.907748222351074, + 0.027197986841201782 + ], + "box_pose": [ + 0.6048542261123657, + -14.856581687927246, + 0.13644790649414062, + 0.011012021452188492, + 0.0001704270689515397, + 0.7068246603012085, + -0.7073030471801758 + ], + "box_yaw_rad": -1.569998485920162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010671766053649539 + } + } + }, + { + "simulation_time_ns": 120000000, + "center": [ + 0.6029437455538535, + -14.851791119002867, + 0.11919957087899906 + ], + "face_center": [ + 0.5476311681050136, + -14.85236128829999, + 0.11975984608029464 + ], + "face_normal": [ + -0.9998954806898156, + -0.010307053652486853, + 0.010128196290186797 + ], + "footprint_xy": [ + [ + 0.5456312806047829, + -14.93228261009508 + ], + [ + 0.6602562105029243, + -14.93228261009508 + ], + [ + 0.6602562105029243, + -14.771299627910652 + ], + [ + 0.5456312806047829, + -14.771299627910652 + ] + ], + "projected_box_corners": [ + [ + 0.5456312806047829, + -14.77790021097954 + ], + [ + 0.5480042207750084, + -14.772439966504901 + ], + [ + 0.6562564355024628, + -14.776759872385291 + ], + [ + 0.6586293756726883, + -14.771299627910652 + ], + [ + 0.5472581154350188, + -14.93228261009508 + ], + [ + 0.5496310556052443, + -14.92682236562044 + ], + [ + 0.6578832703326988, + -14.93114227150083 + ], + [ + 0.6602562105029243, + -14.925682027026193 + ] + ], + "yaw_rad": -1.560259020551843, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1657785177230835, + -14.908882141113281, + 0.02323821187019348 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5481671329345549, + -14.852042095240481, + 0.12041325504416579 + ], + "intended_face_normal": [ + -0.9998444471085811, + -0.005154714548409767, + 0.016860834241505834 + ], + "commanded_contact_point": [ + 0.19228515028953552, + -14.858357429504395, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.548149921734354, + -14.851756944889077, + 0.11948054135773935 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1668976992368698, + -14.909002304077148, + 0.023161649703979492 + ], + "box_pose": [ + 0.605349063873291, + -14.855653762817383, + 0.1367400735616684, + 0.01404594723135233, + 0.0021656418684870005, + 0.705142080783844, + -0.7089235186576843 + ], + "box_yaw_rad": -1.5652549354709793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008175558081024772 + } + } + }, + { + "simulation_time_ns": 140000000, + "center": [ + 0.6025019628017309, + -14.852822746382728, + 0.11897814500357398 + ], + "face_center": [ + 0.5471877812830493, + -14.853406700222237, + 0.11932720486274825 + ], + "face_normal": [ + -0.9999244777508697, + -0.010556239321818595, + 0.006310018295592912 + ], + "footprint_xy": [ + [ + 0.5456267918099643, + -14.93228287100592 + ], + [ + 0.6593771337934975, + -14.93228287100592 + ], + [ + 0.6593771337934975, + -14.773362621759533 + ], + [ + 0.5456267918099643, + -14.773362621759533 + ] + ], + "projected_box_corners": [ + [ + 0.5456267918099643, + -14.777875848243456 + ], + [ + 0.5471051648735443, + -14.774530529438552 + ], + [ + 0.6562551548473274, + -14.776707940564439 + ], + [ + 0.6577335279109074, + -14.773362621759533 + ], + [ + 0.5472703976925544, + -14.93228287100592 + ], + [ + 0.5487487707561344, + -14.928937552201017 + ], + [ + 0.6578987607299175, + -14.931114963326902 + ], + [ + 0.6593771337934975, + -14.927769644521998 + ] + ], + "yaw_rad": -1.5601520971516654, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16478943824768066, + -14.90881633758545, + 0.02330338954925537 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5476311681050136, + -14.85236128829999, + 0.11975984608029464 + ], + "intended_face_normal": [ + -0.9998954806898156, + -0.010307053652486853, + 0.010128196290186797 + ], + "commanded_contact_point": [ + 0.19208666682243347, + -14.858869552612305, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5476196038271307, + -14.851791119002867, + 0.11919957087899906 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1657785177230835, + -14.908882141113281, + 0.02323821187019348 + ], + "box_pose": [ + 0.6047197580337524, + -14.855683326721191, + 0.13647030293941498, + 0.011568793095648289, + 0.004490114748477936, + 0.7033581137657166, + -0.7107272744178772 + ], + "box_yaw_rad": -1.560259020551843, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005492410803721881 + } + } + }, + { + "simulation_time_ns": 160000000, + "center": [ + 0.603187214545518, + -14.85324317385622, + 0.1188560477897197 + ], + "face_center": [ + 0.5478761429323634, + -14.853840114317775, + 0.11952629815256893 + ], + "face_normal": [ + -0.9998682594253966, + -0.010791000840669973, + 0.012116237204160683 + ], + "footprint_xy": [ + [ + 0.5455934117481919, + -14.932291312716169 + ], + [ + 0.6607810173428442, + -14.932291312716169 + ], + [ + 0.6607810173428442, + -14.77419503499627 + ], + [ + 0.5455934117481919, + -14.77419503499627 + ] + ], + "projected_box_corners": [ + [ + 0.5455934117481919, + -14.777878006448573 + ], + [ + 0.5484732087345693, + -14.775388915919379 + ], + [ + 0.6562155549745011, + -14.776684125525462 + ], + [ + 0.6590953519608785, + -14.77419503499627 + ], + [ + 0.5472790771301574, + -14.932291312716169 + ], + [ + 0.5501588741165349, + -14.929802222186975 + ], + [ + 0.6579012203564667, + -14.931097431793058 + ], + [ + 0.6607810173428442, + -14.928608341263866 + ] + ], + "yaw_rad": -1.5598801793056076, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1639566421508789, + -14.908818244934082, + 0.023357480764389038 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5471877812830493, + -14.853406700222237, + 0.11932720486274825 + ], + "intended_face_normal": [ + -0.9999244777508697, + -0.010556239321818595, + 0.006310018295592912 + ], + "commanded_contact_point": [ + 0.18984073400497437, + -14.859832763671875, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5471794254336881, + -14.852822746382728, + 0.11897814500357398 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16478943824768066, + -14.90881633758545, + 0.02330338954925537 + ], + "box_pose": [ + 0.6042143702507019, + -14.856866836547852, + 0.13622038066387177, + 0.007123724091798067, + 0.0027138174045830965, + 0.7033286094665527, + -0.7108240723609924 + ], + "box_yaw_rad": -1.5601520971516654, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024437654891464656 + } + } + }, + { + "simulation_time_ns": 180000000, + "center": [ + 0.6037010508841018, + -14.853815409663639, + 0.11884747294241489 + ], + "face_center": [ + 0.5483934719773464, + -14.854430671837527, + 0.1197499153431485 + ], + "face_normal": [ + -0.9998051211392212, + -0.011122205752910785, + 0.0163136147273375 + ], + "footprint_xy": [ + [ + 0.5455783241680494, + -14.932303444983917 + ], + [ + 0.6618237776001542, + -14.932303444983917 + ], + [ + 0.6618237776001542, + -14.77532737434336 + ], + [ + 0.5455783241680494, + -14.77532737434336 + ] + ], + "projected_box_corners": [ + [ + 0.5455783241680494, + -14.777884722340858 + ], + [ + 0.5494773298133918, + -14.776557898691136 + ], + [ + 0.65619348198156, + -14.776654197993082 + ], + [ + 0.6600924876269024, + -14.77532737434336 + ], + [ + 0.5473096141413012, + -14.932303444983917 + ], + [ + 0.5512086197866436, + -14.930976621334198 + ], + [ + 0.6579247719548118, + -14.931072920636142 + ], + [ + 0.6618237776001542, + -14.929746096986422 + ] + ], + "yaw_rad": -1.5595851381041774, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16335327923297882, + -14.90891170501709, + 0.023395776748657227 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5478761429323634, + -14.853840114317775, + 0.11952629815256893 + ], + "intended_face_normal": [ + -0.9998682594253966, + -0.010791000840669973, + 0.012116237204160683 + ], + "commanded_contact_point": [ + 0.18575288355350494, + -14.861250877380371, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5478615666272779, + -14.85324317385622, + 0.1188560477897197 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1639566421508789, + -14.908818244934082, + 0.023357480764389038 + ], + "box_pose": [ + 0.6050011515617371, + -14.857348442077637, + 0.13607342541217804, + 0.00790953729301691, + -0.0006187651888467371, + 0.7032367587089539, + -0.7109113931655884 + ], + "box_yaw_rad": -1.5598801793056076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004326842706314973 + } + } + }, + { + "simulation_time_ns": 200000000, + "center": [ + 0.6041916182623974, + -14.854442123537101, + 0.11885618637545309 + ], + "face_center": [ + 0.5488882689884336, + -14.855062469259282, + 0.11998568499297929 + ], + "face_normal": [ + -0.9997286613011835, + -0.011214101976162683, + 0.020418151082445046 + ], + "footprint_xy": [ + [ + 0.5455732245946385, + -14.932298138375334 + ], + [ + 0.6628100119301563, + -14.932298138375334 + ], + [ + 0.6628100119301563, + -14.776586108698867 + ], + [ + 0.5455732245946385, + -14.776586108698867 + ] + ], + "projected_box_corners": [ + [ + 0.5455732245946385, + -14.777877220455881 + ], + [ + 0.550471210885007, + -14.777826800143233 + ], + [ + 0.6561799231425662, + -14.776636529011517 + ], + [ + 0.6610779094329345, + -14.776586108698867 + ], + [ + 0.5473053270918603, + -14.932298138375334 + ], + [ + 0.5522033133822287, + -14.932247718062683 + ], + [ + 0.657912025639788, + -14.931057446930968 + ], + [ + 0.6628100119301563, + -14.93100702661832 + ] + ], + "yaw_rad": -1.559580036384686, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16295470297336578, + -14.90909194946289, + 0.02342131733894348 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5483934719773464, + -14.854430671837527, + 0.1197499153431485 + ], + "intended_face_normal": [ + -0.9998051211392212, + -0.011122205752910785, + 0.0163136147273375 + ], + "commanded_contact_point": [ + 0.18038278818130493, + -14.862983703613281, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5483719091183935, + -14.853815409663639, + 0.11884747294241489 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16335327923297882, + -14.90891170501709, + 0.023395776748657227 + ], + "box_pose": [ + 0.6055892109870911, + -14.858003616333008, + 0.13603687286376953, + 0.007680689450353384, + -0.0038339027669280767, + 0.703121542930603, + -0.711017906665802 + ], + "box_yaw_rad": -1.5595851381041774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005642748538000617 + } + } + }, + { + "simulation_time_ns": 220000000, + "center": [ + 0.6046952545194134, + -14.855105517588804, + 0.11886887203721372 + ], + "face_center": [ + 0.5493972216616405, + -14.855731907171556, + 0.1202313006047282 + ], + "face_normal": [ + -0.9996325554827976, + -0.011323357938344936, + 0.024628867976374036 + ], + "footprint_xy": [ + [ + 0.5455717797489252, + -14.933592064421573 + ], + [ + 0.6638187292899016, + -14.933592064421573 + ], + [ + 0.6638187292899016, + -14.776618970756035 + ], + [ + 0.5455717797489252, + -14.776618970756035 + ] + ], + "projected_box_corners": [ + [ + 0.5455717797489252, + -14.77787174992154 + ], + [ + 0.5514951895681948, + -14.77917360794715 + ], + [ + 0.656167845464471, + -14.776618970756035 + ], + [ + 0.6620912552837406, + -14.777920828781644 + ], + [ + 0.5472992537550863, + -14.932290206395963 + ], + [ + 0.5532226635743558, + -14.933592064421573 + ], + [ + 0.6578953194706321, + -14.931037427230459 + ], + [ + 0.6638187292899016, + -14.932339285256068 + ] + ], + "yaw_rad": -1.5596098275409453, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16270789504051208, + -14.909327507019043, + 0.0234377384185791 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5488882689884336, + -14.855062469259282, + 0.11998568499297929 + ], + "intended_face_normal": [ + -0.9997286613011835, + -0.011214101976162683, + 0.020418151082445046 + ], + "commanded_contact_point": [ + 0.1744270622730255, + -14.865143775939941, + 0.05000004544854164 + ], + "centerline_face_intersection": [ + 0.5488582448912728, + -14.854442123537101, + 0.11885618637545309 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16295470297336578, + -14.90909194946289, + 0.02342131733894348 + ], + "box_pose": [ + 0.606151282787323, + -14.858721733093262, + 0.13601504266262054, + 0.007253032177686691, + -0.007185380905866623, + 0.703093409538269, + -0.7110242247581482 + ], + "box_yaw_rad": -1.559580036384686, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006335343996299912 + } + } + }, + { + "simulation_time_ns": 240000000, + "center": [ + 0.6052052767123136, + -14.855658166532876, + 0.11892169513111839 + ], + "face_center": [ + 0.5499136119605443, + -14.856291773456158, + 0.1205194147767873 + ], + "face_normal": [ + -0.9995174380771852, + -0.011453827110276982, + 0.028882267411806994 + ], + "footprint_xy": [ + [ + 0.5455738242989124, + -14.934707137759023 + ], + [ + 0.6648367291257148, + -14.934707137759023 + ], + [ + 0.6648367291257148, + -14.776609195306731 + ], + [ + 0.5455738242989124, + -14.776609195306731 + ] + ], + "projected_box_corners": [ + [ + 0.5455738242989124, + -14.777876409153295 + ], + [ + 0.5525303693567689, + -14.780294448257141 + ], + [ + 0.6561571538024509, + -14.776609195306731 + ], + [ + 0.6631136988603072, + -14.779027234410579 + ], + [ + 0.5472968545643199, + -14.932289098655176 + ], + [ + 0.5542533996221763, + -14.934707137759023 + ], + [ + 0.6578801840678583, + -14.931021884808613 + ], + [ + 0.6648367291257148, + -14.93343992391246 + ] + ], + "yaw_rad": -1.5596381845318552, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1625724583864212, + -14.909586906433105, + 0.023447871208190918 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5493972216616405, + -14.855731907171556, + 0.1202313006047282 + ], + "intended_face_normal": [ + -0.9996325554827976, + -0.011323357938344936, + 0.024628867976374036 + ], + "commanded_contact_point": [ + 0.16843339800834656, + -14.867721557617188, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5493565613344205, + -14.855105517588804, + 0.11886887203721372 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16270789504051208, + -14.909327507019043, + 0.0234377384185791 + ], + "box_pose": [ + 0.6067281365394592, + -14.859481811523438, + 0.1359947919845581, + 0.006751623470336199, + -0.01068743597716093, + 0.7030595541000366, + -0.7110186219215393 + ], + "box_yaw_rad": -1.5596098275409453, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006524489994982212 + } + } + }, + { + "simulation_time_ns": 260000000, + "center": [ + 0.605292728543237, + -14.85568914117252, + 0.1189496599355257 + ], + "face_center": [ + 0.5500022659977758, + -14.856323547265728, + 0.12058775712953637 + ], + "face_normal": [ + -0.999495705576013, + -0.011468273849790989, + 0.029612179666313798 + ], + "footprint_xy": [ + [ + 0.5455746218514238, + -14.9347690051447 + ], + [ + 0.6650108352350501, + -14.9347690051447 + ], + [ + 0.6650108352350501, + -14.77660927720034 + ], + [ + 0.5455746218514238, + -14.77660927720034 + ] + ], + "projected_box_corners": [ + [ + 0.5455746218514238, + -14.777878089386757 + ], + [ + 0.5527069847949042, + -14.780356771856411 + ], + [ + 0.6561555469423462, + -14.77660927720034 + ], + [ + 0.6632879098858266, + -14.779087959669996 + ], + [ + 0.5472975472006474, + -14.932290322675046 + ], + [ + 0.5544299101441278, + -14.9347690051447 + ], + [ + 0.6578784722915697, + -14.931021510488629 + ], + [ + 0.6650108352350501, + -14.933500192958284 + ] + ], + "yaw_rad": -1.559638830938211, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16250011324882507, + -14.909856796264648, + 0.02345454692840576 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5499136119605443, + -14.856291773456158, + 0.1205194147767873 + ], + "intended_face_normal": [ + -0.9995174380771852, + -0.011453827110276982, + 0.028882267411806994 + ], + "commanded_contact_point": [ + 0.16287675499916077, + -14.870628356933594, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5498602100049119, + -14.855658166532876, + 0.11892169513111839 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1625724583864212, + -14.909586906433105, + 0.023447871208190918 + ], + "box_pose": [ + 0.6073119044303894, + -14.860114097595215, + 0.13601814210414886, + 0.006611285265535116, + -0.013855253346264362, + 0.7030144929885864, + -0.7110099792480469 + ], + "box_yaw_rad": -1.5596381845318552, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006271025737332079 + } + } + }, + { + "simulation_time_ns": 280000000, + "center": [ + 0.6052642602761495, + -14.855660846755557, + 0.11894634933517964 + ], + "face_center": [ + 0.5499734077852653, + -14.856295269683212, + 0.12057130918615636 + ], + "face_normal": [ + -0.9995027546900516, + -0.011468578169130494, + 0.02937469353686928 + ], + "footprint_xy": [ + [ + 0.5455738043306982, + -14.934712034459675 + ], + [ + 0.6649547162216007, + -14.934712034459675 + ], + [ + 0.6649547162216007, + -14.77660965905144 + ], + [ + 0.5455738043306982, + -14.77660965905144 + ] + ], + "projected_box_corners": [ + [ + 0.5455738043306982, + -14.77787850490675 + ], + [ + 0.5526485505666499, + -14.780299414964203 + ], + [ + 0.6561555093124667, + -14.77660965905144 + ], + [ + 0.6632302555484183, + -14.779030569108894 + ], + [ + 0.5472982650038807, + -14.932291124402221 + ], + [ + 0.5543730112398323, + -14.934712034459675 + ], + [ + 0.6578799699856491, + -14.931022278546912 + ], + [ + 0.6649547162216007, + -14.933443188604365 + ] + ], + "yaw_rad": -1.5596289170858135, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16244158148765564, + -14.910115242004395, + 0.023460358381271362 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5500022659977758, + -14.856323547265728, + 0.12058775712953637 + ], + "intended_face_normal": [ + -0.999495705576013, + -0.011468273849790989, + 0.029612179666313798 + ], + "commanded_contact_point": [ + 0.15793220698833466, + -14.873725891113281, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5499464584422435, + -14.85568914117252, + 0.1189496599355257 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16250011324882507, + -14.909856796264648, + 0.02345454692840576 + ], + "box_pose": [ + 0.6074119210243225, + -14.860149383544922, + 0.13604342937469482, + 0.006779066286981106, + -0.014204849489033222, + 0.7030077576637268, + -0.7110080122947693 + ], + "box_yaw_rad": -1.559638830938211, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005834661346349498 + } + } + }, + { + "simulation_time_ns": 300000000, + "center": [ + 0.6052227633215758, + -14.855615718399292, + 0.11894255452788727 + ], + "face_center": [ + 0.549931341512095, + -14.856248825506098, + 0.12054869909085876 + ], + "face_normal": [ + -0.9995130463654358, + -0.011444791837298296, + 0.02903456616779665 + ], + "footprint_xy": [ + [ + 0.5455737865747075, + -14.93462108512883 + ], + [ + 0.6648717400684441, + -14.93462108512883 + ], + [ + 0.6648717400684441, + -14.776610351669756 + ], + [ + 0.5455737865747075, + -14.776610351669756 + ] + ], + "projected_box_corners": [ + [ + 0.5455737865747075, + -14.777876565883364 + ], + [ + 0.5525658774944291, + -14.780207839476034 + ], + [ + 0.6561566301936691, + -14.776610351669756 + ], + [ + 0.6631487211133906, + -14.778941625262426 + ], + [ + 0.5472968055297609, + -14.93228981153616 + ], + [ + 0.5542888964494824, + -14.93462108512883 + ], + [ + 0.6578796491487224, + -14.93102359732255 + ], + [ + 0.6648717400684441, + -14.93335487091522 + ] + ], + "yaw_rad": -1.559638297955039, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16235899925231934, + -14.910355567932129, + 0.02346709370613098 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5499734077852653, + -14.856295269683212, + 0.12057130918615636 + ], + "intended_face_normal": [ + -0.9995027546900516, + -0.011468578169130494, + 0.02937469353686928 + ], + "commanded_contact_point": [ + 0.15358805656433105, + -14.876848220825195, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5499183805114185, + -14.855660846755557, + 0.11894634933517964 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16244158148765564, + -14.910115242004395, + 0.023460358381271362 + ], + "box_pose": [ + 0.6073793768882751, + -14.860116958618164, + 0.13604170083999634, + 0.006780205760151148, + -0.014034758321940899, + 0.7030076384544373, + -0.711011528968811 + ], + "box_yaw_rad": -1.5596289170858135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005349821093857803 + } + } + }, + { + "simulation_time_ns": 320000000, + "center": [ + 0.6051662374036133, + -14.855550556974315, + 0.11893796186309244 + ], + "face_center": [ + 0.5498740724325599, + -14.856183081340673, + 0.12051803961226307 + ], + "face_normal": [ + -0.9995264806317847, + -0.01143425753270233, + 0.028563351653528635 + ], + "footprint_xy": [ + [ + 0.5455730284752206, + -14.934491104957871 + ], + [ + 0.664759446332006, + -14.934491104957871 + ], + [ + 0.664759446332006, + -14.776610008990756 + ], + [ + 0.5455730284752206, + -14.776610008990756 + ] + ], + "projected_box_corners": [ + [ + 0.5455730284752206, + -14.777875057723474 + ], + [ + 0.5524506066364, + -14.7800770951954 + ], + [ + 0.6561573584173275, + -14.776610008990756 + ], + [ + 0.6630349365785068, + -14.778812046462685 + ], + [ + 0.5472975382287198, + -14.932289067485943 + ], + [ + 0.5541751163898992, + -14.934491104957871 + ], + [ + 0.6578818681708267, + -14.931024018753227 + ], + [ + 0.664759446332006, + -14.933226056225156 + ] + ], + "yaw_rad": -1.5596286998140403, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16223876178264618, + -14.910573959350586, + 0.023475587368011475 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.549931341512095, + -14.856248825506098, + 0.12054869909085876 + ], + "intended_face_normal": [ + -0.9995130463654358, + -0.011444791837298296, + 0.02903456616779665 + ], + "commanded_contact_point": [ + 0.14981858432292938, + -14.8798828125, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.549877453436178, + -14.855615718399292, + 0.11894255452788727 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16235899925231934, + -14.910355567932129, + 0.02346709370613098 + ], + "box_pose": [ + 0.6073319315910339, + -14.860065460205078, + 0.13604030013084412, + 0.006792023312300444, + -0.013780766166746616, + 0.7030159831047058, + -0.7110081911087036 + ], + "box_yaw_rad": -1.559638297955039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004839180468993863 + } + } + }, + { + "simulation_time_ns": 340000000, + "center": [ + 0.6050911054936373, + -14.855464487672116, + 0.11893182952205479 + ], + "face_center": [ + 0.5497979384204807, + -14.856095843940556, + 0.12047739710510176 + ], + "face_normal": [ + -0.999544595813004, + -0.011413141615063571, + 0.027939505130071485 + ], + "footprint_xy": [ + [ + 0.5455723336410914, + -14.934319134147211 + ], + [ + 0.6646098773461833, + -14.934319134147211 + ], + [ + 0.6646098773461833, + -14.776609841197022 + ], + [ + 0.5455723336410914, + -14.776609841197022 + ] + ], + "projected_box_corners": [ + [ + 0.5455723336410914, + -14.777872553733902 + ], + [ + 0.5522982991932516, + -14.779904081281487 + ], + [ + 0.6561586677874046, + -14.776609841197022 + ], + [ + 0.6628846333395648, + -14.778641368744609 + ], + [ + 0.5472975776477099, + -14.932287606599624 + ], + [ + 0.55402354319987, + -14.934319134147211 + ], + [ + 0.6578839117940232, + -14.931024894062746 + ], + [ + 0.6646098773461833, + -14.933056421610331 + ] + ], + "yaw_rad": -1.5596240207786785, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1620989441871643, + -14.910771369934082, + 0.023485183715820312 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5498740724325599, + -14.856183081340673, + 0.12051803961226307 + ], + "intended_face_normal": [ + -0.9995264806317847, + -0.01143425753270233, + 0.028563351653528635 + ], + "commanded_contact_point": [ + 0.1465424746274948, + -14.882710456848145, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5498216713940893, + -14.855550556974315, + 0.11893796186309244 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16223876178264618, + -14.910573959350586, + 0.023475587368011475 + ], + "box_pose": [ + 0.6072672605514526, + -14.859991073608398, + 0.1360391080379486, + 0.006815729197114706, + -0.013421556912362576, + 0.7030194997787476, + -0.7110111713409424 + ], + "box_yaw_rad": -1.5596286998140403, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004327639922187855 + } + } + }, + { + "simulation_time_ns": 360000000, + "center": [ + 0.6049974479415952, + -14.855356178803264, + 0.11892490571763872 + ], + "face_center": [ + 0.5497031035859917, + -14.85598695871811, + 0.12042774882080659 + ], + "face_normal": [ + -0.9995658777610229, + -0.011402722766774231, + 0.02716716696909094 + ], + "footprint_xy": [ + [ + 0.5455697351275121, + -14.93410117517839 + ], + [ + 0.6644251607556783, + -14.93410117517839 + ], + [ + 0.6644251607556783, + -14.776611182428141 + ], + [ + 0.5455697351275121, + -14.776611182428141 + ] + ], + "projected_box_corners": [ + [ + 0.5455697351275121, + -14.777872742257832 + ], + [ + 0.5521079404320218, + -14.77968499258394 + ], + [ + 0.6561584238387189, + -14.776611182428141 + ], + [ + 0.6626966291432287, + -14.778423432754249 + ], + [ + 0.5472982667399617, + -14.932288924852282 + ], + [ + 0.5538364720444714, + -14.93410117517839 + ], + [ + 0.6578869554511686, + -14.931027365022588 + ], + [ + 0.6644251607556783, + -14.932839615348698 + ] + ], + "yaw_rad": -1.5596028146198957, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16194012761116028, + -14.910950660705566, + 0.023495137691497803 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5497979384204807, + -14.856095843940556, + 0.12047739710510176 + ], + "intended_face_normal": [ + -0.999544595813004, + -0.011413141615063571, + 0.027939505130071485 + ], + "commanded_contact_point": [ + 0.14369486272335052, + -14.885228157043457, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5497475425177418, + -14.855464487672116, + 0.11893182952205479 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1620989441871643, + -14.910771369934082, + 0.023485183715820312 + ], + "box_pose": [ + 0.6071813106536865, + -14.859892845153809, + 0.1360374540090561, + 0.006846275646239519, + -0.012946824543178082, + 0.7030267119407654, + -0.7110127210617065 + ], + "box_yaw_rad": -1.5596240207786785, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003801014052933829 + } + } + }, + { + "simulation_time_ns": 380000000, + "center": [ + 0.6048826064736053, + -14.85522203468179, + 0.11891649398237811 + ], + "face_center": [ + 0.5495868566015372, + -14.85585254970797, + 0.12036686969136547 + ], + "face_normal": [ + -0.9995912855367184, + -0.011397934326414338, + 0.026218704381658853 + ], + "footprint_xy": [ + [ + 0.5455662812728499, + -14.93383177408206 + ], + [ + 0.6641989316743605, + -14.93383177408206 + ], + [ + 0.6641989316743605, + -14.776612295281517 + ], + [ + 0.5455662812728499, + -14.776612295281517 + ] + ], + "projected_box_corners": [ + [ + 0.5455662812728499, + -14.77787332533388 + ], + [ + 0.5518738961895238, + -14.779414358818832 + ], + [ + 0.6561577810169859, + -14.776612295281517 + ], + [ + 0.6624653959336597, + -14.778153328766468 + ], + [ + 0.5472998170135507, + -14.93229074059711 + ], + [ + 0.5536074319302245, + -14.93383177408206 + ], + [ + 0.6578913167576866, + -14.931029710544745 + ], + [ + 0.6641989316743605, + -14.932570744029697 + ] + ], + "yaw_rad": -1.559570501537003, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1617833822965622, + -14.91110897064209, + 0.02350527048110962 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5497031035859917, + -14.85598695871811, + 0.12042774882080659 + ], + "intended_face_normal": [ + -0.9995658777610229, + -0.011402722766774231, + 0.02716716696909094 + ], + "commanded_contact_point": [ + 0.14134369790554047, + -14.887530326843262, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5496550632960695, + -14.855356178803264, + 0.11892490571763872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16194012761116028, + -14.910950660705566, + 0.023495137691497803 + ], + "box_pose": [ + 0.6070743203163147, + -14.859768867492676, + 0.1360362023115158, + 0.006896035745739937, + -0.012347079813480377, + 0.7030299305915833, + -0.7110196352005005 + ], + "box_yaw_rad": -1.5596028146198957, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032905868456499766 + } + } + }, + { + "simulation_time_ns": 400000000, + "center": [ + 0.604750101604675, + -14.855065250465598, + 0.11890704124735424 + ], + "face_center": [ + 0.5494527850119818, + -14.855695457024655, + 0.12029645276365653 + ], + "face_normal": [ + -0.9996196074292232, + -0.011392358110341227, + 0.025116643628730007 + ], + "footprint_xy": [ + [ + 0.5455634874094885, + -14.933517972930693 + ], + [ + 0.6639367157998616, + -14.933517972930693 + ], + [ + 0.6639367157998616, + -14.776612528000502 + ], + [ + 0.5455634874094885, + -14.776612528000502 + ] + ], + "projected_box_corners": [ + [ + 0.5455634874094885, + -14.77787294111862 + ], + [ + 0.5516031640850018, + -14.779099385853074 + ], + [ + 0.6561581205948749, + -14.776612528000502 + ], + [ + 0.6621977972703883, + -14.777838972734958 + ], + [ + 0.5473024059389617, + -14.932291528196238 + ], + [ + 0.5533420826144752, + -14.933517972930693 + ], + [ + 0.6578970391243483, + -14.931031115078122 + ], + [ + 0.6639367157998616, + -14.932257559812577 + ] + ], + "yaw_rad": -1.559535732698666, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16164249181747437, + -14.911243438720703, + 0.023513615131378174 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5495868566015372, + -14.85585254970797, + 0.12036686969136547 + ], + "intended_face_normal": [ + -0.9995912855367184, + -0.011397934326414338, + 0.026218704381658853 + ], + "commanded_contact_point": [ + 0.1393767148256302, + -14.889554977416992, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.5495416285299145, + -14.85522203468179, + 0.11891649398237811 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1617833822965622, + -14.91110897064209, + 0.02350527048110962 + ], + "box_pose": [ + 0.6069431304931641, + -14.859615325927734, + 0.13603475689888, + 0.006959956139326096, + -0.011607754975557327, + 0.7030310034751892, + -0.7110304236412048 + ], + "box_yaw_rad": -1.559570501537003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028228057644902973 + } + } + }, + { + "simulation_time_ns": 420000000, + "center": [ + 0.6046154043313645, + -14.854907814586124, + 0.11889746979006942 + ], + "face_center": [ + 0.5493165589720442, + -14.855538213963184, + 0.12022483924292149 + ], + "face_normal": [ + -0.9996472432204285, + -0.011395843716287324, + 0.023995098010757054 + ], + "footprint_xy": [ + [ + 0.5455603891824816, + -14.933201937881174 + ], + [ + 0.6636704194802474, + -14.933201937881174 + ], + [ + 0.6636704194802474, + -14.776613691291073 + ], + [ + 0.5455603891824816, + -14.776613691291073 + ] + ], + "projected_box_corners": [ + [ + 0.5455603891824816, + -14.777874490045194 + ], + [ + 0.5513274071488252, + -14.778782425472734 + ], + [ + 0.6561580799011222, + -14.776613691291073 + ], + [ + 0.6619250978674658, + -14.777521626718615 + ], + [ + 0.5473057107952632, + -14.932294002453634 + ], + [ + 0.5530727287616068, + -14.933201937881174 + ], + [ + 0.6579034015139038, + -14.931033203699513 + ], + [ + 0.6636704194802474, + -14.931941139127053 + ] + ], + "yaw_rad": -1.5594943399404024, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16152268648147583, + -14.91135025024414, + 0.023520857095718384 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5494527850119818, + -14.855695457024655, + 0.12029645276365653 + ], + "intended_face_normal": [ + -0.9996196074292232, + -0.011392358110341227, + 0.025116643628730007 + ], + "commanded_contact_point": [ + 0.13768164813518524, + -14.891249656677246, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5494106916186521, + -14.855065250465598, + 0.11890704124735424 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16164249181747437, + -14.911243438720703, + 0.023513615131378174 + ], + "box_pose": [ + 0.606791615486145, + -14.85943603515625, + 0.1360333412885666, + 0.007033429574221373, + -0.010749518871307373, + 0.7030322551727295, + -0.7110419273376465 + ], + "box_yaw_rad": -1.559535732698666, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002396912364036433 + } + } + }, + { + "simulation_time_ns": 440000000, + "center": [ + 0.6044740050490905, + -14.854747971675927, + 0.11888663906457492 + ], + "face_center": [ + 0.5491736188873645, + -14.855376233236477, + 0.12014866456058451 + ], + "face_normal": [ + -0.9996750965845866, + -0.011357198020053638, + 0.022813863467897155 + ], + "footprint_xy": [ + [ + 0.5455612186988996, + -14.932877464908849 + ], + [ + 0.6633867913992815, + -14.932877464908849 + ], + [ + 0.6633867913992815, + -14.776618478443003 + ], + [ + 0.5455612186988996, + -14.776618478443003 + ] + ], + "projected_box_corners": [ + [ + 0.5455612186988996, + -14.777875001564105 + ], + [ + 0.5510411339661194, + -14.778457270775286 + ], + [ + 0.6561619910223517, + -14.776618478443003 + ], + [ + 0.6616419062895715, + -14.777200747654184 + ], + [ + 0.5473061038086096, + -14.932295195697668 + ], + [ + 0.5527860190758294, + -14.932877464908849 + ], + [ + 0.6579068761320617, + -14.931038672576566 + ], + [ + 0.6633867913992815, + -14.931620941787747 + ] + ], + "yaw_rad": -1.5594972161932565, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16142721474170685, + -14.911433219909668, + 0.02352619171142578 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5493165589720442, + -14.855538213963184, + 0.12022483924292149 + ], + "intended_face_normal": [ + -0.9996472432204285, + -0.011395843716287324, + 0.023995098010757054 + ], + "commanded_contact_point": [ + 0.13619916141033173, + -14.89258861541748, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5492775242333998, + -14.854907814586124, + 0.11889746979006942 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16152268648147583, + -14.91135025024414, + 0.023520857095718384 + ], + "box_pose": [ + 0.6066375970840454, + -14.85925579071045, + 0.1360318660736084, + 0.007105771452188492, + -0.009878590703010559, + 0.7030302882194519, + -0.7110558748245239 + ], + "box_yaw_rad": -1.5594943399404024, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019976429604766283 + } + } + }, + { + "simulation_time_ns": 460000000, + "center": [ + 0.6043252693782707, + -14.854576279586528, + 0.11887570395399441 + ], + "face_center": [ + 0.5490233291735734, + -14.85520328302377, + 0.1200686045814725 + ], + "face_normal": [ + -0.9997031893008423, + -0.011334454697088936, + 0.021564280699640503 + ], + "footprint_xy": [ + [ + 0.5455618777570098, + -14.932531640454288 + ], + [ + 0.6630886609995315, + -14.932531640454288 + ], + [ + 0.6630886609995315, + -14.77662091871877 + ], + [ + 0.5455618777570098, + -14.77662091871877 + ] + ], + "projected_box_corners": [ + [ + 0.5455618777570098, + -14.777874925593249 + ], + [ + 0.5507380792648495, + -14.778111011070317 + ], + [ + 0.6561657581664042, + -14.77662091871877 + ], + [ + 0.661341959674244, + -14.776857004195836 + ], + [ + 0.5473085790822974, + -14.93229555497722 + ], + [ + 0.5524847805901371, + -14.932531640454288 + ], + [ + 0.6579124594916917, + -14.93104154810274 + ], + [ + 0.6630886609995315, + -14.931277633579809 + ] + ], + "yaw_rad": -1.559485488058521, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16135385632514954, + -14.91148567199707, + 0.023530781269073486 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5491736188873645, + -14.855376233236477, + 0.12014866456058451 + ], + "intended_face_normal": [ + -0.9996750965845866, + -0.011357198020053638, + 0.022813863467897155 + ], + "commanded_contact_point": [ + 0.13491113483905792, + -14.893556594848633, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5491376667982033, + -14.854747971675927, + 0.11888663906457492 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16142721474170685, + -14.911433219909668, + 0.02352619171142578 + ], + "box_pose": [ + 0.6064756512641907, + -14.8590726852417, + 0.13602933287620544, + 0.007167772389948368, + -0.00897563062608242, + 0.7030434012413025, + -0.7110540866851807 + ], + "box_yaw_rad": -1.5594972161932565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001611209678366975 + } + } + }, + { + "simulation_time_ns": 480000000, + "center": [ + 0.6041636614198282, + -14.854394087294502, + 0.11886395913527215 + ], + "face_center": [ + 0.5488601371181314, + -14.855019503693125, + 0.11998195077313001 + ], + "face_normal": [ + -0.9997318253092142, + -0.011305765512557797, + 0.02021013732685023 + ], + "footprint_xy": [ + [ + 0.5455628952314924, + -14.932298156508823 + ], + [ + 0.6627644276081641, + -14.932298156508823 + ], + [ + 0.6627644276081641, + -14.776490018080182 + ], + [ + 0.5455628952314924, + -14.776490018080182 + ] + ], + "projected_box_corners": [ + [ + 0.5455628952314924, + -14.777877424293502 + ], + [ + 0.5504100024179723, + -14.777740850877427 + ], + [ + 0.656169943834886, + -14.776626591496257 + ], + [ + 0.661017051021366, + -14.776490018080182 + ], + [ + 0.5473102718182905, + -14.932298156508823 + ], + [ + 0.5521573790047705, + -14.932161583092746 + ], + [ + 0.6579173204216842, + -14.931047323711578 + ], + [ + 0.6627644276081641, + -14.930910750295501 + ] + ], + "yaw_rad": -1.5594811232813819, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16129574179649353, + -14.911506652832031, + 0.023533910512924194 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5490233291735734, + -14.85520328302377, + 0.1200686045814725 + ], + "intended_face_normal": [ + -0.9997031893008423, + -0.011334454697088936, + 0.021564280699640503 + ], + "commanded_contact_point": [ + 0.13381974399089813, + -14.894150733947754, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5489904861369761, + -14.854576279586528, + 0.11887570395399441 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16135385632514954, + -14.91148567199707, + 0.023530781269073486 + ], + "box_pose": [ + 0.6063052415847778, + -14.85887622833252, + 0.13602714240550995, + 0.007235759403556585, + -0.008018053136765957, + 0.7030507922172546, + -0.7110576033592224 + ], + "box_yaw_rad": -1.559485488058521, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012426323884292632 + } + } + }, + { + "simulation_time_ns": 500000000, + "center": [ + 0.6039839672740498, + -14.854192543238936, + 0.11885028120497704 + ], + "face_center": [ + 0.5486788036938574, + -14.854816127202577, + 0.11988537349633997 + ], + "face_normal": [ + -0.9997614588434826, + -0.01127264025350605, + 0.018711550825631862 + ], + "footprint_xy": [ + [ + 0.5455637715858558, + -14.932298945081088 + ], + [ + 0.6624041629622437, + -14.932298945081088 + ], + [ + 0.6624041629622437, + -14.776086141396785 + ], + [ + 0.5455637715858558, + -14.776086141396785 + ] + ], + "projected_box_corners": [ + [ + 0.5455637715858558, + -14.77787851529107 + ], + [ + 0.5500467361789695, + -14.777333309324067 + ], + [ + 0.6561740987462406, + -14.776631347363788 + ], + [ + 0.6606570633393543, + -14.776086141396785 + ], + [ + 0.5473108712087452, + -14.932298945081088 + ], + [ + 0.5517938358018589, + -14.931753739114086 + ], + [ + 0.65792119836913, + -14.931051777153806 + ], + [ + 0.6624041629622437, + -14.930506571186804 + ] + ], + "yaw_rad": -1.5594828944637542, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1612515151500702, + -14.911507606506348, + 0.023536592721939087 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5488601371181314, + -14.855019503693125, + 0.11998195077313001 + ], + "intended_face_normal": [ + -0.9997318253092142, + -0.011305765512557797, + 0.02021013732685023 + ], + "commanded_contact_point": [ + 0.1329321563243866, + -14.894394874572754, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5488304631709047, + -14.854394087294502, + 0.11886395913527215 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16129574179649353, + -14.911506652832031, + 0.023533910512924194 + ], + "box_pose": [ + 0.6061201095581055, + -14.858667373657227, + 0.13602475821971893, + 0.007305812556296587, + -0.006984051316976547, + 0.7030602693557739, + -0.7110584378242493 + ], + "box_yaw_rad": -1.5594811232813819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009205522857859451 + } + } + }, + { + "simulation_time_ns": 520000000, + "center": [ + 0.6037817907014552, + -14.853965228796405, + 0.11883493852216002 + ], + "face_center": [ + 0.5484749480025568, + -14.854587111133474, + 0.11977655774936921 + ], + "face_normal": [ + -0.9997918125764501, + -0.01124187964176726, + 0.01702182131519625 + ], + "footprint_xy": [ + [ + 0.5455653289625466, + -14.932300091995332 + ], + [ + 0.6619982524403637, + -14.932300091995332 + ], + [ + 0.6619982524403637, + -14.775630365597479 + ], + [ + 0.5455653289625466, + -14.775630365597479 + ] + ], + "projected_box_corners": [ + [ + 0.5455653289625466, + -14.777880598303911 + ], + [ + 0.549637713477082, + -14.776874130271617 + ], + [ + 0.6561790143603433, + -14.776636833629773 + ], + [ + 0.6602513988748787, + -14.775630365597479 + ], + [ + 0.5473121825280316, + -14.932300091995332 + ], + [ + 0.551384567042567, + -14.931293623963038 + ], + [ + 0.6579258679258284, + -14.931056327321194 + ], + [ + 0.6619982524403637, + -14.9300498592889 + ] + ], + "yaw_rad": -1.5594844191179666, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1612161099910736, + -14.911480903625488, + 0.023538649082183838 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5486788036938574, + -14.854816127202577, + 0.11988537349633997 + ], + "intended_face_normal": [ + -0.9997614588434826, + -0.01127264025350605, + 0.018711550825631862 + ], + "commanded_contact_point": [ + 0.13225296139717102, + -14.89433479309082, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5486524091345862, + -14.854192543238936, + 0.11885028120497704 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1612515151500702, + -14.911507606506348, + 0.023536592721939087 + ], + "box_pose": [ + 0.6059143543243408, + -14.858436584472656, + 0.13602128624916077, + 0.007377825677394867, + -0.005845381412655115, + 0.7030712962150574, + -0.7110571265220642 + ], + "box_yaw_rad": -1.5594828944637542, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006818471482867025 + } + } + }, + { + "simulation_time_ns": 540000000, + "center": [ + 0.6035745252920618, + -14.853716295177305, + 0.1188238572177695 + ], + "face_center": [ + 0.5482661042379691, + -14.854336235720174, + 0.11966943359608577 + ], + "face_normal": [ + -0.99982034478917, + -0.011206777476344132, + 0.015285637340594183 + ], + "footprint_xy": [ + [ + 0.5455683550670903, + -14.932301100898496 + ], + [ + 0.6615806955170334, + -14.932301100898496 + ], + [ + 0.6615806955170334, + -14.775131489456113 + ], + [ + 0.5455683550670903, + -14.775131489456113 + ] + ], + "projected_box_corners": [ + [ + 0.5455683550670903, + -14.777883240758714 + ], + [ + 0.5492185417194068, + -14.776371370541854 + ], + [ + 0.6561851971752759, + -14.776643359672974 + ], + [ + 0.6598353838275924, + -14.775131489456113 + ], + [ + 0.5473136667565313, + -14.932301100898496 + ], + [ + 0.5509638534088477, + -14.930789230681636 + ], + [ + 0.6579305088647168, + -14.931061219812756 + ], + [ + 0.6615806955170334, + -14.929549349595895 + ] + ], + "yaw_rad": -1.5594942832743195, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16119028627872467, + -14.9114408493042, + 0.02354016900062561 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5484749480025568, + -14.854587111133474, + 0.11977655774936921 + ], + "intended_face_normal": [ + -0.9997918125764501, + -0.01124187964176726, + 0.01702182131519625 + ], + "commanded_contact_point": [ + 0.13178464770317078, + -14.893988609313965, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5484519124310597, + -14.853965228796405, + 0.11883493852216002 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1612161099910736, + -14.911480903625488, + 0.023538649082183838 + ], + "box_pose": [ + 0.6056827902793884, + -14.858176231384277, + 0.1360173523426056, + 0.007459770888090134, + -0.0045607793144881725, + 0.7030813694000244, + -0.7110555768013 + ], + "box_yaw_rad": -1.5594844191179666, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005823752428383021 + } + } + }, + { + "simulation_time_ns": 560000000, + "center": [ + 0.6034016667218232, + -14.853492193701491, + 0.11881858118957594 + ], + "face_center": [ + 0.5480920634529209, + -14.85411120537967, + 0.11958412263459398 + ], + "face_normal": [ + -0.9998417159004017, + -0.011189986221082915, + 0.013838831355531656 + ], + "footprint_xy": [ + [ + 0.5455703836746707, + -14.932301101675526 + ], + [ + 0.6612329497689756, + -14.932301101675526 + ], + [ + 0.6612329497689756, + -14.774683285727457 + ], + [ + 0.5455703836746707, + -14.774683285727457 + ] + ], + "projected_box_corners": [ + [ + 0.5455703836746707, + -14.777885304095667 + ], + [ + 0.548868391441294, + -14.775921309083815 + ], + [ + 0.6561895902124752, + -14.77664728073931 + ], + [ + 0.6594875979790984, + -14.774683285727457 + ], + [ + 0.5473157354645479, + -14.932301101675526 + ], + [ + 0.5506137432311711, + -14.930337106663675 + ], + [ + 0.6579349420023525, + -14.93106307831917 + ], + [ + 0.6612329497689756, + -14.929099083307317 + ] + ], + "yaw_rad": -1.5594938726656136, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16117267310619354, + -14.911382675170898, + 0.023540794849395752 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5482661042379691, + -14.854336235720174, + 0.11966943359608577 + ], + "intended_face_normal": [ + -0.99982034478917, + -0.011206777476344132, + 0.015285637340594183 + ], + "commanded_contact_point": [ + 0.13152432441711426, + -14.89341926574707, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5482462259891926, + -14.853716295177305, + 0.1188238572177695 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16119028627872467, + -14.9114408493042, + 0.02354016900062561 + ], + "box_pose": [ + 0.6054452657699585, + -14.857891082763672, + 0.13601842522621155, + 0.007590109948068857, + -0.0031942673958837986, + 0.7030924558639526, + -0.7110507488250732 + ], + "box_yaw_rad": -1.5594942832743195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006260353916126087 + } + } + }, + { + "simulation_time_ns": 580000000, + "center": [ + 0.6032522266729048, + -14.85330148032727, + 0.11881288031860551 + ], + "face_center": [ + 0.5479417038406484, + -14.85391987707445, + 0.1195092057416738 + ], + "face_normal": [ + -0.9998583390137041, + -0.011178870002056529, + 0.01258760079042412 + ], + "footprint_xy": [ + [ + 0.545572362800956, + -14.932301436841744 + ], + [ + 0.6609320905448536, + -14.932301436841744 + ], + [ + 0.6609320905448536, + -14.774301523812795 + ], + [ + 0.545572362800956, + -14.774301523812795 + ] + ], + "projected_box_corners": [ + [ + 0.545572362800956, + -14.777887857255598 + ], + [ + 0.5485658635744858, + -14.775538317307157 + ], + [ + 0.6561934084654687, + -14.776651063761236 + ], + [ + 0.6591869092389986, + -14.774301523812795 + ], + [ + 0.547317544106811, + -14.932301436841744 + ], + [ + 0.5503110448803409, + -14.929951896893304 + ], + [ + 0.6579385897713238, + -14.931064643347382 + ], + [ + 0.6609320905448536, + -14.928715103398941 + ] + ], + "yaw_rad": -1.5594948142642029, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16116270422935486, + -14.911314010620117, + 0.023541241884231567 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5480920634529209, + -14.85411120537967, + 0.11958412263459398 + ], + "intended_face_normal": [ + -0.9998417159004017, + -0.011189986221082915, + 0.013838831355531656 + ], + "commanded_contact_point": [ + 0.13145971298217773, + -14.892658233642578, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5480745500333817, + -14.853492193701491, + 0.11881858118957594 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16117267310619354, + -14.911382675170898, + 0.023540794849395752 + ], + "box_pose": [ + 0.6052471995353699, + -14.857634544372559, + 0.13602371513843536, + 0.007744074333459139, + -0.0020096770022064447, + 0.7030967473983765, + -0.7110492587089539 + ], + "box_yaw_rad": -1.5594938726656136, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007637699294585236 + } + } + }, + { + "simulation_time_ns": 600000000, + "center": [ + 0.6031224207859072, + -14.85313840567995, + 0.11880791163928771 + ], + "face_center": [ + 0.5478111583188326, + -14.85375593217405, + 0.11944414931589797 + ], + "face_normal": [ + -0.9998717095262744, + -0.011163138279526641, + 0.011501383714682397 + ], + "footprint_xy": [ + [ + 0.5455747727353143, + -14.932302483458654 + ], + [ + 0.6606700688365001, + -14.932302483458654 + ], + [ + 0.6606700688365001, + -14.773974327901243 + ], + [ + 0.5455747727353143, + -14.773974327901243 + ] + ], + "projected_box_corners": [ + [ + 0.5455747727353143, + -14.777891102371504 + ], + [ + 0.5483039775922107, + -14.775209380889445 + ], + [ + 0.6561972976694633, + -14.7766560493833 + ], + [ + 0.6589265025263599, + -14.773974327901243 + ], + [ + 0.5473183390454546, + -14.932302483458654 + ], + [ + 0.550047543902351, + -14.929620761976597 + ], + [ + 0.6579408639796036, + -14.931067430470453 + ], + [ + 0.6606700688365001, + -14.928385708988394 + ] + ], + "yaw_rad": -1.559505111078952, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1611609160900116, + -14.911232948303223, + 0.02354109287261963 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5479417038406484, + -14.85391987707445, + 0.1195092057416738 + ], + "intended_face_normal": [ + -0.9998583390137041, + -0.011178870002056529, + 0.01258760079042412 + ], + "commanded_contact_point": [ + 0.1315714716911316, + -14.891759872436523, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5479260298236981, + -14.85330148032727, + 0.11881288031860551 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16116270422935486, + -14.911314010620117, + 0.023541241884231567 + ], + "box_pose": [ + 0.6050759553909302, + -14.857416152954102, + 0.13602697849273682, + 0.007869225926697254, + -0.0009933265391737223, + 0.7030993103981018, + -0.7110474705696106 + ], + "box_yaw_rad": -1.5594948142642029, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009052860684313914 + } + } + }, + { + "simulation_time_ns": 620000000, + "center": [ + 0.6030111037986449, + -14.852998635299134, + 0.1188034728815161 + ], + "face_center": [ + 0.5476992869912582, + -14.853616594606365, + 0.1193884132540752 + ], + "face_normal": [ + -0.9998817304364961, + -0.011170962320865896, + 0.01057407305844349 + ], + "footprint_xy": [ + [ + 0.5455749785589017, + -14.932304179757603 + ], + [ + 0.660447229038388, + -14.932304179757603 + ], + [ + 0.660447229038388, + -14.773693090840665 + ], + [ + 0.5455749785589017, + -14.773693090840665 + ] + ], + "projected_box_corners": [ + [ + 0.5455749785589017, + -14.777894986223163 + ], + [ + 0.5480784932861961, + -14.774929009455128 + ], + [ + 0.6561986121736749, + -14.776659067608701 + ], + [ + 0.6587021269009692, + -14.773693090840665 + ], + [ + 0.5473200806963205, + -14.932304179757603 + ], + [ + 0.5498235954236149, + -14.929338202989566 + ], + [ + 0.6579437143110937, + -14.931068261143139 + ], + [ + 0.660447229038388, + -14.928102284375104 + ] + ], + "yaw_rad": -1.5594950059207144, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16116662323474884, + -14.911142349243164, + 0.023540139198303223 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5478111583188326, + -14.85375593217405, + 0.11944414931589797 + ], + "intended_face_normal": [ + -0.9998717095262744, + -0.011163138279526641, + 0.011501383714682397 + ], + "commanded_contact_point": [ + 0.13183677196502686, + -14.890724182128906, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5477969637712247, + -14.85313840567995, + 0.11880791163928771 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1611609160900116, + -14.911232948303223, + 0.02354109287261963 + ], + "box_pose": [ + 0.6049271821975708, + -14.857229232788086, + 0.1360296905040741, + 0.007974219508469105, + -0.00011475016799522564, + 0.7031037211418152, + -0.7110427021980286 + ], + "box_yaw_rad": -1.559505111078952, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001069129856242573 + } + } + }, + { + "simulation_time_ns": 640000000, + "center": [ + 0.602915304165114, + -14.852877073855574, + 0.11879927288467038 + ], + "face_center": [ + 0.5476030411352858, + -14.853495605241616, + 0.11934004301591394 + ], + "face_normal": [ + -0.9998897968803906, + -0.011181303893115002, + 0.00977559960612201 + ], + "footprint_xy": [ + [ + 0.545575106236866, + -14.932304959123796 + ], + [ + 0.6602555020933619, + -14.932304959123796 + ], + [ + 0.6602555020933619, + -14.773449188587353 + ], + [ + 0.545575106236866, + -14.773449188587353 + ] + ], + "projected_box_corners": [ + [ + 0.545575106236866, + -14.777897810454283 + ], + [ + 0.547884264884065, + -14.774686251359434 + ], + [ + 0.6561996322965221, + -14.776660747682202 + ], + [ + 0.6585087909437213, + -14.773449188587353 + ], + [ + 0.5473218173865066, + -14.932304959123796 + ], + [ + 0.5496309760337057, + -14.929093400028947 + ], + [ + 0.6579463434461628, + -14.931067896351713 + ], + [ + 0.6602555020933619, + -14.927856337256864 + ] + ], + "yaw_rad": -1.559484437017306, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1611795276403427, + -14.911048889160156, + 0.02353915572166443 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5476992869912582, + -14.853616594606365, + 0.1193884132540752 + ], + "intended_face_normal": [ + -0.9998817304364961, + -0.011170962320865896, + 0.01057407305844349 + ], + "commanded_contact_point": [ + 0.13223208487033844, + -14.889607429504395, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.5476862012609778, + -14.852998635299134, + 0.1188034728815161 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16116662323474884, + -14.911142349243164, + 0.023540139198303223 + ], + "box_pose": [ + 0.604799747467041, + -14.85706901550293, + 0.13603177666664124, + 0.008064762689173222, + 0.0006362870335578918, + 0.7030999064445496, + -0.7110450863838196 + ], + "box_yaw_rad": -1.5594950059207144, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001184655527129848 + } + } + }, + { + "simulation_time_ns": 660000000, + "center": [ + 0.6028320394340834, + -14.852772446780964, + 0.11879594370128502 + ], + "face_center": [ + 0.5475194174601795, + -14.853390969509972, + 0.11929813347275624 + ], + "face_normal": [ + -0.9998962855774586, + -0.011181147398347857, + 0.009078175454889453 + ], + "footprint_xy": [ + [ + 0.5455764629760167, + -14.93230735824978 + ], + [ + 0.6600876158921499, + -14.93230735824978 + ], + [ + 0.6600876158921499, + -14.773237535312148 + ], + [ + 0.5455764629760167, + -14.773237535312148 + ] + ], + "projected_box_corners": [ + [ + 0.5455764629760167, + -14.777902147384566 + ], + [ + 0.5477158746584602, + -14.774474580770162 + ], + [ + 0.6562017069238243, + -14.776665101926552 + ], + [ + 0.6583411186062678, + -14.773237535312148 + ], + [ + 0.5473229602618989, + -14.93230735824978 + ], + [ + 0.5494623719443423, + -14.928879791635376 + ], + [ + 0.6579482042097065, + -14.931070312791766 + ], + [ + 0.6600876158921499, + -14.927642746177362 + ] + ], + "yaw_rad": -1.5594856799678305, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16119863092899323, + -14.910957336425781, + 0.02353757619857788 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5476030411352858, + -14.853495605241616, + 0.11934004301591394 + ], + "intended_face_normal": [ + -0.9998897968803906, + -0.011181303893115002, + 0.00977559960612201 + ], + "commanded_contact_point": [ + 0.13273409008979797, + -14.888449668884277, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5475908479518555, + -14.852877073855574, + 0.11879927288467038 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1611795276403427, + -14.911048889160156, + 0.02353915572166443 + ], + "box_pose": [ + 0.6046900749206543, + -14.856929779052734, + 0.13603317737579346, + 0.00814391952008009, + 0.0012842027936130762, + 0.7030953168869019, + -0.711047887802124 + ], + "box_yaw_rad": -1.559484437017306, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001261910810585529 + } + } + }, + { + "simulation_time_ns": 680000000, + "center": [ + 0.6027581815222667, + -14.852680191603692, + 0.11879240117572162 + ], + "face_center": [ + 0.547445259725761, + -14.85329906794969, + 0.11926051028567322 + ], + "face_normal": [ + -0.999901705524938, + -0.011187539796741808, + 0.008462093163950885 + ], + "footprint_xy": [ + [ + 0.5455769570489649, + -14.932309041163533 + ], + [ + 0.6599394059955684, + -14.932309041163533 + ], + [ + 0.6599394059955684, + -14.773051342043852 + ], + [ + 0.5455769570489649, + -14.773051342043852 + ] + ], + "projected_box_corners": [ + [ + 0.5455769570489649, + -14.777905613888866 + ], + [ + 0.5475664188287935, + -14.774289094735847 + ], + [ + 0.6562028006419764, + -14.77666786119687 + ], + [ + 0.6581922624218051, + -14.773051342043852 + ], + [ + 0.5473241006227284, + -14.932309041163533 + ], + [ + 0.5493135624025569, + -14.928692522010515 + ], + [ + 0.6579499442157399, + -14.931071288471538 + ], + [ + 0.6599394059955684, + -14.92745476931852 + ] + ], + "yaw_rad": -1.5594813641503247, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16122308373451233, + -14.91086196899414, + 0.02353575825691223 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5475194174601795, + -14.853390969509972, + 0.11929813347275624 + ], + "intended_face_normal": [ + -0.9998962855774586, + -0.011181147398347857, + 0.009078175454889453 + ], + "commanded_contact_point": [ + 0.1333196759223938, + -14.8872709274292, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5475079422416974, + -14.852772446780964, + 0.11879594370128502 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16119863092899323, + -14.910957336425781, + 0.02353757619857788 + ], + "box_pose": [ + 0.6045946478843689, + -14.856809616088867, + 0.1360347419977188, + 0.008215307258069515, + 0.0018523510079830885, + 0.7030945420265198, + -0.7110465168952942 + ], + "box_yaw_rad": -1.5594856799678305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013161847079008904 + } + } + }, + { + "simulation_time_ns": 700000000, + "center": [ + 0.6026958643641919, + -14.852602965119052, + 0.11879040970255846 + ], + "face_center": [ + 0.5473827244318781, + -14.853222025543273, + 0.11922985526918507 + ], + "face_normal": [ + -0.9999056488054476, + -0.0111908674121165, + 0.007943937099759019 + ], + "footprint_xy": [ + [ + 0.5455774211975051, + -14.932310814233286 + ], + [ + 0.6598143075308786, + -14.932310814233286 + ], + [ + 0.6598143075308786, + -14.772895116004818 + ], + [ + 0.5455774211975051, + -14.772895116004818 + ] + ], + "projected_box_corners": [ + [ + 0.5455774211975051, + -14.777909014310659 + ], + [ + 0.547440772551382, + -14.774133236853261 + ], + [ + 0.6562037010621327, + -14.776670893462216 + ], + [ + 0.6580670524160095, + -14.772895116004818 + ], + [ + 0.5473246763123741, + -14.932310814233286 + ], + [ + 0.5491880276662511, + -14.928535036775889 + ], + [ + 0.6579509561770017, + -14.931072693384845 + ], + [ + 0.6598143075308786, + -14.927296915927448 + ] + ], + "yaw_rad": -1.5594805225883699, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16125155985355377, + -14.910772323608398, + 0.023533403873443604 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.547445259725761, + -14.85329906794969, + 0.11926051028567322 + ], + "intended_face_normal": [ + -0.999901705524938, + -0.011187539796741808, + 0.008462093163950885 + ], + "commanded_contact_point": [ + 0.13396736979484558, + -14.88609790802002, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5474343842130587, + -14.852680191603692, + 0.11879240117572162 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16122308373451233, + -14.91086196899414, + 0.02353575825691223 + ], + "box_pose": [ + 0.6045100688934326, + -14.856703758239746, + 0.1360354721546173, + 0.00827561691403389, + 0.0023514844942837954, + 0.703091561794281, + -0.711047351360321 + ], + "box_yaw_rad": -1.5594813641503247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013399559272401064 + } + } + }, + { + "simulation_time_ns": 720000000, + "center": [ + 0.602691718863985, + -14.852598863721202, + 0.11879007214270013 + ], + "face_center": [ + 0.5473785496842651, + -14.853217940860365, + 0.11922753514300904 + ], + "face_normal": [ + -0.9999061775161044, + -0.011191169571163062, + 0.007908097889353816 + ], + "footprint_xy": [ + [ + 0.5455775954710169, + -14.932311339955392 + ], + [ + 0.659805842256953, + -14.932311339955392 + ], + [ + 0.659805842256953, + -14.772886387487011 + ], + [ + 0.5455775954710169, + -14.772886387487011 + ] + ], + "projected_box_corners": [ + [ + 0.5455775954710169, + -14.777909596380683 + ], + [ + 0.5474322425888635, + -14.774124541765339 + ], + [ + 0.6562039338304566, + -14.776671442102357 + ], + [ + 0.6580585809483032, + -14.772886387487011 + ], + [ + 0.5473248567796668, + -14.932311339955392 + ], + [ + 0.5491795038975134, + -14.928526285340046 + ], + [ + 0.6579511951391065, + -14.931073185677064 + ], + [ + 0.659805842256953, + -14.92728813106172 + ] + ], + "yaw_rad": -1.559480478349521, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1612825095653534, + -14.910684585571289, + 0.023531198501586914 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473827244318781, + -14.853222025543273, + 0.11922985526918507 + ], + "intended_face_normal": [ + -0.9999056488054476, + -0.0111908674121165, + 0.007943937099759019 + ], + "commanded_contact_point": [ + 0.13465650379657745, + -14.884953498840332, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5473722852328209, + -14.852602965119052, + 0.11879040970255846 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16125155985355377, + -14.910772323608398, + 0.023533403873443604 + ], + "box_pose": [ + 0.6044387221336365, + -14.85661506652832, + 0.13603706657886505, + 0.008326852694153786, + 0.002771784784272313, + 0.7030897736549377, + -0.7110468149185181 + ], + "box_yaw_rad": -1.5594805225883699, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013358809987831547 + } + } + }, + { + "simulation_time_ns": 740000000, + "center": [ + 0.6026908197852818, + -14.852601469957785, + 0.11878968779774685 + ], + "face_center": [ + 0.5473776509855012, + -14.853220570403566, + 0.11922677168675855 + ], + "face_normal": [ + -0.9999061706478745, + -0.011191590889132907, + 0.007901244625769965 + ], + "footprint_xy": [ + [ + 0.5455774839509895, + -14.932312206024664 + ], + [ + 0.6598041556195743, + -14.932312206024664 + ], + [ + 0.6598041556195743, + -14.772890733890904 + ], + [ + 0.5455774839509895, + -14.772890733890904 + ] + ], + "projected_box_corners": [ + [ + 0.5455774839509895, + -14.777910435795127 + ], + [ + 0.5474305259347652, + -14.77412893478247 + ], + [ + 0.6562038215505507, + -14.776672234903563 + ], + [ + 0.6580568635343265, + -14.772890733890904 + ], + [ + 0.5473247760362372, + -14.932312206024664 + ], + [ + 0.549177818020013, + -14.928530705012006 + ], + [ + 0.6579511136357985, + -14.931074005133098 + ], + [ + 0.6598041556195743, + -14.927292504120441 + ] + ], + "yaw_rad": -1.5594802810003536, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16131529211997986, + -14.910598754882812, + 0.023528993129730225 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473785496842651, + -14.853217940860365, + 0.11922753514300904 + ], + "intended_face_normal": [ + -0.9999061775161044, + -0.011191169571163062, + 0.007908097889353816 + ], + "commanded_contact_point": [ + 0.13536831736564636, + -14.883855819702148, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5473681689855244, + -14.852598863721202, + 0.11879007214270013 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1612825095653534, + -14.910684585571289, + 0.023531198501586914 + ], + "box_pose": [ + 0.6044339537620544, + -14.856610298156738, + 0.1360369473695755, + 0.0083278464153409, + 0.002798279281705618, + 0.7030896544456482, + -0.7110469937324524 + ], + "box_yaw_rad": -1.559480478349521, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013082729255163065 + } + } + }, + { + "simulation_time_ns": 760000000, + "center": [ + 0.6026939058281809, + -14.852602159107548, + 0.11878971833932081 + ], + "face_center": [ + 0.5473807501578146, + -14.853221439578533, + 0.11922813339820712 + ], + "face_normal": [ + -0.9999059333050738, + -0.011194845237328277, + 0.00792530842469319 + ], + "footprint_xy": [ + [ + 0.545577410740745, + -14.932311215818364 + ], + [ + 0.6598104009156168, + -14.932311215818364 + ], + [ + 0.6598104009156168, + -14.772893102396733 + ], + [ + 0.545577410740745, + -14.772893102396733 + ] + ], + "projected_box_corners": [ + [ + 0.545577410740745, + -14.777909414796486 + ], + [ + 0.5474362554444906, + -14.774131663338702 + ], + [ + 0.6562037220814776, + -14.776670853854515 + ], + [ + 0.6580625667852232, + -14.772893102396733 + ], + [ + 0.5473252448711385, + -14.932311215818364 + ], + [ + 0.5491840895748842, + -14.92853346436058 + ], + [ + 0.6579515562118712, + -14.931072654876393 + ], + [ + 0.6598104009156168, + -14.92729490341861 + ] + ], + "yaw_rad": -1.5594767730924444, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16134889423847198, + -14.910518646240234, + 0.023526787757873535 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473776509855012, + -14.853220570403566, + 0.11922677168675855 + ], + "intended_face_normal": [ + -0.9999061706478745, + -0.011191590889132907, + 0.007901244625769965 + ], + "commanded_contact_point": [ + 0.13608548045158386, + -14.88282585144043, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5473672695268108, + -14.852601469957785, + 0.11878968779774685 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16131529211997986, + -14.910598754882812, + 0.023528993129730225 + ], + "box_pose": [ + 0.6044329404830933, + -14.856613159179688, + 0.13603651523590088, + 0.008320227265357971, + 0.002795449225232005, + 0.7030895948410034, + -0.7110471129417419 + ], + "box_yaw_rad": -1.5594802810003536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012550527927777991 + } + } + }, + { + "simulation_time_ns": 780000000, + "center": [ + 0.6026995891571042, + -14.852608772625107, + 0.11878972382241186 + ], + "face_center": [ + 0.5473864462769343, + -14.853228088964135, + 0.1192307087945849 + ], + "face_normal": [ + -0.9999057020943767, + -0.011195493630424491, + 0.007971765212636955 + ], + "footprint_xy": [ + [ + 0.5455773855358975, + -14.932310885419646 + ], + [ + 0.659821792778311, + -14.932310885419646 + ], + [ + 0.659821792778311, + -14.772906659830568 + ], + [ + 0.5455773855358975, + -14.772906659830568 + ] + ], + "projected_box_corners": [ + [ + 0.5455773855358975, + -14.777908920135518 + ], + [ + 0.547447531312615, + -14.774145292508623 + ], + [ + 0.6562036712962372, + -14.776670287457463 + ], + [ + 0.6580738170729548, + -14.772906659830568 + ], + [ + 0.5473253612412537, + -14.932310885419646 + ], + [ + 0.5491955070179712, + -14.92854725779275 + ], + [ + 0.6579516470015935, + -14.931072252741592 + ], + [ + 0.659821792778311, + -14.927308625114696 + ] + ], + "yaw_rad": -1.5594758683267256, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16138210892677307, + -14.910449981689453, + 0.02352452278137207 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473807501578146, + -14.853221439578533, + 0.11922813339820712 + ], + "intended_face_normal": [ + -0.9999059333050738, + -0.011194845237328277, + 0.00792530842469319 + ], + "commanded_contact_point": [ + 0.13679230213165283, + -14.881877899169922, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5473703424378282, + -14.852602159107548, + 0.11878971833932081 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16134889423847198, + -14.910518646240234, + 0.023526787757873535 + ], + "box_pose": [ + 0.604436457157135, + -14.856614112854004, + 0.1360364407300949, + 0.008323178626596928, + 0.0027813399210572243, + 0.7030884027481079, + -0.7110483050346375 + ], + "box_yaw_rad": -1.5594767730924444, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011824594684943536 + } + } + }, + { + "simulation_time_ns": 800000000, + "center": [ + 0.6027063534037977, + -14.852618020879454, + 0.1187897909108597 + ], + "face_center": [ + 0.5473932497681814, + -14.853237242701976, + 0.1192341100636427 + ], + "face_normal": [ + -0.9999049926634733, + -0.011193785038411841, + 0.008032037799405867 + ], + "footprint_xy": [ + [ + 0.5455769615290758, + -14.932311488692127 + ], + [ + 0.6598357452785196, + -14.932311488692127 + ], + [ + 0.6598357452785196, + -14.772924553066783 + ], + [ + 0.5455769615290758, + -14.772924553066783 + ] + ], + "projected_box_corners": [ + [ + 0.5455769615290758, + -14.777909384739173 + ], + [ + 0.5474617681019152, + -14.774162996711823 + ], + [ + 0.6562031688003083, + -14.776670941094132 + ], + [ + 0.6580879753731478, + -14.772924553066783 + ], + [ + 0.5473247314344476, + -14.932311488692127 + ], + [ + 0.5492095380072871, + -14.928565100664777 + ], + [ + 0.6579509387056802, + -14.931073045047086 + ], + [ + 0.6598357452785196, + -14.927326657019735 + ] + ], + "yaw_rad": -1.5594772112052875, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16141536831855774, + -14.910387992858887, + 0.02352204918861389 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473864462769343, + -14.853228088964135, + 0.1192307087945849 + ], + "intended_face_normal": [ + -0.9999057020943767, + -0.011195493630424491, + 0.007971765212636955 + ], + "commanded_contact_point": [ + 0.13747385144233704, + -14.881019592285156, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5473760129741455, + -14.852608772625107, + 0.11878972382241186 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16138210892677307, + -14.910449981689453, + 0.02352452278137207 + ], + "box_pose": [ + 0.6044429540634155, + -14.856621742248535, + 0.13603612780570984, + 0.008318806998431683, + 0.0027438874822109938, + 0.7030882239341736, + -0.7110487818717957 + ], + "box_yaw_rad": -1.5594758683267256, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010959927788740506 + } + } + }, + { + "simulation_time_ns": 820000000, + "center": [ + 0.6027162670854966, + -14.852627936673096, + 0.1187902148390569 + ], + "face_center": [ + 0.5474031927474451, + -14.853247330959896, + 0.11923897363685636 + ], + "face_normal": [ + -0.9999044630460879, + -0.011196902706434364, + 0.008112294066471626 + ], + "footprint_xy": [ + [ + 0.5455768814656711, + -14.932311042539398 + ], + [ + 0.6598556527053221, + -14.932311042539398 + ], + [ + 0.6598556527053221, + -14.772944830806793 + ], + [ + 0.5455768814656711, + -14.772944830806793 + ] + ], + "projected_box_corners": [ + [ + 0.5455768814656711, + -14.777908706750503 + ], + [ + 0.5474811691410805, + -14.774183619380395 + ], + [ + 0.6562030301417741, + -14.776669918176903 + ], + [ + 0.6581073178171835, + -14.772944830806793 + ], + [ + 0.5473252163538097, + -14.932311042539398 + ], + [ + 0.5492295040292191, + -14.928585955169288 + ], + [ + 0.6579513650299127, + -14.931072253965796 + ], + [ + 0.6598556527053221, + -14.927347166595688 + ] + ], + "yaw_rad": -1.5594735695090451, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1614474207162857, + -14.9103364944458, + 0.023519784212112427 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473932497681814, + -14.853237242701976, + 0.1192341100636427 + ], + "intended_face_normal": [ + -0.9999049926634733, + -0.011193785038411841, + 0.008032037799405867 + ], + "commanded_contact_point": [ + 0.13811755180358887, + -14.88025951385498, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5473827379688552, + -14.852618020879454, + 0.1187897909108597 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16141536831855774, + -14.910387992858887, + 0.02352204918861389 + ], + "box_pose": [ + 0.6044507622718811, + -14.856632232666016, + 0.13603579998016357, + 0.008314738981425762, + 0.0026969010941684246, + 0.7030888795852661, + -0.7110481858253479 + ], + "box_yaw_rad": -1.5594772112052875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000996026794372569 + } + } + }, + { + "simulation_time_ns": 840000000, + "center": [ + 0.6027293987734536, + -14.85264403461338, + 0.11879127048379211 + ], + "face_center": [ + 0.5474163724164374, + -14.853263506793525, + 0.11924619962390617 + ], + "face_normal": [ + -0.9999035956842229, + -0.011198310798512301, + 0.008223836462057599 + ], + "footprint_xy": [ + [ + 0.5455763572203794, + -14.932313297648486 + ], + [ + 0.6598824403265278, + -14.932313297648486 + ], + [ + 0.6598824403265278, + -14.772974771578275 + ], + [ + 0.5455763572203794, + -14.772974771578275 + ] + ], + "projected_box_corners": [ + [ + 0.5455763572203794, + -14.777910674935285 + ], + [ + 0.5475077151654693, + -14.774213715938563 + ], + [ + 0.6562024099344118, + -14.776671730574996 + ], + [ + 0.6581337678795016, + -14.772974771578275 + ], + [ + 0.5473250296674056, + -14.932313297648486 + ], + [ + 0.5492563876124954, + -14.928616338651764 + ], + [ + 0.657951082381438, + -14.9310743532882 + ], + [ + 0.6598824403265278, + -14.927377394291478 + ] + ], + "yaw_rad": -1.5594714046034108, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16147743165493011, + -14.910293579101562, + 0.023517727851867676 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474031927474451, + -14.853247330959896, + 0.11923897363685636 + ], + "intended_face_normal": [ + -0.9999044630460879, + -0.011196902706434364, + 0.008112294066471626 + ], + "commanded_contact_point": [ + 0.13871236145496368, + -14.87960147857666, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.547392622347406, + -14.852627936673096, + 0.1187902148390569 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1614474207162857, + -14.9103364944458, + 0.023519784212112427 + ], + "box_pose": [ + 0.6044620871543884, + -14.856643676757812, + 0.1360357254743576, + 0.008311721496284008, + 0.0026367963291704655, + 0.7030878067016602, + -0.7110496163368225 + ], + "box_yaw_rad": -1.5594735695090451, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008870225190093355 + } + } + }, + { + "simulation_time_ns": 860000000, + "center": [ + 0.6027441200886604, + -14.85266152468834, + 0.11879182036676589 + ], + "face_center": [ + 0.5474311601551903, + -14.853280977384026, + 0.11925337441345014 + ], + "face_normal": [ + -0.9999023949337486, + -0.011197958574413525, + 0.008343596098021933 + ], + "footprint_xy": [ + [ + 0.5455765583202159, + -14.93231329275747 + ], + [ + 0.6599116818571048, + -14.93231329275747 + ], + [ + 0.6599116818571048, + -14.77300975661921 + ], + [ + 0.5455765583202159, + -14.77300975661921 + ] + ], + "projected_box_corners": [ + [ + 0.5455765583202159, + -14.777910354003508 + ], + [ + 0.5475370461333454, + -14.77424866201058 + ], + [ + 0.656202478187156, + -14.776671448612138 + ], + [ + 0.6581629660002855, + -14.77300975661921 + ], + [ + 0.5473252741770352, + -14.93231329275747 + ], + [ + 0.5492857619901647, + -14.928651600764542 + ], + [ + 0.6579511940439754, + -14.931074387366102 + ], + [ + 0.6599116818571048, + -14.927412695373173 + ] + ], + "yaw_rad": -1.5594711466718254, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16150543093681335, + -14.910252571105957, + 0.02351626753807068 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474163724164374, + -14.853263506793525, + 0.11924619962390617 + ], + "intended_face_normal": [ + -0.9999035956842229, + -0.011198310798512301, + 0.008223836462057599 + ], + "commanded_contact_point": [ + 0.13925018906593323, + -14.879050254821777, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5474057060451167, + -14.85264403461338, + 0.11879127048379211 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16147743165493011, + -14.910293579101562, + 0.023517727851867676 + ], + "box_pose": [ + 0.6044771671295166, + -14.856661796569824, + 0.13603611290454865, + 0.008309704251587391, + 0.0025554446037858725, + 0.703087329864502, + -0.7110504508018494 + ], + "box_yaw_rad": -1.5594714046034108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007701338630837586 + } + } + }, + { + "simulation_time_ns": 880000000, + "center": [ + 0.6027587809481725, + -14.852680644721278, + 0.11879194955913852 + ], + "face_center": [ + 0.5474458680190205, + -14.853300300222136, + 0.1192602609775066 + ], + "face_normal": [ + -0.9999015452281773, + -0.011201624720261205, + 0.00846575032983729 + ], + "footprint_xy": [ + [ + 0.5455760783339118, + -14.932313226798174 + ], + [ + 0.6599414835624331, + -14.932313226798174 + ], + [ + 0.6599414835624331, + -14.773048062644383 + ], + [ + 0.5455760783339118, + -14.773048062644383 + ] + ], + "projected_box_corners": [ + [ + 0.5455760783339118, + -14.777909877637674 + ], + [ + 0.5475662988766383, + -14.774287373646098 + ], + [ + 0.6562019041922157, + -14.776670566635959 + ], + [ + 0.6581921247349423, + -14.773048062644383 + ], + [ + 0.5473254371614027, + -14.932313226798174 + ], + [ + 0.5493156577041292, + -14.928690722806598 + ], + [ + 0.6579512630197066, + -14.931073915796457 + ], + [ + 0.6599414835624331, + -14.927451411804881 + ] + ], + "yaw_rad": -1.559467013078539, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16153088212013245, + -14.910226821899414, + 0.02351444959640503 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474311601551903, + -14.853280977384026, + 0.11925337441345014 + ], + "intended_face_normal": [ + -0.9999023949337486, + -0.011197958574413525, + 0.008343596098021933 + ], + "commanded_contact_point": [ + 0.13972583413124084, + -14.878602027893066, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5474203609238888, + -14.85266152468834, + 0.11879182036676589 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16150543093681335, + -14.910252571105957, + 0.02351626753807068 + ], + "box_pose": [ + 0.6044939756393433, + -14.856681823730469, + 0.13603585958480835, + 0.008300122804939747, + 0.0024605875369161367, + 0.703087568283081, + -0.7110505104064941 + ], + "box_yaw_rad": -1.5594711466718254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006535637753525963 + } + } + }, + { + "simulation_time_ns": 900000000, + "center": [ + 0.6027771011819698, + -14.85270406405178, + 0.11879257831732613 + ], + "face_center": [ + 0.5474642626367963, + -14.853323234162968, + 0.11926925099758875 + ], + "face_normal": [ + -0.9999002005755282, + -0.01119285024330452, + 0.008616898375486848 + ], + "footprint_xy": [ + [ + 0.5455766964238806, + -14.932313649342904 + ], + [ + 0.6599775059400591, + -14.932313649342904 + ], + [ + 0.6599775059400591, + -14.773094478760655 + ], + [ + 0.5455766964238806, + -14.773094478760655 + ] + ], + "projected_box_corners": [ + [ + 0.5455766964238806, + -14.777909869304986 + ], + [ + 0.547603721832066, + -14.774332818983032 + ], + [ + 0.6562023735142278, + -14.77667152908261 + ], + [ + 0.6582293989224132, + -14.773094478760655 + ], + [ + 0.5473248034415266, + -14.932313649342904 + ], + [ + 0.5493518288497119, + -14.92873659902095 + ], + [ + 0.6579504805318738, + -14.931075309120526 + ], + [ + 0.6599775059400591, + -14.927498258798572 + ] + ], + "yaw_rad": -1.5594751510297027, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16155286133289337, + -14.91020679473877, + 0.023513108491897583 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474458680190205, + -14.853300300222136, + 0.1192602609775066 + ], + "intended_face_normal": [ + -0.9999015452281773, + -0.011201624720261205, + 0.00846575032983729 + ], + "commanded_contact_point": [ + 0.14013707637786865, + -14.878257751464844, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5474349747698658, + -14.852680644721278, + 0.11879194955913852 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16153088212013245, + -14.910226821899414, + 0.02351444959640503 + ], + "box_pose": [ + 0.6045107841491699, + -14.856703758239746, + 0.13603511452674866, + 0.008285616524517536, + 0.0023590719792991877, + 0.7030864357948303, + -0.7110522985458374 + ], + "box_yaw_rad": -1.559467013078539, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005363268078216686 + } + } + }, + { + "simulation_time_ns": 920000000, + "center": [ + 0.6027989363973522, + -14.852731707804823, + 0.11879365821926939 + ], + "face_center": [ + 0.5474861859343457, + -14.853350960743429, + 0.1192802698276248 + ], + "face_normal": [ + -0.9998986082982393, + -0.011194347529511428, + 0.0087965661787468 + ], + "footprint_xy": [ + [ + 0.5455765978639828, + -14.9323150081728 + ], + [ + 0.6600212749307215, + -14.9323150081728 + ], + [ + 0.6600212749307215, + -14.773148407436848 + ], + [ + 0.5455765978639828, + -14.773148407436848 + ] + ], + "projected_box_corners": [ + [ + 0.5455765978639828, + -14.777910725125622 + ], + [ + 0.5476473205594607, + -14.774386913314059 + ], + [ + 0.6562020987899958, + -14.776672219248413 + ], + [ + 0.6582728214854737, + -14.773148407436848 + ], + [ + 0.5473250513092306, + -14.9323150081728 + ], + [ + 0.5493957740047085, + -14.928791196361235 + ], + [ + 0.6579505522352436, + -14.93107650229559 + ], + [ + 0.6600212749307215, + -14.927552690484024 + ] + ], + "yaw_rad": -1.559472944555779, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16157080233097076, + -14.910194396972656, + 0.023512035608291626 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474642626367963, + -14.853323234162968, + 0.11926925099758875 + ], + "intended_face_normal": [ + -0.9999002005755282, + -0.01119285024330452, + 0.008616898375486848 + ], + "commanded_contact_point": [ + 0.1404845267534256, + -14.878009796142578, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5474532206049356, + -14.85270406405178, + 0.11879257831732613 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16155286133289337, + -14.91020679473877, + 0.023513108491897583 + ], + "box_pose": [ + 0.6045317053794861, + -14.856730461120605, + 0.13603471219539642, + 0.008272174745798111, + 0.0022379455622285604, + 0.703089714050293, + -0.711049497127533 + ], + "box_yaw_rad": -1.5594751510297027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000426853143357905 + } + } + }, + { + "simulation_time_ns": 940000000, + "center": [ + 0.6028230636180949, + -14.852760787402348, + 0.11879487469439345 + ], + "face_center": [ + 0.5475104042622706, + -14.853380303156236, + 0.11929262148977668 + ], + "face_normal": [ + -0.9998969613372057, + -0.011199098488984482, + 0.008997858971440162 + ], + "footprint_xy": [ + [ + 0.5455759187361598, + -14.932314714104448 + ], + [ + 0.6600702085000301, + -14.932314714104448 + ], + [ + 0.6600702085000301, + -14.773206860700249 + ], + [ + 0.5455759187361598, + -14.773206860700249 + ] + ], + "projected_box_corners": [ + [ + 0.5455759187361598, + -14.777909847513337 + ], + [ + 0.547695589650759, + -14.774445892208025 + ], + [ + 0.6562012374478083, + -14.77667081600556 + ], + [ + 0.6583209083624075, + -14.773206860700249 + ], + [ + 0.5473252188737823, + -14.932314714104448 + ], + [ + 0.5494448897883815, + -14.928850758799136 + ], + [ + 0.6579505375854308, + -14.93107568259667 + ], + [ + 0.6600702085000301, + -14.92761172729136 + ] + ], + "yaw_rad": -1.5594675044640391, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16158579289913177, + -14.910184860229492, + 0.023510903120040894 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474861859343457, + -14.853350960743429, + 0.1192802698276248 + ], + "intended_face_normal": [ + -0.9998986082982393, + -0.011194347529511428, + 0.0087965661787468 + ], + "commanded_contact_point": [ + 0.14076901972293854, + -14.877853393554688, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 0.5474749677204268, + -14.852731707804823, + 0.11879365821926939 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16157080233097076, + -14.910194396972656, + 0.023512035608291626 + ], + "box_pose": [ + 0.604556679725647, + -14.856761932373047, + 0.13603457808494568, + 0.00825730711221695, + 0.0020951516926288605, + 0.7030893564224243, + -0.7110504508018494 + ], + "box_yaw_rad": -1.559472944555779, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000324650614578998 + } + } + }, + { + "simulation_time_ns": 960000000, + "center": [ + 0.6028520376755645, + -14.85279391961263, + 0.1187966542926023 + ], + "face_center": [ + 0.547539511557031, + -14.853413422024696, + 0.11930762695770357 + ], + "face_normal": [ + -0.9998945527825689, + -0.011198857306451981, + 0.009236945413786779 + ], + "footprint_xy": [ + [ + 0.5455759109645022, + -14.932313273576575 + ], + [ + 0.6601281643866267, + -14.932313273576575 + ], + [ + 0.6601281643866267, + -14.773274565648686 + ], + [ + 0.5455759109645022, + -14.773274565648686 + ] + ], + "projected_box_corners": [ + [ + 0.5455759109645022, + -14.777907800580763 + ], + [ + 0.5477537272758742, + -14.774513570472818 + ], + [ + 0.6562009632015693, + -14.776668795756631 + ], + [ + 0.6583787795129413, + -14.773274565648686 + ], + [ + 0.5473252958381877, + -14.932313273576575 + ], + [ + 0.5495031121495597, + -14.92891904346863 + ], + [ + 0.6579503480752547, + -14.931074268752441 + ], + [ + 0.6601281643866267, + -14.927680038644496 + ] + ], + "yaw_rad": -1.5594670002336974, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16159820556640625, + -14.910183906555176, + 0.02351018786430359 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5475104042622706, + -14.853380303156236, + 0.11929262148977668 + ], + "intended_face_normal": [ + -0.9998969613372057, + -0.011199098488984482, + 0.008997858971440162 + ], + "commanded_contact_point": [ + 0.14099161326885223, + -14.877778053283691, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.5474990038153594, + -14.852760787402348, + 0.11879487469439345 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16158579289913177, + -14.910184860229492, + 0.023510903120040894 + ], + "box_pose": [ + 0.6045843362808228, + -14.856795310974121, + 0.13603442907333374, + 0.008240328170359135, + 0.0019348623463883996, + 0.7030878663063049, + -0.7110527157783508 + ], + "box_yaw_rad": -1.5594675044640391, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00023499797363509524 + } + } + }, + { + "simulation_time_ns": 980000000, + "center": [ + 0.6028834544923284, + -14.852833983354888, + 0.11879792128413152 + ], + "face_center": [ + 0.5475710404796106, + -14.853452693791692, + 0.11932343423930614 + ], + "face_normal": [ + -0.9998925262254349, + -0.011184540626210215, + 0.009499792870962365 + ], + "footprint_xy": [ + [ + 0.5455764998404163, + -14.932313391028462 + ], + [ + 0.6601904091442405, + -14.932313391028462 + ], + [ + 0.6601904091442405, + -14.773354575681312 + ], + [ + 0.5455764998404163, + -14.773354575681312 + ] + ], + "projected_box_corners": [ + [ + 0.5455764998404163, + -14.777907138610864 + ], + [ + 0.547818312492085, + -14.774591996554921 + ], + [ + 0.6562013278658521, + -14.776669717737255 + ], + [ + 0.6584431405175207, + -14.773354575681312 + ], + [ + 0.5473237684671362, + -14.932313391028462 + ], + [ + 0.5495655811188047, + -14.928998248972519 + ], + [ + 0.6579485964925719, + -14.931075970154852 + ], + [ + 0.6601904091442405, + -14.92776082809891 + ] + ], + "yaw_rad": -1.559480761368467, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16160757839679718, + -14.910187721252441, + 0.02350965142250061 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.547539511557031, + -14.853413422024696, + 0.11930762695770357 + ], + "intended_face_normal": [ + -0.9998945527825689, + -0.011198857306451981, + 0.009236945413786779 + ], + "commanded_contact_point": [ + 0.14115479588508606, + -14.877781867980957, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5475278446077558, + -14.85279391961263, + 0.1187966542926023 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16159820556640625, + -14.910183906555176, + 0.02351018786430359 + ], + "box_pose": [ + 0.6046174764633179, + -14.856833457946777, + 0.13603460788726807, + 0.00822219718247652, + 0.0017465020064264536, + 0.7030881643295288, + -0.7110529541969299 + ], + "box_yaw_rad": -1.5594670002336974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016322720068763912 + } + } + }, + { + "simulation_time_ns": 1000000000, + "center": [ + 0.6029211080626748, + -14.852880807877538, + 0.11880014608926603 + ], + "face_center": [ + 0.5476088664606131, + -14.853499730162786, + 0.11934288155327999 + ], + "face_normal": [ + -0.9998894095267772, + -0.011188370248898849, + 0.009811127282571275 + ], + "footprint_xy": [ + [ + 0.5455761300815268, + -14.932315021088424 + ], + [ + 0.660266086043823, + -14.932315021088424 + ], + [ + 0.660266086043823, + -14.773446594666652 + ], + [ + 0.5455761300815268, + -14.773446594666652 + ] + ], + "projected_box_corners": [ + [ + 0.5455761300815268, + -14.777907981982949 + ], + [ + 0.5478936531807148, + -14.77468443923715 + ], + [ + 0.6562006132856503, + -14.776670137412452 + ], + [ + 0.6585181363848382, + -14.773446594666652 + ], + [ + 0.5473240797405114, + -14.932315021088424 + ], + [ + 0.5496416028396995, + -14.929091478342624 + ], + [ + 0.6579485629446349, + -14.931077176517926 + ], + [ + 0.660266086043823, + -14.927853633772127 + ] + ], + "yaw_rad": -1.5594764089504658, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1616150289773941, + -14.910199165344238, + 0.023508787155151367 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5475710404796106, + -14.853452693791692, + 0.11932343423930614 + ], + "intended_face_normal": [ + -0.9998925262254349, + -0.011184540626210215, + 0.009499792870962365 + ], + "commanded_contact_point": [ + 0.14126241207122803, + -14.877846717834473, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 0.5475591492948306, + -14.852833983354888, + 0.11879792128413152 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16160757839679718, + -14.910187721252441, + 0.02350965142250061 + ], + "box_pose": [ + 0.6046534180641174, + -14.856879234313965, + 0.1360340714454651, + 0.008198751136660576, + 0.0015358043601736426, + 0.7030935287475586, + -0.7110486030578613 + ], + "box_yaw_rad": -1.559480761368467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00012564532784198326 + } + } + }, + { + "simulation_time_ns": 1020000000, + "center": [ + 0.6029631945408058, + -14.852933953270826, + 0.1188018760424534 + ], + "face_center": [ + 0.5476511454626384, + -14.85355250522373, + 0.1193641628667298 + ], + "face_normal": [ + -0.9998859292374701, + -0.011181675684019177, + 0.010164560763153932 + ], + "footprint_xy": [ + [ + 0.545575892226155, + -14.932313482271582 + ], + [ + 0.6603504968554565, + -14.932313482271582 + ], + [ + 0.6603504968554565, + -14.773554424270072 + ], + [ + 0.545575892226155, + -14.773554424270072 + ] + ], + "projected_box_corners": [ + [ + 0.545575892226155, + -14.777905503626148 + ], + [ + 0.5479794619371847, + -14.774791528175879 + ], + [ + 0.6561999903824898, + -14.77666839972034 + ], + [ + 0.6586035600935196, + -14.773554424270072 + ], + [ + 0.5473228289880919, + -14.932313482271582 + ], + [ + 0.5497263986991218, + -14.929199506821313 + ], + [ + 0.6579469271444268, + -14.931076378365773 + ], + [ + 0.6603504968554565, + -14.927962402915506 + ] + ], + "yaw_rad": -1.5594830368588968, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16183790564537048, + -14.910025596618652, + 0.02370515465736389 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5476088664606131, + -14.853499730162786, + 0.11934288155327999 + ], + "intended_face_normal": [ + -0.9998894095267772, + -0.011188370248898849, + 0.009811127282571275 + ], + "commanded_contact_point": [ + 0.14131875336170197, + -14.87796688079834, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5475966304169182, + -14.852880807877538, + 0.11880014608926603 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1616150289773941, + -14.910199165344238, + 0.023508787155151367 + ], + "box_pose": [ + 0.60469651222229, + -14.856932640075684, + 0.13603419065475464, + 0.008173945359885693, + 0.001289337407797575, + 0.7030924558639526, + -0.7110503911972046 + ], + "box_yaw_rad": -1.5594764089504658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001327157957830542 + } + } + }, + { + "simulation_time_ns": 1040000000, + "center": [ + 0.603010724142586, + -14.85299479579876, + 0.11880369997077367 + ], + "face_center": [ + 0.5476989053895039, + -14.853613263600657, + 0.11938768629790887 + ], + "face_normal": [ + -0.9998817656091878, + -0.011180154471038817, + 0.01055682660652052 + ], + "footprint_xy": [ + [ + 0.5455760454735779, + -14.93231372137435 + ], + [ + 0.6604454028115944, + -14.93231372137435 + ], + [ + 0.6604454028115944, + -14.77367587022317 + ], + [ + 0.5455760454735779, + -14.77367587022317 + ] + ], + "projected_box_corners": [ + [ + 0.5455760454735779, + -14.777904758223578 + ], + [ + 0.5480751021924954, + -14.774912805826965 + ], + [ + 0.6561996829797422, + -14.776667822619784 + ], + [ + 0.6586987396986598, + -14.77367587022317 + ], + [ + 0.5473227085865124, + -14.93231372137435 + ], + [ + 0.5498217653054299, + -14.929321768977736 + ], + [ + 0.6579463460926768, + -14.931076785770554 + ], + [ + 0.6604454028115944, + -14.928084833373942 + ] + ], + "yaw_rad": -1.5594848809942599, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17049121856689453, + -14.905487060546875, + 0.03563052415847778 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5476511454626384, + -14.85355250522373, + 0.1193641628667298 + ], + "intended_face_normal": [ + -0.9998859292374701, + -0.011181675684019177, + 0.010164560763153932 + ], + "commanded_contact_point": [ + 0.1413196623325348, + -14.878124237060547, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.547638524327895, + -14.852933953270826, + 0.1188018760424534 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16183790564537048, + -14.910025596618652, + 0.02370515465736389 + ], + "box_pose": [ + 0.6047447323799133, + -14.856993675231934, + 0.13603343069553375, + 0.008137649856507778, + 0.00100126292090863, + 0.7030952572822571, + -0.7110484838485718 + ], + "box_yaw_rad": -1.5594830368588968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00015735889109879907 + } + } + }, + { + "simulation_time_ns": 1060000000, + "center": [ + 0.6030665696265217, + -14.853063858801397, + 0.11880657868233603 + ], + "face_center": [ + 0.5477550275464089, + -14.853682362542159, + 0.11941650820135444 + ], + "face_normal": [ + -0.9998767641418083, + -0.011180804144397927, + 0.011025806384992745 + ], + "footprint_xy": [ + [ + 0.5455751165475994, + -14.932313182290448 + ], + [ + 0.660558022705444, + -14.932313182290448 + ], + [ + 0.660558022705444, + -14.773814535312345 + ], + [ + 0.5455751165475994, + -14.773814535312345 + ] + ], + "projected_box_corners": [ + [ + 0.5455751165475994, + -14.777903109052595 + ], + [ + 0.5481882647139648, + -14.77505154279387 + ], + [ + 0.6561982007078249, + -14.776666101571072 + ], + [ + 0.6588113488741902, + -14.773814535312345 + ], + [ + 0.5473217903788531, + -14.932313182290448 + ], + [ + 0.5499349385452185, + -14.929461616031723 + ], + [ + 0.6579448745390786, + -14.931076174808926 + ], + [ + 0.660558022705444, + -14.928224608550199 + ] + ], + "yaw_rad": -1.559484892901974, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1725168228149414, + -14.907255172729492, + 0.05594585835933685 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5476989053895039, + -14.853613263600657, + 0.11938768629790887 + ], + "intended_face_normal": [ + -0.9998817656091878, + -0.011180154471038817, + 0.01055682660652052 + ], + "commanded_contact_point": [ + 0.1407487690448761, + -14.87782096862793, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5476858235510749, + -14.85299479579876, + 0.11880369997077367 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17049121856689453, + -14.905487060546875, + 0.03563052415847778 + ], + "box_pose": [ + 0.6047990918159485, + -14.857063293457031, + 0.13603247702121735, + 0.008096733130514622, + 0.0006809232290834188, + 0.7030962705612183, + -0.7110482454299927 + ], + "box_yaw_rad": -1.5594848809942599, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006464448067157109 + } + } + }, + { + "simulation_time_ns": 1080000000, + "center": [ + 0.6031307263973881, + -14.85314279370477, + 0.11880916113604287 + ], + "face_center": [ + 0.5478195134783974, + -14.85376114768015, + 0.1194484057804116 + ], + "face_normal": [ + -0.9998708138365887, + -0.011178096808454607, + 0.011555741215470448 + ], + "footprint_xy": [ + [ + 0.5455754412973566, + -14.932311468589898 + ], + [ + 0.6606860114974197, + -14.932311468589898 + ], + [ + 0.6606860114974197, + -14.773974118819643 + ], + [ + 0.5455754412973566, + -14.773974118819643 + ] + ], + "projected_box_corners": [ + [ + 0.5455754412973566, + -14.777900184069413 + ], + [ + 0.5483175606184314, + -14.775210826770403 + ], + [ + 0.656197867135338, + -14.776663476118653 + ], + [ + 0.6589399864564128, + -14.773974118819643 + ], + [ + 0.5473214663383634, + -14.932311468589898 + ], + [ + 0.5500635856594382, + -14.929622111290886 + ], + [ + 0.6579438921763449, + -14.931074760639138 + ], + [ + 0.6606860114974197, + -14.928385403340128 + ] + ], + "yaw_rad": -1.5594891827921045, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15716961026191711, + -14.91718864440918, + 0.056879401206970215 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5477550275464089, + -14.853682362542159, + 0.11941650820135444 + ], + "intended_face_normal": [ + -0.9998767641418083, + -0.011180804144397927, + 0.011025806384992745 + ], + "commanded_contact_point": [ + 0.14029687643051147, + -14.878090858459473, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5477413922952207, + -14.853063858801397, + 0.11880657868233603 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1725168228149414, + -14.907255172729492, + 0.05594585835933685 + ], + "box_pose": [ + 0.6048631072044373, + -14.857142448425293, + 0.1360321193933487, + 0.008055866695940495, + 0.0003060902818106115, + 0.7030965089797974, + -0.7110487818717957 + ], + "box_yaw_rad": -1.559484892901974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005263529777741241 + } + } + }, + { + "simulation_time_ns": 1100000000, + "center": [ + 0.6032023750324541, + -14.853237801135677, + 0.11881115337115006 + ], + "face_center": [ + 0.5478915509878984, + -14.85385502501494, + 0.11948341087243819 + ], + "face_normal": [ + -0.9998637840829946, + -0.011157667856315445, + 0.012152520609251212 + ], + "footprint_xy": [ + [ + 0.5455765982174026, + -14.932310842102028 + ], + [ + 0.6608281518475057, + -14.932310842102028 + ], + [ + 0.6608281518475057, + -14.774164760169324 + ], + [ + 0.5455765982174026, + -14.774164760169324 + ] + ], + "projected_box_corners": [ + [ + 0.5455765982174026, + -14.777898225394951 + ], + [ + 0.5484640864957541, + -14.775399207927853 + ], + [ + 0.656198246306514, + -14.776663777636422 + ], + [ + 0.6590857345848655, + -14.774164760169324 + ], + [ + 0.5473190154800427, + -14.932310842102028 + ], + [ + 0.5502065037583942, + -14.92981182463493 + ], + [ + 0.6579406635691541, + -14.9310763943435 + ], + [ + 0.6608281518475057, + -14.928577376876401 + ] + ], + "yaw_rad": -1.559512641885705, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15144406259059906, + -14.919368743896484, + 0.05860273540019989 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5478195134783974, + -14.85376114768015, + 0.1194484057804116 + ], + "intended_face_normal": [ + -0.9998708138365887, + -0.011178096808454607, + 0.011555741215470448 + ], + "commanded_contact_point": [ + 0.1418759524822235, + -14.879042625427246, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.5478052198218618, + -14.85314279370477, + 0.11880916113604287 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15716961026191711, + -14.91718864440918, + 0.056879401206970215 + ], + "box_pose": [ + 0.6049364805221558, + -14.857233047485352, + 0.13603097200393677, + 0.008004464209079742, + -0.000122761310194619, + 0.7030980587005615, + -0.711047887802124 + ], + "box_yaw_rad": -1.5594891827921045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018437303322774773 + } + } + }, + { + "simulation_time_ns": 1120000000, + "center": [ + 0.6032883107024358, + -14.853342612581585, + 0.11881552040012523 + ], + "face_center": [ + 0.5479779783530803, + -14.853960248607645, + 0.11952753758714459 + ], + "face_normal": [ + -0.9998548956198053, + -0.011165118308603783, + 0.01287126364944055 + ], + "footprint_xy": [ + [ + 0.5455753474675076, + -14.932309856496524 + ], + [ + 0.6610012739373641, + -14.932309856496524 + ], + [ + 0.6610012739373641, + -14.774375368666647 + ], + [ + 0.5455753474675076, + -14.774375368666647 + ] + ], + "projected_box_corners": [ + [ + 0.5455753474675076, + -14.777895850893518 + ], + [ + 0.5486376571067495, + -14.775610640718769 + ], + [ + 0.6561960121662186, + -14.776660578841396 + ], + [ + 0.6592583218054605, + -14.774375368666647 + ], + [ + 0.547318299599411, + -14.932309856496524 + ], + [ + 0.5503806092386531, + -14.930024646321774 + ], + [ + 0.657938964298122, + -14.931074584444401 + ], + [ + 0.6610012739373641, + -14.928789374269652 + ] + ], + "yaw_rad": -1.5595092799457675, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15317673981189728, + -14.911845207214355, + 0.06108483672142029 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5478915509878984, + -14.85385502501494, + 0.11948341087243819 + ], + "intended_face_normal": [ + -0.9998637840829946, + -0.011157667856315445, + 0.012152520609251212 + ], + "commanded_contact_point": [ + 0.14353124797344208, + -14.87968635559082, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5478764794792641, + -14.853237801135677, + 0.11881115337115006 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15144406259059906, + -14.919368743896484, + 0.05860273540019989 + ], + "box_pose": [ + 0.6050184369087219, + -14.857341766357422, + 0.13602861762046814, + 0.007935409434139729, + -0.0006170679698698223, + 0.7031061053276062, + -0.7110403180122375 + ], + "box_yaw_rad": -1.559512641885705, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017760607217727155 + } + } + }, + { + "simulation_time_ns": 1140000000, + "center": [ + 0.6033868219274247, + -14.853465960435106, + 0.1188195818215902 + ], + "face_center": [ + 0.5480770912195629, + -14.854084033589759, + 0.11957687018613482 + ], + "face_normal": [ + -0.9998440196375527, + -0.011173020361321728, + 0.013689638925025699 + ], + "footprint_xy": [ + [ + 0.5455747863393599, + -14.932310408371976 + ], + [ + 0.6611988575154895, + -14.932310408371976 + ], + [ + 0.6611988575154895, + -14.774621512498236 + ], + [ + 0.5455747863393599, + -14.774621512498236 + ] + ], + "projected_box_corners": [ + [ + 0.5455747863393599, + -14.777894965820261 + ], + [ + 0.5488362073835116, + -14.77585765880754 + ], + [ + 0.6561942477550832, + -14.776658819510955 + ], + [ + 0.6594556687992349, + -14.774621512498236 + ], + [ + 0.5473179750556144, + -14.932310408371976 + ], + [ + 0.5505793960997661, + -14.930273101359257 + ], + [ + 0.6579374364713377, + -14.931074262062669 + ], + [ + 0.6611988575154895, + -14.92903695504995 + ] + ], + "yaw_rad": -1.5595078530374546, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15560248494148254, + -14.901912689208984, + 0.06536804139614105 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5479779783530803, + -14.853960248607645, + 0.11952753758714459 + ], + "intended_face_normal": [ + -0.9998548956198053, + -0.011165118308603783, + 0.01287126364944055 + ], + "commanded_contact_point": [ + 0.14478527009487152, + -14.880560874938965, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5479619233156926, + -14.853342612581585, + 0.11881552040012523 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15317673981189728, + -14.911845207214355, + 0.06108483672142029 + ], + "box_pose": [ + 0.6051169037818909, + -14.857461929321289, + 0.136027991771698, + 0.007874734699726105, + -0.0011895279167219996, + 0.7031041383743286, + -0.7110423445701599 + ], + "box_yaw_rad": -1.5595092799457675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015288412515489101 + } + } + }, + { + "simulation_time_ns": 1160000000, + "center": [ + 0.6034990444039349, + -14.85360736952842, + 0.11882307360960606 + ], + "face_center": [ + 0.548190055836563, + -14.854225205088234, + 0.11963207025462039 + ], + "face_normal": [ + -0.9998306038295028, + -0.011168725316358152, + 0.014624378876418043 + ], + "footprint_xy": [ + [ + 0.5455750753353551, + -14.932308112603055 + ], + [ + 0.6614230134725146, + -14.932308112603055 + ], + [ + 0.6614230134725146, + -14.774906626453786 + ], + [ + 0.5455750753353551, + -14.774906626453786 + ] + ], + "projected_box_corners": [ + [ + 0.5455750753353551, + -14.777891232863041 + ], + [ + 0.549064006373344, + -14.776142297573411 + ], + [ + 0.6561930524700988, + -14.776655561743418 + ], + [ + 0.6596819835080877, + -14.774906626453786 + ], + [ + 0.547316105299782, + -14.932308112603055 + ], + [ + 0.5508050363377709, + -14.930559177313425 + ], + [ + 0.6579340824345258, + -14.931072441483431 + ], + [ + 0.6614230134725146, + -14.9293235061938 + ] + ], + "yaw_rad": -1.5595219363383466, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15502473711967468, + -14.893353462219238, + 0.0680743157863617 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5480770912195629, + -14.854084033589759, + 0.11957687018613482 + ], + "intended_face_normal": [ + -0.9998440196375527, + -0.011173020361321728, + 0.013689638925025699 + ], + "commanded_contact_point": [ + 0.1455000638961792, + -14.88162612915039, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5480598327180016, + -14.853465960435106, + 0.1188195818215902 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15560248494148254, + -14.901912689208984, + 0.06536804139614105 + ], + "box_pose": [ + 0.6052296757698059, + -14.857603073120117, + 0.1360262632369995, + 0.007799125742167234, + -0.001847952837124467, + 0.703102171421051, + -0.7110437750816345 + ], + "box_yaw_rad": -1.5595078530374546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012828471127675435 + } + } + }, + { + "simulation_time_ns": 1180000000, + "center": [ + 0.6036286532822593, + -14.853772243731378, + 0.11882705754189407 + ], + "face_center": [ + 0.548320575662975, + -14.854390828798337, + 0.11969597524939614 + ], + "face_normal": [ + -0.9998141364559345, + -0.011182274292815153, + 0.01570758277583917 + ], + "footprint_xy": [ + [ + 0.545573828193014, + -14.932307470590393 + ], + [ + 0.6616834783715045, + -14.932307470590393 + ], + [ + 0.6616834783715045, + -14.775237016872362 + ], + [ + 0.545573828193014, + -14.775237016872362 + ] + ], + "projected_box_corners": [ + [ + 0.545573828193014, + -14.777889178778995 + ], + [ + 0.5493263710250458, + -14.776474187006283 + ], + [ + 0.6561899834315826, + -14.776652008645074 + ], + [ + 0.6599425262636144, + -14.775237016872362 + ], + [ + 0.5473147803009042, + -14.932307470590393 + ], + [ + 0.5510673231329359, + -14.93089247881768 + ], + [ + 0.6579309355394728, + -14.931070300456472 + ], + [ + 0.6616834783715045, + -14.92965530868376 + ] + ], + "yaw_rad": -1.5595225435561528, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15177717804908752, + -14.888470649719238, + 0.06847058236598969 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.548190055836563, + -14.854225205088234, + 0.11963207025462039 + ], + "intended_face_normal": [ + -0.9998306038295028, + -0.011168725316358152, + 0.014624378876418043 + ], + "commanded_contact_point": [ + 0.14592532813549042, + -14.883500099182129, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.548171312812488, + -14.85360736952842, + 0.11882307360960606 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15502473711967468, + -14.893353462219238, + 0.0680743157863617 + ], + "box_pose": [ + 0.6053581237792969, + -14.857765197753906, + 0.13602301478385925, + 0.007705178577452898, + -0.0026077216025441885, + 0.7031047344207764, + -0.7110397219657898 + ], + "box_yaw_rad": -1.5595219363383466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019216173796023299 + } + } + }, + { + "simulation_time_ns": 1200000000, + "center": [ + 0.6037796462083489, + -14.853961130320554, + 0.1188317859646795 + ], + "face_center": [ + 0.5484727134352458, + -14.854580438278537, + 0.11977023301378849 + ], + "face_normal": [ + -0.999793440864164, + -0.011195342124756147, + 0.016964477277137957 + ], + "footprint_xy": [ + [ + 0.5455735658393861, + -14.932305277033258 + ], + [ + 0.6619857265773118, + -14.932305277033258 + ], + [ + 0.6619857265773118, + -14.775616983607852 + ], + [ + 0.5455735658393861, + -14.775616983607852 + ] + ], + "projected_box_corners": [ + [ + 0.5455735658393861, + -14.777885747124778 + ], + [ + 0.5496319707623639, + -14.776855599523817 + ], + [ + 0.6561874313855923, + -14.776647131208813 + ], + [ + 0.6602458363085701, + -14.775616983607852 + ], + [ + 0.5473134561081276, + -14.932305277033258 + ], + [ + 0.5513718610311056, + -14.931275129432297 + ], + [ + 0.657927321654334, + -14.931066661117294 + ], + [ + 0.6619857265773118, + -14.930036513516331 + ] + ], + "yaw_rad": -1.559529509392255, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1491873562335968, + -14.887738227844238, + 0.0693235695362091 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.548320575662975, + -14.854390828798337, + 0.11969597524939614 + ], + "intended_face_normal": [ + -0.9998141364559345, + -0.011182274292815153, + 0.01570758277583917 + ], + "commanded_contact_point": [ + 0.1459478735923767, + -14.88618278503418, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.5483000104190154, + -14.853772243731378, + 0.11882705754189407 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15177717804908752, + -14.888470649719238, + 0.06847058236598969 + ], + "box_pose": [ + 0.6055065989494324, + -14.857954025268555, + 0.13601914048194885, + 0.007596584036946297, + -0.003487848676741123, + 0.7031010985374451, + -0.7110407948493958 + ], + "box_yaw_rad": -1.5595225435561528, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026827805870837658 + } + } + }, + { + "simulation_time_ns": 1220000000, + "center": [ + 0.603953136884018, + -14.854179229217108, + 0.11883684170818455 + ], + "face_center": [ + 0.5486476418441306, + -14.854800091379335, + 0.11985563298156057 + ], + "face_normal": [ + -0.9997674507004217, + -0.011223437756370136, + 0.018416874371061764 + ], + "footprint_xy": [ + [ + 0.5455717792064779, + -14.932303676519817 + ], + [ + 0.662334494561558, + -14.932303676519817 + ], + [ + 0.662334494561558, + -14.7760547819144 + ], + [ + 0.5455717792064779, + -14.7760547819144 + ] + ], + "projected_box_corners": [ + [ + 0.5455717792064779, + -14.777883229475988 + ], + [ + 0.5499836042697457, + -14.777296506238851 + ], + [ + 0.6561827692862526, + -14.776641505151535 + ], + [ + 0.6605945943495204, + -14.7760547819144 + ], + [ + 0.5473116794185156, + -14.932303676519817 + ], + [ + 0.5517235044817833, + -14.931716953282683 + ], + [ + 0.6579226694982903, + -14.931061952195364 + ], + [ + 0.662334494561558, + -14.93047522895823 + ] + ], + "yaw_rad": -1.5595295119196944, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14803314208984375, + -14.891097068786621, + 0.07065881788730621 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5484727134352458, + -14.854580438278537, + 0.11977023301378849 + ], + "intended_face_normal": [ + -0.999793440864164, + -0.011195342124756147, + 0.016964477277137957 + ], + "commanded_contact_point": [ + 0.1452694535255432, + -14.88920783996582, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5484498580495278, + -14.853961130320554, + 0.1188317859646795 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1491873562335968, + -14.887738227844238, + 0.0693235695362091 + ], + "box_pose": [ + 0.605679452419281, + -14.858170509338379, + 0.13601472973823547, + 0.007474481128156185, + -0.004505185876041651, + 0.7030977606773376, + -0.711039662361145 + ], + "box_yaw_rad": -1.559529509392255, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003100195337272424 + } + } + }, + { + "simulation_time_ns": 1240000000, + "center": [ + 0.6041512856269052, + -14.854430960264015, + 0.11884127827628005 + ], + "face_center": [ + 0.5488475714855475, + -14.855053994753634, + 0.11995125876620427 + ], + "face_normal": [ + -0.9997352570751457, + -0.011262707312107212, + 0.02006531835468406 + ], + "footprint_xy": [ + [ + 0.5455710742762836, + -14.932304337006057 + ], + [ + 0.6627314969775268, + -14.932304337006057 + ], + [ + 0.6627314969775268, + -14.776557583521972 + ], + [ + 0.5455710742762836, + -14.776557583521972 + ] + ], + "projected_box_corners": [ + [ + 0.5455710742762836, + -14.777883508856256 + ], + [ + 0.5503840804269179, + -14.77780365250121 + ], + [ + 0.6561785025589988, + -14.776637439877016 + ], + [ + 0.6609915087096332, + -14.776557583521972 + ], + [ + 0.5473110625441772, + -14.932304337006057 + ], + [ + 0.5521240686948116, + -14.932224480651014 + ], + [ + 0.6579184908268925, + -14.931058268026819 + ], + [ + 0.6627314969775268, + -14.930978411671774 + ] + ], + "yaw_rad": -1.559528969562863, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1464841365814209, + -14.897366523742676, + 0.07089540362358093 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5486476418441306, + -14.854800091379335, + 0.11985563298156057 + ], + "intended_face_normal": [ + -0.9997674507004217, + -0.011223437756370136, + 0.018416874371061764 + ], + "commanded_contact_point": [ + 0.14382964372634888, + -14.892376899719238, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.548621910360452, + -14.854179229217108, + 0.11883684170818455 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14803314208984375, + -14.891097068786621, + 0.07065881788730621 + ], + "box_pose": [ + 0.6058782339096069, + -14.858420372009277, + 0.13600915670394897, + 0.007335232570767403, + -0.005678916350007057, + 0.7030892372131348, + -0.7110411524772644 + ], + "box_yaw_rad": -1.5595295119196944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034808033524912738 + } + } + }, + { + "simulation_time_ns": 1260000000, + "center": [ + 0.6043789858878122, + -14.854718247251355, + 0.1188450676150142 + ], + "face_center": [ + 0.5490774985397878, + -14.855344298152987, + 0.12005952515704156 + ], + "face_normal": [ + -0.999695002928749, + -0.011317235538396142, + 0.02195396894830981 + ], + "footprint_xy": [ + [ + 0.5455710538383544, + -14.932806363234315 + ], + [ + 0.6631869179372702, + -14.932806363234315 + ], + [ + 0.6631869179372702, + -14.776630131268394 + ], + [ + 0.5455710538383544, + -14.776630131268394 + ] + ], + "projected_box_corners": [ + [ + 0.5455710538383544, + -14.77788223307166 + ], + [ + 0.5508437603974699, + -14.778385953905515 + ], + [ + 0.6561740285344033, + -14.776630131268394 + ], + [ + 0.6614467350935189, + -14.77713385210225 + ], + [ + 0.5473112366821057, + -14.93230264240046 + ], + [ + 0.5525839432412212, + -14.932806363234315 + ], + [ + 0.6579142113781548, + -14.931050540597194 + ], + [ + 0.6631869179372702, + -14.93155426143105 + ] + ], + "yaw_rad": -1.5595276791261834, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14009077847003937, + -14.9055757522583, + 0.0654807984828949 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5488475714855475, + -14.855053994753634, + 0.11995125876620427 + ], + "intended_face_normal": [ + -0.9997352570751457, + -0.011262707312107212, + 0.02006531835468406 + ], + "commanded_contact_point": [ + 0.14187559485435486, + -14.895866394042969, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5488182773188517, + -14.854430960264015, + 0.11884127827628005 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1464841365814209, + -14.897366523742676, + 0.07089540362358093 + ], + "box_pose": [ + 0.6061050891876221, + -14.858708381652832, + 0.1360013484954834, + 0.007171927951276302, + -0.007016458082944155, + 0.703076958656311, + -0.7110430002212524 + ], + "box_yaw_rad": -1.559528969562863, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003999359652430406 + } + } + }, + { + "simulation_time_ns": 1280000000, + "center": [ + 0.6046241196964989, + -14.855047556472142, + 0.11885457541553957 + ], + "face_center": [ + 0.5493252462823737, + -14.855675999015409, + 0.12018150933758931 + ], + "face_normal": [ + -0.9996477503722184, + -0.011360469677375473, + 0.02398722484156035 + ], + "footprint_xy": [ + [ + 0.5455733119705468, + -14.933468663721527 + ], + [ + 0.6636749274224509, + -14.933468663721527 + ], + [ + 0.6636749274224509, + -14.776626449222757 + ], + [ + 0.5455733119705468, + -14.776626449222757 + ] + ], + "projected_box_corners": [ + [ + 0.5455733119705468, + -14.777883334309289 + ], + [ + 0.5513413163776933, + -14.779049821856656 + ], + [ + 0.6561710587987972, + -14.776626449222757 + ], + [ + 0.6619390632059438, + -14.777792936770124 + ], + [ + 0.547309176187054, + -14.93230217617416 + ], + [ + 0.5530771805942005, + -14.933468663721527 + ], + [ + 0.6579069230153044, + -14.931045291087628 + ], + [ + 0.6636749274224509, + -14.932211778634995 + ] + ], + "yaw_rad": -1.5595555281792566, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1327519416809082, + -14.914519309997559, + 0.060877054929733276 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5490774985397878, + -14.855344298152987, + 0.12005952515704156 + ], + "intended_face_normal": [ + -0.999695002928749, + -0.011317235538396142, + 0.02195396894830981 + ], + "commanded_contact_point": [ + 0.14049875736236572, + -14.900158882141113, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5490437495171892, + -14.854718247251355, + 0.1188450676150142 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14009077847003937, + -14.9055757522583, + 0.0654807984828949 + ], + "box_pose": [ + 0.6063656806945801, + -14.859037399291992, + 0.1359909027814865, + 0.00698064686730504, + -0.00855322740972042, + 0.7030594944953918, + -0.7110453844070435 + ], + "box_yaw_rad": -1.5595276791261834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004507897021037796 + } + } + }, + { + "simulation_time_ns": 1300000000, + "center": [ + 0.6048830039483453, + -14.855394727614371, + 0.11886340851908375 + ], + "face_center": [ + 0.5495871623790682, + -14.856025483494953, + 0.12030977125845752 + ], + "face_normal": [ + -0.9995929431637744, + -0.011402288295051743, + 0.026146161203129736 + ], + "footprint_xy": [ + [ + 0.5455758541791706, + -14.934170056250728 + ], + [ + 0.6641901537175199, + -14.934170056250728 + ], + [ + 0.6641901537175199, + -14.776619398978012 + ], + [ + 0.5455758541791706, + -14.776619398978012 + ] + ], + "projected_box_corners": [ + [ + 0.5455758541791706, + -14.77788091073918 + ], + [ + 0.5518697977576767, + -14.779754200629778 + ], + [ + 0.6561675373177247, + -14.776619398978012 + ], + [ + 0.6624614808962309, + -14.77849268886861 + ], + [ + 0.5473045270004596, + -14.93229676636013 + ], + [ + 0.5535984705789657, + -14.934170056250728 + ], + [ + 0.6578962101390137, + -14.931035254598964 + ], + [ + 0.6641901537175199, + -14.932908544489562 + ] + ], + "yaw_rad": -1.5596018765632347, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.12892824411392212, + -14.91887378692627, + 0.06507441401481628 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5493252462823737, + -14.855675999015409, + 0.12018150933758931 + ], + "intended_face_normal": [ + -0.9996477503722184, + -0.011360469677375473, + 0.02398722484156035 + ], + "commanded_contact_point": [ + 0.1398717761039734, + -14.904228210449219, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5492862676731284, + -14.855047556472142, + 0.11885457541553957 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1327519416809082, + -14.914519309997559, + 0.060877054929733276 + ], + "box_pose": [ + 0.6066461205482483, + -14.859414100646973, + 0.13598427176475525, + 0.006724241189658642, + -0.01025880966335535, + 0.7030466198921204, + -0.7110379934310913 + ], + "box_yaw_rad": -1.5595555281792566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0041173460356809495 + } + } + }, + { + "simulation_time_ns": 1320000000, + "center": [ + 0.605086640563116, + -14.855594998402317, + 0.11889427244950197 + ], + "face_center": [ + 0.5497933351425035, + -14.856228407017914, + 0.12043404481574438 + ], + "face_normal": [ + -0.9995470967450201, + -0.011450242266350275, + 0.027834743946272833 + ], + "footprint_xy": [ + [ + 0.5455781474672255, + -14.934572398581146 + ], + [ + 0.6645951336590064, + -14.934572398581146 + ], + [ + 0.6645951336590064, + -14.776617598223488 + ], + [ + 0.5455781474672255, + -14.776617598223488 + ] + ], + "projected_box_corners": [ + [ + 0.5455781474672255, + -14.777884415454682 + ], + [ + 0.5522817780875146, + -14.780158814122778 + ], + [ + 0.6561647583084504, + -14.776617598223488 + ], + [ + 0.6628683889287394, + -14.778891996891584 + ], + [ + 0.5473048921974926, + -14.93229799991305 + ], + [ + 0.5540085228177815, + -14.934572398581146 + ], + [ + 0.6578915030387174, + -14.931031182681856 + ], + [ + 0.6645951336590064, + -14.933305581349952 + ] + ], + "yaw_rad": -1.5596141969001305, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1299470216035843, + -14.919452667236328, + 0.07247062027454376 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5495871623790682, + -14.856025483494953, + 0.12030977125845752 + ], + "intended_face_normal": [ + -0.9995929431637744, + -0.011402288295051743, + 0.026146161203129736 + ], + "commanded_contact_point": [ + 0.14004629850387573, + -14.907979011535645, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5495421177767132, + -14.855394727614371, + 0.11886340851908375 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.12892824411392212, + -14.91887378692627, + 0.06507441401481628 + ], + "box_pose": [ + 0.6069424152374268, + -14.859811782836914, + 0.1359756886959076, + 0.006447538733482361, + -0.012074410915374756, + 0.7030343413352966, + -0.7110240459442139 + ], + "box_yaw_rad": -1.5596018765632347, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003754859099666383 + } + } + }, + { + "simulation_time_ns": 1340000000, + "center": [ + 0.6050998097997103, + -14.855589098004652, + 0.1189025370546647 + ], + "face_center": [ + 0.5498066799668606, + -14.856222564922229, + 0.12044867512410183 + ], + "face_normal": [ + -0.9995439226132314, + -0.011451296201817618, + 0.027949817915872255 + ], + "footprint_xy": [ + [ + 0.5455776563426454, + -14.934561181194288 + ], + [ + 0.6646219632567754, + -14.934561181194288 + ], + [ + 0.6646219632567754, + -14.776617014815013 + ], + [ + 0.5455776563426454, + -14.776617014815013 + ] + ], + "projected_box_corners": [ + [ + 0.5455776563426454, + -14.77788394865017 + ], + [ + 0.5523087748594958, + -14.780147525124178 + ], + [ + 0.6561639160083449, + -14.776617014815013 + ], + [ + 0.6628950345251953, + -14.778880591289024 + ], + [ + 0.5473045850742254, + -14.93229760472028 + ], + [ + 0.5540357035910759, + -14.934561181194288 + ], + [ + 0.6578908447399249, + -14.931030670885123 + ], + [ + 0.6646219632567754, + -14.933294247359134 + ] + ], + "yaw_rad": -1.5596130106216386, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1336195021867752, + -14.919483184814453, + 0.07686835527420044 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5497933351425035, + -14.856228407017914, + 0.12043404481574438 + ], + "intended_face_normal": [ + -0.9995470967450201, + -0.011450242266350275, + 0.027834743946272833 + ], + "commanded_contact_point": [ + 0.14135639369487762, + -14.911482810974121, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.549743216060424, + -14.855594998402317, + 0.11889427244950197 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1299470216035843, + -14.919452667236328, + 0.07247062027454376 + ], + "box_pose": [ + 0.6071752905845642, + -14.860040664672852, + 0.13599559664726257, + 0.006453405134379864, + -0.013269764371216297, + 0.7030172348022461, + -0.7110198140144348 + ], + "box_yaw_rad": -1.5596141969001305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003740716497514481 + } + } + }, + { + "simulation_time_ns": 1360000000, + "center": [ + 0.6050859734591899, + -14.85555655773228, + 0.11890655793160437 + ], + "face_center": [ + 0.5497926778347797, + -14.856189906903218, + 0.12044645730866993 + ], + "face_normal": [ + -0.9995469196572985, + -0.011449167674490668, + 0.027837039943927167 + ], + "footprint_xy": [ + [ + 0.5455770424901731, + -14.934496152524682 + ], + [ + 0.6645949044282067, + -14.934496152524682 + ], + [ + 0.6645949044282067, + -14.776616962939878 + ], + [ + 0.5455770424901731, + -14.776616962939878 + ] + ], + "projected_box_corners": [ + [ + 0.5455770424901731, + -14.777883661281754 + ], + [ + 0.5522803717528229, + -14.780082129808587 + ], + [ + 0.6561636337389937, + -14.776616962939878 + ], + [ + 0.6628669630016433, + -14.77881543146671 + ], + [ + 0.5473049839167365, + -14.932297683997849 + ], + [ + 0.5540083131793861, + -14.934496152524682 + ], + [ + 0.657891575165557, + -14.931030985655973 + ], + [ + 0.6645949044282067, + -14.933229454182804 + ] + ], + "yaw_rad": -1.5596064796844422, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13700905442237854, + -14.921370506286621, + 0.0771404355764389 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5498066799668606, + -14.856222564922229, + 0.12044867512410183 + ], + "intended_face_normal": [ + -0.9995439226132314, + -0.011451296201817618, + 0.027949817915872255 + ], + "commanded_contact_point": [ + 0.1425398886203766, + -14.913910865783691, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5497562095495409, + -14.855589098004652, + 0.1189025370546647 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1336195021867752, + -14.919483184814453, + 0.07686835527420044 + ], + "box_pose": [ + 0.6071904301643372, + -14.860033988952637, + 0.13600382208824158, + 0.006509728264063597, + -0.013294660486280918, + 0.7030163407325745, + -0.71101975440979 + ], + "box_yaw_rad": -1.5596130106216386, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002701131318070064 + } + } + }, + { + "simulation_time_ns": 1380000000, + "center": [ + 0.6050491976684972, + -14.85549646825393, + 0.11890839536323257 + ], + "face_center": [ + 0.5497554447022933, + -14.856130822121505, + 0.12043138718331009 + ], + "face_normal": [ + -0.9995551871077359, + -0.011467329757559264, + 0.027531398973977828 + ], + "footprint_xy": [ + [ + 0.5455744322514808, + -14.934377646036006 + ], + [ + 0.6645239630855136, + -14.934377646036006 + ], + [ + 0.6645239630855136, + -14.776615290471856 + ], + [ + 0.5455744322514808, + -14.776615290471856 + ] + ], + "projected_box_corners": [ + [ + 0.5455744322514808, + -14.777883998207006 + ], + [ + 0.5522031385428572, + -14.77996296797252 + ], + [ + 0.6561619381838886, + -14.776615290471856 + ], + [ + 0.662790644475265, + -14.77869426023737 + ], + [ + 0.5473077508617294, + -14.932298676270491 + ], + [ + 0.5539364571531058, + -14.934377646036006 + ], + [ + 0.6578952567941373, + -14.931029968535341 + ], + [ + 0.6645239630855136, + -14.933108938300856 + ] + ], + "yaw_rad": -1.5595717085359166, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13899126648902893, + -14.922534942626953, + 0.07445928454399109 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5497926778347797, + -14.856189906903218, + 0.12044645730866993 + ], + "intended_face_normal": [ + -0.9995469196572985, + -0.011449167674490668, + 0.027837039943927167 + ], + "commanded_contact_point": [ + 0.14327681064605713, + -14.915257453918457, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 0.5497425391514145, + -14.85555655773228, + 0.11890655793160437 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13700905442237854, + -14.921370506286621, + 0.0771404355764389 + ], + "box_pose": [ + 0.6071746349334717, + -14.859996795654297, + 0.13600929081439972, + 0.006565485615283251, + -0.013158038258552551, + 0.7030165791511536, + -0.7110214233398438 + ], + "box_yaw_rad": -1.5596064796844422, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015350419137507689 + } + } + }, + { + "simulation_time_ns": 1400000000, + "center": [ + 0.6049896156382342, + -14.855414012752044, + 0.11890748196446381 + ], + "face_center": [ + 0.5496951201554859, + -14.856048197146658, + 0.12040306630938186 + ], + "face_normal": [ + -0.9995686097137904, + -0.011464266164139647, + 0.027035949081511412 + ], + "footprint_xy": [ + [ + 0.5455729127778356, + -14.934211835804463 + ], + [ + 0.6644063184986327, + -14.934211835804463 + ], + [ + 0.6644063184986327, + -14.776616189699624 + ], + [ + 0.5455729127778356, + -14.776616189699624 + ] + ], + "projected_box_corners": [ + [ + 0.5455729127778356, + -14.777884558488852 + ], + [ + 0.5520808732461364, + -14.779796277734269 + ], + [ + 0.6561619037433319, + -14.776616189699624 + ], + [ + 0.6626698642116328, + -14.77852790894504 + ], + [ + 0.5473093670648356, + -14.932300116559047 + ], + [ + 0.5538173275331364, + -14.934211835804463 + ], + [ + 0.6578983580303319, + -14.93103174776982 + ], + [ + 0.6644063184986327, + -14.932943467015237 + ] + ], + "yaw_rad": -1.559551468321029, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1398952603340149, + -14.921250343322754, + 0.0698477178812027 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5497554447022933, + -14.856130822121505, + 0.12043138718331009 + ], + "intended_face_normal": [ + -0.9995551871077359, + -0.011467329757559264, + 0.027531398973977828 + ], + "commanded_contact_point": [ + 0.14391645789146423, + -14.91596508026123, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5497062211134361, + -14.85549646825393, + 0.11890839536323257 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13899126648902893, + -14.922534942626953, + 0.07445928454399109 + ], + "box_pose": [ + 0.6071326732635498, + -14.859928131103516, + 0.13601398468017578, + 0.006633056327700615, + -0.01287234015762806, + 0.7030094861984253, + -0.711033046245575 + ], + "box_yaw_rad": -1.5595717085359166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009538782103726967 + } + } + }, + { + "simulation_time_ns": 1420000000, + "center": [ + 0.6049077311371159, + -14.855308115557195, + 0.11890409580197595 + ], + "face_center": [ + 0.5496122225411613, + -14.855941632519276, + 0.12036228708587522 + ], + "face_normal": [ + -0.999586923944719, + -0.011452200865373463, + 0.02635998794488914 + ], + "footprint_xy": [ + [ + 0.5455709940209243, + -14.933999296550924 + ], + [ + 0.6642444682533076, + -14.933999296550924 + ], + [ + 0.6642444682533076, + -14.776616934563464 + ], + [ + 0.5455709940209243, + -14.776616934563464 + ] + ], + "projected_box_corners": [ + [ + 0.5455709940209243, + -14.777883968487627 + ], + [ + 0.5519143683336958, + -14.779582666376616 + ], + [ + 0.6561620112128338, + -14.776616934563464 + ], + [ + 0.6625053855256052, + -14.778315632452452 + ], + [ + 0.5473100767486268, + -14.932300598661936 + ], + [ + 0.5536534510613982, + -14.933999296550924 + ], + [ + 0.6579010939405362, + -14.931033564737772 + ], + [ + 0.6642444682533076, + -14.932732262626761 + ] + ], + "yaw_rad": -1.559534526795922, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14060281217098236, + -14.918852806091309, + 0.06473684310913086 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5496951201554859, + -14.856048197146658, + 0.12040306630938186 + ], + "intended_face_normal": [ + -0.9995686097137904, + -0.011464266164139647, + 0.027035949081511412 + ], + "commanded_contact_point": [ + 0.14425711333751678, + -14.915886878967285, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5496473822507406, + -14.855414012752044, + 0.11890748196446381 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1398952603340149, + -14.921250343322754, + 0.0698477178812027 + ], + "box_pose": [ + 0.6070645451545715, + -14.859833717346191, + 0.13601720333099365, + 0.006703923922032118, + -0.01244821771979332, + 0.7030099034309387, + -0.7110394239425659 + ], + "box_yaw_rad": -1.559551468321029, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00034951620274315676 + } + } + }, + { + "simulation_time_ns": 1440000000, + "center": [ + 0.604801470406491, + -14.85517467810514, + 0.11889838009888713 + ], + "face_center": [ + 0.549504713889478, + -14.855807723447022, + 0.1203082315971366 + ], + "face_normal": [ + -0.9996094828397114, + -0.011443675301611833, + 0.025486140884454223 + ], + "footprint_xy": [ + [ + 0.5455677798053803, + -14.933732039911678 + ], + [ + 0.6640351610076017, + -14.933732039911678 + ], + [ + 0.6640351610076017, + -14.776617316298601 + ], + [ + 0.5455677798053803, + -14.776617316298601 + ] + ], + "projected_box_corners": [ + [ + 0.5455677798053803, + -14.777883406982365 + ], + [ + 0.5516984784681048, + -14.779314301040085 + ], + [ + 0.6561612928394063, + -14.776617316298601 + ], + [ + 0.6622919915021308, + -14.77804821035632 + ], + [ + 0.5473109493108511, + -14.932301145853957 + ], + [ + 0.5534416479735758, + -14.933732039911678 + ], + [ + 0.6579044623448772, + -14.931035055170193 + ], + [ + 0.6640351610076017, + -14.932465949227913 + ] + ], + "yaw_rad": -1.5595081452841928, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14211364090442657, + -14.916304588317871, + 0.06147804856300354 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5496122225411613, + -14.855941632519276, + 0.12036228708587522 + ], + "intended_face_normal": [ + -0.999586923944719, + -0.011452200865373463, + 0.02635998794488914 + ], + "commanded_contact_point": [ + 0.14405742287635803, + -14.91500186920166, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5495665117189112, + -14.855308115557195, + 0.11890409580197595 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14060281217098236, + -14.918852806091309, + 0.06473684310913086 + ], + "box_pose": [ + 0.6069709658622742, + -14.859712600708008, + 0.13601915538311005, + 0.00677841529250145, + -0.011892001144587994, + 0.7030134797096252, + -0.7110447883605957 + ], + "box_yaw_rad": -1.559534526795922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009072588198576106 + } + } + }, + { + "simulation_time_ns": 1460000000, + "center": [ + 0.6046767515975838, + -14.855024847041992, + 0.11889084841519933 + ], + "face_center": [ + 0.5493785453210889, + -14.855657010011326, + 0.12024381788188371 + ], + "face_normal": [ + -0.9996356904044472, + -0.01142772449323537, + 0.024457874097447263 + ], + "footprint_xy": [ + [ + 0.5455650166672233, + -14.93342920904344 + ], + [ + 0.6637884865279444, + -14.93342920904344 + ], + [ + 0.6637884865279444, + -14.776620485040544 + ], + [ + 0.5455650166672233, + -14.776620485040544 + ] + ], + "projected_box_corners": [ + [ + 0.5455650166672233, + -14.777884810979211 + ], + [ + 0.5514455539331735, + -14.779010342430196 + ], + [ + 0.6561614292202135, + -14.776620485040544 + ], + [ + 0.6620419664861636, + -14.777746016491529 + ], + [ + 0.5473115367090041, + -14.932303677592458 + ], + [ + 0.5531920739749543, + -14.93342920904344 + ], + [ + 0.6579079492619943, + -14.93103935165379 + ], + [ + 0.6637884865279444, + -14.932164883104774 + ] + ], + "yaw_rad": -1.5594865327728469, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14326389133930206, + -14.914825439453125, + 0.06003233790397644 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.549504713889478, + -14.855807723447022, + 0.1203082315971366 + ], + "intended_face_normal": [ + -0.9996094828397114, + -0.011443675301611833, + 0.025486140884454223 + ], + "commanded_contact_point": [ + 0.1436312049627304, + -14.913765907287598, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5494614999127703, + -14.85517467810514, + 0.11889838009888713 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14211364090442657, + -14.916304588317871, + 0.06147804856300354 + ], + "box_pose": [ + 0.6068496108055115, + -14.859560012817383, + 0.13602016866207123, + 0.00686359079554677, + -0.011184235103428364, + 0.7030156850814819, + -0.7110531330108643 + ], + "box_yaw_rad": -1.5595081452841928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013073880691706363 + } + } + }, + { + "simulation_time_ns": 1480000000, + "center": [ + 0.6045477499162536, + -14.854872448971122, + 0.11888265515945284 + ], + "face_center": [ + 0.5492481269775981, + -14.855503672523806, + 0.12017685544318502 + ], + "face_normal": [ + -0.9996612996629074, + -0.011410742488312309, + 0.023395492933016904 + ], + "footprint_xy": [ + [ + 0.5455623650217629, + -14.93312160203542 + ], + [ + 0.6635331348107443, + -14.93312160203542 + ], + [ + 0.6635331348107443, + -14.776623295906823 + ], + [ + 0.5455623650217629, + -14.776623295906823 + ] + ], + "projected_box_corners": [ + [ + 0.5455623650217629, + -14.77788574301219 + ], + [ + 0.5511845068160902, + -14.778701901441163 + ], + [ + 0.6561616108990741, + -14.776623295906823 + ], + [ + 0.6617837526934014, + -14.777439454335797 + ], + [ + 0.5473117471391058, + -14.932305443606447 + ], + [ + 0.5529338889334331, + -14.93312160203542 + ], + [ + 0.657910993016417, + -14.93104299650108 + ], + [ + 0.6635331348107443, + -14.931859154930054 + ] + ], + "yaw_rad": -1.559468061829508, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14479583501815796, + -14.915934562683105, + 0.059455692768096924 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5493785453210889, + -14.855657010011326, + 0.12024381788188371 + ], + "intended_face_normal": [ + -0.9996356904044472, + -0.01142772449323537, + 0.024457874097447263 + ], + "commanded_contact_point": [ + 0.1432482898235321, + -14.912264823913574, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5493382319582825, + -14.855024847041992, + 0.11889084841519933 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14326389133930206, + -14.914825439453125, + 0.06003233790397644 + ], + "box_pose": [ + 0.6067070960998535, + -14.85938835144043, + 0.13602033257484436, + 0.006949530448764563, + -0.010365846566855907, + 0.7030205130577087, + -0.7110601663589478 + ], + "box_yaw_rad": -1.5594865327728469, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015491530910781036 + } + } + }, + { + "simulation_time_ns": 1500000000, + "center": [ + 0.6044117466638215, + -14.854712418482881, + 0.11887360376748003 + ], + "face_center": [ + 0.549110685349648, + -14.855342097490968, + 0.12010511080656516 + ], + "face_normal": [ + -0.9996873014376619, + -0.01138282147588765, + 0.02226217579460743 + ], + "footprint_xy": [ + [ + 0.5455622284205459, + -14.932798930764514 + ], + [ + 0.6632612649070971, + -14.932798930764514 + ], + [ + 0.6632612649070971, + -14.776625906201248 + ], + [ + 0.5455622284205459, + -14.776625906201248 + ] + ], + "projected_box_corners": [ + [ + 0.5455622284205459, + -14.777885264217423 + ], + [ + 0.5509087969940584, + -14.778378644320169 + ], + [ + 0.6561643510488929, + -14.776625906201248 + ], + [ + 0.6615109196224054, + -14.777119286303995 + ], + [ + 0.5473125737052376, + -14.932305550661768 + ], + [ + 0.55265914227875, + -14.932798930764514 + ], + [ + 0.6579146963335847, + -14.931046192645594 + ], + [ + 0.6632612649070971, + -14.93153957274834 + ] + ], + "yaw_rad": -1.559461868293614, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14175887405872345, + -14.915007591247559, + 0.060092031955718994 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5492481269775981, + -14.855503672523806, + 0.12017685544318502 + ], + "intended_face_normal": [ + -0.9996612996629074, + -0.011410742488312309, + 0.023395492933016904 + ], + "commanded_contact_point": [ + 0.14262723922729492, + -14.910240173339844, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.549210647935566, + -14.854872448971122, + 0.11888265515945284 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14479583501815796, + -14.915934562683105, + 0.059455692768096924 + ], + "box_pose": [ + 0.606559693813324, + -14.859213829040527, + 0.13601993024349213, + 0.007029364816844463, + -0.009529387578368187, + 0.703025758266449, + -0.7110658884048462 + ], + "box_yaw_rad": -1.559468061829508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002117761504389408 + } + } + }, + { + "simulation_time_ns": 1520000000, + "center": [ + 0.6042655189807108, + -14.8545398026698, + 0.11886416837585441 + ], + "face_center": [ + 0.5489629691401017, + -14.855167724056605, + 0.12002822221326187 + ], + "face_normal": [ + -0.9997142097996397, + -0.011351048637640915, + 0.021042812050837967 + ], + "footprint_xy": [ + [ + 0.5455626387615461, + -14.932451357327928 + ], + [ + 0.6629683991998756, + -14.932451357327928 + ], + [ + 0.6629683991998756, + -14.776628248011672 + ], + [ + 0.5455626387615461, + -14.776628248011672 + ] + ], + "projected_box_corners": [ + [ + 0.5455626387615461, + -14.777884090785282 + ], + [ + 0.5506127246592358, + -14.778030696181157 + ], + [ + 0.6561677384427644, + -14.776628248011672 + ], + [ + 0.6612178243404542, + -14.776774853407547 + ], + [ + 0.5473132136209675, + -14.932304751932053 + ], + [ + 0.5523632995186571, + -14.932451357327928 + ], + [ + 0.6579183133021859, + -14.931048909158443 + ], + [ + 0.6629683991998756, + -14.931195514554318 + ] + ], + "yaw_rad": -1.5594604093013604, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13624976575374603, + -14.911445617675781, + 0.06348609924316406 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.549110685349648, + -14.855342097490968, + 0.12010511080656516 + ], + "intended_face_normal": [ + -0.9996873014376619, + -0.01138282147588765, + 0.02226217579460743 + ], + "commanded_contact_point": [ + 0.1411859542131424, + -14.907946586608887, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5490760839960662, + -14.854712418482881, + 0.11887360376748003 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14175887405872345, + -14.915007591247559, + 0.060092031955718994 + ], + "box_pose": [ + 0.6064040064811707, + -14.859030723571777, + 0.1360190063714981, + 0.007103948388248682, + -0.0086477966979146, + 0.7030349373817444, + -0.7110671997070312 + ], + "box_yaw_rad": -1.559461868293614, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002708845249468288 + } + } + }, + { + "simulation_time_ns": 1540000000, + "center": [ + 0.6041039136259906, + -14.85435434977713, + 0.11885365715047125 + ], + "face_center": [ + 0.5487998247580003, + -14.8549801992257, + 0.11994314188563304 + ], + "face_normal": [ + -0.9997420310763546, + -0.011313593834902713, + 0.019694812883677693 + ], + "footprint_xy": [ + [ + 0.5455637431740281, + -14.932307504667186 + ], + [ + 0.662644084077953, + -14.932307504667186 + ], + [ + 0.662644084077953, + -14.776401194887073 + ], + [ + 0.5455637431740281, + -14.776401194887073 + ] + ], + "projected_box_corners": [ + [ + 0.5455637431740281, + -14.777886833044994 + ], + [ + 0.5502861143666061, + -14.777652893784214 + ], + [ + 0.6561719209100086, + -14.776635134147853 + ], + [ + 0.6608942921025868, + -14.776401194887073 + ], + [ + 0.5473135351493944, + -14.932307504667186 + ], + [ + 0.5520359063419725, + -14.932073565406409 + ], + [ + 0.657921712885375, + -14.931055805770047 + ], + [ + 0.662644084077953, + -14.930821866509268 + ] + ], + "yaw_rad": -1.559465479232941, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13322822749614716, + -14.908562660217285, + 0.06636682152748108 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5489629691401017, + -14.855167724056605, + 0.12002822221326187 + ], + "intended_face_normal": [ + -0.9997142097996397, + -0.011351048637640915, + 0.021042812050837967 + ], + "commanded_contact_point": [ + 0.1408986747264862, + -14.90692138671875, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5489313457306578, + -14.8545398026698, + 0.11886416837585441 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13624976575374603, + -14.911445617675781, + 0.06348609924316406 + ], + "box_pose": [ + 0.6062365770339966, + -14.858833312988281, + 0.13601824641227722, + 0.007183462381362915, + -0.007700046990066767, + 0.7030454277992249, + -0.7110670208930969 + ], + "box_yaw_rad": -1.5594604093013604, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010646897755701712 + } + } + }, + { + "simulation_time_ns": 1560000000, + "center": [ + 0.6039233162362359, + -14.854146991793936, + 0.11884107280826944 + ], + "face_center": [ + 0.5486176249553161, + -14.85477099000086, + 0.11984677762086 + ], + "face_normal": [ + -0.9997709981851074, + -0.011280128604380435, + 0.018180308049239202 + ], + "footprint_xy": [ + [ + 0.5455658070008184, + -14.932308367839044 + ], + [ + 0.6622808254716532, + -14.932308367839044 + ], + [ + 0.6622808254716532, + -14.775985615748828 + ], + [ + 0.5455658070008184, + -14.775985615748828 + ] + ], + "projected_box_corners": [ + [ + 0.5455658070008184, + -14.777888154547378 + ], + [ + 0.5499200786718966, + -14.777233612162677 + ], + [ + 0.6561771895626579, + -14.776640158133528 + ], + [ + 0.6605314612337362, + -14.775985615748828 + ], + [ + 0.5473151712387354, + -14.932308367839044 + ], + [ + 0.5516694429098137, + -14.931653825454342 + ], + [ + 0.657926553800575, + -14.931060371425193 + ], + [ + 0.6622808254716532, + -14.930405829040492 + ] + ], + "yaw_rad": -1.5594682152071404, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13123708963394165, + -14.905088424682617, + 0.06929607689380646 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5487998247580003, + -14.8549801992257, + 0.11994314188563304 + ], + "intended_face_normal": [ + -0.9997420310763546, + -0.011313593834902713, + 0.019694812883677693 + ], + "commanded_contact_point": [ + 0.1413903385400772, + -14.906636238098145, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5487712802405207, + -14.85435434977713, + 0.11885365715047125 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13322822749614716, + -14.908562660217285, + 0.06636682152748108 + ], + "box_pose": [ + 0.606051504611969, + -14.858620643615723, + 0.13601720333099365, + 0.007267267908900976, + -0.006656509358435869, + 0.7030578851699829, + -0.711064338684082 + ], + "box_yaw_rad": -1.559465479232941, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005683687548079401 + } + } + }, + { + "simulation_time_ns": 1580000000, + "center": [ + 0.6037171721283223, + -14.853914746482133, + 0.11882639287396221 + ], + "face_center": [ + 0.5484098115064844, + -14.854537089282251, + 0.11973704226746315 + ], + "face_normal": [ + -0.9998011751632352, + -0.01125020351574546, + 0.01646197402203342 + ], + "footprint_xy": [ + [ + 0.5455669290285766, + -14.932310050178724 + ], + [ + 0.661867415228068, + -14.932310050178724 + ], + [ + 0.661867415228068, + -14.775519442785539 + ], + [ + 0.5455669290285766, + -14.775519442785539 + ] + ], + "projected_box_corners": [ + [ + 0.5455669290285766, + -14.777890902737866 + ], + [ + 0.5495036304415685, + -14.77676412838578 + ], + [ + 0.6561816502722526, + -14.776646217137626 + ], + [ + 0.6601183516852445, + -14.775519442785539 + ], + [ + 0.5473159925714003, + -14.932310050178724 + ], + [ + 0.5512526939843921, + -14.931183275826637 + ], + [ + 0.6579307138150762, + -14.931065364578485 + ], + [ + 0.661867415228068, + -14.929938590226397 + ] + ], + "yaw_rad": -1.559470084039309, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1277945637702942, + -14.900155067443848, + 0.07182781398296356 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5486176249553161, + -14.85477099000086, + 0.11984677762086 + ], + "intended_face_normal": [ + -0.9997709981851074, + -0.011280128604380435, + 0.018180308049239202 + ], + "commanded_contact_point": [ + 0.14168986678123474, + -14.906597137451172, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.548592286044309, + -14.854146991793936, + 0.11884107280826944 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13123708963394165, + -14.905088424682617, + 0.06929607689380646 + ], + "box_pose": [ + 0.6058445572853088, + -14.858383178710938, + 0.13601504266262054, + 0.007351233623921871, + -0.005494437180459499, + 0.7030689120292664, + -0.7110624313354492 + ], + "box_yaw_rad": -1.5594682152071404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00030206957487745995 + } + } + }, + { + "simulation_time_ns": 1600000000, + "center": [ + 0.6035244484552128, + -14.85367060458388, + 0.11882041799780949 + ], + "face_center": [ + 0.5482156787020267, + -14.854291464833878, + 0.11964202288957847 + ], + "face_normal": [ + -0.9998266482858349, + -0.011223403188674319, + 0.014852300436592303 + ], + "footprint_xy": [ + [ + 0.5455689403210364, + -14.932309633340457 + ], + [ + 0.6614799565893892, + -14.932309633340457 + ], + [ + 0.6614799565893892, + -14.775031575827303 + ], + [ + 0.5455689403210364, + -14.775031575827303 + ] + ], + "projected_box_corners": [ + [ + 0.5455689403210364, + -14.777892258236637 + ], + [ + 0.5491139297125969, + -14.7762732963273 + ], + [ + 0.6561864798274086, + -14.776650537736641 + ], + [ + 0.659731469218969, + -14.775031575827303 + ], + [ + 0.5473174276914566, + -14.932309633340457 + ], + [ + 0.5508624170830171, + -14.930690671431119 + ], + [ + 0.6579349671978288, + -14.93106791284046 + ], + [ + 0.6614799565893892, + -14.929448950931123 + ] + ], + "yaw_rad": -1.5594736848407895, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.12129875272512436, + -14.892702102661133, + 0.07415103912353516 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5484098115064844, + -14.854537089282251, + 0.11973704226746315 + ], + "intended_face_normal": [ + -0.9998011751632352, + -0.01125020351574546, + 0.01646197402203342 + ], + "commanded_contact_point": [ + 0.1413944959640503, + -14.90627384185791, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5483878119917318, + -14.853914746482133, + 0.11882639287396221 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1277945637702942, + -14.900155067443848, + 0.07182781398296356 + ], + "box_pose": [ + 0.6056085228919983, + -14.85811710357666, + 0.1360119879245758, + 0.007439198438078165, + -0.004183406941592693, + 0.7030786275863647, + -0.7110608816146851 + ], + "box_yaw_rad": -1.559470084039309, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00043790862092511177 + } + } + }, + { + "simulation_time_ns": 1620000000, + "center": [ + 0.6033626113994419, + -14.853461716623716, + 0.11881617480985819 + ], + "face_center": [ + 0.5480527642151399, + -14.854081974414514, + 0.1195630221950313 + ], + "face_normal": [ + -0.9998461252032597, + -0.011212512424611965, + 0.013500895449869543 + ], + "footprint_xy": [ + [ + 0.5455702201207369, + -14.932311504734306 + ], + [ + 0.6611550026781469, + -14.932311504734306 + ], + [ + 0.6611550026781469, + -14.774611928513126 + ], + [ + 0.5455702201207369, + -14.774611928513126 + ] + ], + "projected_box_corners": [ + [ + 0.5455702201207369, + -14.7778961684899 + ], + [ + 0.5487862093202958, + -14.775852444094724 + ], + [ + 0.6561899144893408, + -14.776655652908302 + ], + [ + 0.6594059036888996, + -14.774611928513126 + ], + [ + 0.5473193191099841, + -14.932311504734306 + ], + [ + 0.5505353083095429, + -14.930267780339129 + ], + [ + 0.657939013478588, + -14.931070989152708 + ], + [ + 0.6611550026781469, + -14.929027264757533 + ] + ], + "yaw_rad": -1.5594695749919398, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1156708300113678, + -14.888895034790039, + 0.0753939151763916 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5482156787020267, + -14.854291464833878, + 0.11964202288957847 + ], + "intended_face_normal": [ + -0.9998266482858349, + -0.011223403188674319, + 0.014852300436592303 + ], + "commanded_contact_point": [ + 0.1410961151123047, + -14.905350685119629, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5481964979745627, + -14.85367060458388, + 0.11882041799780949 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.12129875272512436, + -14.892702102661133, + 0.07415103912353516 + ], + "box_pose": [ + 0.6053877472877502, + -14.857837677001953, + 0.13601766526699066, + 0.007594629190862179, + -0.0028814792167395353, + 0.7030864953994751, + -0.7110579013824463 + ], + "box_yaw_rad": -1.5594736848407895, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009701801367796197 + } + } + }, + { + "simulation_time_ns": 1640000000, + "center": [ + 0.6032230448009173, + -14.853285282120353, + 0.11881069789165921 + ], + "face_center": [ + 0.5479123549267199, + -14.853904563094316, + 0.11949285366500215 + ], + "face_normal": [ + -0.9998613586611284, + -0.011194854329758086, + 0.012331453465948689 + ], + "footprint_xy": [ + [ + 0.5455728055037593, + -14.932312406842263 + ], + [ + 0.6608732840980753, + -14.932312406842263 + ], + [ + 0.6608732840980753, + -14.774258157398442 + ], + [ + 0.5455728055037593, + -14.774258157398442 + ] + ], + "projected_box_corners": [ + [ + 0.5455728055037593, + -14.777899191380563 + ], + [ + 0.5485042203704904, + -14.77549671934637 + ], + [ + 0.6561941852521543, + -14.776660629432635 + ], + [ + 0.6591256001188854, + -14.774258157398442 + ], + [ + 0.5473204894829492, + -14.932312406842263 + ], + [ + 0.5502519043496803, + -14.92990993480807 + ], + [ + 0.6579418692313442, + -14.931073844894335 + ], + [ + 0.6608732840980753, + -14.928671372860142 + ] + ], + "yaw_rad": -1.559478582052241, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1146702840924263, + -14.89627456665039, + 0.07160323858261108 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5480527642151399, + -14.854081974414514, + 0.1195630221950313 + ], + "intended_face_normal": [ + -0.9998461252032597, + -0.011212512424611965, + 0.013500895449869543 + ], + "commanded_contact_point": [ + 0.14140351116657257, + -14.904536247253418, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5480357387025584, + -14.853461716623716, + 0.11881617480985819 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1156708300113678, + -14.888895034790039, + 0.0753939151763916 + ], + "box_pose": [ + 0.6052023768424988, + -14.857598304748535, + 0.13602331280708313, + 0.007742016576230526, + -0.0017713640118017793, + 0.7030887603759766, + -0.7110578417778015 + ], + "box_yaw_rad": -1.5594695749919398, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008705178773682565 + } + } + }, + { + "simulation_time_ns": 1660000000, + "center": [ + 0.6031048470733885, + -14.853131155372724, + 0.11880689718956795 + ], + "face_center": [ + 0.5477935279270632, + -14.853751137695891, + 0.11943454175047578 + ], + "face_normal": [ + -0.999872734127356, + -0.011207532746351556, + 0.011346044405754726 + ], + "footprint_xy": [ + [ + 0.5455726019466748, + -14.93231292058504 + ], + [ + 0.6606370922001021, + -14.93231292058504 + ], + [ + 0.6606370922001021, + -14.773949390160407 + ], + [ + 0.5455726019466748, + -14.773949390160407 + ] + ], + "projected_box_corners": [ + [ + 0.5455726019466748, + -14.777901878304416 + ], + [ + 0.548264075208948, + -14.775189354806741 + ], + [ + 0.6561952402393254, + -14.77666191365808 + ], + [ + 0.6588867135015987, + -14.773949390160407 + ], + [ + 0.5473229806451783, + -14.93231292058504 + ], + [ + 0.5500144539074515, + -14.929600397087366 + ], + [ + 0.6579456189378289, + -14.931072955938705 + ], + [ + 0.6606370922001021, + -14.92836043244103 + ] + ], + "yaw_rad": -1.5594609734215097, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.12030387669801712, + -14.909584045410156, + 0.06454667448997498 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5479123549267199, + -14.853904563094316, + 0.11949285366500215 + ], + "intended_face_normal": [ + -0.9998613586611284, + -0.011194854329758086, + 0.012331453465948689 + ], + "commanded_contact_point": [ + 0.142011821269989, + -14.90444278717041, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5478970150404838, + -14.853285282120353, + 0.11881069789165921 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1146702840924263, + -14.89627456665039, + 0.07160323858261108 + ], + "box_pose": [ + 0.6050423979759216, + -14.857396125793457, + 0.13602617383003235, + 0.007856679148972034, + -0.0008238005102612078, + 0.7030937671661377, + -0.7110533118247986 + ], + "box_yaw_rad": -1.559478582052241, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006154477795729669 + } + } + }, + { + "simulation_time_ns": 1680000000, + "center": [ + 0.6030027438680301, + -14.853001425890357, + 0.11880255720372795 + ], + "face_center": [ + 0.5476908889938223, + -14.853620798564213, + 0.11938283446687367 + ], + "face_normal": [ + -0.9998824185773171, + -0.011196512005325343, + 0.01048977718500125 + ], + "footprint_xy": [ + [ + 0.5455748637045104, + -14.932314180730671 + ], + [ + 0.66043062403155, + -14.932314180730671 + ], + [ + 0.66043062403155, + -14.773688671050042 + ], + [ + 0.5455748637045104, + -14.773688671050042 + ] + ], + "projected_box_corners": [ + [ + 0.5455748637045104, + -14.777905111508625 + ], + [ + 0.5480579483447247, + -14.774927416397754 + ], + [ + 0.6561985734529259, + -14.776666366160914 + ], + [ + 0.6586816580931402, + -14.773688671050042 + ], + [ + 0.5473238296429201, + -14.932314180730671 + ], + [ + 0.5498069142831344, + -14.929336485619801 + ], + [ + 0.6579475393913357, + -14.93107543538296 + ], + [ + 0.66043062403155, + -14.928097740272088 + ] + ], + "yaw_rad": -1.559469976877874, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13125240802764893, + -14.918045043945312, + 0.05912394821643829 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5477935279270632, + -14.853751137695891, + 0.11943454175047578 + ], + "intended_face_normal": [ + -0.999872734127356, + -0.011207532746351556, + 0.011346044405754726 + ], + "commanded_contact_point": [ + 0.14312195777893066, + -14.904932975769043, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5477794467524443, + -14.853131155372724, + 0.11880689718956795 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.12030387669801712, + -14.909584045410156, + 0.06454667448997498 + ], + "box_pose": [ + 0.6049070954322815, + -14.857219696044922, + 0.13602948188781738, + 0.007964573800563812, + -1.3863373169442639e-05, + 0.7030880451202393, + -0.7110581398010254 + ], + "box_yaw_rad": -1.5594609734215097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012135435430340583 + } + } + }, + { + "simulation_time_ns": 1700000000, + "center": [ + 0.6029158725776467, + -14.852889864131102, + 0.11879898429971664 + ], + "face_center": [ + 0.5476036181313702, + -14.853509674306263, + 0.11933933378210689 + ], + "face_normal": [ + -0.9998896417139731, + -0.011204420795663306, + 0.009767995460613466 + ], + "footprint_xy": [ + [ + 0.5455748338504247, + -14.932314886907571 + ], + [ + 0.6602569113048685, + -14.932314886907571 + ], + [ + 0.6602569113048685, + -14.773464841354633 + ], + [ + 0.5455748338504247, + -14.773464841354633 + ] + ], + "projected_box_corners": [ + [ + 0.5455748338504247, + -14.777907702070394 + ], + [ + 0.5478821888932061, + -14.774704461704955 + ], + [ + 0.6561993427429776, + -14.776668081720072 + ], + [ + 0.658506697785759, + -14.773464841354633 + ], + [ + 0.5473250473695342, + -14.932314886907571 + ], + [ + 0.5496324024123157, + -14.929111646542133 + ], + [ + 0.6579495562620872, + -14.931075266557247 + ], + [ + 0.6602569113048685, + -14.927872026191809 + ] + ], + "yaw_rad": -1.559461759890306, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14122742414474487, + -14.918214797973633, + 0.05722205340862274 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5476908889938223, + -14.853620798564213, + 0.11938283446687367 + ], + "intended_face_normal": [ + -0.9998824185773171, + -0.011196512005325343, + 0.01048977718500125 + ], + "commanded_contact_point": [ + 0.14477881789207458, + -14.904973030090332, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5476778794061639, + -14.853001425890357, + 0.11880255720372795 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13125240802764893, + -14.918045043945312, + 0.05912394821643829 + ], + "box_pose": [ + 0.6047900319099426, + -14.857070922851562, + 0.13603121042251587, + 0.00805219728499651, + 0.0006836372776888311, + 0.7030909657478333, + -0.7110540866851807 + ], + "box_yaw_rad": -1.559469976877874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016573441958992146 + } + } + }, + { + "simulation_time_ns": 1720000000, + "center": [ + 0.6028415867854815, + -14.852793272781858, + 0.11879617831353448 + ], + "face_center": [ + 0.5475290147209159, + -14.853413944782401, + 0.11930216677343258 + ], + "face_normal": [ + -0.9998953833573133, + -0.01122000016920921, + 0.009146845033595905 + ], + "footprint_xy": [ + [ + 0.5455747331552535, + -14.932315682825754 + ], + [ + 0.6601084404157095, + -14.932315682825754 + ], + [ + 0.6601084404157095, + -14.77327086273796 + ], + [ + 0.5455747331552535, + -14.77327086273796 + ] + ], + "projected_box_corners": [ + [ + 0.5455747331552535, + -14.777910244178159 + ], + [ + 0.5477308202009873, + -14.77451220673905 + ], + [ + 0.6561998772843848, + -14.77666890017707 + ], + [ + 0.6583559643301186, + -14.77327086273796 + ], + [ + 0.5473272092408445, + -14.932315682825754 + ], + [ + 0.5494832962865782, + -14.928917645386646 + ], + [ + 0.6579523533699758, + -14.931074338824665 + ], + [ + 0.6601084404157095, + -14.927676301385556 + ] + ], + "yaw_rad": -1.5594469801904358, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14880691468715668, + -14.916576385498047, + 0.05937790870666504 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5476036181313702, + -14.853509674306263, + 0.11933933378210689 + ], + "intended_face_normal": [ + -0.9998896417139731, + -0.011204420795663306, + 0.009767995460613466 + ], + "commanded_contact_point": [ + 0.14678168296813965, + -14.904306411743164, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5475914077789431, + -14.852889864131102, + 0.11879898429971664 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14122742414474487, + -14.918214797973633, + 0.05722205340862274 + ], + "box_pose": [ + 0.6046906113624573, + -14.856943130493164, + 0.13603276014328003, + 0.008128960616886616, + 0.0012745913118124008, + 0.7030872702598572, + -0.7110560536384583 + ], + "box_yaw_rad": -1.559461759890306, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021108880914975496 + } + } + }, + { + "simulation_time_ns": 1740000000, + "center": [ + 0.6027765117370292, + -14.852709167684477, + 0.11879352047655466 + ], + "face_center": [ + 0.5474636773179218, + -14.853330039331611, + 0.11926956286823623 + ], + "face_normal": [ + -0.9999001259878819, + -0.011223609216765462, + 0.008605504534649921 + ], + "footprint_xy": [ + [ + 0.5455751435559882, + -14.932315848761132 + ], + [ + 0.6599778799180701, + -14.932315848761132 + ], + [ + 0.6599778799180701, + -14.773102486607822 + ], + [ + 0.5455751435559882, + -14.773102486607822 + ] + ], + "projected_box_corners": [ + [ + 0.5455751435559882, + -14.777912006481685 + ], + [ + 0.5475994310847252, + -14.774344229902091 + ], + [ + 0.656200812394203, + -14.776670263187418 + ], + [ + 0.6582250999229399, + -14.773102486607822 + ], + [ + 0.5473279235511184, + -14.932315848761132 + ], + [ + 0.5493522110798553, + -14.928748072181538 + ], + [ + 0.6579535923893332, + -14.931074105466863 + ], + [ + 0.6599778799180701, + -14.927506328887269 + ] + ], + "yaw_rad": -1.5594448948371034, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15141162276268005, + -14.91524887084961, + 0.0642310380935669 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5475290147209159, + -14.853413944782401, + 0.11930216677343258 + ], + "intended_face_normal": [ + -0.9998953833573133, + -0.01122000016920921, + 0.009146845033595905 + ], + "commanded_contact_point": [ + 0.14792747795581818, + -14.903477668762207, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5475174396733581, + -14.852793272781858, + 0.11879617831353448 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14880691468715668, + -14.916576385498047, + 0.05937790870666504 + ], + "box_pose": [ + 0.6046055555343628, + -14.856832504272461, + 0.13603435456752777, + 0.008196012116968632, + 0.0017842008965089917, + 0.703080952167511, + -0.7110604643821716 + ], + "box_yaw_rad": -1.5594469801904358, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014140937318050367 + } + } + }, + { + "simulation_time_ns": 1760000000, + "center": [ + 0.6027191158950366, + -14.852637017973422, + 0.11879099899242707 + ], + "face_center": [ + 0.5474060626328753, + -14.853258193780464, + 0.11924051350018067 + ], + "face_normal": [ + -0.999904082053404, + -0.011229107570502328, + 0.008125955172185728 + ], + "footprint_xy": [ + [ + 0.5455756480437509, + -14.932318397429313 + ], + [ + 0.6598625837463222, + -14.932318397429313 + ], + [ + 0.6598625837463222, + -14.772955638517532 + ], + [ + 0.5455756480437509, + -14.772955638517532 + ] + ], + "projected_box_corners": [ + [ + 0.5455756480437509, + -14.777916032987937 + ], + [ + 0.5474831731632758, + -14.774197990131615 + ], + [ + 0.6562017545680735, + -14.776673681373854 + ], + [ + 0.6581092796875984, + -14.772955638517532 + ], + [ + 0.5473289521024748, + -14.932318397429313 + ], + [ + 0.5492364772219996, + -14.928600354572989 + ], + [ + 0.6579550586267974, + -14.93107604581523 + ], + [ + 0.6598625837463222, + -14.927358002958906 + ] + ], + "yaw_rad": -1.5594413924931714, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1479732096195221, + -14.912599563598633, + 0.06770294904708862 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474636773179218, + -14.853330039331611, + 0.11926956286823623 + ], + "intended_face_normal": [ + -0.9999001259878819, + -0.011223609216765462, + 0.008605504534649921 + ], + "commanded_contact_point": [ + 0.14818939566612244, + -14.90246295928955, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5474526270331048, + -14.852709167684477, + 0.11879352047655466 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15141162276268005, + -14.91524887084961, + 0.0642310380935669 + ], + "box_pose": [ + 0.6045310497283936, + -14.856736183166504, + 0.1360355168581009, + 0.00825444981455803, + 0.0022282854188233614, + 0.7030789852142334, + -0.7110604643821716 + ], + "box_yaw_rad": -1.5594448948371034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010479676530110696 + } + } + }, + { + "simulation_time_ns": 1780000000, + "center": [ + 0.6026913549633817, + -14.852602069501412, + 0.11879101490548757 + ], + "face_center": [ + 0.5473782101455699, + -14.853223062684096, + 0.11922787033064122 + ], + "face_normal": [ + -0.9999057371214791, + -0.011225806236900282, + 0.007897114643229064 + ], + "footprint_xy": [ + [ + 0.5455759902262591, + -14.93231840486591 + ], + [ + 0.6598067197005042, + -14.93231840486591 + ], + [ + 0.6598067197005042, + -14.772885734136915 + ], + [ + 0.5455759902262591, + -14.772885734136915 + ] + ], + "projected_box_corners": [ + [ + 0.5455759902262591, + -14.777916783455638 + ], + [ + 0.5474278272988763, + -14.774127720502282 + ], + [ + 0.6562022798618825, + -14.776674797090271 + ], + [ + 0.6580541169344998, + -14.772885734136915 + ], + [ + 0.5473285929922636, + -14.93231840486591 + ], + [ + 0.5491804300648807, + -14.928529341912554 + ], + [ + 0.6579548826278869, + -14.931076418500544 + ], + [ + 0.6598067197005042, + -14.927287355547188 + ] + ], + "yaw_rad": -1.559445879272438, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14419551193714142, + -14.910194396972656, + 0.06946955621242523 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474060626328753, + -14.853258193780464, + 0.11924051350018067 + ], + "intended_face_normal": [ + -0.999904082053404, + -0.011229107570502328, + 0.008125955172185728 + ], + "commanded_contact_point": [ + 0.1485259234905243, + -14.901517868041992, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5473954500770201, + -14.852637017973422, + 0.11879099899242707 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1479732096195221, + -14.912599563598633, + 0.06770294904708862 + ], + "box_pose": [ + 0.6044653058052063, + -14.856653213500977, + 0.13603636622428894, + 0.008306066505610943, + 0.002621539868414402, + 0.7030764222145081, + -0.7110610604286194 + ], + "box_yaw_rad": -1.5594413924931714, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010032190416497046 + } + } + }, + { + "simulation_time_ns": 1800000000, + "center": [ + 0.602690716784384, + -14.852602095004993, + 0.11879142720521724 + ], + "face_center": [ + 0.5473775666773817, + -14.853223408893815, + 0.11922776980369641 + ], + "face_normal": [ + -0.9999058327351366, + -0.011231603699820347, + 0.007887844182551673 + ], + "footprint_xy": [ + [ + 0.5455760341519942, + -14.932318866647778 + ], + [ + 0.6598053994167739, + -14.932318866647778 + ], + [ + 0.6598053994167739, + -14.772885323362209 + ], + [ + 0.5455760341519942, + -14.772885323362209 + ] + ], + "projected_box_corners": [ + [ + 0.5455760341519942, + -14.777917244111016 + ], + [ + 0.5474256226181112, + -14.77412795113985 + ], + [ + 0.656202334365999, + -14.776674616333375 + ], + [ + 0.658051922832116, + -14.772885323362209 + ], + [ + 0.547329510736652, + -14.932318866647778 + ], + [ + 0.5491790992027691, + -14.928529573676611 + ], + [ + 0.6579558109506568, + -14.931076238870139 + ], + [ + 0.6598053994167739, + -14.927286945898972 + ] + ], + "yaw_rad": -1.5594402206969236, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14372092485427856, + -14.909040451049805, + 0.06998425722122192 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473782101455699, + -14.853223062684096, + 0.11922787033064122 + ], + "intended_face_normal": [ + -0.9999057371214791, + -0.011225806236900282, + 0.007897114643229064 + ], + "commanded_contact_point": [ + 0.14914391934871674, + -14.900346755981445, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5473677807184303, + -14.852602069501412, + 0.11879101490548757 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14419551193714142, + -14.910194396972656, + 0.06946955621242523 + ], + "box_pose": [ + 0.604433536529541, + -14.856613159179688, + 0.13603797554969788, + 0.008329718373715878, + 0.0028081750497221947, + 0.7030773162841797, + -0.711059033870697 + ], + "box_yaw_rad": -1.559445879272438, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013241685469684646 + } + } + }, + { + "simulation_time_ns": 1820000000, + "center": [ + 0.6026906506052512, + -14.852603580752026, + 0.11879120694460552 + ], + "face_center": [ + 0.5473774952520416, + -14.853224679918965, + 0.11922741678751232 + ], + "face_normal": [ + -0.9999059275717755, + -0.011227722133484774, + 0.007885444336025615 + ], + "footprint_xy": [ + [ + 0.5455765274595753, + -14.932317287690653 + ], + [ + 0.6598047737509272, + -14.932317287690653 + ], + [ + 0.6598047737509272, + -14.7728898738134 + ], + [ + 0.5455765274595753, + -14.7728898738134 + ] + ], + "projected_box_corners": [ + [ + 0.5455765274595753, + -14.777915594790132 + ], + [ + 0.5474256202604754, + -14.774132072147278 + ], + [ + 0.6562028381659946, + -14.776673396456253 + ], + [ + 0.6580519309668946, + -14.7728898738134 + ], + [ + 0.5473293702436077, + -14.932317287690653 + ], + [ + 0.5491784630445079, + -14.9285337650478 + ], + [ + 0.657955680950027, + -14.931075089356774 + ], + [ + 0.6598047737509272, + -14.92729156671392 + ] + ], + "yaw_rad": -1.559444330223837, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14525753259658813, + -14.907181739807129, + 0.06895105540752411 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473775666773817, + -14.853223408893815, + 0.11922776980369641 + ], + "intended_face_normal": [ + -0.9999058327351366, + -0.011231603699820347, + 0.007887844182551673 + ], + "commanded_contact_point": [ + 0.1496405154466629, + -14.899016380310059, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + 0.54736714782962, + -14.852602095004993, + 0.11879142720521724 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14372092485427856, + -14.909040451049805, + 0.06998425722122192 + ], + "box_pose": [ + 0.6044327616691589, + -14.856613159179688, + 0.1360384076833725, + 0.008326771669089794, + 0.0028118204791098833, + 0.7030752897262573, + -0.7110611200332642 + ], + "box_yaw_rad": -1.5594402206969236, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014200377162328127 + } + } + }, + { + "simulation_time_ns": 1840000000, + "center": [ + 0.6026929520010091, + -14.852607903742753, + 0.11879111062599752 + ], + "face_center": [ + 0.5473798081847834, + -14.853229033418978, + 0.11922852138780728 + ], + "face_normal": [ + -0.9999057190156292, + -0.011228273655376042, + 0.007907153564543079 + ], + "footprint_xy": [ + [ + 0.5455761488923777, + -14.932318567925341 + ], + [ + 0.6598097551096407, + -14.932318567925341 + ], + [ + 0.6598097551096407, + -14.772897239560166 + ], + [ + 0.5455761488923777, + -14.772897239560166 + ] + ], + "projected_box_corners": [ + [ + 0.5455761488923777, + -14.777916817812498 + ], + [ + 0.5474305178236919, + -14.774139498912616 + ], + [ + 0.6562024365248292, + -14.776674558460048 + ], + [ + 0.6580568054561434, + -14.772897239560166 + ], + [ + 0.5473290985458749, + -14.932318567925341 + ], + [ + 0.549183467477189, + -14.928541249025459 + ], + [ + 0.6579553861783265, + -14.93107630857289 + ], + [ + 0.6598097551096407, + -14.927298989673009 + ] + ], + "yaw_rad": -1.5594436423671638, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14525121450424194, + -14.904601097106934, + 0.06642799079418182 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473774952520416, + -14.853224679918965, + 0.11922741678751232 + ], + "intended_face_normal": [ + -0.9999059275717755, + -0.011227722133484774, + 0.007885444336025615 + ], + "commanded_contact_point": [ + 0.14977772533893585, + -14.898026466369629, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5473670868976821, + -14.852603580752026, + 0.11879120694460552 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14525753259658813, + -14.907181739807129, + 0.06895105540752411 + ], + "box_pose": [ + 0.6044326424598694, + -14.85661506652832, + 0.13603809475898743, + 0.008317486383020878, + 0.0028041149489581585, + 0.7030767798423767, + -0.7110598087310791 + ], + "box_yaw_rad": -1.559444330223837, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000999377888492868 + } + } + }, + { + "simulation_time_ns": 1860000000, + "center": [ + 0.6026986065276374, + -14.852613549145039, + 0.1187912654687603 + ], + "face_center": [ + 0.5473854798385055, + -14.853234669852426, + 0.1192311576736917 + ], + "face_normal": [ + -0.9999054094060501, + -0.01122811152408043, + 0.007952011061289066 + ], + "footprint_xy": [ + [ + 0.5455763529237252, + -14.93231712410946 + ], + [ + 0.6598208601315496, + -14.93231712410946 + ], + [ + 0.6598208601315496, + -14.772909974180617 + ], + [ + 0.5455763529237252, + -14.772909974180617 + ] + ], + "projected_box_corners": [ + [ + 0.5455763529237252, + -14.777915222048842 + ], + [ + 0.5474416453119246, + -14.774152215595393 + ], + [ + 0.6562026063019889, + -14.776672980634066 + ], + [ + 0.6580678986901883, + -14.772909974180617 + ], + [ + 0.5473293143650865, + -14.93231712410946 + ], + [ + 0.5491946067532859, + -14.928554117656011 + ], + [ + 0.6579555677433502, + -14.931074882694684 + ], + [ + 0.6598208601315496, + -14.927311876241236 + ] + ], + "yaw_rad": -1.5594435772029536, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14395686984062195, + -14.901564598083496, + 0.06414073705673218 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473798081847834, + -14.853229033418978, + 0.11922852138780728 + ], + "intended_face_normal": [ + -0.9999057190156292, + -0.011228273655376042, + 0.007907153564543079 + ], + "commanded_contact_point": [ + 0.14960253238677979, + -14.897489547729492, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5473693767542829, + -14.852607903742753, + 0.11879111062599752 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14525121450424194, + -14.904601097106934, + 0.06642799079418182 + ], + "box_pose": [ + 0.6044353246688843, + -14.856619834899902, + 0.13603785634040833, + 0.008316024206578732, + 0.002787200966849923, + 0.7030766010284424, + -0.7110600471496582 + ], + "box_yaw_rad": -1.5594436423671638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005647780088950592 + } + } + }, + { + "simulation_time_ns": 1880000000, + "center": [ + 0.6027042091432709, + -14.852622825833253, + 0.11879116440413877 + ], + "face_center": [ + 0.5473911032083485, + -14.853243795865671, + 0.11923354143870432 + ], + "face_normal": [ + -0.9999050342284475, + -0.01122538774535875, + 0.007996929776634909 + ], + "footprint_xy": [ + [ + 0.5455766866035101, + -14.932317928580225 + ], + [ + 0.6598317316830318, + -14.932317928580225 + ], + [ + 0.6598317316830318, + -14.77292772308628 + ], + [ + 0.5455766866035101, + -14.77292772308628 + ] + ], + "projected_box_corners": [ + [ + 0.5455766866035101, + -14.777915859743569 + ], + [ + 0.5474529553826515, + -14.774169663151115 + ], + [ + 0.656202898473355, + -14.776673919678734 + ], + [ + 0.6580791672524965, + -14.77292772308628 + ], + [ + 0.5473292510340454, + -14.932317928580225 + ], + [ + 0.5492055198131869, + -14.928571731987772 + ], + [ + 0.6579554629038904, + -14.93107598851539 + ], + [ + 0.6598317316830318, + -14.927329791922936 + ] + ], + "yaw_rad": -1.5594461604123502, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14376598596572876, + -14.897221565246582, + 0.06478138267993927 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473854798385055, + -14.853234669852426, + 0.1192311576736917 + ], + "intended_face_normal": [ + -0.9999054094060501, + -0.01122811152408043, + 0.007952011061289066 + ], + "commanded_contact_point": [ + 0.14932909607887268, + -14.897486686706543, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.547375014150582, + -14.852613549145039, + 0.1187912654687603 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14395686984062195, + -14.901564598083496, + 0.06414073705673218 + ], + "box_pose": [ + 0.60444176197052, + -14.856626510620117, + 0.1360376924276352, + 0.008310818113386631, + 0.0027500358410179615, + 0.7030767202377319, + -0.7110601663589478 + ], + "box_yaw_rad": -1.5594435772029536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002734512756529569 + } + } + }, + { + "simulation_time_ns": 1900000000, + "center": [ + 0.602713308767008, + -14.85263272800266, + 0.11879144947513343 + ], + "face_center": [ + 0.547400240042451, + -14.853253762317987, + 0.1192380350109295 + ], + "face_normal": [ + -0.9999043615699307, + -0.011226549799139618, + 0.008073007615617633 + ], + "footprint_xy": [ + [ + 0.5455764524549859, + -14.932317268700142 + ], + [ + 0.65985016507903, + -14.932317268700142 + ], + [ + 0.65985016507903, + -14.77294818730518 + ], + [ + 0.5455764524549859, + -14.77294818730518 + ] + ], + "projected_box_corners": [ + [ + 0.5455764524549859, + -14.777914994200927 + ], + [ + 0.5474712104530545, + -14.774190255935833 + ], + [ + 0.6562025899040999, + -14.776672925570274 + ], + [ + 0.6580973479021683, + -14.77294818730518 + ], + [ + 0.5473292696318477, + -14.932317268700142 + ], + [ + 0.5492240276299162, + -14.928592530435047 + ], + [ + 0.6579554070809616, + -14.93107520006949 + ], + [ + 0.65985016507903, + -14.927350461804394 + ] + ], + "yaw_rad": -1.5594445388063223, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14452573657035828, + -14.893888473510742, + 0.06703807413578033 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5473911032083485, + -14.853243795865671, + 0.11923354143870432 + ], + "intended_face_normal": [ + -0.9999050342284475, + -0.01122538774535875, + 0.007996929776634909 + ], + "commanded_contact_point": [ + 0.1489596962928772, + -14.897985458374023, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5473805960080714, + -14.852622825833253, + 0.11879116440413877 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14376598596572876, + -14.897221565246582, + 0.06478138267993927 + ], + "box_pose": [ + 0.604448139667511, + -14.856637001037598, + 0.13603723049163818, + 0.008301984518766403, + 0.0027091435622423887, + 0.7030777931213379, + -0.7110593318939209 + ], + "box_yaw_rad": -1.5594461604123502, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006206684935251409 + } + } + }, + { + "simulation_time_ns": 1920000000, + "center": [ + 0.6027231699038013, + -14.852643455398553, + 0.11879183147930901 + ], + "face_center": [ + 0.5474101282573564, + -14.853264509546676, + 0.11924286539565004 + ], + "face_normal": [ + -0.9999038720739951, + -0.011226908320169371, + 0.008153421796414317 + ], + "footprint_xy": [ + [ + 0.545576500965044, + -14.932316537591795 + ], + [ + 0.6598698388425585, + -14.932316537591795 + ], + [ + 0.6598698388425585, + -14.772970373205311 + ], + [ + 0.545576500965044, + -14.772970373205311 + ] + ], + "projected_box_corners": [ + [ + 0.545576500965044, + -14.777914006586442 + ], + [ + 0.5474908105712601, + -14.774212481501555 + ], + [ + 0.6562025842579338, + -14.776671898290198 + ], + [ + 0.65811689386415, + -14.772970373205311 + ], + [ + 0.5473294459434526, + -14.932316537591795 + ], + [ + 0.5492437555496686, + -14.928615012506908 + ], + [ + 0.6579555292363424, + -14.931074429295553 + ], + [ + 0.6598698388425585, + -14.927372904210666 + ] + ], + "yaw_rad": -1.5594437300532307, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1458372324705124, + -14.894430160522461, + 0.06877385079860687 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.547400240042451, + -14.853253762317987, + 0.1192380350109295 + ], + "intended_face_normal": [ + -0.9999043615699307, + -0.011226549799139618, + 0.008073007615617633 + ], + "commanded_contact_point": [ + 0.14850184321403503, + -14.898964881896973, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5473896584143495, + -14.85263272800266, + 0.11879144947513343 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14452573657035828, + -14.893888473510742, + 0.06703807413578033 + ], + "box_pose": [ + 0.6044585704803467, + -14.856648445129395, + 0.13603702187538147, + 0.008297276683151722, + 0.0026502872351557016, + 0.7030774354934692, + -0.7110599279403687 + ], + "box_yaw_rad": -1.5594445388063223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010811567320853862 + } + } + }, + { + "simulation_time_ns": 1940000000, + "center": [ + 0.6027360490619595, + -14.852659431734306, + 0.11879265796179769 + ], + "face_center": [ + 0.5474230646863534, + -14.853281026257392, + 0.11924960489658262 + ], + "face_normal": [ + -0.9999028367786703, + -0.011236676776261945, + 0.008260312501783273 + ], + "footprint_xy": [ + [ + 0.5455756614604809, + -14.932318184257305 + ], + [ + 0.6598964366634382, + -14.932318184257305 + ], + [ + 0.6598964366634382, + -14.773000679211307 + ], + [ + 0.5455756614604809, + -14.773000679211307 + ] + ], + "projected_box_corners": [ + [ + 0.5455756614604809, + -14.777915380698817 + ], + [ + 0.5475159176729526, + -14.774243868257479 + ], + [ + 0.6562016302116932, + -14.776672191652645 + ], + [ + 0.6581418864241649, + -14.773000679211307 + ], + [ + 0.5473302116997542, + -14.932318184257305 + ], + [ + 0.5492704679122258, + -14.928646671815965 + ], + [ + 0.6579561804509665, + -14.931074995211134 + ], + [ + 0.6598964366634382, + -14.927403482769796 + ] + ], + "yaw_rad": -1.55943335485382, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14703387022018433, + -14.898611068725586, + 0.06960882246494293 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474101282573564, + -14.853264509546676, + 0.11924286539565004 + ], + "intended_face_normal": [ + -0.9999038720739951, + -0.011226908320169371, + 0.008153421796414317 + ], + "commanded_contact_point": [ + 0.14804838597774506, + -14.900461196899414, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5473994924678374, + -14.852643455398553, + 0.11879183147930901 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1458372324705124, + -14.894430160522461, + 0.06877385079860687 + ], + "box_pose": [ + 0.6044698357582092, + -14.856660842895508, + 0.13603687286376953, + 0.008291522972285748, + 0.0025872867554426193, + 0.7030773758888245, + -0.7110604047775269 + ], + "box_yaw_rad": -1.5594437300532307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001563515926799015 + } + } + }, + { + "simulation_time_ns": 1960000000, + "center": [ + 0.602750653183212, + -14.852677937524946, + 0.11879349152862492 + ], + "face_center": [ + 0.5474377336414539, + -14.853299556788476, + 0.11925704818626953 + ], + "face_normal": [ + -0.999901664765457, + -0.011237124013751543, + 0.008379797659062549 + ], + "footprint_xy": [ + [ + 0.5455757201005811, + -14.932319659302156 + ], + [ + 0.6599255862658429, + -14.932319659302156 + ], + [ + 0.6599255862658429, + -14.773036215747739 + ], + [ + 0.5455757201005811, + -14.773036215747739 + ] + ], + "projected_box_corners": [ + [ + 0.5455757201005811, + -14.77791654561027 + ], + [ + 0.5475450290768877, + -14.774279454274797 + ], + [ + 0.6562015591840974, + -14.77667330708321 + ], + [ + 0.658170868160404, + -14.773036215747739 + ], + [ + 0.54733043820602, + -14.932319659302156 + ], + [ + 0.5492997471823265, + -14.928682567966684 + ], + [ + 0.6579562772895363, + -14.931076420775096 + ], + [ + 0.6599255862658429, + -14.927439329439625 + ] + ], + "yaw_rad": -1.559432290621678, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1445888727903366, + -14.906721115112305, + 0.06606821715831757 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474230646863534, + -14.853281026257392, + 0.11924960489658262 + ], + "intended_face_normal": [ + -0.9999028367786703, + -0.011236676776261945, + 0.008260312501783273 + ], + "commanded_contact_point": [ + 0.14741939306259155, + -14.902412414550781, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5474123143440853, + -14.852659431734306, + 0.11879265796179769 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14703387022018433, + -14.898611068725586, + 0.06960882246494293 + ], + "box_pose": [ + 0.6044846177101135, + -14.85667896270752, + 0.13603700697422028, + 0.008285075426101685, + 0.0025048053357750177, + 0.7030739784240723, + -0.7110641002655029 + ], + "box_yaw_rad": -1.55943335485382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002050093268742237 + } + } + }, + { + "simulation_time_ns": 1980000000, + "center": [ + 0.6027669526064892, + -14.85269613993792, + 0.11879457268242177 + ], + "face_center": [ + 0.5474540802745542, + -14.853317682758584, + 0.1192656239146698 + ], + "face_normal": [ + -0.9999008113449329, + -0.01123574214223333, + 0.008515278441577095 + ], + "footprint_xy": [ + [ + 0.5455756483790375, + -14.932318709259215 + ], + [ + 0.6599582568339408, + -14.932318709259215 + ], + [ + 0.6599582568339408, + -14.773073570616626 + ], + [ + 0.5455756483790375, + -14.773073570616626 + ] + ], + "projected_box_corners": [ + [ + 0.5455756483790375, + -14.777915176078714 + ], + [ + 0.5475778994407106, + -14.774316656257954 + ], + [ + 0.6562013930429075, + -14.776672090437387 + ], + [ + 0.6582036441045804, + -14.773073570616626 + ], + [ + 0.5473302611083979, + -14.932318709259215 + ], + [ + 0.5493325121700708, + -14.928720189438453 + ], + [ + 0.6579560057722678, + -14.931075623617886 + ], + [ + 0.6599582568339408, + -14.927477103797125 + ] + ], + "yaw_rad": -1.5594330038770208, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1408294290304184, + -14.916641235351562, + 0.06186039745807648 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474377336414539, + -14.853299556788476, + 0.11925704818626953 + ], + "intended_face_normal": [ + -0.999901664765457, + -0.011237124013751543, + 0.008379797659062549 + ], + "commanded_contact_point": [ + 0.14705565571784973, + -14.904735565185547, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5474268536188129, + -14.852677937524946, + 0.11879349152862492 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1445888727903366, + -14.906721115112305, + 0.06606821715831757 + ], + "box_pose": [ + 0.6045013070106506, + -14.85669994354248, + 0.13603705167770386, + 0.00827663391828537, + 0.002411298919469118, + 0.7030739188194275, + -0.7110644578933716 + ], + "box_yaw_rad": -1.559432290621678, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002351453535403057 + } + } + }, + { + "simulation_time_ns": 2000000000, + "center": [ + 0.6027854873931625, + -14.852716953588967, + 0.1187960447520464 + ], + "face_center": [ + 0.5474726916595293, + -14.853338519548325, + 0.11927561295292909 + ], + "face_normal": [ + -0.9998994266635588, + -0.01123616042457809, + 0.008669241226168967 + ], + "footprint_xy": [ + [ + 0.545575460179571, + -14.932318690757208 + ], + [ + 0.659995514606754, + -14.932318690757208 + ], + [ + 0.659995514606754, + -14.773115216420727 + ], + [ + 0.545575460179571, + -14.773115216420727 + ] + ], + "projected_box_corners": [ + [ + 0.545575460179571, + -14.77791476282755 + ], + [ + 0.547615121881773, + -14.774358348339442 + ], + [ + 0.6562010516468375, + -14.776671630908835 + ], + [ + 0.6582407133490394, + -14.773115216420727 + ], + [ + 0.5473302614372856, + -14.932318690757208 + ], + [ + 0.5493699231394876, + -14.9287622762691 + ], + [ + 0.657955852904552, + -14.931075558838494 + ], + [ + 0.659995514606754, + -14.927519144350386 + ] + ], + "yaw_rad": -1.5594318120761677, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1385943591594696, + -14.920073509216309, + 0.06294244527816772 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474540802745542, + -14.853317682758584, + 0.1192656239146698 + ], + "intended_face_normal": [ + -0.9999008113449329, + -0.01123574214223333, + 0.008515278441577095 + ], + "commanded_contact_point": [ + 0.1470307856798172, + -14.906466484069824, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5474431058229405, + -14.85269613993792, + 0.11879457268242177 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1408294290304184, + -14.916641235351562, + 0.06186039745807648 + ], + "box_pose": [ + 0.6045199632644653, + -14.856720924377441, + 0.13603724539279938, + 0.008267736993730068, + 0.0023059507366269827, + 0.7030745148658752, + -0.7110645174980164 + ], + "box_yaw_rad": -1.5594330038770208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017310975428188736 + } + } + }, + { + "simulation_time_ns": 2020000000, + "center": [ + 0.602807615091047, + -14.85274529829045, + 0.11879669317342434 + ], + "face_center": [ + 0.547494905736437, + -14.853366435022796, + 0.11928633091906068 + ], + "face_normal": [ + -0.9998978651743113, + -0.011228401210137462, + 0.008851270210464612 + ], + "footprint_xy": [ + [ + 0.5455760563647154, + -14.932318602346848 + ], + [ + 0.6600391738173785, + -14.932318602346848 + ], + [ + 0.6600391738173785, + -14.773171994234055 + ], + [ + 0.5455760563647154, + -14.773171994234055 + ] + ], + "projected_box_corners": [ + [ + 0.5455760563647154, + -14.777914133816974 + ], + [ + 0.5476600541458649, + -14.774414267698745 + ], + [ + 0.6562014750739354, + -14.776671860352284 + ], + [ + 0.658285472855085, + -14.773171994234055 + ], + [ + 0.5473297573270091, + -14.932318602346848 + ], + [ + 0.5494137551081585, + -14.928818736228617 + ], + [ + 0.657955176036229, + -14.931076328882158 + ], + [ + 0.6600391738173785, + -14.927576462763927 + ] + ], + "yaw_rad": -1.559438977001848, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13673976063728333, + -14.915593147277832, + 0.06739352643489838 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5474726916595293, + -14.853338519548325, + 0.11927561295292909 + ], + "intended_face_normal": [ + -0.9998994266635588, + -0.01123616042457809, + 0.008669241226168967 + ], + "commanded_contact_point": [ + 0.14740118384361267, + -14.907663345336914, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5474615639960084, + -14.852716953588967, + 0.1187960447520464 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1385943591594696, + -14.920073509216309, + 0.06294244527816772 + ], + "box_pose": [ + 0.6045411825180054, + -14.856744766235352, + 0.13603773713111877, + 0.008260154165327549, + 0.0021887950133532286, + 0.7030744552612305, + -0.7110649943351746 + ], + "box_yaw_rad": -1.5594318120761677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001252865392776431 + } + } + }, + { + "simulation_time_ns": 2040000000, + "center": [ + 0.6028316669965567, + -14.852775166692643, + 0.11879758700334139 + ], + "face_center": [ + 0.5475190542933828, + -14.853396220264617, + 0.1192982963113826 + ], + "face_normal": [ + -0.9998961179887953, + -0.011226897905060707, + 0.009051412849325147 + ], + "footprint_xy": [ + [ + 0.5455759139781752, + -14.932317669583883 + ], + [ + 0.6600874200149383, + -14.932317669583883 + ], + [ + 0.6600874200149383, + -14.773232663801402 + ], + [ + 0.5455759139781752, + -14.773232663801402 + ] + ], + "projected_box_corners": [ + [ + 0.5455759139781752, + -14.777912616772559 + ], + [ + 0.54770863283832, + -14.774474770945352 + ], + [ + 0.656201139384523, + -14.776670509628609 + ], + [ + 0.6583338582446678, + -14.773232663801402 + ], + [ + 0.5473294757484456, + -14.932317669583883 + ], + [ + 0.5494621946085905, + -14.928879823756676 + ], + [ + 0.6579547011547934, + -14.931075562439933 + ], + [ + 0.6600874200149383, + -14.927637716612725 + ] + ], + "yaw_rad": -1.559439921332275, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1368265002965927, + -14.910969734191895, + 0.07132907211780548 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.547494905736437, + -14.853366435022796, + 0.11928633091906068 + ], + "intended_face_normal": [ + -0.9998978651743113, + -0.011228401210137462, + 0.008851270210464612 + ], + "commanded_contact_point": [ + 0.1480710506439209, + -14.908637046813965, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5474836052973573, + -14.85274529829045, + 0.11879669317342434 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13673976063728333, + -14.915593147277832, + 0.06739352643489838 + ], + "box_pose": [ + 0.6045664548873901, + -14.85677719116211, + 0.13603711128234863, + 0.008241304196417332, + 0.002040242776274681, + 0.7030774354934692, + -0.7110626697540283 + ], + "box_yaw_rad": -1.559438977001848, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011818697460471551 + } + } + }, + { + "simulation_time_ns": 2060000000, + "center": [ + 0.6028605913530855, + -14.852810231355814, + 0.11879943501356727 + ], + "face_center": [ + 0.5475481105120955, + -14.853431243006685, + 0.11931334593007119 + ], + "face_normal": [ + -0.9998937342922138, + -0.011226140089696801, + 0.009290060716565227 + ], + "footprint_xy": [ + [ + 0.5455759505029029, + -14.932318311629663 + ], + [ + 0.6601452322032682, + -14.932318311629663 + ], + [ + 0.6601452322032682, + -14.773302151081966 + ], + [ + 0.5455759505029029, + -14.773302151081966 + ] + ], + "projected_box_corners": [ + [ + 0.5455759505029029, + -14.777912655370175 + ], + [ + 0.547766709105834, + -14.77454417438371 + ], + [ + 0.6562009121848827, + -14.776670632068429 + ], + [ + 0.658391670787814, + -14.773302151081966 + ], + [ + 0.547329511918357, + -14.932318311629663 + ], + [ + 0.5495202705212883, + -14.928949830643198 + ], + [ + 0.6579544736003369, + -14.931076288327919 + ], + [ + 0.6601452322032682, + -14.927707807341454 + ] + ], + "yaw_rad": -1.5594399680092135, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13800951838493347, + -14.911189079284668, + 0.0716204047203064 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5475190542933828, + -14.853396220264617, + 0.1192982963113826 + ], + "intended_face_normal": [ + -0.9998961179887953, + -0.011226897905060707, + 0.009051412849325147 + ], + "commanded_contact_point": [ + 0.1484021544456482, + -14.909172058105469, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.547507560531516, + -14.852775166692643, + 0.11879758700334139 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1368265002965927, + -14.910969734191895, + 0.07132907211780548 + ], + "box_pose": [ + 0.6045939922332764, + -14.8568115234375, + 0.13603660464286804, + 0.008220776915550232, + 0.0018771463073790073, + 0.7030782103538513, + -0.7110626101493835 + ], + "box_yaw_rad": -1.559439921332275, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006291794732907747 + } + } + }, + { + "simulation_time_ns": 2080000000, + "center": [ + 0.6028924467264005, + -14.852850165422554, + 0.11880075848749773 + ], + "face_center": [ + 0.547580093801044, + -14.853470926183702, + 0.11932939335265338 + ], + "face_normal": [ + -0.9998914219381412, + -0.01122160471071787, + 0.009556228203126405 + ], + "footprint_xy": [ + [ + 0.5455758498665974, + -14.932317812283033 + ], + [ + 0.6602090435862037, + -14.932317812283033 + ], + [ + 0.6602090435862037, + -14.773382518562073 + ], + [ + 0.5455758498665974, + -14.773382518562073 + ] + ], + "projected_box_corners": [ + [ + 0.5455758498665974, + -14.77791140121843 + ], + [ + 0.5478313946995232, + -14.77462404008437 + ], + [ + 0.6562005557173105, + -14.776669879696133 + ], + [ + 0.6584561005502365, + -14.773382518562073 + ], + [ + 0.5473287929025646, + -14.932317812283033 + ], + [ + 0.5495843377354905, + -14.929030451148973 + ], + [ + 0.6579534987532778, + -14.931076290760737 + ], + [ + 0.6602090435862037, + -14.927788929626677 + ] + ], + "yaw_rad": -1.559444027885129, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14040043950080872, + -14.910866737365723, + 0.07018934190273285 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5475481105120955, + -14.853431243006685, + 0.11931334593007119 + ], + "intended_face_normal": [ + -0.9998937342922138, + -0.011226140089696801, + 0.009290060716565227 + ], + "commanded_contact_point": [ + 0.14858615398406982, + -14.9093656539917, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5475363529981458, + -14.852810231355814, + 0.11879943501356727 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13800951838493347, + -14.911189079284668, + 0.0716204047203064 + ], + "box_pose": [ + 0.6046270728111267, + -14.856851577758789, + 0.13603685796260834, + 0.008203022181987762, + 0.001689473050646484, + 0.7030786871910095, + -0.7110626697540283 + ], + "box_yaw_rad": -1.5594399680092135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00026708649945834446 + } + } + }, + { + "simulation_time_ns": 2100000000, + "center": [ + 0.6029291931503391, + -14.852897652076125, + 0.11880205860206354 + ], + "face_center": [ + 0.5476170045100658, + -14.853518127332118, + 0.11934768443023151 + ], + "face_normal": [ + -0.9998884521269362, + -0.011216443582316882, + 0.009863376918882505 + ], + "footprint_xy": [ + [ + 0.5455757439557968, + -14.932317702603486 + ], + [ + 0.6602826423448814, + -14.932317702603486 + ], + [ + 0.6602826423448814, + -14.773477601548763 + ], + [ + 0.5455757439557968, + -14.773477601548763 + ] + ], + "projected_box_corners": [ + [ + 0.5455757439557968, + -14.777910459622847 + ], + [ + 0.5479060708936044, + -14.77471855206075 + ], + [ + 0.6562001212363435, + -14.77666950911086 + ], + [ + 0.6585304481741511, + -14.773477601548763 + ], + [ + 0.547327938126527, + -14.932317702603486 + ], + [ + 0.5496582650643347, + -14.929125795041388 + ], + [ + 0.6579523154070738, + -14.9310767520915 + ], + [ + 0.6602826423448814, + -14.927884844529402 + ] + ], + "yaw_rad": -1.5594489383550465, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14319056272506714, + -14.908970832824707, + 0.06802111864089966 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.547580093801044, + -14.853470926183702, + 0.11932939335265338 + ], + "intended_face_normal": [ + -0.9998914219381412, + -0.01122160471071787, + 0.009556228203126405 + ], + "commanded_contact_point": [ + 0.14875352382659912, + -14.90935230255127, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5475680804283413, + -14.852850165422554, + 0.11880075848749773 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14040043950080872, + -14.910866737365723, + 0.07018934190273285 + ], + "box_pose": [ + 0.6046635508537292, + -14.856897354125977, + 0.13603633642196655, + 0.008177727460861206, + 0.0014745881780982018, + 0.7030805945396423, + -0.7110616564750671 + ], + "box_yaw_rad": -1.559444027885129, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016790153446210435 + } + } + }, + { + "simulation_time_ns": 2120000000, + "center": [ + 0.6029720056917284, + -14.852950147709468, + 0.11880446839455988 + ], + "face_center": [ + 0.5476600086660437, + -14.853570444152908, + 0.11936976547223771 + ], + "face_normal": [ + -0.9998849882753126, + -0.011213211155411296, + 0.010218977659105385 + ], + "footprint_xy": [ + [ + 0.5455757214252845, + -14.932317763760533 + ], + [ + 0.6603682899581723, + -14.932317763760533 + ], + [ + 0.6603682899581723, + -14.773582531658402 + ], + [ + 0.5455757214252845, + -14.773582531658402 + ] + ], + "projected_box_corners": [ + [ + 0.5455757214252845, + -14.777909616096048 + ], + [ + 0.5479925598691894, + -14.774823124545282 + ], + [ + 0.6561997154766539, + -14.776669023209168 + ], + [ + 0.6586165539205588, + -14.773582531658402 + ], + [ + 0.547327457462898, + -14.932317763760533 + ], + [ + 0.5497442959068028, + -14.929231272209767 + ], + [ + 0.6579514515142675, + -14.931077170873653 + ], + [ + 0.6603682899581723, + -14.927990679322885 + ] + ], + "yaw_rad": -1.5594519714790727, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1452096700668335, + -14.908005714416504, + 0.06426158547401428 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5476170045100658, + -14.853518127332118, + 0.11934768443023151 + ], + "intended_face_normal": [ + -0.9998884521269362, + -0.011216443582316882, + 0.009863376918882505 + ], + "commanded_contact_point": [ + 0.14856553077697754, + -14.908910751342773, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.5476046625310272, + -14.852897652076125, + 0.11880205860206354 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14319056272506714, + -14.908970832824707, + 0.06802111864089966 + ], + "box_pose": [ + 0.6047056317329407, + -14.856951713562012, + 0.1360354721546173, + 0.008145838044583797, + 0.0012238863855600357, + 0.703082799911499, + -0.7110602855682373 + ], + "box_yaw_rad": -1.5594489383550465, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047990505147246044 + } + } + }, + { + "simulation_time_ns": 2140000000, + "center": [ + 0.6030203657750459, + -14.853010147862744, + 0.11880698680099795 + ], + "face_center": [ + 0.5477086044987947, + -14.853630526035703, + 0.11939453397677938 + ], + "face_normal": [ + -0.9998807265901036, + -0.01121468859472885, + 0.010621196712434812 + ], + "footprint_xy": [ + [ + 0.5455752874221409, + -14.932318058820366 + ], + [ + 0.6604654441279509, + -14.932318058820366 + ], + [ + 0.6604654441279509, + -14.773702236905121 + ], + [ + 0.5455752874221409, + -14.773702236905121 + ] + ], + "projected_box_corners": [ + [ + 0.5455752874221409, + -14.77790894296508 + ], + [ + 0.5480899786981333, + -14.77494299325104 + ], + [ + 0.6561988099746432, + -14.776668186619162 + ], + [ + 0.6587135012506357, + -14.773702236905121 + ], + [ + 0.5473272302994561, + -14.932318058820366 + ], + [ + 0.5498419215754485, + -14.929352109106325 + ], + [ + 0.6579507528519585, + -14.931077302474447 + ], + [ + 0.6604654441279509, + -14.928111352760407 + ] + ], + "yaw_rad": -1.5594507032215497, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14647822082042694, + -14.907173156738281, + 0.060612693428993225 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5476600086660437, + -14.853570444152908, + 0.11936976547223771 + ], + "intended_face_normal": [ + -0.9998849882753126, + -0.011213211155411296, + 0.010218977659105385 + ], + "commanded_contact_point": [ + 0.1481066042852029, + -14.907866129076213, + 0.05012684782702145 + ], + "centerline_face_intersection": [ + 0.5476472834144084, + -14.852950147709468, + 0.11880446839455988 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1452096700668335, + -14.908005714416504, + 0.06426158547401428 + ], + "box_pose": [ + 0.604754626750946, + -14.857011795043945, + 0.13603545725345612, + 0.008116374723613262, + 0.0009411923820152879, + 0.7030842900276184, + -0.7110596299171448 + ], + "box_yaw_rad": -1.5594519714790727, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011480117082213373 + } + } + }, + { + "simulation_time_ns": 2160000000, + "center": [ + 0.6030762806939644, + -14.853079192095635, + 0.11880972192104844 + ], + "face_center": [ + 0.547764809830216, + -14.853699718846348, + 0.11942315452743953 + ], + "face_normal": [ + -0.9998754767506921, + -0.01121737446171256, + 0.01108913232990346 + ], + "footprint_xy": [ + [ + 0.5455744169168536, + -14.932317430760161 + ], + [ + 0.6605781444710752, + -14.932317430760161 + ], + [ + 0.6605781444710752, + -14.773840953431108 + ], + [ + 0.5455744169168536, + -14.773840953431108 + ] + ], + "projected_box_corners": [ + [ + 0.5455744169168536, + -14.777907247649155 + ], + [ + 0.5482029527066121, + -14.775082006932537 + ], + [ + 0.6561973586443504, + -14.776666194147728 + ], + [ + 0.6588258944341089, + -14.773840953431108 + ], + [ + 0.5473266669538198, + -14.932317430760161 + ], + [ + 0.5499552027435785, + -14.929492190043542 + ], + [ + 0.6579496086813167, + -14.931076377258732 + ], + [ + 0.6605781444710752, + -14.928251136542114 + ] + ], + "yaw_rad": -1.5594487926450624, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14699247479438782, + -14.906086921691895, + 0.05795767903327942 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5477086044987947, + -14.853630526035703, + 0.11939453397677938 + ], + "intended_face_normal": [ + -0.9998807265901036, + -0.01121468859472885, + 0.010621196712434812 + ], + "commanded_contact_point": [ + 0.147904353479594, + -14.906366740726318, + 0.050498869885373346 + ], + "centerline_face_intersection": [ + 0.54769540769305, + -14.853010147862744, + 0.11880698680099795 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14647822082042694, + -14.907173156738281, + 0.060612693428993225 + ], + "box_pose": [ + 0.6048099994659424, + -14.857080459594727, + 0.13603520393371582, + 0.00808111671358347, + 0.0006195051246322691, + 0.7030841708183289, + -0.7110604643821716 + ], + "box_yaw_rad": -1.5594507032215497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015580344104259999 + } + } + }, + { + "simulation_time_ns": 2180000000, + "center": [ + 0.6031396523273631, + -14.853159891273984, + 0.11881193921969752 + ], + "face_center": [ + 0.5478285179715223, + -14.853780505655072, + 0.11945465989885708 + ], + "face_normal": [ + -0.9998693936362992, + -0.011218958571831306, + 0.011618578125959553 + ], + "footprint_xy": [ + [ + 0.5455736979696563, + -14.932316665103523 + ], + [ + 0.66070560668507, + -14.932316665103523 + ], + [ + 0.66070560668507, + -14.774003117444446 + ], + [ + 0.5455736979696563, + -14.774003117444446 + ] + ], + "projected_box_corners": [ + [ + 0.5455736979696563, + -14.777905283410282 + ], + [ + 0.5483311061780187, + -14.77524434620662 + ], + [ + 0.656195966681338, + -14.776664054648109 + ], + [ + 0.6589533748897005, + -14.774003117444446 + ], + [ + 0.5473259297650258, + -14.932316665103523 + ], + [ + 0.5500833379733883, + -14.929655727899862 + ], + [ + 0.6579481984767075, + -14.93107543634135 + ], + [ + 0.66070560668507, + -14.928414499137688 + ] + ], + "yaw_rad": -1.5594489988412188, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14846904575824738, + -14.906021118164062, + 0.058093562722206116 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.547764809830216, + -14.853699718846348, + 0.11942315452743953 + ], + "intended_face_normal": [ + -0.9998754767506921, + -0.01121737446171256, + 0.01108913232990346 + ], + "commanded_contact_point": [ + 0.14805935650433413, + -14.904383210517036, + 0.05110311391879913 + ], + "centerline_face_intersection": [ + 0.5477510321286512, + -14.853079192095635, + 0.11880972192104844 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14699247479438782, + -14.906086921691895, + 0.05795767903327942 + ], + "box_pose": [ + 0.6048740744590759, + -14.857159614562988, + 0.13603469729423523, + 0.008039404638111591, + 0.00024455873062834144, + 0.7030836939811707, + -0.7110615372657776 + ], + "box_yaw_rad": -1.5594487926450624, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002079309712559213 + } + } + }, + { + "simulation_time_ns": 2200000000, + "center": [ + 0.6032143733991444, + -14.853252362100436, + 0.11881591234926607 + ], + "face_center": [ + 0.5479036359926533, + -14.853872651867121, + 0.11949327024654832 + ], + "face_normal": [ + -0.9998622179110083, + -0.011213090458517705, + 0.012244721391414255 + ], + "footprint_xy": [ + [ + 0.5455732974790741, + -14.932316409514991 + ], + [ + 0.6608554493192147, + -14.932316409514991 + ], + [ + 0.6608554493192147, + -14.77418831468588 + ], + [ + 0.5455732974790741, + -14.77418831468588 + ] + ], + "projected_box_corners": [ + [ + 0.5455732974790741, + -14.777903699359213 + ], + [ + 0.5484830420436705, + -14.775428894219251 + ], + [ + 0.6561947722920562, + -14.776663119825841 + ], + [ + 0.6591045168566526, + -14.77418831468588 + ], + [ + 0.5473242299416362, + -14.932316409514991 + ], + [ + 0.5502339745062326, + -14.92984160437503 + ], + [ + 0.6579457047546183, + -14.93107582998162 + ], + [ + 0.6608554493192147, + -14.928601024841658 + ] + ], + "yaw_rad": -1.5594575100501842, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14685271680355072, + -14.905462265014648, + 0.060944974422454834 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5478285179715223, + -14.853780505655072, + 0.11945465989885708 + ], + "intended_face_normal": [ + -0.9998693936362992, + -0.011218958571831306, + 0.011618578125959553 + ], + "commanded_contact_point": [ + 0.1484319108390808, + -14.901984416591903, + 0.05192672053841929 + ], + "centerline_face_intersection": [ + 0.5478140671682729, + -14.853159891273984, + 0.11881193921969752 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14846904575824738, + -14.906021118164062, + 0.058093562722206116 + ], + "box_pose": [ + 0.6049466729164124, + -14.85725212097168, + 0.13603314757347107, + 0.007984745316207409, + -0.0001872316061053425, + 0.7030837535858154, + -0.7110620737075806 + ], + "box_yaw_rad": -1.5594489988412188, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025634618958502394 + } + } + }, + { + "simulation_time_ns": 2220000000, + "center": [ + 0.6033002057468946, + -14.853358886468408, + 0.11881982064680062 + ], + "face_center": [ + 0.5479899666870548, + -14.85397961452124, + 0.11953687576535835 + ], + "face_normal": [ + -0.9998532092083339, + -0.011221013436561345, + 0.012962335250323809 + ], + "footprint_xy": [ + [ + 0.545572052052441, + -14.932315795981541 + ], + [ + 0.6610283594413483, + -14.932315795981541 + ], + [ + 0.6610283594413483, + -14.774401976955275 + ], + [ + 0.545572052052441, + -14.774401976955275 + ] + ], + "projected_box_corners": [ + [ + 0.545572052052441, + -14.777901704883961 + ], + [ + 0.5486563893750109, + -14.77564343306094 + ], + [ + 0.6561925301721205, + -14.776660248778297 + ], + [ + 0.6592768674946906, + -14.774401976955275 + ], + [ + 0.5473235439990987, + -14.932315795981541 + ], + [ + 0.5504078813216686, + -14.930057524158519 + ], + [ + 0.6579440221187783, + -14.931074339875877 + ], + [ + 0.6610283594413483, + -14.928816068052855 + ] + ], + "yaw_rad": -1.5594539886407262, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1419287919998169, + -14.903717994689941, + 0.06519541144371033 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5479036359926533, + -14.853872651867121, + 0.11949327024654832 + ], + "intended_face_normal": [ + -0.9998622179110083, + -0.011213090458517705, + 0.012244721391414255 + ], + "commanded_contact_point": [ + 0.14862965256150346, + -14.899689474840685, + 0.05295695227289753 + ], + "centerline_face_intersection": [ + 0.5478883911841462, + -14.853252362100436, + 0.11881591234926607 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14685271680355072, + -14.905462265014648, + 0.060944974422454834 + ], + "box_pose": [ + 0.6050322651863098, + -14.8573579788208, + 0.13603278994560242, + 0.00793212279677391, + -0.0006857570842839777, + 0.7030864357948303, + -0.7110598683357239 + ], + "box_yaw_rad": -1.5594575100501842, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025233384348909513 + } + } + }, + { + "simulation_time_ns": 2240000000, + "center": [ + 0.6033981627552977, + -14.85348371518486, + 0.11882238314940857 + ], + "face_center": [ + 0.548088521326745, + -14.854103465549485, + 0.1195847144114316 + ], + "face_normal": [ + -0.999842405719313, + -0.011203339589794803, + 0.013780800296106663 + ], + "footprint_xy": [ + [ + 0.5455728717638532, + -14.932313740787688 + ], + [ + 0.6612234537467421, + -14.932313740787688 + ], + [ + 0.6612234537467421, + -14.774653689582031 + ], + [ + 0.5455728717638532, + -14.774653689582031 + ] + ], + "projected_box_corners": [ + [ + 0.5455728717638532, + -14.777898178776484 + ], + [ + 0.5488564679223484, + -14.775893190311285 + ], + [ + 0.6561921546209585, + -14.77665867804723 + ], + [ + 0.6594757507794538, + -14.774653689582031 + ], + [ + 0.5473205747311415, + -14.932313740787688 + ], + [ + 0.5506041708896368, + -14.930308752322489 + ], + [ + 0.6579398575882468, + -14.931074240058434 + ], + [ + 0.6612234537467421, + -14.929069251593235 + ] + ], + "yaw_rad": -1.5594786310739461, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13862699270248413, + -14.902806282043457, + 0.06816039979457855 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5479899666870548, + -14.85397961452124, + 0.11953687576535835 + ], + "intended_face_normal": [ + -0.9998532092083339, + -0.011221013436561345, + 0.012962335250323809 + ], + "commanded_contact_point": [ + 0.1502061312936619, + -14.898347673273138, + 0.05418081530102567 + ], + "centerline_face_intersection": [ + 0.547973725043399, + -14.853358886468408, + 0.11881982064680062 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1419287919998169, + -14.903717994689941, + 0.06519541144371033 + ], + "box_pose": [ + 0.6051306128501892, + -14.8574800491333, + 0.13603165745735168, + 0.007867056876420975, + -0.0012618724722415209, + 0.7030843496322632, + -0.711061954498291 + ], + "box_yaw_rad": -1.5594539886407262, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024049027737597524 + } + } + }, + { + "simulation_time_ns": 2260000000, + "center": [ + 0.6035118124929918, + -14.853626893558289, + 0.11882573664816251 + ], + "face_center": [ + 0.5482029228939125, + -14.85424714495816, + 0.11964056288172276 + ], + "face_normal": [ + -0.9998288147617532, + -0.011212396894660914, + 0.014729761404410735 + ], + "footprint_xy": [ + [ + 0.545571876767874, + -14.93231284690903 + ], + [ + 0.6614517482181096, + -14.93231284690903 + ], + [ + 0.6614517482181096, + -14.774940940207546 + ], + [ + 0.545571876767874, + -14.774940940207546 + ] + ], + "projected_box_corners": [ + [ + 0.545571876767874, + -14.77789584406677 + ], + [ + 0.549086405437477, + -14.77618144300729 + ], + [ + 0.6561896559660326, + -14.776655341267025 + ], + [ + 0.6597041846356356, + -14.774940940207546 + ], + [ + 0.5473194403503479, + -14.93231284690903 + ], + [ + 0.550833969019951, + -14.93059844584955 + ], + [ + 0.6579372195485065, + -14.931072344109285 + ], + [ + 0.6614517482181096, + -14.929357943049808 + ] + ], + "yaw_rad": -1.5594796392042383, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13838613033294678, + -14.900834083557129, + 0.07159589231014252 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.548088521326745, + -14.854103465549485, + 0.1195847144114316 + ], + "intended_face_normal": [ + -0.999842405719313, + -0.011203339589794803, + 0.013780800296106663 + ], + "commanded_contact_point": [ + 0.15253655219892506, + -14.897311146579002, + 0.05558532614154464 + ], + "centerline_face_intersection": [ + 0.5480710842385633, + -14.85348371518486, + 0.11882238314940857 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13862699270248413, + -14.902806282043457, + 0.06816039979457855 + ], + "box_pose": [ + 0.6052427291870117, + -14.857623100280762, + 0.13602833449840546, + 0.007783696986734867, + -0.001928297453559935, + 0.703091561794281, + -0.7110542058944702 + ], + "box_yaw_rad": -1.5594786310739461, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002911683342068662 + } + } + }, + { + "simulation_time_ns": 2280000000, + "center": [ + 0.6036421977188665, + -14.85379429486382, + 0.1188287201637561 + ], + "face_center": [ + 0.5483342351282436, + -14.854414525241678, + 0.11970364556928828 + ], + "face_normal": [ + -0.9998120570619871, + -0.011212016875907449, + 0.01581618502123658 + ], + "footprint_xy": [ + [ + 0.5455721139297358, + -14.932311760006348 + ], + [ + 0.6617122815079972, + -14.932311760006348 + ], + [ + 0.6617122815079972, + -14.77527682972129 + ], + [ + 0.5455721139297358, + -14.77527682972129 + ] + ], + "projected_box_corners": [ + [ + 0.5455721139297358, + -14.7778933792155 + ], + [ + 0.5493511102242532, + -14.776517290477006 + ], + [ + 0.6561880391109814, + -14.776652918459785 + ], + [ + 0.659967035405499, + -14.77527682972129 + ], + [ + 0.5473173600322341, + -14.932311760006348 + ], + [ + 0.5510963563267515, + -14.930935671267855 + ], + [ + 0.6579332852134798, + -14.931071299250632 + ], + [ + 0.6617122815079972, + -14.92969521051214 + ] + ], + "yaw_rad": -1.5594947460591582, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13846567273139954, + -14.89720630645752, + 0.07446962594985962 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5482029228939125, + -14.85424714495816, + 0.11964056288172276 + ], + "intended_face_normal": [ + -0.9998288147617532, + -0.011212396894660914, + 0.014729761404410735 + ], + "commanded_contact_point": [ + 0.15473821195483206, + -14.896256933258186, + 0.05715786058968036 + ], + "centerline_face_intersection": [ + 0.548183981899537, + -14.853626893558289, + 0.11882573664816251 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13838613033294678, + -14.900834083557129, + 0.07159589231014252 + ], + "box_pose": [ + 0.6053729057312012, + -14.857787132263184, + 0.13602487742900848, + 0.007691452279686928, + -0.0026964363642036915, + 0.7030893564224243, + -0.7110549211502075 + ], + "box_yaw_rad": -1.5594796392042383, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029037107289015575 + } + } + }, + { + "simulation_time_ns": 2300000000, + "center": [ + 0.6037944567502923, + -14.853984913849398, + 0.11883312626142778 + ], + "face_center": [ + 0.5484876745401972, + -14.854606798919459, + 0.11977864778896206 + ], + "face_normal": [ + -0.9997907191094, + -0.011241929046569177, + 0.017092363904952723 + ], + "footprint_xy": [ + [ + 0.5455695649765634, + -14.932310785202231 + ], + [ + 0.6620193485240213, + -14.932310785202231 + ], + [ + 0.6620193485240213, + -14.775659042496564 + ], + [ + 0.5455695649765634, + -14.775659042496564 + ] + ], + "projected_box_corners": [ + [ + 0.5455695649765634, + -14.777891226193386 + ], + [ + 0.5496590774282111, + -14.776902812636687 + ], + [ + 0.6561831293967538, + -14.776647456053265 + ], + [ + 0.6602726418484015, + -14.775659042496564 + ], + [ + 0.5473162716521832, + -14.932310785202231 + ], + [ + 0.5514057841038309, + -14.931322371645532 + ], + [ + 0.6579298360723737, + -14.931067015062109 + ], + [ + 0.6620193485240213, + -14.930078601505409 + ] + ], + "yaw_rad": -1.5594853750193707, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13530606031417847, + -14.891538619995117, + 0.07613688707351685 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5483342351282436, + -14.854414525241678, + 0.11970364556928828 + ], + "intended_face_normal": [ + -0.9998120570619871, + -0.011212016875907449, + 0.01581618502123658 + ], + "commanded_contact_point": [ + 0.1565442581476038, + -14.894797254955176, + 0.058885364731272795 + ], + "centerline_face_intersection": [ + 0.5483134397839506, + -14.85379429486382, + 0.1188287201637561 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13846567273139954, + -14.89720630645752, + 0.07446962594985962 + ], + "box_pose": [ + 0.6055221557617188, + -14.857978820800781, + 0.13601991534233093, + 0.007577645126730204, + -0.0035841779317706823, + 0.7030907273292542, + -0.7110507488250732 + ], + "box_yaw_rad": -1.5594947460591582, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002894258827044445 + } + } + }, + { + "simulation_time_ns": 2320000000, + "center": [ + 0.6039684897024312, + -14.854204671021304, + 0.11883747765436535 + ], + "face_center": [ + 0.5486631551630935, + -14.854827848400529, + 0.11986338726797623 + ], + "face_normal": [ + -0.9997645493029172, + -0.01126529035340873, + 0.018545553896752387 + ], + "footprint_xy": [ + [ + 0.5455686284611068, + -14.932308866271319 + ], + [ + 0.6623683509437557, + -14.932308866271319 + ], + [ + 0.6623683509437557, + -14.776100475771287 + ], + [ + 0.5455686284611068, + -14.776100475771287 + ] + ], + "projected_box_corners": [ + [ + 0.5455686284611068, + -14.7778884316191 + ], + [ + 0.5500118129574785, + -14.77734683052974 + ], + [ + 0.6561792975397823, + -14.776642076860648 + ], + [ + 0.660622482036154, + -14.776100475771287 + ], + [ + 0.5473144973687085, + -14.932308866271319 + ], + [ + 0.5517576818650802, + -14.931767265181957 + ], + [ + 0.657925166447384, + -14.931062511512867 + ], + [ + 0.6623683509437557, + -14.930520910423505 + ] + ], + "yaw_rad": -1.5594908636997413, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13257697224617004, + -14.890599250793457, + 0.07659976184368134 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5484876745401972, + -14.854606798919459, + 0.11977864778896206 + ], + "intended_face_normal": [ + -0.9997907191094, + -0.011241929046569177, + 0.017092363904952723 + ], + "commanded_contact_point": [ + 0.15870883157476778, + -14.89294178560742, + 0.06075516403413604 + ], + "centerline_face_intersection": [ + 0.5484645179658336, + -14.853984913849398, + 0.11883312626142778 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13530606031417847, + -14.891538619995117, + 0.07613688707351685 + ], + "box_pose": [ + 0.6056966781616211, + -14.858197212219238, + 0.13601508736610413, + 0.007458114996552467, + -0.004612623248249292, + 0.7030813694000244, + -0.711055338382721 + ], + "box_yaw_rad": -1.5594853750193707, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034094418978822512 + } + } + }, + { + "simulation_time_ns": 2340000000, + "center": [ + 0.6041681548540385, + -14.854456129880091, + 0.11884212722365135 + ], + "face_center": [ + 0.5488646244948407, + -14.855082014670076, + 0.11996034941309658 + ], + "face_normal": [ + -0.9997319348117552, + -0.011314232708047212, + 0.020214305049651937 + ], + "footprint_xy": [ + [ + 0.5455663188042272, + -14.932307764812732 + ], + [ + 0.6627699909038498, + -14.932307764812732 + ], + [ + 0.6627699909038498, + -14.77660449494745 + ], + [ + 0.5455663188042272, + -14.77660449494745 + ] + ], + "projected_box_corners": [ + [ + 0.5455663188042272, + -14.777886978918831 + ], + [ + 0.5504156234833184, + -14.77785626452742 + ], + [ + 0.6561733795226227, + -14.776635209338862 + ], + [ + 0.6610226842017138, + -14.77660449494745 + ], + [ + 0.5473136255063632, + -14.932307764812732 + ], + [ + 0.5521629301854544, + -14.932277050421321 + ], + [ + 0.6579206862247586, + -14.931055995232763 + ], + [ + 0.6627699909038498, + -14.931025280841354 + ] + ], + "yaw_rad": -1.5594815797163568, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13452498614788055, + -14.895673751831055, + 0.07536269724369049 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5486631551630935, + -14.854827848400529, + 0.11986338726797623 + ], + "intended_face_normal": [ + -0.9997645493029172, + -0.01126529035340873, + 0.018545553896752387 + ], + "commanded_contact_point": [ + 0.16155640578860414, + -14.891158818245215, + 0.06275430665391604 + ], + "centerline_face_intersection": [ + 0.5486371026031751, + -14.854204671021304, + 0.11883747765436535 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13257697224617004, + -14.890599250793457, + 0.07659976184368134 + ], + "box_pose": [ + 0.60589599609375, + -14.85844898223877, + 0.13600873947143555, + 0.0073142023757100105, + -0.0057916720397770405, + 0.70307457447052, + -0.7110549211502075 + ], + "box_yaw_rad": -1.5594908636997413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003909504154264923 + } + } + }, + { + "simulation_time_ns": 2360000000, + "center": [ + 0.6043972680937577, + -14.854746084592252, + 0.11884586113567305 + ], + "face_center": [ + 0.5490960175715491, + -14.855374824772117, + 0.12006942980634808 + ], + "face_normal": [ + -0.9996907217855795, + -0.011365850108064124, + 0.022118672471070244 + ], + "footprint_xy": [ + [ + 0.5455661553271048, + -14.932862716155775 + ], + [ + 0.6632283808604105, + -14.932862716155775 + ], + [ + 0.6632283808604105, + -14.77662945302873 + ], + [ + 0.5455661553271048, + -14.77662945302873 + ] + ], + "projected_box_corners": [ + [ + 0.5455661553271048, + -14.77788693338846 + ], + [ + 0.5508789898869325, + -14.778442480932616 + ], + [ + 0.6561686563715219, + -14.77662945302873 + ], + [ + 0.6614814909313496, + -14.777185000572887 + ], + [ + 0.5473130452561659, + -14.932307168611619 + ], + [ + 0.5526258798159935, + -14.932862716155775 + ], + [ + 0.6579155463005828, + -14.931049688251889 + ], + [ + 0.6632283808604105, + -14.931605235796045 + ] + ], + "yaw_rad": -1.5594842379791414, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14210578799247742, + -14.899925231933594, + 0.07383805513381958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5488646244948407, + -14.855082014670076, + 0.11996034941309658 + ], + "intended_face_normal": [ + -0.9997319348117552, + -0.011314232708047212, + 0.020214305049651937 + ], + "commanded_contact_point": [ + 0.16451141474723813, + -14.88944146082168, + 0.06486992050882734 + ], + "centerline_face_intersection": [ + 0.5488349626658654, + -14.854456129880091, + 0.11884212722365135 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13452498614788055, + -14.895673751831055, + 0.07536269724369049 + ], + "box_pose": [ + 0.606124758720398, + -14.858736991882324, + 0.13600102066993713, + 0.007152116391807795, + -0.007142458111047745, + 0.7030588388442993, + -0.7110600471496582 + ], + "box_yaw_rad": -1.5594815797163568, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004019604016426483 + } + } + }, + { + "simulation_time_ns": 2380000000, + "center": [ + 0.6046434218166152, + -14.855075286654785, + 0.11885515892574794 + ], + "face_center": [ + 0.54934481473763, + -14.855706724254775, + 0.12019149462666052 + ], + "face_normal": [ + -0.9996429357836562, + -0.011414611860249613, + 0.02415718250090293 + ], + "footprint_xy": [ + [ + 0.5455684629686167, + -14.933525989782165 + ], + [ + 0.6637183806646136, + -14.933525989782165 + ], + [ + 0.6637183806646136, + -14.776624583527402 + ], + [ + 0.5455684629686167, + -14.776624583527402 + ] + ], + "projected_box_corners": [ + [ + 0.5455684629686167, + -14.777887458727385 + ], + [ + 0.5513779122518127, + -14.7791074306325 + ], + [ + 0.6561656771265874, + -14.776624583527402 + ], + [ + 0.6619751264097832, + -14.777844555432518 + ], + [ + 0.5473117172234472, + -14.93230601787705 + ], + [ + 0.5531211665066431, + -14.933525989782165 + ], + [ + 0.6579089313814178, + -14.93104314267707 + ], + [ + 0.6637183806646136, + -14.932263114582183 + ] + ], + "yaw_rad": -1.5595076564834958, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15198105573654175, + -14.900970458984375, + 0.07341299951076508 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5490960175715491, + -14.855374824772117, + 0.12006942980634808 + ], + "intended_face_normal": [ + -0.9996907217855795, + -0.011365850108064124, + 0.022118672471070244 + ], + "commanded_contact_point": [ + 0.16797822251266797, + -14.887696429879862, + 0.06708881735027061 + ], + "centerline_face_intersection": [ + 0.5490617947517753, + -14.854746084592252, + 0.11884586113567305 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14210578799247742, + -14.899925231933594, + 0.07383805513381958 + ], + "box_pose": [ + 0.6063870191574097, + -14.859068870544434, + 0.1359904259443283, + 0.006962447427213192, + -0.008688826113939285, + 0.7030423879623413, + -0.7110607624053955 + ], + "box_yaw_rad": -1.5594842379791414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004470726144969367 + } + } + }, + { + "simulation_time_ns": 2400000000, + "center": [ + 0.6049060699428029, + -14.85542108645377, + 0.11886644735528519 + ], + "face_center": [ + 0.5496105479570851, + -14.856055690394953, + 0.12032351806278209 + ], + "face_normal": [ + -0.9995871659938937, + -0.011471850383481752, + 0.026339731082305917 + ], + "footprint_xy": [ + [ + 0.5455708383251885, + -14.93422327416098 + ], + [ + 0.6642413015604174, + -14.93422327416098 + ], + [ + 0.6642413015604174, + -14.77661889874656 + ], + [ + 0.5455708383251885, + -14.77661889874656 + ] + ], + "projected_box_corners": [ + [ + 0.5455708383251885, + -14.777888106628929 + ], + [ + 0.5519118777424094, + -14.779807761848936 + ], + [ + 0.6561618822966244, + -14.77661889874656 + ], + [ + 0.6625029217138452, + -14.778538553966566 + ], + [ + 0.5473092181717607, + -14.932303618940972 + ], + [ + 0.5536502575889816, + -14.93422327416098 + ], + [ + 0.6579002621431966, + -14.931034411058604 + ], + [ + 0.6642413015604174, + -14.932954066278612 + ] + ], + "yaw_rad": -1.5595389965796662, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16070379316806793, + -14.8978853225708, + 0.07373909652233124 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.54934481473763, + -14.855706724254775, + 0.12019149462666052 + ], + "intended_face_normal": [ + -0.9996429357836562, + -0.011414611860249613, + 0.02415718250090293 + ], + "commanded_contact_point": [ + 0.1723170840808749, + -14.885744137668443, + 0.06939994691384693 + ], + "centerline_face_intersection": [ + 0.5493053032690891, + -14.855075286654785, + 0.11885515892574794 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15198105573654175, + -14.900970458984375, + 0.07341299951076508 + ], + "box_pose": [ + 0.6066685914993286, + -14.859445571899414, + 0.13598352670669556, + 0.006705450359731913, + -0.010398807004094124, + 0.7030275464057922, + -0.7110549211502075 + ], + "box_yaw_rad": -1.5595076564834958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00528946920271458 + } + } + }, + { + "simulation_time_ns": 2420000000, + "center": [ + 0.6051014311812593, + -14.855611441725028, + 0.11889628781406557 + ], + "face_center": [ + 0.5498083784073557, + -14.856248874692925, + 0.12044286406549397 + ], + "face_normal": [ + -0.9995425296047021, + -0.01152299121174305, + 0.027957739011091498 + ], + "footprint_xy": [ + [ + 0.5455729160704713, + -14.934605252919274 + ], + [ + 0.6646299462920471, + -14.934605252919274 + ], + [ + 0.6646299462920471, + -14.776617630530783 + ], + [ + 0.5455729160704713, + -14.776617630530783 + ] + ], + "projected_box_corners": [ + [ + 0.5455729160704713, + -14.777892496466576 + ], + [ + 0.5523065060973331, + -14.780191997665225 + ], + [ + 0.6561590216182781, + -14.776617630530783 + ], + [ + 0.6628926116451399, + -14.778917131729434 + ], + [ + 0.5473102507173785, + -14.932305751720623 + ], + [ + 0.5540438407442403, + -14.934605252919274 + ], + [ + 0.6578963562651854, + -14.93103088578483 + ], + [ + 0.6646299462920471, + -14.933330386983481 + ] + ], + "yaw_rad": -1.5595456000347165, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16842827200889587, + -14.8950777053833, + 0.07599616050720215 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5496105479570851, + -14.856055690394953, + 0.12032351806278209 + ], + "intended_face_normal": [ + -0.9995871659938937, + -0.011471850383481752, + 0.026339731082305917 + ], + "commanded_contact_point": [ + 0.17721290230227166, + -14.88357644421271, + 0.07178975704172906 + ], + "centerline_face_intersection": [ + 0.549564863925427, + -14.85542108645377, + 0.11886644735528519 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16070379316806793, + -14.8978853225708, + 0.07373909652233124 + ], + "box_pose": [ + 0.6069691181182861, + -14.859841346740723, + 0.13597746193408966, + 0.006447442341595888, + -0.012212402187287807, + 0.7030096054077148, + -0.7110462188720703 + ], + "box_yaw_rad": -1.5595389965796662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005863371335870836 + } + } + }, + { + "simulation_time_ns": 2440000000, + "center": [ + 0.6051057197024148, + -14.855599736230761, + 0.118902928843736 + ], + "face_center": [ + 0.549812717959524, + -14.856237073034409, + 0.1204516815119797 + ], + "face_normal": [ + -0.9995416071078428, + -0.011521252833209705, + 0.027997082492051628 + ], + "footprint_xy": [ + [ + 0.5455726235550441, + -14.93458200193078 + ], + [ + 0.6646388158497853, + -14.93458200193078 + ], + [ + 0.6646388158497853, + -14.776617470530743 + ], + [ + 0.5455726235550441, + -14.776617470530743 + ] + ], + "projected_box_corners": [ + [ + 0.5455726235550441, + -14.77789214413804 + ], + [ + 0.5523153888329079, + -14.780168577442005 + ], + [ + 0.6561586270408255, + -14.776617470530743 + ], + [ + 0.6629013923186893, + -14.77889390383471 + ], + [ + 0.5473100470861402, + -14.932305568626813 + ], + [ + 0.5540528123640039, + -14.93458200193078 + ], + [ + 0.6578960505719216, + -14.931030895019518 + ], + [ + 0.6646388158497853, + -14.933307328323485 + ] + ], + "yaw_rad": -1.559545036812411, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17307862639427185, + -14.893705368041992, + 0.07978463172912598 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5498083784073557, + -14.856248874692925, + 0.12044286406549397 + ], + "intended_face_normal": [ + -0.9995425296047021, + -0.01152299121174305, + 0.027957739011091498 + ], + "commanded_contact_point": [ + 0.18157533126831052, + -14.881597773873928, + 0.07425148655138433 + ], + "centerline_face_intersection": [ + 0.5497577538016981, + -14.855611441725028, + 0.11889628781406557 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16842827200889587, + -14.8950777053833, + 0.07599616050720215 + ], + "box_pose": [ + 0.6071925163269043, + -14.860058784484863, + 0.13599687814712524, + 0.006459642667323351, + -0.013351205736398697, + 0.7029913067817688, + -0.711043655872345 + ], + "box_yaw_rad": -1.5595456000347165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005385725111071113 + } + } + }, + { + "simulation_time_ns": 2460000000, + "center": [ + 0.6050902766012191, + -14.855564614824205, + 0.11890697359692701 + ], + "face_center": [ + 0.549797086605083, + -14.856201691394967, + 0.12044894230233638 + ], + "face_normal": [ + -0.999545010195855, + -0.011516548556176343, + 0.027874447567192262 + ], + "footprint_xy": [ + [ + 0.5455717444806837, + -14.934512282923198 + ], + [ + 0.6646088087217543, + -14.934512282923198 + ], + [ + 0.6646088087217543, + -14.776616946725214 + ], + [ + 0.5455717444806837, + -14.776616946725214 + ] + ], + "projected_box_corners": [ + [ + 0.5455717444806837, + -14.777891099866736 + ], + [ + 0.5522843008959213, + -14.780098446534534 + ], + [ + 0.6561581244729557, + -14.776616946725214 + ], + [ + 0.6628706808881933, + -14.778824293393013 + ], + [ + 0.5473098723142447, + -14.932304936255399 + ], + [ + 0.5540224287294823, + -14.934512282923198 + ], + [ + 0.6578962523065167, + -14.931030783113878 + ], + [ + 0.6646088087217543, + -14.933238129781676 + ] + ], + "yaw_rad": -1.559540506264653, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17417173087596893, + -14.891812324523926, + 0.08395752310752869 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.549812717959524, + -14.856237073034409, + 0.1204516815119797 + ], + "intended_face_normal": [ + -0.9995416071078428, + -0.011521252833209705, + 0.027997082492051628 + ], + "commanded_contact_point": [ + 0.18542734158706847, + -14.8796778509392, + 0.07675803362186447 + ], + "centerline_face_intersection": [ + 0.5497619912450714, + -14.855599736230761, + 0.118902928843736 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17307862639427185, + -14.893705368041992, + 0.07978463172912598 + ], + "box_pose": [ + 0.6071974635124207, + -14.860045433044434, + 0.13600386679172516, + 0.00650728540495038, + -0.01333099789917469, + 0.7029914855957031, + -0.7110435366630554 + ], + "box_yaw_rad": -1.559545036812411, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004980649133159988 + } + } + }, + { + "simulation_time_ns": 2480000000, + "center": [ + 0.6050529713181892, + -14.855507056520652, + 0.11890821753244002 + ], + "face_center": [ + 0.5497592937161735, + -14.856143078735638, + 0.12043320908849464 + ], + "face_normal": [ + -0.999553824735656, + -0.011497488775849662, + 0.027567548563425692 + ], + "footprint_xy": [ + [ + 0.5455716514018948, + -14.93439616235832 + ], + [ + 0.6645342912344837, + -14.93439616235832 + ], + [ + 0.6645342912344837, + -14.776617950682986 + ], + [ + 0.5455716514018948, + -14.776617950682986 + ] + ], + "projected_box_corners": [ + [ + 0.5455716514018948, + -14.777889995112956 + ], + [ + 0.5522092373402226, + -14.779981611575305 + ], + [ + 0.6561590066059262, + -14.776617950682986 + ], + [ + 0.662796592544254, + -14.778709567145336 + ], + [ + 0.5473093500921244, + -14.93230454589597 + ], + [ + 0.5539469360304523, + -14.93439616235832 + ], + [ + 0.6578967052961558, + -14.931032501466001 + ], + [ + 0.6645342912344837, + -14.933124117928351 + ] + ], + "yaw_rad": -1.559543337146789, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17597025632858276, + -14.889947891235352, + 0.08748628199100494 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.549797086605083, + -14.856201691394967, + 0.12044894230233638 + ], + "intended_face_normal": [ + -0.999545010195855, + -0.011516548556176343, + 0.027874447567192262 + ], + "commanded_contact_point": [ + 0.18956401668459177, + -14.877735409298705, + 0.0793027080792001 + ], + "centerline_face_intersection": [ + 0.5497467365691862, + -14.855564614824205, + 0.11890697359692701 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17417173087596893, + -14.891812324523926, + 0.08395752310752869 + ], + "box_pose": [ + 0.6071798801422119, + -14.860005378723145, + 0.13600945472717285, + 0.0065654125064611435, + -0.013184950686991215, + 0.7029926180839539, + -0.7110445499420166 + ], + "box_yaw_rad": -1.559540506264653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005230729249637457 + } + } + }, + { + "simulation_time_ns": 2500000000, + "center": [ + 0.6049947850710522, + -14.855426364451224, + 0.118907731233333 + ], + "face_center": [ + 0.5497003652020245, + -14.856061947165498, + 0.12040587985300831 + ], + "face_normal": [ + -0.9995672428308698, + -0.01148954384188794, + 0.027082303940736963 + ], + "footprint_xy": [ + [ + 0.5455706960370741, + -14.934232807085172 + ], + [ + 0.6644188741050303, + -14.934232807085172 + ], + [ + 0.6644188741050303, + -14.776619921817277 + ], + [ + 0.5455706960370741, + -14.776619921817277 + ] + ], + "projected_box_corners": [ + [ + 0.5455706960370741, + -14.777891087245823 + ], + [ + 0.5520899915781621, + -14.779817341160605 + ], + [ + 0.6561595357751294, + -14.776619921817277 + ], + [ + 0.6626788313162174, + -14.77854617573206 + ], + [ + 0.547310738825887, + -14.93230655317039 + ], + [ + 0.5538300343669749, + -14.934232807085172 + ], + [ + 0.6578995785639423, + -14.931035387741844 + ], + [ + 0.6644188741050303, + -14.932961641656625 + ] + ], + "yaw_rad": -1.5595282252916196, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.18007905781269073, + -14.888642311096191, + 0.08981303870677948 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5497592937161735, + -14.856143078735638, + 0.12043320908849464 + ], + "intended_face_normal": [ + -0.999553824735656, + -0.011497488775849662, + 0.027567548563425692 + ], + "commanded_contact_point": [ + 0.19409394025356508, + -14.875546413069387, + 0.08187221239990529 + ], + "centerline_face_intersection": [ + 0.5497099193317465, + -14.855507056520652, + 0.11890821753244002 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17597025632858276, + -14.889947891235352, + 0.08748628199100494 + ], + "box_pose": [ + 0.6071372032165527, + -14.859939575195312, + 0.13601349294185638, + 0.0066271377727389336, + -0.012904138304293156, + 0.7029988169670105, + -0.7110430598258972 + ], + "box_yaw_rad": -1.559543337146789, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005649271146513584 + } + } + }, + { + "simulation_time_ns": 2520000000, + "center": [ + 0.6049133832944151, + -14.855321190859398, + 0.11890408916856426 + ], + "face_center": [ + 0.5496179514689025, + -14.855955536693104, + 0.12036496961606809 + ], + "face_normal": [ + -0.9995855361515342, + -0.011467184527857888, + 0.026408600442426544 + ], + "footprint_xy": [ + [ + 0.5455698002302123, + -14.934021913569609 + ], + [ + 0.6642569663586181, + -14.934021913569609 + ], + [ + 0.6642569663586181, + -14.776620468149186 + ], + [ + 0.5455698002302123, + -14.776620468149186 + ] + ], + "projected_box_corners": [ + [ + 0.5455698002302123, + -14.7778891598166 + ], + [ + 0.5519250611956523, + -14.779605379842307 + ], + [ + 0.6561606638812376, + -14.776620468149186 + ], + [ + 0.6625159248466778, + -14.778336688174894 + ], + [ + 0.5473108417421526, + -14.932305693543901 + ], + [ + 0.5536661027075926, + -14.934021913569609 + ], + [ + 0.6579017053931779, + -14.931037001876488 + ], + [ + 0.6642569663586181, + -14.932753221902196 + ] + ], + "yaw_rad": -1.5595218363050334, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.18542137742042542, + -14.88564395904541, + 0.0909961462020874 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5497003652020245, + -14.856061947165498, + 0.12040587985300831 + ], + "intended_face_normal": [ + -0.9995672428308698, + -0.01148954384188794, + 0.027082303940736963 + ], + "commanded_contact_point": [ + 0.19878232233226298, + -14.873251226201443, + 0.08445387902771155 + ], + "centerline_face_intersection": [ + 0.5496524760044543, + -14.855426364451224, + 0.118907731233333 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.18007905781269073, + -14.888642311096191, + 0.08981303870677948 + ], + "box_pose": [ + 0.6070706248283386, + -14.859847068786621, + 0.1360170841217041, + 0.006698841229081154, + -0.012486406601965427, + 0.7030009627342224, + -0.7110477685928345 + ], + "box_yaw_rad": -1.5595282252916196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005823556632485382 + } + } + }, + { + "simulation_time_ns": 2540000000, + "center": [ + 0.6048097783036316, + -14.855187864598749, + 0.11889940953296478 + ], + "face_center": [ + 0.5495131200406457, + -14.855822302205112, + 0.12031285368287788 + ], + "face_normal": [ + -0.9996077066838678, + -0.011468843518812166, + 0.02555108589927424 + ], + "footprint_xy": [ + [ + 0.5455665071678947, + -14.933754671529435 + ], + [ + 0.6640530494393684, + -14.933754671529435 + ], + [ + 0.6640530494393684, + -14.776621057668063 + ], + [ + 0.5455665071678947, + -14.776621057668063 + ] + ], + "projected_box_corners": [ + [ + 0.5455665071678947, + -14.77788993288079 + ], + [ + 0.5517130077720946, + -14.779337013413302 + ], + [ + 0.6561598236938665, + -14.776621057668063 + ], + [ + 0.6623063242980665, + -14.778068138200576 + ], + [ + 0.5473132323091967, + -14.932307590996922 + ], + [ + 0.5534597329133967, + -14.933754671529435 + ], + [ + 0.6579065488351685, + -14.931038715784194 + ], + [ + 0.6640530494393684, + -14.932485796316707 + ] + ], + "yaw_rad": -1.5594851162251877, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.18901972472667694, + -14.88158130645752, + 0.09065796434879303 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5496179514689025, + -14.855955536693104, + 0.12036496961606809 + ], + "intended_face_normal": [ + -0.9995855361515342, + -0.011467184527857888, + 0.026408600442426544 + ], + "commanded_contact_point": [ + 0.20317458883257583, + -14.871195527427918, + 0.08703379674299258 + ], + "centerline_face_intersection": [ + 0.5495720870421983, + -14.855321190859398, + 0.11890408916856426 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.18542137742042542, + -14.88564395904541, + 0.0909961462020874 + ], + "box_pose": [ + 0.6069775223731995, + -14.859726905822754, + 0.13601872324943542, + 0.006769782863557339, + -0.01193535141646862, + 0.703008234500885, + -0.7110493779182434 + ], + "box_yaw_rad": -1.5595218363050334, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0054930754477671715 + } + } + }, + { + "simulation_time_ns": 2560000000, + "center": [ + 0.6046812465183625, + -14.85503094045844, + 0.11889138391543706 + ], + "face_center": [ + 0.5493831149681684, + -14.855664465954549, + 0.120246418615057 + ], + "face_normal": [ + -0.9996343395635722, + -0.011452355136565395, + 0.02449520768727559 + ], + "footprint_xy": [ + [ + 0.5455632258896264, + -14.933440966651217 + ], + [ + 0.6637992671470987, + -14.933440966651217 + ], + [ + 0.6637992671470987, + -14.77662091426566 + ], + [ + 0.5455632258896264, + -14.77662091426566 + ] + ], + "projected_box_corners": [ + [ + 0.5455632258896264, + -14.777887965257882 + ], + [ + 0.5514528475956433, + -14.779022193830922 + ], + [ + 0.6561594889900147, + -14.77662091426566 + ], + [ + 0.6620491106960317, + -14.777755142838702 + ], + [ + 0.5473133823406935, + -14.932306738078175 + ], + [ + 0.5532030040467103, + -14.933440966651217 + ], + [ + 0.6579096454410819, + -14.931039687085955 + ], + [ + 0.6637992671470987, + -14.932173915658995 + ] + ], + "yaw_rad": -1.5594629799118813, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1919654905796051, + -14.877269744873047, + 0.09091119468212128 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5495131200406457, + -14.855822302205112, + 0.12031285368287788 + ], + "intended_face_normal": [ + -0.9996077066838678, + -0.011468843518812166, + 0.02555108589927424 + ], + "commanded_contact_point": [ + 0.20727753223042936, + -14.869461006222137, + 0.08959994069844654 + ], + "centerline_face_intersection": [ + 0.5494697094789244, + -14.855187864598749, + 0.11889940953296478 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.18901972472667694, + -14.88158130645752, + 0.09065796434879303 + ], + "box_pose": [ + 0.6068591475486755, + -14.859574317932129, + 0.13602076470851898, + 0.006862622685730457, + -0.011231467127799988, + 0.7030067443847656, + -0.7110613584518433 + ], + "box_yaw_rad": -1.5594851162251877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005140797908827831 + } + } + }, + { + "simulation_time_ns": 2580000000, + "center": [ + 0.6045469398903766, + -14.854871550342354, + 0.11888251920022738 + ], + "face_center": [ + 0.5492473235213401, + -14.855503759243966, + 0.12017639162390219 + ], + "face_normal": [ + -0.999661180902713, + -0.011428554819358117, + 0.023389566147378027 + ], + "footprint_xy": [ + [ + 0.5455608873393846, + -14.933121486792267 + ], + [ + 0.6635329924413685, + -14.933121486792267 + ], + [ + 0.6635329924413685, + -14.77662161389244 + ], + [ + 0.5455608873393846, + -14.77662161389244 + ] + ], + "projected_box_corners": [ + [ + 0.5455608873393846, + -14.777886031695665 + ], + [ + 0.5511816187246456, + -14.778701825146266 + ], + [ + 0.6561601200774576, + -14.77662161389244 + ], + [ + 0.6617808514627186, + -14.777437407343042 + ], + [ + 0.5473130283180345, + -14.932305693341666 + ], + [ + 0.5529337597032955, + -14.933121486792267 + ], + [ + 0.6579122610561076, + -14.93104127553844 + ], + [ + 0.6635329924413685, + -14.931857068989043 + ] + ], + "yaw_rad": -1.5594501952711373, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.19655148684978485, + -14.872032165527344, + 0.09473270177841187 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5493831149681684, + -14.855664465954549, + 0.120246418615057 + ], + "intended_face_normal": [ + -0.9996343395635722, + -0.011452355136565395, + 0.02449520768727559 + ], + "commanded_contact_point": [ + 0.2113258693677653, + -14.86799519169753, + 0.092137851619138 + ], + "centerline_face_intersection": [ + 0.5493426520981826, + -14.85503094045844, + 0.11889138391543706 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1919654905796051, + -14.877269744873047, + 0.09091119468212128 + ], + "box_pose": [ + 0.6067123413085938, + -14.859395027160645, + 0.13602063059806824, + 0.006949830334633589, + -0.010392144322395325, + 0.7030117511749268, + -0.711068332195282 + ], + "box_yaw_rad": -1.5594629799118813, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004997863307399292 + } + } + }, + { + "simulation_time_ns": 2600000000, + "center": [ + 0.6044064096369645, + -14.854706442236731, + 0.11887287232127854 + ], + "face_center": [ + 0.5491052858363374, + -14.855336468777512, + 0.12010171638918721 + ], + "face_normal": [ + -0.9996884310165993, + -0.011389103887319396, + 0.022214036782336688 + ], + "footprint_xy": [ + [ + 0.5455620937933489, + -14.932788497547163 + ], + [ + 0.6632507254805802, + -14.932788497547163 + ], + [ + 0.6632507254805802, + -14.7766243869263 + ], + [ + 0.5455620937933489, + -14.7766243869263 + ] + ], + "projected_box_corners": [ + [ + 0.5455620937933489, + -14.77788444000786 + ], + [ + 0.5508970075897189, + -14.778368189409386 + ], + [ + 0.6561643413946029, + -14.7766243869263 + ], + [ + 0.6614992551909731, + -14.777108136327827 + ], + [ + 0.547313564082956, + -14.932304748145636 + ], + [ + 0.5526484778793261, + -14.932788497547163 + ], + [ + 0.65791581168421, + -14.931044695064077 + ], + [ + 0.6632507254805802, + -14.931528444465604 + ] + ], + "yaw_rad": -1.5594545854792565, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.20163685083389282, + -14.867511749267578, + 0.10009174048900604 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5492473235213401, + -14.855503759243966, + 0.12017639162390219 + ], + "intended_face_normal": [ + -0.999661180902713, + -0.011428554819358117, + 0.023389566147378027 + ], + "commanded_contact_point": [ + 0.21528786856174473, + -14.866735023899189, + 0.09463587401530997 + ], + "centerline_face_intersection": [ + 0.5492098313356165, + -14.854871550342354, + 0.11888251920022738 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.19655148684978485, + -14.872032165527344, + 0.09473270177841187 + ], + "box_pose": [ + 0.6065588593482971, + -14.859212875366211, + 0.13601981103420258, + 0.007027754094451666, + -0.009526824578642845, + 0.7030194401741028, + -0.7110721468925476 + ], + "box_yaw_rad": -1.5594501952711373, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004850317142707847 + } + } + }, + { + "simulation_time_ns": 2620000000, + "center": [ + 0.6042556133400139, + -14.854531803983969, + 0.11886315998627764 + ], + "face_center": [ + 0.5489529718393794, + -14.855159864786255, + 0.12002225031017572 + ], + "face_normal": [ + -0.9997158667545184, + -0.011353568876542819, + 0.020953085718143194 + ], + "footprint_xy": [ + [ + 0.5455631809398206, + -14.932432787632179 + ], + [ + 0.6629480457402073, + -14.932432787632179 + ], + [ + 0.6629480457402073, + -14.776630820335757 + ], + [ + 0.5455631809398206, + -14.776630820335757 + ] + ], + "projected_box_corners": [ + [ + 0.5455631809398206, + -14.77788694194033 + ], + [ + 0.5505914982959265, + -14.778012153831307 + ], + [ + 0.6561684639410895, + -14.776630820335757 + ], + [ + 0.6611967812971955, + -14.776756032226734 + ], + [ + 0.5473144453828324, + -14.932307575741202 + ], + [ + 0.5523427627389383, + -14.932432787632179 + ], + [ + 0.6579197283841014, + -14.93105145413663 + ], + [ + 0.6629480457402073, + -14.931176666027607 + ] + ], + "yaw_rad": -1.55945594224995, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.20642900466918945, + -14.866334915161133, + 0.10448676347732544 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5491052858363374, + -14.855336468777512, + 0.12010171638918721 + ], + "intended_face_normal": [ + -0.9996884310165993, + -0.011389103887319396, + 0.022214036782336688 + ], + "commanded_contact_point": [ + 0.21917257044697183, + -14.865636177046575, + 0.09708105940558936 + ], + "centerline_face_intersection": [ + 0.5490708094946892, + -14.854706442236731, + 0.11887287232127854 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.20163685083389282, + -14.867511749267578, + 0.10009174048900604 + ], + "box_pose": [ + 0.6063978672027588, + -14.859024047851562, + 0.1360185444355011, + 0.007101111114025116, + -0.008616429753601551, + 0.7030327320098877, + -0.7110698819160461 + ], + "box_yaw_rad": -1.5594545854792565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004719883974783882 + } + } + }, + { + "simulation_time_ns": 2640000000, + "center": [ + 0.6040903726153789, + -14.854340273695795, + 0.11885213241982957 + ], + "face_center": [ + 0.5487861513482589, + -14.854966255047115, + 0.11993455761724145 + ], + "face_normal": [ + -0.9997444244794025, + -0.011315978264792914, + 0.019567196341157223 + ], + "footprint_xy": [ + [ + 0.5455651830027759, + -14.932308412108133 + ], + [ + 0.6626155622279819, + -14.932308412108133 + ], + [ + 0.6626155622279819, + -14.776372135283456 + ], + [ + 0.5455651830027759, + -14.776372135283456 + ] + ], + "projected_box_corners": [ + [ + 0.5455651830027759, + -14.77788777771083 + ], + [ + 0.5502565999607686, + -14.777624097986095 + ], + [ + 0.656173625537016, + -14.776635815008191 + ], + [ + 0.6608650424950087, + -14.776372135283456 + ], + [ + 0.5473157027357493, + -14.932308412108133 + ], + [ + 0.5520071196937419, + -14.9320447323834 + ], + [ + 0.6579241452699893, + -14.931056449405494 + ], + [ + 0.6626155622279819, + -14.93079276968076 + ] + ], + "yaw_rad": -1.5594607642808689, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2104889154434204, + -14.868868827819824, + 0.1077238917350769 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5489529718393794, + -14.855159864786255, + 0.12002225031017572 + ], + "intended_face_normal": [ + -0.9997158667545184, + -0.011353568876542819, + 0.020953085718143194 + ], + "commanded_contact_point": [ + 0.22303180458735677, + -14.864674192187621, + 0.09946096382046349 + ], + "centerline_face_intersection": [ + 0.5489215318022478, + -14.854531803983969, + 0.11886315998627764 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.20642900466918945, + -14.866334915161133, + 0.10448676347732544 + ], + "box_pose": [ + 0.6062251329421997, + -14.858823776245117, + 0.1360177993774414, + 0.007183255162090063, + -0.0076364390552043915, + 0.7030445337295532, + -0.7110684514045715 + ], + "box_yaw_rad": -1.55945594224995, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004634980910759638 + } + } + }, + { + "simulation_time_ns": 2660000000, + "center": [ + 0.6039058626374213, + -14.854128843675609, + 0.1188395200747629 + ], + "face_center": [ + 0.5486000127890629, + -14.854753642387601, + 0.11983680025614976 + ], + "face_normal": [ + -0.9997738646374168, + -0.011294599479493295, + 0.01802801446511071 + ], + "footprint_xy": [ + [ + 0.5455653755160905, + -14.93231058616168 + ], + [ + 0.6622463497587521, + -14.93231058616168 + ], + [ + 0.6622463497587521, + -14.775947101189535 + ], + [ + 0.5455653755160905, + -14.775947101189535 + ] + ], + "projected_box_corners": [ + [ + 0.5455653755160905, + -14.777890426980887 + ], + [ + 0.549882656805879, + -14.777196698613523 + ], + [ + 0.6561770752128075, + -14.7766408295569 + ], + [ + 0.6604943565025959, + -14.775947101189535 + ], + [ + 0.5473173687722468, + -14.93231058616168 + ], + [ + 0.5516346500620352, + -14.931616857794317 + ], + [ + 0.6579290684689637, + -14.931060988737695 + ], + [ + 0.6622463497587521, + -14.93036726037033 + ] + ], + "yaw_rad": -1.5594511883285906, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.21198242902755737, + -14.87497329711914, + 0.10555852949619293 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5487861513482589, + -14.854966255047115, + 0.11993455761724145 + ], + "intended_face_normal": [ + -0.9997444244794025, + -0.011315978264792914, + 0.019567196341157223 + ], + "commanded_contact_point": [ + 0.22676299529193902, + -14.863771498508143, + 0.10176174051130858 + ], + "centerline_face_intersection": [ + 0.5487578716970577, + -14.854340273695795, + 0.11885213241982957 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2104889154434204, + -14.868868827819824, + 0.1077238917350769 + ], + "box_pose": [ + 0.6060357689857483, + -14.858604431152344, + 0.13601645827293396, + 0.0072659701108932495, + -0.006567054893821478, + 0.703057050704956, + -0.711065948009491 + ], + "box_yaw_rad": -1.5594607642808689, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004475512633661878 + } + } + }, + { + "simulation_time_ns": 2680000000, + "center": [ + 0.6036956331205342, + -14.853889812314959, + 0.11882484487454492 + ], + "face_center": [ + 0.5483881133312131, + -14.854513087510306, + 0.11972506336105304 + ], + "face_normal": [ + -0.9998040524626576, + -0.011267058593155688, + 0.01627341262709081 + ], + "footprint_xy": [ + [ + 0.5455666461449918, + -14.932311377509901 + ], + [ + 0.6618246200960767, + -14.932311377509901 + ], + [ + 0.6618246200960767, + -14.775468247120015 + ], + [ + 0.5455666461449918, + -14.775468247120015 + ] + ], + "projected_box_corners": [ + [ + 0.5455666461449918, + -14.777892419661075 + ], + [ + 0.5494575148605376, + -14.776714797510712 + ], + [ + 0.6561816857236342, + -14.776645869270379 + ], + [ + 0.66007255443918, + -14.775468247120015 + ], + [ + 0.5473187118018884, + -14.932311377509901 + ], + [ + 0.5512095805174343, + -14.931133755359538 + ], + [ + 0.6579337513805308, + -14.931064827119204 + ], + [ + 0.6618246200960767, + -14.929887204968841 + ] + ], + "yaw_rad": -1.559450631275683, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.21362215280532837, + -14.881927490234375, + 0.10163657367229462 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5486000127890629, + -14.854753642387601, + 0.11983680025614976 + ], + "intended_face_normal": [ + -0.9997738646374168, + -0.011294599479493295, + 0.01802801446511071 + ], + "commanded_contact_point": [ + 0.23036555923938754, + -14.862867299086208, + 0.10397018792286018 + ], + "centerline_face_intersection": [ + 0.5485749910851277, + -14.854128843675609, + 0.1188395200747629 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21198242902755737, + -14.87497329711914, + 0.10555852949619293 + ], + "box_pose": [ + 0.6058245301246643, + -14.858362197875977, + 0.13601447641849518, + 0.007355055771768093, + -0.005382240749895573, + 0.7030637264251709, + -0.7110685706138611 + ], + "box_yaw_rad": -1.5594511883285906, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0043212594876578195 + } + } + }, + { + "simulation_time_ns": 2700000000, + "center": [ + 0.6035067272472953, + -14.853647592910491, + 0.11882007018627153 + ], + "face_center": [ + 0.5481978450208829, + -14.854269524487012, + 0.11963293967363912 + ], + "face_normal": [ + -0.9998286814847187, + -0.01124276975225813, + 0.014694388949082537 + ], + "footprint_xy": [ + [ + 0.5455686981703779, + -14.93231304368555 + ], + [ + 0.6614447563242126, + -14.93231304368555 + ], + [ + 0.6614447563242126, + -14.774982142135434 + ], + [ + 0.5455686981703779, + -14.774982142135434 + ] + ], + "projected_box_corners": [ + [ + 0.5455686981703779, + -14.777895939867198 + ], + [ + 0.5490751949418073, + -14.776226005288475 + ], + [ + 0.6561864626232027, + -14.776652076714157 + ], + [ + 0.6596929593946322, + -14.774982142135434 + ], + [ + 0.5473204950999583, + -14.93231304368555 + ], + [ + 0.5508269918713878, + -14.930643109106825 + ], + [ + 0.6579382595527832, + -14.931069180532507 + ], + [ + 0.6614447563242126, + -14.929399245953784 + ] + ], + "yaw_rad": -1.559452235108834, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.217462956905365, + -14.882414817810059, + 0.10306248068809509 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5483881133312131, + -14.854513087510306, + 0.11972506336105304 + ], + "intended_face_normal": [ + -0.9998040524626576, + -0.011267058593155688, + 0.01627341262709081 + ], + "commanded_contact_point": [ + 0.234402706132012, + -14.861747860122316, + 0.10607289034272555 + ], + "centerline_face_intersection": [ + 0.5483664322142805, + -14.853889812314959, + 0.11882484487454492 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21362215280532837, + -14.881927490234375, + 0.10163657367229462 + ], + "box_pose": [ + 0.6055837869644165, + -14.858088493347168, + 0.13601168990135193, + 0.0074473535642027855, + -0.004041025880724192, + 0.7030725479125977, + -0.7110676169395447 + ], + "box_yaw_rad": -1.559450631275683, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046875426497275325 + } + } + }, + { + "simulation_time_ns": 2720000000, + "center": [ + 0.6033459377537956, + -14.85344206477828, + 0.11881470454310719 + ], + "face_center": [ + 0.5480359944104223, + -14.854063117798844, + 0.11955315535599759 + ], + "face_normal": [ + -0.9998478634882115, + -0.011226887937122343, + 0.013349109091938038 + ], + "footprint_xy": [ + [ + 0.5455707226739752, + -14.932314864013778 + ], + [ + 0.661121152833616, + -14.932314864013778 + ], + [ + 0.661121152833616, + -14.774569265542782 + ], + [ + 0.5455707226739752, + -14.774569265542782 + ] + ], + "projected_box_corners": [ + [ + 0.5455707226739752, + -14.777899822051292 + ], + [ + 0.548749761985222, + -14.775811371583911 + ], + [ + 0.6561906093607222, + -14.776657716010163 + ], + [ + 0.6593696486719688, + -14.774569265542782 + ], + [ + 0.5473222268356226, + -14.932314864013778 + ], + [ + 0.5505012661468692, + -14.930226413546396 + ], + [ + 0.6579421135223694, + -14.931072757972649 + ], + [ + 0.661121152833616, + -14.928984307505267 + ] + ], + "yaw_rad": -1.559453979384427, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.22180244326591492, + -14.875359535217285, + 0.10863220691680908 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5481978450208829, + -14.854269524487012, + 0.11963293967363912 + ], + "intended_face_normal": [ + -0.9998286814847187, + -0.01124276975225813, + 0.014694388949082537 + ], + "commanded_contact_point": [ + 0.2392517734970898, + -14.860467350970513, + 0.10806692967946906 + ], + "centerline_face_intersection": [ + 0.5481788892786477, + -14.853647592910491, + 0.11882007018627153 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.217462956905365, + -14.882414817810059, + 0.10306248068809509 + ], + "box_pose": [ + 0.6053673624992371, + -14.857810974121094, + 0.13601849973201752, + 0.00761373620480299, + -0.0027498058043420315, + 0.7030794024467468, + -0.7110651731491089 + ], + "box_yaw_rad": -1.559452235108834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005397161371998606 + } + } + }, + { + "simulation_time_ns": 2740000000, + "center": [ + 0.6032087915253155, + -14.853263890480285, + 0.11880998140763556 + ], + "face_center": [ + 0.5478980369073085, + -14.853884281807122, + 0.1194849021496924 + ], + "face_normal": [ + -0.9998625290466978, + -0.011214926379768952, + 0.012200664494990077 + ], + "footprint_xy": [ + [ + 0.5455728326334925, + -14.932315394021003 + ], + [ + 0.6608447504171385, + -14.932315394021003 + ], + [ + 0.6608447504171385, + -14.774212386939569 + ], + [ + 0.5455728326334925, + -14.774212386939569 + ] + ], + "projected_box_corners": [ + [ + 0.5455728326334925, + -14.777902550998476 + ], + [ + 0.5484722923080957, + -14.775453169593243 + ], + [ + 0.6561943418695063, + -14.776661768344802 + ], + [ + 0.6590938015441096, + -14.774212386939569 + ], + [ + 0.5473237815065214, + -14.932315394021003 + ], + [ + 0.5502232411811246, + -14.92986601261577 + ], + [ + 0.6579452907425353, + -14.931074611367327 + ], + [ + 0.6608447504171385, + -14.928625229962094 + ] + ], + "yaw_rad": -1.5594574135430925, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2263072431087494, + -14.867936134338379, + 0.11433477699756622 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5480359944104223, + -14.854063117798844, + 0.11955315535599759 + ], + "intended_face_normal": [ + -0.9998478634882115, + -0.011226887937122343, + 0.013349109091938038 + ], + "commanded_contact_point": [ + 0.24434187690220077, + -14.859160821466473, + 0.10993115493194272 + ], + "centerline_face_intersection": [ + 0.5480191612454162, + -14.85344206477828, + 0.11881470454310719 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.22180244326591492, + -14.875359535217285, + 0.10863220691680908 + ], + "box_pose": [ + 0.6051831245422363, + -14.857575416564941, + 0.1360228955745697, + 0.007754142861813307, + -0.0016511122230440378, + 0.7030835151672363, + -0.7110630869865417 + ], + "box_yaw_rad": -1.559453979384427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005575975951491404 + } + } + }, + { + "simulation_time_ns": 2760000000, + "center": [ + 0.6030904684621775, + -14.853111550857188, + 0.11880534608949325 + ], + "face_center": [ + 0.5477790703438528, + -14.853732072094383, + 0.11942572269324654 + ], + "face_normal": [ + -0.9998741617184921, + -0.01121727479285084, + 0.011214660227908398 + ], + "footprint_xy": [ + [ + 0.545573373762448, + -14.932316418223508 + ], + [ + 0.6606075631619069, + -14.932316418223508 + ], + [ + 0.6606075631619069, + -14.773906683490868 + ], + [ + 0.545573373762448, + -14.773906683490868 + ] + ], + "projected_box_corners": [ + [ + 0.545573373762448, + -14.777905718156955 + ], + [ + 0.5482327862759121, + -14.77514772596526 + ], + [ + 0.6561961699990974, + -14.776664675682563 + ], + [ + 0.6588555825125615, + -14.773906683490868 + ], + [ + 0.5473253544117935, + -14.932316418223508 + ], + [ + 0.5499847669252576, + -14.929558426031813 + ], + [ + 0.6579481506484429, + -14.931075375749115 + ], + [ + 0.6606075631619069, + -14.92831738355742 + ] + ], + "yaw_rad": -1.559450575025473, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.23099568486213684, + -14.865543365478516, + 0.11613036692142487 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5478980369073085, + -14.853884281807122, + 0.1194849021496924 + ], + "intended_face_normal": [ + -0.9998625290466978, + -0.011214926379768952, + 0.012200664494990077 + ], + "commanded_contact_point": [ + 0.24883669186115268, + -14.857893510201391, + 0.1116537445810181 + ], + "centerline_face_intersection": [ + 0.5478828265265717, + -14.853263890480285, + 0.11880998140763556 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2263072431087494, + -14.867936134338379, + 0.11433477699756622 + ], + "box_pose": [ + 0.6050259470939636, + -14.85737133026123, + 0.1360265016555786, + 0.007879367098212242, + -0.0007077747141011059, + 0.7030863761901855, + -0.7110603451728821 + ], + "box_yaw_rad": -1.5594574135430925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004977625383345174 + } + } + }, + { + "simulation_time_ns": 2780000000, + "center": [ + 0.6029886592604498, + -14.852980787783585, + 0.11880058196636284 + ], + "face_center": [ + 0.5476767529888752, + -14.85360136765604, + 0.11937383240996596 + ], + "face_normal": [ + -0.9998833476968262, + -0.011218334753055226, + 0.010362752095440832 + ], + "footprint_xy": [ + [ + 0.5455745367007361, + -14.932316572939762 + ], + [ + 0.6604027818201633, + -14.932316572939762 + ], + [ + 0.6604027818201633, + -14.773645002627408 + ], + [ + 0.5455745367007361, + -14.773645002627408 + ] + ], + "projected_box_corners": [ + [ + 0.5455745367007361, + -14.777907919511923 + ], + [ + 0.5480265849011455, + -14.774886162372319 + ], + [ + 0.6561983492438853, + -14.776666759767012 + ], + [ + 0.6586503974442947, + -14.773645002627408 + ], + [ + 0.5473269210766047, + -14.932316572939762 + ], + [ + 0.5497789692770142, + -14.929294815800157 + ], + [ + 0.657950733619754, + -14.93107541319485 + ], + [ + 0.6604027818201633, + -14.928053656055244 + ] + ], + "yaw_rad": -1.5594478103280642, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.23695744574069977, + -14.863954544067383, + 0.1178135871887207 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5477790703438528, + -14.853732072094383, + 0.11942572269324654 + ], + "intended_face_normal": [ + -0.9998741617184921, + -0.01121727479285084, + 0.011214660227908398 + ], + "commanded_contact_point": [ + 0.2528106566498801, + -14.856725021747067, + 0.11322136046740036 + ], + "centerline_face_intersection": [ + 0.5477651471332246, + -14.853111550857188, + 0.11880534608949325 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.23099568486213684, + -14.865543365478516, + 0.11613036692142487 + ], + "box_pose": [ + 0.6048904657363892, + -14.857196807861328, + 0.1360289454460144, + 0.007984980009496212, + 0.00010024760558735579, + 0.7030843496322632, + -0.7110615968704224 + ], + "box_yaw_rad": -1.559450575025473, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0044289029089800485 + } + } + }, + { + "simulation_time_ns": 2800000000, + "center": [ + 0.6029012496914944, + -14.852866563758608, + 0.1187970000226969 + ], + "face_center": [ + 0.5475889539696713, + -14.853487549779427, + 0.11932996485769347 + ], + "face_normal": [ + -0.9998903878595047, + -0.011225676770587056, + 0.0096345018521794 + ], + "footprint_xy": [ + [ + 0.5455748332430385, + -14.932315926522504 + ], + [ + 0.6602276661399503, + -14.932315926522504 + ], + [ + 0.6602276661399503, + -14.773417200994713 + ], + [ + 0.5455748332430385, + -14.773417200994713 + ] + ], + "projected_box_corners": [ + [ + 0.5455748332430385, + -14.777909231914665 + ], + [ + 0.5478495662321894, + -14.774659173036351 + ], + [ + 0.6561994246866846, + -14.776667259873026 + ], + [ + 0.6584741576758355, + -14.773417200994713 + ], + [ + 0.5473283417071533, + -14.932315926522504 + ], + [ + 0.5496030746963042, + -14.929065867644189 + ], + [ + 0.6579529331507994, + -14.931073954480865 + ], + [ + 0.6602276661399503, + -14.92782389560255 + ] + ], + "yaw_rad": -1.5594403872614597, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.24432334303855896, + -14.860869407653809, + 0.1207846999168396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5476767529888752, + -14.85360136765604, + 0.11937383240996596 + ], + "intended_face_normal": [ + -0.9998833476968262, + -0.011218334753055226, + 0.010362752095440832 + ], + "commanded_contact_point": [ + 0.256353361726515, + -14.855676815693096, + 0.11462094620454578 + ], + "centerline_face_intersection": [ + 0.5476638462079915, + -14.852980787783585, + 0.11880058196636284 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.23695744574069977, + -14.863954544067383, + 0.1178135871887207 + ], + "box_pose": [ + 0.6047738194465637, + -14.857047080993652, + 0.13603021204471588, + 0.008072028867900372, + 0.0007941213552840054, + 0.7030829787254333, + -0.7110615372657776 + ], + "box_yaw_rad": -1.5594478103280642, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00395073859262004 + } + } + }, + { + "simulation_time_ns": 2820000000, + "center": [ + 0.6028255058335308, + -14.852770186581186, + 0.11879360493372215 + ], + "face_center": [ + 0.5475128700007483, + -14.853391428740306, + 0.11929168428199156 + ], + "face_normal": [ + -0.999896536106919, + -0.011230307029046815, + 0.009003870590195417 + ], + "footprint_xy": [ + [ + 0.5455752560016577, + -14.932317949798351 + ], + [ + 0.6600757556654039, + -14.932317949798351 + ], + [ + 0.6600757556654039, + -14.77322242336402 + ], + [ + 0.5455752560016577, + -14.77322242336402 + ] + ], + "projected_box_corners": [ + [ + 0.5455752560016577, + -14.777912993324406 + ], + [ + 0.5476964420188217, + -14.77446490768226 + ], + [ + 0.6562005276672226, + -14.776670509006166 + ], + [ + 0.6583217136843867, + -14.77322242336402 + ], + [ + 0.5473292979826748, + -14.932317949798351 + ], + [ + 0.549450483999839, + -14.928869864156205 + ], + [ + 0.6579545696482397, + -14.931075465480111 + ], + [ + 0.6600757556654039, + -14.927627379837963 + ] + ], + "yaw_rad": -1.5594368045751197, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.251668781042099, + -14.857455253601074, + 0.12303408980369568 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5475889539696713, + -14.853487549779427, + 0.11932996485769347 + ], + "intended_face_normal": [ + -0.9998903878595047, + -0.011225676770587056, + 0.0096345018521794 + ], + "commanded_contact_point": [ + 0.25935332739900335, + -14.854751871675766, + 0.11584088072076759 + ], + "centerline_face_intersection": [ + 0.5475768261774183, + -14.852866563758608, + 0.1187970000226969 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.24432334303855896, + -14.860869407653809, + 0.1207846999168396 + ], + "box_pose": [ + 0.6046737432479858, + -14.856916427612305, + 0.13603180646896362, + 0.008150561712682247, + 0.0013914681039750576, + 0.7030794620513916, + -0.7110630869865417 + ], + "box_yaw_rad": -1.5594403872614597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00336801955088914 + } + } + }, + { + "simulation_time_ns": 2840000000, + "center": [ + 0.6027592456181396, + -14.852685250554927, + 0.11879036745854464 + ], + "face_center": [ + 0.547446352373981, + -14.85330639647026, + 0.11925798219531787 + ], + "face_normal": [ + -0.9999011893789883, + -0.011228567212656082, + 0.00845315629046517 + ], + "footprint_xy": [ + [ + 0.5455760473350073, + -14.932317865620112 + ], + [ + 0.6599424439012721, + -14.932317865620112 + ], + [ + 0.6599424439012721, + -14.773052635489742 + ], + [ + 0.5455760473350073, + -14.773052635489742 + ] + ], + "projected_box_corners": [ + [ + 0.5455760473350073, + -14.777914559968533 + ], + [ + 0.5475631829453873, + -14.774294927320407 + ], + [ + 0.6562018338233246, + -14.776672268137869 + ], + [ + 0.6581889694337048, + -14.773052635489742 + ], + [ + 0.5473295218025747, + -14.932317865620112 + ], + [ + 0.5493166574129547, + -14.928698232971986 + ], + [ + 0.657955308290892, + -14.931075573789448 + ], + [ + 0.6599424439012721, + -14.927455941141321 + ] + ], + "yaw_rad": -1.5594403581862384, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2574673891067505, + -14.853921890258789, + 0.12453219294548035 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5475128700007483, + -14.853391428740306, + 0.11929168428199156 + ], + "intended_face_normal": [ + -0.999896536106919, + -0.011230307029046815, + 0.009003870590195417 + ], + "commanded_contact_point": [ + 0.26186716220885514, + -14.853974316913554, + 0.11686738391213142 + ], + "centerline_face_intersection": [ + 0.5475014225028952, + -14.852770186581186, + 0.11879360493372215 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.251668781042099, + -14.857455253601074, + 0.12303408980369568 + ], + "box_pose": [ + 0.6045870184898376, + -14.856805801391602, + 0.13603287935256958, + 0.008219055831432343, + 0.0019092322327196598, + 0.7030770182609558, + -0.7110637426376343 + ], + "box_yaw_rad": -1.5594368045751197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028244761746812294 + } + } + }, + { + "simulation_time_ns": 2860000000, + "center": [ + 0.6027016806024015, + -14.852612099928757, + 0.1187875319408237 + ], + "face_center": [ + 0.5473885666507224, + -14.853233328448873, + 0.11922864120545887 + ], + "face_normal": [ + -0.9999051791488067, + -0.011230060474283432, + 0.007974012069986353 + ], + "footprint_xy": [ + [ + 0.5455766475505441, + -14.93231890715765 + ], + [ + 0.6598267136542587, + -14.93231890715765 + ], + [ + 0.6598267136542587, + -14.772905292699864 + ], + [ + 0.5455766475505441, + -14.772905292699864 + ] + ], + "projected_box_corners": [ + [ + 0.5455766475505441, + -14.777917077494472 + ], + [ + 0.5474471386434197, + -14.774147749740095 + ], + [ + 0.656202875453902, + -14.77667462045424 + ], + [ + 0.6580733665467776, + -14.772905292699864 + ], + [ + 0.5473299946580253, + -14.93231890715765 + ], + [ + 0.5492004857509009, + -14.928549579403272 + ], + [ + 0.6579562225613832, + -14.93107645011742 + ], + [ + 0.6598267136542587, + -14.927307122363041 + ] + ], + "yaw_rad": -1.5594410743942453, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.26160189509391785, + -14.850662231445312, + 0.125099778175354 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.547446352373981, + -14.85330639647026, + 0.11925798219531787 + ], + "intended_face_normal": [ + -0.9999011893789883, + -0.011228567212656082, + 0.00845315629046517 + ], + "commanded_contact_point": [ + 0.2641450516677764, + -14.853357286743659, + 0.11768757201161116 + ], + "centerline_face_intersection": [ + 0.5474354197509559, + -14.852685250554927, + 0.11879036745854464 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2574673891067505, + -14.853921890258789, + 0.12453219294548035 + ], + "box_pose": [ + 0.6045111417770386, + -14.856708526611328, + 0.13603350520133972, + 0.008276871405541897, + 0.002359325997531414, + 0.703076958656311, + -0.7110616564750671 + ], + "box_yaw_rad": -1.5594403581862384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024984425420956978 + } + } + }, + { + "simulation_time_ns": 2880000000, + "center": [ + 0.6026954787272377, + -14.852606112502903, + 0.11878822067983394 + ], + "face_center": [ + 0.5473823506290798, + -14.8532274508631, + 0.11922646766640924 + ], + "face_normal": [ + -0.999905434877268, + -0.011232046073362145, + 0.00792227015108582 + ], + "footprint_xy": [ + [ + 0.5455765804164179, + -14.932317725919342 + ], + [ + 0.6598143770380576, + -14.932317725919342 + ], + [ + 0.6598143770380576, + -14.772894499086462 + ], + [ + 0.5455765804164179, + -14.772894499086462 + ] + ], + "projected_box_corners": [ + [ + 0.5455765804164179, + -14.777916016642594 + ], + [ + 0.5474345445509926, + -14.774137175806858 + ], + [ + 0.6562028366127336, + -14.776673339922196 + ], + [ + 0.6580608007473083, + -14.772894499086462 + ], + [ + 0.5473301567071671, + -14.932317725919342 + ], + [ + 0.5491881208417418, + -14.928538885083608 + ], + [ + 0.6579564129034828, + -14.931075049198945 + ], + [ + 0.6598143770380576, + -14.92729620836321 + ] + ], + "yaw_rad": -1.5594395814016093, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2650635540485382, + -14.849599838256836, + 0.12573455274105072 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473885666507224, + -14.853233328448873, + 0.11922864120545887 + ], + "intended_face_normal": [ + -0.9999051791488067, + -0.011230060474283432, + 0.007974012069986353 + ], + "commanded_contact_point": [ + 0.2662810685010906, + -14.852905186225422, + 0.1182888223396544 + ], + "centerline_face_intersection": [ + 0.5473780754854802, + -14.852612099928757, + 0.1187875319408237 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26160189509391785, + -14.850662231445312, + 0.125099778175354 + ], + "box_pose": [ + 0.604445219039917, + -14.856624603271484, + 0.1360340267419815, + 0.00832781009376049, + 0.0027515857946127653, + 0.7030758261680603, + -0.7110608220100403 + ], + "box_yaw_rad": -1.5594410743942453, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022646113900101094 + } + } + }, + { + "simulation_time_ns": 2900000000, + "center": [ + 0.6026948291384245, + -14.852606956746182, + 0.11878844208498662 + ], + "face_center": [ + 0.547381697711838, + -14.853228331913723, + 0.11922627538101294 + ], + "face_normal": [ + -0.9999054950458752, + -0.011232711446324428, + 0.007914791792104886 + ], + "footprint_xy": [ + [ + 0.5455767785106934, + -14.932317847242187 + ], + [ + 0.6598128797661555, + -14.932317847242187 + ], + [ + 0.6598128797661555, + -14.77289606625018 + ], + [ + 0.5455767785106934, + -14.77289606625018 + ] + ], + "projected_box_corners": [ + [ + 0.5455767785106934, + -14.77791612225285 + ], + [ + 0.5474329636235331, + -14.774138816585259 + ], + [ + 0.6562030413638664, + -14.776673371917772 + ], + [ + 0.6580592264767061, + -14.77289606625018 + ], + [ + 0.5473304318001428, + -14.932317847242187 + ], + [ + 0.5491866169129825, + -14.928540541574595 + ], + [ + 0.6579566946533159, + -14.931075096907108 + ], + [ + 0.6598128797661555, + -14.927297791239516 + ] + ], + "yaw_rad": -1.5594390839308674, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2646324932575226, + -14.850896835327148, + 0.12567584216594696 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473823506290798, + -14.8532274508631, + 0.11922646766640924 + ], + "intended_face_normal": [ + -0.999905434877268, + -0.011232046073362145, + 0.00792227015108582 + ], + "commanded_contact_point": [ + 0.2681089957461669, + -14.85267712240364, + 0.11866139238559217 + ], + "centerline_face_intersection": [ + 0.5473718877594749, + -14.852606112502903, + 0.11878822067983394 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2650635540485382, + -14.849599838256836, + 0.12573455274105072 + ], + "box_pose": [ + 0.6044381260871887, + -14.85661792755127, + 0.13603496551513672, + 0.008323554880917072, + 0.00278408732265234, + 0.7030751705169678, + -0.7110612988471985 + ], + "box_yaw_rad": -1.5594395814016093, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018793987227910716 + } + } + }, + { + "simulation_time_ns": 2920000000, + "center": [ + 0.602695397391209, + -14.852607800448554, + 0.11878871494428855 + ], + "face_center": [ + 0.5473822701948363, + -14.85322924167251, + 0.11922680990523592 + ], + "face_normal": [ + -0.9999054185755349, + -0.011233905560139923, + 0.007919521956274822 + ], + "footprint_xy": [ + [ + 0.545576682977041, + -14.932317983603681 + ], + [ + 0.6598141118053772, + -14.932317983603681 + ], + [ + 0.6598141118053772, + -14.772897617293427 + ], + [ + 0.545576682977041, + -14.772897617293427 + ] + ], + "projected_box_corners": [ + [ + 0.545576682977041, + -14.777916248863495 + ], + [ + 0.5474340160633259, + -14.77414049974134 + ], + [ + 0.6562029373697864, + -14.776673366415581 + ], + [ + 0.6580602704560713, + -14.772897617293427 + ], + [ + 0.5473305243263468, + -14.932317983603681 + ], + [ + 0.5491878574126317, + -14.928542234481528 + ], + [ + 0.6579567787190922, + -14.93107510115577 + ], + [ + 0.6598141118053772, + -14.927299352033616 + ] + ], + "yaw_rad": -1.5594378668145918, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.26045793294906616, + -14.85277271270752, + 0.12453433871269226 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.547381697711838, + -14.853228331913723, + 0.11922627538101294 + ], + "intended_face_normal": [ + -0.9999054950458752, + -0.011232711446324428, + 0.007914791792104886 + ], + "commanded_contact_point": [ + 0.26941823560744527, + -14.852606956746182, + 0.11878844208498662 + ], + "centerline_face_intersection": [ + 0.5473712414997197, + -14.852606956746182, + 0.11878844208498662 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2646324932575226, + -14.850896835327148, + 0.12567584216594696 + ], + "box_pose": [ + 0.6044373512268066, + -14.856618881225586, + 0.13603517413139343, + 0.008318672887980938, + 0.0027844717260450125, + 0.7030749917030334, + -0.7110615372657776 + ], + "box_yaw_rad": -1.5594390839308674, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013172599819180275 + } + } + }, + { + "simulation_time_ns": 2940000000, + "center": [ + 0.6026989979671564, + -14.852611134342025, + 0.11878872928616055 + ], + "face_center": [ + 0.5473858707225251, + -14.853232565209797, + 0.11922845381090874 + ], + "face_normal": [ + -0.9999054194479147, + -0.011233718349519806, + 0.007948979876247347 + ], + "footprint_xy": [ + [ + 0.5455767080542998, + -14.93231802708795 + ], + [ + 0.6598212878800132, + -14.93231802708795 + ], + [ + 0.6598212878800132, + -14.772904241596102 + ], + [ + 0.5455767080542998, + -14.772904241596102 + ] + ], + "projected_box_corners": [ + [ + 0.5455767080542998, + -14.77791618864201 + ], + [ + 0.5474411830997059, + -14.774147103331646 + ], + [ + 0.6562029625435626, + -14.776673326906465 + ], + [ + 0.6580674375889686, + -14.772904241596102 + ], + [ + 0.5473305583453444, + -14.93231802708795 + ], + [ + 0.5491950333907504, + -14.928548941777587 + ], + [ + 0.657956812834607, + -14.931075165352405 + ], + [ + 0.6598212878800132, + -14.927306080042042 + ] + ], + "yaw_rad": -1.5594378165383203, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2597556710243225, + -14.853594779968262, + 0.1245180070400238 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473822701948363, + -14.85322924167251, + 0.11922680990523592 + ], + "intended_face_normal": [ + -0.9999054185755349, + -0.011233905560139923, + 0.007919521956274822 + ], + "commanded_contact_point": [ + 0.27114403128623965, + -14.852607800448554, + 0.11878871494428855 + ], + "centerline_face_intersection": [ + 0.5473718055214905, + -14.852607800448554, + 0.11878871494428855 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26045793294906616, + -14.85277271270752, + 0.12453433871269226 + ], + "box_pose": [ + 0.6044380068778992, + -14.856619834899902, + 0.13603541254997253, + 0.00831804983317852, + 0.0027804842684417963, + 0.70307457447052, + -0.711061954498291 + ], + "box_yaw_rad": -1.5594378668145918, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017257959065982455 + } + } + }, + { + "simulation_time_ns": 2960000000, + "center": [ + 0.6027048179974215, + -14.852618758705615, + 0.11878909845327268 + ], + "face_center": [ + 0.5473917123738081, + -14.853240305479908, + 0.11923151139200423 + ], + "face_normal": [ + -0.9999050286008571, + -0.01123581361267978, + 0.00799757882274682 + ], + "footprint_xy": [ + [ + 0.5455764619752693, + -14.9323191499795 + ], + [ + 0.6598331740195738, + -14.9323191499795 + ], + [ + 0.6598331740195738, + -14.77291836743173 + ], + [ + 0.5455764619752693, + -14.77291836743173 + ] + ], + "projected_box_corners": [ + [ + 0.5455764619752693, + -14.777917177044522 + ], + [ + 0.5474527390215873, + -14.774161460980315 + ], + [ + 0.656202673222496, + -14.776674083495937 + ], + [ + 0.658078950268814, + -14.77291836743173 + ], + [ + 0.547330685726029, + -14.9323191499795 + ], + [ + 0.5492069627723469, + -14.928563433915292 + ], + [ + 0.6579568969732558, + -14.931076056430916 + ], + [ + 0.6598331740195738, + -14.927320340366709 + ] + ], + "yaw_rad": -1.559435407993571, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.26405104994773865, + -14.853832244873047, + 0.1286562830209732 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473858707225251, + -14.853232565209797, + 0.11922845381090874 + ], + "intended_face_normal": [ + -0.9999054194479147, + -0.011233718349519806, + 0.007948979876247347 + ], + "commanded_contact_point": [ + 0.27336347915232184, + -14.852611134342025, + 0.11878872928616055 + ], + "centerline_face_intersection": [ + 0.5473754061457056, + -14.852611134342025, + 0.11878872928616055 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2597556710243225, + -14.853594779968262, + 0.1245180070400238 + ], + "box_pose": [ + 0.6044421195983887, + -14.856623649597168, + 0.1360352635383606, + 0.008318638429045677, + 0.0027601320762187243, + 0.7030746340751648, + -0.7110621333122253 + ], + "box_yaw_rad": -1.5594378165383203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002219450370093496 + } + } + }, + { + "simulation_time_ns": 2980000000, + "center": [ + 0.6027137932138097, + -14.852628687280859, + 0.11878925280295888 + ], + "face_center": [ + 0.5474007316193514, + -14.853250075985274, + 0.11923575316846793 + ], + "face_normal": [ + -0.9999042326778466, + -0.0112329561548844, + 0.008071467976913577 + ], + "footprint_xy": [ + [ + 0.5455766789373233, + -14.932318504295083 + ], + [ + 0.6598509074902961, + -14.932318504295083 + ], + [ + 0.6598509074902961, + -14.772938870266637 + ], + [ + 0.5455766789373233, + -14.772938870266637 + ] + ], + "projected_box_corners": [ + [ + 0.5455766789373233, + -14.777916351377968 + ], + [ + 0.5474709309378557, + -14.774181647675467 + ], + [ + 0.65620280212624, + -14.776673573969136 + ], + [ + 0.6580970541267724, + -14.772938870266637 + ], + [ + 0.547330532300847, + -14.932318504295083 + ], + [ + 0.5492247843013794, + -14.928583800592582 + ], + [ + 0.6579566554897638, + -14.93107572688625 + ], + [ + 0.6598509074902961, + -14.927341023183752 + ] + ], + "yaw_rad": -1.5594378197735992, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.26974329352378845, + -14.852566719055176, + 0.1343877613544464 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473917123738081, + -14.853240305479908, + 0.11923151139200423 + ], + "intended_face_normal": [ + -0.9999050286008571, + -0.01123581361267978, + 0.00799757882274682 + ], + "commanded_contact_point": [ + 0.275623042806983, + -14.852618758705615, + 0.11878909845327268 + ], + "centerline_face_intersection": [ + 0.5473812045508538, + -14.852618758705615, + 0.11878909845327268 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26405104994773865, + -14.853832244873047, + 0.1286562830209732 + ], + "box_pose": [ + 0.6044487953186035, + -14.856632232666016, + 0.13603532314300537, + 0.008316121064126492, + 0.0027230377309024334, + 0.7030739188194275, + -0.711063027381897 + ], + "box_yaw_rad": -1.559435407993571, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022595765480882242 + } + } + }, + { + "simulation_time_ns": 3000000000, + "center": [ + 0.6027237376754058, + -14.852638591349232, + 0.11878990603608273 + ], + "face_center": [ + 0.5474107062180298, + -14.853260189112099, + 0.11924092947182925 + ], + "face_normal": [ + -0.9999036878843507, + -0.011236735342381121, + 0.008153232336809035 + ], + "footprint_xy": [ + [ + 0.5455763975553068, + -14.932317994808246 + ], + [ + 0.6598710777955048, + -14.932317994808246 + ], + [ + 0.6598710777955048, + -14.772959187890217 + ], + [ + 0.5455763975553068, + -14.772959187890217 + ] + ], + "projected_box_corners": [ + [ + 0.5455763975553068, + -14.777915608909725 + ], + [ + 0.5474904928719725, + -14.774202383415952 + ], + [ + 0.6562024604700588, + -14.77667241338399 + ], + [ + 0.6581165557867246, + -14.772959187890217 + ], + [ + 0.5473309195640871, + -14.932317994808246 + ], + [ + 0.5492450148807528, + -14.928604769314473 + ], + [ + 0.657956982478839, + -14.931074799282511 + ], + [ + 0.6598710777955048, + -14.927361573788739 + ] + ], + "yaw_rad": -1.5594335069330645, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.27246329188346863, + -14.848538398742676, + 0.13744200766086578 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474007316193514, + -14.853250075985274, + 0.11923575316846793 + ], + "intended_face_normal": [ + -0.9999042326778466, + -0.0112329561548844, + 0.008071467976913577 + ], + "commanded_contact_point": [ + 0.2777571163326502, + -14.852628687280859, + 0.11878925280295888 + ], + "centerline_face_intersection": [ + 0.5473901357296876, + -14.852628687280859, + 0.11878925280295888 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26974329352378845, + -14.852566719055176, + 0.1343877613544464 + ], + "box_pose": [ + 0.6044590473175049, + -14.856643676757812, + 0.1360349953174591, + 0.008311315439641476, + 0.002665614942088723, + 0.7030749917030334, + -0.7110620737075806 + ], + "box_yaw_rad": -1.5594378197735992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00213409662700258 + } + } + }, + { + "simulation_time_ns": 3020000000, + "center": [ + 0.6027363193892743, + -14.852653689035662, + 0.11879057476821658 + ], + "face_center": [ + 0.5474233375070885, + -14.853274858417866, + 0.11924754718863215 + ], + "face_normal": [ + -0.9999027917046576, + -0.011228991427545298, + 0.008260773210144567 + ], + "footprint_xy": [ + [ + 0.5455764979300108, + -14.932318514437958 + ], + [ + 0.6598961408485376, + -14.932318514437958 + ], + [ + 0.6598961408485376, + -14.772988863633367 + ], + [ + 0.5455764979300108, + -14.772988863633367 + ] + ], + "projected_box_corners": [ + [ + 0.5455764979300108, + -14.77791584688657 + ], + [ + 0.5475167440476767, + -14.774231202397775 + ], + [ + 0.6562024616943823, + -14.776673508122162 + ], + [ + 0.6581427078120482, + -14.772988863633367 + ], + [ + 0.5473299309665003, + -14.932318514437958 + ], + [ + 0.5492701770841661, + -14.928633869949163 + ], + [ + 0.6579558947308718, + -14.93107617567355 + ], + [ + 0.6598961408485376, + -14.927391531184755 + ] + ], + "yaw_rad": -1.5594405795561994, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2724798321723938, + -14.848483085632324, + 0.13582196831703186 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474107062180298, + -14.853260189112099, + 0.11924092947182925 + ], + "intended_face_normal": [ + -0.9999036878843507, + -0.011236735342381121, + 0.008153232336809035 + ], + "commanded_contact_point": [ + 0.2801998227089644, + -14.852638591349232, + 0.11878990603608273 + ], + "centerline_face_intersection": [ + 0.5474000500484119, + -14.852638591349232, + 0.11878990603608273 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.27246329188346863, + -14.848538398742676, + 0.13744200766086578 + ], + "box_pose": [ + 0.604470431804657, + -14.85665512084961, + 0.13603514432907104, + 0.008308565244078636, + 0.002604710403829813, + 0.7030736804008484, + -0.7110637426376343 + ], + "box_yaw_rad": -1.5594335069330645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024427265418318343 + } + } + }, + { + "simulation_time_ns": 3040000000, + "center": [ + 0.6027519247498264, + -14.852670266136235, + 0.11879159015823766 + ], + "face_center": [ + 0.5474390035613735, + -14.853291949560075, + 0.11925547719862212 + ], + "face_normal": [ + -0.9999016945330567, + -0.011238283851313091, + 0.0083857700476897 + ], + "footprint_xy": [ + [ + 0.5455762178926727, + -14.932318322007186 + ], + [ + 0.6599276316069801, + -14.932318322007186 + ], + [ + 0.6599276316069801, + -14.773022210265282 + ], + [ + 0.5455762178926727, + -14.773022210265282 + ] + ], + "projected_box_corners": [ + [ + 0.5455762178926727, + -14.777915319695033 + ], + [ + 0.5475468112294614, + -14.774265577112963 + ], + [ + 0.6562020602695786, + -14.776671952847352 + ], + [ + 0.6581726536063672, + -14.773022210265282 + ], + [ + 0.5473311958932857, + -14.932318322007186 + ], + [ + 0.5493017892300742, + -14.928668579425118 + ], + [ + 0.6579570382701916, + -14.931074955159506 + ], + [ + 0.6599276316069801, + -14.927425212577436 + ] + ], + "yaw_rad": -1.5594305994160815, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2725209593772888, + -14.855142593383789, + 0.131107360124588 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474233375070885, + -14.853274858417866, + 0.11924754718863215 + ], + "intended_face_normal": [ + -0.9999027917046576, + -0.011228991427545298, + 0.008260773210144567 + ], + "commanded_contact_point": [ + 0.28299876742064956, + -14.852653689035662, + 0.11879057476821658 + ], + "centerline_face_intersection": [ + 0.5474125821774949, + -14.852653689035662, + 0.11879057476821658 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2724798321723938, + -14.848483085632324, + 0.13582196831703186 + ], + "box_pose": [ + 0.6044848561286926, + -14.856672286987305, + 0.13603514432907104, + 0.008304516784846783, + 0.00252409721724689, + 0.7030764818191528, + -0.7110612392425537 + ], + "box_yaw_rad": -1.5594405795561994, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027989855102177057 + } + } + }, + { + "simulation_time_ns": 3060000000, + "center": [ + 0.6027687217447099, + -14.852690148473574, + 0.11879233228353732 + ], + "face_center": [ + 0.5474558691202649, + -14.853311825606566, + 0.1192640078384927 + ], + "face_normal": [ + -0.9999004550890663, + -0.011238170130517755, + 0.008526564436234563 + ], + "footprint_xy": [ + [ + 0.545575915294327, + -14.932317507759674 + ], + [ + 0.6599615281950927, + -14.932317507759674 + ], + [ + 0.6599615281950927, + -14.773062789187474 + ], + [ + 0.545575915294327, + -14.773062789187474 + ] + ], + "projected_box_corners": [ + [ + 0.545575915294327, + -14.77791410606427 + ], + [ + 0.5475807585149175, + -14.774306143453458 + ], + [ + 0.656201620543217, + -14.776670751798283 + ], + [ + 0.6582064637638074, + -14.773062789187474 + ], + [ + 0.5473309797256123, + -14.932317507759674 + ], + [ + 0.5493358229462028, + -14.928709545148864 + ], + [ + 0.6579566849745022, + -14.93107415349369 + ], + [ + 0.6599615281950927, + -14.927466190882878 + ] + ], + "yaw_rad": -1.5594300691128882, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.27522900700569153, + -14.8604154586792, + 0.12879645824432373 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474390035613735, + -14.853291949560075, + 0.11925547719862212 + ], + "intended_face_normal": [ + -0.9999016945330567, + -0.011238283851313091, + 0.0083857700476897 + ], + "commanded_contact_point": [ + 0.2858021564036608, + -14.852670266136235, + 0.11879159015823766 + ], + "centerline_face_intersection": [ + 0.547428126832446, + -14.852670266136235, + 0.11879159015823766 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2725209593772888, + -14.855142593383789, + 0.131107360124588 + ], + "box_pose": [ + 0.6045026779174805, + -14.856691360473633, + 0.13603535294532776, + 0.0082972701638937, + 0.0024279295466840267, + 0.703073263168335, + -0.711064875125885 + ], + "box_yaw_rad": -1.5594305994160815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028034381786208704 + } + } + }, + { + "simulation_time_ns": 3080000000, + "center": [ + 0.6027887593849941, + -14.852713727219422, + 0.1187941415732591 + ], + "face_center": [ + 0.5474759901692687, + -14.853335797300552, + 0.11927477716068052 + ], + "face_normal": [ + -0.9998989472945343, + -0.011245273525180788, + 0.008688536565953364 + ], + "footprint_xy": [ + [ + 0.545575758003439, + -14.932319887203137 + ], + [ + 0.660001760766549, + -14.932319887203137 + ], + [ + 0.660001760766549, + -14.773107567235707 + ], + [ + 0.545575758003439, + -14.773107567235707 + ] + ], + "projected_box_corners": [ + [ + 0.545575758003439, + -14.777916083520717 + ], + [ + 0.5476199263600567, + -14.774351707397969 + ], + [ + 0.6562012964348897, + -14.776671943358455 + ], + [ + 0.6582454647915073, + -14.773107567235707 + ], + [ + 0.5473320539784808, + -14.932319887203137 + ], + [ + 0.5493762223350984, + -14.92875551108039 + ], + [ + 0.6579575924099313, + -14.931075747040875 + ], + [ + 0.660001760766549, + -14.927511370918127 + ] + ], + "yaw_rad": -1.5594221236101002, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2798789143562317, + -14.861841201782227, + 0.12922337651252747 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474558691202649, + -14.853311825606566, + 0.1192640078384927 + ], + "intended_face_normal": [ + -0.9999004550890663, + -0.011238170130517755, + 0.008526564436234563 + ], + "commanded_contact_point": [ + 0.28892734155058863, + -14.852690148473574, + 0.11879233228353732 + ], + "centerline_face_intersection": [ + 0.5474448552497541, + -14.852690148473574, + 0.11879233228353732 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.27522900700569153, + -14.8604154586792, + 0.12879645824432373 + ], + "box_pose": [ + 0.6045219302177429, + -14.856714248657227, + 0.13603514432907104, + 0.00828553643077612, + 0.002315937541425228, + 0.7030734419822693, + -0.7110651731491089 + ], + "box_yaw_rad": -1.5594300691128882, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003125248479827864 + } + } + }, + { + "simulation_time_ns": 3100000000, + "center": [ + 0.6028111364242726, + -14.852741319731127, + 0.11879537962352497 + ], + "face_center": [ + 0.5474984587804854, + -14.85336359135704, + 0.1192862895899978 + ], + "face_normal": [ + -0.9998972919320236, + -0.011248916886711702, + 0.008874268376948852 + ], + "footprint_xy": [ + [ + 0.545575307053168, + -14.93232093677742 + ], + [ + 0.6600469657953772, + -14.93232093677742 + ], + [ + 0.6600469657953772, + -14.773161702684833 + ], + [ + 0.545575307053168, + -14.773161702684833 + ] + ], + "projected_box_corners": [ + [ + 0.545575307053168, + -14.777916624187341 + ], + [ + 0.5476646313279236, + -14.774406245936659 + ], + [ + 0.6562006623407425, + -14.776672080935516 + ], + [ + 0.6582899866154981, + -14.773161702684833 + ], + [ + 0.5473322862330473, + -14.93232093677742 + ], + [ + 0.5494216105078029, + -14.92881055852674 + ], + [ + 0.6579576415206216, + -14.931076393525595 + ], + [ + 0.6600469657953772, + -14.927566015274914 + ] + ], + "yaw_rad": -1.5594177368900126, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2843853831291199, + -14.860977172851562, + 0.12912054359912872 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474759901692687, + -14.853335797300552, + 0.11927477716068052 + ], + "intended_face_normal": [ + -0.9998989472945343, + -0.011245273525180788, + 0.008688536565953364 + ], + "commanded_contact_point": [ + 0.2926097965985537, + -14.852713727219422, + 0.1187941415732591 + ], + "centerline_face_intersection": [ + 0.5474648094645845, + -14.852713727219422, + 0.1187941415732591 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2798789143562317, + -14.861841201782227, + 0.12922337651252747 + ], + "box_pose": [ + 0.6045448184013367, + -14.856740951538086, + 0.13603593409061432, + 0.00827857106924057, + 0.002193745691329241, + 0.7030709981918335, + -0.7110680341720581 + ], + "box_yaw_rad": -1.5594221236101002, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003682530978969267 + } + } + }, + { + "simulation_time_ns": 3120000000, + "center": [ + 0.6028372777811374, + -14.852771175706057, + 0.11879712596773209 + ], + "face_center": [ + 0.5475247063018794, + -14.85339332581168, + 0.11930006157735501 + ], + "face_normal": [ + -0.9998953727765997, + -0.011246720142445654, + 0.009091658106242781 + ], + "footprint_xy": [ + [ + 0.5455752269367024, + -14.932319875166582 + ], + [ + 0.6600993286255724, + -14.932319875166582 + ], + [ + 0.6600993286255724, + -14.773222476245529 + ], + [ + 0.5455752269367024, + -14.773222476245529 + ] + ], + "projected_box_corners": [ + [ + 0.5455752269367024, + -14.777914976736877 + ], + [ + 0.5477174151852278, + -14.774466776456778 + ], + [ + 0.6562003698952181, + -14.776670676525628 + ], + [ + 0.6583425581437437, + -14.773222476245529 + ], + [ + 0.5473319974185311, + -14.932319875166582 + ], + [ + 0.5494741856670566, + -14.928871674886484 + ], + [ + 0.657957140377047, + -14.931075574955333 + ], + [ + 0.6600993286255724, + -14.927627374675234 + ] + ], + "yaw_rad": -1.5594191315121393, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.28942131996154785, + -14.86133861541748, + 0.12873868644237518 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474984587804854, + -14.85336359135704, + 0.1192862895899978 + ], + "intended_face_normal": [ + -0.9998972919320236, + -0.011248916886711702, + 0.008874268376948852 + ], + "commanded_contact_point": [ + 0.2966114903986454, + -14.852741319731127, + 0.11879537962352497 + ], + "centerline_face_intersection": [ + 0.5474870949132634, + -14.852741319731127, + 0.11879537962352497 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2843853831291199, + -14.860977172851562, + 0.12912054359912872 + ], + "box_pose": [ + 0.6045704483985901, + -14.856772422790527, + 0.13603593409061432, + 0.008264713920652866, + 0.002047668443992734, + 0.7030698657035828, + -0.7110697627067566 + ], + "box_yaw_rad": -1.5594177368900126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040017891185272795 + } + } + }, + { + "simulation_time_ns": 3140000000, + "center": [ + 0.602865954196599, + -14.852808633977787, + 0.11879781146665858 + ], + "face_center": [ + 0.5475534948254782, + -14.853430333451584, + 0.11931386922796312 + ], + "face_normal": [ + -0.9998933461774998, + -0.0112385739892914, + 0.009328869618859995 + ], + "footprint_xy": [ + [ + 0.5455757102062906, + -14.932319400818391 + ], + [ + 0.6601561981869074, + -14.932319400818391 + ], + [ + 0.6601561981869074, + -14.773297867137183 + ], + [ + 0.5455757102062906, + -14.773297867137183 + ] + ], + "projected_box_corners": [ + [ + 0.5455757102062906, + -14.777913785224317 + ], + [ + 0.5477756907449912, + -14.774541266084777 + ], + [ + 0.6562006289485321, + -14.776670386276724 + ], + [ + 0.6584006094872328, + -14.773297867137183 + ], + [ + 0.5473312989059652, + -14.932319400818391 + ], + [ + 0.5495312794446658, + -14.92894688167885 + ], + [ + 0.6579562176482068, + -14.931076001870796 + ], + [ + 0.6601561981869074, + -14.927703482731255 + ] + ], + "yaw_rad": -1.559426837112126, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.29385319352149963, + -14.863128662109375, + 0.1272186040878296 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5475247063018794, + -14.85339332581168, + 0.11930006157735501 + ], + "intended_face_normal": [ + -0.9998953727765997, + -0.011246720142445654, + 0.009091658106242781 + ], + "commanded_contact_point": [ + 0.299654480740428, + -14.852771175706057, + 0.11879712596773209 + ], + "centerline_face_intersection": [ + 0.5475131300835838, + -14.852771175706057, + 0.11879712596773209 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.28942131996154785, + -14.86133861541748, + 0.12873868644237518 + ], + "box_pose": [ + 0.6046003699302673, + -14.856806755065918, + 0.1360362470149994, + 0.008250022307038307, + 0.001878203242085874, + 0.7030708193778992, + -0.7110694646835327 + ], + "box_yaw_rad": -1.5594191315121393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030431373036948384 + } + } + }, + { + "simulation_time_ns": 3160000000, + "center": [ + 0.6028996609094903, + -14.852850462672496, + 0.11879975856394712 + ], + "face_center": [ + 0.5475873594682902, + -14.853472377929021, + 0.11933118476287095 + ], + "face_normal": [ + -0.999890491249722, + -0.011242474732739649, + 0.009606687649216517 + ], + "footprint_xy": [ + [ + 0.5455754422935548, + -14.932321040075225 + ], + [ + 0.6602238795254259, + -14.932321040075225 + ], + [ + 0.6602238795254259, + -14.773379885269767 + ], + [ + 0.5455754422935548, + -14.773379885269767 + ] + ], + "projected_box_corners": [ + [ + 0.5455754422935548, + -14.777914730320004 + ], + [ + 0.5478429828781073, + -14.774623715782818 + ], + [ + 0.6562000451759553, + -14.776670899806954 + ], + [ + 0.6584675857605078, + -14.773379885269767 + ], + [ + 0.547331736058473, + -14.932321040075225 + ], + [ + 0.5495992766430254, + -14.929030025538038 + ], + [ + 0.6579563389408735, + -14.931077209562176 + ], + [ + 0.6602238795254259, + -14.92778619502499 + ] + ], + "yaw_rad": -1.5594223225136337, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.29758673906326294, + -14.863936424255371, + 0.1279243677854538 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5475534948254782, + -14.853430333451584, + 0.11931386922796312 + ], + "intended_face_normal": [ + -0.9998933461774998, + -0.0112385739892914, + 0.009328869618859995 + ], + "commanded_contact_point": [ + 0.301476848050952, + -14.852808633977787, + 0.11879781146665858 + ], + "centerline_face_intersection": [ + 0.5475416943672182, + -14.852808633977787, + 0.11879781146665858 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.29385319352149963, + -14.863128662109375, + 0.1272186040878296 + ], + "box_pose": [ + 0.6046331524848938, + -14.856849670410156, + 0.1360352337360382, + 0.008222533389925957, + 0.0016816699644550681, + 0.703074038028717, + -0.7110671401023865 + ], + "box_yaw_rad": -1.559426837112126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018227523711399343 + } + } + }, + { + "simulation_time_ns": 3180000000, + "center": [ + 0.602938954467733, + -14.852897752907682, + 0.11880167965251294 + ], + "face_center": [ + 0.5476268179782521, + -14.853520139653565, + 0.11935110960756848 + ], + "face_normal": [ + -0.9998875093876165, + -0.011250997931269713, + 0.009932144809627938 + ], + "footprint_xy": [ + [ + 0.5455746277121775, + -14.932320010216415 + ], + [ + 0.6603032812232886, + -14.932320010216415 + ], + [ + 0.6603032812232886, + -14.773475495598946 + ], + [ + 0.5455746277121775, + -14.773475495598946 + ] + ], + "projected_box_corners": [ + [ + 0.5455746277121775, + -14.777912813153613 + ], + [ + 0.5479213344004634, + -14.774720269090714 + ], + [ + 0.6561989006911393, + -14.776668039661846 + ], + [ + 0.6585456073794254, + -14.773475495598946 + ], + [ + 0.5473323015560407, + -14.932320010216415 + ], + [ + 0.5496790082443267, + -14.929127466153517 + ], + [ + 0.6579565745350026, + -14.931075236724649 + ], + [ + 0.6603032812232886, + -14.927882692661749 + ] + ], + "yaw_rad": -1.5594134511078133, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3005208671092987, + -14.863268852233887, + 0.1299072653055191 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5475873594682902, + -14.853472377929021, + 0.11933118476287095 + ], + "intended_face_normal": [ + -0.999890491249722, + -0.011242474732739649, + 0.009606687649216517 + ], + "commanded_contact_point": [ + 0.30356944978237155, + -14.852850462672496, + 0.11879975856394712 + ], + "centerline_face_intersection": [ + 0.5475752431160449, + -14.852850462672496, + 0.11879975856394712 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.29758673906326294, + -14.863936424255371, + 0.1279243677854538 + ], + "box_pose": [ + 0.6046717166900635, + -14.856897354125977, + 0.13603530824184418, + 0.00820073951035738, + 0.001462077023461461, + 0.7030729055404663, + -0.711068868637085 + ], + "box_yaw_rad": -1.5594223225136337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020930206490211815 + } + } + }, + { + "simulation_time_ns": 3200000000, + "center": [ + 0.6029825621670633, + -14.852953531249918, + 0.11880324223293952 + ], + "face_center": [ + 0.5476706306659557, + -14.853575783420135, + 0.11937263573171368 + ], + "face_normal": [ + -0.9998838037756653, + -0.011248565182569337, + 0.010293029405202346 + ], + "footprint_xy": [ + [ + 0.5455746963622901, + -14.932319703774342 + ], + [ + 0.6603904279718366, + -14.932319703774342 + ], + [ + 0.6603904279718366, + -14.773587358725493 + ], + [ + 0.5455746963622901, + -14.773587358725493 + ] + ], + "projected_box_corners": [ + [ + 0.5455746963622901, + -14.7779115655598 + ], + [ + 0.5480092684334846, + -14.774831863065927 + ], + [ + 0.6561985593645053, + -14.776667061219365 + ], + [ + 0.6586331314356999, + -14.773587358725493 + ], + [ + 0.5473319928984267, + -14.932319703774342 + ], + [ + 0.5497665649696213, + -14.92924000128047 + ], + [ + 0.657955855900642, + -14.93107519943391 + ], + [ + 0.6603904279718366, + -14.927995496940037 + ] + ], + "yaw_rad": -1.5594159637405316, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3032781481742859, + -14.862757682800293, + 0.1297275424003601 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5476268179782521, + -14.853520139653565, + 0.11935110960756848 + ], + "intended_face_normal": [ + -0.9998875093876165, + -0.011250997931269713, + 0.009932144809627938 + ], + "commanded_contact_point": [ + 0.306316337287426, + -14.852897752907682, + 0.11880167965251294 + ], + "centerline_face_intersection": [ + 0.5476143716859431, + -14.852897752907682, + 0.11880167965251294 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3005208671092987, + -14.863268852233887, + 0.1299072653055191 + ], + "box_pose": [ + 0.6047167181968689, + -14.856951713562012, + 0.1360349804162979, + 0.008170807734131813, + 0.0012003990123048425, + 0.7030702233314514, + -0.711072564125061 + ], + "box_yaw_rad": -1.5594134511078133, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027472952193656904 + } + } + }, + { + "simulation_time_ns": 3220000000, + "center": [ + 0.6030341346917644, + -14.853014941133045, + 0.11880601889413211 + ], + "face_center": [ + 0.5477224665888202, + -14.8536372479259, + 0.1193992064216307 + ], + "face_normal": [ + -0.9998790422793596, + -0.011249552605872348, + 0.010723158371999553 + ], + "footprint_xy": [ + [ + 0.5455741510354436, + -14.932317933650467 + ], + [ + 0.6604941183480852, + -14.932317933650467 + ], + [ + 0.6604941183480852, + -14.773711948615622 + ], + [ + 0.5455741510354436, + -14.773711948615622 + ] + ], + "projected_box_corners": [ + [ + 0.5455741510354436, + -14.777908800955638 + ], + [ + 0.5481133565086131, + -14.77495656220133 + ], + [ + 0.6561974872413322, + -14.776664187369931 + ], + [ + 0.6587366927145017, + -14.773711948615622 + ], + [ + 0.5473315766690271, + -14.932317933650467 + ], + [ + 0.5498707821421966, + -14.929365694896159 + ], + [ + 0.6579549128749157, + -14.93107332006476 + ], + [ + 0.6604941183480852, + -14.92812108131045 + ] + ], + "yaw_rad": -1.559415201064418, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3062862753868103, + -14.861727714538574, + 0.1276758462190628 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5476706306659557, + -14.853575783420135, + 0.11937263573171368 + ], + "intended_face_normal": [ + -0.9998838037756653, + -0.011248565182569337, + 0.010293029405202346 + ], + "commanded_contact_point": [ + 0.3094477976858616, + -14.852953531249918, + 0.11880324223293952 + ], + "centerline_face_intersection": [ + 0.5476577743500137, + -14.852953531249918, + 0.11880324223293952 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3032781481742859, + -14.862757682800293, + 0.1297275424003601 + ], + "box_pose": [ + 0.6047666072845459, + -14.857015609741211, + 0.13603398203849792, + 0.008132318034768105, + 0.0009048149804584682, + 0.7030715346336365, + -0.7110720872879028 + ], + "box_yaw_rad": -1.5594159637405316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031319575176063054 + } + } + }, + { + "simulation_time_ns": 3240000000, + "center": [ + 0.6030928124585293, + -14.853089100868615, + 0.11880874654440486 + ], + "face_center": [ + 0.5477814295419944, + -14.853711396634937, + 0.11942911170346251 + ], + "face_normal": [ + -0.9998738869129851, + -0.011249353277222762, + 0.011214453340072775 + ], + "footprint_xy": [ + [ + 0.5455734210578795, + -14.932318145057764 + ], + [ + 0.6606122038591792, + -14.932318145057764 + ], + [ + 0.6606122038591792, + -14.773860056679469 + ], + [ + 0.5455734210578795, + -14.773860056679469 + ] + ], + "projected_box_corners": [ + [ + 0.5455734210578795, + -14.777907824973175 + ], + [ + 0.548232182024237, + -14.775104648212109 + ], + [ + 0.6561961868909494, + -14.776663233440534 + ], + [ + 0.6588549478573068, + -14.773860056679469 + ], + [ + 0.5473306770597518, + -14.932318145057764 + ], + [ + 0.5499894380261093, + -14.929514968296697 + ], + [ + 0.6579534428928216, + -14.931073553525124 + ], + [ + 0.6606122038591792, + -14.928270376764058 + ] + ], + "yaw_rad": -1.559416387011104, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3082384467124939, + -14.859650611877441, + 0.12476593255996704 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5477224665888202, + -14.8536372479259, + 0.1193992064216307 + ], + "intended_face_normal": [ + -0.9998790422793596, + -0.011249552605872348, + 0.010723158371999553 + ], + "commanded_contact_point": [ + 0.31238876163959506, + -14.853014941133045, + 0.11880601889413211 + ], + "centerline_face_intersection": [ + 0.5477090834140744, + -14.853014941133045, + 0.11880601889413211 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3062862753868103, + -14.861727714538574, + 0.1276758462190628 + ], + "box_pose": [ + 0.6048256754875183, + -14.857086181640625, + 0.1360338181257248, + 0.008096732199192047, + 0.0005629375809803605, + 0.7030715942382812, + -0.7110726237297058 + ], + "box_yaw_rad": -1.559415201064418, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029416063402081037 + } + } + }, + { + "simulation_time_ns": 3260000000, + "center": [ + 0.6031594064463343, + -14.853173990354625, + 0.11881120686298932 + ], + "face_center": [ + 0.5478483799746731, + -14.85379581218602, + 0.1194623080085931 + ], + "face_normal": [ + -0.9998674433944434, + -0.011240785869749192, + 0.01177007333573149 + ], + "footprint_xy": [ + [ + 0.5455735458273341, + -14.932317119231403 + ], + [ + 0.6607452670653344, + -14.932317119231403 + ], + [ + 0.6607452670653344, + -14.774030861477845 + ], + [ + 0.5455735458273341, + -14.774030861477845 + ] + ], + "projected_box_corners": [ + [ + 0.5455735458273341, + -14.777905552834891 + ], + [ + 0.5483675796019754, + -14.775274505140636 + ], + [ + 0.6561955987706564, + -14.7766619091721 + ], + [ + 0.6589896325452976, + -14.774030861477845 + ], + [ + 0.5473291803473708, + -14.932317119231403 + ], + [ + 0.550123214122012, + -14.92968607153715 + ], + [ + 0.6579512332906932, + -14.931073475568613 + ], + [ + 0.6607452670653344, + -14.928442427874359 + ] + ], + "yaw_rad": -1.5594269785349335, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.30974096059799194, + -14.85754680633545, + 0.1214604377746582 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5477814295419944, + -14.853711396634937, + 0.11942911170346251 + ], + "intended_face_normal": [ + -0.9998738869129851, + -0.011249353277222762, + 0.011214453340072775 + ], + "commanded_contact_point": [ + 0.3148504558205605, + -14.853089100868615, + 0.11880874654440486 + ], + "centerline_face_intersection": [ + 0.5477674759239558, + -14.853089100868615, + 0.11880874654440486 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3082384467124939, + -14.859650611877441, + 0.12476593255996704 + ], + "box_pose": [ + 0.604892909526825, + -14.857171058654785, + 0.13603311777114868, + 0.008051000535488129, + 0.0001672969083301723, + 0.703072190284729, + -0.7110729217529297 + ], + "box_yaw_rad": -1.559416387011104, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024628124871891657 + } + } + }, + { + "simulation_time_ns": 3280000000, + "center": [ + 0.6032369824358541, + -14.853269649040946, + 0.11881458193742102 + ], + "face_center": [ + 0.5479263817826572, + -14.853891640047706, + 0.11950135661841613 + ], + "face_normal": [ + -0.9998597457969407, + -0.011243844083463461, + 0.012414950296148267 + ], + "footprint_xy": [ + [ + 0.5455730867360791, + -14.932316084678726 + ], + [ + 0.6609008781356291, + -14.932316084678726 + ], + [ + 0.6609008781356291, + -14.774223213403165 + ], + [ + 0.5455730867360791, + -14.774223213403165 + ] + ], + "projected_box_corners": [ + [ + 0.5455730867360791, + -14.777903176278034 + ], + [ + 0.5485240355195595, + -14.775467195416685 + ], + [ + 0.6561942880424728, + -14.776659194264512 + ], + [ + 0.6591452368259533, + -14.774223213403165 + ], + [ + 0.5473287280457549, + -14.932316084678726 + ], + [ + 0.5502796768292354, + -14.929880103817379 + ], + [ + 0.6579499293521487, + -14.931072102665206 + ], + [ + 0.6609008781356291, + -14.928636121803859 + ] + ], + "yaw_rad": -1.5594270333725548, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3124953806400299, + -14.854301452636719, + 0.12211622297763824 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5478483799746731, + -14.85379581218602, + 0.1194623080085931 + ], + "intended_face_normal": [ + -0.9998674433944434, + -0.011240785869749192, + 0.01177007333573149 + ], + "commanded_contact_point": [ + 0.31719042241573336, + -14.853173990354625, + 0.11881120686298932 + ], + "centerline_face_intersection": [ + 0.5478337133746676, + -14.853173990354625, + 0.11881120686298932 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.30974096059799194, + -14.85754680633545, + 0.1214604377746582 + ], + "box_pose": [ + 0.6049691438674927, + -14.857268333435059, + 0.1360316276550293, + 0.007994117215275764, + -0.00028540537459775805, + 0.7030758857727051, + -0.7110697627067566 + ], + "box_yaw_rad": -1.5594269785349335, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002341507195062074 + } + } + }, + { + "simulation_time_ns": 3300000000, + "center": [ + 0.6033253022465443, + -14.8533829108414, + 0.1188175952815879 + ], + "face_center": [ + 0.5480152241930122, + -14.85400445811194, + 0.11954526872492674 + ], + "face_normal": [ + -0.9998502986681482, + -0.011235822583423927, + 0.013154284630570237 + ], + "footprint_xy": [ + [ + 0.5455729453357768, + -14.932315308685771 + ], + [ + 0.6610776591573118, + -14.932315308685771 + ], + [ + 0.6610776591573118, + -14.77445051299703 + ], + [ + 0.5455729453357768, + -14.77445051299703 + ] + ], + "projected_box_corners": [ + [ + 0.5455729453357768, + -14.777900974889977 + ], + [ + 0.5487038773490833, + -14.77569360753811 + ], + [ + 0.656193101442841, + -14.7766578803489 + ], + [ + 0.6593240334561475, + -14.77445051299703 + ], + [ + 0.5473265710369412, + -14.932315308685771 + ], + [ + 0.5504575030502475, + -14.930107941333901 + ], + [ + 0.6579467271440054, + -14.931072214144693 + ], + [ + 0.6610776591573118, + -14.928864846792823 + ] + ], + "yaw_rad": -1.5594401898754264, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3150620758533478, + -14.850447654724121, + 0.12515252828598022 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5479263817826572, + -14.853891640047706, + 0.11950135661841613 + ], + "intended_face_normal": [ + -0.9998597457969407, + -0.011243844083463461, + 0.012414950296148267 + ], + "commanded_contact_point": [ + 0.3194507981836796, + -14.853269649040946, + 0.11881458193742102 + ], + "centerline_face_intersection": [ + 0.5479108634295314, + -14.853269649040946, + 0.11881458193742102 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3124953806400299, + -14.854301452636719, + 0.12211622297763824 + ], + "box_pose": [ + 0.605057954788208, + -14.857378005981445, + 0.13603048026561737, + 0.007934954017400742, + -0.0008038441883400083, + 0.7030754685401917, + -0.7110705375671387 + ], + "box_yaw_rad": -1.5594270333725548, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002262401508953425 + } + } + }, + { + "simulation_time_ns": 3320000000, + "center": [ + 0.6034282777391785, + -14.853511983463388, + 0.11882176518146176 + ], + "face_center": [ + 0.5481188453807085, + -14.854133938688218, + 0.11959701640422019 + ], + "face_normal": [ + -0.9998386263215634, + -0.01124319724702727, + 0.014014356766368197 + ], + "footprint_xy": [ + [ + 0.5455719238907895, + -14.93231494232263 + ], + [ + 0.6612846315875677, + -14.93231494232263 + ], + [ + 0.6612846315875677, + -14.774709024604148 + ], + [ + 0.5455719238907895, + -14.774709024604148 + ] + ], + "projected_box_corners": [ + [ + 0.5455719238907895, + -14.777899151016728 + ], + [ + 0.5489121403757079, + -14.775952935053807 + ], + [ + 0.6561907886077295, + -14.776655240567068 + ], + [ + 0.659531005092648, + -14.774709024604148 + ], + [ + 0.5473255503857091, + -14.93231494232263 + ], + [ + 0.5506657668706276, + -14.93036872635971 + ], + [ + 0.6579444151026492, + -14.931071031872971 + ], + [ + 0.6612846315875677, + -14.92912481591005 + ] + ], + "yaw_rad": -1.5594402919155625, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3171897232532501, + -14.84895133972168, + 0.12777064740657806 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5480152241930122, + -14.85400445811194, + 0.11954526872492674 + ], + "intended_face_normal": [ + -0.9998502986681482, + -0.011235822583423927, + 0.013154284630570237 + ], + "commanded_contact_point": [ + 0.32157166928052905, + -14.8533829108414, + 0.1188175952815879 + ], + "centerline_face_intersection": [ + 0.5479986604889934, + -14.8533829108414, + 0.1188175952815879 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3150620758533478, + -14.850447654724121, + 0.12515252828598022 + ], + "box_pose": [ + 0.6051591038703918, + -14.857507705688477, + 0.1360282003879547, + 0.00785988662391901, + -0.0014055863721296191, + 0.7030791640281677, + -0.711066722869873 + ], + "box_yaw_rad": -1.5594401898754264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002123895365863513 + } + } + }, + { + "simulation_time_ns": 3340000000, + "center": [ + 0.6035464249784257, + -14.853660984938996, + 0.11882541977059954 + ], + "face_center": [ + 0.548237770150172, + -14.854282717924736, + 0.11965496383728287 + ], + "face_normal": [ + -0.9998245707670165, + -0.011239179790741849, + 0.014995818339452627 + ], + "footprint_xy": [ + [ + 0.5455725597651065, + -14.932313372740872 + ], + [ + 0.6615202901917449, + -14.932313372740872 + ], + [ + 0.6615202901917449, + -14.77500859713712 + ], + [ + 0.5455725597651065, + -14.77500859713712 + ] + ], + "projected_box_corners": [ + [ + 0.5455725597651065, + -14.777896097417983 + ], + [ + 0.5491516703983357, + -14.7762520631086 + ], + [ + 0.6561898694216138, + -14.776652631446503 + ], + [ + 0.6597689800548431, + -14.77500859713712 + ], + [ + 0.5473238699020084, + -14.932313372740872 + ], + [ + 0.5509029805352376, + -14.93066933843149 + ], + [ + 0.6579411795585157, + -14.931069906769393 + ], + [ + 0.6615202901917449, + -14.92942587246001 + ] + ], + "yaw_rad": -1.5594553997511937, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.31911423802375793, + -14.851865768432617, + 0.12978869676589966 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5481188453807085, + -14.854133938688218, + 0.11959701640422019 + ], + "intended_face_normal": [ + -0.9998386263215634, + -0.01124319724702727, + 0.014014356766368197 + ], + "commanded_contact_point": [ + 0.3235878708958626, + -14.853511983463388, + 0.11882176518146176 + ], + "centerline_face_intersection": [ + 0.5481009900856589, + -14.853511983463388, + 0.11882176518146176 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3171897232532501, + -14.84895133972168, + 0.12777064740657806 + ], + "box_pose": [ + 0.6052770614624023, + -14.85765552520752, + 0.1360262632369995, + 0.007779529318213463, + -0.002098497934639454, + 0.7030774354934692, + -0.7110676765441895 + ], + "box_yaw_rad": -1.5594402919155625, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020203331615071336 + } + } + }, + { + "simulation_time_ns": 3360000000, + "center": [ + 0.6036825972830648, + -14.853833263238966, + 0.11882936056651237 + ], + "face_center": [ + 0.5483749343061554, + -14.854455196965763, + 0.1197217982296337 + ], + "face_normal": [ + -0.9998066408906255, + -0.011242808623178058, + 0.016132757273474657 + ], + "footprint_xy": [ + [ + 0.545572305884108, + -14.932311422881467 + ], + [ + 0.6617928886820218, + -14.932311422881467 + ], + [ + 0.6617928886820218, + -14.775355103596466 + ], + [ + 0.545572305884108, + -14.775355103596466 + ] + ], + "projected_box_corners": [ + [ + 0.545572305884108, + -14.777892802703917 + ], + [ + 0.5494281414717902, + -14.776598971050058 + ], + [ + 0.6561876318379269, + -14.776648935250325 + ], + [ + 0.6600434674256093, + -14.775355103596466 + ], + [ + 0.5473217271405204, + -14.932311422881467 + ], + [ + 0.5511775627282027, + -14.93101759122761 + ], + [ + 0.6579370530943395, + -14.931067555427875 + ], + [ + 0.6617928886820218, + -14.929773723774018 + ] + ], + "yaw_rad": -1.559467729147824, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3193022310733795, + -14.85884952545166, + 0.12655550241470337 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.548237770150172, + -14.854282717924736, + 0.11965496383728287 + ], + "intended_face_normal": [ + -0.9998245707670165, + -0.011239179790741849, + 0.014995818339452627 + ], + "commanded_contact_point": [ + 0.325482449233532, + -14.853660984938996, + 0.11882541977059954 + ], + "centerline_face_intersection": [ + 0.5482183595327491, + -14.853660984938996, + 0.11882541977059954 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.31911423802375793, + -14.851865768432617, + 0.12978869676589966 + ], + "box_pose": [ + 0.6054122447967529, + -14.857826232910156, + 0.13602283596992493, + 0.007681773044168949, + -0.0028953752480447292, + 0.7030799388885498, + -0.7110635638237 + ], + "box_yaw_rad": -1.5594553997511937, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019004320228098264 + } + } + }, + { + "simulation_time_ns": 3380000000, + "center": [ + 0.6038398409871263, + -14.854031442486637, + 0.11883399177124301 + ], + "face_center": [ + 0.5485334216824371, + -14.854655209960894, + 0.11979915273627517 + ], + "face_normal": [ + -0.999784158802645, + -0.011275957608150922, + 0.01744738957367309 + ], + "footprint_xy": [ + [ + 0.5455699995848456, + -14.932310974221163 + ], + [ + 0.6621096823894069, + -14.932310974221163 + ], + [ + 0.6621096823894069, + -14.77575191075211 + ], + [ + 0.5455699995848456, + -14.77575191075211 + ] + ], + "projected_box_corners": [ + [ + 0.5455699995848456, + -14.777891237498913 + ], + [ + 0.5497457502124052, + -14.776999445700625 + ], + [ + 0.6561828381942238, + -14.7766437025504 + ], + [ + 0.6603585888217834, + -14.77575191075211 + ], + [ + 0.547321093152469, + -14.932310974221163 + ], + [ + 0.5514968437800287, + -14.931419182422873 + ], + [ + 0.6579339317618473, + -14.931063439272648 + ], + [ + 0.6621096823894069, + -14.93017164747436 + ] + ], + "yaw_rad": -1.5594569827974536, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.31967997550964355, + -14.867511749267578, + 0.12104131281375885 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5483749343061554, + -14.854455196965763, + 0.1197217982296337 + ], + "intended_face_normal": [ + -0.9998066408906255, + -0.011242808623178058, + 0.016132757273474657 + ], + "commanded_contact_point": [ + 0.3270809005200863, + -14.853833263238966, + 0.11882936056651237 + ], + "centerline_face_intersection": [ + 0.5483535396201595, + -14.853833263238966, + 0.11882936056651237 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3193022310733795, + -14.85884952545166, + 0.12655550241470337 + ], + "box_pose": [ + 0.6055681705474854, + -14.858023643493652, + 0.1360185146331787, + 0.007568291388452053, + -0.0038187222089618444, + 0.703079879283905, + -0.7110603451728821 + ], + "box_yaw_rad": -1.559467729147824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001607713238733957 + } + } + }, + { + "simulation_time_ns": 3400000000, + "center": [ + 0.604019926625646, + -14.854259642306586, + 0.11883895670554032 + ], + "face_center": [ + 0.5487150446320954, + -14.854885524335312, + 0.11988745335860565 + ], + "face_normal": [ + -0.9997563685507569, + -0.011314182792287242, + 0.01895386389990794 + ], + "footprint_xy": [ + [ + 0.5455677587237534, + -14.932310447986312 + ], + [ + 0.6624720945275384, + -14.932310447986312 + ], + [ + 0.6624720945275384, + -14.776208836626859 + ], + [ + 0.5455677587237534, + -14.776208836626859 + ] + ], + "projected_box_corners": [ + [ + 0.5455677587237534, + -14.777889947876703 + ], + [ + 0.5501101516280018, + -14.777460600684313 + ], + [ + 0.6561775227108545, + -14.77663818381925 + ], + [ + 0.6607199156151029, + -14.776208836626859 + ], + [ + 0.547319937636189, + -14.932310447986312 + ], + [ + 0.5518623305404373, + -14.931881100793921 + ], + [ + 0.65792970162329, + -14.931058683928859 + ], + [ + 0.6624720945275384, + -14.93062933673647 + ] + ], + "yaw_rad": -1.5594500112515262, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3219173848628998, + -14.870650291442871, + 0.1206209659576416 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5485334216824371, + -14.854655209960894, + 0.11979915273627517 + ], + "intended_face_normal": [ + -0.999784158802645, + -0.011275957608150922, + 0.01744738957367309 + ], + "commanded_contact_point": [ + 0.32920032247900965, + -14.854031442486637, + 0.11883399177124301 + ], + "centerline_face_intersection": [ + 0.5485095391429332, + -14.854031442486637, + 0.11883399177124301 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.31967997550964355, + -14.867511749267578, + 0.12104131281375885 + ], + "box_pose": [ + 0.6057483553886414, + -14.858250617980957, + 0.13601356744766235, + 0.007441224530339241, + -0.004882159177213907, + 0.7030694484710693, + -0.7110654711723328 + ], + "box_yaw_rad": -1.5594569827974536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021286723332234166 + } + } + }, + { + "simulation_time_ns": 3420000000, + "center": [ + 0.6042265690035233, + -14.854522894453641, + 0.11884322859522761 + ], + "face_center": [ + 0.5489235949687299, + -14.855150799578814, + 0.11998687887294912 + ], + "face_normal": [ + -0.9997218780347373, + -0.011350754673142727, + 0.02067397320692721 + ], + "footprint_xy": [ + [ + 0.5455674645807834, + -14.932412675024633 + ], + [ + 0.6628856734262633, + -14.932412675024633 + ], + [ + 0.6628856734262633, + -14.77663311388265 + ], + [ + 0.5455674645807834, + -14.77663311388265 + ] + ], + "projected_box_corners": [ + [ + 0.5455674645807834, + -14.777888924132993 + ], + [ + 0.5505285680671657, + -14.777992003513763 + ], + [ + 0.6561734126503702, + -14.77663311388265 + ], + [ + 0.6611345161367526, + -14.77673619326342 + ], + [ + 0.5473186218702941, + -14.932309595643863 + ], + [ + 0.5522797253566764, + -14.932412675024633 + ], + [ + 0.6579245699398809, + -14.931053785393521 + ], + [ + 0.6628856734262633, + -14.931156864774291 + ] + ], + "yaw_rad": -1.5594566388362965, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.32515740394592285, + -14.866579055786133, + 0.12422023713588715 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5487150446320954, + -14.854885524335312, + 0.11988745335860565 + ], + "intended_face_normal": [ + -0.9997563685507569, + -0.011314182792287242, + 0.01895386389990794 + ], + "commanded_contact_point": [ + 0.3323940958082676, + -14.854259642306586, + 0.11883895670554032 + ], + "centerline_face_intersection": [ + 0.548688086763718, + -14.854259642306586, + 0.11883895670554032 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3219173848628998, + -14.870650291442871, + 0.1206209659576416 + ], + "box_pose": [ + 0.6059547066688538, + -14.858511924743652, + 0.1360074281692505, + 0.0072930920869112015, + -0.006103394087404013, + 0.7030574083328247, + -0.7110695242881775 + ], + "box_yaw_rad": -1.5594500112515262, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003201919406711669 + } + } + }, + { + "simulation_time_ns": 3440000000, + "center": [ + 0.6044641210163368, + -14.854826250241409, + 0.11884740006674267 + ], + "face_center": [ + 0.5491635543408628, + -14.855457403557775, + 0.12010002741747314 + ], + "face_normal": [ + -0.9996783597643016, + -0.011409472813697641, + 0.022643971493505444 + ], + "footprint_xy": [ + [ + 0.5455676629117817, + -14.93302509455683 + ], + [ + 0.6633605791208921, + -14.93302509455683 + ], + [ + 0.6633605791208921, + -14.776627405925987 + ], + [ + 0.5455676629117817, + -14.776627405925987 + ] + ], + "projected_box_corners": [ + [ + 0.5455676629117817, + -14.777889712558721 + ], + [ + 0.5510083646309871, + -14.778605225008999 + ], + [ + 0.6561687962627296, + -14.776627405925987 + ], + [ + 0.6616094979819351, + -14.777342918376263 + ], + [ + 0.5473187440507387, + -14.932309582106553 + ], + [ + 0.5527594457699441, + -14.93302509455683 + ], + [ + 0.6579198774016866, + -14.93104727547382 + ], + [ + 0.6633605791208921, + -14.931762787924095 + ] + ], + "yaw_rad": -1.5594570730260906, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3281903862953186, + -14.861346244812012, + 0.12813909351825714 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5489235949687299, + -14.855150799578814, + 0.11998687887294912 + ], + "intended_face_normal": [ + -0.9997218780347373, + -0.011350754673142727, + 0.02067397320692721 + ], + "commanded_contact_point": [ + 0.3358705069124699, + -14.854522894453641, + 0.11884322859522761 + ], + "centerline_face_intersection": [ + 0.5488928201869641, + -14.854522894453641, + 0.11884322859522761 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.32515740394592285, + -14.866579055786133, + 0.12422023713588715 + ], + "box_pose": [ + 0.6061912775039673, + -14.858813285827637, + 0.13599881529808044, + 0.007117555011063814, + -0.00750436307862401, + 0.7030462026596069, + -0.7110689878463745 + ], + "box_yaw_rad": -1.5594566388362965, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034863668922521227 + } + } + }, + { + "simulation_time_ns": 3460000000, + "center": [ + 0.6047151400672339, + -14.85516364592665, + 0.11885745955712258 + ], + "face_center": [ + 0.5494173203500008, + -14.855797113831695, + 0.120225157625827 + ], + "face_normal": [ + -0.9996287025026559, + -0.011451314052455697, + 0.0247241257037899 + ], + "footprint_xy": [ + [ + 0.545570754364471, + -14.933705375560235 + ], + [ + 0.6638595257699968, + -14.933705375560235 + ], + [ + 0.6638595257699968, + -14.776621916293063 + ], + [ + 0.545570754364471, + -14.776621916293063 + ] + ], + "projected_box_corners": [ + [ + 0.545570754364471, + -14.777888852103155 + ], + [ + 0.5515182870714398, + -14.77928750162425 + ], + [ + 0.6561663937989373, + -14.776621916293063 + ], + [ + 0.662113926505906, + -14.778020565814158 + ], + [ + 0.5473163536285619, + -14.932306726039142 + ], + [ + 0.5532638863355306, + -14.933705375560235 + ], + [ + 0.657911993063028, + -14.93103979022905 + ], + [ + 0.6638595257699968, + -14.932438439750143 + ] + ], + "yaw_rad": -1.5594924222073823, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.33113646507263184, + -14.860447883605957, + 0.12871572375297546 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5491635543408628, + -14.855457403557775, + 0.12010002741747314 + ], + "intended_face_normal": [ + -0.9996783597643016, + -0.011409472813697641, + 0.022643971493505444 + ], + "commanded_contact_point": [ + 0.3387999522686005, + -14.854826250241409, + 0.11884740006674267 + ], + "centerline_face_intersection": [ + 0.5491279633959641, + -14.854826250241409, + 0.11884740006674267 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3281903862953186, + -14.861346244812012, + 0.12813909351825714 + ], + "box_pose": [ + 0.6064631342887878, + -14.859160423278809, + 0.1359880119562149, + 0.006912597920745611, + -0.009112930856645107, + 0.7030273675918579, + -0.711070716381073 + ], + "box_yaw_rad": -1.5594570730260906, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029451132796043675 + } + } + }, + { + "simulation_time_ns": 3480000000, + "center": [ + 0.6049878272431273, + -14.855508700877186, + 0.11887324896350852 + ], + "face_center": [ + 0.5496933039898977, + -14.856145373711955, + 0.12036665116928638 + ], + "face_normal": [ + -0.9995691117258112, + -0.011509250147523686, + 0.026996502157047852 + ], + "footprint_xy": [ + [ + 0.5455728529616262, + -14.934400399122742 + ], + [ + 0.6644028015246283, + -14.934400399122742 + ], + [ + 0.6644028015246283, + -14.77661700263163 + ], + [ + 0.5455728529616262, + -14.77661700263163 + ] + ], + "projected_box_corners": [ + [ + 0.5455728529616262, + -14.777890348301167 + ], + [ + 0.5520735130290624, + -14.779985916726039 + ], + [ + 0.6561618994680852, + -14.77661700263163 + ], + [ + 0.6626625595355213, + -14.778712571056502 + ], + [ + 0.5473130949507331, + -14.93230483069787 + ], + [ + 0.5538137550181692, + -14.934400399122742 + ], + [ + 0.6579021414571922, + -14.931031485028333 + ], + [ + 0.6644028015246283, + -14.933127053453205 + ] + ], + "yaw_rad": -1.5595268636540978, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.33477091789245605, + -14.860367774963379, + 0.1289578676223755 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5494173203500008, + -14.855797113831695, + 0.120225157625827 + ], + "intended_face_normal": [ + -0.9996287025026559, + -0.011451314052455697, + 0.0247241257037899 + ], + "commanded_contact_point": [ + 0.3413440424203873, + -14.85516364592665, + 0.11885745955712258 + ], + "centerline_face_intersection": [ + 0.549376233584158, + -14.85516364592665, + 0.11885745955712258 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.33113646507263184, + -14.860447883605957, + 0.12871572375297546 + ], + "box_pose": [ + 0.6067502498626709, + -14.859546661376953, + 0.13598139584064484, + 0.0066428580321371555, + -0.010865465737879276, + 0.7030150890350342, + -0.7110608816146851 + ], + "box_yaw_rad": -1.5594924222073823, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025663849559613198 + } + } + }, + { + "simulation_time_ns": 3500000000, + "center": [ + 0.6051035315341848, + -14.85560713220342, + 0.11889715726359741 + ], + "face_center": [ + 0.5498104758545702, + -14.856245610739974, + 0.1204436130522285 + ], + "face_normal": [ + -0.9995425821317693, + -0.011541892145701227, + 0.027955561383286476 + ], + "footprint_xy": [ + [ + 0.5455737711479719, + -14.934599004735652 + ], + [ + 0.6646332919203977, + -14.934599004735652 + ], + [ + 0.6646332919203977, + -14.77661525967119 + ], + [ + 0.5455737711479719, + -14.77661525967119 + ] + ], + "projected_box_corners": [ + [ + 0.5455737711479719, + -14.777892216744293 + ], + [ + 0.5523068165047953, + -14.780185713770853 + ], + [ + 0.656159882507201, + -14.77661525967119 + ], + [ + 0.6628929278640244, + -14.778908756697751 + ], + [ + 0.5473141352043451, + -14.932305507709092 + ], + [ + 0.5540471805611685, + -14.934599004735652 + ], + [ + 0.6579002465635744, + -14.93102855063599 + ], + [ + 0.6646332919203977, + -14.93332204766255 + ] + ], + "yaw_rad": -1.5595259862851658, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3399081528186798, + -14.858756065368652, + 0.12972502410411835 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5496933039898977, + -14.856145373711955, + 0.12036665116928638 + ], + "intended_face_normal": [ + -0.9995691117258112, + -0.011509250147523686, + 0.026996502157047852 + ], + "commanded_contact_point": [ + 0.34360219419002536, + -14.855508700877186, + 0.11887324896350852 + ], + "centerline_face_intersection": [ + 0.5496456216500765, + -14.855508700877186, + 0.11887324896350852 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.33477091789245605, + -14.860367774963379, + 0.1289578676223755 + ], + "box_pose": [ + 0.6070623397827148, + -14.859941482543945, + 0.13597963750362396, + 0.00642049964517355, + -0.012706962414085865, + 0.702996551990509, + -0.7110506296157837 + ], + "box_yaw_rad": -1.5595268636540978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022844171333105713 + } + } + }, + { + "simulation_time_ns": 3520000000, + "center": [ + 0.6051034691085534, + -14.855589772016666, + 0.11890365396822732 + ], + "face_center": [ + 0.5498104210977943, + -14.856228355599653, + 0.12045032104695458 + ], + "face_normal": [ + -0.9995424435004779, + -0.0115437910891234, + 0.027959380912623732 + ], + "footprint_xy": [ + [ + 0.5455729857496868, + -14.934563233461793 + ], + [ + 0.6646339524674199, + -14.934563233461793 + ], + [ + 0.6646339524674199, + -14.776616310571539 + ], + [ + 0.5455729857496868, + -14.776616310571539 + ] + ], + "projected_box_corners": [ + [ + 0.5455729857496868, + -14.77789347773751 + ], + [ + 0.5523065318488586, + -14.780149719962825 + ], + [ + 0.6561590817712049, + -14.776616310571539 + ], + [ + 0.6628926278703766, + -14.778872552796853 + ], + [ + 0.5473143103467301, + -14.93230699123648 + ], + [ + 0.5540478564459018, + -14.934563233461793 + ], + [ + 0.6579004063682481, + -14.931029824070507 + ], + [ + 0.6646339524674199, + -14.933286066295821 + ] + ], + "yaw_rad": -1.559519782742778, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3454180359840393, + -14.85661792755127, + 0.13030308485031128 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5498104758545702, + -14.856245610739974, + 0.1204436130522285 + ], + "intended_face_normal": [ + -0.9995425821317693, + -0.011541892145701227, + 0.027955561383286476 + ], + "commanded_contact_point": [ + 0.3454854103922844, + -14.85560713220342, + 0.11889715726359741 + ], + "centerline_face_intersection": [ + 0.5497598570629951, + -14.85560713220342, + 0.11889715726359741 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3399081528186798, + -14.858756065368652, + 0.12972502410411835 + ], + "box_pose": [ + 0.6071946620941162, + -14.860054016113281, + 0.13599786162376404, + 0.0064676133915781975, + -0.013341659680008888, + 0.7029845118522644, + -0.7110506296157837 + ], + "box_yaw_rad": -1.5595259862851658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018859383863871336 + } + } + }, + { + "simulation_time_ns": 3540000000, + "center": [ + 0.6050829016096871, + -14.85554893890589, + 0.1189072052419023 + ], + "face_center": [ + 0.5497895986494477, + -14.856187721516495, + 0.12044447286961261 + ], + "face_normal": [ + -0.9995470522684132, + -0.011547388947423354, + 0.027789465334172814 + ], + "footprint_xy": [ + [ + 0.5455718604951045, + -14.934481645081718 + ], + [ + 0.6645939427242699, + -14.934481645081718 + ], + [ + 0.6645939427242699, + -14.776616232730063 + ], + [ + 0.5455718604951045, + -14.776616232730063 + ] + ], + "projected_box_corners": [ + [ + 0.5455718604951045, + -14.777893797951272 + ], + [ + 0.5522637220300582, + -14.780067661903987 + ], + [ + 0.6561584664155836, + -14.776616232730063 + ], + [ + 0.6628503279505373, + -14.778790096682778 + ], + [ + 0.5473154752688371, + -14.932307781129001 + ], + [ + 0.5540073368037908, + -14.934481645081718 + ], + [ + 0.6579020811893161, + -14.931030215907795 + ], + [ + 0.6645939427242699, + -14.93320407986051 + ] + ], + "yaw_rad": -1.5595049875205507, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3491690158843994, + -14.854408264160156, + 0.12994159758090973 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5498104210977943, + -14.856228355599653, + 0.12045032104695458 + ], + "intended_face_normal": [ + -0.9995424435004779, + -0.0115437910891234, + 0.027959380912623732 + ], + "commanded_contact_point": [ + 0.3470592337846756, + -14.855589772016666, + 0.11890365396822732 + ], + "centerline_face_intersection": [ + 0.5497597869614865, + -14.855589772016666, + 0.11890365396822732 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3454180359840393, + -14.85661792755127, + 0.13030308485031128 + ], + "box_pose": [ + 0.6071946620941162, + -14.860033988952637, + 0.13600504398345947, + 0.0065235416404902935, + -0.013287813402712345, + 0.7029833197593689, + -0.7110522985458374 + ], + "box_yaw_rad": -1.559519782742778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015739325442003446 + } + } + }, + { + "simulation_time_ns": 3560000000, + "center": [ + 0.6050400102512302, + -14.855485509980205, + 0.11890775080719514 + ], + "face_center": [ + 0.5497461523945901, + -14.85612404509089, + 0.1204254786210508 + ], + "face_normal": [ + -0.9995570832311476, + -0.011542914846567331, + 0.027436240580094917 + ], + "footprint_xy": [ + [ + 0.5455704708147742, + -14.934355016998143 + ], + [ + 0.6645095496876863, + -14.934355016998143 + ], + [ + 0.6645095496876863, + -14.776616002962266 + ], + [ + 0.5455704708147742, + -14.776616002962266 + ] + ], + "projected_box_corners": [ + [ + 0.5455704708147742, + -14.777893073183638 + ], + [ + 0.5521761524157285, + -14.779940274249148 + ], + [ + 0.6561581865280544, + -14.776616002962266 + ], + [ + 0.6627638681290086, + -14.778663204027778 + ], + [ + 0.5473161523734519, + -14.932307815932633 + ], + [ + 0.5539218339744061, + -14.934355016998143 + ], + [ + 0.657903868086732, + -14.931030745711261 + ], + [ + 0.6645095496876863, + -14.933077946776773 + ] + ], + "yaw_rad": -1.559491660131866, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.35115310549736023, + -14.852607727050781, + 0.12851037085056305 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5497895986494477, + -14.856187721516495, + 0.12044447286961261 + ], + "intended_face_normal": [ + -0.9995470522684132, + -0.011547388947423354, + 0.027789465334172814 + ], + "commanded_contact_point": [ + 0.34859663873910907, + -14.85554893890589, + 0.1189072052419023 + ], + "centerline_face_intersection": [ + 0.549739474644392, + -14.85554893890589, + 0.1189072052419023 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3491690158843994, + -14.854408264160156, + 0.12994159758090973 + ], + "box_pose": [ + 0.6071711778640747, + -14.859987258911133, + 0.13601048290729523, + 0.006584491580724716, + -0.01310530211776495, + 0.7029814720153809, + -0.7110568881034851 + ], + "box_yaw_rad": -1.5595049875205507, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015379512178209014 + } + } + }, + { + "simulation_time_ns": 3580000000, + "center": [ + 0.6049738481373107, + -14.855400569322438, + 0.11890538621376406 + ], + "face_center": [ + 0.5496791589576034, + -14.85603737191576, + 0.12039292348418063 + ], + "face_normal": [ + -0.9995721112088019, + -0.01151159581639849, + 0.026890480658271487 + ], + "footprint_xy": [ + [ + 0.5455704932237986, + -14.934182247623992 + ], + [ + 0.6643772030508227, + -14.934182247623992 + ], + [ + 0.6643772030508227, + -14.776618891020885 + ], + [ + 0.5455704932237986, + -14.776618891020885 + ] + ], + "projected_box_corners": [ + [ + 0.5455704932237986, + -14.777892496207528 + ], + [ + 0.5520432241217565, + -14.779766563509558 + ], + [ + 0.6561598715832131, + -14.776618891020885 + ], + [ + 0.6626326024811711, + -14.778492958322914 + ], + [ + 0.5473150937934502, + -14.932308180321963 + ], + [ + 0.5537878246914082, + -14.934182247623992 + ], + [ + 0.6579044721528647, + -14.931034575135318 + ], + [ + 0.6643772030508227, + -14.932908642437347 + ] + ], + "yaw_rad": -1.5594987286618265, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3525644540786743, + -14.852413177490234, + 0.12717734277248383 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5497461523945901, + -14.85612404509089, + 0.1204254786210508 + ], + "intended_face_normal": [ + -0.9995570832311476, + -0.011542914846567331, + 0.027436240580094917 + ], + "commanded_contact_point": [ + 0.3502280998229981, + -14.855485509980205, + 0.11890775080719514 + ], + "centerline_face_intersection": [ + 0.5496971386797818, + -14.855485509980205, + 0.11890775080719514 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35115310549736023, + -14.852607727050781, + 0.12851037085056305 + ], + "box_pose": [ + 0.6071221828460693, + -14.859914779663086, + 0.13601411879062653, + 0.006645896937698126, + -0.012791899032890797, + 0.702982485294342, + -0.7110611796379089 + ], + "box_yaw_rad": -1.559491660131866, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016326937234213135 + } + } + }, + { + "simulation_time_ns": 3600000000, + "center": [ + 0.6048880840784844, + -14.855288073274739, + 0.11890230856887125 + ], + "face_center": [ + 0.549592355245593, + -14.855924832949611, + 0.12035079094297503 + ], + "face_normal": [ + -0.9995909052077112, + -0.011510819971808584, + 0.026184478224049734 + ], + "footprint_xy": [ + [ + 0.5455673584165973, + -14.933956670609618 + ], + [ + 0.6642088097403716, + -14.933956670609618 + ], + [ + 0.6642088097403716, + -14.77661947593986 + ], + [ + 0.5455673584165973, + -14.77661947593986 + ] + ], + "projected_box_corners": [ + [ + 0.5455673584165973, + -14.777892995289605 + ], + [ + 0.5518681443041783, + -14.779539905466713 + ], + [ + 0.6561588160823799, + -14.77661947593986 + ], + [ + 0.662459601969961, + -14.778266386116968 + ], + [ + 0.5473165661870079, + -14.932309760432512 + ], + [ + 0.5536173520745888, + -14.933956670609618 + ], + [ + 0.6579080238527905, + -14.931036241082767 + ], + [ + 0.6642088097403716, + -14.932683151259875 + ] + ], + "yaw_rad": -1.5594689754209496, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3508574962615967, + -14.853425979614258, + 0.126299187541008 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5496791589576034, + -14.85603737191576, + 0.12039292348418063 + ], + "intended_face_normal": [ + -0.9995721112088019, + -0.01151159581639849, + 0.026890480658271487 + ], + "commanded_contact_point": [ + 0.35186110317707064, + -14.855400569322438, + 0.11890538621376406 + ], + "centerline_face_intersection": [ + 0.5496318086133233, + -14.855400569322438, + 0.11890538621376406 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3525644540786743, + -14.852413177490234, + 0.12717734277248383 + ], + "box_pose": [ + 0.6070464849472046, + -14.859817504882812, + 0.1360161006450653, + 0.006707785651087761, + -0.012340969406068325, + 0.7029930353164673, + -0.7110580205917358 + ], + "box_yaw_rad": -1.5594987286618265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016352126653913857 + } + } + }, + { + "simulation_time_ns": 3620000000, + "center": [ + 0.6047747494324497, + -14.855148839832534, + 0.11889564757604956 + ], + "face_center": [ + 0.549477687450374, + -14.8557849071003, + 0.12029272868967497 + ], + "face_normal": [ + -0.9996150047869765, + -0.011498303203148708, + 0.025255288328648096 + ], + "footprint_xy": [ + [ + 0.5455639166479134, + -14.933677233193718 + ], + [ + 0.663985582216986, + -14.933677233193718 + ], + [ + 0.663985582216986, + -14.77662044647135 + ], + [ + 0.5455639166479134, + -14.77662044647135 + ] + ], + "projected_box_corners": [ + [ + 0.5455639166479134, + -14.777892581006883 + ], + [ + 0.5516385862165829, + -14.779259305498563 + ], + [ + 0.6561580406120648, + -14.77662044647135 + ], + [ + 0.6622327101807344, + -14.77798717096303 + ], + [ + 0.547316788684165, + -14.932310508702038 + ], + [ + 0.5533914582528345, + -14.933677233193718 + ], + [ + 0.6579109126483165, + -14.931038374166505 + ], + [ + 0.663985582216986, + -14.932405098658185 + ] + ], + "yaw_rad": -1.559445334207341, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.34599077701568604, + -14.854987144470215, + 0.12461793422698975 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.549592355245593, + -14.855924832949611, + 0.12035079094297503 + ], + "intended_face_normal": [ + -0.9995909052077112, + -0.011510819971808584, + 0.026184478224049734 + ], + "commanded_contact_point": [ + 0.3533252987265587, + -14.855288073274739, + 0.11890230856887125 + ], + "centerline_face_intersection": [ + 0.5495470850784003, + -14.855288073274739, + 0.11890230856887125 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3508574962615967, + -14.853425979614258, + 0.126299187541008 + ], + "box_pose": [ + 0.6069485545158386, + -14.859688758850098, + 0.13601867854595184, + 0.006792388390749693, + -0.011753170751035213, + 0.7029924988746643, + -0.7110677361488342 + ], + "box_yaw_rad": -1.5594689754209496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014685140243751685 + } + } + }, + { + "simulation_time_ns": 3640000000, + "center": [ + 0.6046471079012155, + -14.854993056690759, + 0.11888823792619646 + ], + "face_center": [ + 0.5493485725008401, + -14.855627941268398, + 0.12022643126721752 + ], + "face_normal": [ + -0.9996416400364415, + -0.011476923499515568, + 0.02419076339759707 + ], + "footprint_xy": [ + [ + 0.5455629976410642, + -14.933363025399656 + ], + [ + 0.6637312181613666, + -14.933363025399656 + ], + [ + 0.6637312181613666, + -14.77662308798186 + ], + [ + 0.5455629976410642, + -14.77662308798186 + ] + ], + "projected_box_corners": [ + [ + 0.5455629976410642, + -14.77789285713714 + ], + [ + 0.5513786661326684, + -14.778944026509953 + ], + [ + 0.6561600684418148, + -14.77662308798186 + ], + [ + 0.661975736933419, + -14.777674257354674 + ], + [ + 0.5473184788690117, + -14.932311856026843 + ], + [ + 0.553134147360616, + -14.933363025399656 + ], + [ + 0.6579155496697624, + -14.931042086871564 + ], + [ + 0.6637312181613666, + -14.932093256244377 + ] + ], + "yaw_rad": -1.5594285182910699, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3450363278388977, + -14.855977058410645, + 0.12477739155292511 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.549477687450374, + -14.8557849071003, + 0.12029272868967497 + ], + "intended_face_normal": [ + -0.9996150047869765, + -0.011498303203148708, + 0.025255288328648096 + ], + "commanded_contact_point": [ + 0.35531252503395083, + -14.855148839832534, + 0.11889564757604956 + ], + "centerline_face_intersection": [ + 0.5494350846408216, + -14.855148839832534, + 0.11889564757604956 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.34599077701568604, + -14.854987144470215, + 0.12461793422698975 + ], + "box_pose": [ + 0.6068191528320312, + -14.859529495239258, + 0.13601908087730408, + 0.006876257248222828, + -0.01100732572376728, + 0.7029961347579956, + -0.7110753059387207 + ], + "box_yaw_rad": -1.559445334207341, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001992109112735783 + } + } + }, + { + "simulation_time_ns": 3660000000, + "center": [ + 0.6045138828412233, + -14.854833624036873, + 0.11887968717311045 + ], + "face_center": [ + 0.549213912656705, + -14.855467476081765, + 0.12015721077823763 + ], + "face_normal": [ + -0.9996675768892598, + -0.011458258218032924, + 0.02309402559341439 + ], + "footprint_xy": [ + [ + 0.5455603940430642, + -14.933044100483627 + ], + [ + 0.6634673716393824, + -14.933044100483627 + ], + [ + 0.6634673716393824, + -14.776623147590119 + ], + [ + 0.5455603940430642, + -14.776623147590119 + ] + ], + "projected_box_corners": [ + [ + 0.5455603940430642, + -14.777890851679903 + ], + [ + 0.551109311383751, + -14.778624341110339 + ], + [ + 0.6561603344121008, + -14.776623147590119 + ], + [ + 0.6617092517527875, + -14.777356637020555 + ], + [ + 0.5473185139296591, + -14.93231061105319 + ], + [ + 0.5528674312703459, + -14.933044100483627 + ], + [ + 0.6579184542986957, + -14.931042906963405 + ], + [ + 0.6634673716393824, + -14.931776396393841 + ] + ], + "yaw_rad": -1.5594114889103072, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3495171070098877, + -14.85647201538086, + 0.12913505733013153 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5493485725008401, + -14.855627941268398, + 0.12022643126721752 + ], + "intended_face_normal": [ + -0.9996416400364415, + -0.011476923499515568, + 0.02419076339759707 + ], + "commanded_contact_point": [ + 0.357715739607811, + -14.854993056690759, + 0.11888823792619646 + ], + "centerline_face_intersection": [ + 0.5493089176237712, + -14.854993056690759, + 0.11888823792619646 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3450363278388977, + -14.855977058410645, + 0.12477739155292511 + ], + "box_pose": [ + 0.6066730618476868, + -14.85935115814209, + 0.13601961731910706, + 0.006964402738958597, + -0.010160884819924831, + 0.7030028700828552, + -0.7110804319381714 + ], + "box_yaw_rad": -1.5594285182910699, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024082698308507938 + } + } + }, + { + "simulation_time_ns": 3680000000, + "center": [ + 0.6043731786997024, + -14.854668857358693, + 0.11887086202517172 + ], + "face_center": [ + 0.5490717324641357, + -14.855301163265711, + 0.12008358727789617 + ], + "face_normal": [ + -0.9996942597314032, + -0.01143030840367043, + 0.021922654040831047 + ], + "footprint_xy": [ + [ + 0.5455601315245049, + -14.932709805297646 + ], + [ + 0.6631862258749, + -14.932709805297646 + ], + [ + 0.6631862258749, + -14.776627909419737 + ], + [ + 0.5455601315245049, + -14.776627909419737 + ] + ], + "projected_box_corners": [ + [ + 0.5455601315245049, + -14.777892521233778 + ], + [ + 0.5508241733041416, + -14.778289487798128 + ], + [ + 0.6561630239956383, + -14.776627909419737 + ], + [ + 0.661427065775275, + -14.77702487598409 + ], + [ + 0.5473192916241298, + -14.932312838733296 + ], + [ + 0.5525833334037664, + -14.932709805297646 + ], + [ + 0.6579221840952633, + -14.931048226919255 + ], + [ + 0.6631862258749, + -14.931445193483608 + ] + ], + "yaw_rad": -1.5594047946843181, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3553157150745392, + -14.855341911315918, + 0.13440309464931488 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.549213912656705, + -14.855467476081765, + 0.12015721077823763 + ], + "intended_face_normal": [ + -0.9996675768892598, + -0.011458258218032924, + 0.02309402559341439 + ], + "commanded_contact_point": [ + 0.3601173597574234, + -14.854833624036873, + 0.11887968717311045 + ], + "centerline_face_intersection": [ + 0.5491771283395606, + -14.854833624036873, + 0.11887968717311045 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3495171070098877, + -14.85647201538086, + 0.12913505733013153 + ], + "box_pose": [ + 0.6065208315849304, + -14.859169006347656, + 0.13601906597614288, + 0.0070443362928926945, + -0.0092998668551445, + 0.7030087113380432, + -0.7110854983329773 + ], + "box_yaw_rad": -1.5594114889103072, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024069215254195367 + } + } + }, + { + "simulation_time_ns": 3700000000, + "center": [ + 0.6042224819162866, + -14.854487929414736, + 0.11886228557786233 + ], + "face_center": [ + 0.5489195205607208, + -14.85511816996115, + 0.12000556105875991 + ], + "face_normal": [ + -0.9997216488300419, + -0.011392972505935739, + 0.02066719793685795 + ], + "footprint_xy": [ + [ + 0.545560872665904, + -14.932344988665056 + ], + [ + 0.6628840911666691, + -14.932344988665056 + ], + [ + 0.6628840911666691, + -14.776630870164416 + ], + [ + 0.545560872665904, + -14.776630870164416 + ] + ], + "projected_box_corners": [ + [ + 0.545560872665904, + -14.777891351257246 + ], + [ + 0.5505195596558479, + -14.777924361377204 + ], + [ + 0.6561667953770355, + -14.776630870164416 + ], + [ + 0.6611254823669793, + -14.776663880284376 + ], + [ + 0.5473194814655938, + -14.932311978545096 + ], + [ + 0.5522781684555377, + -14.932344988665056 + ], + [ + 0.6579254041767253, + -14.931051497452268 + ], + [ + 0.6628840911666691, + -14.931084507572228 + ] + ], + "yaw_rad": -1.5594083871906335, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.35787445306777954, + -14.85127067565918, + 0.13654495775699615 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5490717324641357, + -14.855301163265711, + 0.12008358727789617 + ], + "intended_face_normal": [ + -0.9996942597314032, + -0.01143030840367043, + 0.021922654040831047 + ], + "commanded_contact_point": [ + 0.36238024264574054, + -14.854668857358693, + 0.11887086202517172 + ], + "centerline_face_intersection": [ + 0.5490379011915012, + -14.854668857358693, + 0.11887086202517172 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3553157150745392, + -14.855341911315918, + 0.13440309464931488 + ], + "box_pose": [ + 0.6063597798347473, + -14.858980178833008, + 0.13601867854595184, + 0.007125679403543472, + -0.00838435161858797, + 0.7030178308486938, + -0.7110870480537415 + ], + "box_yaw_rad": -1.5594047946843181, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002268890677779143 + } + } + }, + { + "simulation_time_ns": 3720000000, + "center": [ + 0.6040526693995462, + -14.8542940147065, + 0.11885056773087944 + ], + "face_center": [ + 0.5487481164478476, + -14.854922319171004, + 0.11991519464215039 + ], + "face_normal": [ + -0.9997504204016018, + -0.011357973602579063, + 0.0192454534989836 + ], + "footprint_xy": [ + [ + 0.5455624779548085, + -14.932313790606718 + ], + [ + 0.6625428608442837, + -14.932313790606718 + ], + [ + 0.6625428608442837, + -14.776274238806282 + ], + [ + 0.5455624779548085, + -14.776274238806282 + ] + ], + "projected_box_corners": [ + [ + 0.5455624779548085, + -14.777893277693531 + ], + [ + 0.5501755721203379, + -14.777530847735289 + ], + [ + 0.6561715838582054, + -14.776636668764523 + ], + [ + 0.6607846780237348, + -14.776274238806282 + ], + [ + 0.5473206607753575, + -14.932313790606718 + ], + [ + 0.5519337549408868, + -14.931951360648478 + ], + [ + 0.6579297666787544, + -14.931057181677712 + ], + [ + 0.6625428608442837, + -14.93069475171947 + ] + ], + "yaw_rad": -1.5594111369647812, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3573951721191406, + -14.85085678100586, + 0.13442616164684296 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5489195205607208, + -14.85511816996115, + 0.12000556105875991 + ], + "intended_face_normal": [ + -0.9997216488300419, + -0.011392972505935739, + 0.02066719793685795 + ], + "commanded_contact_point": [ + 0.3648458930850029, + -14.854487929414736, + 0.11886228557786233 + ], + "centerline_face_intersection": [ + 0.5488887204134411, + -14.854487929414736, + 0.11886228557786233 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35787445306777954, + -14.85127067565918, + 0.13654495775699615 + ], + "box_pose": [ + 0.6061872243881226, + -14.858773231506348, + 0.13601914048194885, + 0.007217701058834791, + -0.007398259826004505, + 0.7030301690101624, + -0.7110850214958191 + ], + "box_yaw_rad": -1.5594083871906335, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024722945951054544 + } + } + }, + { + "simulation_time_ns": 3740000000, + "center": [ + 0.6038621666431867, + -14.854076657209685, + 0.11883694007086473 + ], + "face_center": [ + 0.5485559740585411, + -14.854703618481892, + 0.11981334524571771 + ], + "face_normal": [ + -0.9997800603433559, + -0.011333692472138113, + 0.01765065319114173 + ], + "footprint_xy": [ + [ + 0.5455636787832386, + -14.93231500246467 + ], + [ + 0.6621606545031349, + -14.93231500246467 + ], + [ + 0.6621606545031349, + -14.775838311954702 + ], + [ + 0.5455636787832386, + -14.775838311954702 + ] + ], + "projected_box_corners": [ + [ + 0.5455636787832386, + -14.777895145562173 + ], + [ + 0.5497891584238156, + -14.777092234499115 + ], + [ + 0.6561760639525299, + -14.77664122301776 + ], + [ + 0.6604015435931069, + -14.775838311954702 + ], + [ + 0.5473227896932666, + -14.93231500246467 + ], + [ + 0.5515482693338436, + -14.93151209140161 + ], + [ + 0.6579351748625579, + -14.931061079920257 + ], + [ + 0.6621606545031349, + -14.930258168857199 + ] + ], + "yaw_rad": -1.5594050792122485, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3571179509162903, + -14.857086181640625, + 0.1300988346338272 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5487481164478476, + -14.854922319171004, + 0.11991519464215039 + ], + "intended_face_normal": [ + -0.9997504204016018, + -0.011357973602579063, + 0.0192454534989836 + ], + "commanded_contact_point": [ + 0.36764547109603885, + -14.8542940147065, + 0.11885056773087944 + ], + "centerline_face_intersection": [ + 0.5487205003334191, + -14.8542940147065, + 0.11885056773087944 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3573951721191406, + -14.85085678100586, + 0.13442616164684296 + ], + "box_pose": [ + 0.6059926748275757, + -14.858551025390625, + 0.13601727783679962, + 0.007297398056834936, + -0.006306409370154142, + 0.7030417919158936, + -0.7110832333564758 + ], + "box_yaw_rad": -1.5594111369647812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028063102575951733 + } + } + }, + { + "simulation_time_ns": 3760000000, + "center": [ + 0.6036543133970386, + -14.85383183666342, + 0.11882514441089671 + ], + "face_center": [ + 0.5483464886649299, + -14.854457086087473, + 0.11970537605085554 + ], + "face_normal": [ + -0.9998095649686575, + -0.011302747082999054, + 0.015912106782026092 + ], + "footprint_xy": [ + [ + 0.5455658302069063, + -14.932315934716579 + ], + [ + 0.6617427965871707, + -14.932315934716579 + ], + [ + 0.6617427965871707, + -14.775347738610265 + ], + [ + 0.5455658302069063, + -14.775347738610265 + ] + ], + "projected_box_corners": [ + [ + 0.5455658302069063, + -14.777897427677551 + ], + [ + 0.5493685937994972, + -14.776598237458368 + ], + [ + 0.6561814796711236, + -14.776646928829448 + ], + [ + 0.6599842432637145, + -14.775347738610265 + ], + [ + 0.5473243835303625, + -14.932315934716579 + ], + [ + 0.5511271471229534, + -14.931016744497393 + ], + [ + 0.6579400329945798, + -14.931065435868476 + ], + [ + 0.6617427965871707, + -14.92976624564929 + ] + ], + "yaw_rad": -1.5594085900540218, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3597679138183594, + -14.861227035522461, + 0.12864933907985687 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5485559740585411, + -14.854703618481892, + 0.11981334524571771 + ], + "intended_face_normal": [ + -0.9997800603433559, + -0.011333692472138113, + 0.01765065319114173 + ], + "commanded_contact_point": [ + 0.37052594751119616, + -14.854076657209685, + 0.11883694007086473 + ], + "centerline_face_intersection": [ + 0.5485316379801176, + -14.854076657209685, + 0.11883694007086473 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3571179509162903, + -14.857086181640625, + 0.1300988346338272 + ], + "box_pose": [ + 0.605774462223053, + -14.858302116394043, + 0.13601455092430115, + 0.0073822312988340855, + -0.005086322780698538, + 0.7030495405197144, + -0.7110844254493713 + ], + "box_yaw_rad": -1.5594050792122485, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028886976949512883 + } + } + }, + { + "simulation_time_ns": 3780000000, + "center": [ + 0.6034765351590906, + -14.853603797391582, + 0.11882036550392482 + ], + "face_center": [ + 0.5481674483074777, + -14.854227864607177, + 0.11961841958850322 + ], + "face_normal": [ + -0.9998323805315298, + -0.011281376086607509, + 0.01442656822951438 + ], + "footprint_xy": [ + [ + 0.5455677190620956, + -14.932317726620667 + ], + [ + 0.6613853512560857, + -14.932317726620667 + ], + [ + 0.6613853512560857, + -14.774889868162496 + ], + [ + 0.5455677190620956, + -14.774889868162496 + ] + ], + "projected_box_corners": [ + [ + 0.5455677190620956, + -14.777901082947931 + ], + [ + 0.5490088402462064, + -14.776138002593687 + ], + [ + 0.6561858927653215, + -14.776652948516741 + ], + [ + 0.6596270139494324, + -14.774889868162496 + ], + [ + 0.5473260563687489, + -14.932317726620667 + ], + [ + 0.5507671775528598, + -14.930554646266422 + ], + [ + 0.6579442300719747, + -14.931069592189477 + ], + [ + 0.6613853512560857, + -14.929306511835232 + ] + ], + "yaw_rad": -1.559409851388932, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3644368648529053, + -14.860991477966309, + 0.13014063239097595 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5483464886649299, + -14.854457086087473, + 0.11970537605085554 + ], + "intended_face_normal": [ + -0.9998095649686575, + -0.011302747082999054, + 0.015912106782026092 + ], + "commanded_contact_point": [ + 0.37377413988113406, + -14.85383183666342, + 0.11882514441089671 + ], + "centerline_face_intersection": [ + 0.548325417551431, + -14.85383183666342, + 0.11882514441089671 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3597679138183594, + -14.861227035522461, + 0.12864933907985687 + ], + "box_pose": [ + 0.6055363416671753, + -14.85802173614502, + 0.13601480424404144, + 0.007498339284211397, + -0.0037324302829802036, + 0.7030593156814575, + -0.7110819220542908 + ], + "box_yaw_rad": -1.5594085900540218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00325742688476502 + } + } + }, + { + "simulation_time_ns": 3800000000, + "center": [ + 0.6033248373103338, + -14.853410650965241, + 0.11881536977864385 + ], + "face_center": [ + 0.5480147734976233, + -14.854033831418219, + 0.11954328065651706 + ], + "face_normal": [ + -0.9998500412342374, + -0.011265345918161085, + 0.013158576777651906 + ], + "footprint_xy": [ + [ + 0.5455696512989586, + -14.932318524324991 + ], + [ + 0.6610800233217089, + -14.932318524324991 + ], + [ + 0.6610800233217089, + -14.774502777605493 + ], + [ + 0.5455696512989586, + -14.774502777605493 + ] + ], + "projected_box_corners": [ + [ + 0.5455696512989586, + -14.777903913724009 + ], + [ + 0.5487021473467256, + -14.775749138511447 + ], + [ + 0.6561897789243798, + -14.776657552818053 + ], + [ + 0.6593222749721467, + -14.774502777605493 + ], + [ + 0.5473273996485208, + -14.932318524324991 + ], + [ + 0.5504598956962878, + -14.930163749112431 + ], + [ + 0.657947527273942, + -14.931072163419037 + ], + [ + 0.6610800233217089, + -14.928917388206475 + ] + ], + "yaw_rad": -1.5594135151176154, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.36856621503829956, + -14.859103202819824, + 0.1302131712436676 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5481674483074777, + -14.854227864607177, + 0.11961841958850322 + ], + "intended_face_normal": [ + -0.9998323805315298, + -0.011281376086607509, + 0.01442656822951438 + ], + "commanded_contact_point": [ + 0.3775463390350342, + -14.853603797391582, + 0.11882036550392482 + ], + "centerline_face_intersection": [ + 0.5481489018850164, + -14.853603797391582, + 0.11882036550392482 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3644368648529053, + -14.860991477966309, + 0.13014063239097595 + ], + "box_pose": [ + 0.6053326725959778, + -14.857760429382324, + 0.13602091372013092, + 0.00765592884272337, + -0.0025165630504488945, + 0.7030652165412903, + -0.7110797762870789 + ], + "box_yaw_rad": -1.559409851388932, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003779088673759547 + } + } + }, + { + "simulation_time_ns": 3820000000, + "center": [ + 0.6031959666914786, + -14.853248697394676, + 0.11881079677633709 + ], + "face_center": [ + 0.5478851518199597, + -14.85387133168864, + 0.11947916259506285 + ], + "face_normal": [ + -0.9998636182603453, + -0.011255472902764185, + 0.01208216995871434 + ], + "footprint_xy": [ + [ + 0.545571245014705, + -14.93232219857196 + ], + [ + 0.6608206883682521, + -14.93232219857196 + ], + [ + 0.6608206883682521, + -14.774175196217392 + ], + [ + 0.545571245014705, + -14.774175196217392 + ] + ], + "projected_box_corners": [ + [ + 0.545571245014705, + -14.777909673479265 + ], + [ + 0.5484417264311244, + -14.775420464805322 + ], + [ + 0.6561928747577426, + -14.776664404891337 + ], + [ + 0.6590633561741621, + -14.774175196217392 + ], + [ + 0.5473285772087949, + -14.93232219857196 + ], + [ + 0.5501990586252145, + -14.929832989898015 + ], + [ + 0.6579502069518326, + -14.93107692998403 + ], + [ + 0.6608206883682521, + -14.928587721310087 + ] + ], + "yaw_rad": -1.5594160561334263, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3734064996242523, + -14.859037399291992, + 0.1297496110200882 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5480147734976233, + -14.854033831418219, + 0.11954328065651706 + ], + "intended_face_normal": [ + -0.9998500412342374, + -0.011265345918161085, + 0.013158576777651906 + ], + "commanded_contact_point": [ + 0.38159709304571154, + -14.853410650965241, + 0.11881536977864385 + ], + "centerline_face_intersection": [ + 0.5479981813076928, + -14.853410650965241, + 0.11881536977864385 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.36856621503829956, + -14.859103202819824, + 0.1302131712436676 + ], + "box_pose": [ + 0.6051588654518127, + -14.857539176940918, + 0.1360250562429428, + 0.007784205488860607, + -0.0014850859297439456, + 0.7030695080757141, + -0.7110770344734192 + ], + "box_yaw_rad": -1.5594135151176154, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004055359238624589 + } + } + }, + { + "simulation_time_ns": 3840000000, + "center": [ + 0.6030868585609688, + -14.853110543043158, + 0.11880611311179463 + ], + "face_center": [ + 0.5477754376404661, + -14.853732501135156, + 0.11942379136712566 + ], + "face_normal": [ + -0.9998745739175922, + -0.0112432490773412, + 0.011165881694757874 + ], + "footprint_xy": [ + [ + 0.545573690550386, + -14.932322763777892 + ], + [ + 0.6606000265715515, + -14.932322763777892 + ], + [ + 0.6606000265715515, + -14.773898322308424 + ], + [ + 0.545573690550386, + -14.773898322308424 + ] + ], + "projected_box_corners": [ + [ + 0.545573690550386, + -14.777912172946102 + ], + [ + 0.5482211941792665, + -14.77514223849242 + ], + [ + 0.6561965323913912, + -14.776668256762107 + ], + [ + 0.6588440360202718, + -14.773898322308424 + ], + [ + 0.5473296811016658, + -14.932322763777892 + ], + [ + 0.5499771847305462, + -14.929552829324209 + ], + [ + 0.6579525229426709, + -14.931078847593897 + ], + [ + 0.6606000265715515, + -14.928308913140214 + ] + ], + "yaw_rad": -1.559424601264106, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.37922242283821106, + -14.860243797302246, + 0.1277233511209488 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5478851518199597, + -14.85387133168864, + 0.11947916259506285 + ], + "intended_face_normal": [ + -0.9998636182603453, + -0.011255472902764185, + 0.01208216995871434 + ], + "commanded_contact_point": [ + 0.3846884059906006, + -14.853248697394676, + 0.11881079677633709 + ], + "centerline_face_intersection": [ + 0.5478700619627507, + -14.853248697394676, + 0.11881079677633709 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3734064996242523, + -14.859037399291992, + 0.1297496110200882 + ], + "box_pose": [ + 0.6050112247467041, + -14.857353210449219, + 0.1360282152891159, + 0.007895915769040585, + -0.0006066215573810041, + 0.7030717730522156, + -0.7110747694969177 + ], + "box_yaw_rad": -1.5594160561334263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030955557812140273 + } + } + }, + { + "simulation_time_ns": 3860000000, + "center": [ + 0.6029945456015691, + -14.852993132746029, + 0.1188025639794759 + ], + "face_center": [ + 0.547682668218671, + -14.85361489594046, + 0.11937784808289512 + ], + "face_normal": [ + -0.9998828254709906, + -0.011239725878723572, + 0.010399514932270308 + ], + "footprint_xy": [ + [ + 0.5455743531107274, + -14.932322913329106 + ], + [ + 0.6604147380924108, + -14.932322913329106 + ], + [ + 0.6604147380924108, + -14.77366335216295 + ], + [ + 0.5455743531107274, + -14.77366335216295 + ] + ], + "projected_box_corners": [ + [ + 0.5455743531107274, + -14.777914164529403 + ], + [ + 0.5480353206558142, + -14.774906878551812 + ], + [ + 0.6561981078765238, + -14.77667063814054 + ], + [ + 0.6586590754216105, + -14.77366335216295 + ], + [ + 0.5473300157815277, + -14.932322913329106 + ], + [ + 0.5497909833266145, + -14.929315627351516 + ], + [ + 0.6579537705473241, + -14.931079386940244 + ], + [ + 0.6604147380924108, + -14.928072100962654 + ] + ], + "yaw_rad": -1.5594265887992227, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3836316764354706, + -14.861016273498535, + 0.12834374606609344 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5477754376404661, + -14.853732501135156, + 0.11942379136712566 + ], + "intended_face_normal": [ + -0.9998745739175922, + -0.0112432490773412, + 0.011165881694757874 + ], + "commanded_contact_point": [ + 0.38716992616653445, + -14.853110543043158, + 0.11880611311179463 + ], + "centerline_face_intersection": [ + 0.5477615600399242, + -14.853110543043158, + 0.11880611311179463 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.37922242283821106, + -14.860243797302246, + 0.1277233511209488 + ], + "box_pose": [ + 0.6048861145973206, + -14.857194900512695, + 0.13603000342845917, + 0.007985228672623634, + 0.00013529475836548954, + 0.703075110912323, + -0.7110708355903625 + ], + "box_yaw_rad": -1.559424601264106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002485367366230515 + } + } + }, + { + "simulation_time_ns": 3880000000, + "center": [ + 0.6029162408613468, + -14.852895890524305, + 0.11879888717102674 + ], + "face_center": [ + 0.5476039986856619, + -14.853517402157866, + 0.11933804459885601 + ], + "face_normal": [ + -0.9998894198962668, + -0.011235178367346332, + 0.009746446474411141 + ], + "footprint_xy": [ + [ + 0.5455755044082489, + -14.932324335534187 + ], + [ + 0.6602569773144448, + -14.932324335534187 + ], + [ + 0.6602569773144448, + -14.773467445514422 + ], + [ + 0.5455755044082489, + -14.773467445514422 + ] + ], + "projected_box_corners": [ + [ + 0.5455755044082489, + -14.777917247867911 + ], + [ + 0.5478775523782045, + -14.774710468781548 + ], + [ + 0.6561999887596186, + -14.776674224600788 + ], + [ + 0.6585020367295742, + -14.773467445514422 + ], + [ + 0.5473304449931193, + -14.932324335534187 + ], + [ + 0.5496324929630749, + -14.929117556447821 + ], + [ + 0.6579549293444891, + -14.931081312267061 + ], + [ + 0.6602569773144448, + -14.927874533180697 + ] + ], + "yaw_rad": -1.559431142395899, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3865709900856018, + -14.861549377441406, + 0.1285354495048523 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.547682668218671, + -14.85361489594046, + 0.11937784808289512 + ], + "intended_face_normal": [ + -0.9998828254709906, + -0.011239725878723572, + 0.010399514932270308 + ], + "commanded_contact_point": [ + 0.39010053753852847, + -14.852993132746029, + 0.1188025639794759 + ], + "centerline_face_intersection": [ + 0.5476697036536783, + -14.852993132746029, + 0.1188025639794759 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3836316764354706, + -14.861016273498535, + 0.12834374606609344 + ], + "box_pose": [ + 0.6047804355621338, + -14.857060432434082, + 0.1360318809747696, + 0.008063659071922302, + 0.0007596081704832613, + 0.7030754685401917, + -0.7110691666603088 + ], + "box_yaw_rad": -1.5594265887992227, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029329645050482317 + } + } + }, + { + "simulation_time_ns": 3900000000, + "center": [ + 0.6028502820604258, + -14.852810072349934, + 0.11879605847391944 + ], + "face_center": [ + 0.5475377498456656, + -14.853431933283538, + 0.11930462029212123 + ], + "face_normal": [ + -0.9998946629851623, + -0.011241492727473101, + 0.009193364097735454 + ], + "footprint_xy": [ + [ + 0.5455761626001121, + -14.932324314734371 + ], + [ + 0.6601244015207395, + -14.932324314734371 + ], + [ + 0.6601244015207395, + -14.773295829965496 + ], + [ + 0.5455761626001121, + -14.773295829965496 + ] + ], + "projected_box_corners": [ + [ + 0.5455761626001121, + -14.777918750119623 + ], + [ + 0.5477435509066783, + -14.774539551832707 + ], + [ + 0.6562012270296325, + -14.776675028252415 + ], + [ + 0.6583686153361986, + -14.773295829965496 + ], + [ + 0.5473319487846531, + -14.932324314734371 + ], + [ + 0.5494993370912192, + -14.928945116447453 + ], + [ + 0.6579570132141733, + -14.931080592867161 + ], + [ + 0.6601244015207395, + -14.927701394580245 + ] + ], + "yaw_rad": -1.5594255545230171, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3894435465335846, + -14.861937522888184, + 0.12723852694034576 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5476039986856619, + -14.853517402157866, + 0.11933804459885601 + ], + "intended_face_normal": [ + -0.9998894198962668, + -0.011235178367346332, + 0.009746446474411141 + ], + "commanded_contact_point": [ + 0.3934402379393578, + -14.852895890524305, + 0.11879888717102674 + ], + "centerline_face_intersection": [ + 0.5475917637893402, + -14.852895890524305, + 0.11879888717102674 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3865709900856018, + -14.861549377441406, + 0.1285354495048523 + ], + "box_pose": [ + 0.6046907305717468, + -14.856948852539062, + 0.13603276014328003, + 0.008126447908580303, + 0.0012875186512246728, + 0.7030763626098633, + -0.7110667824745178 + ], + "box_yaw_rad": -1.559431142395899, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033411178273005638 + } + } + }, + { + "simulation_time_ns": 3920000000, + "center": [ + 0.6027938086396374, + -14.852737639738653, + 0.11879355947780297 + ], + "face_center": [ + 0.5474810485236461, + -14.8533597455533, + 0.11927607090843939 + ], + "face_normal": [ + -0.9998987827969941, + -0.011245919486418177, + 0.00872244652350157 + ], + "footprint_xy": [ + [ + 0.5455765481783356, + -14.932324633103471 + ], + [ + 0.6600110691009393, + -14.932324633103471 + ], + [ + 0.6600110691009393, + -14.773150646373836 + ], + [ + 0.5455765481783356, + -14.773150646373836 + ] + ], + "projected_box_corners": [ + [ + 0.5455765481783356, + -14.77792044013479 + ], + [ + 0.5476292895575068, + -14.774394858003129 + ], + [ + 0.656202068410318, + -14.776676228505497 + ], + [ + 0.6582548097894892, + -14.773150646373836 + ], + [ + 0.5473328074897855, + -14.932324633103471 + ], + [ + 0.5493855488689567, + -14.92879905097181 + ], + [ + 0.6579583277217681, + -14.931080421474178 + ], + [ + 0.6600110691009393, + -14.927554839342516 + ] + ], + "yaw_rad": -1.5594223897057748, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.39240407943725586, + -14.860567092895508, + 0.12557320296764374 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5475377498456656, + -14.853431933283538, + 0.11930462029212123 + ], + "intended_face_normal": [ + -0.9998946629851623, + -0.011241492727473101, + 0.009193364097735454 + ], + "commanded_contact_point": [ + 0.3967537197470665, + -14.852810072349934, + 0.11879605847391944 + ], + "centerline_face_intersection": [ + 0.547526095090129, + -14.852810072349934, + 0.11879605847391944 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3894435465335846, + -14.861937522888184, + 0.12723852694034576 + ], + "box_pose": [ + 0.6046151518821716, + -14.856850624084473, + 0.136033833026886, + 0.00818466953933239, + 0.0017397546907886863, + 0.7030734419822693, + -0.7110680937767029 + ], + "box_yaw_rad": -1.5594255545230171, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003314594160767879 + } + } + }, + { + "simulation_time_ns": 3940000000, + "center": [ + 0.6027457919738125, + -14.852677812842112, + 0.11879124662744218 + ], + "face_center": [ + 0.5474328431070106, + -14.85329929785521, + 0.11925171554349553 + ], + "face_normal": [ + -0.9999021948795862, + -0.011234697144401173, + 0.00832397999506973 + ], + "footprint_xy": [ + [ + 0.5455778078380924, + -14.93232513809962 + ], + [ + 0.6599137761095327, + -14.93232513809962 + ], + [ + 0.6599137761095327, + -14.773030487584606 + ], + [ + 0.5455778078380924, + -14.773030487584606 + ] + ], + "projected_box_corners": [ + [ + 0.5455778078380924, + -14.777922127747617 + ], + [ + 0.5475336041147689, + -14.774273457610803 + ], + [ + 0.6562037055716964, + -14.77667915772142 + ], + [ + 0.6581595018483729, + -14.773030487584606 + ], + [ + 0.5473320820992522, + -14.93232513809962 + ], + [ + 0.5492878783759287, + -14.928676467962806 + ], + [ + 0.6579579798328562, + -14.931082168073422 + ], + [ + 0.6599137761095327, + -14.927433497936608 + ] + ], + "yaw_rad": -1.5594351572284832, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.394101083278656, + -14.85825252532959, + 0.12310084700584412 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474810485236461, + -14.8533597455533, + 0.11927607090843939 + ], + "intended_face_normal": [ + -0.9998987827969941, + -0.011245919486418177, + 0.00872244652350157 + ], + "commanded_contact_point": [ + 0.3995667088031769, + -14.852737639738653, + 0.11879355947780297 + ], + "centerline_face_intersection": [ + 0.5474698496176529, + -14.852737639738653, + 0.11879355947780297 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.39240407943725586, + -14.860567092895508, + 0.12557320296764374 + ], + "box_pose": [ + 0.6045504808425903, + -14.856767654418945, + 0.13603463768959045, + 0.00823363196104765, + 0.0021241852082312107, + 0.7030712962150574, + -0.7110685706138611 + ], + "box_yaw_rad": -1.5594223897057748, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028139225572064697 + } + } + }, + { + "simulation_time_ns": 3960000000, + "center": [ + 0.6027053388798544, + -14.852625248473569, + 0.1187893577248886 + ], + "face_center": [ + 0.5473922264052409, + -14.853246075243232, + 0.11923121896412868 + ], + "face_normal": [ + -0.9999051524476272, + -0.011222797958608033, + 0.00798760565111617 + ], + "footprint_xy": [ + [ + 0.5455791572831927, + -14.932323785071565 + ], + [ + 0.6598315204765162, + -14.932323785071565 + ], + [ + 0.6598315204765162, + -14.772926711875572 + ], + [ + 0.5455791572831927, + -14.772926711875572 + ] + ], + "projected_box_corners": [ + [ + 0.5455791572831927, + -14.777921782151264 + ], + [ + 0.5474531170241556, + -14.7741683654149 + ], + [ + 0.6562053822324198, + -14.776680128611936 + ], + [ + 0.6580793419733826, + -14.772926711875572 + ], + [ + 0.5473313357863263, + -14.932323785071565 + ], + [ + 0.5492052955272891, + -14.928570368335203 + ], + [ + 0.6579575607355533, + -14.931082131532238 + ], + [ + 0.6598315204765162, + -14.927328714795875 + ] + ], + "yaw_rad": -1.559448654742687, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.39621928334236145, + -14.85610294342041, + 0.12100555002689362 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474328431070106, + -14.85329929785521, + 0.11925171554349553 + ], + "intended_face_normal": [ + -0.9999021948795862, + -0.011234697144401173, + 0.00832397999506973 + ], + "commanded_contact_point": [ + 0.40196130305528643, + -14.852677812842112, + 0.11879124662744218 + ], + "centerline_face_intersection": [ + 0.54742202174021, + -14.852677812842112, + 0.11879124662744218 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.394101083278656, + -14.85825252532959, + 0.12310084700584412 + ], + "box_pose": [ + 0.6044954657554626, + -14.856698989868164, + 0.13603509962558746, + 0.008273989893496037, + 0.0024483059532940388, + 0.7030748128890991, + -0.7110635042190552 + ], + "box_yaw_rad": -1.5594351572284832, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002395342614129028 + } + } + }, + { + "simulation_time_ns": 3980000000, + "center": [ + 0.6026927254651149, + -14.852611977118595, + 0.11878922789529268 + ], + "face_center": [ + 0.5473795651497784, + -14.853232417147831, + 0.11922524027663378 + ], + "face_normal": [ + -0.9999060172730401, + -0.011215806781853965, + 0.007881874787538184 + ], + "footprint_xy": [ + [ + 0.54557991972712, + -14.932323875257897 + ], + [ + 0.6598055312031096, + -14.932323875257897 + ], + [ + 0.6598055312031096, + -14.772900078979294 + ], + [ + 0.54557991972712, + -14.772900078979294 + ] + ], + "projected_box_corners": [ + [ + 0.54557991972712, + -14.777922149171712 + ], + [ + 0.5474282278165991, + -14.774140959037767 + ], + [ + 0.656206240357793, + -14.77668126911324 + ], + [ + 0.658054548447272, + -14.772900078979294 + ], + [ + 0.5473309024829578, + -14.932323875257897 + ], + [ + 0.5491792105724368, + -14.928542685123952 + ], + [ + 0.6579572231136306, + -14.931082995199423 + ], + [ + 0.6598055312031096, + -14.927301805065479 + ] + ], + "yaw_rad": -1.5594563777928632, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3995303511619568, + -14.852396011352539, + 0.12263187766075134 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473922264052409, + -14.853246075243232, + 0.11923121896412868 + ], + "intended_face_normal": [ + -0.9999051524476272, + -0.011222797958608033, + 0.00798760565111617 + ], + "commanded_contact_point": [ + 0.40426676601171496, + -14.852625248473569, + 0.1187893577248886 + ], + "centerline_face_intersection": [ + 0.5473817322855875, + -14.852625248473569, + 0.1187893577248886 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.39621928334236145, + -14.85610294342041, + 0.12100555002689362 + ], + "box_pose": [ + 0.6044490933418274, + -14.85663890838623, + 0.13603556156158447, + 0.008309299126267433, + 0.002723157638683915, + 0.7030786275863647, + -0.7110583782196045 + ], + "box_yaw_rad": -1.559448654742687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023060628838471355 + } + } + }, + { + "simulation_time_ns": 4000000000, + "center": [ + 0.6026920327936284, + -14.852611880532653, + 0.11878934625322468 + ], + "face_center": [ + 0.54737886452976, + -14.85323231800113, + 0.11922509231454456 + ], + "face_normal": [ + -0.999906160960091, + -0.011215760490522197, + 0.007877060472279096 + ], + "footprint_xy": [ + [ + 0.5455798017949267, + -14.932323123574172 + ], + [ + 0.65980426379233, + -14.932323123574172 + ], + [ + 0.65980426379233, + -14.772900637491134 + ], + [ + 0.5455798017949267, + -14.772900637491134 + ] + ], + "projected_box_corners": [ + [ + 0.5455798017949267, + -14.777921367610384 + ], + [ + 0.5474269699333902, + -14.774141512428086 + ], + [ + 0.6562061383226634, + -14.776680492673432 + ], + [ + 0.6580533064611269, + -14.772900637491134 + ], + [ + 0.5473307591261298, + -14.932323123574172 + ], + [ + 0.5491779272645934, + -14.928543268391874 + ], + [ + 0.6579570956538665, + -14.93108224863722 + ], + [ + 0.65980426379233, + -14.927302393454923 + ] + ], + "yaw_rad": -1.559456544631294, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.40225839614868164, + -14.848604202270508, + 0.12544697523117065 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473795651497784, + -14.853232417147831, + 0.11922524027663378 + ], + "intended_face_normal": [ + -0.9999060172730401, + -0.011215806781853965, + 0.007881874787538184 + ], + "commanded_contact_point": [ + 0.4063990104198456, + -14.852611977118595, + 0.11878922789529268 + ], + "centerline_face_intersection": [ + 0.5473691667206059, + -14.852611977118595, + 0.11878922789529268 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3995303511619568, + -14.852396011352539, + 0.12263187766075134 + ], + "box_pose": [ + 0.604434609413147, + -14.856623649597168, + 0.13603608310222626, + 0.008312862366437912, + 0.0028019098099321127, + 0.7030810713768005, + -0.7110555768013 + ], + "box_yaw_rad": -1.5594563777928632, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021322857129669457 + } + } + }, + { + "simulation_time_ns": 4020000000, + "center": [ + 0.6026940674572326, + -14.852614463829138, + 0.11878954451271063 + ], + "face_center": [ + 0.5473809099957813, + -14.853234928864547, + 0.11922620583292201 + ], + "face_normal": [ + -0.9999059656828422, + -0.011216258822961844, + 0.00789360577303147 + ], + "footprint_xy": [ + [ + 0.545579792786948, + -14.932323811914527 + ], + [ + 0.6598083421275172, + -14.932323811914527 + ], + [ + 0.6598083421275172, + -14.77290511574375 + ], + [ + 0.545579792786948, + -14.77290511574375 + ] + ], + "projected_box_corners": [ + [ + 0.545579792786948, + -14.777922026674814 + ], + [ + 0.547430972135986, + -14.774146045814568 + ], + [ + 0.6562061077098507, + -14.776681096603996 + ], + [ + 0.6580572870588887, + -14.77290511574375 + ], + [ + 0.5473308478555766, + -14.932323811914527 + ], + [ + 0.5491820272046145, + -14.92854783105428 + ], + [ + 0.6579571627784793, + -14.93108288184371 + ], + [ + 0.6598083421275172, + -14.927306900983464 + ] + ], + "yaw_rad": -1.559455913855537, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.40433308482170105, + -14.848006248474121, + 0.12759844958782196 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.54737886452976, + -14.85323231800113, + 0.11922509231454456 + ], + "intended_face_normal": [ + -0.999906160960091, + -0.011215760490522197, + 0.007877060472279096 + ], + "commanded_contact_point": [ + 0.4083528804779053, + -14.852611880532653, + 0.11878934625322468 + ], + "centerline_face_intersection": [ + 0.5473684819991445, + -14.852611880532653, + 0.11878934625322468 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.40225839614868164, + -14.848604202270508, + 0.12544697523117065 + ], + "box_pose": [ + 0.6044338345527649, + -14.856623649597168, + 0.13603618741035461, + 0.008309212513267994, + 0.0028016427531838417, + 0.7030811309814453, + -0.7110556364059448 + ], + "box_yaw_rad": -1.559456544631294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019538700640317997 + } + } + }, + { + "simulation_time_ns": 4040000000, + "center": [ + 0.60269983528307, + -14.85262290610867, + 0.11878991481202208 + ], + "face_center": [ + 0.5473867067069631, + -14.853243371464279, + 0.11922926435808127 + ], + "face_normal": [ + -0.9999054435172393, + -0.011216264611270566, + 0.007942201318570652 + ], + "footprint_xy": [ + [ + 0.5455796532080488, + -14.93232471159588 + ], + [ + 0.6598200173580911, + -14.93232471159588 + ], + [ + 0.6598200173580911, + -14.772921100621458 + ], + [ + 0.5455796532080488, + -14.772921100621458 + ] + ], + "projected_box_corners": [ + [ + 0.5455796532080488, + -14.777922793650516 + ], + [ + 0.5474426628571328, + -14.774162031332676 + ], + [ + 0.6562059103602627, + -14.7766818629393 + ], + [ + 0.6580689200093467, + -14.772921100621458 + ], + [ + 0.5473307505567934, + -14.93232471159588 + ], + [ + 0.5491937602058774, + -14.92856394927804 + ], + [ + 0.6579570077090071, + -14.931083780884663 + ], + [ + 0.6598200173580911, + -14.927323018566822 + ] + ], + "yaw_rad": -1.5594556498052499, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4058012366294861, + -14.851662635803223, + 0.12898042798042297 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473809099957813, + -14.853234928864547, + 0.11922620583292201 + ], + "intended_face_normal": [ + -0.9999059656828422, + -0.011216258822961844, + 0.00789360577303147 + ], + "commanded_contact_point": [ + 0.4101917135715485, + -14.852614463829138, + 0.11878954451271063 + ], + "centerline_face_intersection": [ + 0.5473705058583019, + -14.852614463829138, + 0.11878954451271063 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.40433308482170105, + -14.848006248474121, + 0.12759844958782196 + ], + "box_pose": [ + 0.6044361591339111, + -14.856626510620117, + 0.13603629171848297, + 0.008309349417686462, + 0.0027900177519768476, + 0.703080952167511, + -0.7110558152198792 + ], + "box_yaw_rad": -1.559455913855537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018388349189105947 + } + } + }, + { + "simulation_time_ns": 4060000000, + "center": [ + 0.6027086828340341, + -14.852631996880424, + 0.11879045981693687 + ], + "face_center": [ + 0.5473955825192572, + -14.853252485603448, + 0.11923388369488137 + ], + "face_normal": [ + -0.999904932632058, + -0.011216687028282157, + 0.00801585375399927 + ], + "footprint_xy": [ + [ + 0.5455795134969819, + -14.932324201424095 + ], + [ + 0.6598378521710864, + -14.932324201424095 + ], + [ + 0.6598378521710864, + -14.772939792336754 + ], + [ + 0.5455795134969819, + -14.772939792336754 + ] + ], + "projected_box_corners": [ + [ + 0.5455795134969819, + -14.777922075735537 + ], + [ + 0.5474604098714837, + -14.774180769782804 + ], + [ + 0.6562057141265356, + -14.776681098289489 + ], + [ + 0.6580866105010375, + -14.772939792336754 + ], + [ + 0.5473307551670308, + -14.932324201424095 + ], + [ + 0.5492116515415326, + -14.92858289547136 + ], + [ + 0.6579569557965846, + -14.931083223978046 + ], + [ + 0.6598378521710864, + -14.927341918025311 + ] + ], + "yaw_rad": -1.5594547304720778, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.405317485332489, + -14.859003067016602, + 0.1252952665090561 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473867067069631, + -14.853243371464279, + 0.11922926435808127 + ], + "intended_face_normal": [ + -0.9999054435172393, + -0.011216264611270566, + 0.007942201318570652 + ], + "commanded_contact_point": [ + 0.4119055706262589, + -14.85262290610867, + 0.11878991481202208 + ], + "centerline_face_intersection": [ + 0.5473762447933466, + -14.85262290610867, + 0.11878991481202208 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4058012366294861, + -14.851662635803223, + 0.12898042798042297 + ], + "box_pose": [ + 0.6044427752494812, + -14.856636047363281, + 0.13603632152080536, + 0.008304130285978317, + 0.002750180894508958, + 0.7030810117721558, + -0.7110558748245239 + ], + "box_yaw_rad": -1.5594556498052499, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017138778874779363 + } + } + }, + { + "simulation_time_ns": 4080000000, + "center": [ + 0.6027183730728922, + -14.852642809372439, + 0.11879119357035041 + ], + "face_center": [ + 0.5474053030356626, + -14.853263445346677, + 0.11923901325377267 + ], + "face_normal": [ + -0.9999043852993523, + -0.011219348915150529, + 0.008095317525783935 + ], + "footprint_xy": [ + [ + 0.5455793385736823, + -14.932324236757008 + ], + [ + 0.659857407572102, + -14.932324236757008 + ], + [ + 0.659857407572102, + -14.77296138198787 + ], + [ + 0.5455793385736823, + -14.77296138198787 + ] + ], + "projected_box_corners": [ + [ + 0.5455793385736823, + -14.777921875627955 + ], + [ + 0.5474795371415311, + -14.774202653936348 + ], + [ + 0.6562054786481416, + -14.776680603679477 + ], + [ + 0.6581056772159903, + -14.77296138198787 + ], + [ + 0.5473310689297941, + -14.932324236757008 + ], + [ + 0.5492312674976427, + -14.9286050150654 + ], + [ + 0.6579572090042534, + -14.931082964808532 + ], + [ + 0.659857407572102, + -14.927363743116922 + ] + ], + "yaw_rad": -1.5594515831552758, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.40530166029930115, + -14.867718696594238, + 0.11992785334587097 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5473955825192572, + -14.853252485603448, + 0.11923388369488137 + ], + "intended_face_normal": [ + -0.999904932632058, + -0.011216687028282157, + 0.00801585375399927 + ], + "commanded_contact_point": [ + 0.413360892534256, + -14.852631996880424, + 0.11879045981693687 + ], + "centerline_face_intersection": [ + 0.5473850640776209, + -14.852631996880424, + 0.11879045981693687 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.405317485332489, + -14.859003067016602, + 0.1252952665090561 + ], + "box_pose": [ + 0.604452908039093, + -14.856646537780762, + 0.13603641092777252, + 0.00830150581896305, + 0.0026951537001878023, + 0.7030808925628662, + -0.7110562920570374 + ], + "box_yaw_rad": -1.5594547304720778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014553504028438882 + } + } + }, + { + "simulation_time_ns": 4100000000, + "center": [ + 0.6027322373527116, + -14.852656047700563, + 0.11879262588609477 + ], + "face_center": [ + 0.5474192257840628, + -14.853276908890539, + 0.119246717507701 + ], + "face_normal": [ + -0.9999033283522292, + -0.011223420180850763, + 0.00820869648830122 + ], + "footprint_xy": [ + [ + 0.54557913354764, + -14.932323741534455 + ], + [ + 0.6598853411577833, + -14.932323741534455 + ], + [ + 0.6598853411577833, + -14.772988353866669 + ], + [ + 0.54557913354764, + -14.772988353866669 + ] + ], + "projected_box_corners": [ + [ + 0.54557913354764, + -14.777921120684121 + ], + [ + 0.5475068349118578, + -14.774230076246624 + ], + [ + 0.6562051566849378, + -14.776679398304166 + ], + [ + 0.6581328580491557, + -14.772988353866669 + ], + [ + 0.5473316166562676, + -14.932323741534455 + ], + [ + 0.5492593180204856, + -14.928632697096958 + ], + [ + 0.6579576397935655, + -14.9310820191545 + ], + [ + 0.6598853411577833, + -14.927390974717003 + ] + ], + "yaw_rad": -1.5594467276070054, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.40759849548339844, + -14.870681762695312, + 0.1197626143693924 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474053030356626, + -14.853263445346677, + 0.11923901325377267 + ], + "intended_face_normal": [ + -0.9999043852993523, + -0.011219348915150529, + 0.008095317525783935 + ], + "commanded_contact_point": [ + 0.41537618517875674, + -14.852642809372439, + 0.11879119357035041 + ], + "centerline_face_intersection": [ + 0.5473947240331575, + -14.852642809372439, + 0.11879119357035041 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.40530166029930115, + -14.867718696594238, + 0.11992785334587097 + ], + "box_pose": [ + 0.6044639945030212, + -14.856658935546875, + 0.13603663444519043, + 0.008297063410282135, + 0.002634167904034257, + 0.7030799984931946, + -0.7110575437545776 + ], + "box_yaw_rad": -1.5594515831552758, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020153217835761103 + } + } + }, + { + "simulation_time_ns": 4120000000, + "center": [ + 0.6027467940362189, + -14.852674405405411, + 0.11879313458543007 + ], + "face_center": [ + 0.5474338374068815, + -14.853295381185045, + 0.11925377057902539 + ], + "face_normal": [ + -0.9999023352043453, + -0.011225491638813256, + 0.008327000286056707 + ], + "footprint_xy": [ + [ + 0.5455791483823715, + -14.932324140515021 + ], + [ + 0.6599144396900662, + -14.932324140515021 + ], + [ + 0.6599144396900662, + -14.773024670295802 + ], + [ + 0.5455791483823715, + -14.773024670295802 + ] + ], + "projected_box_corners": [ + [ + 0.5455791483823715, + -14.777921162137101 + ], + [ + 0.547535635699288, + -14.77426662185507 + ], + [ + 0.6562050616410464, + -14.776679210577834 + ], + [ + 0.658161548957963, + -14.773024670295802 + ], + [ + 0.5473320391144748, + -14.932324140515021 + ], + [ + 0.5492885264313914, + -14.92866960023299 + ], + [ + 0.6579579523731497, + -14.931082188955754 + ], + [ + 0.6599144396900662, + -14.927427648673723 + ] + ], + "yaw_rad": -1.5594441142279345, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4109972417354584, + -14.866284370422363, + 0.1232323944568634 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474192257840628, + -14.853276908890539, + 0.119246717507701 + ], + "intended_face_normal": [ + -0.9999033283522292, + -0.011223420180850763, + 0.00820869648830122 + ], + "commanded_contact_point": [ + 0.4184888887405396, + -14.852656047700563, + 0.11879262588609477 + ], + "centerline_face_intersection": [ + 0.5474085298331519, + -14.852656047700563, + 0.11879262588609477 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.40759849548339844, + -14.870681762695312, + 0.1197626143693924 + ], + "box_pose": [ + 0.6044798493385315, + -14.856674194335938, + 0.13603739440441132, + 0.008295610547065735, + 0.0025520932395011187, + 0.70307856798172, + -0.7110592126846313 + ], + "box_yaw_rad": -1.5594467276070054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031127320424982744 + } + } + }, + { + "simulation_time_ns": 4140000000, + "center": [ + 0.6027630203972502, + -14.852694332569524, + 0.11879400642398744 + ], + "face_center": [ + 0.5474501291203927, + -14.853315145253749, + 0.11926219626053523 + ], + "face_normal": [ + -0.9999011538157265, + -0.011222543333559765, + 0.008463552473251423 + ], + "footprint_xy": [ + [ + 0.5455790007138354, + -14.932323555109097 + ], + [ + 0.6599470400806648, + -14.932323555109097 + ], + [ + 0.6599470400806648, + -14.773065110029952 + ], + [ + 0.5455790007138354, + -14.773065110029952 + ] + ], + "projected_box_corners": [ + [ + 0.5455790007138354, + -14.77792018131732 + ], + [ + 0.5475687221564496, + -14.774306735398401 + ], + [ + 0.6562047832675502, + -14.776678555948873 + ], + [ + 0.6581945047101644, + -14.773065110029952 + ], + [ + 0.5473315360843359, + -14.932323555109097 + ], + [ + 0.5493212575269502, + -14.928710109190176 + ], + [ + 0.6579573186380506, + -14.931081929740648 + ], + [ + 0.6599470400806648, + -14.927468483821727 + ] + ], + "yaw_rad": -1.5594464445154497, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4142143130302429, + -14.860443115234375, + 0.1270061880350113 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5474338374068815, + -14.853295381185045, + 0.11925377057902539 + ], + "intended_face_normal": [ + -0.9999023352043453, + -0.011225491638813256, + 0.008327000286056707 + ], + "commanded_contact_point": [ + 0.4218961882591248, + -14.852674405405411, + 0.11879313458543007 + ], + "centerline_face_intersection": [ + 0.5474230315666694, + -14.852674405405411, + 0.11879313458543007 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4109972417354584, + -14.866284370422363, + 0.1232323944568634 + ], + "box_pose": [ + 0.6044964790344238, + -14.856695175170898, + 0.13603708148002625, + 0.00828369241207838, + 0.002455921843647957, + 0.7030779719352722, + -0.7110602855682373 + ], + "box_yaw_rad": -1.5594441142279345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034073490096339213 + } + } + }, + { + "simulation_time_ns": 4160000000, + "center": [ + 0.6027825252687052, + -14.852716787720668, + 0.1187952523123991 + ], + "face_center": [ + 0.5474696952258248, + -14.853337639013626, + 0.11927227595848686 + ], + "face_normal": [ + -0.9999000468780344, + -0.011223241270658324, + 0.008623242848274176 + ], + "footprint_xy": [ + [ + 0.545579041173987, + -14.932323395851595 + ], + [ + 0.6599860093634233, + -14.932323395851595 + ], + [ + 0.6599860093634233, + -14.77311017958974 + ], + [ + 0.545579041173987, + -14.77311017958974 + ] + ], + "projected_box_corners": [ + [ + 0.545579041173987, + -14.777919541061296 + ], + [ + 0.5476075862600337, + -14.774351882175658 + ], + [ + 0.6562047012597478, + -14.77667783847538 + ], + [ + 0.6582332463457945, + -14.77311017958974 + ], + [ + 0.5473318041916159, + -14.932323395851595 + ], + [ + 0.5493603492776625, + -14.928755736965957 + ], + [ + 0.6579574642773767, + -14.931081693265677 + ], + [ + 0.6599860093634233, + -14.927514034380039 + ] + ], + "yaw_rad": -1.5594450056977922, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4172757863998413, + -14.858837127685547, + 0.12777069211006165 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5474501291203927, + -14.853315145253749, + 0.11926219626053523 + ], + "intended_face_normal": [ + -0.9999011538157265, + -0.011222543333559765, + 0.008463552473251423 + ], + "commanded_contact_point": [ + 0.4218961882591248, + -14.852674405405411, + 0.11879313458543007 + ], + "centerline_face_intersection": [ + 0.5474391925623763, + -14.852694332569524, + 0.11879400642398744 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4142143130302429, + -14.860443115234375, + 0.1270061880350113 + ], + "box_pose": [ + 0.6045150756835938, + -14.856718063354492, + 0.13603702187538147, + 0.008271483704447746, + 0.002346451859921217, + 0.7030791640281677, + -0.7110595703125 + ], + "box_yaw_rad": -1.5594464445154497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 4180000000, + "center": [ + 0.6028053169743837, + -14.85274352534522, + 0.11879689969377094 + ], + "face_center": [ + 0.5474925955480018, + -14.853364760530372, + 0.11928416721429178 + ], + "face_normal": [ + -0.9998980833979189, + -0.011230180959376668, + 0.008808423221759287 + ], + "footprint_xy": [ + [ + 0.5455788424491897, + -14.932324383207929 + ], + [ + 0.6600317914995776, + -14.932324383207929 + ], + [ + 0.6600317914995776, + -14.773162667482511 + ], + [ + 0.5455788424491897, + -14.773162667482511 + ] + ], + "projected_box_corners": [ + [ + 0.5455788424491897, + -14.77792008134026 + ], + [ + 0.5476523848498992, + -14.774405137852817 + ], + [ + 0.6562042853019536, + -14.776677610969955 + ], + [ + 0.6582778277026631, + -14.773162667482511 + ], + [ + 0.5473328062461043, + -14.932324383207929 + ], + [ + 0.5494063486468137, + -14.928809439720483 + ], + [ + 0.6579582490988681, + -14.931081912837623 + ], + [ + 0.6600317914995776, + -14.927566969350178 + ] + ], + "yaw_rad": -1.5594372627141675, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.42053812742233276, + -14.858119010925293, + 0.1286446899175644 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5474696952258248, + -14.853337639013626, + 0.11927227595848686 + ], + "intended_face_normal": [ + -0.9999000468780344, + -0.011223241270658324, + 0.008623242848274176 + ], + "commanded_contact_point": [ + 0.4247517324223048, + -14.852674256261308, + 0.11879298394402582 + ], + "centerline_face_intersection": [ + 0.5474586361876793, + -14.852716787720668, + 0.1187952523123991 + ], + "commanded_world_base_velocity": [ + 0.1374553599999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4172757863998413, + -14.858837127685547, + 0.12777069211006165 + ], + "box_pose": [ + 0.6045373678207397, + -14.856743812561035, + 0.136037215590477, + 0.008260514587163925, + 0.0022218034137040377, + 0.7030790448188782, + -0.7110604047775269 + ], + "box_yaw_rad": -1.5594450056977922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028555441710483545 + } + } + }, + { + "simulation_time_ns": 4200000000, + "center": [ + 0.6028301486460271, + -14.852774253853367, + 0.1187978800547457 + ], + "face_center": [ + 0.5475175151342606, + -14.853394913979098, + 0.1192965067216875 + ], + "face_normal": [ + -0.9998964941494931, + -0.011219785506070501, + 0.009013764568965521 + ], + "footprint_xy": [ + [ + 0.5455795082545838, + -14.93232329256317 + ], + [ + 0.6600807890374706, + -14.93232329256317 + ], + [ + 0.6600807890374706, + -14.773225215143562 + ], + [ + 0.5455795082545838, + -14.773225215143562 + ] + ], + "projected_box_corners": [ + [ + 0.5455795082545838, + -14.7779183634536 + ], + [ + 0.5477030615073176, + -14.774466535395026 + ], + [ + 0.6562047752781168, + -14.776677043202135 + ], + [ + 0.6583283285308508, + -14.773225215143562 + ], + [ + 0.5473319687612036, + -14.93232329256317 + ], + [ + 0.5494555220139374, + -14.928871464504597 + ], + [ + 0.6579572357847366, + -14.931081972311706 + ], + [ + 0.6600807890374706, + -14.927630144253135 + ] + ], + "yaw_rad": -1.5594470436245345, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.42436957359313965, + -14.856002807617188, + 0.12946096062660217 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5474925955480018, + -14.853364760530372, + 0.11928416721429178 + ], + "intended_face_normal": [ + -0.9998980833979189, + -0.011230180959376668, + 0.008808423221759287 + ], + "commanded_contact_point": [ + 0.4277139548488217, + -14.852673941322688, + 0.11879253488171686 + ], + "centerline_face_intersection": [ + 0.5474813192549295, + -14.85274352534522, + 0.11879689969377094 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.42053812742233276, + -14.858119010925293, + 0.1286446899175644 + ], + "box_pose": [ + 0.6045634150505066, + -14.85677433013916, + 0.1360376477241516, + 0.00824833195656538, + 0.0020778283942490816, + 0.7030767202377319, + -0.7110630869865417 + ], + "box_yaw_rad": -1.5594372627141675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029622224772968882 + } + } + }, + { + "simulation_time_ns": 4220000000, + "center": [ + 0.6028596415608388, + -14.852809944055325, + 0.11879935714176748 + ], + "face_center": [ + 0.5475471224372278, + -14.853430690119527, + 0.11931161460334178 + ], + "face_normal": [ + -0.9998944263340893, + -0.011221339031330935, + 0.00926017091233057 + ], + "footprint_xy": [ + [ + 0.5455789687476698, + -14.932322445080366 + ], + [ + 0.6601403143740079, + -14.932322445080366 + ], + [ + 0.6601403143740079, + -14.773297443030284 + ], + [ + 0.5455789687476698, + -14.773297443030284 + ] + ], + "projected_box_corners": [ + [ + 0.5455789687476698, + -14.777916809803665 + ], + [ + 0.547762465345668, + -14.774538935158686 + ], + [ + 0.656204006994892, + -14.776675317675265 + ], + [ + 0.6583875035928902, + -14.773297443030284 + ], + [ + 0.5473317795287875, + -14.932322445080366 + ], + [ + 0.5495152761267857, + -14.928944570435387 + ], + [ + 0.6579568177760097, + -14.931080952951966 + ], + [ + 0.6601403143740079, + -14.927703078306987 + ] + ], + "yaw_rad": -1.5594448272833332, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4288572669029236, + -14.853320121765137, + 0.12973466515541077 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5475175151342606, + -14.853394913979098, + 0.1192965067216875 + ], + "intended_face_normal": [ + -0.9998964941494931, + -0.011219785506070501, + 0.009013764568965521 + ], + "commanded_contact_point": [ + 0.4307762553431451, + -14.852673695733078, + 0.11879178196579018 + ], + "centerline_face_intersection": [ + 0.5475060629938951, + -14.852774253853367, + 0.1187978800547457 + ], + "commanded_world_base_velocity": [ + 0.11967871999999971, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.42436957359313965, + -14.856002807617188, + 0.12946096062660217 + ], + "box_pose": [ + 0.6045917868614197, + -14.856809616088867, + 0.1360372006893158, + 0.008228062652051449, + 0.0019112513400614262, + 0.7030806541442871, + -0.7110599875450134 + ], + "box_yaw_rad": -1.5594470436245345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030623005967295555 + } + } + }, + { + "simulation_time_ns": 4240000000, + "center": [ + 0.6028912585534076, + -14.852850628665463, + 0.1188001412283966 + ], + "face_center": [ + 0.5475788940689302, + -14.85347109647029, + 0.11932693378116756 + ], + "face_normal": [ + -0.9998916308944615, + -0.011216308886227044, + 0.009522924388470425 + ], + "footprint_xy": [ + [ + 0.5455790970722215, + -14.932321219996073 + ], + [ + 0.6602034200345936, + -14.932321219996073 + ], + [ + 0.6602034200345936, + -14.773380037334853 + ], + [ + 0.5455790970722215, + -14.773380037334853 + ] + ], + "projected_box_corners": [ + [ + 0.5455790970722215, + -14.777914883573361 + ], + [ + 0.5478265961780734, + -14.774620972944506 + ], + [ + 0.6562038260411763, + -14.776673947963708 + ], + [ + 0.6584513251470282, + -14.773380037334853 + ], + [ + 0.547331191959787, + -14.932321219996073 + ], + [ + 0.5495786910656388, + -14.929027309367218 + ], + [ + 0.6579559209287418, + -14.93108028438642 + ], + [ + 0.6602034200345936, + -14.927786373757565 + ] + ], + "yaw_rad": -1.5594495146539349, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4324527978897095, + -14.850520133972168, + 0.12926270067691803 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5475471224372278, + -14.853430690119527, + 0.11931161460334178 + ], + "intended_face_normal": [ + -0.9998944263340893, + -0.011221339031330935, + 0.00926017091233057 + ], + "commanded_contact_point": [ + 0.4339320985423654, + -14.852673809570037, + 0.11879072299361652 + ], + "centerline_face_intersection": [ + 0.5475354414966315, + -14.852809944055325, + 0.11879935714176748 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4288572669029236, + -14.853320121765137, + 0.12973466515541077 + ], + "box_pose": [ + 0.6046255826950073, + -14.856850624084473, + 0.13603699207305908, + 0.008206297643482685, + 0.001714020618237555, + 0.7030803561210632, + -0.7110611796379089 + ], + "box_yaw_rad": -1.5594448272833332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031558433789473654 + } + } + }, + { + "simulation_time_ns": 4260000000, + "center": [ + 0.6029292674399894, + -14.852897244281841, + 0.11880192423651866 + ], + "face_center": [ + 0.5476170652733209, + -14.853517950101184, + 0.11934593360999503 + ], + "face_normal": [ + -0.9998886966460315, + -0.011220611517745227, + 0.009834155974652162 + ], + "footprint_xy": [ + [ + 0.545579043411011, + -14.932321238768058 + ], + [ + 0.6602794914689678, + -14.932321238768058 + ], + [ + 0.6602794914689678, + -14.773473249795625 + ], + [ + 0.545579043411011, + -14.773473249795625 + ] + ], + "projected_box_corners": [ + [ + 0.545579043411011, + -14.777914066779973 + ], + [ + 0.5479022621951769, + -14.77471466143431 + ], + [ + 0.656203447744348, + -14.776672655141287 + ], + [ + 0.6585266665285139, + -14.773473249795625 + ], + [ + 0.547331868351465, + -14.932321238768058 + ], + [ + 0.5496550871356308, + -14.929121833422395 + ], + [ + 0.6579562726848021, + -14.931079827129372 + ], + [ + 0.6602794914689678, + -14.927880421783708 + ] + ], + "yaw_rad": -1.559444848558046, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4348832368850708, + -14.848320960998535, + 0.1277432143688202 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5475788940689302, + -14.85347109647029, + 0.11932693378116756 + ], + "intended_face_normal": [ + -0.9998916308944615, + -0.011216308886227044, + 0.009522924388470425 + ], + "commanded_contact_point": [ + 0.4371749227797204, + -14.85267462880696, + 0.11878933114318999 + ], + "centerline_face_intersection": [ + 0.5475669038169774, + -14.852850628665463, + 0.1188001412283966 + ], + "commanded_world_base_velocity": [ + 0.09071999999999959, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4324527978897095, + -14.850520133972168, + 0.12926270067691803 + ], + "box_pose": [ + 0.604661762714386, + -14.856897354125977, + 0.13603588938713074, + 0.008175640366971493, + 0.0014961339766159654, + 0.7030825018882751, + -0.7110596299171448 + ], + "box_yaw_rad": -1.5594495146539349, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003242824639534768 + } + } + }, + { + "simulation_time_ns": 4280000000, + "center": [ + 0.6029732922550538, + -14.852951344351931, + 0.1188042338807081 + ], + "face_center": [ + 0.5476612933209305, + -14.853572219011571, + 0.11936852390049371 + ], + "face_normal": [ + -0.9998850227745035, + -0.0112236636743831, + 0.010200772891190563 + ], + "footprint_xy": [ + [ + 0.5455784242159406, + -14.932321085442096 + ], + [ + 0.660368160294167, + -14.932321085442096 + ], + [ + 0.660368160294167, + -14.773581603261764 + ], + [ + 0.5455784242159406, + -14.773581603261764 + ] + ], + "projected_box_corners": [ + [ + 0.5455784242159406, + -14.77791298720659 + ], + [ + 0.5479908279147089, + -14.774823352581045 + ], + [ + 0.6562024220841873, + -14.77667123788731 + ], + [ + 0.6586148257829556, + -14.773581603261764 + ], + [ + 0.547331758727152, + -14.932321085442096 + ], + [ + 0.5497441624259203, + -14.92923145081655 + ], + [ + 0.6579557565953987, + -14.931079336122815 + ], + [ + 0.660368160294167, + -14.92798970149727 + ] + ], + "yaw_rad": -1.5594416169159744, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4371752142906189, + -14.847792625427246, + 0.1260967254638672 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5476170652733209, + -14.853517950101184, + 0.11934593360999503 + ], + "intended_face_normal": [ + -0.9998886966460315, + -0.011220611517745227, + 0.009834155974652162 + ], + "commanded_contact_point": [ + 0.4404983629962605, + -14.852676572633953, + 0.11878762119089709 + ], + "centerline_face_intersection": [ + 0.5476047503500876, + -14.852897244281841, + 0.11880192423651866 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4348832368850708, + -14.848320960998535, + 0.1277432143688202 + ], + "box_pose": [ + 0.6047052145004272, + -14.856950759887695, + 0.1360355168581009, + 0.008146536536514759, + 0.0012453926028683782, + 0.7030813097953796, + -0.7110617160797119 + ], + "box_yaw_rad": -1.559444848558046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033234412248926803 + } + } + }, + { + "simulation_time_ns": 4300000000, + "center": [ + 0.603022652831191, + -14.853013794482084, + 0.11880631159089251 + ], + "face_center": [ + 0.547710892733584, + -14.853634239893612, + 0.11939338492835141 + ], + "face_normal": [ + -0.9998807052835399, + -0.01121590407849693, + 0.010612631051257405 + ], + "footprint_xy": [ + [ + 0.545578513519543, + -14.932320587991446 + ], + [ + 0.6604667921428391, + -14.932320587991446 + ], + [ + 0.6604667921428391, + -14.773707000972722 + ], + [ + 0.545578513519543, + -14.773707000972722 + ] + ], + "projected_box_corners": [ + [ + 0.545578513519543, + -14.777911470607934 + ], + [ + 0.5480911735695926, + -14.774947891795778 + ], + [ + 0.656202033714757, + -14.77667057978488 + ], + [ + 0.6587146937648066, + -14.773707000972722 + ], + [ + 0.5473306118975755, + -14.932320587991446 + ], + [ + 0.5498432719476251, + -14.929357009179288 + ], + [ + 0.6579541320927895, + -14.931079697168393 + ], + [ + 0.6604667921428391, + -14.928116118356234 + ] + ], + "yaw_rad": -1.55944969639394, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.43659788370132446, + -14.848726272583008, + 0.12519536912441254 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5476612933209305, + -14.853572219011571, + 0.11936852390049371 + ], + "intended_face_normal": [ + -0.9998850227745035, + -0.0112236636743831, + 0.010200772891190563 + ], + "commanded_contact_point": [ + 0.44389604739008576, + -14.85268019423516, + 0.11878556895699431 + ], + "centerline_face_intersection": [ + 0.5476485718866114, + -14.852951344351931, + 0.1188042338807081 + ], + "commanded_world_base_velocity": [ + 0.05746047999999954, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4371752142906189, + -14.847792625427246, + 0.1260967254638672 + ], + "box_pose": [ + 0.6047556400299072, + -14.857012748718262, + 0.13603530824184418, + 0.008114539086818695, + 0.0009523292537778616, + 0.7030805945396423, + -0.7110632658004761 + ], + "box_yaw_rad": -1.5594416169159744, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033976869437461472 + } + } + }, + { + "simulation_time_ns": 4320000000, + "center": [ + 0.6030798961118221, + -14.853084406775658, + 0.11880887557336142 + ], + "face_center": [ + 0.5477684217655752, + -14.853705072407507, + 0.11942232648546913 + ], + "face_normal": [ + -0.9998755397044499, + -0.011219885041176658, + 0.011089463245658644 + ], + "footprint_xy": [ + [ + 0.5455777834072605, + -14.932319262113134 + ], + [ + 0.6605820088163837, + -14.932319262113134 + ], + [ + 0.6605820088163837, + -14.773849551438179 + ], + [ + 0.5455777834072605, + -14.773849551438179 + ] + ], + "projected_box_corners": [ + [ + 0.5455777834072605, + -14.777909014882367 + ], + [ + 0.5482064719826149, + -14.775090882701882 + ], + [ + 0.6562007320997545, + -14.776667683618665 + ], + [ + 0.6588294206751089, + -14.773849551438179 + ], + [ + 0.5473303715485354, + -14.932319262113134 + ], + [ + 0.5499590601238897, + -14.929501129932648 + ], + [ + 0.6579533202410294, + -14.931077930849433 + ], + [ + 0.6605820088163837, + -14.928259798668947 + ] + ], + "yaw_rad": -1.5594466079893619, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.43297773599624634, + -14.850759506225586, + 0.12309563159942627 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.547710892733584, + -14.853634239893612, + 0.11939338492835141 + ], + "intended_face_normal": [ + -0.9998807052835399, + -0.01121590407849693, + 0.010612631051257405 + ], + "commanded_contact_point": [ + 0.44736161516693324, + -14.852686147699979, + 0.11878311696255336 + ], + "centerline_face_intersection": [ + 0.5476976935702699, + -14.853013794482084, + 0.11880631159089251 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.43659788370132446, + -14.848726272583008, + 0.12519536912441254 + ], + "box_pose": [ + 0.6048121452331543, + -14.857084274291992, + 0.1360345035791397, + 0.008074626326560974, + 0.000619037018623203, + 0.7030838131904602, + -0.7110608220100403 + ], + "box_yaw_rad": -1.55944969639394, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003465573757971925 + } + } + }, + { + "simulation_time_ns": 4340000000, + "center": [ + 0.6031454536399479, + -14.853166874150537, + 0.11881195798175476 + ], + "face_center": [ + 0.5478343128021075, + -14.853786561823988, + 0.11945577555024384 + ], + "face_normal": [ + -0.9998695108125797, + -0.011202206310059526, + 0.011638406793036548 + ], + "footprint_xy": [ + [ + 0.5455783522783644, + -14.932318473467696 + ], + [ + 0.6607125550015314, + -14.932318473467696 + ], + [ + 0.6607125550015314, + -14.774015274833376 + ], + [ + 0.5455783522783644, + -14.774015274833376 + ] + ], + "projected_box_corners": [ + [ + 0.5455783522783644, + -14.777906976674593 + ], + [ + 0.548340658534473, + -14.77525465018028 + ], + [ + 0.6562006339540453, + -14.776667601327691 + ], + [ + 0.6589629402101538, + -14.774015274833376 + ], + [ + 0.5473279670697418, + -14.932318473467696 + ], + [ + 0.5500902733258505, + -14.92966614697338 + ], + [ + 0.6579502487454227, + -14.931079098120794 + ], + [ + 0.6607125550015314, + -14.928426771626478 + ] + ], + "yaw_rad": -1.5594659533657051, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4330284893512726, + -14.852286338806152, + 0.12252047657966614 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5477684217655752, + -14.853705072407507, + 0.11942232648546913 + ], + "intended_face_normal": [ + -0.9998755397044499, + -0.011219885041176658, + 0.011089463245658644 + ], + "commanded_contact_point": [ + 0.4508889780431462, + -14.852695079721313, + 0.11878025278165107 + ], + "centerline_face_intersection": [ + 0.5477546510298748, + -14.853084406775658, + 0.11880887557336142 + ], + "commanded_world_base_velocity": [ + 0.026781439999999587, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.43297773599624634, + -14.850759506225586, + 0.12309563159942627 + ], + "box_pose": [ + 0.6048777103424072, + -14.857165336608887, + 0.13603372871875763, + 0.008029092103242874, + 0.00023390499700326473, + 0.7030829191207886, + -0.711062490940094 + ], + "box_yaw_rad": -1.5594466079893619, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003527375347907107 + } + } + }, + { + "simulation_time_ns": 4360000000, + "center": [ + 0.603221465474561, + -14.853262772605468, + 0.11881521958957213 + ], + "face_center": [ + 0.5479107396565984, + -14.853882172518684, + 0.11949410647076952 + ], + "face_normal": [ + -0.9998620084230807, + -0.011197004416149126, + 0.01227236111057619 + ], + "footprint_xy": [ + [ + 0.5455782617523086, + -14.93231897336698 + ], + [ + 0.6608646691968135, + -14.93231897336698 + ], + [ + 0.6608646691968135, + -14.774206571843958 + ], + [ + 0.5455782617523086, + -14.774206571843958 + ] + ], + "projected_box_corners": [ + [ + 0.5455782617523086, + -14.777906150336099 + ], + [ + 0.5484948352949051, + -14.775445371670388 + ], + [ + 0.6561997133882338, + -14.776667350509669 + ], + [ + 0.6591162869308302, + -14.774206571843958 + ], + [ + 0.5473266440182919, + -14.93231897336698 + ], + [ + 0.5502432175608882, + -14.92985819470127 + ], + [ + 0.6579480956542171, + -14.93108017354055 + ], + [ + 0.6608646691968135, + -14.92861939487484 + ] + ], + "yaw_rad": -1.559474031663515, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4378267526626587, + -14.852989196777344, + 0.12581808865070343 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5478343128021075, + -14.853786561823988, + 0.11945577555024384 + ], + "intended_face_normal": [ + -0.9998695108125797, + -0.011202206310059526, + 0.011638406793036548 + ], + "commanded_contact_point": [ + 0.4544720481133566, + -14.85270814671306, + 0.1187769363040507 + ], + "centerline_face_intersection": [ + 0.54781987496455, + -14.853166874150537, + 0.11881195798175476 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4330284893512726, + -14.852286338806152, + 0.12252047657966614 + ], + "box_pose": [ + 0.6049527525901794, + -14.857259750366211, + 0.13603298366069794, + 0.007979162037372589, + -0.00020704329654108733, + 0.7030897736549377, + -0.7110562920570374 + ], + "box_yaw_rad": -1.5594659533657051, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003583095431792829 + } + } + }, + { + "simulation_time_ns": 4380000000, + "center": [ + 0.6033085403113823, + -14.853373436469319, + 0.1188183164802046 + ], + "face_center": [ + 0.547998322321557, + -14.853992657395814, + 0.1195376391329499 + ], + "face_normal": [ + -0.9998528283218645, + -0.011193768840812801, + 0.013003325876525917 + ], + "footprint_xy": [ + [ + 0.545577500532964, + -14.932317648735232 + ], + [ + 0.6610395800898005, + -14.932317648735232 + ], + [ + 0.6610395800898005, + -14.774429224203404 + ], + [ + 0.545577500532964, + -14.774429224203404 + ] + ], + "projected_box_corners": [ + [ + 0.545577500532964, + -14.777903398344025 + ], + [ + 0.5486719875269533, + -14.775667666056396 + ], + [ + 0.6561979365126146, + -14.776664956491032 + ], + [ + 0.6592924235066039, + -14.774429224203404 + ], + [ + 0.5473246571161607, + -14.932317648735232 + ], + [ + 0.5504191441101499, + -14.930081916447604 + ], + [ + 0.6579450930958112, + -14.93107920688224 + ], + [ + 0.6610395800898005, + -14.928843474594611 + ] + ], + "yaw_rad": -1.559482072925195, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4431650638580322, + -14.851795196533203, + 0.12974770367145538 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5479107396565984, + -14.853882172518684, + 0.11949410647076952 + ], + "intended_face_normal": [ + -0.9998620084230807, + -0.011197004416149126, + 0.01227236111057619 + ], + "commanded_contact_point": [ + 0.4581050270049729, + -14.852726496150439, + 0.11877306208631762 + ], + "centerline_face_intersection": [ + 0.5478954716678379, + -14.853262772605468, + 0.11881521958957213 + ], + "commanded_world_base_velocity": [ + 0.005564159999999768, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4378267526626587, + -14.852989196777344, + 0.12581808865070343 + ], + "box_pose": [ + 0.6050397753715515, + -14.857369422912598, + 0.13603180646896362, + 0.00792134739458561, + -0.0007163691916503012, + 0.7030922770500183, + -0.7110541462898254 + ], + "box_yaw_rad": -1.559474031663515, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003633027296669364 + } + } + }, + { + "simulation_time_ns": 4400000000, + "center": [ + 0.6034086066991055, + -14.853500746828262, + 0.11882119589267555 + ], + "face_center": [ + 0.5480990008382574, + -14.854119123772447, + 0.11958663976141111 + ], + "face_normal": [ + -0.9998417627554768, + -0.011178512019693332, + 0.013837067451400592 + ], + "footprint_xy": [ + [ + 0.5455784244622447, + -14.932315543230755 + ], + [ + 0.6612387889359662, + -14.932315543230755 + ], + [ + 0.6612387889359662, + -14.77468595042577 + ], + [ + 0.5455784244622447, + -14.77468595042577 + ] + ], + "projected_box_corners": [ + [ + 0.5455784244622447, + -14.777899811526392 + ], + [ + 0.5488758833163745, + -14.775922704314137 + ], + [ + 0.6561976361839409, + -14.776663057638025 + ], + [ + 0.6594950950380707, + -14.77468595042577 + ], + [ + 0.5473221183601402, + -14.932315543230755 + ], + [ + 0.5506195772142699, + -14.9303384360185 + ], + [ + 0.6579413300818364, + -14.931078789342388 + ], + [ + 0.6612387889359662, + -14.929101682130133 + ] + ], + "yaw_rad": -1.5595046030225126, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4446507692337036, + -14.847850799560547, + 0.13044990599155426 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.547998322321557, + -14.853992657395814, + 0.1195376391329499 + ], + "intended_face_normal": [ + -0.9998528283218645, + -0.011193768840812801, + 0.013003325876525917 + ], + "commanded_contact_point": [ + 0.4617821211639349, + -14.85275149919338, + 0.11876847790645595 + ], + "centerline_face_intersection": [ + 0.5479820385316769, + -14.853373436469319, + 0.1188183164802046 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4431650638580322, + -14.851795196533203, + 0.12974770367145538 + ], + "box_pose": [ + 0.6051395535469055, + -14.85749626159668, + 0.1360296905040741, + 0.007848543114960194, + -0.001309837563894689, + 0.7030942440032959, + -0.7110521793365479 + ], + "box_yaw_rad": -1.559482072925195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003677182021702731 + } + } + }, + { + "simulation_time_ns": 4420000000, + "center": [ + 0.6035261337278716, + -14.853647412014572, + 0.11882545003523116 + ], + "face_center": [ + 0.5482173064513145, + -14.854266012521427, + 0.11964516825297443 + ], + "face_normal": [ + -0.9998276881462298, + -0.011182553402568685, + 0.014818194688517278 + ], + "footprint_xy": [ + [ + 0.5455778546978983, + -14.932315629819168 + ], + [ + 0.6614744127578447, + -14.932315629819168 + ], + [ + 0.6614744127578447, + -14.774979194209976 + ], + [ + 0.5455778546978983, + -14.774979194209976 + ] + ], + "projected_box_corners": [ + [ + 0.5455778546978983, + -14.77789845175532 + ], + [ + 0.5491140143321334, + -14.776216395223683 + ], + [ + 0.6561955092510123, + -14.776661250741611 + ], + [ + 0.6597316688852474, + -14.774979194209976 + ], + [ + 0.5473205985704956, + -14.932315629819168 + ], + [ + 0.5508567582047307, + -14.930633573287533 + ], + [ + 0.6579382531236097, + -14.931078428805462 + ], + [ + 0.6614744127578447, + -14.929396372273825 + ] + ], + "yaw_rad": -1.5595108603233916, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.443721204996109, + -14.847718238830566, + 0.12808580696582794 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5480990008382574, + -14.854119123772447, + 0.11958663976141111 + ], + "intended_face_normal": [ + -0.9998417627554768, + -0.011178512019693332, + 0.013837067451400592 + ], + "commanded_contact_point": [ + 0.46549786423947553, + -14.852784829064522, + 0.11876304265720578 + ], + "centerline_face_intersection": [ + 0.5480814926034305, + -14.853500746828262, + 0.11882119589267555 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4446507692337036, + -14.847850799560547, + 0.13044990599155426 + ], + "box_pose": [ + 0.605254054069519, + -14.85764217376709, + 0.1360265612602234, + 0.007762715686112642, + -0.0019896042067557573, + 0.7031006217002869, + -0.7110452055931091 + ], + "box_yaw_rad": -1.5595046030225126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003715896530539144 + } + } + }, + { + "simulation_time_ns": 4440000000, + "center": [ + 0.6036604177969753, + -14.853815573551495, + 0.11882955303372592 + ], + "face_center": [ + 0.5483525457023085, + -14.854435040396336, + 0.11971118491038255 + ], + "face_normal": [ + -0.9998104211501992, + -0.011198214351257119, + 0.015937419114421175 + ], + "footprint_xy": [ + [ + 0.5455768675652544, + -14.932314665328185 + ], + [ + 0.6617439680286963, + -14.932314665328185 + ], + [ + 0.6617439680286963, + -14.775316481774805 + ], + [ + 0.5455768675652544, + -14.775316481774805 + ] + ], + "projected_box_corners": [ + [ + 0.5455768675652544, + -14.777896110848623 + ], + [ + 0.5493853666185067, + -14.776555415464484 + ], + [ + 0.656192611754588, + -14.776657177158942 + ], + [ + 0.6600011108078403, + -14.775316481774805 + ], + [ + 0.5473197247861102, + -14.932314665328185 + ], + [ + 0.5511282238393627, + -14.930973969944047 + ], + [ + 0.6579354689754439, + -14.931075731638504 + ], + [ + 0.6617439680286963, + -14.929735036254367 + ] + ], + "yaw_rad": -1.5595102269691419, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.44338297843933105, + -14.854632377624512, + 0.1241353303194046 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5482173064513145, + -14.854266012521427, + 0.11964516825297443 + ], + "intended_face_normal": [ + -0.9998276881462298, + -0.011182553402568685, + 0.014818194688517278 + ], + "commanded_contact_point": [ + 0.4692474912616375, + -14.852828450011682, + 0.1187567964811482 + ], + "centerline_face_intersection": [ + 0.5481982407904813, + -14.853647412014572, + 0.11882545003523116 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.443721204996109, + -14.847718238830566, + 0.12808580696582794 + ], + "box_pose": [ + 0.6053886413574219, + -14.857810020446777, + 0.1360238641500473, + 0.007675258442759514, + -0.002775779226794839, + 0.7031001448631287, + -0.7110440135002136 + ], + "box_yaw_rad": -1.5595108603233916, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037498859458753877 + } + } + }, + { + "simulation_time_ns": 4460000000, + "center": [ + 0.6038144317687795, + -14.854010326153674, + 0.1188334156896946 + ], + "face_center": [ + 0.5485077696901997, + -14.85463117332763, + 0.11978638761968799 + ], + "face_normal": [ + -0.9997885474702379, + -0.011223166810711782, + 0.017227046179613736 + ], + "footprint_xy": [ + [ + 0.545574898045044, + -14.932313149636347 + ], + [ + 0.6620539654925148, + -14.932313149636347 + ], + [ + 0.6620539654925148, + -14.775707502671 + ], + [ + 0.545574898045044, + -14.775707502671 + ] + ], + "projected_box_corners": [ + [ + 0.545574898045044, + -14.777893454509423 + ], + [ + 0.5496972384327163, + -14.776949197018915 + ], + [ + 0.6561882222022036, + -14.77665176016151 + ], + [ + 0.6603105625898759, + -14.775707502671 + ], + [ + 0.547318300947683, + -14.932313149636347 + ], + [ + 0.5514406413353552, + -14.931368892145839 + ], + [ + 0.6579316251048426, + -14.931071455288434 + ], + [ + 0.6620539654925148, + -14.930127197797924 + ] + ], + "yaw_rad": -1.559506777021315, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4462805390357971, + -14.859350204467773, + 0.12238186597824097 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5483525457023085, + -14.854435040396336, + 0.11971118491038255 + ], + "intended_face_normal": [ + -0.9998104211501992, + -0.011198214351257119, + 0.015937419114421175 + ], + "commanded_contact_point": [ + 0.4730256163353774, + -14.852884615510469, + 0.11874936373233126 + ], + "centerline_face_intersection": [ + 0.5483315693319295, + -14.853815573551495, + 0.11882955303372592 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.44338297843933105, + -14.854632377624512, + 0.1241353303194046 + ], + "box_pose": [ + 0.6055424213409424, + -14.858002662658691, + 0.13601990044116974, + 0.007568453438580036, + -0.003679719055071473, + 0.7030957341194153, + -0.711045503616333 + ], + "box_yaw_rad": -1.5595102269691419, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037785498384738624 + } + } + }, + { + "simulation_time_ns": 4480000000, + "center": [ + 0.6039923661151609, + -14.85423530173825, + 0.11883777850195153 + ], + "face_center": [ + 0.5486872035647722, + -14.854858274135722, + 0.11987295569117419 + ], + "face_normal": [ + -0.9997614402275344, + -0.011261584861124052, + 0.018713085539618757 + ], + "footprint_xy": [ + [ + 0.5455728580135782, + -14.932313561124525 + ], + [ + 0.6624118742167435, + -14.932313561124525 + ], + [ + 0.6624118742167435, + -14.776157042351974 + ], + [ + 0.5455728580135782, + -14.776157042351974 + ] + ], + "projected_box_corners": [ + [ + 0.5455728580135782, + -14.777893053177873 + ], + [ + 0.5500568194456816, + -14.777402987146921 + ], + [ + 0.6561831831143556, + -14.776647108382928 + ], + [ + 0.660667144546459, + -14.776157042351974 + ], + [ + 0.5473175876838628, + -14.932313561124525 + ], + [ + 0.5518015491159662, + -14.931823495093571 + ], + [ + 0.6579279127846402, + -14.931067616329578 + ], + [ + 0.6624118742167435, + -14.930577550298626 + ] + ], + "yaw_rad": -1.55949824562317, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.451799601316452, + -14.8590669631958, + 0.12354280054569244 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5485077696901997, + -14.85463117332763, + 0.11978638761968799 + ], + "intended_face_normal": [ + -0.9997885474702379, + -0.011223166810711782, + 0.017227046179613736 + ], + "commanded_contact_point": [ + 0.4768277087815914, + -14.852956565826357, + 0.11874042172489181 + ], + "centerline_face_intersection": [ + 0.548484372802246, + -14.854010326153674, + 0.1188334156896946 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4462805390357971, + -14.859350204467773, + 0.12238186597824097 + ], + "box_pose": [ + 0.6057189106941223, + -14.85822582244873, + 0.13601434230804443, + 0.007440830580890179, + -0.0047259158454835415, + 0.7030882239341736, + -0.7110479474067688 + ], + "box_yaw_rad": -1.559506777021315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003802783687906976 + } + } + }, + { + "simulation_time_ns": 4500000000, + "center": [ + 0.604196811656246, + -14.854490004089234, + 0.11884209315310507 + ], + "face_center": [ + 0.5488935109900344, + -14.855115396380157, + 0.1199713464309367 + ], + "face_normal": [ + -0.9997277826100446, + -0.011305329713307444, + 0.020413716032350315 + ], + "footprint_xy": [ + [ + 0.5455720283860456, + -14.932340137359054 + ], + [ + 0.6628215949264464, + -14.932340137359054 + ], + [ + 0.6628215949264464, + -14.776639870819414 + ], + [ + 0.5455720283860456, + -14.776639870819414 + ] + ], + "projected_box_corners": [ + [ + 0.5455720283860456, + -14.77789065540126 + ], + [ + 0.5504698456487869, + -14.777919366787051 + ], + [ + 0.656178629718469, + -14.776639870819414 + ], + [ + 0.6610764469812103, + -14.776668582205206 + ], + [ + 0.5473171763312817, + -14.932311425973264 + ], + [ + 0.552214993594023, + -14.932340137359054 + ], + [ + 0.6579237776637051, + -14.931060641391419 + ], + [ + 0.6628215949264464, + -14.931089352777208 + ] + ], + "yaw_rad": -1.5594955565118658, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.456937700510025, + -14.856191635131836, + 0.12270720303058624 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5486872035647722, + -14.854858274135722, + 0.11987295569117419 + ], + "intended_face_normal": [ + -0.9997614402275344, + -0.011261584861124052, + 0.018713085539618757 + ], + "commanded_contact_point": [ + 0.48064992517649757, + -14.853047721310201, + 0.11872982722913418 + ], + "centerline_face_intersection": [ + 0.5486608069454022, + -14.85423530173825, + 0.11883777850195153 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.451799601316452, + -14.8590669631958, + 0.12354280054569244 + ], + "box_pose": [ + 0.6059227585792542, + -14.85848331451416, + 0.13600780069828033, + 0.007297600619494915, + -0.005927617195993662, + 0.7030760645866394, + -0.7110524773597717 + ], + "box_yaw_rad": -1.55949824562317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003823317896155714 + } + } + }, + { + "simulation_time_ns": 4520000000, + "center": [ + 0.6044306199430872, + -14.854784921161386, + 0.11884551870998186 + ], + "face_center": [ + 0.5491296604043026, + -14.855413245422014, + 0.1200822602803823 + ], + "face_normal": [ + -0.9996854616255233, + -0.011358331460702531, + 0.022356801365266188 + ], + "footprint_xy": [ + [ + 0.5455719722480644, + -14.93293612915118 + ], + [ + 0.66328926763811, + -14.93293612915118 + ], + [ + 0.66328926763811, + -14.77663371317159 + ], + [ + 0.5455719722480644, + -14.77663371317159 + ] + ], + "projected_box_corners": [ + [ + 0.5455719722480644, + -14.777890361692846 + ], + [ + 0.5509427240386183, + -14.77851599931078 + ], + [ + 0.6561738913256336, + -14.77663371317159 + ], + [ + 0.6615446431161875, + -14.777259350789524 + ], + [ + 0.5473165967699868, + -14.932310491533247 + ], + [ + 0.5526873485605408, + -14.93293612915118 + ], + [ + 0.657918515847556, + -14.931053843011991 + ], + [ + 0.66328926763811, + -14.931679480629924 + ] + ], + "yaw_rad": -1.5594988987985696, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4621920585632324, + -14.854719161987305, + 0.1220971941947937 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5488935109900344, + -14.855115396380157, + 0.1199713464309367 + ], + "intended_face_normal": [ + -0.9997277826100446, + -0.011305329713307444, + 0.020413716032350315 + ], + "commanded_contact_point": [ + 0.48448842610940696, + -14.853160784190301, + 0.11871712113283073 + ], + "centerline_face_intersection": [ + 0.5488633896509373, + -14.854490004089234, + 0.11884209315310507 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.456937700510025, + -14.856191635131836, + 0.12270720303058624 + ], + "box_pose": [ + 0.6061568260192871, + -14.85877513885498, + 0.13599953055381775, + 0.007135182619094849, + -0.007301416248083115, + 0.7030621767044067, + -0.7110551595687866 + ], + "box_yaw_rad": -1.5594955565118658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003840186723544312 + } + } + }, + { + "simulation_time_ns": 4540000000, + "center": [ + 0.6046839957467806, + -14.855124107370003, + 0.1188541094418108 + ], + "face_center": [ + 0.5493857758643899, + -14.855754942868098, + 0.1202072860470801 + ], + "face_normal": [ + -0.9996359363606869, + -0.011403727555221899, + 0.02446161857916357 + ], + "footprint_xy": [ + [ + 0.5455740829285417, + -14.93361930609893 + ], + [ + 0.6637939085650195, + -14.93361930609893 + ], + [ + 0.6637939085650195, + -14.776628908641078 + ], + [ + 0.5455740829285417, + -14.776628908641078 + ] + ], + "projected_box_corners": [ + [ + 0.5455740829285417, + -14.777890579637267 + ], + [ + 0.5514575748986679, + -14.779200991661485 + ], + [ + 0.6561705226933231, + -14.776628908641078 + ], + [ + 0.6620540146634493, + -14.777939320665295 + ], + [ + 0.547313976830112, + -14.932308894074712 + ], + [ + 0.5531974688002381, + -14.93361930609893 + ], + [ + 0.6579104165948934, + -14.931047223078522 + ], + [ + 0.6637939085650195, + -14.93235763510274 + ] + ], + "yaw_rad": -1.559529397192489, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4677425026893616, + -14.854205131530762, + 0.12162075936794281 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5491296604043026, + -14.855413245422014, + 0.1200822602803823 + ], + "intended_face_normal": [ + -0.9996854616255233, + -0.011358331460702531, + 0.022356801365266188 + ], + "commanded_contact_point": [ + 0.48833975425964576, + -14.853301955582861, + 0.11870160692168505 + ], + "centerline_face_intersection": [ + 0.5490948554360757, + -14.854784921161386, + 0.11884551870998186 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4621920585632324, + -14.854719161987305, + 0.1220971941947937 + ], + "box_pose": [ + 0.6064244508743286, + -14.859112739562988, + 0.13598833978176117, + 0.006943496875464916, + -0.008877362124621868, + 0.7030452489852905, + -0.7110557556152344 + ], + "box_yaw_rad": -1.5594988987985696, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003853945844669674 + } + } + }, + { + "simulation_time_ns": 4560000000, + "center": [ + 0.6049561859460187, + -14.855473751643395, + 0.11886824847425984 + ], + "face_center": [ + 0.5496612207887747, + -14.856107782023575, + 0.12034696848175148 + ], + "face_normal": [ + -0.9995771001047213, + -0.011461482017304792, + 0.02673108939940594 + ], + "footprint_xy": [ + [ + 0.5455759403726248, + -14.934326836997302 + ], + [ + 0.6643364315194128, + -14.934326836997302 + ], + [ + 0.6643364315194128, + -14.776620666289489 + ], + [ + 0.5455759403726248, + -14.776620666289489 + ] + ], + "projected_box_corners": [ + [ + 0.5455759403726248, + -14.777888727049847 + ], + [ + 0.5520120104965867, + -14.779911822022438 + ], + [ + 0.6561658706871132, + -14.776620666289489 + ], + [ + 0.662601940811075, + -14.778643761262082 + ], + [ + 0.5473104310809626, + -14.93230374202471 + ], + [ + 0.5537465012049244, + -14.934326836997302 + ], + [ + 0.6579003613954508, + -14.931035681264351 + ], + [ + 0.6643364315194128, + -14.933058776236944 + ] + ], + "yaw_rad": -1.5595641434106127, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4716739356517792, + -14.854369163513184, + 0.12304097414016724 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5493857758643899, + -14.855754942868098, + 0.1202072860470801 + ], + "intended_face_normal": [ + -0.9996359363606869, + -0.011403727555221899, + 0.02446161857916357 + ], + "commanded_contact_point": [ + 0.49219642011849557, + -14.853476488815456, + 0.1186854403887781 + ], + "centerline_face_intersection": [ + 0.5493454897232904, + -14.855124107370003, + 0.1188541094418108 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4677425026893616, + -14.854205131530762, + 0.12162075936794281 + ], + "box_pose": [ + 0.6067143678665161, + -14.859500885009766, + 0.13598020374774933, + 0.006680006626993418, + -0.010641065426170826, + 0.7030316591262817, + -0.7110477089881897 + ], + "box_yaw_rad": -1.559529397192489, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038606469345025727 + } + } + }, + { + "simulation_time_ns": 4580000000, + "center": [ + 0.6051018625324599, + -14.855605475838848, + 0.11889504469116569 + ], + "face_center": [ + 0.549808755210476, + -14.856241823229093, + 0.12044032549253801 + ], + "face_normal": [ + -0.9995435156802331, + -0.01150336702789645, + 0.027934320925797396 + ], + "footprint_xy": [ + [ + 0.5455775863748503, + -14.934593071143274 + ], + [ + 0.6646261386900695, + -14.934593071143274 + ], + [ + 0.6646261386900695, + -14.776617880534424 + ], + [ + 0.5455775863748503, + -14.776617880534424 + ] + ], + "projected_box_corners": [ + [ + 0.5455775863748503, + -14.77789057531491 + ], + [ + 0.552305395462299, + -14.780179700853232 + ], + [ + 0.6561638010188182, + -14.776617880534424 + ], + [ + 0.6628916101062668, + -14.778907006072744 + ], + [ + 0.547312114958653, + -14.932303945604952 + ], + [ + 0.5540399240461016, + -14.934593071143274 + ], + [ + 0.6578983296026207, + -14.931031250824466 + ], + [ + 0.6646261386900695, + -14.933320376362788 + ] + ], + "yaw_rad": -1.5595637785294234, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4756675660610199, + -14.855547904968262, + 0.12348812818527222 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5496612207887747, + -14.856107782023575, + 0.12034696848175148 + ], + "intended_face_normal": [ + -0.9995771001047213, + -0.011461482017304792, + 0.02673108939940594 + ], + "commanded_contact_point": [ + 0.4960531637686287, + -14.85367551701053, + 0.11866897698069775 + ], + "centerline_face_intersection": [ + 0.5496144226345168, + -14.855473751643395, + 0.11886824847425984 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4716739356517792, + -14.854369163513184, + 0.12304097414016724 + ], + "box_pose": [ + 0.6070259213447571, + -14.859901428222656, + 0.13597653806209564, + 0.0064335172064602375, + -0.01250484213232994, + 0.7030134201049805, + -0.7110376358032227 + ], + "box_yaw_rad": -1.5595641434106127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003861910776944722 + } + } + }, + { + "simulation_time_ns": 4600000000, + "center": [ + 0.6051037981309332, + -14.855589611556455, + 0.11890202354189221 + ], + "face_center": [ + 0.5498107129543245, + -14.856225798534075, + 0.12044844113980986 + ], + "face_normal": [ + -0.999543115354274, + -0.011500467219819899, + 0.027954871002842663 + ], + "footprint_xy": [ + [ + 0.545577213784648, + -14.934561347466383 + ], + [ + 0.6646303824772184, + -14.934561347466383 + ], + [ + 0.6646303824772184, + -14.77661787564653 + ], + [ + 0.545577213784648, + -14.77661787564653 + ] + ], + "projected_box_corners": [ + [ + 0.545577213784648, + -14.777890249601766 + ], + [ + 0.5523095911978553, + -14.780147757387189 + ], + [ + 0.6561633841378653, + -14.77661787564653 + ], + [ + 0.6628957615510727, + -14.778875383431952 + ], + [ + 0.5473118347107937, + -14.932303839680959 + ], + [ + 0.554044212124001, + -14.934561347466383 + ], + [ + 0.6578980050640111, + -14.931031465725724 + ], + [ + 0.6646303824772184, + -14.933288973511146 + ] + ], + "yaw_rad": -1.5595631965721775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4805161952972412, + -14.857458114624023, + 0.12245529890060425 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.549808755210476, + -14.856241823229093, + 0.12044032549253801 + ], + "intended_face_normal": [ + -0.9995435156802331, + -0.01150336702789645, + 0.027934320925797396 + ], + "commanded_contact_point": [ + 0.49984629544039905, + -14.853806590256507, + 0.1186629846658541 + ], + "centerline_face_intersection": [ + 0.549758239750868, + -14.855605475838848, + 0.11889504469116569 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4756675660610199, + -14.855547904968262, + 0.12348812818527222 + ], + "box_pose": [ + 0.6071924567222595, + -14.860052108764648, + 0.13599587976932526, + 0.0064666736871004105, + -0.01332736574113369, + 0.7029982209205627, + -0.711037278175354 + ], + "box_yaw_rad": -1.5595637785294234, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037954003719022594 + } + } + }, + { + "simulation_time_ns": 4620000000, + "center": [ + 0.6050844332811398, + -14.855547812998834, + 0.11890633588799085 + ], + "face_center": [ + 0.5497911179956281, + -14.856184667027923, + 0.12044396824518483 + ], + "face_normal": [ + -0.9995472750745897, + -0.011512525630094639, + 0.027796058615108477 + ], + "footprint_xy": [ + [ + 0.5455753292286883, + -14.934479428767835 + ], + [ + 0.6645935373335912, + -14.934479428767835 + ], + [ + 0.6645935373335912, + -14.776616197229833 + ], + [ + 0.5455753292286883, + -14.776616197229833 + ] + ], + "projected_box_corners": [ + [ + 0.5455753292286883, + -14.777889905288013 + ], + [ + 0.5522687123303431, + -14.780065392364927 + ], + [ + 0.6561619597997116, + -14.776616197229833 + ], + [ + 0.6628553429013665, + -14.778791684306746 + ], + [ + 0.547313523660913, + -14.932303941690922 + ], + [ + 0.5540069067625679, + -14.934479428767835 + ], + [ + 0.6579001542319364, + -14.931030233632741 + ], + [ + 0.6645935373335912, + -14.933205720709655 + ] + ], + "yaw_rad": -1.5595400895985692, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4855079650878906, + -14.857484817504883, + 0.121104896068573 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5498107129543245, + -14.856225798534075, + 0.12044844113980986 + ], + "intended_face_normal": [ + -0.999543115354274, + -0.011500467219819899, + 0.027954871002842663 + ], + "commanded_contact_point": [ + 0.503550643097579, + -14.85388154409371, + 0.11865650384208876 + ], + "centerline_face_intersection": [ + 0.5497601531837253, + -14.855589611556455, + 0.11890202354189221 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4805161952972412, + -14.857458114624023, + 0.12245529890060425 + ], + "box_pose": [ + 0.607194721698761, + -14.860033988952637, + 0.13600340485572815, + 0.006520240567624569, + -0.013287793844938278, + 0.7029987573623657, + -0.7110370993614197 + ], + "box_yaw_rad": -1.5595631965721775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00370511155622106 + } + } + }, + { + "simulation_time_ns": 4640000000, + "center": [ + 0.6050403371248014, + -14.855485433942219, + 0.1189067098625515 + ], + "face_center": [ + 0.5497464479613301, + -14.856121448991715, + 0.12042422689799268 + ], + "face_normal": [ + -0.9995576491704067, + -0.011497359244032057, + 0.02743243030052034 + ], + "footprint_xy": [ + [ + 0.5455747854946199, + -14.93435247703263 + ], + [ + 0.664505888754983, + -14.93435247703263 + ], + [ + 0.664505888754983, + -14.776618390851807 + ], + [ + 0.5455747854946199, + -14.776618390851807 + ] + ], + "projected_box_corners": [ + [ + 0.5455747854946199, + -14.7778904209508 + ], + [ + 0.5521794566281073, + -14.779937663286413 + ], + [ + 0.6561625638215626, + -14.776618390851807 + ], + [ + 0.66276723495505, + -14.778665633187419 + ], + [ + 0.547313439294553, + -14.932305234697017 + ], + [ + 0.5539181104280403, + -14.93435247703263 + ], + [ + 0.6579012176214956, + -14.931033204598023 + ], + [ + 0.664505888754983, + -14.933080446933635 + ] + ], + "yaw_rad": -1.559537171742048, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4885426163673401, + -14.856587409973145, + 0.11894631385803223 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5497911179956281, + -14.856184667027923, + 0.12044396824518483 + ], + "intended_face_normal": [ + -0.9995472750745897, + -0.011512525630094639, + 0.027796058615108477 + ], + "commanded_contact_point": [ + 0.5072032322418193, + -14.853943786880144, + 0.11865037212456389 + ], + "centerline_face_intersection": [ + 0.549741018652287, + -14.855547812998834, + 0.11890633588799085 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4855079650878906, + -14.857484817504883, + 0.121104896068573 + ], + "box_pose": [ + 0.6071726679801941, + -14.859986305236816, + 0.1360095739364624, + 0.006584545131772757, + -0.013109821826219559, + 0.7029938697814941, + -0.7110445499420166 + ], + "box_yaw_rad": -1.5595400895985692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003653124583017226 + } + } + }, + { + "simulation_time_ns": 4660000000, + "center": [ + 0.6049748526950764, + -14.855396900477079, + 0.118905201090051 + ], + "face_center": [ + 0.5496801488436748, + -14.856032380876577, + 0.12039272556975462 + ], + "face_normal": [ + -0.9995723764316783, + -0.011487694279165628, + 0.026890249438237257 + ], + "footprint_xy": [ + [ + 0.5455733709753484, + -14.934175995060173 + ], + [ + 0.6643763344148045, + -14.934175995060173 + ], + [ + 0.6643763344148045, + -14.776617805893984 + ], + [ + 0.5455733709753484, + -14.776617805893984 + ] + ], + "projected_box_corners": [ + [ + 0.5455733709753484, + -14.77788876669298 + ], + [ + 0.5520459707699861, + -14.779760258014422 + ], + [ + 0.6561627786781516, + -14.776617805893984 + ], + [ + 0.6626353784727893, + -14.778489297215426 + ], + [ + 0.5473143269173635, + -14.932304503738733 + ], + [ + 0.5537869267120012, + -14.934175995060173 + ], + [ + 0.6579037346201668, + -14.931033542939737 + ], + [ + 0.6643763344148045, + -14.932905034261177 + ] + ], + "yaw_rad": -1.5595223322236034, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.49114179611206055, + -14.855928421020508, + 0.11706812679767609 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5497464479613301, + -14.856121448991715, + 0.12042422689799268 + ], + "intended_face_normal": [ + -0.9995576491704067, + -0.011497359244032057, + 0.02743243030052034 + ], + "commanded_contact_point": [ + 0.5107935249422992, + -14.853993689479484, + 0.11864417899673688 + ], + "centerline_face_intersection": [ + 0.5496974968879176, + -14.855485433942219, + 0.1189067098625515 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4885426163673401, + -14.856587409973145, + 0.11894631385803223 + ], + "box_pose": [ + 0.6071222424507141, + -14.859914779663086, + 0.13601309061050415, + 0.0066446466371417046, + -0.012790310196578503, + 0.702998697757721, + -0.7110451459884644 + ], + "box_yaw_rad": -1.559537171742048, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003590644830580261 + } + } + }, + { + "simulation_time_ns": 4680000000, + "center": [ + 0.6048868110415219, + -14.855284310834927, + 0.1189013688582653 + ], + "face_center": [ + 0.5495910292676489, + -14.855919168237941, + 0.12034867809165845 + ], + "face_normal": [ + -0.9995918622314257, + -0.011476432258885283, + 0.026163271146945888 + ], + "footprint_xy": [ + [ + 0.5455712441664423, + -14.933950287925253 + ], + [ + 0.6642023779166015, + -14.933950287925253 + ], + [ + 0.6642023779166015, + -14.7766183337446 + ], + [ + 0.5455712441664423, + -14.7766183337446 + ] + ], + "projected_box_corners": [ + [ + 0.5455712441664423, + -14.77788804855063 + ], + [ + 0.5518668662548782, + -14.779533454116518 + ], + [ + 0.6561628077141883, + -14.7766183337446 + ], + [ + 0.6624584298026243, + -14.77826373931049 + ], + [ + 0.5473151922804196, + -14.932304882359364 + ], + [ + 0.5536108143688555, + -14.933950287925253 + ], + [ + 0.6579067558281656, + -14.931035167553336 + ], + [ + 0.6642023779166015, + -14.932680573119224 + ] + ], + "yaw_rad": -1.5595030375191978, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.49429115653038025, + -14.853425025939941, + 0.11908094584941864 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5496801488436748, + -14.856032380876577, + 0.12039272556975462 + ], + "intended_face_normal": [ + -0.9995723764316783, + -0.011487694279165628, + 0.026890249438237257 + ], + "commanded_contact_point": [ + 0.5143140439541486, + -14.854025959821001, + 0.11863875701044097 + ], + "centerline_face_intersection": [ + 0.5496328278553433, + -14.855396900477079, + 0.118905201090051 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.49114179611206055, + -14.855928421020508, + 0.11706812679767609 + ], + "box_pose": [ + 0.6070473790168762, + -14.859813690185547, + 0.13601596653461456, + 0.006711558438837528, + -0.012336920015513897, + 0.7030014991760254, + -0.7110496759414673 + ], + "box_yaw_rad": -1.5595223322236034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003520671084561832 + } + } + }, + { + "simulation_time_ns": 4700000000, + "center": [ + 0.6047733721144835, + -14.855145200724415, + 0.11889480218052012 + ], + "face_center": [ + 0.5494762555295144, + -14.855779317766657, + 0.1202904823998766 + ], + "face_normal": [ + -0.9996159918533684, + -0.011463048623151617, + 0.025229964109220404 + ], + "footprint_xy": [ + [ + 0.5455682493305036, + -14.93367005512986 + ], + [ + 0.6639784948984633, + -14.93367005512986 + ], + [ + 0.6639784948984633, + -14.77662034631897 + ], + [ + 0.5455682493305036, + -14.77662034631897 + ] + ], + "projected_box_corners": [ + [ + 0.5455682493305036, + -14.777888580403458 + ], + [ + 0.5516367560040206, + -14.779252061894912 + ], + [ + 0.6561624825004417, + -14.77662034631897 + ], + [ + 0.6622309891739587, + -14.777983827810425 + ], + [ + 0.5473157550550081, + -14.932306573638403 + ], + [ + 0.5533842617285251, + -14.93367005512986 + ], + [ + 0.6579099882249462, + -14.931038339553917 + ], + [ + 0.6639784948984633, + -14.93240182104537 + ] + ], + "yaw_rad": -1.5594800864161638, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.49759793281555176, + -14.850545883178711, + 0.122240349650383 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5495910292676489, + -14.855919168237941, + 0.12034867809165845 + ], + "intended_face_normal": [ + -0.9995918622314257, + -0.011476432258885283, + 0.026163271146945888 + ], + "commanded_contact_point": [ + 0.5177552805161555, + -14.85403923838182, + 0.11863401068007715 + ], + "centerline_face_intersection": [ + 0.5495458650257111, + -14.855284310834927, + 0.1189013688582653 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.49429115653038025, + -14.853425025939941, + 0.11908094584941864 + ], + "box_pose": [ + 0.6069467663764954, + -14.859684944152832, + 0.1360178142786026, + 0.006787251215428114, + -0.011743193492293358, + 0.703004777431488, + -0.7110558152198792 + ], + "box_yaw_rad": -1.5595030375191978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003441265453800736 + } + } + }, + { + "simulation_time_ns": 4720000000, + "center": [ + 0.6046459302260904, + -14.854995471494066, + 0.11888684658821011 + ], + "face_center": [ + 0.549347377189912, + -14.855628545289436, + 0.12022467909660065 + ], + "face_normal": [ + -0.9996419588420462, + -0.011444189660462345, + 0.024184240560781722 + ], + "footprint_xy": [ + [ + 0.5455651393757354, + -14.933366388679767 + ], + [ + 0.6637267210764454, + -14.933366388679767 + ], + [ + 0.6637267210764454, + -14.776624554308366 + ], + [ + 0.5455651393757354, + -14.776624554308366 + ] + ], + "projected_box_corners": [ + [ + 0.5455651393757354, + -14.777890701899105 + ], + [ + 0.5513792686021992, + -14.778947380519046 + ], + [ + 0.656162245448092, + -14.776624554308366 + ], + [ + 0.6619763746745558, + -14.777681232928307 + ], + [ + 0.5473154857776249, + -14.932309710059824 + ], + [ + 0.5531296150040887, + -14.933366388679767 + ], + [ + 0.6579125918499815, + -14.931043562469085 + ], + [ + 0.6637267210764454, + -14.932100241089026 + ] + ], + "yaw_rad": -1.5594617672408597, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5007513165473938, + -14.85021686553955, + 0.12455599009990692 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5494762555295144, + -14.855779317766657, + 0.1202904823998766 + ], + "intended_face_normal": [ + -0.9996159918533684, + -0.011463048623151617, + 0.025229964109220404 + ], + "commanded_contact_point": [ + 0.5211066245316542, + -14.854029733560285, + 0.11862995285393295 + ], + "centerline_face_intersection": [ + 0.5494337619677626, + -14.855145200724415, + 0.11889480218052012 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.49759793281555176, + -14.850545883178711, + 0.122240349650383 + ], + "box_pose": [ + 0.6068171858787537, + -14.859525680541992, + 0.13601835072040558, + 0.006872224621474743, + -0.01099331583827734, + 0.7030087113380432, + -0.7110630869865417 + ], + "box_yaw_rad": -1.5594800864161638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033513599504984065 + } + } + }, + { + "simulation_time_ns": 4740000000, + "center": [ + 0.604514916322649, + -14.854836910215514, + 0.11887905753336363 + ], + "face_center": [ + 0.5492149443257919, + -14.855469743240809, + 0.1201571491874777 + ], + "face_normal": [ + -0.9996676096512367, + -0.011439837216197235, + 0.023104294317835006 + ], + "footprint_xy": [ + [ + 0.545561638160625, + -14.933049862561793 + ], + [ + 0.663468194484673, + -14.933049862561793 + ], + [ + 0.663468194484673, + -14.776623957869235 + ], + [ + 0.545561638160625, + -14.776623957869235 + ] + ], + "projected_box_corners": [ + [ + 0.545561638160625, + -14.777889623919823 + ], + [ + 0.551113083581095, + -14.778630075265786 + ], + [ + 0.6561615821543391, + -14.776623957869235 + ], + [ + 0.6617130275748091, + -14.777364409215199 + ], + [ + 0.5473168050704889, + -14.93230941121583 + ], + [ + 0.5528682504909588, + -14.933049862561793 + ], + [ + 0.6579167490642029, + -14.93104374516524 + ], + [ + 0.663468194484673, + -14.931784196511204 + ] + ], + "yaw_rad": -1.559430611540647, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5030571818351746, + -14.852885246276855, + 0.12547244131565094 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.549347377189912, + -14.855628545289436, + 0.12022467909660065 + ], + "intended_face_normal": [ + -0.9996419588420462, + -0.011444189660462345, + 0.024184240560781722 + ], + "commanded_contact_point": [ + 0.5243658875184045, + -14.854004834427613, + 0.11862659809878259 + ], + "centerline_face_intersection": [ + 0.5493077575970902, + -14.854995471494066, + 0.11888684658821011 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5007513165473938, + -14.85021686553955, + 0.12455599009990692 + ], + "box_pose": [ + 0.6066716313362122, + -14.859354019165039, + 0.13601814210414886, + 0.006954150274395943, + -0.010166562162339687, + 0.703014612197876, + -0.7110686898231506 + ], + "box_yaw_rad": -1.5594617672408597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032593598202699686 + } + } + }, + { + "simulation_time_ns": 4760000000, + "center": [ + 0.6043762953632711, + -14.854673609789026, + 0.11887019127071145 + ], + "face_center": [ + 0.5490748501652831, + -14.855304726500878, + 0.12008429432481042 + ], + "face_normal": [ + -0.9996942409749038, + -0.011408811107229577, + 0.02194756080582394 + ], + "footprint_xy": [ + [ + 0.5455619476161012, + -14.93271991911321 + ], + [ + 0.663190643110441, + -14.93271991911321 + ], + [ + 0.663190643110441, + -14.776627300464842 + ], + [ + 0.5455619476161012, + -14.776627300464842 + ] + ], + "projected_box_corners": [ + [ + 0.5455619476161012, + -14.777889533888544 + ], + [ + 0.5508321033204396, + -14.778299534246207 + ], + [ + 0.6561648380120771, + -14.776627300464842 + ], + [ + 0.6614349937164155, + -14.777037300822505 + ], + [ + 0.5473175970101267, + -14.932309918755546 + ], + [ + 0.552587752714465, + -14.93271991911321 + ], + [ + 0.6579204874061026, + -14.931047685331844 + ], + [ + 0.663190643110441, + -14.931457685689507 + ] + ], + "yaw_rad": -1.55942753143834, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.504751980304718, + -14.85886001586914, + 0.12072993814945221 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5492149443257919, + -14.855469743240809, + 0.1201571491874777 + ], + "intended_face_normal": [ + -0.9996676096512367, + -0.011439837216197235, + 0.023104294317835006 + ], + "commanded_contact_point": [ + 0.5275316774681978, + -14.853964513304618, + 0.11862423891492166 + ], + "centerline_face_intersection": [ + 0.5491781636345305, + -14.854836910215514, + 0.11887905753336363 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5030571818351746, + -14.852885246276855, + 0.12547244131565094 + ], + "box_pose": [ + 0.6065219640731812, + -14.859172821044922, + 0.1360182911157608, + 0.007037809118628502, + -0.009313751012086868, + 0.7030153274536133, + -0.7110788822174072 + ], + "box_yaw_rad": -1.559430611540647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031660475935968695 + } + } + }, + { + "simulation_time_ns": 4780000000, + "center": [ + 0.6042259586216217, + -14.854498067665451, + 0.11886089914025896 + ], + "face_center": [ + 0.5489230263045337, + -14.85512767748712, + 0.12000558874204677 + ], + "face_normal": [ + -0.9997211238962189, + -0.011381570780484185, + 0.020692761256314363 + ], + "footprint_xy": [ + [ + 0.54556221088435, + -14.932363481173937 + ], + [ + 0.6628897063588933, + -14.932363481173937 + ], + [ + 0.6628897063588933, + -14.776632654156966 + ], + [ + 0.54556221088435, + -14.776632654156966 + ] + ], + "projected_box_corners": [ + [ + 0.54556221088435, + -14.777891873800304 + ], + [ + 0.5505272342391188, + -14.777942855315091 + ], + [ + 0.6561680755185257, + -14.776632654156966 + ], + [ + 0.6611330988732946, + -14.776683635671752 + ], + [ + 0.5473188183699487, + -14.93231249965915 + ], + [ + 0.5522838417247176, + -14.932363481173937 + ], + [ + 0.6579246830041245, + -14.93105328001581 + ], + [ + 0.6628897063588933, + -14.931104261530598 + ] + ], + "yaw_rad": -1.5594213455540231, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5066521167755127, + -14.866120338439941, + 0.11416324973106384 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5490748501652831, + -14.855304726500878, + 0.12008429432481042 + ], + "intended_face_normal": [ + -0.9996942409749038, + -0.011408811107229577, + 0.02194756080582394 + ], + "commanded_contact_point": [ + 0.5305942362593785, + -14.853911176695394, + 0.11862253946484985 + ], + "centerline_face_intersection": [ + 0.5490410168168562, + -14.854673609789026, + 0.11887019127071145 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.504751980304718, + -14.85886001586914, + 0.12072993814945221 + ], + "box_pose": [ + 0.6063632369041443, + -14.858985900878906, + 0.13601772487163544, + 0.007115411572158337, + -0.008412436582148075, + 0.7030255794525146, + -0.7110793590545654 + ], + "box_yaw_rad": -1.55942753143834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030630236746476518 + } + } + }, + { + "simulation_time_ns": 4800000000, + "center": [ + 0.604058774134747, + -14.85430660064584, + 0.11884973630504703 + ], + "face_center": [ + 0.548754269045261, + -14.854934552003733, + 0.11991721409557735 + ], + "face_normal": [ + -0.9997495551877178, + -0.011351590430425551, + 0.019296989359703032 + ], + "footprint_xy": [ + [ + 0.5455629475136974, + -14.932314129257433 + ], + [ + 0.6625546007557965, + -14.932314129257433 + ], + [ + 0.6625546007557965, + -14.776299072034247 + ], + [ + 0.5455629475136974, + -14.776299072034247 + ] + ], + "projected_box_corners": [ + [ + 0.5455629475136974, + -14.777893574135087 + ], + [ + 0.5501886788606561, + -14.777554974750034 + ], + [ + 0.6561719576926694, + -14.7766376714193 + ], + [ + 0.6607976890396281, + -14.776299072034247 + ], + [ + 0.5473198592298659, + -14.932314129257433 + ], + [ + 0.5519455905768246, + -14.93197552987238 + ], + [ + 0.6579288694088379, + -14.931058226541646 + ], + [ + 0.6625546007557965, + -14.930719627156593 + ] + ], + "yaw_rad": -1.5594193704558452, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5100765228271484, + -14.867606163024902, + 0.11185251176357269 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5489230263045337, + -14.85512767748712, + 0.12000558874204677 + ], + "intended_face_normal": [ + -0.9997211238962189, + -0.011381570780484185, + 0.020692761256314363 + ], + "commanded_contact_point": [ + 0.5335432729100705, + -14.853838920553653, + 0.11862220104820856 + ], + "centerline_face_intersection": [ + 0.5488921680641105, + -14.854498067665451, + 0.11886089914025896 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5066521167755127, + -14.866120338439941, + 0.11416324973106384 + ], + "box_pose": [ + 0.606191098690033, + -14.858784675598145, + 0.13601738214492798, + 0.007200396154075861, + -0.007433944847434759, + 0.7030344009399414, + -0.7110805511474609 + ], + "box_yaw_rad": -1.5594213455540231, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029499217331431073 + } + } + }, + { + "simulation_time_ns": 4820000000, + "center": [ + 0.6038721665228343, + -14.854092705709775, + 0.1188368590058253 + ], + "face_center": [ + 0.5485660533012311, + -14.854718862108193, + 0.11981787507179092 + ], + "face_normal": [ + -0.9997786256832624, + -0.01131914262289091, + 0.017734005104904083 + ], + "footprint_xy": [ + [ + 0.5455648572583244, + -14.932316001300356 + ], + [ + 0.662179475787344, + -14.932316001300356 + ], + [ + 0.662179475787344, + -14.775869410119194 + ], + [ + 0.5455648572583244, + -14.775869410119194 + ] + ], + "projected_box_corners": [ + [ + 0.5455648572583244, + -14.777896077731326 + ], + [ + 0.5498106698614807, + -14.77712172291603 + ], + [ + 0.6561770837015306, + -14.77664376493449 + ], + [ + 0.6604228963046871, + -14.775869410119194 + ], + [ + 0.5473214367409813, + -14.932316001300356 + ], + [ + 0.5515672493441378, + -14.931541646485059 + ], + [ + 0.6579336631841877, + -14.931063688503519 + ], + [ + 0.662179475787344, + -14.930289333688224 + ] + ], + "yaw_rad": -1.5594214751452946, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5144457221031189, + -14.862832069396973, + 0.11349771916866302 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.548754269045261, + -14.854934552003733, + 0.11991721409557735 + ], + "intended_face_normal": [ + -0.9997495551877178, + -0.011351590430425551, + 0.019296989359703032 + ], + "commanded_contact_point": [ + 0.5363674777174197, + -14.853744251169573, + 0.11862273080881934 + ], + "centerline_face_intersection": [ + 0.5487265571824661, + -14.85430660064584, + 0.11884973630504703 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5100765228271484, + -14.867606163024902, + 0.11185251176357269 + ], + "box_pose": [ + 0.6059996485710144, + -14.858565330505371, + 0.13601592183113098, + 0.007280619814991951, + -0.006360037252306938, + 0.7030442357063293, + -0.7110805511474609 + ], + "box_yaw_rad": -1.5594193704558452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028257911045904 + } + } + }, + { + "simulation_time_ns": 4840000000, + "center": [ + 0.6036641802960387, + -14.8538513052742, + 0.1188236700848216 + ], + "face_center": [ + 0.5483564198726038, + -14.854475826305677, + 0.1197087120608977 + ], + "face_normal": [ + -0.9998084024491147, + -0.011289579798523075, + 0.015999064099260107 + ], + "footprint_xy": [ + [ + 0.5455662847581838, + -14.932317721670342 + ], + [ + 0.6617620758338936, + -14.932317721670342 + ], + [ + 0.6617620758338936, + -14.775384888878056 + ], + [ + 0.5455662847581838, + -14.775384888878056 + ] + ], + "projected_box_corners": [ + [ + 0.5455662847581838, + -14.777899062668274 + ], + [ + 0.5493903139967483, + -14.776633930941012 + ], + [ + 0.6561818056050537, + -14.776650020605317 + ], + [ + 0.6600058348436182, + -14.775384888878056 + ], + [ + 0.5473225257484593, + -14.932317721670342 + ], + [ + 0.5511465549870237, + -14.931052589943082 + ], + [ + 0.6579380465953291, + -14.931068679607387 + ], + [ + 0.6617620758338936, + -14.929803547880127 + ] + ], + "yaw_rad": -1.5594235737619766, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5189533233642578, + -14.857575416564941, + 0.11770352721214294 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5485660533012311, + -14.854718862108193, + 0.11981787507179092 + ], + "intended_face_normal": [ + -0.9997786256832624, + -0.01131914262289091, + 0.017734005104904083 + ], + "commanded_contact_point": [ + 0.5390569335753472, + -14.85362119788492, + 0.11862456737006641 + ], + "centerline_face_intersection": [ + 0.5485415584616871, + -14.854092705709775, + 0.1188368590058253 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5144457221031189, + -14.862832069396973, + 0.11349771916866302 + ], + "box_pose": [ + 0.6057858467102051, + -14.858320236206055, + 0.13601380586624146, + 0.007369745057076216, + -0.005158251617103815, + 0.7030548453330994, + -0.7110787034034729 + ], + "box_yaw_rad": -1.5594214751452946, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00269227010078152 + } + } + }, + { + "simulation_time_ns": 4860000000, + "center": [ + 0.6034840418615811, + -14.8536172841245, + 0.11881879402535458 + ], + "face_center": [ + 0.5481749971162064, + -14.85424059406318, + 0.11962044855781197 + ], + "face_normal": [ + -0.9998316193694338, + -0.011267686654652387, + 0.014491654177931496 + ], + "footprint_xy": [ + [ + 0.5455684440869926, + -14.932318342053895 + ], + [ + 0.6613996396361697, + -14.932318342053895 + ], + [ + 0.6613996396361697, + -14.774916226195106 + ], + [ + 0.5455684440869926, + -14.774916226195106 + ] + ], + "projected_box_corners": [ + [ + 0.5455684440869926, + -14.777901556062416 + ], + [ + 0.5490254804792652, + -14.776162846072467 + ], + [ + 0.6561865335777418, + -14.776654936185057 + ], + [ + 0.6596435699700145, + -14.774916226195106 + ], + [ + 0.5473245137531477, + -14.932318342053895 + ], + [ + 0.5507815501454204, + -14.930579632063944 + ], + [ + 0.657942603243897, + -14.931071722176535 + ], + [ + 0.6613996396361697, + -14.929333012186584 + ] + ], + "yaw_rad": -1.5594245451752378, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5232125520706177, + -14.856715202331543, + 0.12115810811519623 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5483564198726038, + -14.854475826305677, + 0.1197087120608977 + ], + "intended_face_normal": [ + -0.9998084024491147, + -0.011289579798523075, + 0.015999064099260107 + ], + "commanded_contact_point": [ + 0.5416021360486435, + -14.85346432944411, + 0.11862892542314574 + ], + "centerline_face_intersection": [ + 0.5483352201171824, + -14.8538513052742, + 0.1188236700848216 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5189533233642578, + -14.857575416564941, + 0.11770352721214294 + ], + "box_pose": [ + 0.6055476665496826, + -14.858043670654297, + 0.13601256906986237, + 0.007479050196707249, + -0.0038138083182275295, + 0.7030642032623291, + -0.7110769152641296 + ], + "box_yaw_rad": -1.5594235737619766, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002550035750812536 + } + } + }, + { + "simulation_time_ns": 4880000000, + "center": [ + 0.6033305891818913, + -14.853417448823059, + 0.11881442471819986 + ], + "face_center": [ + 0.5480205620155052, + -14.854040014006856, + 0.11954524016189941 + ], + "face_normal": [ + -0.9998493787719931, + -0.011254223585736245, + 0.013211083140166266 + ], + "footprint_xy": [ + [ + 0.5455699360045162, + -14.9323190757912 + ], + [ + 0.6610912423592664, + -14.9323190757912 + ], + [ + 0.6610912423592664, + -14.774515821854918 + ], + [ + 0.5455699360045162, + -14.774515821854918 + ] + ], + "projected_box_corners": [ + [ + 0.5455699360045162, + -14.777904395209632 + ], + [ + 0.548715181102003, + -14.775760952222509 + ], + [ + 0.6561899903372884, + -14.77665926484204 + ], + [ + 0.6593352354347752, + -14.774515821854918 + ], + [ + 0.5473259429290074, + -14.9323190757912 + ], + [ + 0.5504711880264942, + -14.930175632804078 + ], + [ + 0.6579459972617796, + -14.931073945423607 + ], + [ + 0.6610912423592664, + -14.928930502436486 + ] + ], + "yaw_rad": -1.559424796403638, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5268312692642212, + -14.856361389160156, + 0.12182612717151642 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5481749971162064, + -14.85424059406318, + 0.11962044855781197 + ], + "intended_face_normal": [ + -0.9998316193694338, + -0.011267686654652387, + 0.014491654177931496 + ], + "commanded_contact_point": [ + 0.5440345368652995, + -14.853300231848028, + 0.11863809359663013 + ], + "centerline_face_intersection": [ + 0.5481563664671174, + -14.8536172841245, + 0.11881879402535458 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5232125520706177, + -14.856715202331543, + 0.12115810811519623 + ], + "box_pose": [ + 0.6053412556648254, + -14.857775688171387, + 0.1360187977552414, + 0.007643149700015783, + -0.002575811231508851, + 0.7030702233314514, + -0.7110747694969177 + ], + "box_yaw_rad": -1.5594245451752378, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024379470480946864 + } + } + }, + { + "simulation_time_ns": 4900000000, + "center": [ + 0.6031981188164196, + -14.853248370348064, + 0.11880927871286347 + ], + "face_center": [ + 0.54788730741193, + -14.853870871389555, + 0.11947898668640763 + ], + "face_normal": [ + -0.9998635555862289, + -0.011253064073663999, + 0.01210643233445615 + ], + "footprint_xy": [ + [ + 0.5455706462227307, + -14.932319528548438 + ], + [ + 0.6608255914101085, + -14.932319528548438 + ], + [ + 0.6608255914101085, + -14.774177212147691 + ], + [ + 0.5455706462227307, + -14.774177212147691 + ] + ], + "projected_box_corners": [ + [ + 0.5455706462227307, + -14.777906937879038 + ], + [ + 0.5484470046138734, + -14.775422214230673 + ], + [ + 0.6561922690317097, + -14.776661935796056 + ], + [ + 0.6590686274228525, + -14.774177212147691 + ], + [ + 0.5473276102099867, + -14.932319528548438 + ], + [ + 0.5502039686011295, + -14.929834804900073 + ], + [ + 0.6579492330189657, + -14.931074526465457 + ], + [ + 0.6608255914101085, + -14.928589802817092 + ] + ], + "yaw_rad": -1.5594184452221271, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5305608510971069, + -14.854601860046387, + 0.1211736798286438 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5480205620155052, + -14.854040014006856, + 0.11954524016189941 + ], + "intended_face_normal": [ + -0.9998493787719931, + -0.011254223585736245, + 0.013211083140166266 + ], + "commanded_contact_point": [ + 0.5463489508988636, + -14.853152366947526, + 0.11864591139791303 + ], + "centerline_face_intersection": [ + 0.5480038965219083, + -14.853417448823059, + 0.11881442471819986 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5268312692642212, + -14.856361389160156, + 0.12182612717151642 + ], + "box_pose": [ + 0.6051654815673828, + -14.85754680633545, + 0.13602381944656372, + 0.007786102127283812, + -0.0015205448726192117, + 0.7030734419822693, + -0.7110729813575745 + ], + "box_yaw_rad": -1.559424796403638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023191458482760114 + } + } + }, + { + "simulation_time_ns": 4920000000, + "center": [ + 0.6030855799772763, + -14.853105293924301, + 0.1188042991179507 + ], + "face_center": [ + 0.5477741735848782, + -14.85372735697876, + 0.11942186149109102 + ], + "face_normal": [ + -0.9998743112904154, + -0.011245146502783077, + 0.011163786871407625 + ], + "footprint_xy": [ + [ + 0.5455725492756579, + -14.932320833744466 + ], + [ + 0.6605986106788947, + -14.932320833744466 + ], + [ + 0.6605986106788947, + -14.773889754104136 + ], + [ + 0.5455725492756579, + -14.773889754104136 + ] + ], + "projected_box_corners": [ + [ + 0.5455725492756579, + -14.777910335615442 + ], + [ + 0.5482194717205482, + -14.775133880213057 + ], + [ + 0.6561953620604541, + -14.776666209506521 + ], + [ + 0.6588422845053443, + -14.773889754104136 + ], + [ + 0.5473288754492084, + -14.932320833744466 + ], + [ + 0.5499757978940986, + -14.929544378342081 + ], + [ + 0.6579516882340045, + -14.931076707635546 + ], + [ + 0.6605986106788947, + -14.92830025223316 + ] + ], + "yaw_rad": -1.559422421147039, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5348587036132812, + -14.85226821899414, + 0.12027384340763092 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.54788730741193, + -14.853870871389555, + 0.11947898668640763 + ], + "intended_face_normal": [ + -0.9998635555862289, + -0.011253064073663999, + 0.01210643233445615 + ], + "commanded_contact_point": [ + 0.5485361494335185, + -14.853020763298948, + 0.1186516979684546 + ], + "centerline_face_intersection": [ + 0.5478722106197164, + -14.853248370348064, + 0.11880927871286347 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5305608510971069, + -14.854601860046387, + 0.1211736798286438 + ], + "box_pose": [ + 0.6050137877464294, + -14.857353210449219, + 0.13602657616138458, + 0.007897880859673023, + -0.0006218959460966289, + 0.7030726075172424, + -0.7110740542411804 + ], + "box_yaw_rad": -1.5594184452221271, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021911618914890996 + } + } + }, + { + "simulation_time_ns": 4940000000, + "center": [ + 0.6029901826673172, + -14.852981249878315, + 0.11880087281227679 + ], + "face_center": [ + 0.5476783009270053, + -14.853603962678074, + 0.11937448061440739 + ], + "face_normal": [ + -0.9998829042407481, + -0.011256892066238922, + 0.010369212130266293 + ], + "footprint_xy": [ + [ + 0.5455723979086653, + -14.932321899981776 + ], + [ + 0.6604079674259691, + -14.932321899981776 + ], + [ + 0.6604079674259691, + -14.773640599774852 + ], + [ + 0.5455723979086653, + -14.773640599774852 + ] + ], + "projected_box_corners": [ + [ + 0.5455723979086653, + -14.777913349887593 + ], + [ + 0.5480258168066859, + -14.774886025374371 + ], + [ + 0.6561961613892892, + -14.776667924288075 + ], + [ + 0.6586495802873098, + -14.773640599774852 + ], + [ + 0.5473307850473246, + -14.932321899981776 + ], + [ + 0.5497842039453452, + -14.929294575468555 + ], + [ + 0.6579545485279484, + -14.931076474382259 + ], + [ + 0.6604079674259691, + -14.928049149869036 + ] + ], + "yaw_rad": -1.5594089319132187, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5385457277297974, + -14.850074768066406, + 0.12023447453975677 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5477741735848782, + -14.85372735697876, + 0.11942186149109102 + ], + "intended_face_normal": [ + -0.9998743112904154, + -0.011245146502783077, + 0.011163786871407625 + ], + "commanded_contact_point": [ + 0.5505902723908906, + -14.8529041276952, + 0.11865620755236987 + ], + "centerline_face_intersection": [ + 0.5477602669244783, + -14.853105293924301, + 0.1188042991179507 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5348587036132812, + -14.85226821899414, + 0.12027384340763092 + ], + "box_pose": [ + 0.6048848032951355, + -14.857189178466797, + 0.13602830469608307, + 0.00799404364079237, + 0.00014570531493518502, + 0.7030743360519409, + -0.7110713124275208 + ], + "box_yaw_rad": -1.559422421147039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002057436590617574 + } + } + }, + { + "simulation_time_ns": 4960000000, + "center": [ + 0.6029073543050699, + -14.852877352825422, + 0.11879689427765441 + ], + "face_center": [ + 0.547595080987828, + -14.853499310779085, + 0.11933220819838972 + ], + "face_normal": [ + -0.999889982847832, + -0.011243246576637778, + 0.009676966700541953 + ], + "footprint_xy": [ + [ + 0.5455744700544427, + -14.932322984683337 + ], + [ + 0.660240238555697, + -14.932322984683337 + ], + [ + 0.660240238555697, + -14.773431720967508 + ], + [ + 0.5455744700544427, + -14.773431720967508 + ] + ], + "projected_box_corners": [ + [ + 0.5455744700544427, + -14.77791620664516 + ], + [ + 0.5478594405626732, + -14.774675636874834 + ], + [ + 0.6561990166889264, + -14.776672290737835 + ], + [ + 0.6584839871971568, + -14.773431720967508 + ], + [ + 0.5473307214129829, + -14.932322984683337 + ], + [ + 0.5496156919212134, + -14.92908241491301 + ], + [ + 0.6579552680474665, + -14.931079068776011 + ], + [ + 0.660240238555697, + -14.927838499005684 + ] + ], + "yaw_rad": -1.5594226316107205, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5416438579559326, + -14.848747253417969, + 0.12133122980594635 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5476783009270053, + -14.853603962678074, + 0.11937448061440739 + ], + "intended_face_normal": [ + -0.9998829042407481, + -0.011256892066238922, + 0.010369212130266293 + ], + "commanded_contact_point": [ + 0.5525037790017082, + -14.852798045423764, + 0.11866070582565395 + ], + "centerline_face_intersection": [ + 0.5476653450778611, + -14.852981249878315, + 0.11880087281227679 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5385457277297974, + -14.850074768066406, + 0.12023447453975677 + ], + "box_pose": [ + 0.604775607585907, + -14.857047080993652, + 0.13603058457374573, + 0.008082305081188679, + 0.0008000920643098652, + 0.7030691504478455, + -0.7110751271247864 + ], + "box_yaw_rad": -1.5594089319132187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019164501643450624 + } + } + }, + { + "simulation_time_ns": 4980000000, + "center": [ + 0.6028367010154594, + -14.852789325196255, + 0.11879340886406214 + ], + "face_center": [ + 0.5475241159044877, + -14.853410899383165, + 0.11929598035955624 + ], + "face_normal": [ + -0.999895619199558, + -0.011236309155534752, + 0.009085075949188073 + ], + "footprint_xy": [ + [ + 0.5455761466505151, + -14.93232464902687 + ], + [ + 0.6600972553804038, + -14.93232464902687 + ], + [ + 0.6600972553804038, + -14.77325400136564 + ], + [ + 0.5455761466505151, + -14.77325400136564 + ] + ], + "projected_box_corners": [ + [ + 0.5455761466505151, + -14.77791948329524 + ], + [ + 0.5477170853542445, + -14.774497149739458 + ], + [ + 0.6562013168724584, + -14.776676334921419 + ], + [ + 0.6583422555761878, + -14.77325400136564 + ], + [ + 0.547331146454731, + -14.93232464902687 + ], + [ + 0.5494720851584605, + -14.928902315471092 + ], + [ + 0.6579563166766744, + -14.931081500653052 + ], + [ + 0.6600972553804038, + -14.927659167097271 + ] + ], + "yaw_rad": -1.5594306174590782, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5444473028182983, + -14.849349975585938, + 0.1239282488822937 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.547595080987828, + -14.853499310779085, + 0.11933220819838972 + ], + "intended_face_normal": [ + -0.999889982847832, + -0.011243246576637778, + 0.009676966700541953 + ], + "commanded_contact_point": [ + 0.5542671399882289, + -14.852705770351342, + 0.11866383412346765 + ], + "centerline_face_intersection": [ + 0.5475829083814912, + -14.852877352825422, + 0.11879689427765441 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5416438579559326, + -14.848747253417969, + 0.12133122980594635 + ], + "box_pose": [ + 0.6046806573867798, + -14.856927871704102, + 0.13603146374225616, + 0.008151511661708355, + 0.001362315728329122, + 0.7030732035636902, + -0.7110694646835327 + ], + "box_yaw_rad": -1.5594226316107205, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001765776442254441 + } + } + }, + { + "simulation_time_ns": 5000000000, + "center": [ + 0.6027761316700382, + -14.852711796830032, + 0.11879045073715558 + ], + "face_center": [ + 0.547463290275246, + -14.853332972544814, + 0.11926517673143489 + ], + "face_normal": [ + -0.9999002520886, + -0.011229105902723413, + 0.008581707780385028 + ], + "footprint_xy": [ + [ + 0.5455772526910655, + -14.932323683012212 + ], + [ + 0.6599750106490109, + -14.932323683012212 + ], + [ + 0.6599750106490109, + -14.773099910647852 + ], + [ + 0.5455772526910655, + -14.773099910647852 + ] + ], + "projected_box_corners": [ + [ + 0.5455772526910655, + -14.777919947860783 + ], + [ + 0.5475956997543796, + -14.774342262077418 + ], + [ + 0.65620293548065, + -14.776677596431217 + ], + [ + 0.658221382543964, + -14.773099910647852 + ], + [ + 0.5473308807961124, + -14.932323683012212 + ], + [ + 0.5493493278594265, + -14.928745997228848 + ], + [ + 0.6579565635856969, + -14.931081331582646 + ], + [ + 0.6599750106490109, + -14.927503645799282 + ] + ], + "yaw_rad": -1.5594393948630498, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5426468849182129, + -14.849478721618652, + 0.1241641640663147 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5475241159044877, + -14.853410899383165, + 0.11929598035955624 + ], + "intended_face_normal": [ + -0.999895619199558, + -0.011236309155534752, + 0.009085075949188073 + ], + "commanded_contact_point": [ + 0.5558742601514389, + -14.85262445965239, + 0.11866646354047676 + ], + "centerline_face_intersection": [ + 0.5475125669524691, + -14.852789325196255, + 0.11879340886406214 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5444473028182983, + -14.849349975585938, + 0.1239282488822937 + ], + "box_pose": [ + 0.60459965467453, + -14.856826782226562, + 0.1360321044921875, + 0.008209839463233948, + 0.0018421922577545047, + 0.7030749917030334, + -0.711065948009491 + ], + "box_yaw_rad": -1.5594306174590782, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016091779151462206 + } + } + }, + { + "simulation_time_ns": 5020000000, + "center": [ + 0.6027233908248378, + -14.852646252209103, + 0.11878760857856199 + ], + "face_center": [ + 0.5474103527151832, + -14.853267374058273, + 0.11923794528074053 + ], + "face_normal": [ + -0.9999038081387971, + -0.011228132164288862, + 0.008140818129720312 + ], + "footprint_xy": [ + [ + 0.5455781979013359, + -14.932325490652406 + ], + [ + 0.6598685837483399, + -14.932325490652406 + ], + [ + 0.6598685837483399, + -14.7729670137658 + ], + [ + 0.5455781979013359, + -14.7729670137658 + ] + ], + "projected_box_corners": [ + [ + 0.5455781979013359, + -14.777923108033056 + ], + [ + 0.5474893402079227, + -14.774209257464141 + ], + [ + 0.6562042741206452, + -14.776680864334715 + ], + [ + 0.658115416427232, + -14.7729670137658 + ], + [ + 0.5473313652224436, + -14.932325490652406 + ], + [ + 0.5492425075290306, + -14.92861164008349 + ], + [ + 0.6579574414417529, + -14.931083246954065 + ], + [ + 0.6598685837483399, + -14.927369396385151 + ] + ], + "yaw_rad": -1.5594422793083724, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5381526350975037, + -14.848654747009277, + 0.12080028653144836 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.547463290275246, + -14.853332972544814, + 0.11926517673143489 + ], + "intended_face_normal": [ + -0.9999002520886, + -0.011229105902723413, + 0.008581707780385028 + ], + "commanded_contact_point": [ + 0.5573173525171813, + -14.85255034652127, + 0.11866873082184683 + ], + "centerline_face_intersection": [ + 0.5474522539431913, + -14.852711796830032, + 0.11879045073715558 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5426468849182129, + -14.849478721618652, + 0.1241641640663147 + ], + "box_pose": [ + 0.6045302748680115, + -14.856738090515137, + 0.13603265583515167, + 0.008260584436357021, + 0.0022514411248266697, + 0.703076958656311, + -0.7110623121261597 + ], + "box_yaw_rad": -1.5594393948630498, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014449960113554383 + } + } + }, + { + "simulation_time_ns": 5040000000, + "center": [ + 0.6026979351935601, + -14.852616307903837, + 0.11878736134307134 + ], + "face_center": [ + 0.5473848101058991, + -14.853237448653688, + 0.11922598744265975 + ], + "face_normal": [ + -0.9999053804559683, + -0.011228473835339647, + 0.007929123445688413 + ], + "footprint_xy": [ + [ + 0.5455784658160835, + -14.932325732864188 + ], + [ + 0.6598174045710365, + -14.932325732864188 + ], + [ + 0.6598174045710365, + -14.772906882943486 + ], + [ + 0.5455784658160835, + -14.772906882943486 + ] + ], + "projected_box_corners": [ + [ + 0.5455784658160835, + -14.77792398282859 + ], + [ + 0.5474381331792972, + -14.774149164443191 + ], + [ + 0.6562047159914053, + -14.776681701328885 + ], + [ + 0.6580643833546189, + -14.772906882943486 + ], + [ + 0.5473314870325011, + -14.932325732864188 + ], + [ + 0.5491911543957149, + -14.928550914478787 + ], + [ + 0.6579577372078228, + -14.931083451364483 + ], + [ + 0.6598174045710365, + -14.927308632979084 + ] + ], + "yaw_rad": -1.5594431789360566, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.537563145160675, + -14.849034309387207, + 0.11644092202186584 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5474103527151832, + -14.853267374058273, + 0.11923794528074053 + ], + "intended_face_normal": [ + -0.9999038081387971, + -0.011228132164288862, + 0.008140818129720312 + ], + "commanded_contact_point": [ + 0.5585882323570619, + -14.852485642910544, + 0.11867056916236936 + ], + "centerline_face_intersection": [ + 0.5473997098514034, + -14.852646252209103, + 0.11878760857856199 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5381526350975037, + -14.848654747009277, + 0.12080028653144836 + ], + "box_pose": [ + 0.6044698357582092, + -14.85666275024414, + 0.13603287935256958, + 0.008305152878165245, + 0.0026100396644324064, + 0.7030767798423767, + -0.711060643196106 + ], + "box_yaw_rad": -1.5594422793083724, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001272527211556491 + } + } + }, + { + "simulation_time_ns": 5060000000, + "center": [ + 0.6026979305994874, + -14.852617114072485, + 0.11878787272075314 + ], + "face_center": [ + 0.5473847976745099, + -14.853238688476624, + 0.1192264069533161 + ], + "face_normal": [ + -0.9999055221325617, + -0.011236313082452876, + 0.007927462748830605 + ], + "footprint_xy": [ + [ + 0.5455780574373243, + -14.93232588766806 + ], + [ + 0.6598178037616506, + -14.93232588766806 + ], + [ + 0.6598178037616506, + -14.772908340476908 + ], + [ + 0.5455780574373243, + -14.772908340476908 + ] + ], + "projected_box_corners": [ + [ + 0.5455780574373243, + -14.777924095378225 + ], + [ + 0.5474373213218895, + -14.77415148928519 + ], + [ + 0.6562043232872794, + -14.776680946569945 + ], + [ + 0.6580635871718445, + -14.772908340476908 + ], + [ + 0.5473322740271304, + -14.93232588766806 + ], + [ + 0.5491915379116955, + -14.928553281575025 + ], + [ + 0.6579585398770854, + -14.93108273885978 + ], + [ + 0.6598178037616506, + -14.927310132766744 + ] + ], + "yaw_rad": -1.5594354410755138, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5407716035842896, + -14.849419593811035, + 0.11715039610862732 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5473848101058991, + -14.853237448653688, + 0.11922598744265975 + ], + "intended_face_normal": [ + -0.9999053804559683, + -0.011228473835339647, + 0.007929123445688413 + ], + "commanded_contact_point": [ + 0.5596995733790219, + -14.852454223485362, + 0.11867191637401925 + ], + "centerline_face_intersection": [ + 0.5473743412147306, + -14.852616307903837, + 0.11878736134307134 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.537563145160675, + -14.849034309387207, + 0.11644092202186584 + ], + "box_pose": [ + 0.6044406890869141, + -14.85662841796875, + 0.1360340267419815, + 0.00832008384168148, + 0.00277568306773901, + 0.7030764818191528, + -0.7110600471496582 + ], + "box_yaw_rad": -1.5594431789360566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011117858887164712 + } + } + }, + { + "simulation_time_ns": 5080000000, + "center": [ + 0.602700716186762, + -14.852618778338396, + 0.11878828614363653 + ], + "face_center": [ + 0.5473876055380671, + -14.853240597042925, + 0.11922814556374772 + ], + "face_normal": [ + -0.9999051194401648, + -0.011240729344828448, + 0.007951418404156363 + ], + "footprint_xy": [ + [ + 0.5455776190396314, + -14.93232605411756 + ], + [ + 0.6598238133338925, + -14.93232605411756 + ], + [ + 0.6598238133338925, + -14.772911502559232 + ], + [ + 0.5455776190396314, + -14.772911502559232 + ] + ], + "projected_box_corners": [ + [ + 0.5455776190396314, + -14.777924259356517 + ], + [ + 0.5474426531350037, + -14.77415513996829 + ], + [ + 0.6562038403370212, + -14.776680621947458 + ], + [ + 0.6580688744323934, + -14.772911502559232 + ], + [ + 0.5473325579411306, + -14.93232605411756 + ], + [ + 0.5491975920365029, + -14.928556934729333 + ], + [ + 0.6579587792385203, + -14.9310824167085 + ], + [ + 0.6598238133338925, + -14.927313297320275 + ] + ], + "yaw_rad": -1.5594307637311955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5441862344741821, + -14.847454071044922, + 0.12096773087978363 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5473847976745099, + -14.853238688476624, + 0.1192264069533161 + ], + "intended_face_normal": [ + -0.9999055221325617, + -0.011236313082452876, + 0.007927462748830605 + ], + "commanded_contact_point": [ + 0.5606439420827937, + -14.852452674171914, + 0.1186712177626169 + ], + "centerline_face_intersection": [ + 0.5473743444594568, + -14.852617114072485, + 0.11878787272075314 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5407716035842896, + -14.849419593811035, + 0.11715039610862732 + ], + "box_pose": [ + 0.6044406890869141, + -14.856629371643066, + 0.1360345035791397, + 0.0083162235096097, + 0.0027730052825063467, + 0.7030737400054932, + -0.7110629677772522 + ], + "box_yaw_rad": -1.5594354410755138, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009443702330620464 + } + } + }, + { + "simulation_time_ns": 5100000000, + "center": [ + 0.6027060548036602, + -14.852624574469576, + 0.11878855061638632 + ], + "face_center": [ + 0.5473929524812176, + -14.853246407969866, + 0.1192307560942027 + ], + "face_normal": [ + -0.9999049689249958, + -0.01124099681049806, + 0.007993828514207824 + ], + "footprint_xy": [ + [ + 0.5455777696173512, + -14.932325831905969 + ], + [ + 0.6598343399899693, + -14.932325831905969 + ], + [ + 0.6598343399899693, + -14.772923317033182 + ], + [ + 0.5455777696173512, + -14.772923317033182 + ] + ], + "projected_box_corners": [ + [ + 0.5455777696173512, + -14.777923884762533 + ], + [ + 0.5474531143234656, + -14.774166984033766 + ], + [ + 0.6562039742622365, + -14.776680217761951 + ], + [ + 0.6580793189683509, + -14.772923317033182 + ], + [ + 0.5473327906389696, + -14.932325831905969 + ], + [ + 0.549208135345084, + -14.928568931177201 + ], + [ + 0.6579589952838549, + -14.931082164905385 + ], + [ + 0.6598343399899693, + -14.927325264176618 + ] + ], + "yaw_rad": -1.559430243156486, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5439709424972534, + -14.842095375061035, + 0.1228899359703064 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5473876055380671, + -14.853240597042925, + 0.11922814556374772 + ], + "intended_face_normal": [ + -0.9999051194401648, + -0.011240729344828448, + 0.007951418404156363 + ], + "commanded_contact_point": [ + 0.5613929531402074, + -14.852452492297884, + 0.11867030174080892 + ], + "centerline_face_intersection": [ + 0.5473771077662299, + -14.852618778338396, + 0.11878828614363653 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5441862344741821, + -14.847454071044922, + 0.12096773087978363 + ], + "box_pose": [ + 0.6044439077377319, + -14.8566312789917, + 0.13603481650352478, + 0.008319518528878689, + 0.0027593253180384636, + 0.7030721306800842, + -0.7110644578933716 + ], + "box_yaw_rad": -1.5594307637311955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007490116396306519 + } + } + }, + { + "simulation_time_ns": 5120000000, + "center": [ + 0.602713261897817, + -14.85263206328998, + 0.11878919143809827 + ], + "face_center": [ + 0.5474001857931632, + -14.853253853457925, + 0.11923464034817868 + ], + "face_normal": [ + -0.9999044949812783, + -0.011240213483843742, + 0.008052460626691432 + ], + "footprint_xy": [ + [ + 0.5455779111908381, + -14.932325758188352 + ], + [ + 0.6598486126047959, + -14.932325758188352 + ], + [ + 0.6598486126047959, + -14.772938368391605 + ], + [ + 0.5455779111908381, + -14.772938368391605 + ] + ], + "projected_box_corners": [ + [ + 0.5455779111908381, + -14.777923658722576 + ], + [ + 0.547467496359362, + -14.774181948727497 + ], + [ + 0.6562040634001457, + -14.776680078386685 + ], + [ + 0.6580936485686696, + -14.772938368391605 + ], + [ + 0.5473328752269644, + -14.932325758188352 + ], + [ + 0.5492224603954883, + -14.928584048193272 + ], + [ + 0.6579590274362721, + -14.93108217785246 + ], + [ + 0.6598486126047959, + -14.92734046785738 + ] + ], + "yaw_rad": -1.5594306233928323, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.541516900062561, + -14.841805458068848, + 0.12190014123916626 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5473929524812176, + -14.853246407969866, + 0.1192307560942027 + ], + "intended_face_normal": [ + -0.9999049689249958, + -0.01124099681049806, + 0.007993828514207824 + ], + "commanded_contact_point": [ + 0.5619397074898996, + -14.852456980096607, + 0.11866922481247885 + ], + "centerline_face_intersection": [ + 0.5473824380552945, + -14.852624574469576, + 0.11878855061638632 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5439709424972534, + -14.842095375061035, + 0.1228899359703064 + ], + "box_pose": [ + 0.604449987411499, + -14.856637954711914, + 0.1360348016023636, + 0.008316517807543278, + 0.00272613437846303, + 0.7030720710754395, + -0.7110648155212402 + ], + "box_yaw_rad": -1.559430243156486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005467738280307023 + } + } + }, + { + "simulation_time_ns": 5140000000, + "center": [ + 0.6027225042917757, + -14.852641167182991, + 0.1187898911840587 + ], + "face_center": [ + 0.547409473400515, + -14.85326338678101, + 0.1192395837578688 + ], + "face_normal": [ + -0.9999036776505793, + -0.01124797636903585, + 0.008129174104540504 + ], + "footprint_xy": [ + [ + 0.5455772599070453, + -14.932325648754878 + ], + [ + 0.6598677486765059, + -14.932325648754878 + ], + [ + 0.6598677486765059, + -14.772956685611106 + ], + [ + 0.5455772599070453, + -14.772956685611106 + ] + ], + "projected_box_corners": [ + [ + 0.5455772599070453, + -14.777923384836471 + ], + [ + 0.547485440088108, + -14.774201124807144 + ], + [ + 0.6562033216895664, + -14.776678945640436 + ], + [ + 0.6581115018706291, + -14.772956685611106 + ], + [ + 0.5473335067129221, + -14.932325648754878 + ], + [ + 0.5492416868939848, + -14.928603388725548 + ], + [ + 0.6579595684954432, + -14.93108120955884 + ], + [ + 0.6598677486765059, + -14.927358949529513 + ] + ], + "yaw_rad": -1.5594223285988422, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5384402275085449, + -14.847766876220703, + 0.1187267154455185 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5474001857931632, + -14.853253853457925, + 0.11923464034817868 + ], + "intended_face_normal": [ + -0.9999044949812783, + -0.011240213483843742, + 0.008052460626691432 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.852463709846976, + 0.11866855220908507 + ], + "centerline_face_intersection": [ + 0.5473896189266663, + -14.85263206328998, + 0.11878919143809827 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.541516900062561, + -14.841805458068848, + 0.12190014123916626 + ], + "box_pose": [ + 0.604458212852478, + -14.856646537780762, + 0.13603508472442627, + 0.008314870297908783, + 0.0026827685069292784, + 0.7030723690986633, + -0.7110646963119507 + ], + "box_yaw_rad": -1.5594306233928323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003370841919966797 + } + } + }, + { + "simulation_time_ns": 5160000000, + "center": [ + 0.6027339247247074, + -14.852653751399078, + 0.11879098486216884 + ], + "face_center": [ + 0.5474209328139873, + -14.853276372916893, + 0.11924596014981775 + ], + "face_normal": [ + -0.9999029729922891, + -0.011255241946002803, + 0.008224670679403356 + ], + "footprint_xy": [ + [ + 0.5455765297550167, + -14.932326725367153 + ], + [ + 0.6598913196943981, + -14.932326725367153 + ], + [ + 0.6598913196943981, + -14.772980777431004 + ], + [ + 0.5455765297550167, + -14.772980777431004 + ] + ], + "projected_box_corners": [ + [ + 0.5455765297550167, + -14.777924209976577 + ], + [ + 0.5475078644788529, + -14.774226020466635 + ], + [ + 0.6562025135764569, + -14.776678966940947 + ], + [ + 0.658133848300293, + -14.772980777431004 + ], + [ + 0.5473340011491218, + -14.932326725367153 + ], + [ + 0.5492653358729579, + -14.92862853585721 + ], + [ + 0.657959984970562, + -14.931081482331523 + ], + [ + 0.6598913196943981, + -14.92738329282158 + ] + ], + "yaw_rad": -1.5594144170068427, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.537011444568634, + -14.852407455444336, + 0.11683519184589386 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.547409473400515, + -14.85326338678101, + 0.1192395837578688 + ], + "intended_face_normal": [ + -0.9999036776505793, + -0.01124797636903585, + 0.008129174104540504 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.852836138821482, + 0.1187898911840587 + ], + "centerline_face_intersection": [ + 0.5473988160985572, + -14.852641167182991, + 0.1187898911840587 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5384402275085449, + -14.847766876220703, + 0.1187267154455185 + ], + "box_pose": [ + 0.604468822479248, + -14.856657028198242, + 0.13603532314300537, + 0.008313302882015705, + 0.0026266714558005333, + 0.7030696272850037, + -0.7110675573348999 + ], + "box_yaw_rad": -1.5594223285988422, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00019497163849152343, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003916969337375189 + } + } + }, + { + "simulation_time_ns": 5180000000, + "center": [ + 0.6027480036011057, + -14.85267132460162, + 0.11879143316863826 + ], + "face_center": [ + 0.547435061496532, + -14.85329398206062, + 0.11925278771618378 + ], + "face_normal": [ + -0.9999020726375619, + -0.011255891661338113, + 0.008339989715958285 + ], + "footprint_xy": [ + [ + 0.5455765370554955, + -14.932327448502496 + ], + [ + 0.6599194701467159, + -14.932327448502496 + ], + [ + 0.6599194701467159, + -14.773015200700742 + ], + [ + 0.5455765370554955, + -14.773015200700742 + ] + ], + "projected_box_corners": [ + [ + 0.5455765370554955, + -14.77792458756843 + ], + [ + 0.5475359207129443, + -14.774260515618746 + ], + [ + 0.6562024212646431, + -14.776679272650428 + ], + [ + 0.6581618049220919, + -14.773015200700742 + ], + [ + 0.5473342022801195, + -14.932327448502496 + ], + [ + 0.5492935859375684, + -14.928663376552812 + ], + [ + 0.6579600864892672, + -14.931082133584493 + ], + [ + 0.6599194701467159, + -14.927418061634809 + ] + ], + "yaw_rad": -1.5594131872835022, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.53780198097229, + -14.85335922241211, + 0.11687733232975006 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5474209328139873, + -14.853276372916893, + 0.11924596014981775 + ], + "intended_face_normal": [ + -0.9999029729922891, + -0.011255241946002803, + 0.008224670679403356 + ], + "commanded_contact_point": [ + 0.5626356163547988, + -14.852858574875759, + 0.11879098486216884 + ], + "centerline_face_intersection": [ + 0.5474101975434106, + -14.852653751399078, + 0.11879098486216884 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.537011444568634, + -14.852407455444336, + 0.11683519184589386 + ], + "box_pose": [ + 0.6044819355010986, + -14.856671333312988, + 0.13603584468364716, + 0.008311566896736622, + 0.0025570455472916365, + 0.7030670642852783, + -0.7110704779624939 + ], + "box_yaw_rad": -1.5594144170068427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00020482347668121292, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003595947999433046 + } + } + }, + { + "simulation_time_ns": 5200000000, + "center": [ + 0.6027642707551982, + -14.852690566349395, + 0.11879245592516471 + ], + "face_center": [ + 0.547451404734808, + -14.853313007855936, + 0.11926106328946581 + ], + "face_normal": [ + -0.9999006972499952, + -0.011251987849618117, + 0.008471100198070125 + ], + "footprint_xy": [ + [ + 0.5455771818726701, + -14.932327956539439 + ], + [ + 0.6599513596377263, + -14.932327956539439 + ], + [ + 0.6599513596377263, + -14.773053176159351 + ], + [ + 0.5455771818726701, + -14.773053176159351 + ] + ], + "projected_box_corners": [ + [ + 0.5455771818726701, + -14.777924772291676 + ], + [ + 0.5475684573995429, + -14.774298059172434 + ], + [ + 0.6562029139134505, + -14.776679889278592 + ], + [ + 0.6581941894403233, + -14.773053176159351 + ], + [ + 0.5473343520700732, + -14.932327956539439 + ], + [ + 0.5493256275969459, + -14.928701243420196 + ], + [ + 0.6579600841108536, + -14.931083073526354 + ], + [ + 0.6599513596377263, + -14.927456360407112 + ] + ], + "yaw_rad": -1.5594164167706914, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5395652055740356, + -14.851643562316895, + 0.11530032753944397 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.547435061496532, + -14.85329398206062, + 0.11925278771618378 + ], + "intended_face_normal": [ + -0.9999020726375619, + -0.011255891661338113, + 0.008339989715958285 + ], + "commanded_contact_point": [ + 0.5633603436527519, + -14.85284863216588, + 0.11879143316863826 + ], + "centerline_face_intersection": [ + 0.5474242266039512, + -14.85267132460162, + 0.11879143316863826 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.53780198097229, + -14.85335922241211, + 0.11687733232975006 + ], + "box_pose": [ + 0.604498028755188, + -14.856691360473633, + 0.1360355168581009, + 0.00830210279673338, + 0.0024654697626829147, + 0.7030669450759888, + -0.7110710740089417 + ], + "box_yaw_rad": -1.5594131872835022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00017730756426161064, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007247956366155101 + } + } + }, + { + "simulation_time_ns": 5220000000, + "center": [ + 0.6027828547781525, + -14.852711310363484, + 0.11879360175096584 + ], + "face_center": [ + 0.5474700491050933, + -14.853333805200544, + 0.11927074846744903 + ], + "face_normal": [ + -0.9998996063403623, + -0.011252951915051046, + 0.00862546761410285 + ], + "footprint_xy": [ + [ + 0.5455769318480161, + -14.932327446638746 + ], + [ + 0.6599887777082889, + -14.932327446638746 + ], + [ + 0.6599887777082889, + -14.77309517408822 + ], + [ + 0.5455769318480161, + -14.77309517408822 + ] + ], + "projected_box_corners": [ + [ + 0.5455769318480161, + -14.777923810349618 + ], + [ + 0.5476057236385226, + -14.774340163762341 + ], + [ + 0.6562025431941345, + -14.776678820675498 + ], + [ + 0.6582313349846409, + -14.77309517408822 + ], + [ + 0.5473343745716641, + -14.932327446638746 + ], + [ + 0.5493631663621704, + -14.92874380005147 + ], + [ + 0.6579599859177825, + -14.931082456964626 + ], + [ + 0.6599887777082889, + -14.92749881037735 + ] + ], + "yaw_rad": -1.5594146852881388, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5410120487213135, + -14.850936889648438, + 0.11501337587833405 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.547451404734808, + -14.853313007855936, + 0.11926106328946581 + ], + "intended_face_normal": [ + -0.9999006972499952, + -0.011251987849618117, + 0.008471100198070125 + ], + "commanded_contact_point": [ + 0.5643280609017111, + -14.852909754074956, + 0.11879245592516471 + ], + "centerline_face_intersection": [ + 0.5474404176588519, + -14.852690566349395, + 0.11879245592516471 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5395652055740356, + -14.851643562316895, + 0.11530032753944397 + ], + "box_pose": [ + 0.6045165657997131, + -14.85671329498291, + 0.13603568077087402, + 0.008293461985886097, + 0.002363468986004591, + 0.7030684351921082, + -0.7110698223114014 + ], + "box_yaw_rad": -1.5594164167706914, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00021918772556162478, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009696461250028413 + } + } + }, + { + "simulation_time_ns": 5240000000, + "center": [ + 0.6028030374995195, + -14.852737038816269, + 0.11879398693554286 + ], + "face_center": [ + 0.5474903091489568, + -14.853359077114467, + 0.11928038060714466 + ], + "face_normal": [ + -0.9998982085675886, + -0.011244698979374967, + 0.008792626496579303 + ], + "footprint_xy": [ + [ + 0.5455774185790101, + -14.932326410664851 + ], + [ + 0.6600286564200288, + -14.932326410664851 + ], + [ + 0.6600286564200288, + -14.773147666967686 + ], + [ + 0.5455774185790101, + -14.773147666967686 + ] + ], + "projected_box_corners": [ + [ + 0.5455774185790101, + -14.777922258155494 + ], + [ + 0.547646943238504, + -14.774391743564085 + ], + [ + 0.6562028752801355, + -14.776678181559094 + ], + [ + 0.6582723999396295, + -14.773147666967686 + ], + [ + 0.5473336750594096, + -14.932326410664851 + ], + [ + 0.5494031997189035, + -14.928795896073442 + ], + [ + 0.657959131760535, + -14.931082334068451 + ], + [ + 0.6600286564200288, + -14.927551819477044 + ] + ], + "yaw_rad": -1.559422405058615, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5427228808403015, + -14.851064682006836, + 0.11677871644496918 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5474700491050933, + -14.853333805200544, + 0.11927074846744903 + ], + "intended_face_normal": [ + -0.9998996063403623, + -0.011252951915051046, + 0.00862546761410285 + ], + "commanded_contact_point": [ + 0.5644919171794152, + -14.853001474917647, + 0.11879360175096584 + ], + "centerline_face_intersection": [ + 0.5474589413224222, + -14.852711310363484, + 0.11879360175096584 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5410120487213135, + -14.850936889648438, + 0.11501337587833405 + ], + "box_pose": [ + 0.604537844657898, + -14.85673713684082, + 0.13603582978248596, + 0.008284607902169228, + 0.0022447442170232534, + 0.703068196773529, + -0.711070716381073 + ], + "box_yaw_rad": -1.5594146852881388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00029016455416346786, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018778419966511268 + } + } + }, + { + "simulation_time_ns": 5260000000, + "center": [ + 0.6028259091945269, + -14.852766205945757, + 0.11879483993383338 + ], + "face_center": [ + 0.5475132616928776, + -14.85338772349114, + 0.11929161113730703 + ], + "face_normal": [ + -0.999896747047138, + -0.011235285236386616, + 0.008980223019792843 + ], + "footprint_xy": [ + [ + 0.5455782029528284, + -14.932326182872352 + ], + [ + 0.6600736154362254, + -14.932326182872352 + ], + [ + 0.6600736154362254, + -14.773206229019163 + ], + [ + 0.5455782029528284, + -14.773206229019163 + ] + ], + "projected_box_corners": [ + [ + 0.5455782029528284, + -14.777921450475231 + ], + [ + 0.5476934250750874, + -14.774449264109927 + ], + [ + 0.656203497956127, + -14.776678415384467 + ], + [ + 0.658318720078386, + -14.773206229019163 + ], + [ + 0.5473330983106678, + -14.932326182872352 + ], + [ + 0.5494483204329268, + -14.928853996507048 + ], + [ + 0.6579583933139663, + -14.931083147781587 + ], + [ + 0.6600736154362254, + -14.927610961416283 + ] + ], + "yaw_rad": -1.5594312619221986, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5446075201034546, + -14.852041244506836, + 0.11955477297306061 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5474903091489568, + -14.853359077114467, + 0.11928038060714466 + ], + "intended_face_normal": [ + -0.9998982085675886, + -0.011244698979374967, + 0.008792626496579303 + ], + "commanded_contact_point": [ + 0.5636720707265053, + -14.85309409764281, + 0.11879398693554286 + ], + "centerline_face_intersection": [ + 0.5474790467056568, + -14.852737038816269, + 0.11879398693554286 + ], + "commanded_world_base_velocity": [ + 0.015144032921810845, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5427228808403015, + -14.851064682006836, + 0.11677871644496918 + ], + "box_pose": [ + 0.604560911655426, + -14.856766700744629, + 0.1360350251197815, + 0.008265539072453976, + 0.0021065413020551205, + 0.7030713558197021, + -0.7110682129859924 + ], + "box_yaw_rad": -1.559422405058615, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00035705882654077923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008250620121740055 + } + } + }, + { + "simulation_time_ns": 5280000000, + "center": [ + 0.6028537956506784, + -14.852799498018477, + 0.11879629686091925 + ], + "face_center": [ + 0.5475412817515993, + -14.853421309577277, + 0.11930569915597684 + ], + "face_normal": [ + -0.9998943318892775, + -0.011240600170163373, + 0.009208557550083707 + ], + "footprint_xy": [ + [ + 0.5455779931083553, + -14.932326240262352 + ], + [ + 0.6601295981930015, + -14.932326240262352 + ], + [ + 0.6601295981930015, + -14.773272755774602 + ], + [ + 0.5455779931083553, + -14.773272755774602 + ] + ], + "projected_box_corners": [ + [ + 0.5455779931083553, + -14.777920936037905 + ], + [ + 0.5477487414599833, + -14.774516378892201 + ], + [ + 0.6562030209065134, + -14.776677312920308 + ], + [ + 0.6583737692581414, + -14.773272755774602 + ], + [ + 0.5473338220432155, + -14.932326240262352 + ], + [ + 0.5495045703948435, + -14.928921683116647 + ], + [ + 0.6579588498413735, + -14.931082617144755 + ], + [ + 0.6601295981930015, + -14.92767805999905 + ] + ], + "yaw_rad": -1.5594252585139143, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5478901267051697, + -14.853131294250488, + 0.12186092138290405 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5475132616928776, + -14.85338772349114, + 0.11929161113730703 + ], + "intended_face_normal": [ + -0.999896747047138, + -0.011235285236386616, + 0.008980223019792843 + ], + "commanded_contact_point": [ + 0.5627241912773058, + -14.853152263229855, + 0.11879483993383338 + ], + "centerline_face_intersection": [ + 0.5475018375351708, + -14.852766205945757, + 0.11879483993383338 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5446075201034546, + -14.852041244506836, + 0.11955477297306061 + ], + "box_pose": [ + 0.6045870184898376, + -14.856800079345703, + 0.13603456318378448, + 0.00824604369699955, + 0.001953369239345193, + 0.7030749320983887, + -0.711065411567688 + ], + "box_yaw_rad": -1.5594312619221986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00038605728409763174, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009496627892768956 + } + } + }, + { + "simulation_time_ns": 5300000000, + "center": [ + 0.6034712482437169, + -14.852973894826537, + 0.1189342525249455 + ], + "face_center": [ + 0.5481626433627098, + -14.85378857059646, + 0.11957932413773537 + ], + "face_normal": [ + -0.9998236678615934, + -0.014727041446029987, + 0.011661076378993093 + ], + "footprint_xy": [ + [ + 0.5456388840871678, + -14.932643763348988 + ], + [ + 0.6613036124002659, + -14.932643763348988 + ], + [ + 0.6613036124002659, + -14.773304026304084 + ], + [ + 0.5456388840871678, + -14.773304026304084 + ] + ], + "projected_box_corners": [ + [ + 0.5456388840871678, + -14.778244578080555 + ], + [ + 0.5483876062174091, + -14.774933377843935 + ], + [ + 0.6562560938491819, + -14.776615226540704 + ], + [ + 0.6590048159794233, + -14.773304026304084 + ], + [ + 0.5479376805080105, + -14.932643763348988 + ], + [ + 0.5506864026382519, + -14.929332563112368 + ], + [ + 0.6585548902700246, + -14.931014411809137 + ], + [ + 0.6613036124002659, + -14.927703211572519 + ] + ], + "yaw_rad": -1.5559087703627452, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5517271161079407, + -14.854413032531738, + 0.12348222732543945 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5475412817515993, + -14.853421309577277, + 0.11930569915597684 + ], + "intended_face_normal": [ + -0.9998943318892775, + -0.011240600170163373, + 0.009208557550083707 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.853172283453294, + 0.11879629686091925 + ], + "centerline_face_intersection": [ + 0.5475295903608351, + -14.852799498018477, + 0.11879629686091925 + ], + "commanded_world_base_velocity": [ + 0.027617448559670976, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5478901267051697, + -14.853131294250488, + 0.12186092138290405 + ], + "box_pose": [ + 0.6046189069747925, + -14.85683822631836, + 0.13603447377681732, + 0.008227182552218437, + 0.0017719402676448226, + 0.703073263168335, + -0.7110675573348999 + ], + "box_yaw_rad": -1.5594252585139143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00037278543481718886, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004479174614586405 + } + } + }, + { + "simulation_time_ns": 5320000000, + "center": [ + 0.6058027153215382, + -14.853977263235706, + 0.11901666597133845 + ], + "face_center": [ + 0.5505330597491584, + -14.856033430270424, + 0.12009259279225774 + ], + "face_normal": [ + -0.9991195741550862, + -0.037169703897080186, + 0.01944972401232259 + ], + "footprint_xy": [ + [ + 0.5453502346202064, + -14.93405108868123 + ], + [ + 0.6662551960228701, + -14.93405108868123 + ], + [ + 0.6662551960228701, + -14.773903437790182 + ], + [ + 0.5453502346202064, + -14.773903437790182 + ] + ], + "projected_box_corners": [ + [ + 0.5453502346202064, + -14.779731143419768 + ], + [ + 0.5499554713300223, + -14.778015771859616 + ], + [ + 0.6558895457649658, + -14.775618809350332 + ], + [ + 0.6604947824747819, + -14.773903437790182 + ], + [ + 0.5511106481682946, + -14.93405108868123 + ], + [ + 0.5557158848781105, + -14.932335717121077 + ], + [ + 0.661649959313054, + -14.929938754611793 + ], + [ + 0.6662551960228701, + -14.928223383051643 + ] + ], + "yaw_rad": -1.5334859173700406, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5541105270385742, + -14.85444164276123, + 0.1239953339099884 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5481626433627098, + -14.85378857059646, + 0.11957932413773537 + ], + "intended_face_normal": [ + -0.9998236678615934, + -0.014727041446029987, + 0.011661076378993093 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.853289114753146, + 0.1189342525249455 + ], + "centerline_face_intersection": [ + 0.5481431328332195, + -14.852973894826537, + 0.1189342525249455 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5517271161079407, + -14.854413032531738, + 0.12348222732543945 + ], + "box_pose": [ + 0.605292797088623, + -14.857013702392578, + 0.1361663043498993, + 0.008937210775911808, + 0.0007628487655892968, + 0.7018237709999084, + -0.7122942209243774 + ], + "box_yaw_rad": -1.5559087703627452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003152199266091316, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018077974959076294 + } + } + }, + { + "simulation_time_ns": 5340000000, + "center": [ + 0.6072836577697335, + -14.855482656233312, + 0.11891035209533249 + ], + "face_center": [ + 0.5520487295437517, + -14.85814471588709, + 0.12037233196486963 + ], + "face_normal": [ + -0.9984918016244748, + -0.04812253451036752, + 0.026428474893648857 + ], + "footprint_xy": [ + [ + 0.545141651282622, + -14.935878560329353 + ], + [ + 0.669425664256845, + -14.935878560329353 + ], + [ + 0.669425664256845, + -14.775086752137272 + ], + [ + 0.545141651282622, + -14.775086752137272 + ] + ], + "projected_box_corners": [ + [ + 0.545141651282622, + -14.780410871444827 + ], + [ + 0.5515476816984051, + -14.781628833023287 + ], + [ + 0.6556115077345857, + -14.775086752137272 + ], + [ + 0.6620175381503686, + -14.776304713715732 + ], + [ + 0.5525497773890984, + -14.934660598750892 + ], + [ + 0.5589558078048814, + -14.935878560329353 + ], + [ + 0.663019633841062, + -14.929336479443336 + ], + [ + 0.669425664256845, + -14.930554441021798 + ] + ], + "yaw_rad": -1.522806367256601, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5540341138839722, + -14.853180885314941, + 0.12332884967327118 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5505330597491584, + -14.856033430270424, + 0.12009259279225774 + ], + "intended_face_normal": [ + -0.9991195741550862, + -0.037169703897080186, + 0.01944972401232259 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.854273907981295, + 0.11901666597133845 + ], + "centerline_face_intersection": [ + 0.5504356094049381, + -14.853977263235706, + 0.11901666597133845 + ], + "commanded_world_base_velocity": [ + 0.042240000000000236, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5541105270385742, + -14.85444164276123, + 0.1239953339099884 + ], + "box_pose": [ + 0.6078526377677917, + -14.858094215393066, + 0.13620474934577942, + 0.009234705939888954, + -0.004431977868080139, + 0.6937794089317322, + -0.7201146483421326 + ], + "box_yaw_rad": -1.5334859173700406, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002966447455881394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009882356390831756 + } + } + }, + { + "simulation_time_ns": 5360000000, + "center": [ + 0.6084461731403439, + -14.856279574820354, + 0.11923303396840629 + ], + "face_center": [ + 0.5532281353090838, + -14.858952279828372, + 0.12121948357138203 + ], + "face_normal": [ + -0.9981864708999222, + -0.04831497250704808, + 0.03590940925634212 + ], + "footprint_xy": [ + [ + 0.5451525569147816, + -14.93748590952548 + ], + [ + 0.6717397893659061, + -14.93748590952548 + ], + [ + 0.6717397893659061, + -14.775073240115228 + ], + [ + 0.5451525569147816, + -14.775073240115228 + ] + ], + "projected_box_corners": [ + [ + 0.5451525569147816, + -14.780418650131265 + ], + [ + 0.5539132641272424, + -14.783246370610124 + ], + [ + 0.6555886325773017, + -14.775073240115228 + ], + [ + 0.6643493397897625, + -14.777900960594087 + ], + [ + 0.5525430064909252, + -14.93465818904662 + ], + [ + 0.561303713703386, + -14.93748590952548 + ], + [ + 0.6629790821534454, + -14.929312779030585 + ], + [ + 0.6717397893659061, + -14.932140499509444 + ] + ], + "yaw_rad": -1.522917543375184, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5532092452049255, + -14.852011680603027, + 0.12210977077484131 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5520487295437517, + -14.85814471588709, + 0.12037233196486963 + ], + "intended_face_normal": [ + -0.9984918016244748, + -0.04812253451036752, + 0.026428474893648857 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855871371815635, + 0.11891035209533249 + ], + "centerline_face_intersection": [ + 0.5518817414038765, + -14.855482656233312, + 0.11891035209533249 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5540341138839722, + -14.853180885314941, + 0.12332884967327118 + ], + "box_pose": [ + 0.6095075607299805, + -14.859790802001953, + 0.13602980971336365, + 0.007374460808932781, + -0.011417623609304428, + 0.6898437142372131, + -0.7238307595252991 + ], + "box_yaw_rad": -1.522806367256601, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00038871558232294494, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016009976084479462 + } + } + }, + { + "simulation_time_ns": 5380000000, + "center": [ + 0.6089662583522065, + -14.85638030006237, + 0.11934636751918458 + ], + "face_center": [ + 0.5537578352275568, + -14.859065461125413, + 0.12156920917798161 + ], + "face_normal": [ + -0.9980126641071215, + -0.04854014286977559, + 0.04018271126446715 + ], + "footprint_xy": [ + [ + 0.5451537449887127, + -14.937696233443944 + ], + [ + 0.6727787717157002, + -14.937696233443944 + ], + [ + 0.6727787717157002, + -14.775064366680795 + ], + [ + 0.5451537449887127, + -14.775064366680795 + ] + ], + "projected_box_corners": [ + [ + 0.5451537449887127, + -14.780434688806883 + ], + [ + 0.5549509455043317, + -14.783459932094875 + ], + [ + 0.655570591238012, + -14.775064366680795 + ], + [ + 0.6653677917536309, + -14.778089609968786 + ], + [ + 0.552564724950782, + -14.934670990155952 + ], + [ + 0.562361925466401, + -14.937696233443944 + ], + [ + 0.6629815712000813, + -14.929300668029864 + ], + [ + 0.6727787717157002, + -14.932325911317855 + ] + ], + "yaw_rad": -1.522783735706054, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.552151083946228, + -14.850916862487793, + 0.1230219304561615 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5532281353090838, + -14.858952279828372, + 0.12121948357138203 + ], + "intended_face_normal": [ + -0.9981864708999222, + -0.04831497250704808, + 0.03590940925634212 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85683900617137, + 0.11923303396840629 + ], + "centerline_face_intersection": [ + 0.5530273101339956, + -14.856279574820354, + 0.11923303396840629 + ], + "commanded_world_base_velocity": [ + 0.05800032921810725, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5532092452049255, + -14.852011680603027, + 0.12210977077484131 + ], + "box_pose": [ + 0.6108378767967224, + -14.860702514648438, + 0.13630051910877228, + 0.008331997320055962, + -0.01728733442723751, + 0.689763069152832, + -0.7237808108329773 + ], + "box_yaw_rad": -1.522917543375184, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005594313510160021, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001020019528053026 + } + } + }, + { + "simulation_time_ns": 5400000000, + "center": [ + 0.6086993523598572, + -14.856304600472047, + 0.11926278553413183 + ], + "face_center": [ + 0.5534859089988651, + -14.858986346816941, + 0.12136152698566442 + ], + "face_normal": [ + -0.9981034158287442, + -0.048478414391291635, + 0.0379393293408683 + ], + "footprint_xy": [ + [ + 0.5451553635726304, + -14.937539638018192 + ], + [ + 0.672243341147084, + -14.937539638018192 + ], + [ + 0.672243341147084, + -14.775069562925902 + ], + [ + 0.5451553635726304, + -14.775069562925902 + ] + ], + "projected_box_corners": [ + [ + 0.5451553635726304, + -14.780433055615688 + ], + [ + 0.5544060657695148, + -14.783301640669519 + ], + [ + 0.6555822502946146, + -14.775069562925902 + ], + [ + 0.6648329524914991, + -14.777938147979732 + ], + [ + 0.5525657522282152, + -14.934671052964363 + ], + [ + 0.5618164544250998, + -14.937539638018192 + ], + [ + 0.6629926389501996, + -14.929307560274577 + ], + [ + 0.672243341147084, + -14.932176145328405 + ] + ], + "yaw_rad": -1.5227880877389544, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5516002774238586, + -14.850743293762207, + 0.12480214238166809 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5537578352275568, + -14.859065461125413, + 0.12156920917798161 + ], + "intended_face_normal": [ + -0.9980126641071215, + -0.04854014286977559, + 0.04018271126446715 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.857158268916368, + 0.11934636751918458 + ], + "centerline_face_intersection": [ + 0.5535377439905336, + -14.85638030006237, + 0.11934636751918458 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.552151083946228, + -14.850916862487793, + 0.1230219304561615 + ], + "box_pose": [ + 0.6114325523376465, + -14.860816955566406, + 0.13639967143535614, + 0.009523223154246807, + -0.01913728006184101, + 0.6896660327911377, + -0.7238120436668396 + ], + "box_yaw_rad": -1.522783735706054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007779688539990559, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003387819270207874 + } + } + }, + { + "simulation_time_ns": 5420000000, + "center": [ + 0.6077229391641618, + -14.855978621415337, + 0.11900597194678414 + ], + "face_center": [ + 0.5524935192486456, + -14.858648164436978, + 0.12065061755237572 + ], + "face_normal": [ + -0.9983922268985281, + -0.048257812706586245, + 0.02973055648850198 + ], + "footprint_xy": [ + [ + 0.5451670183898146, + -14.936867075386028 + ], + [ + 0.670278859938509, + -14.936867075386028 + ], + [ + 0.670278859938509, + -14.775090167444649 + ], + [ + 0.5451670183898146, + -14.775090167444649 + ] + ], + "projected_box_corners": [ + [ + 0.5451670183898146, + -14.780429253487927 + ], + [ + 0.5524132306946764, + -14.78262285491036 + ], + [ + 0.6556258582208468, + -14.775090167444649 + ], + [ + 0.6628720705257086, + -14.777283768867079 + ], + [ + 0.552573807802615, + -14.934673473963597 + ], + [ + 0.5598200201074768, + -14.936867075386028 + ], + [ + 0.6630326476336472, + -14.929334387920317 + ], + [ + 0.670278859938509, + -14.931527989342749 + ] + ], + "yaw_rad": -1.5228133026927282, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5511307716369629, + -14.852618217468262, + 0.12655095756053925 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5534859089988651, + -14.858986346816941, + 0.12136152698566442 + ], + "intended_face_normal": [ + -0.9981034158287442, + -0.048478414391291635, + 0.0379393293408683 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85730502159444, + 0.11926278553413183 + ], + "centerline_face_intersection": [ + 0.5532758777896783, + -14.856304600472047, + 0.11926278553413183 + ], + "commanded_world_base_velocity": [ + 0.07388707818930067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5516002774238586, + -14.850743293762207, + 0.12480214238166809 + ], + "box_pose": [ + 0.6111266016960144, + -14.860730171203613, + 0.13632456958293915, + 0.008973853662610054, + -0.018086569383740425, + 0.6896957755088806, + -0.7238177061080933 + ], + "box_yaw_rad": -1.5227880877389544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010004211223926518, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016888545451464214 + } + } + }, + { + "simulation_time_ns": 5440000000, + "center": [ + 0.6069193754976047, + -14.85514320303451, + 0.11891349229244737 + ], + "face_center": [ + 0.5516804064724744, + -14.857806234063098, + 0.12021162051628285 + ], + "face_normal": [ + -0.9985648478825474, + -0.048140094228714014, + 0.023466499017688214 + ], + "footprint_xy": [ + [ + 0.5451380256952763, + -14.935181095466985 + ], + [ + 0.6687007252999331, + -14.935181095466985 + ], + [ + 0.6687007252999331, + -14.775105310602036 + ], + [ + 0.5451380256952763, + -14.775105310602036 + ] + ], + "projected_box_corners": [ + [ + 0.5451380256952763, + -14.780431372659208 + ], + [ + 0.5507980980813004, + -14.78092985696995 + ], + [ + 0.6556159637455369, + -14.775105310602036 + ], + [ + 0.661276036131561, + -14.775603794912776 + ], + [ + 0.5525627148636483, + -14.934682611156244 + ], + [ + 0.5582227872496724, + -14.935181095466985 + ], + [ + 0.6630406529139089, + -14.929356549099072 + ], + [ + 0.6687007252999331, + -14.929855033409813 + ] + ], + "yaw_rad": -1.5226997071677746, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5498021841049194, + -14.856307983398438, + 0.12710964679718018 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5524935192486456, + -14.858648164436978, + 0.12065061755237572 + ], + "intended_face_normal": [ + -0.9983922268985281, + -0.048257812706586245, + 0.02973055648850198 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.857113458695613, + 0.11900597194678414 + ], + "centerline_face_intersection": [ + 0.5523154972838923, + -14.855978621415337, + 0.11900597194678414 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5511307716369629, + -14.852618217468262, + 0.12655095756053925 + ], + "box_pose": [ + 0.6100068688392639, + -14.860356330871582, + 0.13609986007213593, + 0.007110302336513996, + -0.014089100994169712, + 0.6897974610328674, + -0.7238302826881409 + ], + "box_yaw_rad": -1.5228133026927282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011348372802756756, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032038970466208023 + } + } + }, + { + "simulation_time_ns": 5460000000, + "center": [ + 0.6061026576036677, + -14.854291996244985, + 0.11885559482935724 + ], + "face_center": [ + 0.5508559289128475, + -14.856946895849692, + 0.11978855948185477 + ], + "face_normal": [ + -0.9987051207646434, + -0.04799310100648624, + 0.01686537100062735 + ], + "footprint_xy": [ + [ + 0.5451484669068463, + -14.934692248443673 + ], + [ + 0.667056848300489, + -14.934692248443673 + ], + [ + 0.667056848300489, + -14.773891744046296 + ], + [ + 0.5451484669068463, + -14.773891744046296 + ] + ], + "projected_box_corners": [ + [ + 0.5451484669068463, + -14.78044166534336 + ], + [ + 0.549139447078023, + -14.77920154325571 + ], + [ + 0.6556419242884866, + -14.775131866133947 + ], + [ + 0.6596329044596633, + -14.773891744046296 + ], + [ + 0.5525724107476719, + -14.934692248443673 + ], + [ + 0.5565633909188487, + -14.933452126356022 + ], + [ + 0.6630658681293122, + -14.92938244923426 + ], + [ + 0.667056848300489, + -14.928142327146608 + ] + ], + "yaw_rad": -1.5227043238835662, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.548675537109375, + -14.863155364990234, + 0.12017901241779327 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5516804064724744, + -14.857806234063098, + 0.12021162051628285 + ], + "intended_face_normal": [ + -0.9985648478825474, + -0.048140094228714014, + 0.023466499017688214 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.856231449100228, + 0.11891349229244737 + ], + "centerline_face_intersection": [ + 0.5515215118506964, + -14.85514320303451, + 0.11891349229244737 + ], + "commanded_world_base_velocity": [ + 0.08888888888888913, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5498021841049194, + -14.856307983398438, + 0.12710964679718018 + ], + "box_pose": [ + 0.6090903878211975, + -14.859399795532227, + 0.13605262339115143, + 0.007386912126094103, + -0.009257405996322632, + 0.6898372173309326, + -0.7238675951957703 + ], + "box_yaw_rad": -1.5226997071677746, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010882460657185788, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008868446384891968 + } + } + }, + { + "simulation_time_ns": 5480000000, + "center": [ + 0.606014429445815, + -14.85426581713963, + 0.11881738231394456 + ], + "face_center": [ + 0.5507990156769998, + -14.857561586816116, + 0.1195359426072572 + ], + "face_normal": [ + -0.9981390352478381, + -0.0595782253676469, + 0.012989544566983868 + ], + "footprint_xy": [ + [ + 0.5446971191211031, + -14.935779393189005 + ], + [ + 0.667331739770527, + -14.935779393189005 + ], + [ + 0.667331739770527, + -14.772752241090256 + ], + [ + 0.5446971191211031, + -14.772752241090256 + ] + ], + "projected_box_corners": [ + [ + 0.5446971191211031, + -14.78163012941095 + ], + [ + 0.5476822215543228, + -14.779343780443227 + ], + [ + 0.6551279466587333, + -14.775038590057978 + ], + [ + 0.658113049091953, + -14.772752241090256 + ], + [ + 0.5539158097996769, + -14.935779393189005 + ], + [ + 0.5569009122328967, + -14.933493044221283 + ], + [ + 0.6643466373373073, + -14.929187853836034 + ], + [ + 0.667331739770527, + -14.926901504868312 + ] + ], + "yaw_rad": -1.5110638063284518, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5478753447532654, + -14.872603416442871, + 0.11077505350112915 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5508559289128475, + -14.856946895849692, + 0.11978855948185477 + ], + "intended_face_normal": [ + -0.9987051207646434, + -0.04799310100648624, + 0.01686537100062735 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855025707560893, + 0.11885559482935724 + ], + "centerline_face_intersection": [ + 0.5507125748500723, + -14.854291996244985, + 0.11885559482935724 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.548675537109375, + -14.863155364990234, + 0.12017901241779327 + ], + "box_pose": [ + 0.6081542372703552, + -14.858424186706543, + 0.1360398232936859, + 0.007610127329826355, + -0.004238356836140156, + 0.689888060092926, + -0.7238635420799255 + ], + "box_yaw_rad": -1.5227043238835662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007337113159086072, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012071308031490013 + } + } + }, + { + "simulation_time_ns": 5500000000, + "center": [ + 0.6070715185258971, + -14.855361317625336, + 0.11887533093476506 + ], + "face_center": [ + 0.5518784707971035, + -14.858915282455778, + 0.11997905202596422 + ], + "face_normal": [ + -0.997734720291458, + -0.06424566592973102, + 0.019952166070236477 + ], + "footprint_xy": [ + [ + 0.5445334902724985, + -14.936222388909258 + ], + [ + 0.6696095467792957, + -14.936222388909258 + ], + [ + 0.6696095467792957, + -14.774500246341415 + ], + [ + 0.5445334902724985, + -14.774500246341415 + ] + ], + "projected_box_corners": [ + [ + 0.5445334902724985, + -14.782111124477739 + ], + [ + 0.5492974712610591, + -14.7816081760023 + ], + [ + 0.6549195857300856, + -14.775003194816852 + ], + [ + 0.6596835667186461, + -14.774500246341415 + ], + [ + 0.554459470333148, + -14.936222388909258 + ], + [ + 0.5592234513217086, + -14.935719440433818 + ], + [ + 0.6648455657907351, + -14.929114459248371 + ], + [ + 0.6696095467792957, + -14.928611510772932 + ] + ], + "yaw_rad": -1.5064772869349567, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5480562448501587, + -14.875494003295898, + 0.10792021453380585 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5507990156769998, + -14.857561586816116, + 0.1195359426072572 + ], + "intended_face_normal": [ + -0.9981390352478381, + -0.0595782253676469, + 0.012989544566983868 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85426602448341, + 0.11881738231394456 + ], + "centerline_face_intersection": [ + 0.5505929327082814, + -14.85426581713963, + 0.11881738231394456 + ], + "commanded_world_base_velocity": [ + 0.10199440329218129, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5478753447532654, + -14.872603416442871, + 0.11077505350112915 + ], + "box_pose": [ + 0.6080430150032043, + -14.858302116394043, + 0.13602711260318756, + 0.007734987884759903, + -0.0012611582642421126, + 0.6856756210327148, + -0.7278649806976318 + ], + "box_yaw_rad": -1.5110638063284518, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -2.07343778981634e-07, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007606435265932189 + } + } + }, + { + "simulation_time_ns": 5520000000, + "center": [ + 0.6081121869177365, + -14.856438618021551, + 0.11894242558881948 + ], + "face_center": [ + 0.5529308016713301, + -14.860004392040457, + 0.12049811404249168 + ], + "face_normal": [ + -0.9975238954850486, + -0.06445914276841502, + 0.028122461941443744 + ], + "footprint_xy": [ + [ + 0.5445365692978968, + -14.937896028446438 + ], + [ + 0.671687804537576, + -14.937896028446438 + ], + [ + 0.671687804537576, + -14.774981207596666 + ], + [ + 0.5445365692978968, + -14.774981207596666 + ] + ], + "projected_box_corners": [ + [ + 0.5445365692978968, + -14.782112755634474 + ], + [ + 0.5514052633606337, + -14.783790364033234 + ], + [ + 0.6548993397907094, + -14.774981207596666 + ], + [ + 0.6617680338534462, + -14.776658815995425 + ], + [ + 0.5544563399820267, + -14.936218420047679 + ], + [ + 0.5613250340447635, + -14.937896028446438 + ], + [ + 0.6648191104748392, + -14.929086872009869 + ], + [ + 0.671687804537576, + -14.930764480408628 + ] + ], + "yaw_rad": -1.5065150827101528, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5505568981170654, + -14.870705604553223, + 0.1097729504108429 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5518784707971035, + -14.858915282455778, + 0.11997905202596422 + ], + "intended_face_normal": [ + -0.997734720291458, + -0.06424566592973102, + 0.019952166070236477 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.854556217542292, + 0.11887533093476506 + ], + "centerline_face_intersection": [ + 0.5516275631732825, + -14.855361317625336, + 0.11887533093476506 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5480562448501587, + -14.875494003295898, + 0.10792021453380585 + ], + "box_pose": [ + 0.6092466711997986, + -14.859517097473145, + 0.1360386610031128, + 0.00755673460662365, + -0.006526436191052198, + 0.6839737296104431, + -0.7294383645057678 + ], + "box_yaw_rad": -1.5064772869349567, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000805100083043513, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002959223784685526 + } + } + }, + { + "simulation_time_ns": 5540000000, + "center": [ + 0.6088679465843279, + -14.856808031848061, + 0.11913161968782725 + ], + "face_center": [ + 0.5536977582646003, + -14.86038335464145, + 0.12102598618353934 + ], + "face_normal": [ + -0.9973214866135032, + -0.06463175769422769, + 0.03424480624835624 + ], + "footprint_xy": [ + [ + 0.5445430494960499, + -14.938638641154894 + ], + [ + 0.6731928436726059, + -14.938638641154894 + ], + [ + 0.6731928436726059, + -14.774977422541228 + ], + [ + 0.5445430494960499, + -14.774977422541228 + ] + ], + "projected_box_corners": [ + [ + 0.5445430494960499, + -14.782128068128007 + ], + [ + 0.5529310932730739, + -14.784538703842825 + ], + [ + 0.654883426135505, + -14.774977422541228 + ], + [ + 0.6632714699125289, + -14.777388058256047 + ], + [ + 0.5544644232561269, + -14.936228005440075 + ], + [ + 0.5628524670331508, + -14.938638641154894 + ], + [ + 0.6648047998955819, + -14.929077359853297 + ], + [ + 0.6731928436726059, + -14.931487995568116 + ] + ], + "yaw_rad": -1.5065023403863005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5540467500686646, + -14.86323070526123, + 0.11583326756954193 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5529308016713301, + -14.860004392040457, + 0.12049811404249168 + ], + "intended_face_normal": [ + -0.9975238954850486, + -0.06445914276841502, + 0.028122461941443744 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85506283847724, + 0.11894242558881948 + ], + "centerline_face_intersection": [ + 0.5526565135890346, + -14.856438618021551, + 0.11894242558881948 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5505568981170654, + -14.870705604553223, + 0.1097729504108429 + ], + "box_pose": [ + 0.6104376912117004, + -14.860750198364258, + 0.13604751229286194, + 0.007241778075695038, + -0.012836510315537453, + 0.6838991045951843, + -0.7294276356697083 + ], + "box_yaw_rad": -1.5065150827101528, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001375779544310376, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005110444837094322 + } + } + }, + { + "simulation_time_ns": 5560000000, + "center": [ + 0.6088637163781015, + -14.856816580086935, + 0.11912571604649018 + ], + "face_center": [ + 0.553693402585995, + -14.860391695584045, + 0.12101687227340474 + ], + "face_normal": [ + -0.9973237548004247, + -0.06462801036185928, + 0.03418677363786338 + ], + "footprint_xy": [ + [ + 0.5445456209569947, + -14.938653822910945 + ], + [ + 0.6731818117992084, + -14.938653822910945 + ], + [ + 0.6731818117992084, + -14.774979337262925 + ], + [ + 0.5445456209569947, + -14.774979337262925 + ] + ], + "projected_box_corners": [ + [ + 0.5445456209569947, + -14.782129568257146 + ], + [ + 0.5529205875770268, + -14.78455393205673 + ], + [ + 0.6548862485412078, + -14.774979337262925 + ], + [ + 0.6632612151612399, + -14.777403701062509 + ], + [ + 0.5544662175949632, + -14.936229459111361 + ], + [ + 0.5628411842149952, + -14.938653822910945 + ], + [ + 0.6648068451791763, + -14.929079228117141 + ], + [ + 0.6731818117992084, + -14.931503591916725 + ] + ], + "yaw_rad": -1.5065073432168539, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5571293830871582, + -14.859461784362793, + 0.122243732213974 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5536977582646003, + -14.86038335464145, + 0.12102598618353934 + ], + "intended_face_normal": [ + -0.9973214866135032, + -0.06463175769422769, + 0.03424480624835624 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855175345367224, + 0.11913161968782725 + ], + "centerline_face_intersection": [ + 0.553401018389056, + -14.856808031848061, + 0.11913161968782725 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5540467500686646, + -14.86323070526123, + 0.11583326756954193 + ], + "box_pose": [ + 0.6113020777702332, + -14.86117172241211, + 0.13620835542678833, + 0.008292943239212036, + -0.016193293035030365, + 0.6838240623474121, + -0.7294201254844666 + ], + "box_yaw_rad": -1.5065023403863005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001632686480837151, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022011862118685848 + } + } + }, + { + "simulation_time_ns": 5580000000, + "center": [ + 0.6088621927284624, + -14.856716732372625, + 0.11902824655691929 + ], + "face_center": [ + 0.5536997942960361, + -14.860483579933739, + 0.12077234415067309 + ], + "face_normal": [ + -0.9971806674098636, + -0.06809398560910118, + 0.031528368091134185 + ], + "footprint_xy": [ + [ + 0.5446022778975438, + -14.93860469805748 + ], + [ + 0.673122107559381, + -14.93860469805748 + ], + [ + 0.673122107559381, + -14.77482876668777 + ], + [ + 0.5446022778975438, + -14.77482876668777 + ] + ], + "projected_box_corners": [ + [ + 0.5446022778975438, + -14.782362461809996 + ], + [ + 0.5523315789157653, + -14.784538879070098 + ], + [ + 0.6549270747623963, + -14.77482876668777 + ], + [ + 0.6626563757806179, + -14.777005183947875 + ], + [ + 0.5550680096763069, + -14.936428280797378 + ], + [ + 0.5627973106945284, + -14.93860469805748 + ], + [ + 0.6653928065411594, + -14.928894585675152 + ], + [ + 0.673122107559381, + -14.931071002935257 + ] + ], + "yaw_rad": -1.5029702628449166, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5590598583221436, + -14.857802391052246, + 0.12488257884979248 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.553693402585995, + -14.860391695584045, + 0.12101687227340474 + ], + "intended_face_normal": [ + -0.9973237548004247, + -0.06462801036185928, + 0.03418677363786338 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855078085435064, + 0.11912571604649018 + ], + "centerline_face_intersection": [ + 0.5533969143297909, + -14.856816580086935, + 0.11912571604649018 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5571293830871582, + -14.859461784362793, + 0.122243732213974 + ], + "box_pose": [ + 0.6112968921661377, + -14.861181259155273, + 0.13620233535766602, + 0.008253454230725765, + -0.016192954033613205, + 0.6838259100914001, + -0.7294188737869263 + ], + "box_yaw_rad": -1.5065073432168539, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017384946518714628, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 9.743894182884168e-05 + } + } + }, + { + "simulation_time_ns": 5600000000, + "center": [ + 0.6092459857899536, + -14.856809339334836, + 0.11911886482770294 + ], + "face_center": [ + 0.5540917163073783, + -14.860620780335754, + 0.1210164857399208 + ], + "face_normal": [ + -0.9970337189111024, + -0.06890010929715829, + 0.03430363692496696 + ], + "footprint_xy": [ + [ + 0.544595541035426, + -14.938826862596517 + ], + [ + 0.6738964305444812, + -14.938826862596517 + ], + [ + 0.6738964305444812, + -14.774791816073156 + ], + [ + 0.544595541035426, + -14.774791816073156 + ] + ], + "projected_box_corners": [ + [ + 0.544595541035426, + -14.782414698074989 + ], + [ + 0.5530066861399868, + -14.78477067896593 + ], + [ + 0.6549040800005766, + -14.774791816073156 + ], + [ + 0.6633152251051375, + -14.777147796964096 + ], + [ + 0.5551767464747698, + -14.936470881705578 + ], + [ + 0.5635878915793306, + -14.938826862596517 + ], + [ + 0.6654852854399205, + -14.928847999703743 + ], + [ + 0.6738964305444812, + -14.931203980594683 + ] + ], + "yaw_rad": -1.5022199595314119, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5604928135871887, + -14.855820655822754, + 0.1251247078180313 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5536997942960361, + -14.860483579933739, + 0.12077234415067309 + ], + "intended_face_normal": [ + -0.9971806674098636, + -0.06809398560910118, + 0.031528368091134185 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85493481137357, + 0.11902824655691929 + ], + "centerline_face_intersection": [ + 0.5533874316410055, + -14.856716732372625, + 0.11902824655691929 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5590598583221436, + -14.857802391052246, + 0.12488257884979248 + ], + "box_pose": [ + 0.6112640500068665, + -14.86105728149414, + 0.1361154466867447, + 0.007683756295591593, + -0.014870645478367805, + 0.6825642585754395, + -0.7306339144706726 + ], + "box_yaw_rad": -1.5029702628449166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017819209990562967, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017328519294629638 + } + } + }, + { + "simulation_time_ns": 5620000000, + "center": [ + 0.6101529685707976, + -14.857062972168125, + 0.11937244023902865 + ], + "face_center": [ + 0.5550148192033081, + -14.860882450138364, + 0.12167852130694601 + ], + "face_normal": [ + -0.9967423126710416, + -0.06904539504725504, + 0.04168744513935607 + ], + "footprint_xy": [ + [ + 0.5446160760882068, + -14.939341663864816 + ], + [ + 0.6756898610533885, + -14.939341663864816 + ], + [ + 0.6756898610533885, + -14.774784280471435 + ], + [ + 0.5446160760882068, + -14.774784280471435 + ] + ], + "projected_box_corners": [ + [ + 0.5446160760882068, + -14.782423236411914 + ], + [ + 0.5548382337750527, + -14.785290612931314 + ], + [ + 0.654892374823186, + -14.774784280471435 + ], + [ + 0.6651145325100318, + -14.777651656990836 + ], + [ + 0.5551914046315635, + -14.936474287345415 + ], + [ + 0.5654135623184093, + -14.939341663864816 + ], + [ + 0.6654677033665426, + -14.928835331404935 + ], + [ + 0.6756898610533885, + -14.931702707924336 + ] + ], + "yaw_rad": -1.5022556518301522, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5624769926071167, + -14.853550910949707, + 0.12514902651309967 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5540917163073783, + -14.860620780335754, + 0.1210164857399208 + ], + "intended_face_normal": [ + -0.9970337189111024, + -0.06890010929715829, + 0.03430363692496696 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855066965676263, + 0.11911886482770294 + ], + "centerline_face_intersection": [ + 0.5537630485167706, + -14.856809339334836, + 0.11911886482770294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5604928135871887, + -14.855820655822754, + 0.1251247078180313 + ], + "box_pose": [ + 0.6116997003555298, + -14.861161231994629, + 0.1361958086490631, + 0.008374406024813652, + -0.016168471425771713, + 0.6822608113288879, + -0.7308821678161621 + ], + "box_yaw_rad": -1.5022199595314119, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017423736585730153, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016023866799355692 + } + } + }, + { + "simulation_time_ns": 5640000000, + "center": [ + 0.6107616238751797, + -14.857227395126243, + 0.11953692352056165 + ], + "face_center": [ + 0.5556360827550544, + -14.861059350121074, + 0.12210847809253686 + ], + "face_normal": [ + -0.9965143910998483, + -0.0692709444806281, + 0.04648645775444993 + ], + "footprint_xy": [ + [ + 0.5446417991954954, + -14.93968304220551 + ], + [ + 0.676881448554864, + -14.93968304220551 + ], + [ + 0.676881448554864, + -14.774771748046975 + ], + [ + 0.5446417991954954, + -14.774771748046975 + ] + ], + "projected_box_corners": [ + [ + 0.5446417991954954, + -14.78243565803664 + ], + [ + 0.5560416541479365, + -14.785637130304199 + ], + [ + 0.6548928814357462, + -14.774771748046975 + ], + [ + 0.6662927363881872, + -14.777973220314536 + ], + [ + 0.5552305113621722, + -14.936481569937952 + ], + [ + 0.5666303663146133, + -14.93968304220551 + ], + [ + 0.665481593602423, + -14.928817659948288 + ], + [ + 0.676881448554864, + -14.932019132215848 + ] + ], + "yaw_rad": -1.5021668997501874, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5641138553619385, + -14.851300239562988, + 0.12595100700855255 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5550148192033081, + -14.860882450138364, + 0.12167852130694601 + ], + "intended_face_normal": [ + -0.9967423126710416, + -0.06904539504725504, + 0.04168744513935607 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855461080958289, + 0.11937244023902865 + ], + "centerline_face_intersection": [ + 0.5546538103808012, + -14.857062972168125, + 0.11937244023902865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5624769926071167, + -14.853550910949707, + 0.12514902651309967 + ], + "box_pose": [ + 0.6127358675003052, + -14.861451148986816, + 0.13642102479934692, + 0.010171388275921345, + -0.019657477736473083, + 0.6821831464767456, + -0.7308464050292969 + ], + "box_yaw_rad": -1.5022556518301522, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016018912098363103, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00046864415578902696 + } + } + }, + { + "simulation_time_ns": 5660000000, + "center": [ + 0.6109275055458865, + -14.857284137102967, + 0.11958236924493525 + ], + "face_center": [ + 0.5558055418566854, + -14.861117188448894, + 0.12222777652825108 + ], + "face_normal": [ + -0.996449721233089, + -0.06929076341791984, + 0.04782150659346829 + ], + "footprint_xy": [ + [ + 0.5446487904780047, + -14.939797280890796 + ], + [ + 0.6772062206137682, + -14.939797280890796 + ], + [ + 0.6772062206137682, + -14.77477099331514 + ], + [ + 0.5446487904780047, + -14.77477099331514 + ] + ], + "projected_box_corners": [ + [ + 0.5446487904780047, + -14.78243709600699 + ], + [ + 0.5563775632504873, + -14.785752599148491 + ], + [ + 0.6548927178564068, + -14.77477099331514 + ], + [ + 0.6666214906288893, + -14.77808649645664 + ], + [ + 0.5552335204628837, + -14.936481777749295 + ], + [ + 0.5669622932353662, + -14.939797280890796 + ], + [ + 0.6654774478412857, + -14.928815675057445 + ], + [ + 0.6772062206137682, + -14.932131178198944 + ] + ], + "yaw_rad": -1.502192082713758, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.564762532711029, + -14.849645614624023, + 0.12643791735172272 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5556360827550544, + -14.861059350121074, + 0.12210847809253686 + ], + "intended_face_normal": [ + -0.9965143910998483, + -0.0692709444806281, + 0.04648645775444993 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855862590138937, + 0.11953692352056165 + ], + "centerline_face_intersection": [ + 0.5552497719845729, + -14.857227395126243, + 0.11953692352056165 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5641138553619385, + -14.851300239562988, + 0.12595100700855255 + ], + "box_pose": [ + 0.6134289503097534, + -14.861639022827148, + 0.13656644523143768, + 0.011336400173604488, + -0.021929793059825897, + 0.6820821166038513, + -0.7308589220046997 + ], + "box_yaw_rad": -1.5021668997501874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013648049873061297, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004338944250027445 + } + } + }, + { + "simulation_time_ns": 5680000000, + "center": [ + 0.6107147337812725, + -14.857230104687162, + 0.11952020623255133 + ], + "face_center": [ + 0.5555880254107896, + -14.861061941629373, + 0.1220666223941371 + ], + "face_normal": [ + -0.9965354916959742, + -0.06926881042202193, + 0.046032026156801686 + ], + "footprint_xy": [ + [ + 0.5446479198592697, + -14.939686661883755 + ], + [ + 0.6767815477032754, + -14.939686661883755 + ], + [ + 0.6767815477032754, + -14.774773547490568 + ], + [ + 0.5446479198592697, + -14.774773547490568 + ] + ], + "projected_box_corners": [ + [ + 0.5446479198592697, + -14.782437221374991 + ], + [ + 0.5559386436626716, + -14.785640766975988 + ], + [ + 0.6549013366002358, + -14.774773547490568 + ], + [ + 0.6661920604036377, + -14.777977093091566 + ], + [ + 0.5552374071589075, + -14.936483116282757 + ], + [ + 0.5665281309623094, + -14.939686661883755 + ], + [ + 0.6654908238998735, + -14.928819442398336 + ], + [ + 0.6767815477032754, + -14.932022987999332 + ] + ], + "yaw_rad": -1.5021618840362203, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5644435882568359, + -14.849603652954102, + 0.12759068608283997 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5558055418566854, + -14.861117188448894, + 0.12222777652825108 + ], + "intended_face_normal": [ + -0.996449721233089, + -0.06929076341791984, + 0.04782150659346829 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.856224873014819, + 0.11958236924493525 + ], + "centerline_face_intersection": [ + 0.5554120509205015, + -14.857284137102967, + 0.11958236924493525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.564762532711029, + -14.849645614624023, + 0.12643791735172272 + ], + "box_pose": [ + 0.6136181950569153, + -14.861703872680664, + 0.1366061121225357, + 0.011630692519247532, + -0.022593747824430466, + 0.6820698976516724, + -0.7308453917503357 + ], + "box_yaw_rad": -1.502192082713758, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010592640881483817, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003651221658856534 + } + } + }, + { + "simulation_time_ns": 5700000000, + "center": [ + 0.6098880539418086, + -14.857004786947298, + 0.119281283209735 + ], + "face_center": [ + 0.5547442402696889, + -14.860826139507958, + 0.12144422331393365 + ], + "face_normal": [ + -0.9968447073317508, + -0.06907928235780147, + 0.039099860012695054 + ], + "footprint_xy": [ + [ + 0.5446537907085951, + -14.939219459902015 + ], + [ + 0.675122317175022, + -14.939219459902015 + ], + [ + 0.675122317175022, + -14.774790113992582 + ], + [ + 0.5446537907085951, + -14.774790113992582 + ] + ], + "projected_box_corners": [ + [ + 0.5446537907085951, + -14.7824328191139 + ], + [ + 0.5542447953689916, + -14.78516779144541 + ], + [ + 0.6549414180528343, + -14.774790113992582 + ], + [ + 0.6645324227132309, + -14.777525086324092 + ], + [ + 0.5552436851703862, + -14.936484487570505 + ], + [ + 0.5648346898307828, + -14.939219459902015 + ], + [ + 0.6655313125146255, + -14.928841782449185 + ], + [ + 0.675122317175022, + -14.931576754780696 + ] + ], + "yaw_rad": -1.502161817655102, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5598322749137878, + -14.849847793579102, + 0.127030149102211 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5555880254107896, + -14.861061941629373, + 0.1220666223941371 + ], + "intended_face_normal": [ + -0.9965354916959742, + -0.06926881042202193, + 0.046032026156801686 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.856475898668336, + 0.11952020623255133 + ], + "centerline_face_intersection": [ + 0.5552040572960343, + -14.857230104687162, + 0.11952020623255133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5644435882568359, + -14.849603652954102, + 0.12759068608283997 + ], + "box_pose": [ + 0.6133742928504944, + -14.861641883850098, + 0.1365509033203125, + 0.011177937500178814, + -0.021766291931271553, + 0.6820855140686035, + -0.7308629751205444 + ], + "box_yaw_rad": -1.5021618840362203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007542060188259825, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002586080409274332 + } + } + }, + { + "simulation_time_ns": 5720000000, + "center": [ + 0.6084747449410011, + -14.856465100009043, + 0.11896897698513259 + ], + "face_center": [ + 0.5533091547140677, + -14.860279327035364, + 0.12049557689636983 + ], + "face_normal": [ + -0.9972383660572622, + -0.0689504727830006, + 0.027596623091365236 + ], + "footprint_xy": [ + [ + 0.5446273650834882, + -14.938127459352774 + ], + [ + 0.6723221247985139, + -14.938127459352774 + ], + [ + 0.6723221247985139, + -14.774802740665312 + ], + [ + 0.5446273650834882, + -14.774802740665312 + ] + ], + "projected_box_corners": [ + [ + 0.5446273650834882, + -14.782431194717955 + ], + [ + 0.5513764192871635, + -14.784067958712237 + ], + [ + 0.654958545537355, + -14.774802740665312 + ], + [ + 0.6617075997410302, + -14.776439504659594 + ], + [ + 0.5552418901409719, + -14.936490695358493 + ], + [ + 0.5619909443446471, + -14.938127459352774 + ], + [ + 0.6655730705948386, + -14.92886224130585 + ], + [ + 0.6723221247985139, + -14.930499005300131 + ] + ], + "yaw_rad": -1.5020061724520382, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5532937049865723, + -14.850767135620117, + 0.12393562495708466 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5547442402696889, + -14.860826139507958, + 0.12144422331393365 + ], + "intended_face_normal": [ + -0.9968447073317508, + -0.06907928235780147, + 0.039099860012695054 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.8565368606632, + 0.119281283209735 + ], + "centerline_face_intersection": [ + 0.5543945965569934, + -14.857004786947298, + 0.119281283209735 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5598322749137878, + -14.849847793579102, + 0.127030149102211 + ], + "box_pose": [ + 0.6124262809753418, + -14.861383438110352, + 0.13633902370929718, + 0.009474512189626694, + -0.018507005646824837, + 0.6821807622909546, + -0.7308879494667053 + ], + "box_yaw_rad": -1.502161817655102, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004679262840981125, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002465777273994114 + } + } + }, + { + "simulation_time_ns": 5740000000, + "center": [ + 0.6074368404523169, + -14.85537081378987, + 0.11887483687424194 + ], + "face_center": [ + 0.5522606356598858, + -14.859183729085274, + 0.1199560439578156 + ], + "face_normal": [ + -0.9974302474802624, + -0.06892676038561096, + 0.019545176276680454 + ], + "footprint_xy": [ + [ + 0.5446062569221821, + -14.93651243329191 + ], + [ + 0.6702674239824518, + -14.93651243329191 + ], + [ + 0.6702674239824518, + -14.774229194287832 + ], + [ + 0.5446062569221821, + -14.774229194287832 + ] + ], + "projected_box_corners": [ + [ + 0.5446062569221821, + -14.782449558864835 + ], + [ + 0.5492651712884322, + -14.781855024878638 + ], + [ + 0.6549586665070444, + -14.77482372827403 + ], + [ + 0.6596175808732945, + -14.774229194287832 + ], + [ + 0.5552561000313393, + -14.93651243329191 + ], + [ + 0.5599150143975895, + -14.935917899305712 + ], + [ + 0.6656085096162015, + -14.928886602701102 + ], + [ + 0.6702674239824518, + -14.928292068714905 + ] + ], + "yaw_rad": -1.501779516358054, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5522291660308838, + -14.85307788848877, + 0.12138581275939941 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5533091547140677, + -14.860279327035364, + 0.12049557689636983 + ], + "intended_face_normal": [ + -0.9972383660572622, + -0.0689504727830006, + 0.027596623091365236 + ], + "commanded_contact_point": [ + 0.5629251796007156, + -14.856225092300502, + 0.11896897698513259 + ], + "centerline_face_intersection": [ + 0.5530031935361922, + -14.856465100009043, + 0.11896897698513259 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5532937049865723, + -14.850767135620117, + 0.12393562495708466 + ], + "box_pose": [ + 0.6108105778694153, + -14.86076545715332, + 0.1360754817724228, + 0.00710489135235548, + -0.012612339109182358, + 0.6822567582130432, + -0.7309693694114685 + ], + "box_yaw_rad": -1.5020061724520382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00024000770854108573, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007843657196284267 + } + } + }, + { + "simulation_time_ns": 5760000000, + "center": [ + 0.6063507047286711, + -14.854287808452334, + 0.11879455892241497 + ], + "face_center": [ + 0.5511666994618375, + -14.858093029883042, + 0.11940060456987403 + ], + "face_normal": [ + -0.9975712580688499, + -0.06878767700002497, + 0.010955596935372028 + ], + "footprint_xy": [ + [ + 0.5446256445925635, + -14.936524197887788 + ], + [ + 0.6680757648647788, + -14.936524197887788 + ], + [ + 0.6680757648647788, + -14.77205141901688 + ], + [ + 0.5446256445925635, + -14.77205141901688 + ] + ], + "projected_box_corners": [ + [ + 0.5446256445925635, + -14.78246995747412 + ], + [ + 0.547066303593765, + -14.779661861878296 + ], + [ + 0.6549936551262309, + -14.774859514612704 + ], + [ + 0.6574343141274324, + -14.77205141901688 + ], + [ + 0.5552670953299099, + -14.936524197887788 + ], + [ + 0.5577077543311114, + -14.933716102291964 + ], + [ + 0.6656351058635773, + -14.92891375502637 + ], + [ + 0.6680757648647788, + -14.926105659430545 + ] + ], + "yaw_rad": -1.5018298783934407, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.555779755115509, + -14.855518341064453, + 0.12350638210773468 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5522606356598858, + -14.859183729085274, + 0.1199560439578156 + ], + "intended_face_normal": [ + -0.9974302474802624, + -0.06892676038561096, + 0.019545176276680454 + ], + "commanded_contact_point": [ + 0.5649695295095444, + -14.855222523093373, + 0.11887483687424194 + ], + "centerline_face_intersection": [ + 0.5519759604305411, + -14.85537081378987, + 0.11887483687424194 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5522291660308838, + -14.85307788848877, + 0.12138581275939941 + ], + "box_pose": [ + 0.6096241474151611, + -14.859511375427246, + 0.13604030013084412, + 0.0075315204448997974, + -0.0062537966296076775, + 0.6822608709335327, + -0.73104327917099 + ], + "box_yaw_rad": -1.501779516358054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000148290696497071, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022788975240870635 + } + } + }, + { + "simulation_time_ns": 5780000000, + "center": [ + 0.6095668533457653, + -14.854707095635957, + 0.11966468105053538 + ], + "face_center": [ + 0.5545293523068338, + -14.860143015826774, + 0.120866975943488 + ], + "face_normal": [ + -0.9949228746063936, + -0.09826611383666028, + 0.021734102538101638 + ], + "footprint_xy": [ + [ + 0.5445232202362326, + -14.93930350467329 + ], + [ + 0.6746104864552981, + -14.93930350467329 + ], + [ + 0.6746104864552981, + -14.770110686598624 + ], + [ + 0.5445232202362326, + -14.770110686598624 + ] + ], + "projected_box_corners": [ + [ + 0.5445232202362326, + -14.785649654419808 + ], + [ + 0.5493007708882485, + -14.780982526980255 + ], + [ + 0.6545982223140956, + -14.774777814038178 + ], + [ + 0.6593757729661115, + -14.770110686598624 + ], + [ + 0.5597579337254192, + -14.93930350467329 + ], + [ + 0.5645354843774351, + -14.934636377233739 + ], + [ + 0.6698329358032822, + -14.92843166429166 + ], + [ + 0.6746104864552981, + -14.923764536852108 + ] + ], + "yaw_rad": -1.4719697529266038, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5598747730255127, + -14.8555326461792, + 0.12750932574272156 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5511666994618375, + -14.858093029883042, + 0.11940060456987403 + ], + "intended_face_normal": [ + -0.9975712580688499, + -0.06878767700002497, + 0.010955596935372028 + ], + "commanded_contact_point": [ + 0.5669150698184967, + -14.854090296451352, + 0.11879455892241497 + ], + "centerline_face_intersection": [ + 0.5508976643186245, + -14.854287808452334, + 0.11879455892241497 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.555779755115509, + -14.855518341064453, + 0.12350638210773468 + ], + "box_pose": [ + 0.6083790063858032, + -14.858269691467285, + 0.13601699471473694, + 0.007749775890260935, + 0.0002747461840044707, + 0.6823093891143799, + -0.7310224771499634 + ], + "box_yaw_rad": -1.5018298783934407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00019751200098184547, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002252445074182643 + } + } + }, + { + "simulation_time_ns": 5800000000, + "center": [ + 0.6124980609830161, + -14.85556614022073, + 0.11954665332449688 + ], + "face_center": [ + 0.5577022094722837, + -14.863000404339928, + 0.12105241805551815 + ], + "face_normal": [ + -0.9905545323178689, + -0.13439053896766917, + 0.027219981764958878 + ], + "footprint_xy": [ + [ + 0.5442288058874103, + -14.941149616149373 + ], + [ + 0.6807673160786218, + -14.941149616149373 + ], + [ + 0.6807673160786218, + -14.76998266429209 + ], + [ + 0.5442288058874103, + -14.76998266429209 + ] + ], + "projected_box_corners": [ + [ + 0.5442288058874103, + -14.78813450910988 + ], + [ + 0.5503728178826315, + -14.784851192530486 + ], + [ + 0.6538205089088752, + -14.773265980871486 + ], + [ + 0.6599645209040964, + -14.76998266429209 + ], + [ + 0.5650316010619357, + -14.941149616149373 + ], + [ + 0.5711756130571569, + -14.937866299569977 + ], + [ + 0.6746233040834007, + -14.926281087910976 + ], + [ + 0.6807673160786218, + -14.92299777133158 + ] + ], + "yaw_rad": -1.4356722091465224, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5615029335021973, + -14.850940704345703, + 0.12939903140068054 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5545293523068338, + -14.860143015826774, + 0.120866975943488 + ], + "intended_face_normal": [ + -0.9949228746063936, + -0.09826611383666028, + 0.021734102538101638 + ], + "commanded_contact_point": [ + 0.5685841488838196, + -14.854476561613247, + 0.11966468105053538 + ], + "centerline_face_intersection": [ + 0.5539662025842902, + -14.854707095635957, + 0.11966468105053538 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5598747730255127, + -14.8555326461792, + 0.12750932574272156 + ], + "box_pose": [ + 0.6118864417076111, + -14.858498573303223, + 0.13689331710338593, + 0.013895723968744278, + -0.0008488287567161024, + 0.6713224649429321, + -0.7410346865653992 + ], + "box_yaw_rad": -1.4719697529266038, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00023053402271152386, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001921493746916067 + } + } + }, + { + "simulation_time_ns": 5820000000, + "center": [ + 0.6145290050011962, + -14.857175716390836, + 0.11897861330111748 + ], + "face_center": [ + 0.5600138635296139, + -14.866454267771934, + 0.12043790390132238 + ], + "face_normal": [ + -0.9854800860982892, + -0.1677300538360984, + 0.026379860484852635 + ], + "footprint_xy": [ + [ + 0.5438568792603132, + -14.942579629528673 + ], + [ + 0.6852011307420792, + -14.942579629528673 + ], + [ + 0.6852011307420792, + -14.771771803253 + ], + [ + 0.5438568792603132, + -14.771771803253 + ] + ], + "projected_box_corners": [ + [ + 0.5438568792603132, + -14.790328906015192 + ], + [ + 0.5502776036809576, + -14.790336805359068 + ], + [ + 0.6528871622034779, + -14.771771803253 + ], + [ + 0.6593078866241222, + -14.771779702596875 + ], + [ + 0.5697501233782704, + -14.942571730184797 + ], + [ + 0.5761708477989146, + -14.942579629528673 + ], + [ + 0.678780406321435, + -14.924014627422602 + ], + [ + 0.6852011307420792, + -14.924022526766478 + ] + ], + "yaw_rad": -1.402329792910973, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5604610443115234, + -14.848326683044434, + 0.1288217306137085 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5577022094722837, + -14.863000404339928, + 0.12105241805551815 + ], + "intended_face_normal": [ + -0.9905545323178689, + -0.13439053896766917, + 0.027219981764958878 + ], + "commanded_contact_point": [ + 0.5705124187469482, + -14.855520623633021, + 0.11954665332449688 + ], + "centerline_face_intersection": [ + 0.5566522115312452, + -14.85556614022073, + 0.11954665332449688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5615029335021973, + -14.850940704345703, + 0.12939903140068054 + ], + "box_pose": [ + 0.6150638461112976, + -14.859382629394531, + 0.13673481345176697, + 0.013579217717051506, + -0.005143985617905855, + 0.6577388048171997, + -0.7531061172485352 + ], + "box_yaw_rad": -1.4356722091465224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 4.5516587710423624e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021959555346817926 + } + } + }, + { + "simulation_time_ns": 5840000000, + "center": [ + 0.6160170430383012, + -14.858200878409045, + 0.11934331813864277 + ], + "face_center": [ + 0.5615400584394962, + -14.867598220325876, + 0.12136044578748578 + ], + "face_normal": [ + -0.9847903173981676, + -0.16987745186576086, + 0.03646398184785549 + ], + "footprint_xy": [ + [ + 0.5438386404922351, + -14.944739249618552 + ], + [ + 0.6881954455843674, + -14.944739249618552 + ], + [ + 0.6881954455843674, + -14.771662507199537 + ], + [ + 0.5438386404922351, + -14.771662507199537 + ] + ], + "projected_box_corners": [ + [ + 0.5438386404922351, + -14.7904571910332 + ], + [ + 0.5530770051914062, + -14.792559261639397 + ], + [ + 0.6527926096898451, + -14.771662507199537 + ], + [ + 0.6620309743890164, + -14.773764577805736 + ], + [ + 0.5700031116875861, + -14.942637179012355 + ], + [ + 0.5792414763867573, + -14.944739249618552 + ], + [ + 0.6789570808851961, + -14.923842495178691 + ], + [ + 0.6881954455843674, + -14.92594456578489 + ] + ], + "yaw_rad": -1.400529921521465, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5579720735549927, + -14.853301048278809, + 0.12573973834514618 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5600138635296139, + -14.866454267771934, + 0.12043790390132238 + ], + "intended_face_normal": [ + -0.9854800860982892, + -0.1677300538360984, + 0.026379860484852635 + ], + "commanded_contact_point": [ + 0.5728333044052124, + -14.857484161136982, + 0.11897861330111748 + ], + "centerline_face_intersection": [ + 0.5583955934123235, + -14.857175716390836, + 0.11897861330111748 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5604610443115234, + -14.848326683044434, + 0.1288217306137085 + ], + "box_pose": [ + 0.6172484755516052, + -14.861154556274414, + 0.1361062228679657, + 0.00862090289592743, + -0.010237076319754124, + 0.6450276374816895, + -0.7640421390533447 + ], + "box_yaw_rad": -1.402329792910973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00030844474614568176, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030926783273337068 + } + } + }, + { + "simulation_time_ns": 5860000000, + "center": [ + 0.6169216899582242, + -14.858123214879058, + 0.1194648339730377 + ], + "face_center": [ + 0.5624668281145712, + -14.867550837326656, + 0.1218954983178167 + ], + "face_normal": [ + -0.9843904003464371, + -0.17042483850480494, + 0.043939559599556643 + ], + "footprint_xy": [ + [ + 0.5438331520597028, + -14.944603396270917 + ], + [ + 0.6900102278567455, + -14.944603396270917 + ], + [ + 0.6900102278567455, + -14.771643033487198 + ], + [ + 0.5438331520597028, + -14.771643033487198 + ] + ], + "projected_box_corners": [ + [ + 0.5438331520597028, + -14.790498278382394 + ], + [ + 0.5548652352114505, + -14.792437120247627 + ], + [ + 0.6527428757470088, + -14.771643033487198 + ], + [ + 0.6637749588987564, + -14.77358187535243 + ], + [ + 0.570068421017692, + -14.942664554405685 + ], + [ + 0.5811005041694396, + -14.944603396270917 + ], + [ + 0.678978144704998, + -14.923809309510489 + ], + [ + 0.6900102278567455, + -14.925748151375721 + ] + ], + "yaw_rad": -1.4000630035981978, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5567744970321655, + -14.857725143432617, + 0.12443891167640686 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5615400584394962, + -14.867598220325876, + 0.12136044578748578 + ], + "intended_face_normal": [ + -0.9847903173981676, + -0.16987745186576086, + 0.03646398184785549 + ], + "commanded_contact_point": [ + 0.5751707899570465, + -14.8587053163604, + 0.11934331813864277 + ], + "centerline_face_intersection": [ + 0.5598443143789201, + -14.858200878409045, + 0.11934331813864277 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5579720735549927, + -14.853301048278809, + 0.12573973834514618 + ], + "box_pose": [ + 0.6189449429512024, + -14.862324714660645, + 0.13640213012695312, + 0.009057403542101383, + -0.017551681026816368, + 0.6441888213157654, + -0.7646114230155945 + ], + "box_yaw_rad": -1.400529921521465, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005044379513551433, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026623426532336276 + } + } + }, + { + "simulation_time_ns": 5880000000, + "center": [ + 0.6169763501055501, + -14.858141817438062, + 0.11947616373707873 + ], + "face_center": [ + 0.5625225894842658, + -14.867570003687554, + 0.12192925529110502 + ], + "face_normal": [ + -0.9843704933502261, + -0.1704350304537695, + 0.04434498032310896 + ], + "footprint_xy": [ + [ + 0.5438368785192373, + -14.944639128366923 + ], + [ + 0.6901158216918627, + -14.944639128366923 + ], + [ + 0.6901158216918627, + -14.771644506509201 + ], + [ + 0.5438368785192373, + -14.771644506509201 + ] + ], + "projected_box_corners": [ + [ + 0.5438368785192373, + -14.790500879008185 + ], + [ + 0.5549734842822356, + -14.792473297585996 + ], + [ + 0.652744399761806, + -14.771644506509201 + ], + [ + 0.6638810055248041, + -14.773616925087012 + ], + [ + 0.5700716946862959, + -14.942666709789112 + ], + [ + 0.5812083004492942, + -14.944639128366923 + ], + [ + 0.6789792159288645, + -14.923810337290126 + ], + [ + 0.6901158216918627, + -14.925782755867937 + ] + ], + "yaw_rad": -1.4000654034208653, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.558092474937439, + -14.857620239257812, + 0.12528304755687714 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5624668281145712, + -14.867550837326656, + 0.1218954983178167 + ], + "intended_face_normal": [ + -0.9843904003464371, + -0.17042483850480494, + 0.043939559599556643 + ], + "commanded_contact_point": [ + 0.5778516280651093, + -14.858643575688271, + 0.1194648339730377 + ], + "centerline_face_intersection": [ + 0.5607261406455482, + -14.858123214879058, + 0.1194648339730377 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5567744970321655, + -14.857725143432617, + 0.12443891167640686 + ], + "box_pose": [ + 0.6199795007705688, + -14.862234115600586, + 0.13650396466255188, + 0.011722372844815254, + -0.020196791738271713, + 0.6439333558082581, + -0.7647250294685364 + ], + "box_yaw_rad": -1.4000630035981978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005203608092127609, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002684300834527498 + } + } + }, + { + "simulation_time_ns": 5900000000, + "center": [ + 0.6162738540132714, + -14.858024390457555, + 0.1192743932681423 + ], + "face_center": [ + 0.561805466948704, + -14.867445498696089, + 0.12140934733414055 + ], + "face_normal": [ + -0.9846348982145767, + -0.17030707996772187, + 0.038593951331348686 + ], + "footprint_xy": [ + [ + 0.5438405531905517, + -14.944395770100673 + ], + [ + 0.688707154835991, + -14.944395770100673 + ], + [ + 0.688707154835991, + -14.771653010814434 + ], + [ + 0.5438405531905517, + -14.771653010814434 + ] + ], + "projected_box_corners": [ + [ + 0.5438405531905517, + -14.790495227291505 + ], + [ + 0.5535349019201572, + -14.79222529850209 + ], + [ + 0.6527773273196863, + -14.771653010814434 + ], + [ + 0.6624716760492917, + -14.773383082025022 + ], + [ + 0.570076031977251, + -14.942665698890087 + ], + [ + 0.5797703807068564, + -14.944395770100673 + ], + [ + 0.6790128061063856, + -14.923823482413017 + ], + [ + 0.688707154835991, + -14.925553553623603 + ] + ], + "yaw_rad": -1.4000662809343205, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5604226589202881, + -14.854931831359863, + 0.12396451830863953 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5625225894842658, + -14.867570003687554, + 0.12192925529110502 + ], + "intended_face_normal": [ + -0.9843704933502261, + -0.1704350304537695, + 0.04434498032310896 + ], + "commanded_contact_point": [ + 0.5811368721723557, + -14.858683041374485, + 0.11947616373707873 + ], + "centerline_face_intersection": [ + 0.5607796643461858, + -14.858141817438062, + 0.11947616373707873 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.558092474937439, + -14.857620239257812, + 0.12528304755687714 + ], + "box_pose": [ + 0.6200416088104248, + -14.862255096435547, + 0.1365133821964264, + 0.011809189803898335, + -0.02040870673954487, + 0.643927812576294, + -0.7647227644920349 + ], + "box_yaw_rad": -1.4000654034208653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005412239364227389, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003285500684543951 + } + } + }, + { + "simulation_time_ns": 5920000000, + "center": [ + 0.6149492442260902, + -14.857662364708881, + 0.11898171439326949 + ], + "face_center": [ + 0.560460531624013, + -14.867078944813924, + 0.12054026403369782 + ], + "face_normal": [ + -0.9850023266374813, + -0.17022522407845997, + 0.02817418413264905 + ], + "footprint_xy": [ + [ + 0.5438163768351651, + -14.943661343075036 + ], + [ + 0.6860821116170154, + -14.943661343075036 + ], + [ + 0.6860821116170154, + -14.771663386342727 + ], + [ + 0.5438163768351651, + -14.771663386342727 + ] + ], + "projected_box_corners": [ + [ + 0.5438163768351651, + -14.790496546552813 + ], + [ + 0.5508461552186733, + -14.791485935353148 + ], + [ + 0.6527938020393197, + -14.771663386342727 + ], + [ + 0.6598235804228277, + -14.772652775143062 + ], + [ + 0.5700749080293527, + -14.9426719542747 + ], + [ + 0.5771046864128608, + -14.943661343075036 + ], + [ + 0.6790523332335072, + -14.923838794064615 + ], + [ + 0.6860821116170154, + -14.92482818286495 + ] + ], + "yaw_rad": -1.3999246025083731, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5634208917617798, + -14.85393238067627, + 0.12310783565044403 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.561805466948704, + -14.867445498696089, + 0.12140934733414055 + ], + "intended_face_normal": [ + -0.9846348982145767, + -0.17030707996772187, + 0.038593951331348686 + ], + "commanded_contact_point": [ + 0.584818069934845, + -14.858689316757886, + 0.1192743932681423 + ], + "centerline_face_intersection": [ + 0.5600922587987396, + -14.858024390457555, + 0.1192743932681423 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5604226589202881, + -14.854931831359863, + 0.12396451830863953 + ], + "box_pose": [ + 0.619236171245575, + -14.862120628356934, + 0.1363339126110077, + 0.010259023867547512, + -0.01778160035610199, + 0.6440040469169617, + -0.7647465467453003 + ], + "box_yaw_rad": -1.4000662809343205, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006649263003303929, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036867285863117203 + } + } + }, + { + "simulation_time_ns": 5940000000, + "center": [ + 0.6155163530786796, + -14.85723316049449, + 0.11933258235138056 + ], + "face_center": [ + 0.5610272846550695, + -14.866671872596688, + 0.12073738027072262 + ], + "face_normal": [ + -0.9850087588877765, + -0.17062530819957067, + 0.025394786423246662 + ], + "footprint_xy": [ + [ + 0.5448066431395244, + -14.943018499934784 + ], + [ + 0.6862260630178347, + -14.943018499934784 + ], + [ + 0.6862260630178347, + -14.771447821054196 + ], + [ + 0.5448066431395244, + -14.771447821054196 + ] + ], + "projected_box_corners": [ + [ + 0.5448066431395244, + -14.790852812630682 + ], + [ + 0.5508980878868746, + -14.790325245258593 + ], + [ + 0.6537847799867447, + -14.771975388426284 + ], + [ + 0.6598762247340948, + -14.771447821054196 + ], + [ + 0.5711564814232645, + -14.943018499934784 + ], + [ + 0.5772479261706145, + -14.942490932562695 + ], + [ + 0.6801346182704846, + -14.924141075730386 + ], + [ + 0.6862260630178347, + -14.923613508358297 + ] + ], + "yaw_rad": -1.399331258654021, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5679877400398254, + -14.854511260986328, + 0.12406453490257263 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.560460531624013, + -14.867078944813924, + 0.12054026403369782 + ], + "intended_face_normal": [ + -0.9850023266374813, + -0.17022522407845997, + 0.02817418413264905 + ], + "commanded_contact_point": [ + 0.5876997458934784, + -14.858476490370515, + 0.11898171439326949 + ], + "centerline_face_intersection": [ + 0.5587886060330474, + -14.857662364708881, + 0.11898171439326949 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5634208917617798, + -14.85393238067627, + 0.12310783565044403 + ], + "box_pose": [ + 0.6177217960357666, + -14.861705780029297, + 0.13608567416667938, + 0.007861272431910038, + -0.0125368507578969, + 0.6440695524215698, + -0.7648237943649292 + ], + "box_yaw_rad": -1.3999246025083731, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008141256616348612, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002904309268229507 + } + } + }, + { + "simulation_time_ns": 5960000000, + "center": [ + 0.61974275237479, + -14.858083139963245, + 0.1194512099479753 + ], + "face_center": [ + 0.5653935914306253, + -14.868183424733793, + 0.12151847450308634 + ], + "face_normal": [ + -0.9824796260419703, + -0.18258467714856597, + 0.03737031578319838 + ], + "footprint_xy": [ + [ + 0.5467513040233399, + -14.94413187454999 + ], + [ + 0.6927342007262401, + -14.94413187454999 + ], + [ + 0.6927342007262401, + -14.772034405376498 + ], + [ + 0.5467513040233399, + -14.772034405376498 + ] + ], + "projected_box_corners": [ + [ + 0.5467513040233399, + -14.792297216731942 + ], + [ + 0.5558580397837433, + -14.792234974917594 + ], + [ + 0.6554496259116696, + -14.772096647190844 + ], + [ + 0.6645563616720728, + -14.772034405376498 + ], + [ + 0.5749291430775073, + -14.94413187454999 + ], + [ + 0.5840358788379105, + -14.944069632735644 + ], + [ + 0.6836274649658369, + -14.923931305008894 + ], + [ + 0.6927342007262401, + -14.923869063194546 + ] + ], + "yaw_rad": -1.3873014996020419, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5726087689399719, + -14.856277465820312, + 0.1256137639284134 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5610272846550695, + -14.866671872596688, + 0.12073738027072262 + ], + "intended_face_normal": [ + -0.9850087588877765, + -0.17062530819957067, + 0.025394786423246662 + ], + "commanded_contact_point": [ + 0.5898817527294159, + -14.858156162136451, + 0.11933258235138056 + ], + "centerline_face_intersection": [ + 0.559356081622763, + -14.85723316049449, + 0.11933258235138056 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5679877400398254, + -14.854511260986328, + 0.12406453490257263 + ], + "box_pose": [ + 0.6182242035865784, + -14.861166954040527, + 0.1364724338054657, + 0.009017573669552803, + -0.00900593027472496, + 0.6438990831375122, + -0.7650043368339539 + ], + "box_yaw_rad": -1.399331258654021, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009230016419613206, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022331306127599724 + } + } + }, + { + "simulation_time_ns": 5980000000, + "center": [ + 0.6251992603024696, + -14.859480649398687, + 0.12026441697344722 + ], + "face_center": [ + 0.5711585096699793, + -14.870680354516804, + 0.12404385574899199 + ], + "face_normal": [ + -0.9769044369789274, + -0.20245909789722982, + 0.06832159927290293 + ], + "footprint_xy": [ + [ + 0.546996818728529, + -14.947538334172831 + ], + [ + 0.7034017018764103, + -14.947538334172831 + ], + [ + 0.7034017018764103, + -14.771422964624543 + ], + [ + 0.546996818728529, + -14.771422964624543 + ] + ], + "projected_box_corners": [ + [ + 0.546996818728529, + -14.793822374860776 + ], + [ + 0.5642465395168905, + -14.796314377287755 + ], + [ + 0.6550783199935095, + -14.771422964624543 + ], + [ + 0.6723280407818711, + -14.773914967051523 + ], + [ + 0.578070479823068, + -14.945046331745852 + ], + [ + 0.5953202006114297, + -14.947538334172831 + ], + [ + 0.6861519810880486, + -14.92264692150962 + ], + [ + 0.7034017018764103, + -14.925138923936599 + ] + ], + "yaw_rad": -1.3681361012876654, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5780550241470337, + -14.858574867248535, + 0.1259632259607315 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5653935914306253, + -14.868183424733793, + 0.12151847450308634 + ], + "intended_face_normal": [ + -0.9824796260419703, + -0.18258467714856597, + 0.03737031578319838 + ], + "commanded_contact_point": [ + 0.5923514264822006, + -14.859078368570923, + 0.1194512099479753 + ], + "centerline_face_intersection": [ + 0.5634379112164555, + -14.858083139963245, + 0.1194512099479753 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5726087689399719, + -14.856277465820312, + 0.1256137639284134 + ], + "box_pose": [ + 0.6227136850357056, + -14.862022399902344, + 0.13654616475105286, + 0.012236235663294792, + -0.014514906331896782, + 0.63918536901474, + -0.7688183188438416 + ], + "box_yaw_rad": -1.3873014996020419, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009952286076786263, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002638906148321632 + } + } + }, + { + "simulation_time_ns": 6000000000, + "center": [ + 0.6315891908392834, + -14.860408083582591, + 0.12164911896399525 + ], + "face_center": [ + 0.5778243450473572, + -14.871661337903191, + 0.12819326012869753 + ], + "face_normal": [ + -0.9719168552044992, + -0.2034271165293089, + 0.11829962510125691 + ], + "footprint_xy": [ + [ + 0.547472392889853, + -14.94939025270225 + ], + [ + 0.7157059887887138, + -14.94939025270225 + ], + [ + 0.7157059887887138, + -14.771425914462933 + ], + [ + 0.547472392889853, + -14.771425914462933 + ] + ], + "projected_box_corners": [ + [ + 0.547472392889853, + -14.793932423104133 + ], + [ + 0.5773363866378691, + -14.798213895577865 + ], + [ + 0.6550020844737054, + -14.771425914462933 + ], + [ + 0.6848660782217215, + -14.775707386936663 + ], + [ + 0.5783123034568454, + -14.94510878022852 + ], + [ + 0.6081762972048614, + -14.94939025270225 + ], + [ + 0.6858419950406978, + -14.922602271587317 + ], + [ + 0.7157059887887138, + -14.92688374406105 + ] + ], + "yaw_rad": -1.369558009278303, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.583977460861206, + -14.860855102539062, + 0.12587536871433258 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5711585096699793, + -14.870680354516804, + 0.12404385574899199 + ], + "intended_face_normal": [ + -0.9769044369789274, + -0.20245909789722982, + 0.06832159927290293 + ], + "commanded_contact_point": [ + 0.5950699943304062, + -14.860512109292372, + 0.12026441697344722 + ], + "centerline_face_intersection": [ + 0.5685730876783952, + -14.859480649398687, + 0.12026441697344722 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5780550241470337, + -14.858574867248535, + 0.1259632259607315 + ], + "box_pose": [ + 0.6288257837295532, + -14.863554954528809, + 0.1372004747390747, + 0.018694033846259117, + -0.031174222007393837, + 0.6312059760093689, + -0.7747629284858704 + ], + "box_yaw_rad": -1.3681361012876654, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010314598936847117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031792340693813786 + } + } + }, + { + "simulation_time_ns": 6020000000, + "center": [ + 0.6376988388410249, + -14.861277893790936, + 0.1226490227863028 + ], + "face_center": [ + 0.5843365584648202, + -14.872621075205881, + 0.13180983997452986 + ], + "face_normal": [ + -0.964639607272338, + -0.20505274490129, + 0.16560175150771128 + ], + "footprint_xy": [ + [ + 0.5481653856056672, + -14.95114249490197 + ], + [ + 0.7272322920763824, + -14.95114249490197 + ], + [ + 0.7272322920763824, + -14.7714132926799 + ], + [ + 0.5481653856056672, + -14.7714132926799 + ] + ], + "projected_box_corners": [ + [ + 0.5481653856056672, + -14.794099655509793 + ], + [ + 0.5899691204870858, + -14.800041774161702 + ], + [ + 0.6548899463580763, + -14.7714132926799 + ], + [ + 0.6966936812394949, + -14.77735541133181 + ], + [ + 0.5787039964425547, + -14.94520037625006 + ], + [ + 0.6205077313239733, + -14.95114249490197 + ], + [ + 0.6854285571949638, + -14.922514013420168 + ], + [ + 0.7272322920763824, + -14.928456132072077 + ] + ], + "yaw_rad": -1.3713750089938923, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5887693166732788, + -14.861810684204102, + 0.1256830394268036 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5778243450473572, + -14.871661337903191, + 0.12819326012869753 + ], + "intended_face_normal": [ + -0.9719168552044992, + -0.2034271165293089, + 0.11829962510125691 + ], + "commanded_contact_point": [ + 0.5976949232816696, + -14.861421662718017, + 0.12164911896399525 + ], + "centerline_face_intersection": [ + 0.5746724299153734, + -14.860408083582591, + 0.12164911896399525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.583977460861206, + -14.860855102539062, + 0.12587536871433258 + ], + "box_pose": [ + 0.6361055374145508, + -14.864607810974121, + 0.1383388340473175, + 0.032453443855047226, + -0.05400383844971657, + 0.630264401435852, + -0.7738197445869446 + ], + "box_yaw_rad": -1.369558009278303, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001013579135425857, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031040198188656866 + } + } + }, + { + "simulation_time_ns": 6040000000, + "center": [ + 0.6433604814436668, + -14.86174230482377, + 0.12313138054768538 + ], + "face_center": [ + 0.5905263578327284, + -14.873287116204057, + 0.1347672571791097 + ], + "face_normal": [ + -0.9550920217675061, + -0.20869764630372467, + 0.21034384934216144 + ], + "footprint_xy": [ + [ + 0.5487831062301688, + -14.952127267292179 + ], + [ + 0.7379378566571646, + -14.952127267292179 + ], + [ + 0.7379378566571646, + -14.771357342355362 + ], + [ + 0.5487831062301688, + -14.771357342355362 + ] + ], + "projected_box_corners": [ + [ + 0.5487831062301688, + -14.794446965115936 + ], + [ + 0.601757702182779, + -14.801158987240898 + ], + [ + 0.6544513534520455, + -14.771357342355362 + ], + [ + 0.7074259494046556, + -14.778069364480324 + ], + [ + 0.5792950134826779, + -14.945415245167217 + ], + [ + 0.632269609435288, + -14.952127267292179 + ], + [ + 0.6849632607045545, + -14.922325622406643 + ], + [ + 0.7379378566571646, + -14.929037644531604 + ] + ], + "yaw_rad": -1.371374603664742, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5914034247398376, + -14.861735343933105, + 0.12489119172096252 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5843365584648202, + -14.872621075205881, + 0.13180983997452986 + ], + "intended_face_normal": [ + -0.964639607272338, + -0.20505274490129, + 0.16560175150771128 + ], + "commanded_contact_point": [ + 0.5998625206947327, + -14.862270161309835, + 0.1226490227863028 + ], + "centerline_face_intersection": [ + 0.5803526974753246, + -14.861277893790936, + 0.1226490227863028 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5887693166732788, + -14.861810684204102, + 0.1256830394268036 + ], + "box_pose": [ + 0.6430512070655823, + -14.865592002868652, + 0.13906006515026093, + 0.04557519033551216, + -0.07568763941526413, + 0.6288056373596191, + -0.7725269198417664 + ], + "box_yaw_rad": -1.3713750089938923, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009922675188992257, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025334237820191135 + } + } + }, + { + "simulation_time_ns": 6060000000, + "center": [ + 0.6486804285309141, + -14.862298585873514, + 0.12341571561317058 + ], + "face_center": [ + 0.5964504912754974, + -14.87411375172726, + 0.13729218464834328 + ], + "face_normal": [ + -0.9441700355892388, + -0.21358489308668993, + 0.250847444038107 + ], + "footprint_xy": [ + [ + 0.5495742029050459, + -14.953387928056944 + ], + [ + 0.7477866541567825, + -14.953387928056944 + ], + [ + 0.7477866541567825, + -14.771209243690084 + ], + [ + 0.5495742029050459, + -14.771209243690084 + ] + ], + "projected_box_corners": [ + [ + 0.5495742029050459, + -14.794839575397573 + ], + [ + 0.6127797989260441, + -14.802603675301794 + ], + [ + 0.6540340774158792, + -14.771209243690084 + ], + [ + 0.7172396734368773, + -14.778973343594306 + ], + [ + 0.5801211836249509, + -14.945623828152723 + ], + [ + 0.6433267796459491, + -14.953387928056944 + ], + [ + 0.6845810581357843, + -14.921993496445234 + ], + [ + 0.7477866541567825, + -14.929757596349456 + ] + ], + "yaw_rad": -1.3709141821307784, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5940028429031372, + -14.862091064453125, + 0.12336789071559906 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5905263578327284, + -14.873287116204057, + 0.1347672571791097 + ], + "intended_face_normal": [ + -0.9550920217675061, + -0.20869764630372467, + 0.21034384934216144 + ], + "commanded_contact_point": [ + 0.6017035889625549, + -14.862734850778295, + 0.12313138054768538 + ], + "centerline_face_intersection": [ + 0.5854410788889054, + -14.86174230482377, + 0.12313138054768538 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5914034247398376, + -14.861735343933105, + 0.12489119172096252 + ], + "box_pose": [ + 0.6494978666305542, + -14.86610221862793, + 0.13925296068191528, + 0.059090111404657364, + -0.09514237195253372, + 0.6262264251708984, + -0.7715547680854797 + ], + "box_yaw_rad": -1.371374603664742, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009925459545257807, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00195911655570715 + } + } + }, + { + "simulation_time_ns": 6080000000, + "center": [ + 0.6538051325443572, + -14.862932387634455, + 0.1234997667143237 + ], + "face_center": [ + 0.6022215518988144, + -14.874893374736274, + 0.13950566903055908 + ], + "face_normal": [ + -0.9324857300852203, + -0.2162209301991228, + 0.28934159514025826 + ], + "footprint_xy": [ + [ + 0.5506945291957619, + -14.95466281054878 + ], + [ + 0.7569157358929526, + -14.95466281054878 + ], + [ + 0.7569157358929526, + -14.771201964720127 + ], + [ + 0.5506945291957619, + -14.771201964720127 + ] + ], + "projected_box_corners": [ + [ + 0.5506945291957619, + -14.795123938923767 + ], + [ + 0.6236133534935575, + -14.803993493417876 + ], + [ + 0.6538616904868474, + -14.771201964720127 + ], + [ + 0.726780514784643, + -14.780071519214236 + ], + [ + 0.5808297503040714, + -14.945793256054674 + ], + [ + 0.6537485746018671, + -14.95466281054878 + ], + [ + 0.6839969115951569, + -14.921871281851034 + ], + [ + 0.7569157358929526, + -14.93074083634514 + ] + ], + "yaw_rad": -1.3733921025311355, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5961114764213562, + -14.86129093170166, + 0.12361353635787964 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5964504912754974, + -14.87411375172726, + 0.13729218464834328 + ], + "intended_face_normal": [ + -0.9441700355892388, + -0.21358489308668993, + 0.250847444038107 + ], + "commanded_contact_point": [ + 0.6034158664941788, + -14.863299432684855, + 0.12341571561317058 + ], + "centerline_face_intersection": [ + 0.5900910249272826, + -14.862298585873514, + 0.12341571561317058 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5940028429031372, + -14.862091064453125, + 0.12336789071559906 + ], + "box_pose": [ + 0.6555350422859192, + -14.866721153259277, + 0.13922826945781708, + 0.07087761163711548, + -0.11364036053419113, + 0.6230440735816956, + -0.7706350088119507 + ], + "box_yaw_rad": -1.3709141821307784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001000846811341347, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018252379307866385 + } + } + }, + { + "simulation_time_ns": 6100000000, + "center": [ + 0.6588461395800517, + -14.863539583610176, + 0.12336218574918618 + ], + "face_center": [ + 0.607985812524303, + -14.875653079761598, + 0.14143455202128274 + ], + "face_normal": [ + -0.9194113439476972, + -0.2189778639110206, + 0.3266974383458132 + ], + "footprint_xy": [ + [ + 0.5519888450915256, + -14.955883008648694 + ], + [ + 0.7657034340685777, + -14.955883008648694 + ], + [ + 0.7657034340685777, + -14.771196158571659 + ], + [ + 0.5519888450915256, + -14.771196158571659 + ] + ], + "projected_box_corners": [ + [ + 0.5519888450915256, + -14.795423150874502 + ], + [ + 0.6343360272274142, + -14.80533563103458 + ], + [ + 0.6537094992030229, + -14.771196158571659 + ], + [ + 0.7360566813389116, + -14.781108638731737 + ], + [ + 0.5816355978211918, + -14.945970528488616 + ], + [ + 0.6639827799570803, + -14.955883008648694 + ], + [ + 0.6833562519326891, + -14.921743536185772 + ], + [ + 0.7657034340685777, + -14.931656016345851 + ] + ], + "yaw_rad": -1.3763578932207396, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.597824215888977, + -14.859889030456543, + 0.12474456429481506 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6022215518988144, + -14.874893374736274, + 0.13950566903055908 + ], + "intended_face_normal": [ + -0.9324857300852203, + -0.2162209301991228, + 0.28934159514025826 + ], + "commanded_contact_point": [ + 0.604954679608345, + -14.863998892683108, + 0.1234997667143237 + ], + "centerline_face_intersection": [ + 0.5944815874210045, + -14.862932387634455, + 0.1234997667143237 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5961114764213562, + -14.86129093170166, + 0.12361353635787964 + ], + "box_pose": [ + 0.6613262295722961, + -14.867426872253418, + 0.13898570835590363, + 0.0820813700556755, + -0.13144968450069427, + 0.6206063032150269, + -0.7686554789543152 + ], + "box_yaw_rad": -1.3733921025311355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010665050486531413, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001692410906692639 + } + } + }, + { + "simulation_time_ns": 6120000000, + "center": [ + 0.6639118483679537, + -14.86412110684066, + 0.12299757758512404 + ], + "face_center": [ + 0.6138665744446236, + -14.876396280183602, + 0.14311999817372986 + ], + "face_normal": [ + -0.9046774808515288, + -0.2219005317849394, + 0.3637566415287097 + ], + "footprint_xy": [ + [ + 0.5534790936051084, + -14.957052178657399 + ], + [ + 0.774344603130799, + -14.957052178657399 + ], + [ + 0.774344603130799, + -14.77119003502392 + ], + [ + 0.5534790936051084, + -14.77119003502392 + ] + ], + "projected_box_corners": [ + [ + 0.5534790936051084, + -14.795740381709807 + ], + [ + 0.645177457821155, + -14.806635017605803 + ], + [ + 0.6535696414517685, + -14.77119003502392 + ], + [ + 0.7452680056678151, + -14.782084670919916 + ], + [ + 0.5825556910680921, + -14.946157542761403 + ], + [ + 0.6742540552841388, + -14.957052178657399 + ], + [ + 0.6826462389147523, + -14.921607196075517 + ], + [ + 0.774344603130799, + -14.932501831971512 + ] + ], + "yaw_rad": -1.3798451426974074, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5994660258293152, + -14.860146522521973, + 0.12636958062648773 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.607985812524303, + -14.875653079761598, + 0.14143455202128274 + ], + "intended_face_normal": [ + -0.9194113439476972, + -0.2189778639110206, + 0.3266974383458132 + ], + "commanded_contact_point": [ + 0.6063126373291016, + -14.864752110784975, + 0.12336218574918618 + ], + "centerline_face_intersection": [ + 0.5986789906213806, + -14.863539583610176, + 0.12336218574918618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.597824215888977, + -14.859889030456543, + 0.12474456429481506 + ], + "box_pose": [ + 0.6670089960098267, + -14.868101119995117, + 0.13849961757659912, + 0.09309413284063339, + -0.14888978004455566, + 0.6179357171058655, + -0.7663684487342834 + ], + "box_yaw_rad": -1.3763578932207396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012125271747984812, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015589468247218232 + } + } + }, + { + "simulation_time_ns": 6140000000, + "center": [ + 0.6691061037659822, + -14.864703564771041, + 0.12239406782805828 + ], + "face_center": [ + 0.6199892625008452, + -14.877154051358506, + 0.14458960571488366 + ], + "face_normal": [ + -0.8878940355327729, + -0.22506970105866442, + 0.4012327584091224 + ], + "footprint_xy": [ + [ + 0.5552070289472918, + -14.958221626851133 + ], + [ + 0.7830051785846726, + -14.958221626851133 + ], + [ + 0.7830051785846726, + -14.77118550269095 + ], + [ + 0.5552070289472918, + -14.77118550269095 + ] + ], + "projected_box_corners": [ + [ + 0.5552070289472918, + -14.796086475865877 + ], + [ + 0.6563654568993433, + -14.807947122687581 + ], + [ + 0.6534407114775659, + -14.77118550269095 + ], + [ + 0.7545991394296174, + -14.783046149512653 + ], + [ + 0.583613068102347, + -14.946360980029429 + ], + [ + 0.6847714960543985, + -14.958221626851133 + ], + [ + 0.6818467506326211, + -14.921460006854499 + ], + [ + 0.7830051785846726, + -14.933320653676205 + ] + ], + "yaw_rad": -1.3839730007147915, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5998183488845825, + -14.863334655761719, + 0.12786456942558289 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6138665744446236, + -14.876396280183602, + 0.14311999817372986 + ], + "intended_face_normal": [ + -0.9046774808515288, + -0.2219005317849394, + 0.3637566415287097 + ], + "commanded_contact_point": [ + 0.6075553643703461, + -14.865492617388206, + 0.12299757758512404 + ], + "centerline_face_intersection": [ + 0.602764798224156, + -14.86412110684066, + 0.12299757758512404 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5994660258293152, + -14.860146522521973, + 0.12636958062648773 + ], + "box_pose": [ + 0.6727060675621033, + -14.868744850158691, + 0.137757807970047, + 0.10420668125152588, + -0.1663370281457901, + 0.6149721145629883, + -0.7637292146682739 + ], + "box_yaw_rad": -1.3798451426974074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013715105475459665, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014918644850554065 + } + } + }, + { + "simulation_time_ns": 6160000000, + "center": [ + 0.6745335386149923, + -14.865316791761238, + 0.1215085146808282 + ], + "face_center": [ + 0.6264911967418036, + -14.877975322384126, + 0.1458357781303435 + ], + "face_normal": [ + -0.8684701154124923, + -0.2288305507676962, + 0.439768347501424 + ], + "footprint_xy": [ + [ + 0.5572198837699501, + -14.959464183852942 + ], + [ + 0.7918471934600345, + -14.959464183852942 + ], + [ + 0.7918471934600345, + -14.771169399669535 + ], + [ + 0.5572198837699501, + -14.771169399669535 + ] + ], + "projected_box_corners": [ + [ + 0.5572198837699501, + -14.79648646091531 + ], + [ + 0.6681292900264282, + -14.809359763094255 + ], + [ + 0.6533045675163275, + -14.771169399669535 + ], + [ + 0.7642139737728056, + -14.784042701848481 + ], + [ + 0.5848531034571791, + -14.946590881673997 + ], + [ + 0.6957625097136572, + -14.959464183852942 + ], + [ + 0.6809377872035565, + -14.92127382042822 + ], + [ + 0.7918471934600345, + -14.934147122607166 + ] + ], + "yaw_rad": -1.3887413878305157, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5985556840896606, + -14.870986938476562, + 0.12403525412082672 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6199892625008452, + -14.877154051358506, + 0.14458960571488366 + ], + "intended_face_normal": [ + -0.8878940355327729, + -0.22506970105866442, + 0.4012327584091224 + ], + "commanded_contact_point": [ + 0.60872194647789, + -14.86612983167896, + 0.12239406782805828 + ], + "centerline_face_intersection": [ + 0.6068032195570577, + -14.864703564771041, + 0.12239406782805828 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5998183488845825, + -14.863334655761719, + 0.12786456942558289 + ], + "box_pose": [ + 0.6785334944725037, + -14.86938762664795, + 0.1367385983467102, + 0.11562083661556244, + -0.18420858681201935, + 0.6116346716880798, + -0.7606589198112488 + ], + "box_yaw_rad": -1.3839730007147915, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014262669079188584, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001459856120600779 + } + } + }, + { + "simulation_time_ns": 6180000000, + "center": [ + 0.6803814719324399, + -14.865893229235713, + 0.12032709539394738 + ], + "face_center": [ + 0.6335811826134733, + -14.878694654653126, + 0.14689732744005432 + ], + "face_normal": [ + -0.8460173064307628, + -0.2314136858492577, + 0.4803148970657709 + ], + "footprint_xy": [ + [ + 0.5597824717285096, + -14.96060138150033 + ], + [ + 0.8009804721363702, + -14.96060138150033 + ], + [ + 0.8009804721363702, + -14.771185076971095 + ], + [ + 0.5597824717285096, + -14.771185076971095 + ] + ], + "projected_box_corners": [ + [ + 0.5597824717285096, + -14.796787927805921 + ], + [ + 0.6808776968924238, + -14.810627074536466 + ], + [ + 0.6533830503664428, + -14.771185076971095 + ], + [ + 0.774478275530357, + -14.78502422370164 + ], + [ + 0.5862846683345229, + -14.946762234769785 + ], + [ + 0.7073798934984371, + -14.96060138150033 + ], + [ + 0.679885246972456, + -14.921159383934961 + ], + [ + 0.8009804721363702, + -14.934998530665506 + ] + ], + "yaw_rad": -1.395890424825432, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5974541902542114, + -14.881481170654297, + 0.11840704083442688 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6264911967418036, + -14.877975322384126, + 0.1458357781303435 + ], + "intended_face_normal": [ + -0.8684701154124923, + -0.2288305507676962, + 0.439768347501424 + ], + "commanded_contact_point": [ + 0.6097838777303696, + -14.866516252800544, + 0.1215085146808282 + ], + "centerline_face_intersection": [ + 0.6108372083626625, + -14.865316791761238, + 0.1215085146808282 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5985556840896606, + -14.870986938476562, + 0.12403525412082672 + ], + "box_pose": [ + 0.684607982635498, + -14.870062828063965, + 0.135385200381279, + 0.127493754029274, + -0.20298242568969727, + 0.6077253222465515, + -0.7571085691452026 + ], + "box_yaw_rad": -1.3887413878305157, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011994610393058736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014356962230111631 + } + } + }, + { + "simulation_time_ns": 6200000000, + "center": [ + 0.6867348255437545, + -14.866152892270044, + 0.11887027510948721 + ], + "face_center": [ + 0.6414129432602724, + -14.879020136608007, + 0.14786133658697742 + ], + "face_normal": [ + -0.8192918746830147, + -0.23260350639708172, + 0.5240766691545851 + ], + "footprint_xy": [ + [ + 0.5629048266503526, + -14.961112361630926 + ], + [ + 0.8105648244371565, + -14.961112361630926 + ], + [ + 0.8105648244371565, + -14.77119342290916 + ], + [ + 0.5629048266503526, + -14.77119342290916 + ] + ], + "projected_box_corners": [ + [ + 0.5629048266503526, + -14.796927911585087 + ], + [ + 0.6948077757418442, + -14.81119873280585 + ], + [ + 0.6535485912173167, + -14.77119342290916 + ], + [ + 0.7854515403088083, + -14.785464244129926 + ], + [ + 0.5880181107787008, + -14.946841540410162 + ], + [ + 0.7199210598701924, + -14.961112361630926 + ], + [ + 0.6786618753456649, + -14.921107051734237 + ], + [ + 0.8105648244371565, + -14.935377872955002 + ] + ], + "yaw_rad": -1.4048190966383478, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5986776351928711, + -14.886240005493164, + 0.11691351234912872 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6335811826134733, + -14.878694654653126, + 0.14689732744005432 + ], + "intended_face_normal": [ + -0.8460173064307628, + -0.2314136858492577, + 0.4803148970657709 + ], + "commanded_contact_point": [ + 0.6114698100090027, + -14.866469172618276, + 0.12032709539394738 + ], + "centerline_face_intersection": [ + 0.6149946779920488, + -14.865893229235713, + 0.12032709539394738 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5974541902542114, + -14.881481170654297, + 0.11840704083442688 + ], + "box_pose": [ + 0.6911194324493408, + -14.87070083618164, + 0.13367493450641632, + 0.14042873680591583, + -0.22275753319263458, + 0.6037987470626831, + -0.7523868083953857 + ], + "box_yaw_rad": -1.395890424825432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005759433825625139, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002059207547362199 + } + } + }, + { + "simulation_time_ns": 6220000000, + "center": [ + 0.6936352489298452, + -14.866462525458092, + 0.11689382229856615 + ], + "face_center": [ + 0.6500970125565727, + -14.879429691093016, + 0.1484595444905151 + ], + "face_normal": [ + -0.7870485845123669, + -0.23440980177988235, + 0.5706192772092908 + ], + "footprint_xy": [ + [ + 0.5666350651875729, + -14.961723457570589 + ], + [ + 0.8206354326721175, + -14.961723457570589 + ], + [ + 0.8206354326721175, + -14.771201593345596 + ], + [ + 0.5666350651875729, + -14.771201593345596 + ] + ], + "projected_box_corners": [ + [ + 0.5666350651875729, + -14.797135924615445 + ], + [ + 0.7100472302260633, + -14.811896619402694 + ], + [ + 0.653711537934118, + -14.771201593345596 + ], + [ + 0.7971237029726085, + -14.785962288132845 + ], + [ + 0.590146794887082, + -14.94696276278334 + ], + [ + 0.7335589599255724, + -14.961723457570589 + ], + [ + 0.6772232676336271, + -14.921028431513491 + ], + [ + 0.8206354326721175, + -14.93578912630074 + ] + ], + "yaw_rad": -1.4151397421292908, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6022815704345703, + -14.883383750915527, + 0.1183512955904007 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6414129432602724, + -14.879020136608007, + 0.14786133658697742 + ], + "intended_face_normal": [ + -0.8192918746830147, + -0.23260350639708172, + 0.5240766691545851 + ], + "commanded_contact_point": [ + 0.6141490089893341, + -14.865925351123682, + 0.11887027510948721 + ], + "centerline_face_intersection": [ + 0.6192151039463741, + -14.866152892270044, + 0.11887027510948721 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5986776351928711, + -14.886240005493164, + 0.11691351234912872 + ], + "box_pose": [ + 0.6981670260429382, + -14.870987892150879, + 0.1316181868314743, + 0.15561267733573914, + -0.24332650005817413, + 0.5995689630508423, + -0.746387243270874 + ], + "box_yaw_rad": -1.4048190966383478, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00022754114636228443, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003097769251478492 + } + } + }, + { + "simulation_time_ns": 6240000000, + "center": [ + 0.7011611445389185, + -14.86691828602356, + 0.11428300330757984 + ], + "face_center": [ + 0.6598111325284562, + -14.8800956653886, + 0.14858538841716656 + ], + "face_normal": [ + -0.7474916563772949, + -0.2382098734528415, + 0.6200904284325066 + ], + "footprint_xy": [ + [ + 0.5710732999952057, + -14.962619235839218 + ], + [ + 0.8312489890826313, + -14.962619235839218 + ], + [ + 0.8312489890826313, + -14.7712173362079 + ], + [ + 0.5710732999952057, + -14.7712173362079 + ] + ], + "projected_box_corners": [ + [ + 0.5710732999952057, + -14.797572094937982 + ], + [ + 0.726810562318896, + -14.81296164728048 + ], + [ + 0.6537733240161302, + -14.7712173362079 + ], + [ + 0.8095105863398204, + -14.7866068885504 + ], + [ + 0.5928117027380166, + -14.947229683496719 + ], + [ + 0.7485489650617069, + -14.962619235839218 + ], + [ + 0.6755117267589411, + -14.92087492476664 + ], + [ + 0.8312489890826313, + -14.936264477109138 + ] + ], + "yaw_rad": -1.4265508867859493, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6072181463241577, + -14.877291679382324, + 0.1216488629579544 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6500970125565727, + -14.879429691093016, + 0.1484595444905151 + ], + "intended_face_normal": [ + -0.7870485845123669, + -0.23440980177988235, + 0.5706192772092908 + ], + "commanded_contact_point": [ + 0.6171175587177277, + -14.865558135293432, + 0.11689382229856615 + ], + "centerline_face_intersection": [ + 0.6233494236654916, + -14.866462525458092, + 0.11689382229856615 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6022815704345703, + -14.883383750915527, + 0.1183512955904007 + ], + "box_pose": [ + 0.7057974338531494, + -14.87132740020752, + 0.12893524765968323, + 0.17216552793979645, + -0.2659359872341156, + 0.594267725944519, + -0.7392447590827942 + ], + "box_yaw_rad": -1.4151397421292908, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009043901646597162, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035851779132603226 + } + } + }, + { + "simulation_time_ns": 6260000000, + "center": [ + 0.7094058936626708, + -14.867352447911719, + 0.11073005325618719 + ], + "face_center": [ + 0.6707253374352073, + -14.880756855190642, + 0.14793565501272532 + ], + "face_normal": [ + -0.6992354206994236, + -0.24231389817111904, + 0.6725724015865353 + ], + "footprint_xy": [ + [ + 0.5765476217570105, + -14.963467580225435 + ], + [ + 0.8422641655683312, + -14.963467580225435 + ], + [ + 0.8422641655683312, + -14.771237315598002 + ], + [ + 0.5765476217570105, + -14.771237315598002 + ] + ], + "projected_box_corners": [ + [ + 0.5765476217570105, + -14.798046130155846 + ], + [ + 0.7453310802510674, + -14.813991340932015 + ], + [ + 0.6539087342119375, + -14.771237315598002 + ], + [ + 0.8226921927059945, + -14.787182526374169 + ], + [ + 0.5961195946193473, + -14.947522369449267 + ], + [ + 0.7649030531134041, + -14.963467580225435 + ], + [ + 0.6734807070742743, + -14.920713554891423 + ], + [ + 0.8422641655683312, + -14.93665876566759 + ] + ], + "yaw_rad": -1.4405999889376337, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6121326088905334, + -14.874336242675781, + 0.12424787878990173 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6598111325284562, + -14.8800956653886, + 0.14858538841716656 + ], + "intended_face_normal": [ + -0.7474916563772949, + -0.2382098734528415, + 0.6200904284325066 + ], + "commanded_contact_point": [ + 0.6196060526371002, + -14.86559896012455, + 0.11428300330757984 + ], + "centerline_face_intersection": [ + 0.6271558244612437, + -14.86691828602356, + 0.11428300330757984 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6072181463241577, + -14.877291679382324, + 0.1216488629579544 + ], + "box_pose": [ + 0.7140955924987793, + -14.871817588806152, + 0.12547579407691956, + 0.1901542693376541, + -0.29134371876716614, + 0.5871425867080688, + -0.730906069278717 + ], + "box_yaw_rad": -1.4265508867859493, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013193258990102663, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036070270940602696 + } + } + }, + { + "simulation_time_ns": 6280000000, + "center": [ + 0.7184092378206068, + -14.86775604382269, + 0.10595113699678324 + ], + "face_center": [ + 0.6830034427326322, + -14.881405381383285, + 0.14620341366536233 + ], + "face_normal": [ + -0.6400369704601054, + -0.24674154723439612, + 0.7276476957815756 + ], + "footprint_xy": [ + [ + 0.5833236589872206, + -14.964250164404657 + ], + [ + 0.8534948166539931, + -14.964250164404657 + ], + [ + 0.8534948166539931, + -14.771261923240724 + ], + [ + 0.5833236589872206, + -14.771261923240724 + ] + ], + "projected_box_corners": [ + [ + 0.5833236589872206, + -14.798560598361915 + ], + [ + 0.7657630547590337, + -14.814967492134132 + ], + [ + 0.6541352491631699, + -14.771261923240724 + ], + [ + 0.8365746449349829, + -14.787668817012943 + ], + [ + 0.6002438307062308, + -14.947843270632438 + ], + [ + 0.7826832264780439, + -14.964250164404657 + ], + [ + 0.67105542088218, + -14.920544595511247 + ], + [ + 0.8534948166539931, + -14.936951489283466 + ] + ], + "yaw_rad": -1.4579348077830807, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6155431270599365, + -14.872732162475586, + 0.12270765006542206 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6707253374352073, + -14.880756855190642, + 0.14793565501272532 + ], + "intended_face_normal": [ + -0.6992354206994236, + -0.24231389817111904, + 0.6725724015865353 + ], + "commanded_contact_point": [ + 0.621716593503952, + -14.865753770222145, + 0.11073005325618719 + ], + "centerline_face_intersection": [ + 0.6302932548460334, + -14.867352447911719, + 0.11073005325618719 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6121326088905334, + -14.874336242675781, + 0.12424787878990173 + ], + "box_pose": [ + 0.723139762878418, + -14.87228012084961, + 0.12091241776943207, + 0.21030306816101074, + -0.3193996846675873, + 0.5784597396850586, + -0.720514178276062 + ], + "box_yaw_rad": -1.4405999889376337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015986776895727671, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004135432623639256 + } + } + }, + { + "simulation_time_ns": 6300000000, + "center": [ + 0.7281475180321648, + -14.868144318279295, + 0.09958617352966731 + ], + "face_center": [ + 0.6967606150565474, + -14.882059858553568, + 0.14296059873209882 + ], + "face_normal": [ + -0.5673867298481454, + -0.25155374190384805, + 0.7840873403077921 + ], + "footprint_xy": [ + [ + 0.591730850758402, + -14.964998381443431 + ], + [ + 0.8645641853059275, + -14.964998381443431 + ], + [ + 0.8645641853059275, + -14.771290255115161 + ], + [ + 0.591730850758402, + -14.771290255115161 + ] + ], + "projected_box_corners": [ + [ + 0.591730850758402, + -14.799121335663706 + ], + [ + 0.7881311077874688, + -14.815925713735433 + ], + [ + 0.654504656709637, + -14.771290255115161 + ], + [ + 0.8509049137387036, + -14.788094633186889 + ], + [ + 0.605390122325626, + -14.948194003371702 + ], + [ + 0.8017903793546927, + -14.964998381443431 + ], + [ + 0.6681639282768608, + -14.920362922823157 + ], + [ + 0.8645641853059275, + -14.937167300894886 + ] + ], + "yaw_rad": -1.4794231956581854, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6189672946929932, + -14.870294570922852, + 0.11961346864700317 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6830034427326322, + -14.881405381383285, + 0.14620341366536233 + ], + "intended_face_normal": [ + -0.6400369704601054, + -0.24674154723439612, + 0.7276476957815756 + ], + "commanded_contact_point": [ + 0.6235618788003922, + -14.865958321387001, + 0.10595113699678324 + ], + "centerline_face_intersection": [ + 0.6319792941787167, + -14.86775604382269, + 0.10595113699678324 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6155431270599365, + -14.872732162475586, + 0.12270765006542206 + ], + "box_pose": [ + 0.7329556345939636, + -14.87270450592041, + 0.1149231344461441, + 0.23296336829662323, + -0.35051429271698, + 0.5677651762962341, + -0.7074676156044006 + ], + "box_yaw_rad": -1.4579348077830807, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017977224356886267, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005126885957254905 + } + } + }, + { + "simulation_time_ns": 6320000000, + "center": [ + 0.7384928672629886, + -14.868518060751434, + 0.09120364643251189 + ], + "face_center": [ + 0.7120250310609719, + -14.882720389403008, + 0.13765651158494163 + ], + "face_normal": [ + -0.4784638688463385, + -0.25673806734307725, + 0.8397368568472316 + ], + "footprint_xy": [ + [ + 0.6021372287789493, + -14.965713243170867 + ], + [ + 0.8748485057470278, + -14.965713243170867 + ], + [ + 0.8748485057470278, + -14.771322878332002 + ], + [ + 0.6021372287789493, + -14.771322878332002 + ] + ], + "projected_box_corners": [ + [ + 0.6021372287789493, + -14.79972753563515 + ], + [ + 0.812257483996595, + -14.81686734856335 + ], + [ + 0.6550729011829826, + -14.771322878332002 + ], + [ + 0.8651931564006282, + -14.788462691260206 + ], + [ + 0.6117925781253488, + -14.948573430242664 + ], + [ + 0.8219128333429946, + -14.965713243170867 + ], + [ + 0.6647282505293821, + -14.920168772939517 + ], + [ + 0.8748485057470278, + -14.93730858586772 + ] + ], + "yaw_rad": -1.5060189901773293, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6234657764434814, + -14.867369651794434, + 0.11648011207580566 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6967606150565474, + -14.882059858553568, + 0.14296059873209882 + ], + "intended_face_normal": [ + -0.5673867298481454, + -0.25155374190384805, + 0.7840873403077921 + ], + "commanded_contact_point": [ + 0.625124951004982, + -14.866260585737864, + 0.09958617352966731 + ], + "centerline_face_intersection": [ + 0.6306507730864408, + -14.868144318279295, + 0.09958617352966731 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6189672946929932, + -14.870294570922852, + 0.11961346864700317 + ], + "box_pose": [ + 0.7434903383255005, + -14.87310791015625, + 0.10710563510656357, + 0.25833332538604736, + -0.38508227467536926, + 0.5545151233673096, + -0.6910054087638855 + ], + "box_yaw_rad": -1.4794231956581854, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0018837325414308736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006561045525850599 + } + } + }, + { + "simulation_time_ns": 6340000000, + "center": [ + 0.7491478667902618, + -14.868861713403097, + 0.08030121108535336 + ], + "face_center": [ + 0.7286648215318512, + -14.883374887944486, + 0.12959556451736598 + ], + "face_normal": [ + -0.3702757190006736, + -0.26235728479329445, + 0.8911029551241718 + ], + "footprint_xy": [ + [ + 0.6149024032010617, + -14.966358449426203 + ], + [ + 0.8833933303794619, + -14.966358449426203 + ], + [ + 0.8833933303794619, + -14.771364977379994 + ], + [ + 0.6149024032010617, + -14.771364977379994 + ] + ], + "projected_box_corners": [ + [ + 0.6149024032010617, + -14.800391326462771 + ], + [ + 0.8376225083896562, + -14.817757314281607 + ], + [ + 0.6558684937178828, + -14.771364977379994 + ], + [ + 0.8785885989064773, + -14.788730965198832 + ], + [ + 0.6197071346740461, + -14.948992461607364 + ], + [ + 0.8424272398626408, + -14.966358449426203 + ], + [ + 0.6606732251908672, + -14.91996611252459 + ], + [ + 0.8833933303794619, + -14.937332100343426 + ] + ], + "yaw_rad": -1.5384745132051223, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6271324753761292, + -14.864703178405762, + 0.11254490911960602 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7120250310609719, + -14.882720389403008, + 0.13765651158494163 + ], + "intended_face_normal": [ + -0.4784638688463385, + -0.25673806734307725, + 0.8397368568472316 + ], + "commanded_contact_point": [ + 0.626383011341095, + -14.866680264568283, + 0.09120364643251189 + ], + "centerline_face_intersection": [ + 0.6228762807504574, + -14.868518060751434, + 0.09120364643251189 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6234657764434814, + -14.867369651794434, + 0.11648011207580566 + ], + "box_pose": [ + 0.7545687556266785, + -14.873491287231445, + 0.09698417782783508, + 0.28660574555397034, + -0.42338016629219055, + 0.5380409955978394, + -0.6701629161834717 + ], + "box_yaw_rad": -1.5060189901773293, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0018377961831508572, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008486790127282932 + } + } + }, + { + "simulation_time_ns": 6360000000, + "center": [ + 0.7596650014328027, + -14.86918062138549, + 0.06639046738735696 + ], + "face_center": [ + 0.7463537819065384, + -14.884019328906316, + 0.11799226046393185 + ], + "face_normal": [ + -0.24062932628826061, + -0.2682420034227331, + 0.932814959499602 + ], + "footprint_xy": [ + [ + 0.6294354595207854, + -14.966932696478596 + ], + [ + 0.8898945433448199, + -14.966932696478596 + ], + [ + 0.8898945433448199, + -14.771428546292384 + ], + [ + 0.6294354595207854, + -14.771428546292384 + ] + ], + "projected_box_corners": [ + [ + 0.6304295495753036, + -14.801105961334036 + ], + [ + 0.8632721042922915, + -14.818587972272017 + ], + [ + 0.657051988627832, + -14.771428546292384 + ], + [ + 0.8898945433448199, + -14.788910557230365 + ], + [ + 0.6294354595207854, + -14.949450685540615 + ], + [ + 0.8622780142377734, + -14.966932696478596 + ], + [ + 0.6560578985733139, + -14.919773270498963 + ], + [ + 0.8889004532903018, + -14.937255281436943 + ] + ], + "yaw_rad": -1.5774974425907882, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6291720867156982, + -14.863152503967285, + 0.10594025254249573 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7286648215318512, + -14.883374887944486, + 0.12959556451736598 + ], + "intended_face_normal": [ + -0.3702757190006736, + -0.26235728479329445, + 0.8911029551241718 + ], + "commanded_contact_point": [ + 0.627592881321907, + -14.86719025861984, + 0.08030121108535336 + ], + "centerline_face_intersection": [ + 0.6199490504657738, + -14.868861713403097, + 0.08030121108535336 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6271324753761292, + -14.864703178405762, + 0.11254490911960602 + ], + "box_pose": [ + 0.7658228874206543, + -14.873835563659668, + 0.08401418477296829, + 0.31792065501213074, + -0.46550607681274414, + 0.5174435377120972, + -0.6438032984733582 + ], + "box_yaw_rad": -1.5384745132051223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001671454783257431, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01098121012466591 + } + } + }, + { + "simulation_time_ns": 6380000000, + "center": [ + 0.7697430446948188, + -14.869560160055434, + 0.04938893810961968 + ], + "face_center": [ + 0.764892798142835, + -14.885080322397581, + 0.10226351909165796 + ], + "face_normal": [ + -0.08767878539100238, + -0.2805607856520549, + 0.9558233769924698 + ], + "footprint_xy": [ + [ + 0.641838982920907, + -14.967496194644552 + ], + [ + 0.8976471064687306, + -14.967496194644552 + ], + [ + 0.8976471064687306, + -14.771624125466314 + ], + [ + 0.641838982920907, + -14.771624125466314 + ] + ], + "projected_box_corners": [ + [ + 0.6492515020973142, + -14.80266445015061 + ], + [ + 0.8879466133647628, + -14.819672993968076 + ], + [ + 0.658951995201282, + -14.771624125466314 + ], + [ + 0.8976471064687306, + -14.78863266928378 + ], + [ + 0.641838982920907, + -14.950487650827087 + ], + [ + 0.8805340941883556, + -14.967496194644552 + ], + [ + 0.6515394760248747, + -14.91944732614279 + ], + [ + 0.8902345872923233, + -14.936455869960255 + ] + ], + "yaw_rad": -1.6208988522887773, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6300232410430908, + -14.862968444824219, + 0.09757067263126373 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7463537819065384, + -14.884019328906316, + 0.11799226046393185 + ], + "intended_face_normal": [ + -0.24062932628826061, + -0.2682420034227331, + 0.932814959499602 + ], + "commanded_contact_point": [ + 0.6288800287246704, + -14.867750291298961, + 0.06639046738735696 + ], + "centerline_face_intersection": [ + 0.6360828924965427, + -14.86918062138549, + 0.06639046738735696 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6291720867156982, + -14.863152503967285, + 0.10594025254249573 + ], + "box_pose": [ + 0.7767016887664795, + -14.874146461486816, + 0.06768406927585602, + 0.35210123658180237, + -0.5111896395683289, + 0.4918370842933655, + -0.6105785369873047 + ], + "box_yaw_rad": -1.5774974425907882, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00143033008652921, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.013981386743433976 + } + } + }, + { + "simulation_time_ns": 6400000000, + "center": [ + 0.7730554154840537, + -14.8733076707843, + 0.045297966242265404 + ], + "face_center": [ + 0.7721454634277128, + -14.89238953511687, + 0.09721304701034125 + ], + "face_normal": [ + -0.016449368131887354, + -0.34494631762407124, + 0.9384783178411524 + ], + "footprint_xy": [ + [ + 0.6470553612809571, + -14.97329024386173 + ], + [ + 0.8990554696871501, + -14.97329024386173 + ], + [ + 0.8990554696871501, + -14.773325097706868 + ], + [ + 0.6470553612809571, + -14.773325097706868 + ] + ], + "projected_box_corners": [ + [ + 0.6579716454898211, + -14.81148882637201 + ], + [ + 0.8972355655744686, + -14.82876547861184 + ], + [ + 0.6597915496025025, + -14.773325097706868 + ], + [ + 0.8990554696871501, + -14.790601749946699 + ], + [ + 0.6470553612809571, + -14.956013591621899 + ], + [ + 0.8863192813656047, + -14.97329024386173 + ], + [ + 0.6488752653936386, + -14.917849862956757 + ], + [ + 0.8881391854782862, + -14.935126515196588 + ] + ], + "yaw_rad": -1.6461854504282167, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6266424059867859, + -14.862190246582031, + 0.08618544042110443 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.764892798142835, + -14.885080322397581, + 0.10226351909165796 + ], + "intended_face_normal": [ + -0.08767878539100238, + -0.2805607856520549, + 0.9558233769924698 + ], + "commanded_contact_point": [ + 0.6301379251480103, + -14.868393498578152, + 0.04938893810961968 + ], + "centerline_face_intersection": [ + 0.649191040888631, + -14.869560160055434, + 0.04938893810961968 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6300232410430908, + -14.862968444824219, + 0.09757067263126373 + ], + "box_pose": [ + 0.7867817282676697, + -14.874458312988281, + 0.047881241887807846, + 0.387614369392395, + -0.5608251094818115, + 0.45768406987190247, + -0.5707501769065857 + ], + "box_yaw_rad": -1.6208988522887773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011666614772806126, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.017060129448442464 + } + } + }, + { + "simulation_time_ns": 6420000000, + "center": [ + 0.772746358487669, + -14.875864458422951, + 0.04597718873134199 + ], + "face_center": [ + 0.7719080272959208, + -14.89584991068425, + 0.09755237975169301 + ], + "face_normal": [ + -0.015154664790763661, + -0.3612806402684434, + 0.9323340693111106 + ], + "footprint_xy": [ + [ + 0.647377951214771, + -14.975334369606344 + ], + [ + 0.898114765760567, + -14.975334369606344 + ], + [ + 0.898114765760567, + -14.77639454723956 + ], + [ + 0.647377951214771, + -14.77639454723956 + ] + ], + "projected_box_corners": [ + [ + 0.6570390332580499, + -14.816365451762158 + ], + [ + 0.8964381033770706, + -14.831671924115357 + ], + [ + 0.6587156956415463, + -14.77639454723956 + ], + [ + 0.898114765760567, + -14.79170101959276 + ], + [ + 0.647377951214771, + -14.960027897253143 + ], + [ + 0.8867770213337917, + -14.975334369606344 + ], + [ + 0.6490546135982673, + -14.920056992730546 + ], + [ + 0.8884536837172881, + -14.935363465083746 + ] + ], + "yaw_rad": -1.6379437136663917, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6208257675170898, + -14.861870765686035, + 0.07245667278766632 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7721454634277128, + -14.89238953511687, + 0.09721304701034125 + ], + "intended_face_normal": [ + -0.016449368131887354, + -0.34494631762407124, + 0.9384783178411524 + ], + "commanded_contact_point": [ + 0.6313069212436676, + -14.87258570627511, + 0.045297966242265404 + ], + "centerline_face_intersection": [ + 0.6527900033322687, + -14.8733076707843, + 0.045297966242265404 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6266424059867859, + -14.862190246582031, + 0.08618544042110443 + ], + "box_pose": [ + 0.7899261116981506, + -14.878032684326172, + 0.04219384118914604, + 0.3851478695869446, + -0.5967878103256226, + 0.4233059883117676, + -0.5624211430549622 + ], + "box_yaw_rad": -1.6461854504282167, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007219645091898739, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0059730401024587635 + } + } + }, + { + "simulation_time_ns": 6440000000, + "center": [ + 0.7721982143504824, + -14.87686847930515, + 0.04496833595548546 + ], + "face_center": [ + 0.7715158351088651, + -14.895986333618485, + 0.0968736621441446 + ], + "face_normal": [ + -0.012335493142419551, + -0.34559691502481904, + 0.9383019825422991 + ], + "footprint_xy": [ + [ + 0.6475983844229471, + -14.974883818655616 + ], + [ + 0.8967980442780177, + -14.974883818655616 + ], + [ + 0.8967980442780177, + -14.778853139954684 + ], + [ + 0.6475983844229471, + -14.778853139954684 + ] + ], + "projected_box_corners": [ + [ + 0.6559020714364368, + -14.817088848581355 + ], + [ + 0.895433285794783, + -14.83021530269678 + ], + [ + 0.6572668299196714, + -14.778853139954684 + ], + [ + 0.8967980442780177, + -14.79197959407011 + ], + [ + 0.6475983844229471, + -14.961757364540189 + ], + [ + 0.8871295987812934, + -14.974883818655616 + ], + [ + 0.6489631429061818, + -14.923521655913518 + ], + [ + 0.8884943572645281, + -14.936648110028944 + ] + ], + "yaw_rad": -1.6281314423005555, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6197662353515625, + -14.863052368164062, + 0.06216168403625488 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7719080272959208, + -14.89584991068425, + 0.09755237975169301 + ], + "intended_face_normal": [ + -0.015154664790763661, + -0.3612806402684434, + 0.9323340693111106 + ], + "commanded_contact_point": [ + 0.6332487809658051, + -14.875702241623237, + 0.04597718873134199 + ], + "centerline_face_intersection": [ + 0.6525488408125757, + -14.875864458422951, + 0.04597718873134199 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6208257675170898, + -14.861870765686035, + 0.07245667278766632 + ], + "box_pose": [ + 0.7896596789360046, + -14.880398750305176, + 0.042820993810892105, + 0.3823164999485016, + -0.5984027981758118, + 0.4161655604839325, + -0.5679388642311096 + ], + "box_yaw_rad": -1.6379437136663917, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00016221679971323494, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003734294437541391 + } + } + }, + { + "simulation_time_ns": 6460000000, + "center": [ + 0.7718465724219606, + -14.876281278266607, + 0.04459833606644316 + ], + "face_center": [ + 0.7707952286365267, + -14.894411337444126, + 0.09685077140325636 + ], + "face_normal": [ + -0.01900533202740462, + -0.3277403634463951, + 0.9445767374814693 + ], + "footprint_xy": [ + [ + 0.647209431234202, + -14.973579384664577 + ], + [ + 0.8964837136097192, + -14.973579384664577 + ], + [ + 0.8964837136097192, + -14.778983171868637 + ], + [ + 0.647209431234202, + -14.778983171868637 + ] + ], + "projected_box_corners": [ + [ + 0.6548192778807739, + -14.815243290223673 + ], + [ + 0.8943810260388513, + -14.827906177385271 + ], + [ + 0.6569219654516417, + -14.778983171868637 + ], + [ + 0.8964837136097192, + -14.791646059030233 + ], + [ + 0.647209431234202, + -14.96091649750298 + ], + [ + 0.8867711793922796, + -14.973579384664577 + ], + [ + 0.6493121188050699, + -14.924656379147942 + ], + [ + 0.8888738669631474, + -14.93731926630954 + ] + ], + "yaw_rad": -1.6229880499927036, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6238560676574707, + -14.86514949798584, + 0.0600690096616745 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7715158351088651, + -14.895986333618485, + 0.0968736621441446 + ], + "intended_face_normal": [ + -0.012335493142419551, + -0.34559691502481904, + 0.9383019825422991 + ], + "commanded_contact_point": [ + 0.6357084262371063, + -14.87725890695108, + 0.04496833595548546 + ], + "centerline_face_intersection": [ + 0.6520670070708194, + -14.87686847930515, + 0.04496833595548546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6197662353515625, + -14.863052368164062, + 0.06216168403625488 + ], + "box_pose": [ + 0.7891544103622437, + -14.881299018859863, + 0.041895970702171326, + 0.38976284861564636, + -0.5929573178291321, + 0.41867226362228394, + -0.5667451620101929 + ], + "box_yaw_rad": -1.6281314423005555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003904276459302737, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030807216243759913 + } + } + }, + { + "simulation_time_ns": 6480000000, + "center": [ + 0.7714694217600118, + -14.875478715204537, + 0.044382082515198915 + ], + "face_center": [ + 0.7699450279783513, + -14.892592966033714, + 0.0969643940297405 + ], + "face_normal": [ + -0.027556742487433894, + -0.30937741195144497, + 0.9505399688930396 + ], + "footprint_xy": [ + [ + 0.6466020166630262, + -14.97220327853771 + ], + [ + 0.8963368268569972, + -14.97220327853771 + ], + [ + 0.8963368268569972, + -14.778754151871363 + ], + [ + 0.6466020166630262, + -14.778754151871363 + ] + ], + "projected_box_corners": [ + [ + 0.6537390315494437, + -14.812982653529717 + ], + [ + 0.8932880392936764, + -14.825572944308032 + ], + [ + 0.6567878191127645, + -14.778754151871363 + ], + [ + 0.8963368268569972, + -14.79134444264968 + ], + [ + 0.6466020166630262, + -14.959612987759396 + ], + [ + 0.8861510244072588, + -14.97220327853771 + ], + [ + 0.649650804226347, + -14.925384486101041 + ], + [ + 0.8891998119705797, + -14.937974776879356 + ] + ], + "yaw_rad": -1.619431466264425, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6293351650238037, + -14.86598014831543, + 0.061311349272727966 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7707952286365267, + -14.894411337444126, + 0.09685077140325636 + ], + "intended_face_normal": [ + -0.01900533202740462, + -0.3277403634463951, + 0.9445767374814693 + ], + "commanded_contact_point": [ + 0.6381119239330292, + -14.877116977123768, + 0.04459833606644316 + ], + "centerline_face_intersection": [ + 0.6517306766945499, + -14.876281278266607, + 0.04459833606644316 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6238560676574707, + -14.86514949798584, + 0.0600690096616745 + ], + "box_pose": [ + 0.7888346910476685, + -14.88073444366455, + 0.041742656379938126, + 0.3940829038619995, + -0.586353063583374, + 0.42523932456970215, + -0.5657387971878052 + ], + "box_yaw_rad": -1.6229880499927036, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008356988571609494, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024359485150714693 + } + } + }, + { + "simulation_time_ns": 6500000000, + "center": [ + 0.7710384873593634, + -14.874547336926225, + 0.0441468741593743 + ], + "face_center": [ + 0.7689673008456076, + -14.890471539512303, + 0.09708316503424103 + ], + "face_normal": [ + -0.03744121373996023, + -0.2878646943208558, + 0.956938917901951 + ], + "footprint_xy": [ + [ + 0.6458985200527255, + -14.970537404063315 + ], + [ + 0.8961784546660013, + -14.970537404063315 + ], + [ + 0.8961784546660013, + -14.778557269789136 + ], + [ + 0.6458985200527255, + -14.778557269789136 + ] + ], + "projected_box_corners": [ + [ + 0.6525291306466738, + -14.810405674961293 + ], + [ + 0.8920360816384897, + -14.822861165244237 + ], + [ + 0.6566715036741855, + -14.778557269789136 + ], + [ + 0.8961784546660013, + -14.79101276007208 + ], + [ + 0.6458985200527255, + -14.958081913780369 + ], + [ + 0.8854054710445414, + -14.970537404063315 + ], + [ + 0.650040893080237, + -14.926233508608211 + ], + [ + 0.889547844072053, + -14.938688998891157 + ] + ], + "yaw_rad": -1.6156658353017956, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6315189599990845, + -14.863236427307129, + 0.05972126126289368 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7699450279783513, + -14.892592966033714, + 0.0969643940297405 + ], + "intended_face_normal": [ + -0.027556742487433894, + -0.30937741195144497, + 0.9505399688930396 + ], + "commanded_contact_point": [ + 0.6401944506168366, + -14.876694356737262, + 0.044382082515198915 + ], + "centerline_face_intersection": [ + 0.651347137668753, + -14.875478715204537, + 0.044382082515198915 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6293351650238037, + -14.86598014831543, + 0.061311349272727966 + ], + "box_pose": [ + 0.7884831428527832, + -14.879981994628906, + 0.04176761209964752, + 0.39766210317611694, + -0.5795958638191223, + 0.43263858556747437, + -0.5645859837532043 + ], + "box_yaw_rad": -1.619431466264425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012156415327252293, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021359520074864247 + } + } + }, + { + "simulation_time_ns": 6520000000, + "center": [ + 0.7710346895905977, + -14.87440042941471, + 0.044193343202493025 + ], + "face_center": [ + 0.7689603577862703, + -14.890238502470122, + 0.09715534076798665 + ], + "face_normal": [ + -0.03749807172729547, + -0.28630771519535436, + 0.957403622404378 + ], + "footprint_xy": [ + [ + 0.6459181676335276, + -14.970297408558979 + ], + [ + 0.896151211547668, + -14.970297408558979 + ], + [ + 0.896151211547668, + -14.778503450270438 + ], + [ + 0.6459181676335276, + -14.778503450270438 + ] + ], + "projected_box_corners": [ + [ + 0.6524923762195747, + -14.810179596381266 + ], + [ + 0.892002547939013, + -14.822545906210426 + ], + [ + 0.6566410398282296, + -14.778503450270438 + ], + [ + 0.896151211547668, + -14.790869760099598 + ], + [ + 0.6459181676335276, + -14.95793109872982 + ], + [ + 0.8854283393529658, + -14.970297408558979 + ], + [ + 0.6500668312421826, + -14.926254952618992 + ], + [ + 0.8895770029616208, + -14.938621262448152 + ] + ], + "yaw_rad": -1.6152620348953546, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6304245591163635, + -14.861740112304688, + 0.055081069469451904 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7689673008456076, + -14.890471539512303, + 0.09708316503424103 + ], + "intended_face_normal": [ + -0.03744121373996023, + -0.2878646943208558, + 0.956938917901951 + ], + "commanded_contact_point": [ + 0.6423700797557831, + -14.876215414843715, + 0.0441468741593743 + ], + "centerline_face_intersection": [ + 0.6508951101301357, + -14.874547336926225, + 0.0441468741593743 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6315189599990845, + -14.863236427307129, + 0.05972126126289368 + ], + "box_pose": [ + 0.7880787253379822, + -14.879103660583496, + 0.04181194305419922, + 0.40179458260536194, + -0.5716984868049622, + 0.4411675035953522, + -0.5631102919578552 + ], + "box_yaw_rad": -1.6156658353017956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016680779174890862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022401050105469787 + } + } + }, + { + "simulation_time_ns": 6540000000, + "center": [ + 0.7710365413412532, + -14.874411438818159, + 0.044188151234057144 + ], + "face_center": [ + 0.7689645782050408, + -14.890262837322329, + 0.09714625861509155 + ], + "face_normal": [ + -0.0374552528847687, + -0.2865486017460057, + 0.9573332988353229 + ], + "footprint_xy": [ + [ + 0.6459209563408597, + -14.97031731918142 + ], + [ + 0.8961521263416469, + -14.97031731918142 + ], + [ + 0.8961521263416469, + -14.778505558454896 + ], + [ + 0.6459209563408597, + -14.778505558454896 + ] + ], + "projected_box_corners": [ + [ + 0.6524977935998617, + -14.810208355463237 + ], + [ + 0.8920082000692221, + -14.822577025270576 + ], + [ + 0.6566417198722865, + -14.778505558454896 + ], + [ + 0.8961521263416469, + -14.790874228262236 + ], + [ + 0.6459209563408597, + -14.957948649374082 + ], + [ + 0.8854313628102201, + -14.97031731918142 + ], + [ + 0.6500648826132844, + -14.926245852365742 + ], + [ + 0.8895752890826448, + -14.938614522173081 + ] + ], + "yaw_rad": -1.6152831612271479, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.627711296081543, + -14.8658447265625, + 0.05009177327156067 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7689603577862703, + -14.890238502470122, + 0.09715534076798665 + ], + "intended_face_normal": [ + -0.03749807172729547, + -0.28630771519535436, + 0.957403622404378 + ], + "commanded_contact_point": [ + 0.6449683952331543, + -14.8765749200166, + 0.044193343202493025 + ], + "centerline_face_intersection": [ + 0.6508929279465909, + -14.87440042941471, + 0.044193343202493025 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6304245591163635, + -14.861740112304688, + 0.055081069469451904 + ], + "box_pose": [ + 0.7880768179893494, + -14.878954887390137, + 0.041868600994348526, + 0.40231630206108093, + -0.5712246298789978, + 0.4415741562843323, + -0.5628998279571533 + ], + "box_yaw_rad": -1.6152620348953546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021744906018899717, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026234798762799437 + } + } + }, + { + "simulation_time_ns": 6560000000, + "center": [ + 0.7710367517820674, + -14.874416494749767, + 0.044182309834072515 + ], + "face_center": [ + 0.7689652209879061, + -14.890275264716163, + 0.0971382231267913 + ], + "face_normal": [ + -0.03744743735920508, + -0.28668185700377613, + 0.9572936359034507 + ], + "footprint_xy": [ + [ + 0.6459212508287029, + -14.970327289302716 + ], + [ + 0.8961522527354319, + -14.970327289302716 + ], + [ + 0.8961522527354319, + -14.778505700196815 + ], + [ + 0.6459212508287029, + -14.778505700196815 + ] + ], + "projected_box_corners": [ + [ + 0.6524987849590478, + -14.810223240129607 + ], + [ + 0.8920091911471093, + -14.822593217377351 + ], + [ + 0.6566418465473702, + -14.778505700196815 + ], + [ + 0.8961522527354319, + -14.790875677444559 + ], + [ + 0.6459212508287029, + -14.957957312054974 + ], + [ + 0.8854316570167645, + -14.970327289302716 + ], + [ + 0.6500643124170253, + -14.926239772122182 + ], + [ + 0.889574718605087, + -14.938609749369926 + ] + ], + "yaw_rad": -1.615289740103457, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6270179748535156, + -14.870782852172852, + 0.04757174849510193 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7689645782050408, + -14.890262837322329, + 0.09714625861509155 + ], + "intended_face_normal": [ + -0.0374552528847687, + -0.2865486017460057, + 0.9573332988353229 + ], + "commanded_contact_point": [ + 0.647987072467804, + -14.876928597910275, + 0.044188151234057144 + ], + "centerline_face_intersection": [ + 0.6508948974510828, + -14.874411438818159, + 0.044188151234057144 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.627711296081543, + -14.8658447265625, + 0.05009177327156067 + ], + "box_pose": [ + 0.7880785465240479, + -14.878965377807617, + 0.04186147823929787, + 0.40225446224212646, + -0.5712939500808716, + 0.4414941072463989, + -0.562936544418335 + ], + "box_yaw_rad": -1.6152831612271479, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025171590921163308, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030393300669725514 + } + } + }, + { + "simulation_time_ns": 6580000000, + "center": [ + 0.7710368294898542, + -14.87442245807214, + 0.044178032586109875 + ], + "face_center": [ + 0.7689654385246965, + -14.890287550821965, + 0.09713205567504403 + ], + "face_normal": [ + -0.03744490964498226, + -0.2867961551049927, + 0.9572594663472849 + ], + "footprint_xy": [ + [ + 0.6459212473332168, + -14.970337505078716 + ], + [ + 0.8961524116464916, + -14.970337505078716 + ], + [ + 0.8961524116464916, + -14.778507411065563 + ], + [ + 0.6459212473332168, + -14.778507411065563 + ] + ], + "projected_box_corners": [ + [ + 0.6524992420774481, + -14.810237596565212 + ], + [ + 0.8920096297161763, + -14.822608770404388 + ], + [ + 0.6566420240077635, + -14.778507411065563 + ], + [ + 0.8961524116464916, + -14.790878584904739 + ], + [ + 0.6459212473332168, + -14.95796633123954 + ], + [ + 0.8854316349719448, + -14.970337505078716 + ], + [ + 0.6500640292635321, + -14.92623614573989 + ], + [ + 0.8895744169022601, + -14.938607319579067 + ] + ], + "yaw_rad": -1.615294457274511, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6309070587158203, + -14.871891975402832, + 0.047136127948760986 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7689652209879061, + -14.890275264716163, + 0.0971382231267913 + ], + "intended_face_normal": [ + -0.03744743735920508, + -0.28668185700377613, + 0.9572936359034507 + ], + "commanded_contact_point": [ + 0.6516997563838959, + -14.87707899954496, + 0.044182309834072515 + ], + "centerline_face_intersection": [ + 0.6508951077507936, + -14.874416494749767, + 0.044182309834072515 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6270179748535156, + -14.870782852172852, + 0.04757174849510193 + ], + "box_pose": [ + 0.7880787253379822, + -14.8789701461792, + 0.0418548546731472, + 0.4022165834903717, + -0.5713275671005249, + 0.44145315885543823, + -0.5629615187644958 + ], + "box_yaw_rad": -1.615289740103457, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002662504795192931, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037157336603256576 + } + } + }, + { + "simulation_time_ns": 6600000000, + "center": [ + 0.7746055541376456, + -14.874023436476378, + 0.04416885984333879 + ], + "face_center": [ + 0.77236944002104, + -14.889839738072418, + 0.09713078808785469 + ], + "face_normal": [ + -0.0404226398881633, + -0.2859141485810266, + 0.9574023692765081 + ], + "footprint_xy": [ + [ + 0.6486838392938482, + -14.971019445682956 + ], + [ + 0.9005272689814431, + -14.971019445682956 + ], + [ + 0.9005272689814431, + -14.7770274272698 + ], + [ + 0.6486838392938482, + -14.7770274272698 + ] + ], + "projected_box_corners": [ + [ + 0.6566763089350154, + -14.80866003046188 + ], + [ + 0.896055040748232, + -14.823337408435552 + ], + [ + 0.6611485371682265, + -14.7770274272698 + ], + [ + 0.9005272689814431, + -14.791704805243473 + ], + [ + 0.6486838392938482, + -14.956342067709285 + ], + [ + 0.8880625711070648, + -14.971019445682956 + ], + [ + 0.6531560675270593, + -14.924709464517205 + ], + [ + 0.8925347993402759, + -14.939386842490876 + ] + ], + "yaw_rad": -1.6248630256861023, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6357241868972778, + -14.870368003845215, + 0.04518316686153412 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7689654385246965, + -14.890287550821965, + 0.09713205567504403 + ], + "intended_face_normal": [ + -0.03744490964498226, + -0.2867961551049927, + 0.9572594663472849 + ], + "commanded_contact_point": [ + 0.6560191559791565, + -14.877186182174105, + 0.044178032586109875 + ], + "centerline_face_intersection": [ + 0.6508951761539843, + -14.87442245807214, + 0.044178032586109875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6309070587158203, + -14.871891975402832, + 0.047136127948760986 + ], + "box_pose": [ + 0.788078784942627, + -14.878975868225098, + 0.041849978268146515, + 0.40218305587768555, + -0.5713552832603455, + 0.44141897559165955, + -0.5629841089248657 + ], + "box_yaw_rad": -1.615294457274511, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027637241019652244, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004320731335593348 + } + } + }, + { + "simulation_time_ns": 6620000000, + "center": [ + 0.7789304979681761, + -14.87376108367471, + 0.04423274865835788 + ], + "face_center": [ + 0.7767758970400385, + -14.88985839923239, + 0.09711332380607794 + ], + "face_normal": [ + -0.03894911121665956, + -0.2909940888625151, + 0.9559317346111555 + ], + "footprint_xy": [ + [ + 0.6528090414312429, + -14.971310457556221 + ], + [ + 0.9050519545051096, + -14.971310457556221 + ], + [ + 0.9050519545051096, + -14.776211709793197 + ], + [ + 0.6528090414312429, + -14.776211709793197 + ] + ], + "projected_box_corners": [ + [ + 0.6614000112503196, + -14.808406340908556 + ], + [ + 0.9007427526488341, + -14.823899858733457 + ], + [ + 0.6657092131065949, + -14.776211709793197 + ], + [ + 0.9050519545051096, + -14.791705227618095 + ], + [ + 0.6528090414312429, + -14.955816939731323 + ], + [ + 0.8921517828297574, + -14.971310457556221 + ], + [ + 0.6571182432875182, + -14.923622308615963 + ], + [ + 0.8964609846860329, + -14.939115826440862 + ] + ], + "yaw_rad": -1.6290096666444043, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6397426128387451, + -14.869994163513184, + 0.0470537394285202 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.77236944002104, + -14.889839738072418, + 0.09713078808785469 + ], + "intended_face_normal": [ + -0.0404226398881633, + -0.2859141485810266, + 0.9574023692765081 + ], + "commanded_contact_point": [ + 0.6605589437484741, + -14.87693337788359, + 0.04416885984333879 + ], + "centerline_face_intersection": [ + 0.654397824135614, + -14.874023436476378, + 0.04416885984333879 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6357241868972778, + -14.870368003845215, + 0.04518316686153412 + ], + "box_pose": [ + 0.7916033267974854, + -14.878742218017578, + 0.041847094893455505, + 0.39952242374420166, + -0.5731077194213867, + 0.4443250596523285, + -0.5608072280883789 + ], + "box_yaw_rad": -1.6248630256861023, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0029099414072117475, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0045468304497703164 + } + } + }, + { + "simulation_time_ns": 6640000000, + "center": [ + 0.7834912948124844, + -14.873651349383055, + 0.04456724224472542 + ], + "face_center": [ + 0.7821915826211586, + -14.891669893879271, + 0.09685264793521703 + ], + "face_normal": [ + -0.023495132684896447, + -0.32572449235508394, + 0.9451727485364643 + ], + "footprint_xy": [ + [ + 0.6577996528719527, + -14.972320384755296 + ], + [ + 0.909182936753016, + -14.972320384755296 + ], + [ + 0.909182936753016, + -14.774982314010815 + ], + [ + 0.6577996528719527, + -14.774982314010815 + ] + ], + "projected_box_corners": [ + [ + 0.6671979880625236, + -14.811019403003247 + ], + [ + 0.9065835123703644, + -14.826659201581677 + ], + [ + 0.6697974124451752, + -14.774982314010815 + ], + [ + 0.909182936753016, + -14.790622112589245 + ], + [ + 0.6577996528719527, + -14.956680586176864 + ], + [ + 0.8971851771797935, + -14.972320384755296 + ], + [ + 0.6603990772546043, + -14.920643497184432 + ], + [ + 0.8997846015624451, + -14.936283295762864 + ] + ], + "yaw_rad": -1.6352289057168738, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6436843276023865, + -14.87027645111084, + 0.0549774169921875 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7767758970400385, + -14.88985839923239, + 0.09711332380607794 + ], + "intended_face_normal": [ + -0.03894911121665956, + -0.2909940888625151, + 0.9559317346111555 + ], + "commanded_contact_point": [ + 0.6637947905063629, + -14.876821701888383, + 0.04423274865835788 + ], + "centerline_face_intersection": [ + 0.6587046921054441, + -14.87376108367471, + 0.04423274865835788 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6397426128387451, + -14.869994163513184, + 0.0470537394285202 + ], + "box_pose": [ + 0.7959067225456238, + -14.878522872924805, + 0.04184216633439064, + 0.3976133167743683, + -0.5756807923316956, + 0.44317784905433655, + -0.5604361891746521 + ], + "box_yaw_rad": -1.6290096666444043, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003060618213672797, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032384035494560297 + } + } + }, + { + "simulation_time_ns": 6660000000, + "center": [ + 0.7875825088710205, + -14.874552849609096, + 0.046041498206226876 + ], + "face_center": [ + 0.7872452133348414, + -14.893914485047006, + 0.09785977860027403 + ], + "face_normal": [ + -0.0060973524980703075, + -0.35000379056710607, + 0.9367284399474691 + ], + "footprint_xy": [ + [ + 0.6628215489963499, + -14.973196434547688 + ], + [ + 0.9123434687456912, + -14.973196434547688 + ], + [ + 0.9123434687456912, + -14.775909264670503 + ], + [ + 0.6628215489963499, + -14.775909264670503 + ] + ], + "projected_box_corners": [ + [ + 0.6722216391771688, + -14.814632535546323 + ], + [ + 0.9116688776733329, + -14.82882249679185 + ], + [ + 0.6728962302495272, + -14.775909264670503 + ], + [ + 0.9123434687456912, + -14.790099225916029 + ], + [ + 0.6628215489963499, + -14.959006473302164 + ], + [ + 0.902268787492514, + -14.973196434547688 + ], + [ + 0.6634961400687083, + -14.920283202426344 + ], + [ + 0.9029433785648724, + -14.934473163671868 + ] + ], + "yaw_rad": -1.6358138845282317, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6477936506271362, + -14.872962951660156, + 0.059318095445632935 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7821915826211586, + -14.891669893879271, + 0.09685264793521703 + ], + "intended_face_normal": [ + -0.023495132684896447, + -0.32572449235508394, + 0.9451727485364643 + ], + "commanded_contact_point": [ + 0.6659830856323242, + -14.876846963527615, + 0.04456724224472542 + ], + "centerline_face_intersection": [ + 0.6632869756698276, + -14.873651349383055, + 0.04456724224472542 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6436843276023865, + -14.87027645111084, + 0.0549774169921875 + ], + "box_pose": [ + 0.8004239797592163, + -14.878320693969727, + 0.04172768443822861, + 0.39085787534713745, + -0.5882695913314819, + 0.4293808043003082, + -0.5628508925437927 + ], + "box_yaw_rad": -1.6352289057168738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00319561414456139, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002213856288931986 + } + } + }, + { + "simulation_time_ns": 6680000000, + "center": [ + 0.7926881297301516, + -14.876193760840202, + 0.04636900413717191 + ], + "face_center": [ + 0.7929558436290414, + -14.895214226251323, + 0.09831389516859547 + ], + "face_normal": [ + 0.004839512638248777, + -0.3438363982005157, + 0.9390172033708879 + ], + "footprint_xy": [ + [ + 0.6688079691425941, + -14.973000546688276 + ], + [ + 0.916568290317709, + -14.973000546688276 + ], + [ + 0.916568290317709, + -14.779386974992129 + ], + [ + 0.6688079691425941, + -14.779386974992129 + ] + ], + "projected_box_corners": [ + [ + 0.6769670218561048, + -14.81742790581437 + ], + [ + 0.916568290317709, + -14.828149957748412 + ], + [ + 0.6764315940583251, + -14.779386974992129 + ], + [ + 0.9160328625199294, + -14.79010902692617 + ], + [ + 0.6693433969403737, + -14.962278494754234 + ], + [ + 0.908944665401978, + -14.973000546688276 + ], + [ + 0.6688079691425941, + -14.924237563931992 + ], + [ + 0.9084092376041983, + -14.934959615866035 + ] + ], + "yaw_rad": -1.6233787667845563, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6529808044433594, + -14.876249313354492, + 0.06046609580516815 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7872452133348414, + -14.893914485047006, + 0.09785977860027403 + ], + "intended_face_normal": [ + -0.0060973524980703075, + -0.35000379056710607, + 0.9367284399474691 + ], + "commanded_contact_point": [ + 0.6681809175014496, + -14.877812059671614, + 0.046041498206226876 + ], + "centerline_face_intersection": [ + 0.6674091707162234, + -14.874552849609096, + 0.046041498206226876 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6477936506271362, + -14.872962951660156, + 0.059318095445632935 + ], + "box_pose": [ + 0.8044924139976501, + -14.879044532775879, + 0.04280706122517586, + 0.3888222873210907, + -0.5971761345863342, + 0.41691166162490845, + -0.5642539858818054 + ], + "box_yaw_rad": -1.6358138845282317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0032592100625189607, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028169675419014513 + } + } + }, + { + "simulation_time_ns": 6700000000, + "center": [ + 0.7989236462928225, + -14.877426623073326, + 0.04685325983712159 + ], + "face_center": [ + 0.7997117140206214, + -14.896415061629964, + 0.09880456996716841 + ], + "face_normal": [ + 0.014246043049293888, + -0.3432574429513515, + 0.9391332425793202 + ], + "footprint_xy": [ + [ + 0.6753337650512073, + -14.972622765001049 + ], + [ + 0.9225135275344377, + -14.972622765001049 + ], + [ + 0.9225135275344377, + -14.782230481145605 + ], + [ + 0.6753337650512073, + -14.782230481145605 + ] + ], + "projected_box_corners": [ + [ + 0.6828169390553586, + -14.820207358258878 + ], + [ + 0.9225135275344377, + -14.827654386596983 + ], + [ + 0.6812408035997608, + -14.782230481145605 + ], + [ + 0.92093739207884, + -14.789677509483708 + ], + [ + 0.6769099005068051, + -14.965175736662944 + ], + [ + 0.9166064889858843, + -14.972622765001049 + ], + [ + 0.6753337650512073, + -14.927198859549671 + ], + [ + 0.9150303535302865, + -14.934645887887775 + ] + ], + "yaw_rad": -1.6115208811124448, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6592927575111389, + -14.878961563110352, + 0.061864614486694336 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7929558436290414, + -14.895214226251323, + 0.09831389516859547 + ], + "intended_face_normal": [ + 0.004839512638248777, + -0.3438363982005157, + 0.9390172033708879 + ], + "commanded_contact_point": [ + 0.6706046509742737, + -14.87945074880215, + 0.04636900413717191 + ], + "centerline_face_intersection": [ + 0.6725920461543542, + -14.876193760840202, + 0.04636900413717191 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6529808044433594, + -14.876249313354492, + 0.06046609580516815 + ], + "box_pose": [ + 0.8096414804458618, + -14.880459785461426, + 0.0430574007332325, + 0.3963302969932556, + -0.5947090983390808, + 0.41352641582489014, + -0.5641271471977234 + ], + "box_yaw_rad": -1.6233787667845563, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00325698796194736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002943984739876805 + } + } + }, + { + "simulation_time_ns": 6720000000, + "center": [ + 0.8052037412866159, + -14.878108441060109, + 0.04689017986201506 + ], + "face_center": [ + 0.8061372553551789, + -14.897095040797018, + 0.09883975524110414 + ], + "face_normal": [ + 0.016875302894352018, + -0.343224202274083, + 0.9391018831720608 + ], + "footprint_xy": [ + [ + 0.6819419641437994, + -14.97248803068142 + ], + [ + 0.9284655184294325, + -14.97248803068142 + ], + [ + 0.9284655184294325, + -14.783728851438797 + ], + [ + 0.6819419641437994, + -14.783728851438797 + ] + ], + "projected_box_corners": [ + [ + 0.6887247320159072, + -14.821702050912615 + ], + [ + 0.9284655184294325, + -14.827486325739047 + ], + [ + 0.6868577038787813, + -14.783728851438797 + ], + [ + 0.9265984902923066, + -14.789513126265229 + ], + [ + 0.6838089922809253, + -14.966703755854988 + ], + [ + 0.9235497786944504, + -14.97248803068142 + ], + [ + 0.6819419641437994, + -14.92873055638117 + ], + [ + 0.9216827505573245, + -14.934514831207604 + ] + ], + "yaw_rad": -1.6046846029546271, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.665399432182312, + -14.878959655761719, + 0.06457510590553284 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7997117140206214, + -14.896415061629964, + 0.09880456996716841 + ], + "intended_face_normal": [ + 0.014246043049293888, + -0.3432574429513515, + 0.9391332425793202 + ], + "commanded_contact_point": [ + 0.6730994033813477, + -14.880622213433792, + 0.04685325983712159 + ], + "centerline_face_intersection": [ + 0.6788753212640188, + -14.877426623073326, + 0.04685325983712159 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6592927575111389, + -14.878961563110352, + 0.061864614486694336 + ], + "box_pose": [ + 0.8159169554710388, + -14.881462097167969, + 0.04345855489373207, + 0.40155789256095886, + -0.5932981371879578, + 0.4088062345981598, + -0.5653547048568726 + ], + "box_yaw_rad": -1.6115208811124448, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003195590360466341, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002798324952310761 + } + } + }, + { + "simulation_time_ns": 6740000000, + "center": [ + 0.8105117346529037, + -14.878617116949732, + 0.044899964733970815 + ], + "face_center": [ + 0.8105898167158594, + -14.897588642740875, + 0.09686337441382506 + ], + "face_normal": [ + 0.001411503594177077, + -0.34295170782629825, + 0.9393519683326446 + ], + "footprint_xy": [ + [ + 0.6889658482286307, + -14.972301760357285 + ], + [ + 0.9320576210771767, + -14.972301760357285 + ], + [ + 0.9320576210771767, + -14.78493247354218 + ], + [ + 0.6889658482286307, + -14.78493247354218 + ] + ], + "projected_box_corners": [ + [ + 0.692209268686313, + -14.822875525124466 + ], + [ + 0.9320576210771767, + -14.827264397638713 + ], + [ + 0.6920531045604018, + -14.78493247354218 + ], + [ + 0.9319014569512656, + -14.789321346056427 + ], + [ + 0.6891220123545418, + -14.967912887843037 + ], + [ + 0.9289703647454056, + -14.972301760357285 + ], + [ + 0.6889658482286307, + -14.929969836260751 + ], + [ + 0.9288142006194945, + -14.934358708774997 + ] + ], + "yaw_rad": -1.5920790509916738, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6695456504821777, + -14.87698745727539, + 0.06539219617843628 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8061372553551789, + -14.897095040797018, + 0.09883975524110414 + ], + "intended_face_normal": [ + 0.016875302894352018, + -0.343224202274083, + 0.9391018831720608 + ], + "commanded_contact_point": [ + 0.675286238193512, + -14.88126998283251, + 0.04689017986201506 + ], + "centerline_face_intersection": [ + 0.6851775480280435, + -14.878108441060109, + 0.04689017986201506 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.665399432182312, + -14.878959655761719, + 0.06457510590553284 + ], + "box_pose": [ + 0.8222237229347229, + -14.882025718688965, + 0.04349064454436302, + 0.40364423394203186, + -0.5919936299324036, + 0.406766802072525, + -0.5667059421539307 + ], + "box_yaw_rad": -1.6046846029546271, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003161541772401933, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022810556279598266 + } + } + }, + { + "simulation_time_ns": 6760000000, + "center": [ + 0.812090467240133, + -14.878770878757166, + 0.04471860034995327 + ], + "face_center": [ + 0.8121645877825621, + -14.897585151945234, + 0.09673916377252463 + ], + "face_normal": [ + 0.001339890470113403, + -0.3401090240391156, + 0.9403851468913587 + ], + "footprint_xy": [ + [ + 0.6910940243185604, + -14.97157451272477 + ], + [ + 0.9330869101617056, + -14.97157451272477 + ], + [ + 0.9330869101617056, + -14.785967244789564 + ], + [ + 0.6910940243185604, + -14.785967244789564 + ] + ], + "projected_box_corners": [ + [ + 0.6932100344098366, + -14.8235957911657 + ], + [ + 0.9330869101617056, + -14.82636100665204 + ], + [ + 0.6930617933249785, + -14.785967244789564 + ], + [ + 0.9329386690768475, + -14.788732460275902 + ], + [ + 0.6912422654034186, + -14.968809297238431 + ], + [ + 0.9311191411552876, + -14.97157451272477 + ], + [ + 0.6910940243185604, + -14.931180750862294 + ], + [ + 0.9309709000704295, + -14.933945966348633 + ] + ], + "yaw_rad": -1.5843463651375687, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6720250844955444, + -14.875948905944824, + 0.06216803193092346 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8105898167158594, + -14.897588642740875, + 0.09686337441382506 + ], + "intended_face_normal": [ + 0.001411503594177077, + -0.34295170782629825, + 0.9393519683326446 + ], + "commanded_contact_point": [ + 0.6772441911697388, + -14.881843845109108, + 0.044899964733970815 + ], + "centerline_face_intersection": [ + 0.6905393701350977, + -14.878617116949732, + 0.044899964733970815 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6695456504821777, + -14.87698745727539, + 0.06539219617843628 + ], + "box_pose": [ + 0.8276144862174988, + -14.88243579864502, + 0.0418185293674469, + 0.40163376927375793, + -0.5854751467704773, + 0.4089186489582062, + -0.5733190178871155 + ], + "box_yaw_rad": -1.5920790509916738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0032267281593755834, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028502375384366887 + } + } + }, + { + "simulation_time_ns": 6780000000, + "center": [ + 0.8125826069596904, + -14.878540508350993, + 0.044568845788826444 + ], + "face_center": [ + 0.8123433319194693, + -14.89681617797286, + 0.09678056773904022 + ], + "face_normal": [ + -0.004325418239282897, + -0.3303725898216996, + 0.9438407542179519 + ], + "footprint_xy": [ + [ + 0.6914964447440288, + -14.971192225380632 + ], + [ + 0.933668769175352, + -14.971192225380632 + ], + [ + 0.933668769175352, + -14.785888791321351 + ], + [ + 0.6914964447440288, + -14.785888791321351 + ] + ], + "projected_box_corners": [ + [ + 0.6933124926730656, + -14.82244013056509 + ], + [ + 0.9331902190949097, + -14.825445615600797 + ], + [ + 0.6937910427535078, + -14.785888791321351 + ], + [ + 0.933668769175352, + -14.788894276357059 + ], + [ + 0.6914964447440288, + -14.968186740344924 + ], + [ + 0.9313741711658731, + -14.971192225380632 + ], + [ + 0.6919749948244711, + -14.931635401101188 + ], + [ + 0.9318527212463154, + -14.934640886136895 + ] + ], + "yaw_rad": -1.58325599192474, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6727248430252075, + -14.874015808105469, + 0.05884110927581787 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8121645877825621, + -14.897585151945234, + 0.09673916377252463 + ], + "intended_face_normal": [ + 0.001339890470113403, + -0.3401090240391156, + 0.9403851468913587 + ], + "commanded_contact_point": [ + 0.6791608679294586, + -14.882110485829035, + 0.04471860034995327 + ], + "centerline_face_intersection": [ + 0.6921323684369903, + -14.878770878757166, + 0.04471860034995327 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6720250844955444, + -14.875948905944824, + 0.06216803193092346 + ], + "box_pose": [ + 0.829226553440094, + -14.882482528686523, + 0.04169205576181412, + 0.4039624333381653, + -0.5827617049217224, + 0.40836238861083984, + -0.574842095375061 + ], + "box_yaw_rad": -1.5843463651375687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033396070718692537, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019436152177227126 + } + } + }, + { + "simulation_time_ns": 6800000000, + "center": [ + 0.8127411366679766, + -14.877497697436365, + 0.04432560041970999 + ], + "face_center": [ + 0.8118587433651665, + -14.894605825462333, + 0.09692459615478147 + ], + "face_normal": [ + -0.015951183552907366, + -0.30926672892890217, + 0.9508415725693844 + ], + "footprint_xy": [ + [ + 0.6911357033647962, + -14.969795273025104 + ], + [ + 0.9343465699711571, + -14.969795273025104 + ], + [ + 0.9343465699711571, + -14.785200121847623 + ], + [ + 0.6911357033647962, + -14.785200121847623 + ] + ], + "projected_box_corners": [ + [ + 0.6927285232797049, + -14.819416377899563 + ], + [ + 0.9325817833655367, + -14.822953200816528 + ], + [ + 0.6944933098853252, + -14.785200121847623 + ], + [ + 0.9343465699711571, + -14.78873694476459 + ], + [ + 0.6911357033647962, + -14.966258450108139 + ], + [ + 0.9309889634506281, + -14.969795273025104 + ], + [ + 0.6929004899704165, + -14.9320421940562 + ], + [ + 0.9327537500562484, + -14.935579016973167 + ] + ], + "yaw_rad": -1.5816430645483348, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6728402972221375, + -14.87169075012207, + 0.056998759508132935 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8123433319194693, + -14.89681617797286, + 0.09678056773904022 + ], + "intended_face_normal": [ + -0.004325418239282897, + -0.3303725898216996, + 0.9438407542179519 + ], + "commanded_contact_point": [ + 0.6808882403373718, + -14.882061103432683, + 0.044568845788826444 + ], + "centerline_face_intersection": [ + 0.6926249335597499, + -14.878540508350993, + 0.044568845788826444 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6727248430252075, + -14.874015808105469, + 0.05884110927581787 + ], + "box_pose": [ + 0.829731822013855, + -14.882299423217773, + 0.0416780449450016, + 0.40548449754714966, + -0.5792096257209778, + 0.41279053688049316, + -0.5741973519325256 + ], + "box_yaw_rad": -1.58325599192474, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003520595081690204, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017345548377804593 + } + } + }, + { + "simulation_time_ns": 6820000000, + "center": [ + 0.8136328765468007, + -14.877193607343445, + 0.04426251898694881 + ], + "face_center": [ + 0.8126578541650887, + -14.893965010231682, + 0.09696821270413607 + ], + "face_normal": [ + -0.017625656189082406, + -0.3031796876268764, + 0.9527703713171007 + ], + "footprint_xy": [ + [ + 0.6923511060711516, + -14.968743524586815 + ], + [ + 0.93491464702245, + -14.968743524586815 + ], + [ + 0.93491464702245, + -14.785643690100075 + ], + [ + 0.6923511060711516, + -14.785643690100075 + ] + ], + "projected_box_corners": [ + [ + 0.693108222047041, + -14.81918649587655 + ], + [ + 0.932964602259026, + -14.821589553825039 + ], + [ + 0.695058266810465, + -14.785643690100075 + ], + [ + 0.93491464702245, + -14.788046748048563 + ], + [ + 0.6923511060711516, + -14.966340466638327 + ], + [ + 0.9322074862831365, + -14.968743524586815 + ], + [ + 0.6943011508345756, + -14.932797660861851 + ], + [ + 0.9341575310465605, + -14.93520071881034 + ] + ], + "yaw_rad": -1.575941341172529, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6736752390861511, + -14.871896743774414, + 0.05699166655540466 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8118587433651665, + -14.894605825462333, + 0.09692459615478147 + ], + "intended_face_normal": [ + -0.015951183552907366, + -0.30926672892890217, + 0.9508415725693844 + ], + "commanded_contact_point": [ + 0.6823021817207336, + -14.881250570410627, + 0.04432560041970999 + ], + "centerline_face_intersection": [ + 0.6927712269334387, + -14.877497697436365, + 0.04432560041970999 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6728402972221375, + -14.87169075012207, + 0.056998759508132935 + ], + "box_pose": [ + 0.8299129605293274, + -14.88135814666748, + 0.0417165569961071, + 0.4087913930416107, + -0.5717524290084839, + 0.42220401763916016, + -0.5724793076515198 + ], + "box_yaw_rad": -1.5816430645483348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003752872974261977, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016478356486686898 + } + } + }, + { + "simulation_time_ns": 6840000000, + "center": [ + 0.8143498329442805, + -14.877973732681145, + 0.044383821015464966 + ], + "face_center": [ + 0.8138032251772372, + -14.89546518584163, + 0.09686116698012737 + ], + "face_normal": [ + -0.009881127605780193, + -0.31619616681292584, + 0.9486424876366399 + ], + "footprint_xy": [ + [ + 0.6935792809076755, + -14.969507950517055 + ], + [ + 0.9351203849808856, + -14.969507950517055 + ], + [ + 0.9351203849808856, + -14.786439514845235 + ], + [ + 0.6935792809076755, + -14.786439514845235 + ] + ], + "projected_box_corners": [ + [ + 0.6941439096596477, + -14.821422421166204 + ], + [ + 0.9340271694467989, + -14.823004086641362 + ], + [ + 0.6952371251937344, + -14.786439514845235 + ], + [ + 0.9351203849808856, + -14.788021180320392 + ], + [ + 0.6935792809076755, + -14.967926285041898 + ], + [ + 0.9334625406948267, + -14.969507950517055 + ], + [ + 0.6946724964417622, + -14.932943378720928 + ], + [ + 0.9345557562289134, + -14.934525044196086 + ] + ], + "yaw_rad": -1.5746503272389494, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6744031310081482, + -14.874957084655762, + 0.059007078409194946 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8126578541650887, + -14.893965010231682, + 0.09696821270413607 + ], + "intended_face_normal": [ + -0.017625656189082406, + -0.3031796876268764, + 0.9527703713171007 + ], + "commanded_contact_point": [ + 0.6835035133361816, + -14.881158354860467, + 0.04426251898694881 + ], + "centerline_face_intersection": [ + 0.6936645274180413, + -14.877193607343445, + 0.04426251898694881 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6736752390861511, + -14.871896743774414, + 0.05699166655540466 + ], + "box_pose": [ + 0.8308308124542236, + -14.880990982055664, + 0.041734155267477036, + 0.41128119826316833, + -0.5685009956359863, + 0.42338863015174866, + -0.5730588436126709 + ], + "box_yaw_rad": -1.575941341172529, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0039647475170232135, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012065159033868204 + } + } + }, + { + "simulation_time_ns": 6860000000, + "center": [ + 0.8147395476056405, + -14.878743636643541, + 0.044523355098956476 + ], + "face_center": [ + 0.8146827298398984, + -14.897207955670172, + 0.09666917599626124 + ], + "face_normal": [ + -0.001027105042084031, + -0.3337828392795483, + 0.9426494489485968 + ], + "footprint_xy": [ + [ + 0.694208343786964, + -14.970808822901864 + ], + [ + 0.9352707514243169, + -14.970808822901864 + ], + [ + 0.9352707514243169, + -14.786678450385217 + ], + [ + 0.694208343786964, + -14.786678450385217 + ] + ], + "projected_box_corners": [ + [ + 0.6952663323254786, + -14.82360708843848 + ], + [ + 0.9351571158928328, + -14.825238578878608 + ], + [ + 0.6953799678569627, + -14.786678450385217 + ], + [ + 0.9352707514243169, + -14.788309940825345 + ], + [ + 0.694208343786964, + -14.969177332461737 + ], + [ + 0.9340991273543183, + -14.970808822901864 + ], + [ + 0.6943219793184482, + -14.932248694408473 + ], + [ + 0.9342127628858025, + -14.9338801848486 + ] + ], + "yaw_rad": -1.5780640889516944, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6738513708114624, + -14.88304615020752, + 0.05496819317340851 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8138032251772372, + -14.89546518584163, + 0.09686116698012737 + ], + "intended_face_normal": [ + -0.009881127605780193, + -0.31619616681292584, + 0.9486424876366399 + ], + "commanded_contact_point": [ + 0.6845918047428131, + -14.882059146119184, + 0.044383821015464966 + ], + "centerline_face_intersection": [ + 0.6943949265970676, + -14.877973732681145, + 0.044383821015464966 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6744031310081482, + -14.874957084655762, + 0.059007078409194946 + ], + "box_pose": [ + 0.83154296875, + -14.881673812866211, + 0.04168432578444481, + 0.4098566472530365, + -0.5726330876350403, + 0.4170365035533905, + -0.5746212601661682 + ], + "box_yaw_rad": -1.5746503272389494, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004085413438038544, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014179270995544173 + } + } + }, + { + "simulation_time_ns": 6880000000, + "center": [ + 0.8148959822692107, + -14.879112695803563, + 0.04462096028614567 + ], + "face_center": [ + 0.8150392542116299, + -14.898012439992598, + 0.09661038213254888 + ], + "face_normal": [ + 0.0025899528523538606, + -0.3416540988039909, + 0.9398221949786425 + ], + "footprint_xy": [ + [ + 0.6941790663137475, + -14.971392792105636 + ], + [ + 0.9356128982246739, + -14.971392792105636 + ], + [ + 0.9356128982246739, + -14.78683259950149 + ], + [ + 0.6941790663137475, + -14.78683259950149 + ] + ], + "projected_box_corners": [ + [ + 0.6957251481012576, + -14.824632087879559 + ], + [ + 0.9356128982246739, + -14.826258686620903 + ], + [ + 0.6954386042164191, + -14.78683259950149 + ], + [ + 0.9353263543398354, + -14.788459198242833 + ], + [ + 0.694465610198586, + -14.969766193364293 + ], + [ + 0.9343533603220022, + -14.971392792105636 + ], + [ + 0.6941790663137475, + -14.931966704986225 + ], + [ + 0.9340668164371637, + -14.933593303727568 + ] + ], + "yaw_rad": -1.5794745508349743, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6723647117614746, + -14.895808219909668, + 0.04933692514896393 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8146827298398984, + -14.897207955670172, + 0.09666917599626124 + ], + "intended_face_normal": [ + -0.001027105042084031, + -0.3337828392795483, + 0.9426494489485968 + ], + "commanded_contact_point": [ + 0.6856990504264832, + -14.88265694953902, + 0.044523355098956476 + ], + "centerline_face_intersection": [ + 0.6947884034469377, + -14.878743636643541, + 0.044523355098956476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6738513708114624, + -14.88304615020752, + 0.05496819317340851 + ], + "box_pose": [ + 0.8319056630134583, + -14.882393836975098, + 0.04159381240606308, + 0.40641260147094727, + -0.5792133212089539, + 0.4098016321659088, + -0.575676441192627 + ], + "box_yaw_rad": -1.5780640889516944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003913312895479423, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001266029894287591 + } + } + }, + { + "simulation_time_ns": 6900000000, + "center": [ + 0.8148665937994459, + -14.879060566163247, + 0.04458014351991599 + ], + "face_center": [ + 0.814974209674368, + -14.897895375281342, + 0.0965932226206161 + ], + "face_normal": [ + 0.0019453916622218514, + -0.34048025576565166, + 0.9402498514493409 + ], + "footprint_xy": [ + [ + 0.6942042412188394, + -14.971307429259848 + ], + [ + 0.9355289463800526, + -14.971307429259848 + ], + [ + 0.9355289463800526, + -14.786813703066644 + ], + [ + 0.6942042412188394, + -14.786813703066644 + ] + ], + "projected_box_corners": [ + [ + 0.6956402923524818, + -14.824483321302834 + ], + [ + 0.9355289463800526, + -14.826107507934754 + ], + [ + 0.6954250606026379, + -14.786813703066644 + ], + [ + 0.9353137146302086, + -14.788437889698566 + ], + [ + 0.6944194729686833, + -14.969683242627928 + ], + [ + 0.9343081269962541, + -14.971307429259848 + ], + [ + 0.6942042412188394, + -14.932013624391738 + ], + [ + 0.93409289524641, + -14.933637811023658 + ] + ], + "yaw_rad": -1.5792039802323288, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6729162931442261, + -14.903523445129395, + 0.04914279282093048 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8150392542116299, + -14.898012439992598, + 0.09661038213254888 + ], + "intended_face_normal": [ + 0.0025899528523538606, + -0.3416540988039909, + 0.9398221949786425 + ], + "commanded_contact_point": [ + 0.6875673580169678, + -14.882358187734798, + 0.04462096028614567 + ], + "centerline_face_intersection": [ + 0.6949433212966192, + -14.879112695803563, + 0.04462096028614567 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6723647117614746, + -14.895808219909668, + 0.04933692514896393 + ], + "box_pose": [ + 0.832050621509552, + -14.88273811340332, + 0.041595008224248886, + 0.4047871232032776, + -0.5820289254188538, + 0.40659603476524353, + -0.5762546062469482 + ], + "box_yaw_rad": -1.5794745508349743, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003245491931235237, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018945602763941912 + } + } + }, + { + "simulation_time_ns": 6920000000, + "center": [ + 0.8167178561451682, + -14.878461355292469, + 0.04469479670459693 + ], + "face_center": [ + 0.8168705064289514, + -14.897299347656636, + 0.09670659952405326 + ], + "face_normal": [ + 0.0027594868277844853, + -0.34053779988144406, + 0.9402267798821384 + ], + "footprint_xy": [ + [ + 0.6958689604286079, + -14.970885570211873 + ], + [ + 0.9375667518617286, + -14.970885570211873 + ], + [ + 0.9375667518617286, + -14.786037140373066 + ], + [ + 0.6958689604286079, + -14.786037140373066 + ] + ], + "projected_box_corners": [ + [ + 0.6976825708359993, + -14.823713125101401 + ], + [ + 0.9375667518617286, + -14.825690713806033 + ], + [ + 0.6973772702684329, + -14.786037140373066 + ], + [ + 0.937261451294162, + -14.788014729077698 + ], + [ + 0.6961742609961744, + -14.968907981507241 + ], + [ + 0.9360584420219036, + -14.970885570211873 + ], + [ + 0.6958689604286079, + -14.931231996778907 + ], + [ + 0.9357531414543371, + -14.933209585483539 + ] + ], + "yaw_rad": -1.5811841299488636, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6765973567962646, + -14.902837753295898, + 0.050798073410987854 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.814974209674368, + -14.897895375281342, + 0.0965932226206161 + ], + "intended_face_normal": [ + 0.0019453916622218514, + -0.34048025576565166, + 0.9402498514493409 + ], + "commanded_contact_point": [ + 0.690404896736145, + -14.881327542935836, + 0.04458014351991599 + ], + "centerline_face_intersection": [ + 0.6949143848103342, + -14.879060566163247, + 0.04458014351991599 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6729162931442261, + -14.903523445129395, + 0.04914279282093048 + ], + "box_pose": [ + 0.8320233821868896, + -14.882689476013184, + 0.04157057777047157, + 0.4050109088420868, + -0.5815725326538086, + 0.4070946276187897, + -0.576206386089325 + ], + "box_yaw_rad": -1.5792039802323288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002266976772589332, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030191920596186776 + } + } + }, + { + "simulation_time_ns": 6940000000, + "center": [ + 0.8223272971569655, + -14.876390014164862, + 0.044997578653454 + ], + "face_center": [ + 0.8223153140140663, + -14.895260514372474, + 0.09699781507633431 + ], + "face_normal": [ + -0.00021662144456158217, + -0.3411254500551788, + 0.9400176920363421 + ], + "footprint_xy": [ + [ + 0.7002909775545899, + -14.97092330250975 + ], + [ + 0.9443636167593411, + -14.97092330250975 + ], + [ + 0.9443636167593411, + -14.781856725819972 + ], + [ + 0.7002909775545899, + -14.781856725819972 + ] + ], + "projected_box_corners": [ + [ + 0.7045336943245751, + -14.819597726235196 + ], + [ + 0.9443396504735426, + -14.825810885865849 + ], + [ + 0.7045576606103736, + -14.781856725819972 + ], + [ + 0.9443636167593411, + -14.788069885450625 + ], + [ + 0.7002909775545899, + -14.964710142879097 + ], + [ + 0.9400969337035574, + -14.97092330250975 + ], + [ + 0.7003149438403884, + -14.926969142463873 + ], + [ + 0.9401208999893559, + -14.933182302094526 + ] + ], + "yaw_rad": -1.6000254483007834, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6819840669631958, + -14.896801948547363, + 0.05374978482723236 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8168705064289514, + -14.897299347656636, + 0.09670659952405326 + ], + "intended_face_normal": [ + 0.0027594868277844853, + -0.34053779988144406, + 0.9402267798821384 + ], + "commanded_contact_point": [ + 0.693437432050705, + -14.879753276144921, + 0.04469479670459693 + ], + "centerline_face_intersection": [ + 0.6967634104664615, + -14.878461355292469, + 0.04469479670459693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6765973567962646, + -14.902837753295898, + 0.050798073410987854 + ], + "box_pose": [ + 0.8338650465011597, + -14.882115364074707, + 0.04166102409362793, + 0.4048505127429962, + -0.5822854042053223, + 0.4072188138961792, + -0.5755107402801514 + ], + "box_yaw_rad": -1.5811841299488636, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012919208524521518, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034187324720993673 + } + } + }, + { + "simulation_time_ns": 6960000000, + "center": [ + 0.8288438577703738, + -14.874106181511427, + 0.04480982213690204 + ], + "face_center": [ + 0.8283357441977989, + -14.892986799965547, + 0.09680390363902361 + ], + "face_normal": [ + -0.009185261080354223, + -0.34130835942987403, + 0.9399064284190146 + ], + "footprint_xy": [ + [ + 0.7048614036881354, + -14.971201049626591 + ], + [ + 0.9528263118526124, + -14.971201049626591 + ], + [ + 0.9528263118526124, + -14.777011313396265 + ], + [ + 0.7048614036881354, + -14.777011313396265 + ] + ], + "projected_box_corners": [ + [ + 0.7121943047289325, + -14.8147725503045 + ], + [ + 0.9518100847074623, + -14.826231324559972 + ], + [ + 0.7132105318740826, + -14.777011313396265 + ], + [ + 0.9528263118526124, + -14.788470087651735 + ], + [ + 0.7048614036881354, + -14.959742275371122 + ], + [ + 0.9444771836666652, + -14.971201049626591 + ], + [ + 0.7058776308332855, + -14.921981038462885 + ], + [ + 0.9454934108118153, + -14.933439812718355 + ] + ], + "yaw_rad": -1.6213355460086094, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6880232095718384, + -14.891188621520996, + 0.05794185400009155 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8223153140140663, + -14.895260514372474, + 0.09699781507633431 + ], + "intended_face_normal": [ + -0.00021662144456158217, + -0.3411254500551788, + 0.9400176920363421 + ], + "commanded_contact_point": [ + 0.6961034882068634, + -14.876865457642014, + 0.044997578653454 + ], + "centerline_face_intersection": [ + 0.7023337222511081, + -14.876390014164862, + 0.044997578653454 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6819840669631958, + -14.896801948547363, + 0.05374978482723236 + ], + "box_pose": [ + 0.8393973708152771, + -14.88034439086914, + 0.041906118392944336, + 0.400177925825119, + -0.5868915915489197, + 0.41145461797714233, + -0.5710699558258057 + ], + "box_yaw_rad": -1.6000254483007834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00047544347715209863, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003941957387146538 + } + } + }, + { + "simulation_time_ns": 6980000000, + "center": [ + 0.8339633395832557, + -14.872330692989262, + 0.044666154622476785 + ], + "face_center": [ + 0.8330047511592538, + -14.891026056491663, + 0.0967207939461201 + ], + "face_normal": [ + -0.017328576559059172, + -0.33795947211453914, + 0.9410011431268224 + ], + "footprint_xy": [ + [ + 0.7084309797613392, + -14.971364690095777 + ], + [ + 0.9594956994051723, + -14.971364690095777 + ], + [ + 0.9594956994051723, + -14.773296695882745 + ], + [ + 0.7084309797613392, + -14.773296695882745 + ] + ], + "projected_box_corners": [ + [ + 0.7181983811513543, + -14.810687422887549 + ], + [ + 0.9575785225571685, + -14.826371770052862 + ], + [ + 0.7201155579993581, + -14.773296695882745 + ], + [ + 0.9594956994051723, + -14.788981043048059 + ], + [ + 0.7084309797613392, + -14.955680342930464 + ], + [ + 0.9478111211671533, + -14.971364690095777 + ], + [ + 0.710348156609343, + -14.91828961592566 + ], + [ + 0.9497282980151572, + -14.933973963090976 + ] + ], + "yaw_rad": -1.638059381184216, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.692922830581665, + -14.886176109313965, + 0.05889560282230377 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8283357441977989, + -14.892986799965547, + 0.09680390363902361 + ], + "intended_face_normal": [ + -0.009185261080354223, + -0.34130835942987403, + 0.9399064284190146 + ], + "commanded_contact_point": [ + 0.698505585193634, + -14.873898327388197, + 0.04480982213690204 + ], + "centerline_face_intersection": [ + 0.7087550474065062, + -14.874106181511427, + 0.04480982213690204 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6880232095718384, + -14.891188621520996, + 0.05794185400009155 + ], + "box_pose": [ + 0.8458282351493835, + -14.878432273864746, + 0.04174429178237915, + 0.39331668615341187, + -0.5908417105674744, + 0.41790884733200073, + -0.5670627355575562 + ], + "box_yaw_rad": -1.6213355460086094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00020785412323064535, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038221962778582958 + } + } + }, + { + "simulation_time_ns": 7000000000, + "center": [ + 0.8389327563338337, + -14.870482685337828, + 0.044514044011268405 + ], + "face_center": [ + 0.837276366810043, + -14.88848976012871, + 0.0967933201802348 + ], + "face_normal": [ + -0.029942853424831384, + -0.32551715241436874, + 0.9450619440656816 + ], + "footprint_xy": [ + [ + 0.7114797446934327, + -14.9716171491331 + ], + [ + 0.9663857679742348, + -14.9716171491331 + ], + [ + 0.9663857679742348, + -14.769348221542558 + ], + [ + 0.7114797446934327, + -14.769348221542558 + ] + ], + "projected_box_corners": [ + [ + 0.7240848350807756, + -14.80536237112432 + ], + [ + 0.9630729889266535, + -14.826215779576525 + ], + [ + 0.7273976141283569, + -14.769348221542558 + ], + [ + 0.9663857679742348, + -14.790201629994764 + ], + [ + 0.7114797446934327, + -14.950763740680895 + ], + [ + 0.9504678985393106, + -14.9716171491331 + ], + [ + 0.714792523741014, + -14.914749591099133 + ], + [ + 0.9537806775868919, + -14.935602999551339 + ] + ], + "yaw_rad": -1.657271814747282, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6976288557052612, + -14.880844116210938, + 0.05807997286319733 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8330047511592538, + -14.891026056491663, + 0.0967207939461201 + ], + "intended_face_normal": [ + -0.017328576559059172, + -0.33795947211453914, + 0.9410011431268224 + ], + "commanded_contact_point": [ + 0.7007103610038757, + -14.871569022213043, + 0.044666154622476785 + ], + "centerline_face_intersection": [ + 0.7137563174257654, + -14.872330692989262, + 0.044666154622476785 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.692922830581665, + -14.886176109313965, + 0.05889560282230377 + ], + "box_pose": [ + 0.850875735282898, + -14.876965522766113, + 0.04165435582399368, + 0.38855448365211487, + -0.5929403305053711, + 0.4243178963661194, + -0.5633839964866638 + ], + "box_yaw_rad": -1.638059381184216, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007616707762187493, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003210504528439037 + } + } + }, + { + "simulation_time_ns": 7020000000, + "center": [ + 0.8445071945752223, + -14.868670517073214, + 0.04423294588141724 + ], + "face_center": [ + 0.8418884125669415, + -14.88517517623088, + 0.09696680137645272 + ], + "face_normal": [ + -0.04734019667432321, + -0.29835771289707047, + 0.9532794568758902 + ], + "footprint_xy": [ + [ + 0.715107575165737, + -14.97128600611623 + ], + [ + 0.9739068139847076, + -14.97128600611623 + ], + [ + 0.9739068139847076, + -14.766055028030197 + ], + [ + 0.715107575165737, + -14.766055028030197 + ] + ], + "projected_box_corners": [ + [ + 0.7301897670945394, + -14.799064346345531 + ], + [ + 0.9686692499681459, + -14.824824860656063 + ], + [ + 0.7354273311111011, + -14.766055028030197 + ], + [ + 0.9739068139847076, + -14.791815542340727 + ], + [ + 0.715107575165737, + -14.9455254918057 + ], + [ + 0.9535870580393434, + -14.97128600611623 + ], + [ + 0.7203451391822987, + -14.912516173490364 + ], + [ + 0.9588246220559051, + -14.938276687800895 + ] + ], + "yaw_rad": -1.6734120495889617, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7028623223304749, + -14.876057624816895, + 0.057100892066955566 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.837276366810043, + -14.88848976012871, + 0.0967933201802348 + ], + "intended_face_normal": [ + -0.029942853424831384, + -0.32551715241436874, + 0.9450619440656816 + ], + "commanded_contact_point": [ + 0.7026986229419708, + -14.869306557326684, + 0.044514044011268405 + ], + "centerline_face_intersection": [ + 0.7185285710260179, + -14.870482685337828, + 0.044514044011268405 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6976288557052612, + -14.880844116210938, + 0.05807997286319733 + ], + "box_pose": [ + 0.8557577133178711, + -14.875518798828125, + 0.04166095703840256, + 0.38445982336997986, + -0.5927726626396179, + 0.43523794412612915, + -0.5580136179924011 + ], + "box_yaw_rad": -1.657271814747282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011761280111431197, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030158034641743574 + } + } + }, + { + "simulation_time_ns": 7040000000, + "center": [ + 0.8488126205840621, + -14.867215862880606, + 0.0441377213237419 + ], + "face_center": [ + 0.8457173835373637, + -14.882903904874865, + 0.0970945487417181 + ], + "face_normal": [ + -0.055953160698759774, + -0.2835955765294056, + 0.9573101607112946 + ], + "footprint_xy": [ + [ + 0.7183758672480844, + -14.970616049273778 + ], + [ + 0.97924937392004, + -14.970616049273778 + ], + [ + 0.97924937392004, + -14.763815676487436 + ], + [ + 0.7183758672480844, + -14.763815676487436 + ] + ], + "projected_box_corners": [ + [ + 0.7349211666148222, + -14.795191760475953 + ], + [ + 0.9730588998266428, + -14.823664382373472 + ], + [ + 0.7411116407082192, + -14.763815676487436 + ], + [ + 0.97924937392004, + -14.792288298384955 + ], + [ + 0.7183758672480844, + -14.942143427376259 + ], + [ + 0.9565136004599052, + -14.970616049273778 + ], + [ + 0.7245663413414816, + -14.910767343387741 + ], + [ + 0.9627040745533022, + -14.93923996528526 + ] + ], + "yaw_rad": -1.6829142387028189, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7069236040115356, + -14.872065544128418, + 0.05616597831249237 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8418884125669415, + -14.88517517623088, + 0.09696680137645272 + ], + "intended_face_normal": [ + -0.04734019667432321, + -0.29835771289707047, + 0.9532794568758902 + ], + "commanded_contact_point": [ + 0.7043044316768646, + -14.867198904752325, + 0.04423294588141724 + ], + "centerline_face_intersection": [ + 0.7238461900506417, + -14.868670517073214, + 0.04423294588141724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7028623223304749, + -14.876057624816895, + 0.057100892066955566 + ], + "box_pose": [ + 0.8612538576126099, + -14.874130249023438, + 0.04171851649880409, + 0.38347768783569336, + -0.5874228477478027, + 0.45140448212623596, + -0.5514647364616394 + ], + "box_yaw_rad": -1.6734120495889617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001471612320890329, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026645519746988154 + } + } + }, + { + "simulation_time_ns": 7060000000, + "center": [ + 0.8507003455943719, + -14.866533631578548, + 0.044138056216850664 + ], + "face_center": [ + 0.8475610482098155, + -14.882197740726792, + 0.09709936995533083 + ], + "face_normal": [ + -0.05674964740637378, + -0.2831629381373144, + 0.9573912607396018 + ], + "footprint_xy": [ + [ + 0.7201013791493043, + -14.970147605272963 + ], + [ + 0.9812993120394398, + -14.970147605272963 + ], + [ + 0.9812993120394398, + -14.762919657884133 + ], + [ + 0.7201013791493043, + -14.762919657884133 + ] + ], + "projected_box_corners": [ + [ + 0.7369441976750233, + -14.794247876180622 + ], + [ + 0.9750207172703267, + -14.823216202825462 + ], + [ + 0.7432227924441362, + -14.762919657884133 + ], + [ + 0.9812993120394398, + -14.791887984528973 + ], + [ + 0.7201013791493043, + -14.941179278628121 + ], + [ + 0.9581778987446077, + -14.970147605272963 + ], + [ + 0.7263799739184172, + -14.909851060331635 + ], + [ + 0.9644564935137206, + -14.938819386976474 + ] + ], + "yaw_rad": -1.68492865037407, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7084982395172119, + -14.868642807006836, + 0.0550980269908905 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8457173835373637, + -14.882903904874865, + 0.0970945487417181 + ], + "intended_face_normal": [ + -0.055953160698759774, + -0.2835955765294056, + 0.9573101607112946 + ], + "commanded_contact_point": [ + 0.7056984949111939, + -14.865550263309803, + 0.0441377213237419 + ], + "centerline_face_intersection": [ + 0.7279784563634902, + -14.867215862880606, + 0.0441377213237419 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7069236040115356, + -14.872065544128418, + 0.05616597831249237 + ], + "box_pose": [ + 0.8655074834823608, + -14.872906684875488, + 0.04179725795984268, + 0.3828861713409424, + -0.5847805738449097, + 0.4600004255771637, + -0.547566831111908 + ], + "box_yaw_rad": -1.6829142387028189, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016655995708028106, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021611336431819166 + } + } + }, + { + "simulation_time_ns": 7080000000, + "center": [ + 0.8507935527301249, + -14.866503630756837, + 0.04414094617706865 + ], + "face_center": [ + 0.8476517741341436, + -14.882175381073422, + 0.09709985786398986 + ], + "face_normal": [ + -0.05679450071469461, + -0.2833010689213804, + 0.9573478384185137 + ], + "footprint_xy": [ + [ + 0.7201977995433709, + -14.970114943399976 + ], + [ + 0.9813893059168789, + -14.970114943399976 + ], + [ + 0.9813893059168789, + -14.762892318113698 + ], + [ + 0.7201977995433709, + -14.762892318113698 + ] + ], + "projected_box_corners": [ + [ + 0.7370275835675791, + -14.794235818746868 + ], + [ + 0.9751057487249162, + -14.823188606012268 + ], + [ + 0.7433111407595417, + -14.762892318113698 + ], + [ + 0.9813893059168789, + -14.791845105379096 + ], + [ + 0.7201977995433709, + -14.941162156134576 + ], + [ + 0.958275964700708, + -14.970114943399976 + ], + [ + 0.7264813567353336, + -14.909818655501406 + ], + [ + 0.9645595218926707, + -14.938771442766804 + ] + ], + "yaw_rad": -1.6848449860987211, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7089571952819824, + -14.86568832397461, + 0.05592338740825653 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8475610482098155, + -14.882197740726792, + 0.09709936995533083 + ], + "intended_face_normal": [ + -0.05674964740637378, + -0.2831629381373144, + 0.9573912607396018 + ], + "commanded_contact_point": [ + 0.7071092474460602, + -14.864783664990615, + 0.044138056216850664 + ], + "centerline_face_intersection": [ + 0.7298351128072594, + -14.866533631578548, + 0.044138056216850664 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7084982395172119, + -14.868642807006836, + 0.0550980269908905 + ], + "box_pose": [ + 0.8673837780952454, + -14.872260093688965, + 0.041803035885095596, + 0.3823159635066986, + -0.585046112537384, + 0.46070927381515503, + -0.5470853447914124 + ], + "box_yaw_rad": -1.68492865037407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017499665879343231, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016055827010053863 + } + } + }, + { + "simulation_time_ns": 7100000000, + "center": [ + 0.8507887659585001, + -14.866505567643935, + 0.04414221532962922 + ], + "face_center": [ + 0.847641495685895, + -14.882180602253165, + 0.09709982850141513 + ], + "face_normal": [ + -0.056893774747667436, + -0.2833604396743734, + 0.9573243649252277 + ], + "footprint_xy": [ + [ + 0.7201896557196334, + -14.97011971977025 + ], + [ + 0.9813878761973667, + -14.97011971977025 + ], + [ + 0.9813878761973667, + -14.762891415517622 + ], + [ + 0.7201896557196334, + -14.762891415517622 + ] + ], + "projected_box_corners": [ + [ + 0.7370159404858652, + -14.794241484736082 + ], + [ + 0.9750933356521565, + -14.823196277847037 + ], + [ + 0.7433104810310752, + -14.762891415517622 + ], + [ + 0.9813878761973667, + -14.791846208628575 + ], + [ + 0.7201896557196334, + -14.941164926659294 + ], + [ + 0.9582670508859249, + -14.97011971977025 + ], + [ + 0.7264841962648436, + -14.909814857440832 + ], + [ + 0.964561591431135, + -14.938769650551787 + ] + ], + "yaw_rad": -1.684823705766691, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7055673599243164, + -14.861696243286133, + 0.057684868574142456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8476517741341436, + -14.882175381073422, + 0.09709985786398986 + ], + "intended_face_normal": [ + -0.05679450071469461, + -0.2833010689213804, + 0.9573478384185137 + ], + "commanded_contact_point": [ + 0.7084359574317932, + -14.864786276440192, + 0.04414094617706865 + ], + "centerline_face_intersection": [ + 0.7299291553461169, + -14.866503630756837, + 0.04414094617706865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7089571952819824, + -14.86568832397461, + 0.05592338740825653 + ], + "box_pose": [ + 0.867477536201477, + -14.872228622436523, + 0.041806239634752274, + 0.38228219747543335, + -0.5850470066070557, + 0.4606623351573944, + -0.5471476316452026 + ], + "box_yaw_rad": -1.6848449860987211, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017173543166452267, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013267157034507053 + } + } + }, + { + "simulation_time_ns": 7120000000, + "center": [ + 0.8507860052417368, + -14.866511552496405, + 0.0441446311492159 + ], + "face_center": [ + 0.847635397167417, + -14.88219316309246, + 0.09710010325252905 + ], + "face_normal": [ + -0.0569541127938038, + -0.28347931497919454, + 0.9572856604426576 + ], + "footprint_xy": [ + [ + 0.7201850083953341, + -14.970130046461591 + ], + [ + 0.9813870020881394, + -14.970130046461591 + ], + [ + 0.9813870020881394, + -14.76289305853122 + ], + [ + 0.7201850083953341, + -14.76289305853122 + ] + ], + "projected_box_corners": [ + [ + 0.7370087614947008, + -14.794256279723326 + ], + [ + 0.9750857859394999, + -14.823212149372365 + ], + [ + 0.7433099776433405, + -14.76289305853122 + ], + [ + 0.9813870020881394, + -14.79184892818026 + ], + [ + 0.7201850083953341, + -14.941174176812552 + ], + [ + 0.958262032840133, + -14.970130046461591 + ], + [ + 0.7264862245439737, + -14.909810955620447 + ], + [ + 0.9645632489887727, + -14.938766825269486 + ] + ], + "yaw_rad": -1.6848109632884654, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6998347043991089, + -14.858688354492188, + 0.057752832770347595 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.847641495685895, + -14.882180602253165, + 0.09709982850141513 + ], + "intended_face_normal": [ + -0.056893774747667436, + -0.2833604396743734, + 0.9573243649252277 + ], + "commanded_contact_point": [ + 0.709551488161087, + -14.864980586301602, + 0.04414221532962922 + ], + "centerline_face_intersection": [ + 0.7299239776742822, + -14.866505567643935, + 0.04414221532962922 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7055673599243164, + -14.861696243286133, + 0.057684868574142456 + ], + "box_pose": [ + 0.8674729466438293, + -14.872230529785156, + 0.0418088473379612, + 0.3822396695613861, + -0.5850349068641663, + 0.46066540479660034, + -0.5471876859664917 + ], + "box_yaw_rad": -1.684823705766691, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015249813423331194, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00113232801828276 + } + } + }, + { + "simulation_time_ns": 7140000000, + "center": [ + 0.8507835728030166, + -14.86651556563905, + 0.044146846075489264 + ], + "face_center": [ + 0.8476301141565202, + -14.882202691192175, + 0.09710051372168052 + ], + "face_normal": [ + -0.05700564310333078, + -0.28357900985707474, + 0.957253040944444 + ], + "footprint_xy": [ + [ + 0.7201809013865186, + -14.970137841181394 + ], + [ + 0.9813862442195145, + -14.970137841181394 + ], + [ + 0.9813862442195145, + -14.762893290096706 + ], + [ + 0.7201809013865186, + -14.762893290096706 + ] + ], + "projected_box_corners": [ + [ + 0.7370026850518624, + -14.794267541202958 + ], + [ + 0.9750793269265219, + -14.823224636423095 + ], + [ + 0.7433096023448551, + -14.762893290096706 + ], + [ + 0.9813862442195145, + -14.791850385316842 + ], + [ + 0.7201809013865186, + -14.941180745961256 + ], + [ + 0.9582575432611782, + -14.970137841181394 + ], + [ + 0.7264878186795113, + -14.909806494855005 + ], + [ + 0.9645644605541708, + -14.93876359007514 + ] + ], + "yaw_rad": -1.6848013414513758, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6992191076278687, + -14.858489990234375, + 0.05676990747451782 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.847635397167417, + -14.88219316309246, + 0.09710010325252905 + ], + "intended_face_normal": [ + -0.0569541127938038, + -0.28347931497919454, + 0.9572856604426576 + ], + "commanded_contact_point": [ + 0.7113621282577515, + -14.86529949907424, + 0.0441446311492159 + ], + "centerline_face_intersection": [ + 0.729921028752988, + -14.866511552496405, + 0.0441446311492159 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6998347043991089, + -14.858688354492188, + 0.057752832770347595 + ], + "box_pose": [ + 0.8674703240394592, + -14.872236251831055, + 0.04181159287691116, + 0.3821907937526703, + -0.5850467681884766, + 0.46064144372940063, + -0.5472294092178345 + ], + "box_yaw_rad": -1.6848109632884654, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012120534221644152, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018385126467840456 + } + } + }, + { + "simulation_time_ns": 7160000000, + "center": [ + 0.8507803108659691, + -14.866516676424423, + 0.044148242015462566 + ], + "face_center": [ + 0.8476228865147585, + -14.882204534331946, + 0.09710145360811745 + ], + "face_normal": [ + -0.05707733186571318, + -0.2835922487601419, + 0.9572447967820672 + ], + "footprint_xy": [ + [ + 0.720176064472163, + -14.970138586660024 + ], + [ + 0.981384557259775, + -14.970138586660024 + ], + [ + 0.981384557259775, + -14.762894766188822 + ], + [ + 0.720176064472163, + -14.762894766188822 + ] + ], + "projected_box_corners": [ + [ + 0.7369932973543576, + -14.794270482003867 + ], + [ + 0.975069708557354, + -14.82322585881507 + ], + [ + 0.7433081460567788, + -14.762894766188822 + ], + [ + 0.981384557259775, + -14.791850143000024 + ], + [ + 0.720176064472163, + -14.941183209848822 + ], + [ + 0.9582524756751593, + -14.970138586660024 + ], + [ + 0.726490913174584, + -14.909807494033775 + ], + [ + 0.9645673243775804, + -14.938762870844979 + ] + ], + "yaw_rad": -1.684771132996611, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7035238742828369, + -14.859941482543945, + 0.05846785008907318 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8476301141565202, + -14.882202691192175, + 0.09710051372168052 + ], + "intended_face_normal": [ + -0.05700564310333078, + -0.28357900985707474, + 0.957253040944444 + ], + "commanded_contact_point": [ + 0.7136172997951508, + -14.865624535233072, + 0.044146846075489264 + ], + "centerline_face_intersection": [ + 0.7299184020939087, + -14.86651556563905, + 0.044146846075489264 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6992191076278687, + -14.858489990234375, + 0.05676990747451782 + ], + "box_pose": [ + 0.867467999458313, + -14.87224006652832, + 0.04181409627199173, + 0.38214924931526184, + -0.5850567817687988, + 0.46062180399894714, + -0.5472642183303833 + ], + "box_yaw_rad": -1.6848013414513758, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008910304059774165, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002278475822461777 + } + } + }, + { + "simulation_time_ns": 7180000000, + "center": [ + 0.8507786173796906, + -14.866519703513024, + 0.04415030534296339 + ], + "face_center": [ + 0.8476191654174999, + -14.882211610124207, + 0.0971021952553268 + ], + "face_normal": [ + -0.05711398535664003, + -0.2836654379095176, + 0.9572209045280573 + ], + "footprint_xy": [ + [ + 0.7201732595678255, + -14.970144254560104 + ], + [ + 0.9813839751915558, + -14.970144254560104 + ], + [ + 0.9813839751915558, + -14.762895152465942 + ], + [ + 0.7201732595678255, + -14.762895152465942 + ] + ], + "projected_box_corners": [ + [ + 0.7369889020203745, + -14.79427896568831 + ], + [ + 0.9750650712671743, + -14.823234949219916 + ], + [ + 0.743307805944756, + -14.762895152465942 + ], + [ + 0.9813839751915558, + -14.791851135997549 + ], + [ + 0.7201732595678255, + -14.941188271028498 + ], + [ + 0.9582494288146254, + -14.970144254560104 + ], + [ + 0.726492163492207, + -14.90980445780613 + ], + [ + 0.9645683327390068, + -14.938760441337736 + ] + ], + "yaw_rad": -1.6847630793881605, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7092871069908142, + -14.860220909118652, + 0.06159232556819916 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8476228865147585, + -14.882204534331946, + 0.09710145360811745 + ], + "intended_face_normal": [ + -0.05707733186571318, + -0.2835922487601419, + 0.9572447967820672 + ], + "commanded_contact_point": [ + 0.7158323276042938, + -14.865888653773665, + 0.044148242015462566 + ], + "centerline_face_intersection": [ + 0.7299150230508874, + -14.866516676424423, + 0.044148242015462566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7035238742828369, + -14.859941482543945, + 0.05846785008907318 + ], + "box_pose": [ + 0.8674649596214294, + -14.872241020202637, + 0.04181670397520065, + 0.3821300268173218, + -0.5850372910499573, + 0.4606305658817291, + -0.5472910404205322 + ], + "box_yaw_rad": -1.684771132996611, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006280226507583097, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022307193340736563 + } + } + }, + { + "simulation_time_ns": 7200000000, + "center": [ + 0.852139973926849, + -14.866093434631406, + 0.04415384274285989 + ], + "face_center": [ + 0.8488421602936718, + -14.881752000320144, + 0.09710717143121231 + ], + "face_normal": [ + -0.05961517434296226, + -0.2830627280158122, + 0.9572469135421997 + ], + "footprint_xy": [ + [ + 0.7208822741611451, + -14.970656742246648 + ], + [ + 0.9833976736925529, + -14.970656742246648 + ], + [ + 0.9833976736925529, + -14.761530127016163 + ], + [ + 0.7208822741611451, + -14.761530127016163 + ] + ], + "projected_box_corners": [ + [ + 0.7389899566365759, + -14.79284725839364 + ], + [ + 0.9768020464261984, + -14.823896968490642 + ], + [ + 0.7455855839029303, + -14.761530127016163 + ], + [ + 0.9833976736925529, + -14.792579837113163 + ], + [ + 0.7208822741611451, + -14.939607032149647 + ], + [ + 0.9586943639507678, + -14.970656742246648 + ], + [ + 0.7274779014274997, + -14.90828990077217 + ], + [ + 0.9652899912171223, + -14.93933961086917 + ] + ], + "yaw_rad": -1.6935590257173094, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7116010189056396, + -14.856820106506348, + 0.0608808696269989 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8476191654174999, + -14.882211610124207, + 0.0971021952553268 + ], + "intended_face_normal": [ + -0.05711398535664003, + -0.2836654379095176, + 0.9572209045280573 + ], + "commanded_contact_point": [ + 0.7178187119960785, + -14.86614363263804, + 0.04415030534296339 + ], + "centerline_face_intersection": [ + 0.7299132067295289, + -14.866519703513024, + 0.04415030534296339 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7092871069908142, + -14.860220909118652, + 0.06159232556819916 + ], + "box_pose": [ + 0.8674633502960205, + -14.872243881225586, + 0.04181896522641182, + 0.38210010528564453, + -0.5850446224212646, + 0.4606156647205353, + -0.5473166108131409 + ], + "box_yaw_rad": -1.6847630793881605, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003760708749834395, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020026835572612804 + } + } + }, + { + "simulation_time_ns": 7220000000, + "center": [ + 0.8524007646341412, + -14.866001188899507, + 0.044155109713478996 + ], + "face_center": [ + 0.8490721679602591, + -14.881655383780414, + 0.09710779502216896 + ], + "face_normal": [ + -0.060171644945171465, + -0.2829837161309836, + 0.9572352830515136 + ], + "footprint_xy": [ + [ + 0.7210005358621533, + -14.970772284006243 + ], + [ + 0.983800993406129, + -14.970772284006243 + ], + [ + 0.983800993406129, + -14.761230093792772 + ], + [ + 0.7210005358621533, + -14.761230093792772 + ] + ], + "projected_box_corners": [ + [ + 0.7393924891135215, + -14.792538483554583 + ], + [ + 0.9771438000583648, + -14.824049667919802 + ], + [ + 0.7460496824612859, + -14.761230093792772 + ], + [ + 0.983800993406129, + -14.792741278157989 + ], + [ + 0.7210005358621533, + -14.939261099641024 + ], + [ + 0.9587518468069965, + -14.970772284006243 + ], + [ + 0.7276577292099176, + -14.907952709879213 + ], + [ + 0.9654090401547608, + -14.93946389424443 + ] + ], + "yaw_rad": -1.695497755918587, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7101702690124512, + -14.853702545166016, + 0.056620240211486816 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8488421602936718, + -14.881752000320144, + 0.09710717143121231 + ], + "intended_face_normal": [ + -0.05961517434296226, + -0.2830627280158122, + 0.9572469135421997 + ], + "commanded_contact_point": [ + 0.7199845659732819, + -14.866088296881424, + 0.04415384274285989 + ], + "centerline_face_intersection": [ + 0.7311403477619747, + -14.866093434631406, + 0.04415384274285989 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7116010189056396, + -14.856820106506348, + 0.0608808696269989 + ], + "box_pose": [ + 0.8687736988067627, + -14.871964454650879, + 0.041823163628578186, + 0.37954553961753845, + -0.5866970419883728, + 0.46304839849472046, + -0.5452687740325928 + ], + "box_yaw_rad": -1.6935590257173094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 5.1377499811154615e-06, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021665636408206524 + } + } + }, + { + "simulation_time_ns": 7240000000, + "center": [ + 0.852399881271242, + -14.866004250180898, + 0.04415589673505438 + ], + "face_center": [ + 0.8490701990271673, + -14.881663070056403, + 0.09710715330503983 + ], + "face_normal": [ + -0.06019126899415994, + -0.28306732299601656, + 0.9572094554831807 + ], + "footprint_xy": [ + [ + 0.720999036909964, + -14.970778299276965 + ], + [ + 0.9838007256325199, + -14.970778299276965 + ], + [ + 0.9838007256325199, + -14.76123020108483 + ], + [ + 0.720999036909964, + -14.76123020108483 + ] + ], + "projected_box_corners": [ + [ + 0.7393901296740094, + -14.792547840835839 + ], + [ + 0.9771413611443704, + -14.824059557140004 + ], + [ + 0.7460494941621589, + -14.76123020108483 + ], + [ + 0.9838007256325199, + -14.792741917388994 + ], + [ + 0.720999036909964, + -14.9392665829728 + ], + [ + 0.9587502683803251, + -14.970778299276965 + ], + [ + 0.7276584013981134, + -14.907948943221792 + ], + [ + 0.9654096328684745, + -14.939460659525956 + ] + ], + "yaw_rad": -1.6954952403486945, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7063302993774414, + -14.857095718383789, + 0.05153423547744751 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8490721679602591, + -14.881655383780414, + 0.09710779502216896 + ], + "intended_face_normal": [ + -0.060171644945171465, + -0.2829837161309836, + 0.9572352830515136 + ], + "commanded_contact_point": [ + 0.7225949811935425, + -14.866487996898865, + 0.044155109713478996 + ], + "centerline_face_intersection": [ + 0.731370206074119, + -14.866001188899507, + 0.044155109713478996 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7101702690124512, + -14.853702545166016, + 0.056620240211486816 + ], + "box_pose": [ + 0.8690230846405029, + -14.871904373168945, + 0.0418243370950222, + 0.3789639174938202, + -0.5870716571807861, + 0.4635671377182007, + -0.5448289513587952 + ], + "box_yaw_rad": -1.695497755918587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004868079993585196, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002640838755267977 + } + } + }, + { + "simulation_time_ns": 7260000000, + "center": [ + 0.8523974735444363, + -14.866002351069104, + 0.044155771177986844 + ], + "face_center": [ + 0.8490649444074672, + -14.88166048835527, + 0.09710705663237576 + ], + "face_normal": [ + -0.06024273279263781, + -0.2830549837048846, + 0.9572099776317735 + ], + "footprint_xy": [ + [ + 0.7209952551125501, + -14.970775721817738 + ], + [ + 0.9837996919763223, + -14.970775721817738 + ], + [ + 0.9837996919763223, + -14.761228980320471 + ], + [ + 0.7209952551125501, + -14.761228980320471 + ] + ], + "projected_box_corners": [ + [ + 0.7393835992881566, + -14.792545254892799 + ], + [ + 0.9771346337023841, + -14.824056338382809 + ], + [ + 0.7460486575620948, + -14.761228980320471 + ], + [ + 0.9837996919763223, + -14.792740063810479 + ], + [ + 0.7209952551125501, + -14.93926463832773 + ], + [ + 0.9587462895267778, + -14.970775721817738 + ], + [ + 0.7276603133864884, + -14.9079483637554 + ], + [ + 0.9654113478007159, + -14.93945944724541 + ] + ], + "yaw_rad": -1.6954762570436057, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7040115594863892, + -14.862470626831055, + 0.04880869388580322 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8490701990271673, + -14.881663070056403, + 0.09710715330503983 + ], + "intended_face_normal": [ + -0.06019126899415994, + -0.28306732299601656, + 0.9572094554831807 + ], + "commanded_contact_point": [ + 0.7254964756965637, + -14.86684739945214, + 0.04415589673505438 + ], + "centerline_face_intersection": [ + 0.7313692822536335, + -14.866004250180898, + 0.04415589673505438 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7063302993774414, + -14.857095718383789, + 0.05153423547744751 + ], + "box_pose": [ + 0.8690222501754761, + -14.871907234191895, + 0.04182494431734085, + 0.3789353370666504, + -0.5870864391326904, + 0.46354541182518005, + -0.544851541519165 + ], + "box_yaw_rad": -1.6954952403486945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008431492712428946, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002923669127272519 + } + } + }, + { + "simulation_time_ns": 7280000000, + "center": [ + 0.8523968835274812, + -14.866006345665514, + 0.044156242128239154 + ], + "face_center": [ + 0.8490635022442332, + -14.881667456420079, + 0.09710658440512422 + ], + "face_normal": [ + -0.06025813719526241, + -0.2831087356316786, + 0.9571929276412092 + ], + "footprint_xy": [ + [ + 0.7209944556868437, + -14.97078126562328 + ], + [ + 0.9837993113681188, + -14.97078126562328 + ], + [ + 0.9837993113681188, + -14.76123142570775 + ], + [ + 0.7209944556868437, + -14.76123142570775 + ] + ], + "projected_box_corners": [ + [ + 0.7393815773787632, + -14.792553647216875 + ], + [ + 0.9771325488016226, + -14.824064350303933 + ], + [ + 0.7460483399452593, + -14.76123142570775 + ], + [ + 0.9837993113681188, + -14.792742128794806 + ], + [ + 0.7209944556868437, + -14.939270562536223 + ], + [ + 0.9587454271097031, + -14.97078126562328 + ], + [ + 0.7276612182533398, + -14.907948341027097 + ], + [ + 0.9654121896761994, + -14.939459044114153 + ] + ], + "yaw_rad": -1.6954701293676013, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7075188159942627, + -14.863658905029297, + 0.04881672561168671 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8490649444074672, + -14.88166048835527, + 0.09710705663237576 + ], + "intended_face_normal": [ + -0.06024273279263781, + -0.2830549837048846, + 0.9572099776317735 + ], + "commanded_contact_point": [ + 0.7289049971103668, + -14.86698676930987, + 0.044155771177986844 + ], + "centerline_face_intersection": [ + 0.731366774212556, + -14.866002351069104, + 0.044155771177986844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7040115594863892, + -14.862470626831055, + 0.04880869388580322 + ], + "box_pose": [ + 0.8690199851989746, + -14.871905326843262, + 0.0418257974088192, + 0.37892696261405945, + -0.5870682001113892, + 0.4635589122772217, + -0.5448656678199768 + ], + "box_yaw_rad": -1.6954762570436057, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009844182407648828, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034113695492224714 + } + } + }, + { + "simulation_time_ns": 7300000000, + "center": [ + 0.8533510182135376, + -14.865854477799274, + 0.044157539091787136 + ], + "face_center": [ + 0.8499851409052825, + -14.881517889606679, + 0.09710514995039365 + ], + "face_normal": [ + -0.06084557372495425, + -0.28315033218062347, + 0.9571435512982767 + ], + "footprint_xy": [ + [ + 0.7217836283009226, + -14.97087776375833 + ], + [ + 0.9849184081261526, + -14.97087776375833 + ], + [ + 0.9849184081261526, + -14.760831191840222 + ], + [ + 0.7217836283009226, + -14.760831191840222 + ] + ], + "projected_box_corners": [ + [ + 0.7405077376866555, + -14.792158015455026 + ], + [ + 0.9781866535096425, + -14.824211480134208 + ], + [ + 0.7472394923031656, + -14.760831191840222 + ], + [ + 0.9849184081261526, + -14.792884656519401 + ], + [ + 0.7217836283009226, + -14.93882429907915 + ], + [ + 0.9594625441239096, + -14.97087776375833 + ], + [ + 0.7285153829174327, + -14.907497475464343 + ], + [ + 0.9661942987404197, + -14.939550940143524 + ] + ], + "yaw_rad": -1.697774175087927, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7132129669189453, + -14.861662864685059, + 0.04816742241382599 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8490635022442332, + -14.881667456420079, + 0.09710658440512422 + ], + "intended_face_normal": [ + -0.06025813719526241, + -0.2831087356316786, + 0.9571929276412092 + ], + "commanded_contact_point": [ + 0.7328680801391602, + -14.867084661531727, + 0.044156242128239154 + ], + "centerline_face_intersection": [ + 0.7313661521288999, + -14.866006345665514, + 0.044156242128239154 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7075188159942627, + -14.863658905029297, + 0.04881672561168671 + ], + "box_pose": [ + 0.8690194487571716, + -14.871909141540527, + 0.04182622581720352, + 0.378908634185791, + -0.5870758891105652, + 0.46354490518569946, + -0.5448818206787109 + ], + "box_yaw_rad": -1.6954701293676013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010783158662135872, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003964291891625047 + } + } + }, + { + "simulation_time_ns": 7320000000, + "center": [ + 0.8585791594054422, + -14.865443571893309, + 0.04421866035436998 + ], + "face_center": [ + 0.8552483922000614, + -14.881378833669984, + 0.0970873174772368 + ], + "face_normal": [ + -0.060210882036194846, + -0.28806461331233635, + 0.9557162903173051 + ], + "footprint_xy": [ + [ + 0.7267326303672876, + -14.971135461397303 + ], + [ + 0.9904256884435967, + -14.971135461397303 + ], + [ + 0.9904256884435967, + -14.759751682389313 + ], + [ + 0.7267326303672876, + -14.759751682389313 + ] + ], + "projected_box_corners": [ + [ + 0.7462249980939052, + -14.791622205942668 + ], + [ + 0.9837641540328352, + -14.824801524991972 + ], + [ + 0.7528865325046665, + -14.759751682389313 + ], + [ + 0.9904256884435967, + -14.792931001438617 + ], + [ + 0.7267326303672876, + -14.937956142347998 + ], + [ + 0.9642717863062177, + -14.971135461397303 + ], + [ + 0.733394164778049, + -14.906085618794645 + ], + [ + 0.970933320716979, + -14.939264937843948 + ] + ], + "yaw_rad": -1.7032214680012157, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7182521820068359, + -14.860998153686523, + 0.05025133490562439 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8499851409052825, + -14.881517889606679, + 0.09710514995039365 + ], + "intended_face_normal": [ + -0.06084557372495425, + -0.28315033218062347, + 0.9571435512982767 + ], + "commanded_contact_point": [ + 0.7371453988552094, + -14.867100458190057, + 0.044157539091787136 + ], + "centerline_face_intersection": [ + 0.7322835947006233, + -14.865854477799274, + 0.044157539091787136 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7132129669189453, + -14.861662864685059, + 0.04816742241382599 + ], + "box_pose": [ + 0.8699599504470825, + -14.871794700622559, + 0.04182540625333786, + 0.378202348947525, + -0.5875672101974487, + 0.4640989303588867, + -0.5443711876869202 + ], + "box_yaw_rad": -1.697774175087927, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012459803907822233, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004277348082070661 + } + } + }, + { + "simulation_time_ns": 7340000000, + "center": [ + 0.8637712178246626, + -14.865385330555483, + 0.04447657972104732 + ], + "face_center": [ + 0.8610179880297326, + -14.882785956785936, + 0.09691472433620907 + ], + "face_normal": [ + -0.04977063366460044, + -0.31455427194826413, + 0.9479338377416155 + ], + "footprint_xy": [ + [ + 0.7324048285959888, + -14.97163014802705 + ], + [ + 0.9951376070533364, + -14.97163014802705 + ], + [ + 0.9951376070533364, + -14.759140513083917 + ], + [ + 0.7324048285959888, + -14.759140513083917 + ] + ], + "projected_box_corners": [ + [ + 0.7519667519074293, + -14.79394176554482 + ], + [ + 0.9896311474634764, + -14.82654910768453 + ], + [ + 0.7574732114972894, + -14.759140513083917 + ], + [ + 0.9951376070533364, + -14.791747855223626 + ], + [ + 0.7324048285959888, + -14.93902280588734 + ], + [ + 0.9700692241520358, + -14.97163014802705 + ], + [ + 0.7379112881858487, + -14.904221553426435 + ], + [ + 0.9755756837418957, + -14.936828895566144 + ] + ], + "yaw_rad": -1.7048224713078308, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7232147455215454, + -14.861678123474121, + 0.057841598987579346 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8552483922000614, + -14.881378833669984, + 0.0970873174772368 + ], + "intended_face_normal": [ + -0.060210882036194846, + -0.28806461331233635, + 0.9557162903173051 + ], + "commanded_contact_point": [ + 0.7403830933570862, + -14.866867369012363, + 0.04421866035436998 + ], + "centerline_face_intersection": [ + 0.7374405039770722, + -14.865443571893309, + 0.04421866035436998 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7182521820068359, + -14.860998153686523, + 0.05025133490562439 + ], + "box_pose": [ + 0.8751556873321533, + -14.871447563171387, + 0.04182020574808121, + 0.3758391737937927, + -0.5902523398399353, + 0.4633709192276001, + -0.543722927570343 + ], + "box_yaw_rad": -1.7032214680012157, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014237971190536327, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003246649359105688 + } + } + }, + { + "simulation_time_ns": 7360000000, + "center": [ + 0.8681047263893713, + -14.86620744562114, + 0.045375046451424685 + ], + "face_center": [ + 0.8662563511832124, + -14.885237636704916, + 0.09728416381088151 + ], + "face_normal": [ + -0.033413413377214596, + -0.344012210946655, + 0.9383705162234612 + ], + "footprint_xy": [ + [ + 0.7379042335230843, + -14.972113506242009 + ], + [ + 0.9983052192556582, + -14.972113506242009 + ], + [ + 0.9983052192556582, + -14.760301385000268 + ], + [ + 0.7379042335230843, + -14.760301385000268 + ] + ], + "projected_box_corners": [ + [ + 0.7566139827112968, + -14.798361767167826 + ], + [ + 0.9946084688433405, + -14.828403945446379 + ], + [ + 0.7603107331236143, + -14.760301385000268 + ], + [ + 0.9983052192556582, + -14.790343563278823 + ], + [ + 0.7379042335230843, + -14.942071327963456 + ], + [ + 0.9758987196551282, + -14.972113506242009 + ], + [ + 0.741600983935402, + -14.904010945795898 + ], + [ + 0.9795954700674459, + -14.934053124074453 + ] + ], + "yaw_rad": -1.700259547213372, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7275220155715942, + -14.864754676818848, + 0.06146208941936493 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8610179880297326, + -14.882785956785936, + 0.09691472433620907 + ], + "intended_face_normal": [ + -0.04977063366460044, + -0.31455427194826413, + 0.9479338377416155 + ], + "commanded_contact_point": [ + 0.7427420663833618, + -14.866957415957792, + 0.04447657972104732 + ], + "centerline_face_intersection": [ + 0.7426963976156506, + -14.865385330555483, + 0.04447657972104732 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7232147455215454, + -14.861678123474121, + 0.057841598987579346 + ], + "box_pose": [ + 0.8803384900093079, + -14.871272087097168, + 0.04174650460481644, + 0.37143710255622864, + -0.598814070224762, + 0.45250120759010315, + -0.5465335249900818 + ], + "box_yaw_rad": -1.7048224713078308, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015720854023081202, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002374738846859664 + } + } + }, + { + "simulation_time_ns": 7380000000, + "center": [ + 0.8724400453874641, + -14.867566011947769, + 0.045496162418724444 + ], + "face_center": [ + 0.8710355675135992, + -14.886448602603517, + 0.09747304591826744 + ], + "face_normal": [ + -0.025389000903189185, + -0.34134401127592895, + 0.9395955370115203 + ], + "footprint_xy": [ + [ + 0.7434582028032167, + -14.971788776273309 + ], + [ + 1.0014218879717116, + -14.971788776273309 + ], + [ + 1.0014218879717116, + -14.76334324762223 + ], + [ + 0.7434582028032167, + -14.76334324762223 + ] + ], + "projected_box_corners": [ + [ + 0.7602096876618633, + -14.801108428933723 + ], + [ + 0.9986129322239818, + -14.827641939844401 + ], + [ + 0.763018643409593, + -14.76334324762223 + ], + [ + 1.0014218879717116, + -14.789876758532907 + ], + [ + 0.7434582028032167, + -14.945255265362631 + ], + [ + 0.9818614473653352, + -14.971788776273309 + ], + [ + 0.7462671585509464, + -14.907490084051137 + ], + [ + 0.984670403113065, + -14.934023594961815 + ] + ], + "yaw_rad": -1.686488634543508, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.731953501701355, + -14.867738723754883, + 0.06206490099430084 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8662563511832124, + -14.885237636704916, + 0.09728416381088151 + ], + "intended_face_normal": [ + -0.033413413377214596, + -0.344012210946655, + 0.9383705162234612 + ], + "commanded_contact_point": [ + 0.7451703000068665, + -14.86783764177554, + 0.045375046451424685 + ], + "centerline_face_intersection": [ + 0.7471978329999721, + -14.86620744562114, + 0.045375046451424685 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7275220155715942, + -14.864754676818848, + 0.06146208941936493 + ], + "box_pose": [ + 0.8846938610076904, + -14.871826171875, + 0.04224259406328201, + 0.3692624866962433, + -0.6074022054672241, + 0.43776604533195496, + -0.5505167841911316 + ], + "box_yaw_rad": -1.700259547213372, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016301961543997848, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002734658751314707 + } + } + }, + { + "simulation_time_ns": 7400000000, + "center": [ + 0.8776178938449822, + -14.868475635008824, + 0.04561056729957604 + ], + "face_center": [ + 0.8765119863751187, + -14.887395594900237, + 0.09758106238096127 + ], + "face_normal": [ + -0.019991689633346965, + -0.34201954171733995, + 0.9394800524194196 + ], + "footprint_xy": [ + [ + 0.7496167595445539, + -14.971385569196187 + ], + [ + 1.0056190281454107, + -14.971385569196187 + ], + [ + 1.0056190281454107, + -14.76556570082146 + ], + [ + 0.7496167595445539, + -14.76556570082146 + ] + ], + "projected_box_corners": [ + [ + 0.7647069282162795, + -14.803405620604288 + ], + [ + 1.0034072132056835, + -14.82707002289319 + ], + [ + 0.7669187431560067, + -14.76556570082146 + ], + [ + 1.0056190281454107, + -14.789230103110363 + ], + [ + 0.7496167595445539, + -14.947721166907284 + ], + [ + 0.9883170445339579, + -14.971385569196187 + ], + [ + 0.751828574484281, + -14.909881247124458 + ], + [ + 0.990528859473685, + -14.93354564941336 + ] + ], + "yaw_rad": -1.6749814307596125, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7372373342514038, + -14.869855880737305, + 0.06279467046260834 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8710355675135992, + -14.886448602603517, + 0.09747304591826744 + ], + "intended_face_normal": [ + -0.025389000903189185, + -0.34134401127592895, + 0.9395955370115203 + ], + "commanded_contact_point": [ + 0.7478109049797058, + -14.869189299629884, + 0.045496162418724444 + ], + "centerline_face_intersection": [ + 0.7517404550153448, + -14.867566011947769, + 0.045496162418724444 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.731953501701355, + -14.867738723754883, + 0.06206490099430084 + ], + "box_pose": [ + 0.8891004920005798, + -14.872949600219727, + 0.04232942312955856, + 0.37533706426620483, + -0.6048026084899902, + 0.4341083765029907, + -0.5521647334098816 + ], + "box_yaw_rad": -1.686488634543508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016232876821152345, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029689127059129056 + } + } + }, + { + "simulation_time_ns": 7420000000, + "center": [ + 0.8829516926705279, + -14.868914075313118, + 0.04511257787348846 + ], + "face_center": [ + 0.8817287730606096, + -14.887828137704163, + 0.09708260079962251 + ], + "face_normal": [ + -0.022106939282213744, + -0.3419129315350258, + 0.9394715171834278 + ], + "footprint_xy": [ + [ + 0.7553052795429868, + -14.971157272777154 + ], + [ + 1.010598105798069, + -14.971157272777154 + ], + [ + 1.010598105798069, + -14.766670877849082 + ], + [ + 0.7553052795429868, + -14.766670877849082 + ] + ], + "projected_box_corners": [ + [ + 0.7693019743488998, + -14.804499002631173 + ], + [ + 1.0081522665782325, + -14.826742044629857 + ], + [ + 0.7717478135687363, + -14.766670877849082 + ], + [ + 1.010598105798069, + -14.788913919847767 + ], + [ + 0.7553052795429868, + -14.94891423077847 + ], + [ + 0.9941555717723194, + -14.971157272777154 + ], + [ + 0.7577511187628233, + -14.91108610599638 + ], + [ + 0.996601410992156, + -14.933329147995064 + ] + ], + "yaw_rad": -1.6674143538962731, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7426565885543823, + -14.869306564331055, + 0.0647972822189331 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8765119863751187, + -14.887395594900237, + 0.09758106238096127 + ], + "intended_face_normal": [ + -0.019991689633346965, + -0.34201954171733995, + 0.9394800524194196 + ], + "commanded_contact_point": [ + 0.7504347312450409, + -14.8700437128618, + 0.04561056729957604 + ], + "centerline_face_intersection": [ + 0.7570685029495787, + -14.868475635008824, + 0.04561056729957604 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7372373342514038, + -14.869855880737305, + 0.06279467046260834 + ], + "box_pose": [ + 0.8943374752998352, + -14.8736572265625, + 0.04241865500807762, + 0.37914496660232544, + -0.6030075550079346, + 0.43039438128471375, + -0.5544289946556091 + ], + "box_yaw_rad": -1.6749814307596125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001568077852976019, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027618064230316864 + } + } + }, + { + "simulation_time_ns": 7440000000, + "center": [ + 0.8869209621020171, + -14.868818112171242, + 0.044703934220536215 + ], + "face_center": [ + 0.8854745898591391, + -14.88759848466945, + 0.0967166911409448 + ], + "face_normal": [ + -0.02614633299969782, + -0.3394961951284525, + 0.9402440273378581 + ], + "footprint_xy": [ + [ + 0.7591588777736334, + -14.971000054142829 + ], + [ + 1.0146830464304006, + -14.971000054142829 + ], + [ + 1.0146830464304006, + -14.766636170199655 + ], + [ + 0.7591588777736334, + -14.766636170199655 + ] + ], + "projected_box_corners": [ + [ + 0.7729320972228242, + -14.804196915196071 + ], + [ + 1.0117903019446446, + -14.826449504505602 + ], + [ + 0.7758248417085802, + -14.766636170199655 + ], + [ + 1.0146830464304006, + -14.788888759509186 + ], + [ + 0.7591588777736334, + -14.948747464833298 + ], + [ + 0.998017082495454, + -14.971000054142829 + ], + [ + 0.7620516222593896, + -14.911186719836882 + ], + [ + 1.00090982698121, + -14.933439309146413 + ] + ], + "yaw_rad": -1.665792598709384, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7465196847915649, + -14.866853713989258, + 0.06517943739891052 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8817287730606096, + -14.887828137704163, + 0.09708260079962251 + ], + "intended_face_normal": [ + -0.022106939282213744, + -0.3419129315350258, + 0.9394715171834278 + ], + "commanded_contact_point": [ + 0.7526706802845001, + -14.870466453605376, + 0.04511257787348846 + ], + "centerline_face_intersection": [ + 0.76247801146438, + -14.868914075313118, + 0.04511257787348846 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7426565885543823, + -14.869306564331055, + 0.0647972822189331 + ], + "box_pose": [ + 0.899715781211853, + -14.87399673461914, + 0.04199592024087906, + 0.3800554573535919, + -0.6005961298942566, + 0.4296526312828064, + -0.5569925308227539 + ], + "box_yaw_rad": -1.6674143538962731, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015523782922585397, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023294143710023496 + } + } + }, + { + "simulation_time_ns": 7460000000, + "center": [ + 0.8892905087434532, + -14.868535849679322, + 0.04459681569950111 + ], + "face_center": [ + 0.8876726472246047, + -14.886938799685263, + 0.09673925615195411 + ], + "face_normal": [ + -0.029246375701344363, + -0.33267346037745504, + 0.9425883400347495 + ], + "footprint_xy": [ + [ + 0.7614239925106289, + -14.970559761290868 + ], + [ + 1.0171570249762776, + -14.970559761290868 + ], + [ + 1.0171570249762776, + -14.766511938067776 + ], + [ + 0.7614239925106289, + -14.766511938067776 + ] + ], + "projected_box_corners": [ + [ + 0.7750656356750287, + -14.803317838079659 + ], + [ + 1.0139213019385807, + -14.825635570896894 + ], + [ + 0.7783013587127257, + -14.766511938067776 + ], + [ + 1.0171570249762776, + -14.788829670885011 + ], + [ + 0.7614239925106289, + -14.948242028473633 + ], + [ + 1.0002796587741807, + -14.970559761290868 + ], + [ + 0.7646597155483257, + -14.91143612846175 + ], + [ + 1.0035153818118776, + -14.933753861278985 + ] + ], + "yaw_rad": -1.6646492991181179, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7490201592445374, + -14.86546802520752, + 0.061406925320625305 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8854745898591391, + -14.88759848466945, + 0.0967166911409448 + ], + "intended_face_normal": [ + -0.02614633299969782, + -0.3394961951284525, + 0.9402440273378581 + ], + "commanded_contact_point": [ + 0.7546590912342072, + -14.87044906639078, + 0.044703934220536215 + ], + "centerline_face_intersection": [ + 0.7664512717451626, + -14.868818112171242, + 0.044703934220536215 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7465196847915649, + -14.866853713989258, + 0.06517943739891052 + ], + "box_pose": [ + 0.9036981463432312, + -14.873908996582031, + 0.04167231172323227, + 0.37984269857406616, + -0.598850667476654, + 0.43124404549598694, + -0.557786762714386 + ], + "box_yaw_rad": -1.665792598709384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016309542195379137, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020300418850960652 + } + } + }, + { + "simulation_time_ns": 7480000000, + "center": [ + 0.8898927817074401, + -14.868249865945417, + 0.04448474687891519 + ], + "face_center": [ + 0.8880884263859203, + -14.88619869195885, + 0.09677915238655292 + ], + "face_normal": [ + -0.032617657949767676, + -0.32446417871447686, + 0.9453354398610507 + ], + "footprint_xy": [ + [ + 0.7619688537200604, + -14.969980552193741 + ], + [ + 1.0178167096948199, + -14.969980552193741 + ], + [ + 1.0178167096948199, + -14.766519179697093 + ], + [ + 0.7619688537200604, + -14.766519179697093 + ] + ], + "projected_box_corners": [ + [ + 0.7753405776535025, + -14.802416831723958 + ], + [ + 1.0142079990517803, + -14.824604923642191 + ], + [ + 0.7789492882965421, + -14.766519179697093 + ], + [ + 1.0178167096948199, + -14.788707271615326 + ], + [ + 0.7619688537200604, + -14.94779246027551 + ], + [ + 1.0008362751183382, + -14.969980552193741 + ], + [ + 0.7655775643631, + -14.911894808248645 + ], + [ + 1.0044449857613778, + -14.934082900166876 + ] + ], + "yaw_rad": -1.662518744355988, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7497986555099487, + -14.863238334655762, + 0.0580032616853714 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8876726472246047, + -14.886938799685263, + 0.09673925615195411 + ], + "intended_face_normal": [ + -0.029246375701344363, + -0.33267346037745504, + 0.9425883400347495 + ], + "commanded_contact_point": [ + 0.7566156136989594, + -14.870289516877731, + 0.04459681569950111 + ], + "centerline_face_intersection": [ + 0.7688195380850409, + -14.868535849679322, + 0.04459681569950111 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7490201592445374, + -14.86546802520752, + 0.061406925320625305 + ], + "box_pose": [ + 0.9060760140419006, + -14.873652458190918, + 0.041655946522951126, + 0.38109448552131653, + -0.5964371562004089, + 0.43408554792404175, + -0.5573143362998962 + ], + "box_yaw_rad": -1.6646492991181179, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017536671984100152, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019659375828705115 + } + } + }, + { + "simulation_time_ns": 7500000000, + "center": [ + 0.8899851873055408, + -14.86741855694845, + 0.044290454271427214 + ], + "face_center": [ + 0.8877465297574678, + -14.884418498980239, + 0.09688429009210112 + ], + "face_normal": [ + -0.040468617959461994, + -0.3073110311175853, + 0.9507482958622617 + ], + "footprint_xy": [ + [ + 0.7616850323935308, + -14.968871742652105 + ], + [ + 1.0182853422175508, + -14.968871742652105 + ], + [ + 1.0182853422175508, + -14.765965371244796 + ], + [ + 0.7616850323935308, + -14.765965371244796 + ] + ], + "projected_box_corners": [ + [ + 0.7750023895876922, + -14.799965255308374 + ], + [ + 1.013808027121405, + -14.822640900148416 + ], + [ + 0.779479704683838, + -14.765965371244796 + ], + [ + 1.0182853422175508, + -14.788641016084838 + ], + [ + 0.7616850323935308, + -14.946196097812063 + ], + [ + 1.0004906699272436, + -14.968871742652105 + ], + [ + 0.7661623474896766, + -14.912196213748485 + ], + [ + 1.0049679850233895, + -14.934871858588528 + ] + ], + "yaw_rad": -1.6616165775110663, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7500109672546387, + -14.86064338684082, + 0.05637964606285095 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8880884263859203, + -14.88619869195885, + 0.09677915238655292 + ], + "intended_face_normal": [ + -0.032617657949767676, + -0.32446417871447686, + 0.9453354398610507 + ], + "commanded_contact_point": [ + 0.7583890604972839, + -14.870203994395414, + 0.04448474687891519 + ], + "centerline_face_intersection": [ + 0.7694277396619896, + -14.868249865945417, + 0.04448474687891519 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7497986555099487, + -14.863238334655762, + 0.0580032616853714 + ], + "box_pose": [ + 0.9066919088363647, + -14.873382568359375, + 0.041651658713817596, + 0.38286352157592773, + -0.5933887362480164, + 0.43724527955055237, + -0.5568858981132507 + ], + "box_yaw_rad": -1.662518744355988, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0019541284499962346, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001779041051245573 + } + } + }, + { + "simulation_time_ns": 7520000000, + "center": [ + 0.8910426238762934, + -14.866980565439928, + 0.04422463802568531 + ], + "face_center": [ + 0.888703424117534, + -14.883597590004294, + 0.09693633931734291 + ], + "face_normal": [ + -0.04228613771212508, + -0.3003889627054548, + 0.9528789713288859 + ], + "footprint_xy": [ + [ + 0.7629277659971657, + -14.96783189321518 + ], + [ + 1.019157481755421, + -14.96783189321518 + ], + [ + 1.019157481755421, + -14.766129237664675 + ], + [ + 0.7629277659971657, + -14.766129237664675 + ] + ], + "projected_box_corners": [ + [ + 0.7756078991950588, + -14.79936328679341 + ], + [ + 1.0144790822379022, + -14.821206032247185 + ], + [ + 0.7802862987125776, + -14.766129237664675 + ], + [ + 1.019157481755421, + -14.787971983118451 + ], + [ + 0.7629277659971657, + -14.945989147761406 + ], + [ + 1.0017989490400092, + -14.96783189321518 + ], + [ + 0.7676061655146845, + -14.91275509863267 + ], + [ + 1.006477348557528, + -14.934597844086447 + ] + ], + "yaw_rad": -1.6570612180823123, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.751018762588501, + -14.86054801940918, + 0.0564635694026947 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8877465297574678, + -14.884418498980239, + 0.09688429009210112 + ], + "intended_face_normal": [ + -0.040468617959461994, + -0.3073110311175853, + 0.9507482958622617 + ], + "commanded_contact_point": [ + 0.7598590302467346, + -14.869643692202752, + 0.044290454271427214 + ], + "centerline_face_intersection": [ + 0.7694889785090896, + -14.86741855694845, + 0.044290454271427214 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7500109672546387, + -14.86064338684082, + 0.05637964606285095 + ], + "box_pose": [ + 0.9067936539649963, + -14.872636795043945, + 0.0416775681078434, + 0.3855628967285156, + -0.5877345204353333, + 0.4446186423301697, + -0.5551789999008179 + ], + "box_yaw_rad": -1.6616165775110663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022251352543014506, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001585086505124109 + } + } + }, + { + "simulation_time_ns": 7540000000, + "center": [ + 0.8920995333648244, + -14.86770159811329, + 0.044345849004507325 + ], + "face_center": [ + 0.8901605155094053, + -14.885050869585465, + 0.09683741209438883 + ], + "face_normal": [ + -0.0350519769649793, + -0.31362592268154543, + 0.9488994931842143 + ], + "footprint_xy": [ + [ + 0.7646035128972005, + -14.96831977473456 + ], + [ + 1.0195955538324482, + -14.96831977473456 + ], + [ + 1.0195955538324482, + -14.767083421492023 + ], + [ + 0.7646035128972005, + -14.767083421492023 + ] + ], + "projected_box_corners": [ + [ + 0.7767067356424814, + -14.801781964436369 + ], + [ + 1.01571751812161, + -14.822275315102287 + ], + [ + 0.7805847713533195, + -14.767083421492023 + ], + [ + 1.0195955538324482, + -14.78757677215794 + ], + [ + 0.7646035128972005, + -14.947826424068642 + ], + [ + 1.0036142953763294, + -14.96831977473456 + ], + [ + 0.7684815486080386, + -14.913127881124295 + ], + [ + 1.0074923310871675, + -14.933621231790212 + ] + ], + "yaw_rad": -1.6534809283665175, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7519773840904236, + -14.863319396972656, + 0.05862097442150116 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.888703424117534, + -14.883597590004294, + 0.09693633931734291 + ], + "intended_face_normal": [ + -0.04228613771212508, + -0.3003889627054548, + 0.9528789713288859 + ], + "commanded_contact_point": [ + 0.7611243176460266, + -14.86946300253546, + 0.04422463802568531 + ], + "centerline_face_intersection": [ + 0.7705794788644866, + -14.866980565439928, + 0.04422463802568531 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.751018762588501, + -14.86054801940918, + 0.0564635694026947 + ], + "box_pose": [ + 0.9078763723373413, + -14.872160911560059, + 0.04170063138008118, + 0.38794898986816406, + -0.5845967531204224, + 0.4464315176010132, + -0.5553747415542603 + ], + "box_yaw_rad": -1.6570612180823123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024824370955313685, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012798174623269171 + } + } + }, + { + "simulation_time_ns": 7560000000, + "center": [ + 0.8925430285242221, + -14.868719545934116, + 0.04451754781824982 + ], + "face_center": [ + 0.8911053629331805, + -14.8872620809739, + 0.0966158119088606 + ], + "face_normal": [ + -0.025988941277510946, + -0.3351967643156879, + 0.9417897559405581 + ], + "footprint_xy": [ + [ + 0.7653393512142842, + -14.969908726497964 + ], + [ + 1.0197467058341598, + -14.969908726497964 + ], + [ + 1.0197467058341598, + -14.767530365370268 + ], + [ + 0.7653393512142842, + -14.767530365370268 + ] + ], + "projected_box_corners": [ + [ + 0.7778438054940647, + -14.804615435449836 + ], + [ + 1.0168713746520768, + -14.825005454551693 + ], + [ + 0.7807191366761478, + -14.767530365370268 + ], + [ + 1.0197467058341598, + -14.787920384472125 + ], + [ + 0.7653393512142842, + -14.949518707396106 + ], + [ + 1.0043669203722962, + -14.969908726497964 + ], + [ + 0.7682146823963674, + -14.91243363731654 + ], + [ + 1.0072422515543793, + -14.932823656418396 + ] + ], + "yaw_rad": -1.6568782518856668, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7514693737030029, + -14.871140480041504, + 0.0549977570772171 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8901605155094053, + -14.885050869585465, + 0.09683741209438883 + ], + "intended_face_normal": [ + -0.0350519769649793, + -0.31362592268154543, + 0.9488994931842143 + ], + "commanded_contact_point": [ + 0.7622664618492127, + -14.870359323254448, + 0.044345849004507325 + ], + "centerline_face_intersection": [ + 0.7717067474680432, + -14.86770159811329, + 0.044345849004507325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7519773840904236, + -14.863319396972656, + 0.05862097442150116 + ], + "box_pose": [ + 0.9089480638504028, + -14.872748374938965, + 0.041655346751213074, + 0.3871150612831116, + -0.5880966186523438, + 0.4396919012069702, + -0.5576337575912476 + ], + "box_yaw_rad": -1.6534809283665175, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0026577251411567474, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014569064189391477 + } + } + }, + { + "simulation_time_ns": 7580000000, + "center": [ + 0.892617205193929, + -14.869049982425977, + 0.044643466915281906 + ], + "face_center": [ + 0.8912922129347324, + -14.887944367663039, + 0.09661814962001075 + ], + "face_normal": [ + -0.023952125050492157, + -0.34155722405858313, + 0.9395557528450595 + ], + "footprint_xy": [ + [ + 0.7654877950268395, + -14.970383418460386 + ], + [ + 1.0197466153610182, + -14.970383418460386 + ], + [ + 1.0197466153610182, + -14.767716546391567 + ], + [ + 0.7654877950268395, + -14.767716546391567 + ] + ], + "projected_box_corners": [ + [ + 0.7780662178316351, + -14.805505316865693 + ], + [ + 1.017096630842625, + -14.825831069149395 + ], + [ + 0.7807162023500283, + -14.767716546391567 + ], + [ + 1.0197466153610182, + -14.78804229867527 + ], + [ + 0.7654877950268395, + -14.950057666176683 + ], + [ + 1.0045182080378297, + -14.970383418460386 + ], + [ + 0.7681377795452327, + -14.912268895702558 + ], + [ + 1.0071681925562228, + -14.93259464798626 + ] + ], + "yaw_rad": -1.6575940786510779, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7499159574508667, + -14.884029388427734, + 0.049226537346839905 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8911053629331805, + -14.8872620809739, + 0.0966158119088606 + ], + "intended_face_normal": [ + -0.025988941277510946, + -0.3351967643156879, + 0.9417897559405581 + ], + "commanded_contact_point": [ + 0.7633993673324585, + -14.871280433710977, + 0.04451754781824982 + ], + "centerline_face_intersection": [ + 0.7721586976983092, + -14.868719545934116, + 0.04451754781824982 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7514693737030029, + -14.871140480041504, + 0.0549977570772171 + ], + "box_pose": [ + 0.9093674421310425, + -14.873693466186523, + 0.04155426844954491, + 0.38294509053230286, + -0.5955929756164551, + 0.43099266290664673, + -0.5593456625938416 + ], + "box_yaw_rad": -1.6568782518856668, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002560887776861237, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014701699866806338 + } + } + }, + { + "simulation_time_ns": 7600000000, + "center": [ + 0.8928993923304956, + -14.869321670098296, + 0.044603636199303624 + ], + "face_center": [ + 0.8916593785550483, + -14.888173276945167, + 0.09659593838064671 + ], + "face_normal": [ + -0.02241595360855797, + -0.34078391135113506, + 0.9398742633150334 + ], + "footprint_xy": [ + [ + 0.7661990883867758, + -14.97002805465309 + ], + [ + 1.0195996962742155, + -14.97002805465309 + ], + [ + 1.0195996962742155, + -14.7686152855435 + ], + [ + 0.7661990883867758, + -14.7686152855435 + ] + ], + "projected_box_corners": [ + [ + 0.7779830606857561, + -14.806318499237245 + ], + [ + 1.0171196687233208, + -14.82535976522464 + ], + [ + 0.7804630882366509, + -14.7686152855435 + ], + [ + 1.0195996962742155, + -14.787656551530896 + ], + [ + 0.7661990883867758, + -14.950986788665697 + ], + [ + 1.0053356964243405, + -14.97002805465309 + ], + [ + 0.7686791159376706, + -14.913283574971953 + ], + [ + 1.0078157239752352, + -14.932324840959348 + ] + ], + "yaw_rad": -1.6520720067721304, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7505148649215698, + -14.891910552978516, + 0.04870499670505524 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8912922129347324, + -14.887944367663039, + 0.09661814962001075 + ], + "intended_face_normal": [ + -0.023952125050492157, + -0.34155722405858313, + 0.9395557528450595 + ], + "commanded_contact_point": [ + 0.7652457106113434, + -14.87101169396277, + 0.044643466915281906 + ], + "centerline_face_intersection": [ + 0.7722343066348704, + -14.869049982425977, + 0.044643466915281906 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7499159574508667, + -14.884029388427734, + 0.049226537346839905 + ], + "box_pose": [ + 0.9094365835189819, + -14.87399959564209, + 0.04161170870065689, + 0.3815732002258301, + -0.5975800156593323, + 0.4285128712654114, + -0.5600685477256775 + ], + "box_yaw_rad": -1.6575940786510779, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001961711536790959, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018700428269821873 + } + } + }, + { + "simulation_time_ns": 7620000000, + "center": [ + 0.8960542347910854, + -14.869835566708744, + 0.04461507233394271 + ], + "face_center": [ + 0.8950227187035125, + -14.888704143262732, + 0.09660577769524792 + ], + "face_normal": [ + -0.018646903142002458, + -0.3410906758202099, + 0.9398453973099947 + ], + "footprint_xy": [ + [ + 0.7701728894229676, + -14.96943703926493 + ], + [ + 1.0219355801592032, + -14.96943703926493 + ], + [ + 1.0219355801592032, + -14.770234094152558 + ], + [ + 0.7701728894229676, + -14.770234094152558 + ] + ], + "projected_box_corners": [ + [ + 0.7805612204773469, + -14.807971247260534 + ], + [ + 1.0198725479840574, + -14.824665910959366 + ], + [ + 0.7826242526524928, + -14.770234094152558 + ], + [ + 1.0219355801592032, + -14.78692875785139 + ], + [ + 0.7701728894229676, + -14.952742375566098 + ], + [ + 1.009484216929678, + -14.96943703926493 + ], + [ + 0.7722359215981135, + -14.915005222458122 + ], + [ + 1.0115472491048239, + -14.931699886156952 + ] + ], + "yaw_rad": -1.6424304711488835, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7541613578796387, + -14.891284942626953, + 0.05030295252799988 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8916593785550483, + -14.888173276945167, + 0.09659593838064671 + ], + "intended_face_normal": [ + -0.02241595360855797, + -0.34078391135113506, + 0.9398742633150334 + ], + "commanded_contact_point": [ + 0.7680374729633331, + -14.870379826319878, + 0.044603636199303624 + ], + "centerline_face_intersection": [ + 0.7725699530272847, + -14.869321670098296, + 0.044603636199303624 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7505148649215698, + -14.891910552978516, + 0.04870499670505524 + ], + "box_pose": [ + 0.9097461104393005, + -14.874183654785156, + 0.04158191755414009, + 0.3833780586719513, + -0.5962580442428589, + 0.4273515045642853, + -0.5611311197280884 + ], + "box_yaw_rad": -1.6520720067721304, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010581562215821818, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028626526568997965 + } + } + }, + { + "simulation_time_ns": 7640000000, + "center": [ + 0.9012141940849437, + -14.868966555253401, + 0.044609279076948415 + ], + "face_center": [ + 0.9000943672612767, + -14.887832501336385, + 0.09659911599836551 + ], + "face_normal": [ + -0.020243312313109385, + -0.3410431243194392, + 0.9398296983648464 + ], + "footprint_xy": [ + [ + 0.7749027226809478, + -14.969166760026212 + ], + [ + 1.0275256654889395, + -14.969166760026212 + ], + [ + 1.0275256654889395, + -14.768766350480591 + ], + [ + 0.7749027226809478, + -14.768766350480591 + ] + ], + "projected_box_corners": [ + [ + 0.7860663888935393, + -14.806498242646558 + ], + [ + 1.0252860118416054, + -14.82445558303377 + ], + [ + 0.7883060425408734, + -14.768766350480591 + ], + [ + 1.0275256654889395, + -14.7867236908678 + ], + [ + 0.7749027226809478, + -14.951209419639001 + ], + [ + 1.014122345629014, + -14.969166760026212 + ], + [ + 0.777142376328282, + -14.913477527473034 + ], + [ + 1.0163619992763482, + -14.931434867860244 + ] + ], + "yaw_rad": -1.647788299332392, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7596921920776367, + -14.885080337524414, + 0.053582772612571716 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8950227187035125, + -14.888704143262732, + 0.09660577769524792 + ], + "intended_face_normal": [ + -0.018646903142002458, + -0.3410906758202099, + 0.9398453973099947 + ], + "commanded_contact_point": [ + 0.7710293877124786, + -14.870035747893597, + 0.04461507233394271 + ], + "centerline_face_intersection": [ + 0.7758126471411024, + -14.869835566708744, + 0.04461507233394271 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7541613578796387, + -14.891284942626953, + 0.05030295252799988 + ], + "box_pose": [ + 0.9129464626312256, + -14.874531745910645, + 0.04158518835902214, + 0.38636279106140137, + -0.5945215225219727, + 0.4244743287563324, + -0.5631069540977478 + ], + "box_yaw_rad": -1.6424304711488835, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00020018118485381955, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003011656456962134 + } + } + }, + { + "simulation_time_ns": 7660000000, + "center": [ + 0.9070334436558168, + -14.867653659170369, + 0.044601128828558455 + ], + "face_center": [ + 0.9057008707316201, + -14.886507189366263, + 0.09659045213242293 + ], + "face_normal": [ + -0.024089162104701245, + -0.3408186800797921, + 0.9398204136073218 + ], + "footprint_xy": [ + [ + 0.7797755793739853, + -14.969163926574018 + ], + [ + 1.0342913079376486, + -14.969163926574018 + ], + [ + 1.0342913079376486, + -14.76614339176672 + ], + [ + 0.7797755793739853, + -14.76614339176672 + ] + ], + "projected_box_corners": [ + [ + 0.7926322677918797, + -14.80385045215851 + ], + [ + 1.031626162089255, + -14.82459463665212 + ], + [ + 0.7952974136402732, + -14.76614339176672 + ], + [ + 1.0342913079376486, + -14.78688757626033 + ], + [ + 0.7797755793739853, + -14.948419742080407 + ], + [ + 1.0187694736713606, + -14.969163926574018 + ], + [ + 0.7824407252223788, + -14.910712681688615 + ], + [ + 1.0214346195197541, + -14.931456866182225 + ] + ], + "yaw_rad": -1.6594939681936247, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7656235694885254, + -14.87946605682373, + 0.05786199867725372 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9000943672612767, + -14.887832501336385, + 0.09659911599836551 + ], + "intended_face_normal": [ + -0.020243312313109385, + -0.3410431243194392, + 0.9398296983648464 + ], + "commanded_contact_point": [ + 0.7736564028263092, + -14.868522185147414, + 0.044609279076948415 + ], + "centerline_face_intersection": [ + 0.7809265119649912, + -14.868966555253401, + 0.044609279076948415 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7596921920776367, + -14.885080337524414, + 0.053582772612571716 + ], + "box_pose": [ + 0.918080747127533, + -14.873751640319824, + 0.04157545790076256, + 0.3848221004009247, + -0.5956124663352966, + 0.4258995056152344, + -0.561931848526001 + ], + "box_yaw_rad": -1.647788299332392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00044437010598670534, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030318499561743 + } + } + }, + { + "simulation_time_ns": 7680000000, + "center": [ + 0.9116147077650542, + -14.866511034790864, + 0.0445787792133982 + ], + "face_center": [ + 0.9100743323183188, + -14.885339614273526, + 0.09657139954243661 + ], + "face_normal": [ + -0.027845645941571462, + -0.3403676415176502, + 0.9398800145285442 + ], + "footprint_xy": [ + [ + 0.7834838714431589, + -14.969227127137595 + ], + [ + 1.0397455440869494, + -14.969227127137595 + ], + [ + 1.0397455440869494, + -14.763794942444134 + ], + [ + 0.7834838714431589, + -14.763794942444134 + ] + ], + "projected_box_corners": [ + [ + 0.7979108232739176, + -14.80145210140946 + ], + [ + 1.036664793193479, + -14.824796902737594 + ], + [ + 0.8009915741673882, + -14.763794942444134 + ], + [ + 1.0397455440869494, + -14.787139743772268 + ], + [ + 0.7834838714431589, + -14.94588232580946 + ], + [ + 1.02223784136272, + -14.969227127137595 + ], + [ + 0.7865646223366294, + -14.908225166844133 + ], + [ + 1.0253185922561905, + -14.931569968172267 + ] + ], + "yaw_rad": -1.6703548107282342, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7703705430030823, + -14.87474250793457, + 0.058964431285858154 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9057008707316201, + -14.886507189366263, + 0.09659045213242293 + ], + "intended_face_normal": [ + -0.024089162104701245, + -0.3408186800797921, + 0.9398204136073218 + ], + "commanded_contact_point": [ + 0.7760199356079102, + -14.866736793158248, + 0.044601128828558455 + ], + "centerline_face_intersection": [ + 0.78663215036492, + -14.867653659170369, + 0.044601128828558455 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7656235694885254, + -14.87946605682373, + 0.05786199867725372 + ], + "box_pose": [ + 0.9238426685333252, + -14.872634887695312, + 0.04156484082341194, + 0.3813633918762207, + -0.5978908538818359, + 0.42913007736206055, + -0.5594067573547363 + ], + "box_yaw_rad": -1.6594939681936247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009168660121211744, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029620901727041757 + } + } + }, + { + "simulation_time_ns": 7700000000, + "center": [ + 0.9162252381495987, + -14.865110759091094, + 0.04448581886224557 + ], + "face_center": [ + 0.9141800278628429, + -14.883487069119118, + 0.09662264905876956 + ], + "face_normal": [ + -0.03697163677969684, + -0.3321918846716514, + 0.9424869224221979 + ], + "footprint_xy": [ + [ + 0.7866153591277372, + -14.969573249774381 + ], + [ + 1.0458351171714602, + -14.969573249774381 + ], + [ + 1.0458351171714602, + -14.760648268407806 + ], + [ + 0.7866153591277372, + -14.760648268407806 + ] + ], + "projected_box_corners": [ + [ + 0.8034413474709438, + -14.797400888463855 + ], + [ + 1.0417446965979487, + -14.825000041570927 + ], + [ + 0.8075317680444551, + -14.760648268407806 + ], + [ + 1.0458351171714602, + -14.788247421514876 + ], + [ + 0.7866153591277372, + -14.94197409666731 + ], + [ + 1.0249187082547422, + -14.969573249774381 + ], + [ + 0.7907057797012487, + -14.90522147661126 + ], + [ + 1.0290091288282537, + -14.932820629718332 + ] + ], + "yaw_rad": -1.6866589377394008, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7749457359313965, + -14.870153427124023, + 0.05830630660057068 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9100743323183188, + -14.885339614273526, + 0.09657139954243661 + ], + "intended_face_normal": [ + -0.027845645941571462, + -0.3403676415176502, + 0.9398800145285442 + ], + "commanded_contact_point": [ + 0.7781832265853882, + -14.865264909852995, + 0.0445787792133982 + ], + "centerline_face_intersection": [ + 0.7910924229556056, + -14.866511034790864, + 0.0445787792133982 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7703705430030823, + -14.87474250793457, + 0.058964431285858154 + ], + "box_pose": [ + 0.928368866443634, + -14.871675491333008, + 0.04154427349567413, + 0.37814244627952576, + -0.5999047160148621, + 0.43223196268081665, + -0.5570440888404846 + ], + "box_yaw_rad": -1.6703548107282342, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012461249378694092, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026166329170938902 + } + } + }, + { + "simulation_time_ns": 7720000000, + "center": [ + 0.9215553215407004, + -14.863799484322785, + 0.044260919552798386 + ], + "face_center": [ + 0.9187365492707555, + -14.880868295685794, + 0.09680453953561574 + ], + "face_normal": [ + -0.05095545685641767, + -0.3085559944915808, + 0.9498405350662971 + ], + "footprint_xy": [ + [ + 0.7904562674994935, + -14.969358881678312 + ], + [ + 1.0526543755819073, + -14.969358881678312 + ], + [ + 1.0526543755819073, + -14.758240086967257 + ], + [ + 0.7904562674994935, + -14.758240086967257 + ] + ], + "projected_box_corners": [ + [ + 0.8092095958353558, + -14.792377709693275 + ], + [ + 1.0470168310420176, + -14.823869036536228 + ], + [ + 0.8148471403752455, + -14.758240086967257 + ], + [ + 1.0526543755819073, + -14.789731413810213 + ], + [ + 0.7904562674994935, + -14.937867554835359 + ], + [ + 1.0282635027061553, + -14.969358881678312 + ], + [ + 0.7960938120393832, + -14.903729932109341 + ], + [ + 1.033901047246045, + -14.935221258952295 + ] + ], + "yaw_rad": -1.6989873459947589, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.780088484287262, + -14.866446495056152, + 0.057438746094703674 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9141800278628429, + -14.883487069119118, + 0.09662264905876956 + ], + "intended_face_normal": [ + -0.03697163677969684, + -0.3321918846716514, + 0.9424869224221979 + ], + "commanded_contact_point": [ + 0.7801285135746002, + -14.863662927431907, + 0.04448581886224557 + ], + "centerline_face_intersection": [ + 0.7954750511822472, + -14.865110759091094, + 0.04448581886224557 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7749457359313965, + -14.870153427124023, + 0.05830630660057068 + ], + "box_pose": [ + 0.9328945279121399, + -14.870596885681152, + 0.04155002906918526, + 0.3743111491203308, + -0.6005682945251465, + 0.44022178649902344, + -0.5526424050331116 + ], + "box_yaw_rad": -1.6866589377394008, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014478316591866034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025217317015807997 + } + } + }, + { + "simulation_time_ns": 7740000000, + "center": [ + 0.9257412306129453, + -14.862760517743942, + 0.04405306303280803 + ], + "face_center": [ + 0.9223298198281683, + -14.87858287899801, + 0.09695047775731438 + ], + "face_normal": [ + -0.06166869062700897, + -0.2860236901167319, + 0.956236146690685 + ], + "footprint_xy": [ + [ + 0.793725803875986, + -14.968595211650058 + ], + [ + 1.0577566573499044, + -14.968595211650058 + ], + [ + 1.0577566573499044, + -14.756925823837827 + ], + [ + 0.793725803875986, + -14.756925823837827 + ] + ], + "projected_box_corners": [ + [ + 0.8134655136217739, + -14.788570546345964 + ], + [ + 1.0509338357803506, + -14.822209277103811 + ], + [ + 0.8202883351913277, + -14.756925823837827 + ], + [ + 1.0577566573499044, + -14.790564554595674 + ], + [ + 0.793725803875986, + -14.934956480892211 + ], + [ + 1.0311941260345627, + -14.968595211650058 + ], + [ + 0.8005486254455401, + -14.903311758384074 + ], + [ + 1.0380169476041168, + -14.936950489141921 + ] + ], + "yaw_rad": -1.704834827989166, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7841030359268188, + -14.863714218139648, + 0.05643872916698456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9187365492707555, + -14.880868295685794, + 0.09680453953561574 + ], + "intended_face_normal": [ + -0.05095545685641767, + -0.3085559944915808, + 0.9498405350662971 + ], + "commanded_contact_point": [ + 0.7816944169998169, + -14.862245772234264, + 0.044260919552798386 + ], + "centerline_face_intersection": [ + 0.8005532252965497, + -14.863799484322785, + 0.044260919552798386 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.780088484287262, + -14.866446495056152, + 0.057438746094703674 + ], + "box_pose": [ + 0.9381572008132935, + -14.869626998901367, + 0.041615262627601624, + 0.37398967146873474, + -0.5957045555114746, + 0.45371106266975403, + -0.5471876263618469 + ], + "box_yaw_rad": -1.6989873459947589, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001553712088521307, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021239025614896326 + } + } + }, + { + "simulation_time_ns": 7760000000, + "center": [ + 0.9273697471905595, + -14.862216524316821, + 0.04407177313695265 + ], + "face_center": [ + 0.9239257746694611, + -14.877893879497323, + 0.09701022751584476 + ], + "face_normal": [ + -0.06225731503203491, + -0.28340238906156934, + 0.9569780279560689 + ], + "footprint_xy": [ + [ + 0.7953608449774715, + -14.967920580357475 + ], + [ + 1.0593786494036477, + -14.967920580357475 + ], + [ + 1.0593786494036477, + -14.756512468276165 + ], + [ + 0.7953608449774715, + -14.756512468276165 + ] + ], + "projected_box_corners": [ + [ + 0.8150139465413417, + -14.787867178637171 + ], + [ + 1.0524907043614506, + -14.821403394615581 + ], + [ + 0.8219018915835387, + -14.756512468276165 + ], + [ + 1.0593786494036477, + -14.790048684254575 + ], + [ + 0.7953608449774715, + -14.934384364379067 + ], + [ + 1.0328376027975805, + -14.967920580357475 + ], + [ + 0.8022487900196684, + -14.90302965401806 + ], + [ + 1.0397255478397773, + -14.93656586999647 + ] + ], + "yaw_rad": -1.7041355663803497, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7857138514518738, + -14.861566543579102, + 0.05529025197029114 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9223298198281683, + -14.87858287899801, + 0.09695047775731438 + ], + "intended_face_normal": [ + -0.06166869062700897, + -0.2860236901167319, + 0.956236146690685 + ], + "commanded_contact_point": [ + 0.7830552208423615, + -14.861168657639592, + 0.04405306303280803 + ], + "centerline_face_intersection": [ + 0.804566441064315, + -14.862760517743942, + 0.04405306303280803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7841030359268188, + -14.863714218139648, + 0.05643872916698456 + ], + "box_pose": [ + 0.9423080682754517, + -14.868802070617676, + 0.04168213903903961, + 0.37558552622795105, + -0.5899047255516052, + 0.4646758735179901, + -0.5431614518165588 + ], + "box_yaw_rad": -1.704834827989166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001591860104349577, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017479036817976807 + } + } + }, + { + "simulation_time_ns": 7780000000, + "center": [ + 0.9274053902155736, + -14.862195562935543, + 0.04408495484836534 + ], + "face_center": [ + 0.9239589412246688, + -14.877863518578161, + 0.09702603994329836 + ], + "face_normal": [ + -0.06230208262525849, + -0.28323247191279677, + 0.9570255838864128 + ], + "footprint_xy": [ + [ + 0.7954042652808286, + -14.9678783434609 + ], + [ + 1.0594065151503185, + -14.9678783434609 + ], + [ + 1.0594065151503185, + -14.756512782410187 + ], + [ + 0.7954042652808286, + -14.756512782410187 + ] + ], + "projected_box_corners": [ + [ + 0.8150325145458482, + -14.787848693695425 + ], + [ + 1.052513617168509, + -14.821349985524295 + ], + [ + 0.8219254125276578, + -14.756512782410187 + ], + [ + 1.0594065151503185, + -14.790014074239057 + ], + [ + 0.7954042652808286, + -14.93437705163203 + ], + [ + 1.0328853679034895, + -14.9678783434609 + ], + [ + 0.8022971632626381, + -14.903041140346792 + ], + [ + 1.039778265885299, + -14.936542432175662 + ] + ], + "yaw_rad": -1.7039589059410722, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.786253809928894, + -14.859734535217285, + 0.056038081645965576 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9239257746694611, + -14.877893879497323, + 0.09701022751584476 + ], + "intended_face_normal": [ + -0.06225731503203491, + -0.28340238906156934, + 0.9569780279560689 + ], + "commanded_contact_point": [ + 0.7844433832168579, + -14.86065066344198, + 0.04407177313695265 + ], + "centerline_face_intersection": [ + 0.8061992620189986, + -14.862216524316821, + 0.04407177313695265 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7857138514518738, + -14.861566543579102, + 0.05529025197029114 + ], + "box_pose": [ + 0.9439405202865601, + -14.868258476257324, + 0.04172956943511963, + 0.3762761652469635, + -0.5889955759048462, + 0.46552664041519165, + -0.5429413318634033 + ], + "box_yaw_rad": -1.7041355663803497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001565860874840793, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014817769180022042 + } + } + }, + { + "simulation_time_ns": 7800000000, + "center": [ + 0.9274029961299356, + -14.8621925870403, + 0.044096542151781895 + ], + "face_center": [ + 0.9239536466429388, + -14.87785776215198, + 0.0970382545875676 + ], + "face_normal": [ + -0.062354515418448386, + -0.2831822077513948, + 0.9570369244406294 + ], + "footprint_xy": [ + [ + 0.7954004060194139, + -14.967873555318066 + ], + [ + 1.0594055862404574, + -14.967873555318066 + ], + [ + 1.0594055862404574, + -14.756511618762534 + ], + [ + 0.7954004060194139, + -14.756511618762534 + ] + ], + "projected_box_corners": [ + [ + 0.8150261129701846, + -14.787841968985893 + ], + [ + 1.0525068872664638, + -14.821342861163645 + ], + [ + 0.8219248119441782, + -14.756511618762534 + ], + [ + 1.0594055862404574, + -14.790012510940286 + ], + [ + 0.7954004060194139, + -14.934372663140314 + ], + [ + 1.032881180315693, + -14.967873555318066 + ], + [ + 0.8022991049934074, + -14.903042312916956 + ], + [ + 1.0397798792896866, + -14.936543205094708 + ] + ], + "yaw_rad": -1.703939763614223, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7829562425613403, + -14.856332778930664, + 0.05768677592277527 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9239589412246688, + -14.877863518578161, + 0.09702603994329836 + ], + "intended_face_normal": [ + -0.06230208262525849, + -0.28323247191279677, + 0.9570255838864128 + ], + "commanded_contact_point": [ + 0.7857802855968475, + -14.860728143169434, + 0.04408495484836534 + ], + "centerline_face_intersection": [ + 0.8062371219018062, + -14.862195562935543, + 0.04408495484836534 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.786253809928894, + -14.859734535217285, + 0.056038081645965576 + ], + "box_pose": [ + 0.9439772367477417, + -14.86823558807373, + 0.041745349764823914, + 0.37634819746017456, + -0.588901162147522, + 0.4655596613883972, + -0.5429657101631165 + ], + "box_yaw_rad": -1.7039589059410722, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014674197661104658, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013392105283725724 + } + } + }, + { + "simulation_time_ns": 7820000000, + "center": [ + 0.9273990684867532, + -14.862186609330346, + 0.044107060227503145 + ], + "face_center": [ + 0.9239449458588861, + -14.877844919001863, + 0.09705049813308096 + ], + "face_normal": [ + -0.06244080035046906, + -0.2830580999461283, + 0.9570681160705767 + ], + "footprint_xy": [ + [ + 0.7953941274873102, + -14.967862938598278 + ], + [ + 1.0594040094861965, + -14.967862938598278 + ], + [ + 1.0594040094861965, + -14.756510280062411 + ], + [ + 0.7953941274873102, + -14.756510280062411 + ] + ], + "projected_box_corners": [ + [ + 0.8150153661217698, + -14.787826899405445 + ], + [ + 1.052495764230462, + -14.821326375513715 + ], + [ + 0.8219236113775044, + -14.756510280062411 + ], + [ + 1.0594040094861965, + -14.790009756170681 + ], + [ + 0.7953941274873102, + -14.934363462490008 + ], + [ + 1.0328745255960023, + -14.967862938598278 + ], + [ + 0.8023023727430446, + -14.903046843146974 + ], + [ + 1.0397827708517366, + -14.936546319255244 + ] + ], + "yaw_rad": -1.7039045382458167, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7776198387145996, + -14.853079795837402, + 0.057688504457473755 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9239536466429388, + -14.87785776215198, + 0.0970382545875676 + ], + "intended_face_normal": [ + -0.062354515418448386, + -0.2831822077513948, + 0.9570369244406294 + ], + "commanded_contact_point": [ + 0.7869618284702301, + -14.860959559598575, + 0.044096542151781895 + ], + "centerline_face_intersection": [ + 0.8062345602963376, + -14.8621925870403, + 0.044096542151781895 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7829562425613403, + -14.856332778930664, + 0.05768677592277527 + ], + "box_pose": [ + 0.9439749717712402, + -14.868232727050781, + 0.04175816848874092, + 0.3763498067855835, + -0.5888738632202148, + 0.4655853509902954, + -0.5429720282554626 + ], + "box_yaw_rad": -1.703939763614223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012330274417250552, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012040479188629063 + } + } + }, + { + "simulation_time_ns": 7840000000, + "center": [ + 0.9273971153851539, + -14.862184614370657, + 0.044115261978161555 + ], + "face_center": [ + 0.9239407032030161, + -14.877840605771373, + 0.09705923132557694 + ], + "face_normal": [ + -0.06248218903769853, + -0.28301619214498075, + 0.9570777230409284 + ], + "footprint_xy": [ + [ + 0.795391048580695, + -14.96785937943015 + ], + [ + 1.0594031821896128, + -14.96785937943015 + ], + [ + 1.0594031821896128, + -14.756509849311163 + ], + [ + 0.795391048580695, + -14.756509849311163 + ] + ], + "projected_box_corners": [ + [ + 0.8150102015032219, + -14.787821832112597 + ], + [ + 1.0524903578253373, + -14.82132085639845 + ], + [ + 0.8219230258674974, + -14.756509849311163 + ], + [ + 1.0594031821896128, + -14.790008873597017 + ], + [ + 0.795391048580695, + -14.934360355144296 + ], + [ + 1.0328712049028104, + -14.96785937943015 + ], + [ + 0.8023038729449704, + -14.903048372342862 + ], + [ + 1.039784029267086, + -14.936547396628717 + ] + ], + "yaw_rad": -1.7038887963461233, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.776749849319458, + -14.853342056274414, + 0.05646824836730957 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9239449458588861, + -14.877844919001863, + 0.09705049813308096 + ], + "intended_face_normal": [ + -0.06244080035046906, + -0.2830580999461283, + 0.9570681160705767 + ], + "commanded_contact_point": [ + 0.7888633060455322, + -14.861317854428338, + 0.044107060227503145 + ], + "centerline_face_intersection": [ + 0.806230440712844, + -14.862186609330346, + 0.044107060227503145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7776198387145996, + -14.853079795837402, + 0.057688504457473755 + ], + "box_pose": [ + 0.9439712762832642, + -14.868227005004883, + 0.04177097603678703, + 0.37636473774909973, + -0.5888184309005737, + 0.4656399190425873, + -0.542975127696991 + ], + "box_yaw_rad": -1.7039045382458167, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008687549020073237, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001934968419465391 + } + } + }, + { + "simulation_time_ns": 7860000000, + "center": [ + 0.9273956983282936, + -14.862183670049355, + 0.044122853719340764 + ], + "face_center": [ + 0.9239375218154963, + -14.877838443427772, + 0.0970670740108848 + ], + "face_normal": [ + -0.06251408316258633, + -0.2829941737352666, + 0.9570822594033928 + ], + "footprint_xy": [ + [ + 0.795388922783781, + -14.96785725767796 + ], + [ + 1.0594024738728063, + -14.96785725767796 + ], + [ + 1.0594024738728063, + -14.75651008242075 + ], + [ + 0.795388922783781, + -14.75651008242075 + ] + ], + "projected_box_corners": [ + [ + 0.8150059928911282, + -14.787819629177584 + ], + [ + 1.0524861208472114, + -14.82131760425305 + ], + [ + 0.821922345916723, + -14.75651008242075 + ], + [ + 1.0594024738728063, + -14.790008057496216 + ], + [ + 0.795388922783781, + -14.934359282602491 + ], + [ + 1.0328690507398641, + -14.96785725767796 + ], + [ + 0.8023052758093758, + -14.903049735845658 + ], + [ + 1.039785403765459, + -14.936547710921126 + ] + ], + "yaw_rad": -1.7038738186990332, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7809972763061523, + -14.855386734008789, + 0.05838465690612793 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9239407032030161, + -14.877840605771373, + 0.09705923132557694 + ], + "intended_face_normal": [ + -0.06248218903769853, + -0.28301619214498075, + 0.9570777230409284 + ], + "commanded_contact_point": [ + 0.791206841468811, + -14.8616695617925, + 0.044115261978161555 + ], + "centerline_face_intersection": [ + 0.8062283642453679, + -14.862184614370657, + 0.044115261978161555 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.776749849319458, + -14.853342056274414, + 0.05646824836730957 + ], + "box_pose": [ + 0.9439694285392761, + -14.86822509765625, + 0.04178016632795334, + 0.3763667643070221, + -0.5887961983680725, + 0.46566078066825867, + -0.5429798364639282 + ], + "box_yaw_rad": -1.7038887963461233, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005150525781576208, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023697940034699883 + } + } + }, + { + "simulation_time_ns": 7880000000, + "center": [ + 0.9273943886959176, + -14.862182533876483, + 0.04412837782831179 + ], + "face_center": [ + 0.923934807037004, + -14.877836556897252, + 0.09707272141829779 + ], + "face_normal": [ + -0.06253948424342681, + -0.2829806093841505, + 0.9570844882916596 + ], + "footprint_xy": [ + [ + 0.795386322681483, + -14.967856621126026 + ], + [ + 1.0594024547103522, + -14.967856621126026 + ], + [ + 1.0594024547103522, + -14.75650844662694 + ], + [ + 0.795386322681483, + -14.75650844662694 + ] + ], + "projected_box_corners": [ + [ + 0.8150036427452597, + -14.787816492668478 + ], + [ + 1.052483291392525, + -14.82131656027287 + ], + [ + 0.8219228060630869, + -14.75650844662694 + ], + [ + 1.0594024547103522, + -14.790008514231332 + ], + [ + 0.795386322681483, + -14.934356553521635 + ], + [ + 1.0328659713287482, + -14.967856621126026 + ], + [ + 0.8023054859993102, + -14.903048507480099 + ], + [ + 1.0397851346465754, + -14.93654857508449 + ] + ], + "yaw_rad": -1.7038751287447391, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.786681056022644, + -14.856179237365723, + 0.06145678460597992 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9239375218154963, + -14.877838443427772, + 0.0970670740108848 + ], + "intended_face_normal": [ + -0.06251408316258633, + -0.2829941737352666, + 0.9570822594033928 + ], + "commanded_contact_point": [ + 0.7934355187416077, + -14.861940494912819, + 0.044122853719340764 + ], + "centerline_face_intersection": [ + 0.8062269327153947, + -14.862183670049355, + 0.044122853719340764 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7809972763061523, + -14.855386734008789, + 0.05838465690612793 + ], + "box_pose": [ + 0.9439681172370911, + -14.868224143981934, + 0.04178846627473831, + 0.37636619806289673, + -0.5887807607650757, + 0.4656730592250824, + -0.5429865717887878 + ], + "box_yaw_rad": -1.7038738186990332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00024317513653499977, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022450979436319193 + } + } + }, + { + "simulation_time_ns": 7900000000, + "center": [ + 0.9299477638536547, + -14.86202843049541, + 0.0441935697044877 + ], + "face_center": [ + 0.9265397267674371, + -14.87796749785364, + 0.0970561527700104 + ], + "face_normal": [ + -0.06160770366711077, + -0.28813340749929317, + 0.9556064884825695 + ], + "footprint_xy": [ + [ + 0.7977334816570053, + -14.968273882320322 + ], + [ + 1.062162046050304, + -14.968273882320322 + ], + [ + 1.062162046050304, + -14.755782978670501 + ], + [ + 0.7977334816570053, + -14.755782978670501 + ] + ], + "projected_box_corners": [ + [ + 0.8179796613512405, + -14.787661113386957 + ], + [ + 1.0553459718778688, + -14.822059919025245 + ], + [ + 0.8247957355236757, + -14.755782978670501 + ], + [ + 1.062162046050304, + -14.790181784308787 + ], + [ + 0.7977334816570053, + -14.933875076682034 + ], + [ + 1.0350997921836338, + -14.968273882320322 + ], + [ + 0.8045495558294404, + -14.901996941965578 + ], + [ + 1.0419158663560688, + -14.936395747603864 + ] + ], + "yaw_rad": -1.7083909106225201, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7887766361236572, + -14.85338020324707, + 0.06030930578708649 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.923934807037004, + -14.877836556897252, + 0.09707272141829779 + ], + "intended_face_normal": [ + -0.06253948424342681, + -0.2829806093841505, + 0.9570844882916596 + ], + "commanded_contact_point": [ + 0.795392816066742, + -14.86217949060038, + 0.04412837782831179 + ], + "centerline_face_intersection": [ + 0.8062253785262403, + -14.862182533876483, + 0.04412837782831179 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.786681056022644, + -14.856179237365723, + 0.06145678460597992 + ], + "box_pose": [ + 0.943966805934906, + -14.868223190307617, + 0.04179447144269943, + 0.3763616383075714, + -0.5887727737426758, + 0.46568402647972107, + -0.5429888367652893 + ], + "box_yaw_rad": -1.7038751287447391, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 3.0432761045760966e-06, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019718423551161922 + } + } + }, + { + "simulation_time_ns": 7920000000, + "center": [ + 0.9302981879764529, + -14.862152498235695, + 0.04424806762450049 + ], + "face_center": [ + 0.9269858569543414, + -14.878353976683005, + 0.09703690167949355 + ], + "face_normal": [ + -0.05987760781209772, + -0.29287706028421745, + 0.9542733142618935 + ], + "footprint_xy": [ + [ + 0.7981466848973753, + -14.968536887404852 + ], + [ + 1.0624496910555306, + -14.968536887404852 + ], + [ + 1.0624496910555306, + -14.755768109066537 + ], + [ + 0.7981466848973753, + -14.755768109066537 + ] + ], + "projected_box_corners": [ + [ + 0.8184437861760032, + -14.788171065961158 + ], + [ + 1.0558250290113076, + -14.8225455153717 + ], + [ + 0.8250684482202262, + -14.755768109066537 + ], + [ + 1.0624496910555306, + -14.79014255847708 + ], + [ + 0.7981466848973753, + -14.93416243799431 + ], + [ + 1.0355279277326797, + -14.968536887404852 + ], + [ + 0.8047713469415982, + -14.901759481099688 + ], + [ + 1.0421525897769026, + -14.93613393051023 + ] + ], + "yaw_rad": -1.708940256321463, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7872153520584106, + -14.850645065307617, + 0.05576331913471222 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9265397267674371, + -14.87796749785364, + 0.0970561527700104 + ], + "intended_face_normal": [ + -0.06160770366711077, + -0.28813340749929317, + 0.9556064884825695 + ], + "commanded_contact_point": [ + 0.7975044596195221, + -14.86237131630924, + 0.0441935697044877 + ], + "centerline_face_intersection": [ + 0.8087208976728966, + -14.86202843049541, + 0.0441935697044877 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7887766361236572, + -14.85338020324707, + 0.06030930578708649 + ], + "box_pose": [ + 0.9464930891990662, + -14.86811637878418, + 0.04179131239652634, + 0.37423577904701233, + -0.5913291573524475, + 0.4646298289299011, + -0.5425832867622375 + ], + "box_yaw_rad": -1.7083909106225201, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003428858138290293, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002121340514226117 + } + } + }, + { + "simulation_time_ns": 7940000000, + "center": [ + 0.9303025127418048, + -14.862168747275794, + 0.04425476047773361 + ], + "face_center": [ + 0.9269952060352276, + -14.878390433386969, + 0.09703771111858106 + ], + "face_normal": [ + -0.059786782350187195, + -0.2932423578838659, + 0.9541669587187869 + ], + "footprint_xy": [ + [ + 0.7981537820941633, + -14.968565044759172 + ], + [ + 1.0624512433894462, + -14.968565044759172 + ], + [ + 1.0624512433894462, + -14.755772449792415 + ], + [ + 0.7981537820941633, + -14.755772449792415 + ] + ], + "projected_box_corners": [ + [ + 0.818454833033707, + -14.788215822014763 + ], + [ + 1.0558366299762918, + -14.82259123406388 + ], + [ + 0.8250694464468614, + -14.755772449792415 + ], + [ + 1.0624512433894462, + -14.790147861841533 + ], + [ + 0.7981537820941633, + -14.934189632710055 + ], + [ + 1.035535579036748, + -14.968565044759172 + ], + [ + 0.8047683955073177, + -14.901746260487707 + ], + [ + 1.0421501924499026, + -14.936121672536824 + ] + ], + "yaw_rad": -1.7089832090436203, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7832919955253601, + -14.853989601135254, + 0.050773441791534424 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9269858569543414, + -14.878353976683005, + 0.09703690167949355 + ], + "intended_face_normal": [ + -0.05987760781209772, + -0.29287706028421745, + 0.9542733142618935 + ], + "commanded_contact_point": [ + 0.8000616478919983, + -14.862955681366646, + 0.04424806762450049 + ], + "centerline_face_intersection": [ + 0.8090789474908171, + -14.862152498235695, + 0.04424806762450049 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7872153520584106, + -14.850645065307617, + 0.05576331913471222 + ], + "box_pose": [ + 0.9468404650688171, + -14.86822509765625, + 0.04178671911358833, + 0.37335604429244995, + -0.5929158329963684, + 0.46278151869773865, + -0.5430370569229126 + ], + "box_yaw_rad": -1.708940256321463, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008031831309521221, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026236738372924996 + } + } + }, + { + "simulation_time_ns": 7960000000, + "center": [ + 0.9302501554664113, + -14.86202662971825, + 0.044222663058506854 + ], + "face_center": [ + 0.9268767302794082, + -14.878064273929509, + 0.09705764474121287 + ], + "face_normal": [ + -0.06098201809614423, + -0.28991539912564335, + 0.9551075332862631 + ], + "footprint_xy": [ + [ + 0.7980702298312854, + -14.968305294424136 + ], + [ + 1.0624300811015372, + -14.968305294424136 + ], + [ + 1.0624300811015372, + -14.755747965012365 + ], + [ + 0.7980702298312854, + -14.755747965012365 + ] + ], + "projected_box_corners": [ + [ + 0.8183053416902892, + -14.787823253434881 + ], + [ + 1.055683230727531, + -14.822170318202602 + ], + [ + 0.8250521920642954, + -14.755747965012365 + ], + [ + 1.0624300811015372, + -14.790095029780085 + ], + [ + 0.7980702298312854, + -14.933958229656415 + ], + [ + 1.0354481188685272, + -14.968305294424136 + ], + [ + 0.8048170802052914, + -14.901882941233898 + ], + [ + 1.0421949692425334, + -14.936230006001619 + ] + ], + "yaw_rad": -1.7083900341992413, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7812119722366333, + -14.858684539794922, + 0.04854092001914978 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9269952060352276, + -14.878390433386969, + 0.09703771111858106 + ], + "intended_face_normal": [ + -0.059786782350187195, + -0.2932423578838659, + 0.9541669587187869 + ], + "commanded_contact_point": [ + 0.8029364395141602, + -14.863299096252367, + 0.04425476047773361 + ], + "centerline_face_intersection": [ + 0.8090835552115788, + -14.862168747275794, + 0.04425476047773361 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7832919955253601, + -14.853989601135254, + 0.050773441791534424 + ], + "box_pose": [ + 0.9468445777893066, + -14.868240356445312, + 0.041789524257183075, + 0.3732748329639435, + -0.5930294990539551, + 0.4626496732234955, + -0.5430812835693359 + ], + "box_yaw_rad": -1.7089832090436203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011303489765737153, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028952384096774192 + } + } + }, + { + "simulation_time_ns": 7980000000, + "center": [ + 0.9301436344307533, + -14.861730263346288, + 0.044153106251132765 + ], + "face_center": [ + 0.9266352102803671, + -14.8773895237349, + 0.09709268515592007 + ], + "face_normal": [ + -0.06342241880807009, + -0.28307528623122913, + 0.9569983562143491 + ], + "footprint_xy": [ + [ + 0.7978969923764011, + -14.96776678877336 + ], + [ + 1.0623902764851054, + -14.96776678877336 + ], + [ + 1.0623902764851054, + -14.755693737919215 + ], + [ + 0.7978969923764011, + -14.755693737919215 + ] + ], + "projected_box_corners": [ + [ + 0.8180066714134202, + -14.787012258696437 + ], + [ + 1.0553734281843332, + -14.821307322819079 + ], + [ + 0.8250235197141925, + -14.755693737919215 + ], + [ + 1.0623902764851054, + -14.789988802041858 + ], + [ + 0.7978969923764011, + -14.933471724650719 + ], + [ + 1.035263749147314, + -14.96776678877336 + ], + [ + 0.8049138406771734, + -14.902153203873496 + ], + [ + 1.0422805974480864, + -14.93644826799614 + ] + ], + "yaw_rad": -1.7072485184842285, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7850422263145447, + -14.859088897705078, + 0.04898490011692047 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9268767302794082, + -14.878064273929509, + 0.09705764474121287 + ], + "intended_face_normal": [ + -0.06098201809614423, + -0.28991539912564335, + 0.9551075332862631 + ], + "commanded_contact_point": [ + 0.8063426661491394, + -14.863290662291757, + 0.044222663058506854 + ], + "centerline_face_intersection": [ + 0.809029202332409, + -14.86202662971825, + 0.044222663058506854 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7812119722366333, + -14.858684539794922, + 0.04854092001914978 + ], + "box_pose": [ + 0.946795642375946, + -14.8681058883667, + 0.041799601167440414, + 0.3739437758922577, + -0.5918672680854797, + 0.46390554308891296, + -0.5428175926208496 + ], + "box_yaw_rad": -1.7083900341992413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012640325735068117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00340638830212509 + } + } + }, + { + "simulation_time_ns": 8000000000, + "center": [ + 0.9316327649038011, + -14.861358052028931, + 0.044154008536990266 + ], + "face_center": [ + 0.9280280012288411, + -14.87697060115864, + 0.09710091438658347 + ], + "face_normal": [ + -0.06516396584268946, + -0.2822308783437446, + 0.9571308067226525 + ], + "footprint_xy": [ + [ + 0.7989710291223895, + -14.96798307006441 + ], + [ + 1.0642945006852127, + -14.96798307006441 + ], + [ + 1.0642945006852127, + -14.754733033993453 + ], + [ + 0.7989710291223895, + -14.754733033993453 + ] + ], + "projected_box_corners": [ + [ + 0.8199207541225507, + -14.785958132252869 + ], + [ + 1.0570849733352927, + -14.821620037490808 + ], + [ + 0.8271302814724708, + -14.754733033993453 + ], + [ + 1.0642945006852127, + -14.790394939231394 + ], + [ + 0.7989710291223895, + -14.932321164826469 + ], + [ + 1.0361352483351314, + -14.96798307006441 + ], + [ + 0.8061805564723095, + -14.901096066567053 + ], + [ + 1.0433447756850514, + -14.936757971804994 + ] + ], + "yaw_rad": -1.7129660211762332, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7909027338027954, + -14.856590270996094, + 0.04845502972602844 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9266352102803671, + -14.8773895237349, + 0.09709268515592007 + ], + "intended_face_normal": [ + -0.06342241880807009, + -0.28307528623122913, + 0.9569983562143491 + ], + "commanded_contact_point": [ + 0.81031445145607, + -14.863099950545443, + 0.044153106251132765 + ], + "centerline_face_intersection": [ + 0.8089169961538385, + -14.861730263346288, + 0.044153106251132765 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7850422263145447, + -14.859088897705078, + 0.04898490011692047 + ], + "box_pose": [ + 0.9466956257820129, + -14.867825508117676, + 0.04181618243455887, + 0.37530627846717834, + -0.5894926190376282, + 0.4664842486381531, + -0.5422508716583252 + ], + "box_yaw_rad": -1.7072485184842285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013696871991552243, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003976969655904267 + } + } + }, + { + "simulation_time_ns": 8020000000, + "center": [ + 0.9366655905222842, + -14.860849266452568, + 0.04419428965307546 + ], + "face_center": [ + 0.9330051078918926, + -14.876629391665798, + 0.09708767210586824 + ], + "face_normal": [ + -0.06617120749177374, + -0.28526018155676347, + 0.9561632545845988 + ], + "footprint_xy": [ + [ + 0.803475414401962, + -14.968432560611369 + ], + [ + 1.0698557666426063, + -14.968432560611369 + ], + [ + 1.0698557666426063, + -14.753265972293766 + ], + [ + 0.803475414401962, + -14.753265972293766 + ] + ], + "projected_box_corners": [ + [ + 0.8256571000767721, + -14.784826222720227 + ], + [ + 1.0625348013818232, + -14.822409155751567 + ], + [ + 0.832978065337555, + -14.753265972293766 + ], + [ + 1.0698557666426063, + -14.790848905325106 + ], + [ + 0.803475414401962, + -14.930849627580029 + ], + [ + 1.0403531157070132, + -14.968432560611369 + ], + [ + 0.8107963796627449, + -14.899289377153568 + ], + [ + 1.047674080967796, + -14.936872310184908 + ] + ], + "yaw_rad": -1.7215488348271464, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7960009574890137, + -14.855591773986816, + 0.050515249371528625 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9280280012288411, + -14.87697060115864, + 0.09710091438658347 + ], + "intended_face_normal": [ + -0.06516396584268946, + -0.2822308783437446, + 0.9571308067226525 + ], + "commanded_contact_point": [ + 0.8146029758453369, + -14.862918450469401, + 0.044154008536990266 + ], + "centerline_face_intersection": [ + 0.8103025994279547, + -14.861358052028931, + 0.044154008536990266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7909027338027954, + -14.856590270996094, + 0.04845502972602844 + ], + "box_pose": [ + 0.948149561882019, + -14.867549896240234, + 0.04182201996445656, + 0.373710572719574, + -0.5904269218444824, + 0.46821466088294983, + -0.5408433079719543 + ], + "box_yaw_rad": -1.7129660211762332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015603984404687324, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004292363513154584 + } + } + }, + { + "simulation_time_ns": 8040000000, + "center": [ + 0.9417841003331221, + -14.860800881079605, + 0.044423853924898886 + ], + "face_center": [ + 0.9385881529801035, + -14.877874713501203, + 0.09694424586974756 + ], + "face_normal": [ + -0.057773719146638314, + -0.3086467610771102, + 0.9494206376169032 + ], + "footprint_xy": [ + [ + 0.8089276180872329, + -14.968992416409879 + ], + [ + 1.0746405825790113, + -14.968992416409879 + ], + [ + 1.0746405825790113, + -14.752609345749333 + ], + [ + 0.8089276180872329, + -14.752609345749333 + ] + ], + "projected_box_corners": [ + [ + 0.8312842536126082, + -14.78675701059253 + ], + [ + 1.068248687872974, + -14.82407981344282 + ], + [ + 0.8376761483186455, + -14.752609345749333 + ], + [ + 1.0746405825790113, + -14.789932148599624 + ], + [ + 0.8089276180872329, + -14.931669613559588 + ], + [ + 1.0458920523475987, + -14.968992416409879 + ], + [ + 0.8153195127932702, + -14.897521948716392 + ], + [ + 1.052283947053636, + -14.934844751566683 + ] + ], + "yaw_rad": -1.7238662014280586, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8008601665496826, + -14.856147766113281, + 0.057948142290115356 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9330051078918926, + -14.876629391665798, + 0.09708767210586824 + ], + "intended_face_normal": [ + -0.06617120749177374, + -0.28526018155676347, + 0.9561632545845988 + ], + "commanded_contact_point": [ + 0.8178550350666046, + -14.862619964591667, + 0.04419428965307546 + ], + "centerline_face_intersection": [ + 0.8151886688724274, + -14.860849266452568, + 0.04419428965307546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7960009574890137, + -14.855591773986816, + 0.050515249371528625 + ], + "box_pose": [ + 0.9531291127204895, + -14.867164611816406, + 0.04181718826293945, + 0.3706444501876831, + -0.593148410320282, + 0.46903368830680847, + -0.5392635464668274 + ], + "box_yaw_rad": -1.7215488348271464, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017706981390988134, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032659769696297145 + } + } + }, + { + "simulation_time_ns": 8060000000, + "center": [ + 0.946000139713763, + -14.861543731056614, + 0.04505946067834513 + ], + "face_center": [ + 0.9436544832232703, + -14.880467562014354, + 0.09698737280100042 + ], + "face_normal": [ + -0.04240285722110215, + -0.3420895196844622, + 0.9387102725618846 + ], + "footprint_xy": [ + [ + 0.8142436063294033, + -14.969562815686391 + ], + [ + 1.0777566730981225, + -14.969562815686391 + ], + [ + 1.0777566730981225, + -14.753524646426836 + ], + [ + 0.8142436063294033, + -14.753524646426836 + ] + ], + "projected_box_corners": [ + [ + 0.8357171651585887, + -14.791372308342318 + ], + [ + 1.0730653601171374, + -14.826190846990347 + ], + [ + 0.840408478139574, + -14.753524646426836 + ], + [ + 1.0777566730981225, + -14.788343185074865 + ], + [ + 0.8142436063294033, + -14.93474427703836 + ], + [ + 1.051591801287952, + -14.969562815686391 + ], + [ + 0.8189349193103885, + -14.896896615122879 + ], + [ + 1.0562831142689373, + -14.93171515377091 + ] + ], + "yaw_rad": -1.7194663698104007, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8050081729888916, + -14.859358787536621, + 0.061428770422935486 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9385881529801035, + -14.877874713501203, + 0.09694424586974756 + ], + "intended_face_normal": [ + -0.057773719146638314, + -0.3086467610771102, + 0.9494206376169032 + ], + "commanded_contact_point": [ + 0.8202228891849518, + -14.862757703817357, + 0.044423853924898886 + ], + "centerline_face_intersection": [ + 0.8203516412729788, + -14.860800881079605, + 0.044423853924898886 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8008601665496826, + -14.856147766113281, + 0.057948142290115356 + ], + "box_pose": [ + 0.9582358598709106, + -14.867030143737793, + 0.04175595939159393, + 0.3664200007915497, + -0.6008086800575256, + 0.4597966969013214, + -0.5416201949119568 + ], + "box_yaw_rad": -1.7238662014280586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001956822737751766, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023829404052482963 + } + } + }, + { + "simulation_time_ns": 8080000000, + "center": [ + 0.9501933091060717, + -14.862991883529066, + 0.04518184127074748 + ], + "face_center": [ + 0.9482549623859373, + -14.88189532887862, + 0.09713396838688984 + ], + "face_normal": [ + -0.03503984473088195, + -0.3417210053530564, + 0.9391480113849404 + ], + "footprint_xy": [ + [ + 0.8196578121316169, + -14.96931506262879 + ], + [ + 1.0807288060805265, + -14.96931506262879 + ], + [ + 1.0807288060805265, + -14.756668704429345 + ], + [ + 0.8196578121316169, + -14.756668704429345 + ] + ], + "projected_box_corners": [ + [ + 0.8389914706894284, + -14.794475595128452 + ], + [ + 1.0768521126402577, + -14.825567686441982 + ], + [ + 0.842868164129697, + -14.756668704429345 + ], + [ + 1.0807288060805265, + -14.787760795742873 + ], + [ + 0.8196578121316169, + -14.93822297131526 + ], + [ + 1.0575184540824463, + -14.96931506262879 + ], + [ + 0.8235345055718856, + -14.900416080616152 + ], + [ + 1.061395147522715, + -14.93150817192968 + ] + ], + "yaw_rad": -1.7044914875506798, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8092794418334961, + -14.86263656616211, + 0.06190052628517151 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9436544832232703, + -14.880467562014354, + 0.09698737280100042 + ], + "intended_face_normal": [ + -0.04240285722110215, + -0.3420895196844622, + 0.9387102725618846 + ], + "commanded_contact_point": [ + 0.8226539540290833, + -14.863587951535164, + 0.04505946067834513 + ], + "centerline_face_intersection": [ + 0.8247640209092475, + -14.861543731056614, + 0.04505946067834513 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8050081729888916, + -14.859358787536621, + 0.061428770422935486 + ], + "box_pose": [ + 0.9624800086021423, + -14.867498397827148, + 0.041971150785684586, + 0.36299511790275574, + -0.6101927161216736, + 0.4440605640411377, + -0.5465434789657593 + ], + "box_yaw_rad": -1.7194663698104007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002044220478551468, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002646390654140721 + } + } + }, + { + "simulation_time_ns": 8100000000, + "center": [ + 0.9552755538574089, + -14.864034004982464, + 0.04522308151565258 + ], + "face_center": [ + 0.9536472372905077, + -14.882943254160752, + 0.0971837372325532 + ], + "face_normal": [ + -0.02943537349860037, + -0.34182592221625185, + 0.9393021844455376 + ], + "footprint_xy": [ + [ + 0.8258107808563047, + -14.96886536753649 + ], + [ + 1.0847403268585132, + -14.96886536753649 + ], + [ + 1.0847403268585132, + -14.759202642428438 + ], + [ + 0.8258107808563047, + -14.759202642428438 + ] + ], + "projected_box_corners": [ + [ + 0.8432212189773235, + -14.797021140785013 + ], + [ + 1.0814836937247108, + -14.824846796791276 + ], + [ + 0.8464778521111258, + -14.759202642428438 + ], + [ + 1.0847403268585132, + -14.7870282984347 + ], + [ + 0.8258107808563047, + -14.941039711530227 + ], + [ + 1.064073255603692, + -14.96886536753649 + ], + [ + 0.8290674139901071, + -14.903221213173651 + ], + [ + 1.0673298887374945, + -14.931046869179914 + ] + ], + "yaw_rad": -1.6911027527018296, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8144803047180176, + -14.865057945251465, + 0.06250584125518799 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9482549623859373, + -14.88189532887862, + 0.09713396838688984 + ], + "intended_face_normal": [ + -0.03503984473088195, + -0.3417210053530564, + 0.9391480113849404 + ], + "commanded_contact_point": [ + 0.8252998340129852, + -14.865050316702296, + 0.04518184127074748 + ], + "centerline_face_intersection": [ + 0.8292183814087846, + -14.862991883529066, + 0.04518184127074748 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8092794418334961, + -14.86263656616211, + 0.06190052628517151 + ], + "box_pose": [ + 0.9667580127716064, + -14.868690490722656, + 0.04206444323062897, + 0.3685278594493866, + -0.6076757907867432, + 0.4396893382072449, + -0.5491726994514465 + ], + "box_yaw_rad": -1.7044914875506798, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002058433173229732, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030255858574251954 + } + } + }, + { + "simulation_time_ns": 8120000000, + "center": [ + 0.9604962404303992, + -14.864576299981277, + 0.04479037503537517 + ], + "face_center": [ + 0.9588206803810743, + -14.883470519072171, + 0.09675499859492318 + ], + "face_normal": [ + -0.030289402487056805, + -0.34155422060420904, + 0.9393739118557249 + ], + "footprint_xy": [ + [ + 0.8315445312889234, + -14.968529934066046 + ], + [ + 1.089447949571875, + -14.968529934066046 + ], + [ + 1.089447949571875, + -14.760622665896507 + ], + [ + 0.8315445312889234, + -14.760622665896507 + ] + ], + "projected_box_corners": [ + [ + 0.8476131026933547, + -14.798411104078296 + ], + [ + 1.0860968294732252, + -14.824350140660654 + ], + [ + 0.8509642227920046, + -14.760622665896507 + ], + [ + 1.089447949571875, + -14.786561702478865 + ], + [ + 0.8315445312889234, + -14.942590897483688 + ], + [ + 1.0700282580687936, + -14.968529934066046 + ], + [ + 0.8348956513875732, + -14.9048024593019 + ], + [ + 1.0733793781674437, + -14.930741495884257 + ] + ], + "yaw_rad": -1.6817864654097008, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.819922685623169, + -14.864677429199219, + 0.06442251801490784 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9536472372905077, + -14.882943254160752, + 0.0971837372325532 + ], + "intended_face_normal": [ + -0.02943537349860037, + -0.34182592221625185, + 0.9393021844455376 + ], + "commanded_contact_point": [ + 0.8279353725910187, + -14.866051480544934, + 0.04522308151565258 + ], + "centerline_face_intersection": [ + 0.8345046519663741, + -14.864034004982464, + 0.04522308151565258 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8144803047180176, + -14.865057945251465, + 0.06250584125518799 + ], + "box_pose": [ + 0.9719138741493225, + -14.869505882263184, + 0.04209154099225998, + 0.37300169467926025, + -0.6053205728530884, + 0.43584030866622925, + -0.5518151521682739 + ], + "box_yaw_rad": -1.6911027527018296, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0020174755624697144, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028195909976284684 + } + } + }, + { + "simulation_time_ns": 8140000000, + "center": [ + 0.9641870642603053, + -14.864383725468098, + 0.04473503347761248 + ], + "face_center": [ + 0.9624814292138618, + -14.883244606440824, + 0.09671079026030857 + ], + "face_normal": [ + -0.030833073657117183, + -0.3409515614039229, + 0.9395751691470089 + ], + "footprint_xy": [ + [ + 0.8351812887213734, + -14.968384106672401 + ], + [ + 1.0931928397992372, + -14.968384106672401 + ], + [ + 1.0931928397992372, + -14.760383344263795 + ], + [ + 0.8351812887213734, + -14.760383344263795 + ] + ], + "projected_box_corners": [ + [ + 0.8513119556543742, + -14.798105106209247 + ], + [ + 1.0897815697063502, + -14.824180483143422 + ], + [ + 0.8547232257472613, + -14.760383344263795 + ], + [ + 1.0931928397992372, + -14.786458721197969 + ], + [ + 0.8351812887213734, + -14.942308729738228 + ], + [ + 1.0736509027733494, + -14.968384106672401 + ], + [ + 0.8385925588142605, + -14.904586967792776 + ], + [ + 1.0770621728662366, + -14.930662344726949 + ] + ], + "yaw_rad": -1.6821935828740944, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8238309621810913, + -14.862366676330566, + 0.06465554237365723 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9588206803810743, + -14.883470519072171, + 0.09675499859492318 + ], + "intended_face_normal": [ + -0.030289402487056805, + -0.34155422060420904, + 0.9393739118557249 + ], + "commanded_contact_point": [ + 0.8301786231994629, + -14.86658973037503, + 0.04479037503537517 + ], + "centerline_face_intersection": [ + 0.8398373831130926, + -14.864576299981277, + 0.04479037503537517 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.819922685623169, + -14.864677429199219, + 0.06442251801490784 + ], + "box_pose": [ + 0.9771891236305237, + -14.869917869567871, + 0.04172492027282715, + 0.3747183680534363, + -0.6026741862297058, + 0.4345216155052185, + -0.5545818209648132 + ], + "box_yaw_rad": -1.6817864654097008, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0020134303937520332, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002347151693000834 + } + } + }, + { + "simulation_time_ns": 8160000000, + "center": [ + 0.9664952397350252, + -14.864081238654844, + 0.044640528055603236 + ], + "face_center": [ + 0.9646295051052246, + -14.882643980984815, + 0.0967180187245282 + ], + "face_normal": [ + -0.033727222822506064, + -0.3355620551603007, + 0.9414142310342868 + ], + "footprint_xy": [ + [ + 0.8372824775848677, + -14.968140426470182 + ], + [ + 1.0957080018851828, + -14.968140426470182 + ], + [ + 1.0957080018851828, + -14.760022050839508 + ], + [ + 0.8372824775848677, + -14.760022050839508 + ] + ], + "projected_box_corners": [ + [ + 0.8535522710076324, + -14.797147535499448 + ], + [ + 1.0919765326255815, + -14.823669283715628 + ], + [ + 0.8572837402672338, + -14.760022050839508 + ], + [ + 1.0957080018851828, + -14.78654379905569 + ], + [ + 0.8372824775848677, + -14.941618678254 + ], + [ + 1.0757067392028168, + -14.968140426470182 + ], + [ + 0.8410139468444691, + -14.90449319359406 + ], + [ + 1.079438208462418, + -14.931014941810242 + ] + ], + "yaw_rad": -1.6829400512939552, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.826311469078064, + -14.861175537109375, + 0.06078116595745087 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9624814292138618, + -14.883244606440824, + 0.09671079026030857 + ], + "intended_face_normal": [ + -0.030833073657117183, + -0.3409515614039229, + 0.9395751691470089 + ], + "commanded_contact_point": [ + 0.8321674513816834, + -14.866477837827352, + 0.04473503347761248 + ], + "centerline_face_intersection": [ + 0.8435210663031812, + -14.864383725468098, + 0.04473503347761248 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8238309621810913, + -14.862366676330566, + 0.06465554237365723 + ], + "box_pose": [ + 0.9808780550956726, + -14.869736671447754, + 0.041679129004478455, + 0.3746391832828522, + -0.6025417447090149, + 0.43493643403053284, + -0.5544540882110596 + ], + "box_yaw_rad": -1.6821935828740944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0020941123592533033, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001992741872053579 + } + } + }, + { + "simulation_time_ns": 8180000000, + "center": [ + 0.9671081686793453, + -14.863762316231751, + 0.04452751428488843 + ], + "face_center": [ + 0.9650401835389416, + -14.881868201114141, + 0.09675798244132741 + ], + "face_normal": [ + -0.03738334193404569, + -0.327303360334934, + 0.9441796327831753 + ], + "footprint_xy": [ + [ + 0.8377394853757913, + -14.967677138753686 + ], + [ + 1.0964768519828991, + -14.967677138753686 + ], + [ + 1.0964768519828991, + -14.759847493709819 + ], + [ + 0.8377394853757913, + -14.759847493709819 + ] + ], + "projected_box_corners": [ + [ + 0.8539359491390457, + -14.796059263474598 + ], + [ + 1.0923408817020919, + -14.822769172401951 + ], + [ + 0.8580719194198531, + -14.759847493709819 + ], + [ + 1.0964768519828991, + -14.786557402637172 + ], + [ + 0.8377394853757913, + -14.940967229826331 + ], + [ + 1.0761444179388375, + -14.967677138753686 + ], + [ + 0.8418754556565988, + -14.904755460061553 + ], + [ + 1.080280388219645, + -14.931465368988906 + ] + ], + "yaw_rad": -1.6821050385312784, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8270344138145447, + -14.859087944030762, + 0.057445794343948364 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9646295051052246, + -14.882643980984815, + 0.0967180187245282 + ], + "intended_face_normal": [ + -0.033727222822506064, + -0.3355620551603007, + 0.9414142310342868 + ], + "commanded_contact_point": [ + 0.83412278175354, + -14.866291579075916, + 0.044640528055603236 + ], + "centerline_face_intersection": [ + 0.8458062890101143, + -14.864081238654844, + 0.044640528055603236 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.826311469078064, + -14.861175537109375, + 0.06078116595745087 + ], + "box_pose": [ + 0.9831836223602295, + -14.869482040405273, + 0.04165539890527725, + 0.3751283586025238, + -0.6009817123413086, + 0.43760448694229126, + -0.5537166595458984 + ], + "box_yaw_rad": -1.6829400512939552, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002210340421072063, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001966453777839877 + } + } + }, + { + "simulation_time_ns": 8200000000, + "center": [ + 0.967377898746942, + -14.86273869924789, + 0.04431677460988956 + ], + "face_center": [ + 0.9648415567912442, + -14.87977287343376, + 0.09688601262994347 + ], + "face_normal": [ + -0.0458499129123382, + -0.3079298519669962, + 0.9503036369653302 + ], + "footprint_xy": [ + [ + 0.8375880150399906, + -14.96636599700461 + ], + [ + 1.0971677824538935, + -14.96636599700461 + ], + [ + 1.0971677824538935, + -14.75911140149117 + ], + [ + 0.8375880150399906, + -14.75911140149117 + ] + ], + "projected_box_corners": [ + [ + 0.8537734664009357, + -14.79317974986291 + ], + [ + 1.0920950985424978, + -14.820495317236842 + ], + [ + 0.8588461503123315, + -14.75911140149117 + ], + [ + 1.0971677824538935, + -14.786426968865102 + ], + [ + 0.8375880150399906, + -14.93905042963068 + ], + [ + 1.0759096471815528, + -14.96636599700461 + ], + [ + 0.8426606989513863, + -14.90498208125894 + ], + [ + 1.0809823310929485, + -14.932297648632872 + ] + ], + "yaw_rad": -1.6813018442475145, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8272983431816101, + -14.856582641601562, + 0.05586686730384827 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9650401835389416, + -14.881868201114141, + 0.09675798244132741 + ], + "intended_face_normal": [ + -0.03738334193404569, + -0.327303360334934, + 0.9441796327831753 + ], + "commanded_contact_point": [ + 0.83589280128479, + -14.866159631540864, + 0.04452751428488843 + ], + "centerline_face_intersection": [ + 0.8464094329079187, + -14.863762316231751, + 0.04452751428488843 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8270344138145447, + -14.859087944030762, + 0.057445794343948364 + ], + "box_pose": [ + 0.9838029146194458, + -14.86920166015625, + 0.04164988175034523, + 0.3765192925930023, + -0.5982121229171753, + 0.44111397862434387, + -0.5529865026473999 + ], + "box_yaw_rad": -1.6821050385312784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002397315309111649, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001778525064592609 + } + } + }, + { + "simulation_time_ns": 8220000000, + "center": [ + 0.9685391827725491, + -14.8622895150536, + 0.04425419531377858 + ], + "face_center": [ + 0.9659322907835308, + -14.878982386090067, + 0.09692935828807611 + ], + "face_normal": [ + -0.04712525864260897, + -0.30176005311883713, + 0.9522184615481919 + ], + "footprint_xy": [ + [ + 0.8389603411143518, + -14.965317003131174 + ], + [ + 1.0981180244307465, + -14.965317003131174 + ], + [ + 1.0981180244307465, + -14.759262026976025 + ], + [ + 0.8389603411143518, + -14.759262026976025 + ] + ], + "projected_box_corners": [ + [ + 0.8544919721927475, + -14.79264776904896 + ], + [ + 1.0929042404527098, + -14.819071212332828 + ], + [ + 0.8597057561707842, + -14.759262026976025 + ], + [ + 1.0981180244307465, + -14.785685470259892 + ], + [ + 0.8389603411143518, + -14.938893559847308 + ], + [ + 1.0773726093743141, + -14.965317003131174 + ], + [ + 0.8441741250923885, + -14.905507817774373 + ], + [ + 1.082586393352351, + -14.93193126105824 + ] + ], + "yaw_rad": -1.676601968670869, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8283941745758057, + -14.856517791748047, + 0.05600033700466156 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9648415567912442, + -14.87977287343376, + 0.09688601262994347 + ], + "intended_face_normal": [ + -0.0458499129123382, + -0.3079298519669962, + 0.9503036369653302 + ], + "commanded_contact_point": [ + 0.8373498964309692, + -14.865382256862855, + 0.04431677460988956 + ], + "centerline_face_intersection": [ + 0.8466369752165949, + -14.86273869924789, + 0.04431677460988956 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8272983431816101, + -14.856582641601562, + 0.05586686730384827 + ], + "box_pose": [ + 0.9840801954269409, + -14.868278503417969, + 0.04168513044714928, + 0.3795483112335205, + -0.5919674634933472, + 0.4494197964668274, + -0.5509441494941711 + ], + "box_yaw_rad": -1.6813018442475145, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002643557614964751, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001664887042909219 + } + } + }, + { + "simulation_time_ns": 8240000000, + "center": [ + 0.9695923945636868, + -14.862895131653723, + 0.04436300445184236 + ], + "face_center": [ + 0.9673543169433841, + -14.880305648127605, + 0.09682237294507894 + ], + "face_normal": [ + -0.04045813450012403, + -0.3147330596700808, + 0.9483175056296176 + ], + "footprint_xy": [ + [ + 0.8405586960898255, + -14.96575689932124 + ], + [ + 1.0986260930375482, + -14.96575689932124 + ], + [ + 1.0986260930375482, + -14.760033363986203 + ], + [ + 0.8405586960898255, + -14.760033363986203 + ] + ], + "projected_box_corners": [ + [ + 0.8555898391156238, + -14.794854396933971 + ], + [ + 1.0941499377969428, + -14.820076409188346 + ], + [ + 0.8600659943562292, + -14.760033363986203 + ], + [ + 1.0986260930375482, + -14.78525537624058 + ], + [ + 0.8405586960898255, + -14.940534887066864 + ], + [ + 1.0791187947711445, + -14.96575689932124 + ], + [ + 0.8450348513304309, + -14.905713854119098 + ], + [ + 1.0835949500117499, + -14.930935866373472 + ] + ], + "yaw_rad": -1.6736113384619966, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.829390287399292, + -14.85921573638916, + 0.05820274353027344 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9659322907835308, + -14.878982386090067, + 0.09692935828807611 + ], + "intended_face_normal": [ + -0.04712525864260897, + -0.30176005311883713, + 0.9522184615481919 + ], + "commanded_contact_point": [ + 0.8385967063903809, + -14.865163941600787, + 0.04425419531377858 + ], + "centerline_face_intersection": [ + 0.8478441607753768, + -14.8622895150536, + 0.04425419531377858 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8283941745758057, + -14.856517791748047, + 0.05600033700466156 + ], + "box_pose": [ + 0.9852681756019592, + -14.867785453796387, + 0.04170133173465729, + 0.3818991482257843, + -0.5890787243843079, + 0.45085808634757996, + -0.5512406229972839 + ], + "box_yaw_rad": -1.676601968670869, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002874426547186888, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012673250557143213 + } + } + }, + { + "simulation_time_ns": 8260000000, + "center": [ + 0.969924425323566, + -14.863722259271592, + 0.04450608973115002 + ], + "face_center": [ + 0.9680813105804731, + -14.882153711082326, + 0.09663099103788808 + ], + "face_normal": [ + -0.03331831903360438, + -0.3331886926649119, + 0.9422712817209913 + ], + "footprint_xy": [ + [ + 0.8410905125990555, + -14.967123946094317 + ], + [ + 1.0987583380480765, + -14.967123946094317 + ], + [ + 1.0987583380480765, + -14.760320572448867 + ], + [ + 0.8410905125990555, + -14.760320572448867 + ] + ], + "projected_box_corners": [ + [ + 0.8565079345090423, + -14.797183476070337 + ], + [ + 1.0950721085618906, + -14.822427101540626 + ], + [ + 0.8601941639952282, + -14.760320572448867 + ], + [ + 1.0987583380480765, + -14.785564197919157 + ], + [ + 0.8410905125990555, + -14.941880320624026 + ], + [ + 1.079654686651904, + -14.967123946094317 + ], + [ + 0.8447767420852414, + -14.905017417002558 + ], + [ + 1.0833409161380898, + -14.930261042472846 + ] + ], + "yaw_rad": -1.6769456504114961, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8287661075592041, + -14.86695384979248, + 0.05469571053981781 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9673543169433841, + -14.880305648127605, + 0.09682237294507894 + ], + "intended_face_normal": [ + -0.04045813450012403, + -0.3147330596700808, + 0.9483175056296176 + ], + "commanded_contact_point": [ + 0.8397162902355194, + -14.865916734011492, + 0.04436300445184236 + ], + "centerline_face_intersection": [ + 0.8489721646044796, + -14.862895131653723, + 0.04436300445184236 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.829390287399292, + -14.85921573638916, + 0.05820274353027344 + ], + "box_pose": [ + 0.9863355159759521, + -14.868268966674805, + 0.04164797067642212, + 0.3809206783771515, + -0.59256511926651, + 0.44444674253463745, + -0.5533832311630249 + ], + "box_yaw_rad": -1.6736113384619966, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003021602357769384, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001353515359512279 + } + } + }, + { + "simulation_time_ns": 8280000000, + "center": [ + 0.9700183520812942, + -14.864046477751565, + 0.04460046111126135 + ], + "face_center": [ + 0.9682999362318124, + -14.882856957653313, + 0.09659406360217586 + ], + "face_normal": [ + -0.03106411454848157, + -0.3400404521152858, + 0.9398977692466666 + ], + "footprint_xy": [ + [ + 0.8412482906630421, + -14.967632829699959 + ], + [ + 1.0987884134995463, + -14.967632829699959 + ], + [ + 1.0987884134995463, + -14.76046012580317 + ], + [ + 0.8412482906630421, + -14.76046012580317 + ] + ], + "projected_box_corners": [ + [ + 0.8567891677231192, + -14.798081085606668 + ], + [ + 1.0953515818005828, + -14.823315964735297 + ], + [ + 0.8602259994220826, + -14.76046012580317 + ], + [ + 1.0987884134995463, + -14.7856950049318 + ], + [ + 0.8412482906630421, + -14.94239795057133 + ], + [ + 1.0798107047405057, + -14.967632829699959 + ], + [ + 0.8446851223620055, + -14.904776990767832 + ], + [ + 1.0832475364394691, + -14.930011869896461 + ] + ], + "yaw_rad": -1.6780687493747082, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.826973557472229, + -14.879764556884766, + 0.04911690950393677 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9680813105804731, + -14.882153711082326, + 0.09663099103788808 + ], + "intended_face_normal": [ + -0.03331831903360438, + -0.3331886926649119, + 0.9422712817209913 + ], + "commanded_contact_point": [ + 0.8408306884765625, + -14.866614598008526, + 0.04450608973115002 + ], + "centerline_face_intersection": [ + 0.8493062559095055, + -14.863722259271592, + 0.04450608973115002 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8287661075592041, + -14.86695384979248, + 0.05469571053981781 + ], + "box_pose": [ + 0.9866459369659424, + -14.869041442871094, + 0.04156007245182991, + 0.3771679401397705, + -0.5989716053009033, + 0.43720704317092896, + -0.5548219084739685 + ], + "box_yaw_rad": -1.6769456504114961, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0028923387369338394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013226378926794358 + } + } + }, + { + "simulation_time_ns": 8300000000, + "center": [ + 0.9704957612559717, + -14.864704435260197, + 0.044579312000731834 + ], + "face_center": [ + 0.9689428257560351, + -14.883509451501977, + 0.09658009117345012 + ], + "face_normal": [ + -0.028072696298153232, + -0.3399416845444527, + 0.9400275034234653 + ], + "footprint_xy": [ + [ + 0.8424228744320993, + -14.967306690658024 + ], + [ + 1.0985686480798442, + -14.967306690658024 + ], + [ + 1.0985686480798442, + -14.76210217986237 + ], + [ + 0.8424228744320993, + -14.76210217986237 + ] + ], + "projected_box_corners": [ + [ + 0.8566866423582806, + -14.79971221234593 + ], + [ + 1.095462777079971, + -14.822837925811635 + ], + [ + 0.8597925133581538, + -14.76210217986237 + ], + [ + 1.0985686480798442, + -14.785227893328075 + ], + [ + 0.8424228744320993, + -14.94418097719232 + ], + [ + 1.0811990091537897, + -14.967306690658024 + ], + [ + 0.8455287454319724, + -14.906570944708761 + ], + [ + 1.0843048801536628, + -14.929696658174464 + ] + ], + "yaw_rad": -1.6692099103354652, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8274194002151489, + -14.887392044067383, + 0.048711538314819336 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9682999362318124, + -14.882856957653313, + 0.09659406360217586 + ], + "intended_face_normal": [ + -0.03106411454848157, + -0.3400404521152858, + 0.9398977692466666 + ], + "commanded_contact_point": [ + 0.842659478187561, + -14.86631009332317, + 0.04460046111126135 + ], + "centerline_face_intersection": [ + 0.8493992928162069, + -14.864046477751565, + 0.04460046111126135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.826973557472229, + -14.879764556884766, + 0.04911690950393677 + ], + "box_pose": [ + 0.9867327809333801, + -14.869343757629395, + 0.04157580807805061, + 0.3756714165210724, + -0.6012203693389893, + 0.4345696270465851, + -0.5554768443107605 + ], + "box_yaw_rad": -1.6780687493747082, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022636155716057992, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018563676542760245 + } + } + }, + { + "simulation_time_ns": 8320000000, + "center": [ + 0.9735644073738904, + -14.865367971048183, + 0.04459210794078932 + ], + "face_center": [ + 0.9721964088839237, + -14.884195320940737, + 0.0965899988695597 + ], + "face_normal": [ + -0.024729556473360503, + -0.34034541399453744, + 0.9399752921145037 + ], + "footprint_xy": [ + [ + 0.8462029572612702, + -14.967000894106858 + ], + [ + 1.1009258574865106, + -14.967000894106858 + ], + [ + 1.1009258574865106, + -14.763735047989506 + ], + [ + 0.8462029572612702, + -14.763735047989506 + ] + ], + "projected_box_corners": [ + [ + 0.8592207731953144, + -14.801389747774614 + ], + [ + 1.0981898605065772, + -14.822422276607194 + ], + [ + 0.861956770175248, + -14.763735047989506 + ], + [ + 1.1009258574865106, + -14.784767576822086 + ], + [ + 0.8462029572612702, + -14.94596836527428 + ], + [ + 1.085172044572533, + -14.967000894106858 + ], + [ + 0.8489389542412036, + -14.908313665489173 + ], + [ + 1.0879080415524665, + -14.92934619432175 + ] + ], + "yaw_rad": -1.6605938858930458, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8310312032699585, + -14.886521339416504, + 0.050356656312942505 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9689428257560351, + -14.883509451501977, + 0.09658009117345012 + ], + "intended_face_normal": [ + -0.028072696298153232, + -0.3399416845444527, + 0.9400275034234653 + ], + "commanded_contact_point": [ + 0.8454259085655212, + -14.866060546479515, + 0.044579312000731834 + ], + "centerline_face_intersection": [ + 0.8499846641332577, + -14.864704435260197, + 0.044579312000731834 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8274194002151489, + -14.887392044067383, + 0.048711538314819336 + ], + "box_pose": [ + 0.9872564077377319, + -14.869854927062988, + 0.041556909680366516, + 0.37842807173728943, + -0.5994668006896973, + 0.43222835659980774, + -0.5573244094848633 + ], + "box_yaw_rad": -1.6692099103354652, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013561112193183809, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00277774331934313 + } + } + }, + { + "simulation_time_ns": 8340000000, + "center": [ + 0.9787598143876926, + -14.864569933439437, + 0.04459081704434549 + ], + "face_center": [ + 0.9772944596152717, + -14.883394875364031, + 0.09658693099537369 + ], + "face_normal": [ + -0.02648948362433501, + -0.3403018847215957, + 0.9399431693660141 + ], + "footprint_xy": [ + [ + 0.8509428039118184, + -14.966845223141034 + ], + [ + 1.1065768248635668, + -14.966845223141034 + ], + [ + 1.1065768248635668, + -14.76229464373784 + ], + [ + 0.8509428039118184, + -14.76229464373784 + ] + ], + "projected_box_corners": [ + [ + 0.8648020790816691, + -14.799944527587028 + ], + [ + 1.1036461153187251, + -14.822349619825095 + ], + [ + 0.8677327886265107, + -14.76229464373784 + ], + [ + 1.1065768248635668, + -14.784699735975908 + ], + [ + 0.8509428039118184, + -14.944440130902965 + ], + [ + 1.0897868401488744, + -14.966845223141034 + ], + [ + 0.85387351345666, + -14.90679024705378 + ], + [ + 1.092717549693716, + -14.929195339291846 + ] + ], + "yaw_rad": -1.666418668989868, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8366594314575195, + -14.880143165588379, + 0.0536295622587204 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9721964088839237, + -14.884195320940737, + 0.0965899988695597 + ], + "intended_face_normal": [ + -0.024729556473360503, + -0.34034541399453744, + 0.9399752921145037 + ], + "commanded_contact_point": [ + 0.8484001207351685, + -14.865877947532768, + 0.04459210794078932 + ], + "centerline_face_intersection": [ + 0.8531506154236723, + -14.865367971048183, + 0.04459210794078932 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8310312032699585, + -14.886521339416504, + 0.050356656312942505 + ], + "box_pose": [ + 0.9903683662414551, + -14.870370864868164, + 0.04156229645013809, + 0.3810829222202301, + -0.5979503989219666, + 0.42965462803840637, + -0.5591315627098083 + ], + "box_yaw_rad": -1.6605938858930458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005099764845855523, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029798396167432686 + } + } + }, + { + "simulation_time_ns": 8360000000, + "center": [ + 0.9846745660038804, + -14.863306611523742, + 0.04458541861851974 + ], + "face_center": [ + 0.9829913673792275, + -14.88211713191005, + 0.09658015005956473 + ], + "face_normal": [ + -0.03042748639674997, + -0.34004118396202543, + 0.9399181774826495 + ], + "footprint_xy": [ + [ + 0.8559191629166719, + -14.966898108686832 + ], + [ + 1.113429969091089, + -14.966898108686832 + ], + [ + 1.113429969091089, + -14.759715114360649 + ], + [ + 0.8559191629166719, + -14.759715114360649 + ] + ], + "projected_box_corners": [ + [ + 0.871503303961304, + -14.797336155133268 + ], + [ + 1.110063571841783, + -14.822582111294064 + ], + [ + 0.8748697012106099, + -14.759715114360649 + ], + [ + 1.113429969091089, + -14.784961070521446 + ], + [ + 0.8559191629166719, + -14.941652152526036 + ], + [ + 1.094479430797151, + -14.966898108686832 + ], + [ + 0.8592855601659777, + -14.904031111753417 + ], + [ + 1.0978458280464567, + -14.929277067914214 + ] + ], + "yaw_rad": -1.6783657297478414, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8427470922470093, + -14.874491691589355, + 0.05793464183807373 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9772944596152717, + -14.883394875364031, + 0.09658693099537369 + ], + "intended_face_normal": [ + -0.02648948362433501, + -0.3403018847215957, + 0.9399431693660141 + ], + "commanded_contact_point": [ + 0.851017062664032, + -14.864456980638066, + 0.04459081704434549 + ], + "centerline_face_intersection": [ + 0.8582829776394134, + -14.864569933439437, + 0.04459081704434549 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8366594314575195, + -14.880143165588379, + 0.0536295622587204 + ], + "box_pose": [ + 0.9955341219902039, + -14.869668960571289, + 0.0415569543838501, + 0.3793773651123047, + -0.5991246104240417, + 0.43118658661842346, + -0.5578537583351135 + ], + "box_yaw_rad": -1.666418668989868, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00011295280137211508, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029778404324775445 + } + } + }, + { + "simulation_time_ns": 8380000000, + "center": [ + 0.989354542866611, + -14.86220787187269, + 0.044565703514440294 + ], + "face_center": [ + 0.987464062853749, + -14.880992087306787, + 0.096562814995799 + ], + "face_normal": [ + -0.034174549593959824, + -0.33956566457653814, + 0.9399612019024701 + ], + "footprint_xy": [ + [ + 0.8597555000372377, + -14.9669805662312 + ], + [ + 1.1189535856959842, + -14.9669805662312 + ], + [ + 1.1189535856959842, + -14.757435177514179 + ], + [ + 0.8597555000372377, + -14.757435177514179 + ] + ], + "projected_box_corners": [ + [ + 0.8769000754992498, + -14.795003608382371 + ], + [ + 1.1151726256702603, + -14.822835009108699 + ], + [ + 0.8806810355249737, + -14.757435177514179 + ], + [ + 1.1189535856959842, + -14.785266578240506 + ], + [ + 0.8597555000372377, + -14.939149165504872 + ], + [ + 1.0980280502082482, + -14.9669805662312 + ], + [ + 0.8635364600629617, + -14.901580734636681 + ], + [ + 1.1018090102339722, + -14.929412135363007 + ] + ], + "yaw_rad": -1.6891795052220846, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8476245403289795, + -14.86988639831543, + 0.05904632806777954 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9829913673792275, + -14.88211713191005, + 0.09658015005956473 + ], + "intended_face_normal": [ + -0.03042748639674997, + -0.34004118396202543, + 0.9399181774826495 + ], + "commanded_contact_point": [ + 0.8533807444572449, + -14.862746255519745, + 0.04458541861851974 + ], + "centerline_face_intersection": [ + 0.8640544215947178, + -14.863306611523742, + 0.04458541861851974 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8427470922470093, + -14.874491691589355, + 0.05793464183807373 + ], + "box_pose": [ + 1.0013866424560547, + -14.86860466003418, + 0.04154915735125542, + 0.37580761313438416, + -0.6014222502708435, + 0.4344514310359955, + -0.5552583932876587 + ], + "box_yaw_rad": -1.6783657297478414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005603560039966718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029178076004114824 + } + } + }, + { + "simulation_time_ns": 8400000000, + "center": [ + 0.9939606819851784, + -14.86089580037425, + 0.044476784636834556 + ], + "face_center": [ + 0.9915989478635104, + -14.8792334210163, + 0.09661385504574937 + ], + "face_normal": [ + -0.04269349547181989, + -0.33149248963401234, + 0.9424912647850938 + ], + "footprint_xy": [ + [ + 0.8630215537986714, + -14.967255024445382 + ], + [ + 1.1248998101716854, + -14.967255024445382 + ], + [ + 1.1248998101716854, + -14.754536576303117 + ], + [ + 0.8630215537986714, + -14.754536576303117 + ] + ], + "projected_box_corners": [ + [ + 0.8823956802541149, + -14.791211817587216 + ], + [ + 1.1201763419283495, + -14.823000478909512 + ], + [ + 0.8871191484974508, + -14.754536576303117 + ], + [ + 1.1248998101716854, + -14.78632523762541 + ], + [ + 0.8630215537986714, + -14.935466363123089 + ], + [ + 1.100802215472906, + -14.967255024445382 + ], + [ + 0.8677450220420073, + -14.898791121838988 + ], + [ + 1.105525683716242, + -14.930579783161283 + ] + ], + "yaw_rad": -1.7043025658766686, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8522402048110962, + -14.86548137664795, + 0.05831505358219147 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.987464062853749, + -14.880992087306787, + 0.096562814995799 + ], + "intended_face_normal": [ + -0.034174549593959824, + -0.33956566457653814, + 0.9399612019024701 + ], + "commanded_contact_point": [ + 0.8555544364452362, + -14.861340374810982, + 0.044565703514440294 + ], + "centerline_face_intersection": [ + 0.8685887478080544, + -14.86220787187269, + 0.044565703514440294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8476245403289795, + -14.86988639831543, + 0.05904632806777954 + ], + "box_pose": [ + 1.0060083866119385, + -14.867687225341797, + 0.0415312722325325, + 0.3725639581680298, + -0.6034034490585327, + 0.4375080168247223, + -0.5528896450996399 + ], + "box_yaw_rad": -1.6891795052220846, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008674970617062864, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00258878854124053 + } + } + }, + { + "simulation_time_ns": 8420000000, + "center": [ + 0.9992429700085284, + -14.859668867891354, + 0.04423922086379761 + ], + "face_center": [ + 0.9961266158540214, + -14.87661852342113, + 0.0968045947562089 + ], + "face_normal": [ + -0.05633489848131745, + -0.30640199291285164, + 0.9502337844300683 + ], + "footprint_xy": [ + [ + 0.866949058963989, + -14.966904599611043 + ], + [ + 1.1315368810530677, + -14.966904599611043 + ], + [ + 1.1315368810530677, + -14.752433136171664 + ], + [ + 0.866949058963989, + -14.752433136171664 + ] + ], + "projected_box_corners": [ + [ + 0.8880400173473579, + -14.786332447231214 + ], + [ + 1.125304172744054, + -14.82167278004279 + ], + [ + 0.8942727256563718, + -14.752433136171664 + ], + [ + 1.1315368810530677, + -14.787773468983241 + ], + [ + 0.866949058963989, + -14.931564266799468 + ], + [ + 1.1042132143606849, + -14.966904599611043 + ], + [ + 0.8731817672730028, + -14.897664955739918 + ], + [ + 1.1104459226696988, + -14.933005288551493 + ] + ], + "yaw_rad": -1.7150108653262173, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8573510646820068, + -14.861982345581055, + 0.0573648065328598 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9915989478635104, + -14.8792334210163, + 0.09661385504574937 + ], + "intended_face_normal": [ + -0.04269349547181989, + -0.33149248963401234, + 0.9424912647850938 + ], + "commanded_contact_point": [ + 0.8575201380252838, + -14.859844880261596, + 0.044476784636834556 + ], + "centerline_face_intersection": [ + 0.8729450629713219, + -14.86089580037425, + 0.044476784636834556 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8522402048110962, + -14.86548137664795, + 0.05831505358219147 + ], + "box_pose": [ + 1.0105304718017578, + -14.866674423217773, + 0.04153889790177345, + 0.3690390884876251, + -0.6038739085197449, + 0.4450437128543854, + -0.5487097501754761 + ], + "box_yaw_rad": -1.7043025658766686, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001050920112654266, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024715163798448288 + } + } + }, + { + "simulation_time_ns": 8440000000, + "center": [ + 1.0033724966131574, + -14.858682369276364, + 0.044058269271924966 + ], + "face_center": [ + 0.9997143686401938, + -14.874347654133123, + 0.09698593622458943 + ], + "face_normal": [ + -0.06612864192297607, + -0.2831841916330653, + 0.956783021698346 + ], + "footprint_xy": [ + [ + 0.8703218525809087, + -14.965956691241997 + ], + [ + 1.1364231406454062, + -14.965956691241997 + ], + [ + 1.1364231406454062, + -14.751408047310733 + ], + [ + 0.8703218525809087, + -14.751408047310733 + ] + ], + "projected_box_corners": [ + [ + 0.8921490826216347, + -14.782738617024249 + ], + [ + 1.129106884699479, + -14.819779628722582 + ], + [ + 0.8994653385675618, + -14.751408047310733 + ], + [ + 1.1364231406454062, + -14.788449059009064 + ], + [ + 0.8703218525809087, + -14.928915679543664 + ], + [ + 1.1072796546587529, + -14.965956691241997 + ], + [ + 0.8776381085268357, + -14.897585109830148 + ], + [ + 1.1145959106046799, + -14.93462612152848 + ] + ], + "yaw_rad": -1.7190216470359359, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8613557815551758, + -14.859447479248047, + 0.05630245804786682 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9961266158540214, + -14.87661852342113, + 0.0968045947562089 + ], + "intended_face_normal": [ + -0.05633489848131745, + -0.30640199291285164, + 0.9502337844300683 + ], + "commanded_contact_point": [ + 0.8591128039360046, + -14.858525408671111, + 0.04423922086379761 + ], + "centerline_face_intersection": [ + 0.8779639090651635, + -14.859668867891354, + 0.04423922086379761 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8573510646820068, + -14.861982345581055, + 0.0573648065328598 + ], + "box_pose": [ + 1.015749216079712, + -14.865768432617188, + 0.04160846769809723, + 0.36942267417907715, + -0.5982978343963623, + 0.45861300826072693, + -0.5433605909347534 + ], + "box_yaw_rad": -1.7150108653262173, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001143459220242276, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020818324926678107 + } + } + }, + { + "simulation_time_ns": 8460000000, + "center": [ + 1.0049819016115342, + -14.85818211755578, + 0.044071927860139665 + ], + "face_center": [ + 1.001333677920821, + -14.873806210086618, + 0.09701245421294838 + ], + "face_normal": [ + -0.06594960041888598, + -0.282439550496715, + 0.9570154834038327 + ], + "footprint_xy": [ + [ + 0.87203210720806, + -14.965266804525262 + ], + [ + 1.1379316960150083, + -14.965266804525262 + ], + [ + 1.1379316960150083, + -14.751097430586299 + ], + [ + 0.87203210720806, + -14.751097430586299 + ] + ], + "projected_box_corners": [ + [ + 0.8936221308626752, + -14.782345615647976 + ], + [ + 1.1306352486335818, + -14.819016751755514 + ], + [ + 0.9009185782441016, + -14.751097430586299 + ], + [ + 1.1379316960150083, + -14.787768566693837 + ], + [ + 0.87203210720806, + -14.928595668417724 + ], + [ + 1.1090452249789668, + -14.965266804525262 + ], + [ + 0.8793285545894866, + -14.897347483356047 + ], + [ + 1.1163416723603932, + -14.934018619463584 + ] + ], + "yaw_rad": -1.7173617912227985, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.862984836101532, + -14.857427597045898, + 0.05512014031410217 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9997143686401938, + -14.874347654133123, + 0.09698593622458943 + ], + "intended_face_normal": [ + -0.06612864192297607, + -0.2831841916330653, + 0.956783021698346 + ], + "commanded_contact_point": [ + 0.8605013835430145, + -14.857508305657255, + 0.044058269271924966 + ], + "centerline_face_intersection": [ + 0.8819366387949844, + -14.858682369276364, + 0.044058269271924966 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8613557815551758, + -14.859447479248047, + 0.05630245804786682 + ], + "box_pose": [ + 1.019851565361023, + -14.86496639251709, + 0.04170602560043335, + 0.37178847193717957, + -0.5920209288597107, + 0.46923473477363586, + -0.5395399332046509 + ], + "box_yaw_rad": -1.7190216470359359, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011740636191095869, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017307210475406654 + } + } + }, + { + "simulation_time_ns": 8480000000, + "center": [ + 1.0050125372320902, + -14.858167010971158, + 0.04408673679412836 + ], + "face_center": [ + 1.001360787311544, + -14.873782686215351, + 0.09702950992349216 + ], + "face_normal": [ + -0.0660133447142428, + -0.2822873896815139, + 0.9570560987905523 + ], + "footprint_xy": [ + [ + 0.872070121802677, + -14.96523055441808 + ], + [ + 1.1379549526615036, + -14.96523055441808 + ], + [ + 1.1379549526615036, + -14.751103467524237 + ], + [ + 0.872070121802677, + -14.751103467524237 + ] + ], + "projected_box_corners": [ + [ + 0.8936334484928155, + -14.782334818012625 + ], + [ + 1.1306514528204112, + -14.818969713866107 + ], + [ + 0.9009369483339078, + -14.751103467524237 + ], + [ + 1.1379549526615036, + -14.787738363377718 + ], + [ + 0.872070121802677, + -14.928595658564598 + ], + [ + 1.1090881261302727, + -14.96523055441808 + ], + [ + 0.8793736216437693, + -14.89736430807621 + ], + [ + 1.116391625971365, + -14.933999203929691 + ] + ], + "yaw_rad": -1.717172493023626, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.863557755947113, + -14.855597496032715, + 0.05581960082054138 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.001333677920821, + -14.873806210086618, + 0.09701245421294838 + ], + "intended_face_normal": [ + -0.06594960041888598, + -0.282439550496715, + 0.9570154834038327 + ], + "commanded_contact_point": [ + 0.8619186329841614, + -14.857038234757065, + 0.044071927860139665 + ], + "centerline_face_intersection": [ + 0.8835743852991015, + -14.85818211755578, + 0.044071927860139665 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.862984836101532, + -14.857427597045898, + 0.05512014031410217 + ], + "box_pose": [ + 1.0214712619781494, + -14.864442825317383, + 0.041729651391506195, + 0.37241998314857483, + -0.5914545059204102, + 0.46913066506385803, + -0.5398160815238953 + ], + "box_yaw_rad": -1.7173617912227985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011438827987143422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014932344714307458 + } + } + }, + { + "simulation_time_ns": 8500000000, + "center": [ + 1.0050098631202007, + -14.85816507348189, + 0.04409862069127411 + ], + "face_center": [ + 1.0013547390938164, + -14.873778680989394, + 0.09704175840382998 + ], + "face_normal": [ + -0.06607433903658944, + -0.28225001083086454, + 0.957062689426948 + ], + "footprint_xy": [ + [ + 0.8720659610995273, + -14.965226902361305 + ], + [ + 1.137953765140874, + -14.965226902361305 + ], + [ + 1.137953765140874, + -14.751103244602474 + ], + [ + 0.8720659610995273, + -14.751103244602474 + ] + ], + "projected_box_corners": [ + [ + 0.8936258103698659, + -14.782330459617482 + ], + [ + 1.1306435170881057, + -14.81896426309303 + ], + [ + 0.9009360584226341, + -14.751103244602474 + ], + [ + 1.137953765140874, + -14.787737048078021 + ], + [ + 0.8720659610995273, + -14.928593098885758 + ], + [ + 1.1090836678177671, + -14.965226902361305 + ], + [ + 0.8793762091522955, + -14.89736588387075 + ], + [ + 1.1163939158705354, + -14.933999687346297 + ] + ], + "yaw_rad": -1.7171474490255179, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8602126836776733, + -14.8521146774292, + 0.057410046458244324 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.001360787311544, + -14.873782686215351, + 0.09702950992349216 + ], + "intended_face_normal": [ + -0.0660133447142428, + -0.2822873896815139, + 0.9570560987905523 + ], + "commanded_contact_point": [ + 0.8632736551761627, + -14.857125908769982, + 0.04408673679412836 + ], + "centerline_face_intersection": [ + 0.8836075239561362, + -14.858167010971158, + 0.04408673679412836 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.863557755947113, + -14.855597496032715, + 0.05581960082054138 + ], + "box_pose": [ + 1.0215030908584595, + -14.864425659179688, + 0.04174733906984329, + 0.3724837899208069, + -0.5913572907447815, + 0.46916109323501587, + -0.5398522615432739 + ], + "box_yaw_rad": -1.717172493023626, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010411022011766117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013579363673909804 + } + } + }, + { + "simulation_time_ns": 8520000000, + "center": [ + 1.0050076003206179, + -14.858162146286448, + 0.04410820411222082 + ], + "face_center": [ + 1.0013499077152792, + -14.873774124414563, + 0.09705164824832714 + ], + "face_normal": [ + -0.06612077170356656, + -0.2822205562445603, + 0.9570682287009689 + ], + "footprint_xy": [ + [ + 0.8720623543297641, + -14.965222912172047 + ], + [ + 1.1379528463114714, + -14.965222912172047 + ], + [ + 1.1379528463114714, + -14.751101380400847 + ], + [ + 0.8720623543297641, + -14.751101380400847 + ] + ], + "projected_box_corners": [ + [ + 0.8936199920272863, + -14.78232533665708 + ], + [ + 1.1306374611007943, + -14.818958881177483 + ], + [ + 0.9009353772379634, + -14.751101380400847 + ], + [ + 1.1379528463114714, + -14.78773492492125 + ], + [ + 0.8720623543297641, + -14.928589367651645 + ], + [ + 1.1090798234032722, + -14.965222912172047 + ], + [ + 0.8793777395404413, + -14.89736541139541 + ], + [ + 1.1163952086139493, + -14.933998955915815 + ] + ], + "yaw_rad": -1.7171312773699106, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8547120094299316, + -14.849101066589355, + 0.05729666352272034 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0013547390938164, + -14.873778680989394, + 0.09704175840382998 + ], + "intended_face_normal": [ + -0.06607433903658944, + -0.28225001083086454, + 0.957062689426948 + ], + "commanded_contact_point": [ + 0.8644449162483215, + -14.857365987122822, + 0.04409862069127411 + ], + "centerline_face_intersection": [ + 0.883604697403029, + -14.85816507348189, + 0.04409862069127411 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8602126836776733, + -14.8521146774292, + 0.057410046458244324 + ], + "box_pose": [ + 1.021500587463379, + -14.864423751831055, + 0.04176054522395134, + 0.37248027324676514, + -0.5913297533988953, + 0.4691838026046753, + -0.5398648381233215 + ], + "box_yaw_rad": -1.7171474490255179, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007990863590689639, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011956719205821345 + } + } + }, + { + "simulation_time_ns": 8540000000, + "center": [ + 1.0050045071607603, + -14.858158199937591, + 0.04411580183925135 + ], + "face_center": [ + 1.0013428604518337, + -14.873764192801023, + 0.09706074097557682 + ], + "face_normal": [ + -0.06619225075029078, + -0.28211235953082436, + 0.957095254090703 + ], + "footprint_xy": [ + [ + 0.8720576693750424, + -14.96521432718647 + ], + [ + 1.1379513449464782, + -14.96521432718647 + ], + [ + 1.1379513449464782, + -14.751102072688713 + ], + [ + 0.8720576693750424, + -14.751102072688713 + ] + ], + "projected_box_corners": [ + [ + 0.8936106930861752, + -14.782314058415578 + ], + [ + 1.1306280515286249, + -14.818945041991732 + ], + [ + 0.9009339865040286, + -14.751102072688713 + ], + [ + 1.1379513449464782, + -14.787733056264868 + ], + [ + 0.8720576693750424, + -14.928583343610315 + ], + [ + 1.1090750278174921, + -14.96521432718647 + ], + [ + 0.8793809627928957, + -14.897371357883449 + ], + [ + 1.1163983212353454, + -14.934002341459603 + ] + ], + "yaw_rad": -1.7170952215583768, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.853916347026825, + -14.8495512008667, + 0.05611397325992584 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0013499077152792, + -14.873774124414563, + 0.09705164824832714 + ], + "intended_face_normal": [ + -0.06612077170356656, + -0.2822205562445603, + 0.9570682287009689 + ], + "commanded_contact_point": [ + 0.8663339066505432, + -14.857725503115264, + 0.04410820411222082 + ], + "centerline_face_intersection": [ + 0.8836023128769838, + -14.858162146286448, + 0.04410820411222082 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8547120094299316, + -14.849101066589355, + 0.05729666352272034 + ], + "box_pose": [ + 1.021498441696167, + -14.864420890808105, + 0.04177112132310867, + 0.37247729301452637, + -0.5913093686103821, + 0.46920186281204224, + -0.5398736000061035 + ], + "box_yaw_rad": -1.7171312773699106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004366431711852652, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019229218212042992 + } + } + }, + { + "simulation_time_ns": 8560000000, + "center": [ + 1.0050029319420404, + -14.858155437970531, + 0.04412308484573735 + ], + "face_center": [ + 1.0013393032659927, + -14.87376055611576, + 0.09706814117001836 + ], + "face_normal": [ + -0.06622807912890849, + -0.2820965470914256, + 0.9570973725186 + ], + "footprint_xy": [ + [ + 0.8720555919846853, + -14.965210112914043 + ], + [ + 1.1379502718993955, + -14.965210112914043 + ], + [ + 1.1379502718993955, + -14.75110076302702 + ], + [ + 0.8720555919846853, + -14.75110076302702 + ] + ], + "projected_box_corners": [ + [ + 0.893605592199965, + -14.782310999317477 + ], + [ + 1.1306230145473002, + -14.818939893527375 + ], + [ + 0.9009328495520603, + -14.75110076302702 + ], + [ + 1.1379502718993955, + -14.787729657236918 + ], + [ + 0.8720555919846853, + -14.928581218704144 + ], + [ + 1.1090730143320204, + -14.965210112914043 + ], + [ + 0.8793828493367806, + -14.897370982413687 + ], + [ + 1.1164002716841157, + -14.933999876623586 + ] + ], + "yaw_rad": -1.717074069048157, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8581867218017578, + -14.851726531982422, + 0.057947903871536255 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0013428604518337, + -14.873764192801023, + 0.09706074097557682 + ], + "intended_face_normal": [ + -0.06619225075029078, + -0.28211235953082436, + 0.957095254090703 + ], + "commanded_contact_point": [ + 0.8686516630649567, + -14.858065836729242, + 0.04411580183925135 + ], + "centerline_face_intersection": [ + 0.883599163049566, + -14.858158199937591, + 0.04411580183925135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.853916347026825, + -14.8495512008667, + 0.05611397325992584 + ], + "box_pose": [ + 1.0214955806732178, + -14.86441707611084, + 0.04178069904446602, + 0.3724922835826874, + -0.5912604331970215, + 0.46924760937690735, + -0.53987717628479 + ], + "box_yaw_rad": -1.7170952215583768, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 9.236320834958003e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023426223534352515 + } + } + }, + { + "simulation_time_ns": 8580000000, + "center": [ + 1.005001561245149, + -14.858154458212763, + 0.04412872799380865 + ], + "face_center": [ + 1.0013364473582318, + -14.87375922285923, + 0.0970737811302897 + ], + "face_normal": [ + -0.06625492755479456, + -0.28209015683026983, + 0.9570973148921631 + ], + "footprint_xy": [ + [ + 0.8720534207848096, + -14.965208974117333 + ], + [ + 1.1379497017054883, + -14.965208974117333 + ], + [ + 1.1379497017054883, + -14.751099942308194 + ], + [ + 0.8720534207848096, + -14.751099942308194 + ] + ], + "projected_box_corners": [ + [ + 0.8936022590617132, + -14.782309471601128 + ], + [ + 1.1306194739316542, + -14.81893848624708 + ], + [ + 0.9009324868355473, + -14.751099942308194 + ], + [ + 1.1379497017054883, + -14.787728956954146 + ], + [ + 0.8720534207848096, + -14.92857995947138 + ], + [ + 1.1090706356547506, + -14.965208974117333 + ], + [ + 0.8793836485586437, + -14.897370430178448 + ], + [ + 1.1164008634285847, + -14.9339994448244 + ] + ], + "yaw_rad": -1.7170660293557494, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8639298677444458, + -14.852643966674805, + 0.06102699041366577 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0013393032659927, + -14.87376055611576, + 0.09706814117001836 + ], + "intended_face_normal": [ + -0.06622807912890849, + -0.2820965470914256, + 0.9570973725186 + ], + "commanded_contact_point": [ + 0.8708655285835266, + -14.858320231001706, + 0.04412308484573735 + ], + "centerline_face_intersection": [ + 0.883597620564282, + -14.858155437970531, + 0.04412308484573735 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8581867218017578, + -14.851726531982422, + 0.057947903871536255 + ], + "box_pose": [ + 1.0214941501617432, + -14.86441421508789, + 0.041788749396800995, + 0.3724900186061859, + -0.5912440419197083, + 0.46925783157348633, + -0.5398877263069153 + ], + "box_yaw_rad": -1.717074069048157, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00016479303117478313, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002228445651650205 + } + } + }, + { + "simulation_time_ns": 8600000000, + "center": [ + 1.0076689171573916, + -14.858010972348335, + 0.04419597628623493 + ], + "face_center": [ + 1.0040616683045989, + -14.873909027157646, + 0.09705768283217198 + ], + "face_normal": [ + -0.06520889085248527, + -0.2873920162243717, + 0.9555906434792654 + ], + "footprint_xy": [ + [ + 0.87455456084841, + -14.965585236156276 + ], + [ + 1.1407832734663732, + -14.965585236156276 + ], + [ + 1.1407832734663732, + -14.750436708540395 + ], + [ + 0.87455456084841, + -14.750436708540395 + ] + ], + "projected_box_corners": [ + [ + 0.8966581687570053, + -14.782232818159017 + ], + [ + 1.1335687757607875, + -14.819643211636622 + ], + [ + 0.9038726664625909, + -14.750436708540395 + ], + [ + 1.1407832734663732, + -14.787847102018 + ], + [ + 0.87455456084841, + -14.92817484267867 + ], + [ + 1.1114651678521923, + -14.965585236156276 + ], + [ + 0.8817690585539957, + -14.896378733060049 + ], + [ + 1.1186796655577778, + -14.933789126537654 + ] + ], + "yaw_rad": -1.721108675248622, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8661377429962158, + -14.849950790405273, + 0.05991561710834503 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0013364473582318, + -14.87375922285923, + 0.0970737811302897 + ], + "intended_face_normal": [ + -0.06625492755479456, + -0.28209015683026983, + 0.9570973148921631 + ], + "commanded_contact_point": [ + 0.8728200840950012, + -14.858539670905456, + 0.04412872799380865 + ], + "centerline_face_intersection": [ + 0.8835961435930104, + -14.858154458212763, + 0.04412872799380865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8639298677444458, + -14.852643966674805, + 0.06102699041366577 + ], + "box_pose": [ + 1.021492838859558, + -14.864413261413574, + 0.04179489612579346, + 0.37248507142066956, + -0.5912350416183472, + 0.4692651629447937, + -0.5398945212364197 + ], + "box_yaw_rad": -1.7170660293557494, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00038521269269310384, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001966843400963549 + } + } + }, + { + "simulation_time_ns": 8620000000, + "center": [ + 1.0080769164739378, + -14.858133706028626, + 0.044251743723288335 + ], + "face_center": [ + 1.0045669251799192, + -14.874304457283543, + 0.09703723082547377 + ], + "face_normal": [ + -0.06345074834735343, + -0.2923215992620207, + 0.9542128107897945 + ], + "footprint_xy": [ + [ + 0.8750334055103798, + -14.965840240780608 + ], + [ + 1.141120427437496, + -14.965840240780608 + ], + [ + 1.141120427437496, + -14.750427171276646 + ], + [ + 0.8750334055103798, + -14.750427171276646 + ] + ], + "projected_box_corners": [ + [ + 0.897169698258918, + -14.782768673786476 + ], + [ + 1.1341004448494587, + -14.82012627416423 + ], + [ + 0.9041896808469553, + -14.750427171276646 + ], + [ + 1.141120427437496, + -14.787784771654398 + ], + [ + 0.8750334055103798, + -14.928482640402855 + ], + [ + 1.1119641521009205, + -14.965840240780608 + ], + [ + 0.8820533880984172, + -14.896141137893025 + ], + [ + 1.1189841346889577, + -14.933498738270778 + ] + ], + "yaw_rad": -1.7215596500125685, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8647130727767944, + -14.847125053405762, + 0.05549217760562897 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0040616683045989, + -14.873909027157646, + 0.09705768283217198 + ], + "intended_face_normal": [ + -0.06520889085248527, + -0.2873920162243717, + 0.9555906434792654 + ], + "commanded_contact_point": [ + 0.8749426651000977, + -14.85871859231875, + 0.04419597628623493 + ], + "centerline_face_intersection": [ + 0.8862088680445526, + -14.858010972348335, + 0.04419597628623493 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8661377429962158, + -14.849950790405273, + 0.05991561710834503 + ], + "box_pose": [ + 1.0241354703903198, + -14.86430835723877, + 0.04179239645600319, + 0.3704686164855957, + -0.593723714351654, + 0.4680352509021759, + -0.5396184325218201 + ], + "box_yaw_rad": -1.721108675248622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007076199704155801, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002131169943520603 + } + } + }, + { + "simulation_time_ns": 8640000000, + "center": [ + 1.0080835212008867, + -14.858159860523592, + 0.04425955943094601 + ], + "face_center": [ + 1.004581622395038, + -14.874361062352817, + 0.09703624724839556 + ], + "face_normal": [ + -0.06330445897300763, + -0.2928720598089676, + 0.9540537445259076 + ], + "footprint_xy": [ + [ + 0.8750439852251435, + -14.965885189805059 + ], + [ + 1.14112305717663, + -14.965885189805059 + ], + [ + 1.14112305717663, + -14.750434531242128 + ], + [ + 0.8750439852251435, + -14.750434531242128 + ] + ], + "projected_box_corners": [ + [ + 0.897187992167906, + -14.782836934900576 + ], + [ + 1.1341192595649323, + -14.820197945482565 + ], + [ + 0.9041917897796039, + -14.750434531242128 + ], + [ + 1.14112305717663, + -14.787795541824117 + ], + [ + 0.8750439852251435, + -14.92852417922307 + ], + [ + 1.1119752526221696, + -14.965885189805059 + ], + [ + 0.8820477828368413, + -14.896121775564621 + ], + [ + 1.1189790502338675, + -14.93348278614661 + ] + ], + "yaw_rad": -1.7216386412188671, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8608368039131165, + -14.850171089172363, + 0.05067148804664612 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0045669251799192, + -14.874304457283543, + 0.09703723082547377 + ], + "intended_face_normal": [ + -0.06345074834735343, + -0.2923215992620207, + 0.9542128107897945 + ], + "commanded_contact_point": [ + 0.8775265562534332, + -14.859281672103956, + 0.044251743723288335 + ], + "centerline_face_intersection": [ + 0.8866271917079048, + -14.858133706028626, + 0.044251743723288335 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8647130727767944, + -14.847125053405762, + 0.05549217760562897 + ], + "box_pose": [ + 1.0245412588119507, + -14.864413261413574, + 0.04178713262081146, + 0.3695840537548065, + -0.595335066318512, + 0.4660974442958832, + -0.5401268005371094 + ], + "box_yaw_rad": -1.7215596500125685, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011479660753301619, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002645120478131113 + } + } + }, + { + "simulation_time_ns": 8660000000, + "center": [ + 1.0080351613505716, + -14.858023791383403, + 0.044228803638920566 + ], + "face_center": [ + 1.004472425872605, + -14.874049372982967, + 0.09705501212240522 + ], + "face_normal": [ + -0.06440421451354439, + -0.2896973411092869, + 0.9549489385749474 + ], + "footprint_xy": [ + [ + 0.8749669919182569, + -14.96563714313198 + ], + [ + 1.1411033307828864, + -14.96563714313198 + ], + [ + 1.1411033307828864, + -14.750410439634825 + ], + [ + 0.8749669919182569, + -14.750410439634825 + ] + ], + "projected_box_corners": [ + [ + 0.8970499154054296, + -14.782461602833955 + ], + [ + 1.133977859826953, + -14.819795757039792 + ], + [ + 0.9041753863613629, + -14.750410439634825 + ], + [ + 1.1411033307828864, + -14.787744593840664 + ], + [ + 0.8749669919182569, + -14.928302988926141 + ], + [ + 1.1118949363397803, + -14.96563714313198 + ], + [ + 0.8820924628741902, + -14.896251825727013 + ], + [ + 1.1190204072957137, + -14.93358597993285 + ] + ], + "yaw_rad": -1.7210721955601276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8586149215698242, + -14.854574203491211, + 0.04850345849990845 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.004581622395038, + -14.874361062352817, + 0.09703624724839556 + ], + "intended_face_normal": [ + -0.06330445897300763, + -0.2928720598089676, + 0.9540537445259076 + ], + "commanded_contact_point": [ + 0.8804251599311829, + -14.859627377452972, + 0.04425955943094601 + ], + "centerline_face_intersection": [ + 0.886634063397526, + -14.858159860523592, + 0.04425955943094601 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8608368039131165, + -14.850171089172363, + 0.05067148804664612 + ], + "box_pose": [ + 1.0245474576950073, + -14.8644380569458, + 0.04178877919912338, + 0.3694629967212677, + -0.5955120325088501, + 0.4658981263637543, + -0.5401865243911743 + ], + "box_yaw_rad": -1.7216386412188671, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014675169293793305, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029191568224896896 + } + } + }, + { + "simulation_time_ns": 8680000000, + "center": [ + 1.007934682490941, + -14.857735334239836, + 0.04416135899572495 + ], + "face_center": [ + 1.0042447417717206, + -14.873390629052393, + 0.09708976860967537 + ], + "face_normal": [ + -0.06670372669894675, + -0.28300359979465917, + 0.9567964469209223 + ], + "footprint_xy": [ + [ + 0.8748037141138729, + -14.965112431267487 + ], + [ + 1.1410656508680088, + -14.965112431267487 + ], + [ + 1.1410656508680088, + -14.750358237212186 + ], + [ + 0.8748037141138729, + -14.750358237212186 + ] + ], + "projected_box_corners": [ + [ + 0.8967677949590188, + -14.7816688268373 + ], + [ + 1.1336857694295683, + -14.818952620138779 + ], + [ + 0.9041476763974595, + -14.750358237212186 + ], + [ + 1.1410656508680088, + -14.787642030513664 + ], + [ + 0.8748037141138729, + -14.927828637966009 + ], + [ + 1.1117216885844223, + -14.965112431267487 + ], + [ + 0.8821835955523136, + -14.896518048340894 + ], + [ + 1.119101570022863, + -14.933801841642373 + ] + ], + "yaw_rad": -1.7199546450153338, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8623716831207275, + -14.85477352142334, + 0.048918336629867554 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.004472425872605, + -14.874049372982967, + 0.09705501212240522 + ], + "intended_face_normal": [ + -0.06440421451354439, + -0.2896973411092869, + 0.9549489385749474 + ], + "commanded_contact_point": [ + 0.8838490891456604, + -14.859629291828469, + 0.044228803638920566 + ], + "centerline_face_intersection": [ + 0.8865840001872545, + -14.858023791383403, + 0.044228803638920566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8586149215698242, + -14.854574203491211, + 0.04850345849990845 + ], + "box_pose": [ + 1.0245022773742676, + -14.864309310913086, + 0.04179816693067551, + 0.3701047897338867, + -0.5944107174873352, + 0.46709075570106506, + -0.5399301052093506 + ], + "box_yaw_rad": -1.7210721955601276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016055004450669958, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034240678803623965 + } + } + }, + { + "simulation_time_ns": 8700000000, + "center": [ + 1.0089145835887257, + -14.857486044259915, + 0.04415394141983649 + ], + "face_center": [ + 1.0051560388102003, + -14.87306107332731, + 0.09710120954388862 + ], + "face_normal": [ + -0.06794389470448436, + -0.2815526213817332, + 0.9571373556236615 + ], + "footprint_xy": [ + [ + 0.8755574556718374, + -14.965139146589468 + ], + [ + 1.1422717115056138, + -14.965139146589468 + ], + [ + 1.1422717115056138, + -14.749832941930363 + ], + [ + 0.8755574556718374, + -14.749832941930363 + ] + ], + "projected_box_corners": [ + [ + 0.8979547785134472, + -14.780983000065152 + ], + [ + 1.1347546219485634, + -14.818989631207138 + ], + [ + 0.9054718680704975, + -14.749832941930363 + ], + [ + 1.1422717115056138, + -14.787839573072347 + ], + [ + 0.8755574556718374, + -14.927132515447484 + ], + [ + 1.1123572991069537, + -14.965139146589468 + ], + [ + 0.8830745452288877, + -14.895982457312693 + ], + [ + 1.119874388664004, + -14.933989088454679 + ] + ], + "yaw_rad": -1.722862628842274, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8683353662490845, + -14.85201358795166, + 0.048472315073013306 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0042447417717206, + -14.873390629052393, + 0.09708976860967537 + ], + "intended_face_normal": [ + -0.06670372669894675, + -0.28300359979465917, + 0.9567964469209223 + ], + "commanded_contact_point": [ + 0.8878363418579102, + -14.859459307197563, + 0.04416135899572495 + ], + "centerline_face_intersection": [ + 0.886478410435868, + -14.857735334239836, + 0.04416135899572495 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8623716831207275, + -14.85477352142334, + 0.048918336629867554 + ], + "box_pose": [ + 1.024407982826233, + -14.864036560058594, + 0.04181475192308426, + 0.37144628167152405, + -0.5921040773391724, + 0.4696018099784851, + -0.5393648743629456 + ], + "box_yaw_rad": -1.7199546450153338, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001723972957726831, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003991444318286696 + } + } + }, + { + "simulation_time_ns": 8720000000, + "center": [ + 1.0142018991674069, + -14.856933902622218, + 0.04421268724708281 + ], + "face_center": [ + 1.010399526755957, + -14.872755018787027, + 0.09708380519793085 + ], + "face_normal": [ + -0.06873617476287563, + -0.2860011824126545, + 0.9557607751504236 + ], + "footprint_xy": [ + [ + 0.8802771103899721, + -14.965683474498547 + ], + [ + 1.1481266879448417, + -14.965683474498547 + ], + [ + 1.1481266879448417, + -14.748184330745891 + ], + [ + 0.8802771103899721, + -14.748184330745891 + ] + ], + "projected_box_corners": [ + [ + 0.9040620623630053, + -14.779826563075506 + ], + [ + 1.1405219431219416, + -14.81997834607889 + ], + [ + 0.9116668071859055, + -14.748184330745891 + ], + [ + 1.1481266879448417, + -14.788336113749274 + ], + [ + 0.8802771103899721, + -14.925531691495163 + ], + [ + 1.1167369911489085, + -14.965683474498547 + ], + [ + 0.8878818552128722, + -14.893889459165548 + ], + [ + 1.1243417359718084, + -14.934041242168933 + ] + ], + "yaw_rad": -1.7326094217722487, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8735121488571167, + -14.850725173950195, + 0.05062316358089447 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0051560388102003, + -14.87306107332731, + 0.09710120954388862 + ], + "intended_face_normal": [ + -0.06794389470448436, + -0.2815526213817332, + 0.9571373556236615 + ], + "commanded_contact_point": [ + 0.8921418833732605, + -14.859428915469971, + 0.04415394141983649 + ], + "centerline_face_intersection": [ + 0.8873977213112539, + -14.857486044259915, + 0.04415394141983649 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8683353662490845, + -14.85201358795166, + 0.048472315073013306 + ], + "box_pose": [ + 1.0253692865371704, + -14.86384105682373, + 0.0418219193816185, + 0.37079286575317383, + -0.5922663807868958, + 0.4708888828754425, + -0.5385136604309082 + ], + "box_yaw_rad": -1.722862628842274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0019428712100570086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004305655167096335 + } + } + }, + { + "simulation_time_ns": 8740000000, + "center": [ + 1.0193637733219634, + -14.856794360485814, + 0.04445751747595624 + ], + "face_center": [ + 1.0160039246954848, + -14.873984394528208, + 0.09692975136056733 + ], + "face_normal": [ + -0.060736592152572655, + -0.31074735882252114, + 0.948550075639659 + ], + "footprint_xy": [ + [ + 0.8856342784998104, + -14.966406242500328 + ], + [ + 1.1530932681441164, + -14.966406242500328 + ], + [ + 1.1530932681441164, + -14.747182478471299 + ], + [ + 0.8856342784998104, + -14.747182478471299 + ] + ], + "projected_box_corners": [ + [ + 0.9099073200068868, + -14.781562546556085 + ], + [ + 1.1463735708911593, + -14.82194086335971 + ], + [ + 0.9166270172598439, + -14.747182478471299 + ], + [ + 1.1530932681441164, + -14.787560795274924 + ], + [ + 0.8856342784998104, + -14.926027925696703 + ], + [ + 1.122100529384083, + -14.966406242500328 + ], + [ + 0.8923539757527674, + -14.891647857611916 + ], + [ + 1.12882022663704, + -14.932026174415542 + ] + ], + "yaw_rad": -1.737261259261735, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8783780336380005, + -14.851128578186035, + 0.058059245347976685 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.010399526755957, + -14.872755018787027, + 0.09708380519793085 + ], + "intended_face_normal": [ + -0.06873617476287563, + -0.2860011824126545, + 0.9557607751504236 + ], + "commanded_contact_point": [ + 0.8954076218605042, + -14.859125122979156, + 0.04421268724708281 + ], + "centerline_face_intersection": [ + 0.8925103298843821, + -14.856933902622218, + 0.04421268724708281 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8735121488571167, + -14.850725173950195, + 0.05062316358089447 + ], + "box_pose": [ + 1.030594825744629, + -14.863423347473145, + 0.041816700249910355, + 0.36714380979537964, + -0.5956540107727051, + 0.4713860750198364, + -0.5368397235870361 + ], + "box_yaw_rad": -1.7326094217722487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021912203569379347, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003280364128684321 + } + } + }, + { + "simulation_time_ns": 8760000000, + "center": [ + 1.0235599321363757, + -14.857632865909254, + 0.045245220032065776 + ], + "face_center": [ + 1.0210065741123404, + -14.876639996717113, + 0.0971328931306283 + ], + "face_normal": [ + -0.04615751546160496, + -0.3435953461622283, + 0.9379828644353161 + ], + "footprint_xy": [ + [ + 0.8908933131550406, + -14.967050390186142 + ], + [ + 1.1562265511177108, + -14.967050390186142 + ], + [ + 1.1562265511177108, + -14.748215341632367 + ], + [ + 0.8908933131550406, + -14.748215341632367 + ] + ], + "projected_box_corners": [ + [ + 0.9142389683211228, + -14.786229603248087 + ], + [ + 1.15111983506964, + -14.824083687711225 + ], + [ + 0.9193456843691936, + -14.748215341632367 + ], + [ + 1.1562265511177108, + -14.786069426095505 + ], + [ + 0.8908933131550406, + -14.929196305723002 + ], + [ + 1.1277741799035579, + -14.967050390186142 + ], + [ + 0.8960000292031114, + -14.891182044107282 + ], + [ + 1.1328808959516286, + -14.929036128570422 + ] + ], + "yaw_rad": -1.7326620505189982, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8824341297149658, + -14.854562759399414, + 0.06145915389060974 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0160039246954848, + -14.873984394528208, + 0.09692975136056733 + ], + "intended_face_normal": [ + -0.060736592152572655, + -0.31074735882252114, + 0.948550075639659 + ], + "commanded_contact_point": [ + 0.8977879333496094, + -14.859212212134743, + 0.04445751747595624 + ], + "centerline_face_intersection": [ + 0.8976754822680549, + -14.856794360485814, + 0.04445751747595624 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8783780336380005, + -14.851128578186035, + 0.058059245347976685 + ], + "box_pose": [ + 1.0357310771942139, + -14.863226890563965, + 0.04175277054309845, + 0.3619738519191742, + -0.6041420102119446, + 0.46217015385627747, + -0.5388749241828918 + ], + "box_yaw_rad": -1.737261259261735, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002417851648929103, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023944538306589543 + } + } + }, + { + "simulation_time_ns": 8780000000, + "center": [ + 1.0276999521011068, + -14.859266185421168, + 0.045309865468981525 + ], + "face_center": [ + 1.0256042787790314, + -14.878173200424781, + 0.09725459087592579 + ], + "face_normal": [ + -0.037883866208971995, + -0.3417855346360099, + 0.939014209347178 + ], + "footprint_xy": [ + [ + 0.896394559277936, + -14.966735786299559 + ], + [ + 1.1590053449242774, + -14.966735786299559 + ], + [ + 1.1590053449242774, + -14.751796584542777 + ], + [ + 0.896394559277936, + -14.751796584542777 + ] + ], + "projected_box_corners": [ + [ + 0.9172993418793767, + -14.789610614550003 + ], + [ + 1.1548139982801269, + -14.823227771660934 + ], + [ + 0.9214906885235272, + -14.751796584542777 + ], + [ + 1.1590053449242774, + -14.785413741653707 + ], + [ + 0.896394559277936, + -14.933118629188629 + ], + [ + 1.1339092156786863, + -14.966735786299559 + ], + [ + 0.9005859059220864, + -14.895304599181403 + ], + [ + 1.1381005623228369, + -14.928921756292333 + ] + ], + "yaw_rad": -1.7154486853434274, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8866510391235352, + -14.858263969421387, + 0.06184658408164978 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0210065741123404, + -14.876639996717113, + 0.0971328931306283 + ], + "intended_face_normal": [ + -0.04615751546160496, + -0.3435953461622283, + 0.9379828644353161 + ], + "commanded_contact_point": [ + 0.9002319622039795, + -14.860173521818577, + 0.045245220032065776 + ], + "centerline_face_intersection": [ + 0.9020846337849018, + -14.857632865909254, + 0.045245220032065776 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8824341297149658, + -14.854562759399414, + 0.06145915389060974 + ], + "box_pose": [ + 1.0399600267410278, + -14.863791465759277, + 0.04213229566812515, + 0.35862353444099426, + -0.6131840944290161, + 0.44675663113594055, + -0.5438777804374695 + ], + "box_yaw_rad": -1.7326620505189982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025406559093227106, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027418732038752064 + } + } + }, + { + "simulation_time_ns": 8800000000, + "center": [ + 1.0327403494752332, + -14.860454408702775, + 0.045363491627939796 + ], + "face_center": [ + 1.031009771949797, + -14.879348175823926, + 0.0973264763665006 + ], + "face_normal": [ + -0.03128396336741801, + -0.3415460502653058, + 0.9393442865919184 + ], + "footprint_xy": [ + [ + 0.9026355378440835, + -14.966239849003644 + ], + [ + 1.162845161106383, + -14.966239849003644 + ], + [ + 1.162845161106383, + -14.754668968401907 + ], + [ + 0.9026355378440835, + -14.754668968401907 + ] + ], + "projected_box_corners": [ + [ + 0.9213793271274309, + -14.792456502644209 + ], + [ + 1.1593840060555107, + -14.822379802474149 + ], + [ + 0.9248404821783033, + -14.754668968401907 + ], + [ + 1.162845161106383, + -14.784592268231846 + ], + [ + 0.9026355378440835, + -14.936316549173705 + ], + [ + 1.1406402167721632, + -14.966239849003644 + ], + [ + 0.9060966928949558, + -14.898529014931404 + ], + [ + 1.1441013718230355, + -14.928452314761342 + ] + ], + "yaw_rad": -1.7003583039745553, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8918222188949585, + -14.861044883728027, + 0.062492772936820984 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0256042787790314, + -14.878173200424781, + 0.09725459087592579 + ], + "intended_face_normal": [ + -0.037883866208971995, + -0.3417855346360099, + 0.939014209347178 + ], + "commanded_contact_point": [ + 0.9028988528251648, + -14.861846929970483, + 0.045309865468981525 + ], + "centerline_face_intersection": [ + 0.9065488012707322, + -14.859266185421168, + 0.045309865468981525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8866510391235352, + -14.858263969421387, + 0.06184658408164978 + ], + "box_pose": [ + 1.0442005395889282, + -14.86513900756836, + 0.04217579960823059, + 0.36534565687179565, + -0.609961986541748, + 0.44230055809020996, + -0.5466619729995728 + ], + "box_yaw_rad": -1.7154486853434274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025807445493139644, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031490918469844085 + } + } + }, + { + "simulation_time_ns": 8820000000, + "center": [ + 1.0380147219880012, + -14.861106743562372, + 0.044848171222558464 + ], + "face_center": [ + 1.0362164097160684, + -14.879991094439552, + 0.09681227891430202 + ], + "face_normal": [ + -0.03250841664787174, + -0.3413758311175723, + 0.9393645864199911 + ], + "footprint_xy": [ + [ + 0.9084749096957478, + -14.965906836366528 + ], + [ + 1.1675545342802547, + -14.965906836366528 + ], + [ + 1.1675545342802547, + -14.756306650758217 + ], + [ + 0.9084749096957478, + -14.756306650758217 + ] + ], + "projected_box_corners": [ + [ + 0.925682920051485, + -14.794075352512577 + ], + [ + 1.1639579097363892, + -14.821859478208536 + ], + [ + 0.9292795445953504, + -14.756306650758217 + ], + [ + 1.1675545342802547, + -14.784090776454176 + ], + [ + 0.9084749096957478, + -14.93812271067057 + ], + [ + 1.1467498993806522, + -14.965906836366528 + ], + [ + 0.9120715342396133, + -14.90035400891621 + ], + [ + 1.1503465239245176, + -14.928138134612169 + ] + ], + "yaw_rad": -1.6896936575567643, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8973095417022705, + -14.860871315002441, + 0.06445653736591339 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.031009771949797, + -14.879348175823926, + 0.0973264763665006 + ], + "intended_face_normal": [ + -0.03128396336741801, + -0.3415460502653058, + 0.9393442865919184 + ], + "commanded_contact_point": [ + 0.905554895401001, + -14.86301153425108, + 0.045363491627939796 + ], + "centerline_face_intersection": [ + 0.9118386340483395, + -14.860454408702775, + 0.045363491627939796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8918222188949585, + -14.861044883728027, + 0.062492772936820984 + ], + "box_pose": [ + 1.049325942993164, + -14.866072654724121, + 0.042211487889289856, + 0.37060508131980896, + -0.607295572757721, + 0.43803977966308594, + -0.549513578414917 + ], + "box_yaw_rad": -1.7003583039745553, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025571255483038888, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029006449386235742 + } + } + }, + { + "simulation_time_ns": 8840000000, + "center": [ + 1.0416167264316347, + -14.861141337829807, + 0.04474510233955029 + ], + "face_center": [ + 1.0398407755876875, + -14.879985680378276, + 0.09672449677419123 + ], + "face_normal": [ + -0.032104185064103063, + -0.34065259331318565, + 0.9396409276400632 + ], + "footprint_xy": [ + [ + 0.9123211186701097, + -14.965544687383387 + ], + [ + 1.1709123341931598, + -14.965544687383387 + ], + [ + 1.1709123341931598, + -14.756737988276228 + ], + [ + 0.9123211186701097, + -14.756737988276228 + ] + ], + "projected_box_corners": [ + [ + 0.9289898218464455, + -14.794426673373163 + ], + [ + 1.1673604325052653, + -14.821392068967358 + ], + [ + 0.9325417235343401, + -14.756737988276228 + ], + [ + 1.1709123341931598, + -14.78370338387042 + ], + [ + 0.9123211186701097, + -14.938579291789194 + ], + [ + 1.1506917293289294, + -14.965544687383387 + ], + [ + 0.9158730203580041, + -14.900890606692258 + ], + [ + 1.1542436310168238, + -14.927856002286452 + ] + ], + "yaw_rad": -1.6859173855103458, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9012749195098877, + -14.858728408813477, + 0.06462866067886353 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0362164097160684, + -14.879991094439552, + 0.09681227891430202 + ], + "intended_face_normal": [ + -0.03250841664787174, + -0.3413758311175723, + 0.9393645864199911 + ], + "commanded_contact_point": [ + 0.9078106927871704, + -14.863673286253073, + 0.044848171222558464 + ], + "centerline_face_intersection": [ + 0.9172501633573018, + -14.861106743562372, + 0.044848171222558464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8973095417022705, + -14.860871315002441, + 0.06445653736591339 + ], + "box_pose": [ + 1.0546643733978271, + -14.8665771484375, + 0.04177481681108475, + 0.37246203422546387, + -0.6042600870132446, + 0.43655940890312195, + -0.5527727603912354 + ], + "box_yaw_rad": -1.6896936575567643, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002566542690701114, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024066766878403792 + } + } + }, + { + "simulation_time_ns": 8860000000, + "center": [ + 1.0438865924369674, + -14.860956908053844, + 0.044663108755876056 + ], + "face_center": [ + 1.0420511579454155, + -14.87961191464923, + 0.09670869002552984 + ], + "face_normal": [ + -0.03317948173545915, + -0.3372299329970243, + 0.9408373990442698 + ], + "footprint_xy": [ + [ + 0.9146553435444735, + -14.965116071350943 + ], + [ + 1.1731178413294614, + -14.965116071350943 + ], + [ + 1.1731178413294614, + -14.756797744756744 + ], + [ + 0.9146553435444735, + -14.756797744756744 + ] + ], + "projected_box_corners": [ + [ + 0.931036788187614, + -14.794107757947515 + ], + [ + 1.1694469723463576, + -14.820746526498356 + ], + [ + 0.9347076571707178, + -14.756797744756744 + ], + [ + 1.1731178413294614, + -14.783436513307585 + ], + [ + 0.9146553435444735, + -14.938477302800102 + ], + [ + 1.1530655277032171, + -14.965116071350943 + ], + [ + 0.9183262125275773, + -14.90116728960933 + ], + [ + 1.156736396686321, + -14.92780605816017 + ] + ], + "yaw_rad": -1.6837819163583314, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9037338495254517, + -14.857934951782227, + 0.06052638590335846 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0398407755876875, + -14.879985680378276, + 0.09672449677419123 + ], + "intended_face_normal": [ + -0.032104185064103063, + -0.34065259331318565, + 0.9396409276400632 + ], + "commanded_contact_point": [ + 0.9098020839691162, + -14.863804397681161, + 0.04474510233955029 + ], + "centerline_face_intersection": [ + 0.9209006117961025, + -14.861141337829807, + 0.04474510233955029 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9012749195098877, + -14.858728408813477, + 0.06462866067886353 + ], + "box_pose": [ + 1.0582876205444336, + -14.866557121276855, + 0.04169023036956787, + 0.37356799840927124, + -0.6031978130340576, + 0.43602827191352844, + -0.5536051392555237 + ], + "box_yaw_rad": -1.6859173855103458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002663059851354321, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019983623897459777 + } + } + }, + { + "simulation_time_ns": 8880000000, + "center": [ + 1.0443592851556895, + -14.860780910809096, + 0.04458252180403974 + ], + "face_center": [ + 1.0424394643901638, + -14.879202547027168, + 0.09670811887652674 + ], + "face_normal": [ + -0.03470494769402421, + -0.3330112544185795, + 0.9422838592044513 + ], + "footprint_xy": [ + [ + 0.9151495319180576, + -14.964720937602026 + ], + [ + 1.1735690383933217, + -14.964720937602026 + ], + [ + 1.1735690383933217, + -14.756840884016164 + ], + [ + 0.9151495319180576, + -14.756840884016164 + ] + ], + "projected_box_corners": [ + [ + 0.9312924789465424, + -14.79368415645231 + ], + [ + 1.1697293968622702, + -14.820101191020361 + ], + [ + 0.935132120477594, + -14.756840884016164 + ], + [ + 1.1735690383933217, + -14.783257918584216 + ], + [ + 0.9151495319180576, + -14.938303903033974 + ], + [ + 1.153586449833785, + -14.964720937602026 + ], + [ + 0.918989173449109, + -14.901460630597828 + ], + [ + 1.1574260913648367, + -14.92787766516588 + ] + ], + "yaw_rad": -1.6819595555278017, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9043791890144348, + -14.85626220703125, + 0.0569813996553421 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0420511579454155, + -14.87961191464923, + 0.09670869002552984 + ], + "intended_face_normal": [ + -0.03317948173545915, + -0.3372299329970243, + 0.9408373990442698 + ], + "commanded_contact_point": [ + 0.9117530632019043, + -14.863740846156063, + 0.044663108755876056 + ], + "centerline_face_intersection": [ + 0.9231905153647222, + -14.860956908053844, + 0.044663108755876056 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9037338495254517, + -14.857934951782227, + 0.06052638590335846 + ], + "box_pose": [ + 1.0605700016021729, + -14.866360664367676, + 0.04165562987327576, + 0.37464913725852966, + -0.6016769409179688, + 0.4370618462562561, + -0.5537145137786865 + ], + "box_yaw_rad": -1.6837819163583314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027839381022189986, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001953735322625986 + } + } + }, + { + "simulation_time_ns": 8900000000, + "center": [ + 1.0445168125089646, + -14.860048237742472, + 0.04440327195177452 + ], + "face_center": [ + 1.0422146378692814, + -14.877588139774167, + 0.09681675414976765 + ], + "face_normal": [ + -0.04161682792864241, + -0.31707198583278107, + 0.9474880107596313 + ], + "footprint_xy": [ + [ + 0.9150061444820398, + -14.96369908575375 + ], + [ + 1.1740274805358895, + -14.96369908575375 + ], + [ + 1.1740274805358895, + -14.756397389731195 + ], + [ + 0.9150061444820398, + -14.756397389731195 + ] + ], + "projected_box_corners": [ + [ + 0.9310305125969413, + -14.791477193794583 + ], + [ + 1.1694231312565226, + -14.8182547688549 + ], + [ + 0.935634861876308, + -14.756397389731195 + ], + [ + 1.1740274805358895, + -14.783174964791511 + ], + [ + 0.9150061444820398, + -14.936921510693434 + ], + [ + 1.1533987631416212, + -14.96369908575375 + ], + [ + 0.9196104937614065, + -14.901841706630046 + ], + [ + 1.158003112420988, + -14.928619281690363 + ] + ], + "yaw_rad": -1.6805290332153568, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9045958518981934, + -14.854071617126465, + 0.05526457726955414 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0424394643901638, + -14.879202547027168, + 0.09670811887652674 + ], + "intended_face_normal": [ + -0.03470494769402421, + -0.3330112544185795, + 0.9422838592044513 + ], + "commanded_contact_point": [ + 0.9135149168968201, + -14.86374559706243, + 0.04458252180403974 + ], + "centerline_face_intersection": [ + 0.9236767406337792, + -14.860780910809096, + 0.04458252180403974 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9043791890144348, + -14.85626220703125, + 0.0569813996553421 + ], + "box_pose": [ + 1.0610536336898804, + -14.866182327270508, + 0.041632093489170074, + 0.37575483322143555, + -0.5999694466590881, + 0.4385232925415039, + -0.5536624789237976 + ], + "box_yaw_rad": -1.6819595555278017, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0029646862533328306, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017637021489486067 + } + } + }, + { + "simulation_time_ns": 8920000000, + "center": [ + 1.0457482797436062, + -14.859740489496525, + 0.04432862044293376 + ], + "face_center": [ + 1.0434002663546305, + -14.876951196808411, + 0.09684908577530327 + ], + "face_normal": [ + -0.04244546330185983, + -0.3111210732594536, + 0.949421964256409 + ], + "footprint_xy": [ + [ + 0.9165275127174165, + -14.962701741506674 + ], + [ + 1.174969046769796, + -14.962701741506674 + ], + [ + 1.174969046769796, + -14.756779237486375 + ], + [ + 0.9165275127174165, + -14.756779237486375 + ] + ], + "projected_box_corners": [ + [ + 0.9317642423315864, + -14.791200652110147 + ], + [ + 1.1702730199918445, + -14.816868557141037 + ], + [ + 0.936460269109538, + -14.756779237486375 + ], + [ + 1.174969046769796, + -14.782447142517265 + ], + [ + 0.9165275127174165, + -14.937033836475786 + ], + [ + 1.1550362903776745, + -14.962701741506674 + ], + [ + 0.921223539495368, + -14.902612421852014 + ], + [ + 1.159732317155626, + -14.928280326882902 + ] + ], + "yaw_rad": -1.6748991597307663, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.905741810798645, + -14.854186058044434, + 0.05535465478897095 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0422146378692814, + -14.877588139774167, + 0.09681675414976765 + ], + "intended_face_normal": [ + -0.04161682792864241, + -0.31707198583278107, + 0.9474880107596313 + ], + "commanded_contact_point": [ + 0.9149602699279785, + -14.863251988820444, + 0.04440327195177452 + ], + "centerline_face_intersection": [ + 0.9238118421796521, + -14.860048237742472, + 0.04440327195177452 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9045958518981934, + -14.854071617126465, + 0.05526457726955414 + ], + "box_pose": [ + 1.0612220764160156, + -14.865523338317871, + 0.04165751487016678, + 0.3784407079219818, + -0.5946725606918335, + 0.44524896144866943, + -0.5521780848503113 + ], + "box_yaw_rad": -1.6805290332153568, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003203751077973111, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015377987484621748 + } + } + }, + { + "simulation_time_ns": 8940000000, + "center": [ + 1.0469139978952327, + -14.86044332018426, + 0.04444668751795934 + ], + "face_center": [ + 1.0449937592411889, + -14.878486555415357, + 0.0967044676397249 + ], + "face_normal": [ + -0.034712501940450835, + -0.32617083124148927, + 0.9446733561270939 + ], + "footprint_xy": [ + [ + 0.918295577468976, + -14.963237909170948 + ], + [ + 1.175532418321489, + -14.963237909170948 + ], + [ + 1.175532418321489, + -14.757648731197571 + ], + [ + 0.918295577468976, + -14.757648731197571 + ] + ], + "projected_box_corners": [ + [ + 0.9330359269948983, + -14.793735201659766 + ], + [ + 1.1716919410134017, + -14.81809781730456 + ], + [ + 0.9368764043029857, + -14.757648731197571 + ], + [ + 1.175532418321489, + -14.782011346842365 + ], + [ + 0.918295577468976, + -14.938875293526154 + ], + [ + 1.1569515914874793, + -14.963237909170948 + ], + [ + 0.9221360547770634, + -14.90278882306396 + ], + [ + 1.1607920687955668, + -14.927151438708753 + ] + ], + "yaw_rad": -1.6720087606691005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9068090319633484, + -14.856912612915039, + 0.057650938630104065 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0434002663546305, + -14.876951196808411, + 0.09684908577530327 + ], + "intended_face_normal": [ + -0.04244546330185983, + -0.3111210732594536, + 0.949421964256409 + ], + "commanded_contact_point": [ + 0.9161915230751038, + -14.863166417832582, + 0.04432862044293376 + ], + "centerline_face_intersection": [ + 0.9251020953796057, + -14.859740489496525, + 0.04432862044293376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.905741810798645, + -14.854186058044434, + 0.05535465478897095 + ], + "box_pose": [ + 1.0624850988388062, + -14.865156173706055, + 0.04165823757648468, + 0.3810606896877289, + -0.5916922688484192, + 0.44635435938835144, + -0.5526850819587708 + ], + "box_yaw_rad": -1.6748991597307663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0034259283360567865, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012364786913010915 + } + } + }, + { + "simulation_time_ns": 8960000000, + "center": [ + 1.0471435922958807, + -14.861128859128106, + 0.04464534166010574 + ], + "face_center": [ + 1.045501043532143, + -14.879965567975038, + 0.09663189253323037 + ], + "face_normal": [ + -0.029692651498532285, + -0.34051459750791757, + 0.9397702958746983 + ], + "footprint_xy": [ + [ + 0.918673661755955, + -14.964308022646419 + ], + [ + 1.1756135228358064, + -14.964308022646419 + ], + [ + 1.1756135228358064, + -14.757949695609796 + ], + [ + 0.918673661755955, + -14.757949695609796 + ] + ], + "projected_box_corners": [ + [ + 0.9336722720322435, + -14.795623113303659 + ], + [ + 1.172328425308331, + -14.819953478300054 + ], + [ + 0.936957369559719, + -14.757949695609796 + ], + [ + 1.1756135228358064, + -14.78228006060619 + ], + [ + 0.918673661755955, + -14.939977657650024 + ], + [ + 1.1573298150320426, + -14.964308022646419 + ], + [ + 0.9219587592834304, + -14.902304239956159 + ], + [ + 1.160614912559518, + -14.926634604952554 + ] + ], + "yaw_rad": -1.674326042253148, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.906104326248169, + -14.864694595336914, + 0.054505497217178345 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0449937592411889, + -14.878486555415357, + 0.0967044676397249 + ], + "intended_face_normal": [ + -0.034712501940450835, + -0.32617083124148927, + 0.9446733561270939 + ], + "commanded_contact_point": [ + 0.9172887253761292, + -14.864010476811085, + 0.04444668751795934 + ], + "centerline_face_intersection": [ + 0.9263422449462334, + -14.86044332018426, + 0.04444668751795934 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9068090319633484, + -14.856912612915039, + 0.057650938630104065 + ], + "box_pose": [ + 1.063663125038147, + -14.86572265625, + 0.04158712550997734, + 0.3797658085823059, + -0.5958458781242371, + 0.4389675557613373, + -0.5550253987312317 + ], + "box_yaw_rad": -1.6720087606691005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003567156626825609, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013893265572829609 + } + } + }, + { + "simulation_time_ns": 8980000000, + "center": [ + 1.047128140807917, + -14.861095157908371, + 0.0446054097582729 + ], + "face_center": [ + 1.0454667947473382, + -14.879890971394154, + 0.0966061557137974 + ], + "face_normal": [ + -0.030032453638071388, + -0.33977532465747906, + 0.9400269029502368 + ], + "footprint_xy": [ + [ + 0.9186493746422899, + -14.964253649796014 + ], + [ + 1.1756069069735442, + -14.964253649796014 + ], + [ + 1.1756069069735442, + -14.75793666602073 + ], + [ + 0.9186493746422899, + -14.75793666602073 + ] + ], + "projected_box_corners": [ + [ + 0.9336274473031249, + -14.795528292992293 + ], + [ + 1.1722842148523867, + -14.81985750859935 + ], + [ + 0.9369501394242823, + -14.75793666602073 + ], + [ + 1.1756069069735442, + -14.782265881627787 + ], + [ + 0.9186493746422899, + -14.939924434188956 + ], + [ + 1.1573061421915516, + -14.964253649796014 + ], + [ + 0.9219720667634475, + -14.902332807217393 + ], + [ + 1.1606288343127091, + -14.92666202282445 + ] + ], + "yaw_rad": -1.674155715618598, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9039837121963501, + -14.877670288085938, + 0.04934293031692505 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.045501043532143, + -14.879965567975038, + 0.09663189253323037 + ], + "intended_face_normal": [ + -0.029692651498532285, + -0.34051459750791757, + 0.9397702958746983 + ], + "commanded_contact_point": [ + 0.9183555889129639, + -14.86455338630658, + 0.04464534166010574 + ], + "centerline_face_intersection": [ + 0.9265719097013677, + -14.861128859128106, + 0.04464534166010574 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.906104326248169, + -14.864694595336914, + 0.054505497217178345 + ], + "box_pose": [ + 1.0638777017593384, + -14.866361618041992, + 0.041617218405008316, + 0.3767225742340088, + -0.6006148457527161, + 0.43338528275489807, + -0.5563444495201111 + ], + "box_yaw_rad": -1.674326042253148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0034245271784732996, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001213429847464712 + } + } + }, + { + "simulation_time_ns": 9000000000, + "center": [ + 1.0474141253176914, + -14.861406574914463, + 0.04456396169314692 + ], + "face_center": [ + 1.0458277539765646, + -14.880112018893398, + 0.09659962932861618 + ], + "face_normal": [ + -0.028677122055206894, + -0.3381416987145993, + 0.940658188483571 + ], + "footprint_xy": [ + [ + 0.9193883695931466, + -14.963858656505183 + ], + [ + 1.175439881042236, + -14.963858656505183 + ], + [ + 1.175439881042236, + -14.758954493323744 + ], + [ + 0.9193883695931466, + -14.758954493323744 + ] + ], + "projected_box_corners": [ + [ + 0.9334689203485874, + -14.796365381281614 + ], + [ + 1.1722671383599825, + -14.819274932127396 + ], + [ + 0.936641663030841, + -14.758954493323744 + ], + [ + 1.175439881042236, + -14.781864044169525 + ], + [ + 0.9193883695931466, + -14.940949105659401 + ], + [ + 1.1581865876045416, + -14.963858656505183 + ], + [ + 0.9225611122754002, + -14.90353821770153 + ], + [ + 1.161359330286795, + -14.926447768547312 + ] + ], + "yaw_rad": -1.667877019605993, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9042015075683594, + -14.88536262512207, + 0.049122124910354614 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0454667947473382, + -14.879890971394154, + 0.0966061557137974 + ], + "intended_face_normal": [ + -0.030032453638071388, + -0.33977532465747906, + 0.9400269029502368 + ], + "commanded_contact_point": [ + 0.9201071906089783, + -14.863856679879742, + 0.0446054097582729 + ], + "centerline_face_intersection": [ + 0.9265567685500893, + -14.861095157908371, + 0.0446054097582729 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9039837121963501, + -14.877670288085938, + 0.04934293031692505 + ], + "box_pose": [ + 1.0638633966445923, + -14.86633014678955, + 0.04158751294016838, + 0.376865029335022, + -0.6003410816192627, + 0.4336877763271332, + -0.5563075542449951 + ], + "box_yaw_rad": -1.674155715618598, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002761521971370657, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001885498051832046 + } + } + }, + { + "simulation_time_ns": 9020000000, + "center": [ + 1.0503152683031216, + -14.86198776638896, + 0.044603916624028135 + ], + "face_center": [ + 1.0489474688323726, + -14.880799843800851, + 0.09660733896708999 + ], + "face_normal": [ + -0.024725958766914857, + -0.3400693305954512, + 0.9400752844924938 + ], + "footprint_xy": [ + [ + 0.9229722907403918, + -14.96358433470032 + ], + [ + 1.1776582458658513, + -14.96358433470032 + ], + [ + 1.1776582458658513, + -14.7603911980776 + ], + [ + 0.9229722907403918, + -14.7603911980776 + ] + ], + "projected_box_corners": [ + [ + 0.9359480226454484, + -14.798015352901382 + ], + [ + 1.1749226469243534, + -14.818986535392337 + ], + [ + 0.9386836215869463, + -14.7603911980776 + ], + [ + 1.1776582458658513, + -14.781362380568558 + ], + [ + 0.9229722907403918, + -14.942613152209365 + ], + [ + 1.1619469150192967, + -14.96358433470032 + ], + [ + 0.9257078896818898, + -14.904988997385583 + ], + [ + 1.1646825139607946, + -14.925960179876538 + ] + ], + "yaw_rad": -1.6602933280618, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9076249599456787, + -14.884483337402344, + 0.050773486495018005 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0458277539765646, + -14.880112018893398, + 0.09659962932861618 + ], + "intended_face_normal": [ + -0.028677122055206894, + -0.3381416987145993, + 0.940658188483571 + ], + "commanded_contact_point": [ + 0.9227978038787842, + -14.86320985487753, + 0.04456396169314692 + ], + "centerline_face_intersection": [ + 0.9269141726729074, + -14.861406574914463, + 0.04456396169314692 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9042015075683594, + -14.88536262512207, + 0.049122124910354614 + ], + "box_pose": [ + 1.0641824007034302, + -14.866547584533691, + 0.0415678545832634, + 0.37903276085853577, + -0.5986027717590332, + 0.4327393174171448, + -0.5574455857276917 + ], + "box_yaw_rad": -1.667877019605993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001803279963066375, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027675802234524145 + } + } + }, + { + "simulation_time_ns": 9040000000, + "center": [ + 1.0556707814366717, + -14.861033096729452, + 0.04460040624062255 + ], + "face_center": [ + 1.0541671430676909, + -14.87984121373502, + 0.09660150685312097 + ], + "face_normal": [ + -0.027181543133227848, + -0.3399977376130572, + 0.9400333141485895 + ], + "footprint_xy": [ + [ + 0.9277035160855363, + -14.963508437236253 + ], + [ + 1.1836380467878072, + -14.963508437236253 + ], + [ + 1.1836380467878072, + -14.75855775622265 + ], + [ + 0.9277035160855363, + -14.75855775622265 + ] + ], + "projected_box_corners": [ + [ + 0.9418288900227336, + -14.796173990233786 + ], + [ + 1.1806307700498455, + -14.819024702053834 + ], + [ + 0.944836166760695, + -14.75855775622265 + ], + [ + 1.1836380467878072, + -14.781408468042699 + ], + [ + 0.9277035160855363, + -14.940657725416205 + ], + [ + 1.1665053961126481, + -14.963508437236253 + ], + [ + 0.9307107928234978, + -14.90304149140507 + ], + [ + 1.1695126728506098, + -14.925892203225118 + ] + ], + "yaw_rad": -1.668251084114978, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9133201837539673, + -14.877878189086914, + 0.05385933816432953 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0489474688323726, + -14.880799843800851, + 0.09660733896708999 + ], + "intended_face_normal": [ + -0.024725958766914857, + -0.3400693305954512, + 0.9400752844924938 + ], + "commanded_contact_point": [ + 0.925732855796814, + -14.862891223511491, + 0.044603916624028135 + ], + "centerline_face_intersection": [ + 0.9299042663029734, + -14.86198776638896, + 0.044603916624028135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9076249599456787, + -14.884483337402344, + 0.050773486495018005 + ], + "box_pose": [ + 1.0671207904815674, + -14.866987228393555, + 0.041577115654945374, + 0.3812249004840851, + -0.5978115200996399, + 0.42968931794166565, + -0.559156596660614 + ], + "box_yaw_rad": -1.6602933280618, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009034571225310391, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029525670365726955 + } + } + }, + { + "simulation_time_ns": 9060000000, + "center": [ + 1.0618484514911237, + -14.85958812495964, + 0.04459202352866576 + ], + "face_center": [ + 1.0600850666307968, + -14.878378467706664, + 0.09659139649214316 + ], + "face_normal": [ + -0.03187702750226151, + -0.3396764291221075, + 0.9400020831243268 + ], + "footprint_xy": [ + [ + 0.9327693292689336, + -14.963625902402205 + ], + [ + 1.1909275737133138, + -14.963625902402205 + ], + [ + 1.1909275737133138, + -14.755550347517074 + ], + [ + 0.9327693292689336, + -14.755550347517074 + ] + ], + "projected_box_corners": [ + [ + 0.9489467309462062, + -14.793131033011122 + ], + [ + 1.1874008039926602, + -14.819362236172061 + ], + [ + 0.9524735006668599, + -14.755550347517074 + ], + [ + 1.1909275737133138, + -14.781781550678014 + ], + [ + 0.9327693292689336, + -14.937394699241265 + ], + [ + 1.1712234023153876, + -14.963625902402205 + ], + [ + 0.9362960989895872, + -14.899814013747218 + ], + [ + 1.1747501720360414, + -14.926045216908156 + ] + ], + "yaw_rad": -1.682467543636629, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9196228981018066, + -14.87176513671875, + 0.05800759792327881 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0541671430676909, + -14.87984121373502, + 0.09660150685312097 + ], + "intended_face_normal": [ + -0.027181543133227848, + -0.3399977376130572, + 0.9400333141485895 + ], + "commanded_contact_point": [ + 0.9283250021934509, + -14.861262750157685, + 0.04460040624062255 + ], + "centerline_face_intersection": [ + 0.9351726766530538, + -14.861033096729452, + 0.04460040624062255 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9133201837539673, + -14.877878189086914, + 0.05385933816432953 + ], + "box_pose": [ + 1.072435736656189, + -14.866164207458496, + 0.04156896471977234, + 0.3788808286190033, + -0.5994024276733398, + 0.4317990839481354, + -0.5574186444282532 + ], + "box_yaw_rad": -1.668251084114978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00022965342823255425, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030612351638588924 + } + } + }, + { + "simulation_time_ns": 9080000000, + "center": [ + 1.066776913313026, + -14.85834654222877, + 0.04456981050873696 + ], + "face_center": [ + 1.064772815345176, + -14.877106942327002, + 0.09657126777346264 + ], + "face_normal": [ + -0.0362284419446226, + -0.33913515043672504, + 0.9400397614154983 + ], + "footprint_xy": [ + [ + 0.9367239087663497, + -14.963754005026807 + ], + [ + 1.1968299178597022, + -14.963754005026807 + ], + [ + 1.1968299178597022, + -14.752939079430732 + ], + [ + 0.9367239087663497, + -14.752939079430732 + ] + ], + "projected_box_corners": [ + [ + 0.9547177951682462, + -14.790459879627196 + ], + [ + 1.1928217219240025, + -14.819699850981621 + ], + [ + 0.958725991103946, + -14.752939079430732 + ], + [ + 1.1968299178597022, + -14.782179050785157 + ], + [ + 0.9367239087663497, + -14.934514033672382 + ], + [ + 1.174827835522106, + -14.963754005026807 + ], + [ + 0.9407321047020494, + -14.896993233475918 + ], + [ + 1.1788360314578057, + -14.926233204830343 + ] + ], + "yaw_rad": -1.6950632655985067, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9247210025787354, + -14.866790771484375, + 0.059030890464782715 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0600850666307968, + -14.878378467706664, + 0.09659139649214316 + ], + "intended_face_normal": [ + -0.03187702750226151, + -0.3396764291221075, + 0.9400020831243268 + ], + "commanded_contact_point": [ + 0.9306828427314758, + -14.859330697917507, + 0.04459202352866576 + ], + "centerline_face_intersection": [ + 0.9411745892483676, + -14.85958812495964, + 0.04459202352866576 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9196228981018066, + -14.87176513671875, + 0.05800759792327881 + ], + "box_pose": [ + 1.0785386562347412, + -14.86495590209961, + 0.0415579192340374, + 0.3746241331100464, + -0.6021287441253662, + 0.43568170070648193, + -0.5543277859687805 + ], + "box_yaw_rad": -1.682467543636629, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00025742704213186404, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00304832874398282 + } + } + }, + { + "simulation_time_ns": 9100000000, + "center": [ + 1.0715191549095961, + -14.856980571678813, + 0.044479138187929604 + ], + "face_center": [ + 1.0690379354488773, + -14.875286744193886, + 0.0966217190232323 + ], + "face_normal": [ + -0.04485345358688164, + -0.3309239961467938, + 0.9425908777609493 + ], + "footprint_xy": [ + [ + 0.9401103097881565, + -14.96400340325122 + ], + [ + 1.2029280000310358, + -14.96400340325122 + ], + [ + 1.2029280000310358, + -14.749957740106405 + ], + [ + 0.9401103097881565, + -14.749957740106405 + ] + ], + "projected_box_corners": [ + [ + 0.9603900299675325, + -14.786570085136551 + ], + [ + 1.1979655611095983, + -14.81985787229333 + ], + [ + 0.9653524688889701, + -14.749957740106405 + ], + [ + 1.2029280000310358, + -14.783245527263185 + ], + [ + 0.9401103097881565, + -14.930715616094442 + ], + [ + 1.1776858409302222, + -14.96400340325122 + ], + [ + 0.945072748709594, + -14.894103271064296 + ], + [ + 1.1826482798516598, + -14.927391058221076 + ] + ], + "yaw_rad": -1.7105681606364926, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9294799566268921, + -14.862157821655273, + 0.05818089842796326 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.064772815345176, + -14.877106942327002, + 0.09657126777346264 + ], + "intended_face_normal": [ + -0.0362284419446226, + -0.33913515043672504, + 0.9400397614154983 + ], + "commanded_contact_point": [ + 0.9328737306594849, + -14.857751346016414, + 0.04456981050873696 + ], + "centerline_face_intersection": [ + 0.9459255928240992, + -14.85834654222877, + 0.04456981050873696 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9247210025787354, + -14.866790771484375, + 0.059030890464782715 + ], + "box_pose": [ + 1.0833982229232788, + -14.863924980163574, + 0.04153752699494362, + 0.3708329200744629, + -0.604436457157135, + 0.4392213225364685, + -0.5515651106834412 + ], + "box_yaw_rad": -1.6950632655985067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005951962123560843, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027008953624372825 + } + } + }, + { + "simulation_time_ns": 9120000000, + "center": [ + 1.0768394103169185, + -14.855698077547574, + 0.04424041388949904 + ], + "face_center": [ + 1.0736050110506694, + -14.872610746500897, + 0.09681057023969272 + ], + "face_normal": [ + -0.05846882134646947, + -0.3057333798713664, + 0.9503202377855935 + ], + "footprint_xy": [ + [ + 0.9440643027541602, + -14.963625951763811 + ], + [ + 1.209614517879677, + -14.963625951763811 + ], + [ + 1.209614517879677, + -14.747770203331338 + ], + [ + 0.9440643027541602, + -14.747770203331338 + ] + ], + "projected_box_corners": [ + [ + 0.9661239644388918, + -14.781595541237984 + ], + [ + 1.2031457193471786, + -14.818524367004215 + ], + [ + 0.9725927629713902, + -14.747770203331338 + ], + [ + 1.209614517879677, + -14.784699029097569 + ], + [ + 0.9440643027541602, + -14.92669712599758 + ], + [ + 1.1810860576624471, + -14.963625951763811 + ], + [ + 0.9505331012866585, + -14.892871788090934 + ], + [ + 1.1875548561949454, + -14.929800613857164 + ] + ], + "yaw_rad": -1.7216701200020281, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9346305727958679, + -14.85851764678955, + 0.05716867744922638 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0690379354488773, + -14.875286744193886, + 0.0966217190232323 + ], + "intended_face_normal": [ + -0.04485345358688164, + -0.3309239961467938, + 0.9425908777609493 + ], + "commanded_contact_point": [ + 0.9348748970031738, + -14.856178285467399, + 0.044479138187929604 + ], + "centerline_face_intersection": [ + 0.9503990470276743, + -14.856980571678813, + 0.044479138187929604 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9294799566268921, + -14.862157821655273, + 0.05818089842796326 + ], + "box_pose": [ + 1.0880523920059204, + -14.86286449432373, + 0.04154430329799652, + 0.3672013282775879, + -0.6049450039863586, + 0.44687938690185547, + -0.5472692251205444 + ], + "box_yaw_rad": -1.7105681606364926, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008022862114145095, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025470390055399614 + } + } + }, + { + "simulation_time_ns": 9140000000, + "center": [ + 1.0809747335046203, + -14.85466912655348, + 0.044075489290905115 + ], + "face_center": [ + 1.0772289137384823, + -14.870349615430726, + 0.09699251849592484 + ], + "face_normal": [ + -0.06771386235082133, + -0.2834590374651711, + 0.9565907212074762 + ], + "footprint_xy": [ + [ + 0.9474675729171887, + -14.962658856524023 + ], + [ + 1.2144818940920519, + -14.962658856524023 + ], + [ + 1.2144818940920519, + -14.746679396582936 + ], + [ + 0.9474675729171887, + -14.746679396582936 + ] + ], + "projected_box_corners": [ + [ + 0.9702829862523361, + -14.77804037433743 + ], + [ + 1.2069902545597762, + -14.816664396045335 + ], + [ + 0.9777746257846119, + -14.746679396582936 + ], + [ + 1.2144818940920519, + -14.785303418290841 + ], + [ + 0.9474675729171887, + -14.924034834816117 + ], + [ + 1.1841748412246287, + -14.962658856524023 + ], + [ + 0.9549592124494646, + -14.892673857061624 + ], + [ + 1.1916664807569046, + -14.931297878769529 + ] + ], + "yaw_rad": -1.7258183355100896, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 0.9386401176452637, + -14.855822563171387, + 0.0560896098613739 + ], + "success_count": 1, + "first_fully_inside_policy_ns": 9140000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0736050110506694, + -14.872610746500897, + 0.09681057023969272 + ], + "intended_face_normal": [ + -0.05846882134646947, + -0.3057333798713664, + 0.9503202377855935 + ], + "commanded_contact_point": [ + 0.9365100908279419, + -14.85478300856648, + 0.04424041388949904 + ], + "centerline_face_intersection": [ + 0.9554363181274858, + -14.855698077547574, + 0.04424041388949904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9346305727958679, + -14.85851764678955, + 0.05716867744922638 + ], + "box_pose": [ + 1.0933046340942383, + -14.861908912658691, + 0.041612934321165085, + 0.3674769699573517, + -0.5994402170181274, + 0.4605366289615631, + -0.5417916178703308 + ], + "box_yaw_rad": -1.7216701200020281, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009150689810935813, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021627865741810958 + } + } + }, + { + "simulation_time_ns": 9160000000, + "center": [ + 1.0826086536575998, + -14.854151973963473, + 0.04407667424861292 + ], + "face_center": [ + 1.0788496918729482, + -14.869739686901234, + 0.09702018190420747 + ], + "face_normal": [ + -0.06795143299975948, + -0.2817819100036285, + 0.9570693769542622 + ], + "footprint_xy": [ + [ + 0.9491664417758787, + -14.961959326755943 + ], + [ + 1.2160508655393207, + -14.961959326755943 + ], + [ + 1.2160508655393207, + -14.746344621171001 + ], + [ + 0.9491664417758787, + -14.746344621171001 + ] + ], + "projected_box_corners": [ + [ + 0.9717836488816285, + -14.777520047046526 + ], + [ + 1.2085329419700177, + -14.815855994894099 + ], + [ + 0.9793015724509316, + -14.746344621171001 + ], + [ + 1.2160508655393207, + -14.784680569018576 + ], + [ + 0.9491664417758787, + -14.92362337890837 + ], + [ + 1.185915734864268, + -14.961959326755943 + ], + [ + 0.956684365345182, + -14.892447953032848 + ], + [ + 1.1934336584335712, + -14.93078390088042 + ] + ], + "yaw_rad": -1.7243800627459405, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 0.9402667284011841, + -14.853635787963867, + 0.054904401302337646 + ], + "success_count": 2, + "first_fully_inside_policy_ns": 9140000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0772289137384823, + -14.870349615430726, + 0.09699251849592484 + ], + "intended_face_normal": [ + -0.06771386235082133, + -0.2834590374651711, + 0.9565907212074762 + ], + "commanded_contact_point": [ + 0.9379379796981812, + -14.85370792010767, + 0.044075489290905115 + ], + "centerline_face_intersection": [ + 0.95941034653929, + -14.85466912655348, + 0.044075489290905115 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9386401176452637, + -14.855822563171387, + 0.0560896098613739 + ], + "box_pose": [ + 1.097410798072815, + -14.861061096191406, + 0.04171324521303177, + 0.36968404054641724, + -0.593519389629364, + 0.47074854373931885, + -0.5380188226699829 + ], + "box_yaw_rad": -1.7258183355100896, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009612064458098484, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001794960150878407 + } + } + }, + { + "simulation_time_ns": 9180000000, + "center": [ + 1.082643594692142, + -14.85413636863501, + 0.044090272300721406 + ], + "face_center": [ + 1.078883694472809, + -14.869721557901025, + 0.097034451505192 + ], + "face_normal": [ + -0.0679683972534626, + -0.2817362891323931, + 0.9570815166649247 + ], + "footprint_xy": [ + [ + 0.9492107946801168, + -14.961925076801492 + ], + [ + 1.2160763947041673, + -14.961925076801492 + ], + [ + 1.2160763947041673, + -14.746347660468526 + ], + [ + 0.9492107946801168, + -14.746347660468526 + ] + ], + "projected_box_corners": [ + [ + 0.9718015098933142, + -14.777518039000556 + ], + [ + 1.2085565942655012, + -14.815815474896704 + ], + [ + 0.97932131033198, + -14.746347660468526 + ], + [ + 1.2160763947041673, + -14.784645096364672 + ], + [ + 0.9492107946801168, + -14.923627640905345 + ], + [ + 1.185965879052304, + -14.961925076801492 + ], + [ + 0.9567305951187828, + -14.892457262373314 + ], + [ + 1.1934856794909698, + -14.93075469826946 + ] + ], + "yaw_rad": -1.7241964980323619, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 0.9408353567123413, + -14.851598739624023, + 0.05557352304458618 + ], + "success_count": 3, + "first_fully_inside_policy_ns": 9140000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0788496918729482, + -14.869739686901234, + 0.09702018190420747 + ], + "intended_face_normal": [ + -0.06795143299975948, + -0.2817819100036285, + 0.9570693769542622 + ], + "commanded_contact_point": [ + 0.9393934059143066, + -14.853211414957647, + 0.04407667424861292 + ], + "centerline_face_intersection": [ + 0.9610658452856702, + -14.854151973963473, + 0.04407667424861292 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9402667284011841, + -14.853635787963867, + 0.054904401302337646 + ], + "box_pose": [ + 1.0990536212921143, + -14.860528945922852, + 0.0417359359562397, + 0.3703862726688385, + -0.5927096009254456, + 0.47108709812164307, + -0.53813236951828 + ], + "box_yaw_rad": -1.7243800627459405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009405590058256034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015377854982765583 + } + } + } + ], + "commands": [ + { + "simulation_time_ns": 0, + "phase": "settle", + "intended_face_center": [ + 0.5457892592474938, + -14.854392118703876, + 0.13983054449001223 + ], + "intended_face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "commanded_contact_point": [ + 0.19339999556541443, + -14.857999801635742, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5457892554605593, + -14.854392126136387, + 0.13983054458908187 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17782151699066162, + -14.857999801635742, + 0.08869010210037231 + ], + "box_pose": [ + 0.6026684045791626, + -14.85869312286377, + 0.15702493488788605, + -7.093858833684408e-10, + 5.569715799680353e-10, + 0.7071068286895752, + -0.7071067094802856 + ], + "box_yaw_rad": -1.5707964611537577, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 20000000, + "phase": "settle", + "intended_face_center": [ + 0.5457892640290516, + -14.854392119053427, + 0.13767234975590475 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 0.1902557760477066, + -14.858062744140625, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5457892509161378, + -14.854392126485939, + 0.13767234981316268 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21146400272846222, + -14.846510887145996, + 0.06415840983390808 + ], + "box_pose": [ + 0.6026684045791626, + -14.85869312286377, + 0.15486674010753632, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031448494613896373 + } + }, + { + "simulation_time_ns": 40000000, + "phase": "settle", + "intended_face_center": [ + 0.5457892640290516, + -14.854392119053427, + 0.13159014279141196 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 0.1892397403717041, + -14.858217239379883, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5457892509161378, + -14.854392126485939, + 0.13159014284866988 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.22185350954532623, + -14.862276077270508, + 0.05387318134307861 + ], + "box_pose": [ + 0.6026684045791626, + -14.85869312286377, + 0.14878453314304352, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010277145884198442 + } + }, + { + "simulation_time_ns": 60000000, + "phase": "settle", + "intended_face_center": [ + 0.5457892640290516, + -14.854392119053427, + 0.12158395344509847 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 0.19042348861694336, + -14.858230590820312, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5457892509161378, + -14.854392126485939, + 0.12158395350235641 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1923995018005371, + -14.89034366607666, + 0.038210928440093994 + ], + "box_pose": [ + 0.6026684045791626, + -14.85869312286377, + 0.13877834379673004, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011838235379829408 + } + }, + { + "simulation_time_ns": 80000000, + "phase": "settle", + "intended_face_center": [ + 0.5477148239745601, + -14.852584804509107, + 0.12006203740921162 + ], + "intended_face_normal": [ + -0.9998822255993535, + -0.0005552699472355371, + 0.015336748547257164 + ], + "commanded_contact_point": [ + 0.19148902595043182, + -14.858171463012695, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5477017930339401, + -14.852554087886665, + 0.11921363364280166 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1708497852087021, + -14.907748222351074, + 0.027197986841201782 + ], + "box_pose": [ + 0.6048542261123657, + -14.856581687927246, + 0.13644790649414062, + 0.011012021452188492, + 0.0001704270689515397, + 0.7068246603012085, + -0.7073030471801758 + ], + "box_yaw_rad": -1.569998485920162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010671766053649539 + } + }, + { + "simulation_time_ns": 100000000, + "phase": "settle", + "intended_face_center": [ + 0.5481671329345549, + -14.852042095240481, + 0.12041325504416579 + ], + "intended_face_normal": [ + -0.9998444471085811, + -0.005154714548409767, + 0.016860834241505834 + ], + "commanded_contact_point": [ + 0.19228515028953552, + -14.858357429504395, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.548149921734354, + -14.851756944889077, + 0.11948054135773935 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1668976992368698, + -14.909002304077148, + 0.023161649703979492 + ], + "box_pose": [ + 0.605349063873291, + -14.855653762817383, + 0.1367400735616684, + 0.01404594723135233, + 0.0021656418684870005, + 0.705142080783844, + -0.7089235186576843 + ], + "box_yaw_rad": -1.5652549354709793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008175558081024772 + } + }, + { + "simulation_time_ns": 120000000, + "phase": "settle", + "intended_face_center": [ + 0.5476311681050136, + -14.85236128829999, + 0.11975984608029464 + ], + "intended_face_normal": [ + -0.9998954806898156, + -0.010307053652486853, + 0.010128196290186797 + ], + "commanded_contact_point": [ + 0.19208666682243347, + -14.858869552612305, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5476196038271307, + -14.851791119002867, + 0.11919957087899906 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1657785177230835, + -14.908882141113281, + 0.02323821187019348 + ], + "box_pose": [ + 0.6047197580337524, + -14.855683326721191, + 0.13647030293941498, + 0.011568793095648289, + 0.004490114748477936, + 0.7033581137657166, + -0.7107272744178772 + ], + "box_yaw_rad": -1.560259020551843, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005492410803721881 + } + }, + { + "simulation_time_ns": 140000000, + "phase": "settle", + "intended_face_center": [ + 0.5471877812830493, + -14.853406700222237, + 0.11932720486274825 + ], + "intended_face_normal": [ + -0.9999244777508697, + -0.010556239321818595, + 0.006310018295592912 + ], + "commanded_contact_point": [ + 0.18984073400497437, + -14.859832763671875, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5471794254336881, + -14.852822746382728, + 0.11897814500357398 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16478943824768066, + -14.90881633758545, + 0.02330338954925537 + ], + "box_pose": [ + 0.6042143702507019, + -14.856866836547852, + 0.13622038066387177, + 0.007123724091798067, + 0.0027138174045830965, + 0.7033286094665527, + -0.7108240723609924 + ], + "box_yaw_rad": -1.5601520971516654, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024437654891464656 + } + }, + { + "simulation_time_ns": 160000000, + "phase": "settle", + "intended_face_center": [ + 0.5478761429323634, + -14.853840114317775, + 0.11952629815256893 + ], + "intended_face_normal": [ + -0.9998682594253966, + -0.010791000840669973, + 0.012116237204160683 + ], + "commanded_contact_point": [ + 0.18575288355350494, + -14.861250877380371, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5478615666272779, + -14.85324317385622, + 0.1188560477897197 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1639566421508789, + -14.908818244934082, + 0.023357480764389038 + ], + "box_pose": [ + 0.6050011515617371, + -14.857348442077637, + 0.13607342541217804, + 0.00790953729301691, + -0.0006187651888467371, + 0.7032367587089539, + -0.7109113931655884 + ], + "box_yaw_rad": -1.5598801793056076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004326842706314973 + } + }, + { + "simulation_time_ns": 180000000, + "phase": "settle", + "intended_face_center": [ + 0.5483934719773464, + -14.854430671837527, + 0.1197499153431485 + ], + "intended_face_normal": [ + -0.9998051211392212, + -0.011122205752910785, + 0.0163136147273375 + ], + "commanded_contact_point": [ + 0.18038278818130493, + -14.862983703613281, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5483719091183935, + -14.853815409663639, + 0.11884747294241489 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16335327923297882, + -14.90891170501709, + 0.023395776748657227 + ], + "box_pose": [ + 0.6055892109870911, + -14.858003616333008, + 0.13603687286376953, + 0.007680689450353384, + -0.0038339027669280767, + 0.703121542930603, + -0.711017906665802 + ], + "box_yaw_rad": -1.5595851381041774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005642748538000617 + } + }, + { + "simulation_time_ns": 200000000, + "phase": "settle", + "intended_face_center": [ + 0.5488882689884336, + -14.855062469259282, + 0.11998568499297929 + ], + "intended_face_normal": [ + -0.9997286613011835, + -0.011214101976162683, + 0.020418151082445046 + ], + "commanded_contact_point": [ + 0.1744270622730255, + -14.865143775939941, + 0.05000004544854164 + ], + "centerline_face_intersection": [ + 0.5488582448912728, + -14.854442123537101, + 0.11885618637545309 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16295470297336578, + -14.90909194946289, + 0.02342131733894348 + ], + "box_pose": [ + 0.606151282787323, + -14.858721733093262, + 0.13601504266262054, + 0.007253032177686691, + -0.007185380905866623, + 0.703093409538269, + -0.7110242247581482 + ], + "box_yaw_rad": -1.559580036384686, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006335343996299912 + } + }, + { + "simulation_time_ns": 220000000, + "phase": "settle", + "intended_face_center": [ + 0.5493972216616405, + -14.855731907171556, + 0.1202313006047282 + ], + "intended_face_normal": [ + -0.9996325554827976, + -0.011323357938344936, + 0.024628867976374036 + ], + "commanded_contact_point": [ + 0.16843339800834656, + -14.867721557617188, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5493565613344205, + -14.855105517588804, + 0.11886887203721372 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16270789504051208, + -14.909327507019043, + 0.0234377384185791 + ], + "box_pose": [ + 0.6067281365394592, + -14.859481811523438, + 0.1359947919845581, + 0.006751623470336199, + -0.01068743597716093, + 0.7030595541000366, + -0.7110186219215393 + ], + "box_yaw_rad": -1.5596098275409453, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006524489994982212 + } + }, + { + "simulation_time_ns": 240000000, + "phase": "settle", + "intended_face_center": [ + 0.5499136119605443, + -14.856291773456158, + 0.1205194147767873 + ], + "intended_face_normal": [ + -0.9995174380771852, + -0.011453827110276982, + 0.028882267411806994 + ], + "commanded_contact_point": [ + 0.16287675499916077, + -14.870628356933594, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5498602100049119, + -14.855658166532876, + 0.11892169513111839 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1625724583864212, + -14.909586906433105, + 0.023447871208190918 + ], + "box_pose": [ + 0.6073119044303894, + -14.860114097595215, + 0.13601814210414886, + 0.006611285265535116, + -0.013855253346264362, + 0.7030144929885864, + -0.7110099792480469 + ], + "box_yaw_rad": -1.5596381845318552, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006271025737332079 + } + }, + { + "simulation_time_ns": 260000000, + "phase": "settle", + "intended_face_center": [ + 0.5500022659977758, + -14.856323547265728, + 0.12058775712953637 + ], + "intended_face_normal": [ + -0.999495705576013, + -0.011468273849790989, + 0.029612179666313798 + ], + "commanded_contact_point": [ + 0.15793220698833466, + -14.873725891113281, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5499464584422435, + -14.85568914117252, + 0.1189496599355257 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16250011324882507, + -14.909856796264648, + 0.02345454692840576 + ], + "box_pose": [ + 0.6074119210243225, + -14.860149383544922, + 0.13604342937469482, + 0.006779066286981106, + -0.014204849489033222, + 0.7030077576637268, + -0.7110080122947693 + ], + "box_yaw_rad": -1.559638830938211, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005834661346349498 + } + }, + { + "simulation_time_ns": 280000000, + "phase": "settle", + "intended_face_center": [ + 0.5499734077852653, + -14.856295269683212, + 0.12057130918615636 + ], + "intended_face_normal": [ + -0.9995027546900516, + -0.011468578169130494, + 0.02937469353686928 + ], + "commanded_contact_point": [ + 0.15358805656433105, + -14.876848220825195, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5499183805114185, + -14.855660846755557, + 0.11894634933517964 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16244158148765564, + -14.910115242004395, + 0.023460358381271362 + ], + "box_pose": [ + 0.6073793768882751, + -14.860116958618164, + 0.13604170083999634, + 0.006780205760151148, + -0.014034758321940899, + 0.7030076384544373, + -0.711011528968811 + ], + "box_yaw_rad": -1.5596289170858135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005349821093857803 + } + }, + { + "simulation_time_ns": 300000000, + "phase": "settle", + "intended_face_center": [ + 0.549931341512095, + -14.856248825506098, + 0.12054869909085876 + ], + "intended_face_normal": [ + -0.9995130463654358, + -0.011444791837298296, + 0.02903456616779665 + ], + "commanded_contact_point": [ + 0.14981858432292938, + -14.8798828125, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.549877453436178, + -14.855615718399292, + 0.11894255452788727 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16235899925231934, + -14.910355567932129, + 0.02346709370613098 + ], + "box_pose": [ + 0.6073319315910339, + -14.860065460205078, + 0.13604030013084412, + 0.006792023312300444, + -0.013780766166746616, + 0.7030159831047058, + -0.7110081911087036 + ], + "box_yaw_rad": -1.559638297955039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004839180468993863 + } + }, + { + "simulation_time_ns": 320000000, + "phase": "settle", + "intended_face_center": [ + 0.5498740724325599, + -14.856183081340673, + 0.12051803961226307 + ], + "intended_face_normal": [ + -0.9995264806317847, + -0.01143425753270233, + 0.028563351653528635 + ], + "commanded_contact_point": [ + 0.1465424746274948, + -14.882710456848145, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5498216713940893, + -14.855550556974315, + 0.11893796186309244 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16223876178264618, + -14.910573959350586, + 0.023475587368011475 + ], + "box_pose": [ + 0.6072672605514526, + -14.859991073608398, + 0.1360391080379486, + 0.006815729197114706, + -0.013421556912362576, + 0.7030194997787476, + -0.7110111713409424 + ], + "box_yaw_rad": -1.5596286998140403, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004327639922187855 + } + }, + { + "simulation_time_ns": 340000000, + "phase": "settle", + "intended_face_center": [ + 0.5497979384204807, + -14.856095843940556, + 0.12047739710510176 + ], + "intended_face_normal": [ + -0.999544595813004, + -0.011413141615063571, + 0.027939505130071485 + ], + "commanded_contact_point": [ + 0.14369486272335052, + -14.885228157043457, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5497475425177418, + -14.855464487672116, + 0.11893182952205479 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1620989441871643, + -14.910771369934082, + 0.023485183715820312 + ], + "box_pose": [ + 0.6071813106536865, + -14.859892845153809, + 0.1360374540090561, + 0.006846275646239519, + -0.012946824543178082, + 0.7030267119407654, + -0.7110127210617065 + ], + "box_yaw_rad": -1.5596240207786785, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003801014052933829 + } + }, + { + "simulation_time_ns": 360000000, + "phase": "settle", + "intended_face_center": [ + 0.5497031035859917, + -14.85598695871811, + 0.12042774882080659 + ], + "intended_face_normal": [ + -0.9995658777610229, + -0.011402722766774231, + 0.02716716696909094 + ], + "commanded_contact_point": [ + 0.14134369790554047, + -14.887530326843262, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5496550632960695, + -14.855356178803264, + 0.11892490571763872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16194012761116028, + -14.910950660705566, + 0.023495137691497803 + ], + "box_pose": [ + 0.6070743203163147, + -14.859768867492676, + 0.1360362023115158, + 0.006896035745739937, + -0.012347079813480377, + 0.7030299305915833, + -0.7110196352005005 + ], + "box_yaw_rad": -1.5596028146198957, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032905868456499766 + } + }, + { + "simulation_time_ns": 380000000, + "phase": "settle", + "intended_face_center": [ + 0.5495868566015372, + -14.85585254970797, + 0.12036686969136547 + ], + "intended_face_normal": [ + -0.9995912855367184, + -0.011397934326414338, + 0.026218704381658853 + ], + "commanded_contact_point": [ + 0.1393767148256302, + -14.889554977416992, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.5495416285299145, + -14.85522203468179, + 0.11891649398237811 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1617833822965622, + -14.91110897064209, + 0.02350527048110962 + ], + "box_pose": [ + 0.6069431304931641, + -14.859615325927734, + 0.13603475689888, + 0.006959956139326096, + -0.011607754975557327, + 0.7030310034751892, + -0.7110304236412048 + ], + "box_yaw_rad": -1.559570501537003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028228057644902973 + } + }, + { + "simulation_time_ns": 400000000, + "phase": "settle", + "intended_face_center": [ + 0.5494527850119818, + -14.855695457024655, + 0.12029645276365653 + ], + "intended_face_normal": [ + -0.9996196074292232, + -0.011392358110341227, + 0.025116643628730007 + ], + "commanded_contact_point": [ + 0.13768164813518524, + -14.891249656677246, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5494106916186521, + -14.855065250465598, + 0.11890704124735424 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16164249181747437, + -14.911243438720703, + 0.023513615131378174 + ], + "box_pose": [ + 0.606791615486145, + -14.85943603515625, + 0.1360333412885666, + 0.007033429574221373, + -0.010749518871307373, + 0.7030322551727295, + -0.7110419273376465 + ], + "box_yaw_rad": -1.559535732698666, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002396912364036433 + } + }, + { + "simulation_time_ns": 420000000, + "phase": "settle", + "intended_face_center": [ + 0.5493165589720442, + -14.855538213963184, + 0.12022483924292149 + ], + "intended_face_normal": [ + -0.9996472432204285, + -0.011395843716287324, + 0.023995098010757054 + ], + "commanded_contact_point": [ + 0.13619916141033173, + -14.89258861541748, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5492775242333998, + -14.854907814586124, + 0.11889746979006942 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16152268648147583, + -14.91135025024414, + 0.023520857095718384 + ], + "box_pose": [ + 0.6066375970840454, + -14.85925579071045, + 0.1360318660736084, + 0.007105771452188492, + -0.009878590703010559, + 0.7030302882194519, + -0.7110558748245239 + ], + "box_yaw_rad": -1.5594943399404024, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019976429604766283 + } + }, + { + "simulation_time_ns": 440000000, + "phase": "settle", + "intended_face_center": [ + 0.5491736188873645, + -14.855376233236477, + 0.12014866456058451 + ], + "intended_face_normal": [ + -0.9996750965845866, + -0.011357198020053638, + 0.022813863467897155 + ], + "commanded_contact_point": [ + 0.13491113483905792, + -14.893556594848633, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5491376667982033, + -14.854747971675927, + 0.11888663906457492 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16142721474170685, + -14.911433219909668, + 0.02352619171142578 + ], + "box_pose": [ + 0.6064756512641907, + -14.8590726852417, + 0.13602933287620544, + 0.007167772389948368, + -0.00897563062608242, + 0.7030434012413025, + -0.7110540866851807 + ], + "box_yaw_rad": -1.5594972161932565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001611209678366975 + } + }, + { + "simulation_time_ns": 460000000, + "phase": "settle", + "intended_face_center": [ + 0.5490233291735734, + -14.85520328302377, + 0.1200686045814725 + ], + "intended_face_normal": [ + -0.9997031893008423, + -0.011334454697088936, + 0.021564280699640503 + ], + "commanded_contact_point": [ + 0.13381974399089813, + -14.894150733947754, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5489904861369761, + -14.854576279586528, + 0.11887570395399441 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16135385632514954, + -14.91148567199707, + 0.023530781269073486 + ], + "box_pose": [ + 0.6063052415847778, + -14.85887622833252, + 0.13602714240550995, + 0.007235759403556585, + -0.008018053136765957, + 0.7030507922172546, + -0.7110576033592224 + ], + "box_yaw_rad": -1.559485488058521, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012426323884292632 + } + }, + { + "simulation_time_ns": 480000000, + "phase": "settle", + "intended_face_center": [ + 0.5488601371181314, + -14.855019503693125, + 0.11998195077313001 + ], + "intended_face_normal": [ + -0.9997318253092142, + -0.011305765512557797, + 0.02021013732685023 + ], + "commanded_contact_point": [ + 0.1329321563243866, + -14.894394874572754, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5488304631709047, + -14.854394087294502, + 0.11886395913527215 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16129574179649353, + -14.911506652832031, + 0.023533910512924194 + ], + "box_pose": [ + 0.6061201095581055, + -14.858667373657227, + 0.13602475821971893, + 0.007305812556296587, + -0.006984051316976547, + 0.7030602693557739, + -0.7110584378242493 + ], + "box_yaw_rad": -1.5594811232813819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009205522857859451 + } + }, + { + "simulation_time_ns": 500000000, + "phase": "settle", + "intended_face_center": [ + 0.5486788036938574, + -14.854816127202577, + 0.11988537349633997 + ], + "intended_face_normal": [ + -0.9997614588434826, + -0.01127264025350605, + 0.018711550825631862 + ], + "commanded_contact_point": [ + 0.13225296139717102, + -14.89433479309082, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5486524091345862, + -14.854192543238936, + 0.11885028120497704 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1612515151500702, + -14.911507606506348, + 0.023536592721939087 + ], + "box_pose": [ + 0.6059143543243408, + -14.858436584472656, + 0.13602128624916077, + 0.007377825677394867, + -0.005845381412655115, + 0.7030712962150574, + -0.7110571265220642 + ], + "box_yaw_rad": -1.5594828944637542, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006818471482867025 + } + }, + { + "simulation_time_ns": 520000000, + "phase": "settle", + "intended_face_center": [ + 0.5484749480025568, + -14.854587111133474, + 0.11977655774936921 + ], + "intended_face_normal": [ + -0.9997918125764501, + -0.01124187964176726, + 0.01702182131519625 + ], + "commanded_contact_point": [ + 0.13178464770317078, + -14.893988609313965, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5484519124310597, + -14.853965228796405, + 0.11883493852216002 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1612161099910736, + -14.911480903625488, + 0.023538649082183838 + ], + "box_pose": [ + 0.6056827902793884, + -14.858176231384277, + 0.1360173523426056, + 0.007459770888090134, + -0.0045607793144881725, + 0.7030813694000244, + -0.7110555768013 + ], + "box_yaw_rad": -1.5594844191179666, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005823752428383021 + } + }, + { + "simulation_time_ns": 540000000, + "phase": "settle", + "intended_face_center": [ + 0.5482661042379691, + -14.854336235720174, + 0.11966943359608577 + ], + "intended_face_normal": [ + -0.99982034478917, + -0.011206777476344132, + 0.015285637340594183 + ], + "commanded_contact_point": [ + 0.13152432441711426, + -14.89341926574707, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5482462259891926, + -14.853716295177305, + 0.1188238572177695 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16119028627872467, + -14.9114408493042, + 0.02354016900062561 + ], + "box_pose": [ + 0.6054452657699585, + -14.857891082763672, + 0.13601842522621155, + 0.007590109948068857, + -0.0031942673958837986, + 0.7030924558639526, + -0.7110507488250732 + ], + "box_yaw_rad": -1.5594942832743195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006260353916126087 + } + }, + { + "simulation_time_ns": 560000000, + "phase": "settle", + "intended_face_center": [ + 0.5480920634529209, + -14.85411120537967, + 0.11958412263459398 + ], + "intended_face_normal": [ + -0.9998417159004017, + -0.011189986221082915, + 0.013838831355531656 + ], + "commanded_contact_point": [ + 0.13145971298217773, + -14.892658233642578, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5480745500333817, + -14.853492193701491, + 0.11881858118957594 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16117267310619354, + -14.911382675170898, + 0.023540794849395752 + ], + "box_pose": [ + 0.6052471995353699, + -14.857634544372559, + 0.13602371513843536, + 0.007744074333459139, + -0.0020096770022064447, + 0.7030967473983765, + -0.7110492587089539 + ], + "box_yaw_rad": -1.5594938726656136, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007637699294585236 + } + }, + { + "simulation_time_ns": 580000000, + "phase": "settle", + "intended_face_center": [ + 0.5479417038406484, + -14.85391987707445, + 0.1195092057416738 + ], + "intended_face_normal": [ + -0.9998583390137041, + -0.011178870002056529, + 0.01258760079042412 + ], + "commanded_contact_point": [ + 0.1315714716911316, + -14.891759872436523, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5479260298236981, + -14.85330148032727, + 0.11881288031860551 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16116270422935486, + -14.911314010620117, + 0.023541241884231567 + ], + "box_pose": [ + 0.6050759553909302, + -14.857416152954102, + 0.13602697849273682, + 0.007869225926697254, + -0.0009933265391737223, + 0.7030993103981018, + -0.7110474705696106 + ], + "box_yaw_rad": -1.5594948142642029, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009052860684313914 + } + }, + { + "simulation_time_ns": 600000000, + "phase": "settle", + "intended_face_center": [ + 0.5478111583188326, + -14.85375593217405, + 0.11944414931589797 + ], + "intended_face_normal": [ + -0.9998717095262744, + -0.011163138279526641, + 0.011501383714682397 + ], + "commanded_contact_point": [ + 0.13183677196502686, + -14.890724182128906, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5477969637712247, + -14.85313840567995, + 0.11880791163928771 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1611609160900116, + -14.911232948303223, + 0.02354109287261963 + ], + "box_pose": [ + 0.6049271821975708, + -14.857229232788086, + 0.1360296905040741, + 0.007974219508469105, + -0.00011475016799522564, + 0.7031037211418152, + -0.7110427021980286 + ], + "box_yaw_rad": -1.559505111078952, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001069129856242573 + } + }, + { + "simulation_time_ns": 620000000, + "phase": "settle", + "intended_face_center": [ + 0.5476992869912582, + -14.853616594606365, + 0.1193884132540752 + ], + "intended_face_normal": [ + -0.9998817304364961, + -0.011170962320865896, + 0.01057407305844349 + ], + "commanded_contact_point": [ + 0.13223208487033844, + -14.889607429504395, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.5476862012609778, + -14.852998635299134, + 0.1188034728815161 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16116662323474884, + -14.911142349243164, + 0.023540139198303223 + ], + "box_pose": [ + 0.604799747467041, + -14.85706901550293, + 0.13603177666664124, + 0.008064762689173222, + 0.0006362870335578918, + 0.7030999064445496, + -0.7110450863838196 + ], + "box_yaw_rad": -1.5594950059207144, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001184655527129848 + } + }, + { + "simulation_time_ns": 640000000, + "phase": "settle", + "intended_face_center": [ + 0.5476030411352858, + -14.853495605241616, + 0.11934004301591394 + ], + "intended_face_normal": [ + -0.9998897968803906, + -0.011181303893115002, + 0.00977559960612201 + ], + "commanded_contact_point": [ + 0.13273409008979797, + -14.888449668884277, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5475908479518555, + -14.852877073855574, + 0.11879927288467038 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1611795276403427, + -14.911048889160156, + 0.02353915572166443 + ], + "box_pose": [ + 0.6046900749206543, + -14.856929779052734, + 0.13603317737579346, + 0.00814391952008009, + 0.0012842027936130762, + 0.7030953168869019, + -0.711047887802124 + ], + "box_yaw_rad": -1.559484437017306, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001261910810585529 + } + }, + { + "simulation_time_ns": 660000000, + "phase": "settle", + "intended_face_center": [ + 0.5475194174601795, + -14.853390969509972, + 0.11929813347275624 + ], + "intended_face_normal": [ + -0.9998962855774586, + -0.011181147398347857, + 0.009078175454889453 + ], + "commanded_contact_point": [ + 0.1333196759223938, + -14.8872709274292, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5475079422416974, + -14.852772446780964, + 0.11879594370128502 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16119863092899323, + -14.910957336425781, + 0.02353757619857788 + ], + "box_pose": [ + 0.6045946478843689, + -14.856809616088867, + 0.1360347419977188, + 0.008215307258069515, + 0.0018523510079830885, + 0.7030945420265198, + -0.7110465168952942 + ], + "box_yaw_rad": -1.5594856799678305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013161847079008904 + } + }, + { + "simulation_time_ns": 680000000, + "phase": "settle", + "intended_face_center": [ + 0.547445259725761, + -14.85329906794969, + 0.11926051028567322 + ], + "intended_face_normal": [ + -0.999901705524938, + -0.011187539796741808, + 0.008462093163950885 + ], + "commanded_contact_point": [ + 0.13396736979484558, + -14.88609790802002, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5474343842130587, + -14.852680191603692, + 0.11879240117572162 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16122308373451233, + -14.91086196899414, + 0.02353575825691223 + ], + "box_pose": [ + 0.6045100688934326, + -14.856703758239746, + 0.1360354721546173, + 0.00827561691403389, + 0.0023514844942837954, + 0.703091561794281, + -0.711047351360321 + ], + "box_yaw_rad": -1.5594813641503247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013399559272401064 + } + }, + { + "simulation_time_ns": 700000000, + "phase": "settle", + "intended_face_center": [ + 0.5473827244318781, + -14.853222025543273, + 0.11922985526918507 + ], + "intended_face_normal": [ + -0.9999056488054476, + -0.0111908674121165, + 0.007943937099759019 + ], + "commanded_contact_point": [ + 0.13465650379657745, + -14.884953498840332, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5473722852328209, + -14.852602965119052, + 0.11879040970255846 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16125155985355377, + -14.910772323608398, + 0.023533403873443604 + ], + "box_pose": [ + 0.6044387221336365, + -14.85661506652832, + 0.13603706657886505, + 0.008326852694153786, + 0.002771784784272313, + 0.7030897736549377, + -0.7110468149185181 + ], + "box_yaw_rad": -1.5594805225883699, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013358809987831547 + } + }, + { + "simulation_time_ns": 720000000, + "phase": "settle", + "intended_face_center": [ + 0.5473785496842651, + -14.853217940860365, + 0.11922753514300904 + ], + "intended_face_normal": [ + -0.9999061775161044, + -0.011191169571163062, + 0.007908097889353816 + ], + "commanded_contact_point": [ + 0.13536831736564636, + -14.883855819702148, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5473681689855244, + -14.852598863721202, + 0.11879007214270013 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1612825095653534, + -14.910684585571289, + 0.023531198501586914 + ], + "box_pose": [ + 0.6044339537620544, + -14.856610298156738, + 0.1360369473695755, + 0.0083278464153409, + 0.002798279281705618, + 0.7030896544456482, + -0.7110469937324524 + ], + "box_yaw_rad": -1.559480478349521, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013082729255163065 + } + }, + { + "simulation_time_ns": 740000000, + "phase": "settle", + "intended_face_center": [ + 0.5473776509855012, + -14.853220570403566, + 0.11922677168675855 + ], + "intended_face_normal": [ + -0.9999061706478745, + -0.011191590889132907, + 0.007901244625769965 + ], + "commanded_contact_point": [ + 0.13608548045158386, + -14.88282585144043, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5473672695268108, + -14.852601469957785, + 0.11878968779774685 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16131529211997986, + -14.910598754882812, + 0.023528993129730225 + ], + "box_pose": [ + 0.6044329404830933, + -14.856613159179688, + 0.13603651523590088, + 0.008320227265357971, + 0.002795449225232005, + 0.7030895948410034, + -0.7110471129417419 + ], + "box_yaw_rad": -1.5594802810003536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012550527927777991 + } + }, + { + "simulation_time_ns": 760000000, + "phase": "settle", + "intended_face_center": [ + 0.5473807501578146, + -14.853221439578533, + 0.11922813339820712 + ], + "intended_face_normal": [ + -0.9999059333050738, + -0.011194845237328277, + 0.00792530842469319 + ], + "commanded_contact_point": [ + 0.13679230213165283, + -14.881877899169922, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5473703424378282, + -14.852602159107548, + 0.11878971833932081 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16134889423847198, + -14.910518646240234, + 0.023526787757873535 + ], + "box_pose": [ + 0.604436457157135, + -14.856614112854004, + 0.1360364407300949, + 0.008323178626596928, + 0.0027813399210572243, + 0.7030884027481079, + -0.7110483050346375 + ], + "box_yaw_rad": -1.5594767730924444, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011824594684943536 + } + }, + { + "simulation_time_ns": 780000000, + "phase": "settle", + "intended_face_center": [ + 0.5473864462769343, + -14.853228088964135, + 0.1192307087945849 + ], + "intended_face_normal": [ + -0.9999057020943767, + -0.011195493630424491, + 0.007971765212636955 + ], + "commanded_contact_point": [ + 0.13747385144233704, + -14.881019592285156, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5473760129741455, + -14.852608772625107, + 0.11878972382241186 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16138210892677307, + -14.910449981689453, + 0.02352452278137207 + ], + "box_pose": [ + 0.6044429540634155, + -14.856621742248535, + 0.13603612780570984, + 0.008318806998431683, + 0.0027438874822109938, + 0.7030882239341736, + -0.7110487818717957 + ], + "box_yaw_rad": -1.5594758683267256, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010959927788740506 + } + }, + { + "simulation_time_ns": 800000000, + "phase": "settle", + "intended_face_center": [ + 0.5473932497681814, + -14.853237242701976, + 0.1192341100636427 + ], + "intended_face_normal": [ + -0.9999049926634733, + -0.011193785038411841, + 0.008032037799405867 + ], + "commanded_contact_point": [ + 0.13811755180358887, + -14.88025951385498, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5473827379688552, + -14.852618020879454, + 0.1187897909108597 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16141536831855774, + -14.910387992858887, + 0.02352204918861389 + ], + "box_pose": [ + 0.6044507622718811, + -14.856632232666016, + 0.13603579998016357, + 0.008314738981425762, + 0.0026969010941684246, + 0.7030888795852661, + -0.7110481858253479 + ], + "box_yaw_rad": -1.5594772112052875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000996026794372569 + } + }, + { + "simulation_time_ns": 820000000, + "phase": "settle", + "intended_face_center": [ + 0.5474031927474451, + -14.853247330959896, + 0.11923897363685636 + ], + "intended_face_normal": [ + -0.9999044630460879, + -0.011196902706434364, + 0.008112294066471626 + ], + "commanded_contact_point": [ + 0.13871236145496368, + -14.87960147857666, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.547392622347406, + -14.852627936673096, + 0.1187902148390569 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1614474207162857, + -14.9103364944458, + 0.023519784212112427 + ], + "box_pose": [ + 0.6044620871543884, + -14.856643676757812, + 0.1360357254743576, + 0.008311721496284008, + 0.0026367963291704655, + 0.7030878067016602, + -0.7110496163368225 + ], + "box_yaw_rad": -1.5594735695090451, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008870225190093355 + } + }, + { + "simulation_time_ns": 840000000, + "phase": "settle", + "intended_face_center": [ + 0.5474163724164374, + -14.853263506793525, + 0.11924619962390617 + ], + "intended_face_normal": [ + -0.9999035956842229, + -0.011198310798512301, + 0.008223836462057599 + ], + "commanded_contact_point": [ + 0.13925018906593323, + -14.879050254821777, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5474057060451167, + -14.85264403461338, + 0.11879127048379211 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16147743165493011, + -14.910293579101562, + 0.023517727851867676 + ], + "box_pose": [ + 0.6044771671295166, + -14.856661796569824, + 0.13603611290454865, + 0.008309704251587391, + 0.0025554446037858725, + 0.703087329864502, + -0.7110504508018494 + ], + "box_yaw_rad": -1.5594714046034108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007701338630837586 + } + }, + { + "simulation_time_ns": 860000000, + "phase": "settle", + "intended_face_center": [ + 0.5474311601551903, + -14.853280977384026, + 0.11925337441345014 + ], + "intended_face_normal": [ + -0.9999023949337486, + -0.011197958574413525, + 0.008343596098021933 + ], + "commanded_contact_point": [ + 0.13972583413124084, + -14.878602027893066, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5474203609238888, + -14.85266152468834, + 0.11879182036676589 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16150543093681335, + -14.910252571105957, + 0.02351626753807068 + ], + "box_pose": [ + 0.6044939756393433, + -14.856681823730469, + 0.13603585958480835, + 0.008300122804939747, + 0.0024605875369161367, + 0.703087568283081, + -0.7110505104064941 + ], + "box_yaw_rad": -1.5594711466718254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006535637753525963 + } + }, + { + "simulation_time_ns": 880000000, + "phase": "settle", + "intended_face_center": [ + 0.5474458680190205, + -14.853300300222136, + 0.1192602609775066 + ], + "intended_face_normal": [ + -0.9999015452281773, + -0.011201624720261205, + 0.00846575032983729 + ], + "commanded_contact_point": [ + 0.14013707637786865, + -14.878257751464844, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5474349747698658, + -14.852680644721278, + 0.11879194955913852 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16153088212013245, + -14.910226821899414, + 0.02351444959640503 + ], + "box_pose": [ + 0.6045107841491699, + -14.856703758239746, + 0.13603511452674866, + 0.008285616524517536, + 0.0023590719792991877, + 0.7030864357948303, + -0.7110522985458374 + ], + "box_yaw_rad": -1.559467013078539, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005363268078216686 + } + }, + { + "simulation_time_ns": 900000000, + "phase": "settle", + "intended_face_center": [ + 0.5474642626367963, + -14.853323234162968, + 0.11926925099758875 + ], + "intended_face_normal": [ + -0.9999002005755282, + -0.01119285024330452, + 0.008616898375486848 + ], + "commanded_contact_point": [ + 0.1404845267534256, + -14.878009796142578, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5474532206049356, + -14.85270406405178, + 0.11879257831732613 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16155286133289337, + -14.91020679473877, + 0.023513108491897583 + ], + "box_pose": [ + 0.6045317053794861, + -14.856730461120605, + 0.13603471219539642, + 0.008272174745798111, + 0.0022379455622285604, + 0.703089714050293, + -0.711049497127533 + ], + "box_yaw_rad": -1.5594751510297027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000426853143357905 + } + }, + { + "simulation_time_ns": 920000000, + "phase": "settle", + "intended_face_center": [ + 0.5474861859343457, + -14.853350960743429, + 0.1192802698276248 + ], + "intended_face_normal": [ + -0.9998986082982393, + -0.011194347529511428, + 0.0087965661787468 + ], + "commanded_contact_point": [ + 0.14076901972293854, + -14.877853393554688, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 0.5474749677204268, + -14.852731707804823, + 0.11879365821926939 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16157080233097076, + -14.910194396972656, + 0.023512035608291626 + ], + "box_pose": [ + 0.604556679725647, + -14.856761932373047, + 0.13603457808494568, + 0.00825730711221695, + 0.0020951516926288605, + 0.7030893564224243, + -0.7110504508018494 + ], + "box_yaw_rad": -1.559472944555779, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000324650614578998 + } + }, + { + "simulation_time_ns": 940000000, + "phase": "settle", + "intended_face_center": [ + 0.5475104042622706, + -14.853380303156236, + 0.11929262148977668 + ], + "intended_face_normal": [ + -0.9998969613372057, + -0.011199098488984482, + 0.008997858971440162 + ], + "commanded_contact_point": [ + 0.14099161326885223, + -14.877778053283691, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.5474990038153594, + -14.852760787402348, + 0.11879487469439345 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16158579289913177, + -14.910184860229492, + 0.023510903120040894 + ], + "box_pose": [ + 0.6045843362808228, + -14.856795310974121, + 0.13603442907333374, + 0.008240328170359135, + 0.0019348623463883996, + 0.7030878663063049, + -0.7110527157783508 + ], + "box_yaw_rad": -1.5594675044640391, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00023499797363509524 + } + }, + { + "simulation_time_ns": 960000000, + "phase": "settle", + "intended_face_center": [ + 0.547539511557031, + -14.853413422024696, + 0.11930762695770357 + ], + "intended_face_normal": [ + -0.9998945527825689, + -0.011198857306451981, + 0.009236945413786779 + ], + "commanded_contact_point": [ + 0.14115479588508606, + -14.877781867980957, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5475278446077558, + -14.85279391961263, + 0.1187966542926023 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16159820556640625, + -14.910183906555176, + 0.02351018786430359 + ], + "box_pose": [ + 0.6046174764633179, + -14.856833457946777, + 0.13603460788726807, + 0.00822219718247652, + 0.0017465020064264536, + 0.7030881643295288, + -0.7110529541969299 + ], + "box_yaw_rad": -1.5594670002336974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016322720068763912 + } + }, + { + "simulation_time_ns": 980000000, + "phase": "settle", + "intended_face_center": [ + 0.5475710404796106, + -14.853452693791692, + 0.11932343423930614 + ], + "intended_face_normal": [ + -0.9998925262254349, + -0.011184540626210215, + 0.009499792870962365 + ], + "commanded_contact_point": [ + 0.14126241207122803, + -14.877846717834473, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 0.5475591492948306, + -14.852833983354888, + 0.11879792128413152 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16160757839679718, + -14.910187721252441, + 0.02350965142250061 + ], + "box_pose": [ + 0.6046534180641174, + -14.856879234313965, + 0.1360340714454651, + 0.008198751136660576, + 0.0015358043601736426, + 0.7030935287475586, + -0.7110486030578613 + ], + "box_yaw_rad": -1.559480761368467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00012564532784198326 + } + }, + { + "simulation_time_ns": 1000000000, + "phase": "settle", + "intended_face_center": [ + 0.5476088664606131, + -14.853499730162786, + 0.11934288155327999 + ], + "intended_face_normal": [ + -0.9998894095267772, + -0.011188370248898849, + 0.009811127282571275 + ], + "commanded_contact_point": [ + 0.14131875336170197, + -14.87796688079834, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5475966304169182, + -14.852880807877538, + 0.11880014608926603 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1616150289773941, + -14.910199165344238, + 0.023508787155151367 + ], + "box_pose": [ + 0.60469651222229, + -14.856932640075684, + 0.13603419065475464, + 0.008173945359885693, + 0.001289337407797575, + 0.7030924558639526, + -0.7110503911972046 + ], + "box_yaw_rad": -1.5594764089504658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001327157957830542 + } + }, + { + "simulation_time_ns": 1020000000, + "phase": "settle", + "intended_face_center": [ + 0.5476511454626384, + -14.85355250522373, + 0.1193641628667298 + ], + "intended_face_normal": [ + -0.9998859292374701, + -0.011181675684019177, + 0.010164560763153932 + ], + "commanded_contact_point": [ + 0.1413196623325348, + -14.878124237060547, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.547638524327895, + -14.852933953270826, + 0.1188018760424534 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16183790564537048, + -14.910025596618652, + 0.02370515465736389 + ], + "box_pose": [ + 0.6047447323799133, + -14.856993675231934, + 0.13603343069553375, + 0.008137649856507778, + 0.00100126292090863, + 0.7030952572822571, + -0.7110484838485718 + ], + "box_yaw_rad": -1.5594830368588968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00015735889109879907 + } + }, + { + "simulation_time_ns": 1040000000, + "phase": "settle", + "intended_face_center": [ + 0.5476989053895039, + -14.853613263600657, + 0.11938768629790887 + ], + "intended_face_normal": [ + -0.9998817656091878, + -0.011180154471038817, + 0.01055682660652052 + ], + "commanded_contact_point": [ + 0.1407487690448761, + -14.87782096862793, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5476858235510749, + -14.85299479579876, + 0.11880369997077367 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17049121856689453, + -14.905487060546875, + 0.03563052415847778 + ], + "box_pose": [ + 0.6047990918159485, + -14.857063293457031, + 0.13603247702121735, + 0.008096733130514622, + 0.0006809232290834188, + 0.7030962705612183, + -0.7110482454299927 + ], + "box_yaw_rad": -1.5594848809942599, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006464448067157109 + } + }, + { + "simulation_time_ns": 1060000000, + "phase": "settle", + "intended_face_center": [ + 0.5477550275464089, + -14.853682362542159, + 0.11941650820135444 + ], + "intended_face_normal": [ + -0.9998767641418083, + -0.011180804144397927, + 0.011025806384992745 + ], + "commanded_contact_point": [ + 0.14029687643051147, + -14.878090858459473, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5477413922952207, + -14.853063858801397, + 0.11880657868233603 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1725168228149414, + -14.907255172729492, + 0.05594585835933685 + ], + "box_pose": [ + 0.6048631072044373, + -14.857142448425293, + 0.1360321193933487, + 0.008055866695940495, + 0.0003060902818106115, + 0.7030965089797974, + -0.7110487818717957 + ], + "box_yaw_rad": -1.559484892901974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005263529777741241 + } + }, + { + "simulation_time_ns": 1080000000, + "phase": "settle", + "intended_face_center": [ + 0.5478195134783974, + -14.85376114768015, + 0.1194484057804116 + ], + "intended_face_normal": [ + -0.9998708138365887, + -0.011178096808454607, + 0.011555741215470448 + ], + "commanded_contact_point": [ + 0.1418759524822235, + -14.879042625427246, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.5478052198218618, + -14.85314279370477, + 0.11880916113604287 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15716961026191711, + -14.91718864440918, + 0.056879401206970215 + ], + "box_pose": [ + 0.6049364805221558, + -14.857233047485352, + 0.13603097200393677, + 0.008004464209079742, + -0.000122761310194619, + 0.7030980587005615, + -0.711047887802124 + ], + "box_yaw_rad": -1.5594891827921045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018437303322774773 + } + }, + { + "simulation_time_ns": 1100000000, + "phase": "settle", + "intended_face_center": [ + 0.5478915509878984, + -14.85385502501494, + 0.11948341087243819 + ], + "intended_face_normal": [ + -0.9998637840829946, + -0.011157667856315445, + 0.012152520609251212 + ], + "commanded_contact_point": [ + 0.14353124797344208, + -14.87968635559082, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5478764794792641, + -14.853237801135677, + 0.11881115337115006 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15144406259059906, + -14.919368743896484, + 0.05860273540019989 + ], + "box_pose": [ + 0.6050184369087219, + -14.857341766357422, + 0.13602861762046814, + 0.007935409434139729, + -0.0006170679698698223, + 0.7031061053276062, + -0.7110403180122375 + ], + "box_yaw_rad": -1.559512641885705, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017760607217727155 + } + }, + { + "simulation_time_ns": 1120000000, + "phase": "settle", + "intended_face_center": [ + 0.5479779783530803, + -14.853960248607645, + 0.11952753758714459 + ], + "intended_face_normal": [ + -0.9998548956198053, + -0.011165118308603783, + 0.01287126364944055 + ], + "commanded_contact_point": [ + 0.14478527009487152, + -14.880560874938965, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5479619233156926, + -14.853342612581585, + 0.11881552040012523 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15317673981189728, + -14.911845207214355, + 0.06108483672142029 + ], + "box_pose": [ + 0.6051169037818909, + -14.857461929321289, + 0.136027991771698, + 0.007874734699726105, + -0.0011895279167219996, + 0.7031041383743286, + -0.7110423445701599 + ], + "box_yaw_rad": -1.5595092799457675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015288412515489101 + } + }, + { + "simulation_time_ns": 1140000000, + "phase": "settle", + "intended_face_center": [ + 0.5480770912195629, + -14.854084033589759, + 0.11957687018613482 + ], + "intended_face_normal": [ + -0.9998440196375527, + -0.011173020361321728, + 0.013689638925025699 + ], + "commanded_contact_point": [ + 0.1455000638961792, + -14.88162612915039, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5480598327180016, + -14.853465960435106, + 0.1188195818215902 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15560248494148254, + -14.901912689208984, + 0.06536804139614105 + ], + "box_pose": [ + 0.6052296757698059, + -14.857603073120117, + 0.1360262632369995, + 0.007799125742167234, + -0.001847952837124467, + 0.703102171421051, + -0.7110437750816345 + ], + "box_yaw_rad": -1.5595078530374546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012828471127675435 + } + }, + { + "simulation_time_ns": 1160000000, + "phase": "settle", + "intended_face_center": [ + 0.548190055836563, + -14.854225205088234, + 0.11963207025462039 + ], + "intended_face_normal": [ + -0.9998306038295028, + -0.011168725316358152, + 0.014624378876418043 + ], + "commanded_contact_point": [ + 0.14592532813549042, + -14.883500099182129, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.548171312812488, + -14.85360736952842, + 0.11882307360960606 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15502473711967468, + -14.893353462219238, + 0.0680743157863617 + ], + "box_pose": [ + 0.6053581237792969, + -14.857765197753906, + 0.13602301478385925, + 0.007705178577452898, + -0.0026077216025441885, + 0.7031047344207764, + -0.7110397219657898 + ], + "box_yaw_rad": -1.5595219363383466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019216173796023299 + } + }, + { + "simulation_time_ns": 1180000000, + "phase": "settle", + "intended_face_center": [ + 0.548320575662975, + -14.854390828798337, + 0.11969597524939614 + ], + "intended_face_normal": [ + -0.9998141364559345, + -0.011182274292815153, + 0.01570758277583917 + ], + "commanded_contact_point": [ + 0.1459478735923767, + -14.88618278503418, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.5483000104190154, + -14.853772243731378, + 0.11882705754189407 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15177717804908752, + -14.888470649719238, + 0.06847058236598969 + ], + "box_pose": [ + 0.6055065989494324, + -14.857954025268555, + 0.13601914048194885, + 0.007596584036946297, + -0.003487848676741123, + 0.7031010985374451, + -0.7110407948493958 + ], + "box_yaw_rad": -1.5595225435561528, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026827805870837658 + } + }, + { + "simulation_time_ns": 1200000000, + "phase": "settle", + "intended_face_center": [ + 0.5484727134352458, + -14.854580438278537, + 0.11977023301378849 + ], + "intended_face_normal": [ + -0.999793440864164, + -0.011195342124756147, + 0.016964477277137957 + ], + "commanded_contact_point": [ + 0.1452694535255432, + -14.88920783996582, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5484498580495278, + -14.853961130320554, + 0.1188317859646795 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1491873562335968, + -14.887738227844238, + 0.0693235695362091 + ], + "box_pose": [ + 0.605679452419281, + -14.858170509338379, + 0.13601472973823547, + 0.007474481128156185, + -0.004505185876041651, + 0.7030977606773376, + -0.711039662361145 + ], + "box_yaw_rad": -1.559529509392255, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003100195337272424 + } + }, + { + "simulation_time_ns": 1220000000, + "phase": "settle", + "intended_face_center": [ + 0.5486476418441306, + -14.854800091379335, + 0.11985563298156057 + ], + "intended_face_normal": [ + -0.9997674507004217, + -0.011223437756370136, + 0.018416874371061764 + ], + "commanded_contact_point": [ + 0.14382964372634888, + -14.892376899719238, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.548621910360452, + -14.854179229217108, + 0.11883684170818455 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14803314208984375, + -14.891097068786621, + 0.07065881788730621 + ], + "box_pose": [ + 0.6058782339096069, + -14.858420372009277, + 0.13600915670394897, + 0.007335232570767403, + -0.005678916350007057, + 0.7030892372131348, + -0.7110411524772644 + ], + "box_yaw_rad": -1.5595295119196944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034808033524912738 + } + }, + { + "simulation_time_ns": 1240000000, + "phase": "settle", + "intended_face_center": [ + 0.5488475714855475, + -14.855053994753634, + 0.11995125876620427 + ], + "intended_face_normal": [ + -0.9997352570751457, + -0.011262707312107212, + 0.02006531835468406 + ], + "commanded_contact_point": [ + 0.14187559485435486, + -14.895866394042969, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5488182773188517, + -14.854430960264015, + 0.11884127827628005 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1464841365814209, + -14.897366523742676, + 0.07089540362358093 + ], + "box_pose": [ + 0.6061050891876221, + -14.858708381652832, + 0.1360013484954834, + 0.007171927951276302, + -0.007016458082944155, + 0.703076958656311, + -0.7110430002212524 + ], + "box_yaw_rad": -1.559528969562863, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003999359652430406 + } + }, + { + "simulation_time_ns": 1260000000, + "phase": "settle", + "intended_face_center": [ + 0.5490774985397878, + -14.855344298152987, + 0.12005952515704156 + ], + "intended_face_normal": [ + -0.999695002928749, + -0.011317235538396142, + 0.02195396894830981 + ], + "commanded_contact_point": [ + 0.14049875736236572, + -14.900158882141113, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5490437495171892, + -14.854718247251355, + 0.1188450676150142 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14009077847003937, + -14.9055757522583, + 0.0654807984828949 + ], + "box_pose": [ + 0.6063656806945801, + -14.859037399291992, + 0.1359909027814865, + 0.00698064686730504, + -0.00855322740972042, + 0.7030594944953918, + -0.7110453844070435 + ], + "box_yaw_rad": -1.5595276791261834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004507897021037796 + } + }, + { + "simulation_time_ns": 1280000000, + "phase": "settle", + "intended_face_center": [ + 0.5493252462823737, + -14.855675999015409, + 0.12018150933758931 + ], + "intended_face_normal": [ + -0.9996477503722184, + -0.011360469677375473, + 0.02398722484156035 + ], + "commanded_contact_point": [ + 0.1398717761039734, + -14.904228210449219, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5492862676731284, + -14.855047556472142, + 0.11885457541553957 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1327519416809082, + -14.914519309997559, + 0.060877054929733276 + ], + "box_pose": [ + 0.6066461205482483, + -14.859414100646973, + 0.13598427176475525, + 0.006724241189658642, + -0.01025880966335535, + 0.7030466198921204, + -0.7110379934310913 + ], + "box_yaw_rad": -1.5595555281792566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0041173460356809495 + } + }, + { + "simulation_time_ns": 1300000000, + "phase": "settle", + "intended_face_center": [ + 0.5495871623790682, + -14.856025483494953, + 0.12030977125845752 + ], + "intended_face_normal": [ + -0.9995929431637744, + -0.011402288295051743, + 0.026146161203129736 + ], + "commanded_contact_point": [ + 0.14004629850387573, + -14.907979011535645, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5495421177767132, + -14.855394727614371, + 0.11886340851908375 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.12892824411392212, + -14.91887378692627, + 0.06507441401481628 + ], + "box_pose": [ + 0.6069424152374268, + -14.859811782836914, + 0.1359756886959076, + 0.006447538733482361, + -0.012074410915374756, + 0.7030343413352966, + -0.7110240459442139 + ], + "box_yaw_rad": -1.5596018765632347, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003754859099666383 + } + }, + { + "simulation_time_ns": 1320000000, + "phase": "settle", + "intended_face_center": [ + 0.5497933351425035, + -14.856228407017914, + 0.12043404481574438 + ], + "intended_face_normal": [ + -0.9995470967450201, + -0.011450242266350275, + 0.027834743946272833 + ], + "commanded_contact_point": [ + 0.14135639369487762, + -14.911482810974121, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.549743216060424, + -14.855594998402317, + 0.11889427244950197 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1299470216035843, + -14.919452667236328, + 0.07247062027454376 + ], + "box_pose": [ + 0.6071752905845642, + -14.860040664672852, + 0.13599559664726257, + 0.006453405134379864, + -0.013269764371216297, + 0.7030172348022461, + -0.7110198140144348 + ], + "box_yaw_rad": -1.5596141969001305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003740716497514481 + } + }, + { + "simulation_time_ns": 1340000000, + "phase": "settle", + "intended_face_center": [ + 0.5498066799668606, + -14.856222564922229, + 0.12044867512410183 + ], + "intended_face_normal": [ + -0.9995439226132314, + -0.011451296201817618, + 0.027949817915872255 + ], + "commanded_contact_point": [ + 0.1425398886203766, + -14.913910865783691, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5497562095495409, + -14.855589098004652, + 0.1189025370546647 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1336195021867752, + -14.919483184814453, + 0.07686835527420044 + ], + "box_pose": [ + 0.6071904301643372, + -14.860033988952637, + 0.13600382208824158, + 0.006509728264063597, + -0.013294660486280918, + 0.7030163407325745, + -0.71101975440979 + ], + "box_yaw_rad": -1.5596130106216386, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002701131318070064 + } + }, + { + "simulation_time_ns": 1360000000, + "phase": "settle", + "intended_face_center": [ + 0.5497926778347797, + -14.856189906903218, + 0.12044645730866993 + ], + "intended_face_normal": [ + -0.9995469196572985, + -0.011449167674490668, + 0.027837039943927167 + ], + "commanded_contact_point": [ + 0.14327681064605713, + -14.915257453918457, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 0.5497425391514145, + -14.85555655773228, + 0.11890655793160437 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13700905442237854, + -14.921370506286621, + 0.0771404355764389 + ], + "box_pose": [ + 0.6071746349334717, + -14.859996795654297, + 0.13600929081439972, + 0.006565485615283251, + -0.013158038258552551, + 0.7030165791511536, + -0.7110214233398438 + ], + "box_yaw_rad": -1.5596064796844422, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015350419137507689 + } + }, + { + "simulation_time_ns": 1380000000, + "phase": "settle", + "intended_face_center": [ + 0.5497554447022933, + -14.856130822121505, + 0.12043138718331009 + ], + "intended_face_normal": [ + -0.9995551871077359, + -0.011467329757559264, + 0.027531398973977828 + ], + "commanded_contact_point": [ + 0.14391645789146423, + -14.91596508026123, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5497062211134361, + -14.85549646825393, + 0.11890839536323257 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13899126648902893, + -14.922534942626953, + 0.07445928454399109 + ], + "box_pose": [ + 0.6071326732635498, + -14.859928131103516, + 0.13601398468017578, + 0.006633056327700615, + -0.01287234015762806, + 0.7030094861984253, + -0.711033046245575 + ], + "box_yaw_rad": -1.5595717085359166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009538782103726967 + } + }, + { + "simulation_time_ns": 1400000000, + "phase": "settle", + "intended_face_center": [ + 0.5496951201554859, + -14.856048197146658, + 0.12040306630938186 + ], + "intended_face_normal": [ + -0.9995686097137904, + -0.011464266164139647, + 0.027035949081511412 + ], + "commanded_contact_point": [ + 0.14425711333751678, + -14.915886878967285, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5496473822507406, + -14.855414012752044, + 0.11890748196446381 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1398952603340149, + -14.921250343322754, + 0.0698477178812027 + ], + "box_pose": [ + 0.6070645451545715, + -14.859833717346191, + 0.13601720333099365, + 0.006703923922032118, + -0.01244821771979332, + 0.7030099034309387, + -0.7110394239425659 + ], + "box_yaw_rad": -1.559551468321029, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00034951620274315676 + } + }, + { + "simulation_time_ns": 1420000000, + "phase": "settle", + "intended_face_center": [ + 0.5496122225411613, + -14.855941632519276, + 0.12036228708587522 + ], + "intended_face_normal": [ + -0.999586923944719, + -0.011452200865373463, + 0.02635998794488914 + ], + "commanded_contact_point": [ + 0.14405742287635803, + -14.91500186920166, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5495665117189112, + -14.855308115557195, + 0.11890409580197595 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14060281217098236, + -14.918852806091309, + 0.06473684310913086 + ], + "box_pose": [ + 0.6069709658622742, + -14.859712600708008, + 0.13601915538311005, + 0.00677841529250145, + -0.011892001144587994, + 0.7030134797096252, + -0.7110447883605957 + ], + "box_yaw_rad": -1.559534526795922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009072588198576106 + } + }, + { + "simulation_time_ns": 1440000000, + "phase": "settle", + "intended_face_center": [ + 0.549504713889478, + -14.855807723447022, + 0.1203082315971366 + ], + "intended_face_normal": [ + -0.9996094828397114, + -0.011443675301611833, + 0.025486140884454223 + ], + "commanded_contact_point": [ + 0.1436312049627304, + -14.913765907287598, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5494614999127703, + -14.85517467810514, + 0.11889838009888713 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14211364090442657, + -14.916304588317871, + 0.06147804856300354 + ], + "box_pose": [ + 0.6068496108055115, + -14.859560012817383, + 0.13602016866207123, + 0.00686359079554677, + -0.011184235103428364, + 0.7030156850814819, + -0.7110531330108643 + ], + "box_yaw_rad": -1.5595081452841928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013073880691706363 + } + }, + { + "simulation_time_ns": 1460000000, + "phase": "settle", + "intended_face_center": [ + 0.5493785453210889, + -14.855657010011326, + 0.12024381788188371 + ], + "intended_face_normal": [ + -0.9996356904044472, + -0.01142772449323537, + 0.024457874097447263 + ], + "commanded_contact_point": [ + 0.1432482898235321, + -14.912264823913574, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5493382319582825, + -14.855024847041992, + 0.11889084841519933 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14326389133930206, + -14.914825439453125, + 0.06003233790397644 + ], + "box_pose": [ + 0.6067070960998535, + -14.85938835144043, + 0.13602033257484436, + 0.006949530448764563, + -0.010365846566855907, + 0.7030205130577087, + -0.7110601663589478 + ], + "box_yaw_rad": -1.5594865327728469, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015491530910781036 + } + }, + { + "simulation_time_ns": 1480000000, + "phase": "settle", + "intended_face_center": [ + 0.5492481269775981, + -14.855503672523806, + 0.12017685544318502 + ], + "intended_face_normal": [ + -0.9996612996629074, + -0.011410742488312309, + 0.023395492933016904 + ], + "commanded_contact_point": [ + 0.14262723922729492, + -14.910240173339844, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.549210647935566, + -14.854872448971122, + 0.11888265515945284 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14479583501815796, + -14.915934562683105, + 0.059455692768096924 + ], + "box_pose": [ + 0.606559693813324, + -14.859213829040527, + 0.13601993024349213, + 0.007029364816844463, + -0.009529387578368187, + 0.703025758266449, + -0.7110658884048462 + ], + "box_yaw_rad": -1.559468061829508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002117761504389408 + } + }, + { + "simulation_time_ns": 1500000000, + "phase": "settle", + "intended_face_center": [ + 0.549110685349648, + -14.855342097490968, + 0.12010511080656516 + ], + "intended_face_normal": [ + -0.9996873014376619, + -0.01138282147588765, + 0.02226217579460743 + ], + "commanded_contact_point": [ + 0.1411859542131424, + -14.907946586608887, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5490760839960662, + -14.854712418482881, + 0.11887360376748003 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14175887405872345, + -14.915007591247559, + 0.060092031955718994 + ], + "box_pose": [ + 0.6064040064811707, + -14.859030723571777, + 0.1360190063714981, + 0.007103948388248682, + -0.0086477966979146, + 0.7030349373817444, + -0.7110671997070312 + ], + "box_yaw_rad": -1.559461868293614, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002708845249468288 + } + }, + { + "simulation_time_ns": 1520000000, + "phase": "settle", + "intended_face_center": [ + 0.5489629691401017, + -14.855167724056605, + 0.12002822221326187 + ], + "intended_face_normal": [ + -0.9997142097996397, + -0.011351048637640915, + 0.021042812050837967 + ], + "commanded_contact_point": [ + 0.1408986747264862, + -14.90692138671875, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5489313457306578, + -14.8545398026698, + 0.11886416837585441 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13624976575374603, + -14.911445617675781, + 0.06348609924316406 + ], + "box_pose": [ + 0.6062365770339966, + -14.858833312988281, + 0.13601824641227722, + 0.007183462381362915, + -0.007700046990066767, + 0.7030454277992249, + -0.7110670208930969 + ], + "box_yaw_rad": -1.5594604093013604, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010646897755701712 + } + }, + { + "simulation_time_ns": 1540000000, + "phase": "settle", + "intended_face_center": [ + 0.5487998247580003, + -14.8549801992257, + 0.11994314188563304 + ], + "intended_face_normal": [ + -0.9997420310763546, + -0.011313593834902713, + 0.019694812883677693 + ], + "commanded_contact_point": [ + 0.1413903385400772, + -14.906636238098145, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5487712802405207, + -14.85435434977713, + 0.11885365715047125 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13322822749614716, + -14.908562660217285, + 0.06636682152748108 + ], + "box_pose": [ + 0.606051504611969, + -14.858620643615723, + 0.13601720333099365, + 0.007267267908900976, + -0.006656509358435869, + 0.7030578851699829, + -0.711064338684082 + ], + "box_yaw_rad": -1.559465479232941, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005683687548079401 + } + }, + { + "simulation_time_ns": 1560000000, + "phase": "settle", + "intended_face_center": [ + 0.5486176249553161, + -14.85477099000086, + 0.11984677762086 + ], + "intended_face_normal": [ + -0.9997709981851074, + -0.011280128604380435, + 0.018180308049239202 + ], + "commanded_contact_point": [ + 0.14168986678123474, + -14.906597137451172, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.548592286044309, + -14.854146991793936, + 0.11884107280826944 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13123708963394165, + -14.905088424682617, + 0.06929607689380646 + ], + "box_pose": [ + 0.6058445572853088, + -14.858383178710938, + 0.13601504266262054, + 0.007351233623921871, + -0.005494437180459499, + 0.7030689120292664, + -0.7110624313354492 + ], + "box_yaw_rad": -1.5594682152071404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00030206957487745995 + } + }, + { + "simulation_time_ns": 1580000000, + "phase": "settle", + "intended_face_center": [ + 0.5484098115064844, + -14.854537089282251, + 0.11973704226746315 + ], + "intended_face_normal": [ + -0.9998011751632352, + -0.01125020351574546, + 0.01646197402203342 + ], + "commanded_contact_point": [ + 0.1413944959640503, + -14.90627384185791, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5483878119917318, + -14.853914746482133, + 0.11882639287396221 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1277945637702942, + -14.900155067443848, + 0.07182781398296356 + ], + "box_pose": [ + 0.6056085228919983, + -14.85811710357666, + 0.1360119879245758, + 0.007439198438078165, + -0.004183406941592693, + 0.7030786275863647, + -0.7110608816146851 + ], + "box_yaw_rad": -1.559470084039309, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00043790862092511177 + } + }, + { + "simulation_time_ns": 1600000000, + "phase": "settle", + "intended_face_center": [ + 0.5482156787020267, + -14.854291464833878, + 0.11964202288957847 + ], + "intended_face_normal": [ + -0.9998266482858349, + -0.011223403188674319, + 0.014852300436592303 + ], + "commanded_contact_point": [ + 0.1410961151123047, + -14.905350685119629, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5481964979745627, + -14.85367060458388, + 0.11882041799780949 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.12129875272512436, + -14.892702102661133, + 0.07415103912353516 + ], + "box_pose": [ + 0.6053877472877502, + -14.857837677001953, + 0.13601766526699066, + 0.007594629190862179, + -0.0028814792167395353, + 0.7030864953994751, + -0.7110579013824463 + ], + "box_yaw_rad": -1.5594736848407895, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009701801367796197 + } + }, + { + "simulation_time_ns": 1620000000, + "phase": "settle", + "intended_face_center": [ + 0.5480527642151399, + -14.854081974414514, + 0.1195630221950313 + ], + "intended_face_normal": [ + -0.9998461252032597, + -0.011212512424611965, + 0.013500895449869543 + ], + "commanded_contact_point": [ + 0.14140351116657257, + -14.904536247253418, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5480357387025584, + -14.853461716623716, + 0.11881617480985819 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1156708300113678, + -14.888895034790039, + 0.0753939151763916 + ], + "box_pose": [ + 0.6052023768424988, + -14.857598304748535, + 0.13602331280708313, + 0.007742016576230526, + -0.0017713640118017793, + 0.7030887603759766, + -0.7110578417778015 + ], + "box_yaw_rad": -1.5594695749919398, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008705178773682565 + } + }, + { + "simulation_time_ns": 1640000000, + "phase": "settle", + "intended_face_center": [ + 0.5479123549267199, + -14.853904563094316, + 0.11949285366500215 + ], + "intended_face_normal": [ + -0.9998613586611284, + -0.011194854329758086, + 0.012331453465948689 + ], + "commanded_contact_point": [ + 0.142011821269989, + -14.90444278717041, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5478970150404838, + -14.853285282120353, + 0.11881069789165921 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1146702840924263, + -14.89627456665039, + 0.07160323858261108 + ], + "box_pose": [ + 0.6050423979759216, + -14.857396125793457, + 0.13602617383003235, + 0.007856679148972034, + -0.0008238005102612078, + 0.7030937671661377, + -0.7110533118247986 + ], + "box_yaw_rad": -1.559478582052241, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006154477795729669 + } + }, + { + "simulation_time_ns": 1660000000, + "phase": "settle", + "intended_face_center": [ + 0.5477935279270632, + -14.853751137695891, + 0.11943454175047578 + ], + "intended_face_normal": [ + -0.999872734127356, + -0.011207532746351556, + 0.011346044405754726 + ], + "commanded_contact_point": [ + 0.14312195777893066, + -14.904932975769043, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5477794467524443, + -14.853131155372724, + 0.11880689718956795 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.12030387669801712, + -14.909584045410156, + 0.06454667448997498 + ], + "box_pose": [ + 0.6049070954322815, + -14.857219696044922, + 0.13602948188781738, + 0.007964573800563812, + -1.3863373169442639e-05, + 0.7030880451202393, + -0.7110581398010254 + ], + "box_yaw_rad": -1.5594609734215097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012135435430340583 + } + }, + { + "simulation_time_ns": 1680000000, + "phase": "settle", + "intended_face_center": [ + 0.5476908889938223, + -14.853620798564213, + 0.11938283446687367 + ], + "intended_face_normal": [ + -0.9998824185773171, + -0.011196512005325343, + 0.01048977718500125 + ], + "commanded_contact_point": [ + 0.14477881789207458, + -14.904973030090332, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5476778794061639, + -14.853001425890357, + 0.11880255720372795 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13125240802764893, + -14.918045043945312, + 0.05912394821643829 + ], + "box_pose": [ + 0.6047900319099426, + -14.857070922851562, + 0.13603121042251587, + 0.00805219728499651, + 0.0006836372776888311, + 0.7030909657478333, + -0.7110540866851807 + ], + "box_yaw_rad": -1.559469976877874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016573441958992146 + } + }, + { + "simulation_time_ns": 1700000000, + "phase": "settle", + "intended_face_center": [ + 0.5476036181313702, + -14.853509674306263, + 0.11933933378210689 + ], + "intended_face_normal": [ + -0.9998896417139731, + -0.011204420795663306, + 0.009767995460613466 + ], + "commanded_contact_point": [ + 0.14678168296813965, + -14.904306411743164, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5475914077789431, + -14.852889864131102, + 0.11879898429971664 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14122742414474487, + -14.918214797973633, + 0.05722205340862274 + ], + "box_pose": [ + 0.6046906113624573, + -14.856943130493164, + 0.13603276014328003, + 0.008128960616886616, + 0.0012745913118124008, + 0.7030872702598572, + -0.7110560536384583 + ], + "box_yaw_rad": -1.559461759890306, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021108880914975496 + } + }, + { + "simulation_time_ns": 1720000000, + "phase": "settle", + "intended_face_center": [ + 0.5475290147209159, + -14.853413944782401, + 0.11930216677343258 + ], + "intended_face_normal": [ + -0.9998953833573133, + -0.01122000016920921, + 0.009146845033595905 + ], + "commanded_contact_point": [ + 0.14792747795581818, + -14.903477668762207, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5475174396733581, + -14.852793272781858, + 0.11879617831353448 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14880691468715668, + -14.916576385498047, + 0.05937790870666504 + ], + "box_pose": [ + 0.6046055555343628, + -14.856832504272461, + 0.13603435456752777, + 0.008196012116968632, + 0.0017842008965089917, + 0.703080952167511, + -0.7110604643821716 + ], + "box_yaw_rad": -1.5594469801904358, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014140937318050367 + } + }, + { + "simulation_time_ns": 1740000000, + "phase": "settle", + "intended_face_center": [ + 0.5474636773179218, + -14.853330039331611, + 0.11926956286823623 + ], + "intended_face_normal": [ + -0.9999001259878819, + -0.011223609216765462, + 0.008605504534649921 + ], + "commanded_contact_point": [ + 0.14818939566612244, + -14.90246295928955, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5474526270331048, + -14.852709167684477, + 0.11879352047655466 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15141162276268005, + -14.91524887084961, + 0.0642310380935669 + ], + "box_pose": [ + 0.6045310497283936, + -14.856736183166504, + 0.1360355168581009, + 0.00825444981455803, + 0.0022282854188233614, + 0.7030789852142334, + -0.7110604643821716 + ], + "box_yaw_rad": -1.5594448948371034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010479676530110696 + } + }, + { + "simulation_time_ns": 1760000000, + "phase": "settle", + "intended_face_center": [ + 0.5474060626328753, + -14.853258193780464, + 0.11924051350018067 + ], + "intended_face_normal": [ + -0.999904082053404, + -0.011229107570502328, + 0.008125955172185728 + ], + "commanded_contact_point": [ + 0.1485259234905243, + -14.901517868041992, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5473954500770201, + -14.852637017973422, + 0.11879099899242707 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1479732096195221, + -14.912599563598633, + 0.06770294904708862 + ], + "box_pose": [ + 0.6044653058052063, + -14.856653213500977, + 0.13603636622428894, + 0.008306066505610943, + 0.002621539868414402, + 0.7030764222145081, + -0.7110610604286194 + ], + "box_yaw_rad": -1.5594413924931714, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010032190416497046 + } + }, + { + "simulation_time_ns": 1780000000, + "phase": "settle", + "intended_face_center": [ + 0.5473782101455699, + -14.853223062684096, + 0.11922787033064122 + ], + "intended_face_normal": [ + -0.9999057371214791, + -0.011225806236900282, + 0.007897114643229064 + ], + "commanded_contact_point": [ + 0.14914391934871674, + -14.900346755981445, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5473677807184303, + -14.852602069501412, + 0.11879101490548757 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14419551193714142, + -14.910194396972656, + 0.06946955621242523 + ], + "box_pose": [ + 0.604433536529541, + -14.856613159179688, + 0.13603797554969788, + 0.008329718373715878, + 0.0028081750497221947, + 0.7030773162841797, + -0.711059033870697 + ], + "box_yaw_rad": -1.559445879272438, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013241685469684646 + } + }, + { + "simulation_time_ns": 1800000000, + "phase": "settle", + "intended_face_center": [ + 0.5473775666773817, + -14.853223408893815, + 0.11922776980369641 + ], + "intended_face_normal": [ + -0.9999058327351366, + -0.011231603699820347, + 0.007887844182551673 + ], + "commanded_contact_point": [ + 0.1496405154466629, + -14.899016380310059, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + 0.54736714782962, + -14.852602095004993, + 0.11879142720521724 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14372092485427856, + -14.909040451049805, + 0.06998425722122192 + ], + "box_pose": [ + 0.6044327616691589, + -14.856613159179688, + 0.1360384076833725, + 0.008326771669089794, + 0.0028118204791098833, + 0.7030752897262573, + -0.7110611200332642 + ], + "box_yaw_rad": -1.5594402206969236, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014200377162328127 + } + }, + { + "simulation_time_ns": 1820000000, + "phase": "settle", + "intended_face_center": [ + 0.5473774952520416, + -14.853224679918965, + 0.11922741678751232 + ], + "intended_face_normal": [ + -0.9999059275717755, + -0.011227722133484774, + 0.007885444336025615 + ], + "commanded_contact_point": [ + 0.14977772533893585, + -14.898026466369629, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5473670868976821, + -14.852603580752026, + 0.11879120694460552 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14525753259658813, + -14.907181739807129, + 0.06895105540752411 + ], + "box_pose": [ + 0.6044326424598694, + -14.85661506652832, + 0.13603809475898743, + 0.008317486383020878, + 0.0028041149489581585, + 0.7030767798423767, + -0.7110598087310791 + ], + "box_yaw_rad": -1.559444330223837, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000999377888492868 + } + }, + { + "simulation_time_ns": 1840000000, + "phase": "settle", + "intended_face_center": [ + 0.5473798081847834, + -14.853229033418978, + 0.11922852138780728 + ], + "intended_face_normal": [ + -0.9999057190156292, + -0.011228273655376042, + 0.007907153564543079 + ], + "commanded_contact_point": [ + 0.14960253238677979, + -14.897489547729492, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5473693767542829, + -14.852607903742753, + 0.11879111062599752 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14525121450424194, + -14.904601097106934, + 0.06642799079418182 + ], + "box_pose": [ + 0.6044353246688843, + -14.856619834899902, + 0.13603785634040833, + 0.008316024206578732, + 0.002787200966849923, + 0.7030766010284424, + -0.7110600471496582 + ], + "box_yaw_rad": -1.5594436423671638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005647780088950592 + } + }, + { + "simulation_time_ns": 1860000000, + "phase": "settle", + "intended_face_center": [ + 0.5473854798385055, + -14.853234669852426, + 0.1192311576736917 + ], + "intended_face_normal": [ + -0.9999054094060501, + -0.01122811152408043, + 0.007952011061289066 + ], + "commanded_contact_point": [ + 0.14932909607887268, + -14.897486686706543, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.547375014150582, + -14.852613549145039, + 0.1187912654687603 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14395686984062195, + -14.901564598083496, + 0.06414073705673218 + ], + "box_pose": [ + 0.60444176197052, + -14.856626510620117, + 0.1360376924276352, + 0.008310818113386631, + 0.0027500358410179615, + 0.7030767202377319, + -0.7110601663589478 + ], + "box_yaw_rad": -1.5594435772029536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002734512756529569 + } + }, + { + "simulation_time_ns": 1880000000, + "phase": "settle", + "intended_face_center": [ + 0.5473911032083485, + -14.853243795865671, + 0.11923354143870432 + ], + "intended_face_normal": [ + -0.9999050342284475, + -0.01122538774535875, + 0.007996929776634909 + ], + "commanded_contact_point": [ + 0.1489596962928772, + -14.897985458374023, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5473805960080714, + -14.852622825833253, + 0.11879116440413877 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14376598596572876, + -14.897221565246582, + 0.06478138267993927 + ], + "box_pose": [ + 0.604448139667511, + -14.856637001037598, + 0.13603723049163818, + 0.008301984518766403, + 0.0027091435622423887, + 0.7030777931213379, + -0.7110593318939209 + ], + "box_yaw_rad": -1.5594461604123502, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006206684935251409 + } + }, + { + "simulation_time_ns": 1900000000, + "phase": "settle", + "intended_face_center": [ + 0.547400240042451, + -14.853253762317987, + 0.1192380350109295 + ], + "intended_face_normal": [ + -0.9999043615699307, + -0.011226549799139618, + 0.008073007615617633 + ], + "commanded_contact_point": [ + 0.14850184321403503, + -14.898964881896973, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5473896584143495, + -14.85263272800266, + 0.11879144947513343 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14452573657035828, + -14.893888473510742, + 0.06703807413578033 + ], + "box_pose": [ + 0.6044585704803467, + -14.856648445129395, + 0.13603702187538147, + 0.008297276683151722, + 0.0026502872351557016, + 0.7030774354934692, + -0.7110599279403687 + ], + "box_yaw_rad": -1.5594445388063223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010811567320853862 + } + }, + { + "simulation_time_ns": 1920000000, + "phase": "settle", + "intended_face_center": [ + 0.5474101282573564, + -14.853264509546676, + 0.11924286539565004 + ], + "intended_face_normal": [ + -0.9999038720739951, + -0.011226908320169371, + 0.008153421796414317 + ], + "commanded_contact_point": [ + 0.14804838597774506, + -14.900461196899414, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5473994924678374, + -14.852643455398553, + 0.11879183147930901 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1458372324705124, + -14.894430160522461, + 0.06877385079860687 + ], + "box_pose": [ + 0.6044698357582092, + -14.856660842895508, + 0.13603687286376953, + 0.008291522972285748, + 0.0025872867554426193, + 0.7030773758888245, + -0.7110604047775269 + ], + "box_yaw_rad": -1.5594437300532307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001563515926799015 + } + }, + { + "simulation_time_ns": 1940000000, + "phase": "settle", + "intended_face_center": [ + 0.5474230646863534, + -14.853281026257392, + 0.11924960489658262 + ], + "intended_face_normal": [ + -0.9999028367786703, + -0.011236676776261945, + 0.008260312501783273 + ], + "commanded_contact_point": [ + 0.14741939306259155, + -14.902412414550781, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5474123143440853, + -14.852659431734306, + 0.11879265796179769 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14703387022018433, + -14.898611068725586, + 0.06960882246494293 + ], + "box_pose": [ + 0.6044846177101135, + -14.85667896270752, + 0.13603700697422028, + 0.008285075426101685, + 0.0025048053357750177, + 0.7030739784240723, + -0.7110641002655029 + ], + "box_yaw_rad": -1.55943335485382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002050093268742237 + } + }, + { + "simulation_time_ns": 1960000000, + "phase": "settle", + "intended_face_center": [ + 0.5474377336414539, + -14.853299556788476, + 0.11925704818626953 + ], + "intended_face_normal": [ + -0.999901664765457, + -0.011237124013751543, + 0.008379797659062549 + ], + "commanded_contact_point": [ + 0.14705565571784973, + -14.904735565185547, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5474268536188129, + -14.852677937524946, + 0.11879349152862492 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1445888727903366, + -14.906721115112305, + 0.06606821715831757 + ], + "box_pose": [ + 0.6045013070106506, + -14.85669994354248, + 0.13603705167770386, + 0.00827663391828537, + 0.002411298919469118, + 0.7030739188194275, + -0.7110644578933716 + ], + "box_yaw_rad": -1.559432290621678, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002351453535403057 + } + }, + { + "simulation_time_ns": 1980000000, + "phase": "settle", + "intended_face_center": [ + 0.5474540802745542, + -14.853317682758584, + 0.1192656239146698 + ], + "intended_face_normal": [ + -0.9999008113449329, + -0.01123574214223333, + 0.008515278441577095 + ], + "commanded_contact_point": [ + 0.1470307856798172, + -14.906466484069824, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5474431058229405, + -14.85269613993792, + 0.11879457268242177 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1408294290304184, + -14.916641235351562, + 0.06186039745807648 + ], + "box_pose": [ + 0.6045199632644653, + -14.856720924377441, + 0.13603724539279938, + 0.008267736993730068, + 0.0023059507366269827, + 0.7030745148658752, + -0.7110645174980164 + ], + "box_yaw_rad": -1.5594330038770208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017310975428188736 + } + }, + { + "simulation_time_ns": 2000000000, + "phase": "settle", + "intended_face_center": [ + 0.5474726916595293, + -14.853338519548325, + 0.11927561295292909 + ], + "intended_face_normal": [ + -0.9998994266635588, + -0.01123616042457809, + 0.008669241226168967 + ], + "commanded_contact_point": [ + 0.14740118384361267, + -14.907663345336914, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5474615639960084, + -14.852716953588967, + 0.1187960447520464 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1385943591594696, + -14.920073509216309, + 0.06294244527816772 + ], + "box_pose": [ + 0.6045411825180054, + -14.856744766235352, + 0.13603773713111877, + 0.008260154165327549, + 0.0021887950133532286, + 0.7030744552612305, + -0.7110649943351746 + ], + "box_yaw_rad": -1.5594318120761677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001252865392776431 + } + }, + { + "simulation_time_ns": 2020000000, + "phase": "settle", + "intended_face_center": [ + 0.547494905736437, + -14.853366435022796, + 0.11928633091906068 + ], + "intended_face_normal": [ + -0.9998978651743113, + -0.011228401210137462, + 0.008851270210464612 + ], + "commanded_contact_point": [ + 0.1480710506439209, + -14.908637046813965, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5474836052973573, + -14.85274529829045, + 0.11879669317342434 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13673976063728333, + -14.915593147277832, + 0.06739352643489838 + ], + "box_pose": [ + 0.6045664548873901, + -14.85677719116211, + 0.13603711128234863, + 0.008241304196417332, + 0.002040242776274681, + 0.7030774354934692, + -0.7110626697540283 + ], + "box_yaw_rad": -1.559438977001848, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011818697460471551 + } + }, + { + "simulation_time_ns": 2040000000, + "phase": "settle", + "intended_face_center": [ + 0.5475190542933828, + -14.853396220264617, + 0.1192982963113826 + ], + "intended_face_normal": [ + -0.9998961179887953, + -0.011226897905060707, + 0.009051412849325147 + ], + "commanded_contact_point": [ + 0.1484021544456482, + -14.909172058105469, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.547507560531516, + -14.852775166692643, + 0.11879758700334139 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1368265002965927, + -14.910969734191895, + 0.07132907211780548 + ], + "box_pose": [ + 0.6045939922332764, + -14.8568115234375, + 0.13603660464286804, + 0.008220776915550232, + 0.0018771463073790073, + 0.7030782103538513, + -0.7110626101493835 + ], + "box_yaw_rad": -1.559439921332275, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006291794732907747 + } + }, + { + "simulation_time_ns": 2060000000, + "phase": "settle", + "intended_face_center": [ + 0.5475481105120955, + -14.853431243006685, + 0.11931334593007119 + ], + "intended_face_normal": [ + -0.9998937342922138, + -0.011226140089696801, + 0.009290060716565227 + ], + "commanded_contact_point": [ + 0.14858615398406982, + -14.9093656539917, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5475363529981458, + -14.852810231355814, + 0.11879943501356727 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13800951838493347, + -14.911189079284668, + 0.0716204047203064 + ], + "box_pose": [ + 0.6046270728111267, + -14.856851577758789, + 0.13603685796260834, + 0.008203022181987762, + 0.001689473050646484, + 0.7030786871910095, + -0.7110626697540283 + ], + "box_yaw_rad": -1.5594399680092135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00026708649945834446 + } + }, + { + "simulation_time_ns": 2080000000, + "phase": "settle", + "intended_face_center": [ + 0.547580093801044, + -14.853470926183702, + 0.11932939335265338 + ], + "intended_face_normal": [ + -0.9998914219381412, + -0.01122160471071787, + 0.009556228203126405 + ], + "commanded_contact_point": [ + 0.14875352382659912, + -14.90935230255127, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5475680804283413, + -14.852850165422554, + 0.11880075848749773 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14040043950080872, + -14.910866737365723, + 0.07018934190273285 + ], + "box_pose": [ + 0.6046635508537292, + -14.856897354125977, + 0.13603633642196655, + 0.008177727460861206, + 0.0014745881780982018, + 0.7030805945396423, + -0.7110616564750671 + ], + "box_yaw_rad": -1.559444027885129, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016790153446210435 + } + }, + { + "simulation_time_ns": 2100000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5476170045100658, + -14.853518127332118, + 0.11934768443023151 + ], + "intended_face_normal": [ + -0.9998884521269362, + -0.011216443582316882, + 0.009863376918882505 + ], + "commanded_contact_point": [ + 0.14856553077697754, + -14.908910751342773, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.5476046625310272, + -14.852897652076125, + 0.11880205860206354 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14319056272506714, + -14.908970832824707, + 0.06802111864089966 + ], + "box_pose": [ + 0.6047056317329407, + -14.856951713562012, + 0.1360354721546173, + 0.008145838044583797, + 0.0012238863855600357, + 0.703082799911499, + -0.7110602855682373 + ], + "box_yaw_rad": -1.5594489383550465, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047990505147246044 + } + }, + { + "simulation_time_ns": 2120000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5476600086660437, + -14.853570444152908, + 0.11936976547223771 + ], + "intended_face_normal": [ + -0.9998849882753126, + -0.011213211155411296, + 0.010218977659105385 + ], + "commanded_contact_point": [ + 0.1481066042852029, + -14.907866129076213, + 0.05012684782702145 + ], + "centerline_face_intersection": [ + 0.5476472834144084, + -14.852950147709468, + 0.11880446839455988 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1452096700668335, + -14.908005714416504, + 0.06426158547401428 + ], + "box_pose": [ + 0.604754626750946, + -14.857011795043945, + 0.13603545725345612, + 0.008116374723613262, + 0.0009411923820152879, + 0.7030842900276184, + -0.7110596299171448 + ], + "box_yaw_rad": -1.5594519714790727, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011480117082213373 + } + }, + { + "simulation_time_ns": 2140000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5477086044987947, + -14.853630526035703, + 0.11939453397677938 + ], + "intended_face_normal": [ + -0.9998807265901036, + -0.01121468859472885, + 0.010621196712434812 + ], + "commanded_contact_point": [ + 0.147904353479594, + -14.906366740726318, + 0.050498869885373346 + ], + "centerline_face_intersection": [ + 0.54769540769305, + -14.853010147862744, + 0.11880698680099795 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14647822082042694, + -14.907173156738281, + 0.060612693428993225 + ], + "box_pose": [ + 0.6048099994659424, + -14.857080459594727, + 0.13603520393371582, + 0.00808111671358347, + 0.0006195051246322691, + 0.7030841708183289, + -0.7110604643821716 + ], + "box_yaw_rad": -1.5594507032215497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015580344104259999 + } + }, + { + "simulation_time_ns": 2160000000, + "phase": "base_approach", + "intended_face_center": [ + 0.547764809830216, + -14.853699718846348, + 0.11942315452743953 + ], + "intended_face_normal": [ + -0.9998754767506921, + -0.01121737446171256, + 0.01108913232990346 + ], + "commanded_contact_point": [ + 0.14805935650433413, + -14.904383210517036, + 0.05110311391879913 + ], + "centerline_face_intersection": [ + 0.5477510321286512, + -14.853079192095635, + 0.11880972192104844 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14699247479438782, + -14.906086921691895, + 0.05795767903327942 + ], + "box_pose": [ + 0.6048740744590759, + -14.857159614562988, + 0.13603469729423523, + 0.008039404638111591, + 0.00024455873062834144, + 0.7030836939811707, + -0.7110615372657776 + ], + "box_yaw_rad": -1.5594487926450624, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002079309712559213 + } + }, + { + "simulation_time_ns": 2180000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5478285179715223, + -14.853780505655072, + 0.11945465989885708 + ], + "intended_face_normal": [ + -0.9998693936362992, + -0.011218958571831306, + 0.011618578125959553 + ], + "commanded_contact_point": [ + 0.1484319108390808, + -14.901984416591903, + 0.05192672053841929 + ], + "centerline_face_intersection": [ + 0.5478140671682729, + -14.853159891273984, + 0.11881193921969752 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14846904575824738, + -14.906021118164062, + 0.058093562722206116 + ], + "box_pose": [ + 0.6049466729164124, + -14.85725212097168, + 0.13603314757347107, + 0.007984745316207409, + -0.0001872316061053425, + 0.7030837535858154, + -0.7110620737075806 + ], + "box_yaw_rad": -1.5594489988412188, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025634618958502394 + } + }, + { + "simulation_time_ns": 2200000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5479036359926533, + -14.853872651867121, + 0.11949327024654832 + ], + "intended_face_normal": [ + -0.9998622179110083, + -0.011213090458517705, + 0.012244721391414255 + ], + "commanded_contact_point": [ + 0.14862965256150346, + -14.899689474840685, + 0.05295695227289753 + ], + "centerline_face_intersection": [ + 0.5478883911841462, + -14.853252362100436, + 0.11881591234926607 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14685271680355072, + -14.905462265014648, + 0.060944974422454834 + ], + "box_pose": [ + 0.6050322651863098, + -14.8573579788208, + 0.13603278994560242, + 0.00793212279677391, + -0.0006857570842839777, + 0.7030864357948303, + -0.7110598683357239 + ], + "box_yaw_rad": -1.5594575100501842, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025233384348909513 + } + }, + { + "simulation_time_ns": 2220000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5479899666870548, + -14.85397961452124, + 0.11953687576535835 + ], + "intended_face_normal": [ + -0.9998532092083339, + -0.011221013436561345, + 0.012962335250323809 + ], + "commanded_contact_point": [ + 0.1502061312936619, + -14.898347673273138, + 0.05418081530102567 + ], + "centerline_face_intersection": [ + 0.547973725043399, + -14.853358886468408, + 0.11881982064680062 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1419287919998169, + -14.903717994689941, + 0.06519541144371033 + ], + "box_pose": [ + 0.6051306128501892, + -14.8574800491333, + 0.13603165745735168, + 0.007867056876420975, + -0.0012618724722415209, + 0.7030843496322632, + -0.711061954498291 + ], + "box_yaw_rad": -1.5594539886407262, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024049027737597524 + } + }, + { + "simulation_time_ns": 2240000000, + "phase": "base_approach", + "intended_face_center": [ + 0.548088521326745, + -14.854103465549485, + 0.1195847144114316 + ], + "intended_face_normal": [ + -0.999842405719313, + -0.011203339589794803, + 0.013780800296106663 + ], + "commanded_contact_point": [ + 0.15253655219892506, + -14.897311146579002, + 0.05558532614154464 + ], + "centerline_face_intersection": [ + 0.5480710842385633, + -14.85348371518486, + 0.11882238314940857 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13862699270248413, + -14.902806282043457, + 0.06816039979457855 + ], + "box_pose": [ + 0.6052427291870117, + -14.857623100280762, + 0.13602833449840546, + 0.007783696986734867, + -0.001928297453559935, + 0.703091561794281, + -0.7110542058944702 + ], + "box_yaw_rad": -1.5594786310739461, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002911683342068662 + } + }, + { + "simulation_time_ns": 2260000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5482029228939125, + -14.85424714495816, + 0.11964056288172276 + ], + "intended_face_normal": [ + -0.9998288147617532, + -0.011212396894660914, + 0.014729761404410735 + ], + "commanded_contact_point": [ + 0.15473821195483206, + -14.896256933258186, + 0.05715786058968036 + ], + "centerline_face_intersection": [ + 0.548183981899537, + -14.853626893558289, + 0.11882573664816251 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13838613033294678, + -14.900834083557129, + 0.07159589231014252 + ], + "box_pose": [ + 0.6053729057312012, + -14.857787132263184, + 0.13602487742900848, + 0.007691452279686928, + -0.0026964363642036915, + 0.7030893564224243, + -0.7110549211502075 + ], + "box_yaw_rad": -1.5594796392042383, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029037107289015575 + } + }, + { + "simulation_time_ns": 2280000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5483342351282436, + -14.854414525241678, + 0.11970364556928828 + ], + "intended_face_normal": [ + -0.9998120570619871, + -0.011212016875907449, + 0.01581618502123658 + ], + "commanded_contact_point": [ + 0.1565442581476038, + -14.894797254955176, + 0.058885364731272795 + ], + "centerline_face_intersection": [ + 0.5483134397839506, + -14.85379429486382, + 0.1188287201637561 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13846567273139954, + -14.89720630645752, + 0.07446962594985962 + ], + "box_pose": [ + 0.6055221557617188, + -14.857978820800781, + 0.13601991534233093, + 0.007577645126730204, + -0.0035841779317706823, + 0.7030907273292542, + -0.7110507488250732 + ], + "box_yaw_rad": -1.5594947460591582, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002894258827044445 + } + }, + { + "simulation_time_ns": 2300000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5484876745401972, + -14.854606798919459, + 0.11977864778896206 + ], + "intended_face_normal": [ + -0.9997907191094, + -0.011241929046569177, + 0.017092363904952723 + ], + "commanded_contact_point": [ + 0.15870883157476778, + -14.89294178560742, + 0.06075516403413604 + ], + "centerline_face_intersection": [ + 0.5484645179658336, + -14.853984913849398, + 0.11883312626142778 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13530606031417847, + -14.891538619995117, + 0.07613688707351685 + ], + "box_pose": [ + 0.6056966781616211, + -14.858197212219238, + 0.13601508736610413, + 0.007458114996552467, + -0.004612623248249292, + 0.7030813694000244, + -0.711055338382721 + ], + "box_yaw_rad": -1.5594853750193707, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034094418978822512 + } + }, + { + "simulation_time_ns": 2320000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5486631551630935, + -14.854827848400529, + 0.11986338726797623 + ], + "intended_face_normal": [ + -0.9997645493029172, + -0.01126529035340873, + 0.018545553896752387 + ], + "commanded_contact_point": [ + 0.16155640578860414, + -14.891158818245215, + 0.06275430665391604 + ], + "centerline_face_intersection": [ + 0.5486371026031751, + -14.854204671021304, + 0.11883747765436535 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13257697224617004, + -14.890599250793457, + 0.07659976184368134 + ], + "box_pose": [ + 0.60589599609375, + -14.85844898223877, + 0.13600873947143555, + 0.0073142023757100105, + -0.0057916720397770405, + 0.70307457447052, + -0.7110549211502075 + ], + "box_yaw_rad": -1.5594908636997413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003909504154264923 + } + }, + { + "simulation_time_ns": 2340000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5488646244948407, + -14.855082014670076, + 0.11996034941309658 + ], + "intended_face_normal": [ + -0.9997319348117552, + -0.011314232708047212, + 0.020214305049651937 + ], + "commanded_contact_point": [ + 0.16451141474723813, + -14.88944146082168, + 0.06486992050882734 + ], + "centerline_face_intersection": [ + 0.5488349626658654, + -14.854456129880091, + 0.11884212722365135 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13452498614788055, + -14.895673751831055, + 0.07536269724369049 + ], + "box_pose": [ + 0.606124758720398, + -14.858736991882324, + 0.13600102066993713, + 0.007152116391807795, + -0.007142458111047745, + 0.7030588388442993, + -0.7110600471496582 + ], + "box_yaw_rad": -1.5594815797163568, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004019604016426483 + } + }, + { + "simulation_time_ns": 2360000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5490960175715491, + -14.855374824772117, + 0.12006942980634808 + ], + "intended_face_normal": [ + -0.9996907217855795, + -0.011365850108064124, + 0.022118672471070244 + ], + "commanded_contact_point": [ + 0.16797822251266797, + -14.887696429879862, + 0.06708881735027061 + ], + "centerline_face_intersection": [ + 0.5490617947517753, + -14.854746084592252, + 0.11884586113567305 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14210578799247742, + -14.899925231933594, + 0.07383805513381958 + ], + "box_pose": [ + 0.6063870191574097, + -14.859068870544434, + 0.1359904259443283, + 0.006962447427213192, + -0.008688826113939285, + 0.7030423879623413, + -0.7110607624053955 + ], + "box_yaw_rad": -1.5594842379791414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004470726144969367 + } + }, + { + "simulation_time_ns": 2380000000, + "phase": "base_approach", + "intended_face_center": [ + 0.54934481473763, + -14.855706724254775, + 0.12019149462666052 + ], + "intended_face_normal": [ + -0.9996429357836562, + -0.011414611860249613, + 0.02415718250090293 + ], + "commanded_contact_point": [ + 0.1723170840808749, + -14.885744137668443, + 0.06939994691384693 + ], + "centerline_face_intersection": [ + 0.5493053032690891, + -14.855075286654785, + 0.11885515892574794 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15198105573654175, + -14.900970458984375, + 0.07341299951076508 + ], + "box_pose": [ + 0.6066685914993286, + -14.859445571899414, + 0.13598352670669556, + 0.006705450359731913, + -0.010398807004094124, + 0.7030275464057922, + -0.7110549211502075 + ], + "box_yaw_rad": -1.5595076564834958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00528946920271458 + } + }, + { + "simulation_time_ns": 2400000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5496105479570851, + -14.856055690394953, + 0.12032351806278209 + ], + "intended_face_normal": [ + -0.9995871659938937, + -0.011471850383481752, + 0.026339731082305917 + ], + "commanded_contact_point": [ + 0.17721290230227166, + -14.88357644421271, + 0.07178975704172906 + ], + "centerline_face_intersection": [ + 0.549564863925427, + -14.85542108645377, + 0.11886644735528519 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16070379316806793, + -14.8978853225708, + 0.07373909652233124 + ], + "box_pose": [ + 0.6069691181182861, + -14.859841346740723, + 0.13597746193408966, + 0.006447442341595888, + -0.012212402187287807, + 0.7030096054077148, + -0.7110462188720703 + ], + "box_yaw_rad": -1.5595389965796662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005863371335870836 + } + }, + { + "simulation_time_ns": 2420000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5498083784073557, + -14.856248874692925, + 0.12044286406549397 + ], + "intended_face_normal": [ + -0.9995425296047021, + -0.01152299121174305, + 0.027957739011091498 + ], + "commanded_contact_point": [ + 0.18157533126831052, + -14.881597773873928, + 0.07425148655138433 + ], + "centerline_face_intersection": [ + 0.5497577538016981, + -14.855611441725028, + 0.11889628781406557 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16842827200889587, + -14.8950777053833, + 0.07599616050720215 + ], + "box_pose": [ + 0.6071925163269043, + -14.860058784484863, + 0.13599687814712524, + 0.006459642667323351, + -0.013351205736398697, + 0.7029913067817688, + -0.711043655872345 + ], + "box_yaw_rad": -1.5595456000347165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005385725111071113 + } + }, + { + "simulation_time_ns": 2440000000, + "phase": "base_approach", + "intended_face_center": [ + 0.549812717959524, + -14.856237073034409, + 0.1204516815119797 + ], + "intended_face_normal": [ + -0.9995416071078428, + -0.011521252833209705, + 0.027997082492051628 + ], + "commanded_contact_point": [ + 0.18542734158706847, + -14.8796778509392, + 0.07675803362186447 + ], + "centerline_face_intersection": [ + 0.5497619912450714, + -14.855599736230761, + 0.118902928843736 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17307862639427185, + -14.893705368041992, + 0.07978463172912598 + ], + "box_pose": [ + 0.6071974635124207, + -14.860045433044434, + 0.13600386679172516, + 0.00650728540495038, + -0.01333099789917469, + 0.7029914855957031, + -0.7110435366630554 + ], + "box_yaw_rad": -1.559545036812411, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004980649133159988 + } + }, + { + "simulation_time_ns": 2460000000, + "phase": "base_approach", + "intended_face_center": [ + 0.549797086605083, + -14.856201691394967, + 0.12044894230233638 + ], + "intended_face_normal": [ + -0.999545010195855, + -0.011516548556176343, + 0.027874447567192262 + ], + "commanded_contact_point": [ + 0.18956401668459177, + -14.877735409298705, + 0.0793027080792001 + ], + "centerline_face_intersection": [ + 0.5497467365691862, + -14.855564614824205, + 0.11890697359692701 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17417173087596893, + -14.891812324523926, + 0.08395752310752869 + ], + "box_pose": [ + 0.6071798801422119, + -14.860005378723145, + 0.13600945472717285, + 0.0065654125064611435, + -0.013184950686991215, + 0.7029926180839539, + -0.7110445499420166 + ], + "box_yaw_rad": -1.559540506264653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005230729249637457 + } + }, + { + "simulation_time_ns": 2480000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5497592937161735, + -14.856143078735638, + 0.12043320908849464 + ], + "intended_face_normal": [ + -0.999553824735656, + -0.011497488775849662, + 0.027567548563425692 + ], + "commanded_contact_point": [ + 0.19409394025356508, + -14.875546413069387, + 0.08187221239990529 + ], + "centerline_face_intersection": [ + 0.5497099193317465, + -14.855507056520652, + 0.11890821753244002 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17597025632858276, + -14.889947891235352, + 0.08748628199100494 + ], + "box_pose": [ + 0.6071372032165527, + -14.859939575195312, + 0.13601349294185638, + 0.0066271377727389336, + -0.012904138304293156, + 0.7029988169670105, + -0.7110430598258972 + ], + "box_yaw_rad": -1.559543337146789, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005649271146513584 + } + }, + { + "simulation_time_ns": 2500000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5497003652020245, + -14.856061947165498, + 0.12040587985300831 + ], + "intended_face_normal": [ + -0.9995672428308698, + -0.01148954384188794, + 0.027082303940736963 + ], + "commanded_contact_point": [ + 0.19878232233226298, + -14.873251226201443, + 0.08445387902771155 + ], + "centerline_face_intersection": [ + 0.5496524760044543, + -14.855426364451224, + 0.118907731233333 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.18007905781269073, + -14.888642311096191, + 0.08981303870677948 + ], + "box_pose": [ + 0.6070706248283386, + -14.859847068786621, + 0.1360170841217041, + 0.006698841229081154, + -0.012486406601965427, + 0.7030009627342224, + -0.7110477685928345 + ], + "box_yaw_rad": -1.5595282252916196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005823556632485382 + } + }, + { + "simulation_time_ns": 2520000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5496179514689025, + -14.855955536693104, + 0.12036496961606809 + ], + "intended_face_normal": [ + -0.9995855361515342, + -0.011467184527857888, + 0.026408600442426544 + ], + "commanded_contact_point": [ + 0.20317458883257583, + -14.871195527427918, + 0.08703379674299258 + ], + "centerline_face_intersection": [ + 0.5495720870421983, + -14.855321190859398, + 0.11890408916856426 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.18542137742042542, + -14.88564395904541, + 0.0909961462020874 + ], + "box_pose": [ + 0.6069775223731995, + -14.859726905822754, + 0.13601872324943542, + 0.006769782863557339, + -0.01193535141646862, + 0.703008234500885, + -0.7110493779182434 + ], + "box_yaw_rad": -1.5595218363050334, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0054930754477671715 + } + }, + { + "simulation_time_ns": 2540000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5495131200406457, + -14.855822302205112, + 0.12031285368287788 + ], + "intended_face_normal": [ + -0.9996077066838678, + -0.011468843518812166, + 0.02555108589927424 + ], + "commanded_contact_point": [ + 0.20727753223042936, + -14.869461006222137, + 0.08959994069844654 + ], + "centerline_face_intersection": [ + 0.5494697094789244, + -14.855187864598749, + 0.11889940953296478 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.18901972472667694, + -14.88158130645752, + 0.09065796434879303 + ], + "box_pose": [ + 0.6068591475486755, + -14.859574317932129, + 0.13602076470851898, + 0.006862622685730457, + -0.011231467127799988, + 0.7030067443847656, + -0.7110613584518433 + ], + "box_yaw_rad": -1.5594851162251877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005140797908827831 + } + }, + { + "simulation_time_ns": 2560000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5493831149681684, + -14.855664465954549, + 0.120246418615057 + ], + "intended_face_normal": [ + -0.9996343395635722, + -0.011452355136565395, + 0.02449520768727559 + ], + "commanded_contact_point": [ + 0.2113258693677653, + -14.86799519169753, + 0.092137851619138 + ], + "centerline_face_intersection": [ + 0.5493426520981826, + -14.85503094045844, + 0.11889138391543706 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1919654905796051, + -14.877269744873047, + 0.09091119468212128 + ], + "box_pose": [ + 0.6067123413085938, + -14.859395027160645, + 0.13602063059806824, + 0.006949830334633589, + -0.010392144322395325, + 0.7030117511749268, + -0.711068332195282 + ], + "box_yaw_rad": -1.5594629799118813, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004997863307399292 + } + }, + { + "simulation_time_ns": 2580000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5492473235213401, + -14.855503759243966, + 0.12017639162390219 + ], + "intended_face_normal": [ + -0.999661180902713, + -0.011428554819358117, + 0.023389566147378027 + ], + "commanded_contact_point": [ + 0.21528786856174473, + -14.866735023899189, + 0.09463587401530997 + ], + "centerline_face_intersection": [ + 0.5492098313356165, + -14.854871550342354, + 0.11888251920022738 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.19655148684978485, + -14.872032165527344, + 0.09473270177841187 + ], + "box_pose": [ + 0.6065588593482971, + -14.859212875366211, + 0.13601981103420258, + 0.007027754094451666, + -0.009526824578642845, + 0.7030194401741028, + -0.7110721468925476 + ], + "box_yaw_rad": -1.5594501952711373, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004850317142707847 + } + }, + { + "simulation_time_ns": 2600000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5491052858363374, + -14.855336468777512, + 0.12010171638918721 + ], + "intended_face_normal": [ + -0.9996884310165993, + -0.011389103887319396, + 0.022214036782336688 + ], + "commanded_contact_point": [ + 0.21917257044697183, + -14.865636177046575, + 0.09708105940558936 + ], + "centerline_face_intersection": [ + 0.5490708094946892, + -14.854706442236731, + 0.11887287232127854 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.20163685083389282, + -14.867511749267578, + 0.10009174048900604 + ], + "box_pose": [ + 0.6063978672027588, + -14.859024047851562, + 0.1360185444355011, + 0.007101111114025116, + -0.008616429753601551, + 0.7030327320098877, + -0.7110698819160461 + ], + "box_yaw_rad": -1.5594545854792565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004719883974783882 + } + }, + { + "simulation_time_ns": 2620000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5489529718393794, + -14.855159864786255, + 0.12002225031017572 + ], + "intended_face_normal": [ + -0.9997158667545184, + -0.011353568876542819, + 0.020953085718143194 + ], + "commanded_contact_point": [ + 0.22303180458735677, + -14.864674192187621, + 0.09946096382046349 + ], + "centerline_face_intersection": [ + 0.5489215318022478, + -14.854531803983969, + 0.11886315998627764 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.20642900466918945, + -14.866334915161133, + 0.10448676347732544 + ], + "box_pose": [ + 0.6062251329421997, + -14.858823776245117, + 0.1360177993774414, + 0.007183255162090063, + -0.0076364390552043915, + 0.7030445337295532, + -0.7110684514045715 + ], + "box_yaw_rad": -1.55945594224995, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004634980910759638 + } + }, + { + "simulation_time_ns": 2640000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5487861513482589, + -14.854966255047115, + 0.11993455761724145 + ], + "intended_face_normal": [ + -0.9997444244794025, + -0.011315978264792914, + 0.019567196341157223 + ], + "commanded_contact_point": [ + 0.22676299529193902, + -14.863771498508143, + 0.10176174051130858 + ], + "centerline_face_intersection": [ + 0.5487578716970577, + -14.854340273695795, + 0.11885213241982957 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2104889154434204, + -14.868868827819824, + 0.1077238917350769 + ], + "box_pose": [ + 0.6060357689857483, + -14.858604431152344, + 0.13601645827293396, + 0.0072659701108932495, + -0.006567054893821478, + 0.703057050704956, + -0.711065948009491 + ], + "box_yaw_rad": -1.5594607642808689, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004475512633661878 + } + }, + { + "simulation_time_ns": 2660000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5486000127890629, + -14.854753642387601, + 0.11983680025614976 + ], + "intended_face_normal": [ + -0.9997738646374168, + -0.011294599479493295, + 0.01802801446511071 + ], + "commanded_contact_point": [ + 0.23036555923938754, + -14.862867299086208, + 0.10397018792286018 + ], + "centerline_face_intersection": [ + 0.5485749910851277, + -14.854128843675609, + 0.1188395200747629 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21198242902755737, + -14.87497329711914, + 0.10555852949619293 + ], + "box_pose": [ + 0.6058245301246643, + -14.858362197875977, + 0.13601447641849518, + 0.007355055771768093, + -0.005382240749895573, + 0.7030637264251709, + -0.7110685706138611 + ], + "box_yaw_rad": -1.5594511883285906, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0043212594876578195 + } + }, + { + "simulation_time_ns": 2680000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5483881133312131, + -14.854513087510306, + 0.11972506336105304 + ], + "intended_face_normal": [ + -0.9998040524626576, + -0.011267058593155688, + 0.01627341262709081 + ], + "commanded_contact_point": [ + 0.234402706132012, + -14.861747860122316, + 0.10607289034272555 + ], + "centerline_face_intersection": [ + 0.5483664322142805, + -14.853889812314959, + 0.11882484487454492 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21362215280532837, + -14.881927490234375, + 0.10163657367229462 + ], + "box_pose": [ + 0.6055837869644165, + -14.858088493347168, + 0.13601168990135193, + 0.0074473535642027855, + -0.004041025880724192, + 0.7030725479125977, + -0.7110676169395447 + ], + "box_yaw_rad": -1.559450631275683, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046875426497275325 + } + }, + { + "simulation_time_ns": 2700000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5481978450208829, + -14.854269524487012, + 0.11963293967363912 + ], + "intended_face_normal": [ + -0.9998286814847187, + -0.01124276975225813, + 0.014694388949082537 + ], + "commanded_contact_point": [ + 0.2392517734970898, + -14.860467350970513, + 0.10806692967946906 + ], + "centerline_face_intersection": [ + 0.5481788892786477, + -14.853647592910491, + 0.11882007018627153 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.217462956905365, + -14.882414817810059, + 0.10306248068809509 + ], + "box_pose": [ + 0.6053673624992371, + -14.857810974121094, + 0.13601849973201752, + 0.00761373620480299, + -0.0027498058043420315, + 0.7030794024467468, + -0.7110651731491089 + ], + "box_yaw_rad": -1.559452235108834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005397161371998606 + } + }, + { + "simulation_time_ns": 2720000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5480359944104223, + -14.854063117798844, + 0.11955315535599759 + ], + "intended_face_normal": [ + -0.9998478634882115, + -0.011226887937122343, + 0.013349109091938038 + ], + "commanded_contact_point": [ + 0.24434187690220077, + -14.859160821466473, + 0.10993115493194272 + ], + "centerline_face_intersection": [ + 0.5480191612454162, + -14.85344206477828, + 0.11881470454310719 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.22180244326591492, + -14.875359535217285, + 0.10863220691680908 + ], + "box_pose": [ + 0.6051831245422363, + -14.857575416564941, + 0.1360228955745697, + 0.007754142861813307, + -0.0016511122230440378, + 0.7030835151672363, + -0.7110630869865417 + ], + "box_yaw_rad": -1.559453979384427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005575975951491404 + } + }, + { + "simulation_time_ns": 2740000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5478980369073085, + -14.853884281807122, + 0.1194849021496924 + ], + "intended_face_normal": [ + -0.9998625290466978, + -0.011214926379768952, + 0.012200664494990077 + ], + "commanded_contact_point": [ + 0.24883669186115268, + -14.857893510201391, + 0.1116537445810181 + ], + "centerline_face_intersection": [ + 0.5478828265265717, + -14.853263890480285, + 0.11880998140763556 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2263072431087494, + -14.867936134338379, + 0.11433477699756622 + ], + "box_pose": [ + 0.6050259470939636, + -14.85737133026123, + 0.1360265016555786, + 0.007879367098212242, + -0.0007077747141011059, + 0.7030863761901855, + -0.7110603451728821 + ], + "box_yaw_rad": -1.5594574135430925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004977625383345174 + } + }, + { + "simulation_time_ns": 2760000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5477790703438528, + -14.853732072094383, + 0.11942572269324654 + ], + "intended_face_normal": [ + -0.9998741617184921, + -0.01121727479285084, + 0.011214660227908398 + ], + "commanded_contact_point": [ + 0.2528106566498801, + -14.856725021747067, + 0.11322136046740036 + ], + "centerline_face_intersection": [ + 0.5477651471332246, + -14.853111550857188, + 0.11880534608949325 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.23099568486213684, + -14.865543365478516, + 0.11613036692142487 + ], + "box_pose": [ + 0.6048904657363892, + -14.857196807861328, + 0.1360289454460144, + 0.007984980009496212, + 0.00010024760558735579, + 0.7030843496322632, + -0.7110615968704224 + ], + "box_yaw_rad": -1.559450575025473, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0044289029089800485 + } + }, + { + "simulation_time_ns": 2780000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5476767529888752, + -14.85360136765604, + 0.11937383240996596 + ], + "intended_face_normal": [ + -0.9998833476968262, + -0.011218334753055226, + 0.010362752095440832 + ], + "commanded_contact_point": [ + 0.256353361726515, + -14.855676815693096, + 0.11462094620454578 + ], + "centerline_face_intersection": [ + 0.5476638462079915, + -14.852980787783585, + 0.11880058196636284 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.23695744574069977, + -14.863954544067383, + 0.1178135871887207 + ], + "box_pose": [ + 0.6047738194465637, + -14.857047080993652, + 0.13603021204471588, + 0.008072028867900372, + 0.0007941213552840054, + 0.7030829787254333, + -0.7110615372657776 + ], + "box_yaw_rad": -1.5594478103280642, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00395073859262004 + } + }, + { + "simulation_time_ns": 2800000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5475889539696713, + -14.853487549779427, + 0.11932996485769347 + ], + "intended_face_normal": [ + -0.9998903878595047, + -0.011225676770587056, + 0.0096345018521794 + ], + "commanded_contact_point": [ + 0.25935332739900335, + -14.854751871675766, + 0.11584088072076759 + ], + "centerline_face_intersection": [ + 0.5475768261774183, + -14.852866563758608, + 0.1187970000226969 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.24432334303855896, + -14.860869407653809, + 0.1207846999168396 + ], + "box_pose": [ + 0.6046737432479858, + -14.856916427612305, + 0.13603180646896362, + 0.008150561712682247, + 0.0013914681039750576, + 0.7030794620513916, + -0.7110630869865417 + ], + "box_yaw_rad": -1.5594403872614597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00336801955088914 + } + }, + { + "simulation_time_ns": 2820000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5475128700007483, + -14.853391428740306, + 0.11929168428199156 + ], + "intended_face_normal": [ + -0.999896536106919, + -0.011230307029046815, + 0.009003870590195417 + ], + "commanded_contact_point": [ + 0.26186716220885514, + -14.853974316913554, + 0.11686738391213142 + ], + "centerline_face_intersection": [ + 0.5475014225028952, + -14.852770186581186, + 0.11879360493372215 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.251668781042099, + -14.857455253601074, + 0.12303408980369568 + ], + "box_pose": [ + 0.6045870184898376, + -14.856805801391602, + 0.13603287935256958, + 0.008219055831432343, + 0.0019092322327196598, + 0.7030770182609558, + -0.7110637426376343 + ], + "box_yaw_rad": -1.5594368045751197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028244761746812294 + } + }, + { + "simulation_time_ns": 2840000000, + "phase": "base_approach", + "intended_face_center": [ + 0.547446352373981, + -14.85330639647026, + 0.11925798219531787 + ], + "intended_face_normal": [ + -0.9999011893789883, + -0.011228567212656082, + 0.00845315629046517 + ], + "commanded_contact_point": [ + 0.2641450516677764, + -14.853357286743659, + 0.11768757201161116 + ], + "centerline_face_intersection": [ + 0.5474354197509559, + -14.852685250554927, + 0.11879036745854464 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2574673891067505, + -14.853921890258789, + 0.12453219294548035 + ], + "box_pose": [ + 0.6045111417770386, + -14.856708526611328, + 0.13603350520133972, + 0.008276871405541897, + 0.002359325997531414, + 0.703076958656311, + -0.7110616564750671 + ], + "box_yaw_rad": -1.5594403581862384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024984425420956978 + } + }, + { + "simulation_time_ns": 2860000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473885666507224, + -14.853233328448873, + 0.11922864120545887 + ], + "intended_face_normal": [ + -0.9999051791488067, + -0.011230060474283432, + 0.007974012069986353 + ], + "commanded_contact_point": [ + 0.2662810685010906, + -14.852905186225422, + 0.1182888223396544 + ], + "centerline_face_intersection": [ + 0.5473780754854802, + -14.852612099928757, + 0.1187875319408237 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26160189509391785, + -14.850662231445312, + 0.125099778175354 + ], + "box_pose": [ + 0.604445219039917, + -14.856624603271484, + 0.1360340267419815, + 0.00832781009376049, + 0.0027515857946127653, + 0.7030758261680603, + -0.7110608220100403 + ], + "box_yaw_rad": -1.5594410743942453, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022646113900101094 + } + }, + { + "simulation_time_ns": 2880000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473823506290798, + -14.8532274508631, + 0.11922646766640924 + ], + "intended_face_normal": [ + -0.999905434877268, + -0.011232046073362145, + 0.00792227015108582 + ], + "commanded_contact_point": [ + 0.2681089957461669, + -14.85267712240364, + 0.11866139238559217 + ], + "centerline_face_intersection": [ + 0.5473718877594749, + -14.852606112502903, + 0.11878822067983394 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2650635540485382, + -14.849599838256836, + 0.12573455274105072 + ], + "box_pose": [ + 0.6044381260871887, + -14.85661792755127, + 0.13603496551513672, + 0.008323554880917072, + 0.00278408732265234, + 0.7030751705169678, + -0.7110612988471985 + ], + "box_yaw_rad": -1.5594395814016093, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018793987227910716 + } + }, + { + "simulation_time_ns": 2900000000, + "phase": "base_approach", + "intended_face_center": [ + 0.547381697711838, + -14.853228331913723, + 0.11922627538101294 + ], + "intended_face_normal": [ + -0.9999054950458752, + -0.011232711446324428, + 0.007914791792104886 + ], + "commanded_contact_point": [ + 0.26941823560744527, + -14.852606956746182, + 0.11878844208498662 + ], + "centerline_face_intersection": [ + 0.5473712414997197, + -14.852606956746182, + 0.11878844208498662 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2646324932575226, + -14.850896835327148, + 0.12567584216594696 + ], + "box_pose": [ + 0.6044373512268066, + -14.856618881225586, + 0.13603517413139343, + 0.008318672887980938, + 0.0027844717260450125, + 0.7030749917030334, + -0.7110615372657776 + ], + "box_yaw_rad": -1.5594390839308674, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013172599819180275 + } + }, + { + "simulation_time_ns": 2920000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473822701948363, + -14.85322924167251, + 0.11922680990523592 + ], + "intended_face_normal": [ + -0.9999054185755349, + -0.011233905560139923, + 0.007919521956274822 + ], + "commanded_contact_point": [ + 0.27114403128623965, + -14.852607800448554, + 0.11878871494428855 + ], + "centerline_face_intersection": [ + 0.5473718055214905, + -14.852607800448554, + 0.11878871494428855 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26045793294906616, + -14.85277271270752, + 0.12453433871269226 + ], + "box_pose": [ + 0.6044380068778992, + -14.856619834899902, + 0.13603541254997253, + 0.00831804983317852, + 0.0027804842684417963, + 0.70307457447052, + -0.711061954498291 + ], + "box_yaw_rad": -1.5594378668145918, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017257959065982455 + } + }, + { + "simulation_time_ns": 2940000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473858707225251, + -14.853232565209797, + 0.11922845381090874 + ], + "intended_face_normal": [ + -0.9999054194479147, + -0.011233718349519806, + 0.007948979876247347 + ], + "commanded_contact_point": [ + 0.27336347915232184, + -14.852611134342025, + 0.11878872928616055 + ], + "centerline_face_intersection": [ + 0.5473754061457056, + -14.852611134342025, + 0.11878872928616055 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2597556710243225, + -14.853594779968262, + 0.1245180070400238 + ], + "box_pose": [ + 0.6044421195983887, + -14.856623649597168, + 0.1360352635383606, + 0.008318638429045677, + 0.0027601320762187243, + 0.7030746340751648, + -0.7110621333122253 + ], + "box_yaw_rad": -1.5594378165383203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002219450370093496 + } + }, + { + "simulation_time_ns": 2960000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473917123738081, + -14.853240305479908, + 0.11923151139200423 + ], + "intended_face_normal": [ + -0.9999050286008571, + -0.01123581361267978, + 0.00799757882274682 + ], + "commanded_contact_point": [ + 0.275623042806983, + -14.852618758705615, + 0.11878909845327268 + ], + "centerline_face_intersection": [ + 0.5473812045508538, + -14.852618758705615, + 0.11878909845327268 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26405104994773865, + -14.853832244873047, + 0.1286562830209732 + ], + "box_pose": [ + 0.6044487953186035, + -14.856632232666016, + 0.13603532314300537, + 0.008316121064126492, + 0.0027230377309024334, + 0.7030739188194275, + -0.711063027381897 + ], + "box_yaw_rad": -1.559435407993571, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022595765480882242 + } + }, + { + "simulation_time_ns": 2980000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474007316193514, + -14.853250075985274, + 0.11923575316846793 + ], + "intended_face_normal": [ + -0.9999042326778466, + -0.0112329561548844, + 0.008071467976913577 + ], + "commanded_contact_point": [ + 0.2777571163326502, + -14.852628687280859, + 0.11878925280295888 + ], + "centerline_face_intersection": [ + 0.5473901357296876, + -14.852628687280859, + 0.11878925280295888 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26974329352378845, + -14.852566719055176, + 0.1343877613544464 + ], + "box_pose": [ + 0.6044590473175049, + -14.856643676757812, + 0.1360349953174591, + 0.008311315439641476, + 0.002665614942088723, + 0.7030749917030334, + -0.7110620737075806 + ], + "box_yaw_rad": -1.5594378197735992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00213409662700258 + } + }, + { + "simulation_time_ns": 3000000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474107062180298, + -14.853260189112099, + 0.11924092947182925 + ], + "intended_face_normal": [ + -0.9999036878843507, + -0.011236735342381121, + 0.008153232336809035 + ], + "commanded_contact_point": [ + 0.2801998227089644, + -14.852638591349232, + 0.11878990603608273 + ], + "centerline_face_intersection": [ + 0.5474000500484119, + -14.852638591349232, + 0.11878990603608273 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.27246329188346863, + -14.848538398742676, + 0.13744200766086578 + ], + "box_pose": [ + 0.604470431804657, + -14.85665512084961, + 0.13603514432907104, + 0.008308565244078636, + 0.002604710403829813, + 0.7030736804008484, + -0.7110637426376343 + ], + "box_yaw_rad": -1.5594335069330645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024427265418318343 + } + }, + { + "simulation_time_ns": 3020000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474233375070885, + -14.853274858417866, + 0.11924754718863215 + ], + "intended_face_normal": [ + -0.9999027917046576, + -0.011228991427545298, + 0.008260773210144567 + ], + "commanded_contact_point": [ + 0.28299876742064956, + -14.852653689035662, + 0.11879057476821658 + ], + "centerline_face_intersection": [ + 0.5474125821774949, + -14.852653689035662, + 0.11879057476821658 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2724798321723938, + -14.848483085632324, + 0.13582196831703186 + ], + "box_pose": [ + 0.6044848561286926, + -14.856672286987305, + 0.13603514432907104, + 0.008304516784846783, + 0.00252409721724689, + 0.7030764818191528, + -0.7110612392425537 + ], + "box_yaw_rad": -1.5594405795561994, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027989855102177057 + } + }, + { + "simulation_time_ns": 3040000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474390035613735, + -14.853291949560075, + 0.11925547719862212 + ], + "intended_face_normal": [ + -0.9999016945330567, + -0.011238283851313091, + 0.0083857700476897 + ], + "commanded_contact_point": [ + 0.2858021564036608, + -14.852670266136235, + 0.11879159015823766 + ], + "centerline_face_intersection": [ + 0.547428126832446, + -14.852670266136235, + 0.11879159015823766 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2725209593772888, + -14.855142593383789, + 0.131107360124588 + ], + "box_pose": [ + 0.6045026779174805, + -14.856691360473633, + 0.13603535294532776, + 0.0082972701638937, + 0.0024279295466840267, + 0.703073263168335, + -0.711064875125885 + ], + "box_yaw_rad": -1.5594305994160815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028034381786208704 + } + }, + { + "simulation_time_ns": 3060000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474558691202649, + -14.853311825606566, + 0.1192640078384927 + ], + "intended_face_normal": [ + -0.9999004550890663, + -0.011238170130517755, + 0.008526564436234563 + ], + "commanded_contact_point": [ + 0.28892734155058863, + -14.852690148473574, + 0.11879233228353732 + ], + "centerline_face_intersection": [ + 0.5474448552497541, + -14.852690148473574, + 0.11879233228353732 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.27522900700569153, + -14.8604154586792, + 0.12879645824432373 + ], + "box_pose": [ + 0.6045219302177429, + -14.856714248657227, + 0.13603514432907104, + 0.00828553643077612, + 0.002315937541425228, + 0.7030734419822693, + -0.7110651731491089 + ], + "box_yaw_rad": -1.5594300691128882, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003125248479827864 + } + }, + { + "simulation_time_ns": 3080000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474759901692687, + -14.853335797300552, + 0.11927477716068052 + ], + "intended_face_normal": [ + -0.9998989472945343, + -0.011245273525180788, + 0.008688536565953364 + ], + "commanded_contact_point": [ + 0.2926097965985537, + -14.852713727219422, + 0.1187941415732591 + ], + "centerline_face_intersection": [ + 0.5474648094645845, + -14.852713727219422, + 0.1187941415732591 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2798789143562317, + -14.861841201782227, + 0.12922337651252747 + ], + "box_pose": [ + 0.6045448184013367, + -14.856740951538086, + 0.13603593409061432, + 0.00827857106924057, + 0.002193745691329241, + 0.7030709981918335, + -0.7110680341720581 + ], + "box_yaw_rad": -1.5594221236101002, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003682530978969267 + } + }, + { + "simulation_time_ns": 3100000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474984587804854, + -14.85336359135704, + 0.1192862895899978 + ], + "intended_face_normal": [ + -0.9998972919320236, + -0.011248916886711702, + 0.008874268376948852 + ], + "commanded_contact_point": [ + 0.2966114903986454, + -14.852741319731127, + 0.11879537962352497 + ], + "centerline_face_intersection": [ + 0.5474870949132634, + -14.852741319731127, + 0.11879537962352497 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2843853831291199, + -14.860977172851562, + 0.12912054359912872 + ], + "box_pose": [ + 0.6045704483985901, + -14.856772422790527, + 0.13603593409061432, + 0.008264713920652866, + 0.002047668443992734, + 0.7030698657035828, + -0.7110697627067566 + ], + "box_yaw_rad": -1.5594177368900126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040017891185272795 + } + }, + { + "simulation_time_ns": 3120000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5475247063018794, + -14.85339332581168, + 0.11930006157735501 + ], + "intended_face_normal": [ + -0.9998953727765997, + -0.011246720142445654, + 0.009091658106242781 + ], + "commanded_contact_point": [ + 0.299654480740428, + -14.852771175706057, + 0.11879712596773209 + ], + "centerline_face_intersection": [ + 0.5475131300835838, + -14.852771175706057, + 0.11879712596773209 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.28942131996154785, + -14.86133861541748, + 0.12873868644237518 + ], + "box_pose": [ + 0.6046003699302673, + -14.856806755065918, + 0.1360362470149994, + 0.008250022307038307, + 0.001878203242085874, + 0.7030708193778992, + -0.7110694646835327 + ], + "box_yaw_rad": -1.5594191315121393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030431373036948384 + } + }, + { + "simulation_time_ns": 3140000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5475534948254782, + -14.853430333451584, + 0.11931386922796312 + ], + "intended_face_normal": [ + -0.9998933461774998, + -0.0112385739892914, + 0.009328869618859995 + ], + "commanded_contact_point": [ + 0.301476848050952, + -14.852808633977787, + 0.11879781146665858 + ], + "centerline_face_intersection": [ + 0.5475416943672182, + -14.852808633977787, + 0.11879781146665858 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.29385319352149963, + -14.863128662109375, + 0.1272186040878296 + ], + "box_pose": [ + 0.6046331524848938, + -14.856849670410156, + 0.1360352337360382, + 0.008222533389925957, + 0.0016816699644550681, + 0.703074038028717, + -0.7110671401023865 + ], + "box_yaw_rad": -1.559426837112126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018227523711399343 + } + }, + { + "simulation_time_ns": 3160000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5475873594682902, + -14.853472377929021, + 0.11933118476287095 + ], + "intended_face_normal": [ + -0.999890491249722, + -0.011242474732739649, + 0.009606687649216517 + ], + "commanded_contact_point": [ + 0.30356944978237155, + -14.852850462672496, + 0.11879975856394712 + ], + "centerline_face_intersection": [ + 0.5475752431160449, + -14.852850462672496, + 0.11879975856394712 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.29758673906326294, + -14.863936424255371, + 0.1279243677854538 + ], + "box_pose": [ + 0.6046717166900635, + -14.856897354125977, + 0.13603530824184418, + 0.00820073951035738, + 0.001462077023461461, + 0.7030729055404663, + -0.711068868637085 + ], + "box_yaw_rad": -1.5594223225136337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020930206490211815 + } + }, + { + "simulation_time_ns": 3180000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5476268179782521, + -14.853520139653565, + 0.11935110960756848 + ], + "intended_face_normal": [ + -0.9998875093876165, + -0.011250997931269713, + 0.009932144809627938 + ], + "commanded_contact_point": [ + 0.306316337287426, + -14.852897752907682, + 0.11880167965251294 + ], + "centerline_face_intersection": [ + 0.5476143716859431, + -14.852897752907682, + 0.11880167965251294 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3005208671092987, + -14.863268852233887, + 0.1299072653055191 + ], + "box_pose": [ + 0.6047167181968689, + -14.856951713562012, + 0.1360349804162979, + 0.008170807734131813, + 0.0012003990123048425, + 0.7030702233314514, + -0.711072564125061 + ], + "box_yaw_rad": -1.5594134511078133, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027472952193656904 + } + }, + { + "simulation_time_ns": 3200000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5476706306659557, + -14.853575783420135, + 0.11937263573171368 + ], + "intended_face_normal": [ + -0.9998838037756653, + -0.011248565182569337, + 0.010293029405202346 + ], + "commanded_contact_point": [ + 0.3094477976858616, + -14.852953531249918, + 0.11880324223293952 + ], + "centerline_face_intersection": [ + 0.5476577743500137, + -14.852953531249918, + 0.11880324223293952 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3032781481742859, + -14.862757682800293, + 0.1297275424003601 + ], + "box_pose": [ + 0.6047666072845459, + -14.857015609741211, + 0.13603398203849792, + 0.008132318034768105, + 0.0009048149804584682, + 0.7030715346336365, + -0.7110720872879028 + ], + "box_yaw_rad": -1.5594159637405316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031319575176063054 + } + }, + { + "simulation_time_ns": 3220000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5477224665888202, + -14.8536372479259, + 0.1193992064216307 + ], + "intended_face_normal": [ + -0.9998790422793596, + -0.011249552605872348, + 0.010723158371999553 + ], + "commanded_contact_point": [ + 0.31238876163959506, + -14.853014941133045, + 0.11880601889413211 + ], + "centerline_face_intersection": [ + 0.5477090834140744, + -14.853014941133045, + 0.11880601889413211 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3062862753868103, + -14.861727714538574, + 0.1276758462190628 + ], + "box_pose": [ + 0.6048256754875183, + -14.857086181640625, + 0.1360338181257248, + 0.008096732199192047, + 0.0005629375809803605, + 0.7030715942382812, + -0.7110726237297058 + ], + "box_yaw_rad": -1.559415201064418, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029416063402081037 + } + }, + { + "simulation_time_ns": 3240000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5477814295419944, + -14.853711396634937, + 0.11942911170346251 + ], + "intended_face_normal": [ + -0.9998738869129851, + -0.011249353277222762, + 0.011214453340072775 + ], + "commanded_contact_point": [ + 0.3148504558205605, + -14.853089100868615, + 0.11880874654440486 + ], + "centerline_face_intersection": [ + 0.5477674759239558, + -14.853089100868615, + 0.11880874654440486 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3082384467124939, + -14.859650611877441, + 0.12476593255996704 + ], + "box_pose": [ + 0.604892909526825, + -14.857171058654785, + 0.13603311777114868, + 0.008051000535488129, + 0.0001672969083301723, + 0.703072190284729, + -0.7110729217529297 + ], + "box_yaw_rad": -1.559416387011104, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024628124871891657 + } + }, + { + "simulation_time_ns": 3260000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5478483799746731, + -14.85379581218602, + 0.1194623080085931 + ], + "intended_face_normal": [ + -0.9998674433944434, + -0.011240785869749192, + 0.01177007333573149 + ], + "commanded_contact_point": [ + 0.31719042241573336, + -14.853173990354625, + 0.11881120686298932 + ], + "centerline_face_intersection": [ + 0.5478337133746676, + -14.853173990354625, + 0.11881120686298932 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.30974096059799194, + -14.85754680633545, + 0.1214604377746582 + ], + "box_pose": [ + 0.6049691438674927, + -14.857268333435059, + 0.1360316276550293, + 0.007994117215275764, + -0.00028540537459775805, + 0.7030758857727051, + -0.7110697627067566 + ], + "box_yaw_rad": -1.5594269785349335, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002341507195062074 + } + }, + { + "simulation_time_ns": 3280000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5479263817826572, + -14.853891640047706, + 0.11950135661841613 + ], + "intended_face_normal": [ + -0.9998597457969407, + -0.011243844083463461, + 0.012414950296148267 + ], + "commanded_contact_point": [ + 0.3194507981836796, + -14.853269649040946, + 0.11881458193742102 + ], + "centerline_face_intersection": [ + 0.5479108634295314, + -14.853269649040946, + 0.11881458193742102 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3124953806400299, + -14.854301452636719, + 0.12211622297763824 + ], + "box_pose": [ + 0.605057954788208, + -14.857378005981445, + 0.13603048026561737, + 0.007934954017400742, + -0.0008038441883400083, + 0.7030754685401917, + -0.7110705375671387 + ], + "box_yaw_rad": -1.5594270333725548, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002262401508953425 + } + }, + { + "simulation_time_ns": 3300000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5480152241930122, + -14.85400445811194, + 0.11954526872492674 + ], + "intended_face_normal": [ + -0.9998502986681482, + -0.011235822583423927, + 0.013154284630570237 + ], + "commanded_contact_point": [ + 0.32157166928052905, + -14.8533829108414, + 0.1188175952815879 + ], + "centerline_face_intersection": [ + 0.5479986604889934, + -14.8533829108414, + 0.1188175952815879 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3150620758533478, + -14.850447654724121, + 0.12515252828598022 + ], + "box_pose": [ + 0.6051591038703918, + -14.857507705688477, + 0.1360282003879547, + 0.00785988662391901, + -0.0014055863721296191, + 0.7030791640281677, + -0.711066722869873 + ], + "box_yaw_rad": -1.5594401898754264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002123895365863513 + } + }, + { + "simulation_time_ns": 3320000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5481188453807085, + -14.854133938688218, + 0.11959701640422019 + ], + "intended_face_normal": [ + -0.9998386263215634, + -0.01124319724702727, + 0.014014356766368197 + ], + "commanded_contact_point": [ + 0.3235878708958626, + -14.853511983463388, + 0.11882176518146176 + ], + "centerline_face_intersection": [ + 0.5481009900856589, + -14.853511983463388, + 0.11882176518146176 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3171897232532501, + -14.84895133972168, + 0.12777064740657806 + ], + "box_pose": [ + 0.6052770614624023, + -14.85765552520752, + 0.1360262632369995, + 0.007779529318213463, + -0.002098497934639454, + 0.7030774354934692, + -0.7110676765441895 + ], + "box_yaw_rad": -1.5594402919155625, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020203331615071336 + } + }, + { + "simulation_time_ns": 3340000000, + "phase": "base_approach", + "intended_face_center": [ + 0.548237770150172, + -14.854282717924736, + 0.11965496383728287 + ], + "intended_face_normal": [ + -0.9998245707670165, + -0.011239179790741849, + 0.014995818339452627 + ], + "commanded_contact_point": [ + 0.325482449233532, + -14.853660984938996, + 0.11882541977059954 + ], + "centerline_face_intersection": [ + 0.5482183595327491, + -14.853660984938996, + 0.11882541977059954 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.31911423802375793, + -14.851865768432617, + 0.12978869676589966 + ], + "box_pose": [ + 0.6054122447967529, + -14.857826232910156, + 0.13602283596992493, + 0.007681773044168949, + -0.0028953752480447292, + 0.7030799388885498, + -0.7110635638237 + ], + "box_yaw_rad": -1.5594553997511937, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019004320228098264 + } + }, + { + "simulation_time_ns": 3360000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5483749343061554, + -14.854455196965763, + 0.1197217982296337 + ], + "intended_face_normal": [ + -0.9998066408906255, + -0.011242808623178058, + 0.016132757273474657 + ], + "commanded_contact_point": [ + 0.3270809005200863, + -14.853833263238966, + 0.11882936056651237 + ], + "centerline_face_intersection": [ + 0.5483535396201595, + -14.853833263238966, + 0.11882936056651237 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3193022310733795, + -14.85884952545166, + 0.12655550241470337 + ], + "box_pose": [ + 0.6055681705474854, + -14.858023643493652, + 0.1360185146331787, + 0.007568291388452053, + -0.0038187222089618444, + 0.703079879283905, + -0.7110603451728821 + ], + "box_yaw_rad": -1.559467729147824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001607713238733957 + } + }, + { + "simulation_time_ns": 3380000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5485334216824371, + -14.854655209960894, + 0.11979915273627517 + ], + "intended_face_normal": [ + -0.999784158802645, + -0.011275957608150922, + 0.01744738957367309 + ], + "commanded_contact_point": [ + 0.32920032247900965, + -14.854031442486637, + 0.11883399177124301 + ], + "centerline_face_intersection": [ + 0.5485095391429332, + -14.854031442486637, + 0.11883399177124301 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.31967997550964355, + -14.867511749267578, + 0.12104131281375885 + ], + "box_pose": [ + 0.6057483553886414, + -14.858250617980957, + 0.13601356744766235, + 0.007441224530339241, + -0.004882159177213907, + 0.7030694484710693, + -0.7110654711723328 + ], + "box_yaw_rad": -1.5594569827974536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021286723332234166 + } + }, + { + "simulation_time_ns": 3400000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5487150446320954, + -14.854885524335312, + 0.11988745335860565 + ], + "intended_face_normal": [ + -0.9997563685507569, + -0.011314182792287242, + 0.01895386389990794 + ], + "commanded_contact_point": [ + 0.3323940958082676, + -14.854259642306586, + 0.11883895670554032 + ], + "centerline_face_intersection": [ + 0.548688086763718, + -14.854259642306586, + 0.11883895670554032 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3219173848628998, + -14.870650291442871, + 0.1206209659576416 + ], + "box_pose": [ + 0.6059547066688538, + -14.858511924743652, + 0.1360074281692505, + 0.0072930920869112015, + -0.006103394087404013, + 0.7030574083328247, + -0.7110695242881775 + ], + "box_yaw_rad": -1.5594500112515262, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003201919406711669 + } + }, + { + "simulation_time_ns": 3420000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5489235949687299, + -14.855150799578814, + 0.11998687887294912 + ], + "intended_face_normal": [ + -0.9997218780347373, + -0.011350754673142727, + 0.02067397320692721 + ], + "commanded_contact_point": [ + 0.3358705069124699, + -14.854522894453641, + 0.11884322859522761 + ], + "centerline_face_intersection": [ + 0.5488928201869641, + -14.854522894453641, + 0.11884322859522761 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.32515740394592285, + -14.866579055786133, + 0.12422023713588715 + ], + "box_pose": [ + 0.6061912775039673, + -14.858813285827637, + 0.13599881529808044, + 0.007117555011063814, + -0.00750436307862401, + 0.7030462026596069, + -0.7110689878463745 + ], + "box_yaw_rad": -1.5594566388362965, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034863668922521227 + } + }, + { + "simulation_time_ns": 3440000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5491635543408628, + -14.855457403557775, + 0.12010002741747314 + ], + "intended_face_normal": [ + -0.9996783597643016, + -0.011409472813697641, + 0.022643971493505444 + ], + "commanded_contact_point": [ + 0.3387999522686005, + -14.854826250241409, + 0.11884740006674267 + ], + "centerline_face_intersection": [ + 0.5491279633959641, + -14.854826250241409, + 0.11884740006674267 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3281903862953186, + -14.861346244812012, + 0.12813909351825714 + ], + "box_pose": [ + 0.6064631342887878, + -14.859160423278809, + 0.1359880119562149, + 0.006912597920745611, + -0.009112930856645107, + 0.7030273675918579, + -0.711070716381073 + ], + "box_yaw_rad": -1.5594570730260906, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029451132796043675 + } + }, + { + "simulation_time_ns": 3460000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5494173203500008, + -14.855797113831695, + 0.120225157625827 + ], + "intended_face_normal": [ + -0.9996287025026559, + -0.011451314052455697, + 0.0247241257037899 + ], + "commanded_contact_point": [ + 0.3413440424203873, + -14.85516364592665, + 0.11885745955712258 + ], + "centerline_face_intersection": [ + 0.549376233584158, + -14.85516364592665, + 0.11885745955712258 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.33113646507263184, + -14.860447883605957, + 0.12871572375297546 + ], + "box_pose": [ + 0.6067502498626709, + -14.859546661376953, + 0.13598139584064484, + 0.0066428580321371555, + -0.010865465737879276, + 0.7030150890350342, + -0.7110608816146851 + ], + "box_yaw_rad": -1.5594924222073823, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025663849559613198 + } + }, + { + "simulation_time_ns": 3480000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5496933039898977, + -14.856145373711955, + 0.12036665116928638 + ], + "intended_face_normal": [ + -0.9995691117258112, + -0.011509250147523686, + 0.026996502157047852 + ], + "commanded_contact_point": [ + 0.34360219419002536, + -14.855508700877186, + 0.11887324896350852 + ], + "centerline_face_intersection": [ + 0.5496456216500765, + -14.855508700877186, + 0.11887324896350852 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.33477091789245605, + -14.860367774963379, + 0.1289578676223755 + ], + "box_pose": [ + 0.6070623397827148, + -14.859941482543945, + 0.13597963750362396, + 0.00642049964517355, + -0.012706962414085865, + 0.702996551990509, + -0.7110506296157837 + ], + "box_yaw_rad": -1.5595268636540978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022844171333105713 + } + }, + { + "simulation_time_ns": 3500000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5498104758545702, + -14.856245610739974, + 0.1204436130522285 + ], + "intended_face_normal": [ + -0.9995425821317693, + -0.011541892145701227, + 0.027955561383286476 + ], + "commanded_contact_point": [ + 0.3454854103922844, + -14.85560713220342, + 0.11889715726359741 + ], + "centerline_face_intersection": [ + 0.5497598570629951, + -14.85560713220342, + 0.11889715726359741 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3399081528186798, + -14.858756065368652, + 0.12972502410411835 + ], + "box_pose": [ + 0.6071946620941162, + -14.860054016113281, + 0.13599786162376404, + 0.0064676133915781975, + -0.013341659680008888, + 0.7029845118522644, + -0.7110506296157837 + ], + "box_yaw_rad": -1.5595259862851658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018859383863871336 + } + }, + { + "simulation_time_ns": 3520000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5498104210977943, + -14.856228355599653, + 0.12045032104695458 + ], + "intended_face_normal": [ + -0.9995424435004779, + -0.0115437910891234, + 0.027959380912623732 + ], + "commanded_contact_point": [ + 0.3470592337846756, + -14.855589772016666, + 0.11890365396822732 + ], + "centerline_face_intersection": [ + 0.5497597869614865, + -14.855589772016666, + 0.11890365396822732 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3454180359840393, + -14.85661792755127, + 0.13030308485031128 + ], + "box_pose": [ + 0.6071946620941162, + -14.860033988952637, + 0.13600504398345947, + 0.0065235416404902935, + -0.013287813402712345, + 0.7029833197593689, + -0.7110522985458374 + ], + "box_yaw_rad": -1.559519782742778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015739325442003446 + } + }, + { + "simulation_time_ns": 3540000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5497895986494477, + -14.856187721516495, + 0.12044447286961261 + ], + "intended_face_normal": [ + -0.9995470522684132, + -0.011547388947423354, + 0.027789465334172814 + ], + "commanded_contact_point": [ + 0.34859663873910907, + -14.85554893890589, + 0.1189072052419023 + ], + "centerline_face_intersection": [ + 0.549739474644392, + -14.85554893890589, + 0.1189072052419023 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3491690158843994, + -14.854408264160156, + 0.12994159758090973 + ], + "box_pose": [ + 0.6071711778640747, + -14.859987258911133, + 0.13601048290729523, + 0.006584491580724716, + -0.01310530211776495, + 0.7029814720153809, + -0.7110568881034851 + ], + "box_yaw_rad": -1.5595049875205507, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015379512178209014 + } + }, + { + "simulation_time_ns": 3560000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5497461523945901, + -14.85612404509089, + 0.1204254786210508 + ], + "intended_face_normal": [ + -0.9995570832311476, + -0.011542914846567331, + 0.027436240580094917 + ], + "commanded_contact_point": [ + 0.3502280998229981, + -14.855485509980205, + 0.11890775080719514 + ], + "centerline_face_intersection": [ + 0.5496971386797818, + -14.855485509980205, + 0.11890775080719514 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35115310549736023, + -14.852607727050781, + 0.12851037085056305 + ], + "box_pose": [ + 0.6071221828460693, + -14.859914779663086, + 0.13601411879062653, + 0.006645896937698126, + -0.012791899032890797, + 0.702982485294342, + -0.7110611796379089 + ], + "box_yaw_rad": -1.559491660131866, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016326937234213135 + } + }, + { + "simulation_time_ns": 3580000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5496791589576034, + -14.85603737191576, + 0.12039292348418063 + ], + "intended_face_normal": [ + -0.9995721112088019, + -0.01151159581639849, + 0.026890480658271487 + ], + "commanded_contact_point": [ + 0.35186110317707064, + -14.855400569322438, + 0.11890538621376406 + ], + "centerline_face_intersection": [ + 0.5496318086133233, + -14.855400569322438, + 0.11890538621376406 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3525644540786743, + -14.852413177490234, + 0.12717734277248383 + ], + "box_pose": [ + 0.6070464849472046, + -14.859817504882812, + 0.1360161006450653, + 0.006707785651087761, + -0.012340969406068325, + 0.7029930353164673, + -0.7110580205917358 + ], + "box_yaw_rad": -1.5594987286618265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016352126653913857 + } + }, + { + "simulation_time_ns": 3600000000, + "phase": "base_approach", + "intended_face_center": [ + 0.549592355245593, + -14.855924832949611, + 0.12035079094297503 + ], + "intended_face_normal": [ + -0.9995909052077112, + -0.011510819971808584, + 0.026184478224049734 + ], + "commanded_contact_point": [ + 0.3533252987265587, + -14.855288073274739, + 0.11890230856887125 + ], + "centerline_face_intersection": [ + 0.5495470850784003, + -14.855288073274739, + 0.11890230856887125 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3508574962615967, + -14.853425979614258, + 0.126299187541008 + ], + "box_pose": [ + 0.6069485545158386, + -14.859688758850098, + 0.13601867854595184, + 0.006792388390749693, + -0.011753170751035213, + 0.7029924988746643, + -0.7110677361488342 + ], + "box_yaw_rad": -1.5594689754209496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014685140243751685 + } + }, + { + "simulation_time_ns": 3620000000, + "phase": "base_approach", + "intended_face_center": [ + 0.549477687450374, + -14.8557849071003, + 0.12029272868967497 + ], + "intended_face_normal": [ + -0.9996150047869765, + -0.011498303203148708, + 0.025255288328648096 + ], + "commanded_contact_point": [ + 0.35531252503395083, + -14.855148839832534, + 0.11889564757604956 + ], + "centerline_face_intersection": [ + 0.5494350846408216, + -14.855148839832534, + 0.11889564757604956 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.34599077701568604, + -14.854987144470215, + 0.12461793422698975 + ], + "box_pose": [ + 0.6068191528320312, + -14.859529495239258, + 0.13601908087730408, + 0.006876257248222828, + -0.01100732572376728, + 0.7029961347579956, + -0.7110753059387207 + ], + "box_yaw_rad": -1.559445334207341, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001992109112735783 + } + }, + { + "simulation_time_ns": 3640000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5493485725008401, + -14.855627941268398, + 0.12022643126721752 + ], + "intended_face_normal": [ + -0.9996416400364415, + -0.011476923499515568, + 0.02419076339759707 + ], + "commanded_contact_point": [ + 0.357715739607811, + -14.854993056690759, + 0.11888823792619646 + ], + "centerline_face_intersection": [ + 0.5493089176237712, + -14.854993056690759, + 0.11888823792619646 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3450363278388977, + -14.855977058410645, + 0.12477739155292511 + ], + "box_pose": [ + 0.6066730618476868, + -14.85935115814209, + 0.13601961731910706, + 0.006964402738958597, + -0.010160884819924831, + 0.7030028700828552, + -0.7110804319381714 + ], + "box_yaw_rad": -1.5594285182910699, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024082698308507938 + } + }, + { + "simulation_time_ns": 3660000000, + "phase": "base_approach", + "intended_face_center": [ + 0.549213912656705, + -14.855467476081765, + 0.12015721077823763 + ], + "intended_face_normal": [ + -0.9996675768892598, + -0.011458258218032924, + 0.02309402559341439 + ], + "commanded_contact_point": [ + 0.3601173597574234, + -14.854833624036873, + 0.11887968717311045 + ], + "centerline_face_intersection": [ + 0.5491771283395606, + -14.854833624036873, + 0.11887968717311045 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3495171070098877, + -14.85647201538086, + 0.12913505733013153 + ], + "box_pose": [ + 0.6065208315849304, + -14.859169006347656, + 0.13601906597614288, + 0.0070443362928926945, + -0.0092998668551445, + 0.7030087113380432, + -0.7110854983329773 + ], + "box_yaw_rad": -1.5594114889103072, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024069215254195367 + } + }, + { + "simulation_time_ns": 3680000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5490717324641357, + -14.855301163265711, + 0.12008358727789617 + ], + "intended_face_normal": [ + -0.9996942597314032, + -0.01143030840367043, + 0.021922654040831047 + ], + "commanded_contact_point": [ + 0.36238024264574054, + -14.854668857358693, + 0.11887086202517172 + ], + "centerline_face_intersection": [ + 0.5490379011915012, + -14.854668857358693, + 0.11887086202517172 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3553157150745392, + -14.855341911315918, + 0.13440309464931488 + ], + "box_pose": [ + 0.6063597798347473, + -14.858980178833008, + 0.13601867854595184, + 0.007125679403543472, + -0.00838435161858797, + 0.7030178308486938, + -0.7110870480537415 + ], + "box_yaw_rad": -1.5594047946843181, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002268890677779143 + } + }, + { + "simulation_time_ns": 3700000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5489195205607208, + -14.85511816996115, + 0.12000556105875991 + ], + "intended_face_normal": [ + -0.9997216488300419, + -0.011392972505935739, + 0.02066719793685795 + ], + "commanded_contact_point": [ + 0.3648458930850029, + -14.854487929414736, + 0.11886228557786233 + ], + "centerline_face_intersection": [ + 0.5488887204134411, + -14.854487929414736, + 0.11886228557786233 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35787445306777954, + -14.85127067565918, + 0.13654495775699615 + ], + "box_pose": [ + 0.6061872243881226, + -14.858773231506348, + 0.13601914048194885, + 0.007217701058834791, + -0.007398259826004505, + 0.7030301690101624, + -0.7110850214958191 + ], + "box_yaw_rad": -1.5594083871906335, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024722945951054544 + } + }, + { + "simulation_time_ns": 3720000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5487481164478476, + -14.854922319171004, + 0.11991519464215039 + ], + "intended_face_normal": [ + -0.9997504204016018, + -0.011357973602579063, + 0.0192454534989836 + ], + "commanded_contact_point": [ + 0.36764547109603885, + -14.8542940147065, + 0.11885056773087944 + ], + "centerline_face_intersection": [ + 0.5487205003334191, + -14.8542940147065, + 0.11885056773087944 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3573951721191406, + -14.85085678100586, + 0.13442616164684296 + ], + "box_pose": [ + 0.6059926748275757, + -14.858551025390625, + 0.13601727783679962, + 0.007297398056834936, + -0.006306409370154142, + 0.7030417919158936, + -0.7110832333564758 + ], + "box_yaw_rad": -1.5594111369647812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028063102575951733 + } + }, + { + "simulation_time_ns": 3740000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5485559740585411, + -14.854703618481892, + 0.11981334524571771 + ], + "intended_face_normal": [ + -0.9997800603433559, + -0.011333692472138113, + 0.01765065319114173 + ], + "commanded_contact_point": [ + 0.37052594751119616, + -14.854076657209685, + 0.11883694007086473 + ], + "centerline_face_intersection": [ + 0.5485316379801176, + -14.854076657209685, + 0.11883694007086473 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3571179509162903, + -14.857086181640625, + 0.1300988346338272 + ], + "box_pose": [ + 0.605774462223053, + -14.858302116394043, + 0.13601455092430115, + 0.0073822312988340855, + -0.005086322780698538, + 0.7030495405197144, + -0.7110844254493713 + ], + "box_yaw_rad": -1.5594050792122485, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028886976949512883 + } + }, + { + "simulation_time_ns": 3760000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5483464886649299, + -14.854457086087473, + 0.11970537605085554 + ], + "intended_face_normal": [ + -0.9998095649686575, + -0.011302747082999054, + 0.015912106782026092 + ], + "commanded_contact_point": [ + 0.37377413988113406, + -14.85383183666342, + 0.11882514441089671 + ], + "centerline_face_intersection": [ + 0.548325417551431, + -14.85383183666342, + 0.11882514441089671 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3597679138183594, + -14.861227035522461, + 0.12864933907985687 + ], + "box_pose": [ + 0.6055363416671753, + -14.85802173614502, + 0.13601480424404144, + 0.007498339284211397, + -0.0037324302829802036, + 0.7030593156814575, + -0.7110819220542908 + ], + "box_yaw_rad": -1.5594085900540218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00325742688476502 + } + }, + { + "simulation_time_ns": 3780000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5481674483074777, + -14.854227864607177, + 0.11961841958850322 + ], + "intended_face_normal": [ + -0.9998323805315298, + -0.011281376086607509, + 0.01442656822951438 + ], + "commanded_contact_point": [ + 0.3775463390350342, + -14.853603797391582, + 0.11882036550392482 + ], + "centerline_face_intersection": [ + 0.5481489018850164, + -14.853603797391582, + 0.11882036550392482 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3644368648529053, + -14.860991477966309, + 0.13014063239097595 + ], + "box_pose": [ + 0.6053326725959778, + -14.857760429382324, + 0.13602091372013092, + 0.00765592884272337, + -0.0025165630504488945, + 0.7030652165412903, + -0.7110797762870789 + ], + "box_yaw_rad": -1.559409851388932, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003779088673759547 + } + }, + { + "simulation_time_ns": 3800000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5480147734976233, + -14.854033831418219, + 0.11954328065651706 + ], + "intended_face_normal": [ + -0.9998500412342374, + -0.011265345918161085, + 0.013158576777651906 + ], + "commanded_contact_point": [ + 0.38159709304571154, + -14.853410650965241, + 0.11881536977864385 + ], + "centerline_face_intersection": [ + 0.5479981813076928, + -14.853410650965241, + 0.11881536977864385 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.36856621503829956, + -14.859103202819824, + 0.1302131712436676 + ], + "box_pose": [ + 0.6051588654518127, + -14.857539176940918, + 0.1360250562429428, + 0.007784205488860607, + -0.0014850859297439456, + 0.7030695080757141, + -0.7110770344734192 + ], + "box_yaw_rad": -1.5594135151176154, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004055359238624589 + } + }, + { + "simulation_time_ns": 3820000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5478851518199597, + -14.85387133168864, + 0.11947916259506285 + ], + "intended_face_normal": [ + -0.9998636182603453, + -0.011255472902764185, + 0.01208216995871434 + ], + "commanded_contact_point": [ + 0.3846884059906006, + -14.853248697394676, + 0.11881079677633709 + ], + "centerline_face_intersection": [ + 0.5478700619627507, + -14.853248697394676, + 0.11881079677633709 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3734064996242523, + -14.859037399291992, + 0.1297496110200882 + ], + "box_pose": [ + 0.6050112247467041, + -14.857353210449219, + 0.1360282152891159, + 0.007895915769040585, + -0.0006066215573810041, + 0.7030717730522156, + -0.7110747694969177 + ], + "box_yaw_rad": -1.5594160561334263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030955557812140273 + } + }, + { + "simulation_time_ns": 3840000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5477754376404661, + -14.853732501135156, + 0.11942379136712566 + ], + "intended_face_normal": [ + -0.9998745739175922, + -0.0112432490773412, + 0.011165881694757874 + ], + "commanded_contact_point": [ + 0.38716992616653445, + -14.853110543043158, + 0.11880611311179463 + ], + "centerline_face_intersection": [ + 0.5477615600399242, + -14.853110543043158, + 0.11880611311179463 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.37922242283821106, + -14.860243797302246, + 0.1277233511209488 + ], + "box_pose": [ + 0.6048861145973206, + -14.857194900512695, + 0.13603000342845917, + 0.007985228672623634, + 0.00013529475836548954, + 0.703075110912323, + -0.7110708355903625 + ], + "box_yaw_rad": -1.559424601264106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002485367366230515 + } + }, + { + "simulation_time_ns": 3860000000, + "phase": "base_approach", + "intended_face_center": [ + 0.547682668218671, + -14.85361489594046, + 0.11937784808289512 + ], + "intended_face_normal": [ + -0.9998828254709906, + -0.011239725878723572, + 0.010399514932270308 + ], + "commanded_contact_point": [ + 0.39010053753852847, + -14.852993132746029, + 0.1188025639794759 + ], + "centerline_face_intersection": [ + 0.5476697036536783, + -14.852993132746029, + 0.1188025639794759 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3836316764354706, + -14.861016273498535, + 0.12834374606609344 + ], + "box_pose": [ + 0.6047804355621338, + -14.857060432434082, + 0.1360318809747696, + 0.008063659071922302, + 0.0007596081704832613, + 0.7030754685401917, + -0.7110691666603088 + ], + "box_yaw_rad": -1.5594265887992227, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029329645050482317 + } + }, + { + "simulation_time_ns": 3880000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5476039986856619, + -14.853517402157866, + 0.11933804459885601 + ], + "intended_face_normal": [ + -0.9998894198962668, + -0.011235178367346332, + 0.009746446474411141 + ], + "commanded_contact_point": [ + 0.3934402379393578, + -14.852895890524305, + 0.11879888717102674 + ], + "centerline_face_intersection": [ + 0.5475917637893402, + -14.852895890524305, + 0.11879888717102674 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3865709900856018, + -14.861549377441406, + 0.1285354495048523 + ], + "box_pose": [ + 0.6046907305717468, + -14.856948852539062, + 0.13603276014328003, + 0.008126447908580303, + 0.0012875186512246728, + 0.7030763626098633, + -0.7110667824745178 + ], + "box_yaw_rad": -1.559431142395899, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033411178273005638 + } + }, + { + "simulation_time_ns": 3900000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5475377498456656, + -14.853431933283538, + 0.11930462029212123 + ], + "intended_face_normal": [ + -0.9998946629851623, + -0.011241492727473101, + 0.009193364097735454 + ], + "commanded_contact_point": [ + 0.3967537197470665, + -14.852810072349934, + 0.11879605847391944 + ], + "centerline_face_intersection": [ + 0.547526095090129, + -14.852810072349934, + 0.11879605847391944 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3894435465335846, + -14.861937522888184, + 0.12723852694034576 + ], + "box_pose": [ + 0.6046151518821716, + -14.856850624084473, + 0.136033833026886, + 0.00818466953933239, + 0.0017397546907886863, + 0.7030734419822693, + -0.7110680937767029 + ], + "box_yaw_rad": -1.5594255545230171, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003314594160767879 + } + }, + { + "simulation_time_ns": 3920000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474810485236461, + -14.8533597455533, + 0.11927607090843939 + ], + "intended_face_normal": [ + -0.9998987827969941, + -0.011245919486418177, + 0.00872244652350157 + ], + "commanded_contact_point": [ + 0.3995667088031769, + -14.852737639738653, + 0.11879355947780297 + ], + "centerline_face_intersection": [ + 0.5474698496176529, + -14.852737639738653, + 0.11879355947780297 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.39240407943725586, + -14.860567092895508, + 0.12557320296764374 + ], + "box_pose": [ + 0.6045504808425903, + -14.856767654418945, + 0.13603463768959045, + 0.00823363196104765, + 0.0021241852082312107, + 0.7030712962150574, + -0.7110685706138611 + ], + "box_yaw_rad": -1.5594223897057748, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028139225572064697 + } + }, + { + "simulation_time_ns": 3940000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474328431070106, + -14.85329929785521, + 0.11925171554349553 + ], + "intended_face_normal": [ + -0.9999021948795862, + -0.011234697144401173, + 0.00832397999506973 + ], + "commanded_contact_point": [ + 0.40196130305528643, + -14.852677812842112, + 0.11879124662744218 + ], + "centerline_face_intersection": [ + 0.54742202174021, + -14.852677812842112, + 0.11879124662744218 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.394101083278656, + -14.85825252532959, + 0.12310084700584412 + ], + "box_pose": [ + 0.6044954657554626, + -14.856698989868164, + 0.13603509962558746, + 0.008273989893496037, + 0.0024483059532940388, + 0.7030748128890991, + -0.7110635042190552 + ], + "box_yaw_rad": -1.5594351572284832, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002395342614129028 + } + }, + { + "simulation_time_ns": 3960000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473922264052409, + -14.853246075243232, + 0.11923121896412868 + ], + "intended_face_normal": [ + -0.9999051524476272, + -0.011222797958608033, + 0.00798760565111617 + ], + "commanded_contact_point": [ + 0.40426676601171496, + -14.852625248473569, + 0.1187893577248886 + ], + "centerline_face_intersection": [ + 0.5473817322855875, + -14.852625248473569, + 0.1187893577248886 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.39621928334236145, + -14.85610294342041, + 0.12100555002689362 + ], + "box_pose": [ + 0.6044490933418274, + -14.85663890838623, + 0.13603556156158447, + 0.008309299126267433, + 0.002723157638683915, + 0.7030786275863647, + -0.7110583782196045 + ], + "box_yaw_rad": -1.559448654742687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023060628838471355 + } + }, + { + "simulation_time_ns": 3980000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473795651497784, + -14.853232417147831, + 0.11922524027663378 + ], + "intended_face_normal": [ + -0.9999060172730401, + -0.011215806781853965, + 0.007881874787538184 + ], + "commanded_contact_point": [ + 0.4063990104198456, + -14.852611977118595, + 0.11878922789529268 + ], + "centerline_face_intersection": [ + 0.5473691667206059, + -14.852611977118595, + 0.11878922789529268 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3995303511619568, + -14.852396011352539, + 0.12263187766075134 + ], + "box_pose": [ + 0.604434609413147, + -14.856623649597168, + 0.13603608310222626, + 0.008312862366437912, + 0.0028019098099321127, + 0.7030810713768005, + -0.7110555768013 + ], + "box_yaw_rad": -1.5594563777928632, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021322857129669457 + } + }, + { + "simulation_time_ns": 4000000000, + "phase": "base_approach", + "intended_face_center": [ + 0.54737886452976, + -14.85323231800113, + 0.11922509231454456 + ], + "intended_face_normal": [ + -0.999906160960091, + -0.011215760490522197, + 0.007877060472279096 + ], + "commanded_contact_point": [ + 0.4083528804779053, + -14.852611880532653, + 0.11878934625322468 + ], + "centerline_face_intersection": [ + 0.5473684819991445, + -14.852611880532653, + 0.11878934625322468 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.40225839614868164, + -14.848604202270508, + 0.12544697523117065 + ], + "box_pose": [ + 0.6044338345527649, + -14.856623649597168, + 0.13603618741035461, + 0.008309212513267994, + 0.0028016427531838417, + 0.7030811309814453, + -0.7110556364059448 + ], + "box_yaw_rad": -1.559456544631294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019538700640317997 + } + }, + { + "simulation_time_ns": 4020000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473809099957813, + -14.853234928864547, + 0.11922620583292201 + ], + "intended_face_normal": [ + -0.9999059656828422, + -0.011216258822961844, + 0.00789360577303147 + ], + "commanded_contact_point": [ + 0.4101917135715485, + -14.852614463829138, + 0.11878954451271063 + ], + "centerline_face_intersection": [ + 0.5473705058583019, + -14.852614463829138, + 0.11878954451271063 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.40433308482170105, + -14.848006248474121, + 0.12759844958782196 + ], + "box_pose": [ + 0.6044361591339111, + -14.856626510620117, + 0.13603629171848297, + 0.008309349417686462, + 0.0027900177519768476, + 0.703080952167511, + -0.7110558152198792 + ], + "box_yaw_rad": -1.559455913855537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018388349189105947 + } + }, + { + "simulation_time_ns": 4040000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473867067069631, + -14.853243371464279, + 0.11922926435808127 + ], + "intended_face_normal": [ + -0.9999054435172393, + -0.011216264611270566, + 0.007942201318570652 + ], + "commanded_contact_point": [ + 0.4119055706262589, + -14.85262290610867, + 0.11878991481202208 + ], + "centerline_face_intersection": [ + 0.5473762447933466, + -14.85262290610867, + 0.11878991481202208 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4058012366294861, + -14.851662635803223, + 0.12898042798042297 + ], + "box_pose": [ + 0.6044427752494812, + -14.856636047363281, + 0.13603632152080536, + 0.008304130285978317, + 0.002750180894508958, + 0.7030810117721558, + -0.7110558748245239 + ], + "box_yaw_rad": -1.5594556498052499, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017138778874779363 + } + }, + { + "simulation_time_ns": 4060000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5473955825192572, + -14.853252485603448, + 0.11923388369488137 + ], + "intended_face_normal": [ + -0.999904932632058, + -0.011216687028282157, + 0.00801585375399927 + ], + "commanded_contact_point": [ + 0.413360892534256, + -14.852631996880424, + 0.11879045981693687 + ], + "centerline_face_intersection": [ + 0.5473850640776209, + -14.852631996880424, + 0.11879045981693687 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.405317485332489, + -14.859003067016602, + 0.1252952665090561 + ], + "box_pose": [ + 0.604452908039093, + -14.856646537780762, + 0.13603641092777252, + 0.00830150581896305, + 0.0026951537001878023, + 0.7030808925628662, + -0.7110562920570374 + ], + "box_yaw_rad": -1.5594547304720778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014553504028438882 + } + }, + { + "simulation_time_ns": 4080000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474053030356626, + -14.853263445346677, + 0.11923901325377267 + ], + "intended_face_normal": [ + -0.9999043852993523, + -0.011219348915150529, + 0.008095317525783935 + ], + "commanded_contact_point": [ + 0.41537618517875674, + -14.852642809372439, + 0.11879119357035041 + ], + "centerline_face_intersection": [ + 0.5473947240331575, + -14.852642809372439, + 0.11879119357035041 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.40530166029930115, + -14.867718696594238, + 0.11992785334587097 + ], + "box_pose": [ + 0.6044639945030212, + -14.856658935546875, + 0.13603663444519043, + 0.008297063410282135, + 0.002634167904034257, + 0.7030799984931946, + -0.7110575437545776 + ], + "box_yaw_rad": -1.5594515831552758, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020153217835761103 + } + }, + { + "simulation_time_ns": 4100000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474192257840628, + -14.853276908890539, + 0.119246717507701 + ], + "intended_face_normal": [ + -0.9999033283522292, + -0.011223420180850763, + 0.00820869648830122 + ], + "commanded_contact_point": [ + 0.4184888887405396, + -14.852656047700563, + 0.11879262588609477 + ], + "centerline_face_intersection": [ + 0.5474085298331519, + -14.852656047700563, + 0.11879262588609477 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.40759849548339844, + -14.870681762695312, + 0.1197626143693924 + ], + "box_pose": [ + 0.6044798493385315, + -14.856674194335938, + 0.13603739440441132, + 0.008295610547065735, + 0.0025520932395011187, + 0.70307856798172, + -0.7110592126846313 + ], + "box_yaw_rad": -1.5594467276070054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031127320424982744 + } + }, + { + "simulation_time_ns": 4120000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5474338374068815, + -14.853295381185045, + 0.11925377057902539 + ], + "intended_face_normal": [ + -0.9999023352043453, + -0.011225491638813256, + 0.008327000286056707 + ], + "commanded_contact_point": [ + 0.4218961882591248, + -14.852674405405411, + 0.11879313458543007 + ], + "centerline_face_intersection": [ + 0.5474230315666694, + -14.852674405405411, + 0.11879313458543007 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4109972417354584, + -14.866284370422363, + 0.1232323944568634 + ], + "box_pose": [ + 0.6044964790344238, + -14.856695175170898, + 0.13603708148002625, + 0.00828369241207838, + 0.002455921843647957, + 0.7030779719352722, + -0.7110602855682373 + ], + "box_yaw_rad": -1.5594441142279345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034073490096339213 + } + }, + { + "simulation_time_ns": 4140000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5474501291203927, + -14.853315145253749, + 0.11926219626053523 + ], + "intended_face_normal": [ + -0.9999011538157265, + -0.011222543333559765, + 0.008463552473251423 + ], + "commanded_contact_point": [ + 0.4218961882591248, + -14.852674405405411, + 0.11879313458543007 + ], + "centerline_face_intersection": [ + 0.5474391925623763, + -14.852694332569524, + 0.11879400642398744 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4142143130302429, + -14.860443115234375, + 0.1270061880350113 + ], + "box_pose": [ + 0.6045150756835938, + -14.856718063354492, + 0.13603702187538147, + 0.008271483704447746, + 0.002346451859921217, + 0.7030791640281677, + -0.7110595703125 + ], + "box_yaw_rad": -1.5594464445154497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 4160000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5474696952258248, + -14.853337639013626, + 0.11927227595848686 + ], + "intended_face_normal": [ + -0.9999000468780344, + -0.011223241270658324, + 0.008623242848274176 + ], + "commanded_contact_point": [ + 0.4247517324223048, + -14.852674256261308, + 0.11879298394402582 + ], + "centerline_face_intersection": [ + 0.5474586361876793, + -14.852716787720668, + 0.1187952523123991 + ], + "commanded_world_base_velocity": [ + 0.1374553599999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4172757863998413, + -14.858837127685547, + 0.12777069211006165 + ], + "box_pose": [ + 0.6045373678207397, + -14.856743812561035, + 0.136037215590477, + 0.008260514587163925, + 0.0022218034137040377, + 0.7030790448188782, + -0.7110604047775269 + ], + "box_yaw_rad": -1.5594450056977922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028555441710483545 + } + }, + { + "simulation_time_ns": 4180000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5474925955480018, + -14.853364760530372, + 0.11928416721429178 + ], + "intended_face_normal": [ + -0.9998980833979189, + -0.011230180959376668, + 0.008808423221759287 + ], + "commanded_contact_point": [ + 0.4277139548488217, + -14.852673941322688, + 0.11879253488171686 + ], + "centerline_face_intersection": [ + 0.5474813192549295, + -14.85274352534522, + 0.11879689969377094 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.42053812742233276, + -14.858119010925293, + 0.1286446899175644 + ], + "box_pose": [ + 0.6045634150505066, + -14.85677433013916, + 0.1360376477241516, + 0.00824833195656538, + 0.0020778283942490816, + 0.7030767202377319, + -0.7110630869865417 + ], + "box_yaw_rad": -1.5594372627141675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029622224772968882 + } + }, + { + "simulation_time_ns": 4200000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5475175151342606, + -14.853394913979098, + 0.1192965067216875 + ], + "intended_face_normal": [ + -0.9998964941494931, + -0.011219785506070501, + 0.009013764568965521 + ], + "commanded_contact_point": [ + 0.4307762553431451, + -14.852673695733078, + 0.11879178196579018 + ], + "centerline_face_intersection": [ + 0.5475060629938951, + -14.852774253853367, + 0.1187978800547457 + ], + "commanded_world_base_velocity": [ + 0.11967871999999971, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.42436957359313965, + -14.856002807617188, + 0.12946096062660217 + ], + "box_pose": [ + 0.6045917868614197, + -14.856809616088867, + 0.1360372006893158, + 0.008228062652051449, + 0.0019112513400614262, + 0.7030806541442871, + -0.7110599875450134 + ], + "box_yaw_rad": -1.5594470436245345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030623005967295555 + } + }, + { + "simulation_time_ns": 4220000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5475471224372278, + -14.853430690119527, + 0.11931161460334178 + ], + "intended_face_normal": [ + -0.9998944263340893, + -0.011221339031330935, + 0.00926017091233057 + ], + "commanded_contact_point": [ + 0.4339320985423654, + -14.852673809570037, + 0.11879072299361652 + ], + "centerline_face_intersection": [ + 0.5475354414966315, + -14.852809944055325, + 0.11879935714176748 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4288572669029236, + -14.853320121765137, + 0.12973466515541077 + ], + "box_pose": [ + 0.6046255826950073, + -14.856850624084473, + 0.13603699207305908, + 0.008206297643482685, + 0.001714020618237555, + 0.7030803561210632, + -0.7110611796379089 + ], + "box_yaw_rad": -1.5594448272833332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031558433789473654 + } + }, + { + "simulation_time_ns": 4240000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5475788940689302, + -14.85347109647029, + 0.11932693378116756 + ], + "intended_face_normal": [ + -0.9998916308944615, + -0.011216308886227044, + 0.009522924388470425 + ], + "commanded_contact_point": [ + 0.4371749227797204, + -14.85267462880696, + 0.11878933114318999 + ], + "centerline_face_intersection": [ + 0.5475669038169774, + -14.852850628665463, + 0.1188001412283966 + ], + "commanded_world_base_velocity": [ + 0.09071999999999959, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4324527978897095, + -14.850520133972168, + 0.12926270067691803 + ], + "box_pose": [ + 0.604661762714386, + -14.856897354125977, + 0.13603588938713074, + 0.008175640366971493, + 0.0014961339766159654, + 0.7030825018882751, + -0.7110596299171448 + ], + "box_yaw_rad": -1.5594495146539349, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003242824639534768 + } + }, + { + "simulation_time_ns": 4260000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5476170652733209, + -14.853517950101184, + 0.11934593360999503 + ], + "intended_face_normal": [ + -0.9998886966460315, + -0.011220611517745227, + 0.009834155974652162 + ], + "commanded_contact_point": [ + 0.4404983629962605, + -14.852676572633953, + 0.11878762119089709 + ], + "centerline_face_intersection": [ + 0.5476047503500876, + -14.852897244281841, + 0.11880192423651866 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4348832368850708, + -14.848320960998535, + 0.1277432143688202 + ], + "box_pose": [ + 0.6047052145004272, + -14.856950759887695, + 0.1360355168581009, + 0.008146536536514759, + 0.0012453926028683782, + 0.7030813097953796, + -0.7110617160797119 + ], + "box_yaw_rad": -1.559444848558046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033234412248926803 + } + }, + { + "simulation_time_ns": 4280000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5476612933209305, + -14.853572219011571, + 0.11936852390049371 + ], + "intended_face_normal": [ + -0.9998850227745035, + -0.0112236636743831, + 0.010200772891190563 + ], + "commanded_contact_point": [ + 0.44389604739008576, + -14.85268019423516, + 0.11878556895699431 + ], + "centerline_face_intersection": [ + 0.5476485718866114, + -14.852951344351931, + 0.1188042338807081 + ], + "commanded_world_base_velocity": [ + 0.05746047999999954, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4371752142906189, + -14.847792625427246, + 0.1260967254638672 + ], + "box_pose": [ + 0.6047556400299072, + -14.857012748718262, + 0.13603530824184418, + 0.008114539086818695, + 0.0009523292537778616, + 0.7030805945396423, + -0.7110632658004761 + ], + "box_yaw_rad": -1.5594416169159744, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033976869437461472 + } + }, + { + "simulation_time_ns": 4300000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.547710892733584, + -14.853634239893612, + 0.11939338492835141 + ], + "intended_face_normal": [ + -0.9998807052835399, + -0.01121590407849693, + 0.010612631051257405 + ], + "commanded_contact_point": [ + 0.44736161516693324, + -14.852686147699979, + 0.11878311696255336 + ], + "centerline_face_intersection": [ + 0.5476976935702699, + -14.853013794482084, + 0.11880631159089251 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.43659788370132446, + -14.848726272583008, + 0.12519536912441254 + ], + "box_pose": [ + 0.6048121452331543, + -14.857084274291992, + 0.1360345035791397, + 0.008074626326560974, + 0.000619037018623203, + 0.7030838131904602, + -0.7110608220100403 + ], + "box_yaw_rad": -1.55944969639394, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003465573757971925 + } + }, + { + "simulation_time_ns": 4320000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5477684217655752, + -14.853705072407507, + 0.11942232648546913 + ], + "intended_face_normal": [ + -0.9998755397044499, + -0.011219885041176658, + 0.011089463245658644 + ], + "commanded_contact_point": [ + 0.4508889780431462, + -14.852695079721313, + 0.11878025278165107 + ], + "centerline_face_intersection": [ + 0.5477546510298748, + -14.853084406775658, + 0.11880887557336142 + ], + "commanded_world_base_velocity": [ + 0.026781439999999587, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.43297773599624634, + -14.850759506225586, + 0.12309563159942627 + ], + "box_pose": [ + 0.6048777103424072, + -14.857165336608887, + 0.13603372871875763, + 0.008029092103242874, + 0.00023390499700326473, + 0.7030829191207886, + -0.711062490940094 + ], + "box_yaw_rad": -1.5594466079893619, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003527375347907107 + } + }, + { + "simulation_time_ns": 4340000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5478343128021075, + -14.853786561823988, + 0.11945577555024384 + ], + "intended_face_normal": [ + -0.9998695108125797, + -0.011202206310059526, + 0.011638406793036548 + ], + "commanded_contact_point": [ + 0.4544720481133566, + -14.85270814671306, + 0.1187769363040507 + ], + "centerline_face_intersection": [ + 0.54781987496455, + -14.853166874150537, + 0.11881195798175476 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4330284893512726, + -14.852286338806152, + 0.12252047657966614 + ], + "box_pose": [ + 0.6049527525901794, + -14.857259750366211, + 0.13603298366069794, + 0.007979162037372589, + -0.00020704329654108733, + 0.7030897736549377, + -0.7110562920570374 + ], + "box_yaw_rad": -1.5594659533657051, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003583095431792829 + } + }, + { + "simulation_time_ns": 4360000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5479107396565984, + -14.853882172518684, + 0.11949410647076952 + ], + "intended_face_normal": [ + -0.9998620084230807, + -0.011197004416149126, + 0.01227236111057619 + ], + "commanded_contact_point": [ + 0.4581050270049729, + -14.852726496150439, + 0.11877306208631762 + ], + "centerline_face_intersection": [ + 0.5478954716678379, + -14.853262772605468, + 0.11881521958957213 + ], + "commanded_world_base_velocity": [ + 0.005564159999999768, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4378267526626587, + -14.852989196777344, + 0.12581808865070343 + ], + "box_pose": [ + 0.6050397753715515, + -14.857369422912598, + 0.13603180646896362, + 0.00792134739458561, + -0.0007163691916503012, + 0.7030922770500183, + -0.7110541462898254 + ], + "box_yaw_rad": -1.559474031663515, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003633027296669364 + } + }, + { + "simulation_time_ns": 4380000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.547998322321557, + -14.853992657395814, + 0.1195376391329499 + ], + "intended_face_normal": [ + -0.9998528283218645, + -0.011193768840812801, + 0.013003325876525917 + ], + "commanded_contact_point": [ + 0.4617821211639349, + -14.85275149919338, + 0.11876847790645595 + ], + "centerline_face_intersection": [ + 0.5479820385316769, + -14.853373436469319, + 0.1188183164802046 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4431650638580322, + -14.851795196533203, + 0.12974770367145538 + ], + "box_pose": [ + 0.6051395535469055, + -14.85749626159668, + 0.1360296905040741, + 0.007848543114960194, + -0.001309837563894689, + 0.7030942440032959, + -0.7110521793365479 + ], + "box_yaw_rad": -1.559482072925195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003677182021702731 + } + }, + { + "simulation_time_ns": 4400000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5480990008382574, + -14.854119123772447, + 0.11958663976141111 + ], + "intended_face_normal": [ + -0.9998417627554768, + -0.011178512019693332, + 0.013837067451400592 + ], + "commanded_contact_point": [ + 0.46549786423947553, + -14.852784829064522, + 0.11876304265720578 + ], + "centerline_face_intersection": [ + 0.5480814926034305, + -14.853500746828262, + 0.11882119589267555 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4446507692337036, + -14.847850799560547, + 0.13044990599155426 + ], + "box_pose": [ + 0.605254054069519, + -14.85764217376709, + 0.1360265612602234, + 0.007762715686112642, + -0.0019896042067557573, + 0.7031006217002869, + -0.7110452055931091 + ], + "box_yaw_rad": -1.5595046030225126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003715896530539144 + } + }, + { + "simulation_time_ns": 4420000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5482173064513145, + -14.854266012521427, + 0.11964516825297443 + ], + "intended_face_normal": [ + -0.9998276881462298, + -0.011182553402568685, + 0.014818194688517278 + ], + "commanded_contact_point": [ + 0.4692474912616375, + -14.852828450011682, + 0.1187567964811482 + ], + "centerline_face_intersection": [ + 0.5481982407904813, + -14.853647412014572, + 0.11882545003523116 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.443721204996109, + -14.847718238830566, + 0.12808580696582794 + ], + "box_pose": [ + 0.6053886413574219, + -14.857810020446777, + 0.1360238641500473, + 0.007675258442759514, + -0.002775779226794839, + 0.7031001448631287, + -0.7110440135002136 + ], + "box_yaw_rad": -1.5595108603233916, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037498859458753877 + } + }, + { + "simulation_time_ns": 4440000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5483525457023085, + -14.854435040396336, + 0.11971118491038255 + ], + "intended_face_normal": [ + -0.9998104211501992, + -0.011198214351257119, + 0.015937419114421175 + ], + "commanded_contact_point": [ + 0.4730256163353774, + -14.852884615510469, + 0.11874936373233126 + ], + "centerline_face_intersection": [ + 0.5483315693319295, + -14.853815573551495, + 0.11882955303372592 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.44338297843933105, + -14.854632377624512, + 0.1241353303194046 + ], + "box_pose": [ + 0.6055424213409424, + -14.858002662658691, + 0.13601990044116974, + 0.007568453438580036, + -0.003679719055071473, + 0.7030957341194153, + -0.711045503616333 + ], + "box_yaw_rad": -1.5595102269691419, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037785498384738624 + } + }, + { + "simulation_time_ns": 4460000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5485077696901997, + -14.85463117332763, + 0.11978638761968799 + ], + "intended_face_normal": [ + -0.9997885474702379, + -0.011223166810711782, + 0.017227046179613736 + ], + "commanded_contact_point": [ + 0.4768277087815914, + -14.852956565826357, + 0.11874042172489181 + ], + "centerline_face_intersection": [ + 0.548484372802246, + -14.854010326153674, + 0.1188334156896946 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4462805390357971, + -14.859350204467773, + 0.12238186597824097 + ], + "box_pose": [ + 0.6057189106941223, + -14.85822582244873, + 0.13601434230804443, + 0.007440830580890179, + -0.0047259158454835415, + 0.7030882239341736, + -0.7110479474067688 + ], + "box_yaw_rad": -1.559506777021315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003802783687906976 + } + }, + { + "simulation_time_ns": 4480000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5486872035647722, + -14.854858274135722, + 0.11987295569117419 + ], + "intended_face_normal": [ + -0.9997614402275344, + -0.011261584861124052, + 0.018713085539618757 + ], + "commanded_contact_point": [ + 0.48064992517649757, + -14.853047721310201, + 0.11872982722913418 + ], + "centerline_face_intersection": [ + 0.5486608069454022, + -14.85423530173825, + 0.11883777850195153 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.451799601316452, + -14.8590669631958, + 0.12354280054569244 + ], + "box_pose": [ + 0.6059227585792542, + -14.85848331451416, + 0.13600780069828033, + 0.007297600619494915, + -0.005927617195993662, + 0.7030760645866394, + -0.7110524773597717 + ], + "box_yaw_rad": -1.55949824562317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003823317896155714 + } + }, + { + "simulation_time_ns": 4500000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5488935109900344, + -14.855115396380157, + 0.1199713464309367 + ], + "intended_face_normal": [ + -0.9997277826100446, + -0.011305329713307444, + 0.020413716032350315 + ], + "commanded_contact_point": [ + 0.48448842610940696, + -14.853160784190301, + 0.11871712113283073 + ], + "centerline_face_intersection": [ + 0.5488633896509373, + -14.854490004089234, + 0.11884209315310507 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.456937700510025, + -14.856191635131836, + 0.12270720303058624 + ], + "box_pose": [ + 0.6061568260192871, + -14.85877513885498, + 0.13599953055381775, + 0.007135182619094849, + -0.007301416248083115, + 0.7030621767044067, + -0.7110551595687866 + ], + "box_yaw_rad": -1.5594955565118658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003840186723544312 + } + }, + { + "simulation_time_ns": 4520000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5491296604043026, + -14.855413245422014, + 0.1200822602803823 + ], + "intended_face_normal": [ + -0.9996854616255233, + -0.011358331460702531, + 0.022356801365266188 + ], + "commanded_contact_point": [ + 0.48833975425964576, + -14.853301955582861, + 0.11870160692168505 + ], + "centerline_face_intersection": [ + 0.5490948554360757, + -14.854784921161386, + 0.11884551870998186 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4621920585632324, + -14.854719161987305, + 0.1220971941947937 + ], + "box_pose": [ + 0.6064244508743286, + -14.859112739562988, + 0.13598833978176117, + 0.006943496875464916, + -0.008877362124621868, + 0.7030452489852905, + -0.7110557556152344 + ], + "box_yaw_rad": -1.5594988987985696, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003853945844669674 + } + }, + { + "simulation_time_ns": 4540000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5493857758643899, + -14.855754942868098, + 0.1202072860470801 + ], + "intended_face_normal": [ + -0.9996359363606869, + -0.011403727555221899, + 0.02446161857916357 + ], + "commanded_contact_point": [ + 0.49219642011849557, + -14.853476488815456, + 0.1186854403887781 + ], + "centerline_face_intersection": [ + 0.5493454897232904, + -14.855124107370003, + 0.1188541094418108 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4677425026893616, + -14.854205131530762, + 0.12162075936794281 + ], + "box_pose": [ + 0.6067143678665161, + -14.859500885009766, + 0.13598020374774933, + 0.006680006626993418, + -0.010641065426170826, + 0.7030316591262817, + -0.7110477089881897 + ], + "box_yaw_rad": -1.559529397192489, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038606469345025727 + } + }, + { + "simulation_time_ns": 4560000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5496612207887747, + -14.856107782023575, + 0.12034696848175148 + ], + "intended_face_normal": [ + -0.9995771001047213, + -0.011461482017304792, + 0.02673108939940594 + ], + "commanded_contact_point": [ + 0.4960531637686287, + -14.85367551701053, + 0.11866897698069775 + ], + "centerline_face_intersection": [ + 0.5496144226345168, + -14.855473751643395, + 0.11886824847425984 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4716739356517792, + -14.854369163513184, + 0.12304097414016724 + ], + "box_pose": [ + 0.6070259213447571, + -14.859901428222656, + 0.13597653806209564, + 0.0064335172064602375, + -0.01250484213232994, + 0.7030134201049805, + -0.7110376358032227 + ], + "box_yaw_rad": -1.5595641434106127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003861910776944722 + } + }, + { + "simulation_time_ns": 4580000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.549808755210476, + -14.856241823229093, + 0.12044032549253801 + ], + "intended_face_normal": [ + -0.9995435156802331, + -0.01150336702789645, + 0.027934320925797396 + ], + "commanded_contact_point": [ + 0.49984629544039905, + -14.853806590256507, + 0.1186629846658541 + ], + "centerline_face_intersection": [ + 0.549758239750868, + -14.855605475838848, + 0.11889504469116569 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4756675660610199, + -14.855547904968262, + 0.12348812818527222 + ], + "box_pose": [ + 0.6071924567222595, + -14.860052108764648, + 0.13599587976932526, + 0.0064666736871004105, + -0.01332736574113369, + 0.7029982209205627, + -0.711037278175354 + ], + "box_yaw_rad": -1.5595637785294234, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037954003719022594 + } + }, + { + "simulation_time_ns": 4600000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5498107129543245, + -14.856225798534075, + 0.12044844113980986 + ], + "intended_face_normal": [ + -0.999543115354274, + -0.011500467219819899, + 0.027954871002842663 + ], + "commanded_contact_point": [ + 0.503550643097579, + -14.85388154409371, + 0.11865650384208876 + ], + "centerline_face_intersection": [ + 0.5497601531837253, + -14.855589611556455, + 0.11890202354189221 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4805161952972412, + -14.857458114624023, + 0.12245529890060425 + ], + "box_pose": [ + 0.607194721698761, + -14.860033988952637, + 0.13600340485572815, + 0.006520240567624569, + -0.013287793844938278, + 0.7029987573623657, + -0.7110370993614197 + ], + "box_yaw_rad": -1.5595631965721775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00370511155622106 + } + }, + { + "simulation_time_ns": 4620000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5497911179956281, + -14.856184667027923, + 0.12044396824518483 + ], + "intended_face_normal": [ + -0.9995472750745897, + -0.011512525630094639, + 0.027796058615108477 + ], + "commanded_contact_point": [ + 0.5072032322418193, + -14.853943786880144, + 0.11865037212456389 + ], + "centerline_face_intersection": [ + 0.549741018652287, + -14.855547812998834, + 0.11890633588799085 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4855079650878906, + -14.857484817504883, + 0.121104896068573 + ], + "box_pose": [ + 0.6071726679801941, + -14.859986305236816, + 0.1360095739364624, + 0.006584545131772757, + -0.013109821826219559, + 0.7029938697814941, + -0.7110445499420166 + ], + "box_yaw_rad": -1.5595400895985692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003653124583017226 + } + }, + { + "simulation_time_ns": 4640000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5497464479613301, + -14.856121448991715, + 0.12042422689799268 + ], + "intended_face_normal": [ + -0.9995576491704067, + -0.011497359244032057, + 0.02743243030052034 + ], + "commanded_contact_point": [ + 0.5107935249422992, + -14.853993689479484, + 0.11864417899673688 + ], + "centerline_face_intersection": [ + 0.5496974968879176, + -14.855485433942219, + 0.1189067098625515 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4885426163673401, + -14.856587409973145, + 0.11894631385803223 + ], + "box_pose": [ + 0.6071222424507141, + -14.859914779663086, + 0.13601309061050415, + 0.0066446466371417046, + -0.012790310196578503, + 0.702998697757721, + -0.7110451459884644 + ], + "box_yaw_rad": -1.559537171742048, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003590644830580261 + } + }, + { + "simulation_time_ns": 4660000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5496801488436748, + -14.856032380876577, + 0.12039272556975462 + ], + "intended_face_normal": [ + -0.9995723764316783, + -0.011487694279165628, + 0.026890249438237257 + ], + "commanded_contact_point": [ + 0.5143140439541486, + -14.854025959821001, + 0.11863875701044097 + ], + "centerline_face_intersection": [ + 0.5496328278553433, + -14.855396900477079, + 0.118905201090051 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.49114179611206055, + -14.855928421020508, + 0.11706812679767609 + ], + "box_pose": [ + 0.6070473790168762, + -14.859813690185547, + 0.13601596653461456, + 0.006711558438837528, + -0.012336920015513897, + 0.7030014991760254, + -0.7110496759414673 + ], + "box_yaw_rad": -1.5595223322236034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003520671084561832 + } + }, + { + "simulation_time_ns": 4680000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5495910292676489, + -14.855919168237941, + 0.12034867809165845 + ], + "intended_face_normal": [ + -0.9995918622314257, + -0.011476432258885283, + 0.026163271146945888 + ], + "commanded_contact_point": [ + 0.5177552805161555, + -14.85403923838182, + 0.11863401068007715 + ], + "centerline_face_intersection": [ + 0.5495458650257111, + -14.855284310834927, + 0.1189013688582653 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.49429115653038025, + -14.853425025939941, + 0.11908094584941864 + ], + "box_pose": [ + 0.6069467663764954, + -14.859684944152832, + 0.1360178142786026, + 0.006787251215428114, + -0.011743193492293358, + 0.703004777431488, + -0.7110558152198792 + ], + "box_yaw_rad": -1.5595030375191978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003441265453800736 + } + }, + { + "simulation_time_ns": 4700000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5494762555295144, + -14.855779317766657, + 0.1202904823998766 + ], + "intended_face_normal": [ + -0.9996159918533684, + -0.011463048623151617, + 0.025229964109220404 + ], + "commanded_contact_point": [ + 0.5211066245316542, + -14.854029733560285, + 0.11862995285393295 + ], + "centerline_face_intersection": [ + 0.5494337619677626, + -14.855145200724415, + 0.11889480218052012 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.49759793281555176, + -14.850545883178711, + 0.122240349650383 + ], + "box_pose": [ + 0.6068171858787537, + -14.859525680541992, + 0.13601835072040558, + 0.006872224621474743, + -0.01099331583827734, + 0.7030087113380432, + -0.7110630869865417 + ], + "box_yaw_rad": -1.5594800864161638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033513599504984065 + } + }, + { + "simulation_time_ns": 4720000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.549347377189912, + -14.855628545289436, + 0.12022467909660065 + ], + "intended_face_normal": [ + -0.9996419588420462, + -0.011444189660462345, + 0.024184240560781722 + ], + "commanded_contact_point": [ + 0.5243658875184045, + -14.854004834427613, + 0.11862659809878259 + ], + "centerline_face_intersection": [ + 0.5493077575970902, + -14.854995471494066, + 0.11888684658821011 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5007513165473938, + -14.85021686553955, + 0.12455599009990692 + ], + "box_pose": [ + 0.6066716313362122, + -14.859354019165039, + 0.13601814210414886, + 0.006954150274395943, + -0.010166562162339687, + 0.703014612197876, + -0.7110686898231506 + ], + "box_yaw_rad": -1.5594617672408597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032593598202699686 + } + }, + { + "simulation_time_ns": 4740000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5492149443257919, + -14.855469743240809, + 0.1201571491874777 + ], + "intended_face_normal": [ + -0.9996676096512367, + -0.011439837216197235, + 0.023104294317835006 + ], + "commanded_contact_point": [ + 0.5275316774681978, + -14.853964513304618, + 0.11862423891492166 + ], + "centerline_face_intersection": [ + 0.5491781636345305, + -14.854836910215514, + 0.11887905753336363 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5030571818351746, + -14.852885246276855, + 0.12547244131565094 + ], + "box_pose": [ + 0.6065219640731812, + -14.859172821044922, + 0.1360182911157608, + 0.007037809118628502, + -0.009313751012086868, + 0.7030153274536133, + -0.7110788822174072 + ], + "box_yaw_rad": -1.559430611540647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031660475935968695 + } + }, + { + "simulation_time_ns": 4760000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5490748501652831, + -14.855304726500878, + 0.12008429432481042 + ], + "intended_face_normal": [ + -0.9996942409749038, + -0.011408811107229577, + 0.02194756080582394 + ], + "commanded_contact_point": [ + 0.5305942362593785, + -14.853911176695394, + 0.11862253946484985 + ], + "centerline_face_intersection": [ + 0.5490410168168562, + -14.854673609789026, + 0.11887019127071145 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.504751980304718, + -14.85886001586914, + 0.12072993814945221 + ], + "box_pose": [ + 0.6063632369041443, + -14.858985900878906, + 0.13601772487163544, + 0.007115411572158337, + -0.008412436582148075, + 0.7030255794525146, + -0.7110793590545654 + ], + "box_yaw_rad": -1.55942753143834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030630236746476518 + } + }, + { + "simulation_time_ns": 4780000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5489230263045337, + -14.85512767748712, + 0.12000558874204677 + ], + "intended_face_normal": [ + -0.9997211238962189, + -0.011381570780484185, + 0.020692761256314363 + ], + "commanded_contact_point": [ + 0.5335432729100705, + -14.853838920553653, + 0.11862220104820856 + ], + "centerline_face_intersection": [ + 0.5488921680641105, + -14.854498067665451, + 0.11886089914025896 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5066521167755127, + -14.866120338439941, + 0.11416324973106384 + ], + "box_pose": [ + 0.606191098690033, + -14.858784675598145, + 0.13601738214492798, + 0.007200396154075861, + -0.007433944847434759, + 0.7030344009399414, + -0.7110805511474609 + ], + "box_yaw_rad": -1.5594213455540231, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029499217331431073 + } + }, + { + "simulation_time_ns": 4800000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.548754269045261, + -14.854934552003733, + 0.11991721409557735 + ], + "intended_face_normal": [ + -0.9997495551877178, + -0.011351590430425551, + 0.019296989359703032 + ], + "commanded_contact_point": [ + 0.5363674777174197, + -14.853744251169573, + 0.11862273080881934 + ], + "centerline_face_intersection": [ + 0.5487265571824661, + -14.85430660064584, + 0.11884973630504703 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5100765228271484, + -14.867606163024902, + 0.11185251176357269 + ], + "box_pose": [ + 0.6059996485710144, + -14.858565330505371, + 0.13601592183113098, + 0.007280619814991951, + -0.006360037252306938, + 0.7030442357063293, + -0.7110805511474609 + ], + "box_yaw_rad": -1.5594193704558452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028257911045904 + } + }, + { + "simulation_time_ns": 4820000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5485660533012311, + -14.854718862108193, + 0.11981787507179092 + ], + "intended_face_normal": [ + -0.9997786256832624, + -0.01131914262289091, + 0.017734005104904083 + ], + "commanded_contact_point": [ + 0.5390569335753472, + -14.85362119788492, + 0.11862456737006641 + ], + "centerline_face_intersection": [ + 0.5485415584616871, + -14.854092705709775, + 0.1188368590058253 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5144457221031189, + -14.862832069396973, + 0.11349771916866302 + ], + "box_pose": [ + 0.6057858467102051, + -14.858320236206055, + 0.13601380586624146, + 0.007369745057076216, + -0.005158251617103815, + 0.7030548453330994, + -0.7110787034034729 + ], + "box_yaw_rad": -1.5594214751452946, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00269227010078152 + } + }, + { + "simulation_time_ns": 4840000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5483564198726038, + -14.854475826305677, + 0.1197087120608977 + ], + "intended_face_normal": [ + -0.9998084024491147, + -0.011289579798523075, + 0.015999064099260107 + ], + "commanded_contact_point": [ + 0.5416021360486435, + -14.85346432944411, + 0.11862892542314574 + ], + "centerline_face_intersection": [ + 0.5483352201171824, + -14.8538513052742, + 0.1188236700848216 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5189533233642578, + -14.857575416564941, + 0.11770352721214294 + ], + "box_pose": [ + 0.6055476665496826, + -14.858043670654297, + 0.13601256906986237, + 0.007479050196707249, + -0.0038138083182275295, + 0.7030642032623291, + -0.7110769152641296 + ], + "box_yaw_rad": -1.5594235737619766, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002550035750812536 + } + }, + { + "simulation_time_ns": 4860000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5481749971162064, + -14.85424059406318, + 0.11962044855781197 + ], + "intended_face_normal": [ + -0.9998316193694338, + -0.011267686654652387, + 0.014491654177931496 + ], + "commanded_contact_point": [ + 0.5440345368652995, + -14.853300231848028, + 0.11863809359663013 + ], + "centerline_face_intersection": [ + 0.5481563664671174, + -14.8536172841245, + 0.11881879402535458 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5232125520706177, + -14.856715202331543, + 0.12115810811519623 + ], + "box_pose": [ + 0.6053412556648254, + -14.857775688171387, + 0.1360187977552414, + 0.007643149700015783, + -0.002575811231508851, + 0.7030702233314514, + -0.7110747694969177 + ], + "box_yaw_rad": -1.5594245451752378, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024379470480946864 + } + }, + { + "simulation_time_ns": 4880000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5480205620155052, + -14.854040014006856, + 0.11954524016189941 + ], + "intended_face_normal": [ + -0.9998493787719931, + -0.011254223585736245, + 0.013211083140166266 + ], + "commanded_contact_point": [ + 0.5463489508988636, + -14.853152366947526, + 0.11864591139791303 + ], + "centerline_face_intersection": [ + 0.5480038965219083, + -14.853417448823059, + 0.11881442471819986 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5268312692642212, + -14.856361389160156, + 0.12182612717151642 + ], + "box_pose": [ + 0.6051654815673828, + -14.85754680633545, + 0.13602381944656372, + 0.007786102127283812, + -0.0015205448726192117, + 0.7030734419822693, + -0.7110729813575745 + ], + "box_yaw_rad": -1.559424796403638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023191458482760114 + } + }, + { + "simulation_time_ns": 4900000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.54788730741193, + -14.853870871389555, + 0.11947898668640763 + ], + "intended_face_normal": [ + -0.9998635555862289, + -0.011253064073663999, + 0.01210643233445615 + ], + "commanded_contact_point": [ + 0.5485361494335185, + -14.853020763298948, + 0.1186516979684546 + ], + "centerline_face_intersection": [ + 0.5478722106197164, + -14.853248370348064, + 0.11880927871286347 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5305608510971069, + -14.854601860046387, + 0.1211736798286438 + ], + "box_pose": [ + 0.6050137877464294, + -14.857353210449219, + 0.13602657616138458, + 0.007897880859673023, + -0.0006218959460966289, + 0.7030726075172424, + -0.7110740542411804 + ], + "box_yaw_rad": -1.5594184452221271, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021911618914890996 + } + }, + { + "simulation_time_ns": 4920000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5477741735848782, + -14.85372735697876, + 0.11942186149109102 + ], + "intended_face_normal": [ + -0.9998743112904154, + -0.011245146502783077, + 0.011163786871407625 + ], + "commanded_contact_point": [ + 0.5505902723908906, + -14.8529041276952, + 0.11865620755236987 + ], + "centerline_face_intersection": [ + 0.5477602669244783, + -14.853105293924301, + 0.1188042991179507 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5348587036132812, + -14.85226821899414, + 0.12027384340763092 + ], + "box_pose": [ + 0.6048848032951355, + -14.857189178466797, + 0.13602830469608307, + 0.00799404364079237, + 0.00014570531493518502, + 0.7030743360519409, + -0.7110713124275208 + ], + "box_yaw_rad": -1.559422421147039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002057436590617574 + } + }, + { + "simulation_time_ns": 4940000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5476783009270053, + -14.853603962678074, + 0.11937448061440739 + ], + "intended_face_normal": [ + -0.9998829042407481, + -0.011256892066238922, + 0.010369212130266293 + ], + "commanded_contact_point": [ + 0.5525037790017082, + -14.852798045423764, + 0.11866070582565395 + ], + "centerline_face_intersection": [ + 0.5476653450778611, + -14.852981249878315, + 0.11880087281227679 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5385457277297974, + -14.850074768066406, + 0.12023447453975677 + ], + "box_pose": [ + 0.604775607585907, + -14.857047080993652, + 0.13603058457374573, + 0.008082305081188679, + 0.0008000920643098652, + 0.7030691504478455, + -0.7110751271247864 + ], + "box_yaw_rad": -1.5594089319132187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019164501643450624 + } + }, + { + "simulation_time_ns": 4960000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.547595080987828, + -14.853499310779085, + 0.11933220819838972 + ], + "intended_face_normal": [ + -0.999889982847832, + -0.011243246576637778, + 0.009676966700541953 + ], + "commanded_contact_point": [ + 0.5542671399882289, + -14.852705770351342, + 0.11866383412346765 + ], + "centerline_face_intersection": [ + 0.5475829083814912, + -14.852877352825422, + 0.11879689427765441 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5416438579559326, + -14.848747253417969, + 0.12133122980594635 + ], + "box_pose": [ + 0.6046806573867798, + -14.856927871704102, + 0.13603146374225616, + 0.008151511661708355, + 0.001362315728329122, + 0.7030732035636902, + -0.7110694646835327 + ], + "box_yaw_rad": -1.5594226316107205, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001765776442254441 + } + }, + { + "simulation_time_ns": 4980000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5475241159044877, + -14.853410899383165, + 0.11929598035955624 + ], + "intended_face_normal": [ + -0.999895619199558, + -0.011236309155534752, + 0.009085075949188073 + ], + "commanded_contact_point": [ + 0.5558742601514389, + -14.85262445965239, + 0.11866646354047676 + ], + "centerline_face_intersection": [ + 0.5475125669524691, + -14.852789325196255, + 0.11879340886406214 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5444473028182983, + -14.849349975585938, + 0.1239282488822937 + ], + "box_pose": [ + 0.60459965467453, + -14.856826782226562, + 0.1360321044921875, + 0.008209839463233948, + 0.0018421922577545047, + 0.7030749917030334, + -0.711065948009491 + ], + "box_yaw_rad": -1.5594306174590782, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016091779151462206 + } + }, + { + "simulation_time_ns": 5000000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.547463290275246, + -14.853332972544814, + 0.11926517673143489 + ], + "intended_face_normal": [ + -0.9999002520886, + -0.011229105902723413, + 0.008581707780385028 + ], + "commanded_contact_point": [ + 0.5573173525171813, + -14.85255034652127, + 0.11866873082184683 + ], + "centerline_face_intersection": [ + 0.5474522539431913, + -14.852711796830032, + 0.11879045073715558 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5426468849182129, + -14.849478721618652, + 0.1241641640663147 + ], + "box_pose": [ + 0.6045302748680115, + -14.856738090515137, + 0.13603265583515167, + 0.008260584436357021, + 0.0022514411248266697, + 0.703076958656311, + -0.7110623121261597 + ], + "box_yaw_rad": -1.5594393948630498, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014449960113554383 + } + }, + { + "simulation_time_ns": 5020000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5474103527151832, + -14.853267374058273, + 0.11923794528074053 + ], + "intended_face_normal": [ + -0.9999038081387971, + -0.011228132164288862, + 0.008140818129720312 + ], + "commanded_contact_point": [ + 0.5585882323570619, + -14.852485642910544, + 0.11867056916236936 + ], + "centerline_face_intersection": [ + 0.5473997098514034, + -14.852646252209103, + 0.11878760857856199 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5381526350975037, + -14.848654747009277, + 0.12080028653144836 + ], + "box_pose": [ + 0.6044698357582092, + -14.85666275024414, + 0.13603287935256958, + 0.008305152878165245, + 0.0026100396644324064, + 0.7030767798423767, + -0.711060643196106 + ], + "box_yaw_rad": -1.5594422793083724, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001272527211556491 + } + }, + { + "simulation_time_ns": 5040000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5473848101058991, + -14.853237448653688, + 0.11922598744265975 + ], + "intended_face_normal": [ + -0.9999053804559683, + -0.011228473835339647, + 0.007929123445688413 + ], + "commanded_contact_point": [ + 0.5596995733790219, + -14.852454223485362, + 0.11867191637401925 + ], + "centerline_face_intersection": [ + 0.5473743412147306, + -14.852616307903837, + 0.11878736134307134 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.537563145160675, + -14.849034309387207, + 0.11644092202186584 + ], + "box_pose": [ + 0.6044406890869141, + -14.85662841796875, + 0.1360340267419815, + 0.00832008384168148, + 0.00277568306773901, + 0.7030764818191528, + -0.7110600471496582 + ], + "box_yaw_rad": -1.5594431789360566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011117858887164712 + } + }, + { + "simulation_time_ns": 5060000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5473847976745099, + -14.853238688476624, + 0.1192264069533161 + ], + "intended_face_normal": [ + -0.9999055221325617, + -0.011236313082452876, + 0.007927462748830605 + ], + "commanded_contact_point": [ + 0.5606439420827937, + -14.852452674171914, + 0.1186712177626169 + ], + "centerline_face_intersection": [ + 0.5473743444594568, + -14.852617114072485, + 0.11878787272075314 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5407716035842896, + -14.849419593811035, + 0.11715039610862732 + ], + "box_pose": [ + 0.6044406890869141, + -14.856629371643066, + 0.1360345035791397, + 0.0083162235096097, + 0.0027730052825063467, + 0.7030737400054932, + -0.7110629677772522 + ], + "box_yaw_rad": -1.5594354410755138, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009443702330620464 + } + }, + { + "simulation_time_ns": 5080000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5473876055380671, + -14.853240597042925, + 0.11922814556374772 + ], + "intended_face_normal": [ + -0.9999051194401648, + -0.011240729344828448, + 0.007951418404156363 + ], + "commanded_contact_point": [ + 0.5613929531402074, + -14.852452492297884, + 0.11867030174080892 + ], + "centerline_face_intersection": [ + 0.5473771077662299, + -14.852618778338396, + 0.11878828614363653 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5441862344741821, + -14.847454071044922, + 0.12096773087978363 + ], + "box_pose": [ + 0.6044439077377319, + -14.8566312789917, + 0.13603481650352478, + 0.008319518528878689, + 0.0027593253180384636, + 0.7030721306800842, + -0.7110644578933716 + ], + "box_yaw_rad": -1.5594307637311955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007490116396306519 + } + }, + { + "simulation_time_ns": 5100000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5473929524812176, + -14.853246407969866, + 0.1192307560942027 + ], + "intended_face_normal": [ + -0.9999049689249958, + -0.01124099681049806, + 0.007993828514207824 + ], + "commanded_contact_point": [ + 0.5619397074898996, + -14.852456980096607, + 0.11866922481247885 + ], + "centerline_face_intersection": [ + 0.5473824380552945, + -14.852624574469576, + 0.11878855061638632 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5439709424972534, + -14.842095375061035, + 0.1228899359703064 + ], + "box_pose": [ + 0.604449987411499, + -14.856637954711914, + 0.1360348016023636, + 0.008316517807543278, + 0.00272613437846303, + 0.7030720710754395, + -0.7110648155212402 + ], + "box_yaw_rad": -1.559430243156486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005467738280307023 + } + }, + { + "simulation_time_ns": 5120000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5474001857931632, + -14.853253853457925, + 0.11923464034817868 + ], + "intended_face_normal": [ + -0.9999044949812783, + -0.011240213483843742, + 0.008052460626691432 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.852463709846976, + 0.11866855220908507 + ], + "centerline_face_intersection": [ + 0.5473896189266663, + -14.85263206328998, + 0.11878919143809827 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.541516900062561, + -14.841805458068848, + 0.12190014123916626 + ], + "box_pose": [ + 0.604458212852478, + -14.856646537780762, + 0.13603508472442627, + 0.008314870297908783, + 0.0026827685069292784, + 0.7030723690986633, + -0.7110646963119507 + ], + "box_yaw_rad": -1.5594306233928323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003370841919966797 + } + }, + { + "simulation_time_ns": 5140000000, + "phase": "straight_push", + "intended_face_center": [ + 0.547409473400515, + -14.85326338678101, + 0.1192395837578688 + ], + "intended_face_normal": [ + -0.9999036776505793, + -0.01124797636903585, + 0.008129174104540504 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.852836138821482, + 0.1187898911840587 + ], + "centerline_face_intersection": [ + 0.5473988160985572, + -14.852641167182991, + 0.1187898911840587 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5384402275085449, + -14.847766876220703, + 0.1187267154455185 + ], + "box_pose": [ + 0.604468822479248, + -14.856657028198242, + 0.13603532314300537, + 0.008313302882015705, + 0.0026266714558005333, + 0.7030696272850037, + -0.7110675573348999 + ], + "box_yaw_rad": -1.5594223285988422, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00019497163849152343, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003916969337375189 + } + }, + { + "simulation_time_ns": 5160000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5474209328139873, + -14.853276372916893, + 0.11924596014981775 + ], + "intended_face_normal": [ + -0.9999029729922891, + -0.011255241946002803, + 0.008224670679403356 + ], + "commanded_contact_point": [ + 0.5626356163547988, + -14.852858574875759, + 0.11879098486216884 + ], + "centerline_face_intersection": [ + 0.5474101975434106, + -14.852653751399078, + 0.11879098486216884 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.537011444568634, + -14.852407455444336, + 0.11683519184589386 + ], + "box_pose": [ + 0.6044819355010986, + -14.856671333312988, + 0.13603584468364716, + 0.008311566896736622, + 0.0025570455472916365, + 0.7030670642852783, + -0.7110704779624939 + ], + "box_yaw_rad": -1.5594144170068427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00020482347668121292, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003595947999433046 + } + }, + { + "simulation_time_ns": 5180000000, + "phase": "straight_push", + "intended_face_center": [ + 0.547435061496532, + -14.85329398206062, + 0.11925278771618378 + ], + "intended_face_normal": [ + -0.9999020726375619, + -0.011255891661338113, + 0.008339989715958285 + ], + "commanded_contact_point": [ + 0.5633603436527519, + -14.85284863216588, + 0.11879143316863826 + ], + "centerline_face_intersection": [ + 0.5474242266039512, + -14.85267132460162, + 0.11879143316863826 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.53780198097229, + -14.85335922241211, + 0.11687733232975006 + ], + "box_pose": [ + 0.604498028755188, + -14.856691360473633, + 0.1360355168581009, + 0.00830210279673338, + 0.0024654697626829147, + 0.7030669450759888, + -0.7110710740089417 + ], + "box_yaw_rad": -1.5594131872835022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00017730756426161064, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007247956366155101 + } + }, + { + "simulation_time_ns": 5200000000, + "phase": "straight_push", + "intended_face_center": [ + 0.547451404734808, + -14.853313007855936, + 0.11926106328946581 + ], + "intended_face_normal": [ + -0.9999006972499952, + -0.011251987849618117, + 0.008471100198070125 + ], + "commanded_contact_point": [ + 0.5643280609017111, + -14.852909754074956, + 0.11879245592516471 + ], + "centerline_face_intersection": [ + 0.5474404176588519, + -14.852690566349395, + 0.11879245592516471 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5395652055740356, + -14.851643562316895, + 0.11530032753944397 + ], + "box_pose": [ + 0.6045165657997131, + -14.85671329498291, + 0.13603568077087402, + 0.008293461985886097, + 0.002363468986004591, + 0.7030684351921082, + -0.7110698223114014 + ], + "box_yaw_rad": -1.5594164167706914, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00021918772556162478, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009696461250028413 + } + }, + { + "simulation_time_ns": 5220000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5474700491050933, + -14.853333805200544, + 0.11927074846744903 + ], + "intended_face_normal": [ + -0.9998996063403623, + -0.011252951915051046, + 0.00862546761410285 + ], + "commanded_contact_point": [ + 0.5644919171794152, + -14.853001474917647, + 0.11879360175096584 + ], + "centerline_face_intersection": [ + 0.5474589413224222, + -14.852711310363484, + 0.11879360175096584 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5410120487213135, + -14.850936889648438, + 0.11501337587833405 + ], + "box_pose": [ + 0.604537844657898, + -14.85673713684082, + 0.13603582978248596, + 0.008284607902169228, + 0.0022447442170232534, + 0.703068196773529, + -0.711070716381073 + ], + "box_yaw_rad": -1.5594146852881388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00029016455416346786, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018778419966511268 + } + }, + { + "simulation_time_ns": 5240000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5474903091489568, + -14.853359077114467, + 0.11928038060714466 + ], + "intended_face_normal": [ + -0.9998982085675886, + -0.011244698979374967, + 0.008792626496579303 + ], + "commanded_contact_point": [ + 0.5636720707265053, + -14.85309409764281, + 0.11879398693554286 + ], + "centerline_face_intersection": [ + 0.5474790467056568, + -14.852737038816269, + 0.11879398693554286 + ], + "commanded_world_base_velocity": [ + 0.015144032921810845, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5427228808403015, + -14.851064682006836, + 0.11677871644496918 + ], + "box_pose": [ + 0.604560911655426, + -14.856766700744629, + 0.1360350251197815, + 0.008265539072453976, + 0.0021065413020551205, + 0.7030713558197021, + -0.7110682129859924 + ], + "box_yaw_rad": -1.559422405058615, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00035705882654077923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008250620121740055 + } + }, + { + "simulation_time_ns": 5260000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5475132616928776, + -14.85338772349114, + 0.11929161113730703 + ], + "intended_face_normal": [ + -0.999896747047138, + -0.011235285236386616, + 0.008980223019792843 + ], + "commanded_contact_point": [ + 0.5627241912773058, + -14.853152263229855, + 0.11879483993383338 + ], + "centerline_face_intersection": [ + 0.5475018375351708, + -14.852766205945757, + 0.11879483993383338 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5446075201034546, + -14.852041244506836, + 0.11955477297306061 + ], + "box_pose": [ + 0.6045870184898376, + -14.856800079345703, + 0.13603456318378448, + 0.00824604369699955, + 0.001953369239345193, + 0.7030749320983887, + -0.711065411567688 + ], + "box_yaw_rad": -1.5594312619221986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00038605728409763174, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009496627892768956 + } + }, + { + "simulation_time_ns": 5280000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5475412817515993, + -14.853421309577277, + 0.11930569915597684 + ], + "intended_face_normal": [ + -0.9998943318892775, + -0.011240600170163373, + 0.009208557550083707 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.853172283453294, + 0.11879629686091925 + ], + "centerline_face_intersection": [ + 0.5475295903608351, + -14.852799498018477, + 0.11879629686091925 + ], + "commanded_world_base_velocity": [ + 0.027617448559670976, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5478901267051697, + -14.853131294250488, + 0.12186092138290405 + ], + "box_pose": [ + 0.6046189069747925, + -14.85683822631836, + 0.13603447377681732, + 0.008227182552218437, + 0.0017719402676448226, + 0.703073263168335, + -0.7110675573348999 + ], + "box_yaw_rad": -1.5594252585139143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00037278543481718886, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004479174614586405 + } + }, + { + "simulation_time_ns": 5300000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5481626433627098, + -14.85378857059646, + 0.11957932413773537 + ], + "intended_face_normal": [ + -0.9998236678615934, + -0.014727041446029987, + 0.011661076378993093 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.853289114753146, + 0.1189342525249455 + ], + "centerline_face_intersection": [ + 0.5481431328332195, + -14.852973894826537, + 0.1189342525249455 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5517271161079407, + -14.854413032531738, + 0.12348222732543945 + ], + "box_pose": [ + 0.605292797088623, + -14.857013702392578, + 0.1361663043498993, + 0.008937210775911808, + 0.0007628487655892968, + 0.7018237709999084, + -0.7122942209243774 + ], + "box_yaw_rad": -1.5559087703627452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003152199266091316, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018077974959076294 + } + }, + { + "simulation_time_ns": 5320000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5505330597491584, + -14.856033430270424, + 0.12009259279225774 + ], + "intended_face_normal": [ + -0.9991195741550862, + -0.037169703897080186, + 0.01944972401232259 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.854273907981295, + 0.11901666597133845 + ], + "centerline_face_intersection": [ + 0.5504356094049381, + -14.853977263235706, + 0.11901666597133845 + ], + "commanded_world_base_velocity": [ + 0.042240000000000236, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5541105270385742, + -14.85444164276123, + 0.1239953339099884 + ], + "box_pose": [ + 0.6078526377677917, + -14.858094215393066, + 0.13620474934577942, + 0.009234705939888954, + -0.004431977868080139, + 0.6937794089317322, + -0.7201146483421326 + ], + "box_yaw_rad": -1.5334859173700406, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002966447455881394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009882356390831756 + } + }, + { + "simulation_time_ns": 5340000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5520487295437517, + -14.85814471588709, + 0.12037233196486963 + ], + "intended_face_normal": [ + -0.9984918016244748, + -0.04812253451036752, + 0.026428474893648857 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855871371815635, + 0.11891035209533249 + ], + "centerline_face_intersection": [ + 0.5518817414038765, + -14.855482656233312, + 0.11891035209533249 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5540341138839722, + -14.853180885314941, + 0.12332884967327118 + ], + "box_pose": [ + 0.6095075607299805, + -14.859790802001953, + 0.13602980971336365, + 0.007374460808932781, + -0.011417623609304428, + 0.6898437142372131, + -0.7238307595252991 + ], + "box_yaw_rad": -1.522806367256601, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00038871558232294494, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016009976084479462 + } + }, + { + "simulation_time_ns": 5360000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5532281353090838, + -14.858952279828372, + 0.12121948357138203 + ], + "intended_face_normal": [ + -0.9981864708999222, + -0.04831497250704808, + 0.03590940925634212 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85683900617137, + 0.11923303396840629 + ], + "centerline_face_intersection": [ + 0.5530273101339956, + -14.856279574820354, + 0.11923303396840629 + ], + "commanded_world_base_velocity": [ + 0.05800032921810725, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5532092452049255, + -14.852011680603027, + 0.12210977077484131 + ], + "box_pose": [ + 0.6108378767967224, + -14.860702514648438, + 0.13630051910877228, + 0.008331997320055962, + -0.01728733442723751, + 0.689763069152832, + -0.7237808108329773 + ], + "box_yaw_rad": -1.522917543375184, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005594313510160021, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001020019528053026 + } + }, + { + "simulation_time_ns": 5380000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5537578352275568, + -14.859065461125413, + 0.12156920917798161 + ], + "intended_face_normal": [ + -0.9980126641071215, + -0.04854014286977559, + 0.04018271126446715 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.857158268916368, + 0.11934636751918458 + ], + "centerline_face_intersection": [ + 0.5535377439905336, + -14.85638030006237, + 0.11934636751918458 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.552151083946228, + -14.850916862487793, + 0.1230219304561615 + ], + "box_pose": [ + 0.6114325523376465, + -14.860816955566406, + 0.13639967143535614, + 0.009523223154246807, + -0.01913728006184101, + 0.6896660327911377, + -0.7238120436668396 + ], + "box_yaw_rad": -1.522783735706054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007779688539990559, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003387819270207874 + } + }, + { + "simulation_time_ns": 5400000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5534859089988651, + -14.858986346816941, + 0.12136152698566442 + ], + "intended_face_normal": [ + -0.9981034158287442, + -0.048478414391291635, + 0.0379393293408683 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85730502159444, + 0.11926278553413183 + ], + "centerline_face_intersection": [ + 0.5532758777896783, + -14.856304600472047, + 0.11926278553413183 + ], + "commanded_world_base_velocity": [ + 0.07388707818930067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5516002774238586, + -14.850743293762207, + 0.12480214238166809 + ], + "box_pose": [ + 0.6111266016960144, + -14.860730171203613, + 0.13632456958293915, + 0.008973853662610054, + -0.018086569383740425, + 0.6896957755088806, + -0.7238177061080933 + ], + "box_yaw_rad": -1.5227880877389544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010004211223926518, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016888545451464214 + } + }, + { + "simulation_time_ns": 5420000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5524935192486456, + -14.858648164436978, + 0.12065061755237572 + ], + "intended_face_normal": [ + -0.9983922268985281, + -0.048257812706586245, + 0.02973055648850198 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.857113458695613, + 0.11900597194678414 + ], + "centerline_face_intersection": [ + 0.5523154972838923, + -14.855978621415337, + 0.11900597194678414 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5511307716369629, + -14.852618217468262, + 0.12655095756053925 + ], + "box_pose": [ + 0.6100068688392639, + -14.860356330871582, + 0.13609986007213593, + 0.007110302336513996, + -0.014089100994169712, + 0.6897974610328674, + -0.7238302826881409 + ], + "box_yaw_rad": -1.5228133026927282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011348372802756756, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032038970466208023 + } + }, + { + "simulation_time_ns": 5440000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5516804064724744, + -14.857806234063098, + 0.12021162051628285 + ], + "intended_face_normal": [ + -0.9985648478825474, + -0.048140094228714014, + 0.023466499017688214 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.856231449100228, + 0.11891349229244737 + ], + "centerline_face_intersection": [ + 0.5515215118506964, + -14.85514320303451, + 0.11891349229244737 + ], + "commanded_world_base_velocity": [ + 0.08888888888888913, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5498021841049194, + -14.856307983398438, + 0.12710964679718018 + ], + "box_pose": [ + 0.6090903878211975, + -14.859399795532227, + 0.13605262339115143, + 0.007386912126094103, + -0.009257405996322632, + 0.6898372173309326, + -0.7238675951957703 + ], + "box_yaw_rad": -1.5226997071677746, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010882460657185788, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008868446384891968 + } + }, + { + "simulation_time_ns": 5460000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5508559289128475, + -14.856946895849692, + 0.11978855948185477 + ], + "intended_face_normal": [ + -0.9987051207646434, + -0.04799310100648624, + 0.01686537100062735 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855025707560893, + 0.11885559482935724 + ], + "centerline_face_intersection": [ + 0.5507125748500723, + -14.854291996244985, + 0.11885559482935724 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.548675537109375, + -14.863155364990234, + 0.12017901241779327 + ], + "box_pose": [ + 0.6081542372703552, + -14.858424186706543, + 0.1360398232936859, + 0.007610127329826355, + -0.004238356836140156, + 0.689888060092926, + -0.7238635420799255 + ], + "box_yaw_rad": -1.5227043238835662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007337113159086072, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012071308031490013 + } + }, + { + "simulation_time_ns": 5480000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5507990156769998, + -14.857561586816116, + 0.1195359426072572 + ], + "intended_face_normal": [ + -0.9981390352478381, + -0.0595782253676469, + 0.012989544566983868 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85426602448341, + 0.11881738231394456 + ], + "centerline_face_intersection": [ + 0.5505929327082814, + -14.85426581713963, + 0.11881738231394456 + ], + "commanded_world_base_velocity": [ + 0.10199440329218129, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5478753447532654, + -14.872603416442871, + 0.11077505350112915 + ], + "box_pose": [ + 0.6080430150032043, + -14.858302116394043, + 0.13602711260318756, + 0.007734987884759903, + -0.0012611582642421126, + 0.6856756210327148, + -0.7278649806976318 + ], + "box_yaw_rad": -1.5110638063284518, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -2.07343778981634e-07, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007606435265932189 + } + }, + { + "simulation_time_ns": 5500000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5518784707971035, + -14.858915282455778, + 0.11997905202596422 + ], + "intended_face_normal": [ + -0.997734720291458, + -0.06424566592973102, + 0.019952166070236477 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.854556217542292, + 0.11887533093476506 + ], + "centerline_face_intersection": [ + 0.5516275631732825, + -14.855361317625336, + 0.11887533093476506 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5480562448501587, + -14.875494003295898, + 0.10792021453380585 + ], + "box_pose": [ + 0.6092466711997986, + -14.859517097473145, + 0.1360386610031128, + 0.00755673460662365, + -0.006526436191052198, + 0.6839737296104431, + -0.7294383645057678 + ], + "box_yaw_rad": -1.5064772869349567, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000805100083043513, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002959223784685526 + } + }, + { + "simulation_time_ns": 5520000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5529308016713301, + -14.860004392040457, + 0.12049811404249168 + ], + "intended_face_normal": [ + -0.9975238954850486, + -0.06445914276841502, + 0.028122461941443744 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85506283847724, + 0.11894242558881948 + ], + "centerline_face_intersection": [ + 0.5526565135890346, + -14.856438618021551, + 0.11894242558881948 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5505568981170654, + -14.870705604553223, + 0.1097729504108429 + ], + "box_pose": [ + 0.6104376912117004, + -14.860750198364258, + 0.13604751229286194, + 0.007241778075695038, + -0.012836510315537453, + 0.6838991045951843, + -0.7294276356697083 + ], + "box_yaw_rad": -1.5065150827101528, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001375779544310376, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005110444837094322 + } + }, + { + "simulation_time_ns": 5540000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5536977582646003, + -14.86038335464145, + 0.12102598618353934 + ], + "intended_face_normal": [ + -0.9973214866135032, + -0.06463175769422769, + 0.03424480624835624 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855175345367224, + 0.11913161968782725 + ], + "centerline_face_intersection": [ + 0.553401018389056, + -14.856808031848061, + 0.11913161968782725 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5540467500686646, + -14.86323070526123, + 0.11583326756954193 + ], + "box_pose": [ + 0.6113020777702332, + -14.86117172241211, + 0.13620835542678833, + 0.008292943239212036, + -0.016193293035030365, + 0.6838240623474121, + -0.7294201254844666 + ], + "box_yaw_rad": -1.5065023403863005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001632686480837151, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022011862118685848 + } + }, + { + "simulation_time_ns": 5560000000, + "phase": "straight_push", + "intended_face_center": [ + 0.553693402585995, + -14.860391695584045, + 0.12101687227340474 + ], + "intended_face_normal": [ + -0.9973237548004247, + -0.06462801036185928, + 0.03418677363786338 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855078085435064, + 0.11912571604649018 + ], + "centerline_face_intersection": [ + 0.5533969143297909, + -14.856816580086935, + 0.11912571604649018 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5571293830871582, + -14.859461784362793, + 0.122243732213974 + ], + "box_pose": [ + 0.6112968921661377, + -14.861181259155273, + 0.13620233535766602, + 0.008253454230725765, + -0.016192954033613205, + 0.6838259100914001, + -0.7294188737869263 + ], + "box_yaw_rad": -1.5065073432168539, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017384946518714628, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 9.743894182884168e-05 + } + }, + { + "simulation_time_ns": 5580000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5536997942960361, + -14.860483579933739, + 0.12077234415067309 + ], + "intended_face_normal": [ + -0.9971806674098636, + -0.06809398560910118, + 0.031528368091134185 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.85493481137357, + 0.11902824655691929 + ], + "centerline_face_intersection": [ + 0.5533874316410055, + -14.856716732372625, + 0.11902824655691929 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5590598583221436, + -14.857802391052246, + 0.12488257884979248 + ], + "box_pose": [ + 0.6112640500068665, + -14.86105728149414, + 0.1361154466867447, + 0.007683756295591593, + -0.014870645478367805, + 0.6825642585754395, + -0.7306339144706726 + ], + "box_yaw_rad": -1.5029702628449166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017819209990562967, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017328519294629638 + } + }, + { + "simulation_time_ns": 5600000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5540917163073783, + -14.860620780335754, + 0.1210164857399208 + ], + "intended_face_normal": [ + -0.9970337189111024, + -0.06890010929715829, + 0.03430363692496696 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855066965676263, + 0.11911886482770294 + ], + "centerline_face_intersection": [ + 0.5537630485167706, + -14.856809339334836, + 0.11911886482770294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5604928135871887, + -14.855820655822754, + 0.1251247078180313 + ], + "box_pose": [ + 0.6116997003555298, + -14.861161231994629, + 0.1361958086490631, + 0.008374406024813652, + -0.016168471425771713, + 0.6822608113288879, + -0.7308821678161621 + ], + "box_yaw_rad": -1.5022199595314119, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017423736585730153, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016023866799355692 + } + }, + { + "simulation_time_ns": 5620000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5550148192033081, + -14.860882450138364, + 0.12167852130694601 + ], + "intended_face_normal": [ + -0.9967423126710416, + -0.06904539504725504, + 0.04168744513935607 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855461080958289, + 0.11937244023902865 + ], + "centerline_face_intersection": [ + 0.5546538103808012, + -14.857062972168125, + 0.11937244023902865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5624769926071167, + -14.853550910949707, + 0.12514902651309967 + ], + "box_pose": [ + 0.6127358675003052, + -14.861451148986816, + 0.13642102479934692, + 0.010171388275921345, + -0.019657477736473083, + 0.6821831464767456, + -0.7308464050292969 + ], + "box_yaw_rad": -1.5022556518301522, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016018912098363103, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00046864415578902696 + } + }, + { + "simulation_time_ns": 5640000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5556360827550544, + -14.861059350121074, + 0.12210847809253686 + ], + "intended_face_normal": [ + -0.9965143910998483, + -0.0692709444806281, + 0.04648645775444993 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.855862590138937, + 0.11953692352056165 + ], + "centerline_face_intersection": [ + 0.5552497719845729, + -14.857227395126243, + 0.11953692352056165 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5641138553619385, + -14.851300239562988, + 0.12595100700855255 + ], + "box_pose": [ + 0.6134289503097534, + -14.861639022827148, + 0.13656644523143768, + 0.011336400173604488, + -0.021929793059825897, + 0.6820821166038513, + -0.7308589220046997 + ], + "box_yaw_rad": -1.5021668997501874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013648049873061297, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004338944250027445 + } + }, + { + "simulation_time_ns": 5660000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5558055418566854, + -14.861117188448894, + 0.12222777652825108 + ], + "intended_face_normal": [ + -0.996449721233089, + -0.06929076341791984, + 0.04782150659346829 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.856224873014819, + 0.11958236924493525 + ], + "centerline_face_intersection": [ + 0.5554120509205015, + -14.857284137102967, + 0.11958236924493525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.564762532711029, + -14.849645614624023, + 0.12643791735172272 + ], + "box_pose": [ + 0.6136181950569153, + -14.861703872680664, + 0.1366061121225357, + 0.011630692519247532, + -0.022593747824430466, + 0.6820698976516724, + -0.7308453917503357 + ], + "box_yaw_rad": -1.502192082713758, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010592640881483817, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003651221658856534 + } + }, + { + "simulation_time_ns": 5680000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5555880254107896, + -14.861061941629373, + 0.1220666223941371 + ], + "intended_face_normal": [ + -0.9965354916959742, + -0.06926881042202193, + 0.046032026156801686 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.856475898668336, + 0.11952020623255133 + ], + "centerline_face_intersection": [ + 0.5552040572960343, + -14.857230104687162, + 0.11952020623255133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5644435882568359, + -14.849603652954102, + 0.12759068608283997 + ], + "box_pose": [ + 0.6133742928504944, + -14.861641883850098, + 0.1365509033203125, + 0.011177937500178814, + -0.021766291931271553, + 0.6820855140686035, + -0.7308629751205444 + ], + "box_yaw_rad": -1.5021618840362203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007542060188259825, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002586080409274332 + } + }, + { + "simulation_time_ns": 5700000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5547442402696889, + -14.860826139507958, + 0.12144422331393365 + ], + "intended_face_normal": [ + -0.9968447073317508, + -0.06907928235780147, + 0.039099860012695054 + ], + "commanded_contact_point": [ + 0.5622767238256442, + -14.8565368606632, + 0.119281283209735 + ], + "centerline_face_intersection": [ + 0.5543945965569934, + -14.857004786947298, + 0.119281283209735 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5598322749137878, + -14.849847793579102, + 0.127030149102211 + ], + "box_pose": [ + 0.6124262809753418, + -14.861383438110352, + 0.13633902370929718, + 0.009474512189626694, + -0.018507005646824837, + 0.6821807622909546, + -0.7308879494667053 + ], + "box_yaw_rad": -1.502161817655102, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004679262840981125, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002465777273994114 + } + }, + { + "simulation_time_ns": 5720000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5533091547140677, + -14.860279327035364, + 0.12049557689636983 + ], + "intended_face_normal": [ + -0.9972383660572622, + -0.0689504727830006, + 0.027596623091365236 + ], + "commanded_contact_point": [ + 0.5629251796007156, + -14.856225092300502, + 0.11896897698513259 + ], + "centerline_face_intersection": [ + 0.5530031935361922, + -14.856465100009043, + 0.11896897698513259 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5532937049865723, + -14.850767135620117, + 0.12393562495708466 + ], + "box_pose": [ + 0.6108105778694153, + -14.86076545715332, + 0.1360754817724228, + 0.00710489135235548, + -0.012612339109182358, + 0.6822567582130432, + -0.7309693694114685 + ], + "box_yaw_rad": -1.5020061724520382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00024000770854108573, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007843657196284267 + } + }, + { + "simulation_time_ns": 5740000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5522606356598858, + -14.859183729085274, + 0.1199560439578156 + ], + "intended_face_normal": [ + -0.9974302474802624, + -0.06892676038561096, + 0.019545176276680454 + ], + "commanded_contact_point": [ + 0.5649695295095444, + -14.855222523093373, + 0.11887483687424194 + ], + "centerline_face_intersection": [ + 0.5519759604305411, + -14.85537081378987, + 0.11887483687424194 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5522291660308838, + -14.85307788848877, + 0.12138581275939941 + ], + "box_pose": [ + 0.6096241474151611, + -14.859511375427246, + 0.13604030013084412, + 0.0075315204448997974, + -0.0062537966296076775, + 0.6822608709335327, + -0.73104327917099 + ], + "box_yaw_rad": -1.501779516358054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000148290696497071, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022788975240870635 + } + }, + { + "simulation_time_ns": 5760000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5511666994618375, + -14.858093029883042, + 0.11940060456987403 + ], + "intended_face_normal": [ + -0.9975712580688499, + -0.06878767700002497, + 0.010955596935372028 + ], + "commanded_contact_point": [ + 0.5669150698184967, + -14.854090296451352, + 0.11879455892241497 + ], + "centerline_face_intersection": [ + 0.5508976643186245, + -14.854287808452334, + 0.11879455892241497 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.555779755115509, + -14.855518341064453, + 0.12350638210773468 + ], + "box_pose": [ + 0.6083790063858032, + -14.858269691467285, + 0.13601699471473694, + 0.007749775890260935, + 0.0002747461840044707, + 0.6823093891143799, + -0.7310224771499634 + ], + "box_yaw_rad": -1.5018298783934407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00019751200098184547, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002252445074182643 + } + }, + { + "simulation_time_ns": 5780000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5545293523068338, + -14.860143015826774, + 0.120866975943488 + ], + "intended_face_normal": [ + -0.9949228746063936, + -0.09826611383666028, + 0.021734102538101638 + ], + "commanded_contact_point": [ + 0.5685841488838196, + -14.854476561613247, + 0.11966468105053538 + ], + "centerline_face_intersection": [ + 0.5539662025842902, + -14.854707095635957, + 0.11966468105053538 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5598747730255127, + -14.8555326461792, + 0.12750932574272156 + ], + "box_pose": [ + 0.6118864417076111, + -14.858498573303223, + 0.13689331710338593, + 0.013895723968744278, + -0.0008488287567161024, + 0.6713224649429321, + -0.7410346865653992 + ], + "box_yaw_rad": -1.4719697529266038, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00023053402271152386, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001921493746916067 + } + }, + { + "simulation_time_ns": 5800000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5577022094722837, + -14.863000404339928, + 0.12105241805551815 + ], + "intended_face_normal": [ + -0.9905545323178689, + -0.13439053896766917, + 0.027219981764958878 + ], + "commanded_contact_point": [ + 0.5705124187469482, + -14.855520623633021, + 0.11954665332449688 + ], + "centerline_face_intersection": [ + 0.5566522115312452, + -14.85556614022073, + 0.11954665332449688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5615029335021973, + -14.850940704345703, + 0.12939903140068054 + ], + "box_pose": [ + 0.6150638461112976, + -14.859382629394531, + 0.13673481345176697, + 0.013579217717051506, + -0.005143985617905855, + 0.6577388048171997, + -0.7531061172485352 + ], + "box_yaw_rad": -1.4356722091465224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 4.5516587710423624e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021959555346817926 + } + }, + { + "simulation_time_ns": 5820000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5600138635296139, + -14.866454267771934, + 0.12043790390132238 + ], + "intended_face_normal": [ + -0.9854800860982892, + -0.1677300538360984, + 0.026379860484852635 + ], + "commanded_contact_point": [ + 0.5728333044052124, + -14.857484161136982, + 0.11897861330111748 + ], + "centerline_face_intersection": [ + 0.5583955934123235, + -14.857175716390836, + 0.11897861330111748 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5604610443115234, + -14.848326683044434, + 0.1288217306137085 + ], + "box_pose": [ + 0.6172484755516052, + -14.861154556274414, + 0.1361062228679657, + 0.00862090289592743, + -0.010237076319754124, + 0.6450276374816895, + -0.7640421390533447 + ], + "box_yaw_rad": -1.402329792910973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00030844474614568176, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030926783273337068 + } + }, + { + "simulation_time_ns": 5840000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5615400584394962, + -14.867598220325876, + 0.12136044578748578 + ], + "intended_face_normal": [ + -0.9847903173981676, + -0.16987745186576086, + 0.03646398184785549 + ], + "commanded_contact_point": [ + 0.5751707899570465, + -14.8587053163604, + 0.11934331813864277 + ], + "centerline_face_intersection": [ + 0.5598443143789201, + -14.858200878409045, + 0.11934331813864277 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5579720735549927, + -14.853301048278809, + 0.12573973834514618 + ], + "box_pose": [ + 0.6189449429512024, + -14.862324714660645, + 0.13640213012695312, + 0.009057403542101383, + -0.017551681026816368, + 0.6441888213157654, + -0.7646114230155945 + ], + "box_yaw_rad": -1.400529921521465, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005044379513551433, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026623426532336276 + } + }, + { + "simulation_time_ns": 5860000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5624668281145712, + -14.867550837326656, + 0.1218954983178167 + ], + "intended_face_normal": [ + -0.9843904003464371, + -0.17042483850480494, + 0.043939559599556643 + ], + "commanded_contact_point": [ + 0.5778516280651093, + -14.858643575688271, + 0.1194648339730377 + ], + "centerline_face_intersection": [ + 0.5607261406455482, + -14.858123214879058, + 0.1194648339730377 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5567744970321655, + -14.857725143432617, + 0.12443891167640686 + ], + "box_pose": [ + 0.6199795007705688, + -14.862234115600586, + 0.13650396466255188, + 0.011722372844815254, + -0.020196791738271713, + 0.6439333558082581, + -0.7647250294685364 + ], + "box_yaw_rad": -1.4000630035981978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005203608092127609, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002684300834527498 + } + }, + { + "simulation_time_ns": 5880000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5625225894842658, + -14.867570003687554, + 0.12192925529110502 + ], + "intended_face_normal": [ + -0.9843704933502261, + -0.1704350304537695, + 0.04434498032310896 + ], + "commanded_contact_point": [ + 0.5811368721723557, + -14.858683041374485, + 0.11947616373707873 + ], + "centerline_face_intersection": [ + 0.5607796643461858, + -14.858141817438062, + 0.11947616373707873 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.558092474937439, + -14.857620239257812, + 0.12528304755687714 + ], + "box_pose": [ + 0.6200416088104248, + -14.862255096435547, + 0.1365133821964264, + 0.011809189803898335, + -0.02040870673954487, + 0.643927812576294, + -0.7647227644920349 + ], + "box_yaw_rad": -1.4000654034208653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005412239364227389, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003285500684543951 + } + }, + { + "simulation_time_ns": 5900000000, + "phase": "straight_push", + "intended_face_center": [ + 0.561805466948704, + -14.867445498696089, + 0.12140934733414055 + ], + "intended_face_normal": [ + -0.9846348982145767, + -0.17030707996772187, + 0.038593951331348686 + ], + "commanded_contact_point": [ + 0.584818069934845, + -14.858689316757886, + 0.1192743932681423 + ], + "centerline_face_intersection": [ + 0.5600922587987396, + -14.858024390457555, + 0.1192743932681423 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5604226589202881, + -14.854931831359863, + 0.12396451830863953 + ], + "box_pose": [ + 0.619236171245575, + -14.862120628356934, + 0.1363339126110077, + 0.010259023867547512, + -0.01778160035610199, + 0.6440040469169617, + -0.7647465467453003 + ], + "box_yaw_rad": -1.4000662809343205, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006649263003303929, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036867285863117203 + } + }, + { + "simulation_time_ns": 5920000000, + "phase": "straight_push", + "intended_face_center": [ + 0.560460531624013, + -14.867078944813924, + 0.12054026403369782 + ], + "intended_face_normal": [ + -0.9850023266374813, + -0.17022522407845997, + 0.02817418413264905 + ], + "commanded_contact_point": [ + 0.5876997458934784, + -14.858476490370515, + 0.11898171439326949 + ], + "centerline_face_intersection": [ + 0.5587886060330474, + -14.857662364708881, + 0.11898171439326949 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5634208917617798, + -14.85393238067627, + 0.12310783565044403 + ], + "box_pose": [ + 0.6177217960357666, + -14.861705780029297, + 0.13608567416667938, + 0.007861272431910038, + -0.0125368507578969, + 0.6440695524215698, + -0.7648237943649292 + ], + "box_yaw_rad": -1.3999246025083731, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008141256616348612, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002904309268229507 + } + }, + { + "simulation_time_ns": 5940000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5610272846550695, + -14.866671872596688, + 0.12073738027072262 + ], + "intended_face_normal": [ + -0.9850087588877765, + -0.17062530819957067, + 0.025394786423246662 + ], + "commanded_contact_point": [ + 0.5898817527294159, + -14.858156162136451, + 0.11933258235138056 + ], + "centerline_face_intersection": [ + 0.559356081622763, + -14.85723316049449, + 0.11933258235138056 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5679877400398254, + -14.854511260986328, + 0.12406453490257263 + ], + "box_pose": [ + 0.6182242035865784, + -14.861166954040527, + 0.1364724338054657, + 0.009017573669552803, + -0.00900593027472496, + 0.6438990831375122, + -0.7650043368339539 + ], + "box_yaw_rad": -1.399331258654021, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009230016419613206, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022331306127599724 + } + }, + { + "simulation_time_ns": 5960000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5653935914306253, + -14.868183424733793, + 0.12151847450308634 + ], + "intended_face_normal": [ + -0.9824796260419703, + -0.18258467714856597, + 0.03737031578319838 + ], + "commanded_contact_point": [ + 0.5923514264822006, + -14.859078368570923, + 0.1194512099479753 + ], + "centerline_face_intersection": [ + 0.5634379112164555, + -14.858083139963245, + 0.1194512099479753 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5726087689399719, + -14.856277465820312, + 0.1256137639284134 + ], + "box_pose": [ + 0.6227136850357056, + -14.862022399902344, + 0.13654616475105286, + 0.012236235663294792, + -0.014514906331896782, + 0.63918536901474, + -0.7688183188438416 + ], + "box_yaw_rad": -1.3873014996020419, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009952286076786263, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002638906148321632 + } + }, + { + "simulation_time_ns": 5980000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5711585096699793, + -14.870680354516804, + 0.12404385574899199 + ], + "intended_face_normal": [ + -0.9769044369789274, + -0.20245909789722982, + 0.06832159927290293 + ], + "commanded_contact_point": [ + 0.5950699943304062, + -14.860512109292372, + 0.12026441697344722 + ], + "centerline_face_intersection": [ + 0.5685730876783952, + -14.859480649398687, + 0.12026441697344722 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5780550241470337, + -14.858574867248535, + 0.1259632259607315 + ], + "box_pose": [ + 0.6288257837295532, + -14.863554954528809, + 0.1372004747390747, + 0.018694033846259117, + -0.031174222007393837, + 0.6312059760093689, + -0.7747629284858704 + ], + "box_yaw_rad": -1.3681361012876654, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010314598936847117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031792340693813786 + } + }, + { + "simulation_time_ns": 6000000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5778243450473572, + -14.871661337903191, + 0.12819326012869753 + ], + "intended_face_normal": [ + -0.9719168552044992, + -0.2034271165293089, + 0.11829962510125691 + ], + "commanded_contact_point": [ + 0.5976949232816696, + -14.861421662718017, + 0.12164911896399525 + ], + "centerline_face_intersection": [ + 0.5746724299153734, + -14.860408083582591, + 0.12164911896399525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.583977460861206, + -14.860855102539062, + 0.12587536871433258 + ], + "box_pose": [ + 0.6361055374145508, + -14.864607810974121, + 0.1383388340473175, + 0.032453443855047226, + -0.05400383844971657, + 0.630264401435852, + -0.7738197445869446 + ], + "box_yaw_rad": -1.369558009278303, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001013579135425857, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031040198188656866 + } + }, + { + "simulation_time_ns": 6020000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5843365584648202, + -14.872621075205881, + 0.13180983997452986 + ], + "intended_face_normal": [ + -0.964639607272338, + -0.20505274490129, + 0.16560175150771128 + ], + "commanded_contact_point": [ + 0.5998625206947327, + -14.862270161309835, + 0.1226490227863028 + ], + "centerline_face_intersection": [ + 0.5803526974753246, + -14.861277893790936, + 0.1226490227863028 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5887693166732788, + -14.861810684204102, + 0.1256830394268036 + ], + "box_pose": [ + 0.6430512070655823, + -14.865592002868652, + 0.13906006515026093, + 0.04557519033551216, + -0.07568763941526413, + 0.6288056373596191, + -0.7725269198417664 + ], + "box_yaw_rad": -1.3713750089938923, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009922675188992257, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025334237820191135 + } + }, + { + "simulation_time_ns": 6040000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5905263578327284, + -14.873287116204057, + 0.1347672571791097 + ], + "intended_face_normal": [ + -0.9550920217675061, + -0.20869764630372467, + 0.21034384934216144 + ], + "commanded_contact_point": [ + 0.6017035889625549, + -14.862734850778295, + 0.12313138054768538 + ], + "centerline_face_intersection": [ + 0.5854410788889054, + -14.86174230482377, + 0.12313138054768538 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5914034247398376, + -14.861735343933105, + 0.12489119172096252 + ], + "box_pose": [ + 0.6494978666305542, + -14.86610221862793, + 0.13925296068191528, + 0.059090111404657364, + -0.09514237195253372, + 0.6262264251708984, + -0.7715547680854797 + ], + "box_yaw_rad": -1.371374603664742, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009925459545257807, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00195911655570715 + } + }, + { + "simulation_time_ns": 6060000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5964504912754974, + -14.87411375172726, + 0.13729218464834328 + ], + "intended_face_normal": [ + -0.9441700355892388, + -0.21358489308668993, + 0.250847444038107 + ], + "commanded_contact_point": [ + 0.6034158664941788, + -14.863299432684855, + 0.12341571561317058 + ], + "centerline_face_intersection": [ + 0.5900910249272826, + -14.862298585873514, + 0.12341571561317058 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5940028429031372, + -14.862091064453125, + 0.12336789071559906 + ], + "box_pose": [ + 0.6555350422859192, + -14.866721153259277, + 0.13922826945781708, + 0.07087761163711548, + -0.11364036053419113, + 0.6230440735816956, + -0.7706350088119507 + ], + "box_yaw_rad": -1.3709141821307784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001000846811341347, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018252379307866385 + } + }, + { + "simulation_time_ns": 6080000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6022215518988144, + -14.874893374736274, + 0.13950566903055908 + ], + "intended_face_normal": [ + -0.9324857300852203, + -0.2162209301991228, + 0.28934159514025826 + ], + "commanded_contact_point": [ + 0.604954679608345, + -14.863998892683108, + 0.1234997667143237 + ], + "centerline_face_intersection": [ + 0.5944815874210045, + -14.862932387634455, + 0.1234997667143237 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5961114764213562, + -14.86129093170166, + 0.12361353635787964 + ], + "box_pose": [ + 0.6613262295722961, + -14.867426872253418, + 0.13898570835590363, + 0.0820813700556755, + -0.13144968450069427, + 0.6206063032150269, + -0.7686554789543152 + ], + "box_yaw_rad": -1.3733921025311355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010665050486531413, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001692410906692639 + } + }, + { + "simulation_time_ns": 6100000000, + "phase": "straight_push", + "intended_face_center": [ + 0.607985812524303, + -14.875653079761598, + 0.14143455202128274 + ], + "intended_face_normal": [ + -0.9194113439476972, + -0.2189778639110206, + 0.3266974383458132 + ], + "commanded_contact_point": [ + 0.6063126373291016, + -14.864752110784975, + 0.12336218574918618 + ], + "centerline_face_intersection": [ + 0.5986789906213806, + -14.863539583610176, + 0.12336218574918618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.597824215888977, + -14.859889030456543, + 0.12474456429481506 + ], + "box_pose": [ + 0.6670089960098267, + -14.868101119995117, + 0.13849961757659912, + 0.09309413284063339, + -0.14888978004455566, + 0.6179357171058655, + -0.7663684487342834 + ], + "box_yaw_rad": -1.3763578932207396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012125271747984812, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015589468247218232 + } + }, + { + "simulation_time_ns": 6120000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6138665744446236, + -14.876396280183602, + 0.14311999817372986 + ], + "intended_face_normal": [ + -0.9046774808515288, + -0.2219005317849394, + 0.3637566415287097 + ], + "commanded_contact_point": [ + 0.6075553643703461, + -14.865492617388206, + 0.12299757758512404 + ], + "centerline_face_intersection": [ + 0.602764798224156, + -14.86412110684066, + 0.12299757758512404 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5994660258293152, + -14.860146522521973, + 0.12636958062648773 + ], + "box_pose": [ + 0.6727060675621033, + -14.868744850158691, + 0.137757807970047, + 0.10420668125152588, + -0.1663370281457901, + 0.6149721145629883, + -0.7637292146682739 + ], + "box_yaw_rad": -1.3798451426974074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013715105475459665, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014918644850554065 + } + }, + { + "simulation_time_ns": 6140000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6199892625008452, + -14.877154051358506, + 0.14458960571488366 + ], + "intended_face_normal": [ + -0.8878940355327729, + -0.22506970105866442, + 0.4012327584091224 + ], + "commanded_contact_point": [ + 0.60872194647789, + -14.86612983167896, + 0.12239406782805828 + ], + "centerline_face_intersection": [ + 0.6068032195570577, + -14.864703564771041, + 0.12239406782805828 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5998183488845825, + -14.863334655761719, + 0.12786456942558289 + ], + "box_pose": [ + 0.6785334944725037, + -14.86938762664795, + 0.1367385983467102, + 0.11562083661556244, + -0.18420858681201935, + 0.6116346716880798, + -0.7606589198112488 + ], + "box_yaw_rad": -1.3839730007147915, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014262669079188584, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001459856120600779 + } + }, + { + "simulation_time_ns": 6160000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6264911967418036, + -14.877975322384126, + 0.1458357781303435 + ], + "intended_face_normal": [ + -0.8684701154124923, + -0.2288305507676962, + 0.439768347501424 + ], + "commanded_contact_point": [ + 0.6097838777303696, + -14.866516252800544, + 0.1215085146808282 + ], + "centerline_face_intersection": [ + 0.6108372083626625, + -14.865316791761238, + 0.1215085146808282 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5985556840896606, + -14.870986938476562, + 0.12403525412082672 + ], + "box_pose": [ + 0.684607982635498, + -14.870062828063965, + 0.135385200381279, + 0.127493754029274, + -0.20298242568969727, + 0.6077253222465515, + -0.7571085691452026 + ], + "box_yaw_rad": -1.3887413878305157, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011994610393058736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014356962230111631 + } + }, + { + "simulation_time_ns": 6180000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6335811826134733, + -14.878694654653126, + 0.14689732744005432 + ], + "intended_face_normal": [ + -0.8460173064307628, + -0.2314136858492577, + 0.4803148970657709 + ], + "commanded_contact_point": [ + 0.6114698100090027, + -14.866469172618276, + 0.12032709539394738 + ], + "centerline_face_intersection": [ + 0.6149946779920488, + -14.865893229235713, + 0.12032709539394738 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5974541902542114, + -14.881481170654297, + 0.11840704083442688 + ], + "box_pose": [ + 0.6911194324493408, + -14.87070083618164, + 0.13367493450641632, + 0.14042873680591583, + -0.22275753319263458, + 0.6037987470626831, + -0.7523868083953857 + ], + "box_yaw_rad": -1.395890424825432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005759433825625139, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002059207547362199 + } + }, + { + "simulation_time_ns": 6200000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6414129432602724, + -14.879020136608007, + 0.14786133658697742 + ], + "intended_face_normal": [ + -0.8192918746830147, + -0.23260350639708172, + 0.5240766691545851 + ], + "commanded_contact_point": [ + 0.6141490089893341, + -14.865925351123682, + 0.11887027510948721 + ], + "centerline_face_intersection": [ + 0.6192151039463741, + -14.866152892270044, + 0.11887027510948721 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5986776351928711, + -14.886240005493164, + 0.11691351234912872 + ], + "box_pose": [ + 0.6981670260429382, + -14.870987892150879, + 0.1316181868314743, + 0.15561267733573914, + -0.24332650005817413, + 0.5995689630508423, + -0.746387243270874 + ], + "box_yaw_rad": -1.4048190966383478, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00022754114636228443, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003097769251478492 + } + }, + { + "simulation_time_ns": 6220000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6500970125565727, + -14.879429691093016, + 0.1484595444905151 + ], + "intended_face_normal": [ + -0.7870485845123669, + -0.23440980177988235, + 0.5706192772092908 + ], + "commanded_contact_point": [ + 0.6171175587177277, + -14.865558135293432, + 0.11689382229856615 + ], + "centerline_face_intersection": [ + 0.6233494236654916, + -14.866462525458092, + 0.11689382229856615 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6022815704345703, + -14.883383750915527, + 0.1183512955904007 + ], + "box_pose": [ + 0.7057974338531494, + -14.87132740020752, + 0.12893524765968323, + 0.17216552793979645, + -0.2659359872341156, + 0.594267725944519, + -0.7392447590827942 + ], + "box_yaw_rad": -1.4151397421292908, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009043901646597162, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035851779132603226 + } + }, + { + "simulation_time_ns": 6240000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6598111325284562, + -14.8800956653886, + 0.14858538841716656 + ], + "intended_face_normal": [ + -0.7474916563772949, + -0.2382098734528415, + 0.6200904284325066 + ], + "commanded_contact_point": [ + 0.6196060526371002, + -14.86559896012455, + 0.11428300330757984 + ], + "centerline_face_intersection": [ + 0.6271558244612437, + -14.86691828602356, + 0.11428300330757984 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6072181463241577, + -14.877291679382324, + 0.1216488629579544 + ], + "box_pose": [ + 0.7140955924987793, + -14.871817588806152, + 0.12547579407691956, + 0.1901542693376541, + -0.29134371876716614, + 0.5871425867080688, + -0.730906069278717 + ], + "box_yaw_rad": -1.4265508867859493, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013193258990102663, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036070270940602696 + } + }, + { + "simulation_time_ns": 6260000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6707253374352073, + -14.880756855190642, + 0.14793565501272532 + ], + "intended_face_normal": [ + -0.6992354206994236, + -0.24231389817111904, + 0.6725724015865353 + ], + "commanded_contact_point": [ + 0.621716593503952, + -14.865753770222145, + 0.11073005325618719 + ], + "centerline_face_intersection": [ + 0.6302932548460334, + -14.867352447911719, + 0.11073005325618719 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6121326088905334, + -14.874336242675781, + 0.12424787878990173 + ], + "box_pose": [ + 0.723139762878418, + -14.87228012084961, + 0.12091241776943207, + 0.21030306816101074, + -0.3193996846675873, + 0.5784597396850586, + -0.720514178276062 + ], + "box_yaw_rad": -1.4405999889376337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015986776895727671, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004135432623639256 + } + }, + { + "simulation_time_ns": 6280000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6830034427326322, + -14.881405381383285, + 0.14620341366536233 + ], + "intended_face_normal": [ + -0.6400369704601054, + -0.24674154723439612, + 0.7276476957815756 + ], + "commanded_contact_point": [ + 0.6235618788003922, + -14.865958321387001, + 0.10595113699678324 + ], + "centerline_face_intersection": [ + 0.6319792941787167, + -14.86775604382269, + 0.10595113699678324 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6155431270599365, + -14.872732162475586, + 0.12270765006542206 + ], + "box_pose": [ + 0.7329556345939636, + -14.87270450592041, + 0.1149231344461441, + 0.23296336829662323, + -0.35051429271698, + 0.5677651762962341, + -0.7074676156044006 + ], + "box_yaw_rad": -1.4579348077830807, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017977224356886267, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005126885957254905 + } + }, + { + "simulation_time_ns": 6300000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6967606150565474, + -14.882059858553568, + 0.14296059873209882 + ], + "intended_face_normal": [ + -0.5673867298481454, + -0.25155374190384805, + 0.7840873403077921 + ], + "commanded_contact_point": [ + 0.625124951004982, + -14.866260585737864, + 0.09958617352966731 + ], + "centerline_face_intersection": [ + 0.6306507730864408, + -14.868144318279295, + 0.09958617352966731 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6189672946929932, + -14.870294570922852, + 0.11961346864700317 + ], + "box_pose": [ + 0.7434903383255005, + -14.87310791015625, + 0.10710563510656357, + 0.25833332538604736, + -0.38508227467536926, + 0.5545151233673096, + -0.6910054087638855 + ], + "box_yaw_rad": -1.4794231956581854, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0018837325414308736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006561045525850599 + } + }, + { + "simulation_time_ns": 6320000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7120250310609719, + -14.882720389403008, + 0.13765651158494163 + ], + "intended_face_normal": [ + -0.4784638688463385, + -0.25673806734307725, + 0.8397368568472316 + ], + "commanded_contact_point": [ + 0.626383011341095, + -14.866680264568283, + 0.09120364643251189 + ], + "centerline_face_intersection": [ + 0.6228762807504574, + -14.868518060751434, + 0.09120364643251189 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6234657764434814, + -14.867369651794434, + 0.11648011207580566 + ], + "box_pose": [ + 0.7545687556266785, + -14.873491287231445, + 0.09698417782783508, + 0.28660574555397034, + -0.42338016629219055, + 0.5380409955978394, + -0.6701629161834717 + ], + "box_yaw_rad": -1.5060189901773293, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0018377961831508572, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008486790127282932 + } + }, + { + "simulation_time_ns": 6340000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7286648215318512, + -14.883374887944486, + 0.12959556451736598 + ], + "intended_face_normal": [ + -0.3702757190006736, + -0.26235728479329445, + 0.8911029551241718 + ], + "commanded_contact_point": [ + 0.627592881321907, + -14.86719025861984, + 0.08030121108535336 + ], + "centerline_face_intersection": [ + 0.6199490504657738, + -14.868861713403097, + 0.08030121108535336 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6271324753761292, + -14.864703178405762, + 0.11254490911960602 + ], + "box_pose": [ + 0.7658228874206543, + -14.873835563659668, + 0.08401418477296829, + 0.31792065501213074, + -0.46550607681274414, + 0.5174435377120972, + -0.6438032984733582 + ], + "box_yaw_rad": -1.5384745132051223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001671454783257431, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01098121012466591 + } + }, + { + "simulation_time_ns": 6360000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7463537819065384, + -14.884019328906316, + 0.11799226046393185 + ], + "intended_face_normal": [ + -0.24062932628826061, + -0.2682420034227331, + 0.932814959499602 + ], + "commanded_contact_point": [ + 0.6288800287246704, + -14.867750291298961, + 0.06639046738735696 + ], + "centerline_face_intersection": [ + 0.6360828924965427, + -14.86918062138549, + 0.06639046738735696 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6291720867156982, + -14.863152503967285, + 0.10594025254249573 + ], + "box_pose": [ + 0.7767016887664795, + -14.874146461486816, + 0.06768406927585602, + 0.35210123658180237, + -0.5111896395683289, + 0.4918370842933655, + -0.6105785369873047 + ], + "box_yaw_rad": -1.5774974425907882, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00143033008652921, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.013981386743433976 + } + }, + { + "simulation_time_ns": 6380000000, + "phase": "straight_push", + "intended_face_center": [ + 0.764892798142835, + -14.885080322397581, + 0.10226351909165796 + ], + "intended_face_normal": [ + -0.08767878539100238, + -0.2805607856520549, + 0.9558233769924698 + ], + "commanded_contact_point": [ + 0.6301379251480103, + -14.868393498578152, + 0.04938893810961968 + ], + "centerline_face_intersection": [ + 0.649191040888631, + -14.869560160055434, + 0.04938893810961968 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6300232410430908, + -14.862968444824219, + 0.09757067263126373 + ], + "box_pose": [ + 0.7867817282676697, + -14.874458312988281, + 0.047881241887807846, + 0.387614369392395, + -0.5608251094818115, + 0.45768406987190247, + -0.5707501769065857 + ], + "box_yaw_rad": -1.6208988522887773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011666614772806126, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.017060129448442464 + } + }, + { + "simulation_time_ns": 6400000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7721454634277128, + -14.89238953511687, + 0.09721304701034125 + ], + "intended_face_normal": [ + -0.016449368131887354, + -0.34494631762407124, + 0.9384783178411524 + ], + "commanded_contact_point": [ + 0.6313069212436676, + -14.87258570627511, + 0.045297966242265404 + ], + "centerline_face_intersection": [ + 0.6527900033322687, + -14.8733076707843, + 0.045297966242265404 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6266424059867859, + -14.862190246582031, + 0.08618544042110443 + ], + "box_pose": [ + 0.7899261116981506, + -14.878032684326172, + 0.04219384118914604, + 0.3851478695869446, + -0.5967878103256226, + 0.4233059883117676, + -0.5624211430549622 + ], + "box_yaw_rad": -1.6461854504282167, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007219645091898739, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0059730401024587635 + } + }, + { + "simulation_time_ns": 6420000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7719080272959208, + -14.89584991068425, + 0.09755237975169301 + ], + "intended_face_normal": [ + -0.015154664790763661, + -0.3612806402684434, + 0.9323340693111106 + ], + "commanded_contact_point": [ + 0.6332487809658051, + -14.875702241623237, + 0.04597718873134199 + ], + "centerline_face_intersection": [ + 0.6525488408125757, + -14.875864458422951, + 0.04597718873134199 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6208257675170898, + -14.861870765686035, + 0.07245667278766632 + ], + "box_pose": [ + 0.7896596789360046, + -14.880398750305176, + 0.042820993810892105, + 0.3823164999485016, + -0.5984027981758118, + 0.4161655604839325, + -0.5679388642311096 + ], + "box_yaw_rad": -1.6379437136663917, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00016221679971323494, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003734294437541391 + } + }, + { + "simulation_time_ns": 6440000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7715158351088651, + -14.895986333618485, + 0.0968736621441446 + ], + "intended_face_normal": [ + -0.012335493142419551, + -0.34559691502481904, + 0.9383019825422991 + ], + "commanded_contact_point": [ + 0.6357084262371063, + -14.87725890695108, + 0.04496833595548546 + ], + "centerline_face_intersection": [ + 0.6520670070708194, + -14.87686847930515, + 0.04496833595548546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6197662353515625, + -14.863052368164062, + 0.06216168403625488 + ], + "box_pose": [ + 0.7891544103622437, + -14.881299018859863, + 0.041895970702171326, + 0.38976284861564636, + -0.5929573178291321, + 0.41867226362228394, + -0.5667451620101929 + ], + "box_yaw_rad": -1.6281314423005555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003904276459302737, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030807216243759913 + } + }, + { + "simulation_time_ns": 6460000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7707952286365267, + -14.894411337444126, + 0.09685077140325636 + ], + "intended_face_normal": [ + -0.01900533202740462, + -0.3277403634463951, + 0.9445767374814693 + ], + "commanded_contact_point": [ + 0.6381119239330292, + -14.877116977123768, + 0.04459833606644316 + ], + "centerline_face_intersection": [ + 0.6517306766945499, + -14.876281278266607, + 0.04459833606644316 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6238560676574707, + -14.86514949798584, + 0.0600690096616745 + ], + "box_pose": [ + 0.7888346910476685, + -14.88073444366455, + 0.041742656379938126, + 0.3940829038619995, + -0.586353063583374, + 0.42523932456970215, + -0.5657387971878052 + ], + "box_yaw_rad": -1.6229880499927036, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008356988571609494, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024359485150714693 + } + }, + { + "simulation_time_ns": 6480000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7699450279783513, + -14.892592966033714, + 0.0969643940297405 + ], + "intended_face_normal": [ + -0.027556742487433894, + -0.30937741195144497, + 0.9505399688930396 + ], + "commanded_contact_point": [ + 0.6401944506168366, + -14.876694356737262, + 0.044382082515198915 + ], + "centerline_face_intersection": [ + 0.651347137668753, + -14.875478715204537, + 0.044382082515198915 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6293351650238037, + -14.86598014831543, + 0.061311349272727966 + ], + "box_pose": [ + 0.7884831428527832, + -14.879981994628906, + 0.04176761209964752, + 0.39766210317611694, + -0.5795958638191223, + 0.43263858556747437, + -0.5645859837532043 + ], + "box_yaw_rad": -1.619431466264425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012156415327252293, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021359520074864247 + } + }, + { + "simulation_time_ns": 6500000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7689673008456076, + -14.890471539512303, + 0.09708316503424103 + ], + "intended_face_normal": [ + -0.03744121373996023, + -0.2878646943208558, + 0.956938917901951 + ], + "commanded_contact_point": [ + 0.6423700797557831, + -14.876215414843715, + 0.0441468741593743 + ], + "centerline_face_intersection": [ + 0.6508951101301357, + -14.874547336926225, + 0.0441468741593743 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6315189599990845, + -14.863236427307129, + 0.05972126126289368 + ], + "box_pose": [ + 0.7880787253379822, + -14.879103660583496, + 0.04181194305419922, + 0.40179458260536194, + -0.5716984868049622, + 0.4411675035953522, + -0.5631102919578552 + ], + "box_yaw_rad": -1.6156658353017956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016680779174890862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022401050105469787 + } + }, + { + "simulation_time_ns": 6520000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7689603577862703, + -14.890238502470122, + 0.09715534076798665 + ], + "intended_face_normal": [ + -0.03749807172729547, + -0.28630771519535436, + 0.957403622404378 + ], + "commanded_contact_point": [ + 0.6449683952331543, + -14.8765749200166, + 0.044193343202493025 + ], + "centerline_face_intersection": [ + 0.6508929279465909, + -14.87440042941471, + 0.044193343202493025 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6304245591163635, + -14.861740112304688, + 0.055081069469451904 + ], + "box_pose": [ + 0.7880768179893494, + -14.878954887390137, + 0.041868600994348526, + 0.40231630206108093, + -0.5712246298789978, + 0.4415741562843323, + -0.5628998279571533 + ], + "box_yaw_rad": -1.6152620348953546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021744906018899717, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026234798762799437 + } + }, + { + "simulation_time_ns": 6540000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7689645782050408, + -14.890262837322329, + 0.09714625861509155 + ], + "intended_face_normal": [ + -0.0374552528847687, + -0.2865486017460057, + 0.9573332988353229 + ], + "commanded_contact_point": [ + 0.647987072467804, + -14.876928597910275, + 0.044188151234057144 + ], + "centerline_face_intersection": [ + 0.6508948974510828, + -14.874411438818159, + 0.044188151234057144 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.627711296081543, + -14.8658447265625, + 0.05009177327156067 + ], + "box_pose": [ + 0.7880785465240479, + -14.878965377807617, + 0.04186147823929787, + 0.40225446224212646, + -0.5712939500808716, + 0.4414941072463989, + -0.562936544418335 + ], + "box_yaw_rad": -1.6152831612271479, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025171590921163308, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030393300669725514 + } + }, + { + "simulation_time_ns": 6560000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7689652209879061, + -14.890275264716163, + 0.0971382231267913 + ], + "intended_face_normal": [ + -0.03744743735920508, + -0.28668185700377613, + 0.9572936359034507 + ], + "commanded_contact_point": [ + 0.6516997563838959, + -14.87707899954496, + 0.044182309834072515 + ], + "centerline_face_intersection": [ + 0.6508951077507936, + -14.874416494749767, + 0.044182309834072515 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6270179748535156, + -14.870782852172852, + 0.04757174849510193 + ], + "box_pose": [ + 0.7880787253379822, + -14.8789701461792, + 0.0418548546731472, + 0.4022165834903717, + -0.5713275671005249, + 0.44145315885543823, + -0.5629615187644958 + ], + "box_yaw_rad": -1.615289740103457, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002662504795192931, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037157336603256576 + } + }, + { + "simulation_time_ns": 6580000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7689654385246965, + -14.890287550821965, + 0.09713205567504403 + ], + "intended_face_normal": [ + -0.03744490964498226, + -0.2867961551049927, + 0.9572594663472849 + ], + "commanded_contact_point": [ + 0.6560191559791565, + -14.877186182174105, + 0.044178032586109875 + ], + "centerline_face_intersection": [ + 0.6508951761539843, + -14.87442245807214, + 0.044178032586109875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6309070587158203, + -14.871891975402832, + 0.047136127948760986 + ], + "box_pose": [ + 0.788078784942627, + -14.878975868225098, + 0.041849978268146515, + 0.40218305587768555, + -0.5713552832603455, + 0.44141897559165955, + -0.5629841089248657 + ], + "box_yaw_rad": -1.615294457274511, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027637241019652244, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004320731335593348 + } + }, + { + "simulation_time_ns": 6600000000, + "phase": "straight_push", + "intended_face_center": [ + 0.77236944002104, + -14.889839738072418, + 0.09713078808785469 + ], + "intended_face_normal": [ + -0.0404226398881633, + -0.2859141485810266, + 0.9574023692765081 + ], + "commanded_contact_point": [ + 0.6605589437484741, + -14.87693337788359, + 0.04416885984333879 + ], + "centerline_face_intersection": [ + 0.654397824135614, + -14.874023436476378, + 0.04416885984333879 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6357241868972778, + -14.870368003845215, + 0.04518316686153412 + ], + "box_pose": [ + 0.7916033267974854, + -14.878742218017578, + 0.041847094893455505, + 0.39952242374420166, + -0.5731077194213867, + 0.4443250596523285, + -0.5608072280883789 + ], + "box_yaw_rad": -1.6248630256861023, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0029099414072117475, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0045468304497703164 + } + }, + { + "simulation_time_ns": 6620000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7767758970400385, + -14.88985839923239, + 0.09711332380607794 + ], + "intended_face_normal": [ + -0.03894911121665956, + -0.2909940888625151, + 0.9559317346111555 + ], + "commanded_contact_point": [ + 0.6637947905063629, + -14.876821701888383, + 0.04423274865835788 + ], + "centerline_face_intersection": [ + 0.6587046921054441, + -14.87376108367471, + 0.04423274865835788 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6397426128387451, + -14.869994163513184, + 0.0470537394285202 + ], + "box_pose": [ + 0.7959067225456238, + -14.878522872924805, + 0.04184216633439064, + 0.3976133167743683, + -0.5756807923316956, + 0.44317784905433655, + -0.5604361891746521 + ], + "box_yaw_rad": -1.6290096666444043, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003060618213672797, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032384035494560297 + } + }, + { + "simulation_time_ns": 6640000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7821915826211586, + -14.891669893879271, + 0.09685264793521703 + ], + "intended_face_normal": [ + -0.023495132684896447, + -0.32572449235508394, + 0.9451727485364643 + ], + "commanded_contact_point": [ + 0.6659830856323242, + -14.876846963527615, + 0.04456724224472542 + ], + "centerline_face_intersection": [ + 0.6632869756698276, + -14.873651349383055, + 0.04456724224472542 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6436843276023865, + -14.87027645111084, + 0.0549774169921875 + ], + "box_pose": [ + 0.8004239797592163, + -14.878320693969727, + 0.04172768443822861, + 0.39085787534713745, + -0.5882695913314819, + 0.4293808043003082, + -0.5628508925437927 + ], + "box_yaw_rad": -1.6352289057168738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00319561414456139, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002213856288931986 + } + }, + { + "simulation_time_ns": 6660000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7872452133348414, + -14.893914485047006, + 0.09785977860027403 + ], + "intended_face_normal": [ + -0.0060973524980703075, + -0.35000379056710607, + 0.9367284399474691 + ], + "commanded_contact_point": [ + 0.6681809175014496, + -14.877812059671614, + 0.046041498206226876 + ], + "centerline_face_intersection": [ + 0.6674091707162234, + -14.874552849609096, + 0.046041498206226876 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6477936506271362, + -14.872962951660156, + 0.059318095445632935 + ], + "box_pose": [ + 0.8044924139976501, + -14.879044532775879, + 0.04280706122517586, + 0.3888222873210907, + -0.5971761345863342, + 0.41691166162490845, + -0.5642539858818054 + ], + "box_yaw_rad": -1.6358138845282317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0032592100625189607, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028169675419014513 + } + }, + { + "simulation_time_ns": 6680000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7929558436290414, + -14.895214226251323, + 0.09831389516859547 + ], + "intended_face_normal": [ + 0.004839512638248777, + -0.3438363982005157, + 0.9390172033708879 + ], + "commanded_contact_point": [ + 0.6706046509742737, + -14.87945074880215, + 0.04636900413717191 + ], + "centerline_face_intersection": [ + 0.6725920461543542, + -14.876193760840202, + 0.04636900413717191 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6529808044433594, + -14.876249313354492, + 0.06046609580516815 + ], + "box_pose": [ + 0.8096414804458618, + -14.880459785461426, + 0.0430574007332325, + 0.3963302969932556, + -0.5947090983390808, + 0.41352641582489014, + -0.5641271471977234 + ], + "box_yaw_rad": -1.6233787667845563, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00325698796194736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002943984739876805 + } + }, + { + "simulation_time_ns": 6700000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7997117140206214, + -14.896415061629964, + 0.09880456996716841 + ], + "intended_face_normal": [ + 0.014246043049293888, + -0.3432574429513515, + 0.9391332425793202 + ], + "commanded_contact_point": [ + 0.6730994033813477, + -14.880622213433792, + 0.04685325983712159 + ], + "centerline_face_intersection": [ + 0.6788753212640188, + -14.877426623073326, + 0.04685325983712159 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6592927575111389, + -14.878961563110352, + 0.061864614486694336 + ], + "box_pose": [ + 0.8159169554710388, + -14.881462097167969, + 0.04345855489373207, + 0.40155789256095886, + -0.5932981371879578, + 0.4088062345981598, + -0.5653547048568726 + ], + "box_yaw_rad": -1.6115208811124448, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003195590360466341, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002798324952310761 + } + }, + { + "simulation_time_ns": 6720000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8061372553551789, + -14.897095040797018, + 0.09883975524110414 + ], + "intended_face_normal": [ + 0.016875302894352018, + -0.343224202274083, + 0.9391018831720608 + ], + "commanded_contact_point": [ + 0.675286238193512, + -14.88126998283251, + 0.04689017986201506 + ], + "centerline_face_intersection": [ + 0.6851775480280435, + -14.878108441060109, + 0.04689017986201506 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.665399432182312, + -14.878959655761719, + 0.06457510590553284 + ], + "box_pose": [ + 0.8222237229347229, + -14.882025718688965, + 0.04349064454436302, + 0.40364423394203186, + -0.5919936299324036, + 0.406766802072525, + -0.5667059421539307 + ], + "box_yaw_rad": -1.6046846029546271, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003161541772401933, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022810556279598266 + } + }, + { + "simulation_time_ns": 6740000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8105898167158594, + -14.897588642740875, + 0.09686337441382506 + ], + "intended_face_normal": [ + 0.001411503594177077, + -0.34295170782629825, + 0.9393519683326446 + ], + "commanded_contact_point": [ + 0.6772441911697388, + -14.881843845109108, + 0.044899964733970815 + ], + "centerline_face_intersection": [ + 0.6905393701350977, + -14.878617116949732, + 0.044899964733970815 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6695456504821777, + -14.87698745727539, + 0.06539219617843628 + ], + "box_pose": [ + 0.8276144862174988, + -14.88243579864502, + 0.0418185293674469, + 0.40163376927375793, + -0.5854751467704773, + 0.4089186489582062, + -0.5733190178871155 + ], + "box_yaw_rad": -1.5920790509916738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0032267281593755834, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028502375384366887 + } + }, + { + "simulation_time_ns": 6760000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8121645877825621, + -14.897585151945234, + 0.09673916377252463 + ], + "intended_face_normal": [ + 0.001339890470113403, + -0.3401090240391156, + 0.9403851468913587 + ], + "commanded_contact_point": [ + 0.6791608679294586, + -14.882110485829035, + 0.04471860034995327 + ], + "centerline_face_intersection": [ + 0.6921323684369903, + -14.878770878757166, + 0.04471860034995327 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6720250844955444, + -14.875948905944824, + 0.06216803193092346 + ], + "box_pose": [ + 0.829226553440094, + -14.882482528686523, + 0.04169205576181412, + 0.4039624333381653, + -0.5827617049217224, + 0.40836238861083984, + -0.574842095375061 + ], + "box_yaw_rad": -1.5843463651375687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033396070718692537, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019436152177227126 + } + }, + { + "simulation_time_ns": 6780000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8123433319194693, + -14.89681617797286, + 0.09678056773904022 + ], + "intended_face_normal": [ + -0.004325418239282897, + -0.3303725898216996, + 0.9438407542179519 + ], + "commanded_contact_point": [ + 0.6808882403373718, + -14.882061103432683, + 0.044568845788826444 + ], + "centerline_face_intersection": [ + 0.6926249335597499, + -14.878540508350993, + 0.044568845788826444 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6727248430252075, + -14.874015808105469, + 0.05884110927581787 + ], + "box_pose": [ + 0.829731822013855, + -14.882299423217773, + 0.0416780449450016, + 0.40548449754714966, + -0.5792096257209778, + 0.41279053688049316, + -0.5741973519325256 + ], + "box_yaw_rad": -1.58325599192474, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003520595081690204, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017345548377804593 + } + }, + { + "simulation_time_ns": 6800000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8118587433651665, + -14.894605825462333, + 0.09692459615478147 + ], + "intended_face_normal": [ + -0.015951183552907366, + -0.30926672892890217, + 0.9508415725693844 + ], + "commanded_contact_point": [ + 0.6823021817207336, + -14.881250570410627, + 0.04432560041970999 + ], + "centerline_face_intersection": [ + 0.6927712269334387, + -14.877497697436365, + 0.04432560041970999 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6728402972221375, + -14.87169075012207, + 0.056998759508132935 + ], + "box_pose": [ + 0.8299129605293274, + -14.88135814666748, + 0.0417165569961071, + 0.4087913930416107, + -0.5717524290084839, + 0.42220401763916016, + -0.5724793076515198 + ], + "box_yaw_rad": -1.5816430645483348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003752872974261977, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016478356486686898 + } + }, + { + "simulation_time_ns": 6820000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8126578541650887, + -14.893965010231682, + 0.09696821270413607 + ], + "intended_face_normal": [ + -0.017625656189082406, + -0.3031796876268764, + 0.9527703713171007 + ], + "commanded_contact_point": [ + 0.6835035133361816, + -14.881158354860467, + 0.04426251898694881 + ], + "centerline_face_intersection": [ + 0.6936645274180413, + -14.877193607343445, + 0.04426251898694881 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6736752390861511, + -14.871896743774414, + 0.05699166655540466 + ], + "box_pose": [ + 0.8308308124542236, + -14.880990982055664, + 0.041734155267477036, + 0.41128119826316833, + -0.5685009956359863, + 0.42338863015174866, + -0.5730588436126709 + ], + "box_yaw_rad": -1.575941341172529, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0039647475170232135, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012065159033868204 + } + }, + { + "simulation_time_ns": 6840000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8138032251772372, + -14.89546518584163, + 0.09686116698012737 + ], + "intended_face_normal": [ + -0.009881127605780193, + -0.31619616681292584, + 0.9486424876366399 + ], + "commanded_contact_point": [ + 0.6845918047428131, + -14.882059146119184, + 0.044383821015464966 + ], + "centerline_face_intersection": [ + 0.6943949265970676, + -14.877973732681145, + 0.044383821015464966 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6744031310081482, + -14.874957084655762, + 0.059007078409194946 + ], + "box_pose": [ + 0.83154296875, + -14.881673812866211, + 0.04168432578444481, + 0.4098566472530365, + -0.5726330876350403, + 0.4170365035533905, + -0.5746212601661682 + ], + "box_yaw_rad": -1.5746503272389494, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004085413438038544, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014179270995544173 + } + }, + { + "simulation_time_ns": 6860000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8146827298398984, + -14.897207955670172, + 0.09666917599626124 + ], + "intended_face_normal": [ + -0.001027105042084031, + -0.3337828392795483, + 0.9426494489485968 + ], + "commanded_contact_point": [ + 0.6856990504264832, + -14.88265694953902, + 0.044523355098956476 + ], + "centerline_face_intersection": [ + 0.6947884034469377, + -14.878743636643541, + 0.044523355098956476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6738513708114624, + -14.88304615020752, + 0.05496819317340851 + ], + "box_pose": [ + 0.8319056630134583, + -14.882393836975098, + 0.04159381240606308, + 0.40641260147094727, + -0.5792133212089539, + 0.4098016321659088, + -0.575676441192627 + ], + "box_yaw_rad": -1.5780640889516944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003913312895479423, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001266029894287591 + } + }, + { + "simulation_time_ns": 6880000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8150392542116299, + -14.898012439992598, + 0.09661038213254888 + ], + "intended_face_normal": [ + 0.0025899528523538606, + -0.3416540988039909, + 0.9398221949786425 + ], + "commanded_contact_point": [ + 0.6875673580169678, + -14.882358187734798, + 0.04462096028614567 + ], + "centerline_face_intersection": [ + 0.6949433212966192, + -14.879112695803563, + 0.04462096028614567 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6723647117614746, + -14.895808219909668, + 0.04933692514896393 + ], + "box_pose": [ + 0.832050621509552, + -14.88273811340332, + 0.041595008224248886, + 0.4047871232032776, + -0.5820289254188538, + 0.40659603476524353, + -0.5762546062469482 + ], + "box_yaw_rad": -1.5794745508349743, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003245491931235237, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018945602763941912 + } + }, + { + "simulation_time_ns": 6900000000, + "phase": "straight_push", + "intended_face_center": [ + 0.814974209674368, + -14.897895375281342, + 0.0965932226206161 + ], + "intended_face_normal": [ + 0.0019453916622218514, + -0.34048025576565166, + 0.9402498514493409 + ], + "commanded_contact_point": [ + 0.690404896736145, + -14.881327542935836, + 0.04458014351991599 + ], + "centerline_face_intersection": [ + 0.6949143848103342, + -14.879060566163247, + 0.04458014351991599 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6729162931442261, + -14.903523445129395, + 0.04914279282093048 + ], + "box_pose": [ + 0.8320233821868896, + -14.882689476013184, + 0.04157057777047157, + 0.4050109088420868, + -0.5815725326538086, + 0.4070946276187897, + -0.576206386089325 + ], + "box_yaw_rad": -1.5792039802323288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002266976772589332, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030191920596186776 + } + }, + { + "simulation_time_ns": 6920000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8168705064289514, + -14.897299347656636, + 0.09670659952405326 + ], + "intended_face_normal": [ + 0.0027594868277844853, + -0.34053779988144406, + 0.9402267798821384 + ], + "commanded_contact_point": [ + 0.693437432050705, + -14.879753276144921, + 0.04469479670459693 + ], + "centerline_face_intersection": [ + 0.6967634104664615, + -14.878461355292469, + 0.04469479670459693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6765973567962646, + -14.902837753295898, + 0.050798073410987854 + ], + "box_pose": [ + 0.8338650465011597, + -14.882115364074707, + 0.04166102409362793, + 0.4048505127429962, + -0.5822854042053223, + 0.4072188138961792, + -0.5755107402801514 + ], + "box_yaw_rad": -1.5811841299488636, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012919208524521518, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034187324720993673 + } + }, + { + "simulation_time_ns": 6940000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8223153140140663, + -14.895260514372474, + 0.09699781507633431 + ], + "intended_face_normal": [ + -0.00021662144456158217, + -0.3411254500551788, + 0.9400176920363421 + ], + "commanded_contact_point": [ + 0.6961034882068634, + -14.876865457642014, + 0.044997578653454 + ], + "centerline_face_intersection": [ + 0.7023337222511081, + -14.876390014164862, + 0.044997578653454 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6819840669631958, + -14.896801948547363, + 0.05374978482723236 + ], + "box_pose": [ + 0.8393973708152771, + -14.88034439086914, + 0.041906118392944336, + 0.400177925825119, + -0.5868915915489197, + 0.41145461797714233, + -0.5710699558258057 + ], + "box_yaw_rad": -1.6000254483007834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00047544347715209863, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003941957387146538 + } + }, + { + "simulation_time_ns": 6960000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8283357441977989, + -14.892986799965547, + 0.09680390363902361 + ], + "intended_face_normal": [ + -0.009185261080354223, + -0.34130835942987403, + 0.9399064284190146 + ], + "commanded_contact_point": [ + 0.698505585193634, + -14.873898327388197, + 0.04480982213690204 + ], + "centerline_face_intersection": [ + 0.7087550474065062, + -14.874106181511427, + 0.04480982213690204 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6880232095718384, + -14.891188621520996, + 0.05794185400009155 + ], + "box_pose": [ + 0.8458282351493835, + -14.878432273864746, + 0.04174429178237915, + 0.39331668615341187, + -0.5908417105674744, + 0.41790884733200073, + -0.5670627355575562 + ], + "box_yaw_rad": -1.6213355460086094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00020785412323064535, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038221962778582958 + } + }, + { + "simulation_time_ns": 6980000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8330047511592538, + -14.891026056491663, + 0.0967207939461201 + ], + "intended_face_normal": [ + -0.017328576559059172, + -0.33795947211453914, + 0.9410011431268224 + ], + "commanded_contact_point": [ + 0.7007103610038757, + -14.871569022213043, + 0.044666154622476785 + ], + "centerline_face_intersection": [ + 0.7137563174257654, + -14.872330692989262, + 0.044666154622476785 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.692922830581665, + -14.886176109313965, + 0.05889560282230377 + ], + "box_pose": [ + 0.850875735282898, + -14.876965522766113, + 0.04165435582399368, + 0.38855448365211487, + -0.5929403305053711, + 0.4243178963661194, + -0.5633839964866638 + ], + "box_yaw_rad": -1.638059381184216, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007616707762187493, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003210504528439037 + } + }, + { + "simulation_time_ns": 7000000000, + "phase": "straight_push", + "intended_face_center": [ + 0.837276366810043, + -14.88848976012871, + 0.0967933201802348 + ], + "intended_face_normal": [ + -0.029942853424831384, + -0.32551715241436874, + 0.9450619440656816 + ], + "commanded_contact_point": [ + 0.7026986229419708, + -14.869306557326684, + 0.044514044011268405 + ], + "centerline_face_intersection": [ + 0.7185285710260179, + -14.870482685337828, + 0.044514044011268405 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6976288557052612, + -14.880844116210938, + 0.05807997286319733 + ], + "box_pose": [ + 0.8557577133178711, + -14.875518798828125, + 0.04166095703840256, + 0.38445982336997986, + -0.5927726626396179, + 0.43523794412612915, + -0.5580136179924011 + ], + "box_yaw_rad": -1.657271814747282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011761280111431197, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030158034641743574 + } + }, + { + "simulation_time_ns": 7020000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8418884125669415, + -14.88517517623088, + 0.09696680137645272 + ], + "intended_face_normal": [ + -0.04734019667432321, + -0.29835771289707047, + 0.9532794568758902 + ], + "commanded_contact_point": [ + 0.7043044316768646, + -14.867198904752325, + 0.04423294588141724 + ], + "centerline_face_intersection": [ + 0.7238461900506417, + -14.868670517073214, + 0.04423294588141724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7028623223304749, + -14.876057624816895, + 0.057100892066955566 + ], + "box_pose": [ + 0.8612538576126099, + -14.874130249023438, + 0.04171851649880409, + 0.38347768783569336, + -0.5874228477478027, + 0.45140448212623596, + -0.5514647364616394 + ], + "box_yaw_rad": -1.6734120495889617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001471612320890329, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026645519746988154 + } + }, + { + "simulation_time_ns": 7040000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8457173835373637, + -14.882903904874865, + 0.0970945487417181 + ], + "intended_face_normal": [ + -0.055953160698759774, + -0.2835955765294056, + 0.9573101607112946 + ], + "commanded_contact_point": [ + 0.7056984949111939, + -14.865550263309803, + 0.0441377213237419 + ], + "centerline_face_intersection": [ + 0.7279784563634902, + -14.867215862880606, + 0.0441377213237419 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7069236040115356, + -14.872065544128418, + 0.05616597831249237 + ], + "box_pose": [ + 0.8655074834823608, + -14.872906684875488, + 0.04179725795984268, + 0.3828861713409424, + -0.5847805738449097, + 0.4600004255771637, + -0.547566831111908 + ], + "box_yaw_rad": -1.6829142387028189, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016655995708028106, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021611336431819166 + } + }, + { + "simulation_time_ns": 7060000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8475610482098155, + -14.882197740726792, + 0.09709936995533083 + ], + "intended_face_normal": [ + -0.05674964740637378, + -0.2831629381373144, + 0.9573912607396018 + ], + "commanded_contact_point": [ + 0.7071092474460602, + -14.864783664990615, + 0.044138056216850664 + ], + "centerline_face_intersection": [ + 0.7298351128072594, + -14.866533631578548, + 0.044138056216850664 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7084982395172119, + -14.868642807006836, + 0.0550980269908905 + ], + "box_pose": [ + 0.8673837780952454, + -14.872260093688965, + 0.041803035885095596, + 0.3823159635066986, + -0.585046112537384, + 0.46070927381515503, + -0.5470853447914124 + ], + "box_yaw_rad": -1.68492865037407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017499665879343231, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016055827010053863 + } + }, + { + "simulation_time_ns": 7080000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8476517741341436, + -14.882175381073422, + 0.09709985786398986 + ], + "intended_face_normal": [ + -0.05679450071469461, + -0.2833010689213804, + 0.9573478384185137 + ], + "commanded_contact_point": [ + 0.7084359574317932, + -14.864786276440192, + 0.04414094617706865 + ], + "centerline_face_intersection": [ + 0.7299291553461169, + -14.866503630756837, + 0.04414094617706865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7089571952819824, + -14.86568832397461, + 0.05592338740825653 + ], + "box_pose": [ + 0.867477536201477, + -14.872228622436523, + 0.041806239634752274, + 0.38228219747543335, + -0.5850470066070557, + 0.4606623351573944, + -0.5471476316452026 + ], + "box_yaw_rad": -1.6848449860987211, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017173543166452267, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013267157034507053 + } + }, + { + "simulation_time_ns": 7100000000, + "phase": "straight_push", + "intended_face_center": [ + 0.847641495685895, + -14.882180602253165, + 0.09709982850141513 + ], + "intended_face_normal": [ + -0.056893774747667436, + -0.2833604396743734, + 0.9573243649252277 + ], + "commanded_contact_point": [ + 0.709551488161087, + -14.864980586301602, + 0.04414221532962922 + ], + "centerline_face_intersection": [ + 0.7299239776742822, + -14.866505567643935, + 0.04414221532962922 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7055673599243164, + -14.861696243286133, + 0.057684868574142456 + ], + "box_pose": [ + 0.8674729466438293, + -14.872230529785156, + 0.0418088473379612, + 0.3822396695613861, + -0.5850349068641663, + 0.46066540479660034, + -0.5471876859664917 + ], + "box_yaw_rad": -1.684823705766691, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015249813423331194, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00113232801828276 + } + }, + { + "simulation_time_ns": 7120000000, + "phase": "straight_push", + "intended_face_center": [ + 0.847635397167417, + -14.88219316309246, + 0.09710010325252905 + ], + "intended_face_normal": [ + -0.0569541127938038, + -0.28347931497919454, + 0.9572856604426576 + ], + "commanded_contact_point": [ + 0.7113621282577515, + -14.86529949907424, + 0.0441446311492159 + ], + "centerline_face_intersection": [ + 0.729921028752988, + -14.866511552496405, + 0.0441446311492159 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6998347043991089, + -14.858688354492188, + 0.057752832770347595 + ], + "box_pose": [ + 0.8674703240394592, + -14.872236251831055, + 0.04181159287691116, + 0.3821907937526703, + -0.5850467681884766, + 0.46064144372940063, + -0.5472294092178345 + ], + "box_yaw_rad": -1.6848109632884654, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012120534221644152, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018385126467840456 + } + }, + { + "simulation_time_ns": 7140000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8476301141565202, + -14.882202691192175, + 0.09710051372168052 + ], + "intended_face_normal": [ + -0.05700564310333078, + -0.28357900985707474, + 0.957253040944444 + ], + "commanded_contact_point": [ + 0.7136172997951508, + -14.865624535233072, + 0.044146846075489264 + ], + "centerline_face_intersection": [ + 0.7299184020939087, + -14.86651556563905, + 0.044146846075489264 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6992191076278687, + -14.858489990234375, + 0.05676990747451782 + ], + "box_pose": [ + 0.867467999458313, + -14.87224006652832, + 0.04181409627199173, + 0.38214924931526184, + -0.5850567817687988, + 0.46062180399894714, + -0.5472642183303833 + ], + "box_yaw_rad": -1.6848013414513758, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008910304059774165, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002278475822461777 + } + }, + { + "simulation_time_ns": 7160000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8476228865147585, + -14.882204534331946, + 0.09710145360811745 + ], + "intended_face_normal": [ + -0.05707733186571318, + -0.2835922487601419, + 0.9572447967820672 + ], + "commanded_contact_point": [ + 0.7158323276042938, + -14.865888653773665, + 0.044148242015462566 + ], + "centerline_face_intersection": [ + 0.7299150230508874, + -14.866516676424423, + 0.044148242015462566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7035238742828369, + -14.859941482543945, + 0.05846785008907318 + ], + "box_pose": [ + 0.8674649596214294, + -14.872241020202637, + 0.04181670397520065, + 0.3821300268173218, + -0.5850372910499573, + 0.4606305658817291, + -0.5472910404205322 + ], + "box_yaw_rad": -1.684771132996611, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006280226507583097, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022307193340736563 + } + }, + { + "simulation_time_ns": 7180000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8476191654174999, + -14.882211610124207, + 0.0971021952553268 + ], + "intended_face_normal": [ + -0.05711398535664003, + -0.2836654379095176, + 0.9572209045280573 + ], + "commanded_contact_point": [ + 0.7178187119960785, + -14.86614363263804, + 0.04415030534296339 + ], + "centerline_face_intersection": [ + 0.7299132067295289, + -14.866519703513024, + 0.04415030534296339 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7092871069908142, + -14.860220909118652, + 0.06159232556819916 + ], + "box_pose": [ + 0.8674633502960205, + -14.872243881225586, + 0.04181896522641182, + 0.38210010528564453, + -0.5850446224212646, + 0.4606156647205353, + -0.5473166108131409 + ], + "box_yaw_rad": -1.6847630793881605, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003760708749834395, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020026835572612804 + } + }, + { + "simulation_time_ns": 7200000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8488421602936718, + -14.881752000320144, + 0.09710717143121231 + ], + "intended_face_normal": [ + -0.05961517434296226, + -0.2830627280158122, + 0.9572469135421997 + ], + "commanded_contact_point": [ + 0.7199845659732819, + -14.866088296881424, + 0.04415384274285989 + ], + "centerline_face_intersection": [ + 0.7311403477619747, + -14.866093434631406, + 0.04415384274285989 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7116010189056396, + -14.856820106506348, + 0.0608808696269989 + ], + "box_pose": [ + 0.8687736988067627, + -14.871964454650879, + 0.041823163628578186, + 0.37954553961753845, + -0.5866970419883728, + 0.46304839849472046, + -0.5452687740325928 + ], + "box_yaw_rad": -1.6935590257173094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 5.1377499811154615e-06, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021665636408206524 + } + }, + { + "simulation_time_ns": 7220000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8490721679602591, + -14.881655383780414, + 0.09710779502216896 + ], + "intended_face_normal": [ + -0.060171644945171465, + -0.2829837161309836, + 0.9572352830515136 + ], + "commanded_contact_point": [ + 0.7225949811935425, + -14.866487996898865, + 0.044155109713478996 + ], + "centerline_face_intersection": [ + 0.731370206074119, + -14.866001188899507, + 0.044155109713478996 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7101702690124512, + -14.853702545166016, + 0.056620240211486816 + ], + "box_pose": [ + 0.8690230846405029, + -14.871904373168945, + 0.0418243370950222, + 0.3789639174938202, + -0.5870716571807861, + 0.4635671377182007, + -0.5448289513587952 + ], + "box_yaw_rad": -1.695497755918587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004868079993585196, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002640838755267977 + } + }, + { + "simulation_time_ns": 7240000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8490701990271673, + -14.881663070056403, + 0.09710715330503983 + ], + "intended_face_normal": [ + -0.06019126899415994, + -0.28306732299601656, + 0.9572094554831807 + ], + "commanded_contact_point": [ + 0.7254964756965637, + -14.86684739945214, + 0.04415589673505438 + ], + "centerline_face_intersection": [ + 0.7313692822536335, + -14.866004250180898, + 0.04415589673505438 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7063302993774414, + -14.857095718383789, + 0.05153423547744751 + ], + "box_pose": [ + 0.8690222501754761, + -14.871907234191895, + 0.04182494431734085, + 0.3789353370666504, + -0.5870864391326904, + 0.46354541182518005, + -0.544851541519165 + ], + "box_yaw_rad": -1.6954952403486945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008431492712428946, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002923669127272519 + } + }, + { + "simulation_time_ns": 7260000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8490649444074672, + -14.88166048835527, + 0.09710705663237576 + ], + "intended_face_normal": [ + -0.06024273279263781, + -0.2830549837048846, + 0.9572099776317735 + ], + "commanded_contact_point": [ + 0.7289049971103668, + -14.86698676930987, + 0.044155771177986844 + ], + "centerline_face_intersection": [ + 0.731366774212556, + -14.866002351069104, + 0.044155771177986844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7040115594863892, + -14.862470626831055, + 0.04880869388580322 + ], + "box_pose": [ + 0.8690199851989746, + -14.871905326843262, + 0.0418257974088192, + 0.37892696261405945, + -0.5870682001113892, + 0.4635589122772217, + -0.5448656678199768 + ], + "box_yaw_rad": -1.6954762570436057, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009844182407648828, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034113695492224714 + } + }, + { + "simulation_time_ns": 7280000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8490635022442332, + -14.881667456420079, + 0.09710658440512422 + ], + "intended_face_normal": [ + -0.06025813719526241, + -0.2831087356316786, + 0.9571929276412092 + ], + "commanded_contact_point": [ + 0.7328680801391602, + -14.867084661531727, + 0.044156242128239154 + ], + "centerline_face_intersection": [ + 0.7313661521288999, + -14.866006345665514, + 0.044156242128239154 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7075188159942627, + -14.863658905029297, + 0.04881672561168671 + ], + "box_pose": [ + 0.8690194487571716, + -14.871909141540527, + 0.04182622581720352, + 0.378908634185791, + -0.5870758891105652, + 0.46354490518569946, + -0.5448818206787109 + ], + "box_yaw_rad": -1.6954701293676013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010783158662135872, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003964291891625047 + } + }, + { + "simulation_time_ns": 7300000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8499851409052825, + -14.881517889606679, + 0.09710514995039365 + ], + "intended_face_normal": [ + -0.06084557372495425, + -0.28315033218062347, + 0.9571435512982767 + ], + "commanded_contact_point": [ + 0.7371453988552094, + -14.867100458190057, + 0.044157539091787136 + ], + "centerline_face_intersection": [ + 0.7322835947006233, + -14.865854477799274, + 0.044157539091787136 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7132129669189453, + -14.861662864685059, + 0.04816742241382599 + ], + "box_pose": [ + 0.8699599504470825, + -14.871794700622559, + 0.04182540625333786, + 0.378202348947525, + -0.5875672101974487, + 0.4640989303588867, + -0.5443711876869202 + ], + "box_yaw_rad": -1.697774175087927, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012459803907822233, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004277348082070661 + } + }, + { + "simulation_time_ns": 7320000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8552483922000614, + -14.881378833669984, + 0.0970873174772368 + ], + "intended_face_normal": [ + -0.060210882036194846, + -0.28806461331233635, + 0.9557162903173051 + ], + "commanded_contact_point": [ + 0.7403830933570862, + -14.866867369012363, + 0.04421866035436998 + ], + "centerline_face_intersection": [ + 0.7374405039770722, + -14.865443571893309, + 0.04421866035436998 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7182521820068359, + -14.860998153686523, + 0.05025133490562439 + ], + "box_pose": [ + 0.8751556873321533, + -14.871447563171387, + 0.04182020574808121, + 0.3758391737937927, + -0.5902523398399353, + 0.4633709192276001, + -0.543722927570343 + ], + "box_yaw_rad": -1.7032214680012157, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014237971190536327, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003246649359105688 + } + }, + { + "simulation_time_ns": 7340000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8610179880297326, + -14.882785956785936, + 0.09691472433620907 + ], + "intended_face_normal": [ + -0.04977063366460044, + -0.31455427194826413, + 0.9479338377416155 + ], + "commanded_contact_point": [ + 0.7427420663833618, + -14.866957415957792, + 0.04447657972104732 + ], + "centerline_face_intersection": [ + 0.7426963976156506, + -14.865385330555483, + 0.04447657972104732 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7232147455215454, + -14.861678123474121, + 0.057841598987579346 + ], + "box_pose": [ + 0.8803384900093079, + -14.871272087097168, + 0.04174650460481644, + 0.37143710255622864, + -0.598814070224762, + 0.45250120759010315, + -0.5465335249900818 + ], + "box_yaw_rad": -1.7048224713078308, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015720854023081202, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002374738846859664 + } + }, + { + "simulation_time_ns": 7360000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8662563511832124, + -14.885237636704916, + 0.09728416381088151 + ], + "intended_face_normal": [ + -0.033413413377214596, + -0.344012210946655, + 0.9383705162234612 + ], + "commanded_contact_point": [ + 0.7451703000068665, + -14.86783764177554, + 0.045375046451424685 + ], + "centerline_face_intersection": [ + 0.7471978329999721, + -14.86620744562114, + 0.045375046451424685 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7275220155715942, + -14.864754676818848, + 0.06146208941936493 + ], + "box_pose": [ + 0.8846938610076904, + -14.871826171875, + 0.04224259406328201, + 0.3692624866962433, + -0.6074022054672241, + 0.43776604533195496, + -0.5505167841911316 + ], + "box_yaw_rad": -1.700259547213372, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016301961543997848, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002734658751314707 + } + }, + { + "simulation_time_ns": 7380000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8710355675135992, + -14.886448602603517, + 0.09747304591826744 + ], + "intended_face_normal": [ + -0.025389000903189185, + -0.34134401127592895, + 0.9395955370115203 + ], + "commanded_contact_point": [ + 0.7478109049797058, + -14.869189299629884, + 0.045496162418724444 + ], + "centerline_face_intersection": [ + 0.7517404550153448, + -14.867566011947769, + 0.045496162418724444 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.731953501701355, + -14.867738723754883, + 0.06206490099430084 + ], + "box_pose": [ + 0.8891004920005798, + -14.872949600219727, + 0.04232942312955856, + 0.37533706426620483, + -0.6048026084899902, + 0.4341083765029907, + -0.5521647334098816 + ], + "box_yaw_rad": -1.686488634543508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016232876821152345, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029689127059129056 + } + }, + { + "simulation_time_ns": 7400000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8765119863751187, + -14.887395594900237, + 0.09758106238096127 + ], + "intended_face_normal": [ + -0.019991689633346965, + -0.34201954171733995, + 0.9394800524194196 + ], + "commanded_contact_point": [ + 0.7504347312450409, + -14.8700437128618, + 0.04561056729957604 + ], + "centerline_face_intersection": [ + 0.7570685029495787, + -14.868475635008824, + 0.04561056729957604 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7372373342514038, + -14.869855880737305, + 0.06279467046260834 + ], + "box_pose": [ + 0.8943374752998352, + -14.8736572265625, + 0.04241865500807762, + 0.37914496660232544, + -0.6030075550079346, + 0.43039438128471375, + -0.5544289946556091 + ], + "box_yaw_rad": -1.6749814307596125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001568077852976019, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027618064230316864 + } + }, + { + "simulation_time_ns": 7420000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8817287730606096, + -14.887828137704163, + 0.09708260079962251 + ], + "intended_face_normal": [ + -0.022106939282213744, + -0.3419129315350258, + 0.9394715171834278 + ], + "commanded_contact_point": [ + 0.7526706802845001, + -14.870466453605376, + 0.04511257787348846 + ], + "centerline_face_intersection": [ + 0.76247801146438, + -14.868914075313118, + 0.04511257787348846 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7426565885543823, + -14.869306564331055, + 0.0647972822189331 + ], + "box_pose": [ + 0.899715781211853, + -14.87399673461914, + 0.04199592024087906, + 0.3800554573535919, + -0.6005961298942566, + 0.4296526312828064, + -0.5569925308227539 + ], + "box_yaw_rad": -1.6674143538962731, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015523782922585397, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023294143710023496 + } + }, + { + "simulation_time_ns": 7440000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8854745898591391, + -14.88759848466945, + 0.0967166911409448 + ], + "intended_face_normal": [ + -0.02614633299969782, + -0.3394961951284525, + 0.9402440273378581 + ], + "commanded_contact_point": [ + 0.7546590912342072, + -14.87044906639078, + 0.044703934220536215 + ], + "centerline_face_intersection": [ + 0.7664512717451626, + -14.868818112171242, + 0.044703934220536215 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7465196847915649, + -14.866853713989258, + 0.06517943739891052 + ], + "box_pose": [ + 0.9036981463432312, + -14.873908996582031, + 0.04167231172323227, + 0.37984269857406616, + -0.598850667476654, + 0.43124404549598694, + -0.557786762714386 + ], + "box_yaw_rad": -1.665792598709384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016309542195379137, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020300418850960652 + } + }, + { + "simulation_time_ns": 7460000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8876726472246047, + -14.886938799685263, + 0.09673925615195411 + ], + "intended_face_normal": [ + -0.029246375701344363, + -0.33267346037745504, + 0.9425883400347495 + ], + "commanded_contact_point": [ + 0.7566156136989594, + -14.870289516877731, + 0.04459681569950111 + ], + "centerline_face_intersection": [ + 0.7688195380850409, + -14.868535849679322, + 0.04459681569950111 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7490201592445374, + -14.86546802520752, + 0.061406925320625305 + ], + "box_pose": [ + 0.9060760140419006, + -14.873652458190918, + 0.041655946522951126, + 0.38109448552131653, + -0.5964371562004089, + 0.43408554792404175, + -0.5573143362998962 + ], + "box_yaw_rad": -1.6646492991181179, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017536671984100152, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019659375828705115 + } + }, + { + "simulation_time_ns": 7480000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8880884263859203, + -14.88619869195885, + 0.09677915238655292 + ], + "intended_face_normal": [ + -0.032617657949767676, + -0.32446417871447686, + 0.9453354398610507 + ], + "commanded_contact_point": [ + 0.7583890604972839, + -14.870203994395414, + 0.04448474687891519 + ], + "centerline_face_intersection": [ + 0.7694277396619896, + -14.868249865945417, + 0.04448474687891519 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7497986555099487, + -14.863238334655762, + 0.0580032616853714 + ], + "box_pose": [ + 0.9066919088363647, + -14.873382568359375, + 0.041651658713817596, + 0.38286352157592773, + -0.5933887362480164, + 0.43724527955055237, + -0.5568858981132507 + ], + "box_yaw_rad": -1.662518744355988, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0019541284499962346, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001779041051245573 + } + }, + { + "simulation_time_ns": 7500000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8877465297574678, + -14.884418498980239, + 0.09688429009210112 + ], + "intended_face_normal": [ + -0.040468617959461994, + -0.3073110311175853, + 0.9507482958622617 + ], + "commanded_contact_point": [ + 0.7598590302467346, + -14.869643692202752, + 0.044290454271427214 + ], + "centerline_face_intersection": [ + 0.7694889785090896, + -14.86741855694845, + 0.044290454271427214 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7500109672546387, + -14.86064338684082, + 0.05637964606285095 + ], + "box_pose": [ + 0.9067936539649963, + -14.872636795043945, + 0.0416775681078434, + 0.3855628967285156, + -0.5877345204353333, + 0.4446186423301697, + -0.5551789999008179 + ], + "box_yaw_rad": -1.6616165775110663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022251352543014506, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001585086505124109 + } + }, + { + "simulation_time_ns": 7520000000, + "phase": "straight_push", + "intended_face_center": [ + 0.888703424117534, + -14.883597590004294, + 0.09693633931734291 + ], + "intended_face_normal": [ + -0.04228613771212508, + -0.3003889627054548, + 0.9528789713288859 + ], + "commanded_contact_point": [ + 0.7611243176460266, + -14.86946300253546, + 0.04422463802568531 + ], + "centerline_face_intersection": [ + 0.7705794788644866, + -14.866980565439928, + 0.04422463802568531 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.751018762588501, + -14.86054801940918, + 0.0564635694026947 + ], + "box_pose": [ + 0.9078763723373413, + -14.872160911560059, + 0.04170063138008118, + 0.38794898986816406, + -0.5845967531204224, + 0.4464315176010132, + -0.5553747415542603 + ], + "box_yaw_rad": -1.6570612180823123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024824370955313685, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012798174623269171 + } + }, + { + "simulation_time_ns": 7540000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8901605155094053, + -14.885050869585465, + 0.09683741209438883 + ], + "intended_face_normal": [ + -0.0350519769649793, + -0.31362592268154543, + 0.9488994931842143 + ], + "commanded_contact_point": [ + 0.7622664618492127, + -14.870359323254448, + 0.044345849004507325 + ], + "centerline_face_intersection": [ + 0.7717067474680432, + -14.86770159811329, + 0.044345849004507325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7519773840904236, + -14.863319396972656, + 0.05862097442150116 + ], + "box_pose": [ + 0.9089480638504028, + -14.872748374938965, + 0.041655346751213074, + 0.3871150612831116, + -0.5880966186523438, + 0.4396919012069702, + -0.5576337575912476 + ], + "box_yaw_rad": -1.6534809283665175, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0026577251411567474, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014569064189391477 + } + }, + { + "simulation_time_ns": 7560000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8911053629331805, + -14.8872620809739, + 0.0966158119088606 + ], + "intended_face_normal": [ + -0.025988941277510946, + -0.3351967643156879, + 0.9417897559405581 + ], + "commanded_contact_point": [ + 0.7633993673324585, + -14.871280433710977, + 0.04451754781824982 + ], + "centerline_face_intersection": [ + 0.7721586976983092, + -14.868719545934116, + 0.04451754781824982 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7514693737030029, + -14.871140480041504, + 0.0549977570772171 + ], + "box_pose": [ + 0.9093674421310425, + -14.873693466186523, + 0.04155426844954491, + 0.38294509053230286, + -0.5955929756164551, + 0.43099266290664673, + -0.5593456625938416 + ], + "box_yaw_rad": -1.6568782518856668, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002560887776861237, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014701699866806338 + } + }, + { + "simulation_time_ns": 7580000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8912922129347324, + -14.887944367663039, + 0.09661814962001075 + ], + "intended_face_normal": [ + -0.023952125050492157, + -0.34155722405858313, + 0.9395557528450595 + ], + "commanded_contact_point": [ + 0.7652457106113434, + -14.87101169396277, + 0.044643466915281906 + ], + "centerline_face_intersection": [ + 0.7722343066348704, + -14.869049982425977, + 0.044643466915281906 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7499159574508667, + -14.884029388427734, + 0.049226537346839905 + ], + "box_pose": [ + 0.9094365835189819, + -14.87399959564209, + 0.04161170870065689, + 0.3815732002258301, + -0.5975800156593323, + 0.4285128712654114, + -0.5600685477256775 + ], + "box_yaw_rad": -1.6575940786510779, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001961711536790959, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018700428269821873 + } + }, + { + "simulation_time_ns": 7600000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8916593785550483, + -14.888173276945167, + 0.09659593838064671 + ], + "intended_face_normal": [ + -0.02241595360855797, + -0.34078391135113506, + 0.9398742633150334 + ], + "commanded_contact_point": [ + 0.7680374729633331, + -14.870379826319878, + 0.044603636199303624 + ], + "centerline_face_intersection": [ + 0.7725699530272847, + -14.869321670098296, + 0.044603636199303624 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7505148649215698, + -14.891910552978516, + 0.04870499670505524 + ], + "box_pose": [ + 0.9097461104393005, + -14.874183654785156, + 0.04158191755414009, + 0.3833780586719513, + -0.5962580442428589, + 0.4273515045642853, + -0.5611311197280884 + ], + "box_yaw_rad": -1.6520720067721304, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010581562215821818, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028626526568997965 + } + }, + { + "simulation_time_ns": 7620000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8950227187035125, + -14.888704143262732, + 0.09660577769524792 + ], + "intended_face_normal": [ + -0.018646903142002458, + -0.3410906758202099, + 0.9398453973099947 + ], + "commanded_contact_point": [ + 0.7710293877124786, + -14.870035747893597, + 0.04461507233394271 + ], + "centerline_face_intersection": [ + 0.7758126471411024, + -14.869835566708744, + 0.04461507233394271 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7541613578796387, + -14.891284942626953, + 0.05030295252799988 + ], + "box_pose": [ + 0.9129464626312256, + -14.874531745910645, + 0.04158518835902214, + 0.38636279106140137, + -0.5945215225219727, + 0.4244743287563324, + -0.5631069540977478 + ], + "box_yaw_rad": -1.6424304711488835, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00020018118485381955, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003011656456962134 + } + }, + { + "simulation_time_ns": 7640000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9000943672612767, + -14.887832501336385, + 0.09659911599836551 + ], + "intended_face_normal": [ + -0.020243312313109385, + -0.3410431243194392, + 0.9398296983648464 + ], + "commanded_contact_point": [ + 0.7736564028263092, + -14.868522185147414, + 0.044609279076948415 + ], + "centerline_face_intersection": [ + 0.7809265119649912, + -14.868966555253401, + 0.044609279076948415 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7596921920776367, + -14.885080337524414, + 0.053582772612571716 + ], + "box_pose": [ + 0.918080747127533, + -14.873751640319824, + 0.04157545790076256, + 0.3848221004009247, + -0.5956124663352966, + 0.4258995056152344, + -0.561931848526001 + ], + "box_yaw_rad": -1.647788299332392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00044437010598670534, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030318499561743 + } + }, + { + "simulation_time_ns": 7660000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9057008707316201, + -14.886507189366263, + 0.09659045213242293 + ], + "intended_face_normal": [ + -0.024089162104701245, + -0.3408186800797921, + 0.9398204136073218 + ], + "commanded_contact_point": [ + 0.7760199356079102, + -14.866736793158248, + 0.044601128828558455 + ], + "centerline_face_intersection": [ + 0.78663215036492, + -14.867653659170369, + 0.044601128828558455 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7656235694885254, + -14.87946605682373, + 0.05786199867725372 + ], + "box_pose": [ + 0.9238426685333252, + -14.872634887695312, + 0.04156484082341194, + 0.3813633918762207, + -0.5978908538818359, + 0.42913007736206055, + -0.5594067573547363 + ], + "box_yaw_rad": -1.6594939681936247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009168660121211744, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029620901727041757 + } + }, + { + "simulation_time_ns": 7680000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9100743323183188, + -14.885339614273526, + 0.09657139954243661 + ], + "intended_face_normal": [ + -0.027845645941571462, + -0.3403676415176502, + 0.9398800145285442 + ], + "commanded_contact_point": [ + 0.7781832265853882, + -14.865264909852995, + 0.0445787792133982 + ], + "centerline_face_intersection": [ + 0.7910924229556056, + -14.866511034790864, + 0.0445787792133982 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7703705430030823, + -14.87474250793457, + 0.058964431285858154 + ], + "box_pose": [ + 0.928368866443634, + -14.871675491333008, + 0.04154427349567413, + 0.37814244627952576, + -0.5999047160148621, + 0.43223196268081665, + -0.5570440888404846 + ], + "box_yaw_rad": -1.6703548107282342, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012461249378694092, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026166329170938902 + } + }, + { + "simulation_time_ns": 7700000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9141800278628429, + -14.883487069119118, + 0.09662264905876956 + ], + "intended_face_normal": [ + -0.03697163677969684, + -0.3321918846716514, + 0.9424869224221979 + ], + "commanded_contact_point": [ + 0.7801285135746002, + -14.863662927431907, + 0.04448581886224557 + ], + "centerline_face_intersection": [ + 0.7954750511822472, + -14.865110759091094, + 0.04448581886224557 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7749457359313965, + -14.870153427124023, + 0.05830630660057068 + ], + "box_pose": [ + 0.9328945279121399, + -14.870596885681152, + 0.04155002906918526, + 0.3743111491203308, + -0.6005682945251465, + 0.44022178649902344, + -0.5526424050331116 + ], + "box_yaw_rad": -1.6866589377394008, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014478316591866034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025217317015807997 + } + }, + { + "simulation_time_ns": 7720000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9187365492707555, + -14.880868295685794, + 0.09680453953561574 + ], + "intended_face_normal": [ + -0.05095545685641767, + -0.3085559944915808, + 0.9498405350662971 + ], + "commanded_contact_point": [ + 0.7816944169998169, + -14.862245772234264, + 0.044260919552798386 + ], + "centerline_face_intersection": [ + 0.8005532252965497, + -14.863799484322785, + 0.044260919552798386 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.780088484287262, + -14.866446495056152, + 0.057438746094703674 + ], + "box_pose": [ + 0.9381572008132935, + -14.869626998901367, + 0.041615262627601624, + 0.37398967146873474, + -0.5957045555114746, + 0.45371106266975403, + -0.5471876263618469 + ], + "box_yaw_rad": -1.6989873459947589, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001553712088521307, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021239025614896326 + } + }, + { + "simulation_time_ns": 7740000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9223298198281683, + -14.87858287899801, + 0.09695047775731438 + ], + "intended_face_normal": [ + -0.06166869062700897, + -0.2860236901167319, + 0.956236146690685 + ], + "commanded_contact_point": [ + 0.7830552208423615, + -14.861168657639592, + 0.04405306303280803 + ], + "centerline_face_intersection": [ + 0.804566441064315, + -14.862760517743942, + 0.04405306303280803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7841030359268188, + -14.863714218139648, + 0.05643872916698456 + ], + "box_pose": [ + 0.9423080682754517, + -14.868802070617676, + 0.04168213903903961, + 0.37558552622795105, + -0.5899047255516052, + 0.4646758735179901, + -0.5431614518165588 + ], + "box_yaw_rad": -1.704834827989166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001591860104349577, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017479036817976807 + } + }, + { + "simulation_time_ns": 7760000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9239257746694611, + -14.877893879497323, + 0.09701022751584476 + ], + "intended_face_normal": [ + -0.06225731503203491, + -0.28340238906156934, + 0.9569780279560689 + ], + "commanded_contact_point": [ + 0.7844433832168579, + -14.86065066344198, + 0.04407177313695265 + ], + "centerline_face_intersection": [ + 0.8061992620189986, + -14.862216524316821, + 0.04407177313695265 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7857138514518738, + -14.861566543579102, + 0.05529025197029114 + ], + "box_pose": [ + 0.9439405202865601, + -14.868258476257324, + 0.04172956943511963, + 0.3762761652469635, + -0.5889955759048462, + 0.46552664041519165, + -0.5429413318634033 + ], + "box_yaw_rad": -1.7041355663803497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001565860874840793, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014817769180022042 + } + }, + { + "simulation_time_ns": 7780000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9239589412246688, + -14.877863518578161, + 0.09702603994329836 + ], + "intended_face_normal": [ + -0.06230208262525849, + -0.28323247191279677, + 0.9570255838864128 + ], + "commanded_contact_point": [ + 0.7857802855968475, + -14.860728143169434, + 0.04408495484836534 + ], + "centerline_face_intersection": [ + 0.8062371219018062, + -14.862195562935543, + 0.04408495484836534 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.786253809928894, + -14.859734535217285, + 0.056038081645965576 + ], + "box_pose": [ + 0.9439772367477417, + -14.86823558807373, + 0.041745349764823914, + 0.37634819746017456, + -0.588901162147522, + 0.4655596613883972, + -0.5429657101631165 + ], + "box_yaw_rad": -1.7039589059410722, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014674197661104658, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013392105283725724 + } + }, + { + "simulation_time_ns": 7800000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9239536466429388, + -14.87785776215198, + 0.0970382545875676 + ], + "intended_face_normal": [ + -0.062354515418448386, + -0.2831822077513948, + 0.9570369244406294 + ], + "commanded_contact_point": [ + 0.7869618284702301, + -14.860959559598575, + 0.044096542151781895 + ], + "centerline_face_intersection": [ + 0.8062345602963376, + -14.8621925870403, + 0.044096542151781895 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7829562425613403, + -14.856332778930664, + 0.05768677592277527 + ], + "box_pose": [ + 0.9439749717712402, + -14.868232727050781, + 0.04175816848874092, + 0.3763498067855835, + -0.5888738632202148, + 0.4655853509902954, + -0.5429720282554626 + ], + "box_yaw_rad": -1.703939763614223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012330274417250552, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012040479188629063 + } + }, + { + "simulation_time_ns": 7820000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9239449458588861, + -14.877844919001863, + 0.09705049813308096 + ], + "intended_face_normal": [ + -0.06244080035046906, + -0.2830580999461283, + 0.9570681160705767 + ], + "commanded_contact_point": [ + 0.7888633060455322, + -14.861317854428338, + 0.044107060227503145 + ], + "centerline_face_intersection": [ + 0.806230440712844, + -14.862186609330346, + 0.044107060227503145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7776198387145996, + -14.853079795837402, + 0.057688504457473755 + ], + "box_pose": [ + 0.9439712762832642, + -14.868227005004883, + 0.04177097603678703, + 0.37636473774909973, + -0.5888184309005737, + 0.4656399190425873, + -0.542975127696991 + ], + "box_yaw_rad": -1.7039045382458167, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008687549020073237, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001934968419465391 + } + }, + { + "simulation_time_ns": 7840000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9239407032030161, + -14.877840605771373, + 0.09705923132557694 + ], + "intended_face_normal": [ + -0.06248218903769853, + -0.28301619214498075, + 0.9570777230409284 + ], + "commanded_contact_point": [ + 0.791206841468811, + -14.8616695617925, + 0.044115261978161555 + ], + "centerline_face_intersection": [ + 0.8062283642453679, + -14.862184614370657, + 0.044115261978161555 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.776749849319458, + -14.853342056274414, + 0.05646824836730957 + ], + "box_pose": [ + 0.9439694285392761, + -14.86822509765625, + 0.04178016632795334, + 0.3763667643070221, + -0.5887961983680725, + 0.46566078066825867, + -0.5429798364639282 + ], + "box_yaw_rad": -1.7038887963461233, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005150525781576208, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023697940034699883 + } + }, + { + "simulation_time_ns": 7860000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9239375218154963, + -14.877838443427772, + 0.0970670740108848 + ], + "intended_face_normal": [ + -0.06251408316258633, + -0.2829941737352666, + 0.9570822594033928 + ], + "commanded_contact_point": [ + 0.7934355187416077, + -14.861940494912819, + 0.044122853719340764 + ], + "centerline_face_intersection": [ + 0.8062269327153947, + -14.862183670049355, + 0.044122853719340764 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7809972763061523, + -14.855386734008789, + 0.05838465690612793 + ], + "box_pose": [ + 0.9439681172370911, + -14.868224143981934, + 0.04178846627473831, + 0.37636619806289673, + -0.5887807607650757, + 0.4656730592250824, + -0.5429865717887878 + ], + "box_yaw_rad": -1.7038738186990332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00024317513653499977, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022450979436319193 + } + }, + { + "simulation_time_ns": 7880000000, + "phase": "straight_push", + "intended_face_center": [ + 0.923934807037004, + -14.877836556897252, + 0.09707272141829779 + ], + "intended_face_normal": [ + -0.06253948424342681, + -0.2829806093841505, + 0.9570844882916596 + ], + "commanded_contact_point": [ + 0.795392816066742, + -14.86217949060038, + 0.04412837782831179 + ], + "centerline_face_intersection": [ + 0.8062253785262403, + -14.862182533876483, + 0.04412837782831179 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.786681056022644, + -14.856179237365723, + 0.06145678460597992 + ], + "box_pose": [ + 0.943966805934906, + -14.868223190307617, + 0.04179447144269943, + 0.3763616383075714, + -0.5887727737426758, + 0.46568402647972107, + -0.5429888367652893 + ], + "box_yaw_rad": -1.7038751287447391, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 3.0432761045760966e-06, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019718423551161922 + } + }, + { + "simulation_time_ns": 7900000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9265397267674371, + -14.87796749785364, + 0.0970561527700104 + ], + "intended_face_normal": [ + -0.06160770366711077, + -0.28813340749929317, + 0.9556064884825695 + ], + "commanded_contact_point": [ + 0.7975044596195221, + -14.86237131630924, + 0.0441935697044877 + ], + "centerline_face_intersection": [ + 0.8087208976728966, + -14.86202843049541, + 0.0441935697044877 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7887766361236572, + -14.85338020324707, + 0.06030930578708649 + ], + "box_pose": [ + 0.9464930891990662, + -14.86811637878418, + 0.04179131239652634, + 0.37423577904701233, + -0.5913291573524475, + 0.4646298289299011, + -0.5425832867622375 + ], + "box_yaw_rad": -1.7083909106225201, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003428858138290293, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002121340514226117 + } + }, + { + "simulation_time_ns": 7920000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9269858569543414, + -14.878353976683005, + 0.09703690167949355 + ], + "intended_face_normal": [ + -0.05987760781209772, + -0.29287706028421745, + 0.9542733142618935 + ], + "commanded_contact_point": [ + 0.8000616478919983, + -14.862955681366646, + 0.04424806762450049 + ], + "centerline_face_intersection": [ + 0.8090789474908171, + -14.862152498235695, + 0.04424806762450049 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7872153520584106, + -14.850645065307617, + 0.05576331913471222 + ], + "box_pose": [ + 0.9468404650688171, + -14.86822509765625, + 0.04178671911358833, + 0.37335604429244995, + -0.5929158329963684, + 0.46278151869773865, + -0.5430370569229126 + ], + "box_yaw_rad": -1.708940256321463, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008031831309521221, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026236738372924996 + } + }, + { + "simulation_time_ns": 7940000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9269952060352276, + -14.878390433386969, + 0.09703771111858106 + ], + "intended_face_normal": [ + -0.059786782350187195, + -0.2932423578838659, + 0.9541669587187869 + ], + "commanded_contact_point": [ + 0.8029364395141602, + -14.863299096252367, + 0.04425476047773361 + ], + "centerline_face_intersection": [ + 0.8090835552115788, + -14.862168747275794, + 0.04425476047773361 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7832919955253601, + -14.853989601135254, + 0.050773441791534424 + ], + "box_pose": [ + 0.9468445777893066, + -14.868240356445312, + 0.041789524257183075, + 0.3732748329639435, + -0.5930294990539551, + 0.4626496732234955, + -0.5430812835693359 + ], + "box_yaw_rad": -1.7089832090436203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011303489765737153, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028952384096774192 + } + }, + { + "simulation_time_ns": 7960000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9268767302794082, + -14.878064273929509, + 0.09705764474121287 + ], + "intended_face_normal": [ + -0.06098201809614423, + -0.28991539912564335, + 0.9551075332862631 + ], + "commanded_contact_point": [ + 0.8063426661491394, + -14.863290662291757, + 0.044222663058506854 + ], + "centerline_face_intersection": [ + 0.809029202332409, + -14.86202662971825, + 0.044222663058506854 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7812119722366333, + -14.858684539794922, + 0.04854092001914978 + ], + "box_pose": [ + 0.946795642375946, + -14.8681058883667, + 0.041799601167440414, + 0.3739437758922577, + -0.5918672680854797, + 0.46390554308891296, + -0.5428175926208496 + ], + "box_yaw_rad": -1.7083900341992413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012640325735068117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00340638830212509 + } + }, + { + "simulation_time_ns": 7980000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9266352102803671, + -14.8773895237349, + 0.09709268515592007 + ], + "intended_face_normal": [ + -0.06342241880807009, + -0.28307528623122913, + 0.9569983562143491 + ], + "commanded_contact_point": [ + 0.81031445145607, + -14.863099950545443, + 0.044153106251132765 + ], + "centerline_face_intersection": [ + 0.8089169961538385, + -14.861730263346288, + 0.044153106251132765 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7850422263145447, + -14.859088897705078, + 0.04898490011692047 + ], + "box_pose": [ + 0.9466956257820129, + -14.867825508117676, + 0.04181618243455887, + 0.37530627846717834, + -0.5894926190376282, + 0.4664842486381531, + -0.5422508716583252 + ], + "box_yaw_rad": -1.7072485184842285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013696871991552243, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003976969655904267 + } + }, + { + "simulation_time_ns": 8000000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9280280012288411, + -14.87697060115864, + 0.09710091438658347 + ], + "intended_face_normal": [ + -0.06516396584268946, + -0.2822308783437446, + 0.9571308067226525 + ], + "commanded_contact_point": [ + 0.8146029758453369, + -14.862918450469401, + 0.044154008536990266 + ], + "centerline_face_intersection": [ + 0.8103025994279547, + -14.861358052028931, + 0.044154008536990266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7909027338027954, + -14.856590270996094, + 0.04845502972602844 + ], + "box_pose": [ + 0.948149561882019, + -14.867549896240234, + 0.04182201996445656, + 0.373710572719574, + -0.5904269218444824, + 0.46821466088294983, + -0.5408433079719543 + ], + "box_yaw_rad": -1.7129660211762332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015603984404687324, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004292363513154584 + } + }, + { + "simulation_time_ns": 8020000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9330051078918926, + -14.876629391665798, + 0.09708767210586824 + ], + "intended_face_normal": [ + -0.06617120749177374, + -0.28526018155676347, + 0.9561632545845988 + ], + "commanded_contact_point": [ + 0.8178550350666046, + -14.862619964591667, + 0.04419428965307546 + ], + "centerline_face_intersection": [ + 0.8151886688724274, + -14.860849266452568, + 0.04419428965307546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7960009574890137, + -14.855591773986816, + 0.050515249371528625 + ], + "box_pose": [ + 0.9531291127204895, + -14.867164611816406, + 0.04181718826293945, + 0.3706444501876831, + -0.593148410320282, + 0.46903368830680847, + -0.5392635464668274 + ], + "box_yaw_rad": -1.7215488348271464, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017706981390988134, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032659769696297145 + } + }, + { + "simulation_time_ns": 8040000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9385881529801035, + -14.877874713501203, + 0.09694424586974756 + ], + "intended_face_normal": [ + -0.057773719146638314, + -0.3086467610771102, + 0.9494206376169032 + ], + "commanded_contact_point": [ + 0.8202228891849518, + -14.862757703817357, + 0.044423853924898886 + ], + "centerline_face_intersection": [ + 0.8203516412729788, + -14.860800881079605, + 0.044423853924898886 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8008601665496826, + -14.856147766113281, + 0.057948142290115356 + ], + "box_pose": [ + 0.9582358598709106, + -14.867030143737793, + 0.04175595939159393, + 0.3664200007915497, + -0.6008086800575256, + 0.4597966969013214, + -0.5416201949119568 + ], + "box_yaw_rad": -1.7238662014280586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001956822737751766, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023829404052482963 + } + }, + { + "simulation_time_ns": 8060000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9436544832232703, + -14.880467562014354, + 0.09698737280100042 + ], + "intended_face_normal": [ + -0.04240285722110215, + -0.3420895196844622, + 0.9387102725618846 + ], + "commanded_contact_point": [ + 0.8226539540290833, + -14.863587951535164, + 0.04505946067834513 + ], + "centerline_face_intersection": [ + 0.8247640209092475, + -14.861543731056614, + 0.04505946067834513 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8050081729888916, + -14.859358787536621, + 0.061428770422935486 + ], + "box_pose": [ + 0.9624800086021423, + -14.867498397827148, + 0.041971150785684586, + 0.36299511790275574, + -0.6101927161216736, + 0.4440605640411377, + -0.5465434789657593 + ], + "box_yaw_rad": -1.7194663698104007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002044220478551468, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002646390654140721 + } + }, + { + "simulation_time_ns": 8080000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9482549623859373, + -14.88189532887862, + 0.09713396838688984 + ], + "intended_face_normal": [ + -0.03503984473088195, + -0.3417210053530564, + 0.9391480113849404 + ], + "commanded_contact_point": [ + 0.8252998340129852, + -14.865050316702296, + 0.04518184127074748 + ], + "centerline_face_intersection": [ + 0.8292183814087846, + -14.862991883529066, + 0.04518184127074748 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8092794418334961, + -14.86263656616211, + 0.06190052628517151 + ], + "box_pose": [ + 0.9667580127716064, + -14.868690490722656, + 0.04206444323062897, + 0.3685278594493866, + -0.6076757907867432, + 0.4396893382072449, + -0.5491726994514465 + ], + "box_yaw_rad": -1.7044914875506798, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002058433173229732, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030255858574251954 + } + }, + { + "simulation_time_ns": 8100000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9536472372905077, + -14.882943254160752, + 0.0971837372325532 + ], + "intended_face_normal": [ + -0.02943537349860037, + -0.34182592221625185, + 0.9393021844455376 + ], + "commanded_contact_point": [ + 0.8279353725910187, + -14.866051480544934, + 0.04522308151565258 + ], + "centerline_face_intersection": [ + 0.8345046519663741, + -14.864034004982464, + 0.04522308151565258 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8144803047180176, + -14.865057945251465, + 0.06250584125518799 + ], + "box_pose": [ + 0.9719138741493225, + -14.869505882263184, + 0.04209154099225998, + 0.37300169467926025, + -0.6053205728530884, + 0.43584030866622925, + -0.5518151521682739 + ], + "box_yaw_rad": -1.6911027527018296, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0020174755624697144, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028195909976284684 + } + }, + { + "simulation_time_ns": 8120000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9588206803810743, + -14.883470519072171, + 0.09675499859492318 + ], + "intended_face_normal": [ + -0.030289402487056805, + -0.34155422060420904, + 0.9393739118557249 + ], + "commanded_contact_point": [ + 0.8301786231994629, + -14.86658973037503, + 0.04479037503537517 + ], + "centerline_face_intersection": [ + 0.8398373831130926, + -14.864576299981277, + 0.04479037503537517 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.819922685623169, + -14.864677429199219, + 0.06442251801490784 + ], + "box_pose": [ + 0.9771891236305237, + -14.869917869567871, + 0.04172492027282715, + 0.3747183680534363, + -0.6026741862297058, + 0.4345216155052185, + -0.5545818209648132 + ], + "box_yaw_rad": -1.6817864654097008, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0020134303937520332, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002347151693000834 + } + }, + { + "simulation_time_ns": 8140000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9624814292138618, + -14.883244606440824, + 0.09671079026030857 + ], + "intended_face_normal": [ + -0.030833073657117183, + -0.3409515614039229, + 0.9395751691470089 + ], + "commanded_contact_point": [ + 0.8321674513816834, + -14.866477837827352, + 0.04473503347761248 + ], + "centerline_face_intersection": [ + 0.8435210663031812, + -14.864383725468098, + 0.04473503347761248 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8238309621810913, + -14.862366676330566, + 0.06465554237365723 + ], + "box_pose": [ + 0.9808780550956726, + -14.869736671447754, + 0.041679129004478455, + 0.3746391832828522, + -0.6025417447090149, + 0.43493643403053284, + -0.5544540882110596 + ], + "box_yaw_rad": -1.6821935828740944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0020941123592533033, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001992741872053579 + } + }, + { + "simulation_time_ns": 8160000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9646295051052246, + -14.882643980984815, + 0.0967180187245282 + ], + "intended_face_normal": [ + -0.033727222822506064, + -0.3355620551603007, + 0.9414142310342868 + ], + "commanded_contact_point": [ + 0.83412278175354, + -14.866291579075916, + 0.044640528055603236 + ], + "centerline_face_intersection": [ + 0.8458062890101143, + -14.864081238654844, + 0.044640528055603236 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.826311469078064, + -14.861175537109375, + 0.06078116595745087 + ], + "box_pose": [ + 0.9831836223602295, + -14.869482040405273, + 0.04165539890527725, + 0.3751283586025238, + -0.6009817123413086, + 0.43760448694229126, + -0.5537166595458984 + ], + "box_yaw_rad": -1.6829400512939552, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002210340421072063, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001966453777839877 + } + }, + { + "simulation_time_ns": 8180000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9650401835389416, + -14.881868201114141, + 0.09675798244132741 + ], + "intended_face_normal": [ + -0.03738334193404569, + -0.327303360334934, + 0.9441796327831753 + ], + "commanded_contact_point": [ + 0.83589280128479, + -14.866159631540864, + 0.04452751428488843 + ], + "centerline_face_intersection": [ + 0.8464094329079187, + -14.863762316231751, + 0.04452751428488843 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8270344138145447, + -14.859087944030762, + 0.057445794343948364 + ], + "box_pose": [ + 0.9838029146194458, + -14.86920166015625, + 0.04164988175034523, + 0.3765192925930023, + -0.5982121229171753, + 0.44111397862434387, + -0.5529865026473999 + ], + "box_yaw_rad": -1.6821050385312784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002397315309111649, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001778525064592609 + } + }, + { + "simulation_time_ns": 8200000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9648415567912442, + -14.87977287343376, + 0.09688601262994347 + ], + "intended_face_normal": [ + -0.0458499129123382, + -0.3079298519669962, + 0.9503036369653302 + ], + "commanded_contact_point": [ + 0.8373498964309692, + -14.865382256862855, + 0.04431677460988956 + ], + "centerline_face_intersection": [ + 0.8466369752165949, + -14.86273869924789, + 0.04431677460988956 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8272983431816101, + -14.856582641601562, + 0.05586686730384827 + ], + "box_pose": [ + 0.9840801954269409, + -14.868278503417969, + 0.04168513044714928, + 0.3795483112335205, + -0.5919674634933472, + 0.4494197964668274, + -0.5509441494941711 + ], + "box_yaw_rad": -1.6813018442475145, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002643557614964751, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001664887042909219 + } + }, + { + "simulation_time_ns": 8220000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9659322907835308, + -14.878982386090067, + 0.09692935828807611 + ], + "intended_face_normal": [ + -0.04712525864260897, + -0.30176005311883713, + 0.9522184615481919 + ], + "commanded_contact_point": [ + 0.8385967063903809, + -14.865163941600787, + 0.04425419531377858 + ], + "centerline_face_intersection": [ + 0.8478441607753768, + -14.8622895150536, + 0.04425419531377858 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8283941745758057, + -14.856517791748047, + 0.05600033700466156 + ], + "box_pose": [ + 0.9852681756019592, + -14.867785453796387, + 0.04170133173465729, + 0.3818991482257843, + -0.5890787243843079, + 0.45085808634757996, + -0.5512406229972839 + ], + "box_yaw_rad": -1.676601968670869, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002874426547186888, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012673250557143213 + } + }, + { + "simulation_time_ns": 8240000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9673543169433841, + -14.880305648127605, + 0.09682237294507894 + ], + "intended_face_normal": [ + -0.04045813450012403, + -0.3147330596700808, + 0.9483175056296176 + ], + "commanded_contact_point": [ + 0.8397162902355194, + -14.865916734011492, + 0.04436300445184236 + ], + "centerline_face_intersection": [ + 0.8489721646044796, + -14.862895131653723, + 0.04436300445184236 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.829390287399292, + -14.85921573638916, + 0.05820274353027344 + ], + "box_pose": [ + 0.9863355159759521, + -14.868268966674805, + 0.04164797067642212, + 0.3809206783771515, + -0.59256511926651, + 0.44444674253463745, + -0.5533832311630249 + ], + "box_yaw_rad": -1.6736113384619966, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003021602357769384, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001353515359512279 + } + }, + { + "simulation_time_ns": 8260000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9680813105804731, + -14.882153711082326, + 0.09663099103788808 + ], + "intended_face_normal": [ + -0.03331831903360438, + -0.3331886926649119, + 0.9422712817209913 + ], + "commanded_contact_point": [ + 0.8408306884765625, + -14.866614598008526, + 0.04450608973115002 + ], + "centerline_face_intersection": [ + 0.8493062559095055, + -14.863722259271592, + 0.04450608973115002 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8287661075592041, + -14.86695384979248, + 0.05469571053981781 + ], + "box_pose": [ + 0.9866459369659424, + -14.869041442871094, + 0.04156007245182991, + 0.3771679401397705, + -0.5989716053009033, + 0.43720704317092896, + -0.5548219084739685 + ], + "box_yaw_rad": -1.6769456504114961, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0028923387369338394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013226378926794358 + } + }, + { + "simulation_time_ns": 8280000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9682999362318124, + -14.882856957653313, + 0.09659406360217586 + ], + "intended_face_normal": [ + -0.03106411454848157, + -0.3400404521152858, + 0.9398977692466666 + ], + "commanded_contact_point": [ + 0.842659478187561, + -14.86631009332317, + 0.04460046111126135 + ], + "centerline_face_intersection": [ + 0.8493992928162069, + -14.864046477751565, + 0.04460046111126135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.826973557472229, + -14.879764556884766, + 0.04911690950393677 + ], + "box_pose": [ + 0.9867327809333801, + -14.869343757629395, + 0.04157580807805061, + 0.3756714165210724, + -0.6012203693389893, + 0.4345696270465851, + -0.5554768443107605 + ], + "box_yaw_rad": -1.6780687493747082, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022636155716057992, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018563676542760245 + } + }, + { + "simulation_time_ns": 8300000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9689428257560351, + -14.883509451501977, + 0.09658009117345012 + ], + "intended_face_normal": [ + -0.028072696298153232, + -0.3399416845444527, + 0.9400275034234653 + ], + "commanded_contact_point": [ + 0.8454259085655212, + -14.866060546479515, + 0.044579312000731834 + ], + "centerline_face_intersection": [ + 0.8499846641332577, + -14.864704435260197, + 0.044579312000731834 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8274194002151489, + -14.887392044067383, + 0.048711538314819336 + ], + "box_pose": [ + 0.9872564077377319, + -14.869854927062988, + 0.041556909680366516, + 0.37842807173728943, + -0.5994668006896973, + 0.43222835659980774, + -0.5573244094848633 + ], + "box_yaw_rad": -1.6692099103354652, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013561112193183809, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00277774331934313 + } + }, + { + "simulation_time_ns": 8320000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9721964088839237, + -14.884195320940737, + 0.0965899988695597 + ], + "intended_face_normal": [ + -0.024729556473360503, + -0.34034541399453744, + 0.9399752921145037 + ], + "commanded_contact_point": [ + 0.8484001207351685, + -14.865877947532768, + 0.04459210794078932 + ], + "centerline_face_intersection": [ + 0.8531506154236723, + -14.865367971048183, + 0.04459210794078932 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8310312032699585, + -14.886521339416504, + 0.050356656312942505 + ], + "box_pose": [ + 0.9903683662414551, + -14.870370864868164, + 0.04156229645013809, + 0.3810829222202301, + -0.5979503989219666, + 0.42965462803840637, + -0.5591315627098083 + ], + "box_yaw_rad": -1.6605938858930458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005099764845855523, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029798396167432686 + } + }, + { + "simulation_time_ns": 8340000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9772944596152717, + -14.883394875364031, + 0.09658693099537369 + ], + "intended_face_normal": [ + -0.02648948362433501, + -0.3403018847215957, + 0.9399431693660141 + ], + "commanded_contact_point": [ + 0.851017062664032, + -14.864456980638066, + 0.04459081704434549 + ], + "centerline_face_intersection": [ + 0.8582829776394134, + -14.864569933439437, + 0.04459081704434549 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8366594314575195, + -14.880143165588379, + 0.0536295622587204 + ], + "box_pose": [ + 0.9955341219902039, + -14.869668960571289, + 0.0415569543838501, + 0.3793773651123047, + -0.5991246104240417, + 0.43118658661842346, + -0.5578537583351135 + ], + "box_yaw_rad": -1.666418668989868, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00011295280137211508, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029778404324775445 + } + }, + { + "simulation_time_ns": 8360000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9829913673792275, + -14.88211713191005, + 0.09658015005956473 + ], + "intended_face_normal": [ + -0.03042748639674997, + -0.34004118396202543, + 0.9399181774826495 + ], + "commanded_contact_point": [ + 0.8533807444572449, + -14.862746255519745, + 0.04458541861851974 + ], + "centerline_face_intersection": [ + 0.8640544215947178, + -14.863306611523742, + 0.04458541861851974 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8427470922470093, + -14.874491691589355, + 0.05793464183807373 + ], + "box_pose": [ + 1.0013866424560547, + -14.86860466003418, + 0.04154915735125542, + 0.37580761313438416, + -0.6014222502708435, + 0.4344514310359955, + -0.5552583932876587 + ], + "box_yaw_rad": -1.6783657297478414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005603560039966718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029178076004114824 + } + }, + { + "simulation_time_ns": 8380000000, + "phase": "straight_push", + "intended_face_center": [ + 0.987464062853749, + -14.880992087306787, + 0.096562814995799 + ], + "intended_face_normal": [ + -0.034174549593959824, + -0.33956566457653814, + 0.9399612019024701 + ], + "commanded_contact_point": [ + 0.8555544364452362, + -14.861340374810982, + 0.044565703514440294 + ], + "centerline_face_intersection": [ + 0.8685887478080544, + -14.86220787187269, + 0.044565703514440294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8476245403289795, + -14.86988639831543, + 0.05904632806777954 + ], + "box_pose": [ + 1.0060083866119385, + -14.867687225341797, + 0.0415312722325325, + 0.3725639581680298, + -0.6034034490585327, + 0.4375080168247223, + -0.5528896450996399 + ], + "box_yaw_rad": -1.6891795052220846, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008674970617062864, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00258878854124053 + } + }, + { + "simulation_time_ns": 8400000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9915989478635104, + -14.8792334210163, + 0.09661385504574937 + ], + "intended_face_normal": [ + -0.04269349547181989, + -0.33149248963401234, + 0.9424912647850938 + ], + "commanded_contact_point": [ + 0.8575201380252838, + -14.859844880261596, + 0.044476784636834556 + ], + "centerline_face_intersection": [ + 0.8729450629713219, + -14.86089580037425, + 0.044476784636834556 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8522402048110962, + -14.86548137664795, + 0.05831505358219147 + ], + "box_pose": [ + 1.0105304718017578, + -14.866674423217773, + 0.04153889790177345, + 0.3690390884876251, + -0.6038739085197449, + 0.4450437128543854, + -0.5487097501754761 + ], + "box_yaw_rad": -1.7043025658766686, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001050920112654266, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024715163798448288 + } + }, + { + "simulation_time_ns": 8420000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9961266158540214, + -14.87661852342113, + 0.0968045947562089 + ], + "intended_face_normal": [ + -0.05633489848131745, + -0.30640199291285164, + 0.9502337844300683 + ], + "commanded_contact_point": [ + 0.8591128039360046, + -14.858525408671111, + 0.04423922086379761 + ], + "centerline_face_intersection": [ + 0.8779639090651635, + -14.859668867891354, + 0.04423922086379761 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8573510646820068, + -14.861982345581055, + 0.0573648065328598 + ], + "box_pose": [ + 1.015749216079712, + -14.865768432617188, + 0.04160846769809723, + 0.36942267417907715, + -0.5982978343963623, + 0.45861300826072693, + -0.5433605909347534 + ], + "box_yaw_rad": -1.7150108653262173, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001143459220242276, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020818324926678107 + } + }, + { + "simulation_time_ns": 8440000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9997143686401938, + -14.874347654133123, + 0.09698593622458943 + ], + "intended_face_normal": [ + -0.06612864192297607, + -0.2831841916330653, + 0.956783021698346 + ], + "commanded_contact_point": [ + 0.8605013835430145, + -14.857508305657255, + 0.044058269271924966 + ], + "centerline_face_intersection": [ + 0.8819366387949844, + -14.858682369276364, + 0.044058269271924966 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8613557815551758, + -14.859447479248047, + 0.05630245804786682 + ], + "box_pose": [ + 1.019851565361023, + -14.86496639251709, + 0.04170602560043335, + 0.37178847193717957, + -0.5920209288597107, + 0.46923473477363586, + -0.5395399332046509 + ], + "box_yaw_rad": -1.7190216470359359, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011740636191095869, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017307210475406654 + } + }, + { + "simulation_time_ns": 8460000000, + "phase": "straight_push", + "intended_face_center": [ + 1.001333677920821, + -14.873806210086618, + 0.09701245421294838 + ], + "intended_face_normal": [ + -0.06594960041888598, + -0.282439550496715, + 0.9570154834038327 + ], + "commanded_contact_point": [ + 0.8619186329841614, + -14.857038234757065, + 0.044071927860139665 + ], + "centerline_face_intersection": [ + 0.8835743852991015, + -14.85818211755578, + 0.044071927860139665 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.862984836101532, + -14.857427597045898, + 0.05512014031410217 + ], + "box_pose": [ + 1.0214712619781494, + -14.864442825317383, + 0.041729651391506195, + 0.37241998314857483, + -0.5914545059204102, + 0.46913066506385803, + -0.5398160815238953 + ], + "box_yaw_rad": -1.7173617912227985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011438827987143422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014932344714307458 + } + }, + { + "simulation_time_ns": 8480000000, + "phase": "straight_push", + "intended_face_center": [ + 1.001360787311544, + -14.873782686215351, + 0.09702950992349216 + ], + "intended_face_normal": [ + -0.0660133447142428, + -0.2822873896815139, + 0.9570560987905523 + ], + "commanded_contact_point": [ + 0.8632736551761627, + -14.857125908769982, + 0.04408673679412836 + ], + "centerline_face_intersection": [ + 0.8836075239561362, + -14.858167010971158, + 0.04408673679412836 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.863557755947113, + -14.855597496032715, + 0.05581960082054138 + ], + "box_pose": [ + 1.0215030908584595, + -14.864425659179688, + 0.04174733906984329, + 0.3724837899208069, + -0.5913572907447815, + 0.46916109323501587, + -0.5398522615432739 + ], + "box_yaw_rad": -1.717172493023626, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010411022011766117, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013579363673909804 + } + }, + { + "simulation_time_ns": 8500000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0013547390938164, + -14.873778680989394, + 0.09704175840382998 + ], + "intended_face_normal": [ + -0.06607433903658944, + -0.28225001083086454, + 0.957062689426948 + ], + "commanded_contact_point": [ + 0.8644449162483215, + -14.857365987122822, + 0.04409862069127411 + ], + "centerline_face_intersection": [ + 0.883604697403029, + -14.85816507348189, + 0.04409862069127411 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8602126836776733, + -14.8521146774292, + 0.057410046458244324 + ], + "box_pose": [ + 1.021500587463379, + -14.864423751831055, + 0.04176054522395134, + 0.37248027324676514, + -0.5913297533988953, + 0.4691838026046753, + -0.5398648381233215 + ], + "box_yaw_rad": -1.7171474490255179, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007990863590689639, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011956719205821345 + } + }, + { + "simulation_time_ns": 8520000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0013499077152792, + -14.873774124414563, + 0.09705164824832714 + ], + "intended_face_normal": [ + -0.06612077170356656, + -0.2822205562445603, + 0.9570682287009689 + ], + "commanded_contact_point": [ + 0.8663339066505432, + -14.857725503115264, + 0.04410820411222082 + ], + "centerline_face_intersection": [ + 0.8836023128769838, + -14.858162146286448, + 0.04410820411222082 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8547120094299316, + -14.849101066589355, + 0.05729666352272034 + ], + "box_pose": [ + 1.021498441696167, + -14.864420890808105, + 0.04177112132310867, + 0.37247729301452637, + -0.5913093686103821, + 0.46920186281204224, + -0.5398736000061035 + ], + "box_yaw_rad": -1.7171312773699106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004366431711852652, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019229218212042992 + } + }, + { + "simulation_time_ns": 8540000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0013428604518337, + -14.873764192801023, + 0.09706074097557682 + ], + "intended_face_normal": [ + -0.06619225075029078, + -0.28211235953082436, + 0.957095254090703 + ], + "commanded_contact_point": [ + 0.8686516630649567, + -14.858065836729242, + 0.04411580183925135 + ], + "centerline_face_intersection": [ + 0.883599163049566, + -14.858158199937591, + 0.04411580183925135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.853916347026825, + -14.8495512008667, + 0.05611397325992584 + ], + "box_pose": [ + 1.0214955806732178, + -14.86441707611084, + 0.04178069904446602, + 0.3724922835826874, + -0.5912604331970215, + 0.46924760937690735, + -0.53987717628479 + ], + "box_yaw_rad": -1.7170952215583768, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 9.236320834958003e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023426223534352515 + } + }, + { + "simulation_time_ns": 8560000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0013393032659927, + -14.87376055611576, + 0.09706814117001836 + ], + "intended_face_normal": [ + -0.06622807912890849, + -0.2820965470914256, + 0.9570973725186 + ], + "commanded_contact_point": [ + 0.8708655285835266, + -14.858320231001706, + 0.04412308484573735 + ], + "centerline_face_intersection": [ + 0.883597620564282, + -14.858155437970531, + 0.04412308484573735 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8581867218017578, + -14.851726531982422, + 0.057947903871536255 + ], + "box_pose": [ + 1.0214941501617432, + -14.86441421508789, + 0.041788749396800995, + 0.3724900186061859, + -0.5912440419197083, + 0.46925783157348633, + -0.5398877263069153 + ], + "box_yaw_rad": -1.717074069048157, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00016479303117478313, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002228445651650205 + } + }, + { + "simulation_time_ns": 8580000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0013364473582318, + -14.87375922285923, + 0.0970737811302897 + ], + "intended_face_normal": [ + -0.06625492755479456, + -0.28209015683026983, + 0.9570973148921631 + ], + "commanded_contact_point": [ + 0.8728200840950012, + -14.858539670905456, + 0.04412872799380865 + ], + "centerline_face_intersection": [ + 0.8835961435930104, + -14.858154458212763, + 0.04412872799380865 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8639298677444458, + -14.852643966674805, + 0.06102699041366577 + ], + "box_pose": [ + 1.021492838859558, + -14.864413261413574, + 0.04179489612579346, + 0.37248507142066956, + -0.5912350416183472, + 0.4692651629447937, + -0.5398945212364197 + ], + "box_yaw_rad": -1.7170660293557494, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00038521269269310384, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001966843400963549 + } + }, + { + "simulation_time_ns": 8600000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0040616683045989, + -14.873909027157646, + 0.09705768283217198 + ], + "intended_face_normal": [ + -0.06520889085248527, + -0.2873920162243717, + 0.9555906434792654 + ], + "commanded_contact_point": [ + 0.8749426651000977, + -14.85871859231875, + 0.04419597628623493 + ], + "centerline_face_intersection": [ + 0.8862088680445526, + -14.858010972348335, + 0.04419597628623493 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8661377429962158, + -14.849950790405273, + 0.05991561710834503 + ], + "box_pose": [ + 1.0241354703903198, + -14.86430835723877, + 0.04179239645600319, + 0.3704686164855957, + -0.593723714351654, + 0.4680352509021759, + -0.5396184325218201 + ], + "box_yaw_rad": -1.721108675248622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007076199704155801, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002131169943520603 + } + }, + { + "simulation_time_ns": 8620000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0045669251799192, + -14.874304457283543, + 0.09703723082547377 + ], + "intended_face_normal": [ + -0.06345074834735343, + -0.2923215992620207, + 0.9542128107897945 + ], + "commanded_contact_point": [ + 0.8775265562534332, + -14.859281672103956, + 0.044251743723288335 + ], + "centerline_face_intersection": [ + 0.8866271917079048, + -14.858133706028626, + 0.044251743723288335 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8647130727767944, + -14.847125053405762, + 0.05549217760562897 + ], + "box_pose": [ + 1.0245412588119507, + -14.864413261413574, + 0.04178713262081146, + 0.3695840537548065, + -0.595335066318512, + 0.4660974442958832, + -0.5401268005371094 + ], + "box_yaw_rad": -1.7215596500125685, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011479660753301619, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002645120478131113 + } + }, + { + "simulation_time_ns": 8640000000, + "phase": "straight_push", + "intended_face_center": [ + 1.004581622395038, + -14.874361062352817, + 0.09703624724839556 + ], + "intended_face_normal": [ + -0.06330445897300763, + -0.2928720598089676, + 0.9540537445259076 + ], + "commanded_contact_point": [ + 0.8804251599311829, + -14.859627377452972, + 0.04425955943094601 + ], + "centerline_face_intersection": [ + 0.886634063397526, + -14.858159860523592, + 0.04425955943094601 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8608368039131165, + -14.850171089172363, + 0.05067148804664612 + ], + "box_pose": [ + 1.0245474576950073, + -14.8644380569458, + 0.04178877919912338, + 0.3694629967212677, + -0.5955120325088501, + 0.4658981263637543, + -0.5401865243911743 + ], + "box_yaw_rad": -1.7216386412188671, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014675169293793305, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029191568224896896 + } + }, + { + "simulation_time_ns": 8660000000, + "phase": "straight_push", + "intended_face_center": [ + 1.004472425872605, + -14.874049372982967, + 0.09705501212240522 + ], + "intended_face_normal": [ + -0.06440421451354439, + -0.2896973411092869, + 0.9549489385749474 + ], + "commanded_contact_point": [ + 0.8838490891456604, + -14.859629291828469, + 0.044228803638920566 + ], + "centerline_face_intersection": [ + 0.8865840001872545, + -14.858023791383403, + 0.044228803638920566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8586149215698242, + -14.854574203491211, + 0.04850345849990845 + ], + "box_pose": [ + 1.0245022773742676, + -14.864309310913086, + 0.04179816693067551, + 0.3701047897338867, + -0.5944107174873352, + 0.46709075570106506, + -0.5399301052093506 + ], + "box_yaw_rad": -1.7210721955601276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016055004450669958, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034240678803623965 + } + }, + { + "simulation_time_ns": 8680000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0042447417717206, + -14.873390629052393, + 0.09708976860967537 + ], + "intended_face_normal": [ + -0.06670372669894675, + -0.28300359979465917, + 0.9567964469209223 + ], + "commanded_contact_point": [ + 0.8878363418579102, + -14.859459307197563, + 0.04416135899572495 + ], + "centerline_face_intersection": [ + 0.886478410435868, + -14.857735334239836, + 0.04416135899572495 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8623716831207275, + -14.85477352142334, + 0.048918336629867554 + ], + "box_pose": [ + 1.024407982826233, + -14.864036560058594, + 0.04181475192308426, + 0.37144628167152405, + -0.5921040773391724, + 0.4696018099784851, + -0.5393648743629456 + ], + "box_yaw_rad": -1.7199546450153338, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001723972957726831, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003991444318286696 + } + }, + { + "simulation_time_ns": 8700000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0051560388102003, + -14.87306107332731, + 0.09710120954388862 + ], + "intended_face_normal": [ + -0.06794389470448436, + -0.2815526213817332, + 0.9571373556236615 + ], + "commanded_contact_point": [ + 0.8921418833732605, + -14.859428915469971, + 0.04415394141983649 + ], + "centerline_face_intersection": [ + 0.8873977213112539, + -14.857486044259915, + 0.04415394141983649 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8683353662490845, + -14.85201358795166, + 0.048472315073013306 + ], + "box_pose": [ + 1.0253692865371704, + -14.86384105682373, + 0.0418219193816185, + 0.37079286575317383, + -0.5922663807868958, + 0.4708888828754425, + -0.5385136604309082 + ], + "box_yaw_rad": -1.722862628842274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0019428712100570086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004305655167096335 + } + }, + { + "simulation_time_ns": 8720000000, + "phase": "straight_push", + "intended_face_center": [ + 1.010399526755957, + -14.872755018787027, + 0.09708380519793085 + ], + "intended_face_normal": [ + -0.06873617476287563, + -0.2860011824126545, + 0.9557607751504236 + ], + "commanded_contact_point": [ + 0.8954076218605042, + -14.859125122979156, + 0.04421268724708281 + ], + "centerline_face_intersection": [ + 0.8925103298843821, + -14.856933902622218, + 0.04421268724708281 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8735121488571167, + -14.850725173950195, + 0.05062316358089447 + ], + "box_pose": [ + 1.030594825744629, + -14.863423347473145, + 0.041816700249910355, + 0.36714380979537964, + -0.5956540107727051, + 0.4713860750198364, + -0.5368397235870361 + ], + "box_yaw_rad": -1.7326094217722487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021912203569379347, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003280364128684321 + } + }, + { + "simulation_time_ns": 8740000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0160039246954848, + -14.873984394528208, + 0.09692975136056733 + ], + "intended_face_normal": [ + -0.060736592152572655, + -0.31074735882252114, + 0.948550075639659 + ], + "commanded_contact_point": [ + 0.8977879333496094, + -14.859212212134743, + 0.04445751747595624 + ], + "centerline_face_intersection": [ + 0.8976754822680549, + -14.856794360485814, + 0.04445751747595624 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8783780336380005, + -14.851128578186035, + 0.058059245347976685 + ], + "box_pose": [ + 1.0357310771942139, + -14.863226890563965, + 0.04175277054309845, + 0.3619738519191742, + -0.6041420102119446, + 0.46217015385627747, + -0.5388749241828918 + ], + "box_yaw_rad": -1.737261259261735, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002417851648929103, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023944538306589543 + } + }, + { + "simulation_time_ns": 8760000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0210065741123404, + -14.876639996717113, + 0.0971328931306283 + ], + "intended_face_normal": [ + -0.04615751546160496, + -0.3435953461622283, + 0.9379828644353161 + ], + "commanded_contact_point": [ + 0.9002319622039795, + -14.860173521818577, + 0.045245220032065776 + ], + "centerline_face_intersection": [ + 0.9020846337849018, + -14.857632865909254, + 0.045245220032065776 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8824341297149658, + -14.854562759399414, + 0.06145915389060974 + ], + "box_pose": [ + 1.0399600267410278, + -14.863791465759277, + 0.04213229566812515, + 0.35862353444099426, + -0.6131840944290161, + 0.44675663113594055, + -0.5438777804374695 + ], + "box_yaw_rad": -1.7326620505189982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025406559093227106, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027418732038752064 + } + }, + { + "simulation_time_ns": 8780000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0256042787790314, + -14.878173200424781, + 0.09725459087592579 + ], + "intended_face_normal": [ + -0.037883866208971995, + -0.3417855346360099, + 0.939014209347178 + ], + "commanded_contact_point": [ + 0.9028988528251648, + -14.861846929970483, + 0.045309865468981525 + ], + "centerline_face_intersection": [ + 0.9065488012707322, + -14.859266185421168, + 0.045309865468981525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8866510391235352, + -14.858263969421387, + 0.06184658408164978 + ], + "box_pose": [ + 1.0442005395889282, + -14.86513900756836, + 0.04217579960823059, + 0.36534565687179565, + -0.609961986541748, + 0.44230055809020996, + -0.5466619729995728 + ], + "box_yaw_rad": -1.7154486853434274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025807445493139644, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031490918469844085 + } + }, + { + "simulation_time_ns": 8800000000, + "phase": "straight_push", + "intended_face_center": [ + 1.031009771949797, + -14.879348175823926, + 0.0973264763665006 + ], + "intended_face_normal": [ + -0.03128396336741801, + -0.3415460502653058, + 0.9393442865919184 + ], + "commanded_contact_point": [ + 0.905554895401001, + -14.86301153425108, + 0.045363491627939796 + ], + "centerline_face_intersection": [ + 0.9118386340483395, + -14.860454408702775, + 0.045363491627939796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8918222188949585, + -14.861044883728027, + 0.062492772936820984 + ], + "box_pose": [ + 1.049325942993164, + -14.866072654724121, + 0.042211487889289856, + 0.37060508131980896, + -0.607295572757721, + 0.43803977966308594, + -0.549513578414917 + ], + "box_yaw_rad": -1.7003583039745553, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025571255483038888, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029006449386235742 + } + }, + { + "simulation_time_ns": 8820000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0362164097160684, + -14.879991094439552, + 0.09681227891430202 + ], + "intended_face_normal": [ + -0.03250841664787174, + -0.3413758311175723, + 0.9393645864199911 + ], + "commanded_contact_point": [ + 0.9078106927871704, + -14.863673286253073, + 0.044848171222558464 + ], + "centerline_face_intersection": [ + 0.9172501633573018, + -14.861106743562372, + 0.044848171222558464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8973095417022705, + -14.860871315002441, + 0.06445653736591339 + ], + "box_pose": [ + 1.0546643733978271, + -14.8665771484375, + 0.04177481681108475, + 0.37246203422546387, + -0.6042600870132446, + 0.43655940890312195, + -0.5527727603912354 + ], + "box_yaw_rad": -1.6896936575567643, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002566542690701114, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024066766878403792 + } + }, + { + "simulation_time_ns": 8840000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0398407755876875, + -14.879985680378276, + 0.09672449677419123 + ], + "intended_face_normal": [ + -0.032104185064103063, + -0.34065259331318565, + 0.9396409276400632 + ], + "commanded_contact_point": [ + 0.9098020839691162, + -14.863804397681161, + 0.04474510233955029 + ], + "centerline_face_intersection": [ + 0.9209006117961025, + -14.861141337829807, + 0.04474510233955029 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9012749195098877, + -14.858728408813477, + 0.06462866067886353 + ], + "box_pose": [ + 1.0582876205444336, + -14.866557121276855, + 0.04169023036956787, + 0.37356799840927124, + -0.6031978130340576, + 0.43602827191352844, + -0.5536051392555237 + ], + "box_yaw_rad": -1.6859173855103458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002663059851354321, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019983623897459777 + } + }, + { + "simulation_time_ns": 8860000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0420511579454155, + -14.87961191464923, + 0.09670869002552984 + ], + "intended_face_normal": [ + -0.03317948173545915, + -0.3372299329970243, + 0.9408373990442698 + ], + "commanded_contact_point": [ + 0.9117530632019043, + -14.863740846156063, + 0.044663108755876056 + ], + "centerline_face_intersection": [ + 0.9231905153647222, + -14.860956908053844, + 0.044663108755876056 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9037338495254517, + -14.857934951782227, + 0.06052638590335846 + ], + "box_pose": [ + 1.0605700016021729, + -14.866360664367676, + 0.04165562987327576, + 0.37464913725852966, + -0.6016769409179688, + 0.4370618462562561, + -0.5537145137786865 + ], + "box_yaw_rad": -1.6837819163583314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027839381022189986, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001953735322625986 + } + }, + { + "simulation_time_ns": 8880000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0424394643901638, + -14.879202547027168, + 0.09670811887652674 + ], + "intended_face_normal": [ + -0.03470494769402421, + -0.3330112544185795, + 0.9422838592044513 + ], + "commanded_contact_point": [ + 0.9135149168968201, + -14.86374559706243, + 0.04458252180403974 + ], + "centerline_face_intersection": [ + 0.9236767406337792, + -14.860780910809096, + 0.04458252180403974 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9043791890144348, + -14.85626220703125, + 0.0569813996553421 + ], + "box_pose": [ + 1.0610536336898804, + -14.866182327270508, + 0.041632093489170074, + 0.37575483322143555, + -0.5999694466590881, + 0.4385232925415039, + -0.5536624789237976 + ], + "box_yaw_rad": -1.6819595555278017, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0029646862533328306, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017637021489486067 + } + }, + { + "simulation_time_ns": 8900000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0422146378692814, + -14.877588139774167, + 0.09681675414976765 + ], + "intended_face_normal": [ + -0.04161682792864241, + -0.31707198583278107, + 0.9474880107596313 + ], + "commanded_contact_point": [ + 0.9149602699279785, + -14.863251988820444, + 0.04440327195177452 + ], + "centerline_face_intersection": [ + 0.9238118421796521, + -14.860048237742472, + 0.04440327195177452 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9045958518981934, + -14.854071617126465, + 0.05526457726955414 + ], + "box_pose": [ + 1.0612220764160156, + -14.865523338317871, + 0.04165751487016678, + 0.3784407079219818, + -0.5946725606918335, + 0.44524896144866943, + -0.5521780848503113 + ], + "box_yaw_rad": -1.6805290332153568, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003203751077973111, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015377987484621748 + } + }, + { + "simulation_time_ns": 8920000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0434002663546305, + -14.876951196808411, + 0.09684908577530327 + ], + "intended_face_normal": [ + -0.04244546330185983, + -0.3111210732594536, + 0.949421964256409 + ], + "commanded_contact_point": [ + 0.9161915230751038, + -14.863166417832582, + 0.04432862044293376 + ], + "centerline_face_intersection": [ + 0.9251020953796057, + -14.859740489496525, + 0.04432862044293376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.905741810798645, + -14.854186058044434, + 0.05535465478897095 + ], + "box_pose": [ + 1.0624850988388062, + -14.865156173706055, + 0.04165823757648468, + 0.3810606896877289, + -0.5916922688484192, + 0.44635435938835144, + -0.5526850819587708 + ], + "box_yaw_rad": -1.6748991597307663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0034259283360567865, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012364786913010915 + } + }, + { + "simulation_time_ns": 8940000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0449937592411889, + -14.878486555415357, + 0.0967044676397249 + ], + "intended_face_normal": [ + -0.034712501940450835, + -0.32617083124148927, + 0.9446733561270939 + ], + "commanded_contact_point": [ + 0.9172887253761292, + -14.864010476811085, + 0.04444668751795934 + ], + "centerline_face_intersection": [ + 0.9263422449462334, + -14.86044332018426, + 0.04444668751795934 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9068090319633484, + -14.856912612915039, + 0.057650938630104065 + ], + "box_pose": [ + 1.063663125038147, + -14.86572265625, + 0.04158712550997734, + 0.3797658085823059, + -0.5958458781242371, + 0.4389675557613373, + -0.5550253987312317 + ], + "box_yaw_rad": -1.6720087606691005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003567156626825609, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013893265572829609 + } + }, + { + "simulation_time_ns": 8960000000, + "phase": "straight_push", + "intended_face_center": [ + 1.045501043532143, + -14.879965567975038, + 0.09663189253323037 + ], + "intended_face_normal": [ + -0.029692651498532285, + -0.34051459750791757, + 0.9397702958746983 + ], + "commanded_contact_point": [ + 0.9183555889129639, + -14.86455338630658, + 0.04464534166010574 + ], + "centerline_face_intersection": [ + 0.9265719097013677, + -14.861128859128106, + 0.04464534166010574 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.906104326248169, + -14.864694595336914, + 0.054505497217178345 + ], + "box_pose": [ + 1.0638777017593384, + -14.866361618041992, + 0.041617218405008316, + 0.3767225742340088, + -0.6006148457527161, + 0.43338528275489807, + -0.5563444495201111 + ], + "box_yaw_rad": -1.674326042253148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0034245271784732996, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001213429847464712 + } + }, + { + "simulation_time_ns": 8980000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0454667947473382, + -14.879890971394154, + 0.0966061557137974 + ], + "intended_face_normal": [ + -0.030032453638071388, + -0.33977532465747906, + 0.9400269029502368 + ], + "commanded_contact_point": [ + 0.9201071906089783, + -14.863856679879742, + 0.0446054097582729 + ], + "centerline_face_intersection": [ + 0.9265567685500893, + -14.861095157908371, + 0.0446054097582729 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9039837121963501, + -14.877670288085938, + 0.04934293031692505 + ], + "box_pose": [ + 1.0638633966445923, + -14.86633014678955, + 0.04158751294016838, + 0.376865029335022, + -0.6003410816192627, + 0.4336877763271332, + -0.5563075542449951 + ], + "box_yaw_rad": -1.674155715618598, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002761521971370657, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001885498051832046 + } + }, + { + "simulation_time_ns": 9000000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0458277539765646, + -14.880112018893398, + 0.09659962932861618 + ], + "intended_face_normal": [ + -0.028677122055206894, + -0.3381416987145993, + 0.940658188483571 + ], + "commanded_contact_point": [ + 0.9227978038787842, + -14.86320985487753, + 0.04456396169314692 + ], + "centerline_face_intersection": [ + 0.9269141726729074, + -14.861406574914463, + 0.04456396169314692 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9042015075683594, + -14.88536262512207, + 0.049122124910354614 + ], + "box_pose": [ + 1.0641824007034302, + -14.866547584533691, + 0.0415678545832634, + 0.37903276085853577, + -0.5986027717590332, + 0.4327393174171448, + -0.5574455857276917 + ], + "box_yaw_rad": -1.667877019605993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001803279963066375, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027675802234524145 + } + }, + { + "simulation_time_ns": 9020000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0489474688323726, + -14.880799843800851, + 0.09660733896708999 + ], + "intended_face_normal": [ + -0.024725958766914857, + -0.3400693305954512, + 0.9400752844924938 + ], + "commanded_contact_point": [ + 0.925732855796814, + -14.862891223511491, + 0.044603916624028135 + ], + "centerline_face_intersection": [ + 0.9299042663029734, + -14.86198776638896, + 0.044603916624028135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9076249599456787, + -14.884483337402344, + 0.050773486495018005 + ], + "box_pose": [ + 1.0671207904815674, + -14.866987228393555, + 0.041577115654945374, + 0.3812249004840851, + -0.5978115200996399, + 0.42968931794166565, + -0.559156596660614 + ], + "box_yaw_rad": -1.6602933280618, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009034571225310391, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029525670365726955 + } + }, + { + "simulation_time_ns": 9040000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0541671430676909, + -14.87984121373502, + 0.09660150685312097 + ], + "intended_face_normal": [ + -0.027181543133227848, + -0.3399977376130572, + 0.9400333141485895 + ], + "commanded_contact_point": [ + 0.9283250021934509, + -14.861262750157685, + 0.04460040624062255 + ], + "centerline_face_intersection": [ + 0.9351726766530538, + -14.861033096729452, + 0.04460040624062255 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9133201837539673, + -14.877878189086914, + 0.05385933816432953 + ], + "box_pose": [ + 1.072435736656189, + -14.866164207458496, + 0.04156896471977234, + 0.3788808286190033, + -0.5994024276733398, + 0.4317990839481354, + -0.5574186444282532 + ], + "box_yaw_rad": -1.668251084114978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00022965342823255425, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030612351638588924 + } + }, + { + "simulation_time_ns": 9060000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0600850666307968, + -14.878378467706664, + 0.09659139649214316 + ], + "intended_face_normal": [ + -0.03187702750226151, + -0.3396764291221075, + 0.9400020831243268 + ], + "commanded_contact_point": [ + 0.9306828427314758, + -14.859330697917507, + 0.04459202352866576 + ], + "centerline_face_intersection": [ + 0.9411745892483676, + -14.85958812495964, + 0.04459202352866576 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9196228981018066, + -14.87176513671875, + 0.05800759792327881 + ], + "box_pose": [ + 1.0785386562347412, + -14.86495590209961, + 0.0415579192340374, + 0.3746241331100464, + -0.6021287441253662, + 0.43568170070648193, + -0.5543277859687805 + ], + "box_yaw_rad": -1.682467543636629, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00025742704213186404, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00304832874398282 + } + }, + { + "simulation_time_ns": 9080000000, + "phase": "straight_push", + "intended_face_center": [ + 1.064772815345176, + -14.877106942327002, + 0.09657126777346264 + ], + "intended_face_normal": [ + -0.0362284419446226, + -0.33913515043672504, + 0.9400397614154983 + ], + "commanded_contact_point": [ + 0.9328737306594849, + -14.857751346016414, + 0.04456981050873696 + ], + "centerline_face_intersection": [ + 0.9459255928240992, + -14.85834654222877, + 0.04456981050873696 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9247210025787354, + -14.866790771484375, + 0.059030890464782715 + ], + "box_pose": [ + 1.0833982229232788, + -14.863924980163574, + 0.04153752699494362, + 0.3708329200744629, + -0.604436457157135, + 0.4392213225364685, + -0.5515651106834412 + ], + "box_yaw_rad": -1.6950632655985067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005951962123560843, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027008953624372825 + } + }, + { + "simulation_time_ns": 9100000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0690379354488773, + -14.875286744193886, + 0.0966217190232323 + ], + "intended_face_normal": [ + -0.04485345358688164, + -0.3309239961467938, + 0.9425908777609493 + ], + "commanded_contact_point": [ + 0.9348748970031738, + -14.856178285467399, + 0.044479138187929604 + ], + "centerline_face_intersection": [ + 0.9503990470276743, + -14.856980571678813, + 0.044479138187929604 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9294799566268921, + -14.862157821655273, + 0.05818089842796326 + ], + "box_pose": [ + 1.0880523920059204, + -14.86286449432373, + 0.04154430329799652, + 0.3672013282775879, + -0.6049450039863586, + 0.44687938690185547, + -0.5472692251205444 + ], + "box_yaw_rad": -1.7105681606364926, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008022862114145095, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025470390055399614 + } + }, + { + "simulation_time_ns": 9120000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0736050110506694, + -14.872610746500897, + 0.09681057023969272 + ], + "intended_face_normal": [ + -0.05846882134646947, + -0.3057333798713664, + 0.9503202377855935 + ], + "commanded_contact_point": [ + 0.9365100908279419, + -14.85478300856648, + 0.04424041388949904 + ], + "centerline_face_intersection": [ + 0.9554363181274858, + -14.855698077547574, + 0.04424041388949904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9346305727958679, + -14.85851764678955, + 0.05716867744922638 + ], + "box_pose": [ + 1.0933046340942383, + -14.861908912658691, + 0.041612934321165085, + 0.3674769699573517, + -0.5994402170181274, + 0.4605366289615631, + -0.5417916178703308 + ], + "box_yaw_rad": -1.7216701200020281, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009150689810935813, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021627865741810958 + } + }, + { + "simulation_time_ns": 9140000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0772289137384823, + -14.870349615430726, + 0.09699251849592484 + ], + "intended_face_normal": [ + -0.06771386235082133, + -0.2834590374651711, + 0.9565907212074762 + ], + "commanded_contact_point": [ + 0.9379379796981812, + -14.85370792010767, + 0.044075489290905115 + ], + "centerline_face_intersection": [ + 0.95941034653929, + -14.85466912655348, + 0.044075489290905115 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9386401176452637, + -14.855822563171387, + 0.0560896098613739 + ], + "box_pose": [ + 1.097410798072815, + -14.861061096191406, + 0.04171324521303177, + 0.36968404054641724, + -0.593519389629364, + 0.47074854373931885, + -0.5380188226699829 + ], + "box_yaw_rad": -1.7258183355100896, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009612064458098484, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001794960150878407 + } + }, + { + "simulation_time_ns": 9160000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0788496918729482, + -14.869739686901234, + 0.09702018190420747 + ], + "intended_face_normal": [ + -0.06795143299975948, + -0.2817819100036285, + 0.9570693769542622 + ], + "commanded_contact_point": [ + 0.9393934059143066, + -14.853211414957647, + 0.04407667424861292 + ], + "centerline_face_intersection": [ + 0.9610658452856702, + -14.854151973963473, + 0.04407667424861292 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9402667284011841, + -14.853635787963867, + 0.054904401302337646 + ], + "box_pose": [ + 1.0990536212921143, + -14.860528945922852, + 0.0417359359562397, + 0.3703862726688385, + -0.5927096009254456, + 0.47108709812164307, + -0.53813236951828 + ], + "box_yaw_rad": -1.7243800627459405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009405590058256034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015377854982765583 + } + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/raw-validation.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/raw-validation.json new file mode 100644 index 0000000000000000000000000000000000000000..55c5ad3c151c160ff61d4af8de709e86a00ddea5 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/raw-validation.json @@ -0,0 +1,12 @@ +{ + "contract_valid": true, + "diagnostic_only": false, + "raw_actions": 459, + "raw_boundaries": 460, + "physics_steps": 4590, + "controller_steps": 918, + "sensor_updates": 919, + "sensor_rate": "observed timestamps, not assumed 200Hz", + "video_validation": "passed", + "published": false +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/review/terminal_pre_reset_ego.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/review/terminal_pre_reset_ego.png new file mode 100644 index 0000000000000000000000000000000000000000..ace4f49b5bc625d72413e6ed3832689549ceb192 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/review/terminal_pre_reset_ego.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:968902a9e6bddce7d89a5b0a36c403ddf47dcfe55229c1d123c426734309eac0 +size 263123 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/review/terminal_pre_reset_task_centric.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/review/terminal_pre_reset_task_centric.png new file mode 100644 index 0000000000000000000000000000000000000000..7020357b2759a2eefa7be2a4d215c714a8370f1f --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/review/terminal_pre_reset_task_centric.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eb608752c37e69767bbee3bfbed498d94e7773bd256c33075612b164e903cb3 +size 681328 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/camera_index.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/camera_index.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a4dc0f05272bf64fc0427b446ae0278b03467fff --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/camera_index.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1fb09138182deedf3f17a523f564a227856c19bc00ffad015417ab62883c09c +size 12144 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/contact_sensor.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/contact_sensor.parquet new file mode 100644 index 0000000000000000000000000000000000000000..51f8f1df32d807b19003dabbc90aa0156fcce884 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/contact_sensor.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:287e6e3408b427a94987760ada2ed297b5b1b30116b6d982572613b5876806d9 +size 72433 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/controller_100hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/controller_100hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7e1f140ff4076ce52db4392cd9a68716a80584c2 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/controller_100hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8690ef06c70c9a608e340e380800b11b036c75b7e7167bef2fb47678395dc391 +size 336127 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/physics_500hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/physics_500hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..17adc4215334de3a2284016899d0e7575dc5bf1f --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/physics_500hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33db3cd7f7b1c768ed0bd5bede513f1e857d961910bd7c3474e236ced843762e +size 1822254 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/policy_50hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/policy_50hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2ee6b1a3a3be7c1c61f26a911b851d652eaf0823 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/streams/policy_50hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0aa4132453d7ac57c78926baa642e1b536007bdbbea247d590f621f051345f10 +size 191408 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/summary.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..831e27a7fab722b3b227901a48dec112cda3dffa --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0083/summary.json @@ -0,0 +1,111 @@ +{ + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 459, + "n_boundaries": 460, + "initial_geometry": { + "center": [ + 0.6011076166396196, + -14.854392126136387, + 0.13983054458908187 + ], + "face_center": [ + 0.5457892592474938, + -14.854392118703876, + 0.13983054449001223 + ], + "face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "footprint_xy": [ + [ + 0.5457892486581172, + -14.931607444863223 + ], + [ + 0.6564259846211221, + -14.931607444863223 + ], + [ + 0.6564259846211221, + -14.777176807409553 + ], + [ + 0.5457892486581172, + -14.777176807409553 + ] + ], + "projected_box_corners": [ + [ + 0.5457892698368704, + -14.777176807409553 + ], + [ + 0.5457892694072397, + -14.777176807461261 + ], + [ + 0.6564259846211221, + -14.777176822274576 + ], + [ + 0.6564259841914915, + -14.777176822326284 + ], + [ + 0.5457892490877478, + -14.931607429946492 + ], + [ + 0.5457892486581172, + -14.9316074299982 + ], + [ + 0.6564259638719996, + -14.931607444811515 + ], + [ + 0.6564259634423689, + -14.931607444863223 + ] + ], + "yaw_rad": -1.5707964611537577, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17782151699066162, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0083", + "seed": 202610070083, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.004470327843510972, + "approach_continuity_verified": true +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/cameras/ego.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/cameras/ego.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..abb1844c2b399db1ef194b2925dc82070cd7336a --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/cameras/ego.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81f62f252e1245c3d8a5d8a9bfb3cc33f9d1d127cd5f67b47f536a0981ba3191 +size 2860633 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/cameras/observer.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/cameras/observer.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a0b2094a743a167029fbebe7f56b00d1341bb7a5 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/cameras/observer.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:081532dff74cee9c4390f1516cdb18b835e8710bb2193dd0eaeedca7a91dbc05 +size 1004606 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/cameras/task_centric.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/cameras/task_centric.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03c27ee202b8412c98972bbf48f8e0375be2706a --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/cameras/task_centric.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14986c79572cb0145d8e19f8125ea6e2199abf07c3ccb48ca5f5f57a52f0551f +size 4076017 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/capture.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/capture.json new file mode 100644 index 0000000000000000000000000000000000000000..33654ee4360f5bd1a43a70d5d451a3b9d16d00a6 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/capture.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09058becb7328e8d61f76f5a4814ada9ec90774dbf49a8564576e3ca9bcc5a1a +size 20638653 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/manifest.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..cfbcb4dbe066a4e9a18b5325a428a23b0f374742 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/manifest.json @@ -0,0 +1,289 @@ +{ + "dataset_schema_version": "wam-quadruped-v2.1.0", + "profile_hash": "905d76c38f7c95a8bad986b945d1535f9ef0668476cc9f825005fc8d4da4603e", + "diagnostic_only": false, + "episode_uid": "push_box__ep0084", + "n_actions": 477, + "n_boundaries": 478, + "reset_epoch": 0, + "streams": { + "policy": "streams/policy_50hz.parquet", + "controller": "streams/controller_100hz.parquet", + "physics": "streams/physics_500hz.parquet", + "contact_sensor": "streams/contact_sensor.parquet", + "camera_index": "streams/camera_index.parquet" + }, + "stream_sha256": { + "policy": "748c406d4d3e419b61c2a6a73d2e486abbe754a8c6a42a28e35f712be5b70433", + "controller": "9e6919e6dc76607f5fabc96e3dd273b23bbbab8e1cdc333099459e1176c5126d", + "physics": "557624a0e6f0af137862b26f4d7236efe64d6760db907c52cd5f20b5514e4340", + "contact_sensor": "cd3d4c405c132af87d5bba406c252865eaa01427e36e33948bc2f433a6bc1e9b", + "camera_index": "5b5db09f89042d068ec16671e8986359914d26cccb8266dbe05e40ce76bdca1f" + }, + "videos": { + "observation.images.ego": { + "path": "cameras/ego.mp4", + "sha256": "81f62f252e1245c3d8a5d8a9bfb3cc33f9d1d127cd5f67b47f536a0981ba3191", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0084__a05/raw/push_box__ep0084/cameras/ego.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + }, + "observation.images.task_centric": { + "path": "cameras/task_centric.mp4", + "sha256": "14986c79572cb0145d8e19f8125ea6e2199abf07c3ccb48ca5f5f57a52f0551f", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0084__a05/raw/push_box__ep0084/cameras/task_centric.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + } + }, + "observer": { + "present": true, + "source_key": "approved_fixed_observer", + "canonical_key": "monitor.images.observer", + "reason": "monitor only", + "path": "cameras/observer.mp4", + "crf": 23, + "sha256": "081532dff74cee9c4390f1516cdb18b835e8710bb2193dd0eaeedca7a91dbc05" + }, + "terminal": { + "simulation_time_ns": 9540000000, + "state": { + "observation.state.base.position": [ + 0.6028311252593994, + 15.040824890136719, + 0.2794394791126251 + ], + "observation.state.base.orientation": [ + -0.006536477245390415, + 0.02534395456314087, + 0.0017646423075348139, + 0.9996559023857117 + ], + "observation.state.base.linear_velocity": [ + 0.0998578667640686, + -0.018649736419320107, + -0.005861740559339523 + ], + "observation.state.base.angular_velocity": [ + 0.5681260228157043, + -0.6274990439414978, + -0.07906253635883331 + ], + "observation.state.projected_gravity": [ + 0.050693538039922714, + 0.012979010120034218, + -0.9986299276351929 + ], + "observation.state.joint_position": [ + -0.04545532912015915, + 0.5908439755439758, + 0.006833972875028849, + -0.04316415265202522, + 0.10242772102355957, + 0.8473417162895203, + 0.9489947557449341, + 0.9660040736198425, + -1.8011916875839233, + -1.9836374521255493, + -1.79250168800354, + -1.841155767440796 + ], + "observation.state.joint_velocity": [ + 0.19632890820503235, + -0.7198329567909241, + -0.5408177375793457, + -0.24349913001060486, + 0.591372013092041, + 0.8394170999526978, + 1.308079481124878, + -1.4482226371765137, + 0.976362407207489, + 0.527115523815155, + -0.5297781229019165, + -5.6999382972717285 + ], + "observation.state.fl_ee_position": [ + 0.37281274795532227, + 0.13079749047756195, + 0.06970633566379547 + ], + "observation.state.fl_ee_velocity": [ + 0.033256083726882935, + 0.1404983103275299, + 0.006269324570894241 + ], + "observation.state.fl_contact_force": [ + -0.12052430212497711, + 0.025682132691144943, + -0.006396091543138027 + ], + "task.object.position": [ + 1.084494948387146, + 15.190520286560059, + 0.050563015043735504 + ], + "task.object.orientation": [ + -0.6658548712730408, + 0.2517887353897095, + 0.1056075394153595, + 0.694324791431427 + ], + "task.object.linear_velocity": [ + 0.1290779858827591, + 0.014968214556574821, + -0.007911250926554203 + ], + "task.object.angular_velocity": [ + -0.0287252776324749, + -0.1497095227241516, + 0.03588027134537697 + ], + "observation.state.foot_contact": [ + true, + true, + true, + false + ], + "task.goal.position": [ + 1.1515489477309349, + 15.144353502270869, + 0.0 + ], + "task.progress": [ + 0.4718972595038482 + ], + "task.success": [ + true + ], + "task.contact.fl_object": [ + false + ], + "task.contact.body_object": [ + false + ] + } + }, + "extensions": { + "task_profile_version": "push-box-v2-2", + "contact_diagnostics": { + "path": "metadata/contact_provenance.json", + "sha256": "f63f3a6900a9b233e1ace92387b9e148a1682c4d005d5719151c5ec34720951e" + }, + "provenance": { + "path": "metadata/provenance.json", + "sha256": "98739b54beba7f1d03cadf9f7cc994c8826372838f233f7e055b676957f10fed" + }, + "origin": "real_isaac_acquisition", + "purpose": "demonstration", + "task_review": { + "path": "metadata/task_review.json", + "sha256": "6da5a4cf560afb95082a65939a0577f5a5458e68c26e0bfcc873ce16e33f99af" + } + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/metadata/contact_provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/metadata/contact_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..50bc84f7839815abbdb00ebb3245e52e46aed567 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/metadata/contact_provenance.json @@ -0,0 +1,3832 @@ +{ + "version": "push-box-contact-diagnostic-v1", + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns_are_invalid_placeholders": true, + "rows": [ + { + "simulation_time_ns": 0, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 20000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 40000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 60000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 80000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/metadata/provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/metadata/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..c228ceb3ef01689d71ec0b890c3b26fdf249c160 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/metadata/provenance.json @@ -0,0 +1,317 @@ +{ + "work_id": "QLM-DATA-001", + "scenario": { + "id": "push_box__ep0084", + "seed": 202610070084, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "task_profile": { + "task_profile_version": "push-box-v2-2", + "asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a", + "scale": 1, + "initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command", + "initial_floor_clearance": 0.02, + "goal_x": [ + 0.9515489477309348, + 1.3515489477309348 + ], + "goal_y": [ + 14.894353502270869, + 15.394353502270869 + ], + "goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal", + "success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks", + "fall": { + "base_height_lt": 0.1, + "projected_gravity_error_gt": 0.75 + }, + "contact": { + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact" + }, + "observer": { + "position": [ + 1.8, + 2.0, + 1.5 + ], + "look_at": [ + 0.65, + 0.1, + 0.2 + ], + "fps": 25, + "model_input": false + }, + "policy_rgb_fps": 50, + "policy_fps": 50, + "controller_fps": 100, + "physics_fps": 500, + "force_zero": true, + "success_policy_ticks": 3, + "initial_box_yaw_rad": 0.0, + "push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)", + "robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment", + "expert": { + "settle_seconds": 2.1, + "normal_approach_seconds": 1.0, + "standoff_m": 0.1, + "penetration_m": 0.015, + "align_base_speed": 0.14, + "push_base_speed": 0.12, + "face_distance_for_foot_approach": 0.405, + "approach_foot_x": 0.28, + "push_foot_x": 0.38, + "motion": "coordinated", + "transition_s": 0.45, + "leg_finish_max_x": 0.4, + "lateral_tracking_gain": 2.0, + "lateral_tracking_limit_m": 0.015, + "corner_recovery": false + }, + "initial_face_distance_x": 0.54, + "asset_id": "cardboard-box-01", + "source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00", + "goal_color": [ + 0.05, + 0.8, + 0.15 + ], + "scaleup_recovery": false, + "recovery_progress_m": 0.12, + "episode_scenario": { + "work_id": "QLM-DATA-001", + "authorization": "qlm-scaleup-push-v1", + "selected_face": "local_x_min" + }, + "instruction": "Push the box into the target area.", + "scaleup_metadata": { + "episode_uid": "push_box__ep0084", + "task_id": "push_box", + "split": "train", + "difficulty": "randomized", + "trajectory_type": "normal", + "recovery_type": null, + "appearance_preset": "ap_03", + "asset_id": "cardboard-box-01", + "initial_condition_id": "ic_0084", + "goal_condition_id": "gc_0084", + "environment_seed": 202610070084 + }, + "scaleup_motion_revision": "continuous-v2", + "canonical_goal_position": [ + 1.1515489477309349, + 15.144353502270869, + 0.0 + ], + "environment_origin": [ + -0.0, + 15.0, + 0.0 + ], + "initial_center_x_world": 0.606096454578362 + }, + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706", + "capture_sha256": "09058becb7328e8d61f76f5a4814ada9ec90774dbf49a8564576e3ca9bcc5a1a", + "terminal_gate": { + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 477, + "n_boundaries": 478, + "initial_geometry": { + "center": [ + 0.6060964613964599, + 15.141352076104809, + 0.13983054459371896 + ], + "face_center": [ + 0.5288811474850219, + 15.14135207623397, + 0.13983054466655895 + ], + "face_normal": [ + -1.0, + 1.6727412784348836e-09, + 9.433359655884173e-10 + ], + "footprint_xy": [ + [ + 0.5288811472793371, + 15.086033716591045 + ], + [ + 0.6833117755135828, + 15.086033716591045 + ], + [ + 0.6833117755135828, + 15.196670435618573 + ], + [ + 0.5288811472793371, + 15.196670435618573 + ] + ], + "projected_box_corners": [ + [ + 0.5288811472793371, + 15.086033717047387 + ], + [ + 0.5288811475056402, + 15.086033716849366 + ], + [ + 0.5288811474644037, + 15.196670435618573 + ], + [ + 0.5288811476907068, + 15.196670435420552 + ], + [ + 0.6833117751022131, + 15.086033716789066 + ], + [ + 0.6833117753285162, + 15.086033716591045 + ], + [ + 0.6833117752872797, + 15.196670435360252 + ], + [ + 0.6833117755135828, + 15.19667043516223 + ] + ], + "yaw_rad": -1.6727412784348836e-09, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17782151699066162, + 15.142000198364258, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0084", + "seed": 202610070084, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.005108871240930007, + "approach_continuity_verified": true + }, + "collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench", + "fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4", + "initial_geometry": { + "center": [ + 0.6060964613964599, + 15.141352076104809, + 0.13983054459371896 + ], + "face_center": [ + 0.5288811474850219, + 15.14135207623397, + 0.13983054466655895 + ], + "face_normal": [ + -1.0, + 1.6727412784348836e-09, + 9.433359655884173e-10 + ], + "footprint_xy": [ + [ + 0.5288811472793371, + 15.086033716591045 + ], + [ + 0.6833117755135828, + 15.086033716591045 + ], + [ + 0.6833117755135828, + 15.196670435618573 + ], + [ + 0.5288811472793371, + 15.196670435618573 + ] + ], + "projected_box_corners": [ + [ + 0.5288811472793371, + 15.086033717047387 + ], + [ + 0.5288811475056402, + 15.086033716849366 + ], + [ + 0.5288811474644037, + 15.196670435618573 + ], + [ + 0.5288811476907068, + 15.196670435420552 + ], + [ + 0.6833117751022131, + 15.086033716789066 + ], + [ + 0.6833117753285162, + 15.086033716591045 + ], + [ + 0.6833117752872797, + 15.196670435360252 + ], + [ + 0.6833117755135828, + 15.19667043516223 + ] + ], + "yaw_rad": -1.6727412784348836e-09, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17782151699066162, + 15.142000198364258, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/metadata/task_review.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/metadata/task_review.json new file mode 100644 index 0000000000000000000000000000000000000000..42179e9541a41831b0dde1540118cbcfaa323843 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/metadata/task_review.json @@ -0,0 +1,84992 @@ +{ + "boundaries": [ + { + "simulation_time_ns": 0, + "center": [ + 0.6060964613964599, + 15.141352076104809, + 0.13983054459371896 + ], + "face_center": [ + 0.5288811474850219, + 15.14135207623397, + 0.13983054466655895 + ], + "face_normal": [ + -1.0, + 1.6727412784348836e-09, + 9.433359655884173e-10 + ], + "footprint_xy": [ + [ + 0.5288811472793371, + 15.086033716591045 + ], + [ + 0.6833117755135828, + 15.086033716591045 + ], + [ + 0.6833117755135828, + 15.196670435618573 + ], + [ + 0.5288811472793371, + 15.196670435618573 + ] + ], + "projected_box_corners": [ + [ + 0.5288811472793371, + 15.086033717047387 + ], + [ + 0.5288811475056402, + 15.086033716849366 + ], + [ + 0.5288811474644037, + 15.196670435618573 + ], + [ + 0.5288811476907068, + 15.196670435420552 + ], + [ + 0.6833117751022131, + 15.086033716789066 + ], + [ + 0.6833117753285162, + 15.086033716591045 + ], + [ + 0.6833117752872797, + 15.196670435360252 + ], + [ + 0.6833117755135828, + 15.19667043516223 + ] + ], + "yaw_rad": -1.6727412784348836e-09, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17782151699066162, + 15.142000198364258, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + { + "simulation_time_ns": 20000000, + "center": [ + 0.6060964613668384, + 15.141352076124717, + 0.13767234981897167 + ], + "face_center": [ + 0.5288811474554004, + 15.141352076251918, + 0.13767235002501207 + ], + "face_normal": [ + -1.0, + 1.6473520299087674e-09, + 2.6683879566792137e-09 + ], + "footprint_xy": [ + [ + 0.5288811470442031, + 15.086033716473274 + ], + [ + 0.6833117756894737, + 15.086033716473274 + ], + [ + 0.6833117756894737, + 15.19667043577616 + ], + [ + 0.5288811470442031, + 15.19667043577616 + ] + ], + "projected_box_corners": [ + [ + 0.5288811470442031, + 15.086033717204973 + ], + [ + 0.52888114768434, + 15.086033716727675 + ], + [ + 0.5288811472264607, + 15.19667043577616 + ], + [ + 0.5288811478665977, + 15.196670435298861 + ], + [ + 0.6833117748670791, + 15.086033716950572 + ], + [ + 0.683311775507216, + 15.086033716473274 + ], + [ + 0.6833117750493367, + 15.196670435521758 + ], + [ + 0.6833117756894737, + 15.19667043504446 + ] + ], + "yaw_rad": -1.6473520299087674e-09, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17250202596187592, + 15.139248847961426, + 0.07268685102462769 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5288811474850219, + 15.14135207623397, + 0.13983054466655895 + ], + "intended_face_normal": [ + -1.0, + 1.6727412784348836e-09, + 9.433359655884173e-10 + ], + "commanded_contact_point": [ + 0.19339999556541443, + 15.142000198364258, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5288811474850219, + 15.141352076104809, + 0.13983054459371896 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17782151699066162, + 15.142000198364258, + 0.08869010210037231 + ], + "box_pose": [ + 0.610397458076477, + 15.142912864685059, + 0.15702493488788605, + 4.1272207873532807e-10, + 4.7166798244902e-10, + -8.363706394121095e-10, + 1.0 + ], + "box_yaw_rad": -1.6727412784348836e-09, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 40000000, + "center": [ + 0.6060964613668384, + 15.141352076124717, + 0.13159014285447887 + ], + "face_center": [ + 0.5288811474554004, + 15.141352076251918, + 0.13159014306051928 + ], + "face_normal": [ + -1.0, + 1.6473520299087674e-09, + 2.6683879566792137e-09 + ], + "footprint_xy": [ + [ + 0.5288811470442031, + 15.086033716473274 + ], + [ + 0.6833117756894737, + 15.086033716473274 + ], + [ + 0.6833117756894737, + 15.19667043577616 + ], + [ + 0.5288811470442031, + 15.19667043577616 + ] + ], + "projected_box_corners": [ + [ + 0.5288811470442031, + 15.086033717204973 + ], + [ + 0.52888114768434, + 15.086033716727675 + ], + [ + 0.5288811472264607, + 15.19667043577616 + ], + [ + 0.5288811478665977, + 15.196670435298861 + ], + [ + 0.6833117748670791, + 15.086033716950572 + ], + [ + 0.683311775507216, + 15.086033716473274 + ], + [ + 0.6833117750493367, + 15.196670435521758 + ], + [ + 0.6833117756894737, + 15.19667043504446 + ] + ], + "yaw_rad": -1.6473520299087674e-09, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1628374308347702, + 15.122453689575195, + 0.0555151104927063 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5288811474554004, + 15.141352076251918, + 0.13767235002501207 + ], + "intended_face_normal": [ + -1.0, + 1.6473520299087674e-09, + 2.6683879566792137e-09 + ], + "commanded_contact_point": [ + 0.19308926165103912, + 15.141892433166504, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5288811474554004, + 15.141352076124717, + 0.13767234981897167 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17250202596187592, + 15.139248847961426, + 0.07268685102462769 + ], + "box_pose": [ + 0.610397458076477, + 15.142912864685059, + 0.15486674010753632, + 9.947986878700021e-10, + 1.334193977520215e-09, + -8.236760162816381e-10, + 1.0 + ], + "box_yaw_rad": -1.6473520299087674e-09, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032889041262225643 + } + } + }, + { + "simulation_time_ns": 60000000, + "center": [ + 0.6060964613668384, + 15.141352076124717, + 0.1215839535081654 + ], + "face_center": [ + 0.5288811474554004, + 15.141352076251918, + 0.1215839537142058 + ], + "face_normal": [ + -1.0, + 1.6473520299087674e-09, + 2.6683879566792137e-09 + ], + "footprint_xy": [ + [ + 0.5288811470442031, + 15.086033716473274 + ], + [ + 0.6833117756894737, + 15.086033716473274 + ], + [ + 0.6833117756894737, + 15.19667043577616 + ], + [ + 0.5288811470442031, + 15.19667043577616 + ] + ], + "projected_box_corners": [ + [ + 0.5288811470442031, + 15.086033717204973 + ], + [ + 0.52888114768434, + 15.086033716727675 + ], + [ + 0.5288811472264607, + 15.19667043577616 + ], + [ + 0.5288811478665977, + 15.196670435298861 + ], + [ + 0.6833117748670791, + 15.086033716950572 + ], + [ + 0.683311775507216, + 15.086033716473274 + ], + [ + 0.6833117750493367, + 15.196670435521758 + ], + [ + 0.6833117756894737, + 15.19667043504446 + ] + ], + "yaw_rad": -1.6473520299087674e-09, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16142897307872772, + 15.103404998779297, + 0.04510343074798584 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5288811474554004, + 15.141352076251918, + 0.13159014306051928 + ], + "intended_face_normal": [ + -1.0, + 1.6473520299087674e-09, + 2.6683879566792137e-09 + ], + "commanded_contact_point": [ + 0.19264748692512512, + 15.141780853271484, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5288811474554004, + 15.141352076124717, + 0.13159014285447887 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1628374308347702, + 15.122453689575195, + 0.0555151104927063 + ], + "box_pose": [ + 0.610397458076477, + 15.142912864685059, + 0.14878453314304352, + 9.947986878700021e-10, + 1.334193977520215e-09, + -8.236760162816381e-10, + 1.0 + ], + "box_yaw_rad": -1.6473520299087674e-09, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004556478703734995 + } + } + }, + { + "simulation_time_ns": 80000000, + "center": [ + 0.6042568901159105, + 15.143271060932841, + 0.11921176029279175 + ], + "face_center": [ + 0.5270512548784585, + 15.14320950148535, + 0.1179907768926147 + ], + "face_normal": [ + -0.9998746534398986, + -0.0007972440228924457, + -0.015812710436914852 + ], + "footprint_xy": [ + [ + 0.525122622347632, + 15.08605884197262 + ], + [ + 0.6833911578841891, + 15.08605884197262 + ], + [ + 0.6833911578841891, + 15.200483279893064 + ], + [ + 0.525122622347632, + 15.200483279893064 + ] + ], + "projected_box_corners": [ + [ + 0.528979887409285, + 15.08605884197262 + ], + [ + 0.5251839859140762, + 15.089736478824197 + ], + [ + 0.5289185238428408, + 15.196682524146501 + ], + [ + 0.525122622347632, + 15.20036016099808 + ], + [ + 0.6833911578841891, + 15.086181960867602 + ], + [ + 0.6795952563889803, + 15.089859597719181 + ], + [ + 0.6833297943177448, + 15.196805643041484 + ], + [ + 0.679533892822536, + 15.200483279893064 + ] + ], + "yaw_rad": 0.0007973437982435752, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16617229580879211, + 15.095696449279785, + 0.035692960023880005 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5288811474554004, + 15.141352076251918, + 0.1215839537142058 + ], + "intended_face_normal": [ + -1.0, + 1.6473520299087674e-09, + 2.6683879566792137e-09 + ], + "commanded_contact_point": [ + 0.19215553998947144, + 15.141850471496582, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 0.5288811474554004, + 15.141352076124717, + 0.1215839535081654 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16142897307872772, + 15.103404998779297, + 0.04510343074798584 + ], + "box_pose": [ + 0.610397458076477, + 15.142912864685059, + 0.13877834379673004, + 9.947986878700021e-10, + 1.334193977520215e-09, + -8.236760162816381e-10, + 1.0 + ], + "box_yaw_rad": -1.6473520299087674e-09, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004968485562898443 + } + } + }, + { + "simulation_time_ns": 100000000, + "center": [ + 0.6034591435753658, + 15.143722312225984, + 0.11947800422179913 + ], + "face_center": [ + 0.5262652334577181, + 15.143294814326142, + 0.1177110325675908 + ], + "face_normal": [ + -0.9997228037716083, + -0.00553643931736781, + -0.022883694499189172 + ], + "footprint_xy": [ + [ + 0.5232246539475389, + 15.085976480065177 + ], + [ + 0.6836936332031928, + 15.085976480065177 + ], + [ + 0.6836936332031928, + 15.201468144386789 + ], + [ + 0.5232246539475389, + 15.201468144386789 + ] + ], + "projected_box_corners": [ + [ + 0.5293058129678975, + 15.085976480065177 + ], + [ + 0.5237945442901571, + 15.089993638677413 + ], + [ + 0.5287359226252791, + 15.196595989974869 + ], + [ + 0.5232246539475389, + 15.200613148587104 + ], + [ + 0.6836936332031928, + 15.086831475864862 + ], + [ + 0.6781823645254524, + 15.090848634477098 + ], + [ + 0.6831237428605745, + 15.197450985774553 + ], + [ + 0.6776124741828342, + 15.201468144386789 + ] + ], + "yaw_rad": 0.005537917809023376, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17279337346553802, + 15.097407341003418, + 0.023126333951950073 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5270512548784585, + 15.14320950148535, + 0.1179907768926147 + ], + "intended_face_normal": [ + -0.9998746534398986, + -0.0007972440228924457, + -0.015812710436914852 + ], + "commanded_contact_point": [ + 0.19214674830436707, + 15.141874313354492, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5270318963171461, + 15.143271060932841, + 0.11921176029279175 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16617229580879211, + 15.095696449279785, + 0.035692960023880005 + ], + "box_pose": [ + 0.6082844138145447, + 15.145098686218262, + 0.1364460438489914, + -0.0076681869104504585, + -0.007909427396953106, + 0.00033799157245084643, + 0.9999392628669739 + ], + "box_yaw_rad": 0.0007973437982435752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.541119909967446e-05 + } + } + }, + { + "simulation_time_ns": 120000000, + "center": [ + 0.6034934953139807, + 15.143189050223345, + 0.1191968547289704 + ], + "face_center": [ + 0.5263022904199072, + 15.142376112844415, + 0.11744707693428831 + ], + "face_normal": [ + -0.9996877689652063, + -0.010528188486849272, + -0.022661020282699253 + ], + "footprint_xy": [ + [ + 0.5230018109885508, + 15.085876113475974 + ], + [ + 0.6839851796394105, + 15.085876113475974 + ], + [ + 0.6839851796394105, + 15.200501986970718 + ], + [ + 0.5230018109885508, + 15.200501986970718 + ] + ], + "projected_box_corners": [ + [ + 0.5296027698512635, + 15.085876113475974 + ], + [ + 0.5241414370400599, + 15.088250946987104 + ], + [ + 0.5284631437997545, + 15.196501278701724 + ], + [ + 0.5230018109885508, + 15.198876112212856 + ], + [ + 0.6839851796394105, + 15.087501988233836 + ], + [ + 0.6785238468282069, + 15.089876821744967 + ], + [ + 0.6828455535879014, + 15.198127153459586 + ], + [ + 0.6773842207766978, + 15.200501986970718 + ] + ], + "yaw_rad": 0.010531087410914112, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17098765075206757, + 15.097074508666992, + 0.02326679229736328 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5262652334577181, + 15.143294814326142, + 0.1177110325675908 + ], + "intended_face_normal": [ + -0.9997228037716083, + -0.00553643931736781, + -0.022883694499189172 + ], + "commanded_contact_point": [ + 0.19255657494068146, + 15.141756057739258, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5262224199354415, + 15.143722312225984, + 0.11947800422179913 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17279337346553802, + 15.097407341003418, + 0.023126333951950073 + ], + "box_pose": [ + 0.6073558926582336, + 15.145594596862793, + 0.13673754036426544, + -0.008404206484556198, + -0.011465503834187984, + 0.002672140719369054, + 0.9998953938484192 + ], + "box_yaw_rad": 0.005537917809023376, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00042654690564365163 + } + } + }, + { + "simulation_time_ns": 140000000, + "center": [ + 0.6045251171375737, + 15.14274622248874, + 0.1189755675622449 + ], + "face_center": [ + 0.5273216177063957, + 15.141924815499227, + 0.11790334140827355 + ], + "face_normal": [ + -0.9998469930424226, + -0.010637876709990238, + -0.013886185261140374 + ], + "footprint_xy": [ + [ + 0.5250643958690983, + 15.085870316147515 + ], + [ + 0.6839858384060492, + 15.085870316147515 + ], + [ + 0.6839858384060492, + 15.199622128829963 + ], + [ + 0.5250643958690983, + 15.199622128829963 + ] + ], + "projected_box_corners": [ + [ + 0.5295788395436931, + 15.085870316147515 + ], + [ + 0.5262317164410036, + 15.087350963957448 + ], + [ + 0.5284115189717877, + 15.196498667041006 + ], + [ + 0.5250643958690983, + 15.197979314850937 + ], + [ + 0.6839858384060492, + 15.087513130126542 + ], + [ + 0.6806387153033597, + 15.088993777936475 + ], + [ + 0.6828185178341438, + 15.19814148102003 + ], + [ + 0.6794713947314542, + 15.199622128829963 + ] + ], + "yaw_rad": 0.010639103194851871, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17007261514663696, + 15.097168922424316, + 0.0233268141746521 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5263022904199072, + 15.142376112844415, + 0.11744707693428831 + ], + "intended_face_normal": [ + -0.9996877689652063, + -0.010528188486849272, + -0.022661020282699253 + ], + "commanded_contact_point": [ + 0.1922013908624649, + 15.14195728302002, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5262540648552436, + 15.143189050223345, + 0.1191968547289704 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17098765075206757, + 15.097074508666992, + 0.02326679229736328 + ], + "box_pose": [ + 0.6073856353759766, + 15.144965171813965, + 0.1364675909280777, + -0.005009304266422987, + -0.01135762594640255, + 0.0052076722495257854, + 0.9999094009399414 + ], + "box_yaw_rad": 0.010531087410914112, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00040822462332848805 + } + } + }, + { + "simulation_time_ns": 160000000, + "center": [ + 0.6049451095747712, + 15.14343303570281, + 0.11885530246118782 + ], + "face_center": [ + 0.5277384078530697, + 15.142594531256366, + 0.11806358153541602 + ], + "face_normal": [ + -0.9998884652629102, + -0.010859302435842433, + -0.010253418469293034 + ], + "footprint_xy": [ + [ + 0.5258990829754324, + 15.085845098041103 + ], + [ + 0.6839911361741101, + 15.085845098041103 + ], + [ + 0.6839911361741101, + 15.201020973364516 + ], + [ + 0.5258990829754324, + 15.201020973364516 + ] + ], + "projected_box_corners": [ + [ + 0.529577732730707, + 15.085845098041103 + ], + [ + 0.5270867666382157, + 15.088721724282598 + ], + [ + 0.5283900490679236, + 15.196467338230136 + ], + [ + 0.5258990829754324, + 15.19934396447163 + ], + [ + 0.6839911361741101, + 15.087522106933989 + ], + [ + 0.6815001700816189, + 15.090398733175483 + ], + [ + 0.6828034525113268, + 15.198144347123021 + ], + [ + 0.6803124864188356, + 15.201020973364516 + ] + ], + "yaw_rad": 0.010860086788658373, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.169284850358963, + 15.097190856933594, + 0.023377269506454468 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5273216177063957, + 15.141924815499227, + 0.11790334140827355 + ], + "intended_face_normal": [ + -0.9998469930424226, + -0.010637876709990238, + -0.013886185261140374 + ], + "commanded_contact_point": [ + 0.1902972012758255, + 15.141729354858398, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5272979869379014, + 15.14274622248874, + 0.1189755675622449 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17007261514663696, + 15.097168922424316, + 0.0233268141746521 + ], + "box_pose": [ + 0.6085690855979919, + 15.144458770751953, + 0.13621781766414642, + -0.003123017493635416, + -0.006959936115890741, + 0.005297430325299501, + 0.9999569654464722 + ], + "box_yaw_rad": 0.010639103194851871, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019177823727486696 + } + } + }, + { + "simulation_time_ns": 180000000, + "center": [ + 0.6055164421879546, + 15.143944594515434, + 0.11884688133031293 + ], + "face_center": [ + 0.5283070402720124, + 15.143083164575073, + 0.11843348475401877 + ], + "face_normal": [ + -0.999923434935426, + -0.011156205896517743, + -0.005353815912324287 + ], + "footprint_xy": [ + [ + 0.5270309428919742, + 15.085829234523132 + ], + [ + 0.6840019414839351, + 15.085829234523132 + ], + [ + 0.6840019414839351, + 15.202059954507734 + ], + [ + 0.5270309428919742, + 15.202059954507734 + ] + ], + "projected_box_corners": [ + [ + 0.5295831376520506, + 15.085829234523132 + ], + [ + 0.5282554362986013, + 15.08972182773625 + ], + [ + 0.5283586442454236, + 15.196444501413895 + ], + [ + 0.5270309428919742, + 15.200337094627013 + ], + [ + 0.6840019414839351, + 15.087552094403852 + ], + [ + 0.6826742401304857, + 15.09144468761697 + ], + [ + 0.682777448077308, + 15.198167361294617 + ], + [ + 0.6814497467238587, + 15.202059954507734 + ] + ], + "yaw_rad": 0.011156597228539372, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16870275139808655, + 15.09714126586914, + 0.023413538932800293 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5277384078530697, + 15.142594531256366, + 0.11806358153541602 + ], + "intended_face_normal": [ + -0.9998884652629102, + -0.010859302435842433, + -0.010253418469293034 + ], + "commanded_contact_point": [ + 0.18684184551239014, + 15.140884399414062, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5277211825129313, + 15.14343303570281, + 0.11885530246118782 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.169284850358963, + 15.097190856933594, + 0.023377269506454468 + ], + "box_pose": [ + 0.6090503334999084, + 15.145246505737305, + 0.13607273995876312, + -0.006023688241839409, + -0.005159467458724976, + 0.005398820620030165, + 0.9999539852142334 + ], + "box_yaw_rad": 0.010860086788658373, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003557166450256834 + } + } + }, + { + "simulation_time_ns": 200000000, + "center": [ + 0.6061422975015088, + 15.144434181706375, + 0.11885564964058608 + ], + "face_center": [ + 0.5289317788740806, + 15.143573649520569, + 0.11885531603131172 + ], + "face_normal": [ + -0.9999378972412752, + -0.011144579257850035, + -4.3205066127048435e-06 + ], + "footprint_xy": [ + [ + 0.5282876549588176, + 15.085826233496048 + ], + [ + 0.6839969400442001, + 15.085826233496048 + ], + [ + 0.6839969400442001, + 15.203042129916701 + ], + [ + 0.5282876549588176, + 15.203042129916701 + ] + ], + "projected_box_corners": [ + [ + 0.5295759027893434, + 15.085826233496048 + ], + [ + 0.5295203888980956, + 15.090714187106151 + ], + [ + 0.5283431688500655, + 15.196433111934986 + ], + [ + 0.5282876549588176, + 15.20132106554509 + ], + [ + 0.6839969400442001, + 15.08754729786766 + ], + [ + 0.6839414261529522, + 15.092435251477763 + ], + [ + 0.6827642061049221, + 15.198154176306598 + ], + [ + 0.6827086922136743, + 15.203042129916701 + ] + ], + "yaw_rad": 0.011144809966671517, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1683167964220047, + 15.097020149230957, + 0.0234375 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5283070402720124, + 15.143083164575073, + 0.11843348475401877 + ], + "intended_face_normal": [ + -0.999923434935426, + -0.011156205896517743, + -0.005353815912324287 + ], + "commanded_contact_point": [ + 0.18220730125904083, + 15.139691352844238, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5282952158283339, + 15.143944594515434, + 0.11884688133031293 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16870275139808655, + 15.09714126586914, + 0.023413538932800293 + ], + "box_pose": [ + 0.6097046732902527, + 15.145832061767578, + 0.13603635132312775, + -0.008128616027534008, + -0.002722214674577117, + 0.005556264892220497, + 0.9999478459358215 + ], + "box_yaw_rad": 0.011156597228539372, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004785641080829401 + } + } + }, + { + "simulation_time_ns": 220000000, + "center": [ + 0.6068046418066404, + 15.144937986594734, + 0.11886846607593363 + ], + "face_center": [ + 0.5295953314623365, + 15.144080605245197, + 0.11930663928427863 + ], + "face_normal": [ + -0.999922249009557, + -0.011103773411064602, + 0.005674693090642213 + ], + "footprint_xy": [ + [ + 0.528325873610056, + 15.085825799979128 + ], + [ + 0.6852834100032249, + 15.085825799979128 + ], + [ + 0.6852834100032249, + 15.20405017321034 + ], + [ + 0.528325873610056, + 15.20405017321034 + ] + ], + "projected_box_corners": [ + [ + 0.5295694431664842, + 15.085825799979128 + ], + [ + 0.5308647893146169, + 15.091739131075538 + ], + [ + 0.528325873610056, + 15.196422079414857 + ], + [ + 0.5296212197581887, + 15.202335410511267 + ], + [ + 0.6839880638550921, + 15.087540562678202 + ], + [ + 0.6852834100032249, + 15.093453893774612 + ], + [ + 0.682744494298664, + 15.19813684211393 + ], + [ + 0.6840398404467967, + 15.20405017321034 + ] + ], + "yaw_rad": 0.011104180392803795, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1681075245141983, + 15.096840858459473, + 0.023451179265975952 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5289317788740806, + 15.143573649520569, + 0.11885531603131172 + ], + "intended_face_normal": [ + -0.9999378972412752, + -0.011144579257850035, + -4.3205066127048435e-06 + ], + "commanded_contact_point": [ + 0.17688274383544922, + 15.138118743896484, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.5289221880082423, + 15.144434181706375, + 0.11885564964058608 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1683167964220047, + 15.097020149230957, + 0.0234375 + ], + "box_pose": [ + 0.6104216575622559, + 15.146392822265625, + 0.1360146850347519, + -0.01018864382058382, + -5.893600973649882e-05, + 0.005572064779698849, + 0.999932587146759 + ], + "box_yaw_rad": 0.011144809966671517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005551937559089363 + } + } + }, + { + "simulation_time_ns": 240000000, + "center": [ + 0.6073568934278278, + 15.145445082111426, + 0.1189212406732898 + ], + "face_center": [ + 0.5301504637939568, + 15.144590335501135, + 0.11972207394620821 + ], + "face_normal": [ + -0.9998849415081418, + -0.011069651433019204, + 0.010371430644404656 + ], + "footprint_xy": [ + [ + 0.5283166402318282, + 15.08582554078275 + ], + [ + 0.6863971466238274, + 15.08582554078275 + ], + [ + 0.6863971466238274, + 15.205064623440101 + ], + [ + 0.5283166402318282, + 15.205064623440101 + ] + ], + "projected_box_corners": [ + [ + 0.5295739987634942, + 15.08582554078275 + ], + [ + 0.5319842873560854, + 15.092771579234764 + ], + [ + 0.5283166402318282, + 15.196409091767505 + ], + [ + 0.5307269288244194, + 15.20335513021952 + ], + [ + 0.6839868580312362, + 15.08753503400333 + ], + [ + 0.6863971466238274, + 15.094481072455347 + ], + [ + 0.6827294994995702, + 15.198118584988086 + ], + [ + 0.6851397880921615, + 15.205064623440101 + ] + ], + "yaw_rad": 0.011070472966166077, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16803094744682312, + 15.096614837646484, + 0.02345740795135498 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5295953314623365, + 15.144080605245197, + 0.11930663928427863 + ], + "intended_face_normal": [ + -0.999922249009557, + -0.011103773411064602, + 0.005674693090642213 + ], + "commanded_contact_point": [ + 0.1713859885931015, + 15.136107444763184, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5295833238612488, + 15.144937986594734, + 0.11886846607593363 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1681075245141983, + 15.096840858459473, + 0.023451179265975952 + ], + "box_pose": [ + 0.6111806035041809, + 15.14696979522705, + 0.13599459826946259, + -0.012310457415878773, + 0.002768837846815586, + 0.005586504470556974, + 0.9999047517776489 + ], + "box_yaw_rad": 0.011104180392803795, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005853173703035599 + } + } + }, + { + "simulation_time_ns": 260000000, + "center": [ + 0.6073853878077432, + 15.145532673354563, + 0.11894986431880211 + ], + "face_center": [ + 0.5301791482392945, + 15.144678905719804, + 0.11976983694110971 + ], + "face_normal": [ + -0.9998824800090859, + -0.011056972917796011, + 0.010619300508809267 + ], + "footprint_xy": [ + [ + 0.5283164487518643, + 15.085827170962798 + ], + [ + 0.6864543268636221, + 15.085827170962798 + ], + [ + 0.6864543268636221, + 15.205238175746327 + ], + [ + 0.5283164487518643, + 15.205238175746327 + ] + ], + "projected_box_corners": [ + [ + 0.5295740330843102, + 15.085827170962798 + ], + [ + 0.5320418477267247, + 15.092949458499932 + ], + [ + 0.5283164487518643, + 15.196408352939677 + ], + [ + 0.5307842633942788, + 15.20353064047681 + ], + [ + 0.6839865122212075, + 15.087534706232313 + ], + [ + 0.6864543268636221, + 15.094656993769448 + ], + [ + 0.6827289278887616, + 15.198115888209193 + ], + [ + 0.6851967425311761, + 15.205238175746327 + ] + ], + "yaw_rad": 0.01105782176389172, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16803176701068878, + 15.096366882324219, + 0.02345937490463257 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5301504637939568, + 15.144590335501135, + 0.11972207394620821 + ], + "intended_face_normal": [ + -0.9998849415081418, + -0.011069651433019204, + 0.010371430644404656 + ], + "commanded_contact_point": [ + 0.16610407829284668, + 15.133639335632324, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.5301326942164937, + 15.145445082111426, + 0.1189212406732898 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16803094744682312, + 15.096614837646484, + 0.02345740795135498 + ], + "box_pose": [ + 0.6118124127388, + 15.147550582885742, + 0.13601793348789215, + -0.014450441114604473, + 0.005105337593704462, + 0.005609347019344568, + 0.9998668432235718 + ], + "box_yaw_rad": 0.011070472966166077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0058301062687132425 + } + } + }, + { + "simulation_time_ns": 280000000, + "center": [ + 0.6073503788109161, + 15.145502626870147, + 0.11894781167985476 + ], + "face_center": [ + 0.5301438934132103, + 15.144649921962895, + 0.1197454390996465 + ], + "face_normal": [ + -0.9998856636943513, + -0.01104320974761904, + 0.01032991228536057 + ], + "footprint_xy": [ + [ + 0.5283168789877493, + 15.085827341273253 + ], + [ + 0.686383878634083, + 15.085827341273253 + ], + [ + 0.686383878634083, + 15.20517791246704 + ], + [ + 0.5283168789877493, + 15.20517791246704 + ] + ], + "projected_box_corners": [ + [ + 0.5295717215595674, + 15.085827341273253 + ], + [ + 0.5319709078386714, + 15.09289049716021 + ], + [ + 0.5283168789877493, + 15.196409346765579 + ], + [ + 0.5307160652668532, + 15.203472502652536 + ], + [ + 0.6839846923549792, + 15.087532751087757 + ], + [ + 0.686383878634083, + 15.094595906974714 + ], + [ + 0.682729849783161, + 15.198114756580084 + ], + [ + 0.6851290360622649, + 15.20517791246704 + ] + ], + "yaw_rad": 0.011044023495041709, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16805227100849152, + 15.096104621887207, + 0.02346065640449524 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5301791482392945, + 15.144678905719804, + 0.11976983694110971 + ], + "intended_face_normal": [ + -0.9998824800090859, + -0.011056972917796011, + 0.010619300508809267 + ], + "commanded_contact_point": [ + 0.1612987518310547, + 15.1308012008667, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5301609984867739, + 15.145532673354563, + 0.11894986431880211 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16803176701068878, + 15.096366882324219, + 0.02345937490463257 + ], + "box_pose": [ + 0.6118450164794922, + 15.147650718688965, + 0.13604393601417542, + -0.014817251823842525, + 0.005227301269769669, + 0.005606720689684153, + 0.9998608827590942 + ], + "box_yaw_rad": 0.01105782176389172, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055808755005459995 + } + } + }, + { + "simulation_time_ns": 300000000, + "center": [ + 0.6073016714988558, + 15.145456741560773, + 0.11894305727231994 + ], + "face_center": [ + 0.5300948642166983, + 15.14460402193948, + 0.11970887773774667 + ], + "face_normal": [ + -0.9998898323551441, + -0.011043400306192368, + 0.009917986816774485 + ], + "footprint_xy": [ + [ + 0.5283175825188133, + 15.085826759009576 + ], + [ + 0.6862857604788984, + 15.085826759009576 + ], + [ + 0.6862857604788984, + 15.205086724111968 + ], + [ + 0.5283175825188133, + 15.205086724111968 + ] + ], + "projected_box_corners": [ + [ + 0.5295707026853719, + 15.085826759009576 + ], + [ + 0.5318721459145833, + 15.092798039600899 + ], + [ + 0.5283175825188133, + 15.196410004278063 + ], + [ + 0.5306190257480248, + 15.203381284869385 + ], + [ + 0.683984317249687, + 15.08753219825216 + ], + [ + 0.6862857604788984, + 15.094503478843484 + ], + [ + 0.6827311970831285, + 15.198115443520647 + ], + [ + 0.6850326403123399, + 15.205086724111968 + ] + ], + "yaw_rad": 0.011044168011249998, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1680534929037094, + 15.09585189819336, + 0.023463010787963867 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5301438934132103, + 15.144649921962895, + 0.1197454390996465 + ], + "intended_face_normal": [ + -0.9998856636943513, + -0.01104320974761904, + 0.01032991228536057 + ], + "commanded_contact_point": [ + 0.15714547038078308, + 15.12771224975586, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.530126235376211, + 15.145502626870147, + 0.11894781167985476 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16805227100849152, + 15.096104621887207, + 0.02346065640449524 + ], + "box_pose": [ + 0.6118051409721375, + 15.147616386413574, + 0.13604368269443512, + -0.014694808050990105, + 0.005083402153104544, + 0.005597068462520838, + 0.9998635053634644 + ], + "box_yaw_rad": 0.011044023495041709, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005176037651556345 + } + } + }, + { + "simulation_time_ns": 320000000, + "center": [ + 0.6072282247687414, + 15.145394176336557, + 0.11893880160262786 + ], + "face_center": [ + 0.5300209576583448, + 15.144541501581934, + 0.11965682222286111 + ], + "face_normal": [ + -0.9998957874981816, + -0.011042819246985271, + 0.009298940635749833 + ], + "footprint_xy": [ + [ + 0.5283184754559509, + 15.085826059770275 + ], + [ + 0.6861379740815318, + 15.085826059770275 + ], + [ + 0.6861379740815318, + 15.204962292902838 + ], + [ + 0.5283184754559509, + 15.204962292902838 + ] + ], + "projected_box_corners": [ + [ + 0.5295690290560269, + 15.085826059770275 + ], + [ + 0.5317234398607386, + 15.092672032357374 + ], + [ + 0.5283184754559509, + 15.196410970806493 + ], + [ + 0.5304728862606627, + 15.203256943393592 + ], + [ + 0.6839835632768201, + 15.08753140927952 + ], + [ + 0.6861379740815318, + 15.09437738186662 + ], + [ + 0.6827330096767441, + 15.198116320315739 + ], + [ + 0.6848874204814558, + 15.204962292902838 + ] + ], + "yaw_rad": 0.011043521191250317, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16801223158836365, + 15.095608711242676, + 0.02346763014793396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5300948642166983, + 15.14460402193948, + 0.11970887773774667 + ], + "intended_face_normal": [ + -0.9998898323551441, + -0.011043400306192368, + 0.009917986816774485 + ], + "commanded_contact_point": [ + 0.15372705459594727, + 15.124558448791504, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5300778500208788, + 15.145456741560773, + 0.11894305727231994 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1680534929037094, + 15.09585189819336, + 0.023463010787963867 + ], + "box_pose": [ + 0.6117494702339172, + 15.147563934326172, + 0.1360415518283844, + -0.014504403807222843, + 0.004878514911979437, + 0.005593202542513609, + 0.9998672604560852 + ], + "box_yaw_rad": 0.011044168011249998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046510242958846225 + } + } + }, + { + "simulation_time_ns": 340000000, + "center": [ + 0.6071344789983811, + 15.14531250439318, + 0.11893240635392573 + ], + "face_center": [ + 0.5299266679426655, + 15.144459346870587, + 0.11958871177846687 + ], + "face_normal": [ + -0.9999028320246042, + -0.011049071477864447, + 0.00849967954923931 + ], + "footprint_xy": [ + [ + 0.5283203351819766, + 15.08582546659581 + ], + [ + 0.6859486228147856, + 15.08582546659581 + ], + [ + 0.6859486228147856, + 15.20479954219055 + ], + [ + 0.5283203351819766, + 15.20479954219055 + ] + ], + "projected_box_corners": [ + [ + 0.5295684409551967, + 15.08582546659581 + ], + [ + 0.5315330007033543, + 15.092506173974016 + ], + [ + 0.5283203351819766, + 15.19641251976716 + ], + [ + 0.5302848949301342, + 15.203093227145365 + ], + [ + 0.6839840630666281, + 15.087531781640998 + ], + [ + 0.6859486228147856, + 15.094212489019203 + ], + [ + 0.682735957293408, + 15.198118834812346 + ], + [ + 0.6847005170415654, + 15.20479954219055 + ] + ], + "yaw_rad": 0.011049695469111784, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16792213916778564, + 15.09538745880127, + 0.023474574089050293 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5300209576583448, + 15.144541501581934, + 0.11965682222286111 + ], + "intended_face_normal": [ + -0.9998957874981816, + -0.011042819246985271, + 0.009298940635749833 + ], + "commanded_contact_point": [ + 0.15103083848953247, + 15.121491432189941, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5300048632175973, + 15.145394176336557, + 0.11893880160262786 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16801223158836365, + 15.095608711242676, + 0.02346763014793396 + ], + "box_pose": [ + 0.6116655468940735, + 15.147492408752441, + 0.13604111969470978, + -0.014244874007999897, + 0.004570463672280312, + 0.005587227642536163, + 0.9998725056648254 + ], + "box_yaw_rad": 0.011043521191250317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040836469150595574 + } + } + }, + { + "simulation_time_ns": 360000000, + "center": [ + 0.60701688155007, + 15.145211531815777, + 0.11892500346147097 + ], + "face_center": [ + 0.5298084670756411, + 15.144357198422208, + 0.11950427139864349 + ], + "face_normal": [ + -0.9999106467789945, + -0.011064299946383494, + 0.007501982545028553 + ], + "footprint_xy": [ + [ + 0.5283217029719599, + 15.085823360983458 + ], + [ + 0.6857120601281803, + 15.085823360983458 + ], + [ + 0.6857120601281803, + 15.204599702648098 + ], + [ + 0.5283217029719599, + 15.204599702648098 + ] + ], + "projected_box_corners": [ + [ + 0.529567755534853, + 15.085823360983458 + ], + [ + 0.5312952311793222, + 15.09230143723802 + ], + [ + 0.5283217029719599, + 15.196412959606395 + ], + [ + 0.5300491786164291, + 15.202891035860956 + ], + [ + 0.6839845844837111, + 15.087532027770598 + ], + [ + 0.6857120601281803, + 15.09401010402516 + ], + [ + 0.682738531920818, + 15.198121626393535 + ], + [ + 0.6844660075652872, + 15.204599702648098 + ] + ], + "yaw_rad": 0.011064837085165046, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16779640316963196, + 15.095198631286621, + 0.023482680320739746 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5299266679426655, + 15.144459346870587, + 0.11958871177846687 + ], + "intended_face_normal": [ + -0.9999028320246042, + -0.011049071477864447, + 0.00849967954923931 + ], + "commanded_contact_point": [ + 0.14894834160804749, + 15.118659973144531, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5299116615021127, + 15.14531250439318, + 0.11893240635392573 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16792213916778564, + 15.09538745880127, + 0.023474574089050293 + ], + "box_pose": [ + 0.6115582585334778, + 15.147398948669434, + 0.13603967428207397, + -0.01390252634882927, + 0.004172723274677992, + 0.005583222024142742, + 0.9998791217803955 + ], + "box_yaw_rad": 0.011049695469111784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035148191400533246 + } + } + }, + { + "simulation_time_ns": 380000000, + "center": [ + 0.6068725292068939, + 15.145089087165962, + 0.11891576075714111 + ], + "face_center": [ + 0.5296634728034505, + 15.144233798092966, + 0.11940031456764649 + ], + "face_normal": [ + -0.9999189602725473, + -0.01107667675843152, + 0.006275358940600139 + ], + "footprint_xy": [ + [ + 0.5283239227160792, + 15.08582290922518 + ], + [ + 0.6854211356977087, + 15.08582290922518 + ], + [ + 0.6854211356977087, + 15.204355265106745 + ], + [ + 0.5283239227160792, + 15.204355265106745 + ] + ], + "projected_box_corners": [ + [ + 0.5295670025239922, + 15.08582290922518 + ], + [ + 0.5310030228908219, + 15.092052061797354 + ], + [ + 0.5283239227160792, + 15.196415534388576 + ], + [ + 0.5297599430829087, + 15.202644686960749 + ], + [ + 0.6839851153308791, + 15.087533487371177 + ], + [ + 0.6854211356977087, + 15.09376263994335 + ], + [ + 0.682742035522966, + 15.198126112534572 + ], + [ + 0.6841780558897956, + 15.204355265106745 + ] + ], + "yaw_rad": 0.011077121395877151, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16765688359737396, + 15.095037460327148, + 0.02349168062210083 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5298084670756411, + 15.144357198422208, + 0.11950427139864349 + ], + "intended_face_normal": [ + -0.9999106467789945, + -0.011064299946383494, + 0.007501982545028553 + ], + "commanded_contact_point": [ + 0.14729079604148865, + 15.116189956665039, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5297946675850811, + 15.145211531815777, + 0.11892500346147097 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16779640316963196, + 15.095198631286621, + 0.023482680320739746 + ], + "box_pose": [ + 0.6114237308502197, + 15.147283554077148, + 0.1360383927822113, + -0.013482817448675632, + 0.0036761416122317314, + 0.005582346580922604, + 0.9998868107795715 + ], + "box_yaw_rad": 0.011064837085165046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00297463253431106 + } + } + }, + { + "simulation_time_ns": 400000000, + "center": [ + 0.6067197564307761, + 15.144958378774572, + 0.11890578621785083 + ], + "face_center": [ + 0.5295101456382628, + 15.144102305489577, + 0.1192902890588326 + ], + "face_normal": [ + -0.9999261400538865, + -0.011086832930260292, + 0.004979618957746723 + ], + "footprint_xy": [ + [ + 0.5283260957449983, + 15.085823144463035 + ], + [ + 0.6851134171165539, + 15.085823144463035 + ], + [ + 0.6851134171165539, + 15.204093613086107 + ], + [ + 0.5283260957449983, + 15.204093613086107 + ] + ], + "projected_box_corners": [ + [ + 0.529566007284765, + 15.085823144463035 + ], + [ + 0.5306941955315273, + 15.091785728713784 + ], + [ + 0.5283260957449983, + 15.196418882265371 + ], + [ + 0.5294542839917606, + 15.202381466516119 + ], + [ + 0.6839852288697917, + 15.087535291033022 + ], + [ + 0.6851134171165539, + 15.093497875283772 + ], + [ + 0.6827453173300251, + 15.198131028835359 + ], + [ + 0.6838735055767873, + 15.204093613086107 + ] + ], + "yaw_rad": 0.01108719753986267, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1675199568271637, + 15.09490966796875, + 0.023499667644500732 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5296634728034505, + 15.144233798092966, + 0.11940031456764649 + ], + "intended_face_normal": [ + -0.9999189602725473, + -0.01107667675843152, + 0.006275358940600139 + ], + "commanded_contact_point": [ + 0.14589452743530273, + 15.114140510559082, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5296509572803135, + 15.145089087165962, + 0.11891576075714111 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16765688359737396, + 15.095037460327148, + 0.02349168062210083 + ], + "box_pose": [ + 0.6112585663795471, + 15.147143363952637, + 0.13603663444519043, + -0.012967248447239399, + 0.003065659198909998, + 0.00557867344468832, + 0.9998956918716431 + ], + "box_yaw_rad": 0.011077121395877151, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002479878094250278 + } + } + }, + { + "simulation_time_ns": 420000000, + "center": [ + 0.6065646318854316, + 15.14482328250243, + 0.11889597396460713 + ], + "face_center": [ + 0.5293545873708738, + 15.143966486853115, + 0.11917816145839236 + ], + "face_normal": [ + -0.9999317571008491, + -0.01109618812528711, + 0.0036545534750902376 + ], + "footprint_xy": [ + [ + 0.5283294587140375, + 15.08582171540886 + ], + [ + 0.6847998050568257, + 15.08582171540886 + ], + [ + 0.6847998050568257, + 15.203824849595998 + ], + [ + 0.5283294587140375, + 15.203824849595998 + ] + ], + "projected_box_corners": [ + [ + 0.529566343409134, + 15.08582171540886 + ], + [ + 0.5303797160277101, + 15.09151248620747 + ], + [ + 0.5283294587140375, + 15.19642048749876 + ], + [ + 0.5291428313326135, + 15.202111258297368 + ], + [ + 0.6839864324382496, + 15.087535306707489 + ], + [ + 0.6847998050568257, + 15.093226077506099 + ], + [ + 0.6827495477431532, + 15.198134078797388 + ], + [ + 0.6835629203617292, + 15.203824849595998 + ] + ], + "yaw_rad": 0.011096489945917774, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16739878058433533, + 15.094812393188477, + 0.023507028818130493 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5295101456382628, + 15.144102305489577, + 0.1192902890588326 + ], + "intended_face_normal": [ + -0.9999261400538865, + -0.011086832930260292, + 0.004979618957746723 + ], + "commanded_contact_point": [ + 0.1446533203125, + 15.112540245056152, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5294987389791503, + 15.144958378774572, + 0.11890578621785083 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1675199568271637, + 15.09490966796875, + 0.023499667644500732 + ], + "box_pose": [ + 0.6110838055610657, + 15.146993637084961, + 0.1360345482826233, + -0.012415098957717419, + 0.002420838689431548, + 0.005574003327637911, + 0.9999045729637146 + ], + "box_yaw_rad": 0.01108719753986267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020252024100230197 + } + } + }, + { + "simulation_time_ns": 440000000, + "center": [ + 0.6064032892506692, + 15.144682480554074, + 0.11888570491968305 + ], + "face_center": [ + 0.5291929303150816, + 15.143825653172415, + 0.11906183676218356 + ], + "face_normal": [ + -0.999935829104366, + -0.01109659908450081, + 0.002281048066482298 + ], + "footprint_xy": [ + [ + 0.5283328388332101, + 15.08582176833542 + ], + [ + 0.6844737396681284, + 15.08582176833542 + ], + [ + 0.6844737396681284, + 15.20354319277273 + ], + [ + 0.5283328388332101, + 15.20354319277273 + ] + ], + "projected_box_corners": [ + [ + 0.5295659028475939, + 15.08582176833542 + ], + [ + 0.5300530217969531, + 15.091227727517643 + ], + [ + 0.5283328388332101, + 15.196423578827188 + ], + [ + 0.5288199577825694, + 15.20182953800941 + ], + [ + 0.6839866207187691, + 15.087535423098737 + ], + [ + 0.6844737396681284, + 15.09294138228096 + ], + [ + 0.6827535567043853, + 15.198137233590506 + ], + [ + 0.6832406756537446, + 15.20354319277273 + ] + ], + "yaw_rad": 0.011096855696763329, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1672968864440918, + 15.094746589660645, + 0.023512810468673706 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5293545873708738, + 15.143966486853115, + 0.11917816145839236 + ], + "intended_face_normal": [ + -0.9999317571008491, + -0.01109618812528711, + 0.0036545534750902376 + ], + "commanded_contact_point": [ + 0.14351487159729004, + 15.1113862991333, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.52934404821749, + 15.14482328250243, + 0.11889597396460713 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16739878058433533, + 15.094812393188477, + 0.023507028818130493 + ], + "box_pose": [ + 0.610906183719635, + 15.146839141845703, + 0.13603274524211884, + -0.011852109804749489, + 0.0017614206299185753, + 0.005569456610828638, + 0.9999127388000488 + ], + "box_yaw_rad": 0.011096489945917774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016210048337846053 + } + } + }, + { + "simulation_time_ns": 460000000, + "center": [ + 0.6062318355714735, + 15.14453274369113, + 0.11887466996947 + ], + "face_center": [ + 0.529021301277608, + 15.143675910567202, + 0.11893738830659234 + ], + "face_normal": [ + -0.9999381001341514, + -0.011096673451469188, + 0.0008122525694096161 + ], + "footprint_xy": [ + [ + 0.5283375181350495, + 15.085823730344641 + ], + [ + 0.6841261530078976, + 15.085823730344641 + ], + [ + 0.6841261530078976, + 15.20324175703762 + ], + [ + 0.5283375181350495, + 15.20324175703762 + ] + ], + "projected_box_corners": [ + [ + 0.5295668503155635, + 15.085823730344641 + ], + [ + 0.5297050844201667, + 15.09092318437397 + ], + [ + 0.5283375181350495, + 15.196428636760436 + ], + [ + 0.5284757522396526, + 15.201528090789765 + ], + [ + 0.6839879189032944, + 15.087537396592497 + ], + [ + 0.6841261530078976, + 15.092636850621826 + ], + [ + 0.6827585867227802, + 15.198142303008291 + ], + [ + 0.6828968208273835, + 15.20324175703762 + ] + ], + "yaw_rad": 0.01109690485839659, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16721485555171967, + 15.094715118408203, + 0.023517489433288574 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5291929303150816, + 15.143825653172415, + 0.11906183676218356 + ], + "intended_face_normal": [ + -0.999935829104366, + -0.01109659908450081, + 0.002281048066482298 + ], + "commanded_contact_point": [ + 0.1424679458141327, + 15.110650062561035, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5291830200453952, + 15.144682480554074, + 0.11888570491968305 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1672968864440918, + 15.094746589660645, + 0.023512810468673706 + ], + "box_pose": [ + 0.6107215285301208, + 15.14667797088623, + 0.13603074848651886, + -0.011262171901762486, + 0.0010779820149764419, + 0.005560881458222866, + 0.9999206066131592 + ], + "box_yaw_rad": 0.011096855696763329, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012798819812412255 + } + } + }, + { + "simulation_time_ns": 480000000, + "center": [ + 0.6060457009362816, + 15.144367706142093, + 0.11886299250354174 + ], + "face_center": [ + 0.5288351621044265, + 15.143511090299322, + 0.11880295126580327 + ], + "face_normal": [ + -0.9999381589047438, + -0.011093859486916395, + -0.0007775819937392561 + ], + "footprint_xy": [ + [ + 0.5281027430102826, + 15.085823517126963 + ], + [ + 0.6839886588622807, + 15.085823517126963 + ], + [ + 0.6839886588622807, + 15.202911895157225 + ], + [ + 0.5281027430102826, + 15.202911895157225 + ] + ], + "projected_box_corners": [ + [ + 0.5295675811985703, + 15.085823517126963 + ], + [ + 0.5293281787331489, + 15.090590600583338 + ], + [ + 0.528342145475704, + 15.196431580015306 + ], + [ + 0.5281027430102826, + 15.201198663471681 + ], + [ + 0.6839886588622807, + 15.087536748812507 + ], + [ + 0.6837492563968592, + 15.09230383226888 + ], + [ + 0.6827632231394144, + 15.19814481170085 + ], + [ + 0.682523820673993, + 15.202911895157225 + ] + ], + "yaw_rad": 0.011094090414090476, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16714951395988464, + 15.094709396362305, + 0.02352115511894226 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.529021301277608, + 15.143675910567202, + 0.11893738830659234 + ], + "intended_face_normal": [ + -0.9999381001341514, + -0.011096673451469188, + 0.0008122525694096161 + ], + "commanded_contact_point": [ + 0.14152640104293823, + 15.110310554504395, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5290117417465869, + 15.14453274369113, + 0.11887466996947 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16721485555171967, + 15.094715118408203, + 0.023517489433288574 + ], + "box_pose": [ + 0.6105251312255859, + 15.146506309509277, + 0.13602851331233978, + -0.010627280920743942, + 0.0003471440577413887, + 0.0055524250492453575, + 0.9999281167984009 + ], + "box_yaw_rad": 0.01109690485839659, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010008857463202872 + } + } + }, + { + "simulation_time_ns": 500000000, + "center": [ + 0.6058397518755048, + 15.144186320185492, + 0.11884957103981966 + ], + "face_center": [ + 0.5286294230133227, + 15.143331033851194, + 0.1186538551861001 + ], + "face_normal": [ + -0.9999354396297391, + -0.01107664129008375, + -0.0025346766568098127 + ], + "footprint_xy": [ + [ + 0.5276910029050984, + 15.085826597183177 + ], + [ + 0.683988500845911, + 15.085826597183177 + ], + [ + 0.683988500845911, + 15.202546043187807 + ], + [ + 0.5276910029050984, + 15.202546043187807 + ] + ], + "projected_box_corners": [ + [ + 0.5295678431215469, + 15.085826597183177 + ], + [ + 0.5289111351251005, + 15.090224130274322 + ], + [ + 0.5283477109015449, + 15.196437937428065 + ], + [ + 0.5276910029050984, + 15.20083547051921 + ], + [ + 0.683988500845911, + 15.087537169851773 + ], + [ + 0.6833317928494645, + 15.091934702942918 + ], + [ + 0.682768368625909, + 15.198148510096662 + ], + [ + 0.6821116606294625, + 15.202546043187807 + ] + ], + "yaw_rad": 0.011076903388898026, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16709765791893005, + 15.094730377197266, + 0.023524075746536255 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5288351621044265, + 15.143511090299322, + 0.11880295126580327 + ], + "intended_face_normal": [ + -0.9999381589047438, + -0.011093859486916395, + -0.0007775819937392561 + ], + "commanded_contact_point": [ + 0.14071470499038696, + 15.11032485961914, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.5288256116499463, + 15.144367706142093, + 0.11886299250354174 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16714951395988464, + 15.094709396362305, + 0.02352115511894226 + ], + "box_pose": [ + 0.6103119850158691, + 15.146317481994629, + 0.1360262930393219, + -0.00993881281465292, + -0.00044390943367034197, + 0.005542877595871687, + 0.9999350905418396 + ], + "box_yaw_rad": 0.011094090414090476, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008118220975624668 + } + } + }, + { + "simulation_time_ns": 520000000, + "center": [ + 0.6056078298393507, + 15.143981603477005, + 0.11883461228250966 + ], + "face_center": [ + 0.528398032202498, + 15.143127115627477, + 0.11848575425749804 + ], + "face_normal": [ + -0.9999285598373442, + -0.011066300274413276, + -0.004517990115429122 + ], + "footprint_xy": [ + [ + 0.5272261911157589, + 15.08582950789839 + ], + [ + 0.6839894685629425, + 15.08582950789839 + ], + [ + 0.6839894685629425, + 15.20213369905562 + ], + [ + 0.5272261911157589, + 15.20213369905562 + ] + ], + "projected_box_corners": [ + [ + 0.5295698732892372, + 15.08582950789839 + ], + [ + 0.5284420542872198, + 15.089810011334295 + ], + [ + 0.5283540101177763, + 15.19644421992066 + ], + [ + 0.5272261911157589, + 15.200424723356566 + ], + [ + 0.6839894685629425, + 15.087538483597443 + ], + [ + 0.6828616495609251, + 15.09151898703335 + ], + [ + 0.6827736053914816, + 15.198153195619714 + ], + [ + 0.6816457863894642, + 15.20213369905562 + ] + ], + "yaw_rad": 0.011066639108109151, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16705766320228577, + 15.094765663146973, + 0.023526281118392944 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5286294230133227, + 15.143331033851194, + 0.1186538551861001 + ], + "intended_face_normal": [ + -0.9999354396297391, + -0.01107664129008375, + -0.0025346766568098127 + ], + "commanded_contact_point": [ + 0.14005756378173828, + 15.110642433166504, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5286194525929534, + 15.144186320185492, + 0.11884957103981966 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16709765791893005, + 15.094730377197266, + 0.023524075746536255 + ], + "box_pose": [ + 0.6100761890411377, + 15.146109580993652, + 0.13602325320243835, + -0.009173297323286533, + -0.0013181117828935385, + 0.00552655104547739, + 0.9999417662620544 + ], + "box_yaw_rad": 0.011076903388898026, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000729854455652696 + } + } + }, + { + "simulation_time_ns": 540000000, + "center": [ + 0.605361129698292, + 15.143781705261818, + 0.11882734437275387 + ], + "face_center": [ + 0.5281522352255872, + 15.142927780074718, + 0.11831535936773735 + ], + "face_normal": [ + -0.9999168631401215, + -0.01105901334648752, + -0.006630614823424034 + ], + "footprint_xy": [ + [ + 0.5267309532157406, + 15.085830960034764 + ], + [ + 0.6839913061808435, + 15.085830960034764 + ], + [ + 0.6839913061808435, + 15.20173245048887 + ], + [ + 0.5267309532157406, + 15.20173245048887 + ] + ], + "projected_box_corners": [ + [ + 0.5295735172354338, + 15.085830960034764 + ], + [ + 0.5279433868346359, + 15.089406940405995 + ], + [ + 0.5283610836165384, + 15.196448619743439 + ], + [ + 0.5267309532157406, + 15.20002460011467 + ], + [ + 0.6839913061808435, + 15.087538810408965 + ], + [ + 0.6823611757800456, + 15.091114790780194 + ], + [ + 0.6827788725619481, + 15.19815647011764 + ], + [ + 0.6811487421611504, + 15.20173245048887 + ] + ], + "yaw_rad": 0.011059481909545452, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16702578961849213, + 15.094823837280273, + 0.023527950048446655 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.528398032202498, + 15.143127115627477, + 0.11848575425749804 + ], + "intended_face_normal": [ + -0.9999285598373442, + -0.011066300274413276, + -0.004517990115429122 + ], + "commanded_contact_point": [ + 0.1395716667175293, + 15.111224174499512, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5283869992592156, + 15.143981603477005, + 0.11883461228250966 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16705766320228577, + 15.094765663146973, + 0.023526281118392944 + ], + "box_pose": [ + 0.6098105311393738, + 15.145874977111816, + 0.13601990044116974, + -0.008309436962008476, + -0.0023049362935125828, + 0.005514285992830992, + 0.9999476671218872 + ], + "box_yaw_rad": 0.011066639108109151, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007579702739663529 + } + } + }, + { + "simulation_time_ns": 560000000, + "center": [ + 0.6051473262402243, + 15.143613652391231, + 0.11882179481738424 + ], + "face_center": [ + 0.5279394910922255, + 15.142760417479602, + 0.11816843093342598 + ], + "face_normal": [ + -0.9999031440389178, + -0.011050073727701056, + -0.008461584248788222 + ], + "footprint_xy": [ + [ + 0.5263018204192196, + 15.085833958745294 + ], + [ + 0.683992832061229, + 15.085833958745294 + ], + [ + 0.683992832061229, + 15.201393346037168 + ], + [ + 0.5263018204192196, + 15.201393346037168 + ] + ], + "projected_box_corners": [ + [ + 0.5295771617652313, + 15.085833958745294 + ], + [ + 0.5275115916426892, + 15.089066960445086 + ], + [ + 0.5283673905417616, + 15.196453874514118 + ], + [ + 0.5263018204192196, + 15.19968687621391 + ], + [ + 0.683992832061229, + 15.087540428568552 + ], + [ + 0.6819272619386869, + 15.090773430268344 + ], + [ + 0.6827830608377593, + 15.198160344337376 + ], + [ + 0.6807174907152173, + 15.201393346037168 + ] + ], + "yaw_rad": 0.011050694245926852, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16700124740600586, + 15.094900131225586, + 0.02352893352508545 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5281522352255872, + 15.142927780074718, + 0.11831535936773735 + ], + "intended_face_normal": [ + -0.9999168631401215, + -0.01105901334648752, + -0.006630614823424034 + ], + "commanded_contact_point": [ + 0.1392630934715271, + 15.112034797668457, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5281393958143845, + 15.143781705261818, + 0.11882734437275387 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16702578961849213, + 15.094823837280273, + 0.023527950048446655 + ], + "box_pose": [ + 0.6095278263092041, + 15.145646095275879, + 0.1360245645046234, + -0.007472012657672167, + -0.0033566018100827932, + 0.00550469383597374, + 0.9999513626098633 + ], + "box_yaw_rad": 0.011059481909545452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008673680707710833 + } + } + }, + { + "simulation_time_ns": 580000000, + "center": [ + 0.6049638889434777, + 15.143470511458432, + 0.1188174070050361 + ], + "face_center": [ + 0.527757174552673, + 15.142617725445723, + 0.11804235131028173 + ], + "face_normal": [ + -0.9998886293379174, + -0.01104426012807216, + -0.010037590414296792 + ], + "footprint_xy": [ + [ + 0.5259328920007319, + 15.085836130841734 + ], + [ + 0.6839948858862235, + 15.085836130841734 + ], + [ + 0.6839948858862235, + 15.20110489207513 + ], + [ + 0.5259328920007319, + 15.20110489207513 + ] + ], + "projected_box_corners": [ + [ + 0.529581457104614, + 15.085836130841734 + ], + [ + 0.5271410206851124, + 15.088777667058189 + ], + [ + 0.5283733284202335, + 15.196457783833258 + ], + [ + 0.5259328920007319, + 15.199399320049713 + ], + [ + 0.6839948858862235, + 15.087541702867153 + ], + [ + 0.681554449466722, + 15.090483239083605 + ], + [ + 0.682786757201843, + 15.198163355858677 + ], + [ + 0.6803463207823415, + 15.20110489207513 + ] + ], + "yaw_rad": 0.011045041110731702, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1669830083847046, + 15.094986915588379, + 0.02352970838546753 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5279394910922255, + 15.142760417479602, + 0.11816843093342598 + ], + "intended_face_normal": [ + -0.9999031440389178, + -0.011050073727701056, + -0.008461584248788222 + ], + "commanded_contact_point": [ + 0.13912788033485413, + 15.113045692443848, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5279245328409141, + 15.143613652391231, + 0.11882179481738424 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16700124740600586, + 15.094900131225586, + 0.02352893352508545 + ], + "box_pose": [ + 0.6092827916145325, + 15.145453453063965, + 0.1360291987657547, + -0.0067621031776070595, + -0.004268160555511713, + 0.005496433936059475, + 0.9999529123306274 + ], + "box_yaw_rad": 0.011050694245926852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010198974650693492 + } + } + }, + { + "simulation_time_ns": 600000000, + "center": [ + 0.6048071338371012, + 15.143345543914375, + 0.11881247406671382 + ], + "face_center": [ + 0.5276015275069413, + 15.14249304158156, + 0.11793367182574299 + ], + "face_normal": [ + -0.9998742790673716, + -0.011040586246850025, + -0.011381191067600611 + ], + "footprint_xy": [ + [ + 0.5256179201288204, + 15.085836937807546 + ], + [ + 0.683996347545382, + 15.085836937807546 + ], + [ + 0.683996347545382, + 15.200854150021206 + ], + [ + 0.5256179201288204, + 15.200854150021206 + ] + ], + "projected_box_corners": [ + [ + 0.5295851348850623, + 15.085836937807546 + ], + [ + 0.5268251416786203, + 15.088526121880314 + ], + [ + 0.5283779133352624, + 15.196459961282804 + ], + [ + 0.5256179201288204, + 15.199149145355571 + ], + [ + 0.683996347545382, + 15.08754194247318 + ], + [ + 0.6812363543389399, + 15.090231126545948 + ], + [ + 0.6827891259955822, + 15.198164965948438 + ], + [ + 0.6800291327891401, + 15.200854150021206 + ] + ], + "yaw_rad": 0.011041525722022385, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16697144508361816, + 15.095085144042969, + 0.02352997660636902 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.527757174552673, + 15.142617725445723, + 0.11804235131028173 + ], + "intended_face_normal": [ + -0.9998886293379174, + -0.01104426012807216, + -0.010037590414296792 + ], + "commanded_contact_point": [ + 0.13915565609931946, + 15.114209175109863, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5277399745535656, + 15.143470511458432, + 0.1188174070050361 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1669830083847046, + 15.094986915588379, + 0.02352970838546753 + ], + "box_pose": [ + 0.6090724468231201, + 15.145289421081543, + 0.13603347539901733, + -0.006158878561109304, + -0.005052851978689432, + 0.005491267424076796, + 0.9999531507492065 + ], + "box_yaw_rad": 0.011045041110731702, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011638141639018827 + } + } + }, + { + "simulation_time_ns": 620000000, + "center": [ + 0.6046716308680866, + 15.143239910188054, + 0.11880804664645048 + ], + "face_center": [ + 0.5274670796656663, + 15.142388017573877, + 0.11784044385226335 + ], + "face_normal": [ + -0.9998606143202365, + -0.011032689903389317, + -0.012531229171675838 + ], + "footprint_xy": [ + [ + 0.5253472429877415, + 15.085839251962927 + ], + [ + 0.6839960187484317, + 15.085839251962927 + ], + [ + 0.6839960187484317, + 15.200640568413181 + ], + [ + 0.5253472429877415, + 15.200640568413181 + ] + ], + "projected_box_corners": [ + [ + 0.5295869163435912, + 15.085839251962927 + ], + [ + 0.5265534066475234, + 15.088312679269135 + ], + [ + 0.5283807526838092, + 15.196463355878617 + ], + [ + 0.5253472429877415, + 15.198936783184827 + ], + [ + 0.6839960187484317, + 15.087543037191281 + ], + [ + 0.680962509052364, + 15.090016464497491 + ], + [ + 0.6827898550886499, + 15.198167141106973 + ], + [ + 0.6797563453925821, + 15.200640568413181 + ] + ], + "yaw_rad": 0.01103378012831476, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16696755588054657, + 15.095190048217773, + 0.02352967858314514 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5276015275069413, + 15.14249304158156, + 0.11793367182574299 + ], + "intended_face_normal": [ + -0.9998742790673716, + -0.011040586246850025, + -0.011381191067600611 + ], + "commanded_contact_point": [ + 0.13933342695236206, + 15.11548137664795, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5275821111237854, + 15.143345543914375, + 0.11881247406671382 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16697144508361816, + 15.095085144042969, + 0.02352997660636902 + ], + "box_pose": [ + 0.6088927388191223, + 15.145146369934082, + 0.13603590428829193, + -0.005636552814394236, + -0.0057218014262616634, + 0.005488301627337933, + 0.9999526739120483 + ], + "box_yaw_rad": 0.011041525722022385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012845618824426559 + } + } + }, + { + "simulation_time_ns": 640000000, + "center": [ + 0.6045552802929509, + 15.143148380016505, + 0.11880405192481905 + ], + "face_center": [ + 0.527351716017093, + 15.142297371852328, + 0.11775994903338778 + ], + "face_normal": [ + -0.9998478328328295, + -0.011021235569331711, + -0.013521966544470632 + ], + "footprint_xy": [ + [ + 0.525114690218335, + 15.085841212162858 + ], + [ + 0.6839958703675667, + 15.085841212162858 + ], + [ + 0.6839958703675667, + 15.200455547870153 + ], + [ + 0.525114690218335, + 15.200455547870153 + ] + ], + "projected_box_corners": [ + [ + 0.5295887418158509, + 15.085841212162858 + ], + [ + 0.526319610690213, + 15.088128562040128 + ], + [ + 0.5283838213439729, + 15.196466181664528 + ], + [ + 0.525114690218335, + 15.198753531541797 + ], + [ + 0.6839958703675667, + 15.087543228491214 + ], + [ + 0.6807267392419288, + 15.089830578368485 + ], + [ + 0.6827909498956887, + 15.198168197992883 + ], + [ + 0.6795218187700508, + 15.200455547870153 + ] + ], + "yaw_rad": 0.011022466482399167, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1669716089963913, + 15.095297813415527, + 0.023528754711151123 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5274670796656663, + 15.142388017573877, + 0.11784044385226335 + ], + "intended_face_normal": [ + -0.9998606143202365, + -0.011032689903389317, + -0.012531229171675838 + ], + "commanded_contact_point": [ + 0.13964752852916718, + 15.116832733154297, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5274455527472544, + 15.143239910188054, + 0.11880804664645048 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16696755588054657, + 15.095190048217773, + 0.02352967858314514 + ], + "box_pose": [ + 0.608737587928772, + 15.145025253295898, + 0.13603773713111877, + -0.005189964547753334, + -0.0062943799421191216, + 0.0054839421063661575, + 0.9999517202377319 + ], + "box_yaw_rad": 0.01103378012831476, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013873803400131896 + } + } + }, + { + "simulation_time_ns": 660000000, + "center": [ + 0.6044546128881146, + 15.143066728240528, + 0.11879929864038712 + ], + "face_center": [ + 0.5272519759154999, + 15.142215345803342, + 0.11768903064262774 + ], + "face_normal": [ + -0.9998358235150385, + -0.011026082703805284, + -0.014378857528608817 + ], + "footprint_xy": [ + [ + 0.5249126997610062, + 15.085841427626663 + ], + [ + 0.6839965260152232, + 15.085841427626663 + ], + [ + 0.6839965260152232, + 15.200292028854395 + ], + [ + 0.5249126997610062, + 15.200292028854395 + ] + ], + "projected_box_corners": [ + [ + 0.5295912520699936, + 15.085841427626663 + ], + [ + 0.5261183410021528, + 15.087963600213735 + ], + [ + 0.5283856108288468, + 15.196467091392947 + ], + [ + 0.5249126997610062, + 15.198589263980018 + ], + [ + 0.6839965260152232, + 15.087544192501039 + ], + [ + 0.6805236149473824, + 15.08966636508811 + ], + [ + 0.6827908847740765, + 15.198169856267324 + ], + [ + 0.6793179737062358, + 15.200292028854395 + ] + ], + "yaw_rad": 0.011027446206856827, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16698451340198517, + 15.095405578613281, + 0.023527443408966064 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.527351716017093, + 15.142297371852328, + 0.11775994903338778 + ], + "intended_face_normal": [ + -0.9998478328328295, + -0.011021235569331711, + -0.013521966544470632 + ], + "commanded_contact_point": [ + 0.1400836557149887, + 15.118217468261719, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 0.527328214957752, + 15.143148380016505, + 0.11880405192481905 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1669716089963913, + 15.095297813415527, + 0.023528754711151123 + ], + "box_pose": [ + 0.6086043119430542, + 15.144920349121094, + 0.1360391080379486, + -0.004804790019989014, + -0.006787641439586878, + 0.005478275939822197, + 0.9999504685401917 + ], + "box_yaw_rad": 0.011022466482399167, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014517913906404334 + } + } + }, + { + "simulation_time_ns": 680000000, + "center": [ + 0.6043646200031646, + 15.142995077119043, + 0.11879566870977211 + ], + "face_center": [ + 0.5271628524786819, + 15.142143762179655, + 0.11762645669852373 + ], + "face_normal": [ + -0.9998245634671545, + -0.011025208553347137, + -0.015142229591780378 + ], + "footprint_xy": [ + [ + 0.5247327188512679, + 15.0858418938316 + ], + [ + 0.6839965211550614, + 15.0858418938316 + ], + [ + 0.6839965211550614, + 15.200148260406484 + ], + [ + 0.5247327188512679, + 15.200148260406484 + ] + ], + "projected_box_corners": [ + [ + 0.5295929861060957, + 15.0858418938316 + ], + [ + 0.5259385191322102, + 15.08781939553783 + ], + [ + 0.5283871858251534, + 15.196468128821483 + ], + [ + 0.5247327188512679, + 15.198445630527713 + ], + [ + 0.6839965211550614, + 15.08754452371037 + ], + [ + 0.6803420541811759, + 15.089522025416601 + ], + [ + 0.6827907208741191, + 15.198170758700254 + ], + [ + 0.6791362539002336, + 15.200148260406484 + ] + ], + "yaw_rad": 0.01102669619061479, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16700667142868042, + 15.095512390136719, + 0.02352583408355713 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5272519759154999, + 15.142215345803342, + 0.11768903064262774 + ], + "intended_face_normal": [ + -0.9998358235150385, + -0.011026082703805284, + -0.014378857528608817 + ], + "commanded_contact_point": [ + 0.1406276673078537, + 15.119601249694824, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5272266199562565, + 15.143066728240528, + 0.11879929864038712 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16698451340198517, + 15.095405578613281, + 0.023527443408966064 + ], + "box_pose": [ + 0.6084889769554138, + 15.144826889038086, + 0.13603900372982025, + -0.004462869372218847, + -0.007214257959276438, + 0.005481124389916658, + 0.999949038028717 + ], + "box_yaw_rad": 0.011027446206856827, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014868758079538886 + } + } + }, + { + "simulation_time_ns": 700000000, + "center": [ + 0.6042948000249686, + 15.142939422842927, + 0.11879326971966743 + ], + "face_center": [ + 0.5270937285884344, + 15.142088966239882, + 0.11757836434889365 + ], + "face_normal": [ + -0.9998155485721387, + -0.011014092412043423, + -0.01573399510059878 + ], + "footprint_xy": [ + [ + 0.5245937187527928, + 15.085844084904904 + ], + [ + 0.6839958812971444, + 15.085844084904904 + ], + [ + 0.6839958812971444, + 15.200034760780952 + ], + [ + 0.5245937187527928, + 15.200034760780952 + ] + ], + "projected_box_corners": [ + [ + 0.5295937384240759, + 15.085844084904904 + ], + [ + 0.5257985734215127, + 15.08770717663278 + ], + [ + 0.5283888837553561, + 15.196470755846985 + ], + [ + 0.5245937187527928, + 15.19833384757486 + ], + [ + 0.6839958812971444, + 15.087544998110994 + ], + [ + 0.6802007162945812, + 15.089408089838871 + ], + [ + 0.6827910266284246, + 15.198171669053075 + ], + [ + 0.6789958616258613, + 15.200034760780952 + ] + ], + "yaw_rad": 0.0110156787637792, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16703765094280243, + 15.095613479614258, + 0.023523598909378052 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271628524786819, + 15.142143762179655, + 0.11762645669852373 + ], + "intended_face_normal": [ + -0.9998245634671545, + -0.011025208553347137, + -0.015142229591780378 + ], + "commanded_contact_point": [ + 0.1412675529718399, + 15.120948791503906, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5271357573278233, + 15.142995077119043, + 0.11879566870977211 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16700667142868042, + 15.095512390136719, + 0.02352583408355713 + ], + "box_pose": [ + 0.6083859205245972, + 15.144744873046875, + 0.13603948056697845, + -0.004163417033851147, + -0.007594333961606026, + 0.005481273401528597, + 0.9999475479125977 + ], + "box_yaw_rad": 0.01102669619061479, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014917515175789638 + } + } + }, + { + "simulation_time_ns": 720000000, + "center": [ + 0.6042972545268936, + 15.142936835090861, + 0.11879213072170855 + ], + "face_center": [ + 0.527096162577548, + 15.142085984725961, + 0.1175788055340525 + ], + "face_normal": [ + -0.9998158142294324, + -0.011019191942610442, + -0.01571353046686651 + ], + "footprint_xy": [ + [ + 0.5245983190477903, + 15.085843159312791 + ], + [ + 0.683996190005997, + 15.085843159312791 + ], + [ + 0.683996190005997, + 15.20003051086893 + ], + [ + 0.5245983190477903, + 15.20003051086893 + ] + ], + "projected_box_corners": [ + [ + 0.5295940061073058, + 15.085843159312791 + ], + [ + 0.5258037858280689, + 15.087702130669944 + ], + [ + 0.5283885393270271, + 15.196469838781978 + ], + [ + 0.5245983190477903, + 15.198328810139133 + ], + [ + 0.683996190005997, + 15.08754486004259 + ], + [ + 0.6802059697267601, + 15.089403831399743 + ], + [ + 0.6827907232257183, + 15.198171539511776 + ], + [ + 0.6790005029464815, + 15.20003051086893 + ] + ], + "yaw_rad": 0.011020775687903845, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1670767366886139, + 15.095706939697266, + 0.023520827293395996 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5270937285884344, + 15.142088966239882, + 0.11757836434889365 + ], + "intended_face_normal": [ + -0.9998155485721387, + -0.011014092412043423, + -0.01573399510059878 + ], + "commanded_contact_point": [ + 0.14199119806289673, + 15.122227668762207, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5270652410110974, + 15.142939422842927, + 0.11879326971966743 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16703765094280243, + 15.095613479614258, + 0.023523598909378052 + ], + "box_pose": [ + 0.6083059906959534, + 15.144680976867676, + 0.13604027032852173, + -0.003926529083400965, + -0.00788892526179552, + 0.005476364865899086, + 0.9999461770057678 + ], + "box_yaw_rad": 0.0110156787637792, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001469418000603552 + } + } + }, + { + "simulation_time_ns": 740000000, + "center": [ + 0.6043002795918612, + 15.1429376176791, + 0.11879135441322144 + ], + "face_center": [ + 0.527099157451507, + 15.142086736549855, + 0.11757997326874929 + ], + "face_normal": [ + -0.9998162052271115, + -0.011019590365458277, + -0.015688353554601166 + ], + "footprint_xy": [ + [ + 0.5246042962052129, + 15.085842733183597 + ], + [ + 0.6839962629785094, + 15.085842733183597 + ], + [ + 0.6839962629785094, + 15.200032502174603 + ], + [ + 0.5246042962052129, + 15.200032502174603 + ] + ], + "projected_box_corners": [ + [ + 0.5295940186978012, + 15.085842733183597 + ], + [ + 0.5258098119240018, + 15.087704069389412 + ], + [ + 0.5283885029790123, + 15.1964694037103 + ], + [ + 0.5246042962052129, + 15.198330739916114 + ], + [ + 0.6839962629785094, + 15.087544495442087 + ], + [ + 0.6802120562047099, + 15.0894058316479 + ], + [ + 0.6827907472597206, + 15.198171165968787 + ], + [ + 0.6790065404859211, + 15.200032502174603 + ] + ], + "yaw_rad": 0.011021169826052208, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16712400317192078, + 15.095792770385742, + 0.023517608642578125 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.527096162577548, + 15.142085984725961, + 0.1175788055340525 + ], + "intended_face_normal": [ + -0.9998158142294324, + -0.011019191942610442, + -0.01571353046686651 + ], + "commanded_contact_point": [ + 0.14278748631477356, + 15.123418807983398, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5270677160333976, + 15.142936835090861, + 0.11879213072170855 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1670767366886139, + 15.095706939697266, + 0.023520827293395996 + ], + "box_pose": [ + 0.6083087921142578, + 15.144678115844727, + 0.13603907823562622, + -0.003917905036360025, + -0.007878654636442661, + 0.005479022394865751, + 0.9999462962150574 + ], + "box_yaw_rad": 0.011020775687903845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014327901538667624 + } + } + }, + { + "simulation_time_ns": 760000000, + "center": [ + 0.6043056186226589, + 15.142943616147669, + 0.1187913854674022 + ], + "face_center": [ + 0.5271044320863635, + 15.142093560941033, + 0.11758353357068205 + ], + "face_normal": [ + -0.9998170392059946, + -0.011008894007875115, + -0.01564264697680951 + ], + "footprint_xy": [ + [ + 0.5246156168250966, + 15.08584452144092 + ], + [ + 0.6839956204202212, + 15.08584452144092 + ], + [ + 0.6839956204202212, + 15.200042710854419 + ], + [ + 0.5246156168250966, + 15.200042710854419 + ] + ], + "projected_box_corners": [ + [ + 0.5295932473476305, + 15.08584452144092 + ], + [ + 0.5258199161929724, + 15.087715953104826 + ], + [ + 0.5283889479797546, + 15.19647116877724 + ], + [ + 0.5246156168250966, + 15.198342600441146 + ], + [ + 0.6839956204202212, + 15.087544631854191 + ], + [ + 0.6802222892655633, + 15.089416063518097 + ], + [ + 0.6827913210523453, + 15.198171279190513 + ], + [ + 0.6790179898976874, + 15.200042710854419 + ] + ], + "yaw_rad": 0.011010463616904345, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1671774983406067, + 15.095868110656738, + 0.023514240980148315 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.527099157451507, + 15.142086736549855, + 0.11757997326874929 + ], + "intended_face_normal": [ + -0.9998162052271115, + -0.011019590365458277, + -0.015688353554601166 + ], + "commanded_contact_point": [ + 0.1436455100774765, + 15.124488830566406, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5270707713004865, + 15.1429376176791, + 0.11879135441322144 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16712400317192078, + 15.095792770385742, + 0.023517608642578125 + ], + "box_pose": [ + 0.6083122491836548, + 15.144679069519043, + 0.1360381841659546, + -0.003922766540199518, + -0.007866092026233673, + 0.00547923194244504, + 0.9999464154243469 + ], + "box_yaw_rad": 0.011021169826052208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013715513500163492 + } + } + }, + { + "simulation_time_ns": 780000000, + "center": [ + 0.6043170440054023, + 15.142955415647252, + 0.11879202446632048 + ], + "face_center": [ + 0.5271157367266778, + 15.142105560754866, + 0.11759177308153626 + ], + "face_normal": [ + -0.9998186029169092, + -0.011006299778340615, + -0.015544214275432832 + ], + "footprint_xy": [ + [ + 0.5246387910954696, + 15.085845647509238 + ], + [ + 0.683995296915335, + 15.085845647509238 + ], + [ + 0.683995296915335, + 15.200065183785268 + ], + [ + 0.5246387910954696, + 15.200065183785268 + ] + ], + "projected_box_corners": [ + [ + 0.5295926823578859, + 15.085845647509238 + ], + [ + 0.5258427329887938, + 15.08773890248518 + ], + [ + 0.5283887404645619, + 15.19647221902455 + ], + [ + 0.5246387910954696, + 15.198365474000491 + ], + [ + 0.683995296915335, + 15.087545357294015 + ], + [ + 0.6802453475462428, + 15.089438612269955 + ], + [ + 0.6827913550220108, + 15.198171928809327 + ], + [ + 0.6790414056529187, + 15.200065183785268 + ] + ], + "yaw_rad": 0.01100785201225317, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1672380119562149, + 15.09593391418457, + 0.023510605096817017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271044320863635, + 15.142093560941033, + 0.11758353357068205 + ], + "intended_face_normal": [ + -0.9998170392059946, + -0.011008894007875115, + -0.01564264697680951 + ], + "commanded_contact_point": [ + 0.14455372095108032, + 15.125436782836914, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5270761747508494, + 15.142943616147669, + 0.1187913854674022 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1671774983406067, + 15.095868110656738, + 0.023514240980148315 + ], + "box_pose": [ + 0.6083183884620667, + 15.144685745239258, + 0.13603796064853668, + -0.0039436412043869495, + -0.007843329571187496, + 0.0054738083854317665, + 0.9999465346336365 + ], + "box_yaw_rad": 0.011010463616904345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001312806344474741 + } + } + }, + { + "simulation_time_ns": 800000000, + "center": [ + 0.6043345731719214, + 15.14296701566244, + 0.118791352793614 + ], + "face_center": [ + 0.5271330929555694, + 15.142117028728462, + 0.11760237123729947 + ], + "face_normal": [ + -0.9998208425973388, + -0.011008009822421718, + -0.015398260993644768 + ], + "footprint_xy": [ + [ + 0.5246734477557808, + 15.085844985488544 + ], + [ + 0.683995698588062, + 15.085844985488544 + ], + [ + 0.683995698588062, + 15.200089045836336 + ], + [ + 0.5246734477557808, + 15.200089045836336 + ] + ], + "projected_box_corners": [ + [ + 0.5295927381553581, + 15.085844985488544 + ], + [ + 0.5258775350867995, + 15.087762591743036 + ], + [ + 0.5283886508243394, + 15.196471465713886 + ], + [ + 0.5246734477557808, + 15.198389071968379 + ], + [ + 0.683995698588062, + 15.087544959356501 + ], + [ + 0.6802804955195034, + 15.089462565610994 + ], + [ + 0.6827916112570432, + 15.198171439581843 + ], + [ + 0.6790764081884847, + 15.200089045836336 + ] + ], + "yaw_rad": 0.011009537498988788, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1673029065132141, + 15.095986366271973, + 0.0235062837600708 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271157367266778, + 15.142105560754866, + 0.11759177308153626 + ], + "intended_face_normal": [ + -0.9998186029169092, + -0.011006299778340615, + -0.015544214275432832 + ], + "commanded_contact_point": [ + 0.14550058543682098, + 15.12624740600586, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5270877209200275, + 15.142955415647252, + 0.11879202446632048 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1672380119562149, + 15.09593391418457, + 0.023510605096817017 + ], + "box_pose": [ + 0.6083315014839172, + 15.144699096679688, + 0.13603805005550385, + -0.0039888485334813595, + -0.007794351316988468, + 0.005472351331263781, + 0.999946653842926 + ], + "box_yaw_rad": 0.01100785201225317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012464598976307847 + } + } + }, + { + "simulation_time_ns": 820000000, + "center": [ + 0.6043545389787712, + 15.142986433255333, + 0.11879255793249165 + ], + "face_center": [ + 0.5271528553108585, + 15.142137026132662, + 0.11761644190918796 + ], + "face_normal": [ + -0.9998234774575808, + -0.011000500802784662, + -0.015231642063291197 + ], + "footprint_xy": [ + [ + 0.5247134759328572, + 15.085847249067921 + ], + [ + 0.6839956020246851, + 15.085847249067921 + ], + [ + 0.6839956020246851, + 15.200125617442744 + ], + [ + 0.5247134759328572, + 15.200125617442744 + ] + ], + "projected_box_corners": [ + [ + 0.5295922346888599, + 15.085847249067921 + ], + [ + 0.525916631595648, + 15.087800446264055 + ], + [ + 0.528389079026069, + 15.196473606001272 + ], + [ + 0.5247134759328572, + 15.198426803197403 + ], + [ + 0.6839956020246851, + 15.087546063313262 + ], + [ + 0.6803199989314733, + 15.089499260509395 + ], + [ + 0.6827924463618943, + 15.198172420246612 + ], + [ + 0.6791168432686825, + 15.200125617442744 + ] + ], + "yaw_rad": 0.011001999051902718, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16737177968025208, + 15.096029281616211, + 0.023502349853515625 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271330929555694, + 15.142117028728462, + 0.11760237123729947 + ], + "intended_face_normal": [ + -0.9998208425973388, + -0.011008009822421718, + -0.015398260993644768 + ], + "commanded_contact_point": [ + 0.14647400379180908, + 15.126911163330078, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5271054230865444, + 15.14296701566244, + 0.118791352793614 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1673029065132141, + 15.095986366271973, + 0.0235062837600708 + ], + "box_pose": [ + 0.6083515286445618, + 15.144712448120117, + 0.13603661954402924, + -0.004039211198687553, + -0.007721646223217249, + 0.005473105236887932, + 0.9999470710754395 + ], + "box_yaw_rad": 0.011009537498988788, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001178183805412925 + } + } + }, + { + "simulation_time_ns": 840000000, + "center": [ + 0.6043809634522165, + 15.1430081344827, + 0.11879315994935297 + ], + "face_center": [ + 0.5271790199626509, + 15.142158397756923, + 0.11763446608480159 + ], + "face_normal": [ + -0.9998268423555486, + -0.011004769426356307, + -0.015006011189442699 + ], + "footprint_xy": [ + [ + 0.524766277132572, + 15.085847230428463 + ], + [ + 0.6839956497718609, + 15.085847230428463 + ], + [ + 0.6839956497718609, + 15.20016903853694 + ], + [ + 0.524766277132572, + 15.20016903853694 + ] + ], + "projected_box_corners": [ + [ + 0.5295917627927299, + 15.085847230428463 + ], + [ + 0.52596981335462, + 15.087843376405058 + ], + [ + 0.5283882265706819, + 15.196473419108788 + ], + [ + 0.524766277132572, + 15.19846956508538 + ], + [ + 0.6839956497718609, + 15.08754670388002 + ], + [ + 0.6803737003337511, + 15.089542849856615 + ], + [ + 0.6827921135498128, + 15.198172892560345 + ], + [ + 0.679170164111703, + 15.20016903853694 + ] + ], + "yaw_rad": 0.01100623087376238, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16744327545166016, + 15.096057891845703, + 0.02349841594696045 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271528553108585, + 15.142137026132662, + 0.11761644190918796 + ], + "intended_face_normal": [ + -0.9998234774575808, + -0.011000500802784662, + -0.015231642063291197 + ], + "commanded_contact_point": [ + 0.14746132493019104, + 15.127420425415039, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5271255924173379, + 15.142986433255333, + 0.11879255793249165 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16737177968025208, + 15.096029281616211, + 0.023502349853515625 + ], + "box_pose": [ + 0.6083743572235107, + 15.144734382629395, + 0.13603690266609192, + -0.004112909082323313, + -0.007638716604560614, + 0.0054691205732524395, + 0.9999474287033081 + ], + "box_yaw_rad": 0.011001999051902718, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011109234454270496 + } + } + }, + { + "simulation_time_ns": 860000000, + "center": [ + 0.6044109862970042, + 15.143030604716637, + 0.1187934563538151 + ], + "face_center": [ + 0.5272087514749056, + 15.142181086875052, + 0.1176541757926142 + ], + "face_normal": [ + -0.9998306153445876, + -0.011001934701179588, + -0.014754593402386365 + ], + "footprint_xy": [ + [ + 0.5248261155953641, + 15.085847030596046 + ], + [ + 0.6839958569986444, + 15.085847030596046 + ], + [ + 0.6839958569986444, + 15.200214178837228 + ], + [ + 0.5248261155953641, + 15.200214178837228 + ] + ], + "projected_box_corners": [ + [ + 0.5295913873544473, + 15.085847030596046 + ], + [ + 0.5260292595831095, + 15.087889129412787 + ], + [ + 0.5283882433667019, + 15.196473044337319 + ], + [ + 0.5248261155953641, + 15.198515143154058 + ], + [ + 0.6839958569986444, + 15.087546066279216 + ], + [ + 0.6804337292273066, + 15.089588165095956 + ], + [ + 0.6827927130108989, + 15.198172080020488 + ], + [ + 0.6792305852395611, + 15.200214178837228 + ] + ], + "yaw_rad": 0.011003354481619564, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1675160825252533, + 15.096078872680664, + 0.023494035005569458 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271790199626509, + 15.142158397756923, + 0.11763446608480159 + ], + "intended_face_normal": [ + -0.9998268423555486, + -0.011004769426356307, + -0.015006011189442699 + ], + "commanded_contact_point": [ + 0.14845122396945953, + 15.12778377532959, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5271522768033143, + 15.1430081344827, + 0.11879315994935297 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16744327545166016, + 15.096057891845703, + 0.02349841594696045 + ], + "box_pose": [ + 0.6084046363830566, + 15.144759178161621, + 0.13603629171848297, + -0.004201827105134726, + -0.007526386063545942, + 0.005471045151352882, + 0.9999479055404663 + ], + "box_yaw_rad": 0.01100623087376238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001054477723679607 + } + } + }, + { + "simulation_time_ns": 880000000, + "center": [ + 0.6044454197488809, + 15.143060752289822, + 0.11879532556072007 + ], + "face_center": [ + 0.5272428444540487, + 15.142212189211419, + 0.1176786290123588 + ], + "face_normal": [ + -0.9998350247384816, + -0.01098956975524687, + -0.014462112394467198 + ], + "footprint_xy": [ + [ + 0.5248957256221454, + 15.085848658009251 + ], + [ + 0.6839951138756165, + 15.085848658009251 + ], + [ + 0.6839951138756165, + 15.200272846570392 + ], + [ + 0.5248957256221454, + 15.200272846570392 + ] + ], + "projected_box_corners": [ + [ + 0.529589963285952, + 15.085848658009251 + ], + [ + 0.5260973851936646, + 15.087949927306406 + ], + [ + 0.5283883037144329, + 15.196474451116432 + ], + [ + 0.5248957256221454, + 15.198575720413587 + ], + [ + 0.6839951138756165, + 15.087545784166057 + ], + [ + 0.680502535783329, + 15.089647053463212 + ], + [ + 0.6827934543040973, + 15.198171577273238 + ], + [ + 0.6793008762118098, + 15.200272846570392 + ] + ], + "yaw_rad": 0.010990940468789697, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1675889790058136, + 15.096085548400879, + 0.023489952087402344 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5272087514749056, + 15.142181086875052, + 0.1176541757926142 + ], + "intended_face_normal": [ + -0.9998306153445876, + -0.011001934701179588, + -0.014754593402386365 + ], + "commanded_contact_point": [ + 0.14943180978298187, + 15.128005027770996, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5271825910804544, + 15.143030604716637, + 0.1187934563538151 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1675160825252533, + 15.096078872680664, + 0.023494035005569458 + ], + "box_pose": [ + 0.6084389686584473, + 15.144784927368164, + 0.1360352486371994, + -0.004296909552067518, + -0.007401180453598499, + 0.0054694474674761295, + 0.9999483823776245 + ], + "box_yaw_rad": 0.011003354481619564, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010052368778170502 + } + } + }, + { + "simulation_time_ns": 900000000, + "center": [ + 0.6044863990829419, + 15.143092202090319, + 0.11879687518324125 + ], + "face_center": [ + 0.5272834436157966, + 15.142243404312971, + 0.11770696151059364 + ], + "face_normal": [ + -0.9998399482736432, + -0.010992609294052165, + -0.014115252757991643 + ], + "footprint_xy": [ + [ + 0.5249774446171013, + 15.085846661859737 + ], + [ + 0.6839953535487826, + 15.085846661859737 + ], + [ + 0.6839953535487826, + 15.2003377423209 + ], + [ + 0.5249774446171013, + 15.2003377423209 + ] + ], + "projected_box_corners": [ + [ + 0.529589442614492, + 15.085846661859737 + ], + [ + 0.5261793453630299, + 15.08801463109868 + ], + [ + 0.5283875418685634, + 15.196472177527264 + ], + [ + 0.5249774446171013, + 15.198640146766207 + ], + [ + 0.6839953535487826, + 15.087544257414429 + ], + [ + 0.6805852562973205, + 15.089712226653372 + ], + [ + 0.682793452802854, + 15.198169773081958 + ], + [ + 0.6793833555513918, + 15.2003377423209 + ] + ], + "yaw_rad": 0.010993926008249992, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1676626205444336, + 15.096087455749512, + 0.023485809564590454 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5272428444540487, + 15.142212189211419, + 0.1176786290123588 + ], + "intended_face_normal": [ + -0.9998350247384816, + -0.01098956975524687, + -0.014462112394467198 + ], + "commanded_contact_point": [ + 0.15039217472076416, + 15.12807559967041, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5272173651189338, + 15.143060752289822, + 0.11879532556072007 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1675889790058136, + 15.096085548400879, + 0.023489952087402344 + ], + "box_pose": [ + 0.6084784269332886, + 15.144819259643555, + 0.1360355168581009, + -0.004419394768774509, + -0.007255569100379944, + 0.005462998058646917, + 0.999949038028717 + ], + "box_yaw_rad": 0.010990940468789697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009629544158761776 + } + } + }, + { + "simulation_time_ns": 920000000, + "center": [ + 0.6045329784090882, + 15.143130626047096, + 0.11879888583459619 + ], + "face_center": [ + 0.5273295923100928, + 15.142282400265296, + 0.11773945654434204 + ], + "face_normal": [ + -0.999845525300119, + -0.010985201494770084, + -0.013720455652997466 + ], + "footprint_xy": [ + [ + 0.5250709951222098, + 15.085847577388797 + ], + [ + 0.6839949616959664, + 15.085847577388797 + ], + [ + 0.6839949616959664, + 15.200413674705395 + ], + [ + 0.5250709951222098, + 15.200413674705395 + ] + ], + "projected_box_corners": [ + [ + 0.5295881894979758, + 15.085847577388797 + ], + [ + 0.5262719903334092, + 15.088092022856813 + ], + [ + 0.5283871942867765, + 15.196472777673781 + ], + [ + 0.5250709951222098, + 15.198717223141797 + ], + [ + 0.6839949616959664, + 15.087544028952395 + ], + [ + 0.6806787625313998, + 15.089788474420411 + ], + [ + 0.6827939664847671, + 15.19816922923738 + ], + [ + 0.6794777673202004, + 15.200413674705395 + ] + ], + "yaw_rad": 0.01098645664136852, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16773441433906555, + 15.096074104309082, + 0.02348184585571289 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5272834436157966, + 15.142243404312971, + 0.11770696151059364 + ], + "intended_face_normal": [ + -0.9998399482736432, + -0.010992609294052165, + -0.014115252757991643 + ], + "commanded_contact_point": [ + 0.1513218879699707, + 15.128033638000488, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5272587247489042, + 15.143092202090319, + 0.11879687518324125 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1676626205444336, + 15.096087455749512, + 0.023485809564590454 + ], + "box_pose": [ + 0.6085253357887268, + 15.144855499267578, + 0.13603518903255463, + -0.004557483363896608, + -0.00708288699388504, + 0.00546430004760623, + 0.99994957447052 + ], + "box_yaw_rad": 0.010993926008249992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000930659716541132 + } + } + }, + { + "simulation_time_ns": 940000000, + "center": [ + 0.6045868044999356, + 15.143172146899518, + 0.11880047416234962 + ], + "face_center": [ + 0.5273829439242086, + 15.142323826572156, + 0.11777628312538786 + ], + "face_normal": [ + -0.9998516701528386, + -0.010986425935340004, + -0.013264092122146312 + ], + "footprint_xy": [ + [ + 0.5251785767176862, + 15.08584620068747 + ], + [ + 0.683995032282185, + 15.08584620068747 + ], + [ + 0.683995032282185, + 15.200498093111566 + ], + [ + 0.5251785767176862, + 15.200498093111566 + ] + ], + "projected_box_corners": [ + [ + 0.529587311130731, + 15.08584620068747 + ], + [ + 0.5263796570942169, + 15.088176631818333 + ], + [ + 0.5283862307542003, + 15.19647102132598 + ], + [ + 0.5251785767176862, + 15.198801452456843 + ], + [ + 0.683995032282185, + 15.087542841342193 + ], + [ + 0.6807873782456708, + 15.089873272473056 + ], + [ + 0.6827939519056543, + 15.198167661980703 + ], + [ + 0.6795862978691403, + 15.200498093111566 + ] + ], + "yaw_rad": 0.010987613601022938, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1678023636341095, + 15.09605598449707, + 0.02347797155380249 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5273295923100928, + 15.142282400265296, + 0.11773945654434204 + ], + "intended_face_normal": [ + -0.999845525300119, + -0.010985201494770084, + -0.013720455652997466 + ], + "commanded_contact_point": [ + 0.1522112637758255, + 15.127866744995117, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5273057348423775, + 15.143130626047096, + 0.11879888583459619 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16773441433906555, + 15.096074104309082, + 0.02348184585571289 + ], + "box_pose": [ + 0.6085786819458008, + 15.144899368286133, + 0.13603505492210388, + -0.004715781193226576, + -0.006886320188641548, + 0.005460397806018591, + 0.9999502897262573 + ], + "box_yaw_rad": 0.01098645664136852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009048992211322579 + } + } + }, + { + "simulation_time_ns": 960000000, + "center": [ + 0.6046484029073218, + 15.143222258345334, + 0.11880269515046113 + ], + "face_center": [ + 0.527444013761914, + 15.142374121170821, + 0.1178189968336382 + ], + "face_normal": [ + -0.9998585155524623, + -0.010984053959624238, + -0.012739679048008355 + ], + "footprint_xy": [ + [ + 0.5253021526335372, + 15.085847013101514 + ], + [ + 0.6839946531811063, + 15.085847013101514 + ], + [ + 0.6839946531811063, + 15.200597503589155 + ], + [ + 0.5253021526335372, + 15.200597503589155 + ] + ], + "projected_box_corners": [ + [ + 0.5295858748902907, + 15.085847013101514 + ], + [ + 0.5265029534175147, + 15.088276860664767 + ], + [ + 0.5283850741063132, + 15.196471381676876 + ], + [ + 0.5253021526335372, + 15.198901229240128 + ], + [ + 0.6839946531811063, + 15.087543287450538 + ], + [ + 0.6809117317083303, + 15.089973135013793 + ], + [ + 0.6827938523971288, + 15.1981676560259 + ], + [ + 0.6797109309243528, + 15.200597503589155 + ] + ], + "yaw_rad": 0.010985166356793417, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16786837577819824, + 15.096030235290527, + 0.023474544286727905 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5273829439242086, + 15.142323826572156, + 0.11777628312538786 + ], + "intended_face_normal": [ + -0.9998516701528386, + -0.010986425935340004, + -0.013264092122146312 + ], + "commanded_contact_point": [ + 0.153051495552063, + 15.127595901489258, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5273600355536631, + 15.143172146899518, + 0.11880047416234962 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1678023636341095, + 15.09605598449707, + 0.02347797155380249 + ], + "box_pose": [ + 0.6086403131484985, + 15.144947052001953, + 0.13603417575359344, + -0.004893763456493616, + -0.006659097038209438, + 0.005460892803966999, + 0.9999509453773499 + ], + "box_yaw_rad": 0.010987613601022938, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008828055519314047 + } + } + }, + { + "simulation_time_ns": 980000000, + "center": [ + 0.6047180565680577, + 15.143279087230319, + 0.11880526887530037 + ], + "face_center": [ + 0.5275130846746344, + 15.142432182586836, + 0.11786730843425583 + ], + "face_normal": [ + -0.9998660626048008, + -0.010968091698155035, + -0.012147337018150699 + ], + "footprint_xy": [ + [ + 0.525442547650881, + 15.085848850303472 + ], + [ + 0.6839935654852342, + 15.085848850303472 + ], + [ + 0.6839935654852342, + 15.200709324157165 + ], + [ + 0.525442547650881, + 15.200709324157165 + ] + ], + "projected_box_corners": [ + [ + 0.5295836216983878, + 15.085848850303472 + ], + [ + 0.5266416165996104, + 15.088391666941131 + ], + [ + 0.5283845527496585, + 15.19647269823254 + ], + [ + 0.525442547650881, + 15.199015514870199 + ], + [ + 0.6839935654852342, + 15.087542659590437 + ], + [ + 0.6810515603864569, + 15.090085476228095 + ], + [ + 0.6827944965365049, + 15.198166507519504 + ], + [ + 0.6798524914377275, + 15.200709324157165 + ] + ], + "yaw_rad": 0.010969120970615082, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1679290235042572, + 15.09599494934082, + 0.023471146821975708 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.527444013761914, + 15.142374121170821, + 0.1178189968336382 + ], + "intended_face_normal": [ + -0.9998585155524623, + -0.010984053959624238, + -0.012739679048008355 + ], + "commanded_contact_point": [ + 0.15383489429950714, + 15.12723445892334, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5274221626839504, + 15.143222258345334, + 0.11880269515046113 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16786837577819824, + 15.096030235290527, + 0.023474544286727905 + ], + "box_pose": [ + 0.6087108850479126, + 15.145004272460938, + 0.1360335499048233, + -0.005099543370306492, + -0.0063979909755289555, + 0.005459664389491081, + 0.9999516010284424 + ], + "box_yaw_rad": 0.010985166356793417, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008627597176797465 + } + } + }, + { + "simulation_time_ns": 1000000000, + "center": [ + 0.6047975814836751, + 15.143342328611684, + 0.11880823599462224 + ], + "face_center": [ + 0.5275919895029061, + 15.142495816047608, + 0.11792241092846528 + ], + "face_normal": [ + -0.999874093231297, + -0.010963013956624423, + -0.011472142264071453 + ], + "footprint_xy": [ + [ + 0.5256019726350974, + 15.08584814582401 + ], + [ + 0.6839931903322528, + 15.08584814582401 + ], + [ + 0.6839931903322528, + 15.200836511399359 + ], + [ + 0.5256019726350974, + 15.200836511399359 + ] + ], + "projected_box_corners": [ + [ + 0.5295820063707147, + 15.08584814582401 + ], + [ + 0.526800590069175, + 15.08852028048775 + ], + [ + 0.5283833889366373, + 15.196471351607467 + ], + [ + 0.5256019726350974, + 15.199143486271206 + ], + [ + 0.6839931903322528, + 15.08754117095216 + ], + [ + 0.681211774030713, + 15.090213305615901 + ], + [ + 0.6827945728981752, + 15.198164376735619 + ], + [ + 0.6800131565966354, + 15.200836511399359 + ] + ], + "yaw_rad": 0.01096395510746456, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1679856926202774, + 15.095958709716797, + 0.02346813678741455 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5275130846746344, + 15.142432182586836, + 0.11786730843425583 + ], + "intended_face_normal": [ + -0.9998660626048008, + -0.010968091698155035, + -0.012147337018150699 + ], + "commanded_contact_point": [ + 0.15455490350723267, + 15.126799583435059, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5274923992532363, + 15.143279087230319, + 0.11880526887530037 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1679290235042572, + 15.09599494934082, + 0.023471146821975708 + ], + "box_pose": [ + 0.6087906956672668, + 15.145069122314453, + 0.13603289425373077, + -0.00533334631472826, + -0.006103035993874073, + 0.005451756529510021, + 0.9999522566795349 + ], + "box_yaw_rad": 0.010969120970615082, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008411479968708812 + } + } + }, + { + "simulation_time_ns": 1020000000, + "center": [ + 0.6048899541210948, + 15.143414077065339, + 0.11881019124010736 + ], + "face_center": [ + 0.5276836860154681, + 15.14256798889499, + 0.11798496248886979 + ], + "face_normal": [ + -0.9998828495883375, + -0.010957517718828129, + -0.01068737157740584 + ], + "footprint_xy": [ + [ + 0.5257872029906077, + 15.085848829147414 + ], + [ + 0.683992705251582, + 15.085848829147414 + ], + [ + 0.683992705251582, + 15.200979324983265 + ], + [ + 0.5257872029906077, + 15.200979324983265 + ] + ], + "projected_box_corners": [ + [ + 0.5295801690403287, + 15.085848829147414 + ], + [ + 0.5269854733642065, + 15.088664694492325 + ], + [ + 0.5283818986667298, + 15.196471283297655 + ], + [ + 0.5257872029906077, + 15.199287148642565 + ], + [ + 0.683992705251582, + 15.087541005488113 + ], + [ + 0.6813980095754597, + 15.090356870833023 + ], + [ + 0.6827944348779831, + 15.198163459638353 + ], + [ + 0.6801997392018608, + 15.200979324983265 + ] + ], + "yaw_rad": 0.010958362878248508, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1690690815448761, + 15.095396995544434, + 0.025013506412506104 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5275919895029061, + 15.142495816047608, + 0.11792241092846528 + ], + "intended_face_normal": [ + -0.999874093231297, + -0.010963013956624423, + -0.011472142264071453 + ], + "commanded_contact_point": [ + 0.15520617365837097, + 15.126310348510742, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5275725444173571, + 15.143342328611684, + 0.11880823599462224 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1679856926202774, + 15.095958709716797, + 0.02346813678741455 + ], + "box_pose": [ + 0.6088817715644836, + 15.1451416015625, + 0.13603216409683228, + -0.005601038224995136, + -0.005766865331679583, + 0.005449463147670031, + 0.9999529123306274 + ], + "box_yaw_rad": 0.01096395510746456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008145573160659942 + } + } + }, + { + "simulation_time_ns": 1040000000, + "center": [ + 0.6049949822855143, + 15.143496538353489, + 0.11881288270852408 + ], + "face_center": [ + 0.5277880097715328, + 15.142650024037282, + 0.11805689921551674 + ], + "face_normal": [ + -0.9998919722392622, + -0.010963036648115647, + -0.00979059016550043 + ], + "footprint_xy": [ + [ + 0.5259976698316224, + 15.085848024973092 + ], + [ + 0.6839922947394061, + 15.085848024973092 + ], + [ + 0.6839922947394061, + 15.201145051733887 + ], + [ + 0.5259976698316224, + 15.201145051733887 + ] + ], + "projected_box_corners": [ + [ + 0.5295783497114432, + 15.085848024973092 + ], + [ + 0.5271969640104888, + 15.088830504388019 + ], + [ + 0.5283790555325769, + 15.196469543686547 + ], + [ + 0.5259976698316224, + 15.199452023101474 + ], + [ + 0.6839922947394061, + 15.087541053605506 + ], + [ + 0.6816109090384517, + 15.090523533020432 + ], + [ + 0.6827930005605399, + 15.19816257231896 + ], + [ + 0.6804116148595855, + 15.201145051733887 + ] + ], + "yaw_rad": 0.010963781768570567, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1740928739309311, + 15.089689254760742, + 0.040257036685943604 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5276836860154681, + 15.14256798889499, + 0.11798496248886979 + ], + "intended_face_normal": [ + -0.9998828495883375, + -0.010957517718828129, + -0.01068737157740584 + ], + "commanded_contact_point": [ + 0.15568996965885162, + 15.125856399536133, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5276655933440014, + 15.143414077065339, + 0.11881019124010736 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1690690815448761, + 15.095396995544434, + 0.025013506412506104 + ], + "box_pose": [ + 0.60898756980896, + 15.145223617553711, + 0.13602985441684723, + -0.005898476578295231, + -0.005376067478209734, + 0.005447302479296923, + 0.9999533295631409 + ], + "box_yaw_rad": 0.010958362878248508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006634216167943112 + } + } + }, + { + "simulation_time_ns": 1060000000, + "center": [ + 0.6051159268021052, + 15.143592405328098, + 0.11881708310573849 + ], + "face_center": [ + 0.5279082107834251, + 15.142746520780044, + 0.11814049685970845 + ], + "face_normal": [ + -0.9999016012190722, + -0.010954880647440934, + -0.008762332389220669 + ], + "footprint_xy": [ + [ + 0.5262403054947478, + 15.085848424842952 + ], + [ + 0.6839915481094627, + 15.085848424842952 + ], + [ + 0.6839915481094627, + 15.201336385813244 + ], + [ + 0.5262403054947478, + 15.201336385813244 + ] + ], + "projected_box_corners": [ + [ + 0.5295761160721024, + 15.085848424842952 + ], + [ + 0.5274393296282243, + 15.089024232672642 + ], + [ + 0.528377091938626, + 15.196468808887447 + ], + [ + 0.5262403054947478, + 15.199644616717135 + ], + [ + 0.6839915481094627, + 15.087540193939061 + ], + [ + 0.6818547616655846, + 15.090716001768751 + ], + [ + 0.6827925239759863, + 15.198160577983556 + ], + [ + 0.6806557375321081, + 15.201336385813244 + ] + ], + "yaw_rad": 0.010955520373011838, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16966678202152252, + 15.082624435424805, + 0.05279135704040527 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5277880097715328, + 15.142650024037282, + 0.11805689921551674 + ], + "intended_face_normal": [ + -0.9998919722392622, + -0.010963036648115647, + -0.00979059016550043 + ], + "commanded_contact_point": [ + 0.1556200534105301, + 15.125348091125488, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.52777132607542, + 15.143496538353489, + 0.11881288270852408 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1740928739309311, + 15.089689254760742, + 0.040257036685943604 + ], + "box_pose": [ + 0.6091079115867615, + 15.145318031311035, + 0.13602763414382935, + -0.006243340205401182, + -0.004929556977003813, + 0.005450995173305273, + 0.9999534487724304 + ], + "box_yaw_rad": 0.010963781768570567, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005130942625251502 + } + } + }, + { + "simulation_time_ns": 1080000000, + "center": [ + 0.6052555906670595, + 15.14370052894276, + 0.11882097280656138 + ], + "face_center": [ + 0.5280471168615609, + 15.142855164408155, + 0.1182364781808675 + ], + "face_normal": [ + -0.9999114151637422, + -0.010948146057851112, + -0.0075696723368148585 + ], + "footprint_xy": [ + [ + 0.5265209607295537, + 15.085846828197672 + ], + [ + 0.6839902206045652, + 15.085846828197672 + ], + [ + 0.6839902206045652, + 15.20155422968785 + ], + [ + 0.5265209607295537, + 15.20155422968785 + ] + ], + "projected_box_corners": [ + [ + 0.529573272993568, + 15.085846828197672 + ], + [ + 0.5277202086735868, + 15.089244510552223 + ], + [ + 0.5283740250495349, + 15.196465818264087 + ], + [ + 0.5265209607295537, + 15.199863500618639 + ], + [ + 0.6839902206045652, + 15.087537557266883 + ], + [ + 0.6821371562845839, + 15.090935239621434 + ], + [ + 0.682790972660532, + 15.198156547333298 + ], + [ + 0.6809379083405508, + 15.20155422968785 + ] + ], + "yaw_rad": 0.010948678476829283, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16568908095359802, + 15.083710670471191, + 0.05617105960845947 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5279082107834251, + 15.142746520780044, + 0.11814049685970845 + ], + "intended_face_normal": [ + -0.9999016012190722, + -0.010954880647440934, + -0.008762332389220669 + ], + "commanded_contact_point": [ + 0.15632618963718414, + 15.123984336853027, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5278930142502125, + 15.143592405328098, + 0.11881708310573849 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16966678202152252, + 15.082624435424805, + 0.05279135704040527 + ], + "box_pose": [ + 0.6092464327812195, + 15.145427703857422, + 0.13602615892887115, + -0.006643498316407204, + -0.0044175684452056885, + 0.005448346491903067, + 0.9999533295631409 + ], + "box_yaw_rad": 0.010955520373011838, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001535725915120789 + } + } + }, + { + "simulation_time_ns": 1100000000, + "center": [ + 0.6054170939897174, + 15.143828994103938, + 0.1188252110866804 + ], + "face_center": [ + 0.5282078839910281, + 15.142984030445419, + 0.11834705806933997 + ], + "face_normal": [ + -0.9999209494536844, + -0.010942954392294452, + -0.006192463555724795 + ], + "footprint_xy": [ + [ + 0.5268451064817513, + 15.085847873378802 + ], + [ + 0.6839890814976837, + 15.085847873378802 + ], + [ + 0.6839890814976837, + 15.201810114829076 + ], + [ + 0.5268451064817513, + 15.201810114829076 + ] + ], + "projected_box_corners": [ + [ + 0.529570661500305, + 15.085847873378802 + ], + [ + 0.5280451956446306, + 15.089502936289687 + ], + [ + 0.5283705723374257, + 15.196465124601152 + ], + [ + 0.5268451064817513, + 15.200120187512036 + ], + [ + 0.6839890814976837, + 15.08753780069584 + ], + [ + 0.6824636156420093, + 15.091192863606725 + ], + [ + 0.6827889923348043, + 15.19815505191819 + ], + [ + 0.68126352647913, + 15.201810114829076 + ] + ], + "yaw_rad": 0.010943382635111954, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16629928350448608, + 15.088960647583008, + 0.05847996473312378 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5280471168615609, + 15.142855164408155, + 0.1182364781808675 + ], + "intended_face_normal": [ + -0.9999114151637422, + -0.010948146057851112, + -0.0075696723368148585 + ], + "commanded_contact_point": [ + 0.15776929259300232, + 15.122418403625488, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5280334360436987, + 15.14370052894276, + 0.11882097280656138 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16568908095359802, + 15.083710670471191, + 0.05617105960845947 + ], + "box_pose": [ + 0.6094064712524414, + 15.145551681518555, + 0.13602344691753387, + -0.007102722302079201, + -0.00382370688021183, + 0.0054471720941364765, + 0.9999526739120483 + ], + "box_yaw_rad": 0.010948678476829283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002129481865278267 + } + } + }, + { + "simulation_time_ns": 1120000000, + "center": [ + 0.6056036877862814, + 15.143975506735195, + 0.11882928552517678 + ], + "face_center": [ + 0.5283938140179221, + 15.143130457492525, + 0.11847433894631246 + ], + "face_normal": [ + -0.9999295458011748, + -0.010944062775420718, + -0.004596841751772468 + ], + "footprint_xy": [ + [ + 0.5272197119968938, + 15.085846383034442 + ], + [ + 0.683987663575669, + 15.085846383034442 + ], + [ + 0.683987663575669, + 15.202104630435949 + ], + [ + 0.5272197119968938, + 15.202104630435949 + ] + ], + "projected_box_corners": [ + [ + 0.5295679160389504, + 15.085846383034442 + ], + [ + 0.5284219684684598, + 15.089799461884809 + ], + [ + 0.5283656595673843, + 15.19646145310024 + ], + [ + 0.5272197119968938, + 15.200414531950608 + ], + [ + 0.683987663575669, + 15.087536481519782 + ], + [ + 0.6828417160051784, + 15.091489560370151 + ], + [ + 0.6827854071041031, + 15.198151551585582 + ], + [ + 0.6816394595336124, + 15.202104630435949 + ] + ], + "yaw_rad": 0.010944396891344159, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16686832904815674, + 15.09524154663086, + 0.06030671298503876 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5282078839910281, + 15.142984030445419, + 0.11834705806933997 + ], + "intended_face_normal": [ + -0.9999209494536844, + -0.010942954392294452, + -0.006192463555724795 + ], + "commanded_contact_point": [ + 0.1587403118610382, + 15.121315956115723, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.528195675682975, + 15.143828994103938, + 0.1188252110866804 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16629928350448608, + 15.088960647583008, + 0.05847996473312378 + ], + "box_pose": [ + 0.6095914840698242, + 15.145698547363281, + 0.1360200047492981, + -0.007635466754436493, + -0.0031379815191030502, + 0.005447783507406712, + 0.9999511241912842 + ], + "box_yaw_rad": 0.010943382635111954, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014691048064602447 + } + } + }, + { + "simulation_time_ns": 1140000000, + "center": [ + 0.6058185781574454, + 15.144143663462668, + 0.11883314846577947 + ], + "face_center": [ + 0.5286081830828795, + 15.143298601623792, + 0.11861992244216193 + ], + "face_normal": [ + -0.9999362971330064, + -0.010944225906336952, + -0.002761447345303679 + ], + "footprint_xy": [ + [ + 0.5276508983886516, + 15.085844810717933 + ], + [ + 0.6839862579262393, + 15.085844810717933 + ], + [ + 0.6839862579262393, + 15.202442516207402 + ], + [ + 0.5276508983886516, + 15.202442516207402 + ] + ], + "projected_box_corners": [ + [ + 0.5295654677771073, + 15.085844810717933 + ], + [ + 0.5288560621060077, + 15.090140035906783 + ], + [ + 0.5283603040597513, + 15.196457167340801 + ], + [ + 0.5276508983886516, + 15.200752392529651 + ], + [ + 0.6839862579262393, + 15.087534934395684 + ], + [ + 0.6832768522551397, + 15.091830159584534 + ], + [ + 0.6827810942088833, + 15.198147291018552 + ], + [ + 0.6820716885377837, + 15.202442516207402 + ] + ], + "yaw_rad": 0.01094448612505078, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16759257018566132, + 15.101040840148926, + 0.0625440925359726 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5283938140179221, + 15.143130457492525, + 0.11847433894631246 + ], + "intended_face_normal": [ + -0.9999295458011748, + -0.010944062775420718, + -0.004596841751772468 + ], + "commanded_contact_point": [ + 0.15940073132514954, + 15.120328903198242, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5283829333484568, + 15.143975506735195, + 0.11882928552517678 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16686832904815674, + 15.09524154663086, + 0.06030671298503876 + ], + "box_pose": [ + 0.6098052859306335, + 15.145866394042969, + 0.1360151171684265, + -0.008252337574958801, + -0.0023435414768755436, + 0.005452972836792469, + 0.9999484419822693 + ], + "box_yaw_rad": 0.010944396891344159, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011876141343732025 + } + } + }, + { + "simulation_time_ns": 1160000000, + "center": [ + 0.6060652965916278, + 15.144340269475824, + 0.11883753827095145 + ], + "face_center": [ + 0.5288546320441253, + 15.143494467650243, + 0.11878652879375133 + ], + "face_normal": [ + -0.9999397870228068, + -0.01095380932531698, + -0.0006606134795829948 + ], + "footprint_xy": [ + [ + 0.5281445857594815, + 15.085843802122561 + ], + [ + 0.6839860074237741, + 15.085843802122561 + ], + [ + 0.6839860074237741, + 15.202836736829086 + ], + [ + 0.5281445857594815, + 15.202836736829086 + ] + ], + "projected_box_corners": [ + [ + 0.5295646783287692, + 15.085843802122561 + ], + [ + 0.5293548173417457, + 15.090536220350472 + ], + [ + 0.5283544467465049, + 15.196452714950015 + ], + [ + 0.5281445857594815, + 15.201145133177924 + ], + [ + 0.6839860074237741, + 15.087535405773723 + ], + [ + 0.6837761464367507, + 15.092227824001633 + ], + [ + 0.6827757758415098, + 15.198144318601175 + ], + [ + 0.6825659148544865, + 15.202836736829086 + ] + ], + "yaw_rad": 0.01095403077787181, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1660536527633667, + 15.10643482208252, + 0.06288757920265198 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5286081830828795, + 15.143298601623792, + 0.11861992244216193 + ], + "intended_face_normal": [ + -0.9999362971330064, + -0.010944225906336952, + -0.002761447345303679 + ], + "commanded_contact_point": [ + 0.1597660630941391, + 15.118757247924805, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5285983450957715, + 15.144143663462668, + 0.11883314846577947 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16759257018566132, + 15.101040840148926, + 0.0625440925359726 + ], + "box_pose": [ + 0.6100514531135559, + 15.146059036254883, + 0.1360085904598236, + -0.00896055344492197, + -0.0014297249726951122, + 0.005459608044475317, + 0.9999439120292664 + ], + "box_yaw_rad": 0.01094448612505078, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016135574362813958 + } + } + }, + { + "simulation_time_ns": 1180000000, + "center": [ + 0.6063486038477586, + 15.144565113631305, + 0.11884160963350085 + ], + "face_center": [ + 0.5291380415819849, + 15.143719275240286, + 0.1189770146007009 + ], + "face_normal": [ + -0.9999384623927094, + -0.010954282876949927, + 0.0017536024959422612 + ], + "footprint_xy": [ + [ + 0.5283480232236143, + 15.085842605915621 + ], + [ + 0.6843491844719028, + 15.085842605915621 + ], + [ + 0.6843491844719028, + 15.203287621346988 + ], + [ + 0.5283480232236143, + 15.203287621346988 + ] + ], + "projected_box_corners": [ + [ + 0.5295638525469204, + 15.085842605915621 + ], + [ + 0.5299280599403555, + 15.090991350094624 + ], + [ + 0.5283480232236143, + 15.196447200385949 + ], + [ + 0.5287122306170494, + 15.201595944564952 + ], + [ + 0.6839849770784678, + 15.087534282697659 + ], + [ + 0.6843491844719028, + 15.092683026876662 + ], + [ + 0.6827691477551617, + 15.198138877167985 + ], + [ + 0.6831333551485967, + 15.203287621346988 + ] + ], + "yaw_rad": 0.010954518811593183, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16290737688541412, + 15.10997486114502, + 0.06379595398902893 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5288546320441253, + 15.143494467650243, + 0.11878652879375133 + ], + "intended_face_normal": [ + -0.9999397870228068, + -0.01095380932531698, + -0.0006606134795829948 + ], + "commanded_contact_point": [ + 0.15977363288402557, + 15.116503715515137, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5288453330362853, + 15.144340269475824, + 0.11883753827095145 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1660536527633667, + 15.10643482208252, + 0.06288757920265198 + ], + "box_pose": [ + 0.6103339195251465, + 15.146284103393555, + 0.13600093126296997, + -0.009782803244888783, + -0.00038387696258723736, + 0.005473493132740259, + 0.9999371767044067 + ], + "box_yaw_rad": 0.01095403077787181, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022535451233996534 + } + } + }, + { + "simulation_time_ns": 1200000000, + "center": [ + 0.6066726089863558, + 15.14480911840155, + 0.11884996056949519 + ], + "face_center": [ + 0.5294626904215611, + 15.143965391632577, + 0.11919824614264357 + ], + "face_normal": [ + -0.9999301259507998, + -0.010926935684548517, + 0.0045105764064866305 + ], + "footprint_xy": [ + [ + 0.528342458936788, + 15.085842856489082 + ], + [ + 0.6850027590359236, + 15.085842856489082 + ], + [ + 0.6850027590359236, + 15.203775380314019 + ], + [ + 0.528342458936788, + 15.203775380314019 + ] + ], + "projected_box_corners": [ + [ + 0.5295627775368679, + 15.085842856489082 + ], + [ + 0.530582921906334, + 15.09148845603451 + ], + [ + 0.528342458936788, + 15.196442327230645 + ], + [ + 0.5293626033062543, + 15.202087926776073 + ], + [ + 0.6839826146664573, + 15.087530310027025 + ], + [ + 0.6850027590359236, + 15.093175909572455 + ], + [ + 0.6827622960663775, + 15.19812978076859 + ], + [ + 0.6837824404358438, + 15.203775380314019 + ] + ], + "yaw_rad": 0.010927264302655192, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1607002466917038, + 15.109177589416504, + 0.06638357043266296 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5291380415819849, + 15.143719275240286, + 0.1189770146007009 + ], + "intended_face_normal": [ + -0.9999384623927094, + -0.010954282876949927, + 0.0017536024959422612 + ], + "commanded_contact_point": [ + 0.15933215618133545, + 15.113865852355957, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5291285379982333, + 15.144565113631305, + 0.11884160963350085 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16290737688541412, + 15.10997486114502, + 0.06379595398902893 + ], + "box_pose": [ + 0.6106582880020142, + 15.146541595458984, + 0.13599100708961487, + -0.010727470740675926, + 0.0008180065779015422, + 0.00548631651327014, + 0.9999271035194397 + ], + "box_yaw_rad": 0.010954518811593183, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002674551126000298 + } + } + }, + { + "simulation_time_ns": 1220000000, + "center": [ + 0.6070185190171785, + 15.145065626504948, + 0.11885957988299979 + ], + "face_center": [ + 0.5298099255974427, + 15.144225368796091, + 0.11943557612452207 + ], + "face_normal": [ + -0.9999129642636717, + -0.010882008584729055, + 0.007459611472705004 + ], + "footprint_xy": [ + [ + 0.5283365951419368, + 15.085844178641223 + ], + [ + 0.6857004428924204, + 15.085844178641223 + ], + [ + 0.6857004428924204, + 15.204287074368672 + ], + [ + 0.5283365951419368, + 15.204287074368672 + ] + ], + "projected_box_corners": [ + [ + 0.5295613380113974, + 15.085844178641223 + ], + [ + 0.5312832560529487, + 15.092012977702339 + ], + [ + 0.5283365951419368, + 15.196437759889841 + ], + [ + 0.530058513183488, + 15.202606558950958 + ], + [ + 0.6839785248508692, + 15.087524694058937 + ], + [ + 0.6857004428924204, + 15.093693493120053 + ], + [ + 0.6827537819814085, + 15.198118275307555 + ], + [ + 0.6844757000229598, + 15.204287074368672 + ] + ], + "yaw_rad": 0.010882526166854098, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15948191285133362, + 15.104939460754395, + 0.06889498233795166 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5294626904215611, + 15.143965391632577, + 0.11919824614264357 + ], + "intended_face_normal": [ + -0.9999301259507998, + -0.010926935684548517, + 0.0045105764064866305 + ], + "commanded_contact_point": [ + 0.1584140658378601, + 15.11103343963623, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5294518993512535, + 15.14480911840155, + 0.11884996056949519 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1607002466917038, + 15.109177589416504, + 0.06638357043266296 + ], + "box_pose": [ + 0.6110292077064514, + 15.146821022033691, + 0.13598337769508362, + -0.011755728162825108, + 0.002190942410379648, + 0.005489699076861143, + 0.9999134540557861 + ], + "box_yaw_rad": 0.010927264302655192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029774908385713623 + } + } + }, + { + "simulation_time_ns": 1240000000, + "center": [ + 0.607296085747897, + 15.145330074557164, + 0.11889119553661669 + ], + "face_center": [ + 0.5300890471954214, + 15.14449085579246, + 0.11964856750699421 + ], + "face_normal": [ + -0.9998928274905167, + -0.0108685534279402, + 0.00980857205665427 + ], + "footprint_xy": [ + [ + 0.5283332000694471, + 15.085847732623556 + ], + [ + 0.686258971426347, + 15.085847732623556 + ], + [ + 0.686258971426347, + 15.20481241649077 + ], + [ + 0.5283332000694471, + 15.20481241649077 + ] + ], + "projected_box_corners": [ + [ + 0.5295654422432013, + 15.085847732623556 + ], + [ + 0.5318448943213958, + 15.092546944926527 + ], + [ + 0.5283332000694471, + 15.196434766658395 + ], + [ + 0.5306126521476415, + 15.203133978961366 + ], + [ + 0.6839795193481525, + 15.087526170152959 + ], + [ + 0.686258971426347, + 15.09422538245593 + ], + [ + 0.6827472771743982, + 15.198113204187798 + ], + [ + 0.6850267292525927, + 15.20481241649077 + ] + ], + "yaw_rad": 0.010869290304721536, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15682899951934814, + 15.099905014038086, + 0.06819324195384979 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5298099255974427, + 15.144225368796091, + 0.11943557612452207 + ], + "intended_face_normal": [ + -0.9999129642636717, + -0.010882008584729055, + 0.007459611472705004 + ], + "commanded_contact_point": [ + 0.15712788701057434, + 15.107966423034668, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5297964840290645, + 15.145065626504948, + 0.11885957988299979 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15948191285133362, + 15.104939460754395, + 0.06889498233795166 + ], + "box_pose": [ + 0.6114252805709839, + 15.147114753723145, + 0.13597574830055237, + -0.012838457711040974, + 0.003659722162410617, + 0.005488561000674963, + 0.9998958706855774 + ], + "box_yaw_rad": 0.010882526166854098, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033257851419653942 + } + } + }, + { + "simulation_time_ns": 1260000000, + "center": [ + 0.6072989242653654, + 15.145350996389746, + 0.11890135164371135 + ], + "face_center": [ + 0.5300919045924676, + 15.14451173912421, + 0.11966060311328491 + ], + "face_normal": [ + -0.9998925829849026, + -0.010869052044486613, + 0.009832913072714847 + ], + "footprint_xy": [ + [ + 0.5283332131410434, + 15.085848472856531 + ], + [ + 0.6862646353896873, + 15.085848472856531 + ], + [ + 0.6862646353896873, + 15.20485351992296 + ], + [ + 0.5283332131410434, + 15.20485351992296 + ] + ], + "projected_box_corners": [ + [ + 0.5295657647577573, + 15.085848472856531 + ], + [ + 0.5318505960438916, + 15.092588499440959 + ], + [ + 0.5283332131410434, + 15.196434978807464 + ], + [ + 0.5306180444271779, + 15.203175005391891 + ], + [ + 0.6839798041035529, + 15.0875269873876 + ], + [ + 0.6862646353896873, + 15.09426701397203 + ], + [ + 0.6827472524868391, + 15.198113493338532 + ], + [ + 0.6850320837729735, + 15.20485351992296 + ] + ], + "yaw_rad": 0.010869791573598242, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15055133402347565, + 15.094472885131836, + 0.06313319504261017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5300890471954214, + 15.14449085579246, + 0.11964856750699421 + ], + "intended_face_normal": [ + -0.9998928274905167, + -0.0108685534279402, + 0.00980857205665427 + ], + "commanded_contact_point": [ + 0.15550118684768677, + 15.104423522949219, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5300724955905105, + 15.145330074557164, + 0.11889119553661669 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15682899951934814, + 15.099905014038086, + 0.06819324195384979 + ], + "box_pose": [ + 0.6117426156997681, + 15.147417068481445, + 0.13599249720573425, + -0.01393787283450365, + 0.004828194621950388, + 0.00550225330516696, + 0.999876081943512 + ], + "box_yaw_rad": 0.010869290304721536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038984989981449324 + } + } + }, + { + "simulation_time_ns": 1280000000, + "center": [ + 0.6072744658502582, + 15.145345067972064, + 0.11890689318351445 + ], + "face_center": [ + 0.5300672917195471, + 15.144505848991058, + 0.11965031545378726 + ], + "face_normal": [ + -0.9998945833369755, + -0.01086855622926201, + 0.009627912296328598 + ], + "footprint_xy": [ + [ + 0.528333489129811, + 15.085847726577152 + ], + [ + 0.6862154425707054, + 15.085847726577152 + ], + [ + 0.6862154425707054, + 15.204842409366975 + ], + [ + 0.528333489129811, + 15.204842409366975 + ] + ], + "projected_box_corners": [ + [ + 0.5295653061910374, + 15.085847726577152 + ], + [ + 0.5318010943092834, + 15.092577329839374 + ], + [ + 0.528333489129811, + 15.19643436814274 + ], + [ + 0.5305692772480569, + 15.203163971404962 + ], + [ + 0.6839796544524595, + 15.087526164539165 + ], + [ + 0.6862154425707054, + 15.094255767801387 + ], + [ + 0.6827478373912331, + 15.198112806104753 + ], + [ + 0.684983625509479, + 15.204842409366975 + ] + ], + "yaw_rad": 0.010869274020694007, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14453411102294922, + 15.090119361877441, + 0.06282277405261993 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5300919045924676, + 15.14451173912421, + 0.11966060311328491 + ], + "intended_face_normal": [ + -0.9998925829849026, + -0.010869052044486613, + 0.009832913072714847 + ], + "commanded_contact_point": [ + 0.15426087379455566, + 15.100728988647461, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5300753152243491, + 15.145350996389746, + 0.11890135164371135 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15055133402347565, + 15.094472885131836, + 0.06313319504261017 + ], + "box_pose": [ + 0.6117458343505859, + 15.147440910339355, + 0.13600219786167145, + -0.01402289979159832, + 0.00483989343047142, + 0.005503084510564804, + 0.9998747706413269 + ], + "box_yaw_rad": 0.010869791573598242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00389717335731674 + } + } + }, + { + "simulation_time_ns": 1300000000, + "center": [ + 0.6072231344110102, + 15.145315059316133, + 0.11890929461946921 + ], + "face_center": [ + 0.530015638179528, + 15.144476995413198, + 0.11961984165219203 + ], + "face_normal": [ + -0.9998987547992777, + -0.010853597045478147, + 0.009202151707079609 + ], + "footprint_xy": [ + [ + 0.5283341145354091, + 15.085848270250759 + ], + [ + 0.6861121542866113, + 15.085848270250759 + ], + [ + 0.6861121542866113, + 15.204781848381508 + ], + [ + 0.5283341145354091, + 15.204781848381508 + ] + ], + "projected_box_corners": [ + [ + 0.5295627159976447, + 15.085848270250759 + ], + [ + 0.5316971618236469, + 15.0925182932874 + ], + [ + 0.5283341145354091, + 15.196435697538996 + ], + [ + 0.5304685603614113, + 15.203105720575639 + ], + [ + 0.6839777084606091, + 15.087524398056628 + ], + [ + 0.6861121542866113, + 15.09419442109327 + ], + [ + 0.6827491069983735, + 15.198111825344867 + ], + [ + 0.6848835528243757, + 15.204781848381508 + ] + ], + "yaw_rad": 0.010854269745382832, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14104893803596497, + 15.088013648986816, + 0.06641845405101776 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5300672917195471, + 15.144505848991058, + 0.11965031545378726 + ], + "intended_face_normal": [ + -0.9998945833369755, + -0.01086855622926201, + 0.009627912296328598 + ], + "commanded_contact_point": [ + 0.15363965928554535, + 15.097455024719238, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5300510112999344, + 15.145345067972064, + 0.11890689318351445 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14453411102294922, + 15.090119361877441, + 0.06282277405261993 + ], + "box_pose": [ + 0.6117178797721863, + 15.14743423461914, + 0.13600873947143555, + -0.01400173269212246, + 0.004737517796456814, + 0.005501295905560255, + 0.9998756051063538 + ], + "box_yaw_rad": 0.010869274020694007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033323786205046134 + } + } + }, + { + "simulation_time_ns": 1320000000, + "center": [ + 0.6071463619941645, + 15.145264370000117, + 0.11890982040864623 + ], + "face_center": [ + 0.5299384194199218, + 15.144426582247887, + 0.11957043963965486 + ], + "face_normal": [ + -0.9999045352945942, + -0.010850020673242764, + 0.008555546789155554 + ], + "footprint_xy": [ + [ + 0.52833522654648, + 15.085849428212851 + ], + [ + 0.685957497441849, + 15.085849428212851 + ], + [ + 0.685957497441849, + 15.204679311787382 + ], + [ + 0.52833522654648, + 15.204679311787382 + ] + ], + "projected_box_corners": [ + [ + 0.5295610522688141, + 15.085849428212851 + ], + [ + 0.5315416122933637, + 15.092414974935936 + ], + [ + 0.52833522654648, + 15.196438189559837 + ], + [ + 0.5303157865710296, + 15.203003736282922 + ], + [ + 0.6839769374172993, + 15.08752500371731 + ], + [ + 0.685957497441849, + 15.094090550440397 + ], + [ + 0.6827511116949653, + 15.198113765064296 + ], + [ + 0.6847316717195149, + 15.204679311787382 + ] + ], + "yaw_rad": 0.010850630708811053, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1421460062265396, + 15.086637496948242, + 0.07071690261363983 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.530015638179528, + 15.144476995413198, + 0.11961984165219203 + ], + "intended_face_normal": [ + -0.9998987547992777, + -0.010853597045478147, + 0.009202151707079609 + ], + "commanded_contact_point": [ + 0.1533263623714447, + 15.0945463180542, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5300000020280337, + 15.145315059316133, + 0.11890929461946921 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14104893803596497, + 15.088013648986816, + 0.06641845405101776 + ], + "box_pose": [ + 0.6116593480110168, + 15.14739990234375, + 0.13601353764533997, + -0.01387871615588665, + 0.004525428172200918, + 0.0054902732372283936, + 0.9998784065246582 + ], + "box_yaw_rad": 0.010854269745382832, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029255306222928175 + } + } + }, + { + "simulation_time_ns": 1340000000, + "center": [ + 0.6070469239133609, + 15.145187628954941, + 0.11890687041875322 + ], + "face_center": [ + 0.5298384620531507, + 15.14434881933614, + 0.11950228467240727 + ], + "face_normal": [ + -0.9999112604627152, + -0.01086325466169206, + 0.0077110902422406575 + ], + "footprint_xy": [ + [ + 0.5283365231395727, + 15.08584800916478 + ], + [ + 0.685757324687149, + 15.08584800916478 + ], + [ + 0.685757324687149, + 15.204527248745105 + ], + [ + 0.5283365231395727, + 15.204527248745105 + ] + ], + "projected_box_corners": [ + [ + 0.5295607345228638, + 15.08584800916478 + ], + [ + 0.5313404009667286, + 15.092258954875124 + ], + [ + 0.5283365231395727, + 15.196438683797156 + ], + [ + 0.5301161895834376, + 15.2028496295075 + ], + [ + 0.6839776582432842, + 15.087525628402384 + ], + [ + 0.685757324687149, + 15.093936574112728 + ], + [ + 0.6827534468599931, + 15.19811630303476 + ], + [ + 0.6845331133038579, + 15.204527248745105 + ] + ], + "yaw_rad": 0.010863791338602125, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14494574069976807, + 15.085222244262695, + 0.07272021472454071 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5299384194199218, + 15.144426582247887, + 0.11957043963965486 + ], + "intended_face_normal": [ + -0.9999045352945942, + -0.010850020673242764, + 0.008555546789155554 + ], + "commanded_contact_point": [ + 0.15323472023010254, + 15.092323303222656, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5299236760417614, + 15.145264370000117, + 0.11890982040864623 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1421460062265396, + 15.086637496948242, + 0.07071690261363983 + ], + "box_pose": [ + 0.6115716099739075, + 15.14734172821045, + 0.1360178142786026, + -0.013662674464285374, + 0.004203352145850658, + 0.005483081564307213, + 0.9998828768730164 + ], + "box_yaw_rad": 0.010850630708811053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002224902969671687 + } + } + }, + { + "simulation_time_ns": 1360000000, + "center": [ + 0.6069187220482773, + 15.145087485855036, + 0.11890234904288552 + ], + "face_center": [ + 0.5297096716933184, + 15.144247582714367, + 0.11941402136895084 + ], + "face_normal": [ + -0.9999188819398412, + -0.010877416643429208, + 0.0066265653812167796 + ], + "footprint_xy": [ + [ + 0.528337826011103, + 15.085845967324659 + ], + [ + 0.6854996180854518, + 15.085845967324659 + ], + [ + 0.6854996180854518, + 15.204329004385412 + ], + [ + 0.528337826011103, + 15.204329004385412 + ] + ], + "projected_box_corners": [ + [ + 0.5295598188117675, + 15.085845967324659 + ], + [ + 0.5310815173755339, + 15.092056103379587 + ], + [ + 0.528337826011103, + 15.19643906204915 + ], + [ + 0.5298595245748694, + 15.202649198104076 + ], + [ + 0.6839779195216854, + 15.087525773605995 + ], + [ + 0.6854996180854518, + 15.093735909660921 + ], + [ + 0.6827559267210209, + 15.198118868330486 + ], + [ + 0.6842776252847872, + 15.204329004385412 + ] + ], + "yaw_rad": 0.010877869997236816, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14734044671058655, + 15.084620475769043, + 0.07312832772731781 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5298384620531507, + 15.14434881933614, + 0.11950228467240727 + ], + "intended_face_normal": [ + -0.9999112604627152, + -0.01086325466169206, + 0.0077110902422406575 + ], + "commanded_contact_point": [ + 0.1531442254781723, + 15.090986251831055, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.5298247573425933, + 15.145187628954941, + 0.11890687041875322 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14494574069976807, + 15.085222244262695, + 0.07272021472454071 + ], + "box_pose": [ + 0.6114578247070312, + 15.14725399017334, + 0.13601990044116974, + -0.013342640362679958, + 0.0037828118074685335, + 0.005482709500938654, + 0.9998888373374939 + ], + "box_yaw_rad": 0.010863791338602125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001340110340619268 + } + } + }, + { + "simulation_time_ns": 1380000000, + "center": [ + 0.6067666758655033, + 15.1449649883054, + 0.11889542833207489 + ], + "face_center": [ + 0.5295570381930591, + 15.144124105945185, + 0.1193070954107704 + ], + "face_normal": [ + -0.9999264881704628, + -0.010890098318839091, + 0.005331417536781381 + ], + "footprint_xy": [ + [ + 0.5283406100094741, + 15.085845134277102 + ], + [ + 0.6851927417215323, + 15.085845134277102 + ], + [ + 0.6851927417215323, + 15.204084842333698 + ], + [ + 0.5283406100094741, + 15.204084842333698 + ] + ], + "projected_box_corners": [ + [ + 0.529559726283452, + 15.085845134277102 + ], + [ + 0.5307734663766442, + 15.091807093388008 + ], + [ + 0.5283406100094741, + 15.196441118502362 + ], + [ + 0.5295543501026663, + 15.202403077613267 + ], + [ + 0.6839790016283402, + 15.087526898997533 + ], + [ + 0.6851927417215323, + 15.093488858108438 + ], + [ + 0.6827598853543623, + 15.198122883222792 + ], + [ + 0.6839736254475544, + 15.204084842333698 + ] + ], + "yaw_rad": 0.01089046836344863, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14821740984916687, + 15.086130142211914, + 0.07088601589202881 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5297096716933184, + 15.144247582714367, + 0.11941402136895084 + ], + "intended_face_normal": [ + -0.9999188819398412, + -0.010877416643429208, + 0.0066265653812167796 + ], + "commanded_contact_point": [ + 0.15312856435775757, + 15.090378761291504, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5296971440722316, + 15.145087485855036, + 0.11890234904288552 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14734044671058655, + 15.084620475769043, + 0.07312832772731781 + ], + "box_pose": [ + 0.6113111972808838, + 15.147139549255371, + 0.13602183759212494, + -0.01292693056166172, + 0.0032427641563117504, + 0.005481196101754904, + 0.999896228313446 + ], + "box_yaw_rad": 0.010877869997236816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006076923780926129 + } + } + }, + { + "simulation_time_ns": 1400000000, + "center": [ + 0.6066118489211582, + 15.14483568241019, + 0.11888727746052649 + ], + "face_center": [ + 0.5294017478890548, + 15.143993808201872, + 0.11919751751698235 + ], + "face_normal": [ + -0.9999324890482136, + -0.010902943544112415, + 0.00401785657197086 + ], + "footprint_xy": [ + [ + 0.5283427667026775, + 15.08584320994276 + ], + [ + 0.6848809311396387, + 15.08584320994276 + ], + [ + 0.6848809311396387, + 15.203828154877618 + ], + [ + 0.5283427667026775, + 15.203828154877618 + ] + ], + "projected_box_corners": [ + [ + 0.5295592495093099, + 15.08584320994276 + ], + [ + 0.530460729075432, + 15.09154552559603 + ], + [ + 0.5283427667026775, + 15.196442090807713 + ], + [ + 0.5292442462687996, + 15.202144406460983 + ], + [ + 0.6839794515735166, + 15.087526958359394 + ], + [ + 0.6848809311396387, + 15.093229274012666 + ], + [ + 0.6827629687668842, + 15.198125839224346 + ], + [ + 0.6836644483330063, + 15.203828154877618 + ] + ], + "yaw_rad": 0.010903247579064636, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1484518051147461, + 15.089335441589355, + 0.0672309547662735 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5295570381930591, + 15.144124105945185, + 0.1193070954107704 + ], + "intended_face_normal": [ + -0.9999264881704628, + -0.010890098318839091, + 0.005331417536781381 + ], + "commanded_contact_point": [ + 0.15304340422153473, + 15.090458869934082, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.52954568529777, + 15.1449649883054, + 0.11889542833207489 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14821740984916687, + 15.086130142211914, + 0.07088601589202881 + ], + "box_pose": [ + 0.6111371517181396, + 15.14699935913086, + 0.1360226571559906, + -0.012413058429956436, + 0.002597960177809, + 0.00547782052308321, + 0.9999045729637146 + ], + "box_yaw_rad": 0.01089046836344863, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00011691725029781678 + } + } + }, + { + "simulation_time_ns": 1420000000, + "center": [ + 0.6064514935370529, + 15.144702356456, + 0.11887947384721045 + ], + "face_center": [ + 0.529241046410611, + 15.143860006629637, + 0.11908442216860038 + ], + "face_normal": [ + -0.9999369712463817, + -0.010909103177758105, + 0.00265424448866447 + ], + "footprint_xy": [ + [ + 0.5283457291253862, + 15.085842808136533 + ], + [ + 0.6845572579487196, + 15.085842808136533 + ], + [ + 0.6845572579487196, + 15.203561904775466 + ], + [ + 0.5283457291253862, + 15.203561904775466 + ] + ], + "projected_box_corners": [ + [ + 0.5295590135675418, + 15.085842808136533 + ], + [ + 0.5301363636958357, + 15.091275444333599 + ], + [ + 0.5283457291253862, + 15.196444568925674 + ], + [ + 0.5289230792536802, + 15.20187720512274 + ], + [ + 0.6839799078204256, + 15.08752750778926 + ], + [ + 0.6845572579487196, + 15.092960143986325 + ], + [ + 0.6827666233782701, + 15.1981292685784 + ], + [ + 0.6833439735065641, + 15.203561904775466 + ] + ], + "yaw_rad": 0.010909357998558841, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1490173637866974, + 15.092504501342773, + 0.06417962908744812 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5294017478890548, + 15.143993808201872, + 0.11919751751698235 + ], + "intended_face_normal": [ + -0.9999324890482136, + -0.010902943544112415, + 0.00401785657197086 + ], + "commanded_contact_point": [ + 0.15278305113315582, + 15.091130256652832, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5293913217784353, + 15.14483568241019, + 0.11888727746052649 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1484518051147461, + 15.089335441589355, + 0.0672309547662735 + ], + "box_pose": [ + 0.6109600067138672, + 15.146851539611816, + 0.13602237403392792, + -0.011875341646373272, + 0.0019440802279859781, + 0.005475036799907684, + 0.9999126195907593 + ], + "box_yaw_rad": 0.010903247579064636, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007200998936725559 + } + } + }, + { + "simulation_time_ns": 1440000000, + "center": [ + 0.6062827354911284, + 15.14455902478011, + 0.11887051678394019 + ], + "face_center": [ + 0.5290720822221813, + 15.143715887297457, + 0.11896455688789133 + ], + "face_normal": [ + -0.9999396409565047, + -0.010919303955939708, + 0.0012178944718012757 + ], + "footprint_xy": [ + [ + 0.5283487582753248, + 15.085842221197055 + ], + [ + 0.6842167127069321, + 15.085842221197055 + ], + [ + 0.6842167127069321, + 15.203275828363166 + ], + [ + 0.5283487582753248, + 15.203275828363166 + ] + ], + "projected_box_corners": [ + [ + 0.5295594445262055, + 15.085842221197055 + ], + [ + 0.5297954061690379, + 15.090984856134812 + ], + [ + 0.5283487582753248, + 15.196446918460104 + ], + [ + 0.528584719918157, + 15.201589553397861 + ], + [ + 0.6839807510640997, + 15.087528496162358 + ], + [ + 0.6842167127069321, + 15.092671131100117 + ], + [ + 0.682770064813219, + 15.198133193425408 + ], + [ + 0.6830060264560512, + 15.203275828363166 + ] + ], + "yaw_rad": 0.010919529053025772, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14928245544433594, + 15.094161033630371, + 0.06198500096797943 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.529241046410611, + 15.143860006629637, + 0.11908442216860038 + ], + "intended_face_normal": [ + -0.9999369712463817, + -0.010909103177758105, + 0.00265424448866447 + ], + "commanded_contact_point": [ + 0.15253381431102753, + 15.09210205078125, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.529231312533852, + 15.144702356456, + 0.11887947384721045 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1490173637866974, + 15.092504501342773, + 0.06417962908744812 + ], + "box_pose": [ + 0.6107764840126038, + 15.146698951721191, + 0.136022686958313, + -0.011316855438053608, + 0.0012653277954086661, + 0.00546930730342865, + 0.9999202489852905 + ], + "box_yaw_rad": 0.010909357998558841, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001003246142157694 + } + } + }, + { + "simulation_time_ns": 1460000000, + "center": [ + 0.6061015935905653, + 15.14440344852664, + 0.11886009084714005 + ], + "face_center": [ + 0.5288908853377101, + 15.143560492159295, + 0.11883443786307293 + ], + "face_normal": [ + -0.9999403530420394, + -0.010916958368015952, + -0.0003322266370183015 + ], + "footprint_xy": [ + [ + 0.5282212879993721, + 15.085844310547635 + ], + [ + 0.6839818991817584, + 15.085844310547635 + ], + [ + 0.6839818991817584, + 15.202962586505645 + ], + [ + 0.5282212879993721, + 15.202962586505645 + ] + ], + "projected_box_corners": [ + [ + 0.529560482676048, + 15.085844310547635 + ], + [ + 0.5294281207657113, + 15.09066892599487 + ], + [ + 0.5283536499097088, + 15.196452058323722 + ], + [ + 0.5282212879993721, + 15.201276673770955 + ], + [ + 0.6839818991817584, + 15.087530223282323 + ], + [ + 0.6838495372714217, + 15.092354838729557 + ], + [ + 0.6827750664154192, + 15.19813797105841 + ], + [ + 0.6826427045050825, + 15.202962586505645 + ] + ], + "yaw_rad": 0.010917175829325984, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15028157830238342, + 15.093302726745605, + 0.061068132519721985 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5290720822221813, + 15.143715887297457, + 0.11896455688789133 + ], + "intended_face_normal": [ + -0.9999396409565047, + -0.010919303955939708, + 0.0012178944718012757 + ], + "commanded_contact_point": [ + 0.15223729610443115, + 15.09349250793457, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5290627606558707, + 15.14455902478011, + 0.11887051678394019 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14928245544433594, + 15.094161033630371, + 0.06198500096797943 + ], + "box_pose": [ + 0.6105833053588867, + 15.14653491973877, + 0.13602226972579956, + -0.010716211050748825, + 0.000550412863958627, + 0.005465946160256863, + 0.9999275803565979 + ], + "box_yaw_rad": 0.010919529053025772, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014217222453598085 + } + } + }, + { + "simulation_time_ns": 1480000000, + "center": [ + 0.6059019766686484, + 15.14423118570288, + 0.11884873393988435 + ], + "face_center": [ + 0.5286914129947005, + 15.14338937152319, + 0.11869090960087482 + ], + "face_normal": [ + -0.9999384806296913, + -0.010902166125436569, + -0.002043951270994467 + ], + "footprint_xy": [ + [ + 0.5278210081681464, + 15.085846911248753 + ], + [ + 0.6839829451691504, + 15.085846911248753 + ], + [ + 0.6839829451691504, + 15.202615460157007 + ], + [ + 0.5278210081681464, + 15.202615460157007 + ] + ], + "projected_box_corners": [ + [ + 0.5295618178212544, + 15.085846911248753 + ], + [ + 0.5290227578358186, + 15.09032093176528 + ], + [ + 0.5283600681535823, + 15.1964578112811 + ], + [ + 0.5278210081681464, + 15.200931831797627 + ], + [ + 0.6839829451691504, + 15.087530539608133 + ], + [ + 0.6834438851837146, + 15.09200456012466 + ], + [ + 0.6827811955014782, + 15.19814143964048 + ], + [ + 0.6822421355160423, + 15.202615460157007 + ] + ], + "yaw_rad": 0.010902404878436243, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14928925037384033, + 15.091875076293945, + 0.06005658209323883 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5288908853377101, + 15.143560492159295, + 0.11883443786307293 + ], + "intended_face_normal": [ + -0.9999403530420394, + -0.010916958368015952, + -0.0003322266370183015 + ], + "commanded_contact_point": [ + 0.15213389694690704, + 15.095242500305176, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5288816737458146, + 15.14440344852664, + 0.11886009084714005 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15028157830238342, + 15.093302726745605, + 0.061068132519721985 + ], + "box_pose": [ + 0.6103758215904236, + 15.146356582641602, + 0.13602103292942047, + -0.010057481937110424, + -0.0002210075908806175, + 0.005456613842397928, + 0.9999344944953918 + ], + "box_yaw_rad": 0.010917175829325984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017530444041948692 + } + } + }, + { + "simulation_time_ns": 1500000000, + "center": [ + 0.6056779161795275, + 15.144036442816223, + 0.11883520268052677 + ], + "face_center": [ + 0.5284677832087622, + 15.14319578682494, + 0.11852964321703359 + ], + "face_normal": [ + -0.9999329026794007, + -0.010887166660336867, + -0.003957239153928024 + ], + "footprint_xy": [ + [ + 0.5273725137041125, + 15.085849797654022 + ], + [ + 0.6839833186549424, + 15.085849797654022 + ], + [ + 0.6839833186549424, + 15.202223087978423 + ], + [ + 0.5273725137041125, + 15.202223087978423 + ] + ], + "projected_box_corners": [ + [ + 0.5295630527134119, + 15.085849797654022 + ], + [ + 0.5285694076649292, + 15.089927600195908 + ], + [ + 0.5283661587525952, + 15.19646397345397 + ], + [ + 0.5273725137041125, + 15.200541775995855 + ], + [ + 0.6839833186549424, + 15.087531109636592 + ], + [ + 0.6829896736064598, + 15.091608912178478 + ], + [ + 0.6827864246941258, + 15.198145285436537 + ], + [ + 0.6817927796456431, + 15.202223087978423 + ] + ], + "yaw_rad": 0.010887466999669226, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14697740972042084, + 15.094758987426758, + 0.06196856498718262 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5286914129947005, + 15.14338937152319, + 0.11869090960087482 + ], + "intended_face_normal": [ + -0.9999384806296913, + -0.010902166125436569, + -0.002043951270994467 + ], + "commanded_contact_point": [ + 0.15170925855636597, + 15.097585678100586, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5286819122274709, + 15.14423118570288, + 0.11884873393988435 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14928925037384033, + 15.091875076293945, + 0.06005658209323883 + ], + "box_pose": [ + 0.6101471185684204, + 15.146159172058105, + 0.1360197365283966, + -0.009331283159554005, + -0.0010728139895945787, + 0.0054413927718997, + 0.9999411106109619 + ], + "box_yaw_rad": 0.010902404878436243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023813441466425255 + } + } + }, + { + "simulation_time_ns": 1520000000, + "center": [ + 0.6054283595268112, + 15.143829909577427, + 0.11882533645886392 + ], + "face_center": [ + 0.5282190448715766, + 15.142990339309712, + 0.11835464037285778 + ], + "face_normal": [ + -0.9999223048395526, + -0.010873105672760846, + -0.006095890337841775 + ], + "footprint_xy": [ + [ + 0.5268717417390503, + 15.085851799481954 + ], + [ + 0.6839849773145721, + 15.085851799481954 + ], + [ + 0.6839849773145721, + 15.2018080196729 + ], + [ + 0.5268717417390503, + 15.2018080196729 + ] + ], + "projected_box_corners": [ + [ + 0.5295663480041028, + 15.085851799481954 + ], + [ + 0.5280642540379242, + 15.089511576756866 + ], + [ + 0.5283738357052289, + 15.196469101862558 + ], + [ + 0.5268717417390503, + 15.200128879137472 + ], + [ + 0.6839849773145721, + 15.087530940017382 + ], + [ + 0.6824828833483936, + 15.091190717292296 + ], + [ + 0.6827924650156981, + 15.198148242397988 + ], + [ + 0.6812903710495195, + 15.2018080196729 + ] + ], + "yaw_rad": 0.010873521967709708, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14568398892879486, + 15.09801959991455, + 0.06601323187351227 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5284677832087622, + 15.14319578682494, + 0.11852964321703359 + ], + "intended_face_normal": [ + -0.9999329026794007, + -0.010887166660336867, + -0.003957239153928024 + ], + "commanded_contact_point": [ + 0.15145142376422882, + 15.099347114562988, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5284574209797662, + 15.144036442816223, + 0.11883520268052677 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14697740972042084, + 15.094758987426758, + 0.06196856498718262 + ], + "box_pose": [ + 0.6098905205726624, + 15.145936012268066, + 0.13601738214492798, + -0.008510525338351727, + -0.0020249104127287865, + 0.005426637828350067, + 0.9999470114707947 + ], + "box_yaw_rad": 0.010887466999669226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017802070642101815 + } + } + }, + { + "simulation_time_ns": 1540000000, + "center": [ + 0.60520366866106, + 15.143654241739094, + 0.11881968148969368 + ], + "face_center": [ + 0.5279954066343628, + 15.142814360857168, + 0.11820034504422469 + ], + "face_normal": [ + -0.9999086724590822, + -0.010877128374945939, + -0.008020901736918865 + ], + "footprint_xy": [ + [ + 0.5264198667127323, + 15.085853272306759 + ], + [ + 0.6839874706093878, + 15.085853272306759 + ], + [ + 0.6839874706093878, + 15.20145521117143 + ], + [ + 0.5264198667127323, + 15.20145521117143 + ] + ], + "projected_box_corners": [ + [ + 0.5295709465559932, + 15.085853272306759 + ], + [ + 0.5276109059982671, + 15.089155760405289 + ], + [ + 0.5283799072704585, + 15.196472961309047 + ], + [ + 0.5264198667127323, + 15.199775449407577 + ], + [ + 0.6839874706093878, + 15.087533034070612 + ], + [ + 0.6820274300516617, + 15.090835522169142 + ], + [ + 0.682796431323853, + 15.1981527230729 + ], + [ + 0.6808363907661269, + 15.20145521117143 + ] + ], + "yaw_rad": 0.010877692795322533, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14245113730430603, + 15.101332664489746, + 0.0674746185541153 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5282190448715766, + 15.142990339309712, + 0.11835464037285778 + ], + "intended_face_normal": [ + -0.9999223048395526, + -0.010873105672760846, + -0.006095890337841775 + ], + "commanded_contact_point": [ + 0.15138211846351624, + 15.100600242614746, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5282070458930205, + 15.143829909577427, + 0.11882533645886392 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14568398892879486, + 15.09801959991455, + 0.06601323187351227 + ], + "box_pose": [ + 0.60960453748703, + 15.145699501037598, + 0.13601969182491302, + -0.00764491967856884, + -0.0030894787050783634, + 0.0054131969809532166, + 0.9999514222145081 + ], + "box_yaw_rad": 0.010873521967709708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012550430824735475 + } + } + }, + { + "simulation_time_ns": 1560000000, + "center": [ + 0.6050107777616499, + 15.14350268731307, + 0.11881400189241273 + ], + "face_center": [ + 0.5278036473800888, + 15.142662363578584, + 0.1180672913884748 + ], + "face_normal": [ + -0.9998940167505354, + -0.01088286366937543, + -0.009670497549156713 + ], + "footprint_xy": [ + [ + 0.5260321459071903, + 15.085854273466122 + ], + [ + 0.6839894096161097, + 15.085854273466122 + ], + [ + 0.6839894096161097, + 15.201151101160017 + ], + [ + 0.5260321459071903, + 15.201151101160017 + ] + ], + "projected_box_corners": [ + [ + 0.5295751488529872, + 15.085854273466122 + ], + [ + 0.5272226827798824, + 15.088848907920807 + ], + [ + 0.5283846119802952, + 15.19647581923636 + ], + [ + 0.5260321459071903, + 15.199470453691045 + ], + [ + 0.6839894096161097, + 15.087534920935095 + ], + [ + 0.6816369435430047, + 15.090529555389779 + ], + [ + 0.6827988727434176, + 15.198156466705333 + ], + [ + 0.6804464066703126, + 15.201151101160017 + ] + ], + "yaw_rad": 0.01088358744323064, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.137841135263443, + 15.104997634887695, + 0.06890973448753357 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5279954066343628, + 15.142814360857168, + 0.11820034504422469 + ], + "intended_face_normal": [ + -0.9999086724590822, + -0.010877128374945939, + -0.008020901736918865 + ], + "commanded_contact_point": [ + 0.15136831998825073, + 15.101317405700684, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5279813022207912, + 15.143654241739094, + 0.11881968148969368 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14245113730430603, + 15.101332664489746, + 0.0674746185541153 + ], + "box_pose": [ + 0.6093469858169556, + 15.145498275756836, + 0.13602474331855774, + -0.006905375514179468, + -0.004048003349453211, + 0.00541086308658123, + 0.9999534487724304 + ], + "box_yaw_rad": 0.010877692795322533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000717295817550856 + } + } + }, + { + "simulation_time_ns": 1580000000, + "center": [ + 0.6048434671049285, + 15.143373664517014, + 0.11880992587312596 + ], + "face_center": [ + 0.5276374820202665, + 15.142533793456408, + 0.11795249583006948 + ], + "face_normal": [ + -0.9998791842407487, + -0.010877001180997587, + -0.011104404031043657 + ], + "footprint_xy": [ + [ + 0.5256960510198235, + 15.085856071074417 + ], + [ + 0.6839908831900334, + 15.085856071074417 + ], + [ + 0.6839908831900334, + 15.200891257959613 + ], + [ + 0.5256960510198235, + 15.200891257959613 + ] + ], + "projected_box_corners": [ + [ + 0.5295789130207096, + 15.085856071074417 + ], + [ + 0.5268852994337254, + 15.088588519493394 + ], + [ + 0.5283896646068078, + 15.196479067419425 + ], + [ + 0.5256960510198235, + 15.199211515838401 + ], + [ + 0.6839908831900334, + 15.087535813195629 + ], + [ + 0.6812972696030493, + 15.090268261614604 + ], + [ + 0.6828016347761316, + 15.198158809540637 + ], + [ + 0.6801080211891475, + 15.200891257959613 + ] + ], + "yaw_rad": 0.010877886378289141, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13197436928749084, + 15.109673500061035, + 0.07068343460559845 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5278036473800888, + 15.142662363578584, + 0.1180672913884748 + ], + "intended_face_normal": [ + -0.9998940167505354, + -0.01088286366937543, + -0.009670497549156713 + ], + "commanded_contact_point": [ + 0.15102733671665192, + 15.101842880249023, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5277872794529261, + 15.14350268731307, + 0.11881400189241273 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.137841135263443, + 15.104997634887695, + 0.06890973448753357 + ], + "box_pose": [ + 0.6091259121894836, + 15.14532470703125, + 0.13602817058563232, + -0.006268151104450226, + -0.004869391676038504, + 0.005411159712821245, + 0.9999538064002991 + ], + "box_yaw_rad": 0.01088358744323064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006264128770045141 + } + } + }, + { + "simulation_time_ns": 1600000000, + "center": [ + 0.6046991090849487, + 15.143262201575423, + 0.11880553329609728 + ], + "face_center": [ + 0.5274942266265129, + 15.142423161484215, + 0.11785325235385254 + ], + "face_normal": [ + -0.999864904350267, + -0.010866239463445478, + -0.012332798948884189 + ], + "footprint_xy": [ + [ + 0.5254074128940831, + 15.085858565395172 + ], + [ + 0.6839908052758142, + 15.085858565395172 + ], + [ + 0.6839908052758142, + 15.200665837755672 + ], + [ + 0.5254074128940831, + 15.200665837755672 + ] + ], + "projected_box_corners": [ + [ + 0.5295810403589427, + 15.085858565395172 + ], + [ + 0.526595211389374, + 15.088363603279372 + ], + [ + 0.5283932418636518, + 15.19648271968906 + ], + [ + 0.5254074128940831, + 15.198987757573258 + ], + [ + 0.6839908052758142, + 15.087536645577586 + ], + [ + 0.6810049763062456, + 15.090041683461786 + ], + [ + 0.6828030067805233, + 15.198160799871474 + ], + [ + 0.6798171778109547, + 15.200665837755672 + ] + ], + "yaw_rad": 0.010867279822753755, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1271219104528427, + 15.113683700561523, + 0.0725475400686264 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5276374820202665, + 15.142533793456408, + 0.11795249583006948 + ], + "intended_face_normal": [ + -0.9998791842407487, + -0.010877001180997587, + -0.011104404031043657 + ], + "commanded_contact_point": [ + 0.1506572961807251, + 15.102591514587402, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.527618823239509, + 15.143373664517014, + 0.11880992587312596 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13197436928749084, + 15.109673500061035, + 0.07068343460559845 + ], + "box_pose": [ + 0.6089341044425964, + 15.145176887512207, + 0.13603191077709198, + -0.005725510884076357, + -0.005583418533205986, + 0.005406784359365702, + 0.9999534487724304 + ], + "box_yaw_rad": 0.010877886378289141, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008350948274804133 + } + } + }, + { + "simulation_time_ns": 1620000000, + "center": [ + 0.6045745218335793, + 15.14316567052861, + 0.11880156989705967 + ], + "face_center": [ + 0.527370685945814, + 15.142327507259632, + 0.11776720587377101 + ], + "face_normal": [ + -0.9998513504240116, + -0.010854883915138069, + -0.013395840421953499 + ], + "footprint_xy": [ + [ + 0.5251580671797552, + 15.085860528536337 + ], + [ + 0.6839909764874034, + 15.085860528536337 + ], + [ + 0.6839909764874034, + 15.200470812520884 + ], + [ + 0.5251580671797552, + 15.200470812520884 + ] + ], + "projected_box_corners": [ + [ + 0.529583304711873, + 15.085860528536337 + ], + [ + 0.5263445866530163, + 15.088169410288353 + ], + [ + 0.5283967852386118, + 15.19648560423091 + ], + [ + 0.5251580671797552, + 15.198794485982924 + ], + [ + 0.6839909764874034, + 15.087536855074296 + ], + [ + 0.6807522584285468, + 15.089845736826312 + ], + [ + 0.6828044570141423, + 15.198161930768869 + ], + [ + 0.6795657389552857, + 15.200470812520884 + ] + ], + "yaw_rad": 0.0108560712306542, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.12622687220573425, + 15.109919548034668, + 0.07060949504375458 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5274942266265129, + 15.142423161484215, + 0.11785325235385254 + ], + "intended_face_normal": [ + -0.999864904350267, + -0.010866239463445478, + -0.012332798948884189 + ], + "commanded_contact_point": [ + 0.1508437544107437, + 15.103434562683105, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5274733623110742, + 15.143262201575423, + 0.11880553329609728 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1271219104528427, + 15.113683700561523, + 0.0725475400686264 + ], + "box_pose": [ + 0.6087687611579895, + 15.145049095153809, + 0.13603419065475464, + -0.0052547878585755825, + -0.006195073947310448, + 0.005400822497904301, + 0.999952495098114 + ], + "box_yaw_rad": 0.010867279822753755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008634215456865126 + } + } + }, + { + "simulation_time_ns": 1640000000, + "center": [ + 0.6044659339906978, + 15.143081550365578, + 0.11879813016673368 + ], + "face_center": [ + 0.5272630751597551, + 15.142244188808709, + 0.11769263640757781 + ], + "face_normal": [ + -0.9998386967576194, + -0.010844501102849702, + -0.014317027324706907 + ], + "footprint_xy": [ + [ + 0.524941389721401, + 15.085861715987749 + ], + [ + 0.6839904782599945, + 15.085861715987749 + ], + [ + 0.6839904782599945, + 15.200301384743407 + ], + [ + 0.524941389721401, + 15.200301384743407 + ] + ], + "projected_box_corners": [ + [ + 0.5295847605981092, + 15.085861715987749 + ], + [ + 0.5261268931311288, + 15.088000847628436 + ], + [ + 0.5283992571883814, + 15.19648752998898 + ], + [ + 0.524941389721401, + 15.198626661629667 + ], + [ + 0.6839904782599945, + 15.087536439101488 + ], + [ + 0.6805326107930141, + 15.089675570742175 + ], + [ + 0.6828049748502667, + 15.19816225310272 + ], + [ + 0.6793471073832864, + 15.200301384743407 + ] + ], + "yaw_rad": 0.010845825346454074, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13117310404777527, + 15.100513458251953, + 0.06612597405910492 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.527370685945814, + 15.142327507259632, + 0.11776720587377101 + ], + "intended_face_normal": [ + -0.9998513504240116, + -0.010854883915138069, + -0.013395840421953499 + ], + "commanded_contact_point": [ + 0.15130239725112915, + 15.103796005249023, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5273477281920116, + 15.14316567052861, + 0.11880156989705967 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.12622687220573425, + 15.109919548034668, + 0.07060949504375458 + ], + "box_pose": [ + 0.6086260080337524, + 15.144938468933105, + 0.1360359638929367, + -0.004848761018365622, + -0.006724408827722073, + 0.0053951009176671505, + 0.9999510645866394 + ], + "box_yaw_rad": 0.0108560712306542, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005839469012625948 + } + } + }, + { + "simulation_time_ns": 1660000000, + "center": [ + 0.6043708767401373, + 15.143006630945221, + 0.1187943813833784 + ], + "face_center": [ + 0.5271689331271953, + 15.142169698593507, + 0.11762641335169259 + ], + "face_normal": [ + -0.9998268439533732, + -0.010838942553207966, + -0.015126119062669474 + ], + "footprint_xy": [ + [ + 0.5247511969780192, + 15.085862931292032 + ], + [ + 0.6839905565022555, + 15.085862931292032 + ], + [ + 0.6839905565022555, + 15.20015033059841 + ], + [ + 0.5247511969780192, + 15.20015033059841 + ] + ], + "projected_box_corners": [ + [ + 0.5295866692763713, + 15.085862931292032 + ], + [ + 0.5259363400683946, + 15.087850042220328 + ], + [ + 0.5284015261859959, + 15.196489354966687 + ], + [ + 0.5247511969780192, + 15.198476465894982 + ], + [ + 0.6839905565022555, + 15.08753679599546 + ], + [ + 0.6803402272942787, + 15.089523906923755 + ], + [ + 0.68280541341188, + 15.198163219670114 + ], + [ + 0.6791550842039032, + 15.20015033059841 + ] + ], + "yaw_rad": 0.010840395053405437, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13966256380081177, + 15.092409133911133, + 0.062143221497535706 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5272630751597551, + 15.142244188808709, + 0.11769263640757781 + ], + "intended_face_normal": [ + -0.9998386967576194, + -0.010844501102849702, + -0.014317027324706907 + ], + "commanded_contact_point": [ + 0.15216761827468872, + 15.103556632995605, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5272381629893955, + 15.143081550365578, + 0.11879813016673368 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13117310404777527, + 15.100513458251953, + 0.06612597405910492 + ], + "box_pose": [ + 0.608501672744751, + 15.144842147827148, + 0.13603746891021729, + -0.004497391637414694, + -0.007183117792010307, + 0.005390217062085867, + 0.99994957447052 + ], + "box_yaw_rad": 0.010845825346454074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008977229502309596 + } + } + }, + { + "simulation_time_ns": 1680000000, + "center": [ + 0.6042986906350887, + 15.142948364411705, + 0.11879234640826689 + ], + "face_center": [ + 0.5270974780578332, + 15.142111319751539, + 0.1175770952868231 + ], + "face_normal": [ + -0.9998173764572297, + -0.010840397037379487, + -0.01573847284798476 + ], + "footprint_xy": [ + [ + 0.5246066963061093, + 15.085863651213213 + ], + [ + 0.683990684964068, + 15.085863651213213 + ], + [ + 0.683990684964068, + 15.200033077610197 + ], + [ + 0.5246066963061093, + 15.200033077610197 + ] + ], + "projected_box_corners": [ + [ + 0.5295882598095573, + 15.085863651213213 + ], + [ + 0.525792293676099, + 15.087732126651325 + ], + [ + 0.5284026624395675, + 15.196490512851751 + ], + [ + 0.5246066963061093, + 15.198358988289865 + ], + [ + 0.683990684964068, + 15.087537740533543 + ], + [ + 0.6801947188306098, + 15.089406215971657 + ], + [ + 0.6828050875940782, + 15.198164602172083 + ], + [ + 0.67900912146062, + 15.200033077610197 + ] + ], + "yaw_rad": 0.010841952274378208, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14723160862922668, + 15.091033935546875, + 0.06044730544090271 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271689331271953, + 15.142169698593507, + 0.11762641335169259 + ], + "intended_face_normal": [ + -0.9998268439533732, + -0.010838942553207966, + -0.015126119062669474 + ], + "commanded_contact_point": [ + 0.1535184383392334, + 15.10352897644043, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5271421902146545, + 15.143006630945221, + 0.1187943813833784 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13966256380081177, + 15.092409133911133, + 0.062143221497535706 + ], + "box_pose": [ + 0.6083927750587463, + 15.144756317138672, + 0.13603806495666504, + -0.004182690754532814, + -0.007585990242660046, + 0.005388021469116211, + 0.9999480247497559 + ], + "box_yaw_rad": 0.010840395053405437, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013511031538414374 + } + } + }, + { + "simulation_time_ns": 1700000000, + "center": [ + 0.6043036498734398, + 15.142947476035157, + 0.11879102817154662 + ], + "face_center": [ + 0.5271023878714765, + 15.142110429452703, + 0.11757892222734767 + ], + "face_normal": [ + -0.999818016546682, + -0.01084042193256032, + -0.01569774029008237 + ], + "footprint_xy": [ + [ + 0.5246164742850967, + 15.08586321587419 + ], + [ + 0.6839908254617828, + 15.08586321587419 + ], + [ + 0.6839908254617828, + 15.200031736196127 + ], + [ + 0.5246164742850967, + 15.200031736196127 + ] + ], + "projected_box_corners": [ + [ + 0.5295883014578562, + 15.08586321587419 + ], + [ + 0.5258021169284903, + 15.08773077814271 + ], + [ + 0.5284026588144626, + 15.196490080762695 + ], + [ + 0.5246164742850967, + 15.198357643031217 + ], + [ + 0.6839908254617828, + 15.0875373090391 + ], + [ + 0.680204640932417, + 15.08940487130762 + ], + [ + 0.6828051828183893, + 15.198164173927605 + ], + [ + 0.6790189982890235, + 15.200031736196127 + ] + ], + "yaw_rad": 0.01084197023062505, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1519993543624878, + 15.096035957336426, + 0.06116609275341034 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5270974780578332, + 15.142111319751539, + 0.1175770952868231 + ], + "intended_face_normal": [ + -0.9998173764572297, + -0.010840397037379487, + -0.01573847284798476 + ], + "commanded_contact_point": [ + 0.15517309308052063, + 15.104246139526367, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.527069272813762, + 15.142948364411705, + 0.11879234640826689 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14723160862922668, + 15.091033935546875, + 0.06044730544090271 + ], + "box_pose": [ + 0.6083101034164429, + 15.144689559936523, + 0.13603933155536652, + -0.003937073517590761, + -0.00789087638258934, + 0.005389419384300709, + 0.9999465942382812 + ], + "box_yaw_rad": 0.010841952274378208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001803387147772553 + } + } + }, + { + "simulation_time_ns": 1720000000, + "center": [ + 0.6043100833718238, + 15.1429516489341, + 0.11879087996117714 + ], + "face_center": [ + 0.5271087537354239, + 15.142115059433584, + 0.11758277276075638 + ], + "face_normal": [ + -0.9998188924666657, + -0.01083450235629538, + -0.015645953363686328 + ], + "footprint_xy": [ + [ + 0.5246293473581882, + 15.085863523898013 + ], + [ + 0.6839908193854591, + 15.085863523898013 + ], + [ + 0.6839908193854591, + 15.200039773970186 + ], + [ + 0.5246293473581882, + 15.200039773970186 + ] + ], + "projected_box_corners": [ + [ + 0.5295881601126595, + 15.085863523898013 + ], + [ + 0.5258143178732977, + 15.087739754177168 + ], + [ + 0.5284031895975501, + 15.196490364690002 + ], + [ + 0.5246293473581882, + 15.198366594969155 + ], + [ + 0.6839908193854591, + 15.087536702899044 + ], + [ + 0.6802169771460974, + 15.089412933178199 + ], + [ + 0.6828058488703498, + 15.198163543691033 + ], + [ + 0.679032006630988, + 15.200039773970186 + ] + ], + "yaw_rad": 0.010836040779965646, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15377232432365417, + 15.098711013793945, + 0.0647355318069458 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271023878714765, + 15.142110429452703, + 0.11757892222734767 + ], + "intended_face_normal": [ + -0.999818016546682, + -0.01084042193256032, + -0.01569774029008237 + ], + "commanded_contact_point": [ + 0.15692541003227234, + 15.105175018310547, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5270742814948467, + 15.142947476035157, + 0.11879102817154662 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1519993543624878, + 15.096035957336426, + 0.06116609275341034 + ], + "box_pose": [ + 0.6083157658576965, + 15.144688606262207, + 0.13603785634040833, + -0.00393506046384573, + -0.007870497182011604, + 0.005389526952058077, + 0.9999467730522156 + ], + "box_yaw_rad": 0.01084197023062505, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019832877994872895 + } + } + }, + { + "simulation_time_ns": 1740000000, + "center": [ + 0.6043195695827561, + 15.142960820938994, + 0.1187915685141374 + ], + "face_center": [ + 0.527118142842385, + 15.14212434908916, + 0.117589600630206 + ], + "face_normal": [ + -0.9998201500406662, + -0.01083297868596913, + -0.01556644431064543 + ], + "footprint_xy": [ + [ + 0.5246482919931966, + 15.085863596772368 + ], + [ + 0.6839908471723156, + 15.085863596772368 + ], + [ + 0.6839908471723156, + 15.200058045105617 + ], + [ + 0.5246482919931966, + 15.200058045105617 + ] + ], + "projected_box_corners": [ + [ + 0.5295879936915735, + 15.085863596772368 + ], + [ + 0.525833030709975, + 15.087758325845938 + ], + [ + 0.5284032549747952, + 15.196490372332383 + ], + [ + 0.5246482919931966, + 15.198385101405952 + ], + [ + 0.6839908471723156, + 15.087536540472035 + ], + [ + 0.6802358841907171, + 15.089431269545603 + ], + [ + 0.6828061084555374, + 15.19816331603205 + ], + [ + 0.6790511454739387, + 15.200058045105617 + ] + ], + "yaw_rad": 0.010834503385959123, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15302632749080658, + 15.099908828735352, + 0.06724099814891815 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271087537354239, + 15.142115059433584, + 0.11758277276075638 + ], + "intended_face_normal": [ + -0.9998188924666657, + -0.01083450235629538, + -0.015645953363686328 + ], + "commanded_contact_point": [ + 0.15797901153564453, + 15.10600471496582, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5270807826522313, + 15.1429516489341, + 0.11879087996117714 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15377232432365417, + 15.098711013793945, + 0.0647355318069458 + ], + "box_pose": [ + 0.6083230972290039, + 15.144693374633789, + 0.1360374391078949, + -0.003952964209020138, + -0.007844685576856136, + 0.00538652716204524, + 0.9999469518661499 + ], + "box_yaw_rad": 0.010836040779965646, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013410714627415175 + } + } + }, + { + "simulation_time_ns": 1760000000, + "center": [ + 0.6043326636209381, + 15.142969986032181, + 0.11879133247962936 + ], + "face_center": [ + 0.5271311058895822, + 15.142133566385231, + 0.11759777106932318 + ], + "face_normal": [ + -0.9998218464785629, + -0.010832302616917974, + -0.01545757376153585 + ], + "footprint_xy": [ + [ + 0.5246742708580034, + 15.085863575242394 + ], + [ + 0.6839910563838726, + 15.085863575242394 + ], + [ + 0.6839910563838726, + 15.200076396821968 + ], + [ + 0.5246742708580034, + 15.200076396821968 + ] + ], + "projected_box_corners": [ + [ + 0.529587940921161, + 15.085863575242394 + ], + [ + 0.5258588990054482, + 15.087776849042845 + ], + [ + 0.5284033127737162, + 15.196490283727618 + ], + [ + 0.5246742708580034, + 15.19840355752807 + ], + [ + 0.6839910563838726, + 15.087536414536292 + ], + [ + 0.6802620144681599, + 15.089449688336744 + ], + [ + 0.6828064282364278, + 15.198163123021518 + ], + [ + 0.6790773863207151, + 15.200076396821968 + ] + ], + "yaw_rad": 0.010833808893910998, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15181070566177368, + 15.100136756896973, + 0.06774753332138062 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.527118142842385, + 15.14212434908916, + 0.117589600630206 + ], + "intended_face_normal": [ + -0.9998201500406662, + -0.01083297868596913, + -0.01556644431064543 + ], + "commanded_contact_point": [ + 0.15859897434711456, + 15.106709480285645, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5270903660021948, + 15.142960820938994, + 0.1187915685141374 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15302632749080658, + 15.099908828735352, + 0.06724099814891815 + ], + "box_pose": [ + 0.608333945274353, + 15.14470386505127, + 0.136037677526474, + -0.003991301171481609, + -0.007805130444467068, + 0.005385621450841427, + 0.9999471306800842 + ], + "box_yaw_rad": 0.010834503385959123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009386415949432773 + } + } + }, + { + "simulation_time_ns": 1780000000, + "center": [ + 0.6043477583471397, + 15.142980774962394, + 0.11879134995308568 + ], + "face_center": [ + 0.5271460470050752, + 15.142144526229036, + 0.11760764541636812 + ], + "face_normal": [ + -0.999823835859956, + -0.010830089149393526, + -0.01532991937422174 + ], + "footprint_xy": [ + [ + 0.5247045507494359, + 15.085863277926437 + ], + [ + 0.6839909659448435, + 15.085863277926437 + ], + [ + 0.6839909659448435, + 15.200098271998353 + ], + [ + 0.5247045507494359, + 15.200098271998353 + ] + ], + "projected_box_corners": [ + [ + 0.5295875432607144, + 15.085863277926437 + ], + [ + 0.5258888883777755, + 15.08779914700206 + ], + [ + 0.5284032056323749, + 15.19648990545601 + ], + [ + 0.5247045507494359, + 15.198425774531634 + ], + [ + 0.6839909659448435, + 15.087535775393155 + ], + [ + 0.6802923110619047, + 15.08947164446878 + ], + [ + 0.682806628316504, + 15.19816240292273 + ], + [ + 0.679107973433565, + 15.200098271998353 + ] + ], + "yaw_rad": 0.010831573741474948, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15211209654808044, + 15.099491119384766, + 0.0670127421617508 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271311058895822, + 15.142133566385231, + 0.11759777106932318 + ], + "intended_face_normal": [ + -0.9998218464785629, + -0.010832302616917974, + -0.01545757376153585 + ], + "commanded_contact_point": [ + 0.15905269980430603, + 15.107383728027344, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5271035910782693, + 15.142969986032181, + 0.11879133247962936 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15181070566177368, + 15.100136756896973, + 0.06774753332138062 + ], + "box_pose": [ + 0.6083489060401917, + 15.14471435546875, + 0.13603687286376953, + -0.004029658157378435, + -0.007750894874334335, + 0.005385200958698988, + 0.9999474287033081 + ], + "box_yaw_rad": 0.010833808893910998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008126972424064219 + } + } + }, + { + "simulation_time_ns": 1800000000, + "center": [ + 0.604366905430295, + 15.142994201780137, + 0.11879066739259095 + ], + "face_center": [ + 0.5271650188502961, + 15.142157079431765, + 0.1176190712875143 + ], + "face_normal": [ + -0.9998261053311981, + -0.010841403161708759, + -0.01517310551143286 + ], + "footprint_xy": [ + [ + 0.5247415784152084, + 15.085863433645663 + ], + [ + 0.6839922324453818, + 15.085863433645663 + ], + [ + 0.6839922324453818, + 15.20012496991461 + ], + [ + 0.5247415784152084, + 15.20012496991461 + ] + ], + "projected_box_corners": [ + [ + 0.5295884592853839, + 15.085863433645663 + ], + [ + 0.5259271352025332, + 15.087824204530548 + ], + [ + 0.528402902498059, + 15.196489954332982 + ], + [ + 0.5247415784152084, + 15.198450725217867 + ], + [ + 0.6839922324453818, + 15.087537678342407 + ], + [ + 0.6803309083625311, + 15.08949844922729 + ], + [ + 0.6828066756580569, + 15.198164199029726 + ], + [ + 0.6791453515752063, + 15.20012496991461 + ] + ], + "yaw_rad": 0.010842863808327358, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15351857244968414, + 15.099325180053711, + 0.06638303399085999 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271460470050752, + 15.142144526229036, + 0.11760764541636812 + ], + "intended_face_normal": [ + -0.999823835859956, + -0.010830089149393526, + -0.01532991937422174 + ], + "commanded_contact_point": [ + 0.15945450961589813, + 15.108092308044434, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5271188394696211, + 15.142980774962394, + 0.11879134995308568 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15211209654808044, + 15.099491119384766, + 0.0670127421617508 + ], + "box_pose": [ + 0.6083661913871765, + 15.144726753234863, + 0.136036217212677, + -0.004076401703059673, + -0.007687309291213751, + 0.0053839897736907005, + 0.9999476671218872 + ], + "box_yaw_rad": 0.010831573741474948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008145776609124931 + } + } + }, + { + "simulation_time_ns": 1820000000, + "center": [ + 0.6043874035864191, + 15.143010952249368, + 0.1187911386579994 + ], + "face_center": [ + 0.5271853213754923, + 15.142173450311976, + 0.11763277965811061 + ], + "face_normal": [ + -0.9998286389079967, + -0.010846319142763208, + -0.015001674424549508 + ], + "footprint_xy": [ + [ + 0.5247820279564898, + 15.085863798055428 + ], + [ + 0.6839927792163484, + 15.085863798055428 + ], + [ + 0.6839927792163484, + 15.20015810644331 + ], + [ + 0.5247820279564898, + 15.20015810644331 + ] + ], + "projected_box_corners": [ + [ + 0.5295886147944948, + 15.085863798055428 + ], + [ + 0.5259680629734871, + 15.087856709937801 + ], + [ + 0.5284025797774976, + 15.19649019068615 + ], + [ + 0.5247820279564898, + 15.198483102568526 + ], + [ + 0.6839927792163484, + 15.087538801930211 + ], + [ + 0.6803722273953405, + 15.089531713812587 + ], + [ + 0.6828067441993511, + 15.198165194560934 + ], + [ + 0.6791861923783432, + 15.20015810644331 + ] + ], + "yaw_rad": 0.010847752579854895, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15402747690677643, + 15.100016593933105, + 0.06546817719936371 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271650188502961, + 15.142157079431765, + 0.1176190712875143 + ], + "intended_face_normal": [ + -0.9998261053311981, + -0.010841403161708759, + -0.01517310551143286 + ], + "commanded_contact_point": [ + 0.15956763923168182, + 15.108367919921875, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5271381618520705, + 15.142994201780137, + 0.11879066739259095 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15351857244968414, + 15.099325180053711, + 0.06638303399085999 + ], + "box_pose": [ + 0.6083880066871643, + 15.144742012023926, + 0.13603472709655762, + -0.004127925727516413, + -0.007609195541590452, + 0.005389571189880371, + 0.9999480843544006 + ], + "box_yaw_rad": 0.010842863808327358, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00029792652945674777 + } + } + }, + { + "simulation_time_ns": 1840000000, + "center": [ + 0.6044116801736256, + 15.143029331639854, + 0.11879134169536278 + ], + "face_center": [ + 0.5272093703119379, + 15.142191456784673, + 0.11764852926306302 + ], + "face_normal": [ + -0.9998315871672123, + -0.010851148726032666, + -0.014800333954615582 + ], + "footprint_xy": [ + [ + 0.5248297920081302, + 15.085863860003354 + ], + [ + 0.683993568339121, + 15.085863860003354 + ], + [ + 0.683993568339121, + 15.200194803276352 + ], + [ + 0.5248297920081302, + 15.200194803276352 + ] + ], + "projected_box_corners": [ + [ + 0.5295889486157458, + 15.085863860003354 + ], + [ + 0.526016302450314, + 15.087892806050677 + ], + [ + 0.5284024381735618, + 15.196490107518668 + ], + [ + 0.5248297920081302, + 15.198519053565992 + ], + [ + 0.683993568339121, + 15.087539609713714 + ], + [ + 0.6804209221736892, + 15.089568555761037 + ], + [ + 0.682807057896937, + 15.198165857229029 + ], + [ + 0.6792344117315053, + 15.200194803276352 + ] + ], + "yaw_rad": 0.010852550423122592, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15421804785728455, + 15.102351188659668, + 0.06508451700210571 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5271853213754923, + 15.142173450311976, + 0.11763277965811061 + ], + "intended_face_normal": [ + -0.9998286389079967, + -0.010846319142763208, + -0.015001674424549508 + ], + "commanded_contact_point": [ + 0.15955375134944916, + 15.108098030090332, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5271588557066826, + 15.143010952249368, + 0.1187911386579994 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15402747690677643, + 15.100016593933105, + 0.06546817719936371 + ], + "box_pose": [ + 0.608411431312561, + 15.144761085510254, + 0.1360342800617218, + -0.004194474313408136, + -0.0075238412246108055, + 0.005391879007220268, + 0.9999484419822693 + ], + "box_yaw_rad": 0.010847752579854895, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002702469154891113 + } + } + }, + { + "simulation_time_ns": 1860000000, + "center": [ + 0.604437926243484, + 15.143050011738012, + 0.11879238534854573 + ], + "face_center": [ + 0.5272353681328582, + 15.142211367917653, + 0.11766704085223717 + ], + "face_normal": [ + -0.9998348021892812, + -0.01086110743939941, + -0.014574110228953755 + ], + "footprint_xy": [ + [ + 0.5248821701310755, + 15.085862087224157 + ], + [ + 0.6839936823558925, + 15.085862087224157 + ], + [ + 0.6839936823558925, + 15.200237936251867 + ], + [ + 0.5248821701310755, + 15.200237936251867 + ] + ], + "projected_box_corners": [ + [ + 0.5295885661346408, + 15.085862087224157 + ], + [ + 0.5260697032849919, + 15.087934584770986 + ], + [ + 0.5284010329807244, + 15.19648815106432 + ], + [ + 0.5248821701310755, + 15.19856064861115 + ], + [ + 0.6839936823558925, + 15.087539374864875 + ], + [ + 0.6804748195062436, + 15.089611872411703 + ], + [ + 0.6828061492019761, + 15.19816543870504 + ], + [ + 0.6792872863523273, + 15.200237936251867 + ] + ], + "yaw_rad": 0.010862474713571933, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1551973819732666, + 15.106071472167969, + 0.06612357497215271 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5272093703119379, + 15.142191456784673, + 0.11764852926306302 + ], + "intended_face_normal": [ + -0.9998315871672123, + -0.010851148726032666, + -0.014800333954615582 + ], + "commanded_contact_point": [ + 0.1595727503299713, + 15.107183456420898, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5271833600220194, + 15.143029331639854, + 0.11879134169536278 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15421804785728455, + 15.102351188659668, + 0.06508451700210571 + ], + "box_pose": [ + 0.6084391474723816, + 15.144782066345215, + 0.13603341579437256, + -0.004269056487828493, + -0.007423575036227703, + 0.005394158884882927, + 0.9999487996101379 + ], + "box_yaw_rad": 0.010852550423122592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009147709867161402 + } + } + }, + { + "simulation_time_ns": 1880000000, + "center": [ + 0.6044684306804702, + 15.14307518188046, + 0.11879327934246084 + ], + "face_center": [ + 0.5272655840601398, + 15.142236559927587, + 0.11768788828894952 + ], + "face_normal": [ + -0.9998385386204359, + -0.010860824237992322, + -0.014315697204561585 + ], + "footprint_xy": [ + [ + 0.5249431748630699, + 15.085863350294678 + ], + [ + 0.6839936864978705, + 15.085863350294678 + ], + [ + 0.6839936864978705, + 15.200287013466243 + ], + [ + 0.5249431748630699, + 15.200287013466243 + ] + ], + "projected_box_corners": [ + [ + 0.5295879932572097, + 15.085863350294678 + ], + [ + 0.5261306088122188, + 15.087983899066145 + ], + [ + 0.5284005593080607, + 15.196489220789028 + ], + [ + 0.5249431748630699, + 15.198609769560495 + ], + [ + 0.6839936864978705, + 15.087540594200425 + ], + [ + 0.6805363020528796, + 15.089661142971892 + ], + [ + 0.6828062525487215, + 15.198166464694776 + ], + [ + 0.6793488681037305, + 15.200287013466243 + ] + ], + "yaw_rad": 0.010862150909600084, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15644226968288422, + 15.108053207397461, + 0.06780879199504852 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5272353681328582, + 15.142211367917653, + 0.11766704085223717 + ], + "intended_face_normal": [ + -0.9998348021892812, + -0.01086110743939941, + -0.014574110228953755 + ], + "commanded_contact_point": [ + 0.1594705581665039, + 15.105774879455566, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5272098544236554, + 15.143050011738012, + 0.11879238534854573 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1551973819732666, + 15.106071472167969, + 0.06612357497215271 + ], + "box_pose": [ + 0.6084692478179932, + 15.144805908203125, + 0.13603323698043823, + -0.004359258338809013, + -0.007310961838811636, + 0.005398957524448633, + 0.9999492168426514 + ], + "box_yaw_rad": 0.010862474713571933, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014122791174382 + } + } + }, + { + "simulation_time_ns": 1900000000, + "center": [ + 0.6045037141779166, + 15.143102508274108, + 0.11879487443881591 + ], + "face_center": [ + 0.5273005423386813, + 15.142263603669724, + 0.11771265470363618 + ], + "face_normal": [ + -0.9998427504650627, + -0.010864484800855726, + -0.014015610121341606 + ], + "footprint_xy": [ + [ + 0.5250136510933149, + 15.085861686735194 + ], + [ + 0.6839937772625184, + 15.085861686735194 + ], + [ + 0.6839937772625184, + 15.200343329813023 + ], + [ + 0.5250136510933149, + 15.200343329813023 + ] + ], + "projected_box_corners": [ + [ + 0.5295874335840477, + 15.085861686735194 + ], + [ + 0.5262014132803314, + 15.088039892774614 + ], + [ + 0.528399671397031, + 15.196487314564836 + ], + [ + 0.5250136510933149, + 15.198665520604255 + ], + [ + 0.6839937772625184, + 15.087539495943963 + ], + [ + 0.6806077569588023, + 15.089717701983382 + ], + [ + 0.6828060150755018, + 15.198165123773604 + ], + [ + 0.6794199947717856, + 15.200343329813023 + ] + ], + "yaw_rad": 0.010865765862798419, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15746453404426575, + 15.106213569641113, + 0.06927573680877686 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5272655840601398, + 15.142236559927587, + 0.11768788828894952 + ], + "intended_face_normal": [ + -0.9998385386204359, + -0.010860824237992322, + -0.014315697204561585 + ], + "commanded_contact_point": [ + 0.15917596220970154, + 15.103958129882812, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.5272406474646135, + 15.14307518188046, + 0.11879327934246084 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15644226968288422, + 15.108053207397461, + 0.06780879199504852 + ], + "box_pose": [ + 0.6085041761398315, + 15.144834518432617, + 0.13603274524211884, + -0.0044587142765522, + -0.007182280998677015, + 0.0053986599668860435, + 0.9999496936798096 + ], + "box_yaw_rad": 0.010862150909600084, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001840479771566375 + } + } + }, + { + "simulation_time_ns": 1920000000, + "center": [ + 0.6045446287388568, + 15.143135867976076, + 0.11879653366536973 + ], + "face_center": [ + 0.5273410822799836, + 15.14229736454812, + 0.11774105813750652 + ], + "face_normal": [ + -0.9998476020886456, + -0.010859289245598962, + -0.013669251271500302 + ], + "footprint_xy": [ + [ + 0.5250957059703949, + 15.085862007852423 + ], + [ + 0.6839935515073187, + 15.085862007852423 + ], + [ + 0.6839935515073187, + 15.200409728099727 + ], + [ + 0.5250957059703949, + 15.200409728099727 + ] + ], + "projected_box_corners": [ + [ + 0.5295864585895721, + 15.085862007852423 + ], + [ + 0.5262828206339683, + 15.088107372759804 + ], + [ + 0.5283993439259987, + 15.196487356336439 + ], + [ + 0.5250957059703949, + 15.19873272124382 + ], + [ + 0.6839935515073187, + 15.087539014708332 + ], + [ + 0.6806899135517148, + 15.089784379615713 + ], + [ + 0.6828064368437454, + 15.198164363192346 + ], + [ + 0.6795027988881416, + 15.200409728099727 + ] + ], + "yaw_rad": 0.010860517408320645, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15831486880779266, + 15.101445198059082, + 0.07087725400924683 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5273005423386813, + 15.142263603669724, + 0.11771265470363618 + ], + "intended_face_normal": [ + -0.9998427504650627, + -0.010864484800855726, + -0.014015610121341606 + ], + "commanded_contact_point": [ + 0.15876322984695435, + 15.101790428161621, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5272762562846405, + 15.143102508274108, + 0.11879487443881591 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15746453404426575, + 15.106213569641113, + 0.06927573680877686 + ], + "box_pose": [ + 0.6085445880889893, + 15.144865989685059, + 0.13603271543979645, + -0.004578093998134136, + -0.0070328782312572, + 0.005400313995778561, + 0.9999502301216125 + ], + "box_yaw_rad": 0.010865765862798419, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022066442303474627 + } + } + }, + { + "simulation_time_ns": 1940000000, + "center": [ + 0.6045933863665491, + 15.143175119212906, + 0.11879834160654118 + ], + "face_center": [ + 0.5273894163365186, + 15.14233621542093, + 0.11777464505214283 + ], + "face_normal": [ + -0.9998530876735091, + -0.010864474279533978, + -0.013257688177923695 + ], + "footprint_xy": [ + [ + 0.5251927205737507, + 15.085862286914988 + ], + [ + 0.6839940521593477, + 15.085862286914988 + ], + [ + 0.6839940521593477, + 15.200487951510823 + ], + [ + 0.5251927205737507, + 15.200487951510823 + ] + ], + "projected_box_corners": [ + [ + 0.5295861120992866, + 15.085862286914988 + ], + [ + 0.526380364163958, + 15.088185141971818 + ], + [ + 0.5283984685090793, + 15.196487288870038 + ], + [ + 0.5251927205737507, + 15.198810143926869 + ], + [ + 0.6839940521593477, + 15.087540094498943 + ], + [ + 0.680788304224019, + 15.089862949555773 + ], + [ + 0.6828064085691404, + 15.198165096453993 + ], + [ + 0.6796006606338116, + 15.200487951510823 + ] + ], + "yaw_rad": 0.010865643011824301, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15714524686336517, + 15.095663070678711, + 0.07018376886844635 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5273410822799836, + 15.14229736454812, + 0.11774105813750652 + ], + "intended_face_normal": [ + -0.9998476020886456, + -0.010859289245598962, + -0.013669251271500302 + ], + "commanded_contact_point": [ + 0.1580631136894226, + 15.099437713623047, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5273175455812457, + 15.143135867976076, + 0.11879653366536973 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15831486880779266, + 15.101445198059082, + 0.07087725400924683 + ], + "box_pose": [ + 0.6085914373397827, + 15.144904136657715, + 0.13603249192237854, + -0.0047171227633953094, + -0.0068604242987930775, + 0.005397548899054527, + 0.9999507665634155 + ], + "box_yaw_rad": 0.010860517408320645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002454674791984154 + } + } + }, + { + "simulation_time_ns": 1960000000, + "center": [ + 0.6046493465925415, + 15.143220217813342, + 0.11880010691980597 + ], + "face_center": [ + 0.5274448921850854, + 15.142381728075755, + 0.1178132649672248 + ], + "face_normal": [ + -0.9998593607481241, + -0.010859111944411725, + -0.012780391642427714 + ], + "footprint_xy": [ + [ + 0.5253052766834916, + 15.08586315489008 + ], + [ + 0.6839934165015915, + 15.08586315489008 + ], + [ + 0.6839934165015915, + 15.200577280736605 + ], + [ + 0.5253052766834916, + 15.200577280736605 + ] + ], + "projected_box_corners": [ + [ + 0.5295845076866793, + 15.08586315489008 + ], + [ + 0.5264923127740506, + 15.088275701158558 + ], + [ + 0.5283974715961202, + 15.196487754992951 + ], + [ + 0.5253052766834916, + 15.19890030126143 + ], + [ + 0.6839934165015915, + 15.087540134365254 + ], + [ + 0.6809012215889629, + 15.089952680633733 + ], + [ + 0.6828063804110324, + 15.198164734468126 + ], + [ + 0.6797141854984038, + 15.200577280736605 + ] + ], + "yaw_rad": 0.010860212390062608, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15230946242809296, + 15.087553977966309, + 0.06424140930175781 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5273894163365186, + 15.14233621542093, + 0.11777464505214283 + ], + "intended_face_normal": [ + -0.9998530876735091, + -0.010864474279533978, + -0.013257688177923695 + ], + "commanded_contact_point": [ + 0.15716056525707245, + 15.096638679504395, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5273667269069028, + 15.143175119212906, + 0.11879834160654118 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15714524686336517, + 15.095663070678711, + 0.07018376886844635 + ], + "box_pose": [ + 0.6086472272872925, + 15.144948959350586, + 0.1360320746898651, + -0.004877545405179262, + -0.006655506324023008, + 0.0054000369273126125, + 0.9999514222145081 + ], + "box_yaw_rad": 0.010865643011824301, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029409497905166075 + } + } + }, + { + "simulation_time_ns": 1980000000, + "center": [ + 0.6047140195841673, + 15.14327192847303, + 0.11880201028199011 + ], + "face_center": [ + 0.5275090499435865, + 15.14243207224974, + 0.11785754924844419 + ], + "face_normal": [ + -0.9998660334286915, + -0.010876809025909014, + -0.012231524884159364 + ], + "footprint_xy": [ + [ + 0.5254337012698967, + 15.085862491510689 + ], + [ + 0.6839943378984377, + 15.085862491510689 + ], + [ + 0.6839943378984377, + 15.200681365435372 + ], + [ + 0.5254337012698967, + 15.200681365435372 + ] + ], + "projected_box_corners": [ + [ + 0.5295843986172761, + 15.085862491510689 + ], + [ + 0.5266227303842014, + 15.0883775598186 + ], + [ + 0.5283953695029715, + 15.196486584680882 + ], + [ + 0.5254337012698967, + 15.199001652988791 + ], + [ + 0.6839943378984377, + 15.08754220395727 + ], + [ + 0.6810326696653629, + 15.090057272265181 + ], + [ + 0.682805308784133, + 15.198166297127461 + ], + [ + 0.6798436405510583, + 15.200681365435372 + ] + ], + "yaw_rad": 0.010877837281114454, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14936193823814392, + 15.081563949584961, + 0.06241782009601593 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5274448921850854, + 15.142381728075755, + 0.1178132649672248 + ], + "intended_face_normal": [ + -0.9998593607481241, + -0.010859111944411725, + -0.012780391642427714 + ], + "commanded_contact_point": [ + 0.1567031592130661, + 15.093873977661133, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5274231716496344, + 15.143220217813342, + 0.11880010691980597 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15230946242809296, + 15.087553977966309, + 0.06424140930175781 + ], + "box_pose": [ + 0.6087113618850708, + 15.145000457763672, + 0.13603125512599945, + -0.005063187796622515, + -0.006417831405997276, + 0.005397320259362459, + 0.9999520182609558 + ], + "box_yaw_rad": 0.010860212390062608, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002802284170360017 + } + } + }, + { + "simulation_time_ns": 2000000000, + "center": [ + 0.6047876626251572, + 15.143330111687279, + 0.11880488244870893 + ], + "face_center": [ + 0.5275821138203215, + 15.142490589233592, + 0.11790870280629237 + ], + "face_normal": [ + -0.9998735340684688, + -0.010872486442901839, + -0.011606242298573429 + ], + "footprint_xy": [ + [ + 0.5255813239059548, + 15.085861303061868 + ], + [ + 0.6839940013443595, + 15.085861303061868 + ], + [ + 0.6839940013443595, + 15.20079892031269 + ], + [ + 0.5255813239059548, + 15.20079892031269 + ] + ], + "projected_box_corners": [ + [ + 0.5295829037346882, + 15.085861303061868 + ], + [ + 0.5267699603208218, + 15.088496371151408 + ], + [ + 0.5283942673198212, + 15.196484807315779 + ], + [ + 0.5255813239059548, + 15.199119875405318 + ], + [ + 0.6839940013443595, + 15.087540347969242 + ], + [ + 0.6811810579304931, + 15.090175416058779 + ], + [ + 0.6828053649294926, + 15.198163852223152 + ], + [ + 0.6799924215156262, + 15.20079892031269 + ] + ], + "yaw_rad": 0.010873433068070136, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1466517448425293, + 15.081480979919434, + 0.06352181732654572 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5275090499435865, + 15.14243207224974, + 0.11785754924844419 + ], + "intended_face_normal": [ + -0.9998660334286915, + -0.010876809025909014, + -0.012231524884159364 + ], + "commanded_contact_point": [ + 0.15666162967681885, + 15.091914176940918, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 0.5274883600158999, + 15.14327192847303, + 0.11880201028199011 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14936193823814392, + 15.081563949584961, + 0.06241782009601593 + ], + "box_pose": [ + 0.6087853908538818, + 15.145059585571289, + 0.1360301822423935, + -0.005275454837828875, + -0.006144574377685785, + 0.005406245589256287, + 0.9999525547027588 + ], + "box_yaw_rad": 0.010877837281114454, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019602406908907155 + } + } + }, + { + "simulation_time_ns": 2020000000, + "center": [ + 0.6048734356343769, + 15.143396730838827, + 0.11880707759279621 + ], + "face_center": [ + 0.5276672553226596, + 15.14255710509425, + 0.11796716529336597 + ], + "face_normal": [ + -0.9998817125870774, + -0.01087382414245704, + -0.01087753525671847 + ], + "footprint_xy": [ + [ + 0.5257529654433767, + 15.085860650022656 + ], + [ + 0.6839939058253771, + 15.085860650022656 + ], + [ + 0.6839939058253771, + 15.200932811654997 + ], + [ + 0.5257529654433767, + 15.200932811654997 + ] + ], + "projected_box_corners": [ + [ + 0.5295815452019423, + 15.085860650022656 + ], + [ + 0.5269419602136778, + 15.088630759217846 + ], + [ + 0.5283925504316414, + 15.196483450970652 + ], + [ + 0.5257529654433767, + 15.199253560165841 + ], + [ + 0.6839939058253771, + 15.087539901511812 + ], + [ + 0.6813543208371126, + 15.090310010707 + ], + [ + 0.6828049110550761, + 15.198162702459808 + ], + [ + 0.6801653260668115, + 15.200932811654997 + ] + ], + "yaw_rad": 0.010874681835604399, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14548569917678833, + 15.083179473876953, + 0.06582091748714447 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5275821138203215, + 15.142490589233592, + 0.11790870280629237 + ], + "intended_face_normal": [ + -0.9998735340684688, + -0.010872486442901839, + -0.011606242298573429 + ], + "commanded_contact_point": [ + 0.15661269426345825, + 15.090574264526367, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5275625823720074, + 15.143330111687279, + 0.11880488244870893 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1466517448425293, + 15.081480979919434, + 0.06352181732654572 + ], + "box_pose": [ + 0.608869731426239, + 15.145126342773438, + 0.13602963089942932, + -0.005523876752704382, + -0.005833247676491737, + 0.0054042749106884, + 0.999953031539917 + ], + "box_yaw_rad": 0.010873433068070136, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013408057112596434 + } + } + }, + { + "simulation_time_ns": 2040000000, + "center": [ + 0.604972201664774, + 15.143475049799884, + 0.1188103043991121 + ], + "face_center": [ + 0.5277653339704333, + 15.142636025428265, + 0.11803550038999097 + ], + "face_normal": [ + -0.9998906147411755, + -0.010866035882227443, + -0.0100343308842827 + ], + "footprint_xy": [ + [ + 0.5259516011096851, + 15.085860668725077 + ], + [ + 0.6839928022198627, + 15.085860668725077 + ], + [ + 0.6839928022198627, + 15.201089430874692 + ], + [ + 0.5259516011096851, + 15.201089430874692 + ] + ], + "projected_box_corners": [ + [ + 0.5295790668311816, + 15.085860668725077 + ], + [ + 0.5271400784964456, + 15.088789441064106 + ], + [ + 0.5283905894444211, + 15.196482609792424 + ], + [ + 0.5259516011096851, + 15.199411382131453 + ], + [ + 0.6839928022198627, + 15.087538717468314 + ], + [ + 0.6815538138851268, + 15.090467489807345 + ], + [ + 0.6828043248331022, + 15.198160658535663 + ], + [ + 0.6803653364983662, + 15.201089430874692 + ] + ], + "yaw_rad": 0.010866796832727699, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1461215317249298, + 15.084628105163574, + 0.06755746901035309 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5276672553226596, + 15.14255710509425, + 0.11796716529336597 + ], + "intended_face_normal": [ + -0.9998817125870774, + -0.01087382414245704, + -0.01087753525671847 + ], + "commanded_contact_point": [ + 0.15629535913467407, + 15.089899063110352, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5276489870427006, + 15.143396730838827, + 0.11880707759279621 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14548569917678833, + 15.083179473876953, + 0.06582091748714447 + ], + "box_pose": [ + 0.6089679598808289, + 15.14520263671875, + 0.13602785766124725, + -0.005803389009088278, + -0.005470391362905502, + 0.0054054162465035915, + 0.99995356798172 + ], + "box_yaw_rad": 0.010874681835604399, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007460553170937493 + } + } + }, + { + "simulation_time_ns": 2060000000, + "center": [ + 0.6050853317525486, + 15.143566802609488, + 0.11881433545742187 + ], + "face_center": [ + 0.527877744218057, + 15.142728476314295, + 0.11811409350485966 + ], + "face_normal": [ + -0.9998999372461896, + -0.010856995234851693, + -0.00906869268660062 + ], + "footprint_xy": [ + [ + 0.5261790931748062, + 15.08586152965705 + ], + [ + 0.6839915703302912, + 15.08586152965705 + ], + [ + 0.6839915703302912, + 15.201272075561928 + ], + [ + 0.5261790931748062, + 15.201272075561928 + ] + ], + "projected_box_corners": [ + [ + 0.5295763952613078, + 15.08586152965705 + ], + [ + 0.5273671037314542, + 15.088974541144614 + ], + [ + 0.5283883847046598, + 15.196482411483975 + ], + [ + 0.5261790931748062, + 15.199595422971539 + ], + [ + 0.6839915703302912, + 15.087538182247437 + ], + [ + 0.6817822788004375, + 15.090651193735 + ], + [ + 0.6828035597736432, + 15.198159064074364 + ], + [ + 0.6805942682437895, + 15.201272075561928 + ] + ], + "yaw_rad": 0.010857655039441591, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14791880548000336, + 15.086947441101074, + 0.06877611577510834 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5277653339704333, + 15.142636025428265, + 0.11803550038999097 + ], + "intended_face_normal": [ + -0.9998906147411755, + -0.010866035882227443, + -0.0100343308842827 + ], + "commanded_contact_point": [ + 0.15608030557632446, + 15.089694023132324, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5277484406122458, + 15.143475049799884, + 0.1188103043991121 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1461215317249298, + 15.084628105163574, + 0.06755746901035309 + ], + "box_pose": [ + 0.6090811491012573, + 15.145292282104492, + 0.13602645695209503, + -0.006131808273494244, + -0.005050524603575468, + 0.005402298644185066, + 0.9999538064002991 + ], + "box_yaw_rad": 0.010866796832727699, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002971353659078342 + } + } + }, + { + "simulation_time_ns": 2080000000, + "center": [ + 0.6052181587047175, + 15.143669028050617, + 0.11881785182842354 + ], + "face_center": [ + 0.5280098262514001, + 15.142830608016865, + 0.11820535357687326 + ], + "face_normal": [ + -0.9999095845400747, + -0.010858209224060264, + -0.007932341662857076 + ], + "footprint_xy": [ + [ + 0.5264458446578826, + 15.085859047693884 + ], + [ + 0.6839904727515526, + 15.085859047693884 + ], + [ + 0.6839904727515526, + 15.201479008407352 + ], + [ + 0.5264458446578826, + 15.201479008407352 + ] + ], + "projected_box_corners": [ + [ + 0.5295738078449177, + 15.085859047693884 + ], + [ + 0.5276348483153761, + 15.089182590710502 + ], + [ + 0.5283848041874242, + 15.196478625323229 + ], + [ + 0.5264458446578826, + 15.199802168339849 + ], + [ + 0.6839904727515526, + 15.087535887761387 + ], + [ + 0.682051513222011, + 15.090859430778007 + ], + [ + 0.6828014690940589, + 15.198155465390734 + ], + [ + 0.6808625095645173, + 15.201479008407352 + ] + ], + "yaw_rad": 0.010858764247059428, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14946088194847107, + 15.090177536010742, + 0.06793554127216339 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.527877744218057, + 15.142728476314295, + 0.11811409350485966 + ], + "intended_face_normal": [ + -0.9998999372461896, + -0.010856995234851693, + -0.00906869268660062 + ], + "commanded_contact_point": [ + 0.1560094952583313, + 15.089877128601074, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5278622906909645, + 15.143566802609488, + 0.11881433545742187 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14791880548000336, + 15.086947441101074, + 0.06877611577510834 + ], + "box_pose": [ + 0.6092107892036438, + 15.145397186279297, + 0.13602514564990997, + -0.006513210013508797, + -0.00456972187384963, + 0.005398983135819435, + 0.9999538660049438 + ], + "box_yaw_rad": 0.010857655039441591, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00019632043658379084 + } + } + }, + { + "simulation_time_ns": 2100000000, + "center": [ + 0.6053721778094785, + 15.143789799300604, + 0.11882172619249587 + ], + "face_center": [ + 0.5281631089776349, + 15.14295089722453, + 0.11831120094267852 + ], + "face_normal": [ + -0.9999191212302593, + -0.010864452057221793, + -0.006611709827442927 + ], + "footprint_xy": [ + [ + 0.5267552210041965, + 15.08585801650325 + ], + [ + 0.6839891346147606, + 15.08585801650325 + ], + [ + 0.6839891346147606, + 15.201721582097957 + ], + [ + 0.5267552210041965, + 15.201721582097957 + ] + ], + "projected_box_corners": [ + [ + 0.5295709969510732, + 15.08585801650325 + ], + [ + 0.5279461887725189, + 15.08942582612198 + ], + [ + 0.5283800291827507, + 15.196475968327078 + ], + [ + 0.5267552210041965, + 15.200043777945808 + ], + [ + 0.6839891346147606, + 15.087535820655399 + ], + [ + 0.6823643264362063, + 15.091103630274128 + ], + [ + 0.6827981668464381, + 15.198153772479227 + ], + [ + 0.6811733586678839, + 15.201721582097957 + ] + ], + "yaw_rad": 0.010864903291719102, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15039962530136108, + 15.093457221984863, + 0.06533052027225494 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 0.5280098262514001, + 15.142830608016865, + 0.11820535357687326 + ], + "intended_face_normal": [ + -0.9999095845400747, + -0.010858209224060264, + -0.007932341662857076 + ], + "commanded_contact_point": [ + 0.15583676099777222, + 15.090499877929688, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5279958627038701, + 15.143669028050617, + 0.11881785182842354 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14946088194847107, + 15.090177536010742, + 0.06793554127216339 + ], + "box_pose": [ + 0.6093630194664001, + 15.145514488220215, + 0.1360223889350891, + -0.0069489860907197, + -0.004003893118351698, + 0.005401534028351307, + 0.9999532699584961 + ], + "box_yaw_rad": 0.010858764247059428, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006462614418206346 + } + } + }, + { + "simulation_time_ns": 2120000000, + "center": [ + 0.6055495964366419, + 15.143929705542492, + 0.11882613721332475 + ], + "face_center": [ + 0.5283398353204521, + 15.143091538927795, + 0.11843247812133612 + ], + "face_normal": [ + -0.9999280868655847, + -0.01085492724484391, + -0.005098199722921956 + ], + "footprint_xy": [ + [ + 0.5271115871364299, + 15.085857492332524 + ], + [ + 0.6839876057368538, + 15.085857492332524 + ], + [ + 0.6839876057368538, + 15.202001918752458 + ], + [ + 0.5271115871364299, + 15.202001918752458 + ] + ], + "projected_box_corners": [ + [ + 0.5295680835044743, + 15.085857492332524 + ], + [ + 0.528303311884535, + 15.089709650651798 + ], + [ + 0.5283763587563691, + 15.196473427203792 + ], + [ + 0.5271115871364299, + 15.200325585523066 + ], + [ + 0.6839876057368538, + 15.087533825561916 + ], + [ + 0.6827228341169146, + 15.09138598388119 + ], + [ + 0.6827958809887487, + 15.198149760433184 + ], + [ + 0.6815311093688095, + 15.202001918752458 + ] + ], + "yaw_rad": 0.010855281507631008, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15097592771053314, + 15.096124649047852, + 0.06254810094833374 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5281631089776349, + 15.14295089722453, + 0.11831120094267852 + ], + "intended_face_normal": [ + -0.9999191212302593, + -0.010864452057221793, + -0.006611709827442927 + ], + "commanded_contact_point": [ + 0.15549607574939728, + 15.091550827026367, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.528150618313311, + 15.143789799300604, + 0.11882172619249587 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15039962530136108, + 15.093457221984863, + 0.06533052027225494 + ], + "box_pose": [ + 0.6095395684242249, + 15.145652770996094, + 0.13601893186569214, + -0.007454595062881708, + -0.003346326295286417, + 0.005407539661973715, + 0.9999520778656006 + ], + "box_yaw_rad": 0.010864903291719102, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011047897729419137 + } + } + }, + { + "simulation_time_ns": 2140000000, + "center": [ + 0.6057544486688354, + 15.144091091719035, + 0.11883114060206015 + ], + "face_center": [ + 0.5285441139890953, + 15.143253135764152, + 0.11857277857590699 + ], + "face_normal": [ + -0.9999355149717644, + -0.010852199031965831, + -0.003345994635850275 + ], + "footprint_xy": [ + [ + 0.5275231056135095, + 15.085855210904052 + ], + [ + 0.6839857917241614, + 15.085855210904052 + ], + [ + 0.6839857917241614, + 15.202326972534017 + ], + [ + 0.5275231056135095, + 15.202326972534017 + ] + ], + "projected_box_corners": [ + [ + 0.529565122364681, + 15.085855210904052 + ], + [ + 0.5287171132576526, + 15.090037673929732 + ], + [ + 0.5283711147205379, + 15.196468597598573 + ], + [ + 0.5275231056135095, + 15.200651060624253 + ], + [ + 0.6839857917241614, + 15.087531122813816 + ], + [ + 0.683137782617133, + 15.091713585839498 + ], + [ + 0.6827917840800183, + 15.198144509508337 + ], + [ + 0.6819437749729899, + 15.202326972534017 + ] + ], + "yaw_rad": 0.01085247280717101, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15137526392936707, + 15.097615242004395, + 0.06034143269062042 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5283398353204521, + 15.143091538927795, + 0.11843247812133612 + ], + "intended_face_normal": [ + -0.9999280868655847, + -0.01085492724484391, + -0.005098199722921956 + ], + "commanded_contact_point": [ + 0.15525978932717346, + 15.093017207677965, + 0.05012686174995348 + ], + "centerline_face_intersection": [ + 0.528328729330608, + 15.143929705542492, + 0.11882613721332475 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15097592771053314, + 15.096124649047852, + 0.06254810094833374 + ], + "box_pose": [ + 0.6097428202629089, + 15.14581298828125, + 0.13601484894752502, + -0.008043214678764343, + -0.0025927191600203514, + 0.005406882148236036, + 0.9999496340751648 + ], + "box_yaw_rad": 0.010855281507631008, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014907007404915888 + } + } + }, + { + "simulation_time_ns": 2160000000, + "center": [ + 0.6059898922398174, + 15.144277589203467, + 0.11883597441094416 + ], + "face_center": [ + 0.5287792023038035, + 15.143438891310673, + 0.1187327858056065 + ], + "face_normal": [ + -0.9999401158243119, + -0.010861807720634557, + -0.0013363748732020744 + ], + "footprint_xy": [ + [ + 0.5279948117755116, + 15.085853308924708 + ], + [ + 0.6839849727041232, + 15.085853308924708 + ], + [ + 0.6839849727041232, + 15.202701869482224 + ], + [ + 0.5279948117755116, + 15.202701869482224 + ] + ], + "projected_box_corners": [ + [ + 0.5295635928320954, + 15.085853308924708 + ], + [ + 0.5291934968995813, + 15.090414280376514 + ], + [ + 0.5283649077080257, + 15.19646350224483 + ], + [ + 0.5279948117755116, + 15.201024473696636 + ], + [ + 0.6839849727041232, + 15.087530704710298 + ], + [ + 0.683614876771609, + 15.092091676162104 + ], + [ + 0.6827862875800534, + 15.198140898030418 + ], + [ + 0.6824161916475393, + 15.202701869482224 + ] + ], + "yaw_rad": 0.01086203100889611, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15235325694084167, + 15.0973482131958, + 0.05959683656692505 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5285441139890953, + 15.143253135764152, + 0.11857277857590699 + ], + "intended_face_normal": [ + -0.9999355149717644, + -0.010852199031965831, + -0.003345994635850275 + ], + "commanded_contact_point": [ + 0.15529495188288392, + 15.095033330287247, + 0.05049903390558521 + ], + "centerline_face_intersection": [ + 0.528534155204593, + 15.144091091719035, + 0.11883114060206015 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15137526392936707, + 15.097615242004395, + 0.06034143269062042 + ], + "box_pose": [ + 0.6099775433540344, + 15.145998001098633, + 0.13600993156433105, + -0.008727004751563072, + -0.0017203156603500247, + 0.0054113795049488544, + 0.9999458193778992 + ], + "box_yaw_rad": 0.01085247280717101, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002050487477262427 + } + } + }, + { + "simulation_time_ns": 2180000000, + "center": [ + 0.6062605872894766, + 15.144490658255833, + 0.11884045000048334 + ], + "face_center": [ + 0.5290498658821084, + 15.143651880857838, + 0.11891564726423408 + ], + "face_normal": [ + -0.9999405234034902, + -0.010862837376496291, + 0.0009738646382631642 + ], + "footprint_xy": [ + [ + 0.5283582979480606, + 15.085851176428982 + ], + [ + 0.6841628766308926, + 15.085851176428982 + ], + [ + 0.6841628766308926, + 15.203130140082685 + ], + [ + 0.5283582979480606, + 15.203130140082685 + ] + ], + "projected_box_corners": [ + [ + 0.5295621092341289, + 15.085851176428982 + ], + [ + 0.5297414338161563, + 15.090846382925971 + ], + [ + 0.5283582979480606, + 15.196457378789706 + ], + [ + 0.5285376225300881, + 15.201452585286694 + ], + [ + 0.6839835520488651, + 15.087528731224971 + ], + [ + 0.6841628766308926, + 15.09252393772196 + ], + [ + 0.6827797407627968, + 15.198134933585695 + ], + [ + 0.6829590653448242, + 15.203130140082685 + ] + ], + "yaw_rad": 0.010863056177452656, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15218381583690643, + 15.095817565917969, + 0.06018956005573273 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5287792023038035, + 15.143438891310673, + 0.1187327858056065 + ], + "intended_face_normal": [ + -0.9999401158243119, + -0.010861807720634557, + -0.0013363748732020744 + ], + "commanded_contact_point": [ + 0.1557702904187422, + 15.097424912032908, + 0.05110346146764301 + ], + "centerline_face_intersection": [ + 0.5287699540760358, + 15.144277589203467, + 0.11883597441094416 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15235325694084167, + 15.0973482131958, + 0.05959683656692505 + ], + "box_pose": [ + 0.6102471947669983, + 15.146211624145508, + 0.1360032856464386, + -0.009510599076747894, + -0.0007198199164122343, + 0.005424384493380785, + 0.9999397993087769 + ], + "box_yaw_rad": 0.01086203100889611, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002512158961456249 + } + } + }, + { + "simulation_time_ns": 2200000000, + "center": [ + 0.6065718705538449, + 15.144730508540983, + 0.11884717575308087 + ], + "face_center": [ + 0.5293616065526676, + 15.143892857316619, + 0.11912677501423109 + ], + "face_normal": [ + -0.9999345996279115, + -0.010848252528322049, + 0.0036210337948103764 + ], + "footprint_xy": [ + [ + 0.5283525727381467, + 15.085850860049955 + ], + [ + 0.6847911683695431, + 15.085850860049955 + ], + [ + 0.6847911683695431, + 15.20361015703201 + ], + [ + 0.5283525727381467, + 15.20361015703201 + ] + ], + "projected_box_corners": [ + [ + 0.5295616233869502, + 15.085850860049955 + ], + [ + 0.5303706403671886, + 15.091333545821534 + ], + [ + 0.5283525727381467, + 15.196452168811701 + ], + [ + 0.529161589718385, + 15.20193485458328 + ], + [ + 0.6839821513893047, + 15.087526162498685 + ], + [ + 0.6847911683695431, + 15.093008848270264 + ], + [ + 0.6827731007405012, + 15.198127471260431 + ], + [ + 0.6835821177207395, + 15.20361015703201 + ] + ], + "yaw_rad": 0.010848536443669596, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.15025562047958374, + 15.09702205657959, + 0.0634295642375946 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5290498658821084, + 15.143651880857838, + 0.11891564726423408 + ], + "intended_face_normal": [ + -0.9999405234034902, + -0.010862837376496291, + 0.0009738646382631642 + ], + "commanded_contact_point": [ + 0.1562957009935379, + 15.100139305325696, + 0.051927551429120825 + ], + "centerline_face_intersection": [ + 0.529040680600806, + 15.144490658255833, + 0.11884045000048334 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15218381583690643, + 15.095817565917969, + 0.06018956005573273 + ], + "box_pose": [ + 0.6105571985244751, + 15.146455764770508, + 0.13599443435668945, + -0.010409547947347164, + 0.00043037289287894964, + 0.0054362742230296135, + 0.9999309182167053 + ], + "box_yaw_rad": 0.010863056177452656, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028849803265615006 + } + } + }, + { + "simulation_time_ns": 2220000000, + "center": [ + 0.6069101513357483, + 15.144983909928186, + 0.11885716518639775 + ], + "face_center": [ + 0.5297009841383072, + 15.144149167284374, + 0.11935956730859504 + ], + "face_normal": [ + -0.9999203951433269, + -0.01081058408660657, + 0.00650650883545611 + ], + "footprint_xy": [ + [ + 0.5283463258661932, + 15.085853561406635 + ], + [ + 0.6854739768053035, + 15.085853561406635 + ], + [ + 0.6854739768053035, + 15.204114258449737 + ], + [ + 0.5283463258661932, + 15.204114258449737 + ] + ], + "projected_box_corners": [ + [ + 0.5295599673559301, + 15.085853561406635 + ], + [ + 0.5310556424104214, + 15.091849079304584 + ], + [ + 0.5283463258661932, + 15.196449255264161 + ], + [ + 0.5298420009206845, + 15.20244477316211 + ], + [ + 0.6839783017508123, + 15.087523046694262 + ], + [ + 0.6854739768053035, + 15.09351856459221 + ], + [ + 0.6827646602610754, + 15.198118740551788 + ], + [ + 0.6842603353155666, + 15.204114258449737 + ] + ], + "yaw_rad": 0.010811023519326446, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1485978662967682, + 15.09922981262207, + 0.0670076310634613 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5293616065526676, + 15.143892857316619, + 0.11912677501423109 + ], + "intended_face_normal": [ + -0.9999345996279115, + -0.010848252528322049, + 0.0036210337948103764 + ], + "commanded_contact_point": [ + 0.15723608472733758, + 15.10226737825186, + 0.052958299187499426 + ], + "centerline_face_intersection": [ + 0.5293515064018586, + 15.144730508540983, + 0.11884717575308087 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15025562047958374, + 15.09702205657959, + 0.0634295642375946 + ], + "box_pose": [ + 0.6109135150909424, + 15.146730422973633, + 0.13598579168319702, + -0.011418599635362625, + 0.0017484904965385795, + 0.00544453551992774, + 0.9999184608459473 + ], + "box_yaw_rad": 0.010848536443669596, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025446919041935885 + } + } + }, + { + "simulation_time_ns": 2240000000, + "center": [ + 0.6072342787786449, + 15.145257011951003, + 0.11887920392897139 + ], + "face_center": [ + 0.5300267603581834, + 15.144424413813656, + 0.11959375421278781 + ], + "face_normal": [ + -0.999899042164286, + -0.010782811014677604, + 0.009253997006811 + ], + "footprint_xy": [ + [ + 0.5283422133020912, + 15.085853690278022 + ], + [ + 0.6861263442551987, + 15.085853690278022 + ], + [ + 0.6861263442551987, + 15.204660333623984 + ], + [ + 0.5283422133020912, + 15.204660333623984 + ] + ], + "projected_box_corners": [ + [ + 0.5295626597210509, + 15.085853690278022 + ], + [ + 0.5317113074142756, + 15.092406130209445 + ], + [ + 0.5283422133020912, + 15.196442697417869 + ], + [ + 0.530490860995316, + 15.202995137349292 + ], + [ + 0.6839776965619739, + 15.087518886552713 + ], + [ + 0.6861263442551987, + 15.094071326484137 + ], + [ + 0.6827572501430142, + 15.19810789369256 + ], + [ + 0.684905897836239, + 15.204660333623984 + ] + ], + "yaw_rad": 0.010783481734157913, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14537328481674194, + 15.102078437805176, + 0.06827260553836823 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5297009841383072, + 15.144149167284374, + 0.11935956730859504 + ], + "intended_face_normal": [ + -0.9999203951433269, + -0.01081058408660657, + 0.00650650883545611 + ], + "commanded_contact_point": [ + 0.15866030072815718, + 15.104093757759538, + 0.054183052490995975 + ], + "centerline_face_intersection": [ + 0.5296886902209662, + 15.144983909928186, + 0.11885716518639775 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1485978662967682, + 15.09922981262207, + 0.0670076310634613 + ], + "box_pose": [ + 0.6113008856773376, + 15.14702033996582, + 0.13597896695137024, + -0.01247992180287838, + 0.0031856053974479437, + 0.005445580463856459, + 0.9999022483825684 + ], + "box_yaw_rad": 0.010811023519326446, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026199377812235586 + } + } + }, + { + "simulation_time_ns": 2260000000, + "center": [ + 0.6072970986197068, + 15.145339641313797, + 0.11889877208087714 + ], + "face_center": [ + 0.5300899722691794, + 15.144507126636888, + 0.11965459117761454 + ], + "face_normal": [ + -0.9998939645454262, + -0.010781730135330288, + 0.009788461102473705 + ], + "footprint_xy": [ + [ + 0.5283411391954614, + 15.085855007090114 + ], + [ + 0.6862530580439521, + 15.085855007090114 + ], + [ + 0.6862530580439521, + 15.20482427553748 + ], + [ + 0.5283411391954614, + 15.20482427553748 + ] + ], + "projected_box_corners": [ + [ + 0.5295637970695692, + 15.085855007090114 + ], + [ + 0.5318388053428975, + 15.09257234193382 + ], + [ + 0.5283411391954614, + 15.196441911339956 + ], + [ + 0.5306161474687896, + 15.203159246183663 + ], + [ + 0.6839780497706239, + 15.087520036443928 + ], + [ + 0.6862530580439521, + 15.094237371287635 + ], + [ + 0.6827553918965161, + 15.198106940693773 + ], + [ + 0.6850304001698443, + 15.20482427553748 + ] + ], + "yaw_rad": 0.010782455621844135, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1426304280757904, + 15.1057710647583, + 0.0704195648431778 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5300267603581834, + 15.144424413813656, + 0.11959375421278781 + ], + "intended_face_normal": [ + -0.999899042164286, + -0.010782811014677604, + 0.009253997006811 + ], + "commanded_contact_point": [ + 0.16033023835613394, + 15.105541463911996, + 0.05558997173253312 + ], + "centerline_face_intersection": [ + 0.5300111685891351, + 15.145257011951003, + 0.11887920392897139 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14537328481674194, + 15.102078437805176, + 0.06827260553836823 + ], + "box_pose": [ + 0.6116716265678406, + 15.147333145141602, + 0.13598421216011047, + -0.013633581809699535, + 0.004553177393972874, + 0.00545412627980113, + 0.9998818039894104 + ], + "box_yaw_rad": 0.010783481734157913, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026199172768247804 + } + } + }, + { + "simulation_time_ns": 2280000000, + "center": [ + 0.6072747664818741, + 15.145337895968726, + 0.11890499048382441 + ], + "face_center": [ + 0.5300675042939208, + 15.144505530150624, + 0.11964697096765427 + ], + "face_normal": [ + -0.9998957237486082, + -0.010779802294873186, + 0.009609240010095277 + ], + "footprint_xy": [ + [ + 0.5283405308483113, + 15.085854470821289 + ], + [ + 0.6862090021154368, + 15.085854470821289 + ], + [ + 0.6862090021154368, + 15.204821321116164 + ], + [ + 0.5283405308483113, + 15.204821321116164 + ] + ], + "projected_box_corners": [ + [ + 0.5295624130870471, + 15.085854470821289 + ], + [ + 0.5317944777395303, + 15.092569655152545 + ], + [ + 0.5283405308483113, + 15.196441405148704 + ], + [ + 0.5305725955007945, + 15.20315658947996 + ], + [ + 0.6839769374629536, + 15.087519202457491 + ], + [ + 0.6862090021154368, + 15.094234386788749 + ], + [ + 0.6827550552242179, + 15.198106136784908 + ], + [ + 0.684987119876701, + 15.204821321116164 + ] + ], + "yaw_rad": 0.010780508835407158, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13931679725646973, + 15.11037826538086, + 0.07249857485294342 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5300899722691794, + 15.144507126636888, + 0.11965459117761454 + ], + "intended_face_normal": [ + -0.9998939645454262, + -0.010781730135330288, + 0.009788461102473705 + ], + "commanded_contact_point": [ + 0.16190578513860698, + 15.106897183048197, + 0.057165456274682676 + ], + "centerline_face_intersection": [ + 0.5300735962790943, + 15.145339641313797, + 0.11889877208087714 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1426304280757904, + 15.1057710647583, + 0.0704195648431778 + ], + "box_pose": [ + 0.6117434501647949, + 15.147427558898926, + 0.13600000739097595, + -0.013975914567708969, + 0.004818535875529051, + 0.00545888626947999, + 0.9998758435249329 + ], + "box_yaw_rad": 0.010782455621844135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026081552067651606 + } + } + }, + { + "simulation_time_ns": 2300000000, + "center": [ + 0.607226821569297, + 15.1453128327717, + 0.11890878899789423 + ], + "face_center": [ + 0.5300192675874178, + 15.144480243182025, + 0.1196194964220204 + ], + "face_normal": [ + -0.9998995027130535, + -0.010782700315489571, + 0.009204228903884433 + ], + "footprint_xy": [ + [ + 0.5283411602565238, + 15.08585375906375 + ], + [ + 0.6861124828820702, + 15.08585375906375 + ], + [ + 0.6861124828820702, + 15.204771906479646 + ], + [ + 0.5283411602565238, + 15.204771906479646 + ] + ], + "projected_box_corners": [ + [ + 0.5295619086308155, + 15.08585375906375 + ], + [ + 0.5316973749183118, + 15.092519155799632 + ], + [ + 0.5283411602565238, + 15.196441330564419 + ], + [ + 0.5304766265440202, + 15.203106727300298 + ], + [ + 0.6839770165945738, + 15.087518938243099 + ], + [ + 0.6861124828820702, + 15.094184334978978 + ], + [ + 0.6827562682202821, + 15.198106509743766 + ], + [ + 0.6848917345077785, + 15.204771906479646 + ] + ], + "yaw_rad": 0.010783366070283587, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.13703589141368866, + 15.111884117126465, + 0.07350237667560577 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5300675042939208, + 15.144505530150624, + 0.11964697096765427 + ], + "intended_face_normal": [ + -0.9998957237486082, + -0.010779802294873186, + 0.009609240010095277 + ], + "commanded_contact_point": [ + 0.16381743696682155, + 15.108398009898998, + 0.058895233463554346 + ], + "centerline_face_intersection": [ + 0.5300514000072603, + 15.145337895968726, + 0.11890499048382441 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13931679725646973, + 15.11037826538086, + 0.07249857485294342 + ], + "box_pose": [ + 0.6117180585861206, + 15.147425651550293, + 0.13600704073905945, + -0.013971924781799316, + 0.0047289649955928326, + 0.005456648766994476, + 0.9998763203620911 + ], + "box_yaw_rad": 0.010780508835407158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002983123039960433 + } + } + }, + { + "simulation_time_ns": 2320000000, + "center": [ + 0.6071546238532366, + 15.145263667673884, + 0.1189088941717752 + ], + "face_center": [ + 0.5299466593865493, + 15.144430524928689, + 0.11957282079051842 + ], + "face_normal": [ + -0.9999048188192419, + -0.010789864121399696, + 0.008598380102484588 + ], + "footprint_xy": [ + [ + 0.5283413956007623, + 15.085853290898072 + ], + [ + 0.6859678521057108, + 15.085853290898072 + ], + [ + 0.6859678521057108, + 15.204674044449696 + ], + [ + 0.5283413956007623, + 15.204674044449696 + ] + ], + "projected_box_corners": [ + [ + 0.52956069812092, + 15.085853290898072 + ], + [ + 0.5315519231723362, + 15.09241892670012 + ], + [ + 0.5283413956007623, + 15.196442123157258 + ], + [ + 0.5303326206521786, + 15.203007758959306 + ], + [ + 0.6839766270542945, + 15.087519576388464 + ], + [ + 0.6859678521057108, + 15.09408521219051 + ], + [ + 0.682757324534137, + 15.198108408647649 + ], + [ + 0.6847485495855532, + 15.204674044449696 + ] + ], + "yaw_rad": 0.010790472397980325, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1397203803062439, + 15.107473373413086, + 0.0727071464061737 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5300192675874178, + 15.144480243182025, + 0.1196194964220204 + ], + "intended_face_normal": [ + -0.9998995027130535, + -0.010782700315489571, + 0.009204228903884433 + ], + "commanded_contact_point": [ + 0.1664316974813118, + 15.109941832562747, + 0.06076698005028154 + ], + "centerline_face_intersection": [ + 0.5300037469483699, + 15.1453128327717, + 0.11890878899789423 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13703589141368866, + 15.111884117126465, + 0.07350237667560577 + ], + "box_pose": [ + 0.6116632223129272, + 15.1473970413208, + 0.13601306080818176, + -0.013869221322238445, + 0.004527010023593903, + 0.005454798229038715, + 0.9998786449432373 + ], + "box_yaw_rad": 0.010783366070283587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003566676567850161 + } + } + }, + { + "simulation_time_ns": 2340000000, + "center": [ + 0.607057100683557, + 15.14518929859209, + 0.11890637692850639 + ], + "face_center": [ + 0.5298486283484717, + 15.144355338030387, + 0.11950721963548763 + ], + "face_normal": [ + -0.9999113961207152, + -0.010800455498492276, + 0.007781393049445829 + ], + "footprint_xy": [ + [ + 0.528341454302333, + 15.085850990244662 + ], + [ + 0.685772747064781, + 15.085850990244662 + ], + [ + 0.685772747064781, + 15.20452760693952 + ], + [ + 0.528341454302333, + 15.20452760693952 + ] + ], + "projected_box_corners": [ + [ + 0.5295589521768613, + 15.085850990244662 + ], + [ + 0.5313558023946104, + 15.092269023329191 + ], + [ + 0.528341454302333, + 15.196441652731584 + ], + [ + 0.5301383045200821, + 15.202859685816113 + ], + [ + 0.6839758968470318, + 15.087518911368067 + ], + [ + 0.685772747064781, + 15.093936944452595 + ], + [ + 0.6827583989725035, + 15.19810957385499 + ], + [ + 0.6845552491902527, + 15.20452760693952 + ] + ], + "yaw_rad": 0.010800992506168037, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.14754152297973633, + 15.102986335754395, + 0.07246099412441254 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5299466593865493, + 15.144430524928689, + 0.11957282079051842 + ], + "intended_face_normal": [ + -0.9999048188192419, + -0.010789864121399696, + 0.008598380102484588 + ], + "commanded_contact_point": [ + 0.16930686200197317, + 15.111402264919331, + 0.06276750540982998 + ], + "centerline_face_intersection": [ + 0.5299319597974524, + 15.145263667673884, + 0.1189088941717752 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1397203803062439, + 15.107473373413086, + 0.0727071464061737 + ], + "box_pose": [ + 0.6115807294845581, + 15.147340774536133, + 0.13601669669151306, + -0.013662866316735744, + 0.004225177224725485, + 0.0054532987996935844, + 0.9998828768730164 + ], + "box_yaw_rad": 0.010790472397980325, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037949354939477006 + } + } + }, + { + "simulation_time_ns": 2360000000, + "center": [ + 0.6069326556569778, + 15.145091658625173, + 0.11890155670268188 + ], + "face_center": [ + 0.5297236135588643, + 15.144255728315349, + 0.11942092309032667 + ], + "face_normal": [ + -0.9999187750070965, + -0.010825965310230608, + 0.00672620962521093 + ], + "footprint_xy": [ + [ + 0.5283424083561656, + 15.085848444234742 + ], + [ + 0.6855229029577901, + 15.085848444234742 + ], + [ + 0.6855229029577901, + 15.204334873015606 + ], + [ + 0.5283424083561656, + 15.204334873015606 + ] + ], + "projected_box_corners": [ + [ + 0.5295590293086413, + 15.085848444234742 + ], + [ + 0.5311048187615631, + 15.092069992293926 + ], + [ + 0.5283424083561656, + 15.196441464336774 + ], + [ + 0.5298881978090875, + 15.202663012395957 + ], + [ + 0.6839771135048682, + 15.087520304854388 + ], + [ + 0.6855229029577901, + 15.093741852913572 + ], + [ + 0.6827604925523926, + 15.19811332495642 + ], + [ + 0.6843062820053145, + 15.204334873015606 + ] + ], + "yaw_rad": 0.010826421707409755, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1562756448984146, + 15.10132122039795, + 0.07328519225120544 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5298486283484717, + 15.144355338030387, + 0.11950721963548763 + ], + "intended_face_normal": [ + -0.9999113961207152, + -0.010800455498492276, + 0.007781393049445829 + ], + "commanded_contact_point": [ + 0.1726766579556465, + 15.112870043769329, + 0.06488378092131047 + ], + "centerline_face_intersection": [ + 0.5298349445895223, + 15.14518929859209, + 0.11890637692850639 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14754152297973633, + 15.102986335754395, + 0.07246099412441254 + ], + "box_pose": [ + 0.6114693284034729, + 15.147255897521973, + 0.1360190361738205, + -0.013357339426875114, + 0.0038182996213436127, + 0.0054518370889127254, + 0.9998886585235596 + ], + "box_yaw_rad": 0.010800992506168037, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004241287724546132 + } + } + }, + { + "simulation_time_ns": 2380000000, + "center": [ + 0.6067815005697115, + 15.144969806582282, + 0.11889499897256474 + ], + "face_center": [ + 0.5295718714537623, + 15.144132393993516, + 0.11931525398417862 + ], + "face_normal": [ + -0.9999263773570183, + -0.010845162006656944, + 0.005442638128699305 + ], + "footprint_xy": [ + [ + 0.5283443705354787, + 15.085845818335196 + ], + [ + 0.6852186306039443, + 15.085845818335196 + ], + [ + 0.6852186306039443, + 15.204093794829365 + ], + [ + 0.5283443705354787, + 15.204093794829365 + ] + ], + "projected_box_corners": [ + [ + 0.5295588584978527, + 15.085845818335196 + ], + [ + 0.5307993723720459, + 15.09182310737588 + ], + [ + 0.5283443705354787, + 15.196441680611152 + ], + [ + 0.5295848844096719, + 15.202418969651836 + ], + [ + 0.6839781167297511, + 15.087520643512725 + ], + [ + 0.6852186306039443, + 15.09349793255341 + ], + [ + 0.6827636287673771, + 15.198116505788681 + ], + [ + 0.6840041426415702, + 15.204093794829365 + ] + ], + "yaw_rad": 0.010845535257269993, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1634541153907776, + 15.10442066192627, + 0.07516540586948395 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5297236135588643, + 15.144255728315349, + 0.11942092309032667 + ], + "intended_face_normal": [ + -0.9999187750070965, + -0.010825965310230608, + 0.00672620962521093 + ], + "commanded_contact_point": [ + 0.17675796465590127, + 15.114612037787062, + 0.06710265603731108 + ], + "centerline_face_intersection": [ + 0.529711069422746, + 15.145091658625173, + 0.11890155670268188 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1562756448984146, + 15.10132122039795, + 0.07328519225120544 + ], + "box_pose": [ + 0.6113269329071045, + 15.147144317626953, + 0.1360205113887787, + -0.012950530275702477, + 0.0032927868887782097, + 0.005456193815916777, + 0.9998959302902222 + ], + "box_yaw_rad": 0.010826421707409755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004961352065694273 + } + } + }, + { + "simulation_time_ns": 2400000000, + "center": [ + 0.6066252545728885, + 15.144840489734387, + 0.11888752693652638 + ], + "face_center": [ + 0.5294151492140519, + 15.144001715439247, + 0.11920500248176713 + ], + "face_normal": [ + -0.9999325450828669, + -0.01086279719206199, + 0.004111561931935931 + ], + "footprint_xy": [ + [ + 0.5283469834215326, + 15.085843579110936 + ], + [ + 0.6849035257242444, + 15.085843579110936 + ], + [ + 0.6849035257242444, + 15.20383740035784 + ], + [ + 0.5283469834215326, + 15.20383740035784 + ] + ], + "projected_box_corners": [ + [ + 0.5295592988510046, + 15.085843579110936 + ], + [ + 0.530483315006571, + 15.091561089390783 + ], + [ + 0.5283469834215326, + 15.196442341487709 + ], + [ + 0.529270999577099, + 15.202159851767556 + ], + [ + 0.683979509568678, + 15.08752112770122 + ], + [ + 0.6849035257242444, + 15.093238637981067 + ], + [ + 0.6827671941392061, + 15.198119890077992 + ], + [ + 0.6836912102947723, + 15.20383740035784 + ] + ], + "yaw_rad": 0.01086310266302282, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.16895689070224762, + 15.110288619995117, + 0.07775227725505829 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5295718714537623, + 15.144132393993516, + 0.11931525398417862 + ], + "intended_face_normal": [ + -0.9999263773570183, + -0.010845162006656944, + 0.005442638128699305 + ], + "commanded_contact_point": [ + 0.1813822820618376, + 15.116709138897654, + 0.06941114509013999 + ], + "centerline_face_intersection": [ + 0.5295605014442242, + 15.144969806582282, + 0.11889499897256474 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1634541153907776, + 15.10442066192627, + 0.07516540586948395 + ], + "box_pose": [ + 0.6111539602279663, + 15.147005081176758, + 0.13602161407470703, + -0.012444770894944668, + 0.00265367329120636, + 0.005456128623336554, + 0.9999040961265564 + ], + "box_yaw_rad": 0.010845535257269993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055777474168275274 + } + } + }, + { + "simulation_time_ns": 2420000000, + "center": [ + 0.6064641214209199, + 15.144704563113665, + 0.11887928756475344 + ], + "face_center": [ + 0.5292536512384587, + 15.143865972512348, + 0.11909085878479472 + ], + "face_normal": [ + -0.9999372698402504, + -0.010860418210281213, + 0.0027400163170215805 + ], + "footprint_xy": [ + [ + 0.5283505598089188, + 15.085842775547786 + ], + [ + 0.684577683032921, + 15.085842775547786 + ], + [ + 0.684577683032921, + 15.203566350679544 + ], + [ + 0.5283505598089188, + 15.203566350679544 + ] + ], + "projected_box_corners": [ + [ + 0.5295586878221081, + 15.085842775547786 + ], + [ + 0.5301567426679986, + 15.091287476226283 + ], + [ + 0.5283505598089188, + 15.196444468798415 + ], + [ + 0.5289486146548092, + 15.201889169476912 + ], + [ + 0.6839796281870306, + 15.087519956750418 + ], + [ + 0.684577683032921, + 15.092964657428915 + ], + [ + 0.6827715001738413, + 15.198121650001047 + ], + [ + 0.6833695550197316, + 15.203566350679544 + ] + ], + "yaw_rad": 0.01086067248797132, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1728031486272812, + 15.112980842590332, + 0.08126141130924225 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5294151492140519, + 15.144001715439247, + 0.11920500248176713 + ], + "intended_face_normal": [ + -0.9999325450828669, + -0.01086279719206199, + 0.004111561931935931 + ], + "commanded_contact_point": [ + 0.18626093455648512, + 15.118729387113682, + 0.07179645731200313 + ], + "centerline_face_intersection": [ + 0.529404731757483, + 15.144840489734387, + 0.11888752693652638 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16895689070224762, + 15.110288619995117, + 0.07775227725505829 + ], + "box_pose": [ + 0.6109750866889954, + 15.146857261657715, + 0.13602209091186523, + -0.011906798928976059, + 0.0019909969996660948, + 0.005455583333969116, + 0.9999123215675354 + ], + "box_yaw_rad": 0.01086310266302282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005794166671201416 + } + } + }, + { + "simulation_time_ns": 2440000000, + "center": [ + 0.6062954369802084, + 15.144562330466915, + 0.11887039630596563 + ], + "face_center": [ + 0.5290847418607296, + 15.143723720027506, + 0.11897036666481031 + ], + "face_normal": [ + -0.9999401829543227, + -0.010860675129445418, + 0.0012946960101636942 + ], + "footprint_xy": [ + [ + 0.5283552633264456, + 15.085844757850857 + ], + [ + 0.6842356106339713, + 15.085844757850857 + ], + [ + 0.6842356106339713, + 15.203279903082974 + ], + [ + 0.5283552633264456, + 15.203279903082974 + ] + ], + "projected_box_corners": [ + [ + 0.5295596518288394, + 15.085844757850857 + ], + [ + 0.5298142203950138, + 15.090998019490135 + ], + [ + 0.5283552633264456, + 15.196449420564875 + ], + [ + 0.52860983189262, + 15.201602682204154 + ], + [ + 0.6839810420677969, + 15.087521978729677 + ], + [ + 0.6842356106339713, + 15.092675240368955 + ], + [ + 0.6827766535654031, + 15.198126641443695 + ], + [ + 0.6830312221315775, + 15.203279903082974 + ] + ], + "yaw_rad": 0.010860897754416244, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17551440000534058, + 15.11426067352295, + 0.08387835323810577 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5292536512384587, + 15.143865972512348, + 0.11909085878479472 + ], + "intended_face_normal": [ + -0.9999372698402504, + -0.010860418210281213, + 0.0027400163170215805 + ], + "commanded_contact_point": [ + 0.19058194756269453, + 15.120573808340033, + 0.07424551936154326 + ], + "centerline_face_intersection": [ + 0.5292439634766382, + 15.144704563113665, + 0.11887928756475344 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1728031486272812, + 15.112980842590332, + 0.08126141130924225 + ], + "box_pose": [ + 0.6107906699180603, + 15.14670181274414, + 0.13602203130722046, + -0.011341801844537258, + 0.0013083512894809246, + 0.005445484071969986, + 0.9999199509620667 + ], + "box_yaw_rad": 0.01086067248797132, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0052982023349949095 + } + } + }, + { + "simulation_time_ns": 2460000000, + "center": [ + 0.6061131886187302, + 15.144407560054796, + 0.11886054392285096 + ], + "face_center": [ + 0.5289024306704997, + 15.14356901602165, + 0.11884045800928776 + ], + "face_normal": [ + -0.9999409966368504, + -0.010859815115310128, + -0.0002601286266380107 + ], + "footprint_xy": [ + [ + 0.5282446312089014, + 15.08584655711063 + ], + [ + 0.683981746028559, + 15.08584655711063 + ], + [ + 0.683981746028559, + 15.202968562998965 + ], + [ + 0.5282446312089014, + 15.202968562998965 + ] + ], + "projected_box_corners": [ + [ + 0.5295602301320979, + 15.08584655711063 + ], + [ + 0.5294453007957682, + 15.090683775372664 + ], + [ + 0.528359560545231, + 15.196454256670632 + ], + [ + 0.5282446312089014, + 15.201291474932669 + ], + [ + 0.683981746028559, + 15.087523645176926 + ], + [ + 0.6838668166922294, + 15.092360863438962 + ], + [ + 0.6827810764416922, + 15.19813134473693 + ], + [ + 0.6826661471053626, + 15.202968562998965 + ] + ], + "yaw_rad": 0.010860028953825313, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17927612364292145, + 15.114508628845215, + 0.08593389391899109 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5290847418607296, + 15.143723720027506, + 0.11897036666481031 + ], + "intended_face_normal": [ + -0.9999401829543227, + -0.010860675129445418, + 0.0012946960101636942 + ], + "commanded_contact_point": [ + 0.19474468065814113, + 15.122337461555272, + 0.0767453656351933 + ], + "centerline_face_intersection": [ + 0.5290755040005122, + 15.144562330466915, + 0.11887039630596563 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17551440000534058, + 15.11426067352295, + 0.08387835323810577 + ], + "box_pose": [ + 0.6105974316596985, + 15.146538734436035, + 0.13602173328399658, + -0.010738169774413109, + 0.0005890067550353706, + 0.005437057465314865, + 0.9999273419380188 + ], + "box_yaw_rad": 0.010860897754416244, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005166047897516082 + } + } + }, + { + "simulation_time_ns": 2480000000, + "center": [ + 0.6059130761973105, + 15.144232518943298, + 0.11884859756408216 + ], + "face_center": [ + 0.5287024583130282, + 15.1433945868299, + 0.11869674874102568 + ], + "face_normal": [ + -0.9999391826968284, + -0.010851890265699916, + -0.0019665635657538302 + ], + "footprint_xy": [ + [ + 0.5278440941488398, + 15.085846626968983 + ], + [ + 0.6839820582457812, + 15.085846626968983 + ], + [ + 0.6839820582457812, + 15.202618410917612 + ], + [ + 0.5278440941488398, + 15.202618410917612 + ] + ], + "projected_box_corners": [ + [ + 0.5295608224772165, + 15.085846626968983 + ], + [ + 0.5290404312871736, + 15.09033168118683 + ], + [ + 0.5283644853388828, + 15.196457492472968 + ], + [ + 0.5278440941488398, + 15.200942546690815 + ], + [ + 0.6839820582457812, + 15.08752249119578 + ], + [ + 0.6834616670557383, + 15.092007545413628 + ], + [ + 0.6827857211074475, + 15.198133356699765 + ], + [ + 0.6822653299174045, + 15.202618410917612 + ] + ], + "yaw_rad": 0.010852124255308378, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.1843285709619522, + 15.11415958404541, + 0.08706670999526978 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5289024306704997, + 15.14356901602165, + 0.11884045800928776 + ], + "intended_face_normal": [ + -0.9999409966368504, + -0.010859815115310128, + -0.0002601286266380107 + ], + "commanded_contact_point": [ + 0.19897794967580584, + 15.124109255117922, + 0.07928293816697207 + ], + "centerline_face_intersection": [ + 0.5288933184752518, + 15.144407560054796, + 0.11886054392285096 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17927612364292145, + 15.114508628845215, + 0.08593389391899109 + ], + "box_pose": [ + 0.6103887557983398, + 15.146361351013184, + 0.13602107763290405, + -0.010083548724651337, + -0.00018481396546121687, + 0.00542839989066124, + 0.9999344348907471 + ], + "box_yaw_rad": 0.010860028953825313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005243957795273158 + } + } + }, + { + "simulation_time_ns": 2500000000, + "center": [ + 0.6056873603096118, + 15.14403515333163, + 0.11883476592406841 + ], + "face_center": [ + 0.5284771781637116, + 15.143197330818577, + 0.11853388569632399 + ], + "face_normal": [ + -0.9999335395366806, + -0.010850470853688478, + -0.0038966393128897683 + ], + "footprint_xy": [ + [ + 0.5273911937416158, + 15.085847902004042 + ], + [ + 0.6839835268776077, + 15.085847902004042 + ], + [ + 0.6839835268776077, + 15.202222404659219 + ], + [ + 0.5273911937416158, + 15.202222404659219 + ] + ], + "projected_box_corners": [ + [ + 0.5295631625858075, + 15.085847902004042 + ], + [ + 0.5285841297196021, + 15.089932593760151 + ], + [ + 0.5283702266078212, + 15.196462067877 + ], + [ + 0.5273911937416158, + 15.200546759633111 + ], + [ + 0.6839835268776077, + 15.087523547030152 + ], + [ + 0.6830044940114023, + 15.091608238786261 + ], + [ + 0.6827905908996214, + 15.19813771290311 + ], + [ + 0.681811558033416, + 15.202222404659219 + ] + ], + "yaw_rad": 0.010850766155639706, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.18943879008293152, + 15.114564895629883, + 0.08831202983856201 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5287024583130282, + 15.1433945868299, + 0.11869674874102568 + ], + "intended_face_normal": [ + -0.9999391826968284, + -0.010851890265699916, + -0.0019665635657538302 + ], + "commanded_contact_point": [ + 0.20337256312581944, + 15.125826761840386, + 0.0818446102724632 + ], + "centerline_face_intersection": [ + 0.5286930659730997, + 15.144232518943298, + 0.11884859756408216 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1843285709619522, + 15.11415958404541, + 0.08706670999526978 + ], + "box_pose": [ + 0.6101596355438232, + 15.146161079406738, + 0.13601918518543243, + -0.009354045614600182, + -0.0010340098524466157, + 0.005416592583060265, + 0.9999409914016724 + ], + "box_yaw_rad": 0.010852124255308378, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005368856553569061 + } + } + }, + { + "simulation_time_ns": 2520000000, + "center": [ + 0.6054334515015071, + 15.143823748070494, + 0.11882433133554987 + ], + "face_center": [ + 0.5282240954368987, + 15.142986721533564, + 0.11835590305607253 + ], + "face_normal": [ + -0.9999228411240226, + -0.010840162327005257, + -0.006066520431615455 + ], + "footprint_xy": [ + [ + 0.5268821932651213, + 15.085850749826525 + ], + [ + 0.6839847097378928, + 15.085850749826525 + ], + [ + 0.6839847097378928, + 15.201796746314464 + ], + [ + 0.5268821932651213, + 15.201796746314464 + ] + ], + "projected_box_corners": [ + [ + 0.5295659976086762, + 15.085850749826525 + ], + [ + 0.5280711260916605, + 15.089505314633703 + ], + [ + 0.528377064782137, + 15.196468128433425 + ], + [ + 0.5268821932651213, + 15.200122693240601 + ], + [ + 0.6839847097378928, + 15.087524802900386 + ], + [ + 0.6824898382208773, + 15.091179367707564 + ], + [ + 0.6827957769113536, + 15.198142181507286 + ], + [ + 0.6813009053943381, + 15.201796746314464 + ] + ], + "yaw_rad": 0.010840574131956224, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.19362773001194, + 15.116107940673828, + 0.08946855366230011 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5284771781637116, + 15.143197330818577, + 0.11853388569632399 + ], + "intended_face_normal": [ + -0.9999335395366806, + -0.010850470853688478, + -0.0038966393128897683 + ], + "commanded_contact_point": [ + 0.2076189884543419, + 15.127235796422895, + 0.08441738333456322 + ], + "centerline_face_intersection": [ + 0.5284669142915537, + 15.14403515333163, + 0.11883476592406841 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.18943879008293152, + 15.114564895629883, + 0.08831202983856201 + ], + "box_pose": [ + 0.6099010705947876, + 15.14593505859375, + 0.1360166370868683, + -0.008524683304131031, + -0.001994531136006117, + 0.005408518947660923, + 0.9999470710754395 + ], + "box_yaw_rad": 0.010850766155639706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005161072345403481 + } + } + }, + { + "simulation_time_ns": 2540000000, + "center": [ + 0.6051982958994988, + 15.143642455083976, + 0.11881949484070173 + ], + "face_center": [ + 0.5279900327997934, + 15.14280614982344, + 0.11819547149520569 + ], + "face_normal": [ + -0.9999086863553951, + -0.010830821221499688, + -0.008081600836483783 + ], + "footprint_xy": [ + [ + 0.5264099632637763, + 15.085854516976218 + ], + [ + 0.6839866285352214, + 15.085854516976218 + ], + [ + 0.6839866285352214, + 15.201430393191732 + ], + [ + 0.5264099632637763, + 15.201430393191732 + ] + ], + "projected_box_corners": [ + [ + 0.5295701023358105, + 15.085854516976218 + ], + [ + 0.5275958593533793, + 15.089137917201704 + ], + [ + 0.5283842062462075, + 15.196474382445173 + ], + [ + 0.5264099632637763, + 15.199757782670659 + ], + [ + 0.6839866285352214, + 15.08752712749729 + ], + [ + 0.6820123855527902, + 15.090810527722779 + ], + [ + 0.6828007324456183, + 15.198146992966246 + ], + [ + 0.6808264894631871, + 15.201430393191732 + ] + ], + "yaw_rad": 0.010831386718102302, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.19824084639549255, + 15.119279861450195, + 0.09136417508125305 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5282240954368987, + 15.142986721533564, + 0.11835590305607253 + ], + "intended_face_normal": [ + -0.9999228411240226, + -0.010840162327005257, + -0.006066520431615455 + ], + "commanded_contact_point": [ + 0.211745958184686, + 15.128320643238006, + 0.08699093629243233 + ], + "centerline_face_intersection": [ + 0.5282121792835032, + 15.143823748070494, + 0.11882433133554987 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.19362773001194, + 15.116107940673828, + 0.08946855366230011 + ], + "box_pose": [ + 0.6096101999282837, + 15.145692825317383, + 0.13601860404014587, + -0.007633923552930355, + -0.0030746085103601217, + 0.0053968713618814945, + 0.9999515414237976 + ], + "box_yaw_rad": 0.010840574131956224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004983166322168044 + } + } + }, + { + "simulation_time_ns": 2560000000, + "center": [ + 0.6049944910183738, + 15.14348337017833, + 0.11881484527540091 + ], + "face_center": [ + 0.5277874399751802, + 15.142646683666579, + 0.11805594649792503 + ], + "face_normal": [ + -0.9998929892552945, + -0.010835758729291201, + -0.009828345428295398 + ], + "footprint_xy": [ + [ + 0.5259998950390158, + 15.085855338754984 + ], + [ + 0.6839890869977319, + 15.085855338754984 + ], + [ + 0.6839890869977319, + 15.201111401601676 + ], + [ + 0.5259998950390158, + 15.201111401601676 + ] + ], + "projected_box_corners": [ + [ + 0.5295749849113445, + 15.085855338754984 + ], + [ + 0.5271851562144111, + 15.088816233031013 + ], + [ + 0.5283897237359493, + 15.196477134302144 + ], + [ + 0.5259998950390158, + 15.199438028578173 + ], + [ + 0.6839890869977319, + 15.087528711778486 + ], + [ + 0.6815992583007984, + 15.090489606054515 + ], + [ + 0.6828038258223366, + 15.198150507325646 + ], + [ + 0.6804139971254032, + 15.201111401601676 + ] + ], + "yaw_rad": 0.010836494200990305, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.20434460043907166, + 15.123900413513184, + 0.09537091851234436 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5279900327997934, + 15.14280614982344, + 0.11819547149520569 + ], + "intended_face_normal": [ + -0.9999086863553951, + -0.010830821221499688, + -0.008081600836483783 + ], + "commanded_contact_point": [ + 0.21591230205848816, + 15.129148085410101, + 0.08955400339234955 + ], + "centerline_face_intersection": [ + 0.5279759305324341, + 15.143642455083976, + 0.11881949484070173 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.19824084639549255, + 15.119279861450195, + 0.09136417508125305 + ], + "box_pose": [ + 0.6093406677246094, + 15.145484924316406, + 0.13602495193481445, + -0.006865656469017267, + -0.004077979363501072, + 0.005387662444263697, + 0.9999536275863647 + ], + "box_yaw_rad": 0.010831386718102302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004961088064286802 + } + } + }, + { + "simulation_time_ns": 2580000000, + "center": [ + 0.6048169724837482, + 15.14334423878166, + 0.11881019730405021 + ], + "face_center": [ + 0.52761115904461, + 15.14250805291727, + 0.1179339170138207 + ], + "face_normal": [ + -0.9998769612940943, + -0.01082927494602178, + -0.011348529790794443 + ], + "footprint_xy": [ + [ + 0.5256434486050933, + 15.085856341395111 + ], + [ + 0.6839904963624033, + 15.085856341395111 + ], + [ + 0.6839904963624033, + 15.20083213616821 + ], + [ + 0.5256434486050933, + 15.20083213616821 + ] + ], + "projected_box_corners": [ + [ + 0.5295788694841268, + 15.085856341395111 + ], + [ + 0.5268273834482597, + 15.088536438379812 + ], + [ + 0.5283949346409603, + 15.196479667454728 + ], + [ + 0.5256434486050933, + 15.199159764439429 + ], + [ + 0.6839904963624033, + 15.087528713123891 + ], + [ + 0.6812390103265362, + 15.090208810108592 + ], + [ + 0.6828065615192368, + 15.19815203918351 + ], + [ + 0.6800550754833696, + 15.20083213616821 + ] + ], + "yaw_rad": 0.010830184075569764, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.21014772355556488, + 15.127276420593262, + 0.10008923709392548 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5277874399751802, + 15.142646683666579, + 0.11805594649792503 + ], + "intended_face_normal": [ + -0.9998929892552945, + -0.010835758729291201, + -0.009828345428295398 + ], + "commanded_contact_point": [ + 0.22004174095271622, + 15.129839838180516, + 0.09209101892127494 + ], + "centerline_face_intersection": [ + 0.5277709133543811, + 15.14348337017833, + 0.11881484527540091 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.20434460043907166, + 15.123900413513184, + 0.09537091851234436 + ], + "box_pose": [ + 0.6091070175170898, + 15.145302772521973, + 0.136029914021492, + -0.006198131013661623, + -0.004947792273014784, + 0.005387459881603718, + 0.9999540448188782 + ], + "box_yaw_rad": 0.010836494200990305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0048956343072730085 + } + } + }, + { + "simulation_time_ns": 2600000000, + "center": [ + 0.6046626621976783, + 15.143222590632938, + 0.11880560088626735 + ], + "face_center": [ + 0.5274580603982004, + 15.142387493745677, + 0.11782745130341564 + ], + "face_normal": [ + -0.9998612695925521, + -0.010815171822246332, + -0.012667818510374643 + ], + "footprint_xy": [ + [ + 0.5253343139905142, + 15.085857565078726 + ], + [ + 0.6839910104048423, + 15.085857565078726 + ], + [ + 0.6839910104048423, + 15.200587616187152 + ], + [ + 0.5253343139905142, + 15.200587616187152 + ] + ], + "projected_box_corners": [ + [ + 0.5295818068058866, + 15.085857565078726 + ], + [ + 0.5265164821708259, + 15.08829287571035 + ], + [ + 0.5283996386255749, + 15.196482111781005 + ], + [ + 0.5253343139905142, + 15.198917422412629 + ], + [ + 0.6839910104048423, + 15.087527758853247 + ], + [ + 0.6809256857697816, + 15.08996306948487 + ], + [ + 0.6828088422245306, + 15.198152305555528 + ], + [ + 0.6797435175894699, + 15.200587616187152 + ] + ], + "yaw_rad": 0.010816250601555397, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2147122025489807, + 15.127412796020508, + 0.10424168407917023 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.52761115904461, + 15.14250805291727, + 0.1179339170138207 + ], + "intended_face_normal": [ + -0.9998769612940943, + -0.01082927494602178, + -0.011348529790794443 + ], + "commanded_contact_point": [ + 0.22411126946151258, + 15.130437390216844, + 0.09458900942658716 + ], + "centerline_face_intersection": [ + 0.5275921569309407, + 15.14334423878166, + 0.11881019730405021 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21014772355556488, + 15.127276420593262, + 0.10008923709392548 + ], + "box_pose": [ + 0.6089035272598267, + 15.145143508911133, + 0.1360335648059845, + -0.00561691215261817, + -0.0057047647424042225, + 0.0053828442469239235, + 0.99995356798172 + ], + "box_yaw_rad": 0.010830184075569764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004812285037760827 + } + } + }, + { + "simulation_time_ns": 2620000000, + "center": [ + 0.6045270277368109, + 15.143117124858964, + 0.1188005804182749 + ], + "face_center": [ + 0.5273236060482872, + 15.142282530380061, + 0.11773295008392476 + ], + "face_normal": [ + -0.9998459862129425, + -0.01080866523266458, + -0.013826665725592508 + ], + "footprint_xy": [ + [ + 0.5250623485378503, + 15.085861192131576 + ], + [ + 0.6839917069357715, + 15.085861192131576 + ], + [ + 0.6839917069357715, + 15.200373057586352 + ], + [ + 0.5250623485378503, + 15.200373057586352 + ] + ], + "projected_box_corners": [ + [ + 0.5295848635587241, + 15.085861192131576 + ], + [ + 0.5262438787701211, + 15.088078338401186 + ], + [ + 0.5284033333264533, + 15.196486722358935 + ], + [ + 0.5250623485378503, + 15.198703868628545 + ], + [ + 0.6839917069357715, + 15.087530381089383 + ], + [ + 0.6806507221471684, + 15.089747527358993 + ], + [ + 0.6828101767035006, + 15.198155911316745 + ], + [ + 0.6794691919148975, + 15.200373057586352 + ] + ], + "yaw_rad": 0.010809909092014515, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2179347276687622, + 15.12479019165039, + 0.10781808197498322 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5274580603982004, + 15.142387493745677, + 0.11782745130341564 + ], + "intended_face_normal": [ + -0.9998612695925521, + -0.010815171822246332, + -0.012667818510374643 + ], + "commanded_contact_point": [ + 0.2281372587749502, + 15.130997016874018, + 0.09703509546845972 + ], + "centerline_face_intersection": [ + 0.5274366346879783, + 15.143222590632938, + 0.11880560088626735 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2147122025489807, + 15.127412796020508, + 0.10424168407917023 + ], + "box_pose": [ + 0.6087266802787781, + 15.145004272460938, + 0.13603612780570984, + -0.005110192112624645, + -0.006361681967973709, + 0.00537533313035965, + 0.9999522566795349 + ], + "box_yaw_rad": 0.010816250601555397, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004743954982035197 + } + } + }, + { + "simulation_time_ns": 2640000000, + "center": [ + 0.6044067362339115, + 15.14302217624483, + 0.11879614837696026 + ], + "face_center": [ + 0.5272044452809569, + 15.142187833888142, + 0.11764948077777596 + ], + "face_normal": [ + -0.9998313422840148, + -0.010805400048539839, + -0.01485026144554018 + ], + "footprint_xy": [ + [ + 0.5248214869493139, + 15.08586214301238 + ], + [ + 0.683991985518509, + 15.08586214301238 + ], + [ + 0.683991985518509, + 15.20018220947728 + ], + [ + 0.5248214869493139, + 15.20018220947728 + ] + ], + "projected_box_corners": [ + [ + 0.5295874036125998, + 15.08586214301238 + ], + [ + 0.5260029157976158, + 15.087887207310459 + ], + [ + 0.5284059747642978, + 15.196488460465828 + ], + [ + 0.5248214869493139, + 15.198513524763907 + ], + [ + 0.683991985518509, + 15.087530827725752 + ], + [ + 0.680407497703525, + 15.089555892023832 + ], + [ + 0.6828105566702071, + 15.1981571451792 + ], + [ + 0.6792260688552231, + 15.20018220947728 + ] + ], + "yaw_rad": 0.010806802052503433, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.21991077065467834, + 15.121135711669922, + 0.10896176099777222 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5273236060482872, + 15.142282530380061, + 0.11773295008392476 + ], + "intended_face_normal": [ + -0.9998459862129425, + -0.01080866523266458, + -0.013826665725592508 + ], + "commanded_contact_point": [ + 0.2320336017558724, + 15.131611438702153, + 0.09941601919454715 + ], + "centerline_face_intersection": [ + 0.5272998197706101, + 15.143117124858964, + 0.1188005804182749 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2179347276687622, + 15.12479019165039, + 0.10781808197498322 + ], + "box_pose": [ + 0.6085712313652039, + 15.144883155822754, + 0.13603737950325012, + -0.004658552818000317, + -0.006938701495528221, + 0.005372272804379463, + 0.9999507665634155 + ], + "box_yaw_rad": 0.010809909092014515, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046073637361638085 + } + } + }, + { + "simulation_time_ns": 2660000000, + "center": [ + 0.6043042702184256, + 15.14293971294083, + 0.11879340363114443 + ], + "face_center": [ + 0.5271030009948677, + 15.142105948739948, + 0.11757949666446904 + ], + "face_normal": [ + -0.9998181100721005, + -0.010797912469005733, + -0.015721064969931572 + ], + "footprint_xy": [ + [ + 0.5246167066669243, + 15.08586314662067 + ], + [ + 0.683991833769927, + 15.08586314662067 + ], + [ + 0.683991833769927, + 15.20001627926099 + ], + [ + 0.5246167066669243, + 15.20001627926099 + ] + ], + "projected_box_corners": [ + [ + 0.5295892953228112, + 15.08586314662067 + ], + [ + 0.5257976913297565, + 15.087721803181621 + ], + [ + 0.528408310659979, + 15.196490094298273 + ], + [ + 0.5246167066669243, + 15.198348750859225 + ], + [ + 0.683991833769927, + 15.087530675022435 + ], + [ + 0.6802002297768723, + 15.089389331583387 + ], + [ + 0.6828108491070948, + 15.198157622700037 + ], + [ + 0.67901924511404, + 15.20001627926099 + ] + ], + "yaw_rad": 0.010799456997574305, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2214372456073761, + 15.11638355255127, + 0.10424785315990448 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5272044452809569, + 15.142187833888142, + 0.11764948077777596 + ], + "intended_face_normal": [ + -0.9998313422840148, + -0.010805400048539839, + -0.01485026144554018 + ], + "commanded_contact_point": [ + 0.23556934198548088, + 15.132243937787372, + 0.10171965553164095 + ], + "centerline_face_intersection": [ + 0.5271783971671972, + 15.14302217624483, + 0.11879614837696026 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21991077065467834, + 15.121135711669922, + 0.10896176099777222 + ], + "box_pose": [ + 0.6084334254264832, + 15.144774436950684, + 0.13603845238685608, + -0.004260929301381111, + -0.007448399439454079, + 0.005371238570660353, + 0.9999486804008484 + ], + "box_yaw_rad": 0.010806802052503433, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00426711312688725 + } + } + }, + { + "simulation_time_ns": 2680000000, + "center": [ + 0.6043021311186618, + 15.142937270970922, + 0.11879312553102403 + ], + "face_center": [ + 0.52710087719267, + 15.142103748512563, + 0.11757808029851498 + ], + "face_normal": [ + -0.9998179119564004, + -0.010794781710209048, + -0.01573580642180194 + ], + "footprint_xy": [ + [ + 0.5246130067566879, + 15.085863766161042 + ], + [ + 0.6839912554806358, + 15.085863766161042 + ], + [ + 0.6839912554806358, + 15.200010775780802 + ], + [ + 0.5246130067566879, + 15.200010775780802 + ] + ], + "projected_box_corners": [ + [ + 0.5295887476286519, + 15.085863766161042 + ], + [ + 0.5257936735041062, + 15.087716759240255 + ], + [ + 0.5284080808812336, + 15.19649073778487 + ], + [ + 0.5246130067566879, + 15.198343730864083 + ], + [ + 0.6839912554806358, + 15.08753081107776 + ], + [ + 0.6801961813560901, + 15.089383804156974 + ], + [ + 0.6828105887332174, + 15.198157782701589 + ], + [ + 0.6790155146086717, + 15.200010775780802 + ] + ], + "yaw_rad": 0.010796328173446884, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.22498413920402527, + 15.11439037322998, + 0.10341224074363708 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271030009948677, + 15.142105948739948, + 0.11757949666446904 + ], + "intended_face_normal": [ + -0.9998181100721005, + -0.010797912469005733, + -0.015721064969931572 + ], + "commanded_contact_point": [ + 0.2391370975863934, + 15.133016349325494, + 0.10393403182640061 + ], + "centerline_face_intersection": [ + 0.5270749090640555, + 15.14293971294083, + 0.11879340363114443 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2214372456073761, + 15.11638355255127, + 0.10424785315990448 + ], + "box_pose": [ + 0.6083160638809204, + 15.14468002319336, + 0.13604038953781128, + -0.00391639256849885, + -0.00788197573274374, + 0.005368372425436974, + 0.9999468922615051 + ], + "box_yaw_rad": 0.010799456997574305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004269538849438024 + } + } + }, + { + "simulation_time_ns": 2700000000, + "center": [ + 0.6043033871479855, + 15.142936458987766, + 0.11879255577515284 + ], + "face_center": [ + 0.5271021167163177, + 15.142103402740553, + 0.11757823966966365 + ], + "face_normal": [ + -0.9998181257180883, + -0.010788743903426655, + -0.015726363644418304 + ], + "footprint_xy": [ + [ + 0.5246157172273689, + 15.085864222462813 + ], + [ + 0.6839910570686021, + 15.085864222462813 + ], + [ + 0.6839910570686021, + 15.20000869551272 + ], + [ + 0.5246157172273689, + 15.20000869551272 + ] + ], + "projected_box_corners": [ + [ + 0.5295885162052665, + 15.085864222462813 + ], + [ + 0.525795736117411, + 15.087715598425302 + ], + [ + 0.5284084973152243, + 15.196491207055804 + ], + [ + 0.5246157172273689, + 15.198342583018293 + ], + [ + 0.6839910570686021, + 15.08753033495724 + ], + [ + 0.6801982769807466, + 15.089381710919728 + ], + [ + 0.6828110381785598, + 15.19815731955023 + ], + [ + 0.6790182580907044, + 15.20000869551272 + ] + ], + "yaw_rad": 0.010790287663738974, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.22841475903987885, + 15.11870002746582, + 0.10544165968894958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.52710087719267, + 15.142103748512563, + 0.11757808029851498 + ], + "intended_face_normal": [ + -0.9998179119564004, + -0.010794781710209048, + -0.01573580642180194 + ], + "commanded_contact_point": [ + 0.24332774860822598, + 15.134105095088685, + 0.10604704937927427 + ], + "centerline_face_intersection": [ + 0.5270727546611562, + 15.142937270970922, + 0.11879312553102403 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.22498413920402527, + 15.11439037322998, + 0.10341224074363708 + ], + "box_pose": [ + 0.6083136796951294, + 15.14467716217041, + 0.13604021072387695, + -0.00390461552888155, + -0.0078892782330513, + 0.005366871599107981, + 0.9999468326568604 + ], + "box_yaw_rad": 0.010796328173446884, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004817859120232233 + } + } + }, + { + "simulation_time_ns": 2720000000, + "center": [ + 0.6043064563997521, + 15.142939014001447, + 0.11879154333498579 + ], + "face_center": [ + 0.5271051550566881, + 15.142105875361631, + 0.11757925078095606 + ], + "face_normal": [ + -0.9998185260453633, + -0.010789810953463442, + -0.01570015703646769 + ], + "footprint_xy": [ + [ + 0.5246218204979296, + 15.085864598910069 + ], + [ + 0.6839910923015746, + 15.085864598910069 + ], + [ + 0.6839910923015746, + 15.200013429092825 + ], + [ + 0.5246218204979296, + 15.200013429092825 + ] + ], + "projected_box_corners": [ + [ + 0.5295884896154467, + 15.085864598910069 + ], + [ + 0.525801949654202, + 15.087720183492772 + ], + [ + 0.5284083604591743, + 15.196491567230488 + ], + [ + 0.5246218204979296, + 15.198347151813191 + ], + [ + 0.6839910923015746, + 15.087530876189701 + ], + [ + 0.68020455234033, + 15.089386460772406 + ], + [ + 0.6828109631453022, + 15.19815784451012 + ], + [ + 0.6790244231840575, + 15.200013429092825 + ] + ], + "yaw_rad": 0.010791350463090661, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.23150314390659332, + 15.124407768249512, + 0.10859958827495575 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271021167163177, + 15.142103402740553, + 0.11757823966966365 + ], + "intended_face_normal": [ + -0.9998181257180883, + -0.010788743903426655, + -0.015726363644418304 + ], + "commanded_contact_point": [ + 0.24773574257967998, + 15.135322898367882, + 0.10804372138000698 + ], + "centerline_face_intersection": [ + 0.5270740272021648, + 15.142936458987766, + 0.11879255577515284 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.22841475903987885, + 15.11870002746582, + 0.10544165968894958 + ], + "box_pose": [ + 0.608315110206604, + 15.144676208496094, + 0.1360396146774292, + -0.003901195479556918, + -0.007884525693953037, + 0.005363897420465946, + 0.9999469518661499 + ], + "box_yaw_rad": 0.010790287663738974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004990005486741128 + } + } + }, + { + "simulation_time_ns": 2740000000, + "center": [ + 0.6043126049397383, + 15.142943188094996, + 0.11879052766124565 + ], + "face_center": [ + 0.5271112411096018, + 15.142110050567341, + 0.11758222022874443 + ], + "face_normal": [ + -0.9998193353028709, + -0.01078979655007022, + -0.015648546529087412 + ], + "footprint_xy": [ + [ + 0.5246340613958969, + 15.085864639901434 + ], + [ + 0.6839911484835797, + 15.085864639901434 + ], + [ + 0.6839911484835797, + 15.200021736288557 + ], + [ + 0.5246340613958969, + 15.200021736288557 + ] + ], + "projected_box_corners": [ + [ + 0.5295884208233068, + 15.085864639901434 + ], + [ + 0.5258141738827732, + 15.087728522565987 + ], + [ + 0.5284083083364304, + 15.196491578568697 + ], + [ + 0.5246340613958969, + 15.198355461233248 + ], + [ + 0.6839911484835797, + 15.087530914956742 + ], + [ + 0.6802169015430461, + 15.089394797621296 + ], + [ + 0.6828110359967033, + 15.198157853624005 + ], + [ + 0.6790367890561697, + 15.200021736288557 + ] + ], + "yaw_rad": 0.010791327324891025, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.23530136048793793, + 15.128092765808105, + 0.1112595796585083 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271051550566881, + 15.142105875361631, + 0.11757925078095606 + ], + "intended_face_normal": [ + -0.9998185260453633, + -0.010789810953463442, + -0.01570015703646769 + ], + "commanded_contact_point": [ + 0.25168287363094516, + 15.13659566784846, + 0.10991098850014917 + ], + "centerline_face_intersection": [ + 0.5270771273765623, + 15.142939014001447, + 0.11879154333498579 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.23150314390659332, + 15.124407768249512, + 0.10859958827495575 + ], + "box_pose": [ + 0.6083186268806458, + 15.144679069519043, + 0.13603846728801727, + -0.003909901715815067, + -0.007871470414102077, + 0.005364413373172283, + 0.9999469518661499 + ], + "box_yaw_rad": 0.010791350463090661, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0045482383605654556 + } + } + }, + { + "simulation_time_ns": 2760000000, + "center": [ + 0.6043206462543074, + 15.142949056696443, + 0.118789994762719 + ], + "face_center": [ + 0.5271192020895233, + 15.142115947923438, + 0.11758681110439449 + ], + "face_normal": [ + -0.9998203757007338, + -0.010789424154399752, + -0.015582189560279312 + ], + "footprint_xy": [ + [ + 0.5246499543730317, + 15.085864911733914 + ], + [ + 0.6839913381355829, + 15.085864911733914 + ], + [ + 0.6839913381355829, + 15.200033201658972 + ], + [ + 0.5246499543730317, + 15.200033201658972 + ] + ], + "projected_box_corners": [ + [ + 0.5295884498060148, + 15.085864911733914 + ], + [ + 0.5258300023610154, + 15.08774008558553 + ], + [ + 0.5284084018180312, + 15.196491810261346 + ], + [ + 0.5246499543730317, + 15.19836698411296 + ], + [ + 0.6839913381355829, + 15.087531129279926 + ], + [ + 0.6802328906905835, + 15.089406303131542 + ], + [ + 0.6828112901475992, + 15.198158027807358 + ], + [ + 0.6790528427025998, + 15.200033201658972 + ] + ], + "yaw_rad": 0.010790943677269075, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.24018898606300354, + 15.131579399108887, + 0.11450700461864471 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271112411096018, + 15.142110050567341, + 0.11758222022874443 + ], + "intended_face_normal": [ + -0.9998193353028709, + -0.01078979655007022, + -0.015648546529087412 + ], + "commanded_contact_point": [ + 0.25539379942893986, + 15.137839295934972, + 0.11163631324939234 + ], + "centerline_face_intersection": [ + 0.5270833384262561, + 15.142943188094996, + 0.11879052766124565 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.23530136048793793, + 15.128092765808105, + 0.1112595796585083 + ], + "box_pose": [ + 0.6083256602287292, + 15.144683837890625, + 0.1360371857881546, + -0.003927059005945921, + -0.007845754735171795, + 0.0053643714636564255, + 0.9999470710754395 + ], + "box_yaw_rad": 0.010791327324891025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0042771867607264355 + } + } + }, + { + "simulation_time_ns": 2780000000, + "center": [ + 0.6043294620208148, + 15.142957388215073, + 0.11879018468543295 + ], + "face_center": [ + 0.5271279264864588, + 15.142124164446972, + 0.11759295793002253 + ], + "face_normal": [ + -0.9998215590096826, + -0.010790913432760514, + -0.015505042908762662 + ], + "footprint_xy": [ + [ + 0.5246677856386035, + 15.085864790336341 + ], + [ + 0.683991138403026, + 15.085864790336341 + ], + [ + 0.683991138403026, + 15.200049986093807 + ], + [ + 0.5246677856386035, + 15.200049986093807 + ] + ], + "projected_box_corners": [ + [ + 0.5295880673343141, + 15.085864790336341 + ], + [ + 0.5258479461705002, + 15.087756702420942 + ], + [ + 0.5284079068024174, + 15.196491626473003 + ], + [ + 0.5246677856386035, + 15.198383538557604 + ], + [ + 0.683991138403026, + 15.087531237872545 + ], + [ + 0.6802510172392121, + 15.089423149957145 + ], + [ + 0.6828109778711293, + 15.198158074009207 + ], + [ + 0.6790708567073155, + 15.200049986093807 + ] + ], + "yaw_rad": 0.010792420277651866, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.24612390995025635, + 15.135937690734863, + 0.11867128312587738 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271192020895233, + 15.142115947923438, + 0.11758681110439449 + ], + "intended_face_normal": [ + -0.9998203757007338, + -0.010789424154399752, + -0.015582189560279312 + ], + "commanded_contact_point": [ + 0.2589882564562769, + 15.139001909763856, + 0.11320725741538436 + ], + "centerline_face_intersection": [ + 0.5270914601044243, + 15.142949056696443, + 0.118789994762719 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.24018898606300354, + 15.131579399108887, + 0.11450700461864471 + ], + "box_pose": [ + 0.6083348393440247, + 15.14469051361084, + 0.13603630661964417, + -0.003950413782149553, + -0.007812697440385818, + 0.005364131648093462, + 0.9999472498893738 + ], + "box_yaw_rad": 0.010790943677269075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00409141269113105 + } + } + }, + { + "simulation_time_ns": 2800000000, + "center": [ + 0.6043407487937027, + 15.142966533823484, + 0.11879034769092156 + ], + "face_center": [ + 0.5271391051783252, + 15.142133020951235, + 0.11760031337867881 + ], + "face_normal": [ + -0.9998229587452545, + -0.010794657562434, + -0.015411895023928143 + ], + "footprint_xy": [ + [ + 0.5246898526527312, + 15.085864406804033 + ], + [ + 0.6839916449346741, + 15.085864406804033 + ], + [ + 0.6839916449346741, + 15.200068660842936 + ], + [ + 0.5246898526527312, + 15.200068660842936 + ] + ], + "projected_box_corners": [ + [ + 0.5295883577039191, + 15.085864406804033 + ], + [ + 0.5258703777473441, + 15.08777487124773 + ], + [ + 0.528407832609306, + 15.19649117065474 + ], + [ + 0.5246898526527312, + 15.198401635098437 + ], + [ + 0.6839916449346741, + 15.087531432548532 + ], + [ + 0.6802736649780993, + 15.08944189699223 + ], + [ + 0.6828111198400612, + 15.19815819639924 + ], + [ + 0.6790931398834863, + 15.200068660842936 + ] + ], + "yaw_rad": 0.010796149525958929, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2525789141654968, + 15.14078426361084, + 0.12246416509151459 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271279264864588, + 15.142124164446972, + 0.11759295793002253 + ], + "intended_face_normal": [ + -0.9998215590096826, + -0.010790913432760514, + -0.015505042908762662 + ], + "commanded_contact_point": [ + 0.2623375786477793, + 15.140051698553066, + 0.11461118191630071 + ], + "centerline_face_intersection": [ + 0.5271003672732287, + 15.142957388215073, + 0.11879018468543295 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.24612390995025635, + 15.135937690734863, + 0.11867128312587738 + ], + "box_pose": [ + 0.6083449721336365, + 15.144700050354004, + 0.13603606820106506, + -0.003985099960118532, + -0.007774308789521456, + 0.005364757031202316, + 0.9999474883079529 + ], + "box_yaw_rad": 0.010792420277651866, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003780346498499153 + } + } + }, + { + "simulation_time_ns": 2820000000, + "center": [ + 0.6043570634837558, + 15.142980722859217, + 0.11879093312951279 + ], + "face_center": [ + 0.527155251344044, + 15.142147456785048, + 0.11761170785534131 + ], + "face_normal": [ + -0.9998251412700132, + -0.010791461330143134, + -0.015271909345910217 + ], + "footprint_xy": [ + [ + 0.5247228562485133, + 15.085864672017925 + ], + [ + 0.6839912707189983, + 15.085864672017925 + ], + [ + 0.6839912707189983, + 15.20009677370051 + ], + [ + 0.5247228562485133, + 15.20009677370051 + ] + ], + "projected_box_corners": [ + [ + 0.5295876464395746, + 15.085864672017925 + ], + [ + 0.5259029522078277, + 15.087803579134352 + ], + [ + 0.5284075504802602, + 15.196491334435743 + ], + [ + 0.5247228562485133, + 15.19843024155217 + ], + [ + 0.6839912707189983, + 15.087531204166266 + ], + [ + 0.6803065764872515, + 15.089470111282694 + ], + [ + 0.682811174759684, + 15.198157866584083 + ], + [ + 0.6791264805279371, + 15.20009677370051 + ] + ], + "yaw_rad": 0.010792929542009383, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2585963308811188, + 15.14504623413086, + 0.12545771896839142 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271391051783252, + 15.142133020951235, + 0.11760031337867881 + ], + "intended_face_normal": [ + -0.9998229587452545, + -0.010794657562434, + -0.015411895023928143 + ], + "commanded_contact_point": [ + 0.26540767939295623, + 15.140959533534092, + 0.1158345127907336 + ], + "centerline_face_intersection": [ + 0.5271117621655693, + 15.142966533823484, + 0.11879034769092156 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2525789141654968, + 15.14078426361084, + 0.12246416509151459 + ], + "box_pose": [ + 0.608357846736908, + 15.144710540771484, + 0.1360357254743576, + -0.004023533780127764, + -0.007727944757789373, + 0.005366516299545765, + 0.9999476075172424 + ], + "box_yaw_rad": 0.010796149525958929, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034272760855600473 + } + } + }, + { + "simulation_time_ns": 2840000000, + "center": [ + 0.604376121309175, + 15.142998236288083, + 0.11879220333469548 + ], + "face_center": [ + 0.5271741175121403, + 15.142165238897624, + 0.11762540108775171 + ], + "face_normal": [ + -0.9998276233854523, + -0.010787981661449664, + -0.01511102121895173 + ], + "footprint_xy": [ + [ + 0.524761079139762, + 15.085864865571002 + ], + [ + 0.6839911634785879, + 15.085864865571002 + ], + [ + 0.6839911634785879, + 15.200131607005163 + ], + [ + 0.524761079139762, + 15.200131607005163 + ] + ], + "projected_box_corners": [ + [ + 0.5295871558845185, + 15.085864865571002 + ], + [ + 0.525940689472944, + 15.087839078461212 + ], + [ + 0.5284075455513365, + 15.196491399334036 + ], + [ + 0.524761079139762, + 15.198465612224245 + ], + [ + 0.6839911634785879, + 15.087530860351922 + ], + [ + 0.6803446970670134, + 15.089505073242131 + ], + [ + 0.6828115531454059, + 15.198157394114954 + ], + [ + 0.6791650867338314, + 15.200131607005163 + ] + ], + "yaw_rad": 0.010789422886822763, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2635152041912079, + 15.147966384887695, + 0.12712788581848145 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.527155251344044, + 15.142147456785048, + 0.11761170785534131 + ], + "intended_face_normal": [ + -0.9998251412700132, + -0.010791461330143134, + -0.015271909345910217 + ], + "commanded_contact_point": [ + 0.2682808334155381, + 15.141711237075945, + 0.11686478733567243 + ], + "centerline_face_intersection": [ + 0.5271282454392762, + 15.142980722859217, + 0.11879093312951279 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2585963308811188, + 15.14504623413086, + 0.12545771896839142 + ], + "box_pose": [ + 0.6083765625953674, + 15.144726753234863, + 0.13603554666042328, + -0.004082429222762585, + -0.007658254820853472, + 0.005364745855331421, + 0.9999479055404663 + ], + "box_yaw_rad": 0.010792929542009383, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003143491353616583 + } + } + }, + { + "simulation_time_ns": 2860000000, + "center": [ + 0.6044004352786632, + 15.143017368668565, + 0.11879293795330018 + ], + "face_center": [ + 0.5271981980873086, + 15.142184259492112, + 0.11764176282905554 + ], + "face_normal": [ + -0.9998306460283456, + -0.010789429379362973, + -0.014908637495989186 + ], + "footprint_xy": [ + [ + 0.5248091872218875, + 15.085864442706967 + ], + [ + 0.6839916833354387, + 15.085864442706967 + ], + [ + 0.6839916833354387, + 15.200170294630162 + ], + [ + 0.5248091872218875, + 15.200170294630162 + ] + ], + "projected_box_corners": [ + [ + 0.5295872089527296, + 15.085864442706967 + ], + [ + 0.5259888755569133, + 15.087877693882902 + ], + [ + 0.5284075206177038, + 15.196490825101321 + ], + [ + 0.5248091872218875, + 15.198504076277256 + ], + [ + 0.6839916833354387, + 15.087530661059873 + ], + [ + 0.6803933499396224, + 15.089543912235808 + ], + [ + 0.6828119950004129, + 15.198157043454227 + ], + [ + 0.6792136616045966, + 15.200170294630162 + ] + ], + "yaw_rad": 0.01079083806581448, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.26735541224479675, + 15.14802074432373, + 0.1281784027814865 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271741175121403, + 15.142165238897624, + 0.11762540108775171 + ], + "intended_face_normal": [ + -0.9998276233854523, + -0.010787981661449664, + -0.01511102121895173 + ], + "commanded_contact_point": [ + 0.27095401211800757, + 15.142299769061786, + 0.11768937851609353 + ], + "centerline_face_intersection": [ + 0.5271474949885857, + 15.142998236288083, + 0.11879220333469548 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2635152041912079, + 15.147966384887695, + 0.12712788581848145 + ], + "box_pose": [ + 0.6083983778953552, + 15.144746780395508, + 0.13603591918945312, + -0.0041555725038051605, + -0.0075781880877912045, + 0.0053627765737473965, + 0.999948263168335 + ], + "box_yaw_rad": 0.010789422886822763, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002858706855996652 + } + } + }, + { + "simulation_time_ns": 2880000000, + "center": [ + 0.6044271794329409, + 15.143037100331311, + 0.11879357212154305 + ], + "face_center": [ + 0.5272246899981243, + 15.142203175271444, + 0.11766003950789508 + ], + "face_normal": [ + -0.9998339127826872, + -0.010799995721346187, + -0.01468015288972434 + ], + "footprint_xy": [ + [ + 0.5248622988133798, + 15.085861728914704 + ], + [ + 0.683992060052502, + 15.085861728914704 + ], + [ + 0.683992060052502, + 15.200212471747916 + ], + [ + 0.5248622988133798, + 15.200212471747916 + ] + ], + "projected_box_corners": [ + [ + 0.529587081182869, + 15.085861728914704 + ], + [ + 0.5260430762236765, + 15.087918421820213 + ], + [ + 0.5284063037725721, + 15.196487928722677 + ], + [ + 0.5248622988133798, + 15.198544621628184 + ], + [ + 0.683992060052502, + 15.087529579034436 + ], + [ + 0.6804480550933096, + 15.089586271939943 + ], + [ + 0.6828112826422051, + 15.198155778842409 + ], + [ + 0.6792672776830128, + 15.200212471747916 + ] + ], + "yaw_rad": 0.010801369677165716, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2687978744506836, + 15.145322799682617, + 0.12720462679862976 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271981980873086, + 15.142184259492112, + 0.11764176282905554 + ], + "intended_face_normal": [ + -0.9998306460283456, + -0.010789429379362973, + -0.014908637495989186 + ], + "commanded_contact_point": [ + 0.2733789590241202, + 15.142716329966863, + 0.11829418896948193 + ], + "centerline_face_intersection": [ + 0.5271720424321722, + 15.143017368668565, + 0.11879293795330018 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26735541224479675, + 15.14802074432373, + 0.1281784027814865 + ], + "box_pose": [ + 0.6084261536598206, + 15.144768714904785, + 0.13603556156158447, + -0.0042364033870399, + -0.007477423641830683, + 0.005363312549889088, + 0.9999486804008484 + ], + "box_yaw_rad": 0.01079083806581448, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002533709961623714 + } + } + }, + { + "simulation_time_ns": 2900000000, + "center": [ + 0.6044569472428061, + 15.1430613109172, + 0.11879456227001625 + ], + "face_center": [ + 0.5272541758422717, + 15.1422271599177, + 0.11768056820655545 + ], + "face_normal": [ + -0.9998375644639862, + -0.010802921820121176, + -0.014427113056077115 + ], + "footprint_xy": [ + [ + 0.5249217544376278, + 15.085861840652674 + ], + [ + 0.6839921400479843, + 15.085861840652674 + ], + [ + 0.6839921400479843, + 15.200260781181727 + ], + [ + 0.5249217544376278, + 15.200260781181727 + ] + ], + "projected_box_corners": [ + [ + 0.5295865972469157, + 15.085861840652674 + ], + [ + 0.526102778891957, + 15.087966474649157 + ], + [ + 0.5284055727925864, + 15.196487845186242 + ], + [ + 0.5249217544376278, + 15.198592479182725 + ], + [ + 0.6839921400479843, + 15.087530142651676 + ], + [ + 0.6805083216930257, + 15.089634776648161 + ], + [ + 0.682811115593655, + 15.198156147185244 + ], + [ + 0.6793272972386964, + 15.200260781181727 + ] + ], + "yaw_rad": 0.01080425646330204, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.26713648438453674, + 15.143601417541504, + 0.12662218511104584 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5272246899981243, + 15.142203175271444, + 0.11766003950789508 + ], + "intended_face_normal": [ + -0.9998339127826872, + -0.010799995721346187, + -0.01468015288972434 + ], + "commanded_contact_point": [ + 0.27527112231611744, + 15.142964617686976, + 0.1186667340430027 + ], + "centerline_face_intersection": [ + 0.527199038914546, + 15.143037100331311, + 0.11879357212154305 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2687978744506836, + 15.145322799682617, + 0.12720462679862976 + ], + "box_pose": [ + 0.6084567904472351, + 15.144791603088379, + 0.13603496551513672, + -0.004326376598328352, + -0.007363677490502596, + 0.005368413403630257, + 0.999949038028717 + ], + "box_yaw_rad": 0.010801369677165716, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019444069911789773 + } + } + }, + { + "simulation_time_ns": 2920000000, + "center": [ + 0.6044909377506568, + 15.143087886806967, + 0.11879564338960286 + ], + "face_center": [ + 0.5272878650153275, + 15.14225238110827, + 0.11770376746129972 + ], + "face_normal": [ + -0.9998414669903067, + -0.010820466256935979, + -0.014140665536313955 + ], + "footprint_xy": [ + [ + 0.5249885610463124, + 15.085860188264943 + ], + [ + 0.683993314455001, + 15.085860188264943 + ], + [ + 0.683993314455001, + 15.20031558534899 + ], + [ + 0.5249885610463124, + 15.20031558534899 + ] + ], + "projected_box_corners": [ + [ + 0.5295871689843427, + 15.085860188264943 + ], + [ + 0.5261714547171767, + 15.088018811671807 + ], + [ + 0.5284042753134782, + 15.196485950544734 + ], + [ + 0.5249885610463124, + 15.198644573951595 + ], + [ + 0.683993314455001, + 15.087531199662338 + ], + [ + 0.6805776001878352, + 15.089689823069202 + ], + [ + 0.6828104207841367, + 15.198156961942129 + ], + [ + 0.6793947065169708, + 15.20031558534899 + ] + ], + "yaw_rad": 0.010821759463077929, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2666173577308655, + 15.142732620239258, + 0.12664540112018585 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5272541758422717, + 15.1422271599177, + 0.11768056820655545 + ], + "intended_face_normal": [ + -0.9998375644639862, + -0.010802921820121176, + -0.014427113056077115 + ], + "commanded_contact_point": [ + 0.277004808858037, + 15.1430613109172, + 0.11879456227001625 + ], + "centerline_face_intersection": [ + 0.527229088782784, + 15.1430613109172, + 0.11879456227001625 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26713648438453674, + 15.143601417541504, + 0.12662218511104584 + ], + "box_pose": [ + 0.6084908843040466, + 15.144819259643555, + 0.13603459298610687, + -0.004425632301717997, + -0.00723768537864089, + 0.005369700025767088, + 0.9999496340751648 + ], + "box_yaw_rad": 0.01080425646330204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017410797402835187 + } + } + }, + { + "simulation_time_ns": 2940000000, + "center": [ + 0.6045299172258526, + 15.143117819080231, + 0.11879642250511596 + ], + "face_center": [ + 0.5273264857148812, + 15.142282090330413, + 0.11773039116329291 + ], + "face_normal": [ + -0.9998461134214873, + -0.01082335494713855, + -0.013805957494982627 + ], + "footprint_xy": [ + [ + 0.5250668664759041, + 15.085859394643359 + ], + [ + 0.6839929679758011, + 15.085859394643359 + ], + [ + 0.6839929679758011, + 15.200376243517104 + ], + [ + 0.5250668664759041, + 15.200376243517104 + ] + ], + "projected_box_corners": [ + [ + 0.5295861049538584, + 15.085859394643359 + ], + [ + 0.5262500256155557, + 15.08807928507801 + ], + [ + 0.5284029458142068, + 15.196484895582817 + ], + [ + 0.5250668664759041, + 15.198704786017467 + ], + [ + 0.6839929679758011, + 15.087530852142995 + ], + [ + 0.6806568886374984, + 15.089750742577646 + ], + [ + 0.6828098088361495, + 15.198156353082453 + ], + [ + 0.6794737294978468, + 15.200376243517104 + ] + ], + "yaw_rad": 0.010824597973084273, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2685129940509796, + 15.142853736877441, + 0.12698166072368622 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5272878650153275, + 15.14225238110827, + 0.11770376746129972 + ], + "intended_face_normal": [ + -0.9998414669903067, + -0.010820466256935979, + -0.014140665536313955 + ], + "commanded_contact_point": [ + 0.2790461561828852, + 15.143087886806967, + 0.11879564338960286 + ], + "centerline_face_intersection": [ + 0.5272633807221718, + 15.143087886806967, + 0.11879564338960286 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2666173577308655, + 15.142732620239258, + 0.12664540112018585 + ], + "box_pose": [ + 0.6085297465324402, + 15.14484977722168, + 0.13603413105010986, + -0.004537457600235939, + -0.007095090579241514, + 0.0053783077746629715, + 0.999950110912323 + ], + "box_yaw_rad": 0.010821759463077929, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002041520596859416 + } + } + }, + { + "simulation_time_ns": 2960000000, + "center": [ + 0.6045753481064394, + 15.143152602659887, + 0.1187980989599659 + ], + "face_center": [ + 0.5273715324295483, + 15.14231535015698, + 0.11776149131476761 + ], + "face_normal": [ + -0.9998510886770452, + -0.010843088766915508, + -0.013424897118041068 + ], + "footprint_xy": [ + [ + 0.5251561473208669, + 15.085856613455368 + ], + [ + 0.6839945488920119, + 15.085856613455368 + ], + [ + 0.6839945488920119, + 15.200448591864406 + ], + [ + 0.5251561473208669, + 15.200448591864406 + ] + ], + "projected_box_corners": [ + [ + 0.5295869175382297, + 15.085856613455368 + ], + [ + 0.526341433993301, + 15.088148923706653 + ], + [ + 0.5284016308657956, + 15.196481776607309 + ], + [ + 0.5251561473208669, + 15.198774086858593 + ], + [ + 0.6839945488920119, + 15.087531118461182 + ], + [ + 0.6807490653470832, + 15.089823428712467 + ], + [ + 0.6828092622195777, + 15.198156281613123 + ], + [ + 0.679563778674649, + 15.200448591864406 + ] + ], + "yaw_rad": 0.01084427855623446, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2717752158641815, + 15.143659591674805, + 0.13007383048534393 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5273264857148812, + 15.142282090330413, + 0.11773039116329291 + ], + "intended_face_normal": [ + -0.9998461134214873, + -0.01082335494713855, + -0.013805957494982627 + ], + "commanded_contact_point": [ + 0.2812047588825226, + 15.143117819080231, + 0.11879642250511596 + ], + "centerline_face_intersection": [ + 0.5273027190851246, + 15.143117819080231, + 0.11879642250511596 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2685129940509796, + 15.142853736877441, + 0.12698166072368622 + ], + "box_pose": [ + 0.6085744500160217, + 15.14488410949707, + 0.13603311777114868, + -0.004664268810302019, + -0.006928412709385157, + 0.005379626993089914, + 0.999950647354126 + ], + "box_yaw_rad": 0.010824597973084273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021588103582495816 + } + } + }, + { + "simulation_time_ns": 2980000000, + "center": [ + 0.6046265967493114, + 15.143193452264944, + 0.11879983428023597 + ], + "face_center": [ + 0.5274223329562914, + 15.142356541018046, + 0.11779687150602791 + ], + "face_normal": [ + -0.9998568921389005, + -0.010838669228978099, + -0.012989169160905287 + ], + "footprint_xy": [ + [ + 0.5252590366130343, + 15.085856796016673 + ], + [ + 0.6839941568855884, + 15.085856796016673 + ], + [ + 0.6839941568855884, + 15.200530108513215 + ], + [ + 0.5252590366130343, + 15.200530108513215 + ] + ], + "projected_box_corners": [ + [ + 0.5295856292995484, + 15.085856796016673 + ], + [ + 0.5264438044322194, + 15.088231487163696 + ], + [ + 0.5284008614803634, + 15.196481594872395 + ], + [ + 0.5252590366130343, + 15.198856286019419 + ], + [ + 0.6839941568855884, + 15.087530618510469 + ], + [ + 0.6808523320182593, + 15.089905309657492 + ], + [ + 0.6828093890664033, + 15.19815541736619 + ], + [ + 0.6796675641990743, + 15.200530108513215 + ] + ], + "yaw_rad": 0.010839795966872465, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2741677761077881, + 15.145919799804688, + 0.13249289989471436 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5273715324295483, + 15.14231535015698, + 0.11776149131476761 + ], + "intended_face_normal": [ + -0.9998510886770452, + -0.010843088766915508, + -0.013424897118041068 + ], + "commanded_contact_point": [ + 0.28328025780618193, + 15.143152602659887, + 0.1187980989599659 + ], + "centerline_face_intersection": [ + 0.5273485342479822, + 15.143152602659887, + 0.1187980989599659 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2717752158641815, + 15.143659591674805, + 0.13007383048534393 + ], + "box_pose": [ + 0.6086263656616211, + 15.14492416381836, + 0.13603273034095764, + -0.004814258776605129, + -0.0067387237213552, + 0.005389365833252668, + 0.9999511241912842 + ], + "box_yaw_rad": 0.01084427855623446, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002075791051629605 + } + } + }, + { + "simulation_time_ns": 3000000000, + "center": [ + 0.6046857087205588, + 15.143240082054472, + 0.11880162329761333 + ], + "face_center": [ + 0.5274809531136535, + 15.14240288753681, + 0.11783750733714428 + ], + "face_normal": [ + -0.9998632615216089, + -0.010842337811666275, + -0.012486071889506904 + ], + "footprint_xy": [ + [ + 0.5253772846275582, + 15.085856161648394 + ], + [ + 0.6839941328135595, + 15.085856161648394 + ], + [ + 0.6839941328135595, + 15.200624002460549 + ], + [ + 0.5253772846275582, + 15.200624002460549 + ] + ], + "projected_box_corners": [ + [ + 0.529584621599749, + 15.085856161648394 + ], + [ + 0.5265624685471622, + 15.088325258564893 + ], + [ + 0.528399437680145, + 15.196480516508728 + ], + [ + 0.5253772846275582, + 15.198949613425226 + ], + [ + 0.6839941328135595, + 15.087530550683718 + ], + [ + 0.6809719797609726, + 15.089999647600216 + ], + [ + 0.6828089488939555, + 15.198154905544051 + ], + [ + 0.6797867958413687, + 15.200624002460549 + ] + ], + "yaw_rad": 0.010843395573178262, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2747882902622223, + 15.145454406738281, + 0.13046157360076904 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5274223329562914, + 15.142356541018046, + 0.11779687150602791 + ], + "intended_face_normal": [ + -0.9998568921389005, + -0.010838669228978099, + -0.012989169160905287 + ], + "commanded_contact_point": [ + 0.2855166091769934, + 15.143193452264944, + 0.11879983428023597 + ], + "centerline_face_intersection": [ + 0.5274002311378703, + 15.143193452264944, + 0.11879983428023597 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2741677761077881, + 15.145919799804688, + 0.13249289989471436 + ], + "box_pose": [ + 0.6086850762367249, + 15.144970893859863, + 0.1360321044921875, + -0.004984780214726925, + -0.00652175210416317, + 0.005387084558606148, + 0.9999518394470215 + ], + "box_yaw_rad": 0.010839795966872465, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002236725096050036 + } + } + }, + { + "simulation_time_ns": 3020000000, + "center": [ + 0.6047537722230477, + 15.143292350241222, + 0.1188037467002027 + ], + "face_center": [ + 0.5275484820260896, + 15.142454379690276, + 0.11788414172020105 + ], + "face_normal": [ + -0.9998701848898597, + -0.010852388062646854, + -0.011909619134054063 + ], + "footprint_xy": [ + [ + 0.5255127763229506, + 15.085853665973572 + ], + [ + 0.6839947681231447, + 15.085853665973572 + ], + [ + 0.6839947681231447, + 15.200731034508872 + ], + [ + 0.5255127763229506, + 15.200731034508872 + ] + ], + "projected_box_corners": [ + [ + 0.5295841877292287, + 15.085853665973572 + ], + [ + 0.526699135150819, + 15.08843127707141 + ], + [ + 0.5283978289013603, + 15.196477482309144 + ], + [ + 0.5255127763229506, + 15.19905509340698 + ], + [ + 0.6839947681231447, + 15.087529607075464 + ], + [ + 0.6811097155447351, + 15.090107218173301 + ], + [ + 0.6828084092952764, + 15.198153423411036 + ], + [ + 0.6799233567168668, + 15.200731034508872 + ] + ], + "yaw_rad": 0.010853370869433257, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2763528823852539, + 15.139533996582031, + 0.12567318975925446 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5274809531136535, + 15.14240288753681, + 0.11783750733714428 + ], + "intended_face_normal": [ + -0.9998632615216089, + -0.010842337811666275, + -0.012486071889506904 + ], + "commanded_contact_point": [ + 0.2880734081566334, + 15.143240082054472, + 0.11880162329761333 + ], + "centerline_face_intersection": [ + 0.5274598350606642, + 15.143240082054472, + 0.11880162329761333 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2747882902622223, + 15.145454406738281, + 0.13046157360076904 + ], + "box_pose": [ + 0.6087527871131897, + 15.145024299621582, + 0.1360311657190323, + -0.005180212203413248, + -0.006271250080317259, + 0.005388938821852207, + 0.9999524354934692 + ], + "box_yaw_rad": 0.010843395573178262, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002557224777007843 + } + } + }, + { + "simulation_time_ns": 3040000000, + "center": [ + 0.6048327080549869, + 15.143354896686963, + 0.11880624302737465 + ], + "face_center": [ + 0.5276268144022034, + 15.142517245219484, + 0.1179384712274124 + ], + "face_normal": [ + -0.9998780001248821, + -0.01084825567686136, + -0.011238338044672572 + ], + "footprint_xy": [ + [ + 0.5256711132904648, + 15.08585402318516 + ], + [ + 0.683994302819509, + 15.08585402318516 + ], + [ + 0.683994302819509, + 15.200855770188769 + ], + [ + 0.5256711132904648, + 15.200855770188769 + ] + ], + "projected_box_corners": [ + [ + 0.5295825155139419, + 15.08585402318516 + ], + [ + 0.5268571641641823, + 15.08855728383596 + ], + [ + 0.5283964646402244, + 15.196477206603006 + ], + [ + 0.5256711132904648, + 15.19918046725381 + ], + [ + 0.683994302819509, + 15.08752932612012 + ], + [ + 0.6812689514697494, + 15.09023258677092 + ], + [ + 0.6828082519457916, + 15.198152509537968 + ], + [ + 0.680082900596032, + 15.200855770188769 + ] + ], + "yaw_rad": 0.01084915364072819, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2802078425884247, + 15.1344633102417, + 0.12437950074672699 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5275484820260896, + 15.142454379690276, + 0.11788414172020105 + ], + "intended_face_normal": [ + -0.9998701848898597, + -0.010852388062646854, + -0.011909619134054063 + ], + "commanded_contact_point": [ + 0.29075085625052455, + 15.143292350241222, + 0.1188037467002027 + ], + "centerline_face_intersection": [ + 0.5275284332957313, + 15.143292350241222, + 0.1188037467002027 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2763528823852539, + 15.139533996582031, + 0.12567318975925446 + ], + "box_pose": [ + 0.6088306903839111, + 15.145084381103516, + 0.1360301524400711, + -0.005404873285442591, + -0.005984245799481869, + 0.005394103936851025, + 0.9999529123306274 + ], + "box_yaw_rad": 0.010853370869433257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026779590675859756 + } + } + }, + { + "simulation_time_ns": 3060000000, + "center": [ + 0.6049238208399469, + 15.143429016033535, + 0.11880991182739675 + ], + "face_center": [ + 0.5277172710451686, + 15.142591709103169, + 0.11800226816391557 + ], + "face_normal": [ + -0.9998864976878832, + -0.010843793645987313, + -0.010459630642795942 + ], + "footprint_xy": [ + [ + 0.5258542968035271, + 15.0858536283369 + ], + [ + 0.6839933448763665, + 15.0858536283369 + ], + [ + 0.6839933448763665, + 15.20100440373017 + ], + [ + 0.5258542968035271, + 15.20100440373017 + ] + ], + "projected_box_corners": [ + [ + 0.5295802452868101, + 15.0858536283369 + ], + [ + 0.5270401002740271, + 15.088707405184788 + ], + [ + 0.5283944418163101, + 15.196476013021549 + ], + [ + 0.5258542968035271, + 15.199329789869438 + ], + [ + 0.6839933448763665, + 15.08752824219763 + ], + [ + 0.6814531998635835, + 15.09038201904552 + ], + [ + 0.6828075414058665, + 15.19815062688228 + ], + [ + 0.6802673963930836, + 15.20100440373017 + ] + ], + "yaw_rad": 0.010844599433762491, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2849224805831909, + 15.132817268371582, + 0.12625931203365326 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5276268144022034, + 15.142517245219484, + 0.1179384712274124 + ], + "intended_face_normal": [ + -0.9998780001248821, + -0.01084825567686136, + -0.011238338044672572 + ], + "commanded_contact_point": [ + 0.2938939786702395, + 15.143354896686963, + 0.11880624302737465 + ], + "centerline_face_intersection": [ + 0.5276079727354839, + 15.143354896686963, + 0.11880624302737465 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2802078425884247, + 15.1344633102417, + 0.12437950074672699 + ], + "box_pose": [ + 0.6089211106300354, + 15.145155906677246, + 0.13602899014949799, + -0.005664952099323273, + -0.00564997922629118, + 0.00539237167686224, + 0.9999535083770752 + ], + "box_yaw_rad": 0.01084915364072819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031437456695539 + } + } + }, + { + "simulation_time_ns": 3080000000, + "center": [ + 0.6050307261910877, + 15.143512220663489, + 0.11881282947131537 + ], + "face_center": [ + 0.5278234719595755, + 15.142674908427256, + 0.1180756016891432 + ], + "face_normal": [ + -0.9998956207063406, + -0.010843862361197627, + -0.009547688726846677 + ], + "footprint_xy": [ + [ + 0.5260687406723247, + 15.085852367378171 + ], + [ + 0.6839927117098507, + 15.085852367378171 + ], + [ + 0.6839927117098507, + 15.201172073948806 + ], + [ + 0.5260687406723247, + 15.201172073948806 + ] + ], + "projected_box_corners": [ + [ + 0.5295782032468263, + 15.085852367378171 + ], + [ + 0.5272550045340334, + 15.088876024738784 + ], + [ + 0.5283919393851175, + 15.196473792115729 + ], + [ + 0.5260687406723247, + 15.19949744947634 + ], + [ + 0.6839927117098507, + 15.087526991850636 + ], + [ + 0.6816695129970578, + 15.090550649211249 + ], + [ + 0.6828064478481419, + 15.198148416588193 + ], + [ + 0.6804832491353491, + 15.201172073948806 + ] + ], + "yaw_rad": 0.010844569210013016, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.28889477252960205, + 15.134844779968262, + 0.12829247117042542 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5277172710451686, + 15.142591709103169, + 0.11800226816391557 + ], + "intended_face_normal": [ + -0.9998864976878832, + -0.010843793645987313, + -0.010459630642795942 + ], + "commanded_contact_point": [ + 0.2976362842321396, + 15.143429016033535, + 0.11880991182739675 + ], + "centerline_face_intersection": [ + 0.5276997418169886, + 15.143429016033535, + 0.11880991182739675 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2849224805831909, + 15.132817268371582, + 0.12625931203365326 + ], + "box_pose": [ + 0.6090255379676819, + 15.145240783691406, + 0.13602836430072784, + -0.00597657635807991, + -0.005262276623398066, + 0.005390695761889219, + 0.9999537467956543 + ], + "box_yaw_rad": 0.010844599433762491, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037430412843379767 + } + } + }, + { + "simulation_time_ns": 3100000000, + "center": [ + 0.605155240526025, + 15.143609632237887, + 0.11881620639586156 + ], + "face_center": [ + 0.5279472513700243, + 15.142771483258281, + 0.11816151627068645 + ], + "face_normal": [ + -0.9999051385655746, + -0.010854698856328032, + -0.008478760132038063 + ], + "footprint_xy": [ + [ + 0.5263186987580687, + 15.085850909765352 + ], + [ + 0.6839917822939814, + 15.085850909765352 + ], + [ + 0.6839917822939814, + 15.201368354710423 + ], + [ + 0.5263186987580687, + 15.201368354710423 + ] + ], + "projected_box_corners": [ + [ + 0.5295758039819799, + 15.085850909765352 + ], + [ + 0.5275068794152125, + 15.089071829239705 + ], + [ + 0.5283876233248361, + 15.196471137276857 + ], + [ + 0.5263186987580687, + 15.199692056751212 + ], + [ + 0.6839917822939814, + 15.087527207724563 + ], + [ + 0.6819228577272138, + 15.090748127198918 + ], + [ + 0.6828036016368376, + 15.19814743523607 + ], + [ + 0.6807346770700702, + 15.201368354710423 + ] + ], + "yaw_rad": 0.01085530223868086, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2917802929878235, + 15.137897491455078, + 0.12892168760299683 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5278234719595755, + 15.142674908427256, + 0.1180756016891432 + ], + "intended_face_normal": [ + -0.9998956207063406, + -0.010843862361197627, + -0.009547688726846677 + ], + "commanded_contact_point": [ + 0.3017112805694342, + 15.143512220663489, + 0.11881282947131537 + ], + "centerline_face_intersection": [ + 0.5278073517583723, + 15.143512220663489, + 0.11881282947131537 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.28889477252960205, + 15.134844779968262, + 0.12829247117042542 + ], + "box_pose": [ + 0.6091480255126953, + 15.145336151123047, + 0.1360262781381607, + -0.006328219082206488, + -0.004808186087757349, + 0.0053917523473501205, + 0.9999539256095886 + ], + "box_yaw_rad": 0.010844569210013016, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040758467429548965 + } + } + }, + { + "simulation_time_ns": 3120000000, + "center": [ + 0.6052992046876311, + 15.143722982112543, + 0.11882016645480988 + ], + "face_center": [ + 0.5280904682974903, + 15.14288498331501, + 0.11826026866531639 + ], + "face_normal": [ + -0.9999148158446298, + -0.010852753878508325, + -0.00725112365839322 + ], + "footprint_xy": [ + [ + 0.526607518370995, + 15.085850882393256 + ], + [ + 0.6839908910042672, + 15.085850882393256 + ], + [ + 0.6839908910042672, + 15.201595081831828 + ], + [ + 0.526607518370995, + 15.201595081831828 + ] + ], + "projected_box_corners": [ + [ + 0.5295734182239857, + 15.085850882393256 + ], + [ + 0.5277965390768244, + 15.089300319794905 + ], + [ + 0.5283843975181561, + 15.196469646835116 + ], + [ + 0.526607518370995, + 15.199919084236763 + ], + [ + 0.6839908910042672, + 15.08752687998832 + ], + [ + 0.6822140118571061, + 15.09097631738997 + ], + [ + 0.6828018702984378, + 15.19814564443018 + ], + [ + 0.6810249911512766, + 15.201595081831828 + ] + ], + "yaw_rad": 0.010853252273836864, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.2938394844532013, + 15.138172149658203, + 0.1279231309890747 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5279472513700243, + 15.142771483258281, + 0.11816151627068645 + ], + "intended_face_normal": [ + -0.9999051385655746, + -0.010854698856328032, + -0.008478760132038063 + ], + "commanded_contact_point": [ + 0.3057356241345406, + 15.143609632237887, + 0.11881620639586156 + ], + "centerline_face_intersection": [ + 0.527932601164247, + 15.143609632237887, + 0.11881620639586156 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2917802929878235, + 15.137897491455078, + 0.12892168760299683 + ], + "box_pose": [ + 0.6092907786369324, + 15.145447731018066, + 0.13602377474308014, + -0.006736540701240301, + -0.00427594780921936, + 0.005398795008659363, + 0.99995356798172 + ], + "box_yaw_rad": 0.01085530223868086, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040255237607619825 + } + } + }, + { + "simulation_time_ns": 3140000000, + "center": [ + 0.6054639881378263, + 15.143854499318381, + 0.11882552344122918 + ], + "face_center": [ + 0.5282545333266242, + 15.143016928804151, + 0.11837467331762351 + ], + "face_normal": [ + -0.9999241199712963, + -0.010847207267604627, + -0.005838869270450329 + ], + "footprint_xy": [ + [ + 0.526939089295892, + 15.085849716859649 + ], + [ + 0.6839888869797606, + 15.085849716859649 + ], + [ + 0.6839888869797606, + 15.201859281777114 + ], + [ + 0.526939089295892, + 15.201859281777114 + ] + ], + "projected_box_corners": [ + [ + 0.5295699773573566, + 15.085849716859649 + ], + [ + 0.5281290124778193, + 15.089567216639646 + ], + [ + 0.5283800541754292, + 15.196466640968657 + ], + [ + 0.526939089295892, + 15.200184140748654 + ], + [ + 0.6839888869797606, + 15.08752485788811 + ], + [ + 0.6825479221002234, + 15.091242357668106 + ], + [ + 0.6827989637978332, + 15.198141781997117 + ], + [ + 0.681357998918296, + 15.201859281777114 + ] + ], + "yaw_rad": 0.010847604915287874, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.29764118790626526, + 15.13803482055664, + 0.12910951673984528 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5280904682974903, + 15.14288498331501, + 0.11826026866531639 + ], + "intended_face_normal": [ + -0.9999148158446298, + -0.010852753878508325, + -0.00725112365839322 + ], + "commanded_contact_point": [ + 0.30847116068005564, + 15.143722982112543, + 0.11882016645480988 + ], + "centerline_face_intersection": [ + 0.5280773126945476, + 15.143722982112543, + 0.11882016645480988 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2938394844532013, + 15.138172149658203, + 0.1279231309890747 + ], + "box_pose": [ + 0.6094557046890259, + 15.145577430725098, + 0.13602092862129211, + -0.007209558039903641, + -0.003664668183773756, + 0.005400211550295353, + 0.9999527335166931 + ], + "box_yaw_rad": 0.010853252273836864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027378867887478315 + } + } + }, + { + "simulation_time_ns": 3160000000, + "center": [ + 0.6056550887854351, + 15.144006952023737, + 0.11883036777457542 + ], + "face_center": [ + 0.5284449963920856, + 15.143169710780887, + 0.11850577225218548 + ], + "face_normal": [ + -0.9999323771694494, + -0.01084294294018467, + -0.004203771323940288 + ], + "footprint_xy": [ + [ + 0.5273231532751239, + 15.08584933307972 + ], + [ + 0.6839870242957461, + 15.08584933307972 + ], + [ + 0.6839870242957461, + 15.202164570967755 + ], + [ + 0.5273231532751239, + 15.202164570967755 + ] + ], + "projected_box_corners": [ + [ + 0.5295668395090473, + 15.08584933307972 + ], + [ + 0.5285147948954318, + 15.089875456868985 + ], + [ + 0.5283751978887394, + 15.19646396469279 + ], + [ + 0.5273231532751239, + 15.200490088482054 + ], + [ + 0.6839870242957461, + 15.08752381556542 + ], + [ + 0.6829349796821307, + 15.091549939354685 + ], + [ + 0.6827953826754383, + 15.19813844717849 + ], + [ + 0.6817433380618229, + 15.202164570967755 + ] + ], + "yaw_rad": 0.010843251231223022, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.30241984128952026, + 15.138492584228516, + 0.13087822496891022 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5282545333266242, + 15.143016928804151, + 0.11837467331762351 + ], + "intended_face_normal": [ + -0.9999241199712963, + -0.010847207267604627, + -0.005838869270450329 + ], + "commanded_contact_point": [ + 0.3108012329041958, + 15.143854499318381, + 0.11882552344122918 + ], + "centerline_face_intersection": [ + 0.5282428146815299, + 15.143854499318381, + 0.11882552344122918 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.29764118790626526, + 15.13803482055664, + 0.12910951673984528 + ], + "box_pose": [ + 0.6096445918083191, + 15.14572811126709, + 0.13601836562156677, + -0.0077645075507462025, + -0.0029615152161568403, + 0.005400874186307192, + 0.9999508857727051 + ], + "box_yaw_rad": 0.010847604915287874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023337870602187817 + } + } + }, + { + "simulation_time_ns": 3180000000, + "center": [ + 0.6058758603026178, + 15.144181031910287, + 0.11883472550730557 + ], + "face_center": [ + 0.5286652956048706, + 15.14334360975504, + 0.11865548932641223 + ], + "face_normal": [ + -0.9999384938887087, + -0.01084528590025435, + -0.0023212517286263206 + ], + "footprint_xy": [ + [ + 0.527765652383356, + 15.085848386595742 + ], + [ + 0.6839860682218795, + 15.085848386595742 + ], + [ + 0.6839860682218795, + 15.202513677224832 + ], + [ + 0.527765652383356, + 15.202513677224832 + ] + ], + "projected_box_corners": [ + [ + 0.5295649388263852, + 15.085848386595742 + ], + [ + 0.5289606480542256, + 15.090227052850672 + ], + [ + 0.5283699431555156, + 15.196460166659406 + ], + [ + 0.527765652383356, + 15.200838832914338 + ], + [ + 0.6839860682218795, + 15.087523230906237 + ], + [ + 0.68338177744972, + 15.091901897161167 + ], + [ + 0.6827910725510099, + 15.198135010969901 + ], + [ + 0.6821867817788503, + 15.202513677224832 + ] + ], + "yaw_rad": 0.010845527735865218, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.30648356676101685, + 15.137921333312988, + 0.131016343832016 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5284449963920856, + 15.143169710780887, + 0.11850577225218548 + ], + "intended_face_normal": [ + -0.9999323771694494, + -0.01084294294018467, + -0.004203771323940288 + ], + "commanded_contact_point": [ + 0.31343416377902034, + 15.144006952023737, + 0.11883036777457542 + ], + "centerline_face_intersection": [ + 0.5284345530027909, + 15.144006952023737, + 0.11883036777457542 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.30241984128952026, + 15.138492584228516, + 0.13087822496891022 + ], + "box_pose": [ + 0.6098635792732239, + 15.145902633666992, + 0.13601398468017578, + -0.008403417654335499, + -0.0021474072709679604, + 0.0054037077352404594, + 0.9999478459358215 + ], + "box_yaw_rad": 0.010843251231223022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026373453104476295 + } + } + }, + { + "simulation_time_ns": 3200000000, + "center": [ + 0.6061285219521345, + 15.144381804670093, + 0.11883915459538116 + ], + "face_center": [ + 0.5289177516909443, + 15.14354425019645, + 0.11882648322521014 + ], + "face_normal": [ + -0.9999411560995126, + -0.010846999529169002, + -0.00016410436646746573 + ], + "footprint_xy": [ + [ + 0.5282723810323309, + 15.085847773942833 + ], + [ + 0.683984662871938, + 15.085847773942833 + ], + [ + 0.683984662871938, + 15.202915835397352 + ], + [ + 0.5282723810323309, + 15.202915835397352 + ] + ], + "projected_box_corners": [ + [ + 0.5295631223495578, + 15.085847773942833 + ], + [ + 0.5294718565353286, + 15.090632526126678 + ], + [ + 0.5283636468465602, + 15.196455974266224 + ], + [ + 0.5282723810323309, + 15.201240726450068 + ], + [ + 0.683984662871938, + 15.087522882890118 + ], + [ + 0.6838933970577087, + 15.092307635073963 + ], + [ + 0.6827851873689403, + 15.198131083213507 + ], + [ + 0.6826939215547111, + 15.202915835397352 + ] + ], + "yaw_rad": 0.010847212391505264, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3098335862159729, + 15.137067794799805, + 0.1291007399559021 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5286652956048706, + 15.14334360975504, + 0.11865548932641223 + ], + "intended_face_normal": [ + -0.9999384938887087, + -0.01084528590025435, + -0.0023212517286263206 + ], + "commanded_contact_point": [ + 0.31639219701290133, + 15.144181031910287, + 0.11883472550730557 + ], + "centerline_face_intersection": [ + 0.5286557968853653, + 15.144181031910287, + 0.11883472550730557 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.30648356676101685, + 15.137921333312988, + 0.131016343832016 + ], + "box_pose": [ + 0.6101164221763611, + 15.146101951599121, + 0.1360076516866684, + -0.009133226238191128, + -0.0012101230677217245, + 0.005411899648606777, + 0.9999428987503052 + ], + "box_yaw_rad": 0.010845527735865218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002963154300653331 + } + } + }, + { + "simulation_time_ns": 3220000000, + "center": [ + 0.6064180171848997, + 15.144611645744199, + 0.11884349825257373 + ], + "face_center": [ + 0.5292074489518178, + 15.143774366619434, + 0.11902187816820722 + ], + "face_normal": [ + -0.9999385396741188, + -0.010843433541239417, + 0.0023101624094682433 + ], + "footprint_xy": [ + [ + 0.5283563792662556, + 15.085846779581354 + ], + [ + 0.684479655103544, + 15.085846779581354 + ], + [ + 0.684479655103544, + 15.203376511907043 + ], + [ + 0.5283563792662556, + 15.203376511907043 + ] + ], + "projected_box_corners": [ + [ + 0.5295613661024579, + 15.085846779581354 + ], + [ + 0.5300585186373801, + 15.091098252748916 + ], + [ + 0.5283563792662556, + 15.196450480489952 + ], + [ + 0.5288535318011777, + 15.201701953657514 + ], + [ + 0.6839825025686218, + 15.087521337830882 + ], + [ + 0.684479655103544, + 15.092772810998445 + ], + [ + 0.6827775157324195, + 15.19812503873948 + ], + [ + 0.6832746682673416, + 15.203376511907043 + ] + ], + "yaw_rad": 0.010843674984290407, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3120415210723877, + 15.136618614196777, + 0.12653334438800812 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5289177516909443, + 15.14354425019645, + 0.11882648322521014 + ], + "intended_face_normal": [ + -0.9999411560995126, + -0.010846999529169002, + -0.00016410436646746573 + ], + "commanded_contact_point": [ + 0.31925042971968653, + 15.144381804670093, + 0.11883915459538116 + ], + "centerline_face_intersection": [ + 0.5289086641230668, + 15.144381804670093, + 0.11883915459538116 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3098335862159729, + 15.137067794799805, + 0.1291007399559021 + ], + "box_pose": [ + 0.6104058027267456, + 15.146331787109375, + 0.13599969446659088, + -0.009973914362490177, + -0.00013614443014375865, + 0.005422491580247879, + 0.999935507774353 + ], + "box_yaw_rad": 0.010847212391505264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028652789609456743 + } + } + }, + { + "simulation_time_ns": 3240000000, + "center": [ + 0.6067463117281031, + 15.144857462201964, + 0.11885315937151013 + ], + "face_center": [ + 0.5295365221345638, + 15.144022091609704, + 0.11924717632877513 + ], + "face_normal": [ + -0.9999284556700115, + -0.010818716520637189, + 0.005102834364138175 + ], + "footprint_xy": [ + [ + 0.5283506286326873, + 15.085848096497516 + ], + [ + 0.6851419948235189, + 15.085848096497516 + ], + [ + 0.6851419948235189, + 15.20386682790641 + ], + [ + 0.5283506286326873, + 15.20386682790641 + ] + ], + "projected_box_corners": [ + [ + 0.5295607487354173, + 15.085848096497516 + ], + [ + 0.5307224156364402, + 15.091597624492476 + ], + [ + 0.5283506286326873, + 15.196446558726931 + ], + [ + 0.5295122955337103, + 15.20219608672189 + ], + [ + 0.683980327922496, + 15.087518837682037 + ], + [ + 0.6851419948235189, + 15.093268365676995 + ], + [ + 0.682770207819766, + 15.198117299911452 + ], + [ + 0.683931874720789, + 15.20386682790641 + ] + ], + "yaw_rad": 0.010819068442004677, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3149479627609253, + 15.137059211730957, + 0.12363472580909729 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5292074489518178, + 15.143774366619434, + 0.11902187816820722 + ], + "intended_face_normal": [ + -0.9999385396741188, + -0.010843433541239417, + 0.0023101624094682433 + ], + "commanded_contact_point": [ + 0.3217962521314621, + 15.144611645744199, + 0.11884349825257373 + ], + "centerline_face_intersection": [ + 0.5291979573034169, + 15.144611645744199, + 0.11884349825257373 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3120415210723877, + 15.136618614196777, + 0.12653334438800812 + ], + "box_pose": [ + 0.6107373833656311, + 15.146595001220703, + 0.13598966598510742, + -0.010940155014395714, + 0.001095713465474546, + 0.005434112157672644, + 0.999924898147583 + ], + "box_yaw_rad": 0.010843674984290407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002556180263401362 + } + } + }, + { + "simulation_time_ns": 3260000000, + "center": [ + 0.6070905612320775, + 15.145119042947536, + 0.11886477892649389 + ], + "face_center": [ + 0.5298822277275238, + 15.144286794123563, + 0.11948550582283023 + ], + "face_normal": [ + -0.999909598154425, + -0.01077828712746042, + 0.0080389091864377 + ], + "footprint_xy": [ + [ + 0.5283444432528266, + 15.085849835912487 + ], + [ + 0.6858366792113284, + 15.085849835912487 + ], + [ + 0.6858366792113284, + 15.204388249982586 + ], + [ + 0.5283444432528266, + 15.204388249982586 + ] + ], + "projected_box_corners": [ + [ + 0.529559761258739, + 15.085849835912487 + ], + [ + 0.5314200122022209, + 15.092131396766868 + ], + [ + 0.5283444432528266, + 15.196442191480255 + ], + [ + 0.5302046941963084, + 15.202723752334636 + ], + [ + 0.6839764282678465, + 15.087514333560437 + ], + [ + 0.6858366792113284, + 15.093795894414818 + ], + [ + 0.6827611102619341, + 15.198106689128204 + ], + [ + 0.684621361205416, + 15.204388249982586 + ] + ], + "yaw_rad": 0.010778844131991342, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3193632960319519, + 15.139566421508789, + 0.123872309923172 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5295365221345638, + 15.144022091609704, + 0.11924717632877513 + ], + "intended_face_normal": [ + -0.9999284556700115, + -0.010818716520637189, + 0.005102834364138175 + ], + "commanded_contact_point": [ + 0.32427858069539073, + 15.144857462201964, + 0.11885315937151013 + ], + "centerline_face_intersection": [ + 0.5295254731035046, + 15.144857462201964, + 0.11885315937151013 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3149479627609253, + 15.137059211730957, + 0.12363472580909729 + ], + "box_pose": [ + 0.6111131906509399, + 15.146876335144043, + 0.13598313927650452, + -0.01197089534252882, + 0.002486522775143385, + 0.005439611151814461, + 0.9999104738235474 + ], + "box_yaw_rad": 0.010819068442004677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002494488758728546 + } + } + }, + { + "simulation_time_ns": 3280000000, + "center": [ + 0.6073069384773886, + 15.145334869022879, + 0.11889559555481201 + ], + "face_center": [ + 0.530099859471079, + 15.144503242395437, + 0.11965720641501995 + ], + "face_normal": [ + -0.9998933513999859, + -0.010770229185309014, + 0.00986346906627181 + ], + "footprint_xy": [ + [ + 0.5283425164590181, + 15.085850748784448 + ], + [ + 0.6862713604957592, + 15.085850748784448 + ], + [ + 0.6862713604957592, + 15.204818989261309 + ], + [ + 0.5283425164590181, + 15.204818989261309 + ] + ], + "projected_box_corners": [ + [ + 0.5295641372551777, + 15.085850748784448 + ], + [ + 0.5318572024831398, + 15.09256882764628 + ], + [ + 0.5283425164590181, + 15.196437657144594 + ], + [ + 0.5306355816869802, + 15.203155736006426 + ], + [ + 0.6839782952677971, + 15.087514002039331 + ], + [ + 0.6862713604957592, + 15.094232080901163 + ], + [ + 0.6827566744716375, + 15.198100910399477 + ], + [ + 0.6850497396995996, + 15.204818989261309 + ] + ], + "yaw_rad": 0.01077096139232067, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3232238292694092, + 15.142999649047852, + 0.12627680599689484 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5298822277275238, + 15.144286794123563, + 0.11948550582283023 + ], + "intended_face_normal": [ + -0.999909598154425, + -0.01077828712746042, + 0.0080389091864377 + ], + "commanded_contact_point": [ + 0.32678729176521304, + 15.145119042947536, + 0.11886477892649389 + ], + "centerline_face_intersection": [ + 0.5298682662826566, + 15.145119042947536, + 0.11886477892649389 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3193632960319519, + 15.139566421508789, + 0.123872309923172 + ], + "box_pose": [ + 0.6115073561668396, + 15.147175788879395, + 0.13597744703292847, + -0.013072154484689236, + 0.003948750905692577, + 0.005441349931061268, + 0.999891996383667 + ], + "box_yaw_rad": 0.010778844131991342, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025223383461306964 + } + } + }, + { + "simulation_time_ns": 3300000000, + "center": [ + 0.6073004802829718, + 15.145343093791153, + 0.11890230874386654 + ], + "face_center": [ + 0.5300933683958524, + 15.144511030886965, + 0.11966010008479264 + ], + "face_normal": [ + -0.9998937772327392, + -0.010775879317694205, + 0.009814003240280263 + ], + "footprint_xy": [ + [ + 0.5283417996218076, + 15.085849650751076 + ], + [ + 0.6862591609441361, + 15.085849650751076 + ], + [ + 0.6862591609441361, + 15.20483653683123 + ], + [ + 0.5283417996218076, + 15.20483653683123 + ] + ], + "projected_box_corners": [ + [ + 0.5295639715939144, + 15.085849650751076 + ], + [ + 0.5318449371698972, + 15.092585742465777 + ], + [ + 0.5283417996218076, + 15.196436319308154 + ], + [ + 0.5306227651977904, + 15.203172411022855 + ], + [ + 0.6839781953681533, + 15.087513776559451 + ], + [ + 0.6862591609441361, + 15.094249868274153 + ], + [ + 0.6827560233960464, + 15.198100445116529 + ], + [ + 0.6850369889720291, + 15.20483653683123 + ] + ], + "yaw_rad": 0.010776606882301788, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.32585909962654114, + 15.144126892089844, + 0.12910163402557373 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.530099859471079, + 15.144503242395437, + 0.11965720641501995 + ], + "intended_face_normal": [ + -0.9998933513999859, + -0.010770229185309014, + 0.00986346906627181 + ], + "commanded_contact_point": [ + 0.3292668747901917, + 15.145334869022879, + 0.11889559555481201 + ], + "centerline_face_intersection": [ + 0.5300833887824875, + 15.145334869022879, + 0.11889559555481201 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3232238292694092, + 15.142999649047852, + 0.12627680599689484 + ], + "box_pose": [ + 0.6117545962333679, + 15.147422790527344, + 0.1359964907169342, + -0.013977287337183952, + 0.0048561105504632, + 0.005453667603433132, + 0.9998757243156433 + ], + "box_yaw_rad": 0.01077096139232067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002489148958407417 + } + } + }, + { + "simulation_time_ns": 3320000000, + "center": [ + 0.6072723027343343, + 15.1453331027971, + 0.11890649846015494 + ], + "face_center": [ + 0.5300650254672772, + 15.144500126493933, + 0.11964622125336423 + ], + "face_normal": [ + -0.9998959190350498, + -0.010787708564161955, + 0.00958000111296195 + ], + "footprint_xy": [ + [ + 0.5283411919808565, + 15.085849134511088 + ], + [ + 0.6862034134878121, + 15.085849134511088 + ], + [ + 0.6862034134878121, + 15.204817071083111 + ], + [ + 0.5283411919808565, + 15.204817071083111 + ] + ], + "projected_box_corners": [ + [ + 0.5295638577980493, + 15.085849134511088 + ], + [ + 0.5317888589536978, + 15.092564191952757 + ], + [ + 0.5283411919808565, + 15.196436061035108 + ], + [ + 0.530566193136505, + 15.203151118476777 + ], + [ + 0.6839784123321636, + 15.087515087117422 + ], + [ + 0.6862034134878121, + 15.094230144559091 + ], + [ + 0.6827557465149708, + 15.198102013641442 + ], + [ + 0.6849807476706192, + 15.204817071083111 + ] + ], + "yaw_rad": 0.010788412902735115, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3271506428718567, + 15.141632080078125, + 0.13068383932113647 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5300933683958524, + 15.144511030886965, + 0.11966010008479264 + ], + "intended_face_normal": [ + -0.9998937772327392, + -0.010775879317694205, + 0.009814003240280263 + ], + "commanded_contact_point": [ + 0.33163088440895083, + 15.145343093791153, + 0.11890230874386654 + ], + "centerline_face_intersection": [ + 0.530076963475881, + 15.145343093791153, + 0.11890230874386654 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.32585909962654114, + 15.144126892089844, + 0.12910163402557373 + ], + "box_pose": [ + 0.6117472648620605, + 15.147432327270508, + 0.1360032707452774, + -0.01401496585458517, + 0.004831134341657162, + 0.005456328857690096, + 0.9998751878738403 + ], + "box_yaw_rad": 0.010776606882301788, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023640334581613385 + } + } + }, + { + "simulation_time_ns": 3340000000, + "center": [ + 0.6072179114237478, + 15.145298782064964, + 0.11890830819788199 + ], + "face_center": [ + 0.5300103090714033, + 15.14446533394832, + 0.11961272679432283 + ], + "face_normal": [ + -0.9999001291492203, + -0.010793818925599268, + 0.009122783561416006 + ], + "footprint_xy": [ + [ + 0.5283414533884649, + 15.085847526056241 + ], + [ + 0.6860943694590306, + 15.085847526056241 + ], + [ + 0.6860943694590306, + 15.204750038073687 + ], + [ + 0.5283414533884649, + 15.204750038073687 + ] + ], + "projected_box_corners": [ + [ + 0.529563110391073, + 15.085847526056241 + ], + [ + 0.5316791647543417, + 15.092495358752137 + ], + [ + 0.5283414533884649, + 15.196435309144505 + ], + [ + 0.5304575077517337, + 15.2030831418404 + ], + [ + 0.6839783150957618, + 15.087514422289527 + ], + [ + 0.6860943694590306, + 15.094162254985422 + ], + [ + 0.6827566580931539, + 15.198102205377792 + ], + [ + 0.6848727124564226, + 15.204750038073687 + ] + ], + "yaw_rad": 0.010794477741393872, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.32731202244758606, + 15.13701343536377, + 0.12966777384281158 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5300650254672772, + 15.144500126493933, + 0.11964622125336423 + ], + "intended_face_normal": [ + -0.9998959190350498, + -0.010787708564161955, + 0.00958000111296195 + ], + "commanded_contact_point": [ + 0.3338463443517685, + 15.1453331027971, + 0.11890649846015494 + ], + "centerline_face_intersection": [ + 0.5300489513419667, + 15.1453331027971, + 0.11890649846015494 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3271506428718567, + 15.141632080078125, + 0.13068383932113647 + ], + "box_pose": [ + 0.6117150783538818, + 15.147420883178711, + 0.13600867986679077, + -0.013971722684800625, + 0.004714292474091053, + 0.005460396409034729, + 0.9998763203620911 + ], + "box_yaw_rad": 0.010788412902735115, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002215486432347196 + } + } + }, + { + "simulation_time_ns": 3360000000, + "center": [ + 0.607137178316967, + 15.145243720934987, + 0.11890874521111147 + ], + "face_center": [ + 0.5299291129836314, + 15.144410634683705, + 0.11956090866897617 + ], + "face_normal": [ + -0.9999061251229157, + -0.01078913248007691, + 0.00844603777189459 + ], + "footprint_xy": [ + [ + 0.5283422838507187, + 15.085847104594572 + ], + [ + 0.6859320727832152, + 15.085847104594572 + ], + [ + 0.6859320727832152, + 15.204640337275402 + ], + [ + 0.5283422838507187, + 15.204640337275402 + ] + ], + "projected_box_corners": [ + [ + 0.5295609413029839, + 15.085847104594572 + ], + [ + 0.5315159421165442, + 15.092384981865127 + ], + [ + 0.5283422838507187, + 15.196436287502284 + ], + [ + 0.530297284664279, + 15.202974164772838 + ], + [ + 0.683977071969655, + 15.087513277097134 + ], + [ + 0.6859320727832152, + 15.094051154367689 + ], + [ + 0.6827584145173897, + 15.198102460004847 + ], + [ + 0.68471341533095, + 15.204640337275402 + ] + ], + "yaw_rad": 0.010789726677292319, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3278774619102478, + 15.13101577758789, + 0.12393274903297424 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5300103090714033, + 15.14446533394832, + 0.11961272679432283 + ], + "intended_face_normal": [ + -0.9999001291492203, + -0.010793818925599268, + 0.009122783561416006 + ], + "commanded_contact_point": [ + 0.3355544011294842, + 15.145298782064964, + 0.11890830819788199 + ], + "centerline_face_intersection": [ + 0.5299948851829794, + 15.145298782064964, + 0.11890830819788199 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.32731202244758606, + 15.13701343536377, + 0.12966777384281158 + ], + "box_pose": [ + 0.6116529107093811, + 15.147381782531738, + 0.13601309061050415, + -0.013832800090312958, + 0.004486411344259977, + 0.005459628067910671, + 0.9998793005943298 + ], + "box_yaw_rad": 0.010794477741393872, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017084025122041443 + } + } + }, + { + "simulation_time_ns": 3380000000, + "center": [ + 0.6070322868293115, + 15.145164682959594, + 0.11890547863720259 + ], + "face_center": [ + 0.5298236846389386, + 15.14433048734062, + 0.11948906067507759 + ], + "face_normal": [ + -0.9999130778504277, + -0.010803499677926475, + 0.0075578535955230855 + ], + "footprint_xy": [ + [ + 0.5283433236086977, + 15.08584723484734 + ], + [ + 0.6857212500499253, + 15.08584723484734 + ], + [ + 0.6857212500499253, + 15.204482131071849 + ], + [ + 0.5283433236086977, + 15.204482131071849 + ] + ], + "projected_box_corners": [ + [ + 0.5295603552508575, + 15.08584723484734 + ], + [ + 0.5313040456691795, + 15.092222555525664 + ], + [ + 0.5283433236086977, + 15.196438419155577 + ], + [ + 0.5300870140270197, + 15.202813739833902 + ], + [ + 0.6839775596316033, + 15.087515626085285 + ], + [ + 0.6857212500499253, + 15.09389094676361 + ], + [ + 0.6827605279894435, + 15.198106810393524 + ], + [ + 0.6845042184077655, + 15.204482131071849 + ] + ], + "yaw_rad": 0.0108040184304613, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.329968124628067, + 15.127880096435547, + 0.12187646329402924 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5299291129836314, + 15.144410634683705, + 0.11956090866897617 + ], + "intended_face_normal": [ + -0.9999061251229157, + -0.01078913248007691, + 0.00844603777189459 + ], + "commanded_contact_point": [ + 0.33715186148881915, + 15.145243720934987, + 0.11890874521111147 + ], + "centerline_face_intersection": [ + 0.5299146151469033, + 15.145243720934987, + 0.11890874521111147 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3278774619102478, + 15.13101577758789, + 0.12393274903297424 + ], + "box_pose": [ + 0.6115607023239136, + 15.147318840026855, + 0.13601745665073395, + -0.013605410233139992, + 0.004149328451603651, + 0.005451652221381664, + 0.9998839497566223 + ], + "box_yaw_rad": 0.010789726677292319, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015984090586146792 + } + } + }, + { + "simulation_time_ns": 3400000000, + "center": [ + 0.6068999429068802, + 15.14505853536626, + 0.11889988762871534 + ], + "face_center": [ + 0.5296907485157502, + 15.144223229747299, + 0.11939714846487295 + ], + "face_normal": [ + -0.9999207473233237, + -0.010817875064539018, + 0.006439925074033195 + ], + "footprint_xy": [ + [ + 0.5283444753190245, + 15.08584382174547 + ], + [ + 0.6854554104947359, + 15.08584382174547 + ], + [ + 0.6854554104947359, + 15.20427324898705 + ], + [ + 0.5283444753190245, + 15.20427324898705 + ] + ], + "projected_box_corners": [ + [ + 0.5295592218870604, + 15.08584382174547 + ], + [ + 0.5310370217124757, + 15.09200893578815 + ], + [ + 0.5283444753190245, + 15.196437523706445 + ], + [ + 0.5298222751444398, + 15.202602637749125 + ], + [ + 0.6839776106693206, + 15.087514432983397 + ], + [ + 0.6854554104947359, + 15.093679547026078 + ], + [ + 0.6827628641012847, + 15.198108134944372 + ], + [ + 0.6842406639267, + 15.20427324898705 + ] + ], + "yaw_rad": 0.010818310414937757, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.33229881525039673, + 15.131083488464355, + 0.12260058522224426 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5298236846389386, + 15.14433048734062, + 0.11948906067507759 + ], + "intended_face_normal": [ + -0.9999130778504277, + -0.010803499677926475, + 0.0075578535955230855 + ], + "commanded_contact_point": [ + 0.33958233028650286, + 15.145164682959594, + 0.11890547863720259 + ], + "centerline_face_intersection": [ + 0.5298102606133606, + 15.145164682959594, + 0.11890547863720259 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.329968124628067, + 15.127880096435547, + 0.12187646329402924 + ], + "box_pose": [ + 0.6114407181739807, + 15.147228240966797, + 0.1360194832086563, + -0.013268893584609032, + 0.003706997726112604, + 0.005451535806059837, + 0.9998902678489685 + ], + "box_yaw_rad": 0.0108040184304613, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024317557954230216 + } + } + }, + { + "simulation_time_ns": 3420000000, + "center": [ + 0.6067405611446061, + 15.144931089717439, + 0.1188927746531303 + ], + "face_center": [ + 0.5295307684943529, + 15.144095223482886, + 0.11928513794719017 + ], + "face_normal": [ + -0.9999284952568972, + -0.010825135484271367, + 0.00508141810457291 + ], + "footprint_xy": [ + [ + 0.5283478196974298, + 15.085843653686462 + ], + [ + 0.6851333025917823, + 15.085843653686462 + ], + [ + 0.6851333025917823, + 15.204018525748413 + ], + [ + 0.5283478196974298, + 15.204018525748413 + ] + ], + "projected_box_corners": [ + [ + 0.5295589418315071, + 15.085843653686462 + ], + [ + 0.530713717291276, + 15.091750097433616 + ], + [ + 0.5283478196974298, + 15.196440349532155 + ], + [ + 0.5295025951571988, + 15.20234679327931 + ], + [ + 0.6839785271320133, + 15.087515386155566 + ], + [ + 0.6851333025917823, + 15.09342182990272 + ], + [ + 0.6827674049979361, + 15.19811208200126 + ], + [ + 0.6839221804577051, + 15.204018525748413 + ] + ], + "yaw_rad": 0.010825486684543313, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.33411550521850586, + 15.135767936706543, + 0.12432257831096649 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5296907485157502, + 15.144223229747299, + 0.11939714846487295 + ], + "intended_face_normal": [ + -0.9999207473233237, + -0.010817875064539018, + 0.006439925074033195 + ], + "commanded_contact_point": [ + 0.3424365545809269, + 15.14505853536626, + 0.11889988762871534 + ], + "centerline_face_intersection": [ + 0.5296785089901075, + 15.14505853536626, + 0.11889988762871534 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.33229881525039673, + 15.131083488464355, + 0.12260058522224426 + ], + "box_pose": [ + 0.611289381980896, + 15.147107124328613, + 0.13602057099342346, + -0.012833669781684875, + 0.003150342032313347, + 0.00544992508366704, + 0.9998977780342102 + ], + "box_yaw_rad": 0.010818310414937757, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002856202880368786 + } + } + }, + { + "simulation_time_ns": 3440000000, + "center": [ + 0.6065768083145922, + 15.144791460120116, + 0.1188844799700465 + ], + "face_center": [ + 0.5293665468331917, + 15.143955430666844, + 0.11916957491774388 + ], + "face_normal": [ + -0.9999345669947888, + -0.010827249297096378, + 0.0036922073259246044 + ], + "footprint_xy": [ + [ + 0.5283506870807939, + 15.085839668683489 + ], + [ + 0.6848029295483904, + 15.085839668683489 + ], + [ + 0.6848029295483904, + 15.203743251556745 + ], + [ + 0.5283506870807939, + 15.203743251556745 + ] + ], + "projected_box_corners": [ + [ + 0.5295578309527805, + 15.085839668683489 + ], + [ + 0.5303824065855894, + 15.091471452091623 + ], + [ + 0.5283506870807939, + 15.196439409242064 + ], + [ + 0.5291752627136028, + 15.202071192650198 + ], + [ + 0.6839783539155814, + 15.087511727590035 + ], + [ + 0.6848029295483904, + 15.09314351099817 + ], + [ + 0.6827712100435948, + 15.19811146814861 + ], + [ + 0.6835957856764037, + 15.203743251556745 + ] + ], + "yaw_rad": 0.010827534659235014, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3362506926059723, + 15.138209342956543, + 0.12494322657585144 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5295307684943529, + 15.144095223482886, + 0.11928513794719017 + ], + "intended_face_normal": [ + -0.9999284952568972, + -0.010825135484271367, + 0.00508141810457291 + ], + "commanded_contact_point": [ + 0.3448794919252396, + 15.144931089717439, + 0.1188927746531303 + ], + "centerline_face_intersection": [ + 0.5295197255771587, + 15.144931089717439, + 0.1188927746531303 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.33411550521850586, + 15.135767936706543, + 0.12432257831096649 + ], + "box_pose": [ + 0.6111069321632385, + 15.146961212158203, + 0.13602155447006226, + -0.012298081070184708, + 0.002473995788022876, + 0.005443502217531204, + 0.9999064803123474 + ], + "box_yaw_rad": 0.010825486684543313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002446269783990049 + } + } + }, + { + "simulation_time_ns": 3460000000, + "center": [ + 0.606407696851251, + 15.144649959404418, + 0.11887593224309992 + ], + "face_center": [ + 0.529197109362574, + 15.143813388659892, + 0.11904922848051692 + ], + "face_normal": [ + -0.9999387890494562, + -0.010834259451258623, + 0.0022443247153766848 + ], + "footprint_xy": [ + [ + 0.5283549542083017, + 15.085840489358473 + ], + [ + 0.6844604394942002, + 15.085840489358473 + ], + [ + 0.6844604394942002, + 15.203459429450364 + ], + [ + 0.5283549542083017, + 15.203459429450364 + ] + ], + "projected_box_corners": [ + [ + 0.529558851668928, + 15.085840489358473 + ], + [ + 0.5300392645168462, + 15.091183508601722 + ], + [ + 0.5283549542083017, + 15.196443268718062 + ], + [ + 0.5288353670562199, + 15.20178628796131 + ], + [ + 0.6839800266462819, + 15.087513630847527 + ], + [ + 0.6844604394942002, + 15.092856650090775 + ], + [ + 0.6827761291856556, + 15.198116410207115 + ], + [ + 0.6832565420335738, + 15.203459429450364 + ] + ], + "yaw_rad": 0.010834498706470711, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3390950560569763, + 15.140104293823242, + 0.12589117884635925 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5293665468331917, + 15.143955430666844, + 0.11916957491774388 + ], + "intended_face_normal": [ + -0.9999345669947888, + -0.010827249297096378, + 0.0036922073259246044 + ], + "commanded_contact_point": [ + 0.34711634248495105, + 15.144791460120116, + 0.1188844799700465 + ], + "centerline_face_intersection": [ + 0.5293564416424993, + 15.144791460120116, + 0.1188844799700465 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3362506926059723, + 15.138209342956543, + 0.12494322657585144 + ], + "box_pose": [ + 0.6109195947647095, + 15.146801948547363, + 0.13602156937122345, + -0.011729253455996513, + 0.0017825070535764098, + 0.005434995051473379, + 0.999914824962616 + ], + "box_yaw_rad": 0.010827534659235014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002241219679705091 + } + } + }, + { + "simulation_time_ns": 3480000000, + "center": [ + 0.6062293780030128, + 15.14449741411407, + 0.11886637653549988 + ], + "face_center": [ + 0.5290186239929489, + 15.143660138661609, + 0.11892238913375183 + ], + "face_normal": [ + -0.9999409456344461, + -0.010843385981985797, + 0.0007254078940377683 + ], + "footprint_xy": [ + [ + 0.5283583794079948, + 15.085839596812686 + ], + [ + 0.6841003765980307, + 15.085839596812686 + ], + [ + 0.6841003765980307, + 15.203155231415455 + ], + [ + 0.5283583794079948, + 15.203155231415455 + ] + ], + "projected_box_corners": [ + [ + 0.5295594761436477, + 15.085839596812686 + ], + [ + 0.5296788685779029, + 15.090874840914282 + ], + [ + 0.5283583794079948, + 15.196445436408935 + ], + [ + 0.52847777184225, + 15.201480680510532 + ], + [ + 0.6839809841637756, + 15.08751414771761 + ], + [ + 0.6841003765980307, + 15.092549391819206 + ], + [ + 0.6827798874281226, + 15.19811998731386 + ], + [ + 0.6828992798623778, + 15.203155231415455 + ] + ], + "yaw_rad": 0.010843601338872988, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.34307754039764404, + 15.142942428588867, + 0.12793634831905365 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.529197109362574, + 15.143813388659892, + 0.11904922848051692 + ], + "intended_face_normal": [ + -0.9999387890494562, + -0.010834259451258623, + 0.0022443247153766848 + ], + "commanded_contact_point": [ + 0.34935982406139376, + 15.144649959404418, + 0.11887593224309992 + ], + "centerline_face_intersection": [ + 0.5291876562277253, + 15.144649959404418, + 0.11887593224309992 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3390950560569763, + 15.140104293823242, + 0.12589117884635925 + ], + "box_pose": [ + 0.6107258796691895, + 15.146639823913574, + 0.13602164387702942, + -0.011131185106933117, + 0.001061809016391635, + 0.005429368000477552, + 0.9999228119850159 + ], + "box_yaw_rad": 0.010834498706470711, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002247955760244576 + } + } + }, + { + "simulation_time_ns": 3500000000, + "center": [ + 0.6060360824372496, + 15.14433000784953, + 0.11885508900981903 + ], + "face_center": [ + 0.5288253389073055, + 15.143492947430932, + 0.1187835641575177 + ], + "face_normal": [ + -0.9999408099085227, + -0.010840601121669896, + -0.0009263039762210205 + ], + "footprint_xy": [ + [ + 0.528090223988219, + 15.085840439433937 + ], + [ + 0.6839819408862803, + 15.085840439433937 + ], + [ + 0.6839819408862803, + 15.202819576265124 + ], + [ + 0.528090223988219, + 15.202819576265124 + ] + ], + "projected_box_corners": [ + [ + 0.529560453826392, + 15.085840439433937 + ], + [ + 0.5292873558147535, + 15.09053643840721 + ], + [ + 0.5283633219998575, + 15.196449456454657 + ], + [ + 0.528090223988219, + 15.201145455427927 + ], + [ + 0.6839819408862803, + 15.087514560271135 + ], + [ + 0.6837088428746418, + 15.092210559244407 + ], + [ + 0.6827848090597457, + 15.198123577291852 + ], + [ + 0.6825117110481073, + 15.202819576265124 + ] + ], + "yaw_rad": 0.010840818112817448, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3478211760520935, + 15.146491050720215, + 0.12991802394390106 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5290186239929489, + 15.143660138661609, + 0.11892238913375183 + ], + "intended_face_normal": [ + -0.9999409456344461, + -0.010843385981985797, + 0.0007254078940377683 + ], + "commanded_contact_point": [ + 0.3515059041976929, + 15.14449741411407, + 0.11886637653549988 + ], + "centerline_face_intersection": [ + 0.5290095039209027, + 15.14449741411407, + 0.11886637653549988 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.34307754039764404, + 15.142942428588867, + 0.12793634831905365 + ], + "box_pose": [ + 0.6105217337608337, + 15.146465301513672, + 0.13602110743522644, + -0.010493690147995949, + 0.0003057940921280533, + 0.005425280891358852, + 0.9999301433563232 + ], + "box_yaw_rad": 0.010843601338872988, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002151516053524299 + } + } + }, + { + "simulation_time_ns": 3520000000, + "center": [ + 0.6058220374284109, + 15.144144449498418, + 0.11884237635038991 + ], + "face_center": [ + 0.5286115414070797, + 15.14330849375088, + 0.11862980943514585 + ], + "face_normal": [ + -0.9999376044742582, + -0.010826294748971656, + -0.0027529113653265262 + ], + "footprint_xy": [ + [ + 0.5276619414001947, + 15.08584336071054 + ], + [ + 0.683982133456627, + 15.08584336071054 + ], + [ + 0.683982133456627, + 15.202445538286298 + ], + [ + 0.5276619414001947, + 15.202445538286298 + ] + ], + "projected_box_corners": [ + [ + 0.5295611414139647, + 15.08584336071054 + ], + [ + 0.5288540457975892, + 15.09016131633647 + ], + [ + 0.5283690370165702, + 15.196455671165289 + ], + [ + 0.5276619414001947, + 15.200773626791218 + ], + [ + 0.683982133456627, + 15.08751527220562 + ], + [ + 0.6832750378402516, + 15.091833227831549 + ], + [ + 0.6827900290592325, + 15.198127582660367 + ], + [ + 0.6820829334428571, + 15.202445538286298 + ] + ], + "yaw_rad": 0.01082654727555014, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3519650101661682, + 15.149527549743652, + 0.13119414448738098 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5288253389073055, + 15.143492947430932, + 0.1187835641575177 + ], + "intended_face_normal": [ + -0.9999408099085227, + -0.010840601121669896, + -0.0009263039762210205 + ], + "commanded_contact_point": [ + 0.3535162124037743, + 15.14433000784953, + 0.11885508900981903 + ], + "centerline_face_intersection": [ + 0.5288161978737804, + 15.14433000784953, + 0.11885508900981903 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3478211760520935, + 15.146491050720215, + 0.12991802394390106 + ], + "box_pose": [ + 0.6103003621101379, + 15.146273612976074, + 0.13601958751678467, + -0.00979096069931984, + -0.0005162081797607243, + 0.0054155862890183926, + 0.9999372363090515 + ], + "box_yaw_rad": 0.010840818112817448, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002017298031794329 + } + } + }, + { + "simulation_time_ns": 3540000000, + "center": [ + 0.6055809499486466, + 15.14393567971019, + 0.11882810772943819 + ], + "face_center": [ + 0.5283710473539819, + 15.143100624485786, + 0.11845618490304001 + ], + "face_normal": [ + -0.9999299191248597, + -0.010814632254956585, + -0.004816697719117774 + ], + "footprint_xy": [ + [ + 0.5271784542312756, + 15.085847265947743 + ], + [ + 0.6839834456660178, + 15.085847265947743 + ], + [ + 0.6839834456660178, + 15.202024093472634 + ], + [ + 0.5271784542312756, + 15.202024093472634 + ] + ], + "projected_box_corners": [ + [ + 0.529563640476688, + 15.085847265947743 + ], + [ + 0.5283661338758145, + 15.089738289159108 + ], + [ + 0.5283759608321491, + 15.196462959812465 + ], + [ + 0.5271784542312756, + 15.200353983023827 + ], + [ + 0.6839834456660178, + 15.087517376396551 + ], + [ + 0.6827859390651443, + 15.091408399607914 + ], + [ + 0.6827957660214787, + 15.198133070261271 + ], + [ + 0.6815982594206053, + 15.202024093472634 + ] + ], + "yaw_rad": 0.010814968534888314, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.35503578186035156, + 15.151257514953613, + 0.13097243010997772 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5286115414070797, + 15.14330849375088, + 0.11862980943514585 + ], + "intended_face_normal": [ + -0.9999376044742582, + -0.010826294748971656, + -0.0027529113653265262 + ], + "commanded_contact_point": [ + 0.35550238817930224, + 15.144144449498418, + 0.11884237635038991 + ], + "centerline_face_intersection": [ + 0.5286019053262325, + 15.144144449498418, + 0.11884237635038991 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3519650101661682, + 15.149527549743652, + 0.13119414448738098 + ], + "box_pose": [ + 0.6100552678108215, + 15.146060943603516, + 0.1360176056623459, + -0.009007822722196579, + -0.0014251833781599998, + 0.005400612484663725, + 0.9999439120292664 + ], + "box_yaw_rad": 0.01082654727555014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001994865339984533 + } + } + }, + { + "simulation_time_ns": 3560000000, + "center": [ + 0.6053292441864522, + 15.143737501614892, + 0.11882267720218444 + ], + "face_center": [ + 0.5281203132259442, + 15.14290323884204, + 0.1182844505066937 + ], + "face_normal": [ + -0.9999173356863211, + -0.010804369374305579, + -0.006970465678713138 + ], + "footprint_xy": [ + [ + 0.5266734139871673, + 15.08584930676778 + ], + [ + 0.6839850743857371, + 15.08584930676778 + ], + [ + 0.6839850743857371, + 15.201625696462003 + ], + [ + 0.5266734139871673, + 15.201625696462003 + ] + ], + "projected_box_corners": [ + [ + 0.5295672124647212, + 15.08584930676778 + ], + [ + 0.527857400153952, + 15.089338614463626 + ], + [ + 0.5283832262979364, + 15.196467863220452 + ], + [ + 0.5266734139871673, + 15.1999571709163 + ], + [ + 0.6839850743857371, + 15.087517832313484 + ], + [ + 0.6822752620749679, + 15.091007140009332 + ], + [ + 0.6828010882189525, + 15.198136388766157 + ], + [ + 0.6810912759081833, + 15.201625696462003 + ] + ], + "yaw_rad": 0.01080484209525003, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.35725852847099304, + 15.150094032287598, + 0.13016751408576965 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5283710473539819, + 15.143100624485786, + 0.11845618490304001 + ], + "intended_face_normal": [ + -0.9999299191248597, + -0.010814632254956585, + -0.004816697719117774 + ], + "commanded_contact_point": [ + 0.3575076299905777, + 15.14393567971019, + 0.11882810772943819 + ], + "centerline_face_intersection": [ + 0.5283602243411791, + 15.14393567971019, + 0.11882810772943819 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35503578186035156, + 15.151257514953613, + 0.13097243010997772 + ], + "box_pose": [ + 0.6097790598869324, + 15.145821571350098, + 0.13601534068584442, + -0.00812341645359993, + -0.00245223892852664, + 0.005387667566537857, + 0.9999495148658752 + ], + "box_yaw_rad": 0.010814968534888314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002016130734775948 + } + } + }, + { + "simulation_time_ns": 3580000000, + "center": [ + 0.6051114990198581, + 15.143567553697093, + 0.11881792972873682 + ], + "face_center": [ + 0.527903701514119, + 15.14273343286602, + 0.11813605794071175 + ], + "face_normal": [ + -0.9999026565415817, + -0.010802531114868966, + -0.00883078438050705 + ], + "footprint_xy": [ + [ + 0.5262364050312532, + 15.085850186026232 + ], + [ + 0.683986593008463, + 15.085850186026232 + ], + [ + 0.683986593008463, + 15.201284921367954 + ], + [ + 0.5262364050312532, + 15.201284921367954 + ] + ], + "projected_box_corners": [ + [ + 0.5295709979969849, + 15.085850186026232 + ], + [ + 0.5274185993191882, + 15.088995929560998 + ], + [ + 0.52838880370905, + 15.196470936171043 + ], + [ + 0.5262364050312532, + 15.199616679705809 + ], + [ + 0.683986593008463, + 15.087518427688378 + ], + [ + 0.6818341943306663, + 15.090664171223144 + ], + [ + 0.6828043987205279, + 15.198139177833188 + ], + [ + 0.6806520000427312, + 15.201284921367954 + ] + ], + "yaw_rad": 0.010803162480378992, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.35744667053222656, + 15.146657943725586, + 0.12793371081352234 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5281203132259442, + 15.14290323884204, + 0.1182844505066937 + ], + "intended_face_normal": [ + -0.9999173356863211, + -0.010804369374305579, + -0.006970465678713138 + ], + "commanded_contact_point": [ + 0.3595189961791039, + 15.143737501614892, + 0.11882267720218444 + ], + "centerline_face_intersection": [ + 0.5281075467963983, + 15.143737501614892, + 0.11882267720218444 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35725852847099304, + 15.150094032287598, + 0.13016751408576965 + ], + "box_pose": [ + 0.6094906330108643, + 15.145594596862793, + 0.13602197170257568, + -0.007291821762919426, + -0.0035246056504547596, + 0.005376738030463457, + 0.9999527335166931 + ], + "box_yaw_rad": 0.01080484209525003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002021113057804617 + } + } + }, + { + "simulation_time_ns": 3600000000, + "center": [ + 0.6049228609300143, + 15.143421044948296, + 0.1188128554543495 + ], + "face_center": [ + 0.5277162615723485, + 15.142587388661854, + 0.11800617373666264 + ], + "face_normal": [ + -0.9998871395668719, + -0.010796514890811596, + -0.010447172676291685 + ], + "footprint_xy": [ + [ + 0.5258574730736133, + 15.085852123237135 + ], + [ + 0.6839882487864153, + 15.085852123237135 + ], + [ + 0.6839882487864153, + 15.200989966659456 + ], + [ + 0.5258574730736133, + 15.200989966659456 + ] + ], + "projected_box_corners": [ + [ + 0.5295750500710836, + 15.085852123237135 + ], + [ + 0.5270380908983281, + 15.088700181448868 + ], + [ + 0.528394432246369, + 15.196474595874838 + ], + [ + 0.5258574730736133, + 15.19932265408657 + ], + [ + 0.6839882487864153, + 15.087519435810023 + ], + [ + 0.6814512896136597, + 15.090367494021756 + ], + [ + 0.6828076309617006, + 15.198141908447726 + ], + [ + 0.680270671788945, + 15.200989966659456 + ] + ], + "yaw_rad": 0.010797313917353484, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3546275496482849, + 15.144716262817383, + 0.12668897211551666 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.527903701514119, + 15.14273343286602, + 0.11813605794071175 + ], + "intended_face_normal": [ + -0.9999026565415817, + -0.010802531114868966, + -0.00883078438050705 + ], + "commanded_contact_point": [ + 0.3612451839447022, + 15.143567553697093, + 0.11881792972873682 + ], + "centerline_face_intersection": [ + 0.5278886679709769, + 15.143567553697093, + 0.11881792972873682 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35744667053222656, + 15.146657943725586, + 0.12793371081352234 + ], + "box_pose": [ + 0.6092411279678345, + 15.145400047302246, + 0.1360275149345398, + -0.006580673158168793, + -0.004450949840247631, + 0.005372222512960434, + 0.9999539852142334 + ], + "box_yaw_rad": 0.010803162480378992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001734540006851844 + } + } + }, + { + "simulation_time_ns": 3620000000, + "center": [ + 0.6047587726342344, + 15.143295417512698, + 0.11880826636745609 + ], + "face_center": [ + 0.527553371313987, + 15.14246265920157, + 0.11789326732851976 + ], + "face_normal": [ + -0.9998716240252279, + -0.010784885393113196, + -0.01184996851771905 + ], + "footprint_xy": [ + [ + 0.5255285692178326, + 15.085854702538603 + ], + [ + 0.683988976050636, + 15.085854702538603 + ], + [ + 0.683988976050636, + 15.200736132486792 + ], + [ + 0.5255285692178326, + 15.200736132486792 + ] + ], + "projected_box_corners": [ + [ + 0.5295781734101415, + 15.085854702538603 + ], + [ + 0.5267074526178909, + 15.088446790668106 + ], + [ + 0.5283992900100832, + 15.196478527735035 + ], + [ + 0.5255285692178326, + 15.199070615864537 + ], + [ + 0.683988976050636, + 15.08752021916086 + ], + [ + 0.6811182552583854, + 15.090112307290362 + ], + [ + 0.6828100926505778, + 15.19814404435729 + ], + [ + 0.6799393718583272, + 15.200736132486792 + ] + ], + "yaw_rad": 0.010785851815669635, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.35332679748535156, + 15.143804550170898, + 0.1265082061290741 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5277162615723485, + 15.142587388661854, + 0.11800617373666264 + ], + "intended_face_normal": [ + -0.9998871395668719, + -0.010796514890811596, + -0.010447172676291685 + ], + "commanded_contact_point": [ + 0.36303853124380114, + 15.143421044948296, + 0.1188128554543495 + ], + "centerline_face_intersection": [ + 0.5276988314811648, + 15.143421044948296, + 0.1188128554543495 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3546275496482849, + 15.144716262817383, + 0.12668897211551666 + ], + "box_pose": [ + 0.6090248823165894, + 15.145232200622559, + 0.13603129982948303, + -0.00596449663862586, + -0.005255840253084898, + 0.0053671556524932384, + 0.9999540448188782 + ], + "box_yaw_rad": 0.010797313917353484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017993290685475352 + } + } + }, + { + "simulation_time_ns": 3640000000, + "center": [ + 0.6046171063419656, + 15.143184684389846, + 0.11880336573893019 + ], + "face_center": [ + 0.5274128675951762, + 15.14235205798702, + 0.11779492367288931 + ], + "face_normal": [ + -0.9998565677702048, + -0.01078317707522983, + -0.013060130367371303 + ], + "footprint_xy": [ + [ + 0.5252442520593331, + 15.085855971407035 + ], + [ + 0.6839899606245982, + 15.085855971407035 + ], + [ + 0.6839899606245982, + 15.200513397372656 + ], + [ + 0.5252442520593331, + 15.200513397372656 + ] + ], + "projected_box_corners": [ + [ + 0.5295814831310195, + 15.085855971407035 + ], + [ + 0.5264228474619284, + 15.088223245519844 + ], + [ + 0.5284028877284243, + 15.196480870454195 + ], + [ + 0.5252442520593331, + 15.198848144567004 + ], + [ + 0.6839899606245982, + 15.08752122421269 + ], + [ + 0.680831324955507, + 15.089888498325497 + ], + [ + 0.6828113652220029, + 15.198146123259848 + ], + [ + 0.6796527295529118, + 15.200513397372656 + ] + ], + "yaw_rad": 0.010784305856690058, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.35501760244369507, + 15.143716812133789, + 0.12711818516254425 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.527553371313987, + 15.14246265920157, + 0.11789326732851976 + ], + "intended_face_normal": [ + -0.9998716240252279, + -0.010784885393113196, + -0.01184996851771905 + ], + "commanded_contact_point": [ + 0.36525174111127856, + 15.143295417512698, + 0.11880826636745609 + ], + "centerline_face_intersection": [ + 0.5275335448589038, + 15.143295417512698, + 0.11880826636745609 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35332679748535156, + 15.143804550170898, + 0.1265082061290741 + ], + "box_pose": [ + 0.608836829662323, + 15.145088195800781, + 0.13603432476520538, + -0.005434684455394745, + -0.005954394582659006, + 0.005360333248972893, + 0.9999532103538513 + ], + "box_yaw_rad": 0.010785851815669635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022167772169960384 + } + } + }, + { + "simulation_time_ns": 3660000000, + "center": [ + 0.6044917139131405, + 15.143088247938007, + 0.11879896233284287 + ], + "face_center": [ + 0.5272885944336321, + 15.142255682810104, + 0.11770814607371036 + ], + "face_normal": [ + -0.9998420723647706, + -0.010782383516024924, + -0.014126941974018483 + ], + "footprint_xy": [ + [ + 0.5249930562384952, + 15.085858213103695 + ], + [ + 0.6839903715877858, + 15.085858213103695 + ], + [ + 0.6839903715877858, + 15.200318282772319 + ], + [ + 0.5249930562384952, + 15.200318282772319 + ] + ], + "projected_box_corners": [ + [ + 0.5295841326287688, + 15.085858213103695 + ], + [ + 0.5261716818256389, + 15.088027388625132 + ], + [ + 0.5284055070416253, + 15.196483976995074 + ], + [ + 0.5249930562384952, + 15.198653152516513 + ], + [ + 0.6839903715877858, + 15.087523343359502 + ], + [ + 0.6805779207846558, + 15.08969251888094 + ], + [ + 0.6828117460006421, + 15.198149107250881 + ], + [ + 0.6793992951975122, + 15.200318282772319 + ] + ], + "yaw_rad": 0.0107836685998943, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.35844218730926514, + 15.144282341003418, + 0.13037057220935822 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5274128675951762, + 15.14235205798702, + 0.11779492367288931 + ], + "intended_face_normal": [ + -0.9998565677702048, + -0.01078317707522983, + -0.013060130367371303 + ], + "commanded_contact_point": [ + 0.36755482733249667, + 15.143184684389846, + 0.11880336573893019 + ], + "centerline_face_intersection": [ + 0.5273907156771156, + 15.143184684389846, + 0.11880336573893019 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35501760244369507, + 15.143716812133789, + 0.12711818516254425 + ], + "box_pose": [ + 0.6086744666099548, + 15.1449613571167, + 0.1360359787940979, + -0.004969328176230192, + -0.0065570129081606865, + 0.005359262693673372, + 0.9999518394470215 + ], + "box_yaw_rad": 0.010784305856690058, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002305751934406934 + } + } + }, + { + "simulation_time_ns": 3680000000, + "center": [ + 0.604380603147705, + 15.143001592265428, + 0.11879461085758838 + ], + "face_center": [ + 0.5271785421493269, + 15.142169104856356, + 0.11763123444122708 + ], + "face_normal": [ + -0.9998283641885449, + -0.010781376995072785, + -0.015066653976122226 + ], + "footprint_xy": [ + [ + 0.5247711401578731, + 15.085858708139067 + ], + [ + 0.6839900661375369, + 15.085858708139067 + ], + [ + 0.6839900661375369, + 15.200144476391788 + ], + [ + 0.5247711401578731, + 15.200144476391788 + ] + ], + "projected_box_corners": [ + [ + 0.5295859441407808, + 15.085858708139067 + ], + [ + 0.5259499204636247, + 15.087853036670325 + ], + [ + 0.5284071638350292, + 15.196485173042387 + ], + [ + 0.5247711401578731, + 15.198479501573644 + ], + [ + 0.6839900661375369, + 15.087523682957212 + ], + [ + 0.6803540424603808, + 15.089518011488469 + ], + [ + 0.6828112858317853, + 15.198150147860531 + ], + [ + 0.6791752621546292, + 15.200144476391788 + ] + ], + "yaw_rad": 0.010782809861554941, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.36110734939575195, + 15.14640998840332, + 0.13275517523288727 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5272885944336321, + 15.142255682810104, + 0.11770814607371036 + ], + "intended_face_normal": [ + -0.9998420723647706, + -0.010782383516024924, + -0.014126941974018483 + ], + "commanded_contact_point": [ + 0.36975577354431155, + 15.143088247938007, + 0.11879896233284287 + ], + "centerline_face_intersection": [ + 0.527264203643631, + 15.143088247938007, + 0.11879896233284287 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35844218730926514, + 15.144282341003418, + 0.13037057220935822 + ], + "box_pose": [ + 0.6085308194160461, + 15.144850730895996, + 0.13603731989860535, + -0.004559279419481754, + -0.007088258862495422, + 0.0053591420873999596, + 0.9999500513076782 + ], + "box_yaw_rad": 0.0107836685998943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002203062324704133 + } + } + }, + { + "simulation_time_ns": 3700000000, + "center": [ + 0.6043028350481641, + 15.142936546348057, + 0.11879212632229215 + ], + "face_center": [ + 0.5271015641709551, + 15.142103812290623, + 0.11757761749817934 + ], + "face_normal": [ + -0.9998181314882022, + -0.010784571288404321, + -0.01572885950455099 + ], + "footprint_xy": [ + [ + 0.5246150803293163, + 15.085858479106635 + ], + [ + 0.6839905897670118, + 15.085858479106635 + ], + [ + 0.6839905897670118, + 15.200014613589481 + ], + [ + 0.5246150803293163, + 15.200014613589481 + ] + ], + "projected_box_corners": [ + [ + 0.529588048012594, + 15.085858479106635 + ], + [ + 0.5257945454351081, + 15.087722199988564 + ], + [ + 0.5284085829068021, + 15.196485424592684 + ], + [ + 0.5246150803293163, + 15.198349145474612 + ], + [ + 0.6839905897670118, + 15.087523947221504 + ], + [ + 0.680197087189526, + 15.089387668103432 + ], + [ + 0.68281112466122, + 15.198150892707552 + ], + [ + 0.6790176220837341, + 15.200014613589481 + ] + ], + "yaw_rad": 0.010786114713144121, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3614710867404938, + 15.146154403686523, + 0.13027068972587585 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271785421493269, + 15.142169104856356, + 0.11763123444122708 + ], + "intended_face_normal": [ + -0.9998283641885449, + -0.010781376995072785, + -0.015066653976122226 + ], + "commanded_contact_point": [ + 0.3720427665114403, + 15.143001592265428, + 0.11879461085758838 + ], + "centerline_face_intersection": [ + 0.5271520340481421, + 15.143001592265428, + 0.11879461085758838 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.36110734939575195, + 15.14640998840332, + 0.13275517523288727 + ], + "box_pose": [ + 0.6084036231040955, + 15.14475154876709, + 0.13603800535202026, + -0.004197355825453997, + -0.007556212600320578, + 0.005359249655157328, + 0.999948263168335 + ], + "box_yaw_rad": 0.010782809861554941, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002288638235419346 + } + } + }, + { + "simulation_time_ns": 3720000000, + "center": [ + 0.6043018574105725, + 15.142935876883788, + 0.11879273113886679 + ], + "face_center": [ + 0.5271005919277633, + 15.142103305398619, + 0.11757776817381786 + ], + "face_normal": [ + -0.9998180616264172, + -0.010782465847691599, + -0.015734740992472462 + ], + "footprint_xy": [ + [ + 0.5246135300935613, + 15.085859885164714 + ], + [ + 0.6839901847275839, + 15.085859885164714 + ], + [ + 0.6839901847275839, + 15.200011868602862 + ], + [ + 0.5246135300935613, + 15.200011868602862 + ] + ], + "projected_box_corners": [ + [ + 0.5295876537619654, + 15.085859885164714 + ], + [ + 0.5257927851611632, + 15.087719763882754 + ], + [ + 0.5284083986943633, + 15.196486846914485 + ], + [ + 0.5246135300935613, + 15.198346725632526 + ], + [ + 0.6839901847275839, + 15.087525028135051 + ], + [ + 0.6801953161267817, + 15.089384906853093 + ], + [ + 0.6828109296599818, + 15.198151989884822 + ], + [ + 0.6790160610591798, + 15.200011868602862 + ] + ], + "yaw_rad": 0.01078400988785196, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.36235177516937256, + 15.139884948730469, + 0.12502717971801758 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271015641709551, + 15.142103812290623, + 0.11757761749817934 + ], + "intended_face_normal": [ + -0.9998181314882022, + -0.010784571288404321, + -0.01572885950455099 + ], + "commanded_contact_point": [ + 0.3746036204695702, + 15.142936546348057, + 0.11879212632229215 + ], + "centerline_face_intersection": [ + 0.5270734755480467, + 15.142936546348057, + 0.11879212632229215 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3614710867404938, + 15.146154403686523, + 0.13027068972587585 + ], + "box_pose": [ + 0.6083145141601562, + 15.14467716217041, + 0.1360391080379486, + -0.0039269160479307175, + -0.007885903120040894, + 0.005361603107303381, + 0.9999468922615051 + ], + "box_yaw_rad": 0.010786114713144121, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025616811158205664 + } + } + }, + { + "simulation_time_ns": 3740000000, + "center": [ + 0.6043021202367835, + 15.142934279172088, + 0.11879273684890167 + ], + "face_center": [ + 0.5271008434403978, + 15.142102231804973, + 0.11757813368860179 + ], + "face_normal": [ + -0.9998182081462715, + -0.01077567810020652, + -0.015730081233535708 + ], + "footprint_xy": [ + [ + 0.5246147269673134, + 15.085860759073237 + ], + [ + 0.6839895135062537, + 15.085860759073237 + ], + [ + 0.6839895135062537, + 15.200007799270942 + ], + [ + 0.5246147269673134, + 15.200007799270942 + ] + ], + "projected_box_corners": [ + [ + 0.5295869599134821, + 15.085860759073237 + ], + [ + 0.5257932638350717, + 15.087716720698417 + ], + [ + 0.5284084230457238, + 15.196487742911529 + ], + [ + 0.5246147269673134, + 15.198343704536711 + ], + [ + 0.6839895135062537, + 15.087524853807468 + ], + [ + 0.6801958174278434, + 15.08938081543265 + ], + [ + 0.6828109766384953, + 15.198151837645762 + ], + [ + 0.6790172805600849, + 15.200007799270942 + ] + ], + "yaw_rad": 0.010777220114945049, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3660888075828552, + 15.134538650512695, + 0.12378174066543579 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271005919277633, + 15.142103305398619, + 0.11757776817381786 + ], + "intended_face_normal": [ + -0.9998180616264172, + -0.010782465847691599, + -0.015734740992472462 + ], + "commanded_contact_point": [ + 0.37736214578151706, + 15.142935876883788, + 0.11879273113886679 + ], + "centerline_face_intersection": [ + 0.5270724925140924, + 15.142935876883788, + 0.11879273113886679 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.36235177516937256, + 15.139884948730469, + 0.12502717971801758 + ], + "box_pose": [ + 0.6083134412765503, + 15.144676208496094, + 0.13603976368904114, + -0.003918915521353483, + -0.007888797670602798, + 0.005360602401196957, + 0.9999468326568604 + ], + "box_yaw_rad": 0.01078400988785196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027585254594868374 + } + } + }, + { + "simulation_time_ns": 3760000000, + "center": [ + 0.6043050175810681, + 15.1429324870059, + 0.11879236679887728 + ], + "face_center": [ + 0.5271037138279434, + 15.142100464148953, + 0.1175794615031493 + ], + "face_normal": [ + -0.9998185572575747, + -0.010775360673938564, + -0.01570809253095989 + ], + "footprint_xy": [ + [ + 0.5246202458496052, + 15.085859782979364 + ], + [ + 0.6839897893125311, + 15.085859782979364 + ], + [ + 0.6839897893125311, + 15.200005191032435 + ], + [ + 0.5246202458496052, + 15.200005191032435 + ] + ], + "projected_box_corners": [ + [ + 0.5295871818062817, + 15.085859782979364 + ], + [ + 0.5257987784130005, + 15.087714155434414 + ], + [ + 0.5284086492428863, + 15.19648677286349 + ], + [ + 0.5246202458496052, + 15.198341145318542 + ], + [ + 0.6839897893125311, + 15.087523828693257 + ], + [ + 0.6802013859192498, + 15.089378201148309 + ], + [ + 0.6828112567491357, + 15.198150818577385 + ], + [ + 0.6790228533558545, + 15.200005191032435 + ] + ], + "yaw_rad": 0.010776898905103903, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.37134215235710144, + 15.1331787109375, + 0.1264265477657318 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271008434403978, + 15.142102231804973, + 0.11757813368860179 + ], + "intended_face_normal": [ + -0.9998182081462715, + -0.01077567810020652, + -0.015730081233535708 + ], + "commanded_contact_point": [ + 0.38061474144458773, + 15.142934279172088, + 0.11879273684890167 + ], + "centerline_face_intersection": [ + 0.5270727666579962, + 15.142934279172088, + 0.11879273684890167 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3660888075828552, + 15.134538650512695, + 0.12378174066543579 + ], + "box_pose": [ + 0.608313798904419, + 15.144674301147461, + 0.13603977859020233, + -0.0039107115007936954, + -0.007886409759521484, + 0.005357281770557165, + 0.9999469518661499 + ], + "box_yaw_rad": 0.010777220114945049, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003252596055482677 + } + } + }, + { + "simulation_time_ns": 3780000000, + "center": [ + 0.6043104028684906, + 15.142936681393671, + 0.11879231700537787 + ], + "face_center": [ + 0.5271090472371225, + 15.142104501978203, + 0.1175828259396482 + ], + "face_normal": [ + -0.999819229122272, + -0.010777388231873977, + -0.015663875524962716 + ], + "footprint_xy": [ + [ + 0.5246307363807382, + 15.085859889820286 + ], + [ + 0.683990069356243, + 15.085859889820286 + ], + [ + 0.683990069356243, + 15.200013472967058 + ], + [ + 0.5246307363807382, + 15.200013472967058 + ] + ], + "projected_box_corners": [ + [ + 0.5295873580935067, + 15.085859889820286 + ], + [ + 0.5258094745521178, + 15.087722154868013 + ], + [ + 0.5284086199221271, + 15.19648684908839 + ], + [ + 0.5246307363807382, + 15.198349114136118 + ], + [ + 0.683990069356243, + 15.087524248651226 + ], + [ + 0.6802121858148542, + 15.089386513698953 + ], + [ + 0.6828113311848634, + 15.198151207919329 + ], + [ + 0.6790334476434746, + 15.200013472967058 + ] + ], + "yaw_rad": 0.0107789193527015, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3757225573062897, + 15.135619163513184, + 0.12905071675777435 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271037138279434, + 15.142100464148953, + 0.1175794615031493 + ], + "intended_face_normal": [ + -0.9998185572575747, + -0.010775360673938564, + -0.01570809253095989 + ], + "commanded_contact_point": [ + 0.38444417595863345, + 15.1429324870059, + 0.11879236679887728 + ], + "centerline_face_intersection": [ + 0.5270756909688139, + 15.1429324870059, + 0.11879236679887728 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.37134215235710144, + 15.1331787109375, + 0.1264265477657318 + ], + "box_pose": [ + 0.6083170771598816, + 15.144672393798828, + 0.13603933155536652, + -0.003907339181751013, + -0.007875395938754082, + 0.005357192363590002, + 0.9999470114707947 + ], + "box_yaw_rad": 0.010776898905103903, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038294349512899696 + } + } + }, + { + "simulation_time_ns": 3800000000, + "center": [ + 0.6043187761520527, + 15.142941768905027, + 0.11879136926926986 + ], + "face_center": [ + 0.5271173349550446, + 15.142109543702055, + 0.11758738380603811 + ], + "face_normal": [ + -0.9998203372656632, + -0.010777981216584485, + -0.015592573574364567 + ], + "footprint_xy": [ + [ + 0.5246474971108924, + 15.085860535816577 + ], + [ + 0.6839900551932129, + 15.085860535816577 + ], + [ + 0.6839900551932129, + 15.200023001993475 + ], + [ + 0.5246474971108924, + 15.200023001993475 + ] + ], + "projected_box_corners": [ + [ + 0.529587172799197, + 15.085860535816577 + ], + [ + 0.5258262996512483, + 15.087731624693586 + ], + [ + 0.5284083702588411, + 15.196487462710527 + ], + [ + 0.5246474971108924, + 15.198358551587535 + ], + [ + 0.6839900551932129, + 15.087524986222517 + ], + [ + 0.6802291820452643, + 15.089396075099527 + ], + [ + 0.682811252652857, + 15.198151913116467 + ], + [ + 0.6790503795049084, + 15.200023001993475 + ] + ], + "yaw_rad": 0.01077950042924977, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.37880584597587585, + 15.139050483703613, + 0.12990489602088928 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271090472371225, + 15.142104501978203, + 0.1175828259396482 + ], + "intended_face_normal": [ + -0.999819229122272, + -0.010777388231873977, + -0.015663875524962716 + ], + "commanded_contact_point": [ + 0.3885769906640053, + 15.142936681393671, + 0.11879231700537787 + ], + "centerline_face_intersection": [ + 0.527081128153276, + 15.142936681393671, + 0.11879231700537787 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3757225573062897, + 15.135619163513184, + 0.12905071675777435 + ], + "box_pose": [ + 0.6083232164382935, + 15.14467716217041, + 0.13603904843330383, + -0.003923679236322641, + -0.007853376679122448, + 0.005358163267374039, + 0.9999471306800842 + ], + "box_yaw_rad": 0.0107789193527015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004132816834110366 + } + } + }, + { + "simulation_time_ns": 3820000000, + "center": [ + 0.6043274471477582, + 15.142947615397489, + 0.1187912609508083 + ], + "face_center": [ + 0.5271259220854244, + 15.142115186999186, + 0.11759280624070688 + ], + "face_normal": [ + -0.9998214233886297, + -0.010780612758475742, + -0.015520945902984792 + ], + "footprint_xy": [ + [ + 0.5246644766840879, + 15.085860491176517 + ], + [ + 0.6839904176114285, + 15.085860491176517 + ], + [ + 0.6839904176114285, + 15.200034739618461 + ], + [ + 0.5246644766840879, + 15.200034739618461 + ] + ], + "projected_box_corners": [ + [ + 0.5295873674867609, + 15.085860491176517 + ], + [ + 0.5258435512699406, + 15.087743000274562 + ], + [ + 0.5284082929009082, + 15.19648737372381 + ], + [ + 0.5246644766840879, + 15.198369882821856 + ], + [ + 0.6839904176114285, + 15.087525347973124 + ], + [ + 0.6802466013946082, + 15.08940785707117 + ], + [ + 0.6828113430255758, + 15.198152230520417 + ], + [ + 0.6790675268087555, + 15.200034739618461 + ] + ], + "yaw_rad": 0.010782120426214077, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.38197219371795654, + 15.139140129089355, + 0.1292591691017151 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271173349550446, + 15.142109543702055, + 0.11758738380603811 + ], + "intended_face_normal": [ + -0.9998203372656632, + -0.010777981216584485, + -0.015592573574364567 + ], + "commanded_contact_point": [ + 0.3926320287585259, + 15.142941768905027, + 0.11879136926926986 + ], + "centerline_face_intersection": [ + 0.527089587033327, + 15.142941768905027, + 0.11879136926926986 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.37880584597587585, + 15.139050483703613, + 0.12990489602088928 + ], + "box_pose": [ + 0.6083328127861023, + 15.144682884216309, + 0.13603775203227997, + -0.003941881936043501, + -0.007817820645868778, + 0.005358455702662468, + 0.9999473690986633 + ], + "box_yaw_rad": 0.01077950042924977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004055041396704667 + } + } + }, + { + "simulation_time_ns": 3840000000, + "center": [ + 0.6043381787072843, + 15.142956832438957, + 0.11879134651939974 + ], + "face_center": [ + 0.5271365381810182, + 15.142124765074461, + 0.11760010087462222 + ], + "face_normal": [ + -0.9998229187387931, + -0.010775937082232828, + -0.015427582747948417 + ], + "footprint_xy": [ + [ + 0.5246864819399757, + 15.085861070012834 + ], + [ + 0.6839898754745931, + 15.085861070012834 + ], + [ + 0.6839898754745931, + 15.200052594865078 + ], + [ + 0.5246864819399757, + 15.200052594865078 + ] + ], + "projected_box_corners": [ + [ + 0.5295865944220609, + 15.085861070012834 + ], + [ + 0.5258649928809062, + 15.087761637688054 + ], + [ + 0.5284080834811304, + 15.196487892460869 + ], + [ + 0.5246864819399757, + 15.198388460136089 + ], + [ + 0.6839898754745931, + 15.087525204741823 + ], + [ + 0.6802682739334383, + 15.089425772417043 + ], + [ + 0.6828113645336626, + 15.198152027189858 + ], + [ + 0.6790897629925078, + 15.200052594865078 + ] + ], + "yaw_rad": 0.010777428340602992, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.38634026050567627, + 15.138371467590332, + 0.12886790931224823 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271259220854244, + 15.142115186999186, + 0.11759280624070688 + ], + "intended_face_normal": [ + -0.9998214233886297, + -0.010780612758475742, + -0.015520945902984792 + ], + "commanded_contact_point": [ + 0.3957348528504372, + 15.142947615397489, + 0.1187912609508083 + ], + "centerline_face_intersection": [ + 0.5270983419244103, + 15.142947615397489, + 0.1187912609508083 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.38197219371795654, + 15.139140129089355, + 0.1292591691017151 + ], + "box_pose": [ + 0.608342707157135, + 15.144689559936523, + 0.13603727519512177, + -0.003965503536164761, + -0.007782135158777237, + 0.005359727423638105, + 0.9999475479125977 + ], + "box_yaw_rad": 0.010782120426214077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031028296019202013 + } + } + }, + { + "simulation_time_ns": 3860000000, + "center": [ + 0.6043511580472039, + 15.142966783378371, + 0.1187919760803835 + ], + "face_center": [ + 0.5271493839784056, + 15.142135191752999, + 0.11760908178731853 + ], + "face_normal": [ + -0.9998246482212687, + -0.010769775880551656, + -0.01531942607164275 + ], + "footprint_xy": [ + [ + 0.5247125620600718, + 15.08586092393949 + ], + [ + 0.683989754034336, + 15.08586092393949 + ], + [ + 0.683989754034336, + 15.200072642817252 + ], + [ + 0.5247125620600718, + 15.200072642817252 + ] + ], + "projected_box_corners": [ + [ + 0.5295862058967393, + 15.08586092393949 + ], + [ + 0.5258903374974115, + 15.087782707728525 + ], + [ + 0.5284084304593996, + 15.196487675777473 + ], + [ + 0.5247125620600718, + 15.198409459566507 + ], + [ + 0.683989754034336, + 15.087524107190236 + ], + [ + 0.6802938856350083, + 15.08944589097927 + ], + [ + 0.6828119785969962, + 15.19815085902822 + ], + [ + 0.6791161101976684, + 15.200072642817252 + ] + ], + "yaw_rad": 0.010771248132483808, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3907294273376465, + 15.137334823608398, + 0.12875688076019287 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271365381810182, + 15.142124765074461, + 0.11760010087462222 + ], + "intended_face_normal": [ + -0.9998229187387931, + -0.010775937082232828, + -0.015427582747948417 + ], + "commanded_contact_point": [ + 0.39877842247486117, + 15.142956832438957, + 0.11879134651939974 + ], + "centerline_face_intersection": [ + 0.5271091889889453, + 15.142956832438957, + 0.11879134651939974 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.38634026050567627, + 15.138371467590332, + 0.12886790931224823 + ], + "box_pose": [ + 0.6083550453186035, + 15.144700050354004, + 0.13603685796260834, + -0.004002875182777643, + -0.007735640741884708, + 0.005357284098863602, + 0.9999476671218872 + ], + "box_yaw_rad": 0.010777428340602992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003043583581880369 + } + } + }, + { + "simulation_time_ns": 3880000000, + "center": [ + 0.6043680745759613, + 15.142982728869445, + 0.11879299201448555 + ], + "face_center": [ + 0.5271661335488323, + 15.142150918753202, + 0.11762120020807018 + ], + "face_normal": [ + -0.9998268104650283, + -0.010772605511852437, + -0.015175640000108754 + ], + "footprint_xy": [ + [ + 0.5247462801424858, + 15.085861614252712 + ], + [ + 0.6839898690094368, + 15.085861614252712 + ], + [ + 0.6839898690094368, + 15.200103843486177 + ], + [ + 0.5247462801424858, + 15.200103843486177 + ] + ], + "projected_box_corners": [ + [ + 0.5295859869551788, + 15.085861614252712 + ], + [ + 0.5259242861331194, + 15.08781358721034 + ], + [ + 0.5284079809645452, + 15.196488250296067 + ], + [ + 0.5247462801424858, + 15.198440223253694 + ], + [ + 0.6839898690094368, + 15.087525234485197 + ], + [ + 0.6803281681873774, + 15.089477207442824 + ], + [ + 0.6828118630188033, + 15.19815187052855 + ], + [ + 0.6791501621967438, + 15.200103843486177 + ] + ], + "yaw_rad": 0.010774054633213091, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.3948678970336914, + 15.136101722717285, + 0.1280389130115509 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 0.5271493839784056, + 15.142135191752999, + 0.11760908178731853 + ], + "intended_face_normal": [ + -0.9998246482212687, + -0.010769775880551656, + -0.01531942607164275 + ], + "commanded_contact_point": [ + 0.4020051795244217, + 15.142966783378371, + 0.1187919760803835 + ], + "centerline_face_intersection": [ + 0.5271223019184743, + 15.142966783378371, + 0.1187919760803835 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3907294273376465, + 15.137334823608398, + 0.12875688076019287 + ], + "box_pose": [ + 0.6083698868751526, + 15.1447114944458, + 0.13603690266609192, + -0.004046781919896603, + -0.007681778632104397, + 0.00535407941788435, + 0.9999480843544006 + ], + "box_yaw_rad": 0.010771248132483808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003226772454703144 + } + } + }, + { + "simulation_time_ns": 3900000000, + "center": [ + 0.6043880728486984, + 15.142996781122315, + 0.11879302088592271 + ], + "face_center": [ + 0.5271859396290387, + 15.14216449136565, + 0.11763430488860037 + ], + "face_normal": [ + -0.9998292995118373, + -0.010778817238524318, + -0.015006297826507831 + ], + "footprint_xy": [ + [ + 0.5247859164866071, + 15.0858603518003 + ], + [ + 0.6839902292107898, + 15.0858603518003 + ], + [ + 0.6839902292107898, + 15.200133210444333 + ], + [ + 0.5247859164866071, + 15.200133210444333 + ] + ], + "projected_box_corners": [ + [ + 0.5295859627714704, + 15.0858603518003 + ], + [ + 0.5259645577246551, + 15.087842114945035 + ], + [ + 0.5284073215334224, + 15.196486867786264 + ], + [ + 0.5247859164866071, + 15.198468630931 + ], + [ + 0.6839902292107898, + 15.087524931313633 + ], + [ + 0.6803688241639745, + 15.089506694458368 + ], + [ + 0.6828115879727418, + 15.198151447299598 + ], + [ + 0.6791901829259265, + 15.200133210444333 + ] + ], + "yaw_rad": 0.010780239879215309, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.39818274974823, + 15.135490417480469, + 0.12677161395549774 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5271661335488323, + 15.142150918753202, + 0.11762120020807018 + ], + "intended_face_normal": [ + -0.9998268104650283, + -0.010772605511852437, + -0.015175640000108754 + ], + "commanded_contact_point": [ + 0.4020051795244217, + 15.142966783378371, + 0.1187919760803835 + ], + "centerline_face_intersection": [ + 0.5271393854637695, + 15.142982728869445, + 0.11879299201448555 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3948678970336914, + 15.136101722717285, + 0.1280389130115509 + ], + "box_pose": [ + 0.6083892583847046, + 15.144729614257812, + 0.13603712618350983, + -0.004109331872314215, + -0.0076102204620838165, + 0.005355306901037693, + 0.999948263168335 + ], + "box_yaw_rad": 0.010774054633213091, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 3920000000, + "center": [ + 0.6044102426232025, + 15.143014225933184, + 0.11879358916821685 + ], + "face_center": [ + 0.5272079002598126, + 15.142181544035349, + 0.11764917802869834 + ], + "face_normal": [ + -0.9998320080902227, + -0.010783895779918649, + -0.014821038490254655 + ], + "footprint_xy": [ + [ + 0.5248296592008844, + 15.08585959997557 + ], + [ + 0.6839908260455206, + 15.08585959997557 + ], + [ + 0.6839908260455206, + 15.200168851890796 + ], + [ + 0.5248296592008844, + 15.200168851890796 + ] + ], + "projected_box_corners": [ + [ + 0.5295861413187407, + 15.08585959997557 + ], + [ + 0.5260087889748873, + 15.08787711562045 + ], + [ + 0.5284070115447378, + 15.196485972450246 + ], + [ + 0.5248296592008844, + 15.198503488095128 + ], + [ + 0.6839908260455206, + 15.087524963771239 + ], + [ + 0.6804134737016673, + 15.08954247941612 + ], + [ + 0.6828116962715176, + 15.198151336245916 + ], + [ + 0.6792343439276644, + 15.200168851890796 + ] + ], + "yaw_rad": 0.010785289481591971, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.39984315633773804, + 15.135558128356934, + 0.12469731271266937 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5271859396290387, + 15.14216449136565, + 0.11763430488860037 + ], + "intended_face_normal": [ + -0.9998292995118373, + -0.010778817238524318, + -0.015006297826507831 + ], + "commanded_contact_point": [ + 0.4048602392982024, + 15.142967010327494, + 0.11879224382928266 + ], + "centerline_face_intersection": [ + 0.5271595759951475, + 15.142996781122315, + 0.11879302088592271 + ], + "commanded_world_base_velocity": [ + 0.13745536, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.39818274974823, + 15.135490417480469, + 0.12677161395549774 + ], + "box_pose": [ + 0.6084121465682983, + 15.144745826721191, + 0.13603626191616058, + -0.004170993808656931, + -0.007525884546339512, + 0.0053582931868731976, + 0.9999486804008484 + ], + "box_yaw_rad": 0.010780239879215309, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00285505979535562 + } + } + }, + { + "simulation_time_ns": 3940000000, + "center": [ + 0.6044349780889154, + 15.14303328692611, + 0.11879447872765511 + ], + "face_center": [ + 0.527232405140562, + 15.142199864569013, + 0.11766627670302718 + ], + "face_normal": [ + -0.9998349943497071, + -0.010793485318914716, + -0.014611117503477463 + ], + "footprint_xy": [ + [ + 0.5248786276394561, + 15.085858229354635 + ], + [ + 0.6839913285383749, + 15.085858229354635 + ], + [ + 0.6839913285383749, + 15.200208344497588 + ], + [ + 0.5248786276394561, + 15.200208344497588 + ] + ], + "projected_box_corners": [ + [ + 0.5295861826416679, + 15.085858229354635 + ], + [ + 0.5260587490464126, + 15.087915293664766 + ], + [ + 0.5284060612347113, + 15.196484435473259 + ], + [ + 0.5248786276394561, + 15.19854149978339 + ], + [ + 0.6839913285383749, + 15.087525074068832 + ], + [ + 0.6804638949431195, + 15.089582138378963 + ], + [ + 0.6828112071314183, + 15.198151280187457 + ], + [ + 0.679283773536163, + 15.200208344497588 + ] + ], + "yaw_rad": 0.010794847276081697, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4023224115371704, + 15.136884689331055, + 0.12298953533172607 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5272079002598126, + 15.142181544035349, + 0.11764917802869834 + ], + "intended_face_normal": [ + -0.9998320080902227, + -0.010783895779918649, + -0.014821038490254655 + ], + "commanded_contact_point": [ + 0.4078210336464969, + 15.142967760765403, + 0.11879302227510725 + ], + "centerline_face_intersection": [ + 0.5271819549842353, + 15.143014225933184, + 0.11879358916821685 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.39984315633773804, + 15.135558128356934, + 0.12469731271266937 + ], + "box_pose": [ + 0.6084374785423279, + 15.144765853881836, + 0.13603582978248596, + -0.004245036281645298, + -0.007433654740452766, + 0.005360665265470743, + 0.9999489784240723 + ], + "box_yaw_rad": 0.010785289481591971, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029607945457305156 + } + } + }, + { + "simulation_time_ns": 3960000000, + "center": [ + 0.6044635989847584, + 15.143054832371542, + 0.11879527664124435 + ], + "face_center": [ + 0.5272607561311116, + 15.142221181914177, + 0.11768586935522377 + ], + "face_normal": [ + -0.9998384898388768, + -0.010796439399585921, + -0.014367710623996496 + ], + "footprint_xy": [ + [ + 0.5249358009509493, + 15.085857036692175 + ], + [ + 0.6839913970185677, + 15.085857036692175 + ], + [ + 0.6839913970185677, + 15.200252628050906 + ], + [ + 0.5249358009509493, + 15.200252628050906 + ] + ], + "projected_box_corners": [ + [ + 0.5295857113112737, + 15.085857036692175 + ], + [ + 0.5261161827782803, + 15.087959305292019 + ], + [ + 0.5284053294839427, + 15.196483058536334 + ], + [ + 0.5249358009509493, + 15.198585327136177 + ], + [ + 0.6839913970185677, + 15.087524337606904 + ], + [ + 0.6805218684855743, + 15.08962660620675 + ], + [ + 0.6828110151912367, + 15.198150359451063 + ], + [ + 0.6793414866582432, + 15.200252628050906 + ] + ], + "yaw_rad": 0.010797763753139405, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.406333863735199, + 15.14000129699707, + 0.12397441267967224 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.527232405140562, + 15.142199864569013, + 0.11766627670302718 + ], + "intended_face_normal": [ + -0.9998349943497071, + -0.010793485318914716, + -0.014611117503477463 + ], + "commanded_contact_point": [ + 0.41088100551952006, + 15.142969151489991, + 0.11879427434882456 + ], + "centerline_face_intersection": [ + 0.5272069211117151, + 15.14303328692611, + 0.11879447872765511 + ], + "commanded_world_base_velocity": [ + 0.11967871999999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4023224115371704, + 15.136884689331055, + 0.12298953533172607 + ], + "box_pose": [ + 0.6084657907485962, + 15.144787788391113, + 0.13603559136390686, + -0.004326940979808569, + -0.007329144980758429, + 0.005365301389247179, + 0.9999493956565857 + ], + "box_yaw_rad": 0.010794847276081697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030599724452184647 + } + } + }, + { + "simulation_time_ns": 3980000000, + "center": [ + 0.6044971926019472, + 15.143080597840143, + 0.11879622127827134 + ], + "face_center": [ + 0.5272940615122963, + 15.142245283446364, + 0.11770833230010407 + ], + "face_normal": [ + -0.9998422227253911, + -0.010817988705398253, + -0.014089031347007551 + ], + "footprint_xy": [ + [ + 0.525001074241999, + 15.085855382236215 + ], + [ + 0.6839933109618954, + 15.085855382236215 + ], + [ + 0.6839933109618954, + 15.20030581344407 + ], + [ + 0.525001074241999, + 15.20030581344407 + ] + ], + "projected_box_corners": [ + [ + 0.5295870487825936, + 15.085855382236215 + ], + [ + 0.5261837762595316, + 15.08800940031795 + ], + [ + 0.5284043467650609, + 15.196481166574777 + ], + [ + 0.525001074241999, + 15.198635184656514 + ], + [ + 0.6839933109618954, + 15.08752601102377 + ], + [ + 0.6805900384388336, + 15.089680029105507 + ], + [ + 0.6828106089443629, + 15.198151795362334 + ], + [ + 0.6794073364213009, + 15.20030581344407 + ] + ], + "yaw_rad": 0.010819273631656755, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4099593758583069, + 15.14303970336914, + 0.1263088583946228 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5272607561311116, + 15.142221181914177, + 0.11768586935522377 + ], + "intended_face_normal": [ + -0.9998384898388768, + -0.010796439399585921, + -0.014367710623996496 + ], + "commanded_contact_point": [ + 0.4140336474661857, + 15.142971327298108, + 0.11879595328400222 + ], + "centerline_face_intersection": [ + 0.5272358120010014, + 15.143054832371542, + 0.11879527664124435 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.406333863735199, + 15.14000129699707, + 0.12397441267967224 + ], + "box_pose": [ + 0.6084985733032227, + 15.14481258392334, + 0.13603508472442627, + -0.004420519340783358, + -0.007207940332591534, + 0.0053666261956095695, + 0.9999498128890991 + ], + "box_yaw_rad": 0.010797763753139405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031526431445439633 + } + } + }, + { + "simulation_time_ns": 4000000000, + "center": [ + 0.6045340225411617, + 15.143109670076978, + 0.11879771264538294 + ], + "face_center": [ + 0.5273305556282444, + 15.142274159267783, + 0.11773407700663427 + ], + "face_normal": [ + -0.9998465719049695, + -0.010820532441957846, + -0.013774931226318662 + ], + "footprint_xy": [ + [ + 0.525074813796203, + 15.085854395498236 + ], + [ + 0.6839932312861204, + 15.085854395498236 + ], + [ + 0.6839932312861204, + 15.200364944655721 + ], + [ + 0.525074813796203, + 15.200364944655721 + ] + ], + "projected_box_corners": [ + [ + 0.5295862974602857, + 15.085854395498236 + ], + [ + 0.526257730696346, + 15.088068393602757 + ], + [ + 0.5284033805601428, + 15.19647992493281 + ], + [ + 0.525074813796203, + 15.19869392303733 + ], + [ + 0.6839932312861204, + 15.087525417116625 + ], + [ + 0.6806646645221808, + 15.089739415221146 + ], + [ + 0.6828103143859775, + 15.198150946551198 + ], + [ + 0.6794817476220377, + 15.200364944655721 + ] + ], + "yaw_rad": 0.010821770402181956, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.41241255402565, + 15.142915725708008, + 0.12844976782798767 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5272940615122963, + 15.142245283446364, + 0.11770833230010407 + ], + "intended_face_normal": [ + -0.9998422227253911, + -0.010817988705398253, + -0.014089031347007551 + ], + "commanded_contact_point": [ + 0.41727251966177753, + 15.142974513738558, + 0.1187980123390901 + ], + "centerline_face_intersection": [ + 0.5272696939462465, + 15.143080597840143, + 0.11879622127827134 + ], + "commanded_world_base_velocity": [ + 0.09071999999999994, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4099593758583069, + 15.14303970336914, + 0.1263088583946228 + ], + "box_pose": [ + 0.6085368990898132, + 15.144842147827148, + 0.1360345333814621, + -0.004527710843831301, + -0.007069213315844536, + 0.005377253983169794, + 0.9999503493309021 + ], + "box_yaw_rad": 0.010819273631656755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032388744175235328 + } + } + }, + { + "simulation_time_ns": 4020000000, + "center": [ + 0.6045767544103806, + 15.143144710771706, + 0.11879967007195388 + ], + "face_center": [ + 0.5273729080257478, + 15.142309450626083, + 0.11776374219967263 + ], + "face_normal": [ + -0.9998514863668334, + -0.010817286148464694, + -0.013416093515716404 + ], + "footprint_xy": [ + [ + 0.5251600494236066, + 15.085854734688695 + ], + [ + 0.6839934593971547, + 15.085854734688695 + ], + [ + 0.6839934593971547, + 15.200434686854718 + ], + [ + 0.5251600494236066, + 15.200434686854718 + ] + ], + "projected_box_corners": [ + [ + 0.5295857666278889, + 15.085854734688695 + ], + [ + 0.5263425417866805, + 15.088138936816984 + ], + [ + 0.5284032742648149, + 15.196479964435182 + ], + [ + 0.5251600494236066, + 15.198764166563471 + ], + [ + 0.6839934593971547, + 15.087525254979942 + ], + [ + 0.6807502345559463, + 15.089809457108231 + ], + [ + 0.6828109670340807, + 15.19815048472643 + ], + [ + 0.6795677421928724, + 15.200434686854718 + ] + ], + "yaw_rad": 0.010818470819673109, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4135129451751709, + 15.139363288879395, + 0.12925474345684052 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5273305556282444, + 15.142274159267783, + 0.11773407700663427 + ], + "intended_face_normal": [ + -0.9998465719049695, + -0.010820532441957846, + -0.013774931226318662 + ], + "commanded_contact_point": [ + 0.42059115803812824, + 15.142978913035941, + 0.1188004161374227 + ], + "centerline_face_intersection": [ + 0.5273068598132618, + 15.143109670076978, + 0.11879771264538294 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.41241255402565, + 15.142915725708008, + 0.12844976782798767 + ], + "box_pose": [ + 0.6085790991783142, + 15.144875526428223, + 0.13603432476520538, + -0.004651893861591816, + -0.006912825163453817, + 0.005378372967243195, + 0.9999508261680603 + ], + "box_yaw_rad": 0.010821770402181956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003318642162850883 + } + } + }, + { + "simulation_time_ns": 4040000000, + "center": [ + 0.604626479030948, + 15.143183860923983, + 0.11880117172870332 + ], + "face_center": [ + 0.5274221996830522, + 15.142348645533357, + 0.11779799286118672 + ], + "face_normal": [ + -0.9998570935869708, + -0.010816706535496242, + -0.0129919677418808 + ], + "footprint_xy": [ + [ + 0.5252598365461018, + 15.085854482407857 + ], + [ + 0.6839931215157944, + 15.085854482407857 + ], + [ + 0.6839931215157944, + 15.20051323944011 + ], + [ + 0.5252598365461018, + 15.20051323944011 + ] + ], + "projected_box_corners": [ + [ + 0.5295845628200024, + 15.085854482407857 + ], + [ + 0.5264422396199615, + 15.088217932290382 + ], + [ + 0.5284021597461427, + 15.196479358776331 + ], + [ + 0.5252598365461018, + 15.198842808658856 + ], + [ + 0.6839931215157944, + 15.087524913189108 + ], + [ + 0.6808507983157535, + 15.089888363071635 + ], + [ + 0.6828107184419346, + 15.198149789557583 + ], + [ + 0.6796683952418937, + 15.20051323944011 + ] + ], + "yaw_rad": 0.01081783052621868, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.41361725330352783, + 15.134469032287598, + 0.1278609186410904 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5273729080257478, + 15.142309450626083, + 0.11776374219967263 + ], + "intended_face_normal": [ + -0.9998514863668334, + -0.010817286148464694, + -0.013416093515716404 + ], + "commanded_contact_point": [ + 0.42398328229851584, + 15.142984919410951, + 0.11880311484412474 + ], + "centerline_face_intersection": [ + 0.5273499712688005, + 15.143144710771706, + 0.11879967007195388 + ], + "commanded_world_base_velocity": [ + 0.05746048000000027, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4135129451751709, + 15.139363288879395, + 0.12925474345684052 + ], + "box_pose": [ + 0.60862797498703, + 15.144915580749512, + 0.13603432476520538, + -0.004797246772795916, + -0.006734166759997606, + 0.005376598797738552, + 0.9999514222145081 + ], + "box_yaw_rad": 0.010818470819673109, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033921306515918167 + } + } + }, + { + "simulation_time_ns": 4060000000, + "center": [ + 0.6046850905565043, + 15.143228754966508, + 0.11880299538704112 + ], + "face_center": [ + 0.5274803386000662, + 15.14239215519448, + 0.1178380711169982 + ], + "face_normal": [ + -0.999863214245144, + -0.01083463538057681, + -0.012496540144221024 + ], + "footprint_xy": [ + [ + 0.5253758916011879, + 15.08585263601196 + ], + [ + 0.6839942895118207, + 15.08585263601196 + ], + [ + 0.6839942895118207, + 15.200604873921053 + ], + [ + 0.5253758916011879, + 15.200604873921053 + ] + ], + "projected_box_corners": [ + [ + 0.5295847855989444, + 15.08585263601196 + ], + [ + 0.5265602956547222, + 15.088307241687545 + ], + [ + 0.5284003815454102, + 15.196477068701416 + ], + [ + 0.5253758916011879, + 15.198931674376999 + ], + [ + 0.6839942895118207, + 15.087525835556015 + ], + [ + 0.6809697995675985, + 15.0899804412316 + ], + [ + 0.6828098854582866, + 15.19815026824547 + ], + [ + 0.6797853955140643, + 15.200604873921053 + ] + ], + "yaw_rad": 0.010835693506120337, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4141525328159332, + 15.128668785095215, + 0.12216226756572723 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5274221996830522, + 15.142348645533357, + 0.11779799286118672 + ], + "intended_face_normal": [ + -0.9998570935869708, + -0.010816706535496242, + -0.0129919677418808 + ], + "commanded_contact_point": [ + 0.42744268914874217, + 15.142992808323651, + 0.11880597726926595 + ], + "centerline_face_intersection": [ + 0.5274001289788327, + 15.143183860923983, + 0.11880117172870332 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.41361725330352783, + 15.134469032287598, + 0.1278609186410904 + ], + "box_pose": [ + 0.6086849570274353, + 15.144960403442383, + 0.1360335350036621, + -0.004961285274475813, + -0.006522970739752054, + 0.005376249551773071, + 0.9999518990516663 + ], + "box_yaw_rad": 0.01081783052621868, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034594170294739183 + } + } + }, + { + "simulation_time_ns": 4080000000, + "center": [ + 0.6047519876874928, + 15.143281128732394, + 0.11880523603019583 + ], + "face_center": [ + 0.5275466937331404, + 15.142444953714008, + 0.11788431296188351 + ], + "face_normal": [ + -0.999870233551118, + -0.010829134481609758, + -0.011926689430655899 + ], + "footprint_xy": [ + [ + 0.525510305954059, + 15.085851706846556 + ], + [ + 0.6839936694209267, + 15.085851706846556 + ], + [ + 0.6839936694209267, + 15.200710550618231 + ], + [ + 0.525510305954059, + 15.200710550618231 + ] + ], + "projected_box_corners": [ + [ + 0.5295830815122219, + 15.085851706846556 + ], + [ + 0.5266941554011952, + 15.088414282052687 + ], + [ + 0.5283992320650857, + 15.196475625375328 + ], + [ + 0.525510305954059, + 15.199038200581459 + ], + [ + 0.6839936694209267, + 15.08752405688333 + ], + [ + 0.6811047433099, + 15.090086632089461 + ], + [ + 0.6828098199737904, + 15.1981479754121 + ], + [ + 0.6799208938627638, + 15.200710550618231 + ] + ], + "yaw_rad": 0.010830116475857812, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4168326258659363, + 15.125765800476074, + 0.11995434761047363 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5274803386000662, + 15.14239215519448, + 0.1178380711169982 + ], + "intended_face_normal": [ + -0.999863214245144, + -0.01083463538057681, + -0.012496540144221024 + ], + "commanded_contact_point": [ + 0.43096336025116244, + 15.143003092650714, + 0.1188089521886644 + ], + "centerline_face_intersection": [ + 0.5274592132451439, + 15.143228754966508, + 0.11880299538704112 + ], + "commanded_world_base_velocity": [ + 0.026781440000000177, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4141525328159332, + 15.128668785095215, + 0.12216226756572723 + ], + "box_pose": [ + 0.6087520122528076, + 15.145011901855469, + 0.13603268563747406, + -0.00515001080930233, + -0.006276301573961973, + 0.005385249853134155, + 0.9999526143074036 + ], + "box_yaw_rad": 0.010835693506120337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003520687380178155 + } + } + }, + { + "simulation_time_ns": 4100000000, + "center": [ + 0.6048293698649104, + 15.143344453142573, + 0.1188086032216415 + ], + "face_center": [ + 0.5276234897064302, + 15.142507940442202, + 0.11793853545891929 + ], + "face_normal": [ + -0.9998778253628722, + -0.010833507733051738, + -0.011268072596585394 + ], + "footprint_xy": [ + [ + 0.5256651123198722, + 15.085851221381088 + ], + [ + 0.6839936274099487, + 15.085851221381088 + ], + [ + 0.6839936274099487, + 15.200837684904057 + ], + [ + 0.5256651123198722, + 15.200837684904057 + ] + ], + "projected_box_corners": [ + [ + 0.5295818670929884, + 15.085851221381088 + ], + [ + 0.5268495630391715, + 15.088541390517982 + ], + [ + 0.5283974163736891, + 15.196474490366425 + ], + [ + 0.5256651123198722, + 15.199164659503317 + ], + [ + 0.6839936274099487, + 15.087524246781827 + ], + [ + 0.6812613233561318, + 15.090214415918721 + ], + [ + 0.6828091766906494, + 15.198147515767163 + ], + [ + 0.6800768726368325, + 15.200837684904057 + ] + ], + "yaw_rad": 0.010834407524656307, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4200143814086914, + 15.129080772399902, + 0.11994405090808868 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5275466937331404, + 15.142444953714008, + 0.11788431296188351 + ], + "intended_face_normal": [ + -0.999870233551118, + -0.010829134481609758, + -0.011926689430655899 + ], + "commanded_contact_point": [ + 0.4345392102801504, + 15.14301636874498, + 0.1188119607506758 + ], + "centerline_face_intersection": [ + 0.5275266525185462, + 15.143281128732394, + 0.11880523603019583 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4168326258659363, + 15.125765800476074, + 0.11995434761047363 + ], + "box_pose": [ + 0.6088286638259888, + 15.145071983337402, + 0.13603182137012482, + -0.005373508203774691, + -0.005992549005895853, + 0.005382618401199579, + 0.9999531507492065 + ], + "box_yaw_rad": 0.010830116475857812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003575875939673749 + } + } + }, + { + "simulation_time_ns": 4120000000, + "center": [ + 0.6049202939682942, + 15.143415098785695, + 0.11881167263192846 + ], + "face_center": [ + 0.5277137587018768, + 15.142579187019825, + 0.1180011998748038 + ], + "face_normal": [ + -0.999886309534004, + -0.010825725151210112, + -0.010496269665551427 + ], + "footprint_xy": [ + [ + 0.5258474907073784, + 15.085849875253407 + ], + [ + 0.68399309722921, + 15.085849875253407 + ], + [ + 0.68399309722921, + 15.200980322317983 + ], + [ + 0.5258474907073784, + 15.200980322317983 + ] + ], + "projected_box_corners": [ + [ + 0.5295800266963752, + 15.085849875253407 + ], + [ + 0.527031333233069, + 15.088685995861086 + ], + [ + 0.5283961841706846, + 15.196472378178566 + ], + [ + 0.5258474907073784, + 15.199308498786245 + ], + [ + 0.68399309722921, + 15.087521698785146 + ], + [ + 0.6814444037659038, + 15.090357819392825 + ], + [ + 0.6828092547035193, + 15.198144201710305 + ], + [ + 0.6802605612402131, + 15.200980322317983 + ] + ], + "yaw_rad": 0.010826533046633523, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4225567579269409, + 15.133831977844238, + 0.12124189734458923 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5276234897064302, + 15.142507940442202, + 0.11793853545891929 + ], + "intended_face_normal": [ + -0.9998778253628722, + -0.010833507733051738, + -0.011268072596585394 + ], + "commanded_contact_point": [ + 0.43816450565804177, + 15.143033712896967, + 0.11881497863869903 + ], + "centerline_face_intersection": [ + 0.5276046210478085, + 15.143344453142573, + 0.1188086032216415 + ], + "commanded_world_base_velocity": [ + 0.005564160000000094, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4200143814086914, + 15.129080772399902, + 0.11994405090808868 + ], + "box_pose": [ + 0.6089172959327698, + 15.14514446258545, + 0.13603156805038452, + -0.005637702532112598, + -0.005664658732712269, + 0.005385068245232105, + 0.99995356798172 + ], + "box_yaw_rad": 0.010834407524656307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003625338122743408 + } + } + }, + { + "simulation_time_ns": 4140000000, + "center": [ + 0.605025320039864, + 15.14350016160078, + 0.11881515733669831 + ], + "face_center": [ + 0.5278180980481261, + 15.14266386942821, + 0.11807340922076684 + ], + "face_normal": [ + -0.9998952031755085, + -0.010830651721882974, + -0.009606230660180074 + ], + "footprint_xy": [ + [ + 0.5260571905592962, + 15.08584990110567 + ], + [ + 0.6839934495204318, + 15.08584990110567 + ], + [ + 0.6839934495204318, + 15.20115042209589 + ], + [ + 0.5260571905592962, + 15.20115042209589 + ] + ], + "projected_box_corners": [ + [ + 0.5295790055369559, + 15.08584990110567 + ], + [ + 0.5272419882744557, + 15.0888562971077 + ], + [ + 0.5283942078217965, + 15.196471441748722 + ], + [ + 0.5260571905592962, + 15.19947783775075 + ], + [ + 0.6839934495204318, + 15.087522485450812 + ], + [ + 0.6816564322579316, + 15.09052888145284 + ], + [ + 0.6828086518052723, + 15.198144026093862 + ], + [ + 0.6804716345427722, + 15.20115042209589 + ] + ], + "yaw_rad": 0.010831363266026134, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.42528843879699707, + 15.136913299560547, + 0.12245851755142212 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5277137587018768, + 15.142579187019825, + 0.1180011998748038 + ], + "intended_face_normal": [ + -0.999886309534004, + -0.010825725151210112, + -0.010496269665551427 + ], + "commanded_contact_point": [ + 0.44183387505256067, + 15.143055427891234, + 0.11881768839225078 + ], + "centerline_face_intersection": [ + 0.5276962004136738, + 15.143415098785695, + 0.11881167263192846 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4225567579269409, + 15.133831977844238, + 0.12124189734458923 + ], + "box_pose": [ + 0.6090214252471924, + 15.145225524902344, + 0.1360304057598114, + -0.005939824040979147, + -0.005280344747006893, + 0.005381746217608452, + 0.9999539256095886 + ], + "box_yaw_rad": 0.010826533046633523, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036694346481675184 + } + } + }, + { + "simulation_time_ns": 4160000000, + "center": [ + 0.6051468456948788, + 15.14359584210161, + 0.11881840069276393 + ], + "face_center": [ + 0.5279389031695044, + 15.14275859567675, + 0.11815709002897858 + ], + "face_normal": [ + -0.9999045346617099, + -0.010843010051362685, + -0.008564501395977541 + ], + "footprint_xy": [ + [ + 0.52630086247892, + 15.085847862048254 + ], + [ + 0.6839928289108375, + 15.085847862048254 + ], + [ + 0.6839928289108375, + 15.201343822154966 + ], + [ + 0.52630086247892, + 15.201343822154966 + ] + ], + "projected_box_corners": [ + [ + 0.5295769438600889, + 15.085847862048254 + ], + [ + 0.5274877014419546, + 15.08904896541989 + ], + [ + 0.5283901048970544, + 15.196468225933609 + ], + [ + 0.52630086247892, + 15.199669329305245 + ], + [ + 0.6839928289108375, + 15.087522354897976 + ], + [ + 0.681903586492703, + 15.090723458269611 + ], + [ + 0.682805989947803, + 15.19814271878333 + ], + [ + 0.6807167475296685, + 15.201343822154966 + ] + ], + "yaw_rad": 0.010843620249380117, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4285581111907959, + 15.139315605163574, + 0.12385433912277222 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5278180980481261, + 15.14266386942821, + 0.11807340922076684 + ], + "intended_face_normal": [ + -0.9998952031755085, + -0.010830651721882974, + -0.009606230660180074 + ], + "commanded_contact_point": [ + 0.4455418468239237, + 15.143083439227098, + 0.11882001935200792 + ], + "centerline_face_intersection": [ + 0.5278019133606295, + 15.14350016160078, + 0.11881515733669831 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.42528843879699707, + 15.136913299560547, + 0.12245851755142212 + ], + "box_pose": [ + 0.6091416478157043, + 15.145322799682617, + 0.1360289752483368, + -0.006292364560067654, + -0.00483722286298871, + 0.005385135766118765, + 0.9999540448188782 + ], + "box_yaw_rad": 0.010831363266026134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037080783062842138 + } + } + }, + { + "simulation_time_ns": 4180000000, + "center": [ + 0.6052878666807167, + 15.143704757314145, + 0.1188216151758331 + ], + "face_center": [ + 0.528079190421606, + 15.142866820515076, + 0.11825339440954699 + ], + "face_normal": [ + -0.9999140370997524, + -0.010851950948894696, + -0.007358912856817898 + ], + "footprint_xy": [ + [ + 0.5265835354718527, + 15.085845201721582 + ], + [ + 0.6839921978895805, + 15.085845201721582 + ], + [ + 0.6839921978895805, + 15.20156431290671 + ], + [ + 0.5265835354718527, + 15.20156431290671 + ] + ], + "projected_box_corners": [ + [ + 0.5295748453713593, + 15.085845201721582 + ], + [ + 0.5277723820209437, + 15.089269507827156 + ], + [ + 0.5283859988222683, + 15.196464133202994 + ], + [ + 0.5265835354718527, + 15.199888439308568 + ], + [ + 0.6839921978895805, + 15.087521075319723 + ], + [ + 0.682189734539165, + 15.090945381425298 + ], + [ + 0.6828033513404896, + 15.198140006801134 + ], + [ + 0.681000887990074, + 15.20156431290671 + ] + ], + "yaw_rad": 0.010852457821749732, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4332239031791687, + 15.142145156860352, + 0.1256718635559082 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5279389031695044, + 15.14275859567675, + 0.11815709002897858 + ], + "intended_face_normal": [ + -0.9999045346617099, + -0.010843010051362685, + -0.008564501395977541 + ], + "commanded_contact_point": [ + 0.44928342282280415, + 15.143118233162653, + 0.1188216063259191 + ], + "centerline_face_intersection": [ + 0.527924159693598, + 15.14359584210161, + 0.11881840069276393 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4285581111907959, + 15.139315605163574, + 0.12385433912277222 + ], + "box_pose": [ + 0.6092809438705444, + 15.145432472229004, + 0.13602647185325623, + -0.006695440970361233, + -0.004318558145314455, + 0.005392840132117271, + 0.9999536871910095 + ], + "box_yaw_rad": 0.010843620249380117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003741738111070256 + } + } + }, + { + "simulation_time_ns": 4200000000, + "center": [ + 0.605450148556882, + 15.143834781067866, + 0.1188257177043318 + ], + "face_center": [ + 0.528240759318922, + 15.142996700931983, + 0.11836469953384342 + ], + "face_normal": [ + -0.999923270745427, + -0.010853807275142891, + -0.005970553600509186 + ], + "footprint_xy": [ + [ + 0.5269093813146898, + 15.085845061202422 + ], + [ + 0.683990915799074, + 15.085845061202422 + ], + [ + 0.683990915799074, + 15.201824500933311 + ], + [ + 0.5269093813146898, + 15.201824500933311 + ] + ], + "projected_box_corners": [ + [ + 0.5295721373231541, + 15.085845061202422 + ], + [ + 0.5280998966552483, + 15.089531201263135 + ], + [ + 0.5283816219825958, + 15.196462200600829 + ], + [ + 0.5269093813146898, + 15.200148340661542 + ], + [ + 0.683990915799074, + 15.08752122147419 + ], + [ + 0.6825186751311682, + 15.091207361534904 + ], + [ + 0.6828004004585156, + 15.198138360872598 + ], + [ + 0.6813281597906097, + 15.201824500933311 + ] + ], + "yaw_rad": 0.010854213864200112, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.43890413641929626, + 15.145658493041992, + 0.12726226449012756 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.528079190421606, + 15.142866820515076, + 0.11825339440954699 + ], + "intended_face_normal": [ + -0.9999140370997524, + -0.010851950948894696, + -0.007358912856817898 + ], + "commanded_contact_point": [ + 0.45305401976935283, + 15.143161346069574, + 0.11882222100265671 + ], + "centerline_face_intersection": [ + 0.5280659145463105, + 15.143704757314145, + 0.1188216151758331 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4332239031791687, + 15.142145156860352, + 0.1256718635559082 + ], + "box_pose": [ + 0.6094425320625305, + 15.145557403564453, + 0.13602301478385925, + -0.0071574617177248, + -0.0037182788364589214, + 0.005399615969508886, + 0.9999529719352722 + ], + "box_yaw_rad": 0.010852457821749732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037708434645173155 + } + } + }, + { + "simulation_time_ns": 4220000000, + "center": [ + 0.6056384858821164, + 15.143982899557487, + 0.11883008259725894 + ], + "face_center": [ + 0.5284284553946273, + 15.143144656145347, + 0.11849356724306356 + ], + "face_normal": [ + -0.9999315754391033, + -0.010855921833082857, + -0.004358142668193255 + ], + "footprint_xy": [ + [ + 0.5272876611876515, + 15.08584304644164 + ], + [ + 0.6839893105765814, + 15.08584304644164 + ], + [ + 0.6839893105765814, + 15.202122752673334 + ], + [ + 0.5272876611876515, + 15.202122752673334 + ] + ], + "projected_box_corners": [ + [ + 0.5295692496016032, + 15.08584304644164 + ], + [ + 0.5284805302400132, + 15.089831358475104 + ], + [ + 0.5283763805492415, + 15.19645795381559 + ], + [ + 0.5272876611876515, + 15.200446265849054 + ], + [ + 0.6839893105765814, + 15.087519533265919 + ], + [ + 0.6829005912149914, + 15.091507845299382 + ], + [ + 0.6827964415242197, + 15.198134440639869 + ], + [ + 0.6817077221626296, + 15.202122752673334 + ] + ], + "yaw_rad": 0.010856238177652197, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4440820515155792, + 15.148772239685059, + 0.12812508642673492 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.528240759318922, + 15.142996700931983, + 0.11836469953384342 + ], + "intended_face_normal": [ + -0.999923270745427, + -0.010853807275142891, + -0.005970553600509186 + ], + "commanded_contact_point": [ + 0.4568491128689506, + 15.143215891789227, + 0.11882177323417306 + ], + "centerline_face_intersection": [ + 0.5282289095173353, + 15.143834781067866, + 0.1188257177043318 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.43890413641929626, + 15.145658493041992, + 0.12726226449012756 + ], + "box_pose": [ + 0.6096284985542297, + 15.145706176757812, + 0.13601934909820557, + -0.007699503563344479, + -0.0030270314309746027, + 0.005403860472142696, + 0.9999512434005737 + ], + "box_yaw_rad": 0.010854213864200112, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037954850902939285 + } + } + }, + { + "simulation_time_ns": 4240000000, + "center": [ + 0.6058546142156623, + 15.144153465174716, + 0.1188348897450149 + ], + "face_center": [ + 0.5286440937417909, + 15.14331529802283, + 0.1186407083466125 + ], + "face_normal": [ + -0.9999379211541897, + -0.010854934201861625, + -0.002514804234625176 + ], + "footprint_xy": [ + [ + 0.5277210775405353, + 15.085840813400951 + ], + [ + 0.6839881508907895, + 15.085840813400951 + ], + [ + 0.6839881508907895, + 15.20246611694848 + ], + [ + 0.5277210775405353, + 15.20246611694848 + ] + ], + "projected_box_corners": [ + [ + 0.5295671099430465, + 15.085840813400951 + ], + [ + 0.528916801329905, + 15.090177663774071 + ], + [ + 0.5283713861536767, + 15.196452932271592 + ], + [ + 0.5277210775405353, + 15.20078978264471 + ], + [ + 0.6839881508907895, + 15.087517147704721 + ], + [ + 0.6833378422776479, + 15.091853998077841 + ], + [ + 0.6827924271014197, + 15.19812926657536 + ], + [ + 0.6821421184882783, + 15.20246611694848 + ] + ], + "yaw_rad": 0.010855181712048615, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.44873249530792236, + 15.150367736816406, + 0.1283148229122162 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5284284553946273, + 15.143144656145347, + 0.11849356724306356 + ], + "intended_face_normal": [ + -0.9999315754391033, + -0.010855921833082857, + -0.004358142668193255 + ], + "commanded_contact_point": [ + 0.46066522142177263, + 15.143282969679506, + 0.11881972822833439 + ], + "centerline_face_intersection": [ + 0.5284178881851889, + 15.143982899557487, + 0.11883008259725894 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4440820515155792, + 15.148772239685059, + 0.12812508642673492 + ], + "box_pose": [ + 0.6098443269729614, + 15.145875930786133, + 0.1360146403312683, + -0.008325030095875263, + -0.0022242225240916014, + 0.005409724079072475, + 0.999948263168335 + ], + "box_yaw_rad": 0.010856238177652197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038166985880908554 + } + } + }, + { + "simulation_time_ns": 4260000000, + "center": [ + 0.6061036165424836, + 15.14435076657452, + 0.11883955651610416 + ], + "face_center": [ + 0.5288928606495161, + 15.143512336871206, + 0.11880934872133006 + ], + "face_normal": [ + -0.9999409700195523, + -0.010858334452632689, + -0.000391215074366685 + ], + "footprint_xy": [ + [ + 0.5282200958462888, + 15.085839014620912 + ], + [ + 0.6839871372386784, + 15.085839014620912 + ], + [ + 0.6839871372386784, + 15.20286251852813 + ], + [ + 0.5282200958462888, + 15.20286251852813 + ] + ], + "projected_box_corners": [ + [ + 0.5295656254527434, + 15.085839014620912 + ], + [ + 0.529420336944212, + 15.090577044630296 + ], + [ + 0.5283653843548202, + 15.196447629112116 + ], + [ + 0.5282200958462888, + 15.2011856591215 + ], + [ + 0.6839871372386784, + 15.087515874027543 + ], + [ + 0.6838418487301471, + 15.092253904036927 + ], + [ + 0.6827868961407553, + 15.198124488518747 + ], + [ + 0.6826416076322238, + 15.20286251852813 + ] + ], + "yaw_rad": 0.010858548667407531, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.45303022861480713, + 15.149147987365723, + 0.12907780706882477 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5286440937417909, + 15.14331529802283, + 0.1186407083466125 + ], + "intended_face_normal": [ + -0.9999379211541897, + -0.010854934201861625, + -0.002514804234625176 + ], + "commanded_contact_point": [ + 0.46449851096088046, + 15.14336554615097, + 0.11881580297042332 + ], + "centerline_face_intersection": [ + 0.5286345065690683, + 15.144153465174716, + 0.1188348897450149 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.44873249530792236, + 15.150367736816406, + 0.1283148229122162 + ], + "box_pose": [ + 0.6100918650627136, + 15.146071434020996, + 0.13600896298885345, + -0.009046588093042374, + -0.0013064717641100287, + 0.005415953695774078, + 0.9999435544013977 + ], + "box_yaw_rad": 0.010855181712048615, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038341808736577403 + } + } + }, + { + "simulation_time_ns": 4280000000, + "center": [ + 0.6063906055614157, + 15.14457731080931, + 0.11884328679650914 + ], + "face_center": [ + 0.5291800067118545, + 15.143738893585013, + 0.11900198257702167 + ], + "face_normal": [ + -0.9999389361819827, + -0.01085817283938805, + 0.0020552371346253123 + ], + "footprint_xy": [ + [ + 0.5283587686547743, + 15.085838130145218 + ], + [ + 0.684422442468057, + 15.085838130145218 + ], + [ + 0.684422442468057, + 15.203316491473402 + ], + [ + 0.5283587686547743, + 15.203316491473402 + ] + ], + "projected_box_corners": [ + [ + 0.5295647235531316, + 15.085838130145218 + ], + [ + 0.5300012447689346, + 15.091035429563455 + ], + [ + 0.5283587686547743, + 15.196442357606571 + ], + [ + 0.5287952898705773, + 15.201639657024806 + ], + [ + 0.6839859212522539, + 15.087514964593813 + ], + [ + 0.684422442468057, + 15.09271226401205 + ], + [ + 0.6827799663538966, + 15.198119192055167 + ], + [ + 0.6832164875696997, + 15.203316491473402 + ] + ], + "yaw_rad": 0.010858409147486129, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.45525923371315, + 15.146344184875488, + 0.1278533935546875 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5288928606495161, + 15.143512336871206, + 0.11880934872133006 + ], + "intended_face_normal": [ + -0.9999409700195523, + -0.010858334452632689, + -0.000391215074366685 + ], + "commanded_contact_point": [ + 0.4683464461825209, + 15.143467123948495, + 0.11880926437074638 + ], + "centerline_face_intersection": [ + 0.5288837443434995, + 15.14435076657452, + 0.11883955651610416 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.45303022861480713, + 15.149147987365723, + 0.12907780706882477 + ], + "box_pose": [ + 0.6103770136833191, + 15.146297454833984, + 0.13600143790245056, + -0.009877133183181286, + -0.0002492270723450929, + 0.005427050404250622, + 0.9999364614486694 + ], + "box_yaw_rad": 0.010858548667407531, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00384928126696099 + } + } + }, + { + "simulation_time_ns": 4300000000, + "center": [ + 0.6067164900197527, + 15.144823091672972, + 0.11885253271356114 + ], + "face_center": [ + 0.5295066034210496, + 15.143986711571296, + 0.11922479896604098 + ], + "face_normal": [ + -0.9999297119643775, + -0.010831790474040313, + 0.004821145361227257 + ], + "footprint_xy": [ + [ + 0.5283539405767259, + 15.08583922270219 + ], + [ + 0.6850790394627796, + 15.08583922270219 + ], + [ + 0.6850790394627796, + 15.203806960643757 + ], + [ + 0.5283539405767259, + 15.203806960643757 + ] + ], + "projected_box_corners": [ + [ + 0.5295646485979604, + 15.08583922270219 + ], + [ + 0.5306592662653732, + 15.091535164137655 + ], + [ + 0.5283539405767259, + 15.196438259004939 + ], + [ + 0.5294485582441387, + 15.202134200440405 + ], + [ + 0.6839844217953668, + 15.087511982905541 + ], + [ + 0.6850790394627796, + 15.093207924341007 + ], + [ + 0.6827737137741323, + 15.19811101920829 + ], + [ + 0.6838683314415451, + 15.203806960643757 + ] + ], + "yaw_rad": 0.010832128190355948, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4541405439376831, + 15.145598411560059, + 0.12549832463264465 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5291800067118545, + 15.143738893585013, + 0.11900198257702167 + ], + "intended_face_normal": [ + -0.9999389361819827, + -0.01085817283938805, + 0.0020552371346253123 + ], + "commanded_contact_point": [ + 0.4722070767725238, + 15.143591020186655, + 0.1187991858003889 + ], + "centerline_face_intersection": [ + 0.5291705763001636, + 15.14457731080931, + 0.11884328679650914 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.45525923371315, + 15.146344184875488, + 0.1278533935546875 + ], + "box_pose": [ + 0.6107056140899658, + 15.146556854248047, + 0.13599099218845367, + -0.010827906429767609, + 0.0009687865385785699, + 0.005439978092908859, + 0.9999261498451233 + ], + "box_yaw_rad": 0.010858409147486129, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038626312803420374 + } + } + }, + { + "simulation_time_ns": 4320000000, + "center": [ + 0.607063476072182, + 15.14508242501043, + 0.11886168853499199 + ], + "face_center": [ + 0.5298549802270739, + 15.144249980443337, + 0.11946161172002698 + ], + "face_normal": [ + -0.9999117005942931, + -0.010780822157219271, + 0.007769484505665087 + ], + "footprint_xy": [ + [ + 0.5283495287168866, + 15.08584342747732 + ], + [ + 0.6857774234274776, + 15.08584342747732 + ], + [ + 0.6857774234274776, + 15.204321422543542 + ], + [ + 0.5283495287168866, + 15.204321422543542 + ] + ], + "projected_box_corners": [ + [ + 0.5295641364401606, + 15.08584342747732 + ], + [ + 0.5313604317372613, + 15.09206344097793 + ], + [ + 0.5283495287168866, + 15.196436519908746 + ], + [ + 0.5301458240139872, + 15.202656533409355 + ], + [ + 0.6839811281303769, + 15.087508316611505 + ], + [ + 0.6857774234274776, + 15.093728330112116 + ], + [ + 0.6827665204071028, + 15.19810140904293 + ], + [ + 0.6845628157042035, + 15.204321422543542 + ] + ], + "yaw_rad": 0.010781356428882921, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.45388510823249817, + 15.145757675170898, + 0.12313960492610931 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5295066034210496, + 15.143986711571296, + 0.11922479896604098 + ], + "intended_face_normal": [ + -0.9999297119643775, + -0.010831790474040313, + 0.004821145361227257 + ], + "commanded_contact_point": [ + 0.47607742432360683, + 15.143735988972018, + 0.11878749502963164 + ], + "centerline_face_intersection": [ + 0.529495748414078, + 15.144823091672972, + 0.11885253271356114 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4541405439376831, + 15.145598411560059, + 0.12549832463264465 + ], + "box_pose": [ + 0.6110785603523254, + 15.146838188171387, + 0.13598418235778809, + -0.011859931983053684, + 0.002346211113035679, + 0.005444199778139591, + 0.9999120831489563 + ], + "box_yaw_rad": 0.010832128190355948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003873079238671079 + } + } + }, + { + "simulation_time_ns": 4340000000, + "center": [ + 0.6073103185733085, + 15.145323918642108, + 0.11889503196074623 + ], + "face_center": [ + 0.5301032352171098, + 15.144492254745167, + 0.11965616084743277 + ], + "face_normal": [ + -0.9998934077345246, + -0.010770711855105707, + 0.009857227124136652 + ], + "footprint_xy": [ + [ + 0.5283466022106564, + 15.085843184020137 + ], + [ + 0.6862740349359607, + 15.085843184020137 + ], + [ + 0.6862740349359607, + 15.204804653264079 + ], + [ + 0.5283466022106564, + 15.204804653264079 + ] + ], + "projected_box_corners": [ + [ + 0.5295682265576499, + 15.085843184020137 + ], + [ + 0.5318598682235631, + 15.092554328138402 + ], + [ + 0.5283466022106564, + 15.19643018135193 + ], + [ + 0.5306382438765697, + 15.203141325470195 + ], + [ + 0.6839823932700475, + 15.08750651181402 + ], + [ + 0.6862740349359607, + 15.094217655932285 + ], + [ + 0.6827607689230539, + 15.198093509145814 + ], + [ + 0.6850524105889673, + 15.204804653264079 + ] + ], + "yaw_rad": 0.01077144345077425, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4560714364051819, + 15.146464347839355, + 0.12110725045204163 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5298549802270739, + 15.144249980443337, + 0.11946161172002698 + ], + "intended_face_normal": [ + -0.9999117005942931, + -0.010780822157219271, + 0.007769484505665087 + ], + "commanded_contact_point": [ + 0.47994692836057296, + 15.143901482320695, + 0.11877275562658393 + ], + "centerline_face_intersection": [ + 0.5298413434923298, + 15.14508242501043, + 0.11886168853499199 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.45388510823249817, + 15.145757675170898, + 0.12313960492610931 + ], + "box_pose": [ + 0.6114757061004639, + 15.147134780883789, + 0.13597606122493744, + -0.012944567017257214, + 0.003814722876995802, + 0.005440366920083761, + 0.9998941421508789 + ], + "box_yaw_rad": 0.010781356428882921, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038730694275413507 + } + } + }, + { + "simulation_time_ns": 4360000000, + "center": [ + 0.6073050478300945, + 15.145336604933407, + 0.11890200911658408 + ], + "face_center": [ + 0.5300979335140583, + 15.14450504012427, + 0.1196600995579701 + ], + "face_normal": [ + -0.9998938086891529, + -0.010769428588855365, + 0.009817876830178063 + ], + "footprint_xy": [ + [ + 0.5283462219008195, + 15.085844755324992 + ], + [ + 0.6862638737593696, + 15.085844755324992 + ], + [ + 0.6862638737593696, + 15.20482845454182 + ], + [ + 0.5283462219008195, + 15.20482845454182 + ] + ], + "projected_box_corners": [ + [ + 0.5295676827161679, + 15.085844755324992 + ], + [ + 0.531849645127297, + 15.09257861983205 + ], + [ + 0.5283462219008195, + 15.196431460416491 + ], + [ + 0.5306281843119487, + 15.20316532492355 + ], + [ + 0.6839819113482404, + 15.087507884943262 + ], + [ + 0.6862638737593696, + 15.09424174945032 + ], + [ + 0.682760450532892, + 15.198094590034762 + ], + [ + 0.6850424129440212, + 15.20482845454182 + ] + ], + "yaw_rad": 0.010770155878134891, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.45929646492004395, + 15.147993087768555, + 0.12163187563419342 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5301032352171098, + 15.144492254745167, + 0.11965616084743277 + ], + "intended_face_normal": [ + -0.9998934077345246, + -0.010770711855105707, + 0.009857227124136652 + ], + "commanded_contact_point": [ + 0.4837577314849198, + 15.14407533198574, + 0.11877225723400042 + ], + "centerline_face_intersection": [ + 0.5300867732292243, + 15.145323918642108, + 0.11889503196074623 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4560714364051819, + 15.146464347839355, + 0.12110725045204163 + ], + "box_pose": [ + 0.6117578744888306, + 15.147411346435547, + 0.135996013879776, + -0.013962846249341965, + 0.004853065591305494, + 0.005453795660287142, + 0.9998758435249329 + ], + "box_yaw_rad": 0.01077144345077425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038147666254913708 + } + } + }, + { + "simulation_time_ns": 4380000000, + "center": [ + 0.6072769235620439, + 15.145326358524787, + 0.11890693142284157 + ], + "face_center": [ + 0.5300696400140621, + 15.14449401473134, + 0.11964671056752677 + ], + "face_normal": [ + -0.9998960003780414, + -0.010779517058006581, + 0.009580730909592362 + ], + "footprint_xy": [ + [ + 0.5283461483401345, + 15.085842302346945 + ], + [ + 0.6862076987839533, + 15.085842302346945 + ], + [ + 0.6862076987839533, + 15.204810414702628 + ], + [ + 0.5283461483401345, + 15.204810414702628 + ] + ], + "projected_box_corners": [ + [ + 0.5295679167263362, + 15.085842302346945 + ], + [ + 0.5317931316879897, + 15.09255880954376 + ], + [ + 0.5283461483401345, + 15.196429219918917 + ], + [ + 0.530571363301788, + 15.203145727115734 + ], + [ + 0.6839824838222998, + 15.08750698993384 + ], + [ + 0.6862076987839533, + 15.094223497130656 + ], + [ + 0.6827607154360981, + 15.198093907505813 + ], + [ + 0.6849859303977516, + 15.204810414702628 + ] + ], + "yaw_rad": 0.010780220619739107, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4612453877925873, + 15.150782585144043, + 0.12182214856147766 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5300979335140583, + 15.14450504012427, + 0.1196600995579701 + ], + "intended_face_normal": [ + -0.9998938086891529, + -0.010769428588855365, + 0.009817876830178063 + ], + "commanded_contact_point": [ + 0.48742348641802424, + 15.144156564482596, + 0.11877447497998316 + ], + "centerline_face_intersection": [ + 0.5300815334524366, + 15.145336604933407, + 0.11890200911658408 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.45929646492004395, + 15.147993087768555, + 0.12163187563419342 + ], + "box_pose": [ + 0.611751914024353, + 15.147425651550293, + 0.13600297272205353, + -0.014010327868163586, + 0.004833141807466745, + 0.005453108809888363, + 0.9998751878738403 + ], + "box_yaw_rad": 0.010770155878134891, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036666555423877055 + } + } + }, + { + "simulation_time_ns": 4400000000, + "center": [ + 0.607222645316358, + 15.145293792487921, + 0.11890904443048192 + ], + "face_center": [ + 0.530015037078829, + 15.144460968597755, + 0.11961355640978187 + ], + "face_normal": [ + -0.999900205367061, + -0.010785734694042093, + 0.009123992944041995 + ], + "footprint_xy": [ + [ + 0.5283464672353559, + 15.08584138951445 + ], + [ + 0.68609882339736, + 15.08584138951445 + ], + [ + 0.68609882339736, + 15.204746195461395 + ], + [ + 0.5283464672353559, + 15.204746195461395 + ] + ], + "projected_box_corners": [ + [ + 0.5295672484574495, + 15.08584138951445 + ], + [ + 0.5316836069223021, + 15.092492800695407 + ], + [ + 0.5283464672353559, + 15.196429136500106 + ], + [ + 0.5304628257002085, + 15.203080547681063 + ], + [ + 0.6839824649325074, + 15.087507037294781 + ], + [ + 0.68609882339736, + 15.094158448475739 + ], + [ + 0.6827616837104138, + 15.198094784280437 + ], + [ + 0.6848780421752664, + 15.204746195461395 + ] + ], + "yaw_rad": 0.010786392821575978, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.46241527795791626, + 15.150579452514648, + 0.11929951608181 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5300696400140621, + 15.14449401473134, + 0.11964671056752677 + ], + "intended_face_normal": [ + -0.9998960003780414, + -0.010779517058006581, + 0.009580730909592362 + ], + "commanded_contact_point": [ + 0.4910285989910002, + 15.144227417329514, + 0.11877759826979059 + ], + "centerline_face_intersection": [ + 0.530053578451908, + 15.145326358524787, + 0.11890693142284157 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4612453877925873, + 15.150782585144043, + 0.12182214856147766 + ], + "box_pose": [ + 0.6117197275161743, + 15.147414207458496, + 0.1360090970993042, + -0.01397476252168417, + 0.004714698065072298, + 0.005456320475786924, + 0.9998762607574463 + ], + "box_yaw_rad": 0.010780220619739107, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003605810109349206 + } + } + }, + { + "simulation_time_ns": 4420000000, + "center": [ + 0.6071429296530821, + 15.14523879029367, + 0.11890914576960433 + ], + "face_center": [ + 0.5299348599826267, + 15.144406369092158, + 0.11956164499980422 + ], + "face_normal": [ + -0.9999061812920835, + -0.010780519554267148, + 0.008450386291873089 + ], + "footprint_xy": [ + [ + 0.5283479611700084, + 15.085841458525184 + ], + [ + 0.685937898136156, + 15.085841458525184 + ], + [ + 0.685937898136156, + 15.204636122062153 + ], + [ + 0.5283479611700084, + 15.204636122062153 + ] + ], + "projected_box_corners": [ + [ + 0.5295656896457822, + 15.085841458525184 + ], + [ + 0.5315217587952451, + 15.092382121498888 + ], + [ + 0.5283479611700084, + 15.196430616685427 + ], + [ + 0.5303040303194713, + 15.202971279659131 + ], + [ + 0.6839818289866931, + 15.087506300928206 + ], + [ + 0.685937898136156, + 15.09404696390191 + ], + [ + 0.6827641005109193, + 15.19809545908845 + ], + [ + 0.6847201696603822, + 15.204636122062153 + ] + ], + "yaw_rad": 0.010781113339249575, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4643062353134155, + 15.1454496383667, + 0.11575716733932495 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.530015037078829, + 15.144460968597755, + 0.11961355640978187 + ], + "intended_face_normal": [ + -0.999900205367061, + -0.010785734694042093, + 0.009123992944041995 + ], + "commanded_contact_point": [ + 0.49456227435180317, + 15.144285804976526, + 0.11878148687869525 + ], + "centerline_face_intersection": [ + 0.5299996249619492, + 15.145293792487921, + 0.11890904443048192 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.46241527795791626, + 15.150579452514648, + 0.11929951608181 + ], + "box_pose": [ + 0.6116576790809631, + 15.147377014160156, + 0.13601379096508026, + -0.013840273953974247, + 0.004487030673772097, + 0.0054556275717914104, + 0.9998793005943298 + ], + "box_yaw_rad": 0.010786392821575978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035341598427559504 + } + } + }, + { + "simulation_time_ns": 4440000000, + "center": [ + 0.6070388515501022, + 15.145159408018595, + 0.11890652289882914 + ], + "face_center": [ + 0.5298302475993653, + 15.144326052423763, + 0.11949107145005461 + ], + "face_normal": [ + -0.9999131006485488, + -0.010792620694224, + 0.007570370715528274 + ], + "footprint_xy": [ + [ + 0.5283489637911624, + 15.085838972580545 + ], + [ + 0.685728739309042, + 15.085838972580545 + ], + [ + 0.685728739309042, + 15.204479843456644 + ], + [ + 0.5283489637911624, + 15.204479843456644 + ] + ], + "projected_box_corners": [ + [ + 0.5295648549554063, + 15.085838972580545 + ], + [ + 0.531311531407568, + 15.09222202987155 + ], + [ + 0.5283489637911624, + 15.196430074975977 + ], + [ + 0.5300956402433241, + 15.20281313226698 + ], + [ + 0.6839820628568802, + 15.087505683770209 + ], + [ + 0.685728739309042, + 15.093888741061214 + ], + [ + 0.6827661716926363, + 15.198096786165639 + ], + [ + 0.6845128481447981, + 15.204479843456644 + ] + ], + "yaw_rad": 0.010793139523638256, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4680574834346771, + 15.140804290771484, + 0.11475509405136108 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5299348599826267, + 15.144406369092158, + 0.11956164499980422 + ], + "intended_face_normal": [ + -0.9999061812920835, + -0.010780519554267148, + 0.008450386291873089 + ], + "commanded_contact_point": [ + 0.4980155656089784, + 15.144329352099712, + 0.11878660908851689 + ], + "centerline_face_intersection": [ + 0.5299203708209526, + 15.14523879029367, + 0.11890914576960433 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4643062353134155, + 15.1454496383667, + 0.11575716733932495 + ], + "box_pose": [ + 0.6115665435791016, + 15.147314071655273, + 0.1360178142786026, + -0.013611222617328167, + 0.004151529166847467, + 0.005447399336844683, + 0.9998839497566223 + ], + "box_yaw_rad": 0.010781113339249575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003453569616477164 + } + } + }, + { + "simulation_time_ns": 4460000000, + "center": [ + 0.6069077758499178, + 15.145055969996728, + 0.11890125872208523 + ], + "face_center": [ + 0.5296985837639875, + 15.144221321234514, + 0.1193999784750126 + ], + "face_normal": [ + -0.9999207174691459, + -0.010809368244875956, + 0.006458819211683467 + ], + "footprint_xy": [ + [ + 0.5283505017844978, + 15.085837109821721 + ], + [ + 0.6854650499153379, + 15.085837109821721 + ], + [ + 0.6854650499153379, + 15.204274830171732 + ], + [ + 0.5283505017844978, + 15.204274830171732 + ] + ], + "projected_box_corners": [ + [ + 0.5295643887779594, + 15.085837109821721 + ], + [ + 0.531046665743477, + 15.092011935738217 + ], + [ + 0.5283505017844978, + 15.196430706730812 + ], + [ + 0.5298327787500154, + 15.202605532647308 + ], + [ + 0.6839827729498202, + 15.087506407346147 + ], + [ + 0.6854650499153379, + 15.093681233262641 + ], + [ + 0.6827688859563587, + 15.198100004255236 + ], + [ + 0.6842511629218763, + 15.204274830171732 + ] + ], + "yaw_rad": 0.010809804238611498, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.4729556441307068, + 15.139753341674805, + 0.11694034934043884 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5298302475993653, + 15.144326052423763, + 0.11949107145005461 + ], + "intended_face_normal": [ + -0.9999131006485488, + -0.010792620694224, + 0.007570370715528274 + ], + "commanded_contact_point": [ + 0.5013798284630546, + 15.144354929459222, + 0.11879256049421068 + ], + "centerline_face_intersection": [ + 0.5298168270948213, + 15.145159408018595, + 0.11890652289882914 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4680574834346771, + 15.140804290771484, + 0.11475509405136108 + ], + "box_pose": [ + 0.6114475131034851, + 15.147223472595215, + 0.13602040708065033, + -0.013285008259117603, + 0.003713240148499608, + 0.005446239374577999, + 0.9998900890350342 + ], + "box_yaw_rad": 0.010793139523638256, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033643653445882223 + } + } + }, + { + "simulation_time_ns": 4480000000, + "center": [ + 0.60675249056417, + 15.144930065523416, + 0.11889409071657289 + ], + "face_center": [ + 0.5295427111797688, + 15.144094967825508, + 0.11929067837714231 + ], + "face_normal": [ + -0.9999283234535172, + -0.010815182320784352, + 0.005136127025583085 + ], + "footprint_xy": [ + [ + 0.5283537133346576, + 15.085836017953033 + ], + [ + 0.6851512677936824, + 15.085836017953033 + ], + [ + 0.6851512677936824, + 15.204024113093798 + ], + [ + 0.5283537133346576, + 15.204024113093798 + ] + ], + "projected_box_corners": [ + [ + 0.5295639168401783, + 15.085836017953033 + ], + [ + 0.53073170902488, + 15.09175737959189 + ], + [ + 0.5283537133346576, + 15.196432556059124 + ], + [ + 0.5295215055193592, + 15.20235391769798 + ], + [ + 0.6839834756089808, + 15.087506213348851 + ], + [ + 0.6851512677936824, + 15.093427574987707 + ], + [ + 0.6827732721034601, + 15.198102751454941 + ], + [ + 0.6839410642881617, + 15.204024113093798 + ] + ], + "yaw_rad": 0.010815535832829173, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.47733762860298157, + 15.142112731933594, + 0.11903446912765503 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5296985837639875, + 15.144221321234514, + 0.1193999784750126 + ], + "intended_face_normal": [ + -0.9999207174691459, + -0.010809368244875956, + 0.006458819211683467 + ], + "commanded_contact_point": [ + 0.5046443371706769, + 15.144360300847438, + 0.11879965160160791 + ], + "centerline_face_intersection": [ + 0.5296863396275799, + 15.145055969996728, + 0.11890125872208523 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4729556441307068, + 15.139753341674805, + 0.11694034934043884 + ], + "box_pose": [ + 0.6112975478172302, + 15.14710521697998, + 0.13602177798748016, + -0.012853877618908882, + 0.0031597327906638384, + 0.005445856600999832, + 0.9998975992202759 + ], + "box_yaw_rad": 0.010809804238611498, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003264520828200865 + } + } + }, + { + "simulation_time_ns": 4500000000, + "center": [ + 0.6065937237432509, + 15.144801007712298, + 0.11888651409769965 + ], + "face_center": [ + 0.5293834984533697, + 15.14396413330524, + 0.11917883972471527 + ], + "face_normal": [ + -0.9999340982857027, + -0.010838192123646105, + 0.003785850399454338 + ], + "footprint_xy": [ + [ + 0.5283558332331729, + 15.085835587651378 + ], + [ + 0.6848316142533291, + 15.085835587651378 + ], + [ + 0.6848316142533291, + 15.20376642777322 + ], + [ + 0.5283558332331729, + 15.20376642777322 + ] + ], + "projected_box_corners": [ + [ + 0.5295644723874185, + 15.085835587651378 + ], + [ + 0.5304111636735667, + 15.091493232251072 + ], + [ + 0.5283558332331729, + 15.196435034359407 + ], + [ + 0.529202524519321, + 15.202092678959099 + ], + [ + 0.6839849229671809, + 15.087509336465498 + ], + [ + 0.6848316142533291, + 15.09316698106519 + ], + [ + 0.6827762838129353, + 15.198108783173526 + ], + [ + 0.6836229750990834, + 15.20376642777322 + ] + ], + "yaw_rad": 0.010838481997664648, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.48010122776031494, + 15.145410537719727, + 0.11870548129081726 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5295427111797688, + 15.144094967825508, + 0.11929067837714231 + ], + "intended_face_normal": [ + -0.9999283234535172, + -0.010815182320784352, + 0.005136127025583085 + ], + "commanded_contact_point": [ + 0.5078016303369379, + 15.14434411378052, + 0.11880822320994557 + ], + "centerline_face_intersection": [ + 0.529531641728971, + 15.144930065523416, + 0.11889409071657289 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.47733762860298157, + 15.142112731933594, + 0.11903446912765503 + ], + "box_pose": [ + 0.61111980676651, + 15.146961212158203, + 0.13602250814437866, + -0.012329043820500374, + 0.002501241397112608, + 0.005438939668238163, + 0.9999061226844788 + ], + "box_yaw_rad": 0.010815535832829173, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031573462957558847 + } + } + }, + { + "simulation_time_ns": 4520000000, + "center": [ + 0.6064301584133643, + 15.144663512300204, + 0.11887803645875414 + ], + "face_center": [ + 0.5292196059959824, + 15.143826174217025, + 0.11906286852236891 + ], + "face_normal": [ + -0.9999383348481687, + -0.010844197099783279, + 0.0023937228802405714 + ], + "footprint_xy": [ + [ + 0.5283590084323025, + 15.085835176176385 + ], + [ + 0.6845013083944261, + 15.085835176176385 + ], + [ + 0.6845013083944261, + 15.20349184842402 + ], + [ + 0.5283590084323025, + 15.20349184842402 + ] + ], + "projected_box_corners": [ + [ + 0.5295644091538545, + 15.085835176176385 + ], + [ + 0.5300802035596622, + 15.091214782024586 + ], + [ + 0.5283590084323025, + 15.196437566409466 + ], + [ + 0.5288748028381103, + 15.201817172257666 + ], + [ + 0.6839855139886184, + 15.08750985234274 + ], + [ + 0.6845013083944261, + 15.09288945819094 + ], + [ + 0.6827801132670664, + 15.19811224257582 + ], + [ + 0.6832959076728742, + 15.20349184842402 + ] + ], + "yaw_rad": 0.010844440721159384, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.48225849866867065, + 15.146204948425293, + 0.11787828803062439 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5293834984533697, + 15.14396413330524, + 0.11917883972471527 + ], + "intended_face_normal": [ + -0.9999340982857027, + -0.010838192123646105, + 0.003785850399454338 + ], + "commanded_contact_point": [ + 0.5108567425650887, + 15.144317704553924, + 0.11881751579318092 + ], + "centerline_face_intersection": [ + 0.5293733208748852, + 15.144801007712298, + 0.11888651409769965 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.48010122776031494, + 15.145410537719727, + 0.11870548129081726 + ], + "box_pose": [ + 0.6109380722045898, + 15.14681339263916, + 0.13602298498153687, + -0.011782904155552387, + 0.0018289702711626887, + 0.00544111430644989, + 0.9999140501022339 + ], + "box_yaw_rad": 0.010838481997664648, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030552405021453113 + } + } + }, + { + "simulation_time_ns": 4540000000, + "center": [ + 0.6062572050011572, + 15.144516010398645, + 0.11886865542729858 + ], + "face_center": [ + 0.529046466983549, + 15.143678420212957, + 0.11893992904787874 + ], + "face_normal": [ + -0.9999407385193684, + -0.010847462028685471, + 0.0009230503247312123 + ], + "footprint_xy": [ + [ + 0.5283623195772031, + 15.085834896463304 + ], + [ + 0.6841520904251112, + 15.085834896463304 + ], + [ + 0.6841520904251112, + 15.203197124333984 + ], + [ + 0.5283623195772031, + 15.203197124333984 + ] + ], + "projected_box_corners": [ + [ + 0.5295643408584858, + 15.085834896463304 + ], + [ + 0.5297306143898949, + 15.090916560797758 + ], + [ + 0.5283623195772031, + 15.196440279628156 + ], + [ + 0.5285285931086122, + 15.20152194396261 + ], + [ + 0.6839858168937021, + 15.087510076834679 + ], + [ + 0.6841520904251112, + 15.092591741169134 + ], + [ + 0.6827837956124194, + 15.19811545999953 + ], + [ + 0.6829500691438285, + 15.203197124333984 + ] + ], + "yaw_rad": 0.010847679393503324, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.48713070154190063, + 15.145842552185059, + 0.11835888028144836 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5292196059959824, + 15.143826174217025, + 0.11906286852236891 + ], + "intended_face_normal": [ + -0.9999383348481687, + -0.010844197099783279, + 0.0023937228802405714 + ], + "commanded_contact_point": [ + 0.513801748622891, + 15.144276747269357, + 0.11882731055226309 + ], + "centerline_face_intersection": [ + 0.529210082714234, + 15.144663512300204, + 0.11887803645875414 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.48225849866867065, + 15.146204948425293, + 0.11787828803062439 + ], + "box_pose": [ + 0.6107508540153503, + 15.146656036376953, + 0.13602280616760254, + -0.011207046918570995, + 0.0011360370554029942, + 0.005435254890471697, + 0.9999218583106995 + ], + "box_yaw_rad": 0.010844440721159384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029453071345712668 + } + } + }, + { + "simulation_time_ns": 4560000000, + "center": [ + 0.6060705840590758, + 15.144354325615495, + 0.11885820935349727 + ], + "face_center": [ + 0.5288598329659415, + 15.143516515361066, + 0.11880632321653024 + ], + "face_normal": [ + -0.9999409078578765, + -0.010850312094693256, + -0.0006719669238996993 + ], + "footprint_xy": [ + [ + 0.5281540759893124, + 15.085834575952273 + ], + [ + 0.683987092128839, + 15.085834575952273 + ], + [ + 0.683987092128839, + 15.202874075278716 + ], + [ + 0.5281540759893124, + 15.202874075278716 + ] + ], + "projected_box_corners": [ + [ + 0.5295655899425706, + 15.085834575952273 + ], + [ + 0.5293528088593701, + 15.090589989305421 + ], + [ + 0.528366857072513, + 15.19644304141671 + ], + [ + 0.5281540759893124, + 15.201198454769859 + ], + [ + 0.683987092128839, + 15.08751019646113 + ], + [ + 0.6837743110456385, + 15.092265609814278 + ], + [ + 0.6827883592587813, + 15.198118661925568 + ], + [ + 0.6825755781755808, + 15.202874075278716 + ] + ], + "yaw_rad": 0.01085052745557522, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.49409055709838867, + 15.144821166992188, + 0.12079708278179169 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.529046466983549, + 15.143678420212957, + 0.11893992904787874 + ], + "intended_face_normal": [ + -0.9999407385193684, + -0.010847462028685471, + 0.0009230503247312123 + ], + "commanded_contact_point": [ + 0.5166262219470437, + 15.144219593998008, + 0.11883795820571011 + ], + "centerline_face_intersection": [ + 0.5290373149246991, + 15.144516010398645, + 0.11886865542729858 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.48713070154190063, + 15.145842552185059, + 0.11835888028144836 + ], + "box_pose": [ + 0.6105529069900513, + 15.14648723602295, + 0.1360221654176712, + -0.010589923709630966, + 0.0004040675121359527, + 0.005428394768387079, + 0.9999291300773621 + ], + "box_yaw_rad": 0.010847679393503324, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028250715792347736 + } + } + }, + { + "simulation_time_ns": 4580000000, + "center": [ + 0.6058635653219029, + 15.144176276421685, + 0.11884637485009547 + ], + "face_center": [ + 0.5286530180966031, + 15.143339287430816, + 0.11865783053657297 + ], + "face_normal": [ + -0.9999382676065565, + -0.010839676075515527, + -0.002441799482143535 + ], + "footprint_xy": [ + [ + 0.5277392968490752, + 15.085837375942909 + ], + [ + 0.6839878337947307, + 15.085837375942909 + ], + [ + 0.6839878337947307, + 15.202515176900462 + ], + [ + 0.5277392968490752, + 15.202515176900462 + ] + ], + "projected_box_corners": [ + [ + 0.5295667393441312, + 15.085837375942909 + ], + [ + 0.5289334117499165, + 15.090229525827704 + ], + [ + 0.5283726244432899, + 15.19644904903393 + ], + [ + 0.5277392968490752, + 15.200841198918724 + ], + [ + 0.6839878337947307, + 15.087511353924647 + ], + [ + 0.683354506200516, + 15.091903503809442 + ], + [ + 0.6827937188938894, + 15.198123027015669 + ], + [ + 0.6821603912996747, + 15.202515176900462 + ] + ], + "yaw_rad": 0.01083992067843774, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5007272958755493, + 15.143294334411621, + 0.12251368165016174 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5288598329659415, + 15.143516515361066, + 0.11880632321653024 + ], + "intended_face_normal": [ + -0.9999409078578765, + -0.010850312094693256, + -0.0006719669238996993 + ], + "commanded_contact_point": [ + 0.5193195573179276, + 15.144142429342393, + 0.11884984680642152 + ], + "centerline_face_intersection": [ + 0.5288507070596914, + 15.144354325615495, + 0.11885820935349727 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.49409055709838867, + 15.144821166992188, + 0.12079708278179169 + ], + "box_pose": [ + 0.6103391647338867, + 15.146302223205566, + 0.13602115213871002, + -0.009914129972457886, + -0.00038975916686467826, + 0.005421638023108244, + 0.9999361634254456 + ], + "box_yaw_rad": 0.01085052745557522, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026944667641218543 + } + } + }, + { + "simulation_time_ns": 4600000000, + "center": [ + 0.6056321836418431, + 15.143972329453838, + 0.11883173125684696 + ], + "face_center": [ + 0.528422154248642, + 15.14313595477336, + 0.11849035028114599 + ], + "face_normal": [ + -0.9999315612671996, + -0.010831720265206016, + -0.004421156353680239 + ], + "footprint_xy": [ + [ + 0.5272752938697541, + 15.085839671116114 + ], + [ + 0.6839890734139321, + 15.085839671116114 + ], + [ + 0.6839890734139321, + 15.202104987791564 + ], + [ + 0.5272752938697541, + 15.202104987791564 + ] + ], + "projected_box_corners": [ + [ + 0.5295690146275299, + 15.085839671116114 + ], + [ + 0.5284653923326339, + 15.089817219583905 + ], + [ + 0.5283789161646502, + 15.196454689962815 + ], + [ + 0.5272752938697541, + 15.200432238430608 + ], + [ + 0.6839890734139321, + 15.08751242047707 + ], + [ + 0.6828854511190361, + 15.091489968944861 + ], + [ + 0.6827989749510524, + 15.198127439323773 + ], + [ + 0.6816953526561563, + 15.202104987791564 + ] + ], + "yaw_rad": 0.010832037953265174, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.505456268787384, + 15.142056465148926, + 0.12221857905387878 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5286530180966031, + 15.143339287430816, + 0.11865783053657297 + ], + "intended_face_normal": [ + -0.9999382676065565, + -0.010839676075515527, + -0.002441799482143535 + ], + "commanded_contact_point": [ + 0.521868884597487, + 15.144042500514978, + 0.1188633402777477 + ], + "centerline_face_intersection": [ + 0.5286434844300495, + 15.144176276421685, + 0.11884637485009547 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5007272958755493, + 15.143294334411621, + 0.12251368165016174 + ], + "box_pose": [ + 0.6101020574569702, + 15.146098136901855, + 0.13601970672607422, + -0.009161656722426414, + -0.0012705236440524459, + 0.005408508703112602, + 0.9999425411224365 + ], + "box_yaw_rad": 0.01083992067843774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025513207212389407 + } + } + }, + { + "simulation_time_ns": 4620000000, + "center": [ + 0.6053801551021486, + 15.143768400342866, + 0.11882360313258518 + ], + "face_center": [ + 0.528171043113878, + 15.14293199828935, + 0.11831550855604331 + ], + "face_normal": [ + -0.9999196801404648, + -0.01083207476789771, + -0.006580230666738231 + ], + "footprint_xy": [ + [ + 0.5267687747854106, + 15.085841851270509 + ], + [ + 0.6839915354188866, + 15.085841851270509 + ], + [ + 0.6839915354188866, + 15.201694949415224 + ], + [ + 0.5267687747854106, + 15.201694949415224 + ] + ], + "projected_box_corners": [ + [ + 0.5295733114423453, + 15.085841851270509 + ], + [ + 0.5279562302081565, + 15.089404116615468 + ], + [ + 0.5283858560195994, + 15.196459879963234 + ], + [ + 0.5267687747854106, + 15.200022145308193 + ], + [ + 0.6839915354188866, + 15.08751465537754 + ], + [ + 0.6823744541846978, + 15.091076920722498 + ], + [ + 0.6828040799961408, + 15.198132684070265 + ], + [ + 0.6811869987619519, + 15.201694949415224 + ] + ], + "yaw_rad": 0.010832521139919598, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.508459210395813, + 15.140981674194336, + 0.12179037928581238 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.528422154248642, + 15.14313595477336, + 0.11849035028114599 + ], + "intended_face_normal": [ + -0.9999315612671996, + -0.010831720265206016, + -0.004421156353680239 + ], + "commanded_contact_point": [ + 0.52426299493707, + 15.143911367344366, + 0.1188777573530279 + ], + "centerline_face_intersection": [ + 0.5284115848504778, + 15.143972329453838, + 0.11883173125684696 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.505456268787384, + 15.142056465148926, + 0.12221857905387878 + ], + "box_pose": [ + 0.609836995601654, + 15.145864486694336, + 0.1360166370868683, + -0.008302735164761543, + -0.002255507744848728, + 0.0053974115289747715, + 0.9999484419822693 + ], + "box_yaw_rad": 0.010832037953265174, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002397742287776616 + } + } + }, + { + "simulation_time_ns": 4640000000, + "center": [ + 0.6051584165902392, + 15.143596101916364, + 0.11881906941429785 + ], + "face_center": [ + 0.5279503968945388, + 15.142760888465059, + 0.11816422929059606 + ], + "face_normal": [ + -0.9999055340790809, + -0.010816681419729884, + -0.008480702732787782 + ], + "footprint_xy": [ + [ + 0.5263238059178081, + 15.085844539734634 + ], + [ + 0.6839930272626701, + 15.085844539734634 + ], + [ + 0.6839930272626701, + 15.201347664098094 + ], + [ + 0.5263238059178081, + 15.201347664098094 + ] + ], + "projected_box_corners": [ + [ + 0.5295769878712695, + 15.085844539734634 + ], + [ + 0.5275078120945991, + 15.089056911233595 + ], + [ + 0.5283929816944787, + 15.196464865696525 + ], + [ + 0.5263238059178081, + 15.199677237195486 + ], + [ + 0.6839930272626701, + 15.087514966637242 + ], + [ + 0.6819238514859995, + 15.090727338136203 + ], + [ + 0.6828090210858793, + 15.198135292599133 + ], + [ + 0.6807398453092087, + 15.201347664098094 + ] + ], + "yaw_rad": 0.01081728138135998, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5116277933120728, + 15.140877723693848, + 0.12277372181415558 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.528171043113878, + 15.14293199828935, + 0.11831550855604331 + ], + "intended_face_normal": [ + -0.9999196801404648, + -0.01083207476789771, + -0.006580230666738231 + ], + "commanded_contact_point": [ + 0.5264969008179334, + 15.143769252348461, + 0.11890045694287649 + ], + "centerline_face_intersection": [ + 0.5281586387693656, + 15.143768400342866, + 0.11882360313258518 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.508459210395813, + 15.140981674194336, + 0.12179037928581238 + ], + "box_pose": [ + 0.6095481514930725, + 15.145630836486816, + 0.1360207200050354, + -0.007442898117005825, + -0.003330402774736285, + 0.005391506943851709, + 0.9999522566795349 + ], + "box_yaw_rad": 0.010832521139919598, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022385368944908388 + } + } + }, + { + "simulation_time_ns": 4660000000, + "center": [ + 0.6065505776404352, + 15.143972995251398, + 0.11903117426095375 + ], + "face_center": [ + 0.5293370507026418, + 15.144483976715623, + 0.11890927983020418 + ], + "face_normal": [ + -0.9999768572637466, + 0.006617618168480367, + -0.0015786302557726781 + ], + "footprint_xy": [ + [ + 0.5287925302392019, + 15.08630960915747 + ], + [ + 0.6843086250416685, + 15.08630960915747 + ], + [ + 0.6843086250416685, + 15.201636381345327 + ], + [ + 0.5287925302392019, + 15.201636381345327 + ] + ], + "projected_box_corners": [ + [ + 0.529146824940874, + 15.087331572085919 + ], + [ + 0.5287925302392019, + 15.091015128758565 + ], + [ + 0.5298815711660816, + 15.197952824672681 + ], + [ + 0.5295272764644096, + 15.201636381345327 + ], + [ + 0.6835738788164608, + 15.08630960915747 + ], + [ + 0.6832195841147888, + 15.089993165830114 + ], + [ + 0.6843086250416685, + 15.196930861744232 + ], + [ + 0.6839543303399964, + 15.200614418416876 + ] + ], + "yaw_rad": -0.0066176747161500816, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5149867534637451, + 15.14233112335205, + 0.1256035417318344 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5279503968945388, + 15.142760888465059, + 0.11816422929059606 + ], + "intended_face_normal": [ + -0.9999055340790809, + -0.010816681419729884, + -0.008480702732787782 + ], + "commanded_contact_point": [ + 0.5286068739122154, + 15.14364345434911, + 0.11892388243923929 + ], + "centerline_face_intersection": [ + 0.5279358077739436, + 15.143596101916364, + 0.11881906941429785 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5116277933120728, + 15.140877723693848, + 0.12277372181415558 + ], + "box_pose": [ + 0.6092939972877502, + 15.14543342590332, + 0.13602671027183533, + -0.006718645337969065, + -0.004276694264262915, + 0.005379855632781982, + 0.9999538064002991 + ], + "box_yaw_rad": 0.01081728138135998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021138496514923376 + } + } + }, + { + "simulation_time_ns": 4680000000, + "center": [ + 0.608270444473723, + 15.14542787349242, + 0.11897225019904278 + ], + "face_center": [ + 0.5310708740758248, + 15.146804152908295, + 0.11970497622551646 + ], + "face_normal": [ + -0.9997961089226701, + 0.01782391790124497, + 0.009489387394242493 + ], + "footprint_xy": [ + [ + 0.5289031577522875, + 15.085479742569397 + ], + [ + 0.6876377311951586, + 15.085479742569397 + ], + [ + 0.6876377311951586, + 15.205376004415442 + ], + [ + 0.5289031577522875, + 15.205376004415442 + ] + ], + "projected_box_corners": [ + [ + 0.5289031577522875, + 15.088232301401149 + ], + [ + 0.5312961828108436, + 15.094798316311474 + ], + [ + 0.5308455653408061, + 15.198809989505117 + ], + [ + 0.5332385903993622, + 15.205376004415442 + ], + [ + 0.6833022985480839, + 15.085479742569397 + ], + [ + 0.68569532360664, + 15.09204575747972 + ], + [ + 0.6852447061366025, + 15.196057430673365 + ], + [ + 0.6876377311951586, + 15.202623445583688 + ] + ], + "yaw_rad": -0.017825664479583923, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5174498558044434, + 15.14391040802002, + 0.12875708937644958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5293370507026418, + 15.144483976715623, + 0.11890927983020418 + ], + "intended_face_normal": [ + -0.9999768572637466, + 0.006617618168480367, + -0.0015786302557726781 + ], + "commanded_contact_point": [ + 0.5319834072501393, + 15.143761356543378, + 0.1190222821243768 + ], + "centerline_face_intersection": [ + 0.5293334767139962, + 15.143972995251398, + 0.11903117426095375 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5149867534637451, + 15.14233112335205, + 0.1256035417318344 + ], + "box_pose": [ + 0.6108364462852478, + 15.145769119262695, + 0.13620635867118835, + -0.007675123866647482, + -0.0007639005780220032, + -0.0033147886861115694, + 0.9999648332595825 + ], + "box_yaw_rad": -0.0066176747161500816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003380023788016809 + } + } + }, + { + "simulation_time_ns": 4700000000, + "center": [ + 0.6088959704043295, + 15.146822870439001, + 0.11932254429360627 + ], + "face_center": [ + 0.5317010706927233, + 15.148199768865172, + 0.12044339736752864 + ], + "face_normal": [ + -0.9997356198039274, + 0.017831934579065706, + 0.014515942720998778 + ], + "footprint_xy": [ + [ + 0.528923062303724, + 15.08547936099136 + ], + [ + 0.6888688785049352, + 15.08547936099136 + ], + [ + 0.6888688785049352, + 15.208166379886643 + ], + [ + 0.528923062303724, + 15.208166379886643 + ] + ], + "projected_box_corners": [ + [ + 0.528923062303724, + 15.088233157843701 + ], + [ + 0.5325708777593918, + 15.097632214938539 + ], + [ + 0.5308312636260548, + 15.198767322791806 + ], + [ + 0.5344790790817227, + 15.208166379886643 + ], + [ + 0.6833128617269365, + 15.08547936099136 + ], + [ + 0.6869606771826043, + 15.094878418086198 + ], + [ + 0.6852210630492673, + 15.196013525939463 + ], + [ + 0.6888688785049352, + 15.2054125830343 + ] + ], + "yaw_rad": -0.017834759043624367, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5185816884040833, + 15.1439847946167, + 0.13086466491222382 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5310708740758248, + 15.146804152908295, + 0.11970497622551646 + ], + "intended_face_normal": [ + -0.9997961089226701, + 0.01782391790124497, + 0.009489387394242493 + ], + "commanded_contact_point": [ + 0.5355370862934239, + 15.144932366663966, + 0.11882596432412361 + ], + "centerline_face_intersection": [ + 0.5310393838381288, + 15.14542787349242, + 0.11897225019904278 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5174498558044434, + 15.14391040802002, + 0.12875708937644958 + ], + "box_pose": [ + 0.6127694845199585, + 15.147381782531738, + 0.13607554137706757, + -0.013730146922171116, + 0.00486686360090971, + -0.008846421726047993, + 0.9998546838760376 + ], + "box_yaw_rad": -0.017825664479583923, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037467906431900557 + } + } + }, + { + "simulation_time_ns": 4720000000, + "center": [ + 0.6091058613258243, + 15.147506114827245, + 0.11948657731125686 + ], + "face_center": [ + 0.5319124255883939, + 15.14885547647694, + 0.12073453770174536 + ], + "face_normal": [ + -0.9997166601688277, + 0.01747531132546545, + 0.0161620840125035 + ], + "footprint_xy": [ + [ + 0.5289560712473983, + 15.085535242930597 + ], + [ + 0.6892556514042504, + 15.085535242930597 + ], + [ + 0.6892556514042504, + 15.209476986723892 + ], + [ + 0.5289560712473983, + 15.209476986723892 + ] + ], + "projected_box_corners": [ + [ + 0.5289560712473983, + 15.08823396622999 + ], + [ + 0.5330175908788303, + 15.098967985938737 + ], + [ + 0.5308072602979577, + 15.198742967015145 + ], + [ + 0.5348687799293895, + 15.209476986723892 + ], + [ + 0.6833429427222592, + 15.085535242930597 + ], + [ + 0.687404462353691, + 15.096269262639344 + ], + [ + 0.6851941317728184, + 15.196044243715752 + ], + [ + 0.6892556514042504, + 15.206778263424502 + ] + ], + "yaw_rad": -0.017478484085858514, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5188044309616089, + 15.14250659942627, + 0.13199986517429352 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5317010706927233, + 15.148199768865172, + 0.12044339736752864 + ], + "intended_face_normal": [ + -0.9997356198039274, + 0.017831934579065706, + 0.014515942720998778 + ], + "commanded_contact_point": [ + 0.5380029154147392, + 15.14624843624284, + 0.11907804700525382 + ], + "centerline_face_intersection": [ + 0.5316602368945225, + 15.146822870439001, + 0.11932254429360627 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5185816884040833, + 15.1439847946167, + 0.13086466491222382 + ], + "box_pose": [ + 0.6134842038154602, + 15.148979187011719, + 0.13637775182724, + -0.019660111516714096, + 0.007432360202074051, + -0.008772121742367744, + 0.9997406005859375 + ], + "box_yaw_rad": -0.017834759043624367, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002806403048403518 + } + } + }, + { + "simulation_time_ns": 4740000000, + "center": [ + 0.6090805529506683, + 15.147418697225223, + 0.11946130107793848 + ], + "face_center": [ + 0.5318868507312515, + 15.148767690314079, + 0.12069307114110145 + ], + "face_normal": [ + -0.9997201113234356, + 0.017470538168152375, + 0.015952406339702692 + ], + "footprint_xy": [ + [ + 0.5289561993429471, + 15.085535587524113 + ], + [ + 0.6892049065583895, + 15.085535587524113 + ], + [ + 0.6892049065583895, + 15.209301806926335 + ], + [ + 0.5289561993429471, + 15.209301806926335 + ] + ], + "projected_box_corners": [ + [ + 0.5289561993429471, + 15.088233573701824 + ], + [ + 0.5329644186078814, + 15.09878914093736 + ], + [ + 0.5308092828546216, + 15.198746239690799 + ], + [ + 0.5348175021195559, + 15.209301806926335 + ], + [ + 0.6833436037817807, + 15.085535587524113 + ], + [ + 0.687351823046715, + 15.096091154759648 + ], + [ + 0.6851966872934552, + 15.196048253513087 + ], + [ + 0.6892049065583895, + 15.206603820748624 + ] + ], + "yaw_rad": -0.017473650724706483, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5197492837905884, + 15.14004135131836, + 0.13069579005241394 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5319124255883939, + 15.14885547647694, + 0.12073453770174536 + ], + "intended_face_normal": [ + -0.9997166601688277, + 0.01747531132546545, + 0.0161620840125035 + ], + "commanded_contact_point": [ + 0.5399364706558695, + 15.14695053489771, + 0.11921312357372049 + ], + "centerline_face_intersection": [ + 0.5318686630396637, + 15.147506114827245, + 0.11948657731125686 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5188044309616089, + 15.14250659942627, + 0.13199986517429352 + ], + "box_pose": [ + 0.6137228608131409, + 15.149759292602539, + 0.13652148842811584, + -0.02245022915303707, + 0.008275766856968403, + -0.008554624393582344, + 0.9996771812438965 + ], + "box_yaw_rad": -0.017478484085858514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020615101433228995 + } + } + }, + { + "simulation_time_ns": 4760000000, + "center": [ + 0.6087848738411947, + 15.146616934167119, + 0.11922177830771737 + ], + "face_center": [ + 0.5315884002289788, + 15.14796613085006, + 0.12026524959103989 + ], + "face_normal": [ + -0.9997560030741612, + 0.017473174874212054, + 0.01351378671489089 + ], + "footprint_xy": [ + [ + 0.5289524143827095, + 15.085541393753472 + ], + [ + 0.68861733329968, + 15.085541393753472 + ], + [ + 0.68861733329968, + 15.207692474580766 + ], + [ + 0.5289524143827095, + 15.207692474580766 + ] + ], + "projected_box_corners": [ + [ + 0.5289524143827095, + 15.088239787119354 + ], + [ + 0.5323482640339656, + 15.097148979992397 + ], + [ + 0.5308285364239921, + 15.198783281707723 + ], + [ + 0.5342243860752482, + 15.207692474580766 + ], + [ + 0.6833453616071413, + 15.085541393753472 + ], + [ + 0.6867412112583975, + 15.094450586626515 + ], + [ + 0.685221483648424, + 15.196084888341838 + ], + [ + 0.68861733329968, + 15.204994081214881 + ] + ], + "yaw_rad": -0.01747566008372953, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5222453474998474, + 15.135591506958008, + 0.12106308341026306 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5318868507312515, + 15.148767690314079, + 0.12069307114110145 + ], + "intended_face_normal": [ + -0.9997201113234356, + 0.017470538168152375, + 0.015952406339702692 + ], + "commanded_contact_point": [ + 0.5414778597801153, + 15.14693326956166, + 0.11919908874887503 + ], + "centerline_face_intersection": [ + 0.5318436212966478, + 15.147418697225223, + 0.11946130107793848 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5197492837905884, + 15.14004135131836, + 0.13069579005241394 + ], + "box_pose": [ + 0.6136937737464905, + 15.149659156799316, + 0.13649891316890717, + -0.02207707241177559, + 0.008167693391442299, + -0.008557635359466076, + 0.9996862411499023 + ], + "box_yaw_rad": -0.017473650724706483, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015415497074310353 + } + } + }, + { + "simulation_time_ns": 4780000000, + "center": [ + 0.6080786879507801, + 15.145361533660816, + 0.11897674378807897 + ], + "face_center": [ + 0.5308771220464389, + 15.146692728855683, + 0.11956906425349059 + ], + "face_normal": [ + -0.9998219523252536, + 0.017240041222826456, + 0.007671023212972805 + ], + "footprint_xy": [ + [ + 0.5289601587054459, + 15.085550703911371 + ], + [ + 0.6871972171961145, + 15.085550703911371 + ], + [ + 0.6871972171961145, + 15.20517236341026 + ], + [ + 0.5289601587054459, + 15.20517236341026 + ] + ], + "projected_box_corners": [ + [ + 0.5289601587054459, + 15.088213094301105 + ], + [ + 0.5309100053059771, + 15.094591203020482 + ], + [ + 0.5308442387869008, + 15.198794254690883 + ], + [ + 0.532794085387432, + 15.20517236341026 + ], + [ + 0.6833632905141284, + 15.085550703911371 + ], + [ + 0.6853131371146596, + 15.091928812630748 + ], + [ + 0.6852473705955833, + 15.19613186430115 + ], + [ + 0.6871972171961145, + 15.202509973020527 + ] + ], + "yaw_rad": -0.017241402688122583, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5247804522514343, + 15.132011413574219, + 0.11468583345413208 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5315884002289788, + 15.14796613085006, + 0.12026524959103989 + ], + "intended_face_normal": [ + -0.9997560030741612, + 0.017473174874212054, + 0.01351378671489089 + ], + "commanded_contact_point": [ + 0.5425764627765268, + 15.146220181758991, + 0.1190100458263588 + ], + "centerline_face_intersection": [ + 0.5315507150324377, + 15.146616934167119, + 0.11922177830771737 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5222453474998474, + 15.135591506958008, + 0.12106308341026306 + ], + "box_pose": [ + 0.6133546829223633, + 15.1487398147583, + 0.13628612458705902, + -0.018632765859365463, + 0.006918939296156168, + -0.008609688840806484, + 0.9997653365135193 + ], + "box_yaw_rad": -0.01747566008372953, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013233140158683398 + } + } + }, + { + "simulation_time_ns": 4800000000, + "center": [ + 0.6094501958108676, + 15.145939887231362, + 0.11898411240240643 + ], + "face_center": [ + 0.5322913480059441, + 15.14878477380698, + 0.11977375080782698 + ], + "face_normal": [ + -0.9992687188116685, + 0.03684355384323337, + 0.010226448167085407 + ], + "footprint_xy": [ + [ + 0.5289126054945185, + 15.084270585779878 + ], + [ + 0.6899877861272166, + 15.084270585779878 + ], + [ + 0.6899877861272166, + 15.207609188682847 + ], + [ + 0.5289126054945185, + 15.207609188682847 + ] + ], + "projected_box_corners": [ + [ + 0.5289126054945185, + 15.089960358931116 + ], + [ + 0.531629562550215, + 15.097096582102461 + ], + [ + 0.5329531334616732, + 15.2004729655115 + ], + [ + 0.5356700905173697, + 15.207609188682847 + ], + [ + 0.6832303011043653, + 15.084270585779878 + ], + [ + 0.6859472581600619, + 15.091406808951225 + ], + [ + 0.68727082907152, + 15.194783192360264 + ], + [ + 0.6899877861272166, + 15.20191941553161 + ] + ], + "yaw_rad": -0.03685382248287005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5267543792724609, + 15.133377075195312, + 0.11249712109565735 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5308771220464389, + 15.146692728855683, + 0.11956906425349059 + ], + "intended_face_normal": [ + -0.9998219523252536, + 0.017240041222826456, + 0.007671023212972805 + ], + "commanded_contact_point": [ + 0.5430793832152426, + 15.145043120851879, + 0.11885972677381836 + ], + "centerline_face_intersection": [ + 0.5308496235840088, + 15.145361533660816, + 0.11897674378807897 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5247804522514343, + 15.132011413574219, + 0.11468583345413208 + ], + "box_pose": [ + 0.6125452518463135, + 15.14730453491211, + 0.13608978688716888, + -0.01332908309996128, + 0.003950248938053846, + -0.00856851041316986, + 0.9998666048049927 + ], + "box_yaw_rad": -0.017241402688122583, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012887967893687243 + } + } + }, + { + "simulation_time_ns": 4820000000, + "center": [ + 0.6112792658326783, + 15.147766218573889, + 0.11928461489961512 + ], + "face_center": [ + 0.5342435755416748, + 15.152918654414181, + 0.12036142862091231 + ], + "face_normal": [ + -0.9976737306198038, + 0.06672816024812589, + 0.013945597922871061 + ], + "footprint_xy": [ + [ + 0.5286055095634824, + 15.082914306448636 + ], + [ + 0.6939530221018744, + 15.082914306448636 + ], + [ + 0.6939530221018744, + 15.212618130699143 + ], + [ + 0.5286055095634824, + 15.212618130699143 + ] + ], + "projected_box_corners": [ + [ + 0.5286055095634824, + 15.09321917812922 + ], + [ + 0.5325638146594843, + 15.102307602115436 + ], + [ + 0.5359233364238651, + 15.203529706712926 + ], + [ + 0.5398816415198672, + 15.212618130699143 + ], + [ + 0.6826768901454895, + 15.082914306448636 + ], + [ + 0.6866351952414915, + 15.092002730434853 + ], + [ + 0.6899947170058723, + 15.193224835032343 + ], + [ + 0.6939530221018744, + 15.20231325901856 + ] + ], + "yaw_rad": -0.06678428331424269, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5284472703933716, + 15.137269973754883, + 0.11322498321533203 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5322913480059441, + 15.14878477380698, + 0.11977375080782698 + ], + "intended_face_normal": [ + -0.9992687188116685, + 0.03684355384323337, + 0.010226448167085407 + ], + "commanded_contact_point": [ + 0.5453532566374406, + 15.145343239814602, + 0.11883001154893934 + ], + "centerline_face_intersection": [ + 0.532178374470095, + 15.145939887231362, + 0.11898411240240643 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5267543792724609, + 15.133377075195312, + 0.11249712109565735 + ], + "box_pose": [ + 0.6139997839927673, + 15.147851943969727, + 0.13607876002788544, + -0.014976841397583485, + 0.005389586091041565, + -0.018346469849348068, + 0.9997050166130066 + ], + "box_yaw_rad": -0.03685382248287005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002293786111771136 + } + } + }, + { + "simulation_time_ns": 4840000000, + "center": [ + 0.6129323020551319, + 15.149693390225321, + 0.11962727577100332 + ], + "face_center": [ + 0.5360439142684985, + 15.156658582341437, + 0.12099352078382444 + ], + "face_normal": [ + -0.995766045512946, + 0.0902048021731177, + 0.017693964365516027 + ], + "footprint_xy": [ + [ + 0.5284682940172699, + 15.082069562439553 + ], + [ + 0.6973963100929939, + 15.082069562439553 + ], + [ + 0.6973963100929939, + 15.217317218011088 + ], + [ + 0.5284682940172699, + 15.217317218011088 + ] + ], + "projected_box_corners": [ + [ + 0.5284682940172699, + 15.095999946671787 + ], + [ + 0.533744809609452, + 15.107253843632165 + ], + [ + 0.538343018927545, + 15.20606332105071 + ], + [ + 0.5436195345197271, + 15.217317218011088 + ], + [ + 0.6822450695905367, + 15.082069562439553 + ], + [ + 0.6875215851827188, + 15.093323459399933 + ], + [ + 0.6921197945008117, + 15.192132936818476 + ], + [ + 0.6973963100929939, + 15.203386833778856 + ] + ], + "yaw_rad": -0.09034176525391399, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5306159257888794, + 15.140095710754395, + 0.11590050160884857 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5342435755416748, + 15.152918654414181, + 0.12036142862091231 + ], + "intended_face_normal": [ + -0.9976737306198038, + 0.06672816024812589, + 0.013945597922871061 + ], + "commanded_contact_point": [ + 0.5478002985421709, + 15.14672591318954, + 0.11907249207088322 + ], + "centerline_face_intersection": [ + 0.5338839094735728, + 15.147766218573889, + 0.11928461489961512 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5284472703933716, + 15.137269973754883, + 0.11322498321533203 + ], + "box_pose": [ + 0.6159572005271912, + 15.149686813354492, + 0.13634362816810608, + -0.0192103274166584, + 0.007617250084877014, + -0.03324322775006294, + 0.999233603477478 + ], + "box_yaw_rad": -0.06678428331424269, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028210984649227858 + } + } + }, + { + "simulation_time_ns": 4860000000, + "center": [ + 0.6147662080409119, + 15.151734013084385, + 0.12003772780579877 + ], + "face_center": [ + 0.5380548112372647, + 15.16037061340599, + 0.12176267346841377 + ], + "face_normal": [ + -0.9934738708908328, + 0.1118508736688173, + 0.02233942433483374 + ], + "footprint_xy": [ + [ + 0.528477654209161, + 15.08126606080156 + ], + [ + 0.7010547618726626, + 15.08126606080156 + ], + [ + 0.7010547618726626, + 15.222201965367207 + ], + [ + 0.528477654209161, + 15.222201965367207 + ] + ], + "projected_box_corners": [ + [ + 0.528477654209161, + 15.098539261444774 + ], + [ + 0.5354264516174363, + 15.112446741938829 + ], + [ + 0.5406831708570933, + 15.208294484873152 + ], + [ + 0.5476319682653685, + 15.222201965367207 + ], + [ + 0.6819004478164552, + 15.08126606080156 + ], + [ + 0.6888492452247303, + 15.095173541295615 + ], + [ + 0.6941059644643874, + 15.19102128422994 + ], + [ + 0.7010547618726626, + 15.204928764723993 + ] + ], + "yaw_rad": -0.11211351348565249, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.533504068851471, + 15.142398834228516, + 0.11920906603336334 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5360439142684985, + 15.156658582341437, + 0.12099352078382444 + ], + "intended_face_normal": [ + -0.995766045512946, + 0.0902048021731177, + 0.017693964365516027 + ], + "commanded_contact_point": [ + 0.5498472516646833, + 15.148315213038073, + 0.11935920377838873 + ], + "centerline_face_intersection": [ + 0.5353886719430384, + 15.149693390225321, + 0.11962727577100332 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5306159257888794, + 15.140095710754395, + 0.11590050160884857 + ], + "box_pose": [ + 0.617732584476471, + 15.151664733886719, + 0.13664646446704865, + -0.023934299126267433, + 0.009935603477060795, + -0.044925060123205185, + 0.9986541867256165 + ], + "box_yaw_rad": -0.09034176525391399, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002607315611415303 + } + } + }, + { + "simulation_time_ns": 4880000000, + "center": [ + 0.6175816699536193, + 15.15415613183181, + 0.12050707991437912 + ], + "face_center": [ + 0.541194874915037, + 15.165229413026463, + 0.12266224047887042 + ], + "face_normal": [ + -0.9892700187192656, + 0.14340783756127343, + 0.02791105099906943 + ], + "footprint_xy": [ + [ + 0.5287915056470448, + 15.07997578773106 + ], + [ + 0.7063718342601938, + 15.07997578773106 + ], + [ + 0.7063718342601938, + 15.228336475932558 + ], + [ + 0.5287915056470448, + 15.228336475932558 + ] + ], + "projected_box_corners": [ + [ + 0.5287915056470448, + 15.10212235012037 + ], + [ + 0.5380025521222753, + 15.119124457458193 + ], + [ + 0.5443871977077988, + 15.211334368594734 + ], + [ + 0.5535982441830293, + 15.228336475932558 + ], + [ + 0.6815650957242093, + 15.07997578773106 + ], + [ + 0.6907761421994397, + 15.096977895068884 + ], + [ + 0.6971607877849633, + 15.189187806205426 + ], + [ + 0.7063718342601938, + 15.20618991354325 + ] + ], + "yaw_rad": -0.14396046839561116, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5373900532722473, + 15.145696640014648, + 0.12141315639019012 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 0.5380548112372647, + 15.16037061340599, + 0.12176267346841377 + ], + "intended_face_normal": [ + -0.9934738708908328, + 0.1118508736688173, + 0.02233942433483374 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.150047856050897, + 0.11970155821890956 + ], + "centerline_face_intersection": [ + 0.5370436667905817, + 15.151734013084385, + 0.12003772780579877 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.533504068851471, + 15.142398834228516, + 0.11920906603336334 + ], + "box_pose": [ + 0.6197093725204468, + 15.15379810333252, + 0.13700494170188904, + -0.02976359985768795, + 0.01285299938172102, + -0.05565846711397171, + 0.9979233741760254 + ], + "box_yaw_rad": -0.11211351348565249, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026501574589484983 + } + } + }, + { + "simulation_time_ns": 4900000000, + "center": [ + 0.6213999421715952, + 15.156941895624668, + 0.1210047607395575 + ], + "face_center": [ + 0.5455819068756025, + 15.171325039175443, + 0.12364207989153386 + ], + "face_normal": [ + -0.9819041256887476, + 0.1862731992162979, + 0.034155389888089194 + ], + "footprint_xy": [ + [ + 0.5293873523456737, + 15.078125863589433 + ], + [ + 0.7134125319975168, + 15.078125863589433 + ], + [ + 0.7134125319975168, + 15.235757927659904 + ], + [ + 0.5293873523456737, + 15.235757927659904 + ] + ], + "projected_box_corners": [ + [ + 0.5293873523456737, + 15.106892150690982 + ], + [ + 0.541594767075487, + 15.127472753461394 + ], + [ + 0.5495690466757178, + 15.215177324889492 + ], + [ + 0.5617764614055313, + 15.235757927659904 + ], + [ + 0.681023422937659, + 15.078125863589433 + ], + [ + 0.6932308376674725, + 15.098706466359845 + ], + [ + 0.7012051172677033, + 15.186411037787943 + ], + [ + 0.7134125319975168, + 15.206991640558355 + ] + ], + "yaw_rad": -0.18747826836356773, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5419725179672241, + 15.150474548339844, + 0.1233038455247879 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.541194874915037, + 15.165229413026463, + 0.12266224047887042 + ], + "intended_face_normal": [ + -0.9892700187192656, + 0.14340783756127343, + 0.02791105099906943 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.154494511504497, + 0.12050707991437912 + ], + "centerline_face_intersection": [ + 0.5395288507532529, + 15.15415613183181, + 0.12050707991437912 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5373900532722473, + 15.145696640014648, + 0.12141315639019012 + ], + "box_pose": [ + 0.6227167248725891, + 15.156298637390137, + 0.13740745186805725, + -0.036746371537446976, + 0.016632679849863052, + -0.07133263349533081, + 0.9966368079185486 + ], + "box_yaw_rad": -0.14396046839561116, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003383796726864574, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004519027541950462 + } + } + }, + { + "simulation_time_ns": 4920000000, + "center": [ + 0.6247660266230801, + 15.159865231510558, + 0.12158179961950609 + ], + "face_center": [ + 0.5495338416908847, + 15.1769460044474, + 0.12483299632891103 + ], + "face_normal": [ + -0.9743168954604375, + 0.22120965481577798, + 0.04210559466395353 + ], + "footprint_xy": [ + [ + 0.529658082386502, + 15.076677521898755 + ], + [ + 0.7198739708596582, + 15.076677521898755 + ], + [ + 0.7198739708596582, + 15.243052941122361 + ], + [ + 0.529658082386502, + 15.243052941122361 + ] + ], + "projected_box_corners": [ + [ + 0.529658082386502, + 15.110839067772439 + ], + [ + 0.5456068180307851, + 15.135771554301785 + ], + [ + 0.5534608653509843, + 15.218120454593015 + ], + [ + 0.5694096009952674, + 15.243052941122361 + ], + [ + 0.6801224522508929, + 15.076677521898755 + ], + [ + 0.696071187895176, + 15.101610008428102 + ], + [ + 0.7039252352153751, + 15.183958908719333 + ], + [ + 0.7198739708596582, + 15.20889139524868 + ] + ], + "yaw_rad": -0.2232560223345221, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5453146696090698, + 15.155994415283203, + 0.12516948580741882 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5455819068756025, + 15.171325039175443, + 0.12364207989153386 + ], + "intended_face_normal": [ + -0.9819041256887476, + 0.1862731992162979, + 0.034155389888089194 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.157538969188748, + 0.1210047607395575 + ], + "centerline_face_intersection": [ + 0.5427615986802935, + 15.156941895624668, + 0.1210047607395575 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5419725179672241, + 15.150474548339844, + 0.1233038455247879 + ], + "box_pose": [ + 0.6267827749252319, + 15.159143447875977, + 0.13782022893428802, + -0.04512711614370346, + 0.021379204466938972, + -0.09268692880868912, + 0.9944424629211426 + ], + "box_yaw_rad": -0.18747826836356773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005970735640794089, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003084867711092719 + } + } + }, + { + "simulation_time_ns": 4940000000, + "center": [ + 0.6269254780940198, + 15.162618380836538, + 0.1221611194472492 + ], + "face_center": [ + 0.5518831775415427, + 15.180373104020964, + 0.12611430732049184 + ], + "face_normal": [ + -0.9718577410505218, + 0.22993784891930302, + 0.05119694103396055 + ], + "footprint_xy": [ + [ + 0.5298492586237692, + 15.0764039318606 + ], + [ + 0.7240016975642705, + 15.0764039318606 + ], + [ + 0.7240016975642705, + 15.248832829812477 + ], + [ + 0.5298492586237692, + 15.248832829812477 + ] + ], + "projected_box_corners": [ + [ + 0.5298492586237692, + 15.111913378229449 + ], + [ + 0.549477046797543, + 15.142062109732468 + ], + [ + 0.5542893082855427, + 15.218684098309458 + ], + [ + 0.5739170964593163, + 15.248832829812477 + ], + [ + 0.6799338597287233, + 15.0764039318606 + ], + [ + 0.699561647902497, + 15.106552663363617 + ], + [ + 0.7043739093904967, + 15.18317465194061 + ], + [ + 0.7240016975642705, + 15.213323383443626 + ] + ], + "yaw_rad": -0.23232408533686819, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5465875864028931, + 15.160490989685059, + 0.1273742914199829 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5495338416908847, + 15.1769460044474, + 0.12483299632891103 + ], + "intended_face_normal": [ + -0.9743168954604375, + 0.22120965481577798, + 0.04210559466395353 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.160617137723731, + 0.12158179961950609 + ], + "centerline_face_intersection": [ + 0.5455153082262202, + 15.159865231510558, + 0.12158179961950609 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5453146696090698, + 15.155994415283203, + 0.12516948580741882 + ], + "box_pose": [ + 0.6304354667663574, + 15.162214279174805, + 0.13828273117542267, + -0.055417049676179886, + 0.0273654293268919, + -0.10996674746274948, + 0.9920118451118469 + ], + "box_yaw_rad": -0.2232560223345221, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000751906213173612, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00313178789172188 + } + } + }, + { + "simulation_time_ns": 4960000000, + "center": [ + 0.6284598368225857, + 15.165013768818165, + 0.12258405950293443 + ], + "face_center": [ + 0.5534635396129951, + 15.182820329818776, + 0.1271323004257961 + ], + "face_normal": [ + -0.9712619610095409, + 0.23060919005050862, + 0.05890335339539354 + ], + "footprint_xy": [ + [ + 0.5300724390923293, + 15.07656613340462 + ], + [ + 0.726847234552842, + 15.07656613340462 + ], + [ + 0.726847234552842, + 15.253461404231707 + ], + [ + 0.5300724390923293, + 15.253461404231707 + ] + ], + "projected_box_corners": [ + [ + 0.5300724390923293, + 15.112179255405847 + ], + [ + 0.5526721138664776, + 15.147012058336765 + ], + [ + 0.5542549653595125, + 15.21862860130079 + ], + [ + 0.5768546401336608, + 15.253461404231707 + ], + [ + 0.6800650335115104, + 15.07656613340462 + ], + [ + 0.7026647082856587, + 15.11139893633554 + ], + [ + 0.7042475597786935, + 15.183015479299565 + ], + [ + 0.726847234552842, + 15.217848282230483 + ] + ], + "yaw_rad": -0.2331159374223496, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5461019277572632, + 15.162222862243652, + 0.12970684468746185 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5518831775415427, + 15.180373104020964, + 0.12611430732049184 + ], + "intended_face_normal": [ + -0.9718577410505218, + 0.22993784891930302, + 0.05119694103396055 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.163455382695771, + 0.1221611194472492 + ], + "centerline_face_intersection": [ + 0.5474742264859679, + 15.162618380836538, + 0.1221611194472492 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5465875864028931, + 15.160490989685059, + 0.1273742914199829 + ], + "box_pose": [ + 0.6328570246696472, + 15.16529655456543, + 0.13872088491916656, + -0.06728462874889374, + 0.03356727585196495, + -0.11377331614494324, + 0.9906572699546814 + ], + "box_yaw_rad": -0.23232408533686819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000837001859232771, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002896764744352692 + } + } + }, + { + "simulation_time_ns": 4980000000, + "center": [ + 0.6295819835751356, + 15.167060028776227, + 0.12278872577748151 + ], + "face_center": [ + 0.5546133192224906, + 15.18487843732993, + 0.12772921689196332 + ], + "face_normal": [ + -0.97090409343709, + 0.230762625327678, + 0.063983306733018 + ], + "footprint_xy": [ + [ + 0.5302799296496689, + 15.076719882731908 + ], + [ + 0.7288840375006023, + 15.076719882731908 + ], + [ + 0.7288840375006023, + 15.257400174820546 + ], + [ + 0.5302799296496689, + 15.257400174820546 + ] + ], + "projected_box_corners": [ + [ + 0.5302799296496689, + 15.112356699839316 + ], + [ + 0.5550397353144978, + 15.151254776923643 + ], + [ + 0.5541869031304832, + 15.218502097736218 + ], + [ + 0.5789467087953123, + 15.257400174820546 + ], + [ + 0.6802172583549589, + 15.076719882731908 + ], + [ + 0.7049770640197879, + 15.115617959816234 + ], + [ + 0.7041242318357733, + 15.18286528062881 + ], + [ + 0.7288840375006023, + 15.221763357713137 + ] + ], + "yaw_rad": -0.23334836983124466, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5431870222091675, + 15.162919044494629, + 0.12881188094615936 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5534635396129951, + 15.182820329818776, + 0.1271323004257961 + ], + "intended_face_normal": [ + -0.9712619610095409, + 0.23060919005050862, + 0.05890335339539354 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.165962406940379, + 0.12258405950293443 + ], + "centerline_face_intersection": [ + 0.5489598491661356, + 15.165013768818165, + 0.12258405950293443 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5461019277572632, + 15.162222862243652, + 0.12970684468746185 + ], + "box_pose": [ + 0.6345981955528259, + 15.168020248413086, + 0.13901157677173615, + -0.0777859166264534, + 0.038674212992191315, + -0.11346067488193512, + 0.9897375106811523 + ], + "box_yaw_rad": -0.2331159374223496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009486381222132677, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025424493807652874 + } + } + }, + { + "simulation_time_ns": 5000000000, + "center": [ + 0.6304250654256117, + 15.168763762681044, + 0.12292863265061185 + ], + "face_center": [ + 0.5554517769685324, + 15.18647602937975, + 0.12817137278977633 + ], + "face_normal": [ + -0.9709639792835627, + 0.22938800351210187, + 0.06789767305974603 + ], + "footprint_xy": [ + [ + 0.5305118347591018, + 15.077009816084477 + ], + [ + 0.7303382960921216, + 15.077009816084477 + ], + [ + 0.7303382960921216, + 15.260517709277611 + ], + [ + 0.5305118347591018, + 15.260517709277611 + ] + ], + "projected_box_corners": [ + [ + 0.5305118347591018, + 15.112434349481886 + ], + [ + 0.5568847836412323, + 15.154601606460291 + ], + [ + 0.5540187702958326, + 15.218350452299207 + ], + [ + 0.5803917191779631, + 15.260517709277611 + ], + [ + 0.6804584116732604, + 15.077009816084477 + ], + [ + 0.7068313605553908, + 15.11917707306288 + ], + [ + 0.7039653472099912, + 15.182925918901796 + ], + [ + 0.7303382960921216, + 15.225093175880202 + ] + ], + "yaw_rad": -0.23199402995973117, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5382452011108398, + 15.166096687316895, + 0.1255759447813034 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5546133192224906, + 15.18487843732993, + 0.12772921689196332 + ], + "intended_face_normal": [ + -0.97090409343709, + 0.230762625327678, + 0.063983306733018 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.168174306269703, + 0.12278872577748151 + ], + "centerline_face_intersection": [ + 0.5500526928517968, + 15.167060028776227, + 0.12278872577748151 + ], + "commanded_world_base_velocity": [ + 0.015144032921810845, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5431870222091675, + 15.162919044494629, + 0.12881188094615936 + ], + "box_pose": [ + 0.6358697414398193, + 15.170352935791016, + 0.1391044408082962, + -0.086811363697052, + 0.04226773977279663, + -0.11296632885932922, + 0.988896369934082 + ], + "box_yaw_rad": -0.23334836983124466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011142774934771891, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002221347997726666 + } + } + }, + { + "simulation_time_ns": 5020000000, + "center": [ + 0.631213551519054, + 15.170014162994436, + 0.12306317984778639 + ], + "face_center": [ + 0.5562696988470621, + 15.187759136793353, + 0.12860750659536052 + ], + "face_normal": [ + -0.9705827623513734, + 0.2298115865884972, + 0.07180346056655518 + ], + "footprint_xy": [ + [ + 0.5306675170620041, + 15.07712752619691 + ], + [ + 0.731759585976104, + 15.07712752619691 + ], + [ + 0.731759585976104, + 15.262900799791963 + ], + [ + 0.5306675170620041, + 15.262900799791963 + ] + ], + "projected_box_corners": [ + [ + 0.5306675170620041, + 15.112617473794744 + ], + [ + 0.558541200161344, + 15.157207187814304 + ], + [ + 0.5539981975327802, + 15.218311085772402 + ], + [ + 0.5818718806321201, + 15.262900799791963 + ], + [ + 0.6805552224059879, + 15.07712752619691 + ], + [ + 0.7084289055053278, + 15.121717240216471 + ], + [ + 0.7038859028767641, + 15.18282113817457 + ], + [ + 0.731759585976104, + 15.22741085219413 + ] + ], + "yaw_rad": -0.23249520770831206, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5345814228057861, + 15.169986724853516, + 0.1229175329208374 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5554517769685324, + 15.18647602937975, + 0.12817137278977633 + ], + "intended_face_normal": [ + -0.9709639792835627, + 0.22938800351210187, + 0.06789767305974603 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.169984723189087, + 0.12292863265061185 + ], + "centerline_face_intersection": [ + 0.5509006798058566, + 15.168763762681044, + 0.12292863265061185 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5382452011108398, + 15.166096687316895, + 0.1255759447813034 + ], + "box_pose": [ + 0.6368230581283569, + 15.172293663024902, + 0.1391516774892807, + -0.09401935338973999, + 0.04498658329248428, + -0.11177753657102585, + 0.9882521629333496 + ], + "box_yaw_rad": -0.23199402995973117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012209605080431628, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018158147909791162 + } + } + }, + { + "simulation_time_ns": 5040000000, + "center": [ + 0.6317942639106336, + 15.170936413752372, + 0.12315043768582014 + ], + "face_center": [ + 0.5568728357165543, + 15.188705398158493, + 0.12891650333150265 + ], + "face_normal": [ + -0.9702923474482062, + 0.23012254313311248, + 0.07467515643717892 + ], + "footprint_xy": [ + [ + 0.5307891077437664, + 15.07722075800294 + ], + [ + 0.7327994200775009, + 15.07722075800294 + ], + [ + 0.7327994200775009, + 15.264652069501803 + ], + [ + 0.5307891077437664, + 15.264652069501803 + ] + ], + "projected_box_corners": [ + [ + 0.5307891077437664, + 15.112758726815184 + ], + [ + 0.5597637015219658, + 15.159129923276655 + ], + [ + 0.553981969911143, + 15.218280873040332 + ], + [ + 0.5829565636893423, + 15.264652069501803 + ], + [ + 0.680631964131925, + 15.07722075800294 + ], + [ + 0.7096065579101244, + 15.12359195446441 + ], + [ + 0.7038248262993015, + 15.182742904228089 + ], + [ + 0.7327994200775009, + 15.22911410068956 + ] + ], + "yaw_rad": -0.23286574582492708, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5335301756858826, + 15.174793243408203, + 0.12184344232082367 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5562696988470621, + 15.187759136793353, + 0.12860750659536052 + ], + "intended_face_normal": [ + -0.9705827623513734, + 0.2298115865884972, + 0.07180346056655518 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.171236221028115, + 0.12306317984778639 + ], + "centerline_face_intersection": [ + 0.5516579310129026, + 15.170014162994436, + 0.12306317984778639 + ], + "commanded_world_base_velocity": [ + 0.02761744855967067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5345814228057861, + 15.169986724853516, + 0.1229175329208374 + ], + "box_pose": [ + 0.6377149820327759, + 15.173712730407715, + 0.13920733332633972, + -0.0994751900434494, + 0.04758754000067711, + -0.1115528792142868, + 0.9876214265823364 + ], + "box_yaw_rad": -0.23249520770831206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012220580336799712, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012587095730789838 + } + } + }, + { + "simulation_time_ns": 5060000000, + "center": [ + 0.6321791359978596, + 15.171546918766982, + 0.12320251770115853 + ], + "face_center": [ + 0.5572729289047399, + 15.189331909236593, + 0.1291151237615319 + ], + "face_normal": [ + -0.9700952220311276, + 0.2303298344420473, + 0.0765729718738799 + ], + "footprint_xy": [ + [ + 0.5308733277633254, + 15.077284976478083 + ], + [ + 0.7334849442323936, + 15.077284976478083 + ], + [ + 0.7334849442323936, + 15.265808861055879 + ], + [ + 0.5308733277633254, + 15.265808861055879 + ] + ], + "projected_box_corners": [ + [ + 0.5308733277633254, + 15.112854957417309 + ], + [ + 0.5605743772169363, + 15.160403783037404 + ], + [ + 0.5539714805925435, + 15.218260035435783 + ], + [ + 0.5836725300461544, + 15.265808861055879 + ], + [ + 0.6806857419495647, + 15.077284976478083 + ], + [ + 0.7103867914031756, + 15.12483380209818 + ], + [ + 0.7037838947787828, + 15.182690054496558 + ], + [ + 0.7334849442323936, + 15.230238880116655 + ] + ], + "yaw_rad": -0.2331136600480259, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5335785746574402, + 15.179644584655762, + 0.1247483640909195 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5568728357165543, + 15.188705398158493, + 0.12891650333150265 + ], + "intended_face_normal": [ + -0.9702923474482062, + 0.23012254313311248, + 0.07467515643717892 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.172004198599819, + 0.12315043768582014 + ], + "centerline_face_intersection": [ + 0.5522148318822266, + 15.170936413752372, + 0.12315043768582014 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5335301756858826, + 15.174793243408203, + 0.12184344232082367 + ], + "box_pose": [ + 0.6383714079856873, + 15.174758911132812, + 0.13923494517803192, + -0.10349268466234207, + 0.04950049892067909, + -0.11137112230062485, + 0.9871349930763245 + ], + "box_yaw_rad": -0.23286574582492708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010677848474467309, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007729188061741425 + } + } + }, + { + "simulation_time_ns": 5080000000, + "center": [ + 0.6323814990100725, + 15.17186753461586, + 0.12322800227075956 + ], + "face_center": [ + 0.5574834224052724, + 15.18966090447197, + 0.12921789536221112 + ], + "face_normal": [ + -0.9699899257122023, + 0.2304383541912043, + 0.07757390066848213 + ], + "footprint_xy": [ + [ + 0.530918596877348, + 15.077320866448643 + ], + [ + 0.7338444011427969, + 15.077320866448643 + ], + [ + 0.7338444011427969, + 15.266414202783077 + ], + [ + 0.530918596877348, + 15.266414202783077 + ] + ], + "projected_box_corners": [ + [ + 0.530918596877348, + 15.112907606160862 + ], + [ + 0.5610009824746249, + 15.161071434672376 + ], + [ + 0.5539658623359198, + 15.218250374271562 + ], + [ + 0.5840482479331968, + 15.266414202783077 + ], + [ + 0.6807147500869482, + 15.077320866448643 + ], + [ + 0.7107971356842251, + 15.125484694960157 + ], + [ + 0.70376201554552, + 15.182663634559345 + ], + [ + 0.7338444011427969, + 15.23082746307086 + ] + ], + "yaw_rad": -0.23324396148723328, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5328824520111084, + 15.184465408325195, + 0.12800480425357819 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5572729289047399, + 15.189331909236593, + 0.1291151237615319 + ], + "intended_face_normal": [ + -0.9700952220311276, + 0.2303298344420473, + 0.0765729718738799 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.172290796978878, + 0.12320251770115853 + ], + "centerline_face_intersection": [ + 0.5525835332592242, + 15.171546918766982, + 0.12320251770115853 + ], + "commanded_world_base_velocity": [ + 0.04223999999999988, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5335785746574402, + 15.179644584655762, + 0.1247483640909195 + ], + "box_pose": [ + 0.638806164264679, + 15.175451278686523, + 0.1392468363046646, + -0.1061510220170021, + 0.05076514557003975, + -0.11124427616596222, + 0.9868026375770569 + ], + "box_yaw_rad": -0.2331136600480259, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007438782118955342, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00029129187918135993 + } + } + }, + { + "simulation_time_ns": 5100000000, + "center": [ + 0.6324317917920741, + 15.171941527541787, + 0.12323309739955784 + ], + "face_center": [ + 0.5575359163352493, + 15.189737493270394, + 0.12924277310759194 + ], + "face_normal": [ + -0.9699614190874944, + 0.23047197281383247, + 0.07783010135692614 + ], + "footprint_xy": [ + [ + 0.5309295120103764, + 15.077327953912588 + ], + [ + 0.7339340715737719, + 15.077327953912588 + ], + [ + 0.7339340715737719, + 15.266555101170985 + ], + [ + 0.5309295120103764, + 15.266555101170985 + ] + ], + "projected_box_corners": [ + [ + 0.5309295120103764, + 15.112919885369806 + ], + [ + 0.5611067424468138, + 15.161227208489931 + ], + [ + 0.5539650902236849, + 15.218247778050857 + ], + [ + 0.5841423206601224, + 15.266555101170985 + ], + [ + 0.6807212629240259, + 15.077327953912588 + ], + [ + 0.7108984933604633, + 15.125635277032714 + ], + [ + 0.7037568411373344, + 15.18265584659364 + ], + [ + 0.7339340715737719, + 15.230963169713768 + ] + ], + "yaw_rad": -0.2332833782151106, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5317955017089844, + 15.184614181518555, + 0.127694770693779 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5574834224052724, + 15.18966090447197, + 0.12921789536221112 + ], + "intended_face_normal": [ + -0.9699899257122023, + 0.2304383541912043, + 0.07757390066848213 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.172107497879383, + 0.12322800227075956 + ], + "centerline_face_intersection": [ + 0.552777255847708, + 15.17186753461586, + 0.12322800227075956 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5328824520111084, + 15.184465408325195, + 0.12800480425357819 + ], + "box_pose": [ + 0.6390346884727478, + 15.175814628601074, + 0.13925102353096008, + -0.10754069685935974, + 0.05143066495656967, + -0.11117519438266754, + 0.9866255521774292 + ], + "box_yaw_rad": -0.23324396148723328, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00023996326352211357, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018506221430509906 + } + } + }, + { + "simulation_time_ns": 5120000000, + "center": [ + 0.632365292509598, + 15.171829024706906, + 0.12322311749480414 + ], + "face_center": [ + 0.5574668611453452, + 15.189622416359253, + 0.12920850696317684 + ], + "face_normal": [ + -0.969994520130521, + 0.2304386364699026, + 0.0775155751518104 + ], + "footprint_xy": [ + [ + 0.5309143012448376, + 15.077316740918336 + ], + [ + 0.7338162837743585, + 15.077316740918336 + ], + [ + 0.7338162837743585, + 15.266341308495475 + ], + [ + 0.5309143012448376, + 15.266341308495475 + ] + ], + "projected_box_corners": [ + [ + 0.5309143012448376, + 15.11290352422303 + ], + [ + 0.560966012674979, + 15.160991143317204 + ], + [ + 0.5539677096157114, + 15.2182536894013 + ], + [ + 0.5840194210458528, + 15.266341308495475 + ], + [ + 0.6807111639733433, + 15.077316740918336 + ], + [ + 0.7107628754034847, + 15.12540436001251 + ], + [ + 0.7037645723442171, + 15.182666906096605 + ], + [ + 0.7338162837743585, + 15.230754525190779 + ] + ], + "yaw_rad": -0.23324317181609053, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5313740372657776, + 15.17814826965332, + 0.12421001493930817 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5575359163352493, + 15.189737493270394, + 0.12924277310759194 + ], + "intended_face_normal": [ + -0.9699614190874944, + 0.23047197281383247, + 0.07783010135692614 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.171674584646238, + 0.12323309739955784 + ], + "centerline_face_intersection": [ + 0.5528252091054354, + 15.171941527541787, + 0.12323309739955784 + ], + "commanded_world_base_velocity": [ + 0.0580003292181069, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5317955017089844, + 15.184614181518555, + 0.127694770693779 + ], + "box_pose": [ + 0.6390914916992188, + 15.175898551940918, + 0.1392509639263153, + -0.10786665230989456, + 0.051597997546195984, + -0.11116176098585129, + 0.9865828156471252 + ], + "box_yaw_rad": -0.2332833782151106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00026694289554861003, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004329432154091807 + } + } + }, + { + "simulation_time_ns": 5140000000, + "center": [ + 0.6321992780844418, + 15.17155916417541, + 0.12320084269362427 + ], + "face_center": [ + 0.557294268264218, + 15.189345851258931, + 0.12912350444377654 + ], + "face_normal": [ + -0.9700797163906622, + 0.23035180694753954, + 0.0767032010896862 + ], + "footprint_xy": [ + [ + 0.530877497010966, + 15.077288048848116 + ], + [ + 0.7335210591579175, + 15.077288048848116 + ], + [ + 0.7335210591579175, + 15.265830279502705 + ], + [ + 0.530877497010966, + 15.265830279502705 + ] + ], + "projected_box_corners": [ + [ + 0.530877497010966, + 15.112861423015158 + ], + [ + 0.5606148506717149, + 15.160427438922643 + ], + [ + 0.5539736858567211, + 15.218264263595222 + ], + [ + 0.58371103951747, + 15.265830279502705 + ], + [ + 0.6806875166514134, + 15.077288048848116 + ], + [ + 0.7104248703121623, + 15.1248540647556 + ], + [ + 0.7037837054971686, + 15.182690889428178 + ], + [ + 0.7335210591579175, + 15.230256905335663 + ] + ], + "yaw_rad": -0.23313869391635317, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5319521427154541, + 15.170780181884766, + 0.12170222401618958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5574668611453452, + 15.189622416359253, + 0.12920850696317684 + ], + "intended_face_normal": [ + -0.969994520130521, + 0.2304386364699026, + 0.0775155751518104 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.1713093120135, + 0.12322311749480414 + ], + "centerline_face_intersection": [ + 0.5527614263959544, + 15.171829024706906, + 0.12322311749480414 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5313740372657776, + 15.17814826965332, + 0.12421001493930817 + ], + "box_pose": [ + 0.6390163898468018, + 15.17577075958252, + 0.139248326420784, + -0.10737278312444687, + 0.05138247460126877, + -0.11118714511394501, + 0.986644983291626 + ], + "box_yaw_rad": -0.23324317181609053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005197126934051968, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003654089417711676 + } + } + }, + { + "simulation_time_ns": 5160000000, + "center": [ + 0.6319313746137076, + 15.171127861454128, + 0.12316390729387686 + ], + "face_center": [ + 0.557015436057797, + 15.188902010971203, + 0.12898511671044752 + ], + "face_normal": [ + -0.9702212522484248, + 0.2301894354461973, + 0.0753893123227769 + ], + "footprint_xy": [ + [ + 0.5308201545781623, + 15.077244676656095 + ], + [ + 0.7330425946492528, + 15.077244676656095 + ], + [ + 0.7330425946492528, + 15.265011046252162 + ], + [ + 0.5308201545781623, + 15.265011046252162 + ] + ], + "projected_box_corners": [ + [ + 0.5308201545781623, + 15.112792975690244 + ], + [ + 0.560049444912083, + 15.15952450147569 + ], + [ + 0.5539814272035111, + 15.218279520466716 + ], + [ + 0.5832107175374316, + 15.265011046252162 + ], + [ + 0.6806520316899836, + 15.077244676656095 + ], + [ + 0.7098813220239042, + 15.12397620244154 + ], + [ + 0.7038133043153322, + 15.182731221432565 + ], + [ + 0.7330425946492528, + 15.229462747218012 + ] + ], + "yaw_rad": -0.23294747164595223, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5335261225700378, + 15.165966987609863, + 0.12139125168323517 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.557294268264218, + 15.189345851258931, + 0.12912350444377654 + ], + "intended_face_normal": [ + -0.9700797163906622, + 0.23035180694753954, + 0.0767032010896862 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.17107061077363, + 0.12320084269362427 + ], + "centerline_face_intersection": [ + 0.5526024030990231, + 15.17155916417541, + 0.12320084269362427 + ], + "commanded_world_base_velocity": [ + 0.07388707818930032, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5319521427154541, + 15.170780181884766, + 0.12170222401618958 + ], + "box_pose": [ + 0.6388288140296936, + 15.175464630126953, + 0.13924385607242584, + -0.10619647800922394, + 0.05083693191409111, + -0.11124633997678757, + 0.9867938160896301 + ], + "box_yaw_rad": -0.23313869391635317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004885534017794416, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00023973829206775553 + } + } + }, + { + "simulation_time_ns": 5180000000, + "center": [ + 0.6315557383040644, + 15.170526234640677, + 0.12310926123704921 + ], + "face_center": [ + 0.5566252230832256, + 15.188285257326674, + 0.12878726820601355 + ], + "face_normal": [ + -0.9704100317040768, + 0.22999353089939656, + 0.07353472622641544 + ], + "footprint_xy": [ + [ + 0.5307407045563906, + 15.077184847366377 + ], + [ + 0.7323707720517383, + 15.077184847366377 + ], + [ + 0.7323707720517383, + 15.263867621914978 + ], + [ + 0.5307407045563906, + 15.263867621914978 + ] + ], + "projected_box_corners": [ + [ + 0.5307407045563906, + 15.11270289273837 + ], + [ + 0.5592562048407639, + 15.158267310481007 + ], + [ + 0.5539942413256874, + 15.218303204172342 + ], + [ + 0.5825097416100607, + 15.263867621914978 + ], + [ + 0.6806017349980682, + 15.077184847366377 + ], + [ + 0.7091172352824415, + 15.122749265109013 + ], + [ + 0.703855271767365, + 15.182785158800348 + ], + [ + 0.7323707720517383, + 15.228349576542984 + ] + ], + "yaw_rad": -0.23271264362444927, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5346217155456543, + 15.164902687072754, + 0.12131032347679138 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.557015436057797, + 15.188902010971203, + 0.12898511671044752 + ], + "intended_face_normal": [ + -0.9702212522484248, + 0.2301894354461973, + 0.0753893123227769 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.170845743006119, + 0.12316390729387686 + ], + "centerline_face_intersection": [ + 0.5523461112188928, + 15.171127861454128, + 0.12316390729387686 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5335261225700378, + 15.165966987609863, + 0.12139125168323517 + ], + "box_pose": [ + 0.6385260224342346, + 15.174975395202637, + 0.13923527300357819, + -0.10431364923715591, + 0.04995553195476532, + -0.11132752895355225, + 0.987030565738678 + ], + "box_yaw_rad": -0.23294747164595223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002821184480088593, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022788097028858176 + } + } + }, + { + "simulation_time_ns": 5200000000, + "center": [ + 0.6310625862298743, + 15.169738496936084, + 0.12303142635484676 + ], + "face_center": [ + 0.5561138112384554, + 15.187479703174569, + 0.12852099852856846 + ], + "face_normal": [ + -0.970646510320238, + 0.2297627936711264, + 0.07109434509348711 + ], + "footprint_xy": [ + [ + 0.5306387672261809, + 15.077108991630178 + ], + [ + 0.7314864052335679, + 15.077108991630178 + ], + [ + 0.7314864052335679, + 15.26236800224199 + ], + [ + 0.5306387672261809, + 15.26236800224199 + ] + ], + "projected_box_corners": [ + [ + 0.5306387672261809, + 15.112591404107148 + ], + [ + 0.5582156633411197, + 15.156623371081334 + ], + [ + 0.554011959135791, + 15.218336035267804 + ], + [ + 0.5815888552507298, + 15.26236800224199 + ], + [ + 0.6805363172090189, + 15.077108991630178 + ], + [ + 0.7081132133239577, + 15.121140958604364 + ], + [ + 0.703909509118629, + 15.182853622790834 + ], + [ + 0.7314864052335679, + 15.22688558976502 + ] + ], + "yaw_rad": -0.23243288194420125, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5341230630874634, + 15.165746688842773, + 0.12066633999347687 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5566252230832256, + 15.188285257326674, + 0.12878726820601355 + ], + "intended_face_normal": [ + -0.9704100317040768, + 0.22999353089939656, + 0.07353472622641544 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.170469058095385, + 0.12310926123704921 + ], + "centerline_face_intersection": [ + 0.551985957089164, + 15.170526234640677, + 0.12310926123704921 + ], + "commanded_world_base_velocity": [ + 0.08888888888888882, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5346217155456543, + 15.164902687072754, + 0.12131032347679138 + ], + "box_pose": [ + 0.63810133934021, + 15.17429256439209, + 0.13921986520290375, + -0.10168235003948212, + 0.04871625453233719, + -0.11145272850990295, + 0.9873529672622681 + ], + "box_yaw_rad": -0.23271264362444927, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -5.7176545291924064e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00038062805138507885 + } + } + }, + { + "simulation_time_ns": 5220000000, + "center": [ + 0.6304665336462374, + 15.168763679214203, + 0.12292025325165795 + ], + "face_center": [ + 0.5554967333597687, + 15.186490148961962, + 0.12816487532034257 + ], + "face_normal": [ + -0.9709188046875677, + 0.22957194434369788, + 0.06792204555044523 + ], + "footprint_xy": [ + [ + 0.530549983138048, + 15.077053775591814 + ], + [ + 0.7303830841544268, + 15.077053775591814 + ], + [ + 0.7303830841544268, + 15.260473582836592 + ], + [ + 0.530549983138048, + 15.260473582836592 + ] + ], + "projected_box_corners": [ + [ + 0.530549983138048, + 15.112506715087331 + ], + [ + 0.5569108341999776, + 15.154552048523803 + ], + [ + 0.5540826325195599, + 15.21842824940012 + ], + [ + 0.5804434835814894, + 15.260473582836592 + ], + [ + 0.6804895837109853, + 15.077053775591814 + ], + [ + 0.7068504347729149, + 15.119099109028287 + ], + [ + 0.7040222330924972, + 15.182975309904604 + ], + [ + 0.7303830841544268, + 15.225020643341077 + ] + ], + "yaw_rad": -0.23218386787729337, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5325949788093567, + 15.165797233581543, + 0.12212161719799042 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5561138112384554, + 15.187479703174569, + 0.12852099852856846 + ], + "intended_face_normal": [ + -0.970646510320238, + 0.2297627936711264, + 0.07109434509348711 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.169840992714525, + 0.12303142635484676 + ], + "centerline_face_intersection": [ + 0.5515121906013329, + 15.169738496936084, + 0.12303142635484676 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5341230630874634, + 15.165746688842773, + 0.12066633999347687 + ], + "box_pose": [ + 0.6375436186790466, + 15.1733980178833, + 0.13919267058372498, + -0.09823104739189148, + 0.047088172286748886, + -0.1116219013929367, + 0.9877620339393616 + ], + "box_yaw_rad": -0.23243288194420125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00010249577844049861, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006328699641498321 + } + } + }, + { + "simulation_time_ns": 5240000000, + "center": [ + 0.629752990168727, + 15.167595007603877, + 0.1227691256755527 + ], + "face_center": [ + 0.5547583632185451, + 15.185302305486344, + 0.12771505479914327 + ], + "face_normal": [ + -0.9712403298158818, + 0.22932365337239868, + 0.06405373329522812 + ], + "footprint_xy": [ + [ + 0.5304644198239449, + 15.077010817496499 + ], + [ + 0.729041560513509, + 15.077010817496499 + ], + [ + 0.729041560513509, + 15.258179197711256 + ], + [ + 0.5304644198239449, + 15.258179197711256 + ] + ], + "projected_box_corners": [ + [ + 0.5304644198239449, + 15.112425413261434 + ], + [ + 0.5553385287470156, + 15.152053024877548 + ], + [ + 0.5541781976900746, + 15.218551586095142 + ], + [ + 0.5790523066131452, + 15.258179197711256 + ], + [ + 0.6804536737243086, + 15.077010817496499 + ], + [ + 0.7053277826473794, + 15.116638429112612 + ], + [ + 0.7041674515904384, + 15.183136990330206 + ], + [ + 0.729041560513509, + 15.22276460194632 + ] + ], + "yaw_rad": -0.23186760602621204, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5341171026229858, + 15.16598129272461, + 0.12528477609157562 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5554967333597687, + 15.186490148961962, + 0.12816487532034257 + ], + "intended_face_normal": [ + -0.9709188046875677, + 0.22957194434369788, + 0.06792204555044523 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.16898483281795, + 0.12292025325165795 + ], + "centerline_face_intersection": [ + 0.550938447941599, + 15.168763679214203, + 0.12292025325165795 + ], + "commanded_world_base_velocity": [ + 0.10199440329218103, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5325949788093567, + 15.165797233581543, + 0.12212161719799042 + ], + "box_pose": [ + 0.6368638277053833, + 15.172284126281738, + 0.139145627617836, + -0.09376491606235504, + 0.044979408383369446, + -0.11188141256570816, + 0.9882649779319763 + ], + "box_yaw_rad": -0.23218386787729337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00022115360374691274, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008633476862629947 + } + } + }, + { + "simulation_time_ns": 5260000000, + "center": [ + 0.6288939578654849, + 15.166195084712315, + 0.12256470538126418 + ], + "face_center": [ + 0.5538708428729131, + 15.183878278669594, + 0.12715181475464205 + ], + "face_normal": [ + -0.9716092727230174, + 0.22901148828532647, + 0.05940673088034143 + ], + "footprint_xy": [ + [ + 0.5303727135800655, + 15.07696962181899 + ], + [ + 0.7274152021509043, + 15.07696962181899 + ], + [ + 0.7274152021509043, + 15.255420547605643 + ], + [ + 0.5303727135800655, + 15.255420547605643 + ] + ], + "projected_box_corners": [ + [ + 0.5303727135800655, + 15.112336009733543 + ], + [ + 0.5534558494831255, + 15.149064552199407 + ], + [ + 0.5542858362627008, + 15.218692005139781 + ], + [ + 0.5773689721657608, + 15.255420547605643 + ], + [ + 0.680418943565209, + 15.07696962181899 + ], + [ + 0.703502079468269, + 15.113698164284852 + ], + [ + 0.7043320662478443, + 15.183325617225226 + ], + [ + 0.7274152021509043, + 15.22005415969109 + ] + ], + "yaw_rad": -0.23147832584128272, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5384727120399475, + 15.166210174560547, + 0.1291777491569519 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5547583632185451, + 15.185302305486344, + 0.12771505479914327 + ], + "intended_face_normal": [ + -0.9712403298158818, + 0.22932365337239868, + 0.06405373329522812 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.167880709802795, + 0.1227691256755527 + ], + "centerline_face_intersection": [ + 0.5502512319107316, + 15.167595007603877, + 0.1227691256755527 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5341171026229858, + 15.16598129272461, + 0.12528477609157562 + ], + "box_pose": [ + 0.6360476613044739, + 15.17094612121582, + 0.1390703171491623, + -0.08833517879247665, + 0.04240814596414566, + -0.11216676980257034, + 0.9888463020324707 + ], + "box_yaw_rad": -0.23186760602621204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00028570219891761863, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011144178645619359 + } + } + }, + { + "simulation_time_ns": 5280000000, + "center": [ + 0.627863316536836, + 15.164525152536308, + 0.1222875050381183 + ], + "face_center": [ + 0.5528079593130216, + 15.18217769074899, + 0.126445142868162 + ], + "face_normal": [ + -0.9720268353748983, + 0.22861447190291473, + 0.053844731303071436 + ], + "footprint_xy": [ + [ + 0.5302789762772578, + 15.07693690933098 + ], + [ + 0.7254476567964142, + 15.07693690933098 + ], + [ + 0.7254476567964142, + 15.252113395741638 + ], + [ + 0.5302789762772578, + 15.252113395741638 + ] + ], + "projected_box_corners": [ + [ + 0.5302789762772578, + 15.112241985756341 + ], + [ + 0.5512115063700471, + 15.1455046902845 + ], + [ + 0.554404412255996, + 15.21885069121348 + ], + [ + 0.5753369423487853, + 15.252113395741638 + ], + [ + 0.6803896907248868, + 15.07693690933098 + ], + [ + 0.701322220817676, + 15.110199613859137 + ], + [ + 0.7045151267036249, + 15.183545614788118 + ], + [ + 0.7254476567964142, + 15.216808319316277 + ] + ], + "yaw_rad": -0.2309954021388792, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5428134799003601, + 15.16564655303955, + 0.13232319056987762 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5538708428729131, + 15.183878278669594, + 0.12715181475464205 + ], + "intended_face_normal": [ + -0.9716092727230174, + 0.22901148828532647, + 0.05940673088034143 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.166480183317304, + 0.12256470538126418 + ], + "centerline_face_intersection": [ + 0.5494223882961295, + 15.166195084712315, + 0.12256470538126418 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5384727120399475, + 15.166210174560547, + 0.1291777491569519 + ], + "box_pose": [ + 0.6350646615028381, + 15.169342994689941, + 0.1389535665512085, + -0.0818324014544487, + 0.03931988775730133, + -0.1124691516160965, + 0.9894989132881165 + ], + "box_yaw_rad": -0.23147832584128272, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00028509860498836275, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014153664166131781 + } + } + }, + { + "simulation_time_ns": 5300000000, + "center": [ + 0.6271883870905578, + 15.162616751717847, + 0.12200920524694184 + ], + "face_center": [ + 0.5522026935665929, + 15.180649799852379, + 0.12577213358442493 + ], + "face_normal": [ + -0.9711246348097424, + 0.23354237936809474, + 0.04873292805361107 + ], + "footprint_xy": [ + [ + 0.5302844633226075, + 15.076631789004555 + ], + [ + 0.724092310858508, + 15.076631789004555 + ], + [ + 0.724092310858508, + 15.248601714431139 + ], + [ + 0.5302844633226075, + 15.248601714431139 + ] + ], + "projected_box_corners": [ + [ + 0.5302844633226075, + 15.112697885273619 + ], + [ + 0.5492110607610127, + 15.141869003568864 + ], + [ + 0.5551943263721733, + 15.219430596135892 + ], + [ + 0.5741209238105783, + 15.248601714431139 + ], + [ + 0.6802558503705372, + 15.076631789004555 + ], + [ + 0.6991824478089423, + 15.105802907299802 + ], + [ + 0.7051657134201029, + 15.183364499866828 + ], + [ + 0.724092310858508, + 15.212535618162075 + ] + ], + "yaw_rad": -0.23600494817503187, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5451857447624207, + 15.164632797241211, + 0.1330462247133255 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5528079593130216, + 15.18217769074899, + 0.126445142868162 + ], + "intended_face_normal": [ + -0.9720268353748983, + 0.22861447190291473, + 0.053844731303071436 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.164765395121167, + 0.1222875050381183 + ], + "centerline_face_intersection": [ + 0.548425886312333, + 15.164525152536308, + 0.1222875050381183 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5428134799003601, + 15.16564655303955, + 0.13232319056987762 + ], + "box_pose": [ + 0.6338846683502197, + 15.16742992401123, + 0.1387765109539032, + -0.07406927645206451, + 0.035623859614133835, + -0.11277199536561966, + 0.9902157187461853 + ], + "box_yaw_rad": -0.2309954021388792, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00024024258485866285, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017370488156216463 + } + } + }, + { + "simulation_time_ns": 5320000000, + "center": [ + 0.6270954930706871, + 15.16088393593318, + 0.12171441076476683 + ], + "face_center": [ + 0.5523910855373337, + 15.18011494313538, + 0.1251238884562208 + ], + "face_normal": [ + -0.9674817565209359, + 0.24905690630559987, + 0.04415545982710711 + ], + "footprint_xy": [ + [ + 0.5302648663246903, + 15.07559869393578 + ], + [ + 0.7239261198166841, + 15.07559869393578 + ], + [ + 0.7239261198166841, + 15.24616917793058 + ], + [ + 0.5302648663246903, + 15.24616917793058 + ] + ], + "projected_box_corners": [ + [ + 0.5302648663246903, + 15.114060708340176 + ], + [ + 0.547714896636633, + 15.139671739010288 + ], + [ + 0.5570672744380345, + 15.22055814726047 + ], + [ + 0.5745173047499772, + 15.24616917793058 + ], + [ + 0.6796736813913972, + 15.07559869393578 + ], + [ + 0.6971237117033399, + 15.10120972460589 + ], + [ + 0.7064760895047414, + 15.182096132856072 + ], + [ + 0.7239261198166841, + 15.207707163526184 + ] + ], + "yaw_rad": -0.2519574235446864, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5456507802009583, + 15.16372013092041, + 0.13284751772880554 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5522026935665929, + 15.180649799852379, + 0.12577213358442493 + ], + "intended_face_normal": [ + -0.9711246348097424, + 0.23354237936809474, + 0.04873292805361107 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.162776352481771, + 0.12200920524694184 + ], + "centerline_face_intersection": [ + 0.5476771573846348, + 15.162616751717847, + 0.12200920524694184 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5451857447624207, + 15.164632797241211, + 0.1330462247133255 + ], + "box_pose": [ + 0.6330731511116028, + 15.16520881652832, + 0.13859933614730835, + -0.06513918936252594, + 0.032209206372499466, + -0.11575944721698761, + 0.9906155467033386 + ], + "box_yaw_rad": -0.23600494817503187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00015960076392410345, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020084176346328968 + } + } + }, + { + "simulation_time_ns": 5340000000, + "center": [ + 0.627250669284048, + 15.159527445972415, + 0.12143930134521984 + ], + "face_center": [ + 0.5529231025652637, + 15.180215249050233, + 0.12454290091319656 + ], + "face_normal": [ + -0.9626013669261826, + 0.2679235766825343, + 0.04019409377181837 + ], + "footprint_xy": [ + [ + 0.5302513618952086, + 15.074339422930642 + ], + [ + 0.7242499766728876, + 15.074339422930642 + ], + [ + 0.7242499766728876, + 15.24471546901419 + ], + [ + 0.5302513618952086, + 15.24471546901419 + ] + ], + "projected_box_corners": [ + [ + 0.5302513618952086, + 15.115715029086275 + ], + [ + 0.5465826524454629, + 15.13864969350429 + ], + [ + 0.5592635526850643, + 15.221780804596175 + ], + [ + 0.5755948432353186, + 15.24471546901419 + ], + [ + 0.6789064953327776, + 15.074339422930642 + ], + [ + 0.6952377858830319, + 15.097274087348655 + ], + [ + 0.7079186861226333, + 15.180405198440543 + ], + [ + 0.7242499766728876, + 15.203339862858556 + ] + ], + "yaw_rad": -0.27146208214061357, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5464094877243042, + 15.1632719039917, + 0.1336948126554489 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5523910855373337, + 15.18011494313538, + 0.1251238884562208 + ], + "intended_face_normal": [ + -0.9674817565209359, + 0.24905690630559987, + 0.04415545982710711 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.160930088897615, + 0.12171441076476683 + ], + "centerline_face_intersection": [ + 0.5472848781510795, + 15.16088393593318, + 0.12171441076476683 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5456507802009583, + 15.16372013092041, + 0.13284751772880554 + ], + "box_pose": [ + 0.6328854560852051, + 15.163150787353516, + 0.1383853256702423, + -0.05760721117258072, + 0.02951415814459324, + -0.12404852360486984, + 0.99016273021698 + ], + "box_yaw_rad": -0.2519574235446864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 4.615296443489542e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018696505044796033 + } + } + }, + { + "simulation_time_ns": 5360000000, + "center": [ + 0.6280150230703822, + 15.158751939610834, + 0.12127195132243535 + ], + "face_center": [ + 0.5542302018232167, + 15.181322670224125, + 0.12419887873247556 + ], + "face_normal": [ + -0.9555723794867024, + 0.29230899247755504, + 0.03790604818879917 + ], + "footprint_xy": [ + [ + 0.5303801677685156, + 15.072930437394438 + ], + [ + 0.7256498783722487, + 15.072930437394438 + ], + [ + 0.7256498783722487, + 15.24457344182723 + ], + [ + 0.5303801677685156, + 15.24457344182723 + ] + ], + "projected_box_corners": [ + [ + 0.5303801677685156, + 15.11807189862102 + ], + [ + 0.5463073561397269, + 15.139219363713782 + ], + [ + 0.5621530475067065, + 15.223425976734468 + ], + [ + 0.5780802358779177, + 15.24457344182723 + ], + [ + 0.6779498102628466, + 15.072930437394438 + ], + [ + 0.6938769986340578, + 15.0940779024872 + ], + [ + 0.7097226900010374, + 15.178284515507887 + ], + [ + 0.7256498783722487, + 15.199431980600648 + ] + ], + "yaw_rad": -0.29686023785024007, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5479220747947693, + 15.163813591003418, + 0.13564804196357727 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5529231025652637, + 15.180215249050233, + 0.12454290091319656 + ], + "intended_face_normal": [ + -0.9626013669261826, + 0.2679235766825343, + 0.04019409377181837 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.159423820616079, + 0.12143930134521984 + ], + "centerline_face_intersection": [ + 0.5470354144917086, + 15.159527445972415, + 0.12143930134521984 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5464094877243042, + 15.1632719039917, + 0.1336948126554489 + ], + "box_pose": [ + 0.6329706311225891, + 15.161515235900879, + 0.13816988468170166, + -0.052026987075805664, + 0.02736206352710724, + -0.13397997617721558, + 0.9892390370368958 + ], + "box_yaw_rad": -0.27146208214061357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00010362535633646557, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001531185595767721 + } + } + }, + { + "simulation_time_ns": 5380000000, + "center": [ + 0.6283474945767463, + 15.158245291629811, + 0.12115808811116516 + ], + "face_center": [ + 0.5548653370036915, + 15.181796727693904, + 0.12397004012060572 + ], + "face_normal": [ + -0.9516526431186317, + 0.3050099115196966, + 0.03641702490085996 + ], + "footprint_xy": [ + [ + 0.5304747455762635, + 15.072177661970821 + ], + [ + 0.726220243577229, + 15.072177661970821 + ], + [ + 0.726220243577229, + 15.2443129212888 + ], + [ + 0.5304747455762635, + 15.2443129212888 + ] + ], + "projected_box_corners": [ + [ + 0.5304747455762635, + 15.119280534099007 + ], + [ + 0.5460374911805669, + 15.139355686024919 + ], + [ + 0.5636931828268161, + 15.224237769362889 + ], + [ + 0.5792559284311194, + 15.2443129212888 + ], + [ + 0.6774390607223731, + 15.072177661970821 + ], + [ + 0.6930018063266765, + 15.092252813896732 + ], + [ + 0.7106574979729257, + 15.177134897234701 + ], + [ + 0.726220243577229, + 15.197210049160613 + ] + ], + "yaw_rad": -0.3101614272892172, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5485309362411499, + 15.164066314697266, + 0.1370428502559662 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5542302018232167, + 15.181322670224125, + 0.12419887873247556 + ], + "intended_face_normal": [ + -0.9555723794867024, + 0.29230899247755504, + 0.03790604818879917 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.158445848198795, + 0.12127195132243535 + ], + "centerline_face_intersection": [ + 0.547209721903227, + 15.158751939610834, + 0.12127195132243535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5479220747947693, + 15.163813591003418, + 0.13564804196357727 + ], + "box_pose": [ + 0.6337147355079651, + 15.160496711730957, + 0.13803651928901672, + -0.04854901507496834, + 0.0264008529484272, + -0.14668607711791992, + 0.9876381158828735 + ], + "box_yaw_rad": -0.29686023785024007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003060914120398198, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009921875221413766 + } + } + }, + { + "simulation_time_ns": 5400000000, + "center": [ + 0.6278141287695522, + 15.157568830540713, + 0.12095845698967186 + ], + "face_center": [ + 0.5543220587506152, + 15.181113100882383, + 0.1235637810305936 + ], + "face_normal": [ + -0.9517810172115414, + 0.3049171096898566, + 0.03374102764005982 + ], + "footprint_xy": [ + [ + 0.5304601634194492, + 15.07218402035776 + ], + [ + 0.7251680941196551, + 15.07218402035776 + ], + [ + 0.7251680941196551, + 15.242953640723666 + ], + [ + 0.5304601634194492, + 15.242953640723666 + ] + ], + "projected_box_corners": [ + [ + 0.5304601634194492, + 15.1192725610411 + ], + [ + 0.54490301724406, + 15.13793777673889 + ], + [ + 0.5637411002571706, + 15.224288425025877 + ], + [ + 0.5781839540817812, + 15.242953640723666 + ], + [ + 0.6774443034573232, + 15.07218402035776 + ], + [ + 0.6918871572819338, + 15.090849236055549 + ], + [ + 0.7107252402950445, + 15.177199884342535 + ], + [ + 0.7251680941196551, + 15.195865100040326 + ] + ], + "yaw_rad": -0.3100337995319175, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5471058487892151, + 15.162285804748535, + 0.13651393353939056 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5548653370036915, + 15.181796727693904, + 0.12397004012060572 + ], + "intended_face_normal": [ + -0.9516526431186317, + 0.3050099115196966, + 0.03641702490085996 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.157706359295073, + 0.12115808811116516 + ], + "centerline_face_intersection": [ + 0.5472093666371254, + 15.158245291629811, + 0.12115808811116516 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5485309362411499, + 15.164066314697266, + 0.1370428502559662 + ], + "box_pose": [ + 0.6340246200561523, + 15.159852981567383, + 0.13794401288032532, + -0.046391237527132034, + 0.025662487372756004, + -0.15334638953208923, + 0.9867492914199829 + ], + "box_yaw_rad": -0.3101614272892172, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005389323347380074, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007482036284388415 + } + } + }, + { + "simulation_time_ns": 5420000000, + "center": [ + 0.62691769522908, + 15.156405081372993, + 0.12061625952281589 + ], + "face_center": [ + 0.5534081344603795, + 15.179929621621907, + 0.1228845659834255 + ], + "face_normal": [ + -0.9520075363937813, + 0.30466158922691844, + 0.02937638074244231 + ], + "footprint_xy": [ + [ + 0.5304403969620505, + 15.072205265322648 + ], + [ + 0.7233949934961097, + 15.072205265322648 + ], + [ + 0.7233949934961097, + 15.240604897423339 + ], + [ + 0.5304403969620505, + 15.240604897423339 + ] + ], + "projected_box_corners": [ + [ + 0.5304403969620505, + 15.119254345820476 + ], + [ + 0.5430128814175623, + 15.135494271428778 + ], + [ + 0.5638033875031967, + 15.224364971815037 + ], + [ + 0.5763758719587085, + 15.240604897423339 + ], + [ + 0.6774595184994516, + 15.072205265322648 + ], + [ + 0.6900320029549635, + 15.08844519093095 + ], + [ + 0.7108225090405978, + 15.177315891317209 + ], + [ + 0.7233949934961097, + 15.19355581692551 + ] + ], + "yaw_rad": -0.3097212176198296, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5439203381538391, + 15.158034324645996, + 0.1351025551557541 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5543220587506152, + 15.181113100882383, + 0.1235637810305936 + ], + "intended_face_normal": [ + -0.9517810172115414, + 0.3049171096898566, + 0.03374102764005982 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.156841219237663, + 0.12095845698967186 + ], + "centerline_face_intersection": [ + 0.546686944558989, + 15.157568830540713, + 0.12095845698967186 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5471058487892151, + 15.162285804748535, + 0.13651393353939056 + ], + "box_pose": [ + 0.6334124207496643, + 15.159076690673828, + 0.1377800852060318, + -0.043117593973875046, + 0.02379740960896015, + -0.15343785285949707, + 0.9869303107261658 + ], + "box_yaw_rad": -0.3100337995319175, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007276113030508927, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008878738106310184 + } + } + }, + { + "simulation_time_ns": 5440000000, + "center": [ + 0.625631917070349, + 15.154728483451432, + 0.1200918815575443 + ], + "face_center": [ + 0.5521034808003344, + 15.178235546081972, + 0.121878432512697 + ], + "face_normal": [ + -0.9522519892148327, + 0.3044352401066388, + 0.023137262087696675 + ], + "footprint_xy": [ + [ + 0.5304215247717894, + 15.072231540399091 + ], + [ + 0.7208423093689087, + 15.072231540399091 + ], + [ + 0.7208423093689087, + 15.237225426503773 + ], + [ + 0.5304215247717894, + 15.237225426503773 + ] + ], + "projected_box_corners": [ + [ + 0.5304215247717894, + 15.119245665660168 + ], + [ + 0.5403162412550594, + 15.132004702474559 + ], + [ + 0.5638907203456095, + 15.224466389689383 + ], + [ + 0.5737854368288796, + 15.237225426503773 + ], + [ + 0.6774783973118185, + 15.072231540399091 + ], + [ + 0.6873731137950886, + 15.084990577213484 + ], + [ + 0.7109475928856387, + 15.177452264428306 + ], + [ + 0.7208423093689087, + 15.190211301242698 + ] + ], + "yaw_rad": -0.3094310532901127, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5416330099105835, + 15.151514053344727, + 0.13175426423549652 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5534081344603795, + 15.179929621621907, + 0.1228845659834255 + ], + "intended_face_normal": [ + -0.9520075363937813, + 0.30466158922691844, + 0.02937638074244231 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.155612300339023, + 0.12061625952281589 + ], + "centerline_face_intersection": [ + 0.5458098142936719, + 15.156405081372993, + 0.12061625952281589 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5439203381538391, + 15.158034324645996, + 0.1351025551557541 + ], + "box_pose": [ + 0.6323840618133545, + 15.15774154663086, + 0.13749566674232483, + -0.03750667721033096, + 0.020710831508040428, + -0.15351642668247223, + 0.9872168302536011 + ], + "box_yaw_rad": -0.3097212176198296, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000792781033971011, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012756726718705618 + } + } + }, + { + "simulation_time_ns": 5460000000, + "center": [ + 0.6239244068280704, + 15.152497605767396, + 0.11933698537969406 + ], + "face_center": [ + 0.5503829281972761, + 15.176003564310916, + 0.1204883206392375 + ], + "face_normal": [ + -0.9524208982060562, + 0.30442094129773545, + 0.014910711376035501 + ], + "footprint_xy": [ + [ + 0.5304076551302451, + 15.072256509230803 + ], + [ + 0.7174411585258956, + 15.072256509230803 + ], + [ + 0.7174411585258956, + 15.23273870230399 + ], + [ + 0.5304076551302451, + 15.23273870230399 + ] + ], + "projected_box_corners": [ + [ + 0.5304076551302451, + 15.119268426317843 + ], + [ + 0.5367654100379642, + 15.127420144243196 + ], + [ + 0.564000446356588, + 15.224586984378636 + ], + [ + 0.5703582012643069, + 15.23273870230399 + ], + [ + 0.6774906123918338, + 15.072256509230803 + ], + [ + 0.6838483672995529, + 15.080408227156157 + ], + [ + 0.7110834036181767, + 15.177575067291597 + ], + [ + 0.7174411585258956, + 15.18572678521695 + ] + ], + "yaw_rad": -0.30936599072320137, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5418427586555481, + 15.143075942993164, + 0.12167833745479584 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5521034808003344, + 15.178235546081972, + 0.121878432512697 + ], + "intended_face_normal": [ + -0.9522519892148327, + 0.3044352401066388, + 0.023137262087696675 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.15406427962173, + 0.1200918815575443 + ], + "centerline_face_intersection": [ + 0.5445448573571896, + 15.154728483451432, + 0.1200918815575443 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5416330099105835, + 15.151514053344727, + 0.13175426423549652 + ], + "box_pose": [ + 0.6309089064598083, + 15.155817985534668, + 0.1370491236448288, + -0.029463863000273705, + 0.016298651695251465, + -0.15365011990070343, + 0.9875514507293701 + ], + "box_yaw_rad": -0.3094310532901127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006642038297027856, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016344235655511537 + } + } + }, + { + "simulation_time_ns": 5480000000, + "center": [ + 0.6215904062629642, + 15.150513744714164, + 0.11902276626768171 + ], + "face_center": [ + 0.5480075562811516, + 15.173917983741106, + 0.11912480659163656 + ], + "face_normal": [ + -0.9529566902519937, + 0.30310359229757605, + 0.0013215037119693462 + ], + "footprint_xy": [ + [ + 0.530393877114713, + 15.072250380121902 + ], + [ + 0.7127869354112155, + 15.072250380121902 + ], + [ + 0.7127869354112155, + 15.228777109306426 + ], + [ + 0.530393877114713, + 15.228777109306426 + ] + ], + "projected_box_corners": [ + [ + 0.530393877114713, + 15.119058858175787 + ], + [ + 0.5320957158004231, + 15.123363700721839 + ], + [ + 0.5639193967618801, + 15.224472266760374 + ], + [ + 0.5656212354475901, + 15.228777109306426 + ], + [ + 0.6775595770783384, + 15.072250380121902 + ], + [ + 0.6792614157640484, + 15.076555222667956 + ], + [ + 0.7110850967255055, + 15.17766378870649 + ], + [ + 0.7127869354112155, + 15.181968631252543 + ] + ], + "yaw_rad": -0.30794805433553635, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5426476001739502, + 15.136780738830566, + 0.11589564383029938 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5503829281972761, + 15.176003564310916, + 0.1204883206392375 + ], + "intended_face_normal": [ + -0.9524208982060562, + 0.30442094129773545, + 0.014910711376035501 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.152210268448663, + 0.11933698537969406 + ], + "centerline_face_intersection": [ + 0.5428517276618763, + 15.152497605767396, + 0.11933698537969406 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5418427586555481, + 15.143075942993164, + 0.12167833745479584 + ], + "box_pose": [ + 0.6289503574371338, + 15.153258323669434, + 0.1363881677389145, + -0.018831554800271988, + 0.010480489581823349, + -0.15388213098049164, + 0.9878541827201843 + ], + "box_yaw_rad": -0.30936599072320137, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00028733731873352073, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002001805602248234 + } + } + }, + { + "simulation_time_ns": 5500000000, + "center": [ + 0.6189278973282728, + 15.149612733171347, + 0.11896618481165307 + ], + "face_center": [ + 0.545340744756595, + 15.172962443962067, + 0.11757808731652537 + ], + "face_normal": [ + -0.9530124122279483, + 0.3023974080776404, + -0.017976971468635944 + ], + "footprint_xy": [ + [ + 0.5267410135046078, + 15.07228315210698 + ], + [ + 0.7111147811519378, + 15.07228315210698 + ], + [ + 0.7111147811519378, + 15.226942314235716 + ], + [ + 0.5267410135046078, + 15.226942314235716 + ] + ], + "projected_box_corners": [ + [ + 0.5304692871568637, + 15.11898257368842 + ], + [ + 0.5267410135046078, + 15.121491740294516 + ], + [ + 0.5639404760085822, + 15.224433147629618 + ], + [ + 0.5602122023563263, + 15.226942314235716 + ], + [ + 0.6776435923002192, + 15.07228315210698 + ], + [ + 0.6739153186479633, + 15.074792318713076 + ], + [ + 0.7111147811519378, + 15.177733726048178 + ], + [ + 0.7073865074996818, + 15.180242892654276 + ] + ], + "yaw_rad": -0.30725808967615775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.543739914894104, + 15.13673210144043, + 0.11415117979049683 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5480075562811516, + 15.173917983741106, + 0.11912480659163656 + ], + "intended_face_normal": [ + -0.9529566902519937, + 0.30310359229757605, + 0.0013215037119693462 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.150775727630775, + 0.11902276626768171 + ], + "centerline_face_intersection": [ + 0.540563309542525, + 15.150513744714164, + 0.11902276626768171 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5426476001739502, + 15.136780738830566, + 0.11589564383029938 + ], + "box_pose": [ + 0.6262840032577515, + 15.151005744934082, + 0.13617822527885437, + -0.009410561993718147, + 0.0021291745360940695, + -0.15335293114185333, + 0.9881243109703064 + ], + "box_yaw_rad": -0.30794805433553635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002619829166103923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014685506489530748 + } + } + }, + { + "simulation_time_ns": 5520000000, + "center": [ + 0.617588308287999, + 15.148327924208925, + 0.11945466862908607 + ], + "face_center": [ + 0.5440119812350175, + 15.171670613664073, + 0.11749310649882272 + ], + "face_normal": [ + -0.9528722131126712, + 0.3023064761728471, + -0.02540379661621478 + ], + "footprint_xy": [ + [ + 0.5240804024488477, + 15.072196954694721 + ], + [ + 0.7110962141271504, + 15.072196954694721 + ], + [ + 0.7110962141271504, + 15.22445889372313 + ], + [ + 0.5240804024488477, + 15.22445889372313 + ] + ], + "projected_box_corners": [ + [ + 0.5305107494040721, + 15.118998793653752 + ], + [ + 0.5240804024488477, + 15.118882333605015 + ], + [ + 0.5639435600211873, + 15.22445889372313 + ], + [ + 0.557513213065963, + 15.224342433674394 + ], + [ + 0.6776634035100351, + 15.072313414743457 + ], + [ + 0.6712330565548108, + 15.072196954694721 + ], + [ + 0.7110962141271504, + 15.177773514812836 + ], + [ + 0.704665867171926, + 15.177657054764099 + ] + ], + "yaw_rad": -0.3072138048460072, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5450128316879272, + 15.140360832214355, + 0.11552771925926208 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.545340744756595, + 15.172962443962067, + 0.11757808731652537 + ], + "intended_face_normal": [ + -0.9530124122279483, + 0.3023974080776404, + -0.017976971468635944 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.150389941357194, + 0.11896618481165307 + ], + "centerline_face_intersection": [ + 0.5379055382060822, + 15.149612733171347, + 0.11896618481165307 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.543739914894104, + 15.13673210144043, + 0.11415117979049683 + ], + "box_pose": [ + 0.6232317686080933, + 15.149979591369629, + 0.13622665405273438, + -0.003978967200964689, + -0.00847980659455061, + -0.15304210782051086, + 0.9881753921508789 + ], + "box_yaw_rad": -0.30725808967615775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007772081858470867, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00038991346482242467 + } + } + }, + { + "simulation_time_ns": 5540000000, + "center": [ + 0.6179071081323689, + 15.14782786719122, + 0.11989653115644609 + ], + "face_center": [ + 0.5448433773308176, + 15.172748807574362, + 0.11821051106324701 + ], + "face_normal": [ + -0.9462336821598852, + 0.32274608650462344, + -0.021835307114504016 + ], + "footprint_xy": [ + [ + 0.5238463109290367, + 15.06939311805109 + ], + [ + 0.7119679053357012, + 15.06939311805109 + ], + [ + 0.7119679053357012, + 15.226262616331349 + ], + [ + 0.5238463109290367, + 15.226262616331349 + ] + ], + "projected_box_corners": [ + [ + 0.53017028348395, + 15.12155200930977 + ], + [ + 0.5238463109290367, + 15.119234998817376 + ], + [ + 0.5658404437325983, + 15.226262616331349 + ], + [ + 0.5595164711776851, + 15.223945605838955 + ], + [ + 0.6762977450870528, + 15.071710128543485 + ], + [ + 0.6699737725321394, + 15.06939311805109 + ], + [ + 0.7119679053357012, + 15.176420735565063 + ], + [ + 0.7056439327807879, + 15.17410372507267 + ] + ], + "yaw_rad": -0.3287107283603905, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5463699698448181, + 15.143014907836914, + 0.1181173324584961 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5440119812350175, + 15.171670613664073, + 0.11749310649882272 + ], + "intended_face_normal": [ + -0.9528722131126712, + 0.3023064761728471, + -0.02540379661621478 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.149423816074554, + 0.11945466862908607 + ], + "centerline_face_intersection": [ + 0.5365540280887634, + 15.148327924208925, + 0.11945466862908607 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5450128316879272, + 15.140360832214355, + 0.11552771925926208 + ], + "box_pose": [ + 0.6216973662376404, + 15.148507118225098, + 0.1367655098438263, + 0.0022899629548192024, + -0.013208702206611633, + -0.15293601155281067, + 0.9881452322006226 + ], + "box_yaw_rad": -0.3072138048460072, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001095891865629852, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010825961858647838 + } + } + }, + { + "simulation_time_ns": 5560000000, + "center": [ + 0.6187351714253603, + 15.148476286646366, + 0.11955982996304325 + ], + "face_center": [ + 0.5461369169621715, + 15.174722282695358, + 0.11787285888094975 + ], + "face_normal": [ + -0.9402053917239181, + 0.3399066159219967, + -0.021847623180401177 + ], + "footprint_xy": [ + [ + 0.5244154971183292, + 15.069814292642945 + ], + [ + 0.7130548457323913, + 15.069814292642945 + ], + [ + 0.7130548457323913, + 15.227138280649788 + ], + [ + 0.5244154971183292, + 15.227138280649788 + ] + ], + "projected_box_corners": [ + [ + 0.530271483009732, + 15.123089588486604 + ], + [ + 0.5244154971183292, + 15.122306284740928 + ], + [ + 0.5678583368060136, + 15.227138280649788 + ], + [ + 0.5620023509146108, + 15.226354976904112 + ], + [ + 0.6754679919361097, + 15.070597596388621 + ], + [ + 0.6696120060447069, + 15.069814292642945 + ], + [ + 0.7130548457323913, + 15.174646288551804 + ], + [ + 0.7071988598409885, + 15.173862984806128 + ] + ], + "yaw_rad": -0.346903888591586, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5474187135696411, + 15.144774436950684, + 0.12110477685928345 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5448433773308176, + 15.172748807574362, + 0.11821051106324701 + ], + "intended_face_normal": [ + -0.9462336821598852, + 0.32274608650462344, + -0.021835307114504016 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.149116277431022, + 0.11989653115644609 + ], + "centerline_face_intersection": [ + 0.5363043123671777, + 15.14782786719122, + 0.11989653115644609 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5463699698448181, + 15.143014907836914, + 0.1181173324584961 + ], + "box_pose": [ + 0.622026801109314, + 15.147750854492188, + 0.1372056007385254, + 0.00692018074914813, + -0.012214739806950092, + -0.16350522637367249, + 0.9864425659179688 + ], + "box_yaw_rad": -0.3287107283603905, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012884102398020756, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005383516604886903 + } + } + }, + { + "simulation_time_ns": 5580000000, + "center": [ + 0.6200699375008013, + 15.15016816053663, + 0.11886307502302859 + ], + "face_center": [ + 0.5476345502325144, + 15.176882083491414, + 0.11756474770235129 + ], + "face_normal": [ + -0.9380961314405417, + 0.34596664316386083, + -0.01681437599497962 + ], + "footprint_xy": [ + [ + 0.526866511005665, + 15.070124883316133 + ], + [ + 0.7132733639959378, + 15.070124883316133 + ], + [ + 0.7132733639959378, + 15.230211437757127 + ], + [ + 0.526866511005665, + 15.230211437757127 + ] + ], + "projected_box_corners": [ + [ + 0.5301100014996598, + 15.1235527292257 + ], + [ + 0.526866511005665, + 15.12641528474438 + ], + [ + 0.5684025894593637, + 15.227348882238447 + ], + [ + 0.5651590989653689, + 15.230211437757127 + ], + [ + 0.6749807760362339, + 15.070124883316133 + ], + [ + 0.671737285542239, + 15.072987438834813 + ], + [ + 0.7132733639959378, + 15.17392103632888 + ], + [ + 0.7100298735019429, + 15.176783591847558 + ] + ], + "yaw_rad": -0.35332099309917214, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5488147139549255, + 15.146873474121094, + 0.12380903959274292 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5461369169621715, + 15.174722282695358, + 0.11787285888094975 + ], + "intended_face_normal": [ + -0.9402053917239181, + 0.3399066159219967, + -0.021847623180401177 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.149912770873994, + 0.11955982996304325 + ], + "centerline_face_intersection": [ + 0.5366091651387345, + 15.148476286646366, + 0.11955982996304325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5474187135696411, + 15.144774436950684, + 0.12110477685928345 + ], + "box_pose": [ + 0.622889518737793, + 15.148426055908203, + 0.1368607133626938, + 0.0037140636704862118, + -0.01174145471304655, + -0.17250925302505493, + 0.9849309325218201 + ], + "box_yaw_rad": -0.346903888591586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014364842276293642, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008647366641572427 + } + } + }, + { + "simulation_time_ns": 5600000000, + "center": [ + 0.6227206356870608, + 15.151791743244543, + 0.11916735427067866 + ], + "face_center": [ + 0.5506472879164481, + 15.179495637318825, + 0.11952986497021428 + ], + "face_normal": [ + -0.9334074307238734, + 0.35878756001765266, + 0.0046948031572002225 + ], + "footprint_xy": [ + [ + 0.528973174994619, + 15.06924797031923 + ], + [ + 0.7164680963795026, + 15.06924797031923 + ], + [ + 0.7164680963795026, + 15.234335516169857 + ], + [ + 0.528973174994619, + 15.234335516169857 + ] + ], + "projected_box_corners": [ + [ + 0.528973174994619, + 15.124655758467794 + ], + [ + 0.5326593406316789, + 15.131107954199443 + ], + [ + 0.5686352352012174, + 15.227883320438208 + ], + [ + 0.5723214008382772, + 15.234335516169857 + ], + [ + 0.6731198705358444, + 15.06924797031923 + ], + [ + 0.6768060361729042, + 15.07570016605088 + ], + [ + 0.7127819307424428, + 15.172475532289644 + ], + [ + 0.7164680963795026, + 15.178927728021293 + ] + ], + "yaw_rad": -0.36697288420235763, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5509927272796631, + 15.149982452392578, + 0.1261807233095169 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5476345502325144, + 15.176882083491414, + 0.11756474770235129 + ], + "intended_face_normal": [ + -0.9380961314405417, + 0.34596664316386083, + -0.01681437599497962 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.151736432220881, + 0.11886307502302859 + ], + "centerline_face_intersection": [ + 0.5377592751672235, + 15.15016816053663, + 0.11886307502302859 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5488147139549255, + 15.146873474121094, + 0.12380903959274292 + ], + "box_pose": [ + 0.6244124174118042, + 15.150349617004395, + 0.13611681759357452, + -0.004685295280069113, + -0.007703936193138361, + -0.1757628619670868, + 0.9843912124633789 + ], + "box_yaw_rad": -0.35332099309917214, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001568271684250817, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019522315832305084 + } + } + }, + { + "simulation_time_ns": 5620000000, + "center": [ + 0.6255530158834387, + 15.153602612010575, + 0.11987120009577536 + ], + "face_center": [ + 0.5539397369019227, + 15.182434488142944, + 0.1214415068471326 + ], + "face_normal": [ + -0.9274491723708176, + 0.3733958287786921, + 0.02033672689796112 + ], + "footprint_xy": [ + [ + 0.5286802531229657, + 15.068389408040707 + ], + [ + 0.7224257786439117, + 15.068389408040707 + ], + [ + 0.7224257786439117, + 15.238815815980441 + ], + [ + 0.5286802531229657, + 15.238815815980441 + ] + ], + "projected_box_corners": [ + [ + 0.5286802531229657, + 15.126053160305444 + ], + [ + 0.5380531409241388, + 15.136289854058111 + ], + [ + 0.5698263328797066, + 15.228579122227774 + ], + [ + 0.5791992206808796, + 15.238815815980441 + ], + [ + 0.6719068110859978, + 15.068389408040707 + ], + [ + 0.6812796988871709, + 15.078626101793374 + ], + [ + 0.7130528908427387, + 15.170915369963039 + ], + [ + 0.7224257786439117, + 15.181152063715706 + ] + ], + "yaw_rad": -0.3827501911336932, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5528609752655029, + 15.153865814208984, + 0.12800736725330353 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5506472879164481, + 15.179495637318825, + 0.11952986497021428 + ], + "intended_face_normal": [ + -0.9334074307238734, + 0.35878756001765266, + 0.0046948031572002225 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.153432386562873, + 0.11916735427067866 + ], + "centerline_face_intersection": [ + 0.5399965096839539, + 15.151791743244543, + 0.11916735427067866 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5509927272796631, + 15.149982452392578, + 0.1261807233095169 + ], + "box_pose": [ + 0.6275589466094971, + 15.152167320251465, + 0.13628551363945007, + -0.01462549902498722, + 0.005101314280182123, + -0.1824013739824295, + 0.9831020832061768 + ], + "box_yaw_rad": -0.36697288420235763, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016406433183293956, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017230342395528882 + } + } + }, + { + "simulation_time_ns": 5640000000, + "center": [ + 0.627468853235925, + 15.155745417285491, + 0.12050913974613763 + ], + "face_center": [ + 0.5559814468717204, + 15.184852627679156, + 0.12263654305668595 + ], + "face_normal": [ + -0.9258190214210233, + 0.37696162741821926, + 0.027551572386124823 + ], + "footprint_xy": [ + [ + 0.5287830053173033, + 15.068267999226991 + ], + [ + 0.7261547011545468, + 15.068267999226991 + ], + [ + 0.7261547011545468, + 15.24322283534399 + ], + [ + 0.5287830053173033, + 15.24322283534399 + ] + ], + "projected_box_corners": [ + [ + 0.5287830053173033, + 15.12648242001432 + ], + [ + 0.5417957133242672, + 15.14096583570374 + ], + [ + 0.5701671804191736, + 15.228739419654572 + ], + [ + 0.5831798884261374, + 15.24322283534399 + ], + [ + 0.6717578180457127, + 15.068267999226991 + ], + [ + 0.6847705260526765, + 15.08275141491641 + ], + [ + 0.7131419931475829, + 15.170524998867242 + ], + [ + 0.7261547011545468, + 15.185008414556663 + ] + ], + "yaw_rad": -0.38666828706779904, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5535122752189636, + 15.157398223876953, + 0.12859059870243073 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5539397369019227, + 15.182434488142944, + 0.1214415068471326 + ], + "intended_face_normal": [ + -0.9274491723708176, + 0.3733958287786921, + 0.02033672689796112 + ], + "commanded_contact_point": [ + 0.5525556254386902, + 15.155232727240968, + 0.11987120009577536 + ], + "centerline_face_intersection": [ + 0.5422974411180268, + 15.153602612010575, + 0.11987120009577536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5528609752655029, + 15.153865814208984, + 0.12800736725330353 + ], + "box_pose": [ + 0.6307942271232605, + 15.154176712036133, + 0.1368647813796997, + -0.024668080732226372, + 0.015133531764149666, + -0.18985886871814728, + 0.9813847541809082 + ], + "box_yaw_rad": -0.3827501911336932, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016301152303930166, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002067167656092953 + } + } + }, + { + "simulation_time_ns": 5660000000, + "center": [ + 0.6289782941450595, + 15.157418495435282, + 0.12101129404088688 + ], + "face_center": [ + 0.5575203692511155, + 15.186558209864392, + 0.12362792601686527 + ], + "face_normal": [ + -0.9254372128293431, + 0.37738258064367225, + 0.03388747443259155 + ], + "footprint_xy": [ + [ + 0.5288897289288321, + 15.06832054986598 + ], + [ + 0.7290668593612868, + 15.06832054986598 + ], + [ + 0.7290668593612868, + 15.246516441004585 + ], + [ + 0.5288897289288321, + 15.246516441004585 + ] + ], + "projected_box_corners": [ + [ + 0.5288897289288321, + 15.1265999787242 + ], + [ + 0.5448847824540072, + 15.14438949412107 + ], + [ + 0.5701559560482238, + 15.228726925607715 + ], + [ + 0.5861510095733988, + 15.246516441004585 + ], + [ + 0.6718055787167201, + 15.06832054986598 + ], + [ + 0.6878006322418951, + 15.08611006526285 + ], + [ + 0.7130718058361117, + 15.170447496749496 + ], + [ + 0.7290668593612868, + 15.188237012146367 + ] + ], + "yaw_rad": -0.38720245023245115, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.552908182144165, + 15.15903377532959, + 0.12861156463623047 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5559814468717204, + 15.184852627679156, + 0.12263654305668595 + ], + "intended_face_normal": [ + -0.9258190214210233, + 0.37696162741821926, + 0.027551572386124823 + ], + "commanded_contact_point": [ + 0.554133688211441, + 15.157309420252226, + 0.12050913974613763 + ], + "centerline_face_intersection": [ + 0.5440666848586524, + 15.155745417285491, + 0.12050913974613763 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5535122752189636, + 15.157398223876953, + 0.12859059870243073 + ], + "box_pose": [ + 0.6329672932624817, + 15.156604766845703, + 0.13740915060043335, + -0.03485307842493057, + 0.02085191011428833, + -0.19145675003528595, + 0.9806604385375977 + ], + "box_yaw_rad": -0.38666828706779904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015640029667345345, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00268512624940688 + } + } + }, + { + "simulation_time_ns": 5680000000, + "center": [ + 0.6300280937459839, + 15.158579473456166, + 0.1213334165494322 + ], + "face_center": [ + 0.5585941351211501, + 15.187745563422038, + 0.12428863951424028 + ], + "face_normal": [ + -0.9251268304984801, + 0.3777241649153116, + 0.038272498227457485 + ], + "footprint_xy": [ + [ + 0.528980113738674, + 15.068365469088418 + ], + [ + 0.7310760737532938, + 15.068365469088418 + ], + [ + 0.7310760737532938, + 15.248793477823915 + ], + [ + 0.528980113738674, + 15.248793477823915 + ] + ], + "projected_box_corners": [ + [ + 0.528980113738674, + 15.126697649020162 + ], + [ + 0.5470378732213382, + 15.146772136843634 + ], + [ + 0.5701503970209618, + 15.228718990000441 + ], + [ + 0.5882081565036261, + 15.248793477823915 + ], + [ + 0.6718480309883417, + 15.068365469088418 + ], + [ + 0.6899057904710059, + 15.088439956911891 + ], + [ + 0.7130183142706296, + 15.170386810068699 + ], + [ + 0.7310760737532938, + 15.190461297892172 + ] + ], + "yaw_rad": -0.38763626474520374, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5511849522590637, + 15.15854549407959, + 0.12691286206245422 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5575203692511155, + 15.186558209864392, + 0.12362792601686527 + ], + "intended_face_normal": [ + -0.9254372128293431, + 0.37738258064367225, + 0.03388747443259155 + ], + "commanded_contact_point": [ + 0.5557173240184784, + 15.158917887206243, + 0.12101129404088688 + ], + "centerline_face_intersection": [ + 0.5455417164485917, + 15.157418495435282, + 0.12101129404088688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.552908182144165, + 15.15903377532959, + 0.12861156463623047 + ], + "box_pose": [ + 0.6346871852874756, + 15.1585111618042, + 0.13782784342765808, + -0.04283170774579048, + 0.025647178292274475, + -0.19137297570705414, + 0.9802469611167908 + ], + "box_yaw_rad": -0.38720245023245115, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014993917709622195, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023124072407845996 + } + } + }, + { + "simulation_time_ns": 5700000000, + "center": [ + 0.6306354420577167, + 15.159249384669687, + 0.12150858139025136 + ], + "face_center": [ + 0.5592165632237677, + 15.188431964052775, + 0.12465907902333 + ], + "face_normal": [ + -0.9249315351597585, + 0.37793771604113635, + 0.04080146118025363 + ], + "footprint_xy": [ + [ + 0.5290395890037147, + 15.068396809734486 + ], + [ + 0.7322312951117186, + 15.068396809734486 + ], + [ + 0.7322312951117186, + 15.250101959604887 + ], + [ + 0.5290395890037147, + 15.250101959604887 + ] + ], + "projected_box_corners": [ + [ + 0.5290395890037147, + 15.126761968500663 + ], + [ + 0.5482839122760721, + 15.148146954022883 + ], + [ + 0.5701492141714634, + 15.228716974082667 + ], + [ + 0.5893935374438206, + 15.250101959604887 + ], + [ + 0.6718773466716127, + 15.068396809734486 + ], + [ + 0.6911216699439701, + 15.089781795256705 + ], + [ + 0.7129869718393613, + 15.17035181531649 + ], + [ + 0.7322312951117186, + 15.19173680083871 + ] + ], + "yaw_rad": -0.3879080196288143, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5476097464561462, + 15.159299850463867, + 0.12498162686824799 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5585941351211501, + 15.187745563422038, + 0.12428863951424028 + ], + "intended_face_normal": [ + -0.9251268304984801, + 0.3777241649153116, + 0.038272498227457485 + ], + "commanded_contact_point": [ + 0.5571110743284226, + 15.160080224402192, + 0.1213334165494322 + ], + "centerline_face_intersection": [ + 0.5465635228721367, + 15.158579473456166, + 0.1213334165494322 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5511849522590637, + 15.15854549407959, + 0.12691286206245422 + ], + "box_pose": [ + 0.6358821392059326, + 15.159832954406738, + 0.13808873295783997, + -0.048353035002946854, + 0.02896835282444954, + -0.1913045197725296, + 0.9799108505249023 + ], + "box_yaw_rad": -0.38763626474520374, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015007509460252776, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001843184905012542 + } + } + }, + { + "simulation_time_ns": 5720000000, + "center": [ + 0.6308107009970909, + 15.159438884897291, + 0.12155567572858839 + ], + "face_center": [ + 0.5593961999088739, + 15.188625999034704, + 0.12476285199569455 + ], + "face_normal": [ + -0.924874839855287, + 0.37799644473231275, + 0.041535494769659564 + ], + "footprint_xy": [ + [ + 0.5290583945568383, + 15.068406193696758 + ], + [ + 0.7325630074373434, + 15.068406193696758 + ], + [ + 0.7325630074373434, + 15.250471576097826 + ], + [ + 0.5290583945568383, + 15.250471576097826 + ] + ], + "projected_box_corners": [ + [ + 0.5290583945568383, + 15.126780421971583 + ], + [ + 0.5486429522772693, + 15.148535912095415 + ], + [ + 0.5701494475404785, + 15.228716085973993 + ], + [ + 0.5897340052609096, + 15.250471576097826 + ], + [ + 0.6718873967332722, + 15.068406193696758 + ], + [ + 0.6914719544537032, + 15.09016168382059 + ], + [ + 0.7129784497169124, + 15.170341857699167 + ], + [ + 0.7325630074373434, + 15.192097347823 + ] + ], + "yaw_rad": -0.3879838955493241, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5460829138755798, + 15.160591125488281, + 0.1242116391658783 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5592165632237677, + 15.188431964052775, + 0.12465907902333 + ], + "intended_face_normal": [ + -0.9249315351597585, + 0.37793771604113635, + 0.04080146118025363 + ], + "commanded_contact_point": [ + 0.5586152422428131, + 15.160748116983946, + 0.12150858139025136 + ], + "centerline_face_intersection": [ + 0.5471532479966168, + 15.159249384669687, + 0.12150858139025136 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5476097464561462, + 15.159299850463867, + 0.12498162686824799 + ], + "box_pose": [ + 0.6365728378295898, + 15.160594940185547, + 0.13822738826274872, + -0.05152374505996704, + 0.030882101505994797, + -0.19126036763191223, + 0.9796995520591736 + ], + "box_yaw_rad": -0.3879080196288143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014987323142580777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016550783476632258 + } + } + }, + { + "simulation_time_ns": 5740000000, + "center": [ + 0.6305969920499963, + 15.159200018900355, + 0.12148888986653085 + ], + "face_center": [ + 0.559176876808142, + 15.188381266150518, + 0.12462364960515722 + ], + "face_normal": [ + -0.9249475476298582, + 0.37792046385554584, + 0.040597642874595774 + ], + "footprint_xy": [ + [ + 0.5290487203890176, + 15.068408190844137 + ], + [ + 0.732145263710975, + 15.068408190844137 + ], + [ + 0.732145263710975, + 15.249991846956574 + ], + [ + 0.5290487203890176, + 15.249991846956574 + ] + ], + "projected_box_corners": [ + [ + 0.5290487203890176, + 15.12677068534446 + ], + [ + 0.5481895423314784, + 15.148030491232308 + ], + [ + 0.5701642112848057, + 15.228732041068728 + ], + [ + 0.5893050332272665, + 15.249991846956574 + ], + [ + 0.671888950872726, + 15.068408190844137 + ], + [ + 0.691029772815187, + 15.089667996731983 + ], + [ + 0.7130044417685141, + 15.170369546568402 + ], + [ + 0.732145263710975, + 15.19162935245625 + ] + ], + "yaw_rad": -0.3878859743050074, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5480482578277588, + 15.162154197692871, + 0.12461912631988525 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5593961999088739, + 15.188625999034704, + 0.12476285199569455 + ], + "intended_face_normal": [ + -0.924874839855287, + 0.37799644473231275, + 0.041535494769659564 + ], + "commanded_contact_point": [ + 0.5604828196763992, + 15.160891527587909, + 0.12155567572858839 + ], + "centerline_face_intersection": [ + 0.5473233894344586, + 15.159438884897291, + 0.12155567572858839 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5460829138755798, + 15.160591125488281, + 0.1242116391658783 + ], + "box_pose": [ + 0.6367719769477844, + 15.160810470581055, + 0.13826386630535126, + -0.052422404289245605, + 0.03143332153558731, + -0.1912446767091751, + 0.9796372652053833 + ], + "box_yaw_rad": -0.3879838955493241, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014526426906184753, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018736675127867558 + } + } + }, + { + "simulation_time_ns": 5760000000, + "center": [ + 0.6300224613102972, + 15.158559770634543, + 0.12130712714109608 + ], + "face_center": [ + 0.5585869158098431, + 15.187723675396162, + 0.12424553296604873 + ], + "face_normal": [ + -0.925147381805467, + 0.3776958647745531, + 0.03805470283165402 + ], + "footprint_xy": [ + [ + 0.5290297526770601, + 15.068421148918196 + ], + [ + 0.7310151699435342, + 15.068421148918196 + ], + [ + 0.7310151699435342, + 15.24869839235089 + ], + [ + 0.5290297526770601, + 15.24869839235089 + ] + ], + "projected_box_corners": [ + [ + 0.5290297526770601, + 15.126748958441434 + ], + [ + 0.5469683670378731, + 15.146669343123587 + ], + [ + 0.5702054645818129, + 15.228778007668737 + ], + [ + 0.588144078942626, + 15.24869839235089 + ], + [ + 0.6719008436779683, + 15.068421148918196 + ], + [ + 0.6898394580387813, + 15.08834153360035 + ], + [ + 0.7130765555827211, + 15.170450198145499 + ], + [ + 0.7310151699435342, + 15.190370582827653 + ] + ], + "yaw_rad": -0.3876022712896429, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5514539480209351, + 15.164173126220703, + 0.1286131888628006 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.559176876808142, + 15.188381266150518, + 0.12462364960515722 + ], + "intended_face_normal": [ + -0.9249475476298582, + 0.37792046385554584, + 0.040597642874595774 + ], + "commanded_contact_point": [ + 0.562380884885788, + 15.160534494439274, + 0.12148888986653085 + ], + "centerline_face_intersection": [ + 0.5471162432126171, + 15.159200018900355, + 0.12148888986653085 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5480482578277588, + 15.162154197692871, + 0.12461912631988525 + ], + "box_pose": [ + 0.6365271210670471, + 15.160536766052246, + 0.1382109820842743, + -0.05122480168938637, + 0.030719377100467682, + -0.19126564264297485, + 0.9797192811965942 + ], + "box_yaw_rad": -0.3878859743050074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001334475538917843, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019325073246140528 + } + } + }, + { + "simulation_time_ns": 5780000000, + "center": [ + 0.6306439028574039, + 15.158494381042207, + 0.12123626092562566 + ], + "face_center": [ + 0.5600936243719271, + 15.18974560226134, + 0.12410403215577587 + ], + "face_normal": [ + -0.9136824667499801, + 0.4047282803897668, + 0.037139928401241695 + ], + "footprint_xy": [ + [ + 0.5291810781133329, + 15.067908825862288 + ], + [ + 0.7321067276014749, + 15.067908825862288 + ], + [ + 0.7321067276014749, + 15.249079936222127 + ], + [ + 0.5291810781133329, + 15.249079936222127 + ] + ], + "projected_box_corners": [ + [ + 0.5291810781133329, + 15.130411268300552 + ], + [ + 0.5467786799164457, + 15.148244473780375 + ], + [ + 0.5734085688274086, + 15.231246730742305 + ], + [ + 0.5910061706305214, + 15.249079936222127 + ], + [ + 0.6702816350842863, + 15.067908825862288 + ], + [ + 0.6878792368873992, + 15.085742031342111 + ], + [ + 0.714509125798362, + 15.168744288304039 + ], + [ + 0.7321067276014749, + 15.186577493783862 + ] + ], + "yaw_rad": -0.4169872569472982, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5539991855621338, + 15.167343139648438, + 0.13265874981880188 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5585869158098431, + 15.187723675396162, + 0.12424553296604873 + ], + "intended_face_normal": [ + -0.925147381805467, + 0.3776958647745531, + 0.03805470283165402 + ], + "commanded_contact_point": [ + 0.5640916574001312, + 15.159669711950015, + 0.12130712714109608 + ], + "centerline_face_intersection": [ + 0.5465597445259197, + 15.158559770634543, + 0.12130712714109608 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5514539480209351, + 15.164173126220703, + 0.1286131888628006 + ], + "box_pose": [ + 0.6358681321144104, + 15.159802436828613, + 0.13806617259979248, + -0.04798842966556549, + 0.028785396367311478, + -0.1913052797317505, + 0.9799340963363647 + ], + "box_yaw_rad": -0.3876022712896429, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011099413154714453, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019255204589718278 + } + } + }, + { + "simulation_time_ns": 5800000000, + "center": [ + 0.6309535379092361, + 15.158480001240378, + 0.12105526306437045 + ], + "face_center": [ + 0.5607965290058667, + 15.190620418008505, + 0.12373712734919275 + ], + "face_normal": [ + -0.9085893114911876, + 0.4162440730991623, + 0.03473228494412728 + ], + "footprint_xy": [ + [ + 0.5294854083101841, + 15.067508948140343 + ], + [ + 0.7324216675082881, + 15.067508948140343 + ], + [ + 0.7324216675082881, + 15.24945105434041 + ], + [ + 0.5294854083101841, + 15.24945105434041 + ] + ], + "projected_box_corners": [ + [ + 0.5294854083101841, + 15.131789781676598 + ], + [ + 0.5465725907510769, + 15.149174297492646 + ], + [ + 0.5750204672606566, + 15.232066538524363 + ], + [ + 0.5921076497015494, + 15.24945105434041 + ], + [ + 0.6697994261169229, + 15.067508948140343 + ], + [ + 0.6868866085578156, + 15.08489346395639 + ], + [ + 0.7153344850673954, + 15.167785704988107 + ], + [ + 0.7324216675082881, + 15.185170220804157 + ] + ], + "yaw_rad": -0.4295870013982039, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.55488121509552, + 15.167236328125, + 0.13202311098575592 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5600936243719271, + 15.18974560226134, + 0.12410403215577587 + ], + "intended_face_normal": [ + -0.9136824667499801, + 0.4047282803897668, + 0.037139928401241695 + ], + "commanded_contact_point": [ + 0.565833752155304, + 15.159250372013428, + 0.12123626092562566 + ], + "centerline_face_intersection": [ + 0.5461338933941631, + 15.158494381042207, + 0.12123626092562566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5539991855621338, + 15.167343139648438, + 0.13265874981880188 + ], + "box_pose": [ + 0.6364588737487793, + 15.159454345703125, + 0.13802453875541687, + -0.0439898706972599, + 0.028268441557884216, + -0.20581462979316711, + 0.9771929979324341 + ], + "box_yaw_rad": -0.4169872569472982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007559909712222178, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017932546218849413 + } + } + }, + { + "simulation_time_ns": 5820000000, + "center": [ + 0.6306092472639947, + 15.158128892603855, + 0.12094272801276744 + ], + "face_center": [ + 0.5604449483538333, + 15.190262601010792, + 0.12351187306394266 + ], + "face_normal": [ + -0.9086837229028969, + 0.4161571944626425, + 0.033272480820603856 + ], + "footprint_xy": [ + [ + 0.5294755347179659, + 15.067512997902671 + ], + [ + 0.7317429598100235, + 15.067512997902671 + ], + [ + 0.7317429598100235, + 15.24874478730504 + ], + [ + 0.5294755347179659, + 15.24874478730504 + ] + ], + "projected_box_corners": [ + [ + 0.5294755347179659, + 15.131780414716545 + ], + [ + 0.5458464051952788, + 15.148437355863168 + ], + [ + 0.5750434915123879, + 15.232087846158414 + ], + [ + 0.5914143619897008, + 15.24874478730504 + ], + [ + 0.6698041325382885, + 15.067512997902671 + ], + [ + 0.6861750030156014, + 15.084169939049296 + ], + [ + 0.7153720893327106, + 15.167820429344543 + ], + [ + 0.7317429598100235, + 15.184477370491168 + ] + ], + "yaw_rad": -0.42946862928472246, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5547511577606201, + 15.16090202331543, + 0.12661322951316833 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5607965290058667, + 15.190620418008505, + 0.12373712734919275 + ], + "intended_face_normal": [ + -0.9085893114911876, + 0.4162440730991623, + 0.03473228494412728 + ], + "commanded_contact_point": [ + 0.5677769529819489, + 15.158885739136215, + 0.12105526306437045 + ], + "centerline_face_intersection": [ + 0.5459698022050253, + 15.158480001240378, + 0.12105526306437045 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.55488121509552, + 15.167236328125, + 0.13202311098575592 + ], + "box_pose": [ + 0.6367284655570984, + 15.159350395202637, + 0.13786223530769348, + -0.043024804443120956, + 0.027143174782395363, + -0.21205799281597137, + 0.9759321212768555 + ], + "box_yaw_rad": -0.4295870013982039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004057378958373191, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019853832913563777 + } + } + }, + { + "simulation_time_ns": 5840000000, + "center": [ + 0.6298398003075887, + 15.157340532020639, + 0.1206852518231553 + ], + "face_center": [ + 0.5596605677287682, + 15.189460741074074, + 0.12300303760287759 + ], + "face_normal": [ + -0.9088771258420646, + 0.41598236705059055, + 0.030017177452398514 + ], + "footprint_xy": [ + [ + 0.5294586546778719, + 15.067525022067057 + ], + [ + 0.7302209459373055, + 15.067525022067057 + ], + [ + 0.7302209459373055, + 15.247156041974218 + ], + [ + 0.5294586546778719, + 15.247156041974218 + ] + ], + "projected_box_corners": [ + [ + 0.5294586546778719, + 15.131765440173927 + ], + [ + 0.5442252049264388, + 15.146784756927259 + ], + [ + 0.5750959305310974, + 15.232136725220887 + ], + [ + 0.5898624807796644, + 15.247156041974218 + ], + [ + 0.669817119835513, + 15.067525022067057 + ], + [ + 0.6845836700840799, + 15.082544338820389 + ], + [ + 0.7154543956887386, + 15.167896307114018 + ], + [ + 0.7302209459373055, + 15.18291562386735 + ] + ], + "yaw_rad": -0.4292290398706011, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5552308559417725, + 15.154186248779297, + 0.12378673255443573 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5604449483538333, + 15.190262601010792, + 0.12351187306394266 + ], + "intended_face_normal": [ + -0.9086837229028969, + 0.4161571944626425, + 0.033272480820603856 + ], + "commanded_contact_point": [ + 0.5698742765188217, + 15.158423705271229, + 0.12094272801276744 + ], + "centerline_face_intersection": [ + 0.5456343412925698, + 15.158128892603855, + 0.12094272801276744 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5547511577606201, + 15.16090202331543, + 0.12661322951316833 + ], + "box_pose": [ + 0.636333703994751, + 15.158947944641113, + 0.13776953518390656, + -0.04121946170926094, + 0.026001615449786186, + -0.21208973228931427, + 0.9760341644287109 + ], + "box_yaw_rad": -0.42946862928472246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00029481266737434435, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002150559333883675 + } + } + }, + { + "simulation_time_ns": 5860000000, + "center": [ + 0.6286260382671132, + 15.156095095406936, + 0.1202586634946803 + ], + "face_center": [ + 0.5584281516801641, + 15.188200641069509, + 0.12218101789942476 + ], + "face_normal": [ + -0.9091187101494187, + 0.41579246442481044, + 0.024896025248946074 + ], + "footprint_xy": [ + [ + 0.5294396716525536, + 15.067543689539079 + ], + [ + 0.7278124048816726, + 15.067543689539079 + ], + [ + 0.7278124048816726, + 15.244646501274794 + ], + [ + 0.5294396716525536, + 15.244646501274794 + ] + ], + "projected_box_corners": [ + [ + 0.5294396716525536, + 15.131754780864224 + ], + [ + 0.541679342462339, + 15.144190462970668 + ], + [ + 0.5751769608979893, + 15.23221081916835 + ], + [ + 0.5874166317077747, + 15.244646501274794 + ], + [ + 0.6698354448264515, + 15.067543689539079 + ], + [ + 0.6820751156362369, + 15.079979371645525 + ], + [ + 0.7155727340718873, + 15.167999727843204 + ], + [ + 0.7278124048816726, + 15.18043540994965 + ] + ], + "yaw_rad": -0.42895573907668266, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5573191046714783, + 15.15082836151123, + 0.12506575882434845 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5596605677287682, + 15.189460741074074, + 0.12300303760287759 + ], + "intended_face_normal": [ + -0.9088771258420646, + 0.41598236705059055, + 0.030017177452398514 + ], + "commanded_contact_point": [ + 0.5724844682216644, + 15.157761516017667, + 0.1206852518231553 + ], + "centerline_face_intersection": [ + 0.5448829764246036, + 15.157340532020639, + 0.1206852518231553 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5552308559417725, + 15.154186248779297, + 0.12378673255443573 + ], + "box_pose": [ + 0.635451078414917, + 15.15804386138916, + 0.13755536079406738, + -0.037161532789468765, + 0.023449761793017387, + -0.21215924620628357, + 0.9762466549873352 + ], + "box_yaw_rad": -0.4292290398706011, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000420983997028017, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002705159758930985 + } + } + }, + { + "simulation_time_ns": 5880000000, + "center": [ + 0.6269379814431054, + 15.154362101212147, + 0.11962363242202693 + ], + "face_center": [ + 0.5567247839785483, + 15.186462270780961, + 0.12099863378448769 + ], + "face_normal": [ + -0.9093169982458161, + 0.415722839715868, + 0.017807366088517185 + ], + "footprint_xy": [ + [ + 0.5294258055964608, + 15.067566111562751 + ], + [ + 0.72445015728975, + 15.067566111562751 + ], + [ + 0.72445015728975, + 15.241158090861543 + ], + [ + 0.5294258055964608, + 15.241158090861543 + ] + ], + "projected_box_corners": [ + [ + 0.5294258055964608, + 15.13176645070038 + ], + [ + 0.5381641044122238, + 15.140617789013609 + ], + [ + 0.5752854635448728, + 15.232306752548315 + ], + [ + 0.5840237623606357, + 15.241158090861543 + ], + [ + 0.6698522005255753, + 15.067566111562751 + ], + [ + 0.6785904993413382, + 15.076417449875978 + ], + [ + 0.7157118584739871, + 15.168106413410683 + ], + [ + 0.72445015728975, + 15.176957751723911 + ] + ], + "yaw_rad": -0.4288099269458813, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5597745776176453, + 15.151091575622559, + 0.1256665140390396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5584281516801641, + 15.188200641069509, + 0.12218101789942476 + ], + "intended_face_normal": [ + -0.9091187101494187, + 0.41579246442481044, + 0.024896025248946074 + ], + "commanded_contact_point": [ + 0.5757142353057861, + 15.156726748759793, + 0.1202586634946803 + ], + "centerline_face_intersection": [ + 0.5436917903527267, + 15.156095095406936, + 0.1202586634946803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5573191046714783, + 15.15082836151123, + 0.12506575882434845 + ], + "box_pose": [ + 0.6340586543083191, + 15.156615257263184, + 0.13719376921653748, + -0.03076663427054882, + 0.01943528838455677, + -0.2122802734375, + 0.9765310287475586 + ], + "box_yaw_rad": -0.42895573907668266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006316533528562472, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003418203665324075 + } + } + }, + { + "simulation_time_ns": 5900000000, + "center": [ + 0.6267157534435364, + 15.153543843183996, + 0.11919870743360893 + ], + "face_center": [ + 0.5577072991353528, + 15.188170170461888, + 0.12022609763163661 + ], + "face_normal": [ + -0.8937146119399687, + 0.44843860011506886, + 0.013305523813657683 + ], + "footprint_xy": [ + [ + 0.5299131997746402, + 15.067033931630725 + ], + [ + 0.7235183071124326, + 15.067033931630725 + ], + [ + 0.7235183071124326, + 15.24005375473727 + ], + [ + 0.5299131997746402, + 15.24005375473727 + ] + ], + "projected_box_corners": [ + [ + 0.5299131997746402, + 15.136286586186506 + ], + [ + 0.5359437695910304, + 15.141191015962143 + ], + [ + 0.5794708286796751, + 15.235149324961633 + ], + [ + 0.5855013984960653, + 15.24005375473727 + ], + [ + 0.6679301083910075, + 15.067033931630725 + ], + [ + 0.6739606782073977, + 15.07193836140636 + ], + [ + 0.7174877372960424, + 15.165896670405852 + ], + [ + 0.7235183071124326, + 15.170801100181487 + ] + ], + "yaw_rad": -0.4650620871497589, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.560795783996582, + 15.152801513671875, + 0.12396207451820374 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5567247839785483, + 15.186462270780961, + 0.12099863378448769 + ], + "intended_face_normal": [ + -0.9093169982458161, + 0.415722839715868, + 0.017807366088517185 + ], + "commanded_contact_point": [ + 0.5793199735879898, + 15.155124575588587, + 0.11962363242202693 + ], + "centerline_face_intersection": [ + 0.5420222545179564, + 15.154362101212147, + 0.11962363242202693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5597745776176453, + 15.151091575622559, + 0.1256665140390396 + ], + "box_pose": [ + 0.6321222186088562, + 15.154626846313477, + 0.13664230704307556, + -0.02190522477030754, + 0.013879888691008091, + -0.21248258650302887, + 0.9768206477165222 + ], + "box_yaw_rad": -0.4288099269458813, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007624743764397833, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003996444906853466 + } + } + }, + { + "simulation_time_ns": 5920000000, + "center": [ + 0.6264852702504208, + 15.153473437664456, + 0.1189435626446881 + ], + "face_center": [ + 0.5580614735964652, + 15.189251428088802, + 0.1195129830870997 + ], + "face_normal": [ + -0.8861428282533976, + 0.4633535578885641, + 0.00737444962102618 + ], + "footprint_xy": [ + [ + 0.5301725864576626, + 15.066243861860444 + ], + [ + 0.7227979540431788, + 15.066243861860444 + ], + [ + 0.7227979540431788, + 15.240703013468465 + ], + [ + 0.5301725864576626, + 15.240703013468465 + ] + ], + "projected_box_corners": [ + [ + 0.5301725864576626, + 15.13779984270914 + ], + [ + 0.5347229170895107, + 15.142685579183375 + ], + [ + 0.5814000301034196, + 15.23581727699423 + ], + [ + 0.5859503607352677, + 15.240703013468465 + ], + [ + 0.6670201797655737, + 15.066243861860444 + ], + [ + 0.6715705103974219, + 15.07112959833468 + ], + [ + 0.7182476234113307, + 15.164261296145536 + ], + [ + 0.7227979540431788, + 15.169147032619772 + ] + ], + "yaw_rad": -0.48178999827214974, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5622195601463318, + 15.152284622192383, + 0.12344102561473846 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5577072991353528, + 15.188170170461888, + 0.12022609763163661 + ], + "intended_face_normal": [ + -0.8937146119399687, + 0.44843860011506886, + 0.013305523813657683 + ], + "commanded_contact_point": [ + 0.5829238343238831, + 15.154336010740922, + 0.11919870743360893 + ], + "centerline_face_intersection": [ + 0.540317575680919, + 15.153543843183996, + 0.11919870743360893 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.560795783996582, + 15.152801513671875, + 0.12396207451820374 + ], + "box_pose": [ + 0.6316909790039062, + 15.153361320495605, + 0.13628073036670685, + -0.012844011187553406, + 0.009877820499241352, + -0.23031526803970337, + 0.9729812145233154 + ], + "box_yaw_rad": -0.4650620871497589, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007921675569246388, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003713516927182217 + } + } + }, + { + "simulation_time_ns": 5940000000, + "center": [ + 0.6285497784022813, + 15.154139130777489, + 0.1193051231190331 + ], + "face_center": [ + 0.5607095830514377, + 15.19099882621088, + 0.12043444706348908 + ], + "face_normal": [ + -0.8785847251576647, + 0.4773625018952339, + 0.014625647261516717 + ], + "footprint_xy": [ + [ + 0.5307397150607549, + 15.065731171996006 + ], + [ + 0.7263598417438077, + 15.065731171996006 + ], + [ + 0.7263598417438077, + 15.242547089558972 + ], + [ + 0.5307397150607549, + 15.242547089558972 + ] + ], + "projected_box_corners": [ + [ + 0.5307397150607549, + 15.139450562862788 + ], + [ + 0.5379454534733422, + 15.145368205391366 + ], + [ + 0.5834737126295333, + 15.236629447030392 + ], + [ + 0.5906794510421206, + 15.242547089558972 + ], + [ + 0.666420105762442, + 15.065731171996006 + ], + [ + 0.6736258441750294, + 15.071648814524586 + ], + [ + 0.7191541033312204, + 15.162910056163613 + ], + [ + 0.7263598417438077, + 15.16882769869219 + ] + ], + "yaw_rad": -0.4977088052088893, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5669220089912415, + 15.151352882385254, + 0.124673992395401 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5580614735964652, + 15.189251428088802, + 0.1195129830870997 + ], + "intended_face_normal": [ + -0.8861428282533976, + 0.4633535578885641, + 0.00737444962102618 + ], + "commanded_contact_point": [ + 0.585638125538826, + 15.154313157840264, + 0.1189435626446881 + ], + "centerline_face_intersection": [ + 0.5393488499696962, + 15.153473437664456, + 0.1189435626446881 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5622195601463318, + 15.152284622192383, + 0.12344102561473846 + ], + "box_pose": [ + 0.6313453912734985, + 15.153213500976562, + 0.13605768978595734, + -0.01215241476893425, + 0.006781972479075193, + -0.238500714302063, + 0.9710426330566406 + ], + "box_yaw_rad": -0.48178999827214974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008397201758075566, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00272635249333213 + } + } + }, + { + "simulation_time_ns": 5960000000, + "center": [ + 0.631493091619918, + 15.155612167410384, + 0.11967589021128697 + ], + "face_center": [ + 0.5646430244277569, + 15.194229252126135, + 0.12108798032835456 + ], + "face_normal": [ + -0.8657617745209795, + 0.5001220970239447, + 0.018287695089696743 + ], + "footprint_xy": [ + [ + 0.5321452559587863, + 15.065016575691534 + ], + [ + 0.7308409272810497, + 15.065016575691534 + ], + [ + 0.7308409272810497, + 15.246207759129236 + ], + [ + 0.5321452559587863, + 15.246207759129236 + ] + ], + "projected_box_corners": [ + [ + 0.5321452559587863, + 15.142250745123034 + ], + [ + 0.5419571658523152, + 15.150476486208778 + ], + [ + 0.5873288830031985, + 15.237982018043493 + ], + [ + 0.5971407928967276, + 15.246207759129236 + ], + [ + 0.6658453903431083, + 15.065016575691534 + ], + [ + 0.6756573002366373, + 15.073242316777277 + ], + [ + 0.7210290173875206, + 15.160747848611992 + ], + [ + 0.7308409272810497, + 15.168973589697735 + ] + ], + "yaw_rad": -0.5238363690901764, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5732895731925964, + 15.150859832763672, + 0.12598629295825958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5607095830514377, + 15.19099882621088, + 0.12043444706348908 + ], + "intended_face_normal": [ + -0.8785847251576647, + 0.4773625018952339, + 0.014625647261516717 + ], + "commanded_contact_point": [ + 0.5882204520702362, + 15.155090300888986, + 0.1193051231190331 + ], + "centerline_face_intersection": [ + 0.5406637593304366, + 15.154139130777489, + 0.1193051231190331 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5669220089912415, + 15.151352882385254, + 0.124673992395401 + ], + "box_pose": [ + 0.633588969707489, + 15.153881072998047, + 0.13636741042137146, + -0.01565418764948845, + 0.011522305198013783, + -0.2461196333169937, + 0.9690445065498352 + ], + "box_yaw_rad": -0.4977088052088893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009511701114969639, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027208615564948053 + } + } + }, + { + "simulation_time_ns": 5980000000, + "center": [ + 0.6345935141087244, + 15.157461980181058, + 0.12034279107195492 + ], + "face_center": [ + 0.5683755738799264, + 15.197128103231332, + 0.12233978616043331 + ], + "face_normal": [ + -0.8575752253593966, + 0.5137079814992344, + 0.02586268173135764 + ], + "footprint_xy": [ + [ + 0.533073509541663, + 15.064686915092361 + ], + [ + 0.7361135186757859, + 15.064686915092361 + ], + [ + 0.7361135186757859, + 15.250237045269756 + ], + [ + 0.533073509541663, + 15.250237045269756 + ] + ], + "projected_box_corners": [ + [ + 0.533073509541663, + 15.14401916119291 + ], + [ + 0.5471417587914709, + 15.155461394145826 + ], + [ + 0.589609388968382, + 15.23879481231684 + ], + [ + 0.6036776382181899, + 15.250237045269756 + ], + [ + 0.6655093899992589, + 15.064686915092361 + ], + [ + 0.6795776392490668, + 15.076129148045277 + ], + [ + 0.722045269425978, + 15.159462566216291 + ], + [ + 0.7361135186757859, + 15.170904799169207 + ] + ], + "yaw_rad": -0.5397014066333657, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5794417262077332, + 15.150458335876465, + 0.12696316838264465 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5646430244277569, + 15.194229252126135, + 0.12108798032835456 + ], + "intended_face_normal": [ + -0.8657617745209795, + 0.5001220970239447, + 0.018287695089696743 + ], + "commanded_contact_point": [ + 0.5908772099018097, + 15.156753430907749, + 0.11967589021128697 + ], + "centerline_face_intersection": [ + 0.5423053771887042, + 15.155612167410384, + 0.11967589021128697 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5732895731925964, + 15.150859832763672, + 0.12598629295825958 + ], + "box_pose": [ + 0.6366984844207764, + 15.155401229858398, + 0.13668885827064514, + -0.021859193220734596, + 0.015324062667787075, + -0.2586199641227722, + 0.9656102061271667 + ], + "box_yaw_rad": -0.5238363690901764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011412634973654433, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003156236979638059 + } + } + }, + { + "simulation_time_ns": 6000000000, + "center": [ + 0.6371678628996048, + 15.159503123259299, + 0.121065950640279 + ], + "face_center": [ + 0.5710289809645266, + 15.199259782268907, + 0.12376061047324477 + ], + "face_normal": [ + -0.856551357298581, + 0.5148804944988926, + 0.034897997514539814 + ], + "footprint_xy": [ + [ + 0.5333047127981418, + 15.064715491875596 + ], + [ + 0.7410310130010678, + 15.064715491875596 + ], + [ + 0.7410310130010678, + 15.254290754643002 + ], + [ + 0.5333047127981418, + 15.254290754643002 + ] + ], + "projected_box_corners": [ + [ + 0.5333047127981418, + 15.144228809894813 + ], + [ + 0.5523365514298204, + 15.159715402599106 + ], + [ + 0.5897214104992328, + 15.238804161938708 + ], + [ + 0.6087532491309113, + 15.254290754643002 + ], + [ + 0.6655824766682983, + 15.064715491875596 + ], + [ + 0.6846143152999768, + 15.08020208457989 + ], + [ + 0.7219991743693892, + 15.159290843919491 + ], + [ + 0.7410310130010678, + 15.174777436623785 + ] + ], + "yaw_rad": -0.5412343406723892, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5838139057159424, + 15.150479316711426, + 0.12671026587486267 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5683755738799264, + 15.197128103231332, + 0.12233978616043331 + ], + "intended_face_normal": [ + -0.8575752253593966, + 0.5137079814992344, + 0.02586268173135764 + ], + "commanded_contact_point": [ + 0.5934674042463303, + 15.158883389450606, + 0.12034279107195492 + ], + "centerline_face_intersection": [ + 0.5445543996052962, + 15.157461980181058, + 0.12034279107195492 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5794417262077332, + 15.150458335876465, + 0.12696316838264465 + ], + "box_pose": [ + 0.6400878429412842, + 15.15740966796875, + 0.1372658908367157, + -0.030813924968242645, + 0.021932579576969147, + -0.2659536600112915, + 0.9632436037063599 + ], + "box_yaw_rad": -0.5397014066333657, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014214092695491586, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003419150025172627 + } + } + }, + { + "simulation_time_ns": 6020000000, + "center": [ + 0.6396280490426084, + 15.161508761484143, + 0.12169600005248503 + ], + "face_center": [ + 0.5735501702398167, + 15.201314755491085, + 0.12507261147428977 + ], + "face_normal": [ + -0.8557613180020172, + 0.5155194221265201, + 0.04372981537933707 + ], + "footprint_xy": [ + [ + 0.5335350903616612, + 15.064802947323429 + ], + [ + 0.7457210077235555, + 15.064802947323429 + ], + [ + 0.7457210077235555, + 15.258214575644857 + ], + [ + 0.5335350903616612, + 15.258214575644857 + ] + ], + "projected_box_corners": [ + [ + 0.5335350903616612, + 15.144414935337313 + ], + [ + 0.5573924529847302, + 15.163836492158243 + ], + [ + 0.5897078874949032, + 15.238793018823927 + ], + [ + 0.6135652501179721, + 15.258214575644857 + ], + [ + 0.6656908479672445, + 15.064802947323429 + ], + [ + 0.6895482105903135, + 15.084224504144357 + ], + [ + 0.7218636451004865, + 15.159181030810043 + ], + [ + 0.7457210077235555, + 15.178602587630971 + ] + ], + "yaw_rad": -0.5421898865221001, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5867536664009094, + 15.151493072509766, + 0.12573595345020294 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5710289809645266, + 15.199259782268907, + 0.12376061047324477 + ], + "intended_face_normal": [ + -0.856551357298581, + 0.5148804944988926, + 0.034897997514539814 + ], + "commanded_contact_point": [ + 0.5957768756151199, + 15.161285484790763, + 0.121065950640279 + ], + "centerline_face_intersection": [ + 0.5470211212553419, + 15.159503123259299, + 0.121065950640279 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5838139057159424, + 15.150479316711426, + 0.12671026587486267 + ], + "box_pose": [ + 0.6430118680000305, + 15.159732818603516, + 0.13787001371383667, + -0.04173674061894417, + 0.02966848388314247, + -0.266165554523468, + 0.9625662565231323 + ], + "box_yaw_rad": -0.5412343406723892, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001782361531464076, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003409791751371696 + } + } + }, + { + "simulation_time_ns": 6040000000, + "center": [ + 0.6430748671715343, + 15.164332364595104, + 0.12243570992635658 + ], + "face_center": [ + 0.5771049423901824, + 15.204226273767963, + 0.12675423623975243 + ], + "face_normal": [ + -0.8543632271833541, + 0.516657993757768, + 0.055928365691150006 + ], + "footprint_xy": [ + [ + 0.5339565788933445, + 15.06496944236061 + ], + [ + 0.752193155449724, + 15.06496944236061 + ], + [ + 0.752193155449724, + 15.263695286829599 + ], + [ + 0.5339565788933445, + 15.263695286829599 + ] + ], + "projected_box_corners": [ + [ + 0.5339565788933445, + 15.14475726070633 + ], + [ + 0.5645116140239201, + 15.169668290011334 + ], + [ + 0.5896982707564445, + 15.238784257524594 + ], + [ + 0.6202533058870202, + 15.263695286829599 + ], + [ + 0.6658964284560484, + 15.06496944236061 + ], + [ + 0.696451463586624, + 15.089880471665614 + ], + [ + 0.7216381203191483, + 15.158996439178875 + ], + [ + 0.752193155449724, + 15.183907468483879 + ] + ], + "yaw_rad": -0.543889258844292, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5901081562042236, + 15.153974533081055, + 0.12547567486763 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5735501702398167, + 15.201314755491085, + 0.12507261147428977 + ], + "intended_face_normal": [ + -0.8557613180020172, + 0.5155194221265201, + 0.04372981537933707 + ], + "commanded_contact_point": [ + 0.5978429067134857, + 15.163691750574582, + 0.12169600005248503 + ], + "centerline_face_intersection": [ + 0.5493980838792893, + 15.161508761484143, + 0.12169600005248503 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5867536664009094, + 15.151493072509766, + 0.12573595345020294 + ], + "box_pose": [ + 0.6458110809326172, + 15.162014961242676, + 0.13837219774723053, + -0.052375223487615585, + 0.03721467778086662, + -0.26595941185951233, + 0.9618406891822815 + ], + "box_yaw_rad": -0.5421898865221001, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0021829890904391646, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003233506113124269 + } + } + }, + { + "simulation_time_ns": 6060000000, + "center": [ + 0.6475850959382856, + 15.168353059429467, + 0.12300263387121788 + ], + "face_center": [ + 0.5818945086754254, + 15.208576988232997, + 0.12838659537531283 + ], + "face_normal": [ + -0.8507455831650703, + 0.520932011617069, + 0.06972660255283136 + ], + "footprint_xy": [ + [ + 0.534678406727685, + 15.065223457003409 + ], + [ + 0.7604917851488863, + 15.065223457003409 + ], + [ + 0.7604917851488863, + 15.271482661855526 + ], + [ + 0.534678406727685, + 15.271482661855526 + ] + ], + "projected_box_corners": [ + [ + 0.534678406727685, + 15.145671314610468 + ], + [ + 0.5738380632143149, + 15.178245900686056 + ], + [ + 0.589950954136536, + 15.238908075779937 + ], + [ + 0.6291106106231658, + 15.271482661855526 + ], + [ + 0.6660595812534056, + 15.065223457003409 + ], + [ + 0.7052192377400354, + 15.097798043078997 + ], + [ + 0.7213321286622565, + 15.158460218172879 + ], + [ + 0.7604917851488863, + 15.191034804248467 + ] + ], + "yaw_rad": -0.5494320805741942, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5939249992370605, + 15.158568382263184, + 0.1266198605298996 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5771049423901824, + 15.204226273767963, + 0.12675423623975243 + ], + "intended_face_normal": [ + -0.8543632271833541, + 0.516657993757768, + 0.055928365691150006 + ], + "commanded_contact_point": [ + 0.5997794914245606, + 15.166929666946105, + 0.12243570992635658 + ], + "centerline_face_intersection": [ + 0.5526972485490664, + 15.164332364595104, + 0.12243570992635658 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5901081562042236, + 15.153974533081055, + 0.12547567486763 + ], + "box_pose": [ + 0.6497258543968201, + 15.16522216796875, + 0.13891461491584778, + -0.06724360585212708, + 0.047705888748168945, + -0.26559844613075256, + 0.9605518579483032 + ], + "box_yaw_rad": -0.543889258844292, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002597302351001147, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003844688995178776 + } + } + }, + { + "simulation_time_ns": 6080000000, + "center": [ + 0.6521074876040741, + 15.17231081470056, + 0.12339732559814685 + ], + "face_center": [ + 0.5865489064482773, + 15.212573525642622, + 0.12996933033407165 + ], + "face_normal": [ + -0.8490359986231368, + 0.5214342712928728, + 0.08511271149480226 + ], + "footprint_xy": [ + [ + 0.5355435790452261, + 15.065676455334843 + ], + [ + 0.768671396162922, + 15.065676455334843 + ], + [ + 0.768671396162922, + 15.27894517406628 + ], + [ + 0.5355435790452261, + 15.27894517406628 + ] + ], + "projected_box_corners": [ + [ + 0.5355435790452261, + 15.146201877218965 + ], + [ + 0.5834342739662942, + 15.186375731138444 + ], + [ + 0.5896635389302604, + 15.238771320146801 + ], + [ + 0.6375542338513286, + 15.27894517406628 + ], + [ + 0.6666607413568195, + 15.065676455334843 + ], + [ + 0.7145514362778878, + 15.10585030925432 + ], + [ + 0.7207807012418539, + 15.15824589826268 + ], + [ + 0.768671396162922, + 15.198419752182158 + ] + ], + "yaw_rad": -0.5507579800689388, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5965051054954529, + 15.1642427444458, + 0.12885066866874695 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5818945086754254, + 15.208576988232997, + 0.12838659537531283 + ], + "intended_face_normal": [ + -0.8507455831650703, + 0.520932011617069, + 0.06972660255283136 + ], + "commanded_contact_point": [ + 0.6016398417949677, + 15.17134174886712, + 0.12300263387121788 + ], + "centerline_face_intersection": [ + 0.5568231625948645, + 15.168353059429467, + 0.12300263387121788 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5939249992370605, + 15.158568382263184, + 0.1266198605298996 + ], + "box_pose": [ + 0.6548306345939636, + 15.16976261138916, + 0.13919204473495483, + -0.08777596801519394, + 0.060797069221735, + -0.2663286030292511, + 0.9579499959945679 + ], + "box_yaw_rad": -0.5494320805741942, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0029886894376524964, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004821698159121118 + } + } + }, + { + "simulation_time_ns": 6100000000, + "center": [ + 0.6565606136007214, + 15.176027446706758, + 0.12349708183126665 + ], + "face_center": [ + 0.5911996797863097, + 15.216402406068553, + 0.13124405403562095 + ], + "face_normal": [ + -0.8464763076580545, + 0.5228879780001048, + 0.10032947885492849 + ], + "footprint_xy": [ + [ + 0.5366216541380298, + 15.06613421432699 + ], + [ + 0.7764995730634131, + 15.06613421432699 + ], + [ + 0.7764995730634131, + 15.285920679086528 + ], + [ + 0.5366216541380298, + 15.285920679086528 + ] + ], + "projected_box_corners": [ + [ + 0.5366216541380298, + 15.14688413305058 + ], + [ + 0.5928974854558215, + 15.194169790254307 + ], + [ + 0.5895018741167979, + 15.2386350218828 + ], + [ + 0.6457777054345898, + 15.285920679086528 + ], + [ + 0.667343521766853, + 15.06613421432699 + ], + [ + 0.7236193530846449, + 15.113419871530716 + ], + [ + 0.7202237417456212, + 15.157885103159211 + ], + [ + 0.7764995730634131, + 15.205170760362938 + ] + ], + "yaw_rad": -0.553349374236556, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5973716378211975, + 15.168333053588867, + 0.13144417107105255 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5865489064482773, + 15.212573525642622, + 0.12996933033407165 + ], + "intended_face_normal": [ + -0.8490359986231368, + 0.5214342712928728, + 0.08511271149480226 + ], + "commanded_contact_point": [ + 0.6033698517084122, + 15.175622226948404, + 0.12339732559814685 + ], + "centerline_face_intersection": [ + 0.5611627997031413, + 15.17231081470056, + 0.12339732559814685 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5965051054954529, + 15.1642427444458, + 0.12885066866874695 + ], + "box_pose": [ + 0.6599552035331726, + 15.174253463745117, + 0.13924728333950043, + -0.1082630380988121, + 0.07450860738754272, + -0.26444369554519653, + 0.9554041624069214 + ], + "box_yaw_rad": -0.5507579800689388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003311412247842895, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004633703536511445 + } + } + }, + { + "simulation_time_ns": 6120000000, + "center": [ + 0.6609218057285647, + 15.179724747761265, + 0.12332052748925759 + ], + "face_center": [ + 0.5957998128761595, + 15.220255651513213, + 0.1321848836106043 + ], + "face_normal": [ + -0.8433818313177727, + 0.5249075824315772, + 0.11480049322228592 + ], + "footprint_xy": [ + [ + 0.5378696653401507, + 15.066669870670312 + ], + [ + 0.7839739461169789, + 15.066669870670312 + ], + [ + 0.7839739461169789, + 15.29277962485222 + ], + [ + 0.5378696653401507, + 15.29277962485222 + ] + ], + "projected_box_corners": [ + [ + 0.5378696653401507, + 15.147731678174209 + ], + [ + 0.6022214595305014, + 15.201996465200212 + ], + [ + 0.5893781662218176, + 15.238514837826216 + ], + [ + 0.6537299604121684, + 15.29277962485222 + ], + [ + 0.6681136510449611, + 15.066669870670312 + ], + [ + 0.7324654452353119, + 15.120934657696315 + ], + [ + 0.7196221519266282, + 15.15745303032232 + ], + [ + 0.7839739461169789, + 15.211717817348323 + ] + ], + "yaw_rad": -0.5567161267440484, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5964721441268921, + 15.16976547241211, + 0.13353043794631958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5911996797863097, + 15.216402406068553, + 0.13124405403562095 + ], + "intended_face_normal": [ + -0.8464763076580545, + 0.5228879780001048, + 0.10032947885492849 + ], + "commanded_contact_point": [ + 0.6049368876218796, + 15.179646634679317, + 0.12349708183126665 + ], + "centerline_face_intersection": [ + 0.5653409146996741, + 15.176027446706758, + 0.12349708183126665 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5973716378211975, + 15.168333053588867, + 0.13144417107105255 + ], + "box_pose": [ + 0.6649808287620544, + 15.178462028503418, + 0.13898108899593353, + -0.12774479389190674, + 0.08792006224393845, + -0.26273924112319946, + 0.9523231387138367 + ], + "box_yaw_rad": -0.553349374236556, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003619187972558535, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004319885466627266 + } + } + }, + { + "simulation_time_ns": 6140000000, + "center": [ + 0.6653009897908927, + 15.183452527384704, + 0.12286453220345528 + ], + "face_center": [ + 0.6004609699743396, + 15.224177391653255, + 0.13283758484301478 + ], + "face_normal": [ + -0.8397300552442388, + 0.5274195260704335, + 0.12915899883536142 + ], + "footprint_xy": [ + [ + 0.5393117880257293, + 15.067298495818454 + ], + [ + 0.7912901915560561, + 15.067298495818454 + ], + [ + 0.7912901915560561, + 15.299606558950954 + ], + [ + 0.5393117880257293, + 15.299606558950954 + ] + ], + "projected_box_corners": [ + [ + 0.5393117880257293, + 15.148748224355556 + ], + [ + 0.6116477655230165, + 15.209946332152052 + ], + [ + 0.5892741744256628, + 15.238408451154458 + ], + [ + 0.6616101519229499, + 15.299606558950954 + ], + [ + 0.6689918276588355, + 15.067298495818454 + ], + [ + 0.7413278051561226, + 15.12849660361495 + ], + [ + 0.7189542140587689, + 15.156958722617357 + ], + [ + 0.7912901915560561, + 15.218156830413854 + ] + ], + "yaw_rad": -0.5608126809874098, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5956344604492188, + 15.169025421142578, + 0.1332172304391861 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.5957998128761595, + 15.220255651513213, + 0.1321848836106043 + ], + "intended_face_normal": [ + -0.8433818313177727, + 0.5249075824315772, + 0.11480049322228592 + ], + "commanded_contact_point": [ + 0.6063967394828796, + 15.183742306747789, + 0.12332052748925759 + ], + "centerline_face_intersection": [ + 0.5693674100276399, + 15.179724747761265, + 0.12332052748925759 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5964721441268921, + 15.16976547241211, + 0.13353043794631958 + ], + "box_pose": [ + 0.6698881983757019, + 15.182637214660645, + 0.13841035962104797, + -0.14698074758052826, + 0.10093725472688675, + -0.26099953055381775, + 0.9487295150756836 + ], + "box_yaw_rad": -0.5567161267440484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004017558986524747, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004351651247998306 + } + } + }, + { + "simulation_time_ns": 6160000000, + "center": [ + 0.6697878412582033, + 15.187281526897127, + 0.12209901261097125 + ], + "face_center": [ + 0.6052718684468243, + 15.2282245191691, + 0.13321500916581058 + ], + "face_normal": [ + -0.8355333876564366, + 0.5302444579702259, + 0.14396103559960682 + ], + "footprint_xy": [ + [ + 0.5409828368968486, + 15.068049118986819 + ], + [ + 0.798592845619558, + 15.068049118986819 + ], + [ + 0.798592845619558, + 15.306513934807437 + ], + [ + 0.5409828368968486, + 15.306513934807437 + ] + ], + "projected_box_corners": [ + [ + 0.5409828368968486, + 15.149935103530762 + ], + [ + 0.6213956064102589, + 15.21814281250822 + ], + [ + 0.5891481304833899, + 15.238306225829978 + ], + [ + 0.6695608999968001, + 15.306513934807437 + ], + [ + 0.6700147825196066, + 15.068049118986819 + ], + [ + 0.7504275520330168, + 15.136256827964276 + ], + [ + 0.7181800761061478, + 15.156420241286037 + ], + [ + 0.798592845619558, + 15.224627950263494 + ] + ], + "yaw_rad": -0.5654856933946184, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.5966159701347351, + 15.166500091552734, + 0.12556366622447968 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6004609699743396, + 15.224177391653255, + 0.13283758484301478 + ], + "intended_face_normal": [ + -0.8397300552442388, + 0.5274195260704335, + 0.12915899883536142 + ], + "commanded_contact_point": [ + 0.6074594902992249, + 15.188047170620914, + 0.12286453220345528 + ], + "centerline_face_intersection": [ + 0.5733484469121224, + 15.183452527384704, + 0.12286453220345528 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5956344604492188, + 15.169025421142578, + 0.1332172304391861 + ], + "box_pose": [ + 0.6748021245002747, + 15.186835289001465, + 0.1375228762626648, + -0.16630680859088898, + 0.11399108171463013, + -0.2591158151626587, + 0.944567084312439 + ], + "box_yaw_rad": -0.5608126809874098, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004594643236209776, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004457490769979908 + } + } + }, + { + "simulation_time_ns": 6180000000, + "center": [ + 0.6744927808342908, + 15.191325925315278, + 0.12098475550863715 + ], + "face_center": [ + 0.6104001276542977, + 15.232605564130022, + 0.133245581639935 + ], + "face_normal": [ + -0.8300510602534632, + 0.5346042996353066, + 0.15878749318251018 + ], + "footprint_xy": [ + [ + 0.5429588225126853, + 15.068952199453463 + ], + [ + 0.8060267391558962, + 15.068952199453463 + ], + [ + 0.8060267391558962, + 15.31369965117709 + ], + [ + 0.5429588225126853, + 15.31369965117709 + ] + ], + "projected_box_corners": [ + [ + 0.5429588225126853, + 15.151511477082952 + ], + [ + 0.6316450882622593, + 15.22690612128175 + ], + [ + 0.5891551670463361, + 15.238305006978292 + ], + [ + 0.67784143279591, + 15.31369965117709 + ], + [ + 0.6711441288726715, + 15.068952199453463 + ], + [ + 0.7598303946222454, + 15.144346843652261 + ], + [ + 0.7173404734063223, + 15.155745729348803 + ], + [ + 0.8060267391558962, + 15.231140373547602 + ] + ], + "yaw_rad": -0.5721895074872686, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.599105179309845, + 15.165567398071289, + 0.12078087031841278 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6052718684468243, + 15.2282245191691, + 0.13321500916581058 + ], + "intended_face_normal": [ + -0.8355333876564366, + 0.5302444579702259, + 0.14396103559960682 + ], + "commanded_contact_point": [ + 0.6085008877515793, + 15.192707427547113, + 0.12209901261097125 + ], + "centerline_face_intersection": [ + 0.5773734445959503, + 15.187281526897127, + 0.12209901261097125 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5966159701347351, + 15.166500091552734, + 0.12556366622447968 + ], + "box_pose": [ + 0.6798244714736938, + 15.191136360168457, + 0.1362760365009308, + -0.1861184984445572, + 0.1274699866771698, + -0.2568748891353607, + 0.9397481679916382 + ], + "box_yaw_rad": -0.5654856933946184, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005425900649985493, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004836168268209011 + } + } + }, + { + "simulation_time_ns": 6200000000, + "center": [ + 0.6793072695072786, + 15.195896968233873, + 0.11957426798249686 + ], + "face_center": [ + 0.6157061312021483, + 15.23762826130349, + 0.13282563245661635 + ], + "face_normal": [ + -0.8236855499684625, + 0.5404535830480595, + 0.17161575603148016 + ], + "footprint_xy": [ + [ + 0.5452230207190116, + 15.07011088326945 + ], + [ + 0.8133915182955455, + 15.07011088326945 + ], + [ + 0.8133915182955455, + 15.321683053198294 + ], + [ + 0.5452230207190116, + 15.321683053198294 + ] + ], + "projected_box_corners": [ + [ + 0.5452230207190116, + 15.153573469408686 + ], + [ + 0.6421890904972094, + 15.236898451712639 + ], + [ + 0.5892231719070871, + 15.23835807089434 + ], + [ + 0.686189241685285, + 15.321683053198294 + ], + [ + 0.6724252973292723, + 15.07011088326945 + ], + [ + 0.76939136710747, + 15.153435865573405 + ], + [ + 0.7164254485173477, + 15.154895484755105 + ], + [ + 0.8133915182955455, + 15.23822046705906 + ] + ], + "yaw_rad": -0.5806799259436163, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6023401021957397, + 15.17138385772705, + 0.11893247067928314 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6104001276542977, + 15.232605564130022, + 0.133245581639935 + ], + "intended_face_normal": [ + -0.8300510602534632, + 0.5346042996353066, + 0.15878749318251018 + ], + "commanded_contact_point": [ + 0.6103591966629028, + 15.197782167055022, + 0.12098475550863715 + ], + "centerline_face_intersection": [ + 0.5814680048791108, + 15.191325925315278, + 0.12098475550863715 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.599105179309845, + 15.165567398071289, + 0.12078087031841278 + ], + "box_pose": [ + 0.6850710511207581, + 15.19565486907959, + 0.1346208155155182, + -0.20686239004135132, + 0.14146415889263153, + -0.25487715005874634, + 0.9339343905448914 + ], + "box_yaw_rad": -0.5721895074872686, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006456241739745039, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005517958134413949 + } + } + }, + { + "simulation_time_ns": 6220000000, + "center": [ + 0.6844006268881153, + 15.200919376925865, + 0.1176889245230453 + ], + "face_center": [ + 0.6213875751997725, + 15.243229711465846, + 0.1318803137850364 + ], + "face_normal": [ + -0.8160693584774594, + 0.5479526326669912, + 0.18378982799018218 + ], + "footprint_xy": [ + [ + 0.5478894841505493, + 15.071574814496062 + ], + [ + 0.8209117696256815, + 15.071574814496062 + ], + [ + 0.8209117696256815, + 15.33026393935567 + ], + [ + 0.5478894841505493, + 15.33026393935567 + ] + ], + "projected_box_corners": [ + [ + 0.5478894841505493, + 15.156195483576024 + ], + [ + 0.653403841882214, + 15.24795764953101 + ], + [ + 0.589371308517331, + 15.238501773400682 + ], + [ + 0.6948856662489957, + 15.33026393935567 + ], + [ + 0.673915587527235, + 15.071574814496062 + ], + [ + 0.7794299452588997, + 15.16333698045105 + ], + [ + 0.7153974118940166, + 15.153881104320721 + ], + [ + 0.8209117696256815, + 15.245643270275707 + ] + ], + "yaw_rad": -0.5913092524063954, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6051534414291382, + 15.180891990661621, + 0.1193886399269104 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6157061312021483, + 15.23762826130349, + 0.13282563245661635 + ], + "intended_face_normal": [ + -0.8236855499684625, + 0.5404535830480595, + 0.17161575603148016 + ], + "commanded_contact_point": [ + 0.6126796501874924, + 15.20333373439389, + 0.11957426798249686 + ], + "centerline_face_intersection": [ + 0.5855635903637093, + 15.195896968233873, + 0.11957426798249686 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6023401021957397, + 15.17138385772705, + 0.11893247067928314 + ], + "box_pose": [ + 0.6904206275939941, + 15.200740814208984, + 0.13259778916835785, + -0.22978059947490692, + 0.1553158015012741, + -0.2530498504638672, + 0.9268459677696228 + ], + "box_yaw_rad": -0.5806799259436163, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007436766160017925, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00618011970265649 + } + } + }, + { + "simulation_time_ns": 6240000000, + "center": [ + 0.689991779840846, + 15.206253070957175, + 0.11518321128747229 + ], + "face_center": [ + 0.6276384618648511, + 15.249149094430413, + 0.13048680744220578 + ], + "face_normal": [ + -0.8075252798623733, + 0.5555377722408466, + 0.1981937957577422 + ], + "footprint_xy": [ + [ + 0.5511843362399094, + 15.0733145380782 + ], + [ + 0.8287992234417827, + 15.0733145380782 + ], + [ + 0.8287992234417827, + 15.339191603836149 + ], + [ + 0.5511843362399094, + 15.339191603836149 + ] + ], + "projected_box_corners": [ + [ + 0.5511843362399094, + 15.159106585024677 + ], + [ + 0.665868463549758, + 15.259771922317139 + ], + [ + 0.5894084601799441, + 15.238526266543687 + ], + [ + 0.7040925874897928, + 15.339191603836149 + ], + [ + 0.6758909721918993, + 15.0733145380782 + ], + [ + 0.790575099501748, + 15.173979875370662 + ], + [ + 0.714115096131934, + 15.152734219597212 + ], + [ + 0.8287992234417827, + 15.253399556889674 + ] + ], + "yaw_rad": -0.6025934876529385, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6078166961669922, + 15.189160346984863, + 0.12014392018318176 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6213875751997725, + 15.243229711465846, + 0.1318803137850364 + ], + "intended_face_normal": [ + -0.8160693584774594, + 0.5479526326669912, + 0.18378982799018218 + ], + "commanded_contact_point": [ + 0.6147541153430939, + 15.209157238536454, + 0.1176889245230453 + ], + "centerline_face_intersection": [ + 0.5897820591042463, + 15.200919376925865, + 0.1176889245230453 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6051534414291382, + 15.180891990661621, + 0.1193886399269104 + ], + "box_pose": [ + 0.6960583925247192, + 15.206300735473633, + 0.1300063580274582, + -0.2547488212585449, + 0.16979019343852997, + -0.25126999616622925, + 0.9182252883911133 + ], + "box_yaw_rad": -0.5913092524063954, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008237861610587701, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006463058574727373 + } + } + }, + { + "simulation_time_ns": 6260000000, + "center": [ + 0.6960527046177034, + 15.212080542227216, + 0.11177813550467067 + ], + "face_center": [ + 0.6344974168980333, + 15.25569793059425, + 0.12823034421460155 + ], + "face_normal": [ + -0.7971901505220949, + 0.5648800238908542, + 0.21306924593741527 + ], + "footprint_xy": [ + [ + 0.55520820019954, + 15.07548735158789 + ], + [ + 0.8368972090358667, + 15.07548735158789 + ], + [ + 0.8368972090358667, + 15.348673732866542 + ], + [ + 0.55520820019954, + 15.348673732866542 + ] + ], + "projected_box_corners": [ + [ + 0.55520820019954, + 15.162722128321956 + ], + [ + 0.6794887090782538, + 15.27279392399047 + ], + [ + 0.5895061247178129, + 15.238601937198029 + ], + [ + 0.7137866335965267, + 15.348673732866542 + ], + [ + 0.6783187756388802, + 15.07548735158789 + ], + [ + 0.8025992845175939, + 15.185559147256404 + ], + [ + 0.712616700157153, + 15.151367160463963 + ], + [ + 0.8368972090358667, + 15.261438956132476 + ] + ], + "yaw_rad": -0.616467040939496, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6108506917953491, + 15.196135520935059, + 0.12088890373706818 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6276384618648511, + 15.249149094430413, + 0.13048680744220578 + ], + "intended_face_normal": [ + -0.8075252798623733, + 0.5555377722408466, + 0.1981937957577422 + ], + "commanded_contact_point": [ + 0.6166865873336792, + 15.215174641526655, + 0.11518321128747229 + ], + "centerline_face_intersection": [ + 0.5943720935759185, + 15.206253070957175, + 0.11518321128747229 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6078166961669922, + 15.189160346984863, + 0.12014392018318176 + ], + "box_pose": [ + 0.70222407579422, + 15.212199211120605, + 0.1266547441482544, + -0.2819901704788208, + 0.18621709942817688, + -0.2481139898300171, + 0.9078790545463562 + ], + "box_yaw_rad": -0.6025934876529385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008921570569480154, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0067986899885054556 + } + } + }, + { + "simulation_time_ns": 6280000000, + "center": [ + 0.7025877152989671, + 15.218458408284272, + 0.10717042753442618 + ], + "face_center": [ + 0.6419921090135952, + 15.262956772576365, + 0.1247849929378855 + ], + "face_normal": [ + -0.7847615092891029, + 0.5762893659039072, + 0.22812269368822768 + ], + "footprint_xy": [ + [ + 0.5601301373025704, + 15.07822110474369 + ], + [ + 0.8450452932953637, + 15.07822110474369 + ], + [ + 0.8450452932953637, + 15.358695711824852 + ], + [ + 0.5601301373025704, + 15.358695711824852 + ] + ], + "projected_box_corners": [ + [ + 0.5601301373025704, + 15.167217833327879 + ], + [ + 0.6943253132692782, + 15.287180252152329 + ], + [ + 0.5896589047579122, + 15.2387332930004 + ], + [ + 0.7238540807246199, + 15.358695711824852 + ], + [ + 0.6813213498733144, + 15.07822110474369 + ], + [ + 0.8155165258400221, + 15.198183523568142 + ], + [ + 0.710850117328656, + 15.149736564416214 + ], + [ + 0.8450452932953637, + 15.269698983240664 + ] + ], + "yaw_rad": -0.6334094360256901, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6148302555084229, + 15.203457832336426, + 0.12143836915493011 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6344974168980333, + 15.25569793059425, + 0.12823034421460155 + ], + "intended_face_normal": [ + -0.7971901505220949, + 0.5648800238908542, + 0.21306924593741527 + ], + "commanded_contact_point": [ + 0.6185977208614349, + 15.221639913648383, + 0.11177813550467067 + ], + "centerline_face_intersection": [ + 0.5991933620118418, + 15.212080542227216, + 0.11177813550467067 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6108506917953491, + 15.196135520935059, + 0.12088890373706818 + ], + "box_pose": [ + 0.7088729739189148, + 15.218610763549805, + 0.12224611639976501, + -0.31204086542129517, + 0.2042001187801361, + -0.2443506419658661, + 0.895112156867981 + ], + "box_yaw_rad": -0.616467040939496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009559371421166462, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007552927647974003 + } + } + }, + { + "simulation_time_ns": 6300000000, + "center": [ + 0.7096016068232269, + 15.225379908500217, + 0.10102261144933855 + ], + "face_center": [ + 0.6501781365328538, + 15.270979623845372, + 0.11977686218548453 + ], + "face_normal": [ + -0.7695814117718771, + 0.590552741875193, + 0.24288252920471365 + ], + "footprint_xy": [ + [ + 0.5661677882258683, + 15.081664745515695 + ], + [ + 0.8530354254205856, + 15.081664745515695 + ], + [ + 0.8530354254205856, + 15.369095071484741 + ], + [ + 0.5661677882258683, + 15.369095071484741 + ] + ], + "projected_box_corners": [ + [ + 0.5661677882258683, + 15.172864176206001 + ], + [ + 0.710435156317465, + 15.302986723769335 + ], + [ + 0.5899211167482428, + 15.238972523921408 + ], + [ + 0.7341884848398395, + 15.369095071484741 + ], + [ + 0.6850147288066145, + 15.081664745515695 + ], + [ + 0.8292820968982112, + 15.211787293079029 + ], + [ + 0.708768057328989, + 15.147773093231102 + ], + [ + 0.8530354254205856, + 15.277895640794435 + ] + ], + "yaw_rad": -0.6545247673853484, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6196528673171997, + 15.212669372558594, + 0.12155741453170776 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6419921090135952, + 15.262956772576365, + 0.1247849929378855 + ], + "intended_face_normal": [ + -0.7847615092891029, + 0.5762893659039072, + 0.22812269368822768 + ], + "commanded_contact_point": [ + 0.6203985261917114, + 15.228617802743353, + 0.10717042753442618 + ], + "centerline_face_intersection": [ + 0.6041943652206924, + 15.218458408284272, + 0.10717042753442618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6148302555084229, + 15.203457832336426, + 0.12143836915493011 + ], + "box_pose": [ + 0.7159978747367859, + 15.225586891174316, + 0.11644048988819122, + -0.3454282879829407, + 0.2239183485507965, + -0.2397494912147522, + 0.8792383670806885 + ], + "box_yaw_rad": -0.6334094360256901, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01015939445908032, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008553643013260318 + } + } + }, + { + "simulation_time_ns": 6320000000, + "center": [ + 0.717014864935001, + 15.232764311828841, + 0.09290371133645393 + ], + "face_center": [ + 0.6590152712635514, + 15.27972311139413, + 0.112731045163976 + ], + "face_normal": [ + -0.7511410720672855, + 0.6081539682548804, + 0.2567798124898255 + ], + "footprint_xy": [ + [ + 0.5735697881927093, + 15.085988965262969 + ], + [ + 0.8604599416772927, + 15.085988965262969 + ], + [ + 0.8604599416772927, + 15.379539658394716 + ], + [ + 0.5735697881927093, + 15.379539658394716 + ] + ], + "projected_box_corners": [ + [ + 0.5735697881927093, + 15.179906564393542 + ], + [ + 0.7277184396497735, + 15.320100552112736 + ], + [ + 0.5903121028773295, + 15.239345670675522 + ], + [ + 0.7444607543343936, + 15.379539658394716 + ], + [ + 0.6895689755356084, + 15.085988965262969 + ], + [ + 0.8437176269926725, + 15.226182952982162 + ], + [ + 0.7063112902202285, + 15.145428071544949 + ], + [ + 0.8604599416772927, + 15.285622059264142 + ] + ], + "yaw_rad": -0.6805915014536315, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6234058737754822, + 15.222864151000977, + 0.12011106312274933 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6501781365328538, + 15.270979623845372, + 0.11977686218548453 + ], + "intended_face_normal": [ + -0.7695814117718771, + 0.590552741875193, + 0.24288252920471365 + ], + "commanded_contact_point": [ + 0.6220564591884613, + 15.236047724396963, + 0.10102261144933855 + ], + "centerline_face_intersection": [ + 0.6092674345962, + 15.225379908500217, + 0.10102261144933855 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6196528673171997, + 15.212669372558594, + 0.12155741453170776 + ], + "box_pose": [ + 0.723586916923523, + 15.233098983764648, + 0.10885898023843765, + -0.38256382942199707, + 0.245616614818573, + -0.23426859080791473, + 0.8593227863311768 + ], + "box_yaw_rad": -0.6545247673853484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010667815896745269, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009785096842472418 + } + } + }, + { + "simulation_time_ns": 6340000000, + "center": [ + 0.7246357231867632, + 15.24041479878974, + 0.08231643496088889 + ], + "face_center": [ + 0.6683547189837564, + 15.289039939280967, + 0.10305887669729816 + ], + "face_normal": [ + -0.7288839655247425, + 0.6297344144323134, + 0.2686311909603809 + ], + "footprint_xy": [ + [ + 0.5825885576048918, + 15.09136766535617 + ], + [ + 0.8666828887686346, + 15.09136766535617 + ], + [ + 0.8666828887686346, + 15.38946193222331 + ], + [ + 0.5825885576048918, + 15.38946193222331 + ] + ], + "projected_box_corners": [ + [ + 0.5825885576048918, + 15.188617946338622 + ], + [ + 0.7458481596999592, + 15.338209987455773 + ], + [ + 0.5908612782675537, + 15.23986989110616 + ], + [ + 0.7541208803626211, + 15.38946193222331 + ], + [ + 0.6951505660109053, + 15.09136766535617 + ], + [ + 0.8584101681059727, + 15.24095970647332 + ], + [ + 0.7034232866735672, + 15.142619610123706 + ], + [ + 0.8666828887686346, + 15.292211651240857 + ] + ], + "yaw_rad": -0.7125490872252555, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6252828240394592, + 15.23261547088623, + 0.11576724052429199 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6590152712635514, + 15.27972311139413, + 0.112731045163976 + ], + "intended_face_normal": [ + -0.7511410720672855, + 0.6081539682548804, + 0.2567798124898255 + ], + "commanded_contact_point": [ + 0.6236830848455429, + 15.2438281341587, + 0.09290371133645393 + ], + "centerline_face_intersection": [ + 0.6142175119704952, + 15.232764311828841, + 0.09290371133645393 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6234058737754822, + 15.222864151000977, + 0.12011106312274933 + ], + "box_pose": [ + 0.7315301895141602, + 15.241035461425781, + 0.09902540594339371, + -0.42376819252967834, + 0.2695029079914093, + -0.22759096324443817, + 0.8342608213424683 + ], + "box_yaw_rad": -0.6805915014536315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011063822329859863, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011362096027222195 + } + } + }, + { + "simulation_time_ns": 6360000000, + "center": [ + 0.7321760356207777, + 15.248024450984184, + 0.06876079453030536 + ], + "face_center": [ + 0.6779350181605914, + 15.29864408314752, + 0.0901563549777975 + ], + "face_normal": [ + -0.7024645075249967, + 0.655564674921786, + 0.2770896000245724 + ], + "footprint_xy": [ + [ + 0.591668438926619, + 15.09802876062897 + ], + [ + 0.8726836323149363, + 15.09802876062897 + ], + [ + 0.8726836323149363, + 15.398020141339398 + ], + [ + 0.591668438926619, + 15.398020141339398 + ] + ], + "projected_box_corners": [ + [ + 0.5935093851592962, + 15.199268024955643 + ], + [ + 0.7642015973945637, + 15.356631982792791 + ], + [ + 0.591668438926619, + 15.240656183502248 + ], + [ + 0.7623606511618866, + 15.398020141339398 + ], + [ + 0.7019914200796687, + 15.09802876062897 + ], + [ + 0.8726836323149363, + 15.255392718466119 + ], + [ + 0.7001504738469917, + 15.139416919175577 + ], + [ + 0.8708426860822592, + 15.296780877012726 + ] + ], + "yaw_rad": -0.7508766663455295, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6256833076477051, + 15.240097045898438, + 0.10854820907115936 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6683547189837564, + 15.289039939280967, + 0.10305887669729816 + ], + "intended_face_normal": [ + -0.7288839655247425, + 0.6297344144323134, + 0.2686311909603809 + ], + "commanded_contact_point": [ + 0.6253214675188065, + 15.25179059423574, + 0.08231643496088889 + ], + "centerline_face_intersection": [ + 0.6186993635415778, + 15.24041479878974, + 0.08231643496088889 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6252828240394592, + 15.23261547088623, + 0.11576724052429199 + ], + "box_pose": [ + 0.7395888566970825, + 15.249151229858398, + 0.08639813214540482, + -0.46928107738494873, + 0.295644074678421, + -0.21943700313568115, + 0.8026314377784729 + ], + "box_yaw_rad": -0.7125490872252555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011375795446000227, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01334823918406781 + } + } + }, + { + "simulation_time_ns": 6380000000, + "center": [ + 0.7394160618238311, + 15.255281876507338, + 0.05206183741548369 + ], + "face_center": [ + 0.6875298708778328, + 15.308080781223424, + 0.07402324586539763 + ], + "face_normal": [ + -0.6719676229706089, + 0.6837879954311141, + 0.2844177836938222 + ], + "footprint_xy": [ + [ + 0.5929668944853085, + 15.106225264011071 + ], + [ + 0.8858652291623539, + 15.106225264011071 + ], + [ + 0.8858652291623539, + 15.404338489003605 + ], + [ + 0.5929668944853085, + 15.404338489003605 + ] + ], + "projected_box_corners": [ + [ + 0.6070888980573153, + 15.211823073443243 + ], + [ + 0.7820928472703571, + 15.374315646918488 + ], + [ + 0.5929668944853085, + 15.24184591552836 + ], + [ + 0.7679708436983503, + 15.404338489003605 + ], + [ + 0.710861279949312, + 15.106225264011071 + ], + [ + 0.8858652291623539, + 15.268717837486316 + ], + [ + 0.6967392763773053, + 15.136248106096188 + ], + [ + 0.8717432255903471, + 15.298740679571432 + ] + ], + "yaw_rad": -0.794116602624295, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6245921850204468, + 15.245747566223145, + 0.09662656486034393 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6779350181605914, + 15.29864408314752, + 0.0901563549777975 + ], + "intended_face_normal": [ + -0.7024645075249967, + 0.655564674921786, + 0.2770896000245724 + ], + "commanded_contact_point": [ + 0.6270091581344605, + 15.259717342633614, + 0.06876079453030536 + ], + "centerline_face_intersection": [ + 0.622255444495837, + 15.248024450984184, + 0.06876079453030536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6256833076477051, + 15.240097045898438, + 0.10854820907115936 + ], + "box_pose": [ + 0.7474055886268616, + 15.257067680358887, + 0.07045267522335052, + -0.5187718272209167, + 0.3239402174949646, + -0.20935730636119843, + 0.7629601359367371 + ], + "box_yaw_rad": -0.7508766663455295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011692891649430097, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.015793575505902584 + } + } + }, + { + "simulation_time_ns": 6400000000, + "center": [ + 0.7434645758019711, + 15.25803720917737, + 0.04531713850871376 + ], + "face_center": [ + 0.692812184232372, + 15.311811571516973, + 0.06778618633620452 + ], + "face_normal": [ + -0.6559889354033412, + 0.6964209509175667, + 0.2909921191703191 + ], + "footprint_xy": [ + [ + 0.5946861416749705, + 15.11014449965738 + ], + [ + 0.8922430099289718, + 15.11014449965738 + ], + [ + 0.8922430099289718, + 15.40592991869736 + ], + [ + 0.5946861416749705, + 15.40592991869736 + ] + ], + "projected_box_corners": [ + [ + 0.615696062087567, + 15.217693224336584 + ], + [ + 0.7909382267897737, + 15.381496055263318 + ], + [ + 0.5946861416749705, + 15.242127087770628 + ], + [ + 0.7699283063771771, + 15.40592991869736 + ], + [ + 0.717000845226765, + 15.11014449965738 + ], + [ + 0.8922430099289718, + 15.273947330584113 + ], + [ + 0.6959909248141685, + 15.134578363091425 + ], + [ + 0.8712330895163751, + 15.298381194018157 + ] + ], + "yaw_rad": -0.8152855344576356, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6218820810317993, + 15.252949714660645, + 0.08356396853923798 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6875298708778328, + 15.308080781223424, + 0.07402324586539763 + ], + "intended_face_normal": [ + -0.6719676229706089, + 0.6837879954311141, + 0.2844177836938222 + ], + "commanded_contact_point": [ + 0.6284716027975082, + 15.267356140568136, + 0.05206183741548369 + ], + "centerline_face_intersection": [ + 0.6245067845433463, + 15.255281876507338, + 0.05206183741548369 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6245921850204468, + 15.245747566223145, + 0.09662656486034393 + ], + "box_pose": [ + 0.7546502351760864, + 15.264410972595215, + 0.050984226167201996, + -0.5713003277778625, + 0.3550807535648346, + -0.19476613402366638, + 0.7138625383377075 + ], + "box_yaw_rad": -0.794116602624295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012074264060797832, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01842132316093468 + } + } + }, + { + "simulation_time_ns": 6420000000, + "center": [ + 0.7449105115300131, + 15.257754697688375, + 0.044341038711692864 + ], + "face_center": [ + 0.6935033780231827, + 15.310830453796468, + 0.06675699062684806 + ], + "face_normal": [ + -0.665763446429704, + 0.6873734421253417, + 0.29030448468894576 + ], + "footprint_xy": [ + [ + 0.5965450129150703, + 15.10941298493981 + ], + [ + 0.893276010144956, + 15.10941298493981 + ], + [ + 0.893276010144956, + 15.40609641043694 + ], + [ + 0.5965450129150703, + 15.40609641043694 + ] + ], + "projected_box_corners": [ + [ + 0.6170941441497396, + 15.215564497155997 + ], + [ + 0.790461743131295, + 15.381296962024997 + ], + [ + 0.5965450129150703, + 15.240363945567939 + ], + [ + 0.7699126118966259, + 15.40609641043694 + ], + [ + 0.7199084111634004, + 15.10941298493981 + ], + [ + 0.893276010144956, + 15.275145449808809 + ], + [ + 0.6993592799287313, + 15.134212433351752 + ], + [ + 0.8727268789102867, + 15.299944898220751 + ] + ], + "yaw_rad": -0.801367101165169, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.621826708316803, + 15.261177062988281, + 0.07234306633472443 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.692812184232372, + 15.311811571516973, + 0.06778618633620452 + ], + "intended_face_normal": [ + -0.6559889354033412, + 0.6964209509175667, + 0.2909921191703191 + ], + "commanded_contact_point": [ + 0.6299678879976273, + 15.270314973018838, + 0.04531713850871376 + ], + "centerline_face_intersection": [ + 0.6257563192382207, + 15.25803720917737, + 0.04531713850871376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6218820810317993, + 15.252949714660645, + 0.08356396853923798 + ], + "box_pose": [ + 0.7585499286651611, + 15.26712703704834, + 0.0427895151078701, + -0.5963467955589294, + 0.37156274914741516, + -0.18424618244171143, + 0.6872881650924683 + ], + "box_yaw_rad": -0.8152855344576356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012277763841466866, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007515618551683172 + } + } + }, + { + "simulation_time_ns": 6440000000, + "center": [ + 0.7455593383459302, + 15.257515322245128, + 0.04442071504790303 + ], + "face_center": [ + 0.6945062081905939, + 15.310461280169319, + 0.06792620829483328 + ], + "face_normal": [ + -0.6611788202258899, + 0.6856924519521872, + 0.3044149153351867 + ], + "footprint_xy": [ + [ + 0.5967036110479931, + 15.109014977409133 + ], + [ + 0.8944150656438675, + 15.109014977409133 + ], + [ + 0.8944150656438675, + 15.406015667081123 + ], + [ + 0.5967036110479931, + 15.406015667081123 + ] + ], + "projected_box_corners": [ + [ + 0.6188655089482809, + 15.214906893257517 + ], + [ + 0.7923088053331949, + 15.380604385499801 + ], + [ + 0.5967036110479931, + 15.240318174838839 + ], + [ + 0.7701469074329071, + 15.406015667081123 + ], + [ + 0.7209717692589535, + 15.109014977409133 + ], + [ + 0.8944150656438675, + 15.274712469651417 + ], + [ + 0.6988098713586657, + 15.134426258990455 + ], + [ + 0.8722531677435797, + 15.30012375123274 + ] + ], + "yaw_rad": -0.8035965807308534, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6222231388092041, + 15.268386840820312, + 0.0634678453207016 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6935033780231827, + 15.310830453796468, + 0.06675699062684806 + ], + "intended_face_normal": [ + -0.665763446429704, + 0.6873734421253417, + 0.29030448468894576 + ], + "commanded_contact_point": [ + 0.6318888711929321, + 15.269895566917846, + 0.044341038711692864 + ], + "centerline_face_intersection": [ + 0.6289304072970137, + 15.257754697688375, + 0.044341038711692864 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.621826708316803, + 15.261177062988281, + 0.07234306633472443 + ], + "box_pose": [ + 0.7599100470542908, + 15.267026901245117, + 0.04197000712156296, + -0.5958289504051208, + 0.3663419783115387, + -0.18141618371009827, + 0.6912810206413269 + ], + "box_yaw_rad": -0.801367101165169, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012140869229470611, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021951876293240095 + } + } + }, + { + "simulation_time_ns": 6460000000, + "center": [ + 0.7460049763401059, + 15.257355329834478, + 0.04448565871218875 + ], + "face_center": [ + 0.6952076596607939, + 15.310213230610408, + 0.06873189134777088 + ], + "face_normal": [ + -0.6578658313501631, + 0.6845520415361364, + 0.31400808217125586 + ], + "footprint_xy": [ + [ + 0.5968277291687037, + 15.108753215187042 + ], + [ + 0.895182223511508, + 15.108753215187042 + ], + [ + 0.895182223511508, + 15.405957444481915 + ], + [ + 0.5968277291687037, + 15.405957444481915 + ] + ], + "projected_box_corners": [ + [ + 0.6201083115333468, + 15.2144690167389 + ], + [ + 0.793587590152884, + 15.38015002492273 + ], + [ + 0.5968277291687037, + 15.240276436298085 + ], + [ + 0.770307007788241, + 15.405957444481915 + ], + [ + 0.7217029448919707, + 15.108753215187042 + ], + [ + 0.895182223511508, + 15.274434223370873 + ], + [ + 0.6984223625273276, + 15.134560634746228 + ], + [ + 0.8719016411468649, + 15.30024164293006 + ] + ], + "yaw_rad": -0.8052747578954635, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6223978996276855, + 15.273242950439453, + 0.05932711064815521 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6945062081905939, + 15.310461280169319, + 0.06792620829483328 + ], + "intended_face_normal": [ + -0.6611788202258899, + 0.6856924519521872, + 0.3044149153351867 + ], + "commanded_contact_point": [ + 0.6339778053760529, + 15.269221330731591, + 0.04442071504790303 + ], + "centerline_face_intersection": [ + 0.6287750259188358, + 15.257515322245128, + 0.04442071504790303 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6222231388092041, + 15.268386840820312, + 0.0634678453207016 + ], + "box_pose": [ + 0.7605218291282654, + 15.266800880432129, + 0.04187434911727905, + -0.5951865911483765, + 0.37215420603752136, + -0.17581762373447418, + 0.6901755928993225 + ], + "box_yaw_rad": -0.8035965807308534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011706008486463235, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021964946562232535 + } + } + }, + { + "simulation_time_ns": 6480000000, + "center": [ + 0.7462760601907611, + 15.257255974108775, + 0.04449616994561532 + ], + "face_center": [ + 0.6956402150501517, + 15.310057332397786, + 0.06919903975100758 + ], + "face_normal": [ + -0.6557746459295117, + 0.6838197711605858, + 0.3199218983131402 + ], + "footprint_xy": [ + [ + 0.5969096709165748, + 15.108590188264877 + ], + [ + 0.8956424494649474, + 15.108590188264877 + ], + [ + 0.8956424494649474, + 15.405921759952673 + ], + [ + 0.5969096709165748, + 15.405921759952673 + ] + ], + "projected_box_corners": [ + [ + 0.6208728360780092, + 15.214192904842902 + ], + [ + 0.7943707591837287, + 15.379862697585986 + ], + [ + 0.5969096709165748, + 15.240251967209586 + ], + [ + 0.7704075940222942, + 15.405921759952673 + ], + [ + 0.722144526359228, + 15.108590188264877 + ], + [ + 0.8956424494649474, + 15.274259981007962 + ], + [ + 0.6981813611977934, + 15.134649250631561 + ], + [ + 0.8716792843035129, + 15.300319043374648 + ] + ], + "yaw_rad": -0.8063306401153487, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6223288178443909, + 15.275623321533203, + 0.056602537631988525 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6952076596607939, + 15.310213230610408, + 0.06873189134777088 + ], + "intended_face_normal": [ + -0.6578658313501631, + 0.6845520415361364, + 0.31400808217125586 + ], + "commanded_contact_point": [ + 0.6359776306152344, + 15.268425833496742, + 0.04448565871218875 + ], + "centerline_face_intersection": [ + 0.6286325422786407, + 15.257355329834478, + 0.04448565871218875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6223978996276855, + 15.273242950439453, + 0.05932711064815521 + ], + "box_pose": [ + 0.7609400153160095, + 15.266650199890137, + 0.0418151319026947, + -0.5948095321655273, + 0.3761606216430664, + -0.17196008563041687, + 0.6893000602722168 + ], + "box_yaw_rad": -0.8052747578954635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011070503662264246, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002153214925977108 + } + } + }, + { + "simulation_time_ns": 6500000000, + "center": [ + 0.746388559408679, + 15.257211669757062, + 0.04447721016427749 + ], + "face_center": [ + 0.695820756812137, + 15.309989170701554, + 0.06936972351839801 + ], + "face_normal": [ + -0.654893440626827, + 0.683510799490179, + 0.3223779337693422 + ], + "footprint_xy": [ + [ + 0.5969460400285936, + 15.10851894143927 + ], + [ + 0.8958310787887644, + 15.10851894143927 + ], + [ + 0.8958310787887644, + 15.405904398074854 + ], + [ + 0.5969460400285936, + 15.405904398074854 + ] + ], + "projected_box_corners": [ + [ + 0.6211882333107687, + 15.214073943328254 + ], + [ + 0.7946954735956803, + 15.379736448826069 + ], + [ + 0.5969460400285936, + 15.240241892577037 + ], + [ + 0.7704532803135051, + 15.405904398074854 + ], + [ + 0.722323838503853, + 15.10851894143927 + ], + [ + 0.8958310787887644, + 15.274181446937085 + ], + [ + 0.6980816452216778, + 15.134686890688053 + ], + [ + 0.8715888855065894, + 15.300349396185869 + ] + ], + "yaw_rad": -0.8067766065720238, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6233512163162231, + 15.27369499206543, + 0.05247771739959717 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6956402150501517, + 15.310057332397786, + 0.06919903975100758 + ], + "intended_face_normal": [ + -0.6557746459295117, + 0.6838197711605858, + 0.3199218983131402 + ], + "commanded_contact_point": [ + 0.6379195499420166, + 15.267591783874062, + 0.04449616994561532 + ], + "centerline_face_intersection": [ + 0.6285293397423195, + 15.257255974108775, + 0.04449616994561532 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6223288178443909, + 15.275623321533203, + 0.056602537631988525 + ], + "box_pose": [ + 0.7611938118934631, + 15.266556739807129, + 0.04175062105059624, + -0.5945352911949158, + 0.3786205053329468, + -0.16958534717559814, + 0.6887778639793396 + ], + "box_yaw_rad": -0.8063306401153487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010335809765287111, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021134805253069685 + } + } + }, + { + "simulation_time_ns": 6520000000, + "center": [ + 0.7472266746643312, + 15.256342628508357, + 0.04427860659638131 + ], + "face_center": [ + 0.6954866295245156, + 15.308490793107689, + 0.0680639217483108 + ], + "face_normal": [ + -0.6700749180293286, + 0.6753603910636627, + 0.3080388325457051 + ], + "footprint_xy": [ + [ + 0.5985316548024517, + 15.107446292010982 + ], + [ + 0.8959216945262107, + 15.107446292010982 + ], + [ + 0.8959216945262107, + 15.405238965005731 + ], + [ + 0.5985316548024517, + 15.405238965005731 + ] + ], + "projected_box_corners": [ + [ + 0.6214298579154576, + 15.211742621209646 + ], + [ + 0.7924416042465794, + 15.379953950690876 + ], + [ + 0.5985316548024517, + 15.237027635524502 + ], + [ + 0.7695434011335737, + 15.405238965005731 + ], + [ + 0.7249099481950889, + 15.107446292010982 + ], + [ + 0.8959216945262107, + 15.275657621492211 + ], + [ + 0.7020117450820831, + 15.132731306325837 + ], + [ + 0.873023491413205, + 15.300942635807067 + ] + ], + "yaw_rad": -0.7893265914750732, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6257395148277283, + 15.267999649047852, + 0.046488940715789795 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.695820756812137, + 15.309989170701554, + 0.06936972351839801 + ], + "intended_face_normal": [ + -0.654893440626827, + 0.683510799490179, + 0.3223779337693422 + ], + "commanded_contact_point": [ + 0.6401135671138763, + 15.266888146630015, + 0.04447721016427749 + ], + "centerline_face_intersection": [ + 0.6284834024452318, + 15.257211669757062, + 0.04447721016427749 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6233512163162231, + 15.27369499206543, + 0.05247771739959717 + ], + "box_pose": [ + 0.7612992525100708, + 15.266514778137207, + 0.041701409965753555, + -0.5943995714187622, + 0.379637748003006, + -0.1686074137687683, + 0.6885752081871033 + ], + "box_yaw_rad": -0.8067766065720238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009676476872952408, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023041649669532033 + } + } + }, + { + "simulation_time_ns": 6540000000, + "center": [ + 0.7491212698752344, + 15.255037745355306, + 0.04411718675286328 + ], + "face_center": [ + 0.6955465878790831, + 15.305913175003246, + 0.06655931142734506 + ], + "face_normal": [ + -0.6938349309516347, + 0.6588774566958548, + 0.290643442830806 + ], + "footprint_xy": [ + [ + 0.6016230342642264, + 15.105756076107053 + ], + [ + 0.8966195054862425, + 15.105756076107053 + ], + [ + 0.8966195054862425, + 15.404319414603558 + ], + [ + 0.6016230342642264, + 15.404319414603558 + ] + ], + "projected_box_corners": [ + [ + 0.6231190439971829, + 15.207506935402932 + ], + [ + 0.7894701414939397, + 15.380271999362874 + ], + [ + 0.6016230342642264, + 15.231554350643618 + ], + [ + 0.7679741317609833, + 15.404319414603558 + ], + [ + 0.7302684079894856, + 15.105756076107053 + ], + [ + 0.8966195054862425, + 15.278521140066992 + ], + [ + 0.7087723982565292, + 15.129803491347737 + ], + [ + 0.8751234957532861, + 15.302568555307678 + ] + ], + "yaw_rad": -0.7595614106994059, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6270312070846558, + 15.261489868164062, + 0.03979259729385376 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6954866295245156, + 15.308490793107689, + 0.0680639217483108 + ], + "intended_face_normal": [ + -0.6700749180293286, + 0.6753603910636627, + 0.3080388325457051 + ], + "commanded_contact_point": [ + 0.6428898918628693, + 15.265552824559729, + 0.04427860659638131 + ], + "centerline_face_intersection": [ + 0.6319928226966647, + 15.256342628508357, + 0.04427860659638131 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6257395148277283, + 15.267999649047852, + 0.046488940715789795 + ], + "box_pose": [ + 0.762042760848999, + 15.265851020812988, + 0.04169873520731926, + -0.5975307822227478, + 0.3691558241844177, + -0.16937094926834106, + 0.6913713812828064 + ], + "box_yaw_rad": -0.7893265914750732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009210196051372608, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003087152007991314 + } + } + }, + { + "simulation_time_ns": 6560000000, + "center": [ + 0.7509865872944413, + 15.254286002343482, + 0.04412415005881768 + ], + "face_center": [ + 0.6965347350133296, + 15.304227650300318, + 0.06655252860432936 + ], + "face_normal": [ + -0.7051949868851817, + 0.6467842378276814, + 0.2904654194793004 + ], + "footprint_xy": [ + [ + 0.6039243456475042, + 15.104701166558037 + ], + [ + 0.8980488289413784, + 15.104701166558037 + ], + [ + 0.8980488289413784, + 15.403870838128928 + ], + [ + 0.6039243456475042, + 15.403870838128928 + ] + ], + "projected_box_corners": [ + [ + 0.625808367938456, + 15.204584462471706 + ], + [ + 0.789145124379155, + 15.38020101117297 + ], + [ + 0.6039243456475042, + 15.228254289427664 + ], + [ + 0.7672611020882033, + 15.403870838128928 + ], + [ + 0.7347120725006793, + 15.104701166558037 + ], + [ + 0.8980488289413784, + 15.2803177152593 + ], + [ + 0.7128280502097276, + 15.128370993513995 + ], + [ + 0.8761648066504267, + 15.303987542215259 + ] + ], + "yaw_rad": -0.7422211337871546, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6280273199081421, + 15.256657600402832, + 0.03390157222747803 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6955465878790831, + 15.305913175003246, + 0.06655931142734506 + ], + "intended_face_normal": [ + -0.6938349309516347, + 0.6588774566958548, + 0.290643442830806 + ], + "commanded_contact_point": [ + 0.6463923501968384, + 15.263989856494328, + 0.04411718675286328 + ], + "centerline_face_intersection": [ + 0.6378335406663105, + 15.255037745355306, + 0.04411718675286328 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6270312070846558, + 15.261489868164062, + 0.03979259729385376 + ], + "box_pose": [ + 0.7637252807617188, + 15.264925956726074, + 0.04176604747772217, + -0.6028448343276978, + 0.3538103997707367, + -0.16703513264656067, + 0.6953384876251221 + ], + "box_yaw_rad": -0.7595614106994059, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008952111139022351, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038387680211927 + } + } + }, + { + "simulation_time_ns": 6580000000, + "center": [ + 0.7518645332624553, + 15.253996511886129, + 0.044197902362841796 + ], + "face_center": [ + 0.6972976823598714, + 15.303608842943849, + 0.06707321608895206 + ], + "face_normal": [ + -0.70668431090197, + 0.6425193209033893, + 0.2962535871102858 + ], + "footprint_xy": [ + [ + 0.6047264159738491, + 15.10427910660253 + ], + [ + 0.8990026505510614, + 15.10427910660253 + ], + [ + 0.8990026505510614, + 15.403713917169728 + ], + [ + 0.6047264159738491, + 15.403713917169728 + ] + ], + "projected_box_corners": [ + [ + 0.6274330391065419, + 15.203503768717967 + ], + [ + 0.7898689487458938, + 15.379976025365934 + ], + [ + 0.6047264159738491, + 15.227241660521763 + ], + [ + 0.7671623256132009, + 15.403713917169728 + ], + [ + 0.7365667409117097, + 15.10427910660253 + ], + [ + 0.8990026505510614, + 15.280751363250497 + ], + [ + 0.7138601177790168, + 15.128016998406324 + ], + [ + 0.8762960274183685, + 15.30448925505429 + ] + ], + "yaw_rad": -0.7378762924623931, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6288866400718689, + 15.255170822143555, + 0.0288764089345932 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6965347350133296, + 15.304227650300318, + 0.06655252860432936 + ], + "intended_face_normal": [ + -0.7051949868851817, + 0.6467842378276814, + 0.2904654194793004 + ], + "commanded_contact_point": [ + 0.6503874409198761, + 15.26314324956013, + 0.04412415005881768 + ], + "centerline_face_intersection": [ + 0.6414916031447454, + 15.254286002343482, + 0.04412415005881768 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6280273199081421, + 15.256657600402832, + 0.03390157222747803 + ], + "box_pose": [ + 0.7654179334640503, + 15.264425277709961, + 0.04177616909146309, + -0.6058706045150757, + 0.3485005497932434, + -0.16108964383602142, + 0.696791410446167 + ], + "box_yaw_rad": -0.7422211337871546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008857247216648363, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004083814598382771 + } + } + }, + { + "simulation_time_ns": 6600000000, + "center": [ + 0.7521811963423093, + 15.253912689318868, + 0.04427839680972667 + ], + "face_center": [ + 0.6977867347315534, + 15.303480362298865, + 0.06765557866347838 + ], + "face_normal": [ + -0.7044517318565009, + 0.6419409631209589, + 0.3027531802896526 + ], + "footprint_xy": [ + [ + 0.6048065301653336, + 15.10414164911217 + ], + [ + 0.899555862519285, + 15.10414164911217 + ], + [ + 0.899555862519285, + 15.403683729525566 + ], + [ + 0.6048065301653336, + 15.403683729525566 + ] + ], + "projected_box_corners": [ + [ + 0.6282970160092712, + 15.203276995072162 + ], + [ + 0.7907669392977733, + 15.379738946845212 + ], + [ + 0.6048065301653336, + 15.227221777752517 + ], + [ + 0.7672764534538357, + 15.403683729525566 + ], + [ + 0.7370859392307829, + 15.10414164911217 + ], + [ + 0.899555862519285, + 15.28060360088522 + ], + [ + 0.7135954533868453, + 15.128086431792527 + ], + [ + 0.8760653766753473, + 15.304548383565574 + ] + ], + "yaw_rad": -0.7390031472138047, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6292484998703003, + 15.255861282348633, + 0.024161070585250854 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6972976823598714, + 15.303608842943849, + 0.06707321608895206 + ], + "intended_face_normal": [ + -0.70668431090197, + 0.6425193209033893, + 0.2962535871102858 + ], + "commanded_contact_point": [ + 0.6546175229549408, + 15.26280678669248, + 0.044197902362841796 + ], + "centerline_face_intersection": [ + 0.6426003077515126, + 15.253996511886129, + 0.044197902362841796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6288866400718689, + 15.255170822143555, + 0.0288764089345932 + ], + "box_pose": [ + 0.7662261128425598, + 15.264216423034668, + 0.041773006319999695, + -0.6067065000534058, + 0.3493267297744751, + -0.15693527460098267, + 0.6965984106063843 + ], + "box_yaw_rad": -0.7378762924623931, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008810274806351333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004244083020751801 + } + } + }, + { + "simulation_time_ns": 6620000000, + "center": [ + 0.7527887006977845, + 15.25365319364296, + 0.0446244376893315 + ], + "face_center": [ + 0.6985511692901489, + 15.302880406317685, + 0.06906163796386752 + ], + "face_normal": [ + -0.7024193603595688, + 0.6375317301848433, + 0.3164812656536533 + ], + "footprint_xy": [ + [ + 0.6050726799606554, + 15.103684525125443 + ], + [ + 0.9005047214349136, + 15.103684525125443 + ], + [ + 0.9005047214349136, + 15.403621862160476 + ], + [ + 0.6050726799606554, + 15.403621862160476 + ] + ], + "projected_box_corners": [ + [ + 0.6302224126010921, + 15.202138950474893 + ], + [ + 0.7920296586196425, + 15.379235331103203 + ], + [ + 0.6050726799606554, + 15.226525481532166 + ], + [ + 0.7668799259792057, + 15.403621862160476 + ], + [ + 0.7386974754163633, + 15.103684525125443 + ], + [ + 0.9005047214349136, + 15.280780905753753 + ], + [ + 0.7135477427759266, + 15.128071056182716 + ], + [ + 0.8753549887944769, + 15.305167436811026 + ] + ], + "yaw_rad": -0.7370105908810567, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.63103187084198, + 15.253705978393555, + 0.02747468650341034 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6977867347315534, + 15.303480362298865, + 0.06765557866347838 + ], + "intended_face_normal": [ + -0.7044517318565009, + 0.6419409631209589, + 0.3027531802896526 + ], + "commanded_contact_point": [ + 0.6586608338356018, + 15.26264502040403, + 0.04427839680972667 + ], + "centerline_face_intersection": [ + 0.6425706858990373, + 15.253912689318868, + 0.04427839680972667 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6292484998703003, + 15.255861282348633, + 0.024161070585250854 + ], + "box_pose": [ + 0.7665245532989502, + 15.264137268066406, + 0.041766878217458725, + -0.6066011190414429, + 0.35206902027130127, + -0.15434227883815765, + 0.6958885192871094 + ], + "box_yaw_rad": -0.7390031472138047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008732331085160755, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004047346113903513 + } + } + }, + { + "simulation_time_ns": 6640000000, + "center": [ + 0.7577788833462752, + 15.251746012283071, + 0.04759250193548948 + ], + "face_center": [ + 0.7044387461279787, + 15.299030797246104, + 0.0772772338812315 + ], + "face_normal": [ + -0.6907973887080859, + 0.6123757395749827, + 0.38444099288113875 + ], + "footprint_xy": [ + [ + 0.6089376698276324, + 15.100727308881394 + ], + [ + 0.9066200968649181, + 15.100727308881394 + ], + [ + 0.9066200968649181, + 15.402764715684748 + ], + [ + 0.6089376698276324, + 15.402764715684748 + ] + ], + "projected_box_corners": [ + [ + 0.6416084054020826, + 15.195296878807458 + ], + [ + 0.7999398224283251, + 15.375505094290574 + ], + [ + 0.6089376698276324, + 15.222556500201632 + ], + [ + 0.7672690868538748, + 15.402764715684748 + ], + [ + 0.7482886798386756, + 15.100727308881394 + ], + [ + 0.9066200968649181, + 15.28093552436451 + ], + [ + 0.7156179442642254, + 15.12798693027557 + ], + [ + 0.8739493612904679, + 15.308195145758686 + ] + ], + "yaw_rad": -0.725293186463988, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6380037665367126, + 15.252630233764648, + 0.03829796612262726 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.6985511692901489, + 15.302880406317685, + 0.06906163796386752 + ], + "intended_face_normal": [ + -0.7024193603595688, + 0.6375317301848433, + 0.3164812656536533 + ], + "commanded_contact_point": [ + 0.6615717160701752, + 15.262383413338096, + 0.0446244376893315 + ], + "centerline_face_intersection": [ + 0.6428610445581368, + 15.25365319364296, + 0.0446244376893315 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.63103187084198, + 15.253705978393555, + 0.02747468650341034 + ], + "box_pose": [ + 0.767052412033081, + 15.263948440551758, + 0.04195307567715645, + -0.6066495776176453, + 0.35640421509742737, + -0.14753425121307373, + 0.695115864276886 + ], + "box_yaw_rad": -0.7370105908810567, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008730219695136942, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029430287003117867 + } + } + }, + { + "simulation_time_ns": 6660000000, + "center": [ + 0.7643787982366497, + 15.248714644292848, + 0.05176060533826666 + ], + "face_center": [ + 0.7121496943139706, + 15.293692473402084, + 0.08656463942910853 + ], + "face_normal": [ + -0.6764086199608434, + 0.5824988183150293, + 0.4507400453070787 + ], + "footprint_xy": [ + [ + 0.6150650192446494, + 15.096683105599498 + ], + [ + 0.9136925772286499, + 15.096683105599498 + ], + [ + 0.9136925772286499, + 15.400746182986198 + ], + [ + 0.6150650192446494, + 15.400746182986198 + ] + ], + "projected_box_corners": [ + [ + 0.653897240125228, + 15.186638763817971 + ], + [ + 0.8092343693832919, + 15.36942570827208 + ], + [ + 0.6150650192446494, + 15.217959238532089 + ], + [ + 0.7704021485027133, + 15.400746182986198 + ], + [ + 0.7583554479705861, + 15.096683105599498 + ], + [ + 0.9136925772286499, + 15.279470050053607 + ], + [ + 0.7195232270900076, + 15.128003580313615 + ], + [ + 0.8748603563480715, + 15.310790524767725 + ] + ], + "yaw_rad": -0.7109397975202534, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.647516131401062, + 15.253740310668945, + 0.05133785307407379 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7044387461279787, + 15.299030797246104, + 0.0772772338812315 + ], + "intended_face_normal": [ + -0.6907973887080859, + 0.6123757395749827, + 0.38444099288113875 + ], + "commanded_contact_point": [ + 0.6641755151748657, + 15.260440863118944, + 0.04759250193548948 + ], + "centerline_face_intersection": [ + 0.6460018048951763, + 15.251746012283071, + 0.04759250193548948 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6380037665367126, + 15.252630233764648, + 0.03829796612262726 + ], + "box_pose": [ + 0.7716373801231384, + 15.262413024902344, + 0.04431552812457085, + -0.6031246185302734, + 0.37623780965805054, + -0.11422090977430344, + 0.6940023899078369 + ], + "box_yaw_rad": -0.725293186463988, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008694850835873855, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004400304137310843 + } + } + }, + { + "simulation_time_ns": 6680000000, + "center": [ + 0.7706684837693055, + 15.245319459616159, + 0.055417224987965884 + ], + "face_center": [ + 0.7197541326487573, + 15.288197008364802, + 0.09455096766289536 + ], + "face_normal": [ + -0.6593815208592488, + 0.5552985097984902, + 0.5068132303368458 + ], + "footprint_xy": [ + [ + 0.6212416186907244, + 15.09270346479094 + ], + [ + 0.9200953488478868, + 15.09270346479094 + ], + [ + 0.9200953488478868, + 15.39793545444138 + ], + [ + 0.6212416186907244, + 15.39793545444138 + ] + ], + "projected_box_corners": [ + [ + 0.6653280245663007, + 15.178458562288228 + ], + [ + 0.8182666466067902, + 15.363250193998622 + ], + [ + 0.6212416186907244, + 15.213143822730984 + ], + [ + 0.7741802407312138, + 15.39793545444138 + ], + [ + 0.7671567268073973, + 15.09270346479094 + ], + [ + 0.9200953488478868, + 15.277495096501333 + ], + [ + 0.7230703209318209, + 15.127388725233697 + ], + [ + 0.8760089429723104, + 15.31218035694409 + ] + ], + "yaw_rad": -0.6999193653882018, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6564192771911621, + 15.253747940063477, + 0.06366527080535889 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7121496943139706, + 15.293692473402084, + 0.08656463942910853 + ], + "intended_face_normal": [ + -0.6764086199608434, + 0.5824988183150293, + 0.4507400453070787 + ], + "commanded_contact_point": [ + 0.6667777347564697, + 15.257208468473678, + 0.05176060533826666 + ], + "centerline_face_intersection": [ + 0.6502239639651587, + 15.248714644292848, + 0.05176060533826666 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.647516131401062, + 15.253740310668945, + 0.05133785307407379 + ], + "box_pose": [ + 0.7778738737106323, + 15.25975227355957, + 0.048205967992544174, + -0.5929332971572876, + 0.39358869194984436, + -0.08296765387058258, + 0.6975919604301453 + ], + "box_yaw_rad": -0.7109397975202534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008493824180829964, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005881582089019306 + } + } + }, + { + "simulation_time_ns": 6700000000, + "center": [ + 0.776176357449168, + 15.241846845323481, + 0.05846189075829282 + ], + "face_center": [ + 0.7266409751133619, + 15.282757408968944, + 0.10129618613231262 + ], + "face_normal": [ + -0.6415227734827404, + 0.5298244813507411, + 0.5547383440433662 + ], + "footprint_xy": [ + [ + 0.6269239455532054, + 15.088936169411102 + ], + [ + 0.9254287693451306, + 15.088936169411102 + ], + [ + 0.9254287693451306, + 15.394757521235862 + ], + [ + 0.6269239455532054, + 15.394757521235862 + ] + ], + "projected_box_corners": [ + [ + 0.6755844756183031, + 15.170757296702027 + ], + [ + 0.8263580046735184, + 15.357313284768255 + ], + [ + 0.6269239455532054, + 15.208201533169634 + ], + [ + 0.7776974746084206, + 15.394757521235862 + ], + [ + 0.7746552402899154, + 15.088936169411102 + ], + [ + 0.9254287693451306, + 15.275492157477329 + ], + [ + 0.7259947102248177, + 15.12638040587871 + ], + [ + 0.8767682392800329, + 15.312936393944938 + ] + ], + "yaw_rad": -0.6903268187376322, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6639201641082764, + 15.251792907714844, + 0.07391558587551117 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7197541326487573, + 15.288197008364802, + 0.09455096766289536 + ], + "intended_face_normal": [ + -0.6593815208592488, + 0.5552985097984902, + 0.5068132303368458 + ], + "commanded_contact_point": [ + 0.6694005179405212, + 15.253476144579096, + 0.055417224987965884 + ], + "centerline_face_intersection": [ + 0.653565848240761, + 15.245319459616159, + 0.055417224987965884 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6564192771911621, + 15.253747940063477, + 0.06366527080535889 + ], + "box_pose": [ + 0.7838442921638489, + 15.256665229797363, + 0.05164186656475067, + -0.583187460899353, + 0.40886402130126953, + -0.05603080987930298, + 0.699702262878418 + ], + "box_yaw_rad": -0.6999193653882018, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008156684962937252, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005846374992007881 + } + } + }, + { + "simulation_time_ns": 6720000000, + "center": [ + 0.7804571450337219, + 15.238532008727528, + 0.061086043640541626 + ], + "face_center": [ + 0.7323661496620195, + 15.277565515299777, + 0.10719294551104783 + ], + "face_normal": [ + -0.6228168084230075, + 0.5055150927317118, + 0.5971212125536192 + ], + "footprint_xy": [ + [ + 0.6315932155364032, + 15.085529357259974 + ], + [ + 0.9293210745310406, + 15.085529357259974 + ], + [ + 0.9293210745310406, + 15.391534660195083 + ], + [ + 0.6315932155364032, + 15.391534660195083 + ] + ], + "projected_box_corners": [ + [ + 0.6843618874243156, + 15.163596370404472 + ], + [ + 0.8331390837876358, + 15.35174224031622 + ], + [ + 0.6315932155364032, + 15.203388790283334 + ], + [ + 0.7803704118997234, + 15.391534660195083 + ], + [ + 0.7805438781677204, + 15.085529357259974 + ], + [ + 0.9293210745310406, + 15.273675227171722 + ], + [ + 0.7277752062798081, + 15.125321777138836 + ], + [ + 0.8765524026431283, + 15.313467647050585 + ] + ], + "yaw_rad": -0.6818099851191705, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6696778535842896, + 15.248371124267578, + 0.08196614682674408 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7266409751133619, + 15.282757408968944, + 0.10129618613231262 + ], + "intended_face_normal": [ + -0.6415227734827404, + 0.5298244813507411, + 0.5547383440433662 + ], + "commanded_contact_point": [ + 0.6718859422206879, + 15.249605687790764, + 0.05846189075829282 + ], + "centerline_face_intersection": [ + 0.6558138121068624, + 15.241846845323481, + 0.05846189075829282 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6639201641082764, + 15.251792907714844, + 0.07391558587551117 + ], + "box_pose": [ + 0.7890556454658508, + 15.253467559814453, + 0.05450402572751045, + -0.5742363333702087, + 0.42214635014533997, + -0.032110314816236496, + 0.7007240056991577 + ], + "box_yaw_rad": -0.6903268187376322, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00775884246728275, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005516136261532314 + } + } + }, + { + "simulation_time_ns": 6740000000, + "center": [ + 0.7832147497497858, + 15.235883937565717, + 0.0631689376935518 + ], + "face_center": [ + 0.7364352593453315, + 15.273242269306936, + 0.11193613607719263 + ], + "face_normal": [ + -0.6058317713777355, + 0.4838202404262172, + 0.6315741776245878 + ], + "footprint_xy": [ + [ + 0.634884379166986, + 15.082932975063937 + ], + [ + 0.9315451203325856, + 15.082932975063937 + ], + [ + 0.9315451203325856, + 15.388834900067499 + ], + [ + 0.634884379166986, + 15.388834900067499 + ] + ], + "projected_box_corners": [ + [ + 0.6910739418774257, + 15.157649638546372 + ], + [ + 0.8379861395236768, + 15.34725054326947 + ], + [ + 0.634884379166986, + 15.199233995344402 + ], + [ + 0.7817965768132372, + 15.388834900067499 + ], + [ + 0.7846329226863344, + 15.082932975063937 + ], + [ + 0.9315451203325856, + 15.272533879787034 + ], + [ + 0.7284433599758947, + 15.124517331861966 + ], + [ + 0.875355557622146, + 15.314118236585063 + ] + ], + "yaw_rad": -0.6738897117698475, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6739188432693481, + 15.245440483093262, + 0.08735550940036774 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7323661496620195, + 15.277565515299777, + 0.10719294551104783 + ], + "intended_face_normal": [ + -0.6228168084230075, + 0.5055150927317118, + 0.5971212125536192 + ], + "commanded_contact_point": [ + 0.6741277027130127, + 15.245897286573209, + 0.061086043640541626 + ], + "centerline_face_intersection": [ + 0.6644746590408942, + 15.238532008727528, + 0.061086043640541626 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6696778535842896, + 15.248371124267578, + 0.08196614682674408 + ], + "box_pose": [ + 0.7930549383163452, + 15.250404357910156, + 0.05697208642959595, + -0.565740704536438, + 0.43415185809135437, + -0.01018626056611538, + 0.7009606957435608 + ], + "box_yaw_rad": -0.6818099851191705, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007365277845680754, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005065955787877047 + } + } + }, + { + "simulation_time_ns": 6760000000, + "center": [ + 0.7848724375225401, + 15.234384790744322, + 0.06439667121317418 + ], + "face_center": [ + 0.7390099484836308, + 15.270739496196503, + 0.11476702181910028 + ], + "face_normal": [ + -0.5939558711308379, + 0.4708224782182091, + 0.6523362796102639 + ], + "footprint_xy": [ + [ + 0.6369094529021604, + 15.081521659485448 + ], + [ + 0.9328354221429198, + 15.081521659485448 + ], + [ + 0.9328354221429198, + 15.387247922003198 + ], + [ + 0.6369094529021604, + 15.387247922003198 + ] + ], + "projected_box_corners": [ + [ + 0.695131606007585, + 15.154231070389809 + ], + [ + 0.8411104440651013, + 15.34454857846557 + ], + [ + 0.6369094529021604, + 15.196930413927435 + ], + [ + 0.7828882909596767, + 15.387247922003198 + ], + [ + 0.7868565840854035, + 15.081521659485448 + ], + [ + 0.9328354221429198, + 15.27183916756121 + ], + [ + 0.7286344309799789, + 15.124221003023075 + ], + [ + 0.8746132690374953, + 15.314538511098837 + ] + ], + "yaw_rad": -0.6702672890791261, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6771837472915649, + 15.245198249816895, + 0.09215055406093597 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7364352593453315, + 15.273242269306936, + 0.11193613607719263 + ], + "intended_face_normal": [ + -0.6058317713777355, + 0.4838202404262172, + 0.6315741776245878 + ], + "commanded_contact_point": [ + 0.6761389124393463, + 15.242866953590296, + 0.0631689376935518 + ], + "centerline_face_intersection": [ + 0.6742934224983315, + 15.235883937565717, + 0.0631689376935518 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6739188432693481, + 15.245440483093262, + 0.08735550940036774 + ], + "box_pose": [ + 0.7955575585365295, + 15.247979164123535, + 0.05893309786915779, + -0.5585645437240601, + 0.4438585937023163, + 0.008582721464335918, + 0.7006580233573914 + ], + "box_yaw_rad": -0.6738897117698475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006983016024578961, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004191220608211303 + } + } + }, + { + "simulation_time_ns": 6780000000, + "center": [ + 0.785436106301345, + 15.233958246826852, + 0.06485667529832727 + ], + "face_center": [ + 0.7399955535433564, + 15.269985617678259, + 0.11584087727467804 + ], + "face_normal": [ + -0.5884914592215018, + 0.4665832336410436, + 0.6602861452435074 + ], + "footprint_xy": [ + [ + 0.6375767852958848, + 15.081137580556092 + ], + [ + 0.9332954273068051, + 15.081137580556092 + ], + [ + 0.9332954273068051, + 15.386778913097611 + ], + [ + 0.6375767852958848, + 15.386778913097611 + ] + ], + "projected_box_corners": [ + [ + 0.6965173563873331, + 15.153192322258906 + ], + [ + 0.8424143217908282, + 15.343571409620935 + ], + [ + 0.6375767852958848, + 15.19639982573558 + ], + [ + 0.7834737506993799, + 15.386778913097611 + ], + [ + 0.7873984619033101, + 15.081137580556092 + ], + [ + 0.9332954273068051, + 15.271516667918121 + ], + [ + 0.7284578908118617, + 15.124345084032768 + ], + [ + 0.8743548562153568, + 15.314724171394797 + ] + ], + "yaw_rad": -0.6703636387380258, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6789126396179199, + 15.245959281921387, + 0.0956878513097763 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7390099484836308, + 15.270739496196503, + 0.11476702181910028 + ], + "intended_face_normal": [ + -0.5939558711308379, + 0.4708224782182091, + 0.6523362796102639 + ], + "commanded_contact_point": [ + 0.6781010973453522, + 15.240935268405998, + 0.06439667121317418 + ], + "centerline_face_intersection": [ + 0.6797536567550578, + 15.234384790744322, + 0.06439667121317418 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6771837472915649, + 15.245198249816895, + 0.09215055406093597 + ], + "box_pose": [ + 0.7970685958862305, + 15.246603012084961, + 0.06008964404463768, + -0.553748607635498, + 0.45014500617980957, + 0.019787315279245377, + 0.7002431154251099 + ], + "box_yaw_rad": -0.6702672890791261, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0065504776616760576, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030147813936994877 + } + } + }, + { + "simulation_time_ns": 6800000000, + "center": [ + 0.7856505367144975, + 15.233720015927158, + 0.0649930476095526 + ], + "face_center": [ + 0.7402995880437292, + 15.269599200884716, + 0.11616120474438091 + ], + "face_normal": [ + -0.587331014710158, + 0.464664107934728, + 0.6626685115016895 + ], + "footprint_xy": [ + [ + 0.6378628256340091, + 15.08091570135918 + ], + [ + 0.9334382477949857, + 15.08091570135918 + ], + [ + 0.9334382477949857, + 15.386524330495138 + ], + [ + 0.6378628256340091, + 15.386524330495138 + ] + ], + "projected_box_corners": [ + [ + 0.6970612422473135, + 15.152674071274296 + ], + [ + 0.8427363504534492, + 15.343222926789954 + ], + [ + 0.6378628256340091, + 15.19597547497948 + ], + [ + 0.7835379338401449, + 15.386524330495138 + ], + [ + 0.7877631395888499, + 15.08091570135918 + ], + [ + 0.9334382477949857, + 15.271464556874836 + ], + [ + 0.7285647229755456, + 15.124217105064364 + ], + [ + 0.8742398311816815, + 15.314765960580022 + ] + ], + "yaw_rad": -0.6693182988229209, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6788660883903503, + 15.244914054870605, + 0.09648831188678741 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7399955535433564, + 15.269985617678259, + 0.11584087727467804 + ], + "intended_face_normal": [ + -0.5884914592215018, + 0.4665832336410436, + 0.6602861452435074 + ], + "commanded_contact_point": [ + 0.6799940812587738, + 15.240028683084747, + 0.06485667529832727 + ], + "centerline_face_intersection": [ + 0.6815986029523505, + 15.233958246826852, + 0.06485667529832727 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6789126396179199, + 15.245959281921387, + 0.0956878513097763 + ], + "box_pose": [ + 0.7975927591323853, + 15.246206283569336, + 0.060522738844156265, + -0.551520049571991, + 0.4529857635498047, + 0.023625588044524193, + 0.7000508904457092 + ], + "box_yaw_rad": -0.6703636387380258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006070436257894658, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021486946734097343 + } + } + }, + { + "simulation_time_ns": 6820000000, + "center": [ + 0.7861471043538465, + 15.232700239035271, + 0.0650297428683396 + ], + "face_center": [ + 0.7404934109635815, + 15.268119161016521, + 0.11624931811110789 + ], + "face_normal": [ + -0.5912518006807239, + 0.45870333470215385, + 0.6633344170757958 + ], + "footprint_xy": [ + [ + 0.6387307139327673, + 15.079927153567306 + ], + [ + 0.9335634947749258, + 15.079927153567306 + ], + [ + 0.9335634947749258, + 15.385473324503236 + ], + [ + 0.6387307139327673, + 15.385473324503236 + ] + ], + "projected_box_corners": [ + [ + 0.6983910779661453, + 15.150764997529807 + ], + [ + 0.8422561079943957, + 15.342684520140558 + ], + [ + 0.6387307139327673, + 15.193553801892485 + ], + [ + 0.7825957439610177, + 15.385473324503236 + ], + [ + 0.7896984647466754, + 15.079927153567306 + ], + [ + 0.9335634947749258, + 15.271846676178058 + ], + [ + 0.7300381007132973, + 15.122715957929984 + ], + [ + 0.8739031307415478, + 15.314635480540735 + ] + ], + "yaw_rad": -0.659820436141041, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6779381632804871, + 15.240782737731934, + 0.0956595242023468 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7402995880437292, + 15.269599200884716, + 0.11616120474438091 + ], + "intended_face_normal": [ + -0.587331014710158, + 0.464664107934728, + 0.6626685115016895 + ], + "commanded_contact_point": [ + 0.6817386496067047, + 15.239342690627314, + 0.0649930476095526 + ], + "centerline_face_intersection": [ + 0.6822653095710329, + 15.233720015927158, + 0.0649930476095526 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6788660883903503, + 15.244914054870605, + 0.09648831188678741 + ], + "box_pose": [ + 0.7977826595306396, + 15.245989799499512, + 0.060651883482933044, + -0.5510679483413696, + 0.4535440504550934, + 0.025145316496491432, + 0.6999925971031189 + ], + "box_yaw_rad": -0.6693182988229209, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005622674700156767, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018795482913523676 + } + } + }, + { + "simulation_time_ns": 6840000000, + "center": [ + 0.7874311006083782, + 15.22996304675006, + 0.06501509669068799 + ], + "face_center": [ + 0.740843739092519, + 15.264166677639414, + 0.1162199229893841 + ], + "face_normal": [ + -0.6033435487847986, + 0.4429643442048965, + 0.6631434064676007 + ], + "footprint_xy": [ + [ + 0.6410983032708655, + 15.077336647396859 + ], + [ + 0.9337638979458909, + 15.077336647396859 + ], + [ + 0.9337638979458909, + 15.38258944610326 + ], + [ + 0.6410983032708655, + 15.38258944610326 + ] + ], + "projected_box_corners": [ + [ + 0.701848125680871, + 15.14574390917557 + ], + [ + 0.8405891749141725, + 15.341400104127262 + ], + [ + 0.6410983032708655, + 15.186933251151569 + ], + [ + 0.7798393525041669, + 15.38258944610326 + ], + [ + 0.7950228487125893, + 15.077336647396859 + ], + [ + 0.9337638979458909, + 15.27299284234855 + ], + [ + 0.7342730263025838, + 15.118525989372857 + ], + [ + 0.8730140755358854, + 15.314182184324551 + ] + ], + "yaw_rad": -0.633300889702389, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6781927347183228, + 15.233556747436523, + 0.09333233535289764 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7404934109635815, + 15.268119161016521, + 0.11624931811110789 + ], + "intended_face_normal": [ + -0.5912518006807239, + 0.45870333470215385, + 0.6633344170757958 + ], + "commanded_contact_point": [ + 0.6833406734466553, + 15.237999613787562, + 0.0650297428683396 + ], + "centerline_face_intersection": [ + 0.6835623842090643, + 15.232700239035271, + 0.0650297428683396 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6779381632804871, + 15.240782737731934, + 0.0956595242023468 + ], + "box_pose": [ + 0.7981598377227783, + 15.245086669921875, + 0.060687825083732605, + -0.5529891848564148, + 0.45116114616394043, + 0.028770120814442635, + 0.6998777389526367 + ], + "box_yaw_rad": -0.659820436141041, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005299374752290265, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002090856839496039 + } + } + }, + { + "simulation_time_ns": 6860000000, + "center": [ + 0.7897735226942016, + 15.22560862424228, + 0.06369960675221212 + ], + "face_center": [ + 0.7402417099932221, + 15.258148358309727, + 0.11319677816733892 + ], + "face_normal": [ + -0.6414765438600687, + 0.4214155511271862, + 0.6410279115344597 + ], + "footprint_xy": [ + [ + 0.6455700468403645, + 15.073476133395394 + ], + [ + 0.9339769985480388, + 15.073476133395394 + ], + [ + 0.9339769985480388, + 15.377741115089165 + ], + [ + 0.6455700468403645, + 15.377741115089165 + ] + ], + "projected_box_corners": [ + [ + 0.7062591360610978, + 15.138555601530289 + ], + [ + 0.8349133731460797, + 15.34098985002363 + ], + [ + 0.6455700468403645, + 15.175306866595824 + ], + [ + 0.7742242839253464, + 15.377741115089165 + ], + [ + 0.8053227614630569, + 15.073476133395394 + ], + [ + 0.9339769985480388, + 15.275910381888735 + ], + [ + 0.7446336722423235, + 15.11022739846093 + ], + [ + 0.8732879093273055, + 15.312661646954272 + ] + ], + "yaw_rad": -0.5812427962121571, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6805680990219116, + 15.22396469116211, + 0.08359909057617188 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.740843739092519, + 15.264166677639414, + 0.1162199229893841 + ], + "intended_face_normal": [ + -0.6033435487847986, + 0.4429643442048965, + 0.6631434064676007 + ], + "commanded_contact_point": [ + 0.6845845329761505, + 15.235118673474892, + 0.06501509669068799 + ], + "centerline_face_intersection": [ + 0.6866860859679418, + 15.22996304675006, + 0.06501509669068799 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6781927347183228, + 15.233556747436523, + 0.09333233535289764 + ], + "box_pose": [ + 0.7991132140159607, + 15.24266242980957, + 0.06067509576678276, + -0.5589404106140137, + 0.4437222182750702, + 0.037931762635707855, + 0.6994693875312805 + ], + "box_yaw_rad": -0.633300889702389, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005155626724831708, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031380277444282476 + } + } + }, + { + "simulation_time_ns": 6880000000, + "center": [ + 0.7926152086856977, + 15.220295847285792, + 0.06096038725774641 + ], + "face_center": [ + 0.7385703479075347, + 15.250720632582984, + 0.1069570180756431 + ], + "face_normal": [ + -0.6999241217894898, + 0.3940252749874027, + 0.5956931143303059 + ], + "footprint_xy": [ + [ + 0.6517761111402443, + 15.069487424208862 + ], + [ + 0.9334543062311512, + 15.069487424208862 + ], + [ + 0.9334543062311512, + 15.371104270362723 + ], + [ + 0.6517761111402443, + 15.371104270362723 + ] + ], + "projected_box_corners": [ + [ + 0.7103424409063537, + 15.130336994803248 + ], + [ + 0.8253645846748252, + 15.340821243558217 + ], + [ + 0.6517761111402443, + 15.160620021607754 + ], + [ + 0.7667982549087157, + 15.371104270362723 + ], + [ + 0.8184321624626798, + 15.069487424208862 + ], + [ + 0.9334543062311512, + 15.27997167296383 + ], + [ + 0.7598658326965703, + 15.099770451013368 + ], + [ + 0.8748879764650417, + 15.310254699768336 + ] + ], + "yaw_rad": -0.5127344788838005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6838436126708984, + 15.214091300964355, + 0.07655768096446991 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7402417099932221, + 15.258148358309727, + 0.11319677816733892 + ], + "intended_face_normal": [ + -0.6414765438600687, + 0.4214155511271862, + 0.6410279115344597 + ], + "commanded_contact_point": [ + 0.6858335185050964, + 15.230830008290319, + 0.06369960675221212 + ], + "centerline_face_intersection": [ + 0.6889276898322209, + 15.22560862424228, + 0.06369960675221212 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6805680990219116, + 15.22396469116211, + 0.08359909057617188 + ], + "box_pose": [ + 0.8008975386619568, + 15.238823890686035, + 0.059434082359075546, + -0.576059103012085, + 0.4209461212158203, + 0.045454274863004684, + 0.6992096900939941 + ], + "box_yaw_rad": -0.5812427962121571, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005221384048038546, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004656514543638466 + } + } + }, + { + "simulation_time_ns": 6900000000, + "center": [ + 0.7947795494648076, + 15.215646796290512, + 0.058252442005875024 + ], + "face_center": [ + 0.7367884333518299, + 15.243608481093776, + 0.10088317340685102 + ], + "face_normal": [ + -0.751031280912624, + 0.3621261558987605, + 0.5521020279716957 + ], + "footprint_xy": [ + [ + 0.6578762082414348, + 15.066799934227392 + ], + [ + 0.9316828906881803, + 15.066799934227392 + ], + [ + 0.9316828906881803, + 15.364493658353632 + ], + [ + 0.6578762082414348, + 15.364493658353632 + ] + ], + "projected_box_corners": [ + [ + 0.7138037399586243, + 15.122723303833922 + ], + [ + 0.8157006584622251, + 15.339870261089729 + ], + [ + 0.6578762082414348, + 15.147346701097824 + ], + [ + 0.7597731267450354, + 15.364493658353632 + ], + [ + 0.8297859721845796, + 15.066799934227392 + ], + [ + 0.9316828906881803, + 15.283946891483199 + ], + [ + 0.77385844046739, + 15.091423331491294 + ], + [ + 0.8757553589709907, + 15.308570288747102 + ] + ], + "yaw_rad": -0.44928365157149774, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6868881583213806, + 15.209927558898926, + 0.07293042540550232 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7385703479075347, + 15.250720632582984, + 0.1069570180756431 + ], + "intended_face_normal": [ + -0.6999241217894898, + 0.3940252749874027, + 0.5956931143303059 + ], + "commanded_contact_point": [ + 0.687850331068039, + 15.225765413186688, + 0.06096038725774641 + ], + "centerline_face_intersection": [ + 0.688114179296598, + 15.220295847285792, + 0.06096038725774641 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6838436126708984, + 15.214091300964355, + 0.07655768096446991 + ], + "box_pose": [ + 0.8030434846878052, + 15.234114646911621, + 0.05685264989733696, + -0.6006679534912109, + 0.38431480526924133, + 0.04837426543235779, + 0.6993997693061829 + ], + "box_yaw_rad": -0.5127344788838005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005469565900896003, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0061008999267836705 + } + } + }, + { + "simulation_time_ns": 6920000000, + "center": [ + 0.796348479028164, + 15.211771285934987, + 0.05510335754298589 + ], + "face_center": [ + 0.7346628010724836, + 15.237290131250642, + 0.09390890241638941 + ], + "face_normal": [ + -0.7988788082430205, + 0.3304894330278061, + 0.5025628066203485 + ], + "footprint_xy": [ + [ + 0.6637135833289782, + 15.065277547776708 + ], + [ + 0.9289833747273497, + 15.065277547776708 + ], + [ + 0.9289833747273497, + 15.358265024093267 + ], + [ + 0.6637135833289782, + 15.358265024093267 + ] + ], + "projected_box_corners": [ + [ + 0.7157986086091863, + 15.116315238408019 + ], + [ + 0.8056120188159891, + 15.33873748893119 + ], + [ + 0.6637135833289782, + 15.135842773570094 + ], + [ + 0.753526993535781, + 15.358265024093267 + ], + [ + 0.8391699645205469, + 15.065277547776708 + ], + [ + 0.9289833747273497, + 15.287699798299881 + ], + [ + 0.7870849392403388, + 15.084805082938784 + ], + [ + 0.8768983494471416, + 15.307227333461956 + ] + ], + "yaw_rad": -0.39225345604927786, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6890020370483398, + 15.209342002868652, + 0.07219243049621582 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7367884333518299, + 15.243608481093776, + 0.10088317340685102 + ], + "intended_face_normal": [ + -0.751031280912624, + 0.3621261558987605, + 0.5521020279716957 + ], + "commanded_contact_point": [ + 0.6903108406066895, + 15.221345131687071, + 0.058252442005875024 + ], + "centerline_face_intersection": [ + 0.6919671688438447, + 15.215646796290512, + 0.058252442005875024 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6868881583213806, + 15.209927558898926, + 0.07293042540550232 + ], + "box_pose": [ + 0.8045241236686707, + 15.230000495910645, + 0.054303232580423355, + -0.6213648915290833, + 0.34908321499824524, + 0.05123737454414368, + 0.6995865106582642 + ], + "box_yaw_rad": -0.44928365157149774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0056983353965594594, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005738114952906727 + } + } + }, + { + "simulation_time_ns": 6940000000, + "center": [ + 0.796950771582755, + 15.208519602258932, + 0.0501209868963017 + ], + "face_center": [ + 0.7309944855748342, + 15.23162116586769, + 0.08295832597679509 + ], + "face_normal": [ + -0.854186594171841, + 0.2991837038343874, + 0.4252697737932678 + ], + "footprint_xy": [ + [ + 0.6695385337037905, + 15.064910980130348 + ], + [ + 0.9243630094617193, + 15.064910980130348 + ], + [ + 0.9243630094617193, + 15.352128224387515 + ], + [ + 0.6695385337037905, + 15.352128224387515 + ] + ], + "projected_box_corners": [ + [ + 0.714420511890059, + 15.111114107347865 + ], + [ + 0.7924504374458778, + 15.337947852179562 + ], + [ + 0.6695385337037905, + 15.12529447955582 + ], + [ + 0.7475684592596094, + 15.352128224387515 + ], + [ + 0.8463330839059006, + 15.064910980130348 + ], + [ + 0.9243630094617193, + 15.291744724962044 + ], + [ + 0.8014511057196321, + 15.0790913523383 + ], + [ + 0.8794810312754509, + 15.305925097169997 + ] + ], + "yaw_rad": -0.3369025758448005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6909346580505371, + 15.209123611450195, + 0.07157990336418152 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7346628010724836, + 15.237290131250642, + 0.09390890241638941 + ], + "intended_face_normal": [ + -0.7988788082430205, + 0.3304894330278061, + 0.5025628066203485 + ], + "commanded_contact_point": [ + 0.6926153647899628, + 15.2175667926542, + 0.05510335754298589 + ], + "centerline_face_intersection": [ + 0.6996938762089226, + 15.211771285934987, + 0.05510335754298589 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6890020370483398, + 15.209342002868652, + 0.07219243049621582 + ], + "box_pose": [ + 0.8054869771003723, + 15.226567268371582, + 0.05134191736578941, + -0.639718770980835, + 0.3131316006183624, + 0.050091881304979324, + 0.7001423239707947 + ], + "box_yaw_rad": -0.39225345604927786, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005795506719212826, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0054317041996985145 + } + } + }, + { + "simulation_time_ns": 6960000000, + "center": [ + 0.7963756078959929, + 15.206333216297704, + 0.04504658242483231 + ], + "face_center": [ + 0.7266087012518557, + 15.227114533485164, + 0.07079382263575561 + ], + "face_normal": [ + -0.9035371755939017, + 0.26913465910783607, + 0.3334473293789113 + ], + "footprint_xy": [ + [ + 0.6746319112171579, + 15.065224781100714 + ], + [ + 0.9181193045748278, + 15.065224781100714 + ], + [ + 0.9181193045748278, + 15.347441651494695 + ], + [ + 0.6746319112171579, + 15.347441651494695 + ] + ], + "projected_box_corners": [ + [ + 0.7099085063506556, + 15.106787415475631 + ], + [ + 0.7785854912865534, + 15.33664281071436 + ], + [ + 0.6746319112171579, + 15.117586256255967 + ], + [ + 0.7433088961530558, + 15.347441651494695 + ], + [ + 0.8494423196389299, + 15.065224781100714 + ], + [ + 0.9181193045748278, + 15.295080176339441 + ], + [ + 0.8141657245054323, + 15.076023621881049 + ], + [ + 0.8828427094413303, + 15.305879017119777 + ] + ], + "yaw_rad": -0.28949953042707033, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.6933473348617554, + 15.20869255065918, + 0.07028427720069885 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7309944855748342, + 15.23162116586769, + 0.08295832597679509 + ], + "intended_face_normal": [ + -0.854186594171841, + 0.2991837038343874, + 0.4252697737932678 + ], + "commanded_contact_point": [ + 0.6948632347583771, + 15.214290948610493, + 0.0501209868963017 + ], + "centerline_face_intersection": [ + 0.7065544642205439, + 15.208519602258932, + 0.0501209868963017 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6909346580505371, + 15.209123611450195, + 0.07157990336418152 + ], + "box_pose": [ + 0.805584192276001, + 15.2236909866333, + 0.04667499661445618, + -0.6591479778289795, + 0.26733508706092834, + 0.03792959451675415, + 0.7018669843673706 + ], + "box_yaw_rad": -0.3369025758448005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005771346351562274, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006372447791431946 + } + } + }, + { + "simulation_time_ns": 6980000000, + "center": [ + 0.7944025644588821, + 15.206095760966809, + 0.04443443819007175 + ], + "face_center": [ + 0.7231649063344037, + 15.226349994009665, + 0.06627858737910197 + ], + "face_normal": [ + -0.9225845822006803, + 0.26230849836455333, + 0.28289918259070146 + ], + "footprint_xy": [ + [ + 0.6748847954279624, + 15.06512308186103 + ], + [ + 0.9139203334898018, + 15.06512308186103 + ], + [ + 0.9139203334898018, + 15.347068440072587 + ], + [ + 0.6748847954279624, + 15.347068440072587 + ] + ], + "projected_box_corners": [ + [ + 0.7042231254229012, + 15.105631547946743 + ], + [ + 0.771445017240845, + 15.335845223966981 + ], + [ + 0.6748847954279624, + 15.116854764052349 + ], + [ + 0.7421066872459062, + 15.347068440072587 + ], + [ + 0.846698441671858, + 15.06512308186103 + ], + [ + 0.9139203334898018, + 15.295336757881268 + ], + [ + 0.8173601116769191, + 15.076346297966635 + ], + [ + 0.884582003494863, + 15.306559973986873 + ] + ], + "yaw_rad": -0.27700937599939635, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.696895182132721, + 15.208663940429688, + 0.068647101521492 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7266087012518557, + 15.227114533485164, + 0.07079382263575561 + ], + "intended_face_normal": [ + -0.9035371755939017, + 0.26913465910783607, + 0.3334473293789113 + ], + "commanded_contact_point": [ + 0.6971006441116333, + 15.212010189274807, + 0.04504658242483231 + ], + "centerline_face_intersection": [ + 0.7109166849018352, + 15.206333216297704, + 0.04504658242483231 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6933473348617554, + 15.20869255065918, + 0.07028427720069885 + ], + "box_pose": [ + 0.804686427116394, + 15.221802711486816, + 0.042181842029094696, + -0.671482264995575, + 0.2189132124185562, + 0.01756182312965393, + 0.707728922367096 + ], + "box_yaw_rad": -0.28949953042707033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00567697297710325, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0059964526598171855 + } + } + }, + { + "simulation_time_ns": 7000000000, + "center": [ + 0.7967663641767763, + 15.20646910405443, + 0.04439429216239369 + ], + "face_center": [ + 0.7254906542700494, + 15.226638120439734, + 0.06619311670391691 + ], + "face_normal": [ + -0.9230773831791499, + 0.26120487457239383, + 0.28231219219707315 + ], + "footprint_xy": [ + [ + 0.6773792104817941, + 15.065564337703618 + ], + [ + 0.9161535178717585, + 15.065564337703618 + ], + [ + 0.9161535178717585, + 15.34737387040524 + ], + [ + 0.6773792104817941, + 15.34737387040524 + ] + ], + "projected_box_corners": [ + [ + 0.7066674396650224, + 15.10590237047423 + ], + [ + 0.7736020980583048, + 15.336199411844209 + ], + [ + 0.6773792104817941, + 15.11707682903526 + ], + [ + 0.7443138688750764, + 15.34737387040524 + ], + [ + 0.849218859478476, + 15.065564337703618 + ], + [ + 0.9161535178717585, + 15.295861379073598 + ], + [ + 0.8199306302952476, + 15.07673879626465 + ], + [ + 0.8868652886885301, + 15.30703583763463 + ] + ], + "yaw_rad": -0.2757623265942608, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7012290358543396, + 15.209415435791016, + 0.06732283532619476 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7231649063344037, + 15.226349994009665, + 0.06627858737910197 + ], + "intended_face_normal": [ + -0.9225845822006803, + 0.26230849836455333, + 0.28289918259070146 + ], + "commanded_contact_point": [ + 0.6991723823547363, + 15.211670006765397, + 0.04443443819007175 + ], + "centerline_face_intersection": [ + 0.710708000945526, + 15.206095760966809, + 0.04443443819007175 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.696895182132721, + 15.208663940429688, + 0.068647101521492 + ], + "box_pose": [ + 0.8027747869491577, + 15.221626281738281, + 0.042134322226047516, + -0.6702820062637329, + 0.19674019515514374, + 0.0010022524511441588, + 0.7155517935752869 + ], + "box_yaw_rad": -0.27700937599939635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005574245798588111, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021869028446171467 + } + } + }, + { + "simulation_time_ns": 7020000000, + "center": [ + 0.8006938664049831, + 15.207457071951263, + 0.044225480915495025 + ], + "face_center": [ + 0.7296427208513737, + 15.22801814457669, + 0.06638810143468366 + ], + "face_normal": [ + -0.9201690954089944, + 0.266282316083173, + 0.28702364073282166 + ], + "footprint_xy": [ + [ + 0.6806158975386576, + 15.066198157857777 + ], + [ + 0.9207718352713087, + 15.066198157857777 + ], + [ + 0.9207718352713087, + 15.34871598604475 + ], + [ + 0.6806158975386576, + 15.34871598604475 + ] + ], + "projected_box_corners": [ + [ + 0.7103322681458727, + 15.10732030310863 + ], + [ + 0.7786695441640897, + 15.33720419512157 + ], + [ + 0.6806158975386576, + 15.118832094031811 + ], + [ + 0.7489531735568746, + 15.34871598604475 + ], + [ + 0.8524345592530915, + 15.066198157857777 + ], + [ + 0.9207718352713087, + 15.296082049870716 + ], + [ + 0.8227181886458764, + 15.077709948780956 + ], + [ + 0.8910554646640936, + 15.307593840793896 + ] + ], + "yaw_rad": -0.2816892179941333, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.705500066280365, + 15.2110013961792, + 0.0670340359210968 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7254906542700494, + 15.226638120439734, + 0.06619311670391691 + ], + "intended_face_normal": [ + -0.9230773831791499, + 0.26120487457239383, + 0.28231219219707315 + ], + "commanded_contact_point": [ + 0.7009811747074127, + 15.211925496583554, + 0.04439429216239369 + ], + "centerline_face_intersection": [ + 0.7131164824675067, + 15.20646910405443, + 0.04439429216239369 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7012290358543396, + 15.209415435791016, + 0.06732283532619476 + ], + "box_pose": [ + 0.8051208257675171, + 15.222009658813477, + 0.042097363620996475, + -0.67044597864151, + 0.19611169397830963, + 0.0012295915512368083, + 0.7155703902244568 + ], + "box_yaw_rad": -0.2757623265942608, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005456392529124658, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018271881473512044 + } + } + }, + { + "simulation_time_ns": 7040000000, + "center": [ + 0.8033759752280824, + 15.208853677121619, + 0.04430193664024678 + ], + "face_center": [ + 0.7322872445900963, + 15.229493268080686, + 0.06627019271973969 + ], + "face_normal": [ + -0.9206558522771936, + 0.26729919122959966, + 0.28450646596722223 + ], + "footprint_xy": [ + [ + 0.6833109906142277, + 15.06758347028956 + ], + [ + 0.9234409598419369, + 15.06758347028956 + ], + [ + 0.9234409598419369, + 15.350123883953678 + ], + [ + 0.6833109906142277, + 15.350123883953678 + ] + ], + "projected_box_corners": [ + [ + 0.7127604195835221, + 15.108862652207693 + ], + [ + 0.781263498565965, + 15.33869896969489 + ], + [ + 0.6833109906142277, + 15.120287566466482 + ], + [ + 0.7518140695966706, + 15.350123883953678 + ], + [ + 0.8549378808594941, + 15.06758347028956 + ], + [ + 0.9234409598419369, + 15.297419787776755 + ], + [ + 0.8254884518901997, + 15.079008384548347 + ], + [ + 0.8939915308726426, + 15.308844702035545 + ] + ], + "yaw_rad": -0.2825669817248199, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7083103060722351, + 15.212600708007812, + 0.06650754809379578 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7296427208513737, + 15.22801814457669, + 0.06638810143468366 + ], + "intended_face_normal": [ + -0.9201690954089944, + 0.266282316083173, + 0.28702364073282166 + ], + "commanded_contact_point": [ + 0.7025767314434052, + 15.21277169151127, + 0.044225480915495025 + ], + "centerline_face_intersection": [ + 0.7167796007589308, + 15.207457071951263, + 0.044225480915495025 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.705500066280365, + 15.2110013961792, + 0.0670340359210968 + ], + "box_pose": [ + 0.8091303110122681, + 15.22295093536377, + 0.04191283881664276, + -0.6693087220191956, + 0.19978688657283783, + 0.000807619362603873, + 0.715618908405304 + ], + "box_yaw_rad": -0.2816892179941333, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0053146195600071895, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018139306465635263 + } + } + }, + { + "simulation_time_ns": 7060000000, + "center": [ + 0.8047313078209686, + 15.209223974368022, + 0.04419506506369962 + ], + "face_center": [ + 0.7336760396118637, + 15.229719807821574, + 0.06640484422354316 + ], + "face_normal": [ + -0.9202224870911179, + 0.2654374166898849, + 0.2876343828028338 + ], + "footprint_xy": [ + [ + 0.6847210931770276, + 15.068033869264266 + ], + [ + 0.9247415224649095, + 15.068033869264266 + ], + [ + 0.9247415224649095, + 15.350414079471781 + ], + [ + 0.6847210931770276, + 15.350414079471781 + ] + ], + "projected_box_corners": [ + [ + 0.7145347531676979, + 15.109025536171368 + ], + [ + 0.7826309860466998, + 15.338985032405196 + ], + [ + 0.6847210931770276, + 15.12045458323795 + ], + [ + 0.7528173260560295, + 15.350414079471781 + ], + [ + 0.8566452895859076, + 15.068033869264266 + ], + [ + 0.9247415224649095, + 15.297993365498096 + ], + [ + 0.8268316295952373, + 15.079462916330849 + ], + [ + 0.8949278624742392, + 15.309422412564679 + ] + ], + "yaw_rad": -0.28082631032910593, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7097290754318237, + 15.212885856628418, + 0.06638213992118835 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7322872445900963, + 15.229493268080686, + 0.06627019271973969 + ], + "intended_face_normal": [ + -0.9206558522771936, + 0.26729919122959966, + 0.28450646596722223 + ], + "commanded_contact_point": [ + 0.7041378664970398, + 15.214018415446178, + 0.04430193664024678 + ], + "centerline_face_intersection": [ + 0.7195060756120097, + 15.208853677121619, + 0.04430193664024678 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7083103060722351, + 15.212600708007812, + 0.06650754809379578 + ], + "box_pose": [ + 0.8118301630020142, + 15.22433853149414, + 0.041993770748376846, + -0.6696023344993591, + 0.19917811453342438, + -0.0003905794583261013, + 0.7155141830444336 + ], + "box_yaw_rad": -0.2825669817248199, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005164738324559439, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019993270626408283 + } + } + }, + { + "simulation_time_ns": 7080000000, + "center": [ + 0.8048005620906666, + 15.209129761211786, + 0.04429120146588524 + ], + "face_center": [ + 0.7336699774619865, + 15.229587800218404, + 0.06629377710966466 + ], + "face_normal": [ + -0.9211978948924987, + 0.2649479484093299, + 0.2849509317415357 + ], + "footprint_xy": [ + [ + 0.6849413072240066, + 15.067980641606491 + ], + [ + 0.9246598169573267, + 15.067980641606491 + ], + [ + 0.9246598169573267, + 15.350278880817081 + ], + [ + 0.6849413072240066, + 15.350278880817081 + ] + ], + "projected_box_corners": [ + [ + 0.7144624988317441, + 15.108896719619727 + ], + [ + 0.7823986476999664, + 15.33890055739604 + ], + [ + 0.6849413072240066, + 15.12027504304077 + ], + [ + 0.7528774560922289, + 15.350278880817081 + ], + [ + 0.8567236680891044, + 15.067980641606491 + ], + [ + 0.9246598169573267, + 15.297984479382803 + ], + [ + 0.8272024764813669, + 15.079358965027534 + ], + [ + 0.8951386253495891, + 15.309362802803847 + ] + ], + "yaw_rad": -0.2800536491705849, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7091076970100403, + 15.212790489196777, + 0.06574417650699615 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7336760396118637, + 15.229719807821574, + 0.06640484422354316 + ], + "intended_face_normal": [ + -0.9202224870911179, + 0.2654374166898849, + 0.2876343828028338 + ], + "commanded_contact_point": [ + 0.7057619142532349, + 15.214242237402166, + 0.04419506506369962 + ], + "centerline_face_intersection": [ + 0.7208219109146612, + 15.209223974368022, + 0.04419506506369962 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7097290754318237, + 15.212885856628418, + 0.06638213992118835 + ], + "box_pose": [ + 0.8131493330001831, + 15.224725723266602, + 0.04186820611357689, + -0.6695870161056519, + 0.199716717004776, + 0.0014104620786383748, + 0.7153770923614502 + ], + "box_yaw_rad": -0.28082631032910593, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005018263034143617, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016428782414586046 + } + } + }, + { + "simulation_time_ns": 7100000000, + "center": [ + 0.804524692350025, + 15.209208507656506, + 0.04457492704297909 + ], + "face_center": [ + 0.7332547173339242, + 15.229699474875376, + 0.06609040349983115 + ], + "face_normal": [ + -0.9230031117641211, + 0.2653743950632934, + 0.27864260814285113 + ], + "footprint_xy": [ + [ + 0.6848885458643323, + 15.06811278092079 + ], + [ + 0.9241608388357175, + 15.06811278092079 + ], + [ + 0.9241608388357175, + 15.350304234392222 + ], + [ + 0.6848885458643323, + 15.350304234392222 + ] + ], + "projected_box_corners": [ + [ + 0.7137379159673991, + 15.10909471535853 + ], + [ + 0.7816208888035162, + 15.339113552940209 + ], + [ + 0.6848885458643323, + 15.120285396810544 + ], + [ + 0.7527715187004493, + 15.350304234392222 + ], + [ + 0.8562778659996005, + 15.06811278092079 + ], + [ + 0.9241608388357175, + 15.298131618502468 + ], + [ + 0.8274284958965337, + 15.079303462372803 + ], + [ + 0.8953114687326508, + 15.309322299954482 + ] + ], + "yaw_rad": -0.27996083067986904, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7055588960647583, + 15.212928771972656, + 0.06518398225307465 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7336699774619865, + 15.229587800218404, + 0.06629377710966466 + ], + "intended_face_normal": [ + -0.9211978948924987, + 0.2649479484093299, + 0.2849509317415357 + ], + "commanded_contact_point": [ + 0.7071061480045319, + 15.214001595126529, + 0.04429120146588524 + ], + "centerline_face_intersection": [ + 0.7209800124133915, + 15.209129761211786, + 0.04429120146588524 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7091076970100403, + 15.212790489196777, + 0.06574417650699615 + ], + "box_pose": [ + 0.813215434551239, + 15.22463607788086, + 0.041983433067798615, + -0.6697593331336975, + 0.19849589467048645, + 0.0006575353327207267, + 0.7155567407608032 + ], + "box_yaw_rad": -0.2800536491705849, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004871833914743961, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013689833055135865 + } + } + }, + { + "simulation_time_ns": 7120000000, + "center": [ + 0.8051104917641694, + 15.209167791375469, + 0.04428822613507117 + ], + "face_center": [ + 0.7341454656550314, + 15.229642952712007, + 0.06680349834018544 + ], + "face_normal": [ + -0.919053779805017, + 0.2651696962602937, + 0.2915907617877217 + ], + "footprint_xy": [ + [ + 0.6850037662253485, + 15.068042628715489 + ], + [ + 0.9252172173029901, + 15.068042628715489 + ], + [ + 0.9252172173029901, + 15.35029295403545 + ], + [ + 0.6850037662253485, + 15.35029295403545 + ] + ], + "projected_box_corners": [ + [ + 0.715314556096919, + 15.108992951388567 + ], + [ + 0.7832871650847141, + 15.339002386739685 + ], + [ + 0.6850037662253485, + 15.120283518684332 + ], + [ + 0.7529763752131438, + 15.35029295403545 + ], + [ + 0.857244608315195, + 15.068042628715489 + ], + [ + 0.9252172173029901, + 15.298052064066606 + ], + [ + 0.8269338184436246, + 15.079333196011252 + ], + [ + 0.8949064274314197, + 15.309342631362371 + ] + ], + "yaw_rad": -0.28089601330382985, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7035027146339417, + 15.213153839111328, + 0.06448814272880554 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7332547173339242, + 15.229699474875376, + 0.06609040349983115 + ], + "intended_face_normal": [ + -0.9230031117641211, + 0.2653743950632934, + 0.27864260814285113 + ], + "commanded_contact_point": [ + 0.7086042213439941, + 15.213931530998604, + 0.04457492704297909 + ], + "centerline_face_intersection": [ + 0.7208680795745191, + 15.209208507656506, + 0.04457492704297909 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7055588960647583, + 15.212928771972656, + 0.06518398225307465 + ], + "box_pose": [ + 0.812952995300293, + 15.224711418151855, + 0.042293429374694824, + -0.6703904867172241, + 0.1962035745382309, + -0.0016129030846059322, + 0.7155964374542236 + ], + "box_yaw_rad": -0.27996083067986904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004723023342097933, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015263135049939204 + } + } + }, + { + "simulation_time_ns": 7140000000, + "center": [ + 0.80547857762851, + 15.209232728865025, + 0.04435565125450994 + ], + "face_center": [ + 0.7347096894464489, + 15.229744342333454, + 0.06744770092183983 + ], + "face_normal": [ + -0.9165136369610496, + 0.2656417804887141, + 0.2990604906924976 + ], + "footprint_xy": [ + [ + 0.6850926308887813, + 15.068149401229368 + ], + [ + 0.9258645243682389, + 15.068149401229368 + ], + [ + 0.9258645243682389, + 15.350316056500683 + ], + [ + 0.6850926308887813, + 15.350316056500683 + ] + ], + "projected_box_corners": [ + [ + 0.716310464622433, + 15.109172628166228 + ], + [ + 0.7843267480041165, + 15.339187916619727 + ], + [ + 0.6850926308887813, + 15.120300768047183 + ], + [ + 0.7531089142704648, + 15.350316056500683 + ], + [ + 0.8578482409865552, + 15.068149401229368 + ], + [ + 0.9258645243682389, + 15.298164689682869 + ], + [ + 0.8266304072529036, + 15.079277541110324 + ], + [ + 0.8946466906345871, + 15.309292829563825 + ] + ], + "yaw_rad": -0.282109292279456, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7038789987564087, + 15.213862419128418, + 0.06234583258628845 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7341454656550314, + 15.229642952712007, + 0.06680349834018544 + ], + "intended_face_normal": [ + -0.919053779805017, + 0.2651696962602937, + 0.2915907617877217 + ], + "commanded_contact_point": [ + 0.7106255340576172, + 15.213731372808132, + 0.04428822613507117 + ], + "centerline_face_intersection": [ + 0.7210943921537422, + 15.209167791375469, + 0.04428822613507117 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7035027146339417, + 15.213153839111328, + 0.06448814272880554 + ], + "box_pose": [ + 0.813507616519928, + 15.224672317504883, + 0.041905030608177185, + -0.6700485944747925, + 0.20115575194358826, + 0.003077914472669363, + 0.7145360112190247 + ], + "box_yaw_rad": -0.28089601330382985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00456358143266357, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020513326882937205 + } + } + }, + { + "simulation_time_ns": 7160000000, + "center": [ + 0.8056291062869313, + 15.209257200644505, + 0.04437473195184137 + ], + "face_center": [ + 0.7349417300641292, + 15.229783406832171, + 0.06770227764513623 + ], + "face_normal": [ + -0.915457991971345, + 0.26583076786048265, + 0.30211035235899386 + ], + "footprint_xy": [ + [ + 0.6851312908275813, + 15.068188561333528 + ], + [ + 0.9261269217462814, + 15.068188561333528 + ], + [ + 0.9261269217462814, + 15.350325839955481 + ], + [ + 0.6851312908275813, + 15.350325839955481 + ] + ], + "projected_box_corners": [ + [ + 0.7167176382818634, + 15.10924097370886 + ], + [ + 0.7847521693006773, + 15.339257224396773 + ], + [ + 0.6851312908275813, + 15.120309589267569 + ], + [ + 0.753165821846395, + 15.350325839955481 + ], + [ + 0.8580923907274676, + 15.068188561333528 + ], + [ + 0.9261269217462814, + 15.298204812021442 + ], + [ + 0.8265060432731854, + 15.079257176892238 + ], + [ + 0.8945405742919993, + 15.30927342758015 + ] + ], + "yaw_rad": -0.2826079842252283, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.706215500831604, + 15.214872360229492, + 0.06303644180297852 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7347096894464489, + 15.229744342333454, + 0.06744770092183983 + ], + "intended_face_normal": [ + -0.9165136369610496, + 0.2656417804887141, + 0.2990604906924976 + ], + "commanded_contact_point": [ + 0.7127696919441223, + 15.213611122687153, + 0.04435565125450994 + ], + "centerline_face_intersection": [ + 0.7212296250788608, + 15.209232728865025, + 0.04435565125450994 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7038789987564087, + 15.213862419128418, + 0.06234583258628845 + ], + "box_pose": [ + 0.8138551115989685, + 15.224733352661133, + 0.041876547038555145, + -0.6705781817436218, + 0.20422935485839844, + 0.005792420357465744, + 0.7131490707397461 + ], + "box_yaw_rad": -0.282109292279456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004378393822127864, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021485854138453314 + } + } + }, + { + "simulation_time_ns": 7180000000, + "center": [ + 0.8055858326784546, + 15.209244898333932, + 0.044351535423166034 + ], + "face_center": [ + 0.7348735067047052, + 15.229763223814444, + 0.06761029439885183 + ], + "face_normal": [ + -0.9157811111776714, + 0.26572870640722135, + 0.3012195094144459 + ], + "footprint_xy": [ + [ + 0.6851224539181198, + 15.068168831796202 + ], + [ + 0.9260492114387895, + 15.068168831796202 + ], + [ + 0.9260492114387895, + 15.350320964871662 + ], + [ + 0.6851224539181198, + 15.350320964871662 + ] + ], + "projected_box_corners": [ + [ + 0.7165972663508205, + 15.109205482757229 + ], + [ + 0.7846245594912906, + 15.339221513608319 + ], + [ + 0.6851224539181198, + 15.120304934020572 + ], + [ + 0.7531497470585898, + 15.350320964871662 + ], + [ + 0.8580219182983193, + 15.068168831796202 + ], + [ + 0.9260492114387895, + 15.298184862647291 + ], + [ + 0.8265471058656185, + 15.079268283059545 + ], + [ + 0.8945743990060886, + 15.309284313910632 + ] + ], + "yaw_rad": -0.2824107032665986, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7084811925888062, + 15.21760082244873, + 0.06441143155097961 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7349417300641292, + 15.229783406832171, + 0.06770227764513623 + ], + "intended_face_normal": [ + -0.915457991971345, + 0.26583076786048265, + 0.30211035235899386 + ], + "commanded_contact_point": [ + 0.7147737789154053, + 15.213410988083233, + 0.04437473195184137 + ], + "centerline_face_intersection": [ + 0.7212830034743241, + 15.209257200644505, + 0.04437473195184137 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.706215500831604, + 15.214872360229492, + 0.06303644180297852 + ], + "box_pose": [ + 0.813997209072113, + 15.224756240844727, + 0.041857533156871796, + -0.6707682609558105, + 0.2054833471775055, + 0.006899133790284395, + 0.7126001119613647 + ], + "box_yaw_rad": -0.2826079842252283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00415378743872836, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020141456057502756 + } + } + }, + { + "simulation_time_ns": 7200000000, + "center": [ + 0.8054895641903633, + 15.209489929156945, + 0.04460744143148812 + ], + "face_center": [ + 0.7343228897522386, + 15.230158101235002, + 0.06629466645203881 + ], + "face_normal": [ + -0.9216652867558022, + 0.26766933955305894, + 0.2808668892471878 + ], + "footprint_xy": [ + [ + 0.6855464615876112, + 15.068257408949052 + ], + [ + 0.9254326667931154, + 15.068257408949052 + ], + [ + 0.9254326667931154, + 15.350722449364838 + ], + [ + 0.6855464615876112, + 15.350722449364838 + ] + ], + "projected_box_corners": [ + [ + 0.7146174790976678, + 15.109593753105164 + ], + [ + 0.7830993179168658, + 15.339437877847729 + ], + [ + 0.6855464615876112, + 15.120878324622275 + ], + [ + 0.7540283004068092, + 15.350722449364838 + ], + [ + 0.8569508279739174, + 15.068257408949052 + ], + [ + 0.9254326667931154, + 15.298101533691614 + ], + [ + 0.8278798104638608, + 15.07954198046616 + ], + [ + 0.8963616492830588, + 15.309386105208723 + ] + ], + "yaw_rad": -0.28264410313358124, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7091714143753052, + 15.219371795654297, + 0.06283366680145264 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7348735067047052, + 15.229763223814444, + 0.06761029439885183 + ], + "intended_face_normal": [ + -0.9157811111776714, + 0.26572870640722135, + 0.3012195094144459 + ], + "commanded_contact_point": [ + 0.7167625772953033, + 15.213064448808067, + 0.044351535423166034 + ], + "centerline_face_intersection": [ + 0.7212694900841625, + 15.209244898333932, + 0.044351535423166034 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7084811925888062, + 15.21760082244873, + 0.06441143155097961 + ], + "box_pose": [ + 0.8139563798904419, + 15.22474479675293, + 0.041847795248031616, + -0.6706675887107849, + 0.20510035753250122, + 0.0065793427638709545, + 0.7128081321716309 + ], + "box_yaw_rad": -0.2824107032665986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003819550474136408, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020188973584756406 + } + } + }, + { + "simulation_time_ns": 7220000000, + "center": [ + 0.8046510893953271, + 15.209391390780477, + 0.046301032812445284 + ], + "face_center": [ + 0.7326924101785403, + 15.230370113666323, + 0.06484951874911922 + ], + "face_normal": [ + -0.931922381346785, + 0.2716912206030564, + 0.24021771067262776 + ], + "footprint_xy": [ + [ + 0.6860625520027096, + 15.068409709760648 + ], + [ + 0.9232396267879447, + 15.068409709760648 + ], + [ + 0.9232396267879447, + 15.350373071800304 + ], + [ + 0.6860625520027096, + 15.350373071800304 + ] + ], + "projected_box_corners": [ + [ + 0.7107646736938849, + 15.110367155532343 + ], + [ + 0.779322268354371, + 15.340179343429542 + ], + [ + 0.6860625520027096, + 15.120560883903103 + ], + [ + 0.7546201466631958, + 15.350373071800304 + ], + [ + 0.8546820321274584, + 15.068409709760648 + ], + [ + 0.9232396267879447, + 15.298221897657848 + ], + [ + 0.8299799104362833, + 15.07860343813141 + ], + [ + 0.8985375050967694, + 15.30841562602861 + ] + ], + "yaw_rad": -0.28367595452675687, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7086590528488159, + 15.219290733337402, + 0.060727596282958984 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7343228897522386, + 15.230158101235002, + 0.06629466645203881 + ], + "intended_face_normal": [ + -0.9216652867558022, + 0.26766933955305894, + 0.2808668892471878 + ], + "commanded_contact_point": [ + 0.7188993442058563, + 15.212914204971186, + 0.04460744143148812 + ], + "centerline_face_intersection": [ + 0.7217115213140491, + 15.209489929156945, + 0.04460744143148812 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7091714143753052, + 15.219371795654297, + 0.06283366680145264 + ], + "box_pose": [ + 0.8139519095420837, + 15.224971771240234, + 0.0423089824616909, + -0.6700736880302429, + 0.19790001213550568, + -0.0017151731299236417, + 0.7154256105422974 + ], + "box_yaw_rad": -0.28264410313358124, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0034242758142423234, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002157274652344988 + } + } + }, + { + "simulation_time_ns": 7240000000, + "center": [ + 0.8043154374154732, + 15.207598638714485, + 0.04855162413108882 + ], + "face_center": [ + 0.7313013809391823, + 15.228175189923071, + 0.06296543381202246 + ], + "face_normal": [ + -0.9455903599645299, + 0.2664827761004265, + 0.18667035010005328 + ], + "footprint_xy": [ + [ + 0.6886704161579043, + 15.067583943671854 + ], + [ + 0.9199604586730421, + 15.067583943671854 + ], + [ + 0.9199604586730421, + 15.347613333757117 + ], + [ + 0.6886704161579043, + 15.347613333757117 + ] + ], + "projected_box_corners": [ + [ + 0.7077621522270079, + 15.108737046089026 + ], + [ + 0.7739323457204604, + 15.33924597045733 + ], + [ + 0.6886704161579043, + 15.117104409388812 + ], + [ + 0.7548406096513567, + 15.347613333757117 + ], + [ + 0.8537902651795896, + 15.067583943671854 + ], + [ + 0.9199604586730421, + 15.298092868040158 + ], + [ + 0.8346985291104858, + 15.07595130697164 + ], + [ + 0.9008687226039384, + 15.306460231339944 + ] + ], + "yaw_rad": -0.2746921615910517, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7079777717590332, + 15.216915130615234, + 0.058273136615753174 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7326924101785403, + 15.230370113666323, + 0.06484951874911922 + ], + "intended_face_normal": [ + -0.931922381346785, + 0.2716912206030564, + 0.24021771067262776 + ], + "commanded_contact_point": [ + 0.7212173688411713, + 15.212419692892443, + 0.046301032812445284 + ], + "centerline_face_intersection": [ + 0.7217951397401114, + 15.209391390780477, + 0.046301032812445284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7086590528488159, + 15.219290733337402, + 0.060727596282958984 + ], + "box_pose": [ + 0.8132246136665344, + 15.224838256835938, + 0.04418663680553436, + -0.6735321283340454, + 0.18371936678886414, + -0.016911640763282776, + 0.7157622575759888 + ], + "box_yaw_rad": -0.28367595452675687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003028302111965291, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029130794997052002 + } + } + }, + { + "simulation_time_ns": 7260000000, + "center": [ + 0.8053171370906542, + 15.204512192142577, + 0.05006892201331007 + ], + "face_center": [ + 0.7315629286683564, + 15.224166841821503, + 0.061740090919109966 + ], + "face_normal": [ + -0.9551759189490592, + 0.25454341481366605, + 0.15115096105399672 + ], + "footprint_xy": [ + [ + 0.692524020403414, + 15.065560872987902 + ], + [ + 0.9181102537778945, + 15.065560872987902 + ], + [ + 0.9181102537778945, + 15.343463511297253 + ], + [ + 0.692524020403414, + 15.343463511297253 + ] + ], + "projected_box_corners": [ + [ + 0.7079293150588536, + 15.104870172345755 + ], + [ + 0.7706018369332986, + 15.336351771015405 + ], + [ + 0.692524020403414, + 15.111981912627604 + ], + [ + 0.755196542277859, + 15.343463511297253 + ], + [ + 0.8554377319034494, + 15.065560872987902 + ], + [ + 0.9181102537778945, + 15.297042471657551 + ], + [ + 0.8400324372480097, + 15.07267261326975 + ], + [ + 0.9027049591224547, + 15.3041542119394 + ] + ], + "yaw_rad": -0.2604360627519159, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7085410952568054, + 15.212994575500488, + 0.056243106722831726 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7313013809391823, + 15.228175189923071, + 0.06296543381202246 + ], + "intended_face_normal": [ + -0.9455903599645299, + 0.2664827761004265, + 0.18667035010005328 + ], + "commanded_contact_point": [ + 0.7240731465816498, + 15.21025428115042, + 0.04855162413108882 + ], + "centerline_face_intersection": [ + 0.7226571240689471, + 15.207598638714485, + 0.04855162413108882 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7079777717590332, + 15.216915130615234, + 0.058273136615753174 + ], + "box_pose": [ + 0.8128557801246643, + 15.223092079162598, + 0.04665488004684448, + -0.6790493130683899, + 0.16163964569568634, + -0.03282445669174194, + 0.715323269367218 + ], + "box_yaw_rad": -0.2746921615910517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002655642435935308, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004231977764480667 + } + } + }, + { + "simulation_time_ns": 7280000000, + "center": [ + 0.8070493887383443, + 15.202082809715654, + 0.05049693942867921 + ], + "face_center": [ + 0.7330721816078081, + 15.221602148495565, + 0.06091677397068446 + ], + "face_normal": [ + -0.9580639303672885, + 0.25279103057585406, + 0.134945181391819 + ], + "footprint_xy": [ + [ + 0.6952248214442566, + 15.06339446917986 + ], + [ + 0.9188739560324322, + 15.06339446917986 + ], + [ + 0.9188739560324322, + 15.340771150251449 + ], + [ + 0.6952248214442566, + 15.340771150251449 + ] + ], + "projected_box_corners": [ + [ + 0.7088958572973041, + 15.10243314673968 + ], + [ + 0.7709195417713596, + 15.334084816963664 + ], + [ + 0.6952248214442566, + 15.109119480027465 + ], + [ + 0.757248505918312, + 15.340771150251449 + ], + [ + 0.8568502715583766, + 15.06339446917986 + ], + [ + 0.9188739560324322, + 15.295046139403842 + ], + [ + 0.843179235705329, + 15.070080802467645 + ], + [ + 0.9052029201793846, + 15.301732472691628 + ] + ], + "yaw_rad": -0.25797660531981076, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7098692655563354, + 15.210675239562988, + 0.05432748794555664 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7315629286683564, + 15.224166841821503, + 0.061740090919109966 + ], + "intended_face_normal": [ + -0.9551759189490592, + 0.25454341481366605, + 0.15115096105399672 + ], + "commanded_contact_point": [ + 0.7274672734737396, + 15.206828539244196, + 0.05006892201331007 + ], + "centerline_face_intersection": [ + 0.7244782964335376, + 15.204512192142577, + 0.05006892201331007 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7085410952568054, + 15.212994575500488, + 0.056243106722831726 + ], + "box_pose": [ + 0.8137000203132629, + 15.220108985900879, + 0.04832278937101364, + -0.6828140616416931, + 0.14417745172977448, + -0.0403100848197937, + 0.7150894403457642 + ], + "box_yaw_rad": -0.2604360627519159, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0023163471016188473, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00505549184857981 + } + } + }, + { + "simulation_time_ns": 7300000000, + "center": [ + 0.8084493619438964, + 15.200473486697765, + 0.051296635904076134 + ], + "face_center": [ + 0.7343260927102988, + 15.220331373121446, + 0.059876260129427664 + ], + "face_normal": [ + -0.9599555512862792, + 0.2571754930175931, + 0.11111298770593514 + ], + "footprint_xy": [ + [ + 0.6974025636367096, + 15.061831881456126 + ], + [ + 0.9194961602510832, + 15.061831881456126 + ], + [ + 0.9194961602510832, + 15.339115091939403 + ], + [ + 0.6974025636367096, + 15.339115091939403 + ] + ], + "projected_box_corners": [ + [ + 0.7084848584150382, + 15.101547654303491 + ], + [ + 0.7712496217838881, + 15.332995057028025 + ], + [ + 0.6974025636367096, + 15.10766768921487 + ], + [ + 0.7601673270055594, + 15.339115091939403 + ], + [ + 0.8567313968822332, + 15.061831881456126 + ], + [ + 0.9194961602510832, + 15.293279284180661 + ], + [ + 0.8456491021039046, + 15.067951916367505 + ], + [ + 0.9084138654727546, + 15.29939931909204 + ] + ], + "yaw_rad": -0.261756795527769, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7110739946365356, + 15.209636688232422, + 0.05197392404079437 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7330721816078081, + 15.221602148495565, + 0.06091677397068446 + ], + "intended_face_normal": [ + -0.9580639303672885, + 0.25279103057585406, + 0.134945181391819 + ], + "commanded_contact_point": [ + 0.7311479794979096, + 15.20405545962338, + 0.05049693942867921 + ], + "centerline_face_intersection": [ + 0.7264542306659219, + 15.202082809715654, + 0.05049693942867921 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7098692655563354, + 15.210675239562988, + 0.05432748794555664 + ], + "box_pose": [ + 0.8154226541519165, + 15.217693328857422, + 0.048829060047864914, + -0.6839160919189453, + 0.13757459819316864, + -0.04518035799264908, + 0.7150459885597229 + ], + "box_yaw_rad": -0.25797660531981076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0019726499077254564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046282573748232135 + } + } + }, + { + "simulation_time_ns": 7320000000, + "center": [ + 0.810978994800116, + 15.196281545341867, + 0.053027770797825724 + ], + "face_center": [ + 0.7365096609437879, + 15.214407235838358, + 0.06240766342106181 + ], + "face_normal": [ + -0.9644373646106088, + 0.23474217196450953, + 0.12147710276739065 + ], + "footprint_xy": [ + [ + 0.7015977412898491, + 15.058870914404933 + ], + [ + 0.920360248310383, + 15.058870914404933 + ], + [ + 0.920360248310383, + 15.3336921762788 + ], + [ + 0.7015977412898491, + 15.3336921762788 + ] + ], + "projected_box_corners": [ + [ + 0.7140375531549329, + 15.095122295397918 + ], + [ + 0.7714215805977268, + 15.327987246926124 + ], + [ + 0.7015977412898491, + 15.100827224750594 + ], + [ + 0.7589817687326429, + 15.3336921762788 + ], + [ + 0.8629762208675891, + 15.058870914404933 + ], + [ + 0.920360248310383, + 15.29173586593314 + ], + [ + 0.8505364090025053, + 15.06457584375761 + ], + [ + 0.9079204364452992, + 15.297440795285816 + ] + ], + "yaw_rad": -0.23875547435399302, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7125685214996338, + 15.204025268554688, + 0.053427085280418396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7343260927102988, + 15.220331373121446, + 0.059876260129427664 + ], + "intended_face_normal": [ + -0.9599555512862792, + 0.2571754930175931, + 0.11111298770593514 + ], + "commanded_contact_point": [ + 0.734765385389328, + 15.202079608544105, + 0.051296635904076134 + ], + "centerline_face_intersection": [ + 0.7280130190236701, + 15.200473486697765, + 0.051296635904076134 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7110739946365356, + 15.209636688232422, + 0.05197392404079437 + ], + "box_pose": [ + 0.8169203996658325, + 15.216042518615723, + 0.04973830655217171, + -0.6850727200508118, + 0.13040360808372498, + -0.05492834746837616, + 0.7145999073982239 + ], + "box_yaw_rad": -0.261756795527769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016061218463391943, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0041987054342381815 + } + } + }, + { + "simulation_time_ns": 7340000000, + "center": [ + 0.818441740763288, + 15.191309511305088, + 0.05367474083201948 + ], + "face_center": [ + 0.7445367459217145, + 15.207378288211073, + 0.06923272284564508 + ], + "face_normal": [ + -0.9571287235371321, + 0.20810349776489878, + 0.20148829585112882 + ], + "footprint_xy": [ + [ + 0.7079771071899974, + 15.054901127332464 + ], + [ + 0.9289063743365786, + 15.054901127332464 + ], + [ + 0.9289063743365786, + 15.327717895277711 + ], + [ + 0.7079771071899974, + 15.327717895277711 + ] + ], + "projected_box_corners": [ + [ + 0.7293841817324849, + 15.087038681144433 + ], + [ + 0.7810963846534315, + 15.32126563210035 + ], + [ + 0.7079771071899974, + 15.093490944321795 + ], + [ + 0.759689310110944, + 15.327717895277711 + ], + [ + 0.8771941714156322, + 15.054901127332464 + ], + [ + 0.9289063743365786, + 15.289128078288378 + ], + [ + 0.8557870968731447, + 15.061353390509826 + ], + [ + 0.9074992997940912, + 15.29558034146574 + ] + ], + "yaw_rad": -0.21409264398828223, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7185933589935303, + 15.197572708129883, + 0.05937916040420532 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7365096609437879, + 15.214407235838358, + 0.06240766342106181 + ], + "intended_face_normal": [ + -0.9644373646106088, + 0.23474217196450953, + 0.12147710276739065 + ], + "commanded_contact_point": [ + 0.7375386106967926, + 15.197577918259693, + 0.053027770797825724 + ], + "centerline_face_intersection": [ + 0.7309164456447195, + 15.196281545341867, + 0.053027770797825724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7125685214996338, + 15.204025268554688, + 0.053427085280418396 + ], + "box_pose": [ + 0.8190644979476929, + 15.212042808532715, + 0.051357757300138474, + -0.6873019933700562, + 0.12628383934497833, + -0.04282183572649956, + 0.7140271067619324 + ], + "box_yaw_rad": -0.23875547435399302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012963729178263625, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005563526044074063 + } + } + }, + { + "simulation_time_ns": 7360000000, + "center": [ + 0.8277058153377513, + 15.187464142406201, + 0.05168697791816183 + ], + "face_center": [ + 0.7559817184423265, + 15.202439296226673, + 0.07605095457300257 + ], + "face_normal": [ + -0.9288843528848272, + 0.19394020514696075, + 0.31553296128258923 + ], + "footprint_xy": [ + [ + 0.7141988708647051, + 15.051179375734685 + ], + [ + 0.9412127598107976, + 15.051179375734685 + ], + [ + 0.9412127598107976, + 15.323748909077718 + ], + [ + 0.7141988708647051, + 15.323748909077718 + ] + ], + "projected_box_corners": [ + [ + 0.7482104227456832, + 15.081129683375627 + ], + [ + 0.7977645660199478, + 15.315846806359701 + ], + [ + 0.7141988708647051, + 15.089031786093646 + ], + [ + 0.7637530141389699, + 15.323748909077718 + ], + [ + 0.8916586165365329, + 15.051179375734685 + ], + [ + 0.9412127598107976, + 15.285896498718758 + ], + [ + 0.857647064655555, + 15.059081478452702 + ], + [ + 0.9072012079298196, + 15.293798601436775 + ] + ], + "yaw_rad": -0.20583141166949911, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7268147468566895, + 15.193342208862305, + 0.06615856289863586 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7445367459217145, + 15.207378288211073, + 0.06923272284564508 + ], + "intended_face_normal": [ + -0.9571287235371321, + 0.20810349776489878, + 0.20148829585112882 + ], + "commanded_contact_point": [ + 0.7401964116096497, + 15.192355356349923, + 0.05367474083201948 + ], + "centerline_face_intersection": [ + 0.7377678334688922, + 15.191309511305088, + 0.05367474083201948 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7185933589935303, + 15.197572708129883, + 0.05937916040420532 + ], + "box_pose": [ + 0.8259627819061279, + 15.207293510437012, + 0.051546983420848846, + -0.6861588954925537, + 0.14631934463977814, + -0.005127144977450371, + 0.7125659584999084 + ], + "box_yaw_rad": -0.21409264398828223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010458450448345522, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005895560093740887 + } + } + }, + { + "simulation_time_ns": 7380000000, + "center": [ + 0.8357471082948209, + 15.184414783958257, + 0.04869622115176572 + ], + "face_center": [ + 0.7662856927264403, + 15.19854090548608, + 0.07931923537325872 + ], + "face_normal": [ + -0.8995808221157943, + 0.18294455869239012, + 0.39659249791584106 + ], + "footprint_xy": [ + [ + 0.7211877938509883, + 15.048759981052836 + ], + [ + 0.9503064227386534, + 15.048759981052836 + ], + [ + 0.9503064227386534, + 15.32006958686368 + ], + [ + 0.7211877938509883, + 15.32006958686368 + ] + ], + "projected_box_corners": [ + [ + 0.7643717232010432, + 15.077012224108481 + ], + [ + 0.8113835916018924, + 15.312249753108944 + ], + [ + 0.7211877938509883, + 15.084832057863217 + ], + [ + 0.7681996622518376, + 15.32006958686368 + ], + [ + 0.9032945543378041, + 15.048759981052836 + ], + [ + 0.9503064227386534, + 15.283997510053299 + ], + [ + 0.8601106249877493, + 15.056579814807572 + ], + [ + 0.9071224933885985, + 15.291817343808034 + ] + ], + "yaw_rad": -0.20063042591776223, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7341326475143433, + 15.189642906188965, + 0.07138779759407043 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7559817184423265, + 15.202439296226673, + 0.07605095457300257 + ], + "intended_face_normal": [ + -0.9288843528848272, + 0.19394020514696075, + 0.31553296128258923 + ], + "commanded_contact_point": [ + 0.7429574477672577, + 15.188274864792792, + 0.05168697791816183 + ], + "centerline_face_intersection": [ + 0.7445788752922752, + 15.187464142406201, + 0.05168697791816183 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7268147468566895, + 15.193342208862305, + 0.06615856289863586 + ], + "box_pose": [ + 0.8347728848457336, + 15.203564643859863, + 0.048964470624923706, + -0.6802088618278503, + 0.18426571786403656, + 0.04004957899451256, + 0.70834881067276 + ], + "box_yaw_rad": -0.20583141166949911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000810722386590401, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0053127143169141725 + } + } + }, + { + "simulation_time_ns": 7400000000, + "center": [ + 0.8398317597280557, + 15.182137781752195, + 0.048028893892019926 + ], + "face_center": [ + 0.7699513000470933, + 15.19475955121301, + 0.07835407992926427 + ], + "face_normal": [ + -0.9050077781346796, + 0.16346199764584757, + 0.39273538500440175 + ], + "footprint_xy": [ + [ + 0.7276516827240419, + 15.048124553809515 + ], + [ + 0.9520118367320695, + 15.048124553809515 + ], + [ + 0.9520118367320695, + 15.316151009694874 + ], + [ + 0.7276516827240419, + 15.316151009694874 + ] + ], + "projected_box_corners": [ + [ + 0.7706221922978693, + 15.073368092731146 + ], + [ + 0.8122509173701448, + 15.309612937031973 + ], + [ + 0.7276516827240419, + 15.079906165394046 + ], + [ + 0.7692804077963173, + 15.316151009694874 + ], + [ + 0.9103831116597939, + 15.048124553809515 + ], + [ + 0.9520118367320695, + 15.284369398110345 + ], + [ + 0.8674126020859665, + 15.054662626472416 + ], + [ + 0.909041327158242, + 15.290907470773245 + ] + ], + "yaw_rad": -0.17869287289915864, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7398425340652466, + 15.1861572265625, + 0.07378019392490387 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7662856927264403, + 15.19854090548608, + 0.07931923537325872 + ], + "intended_face_normal": [ + -0.8995808221157943, + 0.18294455869239012, + 0.39659249791584106 + ], + "commanded_contact_point": [ + 0.7457068908214569, + 15.185016381455618, + 0.04869622115176572 + ], + "centerline_face_intersection": [ + 0.7499123372401988, + 15.184414783958257, + 0.04869622115176572 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7341326475143433, + 15.189642906188965, + 0.07138779759407043 + ], + "box_pose": [ + 0.8423765301704407, + 15.20059871673584, + 0.04542319476604462, + -0.6776291728019714, + 0.21149709820747375, + 0.07401733845472336, + 0.7004348635673523 + ], + "box_yaw_rad": -0.20063042591776223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006015974973620806, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0052078572179608046 + } + } + }, + { + "simulation_time_ns": 7420000000, + "center": [ + 0.8422143574599468, + 15.180006155505295, + 0.04586362403809212 + ], + "face_center": [ + 0.7709826910889882, + 15.190817711996992, + 0.07363707665944816 + ], + "face_normal": [ + -0.9225069842059787, + 0.14001829357449047, + 0.35968839877036274 + ], + "footprint_xy": [ + [ + 0.7336191008205837, + 15.048053880697177 + ], + [ + 0.9508096140993099, + 15.048053880697177 + ], + [ + 0.9508096140993099, + 15.311958430313412 + ], + [ + 0.7336191008205837, + 15.311958430313412 + ] + ], + "projected_box_corners": [ + [ + 0.7731098376899269, + 15.069676993680574 + ], + [ + 0.8083462813573926, + 15.30696321781592 + ], + [ + 0.7336191008205837, + 15.074672206178066 + ], + [ + 0.7688555444880494, + 15.311958430313412 + ], + [ + 0.9155731704318442, + 15.048053880697177 + ], + [ + 0.9508096140993099, + 15.285340104832523 + ], + [ + 0.8760824335625009, + 15.05304909319467 + ], + [ + 0.9113188772299666, + 15.290335317330015 + ] + ], + "yaw_rad": -0.15063051714046885, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7438970804214478, + 15.18337631225586, + 0.07456448674201965 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7699513000470933, + 15.19475955121301, + 0.07835407992926427 + ], + "intended_face_normal": [ + -0.9050077781346796, + 0.16346199764584757, + 0.39273538500440175 + ], + "commanded_contact_point": [ + 0.7482559728622437, + 15.182578601457145, + 0.048028893892019926 + ], + "centerline_face_intersection": [ + 0.7545117041694314, + 15.182137781752195, + 0.048028893892019926 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7398425340652466, + 15.1861572265625, + 0.07378019392490387 + ], + "box_pose": [ + 0.846101701259613, + 15.19845962524414, + 0.04473239555954933, + -0.681160569190979, + 0.20254212617874146, + 0.08045370131731033, + 0.6989449858665466 + ], + "box_yaw_rad": -0.17869287289915864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004408197049498617, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003589695842716797 + } + } + }, + { + "simulation_time_ns": 7440000000, + "center": [ + 0.8425022346288205, + 15.179039817373145, + 0.0445482055488838 + ], + "face_center": [ + 0.7700470206990733, + 15.188446689541522, + 0.06952734461501418 + ], + "face_normal": [ + -0.9383529025453377, + 0.121826509430079, + 0.32349980594238303 + ], + "footprint_xy": [ + [ + 0.7367125155851322, + 15.048149643086093 + ], + [ + 0.9482919536725088, + 15.048149643086093 + ], + [ + 0.9482919536725088, + 15.309929991660194 + ], + [ + 0.7367125155851322, + 15.309929991660194 + ] + ], + "projected_box_corners": [ + [ + 0.77213932898937, + 15.066963387422849 + ], + [ + 0.8033815258130145, + 15.30481452554314 + ], + [ + 0.7367125155851322, + 15.072078853539903 + ], + [ + 0.7679547124087766, + 15.309929991660194 + ], + [ + 0.9170497568488645, + 15.048149643086093 + ], + [ + 0.9482919536725088, + 15.286000781206385 + ], + [ + 0.8816229434446266, + 15.053265109203148 + ], + [ + 0.912865140268271, + 15.291116247323439 + ] + ], + "yaw_rad": -0.129107985067561, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7470471858978271, + 15.181912422180176, + 0.07344099879264832 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7709826910889882, + 15.190817711996992, + 0.07363707665944816 + ], + "intended_face_normal": [ + -0.9225069842059787, + 0.14001829357449047, + 0.35968839877036274 + ], + "commanded_contact_point": [ + 0.7505669045448303, + 15.180312168940223, + 0.04586362403809212 + ], + "centerline_face_intersection": [ + 0.7585127538586485, + 15.180006155505295, + 0.04586362403809212 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7438970804214478, + 15.18337631225586, + 0.07456448674201965 + ], + "box_pose": [ + 0.8481504917144775, + 15.196481704711914, + 0.04271715134382248, + -0.6866011619567871, + 0.1809488981962204, + 0.07748550921678543, + 0.6998802423477173 + ], + "box_yaw_rad": -0.15063051714046885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00030601343492726786, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038942926361117906 + } + } + }, + { + "simulation_time_ns": 7460000000, + "center": [ + 0.8416585812733928, + 15.178728568842017, + 0.04426905327297172 + ], + "face_center": [ + 0.7685677869087283, + 15.187909566552385, + 0.06741315927839336 + ], + "face_normal": [ + -0.9465841769224155, + 0.1189012547549737, + 0.299734661856931 + ], + "footprint_xy": [ + [ + 0.7366374120765272, + 15.047552024737492 + ], + [ + 0.9466797504702583, + 15.047552024737492 + ], + [ + 0.9466797504702583, + 15.30990511294654 + ], + [ + 0.7366374120765272, + 15.30990511294654 + ] + ], + "projected_box_corners": [ + [ + 0.7692785249260965, + 15.06591402015823 + ], + [ + 0.8004981617409294, + 15.303732360389793 + ], + [ + 0.7366374120765272, + 15.072086772714977 + ], + [ + 0.7678570488913601, + 15.30990511294654 + ], + [ + 0.9154601136554255, + 15.047552024737492 + ], + [ + 0.9466797504702583, + 15.285370364969054 + ], + [ + 0.8828190008058561, + 15.053724777294239 + ], + [ + 0.9140386376206889, + 15.291543117525801 + ] + ], + "yaw_rad": -0.1249564137304825, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7498579621315002, + 15.183107376098633, + 0.07127200067043304 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7700470206990733, + 15.188446689541522, + 0.06952734461501418 + ], + "intended_face_normal": [ + -0.9383529025453377, + 0.121826509430079, + 0.32349980594238303 + ], + "commanded_contact_point": [ + 0.7527213442325592, + 15.17923092661579, + 0.0445482055488838 + ], + "centerline_face_intersection": [ + 0.7602140958038784, + 15.179039817373145, + 0.0445482055488838 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7470471858978271, + 15.181912422180176, + 0.07344099879264832 + ], + "box_pose": [ + 0.8482775688171387, + 15.195635795593262, + 0.04175523668527603, + -0.6869752407073975, + 0.1608627736568451, + 0.07033289968967438, + 0.7051534652709961 + ], + "box_yaw_rad": -0.129107985067561, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0001911092426460235, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027460919747807015 + } + } + }, + { + "simulation_time_ns": 7480000000, + "center": [ + 0.8427136978534688, + 15.179853945709677, + 0.044305358301429454 + ], + "face_center": [ + 0.769330968834111, + 15.189477029207945, + 0.06631844648378693 + ], + "face_normal": [ + -0.9503649639179613, + 0.12462661887646487, + 0.28508707751425266 + ], + "footprint_xy": [ + [ + 0.7374385507275398, + 15.048024887586884 + ], + [ + 0.9479888449793978, + 15.048024887586884 + ], + [ + 0.9479888449793978, + 15.311683003832469 + ], + [ + 0.7374385507275398, + 15.311683003832469 + ] + ], + "projected_box_corners": [ + [ + 0.7683414805129429, + 15.067271054583419 + ], + [ + 0.8012233869406822, + 15.304833480850734 + ], + [ + 0.7374385507275398, + 15.074120577565154 + ], + [ + 0.7703204571552791, + 15.311683003832469 + ], + [ + 0.9151069385516586, + 15.048024887586884 + ], + [ + 0.9479888449793978, + 15.285587313854199 + ], + [ + 0.8842040087662555, + 15.054874410568619 + ], + [ + 0.9170859151939947, + 15.292436836835934 + ] + ], + "yaw_rad": -0.13039150581304462, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7516078948974609, + 15.18545150756836, + 0.07019634544849396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7685677869087283, + 15.187909566552385, + 0.06741315927839336 + ], + "intended_face_normal": [ + -0.9465841769224155, + 0.1189012547549737, + 0.299734661856931 + ], + "commanded_contact_point": [ + 0.7548526573181152, + 15.178744525794398, + 0.04426905327297172 + ], + "centerline_face_intersection": [ + 0.760086000837404, + 15.178728568842017, + 0.04426905327297172 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7498579621315002, + 15.183107376098633, + 0.07127200067043304 + ], + "box_pose": [ + 0.8475069999694824, + 15.19534969329834, + 0.041796039789915085, + -0.6842985153198242, + 0.1512245386838913, + 0.061960071325302124, + 0.7106528282165527 + ], + "box_yaw_rad": -0.1249564137304825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 1.5956952381374984e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002203861887882398 + } + } + }, + { + "simulation_time_ns": 7500000000, + "center": [ + 0.8437791714803529, + 15.18050518350991, + 0.044237091881613795 + ], + "face_center": [ + 0.770439666003512, + 15.190058347611362, + 0.06642399418851222 + ], + "face_normal": [ + -0.9498051845124594, + 0.12372110683133375, + 0.28733810928160786 + ], + "footprint_xy": [ + [ + 0.7385178708439137, + 15.048732566155039 + ], + [ + 0.949040472116792, + 15.048732566155039 + ], + [ + 0.949040472116792, + 15.31227780086478 + ], + [ + 0.7385178708439137, + 15.31227780086478 + ] + ], + "projected_box_corners": [ + [ + 0.7696743761824221, + 15.067838894357942 + ], + [ + 0.8023614611631102, + 15.305428574231067 + ], + [ + 0.7385178708439137, + 15.074688120991656 + ], + [ + 0.7712049558246019, + 15.31227780086478 + ], + [ + 0.9163533871361038, + 15.048732566155039 + ], + [ + 0.949040472116792, + 15.286322246028163 + ], + [ + 0.8851968817975955, + 15.055581792788752 + ], + [ + 0.9178839667782837, + 15.293171472661877 + ] + ], + "yaw_rad": -0.12953013984287154, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7530652284622192, + 15.185855865478516, + 0.07028907537460327 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.769330968834111, + 15.189477029207945, + 0.06631844648378693 + ], + "intended_face_normal": [ + -0.9503649639179613, + 0.12462661887646487, + 0.28508707751425266 + ], + "commanded_contact_point": [ + 0.7568842816352844, + 15.179646000187711, + 0.044305358301429454 + ], + "centerline_face_intersection": [ + 0.7614656333276985, + 15.179853945709677, + 0.044305358301429454 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7516078948974609, + 15.18545150756836, + 0.07019634544849396 + ], + "box_pose": [ + 0.8487220406532288, + 15.196441650390625, + 0.04199677333235741, + -0.6827203631401062, + 0.14791764318943024, + 0.05420229583978653, + 0.7134951949119568 + ], + "box_yaw_rad": -0.13039150581304462, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00020794552196590896, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002222942082692067 + } + } + }, + { + "simulation_time_ns": 7520000000, + "center": [ + 0.8444349799038835, + 15.17988316199424, + 0.04420668884384864 + ], + "face_center": [ + 0.771065191336993, + 15.189043548846053, + 0.06645901718599265 + ], + "face_normal": [ + -0.9501973747207955, + 0.11863432767131776, + 0.2881854287048071 + ], + "footprint_xy": [ + [ + 0.7397183393473623, + 15.048512749279888 + ], + [ + 0.9491516204604046, + 15.048512749279888 + ], + [ + 0.9491516204604046, + 15.311253574708592 + ], + [ + 0.7397183393473623, + 15.311253574708592 + ] + ], + "projected_box_corners": [ + [ + 0.7710090943692803, + 15.066833522983515 + ], + [ + 0.8024120433266236, + 15.30459838843725 + ], + [ + 0.7397183393473623, + 15.073488709254857 + ], + [ + 0.7711212883047056, + 15.311253574708592 + ], + [ + 0.9177486715030613, + 15.048512749279888 + ], + [ + 0.9491516204604046, + 15.286277614733624 + ], + [ + 0.8864579164811434, + 15.05516793555123 + ], + [ + 0.9178608654384867, + 15.292932801004966 + ] + ], + "yaw_rad": -0.12420956419464428, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7534772157669067, + 15.183563232421875, + 0.07059618830680847 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.770439666003512, + 15.190058347611362, + 0.06642399418851222 + ], + "intended_face_normal": [ + -0.9498051845124594, + 0.12372110683133375, + 0.28733810928160786 + ], + "commanded_contact_point": [ + 0.7587327408790588, + 15.1800832107092, + 0.044237091881613795 + ], + "centerline_face_intersection": [ + 0.7624832224052033, + 15.18050518350991, + 0.044237091881613795 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7530652284622192, + 15.185855865478516, + 0.07028907537460327 + ], + "box_pose": [ + 0.8497675657272339, + 15.197098731994629, + 0.04191870614886284, + -0.6826307773590088, + 0.14844481647014618, + 0.05533122271299362, + 0.7133846879005432 + ], + "box_yaw_rad": -0.12953013984287154, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00042197280071014885, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019006880122916993 + } + } + }, + { + "simulation_time_ns": 7540000000, + "center": [ + 0.8450053018660314, + 15.1787526352061, + 0.044219327297088364 + ], + "face_center": [ + 0.7715172746432204, + 15.187431282118101, + 0.06627370729048888 + ], + "face_normal": [ + -0.9517286597720499, + 0.11239541060410563, + 0.28562183945396846 + ], + "footprint_xy": [ + [ + 0.7410686667693959, + 15.047846054558446 + ], + [ + 0.9489419369626669, + 15.047846054558446 + ], + [ + 0.9489419369626669, + 15.309659215853754 + ], + [ + 0.7410686667693959, + 15.309659215853754 + ] + ], + "projected_box_corners": [ + [ + 0.7721111164467129, + 15.065203348382449 + ], + [ + 0.8019658825170449, + 15.303163306452987 + ], + [ + 0.7410686667693959, + 15.071699257783218 + ], + [ + 0.7709234328397279, + 15.309659215853754 + ], + [ + 0.9190871708923349, + 15.047846054558446 + ], + [ + 0.9489419369626669, + 15.285806012628985 + ], + [ + 0.8880447212150179, + 15.054341963959216 + ], + [ + 0.9178994872853499, + 15.292301922029752 + ] + ], + "yaw_rad": -0.11755159883449341, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7537396550178528, + 15.178476333618164, + 0.07017801702022552 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.771065191336993, + 15.189043548846053, + 0.06645901718599265 + ], + "intended_face_normal": [ + -0.9501973747207955, + 0.11863432767131776, + 0.2881854287048071 + ], + "commanded_contact_point": [ + 0.7604512619972229, + 15.179313986376425, + 0.04420668884384864 + ], + "centerline_face_intersection": [ + 0.763172585410185, + 15.17988316199424, + 0.04420668884384864 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7534772157669067, + 15.183563232421875, + 0.07059618830680847 + ], + "box_pose": [ + 0.8503311276435852, + 15.196508407592773, + 0.04187896102666855, + -0.6830883622169495, + 0.14692778885364532, + 0.057563334703445435, + 0.7130841016769409 + ], + "box_yaw_rad": -0.12420956419464428, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005691756178155296, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018830680424280306 + } + } + }, + { + "simulation_time_ns": 7560000000, + "center": [ + 0.847056893723243, + 15.17397191252104, + 0.04672848804852503 + ], + "face_center": [ + 0.77243838823982, + 15.182927257655294, + 0.06445093597574313 + ], + "face_normal": [ + -0.9663692563499334, + 0.11597887362766102, + 0.22951985855480483 + ], + "footprint_xy": [ + [ + 0.74500907170448, + 15.043108333915825 + ], + [ + 0.9491047157420059, + 15.043108333915825 + ], + [ + 0.9491047157420059, + 15.304835491126255 + ], + [ + 0.74500907170448, + 15.304835491126255 + ] + ], + "projected_box_corners": [ + [ + 0.769870265962592, + 15.061019024184334 + ], + [ + 0.79986770477516, + 15.298955302426608 + ], + [ + 0.74500907170448, + 15.066899212883982 + ], + [ + 0.7750065105170479, + 15.304835491126255 + ], + [ + 0.919107276929438, + 15.043108333915825 + ], + [ + 0.9491047157420059, + 15.281044612158098 + ], + [ + 0.894246082671326, + 15.048988522615472 + ], + [ + 0.924243521483894, + 15.286924800857745 + ] + ], + "yaw_rad": -0.11944378173896918, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.755638599395752, + 15.173211097717285, + 0.06712237000465393 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7715172746432204, + 15.187431282118101, + 0.06627370729048888 + ], + "intended_face_normal": [ + -0.9517286597720499, + 0.11239541060410563, + 0.28562183945396846 + ], + "commanded_contact_point": [ + 0.7618177282810211, + 15.178194511651803, + 0.044219327297088364 + ], + "centerline_face_intersection": [ + 0.7638736546064733, + 15.1787526352061, + 0.044219327297088364 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7537396550178528, + 15.178476333618164, + 0.07017801702022552 + ], + "box_pose": [ + 0.8508005738258362, + 15.195416450500488, + 0.04191415756940842, + -0.6834967136383057, + 0.14373712241649628, + 0.05895175784826279, + 0.7132297158241272 + ], + "box_yaw_rad": -0.11755159883449341, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005581235542980759, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017665258261129243 + } + } + }, + { + "simulation_time_ns": 7580000000, + "center": [ + 0.8496666746021331, + 15.167612975521784, + 0.05047060255795647 + ], + "face_center": [ + 0.7738115196724686, + 15.177615486462521, + 0.06087011911385296 + ], + "face_normal": [ + -0.9823848545984855, + 0.12954050736891193, + 0.13468204724032085 + ], + "footprint_xy": [ + [ + 0.7505166941065015, + 15.036346203397487 + ], + [ + 0.9488166550977648, + 15.036346203397487 + ], + [ + 0.9488166550977648, + 15.298879747646083 + ], + [ + 0.7505166941065015, + 15.298879747646083 + ] + ], + "projected_box_corners": [ + [ + 0.7648962777072652, + 15.056351225278961 + ], + [ + 0.7971063452384359, + 15.293990015950437 + ], + [ + 0.7505166941065015, + 15.061240956974608 + ], + [ + 0.7827267616376722, + 15.298879747646083 + ], + [ + 0.9166065875665941, + 15.036346203397487 + ], + [ + 0.9488166550977648, + 15.273984994068961 + ], + [ + 0.9022270039658302, + 15.041235935093134 + ], + [ + 0.934437071497001, + 15.278874725764608 + ] + ], + "yaw_rad": -0.1311068977684462, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7582816481590271, + 15.167985916137695, + 0.06359869241714478 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.77243838823982, + 15.182927257655294, + 0.06445093597574313 + ], + "intended_face_normal": [ + -0.9663692563499334, + 0.11597887362766102, + 0.22951985855480483 + ], + "commanded_contact_point": [ + 0.763102536201477, + 15.173444221558892, + 0.04672848804852503 + ], + "centerline_face_intersection": [ + 0.7671543995119853, + 15.17397191252104, + 0.04672848804852503 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.755638599395752, + 15.173211097717285, + 0.06712237000465393 + ], + "box_pose": [ + 0.8530125617980957, + 15.1906099319458, + 0.04465772584080696, + -0.6870082020759583, + 0.12397560477256775, + 0.03801869601011276, + 0.7149856090545654 + ], + "box_yaw_rad": -0.11944378173896918, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005276909621478845, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005523755519193935 + } + } + }, + { + "simulation_time_ns": 7600000000, + "center": [ + 0.851191007963249, + 15.162302843018761, + 0.05298906649418467 + ], + "face_center": [ + 0.7750018472193981, + 15.17389292413426, + 0.05779390846522477 + ], + "face_normal": [ + -0.9867104967187713, + 0.15010080939113024, + 0.062226541959681914 + ], + "footprint_xy": [ + [ + 0.7535935504902028, + 15.030178280423433 + ], + [ + 0.948788465436295, + 15.030178280423433 + ], + [ + 0.948788465436295, + 15.29442740561409 + ], + [ + 0.7535935504902028, + 15.29442740561409 + ] + ], + "projected_box_corners": [ + [ + 0.7599380632211475, + 15.053358442654426 + ], + [ + 0.7964101439485933, + 15.290374230613216 + ], + [ + 0.7535935504902028, + 15.057411617655303 + ], + [ + 0.7900656312176486, + 15.29442740561409 + ], + [ + 0.9123163847088492, + 15.030178280423433 + ], + [ + 0.948788465436295, + 15.26719406838222 + ], + [ + 0.9059718719779045, + 15.034231455424308 + ], + [ + 0.9424439527053503, + 15.271247243383097 + ] + ], + "yaw_rad": -0.15096503551826573, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7600502967834473, + 15.164381980895996, + 0.061145633459091187 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7738115196724686, + 15.177615486462521, + 0.06087011911385296 + ], + "intended_face_normal": [ + -0.9823848545984855, + 0.12954050736891193, + 0.13468204724032085 + ], + "commanded_contact_point": [ + 0.7649799931049347, + 15.167070366935, + 0.05047060255795647 + ], + "centerline_face_intersection": [ + 0.7710668126946559, + 15.167612975521784, + 0.05047060255795647 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7582816481590271, + 15.167985916137695, + 0.06359869241714478 + ], + "box_pose": [ + 0.8559976816177368, + 15.184157371520996, + 0.04880237206816673, + -0.6913044452667236, + 0.09384854882955551, + 0.00015027755580376834, + 0.7164430022239685 + ], + "box_yaw_rad": -0.1311068977684462, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005426085867843236, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007625895894420708 + } + } + }, + { + "simulation_time_ns": 7620000000, + "center": [ + 0.8530923712414685, + 15.157960709429172, + 0.05371424325826749 + ], + "face_center": [ + 0.7771511526134229, + 15.171587611769105, + 0.05678727553632581 + ], + "face_normal": [ + -0.9834994482460598, + 0.17647927139895803, + 0.039798222948143724 + ], + "footprint_xy": [ + [ + 0.753949125354082, + 15.024437172457619 + ], + [ + 0.9522356171288551, + 15.024437172457619 + ], + [ + 0.9522356171288551, + 15.291484246400726 + ], + [ + 0.753949125354082, + 15.291484246400726 + ] + ], + "projected_box_corners": [ + [ + 0.7577378513774375, + 15.051690977137483 + ], + [ + 0.8003531798727639, + 15.287677872330622 + ], + [ + 0.753949125354082, + 15.055497351207586 + ], + [ + 0.7965644538494083, + 15.291484246400726 + ], + [ + 0.9096202886335286, + 15.024437172457619 + ], + [ + 0.9522356171288551, + 15.260424067650758 + ], + [ + 0.9058315626101731, + 15.028243546527722 + ], + [ + 0.9484468911054995, + 15.264230441720862 + ] + ], + "yaw_rad": -0.17755058835956125, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7612525820732117, + 15.161998748779297, + 0.06143009662628174 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7750018472193981, + 15.17389292413426, + 0.05779390846522477 + ], + "intended_face_normal": [ + -0.9867104967187713, + 0.15010080939113024, + 0.062226541959681914 + ], + "commanded_contact_point": [ + 0.7672435390949249, + 15.161677068916887, + 0.05298906649418467 + ], + "centerline_face_intersection": [ + 0.7729357201476116, + 15.162302843018761, + 0.05298906649418467 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7600502967834473, + 15.164381980895996, + 0.061145633459091187 + ], + "box_pose": [ + 0.8579594492912292, + 15.178702354431152, + 0.05163780227303505, + -0.6932775378227234, + 0.07480635493993759, + -0.03238457813858986, + 0.7160457372665405 + ], + "box_yaw_rad": -0.15096503551826573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006257741018737287, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006368199475445562 + } + } + }, + { + "simulation_time_ns": 7640000000, + "center": [ + 0.85503651017891, + 15.15464424945105, + 0.052931330736412305 + ], + "face_center": [ + 0.7795192044409315, + 15.169975550404619, + 0.057860066799153974 + ], + "face_normal": [ + -0.9780094376692298, + 0.19855259503513523, + 0.06383106942224792 + ], + "footprint_xy": [ + [ + 0.7523013352927124, + 15.01964877528994 + ], + [ + 0.9577716850651077, + 15.01964877528994 + ], + [ + 0.9577716850651077, + 15.28963972361216 + ], + [ + 0.7523013352927124, + 15.28963972361216 + ] + ], + "projected_box_corners": [ + [ + 0.7586110424503749, + 15.050311377197078 + ], + [ + 0.8067370735891506, + 15.285237804362053 + ], + [ + 0.7523013352927124, + 15.054713296447185 + ], + [ + 0.800427366431488, + 15.28963972361216 + ], + [ + 0.9096456539263319, + 15.01964877528994 + ], + [ + 0.9577716850651077, + 15.254575202454916 + ], + [ + 0.9033359467686695, + 15.024050694540048 + ], + [ + 0.9514619779074451, + 15.258977121705023 + ] + ], + "yaw_rad": -0.20029488319907024, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7630761861801147, + 15.159173965454102, + 0.06344716250896454 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7771511526134229, + 15.171587611769105, + 0.05678727553632581 + ], + "intended_face_normal": [ + -0.9834994482460598, + 0.17647927139895803, + 0.039798222948143724 + ], + "commanded_contact_point": [ + 0.7693602192401886, + 15.157173413753293, + 0.05371424325826749 + ], + "centerline_face_intersection": [ + 0.7745815860558325, + 15.157960709429172, + 0.05371424325826749 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7612525820732117, + 15.161998748779297, + 0.06143009662628174 + ], + "box_pose": [ + 0.8603233695030212, + 15.174169540405273, + 0.052462007850408554, + -0.6930552124977112, + 0.07601270824670792, + -0.04972267150878906, + 0.7151392102241516 + ], + "box_yaw_rad": -0.17755058835956125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007872956758787078, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005028829486976833 + } + } + }, + { + "simulation_time_ns": 7660000000, + "center": [ + 0.857356615280331, + 15.152283490040384, + 0.050794651205476646 + ], + "face_center": [ + 0.7824962015877998, + 15.168509474980635, + 0.0605332647611394 + ], + "face_normal": [ + -0.9695021609106232, + 0.2101394673971182, + 0.126122825413006 + ], + "footprint_xy": [ + [ + 0.7501979189275358, + 15.016025866110214 + ], + [ + 0.9645153116331262, + 15.016025866110214 + ], + [ + 0.9645153116331262, + 15.288541113970554 + ], + [ + 0.7501979189275358, + 15.288541113970554 + ] + ], + "projected_box_corners": [ + [ + 0.7631985126490215, + 15.048477835990717 + ], + [ + 0.8147944842480637, + 15.282672360566337 + ], + [ + 0.7501979189275358, + 15.054346589394934 + ], + [ + 0.8017938905265781, + 15.288541113970554 + ], + [ + 0.9129193400340839, + 15.016025866110214 + ], + [ + 0.9645153116331262, + 15.250220390685834 + ], + [ + 0.8999187463125983, + 15.021894619514432 + ], + [ + 0.9515147179116406, + 15.256089144090053 + ] + ], + "yaw_rad": -0.2134481133765634, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7657545804977417, + 15.15677261352539, + 0.06558245420455933 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7795192044409315, + 15.169975550404619, + 0.057860066799153974 + ], + "intended_face_normal": [ + -0.9780094376692298, + 0.19855259503513523, + 0.06383106942224792 + ], + "commanded_contact_point": [ + 0.7714327621459961, + 15.153675765135048, + 0.052931330736412305 + ], + "centerline_face_intersection": [ + 0.7760850083452919, + 15.15464424945105, + 0.052931330736412305 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7630761861801147, + 15.159173965454102, + 0.06344716250896454 + ], + "box_pose": [ + 0.8626033067703247, + 15.170690536499023, + 0.05157415196299553, + -0.6911283731460571, + 0.09245151281356812, + -0.04947725683450699, + 0.7150847911834717 + ], + "box_yaw_rad": -0.20029488319907024, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009684843160007953, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004140281629309781 + } + } + }, + { + "simulation_time_ns": 7680000000, + "center": [ + 0.8611011676160045, + 15.151174127202177, + 0.04777812586279727 + ], + "face_center": [ + 0.787284977663474, + 15.167444698147527, + 0.06354655414354445 + ], + "face_normal": [ + -0.9559786292806361, + 0.2107168917814879, + 0.2042137431291513 + ], + "footprint_xy": [ + [ + 0.7501382727605695, + 15.014126411561685 + ], + [ + 0.9720640624714395, + 15.014126411561685 + ], + [ + 0.9720640624714395, + 15.288221842842669 + ], + [ + 0.7501382727605695, + 15.288221842842669 + ] + ], + "projected_box_corners": [ + [ + 0.771585172733161, + 15.046667553452385 + ], + [ + 0.8244316825663784, + 15.280593693466566 + ], + [ + 0.7501382727605695, + 15.054295702828489 + ], + [ + 0.802984782593787, + 15.288221842842669 + ], + [ + 0.919217552638222, + 15.014126411561685 + ], + [ + 0.9720640624714395, + 15.248052551575865 + ], + [ + 0.8977706526656306, + 15.021754560937788 + ], + [ + 0.9506171624988481, + 15.255680700951968 + ] + ], + "yaw_rad": -0.21695096222060917, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.769688606262207, + 15.155684471130371, + 0.06778529286384583 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7824962015877998, + 15.168509474980635, + 0.0605332647611394 + ], + "intended_face_normal": [ + -0.9695021609106232, + 0.2101394673971182, + 0.126122825413006 + ], + "commanded_contact_point": [ + 0.7734966623783112, + 15.151135440784984, + 0.050794651205476646 + ], + "centerline_face_intersection": [ + 0.7777123225446532, + 15.152283490040384, + 0.050794651205476646 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7657545804977417, + 15.15677261352539, + 0.06558245420455933 + ], + "box_pose": [ + 0.8650411367416382, + 15.168248176574707, + 0.049164120107889175, + -0.6873358488082886, + 0.11917264014482498, + -0.032354310154914856, + 0.7157657146453857 + ], + "box_yaw_rad": -0.2134481133765634, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011480492554010605, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003908750617576122 + } + } + }, + { + "simulation_time_ns": 7700000000, + "center": [ + 0.8656315848523628, + 15.150596843172274, + 0.0446876281946585 + ], + "face_center": [ + 0.7932324397452628, + 15.166794600157928, + 0.06609326303161298 + ], + "face_normal": [ + -0.937626766500466, + 0.2097738928346844, + 0.2772200714162174 + ], + "footprint_xy": [ + [ + 0.751582718813812, + 15.012867172620084 + ], + [ + 0.9796804508909136, + 15.012867172620084 + ], + [ + 0.9796804508909136, + 15.288326513724463 + ], + [ + 0.751582718813812, + 15.288326513724463 + ] + ], + "projected_box_corners": [ + [ + 0.7809009577973912, + 15.045262686591393 + ], + [ + 0.8348821606767135, + 15.27893607885327 + ], + [ + 0.751582718813812, + 15.054653121462586 + ], + [ + 0.8055639216931343, + 15.288326513724463 + ], + [ + 0.9256992480115913, + 15.012867172620084 + ], + [ + 0.9796804508909136, + 15.246540564881961 + ], + [ + 0.8963810090280121, + 15.022257607491277 + ], + [ + 0.9503622119073344, + 15.255930999753154 + ] + ], + "yaw_rad": -0.22010394508644077, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7749143242835999, + 15.155377388000488, + 0.06985931098461151 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.787284977663474, + 15.167444698147527, + 0.06354655414354445 + ], + "intended_face_normal": [ + -0.9559786292806361, + 0.2107168917814879, + 0.2042137431291513 + ], + "commanded_contact_point": [ + 0.7753999280929565, + 15.149845664189648, + 0.04777812586279727 + ], + "centerline_face_intersection": [ + 0.7803302052258289, + 15.151174127202177, + 0.04777812586279727 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.769688606262207, + 15.155684471130371, + 0.06778529286384583 + ], + "box_pose": [ + 0.868698000907898, + 15.167141914367676, + 0.045803386718034744, + -0.6822693347930908, + 0.1482430100440979, + -0.005890274420380592, + 0.715889573097229 + ], + "box_yaw_rad": -0.21695096222060917, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001328463012528827, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037928049237268575 + } + } + }, + { + "simulation_time_ns": 7720000000, + "center": [ + 0.8699246047121395, + 15.15074101664415, + 0.044196835443718205 + ], + "face_center": [ + 0.7977865073158434, + 15.167106603720525, + 0.06634332834620127 + ], + "face_normal": [ + -0.9342459901028808, + 0.21194742658360632, + 0.2868147752126471 + ], + "footprint_xy": [ + [ + 0.7552478571679051, + 15.012750724102812 + ], + [ + 0.9846013522563739, + 15.012750724102812 + ], + [ + 0.9846013522563739, + 15.288731309185488 + ], + [ + 0.7552478571679051, + 15.288731309185488 + ] + ], + "projected_box_corners": [ + [ + 0.7855616886276091, + 15.045481898255561 + ], + [ + 0.8403251574637817, + 15.278971078322686 + ], + [ + 0.7552478571679051, + 15.055242129118364 + ], + [ + 0.8100113260040777, + 15.288731309185488 + ], + [ + 0.9298378834202013, + 15.012750724102812 + ], + [ + 0.9846013522563739, + 15.246239904169936 + ], + [ + 0.8995240519604975, + 15.022510954965615 + ], + [ + 0.9542875207966699, + 15.256000135032739 + ] + ], + "yaw_rad": -0.22308857044288224, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7797467708587646, + 15.155838966369629, + 0.06970897316932678 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7932324397452628, + 15.166794600157928, + 0.06609326303161298 + ], + "intended_face_normal": [ + -0.937626766500466, + 0.2097738928346844, + 0.2772200714162174 + ], + "commanded_contact_point": [ + 0.7770121741294861, + 15.149077158366616, + 0.0446876281946585 + ], + "centerline_face_intersection": [ + 0.7832797187685573, + 15.150596843172274, + 0.0446876281946585 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7749143242835999, + 15.155377388000488, + 0.06985931098461151 + ], + "box_pose": [ + 0.8731197714805603, + 15.16657543182373, + 0.04240870475769043, + -0.6761577725410461, + 0.17553944885730743, + 0.01930074207484722, + 0.7152790427207947 + ], + "box_yaw_rad": -0.22010394508644077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015196848056574178, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003569469753214171 + } + } + }, + { + "simulation_time_ns": 7740000000, + "center": [ + 0.8725232974645428, + 15.15109045873914, + 0.044167878697131936 + ], + "face_center": [ + 0.8004463799352178, + 15.16748729175084, + 0.0664897613601094 + ], + "face_normal": [ + -0.9334536619509634, + 0.21235208640743863, + 0.28908621272432455 + ], + "footprint_xy": [ + [ + 0.757723479672131, + 15.013074323242245 + ], + [ + 0.9873231152569546, + 15.013074323242245 + ], + [ + 0.9873231152569546, + 15.289106594236037 + ], + [ + 0.757723479672131, + 15.289106594236037 + ] + ], + "projected_box_corners": [ + [ + 0.7882907725125978, + 15.045867989265645 + ], + [ + 0.8431692801983046, + 15.279333450229524 + ], + [ + 0.757723479672131, + 15.055641133272156 + ], + [ + 0.8126019873578378, + 15.289106594236037 + ], + [ + 0.9324446075712478, + 15.013074323242245 + ], + [ + 0.9873231152569546, + 15.246539784206126 + ], + [ + 0.901877314730781, + 15.022847467248758 + ], + [ + 0.9567558224164878, + 15.256312928212637 + ] + ], + "yaw_rad": -0.2236839187089717, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7829053401947021, + 15.156332969665527, + 0.06938078999519348 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7977865073158434, + 15.167106603720525, + 0.06634332834620127 + ], + "intended_face_normal": [ + -0.9342459901028808, + 0.21194742658360632, + 0.2868147752126471 + ], + "commanded_contact_point": [ + 0.7784272181987762, + 15.149017413849473, + 0.044196835443718205 + ], + "centerline_face_intersection": [ + 0.7872747301293919, + 15.15074101664415, + 0.044196835443718205 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7797467708587646, + 15.155838966369629, + 0.06970897316932678 + ], + "box_pose": [ + 0.8774402737617493, + 15.166702270507812, + 0.04188712313771248, + -0.6748484373092651, + 0.1800188422203064, + 0.021684588864445686, + 0.715333878993988 + ], + "box_yaw_rad": -0.22308857044288224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017236027946766067, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014989318362545658 + } + } + }, + { + "simulation_time_ns": 7760000000, + "center": [ + 0.8739436397769322, + 15.150938784363994, + 0.04409402495458546 + ], + "face_center": [ + 0.8018195763106115, + 15.167096597805443, + 0.06643791169934146 + ], + "face_normal": [ + -0.9340642394984413, + 0.20925659202759506, + 0.2893711831617145 + ], + "footprint_xy": [ + [ + 0.7594468513741226, + 15.013114074916727 + ], + [ + 0.9884404281797418, + 15.013114074916727 + ], + [ + 0.9884404281797418, + 15.288763493811263 + ], + [ + 0.7594468513741226, + 15.288763493811263 + ] + ], + "projected_box_corners": [ + [ + 0.790074096089987, + 15.045429701799623 + ], + [ + 0.8441923012471003, + 15.279071985760256 + ], + [ + 0.7594468513741226, + 15.05512120985063 + ], + [ + 0.8135650565312359, + 15.288763493811263 + ], + [ + 0.9343222230226285, + 15.013114074916727 + ], + [ + 0.9884404281797418, + 15.24675635887736 + ], + [ + 0.9036949783067642, + 15.022805582967734 + ], + [ + 0.9578131834638774, + 15.256447866928367 + ] + ], + "yaw_rad": -0.22038913591999867, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.784448504447937, + 15.156106948852539, + 0.06913650035858154 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8004463799352178, + 15.16748729175084, + 0.0664897613601094 + ], + "intended_face_normal": [ + -0.9334536619509634, + 0.21235208640743863, + 0.28908621272432455 + ], + "commanded_contact_point": [ + 0.7798203277587891, + 15.149157155507408, + 0.044167878697131936 + ], + "centerline_face_intersection": [ + 0.789803268545213, + 15.15109045873914, + 0.044167878697131936 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7829053401947021, + 15.156332969665527, + 0.06938078999519348 + ], + "box_pose": [ + 0.8800402283668518, + 15.167048454284668, + 0.0418398417532444, + -0.67478346824646, + 0.1810348629951477, + 0.022350557148456573, + 0.7151181697845459 + ], + "box_yaw_rad": -0.2236839187089717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0019333032317320668, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014004001108021327 + } + } + }, + { + "simulation_time_ns": 7780000000, + "center": [ + 0.8732207065365803, + 15.150768937225733, + 0.04497237642298073 + ], + "face_center": [ + 0.8006471765677595, + 15.166923794983544, + 0.06581243294355463 + ], + "face_normal": [ + -0.9398851897702434, + 0.20921831356328058, + 0.26989538039664485 + ], + "footprint_xy": [ + [ + 0.7595259351197045, + 15.01313112478799 + ], + [ + 0.9869154779534564, + 15.01313112478799 + ], + [ + 0.9869154779534564, + 15.288406749663478 + ], + [ + 0.7595259351197045, + 15.288406749663478 + ] + ], + "projected_box_corners": [ + [ + 0.7880515760186362, + 15.045440840303609 + ], + [ + 0.8417684180158147, + 15.27917203506834 + ], + [ + 0.7595259351197045, + 15.054675554898747 + ], + [ + 0.813242777116883, + 15.288406749663478 + ], + [ + 0.9331986359562778, + 15.01313112478799 + ], + [ + 0.9869154779534564, + 15.24686231955272 + ], + [ + 0.904672995057346, + 15.022365839383125 + ], + [ + 0.9583898370545245, + 15.256097034147857 + ] + ], + "yaw_rad": -0.21902878560078481, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7833054065704346, + 15.155901908874512, + 0.06837102770805359 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8018195763106115, + 15.167096597805443, + 0.06643791169934146 + ], + "intended_face_normal": [ + -0.9340642394984413, + 0.20925659202759506, + 0.2893711831617145 + ], + "commanded_contact_point": [ + 0.7812767970561981, + 15.14879875455272, + 0.04409402495458546 + ], + "centerline_face_intersection": [ + 0.7912776831475469, + 15.150938784363994, + 0.04409402495458546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.784448504447937, + 15.156106948852539, + 0.06913650035858154 + ], + "box_pose": [ + 0.8814078569412231, + 15.166921615600586, + 0.041766732931137085, + -0.6750134825706482, + 0.18002741038799286, + 0.02362227253615856, + 0.7151146531105042 + ], + "box_yaw_rad": -0.22038913591999867, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021400298112738605, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001501735141063472 + } + } + }, + { + "simulation_time_ns": 7800000000, + "center": [ + 0.8689791818795967, + 15.15150709934448, + 0.0483170648279875 + ], + "face_center": [ + 0.795000495700012, + 15.167662278573196, + 0.06342894328848331 + ], + "face_normal": [ + -0.958083085234031, + 0.2092224768683164, + 0.1957108984602247 + ], + "footprint_xy": [ + [ + 0.7585554369566273, + 15.014621246691426 + ], + [ + 0.979402926802566, + 15.014621246691426 + ], + [ + 0.979402926802566, + 15.288392951997535 + ], + [ + 0.7585554369566273, + 15.288392951997535 + ] + ], + "projected_box_corners": [ + [ + 0.7790890027003363, + 15.046931605148856 + ], + [ + 0.8314455544433966, + 15.280965237270744 + ], + [ + 0.7585554369566273, + 15.054359319875648 + ], + [ + 0.8109119886996876, + 15.288392951997535 + ], + [ + 0.9270463750595057, + 15.014621246691426 + ], + [ + 0.979402926802566, + 15.248654878813314 + ], + [ + 0.9065128093157967, + 15.022048961418216 + ], + [ + 0.958869361058857, + 15.256082593540103 + ] + ], + "yaw_rad": -0.21500087563808534, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.778647780418396, + 15.156471252441406, + 0.06640440225601196 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8006471765677595, + 15.166923794983544, + 0.06581243294355463 + ], + "intended_face_normal": [ + -0.9398851897702434, + 0.20921831356328058, + 0.26989538039664485 + ], + "commanded_contact_point": [ + 0.7825377333164215, + 15.148423588548507, + 0.04497237642298073 + ], + "centerline_face_intersection": [ + 0.791066721398977, + 15.150768937225733, + 0.04497237642298073 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7833054065704346, + 15.155901908874512, + 0.06837102770805359 + ], + "box_pose": [ + 0.8807108402252197, + 15.166751861572266, + 0.042730577290058136, + -0.6767400503158569, + 0.1725366711616516, + 0.016985353082418442, + 0.7155175805091858 + ], + "box_yaw_rad": -0.21902878560078481, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0023453486772250167, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015818378820522214 + } + } + }, + { + "simulation_time_ns": 7820000000, + "center": [ + 0.8653644777965861, + 15.15186130287773, + 0.05000470771419394 + ], + "face_center": [ + 0.7906495816182, + 15.16768381628733, + 0.06138614252462894 + ], + "face_normal": [ + -0.9676175928531527, + 0.2049141887546584, + 0.147398673059711 + ], + "footprint_xy": [ + [ + 0.7576791414973784, + 15.01571001375408 + ], + [ + 0.9730498140957939, + 15.01571001375408 + ], + [ + 0.9730498140957939, + 15.288012592001381 + ], + [ + 0.7576791414973784, + 15.288012592001381 + ] + ], + "projected_box_corners": [ + [ + 0.7730207852165207, + 15.047355040573278 + ], + [ + 0.8236200217390215, + 15.281770541963619 + ], + [ + 0.7576791414973784, + 15.05359709061104 + ], + [ + 0.8082783780198791, + 15.288012592001381 + ], + [ + 0.9224505775732932, + 15.01571001375408 + ], + [ + 0.9730498140957939, + 15.250125515144422 + ], + [ + 0.9071089338541507, + 15.021952063791844 + ], + [ + 0.9577081703766515, + 15.256367565182185 + ] + ], + "yaw_rad": -0.20868862061475454, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.775046169757843, + 15.15638256072998, + 0.0648568868637085 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.795000495700012, + 15.167662278573196, + 0.06342894328848331 + ], + "intended_face_normal": [ + -0.958083085234031, + 0.2092224768683164, + 0.1957108984602247 + ], + "commanded_contact_point": [ + 0.7841050672531128, + 15.148963184543378, + 0.0483170648279875 + ], + "centerline_face_intersection": [ + 0.7883856351387348, + 15.15150709934448, + 0.0483170648279875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.778647780418396, + 15.156471252441406, + 0.06640440225601196 + ], + "box_pose": [ + 0.8765628337860107, + 15.167486190795898, + 0.046383533626794815, + -0.6829084157943726, + 0.1445351094007492, + -0.008249820210039616, + 0.716015100479126 + ], + "box_yaw_rad": -0.21500087563808534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002543914801102074, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003732913076053585 + } + } + }, + { + "simulation_time_ns": 7840000000, + "center": [ + 0.8651033444451325, + 15.151634151838593, + 0.051279664261952046 + ], + "face_center": [ + 0.790034535460657, + 15.167514733654368, + 0.05992175513317399 + ], + "face_normal": [ + -0.9722010464216406, + 0.2056662210036322, + 0.1119219806725642 + ], + "footprint_xy": [ + [ + 0.759117801527276, + 15.015782292511048 + ], + [ + 0.9710888873629889, + 15.015782292511048 + ], + [ + 0.9710888873629889, + 15.287486011166138 + ], + [ + 0.759117801527276, + 15.287486011166138 + ] + ], + "projected_box_corners": [ + [ + 0.7706117615263848, + 15.047543456142597 + ], + [ + 0.820951269394038, + 15.282011197867215 + ], + [ + 0.759117801527276, + 15.05301826944152 + ], + [ + 0.8094573093949293, + 15.287486011166138 + ], + [ + 0.9207493794953356, + 15.015782292511048 + ], + [ + 0.9710888873629889, + 15.250250034235666 + ], + [ + 0.909255419496227, + 15.02125710580997 + ], + [ + 0.9595949273638802, + 15.255724847534589 + ] + ], + "yaw_rad": -0.20847339724904315, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7752113342285156, + 15.156196594238281, + 0.06392356753349304 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7906495816182, + 15.16768381628733, + 0.06138614252462894 + ], + "intended_face_normal": [ + -0.9676175928531527, + 0.2049141887546584, + 0.147398673059711 + ], + "commanded_contact_point": [ + 0.7861664938926697, + 15.149136537762539, + 0.05000470771419394 + ], + "centerline_face_intersection": [ + 0.7855650668704597, + 15.15186130287773, + 0.05000470771419394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.775046169757843, + 15.15638256072998, + 0.0648568868637085 + ], + "box_pose": [ + 0.8729364275932312, + 15.167869567871094, + 0.04827765375375748, + -0.6864802837371826, + 0.12512414157390594, + -0.02313336916267872, + 0.7159284949302673 + ], + "box_yaw_rad": -0.20868862061475454, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027247651151920825, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026697695856068584 + } + } + }, + { + "simulation_time_ns": 7860000000, + "center": [ + 0.8668459450578295, + 15.151432710950294, + 0.05100864614567724 + ], + "face_center": [ + 0.7918549560025812, + 15.167331941108042, + 0.06026989507585846 + ], + "face_normal": [ + -0.9711932161702943, + 0.20590773192976908, + 0.11994057216167509 + ], + "footprint_xy": [ + [ + 0.7604277666574079, + 15.015482726603091 + ], + [ + 0.9732641234582512, + 15.015482726603091 + ], + [ + 0.9732641234582512, + 15.287382695297495 + ], + [ + 0.7604277666574079, + 15.287382695297495 + ] + ], + "projected_box_corners": [ + [ + 0.7727860423535328, + 15.047281186918589 + ], + [ + 0.8232821453477546, + 15.281715198536967 + ], + [ + 0.7604277666574079, + 15.05294868367912 + ], + [ + 0.8109238696516297, + 15.287382695297495 + ], + [ + 0.9227680204640294, + 15.015482726603091 + ], + [ + 0.9732641234582512, + 15.249916738221467 + ], + [ + 0.9104097447679045, + 15.02115022336362 + ], + [ + 0.9609058477621263, + 15.255584234981997 + ] + ], + "yaw_rad": -0.20892150102007653, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.777179479598999, + 15.156091690063477, + 0.06475663185119629 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.790034535460657, + 15.167514733654368, + 0.05992175513317399 + ], + "intended_face_normal": [ + -0.9722010464216406, + 0.2056662210036322, + 0.1119219806725642 + ], + "commanded_contact_point": [ + 0.7882558155059814, + 15.148726889027413, + 0.051279664261952046 + ], + "centerline_face_intersection": [ + 0.7856801488050509, + 15.151634151838593, + 0.051279664261952046 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7752113342285156, + 15.156196594238281, + 0.06392356753349304 + ], + "box_pose": [ + 0.8727306723594666, + 15.167632102966309, + 0.04970768839120865, + -0.6884718537330627, + 0.11240670830011368, + -0.03555571287870407, + 0.7156165242195129 + ], + "box_yaw_rad": -0.20847339724904315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002907262811179618, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024816508796994133 + } + } + }, + { + "simulation_time_ns": 7880000000, + "center": [ + 0.8687682308633302, + 15.152191960899152, + 0.05014231994181335 + ], + "face_center": [ + 0.7941363987664836, + 15.168603387460603, + 0.06123102450046032 + ], + "face_normal": [ + -0.9665418466399762, + 0.2125410845350486, + 0.14360758244621197 + ], + "footprint_xy": [ + [ + 0.760498150694163, + 15.015641108736872 + ], + [ + 0.9770383110324975, + 15.015641108736872 + ], + [ + 0.9770383110324975, + 15.288742813061432 + ], + [ + 0.760498150694163, + 15.288742813061432 + ] + ], + "projected_box_corners": [ + [ + 0.7753846345187448, + 15.048463961859776 + ], + [ + 0.8277746468388041, + 15.28248648564371 + ], + [ + 0.760498150694163, + 15.054720289277496 + ], + [ + 0.8128881630142223, + 15.288742813061432 + ], + [ + 0.9246482987124383, + 15.015641108736872 + ], + [ + 0.9770383110324975, + 15.249663632520809 + ], + [ + 0.9097618148878565, + 15.021897436154594 + ], + [ + 0.9621518272079157, + 15.25591995993853 + ] + ], + "yaw_rad": -0.21645347122525677, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7792060375213623, + 15.157756805419922, + 0.06583809852600098 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7918549560025812, + 15.167331941108042, + 0.06026989507585846 + ], + "intended_face_normal": [ + -0.9711932161702943, + 0.20590773192976908, + 0.11994057216167509 + ], + "commanded_contact_point": [ + 0.7901385772228241, + 15.148339088974588, + 0.05100864614567724 + ], + "centerline_face_intersection": [ + 0.7873403300825509, + 15.151432710950294, + 0.05100864614567724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.777179479598999, + 15.156091690063477, + 0.06475663185119629 + ], + "box_pose": [ + 0.8744679689407349, + 15.16742992401123, + 0.049403779208660126, + -0.6879710555076599, + 0.11541514843702316, + -0.03290494531393051, + 0.7157460451126099 + ], + "box_yaw_rad": -0.20892150102007653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0030936219757069215, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001941296315024843 + } + } + }, + { + "simulation_time_ns": 7900000000, + "center": [ + 0.8697206916611563, + 15.152984613818685, + 0.050646132783437145 + ], + "face_center": [ + 0.7949384245568184, + 15.169347427182132, + 0.060749377590244305 + ], + "face_normal": [ + -0.9684901001647073, + 0.21191150478535592, + 0.13084509140758094 + ], + "footprint_xy": [ + [ + 0.762146423674885, + 15.016581896423848 + ], + [ + 0.9772949596474275, + 15.016581896423848 + ], + [ + 0.9772949596474275, + 15.289387331213524 + ], + [ + 0.762146423674885, + 15.289387331213524 + ] + ], + "projected_box_corners": [ + [ + 0.7756487887535829, + 15.04930752315074 + ], + [ + 0.8277304254387517, + 15.283395454031162 + ], + [ + 0.762146423674885, + 15.055299400333102 + ], + [ + 0.8142280603600539, + 15.289387331213524 + ], + [ + 0.9252133229622587, + 15.016581896423848 + ], + [ + 0.9772949596474275, + 15.250669827304268 + ], + [ + 0.9117109578835608, + 15.022573773606208 + ], + [ + 0.9637925945687297, + 15.25666170448663 + ] + ], + "yaw_rad": -0.21541120080833653, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7806053161621094, + 15.15858268737793, + 0.0651908665895462 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7941363987664836, + 15.168603387460603, + 0.06123102450046032 + ], + "intended_face_normal": [ + -0.9665418466399762, + 0.2125410845350486, + 0.14360758244621197 + ], + "commanded_contact_point": [ + 0.7920214879512787, + 15.148875745142615, + 0.05014231994181335 + ], + "centerline_face_intersection": [ + 0.7888800044198871, + 15.152191960899152, + 0.05014231994181335 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7792060375213623, + 15.157756805419922, + 0.06583809852600098 + ], + "box_pose": [ + 0.8764703273773193, + 15.168139457702637, + 0.048428647220134735, + -0.6862825751304626, + 0.1264398694038391, + -0.027240339666604996, + 0.715742290019989 + ], + "box_yaw_rad": -0.21645347122525677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003316215756537699, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021409983058171544 + } + } + }, + { + "simulation_time_ns": 7920000000, + "center": [ + 0.8695660542274635, + 15.151254063529452, + 0.052861128251207 + ], + "face_center": [ + 0.7941629464682629, + 15.16711748327282, + 0.057853915929071686 + ], + "face_normal": [ + -0.9765304826149392, + 0.2054439584557377, + 0.06466058900687965 + ], + "footprint_xy": [ + [ + 0.7660845534091016, + 15.015863622101069 + ], + [ + 0.9730475550458253, + 15.015863622101069 + ], + [ + 0.9730475550458253, + 15.286644504957836 + ], + [ + 0.7660845534091016, + 15.286644504957836 + ] + ], + "projected_box_corners": [ + [ + 0.7724506317304275, + 15.047590461587804 + ], + [ + 0.8222413395274242, + 15.282169073713812 + ], + [ + 0.7660845534091016, + 15.052065892831827 + ], + [ + 0.8158752612060983, + 15.286644504957836 + ], + [ + 0.9232568472488287, + 15.015863622101069 + ], + [ + 0.9730475550458253, + 15.250442234227076 + ], + [ + 0.9168907689275028, + 15.020339053345092 + ], + [ + 0.9666814767244994, + 15.2549176654711 + ] + ], + "yaw_rad": -0.2073575631461228, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7807822227478027, + 15.156267166137695, + 0.06232939660549164 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7949384245568184, + 15.169347427182132, + 0.060749377590244305 + ], + "intended_face_normal": [ + -0.9684901001647073, + 0.21191150478535592, + 0.13084509140758094 + ], + "commanded_contact_point": [ + 0.7941578078269959, + 15.149444475119777, + 0.050646132783437145 + ], + "centerline_face_intersection": [ + 0.7899931715777746, + 15.152984613818685, + 0.050646132783437145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7806053161621094, + 15.15858268737793, + 0.0651908665895462 + ], + "box_pose": [ + 0.8774285912513733, + 15.168935775756836, + 0.04899374395608902, + -0.6869757175445557, + 0.1215304434299469, + -0.0313895083963871, + 0.7157579064369202 + ], + "box_yaw_rad": -0.21541120080833653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0035401386989074956, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022674090450760386 + } + } + }, + { + "simulation_time_ns": 7940000000, + "center": [ + 0.8690374851982345, + 15.147516606554738, + 0.055889381724109295 + ], + "face_center": [ + 0.7931430059441118, + 15.161707858150741, + 0.05497224981463483 + ], + "face_normal": [ + -0.982894136015168, + 0.18378804510564883, + -0.0118775908950699 + ], + "footprint_xy": [ + [ + 0.770203959448745, + 15.013994539277004 + ], + [ + 0.9678710109477242, + 15.013994539277004 + ], + [ + 0.9678710109477242, + 15.281038673832473 + ], + [ + 0.770203959448745, + 15.281038673832473 + ] + ], + "projected_box_corners": [ + [ + 0.770203959448745, + 15.042377042469008 + ], + [ + 0.814196470240445, + 15.27810115332524 + ], + [ + 0.7720895416477785, + 15.045314562976241 + ], + [ + 0.8160820524394785, + 15.281038673832473 + ], + [ + 0.9219929179569906, + 15.013994539277004 + ], + [ + 0.9659854287486905, + 15.249718650133236 + ], + [ + 0.9238785001560242, + 15.016932059784237 + ], + [ + 0.9678710109477242, + 15.252656170640469 + ] + ], + "yaw_rad": -0.1848519523781911, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7802547216415405, + 15.151092529296875, + 0.05966164171695709 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7941629464682629, + 15.16711748327282, + 0.057853915929071686 + ], + "intended_face_normal": [ + -0.9765304826149392, + 0.2054439584557377, + 0.06466058900687965 + ], + "commanded_contact_point": [ + 0.7965290892124176, + 15.147513400726215, + 0.052861128251207 + ], + "centerline_face_intersection": [ + 0.7904949803735558, + 15.151254063529452, + 0.052861128251207 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7807822227478027, + 15.156267166137695, + 0.06232939660549164 + ], + "box_pose": [ + 0.8772450089454651, + 15.16724681854248, + 0.051502056419849396, + -0.6907238960266113, + 0.0951843187212944, + -0.05171754211187363, + 0.7149584889411926 + ], + "box_yaw_rad": -0.2073575631461228, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0037406628032372402, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00377600697093647 + } + } + }, + { + "simulation_time_ns": 7960000000, + "center": [ + 0.8708329108673595, + 15.14436140061859, + 0.05773047346904472 + ], + "face_center": [ + 0.7947474686677044, + 15.157347020856694, + 0.055589482764163485 + ], + "face_normal": [ + -0.9853672587140051, + 0.16817415588047835, + -0.027727539997270956 + ], + "footprint_xy": [ + [ + 0.7728861674273122, + 15.011812173859864 + ], + [ + 0.9687796543074066, + 15.011812173859864 + ], + [ + 0.9687796543074066, + 15.276910627377319 + ], + [ + 0.7728861674273122, + 15.276910627377319 + ] + ], + "projected_box_corners": [ + [ + 0.7728861674273122, + 15.037783414336069 + ], + [ + 0.81303368796102, + 15.274189540255747 + ], + [ + 0.7764612493743888, + 15.040504501457638 + ], + [ + 0.8166087699080966, + 15.276910627377319 + ], + [ + 0.9250570518266222, + 15.011812173859864 + ], + [ + 0.9652045723603301, + 15.248218299779543 + ], + [ + 0.9286321337736988, + 15.014533260981434 + ], + [ + 0.9687796543074066, + 15.250939386901115 + ] + ], + "yaw_rad": -0.1690427705158655, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7813767790794373, + 15.147038459777832, + 0.059700608253479004 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7931430059441118, + 15.161707858150741, + 0.05497224981463483 + ], + "intended_face_normal": [ + -0.982894136015168, + 0.18378804510564883, + -0.0118775908950699 + ], + "commanded_contact_point": [ + 0.7994450378417969, + 15.143632906841816, + 0.055889381724109295 + ], + "centerline_face_intersection": [ + 0.7904783493949801, + 15.147516606554738, + 0.055889381724109295 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7802547216415405, + 15.151092529296875, + 0.05966164171695709 + ], + "box_pose": [ + 0.8764446377754211, + 15.163662910461426, + 0.05488303303718567, + -0.6941026449203491, + 0.06005777418613434, + -0.0703277736902237, + 0.7139108777046204 + ], + "box_yaw_rad": -0.1848519523781911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0038836997129227035, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005721128235949644 + } + } + }, + { + "simulation_time_ns": 7980000000, + "center": [ + 0.8745825730801177, + 15.14282422419919, + 0.057430087618658074 + ], + "face_center": [ + 0.7984995245357003, + 15.155998855406823, + 0.05748946492268589 + ], + "face_normal": [ + -0.9853362589664628, + 0.17062199893072094, + 0.0007689835217910002 + ], + "footprint_xy": [ + [ + 0.7778017116171583, + 15.009887265435742 + ], + [ + 0.9713634345430772, + 15.009887265435742 + ], + [ + 0.9713634345430772, + 15.275761182962638 + ], + [ + 0.7778017116171583, + 15.275761182962638 + ] + ], + "projected_box_corners": [ + [ + 0.7778017116171583, + 15.036236527851006 + ], + [ + 0.8187207043210013, + 15.272510233386358 + ], + [ + 0.7782783447503994, + 15.039487477427286 + ], + [ + 0.8191973374542424, + 15.275761182962638 + ], + [ + 0.929967808705993, + 15.009887265435742 + ], + [ + 0.9708868014098361, + 15.246160970971093 + ], + [ + 0.9304444418392341, + 15.01313821501202 + ], + [ + 0.9713634345430772, + 15.249411920547372 + ] + ], + "yaw_rad": -0.17146094108379661, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7836645245552063, + 15.145843505859375, + 0.06051735579967499 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7947474686677044, + 15.157347020856694, + 0.055589482764163485 + ], + "intended_face_normal": [ + -0.9853672587140051, + 0.16817415588047835, + -0.027727539997270956 + ], + "commanded_contact_point": [ + 0.8029417443275452, + 15.140370618539299, + 0.05773047346904472 + ], + "centerline_face_intersection": [ + 0.792470946606226, + 15.14436140061859, + 0.05773047346904472 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7813767790794373, + 15.147038459777832, + 0.059700608253479004 + ], + "box_pose": [ + 0.877998948097229, + 15.16062068939209, + 0.056800372898578644, + -0.6948207020759583, + 0.04888327792286873, + -0.07019113749265671, + 0.7140782475471497 + ], + "box_yaw_rad": -0.1690427705158655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0039907820792923565, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005124363377970445 + } + } + }, + { + "simulation_time_ns": 8000000000, + "center": [ + 0.8789167722470698, + 15.1425489412118, + 0.05388765298690028 + ], + "face_center": [ + 0.8031413085746568, + 15.156933133926232, + 0.05754536134534724 + ], + "face_normal": [ + -0.9813527891542798, + 0.1862867867238185, + 0.047370245268214095 + ], + "footprint_xy": [ + [ + 0.7783531777963352, + 15.008259898206896 + ], + [ + 0.9794803666978043, + 15.008259898206896 + ], + [ + 0.9794803666978043, + 15.276837984216705 + ], + [ + 0.7783531777963352, + 15.276837984216705 + ] + ], + "projected_box_corners": [ + [ + 0.7828695508689103, + 15.037028283635761 + ], + [ + 0.8279294393529784, + 15.272541352898937 + ], + [ + 0.7783531777963352, + 15.04132491495353 + ], + [ + 0.8234130662804032, + 15.276837984216705 + ], + [ + 0.9344204782137362, + 15.008259898206896 + ], + [ + 0.9794803666978043, + 15.24377296747007 + ], + [ + 0.9299041051411611, + 15.012556529524664 + ], + [ + 0.9749639936252291, + 15.24806959878784 + ] + ], + "yaw_rad": -0.18759450744836886, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.785834789276123, + 15.146546363830566, + 0.060189247131347656 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.7984995245357003, + 15.155998855406823, + 0.05748946492268589 + ], + "intended_face_normal": [ + -0.9853362589664628, + 0.17062199893072094, + 0.0007689835217910002 + ], + "commanded_contact_point": [ + 0.8067666041851044, + 15.13871267085349, + 0.057430087618658074 + ], + "centerline_face_intersection": [ + 0.796218143466586, + 15.14282422419919, + 0.057430087618658074 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7836645245552063, + 15.145843505859375, + 0.06051735579967499 + ], + "box_pose": [ + 0.8817600607872009, + 15.15907096862793, + 0.05637715011835098, + -0.6939495801925659, + 0.059915702790021896, + -0.06117171794176102, + 0.714914083480835 + ], + "box_yaw_rad": -0.17146094108379661, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004111553345699759, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004179542453182987 + } + } + }, + { + "simulation_time_ns": 8020000000, + "center": [ + 0.8838193789317216, + 15.141669021799206, + 0.05011525553477548 + ], + "face_center": [ + 0.8088029142150011, + 15.156149911344835, + 0.06129731771111879 + ], + "face_normal": [ + -0.9715231463380518, + 0.1875390879358072, + 0.14481663817579715 + ], + "footprint_xy": [ + [ + 0.7780383443107252, + 15.006579367913755 + ], + [ + 0.989600413552718, + 15.006579367913755 + ], + [ + 0.989600413552718, + 15.276758675684658 + ], + [ + 0.7780383443107252, + 15.276758675684658 + ] + ], + "projected_box_corners": [ + [ + 0.7932059951135852, + 15.035541147005011 + ], + [ + 0.8395674841192768, + 15.270830316905892 + ], + [ + 0.7780383443107252, + 15.041469505783779 + ], + [ + 0.8243998333164168, + 15.276758675684658 + ], + [ + 0.9432389245470264, + 15.006579367913755 + ], + [ + 0.989600413552718, + 15.241868537814636 + ], + [ + 0.9280712737441663, + 15.012507726692522 + ], + [ + 0.9744327627498579, + 15.247796896593401 + ] + ], + "yaw_rad": -0.19069067150596486, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7873826026916504, + 15.144643783569336, + 0.063651442527771 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8031413085746568, + 15.156933133926232, + 0.05754536134534724 + ], + "intended_face_normal": [ + -0.9813527891542798, + 0.1862867867238185, + 0.047370245268214095 + ], + "commanded_contact_point": [ + 0.8105705726146698, + 15.138277490961348, + 0.05388765298690028 + ], + "centerline_face_intersection": [ + 0.8002342487297306, + 15.1425489412118, + 0.05388765298690028 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.785834789276123, + 15.146546363830566, + 0.060189247131347656 + ], + "box_pose": [ + 0.8863034844398499, + 15.15868854522705, + 0.052650149911642075, + -0.6913773417472839, + 0.08212173730134964, + -0.05079001560807228, + 0.7160124778747559 + ], + "box_yaw_rad": -0.18759450744836886, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0042714502504504264, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005216167220472503 + } + } + }, + { + "simulation_time_ns": 8040000000, + "center": [ + 0.8895971064267848, + 15.140586172852005, + 0.04504000359440641 + ], + "face_center": [ + 0.8165969886271337, + 15.15475058136026, + 0.06583800790843387 + ], + "face_normal": [ + -0.9454098429668832, + 0.18344040567520348, + 0.2693507707277045 + ], + "footprint_xy": [ + [ + 0.7786003188680793, + 15.004656694570977 + ], + [ + 1.0005938939854904, + 15.004656694570977 + ], + [ + 1.0005938939854904, + 15.276515651133035 + ], + [ + 0.7786003188680793, + 15.276515651133035 + ] + ], + "projected_box_corners": [ + [ + 0.8073146072003523, + 15.032985511587484 + ], + [ + 0.854593658386188, + 15.268104961244356 + ], + [ + 0.7786003188680793, + 15.04139620147616 + ], + [ + 0.825879370053915, + 15.276515651133035 + ], + [ + 0.9533148427996546, + 15.004656694570977 + ], + [ + 1.0005938939854904, + 15.239776144227852 + ], + [ + 0.9246005544673818, + 15.013067384459656 + ], + [ + 0.9718796056532174, + 15.24818683411653 + ] + ], + "yaw_rad": -0.19165122343771368, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7925069332122803, + 15.141332626342773, + 0.06643892824649811 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8088029142150011, + 15.156149911344835, + 0.06129731771111879 + ], + "intended_face_normal": [ + -0.9715231463380518, + 0.1875390879358072, + 0.14481663817579715 + ], + "commanded_contact_point": [ + 0.8134804117679596, + 15.13727858107795, + 0.05011525553477548 + ], + "centerline_face_intersection": [ + 0.8043407641375352, + 15.141669021799206, + 0.05011525553477548 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7873826026916504, + 15.144643783569336, + 0.063651442527771 + ], + "box_pose": [ + 0.8911068439483643, + 15.15781021118164, + 0.048401642590761185, + -0.6876757144927979, + 0.11801829934120178, + -0.01760987937450409, + 0.7161449193954468 + ], + "box_yaw_rad": -0.19069067150596486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004390440721255613, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004867850386974335 + } + } + }, + { + "simulation_time_ns": 8060000000, + "center": [ + 0.8963343260352584, + 15.139997466881198, + 0.04428808744998869 + ], + "face_center": [ + 0.8235882680686474, + 15.15244176605031, + 0.06698952216141618 + ], + "face_normal": [ + -0.9421195651687316, + 0.16116361559297232, + 0.2940017149637555 + ], + "footprint_xy": [ + [ + 0.7868007670781753, + 15.005576375059723 + ], + [ + 1.0058678849923415, + 15.005576375059723 + ], + [ + 1.0058678849923415, + 15.274418558702672 + ], + [ + 0.7868007670781753, + 15.274418558702672 + ] + ], + "projected_box_corners": [ + [ + 0.8184593332479396, + 15.030464973397951 + ], + [ + 0.8603757690591194, + 15.266621022687737 + ], + [ + 0.7868007670781753, + 15.038262509412887 + ], + [ + 0.828717202889355, + 15.274418558702672 + ], + [ + 0.9639514491811617, + 15.005576375059723 + ], + [ + 1.0058678849923415, + 15.24173242434951 + ], + [ + 0.9322928830113973, + 15.013373911074659 + ], + [ + 0.9742093188225772, + 15.249529960364445 + ] + ], + "yaw_rad": -0.169424990743128, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.7997798919677734, + 15.138303756713867, + 0.06626161932945251 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8165969886271337, + 15.15475058136026, + 0.06583800790843387 + ], + "intended_face_normal": [ + -0.9454098429668832, + 0.18344040567520348, + 0.2693507707277045 + ], + "commanded_contact_point": [ + 0.8161717402935028, + 15.13616587399112, + 0.04504000359440641 + ], + "centerline_face_intersection": [ + 0.8079232012037113, + 15.140586172852005, + 0.04504000359440641 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7925069332122803, + 15.141332626342773, + 0.06643892824649811 + ], + "box_pose": [ + 0.8966469168663025, + 15.156767845153809, + 0.0427960567176342, + -0.6791774034500122, + 0.16305647790431976, + 0.026601945981383324, + 0.7151383757591248 + ], + "box_yaw_rad": -0.19165122343771368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004420298860886331, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005851456959741415 + } + } + }, + { + "simulation_time_ns": 8080000000, + "center": [ + 0.9035036734688949, + 15.139632684424353, + 0.04417408009849504 + ], + "face_center": [ + 0.8302746992820171, + 15.149889464184563, + 0.06641189822149701 + ], + "face_normal": [ + -0.948373716007523, + 0.13283349170832004, + 0.28799750977516725 + ], + "footprint_xy": [ + [ + 0.7972079324348735, + 15.007169275269785 + ], + [ + 1.0097994145029163, + 15.007169275269785 + ], + [ + 1.0097994145029163, + 15.272096093578922 + ], + [ + 0.7972079324348735, + 15.272096093578922 + ] + ], + "projected_box_corners": [ + [ + 0.8283708436380319, + 15.027682834790205 + ], + [ + 0.8633414661291607, + 15.264947766332119 + ], + [ + 0.7972079324348735, + 15.034831162037008 + ], + [ + 0.8321785549260023, + 15.272096093578922 + ], + [ + 0.9748287920117876, + 15.007169275269785 + ], + [ + 1.0097994145029163, + 15.244434206811698 + ], + [ + 0.9436658808086292, + 15.014317602516586 + ], + [ + 0.9786365032997579, + 15.251582534058501 + ] + ], + "yaw_rad": -0.13915920243284977, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.807255208492279, + 15.135828971862793, + 0.0654745101928711 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8235882680686474, + 15.15244176605031, + 0.06698952216141618 + ], + "intended_face_normal": [ + -0.9421195651687316, + 0.16116361559297232, + 0.2940017149637555 + ], + "commanded_contact_point": [ + 0.8188469159603119, + 15.135644916427005, + 0.04428808744998869 + ], + "centerline_face_intersection": [ + 0.8143751811812728, + 15.139997466881198, + 0.04428808744998869 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7997798919677734, + 15.138303756713867, + 0.06626161932945251 + ], + "box_pose": [ + 0.9029440879821777, + 15.156340599060059, + 0.041880860924720764, + -0.6803231239318848, + 0.16437499225139618, + 0.04383011907339096, + 0.7128956317901611 + ], + "box_yaw_rad": -0.169424990743128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004352550454193105, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002827249461956271 + } + } + }, + { + "simulation_time_ns": 8100000000, + "center": [ + 0.909333729345564, + 15.139829943015283, + 0.04417059606242351 + ], + "face_center": [ + 0.8359217452289079, + 15.148477773964638, + 0.06648875440572881 + ], + "face_normal": [ + -0.9507438407989367, + 0.1119963192699629, + 0.2890379798093301 + ], + "footprint_xy": [ + [ + 0.8053278198625073, + 15.008966348696793 + ], + [ + 1.0133396388286207, + 15.008966348696793 + ], + [ + 1.0133396388286207, + 15.270693537333774 + ], + [ + 0.8053278198625073, + 15.270693537333774 + ] + ], + "projected_box_corners": [ + [ + 0.8367568424504002, + 15.026262010595504 + ], + [ + 0.8665156705953084, + 15.264237890259782 + ], + [ + 0.8053278198625073, + 15.032717657669496 + ], + [ + 0.8350866480074157, + 15.270693537333774 + ], + [ + 0.9835808106837124, + 15.008966348696793 + ], + [ + 1.0133396388286207, + 15.24694222836107 + ], + [ + 0.9521517880958196, + 15.015421995770785 + ], + [ + 0.981910616240728, + 15.253397875435061 + ] + ], + "yaw_rad": -0.1172582411251817, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8133385181427002, + 15.134479522705078, + 0.06564977765083313 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8302746992820171, + 15.149889464184563, + 0.06641189822149701 + ], + "intended_face_normal": [ + -0.948373716007523, + 0.13283349170832004, + 0.28799750977516725 + ], + "commanded_contact_point": [ + 0.8214544999599457, + 15.135432282472621, + 0.04417408009849504 + ], + "centerline_face_intersection": [ + 0.8220850168695745, + 15.139632684424353, + 0.04417408009849504 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.807255208492279, + 15.135828971862793, + 0.0654745101928711 + ], + "box_pose": [ + 0.9096494913101196, + 15.156167984008789, + 0.0418514683842659, + -0.6818912625312805, + 0.1519678831100464, + 0.05214311555027962, + 0.7135903835296631 + ], + "box_yaw_rad": -0.13915920243284977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004200401951730724, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002618722052814602 + } + } + }, + { + "simulation_time_ns": 8120000000, + "center": [ + 0.91310703153546, + 15.14085870562066, + 0.04416087063008781 + ], + "face_center": [ + 0.8395879066267289, + 15.14843798429265, + 0.0665147857263282 + ], + "face_normal": [ + -0.9521313996476621, + 0.09815771364581138, + 0.2895010583247668 + ], + "footprint_xy": [ + [ + 0.8106542073279019, + 15.011089755901668 + ], + [ + 1.0155598557430179, + 15.011089755901668 + ], + [ + 1.0155598557430179, + 15.270627655339652 + ], + [ + 0.8106542073279019, + 15.270627655339652 + ] + ], + "projected_box_corners": [ + [ + 0.8422255396472806, + 15.026248313245649 + ], + [ + 0.8685216059255559, + 15.264632142232786 + ], + [ + 0.8106542073279019, + 15.032243826352515 + ], + [ + 0.8369502736061771, + 15.270627655339652 + ], + [ + 0.9892637894647428, + 15.011089755901668 + ], + [ + 1.0155598557430179, + 15.249473584888806 + ], + [ + 0.957692457145364, + 15.017085269008534 + ], + [ + 0.9839885234236393, + 15.255469097995672 + ] + ], + "yaw_rad": -0.10272969843306501, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8173477053642273, + 15.13446044921875, + 0.065821573138237 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8359217452289079, + 15.148477773964638, + 0.06648875440572881 + ], + "intended_face_normal": [ + -0.9507438407989367, + 0.1119963192699629, + 0.2890379798093301 + ], + "commanded_contact_point": [ + 0.8238510537147522, + 15.13584355787596, + 0.04417059606242351 + ], + "centerline_face_intersection": [ + 0.82811804264014, + 15.139829943015283, + 0.04417059606242351 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8133385181427002, + 15.134479522705078, + 0.06564977765083313 + ], + "box_pose": [ + 0.9151124358177185, + 15.156496047973633, + 0.041840560734272, + -0.6835080981254578, + 0.14486674964427948, + 0.060346536338329315, + 0.7128733396530151 + ], + "box_yaw_rad": -0.1172582411251817, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0039863851393225486, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024315899110615253 + } + } + }, + { + "simulation_time_ns": 8140000000, + "center": [ + 0.9153150456759259, + 15.142012324772628, + 0.0442219389206975 + ], + "face_center": [ + 0.8417142404307292, + 15.149487772899882, + 0.06634079779516174 + ], + "face_normal": [ + -0.9531892252567031, + 0.09681302514456647, + 0.2864568924738613 + ], + "footprint_xy": [ + [ + 0.813116037224719, + 15.012338970819041 + ], + [ + 1.0175140541271328, + 15.012338970819041 + ], + [ + 1.0175140541271328, + 15.271685678726215 + ], + [ + 0.813116037224719, + 15.271685678726215 + ] + ], + "projected_box_corners": [ + [ + 0.8443543995453514, + 15.027289867073549 + ], + [ + 0.8703124436367394, + 15.265707401617837 + ], + [ + 0.813116037224719, + 15.033268144181926 + ], + [ + 0.8390740813161071, + 15.271685678726215 + ], + [ + 0.9915560100357448, + 15.012338970819041 + ], + [ + 1.0175140541271328, + 15.250756505363329 + ], + [ + 0.9603176477151124, + 15.01831724792742 + ], + [ + 0.9862756918065004, + 15.256734782471709 + ] + ], + "yaw_rad": -0.10122036829990819, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8200423121452332, + 15.135443687438965, + 0.06563955545425415 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8395879066267289, + 15.14843798429265, + 0.0665147857263282 + ], + "intended_face_normal": [ + -0.9521313996476621, + 0.09815771364581138, + 0.2895010583247668 + ], + "commanded_contact_point": [ + 0.8260238814353943, + 15.137128250737414, + 0.04416087063008781 + ], + "centerline_face_intersection": [ + 0.8320097019651805, + 15.14085870562066, + 0.04416087063008781 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8173477053642273, + 15.13446044921875, + 0.065821573138237 + ], + "box_pose": [ + 0.9186415076255798, + 15.157607078552246, + 0.04182778671383858, + -0.6845352053642273, + 0.14006513357162476, + 0.06569671630859375, + 0.7123743891716003 + ], + "box_yaw_rad": -0.10272969843306501, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0037304548832461375, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025242247593854775 + } + } + }, + { + "simulation_time_ns": 8160000000, + "center": [ + 0.9178519214833158, + 15.144506166802174, + 0.045064708057962824 + ], + "face_center": [ + 0.8438782244672024, + 15.152516187945366, + 0.06570293644690757 + ], + "face_normal": [ + -0.9580184715813957, + 0.10373617275427272, + 0.2672815448580024 + ], + "footprint_xy": [ + [ + 0.8156221427735217, + 15.014394020775194 + ], + [ + 1.0200817001931102, + 15.014394020775194 + ], + [ + 1.0200817001931102, + 15.274618312829151 + ], + [ + 0.8156221427735217, + 15.274618312829151 + ] + ], + "projected_box_corners": [ + [ + 0.8447123217724191, + 15.03041406306158 + ], + [ + 0.872134306160883, + 15.268667154029668 + ], + [ + 0.8156221427735217, + 15.036365221861065 + ], + [ + 0.8430441271619857, + 15.274618312829151 + ], + [ + 0.9926597158046461, + 15.014394020775194 + ], + [ + 1.0200817001931102, + 15.252647111743283 + ], + [ + 0.9635695368057487, + 15.02034517957468 + ], + [ + 0.9909915211942129, + 15.258598270542768 + ] + ], + "yaw_rad": -0.10786176781133504, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8230398893356323, + 15.138280868530273, + 0.06508363783359528 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8417142404307292, + 15.149487772899882, + 0.06634079779516174 + ], + "intended_face_normal": [ + -0.9531892252567031, + 0.09681302514456647, + 0.2864568924738613 + ], + "commanded_contact_point": [ + 0.8280661153793335, + 15.138544615382727, + 0.0442219389206975 + ], + "centerline_face_intersection": [ + 0.8343077158976826, + 15.142012324772628, + 0.0442219389206975 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8200423121452332, + 15.135443687438965, + 0.06563955545425415 + ], + "box_pose": [ + 0.9208345413208008, + 15.158768653869629, + 0.04191058129072189, + -0.684650182723999, + 0.13845165073871613, + 0.06508861482143402, + 0.7126351594924927 + ], + "box_yaw_rad": -0.10122036829990819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003467709389899623, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002486068709104877 + } + } + }, + { + "simulation_time_ns": 8180000000, + "center": [ + 0.9204201613957779, + 15.148231152022028, + 0.046403524751878915 + ], + "face_center": [ + 0.8458916015342063, + 15.156716669478975, + 0.06472549091361021 + ], + "face_normal": [ + -0.9652043886922747, + 0.10989422987621422, + 0.23728409862771072 + ], + "footprint_xy": [ + [ + 0.8187313225283721, + 15.017810593071852 + ], + [ + 1.0221090002631836, + 15.017810593071852 + ], + [ + 1.0221090002631836, + 15.278651710972204 + ], + [ + 0.8187313225283721, + 15.278651710972204 + ] + ], + "projected_box_corners": [ + [ + 0.8444897676533583, + 15.034781627985748 + ], + [ + 0.8730518805400406, + 15.272898633666022 + ], + [ + 0.8187313225283721, + 15.040534705291927 + ], + [ + 0.8472934354150543, + 15.278651710972204 + ], + [ + 0.9935468873765014, + 15.017810593071852 + ], + [ + 1.0221090002631836, + 15.255927598752127 + ], + [ + 0.9677884422515153, + 15.023563670378032 + ], + [ + 0.9963505551381976, + 15.261680676058308 + ] + ], + "yaw_rad": -0.11336772970337508, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.82563316822052, + 15.14244556427002, + 0.06416095793247223 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8438782244672024, + 15.152516187945366, + 0.06570293644690757 + ], + "intended_face_normal": [ + -0.9580184715813957, + 0.10373617275427272, + 0.2672815448580024 + ], + "commanded_contact_point": [ + 0.830013667345047, + 15.14128746934315, + 0.045064708057962824 + ], + "centerline_face_intersection": [ + 0.8372529391025492, + 15.144506166802174, + 0.045064708057962824 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8230398893356323, + 15.138280868530273, + 0.06508363783359528 + ], + "box_pose": [ + 0.9235274195671082, + 15.16122055053711, + 0.042828671634197235, + -0.685560405254364, + 0.13371191918849945, + 0.05578428879380226, + 0.7134537696838379 + ], + "box_yaw_rad": -0.10786176781133504, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0032186974590236142, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034679195962541948 + } + } + }, + { + "simulation_time_ns": 8200000000, + "center": [ + 0.9217805275569405, + 15.15126761408217, + 0.047157766777025996 + ], + "face_center": [ + 0.8469292562970027, + 15.159771827809005, + 0.06410386359688476 + ], + "face_normal": [ + -0.9693837591049411, + 0.11013636150709072, + 0.2194654915124099 + ], + "footprint_xy": [ + [ + 0.8208272424939769, + 15.020927425217971 + ], + [ + 1.0227338126199041, + 15.020927425217971 + ], + [ + 1.0227338126199041, + 15.28160780294637 + ], + [ + 0.8208272424939769, + 15.28160780294637 + ] + ], + "projected_box_corners": [ + [ + 0.8446273583246781, + 15.03793585267164 + ], + [ + 0.8730312701000285, + 15.276070446092666 + ], + [ + 0.8208272424939769, + 15.043473209525342 + ], + [ + 0.8492311542693274, + 15.28160780294637 + ], + [ + 0.9943299008445536, + 15.020927425217971 + ], + [ + 1.0227338126199041, + 15.259062018639 + ], + [ + 0.9705297850138525, + 15.026464782071676 + ], + [ + 0.998933696789203, + 15.264599375492702 + ] + ], + "yaw_rad": -0.11312971276311783, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8270783424377441, + 15.145210266113281, + 0.06401333212852478 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8458916015342063, + 15.156716669478975, + 0.06472549091361021 + ], + "intended_face_normal": [ + -0.9652043886922747, + 0.10989422987621422, + 0.23728409862771072 + ], + "commanded_contact_point": [ + 0.8318333077430725, + 15.145243878073085, + 0.046403524751878915 + ], + "centerline_face_intersection": [ + 0.8404212359701956, + 15.148231152022028, + 0.046403524751878915 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.82563316822052, + 15.14244556427002, + 0.06416095793247223 + ], + "box_pose": [ + 0.9262552857398987, + 15.16490650177002, + 0.04429030418395996, + -0.6871317028999329, + 0.12469016760587692, + 0.04301357641816139, + 0.7144593596458435 + ], + "box_yaw_rad": -0.11336772970337508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002987273948943281, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004555951202147213 + } + } + }, + { + "simulation_time_ns": 8220000000, + "center": [ + 0.9223087319599568, + 15.152596622040623, + 0.04632171261328692 + ], + "face_center": [ + 0.8477289545022726, + 15.160188047639938, + 0.06482662442433196 + ], + "face_normal": [ + -0.9658676974780329, + 0.09831502605844866, + 0.23965339093575677 + ], + "footprint_xy": [ + [ + 0.8218131271559965, + 15.02303699175945 + ], + [ + 1.022804336763917, + 15.02303699175945 + ], + [ + 1.022804336763917, + 15.282156252321796 + ], + [ + 0.8218131271559965, + 15.282156252321796 + ] + ], + "projected_box_corners": [ + [ + 0.8478960150919063, + 15.03821984295808 + ], + [ + 0.8736447818485487, + 15.276656090418802 + ], + [ + 0.8218131271559965, + 15.043720004861072 + ], + [ + 0.847561893912639, + 15.282156252321796 + ], + [ + 0.9970555700072745, + 15.02303699175945 + ], + [ + 1.022804336763917, + 15.261473239220175 + ], + [ + 0.9709726820713648, + 15.028537153662445 + ], + [ + 0.9967214488280073, + 15.266973401123167 + ] + ], + "yaw_rad": -0.10143995096412312, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8270061016082764, + 15.14544677734375, + 0.06568065285682678 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8469292562970027, + 15.159771827809005, + 0.06410386359688476 + ], + "intended_face_normal": [ + -0.9693837591049411, + 0.11013636150709072, + 0.2194654915124099 + ], + "commanded_contact_point": [ + 0.8335174667835236, + 15.148522634051982, + 0.047157766777025996 + ], + "centerline_face_intersection": [ + 0.8421265069627302, + 15.15126761408217, + 0.047157766777025996 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8270783424377441, + 15.145210266113281, + 0.06401333212852478 + ], + "box_pose": [ + 0.9276499152183533, + 15.167940139770508, + 0.04511845484375954, + -0.6882057785987854, + 0.11815356463193893, + 0.03671315312385559, + 0.714887797832489 + ], + "box_yaw_rad": -0.11312971276311783, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027449800301877028, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037623813569579562 + } + } + }, + { + "simulation_time_ns": 8240000000, + "center": [ + 0.9234172300081461, + 15.153150296516051, + 0.044499185157300204 + ], + "face_center": [ + 0.8497865950803521, + 15.160017836962233, + 0.06671564771443765 + ], + "face_normal": [ + -0.9535755434763175, + 0.08894013503667164, + 0.28772093813694255 + ], + "footprint_xy": [ + [ + 0.8221614998818515, + 15.024259409413341 + ], + [ + 1.0246729601344406, + 15.024259409413341 + ], + [ + 1.0246729601344406, + 15.282041183618759 + ], + [ + 0.8221614998818515, + 15.282041183618759 + ] + ], + "projected_box_corners": [ + [ + 0.8536219762094641, + 15.037994490305707 + ], + [ + 0.8774116902788529, + 15.27665469562885 + ], + [ + 0.8221614998818515, + 15.043380978295616 + ], + [ + 0.8459512139512403, + 15.282041183618759 + ], + [ + 1.0008832460650519, + 15.024259409413341 + ], + [ + 1.0246729601344406, + 15.262919614736484 + ], + [ + 0.9694227697374393, + 15.029645897403253 + ], + [ + 0.9932124838068281, + 15.268306102726395 + ] + ], + "yaw_rad": -0.09300109177118047, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8266037702560425, + 15.143068313598633, + 0.0653640627861023 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8477289545022726, + 15.160188047639938, + 0.06482662442433196 + ], + "intended_face_normal": [ + -0.9658676974780329, + 0.09831502605844866, + 0.23965339093575677 + ], + "commanded_contact_point": [ + 0.8351021754741669, + 15.150137635798309, + 0.04632171261328692 + ], + "centerline_face_intersection": [ + 0.8423647457255542, + 15.152596622040623, + 0.04632171261328692 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8270061016082764, + 15.14544677734375, + 0.06568065285682678 + ], + "box_pose": [ + 0.9279404878616333, + 15.169341087341309, + 0.044203244149684906, + -0.6876254677772522, + 0.12145695090293884, + 0.048107799142599106, + 0.714216411113739 + ], + "box_yaw_rad": -0.10143995096412312, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002458986242312802, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024121606164483403 + } + } + }, + { + "simulation_time_ns": 8260000000, + "center": [ + 0.9255934637233832, + 15.152481535023679, + 0.044400070619637334 + ], + "face_center": [ + 0.8517756613690352, + 15.158600752338987, + 0.06621043463637533 + ], + "face_normal": [ + -0.9559995111722704, + 0.07924875268042442, + 0.2824616376196225 + ], + "footprint_xy": [ + [ + 0.8255683578892944, + 15.02425543086418 + ], + [ + 1.0256185695574722, + 15.02425543086418 + ], + [ + 1.0256185695574722, + 15.280707639183175 + ], + [ + 0.8255683578892944, + 15.280707639183175 + ] + ], + "projected_box_corners": [ + [ + 0.8564724621894566, + 15.036493865494798 + ], + [ + 0.8779829648487758, + 15.2753539991345 + ], + [ + 0.8255683578892944, + 15.041847505543474 + ], + [ + 0.8470788605486136, + 15.280707639183175 + ], + [ + 1.0041080668981528, + 15.02425543086418 + ], + [ + 1.0256185695574722, + 15.263115564503883 + ], + [ + 0.9732039625979907, + 15.029609070912857 + ], + [ + 0.9947144652573099, + 15.268469204552558 + ] + ], + "yaw_rad": -0.08270712460307379, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8265400528907776, + 15.137306213378906, + 0.05850255489349365 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8497865950803521, + 15.160017836962233, + 0.06671564771443765 + ], + "intended_face_normal": [ + -0.9535755434763175, + 0.08894013503667164, + 0.28772093813694255 + ], + "commanded_contact_point": [ + 0.8363189148902893, + 15.151094589590436, + 0.044499185157300204 + ], + "centerline_face_intersection": [ + 0.8424427184031769, + 15.153150296516051, + 0.044499185157300204 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8266037702560425, + 15.143068313598633, + 0.0653640627861023 + ], + "box_pose": [ + 0.9287798404693604, + 15.169949531555176, + 0.04213067889213562, + -0.6862496137619019, + 0.13599224388599396, + 0.06869015842676163, + 0.7112308144569397 + ], + "box_yaw_rad": -0.09300109177118047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002055706925616077, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002391196707683583 + } + } + }, + { + "simulation_time_ns": 8280000000, + "center": [ + 0.9283549243057465, + 15.151669722378266, + 0.044222299545875414 + ], + "face_center": [ + 0.8545859930932317, + 15.157132102930817, + 0.06636980216114595 + ], + "face_normal": [ + -0.9553665908439348, + 0.07074219187681408, + 0.28682785179987214 + ], + "footprint_xy": [ + [ + 0.8291524457893489, + 15.02412939938303 + ], + [ + 1.0275574028221441, + 15.02412939938303 + ], + [ + 1.0275574028221441, + 15.279210045373501 + ], + [ + 0.8291524457893489, + 15.279210045373501 + ] + ], + "projected_box_corners": [ + [ + 0.860583988718644, + 15.035054160488132 + ], + [ + 0.8800195403971146, + 15.27409221134729 + ], + [ + 0.8291524457893489, + 15.040171994514345 + ], + [ + 0.8485879974678194, + 15.279210045373501 + ], + [ + 1.0081218511436736, + 15.02412939938303 + ], + [ + 1.0275574028221441, + 15.263167450242186 + ], + [ + 0.9766903082143784, + 15.029247233409242 + ], + [ + 0.9961258598928489, + 15.268285284268398 + ] + ], + "yaw_rad": -0.07391227983933947, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8276953101158142, + 15.132211685180664, + 0.053448840975761414 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8517756613690352, + 15.158600752338987, + 0.06621043463637533 + ], + "intended_face_normal": [ + -0.9559995111722704, + 0.07924875268042442, + 0.2824616376196225 + ], + "commanded_contact_point": [ + 0.8376080143451691, + 15.151032840963854, + 0.044400070619637334 + ], + "centerline_face_intersection": [ + 0.8448242656128584, + 15.152481535023679, + 0.044400070619637334 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8265400528907776, + 15.137306213378906, + 0.05850255489349365 + ], + "box_pose": [ + 0.9308109879493713, + 15.169336318969727, + 0.04210323840379715, + -0.6862008571624756, + 0.1306389719247818, + 0.0702403262257576, + 0.7121293544769287 + ], + "box_yaw_rad": -0.08270712460307379, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014486940598251845, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012943778385897016 + } + } + }, + { + "simulation_time_ns": 8300000000, + "center": [ + 0.9305597832803917, + 15.151810305590786, + 0.044188618586277394 + ], + "face_center": [ + 0.8567886209164105, + 15.157038108213653, + 0.06638524919056024 + ], + "face_normal": [ + -0.9553954860378208, + 0.06770422029057421, + 0.28746409850436194 + ], + "footprint_xy": [ + [ + 0.8316968158084364, + 15.024535779691885 + ], + [ + 1.029422750752347, + 15.024535779691885 + ], + [ + 1.029422750752347, + 15.279084831489689 + ], + [ + 0.8316968158084364, + 15.279084831489689 + ] + ], + "projected_box_corners": [ + [ + 0.8632170170537493, + 15.034991384937616 + ], + [ + 0.8818804260243847, + 15.274092560790491 + ], + [ + 0.8316968158084364, + 15.039983655636814 + ], + [ + 0.8503602247790717, + 15.279084831489689 + ], + [ + 1.0107593417817118, + 15.024535779691885 + ], + [ + 1.029422750752347, + 15.26363695554476 + ], + [ + 0.9792391405363987, + 15.029528050391082 + ], + [ + 0.997902549507034, + 15.268629226243958 + ] + ], + "yaw_rad": -0.07074685583940087, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.829538106918335, + 15.132410049438477, + 0.051604270935058594 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8545859930932317, + 15.157132102930817, + 0.06636980216114595 + ], + "intended_face_normal": [ + -0.9553665908439348, + 0.07074219187681408, + 0.28682785179987214 + ], + "commanded_contact_point": [ + 0.8395757126808167, + 15.150999349806344, + 0.044222299545875414 + ], + "centerline_face_intersection": [ + 0.8475322174501206, + 15.151669722378266, + 0.044222299545875414 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8276953101158142, + 15.132211685180664, + 0.053448840975761414 + ], + "box_pose": [ + 0.933413565158844, + 15.168570518493652, + 0.041908230632543564, + -0.686478853225708, + 0.12922431528568268, + 0.07495185732841492, + 0.7116389870643616 + ], + "box_yaw_rad": -0.07391227983933947, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006703725719211188, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019759961924072783 + } + } + }, + { + "simulation_time_ns": 8320000000, + "center": [ + 0.9332566730425874, + 15.153165329716073, + 0.044205800884502815 + ], + "face_center": [ + 0.8595883869140841, + 15.15890701238988, + 0.0666160978692821 + ], + "face_normal": [ + -0.9540631566038441, + 0.07435937747262322, + 0.2902312488230345 + ], + "footprint_xy": [ + [ + 0.8335525927948277, + 15.025389489969106 + ], + [ + 1.032960753290347, + 15.025389489969106 + ], + [ + 1.032960753290347, + 15.28094116946304 + ], + [ + 0.8335525927948277, + 15.28094116946304 + ] + ], + "projected_box_corners": [ + [ + 0.865354513716994, + 15.036872855316721 + ], + [ + 0.8856241810333406, + 15.275850449903576 + ], + [ + 0.8335525927948277, + 15.041963574876183 + ], + [ + 0.8538222601111743, + 15.28094116946304 + ], + [ + 1.0126910859740006, + 15.025389489969106 + ], + [ + 1.032960753290347, + 15.26436708455596 + ], + [ + 0.9808891650518342, + 15.030480209528568 + ], + [ + 1.0011588323681808, + 15.269457804115424 + ] + ], + "yaw_rad": -0.07778243578629195, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8322451114654541, + 15.136438369750977, + 0.05176205933094025 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8567886209164105, + 15.157038108213653, + 0.06638524919056024 + ], + "intended_face_normal": [ + -0.9553954860378208, + 0.06770422029057421, + 0.28746409850436194 + ], + "commanded_contact_point": [ + 0.8419157910346985, + 15.151915943264957, + 0.044188618586277394 + ], + "centerline_face_intersection": [ + 0.8497395208447145, + 15.151810305590786, + 0.044188618586277394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.829538106918335, + 15.132410049438477, + 0.051604270935058594 + ], + "box_pose": [ + 0.9355619549751282, + 15.168726921081543, + 0.04186738654971123, + -0.6867406368255615, + 0.1283608376979828, + 0.07632661610841751, + 0.7113965749740601 + ], + "box_yaw_rad": -0.07074685583940087, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0001056376741712503, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025134129540758687 + } + } + }, + { + "simulation_time_ns": 8340000000, + "center": [ + 0.9367559825429982, + 15.155320150248414, + 0.04433929754624992 + ], + "face_center": [ + 0.8634997730594003, + 15.1622270285861, + 0.06774928437357534 + ], + "face_normal": [ + -0.9487264348574556, + 0.08944959215743609, + 0.3031780309042773 + ], + "footprint_xy": [ + [ + 0.8350403253820436, + 15.026592478728984 + ], + [ + 1.0384716397039526, + 15.026592478728984 + ], + [ + 1.0384716397039526, + 15.284047821767842 + ], + [ + 0.8350403253820436, + 15.284047821767842 + ] + ], + "projected_box_corners": [ + [ + 0.868260722039041, + 15.040406235404358 + ], + [ + 0.8919592207367569, + 15.279100130977717 + ], + [ + 0.8350403253820436, + 15.045353926194483 + ], + [ + 0.8587388240797597, + 15.284047821767842 + ], + [ + 1.0147731410062368, + 15.026592478728984 + ], + [ + 1.0384716397039526, + 15.265286374302345 + ], + [ + 0.9815527443492394, + 15.03154016951911 + ], + [ + 1.0052512430469553, + 15.27023406509247 + ] + ], + "yaw_rad": -0.09400596548128003, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8356571197509766, + 15.140742301940918, + 0.05335141718387604 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8595883869140841, + 15.15890701238988, + 0.0666160978692821 + ], + "intended_face_normal": [ + -0.9540631566038441, + 0.07435937747262322, + 0.2902312488230345 + ], + "commanded_contact_point": [ + 0.8440222787857056, + 15.153940045788847, + 0.044205800884502815 + ], + "centerline_face_intersection": [ + 0.8523235467846786, + 15.153165329716073, + 0.044205800884502815 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8322451114654541, + 15.136438369750977, + 0.05176205933094025 + ], + "box_pose": [ + 0.9383642673492432, + 15.170045852661133, + 0.041851628571748734, + -0.6865721344947815, + 0.13174286484718323, + 0.07491488009691238, + 0.7110909223556519 + ], + "box_yaw_rad": -0.07778243578629195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007747160727750943, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029213998192192427 + } + } + }, + { + "simulation_time_ns": 8360000000, + "center": [ + 0.9407773616119278, + 15.157860455099925, + 0.04449151174879988 + ], + "face_center": [ + 0.8681805988428185, + 15.166205244156194, + 0.06943703793230871 + ], + "face_normal": [ + -0.9401860730939217, + 0.10807168466401418, + 0.3230644922601762 + ], + "footprint_xy": [ + [ + 0.836565485321235, + 15.028056030859528 + ], + [ + 1.0449892379026207, + 15.028056030859528 + ], + [ + 1.0449892379026207, + 15.287664879340321 + ], + [ + 0.836565485321235, + 15.287664879340321 + ] + ], + "projected_box_corners": [ + [ + 0.8720098074010885, + 15.044745608972068 + ], + [ + 0.899795712364402, + 15.283024788815915 + ], + [ + 0.836565485321235, + 15.049385699496474 + ], + [ + 0.8643513902845485, + 15.287664879340321 + ], + [ + 1.017203332939307, + 15.028056030859528 + ], + [ + 1.0449892379026207, + 15.266335210703375 + ], + [ + 0.9817590108594537, + 15.032696121383934 + ], + [ + 1.0095449158227672, + 15.270975301227782 + ] + ], + "yaw_rad": -0.11444484012605356, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8395346403121948, + 15.145447731018066, + 0.05544821918010712 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8634997730594003, + 15.1622270285861, + 0.06774928437357534 + ], + "intended_face_normal": [ + -0.9487264348574556, + 0.08944959215743609, + 0.3031780309042773 + ], + "commanded_contact_point": [ + 0.846071754693985, + 15.15667798025349, + 0.04433929754624992 + ], + "centerline_face_intersection": [ + 0.8553675958864806, + 15.155320150248414, + 0.04433929754624992 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8356571197509766, + 15.140742301940918, + 0.05335141718387604 + ], + "box_pose": [ + 0.9420663714408875, + 15.172113418579102, + 0.04181589186191559, + -0.687102198600769, + 0.14179664850234985, + 0.07436728477478027, + 0.7086986303329468 + ], + "box_yaw_rad": -0.09400596548128003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013578300050749467, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034226390388107843 + } + } + }, + { + "simulation_time_ns": 8380000000, + "center": [ + 0.9456047756658486, + 15.160939199256788, + 0.0446512863342681 + ], + "face_center": [ + 0.8737333085556336, + 15.170954452218739, + 0.07104052036462556 + ], + "face_normal": [ + -0.930792914895714, + 0.12970552672281777, + 0.3417616622089312 + ], + "footprint_xy": [ + [ + 0.8386275829215422, + 15.029774281657561 + ], + [ + 1.052581968410155, + 15.029774281657561 + ], + [ + 1.052581968410155, + 15.292104116856013 + ], + [ + 0.8386275829215422, + 15.292104116856013 + ] + ], + "projected_box_corners": [ + [ + 0.8761568811563164, + 15.049804787581463 + ], + [ + 0.908839034189725, + 15.287461738456036 + ], + [ + 0.8386275829215422, + 15.05444716598144 + ], + [ + 0.8713097359549508, + 15.292104116856013 + ], + [ + 1.0198998153767462, + 15.029774281657561 + ], + [ + 1.052581968410155, + 15.267431232532136 + ], + [ + 0.9823705171419721, + 15.034416660057538 + ], + [ + 1.0150526701753808, + 15.272073610932113 + ] + ], + "yaw_rad": -0.13845788868373993, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8442188501358032, + 15.15092658996582, + 0.05736105144023895 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8681805988428185, + 15.166205244156194, + 0.06943703793230871 + ], + "intended_face_normal": [ + -0.9401860730939217, + 0.10807168466401418, + 0.3230644922601762 + ], + "commanded_contact_point": [ + 0.8481589007377625, + 15.159714794068275, + 0.04449151174879988 + ], + "centerline_face_intersection": [ + 0.8586496678275035, + 15.157860455099925, + 0.04449151174879988 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8395346403121948, + 15.145447731018066, + 0.05544821918010712 + ], + "box_pose": [ + 0.9463126063346863, + 15.174539566040039, + 0.04170762002468109, + -0.6880111694335938, + 0.15568003058433533, + 0.07530399411916733, + 0.704793393611908 + ], + "box_yaw_rad": -0.11444484012605356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001854338968349298, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003688032797737733 + } + } + }, + { + "simulation_time_ns": 8400000000, + "center": [ + 0.9508338142878114, + 15.164718769130234, + 0.044855785191336844 + ], + "face_center": [ + 0.8793869239149212, + 15.176669858908106, + 0.07158999500999833 + ], + "face_normal": [ + -0.9252943069665708, + 0.15477615996715688, + 0.3462293742576019 + ], + "footprint_xy": [ + [ + 0.840914760831289, + 15.031615270823021 + ], + [ + 1.0607528677443339, + 15.031615270823021 + ], + [ + 1.0607528677443339, + 15.297822267437446 + ], + [ + 0.840914760831289, + 15.297822267437446 + ] + ], + "projected_box_corners": [ + [ + 0.8788131422693423, + 15.055517450378764 + ], + [ + 0.9178590869985535, + 15.29221055553967 + ], + [ + 0.840914760831289, + 15.06112916227654 + ], + [ + 0.8799607055605002, + 15.297822267437446 + ], + [ + 1.0217069230151228, + 15.031615270823021 + ], + [ + 1.0607528677443339, + 15.26830837598393 + ], + [ + 0.9838085415770694, + 15.037226982720798 + ], + [ + 1.0228544863062807, + 15.273920087881704 + ] + ], + "yaw_rad": -0.16573794013207013, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8493905067443848, + 15.15709114074707, + 0.05855280160903931 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8737333085556336, + 15.170954452218739, + 0.07104052036462556 + ], + "intended_face_normal": [ + -0.930792914895714, + 0.12970552672281777, + 0.3417616622089312 + ], + "commanded_contact_point": [ + 0.8501216518878937, + 15.163194042596777, + 0.0446512863342681 + ], + "centerline_face_intersection": [ + 0.8626482848334176, + 15.160939199256788, + 0.0446512863342681 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8442188501358032, + 15.15092658996582, + 0.05736105144023895 + ], + "box_pose": [ + 0.9514211416244507, + 15.177480697631836, + 0.041629623621702194, + -0.6880722045898438, + 0.17037364840507507, + 0.0746750459074974, + 0.701393723487854 + ], + "box_yaw_rad": -0.13845788868373993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022548433399880016, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003997885731056074 + } + } + }, + { + "simulation_time_ns": 8420000000, + "center": [ + 0.9553253631942559, + 15.16845431073845, + 0.04466206467275723 + ], + "face_center": [ + 0.8841672231123716, + 15.18248994371833, + 0.07115215395155639 + ], + "face_normal": [ + -0.921554760024663, + 0.18177265970811662, + 0.3430678182462863 + ], + "footprint_xy": [ + [ + 0.8425180588848465, + 15.033350512027688 + ], + [ + 1.068132667503665, + 15.033350512027688 + ], + [ + 1.068132667503665, + 15.303558109449215 + ], + [ + 0.8425180588848465, + 15.303558109449215 + ] + ], + "projected_box_corners": [ + [ + 0.8798866166295632, + 15.061421777987446 + ], + [ + 0.9258163873398967, + 15.296876466468627 + ], + [ + 0.8425180588848465, + 15.068103420968033 + ], + [ + 0.8884478295951799, + 15.303558109449215 + ], + [ + 1.0222028967933319, + 15.033350512027688 + ], + [ + 1.068132667503665, + 15.268805200508869 + ], + [ + 0.9848343390486151, + 15.040032155008275 + ], + [ + 1.0307641097589484, + 15.275486843489455 + ] + ], + "yaw_rad": -0.19474574073110515, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8536607027053833, + 15.163270950317383, + 0.05864393711090088 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8793869239149212, + 15.176669858908106, + 0.07158999500999833 + ], + "intended_face_normal": [ + -0.9252943069665708, + 0.15477615996715688, + 0.3462293742576019 + ], + "commanded_contact_point": [ + 0.8518847572803497, + 15.167278717605548, + 0.044855785191336844 + ], + "centerline_face_intersection": [ + 0.8673843503387939, + 15.164718769130234, + 0.044855785191336844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8493905067443848, + 15.15709114074707, + 0.05855280160903931 + ], + "box_pose": [ + 0.9570774435997009, + 15.181097030639648, + 0.04179779440164566, + -0.685685396194458, + 0.18132372200489044, + 0.066892109811306, + 0.701771080493927 + ], + "box_yaw_rad": -0.16573794013207013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0025599484753145436, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004453642367178897 + } + } + }, + { + "simulation_time_ns": 8440000000, + "center": [ + 0.957870081759813, + 15.170800128927244, + 0.04466042644509789 + ], + "face_center": [ + 0.8869692253798156, + 15.186037432974393, + 0.07117641720190664 + ], + "face_normal": [ + -0.9182227305495004, + 0.19733526000587176, + 0.34340326307837366 + ], + "footprint_xy": [ + [ + 0.8433720235470926, + 15.03458382269373 + ], + [ + 1.0723681399725333, + 15.03458382269373 + ], + [ + 1.0723681399725333, + 15.30701643516076 + ], + [ + 0.8433720235470926, + 15.30701643516076 + ] + ], + "projected_box_corners": [ + [ + 0.8806598841347778, + 15.065058430788026 + ], + [ + 0.9305664272125386, + 15.2997022842836 + ], + [ + 0.8433720235470926, + 15.072372581665187 + ], + [ + 0.8932785666248534, + 15.30701643516076 + ], + [ + 1.0224615968947726, + 15.03458382269373 + ], + [ + 1.0723681399725333, + 15.2692276761893 + ], + [ + 0.9851737363070874, + 15.04189797357089 + ], + [ + 1.0350802793848481, + 15.276541827066463 + ] + ], + "yaw_rad": -0.2116901483838356, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8560069799423218, + 15.16850757598877, + 0.058090612292289734 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8841672231123716, + 15.18248994371833, + 0.07115215395155639 + ], + "intended_face_normal": [ + -0.921554760024663, + 0.18177265970811662, + 0.3430678182462863 + ], + "commanded_contact_point": [ + 0.8535537767410278, + 15.171221593630609, + 0.04466206467275723 + ], + "centerline_face_intersection": [ + 0.8715372723928243, + 15.16845431073845, + 0.04466206467275723 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8536607027053833, + 15.163270950317383, + 0.05864393711090088 + ], + "box_pose": [ + 0.9620537757873535, + 15.184642791748047, + 0.04162179306149483, + -0.6831731796264648, + 0.19011715054512024, + 0.05548052862286568, + 0.7028881907463074 + ], + "box_yaw_rad": -0.19474574073110515, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0027672828921572563, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00428595671331856 + } + } + }, + { + "simulation_time_ns": 8460000000, + "center": [ + 0.9589636140414289, + 15.171896987814625, + 0.04464342973944705 + ], + "face_center": [ + 0.8881926245731124, + 15.187728132506383, + 0.07115845805459564 + ], + "face_normal": [ + -0.9165408502967058, + 0.20502597075388662, + 0.3433907986900109 + ], + "footprint_xy": [ + [ + 0.8436460261071621, + 15.03514598507738 + ], + [ + 1.0742812019756958, + 15.03514598507738 + ], + [ + 1.0742812019756958, + 15.308647990551869 + ], + [ + 0.8436460261071621, + 15.308647990551869 + ] + ], + "projected_box_corners": [ + [ + 0.8808709001114675, + 15.066808274460897 + ], + [ + 0.9327392230390629, + 15.301026279177055 + ], + [ + 0.8436460261071621, + 15.07442998583571 + ], + [ + 0.8955143490347575, + 15.308647990551869 + ], + [ + 1.0224128790481004, + 15.03514598507738 + ], + [ + 1.0742812019756958, + 15.269363989793538 + ], + [ + 0.985188005043795, + 15.042767696452193 + ], + [ + 1.0370563279713902, + 15.276985701168352 + ] + ], + "yaw_rad": -0.22007235747527681, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8569083213806152, + 15.171720504760742, + 0.058515533804893494 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8869692253798156, + 15.186037432974393, + 0.07117641720190664 + ], + "intended_face_normal": [ + -0.9182227305495004, + 0.19733526000587176, + 0.34340326307837366 + ], + "commanded_contact_point": [ + 0.8552560257911682, + 15.17365911393694, + 0.04466042644509789 + ], + "centerline_face_intersection": [ + 0.873777942301199, + 15.170800128927244, + 0.04466042644509789 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8560069799423218, + 15.16850757598877, + 0.058090612292289734 + ], + "box_pose": [ + 0.9648703336715698, + 15.186872482299805, + 0.041617799550294876, + -0.6815272569656372, + 0.19601745903491974, + 0.04965672641992569, + 0.7033007144927979 + ], + "box_yaw_rad": -0.2116901483838356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0028589850096962283, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029730724438320807 + } + } + }, + { + "simulation_time_ns": 8480000000, + "center": [ + 0.9589833169850411, + 15.1719422293343, + 0.04461349375633041 + ], + "face_center": [ + 0.8882023567810549, + 15.18779702191153, + 0.07108774499901176 + ], + "face_normal": [ + -0.9166699792889315, + 0.20533222976228682, + 0.3428627030260598 + ], + "footprint_xy": [ + [ + 0.8436423944990102, + 15.035161890102271 + ], + [ + 1.074324239471072, + 15.035161890102271 + ], + [ + 1.074324239471072, + 15.308722568566328 + ], + [ + 0.8436423944990102, + 15.308722568566328 + ] + ], + "projected_box_corners": [ + [ + 0.8808005762216712, + 15.066871475256733 + ], + [ + 0.9327623190630996, + 15.30106916518448 + ], + [ + 0.8436423944990102, + 15.07452487863858 + ], + [ + 0.8956041373404385, + 15.308722568566328 + ], + [ + 1.0223624966296436, + 15.035161890102271 + ], + [ + 1.074324239471072, + 15.269359580030018 + ], + [ + 0.9852043149069826, + 15.04281529348412 + ], + [ + 1.037166057748411, + 15.277012983411868 + ] + ], + "yaw_rad": -0.2203605071792523, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8553147315979004, + 15.17307186126709, + 0.058550670742988586 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8881926245731124, + 15.187728132506383, + 0.07115845805459564 + ], + "intended_face_normal": [ + -0.9165408502967058, + 0.20502597075388662, + 0.3433907986900109 + ], + "commanded_contact_point": [ + 0.8570134687423706, + 15.174763032146476, + 0.04464342973944705 + ], + "centerline_face_intersection": [ + 0.8747171629569611, + 15.171896987814625, + 0.04464342973944705 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8569083213806152, + 15.171720504760742, + 0.058515533804893494 + ], + "box_pose": [ + 0.9660981297492981, + 15.187910079956055, + 0.04160018637776375, + -0.6807155013084412, + 0.19886662065982819, + 0.04670805111527443, + 0.7034891247749329 + ], + "box_yaw_rad": -0.22007235747527681, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0028660443318515422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002075458992145647 + } + } + }, + { + "simulation_time_ns": 8500000000, + "center": [ + 0.9588723051567741, + 15.1719122258041, + 0.0445666545975694 + ], + "face_center": [ + 0.8880211620359867, + 15.187746234435943, + 0.07086502486595242 + ], + "face_normal": [ + -0.9175789041283973, + 0.2050630610658999, + 0.3405849039032063 + ], + "footprint_xy": [ + [ + 0.8436004852213393, + 15.035115445409389 + ], + [ + 1.074144125092209, + 15.035115445409389 + ], + [ + 1.074144125092209, + 15.30870900619881 + ], + [ + 0.8436004852213393, + 15.30870900619881 + ] + ], + "projected_box_corners": [ + [ + 0.8804842998781124, + 15.066783462673076 + ], + [ + 0.932441838850634, + 15.300983566969995 + ], + [ + 0.8436004852213393, + 15.074508901901892 + ], + [ + 0.895558024193861, + 15.30870900619881 + ], + [ + 1.0221865861196873, + 15.035115445409389 + ], + [ + 1.074144125092209, + 15.269315549706306 + ], + [ + 0.9853027714629142, + 15.042840884638204 + ], + [ + 1.0372603104354359, + 15.277040988935124 + ] + ], + "yaw_rad": -0.21986983795067044, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8508780598640442, + 15.175540924072266, + 0.05885162949562073 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8882023567810549, + 15.18779702191153, + 0.07108774499901176 + ], + "intended_face_normal": [ + -0.9166699792889315, + 0.20533222976228682, + 0.3428627030260598 + ], + "commanded_contact_point": [ + 0.8584836173057556, + 15.17476308838884, + 0.04461349375633041 + ], + "centerline_face_intersection": [ + 0.8747487334860434, + 15.1719422293343, + 0.04461349375633041 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8553147315979004, + 15.17307186126709, + 0.058550670742988586 + ], + "box_pose": [ + 0.966126024723053, + 15.187952995300293, + 0.04157724231481552, + -0.6806329488754272, + 0.198781818151474, + 0.04637670889496803, + 0.7036148309707642 + ], + "box_yaw_rad": -0.2203605071792523, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002820859054539968, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014704533194465478 + } + } + }, + { + "simulation_time_ns": 8520000000, + "center": [ + 0.9586700614390825, + 15.171856404222375, + 0.044509440040582285 + ], + "face_center": [ + 0.8876923080073987, + 15.18765197102012, + 0.07048756689326988 + ], + "face_normal": [ + -0.9192186087994354, + 0.20456520860437433, + 0.336437495837719 + ], + "footprint_xy": [ + [ + 0.843526869119541, + 15.03502905327454 + ], + [ + 1.0738132537586238, + 15.03502905327454 + ], + [ + 1.0738132537586238, + 15.30868375517021 + ], + [ + 0.843526869119541, + 15.30868375517021 + ] + ], + "projected_box_corners": [ + [ + 0.8799106672475736, + 15.066620186870031 + ], + [ + 0.9318577468952565, + 15.300824368963331 + ], + [ + 0.843526869119541, + 15.07447957307691 + ], + [ + 0.8954739487672239, + 15.30868375517021 + ], + [ + 1.0218661741109412, + 15.03502905327454 + ], + [ + 1.0738132537586238, + 15.26923323536784 + ], + [ + 0.9854823759829084, + 15.04288843948142 + ], + [ + 1.0374294556305914, + 15.277092621574718 + ] + ], + "yaw_rad": -0.21897413245325173, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8492573499679565, + 15.177837371826172, + 0.060041531920433044 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8880211620359867, + 15.187746234435943, + 0.07086502486595242 + ], + "intended_face_normal": [ + -0.9175789041283973, + 0.2050630610658999, + 0.3405849039032063 + ], + "commanded_contact_point": [ + 0.8601459610462189, + 15.174587936927914, + 0.0445666545975694 + ], + "centerline_face_intersection": [ + 0.8747211617902161, + 15.1719122258041, + 0.0445666545975694 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8508780598640442, + 15.175540924072266, + 0.05885162949562073 + ], + "box_pose": [ + 0.9660224914550781, + 15.187925338745117, + 0.04156054928898811, + -0.6804490089416504, + 0.19782553613185883, + 0.045558810234069824, + 0.7041153907775879 + ], + "box_yaw_rad": -0.21986983795067044, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002675711123813331, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016722017379835917 + } + } + }, + { + "simulation_time_ns": 8540000000, + "center": [ + 0.9583708667999873, + 15.171773807893912, + 0.04443618337188177 + ], + "face_center": [ + 0.8872080267538418, + 15.18751294299399, + 0.06993783908628894 + ], + "face_normal": [ + -0.9216156283164961, + 0.20383437303812002, + 0.3302668139594207 + ], + "footprint_xy": [ + [ + 0.8434248245815561, + 15.034900941123391 + ], + [ + 1.0733169090184185, + 15.034900941123391 + ], + [ + 1.0733169090184185, + 15.30864667466443 + ], + [ + 0.8434248245815561, + 15.30864667466443 + ] + ], + "projected_box_corners": [ + [ + 0.8790651680711801, + 15.06637921132355 + ], + [ + 0.9309912289261276, + 15.300588303314026 + ], + [ + 0.8434248245815561, + 15.074437582673955 + ], + [ + 0.8953508854365037, + 15.30864667466443 + ], + [ + 1.0213908481634708, + 15.034900941123391 + ], + [ + 1.0733169090184185, + 15.269110033113867 + ], + [ + 0.9857505046738468, + 15.042959312473796 + ], + [ + 1.0376765655287945, + 15.277168404464271 + ] + ], + "yaw_rad": -0.2176666835785166, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8512441515922546, + 15.179203033447266, + 0.059588104486465454 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8876923080073987, + 15.18765197102012, + 0.07048756689326988 + ], + "intended_face_normal": [ + -0.9192186087994354, + 0.20456520860437433, + 0.336437495837719 + ], + "commanded_contact_point": [ + 0.8622345674037933, + 15.174292876642037, + 0.044509440040582285 + ], + "centerline_face_intersection": [ + 0.874669027112453, + 15.171856404222375, + 0.044509440040582285 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8492573499679565, + 15.177837371826172, + 0.060041531920433044 + ], + "box_pose": [ + 0.9658336043357849, + 15.187873840332031, + 0.04155868664383888, + -0.6801019310951233, + 0.19608217477798462, + 0.04407353326678276, + 0.705032229423523 + ], + "box_yaw_rad": -0.21897413245325173, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002436472419661444, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002110120990543808 + } + } + }, + { + "simulation_time_ns": 8560000000, + "center": [ + 0.9579659393284403, + 15.17166377495965, + 0.04434215966264146 + ], + "face_center": [ + 0.8865553840679581, + 15.187330939452, + 0.0691872245576455 + ], + "face_normal": [ + -0.9248237382339255, + 0.2029022961729794, + 0.321763438318726 + ], + "footprint_xy": [ + [ + 0.8432965795759022, + 15.03472379654898 + ], + [ + 1.0726352990809784, + 15.03472379654898 + ], + [ + 1.0726352990809784, + 15.308603753370322 + ], + [ + 0.8432965795759022, + 15.308603753370322 + ] + ], + "projected_box_corners": [ + [ + 0.8779125640811688, + 15.066058125533676 + ], + [ + 0.9298141885600142, + 15.300268203591934 + ], + [ + 0.8432965795759022, + 15.074393675312066 + ], + [ + 0.8951982040547475, + 15.308603753370322 + ], + [ + 1.020733674602133, + 15.03472379654898 + ], + [ + 1.0726352990809784, + 15.268933874607237 + ], + [ + 0.9861176900968663, + 15.04305934632737 + ], + [ + 1.0380193145757117, + 15.277269424385626 + ] + ], + "yaw_rad": -0.21597377280027025, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.854704737663269, + 15.180366516113281, + 0.06108769774436951 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8872080267538418, + 15.18751294299399, + 0.06993783908628894 + ], + "intended_face_normal": [ + -0.9216156283164961, + 0.20383437303812002, + 0.3302668139594207 + ], + "commanded_contact_point": [ + 0.8643623042106628, + 15.173913111291439, + 0.04443618337188177 + ], + "centerline_face_intersection": [ + 0.8745883098000737, + 15.171773807893912, + 0.04443618337188177 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8512441515922546, + 15.179203033447266, + 0.059588104486465454 + ], + "box_pose": [ + 0.9655537009239197, + 15.187797546386719, + 0.04156767576932907, + -0.6795798540115356, + 0.19349192082881927, + 0.04186958819627762, + 0.7063844203948975 + ], + "box_yaw_rad": -0.2176666835785166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002139303397527288, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00216260310282098 + } + } + }, + { + "simulation_time_ns": 8580000000, + "center": [ + 0.9574417763400183, + 15.171519247373478, + 0.04422208889768353 + ], + "face_center": [ + 0.8857184139739157, + 15.187094253920002, + 0.06820923457680395 + ], + "face_normal": [ + -0.9288748401433109, + 0.20170877715251478, + 0.3106526991087861 + ], + "footprint_xy": [ + [ + 0.8431536259652809, + 15.034490999977939 + ], + [ + 1.0717299267147555, + 15.034490999977939 + ], + [ + 1.0717299267147555, + 15.30854749476902 + ], + [ + 0.8431536259652809, + 15.30854749476902 + ] + ], + "projected_box_corners": [ + [ + 0.8764321959356707, + 15.065641013070985 + ], + [ + 0.9282832019825504, + 15.299848233618125 + ], + [ + 0.8431536259652809, + 15.07434027422188 + ], + [ + 0.8950046320121606, + 15.30854749476902 + ], + [ + 1.0198789206678758, + 15.034490999977939 + ], + [ + 1.0717299267147555, + 15.268698220525078 + ], + [ + 0.986600350697486, + 15.043190261128832 + ], + [ + 1.0384513567443656, + 15.277397481675973 + ] + ], + "yaw_rad": -0.21383396376649708, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.857302725315094, + 15.18352222442627, + 0.062188223004341125 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8865553840679581, + 15.187330939452, + 0.0691872245576455 + ], + "intended_face_normal": [ + -0.9248237382339255, + 0.2029022961729794, + 0.321763438318726 + ], + "commanded_contact_point": [ + 0.8663078892230988, + 15.173454968711033, + 0.04434215966264146 + ], + "centerline_face_intersection": [ + 0.8744740146305612, + 15.17166377495965, + 0.04434215966264146 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.854704737663269, + 15.180366516113281, + 0.06108769774436951 + ], + "box_pose": [ + 0.9651752710342407, + 15.187695503234863, + 0.04158699885010719, + -0.6788387894630432, + 0.1899501085281372, + 0.03882122039794922, + 0.7082300186157227 + ], + "box_yaw_rad": -0.21597377280027025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017911937513820698, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002001008776216593 + } + } + }, + { + "simulation_time_ns": 8600000000, + "center": [ + 0.9567776026725702, + 15.171338868746641, + 0.04408514362811251 + ], + "face_center": [ + 0.8846760440386385, + 15.18680549656207, + 0.06698390638885775 + ], + "face_normal": [ + -0.9337727839406109, + 0.20030518600451686, + 0.2965572708414932 + ], + "footprint_xy": [ + [ + 0.8430000930157355, + 15.034198332024433 + ], + [ + 1.0705551123294048, + 15.034198332024433 + ], + [ + 1.0705551123294048, + 15.308479405468852 + ], + [ + 0.8430000930157355, + 15.308479405468852 + ] + ], + "projected_box_corners": [ + [ + 0.8745858899644754, + 15.065131587655287 + ], + [ + 0.9263519950615415, + 15.299326915217257 + ], + [ + 0.8430000930157355, + 15.074284077906883 + ], + [ + 0.8947661981128017, + 15.308479405468852 + ], + [ + 1.0187890072323387, + 15.034198332024433 + ], + [ + 1.0705551123294048, + 15.268393659586401 + ], + [ + 0.9872032102835988, + 15.043350822276027 + ], + [ + 1.038969315380665, + 15.277546149837995 + ] + ], + "yaw_rad": -0.21130938628332535, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8578211069107056, + 15.185505867004395, + 0.05956542491912842 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8857184139739157, + 15.187094253920002, + 0.06820923457680395 + ], + "intended_face_normal": [ + -0.9288748401433109, + 0.20170877715251478, + 0.3106526991087861 + ], + "commanded_contact_point": [ + 0.8682550537586212, + 15.17283032204275, + 0.04422208889768353 + ], + "centerline_face_intersection": [ + 0.8743139849795322, + 15.171519247373478, + 0.04422208889768353 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.857302725315094, + 15.18352222442627, + 0.062188223004341125 + ], + "box_pose": [ + 0.9646837711334229, + 15.18756103515625, + 0.04161512851715088, + -0.6778424382209778, + 0.18533073365688324, + 0.03485827147960663, + 0.7106103301048279 + ], + "box_yaw_rad": -0.21383396376649708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013110746692704136, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020484262684294296 + } + } + }, + { + "simulation_time_ns": 8620000000, + "center": [ + 0.9570308325476411, + 15.17082981236607, + 0.044086465375604574 + ], + "face_center": [ + 0.8846938651714014, + 15.186082707898287, + 0.0663781006975662 + ], + "face_normal": [ + -0.9368215152140238, + 0.19753718219304206, + 0.28869448549453525 + ], + "footprint_xy": [ + [ + 0.8437678594338732, + 15.03377266241659 + ], + [ + 1.070293805661409, + 15.03377266241659 + ], + [ + 1.070293805661409, + 15.30788696231555 + ], + [ + 0.8437678594338732, + 15.30788696231555 + ] + ], + "projected_box_corners": [ + [ + 0.8744377681402599, + 15.064278453481023 + ], + [ + 0.9256198709089294, + 15.298580543430793 + ], + [ + 0.8437678594338732, + 15.07358487236578 + ], + [ + 0.8949499622025427, + 15.30788696231555 + ], + [ + 1.0191117028927394, + 15.03377266241659 + ], + [ + 1.070293805661409, + 15.26807475236636 + ], + [ + 0.9884417941863529, + 15.043079081301347 + ], + [ + 1.0396238969550224, + 15.277381171251116 + ] + ], + "yaw_rad": -0.20781470291914064, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8559136986732483, + 15.180275917053223, + 0.053217753767967224 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8846760440386385, + 15.18680549656207, + 0.06698390638885775 + ], + "intended_face_normal": [ + -0.9337727839406109, + 0.20030518600451686, + 0.2965572708414932 + ], + "commanded_contact_point": [ + 0.8704427230358124, + 15.172083263485602, + 0.04408514362811251 + ], + "centerline_face_intersection": [ + 0.8740858437785254, + 15.171338868746641, + 0.04408514362811251 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8578211069107056, + 15.185505867004395, + 0.05956542491912842 + ], + "box_pose": [ + 0.9640584588050842, + 15.187392234802246, + 0.041664350777864456, + -0.6765695810317993, + 0.17950713634490967, + 0.029846206307411194, + 0.7135404348373413 + ], + "box_yaw_rad": -0.21130938628332535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007443947389602836, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002315760644157944 + } + } + }, + { + "simulation_time_ns": 8640000000, + "center": [ + 0.9575627877413718, + 15.17056399576113, + 0.044132313197036456 + ], + "face_center": [ + 0.8852774618562915, + 15.185723467644266, + 0.06665400713314973 + ], + "face_normal": [ + -0.9361527166487718, + 0.19632727130427696, + 0.2916739283342744 + ], + "footprint_xy": [ + [ + 0.8443403570455836, + 15.033629329014639 + ], + [ + 1.07078521843716, + 15.033629329014639 + ], + [ + 1.07078521843716, + 15.307498662507623 + ], + [ + 0.8443403570455836, + 15.307498662507623 + ] + ], + "projected_box_corners": [ + [ + 0.8753814232589426, + 15.06394827278091 + ], + [ + 0.9262145666669993, + 15.298335382068144 + ], + [ + 0.8443403570455836, + 15.07311155322039 + ], + [ + 0.8951735004536403, + 15.307498662507623 + ], + [ + 1.0199520750291033, + 15.033629329014639 + ], + [ + 1.07078521843716, + 15.268016438301872 + ], + [ + 0.9889110088157443, + 15.042792609454118 + ], + [ + 1.0397441522238011, + 15.277179718741351 + ] + ], + "yaw_rad": -0.20672126705293647, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8543896675109863, + 15.171526908874512, + 0.04830378293991089 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8846938651714014, + 15.186082707898287, + 0.0663781006975662 + ], + "intended_face_normal": [ + -0.9368215152140238, + 0.19753718219304206, + 0.28869448549453525 + ], + "commanded_contact_point": [ + 0.8729360449314117, + 15.171196362917545, + 0.044086465375604574 + ], + "centerline_face_intersection": [ + 0.8746081803588753, + 15.17082981236607, + 0.044086465375604574 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8559136986732483, + 15.180275917053223, + 0.053217753767967224 + ], + "box_pose": [ + 0.9642958641052246, + 15.186904907226562, + 0.04176433011889458, + -0.6761401295661926, + 0.17553681135177612, + 0.027858037501573563, + 0.7150141596794128 + ], + "box_yaw_rad": -0.20781470291914064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003665505514742075, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026463651372611832 + } + } + }, + { + "simulation_time_ns": 8660000000, + "center": [ + 0.959261477369226, + 15.169136268098345, + 0.04411961157435115 + ], + "face_center": [ + 0.8866837734328777, + 15.18307998417413, + 0.06648597518644173 + ], + "face_normal": [ + -0.939939245984172, + 0.18058226237062414, + 0.2896622765497483 + ], + "footprint_xy": [ + [ + 0.8477450222001939, + 15.033234494677842 + ], + [ + 1.070777932538258, + 15.033234494677842 + ], + [ + 1.070777932538258, + 15.305038041518849 + ], + [ + 0.8477450222001939, + 15.305038041518849 + ] + ], + "projected_box_corners": [ + [ + 0.878692632147126, + 15.061121926829413 + ], + [ + 0.9256225246655617, + 15.29631519204277 + ], + [ + 0.8477450222001939, + 15.06984477630549 + ], + [ + 0.8946749147186295, + 15.305038041518849 + ], + [ + 1.0238480400198222, + 15.033234494677842 + ], + [ + 1.070777932538258, + 15.2684277598912 + ], + [ + 0.9929004300728902, + 15.041957344153921 + ], + [ + 1.039830322591326, + 15.277150609367277 + ] + ], + "yaw_rad": -0.18980844700553431, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8560917377471924, + 15.165846824645996, + 0.04675555229187012 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8852774618562915, + 15.185723467644266, + 0.06665400713314973 + ], + "intended_face_normal": [ + -0.9361527166487718, + 0.19632727130427696, + 0.2916739283342744 + ], + "commanded_contact_point": [ + 0.8759815144538879, + 15.17089202978807, + 0.044132313197036456 + ], + "centerline_face_intersection": [ + 0.8750812518357213, + 15.17056399576113, + 0.044132313197036456 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8543896675109863, + 15.171526908874512, + 0.04830378293991089 + ], + "box_pose": [ + 0.9647946953773499, + 15.18664836883545, + 0.04177136346697807, + -0.6765496134757996, + 0.17622312903404236, + 0.02947966195642948, + 0.7143926620483398 + ], + "box_yaw_rad": -0.20672126705293647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003280340269389394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030609810990527226 + } + } + }, + { + "simulation_time_ns": 8680000000, + "center": [ + 0.9625247465700394, + 15.168389594611584, + 0.044156505690808194 + ], + "face_center": [ + 0.8898862139273046, + 15.18164827252001, + 0.06674091932085097 + ], + "face_normal": [ + -0.9407270263259884, + 0.17171047084819646, + 0.2924861984754208 + ], + "footprint_xy": [ + [ + 0.8518716960428471, + 15.033144579963896 + ], + [ + 1.0731777970972318, + 15.033144579963896 + ], + [ + 1.0731777970972318, + 15.303634609259273 + ], + [ + 0.8518716960428471, + 15.303634609259273 + ] + ], + "projected_box_corners": [ + [ + 0.8832366620829856, + 15.059661935780746 + ], + [ + 0.9279007318117621, + 15.295304086172298 + ], + [ + 0.8518716960428471, + 15.06799245886772 + ], + [ + 0.8965357657716237, + 15.303634609259273 + ], + [ + 1.028513727368455, + 15.033144579963896 + ], + [ + 1.0731777970972318, + 15.26878673035545 + ], + [ + 0.9971487613283166, + 15.041475103050871 + ], + [ + 1.0418128310570933, + 15.277117253442425 + ] + ], + "yaw_rad": -0.1805420076551192, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8592372536659241, + 15.164803504943848, + 0.045769765973091125 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8866837734328777, + 15.18307998417413, + 0.06648597518644173 + ], + "intended_face_normal": [ + -0.939939245984172, + 0.18058226237062414, + 0.2896622765497483 + ], + "commanded_contact_point": [ + 0.8795761513710022, + 15.169595879863378, + 0.04411961157435115 + ], + "centerline_face_intersection": [ + 0.8771122169342188, + 15.169136268098345, + 0.04411961157435115 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8560917377471924, + 15.165846824645996, + 0.04675555229187012 + ], + "box_pose": [ + 0.9662312269210815, + 15.18533992767334, + 0.041786037385463715, + -0.6777726411819458, + 0.16978593170642853, + 0.03468593955039978, + 0.7145583629608154 + ], + "box_yaw_rad": -0.18980844700553431, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00045961176503290585, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003821201450378765 + } + } + }, + { + "simulation_time_ns": 8700000000, + "center": [ + 0.9651750414109675, + 15.168731866929985, + 0.044200140373600656 + ], + "face_center": [ + 0.892599970557807, + 15.181811982667343, + 0.06709062586836156 + ], + "face_normal": [ + -0.9399051454534053, + 0.1693979480852832, + 0.2964500736345528 + ], + "footprint_xy": [ + [ + 0.8546649599148791, + 15.033712583633593 + ], + [ + 1.0756851229070559, + 15.033712583633593 + ], + [ + 1.0756851229070559, + 15.303751150226377 + ], + [ + 0.8546649599148791, + 15.303751150226377 + ] + ], + "projected_box_corners": [ + [ + 0.886523993178794, + 15.059872815108308 + ], + [ + 0.930534981200735, + 15.295648617636576 + ], + [ + 0.8546649599148791, + 15.06797534769811 + ], + [ + 0.89867594793682, + 15.303751150226377 + ], + [ + 1.031674134885115, + 15.033712583633593 + ], + [ + 1.0756851229070559, + 15.269488386161859 + ], + [ + 0.9998151016212, + 15.041815116223393 + ], + [ + 1.043826089643141, + 15.277590918751661 + ] + ], + "yaw_rad": -0.17831451965587353, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8619369268417358, + 15.166741371154785, + 0.04310692846775055 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8898862139273046, + 15.18164827252001, + 0.06674091932085097 + ], + "intended_face_normal": [ + -0.9407270263259884, + 0.17171047084819646, + 0.2924861984754208 + ], + "commanded_contact_point": [ + 0.8834711360931397, + 15.168992649963327, + 0.044156505690808194 + ], + "centerline_face_intersection": [ + 0.8804442792818797, + 15.168389594611584, + 0.044156505690808194 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8592372536659241, + 15.164803504943848, + 0.045769765973091125 + ], + "box_pose": [ + 0.9693295955657959, + 15.18465805053711, + 0.04178731516003609, + -0.6788366436958313, + 0.1676417887210846, + 0.0391499362885952, + 0.7138237357139587 + ], + "box_yaw_rad": -0.1805420076551192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006030553517423722, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003941592758496079 + } + } + }, + { + "simulation_time_ns": 8720000000, + "center": [ + 0.9673366943543564, + 15.168996856514172, + 0.04452069554617229 + ], + "face_center": [ + 0.8955304946876518, + 15.182071502317717, + 0.06972244029614572 + ], + "face_normal": [ + -0.9299476493621802, + 0.1693271080726424, + 0.32638272738071805 + ], + "footprint_xy": [ + [ + 0.856174659947691, + 15.034505024263327 + ], + [ + 1.0784987287610217, + 15.034505024263327 + ], + [ + 1.0784987287610217, + 15.303488688765018 + ], + [ + 0.856174659947691, + 15.303488688765018 + ] + ], + "projected_box_corners": [ + [ + 0.8916267661121232, + 15.060654315870417 + ], + [ + 0.9348863294276126, + 15.296616684316067 + ], + [ + 0.856174659947691, + 15.067526320319367 + ], + [ + 0.8994342232631805, + 15.303488688765018 + ], + [ + 1.0352391654455324, + 15.034505024263327 + ], + [ + 1.0784987287610217, + 15.270467392708976 + ], + [ + 0.9997870592811002, + 15.041377028712278 + ], + [ + 1.0430466225965895, + 15.277339397157927 + ] + ], + "yaw_rad": -0.18010925963110933, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8639401197433472, + 15.16655445098877, + 0.046265482902526855 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.892599970557807, + 15.181811982667343, + 0.06709062586836156 + ], + "intended_face_normal": [ + -0.9399051454534053, + 0.1693979480852832, + 0.2964500736345528 + ], + "commanded_contact_point": [ + 0.8873440074920654, + 15.169414542112735, + 0.044200140373600656 + ], + "centerline_face_intersection": [ + 0.88302280053331, + 15.168731866929985, + 0.044200140373600656 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8619369268417358, + 15.166741371154785, + 0.04310692846775055 + ], + "box_pose": [ + 0.9719225764274597, + 15.185016632080078, + 0.04177963361144066, + -0.6794511079788208, + 0.1682824194431305, + 0.041574686765670776, + 0.7129507064819336 + ], + "box_yaw_rad": -0.17831451965587353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000682675182750361, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038960274439346246 + } + } + }, + { + "simulation_time_ns": 8740000000, + "center": [ + 0.9723619087222508, + 15.168801951620917, + 0.04677339574407928 + ], + "face_center": [ + 0.9019378468113336, + 15.181440462220687, + 0.07580655350315456 + ], + "face_normal": [ + -0.9120478612790452, + 0.163678808769264, + 0.3760025866420076 + ], + "footprint_xy": [ + [ + 0.8605824576039421, + 15.034839463782859 + ], + [ + 1.0841413598405594, + 15.034839463782859 + ], + [ + 1.0841413598405594, + 15.302764439458976 + ], + [ + 0.8605824576039421, + 15.302764439458976 + ] + ], + "projected_box_corners": [ + [ + 0.9016977958700593, + 15.060116484982396 + ], + [ + 0.9432932360187251, + 15.296371362940386 + ], + [ + 0.8605824576039421, + 15.066509561500988 + ], + [ + 0.902177897752608, + 15.302764439458976 + ], + [ + 1.0425459196918936, + 15.034839463782859 + ], + [ + 1.0841413598405594, + 15.271094341740847 + ], + [ + 1.0014305814257765, + 15.041232540301449 + ], + [ + 1.0430260215744422, + 15.277487418259438 + ] + ], + "yaw_rad": -0.1775727035099524, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.869062066078186, + 15.165702819824219, + 0.051850393414497375 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.8955304946876518, + 15.182071502317717, + 0.06972244029614572 + ], + "intended_face_normal": [ + -0.9299476493621802, + 0.1693271080726424, + 0.32638272738071805 + ], + "commanded_contact_point": [ + 0.8903358626365662, + 15.169777227917939, + 0.04452069554617229 + ], + "centerline_face_intersection": [ + 0.8843048011457469, + 15.168996856514172, + 0.04452069554617229 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8639401197433472, + 15.16655445098877, + 0.046265482902526855 + ], + "box_pose": [ + 0.9739368557929993, + 15.185277938842773, + 0.04170185700058937, + -0.6827025413513184, + 0.17934757471084595, + 0.05348479002714157, + 0.7063221335411072 + ], + "box_yaw_rad": -0.18010925963110933, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007803714037664402, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030307579609124497 + } + } + }, + { + "simulation_time_ns": 8760000000, + "center": [ + 0.9792861151312635, + 15.168847183546038, + 0.048837240312430176 + ], + "face_center": [ + 0.9098472024382094, + 15.181110436030005, + 0.08030237349447751 + ], + "face_normal": [ + -0.8992893919034897, + 0.15881891638790968, + 0.40749861119694764 + ], + "footprint_xy": [ + [ + 0.86720996910997, + 15.035051173877628 + ], + [ + 1.0913622611525569, + 15.035051173877628 + ], + [ + 1.0913622611525569, + 15.302643193214449 + ], + [ + 0.86720996910997, + 15.302643193214449 + ] + ], + "projected_box_corners": [ + [ + 0.91181417368405, + 15.059577678845562 + ], + [ + 0.9524844357664487, + 15.295989545662025 + ], + [ + 0.86720996910997, + 15.066231326397984 + ], + [ + 0.9078802311923686, + 15.302643193214449 + ], + [ + 1.0506919990701582, + 15.035051173877628 + ], + [ + 1.0913622611525569, + 15.271463040694092 + ], + [ + 1.0060877944960782, + 15.04170482143005 + ], + [ + 1.0467580565784769, + 15.278116688246515 + ] + ], + "yaw_rad": -0.17480245489777058, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.876179039478302, + 15.165383338928223, + 0.05604860186576843 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9019378468113336, + 15.181440462220687, + 0.07580655350315456 + ], + "intended_face_normal": [ + -0.9120478612790452, + 0.163678808769264, + 0.3760025866420076 + ], + "commanded_contact_point": [ + 0.8930822062492371, + 15.169706288296553, + 0.04677339574407928 + ], + "centerline_face_intersection": [ + 0.8877004373350452, + 15.168801951620917, + 0.04677339574407928 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.869062066078186, + 15.165702819824219, + 0.051850393414497375 + ], + "box_pose": [ + 0.9786859154701233, + 15.185121536254883, + 0.04357030615210533, + -0.682346761226654, + 0.19612590968608856, + 0.07423406839370728, + 0.7003048062324524 + ], + "box_yaw_rad": -0.1775727035099524, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009043366756343853, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035527586254051713 + } + } + }, + { + "simulation_time_ns": 8780000000, + "center": [ + 0.9864832262763934, + 15.168993972138244, + 0.05084137736839875 + ], + "face_center": [ + 0.9181089864341411, + 15.180869598746366, + 0.08469603089282683 + ], + "face_normal": [ + -0.8855010279524874, + 0.15379885163376894, + 0.438444808542223 + ], + "footprint_xy": [ + [ + 0.8742398220344605, + 15.035389519826825 + ], + [ + 1.0987266305183265, + 15.035389519826825 + ], + [ + 1.0987266305183265, + 15.302598424449663 + ], + [ + 0.8742398220344605, + 15.302598424449663 + ] + ], + "projected_box_corners": [ + [ + 0.9222739880450528, + 15.059140773043067 + ], + [ + 0.9619781508338218, + 15.29571234264922 + ], + [ + 0.8742398220344605, + 15.06602685484351 + ], + [ + 0.9139439848232294, + 15.302598424449663 + ], + [ + 1.0590224677295574, + 15.035389519826825 + ], + [ + 1.0987266305183265, + 15.27196108943298 + ], + [ + 1.0109883017189651, + 15.04227560162727 + ], + [ + 1.050692464507734, + 15.278847171233423 + ] + ], + "yaw_rad": -0.17197012125432862, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8836678266525269, + 15.165172576904297, + 0.06038868427276611 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9098472024382094, + 15.181110436030005, + 0.08030237349447751 + ], + "intended_face_normal": [ + -0.8992893919034897, + 0.15881891638790968, + 0.40749861119694764 + ], + "commanded_contact_point": [ + 0.8957837867736816, + 15.169890074006386, + 0.048837240312430176 + ], + "centerline_face_intersection": [ + 0.8934235278410927, + 15.168847183546038, + 0.048837240312430176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.876179039478302, + 15.165383338928223, + 0.05604860186576843 + ], + "box_pose": [ + 0.9854397177696228, + 15.185202598571777, + 0.04548833146691322, + -0.6799073815345764, + 0.20663772523403168, + 0.0874994546175003, + 0.6981192827224731 + ], + "box_yaw_rad": -0.17480245489777058, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010428904603470126, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003404668694529407 + } + } + }, + { + "simulation_time_ns": 8800000000, + "center": [ + 0.9924034297238167, + 15.16931861123583, + 0.052767780730228336 + ], + "face_center": [ + 0.9251473985994862, + 15.180916837559218, + 0.08888303923510213 + ], + "face_normal": [ + -0.8710193317541871, + 0.15020629634026328, + 0.46772144896407664 + ], + "footprint_xy": [ + [ + 0.8799342182313252, + 15.035782927523522 + ], + [ + 1.1048726412163083, + 15.035782927523522 + ], + [ + 1.1048726412163083, + 15.302854294948139 + ], + [ + 0.8799342182313252, + 15.302854294948139 + ] + ], + "projected_box_corners": [ + [ + 0.9311951573747652, + 15.0589793801703 + ], + [ + 0.9703605789676473, + 15.295637371210583 + ], + [ + 0.8799342182313252, + 15.066196303907855 + ], + [ + 0.9190996398242073, + 15.302854294948139 + ], + [ + 1.0657072196234263, + 15.035782927523522 + ], + [ + 1.1048726412163083, + 15.272440918563808 + ], + [ + 1.0144462804799863, + 15.042999851261078 + ], + [ + 1.0536117020728684, + 15.279657842301363 + ] + ], + "yaw_rad": -0.17076927202618697, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8899049758911133, + 15.165332794189453, + 0.06474468111991882 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9181089864341411, + 15.180869598746366, + 0.08469603089282683 + ], + "intended_face_normal": [ + -0.8855010279524874, + 0.15379885163376894, + 0.438444808542223 + ], + "commanded_contact_point": [ + 0.8984388160705566, + 15.170189718407949, + 0.05084137736839875 + ], + "centerline_face_intersection": [ + 0.8992836505853519, + 15.168993972138244, + 0.05084137736839875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8836678266525269, + 15.165172576904297, + 0.06038868427276611 + ], + "box_pose": [ + 0.9924598932266235, + 15.185385704040527, + 0.04735249653458595, + -0.6772961020469666, + 0.21702472865581512, + 0.10074598342180252, + 0.6957158446311951 + ], + "box_yaw_rad": -0.17197012125432862, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011957462697049005, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033399899212062222 + } + } + }, + { + "simulation_time_ns": 8820000000, + "center": [ + 0.9965640125747954, + 15.169663493380927, + 0.05398411914298667 + ], + "face_center": [ + 0.930070794973501, + 15.181129378555601, + 0.09152596583779316 + ], + "face_normal": [ + -0.8611402872435224, + 0.148492372741317, + 0.48619690567942353 + ], + "footprint_xy": [ + [ + 0.8839271055177238, + 15.03612267218921 + ], + [ + 1.109200919631867, + 15.03612267218921 + ], + [ + 1.109200919631867, + 15.303204314572643 + ], + [ + 0.8839271055177238, + 15.303204314572643 + ] + ], + "projected_box_corners": [ + [ + 0.9372183742100418, + 15.05905444253856 + ], + [ + 0.9762144844292782, + 15.29573840739964 + ], + [ + 0.8839271055177238, + 15.066520349711563 + ], + [ + 0.9229232157369601, + 15.303204314572643 + ], + [ + 1.0702048094126306, + 15.03612267218921 + ], + [ + 1.109200919631867, + 15.272806637050289 + ], + [ + 1.0169135407203127, + 15.043588579362213 + ], + [ + 1.0559096509395491, + 15.280272544223294 + ] + ], + "yaw_rad": -0.170757663794023, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8942534327507019, + 15.166278839111328, + 0.06852959096431732 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9251473985994862, + 15.180916837559218, + 0.08888303923510213 + ], + "intended_face_normal": [ + -0.8710193317541871, + 0.15020629634026328, + 0.46772144896407664 + ], + "commanded_contact_point": [ + 0.9008873748779297, + 15.17067379018739, + 0.052767780730228336 + ], + "centerline_face_intersection": [ + 0.903754060994043, + 15.16931861123583, + 0.052767780730228336 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8899049758911133, + 15.165332794189453, + 0.06474468111991882 + ], + "box_pose": [ + 0.9982336759567261, + 15.185736656188965, + 0.04915701597929001, + -0.6742710471153259, + 0.22748008370399475, + 0.11288554221391678, + 0.6934465169906616 + ], + "box_yaw_rad": -0.17076927202618697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013551789515599945, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031529027313388263 + } + } + }, + { + "simulation_time_ns": 8840000000, + "center": [ + 0.9994656437028732, + 15.169977895656972, + 0.05408656647304266 + ], + "face_center": [ + 0.9330260557893867, + 15.18137464761241, + 0.09174423261570702 + ], + "face_normal": [ + -0.8604457399433652, + 0.14759704232387527, + 0.48769686005363866 + ], + "footprint_xy": [ + [ + 0.8869115872682151, + 15.036505536799151 + ], + [ + 1.1120197001375314, + 15.036505536799151 + ], + [ + 1.1120197001375314, + 15.303450254514793 + ], + [ + 0.8869115872682151, + 15.303450254514793 + ] + ], + "projected_box_corners": [ + [ + 0.9403758012545127, + 15.059299040710027 + ], + [ + 0.9791405243105583, + 15.296020571494166 + ], + [ + 0.8869115872682151, + 15.066728723730655 + ], + [ + 0.9256763103242607, + 15.303450254514793 + ], + [ + 1.0732549770814857, + 15.036505536799151 + ], + [ + 1.1120197001375314, + 15.27322706758329 + ], + [ + 1.0197907630951881, + 15.04393521981978 + ], + [ + 1.0585554861512336, + 15.280656750603917 + ] + ], + "yaw_rad": -0.16988220682948277, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.8973695039749146, + 15.167752265930176, + 0.06954298913478851 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.930070794973501, + 15.181129378555601, + 0.09152596583779316 + ], + "intended_face_normal": [ + -0.8611402872435224, + 0.148492372741317, + 0.48619690567942353 + ], + "commanded_contact_point": [ + 0.9030627655982971, + 15.171154058503271, + 0.05398411914298667 + ], + "centerline_face_intersection": [ + 0.9068976538464153, + 15.169663493380927, + 0.05398411914298667 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8942534327507019, + 15.166278839111328, + 0.06852959096431732 + ], + "box_pose": [ + 1.0023109912872314, + 15.186094284057617, + 0.050298597663640976, + -0.6721372008323669, + 0.2343905121088028, + 0.12037833780050278, + 0.691955029964447 + ], + "box_yaw_rad": -0.170757663794023, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014905651223439543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025382004601393216 + } + } + }, + { + "simulation_time_ns": 8860000000, + "center": [ + 1.0023114245167284, + 15.171077813033381, + 0.05358936805951811 + ], + "face_center": [ + 0.9356242703841487, + 15.182964916211077, + 0.0906531649771623 + ], + "face_normal": [ + -0.8636519202533632, + 0.15394748237801714, + 0.4800057791664809 + ], + "footprint_xy": [ + [ + 0.8891567594288073, + 15.037135697267166 + ], + [ + 1.1154660896046495, + 15.037135697267166 + ], + [ + 1.1154660896046495, + 15.305019928799599 + ], + [ + 0.8891567594288073, + 15.305019928799599 + ] + ], + "projected_box_corners": [ + [ + 0.9417292791105115, + 15.060909903622553 + ], + [ + 0.9820917813394902, + 15.29736475406057 + ], + [ + 0.8891567594288073, + 15.068565078361582 + ], + [ + 0.929519261657786, + 15.305019928799599 + ], + [ + 1.075103587375671, + 15.037135697267166 + ], + [ + 1.1154660896046495, + 15.273590547705181 + ], + [ + 1.0225310676939667, + 15.044790872006194 + ], + [ + 1.0628935699229454, + 15.28124572244421 + ] + ], + "yaw_rad": -0.17639905736982114, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9001237750053406, + 15.170945167541504, + 0.06907601654529572 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9330260557893867, + 15.18137464761241, + 0.09174423261570702 + ], + "intended_face_normal": [ + -0.8604457399433652, + 0.14759704232387527, + 0.48769686005363866 + ], + "commanded_contact_point": [ + 0.9050787138938904, + 15.171557485968387, + 0.05408656647304266 + ], + "centerline_face_intersection": [ + 0.9097269067587861, + 15.169977895656972, + 0.05408656647304266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8973695039749146, + 15.167752265930176, + 0.06954298913478851 + ], + "box_pose": [ + 1.0051906108856201, + 15.18641471862793, + 0.05039370059967041, + -0.6720927357673645, + 0.23465444147586823, + 0.1213030219078064, + 0.6917471885681152 + ], + "box_yaw_rad": -0.16988220682948277, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015795903114158016, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002058469505616005 + } + } + }, + { + "simulation_time_ns": 8880000000, + "center": [ + 1.0046293450304657, + 15.172456541435315, + 0.052685555656046684 + ], + "face_center": [ + 0.9374914237387614, + 15.185078118459028, + 0.0886772192799972 + ], + "face_normal": [ + -0.8694897150675062, + 0.16345950543164456, + 0.4661207965201193 + ], + "footprint_xy": [ + [ + 0.8906544763744625, + 15.037851325990298 + ], + [ + 1.118604213686469, + 15.037851325990298 + ], + [ + 1.118604213686469, + 15.307061756880332 + ], + [ + 0.8906544763744625, + 15.307061756880332 + ] + ], + "projected_box_corners": [ + [ + 0.9416330210043435, + 15.063094480037725 + ], + [ + 0.9843283711030603, + 15.299140283249978 + ], + [ + 0.8906544763744625, + 15.071015953668079 + ], + [ + 0.9333498264731792, + 15.307061756880332 + ], + [ + 1.075908863587752, + 15.037851325990298 + ], + [ + 1.118604213686469, + 15.27389712920255 + ], + [ + 1.024930318957871, + 15.045772799620654 + ], + [ + 1.0676256690565877, + 15.281818602832907 + ] + ], + "yaw_rad": -0.18582585854504363, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9021801352500916, + 15.175270080566406, + 0.06934425234794617 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9356242703841487, + 15.182964916211077, + 0.0906531649771623 + ], + "intended_face_normal": [ + -0.8636519202533632, + 0.15394748237801714, + 0.4800057791664809 + ], + "commanded_contact_point": [ + 0.9070633697509766, + 15.172662709164472, + 0.05358936805951811 + ], + "centerline_face_intersection": [ + 0.9129058293913381, + 15.171077813033381, + 0.05358936805951811 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9001237750053406, + 15.170945167541504, + 0.06907601654529572 + ], + "box_pose": [ + 1.0081772804260254, + 15.187471389770508, + 0.04992547631263733, + -0.6722825169563293, + 0.233952596783638, + 0.11593197286128998, + 0.692720890045166 + ], + "box_yaw_rad": -0.17639905736982114, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015848961310909026, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023254211331802587 + } + } + }, + { + "simulation_time_ns": 8900000000, + "center": [ + 1.0059926874225318, + 15.173476888470764, + 0.05133454794355894 + ], + "face_center": [ + 0.9381211039063937, + 15.186699029593054, + 0.08569772305228693 + ], + "face_normal": [ + -0.8789912269732322, + 0.17123729027968437, + 0.44503056930055074 + ], + "footprint_xy": [ + [ + 0.8915960018197551, + 15.03842545547084 + ], + [ + 1.1203893730253085, + 15.03842545547084 + ], + [ + 1.1203893730253085, + 15.308528321470687 + ], + [ + 0.8915960018197551, + 15.308528321470687 + ] + ], + "projected_box_corners": [ + [ + 0.9402084154974053, + 15.064869737715421 + ], + [ + 0.9846462059930323, + 15.300596342710158 + ], + [ + 0.8915960018197551, + 15.07280171647595 + ], + [ + 0.936033792315382, + 15.308528321470687 + ], + [ + 1.0759515825296817, + 15.03842545547084 + ], + [ + 1.1203893730253085, + 15.274152060465578 + ], + [ + 1.0273391688520312, + 15.046357434231371 + ], + [ + 1.0717769593476583, + 15.282084039226108 + ] + ], + "yaw_rad": -0.19240133734322076, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.903577983379364, + 15.177570343017578, + 0.07051292061805725 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9374914237387614, + 15.185078118459028, + 0.0886772192799972 + ], + "intended_face_normal": [ + -0.8694897150675062, + 0.16345950543164456, + 0.4661207965201193 + ], + "commanded_contact_point": [ + 0.9089531946182251, + 15.173928896001161, + 0.052685555656046684 + ], + "centerline_face_intersection": [ + 0.91582402327293, + 15.172456541435315, + 0.052685555656046684 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9021801352500916, + 15.175270080566406, + 0.06934425234794617 + ], + "box_pose": [ + 1.0107100009918213, + 15.188783645629883, + 0.04907544329762459, + -0.672858476638794, + 0.23193350434303284, + 0.10706069320440292, + 0.694266676902771 + ], + "box_yaw_rad": -0.18582585854504363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014723545658472425, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024477630593963454 + } + } + }, + { + "simulation_time_ns": 8920000000, + "center": [ + 1.0059337859152853, + 15.173968836514923, + 0.048599000601558875 + ], + "face_center": [ + 0.9365654923145135, + 15.187592273329757, + 0.07965775869522967 + ], + "face_normal": [ + -0.8983748182430951, + 0.1764343900804377, + 0.402235729162399 + ], + "footprint_xy": [ + [ + 0.8920224294964002, + 15.038859758750183 + ], + [ + 1.11984514233417, + 15.038859758750183 + ], + [ + 1.11984514233417, + 15.309077914279666 + ], + [ + 0.8920224294964002, + 15.309077914279666 + ] + ], + "projected_box_corners": [ + [ + 0.9359222228420354, + 15.066106632379851 + ], + [ + 0.9811085551326268, + 15.301696740170076 + ], + [ + 0.8920224294964002, + 15.07348780648944 + ], + [ + 0.9372087617869916, + 15.309077914279666 + ], + [ + 1.0746588100435788, + 15.038859758750183 + ], + [ + 1.11984514233417, + 15.274449866540408 + ], + [ + 1.0307590166979435, + 15.046240932859773 + ], + [ + 1.0759453489885349, + 15.281831040649998 + ] + ], + "yaw_rad": -0.19392475177386997, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9040940999984741, + 15.176254272460938, + 0.07257269322872162 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9381211039063937, + 15.186699029593054, + 0.08569772305228693 + ], + "intended_face_normal": [ + -0.8789912269732322, + 0.17123729027968437, + 0.44503056930055074 + ], + "commanded_contact_point": [ + 0.9106889414787293, + 15.17478550485474, + 0.05133454794355894 + ], + "centerline_face_intersection": [ + 0.9181473124722885, + 15.173476888470764, + 0.05133454794355894 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.903577983379364, + 15.177570343017578, + 0.07051292061805725 + ], + "box_pose": [ + 1.0122724771499634, + 15.18974781036377, + 0.04781275615096092, + -0.6744476556777954, + 0.22634261846542358, + 0.09629852324724197, + 0.696143627166748 + ], + "box_yaw_rad": -0.19240133734322076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013086163839746965, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002360469811495063 + } + } + }, + { + "simulation_time_ns": 8940000000, + "center": [ + 1.0043189022642751, + 15.174012019729648, + 0.04495680285022848 + ], + "face_center": [ + 0.9329507493635619, + 15.187708963377837, + 0.07105632472464095 + ], + "face_normal": [ + -0.9242745938010293, + 0.177386362294647, + 0.33800965834765995 + ], + "footprint_xy": [ + [ + 0.8920157727287762, + 15.03904942745807 + ], + [ + 1.1166220317997742, + 15.03904942745807 + ], + [ + 1.1166220317997742, + 15.308974612001228 + ], + [ + 0.8920157727287762, + 15.308974612001228 + ] + ], + "projected_box_corners": [ + [ + 0.9287671961601311, + 15.066443314754448 + ], + [ + 0.9738857259983476, + 15.302058619302406 + ], + [ + 0.8920157727287762, + 15.073359307453268 + ], + [ + 0.9371343025669927, + 15.308974612001228 + ], + [ + 1.0715035019615577, + 15.03904942745807 + ], + [ + 1.1166220317997742, + 15.274664732006027 + ], + [ + 1.034752078530203, + 15.04596542015689 + ], + [ + 1.0798706083684193, + 15.281580724704849 + ] + ], + "yaw_rad": -0.18961395923111526, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9045085906982422, + 15.171701431274414, + 0.07201793789863586 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9365654923145135, + 15.187592273329757, + 0.07965775869522967 + ], + "intended_face_normal": [ + -0.8983748182430951, + 0.1764343900804377, + 0.402235729162399 + ], + "commanded_contact_point": [ + 0.9122871208190918, + 15.175186035461058, + 0.048599000601558875 + ], + "centerline_face_intersection": [ + 0.9199837878260201, + 15.173968836514923, + 0.048599000601558875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9040940999984741, + 15.176254272460938, + 0.07257269322872162 + ], + "box_pose": [ + 1.0124170780181885, + 15.190199851989746, + 0.045266926288604736, + -0.6785520911216736, + 0.21119478344917297, + 0.07879945635795593, + 0.6991097331047058 + ], + "box_yaw_rad": -0.19392475177386997, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012171989461341346, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003193402766780825 + } + } + }, + { + "simulation_time_ns": 8960000000, + "center": [ + 1.0033572787273557, + 15.17231265205707, + 0.04467127335124736 + ], + "face_center": [ + 0.9302944813778001, + 15.184967797124548, + 0.06620913782800332 + ], + "face_normal": [ + -0.9462215932108345, + 0.16389423841483275, + 0.27893255088568036 + ], + "footprint_xy": [ + [ + 0.8940465748308262, + 15.037661799103118 + ], + [ + 1.1126679826238852, + 15.037661799103118 + ], + [ + 1.1126679826238852, + 15.306963505011023 + ], + [ + 0.8940465748308262, + 15.306963505011023 + ] + ], + "projected_box_corners": [ + [ + 0.9239760074057629, + 15.062972089238071 + ], + [ + 0.9665423879247741, + 15.29899275268862 + ], + [ + 0.8940465748308262, + 15.070942841560475 + ], + [ + 0.9366129553498372, + 15.306963505011023 + ], + [ + 1.0701016021048742, + 15.037661799103118 + ], + [ + 1.1126679826238852, + 15.273682462553664 + ], + [ + 1.0401721695299373, + 15.045632551425522 + ], + [ + 1.0827385500489484, + 15.281653214876068 + ] + ], + "yaw_rad": -0.1715075052784662, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.905049204826355, + 15.163779258728027, + 0.06326557695865631 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9329507493635619, + 15.187708963377837, + 0.07105632472464095 + ], + "intended_face_normal": [ + -0.9242745938010293, + 0.177386362294647, + 0.33800965834765995 + ], + "commanded_contact_point": [ + 0.9135299968719482, + 15.175321642213992, + 0.04495680285022848 + ], + "centerline_face_intersection": [ + 0.920777372042294, + 15.174012019729648, + 0.04495680285022848 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9045085906982422, + 15.171701431274414, + 0.07201793789863586 + ], + "box_pose": [ + 1.0110095739364624, + 15.190234184265137, + 0.04201437532901764, + -0.6824424862861633, + 0.1866704672574997, + 0.054925765842199326, + 0.7045632600784302 + ], + "box_yaw_rad": -0.18961395923111526, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013096224843435087, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038508095946179406 + } + } + }, + { + "simulation_time_ns": 8980000000, + "center": [ + 1.0068133497266372, + 15.168328676031775, + 0.04591533166970001 + ], + "face_center": [ + 0.9329955489088919, + 15.180391745452505, + 0.06508873226312718 + ], + "face_normal": [ + -0.955999491272034, + 0.15622638579914216, + 0.24831085470193237 + ], + "footprint_xy": [ + [ + 0.8995806130635219, + 15.03443636538995 + ], + [ + 1.1140460863897523, + 15.03443636538995 + ], + [ + 1.1140460863897523, + 15.302220986673602 + ], + [ + 0.8995806130635219, + 15.302220986673602 + ] + ], + "projected_box_corners": [ + [ + 0.9262272994751847, + 15.05856250423141 + ], + [ + 0.9664104847542621, + 15.294994762291577 + ], + [ + 0.8995806130635219, + 15.065788728613436 + ], + [ + 0.9397637983425993, + 15.302220986673602 + ], + [ + 1.0738629011106748, + 15.03443636538995 + ], + [ + 1.1140460863897523, + 15.270868623450117 + ], + [ + 1.0472162146990123, + 15.041662589771974 + ], + [ + 1.0873993999780895, + 15.278094847832142 + ] + ], + "yaw_rad": -0.161984996537332, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9066943526268005, + 15.15780258178711, + 0.05796539783477783 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9302944813778001, + 15.184967797124548, + 0.06620913782800332 + ], + "intended_face_normal": [ + -0.9462215932108345, + 0.16389423841483275, + 0.27893255088568036 + ], + "commanded_contact_point": [ + 0.9148294973373413, + 15.173963610274575, + 0.04467127335124736 + ], + "centerline_face_intersection": [ + 0.9217534404029506, + 15.17231265205707, + 0.04467127335124736 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.905049204826355, + 15.163779258728027, + 0.06326557695865631 + ], + "box_pose": [ + 1.010055661201477, + 15.188636779785156, + 0.04238300397992134, + -0.6801367402076721, + 0.15967896580696106, + 0.0373072549700737, + 0.7145101428031921 + ], + "box_yaw_rad": -0.1715075052784662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016509582175051939, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019011783984740982 + } + } + }, + { + "simulation_time_ns": 9000000000, + "center": [ + 1.0097746757200396, + 15.166102418039735, + 0.045516392399391245 + ], + "face_center": [ + 0.9362640687118013, + 15.178799645502622, + 0.06544566093384639 + ], + "face_normal": [ + -0.9520210860316021, + 0.1644392390536633, + 0.258099948376989 + ], + "footprint_xy": [ + [ + 0.9012504476136461, + 15.03155658807513 + ], + [ + 1.118298903826433, + 15.03155658807513 + ], + [ + 1.118298903826433, + 15.300648248004341 + ], + [ + 0.9012504476136461, + 15.300648248004341 + ] + ], + "projected_box_corners": [ + [ + 0.9288980865857365, + 15.056951043000902 + ], + [ + 0.9712776898099564, + 15.293000074705795 + ], + [ + 0.9012504476136461, + 15.06459921629945 + ], + [ + 0.9436300508378661, + 15.300648248004341 + ], + [ + 1.075919300602213, + 15.03155658807513 + ], + [ + 1.118298903826433, + 15.26760561978002 + ], + [ + 1.0482716616301226, + 15.039204761373677 + ], + [ + 1.0906512648543425, + 15.27525379307857 + ] + ], + "yaw_rad": -0.17103884344476505, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9087942242622375, + 15.15683650970459, + 0.05506280064582825 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9329955489088919, + 15.180391745452505, + 0.06508873226312718 + ], + "intended_face_normal": [ + -0.955999491272034, + 0.15622638579914216, + 0.24831085470193237 + ], + "commanded_contact_point": [ + 0.9168176698684692, + 15.170400678019067, + 0.04591533166970001 + ], + "centerline_face_intersection": [ + 0.926044149934808, + 15.168328676031775, + 0.04591533166970001 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9066943526268005, + 15.15780258178711, + 0.05796539783477783 + ], + "box_pose": [ + 1.0134292840957642, + 15.184704780578613, + 0.04376260191202164, + -0.6829843521118164, + 0.1453455239534378, + 0.029579266905784607, + 0.7152146697044373 + ], + "box_yaw_rad": -0.161984996537332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0020720019872918294, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004265559444032591 + } + } + }, + { + "simulation_time_ns": 9020000000, + "center": [ + 1.0122127166137909, + 15.165773792763765, + 0.04427710106126801 + ], + "face_center": [ + 0.9395417544661924, + 15.179175218690249, + 0.06667214117483783 + ], + "face_normal": [ + -0.9411470143208702, + 0.17355917171887913, + 0.2900336601526452 + ], + "footprint_xy": [ + [ + 0.9014562370083328, + 15.030413692096925 + ], + [ + 1.122969196219249, + 15.030413692096925 + ], + [ + 1.122969196219249, + 15.301133893430608 + ], + [ + 0.9014562370083328, + 15.301133893430608 + ] + ], + "projected_box_corners": [ + [ + 0.9325355288948812, + 15.05721654394989 + ], + [ + 0.9776272719240517, + 15.292776242177396 + ], + [ + 0.9014562370083328, + 15.065574195203101 + ], + [ + 0.9465479800375034, + 15.301133893430608 + ], + [ + 1.0778774531900783, + 15.030413692096925 + ], + [ + 1.122969196219249, + 15.265973390324431 + ], + [ + 1.04679816130353, + 15.038771343350136 + ], + [ + 1.0918899043327006, + 15.274331041577643 + ] + ], + "yaw_rad": -0.18236354350909276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9111424684524536, + 15.15877628326416, + 0.05542747676372528 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9362640687118013, + 15.178799645502622, + 0.06544566093384639 + ], + "intended_face_normal": [ + -0.9520210860316021, + 0.1644392390536633, + 0.258099948376989 + ], + "commanded_contact_point": [ + 0.9192090082168579, + 15.168545056360433, + 0.045516392399391245 + ], + "centerline_face_intersection": [ + 0.9286679491523522, + 15.166102418039735, + 0.045516392399391245 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9087942242622375, + 15.15683650970459, + 0.05506280064582825 + ], + "box_pose": [ + 1.0165168046951294, + 15.182421684265137, + 0.043323926627635956, + -0.6815741062164307, + 0.15197721123695374, + 0.029872801154851913, + 0.715169370174408 + ], + "box_yaw_rad": -0.17103884344476505, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0024426383206976278, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003053028558311085 + } + } + }, + { + "simulation_time_ns": 9040000000, + "center": [ + 1.0150737117192823, + 15.166733837191563, + 0.044341949381992325 + ], + "face_center": [ + 0.9427433701369403, + 15.180866407875422, + 0.06738097792430069 + ], + "face_normal": [ + -0.9367357058899104, + 0.18302808041509966, + 0.29837382476658636 + ], + "footprint_xy": [ + [ + 0.903086152815143, + 15.030839184083765 + ], + [ + 1.1270612706234213, + 15.030839184083765 + ], + [ + 1.1270612706234213, + 15.30262849029936 + ], + [ + 0.903086152815143, + 15.30262849029936 + ] + ], + "projected_box_corners": [ + [ + 0.9350778672184232, + 15.059104325451484 + ], + [ + 0.9824005874587376, + 15.294247225545261 + ], + [ + 0.903086152815143, + 15.067485590205584 + ], + [ + 0.9504088730554574, + 15.30262849029936 + ], + [ + 1.079738550383107, + 15.030839184083765 + ], + [ + 1.1270612706234213, + 15.265982084177542 + ], + [ + 1.0477468359798268, + 15.039220448837865 + ], + [ + 1.0950695562201411, + 15.274363348931642 + ] + ], + "yaw_rad": -0.1929582341984245, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9140021800994873, + 15.160460472106934, + 0.05654896795749664 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9395417544661924, + 15.179175218690249, + 0.06667214117483783 + ], + "intended_face_normal": [ + -0.9411470143208702, + 0.17355917171887913, + 0.2900336601526452 + ], + "commanded_contact_point": [ + 0.92136723279953, + 15.168496331464448, + 0.04427710106126801 + ], + "centerline_face_intersection": [ + 0.9301688778335591, + 15.165773792763765, + 0.04427710106126801 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9111424684524536, + 15.15877628326416, + 0.05542747676372528 + ], + "box_pose": [ + 1.0190540552139282, + 15.182028770446777, + 0.041920505464076996, + -0.6788344979286194, + 0.1673722267150879, + 0.03759029880166054, + 0.7139729261398315 + ], + "box_yaw_rad": -0.18236354350909276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0027225387006818403, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024892067984573383 + } + } + }, + { + "simulation_time_ns": 9060000000, + "center": [ + 1.0184464775028723, + 15.168056400663993, + 0.0444043592074622 + ], + "face_center": [ + 0.9464582266837998, + 15.182885956705967, + 0.06806826899925648 + ], + "face_normal": [ + -0.9323053572201934, + 0.19205459760201649, + 0.30646653614509134 + ], + "footprint_xy": [ + [ + 0.9052962668294147, + 15.031658912486208 + ], + [ + 1.13159668817633, + 15.031658912486208 + ], + [ + 1.13159668817633, + 15.304453888841778 + ], + [ + 0.9052962668294147, + 15.304453888841778 + ] + ], + "projected_box_corners": [ + [ + 0.9381779476853351, + 15.061318024570157 + ], + [ + 0.9876201865381848, + 15.296040876723724 + ], + [ + 0.9052962668294147, + 15.06973103668821 + ], + [ + 0.9547385056822644, + 15.304453888841778 + ], + [ + 1.0821544493234803, + 15.031658912486208 + ], + [ + 1.13159668817633, + 15.266381764639775 + ], + [ + 1.0492727684675598, + 15.040071924604261 + ], + [ + 1.0987150073204095, + 15.274794776757828 + ] + ], + "yaw_rad": -0.20315776285874534, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9173916578292847, + 15.162501335144043, + 0.057612836360931396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9427433701369403, + 15.180866407875422, + 0.06738097792430069 + ], + "intended_face_normal": [ + -0.9367357058899104, + 0.18302808041509966, + 0.29837382476658636 + ], + "commanded_contact_point": [ + 0.9234424877166748, + 15.16970731049563, + 0.044341949381992325 + ], + "centerline_face_intersection": [ + 0.9326435092342789, + 15.166733837191563, + 0.044341949381992325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9140021800994873, + 15.160460472106934, + 0.05654896795749664 + ], + "box_pose": [ + 1.0220431089401245, + 15.182918548583984, + 0.04187936708331108, + -0.6787751913070679, + 0.17391180992126465, + 0.0372401587665081, + 0.7124830484390259 + ], + "box_yaw_rad": -0.1929582341984245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002973473304067016, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002403613631554878 + } + } + }, + { + "simulation_time_ns": 9080000000, + "center": [ + 1.0228169081026572, + 15.170025480109501, + 0.044437257817384536 + ], + "face_center": [ + 0.951264290928731, + 15.18586663115658, + 0.06875773529036305 + ], + "face_normal": [ + -0.9266635535017496, + 0.205155561049033, + 0.31496961212736707 + ], + "footprint_xy": [ + [ + 0.9080806649965286, + 15.032858521638172 + ], + [ + 1.1375531512087858, + 15.032858521638172 + ], + [ + 1.1375531512087858, + 15.307192438580831 + ], + [ + 0.9080806649965286, + 15.307192438580831 + ] + ], + "projected_box_corners": [ + [ + 0.9418660808403618, + 15.064540823732328 + ], + [ + 0.9944479168609333, + 15.298593038886883 + ], + [ + 0.9080806649965286, + 15.073140223426275 + ], + [ + 0.9606625010171002, + 15.307192438580831 + ], + [ + 1.084971315188214, + 15.032858521638172 + ], + [ + 1.1375531512087858, + 15.266910736792727 + ], + [ + 1.051185899344381, + 15.04145792133212 + ], + [ + 1.1037677353649524, + 15.275510136486675 + ] + ], + "yaw_rad": -0.21787730793113064, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.921754777431488, + 15.165573120117188, + 0.0586482435464859 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9464582266837998, + 15.182885956705967, + 0.06806826899925648 + ], + "intended_face_normal": [ + -0.9323053572201934, + 0.19205459760201649, + 0.30646653614509134 + ], + "commanded_contact_point": [ + 0.9255478429794312, + 15.171252076588857, + 0.0444043592074622 + ], + "centerline_face_intersection": [ + 0.9356245637238215, + 15.168056400663993, + 0.0444043592074622 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9173916578292847, + 15.162501335144043, + 0.057612836360931396 + ], + "box_pose": [ + 1.0255361795425415, + 15.184172630310059, + 0.041838254779577255, + -0.6786841750144958, + 0.1802232414484024, + 0.036971673369407654, + 0.7110136151313782 + ], + "box_yaw_rad": -0.20315776285874534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0031956759248650025, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002612033317458843 + } + } + }, + { + "simulation_time_ns": 9100000000, + "center": [ + 1.0279822295165444, + 15.172589933305375, + 0.04443095461671507 + ], + "face_center": [ + 0.9569086187284692, + 15.189714110149017, + 0.06928068179212432 + ], + "face_normal": [ + -0.9204600381420844, + 0.22177177008283344, + 0.32182381857452036 + ], + "footprint_xy": [ + [ + 0.9113545674978684, + 15.034410748816933 + ], + [ + 1.1446098915352205, + 15.034410748816933 + ], + [ + 1.1446098915352205, + 15.310769117793818 + ], + [ + 0.9113545674978684, + 15.310769117793818 + ] + ], + "projected_box_corners": [ + [ + 0.9458090587626677, + 15.068659102504215 + ], + [ + 1.00246266995907, + 15.301765798342208 + ], + [ + 0.9113545674978684, + 15.077662421955825 + ], + [ + 0.9680081786942706, + 15.310769117793818 + ], + [ + 1.087956280338818, + 15.034410748816933 + ], + [ + 1.1446098915352205, + 15.267517444654926 + ], + [ + 1.0535017890740188, + 15.043414068268543 + ], + [ + 1.110155400270421, + 15.276520764106534 + ] + ], + "yaw_rad": -0.23642962048773844, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9268693327903748, + 15.169609069824219, + 0.059396952390670776 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.951264290928731, + 15.18586663115658, + 0.06875773529036305 + ], + "intended_face_normal": [ + -0.9266635535017496, + 0.205155561049033, + 0.31496961212736707 + ], + "commanded_contact_point": [ + 0.9275268363952637, + 15.17339925043406, + 0.044437257817384536 + ], + "centerline_face_intersection": [ + 0.9394907498441927, + 15.170025480109501, + 0.044437257817384536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.921754777431488, + 15.165573120117188, + 0.0586482435464859 + ], + "box_pose": [ + 1.0300946235656738, + 15.186039924621582, + 0.04176253825426102, + -0.6781518459320068, + 0.18820567429065704, + 0.03531072661280632, + 0.7095363736152649 + ], + "box_yaw_rad": -0.21787730793113064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003373770324557557, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002920248753096797 + } + } + }, + { + "simulation_time_ns": 9120000000, + "center": [ + 1.0324858095231275, + 15.175336785644335, + 0.04435839215725023 + ], + "face_center": [ + 0.9616795579404814, + 15.193663282026368, + 0.06911357323065934 + ], + "face_normal": [ + -0.9169975228470517, + 0.23734276859966963, + 0.3205993710237587 + ], + "footprint_xy": [ + [ + 0.9142904587216365, + 15.03613628415915 + ], + [ + 1.1506811603246185, + 15.03613628415915 + ], + [ + 1.1506811603246185, + 15.31453728712952 + ], + [ + 0.9142904587216365, + 15.31453728712952 + ] + ], + "projected_box_corners": [ + [ + 0.9484315412441295, + 15.072789276923217 + ], + [ + 1.0090686571593261, + 15.304890319948559 + ], + [ + 0.9142904587216365, + 15.082436244104176 + ], + [ + 0.9749275746368332, + 15.31453728712952 + ], + [ + 1.0900440444094217, + 15.03613628415915 + ], + [ + 1.1506811603246185, + 15.268237327184492 + ], + [ + 1.055902961886929, + 15.04578325134011 + ], + [ + 1.1165400778021255, + 15.277884294365453 + ] + ], + "yaw_rad": -0.25326804874503456, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9312459230422974, + 15.17387580871582, + 0.05914437770843506 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9569086187284692, + 15.189714110149017, + 0.06928068179212432 + ], + "intended_face_normal": [ + -0.9204600381420844, + 0.22177177008283344, + 0.32182381857452036 + ], + "commanded_contact_point": [ + 0.9293003726005554, + 15.176082938169179, + 0.04443095461671507 + ], + "centerline_face_intersection": [ + 0.9440944878310994, + 15.172589933305375, + 0.04443095461671507 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9268693327903748, + 15.169609069824219, + 0.059396952390670776 + ], + "box_pose": [ + 1.0355156660079956, + 15.188470840454102, + 0.041669487953186035, + -0.6769863963127136, + 0.19689901173114777, + 0.03163479268550873, + 0.7084625959396362 + ], + "box_yaw_rad": -0.23642962048773844, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0034930048638037925, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003216776377283851 + } + } + }, + { + "simulation_time_ns": 9140000000, + "center": [ + 1.03510905697223, + 15.177649751442269, + 0.04423546004625653 + ], + "face_center": [ + 0.9643009851004586, + 15.19680506966446, + 0.06834967395187452 + ], + "face_normal": [ + -0.9170210970453954, + 0.2480766735490043, + 0.3122983341526755 + ], + "footprint_xy": [ + [ + 0.9160439101965953, + 15.037680969989225 + ], + [ + 1.1541742037478646, + 15.037680969989225 + ], + [ + 1.1541742037478646, + 15.317618532895311 + ], + [ + 0.9160439101965953, + 15.317618532895311 + ] + ], + "projected_box_corners": [ + [ + 0.9490468130917445, + 15.07599160643361 + ], + [ + 1.0125580600043218, + 15.307312038361648 + ], + [ + 0.9160439101965953, + 15.086298100967273 + ], + [ + 0.9795551571091725, + 15.317618532895311 + ], + [ + 1.0906629568352875, + 15.037680969989225 + ], + [ + 1.1541742037478646, + 15.269001401917265 + ], + [ + 1.0576600539401382, + 15.047987464522889 + ], + [ + 1.1211713008527155, + 15.279307896450927 + ] + ], + "yaw_rad": -0.2642006316463546, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9337559938430786, + 15.177336692810059, + 0.05823118984699249 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9616795579404814, + 15.193663282026368, + 0.06911357323065934 + ], + "intended_face_normal": [ + -0.9169975228470517, + 0.23734276859966963, + 0.3205993710237587 + ], + "commanded_contact_point": [ + 0.9309709119796753, + 15.17888822958528, + 0.04435839215725023 + ], + "centerline_face_intersection": [ + 0.9482813138864289, + 15.175336785644335, + 0.04435839215725023 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9312459230422974, + 15.17387580871582, + 0.05914437770843506 + ], + "box_pose": [ + 1.0402942895889282, + 15.19108772277832, + 0.041616618633270264, + -0.6751084923744202, + 0.20216381549835205, + 0.025120316073298454, + 0.7090326547622681 + ], + "box_yaw_rad": -0.25326804874503456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0035514439409443832, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032658271627508274 + } + } + }, + { + "simulation_time_ns": 9160000000, + "center": [ + 1.0364356949157851, + 15.178857090450826, + 0.04424864287834693 + ], + "face_center": [ + 0.9657986337225998, + 15.198405774074988, + 0.06854801191108832 + ], + "face_normal": [ + -0.9148063721427373, + 0.2531710697515748, + 0.31469624096343796 + ], + "footprint_xy": [ + [ + 0.9167998096925178, + 15.03860739600375 + ], + [ + 1.1560715801390522, + 15.03860739600375 + ], + [ + 1.1560715801390522, + 15.319106784897903 + ], + [ + 0.9167998096925178, + 15.319106784897903 + ] + ], + "projected_box_corners": [ + [ + 0.9500385257297245, + 15.077704763252074 + ], + [ + 1.0147974577526817, + 15.308682528780333 + ], + [ + 0.9167998096925178, + 15.088129019369644 + ], + [ + 0.9815587417154751, + 15.319106784897903 + ], + [ + 1.0913126481160949, + 15.03860739600375 + ], + [ + 1.1560715801390522, + 15.269585161532008 + ], + [ + 1.0580739320788883, + 15.049031652121318 + ], + [ + 1.1228328641018455, + 15.280009417649579 + ] + ], + "yaw_rad": -0.2699908247211294, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9348278045654297, + 15.179109573364258, + 0.05833233892917633 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9643009851004586, + 15.19680506966446, + 0.06834967395187452 + ], + "intended_face_normal": [ + -0.9170210970453954, + 0.2480766735490043, + 0.3122983341526755 + ], + "commanded_contact_point": [ + 0.932683413028717, + 15.181213717728502, + 0.04423546004625653 + ], + "centerline_face_intersection": [ + 0.9509067260114457, + 15.177649751442269, + 0.04423546004625653 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9337559938430786, + 15.177336692810059, + 0.05823118984699249 + ], + "box_pose": [ + 1.0431396961212158, + 15.193307876586914, + 0.04160609468817711, + -0.673134446144104, + 0.20292246341705322, + 0.017661407589912415, + 0.710915207862854 + ], + "box_yaw_rad": -0.2642006316463546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0035639662862328005, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002890617105593812 + } + } + }, + { + "simulation_time_ns": 9180000000, + "center": [ + 1.0368580405581629, + 15.178948679330247, + 0.044322229698164 + ], + "face_center": [ + 0.9664647044728443, + 15.198549491843494, + 0.06927800912682268 + ], + "face_normal": [ + -0.9116499372916649, + 0.2538461805093237, + 0.3231972799758567 + ], + "footprint_xy": [ + [ + 0.9169370365301813, + 15.038754392738703 + ], + [ + 1.1567790445861446, + 15.038754392738703 + ], + [ + 1.1567790445861446, + 15.31914296592179 + ], + [ + 0.9169370365301813, + 15.31914296592179 + ] + ], + "projected_box_corners": [ + [ + 0.9512123757665609, + 15.077956017765198 + ], + [ + 1.0159923724155073, + 15.308936902634354 + ], + [ + 0.9169370365301813, + 15.088162081052632 + ], + [ + 0.9817170331791277, + 15.31914296592179 + ], + [ + 1.0919990479371982, + 15.038754392738703 + ], + [ + 1.1567790445861446, + 15.269735277607861 + ], + [ + 1.0577237087008187, + 15.048960456026139 + ], + [ + 1.122503705349765, + 15.279941340895295 + ] + ], + "yaw_rad": -0.27156801697223876, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9333627223968506, + 15.179654121398926, + 0.05801005661487579 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9657986337225998, + 15.198405774074988, + 0.06854801191108832 + ], + "intended_face_normal": [ + -0.9148063721427373, + 0.2531710697515748, + 0.31469624096343796 + ], + "commanded_contact_point": [ + 0.9344795393943787, + 15.182410957420522, + 0.04424864287834693 + ], + "centerline_face_intersection": [ + 0.952029512074516, + 15.178857090450826, + 0.04424864287834693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9348278045654297, + 15.179109573364258, + 0.05833233892917633 + ], + "box_pose": [ + 1.044542908668518, + 15.194470405578613, + 0.041587963700294495, + -0.67276531457901, + 0.20571891963481903, + 0.016629492864012718, + 0.7104858160018921 + ], + "box_yaw_rad": -0.2699908247211294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0035538669696955363, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002158616823022493 + } + } + }, + { + "simulation_time_ns": 9200000000, + "center": [ + 1.037107737831272, + 15.179001289214913, + 0.04436539573605682 + ], + "face_center": [ + 0.9668666141688679, + 15.198637633478096, + 0.06971896173502642 + ], + "face_normal": [ + -0.9096786648172808, + 0.2543063450561882, + 0.3283489338403629 + ], + "footprint_xy": [ + [ + 0.9170163500310207, + 15.038838652011737 + ], + [ + 1.1571991256315233, + 15.038838652011737 + ], + [ + 1.1571991256315233, + 15.319163926418089 + ], + [ + 0.9170163500310207, + 15.319163926418089 + ] + ], + "projected_box_corners": [ + [ + 0.9519203967221447, + 15.078111340538104 + ], + [ + 1.016716878306715, + 15.309090525896684 + ], + [ + 0.9170163500310207, + 15.088184741059509 + ], + [ + 0.9818128316155911, + 15.319163926418089 + ], + [ + 1.092402644046953, + 15.038838652011737 + ], + [ + 1.1571991256315233, + 15.269817837370315 + ], + [ + 1.0574985973558289, + 15.048912052533142 + ], + [ + 1.1222950789403994, + 15.27989123789172 + ] + ], + "yaw_rad": -0.27259715504617904, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9288997054100037, + 15.181917190551758, + 0.05812011659145355 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9664647044728443, + 15.198549491843494, + 0.06927800912682268 + ], + "intended_face_normal": [ + -0.9116499372916649, + 0.2538461805093237, + 0.3231972799758567 + ], + "commanded_contact_point": [ + 0.9359911131858826, + 15.182474328617195, + 0.044322229698164 + ], + "centerline_face_intersection": [ + 0.9521596154797499, + 15.178948679330247, + 0.044322229698164 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9333627223968506, + 15.179654121398926, + 0.05801005661487579 + ], + "box_pose": [ + 1.044938564300537, + 15.19455623626709, + 0.04154898226261139, + -0.673413872718811, + 0.2092498242855072, + 0.01973682828247547, + 0.7087584733963013 + ], + "box_yaw_rad": -0.27156801697223876, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003525649286948396, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015146901517406062 + } + } + }, + { + "simulation_time_ns": 9220000000, + "center": [ + 1.0372104800947255, + 15.17902308022997, + 0.04437894331585892 + ], + "face_center": [ + 0.9670322874261015, + 15.198675067757724, + 0.06989414069986574 + ], + "face_normal": [ + -0.9088636581742693, + 0.2545089378292684, + 0.3304421893987435 + ], + "footprint_xy": [ + [ + 0.917050132141469, + 15.038872987655619 + ], + [ + 1.157370828047982, + 15.038872987655619 + ], + [ + 1.157370828047982, + 15.319173172804321 + ], + [ + 0.917050132141469, + 15.319173172804321 + ] + ], + "projected_box_corners": [ + [ + 0.9522099612948551, + 15.078176962711126 + ], + [ + 1.017014442710734, + 15.309154459740865 + ], + [ + 0.917050132141469, + 15.088195675774582 + ], + [ + 0.9818546135573477, + 15.319173172804321 + ], + [ + 1.0925663466321034, + 15.038872987655619 + ], + [ + 1.157370828047982, + 15.269850484685358 + ], + [ + 1.057406517478717, + 15.048891700719075 + ], + [ + 1.1222109988945959, + 15.279869197748814 + ] + ], + "yaw_rad": -0.273036366403487, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9271373748779297, + 15.18443489074707, + 0.05935443937778473 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9668666141688679, + 15.198637633478096, + 0.06971896173502642 + ], + "intended_face_normal": [ + -0.9096786648172808, + 0.2543063450561882, + 0.3283489338403629 + ], + "commanded_contact_point": [ + 0.9376786994934082, + 15.182410302448387, + 0.04436539573605682 + ], + "centerline_face_intersection": [ + 0.9522257713767246, + 15.179001289214913, + 0.04436539573605682 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9288997054100037, + 15.181917190551758, + 0.05812011659145355 + ], + "box_pose": [ + 1.045172095298767, + 15.194604873657227, + 0.041523560881614685, + -0.6738013625144958, + 0.21140864491462708, + 0.021611396223306656, + 0.7076942324638367 + ], + "box_yaw_rad": -0.27259715504617904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0034090132334745984, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016893520066781685 + } + } + }, + { + "simulation_time_ns": 9240000000, + "center": [ + 1.0371795240241746, + 15.179018837292062, + 0.04436548984720358 + ], + "face_center": [ + 0.9669823750007056, + 15.198667033707359, + 0.06983141468273367 + ], + "face_normal": [ + -0.9091091581131371, + 0.25445983989435206, + 0.3298040705337053 + ], + "footprint_xy": [ + [ + 0.9170397548110405, + 15.038865826752408 + ], + [ + 1.1573192932373089, + 15.038865826752408 + ], + [ + 1.1573192932373089, + 15.319171847831718 + ], + [ + 0.9170397548110405, + 15.319171847831718 + ] + ], + "projected_box_corners": [ + [ + 0.9521226488546195, + 15.078162219583001 + ], + [ + 1.016924995190371, + 15.309140199116907 + ], + [ + 0.9170397548110405, + 15.088193868297813 + ], + [ + 0.9818421011467919, + 15.319171847831718 + ], + [ + 1.0925169469015574, + 15.038865826752408 + ], + [ + 1.1573192932373089, + 15.269843806286314 + ], + [ + 1.0574340528579784, + 15.04889747546722 + ], + [ + 1.1222363991937299, + 15.279875455001125 + ] + ], + "yaw_rad": -0.27291616098974986, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.928945779800415, + 15.186258316040039, + 0.05902084708213806 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9670322874261015, + 15.198675067757724, + 0.06989414069986574 + ], + "intended_face_normal": [ + -0.9088636581742693, + 0.2545089378292684, + 0.3304421893987435 + ], + "commanded_contact_point": [ + 0.9397825050354004, + 15.18221562104276, + 0.04437894331585892 + ], + "centerline_face_intersection": [ + 0.952252397309736, + 15.17902308022997, + 0.04437894331585892 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9271373748779297, + 15.18443489074707, + 0.05935443937778473 + ], + "box_pose": [ + 1.0452682971954346, + 15.194624900817871, + 0.04150902479887009, + -0.6739599704742432, + 0.2122916281223297, + 0.022370416671037674, + 0.7072550654411316 + ], + "box_yaw_rad": -0.273036366403487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0031925408127905564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021128374630180707 + } + } + }, + { + "simulation_time_ns": 9260000000, + "center": [ + 1.0370320316070922, + 15.178987844941874, + 0.0443312086637688 + ], + "face_center": [ + 0.9667445212852096, + 15.1986148644995, + 0.06956314705138202 + ], + "face_normal": [ + -0.9102794091143479, + 0.25418558266999436, + 0.3267737591088855 + ], + "footprint_xy": [ + [ + 0.9169919377662239, + 15.0388175621509 + ], + [ + 1.1570721254479606, + 15.0388175621509 + ], + [ + 1.1570721254479606, + 15.319158127732848 + ], + [ + 0.9169919377662239, + 15.319158127732848 + ] + ], + "projected_box_corners": [ + [ + 0.9517057982072327, + 15.078071601266151 + ], + [ + 1.0164971048041953, + 15.309051625601796 + ], + [ + 0.9169919377662239, + 15.088178103397203 + ], + [ + 0.9817832443631864, + 15.319158127732848 + ], + [ + 1.092280818850998, + 15.0388175621509 + ], + [ + 1.1570721254479606, + 15.269797586486545 + ], + [ + 1.0575669584099892, + 15.048924064281954 + ], + [ + 1.1223582650069517, + 15.279904088617597 + ] + ], + "yaw_rad": -0.27230296076813826, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9323204755783081, + 15.187914848327637, + 0.06072929501533508 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9669823750007056, + 15.198667033707359, + 0.06983141468273367 + ], + "intended_face_normal": [ + -0.9091091581131371, + 0.25445983989435206, + 0.3298040705337053 + ], + "commanded_contact_point": [ + 0.9419233846664429, + 15.181921798954933, + 0.04436548984720358 + ], + "centerline_face_intersection": [ + 0.9522443837031828, + 15.179018837292062, + 0.04436548984720358 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.928945779800415, + 15.186258316040039, + 0.05902084708213806 + ], + "box_pose": [ + 1.0452393293380737, + 15.194621086120605, + 0.04150348901748657, + -0.6739242672920227, + 0.2120267003774643, + 0.022138185799121857, + 0.7073758840560913 + ], + "box_yaw_rad": -0.27291616098974986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002902961662871493, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002160990053129835 + } + } + }, + { + "simulation_time_ns": 9280000000, + "center": [ + 1.036768088158765, + 15.178931145404654, + 0.044276364898095374 + ], + "face_center": [ + 0.9663195724221394, + 15.198520117318637, + 0.06908530275567172 + ], + "face_normal": [ + -0.9123645578573506, + 0.25369283528978004, + 0.32129556432330153 + ], + "footprint_xy": [ + [ + 0.9169113572837297, + 15.03872744258651 + ], + [ + 1.1566248190338002, + 15.03872744258651 + ], + [ + 1.1566248190338002, + 15.319134848222799 + ], + [ + 0.9169113572837297, + 15.319134848222799 + ] + ], + "projected_box_corners": [ + [ + 0.9509567959866121, + 15.077905386414475 + ], + [ + 1.015727787560549, + 15.308887351260148 + ], + [ + 0.9169113572837297, + 15.088152883377125 + ], + [ + 0.9816823488576667, + 15.319134848222799 + ], + [ + 1.0918538274598633, + 15.03872744258651 + ], + [ + 1.1566248190338002, + 15.269709407432181 + ], + [ + 1.0578083887569811, + 15.04897493954916 + ], + [ + 1.1225793803309179, + 15.279956904394831 + ] + ], + "yaw_rad": -0.27120959630720015, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9348683953285217, + 15.191490173339844, + 0.06205818057060242 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9667445212852096, + 15.1986148644995, + 0.06956314705138202 + ], + "intended_face_normal": [ + -0.9102794091143479, + 0.25418558266999436, + 0.3267737591088855 + ], + "commanded_contact_point": [ + 0.9438823509216309, + 15.181533726469315, + 0.0443312086637688 + ], + "centerline_face_intersection": [ + 0.9522060835099423, + 15.178987844941874, + 0.0443312086637688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9323204755783081, + 15.187914848327637, + 0.06072929501533508 + ], + "box_pose": [ + 1.045101284980774, + 15.194592475891113, + 0.04150909185409546, + -0.6737084984779358, + 0.21075507998466492, + 0.021037863567471504, + 0.7079947590827942 + ], + "box_yaw_rad": -0.27230296076813826, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0025458815274409853, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019973292774595336 + } + } + }, + { + "simulation_time_ns": 9300000000, + "center": [ + 1.0363807505977198, + 15.178847915833895, + 0.04419552704754324 + ], + "face_center": [ + 0.9657004234655009, + 15.198382728073536, + 0.0683799668339784 + ], + "face_normal": [ + -0.9153667006169992, + 0.25299142424061394, + 0.31320781541047005 + ], + "footprint_xy": [ + [ + 0.9168028833722048, + 15.03859334512969 + ], + [ + 1.1559586178232348, + 15.03859334512969 + ], + [ + 1.1559586178232348, + 15.319102486538101 + ], + [ + 0.9168028833722048, + 15.319102486538101 + ] + ], + "projected_box_corners": [ + [ + 0.9498616584005839, + 15.077662969608973 + ], + [ + 1.014597963558797, + 15.308644966900841 + ], + [ + 0.9168028833722048, + 15.088120489246233 + ], + [ + 0.981539188530418, + 15.319102486538101 + ], + [ + 1.0912223126650216, + 15.03859334512969 + ], + [ + 1.1559586178232348, + 15.26957534242156 + ], + [ + 1.0581635376366425, + 15.04905086476695 + ], + [ + 1.1228998427948558, + 15.28003286205882 + ] + ], + "yaw_rad": -0.269651143713537, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9353456497192383, + 15.193756103515625, + 0.059605568647384644 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9663195724221394, + 15.198520117318637, + 0.06908530275567172 + ], + "intended_face_normal": [ + -0.9123645578573506, + 0.25369283528978004, + 0.32129556432330153 + ], + "commanded_contact_point": [ + 0.9458454895019531, + 15.180974665814688, + 0.044276364898095374 + ], + "centerline_face_intersection": [ + 0.9521360041453584, + 15.178931145404654, + 0.044276364898095374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9348683953285217, + 15.191490173339844, + 0.06205818057060242 + ], + "box_pose": [ + 1.0448542833328247, + 15.194540023803711, + 0.04152718558907509, + -0.6732946634292603, + 0.20845836400985718, + 0.019048137590289116, + 0.7091237306594849 + ], + "box_yaw_rad": -0.27120959630720015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002043520410033397, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020419279467540023 + } + } + }, + { + "simulation_time_ns": 9320000000, + "center": [ + 1.0358593008573704, + 15.178736213399509, + 0.044091429708640884 + ], + "face_center": [ + 0.9648753185276961, + 15.198199764695035, + 0.0674291529731882 + ], + "face_normal": [ + -0.9192992780044803, + 0.25206853808624174, + 0.3022421600372498 + ], + "footprint_xy": [ + [ + 0.9166779349722872, + 15.03841295920584 + ], + [ + 1.1550406667424535, + 15.03841295920584 + ], + [ + 1.1550406667424535, + 15.319059467593178 + ], + [ + 0.9166779349722872, + 15.319059467593178 + ] + ], + "projected_box_corners": [ + [ + 0.9484008251043572, + 15.077340061796892 + ], + [ + 1.013072702083105, + 15.308319177557125 + ], + [ + 0.9166779349722872, + 15.088080351832945 + ], + [ + 0.981349811951035, + 15.319059467593178 + ], + [ + 1.0903687897637058, + 15.03841295920584 + ], + [ + 1.1550406667424535, + 15.269392074966072 + ], + [ + 1.0586458996316357, + 15.049153249241893 + ], + [ + 1.1233177766103835, + 15.280132365002125 + ] + ], + "yaw_rad": -0.26761894236200034, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.933468759059906, + 15.188356399536133, + 0.0530640184879303 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9657004234655009, + 15.198382728073536, + 0.0683799668339784 + ], + "intended_face_normal": [ + -0.9153667006169992, + 0.25299142424061394, + 0.31320781541047005 + ], + "commanded_contact_point": [ + 0.9480463314056397, + 15.18029510873666, + 0.04419552704754324 + ], + "centerline_face_intersection": [ + 0.9520262357793511, + 15.178847915833895, + 0.04419552704754324 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9353456497192383, + 15.193756103515625, + 0.059605568647384644 + ], + "box_pose": [ + 1.0444912910461426, + 15.194462776184082, + 0.04155413806438446, + -0.6726661324501038, + 0.20507802069187164, + 0.01611381769180298, + 0.7107767462730408 + ], + "box_yaw_rad": -0.269651143713537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014471929027642027, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002304785817685105 + } + } + }, + { + "simulation_time_ns": 9340000000, + "center": [ + 1.035579966195103, + 15.178160249946668, + 0.04404828725979177 + ], + "face_center": [ + 0.9641939108293038, + 15.197268973175893, + 0.06643338060271876 + ], + "face_normal": [ + -0.9245064450255991, + 0.24747323116684328, + 0.2899048415266634 + ], + "footprint_xy": [ + [ + 0.917231280632465, + 15.03799102589439 + ], + [ + 1.153928651757741, + 15.03799102589439 + ], + [ + 1.153928651757741, + 15.318329473998944 + ], + [ + 0.917231280632465, + 15.318329473998944 + ] + ], + "projected_box_corners": [ + [ + 0.947510092962886, + 15.076208472352842 + ], + [ + 1.0111565410261425, + 15.30744066152767 + ], + [ + 0.917231280632465, + 15.087097284824116 + ], + [ + 0.9808777286957215, + 15.318329473998944 + ], + [ + 1.0902822036944844, + 15.03799102589439 + ], + [ + 1.153928651757741, + 15.269223215069218 + ], + [ + 1.0600033913640634, + 15.048879838365664 + ], + [ + 1.12364983942732, + 15.280112027540493 + ] + ], + "yaw_rad": -0.2615495694718865, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9319974184036255, + 15.179226875305176, + 0.048018455505371094 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9648753185276961, + 15.198199764695035, + 0.0674291529731882 + ], + "intended_face_normal": [ + -0.9192992780044803, + 0.25206853808624174, + 0.3022421600372498 + ], + "commanded_contact_point": [ + 0.9505560445785523, + 15.179798598856808, + 0.044091429708640884 + ], + "centerline_face_intersection": [ + 0.9518656376848625, + 15.178736213399509, + 0.044091429708640884 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.933468759059906, + 15.188356399536133, + 0.0530640184879303 + ], + "box_pose": [ + 1.0440009832382202, + 15.194358825683594, + 0.04159567132592201, + -0.6717988848686218, + 0.20050597190856934, + 0.012153856456279755, + 0.7129769325256348 + ], + "box_yaw_rad": -0.26761894236200034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001062385457299231, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002560472324991697 + } + } + }, + { + "simulation_time_ns": 9360000000, + "center": [ + 1.0379281333450592, + 15.175530529207261, + 0.044089972223498905 + ], + "face_center": [ + 0.9661633976469703, + 15.193114174156783, + 0.06651412830723029 + ], + "face_normal": [ + -0.9294106578443677, + 0.22772224910837302, + 0.29041073522605565 + ], + "footprint_xy": [ + [ + 0.9215298140058031, + 15.036562154142963 + ], + [ + 1.1543264526843153, + 15.036562154142963 + ], + [ + 1.1543264526843153, + 15.31449890427156 + ], + [ + 0.9215298140058031, + 15.31449890427156 + ] + ], + "projected_box_corners": [ + [ + 0.9520936945968623, + 15.071729444042006 + ], + [ + 1.0107969812881374, + 15.304266968841917 + ], + [ + 0.9215298140058031, + 15.081961379471648 + ], + [ + 0.9802331006970784, + 15.31449890427156 + ], + [ + 1.0956231659930402, + 15.036562154142963 + ], + [ + 1.1543264526843153, + 15.269099678942874 + ], + [ + 1.065059285401981, + 15.046794089572606 + ], + [ + 1.1237625720932563, + 15.279331614372516 + ] + ], + "yaw_rad": -0.24028416061330055, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.933789849281311, + 15.173736572265625, + 0.046496450901031494 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9641939108293038, + 15.197268973175893, + 0.06643338060271876 + ], + "intended_face_normal": [ + -0.9245064450255991, + 0.24747323116684328, + 0.2899048415266634 + ], + "commanded_contact_point": [ + 0.9536289024353027, + 15.179179970389626, + 0.04404828725979177 + ], + "centerline_face_intersection": [ + 0.952059386834188, + 15.178160249946668, + 0.04404828725979177 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9319974184036255, + 15.179226875305176, + 0.048018455505371094 + ], + "box_pose": [ + 1.0436909198760986, + 15.193822860717773, + 0.04170805588364601, + -0.6713466644287109, + 0.1940692663192749, + 0.009159550070762634, + 0.7152249813079834 + ], + "box_yaw_rad": -0.2615495694718865, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010197204429589159, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003134807467627542 + } + } + }, + { + "simulation_time_ns": 9380000000, + "center": [ + 1.0412107358431346, + 15.174502785668187, + 0.044130035662248435 + ], + "face_center": [ + 0.9693630671634558, + 15.191485134000198, + 0.06675119865539471 + ], + "face_normal": [ + -0.930484706208466, + 0.21993497755496172, + 0.2929621320855029 + ], + "footprint_xy": [ + [ + 0.9255228035859646, + 15.036051253613834 + ], + [ + 1.1568986681003046, + 15.036051253613834 + ], + [ + 1.1568986681003046, + 15.312954317722538 + ], + [ + 0.9255228035859646, + 15.312954317722538 + ] + ], + "projected_box_corners": [ + [ + 0.9564789289179089, + 15.070015950277858 + ], + [ + 1.013203330740947, + 15.303051272240971 + ], + [ + 0.9255228035859646, + 15.079918995759424 + ], + [ + 0.9822472054090028, + 15.312954317722538 + ], + [ + 1.1001742662772664, + 15.036051253613834 + ], + [ + 1.1568986681003046, + 15.269086575576948 + ], + [ + 1.0692181409453223, + 15.045954299095403 + ], + [ + 1.1259425427683605, + 15.278989621058516 + ] + ], + "yaw_rad": -0.23210610665972548, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9370079040527344, + 15.172601699829102, + 0.04554137587547302 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9661633976469703, + 15.193114174156783, + 0.06651412830723029 + ], + "intended_face_normal": [ + -0.9294106578443677, + 0.22772224910837302, + 0.29041073522605565 + ], + "commanded_contact_point": [ + 0.9572425532341003, + 15.176622007927886, + 0.044089972223498905 + ], + "centerline_face_intersection": [ + 0.9548482662704469, + 15.175530529207261, + 0.044089972223498905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.933789849281311, + 15.173736572265625, + 0.046496450901031494 + ], + "box_pose": [ + 1.0457018613815308, + 15.191362380981445, + 0.04174406826496124, + -0.6734024882316589, + 0.1871008276939392, + 0.01696912944316864, + 0.7150065302848816 + ], + "box_yaw_rad": -0.24028416061330055, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010914787206243682, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004427570630438416 + } + } + }, + { + "simulation_time_ns": 9400000000, + "center": [ + 1.0438169774533725, + 15.17467890682314, + 0.04418124813500157 + ], + "face_center": [ + 0.9720421526713522, + 15.191532420035202, + 0.06712767080755201 + ], + "face_normal": [ + -0.9295413195411247, + 0.21826645982935178, + 0.29717450477335117 + ], + "footprint_xy": [ + [ + 0.9281763628035764, + 15.036384766341175 + ], + [ + 1.1594575921031685, + 15.036384766341175 + ], + [ + 1.1594575921031685, + 15.312973047305105 + ], + [ + 0.9281763628035764, + 15.312973047305105 + ] + ], + "projected_box_corners": [ + [ + 0.9596597312970029, + 15.070091792765298 + ], + [ + 1.015907942539128, + 15.303253740621594 + ], + [ + 0.9281763628035764, + 15.07981109944881 + ], + [ + 0.9844245740457016, + 15.312973047305105 + ], + [ + 1.1032093808610433, + 15.036384766341175 + ], + [ + 1.1594575921031685, + 15.269546714197471 + ], + [ + 1.0717260123676169, + 15.046104073024685 + ], + [ + 1.127974223609742, + 15.279266020880982 + ] + ], + "yaw_rad": -0.23063277587999348, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9397351741790771, + 15.17425537109375, + 0.043089479207992554 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9693630671634558, + 15.191485134000198, + 0.06675119865539471 + ], + "intended_face_normal": [ + -0.930484706208466, + 0.21993497755496172, + 0.2929621320855029 + ], + "commanded_contact_point": [ + 0.9611582803726196, + 15.175670307822374, + 0.044130035662248435 + ], + "centerline_face_intersection": [ + 0.9582267669544093, + 15.174502785668187, + 0.044130035662248435 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9370079040527344, + 15.172601699829102, + 0.04554137587547302 + ], + "box_pose": [ + 1.0488417148590088, + 15.190399169921875, + 0.041752055287361145, + -0.674393355846405, + 0.18525342643260956, + 0.020947908982634544, + 0.7144479751586914 + ], + "box_yaw_rad": -0.23210610665972548, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011675221541877813, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004029920246517579 + } + } + }, + { + "simulation_time_ns": 9420000000, + "center": [ + 1.0460098867048309, + 15.174733168486298, + 0.044507394434028014 + ], + "face_center": [ + 0.9749828245359813, + 15.191450416697588, + 0.06976397156931524 + ], + "face_normal": [ + -0.9198571963369089, + 0.21650171921161698, + 0.3270928505743722 + ], + "footprint_xy": [ + [ + 0.929807686263359, + 15.036969499944721 + ], + [ + 1.1622120871463029, + 15.036969499944721 + ], + [ + 1.1622120871463029, + 15.312496837027874 + ], + [ + 0.929807686263359, + 15.312496837027874 + ] + ], + "projected_box_corners": [ + [ + 0.9649522378616775, + 15.070403996367302 + ], + [ + 1.0201579628086035, + 15.30386093135895 + ], + [ + 0.929807686263359, + 15.079039902036229 + ], + [ + 0.985013411210285, + 15.312496837027874 + ], + [ + 1.1070063621993769, + 15.036969499944721 + ], + [ + 1.1622120871463029, + 15.270426434936368 + ], + [ + 1.0718618106010582, + 15.045605405613646 + ], + [ + 1.1270675355479842, + 15.279062340605293 + ] + ], + "yaw_rad": -0.23115734614074382, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.941735029220581, + 15.173613548278809, + 0.046286195516586304 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9720421526713522, + 15.191532420035202, + 0.06712767080755201 + ], + "intended_face_normal": [ + -0.9295413195411247, + 0.21826645982935178, + 0.29717450477335117 + ], + "commanded_contact_point": [ + 0.9650532054901123, + 15.175863370406503, + 0.04418124813500157 + ], + "centerline_face_intersection": [ + 0.9607487885647323, + 15.17467890682314, + 0.04418124813500157 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9397351741790771, + 15.17425537109375, + 0.043089479207992554 + ], + "box_pose": [ + 1.0514023303985596, + 15.19058895111084, + 0.0417492538690567, + -0.6749341487884521, + 0.1862521469593048, + 0.0232266653329134, + 0.7136067152023315 + ], + "box_yaw_rad": -0.23063277587999348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011844635833633556, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003900043275353687 + } + } + }, + { + "simulation_time_ns": 9440000000, + "center": [ + 1.0510167398277934, + 15.174219578291654, + 0.046805743404119485 + ], + "face_center": [ + 0.9813104697904607, + 15.190315798387664, + 0.07586004063369388 + ], + "face_normal": [ + -0.9027518830951355, + 0.20845890899920771, + 0.37627635967261863 + ], + "footprint_xy": [ + [ + 0.934313441380896, + 15.036946662163592 + ], + [ + 1.1677200382746906, + 15.036946662163592 + ], + [ + 1.1677200382746906, + 15.311492494419715 + ], + [ + 0.934313441380896, + 15.311492494419715 + ] + ], + "projected_box_corners": [ + [ + 0.9750878708151469, + 15.069139102355612 + ], + [ + 1.0283074982000253, + 15.3030501494211 + ], + [ + 0.934313441380896, + 15.077581447354227 + ], + [ + 0.9875330687657744, + 15.311492494419715 + ], + [ + 1.1145004108898122, + 15.036946662163592 + ], + [ + 1.1677200382746906, + 15.27085770922908 + ], + [ + 1.0737259814555613, + 15.045389007162207 + ], + [ + 1.1269456088404397, + 15.279300054227695 + ] + ], + "yaw_rad": -0.2269371982499729, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.94684898853302, + 15.172338485717773, + 0.0518399178981781 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9749828245359813, + 15.191450416697588, + 0.06976397156931524 + ], + "intended_face_normal": [ + -0.9198571963369089, + 0.21650171921161698, + 0.3270928505743722 + ], + "commanded_contact_point": [ + 0.9680616307258606, + 15.175962416877962, + 0.044507394434028014 + ], + "centerline_face_intersection": [ + 0.9620671679666095, + 15.174733168486298, + 0.044507394434028014 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.941735029220581, + 15.173613548278809, + 0.046286195516586304 + ], + "box_pose": [ + 1.0534272193908691, + 15.190656661987305, + 0.041677698493003845, + -0.6780068874359131, + 0.1969592571258545, + 0.0357554592192173, + 0.7072730660438538 + ], + "box_yaw_rad": -0.23115734614074382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012292483916629517, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003027673035676763 + } + } + }, + { + "simulation_time_ns": 9460000000, + "center": [ + 1.057952169025624, + 15.173995243798553, + 0.04887323601901167 + ], + "face_center": [ + 0.9892115917041657, + 15.189650049101493, + 0.08036712190886076 + ], + "face_normal": [ + -0.8902453909635102, + 0.2027422347967729, + 0.40787098173260006 + ], + "footprint_xy": [ + [ + 0.940960530708082, + 15.0368461893266 + ], + [ + 1.174943807343166, + 15.0368461893266 + ], + [ + 1.174943807343166, + 15.311144298270507 + ], + [ + 0.940960530708082, + 15.311144298270507 + ] + ], + "projected_box_corners": [ + [ + 0.9852207574299818, + 15.068155799932478 + ], + [ + 1.0374626527002495, + 15.302283123263297 + ], + [ + 0.940960530708082, + 15.077016974939687 + ], + [ + 0.9932024259783497, + 15.311144298270507 + ], + [ + 1.1227019120728985, + 15.0368461893266 + ], + [ + 1.174943807343166, + 15.270973512657418 + ], + [ + 1.0784416853509986, + 15.04570736433381 + ], + [ + 1.1306835806212663, + 15.279834687664628 + ] + ], + "yaw_rad": -0.22391847509627402, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.9539757966995239, + 15.17171573638916, + 0.05603857338428497 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9813104697904607, + 15.190315798387664, + 0.07586004063369388 + ], + "intended_face_normal": [ + -0.9027518830951355, + 0.20845890899920771, + 0.37627635967261863 + ], + "commanded_contact_point": [ + 0.970816080570221, + 15.175524070386272, + 0.046805743404119485 + ], + "centerline_face_intersection": [ + 0.9654834771923271, + 15.174219578291654, + 0.046805743404119485 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.94684898853302, + 15.172338485717773, + 0.0518399178981781 + ], + "box_pose": [ + 1.0581387281417847, + 15.190207481384277, + 0.04360482841730118, + -0.6771973371505737, + 0.21301113069057465, + 0.057011548429727554, + 0.7019826173782349 + ], + "box_yaw_rad": -0.2269371982499729, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013044920946181573, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003614076587483141 + } + } + }, + { + "simulation_time_ns": 9480000000, + "center": [ + 1.065138515777341, + 15.173916447223618, + 0.05089836297628223 + ], + "face_center": [ + 0.9974497779800081, + 15.189117553629504, + 0.08480065765811917 + ], + "face_normal": [ + -0.8766232288451006, + 0.19686647163439375, + 0.4390617995896662 + ], + "footprint_xy": [ + [ + 0.9479756005632004, + 15.03691290429918 + ], + [ + 1.1823014309914814, + 15.03691290429918 + ], + [ + 1.1823014309914814, + 15.310919990148054 + ], + [ + 0.9479756005632004, + 15.310919990148054 + ] + ], + "projected_box_corners": [ + [ + 0.9956777380976851, + 15.067315117110955 + ], + [ + 1.046923955396816, + 15.301657922216192 + ], + [ + 0.9479756005632004, + 15.076577185042817 + ], + [ + 0.9992218178623311, + 15.310919990148054 + ], + [ + 1.1310552136923506, + 15.03691290429918 + ], + [ + 1.1823014309914814, + 15.271255709404418 + ], + [ + 1.083353076157866, + 15.046174972231043 + ], + [ + 1.1345992934569966, + 15.28051777733628 + ] + ], + "yaw_rad": -0.2209085921416212, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.961455225944519, + 15.171245574951172, + 0.060403525829315186 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9892115917041657, + 15.189650049101493, + 0.08036712190886076 + ], + "intended_face_normal": [ + -0.8902453909635102, + 0.2027422347967729, + 0.40787098173260006 + ], + "commanded_contact_point": [ + 0.9735246348381043, + 15.175390916189546, + 0.04887323601901167 + ], + "centerline_face_intersection": [ + 0.9712173039027975, + 15.173995243798553, + 0.04887323601901167 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9539757966995239, + 15.17171573638916, + 0.05603857338428497 + ], + "box_pose": [ + 1.0649011135101318, + 15.19002914428711, + 0.04552541300654411, + -0.6745290756225586, + 0.22341227531433105, + 0.07045750319957733, + 0.7000951766967773 + ], + "box_yaw_rad": -0.22391847509627402, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013956723909938542, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003410061872577743 + } + } + }, + { + "simulation_time_ns": 9500000000, + "center": [ + 1.0710370161008922, + 15.174041078332454, + 0.05285141750698506 + ], + "face_center": [ + 1.0044700136717104, + 15.188898242931613, + 0.08904953256917075 + ], + "face_normal": [ + -0.8620958597090044, + 0.19241215047313442, + 0.46879450757272156 + ], + "footprint_xy": [ + [ + 0.9536505315400383, + 15.03707795856486 + ], + [ + 1.1884235006617458, + 15.03707795856486 + ], + [ + 1.1884235006617458, + 15.31100419810005 + ], + [ + 0.9536505315400383, + 15.31100419810005 + ] + ], + "projected_box_corners": [ + [ + 1.004611186585623, + 15.066792287763175 + ], + [ + 1.0552894958033823, + 15.301255141213524 + ], + [ + 0.9536505315400383, + 15.0765413446497 + ], + [ + 1.0043288407577975, + 15.31100419810005 + ], + [ + 1.1377451914439867, + 15.03707795856486 + ], + [ + 1.1884235006617458, + 15.271540812015209 + ], + [ + 1.086784536398402, + 15.046827015451385 + ], + [ + 1.137462845616161, + 15.281289868901734 + ] + ], + "yaw_rad": -0.21959206984339416, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 0.9676706790924072, + 15.17115592956543, + 0.06476998329162598 + ], + "success_count": 1, + "first_fully_inside_policy_ns": 9500000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 0.9974497779800081, + 15.189117553629504, + 0.08480065765811917 + ], + "intended_face_normal": [ + -0.8766232288451006, + 0.19686647163439375, + 0.4390617995896662 + ], + "commanded_contact_point": [ + 0.9761856245994568, + 15.17541895450551, + 0.05089836297628223 + ], + "centerline_face_intersection": [ + 0.9770558465407927, + 15.173916447223618, + 0.05089836297628223 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.961455225944519, + 15.171245574951172, + 0.060403525829315186 + ], + "box_pose": [ + 1.071908950805664, + 15.189996719360352, + 0.04741014912724495, + -0.6716399192810059, + 0.2337660938501358, + 0.08391542732715607, + 0.698005199432373 + ], + "box_yaw_rad": -0.2209085921416212, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001502507281891712, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003344068158732575 + } + } + }, + { + "simulation_time_ns": 9520000000, + "center": [ + 1.0751817737011542, + 15.17423304705801, + 0.05412744570692307 + ], + "face_center": [ + 1.009414424122432, + 15.18891950681247, + 0.09182583162185914 + ], + "face_normal": [ + -0.8517397164784408, + 0.19020138636365402, + 0.4882242136342825 + ], + "footprint_xy": [ + [ + 0.9576104284446335, + 15.03724077845981 + ], + [ + 1.1927531189576748, + 15.03724077845981 + ], + [ + 1.1927531189576748, + 15.311225315656209 + ], + [ + 0.9576104284446335, + 15.311225315656209 + ] + ], + "projected_box_corners": [ + [ + 1.0106903177959219, + 15.06661369796873 + ], + [ + 1.0612184198002308, + 15.301106753821301 + ], + [ + 0.9576104284446335, + 15.076732259803638 + ], + [ + 1.0081385304489423, + 15.311225315656209 + ], + [ + 1.1422250169533659, + 15.03724077845981 + ], + [ + 1.1927531189576748, + 15.27173383431238 + ], + [ + 1.0891451276020776, + 15.047359340294717 + ], + [ + 1.1396732296063863, + 15.28185239614729 + ] + ], + "yaw_rad": -0.21970461315801984, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 0.9720063209533691, + 15.171844482421875, + 0.06860144436359406 + ], + "success_count": 2, + "first_fully_inside_policy_ns": 9500000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.0044700136717104, + 15.188898242931613, + 0.08904953256917075 + ], + "intended_face_normal": [ + -0.8620958597090044, + 0.19241215047313442, + 0.46879450757272156 + ], + "commanded_contact_point": [ + 0.9786400842666626, + 15.175658991565028, + 0.05285141750698506 + ], + "centerline_face_intersection": [ + 0.9814700462078902, + 15.174041078332454, + 0.05285141750698506 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9676706790924072, + 15.17115592956543, + 0.06476998329162598 + ], + "box_pose": [ + 1.0776582956314087, + 15.190155982971191, + 0.049238912761211395, + -0.668326199054718, + 0.24427616596221924, + 0.09633911401033401, + 0.69597989320755 + ], + "box_yaw_rad": -0.21959206984339416, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016179132325726921, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003145856329806071 + } + } + }, + { + "simulation_time_ns": 9540000000, + "center": [ + 1.0779937140822102, + 15.174376689408808, + 0.054264367440030395 + ], + "face_center": [ + 1.012291283724923, + 15.188943948799347, + 0.09212187078709966 + ], + "face_normal": [ + -0.8508989606989683, + 0.18865764642552207, + 0.49028491149423914 + ], + "footprint_xy": [ + [ + 0.9605598554926457, + 15.037489296773769 + ], + [ + 1.1954275726717747, + 15.037489296773769 + ], + [ + 1.1954275726717747, + 15.311264082043847 + ], + [ + 0.9605598554926457, + 15.311264082043847 + ] + ], + "projected_box_corners": [ + [ + 1.0138824807815146, + 15.066623815554848 + ], + [ + 1.0640227119572003, + 15.301199606233883 + ], + [ + 0.9605598554926457, + 15.076688291364812 + ], + [ + 1.0107000866683316, + 15.311264082043847 + ], + [ + 1.145287341496089, + 15.037489296773769 + ], + [ + 1.1954275726717747, + 15.272065087452804 + ], + [ + 1.0919647162072201, + 15.047553772583731 + ], + [ + 1.142104947382906, + 15.282129563262767 + ] + ], + "yaw_rad": -0.21818619449880583, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 0.9751362800598145, + 15.173060417175293, + 0.06970633566379547 + ], + "success_count": 3, + "first_fully_inside_policy_ns": 9500000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 1.009414424122432, + 15.18891950681247, + 0.09182583162185914 + ], + "intended_face_normal": [ + -0.8517397164784408, + 0.19020138636365402, + 0.4882242136342825 + ], + "commanded_contact_point": [ + 0.9808188724517822, + 15.175946502876029, + 0.05412744570692307 + ], + "centerline_face_intersection": [ + 0.984525775844569, + 15.17423304705801, + 0.05412744570692307 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9720063209533691, + 15.171844482421875, + 0.06860144436359406 + ], + "box_pose": [ + 1.081717848777771, + 15.190364837646484, + 0.050436004996299744, + -0.6658897399902344, + 0.2515314221382141, + 0.10422132909297943, + 0.6945939064025879 + ], + "box_yaw_rad": -0.21970461315801984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017134558180180927, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002541265172430323 + } + } + } + ], + "commands": [ + { + "simulation_time_ns": 0, + "phase": "settle", + "intended_face_center": [ + 0.5288811474850219, + 15.14135207623397, + 0.13983054466655895 + ], + "intended_face_normal": [ + -1.0, + 1.6727412784348836e-09, + 9.433359655884173e-10 + ], + "commanded_contact_point": [ + 0.19339999556541443, + 15.142000198364258, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5288811474850219, + 15.141352076104809, + 0.13983054459371896 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17782151699066162, + 15.142000198364258, + 0.08869010210037231 + ], + "box_pose": [ + 0.610397458076477, + 15.142912864685059, + 0.15702493488788605, + 4.1272207873532807e-10, + 4.7166798244902e-10, + -8.363706394121095e-10, + 1.0 + ], + "box_yaw_rad": -1.6727412784348836e-09, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 20000000, + "phase": "settle", + "intended_face_center": [ + 0.5288811474554004, + 15.141352076251918, + 0.13767235002501207 + ], + "intended_face_normal": [ + -1.0, + 1.6473520299087674e-09, + 2.6683879566792137e-09 + ], + "commanded_contact_point": [ + 0.19308926165103912, + 15.141892433166504, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5288811474554004, + 15.141352076124717, + 0.13767234981897167 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17250202596187592, + 15.139248847961426, + 0.07268685102462769 + ], + "box_pose": [ + 0.610397458076477, + 15.142912864685059, + 0.15486674010753632, + 9.947986878700021e-10, + 1.334193977520215e-09, + -8.236760162816381e-10, + 1.0 + ], + "box_yaw_rad": -1.6473520299087674e-09, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032889041262225643 + } + }, + { + "simulation_time_ns": 40000000, + "phase": "settle", + "intended_face_center": [ + 0.5288811474554004, + 15.141352076251918, + 0.13159014306051928 + ], + "intended_face_normal": [ + -1.0, + 1.6473520299087674e-09, + 2.6683879566792137e-09 + ], + "commanded_contact_point": [ + 0.19264748692512512, + 15.141780853271484, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5288811474554004, + 15.141352076124717, + 0.13159014285447887 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1628374308347702, + 15.122453689575195, + 0.0555151104927063 + ], + "box_pose": [ + 0.610397458076477, + 15.142912864685059, + 0.14878453314304352, + 9.947986878700021e-10, + 1.334193977520215e-09, + -8.236760162816381e-10, + 1.0 + ], + "box_yaw_rad": -1.6473520299087674e-09, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004556478703734995 + } + }, + { + "simulation_time_ns": 60000000, + "phase": "settle", + "intended_face_center": [ + 0.5288811474554004, + 15.141352076251918, + 0.1215839537142058 + ], + "intended_face_normal": [ + -1.0, + 1.6473520299087674e-09, + 2.6683879566792137e-09 + ], + "commanded_contact_point": [ + 0.19215553998947144, + 15.141850471496582, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 0.5288811474554004, + 15.141352076124717, + 0.1215839535081654 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16142897307872772, + 15.103404998779297, + 0.04510343074798584 + ], + "box_pose": [ + 0.610397458076477, + 15.142912864685059, + 0.13877834379673004, + 9.947986878700021e-10, + 1.334193977520215e-09, + -8.236760162816381e-10, + 1.0 + ], + "box_yaw_rad": -1.6473520299087674e-09, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004968485562898443 + } + }, + { + "simulation_time_ns": 80000000, + "phase": "settle", + "intended_face_center": [ + 0.5270512548784585, + 15.14320950148535, + 0.1179907768926147 + ], + "intended_face_normal": [ + -0.9998746534398986, + -0.0007972440228924457, + -0.015812710436914852 + ], + "commanded_contact_point": [ + 0.19214674830436707, + 15.141874313354492, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5270318963171461, + 15.143271060932841, + 0.11921176029279175 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16617229580879211, + 15.095696449279785, + 0.035692960023880005 + ], + "box_pose": [ + 0.6082844138145447, + 15.145098686218262, + 0.1364460438489914, + -0.0076681869104504585, + -0.007909427396953106, + 0.00033799157245084643, + 0.9999392628669739 + ], + "box_yaw_rad": 0.0007973437982435752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.541119909967446e-05 + } + }, + { + "simulation_time_ns": 100000000, + "phase": "settle", + "intended_face_center": [ + 0.5262652334577181, + 15.143294814326142, + 0.1177110325675908 + ], + "intended_face_normal": [ + -0.9997228037716083, + -0.00553643931736781, + -0.022883694499189172 + ], + "commanded_contact_point": [ + 0.19255657494068146, + 15.141756057739258, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5262224199354415, + 15.143722312225984, + 0.11947800422179913 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17279337346553802, + 15.097407341003418, + 0.023126333951950073 + ], + "box_pose": [ + 0.6073558926582336, + 15.145594596862793, + 0.13673754036426544, + -0.008404206484556198, + -0.011465503834187984, + 0.002672140719369054, + 0.9998953938484192 + ], + "box_yaw_rad": 0.005537917809023376, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00042654690564365163 + } + }, + { + "simulation_time_ns": 120000000, + "phase": "settle", + "intended_face_center": [ + 0.5263022904199072, + 15.142376112844415, + 0.11744707693428831 + ], + "intended_face_normal": [ + -0.9996877689652063, + -0.010528188486849272, + -0.022661020282699253 + ], + "commanded_contact_point": [ + 0.1922013908624649, + 15.14195728302002, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5262540648552436, + 15.143189050223345, + 0.1191968547289704 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17098765075206757, + 15.097074508666992, + 0.02326679229736328 + ], + "box_pose": [ + 0.6073856353759766, + 15.144965171813965, + 0.1364675909280777, + -0.005009304266422987, + -0.01135762594640255, + 0.0052076722495257854, + 0.9999094009399414 + ], + "box_yaw_rad": 0.010531087410914112, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00040822462332848805 + } + }, + { + "simulation_time_ns": 140000000, + "phase": "settle", + "intended_face_center": [ + 0.5273216177063957, + 15.141924815499227, + 0.11790334140827355 + ], + "intended_face_normal": [ + -0.9998469930424226, + -0.010637876709990238, + -0.013886185261140374 + ], + "commanded_contact_point": [ + 0.1902972012758255, + 15.141729354858398, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5272979869379014, + 15.14274622248874, + 0.1189755675622449 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17007261514663696, + 15.097168922424316, + 0.0233268141746521 + ], + "box_pose": [ + 0.6085690855979919, + 15.144458770751953, + 0.13621781766414642, + -0.003123017493635416, + -0.006959936115890741, + 0.005297430325299501, + 0.9999569654464722 + ], + "box_yaw_rad": 0.010639103194851871, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019177823727486696 + } + }, + { + "simulation_time_ns": 160000000, + "phase": "settle", + "intended_face_center": [ + 0.5277384078530697, + 15.142594531256366, + 0.11806358153541602 + ], + "intended_face_normal": [ + -0.9998884652629102, + -0.010859302435842433, + -0.010253418469293034 + ], + "commanded_contact_point": [ + 0.18684184551239014, + 15.140884399414062, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5277211825129313, + 15.14343303570281, + 0.11885530246118782 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.169284850358963, + 15.097190856933594, + 0.023377269506454468 + ], + "box_pose": [ + 0.6090503334999084, + 15.145246505737305, + 0.13607273995876312, + -0.006023688241839409, + -0.005159467458724976, + 0.005398820620030165, + 0.9999539852142334 + ], + "box_yaw_rad": 0.010860086788658373, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003557166450256834 + } + }, + { + "simulation_time_ns": 180000000, + "phase": "settle", + "intended_face_center": [ + 0.5283070402720124, + 15.143083164575073, + 0.11843348475401877 + ], + "intended_face_normal": [ + -0.999923434935426, + -0.011156205896517743, + -0.005353815912324287 + ], + "commanded_contact_point": [ + 0.18220730125904083, + 15.139691352844238, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.5282952158283339, + 15.143944594515434, + 0.11884688133031293 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16870275139808655, + 15.09714126586914, + 0.023413538932800293 + ], + "box_pose": [ + 0.6097046732902527, + 15.145832061767578, + 0.13603635132312775, + -0.008128616027534008, + -0.002722214674577117, + 0.005556264892220497, + 0.9999478459358215 + ], + "box_yaw_rad": 0.011156597228539372, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004785641080829401 + } + }, + { + "simulation_time_ns": 200000000, + "phase": "settle", + "intended_face_center": [ + 0.5289317788740806, + 15.143573649520569, + 0.11885531603131172 + ], + "intended_face_normal": [ + -0.9999378972412752, + -0.011144579257850035, + -4.3205066127048435e-06 + ], + "commanded_contact_point": [ + 0.17688274383544922, + 15.138118743896484, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.5289221880082423, + 15.144434181706375, + 0.11885564964058608 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1683167964220047, + 15.097020149230957, + 0.0234375 + ], + "box_pose": [ + 0.6104216575622559, + 15.146392822265625, + 0.1360146850347519, + -0.01018864382058382, + -5.893600973649882e-05, + 0.005572064779698849, + 0.999932587146759 + ], + "box_yaw_rad": 0.011144809966671517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005551937559089363 + } + }, + { + "simulation_time_ns": 220000000, + "phase": "settle", + "intended_face_center": [ + 0.5295953314623365, + 15.144080605245197, + 0.11930663928427863 + ], + "intended_face_normal": [ + -0.999922249009557, + -0.011103773411064602, + 0.005674693090642213 + ], + "commanded_contact_point": [ + 0.1713859885931015, + 15.136107444763184, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5295833238612488, + 15.144937986594734, + 0.11886846607593363 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1681075245141983, + 15.096840858459473, + 0.023451179265975952 + ], + "box_pose": [ + 0.6111806035041809, + 15.14696979522705, + 0.13599459826946259, + -0.012310457415878773, + 0.002768837846815586, + 0.005586504470556974, + 0.9999047517776489 + ], + "box_yaw_rad": 0.011104180392803795, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005853173703035599 + } + }, + { + "simulation_time_ns": 240000000, + "phase": "settle", + "intended_face_center": [ + 0.5301504637939568, + 15.144590335501135, + 0.11972207394620821 + ], + "intended_face_normal": [ + -0.9998849415081418, + -0.011069651433019204, + 0.010371430644404656 + ], + "commanded_contact_point": [ + 0.16610407829284668, + 15.133639335632324, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.5301326942164937, + 15.145445082111426, + 0.1189212406732898 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16803094744682312, + 15.096614837646484, + 0.02345740795135498 + ], + "box_pose": [ + 0.6118124127388, + 15.147550582885742, + 0.13601793348789215, + -0.014450441114604473, + 0.005105337593704462, + 0.005609347019344568, + 0.9998668432235718 + ], + "box_yaw_rad": 0.011070472966166077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0058301062687132425 + } + }, + { + "simulation_time_ns": 260000000, + "phase": "settle", + "intended_face_center": [ + 0.5301791482392945, + 15.144678905719804, + 0.11976983694110971 + ], + "intended_face_normal": [ + -0.9998824800090859, + -0.011056972917796011, + 0.010619300508809267 + ], + "commanded_contact_point": [ + 0.1612987518310547, + 15.1308012008667, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5301609984867739, + 15.145532673354563, + 0.11894986431880211 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16803176701068878, + 15.096366882324219, + 0.02345937490463257 + ], + "box_pose": [ + 0.6118450164794922, + 15.147650718688965, + 0.13604393601417542, + -0.014817251823842525, + 0.005227301269769669, + 0.005606720689684153, + 0.9998608827590942 + ], + "box_yaw_rad": 0.01105782176389172, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055808755005459995 + } + }, + { + "simulation_time_ns": 280000000, + "phase": "settle", + "intended_face_center": [ + 0.5301438934132103, + 15.144649921962895, + 0.1197454390996465 + ], + "intended_face_normal": [ + -0.9998856636943513, + -0.01104320974761904, + 0.01032991228536057 + ], + "commanded_contact_point": [ + 0.15714547038078308, + 15.12771224975586, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.530126235376211, + 15.145502626870147, + 0.11894781167985476 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16805227100849152, + 15.096104621887207, + 0.02346065640449524 + ], + "box_pose": [ + 0.6118051409721375, + 15.147616386413574, + 0.13604368269443512, + -0.014694808050990105, + 0.005083402153104544, + 0.005597068462520838, + 0.9998635053634644 + ], + "box_yaw_rad": 0.011044023495041709, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005176037651556345 + } + }, + { + "simulation_time_ns": 300000000, + "phase": "settle", + "intended_face_center": [ + 0.5300948642166983, + 15.14460402193948, + 0.11970887773774667 + ], + "intended_face_normal": [ + -0.9998898323551441, + -0.011043400306192368, + 0.009917986816774485 + ], + "commanded_contact_point": [ + 0.15372705459594727, + 15.124558448791504, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5300778500208788, + 15.145456741560773, + 0.11894305727231994 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1680534929037094, + 15.09585189819336, + 0.023463010787963867 + ], + "box_pose": [ + 0.6117494702339172, + 15.147563934326172, + 0.1360415518283844, + -0.014504403807222843, + 0.004878514911979437, + 0.005593202542513609, + 0.9998672604560852 + ], + "box_yaw_rad": 0.011044168011249998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046510242958846225 + } + }, + { + "simulation_time_ns": 320000000, + "phase": "settle", + "intended_face_center": [ + 0.5300209576583448, + 15.144541501581934, + 0.11965682222286111 + ], + "intended_face_normal": [ + -0.9998957874981816, + -0.011042819246985271, + 0.009298940635749833 + ], + "commanded_contact_point": [ + 0.15103083848953247, + 15.121491432189941, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5300048632175973, + 15.145394176336557, + 0.11893880160262786 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16801223158836365, + 15.095608711242676, + 0.02346763014793396 + ], + "box_pose": [ + 0.6116655468940735, + 15.147492408752441, + 0.13604111969470978, + -0.014244874007999897, + 0.004570463672280312, + 0.005587227642536163, + 0.9998725056648254 + ], + "box_yaw_rad": 0.011043521191250317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040836469150595574 + } + }, + { + "simulation_time_ns": 340000000, + "phase": "settle", + "intended_face_center": [ + 0.5299266679426655, + 15.144459346870587, + 0.11958871177846687 + ], + "intended_face_normal": [ + -0.9999028320246042, + -0.011049071477864447, + 0.00849967954923931 + ], + "commanded_contact_point": [ + 0.14894834160804749, + 15.118659973144531, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5299116615021127, + 15.14531250439318, + 0.11893240635392573 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16792213916778564, + 15.09538745880127, + 0.023474574089050293 + ], + "box_pose": [ + 0.6115582585334778, + 15.147398948669434, + 0.13603967428207397, + -0.01390252634882927, + 0.004172723274677992, + 0.005583222024142742, + 0.9998791217803955 + ], + "box_yaw_rad": 0.011049695469111784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035148191400533246 + } + }, + { + "simulation_time_ns": 360000000, + "phase": "settle", + "intended_face_center": [ + 0.5298084670756411, + 15.144357198422208, + 0.11950427139864349 + ], + "intended_face_normal": [ + -0.9999106467789945, + -0.011064299946383494, + 0.007501982545028553 + ], + "commanded_contact_point": [ + 0.14729079604148865, + 15.116189956665039, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5297946675850811, + 15.145211531815777, + 0.11892500346147097 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16779640316963196, + 15.095198631286621, + 0.023482680320739746 + ], + "box_pose": [ + 0.6114237308502197, + 15.147283554077148, + 0.1360383927822113, + -0.013482817448675632, + 0.0036761416122317314, + 0.005582346580922604, + 0.9998868107795715 + ], + "box_yaw_rad": 0.011064837085165046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00297463253431106 + } + }, + { + "simulation_time_ns": 380000000, + "phase": "settle", + "intended_face_center": [ + 0.5296634728034505, + 15.144233798092966, + 0.11940031456764649 + ], + "intended_face_normal": [ + -0.9999189602725473, + -0.01107667675843152, + 0.006275358940600139 + ], + "commanded_contact_point": [ + 0.14589452743530273, + 15.114140510559082, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5296509572803135, + 15.145089087165962, + 0.11891576075714111 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16765688359737396, + 15.095037460327148, + 0.02349168062210083 + ], + "box_pose": [ + 0.6112585663795471, + 15.147143363952637, + 0.13603663444519043, + -0.012967248447239399, + 0.003065659198909998, + 0.00557867344468832, + 0.9998956918716431 + ], + "box_yaw_rad": 0.011077121395877151, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002479878094250278 + } + }, + { + "simulation_time_ns": 400000000, + "phase": "settle", + "intended_face_center": [ + 0.5295101456382628, + 15.144102305489577, + 0.1192902890588326 + ], + "intended_face_normal": [ + -0.9999261400538865, + -0.011086832930260292, + 0.004979618957746723 + ], + "commanded_contact_point": [ + 0.1446533203125, + 15.112540245056152, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5294987389791503, + 15.144958378774572, + 0.11890578621785083 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1675199568271637, + 15.09490966796875, + 0.023499667644500732 + ], + "box_pose": [ + 0.6110838055610657, + 15.146993637084961, + 0.1360345482826233, + -0.012415098957717419, + 0.002420838689431548, + 0.005574003327637911, + 0.9999045729637146 + ], + "box_yaw_rad": 0.01108719753986267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020252024100230197 + } + }, + { + "simulation_time_ns": 420000000, + "phase": "settle", + "intended_face_center": [ + 0.5293545873708738, + 15.143966486853115, + 0.11917816145839236 + ], + "intended_face_normal": [ + -0.9999317571008491, + -0.01109618812528711, + 0.0036545534750902376 + ], + "commanded_contact_point": [ + 0.14351487159729004, + 15.1113862991333, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 0.52934404821749, + 15.14482328250243, + 0.11889597396460713 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16739878058433533, + 15.094812393188477, + 0.023507028818130493 + ], + "box_pose": [ + 0.610906183719635, + 15.146839141845703, + 0.13603274524211884, + -0.011852109804749489, + 0.0017614206299185753, + 0.005569456610828638, + 0.9999127388000488 + ], + "box_yaw_rad": 0.011096489945917774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016210048337846053 + } + }, + { + "simulation_time_ns": 440000000, + "phase": "settle", + "intended_face_center": [ + 0.5291929303150816, + 15.143825653172415, + 0.11906183676218356 + ], + "intended_face_normal": [ + -0.999935829104366, + -0.01109659908450081, + 0.002281048066482298 + ], + "commanded_contact_point": [ + 0.1424679458141327, + 15.110650062561035, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5291830200453952, + 15.144682480554074, + 0.11888570491968305 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1672968864440918, + 15.094746589660645, + 0.023512810468673706 + ], + "box_pose": [ + 0.6107215285301208, + 15.14667797088623, + 0.13603074848651886, + -0.011262171901762486, + 0.0010779820149764419, + 0.005560881458222866, + 0.9999206066131592 + ], + "box_yaw_rad": 0.011096855696763329, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012798819812412255 + } + }, + { + "simulation_time_ns": 460000000, + "phase": "settle", + "intended_face_center": [ + 0.529021301277608, + 15.143675910567202, + 0.11893738830659234 + ], + "intended_face_normal": [ + -0.9999381001341514, + -0.011096673451469188, + 0.0008122525694096161 + ], + "commanded_contact_point": [ + 0.14152640104293823, + 15.110310554504395, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5290117417465869, + 15.14453274369113, + 0.11887466996947 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16721485555171967, + 15.094715118408203, + 0.023517489433288574 + ], + "box_pose": [ + 0.6105251312255859, + 15.146506309509277, + 0.13602851331233978, + -0.010627280920743942, + 0.0003471440577413887, + 0.0055524250492453575, + 0.9999281167984009 + ], + "box_yaw_rad": 0.01109690485839659, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010008857463202872 + } + }, + { + "simulation_time_ns": 480000000, + "phase": "settle", + "intended_face_center": [ + 0.5288351621044265, + 15.143511090299322, + 0.11880295126580327 + ], + "intended_face_normal": [ + -0.9999381589047438, + -0.011093859486916395, + -0.0007775819937392561 + ], + "commanded_contact_point": [ + 0.14071470499038696, + 15.11032485961914, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.5288256116499463, + 15.144367706142093, + 0.11886299250354174 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16714951395988464, + 15.094709396362305, + 0.02352115511894226 + ], + "box_pose": [ + 0.6103119850158691, + 15.146317481994629, + 0.1360262930393219, + -0.00993881281465292, + -0.00044390943367034197, + 0.005542877595871687, + 0.9999350905418396 + ], + "box_yaw_rad": 0.011094090414090476, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008118220975624668 + } + }, + { + "simulation_time_ns": 500000000, + "phase": "settle", + "intended_face_center": [ + 0.5286294230133227, + 15.143331033851194, + 0.1186538551861001 + ], + "intended_face_normal": [ + -0.9999354396297391, + -0.01107664129008375, + -0.0025346766568098127 + ], + "commanded_contact_point": [ + 0.14005756378173828, + 15.110642433166504, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5286194525929534, + 15.144186320185492, + 0.11884957103981966 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16709765791893005, + 15.094730377197266, + 0.023524075746536255 + ], + "box_pose": [ + 0.6100761890411377, + 15.146109580993652, + 0.13602325320243835, + -0.009173297323286533, + -0.0013181117828935385, + 0.00552655104547739, + 0.9999417662620544 + ], + "box_yaw_rad": 0.011076903388898026, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000729854455652696 + } + }, + { + "simulation_time_ns": 520000000, + "phase": "settle", + "intended_face_center": [ + 0.528398032202498, + 15.143127115627477, + 0.11848575425749804 + ], + "intended_face_normal": [ + -0.9999285598373442, + -0.011066300274413276, + -0.004517990115429122 + ], + "commanded_contact_point": [ + 0.1395716667175293, + 15.111224174499512, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5283869992592156, + 15.143981603477005, + 0.11883461228250966 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16705766320228577, + 15.094765663146973, + 0.023526281118392944 + ], + "box_pose": [ + 0.6098105311393738, + 15.145874977111816, + 0.13601990044116974, + -0.008309436962008476, + -0.0023049362935125828, + 0.005514285992830992, + 0.9999476671218872 + ], + "box_yaw_rad": 0.011066639108109151, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007579702739663529 + } + }, + { + "simulation_time_ns": 540000000, + "phase": "settle", + "intended_face_center": [ + 0.5281522352255872, + 15.142927780074718, + 0.11831535936773735 + ], + "intended_face_normal": [ + -0.9999168631401215, + -0.01105901334648752, + -0.006630614823424034 + ], + "commanded_contact_point": [ + 0.1392630934715271, + 15.112034797668457, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5281393958143845, + 15.143781705261818, + 0.11882734437275387 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16702578961849213, + 15.094823837280273, + 0.023527950048446655 + ], + "box_pose": [ + 0.6095278263092041, + 15.145646095275879, + 0.1360245645046234, + -0.007472012657672167, + -0.0033566018100827932, + 0.00550469383597374, + 0.9999513626098633 + ], + "box_yaw_rad": 0.011059481909545452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008673680707710833 + } + }, + { + "simulation_time_ns": 560000000, + "phase": "settle", + "intended_face_center": [ + 0.5279394910922255, + 15.142760417479602, + 0.11816843093342598 + ], + "intended_face_normal": [ + -0.9999031440389178, + -0.011050073727701056, + -0.008461584248788222 + ], + "commanded_contact_point": [ + 0.13912788033485413, + 15.113045692443848, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5279245328409141, + 15.143613652391231, + 0.11882179481738424 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16700124740600586, + 15.094900131225586, + 0.02352893352508545 + ], + "box_pose": [ + 0.6092827916145325, + 15.145453453063965, + 0.1360291987657547, + -0.0067621031776070595, + -0.004268160555511713, + 0.005496433936059475, + 0.9999529123306274 + ], + "box_yaw_rad": 0.011050694245926852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010198974650693492 + } + }, + { + "simulation_time_ns": 580000000, + "phase": "settle", + "intended_face_center": [ + 0.527757174552673, + 15.142617725445723, + 0.11804235131028173 + ], + "intended_face_normal": [ + -0.9998886293379174, + -0.01104426012807216, + -0.010037590414296792 + ], + "commanded_contact_point": [ + 0.13915565609931946, + 15.114209175109863, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5277399745535656, + 15.143470511458432, + 0.1188174070050361 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1669830083847046, + 15.094986915588379, + 0.02352970838546753 + ], + "box_pose": [ + 0.6090724468231201, + 15.145289421081543, + 0.13603347539901733, + -0.006158878561109304, + -0.005052851978689432, + 0.005491267424076796, + 0.9999531507492065 + ], + "box_yaw_rad": 0.011045041110731702, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011638141639018827 + } + }, + { + "simulation_time_ns": 600000000, + "phase": "settle", + "intended_face_center": [ + 0.5276015275069413, + 15.14249304158156, + 0.11793367182574299 + ], + "intended_face_normal": [ + -0.9998742790673716, + -0.011040586246850025, + -0.011381191067600611 + ], + "commanded_contact_point": [ + 0.13933342695236206, + 15.11548137664795, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5275821111237854, + 15.143345543914375, + 0.11881247406671382 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16697144508361816, + 15.095085144042969, + 0.02352997660636902 + ], + "box_pose": [ + 0.6088927388191223, + 15.145146369934082, + 0.13603590428829193, + -0.005636552814394236, + -0.0057218014262616634, + 0.005488301627337933, + 0.9999526739120483 + ], + "box_yaw_rad": 0.011041525722022385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012845618824426559 + } + }, + { + "simulation_time_ns": 620000000, + "phase": "settle", + "intended_face_center": [ + 0.5274670796656663, + 15.142388017573877, + 0.11784044385226335 + ], + "intended_face_normal": [ + -0.9998606143202365, + -0.011032689903389317, + -0.012531229171675838 + ], + "commanded_contact_point": [ + 0.13964752852916718, + 15.116832733154297, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5274455527472544, + 15.143239910188054, + 0.11880804664645048 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16696755588054657, + 15.095190048217773, + 0.02352967858314514 + ], + "box_pose": [ + 0.608737587928772, + 15.145025253295898, + 0.13603773713111877, + -0.005189964547753334, + -0.0062943799421191216, + 0.0054839421063661575, + 0.9999517202377319 + ], + "box_yaw_rad": 0.01103378012831476, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013873803400131896 + } + }, + { + "simulation_time_ns": 640000000, + "phase": "settle", + "intended_face_center": [ + 0.527351716017093, + 15.142297371852328, + 0.11775994903338778 + ], + "intended_face_normal": [ + -0.9998478328328295, + -0.011021235569331711, + -0.013521966544470632 + ], + "commanded_contact_point": [ + 0.1400836557149887, + 15.118217468261719, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 0.527328214957752, + 15.143148380016505, + 0.11880405192481905 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1669716089963913, + 15.095297813415527, + 0.023528754711151123 + ], + "box_pose": [ + 0.6086043119430542, + 15.144920349121094, + 0.1360391080379486, + -0.004804790019989014, + -0.006787641439586878, + 0.005478275939822197, + 0.9999504685401917 + ], + "box_yaw_rad": 0.011022466482399167, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014517913906404334 + } + }, + { + "simulation_time_ns": 660000000, + "phase": "settle", + "intended_face_center": [ + 0.5272519759154999, + 15.142215345803342, + 0.11768903064262774 + ], + "intended_face_normal": [ + -0.9998358235150385, + -0.011026082703805284, + -0.014378857528608817 + ], + "commanded_contact_point": [ + 0.1406276673078537, + 15.119601249694824, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5272266199562565, + 15.143066728240528, + 0.11879929864038712 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16698451340198517, + 15.095405578613281, + 0.023527443408966064 + ], + "box_pose": [ + 0.6084889769554138, + 15.144826889038086, + 0.13603900372982025, + -0.004462869372218847, + -0.007214257959276438, + 0.005481124389916658, + 0.999949038028717 + ], + "box_yaw_rad": 0.011027446206856827, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014868758079538886 + } + }, + { + "simulation_time_ns": 680000000, + "phase": "settle", + "intended_face_center": [ + 0.5271628524786819, + 15.142143762179655, + 0.11762645669852373 + ], + "intended_face_normal": [ + -0.9998245634671545, + -0.011025208553347137, + -0.015142229591780378 + ], + "commanded_contact_point": [ + 0.1412675529718399, + 15.120948791503906, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5271357573278233, + 15.142995077119043, + 0.11879566870977211 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16700667142868042, + 15.095512390136719, + 0.02352583408355713 + ], + "box_pose": [ + 0.6083859205245972, + 15.144744873046875, + 0.13603948056697845, + -0.004163417033851147, + -0.007594333961606026, + 0.005481273401528597, + 0.9999475479125977 + ], + "box_yaw_rad": 0.01102669619061479, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014917515175789638 + } + }, + { + "simulation_time_ns": 700000000, + "phase": "settle", + "intended_face_center": [ + 0.5270937285884344, + 15.142088966239882, + 0.11757836434889365 + ], + "intended_face_normal": [ + -0.9998155485721387, + -0.011014092412043423, + -0.01573399510059878 + ], + "commanded_contact_point": [ + 0.14199119806289673, + 15.122227668762207, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5270652410110974, + 15.142939422842927, + 0.11879326971966743 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16703765094280243, + 15.095613479614258, + 0.023523598909378052 + ], + "box_pose": [ + 0.6083059906959534, + 15.144680976867676, + 0.13604027032852173, + -0.003926529083400965, + -0.00788892526179552, + 0.005476364865899086, + 0.9999461770057678 + ], + "box_yaw_rad": 0.0110156787637792, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001469418000603552 + } + }, + { + "simulation_time_ns": 720000000, + "phase": "settle", + "intended_face_center": [ + 0.527096162577548, + 15.142085984725961, + 0.1175788055340525 + ], + "intended_face_normal": [ + -0.9998158142294324, + -0.011019191942610442, + -0.01571353046686651 + ], + "commanded_contact_point": [ + 0.14278748631477356, + 15.123418807983398, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5270677160333976, + 15.142936835090861, + 0.11879213072170855 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1670767366886139, + 15.095706939697266, + 0.023520827293395996 + ], + "box_pose": [ + 0.6083087921142578, + 15.144678115844727, + 0.13603907823562622, + -0.003917905036360025, + -0.007878654636442661, + 0.005479022394865751, + 0.9999462962150574 + ], + "box_yaw_rad": 0.011020775687903845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014327901538667624 + } + }, + { + "simulation_time_ns": 740000000, + "phase": "settle", + "intended_face_center": [ + 0.527099157451507, + 15.142086736549855, + 0.11757997326874929 + ], + "intended_face_normal": [ + -0.9998162052271115, + -0.011019590365458277, + -0.015688353554601166 + ], + "commanded_contact_point": [ + 0.1436455100774765, + 15.124488830566406, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5270707713004865, + 15.1429376176791, + 0.11879135441322144 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16712400317192078, + 15.095792770385742, + 0.023517608642578125 + ], + "box_pose": [ + 0.6083122491836548, + 15.144679069519043, + 0.1360381841659546, + -0.003922766540199518, + -0.007866092026233673, + 0.00547923194244504, + 0.9999464154243469 + ], + "box_yaw_rad": 0.011021169826052208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013715513500163492 + } + }, + { + "simulation_time_ns": 760000000, + "phase": "settle", + "intended_face_center": [ + 0.5271044320863635, + 15.142093560941033, + 0.11758353357068205 + ], + "intended_face_normal": [ + -0.9998170392059946, + -0.011008894007875115, + -0.01564264697680951 + ], + "commanded_contact_point": [ + 0.14455372095108032, + 15.125436782836914, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5270761747508494, + 15.142943616147669, + 0.1187913854674022 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1671774983406067, + 15.095868110656738, + 0.023514240980148315 + ], + "box_pose": [ + 0.6083183884620667, + 15.144685745239258, + 0.13603796064853668, + -0.0039436412043869495, + -0.007843329571187496, + 0.0054738083854317665, + 0.9999465346336365 + ], + "box_yaw_rad": 0.011010463616904345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001312806344474741 + } + }, + { + "simulation_time_ns": 780000000, + "phase": "settle", + "intended_face_center": [ + 0.5271157367266778, + 15.142105560754866, + 0.11759177308153626 + ], + "intended_face_normal": [ + -0.9998186029169092, + -0.011006299778340615, + -0.015544214275432832 + ], + "commanded_contact_point": [ + 0.14550058543682098, + 15.12624740600586, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5270877209200275, + 15.142955415647252, + 0.11879202446632048 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1672380119562149, + 15.09593391418457, + 0.023510605096817017 + ], + "box_pose": [ + 0.6083315014839172, + 15.144699096679688, + 0.13603805005550385, + -0.0039888485334813595, + -0.007794351316988468, + 0.005472351331263781, + 0.999946653842926 + ], + "box_yaw_rad": 0.01100785201225317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012464598976307847 + } + }, + { + "simulation_time_ns": 800000000, + "phase": "settle", + "intended_face_center": [ + 0.5271330929555694, + 15.142117028728462, + 0.11760237123729947 + ], + "intended_face_normal": [ + -0.9998208425973388, + -0.011008009822421718, + -0.015398260993644768 + ], + "commanded_contact_point": [ + 0.14647400379180908, + 15.126911163330078, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5271054230865444, + 15.14296701566244, + 0.118791352793614 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1673029065132141, + 15.095986366271973, + 0.0235062837600708 + ], + "box_pose": [ + 0.6083515286445618, + 15.144712448120117, + 0.13603661954402924, + -0.004039211198687553, + -0.007721646223217249, + 0.005473105236887932, + 0.9999470710754395 + ], + "box_yaw_rad": 0.011009537498988788, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001178183805412925 + } + }, + { + "simulation_time_ns": 820000000, + "phase": "settle", + "intended_face_center": [ + 0.5271528553108585, + 15.142137026132662, + 0.11761644190918796 + ], + "intended_face_normal": [ + -0.9998234774575808, + -0.011000500802784662, + -0.015231642063291197 + ], + "commanded_contact_point": [ + 0.14746132493019104, + 15.127420425415039, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5271255924173379, + 15.142986433255333, + 0.11879255793249165 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16737177968025208, + 15.096029281616211, + 0.023502349853515625 + ], + "box_pose": [ + 0.6083743572235107, + 15.144734382629395, + 0.13603690266609192, + -0.004112909082323313, + -0.007638716604560614, + 0.0054691205732524395, + 0.9999474287033081 + ], + "box_yaw_rad": 0.011001999051902718, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011109234454270496 + } + }, + { + "simulation_time_ns": 840000000, + "phase": "settle", + "intended_face_center": [ + 0.5271790199626509, + 15.142158397756923, + 0.11763446608480159 + ], + "intended_face_normal": [ + -0.9998268423555486, + -0.011004769426356307, + -0.015006011189442699 + ], + "commanded_contact_point": [ + 0.14845122396945953, + 15.12778377532959, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5271522768033143, + 15.1430081344827, + 0.11879315994935297 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16744327545166016, + 15.096057891845703, + 0.02349841594696045 + ], + "box_pose": [ + 0.6084046363830566, + 15.144759178161621, + 0.13603629171848297, + -0.004201827105134726, + -0.007526386063545942, + 0.005471045151352882, + 0.9999479055404663 + ], + "box_yaw_rad": 0.01100623087376238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001054477723679607 + } + }, + { + "simulation_time_ns": 860000000, + "phase": "settle", + "intended_face_center": [ + 0.5272087514749056, + 15.142181086875052, + 0.1176541757926142 + ], + "intended_face_normal": [ + -0.9998306153445876, + -0.011001934701179588, + -0.014754593402386365 + ], + "commanded_contact_point": [ + 0.14943180978298187, + 15.128005027770996, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5271825910804544, + 15.143030604716637, + 0.1187934563538151 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1675160825252533, + 15.096078872680664, + 0.023494035005569458 + ], + "box_pose": [ + 0.6084389686584473, + 15.144784927368164, + 0.1360352486371994, + -0.004296909552067518, + -0.007401180453598499, + 0.0054694474674761295, + 0.9999483823776245 + ], + "box_yaw_rad": 0.011003354481619564, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010052368778170502 + } + }, + { + "simulation_time_ns": 880000000, + "phase": "settle", + "intended_face_center": [ + 0.5272428444540487, + 15.142212189211419, + 0.1176786290123588 + ], + "intended_face_normal": [ + -0.9998350247384816, + -0.01098956975524687, + -0.014462112394467198 + ], + "commanded_contact_point": [ + 0.15039217472076416, + 15.12807559967041, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5272173651189338, + 15.143060752289822, + 0.11879532556072007 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1675889790058136, + 15.096085548400879, + 0.023489952087402344 + ], + "box_pose": [ + 0.6084784269332886, + 15.144819259643555, + 0.1360355168581009, + -0.004419394768774509, + -0.007255569100379944, + 0.005462998058646917, + 0.999949038028717 + ], + "box_yaw_rad": 0.010990940468789697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009629544158761776 + } + }, + { + "simulation_time_ns": 900000000, + "phase": "settle", + "intended_face_center": [ + 0.5272834436157966, + 15.142243404312971, + 0.11770696151059364 + ], + "intended_face_normal": [ + -0.9998399482736432, + -0.010992609294052165, + -0.014115252757991643 + ], + "commanded_contact_point": [ + 0.1513218879699707, + 15.128033638000488, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5272587247489042, + 15.143092202090319, + 0.11879687518324125 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1676626205444336, + 15.096087455749512, + 0.023485809564590454 + ], + "box_pose": [ + 0.6085253357887268, + 15.144855499267578, + 0.13603518903255463, + -0.004557483363896608, + -0.00708288699388504, + 0.00546430004760623, + 0.99994957447052 + ], + "box_yaw_rad": 0.010993926008249992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000930659716541132 + } + }, + { + "simulation_time_ns": 920000000, + "phase": "settle", + "intended_face_center": [ + 0.5273295923100928, + 15.142282400265296, + 0.11773945654434204 + ], + "intended_face_normal": [ + -0.999845525300119, + -0.010985201494770084, + -0.013720455652997466 + ], + "commanded_contact_point": [ + 0.1522112637758255, + 15.127866744995117, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5273057348423775, + 15.143130626047096, + 0.11879888583459619 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16773441433906555, + 15.096074104309082, + 0.02348184585571289 + ], + "box_pose": [ + 0.6085786819458008, + 15.144899368286133, + 0.13603505492210388, + -0.004715781193226576, + -0.006886320188641548, + 0.005460397806018591, + 0.9999502897262573 + ], + "box_yaw_rad": 0.01098645664136852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009048992211322579 + } + }, + { + "simulation_time_ns": 940000000, + "phase": "settle", + "intended_face_center": [ + 0.5273829439242086, + 15.142323826572156, + 0.11777628312538786 + ], + "intended_face_normal": [ + -0.9998516701528386, + -0.010986425935340004, + -0.013264092122146312 + ], + "commanded_contact_point": [ + 0.153051495552063, + 15.127595901489258, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5273600355536631, + 15.143172146899518, + 0.11880047416234962 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1678023636341095, + 15.09605598449707, + 0.02347797155380249 + ], + "box_pose": [ + 0.6086403131484985, + 15.144947052001953, + 0.13603417575359344, + -0.004893763456493616, + -0.006659097038209438, + 0.005460892803966999, + 0.9999509453773499 + ], + "box_yaw_rad": 0.010987613601022938, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008828055519314047 + } + }, + { + "simulation_time_ns": 960000000, + "phase": "settle", + "intended_face_center": [ + 0.527444013761914, + 15.142374121170821, + 0.1178189968336382 + ], + "intended_face_normal": [ + -0.9998585155524623, + -0.010984053959624238, + -0.012739679048008355 + ], + "commanded_contact_point": [ + 0.15383489429950714, + 15.12723445892334, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5274221626839504, + 15.143222258345334, + 0.11880269515046113 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16786837577819824, + 15.096030235290527, + 0.023474544286727905 + ], + "box_pose": [ + 0.6087108850479126, + 15.145004272460938, + 0.1360335499048233, + -0.005099543370306492, + -0.0063979909755289555, + 0.005459664389491081, + 0.9999516010284424 + ], + "box_yaw_rad": 0.010985166356793417, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008627597176797465 + } + }, + { + "simulation_time_ns": 980000000, + "phase": "settle", + "intended_face_center": [ + 0.5275130846746344, + 15.142432182586836, + 0.11786730843425583 + ], + "intended_face_normal": [ + -0.9998660626048008, + -0.010968091698155035, + -0.012147337018150699 + ], + "commanded_contact_point": [ + 0.15455490350723267, + 15.126799583435059, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 0.5274923992532363, + 15.143279087230319, + 0.11880526887530037 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1679290235042572, + 15.09599494934082, + 0.023471146821975708 + ], + "box_pose": [ + 0.6087906956672668, + 15.145069122314453, + 0.13603289425373077, + -0.00533334631472826, + -0.006103035993874073, + 0.005451756529510021, + 0.9999522566795349 + ], + "box_yaw_rad": 0.010969120970615082, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008411479968708812 + } + }, + { + "simulation_time_ns": 1000000000, + "phase": "settle", + "intended_face_center": [ + 0.5275919895029061, + 15.142495816047608, + 0.11792241092846528 + ], + "intended_face_normal": [ + -0.999874093231297, + -0.010963013956624423, + -0.011472142264071453 + ], + "commanded_contact_point": [ + 0.15520617365837097, + 15.126310348510742, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5275725444173571, + 15.143342328611684, + 0.11880823599462224 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1679856926202774, + 15.095958709716797, + 0.02346813678741455 + ], + "box_pose": [ + 0.6088817715644836, + 15.1451416015625, + 0.13603216409683228, + -0.005601038224995136, + -0.005766865331679583, + 0.005449463147670031, + 0.9999529123306274 + ], + "box_yaw_rad": 0.01096395510746456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008145573160659942 + } + }, + { + "simulation_time_ns": 1020000000, + "phase": "settle", + "intended_face_center": [ + 0.5276836860154681, + 15.14256798889499, + 0.11798496248886979 + ], + "intended_face_normal": [ + -0.9998828495883375, + -0.010957517718828129, + -0.01068737157740584 + ], + "commanded_contact_point": [ + 0.15568996965885162, + 15.125856399536133, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5276655933440014, + 15.143414077065339, + 0.11881019124010736 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1690690815448761, + 15.095396995544434, + 0.025013506412506104 + ], + "box_pose": [ + 0.60898756980896, + 15.145223617553711, + 0.13602985441684723, + -0.005898476578295231, + -0.005376067478209734, + 0.005447302479296923, + 0.9999533295631409 + ], + "box_yaw_rad": 0.010958362878248508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006634216167943112 + } + }, + { + "simulation_time_ns": 1040000000, + "phase": "settle", + "intended_face_center": [ + 0.5277880097715328, + 15.142650024037282, + 0.11805689921551674 + ], + "intended_face_normal": [ + -0.9998919722392622, + -0.010963036648115647, + -0.00979059016550043 + ], + "commanded_contact_point": [ + 0.1556200534105301, + 15.125348091125488, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.52777132607542, + 15.143496538353489, + 0.11881288270852408 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1740928739309311, + 15.089689254760742, + 0.040257036685943604 + ], + "box_pose": [ + 0.6091079115867615, + 15.145318031311035, + 0.13602763414382935, + -0.006243340205401182, + -0.004929556977003813, + 0.005450995173305273, + 0.9999534487724304 + ], + "box_yaw_rad": 0.010963781768570567, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005130942625251502 + } + }, + { + "simulation_time_ns": 1060000000, + "phase": "settle", + "intended_face_center": [ + 0.5279082107834251, + 15.142746520780044, + 0.11814049685970845 + ], + "intended_face_normal": [ + -0.9999016012190722, + -0.010954880647440934, + -0.008762332389220669 + ], + "commanded_contact_point": [ + 0.15632618963718414, + 15.123984336853027, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5278930142502125, + 15.143592405328098, + 0.11881708310573849 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16966678202152252, + 15.082624435424805, + 0.05279135704040527 + ], + "box_pose": [ + 0.6092464327812195, + 15.145427703857422, + 0.13602615892887115, + -0.006643498316407204, + -0.0044175684452056885, + 0.005448346491903067, + 0.9999533295631409 + ], + "box_yaw_rad": 0.010955520373011838, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001535725915120789 + } + }, + { + "simulation_time_ns": 1080000000, + "phase": "settle", + "intended_face_center": [ + 0.5280471168615609, + 15.142855164408155, + 0.1182364781808675 + ], + "intended_face_normal": [ + -0.9999114151637422, + -0.010948146057851112, + -0.0075696723368148585 + ], + "commanded_contact_point": [ + 0.15776929259300232, + 15.122418403625488, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5280334360436987, + 15.14370052894276, + 0.11882097280656138 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16568908095359802, + 15.083710670471191, + 0.05617105960845947 + ], + "box_pose": [ + 0.6094064712524414, + 15.145551681518555, + 0.13602344691753387, + -0.007102722302079201, + -0.00382370688021183, + 0.0054471720941364765, + 0.9999526739120483 + ], + "box_yaw_rad": 0.010948678476829283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002129481865278267 + } + }, + { + "simulation_time_ns": 1100000000, + "phase": "settle", + "intended_face_center": [ + 0.5282078839910281, + 15.142984030445419, + 0.11834705806933997 + ], + "intended_face_normal": [ + -0.9999209494536844, + -0.010942954392294452, + -0.006192463555724795 + ], + "commanded_contact_point": [ + 0.1587403118610382, + 15.121315956115723, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.528195675682975, + 15.143828994103938, + 0.1188252110866804 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16629928350448608, + 15.088960647583008, + 0.05847996473312378 + ], + "box_pose": [ + 0.6095914840698242, + 15.145698547363281, + 0.1360200047492981, + -0.007635466754436493, + -0.0031379815191030502, + 0.005447783507406712, + 0.9999511241912842 + ], + "box_yaw_rad": 0.010943382635111954, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014691048064602447 + } + }, + { + "simulation_time_ns": 1120000000, + "phase": "settle", + "intended_face_center": [ + 0.5283938140179221, + 15.143130457492525, + 0.11847433894631246 + ], + "intended_face_normal": [ + -0.9999295458011748, + -0.010944062775420718, + -0.004596841751772468 + ], + "commanded_contact_point": [ + 0.15940073132514954, + 15.120328903198242, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5283829333484568, + 15.143975506735195, + 0.11882928552517678 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16686832904815674, + 15.09524154663086, + 0.06030671298503876 + ], + "box_pose": [ + 0.6098052859306335, + 15.145866394042969, + 0.1360151171684265, + -0.008252337574958801, + -0.0023435414768755436, + 0.005452972836792469, + 0.9999484419822693 + ], + "box_yaw_rad": 0.010944396891344159, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011876141343732025 + } + }, + { + "simulation_time_ns": 1140000000, + "phase": "settle", + "intended_face_center": [ + 0.5286081830828795, + 15.143298601623792, + 0.11861992244216193 + ], + "intended_face_normal": [ + -0.9999362971330064, + -0.010944225906336952, + -0.002761447345303679 + ], + "commanded_contact_point": [ + 0.1597660630941391, + 15.118757247924805, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5285983450957715, + 15.144143663462668, + 0.11883314846577947 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16759257018566132, + 15.101040840148926, + 0.0625440925359726 + ], + "box_pose": [ + 0.6100514531135559, + 15.146059036254883, + 0.1360085904598236, + -0.00896055344492197, + -0.0014297249726951122, + 0.005459608044475317, + 0.9999439120292664 + ], + "box_yaw_rad": 0.01094448612505078, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016135574362813958 + } + }, + { + "simulation_time_ns": 1160000000, + "phase": "settle", + "intended_face_center": [ + 0.5288546320441253, + 15.143494467650243, + 0.11878652879375133 + ], + "intended_face_normal": [ + -0.9999397870228068, + -0.01095380932531698, + -0.0006606134795829948 + ], + "commanded_contact_point": [ + 0.15977363288402557, + 15.116503715515137, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5288453330362853, + 15.144340269475824, + 0.11883753827095145 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1660536527633667, + 15.10643482208252, + 0.06288757920265198 + ], + "box_pose": [ + 0.6103339195251465, + 15.146284103393555, + 0.13600093126296997, + -0.009782803244888783, + -0.00038387696258723736, + 0.005473493132740259, + 0.9999371767044067 + ], + "box_yaw_rad": 0.01095403077787181, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022535451233996534 + } + }, + { + "simulation_time_ns": 1180000000, + "phase": "settle", + "intended_face_center": [ + 0.5291380415819849, + 15.143719275240286, + 0.1189770146007009 + ], + "intended_face_normal": [ + -0.9999384623927094, + -0.010954282876949927, + 0.0017536024959422612 + ], + "commanded_contact_point": [ + 0.15933215618133545, + 15.113865852355957, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5291285379982333, + 15.144565113631305, + 0.11884160963350085 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16290737688541412, + 15.10997486114502, + 0.06379595398902893 + ], + "box_pose": [ + 0.6106582880020142, + 15.146541595458984, + 0.13599100708961487, + -0.010727470740675926, + 0.0008180065779015422, + 0.00548631651327014, + 0.9999271035194397 + ], + "box_yaw_rad": 0.010954518811593183, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002674551126000298 + } + }, + { + "simulation_time_ns": 1200000000, + "phase": "settle", + "intended_face_center": [ + 0.5294626904215611, + 15.143965391632577, + 0.11919824614264357 + ], + "intended_face_normal": [ + -0.9999301259507998, + -0.010926935684548517, + 0.0045105764064866305 + ], + "commanded_contact_point": [ + 0.1584140658378601, + 15.11103343963623, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5294518993512535, + 15.14480911840155, + 0.11884996056949519 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1607002466917038, + 15.109177589416504, + 0.06638357043266296 + ], + "box_pose": [ + 0.6110292077064514, + 15.146821022033691, + 0.13598337769508362, + -0.011755728162825108, + 0.002190942410379648, + 0.005489699076861143, + 0.9999134540557861 + ], + "box_yaw_rad": 0.010927264302655192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029774908385713623 + } + }, + { + "simulation_time_ns": 1220000000, + "phase": "settle", + "intended_face_center": [ + 0.5298099255974427, + 15.144225368796091, + 0.11943557612452207 + ], + "intended_face_normal": [ + -0.9999129642636717, + -0.010882008584729055, + 0.007459611472705004 + ], + "commanded_contact_point": [ + 0.15712788701057434, + 15.107966423034668, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5297964840290645, + 15.145065626504948, + 0.11885957988299979 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15948191285133362, + 15.104939460754395, + 0.06889498233795166 + ], + "box_pose": [ + 0.6114252805709839, + 15.147114753723145, + 0.13597574830055237, + -0.012838457711040974, + 0.003659722162410617, + 0.005488561000674963, + 0.9998958706855774 + ], + "box_yaw_rad": 0.010882526166854098, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033257851419653942 + } + }, + { + "simulation_time_ns": 1240000000, + "phase": "settle", + "intended_face_center": [ + 0.5300890471954214, + 15.14449085579246, + 0.11964856750699421 + ], + "intended_face_normal": [ + -0.9998928274905167, + -0.0108685534279402, + 0.00980857205665427 + ], + "commanded_contact_point": [ + 0.15550118684768677, + 15.104423522949219, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5300724955905105, + 15.145330074557164, + 0.11889119553661669 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15682899951934814, + 15.099905014038086, + 0.06819324195384979 + ], + "box_pose": [ + 0.6117426156997681, + 15.147417068481445, + 0.13599249720573425, + -0.01393787283450365, + 0.004828194621950388, + 0.00550225330516696, + 0.999876081943512 + ], + "box_yaw_rad": 0.010869290304721536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038984989981449324 + } + }, + { + "simulation_time_ns": 1260000000, + "phase": "settle", + "intended_face_center": [ + 0.5300919045924676, + 15.14451173912421, + 0.11966060311328491 + ], + "intended_face_normal": [ + -0.9998925829849026, + -0.010869052044486613, + 0.009832913072714847 + ], + "commanded_contact_point": [ + 0.15426087379455566, + 15.100728988647461, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5300753152243491, + 15.145350996389746, + 0.11890135164371135 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15055133402347565, + 15.094472885131836, + 0.06313319504261017 + ], + "box_pose": [ + 0.6117458343505859, + 15.147440910339355, + 0.13600219786167145, + -0.01402289979159832, + 0.00483989343047142, + 0.005503084510564804, + 0.9998747706413269 + ], + "box_yaw_rad": 0.010869791573598242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00389717335731674 + } + }, + { + "simulation_time_ns": 1280000000, + "phase": "settle", + "intended_face_center": [ + 0.5300672917195471, + 15.144505848991058, + 0.11965031545378726 + ], + "intended_face_normal": [ + -0.9998945833369755, + -0.01086855622926201, + 0.009627912296328598 + ], + "commanded_contact_point": [ + 0.15363965928554535, + 15.097455024719238, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5300510112999344, + 15.145345067972064, + 0.11890689318351445 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14453411102294922, + 15.090119361877441, + 0.06282277405261993 + ], + "box_pose": [ + 0.6117178797721863, + 15.14743423461914, + 0.13600873947143555, + -0.01400173269212246, + 0.004737517796456814, + 0.005501295905560255, + 0.9998756051063538 + ], + "box_yaw_rad": 0.010869274020694007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033323786205046134 + } + }, + { + "simulation_time_ns": 1300000000, + "phase": "settle", + "intended_face_center": [ + 0.530015638179528, + 15.144476995413198, + 0.11961984165219203 + ], + "intended_face_normal": [ + -0.9998987547992777, + -0.010853597045478147, + 0.009202151707079609 + ], + "commanded_contact_point": [ + 0.1533263623714447, + 15.0945463180542, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 0.5300000020280337, + 15.145315059316133, + 0.11890929461946921 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14104893803596497, + 15.088013648986816, + 0.06641845405101776 + ], + "box_pose": [ + 0.6116593480110168, + 15.14739990234375, + 0.13601353764533997, + -0.01387871615588665, + 0.004525428172200918, + 0.0054902732372283936, + 0.9998784065246582 + ], + "box_yaw_rad": 0.010854269745382832, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029255306222928175 + } + }, + { + "simulation_time_ns": 1320000000, + "phase": "settle", + "intended_face_center": [ + 0.5299384194199218, + 15.144426582247887, + 0.11957043963965486 + ], + "intended_face_normal": [ + -0.9999045352945942, + -0.010850020673242764, + 0.008555546789155554 + ], + "commanded_contact_point": [ + 0.15323472023010254, + 15.092323303222656, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5299236760417614, + 15.145264370000117, + 0.11890982040864623 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1421460062265396, + 15.086637496948242, + 0.07071690261363983 + ], + "box_pose": [ + 0.6115716099739075, + 15.14734172821045, + 0.1360178142786026, + -0.013662674464285374, + 0.004203352145850658, + 0.005483081564307213, + 0.9998828768730164 + ], + "box_yaw_rad": 0.010850630708811053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002224902969671687 + } + }, + { + "simulation_time_ns": 1340000000, + "phase": "settle", + "intended_face_center": [ + 0.5298384620531507, + 15.14434881933614, + 0.11950228467240727 + ], + "intended_face_normal": [ + -0.9999112604627152, + -0.01086325466169206, + 0.0077110902422406575 + ], + "commanded_contact_point": [ + 0.1531442254781723, + 15.090986251831055, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.5298247573425933, + 15.145187628954941, + 0.11890687041875322 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14494574069976807, + 15.085222244262695, + 0.07272021472454071 + ], + "box_pose": [ + 0.6114578247070312, + 15.14725399017334, + 0.13601990044116974, + -0.013342640362679958, + 0.0037828118074685335, + 0.005482709500938654, + 0.9998888373374939 + ], + "box_yaw_rad": 0.010863791338602125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001340110340619268 + } + }, + { + "simulation_time_ns": 1360000000, + "phase": "settle", + "intended_face_center": [ + 0.5297096716933184, + 15.144247582714367, + 0.11941402136895084 + ], + "intended_face_normal": [ + -0.9999188819398412, + -0.010877416643429208, + 0.0066265653812167796 + ], + "commanded_contact_point": [ + 0.15312856435775757, + 15.090378761291504, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.5296971440722316, + 15.145087485855036, + 0.11890234904288552 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14734044671058655, + 15.084620475769043, + 0.07312832772731781 + ], + "box_pose": [ + 0.6113111972808838, + 15.147139549255371, + 0.13602183759212494, + -0.01292693056166172, + 0.0032427641563117504, + 0.005481196101754904, + 0.999896228313446 + ], + "box_yaw_rad": 0.010877869997236816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006076923780926129 + } + }, + { + "simulation_time_ns": 1380000000, + "phase": "settle", + "intended_face_center": [ + 0.5295570381930591, + 15.144124105945185, + 0.1193070954107704 + ], + "intended_face_normal": [ + -0.9999264881704628, + -0.010890098318839091, + 0.005331417536781381 + ], + "commanded_contact_point": [ + 0.15304340422153473, + 15.090458869934082, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 0.52954568529777, + 15.1449649883054, + 0.11889542833207489 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14821740984916687, + 15.086130142211914, + 0.07088601589202881 + ], + "box_pose": [ + 0.6111371517181396, + 15.14699935913086, + 0.1360226571559906, + -0.012413058429956436, + 0.002597960177809, + 0.00547782052308321, + 0.9999045729637146 + ], + "box_yaw_rad": 0.01089046836344863, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00011691725029781678 + } + }, + { + "simulation_time_ns": 1400000000, + "phase": "settle", + "intended_face_center": [ + 0.5294017478890548, + 15.143993808201872, + 0.11919751751698235 + ], + "intended_face_normal": [ + -0.9999324890482136, + -0.010902943544112415, + 0.00401785657197086 + ], + "commanded_contact_point": [ + 0.15278305113315582, + 15.091130256652832, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5293913217784353, + 15.14483568241019, + 0.11888727746052649 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1484518051147461, + 15.089335441589355, + 0.0672309547662735 + ], + "box_pose": [ + 0.6109600067138672, + 15.146851539611816, + 0.13602237403392792, + -0.011875341646373272, + 0.0019440802279859781, + 0.005475036799907684, + 0.9999126195907593 + ], + "box_yaw_rad": 0.010903247579064636, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007200998936725559 + } + }, + { + "simulation_time_ns": 1420000000, + "phase": "settle", + "intended_face_center": [ + 0.529241046410611, + 15.143860006629637, + 0.11908442216860038 + ], + "intended_face_normal": [ + -0.9999369712463817, + -0.010909103177758105, + 0.00265424448866447 + ], + "commanded_contact_point": [ + 0.15253381431102753, + 15.09210205078125, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 0.529231312533852, + 15.144702356456, + 0.11887947384721045 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1490173637866974, + 15.092504501342773, + 0.06417962908744812 + ], + "box_pose": [ + 0.6107764840126038, + 15.146698951721191, + 0.136022686958313, + -0.011316855438053608, + 0.0012653277954086661, + 0.00546930730342865, + 0.9999202489852905 + ], + "box_yaw_rad": 0.010909357998558841, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001003246142157694 + } + }, + { + "simulation_time_ns": 1440000000, + "phase": "settle", + "intended_face_center": [ + 0.5290720822221813, + 15.143715887297457, + 0.11896455688789133 + ], + "intended_face_normal": [ + -0.9999396409565047, + -0.010919303955939708, + 0.0012178944718012757 + ], + "commanded_contact_point": [ + 0.15223729610443115, + 15.09349250793457, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5290627606558707, + 15.14455902478011, + 0.11887051678394019 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14928245544433594, + 15.094161033630371, + 0.06198500096797943 + ], + "box_pose": [ + 0.6105833053588867, + 15.14653491973877, + 0.13602226972579956, + -0.010716211050748825, + 0.000550412863958627, + 0.005465946160256863, + 0.9999275803565979 + ], + "box_yaw_rad": 0.010919529053025772, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014217222453598085 + } + }, + { + "simulation_time_ns": 1460000000, + "phase": "settle", + "intended_face_center": [ + 0.5288908853377101, + 15.143560492159295, + 0.11883443786307293 + ], + "intended_face_normal": [ + -0.9999403530420394, + -0.010916958368015952, + -0.0003322266370183015 + ], + "commanded_contact_point": [ + 0.15213389694690704, + 15.095242500305176, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5288816737458146, + 15.14440344852664, + 0.11886009084714005 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15028157830238342, + 15.093302726745605, + 0.061068132519721985 + ], + "box_pose": [ + 0.6103758215904236, + 15.146356582641602, + 0.13602103292942047, + -0.010057481937110424, + -0.0002210075908806175, + 0.005456613842397928, + 0.9999344944953918 + ], + "box_yaw_rad": 0.010917175829325984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017530444041948692 + } + }, + { + "simulation_time_ns": 1480000000, + "phase": "settle", + "intended_face_center": [ + 0.5286914129947005, + 15.14338937152319, + 0.11869090960087482 + ], + "intended_face_normal": [ + -0.9999384806296913, + -0.010902166125436569, + -0.002043951270994467 + ], + "commanded_contact_point": [ + 0.15170925855636597, + 15.097585678100586, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5286819122274709, + 15.14423118570288, + 0.11884873393988435 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14928925037384033, + 15.091875076293945, + 0.06005658209323883 + ], + "box_pose": [ + 0.6101471185684204, + 15.146159172058105, + 0.1360197365283966, + -0.009331283159554005, + -0.0010728139895945787, + 0.0054413927718997, + 0.9999411106109619 + ], + "box_yaw_rad": 0.010902404878436243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023813441466425255 + } + }, + { + "simulation_time_ns": 1500000000, + "phase": "settle", + "intended_face_center": [ + 0.5284677832087622, + 15.14319578682494, + 0.11852964321703359 + ], + "intended_face_normal": [ + -0.9999329026794007, + -0.010887166660336867, + -0.003957239153928024 + ], + "commanded_contact_point": [ + 0.15145142376422882, + 15.099347114562988, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5284574209797662, + 15.144036442816223, + 0.11883520268052677 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14697740972042084, + 15.094758987426758, + 0.06196856498718262 + ], + "box_pose": [ + 0.6098905205726624, + 15.145936012268066, + 0.13601738214492798, + -0.008510525338351727, + -0.0020249104127287865, + 0.005426637828350067, + 0.9999470114707947 + ], + "box_yaw_rad": 0.010887466999669226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017802070642101815 + } + }, + { + "simulation_time_ns": 1520000000, + "phase": "settle", + "intended_face_center": [ + 0.5282190448715766, + 15.142990339309712, + 0.11835464037285778 + ], + "intended_face_normal": [ + -0.9999223048395526, + -0.010873105672760846, + -0.006095890337841775 + ], + "commanded_contact_point": [ + 0.15138211846351624, + 15.100600242614746, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5282070458930205, + 15.143829909577427, + 0.11882533645886392 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14568398892879486, + 15.09801959991455, + 0.06601323187351227 + ], + "box_pose": [ + 0.60960453748703, + 15.145699501037598, + 0.13601969182491302, + -0.00764491967856884, + -0.0030894787050783634, + 0.0054131969809532166, + 0.9999514222145081 + ], + "box_yaw_rad": 0.010873521967709708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012550430824735475 + } + }, + { + "simulation_time_ns": 1540000000, + "phase": "settle", + "intended_face_center": [ + 0.5279954066343628, + 15.142814360857168, + 0.11820034504422469 + ], + "intended_face_normal": [ + -0.9999086724590822, + -0.010877128374945939, + -0.008020901736918865 + ], + "commanded_contact_point": [ + 0.15136831998825073, + 15.101317405700684, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5279813022207912, + 15.143654241739094, + 0.11881968148969368 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14245113730430603, + 15.101332664489746, + 0.0674746185541153 + ], + "box_pose": [ + 0.6093469858169556, + 15.145498275756836, + 0.13602474331855774, + -0.006905375514179468, + -0.004048003349453211, + 0.00541086308658123, + 0.9999534487724304 + ], + "box_yaw_rad": 0.010877692795322533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000717295817550856 + } + }, + { + "simulation_time_ns": 1560000000, + "phase": "settle", + "intended_face_center": [ + 0.5278036473800888, + 15.142662363578584, + 0.1180672913884748 + ], + "intended_face_normal": [ + -0.9998940167505354, + -0.01088286366937543, + -0.009670497549156713 + ], + "commanded_contact_point": [ + 0.15102733671665192, + 15.101842880249023, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5277872794529261, + 15.14350268731307, + 0.11881400189241273 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.137841135263443, + 15.104997634887695, + 0.06890973448753357 + ], + "box_pose": [ + 0.6091259121894836, + 15.14532470703125, + 0.13602817058563232, + -0.006268151104450226, + -0.004869391676038504, + 0.005411159712821245, + 0.9999538064002991 + ], + "box_yaw_rad": 0.01088358744323064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006264128770045141 + } + }, + { + "simulation_time_ns": 1580000000, + "phase": "settle", + "intended_face_center": [ + 0.5276374820202665, + 15.142533793456408, + 0.11795249583006948 + ], + "intended_face_normal": [ + -0.9998791842407487, + -0.010877001180997587, + -0.011104404031043657 + ], + "commanded_contact_point": [ + 0.1506572961807251, + 15.102591514587402, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.527618823239509, + 15.143373664517014, + 0.11880992587312596 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13197436928749084, + 15.109673500061035, + 0.07068343460559845 + ], + "box_pose": [ + 0.6089341044425964, + 15.145176887512207, + 0.13603191077709198, + -0.005725510884076357, + -0.005583418533205986, + 0.005406784359365702, + 0.9999534487724304 + ], + "box_yaw_rad": 0.010877886378289141, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008350948274804133 + } + }, + { + "simulation_time_ns": 1600000000, + "phase": "settle", + "intended_face_center": [ + 0.5274942266265129, + 15.142423161484215, + 0.11785325235385254 + ], + "intended_face_normal": [ + -0.999864904350267, + -0.010866239463445478, + -0.012332798948884189 + ], + "commanded_contact_point": [ + 0.1508437544107437, + 15.103434562683105, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5274733623110742, + 15.143262201575423, + 0.11880553329609728 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1271219104528427, + 15.113683700561523, + 0.0725475400686264 + ], + "box_pose": [ + 0.6087687611579895, + 15.145049095153809, + 0.13603419065475464, + -0.0052547878585755825, + -0.006195073947310448, + 0.005400822497904301, + 0.999952495098114 + ], + "box_yaw_rad": 0.010867279822753755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008634215456865126 + } + }, + { + "simulation_time_ns": 1620000000, + "phase": "settle", + "intended_face_center": [ + 0.527370685945814, + 15.142327507259632, + 0.11776720587377101 + ], + "intended_face_normal": [ + -0.9998513504240116, + -0.010854883915138069, + -0.013395840421953499 + ], + "commanded_contact_point": [ + 0.15130239725112915, + 15.103796005249023, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 0.5273477281920116, + 15.14316567052861, + 0.11880156989705967 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.12622687220573425, + 15.109919548034668, + 0.07060949504375458 + ], + "box_pose": [ + 0.6086260080337524, + 15.144938468933105, + 0.1360359638929367, + -0.004848761018365622, + -0.006724408827722073, + 0.0053951009176671505, + 0.9999510645866394 + ], + "box_yaw_rad": 0.0108560712306542, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005839469012625948 + } + }, + { + "simulation_time_ns": 1640000000, + "phase": "settle", + "intended_face_center": [ + 0.5272630751597551, + 15.142244188808709, + 0.11769263640757781 + ], + "intended_face_normal": [ + -0.9998386967576194, + -0.010844501102849702, + -0.014317027324706907 + ], + "commanded_contact_point": [ + 0.15216761827468872, + 15.103556632995605, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 0.5272381629893955, + 15.143081550365578, + 0.11879813016673368 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13117310404777527, + 15.100513458251953, + 0.06612597405910492 + ], + "box_pose": [ + 0.608501672744751, + 15.144842147827148, + 0.13603746891021729, + -0.004497391637414694, + -0.007183117792010307, + 0.005390217062085867, + 0.99994957447052 + ], + "box_yaw_rad": 0.010845825346454074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008977229502309596 + } + }, + { + "simulation_time_ns": 1660000000, + "phase": "settle", + "intended_face_center": [ + 0.5271689331271953, + 15.142169698593507, + 0.11762641335169259 + ], + "intended_face_normal": [ + -0.9998268439533732, + -0.010838942553207966, + -0.015126119062669474 + ], + "commanded_contact_point": [ + 0.1535184383392334, + 15.10352897644043, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5271421902146545, + 15.143006630945221, + 0.1187943813833784 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13966256380081177, + 15.092409133911133, + 0.062143221497535706 + ], + "box_pose": [ + 0.6083927750587463, + 15.144756317138672, + 0.13603806495666504, + -0.004182690754532814, + -0.007585990242660046, + 0.005388021469116211, + 0.9999480247497559 + ], + "box_yaw_rad": 0.010840395053405437, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013511031538414374 + } + }, + { + "simulation_time_ns": 1680000000, + "phase": "settle", + "intended_face_center": [ + 0.5270974780578332, + 15.142111319751539, + 0.1175770952868231 + ], + "intended_face_normal": [ + -0.9998173764572297, + -0.010840397037379487, + -0.01573847284798476 + ], + "commanded_contact_point": [ + 0.15517309308052063, + 15.104246139526367, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.527069272813762, + 15.142948364411705, + 0.11879234640826689 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14723160862922668, + 15.091033935546875, + 0.06044730544090271 + ], + "box_pose": [ + 0.6083101034164429, + 15.144689559936523, + 0.13603933155536652, + -0.003937073517590761, + -0.00789087638258934, + 0.005389419384300709, + 0.9999465942382812 + ], + "box_yaw_rad": 0.010841952274378208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001803387147772553 + } + }, + { + "simulation_time_ns": 1700000000, + "phase": "settle", + "intended_face_center": [ + 0.5271023878714765, + 15.142110429452703, + 0.11757892222734767 + ], + "intended_face_normal": [ + -0.999818016546682, + -0.01084042193256032, + -0.01569774029008237 + ], + "commanded_contact_point": [ + 0.15692541003227234, + 15.105175018310547, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 0.5270742814948467, + 15.142947476035157, + 0.11879102817154662 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1519993543624878, + 15.096035957336426, + 0.06116609275341034 + ], + "box_pose": [ + 0.6083157658576965, + 15.144688606262207, + 0.13603785634040833, + -0.00393506046384573, + -0.007870497182011604, + 0.005389526952058077, + 0.9999467730522156 + ], + "box_yaw_rad": 0.01084197023062505, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019832877994872895 + } + }, + { + "simulation_time_ns": 1720000000, + "phase": "settle", + "intended_face_center": [ + 0.5271087537354239, + 15.142115059433584, + 0.11758277276075638 + ], + "intended_face_normal": [ + -0.9998188924666657, + -0.01083450235629538, + -0.015645953363686328 + ], + "commanded_contact_point": [ + 0.15797901153564453, + 15.10600471496582, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5270807826522313, + 15.1429516489341, + 0.11879087996117714 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15377232432365417, + 15.098711013793945, + 0.0647355318069458 + ], + "box_pose": [ + 0.6083230972290039, + 15.144693374633789, + 0.1360374391078949, + -0.003952964209020138, + -0.007844685576856136, + 0.00538652716204524, + 0.9999469518661499 + ], + "box_yaw_rad": 0.010836040779965646, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013410714627415175 + } + }, + { + "simulation_time_ns": 1740000000, + "phase": "settle", + "intended_face_center": [ + 0.527118142842385, + 15.14212434908916, + 0.117589600630206 + ], + "intended_face_normal": [ + -0.9998201500406662, + -0.01083297868596913, + -0.01556644431064543 + ], + "commanded_contact_point": [ + 0.15859897434711456, + 15.106709480285645, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 0.5270903660021948, + 15.142960820938994, + 0.1187915685141374 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15302632749080658, + 15.099908828735352, + 0.06724099814891815 + ], + "box_pose": [ + 0.608333945274353, + 15.14470386505127, + 0.136037677526474, + -0.003991301171481609, + -0.007805130444467068, + 0.005385621450841427, + 0.9999471306800842 + ], + "box_yaw_rad": 0.010834503385959123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009386415949432773 + } + }, + { + "simulation_time_ns": 1760000000, + "phase": "settle", + "intended_face_center": [ + 0.5271311058895822, + 15.142133566385231, + 0.11759777106932318 + ], + "intended_face_normal": [ + -0.9998218464785629, + -0.010832302616917974, + -0.01545757376153585 + ], + "commanded_contact_point": [ + 0.15905269980430603, + 15.107383728027344, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 0.5271035910782693, + 15.142969986032181, + 0.11879133247962936 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15181070566177368, + 15.100136756896973, + 0.06774753332138062 + ], + "box_pose": [ + 0.6083489060401917, + 15.14471435546875, + 0.13603687286376953, + -0.004029658157378435, + -0.007750894874334335, + 0.005385200958698988, + 0.9999474287033081 + ], + "box_yaw_rad": 0.010833808893910998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008126972424064219 + } + }, + { + "simulation_time_ns": 1780000000, + "phase": "settle", + "intended_face_center": [ + 0.5271460470050752, + 15.142144526229036, + 0.11760764541636812 + ], + "intended_face_normal": [ + -0.999823835859956, + -0.010830089149393526, + -0.01532991937422174 + ], + "commanded_contact_point": [ + 0.15945450961589813, + 15.108092308044434, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5271188394696211, + 15.142980774962394, + 0.11879134995308568 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15211209654808044, + 15.099491119384766, + 0.0670127421617508 + ], + "box_pose": [ + 0.6083661913871765, + 15.144726753234863, + 0.136036217212677, + -0.004076401703059673, + -0.007687309291213751, + 0.0053839897736907005, + 0.9999476671218872 + ], + "box_yaw_rad": 0.010831573741474948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008145776609124931 + } + }, + { + "simulation_time_ns": 1800000000, + "phase": "settle", + "intended_face_center": [ + 0.5271650188502961, + 15.142157079431765, + 0.1176190712875143 + ], + "intended_face_normal": [ + -0.9998261053311981, + -0.010841403161708759, + -0.01517310551143286 + ], + "commanded_contact_point": [ + 0.15956763923168182, + 15.108367919921875, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5271381618520705, + 15.142994201780137, + 0.11879066739259095 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15351857244968414, + 15.099325180053711, + 0.06638303399085999 + ], + "box_pose": [ + 0.6083880066871643, + 15.144742012023926, + 0.13603472709655762, + -0.004127925727516413, + -0.007609195541590452, + 0.005389571189880371, + 0.9999480843544006 + ], + "box_yaw_rad": 0.010842863808327358, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00029792652945674777 + } + }, + { + "simulation_time_ns": 1820000000, + "phase": "settle", + "intended_face_center": [ + 0.5271853213754923, + 15.142173450311976, + 0.11763277965811061 + ], + "intended_face_normal": [ + -0.9998286389079967, + -0.010846319142763208, + -0.015001674424549508 + ], + "commanded_contact_point": [ + 0.15955375134944916, + 15.108098030090332, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5271588557066826, + 15.143010952249368, + 0.1187911386579994 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15402747690677643, + 15.100016593933105, + 0.06546817719936371 + ], + "box_pose": [ + 0.608411431312561, + 15.144761085510254, + 0.1360342800617218, + -0.004194474313408136, + -0.0075238412246108055, + 0.005391879007220268, + 0.9999484419822693 + ], + "box_yaw_rad": 0.010847752579854895, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002702469154891113 + } + }, + { + "simulation_time_ns": 1840000000, + "phase": "settle", + "intended_face_center": [ + 0.5272093703119379, + 15.142191456784673, + 0.11764852926306302 + ], + "intended_face_normal": [ + -0.9998315871672123, + -0.010851148726032666, + -0.014800333954615582 + ], + "commanded_contact_point": [ + 0.1595727503299713, + 15.107183456420898, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5271833600220194, + 15.143029331639854, + 0.11879134169536278 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15421804785728455, + 15.102351188659668, + 0.06508451700210571 + ], + "box_pose": [ + 0.6084391474723816, + 15.144782066345215, + 0.13603341579437256, + -0.004269056487828493, + -0.007423575036227703, + 0.005394158884882927, + 0.9999487996101379 + ], + "box_yaw_rad": 0.010852550423122592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009147709867161402 + } + }, + { + "simulation_time_ns": 1860000000, + "phase": "settle", + "intended_face_center": [ + 0.5272353681328582, + 15.142211367917653, + 0.11766704085223717 + ], + "intended_face_normal": [ + -0.9998348021892812, + -0.01086110743939941, + -0.014574110228953755 + ], + "commanded_contact_point": [ + 0.1594705581665039, + 15.105774879455566, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 0.5272098544236554, + 15.143050011738012, + 0.11879238534854573 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1551973819732666, + 15.106071472167969, + 0.06612357497215271 + ], + "box_pose": [ + 0.6084692478179932, + 15.144805908203125, + 0.13603323698043823, + -0.004359258338809013, + -0.007310961838811636, + 0.005398957524448633, + 0.9999492168426514 + ], + "box_yaw_rad": 0.010862474713571933, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014122791174382 + } + }, + { + "simulation_time_ns": 1880000000, + "phase": "settle", + "intended_face_center": [ + 0.5272655840601398, + 15.142236559927587, + 0.11768788828894952 + ], + "intended_face_normal": [ + -0.9998385386204359, + -0.010860824237992322, + -0.014315697204561585 + ], + "commanded_contact_point": [ + 0.15917596220970154, + 15.103958129882812, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 0.5272406474646135, + 15.14307518188046, + 0.11879327934246084 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15644226968288422, + 15.108053207397461, + 0.06780879199504852 + ], + "box_pose": [ + 0.6085041761398315, + 15.144834518432617, + 0.13603274524211884, + -0.0044587142765522, + -0.007182280998677015, + 0.0053986599668860435, + 0.9999496936798096 + ], + "box_yaw_rad": 0.010862150909600084, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001840479771566375 + } + }, + { + "simulation_time_ns": 1900000000, + "phase": "settle", + "intended_face_center": [ + 0.5273005423386813, + 15.142263603669724, + 0.11771265470363618 + ], + "intended_face_normal": [ + -0.9998427504650627, + -0.010864484800855726, + -0.014015610121341606 + ], + "commanded_contact_point": [ + 0.15876322984695435, + 15.101790428161621, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 0.5272762562846405, + 15.143102508274108, + 0.11879487443881591 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15746453404426575, + 15.106213569641113, + 0.06927573680877686 + ], + "box_pose": [ + 0.6085445880889893, + 15.144865989685059, + 0.13603271543979645, + -0.004578093998134136, + -0.0070328782312572, + 0.005400313995778561, + 0.9999502301216125 + ], + "box_yaw_rad": 0.010865765862798419, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022066442303474627 + } + }, + { + "simulation_time_ns": 1920000000, + "phase": "settle", + "intended_face_center": [ + 0.5273410822799836, + 15.14229736454812, + 0.11774105813750652 + ], + "intended_face_normal": [ + -0.9998476020886456, + -0.010859289245598962, + -0.013669251271500302 + ], + "commanded_contact_point": [ + 0.1580631136894226, + 15.099437713623047, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 0.5273175455812457, + 15.143135867976076, + 0.11879653366536973 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15831486880779266, + 15.101445198059082, + 0.07087725400924683 + ], + "box_pose": [ + 0.6085914373397827, + 15.144904136657715, + 0.13603249192237854, + -0.0047171227633953094, + -0.0068604242987930775, + 0.005397548899054527, + 0.9999507665634155 + ], + "box_yaw_rad": 0.010860517408320645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002454674791984154 + } + }, + { + "simulation_time_ns": 1940000000, + "phase": "settle", + "intended_face_center": [ + 0.5273894163365186, + 15.14233621542093, + 0.11777464505214283 + ], + "intended_face_normal": [ + -0.9998530876735091, + -0.010864474279533978, + -0.013257688177923695 + ], + "commanded_contact_point": [ + 0.15716056525707245, + 15.096638679504395, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5273667269069028, + 15.143175119212906, + 0.11879834160654118 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15714524686336517, + 15.095663070678711, + 0.07018376886844635 + ], + "box_pose": [ + 0.6086472272872925, + 15.144948959350586, + 0.1360320746898651, + -0.004877545405179262, + -0.006655506324023008, + 0.0054000369273126125, + 0.9999514222145081 + ], + "box_yaw_rad": 0.010865643011824301, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029409497905166075 + } + }, + { + "simulation_time_ns": 1960000000, + "phase": "settle", + "intended_face_center": [ + 0.5274448921850854, + 15.142381728075755, + 0.1178132649672248 + ], + "intended_face_normal": [ + -0.9998593607481241, + -0.010859111944411725, + -0.012780391642427714 + ], + "commanded_contact_point": [ + 0.1567031592130661, + 15.093873977661133, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 0.5274231716496344, + 15.143220217813342, + 0.11880010691980597 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15230946242809296, + 15.087553977966309, + 0.06424140930175781 + ], + "box_pose": [ + 0.6087113618850708, + 15.145000457763672, + 0.13603125512599945, + -0.005063187796622515, + -0.006417831405997276, + 0.005397320259362459, + 0.9999520182609558 + ], + "box_yaw_rad": 0.010860212390062608, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002802284170360017 + } + }, + { + "simulation_time_ns": 1980000000, + "phase": "settle", + "intended_face_center": [ + 0.5275090499435865, + 15.14243207224974, + 0.11785754924844419 + ], + "intended_face_normal": [ + -0.9998660334286915, + -0.010876809025909014, + -0.012231524884159364 + ], + "commanded_contact_point": [ + 0.15666162967681885, + 15.091914176940918, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 0.5274883600158999, + 15.14327192847303, + 0.11880201028199011 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14936193823814392, + 15.081563949584961, + 0.06241782009601593 + ], + "box_pose": [ + 0.6087853908538818, + 15.145059585571289, + 0.1360301822423935, + -0.005275454837828875, + -0.006144574377685785, + 0.005406245589256287, + 0.9999525547027588 + ], + "box_yaw_rad": 0.010877837281114454, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019602406908907155 + } + }, + { + "simulation_time_ns": 2000000000, + "phase": "settle", + "intended_face_center": [ + 0.5275821138203215, + 15.142490589233592, + 0.11790870280629237 + ], + "intended_face_normal": [ + -0.9998735340684688, + -0.010872486442901839, + -0.011606242298573429 + ], + "commanded_contact_point": [ + 0.15661269426345825, + 15.090574264526367, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 0.5275625823720074, + 15.143330111687279, + 0.11880488244870893 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1466517448425293, + 15.081480979919434, + 0.06352181732654572 + ], + "box_pose": [ + 0.608869731426239, + 15.145126342773438, + 0.13602963089942932, + -0.005523876752704382, + -0.005833247676491737, + 0.0054042749106884, + 0.999953031539917 + ], + "box_yaw_rad": 0.010873433068070136, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013408057112596434 + } + }, + { + "simulation_time_ns": 2020000000, + "phase": "settle", + "intended_face_center": [ + 0.5276672553226596, + 15.14255710509425, + 0.11796716529336597 + ], + "intended_face_normal": [ + -0.9998817125870774, + -0.01087382414245704, + -0.01087753525671847 + ], + "commanded_contact_point": [ + 0.15629535913467407, + 15.089899063110352, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 0.5276489870427006, + 15.143396730838827, + 0.11880707759279621 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14548569917678833, + 15.083179473876953, + 0.06582091748714447 + ], + "box_pose": [ + 0.6089679598808289, + 15.14520263671875, + 0.13602785766124725, + -0.005803389009088278, + -0.005470391362905502, + 0.0054054162465035915, + 0.99995356798172 + ], + "box_yaw_rad": 0.010874681835604399, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007460553170937493 + } + }, + { + "simulation_time_ns": 2040000000, + "phase": "settle", + "intended_face_center": [ + 0.5277653339704333, + 15.142636025428265, + 0.11803550038999097 + ], + "intended_face_normal": [ + -0.9998906147411755, + -0.010866035882227443, + -0.0100343308842827 + ], + "commanded_contact_point": [ + 0.15608030557632446, + 15.089694023132324, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5277484406122458, + 15.143475049799884, + 0.1188103043991121 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1461215317249298, + 15.084628105163574, + 0.06755746901035309 + ], + "box_pose": [ + 0.6090811491012573, + 15.145292282104492, + 0.13602645695209503, + -0.006131808273494244, + -0.005050524603575468, + 0.005402298644185066, + 0.9999538064002991 + ], + "box_yaw_rad": 0.010866796832727699, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002971353659078342 + } + }, + { + "simulation_time_ns": 2060000000, + "phase": "settle", + "intended_face_center": [ + 0.527877744218057, + 15.142728476314295, + 0.11811409350485966 + ], + "intended_face_normal": [ + -0.9998999372461896, + -0.010856995234851693, + -0.00906869268660062 + ], + "commanded_contact_point": [ + 0.1560094952583313, + 15.089877128601074, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 0.5278622906909645, + 15.143566802609488, + 0.11881433545742187 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14791880548000336, + 15.086947441101074, + 0.06877611577510834 + ], + "box_pose": [ + 0.6092107892036438, + 15.145397186279297, + 0.13602514564990997, + -0.006513210013508797, + -0.00456972187384963, + 0.005398983135819435, + 0.9999538660049438 + ], + "box_yaw_rad": 0.010857655039441591, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00019632043658379084 + } + }, + { + "simulation_time_ns": 2080000000, + "phase": "settle", + "intended_face_center": [ + 0.5280098262514001, + 15.142830608016865, + 0.11820535357687326 + ], + "intended_face_normal": [ + -0.9999095845400747, + -0.010858209224060264, + -0.007932341662857076 + ], + "commanded_contact_point": [ + 0.15583676099777222, + 15.090499877929688, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 0.5279958627038701, + 15.143669028050617, + 0.11881785182842354 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14946088194847107, + 15.090177536010742, + 0.06793554127216339 + ], + "box_pose": [ + 0.6093630194664001, + 15.145514488220215, + 0.1360223889350891, + -0.0069489860907197, + -0.004003893118351698, + 0.005401534028351307, + 0.9999532699584961 + ], + "box_yaw_rad": 0.010858764247059428, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006462614418206346 + } + }, + { + "simulation_time_ns": 2100000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5281631089776349, + 15.14295089722453, + 0.11831120094267852 + ], + "intended_face_normal": [ + -0.9999191212302593, + -0.010864452057221793, + -0.006611709827442927 + ], + "commanded_contact_point": [ + 0.15549607574939728, + 15.091550827026367, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + 0.528150618313311, + 15.143789799300604, + 0.11882172619249587 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15039962530136108, + 15.093457221984863, + 0.06533052027225494 + ], + "box_pose": [ + 0.6095395684242249, + 15.145652770996094, + 0.13601893186569214, + -0.007454595062881708, + -0.003346326295286417, + 0.005407539661973715, + 0.9999520778656006 + ], + "box_yaw_rad": 0.010864903291719102, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011047897729419137 + } + }, + { + "simulation_time_ns": 2120000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5283398353204521, + 15.143091538927795, + 0.11843247812133612 + ], + "intended_face_normal": [ + -0.9999280868655847, + -0.01085492724484391, + -0.005098199722921956 + ], + "commanded_contact_point": [ + 0.15525978932717346, + 15.093017207677965, + 0.05012686174995348 + ], + "centerline_face_intersection": [ + 0.528328729330608, + 15.143929705542492, + 0.11882613721332475 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15097592771053314, + 15.096124649047852, + 0.06254810094833374 + ], + "box_pose": [ + 0.6097428202629089, + 15.14581298828125, + 0.13601484894752502, + -0.008043214678764343, + -0.0025927191600203514, + 0.005406882148236036, + 0.9999496340751648 + ], + "box_yaw_rad": 0.010855281507631008, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014907007404915888 + } + }, + { + "simulation_time_ns": 2140000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5285441139890953, + 15.143253135764152, + 0.11857277857590699 + ], + "intended_face_normal": [ + -0.9999355149717644, + -0.010852199031965831, + -0.003345994635850275 + ], + "commanded_contact_point": [ + 0.15529495188288392, + 15.095033330287247, + 0.05049903390558521 + ], + "centerline_face_intersection": [ + 0.528534155204593, + 15.144091091719035, + 0.11883114060206015 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15137526392936707, + 15.097615242004395, + 0.06034143269062042 + ], + "box_pose": [ + 0.6099775433540344, + 15.145998001098633, + 0.13600993156433105, + -0.008727004751563072, + -0.0017203156603500247, + 0.0054113795049488544, + 0.9999458193778992 + ], + "box_yaw_rad": 0.01085247280717101, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002050487477262427 + } + }, + { + "simulation_time_ns": 2160000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5287792023038035, + 15.143438891310673, + 0.1187327858056065 + ], + "intended_face_normal": [ + -0.9999401158243119, + -0.010861807720634557, + -0.0013363748732020744 + ], + "commanded_contact_point": [ + 0.1557702904187422, + 15.097424912032908, + 0.05110346146764301 + ], + "centerline_face_intersection": [ + 0.5287699540760358, + 15.144277589203467, + 0.11883597441094416 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15235325694084167, + 15.0973482131958, + 0.05959683656692505 + ], + "box_pose": [ + 0.6102471947669983, + 15.146211624145508, + 0.1360032856464386, + -0.009510599076747894, + -0.0007198199164122343, + 0.005424384493380785, + 0.9999397993087769 + ], + "box_yaw_rad": 0.01086203100889611, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002512158961456249 + } + }, + { + "simulation_time_ns": 2180000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5290498658821084, + 15.143651880857838, + 0.11891564726423408 + ], + "intended_face_normal": [ + -0.9999405234034902, + -0.010862837376496291, + 0.0009738646382631642 + ], + "commanded_contact_point": [ + 0.1562957009935379, + 15.100139305325696, + 0.051927551429120825 + ], + "centerline_face_intersection": [ + 0.529040680600806, + 15.144490658255833, + 0.11884045000048334 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15218381583690643, + 15.095817565917969, + 0.06018956005573273 + ], + "box_pose": [ + 0.6105571985244751, + 15.146455764770508, + 0.13599443435668945, + -0.010409547947347164, + 0.00043037289287894964, + 0.0054362742230296135, + 0.9999309182167053 + ], + "box_yaw_rad": 0.010863056177452656, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028849803265615006 + } + }, + { + "simulation_time_ns": 2200000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5293616065526676, + 15.143892857316619, + 0.11912677501423109 + ], + "intended_face_normal": [ + -0.9999345996279115, + -0.010848252528322049, + 0.0036210337948103764 + ], + "commanded_contact_point": [ + 0.15723608472733758, + 15.10226737825186, + 0.052958299187499426 + ], + "centerline_face_intersection": [ + 0.5293515064018586, + 15.144730508540983, + 0.11884717575308087 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.15025562047958374, + 15.09702205657959, + 0.0634295642375946 + ], + "box_pose": [ + 0.6109135150909424, + 15.146730422973633, + 0.13598579168319702, + -0.011418599635362625, + 0.0017484904965385795, + 0.00544453551992774, + 0.9999184608459473 + ], + "box_yaw_rad": 0.010848536443669596, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025446919041935885 + } + }, + { + "simulation_time_ns": 2220000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5297009841383072, + 15.144149167284374, + 0.11935956730859504 + ], + "intended_face_normal": [ + -0.9999203951433269, + -0.01081058408660657, + 0.00650650883545611 + ], + "commanded_contact_point": [ + 0.15866030072815718, + 15.104093757759538, + 0.054183052490995975 + ], + "centerline_face_intersection": [ + 0.5296886902209662, + 15.144983909928186, + 0.11885716518639775 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1485978662967682, + 15.09922981262207, + 0.0670076310634613 + ], + "box_pose": [ + 0.6113008856773376, + 15.14702033996582, + 0.13597896695137024, + -0.01247992180287838, + 0.0031856053974479437, + 0.005445580463856459, + 0.9999022483825684 + ], + "box_yaw_rad": 0.010811023519326446, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026199377812235586 + } + }, + { + "simulation_time_ns": 2240000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5300267603581834, + 15.144424413813656, + 0.11959375421278781 + ], + "intended_face_normal": [ + -0.999899042164286, + -0.010782811014677604, + 0.009253997006811 + ], + "commanded_contact_point": [ + 0.16033023835613394, + 15.105541463911996, + 0.05558997173253312 + ], + "centerline_face_intersection": [ + 0.5300111685891351, + 15.145257011951003, + 0.11887920392897139 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14537328481674194, + 15.102078437805176, + 0.06827260553836823 + ], + "box_pose": [ + 0.6116716265678406, + 15.147333145141602, + 0.13598421216011047, + -0.013633581809699535, + 0.004553177393972874, + 0.00545412627980113, + 0.9998818039894104 + ], + "box_yaw_rad": 0.010783481734157913, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026199172768247804 + } + }, + { + "simulation_time_ns": 2260000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5300899722691794, + 15.144507126636888, + 0.11965459117761454 + ], + "intended_face_normal": [ + -0.9998939645454262, + -0.010781730135330288, + 0.009788461102473705 + ], + "commanded_contact_point": [ + 0.16190578513860698, + 15.106897183048197, + 0.057165456274682676 + ], + "centerline_face_intersection": [ + 0.5300735962790943, + 15.145339641313797, + 0.11889877208087714 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1426304280757904, + 15.1057710647583, + 0.0704195648431778 + ], + "box_pose": [ + 0.6117434501647949, + 15.147427558898926, + 0.13600000739097595, + -0.013975914567708969, + 0.004818535875529051, + 0.00545888626947999, + 0.9998758435249329 + ], + "box_yaw_rad": 0.010782455621844135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026081552067651606 + } + }, + { + "simulation_time_ns": 2280000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5300675042939208, + 15.144505530150624, + 0.11964697096765427 + ], + "intended_face_normal": [ + -0.9998957237486082, + -0.010779802294873186, + 0.009609240010095277 + ], + "commanded_contact_point": [ + 0.16381743696682155, + 15.108398009898998, + 0.058895233463554346 + ], + "centerline_face_intersection": [ + 0.5300514000072603, + 15.145337895968726, + 0.11890499048382441 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13931679725646973, + 15.11037826538086, + 0.07249857485294342 + ], + "box_pose": [ + 0.6117180585861206, + 15.147425651550293, + 0.13600704073905945, + -0.013971924781799316, + 0.0047289649955928326, + 0.005456648766994476, + 0.9998763203620911 + ], + "box_yaw_rad": 0.010780508835407158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002983123039960433 + } + }, + { + "simulation_time_ns": 2300000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5300192675874178, + 15.144480243182025, + 0.1196194964220204 + ], + "intended_face_normal": [ + -0.9998995027130535, + -0.010782700315489571, + 0.009204228903884433 + ], + "commanded_contact_point": [ + 0.1664316974813118, + 15.109941832562747, + 0.06076698005028154 + ], + "centerline_face_intersection": [ + 0.5300037469483699, + 15.1453128327717, + 0.11890878899789423 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.13703589141368866, + 15.111884117126465, + 0.07350237667560577 + ], + "box_pose": [ + 0.6116632223129272, + 15.1473970413208, + 0.13601306080818176, + -0.013869221322238445, + 0.004527010023593903, + 0.005454798229038715, + 0.9998786449432373 + ], + "box_yaw_rad": 0.010783366070283587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003566676567850161 + } + }, + { + "simulation_time_ns": 2320000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5299466593865493, + 15.144430524928689, + 0.11957282079051842 + ], + "intended_face_normal": [ + -0.9999048188192419, + -0.010789864121399696, + 0.008598380102484588 + ], + "commanded_contact_point": [ + 0.16930686200197317, + 15.111402264919331, + 0.06276750540982998 + ], + "centerline_face_intersection": [ + 0.5299319597974524, + 15.145263667673884, + 0.1189088941717752 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1397203803062439, + 15.107473373413086, + 0.0727071464061737 + ], + "box_pose": [ + 0.6115807294845581, + 15.147340774536133, + 0.13601669669151306, + -0.013662866316735744, + 0.004225177224725485, + 0.0054532987996935844, + 0.9998828768730164 + ], + "box_yaw_rad": 0.010790472397980325, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037949354939477006 + } + }, + { + "simulation_time_ns": 2340000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5298486283484717, + 15.144355338030387, + 0.11950721963548763 + ], + "intended_face_normal": [ + -0.9999113961207152, + -0.010800455498492276, + 0.007781393049445829 + ], + "commanded_contact_point": [ + 0.1726766579556465, + 15.112870043769329, + 0.06488378092131047 + ], + "centerline_face_intersection": [ + 0.5298349445895223, + 15.14518929859209, + 0.11890637692850639 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.14754152297973633, + 15.102986335754395, + 0.07246099412441254 + ], + "box_pose": [ + 0.6114693284034729, + 15.147255897521973, + 0.1360190361738205, + -0.013357339426875114, + 0.0038182996213436127, + 0.0054518370889127254, + 0.9998886585235596 + ], + "box_yaw_rad": 0.010800992506168037, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004241287724546132 + } + }, + { + "simulation_time_ns": 2360000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5297236135588643, + 15.144255728315349, + 0.11942092309032667 + ], + "intended_face_normal": [ + -0.9999187750070965, + -0.010825965310230608, + 0.00672620962521093 + ], + "commanded_contact_point": [ + 0.17675796465590127, + 15.114612037787062, + 0.06710265603731108 + ], + "centerline_face_intersection": [ + 0.529711069422746, + 15.145091658625173, + 0.11890155670268188 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1562756448984146, + 15.10132122039795, + 0.07328519225120544 + ], + "box_pose": [ + 0.6113269329071045, + 15.147144317626953, + 0.1360205113887787, + -0.012950530275702477, + 0.0032927868887782097, + 0.005456193815916777, + 0.9998959302902222 + ], + "box_yaw_rad": 0.010826421707409755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004961352065694273 + } + }, + { + "simulation_time_ns": 2380000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5295718714537623, + 15.144132393993516, + 0.11931525398417862 + ], + "intended_face_normal": [ + -0.9999263773570183, + -0.010845162006656944, + 0.005442638128699305 + ], + "commanded_contact_point": [ + 0.1813822820618376, + 15.116709138897654, + 0.06941114509013999 + ], + "centerline_face_intersection": [ + 0.5295605014442242, + 15.144969806582282, + 0.11889499897256474 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1634541153907776, + 15.10442066192627, + 0.07516540586948395 + ], + "box_pose": [ + 0.6111539602279663, + 15.147005081176758, + 0.13602161407470703, + -0.012444770894944668, + 0.00265367329120636, + 0.005456128623336554, + 0.9999040961265564 + ], + "box_yaw_rad": 0.010845535257269993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055777474168275274 + } + }, + { + "simulation_time_ns": 2400000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5294151492140519, + 15.144001715439247, + 0.11920500248176713 + ], + "intended_face_normal": [ + -0.9999325450828669, + -0.01086279719206199, + 0.004111561931935931 + ], + "commanded_contact_point": [ + 0.18626093455648512, + 15.118729387113682, + 0.07179645731200313 + ], + "centerline_face_intersection": [ + 0.529404731757483, + 15.144840489734387, + 0.11888752693652638 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.16895689070224762, + 15.110288619995117, + 0.07775227725505829 + ], + "box_pose": [ + 0.6109750866889954, + 15.146857261657715, + 0.13602209091186523, + -0.011906798928976059, + 0.0019909969996660948, + 0.005455583333969116, + 0.9999123215675354 + ], + "box_yaw_rad": 0.01086310266302282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005794166671201416 + } + }, + { + "simulation_time_ns": 2420000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5292536512384587, + 15.143865972512348, + 0.11909085878479472 + ], + "intended_face_normal": [ + -0.9999372698402504, + -0.010860418210281213, + 0.0027400163170215805 + ], + "commanded_contact_point": [ + 0.19058194756269453, + 15.120573808340033, + 0.07424551936154326 + ], + "centerline_face_intersection": [ + 0.5292439634766382, + 15.144704563113665, + 0.11887928756475344 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1728031486272812, + 15.112980842590332, + 0.08126141130924225 + ], + "box_pose": [ + 0.6107906699180603, + 15.14670181274414, + 0.13602203130722046, + -0.011341801844537258, + 0.0013083512894809246, + 0.005445484071969986, + 0.9999199509620667 + ], + "box_yaw_rad": 0.01086067248797132, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0052982023349949095 + } + }, + { + "simulation_time_ns": 2440000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5290847418607296, + 15.143723720027506, + 0.11897036666481031 + ], + "intended_face_normal": [ + -0.9999401829543227, + -0.010860675129445418, + 0.0012946960101636942 + ], + "commanded_contact_point": [ + 0.19474468065814113, + 15.122337461555272, + 0.0767453656351933 + ], + "centerline_face_intersection": [ + 0.5290755040005122, + 15.144562330466915, + 0.11887039630596563 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17551440000534058, + 15.11426067352295, + 0.08387835323810577 + ], + "box_pose": [ + 0.6105974316596985, + 15.146538734436035, + 0.13602173328399658, + -0.010738169774413109, + 0.0005890067550353706, + 0.005437057465314865, + 0.9999273419380188 + ], + "box_yaw_rad": 0.010860897754416244, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005166047897516082 + } + }, + { + "simulation_time_ns": 2460000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5289024306704997, + 15.14356901602165, + 0.11884045800928776 + ], + "intended_face_normal": [ + -0.9999409966368504, + -0.010859815115310128, + -0.0002601286266380107 + ], + "commanded_contact_point": [ + 0.19897794967580584, + 15.124109255117922, + 0.07928293816697207 + ], + "centerline_face_intersection": [ + 0.5288933184752518, + 15.144407560054796, + 0.11886054392285096 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.17927612364292145, + 15.114508628845215, + 0.08593389391899109 + ], + "box_pose": [ + 0.6103887557983398, + 15.146361351013184, + 0.13602107763290405, + -0.010083548724651337, + -0.00018481396546121687, + 0.00542839989066124, + 0.9999344348907471 + ], + "box_yaw_rad": 0.010860028953825313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005243957795273158 + } + }, + { + "simulation_time_ns": 2480000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5287024583130282, + 15.1433945868299, + 0.11869674874102568 + ], + "intended_face_normal": [ + -0.9999391826968284, + -0.010851890265699916, + -0.0019665635657538302 + ], + "commanded_contact_point": [ + 0.20337256312581944, + 15.125826761840386, + 0.0818446102724632 + ], + "centerline_face_intersection": [ + 0.5286930659730997, + 15.144232518943298, + 0.11884859756408216 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.1843285709619522, + 15.11415958404541, + 0.08706670999526978 + ], + "box_pose": [ + 0.6101596355438232, + 15.146161079406738, + 0.13601918518543243, + -0.009354045614600182, + -0.0010340098524466157, + 0.005416592583060265, + 0.9999409914016724 + ], + "box_yaw_rad": 0.010852124255308378, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005368856553569061 + } + }, + { + "simulation_time_ns": 2500000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5284771781637116, + 15.143197330818577, + 0.11853388569632399 + ], + "intended_face_normal": [ + -0.9999335395366806, + -0.010850470853688478, + -0.0038966393128897683 + ], + "commanded_contact_point": [ + 0.2076189884543419, + 15.127235796422895, + 0.08441738333456322 + ], + "centerline_face_intersection": [ + 0.5284669142915537, + 15.14403515333163, + 0.11883476592406841 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.18943879008293152, + 15.114564895629883, + 0.08831202983856201 + ], + "box_pose": [ + 0.6099010705947876, + 15.14593505859375, + 0.1360166370868683, + -0.008524683304131031, + -0.001994531136006117, + 0.005408518947660923, + 0.9999470710754395 + ], + "box_yaw_rad": 0.010850766155639706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005161072345403481 + } + }, + { + "simulation_time_ns": 2520000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5282240954368987, + 15.142986721533564, + 0.11835590305607253 + ], + "intended_face_normal": [ + -0.9999228411240226, + -0.010840162327005257, + -0.006066520431615455 + ], + "commanded_contact_point": [ + 0.211745958184686, + 15.128320643238006, + 0.08699093629243233 + ], + "centerline_face_intersection": [ + 0.5282121792835032, + 15.143823748070494, + 0.11882433133554987 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.19362773001194, + 15.116107940673828, + 0.08946855366230011 + ], + "box_pose": [ + 0.6096101999282837, + 15.145692825317383, + 0.13601860404014587, + -0.007633923552930355, + -0.0030746085103601217, + 0.0053968713618814945, + 0.9999515414237976 + ], + "box_yaw_rad": 0.010840574131956224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004983166322168044 + } + }, + { + "simulation_time_ns": 2540000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5279900327997934, + 15.14280614982344, + 0.11819547149520569 + ], + "intended_face_normal": [ + -0.9999086863553951, + -0.010830821221499688, + -0.008081600836483783 + ], + "commanded_contact_point": [ + 0.21591230205848816, + 15.129148085410101, + 0.08955400339234955 + ], + "centerline_face_intersection": [ + 0.5279759305324341, + 15.143642455083976, + 0.11881949484070173 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.19824084639549255, + 15.119279861450195, + 0.09136417508125305 + ], + "box_pose": [ + 0.6093406677246094, + 15.145484924316406, + 0.13602495193481445, + -0.006865656469017267, + -0.004077979363501072, + 0.005387662444263697, + 0.9999536275863647 + ], + "box_yaw_rad": 0.010831386718102302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004961088064286802 + } + }, + { + "simulation_time_ns": 2560000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5277874399751802, + 15.142646683666579, + 0.11805594649792503 + ], + "intended_face_normal": [ + -0.9998929892552945, + -0.010835758729291201, + -0.009828345428295398 + ], + "commanded_contact_point": [ + 0.22004174095271622, + 15.129839838180516, + 0.09209101892127494 + ], + "centerline_face_intersection": [ + 0.5277709133543811, + 15.14348337017833, + 0.11881484527540091 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.20434460043907166, + 15.123900413513184, + 0.09537091851234436 + ], + "box_pose": [ + 0.6091070175170898, + 15.145302772521973, + 0.136029914021492, + -0.006198131013661623, + -0.004947792273014784, + 0.005387459881603718, + 0.9999540448188782 + ], + "box_yaw_rad": 0.010836494200990305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0048956343072730085 + } + }, + { + "simulation_time_ns": 2580000000, + "phase": "base_approach", + "intended_face_center": [ + 0.52761115904461, + 15.14250805291727, + 0.1179339170138207 + ], + "intended_face_normal": [ + -0.9998769612940943, + -0.01082927494602178, + -0.011348529790794443 + ], + "commanded_contact_point": [ + 0.22411126946151258, + 15.130437390216844, + 0.09458900942658716 + ], + "centerline_face_intersection": [ + 0.5275921569309407, + 15.14334423878166, + 0.11881019730405021 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21014772355556488, + 15.127276420593262, + 0.10008923709392548 + ], + "box_pose": [ + 0.6089035272598267, + 15.145143508911133, + 0.1360335648059845, + -0.00561691215261817, + -0.0057047647424042225, + 0.0053828442469239235, + 0.99995356798172 + ], + "box_yaw_rad": 0.010830184075569764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004812285037760827 + } + }, + { + "simulation_time_ns": 2600000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5274580603982004, + 15.142387493745677, + 0.11782745130341564 + ], + "intended_face_normal": [ + -0.9998612695925521, + -0.010815171822246332, + -0.012667818510374643 + ], + "commanded_contact_point": [ + 0.2281372587749502, + 15.130997016874018, + 0.09703509546845972 + ], + "centerline_face_intersection": [ + 0.5274366346879783, + 15.143222590632938, + 0.11880560088626735 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2147122025489807, + 15.127412796020508, + 0.10424168407917023 + ], + "box_pose": [ + 0.6087266802787781, + 15.145004272460938, + 0.13603612780570984, + -0.005110192112624645, + -0.006361681967973709, + 0.00537533313035965, + 0.9999522566795349 + ], + "box_yaw_rad": 0.010816250601555397, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004743954982035197 + } + }, + { + "simulation_time_ns": 2620000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5273236060482872, + 15.142282530380061, + 0.11773295008392476 + ], + "intended_face_normal": [ + -0.9998459862129425, + -0.01080866523266458, + -0.013826665725592508 + ], + "commanded_contact_point": [ + 0.2320336017558724, + 15.131611438702153, + 0.09941601919454715 + ], + "centerline_face_intersection": [ + 0.5272998197706101, + 15.143117124858964, + 0.1188005804182749 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2179347276687622, + 15.12479019165039, + 0.10781808197498322 + ], + "box_pose": [ + 0.6085712313652039, + 15.144883155822754, + 0.13603737950325012, + -0.004658552818000317, + -0.006938701495528221, + 0.005372272804379463, + 0.9999507665634155 + ], + "box_yaw_rad": 0.010809909092014515, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046073637361638085 + } + }, + { + "simulation_time_ns": 2640000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5272044452809569, + 15.142187833888142, + 0.11764948077777596 + ], + "intended_face_normal": [ + -0.9998313422840148, + -0.010805400048539839, + -0.01485026144554018 + ], + "commanded_contact_point": [ + 0.23556934198548088, + 15.132243937787372, + 0.10171965553164095 + ], + "centerline_face_intersection": [ + 0.5271783971671972, + 15.14302217624483, + 0.11879614837696026 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.21991077065467834, + 15.121135711669922, + 0.10896176099777222 + ], + "box_pose": [ + 0.6084334254264832, + 15.144774436950684, + 0.13603845238685608, + -0.004260929301381111, + -0.007448399439454079, + 0.005371238570660353, + 0.9999486804008484 + ], + "box_yaw_rad": 0.010806802052503433, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00426711312688725 + } + }, + { + "simulation_time_ns": 2660000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271030009948677, + 15.142105948739948, + 0.11757949666446904 + ], + "intended_face_normal": [ + -0.9998181100721005, + -0.010797912469005733, + -0.015721064969931572 + ], + "commanded_contact_point": [ + 0.2391370975863934, + 15.133016349325494, + 0.10393403182640061 + ], + "centerline_face_intersection": [ + 0.5270749090640555, + 15.14293971294083, + 0.11879340363114443 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2214372456073761, + 15.11638355255127, + 0.10424785315990448 + ], + "box_pose": [ + 0.6083160638809204, + 15.14468002319336, + 0.13604038953781128, + -0.00391639256849885, + -0.00788197573274374, + 0.005368372425436974, + 0.9999468922615051 + ], + "box_yaw_rad": 0.010799456997574305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004269538849438024 + } + }, + { + "simulation_time_ns": 2680000000, + "phase": "base_approach", + "intended_face_center": [ + 0.52710087719267, + 15.142103748512563, + 0.11757808029851498 + ], + "intended_face_normal": [ + -0.9998179119564004, + -0.010794781710209048, + -0.01573580642180194 + ], + "commanded_contact_point": [ + 0.24332774860822598, + 15.134105095088685, + 0.10604704937927427 + ], + "centerline_face_intersection": [ + 0.5270727546611562, + 15.142937270970922, + 0.11879312553102403 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.22498413920402527, + 15.11439037322998, + 0.10341224074363708 + ], + "box_pose": [ + 0.6083136796951294, + 15.14467716217041, + 0.13604021072387695, + -0.00390461552888155, + -0.0078892782330513, + 0.005366871599107981, + 0.9999468326568604 + ], + "box_yaw_rad": 0.010796328173446884, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004817859120232233 + } + }, + { + "simulation_time_ns": 2700000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271021167163177, + 15.142103402740553, + 0.11757823966966365 + ], + "intended_face_normal": [ + -0.9998181257180883, + -0.010788743903426655, + -0.015726363644418304 + ], + "commanded_contact_point": [ + 0.24773574257967998, + 15.135322898367882, + 0.10804372138000698 + ], + "centerline_face_intersection": [ + 0.5270740272021648, + 15.142936458987766, + 0.11879255577515284 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.22841475903987885, + 15.11870002746582, + 0.10544165968894958 + ], + "box_pose": [ + 0.608315110206604, + 15.144676208496094, + 0.1360396146774292, + -0.003901195479556918, + -0.007884525693953037, + 0.005363897420465946, + 0.9999469518661499 + ], + "box_yaw_rad": 0.010790287663738974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004990005486741128 + } + }, + { + "simulation_time_ns": 2720000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271051550566881, + 15.142105875361631, + 0.11757925078095606 + ], + "intended_face_normal": [ + -0.9998185260453633, + -0.010789810953463442, + -0.01570015703646769 + ], + "commanded_contact_point": [ + 0.25168287363094516, + 15.13659566784846, + 0.10991098850014917 + ], + "centerline_face_intersection": [ + 0.5270771273765623, + 15.142939014001447, + 0.11879154333498579 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.23150314390659332, + 15.124407768249512, + 0.10859958827495575 + ], + "box_pose": [ + 0.6083186268806458, + 15.144679069519043, + 0.13603846728801727, + -0.003909901715815067, + -0.007871470414102077, + 0.005364413373172283, + 0.9999469518661499 + ], + "box_yaw_rad": 0.010791350463090661, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0045482383605654556 + } + }, + { + "simulation_time_ns": 2740000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271112411096018, + 15.142110050567341, + 0.11758222022874443 + ], + "intended_face_normal": [ + -0.9998193353028709, + -0.01078979655007022, + -0.015648546529087412 + ], + "commanded_contact_point": [ + 0.25539379942893986, + 15.137839295934972, + 0.11163631324939234 + ], + "centerline_face_intersection": [ + 0.5270833384262561, + 15.142943188094996, + 0.11879052766124565 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.23530136048793793, + 15.128092765808105, + 0.1112595796585083 + ], + "box_pose": [ + 0.6083256602287292, + 15.144683837890625, + 0.1360371857881546, + -0.003927059005945921, + -0.007845754735171795, + 0.0053643714636564255, + 0.9999470710754395 + ], + "box_yaw_rad": 0.010791327324891025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0042771867607264355 + } + }, + { + "simulation_time_ns": 2760000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271192020895233, + 15.142115947923438, + 0.11758681110439449 + ], + "intended_face_normal": [ + -0.9998203757007338, + -0.010789424154399752, + -0.015582189560279312 + ], + "commanded_contact_point": [ + 0.2589882564562769, + 15.139001909763856, + 0.11320725741538436 + ], + "centerline_face_intersection": [ + 0.5270914601044243, + 15.142949056696443, + 0.118789994762719 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.24018898606300354, + 15.131579399108887, + 0.11450700461864471 + ], + "box_pose": [ + 0.6083348393440247, + 15.14469051361084, + 0.13603630661964417, + -0.003950413782149553, + -0.007812697440385818, + 0.005364131648093462, + 0.9999472498893738 + ], + "box_yaw_rad": 0.010790943677269075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00409141269113105 + } + }, + { + "simulation_time_ns": 2780000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271279264864588, + 15.142124164446972, + 0.11759295793002253 + ], + "intended_face_normal": [ + -0.9998215590096826, + -0.010790913432760514, + -0.015505042908762662 + ], + "commanded_contact_point": [ + 0.2623375786477793, + 15.140051698553066, + 0.11461118191630071 + ], + "centerline_face_intersection": [ + 0.5271003672732287, + 15.142957388215073, + 0.11879018468543295 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.24612390995025635, + 15.135937690734863, + 0.11867128312587738 + ], + "box_pose": [ + 0.6083449721336365, + 15.144700050354004, + 0.13603606820106506, + -0.003985099960118532, + -0.007774308789521456, + 0.005364757031202316, + 0.9999474883079529 + ], + "box_yaw_rad": 0.010792420277651866, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003780346498499153 + } + }, + { + "simulation_time_ns": 2800000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271391051783252, + 15.142133020951235, + 0.11760031337867881 + ], + "intended_face_normal": [ + -0.9998229587452545, + -0.010794657562434, + -0.015411895023928143 + ], + "commanded_contact_point": [ + 0.26540767939295623, + 15.140959533534092, + 0.1158345127907336 + ], + "centerline_face_intersection": [ + 0.5271117621655693, + 15.142966533823484, + 0.11879034769092156 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2525789141654968, + 15.14078426361084, + 0.12246416509151459 + ], + "box_pose": [ + 0.608357846736908, + 15.144710540771484, + 0.1360357254743576, + -0.004023533780127764, + -0.007727944757789373, + 0.005366516299545765, + 0.9999476075172424 + ], + "box_yaw_rad": 0.010796149525958929, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034272760855600473 + } + }, + { + "simulation_time_ns": 2820000000, + "phase": "base_approach", + "intended_face_center": [ + 0.527155251344044, + 15.142147456785048, + 0.11761170785534131 + ], + "intended_face_normal": [ + -0.9998251412700132, + -0.010791461330143134, + -0.015271909345910217 + ], + "commanded_contact_point": [ + 0.2682808334155381, + 15.141711237075945, + 0.11686478733567243 + ], + "centerline_face_intersection": [ + 0.5271282454392762, + 15.142980722859217, + 0.11879093312951279 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2585963308811188, + 15.14504623413086, + 0.12545771896839142 + ], + "box_pose": [ + 0.6083765625953674, + 15.144726753234863, + 0.13603554666042328, + -0.004082429222762585, + -0.007658254820853472, + 0.005364745855331421, + 0.9999479055404663 + ], + "box_yaw_rad": 0.010792929542009383, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003143491353616583 + } + }, + { + "simulation_time_ns": 2840000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271741175121403, + 15.142165238897624, + 0.11762540108775171 + ], + "intended_face_normal": [ + -0.9998276233854523, + -0.010787981661449664, + -0.01511102121895173 + ], + "commanded_contact_point": [ + 0.27095401211800757, + 15.142299769061786, + 0.11768937851609353 + ], + "centerline_face_intersection": [ + 0.5271474949885857, + 15.142998236288083, + 0.11879220333469548 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2635152041912079, + 15.147966384887695, + 0.12712788581848145 + ], + "box_pose": [ + 0.6083983778953552, + 15.144746780395508, + 0.13603591918945312, + -0.0041555725038051605, + -0.0075781880877912045, + 0.0053627765737473965, + 0.999948263168335 + ], + "box_yaw_rad": 0.010789422886822763, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002858706855996652 + } + }, + { + "simulation_time_ns": 2860000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271981980873086, + 15.142184259492112, + 0.11764176282905554 + ], + "intended_face_normal": [ + -0.9998306460283456, + -0.010789429379362973, + -0.014908637495989186 + ], + "commanded_contact_point": [ + 0.2733789590241202, + 15.142716329966863, + 0.11829418896948193 + ], + "centerline_face_intersection": [ + 0.5271720424321722, + 15.143017368668565, + 0.11879293795330018 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26735541224479675, + 15.14802074432373, + 0.1281784027814865 + ], + "box_pose": [ + 0.6084261536598206, + 15.144768714904785, + 0.13603556156158447, + -0.0042364033870399, + -0.007477423641830683, + 0.005363312549889088, + 0.9999486804008484 + ], + "box_yaw_rad": 0.01079083806581448, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002533709961623714 + } + }, + { + "simulation_time_ns": 2880000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5272246899981243, + 15.142203175271444, + 0.11766003950789508 + ], + "intended_face_normal": [ + -0.9998339127826872, + -0.010799995721346187, + -0.01468015288972434 + ], + "commanded_contact_point": [ + 0.27527112231611744, + 15.142964617686976, + 0.1186667340430027 + ], + "centerline_face_intersection": [ + 0.527199038914546, + 15.143037100331311, + 0.11879357212154305 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2687978744506836, + 15.145322799682617, + 0.12720462679862976 + ], + "box_pose": [ + 0.6084567904472351, + 15.144791603088379, + 0.13603496551513672, + -0.004326376598328352, + -0.007363677490502596, + 0.005368413403630257, + 0.999949038028717 + ], + "box_yaw_rad": 0.010801369677165716, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019444069911789773 + } + }, + { + "simulation_time_ns": 2900000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5272541758422717, + 15.1422271599177, + 0.11768056820655545 + ], + "intended_face_normal": [ + -0.9998375644639862, + -0.010802921820121176, + -0.014427113056077115 + ], + "commanded_contact_point": [ + 0.277004808858037, + 15.1430613109172, + 0.11879456227001625 + ], + "centerline_face_intersection": [ + 0.527229088782784, + 15.1430613109172, + 0.11879456227001625 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.26713648438453674, + 15.143601417541504, + 0.12662218511104584 + ], + "box_pose": [ + 0.6084908843040466, + 15.144819259643555, + 0.13603459298610687, + -0.004425632301717997, + -0.00723768537864089, + 0.005369700025767088, + 0.9999496340751648 + ], + "box_yaw_rad": 0.01080425646330204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017410797402835187 + } + }, + { + "simulation_time_ns": 2920000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5272878650153275, + 15.14225238110827, + 0.11770376746129972 + ], + "intended_face_normal": [ + -0.9998414669903067, + -0.010820466256935979, + -0.014140665536313955 + ], + "commanded_contact_point": [ + 0.2790461561828852, + 15.143087886806967, + 0.11879564338960286 + ], + "centerline_face_intersection": [ + 0.5272633807221718, + 15.143087886806967, + 0.11879564338960286 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2666173577308655, + 15.142732620239258, + 0.12664540112018585 + ], + "box_pose": [ + 0.6085297465324402, + 15.14484977722168, + 0.13603413105010986, + -0.004537457600235939, + -0.007095090579241514, + 0.0053783077746629715, + 0.999950110912323 + ], + "box_yaw_rad": 0.010821759463077929, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002041520596859416 + } + }, + { + "simulation_time_ns": 2940000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5273264857148812, + 15.142282090330413, + 0.11773039116329291 + ], + "intended_face_normal": [ + -0.9998461134214873, + -0.01082335494713855, + -0.013805957494982627 + ], + "commanded_contact_point": [ + 0.2812047588825226, + 15.143117819080231, + 0.11879642250511596 + ], + "centerline_face_intersection": [ + 0.5273027190851246, + 15.143117819080231, + 0.11879642250511596 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2685129940509796, + 15.142853736877441, + 0.12698166072368622 + ], + "box_pose": [ + 0.6085744500160217, + 15.14488410949707, + 0.13603311777114868, + -0.004664268810302019, + -0.006928412709385157, + 0.005379626993089914, + 0.999950647354126 + ], + "box_yaw_rad": 0.010824597973084273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021588103582495816 + } + }, + { + "simulation_time_ns": 2960000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5273715324295483, + 15.14231535015698, + 0.11776149131476761 + ], + "intended_face_normal": [ + -0.9998510886770452, + -0.010843088766915508, + -0.013424897118041068 + ], + "commanded_contact_point": [ + 0.28328025780618193, + 15.143152602659887, + 0.1187980989599659 + ], + "centerline_face_intersection": [ + 0.5273485342479822, + 15.143152602659887, + 0.1187980989599659 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2717752158641815, + 15.143659591674805, + 0.13007383048534393 + ], + "box_pose": [ + 0.6086263656616211, + 15.14492416381836, + 0.13603273034095764, + -0.004814258776605129, + -0.0067387237213552, + 0.005389365833252668, + 0.9999511241912842 + ], + "box_yaw_rad": 0.01084427855623446, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002075791051629605 + } + }, + { + "simulation_time_ns": 2980000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5274223329562914, + 15.142356541018046, + 0.11779687150602791 + ], + "intended_face_normal": [ + -0.9998568921389005, + -0.010838669228978099, + -0.012989169160905287 + ], + "commanded_contact_point": [ + 0.2855166091769934, + 15.143193452264944, + 0.11879983428023597 + ], + "centerline_face_intersection": [ + 0.5274002311378703, + 15.143193452264944, + 0.11879983428023597 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2741677761077881, + 15.145919799804688, + 0.13249289989471436 + ], + "box_pose": [ + 0.6086850762367249, + 15.144970893859863, + 0.1360321044921875, + -0.004984780214726925, + -0.00652175210416317, + 0.005387084558606148, + 0.9999518394470215 + ], + "box_yaw_rad": 0.010839795966872465, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002236725096050036 + } + }, + { + "simulation_time_ns": 3000000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5274809531136535, + 15.14240288753681, + 0.11783750733714428 + ], + "intended_face_normal": [ + -0.9998632615216089, + -0.010842337811666275, + -0.012486071889506904 + ], + "commanded_contact_point": [ + 0.2880734081566334, + 15.143240082054472, + 0.11880162329761333 + ], + "centerline_face_intersection": [ + 0.5274598350606642, + 15.143240082054472, + 0.11880162329761333 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2747882902622223, + 15.145454406738281, + 0.13046157360076904 + ], + "box_pose": [ + 0.6087527871131897, + 15.145024299621582, + 0.1360311657190323, + -0.005180212203413248, + -0.006271250080317259, + 0.005388938821852207, + 0.9999524354934692 + ], + "box_yaw_rad": 0.010843395573178262, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002557224777007843 + } + }, + { + "simulation_time_ns": 3020000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5275484820260896, + 15.142454379690276, + 0.11788414172020105 + ], + "intended_face_normal": [ + -0.9998701848898597, + -0.010852388062646854, + -0.011909619134054063 + ], + "commanded_contact_point": [ + 0.29075085625052455, + 15.143292350241222, + 0.1188037467002027 + ], + "centerline_face_intersection": [ + 0.5275284332957313, + 15.143292350241222, + 0.1188037467002027 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2763528823852539, + 15.139533996582031, + 0.12567318975925446 + ], + "box_pose": [ + 0.6088306903839111, + 15.145084381103516, + 0.1360301524400711, + -0.005404873285442591, + -0.005984245799481869, + 0.005394103936851025, + 0.9999529123306274 + ], + "box_yaw_rad": 0.010853370869433257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026779590675859756 + } + }, + { + "simulation_time_ns": 3040000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5276268144022034, + 15.142517245219484, + 0.1179384712274124 + ], + "intended_face_normal": [ + -0.9998780001248821, + -0.01084825567686136, + -0.011238338044672572 + ], + "commanded_contact_point": [ + 0.2938939786702395, + 15.143354896686963, + 0.11880624302737465 + ], + "centerline_face_intersection": [ + 0.5276079727354839, + 15.143354896686963, + 0.11880624302737465 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2802078425884247, + 15.1344633102417, + 0.12437950074672699 + ], + "box_pose": [ + 0.6089211106300354, + 15.145155906677246, + 0.13602899014949799, + -0.005664952099323273, + -0.00564997922629118, + 0.00539237167686224, + 0.9999535083770752 + ], + "box_yaw_rad": 0.01084915364072819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031437456695539 + } + }, + { + "simulation_time_ns": 3060000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5277172710451686, + 15.142591709103169, + 0.11800226816391557 + ], + "intended_face_normal": [ + -0.9998864976878832, + -0.010843793645987313, + -0.010459630642795942 + ], + "commanded_contact_point": [ + 0.2976362842321396, + 15.143429016033535, + 0.11880991182739675 + ], + "centerline_face_intersection": [ + 0.5276997418169886, + 15.143429016033535, + 0.11880991182739675 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2849224805831909, + 15.132817268371582, + 0.12625931203365326 + ], + "box_pose": [ + 0.6090255379676819, + 15.145240783691406, + 0.13602836430072784, + -0.00597657635807991, + -0.005262276623398066, + 0.005390695761889219, + 0.9999537467956543 + ], + "box_yaw_rad": 0.010844599433762491, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037430412843379767 + } + }, + { + "simulation_time_ns": 3080000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5278234719595755, + 15.142674908427256, + 0.1180756016891432 + ], + "intended_face_normal": [ + -0.9998956207063406, + -0.010843862361197627, + -0.009547688726846677 + ], + "commanded_contact_point": [ + 0.3017112805694342, + 15.143512220663489, + 0.11881282947131537 + ], + "centerline_face_intersection": [ + 0.5278073517583723, + 15.143512220663489, + 0.11881282947131537 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.28889477252960205, + 15.134844779968262, + 0.12829247117042542 + ], + "box_pose": [ + 0.6091480255126953, + 15.145336151123047, + 0.1360262781381607, + -0.006328219082206488, + -0.004808186087757349, + 0.0053917523473501205, + 0.9999539256095886 + ], + "box_yaw_rad": 0.010844569210013016, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040758467429548965 + } + }, + { + "simulation_time_ns": 3100000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5279472513700243, + 15.142771483258281, + 0.11816151627068645 + ], + "intended_face_normal": [ + -0.9999051385655746, + -0.010854698856328032, + -0.008478760132038063 + ], + "commanded_contact_point": [ + 0.3057356241345406, + 15.143609632237887, + 0.11881620639586156 + ], + "centerline_face_intersection": [ + 0.527932601164247, + 15.143609632237887, + 0.11881620639586156 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2917802929878235, + 15.137897491455078, + 0.12892168760299683 + ], + "box_pose": [ + 0.6092907786369324, + 15.145447731018066, + 0.13602377474308014, + -0.006736540701240301, + -0.00427594780921936, + 0.005398795008659363, + 0.99995356798172 + ], + "box_yaw_rad": 0.01085530223868086, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040255237607619825 + } + }, + { + "simulation_time_ns": 3120000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5280904682974903, + 15.14288498331501, + 0.11826026866531639 + ], + "intended_face_normal": [ + -0.9999148158446298, + -0.010852753878508325, + -0.00725112365839322 + ], + "commanded_contact_point": [ + 0.30847116068005564, + 15.143722982112543, + 0.11882016645480988 + ], + "centerline_face_intersection": [ + 0.5280773126945476, + 15.143722982112543, + 0.11882016645480988 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.2938394844532013, + 15.138172149658203, + 0.1279231309890747 + ], + "box_pose": [ + 0.6094557046890259, + 15.145577430725098, + 0.13602092862129211, + -0.007209558039903641, + -0.003664668183773756, + 0.005400211550295353, + 0.9999527335166931 + ], + "box_yaw_rad": 0.010853252273836864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027378867887478315 + } + }, + { + "simulation_time_ns": 3140000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5282545333266242, + 15.143016928804151, + 0.11837467331762351 + ], + "intended_face_normal": [ + -0.9999241199712963, + -0.010847207267604627, + -0.005838869270450329 + ], + "commanded_contact_point": [ + 0.3108012329041958, + 15.143854499318381, + 0.11882552344122918 + ], + "centerline_face_intersection": [ + 0.5282428146815299, + 15.143854499318381, + 0.11882552344122918 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.29764118790626526, + 15.13803482055664, + 0.12910951673984528 + ], + "box_pose": [ + 0.6096445918083191, + 15.14572811126709, + 0.13601836562156677, + -0.0077645075507462025, + -0.0029615152161568403, + 0.005400874186307192, + 0.9999508857727051 + ], + "box_yaw_rad": 0.010847604915287874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023337870602187817 + } + }, + { + "simulation_time_ns": 3160000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5284449963920856, + 15.143169710780887, + 0.11850577225218548 + ], + "intended_face_normal": [ + -0.9999323771694494, + -0.01084294294018467, + -0.004203771323940288 + ], + "commanded_contact_point": [ + 0.31343416377902034, + 15.144006952023737, + 0.11883036777457542 + ], + "centerline_face_intersection": [ + 0.5284345530027909, + 15.144006952023737, + 0.11883036777457542 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.30241984128952026, + 15.138492584228516, + 0.13087822496891022 + ], + "box_pose": [ + 0.6098635792732239, + 15.145902633666992, + 0.13601398468017578, + -0.008403417654335499, + -0.0021474072709679604, + 0.0054037077352404594, + 0.9999478459358215 + ], + "box_yaw_rad": 0.010843251231223022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026373453104476295 + } + }, + { + "simulation_time_ns": 3180000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5286652956048706, + 15.14334360975504, + 0.11865548932641223 + ], + "intended_face_normal": [ + -0.9999384938887087, + -0.01084528590025435, + -0.0023212517286263206 + ], + "commanded_contact_point": [ + 0.31639219701290133, + 15.144181031910287, + 0.11883472550730557 + ], + "centerline_face_intersection": [ + 0.5286557968853653, + 15.144181031910287, + 0.11883472550730557 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.30648356676101685, + 15.137921333312988, + 0.131016343832016 + ], + "box_pose": [ + 0.6101164221763611, + 15.146101951599121, + 0.1360076516866684, + -0.009133226238191128, + -0.0012101230677217245, + 0.005411899648606777, + 0.9999428987503052 + ], + "box_yaw_rad": 0.010845527735865218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002963154300653331 + } + }, + { + "simulation_time_ns": 3200000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5289177516909443, + 15.14354425019645, + 0.11882648322521014 + ], + "intended_face_normal": [ + -0.9999411560995126, + -0.010846999529169002, + -0.00016410436646746573 + ], + "commanded_contact_point": [ + 0.31925042971968653, + 15.144381804670093, + 0.11883915459538116 + ], + "centerline_face_intersection": [ + 0.5289086641230668, + 15.144381804670093, + 0.11883915459538116 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3098335862159729, + 15.137067794799805, + 0.1291007399559021 + ], + "box_pose": [ + 0.6104058027267456, + 15.146331787109375, + 0.13599969446659088, + -0.009973914362490177, + -0.00013614443014375865, + 0.005422491580247879, + 0.999935507774353 + ], + "box_yaw_rad": 0.010847212391505264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028652789609456743 + } + }, + { + "simulation_time_ns": 3220000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5292074489518178, + 15.143774366619434, + 0.11902187816820722 + ], + "intended_face_normal": [ + -0.9999385396741188, + -0.010843433541239417, + 0.0023101624094682433 + ], + "commanded_contact_point": [ + 0.3217962521314621, + 15.144611645744199, + 0.11884349825257373 + ], + "centerline_face_intersection": [ + 0.5291979573034169, + 15.144611645744199, + 0.11884349825257373 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3120415210723877, + 15.136618614196777, + 0.12653334438800812 + ], + "box_pose": [ + 0.6107373833656311, + 15.146595001220703, + 0.13598966598510742, + -0.010940155014395714, + 0.001095713465474546, + 0.005434112157672644, + 0.999924898147583 + ], + "box_yaw_rad": 0.010843674984290407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002556180263401362 + } + }, + { + "simulation_time_ns": 3240000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5295365221345638, + 15.144022091609704, + 0.11924717632877513 + ], + "intended_face_normal": [ + -0.9999284556700115, + -0.010818716520637189, + 0.005102834364138175 + ], + "commanded_contact_point": [ + 0.32427858069539073, + 15.144857462201964, + 0.11885315937151013 + ], + "centerline_face_intersection": [ + 0.5295254731035046, + 15.144857462201964, + 0.11885315937151013 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3149479627609253, + 15.137059211730957, + 0.12363472580909729 + ], + "box_pose": [ + 0.6111131906509399, + 15.146876335144043, + 0.13598313927650452, + -0.01197089534252882, + 0.002486522775143385, + 0.005439611151814461, + 0.9999104738235474 + ], + "box_yaw_rad": 0.010819068442004677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002494488758728546 + } + }, + { + "simulation_time_ns": 3260000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5298822277275238, + 15.144286794123563, + 0.11948550582283023 + ], + "intended_face_normal": [ + -0.999909598154425, + -0.01077828712746042, + 0.0080389091864377 + ], + "commanded_contact_point": [ + 0.32678729176521304, + 15.145119042947536, + 0.11886477892649389 + ], + "centerline_face_intersection": [ + 0.5298682662826566, + 15.145119042947536, + 0.11886477892649389 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3193632960319519, + 15.139566421508789, + 0.123872309923172 + ], + "box_pose": [ + 0.6115073561668396, + 15.147175788879395, + 0.13597744703292847, + -0.013072154484689236, + 0.003948750905692577, + 0.005441349931061268, + 0.999891996383667 + ], + "box_yaw_rad": 0.010778844131991342, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025223383461306964 + } + }, + { + "simulation_time_ns": 3280000000, + "phase": "base_approach", + "intended_face_center": [ + 0.530099859471079, + 15.144503242395437, + 0.11965720641501995 + ], + "intended_face_normal": [ + -0.9998933513999859, + -0.010770229185309014, + 0.00986346906627181 + ], + "commanded_contact_point": [ + 0.3292668747901917, + 15.145334869022879, + 0.11889559555481201 + ], + "centerline_face_intersection": [ + 0.5300833887824875, + 15.145334869022879, + 0.11889559555481201 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3232238292694092, + 15.142999649047852, + 0.12627680599689484 + ], + "box_pose": [ + 0.6117545962333679, + 15.147422790527344, + 0.1359964907169342, + -0.013977287337183952, + 0.0048561105504632, + 0.005453667603433132, + 0.9998757243156433 + ], + "box_yaw_rad": 0.01077096139232067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002489148958407417 + } + }, + { + "simulation_time_ns": 3300000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5300933683958524, + 15.144511030886965, + 0.11966010008479264 + ], + "intended_face_normal": [ + -0.9998937772327392, + -0.010775879317694205, + 0.009814003240280263 + ], + "commanded_contact_point": [ + 0.33163088440895083, + 15.145343093791153, + 0.11890230874386654 + ], + "centerline_face_intersection": [ + 0.530076963475881, + 15.145343093791153, + 0.11890230874386654 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.32585909962654114, + 15.144126892089844, + 0.12910163402557373 + ], + "box_pose": [ + 0.6117472648620605, + 15.147432327270508, + 0.1360032707452774, + -0.01401496585458517, + 0.004831134341657162, + 0.005456328857690096, + 0.9998751878738403 + ], + "box_yaw_rad": 0.010776606882301788, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023640334581613385 + } + }, + { + "simulation_time_ns": 3320000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5300650254672772, + 15.144500126493933, + 0.11964622125336423 + ], + "intended_face_normal": [ + -0.9998959190350498, + -0.010787708564161955, + 0.00958000111296195 + ], + "commanded_contact_point": [ + 0.3338463443517685, + 15.1453331027971, + 0.11890649846015494 + ], + "centerline_face_intersection": [ + 0.5300489513419667, + 15.1453331027971, + 0.11890649846015494 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3271506428718567, + 15.141632080078125, + 0.13068383932113647 + ], + "box_pose": [ + 0.6117150783538818, + 15.147420883178711, + 0.13600867986679077, + -0.013971722684800625, + 0.004714292474091053, + 0.005460396409034729, + 0.9998763203620911 + ], + "box_yaw_rad": 0.010788412902735115, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002215486432347196 + } + }, + { + "simulation_time_ns": 3340000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5300103090714033, + 15.14446533394832, + 0.11961272679432283 + ], + "intended_face_normal": [ + -0.9999001291492203, + -0.010793818925599268, + 0.009122783561416006 + ], + "commanded_contact_point": [ + 0.3355544011294842, + 15.145298782064964, + 0.11890830819788199 + ], + "centerline_face_intersection": [ + 0.5299948851829794, + 15.145298782064964, + 0.11890830819788199 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.32731202244758606, + 15.13701343536377, + 0.12966777384281158 + ], + "box_pose": [ + 0.6116529107093811, + 15.147381782531738, + 0.13601309061050415, + -0.013832800090312958, + 0.004486411344259977, + 0.005459628067910671, + 0.9998793005943298 + ], + "box_yaw_rad": 0.010794477741393872, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017084025122041443 + } + }, + { + "simulation_time_ns": 3360000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5299291129836314, + 15.144410634683705, + 0.11956090866897617 + ], + "intended_face_normal": [ + -0.9999061251229157, + -0.01078913248007691, + 0.00844603777189459 + ], + "commanded_contact_point": [ + 0.33715186148881915, + 15.145243720934987, + 0.11890874521111147 + ], + "centerline_face_intersection": [ + 0.5299146151469033, + 15.145243720934987, + 0.11890874521111147 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3278774619102478, + 15.13101577758789, + 0.12393274903297424 + ], + "box_pose": [ + 0.6115607023239136, + 15.147318840026855, + 0.13601745665073395, + -0.013605410233139992, + 0.004149328451603651, + 0.005451652221381664, + 0.9998839497566223 + ], + "box_yaw_rad": 0.010789726677292319, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015984090586146792 + } + }, + { + "simulation_time_ns": 3380000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5298236846389386, + 15.14433048734062, + 0.11948906067507759 + ], + "intended_face_normal": [ + -0.9999130778504277, + -0.010803499677926475, + 0.0075578535955230855 + ], + "commanded_contact_point": [ + 0.33958233028650286, + 15.145164682959594, + 0.11890547863720259 + ], + "centerline_face_intersection": [ + 0.5298102606133606, + 15.145164682959594, + 0.11890547863720259 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.329968124628067, + 15.127880096435547, + 0.12187646329402924 + ], + "box_pose": [ + 0.6114407181739807, + 15.147228240966797, + 0.1360194832086563, + -0.013268893584609032, + 0.003706997726112604, + 0.005451535806059837, + 0.9998902678489685 + ], + "box_yaw_rad": 0.0108040184304613, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024317557954230216 + } + }, + { + "simulation_time_ns": 3400000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5296907485157502, + 15.144223229747299, + 0.11939714846487295 + ], + "intended_face_normal": [ + -0.9999207473233237, + -0.010817875064539018, + 0.006439925074033195 + ], + "commanded_contact_point": [ + 0.3424365545809269, + 15.14505853536626, + 0.11889988762871534 + ], + "centerline_face_intersection": [ + 0.5296785089901075, + 15.14505853536626, + 0.11889988762871534 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.33229881525039673, + 15.131083488464355, + 0.12260058522224426 + ], + "box_pose": [ + 0.611289381980896, + 15.147107124328613, + 0.13602057099342346, + -0.012833669781684875, + 0.003150342032313347, + 0.00544992508366704, + 0.9998977780342102 + ], + "box_yaw_rad": 0.010818310414937757, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002856202880368786 + } + }, + { + "simulation_time_ns": 3420000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5295307684943529, + 15.144095223482886, + 0.11928513794719017 + ], + "intended_face_normal": [ + -0.9999284952568972, + -0.010825135484271367, + 0.00508141810457291 + ], + "commanded_contact_point": [ + 0.3448794919252396, + 15.144931089717439, + 0.1188927746531303 + ], + "centerline_face_intersection": [ + 0.5295197255771587, + 15.144931089717439, + 0.1188927746531303 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.33411550521850586, + 15.135767936706543, + 0.12432257831096649 + ], + "box_pose": [ + 0.6111069321632385, + 15.146961212158203, + 0.13602155447006226, + -0.012298081070184708, + 0.002473995788022876, + 0.005443502217531204, + 0.9999064803123474 + ], + "box_yaw_rad": 0.010825486684543313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002446269783990049 + } + }, + { + "simulation_time_ns": 3440000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5293665468331917, + 15.143955430666844, + 0.11916957491774388 + ], + "intended_face_normal": [ + -0.9999345669947888, + -0.010827249297096378, + 0.0036922073259246044 + ], + "commanded_contact_point": [ + 0.34711634248495105, + 15.144791460120116, + 0.1188844799700465 + ], + "centerline_face_intersection": [ + 0.5293564416424993, + 15.144791460120116, + 0.1188844799700465 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3362506926059723, + 15.138209342956543, + 0.12494322657585144 + ], + "box_pose": [ + 0.6109195947647095, + 15.146801948547363, + 0.13602156937122345, + -0.011729253455996513, + 0.0017825070535764098, + 0.005434995051473379, + 0.999914824962616 + ], + "box_yaw_rad": 0.010827534659235014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002241219679705091 + } + }, + { + "simulation_time_ns": 3460000000, + "phase": "base_approach", + "intended_face_center": [ + 0.529197109362574, + 15.143813388659892, + 0.11904922848051692 + ], + "intended_face_normal": [ + -0.9999387890494562, + -0.010834259451258623, + 0.0022443247153766848 + ], + "commanded_contact_point": [ + 0.34935982406139376, + 15.144649959404418, + 0.11887593224309992 + ], + "centerline_face_intersection": [ + 0.5291876562277253, + 15.144649959404418, + 0.11887593224309992 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3390950560569763, + 15.140104293823242, + 0.12589117884635925 + ], + "box_pose": [ + 0.6107258796691895, + 15.146639823913574, + 0.13602164387702942, + -0.011131185106933117, + 0.001061809016391635, + 0.005429368000477552, + 0.9999228119850159 + ], + "box_yaw_rad": 0.010834498706470711, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002247955760244576 + } + }, + { + "simulation_time_ns": 3480000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5290186239929489, + 15.143660138661609, + 0.11892238913375183 + ], + "intended_face_normal": [ + -0.9999409456344461, + -0.010843385981985797, + 0.0007254078940377683 + ], + "commanded_contact_point": [ + 0.3515059041976929, + 15.14449741411407, + 0.11886637653549988 + ], + "centerline_face_intersection": [ + 0.5290095039209027, + 15.14449741411407, + 0.11886637653549988 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.34307754039764404, + 15.142942428588867, + 0.12793634831905365 + ], + "box_pose": [ + 0.6105217337608337, + 15.146465301513672, + 0.13602110743522644, + -0.010493690147995949, + 0.0003057940921280533, + 0.005425280891358852, + 0.9999301433563232 + ], + "box_yaw_rad": 0.010843601338872988, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002151516053524299 + } + }, + { + "simulation_time_ns": 3500000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5288253389073055, + 15.143492947430932, + 0.1187835641575177 + ], + "intended_face_normal": [ + -0.9999408099085227, + -0.010840601121669896, + -0.0009263039762210205 + ], + "commanded_contact_point": [ + 0.3535162124037743, + 15.14433000784953, + 0.11885508900981903 + ], + "centerline_face_intersection": [ + 0.5288161978737804, + 15.14433000784953, + 0.11885508900981903 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3478211760520935, + 15.146491050720215, + 0.12991802394390106 + ], + "box_pose": [ + 0.6103003621101379, + 15.146273612976074, + 0.13601958751678467, + -0.00979096069931984, + -0.0005162081797607243, + 0.0054155862890183926, + 0.9999372363090515 + ], + "box_yaw_rad": 0.010840818112817448, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002017298031794329 + } + }, + { + "simulation_time_ns": 3520000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5286115414070797, + 15.14330849375088, + 0.11862980943514585 + ], + "intended_face_normal": [ + -0.9999376044742582, + -0.010826294748971656, + -0.0027529113653265262 + ], + "commanded_contact_point": [ + 0.35550238817930224, + 15.144144449498418, + 0.11884237635038991 + ], + "centerline_face_intersection": [ + 0.5286019053262325, + 15.144144449498418, + 0.11884237635038991 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3519650101661682, + 15.149527549743652, + 0.13119414448738098 + ], + "box_pose": [ + 0.6100552678108215, + 15.146060943603516, + 0.1360176056623459, + -0.009007822722196579, + -0.0014251833781599998, + 0.005400612484663725, + 0.9999439120292664 + ], + "box_yaw_rad": 0.01082654727555014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001994865339984533 + } + }, + { + "simulation_time_ns": 3540000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5283710473539819, + 15.143100624485786, + 0.11845618490304001 + ], + "intended_face_normal": [ + -0.9999299191248597, + -0.010814632254956585, + -0.004816697719117774 + ], + "commanded_contact_point": [ + 0.3575076299905777, + 15.14393567971019, + 0.11882810772943819 + ], + "centerline_face_intersection": [ + 0.5283602243411791, + 15.14393567971019, + 0.11882810772943819 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35503578186035156, + 15.151257514953613, + 0.13097243010997772 + ], + "box_pose": [ + 0.6097790598869324, + 15.145821571350098, + 0.13601534068584442, + -0.00812341645359993, + -0.00245223892852664, + 0.005387667566537857, + 0.9999495148658752 + ], + "box_yaw_rad": 0.010814968534888314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002016130734775948 + } + }, + { + "simulation_time_ns": 3560000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5281203132259442, + 15.14290323884204, + 0.1182844505066937 + ], + "intended_face_normal": [ + -0.9999173356863211, + -0.010804369374305579, + -0.006970465678713138 + ], + "commanded_contact_point": [ + 0.3595189961791039, + 15.143737501614892, + 0.11882267720218444 + ], + "centerline_face_intersection": [ + 0.5281075467963983, + 15.143737501614892, + 0.11882267720218444 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35725852847099304, + 15.150094032287598, + 0.13016751408576965 + ], + "box_pose": [ + 0.6094906330108643, + 15.145594596862793, + 0.13602197170257568, + -0.007291821762919426, + -0.0035246056504547596, + 0.005376738030463457, + 0.9999527335166931 + ], + "box_yaw_rad": 0.01080484209525003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002021113057804617 + } + }, + { + "simulation_time_ns": 3580000000, + "phase": "base_approach", + "intended_face_center": [ + 0.527903701514119, + 15.14273343286602, + 0.11813605794071175 + ], + "intended_face_normal": [ + -0.9999026565415817, + -0.010802531114868966, + -0.00883078438050705 + ], + "commanded_contact_point": [ + 0.3612451839447022, + 15.143567553697093, + 0.11881792972873682 + ], + "centerline_face_intersection": [ + 0.5278886679709769, + 15.143567553697093, + 0.11881792972873682 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35744667053222656, + 15.146657943725586, + 0.12793371081352234 + ], + "box_pose": [ + 0.6092411279678345, + 15.145400047302246, + 0.1360275149345398, + -0.006580673158168793, + -0.004450949840247631, + 0.005372222512960434, + 0.9999539852142334 + ], + "box_yaw_rad": 0.010803162480378992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001734540006851844 + } + }, + { + "simulation_time_ns": 3600000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5277162615723485, + 15.142587388661854, + 0.11800617373666264 + ], + "intended_face_normal": [ + -0.9998871395668719, + -0.010796514890811596, + -0.010447172676291685 + ], + "commanded_contact_point": [ + 0.36303853124380114, + 15.143421044948296, + 0.1188128554543495 + ], + "centerline_face_intersection": [ + 0.5276988314811648, + 15.143421044948296, + 0.1188128554543495 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3546275496482849, + 15.144716262817383, + 0.12668897211551666 + ], + "box_pose": [ + 0.6090248823165894, + 15.145232200622559, + 0.13603129982948303, + -0.00596449663862586, + -0.005255840253084898, + 0.0053671556524932384, + 0.9999540448188782 + ], + "box_yaw_rad": 0.010797313917353484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017993290685475352 + } + }, + { + "simulation_time_ns": 3620000000, + "phase": "base_approach", + "intended_face_center": [ + 0.527553371313987, + 15.14246265920157, + 0.11789326732851976 + ], + "intended_face_normal": [ + -0.9998716240252279, + -0.010784885393113196, + -0.01184996851771905 + ], + "commanded_contact_point": [ + 0.36525174111127856, + 15.143295417512698, + 0.11880826636745609 + ], + "centerline_face_intersection": [ + 0.5275335448589038, + 15.143295417512698, + 0.11880826636745609 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35332679748535156, + 15.143804550170898, + 0.1265082061290741 + ], + "box_pose": [ + 0.608836829662323, + 15.145088195800781, + 0.13603432476520538, + -0.005434684455394745, + -0.005954394582659006, + 0.005360333248972893, + 0.9999532103538513 + ], + "box_yaw_rad": 0.010785851815669635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022167772169960384 + } + }, + { + "simulation_time_ns": 3640000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5274128675951762, + 15.14235205798702, + 0.11779492367288931 + ], + "intended_face_normal": [ + -0.9998565677702048, + -0.01078317707522983, + -0.013060130367371303 + ], + "commanded_contact_point": [ + 0.36755482733249667, + 15.143184684389846, + 0.11880336573893019 + ], + "centerline_face_intersection": [ + 0.5273907156771156, + 15.143184684389846, + 0.11880336573893019 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35501760244369507, + 15.143716812133789, + 0.12711818516254425 + ], + "box_pose": [ + 0.6086744666099548, + 15.1449613571167, + 0.1360359787940979, + -0.004969328176230192, + -0.0065570129081606865, + 0.005359262693673372, + 0.9999518394470215 + ], + "box_yaw_rad": 0.010784305856690058, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002305751934406934 + } + }, + { + "simulation_time_ns": 3660000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5272885944336321, + 15.142255682810104, + 0.11770814607371036 + ], + "intended_face_normal": [ + -0.9998420723647706, + -0.010782383516024924, + -0.014126941974018483 + ], + "commanded_contact_point": [ + 0.36975577354431155, + 15.143088247938007, + 0.11879896233284287 + ], + "centerline_face_intersection": [ + 0.527264203643631, + 15.143088247938007, + 0.11879896233284287 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.35844218730926514, + 15.144282341003418, + 0.13037057220935822 + ], + "box_pose": [ + 0.6085308194160461, + 15.144850730895996, + 0.13603731989860535, + -0.004559279419481754, + -0.007088258862495422, + 0.0053591420873999596, + 0.9999500513076782 + ], + "box_yaw_rad": 0.0107836685998943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002203062324704133 + } + }, + { + "simulation_time_ns": 3680000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271785421493269, + 15.142169104856356, + 0.11763123444122708 + ], + "intended_face_normal": [ + -0.9998283641885449, + -0.010781376995072785, + -0.015066653976122226 + ], + "commanded_contact_point": [ + 0.3720427665114403, + 15.143001592265428, + 0.11879461085758838 + ], + "centerline_face_intersection": [ + 0.5271520340481421, + 15.143001592265428, + 0.11879461085758838 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.36110734939575195, + 15.14640998840332, + 0.13275517523288727 + ], + "box_pose": [ + 0.6084036231040955, + 15.14475154876709, + 0.13603800535202026, + -0.004197355825453997, + -0.007556212600320578, + 0.005359249655157328, + 0.999948263168335 + ], + "box_yaw_rad": 0.010782809861554941, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002288638235419346 + } + }, + { + "simulation_time_ns": 3700000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271015641709551, + 15.142103812290623, + 0.11757761749817934 + ], + "intended_face_normal": [ + -0.9998181314882022, + -0.010784571288404321, + -0.01572885950455099 + ], + "commanded_contact_point": [ + 0.3746036204695702, + 15.142936546348057, + 0.11879212632229215 + ], + "centerline_face_intersection": [ + 0.5270734755480467, + 15.142936546348057, + 0.11879212632229215 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3614710867404938, + 15.146154403686523, + 0.13027068972587585 + ], + "box_pose": [ + 0.6083145141601562, + 15.14467716217041, + 0.1360391080379486, + -0.0039269160479307175, + -0.007885903120040894, + 0.005361603107303381, + 0.9999468922615051 + ], + "box_yaw_rad": 0.010786114713144121, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025616811158205664 + } + }, + { + "simulation_time_ns": 3720000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271005919277633, + 15.142103305398619, + 0.11757776817381786 + ], + "intended_face_normal": [ + -0.9998180616264172, + -0.010782465847691599, + -0.015734740992472462 + ], + "commanded_contact_point": [ + 0.37736214578151706, + 15.142935876883788, + 0.11879273113886679 + ], + "centerline_face_intersection": [ + 0.5270724925140924, + 15.142935876883788, + 0.11879273113886679 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.36235177516937256, + 15.139884948730469, + 0.12502717971801758 + ], + "box_pose": [ + 0.6083134412765503, + 15.144676208496094, + 0.13603976368904114, + -0.003918915521353483, + -0.007888797670602798, + 0.005360602401196957, + 0.9999468326568604 + ], + "box_yaw_rad": 0.01078400988785196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027585254594868374 + } + }, + { + "simulation_time_ns": 3740000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271008434403978, + 15.142102231804973, + 0.11757813368860179 + ], + "intended_face_normal": [ + -0.9998182081462715, + -0.01077567810020652, + -0.015730081233535708 + ], + "commanded_contact_point": [ + 0.38061474144458773, + 15.142934279172088, + 0.11879273684890167 + ], + "centerline_face_intersection": [ + 0.5270727666579962, + 15.142934279172088, + 0.11879273684890167 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3660888075828552, + 15.134538650512695, + 0.12378174066543579 + ], + "box_pose": [ + 0.608313798904419, + 15.144674301147461, + 0.13603977859020233, + -0.0039107115007936954, + -0.007886409759521484, + 0.005357281770557165, + 0.9999469518661499 + ], + "box_yaw_rad": 0.010777220114945049, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003252596055482677 + } + }, + { + "simulation_time_ns": 3760000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271037138279434, + 15.142100464148953, + 0.1175794615031493 + ], + "intended_face_normal": [ + -0.9998185572575747, + -0.010775360673938564, + -0.01570809253095989 + ], + "commanded_contact_point": [ + 0.38444417595863345, + 15.1429324870059, + 0.11879236679887728 + ], + "centerline_face_intersection": [ + 0.5270756909688139, + 15.1429324870059, + 0.11879236679887728 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.37134215235710144, + 15.1331787109375, + 0.1264265477657318 + ], + "box_pose": [ + 0.6083170771598816, + 15.144672393798828, + 0.13603933155536652, + -0.003907339181751013, + -0.007875395938754082, + 0.005357192363590002, + 0.9999470114707947 + ], + "box_yaw_rad": 0.010776898905103903, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038294349512899696 + } + }, + { + "simulation_time_ns": 3780000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271090472371225, + 15.142104501978203, + 0.1175828259396482 + ], + "intended_face_normal": [ + -0.999819229122272, + -0.010777388231873977, + -0.015663875524962716 + ], + "commanded_contact_point": [ + 0.3885769906640053, + 15.142936681393671, + 0.11879231700537787 + ], + "centerline_face_intersection": [ + 0.527081128153276, + 15.142936681393671, + 0.11879231700537787 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3757225573062897, + 15.135619163513184, + 0.12905071675777435 + ], + "box_pose": [ + 0.6083232164382935, + 15.14467716217041, + 0.13603904843330383, + -0.003923679236322641, + -0.007853376679122448, + 0.005358163267374039, + 0.9999471306800842 + ], + "box_yaw_rad": 0.0107789193527015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004132816834110366 + } + }, + { + "simulation_time_ns": 3800000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271173349550446, + 15.142109543702055, + 0.11758738380603811 + ], + "intended_face_normal": [ + -0.9998203372656632, + -0.010777981216584485, + -0.015592573574364567 + ], + "commanded_contact_point": [ + 0.3926320287585259, + 15.142941768905027, + 0.11879136926926986 + ], + "centerline_face_intersection": [ + 0.527089587033327, + 15.142941768905027, + 0.11879136926926986 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.37880584597587585, + 15.139050483703613, + 0.12990489602088928 + ], + "box_pose": [ + 0.6083328127861023, + 15.144682884216309, + 0.13603775203227997, + -0.003941881936043501, + -0.007817820645868778, + 0.005358455702662468, + 0.9999473690986633 + ], + "box_yaw_rad": 0.01077950042924977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004055041396704667 + } + }, + { + "simulation_time_ns": 3820000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271259220854244, + 15.142115186999186, + 0.11759280624070688 + ], + "intended_face_normal": [ + -0.9998214233886297, + -0.010780612758475742, + -0.015520945902984792 + ], + "commanded_contact_point": [ + 0.3957348528504372, + 15.142947615397489, + 0.1187912609508083 + ], + "centerline_face_intersection": [ + 0.5270983419244103, + 15.142947615397489, + 0.1187912609508083 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.38197219371795654, + 15.139140129089355, + 0.1292591691017151 + ], + "box_pose": [ + 0.608342707157135, + 15.144689559936523, + 0.13603727519512177, + -0.003965503536164761, + -0.007782135158777237, + 0.005359727423638105, + 0.9999475479125977 + ], + "box_yaw_rad": 0.010782120426214077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031028296019202013 + } + }, + { + "simulation_time_ns": 3840000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271365381810182, + 15.142124765074461, + 0.11760010087462222 + ], + "intended_face_normal": [ + -0.9998229187387931, + -0.010775937082232828, + -0.015427582747948417 + ], + "commanded_contact_point": [ + 0.39877842247486117, + 15.142956832438957, + 0.11879134651939974 + ], + "centerline_face_intersection": [ + 0.5271091889889453, + 15.142956832438957, + 0.11879134651939974 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.38634026050567627, + 15.138371467590332, + 0.12886790931224823 + ], + "box_pose": [ + 0.6083550453186035, + 15.144700050354004, + 0.13603685796260834, + -0.004002875182777643, + -0.007735640741884708, + 0.005357284098863602, + 0.9999476671218872 + ], + "box_yaw_rad": 0.010777428340602992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003043583581880369 + } + }, + { + "simulation_time_ns": 3860000000, + "phase": "base_approach", + "intended_face_center": [ + 0.5271493839784056, + 15.142135191752999, + 0.11760908178731853 + ], + "intended_face_normal": [ + -0.9998246482212687, + -0.010769775880551656, + -0.01531942607164275 + ], + "commanded_contact_point": [ + 0.4020051795244217, + 15.142966783378371, + 0.1187919760803835 + ], + "centerline_face_intersection": [ + 0.5271223019184743, + 15.142966783378371, + 0.1187919760803835 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3907294273376465, + 15.137334823608398, + 0.12875688076019287 + ], + "box_pose": [ + 0.6083698868751526, + 15.1447114944458, + 0.13603690266609192, + -0.004046781919896603, + -0.007681778632104397, + 0.00535407941788435, + 0.9999480843544006 + ], + "box_yaw_rad": 0.010771248132483808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003226772454703144 + } + }, + { + "simulation_time_ns": 3880000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5271661335488323, + 15.142150918753202, + 0.11762120020807018 + ], + "intended_face_normal": [ + -0.9998268104650283, + -0.010772605511852437, + -0.015175640000108754 + ], + "commanded_contact_point": [ + 0.4020051795244217, + 15.142966783378371, + 0.1187919760803835 + ], + "centerline_face_intersection": [ + 0.5271393854637695, + 15.142982728869445, + 0.11879299201448555 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.3948678970336914, + 15.136101722717285, + 0.1280389130115509 + ], + "box_pose": [ + 0.6083892583847046, + 15.144729614257812, + 0.13603712618350983, + -0.004109331872314215, + -0.0076102204620838165, + 0.005355306901037693, + 0.999948263168335 + ], + "box_yaw_rad": 0.010774054633213091, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 3900000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5271859396290387, + 15.14216449136565, + 0.11763430488860037 + ], + "intended_face_normal": [ + -0.9998292995118373, + -0.010778817238524318, + -0.015006297826507831 + ], + "commanded_contact_point": [ + 0.4048602392982024, + 15.142967010327494, + 0.11879224382928266 + ], + "centerline_face_intersection": [ + 0.5271595759951475, + 15.142996781122315, + 0.11879302088592271 + ], + "commanded_world_base_velocity": [ + 0.13745536, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.39818274974823, + 15.135490417480469, + 0.12677161395549774 + ], + "box_pose": [ + 0.6084121465682983, + 15.144745826721191, + 0.13603626191616058, + -0.004170993808656931, + -0.007525884546339512, + 0.0053582931868731976, + 0.9999486804008484 + ], + "box_yaw_rad": 0.010780239879215309, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00285505979535562 + } + }, + { + "simulation_time_ns": 3920000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5272079002598126, + 15.142181544035349, + 0.11764917802869834 + ], + "intended_face_normal": [ + -0.9998320080902227, + -0.010783895779918649, + -0.014821038490254655 + ], + "commanded_contact_point": [ + 0.4078210336464969, + 15.142967760765403, + 0.11879302227510725 + ], + "centerline_face_intersection": [ + 0.5271819549842353, + 15.143014225933184, + 0.11879358916821685 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.39984315633773804, + 15.135558128356934, + 0.12469731271266937 + ], + "box_pose": [ + 0.6084374785423279, + 15.144765853881836, + 0.13603582978248596, + -0.004245036281645298, + -0.007433654740452766, + 0.005360665265470743, + 0.9999489784240723 + ], + "box_yaw_rad": 0.010785289481591971, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029607945457305156 + } + }, + { + "simulation_time_ns": 3940000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.527232405140562, + 15.142199864569013, + 0.11766627670302718 + ], + "intended_face_normal": [ + -0.9998349943497071, + -0.010793485318914716, + -0.014611117503477463 + ], + "commanded_contact_point": [ + 0.41088100551952006, + 15.142969151489991, + 0.11879427434882456 + ], + "centerline_face_intersection": [ + 0.5272069211117151, + 15.14303328692611, + 0.11879447872765511 + ], + "commanded_world_base_velocity": [ + 0.11967871999999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4023224115371704, + 15.136884689331055, + 0.12298953533172607 + ], + "box_pose": [ + 0.6084657907485962, + 15.144787788391113, + 0.13603559136390686, + -0.004326940979808569, + -0.007329144980758429, + 0.005365301389247179, + 0.9999493956565857 + ], + "box_yaw_rad": 0.010794847276081697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030599724452184647 + } + }, + { + "simulation_time_ns": 3960000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5272607561311116, + 15.142221181914177, + 0.11768586935522377 + ], + "intended_face_normal": [ + -0.9998384898388768, + -0.010796439399585921, + -0.014367710623996496 + ], + "commanded_contact_point": [ + 0.4140336474661857, + 15.142971327298108, + 0.11879595328400222 + ], + "centerline_face_intersection": [ + 0.5272358120010014, + 15.143054832371542, + 0.11879527664124435 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.406333863735199, + 15.14000129699707, + 0.12397441267967224 + ], + "box_pose": [ + 0.6084985733032227, + 15.14481258392334, + 0.13603508472442627, + -0.004420519340783358, + -0.007207940332591534, + 0.0053666261956095695, + 0.9999498128890991 + ], + "box_yaw_rad": 0.010797763753139405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031526431445439633 + } + }, + { + "simulation_time_ns": 3980000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5272940615122963, + 15.142245283446364, + 0.11770833230010407 + ], + "intended_face_normal": [ + -0.9998422227253911, + -0.010817988705398253, + -0.014089031347007551 + ], + "commanded_contact_point": [ + 0.41727251966177753, + 15.142974513738558, + 0.1187980123390901 + ], + "centerline_face_intersection": [ + 0.5272696939462465, + 15.143080597840143, + 0.11879622127827134 + ], + "commanded_world_base_velocity": [ + 0.09071999999999994, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4099593758583069, + 15.14303970336914, + 0.1263088583946228 + ], + "box_pose": [ + 0.6085368990898132, + 15.144842147827148, + 0.1360345333814621, + -0.004527710843831301, + -0.007069213315844536, + 0.005377253983169794, + 0.9999503493309021 + ], + "box_yaw_rad": 0.010819273631656755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032388744175235328 + } + }, + { + "simulation_time_ns": 4000000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5273305556282444, + 15.142274159267783, + 0.11773407700663427 + ], + "intended_face_normal": [ + -0.9998465719049695, + -0.010820532441957846, + -0.013774931226318662 + ], + "commanded_contact_point": [ + 0.42059115803812824, + 15.142978913035941, + 0.1188004161374227 + ], + "centerline_face_intersection": [ + 0.5273068598132618, + 15.143109670076978, + 0.11879771264538294 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.41241255402565, + 15.142915725708008, + 0.12844976782798767 + ], + "box_pose": [ + 0.6085790991783142, + 15.144875526428223, + 0.13603432476520538, + -0.004651893861591816, + -0.006912825163453817, + 0.005378372967243195, + 0.9999508261680603 + ], + "box_yaw_rad": 0.010821770402181956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003318642162850883 + } + }, + { + "simulation_time_ns": 4020000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5273729080257478, + 15.142309450626083, + 0.11776374219967263 + ], + "intended_face_normal": [ + -0.9998514863668334, + -0.010817286148464694, + -0.013416093515716404 + ], + "commanded_contact_point": [ + 0.42398328229851584, + 15.142984919410951, + 0.11880311484412474 + ], + "centerline_face_intersection": [ + 0.5273499712688005, + 15.143144710771706, + 0.11879967007195388 + ], + "commanded_world_base_velocity": [ + 0.05746048000000027, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4135129451751709, + 15.139363288879395, + 0.12925474345684052 + ], + "box_pose": [ + 0.60862797498703, + 15.144915580749512, + 0.13603432476520538, + -0.004797246772795916, + -0.006734166759997606, + 0.005376598797738552, + 0.9999514222145081 + ], + "box_yaw_rad": 0.010818470819673109, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033921306515918167 + } + }, + { + "simulation_time_ns": 4040000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5274221996830522, + 15.142348645533357, + 0.11779799286118672 + ], + "intended_face_normal": [ + -0.9998570935869708, + -0.010816706535496242, + -0.0129919677418808 + ], + "commanded_contact_point": [ + 0.42744268914874217, + 15.142992808323651, + 0.11880597726926595 + ], + "centerline_face_intersection": [ + 0.5274001289788327, + 15.143183860923983, + 0.11880117172870332 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.41361725330352783, + 15.134469032287598, + 0.1278609186410904 + ], + "box_pose": [ + 0.6086849570274353, + 15.144960403442383, + 0.1360335350036621, + -0.004961285274475813, + -0.006522970739752054, + 0.005376249551773071, + 0.9999518990516663 + ], + "box_yaw_rad": 0.01081783052621868, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034594170294739183 + } + }, + { + "simulation_time_ns": 4060000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5274803386000662, + 15.14239215519448, + 0.1178380711169982 + ], + "intended_face_normal": [ + -0.999863214245144, + -0.01083463538057681, + -0.012496540144221024 + ], + "commanded_contact_point": [ + 0.43096336025116244, + 15.143003092650714, + 0.1188089521886644 + ], + "centerline_face_intersection": [ + 0.5274592132451439, + 15.143228754966508, + 0.11880299538704112 + ], + "commanded_world_base_velocity": [ + 0.026781440000000177, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4141525328159332, + 15.128668785095215, + 0.12216226756572723 + ], + "box_pose": [ + 0.6087520122528076, + 15.145011901855469, + 0.13603268563747406, + -0.00515001080930233, + -0.006276301573961973, + 0.005385249853134155, + 0.9999526143074036 + ], + "box_yaw_rad": 0.010835693506120337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003520687380178155 + } + }, + { + "simulation_time_ns": 4080000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5275466937331404, + 15.142444953714008, + 0.11788431296188351 + ], + "intended_face_normal": [ + -0.999870233551118, + -0.010829134481609758, + -0.011926689430655899 + ], + "commanded_contact_point": [ + 0.4345392102801504, + 15.14301636874498, + 0.1188119607506758 + ], + "centerline_face_intersection": [ + 0.5275266525185462, + 15.143281128732394, + 0.11880523603019583 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4168326258659363, + 15.125765800476074, + 0.11995434761047363 + ], + "box_pose": [ + 0.6088286638259888, + 15.145071983337402, + 0.13603182137012482, + -0.005373508203774691, + -0.005992549005895853, + 0.005382618401199579, + 0.9999531507492065 + ], + "box_yaw_rad": 0.010830116475857812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003575875939673749 + } + }, + { + "simulation_time_ns": 4100000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5276234897064302, + 15.142507940442202, + 0.11793853545891929 + ], + "intended_face_normal": [ + -0.9998778253628722, + -0.010833507733051738, + -0.011268072596585394 + ], + "commanded_contact_point": [ + 0.43816450565804177, + 15.143033712896967, + 0.11881497863869903 + ], + "centerline_face_intersection": [ + 0.5276046210478085, + 15.143344453142573, + 0.1188086032216415 + ], + "commanded_world_base_velocity": [ + 0.005564160000000094, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4200143814086914, + 15.129080772399902, + 0.11994405090808868 + ], + "box_pose": [ + 0.6089172959327698, + 15.14514446258545, + 0.13603156805038452, + -0.005637702532112598, + -0.005664658732712269, + 0.005385068245232105, + 0.99995356798172 + ], + "box_yaw_rad": 0.010834407524656307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003625338122743408 + } + }, + { + "simulation_time_ns": 4120000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5277137587018768, + 15.142579187019825, + 0.1180011998748038 + ], + "intended_face_normal": [ + -0.999886309534004, + -0.010825725151210112, + -0.010496269665551427 + ], + "commanded_contact_point": [ + 0.44183387505256067, + 15.143055427891234, + 0.11881768839225078 + ], + "centerline_face_intersection": [ + 0.5276962004136738, + 15.143415098785695, + 0.11881167263192846 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4225567579269409, + 15.133831977844238, + 0.12124189734458923 + ], + "box_pose": [ + 0.6090214252471924, + 15.145225524902344, + 0.1360304057598114, + -0.005939824040979147, + -0.005280344747006893, + 0.005381746217608452, + 0.9999539256095886 + ], + "box_yaw_rad": 0.010826533046633523, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036694346481675184 + } + }, + { + "simulation_time_ns": 4140000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5278180980481261, + 15.14266386942821, + 0.11807340922076684 + ], + "intended_face_normal": [ + -0.9998952031755085, + -0.010830651721882974, + -0.009606230660180074 + ], + "commanded_contact_point": [ + 0.4455418468239237, + 15.143083439227098, + 0.11882001935200792 + ], + "centerline_face_intersection": [ + 0.5278019133606295, + 15.14350016160078, + 0.11881515733669831 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.42528843879699707, + 15.136913299560547, + 0.12245851755142212 + ], + "box_pose": [ + 0.6091416478157043, + 15.145322799682617, + 0.1360289752483368, + -0.006292364560067654, + -0.00483722286298871, + 0.005385135766118765, + 0.9999540448188782 + ], + "box_yaw_rad": 0.010831363266026134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037080783062842138 + } + }, + { + "simulation_time_ns": 4160000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5279389031695044, + 15.14275859567675, + 0.11815709002897858 + ], + "intended_face_normal": [ + -0.9999045346617099, + -0.010843010051362685, + -0.008564501395977541 + ], + "commanded_contact_point": [ + 0.44928342282280415, + 15.143118233162653, + 0.1188216063259191 + ], + "centerline_face_intersection": [ + 0.527924159693598, + 15.14359584210161, + 0.11881840069276393 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4285581111907959, + 15.139315605163574, + 0.12385433912277222 + ], + "box_pose": [ + 0.6092809438705444, + 15.145432472229004, + 0.13602647185325623, + -0.006695440970361233, + -0.004318558145314455, + 0.005392840132117271, + 0.9999536871910095 + ], + "box_yaw_rad": 0.010843620249380117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003741738111070256 + } + }, + { + "simulation_time_ns": 4180000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.528079190421606, + 15.142866820515076, + 0.11825339440954699 + ], + "intended_face_normal": [ + -0.9999140370997524, + -0.010851950948894696, + -0.007358912856817898 + ], + "commanded_contact_point": [ + 0.45305401976935283, + 15.143161346069574, + 0.11882222100265671 + ], + "centerline_face_intersection": [ + 0.5280659145463105, + 15.143704757314145, + 0.1188216151758331 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4332239031791687, + 15.142145156860352, + 0.1256718635559082 + ], + "box_pose": [ + 0.6094425320625305, + 15.145557403564453, + 0.13602301478385925, + -0.0071574617177248, + -0.0037182788364589214, + 0.005399615969508886, + 0.9999529719352722 + ], + "box_yaw_rad": 0.010852457821749732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037708434645173155 + } + }, + { + "simulation_time_ns": 4200000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.528240759318922, + 15.142996700931983, + 0.11836469953384342 + ], + "intended_face_normal": [ + -0.999923270745427, + -0.010853807275142891, + -0.005970553600509186 + ], + "commanded_contact_point": [ + 0.4568491128689506, + 15.143215891789227, + 0.11882177323417306 + ], + "centerline_face_intersection": [ + 0.5282289095173353, + 15.143834781067866, + 0.1188257177043318 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.43890413641929626, + 15.145658493041992, + 0.12726226449012756 + ], + "box_pose": [ + 0.6096284985542297, + 15.145706176757812, + 0.13601934909820557, + -0.007699503563344479, + -0.0030270314309746027, + 0.005403860472142696, + 0.9999512434005737 + ], + "box_yaw_rad": 0.010854213864200112, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037954850902939285 + } + }, + { + "simulation_time_ns": 4220000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5284284553946273, + 15.143144656145347, + 0.11849356724306356 + ], + "intended_face_normal": [ + -0.9999315754391033, + -0.010855921833082857, + -0.004358142668193255 + ], + "commanded_contact_point": [ + 0.46066522142177263, + 15.143282969679506, + 0.11881972822833439 + ], + "centerline_face_intersection": [ + 0.5284178881851889, + 15.143982899557487, + 0.11883008259725894 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4440820515155792, + 15.148772239685059, + 0.12812508642673492 + ], + "box_pose": [ + 0.6098443269729614, + 15.145875930786133, + 0.1360146403312683, + -0.008325030095875263, + -0.0022242225240916014, + 0.005409724079072475, + 0.999948263168335 + ], + "box_yaw_rad": 0.010856238177652197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038166985880908554 + } + }, + { + "simulation_time_ns": 4240000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5286440937417909, + 15.14331529802283, + 0.1186407083466125 + ], + "intended_face_normal": [ + -0.9999379211541897, + -0.010854934201861625, + -0.002514804234625176 + ], + "commanded_contact_point": [ + 0.46449851096088046, + 15.14336554615097, + 0.11881580297042332 + ], + "centerline_face_intersection": [ + 0.5286345065690683, + 15.144153465174716, + 0.1188348897450149 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.44873249530792236, + 15.150367736816406, + 0.1283148229122162 + ], + "box_pose": [ + 0.6100918650627136, + 15.146071434020996, + 0.13600896298885345, + -0.009046588093042374, + -0.0013064717641100287, + 0.005415953695774078, + 0.9999435544013977 + ], + "box_yaw_rad": 0.010855181712048615, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038341808736577403 + } + }, + { + "simulation_time_ns": 4260000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5288928606495161, + 15.143512336871206, + 0.11880934872133006 + ], + "intended_face_normal": [ + -0.9999409700195523, + -0.010858334452632689, + -0.000391215074366685 + ], + "commanded_contact_point": [ + 0.4683464461825209, + 15.143467123948495, + 0.11880926437074638 + ], + "centerline_face_intersection": [ + 0.5288837443434995, + 15.14435076657452, + 0.11883955651610416 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.45303022861480713, + 15.149147987365723, + 0.12907780706882477 + ], + "box_pose": [ + 0.6103770136833191, + 15.146297454833984, + 0.13600143790245056, + -0.009877133183181286, + -0.0002492270723450929, + 0.005427050404250622, + 0.9999364614486694 + ], + "box_yaw_rad": 0.010858548667407531, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00384928126696099 + } + }, + { + "simulation_time_ns": 4280000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5291800067118545, + 15.143738893585013, + 0.11900198257702167 + ], + "intended_face_normal": [ + -0.9999389361819827, + -0.01085817283938805, + 0.0020552371346253123 + ], + "commanded_contact_point": [ + 0.4722070767725238, + 15.143591020186655, + 0.1187991858003889 + ], + "centerline_face_intersection": [ + 0.5291705763001636, + 15.14457731080931, + 0.11884328679650914 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.45525923371315, + 15.146344184875488, + 0.1278533935546875 + ], + "box_pose": [ + 0.6107056140899658, + 15.146556854248047, + 0.13599099218845367, + -0.010827906429767609, + 0.0009687865385785699, + 0.005439978092908859, + 0.9999261498451233 + ], + "box_yaw_rad": 0.010858409147486129, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038626312803420374 + } + }, + { + "simulation_time_ns": 4300000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5295066034210496, + 15.143986711571296, + 0.11922479896604098 + ], + "intended_face_normal": [ + -0.9999297119643775, + -0.010831790474040313, + 0.004821145361227257 + ], + "commanded_contact_point": [ + 0.47607742432360683, + 15.143735988972018, + 0.11878749502963164 + ], + "centerline_face_intersection": [ + 0.529495748414078, + 15.144823091672972, + 0.11885253271356114 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4541405439376831, + 15.145598411560059, + 0.12549832463264465 + ], + "box_pose": [ + 0.6110785603523254, + 15.146838188171387, + 0.13598418235778809, + -0.011859931983053684, + 0.002346211113035679, + 0.005444199778139591, + 0.9999120831489563 + ], + "box_yaw_rad": 0.010832128190355948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003873079238671079 + } + }, + { + "simulation_time_ns": 4320000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5298549802270739, + 15.144249980443337, + 0.11946161172002698 + ], + "intended_face_normal": [ + -0.9999117005942931, + -0.010780822157219271, + 0.007769484505665087 + ], + "commanded_contact_point": [ + 0.47994692836057296, + 15.143901482320695, + 0.11877275562658393 + ], + "centerline_face_intersection": [ + 0.5298413434923298, + 15.14508242501043, + 0.11886168853499199 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.45388510823249817, + 15.145757675170898, + 0.12313960492610931 + ], + "box_pose": [ + 0.6114757061004639, + 15.147134780883789, + 0.13597606122493744, + -0.012944567017257214, + 0.003814722876995802, + 0.005440366920083761, + 0.9998941421508789 + ], + "box_yaw_rad": 0.010781356428882921, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038730694275413507 + } + }, + { + "simulation_time_ns": 4340000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5301032352171098, + 15.144492254745167, + 0.11965616084743277 + ], + "intended_face_normal": [ + -0.9998934077345246, + -0.010770711855105707, + 0.009857227124136652 + ], + "commanded_contact_point": [ + 0.4837577314849198, + 15.14407533198574, + 0.11877225723400042 + ], + "centerline_face_intersection": [ + 0.5300867732292243, + 15.145323918642108, + 0.11889503196074623 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4560714364051819, + 15.146464347839355, + 0.12110725045204163 + ], + "box_pose": [ + 0.6117578744888306, + 15.147411346435547, + 0.135996013879776, + -0.013962846249341965, + 0.004853065591305494, + 0.005453795660287142, + 0.9998758435249329 + ], + "box_yaw_rad": 0.01077144345077425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038147666254913708 + } + }, + { + "simulation_time_ns": 4360000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5300979335140583, + 15.14450504012427, + 0.1196600995579701 + ], + "intended_face_normal": [ + -0.9998938086891529, + -0.010769428588855365, + 0.009817876830178063 + ], + "commanded_contact_point": [ + 0.48742348641802424, + 15.144156564482596, + 0.11877447497998316 + ], + "centerline_face_intersection": [ + 0.5300815334524366, + 15.145336604933407, + 0.11890200911658408 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.45929646492004395, + 15.147993087768555, + 0.12163187563419342 + ], + "box_pose": [ + 0.611751914024353, + 15.147425651550293, + 0.13600297272205353, + -0.014010327868163586, + 0.004833141807466745, + 0.005453108809888363, + 0.9998751878738403 + ], + "box_yaw_rad": 0.010770155878134891, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036666555423877055 + } + }, + { + "simulation_time_ns": 4380000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5300696400140621, + 15.14449401473134, + 0.11964671056752677 + ], + "intended_face_normal": [ + -0.9998960003780414, + -0.010779517058006581, + 0.009580730909592362 + ], + "commanded_contact_point": [ + 0.4910285989910002, + 15.144227417329514, + 0.11877759826979059 + ], + "centerline_face_intersection": [ + 0.530053578451908, + 15.145326358524787, + 0.11890693142284157 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4612453877925873, + 15.150782585144043, + 0.12182214856147766 + ], + "box_pose": [ + 0.6117197275161743, + 15.147414207458496, + 0.1360090970993042, + -0.01397476252168417, + 0.004714698065072298, + 0.005456320475786924, + 0.9998762607574463 + ], + "box_yaw_rad": 0.010780220619739107, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003605810109349206 + } + }, + { + "simulation_time_ns": 4400000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.530015037078829, + 15.144460968597755, + 0.11961355640978187 + ], + "intended_face_normal": [ + -0.999900205367061, + -0.010785734694042093, + 0.009123992944041995 + ], + "commanded_contact_point": [ + 0.49456227435180317, + 15.144285804976526, + 0.11878148687869525 + ], + "centerline_face_intersection": [ + 0.5299996249619492, + 15.145293792487921, + 0.11890904443048192 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.46241527795791626, + 15.150579452514648, + 0.11929951608181 + ], + "box_pose": [ + 0.6116576790809631, + 15.147377014160156, + 0.13601379096508026, + -0.013840273953974247, + 0.004487030673772097, + 0.0054556275717914104, + 0.9998793005943298 + ], + "box_yaw_rad": 0.010786392821575978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035341598427559504 + } + }, + { + "simulation_time_ns": 4420000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5299348599826267, + 15.144406369092158, + 0.11956164499980422 + ], + "intended_face_normal": [ + -0.9999061812920835, + -0.010780519554267148, + 0.008450386291873089 + ], + "commanded_contact_point": [ + 0.4980155656089784, + 15.144329352099712, + 0.11878660908851689 + ], + "centerline_face_intersection": [ + 0.5299203708209526, + 15.14523879029367, + 0.11890914576960433 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4643062353134155, + 15.1454496383667, + 0.11575716733932495 + ], + "box_pose": [ + 0.6115665435791016, + 15.147314071655273, + 0.1360178142786026, + -0.013611222617328167, + 0.004151529166847467, + 0.005447399336844683, + 0.9998839497566223 + ], + "box_yaw_rad": 0.010781113339249575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003453569616477164 + } + }, + { + "simulation_time_ns": 4440000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5298302475993653, + 15.144326052423763, + 0.11949107145005461 + ], + "intended_face_normal": [ + -0.9999131006485488, + -0.010792620694224, + 0.007570370715528274 + ], + "commanded_contact_point": [ + 0.5013798284630546, + 15.144354929459222, + 0.11879256049421068 + ], + "centerline_face_intersection": [ + 0.5298168270948213, + 15.145159408018595, + 0.11890652289882914 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4680574834346771, + 15.140804290771484, + 0.11475509405136108 + ], + "box_pose": [ + 0.6114475131034851, + 15.147223472595215, + 0.13602040708065033, + -0.013285008259117603, + 0.003713240148499608, + 0.005446239374577999, + 0.9998900890350342 + ], + "box_yaw_rad": 0.010793139523638256, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033643653445882223 + } + }, + { + "simulation_time_ns": 4460000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5296985837639875, + 15.144221321234514, + 0.1193999784750126 + ], + "intended_face_normal": [ + -0.9999207174691459, + -0.010809368244875956, + 0.006458819211683467 + ], + "commanded_contact_point": [ + 0.5046443371706769, + 15.144360300847438, + 0.11879965160160791 + ], + "centerline_face_intersection": [ + 0.5296863396275799, + 15.145055969996728, + 0.11890125872208523 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.4729556441307068, + 15.139753341674805, + 0.11694034934043884 + ], + "box_pose": [ + 0.6112975478172302, + 15.14710521697998, + 0.13602177798748016, + -0.012853877618908882, + 0.0031597327906638384, + 0.005445856600999832, + 0.9998975992202759 + ], + "box_yaw_rad": 0.010809804238611498, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003264520828200865 + } + }, + { + "simulation_time_ns": 4480000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5295427111797688, + 15.144094967825508, + 0.11929067837714231 + ], + "intended_face_normal": [ + -0.9999283234535172, + -0.010815182320784352, + 0.005136127025583085 + ], + "commanded_contact_point": [ + 0.5078016303369379, + 15.14434411378052, + 0.11880822320994557 + ], + "centerline_face_intersection": [ + 0.529531641728971, + 15.144930065523416, + 0.11889409071657289 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.47733762860298157, + 15.142112731933594, + 0.11903446912765503 + ], + "box_pose": [ + 0.61111980676651, + 15.146961212158203, + 0.13602250814437866, + -0.012329043820500374, + 0.002501241397112608, + 0.005438939668238163, + 0.9999061226844788 + ], + "box_yaw_rad": 0.010815535832829173, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031573462957558847 + } + }, + { + "simulation_time_ns": 4500000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5293834984533697, + 15.14396413330524, + 0.11917883972471527 + ], + "intended_face_normal": [ + -0.9999340982857027, + -0.010838192123646105, + 0.003785850399454338 + ], + "commanded_contact_point": [ + 0.5108567425650887, + 15.144317704553924, + 0.11881751579318092 + ], + "centerline_face_intersection": [ + 0.5293733208748852, + 15.144801007712298, + 0.11888651409769965 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.48010122776031494, + 15.145410537719727, + 0.11870548129081726 + ], + "box_pose": [ + 0.6109380722045898, + 15.14681339263916, + 0.13602298498153687, + -0.011782904155552387, + 0.0018289702711626887, + 0.00544111430644989, + 0.9999140501022339 + ], + "box_yaw_rad": 0.010838481997664648, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030552405021453113 + } + }, + { + "simulation_time_ns": 4520000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5292196059959824, + 15.143826174217025, + 0.11906286852236891 + ], + "intended_face_normal": [ + -0.9999383348481687, + -0.010844197099783279, + 0.0023937228802405714 + ], + "commanded_contact_point": [ + 0.513801748622891, + 15.144276747269357, + 0.11882731055226309 + ], + "centerline_face_intersection": [ + 0.529210082714234, + 15.144663512300204, + 0.11887803645875414 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.48225849866867065, + 15.146204948425293, + 0.11787828803062439 + ], + "box_pose": [ + 0.6107508540153503, + 15.146656036376953, + 0.13602280616760254, + -0.011207046918570995, + 0.0011360370554029942, + 0.005435254890471697, + 0.9999218583106995 + ], + "box_yaw_rad": 0.010844440721159384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029453071345712668 + } + }, + { + "simulation_time_ns": 4540000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.529046466983549, + 15.143678420212957, + 0.11893992904787874 + ], + "intended_face_normal": [ + -0.9999407385193684, + -0.010847462028685471, + 0.0009230503247312123 + ], + "commanded_contact_point": [ + 0.5166262219470437, + 15.144219593998008, + 0.11883795820571011 + ], + "centerline_face_intersection": [ + 0.5290373149246991, + 15.144516010398645, + 0.11886865542729858 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.48713070154190063, + 15.145842552185059, + 0.11835888028144836 + ], + "box_pose": [ + 0.6105529069900513, + 15.14648723602295, + 0.1360221654176712, + -0.010589923709630966, + 0.0004040675121359527, + 0.005428394768387079, + 0.9999291300773621 + ], + "box_yaw_rad": 0.010847679393503324, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028250715792347736 + } + }, + { + "simulation_time_ns": 4560000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5288598329659415, + 15.143516515361066, + 0.11880632321653024 + ], + "intended_face_normal": [ + -0.9999409078578765, + -0.010850312094693256, + -0.0006719669238996993 + ], + "commanded_contact_point": [ + 0.5193195573179276, + 15.144142429342393, + 0.11884984680642152 + ], + "centerline_face_intersection": [ + 0.5288507070596914, + 15.144354325615495, + 0.11885820935349727 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.49409055709838867, + 15.144821166992188, + 0.12079708278179169 + ], + "box_pose": [ + 0.6103391647338867, + 15.146302223205566, + 0.13602115213871002, + -0.009914129972457886, + -0.00038975916686467826, + 0.005421638023108244, + 0.9999361634254456 + ], + "box_yaw_rad": 0.01085052745557522, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026944667641218543 + } + }, + { + "simulation_time_ns": 4580000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5286530180966031, + 15.143339287430816, + 0.11865783053657297 + ], + "intended_face_normal": [ + -0.9999382676065565, + -0.010839676075515527, + -0.002441799482143535 + ], + "commanded_contact_point": [ + 0.521868884597487, + 15.144042500514978, + 0.1188633402777477 + ], + "centerline_face_intersection": [ + 0.5286434844300495, + 15.144176276421685, + 0.11884637485009547 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5007272958755493, + 15.143294334411621, + 0.12251368165016174 + ], + "box_pose": [ + 0.6101020574569702, + 15.146098136901855, + 0.13601970672607422, + -0.009161656722426414, + -0.0012705236440524459, + 0.005408508703112602, + 0.9999425411224365 + ], + "box_yaw_rad": 0.01083992067843774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025513207212389407 + } + }, + { + "simulation_time_ns": 4600000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.528422154248642, + 15.14313595477336, + 0.11849035028114599 + ], + "intended_face_normal": [ + -0.9999315612671996, + -0.010831720265206016, + -0.004421156353680239 + ], + "commanded_contact_point": [ + 0.52426299493707, + 15.143911367344366, + 0.1188777573530279 + ], + "centerline_face_intersection": [ + 0.5284115848504778, + 15.143972329453838, + 0.11883173125684696 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.505456268787384, + 15.142056465148926, + 0.12221857905387878 + ], + "box_pose": [ + 0.609836995601654, + 15.145864486694336, + 0.1360166370868683, + -0.008302735164761543, + -0.002255507744848728, + 0.0053974115289747715, + 0.9999484419822693 + ], + "box_yaw_rad": 0.010832037953265174, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002397742287776616 + } + }, + { + "simulation_time_ns": 4620000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.528171043113878, + 15.14293199828935, + 0.11831550855604331 + ], + "intended_face_normal": [ + -0.9999196801404648, + -0.01083207476789771, + -0.006580230666738231 + ], + "commanded_contact_point": [ + 0.5264969008179334, + 15.143769252348461, + 0.11890045694287649 + ], + "centerline_face_intersection": [ + 0.5281586387693656, + 15.143768400342866, + 0.11882360313258518 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.508459210395813, + 15.140981674194336, + 0.12179037928581238 + ], + "box_pose": [ + 0.6095481514930725, + 15.145630836486816, + 0.1360207200050354, + -0.007442898117005825, + -0.003330402774736285, + 0.005391506943851709, + 0.9999522566795349 + ], + "box_yaw_rad": 0.010832521139919598, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022385368944908388 + } + }, + { + "simulation_time_ns": 4640000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5279503968945388, + 15.142760888465059, + 0.11816422929059606 + ], + "intended_face_normal": [ + -0.9999055340790809, + -0.010816681419729884, + -0.008480702732787782 + ], + "commanded_contact_point": [ + 0.5286068739122154, + 15.14364345434911, + 0.11892388243923929 + ], + "centerline_face_intersection": [ + 0.5279358077739436, + 15.143596101916364, + 0.11881906941429785 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5116277933120728, + 15.140877723693848, + 0.12277372181415558 + ], + "box_pose": [ + 0.6092939972877502, + 15.14543342590332, + 0.13602671027183533, + -0.006718645337969065, + -0.004276694264262915, + 0.005379855632781982, + 0.9999538064002991 + ], + "box_yaw_rad": 0.01081728138135998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021138496514923376 + } + }, + { + "simulation_time_ns": 4660000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5293370507026418, + 15.144483976715623, + 0.11890927983020418 + ], + "intended_face_normal": [ + -0.9999768572637466, + 0.006617618168480367, + -0.0015786302557726781 + ], + "commanded_contact_point": [ + 0.5319834072501393, + 15.143761356543378, + 0.1190222821243768 + ], + "centerline_face_intersection": [ + 0.5293334767139962, + 15.143972995251398, + 0.11903117426095375 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5149867534637451, + 15.14233112335205, + 0.1256035417318344 + ], + "box_pose": [ + 0.6108364462852478, + 15.145769119262695, + 0.13620635867118835, + -0.007675123866647482, + -0.0007639005780220032, + -0.0033147886861115694, + 0.9999648332595825 + ], + "box_yaw_rad": -0.0066176747161500816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003380023788016809 + } + }, + { + "simulation_time_ns": 4680000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5310708740758248, + 15.146804152908295, + 0.11970497622551646 + ], + "intended_face_normal": [ + -0.9997961089226701, + 0.01782391790124497, + 0.009489387394242493 + ], + "commanded_contact_point": [ + 0.5355370862934239, + 15.144932366663966, + 0.11882596432412361 + ], + "centerline_face_intersection": [ + 0.5310393838381288, + 15.14542787349242, + 0.11897225019904278 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5174498558044434, + 15.14391040802002, + 0.12875708937644958 + ], + "box_pose": [ + 0.6127694845199585, + 15.147381782531738, + 0.13607554137706757, + -0.013730146922171116, + 0.00486686360090971, + -0.008846421726047993, + 0.9998546838760376 + ], + "box_yaw_rad": -0.017825664479583923, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037467906431900557 + } + }, + { + "simulation_time_ns": 4700000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5317010706927233, + 15.148199768865172, + 0.12044339736752864 + ], + "intended_face_normal": [ + -0.9997356198039274, + 0.017831934579065706, + 0.014515942720998778 + ], + "commanded_contact_point": [ + 0.5380029154147392, + 15.14624843624284, + 0.11907804700525382 + ], + "centerline_face_intersection": [ + 0.5316602368945225, + 15.146822870439001, + 0.11932254429360627 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5185816884040833, + 15.1439847946167, + 0.13086466491222382 + ], + "box_pose": [ + 0.6134842038154602, + 15.148979187011719, + 0.13637775182724, + -0.019660111516714096, + 0.007432360202074051, + -0.008772121742367744, + 0.9997406005859375 + ], + "box_yaw_rad": -0.017834759043624367, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002806403048403518 + } + }, + { + "simulation_time_ns": 4720000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5319124255883939, + 15.14885547647694, + 0.12073453770174536 + ], + "intended_face_normal": [ + -0.9997166601688277, + 0.01747531132546545, + 0.0161620840125035 + ], + "commanded_contact_point": [ + 0.5399364706558695, + 15.14695053489771, + 0.11921312357372049 + ], + "centerline_face_intersection": [ + 0.5318686630396637, + 15.147506114827245, + 0.11948657731125686 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5188044309616089, + 15.14250659942627, + 0.13199986517429352 + ], + "box_pose": [ + 0.6137228608131409, + 15.149759292602539, + 0.13652148842811584, + -0.02245022915303707, + 0.008275766856968403, + -0.008554624393582344, + 0.9996771812438965 + ], + "box_yaw_rad": -0.017478484085858514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020615101433228995 + } + }, + { + "simulation_time_ns": 4740000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5318868507312515, + 15.148767690314079, + 0.12069307114110145 + ], + "intended_face_normal": [ + -0.9997201113234356, + 0.017470538168152375, + 0.015952406339702692 + ], + "commanded_contact_point": [ + 0.5414778597801153, + 15.14693326956166, + 0.11919908874887503 + ], + "centerline_face_intersection": [ + 0.5318436212966478, + 15.147418697225223, + 0.11946130107793848 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5197492837905884, + 15.14004135131836, + 0.13069579005241394 + ], + "box_pose": [ + 0.6136937737464905, + 15.149659156799316, + 0.13649891316890717, + -0.02207707241177559, + 0.008167693391442299, + -0.008557635359466076, + 0.9996862411499023 + ], + "box_yaw_rad": -0.017473650724706483, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015415497074310353 + } + }, + { + "simulation_time_ns": 4760000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5315884002289788, + 15.14796613085006, + 0.12026524959103989 + ], + "intended_face_normal": [ + -0.9997560030741612, + 0.017473174874212054, + 0.01351378671489089 + ], + "commanded_contact_point": [ + 0.5425764627765268, + 15.146220181758991, + 0.1190100458263588 + ], + "centerline_face_intersection": [ + 0.5315507150324377, + 15.146616934167119, + 0.11922177830771737 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5222453474998474, + 15.135591506958008, + 0.12106308341026306 + ], + "box_pose": [ + 0.6133546829223633, + 15.1487398147583, + 0.13628612458705902, + -0.018632765859365463, + 0.006918939296156168, + -0.008609688840806484, + 0.9997653365135193 + ], + "box_yaw_rad": -0.01747566008372953, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013233140158683398 + } + }, + { + "simulation_time_ns": 4780000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5308771220464389, + 15.146692728855683, + 0.11956906425349059 + ], + "intended_face_normal": [ + -0.9998219523252536, + 0.017240041222826456, + 0.007671023212972805 + ], + "commanded_contact_point": [ + 0.5430793832152426, + 15.145043120851879, + 0.11885972677381836 + ], + "centerline_face_intersection": [ + 0.5308496235840088, + 15.145361533660816, + 0.11897674378807897 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5247804522514343, + 15.132011413574219, + 0.11468583345413208 + ], + "box_pose": [ + 0.6125452518463135, + 15.14730453491211, + 0.13608978688716888, + -0.01332908309996128, + 0.003950248938053846, + -0.00856851041316986, + 0.9998666048049927 + ], + "box_yaw_rad": -0.017241402688122583, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012887967893687243 + } + }, + { + "simulation_time_ns": 4800000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5322913480059441, + 15.14878477380698, + 0.11977375080782698 + ], + "intended_face_normal": [ + -0.9992687188116685, + 0.03684355384323337, + 0.010226448167085407 + ], + "commanded_contact_point": [ + 0.5453532566374406, + 15.145343239814602, + 0.11883001154893934 + ], + "centerline_face_intersection": [ + 0.532178374470095, + 15.145939887231362, + 0.11898411240240643 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5267543792724609, + 15.133377075195312, + 0.11249712109565735 + ], + "box_pose": [ + 0.6139997839927673, + 15.147851943969727, + 0.13607876002788544, + -0.014976841397583485, + 0.005389586091041565, + -0.018346469849348068, + 0.9997050166130066 + ], + "box_yaw_rad": -0.03685382248287005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002293786111771136 + } + }, + { + "simulation_time_ns": 4820000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5342435755416748, + 15.152918654414181, + 0.12036142862091231 + ], + "intended_face_normal": [ + -0.9976737306198038, + 0.06672816024812589, + 0.013945597922871061 + ], + "commanded_contact_point": [ + 0.5478002985421709, + 15.14672591318954, + 0.11907249207088322 + ], + "centerline_face_intersection": [ + 0.5338839094735728, + 15.147766218573889, + 0.11928461489961512 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5284472703933716, + 15.137269973754883, + 0.11322498321533203 + ], + "box_pose": [ + 0.6159572005271912, + 15.149686813354492, + 0.13634362816810608, + -0.0192103274166584, + 0.007617250084877014, + -0.03324322775006294, + 0.999233603477478 + ], + "box_yaw_rad": -0.06678428331424269, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028210984649227858 + } + }, + { + "simulation_time_ns": 4840000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5360439142684985, + 15.156658582341437, + 0.12099352078382444 + ], + "intended_face_normal": [ + -0.995766045512946, + 0.0902048021731177, + 0.017693964365516027 + ], + "commanded_contact_point": [ + 0.5498472516646833, + 15.148315213038073, + 0.11935920377838873 + ], + "centerline_face_intersection": [ + 0.5353886719430384, + 15.149693390225321, + 0.11962727577100332 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5306159257888794, + 15.140095710754395, + 0.11590050160884857 + ], + "box_pose": [ + 0.617732584476471, + 15.151664733886719, + 0.13664646446704865, + -0.023934299126267433, + 0.009935603477060795, + -0.044925060123205185, + 0.9986541867256165 + ], + "box_yaw_rad": -0.09034176525391399, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002607315611415303 + } + }, + { + "simulation_time_ns": 4860000000, + "phase": "normal_approach", + "intended_face_center": [ + 0.5380548112372647, + 15.16037061340599, + 0.12176267346841377 + ], + "intended_face_normal": [ + -0.9934738708908328, + 0.1118508736688173, + 0.02233942433483374 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.150047856050897, + 0.11970155821890956 + ], + "centerline_face_intersection": [ + 0.5370436667905817, + 15.151734013084385, + 0.12003772780579877 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.533504068851471, + 15.142398834228516, + 0.11920906603336334 + ], + "box_pose": [ + 0.6197093725204468, + 15.15379810333252, + 0.13700494170188904, + -0.02976359985768795, + 0.01285299938172102, + -0.05565846711397171, + 0.9979233741760254 + ], + "box_yaw_rad": -0.11211351348565249, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026501574589484983 + } + }, + { + "simulation_time_ns": 4880000000, + "phase": "straight_push", + "intended_face_center": [ + 0.541194874915037, + 15.165229413026463, + 0.12266224047887042 + ], + "intended_face_normal": [ + -0.9892700187192656, + 0.14340783756127343, + 0.02791105099906943 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.154494511504497, + 0.12050707991437912 + ], + "centerline_face_intersection": [ + 0.5395288507532529, + 15.15415613183181, + 0.12050707991437912 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5373900532722473, + 15.145696640014648, + 0.12141315639019012 + ], + "box_pose": [ + 0.6227167248725891, + 15.156298637390137, + 0.13740745186805725, + -0.036746371537446976, + 0.016632679849863052, + -0.07133263349533081, + 0.9966368079185486 + ], + "box_yaw_rad": -0.14396046839561116, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003383796726864574, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004519027541950462 + } + }, + { + "simulation_time_ns": 4900000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5455819068756025, + 15.171325039175443, + 0.12364207989153386 + ], + "intended_face_normal": [ + -0.9819041256887476, + 0.1862731992162979, + 0.034155389888089194 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.157538969188748, + 0.1210047607395575 + ], + "centerline_face_intersection": [ + 0.5427615986802935, + 15.156941895624668, + 0.1210047607395575 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5419725179672241, + 15.150474548339844, + 0.1233038455247879 + ], + "box_pose": [ + 0.6267827749252319, + 15.159143447875977, + 0.13782022893428802, + -0.04512711614370346, + 0.021379204466938972, + -0.09268692880868912, + 0.9944424629211426 + ], + "box_yaw_rad": -0.18747826836356773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005970735640794089, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003084867711092719 + } + }, + { + "simulation_time_ns": 4920000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5495338416908847, + 15.1769460044474, + 0.12483299632891103 + ], + "intended_face_normal": [ + -0.9743168954604375, + 0.22120965481577798, + 0.04210559466395353 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.160617137723731, + 0.12158179961950609 + ], + "centerline_face_intersection": [ + 0.5455153082262202, + 15.159865231510558, + 0.12158179961950609 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5453146696090698, + 15.155994415283203, + 0.12516948580741882 + ], + "box_pose": [ + 0.6304354667663574, + 15.162214279174805, + 0.13828273117542267, + -0.055417049676179886, + 0.0273654293268919, + -0.10996674746274948, + 0.9920118451118469 + ], + "box_yaw_rad": -0.2232560223345221, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000751906213173612, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00313178789172188 + } + }, + { + "simulation_time_ns": 4940000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5518831775415427, + 15.180373104020964, + 0.12611430732049184 + ], + "intended_face_normal": [ + -0.9718577410505218, + 0.22993784891930302, + 0.05119694103396055 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.163455382695771, + 0.1221611194472492 + ], + "centerline_face_intersection": [ + 0.5474742264859679, + 15.162618380836538, + 0.1221611194472492 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5465875864028931, + 15.160490989685059, + 0.1273742914199829 + ], + "box_pose": [ + 0.6328570246696472, + 15.16529655456543, + 0.13872088491916656, + -0.06728462874889374, + 0.03356727585196495, + -0.11377331614494324, + 0.9906572699546814 + ], + "box_yaw_rad": -0.23232408533686819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000837001859232771, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002896764744352692 + } + }, + { + "simulation_time_ns": 4960000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5534635396129951, + 15.182820329818776, + 0.1271323004257961 + ], + "intended_face_normal": [ + -0.9712619610095409, + 0.23060919005050862, + 0.05890335339539354 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.165962406940379, + 0.12258405950293443 + ], + "centerline_face_intersection": [ + 0.5489598491661356, + 15.165013768818165, + 0.12258405950293443 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5461019277572632, + 15.162222862243652, + 0.12970684468746185 + ], + "box_pose": [ + 0.6345981955528259, + 15.168020248413086, + 0.13901157677173615, + -0.0777859166264534, + 0.038674212992191315, + -0.11346067488193512, + 0.9897375106811523 + ], + "box_yaw_rad": -0.2331159374223496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009486381222132677, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025424493807652874 + } + }, + { + "simulation_time_ns": 4980000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5546133192224906, + 15.18487843732993, + 0.12772921689196332 + ], + "intended_face_normal": [ + -0.97090409343709, + 0.230762625327678, + 0.063983306733018 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.168174306269703, + 0.12278872577748151 + ], + "centerline_face_intersection": [ + 0.5500526928517968, + 15.167060028776227, + 0.12278872577748151 + ], + "commanded_world_base_velocity": [ + 0.015144032921810845, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5431870222091675, + 15.162919044494629, + 0.12881188094615936 + ], + "box_pose": [ + 0.6358697414398193, + 15.170352935791016, + 0.1391044408082962, + -0.086811363697052, + 0.04226773977279663, + -0.11296632885932922, + 0.988896369934082 + ], + "box_yaw_rad": -0.23334836983124466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011142774934771891, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002221347997726666 + } + }, + { + "simulation_time_ns": 5000000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5554517769685324, + 15.18647602937975, + 0.12817137278977633 + ], + "intended_face_normal": [ + -0.9709639792835627, + 0.22938800351210187, + 0.06789767305974603 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.169984723189087, + 0.12292863265061185 + ], + "centerline_face_intersection": [ + 0.5509006798058566, + 15.168763762681044, + 0.12292863265061185 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5382452011108398, + 15.166096687316895, + 0.1255759447813034 + ], + "box_pose": [ + 0.6368230581283569, + 15.172293663024902, + 0.1391516774892807, + -0.09401935338973999, + 0.04498658329248428, + -0.11177753657102585, + 0.9882521629333496 + ], + "box_yaw_rad": -0.23199402995973117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012209605080431628, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018158147909791162 + } + }, + { + "simulation_time_ns": 5020000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5562696988470621, + 15.187759136793353, + 0.12860750659536052 + ], + "intended_face_normal": [ + -0.9705827623513734, + 0.2298115865884972, + 0.07180346056655518 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.171236221028115, + 0.12306317984778639 + ], + "centerline_face_intersection": [ + 0.5516579310129026, + 15.170014162994436, + 0.12306317984778639 + ], + "commanded_world_base_velocity": [ + 0.02761744855967067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5345814228057861, + 15.169986724853516, + 0.1229175329208374 + ], + "box_pose": [ + 0.6377149820327759, + 15.173712730407715, + 0.13920733332633972, + -0.0994751900434494, + 0.04758754000067711, + -0.1115528792142868, + 0.9876214265823364 + ], + "box_yaw_rad": -0.23249520770831206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012220580336799712, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012587095730789838 + } + }, + { + "simulation_time_ns": 5040000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5568728357165543, + 15.188705398158493, + 0.12891650333150265 + ], + "intended_face_normal": [ + -0.9702923474482062, + 0.23012254313311248, + 0.07467515643717892 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.172004198599819, + 0.12315043768582014 + ], + "centerline_face_intersection": [ + 0.5522148318822266, + 15.170936413752372, + 0.12315043768582014 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5335301756858826, + 15.174793243408203, + 0.12184344232082367 + ], + "box_pose": [ + 0.6383714079856873, + 15.174758911132812, + 0.13923494517803192, + -0.10349268466234207, + 0.04950049892067909, + -0.11137112230062485, + 0.9871349930763245 + ], + "box_yaw_rad": -0.23286574582492708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010677848474467309, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007729188061741425 + } + }, + { + "simulation_time_ns": 5060000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5572729289047399, + 15.189331909236593, + 0.1291151237615319 + ], + "intended_face_normal": [ + -0.9700952220311276, + 0.2303298344420473, + 0.0765729718738799 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.172290796978878, + 0.12320251770115853 + ], + "centerline_face_intersection": [ + 0.5525835332592242, + 15.171546918766982, + 0.12320251770115853 + ], + "commanded_world_base_velocity": [ + 0.04223999999999988, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5335785746574402, + 15.179644584655762, + 0.1247483640909195 + ], + "box_pose": [ + 0.638806164264679, + 15.175451278686523, + 0.1392468363046646, + -0.1061510220170021, + 0.05076514557003975, + -0.11124427616596222, + 0.9868026375770569 + ], + "box_yaw_rad": -0.2331136600480259, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007438782118955342, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00029129187918135993 + } + }, + { + "simulation_time_ns": 5080000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5574834224052724, + 15.18966090447197, + 0.12921789536221112 + ], + "intended_face_normal": [ + -0.9699899257122023, + 0.2304383541912043, + 0.07757390066848213 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.172107497879383, + 0.12322800227075956 + ], + "centerline_face_intersection": [ + 0.552777255847708, + 15.17186753461586, + 0.12322800227075956 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5328824520111084, + 15.184465408325195, + 0.12800480425357819 + ], + "box_pose": [ + 0.6390346884727478, + 15.175814628601074, + 0.13925102353096008, + -0.10754069685935974, + 0.05143066495656967, + -0.11117519438266754, + 0.9866255521774292 + ], + "box_yaw_rad": -0.23324396148723328, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00023996326352211357, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018506221430509906 + } + }, + { + "simulation_time_ns": 5100000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5575359163352493, + 15.189737493270394, + 0.12924277310759194 + ], + "intended_face_normal": [ + -0.9699614190874944, + 0.23047197281383247, + 0.07783010135692614 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.171674584646238, + 0.12323309739955784 + ], + "centerline_face_intersection": [ + 0.5528252091054354, + 15.171941527541787, + 0.12323309739955784 + ], + "commanded_world_base_velocity": [ + 0.0580003292181069, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5317955017089844, + 15.184614181518555, + 0.127694770693779 + ], + "box_pose": [ + 0.6390914916992188, + 15.175898551940918, + 0.1392509639263153, + -0.10786665230989456, + 0.051597997546195984, + -0.11116176098585129, + 0.9865828156471252 + ], + "box_yaw_rad": -0.2332833782151106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00026694289554861003, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004329432154091807 + } + }, + { + "simulation_time_ns": 5120000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5574668611453452, + 15.189622416359253, + 0.12920850696317684 + ], + "intended_face_normal": [ + -0.969994520130521, + 0.2304386364699026, + 0.0775155751518104 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.1713093120135, + 0.12322311749480414 + ], + "centerline_face_intersection": [ + 0.5527614263959544, + 15.171829024706906, + 0.12322311749480414 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5313740372657776, + 15.17814826965332, + 0.12421001493930817 + ], + "box_pose": [ + 0.6390163898468018, + 15.17577075958252, + 0.139248326420784, + -0.10737278312444687, + 0.05138247460126877, + -0.11118714511394501, + 0.986644983291626 + ], + "box_yaw_rad": -0.23324317181609053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005197126934051968, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003654089417711676 + } + }, + { + "simulation_time_ns": 5140000000, + "phase": "straight_push", + "intended_face_center": [ + 0.557294268264218, + 15.189345851258931, + 0.12912350444377654 + ], + "intended_face_normal": [ + -0.9700797163906622, + 0.23035180694753954, + 0.0767032010896862 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.17107061077363, + 0.12320084269362427 + ], + "centerline_face_intersection": [ + 0.5526024030990231, + 15.17155916417541, + 0.12320084269362427 + ], + "commanded_world_base_velocity": [ + 0.07388707818930032, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5319521427154541, + 15.170780181884766, + 0.12170222401618958 + ], + "box_pose": [ + 0.6388288140296936, + 15.175464630126953, + 0.13924385607242584, + -0.10619647800922394, + 0.05083693191409111, + -0.11124633997678757, + 0.9867938160896301 + ], + "box_yaw_rad": -0.23313869391635317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004885534017794416, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00023973829206775553 + } + }, + { + "simulation_time_ns": 5160000000, + "phase": "straight_push", + "intended_face_center": [ + 0.557015436057797, + 15.188902010971203, + 0.12898511671044752 + ], + "intended_face_normal": [ + -0.9702212522484248, + 0.2301894354461973, + 0.0753893123227769 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.170845743006119, + 0.12316390729387686 + ], + "centerline_face_intersection": [ + 0.5523461112188928, + 15.171127861454128, + 0.12316390729387686 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5335261225700378, + 15.165966987609863, + 0.12139125168323517 + ], + "box_pose": [ + 0.6385260224342346, + 15.174975395202637, + 0.13923527300357819, + -0.10431364923715591, + 0.04995553195476532, + -0.11132752895355225, + 0.987030565738678 + ], + "box_yaw_rad": -0.23294747164595223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002821184480088593, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022788097028858176 + } + }, + { + "simulation_time_ns": 5180000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5566252230832256, + 15.188285257326674, + 0.12878726820601355 + ], + "intended_face_normal": [ + -0.9704100317040768, + 0.22999353089939656, + 0.07353472622641544 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.170469058095385, + 0.12310926123704921 + ], + "centerline_face_intersection": [ + 0.551985957089164, + 15.170526234640677, + 0.12310926123704921 + ], + "commanded_world_base_velocity": [ + 0.08888888888888882, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5346217155456543, + 15.164902687072754, + 0.12131032347679138 + ], + "box_pose": [ + 0.63810133934021, + 15.17429256439209, + 0.13921986520290375, + -0.10168235003948212, + 0.04871625453233719, + -0.11145272850990295, + 0.9873529672622681 + ], + "box_yaw_rad": -0.23271264362444927, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -5.7176545291924064e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00038062805138507885 + } + }, + { + "simulation_time_ns": 5200000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5561138112384554, + 15.187479703174569, + 0.12852099852856846 + ], + "intended_face_normal": [ + -0.970646510320238, + 0.2297627936711264, + 0.07109434509348711 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.169840992714525, + 0.12303142635484676 + ], + "centerline_face_intersection": [ + 0.5515121906013329, + 15.169738496936084, + 0.12303142635484676 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5341230630874634, + 15.165746688842773, + 0.12066633999347687 + ], + "box_pose": [ + 0.6375436186790466, + 15.1733980178833, + 0.13919267058372498, + -0.09823104739189148, + 0.047088172286748886, + -0.1116219013929367, + 0.9877620339393616 + ], + "box_yaw_rad": -0.23243288194420125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00010249577844049861, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006328699641498321 + } + }, + { + "simulation_time_ns": 5220000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5554967333597687, + 15.186490148961962, + 0.12816487532034257 + ], + "intended_face_normal": [ + -0.9709188046875677, + 0.22957194434369788, + 0.06792204555044523 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.16898483281795, + 0.12292025325165795 + ], + "centerline_face_intersection": [ + 0.550938447941599, + 15.168763679214203, + 0.12292025325165795 + ], + "commanded_world_base_velocity": [ + 0.10199440329218103, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5325949788093567, + 15.165797233581543, + 0.12212161719799042 + ], + "box_pose": [ + 0.6368638277053833, + 15.172284126281738, + 0.139145627617836, + -0.09376491606235504, + 0.044979408383369446, + -0.11188141256570816, + 0.9882649779319763 + ], + "box_yaw_rad": -0.23218386787729337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00022115360374691274, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008633476862629947 + } + }, + { + "simulation_time_ns": 5240000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5547583632185451, + 15.185302305486344, + 0.12771505479914327 + ], + "intended_face_normal": [ + -0.9712403298158818, + 0.22932365337239868, + 0.06405373329522812 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.167880709802795, + 0.1227691256755527 + ], + "centerline_face_intersection": [ + 0.5502512319107316, + 15.167595007603877, + 0.1227691256755527 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5341171026229858, + 15.16598129272461, + 0.12528477609157562 + ], + "box_pose": [ + 0.6360476613044739, + 15.17094612121582, + 0.1390703171491623, + -0.08833517879247665, + 0.04240814596414566, + -0.11216676980257034, + 0.9888463020324707 + ], + "box_yaw_rad": -0.23186760602621204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00028570219891761863, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011144178645619359 + } + }, + { + "simulation_time_ns": 5260000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5538708428729131, + 15.183878278669594, + 0.12715181475464205 + ], + "intended_face_normal": [ + -0.9716092727230174, + 0.22901148828532647, + 0.05940673088034143 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.166480183317304, + 0.12256470538126418 + ], + "centerline_face_intersection": [ + 0.5494223882961295, + 15.166195084712315, + 0.12256470538126418 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5384727120399475, + 15.166210174560547, + 0.1291777491569519 + ], + "box_pose": [ + 0.6350646615028381, + 15.169342994689941, + 0.1389535665512085, + -0.0818324014544487, + 0.03931988775730133, + -0.1124691516160965, + 0.9894989132881165 + ], + "box_yaw_rad": -0.23147832584128272, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00028509860498836275, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014153664166131781 + } + }, + { + "simulation_time_ns": 5280000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5528079593130216, + 15.18217769074899, + 0.126445142868162 + ], + "intended_face_normal": [ + -0.9720268353748983, + 0.22861447190291473, + 0.053844731303071436 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.164765395121167, + 0.1222875050381183 + ], + "centerline_face_intersection": [ + 0.548425886312333, + 15.164525152536308, + 0.1222875050381183 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5428134799003601, + 15.16564655303955, + 0.13232319056987762 + ], + "box_pose": [ + 0.6338846683502197, + 15.16742992401123, + 0.1387765109539032, + -0.07406927645206451, + 0.035623859614133835, + -0.11277199536561966, + 0.9902157187461853 + ], + "box_yaw_rad": -0.2309954021388792, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00024024258485866285, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017370488156216463 + } + }, + { + "simulation_time_ns": 5300000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5522026935665929, + 15.180649799852379, + 0.12577213358442493 + ], + "intended_face_normal": [ + -0.9711246348097424, + 0.23354237936809474, + 0.04873292805361107 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.162776352481771, + 0.12200920524694184 + ], + "centerline_face_intersection": [ + 0.5476771573846348, + 15.162616751717847, + 0.12200920524694184 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5451857447624207, + 15.164632797241211, + 0.1330462247133255 + ], + "box_pose": [ + 0.6330731511116028, + 15.16520881652832, + 0.13859933614730835, + -0.06513918936252594, + 0.032209206372499466, + -0.11575944721698761, + 0.9906155467033386 + ], + "box_yaw_rad": -0.23600494817503187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00015960076392410345, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020084176346328968 + } + }, + { + "simulation_time_ns": 5320000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5523910855373337, + 15.18011494313538, + 0.1251238884562208 + ], + "intended_face_normal": [ + -0.9674817565209359, + 0.24905690630559987, + 0.04415545982710711 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.160930088897615, + 0.12171441076476683 + ], + "centerline_face_intersection": [ + 0.5472848781510795, + 15.16088393593318, + 0.12171441076476683 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5456507802009583, + 15.16372013092041, + 0.13284751772880554 + ], + "box_pose": [ + 0.6328854560852051, + 15.163150787353516, + 0.1383853256702423, + -0.05760721117258072, + 0.02951415814459324, + -0.12404852360486984, + 0.99016273021698 + ], + "box_yaw_rad": -0.2519574235446864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 4.615296443489542e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018696505044796033 + } + }, + { + "simulation_time_ns": 5340000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5529231025652637, + 15.180215249050233, + 0.12454290091319656 + ], + "intended_face_normal": [ + -0.9626013669261826, + 0.2679235766825343, + 0.04019409377181837 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.159423820616079, + 0.12143930134521984 + ], + "centerline_face_intersection": [ + 0.5470354144917086, + 15.159527445972415, + 0.12143930134521984 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5464094877243042, + 15.1632719039917, + 0.1336948126554489 + ], + "box_pose": [ + 0.6329706311225891, + 15.161515235900879, + 0.13816988468170166, + -0.052026987075805664, + 0.02736206352710724, + -0.13397997617721558, + 0.9892390370368958 + ], + "box_yaw_rad": -0.27146208214061357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00010362535633646557, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001531185595767721 + } + }, + { + "simulation_time_ns": 5360000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5542302018232167, + 15.181322670224125, + 0.12419887873247556 + ], + "intended_face_normal": [ + -0.9555723794867024, + 0.29230899247755504, + 0.03790604818879917 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.158445848198795, + 0.12127195132243535 + ], + "centerline_face_intersection": [ + 0.547209721903227, + 15.158751939610834, + 0.12127195132243535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5479220747947693, + 15.163813591003418, + 0.13564804196357727 + ], + "box_pose": [ + 0.6337147355079651, + 15.160496711730957, + 0.13803651928901672, + -0.04854901507496834, + 0.0264008529484272, + -0.14668607711791992, + 0.9876381158828735 + ], + "box_yaw_rad": -0.29686023785024007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003060914120398198, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009921875221413766 + } + }, + { + "simulation_time_ns": 5380000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5548653370036915, + 15.181796727693904, + 0.12397004012060572 + ], + "intended_face_normal": [ + -0.9516526431186317, + 0.3050099115196966, + 0.03641702490085996 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.157706359295073, + 0.12115808811116516 + ], + "centerline_face_intersection": [ + 0.5472093666371254, + 15.158245291629811, + 0.12115808811116516 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5485309362411499, + 15.164066314697266, + 0.1370428502559662 + ], + "box_pose": [ + 0.6340246200561523, + 15.159852981567383, + 0.13794401288032532, + -0.046391237527132034, + 0.025662487372756004, + -0.15334638953208923, + 0.9867492914199829 + ], + "box_yaw_rad": -0.3101614272892172, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005389323347380074, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007482036284388415 + } + }, + { + "simulation_time_ns": 5400000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5543220587506152, + 15.181113100882383, + 0.1235637810305936 + ], + "intended_face_normal": [ + -0.9517810172115414, + 0.3049171096898566, + 0.03374102764005982 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.156841219237663, + 0.12095845698967186 + ], + "centerline_face_intersection": [ + 0.546686944558989, + 15.157568830540713, + 0.12095845698967186 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5471058487892151, + 15.162285804748535, + 0.13651393353939056 + ], + "box_pose": [ + 0.6334124207496643, + 15.159076690673828, + 0.1377800852060318, + -0.043117593973875046, + 0.02379740960896015, + -0.15343785285949707, + 0.9869303107261658 + ], + "box_yaw_rad": -0.3100337995319175, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007276113030508927, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008878738106310184 + } + }, + { + "simulation_time_ns": 5420000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5534081344603795, + 15.179929621621907, + 0.1228845659834255 + ], + "intended_face_normal": [ + -0.9520075363937813, + 0.30466158922691844, + 0.02937638074244231 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.155612300339023, + 0.12061625952281589 + ], + "centerline_face_intersection": [ + 0.5458098142936719, + 15.156405081372993, + 0.12061625952281589 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5439203381538391, + 15.158034324645996, + 0.1351025551557541 + ], + "box_pose": [ + 0.6323840618133545, + 15.15774154663086, + 0.13749566674232483, + -0.03750667721033096, + 0.020710831508040428, + -0.15351642668247223, + 0.9872168302536011 + ], + "box_yaw_rad": -0.3097212176198296, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000792781033971011, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012756726718705618 + } + }, + { + "simulation_time_ns": 5440000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5521034808003344, + 15.178235546081972, + 0.121878432512697 + ], + "intended_face_normal": [ + -0.9522519892148327, + 0.3044352401066388, + 0.023137262087696675 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.15406427962173, + 0.1200918815575443 + ], + "centerline_face_intersection": [ + 0.5445448573571896, + 15.154728483451432, + 0.1200918815575443 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5416330099105835, + 15.151514053344727, + 0.13175426423549652 + ], + "box_pose": [ + 0.6309089064598083, + 15.155817985534668, + 0.1370491236448288, + -0.029463863000273705, + 0.016298651695251465, + -0.15365011990070343, + 0.9875514507293701 + ], + "box_yaw_rad": -0.3094310532901127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006642038297027856, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016344235655511537 + } + }, + { + "simulation_time_ns": 5460000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5503829281972761, + 15.176003564310916, + 0.1204883206392375 + ], + "intended_face_normal": [ + -0.9524208982060562, + 0.30442094129773545, + 0.014910711376035501 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.152210268448663, + 0.11933698537969406 + ], + "centerline_face_intersection": [ + 0.5428517276618763, + 15.152497605767396, + 0.11933698537969406 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5418427586555481, + 15.143075942993164, + 0.12167833745479584 + ], + "box_pose": [ + 0.6289503574371338, + 15.153258323669434, + 0.1363881677389145, + -0.018831554800271988, + 0.010480489581823349, + -0.15388213098049164, + 0.9878541827201843 + ], + "box_yaw_rad": -0.30936599072320137, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00028733731873352073, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002001805602248234 + } + }, + { + "simulation_time_ns": 5480000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5480075562811516, + 15.173917983741106, + 0.11912480659163656 + ], + "intended_face_normal": [ + -0.9529566902519937, + 0.30310359229757605, + 0.0013215037119693462 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.150775727630775, + 0.11902276626768171 + ], + "centerline_face_intersection": [ + 0.540563309542525, + 15.150513744714164, + 0.11902276626768171 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5426476001739502, + 15.136780738830566, + 0.11589564383029938 + ], + "box_pose": [ + 0.6262840032577515, + 15.151005744934082, + 0.13617822527885437, + -0.009410561993718147, + 0.0021291745360940695, + -0.15335293114185333, + 0.9881243109703064 + ], + "box_yaw_rad": -0.30794805433553635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002619829166103923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014685506489530748 + } + }, + { + "simulation_time_ns": 5500000000, + "phase": "straight_push", + "intended_face_center": [ + 0.545340744756595, + 15.172962443962067, + 0.11757808731652537 + ], + "intended_face_normal": [ + -0.9530124122279483, + 0.3023974080776404, + -0.017976971468635944 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.150389941357194, + 0.11896618481165307 + ], + "centerline_face_intersection": [ + 0.5379055382060822, + 15.149612733171347, + 0.11896618481165307 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.543739914894104, + 15.13673210144043, + 0.11415117979049683 + ], + "box_pose": [ + 0.6232317686080933, + 15.149979591369629, + 0.13622665405273438, + -0.003978967200964689, + -0.00847980659455061, + -0.15304210782051086, + 0.9881753921508789 + ], + "box_yaw_rad": -0.30725808967615775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007772081858470867, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00038991346482242467 + } + }, + { + "simulation_time_ns": 5520000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5440119812350175, + 15.171670613664073, + 0.11749310649882272 + ], + "intended_face_normal": [ + -0.9528722131126712, + 0.3023064761728471, + -0.02540379661621478 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.149423816074554, + 0.11945466862908607 + ], + "centerline_face_intersection": [ + 0.5365540280887634, + 15.148327924208925, + 0.11945466862908607 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5450128316879272, + 15.140360832214355, + 0.11552771925926208 + ], + "box_pose": [ + 0.6216973662376404, + 15.148507118225098, + 0.1367655098438263, + 0.0022899629548192024, + -0.013208702206611633, + -0.15293601155281067, + 0.9881452322006226 + ], + "box_yaw_rad": -0.3072138048460072, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001095891865629852, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010825961858647838 + } + }, + { + "simulation_time_ns": 5540000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5448433773308176, + 15.172748807574362, + 0.11821051106324701 + ], + "intended_face_normal": [ + -0.9462336821598852, + 0.32274608650462344, + -0.021835307114504016 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.149116277431022, + 0.11989653115644609 + ], + "centerline_face_intersection": [ + 0.5363043123671777, + 15.14782786719122, + 0.11989653115644609 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5463699698448181, + 15.143014907836914, + 0.1181173324584961 + ], + "box_pose": [ + 0.622026801109314, + 15.147750854492188, + 0.1372056007385254, + 0.00692018074914813, + -0.012214739806950092, + -0.16350522637367249, + 0.9864425659179688 + ], + "box_yaw_rad": -0.3287107283603905, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012884102398020756, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005383516604886903 + } + }, + { + "simulation_time_ns": 5560000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5461369169621715, + 15.174722282695358, + 0.11787285888094975 + ], + "intended_face_normal": [ + -0.9402053917239181, + 0.3399066159219967, + -0.021847623180401177 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.149912770873994, + 0.11955982996304325 + ], + "centerline_face_intersection": [ + 0.5366091651387345, + 15.148476286646366, + 0.11955982996304325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5474187135696411, + 15.144774436950684, + 0.12110477685928345 + ], + "box_pose": [ + 0.622889518737793, + 15.148426055908203, + 0.1368607133626938, + 0.0037140636704862118, + -0.01174145471304655, + -0.17250925302505493, + 0.9849309325218201 + ], + "box_yaw_rad": -0.346903888591586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014364842276293642, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008647366641572427 + } + }, + { + "simulation_time_ns": 5580000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5476345502325144, + 15.176882083491414, + 0.11756474770235129 + ], + "intended_face_normal": [ + -0.9380961314405417, + 0.34596664316386083, + -0.01681437599497962 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.151736432220881, + 0.11886307502302859 + ], + "centerline_face_intersection": [ + 0.5377592751672235, + 15.15016816053663, + 0.11886307502302859 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5488147139549255, + 15.146873474121094, + 0.12380903959274292 + ], + "box_pose": [ + 0.6244124174118042, + 15.150349617004395, + 0.13611681759357452, + -0.004685295280069113, + -0.007703936193138361, + -0.1757628619670868, + 0.9843912124633789 + ], + "box_yaw_rad": -0.35332099309917214, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001568271684250817, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019522315832305084 + } + }, + { + "simulation_time_ns": 5600000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5506472879164481, + 15.179495637318825, + 0.11952986497021428 + ], + "intended_face_normal": [ + -0.9334074307238734, + 0.35878756001765266, + 0.0046948031572002225 + ], + "commanded_contact_point": [ + 0.5518231251890741, + 15.153432386562873, + 0.11916735427067866 + ], + "centerline_face_intersection": [ + 0.5399965096839539, + 15.151791743244543, + 0.11916735427067866 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5509927272796631, + 15.149982452392578, + 0.1261807233095169 + ], + "box_pose": [ + 0.6275589466094971, + 15.152167320251465, + 0.13628551363945007, + -0.01462549902498722, + 0.005101314280182123, + -0.1824013739824295, + 0.9831020832061768 + ], + "box_yaw_rad": -0.36697288420235763, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016406433183293956, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017230342395528882 + } + }, + { + "simulation_time_ns": 5620000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5539397369019227, + 15.182434488142944, + 0.1214415068471326 + ], + "intended_face_normal": [ + -0.9274491723708176, + 0.3733958287786921, + 0.02033672689796112 + ], + "commanded_contact_point": [ + 0.5525556254386902, + 15.155232727240968, + 0.11987120009577536 + ], + "centerline_face_intersection": [ + 0.5422974411180268, + 15.153602612010575, + 0.11987120009577536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5528609752655029, + 15.153865814208984, + 0.12800736725330353 + ], + "box_pose": [ + 0.6307942271232605, + 15.154176712036133, + 0.1368647813796997, + -0.024668080732226372, + 0.015133531764149666, + -0.18985886871814728, + 0.9813847541809082 + ], + "box_yaw_rad": -0.3827501911336932, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016301152303930166, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002067167656092953 + } + }, + { + "simulation_time_ns": 5640000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5559814468717204, + 15.184852627679156, + 0.12263654305668595 + ], + "intended_face_normal": [ + -0.9258190214210233, + 0.37696162741821926, + 0.027551572386124823 + ], + "commanded_contact_point": [ + 0.554133688211441, + 15.157309420252226, + 0.12050913974613763 + ], + "centerline_face_intersection": [ + 0.5440666848586524, + 15.155745417285491, + 0.12050913974613763 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5535122752189636, + 15.157398223876953, + 0.12859059870243073 + ], + "box_pose": [ + 0.6329672932624817, + 15.156604766845703, + 0.13740915060043335, + -0.03485307842493057, + 0.02085191011428833, + -0.19145675003528595, + 0.9806604385375977 + ], + "box_yaw_rad": -0.38666828706779904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015640029667345345, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00268512624940688 + } + }, + { + "simulation_time_ns": 5660000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5575203692511155, + 15.186558209864392, + 0.12362792601686527 + ], + "intended_face_normal": [ + -0.9254372128293431, + 0.37738258064367225, + 0.03388747443259155 + ], + "commanded_contact_point": [ + 0.5557173240184784, + 15.158917887206243, + 0.12101129404088688 + ], + "centerline_face_intersection": [ + 0.5455417164485917, + 15.157418495435282, + 0.12101129404088688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.552908182144165, + 15.15903377532959, + 0.12861156463623047 + ], + "box_pose": [ + 0.6346871852874756, + 15.1585111618042, + 0.13782784342765808, + -0.04283170774579048, + 0.025647178292274475, + -0.19137297570705414, + 0.9802469611167908 + ], + "box_yaw_rad": -0.38720245023245115, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014993917709622195, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023124072407845996 + } + }, + { + "simulation_time_ns": 5680000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5585941351211501, + 15.187745563422038, + 0.12428863951424028 + ], + "intended_face_normal": [ + -0.9251268304984801, + 0.3777241649153116, + 0.038272498227457485 + ], + "commanded_contact_point": [ + 0.5571110743284226, + 15.160080224402192, + 0.1213334165494322 + ], + "centerline_face_intersection": [ + 0.5465635228721367, + 15.158579473456166, + 0.1213334165494322 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5511849522590637, + 15.15854549407959, + 0.12691286206245422 + ], + "box_pose": [ + 0.6358821392059326, + 15.159832954406738, + 0.13808873295783997, + -0.048353035002946854, + 0.02896835282444954, + -0.1913045197725296, + 0.9799108505249023 + ], + "box_yaw_rad": -0.38763626474520374, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015007509460252776, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001843184905012542 + } + }, + { + "simulation_time_ns": 5700000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5592165632237677, + 15.188431964052775, + 0.12465907902333 + ], + "intended_face_normal": [ + -0.9249315351597585, + 0.37793771604113635, + 0.04080146118025363 + ], + "commanded_contact_point": [ + 0.5586152422428131, + 15.160748116983946, + 0.12150858139025136 + ], + "centerline_face_intersection": [ + 0.5471532479966168, + 15.159249384669687, + 0.12150858139025136 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5476097464561462, + 15.159299850463867, + 0.12498162686824799 + ], + "box_pose": [ + 0.6365728378295898, + 15.160594940185547, + 0.13822738826274872, + -0.05152374505996704, + 0.030882101505994797, + -0.19126036763191223, + 0.9796995520591736 + ], + "box_yaw_rad": -0.3879080196288143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014987323142580777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016550783476632258 + } + }, + { + "simulation_time_ns": 5720000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5593961999088739, + 15.188625999034704, + 0.12476285199569455 + ], + "intended_face_normal": [ + -0.924874839855287, + 0.37799644473231275, + 0.041535494769659564 + ], + "commanded_contact_point": [ + 0.5604828196763992, + 15.160891527587909, + 0.12155567572858839 + ], + "centerline_face_intersection": [ + 0.5473233894344586, + 15.159438884897291, + 0.12155567572858839 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5460829138755798, + 15.160591125488281, + 0.1242116391658783 + ], + "box_pose": [ + 0.6367719769477844, + 15.160810470581055, + 0.13826386630535126, + -0.052422404289245605, + 0.03143332153558731, + -0.1912446767091751, + 0.9796372652053833 + ], + "box_yaw_rad": -0.3879838955493241, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014526426906184753, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018736675127867558 + } + }, + { + "simulation_time_ns": 5740000000, + "phase": "straight_push", + "intended_face_center": [ + 0.559176876808142, + 15.188381266150518, + 0.12462364960515722 + ], + "intended_face_normal": [ + -0.9249475476298582, + 0.37792046385554584, + 0.040597642874595774 + ], + "commanded_contact_point": [ + 0.562380884885788, + 15.160534494439274, + 0.12148888986653085 + ], + "centerline_face_intersection": [ + 0.5471162432126171, + 15.159200018900355, + 0.12148888986653085 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5480482578277588, + 15.162154197692871, + 0.12461912631988525 + ], + "box_pose": [ + 0.6365271210670471, + 15.160536766052246, + 0.1382109820842743, + -0.05122480168938637, + 0.030719377100467682, + -0.19126564264297485, + 0.9797192811965942 + ], + "box_yaw_rad": -0.3878859743050074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001334475538917843, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019325073246140528 + } + }, + { + "simulation_time_ns": 5760000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5585869158098431, + 15.187723675396162, + 0.12424553296604873 + ], + "intended_face_normal": [ + -0.925147381805467, + 0.3776958647745531, + 0.03805470283165402 + ], + "commanded_contact_point": [ + 0.5640916574001312, + 15.159669711950015, + 0.12130712714109608 + ], + "centerline_face_intersection": [ + 0.5465597445259197, + 15.158559770634543, + 0.12130712714109608 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5514539480209351, + 15.164173126220703, + 0.1286131888628006 + ], + "box_pose": [ + 0.6358681321144104, + 15.159802436828613, + 0.13806617259979248, + -0.04798842966556549, + 0.028785396367311478, + -0.1913052797317505, + 0.9799340963363647 + ], + "box_yaw_rad": -0.3876022712896429, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011099413154714453, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019255204589718278 + } + }, + { + "simulation_time_ns": 5780000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5600936243719271, + 15.18974560226134, + 0.12410403215577587 + ], + "intended_face_normal": [ + -0.9136824667499801, + 0.4047282803897668, + 0.037139928401241695 + ], + "commanded_contact_point": [ + 0.565833752155304, + 15.159250372013428, + 0.12123626092562566 + ], + "centerline_face_intersection": [ + 0.5461338933941631, + 15.158494381042207, + 0.12123626092562566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5539991855621338, + 15.167343139648438, + 0.13265874981880188 + ], + "box_pose": [ + 0.6364588737487793, + 15.159454345703125, + 0.13802453875541687, + -0.0439898706972599, + 0.028268441557884216, + -0.20581462979316711, + 0.9771929979324341 + ], + "box_yaw_rad": -0.4169872569472982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007559909712222178, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017932546218849413 + } + }, + { + "simulation_time_ns": 5800000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5607965290058667, + 15.190620418008505, + 0.12373712734919275 + ], + "intended_face_normal": [ + -0.9085893114911876, + 0.4162440730991623, + 0.03473228494412728 + ], + "commanded_contact_point": [ + 0.5677769529819489, + 15.158885739136215, + 0.12105526306437045 + ], + "centerline_face_intersection": [ + 0.5459698022050253, + 15.158480001240378, + 0.12105526306437045 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.55488121509552, + 15.167236328125, + 0.13202311098575592 + ], + "box_pose": [ + 0.6367284655570984, + 15.159350395202637, + 0.13786223530769348, + -0.043024804443120956, + 0.027143174782395363, + -0.21205799281597137, + 0.9759321212768555 + ], + "box_yaw_rad": -0.4295870013982039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004057378958373191, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019853832913563777 + } + }, + { + "simulation_time_ns": 5820000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5604449483538333, + 15.190262601010792, + 0.12351187306394266 + ], + "intended_face_normal": [ + -0.9086837229028969, + 0.4161571944626425, + 0.033272480820603856 + ], + "commanded_contact_point": [ + 0.5698742765188217, + 15.158423705271229, + 0.12094272801276744 + ], + "centerline_face_intersection": [ + 0.5456343412925698, + 15.158128892603855, + 0.12094272801276744 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5547511577606201, + 15.16090202331543, + 0.12661322951316833 + ], + "box_pose": [ + 0.636333703994751, + 15.158947944641113, + 0.13776953518390656, + -0.04121946170926094, + 0.026001615449786186, + -0.21208973228931427, + 0.9760341644287109 + ], + "box_yaw_rad": -0.42946862928472246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00029481266737434435, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002150559333883675 + } + }, + { + "simulation_time_ns": 5840000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5596605677287682, + 15.189460741074074, + 0.12300303760287759 + ], + "intended_face_normal": [ + -0.9088771258420646, + 0.41598236705059055, + 0.030017177452398514 + ], + "commanded_contact_point": [ + 0.5724844682216644, + 15.157761516017667, + 0.1206852518231553 + ], + "centerline_face_intersection": [ + 0.5448829764246036, + 15.157340532020639, + 0.1206852518231553 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5552308559417725, + 15.154186248779297, + 0.12378673255443573 + ], + "box_pose": [ + 0.635451078414917, + 15.15804386138916, + 0.13755536079406738, + -0.037161532789468765, + 0.023449761793017387, + -0.21215924620628357, + 0.9762466549873352 + ], + "box_yaw_rad": -0.4292290398706011, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000420983997028017, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002705159758930985 + } + }, + { + "simulation_time_ns": 5860000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5584281516801641, + 15.188200641069509, + 0.12218101789942476 + ], + "intended_face_normal": [ + -0.9091187101494187, + 0.41579246442481044, + 0.024896025248946074 + ], + "commanded_contact_point": [ + 0.5757142353057861, + 15.156726748759793, + 0.1202586634946803 + ], + "centerline_face_intersection": [ + 0.5436917903527267, + 15.156095095406936, + 0.1202586634946803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5573191046714783, + 15.15082836151123, + 0.12506575882434845 + ], + "box_pose": [ + 0.6340586543083191, + 15.156615257263184, + 0.13719376921653748, + -0.03076663427054882, + 0.01943528838455677, + -0.2122802734375, + 0.9765310287475586 + ], + "box_yaw_rad": -0.42895573907668266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006316533528562472, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003418203665324075 + } + }, + { + "simulation_time_ns": 5880000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5567247839785483, + 15.186462270780961, + 0.12099863378448769 + ], + "intended_face_normal": [ + -0.9093169982458161, + 0.415722839715868, + 0.017807366088517185 + ], + "commanded_contact_point": [ + 0.5793199735879898, + 15.155124575588587, + 0.11962363242202693 + ], + "centerline_face_intersection": [ + 0.5420222545179564, + 15.154362101212147, + 0.11962363242202693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5597745776176453, + 15.151091575622559, + 0.1256665140390396 + ], + "box_pose": [ + 0.6321222186088562, + 15.154626846313477, + 0.13664230704307556, + -0.02190522477030754, + 0.013879888691008091, + -0.21248258650302887, + 0.9768206477165222 + ], + "box_yaw_rad": -0.4288099269458813, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007624743764397833, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003996444906853466 + } + }, + { + "simulation_time_ns": 5900000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5577072991353528, + 15.188170170461888, + 0.12022609763163661 + ], + "intended_face_normal": [ + -0.8937146119399687, + 0.44843860011506886, + 0.013305523813657683 + ], + "commanded_contact_point": [ + 0.5829238343238831, + 15.154336010740922, + 0.11919870743360893 + ], + "centerline_face_intersection": [ + 0.540317575680919, + 15.153543843183996, + 0.11919870743360893 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.560795783996582, + 15.152801513671875, + 0.12396207451820374 + ], + "box_pose": [ + 0.6316909790039062, + 15.153361320495605, + 0.13628073036670685, + -0.012844011187553406, + 0.009877820499241352, + -0.23031526803970337, + 0.9729812145233154 + ], + "box_yaw_rad": -0.4650620871497589, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007921675569246388, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003713516927182217 + } + }, + { + "simulation_time_ns": 5920000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5580614735964652, + 15.189251428088802, + 0.1195129830870997 + ], + "intended_face_normal": [ + -0.8861428282533976, + 0.4633535578885641, + 0.00737444962102618 + ], + "commanded_contact_point": [ + 0.585638125538826, + 15.154313157840264, + 0.1189435626446881 + ], + "centerline_face_intersection": [ + 0.5393488499696962, + 15.153473437664456, + 0.1189435626446881 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5622195601463318, + 15.152284622192383, + 0.12344102561473846 + ], + "box_pose": [ + 0.6313453912734985, + 15.153213500976562, + 0.13605768978595734, + -0.01215241476893425, + 0.006781972479075193, + -0.238500714302063, + 0.9710426330566406 + ], + "box_yaw_rad": -0.48178999827214974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008397201758075566, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00272635249333213 + } + }, + { + "simulation_time_ns": 5940000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5607095830514377, + 15.19099882621088, + 0.12043444706348908 + ], + "intended_face_normal": [ + -0.8785847251576647, + 0.4773625018952339, + 0.014625647261516717 + ], + "commanded_contact_point": [ + 0.5882204520702362, + 15.155090300888986, + 0.1193051231190331 + ], + "centerline_face_intersection": [ + 0.5406637593304366, + 15.154139130777489, + 0.1193051231190331 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5669220089912415, + 15.151352882385254, + 0.124673992395401 + ], + "box_pose": [ + 0.633588969707489, + 15.153881072998047, + 0.13636741042137146, + -0.01565418764948845, + 0.011522305198013783, + -0.2461196333169937, + 0.9690445065498352 + ], + "box_yaw_rad": -0.4977088052088893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009511701114969639, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027208615564948053 + } + }, + { + "simulation_time_ns": 5960000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5646430244277569, + 15.194229252126135, + 0.12108798032835456 + ], + "intended_face_normal": [ + -0.8657617745209795, + 0.5001220970239447, + 0.018287695089696743 + ], + "commanded_contact_point": [ + 0.5908772099018097, + 15.156753430907749, + 0.11967589021128697 + ], + "centerline_face_intersection": [ + 0.5423053771887042, + 15.155612167410384, + 0.11967589021128697 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5732895731925964, + 15.150859832763672, + 0.12598629295825958 + ], + "box_pose": [ + 0.6366984844207764, + 15.155401229858398, + 0.13668885827064514, + -0.021859193220734596, + 0.015324062667787075, + -0.2586199641227722, + 0.9656102061271667 + ], + "box_yaw_rad": -0.5238363690901764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011412634973654433, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003156236979638059 + } + }, + { + "simulation_time_ns": 5980000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5683755738799264, + 15.197128103231332, + 0.12233978616043331 + ], + "intended_face_normal": [ + -0.8575752253593966, + 0.5137079814992344, + 0.02586268173135764 + ], + "commanded_contact_point": [ + 0.5934674042463303, + 15.158883389450606, + 0.12034279107195492 + ], + "centerline_face_intersection": [ + 0.5445543996052962, + 15.157461980181058, + 0.12034279107195492 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5794417262077332, + 15.150458335876465, + 0.12696316838264465 + ], + "box_pose": [ + 0.6400878429412842, + 15.15740966796875, + 0.1372658908367157, + -0.030813924968242645, + 0.021932579576969147, + -0.2659536600112915, + 0.9632436037063599 + ], + "box_yaw_rad": -0.5397014066333657, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014214092695491586, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003419150025172627 + } + }, + { + "simulation_time_ns": 6000000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5710289809645266, + 15.199259782268907, + 0.12376061047324477 + ], + "intended_face_normal": [ + -0.856551357298581, + 0.5148804944988926, + 0.034897997514539814 + ], + "commanded_contact_point": [ + 0.5957768756151199, + 15.161285484790763, + 0.121065950640279 + ], + "centerline_face_intersection": [ + 0.5470211212553419, + 15.159503123259299, + 0.121065950640279 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5838139057159424, + 15.150479316711426, + 0.12671026587486267 + ], + "box_pose": [ + 0.6430118680000305, + 15.159732818603516, + 0.13787001371383667, + -0.04173674061894417, + 0.02966848388314247, + -0.266165554523468, + 0.9625662565231323 + ], + "box_yaw_rad": -0.5412343406723892, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001782361531464076, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003409791751371696 + } + }, + { + "simulation_time_ns": 6020000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5735501702398167, + 15.201314755491085, + 0.12507261147428977 + ], + "intended_face_normal": [ + -0.8557613180020172, + 0.5155194221265201, + 0.04372981537933707 + ], + "commanded_contact_point": [ + 0.5978429067134857, + 15.163691750574582, + 0.12169600005248503 + ], + "centerline_face_intersection": [ + 0.5493980838792893, + 15.161508761484143, + 0.12169600005248503 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5867536664009094, + 15.151493072509766, + 0.12573595345020294 + ], + "box_pose": [ + 0.6458110809326172, + 15.162014961242676, + 0.13837219774723053, + -0.052375223487615585, + 0.03721467778086662, + -0.26595941185951233, + 0.9618406891822815 + ], + "box_yaw_rad": -0.5421898865221001, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0021829890904391646, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003233506113124269 + } + }, + { + "simulation_time_ns": 6040000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5771049423901824, + 15.204226273767963, + 0.12675423623975243 + ], + "intended_face_normal": [ + -0.8543632271833541, + 0.516657993757768, + 0.055928365691150006 + ], + "commanded_contact_point": [ + 0.5997794914245606, + 15.166929666946105, + 0.12243570992635658 + ], + "centerline_face_intersection": [ + 0.5526972485490664, + 15.164332364595104, + 0.12243570992635658 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5901081562042236, + 15.153974533081055, + 0.12547567486763 + ], + "box_pose": [ + 0.6497258543968201, + 15.16522216796875, + 0.13891461491584778, + -0.06724360585212708, + 0.047705888748168945, + -0.26559844613075256, + 0.9605518579483032 + ], + "box_yaw_rad": -0.543889258844292, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002597302351001147, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003844688995178776 + } + }, + { + "simulation_time_ns": 6060000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5818945086754254, + 15.208576988232997, + 0.12838659537531283 + ], + "intended_face_normal": [ + -0.8507455831650703, + 0.520932011617069, + 0.06972660255283136 + ], + "commanded_contact_point": [ + 0.6016398417949677, + 15.17134174886712, + 0.12300263387121788 + ], + "centerline_face_intersection": [ + 0.5568231625948645, + 15.168353059429467, + 0.12300263387121788 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5939249992370605, + 15.158568382263184, + 0.1266198605298996 + ], + "box_pose": [ + 0.6548306345939636, + 15.16976261138916, + 0.13919204473495483, + -0.08777596801519394, + 0.060797069221735, + -0.2663286030292511, + 0.9579499959945679 + ], + "box_yaw_rad": -0.5494320805741942, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0029886894376524964, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004821698159121118 + } + }, + { + "simulation_time_ns": 6080000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5865489064482773, + 15.212573525642622, + 0.12996933033407165 + ], + "intended_face_normal": [ + -0.8490359986231368, + 0.5214342712928728, + 0.08511271149480226 + ], + "commanded_contact_point": [ + 0.6033698517084122, + 15.175622226948404, + 0.12339732559814685 + ], + "centerline_face_intersection": [ + 0.5611627997031413, + 15.17231081470056, + 0.12339732559814685 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5965051054954529, + 15.1642427444458, + 0.12885066866874695 + ], + "box_pose": [ + 0.6599552035331726, + 15.174253463745117, + 0.13924728333950043, + -0.1082630380988121, + 0.07450860738754272, + -0.26444369554519653, + 0.9554041624069214 + ], + "box_yaw_rad": -0.5507579800689388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003311412247842895, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004633703536511445 + } + }, + { + "simulation_time_ns": 6100000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5911996797863097, + 15.216402406068553, + 0.13124405403562095 + ], + "intended_face_normal": [ + -0.8464763076580545, + 0.5228879780001048, + 0.10032947885492849 + ], + "commanded_contact_point": [ + 0.6049368876218796, + 15.179646634679317, + 0.12349708183126665 + ], + "centerline_face_intersection": [ + 0.5653409146996741, + 15.176027446706758, + 0.12349708183126665 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5973716378211975, + 15.168333053588867, + 0.13144417107105255 + ], + "box_pose": [ + 0.6649808287620544, + 15.178462028503418, + 0.13898108899593353, + -0.12774479389190674, + 0.08792006224393845, + -0.26273924112319946, + 0.9523231387138367 + ], + "box_yaw_rad": -0.553349374236556, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003619187972558535, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004319885466627266 + } + }, + { + "simulation_time_ns": 6120000000, + "phase": "straight_push", + "intended_face_center": [ + 0.5957998128761595, + 15.220255651513213, + 0.1321848836106043 + ], + "intended_face_normal": [ + -0.8433818313177727, + 0.5249075824315772, + 0.11480049322228592 + ], + "commanded_contact_point": [ + 0.6063967394828796, + 15.183742306747789, + 0.12332052748925759 + ], + "centerline_face_intersection": [ + 0.5693674100276399, + 15.179724747761265, + 0.12332052748925759 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5964721441268921, + 15.16976547241211, + 0.13353043794631958 + ], + "box_pose": [ + 0.6698881983757019, + 15.182637214660645, + 0.13841035962104797, + -0.14698074758052826, + 0.10093725472688675, + -0.26099953055381775, + 0.9487295150756836 + ], + "box_yaw_rad": -0.5567161267440484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004017558986524747, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004351651247998306 + } + }, + { + "simulation_time_ns": 6140000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6004609699743396, + 15.224177391653255, + 0.13283758484301478 + ], + "intended_face_normal": [ + -0.8397300552442388, + 0.5274195260704335, + 0.12915899883536142 + ], + "commanded_contact_point": [ + 0.6074594902992249, + 15.188047170620914, + 0.12286453220345528 + ], + "centerline_face_intersection": [ + 0.5733484469121224, + 15.183452527384704, + 0.12286453220345528 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5956344604492188, + 15.169025421142578, + 0.1332172304391861 + ], + "box_pose": [ + 0.6748021245002747, + 15.186835289001465, + 0.1375228762626648, + -0.16630680859088898, + 0.11399108171463013, + -0.2591158151626587, + 0.944567084312439 + ], + "box_yaw_rad": -0.5608126809874098, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004594643236209776, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004457490769979908 + } + }, + { + "simulation_time_ns": 6160000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6052718684468243, + 15.2282245191691, + 0.13321500916581058 + ], + "intended_face_normal": [ + -0.8355333876564366, + 0.5302444579702259, + 0.14396103559960682 + ], + "commanded_contact_point": [ + 0.6085008877515793, + 15.192707427547113, + 0.12209901261097125 + ], + "centerline_face_intersection": [ + 0.5773734445959503, + 15.187281526897127, + 0.12209901261097125 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.5966159701347351, + 15.166500091552734, + 0.12556366622447968 + ], + "box_pose": [ + 0.6798244714736938, + 15.191136360168457, + 0.1362760365009308, + -0.1861184984445572, + 0.1274699866771698, + -0.2568748891353607, + 0.9397481679916382 + ], + "box_yaw_rad": -0.5654856933946184, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005425900649985493, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004836168268209011 + } + }, + { + "simulation_time_ns": 6180000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6104001276542977, + 15.232605564130022, + 0.133245581639935 + ], + "intended_face_normal": [ + -0.8300510602534632, + 0.5346042996353066, + 0.15878749318251018 + ], + "commanded_contact_point": [ + 0.6103591966629028, + 15.197782167055022, + 0.12098475550863715 + ], + "centerline_face_intersection": [ + 0.5814680048791108, + 15.191325925315278, + 0.12098475550863715 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.599105179309845, + 15.165567398071289, + 0.12078087031841278 + ], + "box_pose": [ + 0.6850710511207581, + 15.19565486907959, + 0.1346208155155182, + -0.20686239004135132, + 0.14146415889263153, + -0.25487715005874634, + 0.9339343905448914 + ], + "box_yaw_rad": -0.5721895074872686, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006456241739745039, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005517958134413949 + } + }, + { + "simulation_time_ns": 6200000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6157061312021483, + 15.23762826130349, + 0.13282563245661635 + ], + "intended_face_normal": [ + -0.8236855499684625, + 0.5404535830480595, + 0.17161575603148016 + ], + "commanded_contact_point": [ + 0.6126796501874924, + 15.20333373439389, + 0.11957426798249686 + ], + "centerline_face_intersection": [ + 0.5855635903637093, + 15.195896968233873, + 0.11957426798249686 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6023401021957397, + 15.17138385772705, + 0.11893247067928314 + ], + "box_pose": [ + 0.6904206275939941, + 15.200740814208984, + 0.13259778916835785, + -0.22978059947490692, + 0.1553158015012741, + -0.2530498504638672, + 0.9268459677696228 + ], + "box_yaw_rad": -0.5806799259436163, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007436766160017925, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00618011970265649 + } + }, + { + "simulation_time_ns": 6220000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6213875751997725, + 15.243229711465846, + 0.1318803137850364 + ], + "intended_face_normal": [ + -0.8160693584774594, + 0.5479526326669912, + 0.18378982799018218 + ], + "commanded_contact_point": [ + 0.6147541153430939, + 15.209157238536454, + 0.1176889245230453 + ], + "centerline_face_intersection": [ + 0.5897820591042463, + 15.200919376925865, + 0.1176889245230453 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6051534414291382, + 15.180891990661621, + 0.1193886399269104 + ], + "box_pose": [ + 0.6960583925247192, + 15.206300735473633, + 0.1300063580274582, + -0.2547488212585449, + 0.16979019343852997, + -0.25126999616622925, + 0.9182252883911133 + ], + "box_yaw_rad": -0.5913092524063954, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008237861610587701, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006463058574727373 + } + }, + { + "simulation_time_ns": 6240000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6276384618648511, + 15.249149094430413, + 0.13048680744220578 + ], + "intended_face_normal": [ + -0.8075252798623733, + 0.5555377722408466, + 0.1981937957577422 + ], + "commanded_contact_point": [ + 0.6166865873336792, + 15.215174641526655, + 0.11518321128747229 + ], + "centerline_face_intersection": [ + 0.5943720935759185, + 15.206253070957175, + 0.11518321128747229 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6078166961669922, + 15.189160346984863, + 0.12014392018318176 + ], + "box_pose": [ + 0.70222407579422, + 15.212199211120605, + 0.1266547441482544, + -0.2819901704788208, + 0.18621709942817688, + -0.2481139898300171, + 0.9078790545463562 + ], + "box_yaw_rad": -0.6025934876529385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008921570569480154, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0067986899885054556 + } + }, + { + "simulation_time_ns": 6260000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6344974168980333, + 15.25569793059425, + 0.12823034421460155 + ], + "intended_face_normal": [ + -0.7971901505220949, + 0.5648800238908542, + 0.21306924593741527 + ], + "commanded_contact_point": [ + 0.6185977208614349, + 15.221639913648383, + 0.11177813550467067 + ], + "centerline_face_intersection": [ + 0.5991933620118418, + 15.212080542227216, + 0.11177813550467067 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6108506917953491, + 15.196135520935059, + 0.12088890373706818 + ], + "box_pose": [ + 0.7088729739189148, + 15.218610763549805, + 0.12224611639976501, + -0.31204086542129517, + 0.2042001187801361, + -0.2443506419658661, + 0.895112156867981 + ], + "box_yaw_rad": -0.616467040939496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009559371421166462, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007552927647974003 + } + }, + { + "simulation_time_ns": 6280000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6419921090135952, + 15.262956772576365, + 0.1247849929378855 + ], + "intended_face_normal": [ + -0.7847615092891029, + 0.5762893659039072, + 0.22812269368822768 + ], + "commanded_contact_point": [ + 0.6203985261917114, + 15.228617802743353, + 0.10717042753442618 + ], + "centerline_face_intersection": [ + 0.6041943652206924, + 15.218458408284272, + 0.10717042753442618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6148302555084229, + 15.203457832336426, + 0.12143836915493011 + ], + "box_pose": [ + 0.7159978747367859, + 15.225586891174316, + 0.11644048988819122, + -0.3454282879829407, + 0.2239183485507965, + -0.2397494912147522, + 0.8792383670806885 + ], + "box_yaw_rad": -0.6334094360256901, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01015939445908032, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008553643013260318 + } + }, + { + "simulation_time_ns": 6300000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6501781365328538, + 15.270979623845372, + 0.11977686218548453 + ], + "intended_face_normal": [ + -0.7695814117718771, + 0.590552741875193, + 0.24288252920471365 + ], + "commanded_contact_point": [ + 0.6220564591884613, + 15.236047724396963, + 0.10102261144933855 + ], + "centerline_face_intersection": [ + 0.6092674345962, + 15.225379908500217, + 0.10102261144933855 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6196528673171997, + 15.212669372558594, + 0.12155741453170776 + ], + "box_pose": [ + 0.723586916923523, + 15.233098983764648, + 0.10885898023843765, + -0.38256382942199707, + 0.245616614818573, + -0.23426859080791473, + 0.8593227863311768 + ], + "box_yaw_rad": -0.6545247673853484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010667815896745269, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009785096842472418 + } + }, + { + "simulation_time_ns": 6320000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6590152712635514, + 15.27972311139413, + 0.112731045163976 + ], + "intended_face_normal": [ + -0.7511410720672855, + 0.6081539682548804, + 0.2567798124898255 + ], + "commanded_contact_point": [ + 0.6236830848455429, + 15.2438281341587, + 0.09290371133645393 + ], + "centerline_face_intersection": [ + 0.6142175119704952, + 15.232764311828841, + 0.09290371133645393 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6234058737754822, + 15.222864151000977, + 0.12011106312274933 + ], + "box_pose": [ + 0.7315301895141602, + 15.241035461425781, + 0.09902540594339371, + -0.42376819252967834, + 0.2695029079914093, + -0.22759096324443817, + 0.8342608213424683 + ], + "box_yaw_rad": -0.6805915014536315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011063822329859863, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011362096027222195 + } + }, + { + "simulation_time_ns": 6340000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6683547189837564, + 15.289039939280967, + 0.10305887669729816 + ], + "intended_face_normal": [ + -0.7288839655247425, + 0.6297344144323134, + 0.2686311909603809 + ], + "commanded_contact_point": [ + 0.6253214675188065, + 15.25179059423574, + 0.08231643496088889 + ], + "centerline_face_intersection": [ + 0.6186993635415778, + 15.24041479878974, + 0.08231643496088889 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6252828240394592, + 15.23261547088623, + 0.11576724052429199 + ], + "box_pose": [ + 0.7395888566970825, + 15.249151229858398, + 0.08639813214540482, + -0.46928107738494873, + 0.295644074678421, + -0.21943700313568115, + 0.8026314377784729 + ], + "box_yaw_rad": -0.7125490872252555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011375795446000227, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01334823918406781 + } + }, + { + "simulation_time_ns": 6360000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6779350181605914, + 15.29864408314752, + 0.0901563549777975 + ], + "intended_face_normal": [ + -0.7024645075249967, + 0.655564674921786, + 0.2770896000245724 + ], + "commanded_contact_point": [ + 0.6270091581344605, + 15.259717342633614, + 0.06876079453030536 + ], + "centerline_face_intersection": [ + 0.622255444495837, + 15.248024450984184, + 0.06876079453030536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6256833076477051, + 15.240097045898438, + 0.10854820907115936 + ], + "box_pose": [ + 0.7474055886268616, + 15.257067680358887, + 0.07045267522335052, + -0.5187718272209167, + 0.3239402174949646, + -0.20935730636119843, + 0.7629601359367371 + ], + "box_yaw_rad": -0.7508766663455295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011692891649430097, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.015793575505902584 + } + }, + { + "simulation_time_ns": 6380000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6875298708778328, + 15.308080781223424, + 0.07402324586539763 + ], + "intended_face_normal": [ + -0.6719676229706089, + 0.6837879954311141, + 0.2844177836938222 + ], + "commanded_contact_point": [ + 0.6284716027975082, + 15.267356140568136, + 0.05206183741548369 + ], + "centerline_face_intersection": [ + 0.6245067845433463, + 15.255281876507338, + 0.05206183741548369 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6245921850204468, + 15.245747566223145, + 0.09662656486034393 + ], + "box_pose": [ + 0.7546502351760864, + 15.264410972595215, + 0.050984226167201996, + -0.5713003277778625, + 0.3550807535648346, + -0.19476613402366638, + 0.7138625383377075 + ], + "box_yaw_rad": -0.794116602624295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012074264060797832, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01842132316093468 + } + }, + { + "simulation_time_ns": 6400000000, + "phase": "straight_push", + "intended_face_center": [ + 0.692812184232372, + 15.311811571516973, + 0.06778618633620452 + ], + "intended_face_normal": [ + -0.6559889354033412, + 0.6964209509175667, + 0.2909921191703191 + ], + "commanded_contact_point": [ + 0.6299678879976273, + 15.270314973018838, + 0.04531713850871376 + ], + "centerline_face_intersection": [ + 0.6257563192382207, + 15.25803720917737, + 0.04531713850871376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6218820810317993, + 15.252949714660645, + 0.08356396853923798 + ], + "box_pose": [ + 0.7585499286651611, + 15.26712703704834, + 0.0427895151078701, + -0.5963467955589294, + 0.37156274914741516, + -0.18424618244171143, + 0.6872881650924683 + ], + "box_yaw_rad": -0.8152855344576356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012277763841466866, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007515618551683172 + } + }, + { + "simulation_time_ns": 6420000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6935033780231827, + 15.310830453796468, + 0.06675699062684806 + ], + "intended_face_normal": [ + -0.665763446429704, + 0.6873734421253417, + 0.29030448468894576 + ], + "commanded_contact_point": [ + 0.6318888711929321, + 15.269895566917846, + 0.044341038711692864 + ], + "centerline_face_intersection": [ + 0.6289304072970137, + 15.257754697688375, + 0.044341038711692864 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.621826708316803, + 15.261177062988281, + 0.07234306633472443 + ], + "box_pose": [ + 0.7599100470542908, + 15.267026901245117, + 0.04197000712156296, + -0.5958289504051208, + 0.3663419783115387, + -0.18141618371009827, + 0.6912810206413269 + ], + "box_yaw_rad": -0.801367101165169, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012140869229470611, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021951876293240095 + } + }, + { + "simulation_time_ns": 6440000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6945062081905939, + 15.310461280169319, + 0.06792620829483328 + ], + "intended_face_normal": [ + -0.6611788202258899, + 0.6856924519521872, + 0.3044149153351867 + ], + "commanded_contact_point": [ + 0.6339778053760529, + 15.269221330731591, + 0.04442071504790303 + ], + "centerline_face_intersection": [ + 0.6287750259188358, + 15.257515322245128, + 0.04442071504790303 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6222231388092041, + 15.268386840820312, + 0.0634678453207016 + ], + "box_pose": [ + 0.7605218291282654, + 15.266800880432129, + 0.04187434911727905, + -0.5951865911483765, + 0.37215420603752136, + -0.17581762373447418, + 0.6901755928993225 + ], + "box_yaw_rad": -0.8035965807308534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011706008486463235, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021964946562232535 + } + }, + { + "simulation_time_ns": 6460000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6952076596607939, + 15.310213230610408, + 0.06873189134777088 + ], + "intended_face_normal": [ + -0.6578658313501631, + 0.6845520415361364, + 0.31400808217125586 + ], + "commanded_contact_point": [ + 0.6359776306152344, + 15.268425833496742, + 0.04448565871218875 + ], + "centerline_face_intersection": [ + 0.6286325422786407, + 15.257355329834478, + 0.04448565871218875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6223978996276855, + 15.273242950439453, + 0.05932711064815521 + ], + "box_pose": [ + 0.7609400153160095, + 15.266650199890137, + 0.0418151319026947, + -0.5948095321655273, + 0.3761606216430664, + -0.17196008563041687, + 0.6893000602722168 + ], + "box_yaw_rad": -0.8052747578954635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011070503662264246, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002153214925977108 + } + }, + { + "simulation_time_ns": 6480000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6956402150501517, + 15.310057332397786, + 0.06919903975100758 + ], + "intended_face_normal": [ + -0.6557746459295117, + 0.6838197711605858, + 0.3199218983131402 + ], + "commanded_contact_point": [ + 0.6379195499420166, + 15.267591783874062, + 0.04449616994561532 + ], + "centerline_face_intersection": [ + 0.6285293397423195, + 15.257255974108775, + 0.04449616994561532 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6223288178443909, + 15.275623321533203, + 0.056602537631988525 + ], + "box_pose": [ + 0.7611938118934631, + 15.266556739807129, + 0.04175062105059624, + -0.5945352911949158, + 0.3786205053329468, + -0.16958534717559814, + 0.6887778639793396 + ], + "box_yaw_rad": -0.8063306401153487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010335809765287111, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021134805253069685 + } + }, + { + "simulation_time_ns": 6500000000, + "phase": "straight_push", + "intended_face_center": [ + 0.695820756812137, + 15.309989170701554, + 0.06936972351839801 + ], + "intended_face_normal": [ + -0.654893440626827, + 0.683510799490179, + 0.3223779337693422 + ], + "commanded_contact_point": [ + 0.6401135671138763, + 15.266888146630015, + 0.04447721016427749 + ], + "centerline_face_intersection": [ + 0.6284834024452318, + 15.257211669757062, + 0.04447721016427749 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6233512163162231, + 15.27369499206543, + 0.05247771739959717 + ], + "box_pose": [ + 0.7612992525100708, + 15.266514778137207, + 0.041701409965753555, + -0.5943995714187622, + 0.379637748003006, + -0.1686074137687683, + 0.6885752081871033 + ], + "box_yaw_rad": -0.8067766065720238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009676476872952408, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023041649669532033 + } + }, + { + "simulation_time_ns": 6520000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6954866295245156, + 15.308490793107689, + 0.0680639217483108 + ], + "intended_face_normal": [ + -0.6700749180293286, + 0.6753603910636627, + 0.3080388325457051 + ], + "commanded_contact_point": [ + 0.6428898918628693, + 15.265552824559729, + 0.04427860659638131 + ], + "centerline_face_intersection": [ + 0.6319928226966647, + 15.256342628508357, + 0.04427860659638131 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6257395148277283, + 15.267999649047852, + 0.046488940715789795 + ], + "box_pose": [ + 0.762042760848999, + 15.265851020812988, + 0.04169873520731926, + -0.5975307822227478, + 0.3691558241844177, + -0.16937094926834106, + 0.6913713812828064 + ], + "box_yaw_rad": -0.7893265914750732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009210196051372608, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003087152007991314 + } + }, + { + "simulation_time_ns": 6540000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6955465878790831, + 15.305913175003246, + 0.06655931142734506 + ], + "intended_face_normal": [ + -0.6938349309516347, + 0.6588774566958548, + 0.290643442830806 + ], + "commanded_contact_point": [ + 0.6463923501968384, + 15.263989856494328, + 0.04411718675286328 + ], + "centerline_face_intersection": [ + 0.6378335406663105, + 15.255037745355306, + 0.04411718675286328 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6270312070846558, + 15.261489868164062, + 0.03979259729385376 + ], + "box_pose": [ + 0.7637252807617188, + 15.264925956726074, + 0.04176604747772217, + -0.6028448343276978, + 0.3538103997707367, + -0.16703513264656067, + 0.6953384876251221 + ], + "box_yaw_rad": -0.7595614106994059, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008952111139022351, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038387680211927 + } + }, + { + "simulation_time_ns": 6560000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6965347350133296, + 15.304227650300318, + 0.06655252860432936 + ], + "intended_face_normal": [ + -0.7051949868851817, + 0.6467842378276814, + 0.2904654194793004 + ], + "commanded_contact_point": [ + 0.6503874409198761, + 15.26314324956013, + 0.04412415005881768 + ], + "centerline_face_intersection": [ + 0.6414916031447454, + 15.254286002343482, + 0.04412415005881768 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6280273199081421, + 15.256657600402832, + 0.03390157222747803 + ], + "box_pose": [ + 0.7654179334640503, + 15.264425277709961, + 0.04177616909146309, + -0.6058706045150757, + 0.3485005497932434, + -0.16108964383602142, + 0.696791410446167 + ], + "box_yaw_rad": -0.7422211337871546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008857247216648363, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004083814598382771 + } + }, + { + "simulation_time_ns": 6580000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6972976823598714, + 15.303608842943849, + 0.06707321608895206 + ], + "intended_face_normal": [ + -0.70668431090197, + 0.6425193209033893, + 0.2962535871102858 + ], + "commanded_contact_point": [ + 0.6546175229549408, + 15.26280678669248, + 0.044197902362841796 + ], + "centerline_face_intersection": [ + 0.6426003077515126, + 15.253996511886129, + 0.044197902362841796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6288866400718689, + 15.255170822143555, + 0.0288764089345932 + ], + "box_pose": [ + 0.7662261128425598, + 15.264216423034668, + 0.041773006319999695, + -0.6067065000534058, + 0.3493267297744751, + -0.15693527460098267, + 0.6965984106063843 + ], + "box_yaw_rad": -0.7378762924623931, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008810274806351333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004244083020751801 + } + }, + { + "simulation_time_ns": 6600000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6977867347315534, + 15.303480362298865, + 0.06765557866347838 + ], + "intended_face_normal": [ + -0.7044517318565009, + 0.6419409631209589, + 0.3027531802896526 + ], + "commanded_contact_point": [ + 0.6586608338356018, + 15.26264502040403, + 0.04427839680972667 + ], + "centerline_face_intersection": [ + 0.6425706858990373, + 15.253912689318868, + 0.04427839680972667 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6292484998703003, + 15.255861282348633, + 0.024161070585250854 + ], + "box_pose": [ + 0.7665245532989502, + 15.264137268066406, + 0.041766878217458725, + -0.6066011190414429, + 0.35206902027130127, + -0.15434227883815765, + 0.6958885192871094 + ], + "box_yaw_rad": -0.7390031472138047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008732331085160755, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004047346113903513 + } + }, + { + "simulation_time_ns": 6620000000, + "phase": "straight_push", + "intended_face_center": [ + 0.6985511692901489, + 15.302880406317685, + 0.06906163796386752 + ], + "intended_face_normal": [ + -0.7024193603595688, + 0.6375317301848433, + 0.3164812656536533 + ], + "commanded_contact_point": [ + 0.6615717160701752, + 15.262383413338096, + 0.0446244376893315 + ], + "centerline_face_intersection": [ + 0.6428610445581368, + 15.25365319364296, + 0.0446244376893315 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.63103187084198, + 15.253705978393555, + 0.02747468650341034 + ], + "box_pose": [ + 0.767052412033081, + 15.263948440551758, + 0.04195307567715645, + -0.6066495776176453, + 0.35640421509742737, + -0.14753425121307373, + 0.695115864276886 + ], + "box_yaw_rad": -0.7370105908810567, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008730219695136942, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029430287003117867 + } + }, + { + "simulation_time_ns": 6640000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7044387461279787, + 15.299030797246104, + 0.0772772338812315 + ], + "intended_face_normal": [ + -0.6907973887080859, + 0.6123757395749827, + 0.38444099288113875 + ], + "commanded_contact_point": [ + 0.6641755151748657, + 15.260440863118944, + 0.04759250193548948 + ], + "centerline_face_intersection": [ + 0.6460018048951763, + 15.251746012283071, + 0.04759250193548948 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6380037665367126, + 15.252630233764648, + 0.03829796612262726 + ], + "box_pose": [ + 0.7716373801231384, + 15.262413024902344, + 0.04431552812457085, + -0.6031246185302734, + 0.37623780965805054, + -0.11422090977430344, + 0.6940023899078369 + ], + "box_yaw_rad": -0.725293186463988, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008694850835873855, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004400304137310843 + } + }, + { + "simulation_time_ns": 6660000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7121496943139706, + 15.293692473402084, + 0.08656463942910853 + ], + "intended_face_normal": [ + -0.6764086199608434, + 0.5824988183150293, + 0.4507400453070787 + ], + "commanded_contact_point": [ + 0.6667777347564697, + 15.257208468473678, + 0.05176060533826666 + ], + "centerline_face_intersection": [ + 0.6502239639651587, + 15.248714644292848, + 0.05176060533826666 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.647516131401062, + 15.253740310668945, + 0.05133785307407379 + ], + "box_pose": [ + 0.7778738737106323, + 15.25975227355957, + 0.048205967992544174, + -0.5929332971572876, + 0.39358869194984436, + -0.08296765387058258, + 0.6975919604301453 + ], + "box_yaw_rad": -0.7109397975202534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008493824180829964, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005881582089019306 + } + }, + { + "simulation_time_ns": 6680000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7197541326487573, + 15.288197008364802, + 0.09455096766289536 + ], + "intended_face_normal": [ + -0.6593815208592488, + 0.5552985097984902, + 0.5068132303368458 + ], + "commanded_contact_point": [ + 0.6694005179405212, + 15.253476144579096, + 0.055417224987965884 + ], + "centerline_face_intersection": [ + 0.653565848240761, + 15.245319459616159, + 0.055417224987965884 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6564192771911621, + 15.253747940063477, + 0.06366527080535889 + ], + "box_pose": [ + 0.7838442921638489, + 15.256665229797363, + 0.05164186656475067, + -0.583187460899353, + 0.40886402130126953, + -0.05603080987930298, + 0.699702262878418 + ], + "box_yaw_rad": -0.6999193653882018, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008156684962937252, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005846374992007881 + } + }, + { + "simulation_time_ns": 6700000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7266409751133619, + 15.282757408968944, + 0.10129618613231262 + ], + "intended_face_normal": [ + -0.6415227734827404, + 0.5298244813507411, + 0.5547383440433662 + ], + "commanded_contact_point": [ + 0.6718859422206879, + 15.249605687790764, + 0.05846189075829282 + ], + "centerline_face_intersection": [ + 0.6558138121068624, + 15.241846845323481, + 0.05846189075829282 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6639201641082764, + 15.251792907714844, + 0.07391558587551117 + ], + "box_pose": [ + 0.7890556454658508, + 15.253467559814453, + 0.05450402572751045, + -0.5742363333702087, + 0.42214635014533997, + -0.032110314816236496, + 0.7007240056991577 + ], + "box_yaw_rad": -0.6903268187376322, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00775884246728275, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005516136261532314 + } + }, + { + "simulation_time_ns": 6720000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7323661496620195, + 15.277565515299777, + 0.10719294551104783 + ], + "intended_face_normal": [ + -0.6228168084230075, + 0.5055150927317118, + 0.5971212125536192 + ], + "commanded_contact_point": [ + 0.6741277027130127, + 15.245897286573209, + 0.061086043640541626 + ], + "centerline_face_intersection": [ + 0.6644746590408942, + 15.238532008727528, + 0.061086043640541626 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6696778535842896, + 15.248371124267578, + 0.08196614682674408 + ], + "box_pose": [ + 0.7930549383163452, + 15.250404357910156, + 0.05697208642959595, + -0.565740704536438, + 0.43415185809135437, + -0.01018626056611538, + 0.7009606957435608 + ], + "box_yaw_rad": -0.6818099851191705, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007365277845680754, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005065955787877047 + } + }, + { + "simulation_time_ns": 6740000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7364352593453315, + 15.273242269306936, + 0.11193613607719263 + ], + "intended_face_normal": [ + -0.6058317713777355, + 0.4838202404262172, + 0.6315741776245878 + ], + "commanded_contact_point": [ + 0.6761389124393463, + 15.242866953590296, + 0.0631689376935518 + ], + "centerline_face_intersection": [ + 0.6742934224983315, + 15.235883937565717, + 0.0631689376935518 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6739188432693481, + 15.245440483093262, + 0.08735550940036774 + ], + "box_pose": [ + 0.7955575585365295, + 15.247979164123535, + 0.05893309786915779, + -0.5585645437240601, + 0.4438585937023163, + 0.008582721464335918, + 0.7006580233573914 + ], + "box_yaw_rad": -0.6738897117698475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006983016024578961, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004191220608211303 + } + }, + { + "simulation_time_ns": 6760000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7390099484836308, + 15.270739496196503, + 0.11476702181910028 + ], + "intended_face_normal": [ + -0.5939558711308379, + 0.4708224782182091, + 0.6523362796102639 + ], + "commanded_contact_point": [ + 0.6781010973453522, + 15.240935268405998, + 0.06439667121317418 + ], + "centerline_face_intersection": [ + 0.6797536567550578, + 15.234384790744322, + 0.06439667121317418 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6771837472915649, + 15.245198249816895, + 0.09215055406093597 + ], + "box_pose": [ + 0.7970685958862305, + 15.246603012084961, + 0.06008964404463768, + -0.553748607635498, + 0.45014500617980957, + 0.019787315279245377, + 0.7002431154251099 + ], + "box_yaw_rad": -0.6702672890791261, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0065504776616760576, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030147813936994877 + } + }, + { + "simulation_time_ns": 6780000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7399955535433564, + 15.269985617678259, + 0.11584087727467804 + ], + "intended_face_normal": [ + -0.5884914592215018, + 0.4665832336410436, + 0.6602861452435074 + ], + "commanded_contact_point": [ + 0.6799940812587738, + 15.240028683084747, + 0.06485667529832727 + ], + "centerline_face_intersection": [ + 0.6815986029523505, + 15.233958246826852, + 0.06485667529832727 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6789126396179199, + 15.245959281921387, + 0.0956878513097763 + ], + "box_pose": [ + 0.7975927591323853, + 15.246206283569336, + 0.060522738844156265, + -0.551520049571991, + 0.4529857635498047, + 0.023625588044524193, + 0.7000508904457092 + ], + "box_yaw_rad": -0.6703636387380258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006070436257894658, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021486946734097343 + } + }, + { + "simulation_time_ns": 6800000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7402995880437292, + 15.269599200884716, + 0.11616120474438091 + ], + "intended_face_normal": [ + -0.587331014710158, + 0.464664107934728, + 0.6626685115016895 + ], + "commanded_contact_point": [ + 0.6817386496067047, + 15.239342690627314, + 0.0649930476095526 + ], + "centerline_face_intersection": [ + 0.6822653095710329, + 15.233720015927158, + 0.0649930476095526 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6788660883903503, + 15.244914054870605, + 0.09648831188678741 + ], + "box_pose": [ + 0.7977826595306396, + 15.245989799499512, + 0.060651883482933044, + -0.5510679483413696, + 0.4535440504550934, + 0.025145316496491432, + 0.6999925971031189 + ], + "box_yaw_rad": -0.6693182988229209, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005622674700156767, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018795482913523676 + } + }, + { + "simulation_time_ns": 6820000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7404934109635815, + 15.268119161016521, + 0.11624931811110789 + ], + "intended_face_normal": [ + -0.5912518006807239, + 0.45870333470215385, + 0.6633344170757958 + ], + "commanded_contact_point": [ + 0.6833406734466553, + 15.237999613787562, + 0.0650297428683396 + ], + "centerline_face_intersection": [ + 0.6835623842090643, + 15.232700239035271, + 0.0650297428683396 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6779381632804871, + 15.240782737731934, + 0.0956595242023468 + ], + "box_pose": [ + 0.7981598377227783, + 15.245086669921875, + 0.060687825083732605, + -0.5529891848564148, + 0.45116114616394043, + 0.028770120814442635, + 0.6998777389526367 + ], + "box_yaw_rad": -0.659820436141041, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005299374752290265, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002090856839496039 + } + }, + { + "simulation_time_ns": 6840000000, + "phase": "straight_push", + "intended_face_center": [ + 0.740843739092519, + 15.264166677639414, + 0.1162199229893841 + ], + "intended_face_normal": [ + -0.6033435487847986, + 0.4429643442048965, + 0.6631434064676007 + ], + "commanded_contact_point": [ + 0.6845845329761505, + 15.235118673474892, + 0.06501509669068799 + ], + "centerline_face_intersection": [ + 0.6866860859679418, + 15.22996304675006, + 0.06501509669068799 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6781927347183228, + 15.233556747436523, + 0.09333233535289764 + ], + "box_pose": [ + 0.7991132140159607, + 15.24266242980957, + 0.06067509576678276, + -0.5589404106140137, + 0.4437222182750702, + 0.037931762635707855, + 0.6994693875312805 + ], + "box_yaw_rad": -0.633300889702389, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005155626724831708, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031380277444282476 + } + }, + { + "simulation_time_ns": 6860000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7402417099932221, + 15.258148358309727, + 0.11319677816733892 + ], + "intended_face_normal": [ + -0.6414765438600687, + 0.4214155511271862, + 0.6410279115344597 + ], + "commanded_contact_point": [ + 0.6858335185050964, + 15.230830008290319, + 0.06369960675221212 + ], + "centerline_face_intersection": [ + 0.6889276898322209, + 15.22560862424228, + 0.06369960675221212 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6805680990219116, + 15.22396469116211, + 0.08359909057617188 + ], + "box_pose": [ + 0.8008975386619568, + 15.238823890686035, + 0.059434082359075546, + -0.576059103012085, + 0.4209461212158203, + 0.045454274863004684, + 0.6992096900939941 + ], + "box_yaw_rad": -0.5812427962121571, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005221384048038546, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004656514543638466 + } + }, + { + "simulation_time_ns": 6880000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7385703479075347, + 15.250720632582984, + 0.1069570180756431 + ], + "intended_face_normal": [ + -0.6999241217894898, + 0.3940252749874027, + 0.5956931143303059 + ], + "commanded_contact_point": [ + 0.687850331068039, + 15.225765413186688, + 0.06096038725774641 + ], + "centerline_face_intersection": [ + 0.688114179296598, + 15.220295847285792, + 0.06096038725774641 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6838436126708984, + 15.214091300964355, + 0.07655768096446991 + ], + "box_pose": [ + 0.8030434846878052, + 15.234114646911621, + 0.05685264989733696, + -0.6006679534912109, + 0.38431480526924133, + 0.04837426543235779, + 0.6993997693061829 + ], + "box_yaw_rad": -0.5127344788838005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005469565900896003, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0061008999267836705 + } + }, + { + "simulation_time_ns": 6900000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7367884333518299, + 15.243608481093776, + 0.10088317340685102 + ], + "intended_face_normal": [ + -0.751031280912624, + 0.3621261558987605, + 0.5521020279716957 + ], + "commanded_contact_point": [ + 0.6903108406066895, + 15.221345131687071, + 0.058252442005875024 + ], + "centerline_face_intersection": [ + 0.6919671688438447, + 15.215646796290512, + 0.058252442005875024 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6868881583213806, + 15.209927558898926, + 0.07293042540550232 + ], + "box_pose": [ + 0.8045241236686707, + 15.230000495910645, + 0.054303232580423355, + -0.6213648915290833, + 0.34908321499824524, + 0.05123737454414368, + 0.6995865106582642 + ], + "box_yaw_rad": -0.44928365157149774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0056983353965594594, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005738114952906727 + } + }, + { + "simulation_time_ns": 6920000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7346628010724836, + 15.237290131250642, + 0.09390890241638941 + ], + "intended_face_normal": [ + -0.7988788082430205, + 0.3304894330278061, + 0.5025628066203485 + ], + "commanded_contact_point": [ + 0.6926153647899628, + 15.2175667926542, + 0.05510335754298589 + ], + "centerline_face_intersection": [ + 0.6996938762089226, + 15.211771285934987, + 0.05510335754298589 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6890020370483398, + 15.209342002868652, + 0.07219243049621582 + ], + "box_pose": [ + 0.8054869771003723, + 15.226567268371582, + 0.05134191736578941, + -0.639718770980835, + 0.3131316006183624, + 0.050091881304979324, + 0.7001423239707947 + ], + "box_yaw_rad": -0.39225345604927786, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005795506719212826, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0054317041996985145 + } + }, + { + "simulation_time_ns": 6940000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7309944855748342, + 15.23162116586769, + 0.08295832597679509 + ], + "intended_face_normal": [ + -0.854186594171841, + 0.2991837038343874, + 0.4252697737932678 + ], + "commanded_contact_point": [ + 0.6948632347583771, + 15.214290948610493, + 0.0501209868963017 + ], + "centerline_face_intersection": [ + 0.7065544642205439, + 15.208519602258932, + 0.0501209868963017 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6909346580505371, + 15.209123611450195, + 0.07157990336418152 + ], + "box_pose": [ + 0.805584192276001, + 15.2236909866333, + 0.04667499661445618, + -0.6591479778289795, + 0.26733508706092834, + 0.03792959451675415, + 0.7018669843673706 + ], + "box_yaw_rad": -0.3369025758448005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005771346351562274, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006372447791431946 + } + }, + { + "simulation_time_ns": 6960000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7266087012518557, + 15.227114533485164, + 0.07079382263575561 + ], + "intended_face_normal": [ + -0.9035371755939017, + 0.26913465910783607, + 0.3334473293789113 + ], + "commanded_contact_point": [ + 0.6971006441116333, + 15.212010189274807, + 0.04504658242483231 + ], + "centerline_face_intersection": [ + 0.7109166849018352, + 15.206333216297704, + 0.04504658242483231 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.6933473348617554, + 15.20869255065918, + 0.07028427720069885 + ], + "box_pose": [ + 0.804686427116394, + 15.221802711486816, + 0.042181842029094696, + -0.671482264995575, + 0.2189132124185562, + 0.01756182312965393, + 0.707728922367096 + ], + "box_yaw_rad": -0.28949953042707033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00567697297710325, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0059964526598171855 + } + }, + { + "simulation_time_ns": 6980000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7231649063344037, + 15.226349994009665, + 0.06627858737910197 + ], + "intended_face_normal": [ + -0.9225845822006803, + 0.26230849836455333, + 0.28289918259070146 + ], + "commanded_contact_point": [ + 0.6991723823547363, + 15.211670006765397, + 0.04443443819007175 + ], + "centerline_face_intersection": [ + 0.710708000945526, + 15.206095760966809, + 0.04443443819007175 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.696895182132721, + 15.208663940429688, + 0.068647101521492 + ], + "box_pose": [ + 0.8027747869491577, + 15.221626281738281, + 0.042134322226047516, + -0.6702820062637329, + 0.19674019515514374, + 0.0010022524511441588, + 0.7155517935752869 + ], + "box_yaw_rad": -0.27700937599939635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005574245798588111, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021869028446171467 + } + }, + { + "simulation_time_ns": 7000000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7254906542700494, + 15.226638120439734, + 0.06619311670391691 + ], + "intended_face_normal": [ + -0.9230773831791499, + 0.26120487457239383, + 0.28231219219707315 + ], + "commanded_contact_point": [ + 0.7009811747074127, + 15.211925496583554, + 0.04439429216239369 + ], + "centerline_face_intersection": [ + 0.7131164824675067, + 15.20646910405443, + 0.04439429216239369 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7012290358543396, + 15.209415435791016, + 0.06732283532619476 + ], + "box_pose": [ + 0.8051208257675171, + 15.222009658813477, + 0.042097363620996475, + -0.67044597864151, + 0.19611169397830963, + 0.0012295915512368083, + 0.7155703902244568 + ], + "box_yaw_rad": -0.2757623265942608, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005456392529124658, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018271881473512044 + } + }, + { + "simulation_time_ns": 7020000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7296427208513737, + 15.22801814457669, + 0.06638810143468366 + ], + "intended_face_normal": [ + -0.9201690954089944, + 0.266282316083173, + 0.28702364073282166 + ], + "commanded_contact_point": [ + 0.7025767314434052, + 15.21277169151127, + 0.044225480915495025 + ], + "centerline_face_intersection": [ + 0.7167796007589308, + 15.207457071951263, + 0.044225480915495025 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.705500066280365, + 15.2110013961792, + 0.0670340359210968 + ], + "box_pose": [ + 0.8091303110122681, + 15.22295093536377, + 0.04191283881664276, + -0.6693087220191956, + 0.19978688657283783, + 0.000807619362603873, + 0.715618908405304 + ], + "box_yaw_rad": -0.2816892179941333, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0053146195600071895, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018139306465635263 + } + }, + { + "simulation_time_ns": 7040000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7322872445900963, + 15.229493268080686, + 0.06627019271973969 + ], + "intended_face_normal": [ + -0.9206558522771936, + 0.26729919122959966, + 0.28450646596722223 + ], + "commanded_contact_point": [ + 0.7041378664970398, + 15.214018415446178, + 0.04430193664024678 + ], + "centerline_face_intersection": [ + 0.7195060756120097, + 15.208853677121619, + 0.04430193664024678 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7083103060722351, + 15.212600708007812, + 0.06650754809379578 + ], + "box_pose": [ + 0.8118301630020142, + 15.22433853149414, + 0.041993770748376846, + -0.6696023344993591, + 0.19917811453342438, + -0.0003905794583261013, + 0.7155141830444336 + ], + "box_yaw_rad": -0.2825669817248199, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005164738324559439, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019993270626408283 + } + }, + { + "simulation_time_ns": 7060000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7336760396118637, + 15.229719807821574, + 0.06640484422354316 + ], + "intended_face_normal": [ + -0.9202224870911179, + 0.2654374166898849, + 0.2876343828028338 + ], + "commanded_contact_point": [ + 0.7057619142532349, + 15.214242237402166, + 0.04419506506369962 + ], + "centerline_face_intersection": [ + 0.7208219109146612, + 15.209223974368022, + 0.04419506506369962 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7097290754318237, + 15.212885856628418, + 0.06638213992118835 + ], + "box_pose": [ + 0.8131493330001831, + 15.224725723266602, + 0.04186820611357689, + -0.6695870161056519, + 0.199716717004776, + 0.0014104620786383748, + 0.7153770923614502 + ], + "box_yaw_rad": -0.28082631032910593, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005018263034143617, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016428782414586046 + } + }, + { + "simulation_time_ns": 7080000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7336699774619865, + 15.229587800218404, + 0.06629377710966466 + ], + "intended_face_normal": [ + -0.9211978948924987, + 0.2649479484093299, + 0.2849509317415357 + ], + "commanded_contact_point": [ + 0.7071061480045319, + 15.214001595126529, + 0.04429120146588524 + ], + "centerline_face_intersection": [ + 0.7209800124133915, + 15.209129761211786, + 0.04429120146588524 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7091076970100403, + 15.212790489196777, + 0.06574417650699615 + ], + "box_pose": [ + 0.813215434551239, + 15.22463607788086, + 0.041983433067798615, + -0.6697593331336975, + 0.19849589467048645, + 0.0006575353327207267, + 0.7155567407608032 + ], + "box_yaw_rad": -0.2800536491705849, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004871833914743961, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013689833055135865 + } + }, + { + "simulation_time_ns": 7100000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7332547173339242, + 15.229699474875376, + 0.06609040349983115 + ], + "intended_face_normal": [ + -0.9230031117641211, + 0.2653743950632934, + 0.27864260814285113 + ], + "commanded_contact_point": [ + 0.7086042213439941, + 15.213931530998604, + 0.04457492704297909 + ], + "centerline_face_intersection": [ + 0.7208680795745191, + 15.209208507656506, + 0.04457492704297909 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7055588960647583, + 15.212928771972656, + 0.06518398225307465 + ], + "box_pose": [ + 0.812952995300293, + 15.224711418151855, + 0.042293429374694824, + -0.6703904867172241, + 0.1962035745382309, + -0.0016129030846059322, + 0.7155964374542236 + ], + "box_yaw_rad": -0.27996083067986904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004723023342097933, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015263135049939204 + } + }, + { + "simulation_time_ns": 7120000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7341454656550314, + 15.229642952712007, + 0.06680349834018544 + ], + "intended_face_normal": [ + -0.919053779805017, + 0.2651696962602937, + 0.2915907617877217 + ], + "commanded_contact_point": [ + 0.7106255340576172, + 15.213731372808132, + 0.04428822613507117 + ], + "centerline_face_intersection": [ + 0.7210943921537422, + 15.209167791375469, + 0.04428822613507117 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7035027146339417, + 15.213153839111328, + 0.06448814272880554 + ], + "box_pose": [ + 0.813507616519928, + 15.224672317504883, + 0.041905030608177185, + -0.6700485944747925, + 0.20115575194358826, + 0.003077914472669363, + 0.7145360112190247 + ], + "box_yaw_rad": -0.28089601330382985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00456358143266357, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020513326882937205 + } + }, + { + "simulation_time_ns": 7140000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7347096894464489, + 15.229744342333454, + 0.06744770092183983 + ], + "intended_face_normal": [ + -0.9165136369610496, + 0.2656417804887141, + 0.2990604906924976 + ], + "commanded_contact_point": [ + 0.7127696919441223, + 15.213611122687153, + 0.04435565125450994 + ], + "centerline_face_intersection": [ + 0.7212296250788608, + 15.209232728865025, + 0.04435565125450994 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7038789987564087, + 15.213862419128418, + 0.06234583258628845 + ], + "box_pose": [ + 0.8138551115989685, + 15.224733352661133, + 0.041876547038555145, + -0.6705781817436218, + 0.20422935485839844, + 0.005792420357465744, + 0.7131490707397461 + ], + "box_yaw_rad": -0.282109292279456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004378393822127864, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021485854138453314 + } + }, + { + "simulation_time_ns": 7160000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7349417300641292, + 15.229783406832171, + 0.06770227764513623 + ], + "intended_face_normal": [ + -0.915457991971345, + 0.26583076786048265, + 0.30211035235899386 + ], + "commanded_contact_point": [ + 0.7147737789154053, + 15.213410988083233, + 0.04437473195184137 + ], + "centerline_face_intersection": [ + 0.7212830034743241, + 15.209257200644505, + 0.04437473195184137 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.706215500831604, + 15.214872360229492, + 0.06303644180297852 + ], + "box_pose": [ + 0.813997209072113, + 15.224756240844727, + 0.041857533156871796, + -0.6707682609558105, + 0.2054833471775055, + 0.006899133790284395, + 0.7126001119613647 + ], + "box_yaw_rad": -0.2826079842252283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00415378743872836, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020141456057502756 + } + }, + { + "simulation_time_ns": 7180000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7348735067047052, + 15.229763223814444, + 0.06761029439885183 + ], + "intended_face_normal": [ + -0.9157811111776714, + 0.26572870640722135, + 0.3012195094144459 + ], + "commanded_contact_point": [ + 0.7167625772953033, + 15.213064448808067, + 0.044351535423166034 + ], + "centerline_face_intersection": [ + 0.7212694900841625, + 15.209244898333932, + 0.044351535423166034 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7084811925888062, + 15.21760082244873, + 0.06441143155097961 + ], + "box_pose": [ + 0.8139563798904419, + 15.22474479675293, + 0.041847795248031616, + -0.6706675887107849, + 0.20510035753250122, + 0.0065793427638709545, + 0.7128081321716309 + ], + "box_yaw_rad": -0.2824107032665986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003819550474136408, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020188973584756406 + } + }, + { + "simulation_time_ns": 7200000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7343228897522386, + 15.230158101235002, + 0.06629466645203881 + ], + "intended_face_normal": [ + -0.9216652867558022, + 0.26766933955305894, + 0.2808668892471878 + ], + "commanded_contact_point": [ + 0.7188993442058563, + 15.212914204971186, + 0.04460744143148812 + ], + "centerline_face_intersection": [ + 0.7217115213140491, + 15.209489929156945, + 0.04460744143148812 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7091714143753052, + 15.219371795654297, + 0.06283366680145264 + ], + "box_pose": [ + 0.8139519095420837, + 15.224971771240234, + 0.0423089824616909, + -0.6700736880302429, + 0.19790001213550568, + -0.0017151731299236417, + 0.7154256105422974 + ], + "box_yaw_rad": -0.28264410313358124, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0034242758142423234, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002157274652344988 + } + }, + { + "simulation_time_ns": 7220000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7326924101785403, + 15.230370113666323, + 0.06484951874911922 + ], + "intended_face_normal": [ + -0.931922381346785, + 0.2716912206030564, + 0.24021771067262776 + ], + "commanded_contact_point": [ + 0.7212173688411713, + 15.212419692892443, + 0.046301032812445284 + ], + "centerline_face_intersection": [ + 0.7217951397401114, + 15.209391390780477, + 0.046301032812445284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7086590528488159, + 15.219290733337402, + 0.060727596282958984 + ], + "box_pose": [ + 0.8132246136665344, + 15.224838256835938, + 0.04418663680553436, + -0.6735321283340454, + 0.18371936678886414, + -0.016911640763282776, + 0.7157622575759888 + ], + "box_yaw_rad": -0.28367595452675687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003028302111965291, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029130794997052002 + } + }, + { + "simulation_time_ns": 7240000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7313013809391823, + 15.228175189923071, + 0.06296543381202246 + ], + "intended_face_normal": [ + -0.9455903599645299, + 0.2664827761004265, + 0.18667035010005328 + ], + "commanded_contact_point": [ + 0.7240731465816498, + 15.21025428115042, + 0.04855162413108882 + ], + "centerline_face_intersection": [ + 0.7226571240689471, + 15.207598638714485, + 0.04855162413108882 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7079777717590332, + 15.216915130615234, + 0.058273136615753174 + ], + "box_pose": [ + 0.8128557801246643, + 15.223092079162598, + 0.04665488004684448, + -0.6790493130683899, + 0.16163964569568634, + -0.03282445669174194, + 0.715323269367218 + ], + "box_yaw_rad": -0.2746921615910517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002655642435935308, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004231977764480667 + } + }, + { + "simulation_time_ns": 7260000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7315629286683564, + 15.224166841821503, + 0.061740090919109966 + ], + "intended_face_normal": [ + -0.9551759189490592, + 0.25454341481366605, + 0.15115096105399672 + ], + "commanded_contact_point": [ + 0.7274672734737396, + 15.206828539244196, + 0.05006892201331007 + ], + "centerline_face_intersection": [ + 0.7244782964335376, + 15.204512192142577, + 0.05006892201331007 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7085410952568054, + 15.212994575500488, + 0.056243106722831726 + ], + "box_pose": [ + 0.8137000203132629, + 15.220108985900879, + 0.04832278937101364, + -0.6828140616416931, + 0.14417745172977448, + -0.0403100848197937, + 0.7150894403457642 + ], + "box_yaw_rad": -0.2604360627519159, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0023163471016188473, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00505549184857981 + } + }, + { + "simulation_time_ns": 7280000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7330721816078081, + 15.221602148495565, + 0.06091677397068446 + ], + "intended_face_normal": [ + -0.9580639303672885, + 0.25279103057585406, + 0.134945181391819 + ], + "commanded_contact_point": [ + 0.7311479794979096, + 15.20405545962338, + 0.05049693942867921 + ], + "centerline_face_intersection": [ + 0.7264542306659219, + 15.202082809715654, + 0.05049693942867921 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7098692655563354, + 15.210675239562988, + 0.05432748794555664 + ], + "box_pose": [ + 0.8154226541519165, + 15.217693328857422, + 0.048829060047864914, + -0.6839160919189453, + 0.13757459819316864, + -0.04518035799264908, + 0.7150459885597229 + ], + "box_yaw_rad": -0.25797660531981076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0019726499077254564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046282573748232135 + } + }, + { + "simulation_time_ns": 7300000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7343260927102988, + 15.220331373121446, + 0.059876260129427664 + ], + "intended_face_normal": [ + -0.9599555512862792, + 0.2571754930175931, + 0.11111298770593514 + ], + "commanded_contact_point": [ + 0.734765385389328, + 15.202079608544105, + 0.051296635904076134 + ], + "centerline_face_intersection": [ + 0.7280130190236701, + 15.200473486697765, + 0.051296635904076134 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7110739946365356, + 15.209636688232422, + 0.05197392404079437 + ], + "box_pose": [ + 0.8169203996658325, + 15.216042518615723, + 0.04973830655217171, + -0.6850727200508118, + 0.13040360808372498, + -0.05492834746837616, + 0.7145999073982239 + ], + "box_yaw_rad": -0.261756795527769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016061218463391943, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0041987054342381815 + } + }, + { + "simulation_time_ns": 7320000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7365096609437879, + 15.214407235838358, + 0.06240766342106181 + ], + "intended_face_normal": [ + -0.9644373646106088, + 0.23474217196450953, + 0.12147710276739065 + ], + "commanded_contact_point": [ + 0.7375386106967926, + 15.197577918259693, + 0.053027770797825724 + ], + "centerline_face_intersection": [ + 0.7309164456447195, + 15.196281545341867, + 0.053027770797825724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7125685214996338, + 15.204025268554688, + 0.053427085280418396 + ], + "box_pose": [ + 0.8190644979476929, + 15.212042808532715, + 0.051357757300138474, + -0.6873019933700562, + 0.12628383934497833, + -0.04282183572649956, + 0.7140271067619324 + ], + "box_yaw_rad": -0.23875547435399302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012963729178263625, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005563526044074063 + } + }, + { + "simulation_time_ns": 7340000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7445367459217145, + 15.207378288211073, + 0.06923272284564508 + ], + "intended_face_normal": [ + -0.9571287235371321, + 0.20810349776489878, + 0.20148829585112882 + ], + "commanded_contact_point": [ + 0.7401964116096497, + 15.192355356349923, + 0.05367474083201948 + ], + "centerline_face_intersection": [ + 0.7377678334688922, + 15.191309511305088, + 0.05367474083201948 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7185933589935303, + 15.197572708129883, + 0.05937916040420532 + ], + "box_pose": [ + 0.8259627819061279, + 15.207293510437012, + 0.051546983420848846, + -0.6861588954925537, + 0.14631934463977814, + -0.005127144977450371, + 0.7125659584999084 + ], + "box_yaw_rad": -0.21409264398828223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010458450448345522, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005895560093740887 + } + }, + { + "simulation_time_ns": 7360000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7559817184423265, + 15.202439296226673, + 0.07605095457300257 + ], + "intended_face_normal": [ + -0.9288843528848272, + 0.19394020514696075, + 0.31553296128258923 + ], + "commanded_contact_point": [ + 0.7429574477672577, + 15.188274864792792, + 0.05168697791816183 + ], + "centerline_face_intersection": [ + 0.7445788752922752, + 15.187464142406201, + 0.05168697791816183 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7268147468566895, + 15.193342208862305, + 0.06615856289863586 + ], + "box_pose": [ + 0.8347728848457336, + 15.203564643859863, + 0.048964470624923706, + -0.6802088618278503, + 0.18426571786403656, + 0.04004957899451256, + 0.70834881067276 + ], + "box_yaw_rad": -0.20583141166949911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000810722386590401, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0053127143169141725 + } + }, + { + "simulation_time_ns": 7380000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7662856927264403, + 15.19854090548608, + 0.07931923537325872 + ], + "intended_face_normal": [ + -0.8995808221157943, + 0.18294455869239012, + 0.39659249791584106 + ], + "commanded_contact_point": [ + 0.7457068908214569, + 15.185016381455618, + 0.04869622115176572 + ], + "centerline_face_intersection": [ + 0.7499123372401988, + 15.184414783958257, + 0.04869622115176572 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7341326475143433, + 15.189642906188965, + 0.07138779759407043 + ], + "box_pose": [ + 0.8423765301704407, + 15.20059871673584, + 0.04542319476604462, + -0.6776291728019714, + 0.21149709820747375, + 0.07401733845472336, + 0.7004348635673523 + ], + "box_yaw_rad": -0.20063042591776223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006015974973620806, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0052078572179608046 + } + }, + { + "simulation_time_ns": 7400000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7699513000470933, + 15.19475955121301, + 0.07835407992926427 + ], + "intended_face_normal": [ + -0.9050077781346796, + 0.16346199764584757, + 0.39273538500440175 + ], + "commanded_contact_point": [ + 0.7482559728622437, + 15.182578601457145, + 0.048028893892019926 + ], + "centerline_face_intersection": [ + 0.7545117041694314, + 15.182137781752195, + 0.048028893892019926 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7398425340652466, + 15.1861572265625, + 0.07378019392490387 + ], + "box_pose": [ + 0.846101701259613, + 15.19845962524414, + 0.04473239555954933, + -0.681160569190979, + 0.20254212617874146, + 0.08045370131731033, + 0.6989449858665466 + ], + "box_yaw_rad": -0.17869287289915864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004408197049498617, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003589695842716797 + } + }, + { + "simulation_time_ns": 7420000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7709826910889882, + 15.190817711996992, + 0.07363707665944816 + ], + "intended_face_normal": [ + -0.9225069842059787, + 0.14001829357449047, + 0.35968839877036274 + ], + "commanded_contact_point": [ + 0.7505669045448303, + 15.180312168940223, + 0.04586362403809212 + ], + "centerline_face_intersection": [ + 0.7585127538586485, + 15.180006155505295, + 0.04586362403809212 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7438970804214478, + 15.18337631225586, + 0.07456448674201965 + ], + "box_pose": [ + 0.8481504917144775, + 15.196481704711914, + 0.04271715134382248, + -0.6866011619567871, + 0.1809488981962204, + 0.07748550921678543, + 0.6998802423477173 + ], + "box_yaw_rad": -0.15063051714046885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00030601343492726786, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038942926361117906 + } + }, + { + "simulation_time_ns": 7440000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7700470206990733, + 15.188446689541522, + 0.06952734461501418 + ], + "intended_face_normal": [ + -0.9383529025453377, + 0.121826509430079, + 0.32349980594238303 + ], + "commanded_contact_point": [ + 0.7527213442325592, + 15.17923092661579, + 0.0445482055488838 + ], + "centerline_face_intersection": [ + 0.7602140958038784, + 15.179039817373145, + 0.0445482055488838 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7470471858978271, + 15.181912422180176, + 0.07344099879264832 + ], + "box_pose": [ + 0.8482775688171387, + 15.195635795593262, + 0.04175523668527603, + -0.6869752407073975, + 0.1608627736568451, + 0.07033289968967438, + 0.7051534652709961 + ], + "box_yaw_rad": -0.129107985067561, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0001911092426460235, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027460919747807015 + } + }, + { + "simulation_time_ns": 7460000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7685677869087283, + 15.187909566552385, + 0.06741315927839336 + ], + "intended_face_normal": [ + -0.9465841769224155, + 0.1189012547549737, + 0.299734661856931 + ], + "commanded_contact_point": [ + 0.7548526573181152, + 15.178744525794398, + 0.04426905327297172 + ], + "centerline_face_intersection": [ + 0.760086000837404, + 15.178728568842017, + 0.04426905327297172 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7498579621315002, + 15.183107376098633, + 0.07127200067043304 + ], + "box_pose": [ + 0.8475069999694824, + 15.19534969329834, + 0.041796039789915085, + -0.6842985153198242, + 0.1512245386838913, + 0.061960071325302124, + 0.7106528282165527 + ], + "box_yaw_rad": -0.1249564137304825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 1.5956952381374984e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002203861887882398 + } + }, + { + "simulation_time_ns": 7480000000, + "phase": "straight_push", + "intended_face_center": [ + 0.769330968834111, + 15.189477029207945, + 0.06631844648378693 + ], + "intended_face_normal": [ + -0.9503649639179613, + 0.12462661887646487, + 0.28508707751425266 + ], + "commanded_contact_point": [ + 0.7568842816352844, + 15.179646000187711, + 0.044305358301429454 + ], + "centerline_face_intersection": [ + 0.7614656333276985, + 15.179853945709677, + 0.044305358301429454 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7516078948974609, + 15.18545150756836, + 0.07019634544849396 + ], + "box_pose": [ + 0.8487220406532288, + 15.196441650390625, + 0.04199677333235741, + -0.6827203631401062, + 0.14791764318943024, + 0.05420229583978653, + 0.7134951949119568 + ], + "box_yaw_rad": -0.13039150581304462, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00020794552196590896, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002222942082692067 + } + }, + { + "simulation_time_ns": 7500000000, + "phase": "straight_push", + "intended_face_center": [ + 0.770439666003512, + 15.190058347611362, + 0.06642399418851222 + ], + "intended_face_normal": [ + -0.9498051845124594, + 0.12372110683133375, + 0.28733810928160786 + ], + "commanded_contact_point": [ + 0.7587327408790588, + 15.1800832107092, + 0.044237091881613795 + ], + "centerline_face_intersection": [ + 0.7624832224052033, + 15.18050518350991, + 0.044237091881613795 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7530652284622192, + 15.185855865478516, + 0.07028907537460327 + ], + "box_pose": [ + 0.8497675657272339, + 15.197098731994629, + 0.04191870614886284, + -0.6826307773590088, + 0.14844481647014618, + 0.05533122271299362, + 0.7133846879005432 + ], + "box_yaw_rad": -0.12953013984287154, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00042197280071014885, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019006880122916993 + } + }, + { + "simulation_time_ns": 7520000000, + "phase": "straight_push", + "intended_face_center": [ + 0.771065191336993, + 15.189043548846053, + 0.06645901718599265 + ], + "intended_face_normal": [ + -0.9501973747207955, + 0.11863432767131776, + 0.2881854287048071 + ], + "commanded_contact_point": [ + 0.7604512619972229, + 15.179313986376425, + 0.04420668884384864 + ], + "centerline_face_intersection": [ + 0.763172585410185, + 15.17988316199424, + 0.04420668884384864 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7534772157669067, + 15.183563232421875, + 0.07059618830680847 + ], + "box_pose": [ + 0.8503311276435852, + 15.196508407592773, + 0.04187896102666855, + -0.6830883622169495, + 0.14692778885364532, + 0.057563334703445435, + 0.7130841016769409 + ], + "box_yaw_rad": -0.12420956419464428, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005691756178155296, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018830680424280306 + } + }, + { + "simulation_time_ns": 7540000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7715172746432204, + 15.187431282118101, + 0.06627370729048888 + ], + "intended_face_normal": [ + -0.9517286597720499, + 0.11239541060410563, + 0.28562183945396846 + ], + "commanded_contact_point": [ + 0.7618177282810211, + 15.178194511651803, + 0.044219327297088364 + ], + "centerline_face_intersection": [ + 0.7638736546064733, + 15.1787526352061, + 0.044219327297088364 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7537396550178528, + 15.178476333618164, + 0.07017801702022552 + ], + "box_pose": [ + 0.8508005738258362, + 15.195416450500488, + 0.04191415756940842, + -0.6834967136383057, + 0.14373712241649628, + 0.05895175784826279, + 0.7132297158241272 + ], + "box_yaw_rad": -0.11755159883449341, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005581235542980759, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017665258261129243 + } + }, + { + "simulation_time_ns": 7560000000, + "phase": "straight_push", + "intended_face_center": [ + 0.77243838823982, + 15.182927257655294, + 0.06445093597574313 + ], + "intended_face_normal": [ + -0.9663692563499334, + 0.11597887362766102, + 0.22951985855480483 + ], + "commanded_contact_point": [ + 0.763102536201477, + 15.173444221558892, + 0.04672848804852503 + ], + "centerline_face_intersection": [ + 0.7671543995119853, + 15.17397191252104, + 0.04672848804852503 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.755638599395752, + 15.173211097717285, + 0.06712237000465393 + ], + "box_pose": [ + 0.8530125617980957, + 15.1906099319458, + 0.04465772584080696, + -0.6870082020759583, + 0.12397560477256775, + 0.03801869601011276, + 0.7149856090545654 + ], + "box_yaw_rad": -0.11944378173896918, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005276909621478845, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005523755519193935 + } + }, + { + "simulation_time_ns": 7580000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7738115196724686, + 15.177615486462521, + 0.06087011911385296 + ], + "intended_face_normal": [ + -0.9823848545984855, + 0.12954050736891193, + 0.13468204724032085 + ], + "commanded_contact_point": [ + 0.7649799931049347, + 15.167070366935, + 0.05047060255795647 + ], + "centerline_face_intersection": [ + 0.7710668126946559, + 15.167612975521784, + 0.05047060255795647 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7582816481590271, + 15.167985916137695, + 0.06359869241714478 + ], + "box_pose": [ + 0.8559976816177368, + 15.184157371520996, + 0.04880237206816673, + -0.6913044452667236, + 0.09384854882955551, + 0.00015027755580376834, + 0.7164430022239685 + ], + "box_yaw_rad": -0.1311068977684462, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005426085867843236, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007625895894420708 + } + }, + { + "simulation_time_ns": 7600000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7750018472193981, + 15.17389292413426, + 0.05779390846522477 + ], + "intended_face_normal": [ + -0.9867104967187713, + 0.15010080939113024, + 0.062226541959681914 + ], + "commanded_contact_point": [ + 0.7672435390949249, + 15.161677068916887, + 0.05298906649418467 + ], + "centerline_face_intersection": [ + 0.7729357201476116, + 15.162302843018761, + 0.05298906649418467 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7600502967834473, + 15.164381980895996, + 0.061145633459091187 + ], + "box_pose": [ + 0.8579594492912292, + 15.178702354431152, + 0.05163780227303505, + -0.6932775378227234, + 0.07480635493993759, + -0.03238457813858986, + 0.7160457372665405 + ], + "box_yaw_rad": -0.15096503551826573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006257741018737287, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006368199475445562 + } + }, + { + "simulation_time_ns": 7620000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7771511526134229, + 15.171587611769105, + 0.05678727553632581 + ], + "intended_face_normal": [ + -0.9834994482460598, + 0.17647927139895803, + 0.039798222948143724 + ], + "commanded_contact_point": [ + 0.7693602192401886, + 15.157173413753293, + 0.05371424325826749 + ], + "centerline_face_intersection": [ + 0.7745815860558325, + 15.157960709429172, + 0.05371424325826749 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7612525820732117, + 15.161998748779297, + 0.06143009662628174 + ], + "box_pose": [ + 0.8603233695030212, + 15.174169540405273, + 0.052462007850408554, + -0.6930552124977112, + 0.07601270824670792, + -0.04972267150878906, + 0.7151392102241516 + ], + "box_yaw_rad": -0.17755058835956125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007872956758787078, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005028829486976833 + } + }, + { + "simulation_time_ns": 7640000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7795192044409315, + 15.169975550404619, + 0.057860066799153974 + ], + "intended_face_normal": [ + -0.9780094376692298, + 0.19855259503513523, + 0.06383106942224792 + ], + "commanded_contact_point": [ + 0.7714327621459961, + 15.153675765135048, + 0.052931330736412305 + ], + "centerline_face_intersection": [ + 0.7760850083452919, + 15.15464424945105, + 0.052931330736412305 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7630761861801147, + 15.159173965454102, + 0.06344716250896454 + ], + "box_pose": [ + 0.8626033067703247, + 15.170690536499023, + 0.05157415196299553, + -0.6911283731460571, + 0.09245151281356812, + -0.04947725683450699, + 0.7150847911834717 + ], + "box_yaw_rad": -0.20029488319907024, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009684843160007953, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004140281629309781 + } + }, + { + "simulation_time_ns": 7660000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7824962015877998, + 15.168509474980635, + 0.0605332647611394 + ], + "intended_face_normal": [ + -0.9695021609106232, + 0.2101394673971182, + 0.126122825413006 + ], + "commanded_contact_point": [ + 0.7734966623783112, + 15.151135440784984, + 0.050794651205476646 + ], + "centerline_face_intersection": [ + 0.7777123225446532, + 15.152283490040384, + 0.050794651205476646 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7657545804977417, + 15.15677261352539, + 0.06558245420455933 + ], + "box_pose": [ + 0.8650411367416382, + 15.168248176574707, + 0.049164120107889175, + -0.6873358488082886, + 0.11917264014482498, + -0.032354310154914856, + 0.7157657146453857 + ], + "box_yaw_rad": -0.2134481133765634, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011480492554010605, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003908750617576122 + } + }, + { + "simulation_time_ns": 7680000000, + "phase": "straight_push", + "intended_face_center": [ + 0.787284977663474, + 15.167444698147527, + 0.06354655414354445 + ], + "intended_face_normal": [ + -0.9559786292806361, + 0.2107168917814879, + 0.2042137431291513 + ], + "commanded_contact_point": [ + 0.7753999280929565, + 15.149845664189648, + 0.04777812586279727 + ], + "centerline_face_intersection": [ + 0.7803302052258289, + 15.151174127202177, + 0.04777812586279727 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.769688606262207, + 15.155684471130371, + 0.06778529286384583 + ], + "box_pose": [ + 0.868698000907898, + 15.167141914367676, + 0.045803386718034744, + -0.6822693347930908, + 0.1482430100440979, + -0.005890274420380592, + 0.715889573097229 + ], + "box_yaw_rad": -0.21695096222060917, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001328463012528827, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037928049237268575 + } + }, + { + "simulation_time_ns": 7700000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7932324397452628, + 15.166794600157928, + 0.06609326303161298 + ], + "intended_face_normal": [ + -0.937626766500466, + 0.2097738928346844, + 0.2772200714162174 + ], + "commanded_contact_point": [ + 0.7770121741294861, + 15.149077158366616, + 0.0446876281946585 + ], + "centerline_face_intersection": [ + 0.7832797187685573, + 15.150596843172274, + 0.0446876281946585 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7749143242835999, + 15.155377388000488, + 0.06985931098461151 + ], + "box_pose": [ + 0.8731197714805603, + 15.16657543182373, + 0.04240870475769043, + -0.6761577725410461, + 0.17553944885730743, + 0.01930074207484722, + 0.7152790427207947 + ], + "box_yaw_rad": -0.22010394508644077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015196848056574178, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003569469753214171 + } + }, + { + "simulation_time_ns": 7720000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7977865073158434, + 15.167106603720525, + 0.06634332834620127 + ], + "intended_face_normal": [ + -0.9342459901028808, + 0.21194742658360632, + 0.2868147752126471 + ], + "commanded_contact_point": [ + 0.7784272181987762, + 15.149017413849473, + 0.044196835443718205 + ], + "centerline_face_intersection": [ + 0.7872747301293919, + 15.15074101664415, + 0.044196835443718205 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7797467708587646, + 15.155838966369629, + 0.06970897316932678 + ], + "box_pose": [ + 0.8774402737617493, + 15.166702270507812, + 0.04188712313771248, + -0.6748484373092651, + 0.1800188422203064, + 0.021684588864445686, + 0.715333878993988 + ], + "box_yaw_rad": -0.22308857044288224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017236027946766067, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014989318362545658 + } + }, + { + "simulation_time_ns": 7740000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8004463799352178, + 15.16748729175084, + 0.0664897613601094 + ], + "intended_face_normal": [ + -0.9334536619509634, + 0.21235208640743863, + 0.28908621272432455 + ], + "commanded_contact_point": [ + 0.7798203277587891, + 15.149157155507408, + 0.044167878697131936 + ], + "centerline_face_intersection": [ + 0.789803268545213, + 15.15109045873914, + 0.044167878697131936 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7829053401947021, + 15.156332969665527, + 0.06938078999519348 + ], + "box_pose": [ + 0.8800402283668518, + 15.167048454284668, + 0.0418398417532444, + -0.67478346824646, + 0.1810348629951477, + 0.022350557148456573, + 0.7151181697845459 + ], + "box_yaw_rad": -0.2236839187089717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0019333032317320668, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014004001108021327 + } + }, + { + "simulation_time_ns": 7760000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8018195763106115, + 15.167096597805443, + 0.06643791169934146 + ], + "intended_face_normal": [ + -0.9340642394984413, + 0.20925659202759506, + 0.2893711831617145 + ], + "commanded_contact_point": [ + 0.7812767970561981, + 15.14879875455272, + 0.04409402495458546 + ], + "centerline_face_intersection": [ + 0.7912776831475469, + 15.150938784363994, + 0.04409402495458546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.784448504447937, + 15.156106948852539, + 0.06913650035858154 + ], + "box_pose": [ + 0.8814078569412231, + 15.166921615600586, + 0.041766732931137085, + -0.6750134825706482, + 0.18002741038799286, + 0.02362227253615856, + 0.7151146531105042 + ], + "box_yaw_rad": -0.22038913591999867, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021400298112738605, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001501735141063472 + } + }, + { + "simulation_time_ns": 7780000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8006471765677595, + 15.166923794983544, + 0.06581243294355463 + ], + "intended_face_normal": [ + -0.9398851897702434, + 0.20921831356328058, + 0.26989538039664485 + ], + "commanded_contact_point": [ + 0.7825377333164215, + 15.148423588548507, + 0.04497237642298073 + ], + "centerline_face_intersection": [ + 0.791066721398977, + 15.150768937225733, + 0.04497237642298073 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7833054065704346, + 15.155901908874512, + 0.06837102770805359 + ], + "box_pose": [ + 0.8807108402252197, + 15.166751861572266, + 0.042730577290058136, + -0.6767400503158569, + 0.1725366711616516, + 0.016985353082418442, + 0.7155175805091858 + ], + "box_yaw_rad": -0.21902878560078481, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0023453486772250167, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015818378820522214 + } + }, + { + "simulation_time_ns": 7800000000, + "phase": "straight_push", + "intended_face_center": [ + 0.795000495700012, + 15.167662278573196, + 0.06342894328848331 + ], + "intended_face_normal": [ + -0.958083085234031, + 0.2092224768683164, + 0.1957108984602247 + ], + "commanded_contact_point": [ + 0.7841050672531128, + 15.148963184543378, + 0.0483170648279875 + ], + "centerline_face_intersection": [ + 0.7883856351387348, + 15.15150709934448, + 0.0483170648279875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.778647780418396, + 15.156471252441406, + 0.06640440225601196 + ], + "box_pose": [ + 0.8765628337860107, + 15.167486190795898, + 0.046383533626794815, + -0.6829084157943726, + 0.1445351094007492, + -0.008249820210039616, + 0.716015100479126 + ], + "box_yaw_rad": -0.21500087563808534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002543914801102074, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003732913076053585 + } + }, + { + "simulation_time_ns": 7820000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7906495816182, + 15.16768381628733, + 0.06138614252462894 + ], + "intended_face_normal": [ + -0.9676175928531527, + 0.2049141887546584, + 0.147398673059711 + ], + "commanded_contact_point": [ + 0.7861664938926697, + 15.149136537762539, + 0.05000470771419394 + ], + "centerline_face_intersection": [ + 0.7855650668704597, + 15.15186130287773, + 0.05000470771419394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.775046169757843, + 15.15638256072998, + 0.0648568868637085 + ], + "box_pose": [ + 0.8729364275932312, + 15.167869567871094, + 0.04827765375375748, + -0.6864802837371826, + 0.12512414157390594, + -0.02313336916267872, + 0.7159284949302673 + ], + "box_yaw_rad": -0.20868862061475454, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027247651151920825, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026697695856068584 + } + }, + { + "simulation_time_ns": 7840000000, + "phase": "straight_push", + "intended_face_center": [ + 0.790034535460657, + 15.167514733654368, + 0.05992175513317399 + ], + "intended_face_normal": [ + -0.9722010464216406, + 0.2056662210036322, + 0.1119219806725642 + ], + "commanded_contact_point": [ + 0.7882558155059814, + 15.148726889027413, + 0.051279664261952046 + ], + "centerline_face_intersection": [ + 0.7856801488050509, + 15.151634151838593, + 0.051279664261952046 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7752113342285156, + 15.156196594238281, + 0.06392356753349304 + ], + "box_pose": [ + 0.8727306723594666, + 15.167632102966309, + 0.04970768839120865, + -0.6884718537330627, + 0.11240670830011368, + -0.03555571287870407, + 0.7156165242195129 + ], + "box_yaw_rad": -0.20847339724904315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002907262811179618, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024816508796994133 + } + }, + { + "simulation_time_ns": 7860000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7918549560025812, + 15.167331941108042, + 0.06026989507585846 + ], + "intended_face_normal": [ + -0.9711932161702943, + 0.20590773192976908, + 0.11994057216167509 + ], + "commanded_contact_point": [ + 0.7901385772228241, + 15.148339088974588, + 0.05100864614567724 + ], + "centerline_face_intersection": [ + 0.7873403300825509, + 15.151432710950294, + 0.05100864614567724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.777179479598999, + 15.156091690063477, + 0.06475663185119629 + ], + "box_pose": [ + 0.8744679689407349, + 15.16742992401123, + 0.049403779208660126, + -0.6879710555076599, + 0.11541514843702316, + -0.03290494531393051, + 0.7157460451126099 + ], + "box_yaw_rad": -0.20892150102007653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0030936219757069215, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001941296315024843 + } + }, + { + "simulation_time_ns": 7880000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7941363987664836, + 15.168603387460603, + 0.06123102450046032 + ], + "intended_face_normal": [ + -0.9665418466399762, + 0.2125410845350486, + 0.14360758244621197 + ], + "commanded_contact_point": [ + 0.7920214879512787, + 15.148875745142615, + 0.05014231994181335 + ], + "centerline_face_intersection": [ + 0.7888800044198871, + 15.152191960899152, + 0.05014231994181335 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7792060375213623, + 15.157756805419922, + 0.06583809852600098 + ], + "box_pose": [ + 0.8764703273773193, + 15.168139457702637, + 0.048428647220134735, + -0.6862825751304626, + 0.1264398694038391, + -0.027240339666604996, + 0.715742290019989 + ], + "box_yaw_rad": -0.21645347122525677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003316215756537699, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021409983058171544 + } + }, + { + "simulation_time_ns": 7900000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7949384245568184, + 15.169347427182132, + 0.060749377590244305 + ], + "intended_face_normal": [ + -0.9684901001647073, + 0.21191150478535592, + 0.13084509140758094 + ], + "commanded_contact_point": [ + 0.7941578078269959, + 15.149444475119777, + 0.050646132783437145 + ], + "centerline_face_intersection": [ + 0.7899931715777746, + 15.152984613818685, + 0.050646132783437145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7806053161621094, + 15.15858268737793, + 0.0651908665895462 + ], + "box_pose": [ + 0.8774285912513733, + 15.168935775756836, + 0.04899374395608902, + -0.6869757175445557, + 0.1215304434299469, + -0.0313895083963871, + 0.7157579064369202 + ], + "box_yaw_rad": -0.21541120080833653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0035401386989074956, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022674090450760386 + } + }, + { + "simulation_time_ns": 7920000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7941629464682629, + 15.16711748327282, + 0.057853915929071686 + ], + "intended_face_normal": [ + -0.9765304826149392, + 0.2054439584557377, + 0.06466058900687965 + ], + "commanded_contact_point": [ + 0.7965290892124176, + 15.147513400726215, + 0.052861128251207 + ], + "centerline_face_intersection": [ + 0.7904949803735558, + 15.151254063529452, + 0.052861128251207 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7807822227478027, + 15.156267166137695, + 0.06232939660549164 + ], + "box_pose": [ + 0.8772450089454651, + 15.16724681854248, + 0.051502056419849396, + -0.6907238960266113, + 0.0951843187212944, + -0.05171754211187363, + 0.7149584889411926 + ], + "box_yaw_rad": -0.2073575631461228, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0037406628032372402, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00377600697093647 + } + }, + { + "simulation_time_ns": 7940000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7931430059441118, + 15.161707858150741, + 0.05497224981463483 + ], + "intended_face_normal": [ + -0.982894136015168, + 0.18378804510564883, + -0.0118775908950699 + ], + "commanded_contact_point": [ + 0.7994450378417969, + 15.143632906841816, + 0.055889381724109295 + ], + "centerline_face_intersection": [ + 0.7904783493949801, + 15.147516606554738, + 0.055889381724109295 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7802547216415405, + 15.151092529296875, + 0.05966164171695709 + ], + "box_pose": [ + 0.8764446377754211, + 15.163662910461426, + 0.05488303303718567, + -0.6941026449203491, + 0.06005777418613434, + -0.0703277736902237, + 0.7139108777046204 + ], + "box_yaw_rad": -0.1848519523781911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0038836997129227035, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005721128235949644 + } + }, + { + "simulation_time_ns": 7960000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7947474686677044, + 15.157347020856694, + 0.055589482764163485 + ], + "intended_face_normal": [ + -0.9853672587140051, + 0.16817415588047835, + -0.027727539997270956 + ], + "commanded_contact_point": [ + 0.8029417443275452, + 15.140370618539299, + 0.05773047346904472 + ], + "centerline_face_intersection": [ + 0.792470946606226, + 15.14436140061859, + 0.05773047346904472 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7813767790794373, + 15.147038459777832, + 0.059700608253479004 + ], + "box_pose": [ + 0.877998948097229, + 15.16062068939209, + 0.056800372898578644, + -0.6948207020759583, + 0.04888327792286873, + -0.07019113749265671, + 0.7140782475471497 + ], + "box_yaw_rad": -0.1690427705158655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0039907820792923565, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005124363377970445 + } + }, + { + "simulation_time_ns": 7980000000, + "phase": "straight_push", + "intended_face_center": [ + 0.7984995245357003, + 15.155998855406823, + 0.05748946492268589 + ], + "intended_face_normal": [ + -0.9853362589664628, + 0.17062199893072094, + 0.0007689835217910002 + ], + "commanded_contact_point": [ + 0.8067666041851044, + 15.13871267085349, + 0.057430087618658074 + ], + "centerline_face_intersection": [ + 0.796218143466586, + 15.14282422419919, + 0.057430087618658074 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7836645245552063, + 15.145843505859375, + 0.06051735579967499 + ], + "box_pose": [ + 0.8817600607872009, + 15.15907096862793, + 0.05637715011835098, + -0.6939495801925659, + 0.059915702790021896, + -0.06117171794176102, + 0.714914083480835 + ], + "box_yaw_rad": -0.17146094108379661, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004111553345699759, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004179542453182987 + } + }, + { + "simulation_time_ns": 8000000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8031413085746568, + 15.156933133926232, + 0.05754536134534724 + ], + "intended_face_normal": [ + -0.9813527891542798, + 0.1862867867238185, + 0.047370245268214095 + ], + "commanded_contact_point": [ + 0.8105705726146698, + 15.138277490961348, + 0.05388765298690028 + ], + "centerline_face_intersection": [ + 0.8002342487297306, + 15.1425489412118, + 0.05388765298690028 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.785834789276123, + 15.146546363830566, + 0.060189247131347656 + ], + "box_pose": [ + 0.8863034844398499, + 15.15868854522705, + 0.052650149911642075, + -0.6913773417472839, + 0.08212173730134964, + -0.05079001560807228, + 0.7160124778747559 + ], + "box_yaw_rad": -0.18759450744836886, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0042714502504504264, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005216167220472503 + } + }, + { + "simulation_time_ns": 8020000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8088029142150011, + 15.156149911344835, + 0.06129731771111879 + ], + "intended_face_normal": [ + -0.9715231463380518, + 0.1875390879358072, + 0.14481663817579715 + ], + "commanded_contact_point": [ + 0.8134804117679596, + 15.13727858107795, + 0.05011525553477548 + ], + "centerline_face_intersection": [ + 0.8043407641375352, + 15.141669021799206, + 0.05011525553477548 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7873826026916504, + 15.144643783569336, + 0.063651442527771 + ], + "box_pose": [ + 0.8911068439483643, + 15.15781021118164, + 0.048401642590761185, + -0.6876757144927979, + 0.11801829934120178, + -0.01760987937450409, + 0.7161449193954468 + ], + "box_yaw_rad": -0.19069067150596486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004390440721255613, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004867850386974335 + } + }, + { + "simulation_time_ns": 8040000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8165969886271337, + 15.15475058136026, + 0.06583800790843387 + ], + "intended_face_normal": [ + -0.9454098429668832, + 0.18344040567520348, + 0.2693507707277045 + ], + "commanded_contact_point": [ + 0.8161717402935028, + 15.13616587399112, + 0.04504000359440641 + ], + "centerline_face_intersection": [ + 0.8079232012037113, + 15.140586172852005, + 0.04504000359440641 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7925069332122803, + 15.141332626342773, + 0.06643892824649811 + ], + "box_pose": [ + 0.8966469168663025, + 15.156767845153809, + 0.0427960567176342, + -0.6791774034500122, + 0.16305647790431976, + 0.026601945981383324, + 0.7151383757591248 + ], + "box_yaw_rad": -0.19165122343771368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004420298860886331, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005851456959741415 + } + }, + { + "simulation_time_ns": 8060000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8235882680686474, + 15.15244176605031, + 0.06698952216141618 + ], + "intended_face_normal": [ + -0.9421195651687316, + 0.16116361559297232, + 0.2940017149637555 + ], + "commanded_contact_point": [ + 0.8188469159603119, + 15.135644916427005, + 0.04428808744998869 + ], + "centerline_face_intersection": [ + 0.8143751811812728, + 15.139997466881198, + 0.04428808744998869 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.7997798919677734, + 15.138303756713867, + 0.06626161932945251 + ], + "box_pose": [ + 0.9029440879821777, + 15.156340599060059, + 0.041880860924720764, + -0.6803231239318848, + 0.16437499225139618, + 0.04383011907339096, + 0.7128956317901611 + ], + "box_yaw_rad": -0.169424990743128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004352550454193105, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002827249461956271 + } + }, + { + "simulation_time_ns": 8080000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8302746992820171, + 15.149889464184563, + 0.06641189822149701 + ], + "intended_face_normal": [ + -0.948373716007523, + 0.13283349170832004, + 0.28799750977516725 + ], + "commanded_contact_point": [ + 0.8214544999599457, + 15.135432282472621, + 0.04417408009849504 + ], + "centerline_face_intersection": [ + 0.8220850168695745, + 15.139632684424353, + 0.04417408009849504 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.807255208492279, + 15.135828971862793, + 0.0654745101928711 + ], + "box_pose": [ + 0.9096494913101196, + 15.156167984008789, + 0.0418514683842659, + -0.6818912625312805, + 0.1519678831100464, + 0.05214311555027962, + 0.7135903835296631 + ], + "box_yaw_rad": -0.13915920243284977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004200401951730724, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002618722052814602 + } + }, + { + "simulation_time_ns": 8100000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8359217452289079, + 15.148477773964638, + 0.06648875440572881 + ], + "intended_face_normal": [ + -0.9507438407989367, + 0.1119963192699629, + 0.2890379798093301 + ], + "commanded_contact_point": [ + 0.8238510537147522, + 15.13584355787596, + 0.04417059606242351 + ], + "centerline_face_intersection": [ + 0.82811804264014, + 15.139829943015283, + 0.04417059606242351 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8133385181427002, + 15.134479522705078, + 0.06564977765083313 + ], + "box_pose": [ + 0.9151124358177185, + 15.156496047973633, + 0.041840560734272, + -0.6835080981254578, + 0.14486674964427948, + 0.060346536338329315, + 0.7128733396530151 + ], + "box_yaw_rad": -0.1172582411251817, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0039863851393225486, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024315899110615253 + } + }, + { + "simulation_time_ns": 8120000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8395879066267289, + 15.14843798429265, + 0.0665147857263282 + ], + "intended_face_normal": [ + -0.9521313996476621, + 0.09815771364581138, + 0.2895010583247668 + ], + "commanded_contact_point": [ + 0.8260238814353943, + 15.137128250737414, + 0.04416087063008781 + ], + "centerline_face_intersection": [ + 0.8320097019651805, + 15.14085870562066, + 0.04416087063008781 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8173477053642273, + 15.13446044921875, + 0.065821573138237 + ], + "box_pose": [ + 0.9186415076255798, + 15.157607078552246, + 0.04182778671383858, + -0.6845352053642273, + 0.14006513357162476, + 0.06569671630859375, + 0.7123743891716003 + ], + "box_yaw_rad": -0.10272969843306501, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0037304548832461375, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025242247593854775 + } + }, + { + "simulation_time_ns": 8140000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8417142404307292, + 15.149487772899882, + 0.06634079779516174 + ], + "intended_face_normal": [ + -0.9531892252567031, + 0.09681302514456647, + 0.2864568924738613 + ], + "commanded_contact_point": [ + 0.8280661153793335, + 15.138544615382727, + 0.0442219389206975 + ], + "centerline_face_intersection": [ + 0.8343077158976826, + 15.142012324772628, + 0.0442219389206975 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8200423121452332, + 15.135443687438965, + 0.06563955545425415 + ], + "box_pose": [ + 0.9208345413208008, + 15.158768653869629, + 0.04191058129072189, + -0.684650182723999, + 0.13845165073871613, + 0.06508861482143402, + 0.7126351594924927 + ], + "box_yaw_rad": -0.10122036829990819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003467709389899623, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002486068709104877 + } + }, + { + "simulation_time_ns": 8160000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8438782244672024, + 15.152516187945366, + 0.06570293644690757 + ], + "intended_face_normal": [ + -0.9580184715813957, + 0.10373617275427272, + 0.2672815448580024 + ], + "commanded_contact_point": [ + 0.830013667345047, + 15.14128746934315, + 0.045064708057962824 + ], + "centerline_face_intersection": [ + 0.8372529391025492, + 15.144506166802174, + 0.045064708057962824 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8230398893356323, + 15.138280868530273, + 0.06508363783359528 + ], + "box_pose": [ + 0.9235274195671082, + 15.16122055053711, + 0.042828671634197235, + -0.685560405254364, + 0.13371191918849945, + 0.05578428879380226, + 0.7134537696838379 + ], + "box_yaw_rad": -0.10786176781133504, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0032186974590236142, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034679195962541948 + } + }, + { + "simulation_time_ns": 8180000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8458916015342063, + 15.156716669478975, + 0.06472549091361021 + ], + "intended_face_normal": [ + -0.9652043886922747, + 0.10989422987621422, + 0.23728409862771072 + ], + "commanded_contact_point": [ + 0.8318333077430725, + 15.145243878073085, + 0.046403524751878915 + ], + "centerline_face_intersection": [ + 0.8404212359701956, + 15.148231152022028, + 0.046403524751878915 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.82563316822052, + 15.14244556427002, + 0.06416095793247223 + ], + "box_pose": [ + 0.9262552857398987, + 15.16490650177002, + 0.04429030418395996, + -0.6871317028999329, + 0.12469016760587692, + 0.04301357641816139, + 0.7144593596458435 + ], + "box_yaw_rad": -0.11336772970337508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002987273948943281, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004555951202147213 + } + }, + { + "simulation_time_ns": 8200000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8469292562970027, + 15.159771827809005, + 0.06410386359688476 + ], + "intended_face_normal": [ + -0.9693837591049411, + 0.11013636150709072, + 0.2194654915124099 + ], + "commanded_contact_point": [ + 0.8335174667835236, + 15.148522634051982, + 0.047157766777025996 + ], + "centerline_face_intersection": [ + 0.8421265069627302, + 15.15126761408217, + 0.047157766777025996 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8270783424377441, + 15.145210266113281, + 0.06401333212852478 + ], + "box_pose": [ + 0.9276499152183533, + 15.167940139770508, + 0.04511845484375954, + -0.6882057785987854, + 0.11815356463193893, + 0.03671315312385559, + 0.714887797832489 + ], + "box_yaw_rad": -0.11312971276311783, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027449800301877028, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037623813569579562 + } + }, + { + "simulation_time_ns": 8220000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8477289545022726, + 15.160188047639938, + 0.06482662442433196 + ], + "intended_face_normal": [ + -0.9658676974780329, + 0.09831502605844866, + 0.23965339093575677 + ], + "commanded_contact_point": [ + 0.8351021754741669, + 15.150137635798309, + 0.04632171261328692 + ], + "centerline_face_intersection": [ + 0.8423647457255542, + 15.152596622040623, + 0.04632171261328692 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8270061016082764, + 15.14544677734375, + 0.06568065285682678 + ], + "box_pose": [ + 0.9279404878616333, + 15.169341087341309, + 0.044203244149684906, + -0.6876254677772522, + 0.12145695090293884, + 0.048107799142599106, + 0.714216411113739 + ], + "box_yaw_rad": -0.10143995096412312, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002458986242312802, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024121606164483403 + } + }, + { + "simulation_time_ns": 8240000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8497865950803521, + 15.160017836962233, + 0.06671564771443765 + ], + "intended_face_normal": [ + -0.9535755434763175, + 0.08894013503667164, + 0.28772093813694255 + ], + "commanded_contact_point": [ + 0.8363189148902893, + 15.151094589590436, + 0.044499185157300204 + ], + "centerline_face_intersection": [ + 0.8424427184031769, + 15.153150296516051, + 0.044499185157300204 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8266037702560425, + 15.143068313598633, + 0.0653640627861023 + ], + "box_pose": [ + 0.9287798404693604, + 15.169949531555176, + 0.04213067889213562, + -0.6862496137619019, + 0.13599224388599396, + 0.06869015842676163, + 0.7112308144569397 + ], + "box_yaw_rad": -0.09300109177118047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002055706925616077, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002391196707683583 + } + }, + { + "simulation_time_ns": 8260000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8517756613690352, + 15.158600752338987, + 0.06621043463637533 + ], + "intended_face_normal": [ + -0.9559995111722704, + 0.07924875268042442, + 0.2824616376196225 + ], + "commanded_contact_point": [ + 0.8376080143451691, + 15.151032840963854, + 0.044400070619637334 + ], + "centerline_face_intersection": [ + 0.8448242656128584, + 15.152481535023679, + 0.044400070619637334 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8265400528907776, + 15.137306213378906, + 0.05850255489349365 + ], + "box_pose": [ + 0.9308109879493713, + 15.169336318969727, + 0.04210323840379715, + -0.6862008571624756, + 0.1306389719247818, + 0.0702403262257576, + 0.7121293544769287 + ], + "box_yaw_rad": -0.08270712460307379, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014486940598251845, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012943778385897016 + } + }, + { + "simulation_time_ns": 8280000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8545859930932317, + 15.157132102930817, + 0.06636980216114595 + ], + "intended_face_normal": [ + -0.9553665908439348, + 0.07074219187681408, + 0.28682785179987214 + ], + "commanded_contact_point": [ + 0.8395757126808167, + 15.150999349806344, + 0.044222299545875414 + ], + "centerline_face_intersection": [ + 0.8475322174501206, + 15.151669722378266, + 0.044222299545875414 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8276953101158142, + 15.132211685180664, + 0.053448840975761414 + ], + "box_pose": [ + 0.933413565158844, + 15.168570518493652, + 0.041908230632543564, + -0.686478853225708, + 0.12922431528568268, + 0.07495185732841492, + 0.7116389870643616 + ], + "box_yaw_rad": -0.07391227983933947, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006703725719211188, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019759961924072783 + } + }, + { + "simulation_time_ns": 8300000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8567886209164105, + 15.157038108213653, + 0.06638524919056024 + ], + "intended_face_normal": [ + -0.9553954860378208, + 0.06770422029057421, + 0.28746409850436194 + ], + "commanded_contact_point": [ + 0.8419157910346985, + 15.151915943264957, + 0.044188618586277394 + ], + "centerline_face_intersection": [ + 0.8497395208447145, + 15.151810305590786, + 0.044188618586277394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.829538106918335, + 15.132410049438477, + 0.051604270935058594 + ], + "box_pose": [ + 0.9355619549751282, + 15.168726921081543, + 0.04186738654971123, + -0.6867406368255615, + 0.1283608376979828, + 0.07632661610841751, + 0.7113965749740601 + ], + "box_yaw_rad": -0.07074685583940087, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0001056376741712503, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025134129540758687 + } + }, + { + "simulation_time_ns": 8320000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8595883869140841, + 15.15890701238988, + 0.0666160978692821 + ], + "intended_face_normal": [ + -0.9540631566038441, + 0.07435937747262322, + 0.2902312488230345 + ], + "commanded_contact_point": [ + 0.8440222787857056, + 15.153940045788847, + 0.044205800884502815 + ], + "centerline_face_intersection": [ + 0.8523235467846786, + 15.153165329716073, + 0.044205800884502815 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8322451114654541, + 15.136438369750977, + 0.05176205933094025 + ], + "box_pose": [ + 0.9383642673492432, + 15.170045852661133, + 0.041851628571748734, + -0.6865721344947815, + 0.13174286484718323, + 0.07491488009691238, + 0.7110909223556519 + ], + "box_yaw_rad": -0.07778243578629195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007747160727750943, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029213998192192427 + } + }, + { + "simulation_time_ns": 8340000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8634997730594003, + 15.1622270285861, + 0.06774928437357534 + ], + "intended_face_normal": [ + -0.9487264348574556, + 0.08944959215743609, + 0.3031780309042773 + ], + "commanded_contact_point": [ + 0.846071754693985, + 15.15667798025349, + 0.04433929754624992 + ], + "centerline_face_intersection": [ + 0.8553675958864806, + 15.155320150248414, + 0.04433929754624992 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8356571197509766, + 15.140742301940918, + 0.05335141718387604 + ], + "box_pose": [ + 0.9420663714408875, + 15.172113418579102, + 0.04181589186191559, + -0.687102198600769, + 0.14179664850234985, + 0.07436728477478027, + 0.7086986303329468 + ], + "box_yaw_rad": -0.09400596548128003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013578300050749467, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034226390388107843 + } + }, + { + "simulation_time_ns": 8360000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8681805988428185, + 15.166205244156194, + 0.06943703793230871 + ], + "intended_face_normal": [ + -0.9401860730939217, + 0.10807168466401418, + 0.3230644922601762 + ], + "commanded_contact_point": [ + 0.8481589007377625, + 15.159714794068275, + 0.04449151174879988 + ], + "centerline_face_intersection": [ + 0.8586496678275035, + 15.157860455099925, + 0.04449151174879988 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8395346403121948, + 15.145447731018066, + 0.05544821918010712 + ], + "box_pose": [ + 0.9463126063346863, + 15.174539566040039, + 0.04170762002468109, + -0.6880111694335938, + 0.15568003058433533, + 0.07530399411916733, + 0.704793393611908 + ], + "box_yaw_rad": -0.11444484012605356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001854338968349298, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003688032797737733 + } + }, + { + "simulation_time_ns": 8380000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8737333085556336, + 15.170954452218739, + 0.07104052036462556 + ], + "intended_face_normal": [ + -0.930792914895714, + 0.12970552672281777, + 0.3417616622089312 + ], + "commanded_contact_point": [ + 0.8501216518878937, + 15.163194042596777, + 0.0446512863342681 + ], + "centerline_face_intersection": [ + 0.8626482848334176, + 15.160939199256788, + 0.0446512863342681 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8442188501358032, + 15.15092658996582, + 0.05736105144023895 + ], + "box_pose": [ + 0.9514211416244507, + 15.177480697631836, + 0.041629623621702194, + -0.6880722045898438, + 0.17037364840507507, + 0.0746750459074974, + 0.701393723487854 + ], + "box_yaw_rad": -0.13845788868373993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022548433399880016, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003997885731056074 + } + }, + { + "simulation_time_ns": 8400000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8793869239149212, + 15.176669858908106, + 0.07158999500999833 + ], + "intended_face_normal": [ + -0.9252943069665708, + 0.15477615996715688, + 0.3462293742576019 + ], + "commanded_contact_point": [ + 0.8518847572803497, + 15.167278717605548, + 0.044855785191336844 + ], + "centerline_face_intersection": [ + 0.8673843503387939, + 15.164718769130234, + 0.044855785191336844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8493905067443848, + 15.15709114074707, + 0.05855280160903931 + ], + "box_pose": [ + 0.9570774435997009, + 15.181097030639648, + 0.04179779440164566, + -0.685685396194458, + 0.18132372200489044, + 0.066892109811306, + 0.701771080493927 + ], + "box_yaw_rad": -0.16573794013207013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0025599484753145436, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004453642367178897 + } + }, + { + "simulation_time_ns": 8420000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8841672231123716, + 15.18248994371833, + 0.07115215395155639 + ], + "intended_face_normal": [ + -0.921554760024663, + 0.18177265970811662, + 0.3430678182462863 + ], + "commanded_contact_point": [ + 0.8535537767410278, + 15.171221593630609, + 0.04466206467275723 + ], + "centerline_face_intersection": [ + 0.8715372723928243, + 15.16845431073845, + 0.04466206467275723 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8536607027053833, + 15.163270950317383, + 0.05864393711090088 + ], + "box_pose": [ + 0.9620537757873535, + 15.184642791748047, + 0.04162179306149483, + -0.6831731796264648, + 0.19011715054512024, + 0.05548052862286568, + 0.7028881907463074 + ], + "box_yaw_rad": -0.19474574073110515, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0027672828921572563, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00428595671331856 + } + }, + { + "simulation_time_ns": 8440000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8869692253798156, + 15.186037432974393, + 0.07117641720190664 + ], + "intended_face_normal": [ + -0.9182227305495004, + 0.19733526000587176, + 0.34340326307837366 + ], + "commanded_contact_point": [ + 0.8552560257911682, + 15.17365911393694, + 0.04466042644509789 + ], + "centerline_face_intersection": [ + 0.873777942301199, + 15.170800128927244, + 0.04466042644509789 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8560069799423218, + 15.16850757598877, + 0.058090612292289734 + ], + "box_pose": [ + 0.9648703336715698, + 15.186872482299805, + 0.041617799550294876, + -0.6815272569656372, + 0.19601745903491974, + 0.04965672641992569, + 0.7033007144927979 + ], + "box_yaw_rad": -0.2116901483838356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0028589850096962283, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029730724438320807 + } + }, + { + "simulation_time_ns": 8460000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8881926245731124, + 15.187728132506383, + 0.07115845805459564 + ], + "intended_face_normal": [ + -0.9165408502967058, + 0.20502597075388662, + 0.3433907986900109 + ], + "commanded_contact_point": [ + 0.8570134687423706, + 15.174763032146476, + 0.04464342973944705 + ], + "centerline_face_intersection": [ + 0.8747171629569611, + 15.171896987814625, + 0.04464342973944705 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8569083213806152, + 15.171720504760742, + 0.058515533804893494 + ], + "box_pose": [ + 0.9660981297492981, + 15.187910079956055, + 0.04160018637776375, + -0.6807155013084412, + 0.19886662065982819, + 0.04670805111527443, + 0.7034891247749329 + ], + "box_yaw_rad": -0.22007235747527681, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0028660443318515422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002075458992145647 + } + }, + { + "simulation_time_ns": 8480000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8882023567810549, + 15.18779702191153, + 0.07108774499901176 + ], + "intended_face_normal": [ + -0.9166699792889315, + 0.20533222976228682, + 0.3428627030260598 + ], + "commanded_contact_point": [ + 0.8584836173057556, + 15.17476308838884, + 0.04461349375633041 + ], + "centerline_face_intersection": [ + 0.8747487334860434, + 15.1719422293343, + 0.04461349375633041 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8553147315979004, + 15.17307186126709, + 0.058550670742988586 + ], + "box_pose": [ + 0.966126024723053, + 15.187952995300293, + 0.04157724231481552, + -0.6806329488754272, + 0.198781818151474, + 0.04637670889496803, + 0.7036148309707642 + ], + "box_yaw_rad": -0.2203605071792523, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002820859054539968, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014704533194465478 + } + }, + { + "simulation_time_ns": 8500000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8880211620359867, + 15.187746234435943, + 0.07086502486595242 + ], + "intended_face_normal": [ + -0.9175789041283973, + 0.2050630610658999, + 0.3405849039032063 + ], + "commanded_contact_point": [ + 0.8601459610462189, + 15.174587936927914, + 0.0445666545975694 + ], + "centerline_face_intersection": [ + 0.8747211617902161, + 15.1719122258041, + 0.0445666545975694 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8508780598640442, + 15.175540924072266, + 0.05885162949562073 + ], + "box_pose": [ + 0.9660224914550781, + 15.187925338745117, + 0.04156054928898811, + -0.6804490089416504, + 0.19782553613185883, + 0.045558810234069824, + 0.7041153907775879 + ], + "box_yaw_rad": -0.21986983795067044, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002675711123813331, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016722017379835917 + } + }, + { + "simulation_time_ns": 8520000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8876923080073987, + 15.18765197102012, + 0.07048756689326988 + ], + "intended_face_normal": [ + -0.9192186087994354, + 0.20456520860437433, + 0.336437495837719 + ], + "commanded_contact_point": [ + 0.8622345674037933, + 15.174292876642037, + 0.044509440040582285 + ], + "centerline_face_intersection": [ + 0.874669027112453, + 15.171856404222375, + 0.044509440040582285 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8492573499679565, + 15.177837371826172, + 0.060041531920433044 + ], + "box_pose": [ + 0.9658336043357849, + 15.187873840332031, + 0.04155868664383888, + -0.6801019310951233, + 0.19608217477798462, + 0.04407353326678276, + 0.705032229423523 + ], + "box_yaw_rad": -0.21897413245325173, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002436472419661444, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002110120990543808 + } + }, + { + "simulation_time_ns": 8540000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8872080267538418, + 15.18751294299399, + 0.06993783908628894 + ], + "intended_face_normal": [ + -0.9216156283164961, + 0.20383437303812002, + 0.3302668139594207 + ], + "commanded_contact_point": [ + 0.8643623042106628, + 15.173913111291439, + 0.04443618337188177 + ], + "centerline_face_intersection": [ + 0.8745883098000737, + 15.171773807893912, + 0.04443618337188177 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8512441515922546, + 15.179203033447266, + 0.059588104486465454 + ], + "box_pose": [ + 0.9655537009239197, + 15.187797546386719, + 0.04156767576932907, + -0.6795798540115356, + 0.19349192082881927, + 0.04186958819627762, + 0.7063844203948975 + ], + "box_yaw_rad": -0.2176666835785166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002139303397527288, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00216260310282098 + } + }, + { + "simulation_time_ns": 8560000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8865553840679581, + 15.187330939452, + 0.0691872245576455 + ], + "intended_face_normal": [ + -0.9248237382339255, + 0.2029022961729794, + 0.321763438318726 + ], + "commanded_contact_point": [ + 0.8663078892230988, + 15.173454968711033, + 0.04434215966264146 + ], + "centerline_face_intersection": [ + 0.8744740146305612, + 15.17166377495965, + 0.04434215966264146 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.854704737663269, + 15.180366516113281, + 0.06108769774436951 + ], + "box_pose": [ + 0.9651752710342407, + 15.187695503234863, + 0.04158699885010719, + -0.6788387894630432, + 0.1899501085281372, + 0.03882122039794922, + 0.7082300186157227 + ], + "box_yaw_rad": -0.21597377280027025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017911937513820698, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002001008776216593 + } + }, + { + "simulation_time_ns": 8580000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8857184139739157, + 15.187094253920002, + 0.06820923457680395 + ], + "intended_face_normal": [ + -0.9288748401433109, + 0.20170877715251478, + 0.3106526991087861 + ], + "commanded_contact_point": [ + 0.8682550537586212, + 15.17283032204275, + 0.04422208889768353 + ], + "centerline_face_intersection": [ + 0.8743139849795322, + 15.171519247373478, + 0.04422208889768353 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.857302725315094, + 15.18352222442627, + 0.062188223004341125 + ], + "box_pose": [ + 0.9646837711334229, + 15.18756103515625, + 0.04161512851715088, + -0.6778424382209778, + 0.18533073365688324, + 0.03485827147960663, + 0.7106103301048279 + ], + "box_yaw_rad": -0.21383396376649708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013110746692704136, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020484262684294296 + } + }, + { + "simulation_time_ns": 8600000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8846760440386385, + 15.18680549656207, + 0.06698390638885775 + ], + "intended_face_normal": [ + -0.9337727839406109, + 0.20030518600451686, + 0.2965572708414932 + ], + "commanded_contact_point": [ + 0.8704427230358124, + 15.172083263485602, + 0.04408514362811251 + ], + "centerline_face_intersection": [ + 0.8740858437785254, + 15.171338868746641, + 0.04408514362811251 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8578211069107056, + 15.185505867004395, + 0.05956542491912842 + ], + "box_pose": [ + 0.9640584588050842, + 15.187392234802246, + 0.041664350777864456, + -0.6765695810317993, + 0.17950713634490967, + 0.029846206307411194, + 0.7135404348373413 + ], + "box_yaw_rad": -0.21130938628332535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007443947389602836, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002315760644157944 + } + }, + { + "simulation_time_ns": 8620000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8846938651714014, + 15.186082707898287, + 0.0663781006975662 + ], + "intended_face_normal": [ + -0.9368215152140238, + 0.19753718219304206, + 0.28869448549453525 + ], + "commanded_contact_point": [ + 0.8729360449314117, + 15.171196362917545, + 0.044086465375604574 + ], + "centerline_face_intersection": [ + 0.8746081803588753, + 15.17082981236607, + 0.044086465375604574 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8559136986732483, + 15.180275917053223, + 0.053217753767967224 + ], + "box_pose": [ + 0.9642958641052246, + 15.186904907226562, + 0.04176433011889458, + -0.6761401295661926, + 0.17553681135177612, + 0.027858037501573563, + 0.7150141596794128 + ], + "box_yaw_rad": -0.20781470291914064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003665505514742075, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026463651372611832 + } + }, + { + "simulation_time_ns": 8640000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8852774618562915, + 15.185723467644266, + 0.06665400713314973 + ], + "intended_face_normal": [ + -0.9361527166487718, + 0.19632727130427696, + 0.2916739283342744 + ], + "commanded_contact_point": [ + 0.8759815144538879, + 15.17089202978807, + 0.044132313197036456 + ], + "centerline_face_intersection": [ + 0.8750812518357213, + 15.17056399576113, + 0.044132313197036456 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8543896675109863, + 15.171526908874512, + 0.04830378293991089 + ], + "box_pose": [ + 0.9647946953773499, + 15.18664836883545, + 0.04177136346697807, + -0.6765496134757996, + 0.17622312903404236, + 0.02947966195642948, + 0.7143926620483398 + ], + "box_yaw_rad": -0.20672126705293647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003280340269389394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030609810990527226 + } + }, + { + "simulation_time_ns": 8660000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8866837734328777, + 15.18307998417413, + 0.06648597518644173 + ], + "intended_face_normal": [ + -0.939939245984172, + 0.18058226237062414, + 0.2896622765497483 + ], + "commanded_contact_point": [ + 0.8795761513710022, + 15.169595879863378, + 0.04411961157435115 + ], + "centerline_face_intersection": [ + 0.8771122169342188, + 15.169136268098345, + 0.04411961157435115 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8560917377471924, + 15.165846824645996, + 0.04675555229187012 + ], + "box_pose": [ + 0.9662312269210815, + 15.18533992767334, + 0.041786037385463715, + -0.6777726411819458, + 0.16978593170642853, + 0.03468593955039978, + 0.7145583629608154 + ], + "box_yaw_rad": -0.18980844700553431, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00045961176503290585, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003821201450378765 + } + }, + { + "simulation_time_ns": 8680000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8898862139273046, + 15.18164827252001, + 0.06674091932085097 + ], + "intended_face_normal": [ + -0.9407270263259884, + 0.17171047084819646, + 0.2924861984754208 + ], + "commanded_contact_point": [ + 0.8834711360931397, + 15.168992649963327, + 0.044156505690808194 + ], + "centerline_face_intersection": [ + 0.8804442792818797, + 15.168389594611584, + 0.044156505690808194 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8592372536659241, + 15.164803504943848, + 0.045769765973091125 + ], + "box_pose": [ + 0.9693295955657959, + 15.18465805053711, + 0.04178731516003609, + -0.6788366436958313, + 0.1676417887210846, + 0.0391499362885952, + 0.7138237357139587 + ], + "box_yaw_rad": -0.1805420076551192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006030553517423722, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003941592758496079 + } + }, + { + "simulation_time_ns": 8700000000, + "phase": "straight_push", + "intended_face_center": [ + 0.892599970557807, + 15.181811982667343, + 0.06709062586836156 + ], + "intended_face_normal": [ + -0.9399051454534053, + 0.1693979480852832, + 0.2964500736345528 + ], + "commanded_contact_point": [ + 0.8873440074920654, + 15.169414542112735, + 0.044200140373600656 + ], + "centerline_face_intersection": [ + 0.88302280053331, + 15.168731866929985, + 0.044200140373600656 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8619369268417358, + 15.166741371154785, + 0.04310692846775055 + ], + "box_pose": [ + 0.9719225764274597, + 15.185016632080078, + 0.04177963361144066, + -0.6794511079788208, + 0.1682824194431305, + 0.041574686765670776, + 0.7129507064819336 + ], + "box_yaw_rad": -0.17831451965587353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000682675182750361, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038960274439346246 + } + }, + { + "simulation_time_ns": 8720000000, + "phase": "straight_push", + "intended_face_center": [ + 0.8955304946876518, + 15.182071502317717, + 0.06972244029614572 + ], + "intended_face_normal": [ + -0.9299476493621802, + 0.1693271080726424, + 0.32638272738071805 + ], + "commanded_contact_point": [ + 0.8903358626365662, + 15.169777227917939, + 0.04452069554617229 + ], + "centerline_face_intersection": [ + 0.8843048011457469, + 15.168996856514172, + 0.04452069554617229 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8639401197433472, + 15.16655445098877, + 0.046265482902526855 + ], + "box_pose": [ + 0.9739368557929993, + 15.185277938842773, + 0.04170185700058937, + -0.6827025413513184, + 0.17934757471084595, + 0.05348479002714157, + 0.7063221335411072 + ], + "box_yaw_rad": -0.18010925963110933, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007803714037664402, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030307579609124497 + } + }, + { + "simulation_time_ns": 8740000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9019378468113336, + 15.181440462220687, + 0.07580655350315456 + ], + "intended_face_normal": [ + -0.9120478612790452, + 0.163678808769264, + 0.3760025866420076 + ], + "commanded_contact_point": [ + 0.8930822062492371, + 15.169706288296553, + 0.04677339574407928 + ], + "centerline_face_intersection": [ + 0.8877004373350452, + 15.168801951620917, + 0.04677339574407928 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.869062066078186, + 15.165702819824219, + 0.051850393414497375 + ], + "box_pose": [ + 0.9786859154701233, + 15.185121536254883, + 0.04357030615210533, + -0.682346761226654, + 0.19612590968608856, + 0.07423406839370728, + 0.7003048062324524 + ], + "box_yaw_rad": -0.1775727035099524, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009043366756343853, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035527586254051713 + } + }, + { + "simulation_time_ns": 8760000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9098472024382094, + 15.181110436030005, + 0.08030237349447751 + ], + "intended_face_normal": [ + -0.8992893919034897, + 0.15881891638790968, + 0.40749861119694764 + ], + "commanded_contact_point": [ + 0.8957837867736816, + 15.169890074006386, + 0.048837240312430176 + ], + "centerline_face_intersection": [ + 0.8934235278410927, + 15.168847183546038, + 0.048837240312430176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.876179039478302, + 15.165383338928223, + 0.05604860186576843 + ], + "box_pose": [ + 0.9854397177696228, + 15.185202598571777, + 0.04548833146691322, + -0.6799073815345764, + 0.20663772523403168, + 0.0874994546175003, + 0.6981192827224731 + ], + "box_yaw_rad": -0.17480245489777058, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010428904603470126, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003404668694529407 + } + }, + { + "simulation_time_ns": 8780000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9181089864341411, + 15.180869598746366, + 0.08469603089282683 + ], + "intended_face_normal": [ + -0.8855010279524874, + 0.15379885163376894, + 0.438444808542223 + ], + "commanded_contact_point": [ + 0.8984388160705566, + 15.170189718407949, + 0.05084137736839875 + ], + "centerline_face_intersection": [ + 0.8992836505853519, + 15.168993972138244, + 0.05084137736839875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8836678266525269, + 15.165172576904297, + 0.06038868427276611 + ], + "box_pose": [ + 0.9924598932266235, + 15.185385704040527, + 0.04735249653458595, + -0.6772961020469666, + 0.21702472865581512, + 0.10074598342180252, + 0.6957158446311951 + ], + "box_yaw_rad": -0.17197012125432862, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011957462697049005, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033399899212062222 + } + }, + { + "simulation_time_ns": 8800000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9251473985994862, + 15.180916837559218, + 0.08888303923510213 + ], + "intended_face_normal": [ + -0.8710193317541871, + 0.15020629634026328, + 0.46772144896407664 + ], + "commanded_contact_point": [ + 0.9008873748779297, + 15.17067379018739, + 0.052767780730228336 + ], + "centerline_face_intersection": [ + 0.903754060994043, + 15.16931861123583, + 0.052767780730228336 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8899049758911133, + 15.165332794189453, + 0.06474468111991882 + ], + "box_pose": [ + 0.9982336759567261, + 15.185736656188965, + 0.04915701597929001, + -0.6742710471153259, + 0.22748008370399475, + 0.11288554221391678, + 0.6934465169906616 + ], + "box_yaw_rad": -0.17076927202618697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013551789515599945, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031529027313388263 + } + }, + { + "simulation_time_ns": 8820000000, + "phase": "straight_push", + "intended_face_center": [ + 0.930070794973501, + 15.181129378555601, + 0.09152596583779316 + ], + "intended_face_normal": [ + -0.8611402872435224, + 0.148492372741317, + 0.48619690567942353 + ], + "commanded_contact_point": [ + 0.9030627655982971, + 15.171154058503271, + 0.05398411914298667 + ], + "centerline_face_intersection": [ + 0.9068976538464153, + 15.169663493380927, + 0.05398411914298667 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8942534327507019, + 15.166278839111328, + 0.06852959096431732 + ], + "box_pose": [ + 1.0023109912872314, + 15.186094284057617, + 0.050298597663640976, + -0.6721372008323669, + 0.2343905121088028, + 0.12037833780050278, + 0.691955029964447 + ], + "box_yaw_rad": -0.170757663794023, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014905651223439543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025382004601393216 + } + }, + { + "simulation_time_ns": 8840000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9330260557893867, + 15.18137464761241, + 0.09174423261570702 + ], + "intended_face_normal": [ + -0.8604457399433652, + 0.14759704232387527, + 0.48769686005363866 + ], + "commanded_contact_point": [ + 0.9050787138938904, + 15.171557485968387, + 0.05408656647304266 + ], + "centerline_face_intersection": [ + 0.9097269067587861, + 15.169977895656972, + 0.05408656647304266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.8973695039749146, + 15.167752265930176, + 0.06954298913478851 + ], + "box_pose": [ + 1.0051906108856201, + 15.18641471862793, + 0.05039370059967041, + -0.6720927357673645, + 0.23465444147586823, + 0.1213030219078064, + 0.6917471885681152 + ], + "box_yaw_rad": -0.16988220682948277, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015795903114158016, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002058469505616005 + } + }, + { + "simulation_time_ns": 8860000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9356242703841487, + 15.182964916211077, + 0.0906531649771623 + ], + "intended_face_normal": [ + -0.8636519202533632, + 0.15394748237801714, + 0.4800057791664809 + ], + "commanded_contact_point": [ + 0.9070633697509766, + 15.172662709164472, + 0.05358936805951811 + ], + "centerline_face_intersection": [ + 0.9129058293913381, + 15.171077813033381, + 0.05358936805951811 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9001237750053406, + 15.170945167541504, + 0.06907601654529572 + ], + "box_pose": [ + 1.0081772804260254, + 15.187471389770508, + 0.04992547631263733, + -0.6722825169563293, + 0.233952596783638, + 0.11593197286128998, + 0.692720890045166 + ], + "box_yaw_rad": -0.17639905736982114, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015848961310909026, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023254211331802587 + } + }, + { + "simulation_time_ns": 8880000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9374914237387614, + 15.185078118459028, + 0.0886772192799972 + ], + "intended_face_normal": [ + -0.8694897150675062, + 0.16345950543164456, + 0.4661207965201193 + ], + "commanded_contact_point": [ + 0.9089531946182251, + 15.173928896001161, + 0.052685555656046684 + ], + "centerline_face_intersection": [ + 0.91582402327293, + 15.172456541435315, + 0.052685555656046684 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9021801352500916, + 15.175270080566406, + 0.06934425234794617 + ], + "box_pose": [ + 1.0107100009918213, + 15.188783645629883, + 0.04907544329762459, + -0.672858476638794, + 0.23193350434303284, + 0.10706069320440292, + 0.694266676902771 + ], + "box_yaw_rad": -0.18582585854504363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014723545658472425, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024477630593963454 + } + }, + { + "simulation_time_ns": 8900000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9381211039063937, + 15.186699029593054, + 0.08569772305228693 + ], + "intended_face_normal": [ + -0.8789912269732322, + 0.17123729027968437, + 0.44503056930055074 + ], + "commanded_contact_point": [ + 0.9106889414787293, + 15.17478550485474, + 0.05133454794355894 + ], + "centerline_face_intersection": [ + 0.9181473124722885, + 15.173476888470764, + 0.05133454794355894 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.903577983379364, + 15.177570343017578, + 0.07051292061805725 + ], + "box_pose": [ + 1.0122724771499634, + 15.18974781036377, + 0.04781275615096092, + -0.6744476556777954, + 0.22634261846542358, + 0.09629852324724197, + 0.696143627166748 + ], + "box_yaw_rad": -0.19240133734322076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013086163839746965, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002360469811495063 + } + }, + { + "simulation_time_ns": 8920000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9365654923145135, + 15.187592273329757, + 0.07965775869522967 + ], + "intended_face_normal": [ + -0.8983748182430951, + 0.1764343900804377, + 0.402235729162399 + ], + "commanded_contact_point": [ + 0.9122871208190918, + 15.175186035461058, + 0.048599000601558875 + ], + "centerline_face_intersection": [ + 0.9199837878260201, + 15.173968836514923, + 0.048599000601558875 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9040940999984741, + 15.176254272460938, + 0.07257269322872162 + ], + "box_pose": [ + 1.0124170780181885, + 15.190199851989746, + 0.045266926288604736, + -0.6785520911216736, + 0.21119478344917297, + 0.07879945635795593, + 0.6991097331047058 + ], + "box_yaw_rad": -0.19392475177386997, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012171989461341346, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003193402766780825 + } + }, + { + "simulation_time_ns": 8940000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9329507493635619, + 15.187708963377837, + 0.07105632472464095 + ], + "intended_face_normal": [ + -0.9242745938010293, + 0.177386362294647, + 0.33800965834765995 + ], + "commanded_contact_point": [ + 0.9135299968719482, + 15.175321642213992, + 0.04495680285022848 + ], + "centerline_face_intersection": [ + 0.920777372042294, + 15.174012019729648, + 0.04495680285022848 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9045085906982422, + 15.171701431274414, + 0.07201793789863586 + ], + "box_pose": [ + 1.0110095739364624, + 15.190234184265137, + 0.04201437532901764, + -0.6824424862861633, + 0.1866704672574997, + 0.054925765842199326, + 0.7045632600784302 + ], + "box_yaw_rad": -0.18961395923111526, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013096224843435087, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038508095946179406 + } + }, + { + "simulation_time_ns": 8960000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9302944813778001, + 15.184967797124548, + 0.06620913782800332 + ], + "intended_face_normal": [ + -0.9462215932108345, + 0.16389423841483275, + 0.27893255088568036 + ], + "commanded_contact_point": [ + 0.9148294973373413, + 15.173963610274575, + 0.04467127335124736 + ], + "centerline_face_intersection": [ + 0.9217534404029506, + 15.17231265205707, + 0.04467127335124736 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.905049204826355, + 15.163779258728027, + 0.06326557695865631 + ], + "box_pose": [ + 1.010055661201477, + 15.188636779785156, + 0.04238300397992134, + -0.6801367402076721, + 0.15967896580696106, + 0.0373072549700737, + 0.7145101428031921 + ], + "box_yaw_rad": -0.1715075052784662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016509582175051939, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019011783984740982 + } + }, + { + "simulation_time_ns": 8980000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9329955489088919, + 15.180391745452505, + 0.06508873226312718 + ], + "intended_face_normal": [ + -0.955999491272034, + 0.15622638579914216, + 0.24831085470193237 + ], + "commanded_contact_point": [ + 0.9168176698684692, + 15.170400678019067, + 0.04591533166970001 + ], + "centerline_face_intersection": [ + 0.926044149934808, + 15.168328676031775, + 0.04591533166970001 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9066943526268005, + 15.15780258178711, + 0.05796539783477783 + ], + "box_pose": [ + 1.0134292840957642, + 15.184704780578613, + 0.04376260191202164, + -0.6829843521118164, + 0.1453455239534378, + 0.029579266905784607, + 0.7152146697044373 + ], + "box_yaw_rad": -0.161984996537332, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0020720019872918294, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004265559444032591 + } + }, + { + "simulation_time_ns": 9000000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9362640687118013, + 15.178799645502622, + 0.06544566093384639 + ], + "intended_face_normal": [ + -0.9520210860316021, + 0.1644392390536633, + 0.258099948376989 + ], + "commanded_contact_point": [ + 0.9192090082168579, + 15.168545056360433, + 0.045516392399391245 + ], + "centerline_face_intersection": [ + 0.9286679491523522, + 15.166102418039735, + 0.045516392399391245 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9087942242622375, + 15.15683650970459, + 0.05506280064582825 + ], + "box_pose": [ + 1.0165168046951294, + 15.182421684265137, + 0.043323926627635956, + -0.6815741062164307, + 0.15197721123695374, + 0.029872801154851913, + 0.715169370174408 + ], + "box_yaw_rad": -0.17103884344476505, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0024426383206976278, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003053028558311085 + } + }, + { + "simulation_time_ns": 9020000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9395417544661924, + 15.179175218690249, + 0.06667214117483783 + ], + "intended_face_normal": [ + -0.9411470143208702, + 0.17355917171887913, + 0.2900336601526452 + ], + "commanded_contact_point": [ + 0.92136723279953, + 15.168496331464448, + 0.04427710106126801 + ], + "centerline_face_intersection": [ + 0.9301688778335591, + 15.165773792763765, + 0.04427710106126801 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9111424684524536, + 15.15877628326416, + 0.05542747676372528 + ], + "box_pose": [ + 1.0190540552139282, + 15.182028770446777, + 0.041920505464076996, + -0.6788344979286194, + 0.1673722267150879, + 0.03759029880166054, + 0.7139729261398315 + ], + "box_yaw_rad": -0.18236354350909276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0027225387006818403, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024892067984573383 + } + }, + { + "simulation_time_ns": 9040000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9427433701369403, + 15.180866407875422, + 0.06738097792430069 + ], + "intended_face_normal": [ + -0.9367357058899104, + 0.18302808041509966, + 0.29837382476658636 + ], + "commanded_contact_point": [ + 0.9234424877166748, + 15.16970731049563, + 0.044341949381992325 + ], + "centerline_face_intersection": [ + 0.9326435092342789, + 15.166733837191563, + 0.044341949381992325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9140021800994873, + 15.160460472106934, + 0.05654896795749664 + ], + "box_pose": [ + 1.0220431089401245, + 15.182918548583984, + 0.04187936708331108, + -0.6787751913070679, + 0.17391180992126465, + 0.0372401587665081, + 0.7124830484390259 + ], + "box_yaw_rad": -0.1929582341984245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002973473304067016, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002403613631554878 + } + }, + { + "simulation_time_ns": 9060000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9464582266837998, + 15.182885956705967, + 0.06806826899925648 + ], + "intended_face_normal": [ + -0.9323053572201934, + 0.19205459760201649, + 0.30646653614509134 + ], + "commanded_contact_point": [ + 0.9255478429794312, + 15.171252076588857, + 0.0444043592074622 + ], + "centerline_face_intersection": [ + 0.9356245637238215, + 15.168056400663993, + 0.0444043592074622 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9173916578292847, + 15.162501335144043, + 0.057612836360931396 + ], + "box_pose": [ + 1.0255361795425415, + 15.184172630310059, + 0.041838254779577255, + -0.6786841750144958, + 0.1802232414484024, + 0.036971673369407654, + 0.7110136151313782 + ], + "box_yaw_rad": -0.20315776285874534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0031956759248650025, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002612033317458843 + } + }, + { + "simulation_time_ns": 9080000000, + "phase": "straight_push", + "intended_face_center": [ + 0.951264290928731, + 15.18586663115658, + 0.06875773529036305 + ], + "intended_face_normal": [ + -0.9266635535017496, + 0.205155561049033, + 0.31496961212736707 + ], + "commanded_contact_point": [ + 0.9275268363952637, + 15.17339925043406, + 0.044437257817384536 + ], + "centerline_face_intersection": [ + 0.9394907498441927, + 15.170025480109501, + 0.044437257817384536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.921754777431488, + 15.165573120117188, + 0.0586482435464859 + ], + "box_pose": [ + 1.0300946235656738, + 15.186039924621582, + 0.04176253825426102, + -0.6781518459320068, + 0.18820567429065704, + 0.03531072661280632, + 0.7095363736152649 + ], + "box_yaw_rad": -0.21787730793113064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003373770324557557, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002920248753096797 + } + }, + { + "simulation_time_ns": 9100000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9569086187284692, + 15.189714110149017, + 0.06928068179212432 + ], + "intended_face_normal": [ + -0.9204600381420844, + 0.22177177008283344, + 0.32182381857452036 + ], + "commanded_contact_point": [ + 0.9293003726005554, + 15.176082938169179, + 0.04443095461671507 + ], + "centerline_face_intersection": [ + 0.9440944878310994, + 15.172589933305375, + 0.04443095461671507 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9268693327903748, + 15.169609069824219, + 0.059396952390670776 + ], + "box_pose": [ + 1.0355156660079956, + 15.188470840454102, + 0.041669487953186035, + -0.6769863963127136, + 0.19689901173114777, + 0.03163479268550873, + 0.7084625959396362 + ], + "box_yaw_rad": -0.23642962048773844, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0034930048638037925, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003216776377283851 + } + }, + { + "simulation_time_ns": 9120000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9616795579404814, + 15.193663282026368, + 0.06911357323065934 + ], + "intended_face_normal": [ + -0.9169975228470517, + 0.23734276859966963, + 0.3205993710237587 + ], + "commanded_contact_point": [ + 0.9309709119796753, + 15.17888822958528, + 0.04435839215725023 + ], + "centerline_face_intersection": [ + 0.9482813138864289, + 15.175336785644335, + 0.04435839215725023 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9312459230422974, + 15.17387580871582, + 0.05914437770843506 + ], + "box_pose": [ + 1.0402942895889282, + 15.19108772277832, + 0.041616618633270264, + -0.6751084923744202, + 0.20216381549835205, + 0.025120316073298454, + 0.7090326547622681 + ], + "box_yaw_rad": -0.25326804874503456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0035514439409443832, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032658271627508274 + } + }, + { + "simulation_time_ns": 9140000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9643009851004586, + 15.19680506966446, + 0.06834967395187452 + ], + "intended_face_normal": [ + -0.9170210970453954, + 0.2480766735490043, + 0.3122983341526755 + ], + "commanded_contact_point": [ + 0.932683413028717, + 15.181213717728502, + 0.04423546004625653 + ], + "centerline_face_intersection": [ + 0.9509067260114457, + 15.177649751442269, + 0.04423546004625653 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9337559938430786, + 15.177336692810059, + 0.05823118984699249 + ], + "box_pose": [ + 1.0431396961212158, + 15.193307876586914, + 0.04160609468817711, + -0.673134446144104, + 0.20292246341705322, + 0.017661407589912415, + 0.710915207862854 + ], + "box_yaw_rad": -0.2642006316463546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0035639662862328005, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002890617105593812 + } + }, + { + "simulation_time_ns": 9160000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9657986337225998, + 15.198405774074988, + 0.06854801191108832 + ], + "intended_face_normal": [ + -0.9148063721427373, + 0.2531710697515748, + 0.31469624096343796 + ], + "commanded_contact_point": [ + 0.9344795393943787, + 15.182410957420522, + 0.04424864287834693 + ], + "centerline_face_intersection": [ + 0.952029512074516, + 15.178857090450826, + 0.04424864287834693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9348278045654297, + 15.179109573364258, + 0.05833233892917633 + ], + "box_pose": [ + 1.044542908668518, + 15.194470405578613, + 0.041587963700294495, + -0.67276531457901, + 0.20571891963481903, + 0.016629492864012718, + 0.7104858160018921 + ], + "box_yaw_rad": -0.2699908247211294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0035538669696955363, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002158616823022493 + } + }, + { + "simulation_time_ns": 9180000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9664647044728443, + 15.198549491843494, + 0.06927800912682268 + ], + "intended_face_normal": [ + -0.9116499372916649, + 0.2538461805093237, + 0.3231972799758567 + ], + "commanded_contact_point": [ + 0.9359911131858826, + 15.182474328617195, + 0.044322229698164 + ], + "centerline_face_intersection": [ + 0.9521596154797499, + 15.178948679330247, + 0.044322229698164 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9333627223968506, + 15.179654121398926, + 0.05801005661487579 + ], + "box_pose": [ + 1.044938564300537, + 15.19455623626709, + 0.04154898226261139, + -0.673413872718811, + 0.2092498242855072, + 0.01973682828247547, + 0.7087584733963013 + ], + "box_yaw_rad": -0.27156801697223876, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003525649286948396, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015146901517406062 + } + }, + { + "simulation_time_ns": 9200000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9668666141688679, + 15.198637633478096, + 0.06971896173502642 + ], + "intended_face_normal": [ + -0.9096786648172808, + 0.2543063450561882, + 0.3283489338403629 + ], + "commanded_contact_point": [ + 0.9376786994934082, + 15.182410302448387, + 0.04436539573605682 + ], + "centerline_face_intersection": [ + 0.9522257713767246, + 15.179001289214913, + 0.04436539573605682 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9288997054100037, + 15.181917190551758, + 0.05812011659145355 + ], + "box_pose": [ + 1.045172095298767, + 15.194604873657227, + 0.041523560881614685, + -0.6738013625144958, + 0.21140864491462708, + 0.021611396223306656, + 0.7076942324638367 + ], + "box_yaw_rad": -0.27259715504617904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0034090132334745984, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016893520066781685 + } + }, + { + "simulation_time_ns": 9220000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9670322874261015, + 15.198675067757724, + 0.06989414069986574 + ], + "intended_face_normal": [ + -0.9088636581742693, + 0.2545089378292684, + 0.3304421893987435 + ], + "commanded_contact_point": [ + 0.9397825050354004, + 15.18221562104276, + 0.04437894331585892 + ], + "centerline_face_intersection": [ + 0.952252397309736, + 15.17902308022997, + 0.04437894331585892 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9271373748779297, + 15.18443489074707, + 0.05935443937778473 + ], + "box_pose": [ + 1.0452682971954346, + 15.194624900817871, + 0.04150902479887009, + -0.6739599704742432, + 0.2122916281223297, + 0.022370416671037674, + 0.7072550654411316 + ], + "box_yaw_rad": -0.273036366403487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0031925408127905564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021128374630180707 + } + }, + { + "simulation_time_ns": 9240000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9669823750007056, + 15.198667033707359, + 0.06983141468273367 + ], + "intended_face_normal": [ + -0.9091091581131371, + 0.25445983989435206, + 0.3298040705337053 + ], + "commanded_contact_point": [ + 0.9419233846664429, + 15.181921798954933, + 0.04436548984720358 + ], + "centerline_face_intersection": [ + 0.9522443837031828, + 15.179018837292062, + 0.04436548984720358 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.928945779800415, + 15.186258316040039, + 0.05902084708213806 + ], + "box_pose": [ + 1.0452393293380737, + 15.194621086120605, + 0.04150348901748657, + -0.6739242672920227, + 0.2120267003774643, + 0.022138185799121857, + 0.7073758840560913 + ], + "box_yaw_rad": -0.27291616098974986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002902961662871493, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002160990053129835 + } + }, + { + "simulation_time_ns": 9260000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9667445212852096, + 15.1986148644995, + 0.06956314705138202 + ], + "intended_face_normal": [ + -0.9102794091143479, + 0.25418558266999436, + 0.3267737591088855 + ], + "commanded_contact_point": [ + 0.9438823509216309, + 15.181533726469315, + 0.0443312086637688 + ], + "centerline_face_intersection": [ + 0.9522060835099423, + 15.178987844941874, + 0.0443312086637688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9323204755783081, + 15.187914848327637, + 0.06072929501533508 + ], + "box_pose": [ + 1.045101284980774, + 15.194592475891113, + 0.04150909185409546, + -0.6737084984779358, + 0.21075507998466492, + 0.021037863567471504, + 0.7079947590827942 + ], + "box_yaw_rad": -0.27230296076813826, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0025458815274409853, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019973292774595336 + } + }, + { + "simulation_time_ns": 9280000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9663195724221394, + 15.198520117318637, + 0.06908530275567172 + ], + "intended_face_normal": [ + -0.9123645578573506, + 0.25369283528978004, + 0.32129556432330153 + ], + "commanded_contact_point": [ + 0.9458454895019531, + 15.180974665814688, + 0.044276364898095374 + ], + "centerline_face_intersection": [ + 0.9521360041453584, + 15.178931145404654, + 0.044276364898095374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9348683953285217, + 15.191490173339844, + 0.06205818057060242 + ], + "box_pose": [ + 1.0448542833328247, + 15.194540023803711, + 0.04152718558907509, + -0.6732946634292603, + 0.20845836400985718, + 0.019048137590289116, + 0.7091237306594849 + ], + "box_yaw_rad": -0.27120959630720015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002043520410033397, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020419279467540023 + } + }, + { + "simulation_time_ns": 9300000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9657004234655009, + 15.198382728073536, + 0.0683799668339784 + ], + "intended_face_normal": [ + -0.9153667006169992, + 0.25299142424061394, + 0.31320781541047005 + ], + "commanded_contact_point": [ + 0.9480463314056397, + 15.18029510873666, + 0.04419552704754324 + ], + "centerline_face_intersection": [ + 0.9520262357793511, + 15.178847915833895, + 0.04419552704754324 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9353456497192383, + 15.193756103515625, + 0.059605568647384644 + ], + "box_pose": [ + 1.0444912910461426, + 15.194462776184082, + 0.04155413806438446, + -0.6726661324501038, + 0.20507802069187164, + 0.01611381769180298, + 0.7107767462730408 + ], + "box_yaw_rad": -0.269651143713537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014471929027642027, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002304785817685105 + } + }, + { + "simulation_time_ns": 9320000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9648753185276961, + 15.198199764695035, + 0.0674291529731882 + ], + "intended_face_normal": [ + -0.9192992780044803, + 0.25206853808624174, + 0.3022421600372498 + ], + "commanded_contact_point": [ + 0.9505560445785523, + 15.179798598856808, + 0.044091429708640884 + ], + "centerline_face_intersection": [ + 0.9518656376848625, + 15.178736213399509, + 0.044091429708640884 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.933468759059906, + 15.188356399536133, + 0.0530640184879303 + ], + "box_pose": [ + 1.0440009832382202, + 15.194358825683594, + 0.04159567132592201, + -0.6717988848686218, + 0.20050597190856934, + 0.012153856456279755, + 0.7129769325256348 + ], + "box_yaw_rad": -0.26761894236200034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001062385457299231, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002560472324991697 + } + }, + { + "simulation_time_ns": 9340000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9641939108293038, + 15.197268973175893, + 0.06643338060271876 + ], + "intended_face_normal": [ + -0.9245064450255991, + 0.24747323116684328, + 0.2899048415266634 + ], + "commanded_contact_point": [ + 0.9536289024353027, + 15.179179970389626, + 0.04404828725979177 + ], + "centerline_face_intersection": [ + 0.952059386834188, + 15.178160249946668, + 0.04404828725979177 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9319974184036255, + 15.179226875305176, + 0.048018455505371094 + ], + "box_pose": [ + 1.0436909198760986, + 15.193822860717773, + 0.04170805588364601, + -0.6713466644287109, + 0.1940692663192749, + 0.009159550070762634, + 0.7152249813079834 + ], + "box_yaw_rad": -0.2615495694718865, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010197204429589159, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003134807467627542 + } + }, + { + "simulation_time_ns": 9360000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9661633976469703, + 15.193114174156783, + 0.06651412830723029 + ], + "intended_face_normal": [ + -0.9294106578443677, + 0.22772224910837302, + 0.29041073522605565 + ], + "commanded_contact_point": [ + 0.9572425532341003, + 15.176622007927886, + 0.044089972223498905 + ], + "centerline_face_intersection": [ + 0.9548482662704469, + 15.175530529207261, + 0.044089972223498905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.933789849281311, + 15.173736572265625, + 0.046496450901031494 + ], + "box_pose": [ + 1.0457018613815308, + 15.191362380981445, + 0.04174406826496124, + -0.6734024882316589, + 0.1871008276939392, + 0.01696912944316864, + 0.7150065302848816 + ], + "box_yaw_rad": -0.24028416061330055, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010914787206243682, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004427570630438416 + } + }, + { + "simulation_time_ns": 9380000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9693630671634558, + 15.191485134000198, + 0.06675119865539471 + ], + "intended_face_normal": [ + -0.930484706208466, + 0.21993497755496172, + 0.2929621320855029 + ], + "commanded_contact_point": [ + 0.9611582803726196, + 15.175670307822374, + 0.044130035662248435 + ], + "centerline_face_intersection": [ + 0.9582267669544093, + 15.174502785668187, + 0.044130035662248435 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9370079040527344, + 15.172601699829102, + 0.04554137587547302 + ], + "box_pose": [ + 1.0488417148590088, + 15.190399169921875, + 0.041752055287361145, + -0.674393355846405, + 0.18525342643260956, + 0.020947908982634544, + 0.7144479751586914 + ], + "box_yaw_rad": -0.23210610665972548, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011675221541877813, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004029920246517579 + } + }, + { + "simulation_time_ns": 9400000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9720421526713522, + 15.191532420035202, + 0.06712767080755201 + ], + "intended_face_normal": [ + -0.9295413195411247, + 0.21826645982935178, + 0.29717450477335117 + ], + "commanded_contact_point": [ + 0.9650532054901123, + 15.175863370406503, + 0.04418124813500157 + ], + "centerline_face_intersection": [ + 0.9607487885647323, + 15.17467890682314, + 0.04418124813500157 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9397351741790771, + 15.17425537109375, + 0.043089479207992554 + ], + "box_pose": [ + 1.0514023303985596, + 15.19058895111084, + 0.0417492538690567, + -0.6749341487884521, + 0.1862521469593048, + 0.0232266653329134, + 0.7136067152023315 + ], + "box_yaw_rad": -0.23063277587999348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011844635833633556, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003900043275353687 + } + }, + { + "simulation_time_ns": 9420000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9749828245359813, + 15.191450416697588, + 0.06976397156931524 + ], + "intended_face_normal": [ + -0.9198571963369089, + 0.21650171921161698, + 0.3270928505743722 + ], + "commanded_contact_point": [ + 0.9680616307258606, + 15.175962416877962, + 0.044507394434028014 + ], + "centerline_face_intersection": [ + 0.9620671679666095, + 15.174733168486298, + 0.044507394434028014 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.941735029220581, + 15.173613548278809, + 0.046286195516586304 + ], + "box_pose": [ + 1.0534272193908691, + 15.190656661987305, + 0.041677698493003845, + -0.6780068874359131, + 0.1969592571258545, + 0.0357554592192173, + 0.7072730660438538 + ], + "box_yaw_rad": -0.23115734614074382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0012292483916629517, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003027673035676763 + } + }, + { + "simulation_time_ns": 9440000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9813104697904607, + 15.190315798387664, + 0.07586004063369388 + ], + "intended_face_normal": [ + -0.9027518830951355, + 0.20845890899920771, + 0.37627635967261863 + ], + "commanded_contact_point": [ + 0.970816080570221, + 15.175524070386272, + 0.046805743404119485 + ], + "centerline_face_intersection": [ + 0.9654834771923271, + 15.174219578291654, + 0.046805743404119485 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.94684898853302, + 15.172338485717773, + 0.0518399178981781 + ], + "box_pose": [ + 1.0581387281417847, + 15.190207481384277, + 0.04360482841730118, + -0.6771973371505737, + 0.21301113069057465, + 0.057011548429727554, + 0.7019826173782349 + ], + "box_yaw_rad": -0.2269371982499729, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013044920946181573, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003614076587483141 + } + }, + { + "simulation_time_ns": 9460000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9892115917041657, + 15.189650049101493, + 0.08036712190886076 + ], + "intended_face_normal": [ + -0.8902453909635102, + 0.2027422347967729, + 0.40787098173260006 + ], + "commanded_contact_point": [ + 0.9735246348381043, + 15.175390916189546, + 0.04887323601901167 + ], + "centerline_face_intersection": [ + 0.9712173039027975, + 15.173995243798553, + 0.04887323601901167 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9539757966995239, + 15.17171573638916, + 0.05603857338428497 + ], + "box_pose": [ + 1.0649011135101318, + 15.19002914428711, + 0.04552541300654411, + -0.6745290756225586, + 0.22341227531433105, + 0.07045750319957733, + 0.7000951766967773 + ], + "box_yaw_rad": -0.22391847509627402, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013956723909938542, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003410061872577743 + } + }, + { + "simulation_time_ns": 9480000000, + "phase": "straight_push", + "intended_face_center": [ + 0.9974497779800081, + 15.189117553629504, + 0.08480065765811917 + ], + "intended_face_normal": [ + -0.8766232288451006, + 0.19686647163439375, + 0.4390617995896662 + ], + "commanded_contact_point": [ + 0.9761856245994568, + 15.17541895450551, + 0.05089836297628223 + ], + "centerline_face_intersection": [ + 0.9770558465407927, + 15.173916447223618, + 0.05089836297628223 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.961455225944519, + 15.171245574951172, + 0.060403525829315186 + ], + "box_pose": [ + 1.071908950805664, + 15.189996719360352, + 0.04741014912724495, + -0.6716399192810059, + 0.2337660938501358, + 0.08391542732715607, + 0.698005199432373 + ], + "box_yaw_rad": -0.2209085921416212, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001502507281891712, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003344068158732575 + } + }, + { + "simulation_time_ns": 9500000000, + "phase": "straight_push", + "intended_face_center": [ + 1.0044700136717104, + 15.188898242931613, + 0.08904953256917075 + ], + "intended_face_normal": [ + -0.8620958597090044, + 0.19241215047313442, + 0.46879450757272156 + ], + "commanded_contact_point": [ + 0.9786400842666626, + 15.175658991565028, + 0.05285141750698506 + ], + "centerline_face_intersection": [ + 0.9814700462078902, + 15.174041078332454, + 0.05285141750698506 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9676706790924072, + 15.17115592956543, + 0.06476998329162598 + ], + "box_pose": [ + 1.0776582956314087, + 15.190155982971191, + 0.049238912761211395, + -0.668326199054718, + 0.24427616596221924, + 0.09633911401033401, + 0.69597989320755 + ], + "box_yaw_rad": -0.21959206984339416, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016179132325726921, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003145856329806071 + } + }, + { + "simulation_time_ns": 9520000000, + "phase": "straight_push", + "intended_face_center": [ + 1.009414424122432, + 15.18891950681247, + 0.09182583162185914 + ], + "intended_face_normal": [ + -0.8517397164784408, + 0.19020138636365402, + 0.4882242136342825 + ], + "commanded_contact_point": [ + 0.9808188724517822, + 15.175946502876029, + 0.05412744570692307 + ], + "centerline_face_intersection": [ + 0.984525775844569, + 15.17423304705801, + 0.05412744570692307 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 0.9720063209533691, + 15.171844482421875, + 0.06860144436359406 + ], + "box_pose": [ + 1.081717848777771, + 15.190364837646484, + 0.050436004996299744, + -0.6658897399902344, + 0.2515314221382141, + 0.10422132909297943, + 0.6945939064025879 + ], + "box_yaw_rad": -0.21970461315801984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017134558180180927, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002541265172430323 + } + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/raw-validation.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/raw-validation.json new file mode 100644 index 0000000000000000000000000000000000000000..aab1721dd53f86c2d00331c2c28cd96d985c43ef --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/raw-validation.json @@ -0,0 +1,12 @@ +{ + "contract_valid": true, + "diagnostic_only": false, + "raw_actions": 477, + "raw_boundaries": 478, + "physics_steps": 4770, + "controller_steps": 954, + "sensor_updates": 955, + "sensor_rate": "observed timestamps, not assumed 200Hz", + "video_validation": "passed", + "published": false +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/review/terminal_pre_reset_ego.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/review/terminal_pre_reset_ego.png new file mode 100644 index 0000000000000000000000000000000000000000..dee5ae616628db85b8045073364efd322679ade5 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/review/terminal_pre_reset_ego.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79789d2a26f2c34e3cfce82ed41136d63dfc76d631a5986e9bc778fea0b858ee +size 247979 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/review/terminal_pre_reset_task_centric.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/review/terminal_pre_reset_task_centric.png new file mode 100644 index 0000000000000000000000000000000000000000..f9dbfc30b4990da56268f3032a5b3388a8388a74 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/review/terminal_pre_reset_task_centric.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fecfa9fbf8671cd1a8021a12efb699ad7ef2cadfd9c787609c49d1b39d32d85a +size 732194 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/camera_index.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/camera_index.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5c31773d75ae70b7532dc40edba12241ecaed420 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/camera_index.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b5db09f89042d068ec16671e8986359914d26cccb8266dbe05e40ce76bdca1f +size 12559 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/contact_sensor.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/contact_sensor.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ca442f3b57974cfe12187ee0bd006cb4ba99296f --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/contact_sensor.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd3d4c405c132af87d5bba406c252865eaa01427e36e33948bc2f433a6bc1e9b +size 79092 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/controller_100hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/controller_100hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9339ef5fa71f1e7ef5d0730812f8ae98c0e985bb --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/controller_100hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e6919e6dc76607f5fabc96e3dd273b23bbbab8e1cdc333099459e1176c5126d +size 349395 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/physics_500hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/physics_500hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..aa9c03da05f0e34e7d6bd17e86e8a1a3d3c65793 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/physics_500hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:557624a0e6f0af137862b26f4d7236efe64d6760db907c52cd5f20b5514e4340 +size 1904960 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/policy_50hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/policy_50hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3aa8d155e2c48b09598d1a8d4419b8de2a602db6 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/streams/policy_50hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:748c406d4d3e419b61c2a6a73d2e486abbe754a8c6a42a28e35f712be5b70433 +size 199264 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/summary.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..18ebada99485041952def8de83525df691c52109 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0084/summary.json @@ -0,0 +1,111 @@ +{ + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 477, + "n_boundaries": 478, + "initial_geometry": { + "center": [ + 0.6060964613964599, + 15.141352076104809, + 0.13983054459371896 + ], + "face_center": [ + 0.5288811474850219, + 15.14135207623397, + 0.13983054466655895 + ], + "face_normal": [ + -1.0, + 1.6727412784348836e-09, + 9.433359655884173e-10 + ], + "footprint_xy": [ + [ + 0.5288811472793371, + 15.086033716591045 + ], + [ + 0.6833117755135828, + 15.086033716591045 + ], + [ + 0.6833117755135828, + 15.196670435618573 + ], + [ + 0.5288811472793371, + 15.196670435618573 + ] + ], + "projected_box_corners": [ + [ + 0.5288811472793371, + 15.086033717047387 + ], + [ + 0.5288811475056402, + 15.086033716849366 + ], + [ + 0.5288811474644037, + 15.196670435618573 + ], + [ + 0.5288811476907068, + 15.196670435420552 + ], + [ + 0.6833117751022131, + 15.086033716789066 + ], + [ + 0.6833117753285162, + 15.086033716591045 + ], + [ + 0.6833117752872797, + 15.196670435360252 + ], + [ + 0.6833117755135828, + 15.19667043516223 + ] + ], + "yaw_rad": -1.6727412784348836e-09, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 0.17782151699066162, + 15.142000198364258, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0084", + "seed": 202610070084, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.005108871240930007, + "approach_continuity_verified": true +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/cameras/ego.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/cameras/ego.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8342a429a72fdd0a3d32e1224918324ba271f00a --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/cameras/ego.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aab29d9680b58ee85a36262467422be6ff42a3bf57180349fac274d07a6f9608 +size 3681772 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/cameras/observer.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/cameras/observer.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0decd9ed642431e6def90a1f053068412435d2ec --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/cameras/observer.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8035850d60da98313e50389906078069801e9a85bff17bcdb76a66519563136c +size 1282820 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/cameras/task_centric.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/cameras/task_centric.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..18877239799c85c901b13173fa75c2e2880e973c --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/cameras/task_centric.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc6785c219f2bc5523b6e4026d50905b69334cc670077fe1c6aa42c747c4c4ce +size 5280614 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/capture.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/capture.json new file mode 100644 index 0000000000000000000000000000000000000000..a7d158adfcb49359dcf43f76dcef1f5b15a49067 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/capture.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58781422e48a0420260c87454d6072d2ddfdc820199d0952f3961d4a1c264469 +size 26586266 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/manifest.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..d1db1f7bf96a7c91e251691dde68f8942857aace --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/manifest.json @@ -0,0 +1,289 @@ +{ + "dataset_schema_version": "wam-quadruped-v2.1.0", + "profile_hash": "905d76c38f7c95a8bad986b945d1535f9ef0668476cc9f825005fc8d4da4603e", + "diagnostic_only": false, + "episode_uid": "push_box__ep0085", + "n_actions": 613, + "n_boundaries": 614, + "reset_epoch": 0, + "streams": { + "policy": "streams/policy_50hz.parquet", + "controller": "streams/controller_100hz.parquet", + "physics": "streams/physics_500hz.parquet", + "contact_sensor": "streams/contact_sensor.parquet", + "camera_index": "streams/camera_index.parquet" + }, + "stream_sha256": { + "policy": "e5ced7bfa84414522249e6b81e9b0b23bb55065546bcb5e586e33ef8f184c152", + "controller": "3f7be02f07e1689f08e89c4fe59acd6a86dc17e8ca1f5c0850c2197a506a70fb", + "physics": "508b6673d1309834d90a45da304affcbd89c88b81000e4e43b7cbf1043f3c238", + "contact_sensor": "7345d36415a58d73ee90706e2d3b84612d4895785f43dacadfd4590bcc07645a", + "camera_index": "397d884c43333943ccda930e4b4a14b4dc10188f8546a633db1353c8c4840dbd" + }, + "videos": { + "observation.images.ego": { + "path": "cameras/ego.mp4", + "sha256": "aab29d9680b58ee85a36262467422be6ff42a3bf57180349fac274d07a6f9608", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0085__a05/raw/push_box__ep0085/cameras/ego.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + }, + "observation.images.task_centric": { + "path": "cameras/task_centric.mp4", + "sha256": "cc6785c219f2bc5523b6e4026d50905b69334cc670077fe1c6aa42c747c4c4ce", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0085__a05/raw/push_box__ep0085/cameras/task_centric.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + } + }, + "observer": { + "present": true, + "source_key": "approved_fixed_observer", + "canonical_key": "monitor.images.observer", + "reason": "monitor only", + "path": "cameras/observer.mp4", + "crf": 23, + "sha256": "8035850d60da98313e50389906078069801e9a85bff17bcdb76a66519563136c" + }, + "terminal": { + "simulation_time_ns": 12260000000, + "state": { + "observation.state.base.position": [ + -29.337129592895508, + -14.862675666809082, + 0.2882656455039978 + ], + "observation.state.base.orientation": [ + -0.017483828589320183, + -0.009142906405031681, + 0.006134630646556616, + 0.9997865557670593 + ], + "observation.state.base.linear_velocity": [ + 0.12658093869686127, + -0.012006701901555061, + 0.07716801017522812 + ], + "observation.state.base.angular_velocity": [ + -0.9454094767570496, + 0.5935165882110596, + -0.28657257556915283 + ], + "observation.state.projected_gravity": [ + -0.01806739717721939, + 0.03507236763834953, + -0.9992214441299438 + ], + "observation.state.joint_position": [ + -0.4724958539009094, + 0.4975150525569916, + 0.03934244439005852, + -0.08409397304058075, + 0.13949407637119293, + 0.7890528440475464, + 0.951754629611969, + 1.0633350610733032, + -1.7197139263153076, + -1.846787929534912, + -1.8284326791763306, + -1.6946221590042114 + ], + "observation.state.joint_velocity": [ + 1.4132167100906372, + 1.2094932794570923, + 0.7990626096725464, + 0.8622317910194397, + -0.1835433542728424, + -0.18029634654521942, + -0.49231618642807007, + -1.3679351806640625, + -1.1914814710617065, + -0.032443031668663025, + 0.8361470103263855, + 1.6244045495986938 + ], + "observation.state.fl_ee_position": [ + 0.38086193799972534, + 0.02862202562391758, + 0.06447699666023254 + ], + "observation.state.fl_ee_velocity": [ + -0.10323384404182434, + 0.24527451395988464, + 0.046239010989665985 + ], + "observation.state.fl_contact_force": [ + 3.0642685890197754, + -3.4688658714294434, + 13.022553443908691 + ], + "task.object.position": [ + -28.876558303833008, + -14.814927101135254, + 0.033458318561315536 + ], + "task.object.orientation": [ + 0.6426581144332886, + 0.2740813195705414, + 0.5099403262138367, + 0.5018274784088135 + ], + "task.object.linear_velocity": [ + 0.022291675209999084, + 0.164992555975914, + -0.0025226909201592207 + ], + "task.object.angular_velocity": [ + -0.08730272948741913, + 0.08799125999212265, + 0.08521926403045654 + ], + "observation.state.foot_contact": [ + true, + true, + true, + true + ], + "task.goal.position": [ + -28.843490270301587, + -14.84005560684687, + 0.0 + ], + "task.progress": [ + 0.5124015896127716 + ], + "task.success": [ + true + ], + "task.contact.fl_object": [ + false + ], + "task.contact.body_object": [ + false + ] + } + }, + "extensions": { + "task_profile_version": "push-box-v2-2", + "contact_diagnostics": { + "path": "metadata/contact_provenance.json", + "sha256": "eef8f156aaf7df5d5c896ad2e7ffbf77a6215f7d16ad7c24aec0b6e9d9857af3" + }, + "provenance": { + "path": "metadata/provenance.json", + "sha256": "c39630bfcbb1b99bceda22cbda6080b30fca9d85d8fe39ec687fc0ab47d6ec14" + }, + "origin": "real_isaac_acquisition", + "purpose": "demonstration", + "task_review": { + "path": "metadata/task_review.json", + "sha256": "3afaa43d857636a960c7db1933423ab95a4bcf8520b5cb4fe1603b3e1426dff5" + } + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/metadata/contact_provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/metadata/contact_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1e467d9d412610286e36d15fd9e8ad73b117fc --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/metadata/contact_provenance.json @@ -0,0 +1,4920 @@ +{ + "version": "push-box-contact-diagnostic-v1", + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns_are_invalid_placeholders": true, + "rows": [ + { + "simulation_time_ns": 0, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 20000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 40000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 60000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 80000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 12260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/metadata/provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/metadata/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..208e94f7125ac92e3a5de7aa41b89c49511a09b1 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/metadata/provenance.json @@ -0,0 +1,317 @@ +{ + "work_id": "QLM-DATA-001", + "scenario": { + "id": "push_box__ep0085", + "seed": 202610070085, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "task_profile": { + "task_profile_version": "push-box-v2-2", + "asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a", + "scale": 1, + "initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command", + "initial_floor_clearance": 0.02, + "goal_x": [ + -29.04349027030159, + -28.643490270301587 + ], + "goal_y": [ + -15.09005560684687, + -14.59005560684687 + ], + "goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal", + "success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks", + "fall": { + "base_height_lt": 0.1, + "projected_gravity_error_gt": 0.75 + }, + "contact": { + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact" + }, + "observer": { + "position": [ + 1.8, + 2.0, + 1.5 + ], + "look_at": [ + 0.65, + 0.1, + 0.2 + ], + "fps": 25, + "model_input": false + }, + "policy_rgb_fps": 50, + "policy_fps": 50, + "controller_fps": 100, + "physics_fps": 500, + "force_zero": true, + "success_policy_ticks": 3, + "initial_box_yaw_rad": 0.0, + "push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)", + "robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment", + "expert": { + "settle_seconds": 2.1, + "normal_approach_seconds": 1.0, + "standoff_m": 0.1, + "penetration_m": 0.015, + "align_base_speed": 0.14, + "push_base_speed": 0.12, + "face_distance_for_foot_approach": 0.405, + "approach_foot_x": 0.28, + "push_foot_x": 0.38, + "motion": "coordinated", + "transition_s": 0.45, + "leg_finish_max_x": 0.4, + "lateral_tracking_gain": 2.0, + "lateral_tracking_limit_m": 0.015, + "corner_recovery": false + }, + "initial_face_distance_x": 0.54, + "asset_id": "cardboard-box-01", + "source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00", + "goal_color": [ + 0.05, + 0.8, + 0.15 + ], + "scaleup_recovery": false, + "recovery_progress_m": 0.12, + "episode_scenario": { + "work_id": "QLM-DATA-001", + "authorization": "qlm-scaleup-push-v1", + "selected_face": "local_y_max" + }, + "instruction": "Push the box into the target area.", + "scaleup_metadata": { + "episode_uid": "push_box__ep0085", + "task_id": "push_box", + "split": "train", + "difficulty": "randomized", + "trajectory_type": "normal", + "recovery_type": null, + "appearance_preset": "ap_03", + "asset_id": "cardboard-box-01", + "initial_condition_id": "ic_0085", + "goal_condition_id": "gc_0085", + "environment_seed": 202610070085 + }, + "scaleup_motion_revision": "continuous-v2", + "canonical_goal_position": [ + -28.843490270301587, + -14.84005560684687, + 0.0 + ], + "environment_origin": [ + -30.0, + -15.0, + 0.0 + ], + "initial_center_x_world": -29.406128550610116 + }, + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706", + "capture_sha256": "58781422e48a0420260c87454d6072d2ddfdc820199d0952f3961d4a1c264469", + "terminal_gate": { + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 613, + "n_boundaries": 614, + "initial_geometry": { + "center": [ + -29.406129260705526, + -14.857129975957939, + 0.13983054458748057 + ], + "face_center": [ + -29.461447613434665, + -14.857129964738494, + 0.13983054469072476 + ], + "face_normal": [ + -0.9999998814777626, + 2.028159258316009e-07, + 1.866363933200727e-09 + ], + "footprint_xy": [ + [ + -29.461447629319025, + -14.934345291952607 + ], + [ + -29.350810892092028, + -14.934345291952607 + ], + [ + -29.350810892092028, + -14.77991465996327 + ], + [ + -29.461447629319025, + -14.77991465996327 + ] + ], + "projected_box_corners": [ + [ + -29.350810923860752, + -14.93434529192157 + ], + [ + -29.350810923413018, + -14.934345291952607 + ], + [ + -29.461447629319025, + -14.934345269482682 + ], + [ + -29.46144762887129, + -14.934345269513718 + ], + [ + -29.350810892539762, + -14.779914682402158 + ], + [ + -29.350810892092028, + -14.779914682433194 + ], + [ + -29.461447597998035, + -14.77991465996327 + ], + [ + -29.4614475975503, + -14.779914659994306 + ] + ], + "yaw_rad": 1.5707961239789467, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.82217788696289, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0085", + "seed": 202610070085, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.004662663744610507, + "approach_continuity_verified": true + }, + "collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench", + "fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4", + "initial_geometry": { + "center": [ + -29.406129260705526, + -14.857129975957939, + 0.13983054458748057 + ], + "face_center": [ + -29.461447613434665, + -14.857129964738494, + 0.13983054469072476 + ], + "face_normal": [ + -0.9999998814777626, + 2.028159258316009e-07, + 1.866363933200727e-09 + ], + "footprint_xy": [ + [ + -29.461447629319025, + -14.934345291952607 + ], + [ + -29.350810892092028, + -14.934345291952607 + ], + [ + -29.350810892092028, + -14.77991465996327 + ], + [ + -29.461447629319025, + -14.77991465996327 + ] + ], + "projected_box_corners": [ + [ + -29.350810923860752, + -14.93434529192157 + ], + [ + -29.350810923413018, + -14.934345291952607 + ], + [ + -29.461447629319025, + -14.934345269482682 + ], + [ + -29.46144762887129, + -14.934345269513718 + ], + [ + -29.350810892539762, + -14.779914682402158 + ], + [ + -29.350810892092028, + -14.779914682433194 + ], + [ + -29.461447597998035, + -14.77991465996327 + ], + [ + -29.4614475975503, + -14.779914659994306 + ] + ], + "yaw_rad": 1.5707961239789467, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.82217788696289, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/metadata/task_review.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/metadata/task_review.json new file mode 100644 index 0000000000000000000000000000000000000000..ee659349241d888c5914ce207f280387a49811d3 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/metadata/task_review.json @@ -0,0 +1,109200 @@ +{ + "boundaries": [ + { + "simulation_time_ns": 0, + "center": [ + -29.406129260705526, + -14.857129975957939, + 0.13983054458748057 + ], + "face_center": [ + -29.461447613434665, + -14.857129964738494, + 0.13983054469072476 + ], + "face_normal": [ + -0.9999998814777626, + 2.028159258316009e-07, + 1.866363933200727e-09 + ], + "footprint_xy": [ + [ + -29.461447629319025, + -14.934345291952607 + ], + [ + -29.350810892092028, + -14.934345291952607 + ], + [ + -29.350810892092028, + -14.77991465996327 + ], + [ + -29.461447629319025, + -14.77991465996327 + ] + ], + "projected_box_corners": [ + [ + -29.350810923860752, + -14.93434529192157 + ], + [ + -29.350810923413018, + -14.934345291952607 + ], + [ + -29.461447629319025, + -14.934345269482682 + ], + [ + -29.46144762887129, + -14.934345269513718 + ], + [ + -29.350810892539762, + -14.779914682402158 + ], + [ + -29.350810892092028, + -14.779914682433194 + ], + [ + -29.461447597998035, + -14.77991465996327 + ], + [ + -29.4614475975503, + -14.779914659994306 + ] + ], + "yaw_rad": 1.5707961239789467, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.82217788696289, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + { + "simulation_time_ns": 20000000, + "center": [ + -29.406129260581938, + -14.857129976305815, + 0.13767236470389857 + ], + "face_center": [ + -29.461447617974066, + -14.857129965086372, + 0.1376723648328082 + ], + "face_normal": [ + -0.9999999657714511, + 2.028159258316009e-07, + 2.3303225561026055e-09 + ], + "footprint_xy": [ + [ + -29.46144763391408, + -14.93434529891158 + ], + [ + -29.3508108872498, + -14.93434529891158 + ], + [ + -29.3508108872498, + -14.779914653700052 + ], + [ + -29.46144763391408, + -14.779914653700052 + ] + ], + "projected_box_corners": [ + [ + -29.350810919129827, + -14.934345298675881 + ], + [ + -29.35081091857079, + -14.93434529891158 + ], + [ + -29.46144763391408, + -14.934345276236991 + ], + [ + -29.461447633355043, + -14.934345276472692 + ], + [ + -29.350810887808837, + -14.77991467613894 + ], + [ + -29.3508108872498, + -14.77991467637464 + ], + [ + -29.461447602593086, + -14.779914653700052 + ], + [ + -29.461447602034053, + -14.779914653935752 + ] + ], + "yaw_rad": 1.5707961239789638, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.84009552001953, + -14.863517761230469, + 0.0690588653087616 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.461447613434665, + -14.857129964738494, + 0.13983054469072476 + ], + "intended_face_normal": [ + -0.9999998814777626, + 2.028159258316009e-07, + 1.866363933200727e-09 + ], + "commanded_contact_point": [ + -29.80660057067871, + -14.857999801635742, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.461447626547574, + -14.857129975957939, + 0.13983054458748057 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.82217788696289, + -14.857999801635742, + 0.08869010210037231 + ], + "box_pose": [ + -29.407690048217773, + -14.852828979492188, + 0.15702493488788605, + 7.056004669436788e-10, + 6.141182007368684e-10, + 0.7071067094802856, + 0.7071067690849304 + ], + "box_yaw_rad": 1.5707961239789467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 40000000, + "center": [ + -29.406129260581938, + -14.857129976305815, + 0.13159015773940577 + ], + "face_center": [ + -29.461447617974066, + -14.857129965086372, + 0.1315901578683154 + ], + "face_normal": [ + -0.9999999657714511, + 2.028159258316009e-07, + 2.3303225561026055e-09 + ], + "footprint_xy": [ + [ + -29.46144763391408, + -14.93434529891158 + ], + [ + -29.3508108872498, + -14.93434529891158 + ], + [ + -29.3508108872498, + -14.779914653700052 + ], + [ + -29.46144763391408, + -14.779914653700052 + ] + ], + "projected_box_corners": [ + [ + -29.350810919129827, + -14.934345298675881 + ], + [ + -29.35081091857079, + -14.93434529891158 + ], + [ + -29.46144763391408, + -14.934345276236991 + ], + [ + -29.461447633355043, + -14.934345276472692 + ], + [ + -29.350810887808837, + -14.77991467613894 + ], + [ + -29.3508108872498, + -14.77991467637464 + ], + [ + -29.461447602593086, + -14.779914653700052 + ], + [ + -29.461447602034053, + -14.779914653935752 + ] + ], + "yaw_rad": 1.5707961239789638, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.84699058532715, + -14.880027770996094, + 0.054181456565856934 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.461447617974066, + -14.857129965086372, + 0.1376723648328082 + ], + "intended_face_normal": [ + -0.9999999657714511, + 2.028159258316009e-07, + 2.3303225561026055e-09 + ], + "commanded_contact_point": [ + -29.80628776550293, + -14.858072280883789, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.461447621761, + -14.857129976305815, + 0.13767236470389857 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84009552001953, + -14.863517761230469, + 0.0690588653087616 + ], + "box_pose": [ + -29.407690048217773, + -14.852828979492188, + 0.1548667550086975, + 1.171261754251418e-09, + 4.765250971594526e-10, + 0.7071067094802856, + 0.7071068286895752 + ], + "box_yaw_rad": 1.5707961239789638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032109238485990873 + } + } + }, + { + "simulation_time_ns": 60000000, + "center": [ + -29.406129260581938, + -14.857129976305815, + 0.12158396839309231 + ], + "face_center": [ + -29.461447617974066, + -14.857129965086372, + 0.12158396852200193 + ], + "face_normal": [ + -0.9999999657714511, + 2.028159258316009e-07, + 2.3303225561026055e-09 + ], + "footprint_xy": [ + [ + -29.46144763391408, + -14.93434529891158 + ], + [ + -29.3508108872498, + -14.93434529891158 + ], + [ + -29.3508108872498, + -14.779914653700052 + ], + [ + -29.46144763391408, + -14.779914653700052 + ] + ], + "projected_box_corners": [ + [ + -29.350810919129827, + -14.934345298675881 + ], + [ + -29.35081091857079, + -14.93434529891158 + ], + [ + -29.46144763391408, + -14.934345276236991 + ], + [ + -29.461447633355043, + -14.934345276472692 + ], + [ + -29.350810887808837, + -14.77991467613894 + ], + [ + -29.3508108872498, + -14.77991467637464 + ], + [ + -29.461447602593086, + -14.779914653700052 + ], + [ + -29.461447602034053, + -14.779914653935752 + ] + ], + "yaw_rad": 1.5707961239789638, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.845178604125977, + -14.89749813079834, + 0.043376773595809937 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.461447617974066, + -14.857129965086372, + 0.1315901578683154 + ], + "intended_face_normal": [ + -0.9999999657714511, + 2.028159258316009e-07, + 2.3303225561026055e-09 + ], + "commanded_contact_point": [ + -29.806903839111328, + -14.858134269714355, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -29.461447621761, + -14.857129976305815, + 0.13159015773940577 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84699058532715, + -14.880027770996094, + 0.054181456565856934 + ], + "box_pose": [ + -29.407690048217773, + -14.852828979492188, + 0.1487845480442047, + 1.171261754251418e-09, + 4.765250971594526e-10, + 0.7071067094802856, + 0.7071068286895752 + ], + "box_yaw_rad": 1.5707961239789638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006191843878885852 + } + } + }, + { + "simulation_time_ns": 80000000, + "center": [ + -29.408329819740068, + -14.858598764270058, + 0.11916741344175008 + ], + "face_center": [ + -29.463639438542575, + -14.858617787290747, + 0.11818452317470071 + ], + "face_normal": [ + -0.9998419967042493, + -0.0003438825904169551, + -0.01776788537734819 + ], + "footprint_xy": [ + [ + -29.465813793475636, + -14.937336791266972 + ], + [ + -29.350845846004496, + -14.937336791266972 + ], + [ + -29.350845846004496, + -14.779860737273143 + ], + [ + -29.465813793475636, + -14.779860737273143 + ] + ], + "projected_box_corners": [ + [ + -29.350845846004496, + -14.934279108793646 + ], + [ + -29.355106924239507, + -14.937298745225595 + ], + [ + -29.461465083609518, + -14.934317154835023 + ], + [ + -29.46572616184453, + -14.937336791266972 + ], + [ + -29.350933477635603, + -14.779860737273143 + ], + [ + -29.355194555870614, + -14.782880373705094 + ], + [ + -29.461552715240625, + -14.779898783314522 + ], + [ + -29.465813793475636, + -14.782918419746471 + ] + ], + "yaw_rad": 1.5713638215873666, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.836660385131836, + -14.904150009155273, + 0.034958869218826294 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.461447617974066, + -14.857129965086372, + 0.12158396852200193 + ], + "intended_face_normal": [ + -0.9999999657714511, + 2.028159258316009e-07, + 2.3303225561026055e-09 + ], + "commanded_contact_point": [ + -29.80766487121582, + -14.858078956604004, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.461447621761, + -14.857129976305815, + 0.12158396839309231 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.845178604125977, + -14.89749813079834, + 0.043376773595809937 + ], + "box_pose": [ + -29.407690048217773, + -14.852828979492188, + 0.13877835869789124, + 1.171261754251418e-09, + 4.765250971594526e-10, + 0.7071067094802856, + 0.7071068286895752 + ], + "box_yaw_rad": 1.5707961239789638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007630395824395167 + } + } + }, + { + "simulation_time_ns": 100000000, + "center": [ + -29.40907209062544, + -14.85895252906621, + 0.11946458577209822 + ], + "face_center": [ + -29.464376678965817, + -14.859233326034827, + 0.1182628276580869 + ], + "face_normal": [ + -0.9997510601291187, + -0.005076017659302545, + -0.0217243990879587 + ], + "footprint_xy": [ + [ + -29.467391058622184, + -14.938353634854565 + ], + [ + -29.350753122628696, + -14.938353634854565 + ], + [ + -29.350753122628696, + -14.779551423277855 + ], + [ + -29.467391058622184, + -14.779551423277855 + ] + ], + "projected_box_corners": [ + [ + -29.350753122628696, + -14.93396035353911 + ], + [ + -29.355944687446517, + -14.93779204091733 + ], + [ + -29.461362299309446, + -14.934521947476345 + ], + [ + -29.466553864127267, + -14.938353634854565 + ], + [ + -29.351590317123613, + -14.779551423277855 + ], + [ + -29.356781881941433, + -14.783383110656075 + ], + [ + -29.462199493804363, + -14.78011301721509 + ], + [ + -29.467391058622184, + -14.78394470459331 + ] + ], + "yaw_rad": 1.5762182042075827, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.827051162719727, + -14.901506423950195, + 0.02323240041732788 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463639438542575, + -14.858617787290747, + 0.11818452317470071 + ], + "intended_face_normal": [ + -0.9998419967042493, + -0.0003438825904169551, + -0.01776788537734819 + ], + "commanded_contact_point": [ + -29.80777931213379, + -14.85810375213623, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -29.46365692088999, + -14.858598764270058, + 0.11916741344175008 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.836660385131836, + -14.904150009155273, + 0.034958869218826294 + ], + "box_pose": [ + -29.410198211669922, + -14.854515075683594, + 0.13638409972190857, + -0.001832159236073494, + -0.010730350390076637, + 0.7072259783744812, + 0.7069036960601807 + ], + "box_yaw_rad": 1.5713638215873666, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00011709630276968659 + } + } + }, + { + "simulation_time_ns": 120000000, + "center": [ + -29.408813845312196, + -14.8585374870877, + 0.11906467907422888 + ], + "face_center": [ + -29.46412112871335, + -14.859199646490543, + 0.11817729908053493 + ], + "face_normal": [ + -0.9997997792309422, + -0.011969975454684922, + -0.01604132886719717 + ], + "footprint_xy": [ + [ + -29.46696676278638, + -14.937951971783729 + ], + [ + -29.35066092783801, + -14.937951971783729 + ], + [ + -29.35066092783801, + -14.779123002391673 + ], + [ + -29.46696676278638, + -14.779123002391673 + ] + ], + "projected_box_corners": [ + [ + -29.35066092783801, + -14.933529703924997 + ], + [ + -29.35447206187837, + -14.936627652978045 + ], + [ + -29.46127549464032, + -14.934854022730681 + ], + [ + -29.465086628680677, + -14.937951971783729 + ], + [ + -29.352541061943715, + -14.779123002391673 + ], + [ + -29.356352195984073, + -14.782220951444721 + ], + [ + -29.463155628746023, + -14.780447321197357 + ], + [ + -29.46696676278638, + -14.783545270250405 + ] + ], + "yaw_rad": 1.5829722309136993, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.828245162963867, + -14.901350975036621, + 0.023272186517715454 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464376678965817, + -14.859233326034827, + 0.1182628276580869 + ], + "intended_face_normal": [ + -0.9997510601291187, + -0.005076017659302545, + -0.0217243990879587 + ], + "commanded_contact_point": [ + -29.807382583618164, + -14.85817813873291, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -29.464404224285243, + -14.85895252906621, + 0.11946458577209822 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.827051162719727, + -14.901506423950195, + 0.02323240041732788 + ], + "box_pose": [ + -29.411027908325195, + -14.854934692382812, + 0.13668705523014069, + -0.0020392355509102345, + -0.013294135220348835, + 0.7088962197303772, + 0.7051845192909241 + ], + "box_yaw_rad": 1.5762182042075827, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000403642025101842 + } + } + }, + { + "simulation_time_ns": 140000000, + "center": [ + -29.408515659592943, + -14.858116007930878, + 0.11885951584185875 + ], + "face_center": [ + -29.463824118268438, + -14.85888677597141, + 0.1181508876831044 + ], + "face_normal": [ + -0.9998210248780424, + -0.01393331346927651, + -0.01280999957167736 + ], + "footprint_xy": [ + [ + -29.466430010618474, + -14.937226311846773 + ], + [ + -29.350601308567413, + -14.937226311846773 + ], + [ + -29.350601308567413, + -14.779005704014983 + ], + [ + -29.466430010618474, + -14.779005704014983 + ] + ], + "projected_box_corners": [ + [ + -29.350601308567413, + -14.93341444861139 + ], + [ + -29.35364291046798, + -14.93568477576571 + ], + [ + -29.4612182259184, + -14.934955984692454 + ], + [ + -29.464259827818964, + -14.937226311846773 + ], + [ + -29.352771491366923, + -14.779005704014983 + ], + [ + -29.35581309326749, + -14.781276031169302 + ], + [ + -29.46338840871791, + -14.780547240096046 + ], + [ + -29.466430010618474, + -14.782817567250367 + ] + ], + "yaw_rad": 1.5848501935292816, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.82923126220703, + -14.901241302490234, + 0.023338258266448975 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46412112871335, + -14.859199646490543, + 0.11817729908053493 + ], + "intended_face_normal": [ + -0.9997997792309422, + -0.011969975454684922, + -0.01604132886719717 + ], + "commanded_contact_point": [ + -29.807695388793945, + -14.857877731323242, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -29.464143282700295, + -14.8585374870877, + 0.11906467907422888 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.828245162963867, + -14.901350975036621, + 0.023272186517715454 + ], + "box_pose": [ + -29.41069984436035, + -14.854477882385254, + 0.13628514111042023, + -0.001112582627683878, + -0.010176432318985462, + 0.7113253474235535, + 0.7027884125709534 + ], + "box_yaw_rad": 1.5829722309136993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004336953886380419 + } + } + }, + { + "simulation_time_ns": 160000000, + "center": [ + -29.408654330436512, + -14.857994471595564, + 0.1188399253497232 + ], + "face_center": [ + -29.46396193100138, + -14.858766849632012, + 0.11806917674326757 + ], + "face_normal": [ + -0.9998055126568072, + -0.01396241765703543, + -0.013932962155953854 + ], + "footprint_xy": [ + [ + -29.46670618910913, + -14.936983527758116 + ], + [ + -29.3506024717639, + -14.936983527758116 + ], + [ + -29.3506024717639, + -14.779005415433012 + ], + [ + -29.46670618910913, + -14.779005415433012 + ] + ], + "projected_box_corners": [ + [ + -29.3506024717639, + -14.933415507236754 + ], + [ + -29.35391689852362, + -14.935438771685222 + ], + [ + -29.46121767289363, + -14.934960263309648 + ], + [ + -29.464532099653354, + -14.936983527758116 + ], + [ + -29.352776561219674, + -14.779005415433012 + ], + [ + -29.3560909879794, + -14.781028679881482 + ], + [ + -29.463391762349406, + -14.780550171505908 + ], + [ + -29.46670618910913, + -14.782573435954376 + ] + ], + "yaw_rad": 1.5848753664458082, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83002281188965, + -14.901187896728516, + 0.023386150598526 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463824118268438, + -14.85888677597141, + 0.1181508876831044 + ], + "intended_face_normal": [ + -0.9998210248780424, + -0.01393331346927651, + -0.01280999957167736 + ], + "commanded_contact_point": [ + -29.809694290161133, + -14.857892990112305, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463843921260917, + -14.858116007930878, + 0.11885951584185875 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.82923126220703, + -14.901241302490234, + 0.023338258266448975 + ], + "box_pose": [ + -29.410354614257812, + -14.854000091552734, + 0.13607169687747955, + -0.0011914714705199003, + -0.00782068446278572, + 0.71201491355896, + 0.7021198868751526 + ], + "box_yaw_rad": 1.5848501935292816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001998959606047545 + } + } + }, + { + "simulation_time_ns": 180000000, + "center": [ + -29.408779193471876, + -14.857832890960823, + 0.11884188428568666 + ], + "face_center": [ + -29.464085941184205, + -14.858607287814584, + 0.11801393690517992 + ], + "face_normal": [ + -0.9997900954869765, + -0.013998912183227352, + -0.014966954754248807 + ], + "footprint_xy": [ + [ + -29.46695841557718, + -14.936661188203134 + ], + [ + -29.350599971366574, + -14.936661188203134 + ], + [ + -29.350599971366574, + -14.779004593718515 + ], + [ + -29.46695841557718, + -14.779004593718515 + ] + ], + "projected_box_corners": [ + [ + -29.350599971366574, + -14.933416245105965 + ], + [ + -29.354167010324318, + -14.935112394495615 + ], + [ + -29.461213466791225, + -14.934965038813482 + ], + [ + -29.46478050574897, + -14.936661188203134 + ], + [ + -29.352777881194783, + -14.779004593718515 + ], + [ + -29.35634492015253, + -14.780700743108165 + ], + [ + -29.463391376619438, + -14.780553387426032 + ], + [ + -29.46695841557718, + -14.782249536815684 + ] + ], + "yaw_rad": 1.5848999608292311, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.830629348754883, + -14.901201248168945, + 0.023427098989486694 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46396193100138, + -14.858766849632012, + 0.11806917674326757 + ], + "intended_face_normal": [ + -0.9998055126568072, + -0.01396241765703543, + -0.013932962155953854 + ], + "commanded_contact_point": [ + -29.813337326049805, + -14.858277320861816, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -29.463983450535675, + -14.857994471595564, + 0.1188399253497232 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83002281188965, + -14.901187896728516, + 0.023386150598526 + ], + "box_pose": [ + -29.410512924194336, + -14.853860855102539, + 0.13604575395584106, + -0.001958049600943923, + -0.00785327609628439, + 0.7120234370231628, + 0.7021090984344482 + ], + "box_yaw_rad": 1.5848753664458082, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036632527364889203 + } + } + }, + { + "simulation_time_ns": 200000000, + "center": [ + -29.40892421449675, + -14.857649085379155, + 0.11884370059206102 + ], + "face_center": [ + -29.46422989737483, + -14.858425947035661, + 0.11794995377573189 + ], + "face_normal": [ + -0.9997708462854021, + -0.014043468868879971, + -0.016156423073124315 + ], + "footprint_xy": [ + [ + -29.467249804991766, + -14.936292292902884 + ], + [ + -29.350598624001737, + -14.936292292902884 + ], + [ + -29.350598624001737, + -14.779005877855427 + ], + [ + -29.467249804991766, + -14.779005877855427 + ] + ], + "projected_box_corners": [ + [ + -29.350598624001737, + -14.93341893942717 + ], + [ + -29.35445628592827, + -14.934738569589873 + ], + [ + -29.46120998975789, + -14.93497266274018 + ], + [ + -29.46506765168442, + -14.936292292902884 + ], + [ + -29.35278077730908, + -14.779005877855427 + ], + [ + -29.35663843923561, + -14.780325508018132 + ], + [ + -29.463392143065235, + -14.780559601168438 + ], + [ + -29.467249804991766, + -14.781879231331141 + ] + ], + "yaw_rad": 1.5849273079159805, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831029891967773, + -14.901277542114258, + 0.02344861626625061 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464085941184205, + -14.858607287814584, + 0.11801393690517992 + ], + "intended_face_normal": [ + -0.9997900954869765, + -0.013998912183227352, + -0.014966954754248807 + ], + "commanded_contact_point": [ + -29.81830406188965, + -14.85895824432373, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -29.46410916676857, + -14.857832890960823, + 0.11884188428568666 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.830629348754883, + -14.901201248168945, + 0.023427098989486694 + ], + "box_pose": [ + -29.410655975341797, + -14.853675842285156, + 0.1360400915145874, + -0.0028117955662310123, + -0.007737450301647186, + 0.7120333909988403, + 0.7020974159240723 + ], + "box_yaw_rad": 1.5848999608292311, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005013194756218178 + } + } + }, + { + "simulation_time_ns": 220000000, + "center": [ + -29.40908910888531, + -14.857437454424728, + 0.11884622392675968 + ], + "face_center": [ + -29.46439349494385, + -14.858216241181186, + 0.11787690284218544 + ], + "face_normal": [ + -0.9997474034437173, + -0.014078269249383935, + -0.017522592808111193 + ], + "footprint_xy": [ + [ + -29.4675811296946, + -14.93586956017754 + ], + [ + -29.35059708807602, + -14.93586956017754 + ], + [ + -29.35059708807602, + -14.779005348671916 + ], + [ + -29.4675811296946, + -14.779005348671916 + ] + ], + "projected_box_corners": [ + [ + -29.35059708807602, + -14.933419611756726 + ], + [ + -29.354788522568867, + -14.934311986664628 + ], + [ + -29.461205860193097, + -14.93497718526964 + ], + [ + -29.465397294685943, + -14.93586956017754 + ], + [ + -29.35278092308468, + -14.779005348671916 + ], + [ + -29.356972357577526, + -14.779897723579817 + ], + [ + -29.463389695201755, + -14.78056292218483 + ], + [ + -29.4675811296946, + -14.78145529709273 + ] + ], + "yaw_rad": 1.5849380866416096, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831268310546875, + -14.901413917541504, + 0.023464560508728027 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46422989737483, + -14.858425947035661, + 0.11794995377573189 + ], + "intended_face_normal": [ + -0.9997708462854021, + -0.014043468868879971, + -0.016156423073124315 + ], + "commanded_contact_point": [ + -29.82404327392578, + -14.859973907470703, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -29.46425525309537, + -14.857649085379155, + 0.11884370059206102 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831029891967773, + -14.901277542114258, + 0.02344861626625061 + ], + "box_pose": [ + -29.41082191467285, + -14.85346508026123, + 0.1360330730676651, + -0.003794278483837843, + -0.007603897713124752, + 0.7120444774627686, + 0.7020829319953918 + ], + "box_yaw_rad": 1.5849273079159805, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005828389693891929 + } + } + }, + { + "simulation_time_ns": 240000000, + "center": [ + -29.40927902909737, + -14.857197787895206, + 0.11884900752508354 + ], + "face_center": [ + -29.464581799834825, + -14.8579778000578, + 0.11779245196642031 + ], + "face_normal": [ + -0.999718202991989, + -0.014100421138063757, + -0.019099546196020167 + ], + "footprint_xy": [ + [ + -29.467961186173667, + -14.935387331377568 + ], + [ + -29.350596872021068, + -14.935387331377568 + ], + [ + -29.350596872021068, + -14.779008244412847 + ], + [ + -29.467961186173667, + -14.779008244412847 + ] + ], + "projected_box_corners": [ + [ + -29.350596872021068, + -14.933423308088495 + ], + [ + -29.355173539985937, + -14.933827307052379 + ], + [ + -29.461202413495986, + -14.934983332413681 + ], + [ + -29.465779081460852, + -14.935387331377568 + ], + [ + -29.352778976733884, + -14.779008244412847 + ], + [ + -29.35735564469875, + -14.779412243376731 + ], + [ + -29.463384518208798, + -14.780568268738033 + ], + [ + -29.467961186173667, + -14.780972267701918 + ] + ], + "yaw_rad": 1.5849268100840204, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831396102905273, + -14.901592254638672, + 0.02347201108932495 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46439349494385, + -14.858216241181186, + 0.11787690284218544 + ], + "intended_face_normal": [ + -0.9997474034437173, + -0.014078269249383935, + -0.017522592808111193 + ], + "commanded_contact_point": [ + -29.829975128173828, + -14.861448287963867, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46442144492844, + -14.857437454424728, + 0.11884622392675968 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831268310546875, + -14.901413917541504, + 0.023464560508728027 + ], + "box_pose": [ + -29.4110107421875, + -14.853222846984863, + 0.13602545857429504, + -0.00491500785574317, + -0.007458194624632597, + 0.7120498418807983, + 0.7020721435546875 + ], + "box_yaw_rad": 1.5849380866416096, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006112339376996555 + } + } + }, + { + "simulation_time_ns": 260000000, + "center": [ + -29.409488966867347, + -14.856961196850408, + 0.11886076332360497 + ], + "face_center": [ + -29.46478978459432, + -14.857742988005064, + 0.11770773618548397 + ], + "face_normal": [ + -0.9996828980677037, + -0.0141325802998018, + -0.020843480410694115 + ], + "footprint_xy": [ + [ + -29.468381214488378, + -14.934987858784213 + ], + [ + -29.350596719246315, + -14.934987858784213 + ], + [ + -29.350596719246315, + -14.778934534916603 + ], + [ + -29.468381214488378, + -14.778934534916603 + ] + ], + "projected_box_corners": [ + [ + -29.350596719246315, + -14.933424276474899 + ], + [ + -29.355598550465963, + -14.933349738273865 + ], + [ + -29.461198354700258, + -14.934987858784213 + ], + [ + -29.46620018591991, + -14.934913320583178 + ], + [ + -29.352777747814788, + -14.779009073117638 + ], + [ + -29.357779579034435, + -14.778934534916603 + ], + [ + -29.46337938326873, + -14.780572655426951 + ], + [ + -29.468381214488378, + -14.780498117225918 + ] + ], + "yaw_rad": 1.5849198295337168, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831449508666992, + -14.901803970336914, + 0.023477494716644287 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464581799834825, + -14.8579778000578, + 0.11779245196642031 + ], + "intended_face_normal": [ + -0.999718202991989, + -0.014100421138063757, + -0.019099546196020167 + ], + "commanded_contact_point": [ + -29.83568572998047, + -14.863430976867676, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.464612981325143, + -14.857197787895206, + 0.11884900752508354 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831396102905273, + -14.901592254638672, + 0.02347201108932495 + ], + "box_pose": [ + -29.41122817993164, + -14.852948188781738, + 0.13601651787757874, + -0.006201515439897776, + -0.007297125179320574, + 0.7120475769042969, + 0.7020659446716309 + ], + "box_yaw_rad": 1.5849268100840204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006045000271572101 + } + } + }, + { + "simulation_time_ns": 280000000, + "center": [ + -29.40967422004307, + -14.856763847567915, + 0.11887254364370947 + ], + "face_center": [ + -29.46497320139936, + -14.857546606625545, + 0.11763523891040184 + ], + "face_normal": [ + -0.9996497016622968, + -0.014150077257134797, + -0.022366981763138893 + ], + "footprint_xy": [ + [ + -29.468748612409343, + -14.934991577803904 + ], + [ + -29.350599827676792, + -14.934991577803904 + ], + [ + -29.350599827676792, + -14.778536117331928 + ], + [ + -29.468748612409343, + -14.778536117331928 + ] + ], + "projected_box_corners": [ + [ + -29.350599827676792, + -14.933426059688646 + ], + [ + -29.355972837199317, + -14.932950983637097 + ], + [ + -29.461197790389374, + -14.934991577803904 + ], + [ + -29.4665707999119, + -14.934516501752356 + ], + [ + -29.352777640174235, + -14.779011193383477 + ], + [ + -29.35815064969676, + -14.778536117331928 + ], + [ + -29.463375602886817, + -14.780576711498735 + ], + [ + -29.468748612409343, + -14.780101635447187 + ] + ], + "yaw_rad": 1.5848990370359077, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831466674804688, + -14.902039527893066, + 0.02348381280899048 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46478978459432, + -14.857742988005064, + 0.11770773618548397 + ], + "intended_face_normal": [ + -0.9996828980677037, + -0.0141325802998018, + -0.020843480410694115 + ], + "commanded_contact_point": [ + -29.840869903564453, + -14.865885734558105, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -29.464824873275788, + -14.856961196850408, + 0.11886076332360497 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831449508666992, + -14.901803970336914, + 0.023477494716644287 + ], + "box_pose": [ + -29.411468505859375, + -14.852677345275879, + 0.13601627945899963, + -0.007532949093729258, + -0.007209074217826128, + 0.7120460271835327, + 0.7020553946495056 + ], + "box_yaw_rad": 1.5849198295337168, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005735982136313248 + } + } + }, + { + "simulation_time_ns": 300000000, + "center": [ + -29.40981918051576, + -14.85659875095838, + 0.1188857370382147 + ], + "face_center": [ + -29.465116606518748, + -14.857383568860547, + 0.11758191421864453 + ], + "face_normal": [ + -0.9996215852589422, + -0.014187295362743546, + -0.023569441256182155 + ], + "footprint_xy": [ + [ + -29.469038754669775, + -14.934994294588684 + ], + [ + -29.350599606361747, + -14.934994294588684 + ], + [ + -29.350599606361747, + -14.778203207328076 + ], + [ + -29.469038754669775, + -14.778203207328076 + ] + ], + "projected_box_corners": [ + [ + -29.350599606361747, + -14.933424658784348 + ], + [ + -29.35626582113671, + -14.932617426766921 + ], + [ + -29.461194458367725, + -14.934994294588684 + ], + [ + -29.466860673142687, + -14.934187062571255 + ], + [ + -29.352777687888835, + -14.779010439345504 + ], + [ + -29.358443902663797, + -14.778203207328076 + ], + [ + -29.463372539894813, + -14.780580075149837 + ], + [ + -29.469038754669775, + -14.77977284313241 + ] + ], + "yaw_rad": 1.5849008380196146, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831506729125977, + -14.902276039123535, + 0.023487776517868042 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46497320139936, + -14.857546606625545, + 0.11763523891040184 + ], + "intended_face_normal": [ + -0.9996497016622968, + -0.014150077257134797, + -0.022366981763138893 + ], + "commanded_contact_point": [ + -29.845306396484375, + -14.868678092956543, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.4650119640484, + -14.856763847567915, + 0.11887254364370947 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831466674804688, + -14.902039527893066, + 0.02348381280899048 + ], + "box_pose": [ + -29.411680221557617, + -14.85245132446289, + 0.1360177993774414, + -0.008670084178447723, + -0.0071578375063836575, + 0.7120392322540283, + 0.7020496726036072 + ], + "box_yaw_rad": 1.5848990370359077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005242111679069778 + } + } + }, + { + "simulation_time_ns": 320000000, + "center": [ + -29.40992580517361, + -14.85647635888411, + 0.11889630201874887 + ], + "face_center": [ + -29.465222031543345, + -14.857262571098403, + 0.11754344959574042 + ], + "face_normal": [ + -0.9995998992713592, + -0.014212500595574884, + -0.024455758277718675 + ], + "footprint_xy": [ + [ + -29.469251997400153, + -14.934997521571303 + ], + [ + -29.350599612947065, + -14.934997521571303 + ], + [ + -29.350599612947065, + -14.777955196196919 + ], + [ + -29.469251997400153, + -14.777955196196919 + ] + ], + "projected_box_corners": [ + [ + -29.350599612947065, + -14.933425097142718 + ], + [ + -29.3564820109689, + -14.932368731666363 + ], + [ + -29.461192065686536, + -14.934997521571303 + ], + [ + -29.46707446370837, + -14.93394115609495 + ], + [ + -29.352777146638847, + -14.779011561673274 + ], + [ + -29.358659544660682, + -14.777955196196919 + ], + [ + -29.463369599378318, + -14.780583986101858 + ], + [ + -29.469251997400153, + -14.779527620625503 + ] + ], + "yaw_rad": 1.584897353347248, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83157730102539, + -14.902501106262207, + 0.02349156141281128 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465116606518748, + -14.857383568860547, + 0.11758191421864453 + ], + "intended_face_normal": [ + -0.9996215852589422, + -0.014187295362743546, + -0.023569441256182155 + ], + "commanded_contact_point": [ + -29.848909378051758, + -14.871612548828125, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46515848100842, + -14.85659875095838, + 0.1188857370382147 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831506729125977, + -14.902276039123535, + 0.023487776517868042 + ], + "box_pose": [ + -29.411846160888672, + -14.852262496948242, + 0.13602253794670105, + -0.009591501206159592, + -0.007093881722539663, + 0.7120404839515686, + 0.7020370960235596 + ], + "box_yaw_rad": 1.5849008380196146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046467738742110905 + } + } + }, + { + "simulation_time_ns": 340000000, + "center": [ + -29.409999076686297, + -14.85639034733872, + 0.11890375477799728 + ], + "face_center": [ + -29.465294462322266, + -14.857177534853713, + 0.1175170762813818 + ], + "face_normal": [ + -0.9995847011747514, + -0.014230131282984448, + -0.025067238336850428 + ], + "footprint_xy": [ + [ + -29.469398749484515, + -14.934997739956263 + ], + [ + -29.350599403888083, + -14.934997739956263 + ], + [ + -29.350599403888083, + -14.777782954721177 + ], + [ + -29.469398749484515, + -14.777782954721177 + ] + ], + "projected_box_corners": [ + [ + -29.350599403888083, + -14.933423364926277 + ], + [ + -29.356630939898288, + -14.932195958201412 + ], + [ + -29.461190175160016, + -14.934997739956263 + ], + [ + -29.46722171117022, + -14.933770333231399 + ], + [ + -29.352776442202373, + -14.77901036144604 + ], + [ + -29.35880797821258, + -14.777782954721177 + ], + [ + -29.463367213474307, + -14.780584736476028 + ], + [ + -29.469398749484515, + -14.779357329751164 + ] + ], + "yaw_rad": 1.5848941944266521, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83170509338379, + -14.902711868286133, + 0.023501604795455933 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465222031543345, + -14.857262571098403, + 0.11754344959574042 + ], + "intended_face_normal": [ + -0.9995998992713592, + -0.014212500595574884, + -0.024455758277718675 + ], + "commanded_contact_point": [ + -29.85169792175293, + -14.874495506286621, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -29.465266306234, + -14.85647635888411, + 0.11889630201874887 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83157730102539, + -14.902501106262207, + 0.02349156141281128 + ], + "box_pose": [ + -29.411968231201172, + -14.85212230682373, + 0.1360267549753189, + -0.010277066379785538, + -0.007040455471724272, + 0.7120397686958313, + 0.7020286321640015 + ], + "box_yaw_rad": 1.584897353347248, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004010912574597661 + } + } + }, + { + "simulation_time_ns": 360000000, + "center": [ + -29.41004387782389, + -14.85633790948719, + 0.11890867059139328 + ], + "face_center": [ + -29.465338703886363, + -14.857125847828781, + 0.11750074988062051 + ], + "face_normal": [ + -0.9995745856633603, + -0.01424370411140341, + -0.025451237689535722 + ], + "footprint_xy": [ + [ + -29.469489824544507, + -14.934999390762389 + ], + [ + -29.350597931103273, + -14.934999390762389 + ], + [ + -29.350597931103273, + -14.77767642821199 + ], + [ + -29.469489824544507, + -14.77767642821199 + ] + ], + "projected_box_corners": [ + [ + -29.350597931103273, + -14.933423514079204 + ], + [ + -29.35672312401355, + -14.932088999895232 + ], + [ + -29.46118758322822, + -14.934999390762389 + ], + [ + -29.467312776138495, + -14.933664876578417 + ], + [ + -29.352774979509284, + -14.779010942395963 + ], + [ + -29.35890017241956, + -14.77767642821199 + ], + [ + -29.46336463163423, + -14.780586819079147 + ], + [ + -29.469489824544507, + -14.779252304895175 + ] + ], + "yaw_rad": 1.5848942991870538, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831867218017578, + -14.902908325195312, + 0.023510366678237915 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465294462322266, + -14.857177534853713, + 0.1175170762813818 + ], + "intended_face_normal": [ + -0.9995847011747514, + -0.014230131282984448, + -0.025067238336850428 + ], + "commanded_contact_point": [ + -29.853723526000977, + -14.877243041992188, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46534041916641, + -14.85639034733872, + 0.11890375477799728 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83170509338379, + -14.902711868286133, + 0.023501604795455933 + ], + "box_pose": [ + -29.412052154541016, + -14.85202407836914, + 0.13602982461452484, + -0.010748809203505516, + -0.007004826329648495, + 0.7120389938354492, + 0.7020228505134583 + ], + "box_yaw_rad": 1.5848941944266521, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034135062653069615 + } + } + }, + { + "simulation_time_ns": 380000000, + "center": [ + -29.410065436651255, + -14.856311304815454, + 0.11891150556649584 + ], + "face_center": [ + -29.46536000669661, + -14.857098584716473, + 0.1174930610186334 + ], + "face_normal": [ + -0.9995699575955211, + -0.014231801361889174, + -0.02564147899867042 + ], + "footprint_xy": [ + [ + -29.469532866623783, + -14.934999244803032 + ], + [ + -29.35059800667873, + -14.934999244803032 + ], + [ + -29.35059800667873, + -14.777623364827878 + ], + [ + -29.469532866623783, + -14.777623364827878 + ] + ], + "projected_box_corners": [ + [ + -29.35059800667873, + -14.933424685000995 + ], + [ + -29.35676959070057, + -14.932035773843277 + ], + [ + -29.46118714676944, + -14.934999244803032 + ], + [ + -29.467358730791275, + -14.933610333645312 + ], + [ + -29.35277214251124, + -14.779012275985599 + ], + [ + -29.358943726533074, + -14.777623364827878 + ], + [ + -29.463361282601944, + -14.780586835787634 + ], + [ + -29.469532866623783, + -14.779197924629916 + ] + ], + "yaw_rad": 1.5848754554783842, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831993103027344, + -14.903069496154785, + 0.023520052433013916 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465338703886363, + -14.857125847828781, + 0.11750074988062051 + ], + "intended_face_normal": [ + -0.9995745856633603, + -0.01424370411140341, + -0.025451237689535722 + ], + "commanded_contact_point": [ + -29.855270385742188, + -14.87971305847168, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.465385780348235, + -14.85633790948719, + 0.11890867059139328 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831867218017578, + -14.902908325195312, + 0.023510366678237915 + ], + "box_pose": [ + -29.4121036529541, + -14.851963996887207, + 0.13603198528289795, + -0.01104462705552578, + -0.006982889026403427, + 0.7120392322540283, + 0.7020180821418762 + ], + "box_yaw_rad": 1.5848942991870538, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029144049938095683 + } + } + }, + { + "simulation_time_ns": 400000000, + "center": [ + -29.410063538082927, + -14.856311477955431, + 0.11891198114285464 + ], + "face_center": [ + -29.465358101678486, + -14.85709851329851, + 0.11749350571320863 + ], + "face_normal": [ + -0.9995698410014607, + -0.01422738044373717, + -0.02564203725426517 + ], + "footprint_xy": [ + [ + -29.46953068101978, + -14.935000325593224 + ], + [ + -29.35059639514607, + -14.935000325593224 + ], + [ + -29.35059639514607, + -14.777622630317639 + ], + [ + -29.46953068101978, + -14.777622630317639 + ] + ], + "projected_box_corners": [ + [ + -29.35059639514607, + -14.933426254907065 + ], + [ + -29.356768139599726, + -14.932035014855742 + ], + [ + -29.461185522337193, + -14.935000325593224 + ], + [ + -29.46735726679085, + -14.933609085541901 + ], + [ + -29.352769809375, + -14.779013870368962 + ], + [ + -29.358941553828657, + -14.777622630317639 + ], + [ + -29.463358936566124, + -14.78058794105512 + ], + [ + -29.46953068101978, + -14.779196701003798 + ] + ], + "yaw_rad": 1.5848707854124222, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83209800720215, + -14.903197288513184, + 0.023527950048446655 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46536000669661, + -14.857098584716473, + 0.1174930610186334 + ], + "intended_face_normal": [ + -0.9995699575955211, + -0.014231801361889174, + -0.02564147899867042 + ], + "commanded_contact_point": [ + -29.856529235839844, + -14.881731033325195, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.46540759541187, + -14.856311304815454, + 0.11891150556649584 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831993103027344, + -14.903069496154785, + 0.023520052433013916 + ], + "box_pose": [ + -29.412128448486328, + -14.851933479309082, + 0.13603343069553375, + -0.011193054728209972, + -0.0069701336324214935, + 0.7120327353477478, + 0.7020224928855896 + ], + "box_yaw_rad": 1.5848754554783842, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023784293300700577 + } + } + }, + { + "simulation_time_ns": 420000000, + "center": [ + -29.410040568181863, + -14.856342343342293, + 0.11891064015601693 + ], + "face_center": [ + -29.465335462229188, + -14.857127906299162, + 0.11750373381237943 + ], + "face_normal": [ + -0.9995758146377844, + -0.014200763851548892, + -0.02543290079111077 + ], + "footprint_xy": [ + [ + -29.469481053192162, + -14.934998690260135 + ], + [ + -29.350600083171567, + -14.934998690260135 + ], + [ + -29.350600083171567, + -14.77768599642445 + ], + [ + -29.469481053192162, + -14.77768599642445 + ] + ], + "projected_box_corners": [ + [ + -29.350600083171567, + -14.933427564346395 + ], + [ + -29.35672073600924, + -14.932098705998945 + ], + [ + -29.46118987126621, + -14.934998690260135 + ], + [ + -29.467310524103887, + -14.933669831912685 + ], + [ + -29.352770612259842, + -14.779014854771901 + ], + [ + -29.358891265097515, + -14.77768599642445 + ], + [ + -29.46336040035449, + -14.780585980685641 + ], + [ + -29.469481053192162, + -14.77925712233819 + ] + ], + "yaw_rad": 1.5848520748797852, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832204818725586, + -14.903287887573242, + 0.023534774780273438 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465358101678486, + -14.85709851329851, + 0.11749350571320863 + ], + "intended_face_normal": [ + -0.9995698410014607, + -0.01422738044373717, + -0.02564203725426517 + ], + "commanded_contact_point": [ + -29.857666015625, + -14.883285522460938, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.465405703298885, + -14.856311477955431, + 0.11891198114285464 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83209800720215, + -14.903197288513184, + 0.023527950048446655 + ], + "box_pose": [ + -29.412126541137695, + -14.851933479309082, + 0.13603386282920837, + -0.011196686886250973, + -0.006966936867684126, + 0.7120311260223389, + 0.702023983001709 + ], + "box_yaw_rad": 1.5848707854124222, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019257997698170304 + } + } + }, + { + "simulation_time_ns": 440000000, + "center": [ + -29.409989969470224, + -14.85639725792719, + 0.11890746905345424 + ], + "face_center": [ + -29.465285387441913, + -14.857183695880769, + 0.11752196679514766 + ], + "face_normal": [ + -0.9995852857134213, + -0.014216581325513733, + -0.02504597526390162 + ], + "footprint_xy": [ + [ + -29.46938608896798, + -14.934998751852078 + ], + [ + -29.350593849972473, + -14.934998751852078 + ], + [ + -29.350593849972473, + -14.777795764002304 + ], + [ + -29.46938608896798, + -14.777795764002304 + ] + ], + "projected_box_corners": [ + [ + -29.350593849972473, + -14.933425875944922 + ], + [ + -29.35662012135123, + -14.932208809355966 + ], + [ + -29.461184685915846, + -14.934998751852078 + ], + [ + -29.467210957294608, + -14.93378168526312 + ], + [ + -29.352768981645845, + -14.77901283059126 + ], + [ + -29.358795253024606, + -14.777795764002304 + ], + [ + -29.463359817589218, + -14.780585706498416 + ], + [ + -29.46938608896798, + -14.779368639909459 + ] + ], + "yaw_rad": 1.5848818453885585, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832277297973633, + -14.903342247009277, + 0.02353823184967041 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465335462229188, + -14.857127906299162, + 0.11750373381237943 + ], + "intended_face_normal": [ + -0.9995758146377844, + -0.014200763851548892, + -0.02543290079111077 + ], + "commanded_contact_point": [ + -29.85874366760254, + -14.88436508178711, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + -29.46538240266356, + -14.856342343342293, + 0.11891064015601693 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832204818725586, + -14.903287887573242, + 0.023534774780273438 + ], + "box_pose": [ + -29.412099838256836, + -14.851968765258789, + 0.13603410124778748, + -0.011029459536075592, + -0.00698487414047122, + 0.7120243906974792, + 0.7020334601402283 + ], + "box_yaw_rad": 1.5848520748797852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015253793380984736 + } + } + }, + { + "simulation_time_ns": 460000000, + "center": [ + -29.409929997272254, + -14.856469073783055, + 0.11890332635500259 + ], + "face_center": [ + -29.465226097467124, + -14.857255597164475, + 0.11754564775922645 + ], + "face_normal": [ + -0.9995976183854537, + -0.01421812562006819, + -0.0245430018769508 + ], + "footprint_xy": [ + [ + -29.469266918549305, + -14.934999640827508 + ], + [ + -29.350593075995207, + -14.934999640827508 + ], + [ + -29.350593075995207, + -14.777938506738602 + ], + [ + -29.469266918549305, + -14.777938506738602 + ] + ], + "projected_box_corners": [ + [ + -29.350593075995207, + -14.93342659406467 + ], + [ + -29.356496669407047, + -14.932351967974839 + ], + [ + -29.461185276384946, + -14.934999640827508 + ], + [ + -29.467088869796786, + -14.933925014737675 + ], + [ + -29.352771124747722, + -14.779013132828435 + ], + [ + -29.358674718159566, + -14.777938506738602 + ], + [ + -29.46336332513746, + -14.780586179591273 + ], + [ + -29.469266918549305, + -14.77951155350144 + ] + ], + "yaw_rad": 1.5849006950567504, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832338333129883, + -14.903366088867188, + 0.023541748523712158 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465285387441913, + -14.857183695880769, + 0.11752196679514766 + ], + "intended_face_normal": [ + -0.9995852857134213, + -0.014216581325513733, + -0.02504597526390162 + ], + "commanded_contact_point": [ + -29.859725952148438, + -14.88500690460205, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.46533127958776, + -14.85639725792719, + 0.11890746905345424 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832277297973633, + -14.903342247009277, + 0.02353823184967041 + ], + "box_pose": [ + -29.41204261779785, + -14.852031707763672, + 0.1360337734222412, + -0.010725816711783409, + -0.007012537680566311, + 0.7120345830917358, + 0.7020274996757507 + ], + "box_yaw_rad": 1.5848818453885585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011733795028081309 + } + } + }, + { + "simulation_time_ns": 480000000, + "center": [ + -29.409861811088255, + -14.856551728994969, + 0.11889832936340075 + ], + "face_center": [ + -29.465158698147214, + -14.857338203809597, + 0.11757265949856344 + ], + "face_normal": [ + -0.9996118426700432, + -0.014217247669415345, + -0.023964374250386777 + ], + "footprint_xy": [ + [ + -29.469130365934323, + -14.935000352640307 + ], + [ + -29.350593256242192, + -14.935000352640307 + ], + [ + -29.350593256242192, + -14.778103105349631 + ], + [ + -29.469130365934323, + -14.778103105349631 + ] + ], + "projected_box_corners": [ + [ + -29.350593256242192, + -14.933427403011049 + ], + [ + -29.356355706733208, + -14.932517032634358 + ], + [ + -29.4611870303601, + -14.935000352640307 + ], + [ + -29.466949480851117, + -14.934089982263616 + ], + [ + -29.352774141325398, + -14.779013475726321 + ], + [ + -29.35853659181641, + -14.778103105349631 + ], + [ + -29.463367915443307, + -14.780586425355578 + ], + [ + -29.469130365934323, + -14.77967605497889 + ] + ], + "yaw_rad": 1.5849190171948764, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832387924194336, + -14.903363227844238, + 0.023542970418930054 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465226097467124, + -14.857255597164475, + 0.11754564775922645 + ], + "intended_face_normal": [ + -0.9995976183854537, + -0.01421812562006819, + -0.0245430018769508 + ], + "commanded_contact_point": [ + -29.8605899810791, + -14.88524055480957, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -29.465270624608824, + -14.856469073783055, + 0.11890332635500259 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832338333129883, + -14.903366088867188, + 0.023541748523712158 + ], + "box_pose": [ + -29.41197395324707, + -14.852113723754883, + 0.13603326678276062, + -0.010335272178053856, + -0.007044350262731314, + 0.712040901184082, + 0.7020265460014343 + ], + "box_yaw_rad": 1.5849006950567504, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008950633569742444 + } + } + }, + { + "simulation_time_ns": 500000000, + "center": [ + -29.409783517771775, + -14.856644354894328, + 0.11889210225481314 + ], + "face_center": [ + -29.46508126385837, + -14.857430011993598, + 0.11760250548834972 + ], + "face_normal": [ + -0.9996273714682548, + -0.014202465680751342, + -0.023312274317565995 + ], + "footprint_xy": [ + [ + -29.46897385105768, + -14.934999822952078 + ], + [ + -29.350593184485874, + -14.934999822952078 + ], + [ + -29.350593184485874, + -14.77828888683658 + ], + [ + -29.46897385105768, + -14.77828888683658 + ] + ], + "projected_box_corners": [ + [ + -29.350593184485874, + -14.93342850875354 + ], + [ + -29.356196555755112, + -14.932703237104507 + ], + [ + -29.46118867665906, + -14.934999822952078 + ], + [ + -29.4667920479283, + -14.934274551303046 + ], + [ + -29.352774987615252, + -14.77901415848561 + ], + [ + -29.35837835888449, + -14.77828888683658 + ], + [ + -29.46337047978844, + -14.78058547268415 + ], + [ + -29.46897385105768, + -14.779860201035117 + ] + ], + "yaw_rad": 1.5849249226702298, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832422256469727, + -14.903332710266113, + 0.02354484796524048 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465158698147214, + -14.857338203809597, + 0.11757265949856344 + ], + "intended_face_normal": [ + -0.9996118426700432, + -0.014217247669415345, + -0.023964374250386777 + ], + "commanded_contact_point": [ + -29.861305236816406, + -14.885113716125488, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.465201650938326, + -14.856551728994969, + 0.11889832936340075 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832387924194336, + -14.903363227844238, + 0.023542970418930054 + ], + "box_pose": [ + -29.411895751953125, + -14.852208137512207, + 0.13603244721889496, + -0.009885387495160103, + -0.0070815300568938255, + 0.7120469808578491, + 0.7020266056060791 + ], + "box_yaw_rad": 1.5849190171948764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000726415048857157 + } + } + }, + { + "simulation_time_ns": 520000000, + "center": [ + -29.409693413428354, + -14.856748526871726, + 0.11888533349405399 + ], + "face_center": [ + -29.464992103583754, + -14.857533626000286, + 0.11763677889295857 + ], + "face_normal": [ + -0.9996444375710578, + -0.014192379143158185, + -0.022570347660701207 + ], + "footprint_xy": [ + [ + -29.468795143310373, + -14.934998535452083 + ], + [ + -29.350591683546334, + -14.934998535452083 + ], + [ + -29.350591683546334, + -14.778498518291372 + ], + [ + -29.468795143310373, + -14.778498518291372 + ] + ], + "projected_box_corners": [ + [ + -29.350591683546334, + -14.933428337194965 + ], + [ + -29.356014074264397, + -14.932913224388967 + ], + [ + -29.461189063857134, + -14.934998535452083 + ], + [ + -29.466611454575197, + -14.934483422646085 + ], + [ + -29.35277537228151, + -14.779013631097369 + ], + [ + -29.358197762999573, + -14.778498518291372 + ], + [ + -29.46337275259231, + -14.780583829354487 + ], + [ + -29.468795143310373, + -14.78006871654849 + ] + ], + "yaw_rad": 1.584937098987126, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83245277404785, + -14.903281211853027, + 0.023549318313598633 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46508126385837, + -14.857430011993598, + 0.11760250548834972 + ], + "intended_face_normal": [ + -0.9996273714682548, + -0.014202465680751342, + -0.023312274317565995 + ], + "commanded_contact_point": [ + -29.861833572387695, + -14.884666442871094, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.465122497940296, + -14.856644354894328, + 0.11889210225481314 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832422256469727, + -14.903332710266113, + 0.02354484796524048 + ], + "box_pose": [ + -29.411806106567383, + -14.852313995361328, + 0.136030912399292, + -0.009378335438668728, + -0.007123461924493313, + 0.7120486497879028, + 0.7020313739776611 + ], + "box_yaw_rad": 1.5849249226702298, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000692236838233895 + } + } + }, + { + "simulation_time_ns": 540000000, + "center": [ + -29.409593675676398, + -14.856865134075475, + 0.1188777308210105 + ], + "face_center": [ + -29.464893414377165, + -14.857649152107337, + 0.11767585212790893 + ], + "face_normal": [ + -0.9996633923155721, + -0.01417283596235519, + -0.021726578818012432 + ], + "footprint_xy": [ + [ + -29.468593866114812, + -14.934995993206995 + ], + [ + -29.350593485237983, + -14.934995993206995 + ], + [ + -29.350593485237983, + -14.778734274943956 + ], + [ + -29.468593866114812, + -14.778734274943956 + ] + ], + "projected_box_corners": [ + [ + -29.350593485237983, + -14.933427957143271 + ], + [ + -29.355810085513816, + -14.933149273028974 + ], + [ + -29.46119296263952, + -14.934995993206995 + ], + [ + -29.466409562915352, + -14.934717309092697 + ], + [ + -29.352777788437443, + -14.779012959058253 + ], + [ + -29.357994388713276, + -14.778734274943956 + ], + [ + -29.46337726583898, + -14.780580995121976 + ], + [ + -29.468593866114812, + -14.780302311007677 + ] + ], + "yaw_rad": 1.5849410507600692, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832475662231445, + -14.903207778930664, + 0.023548156023025513 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464992103583754, + -14.857533626000286, + 0.11763677889295857 + ], + "intended_face_normal": [ + -0.9996444375710578, + -0.014192379143158185, + -0.022570347660701207 + ], + "commanded_contact_point": [ + -29.86216163635254, + -14.883935928344727, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -29.465031448840232, + -14.856748526871726, + 0.11888533349405399 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83245277404785, + -14.903281211853027, + 0.023549318313598633 + ], + "box_pose": [ + -29.41170310974121, + -14.852433204650879, + 0.136029452085495, + -0.008802124299108982, + -0.007170510478317738, + 0.7120524644851685, + 0.7020344138145447 + ], + "box_yaw_rad": 1.584937098987126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008007980014651984 + } + } + }, + { + "simulation_time_ns": 560000000, + "center": [ + -29.409474910209283, + -14.857000419441508, + 0.11886983611546513 + ], + "face_center": [ + -29.464775799752665, + -14.857783718513724, + 0.11772092860865079 + ], + "face_normal": [ + -0.9996841963059565, + -0.01415983919861108, + -0.020769009089421142 + ], + "footprint_xy": [ + [ + -29.468360380793087, + -14.934996462911572 + ], + [ + -29.35058943962548, + -14.934996462911572 + ], + [ + -29.35058943962548, + -14.779004375971446 + ], + [ + -29.468360380793087, + -14.779004375971446 + ] + ], + "projected_box_corners": [ + [ + -29.35058943962548, + -14.933429864767142 + ], + [ + -29.355572498575714, + -14.933419547776056 + ], + [ + -29.461191218712244, + -14.934996462911572 + ], + [ + -29.46617427766248, + -14.934986145920487 + ], + [ + -29.352775542756085, + -14.779014692962532 + ], + [ + -29.357758601706323, + -14.779004375971446 + ], + [ + -29.463377321842852, + -14.780581291106962 + ], + [ + -29.468360380793087, + -14.780570974115877 + ] + ], + "yaw_rad": 1.5849526889549987, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832496643066406, + -14.903122901916504, + 0.023549973964691162 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464893414377165, + -14.857649152107337, + 0.11767585212790893 + ], + "intended_face_normal": [ + -0.9996633923155721, + -0.01417283596235519, + -0.021726578818012432 + ], + "commanded_contact_point": [ + -29.862295150756836, + -14.88297176361084, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.46493066181676, + -14.856865134075475, + 0.1188777308210105 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832475662231445, + -14.903207778930664, + 0.023548156023025513 + ], + "box_pose": [ + -29.411588668823242, + -14.852566719055176, + 0.13602781295776367, + -0.00815061666071415, + -0.0072202784940600395, + 0.7120533585548401, + 0.7020408511161804 + ], + "box_yaw_rad": 1.5849410507600692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009733651582780726 + } + } + }, + { + "simulation_time_ns": 580000000, + "center": [ + -29.40933994705039, + -14.857153655572915, + 0.11886014217089197 + ], + "face_center": [ + -29.464642083395614, + -14.857937098253432, + 0.11777355957040828 + ], + "face_normal": [ + -0.999706734968668, + -0.014162435231896087, + -0.019642350469470105 + ], + "footprint_xy": [ + [ + -29.468091501793786, + -14.935294534832911 + ], + [ + -29.350588392306996, + -14.935294534832911 + ], + [ + -29.350588392306996, + -14.779012776312918 + ], + [ + -29.468091501793786, + -14.779012776312918 + ] + ], + "projected_box_corners": [ + [ + -29.350588392306996, + -14.933427791607516 + ], + [ + -29.35529674676738, + -14.933727649471878 + ], + [ + -29.461192664997444, + -14.93499467696855 + ], + [ + -29.465901019457828, + -14.935294534832911 + ], + [ + -29.352778874642954, + -14.779012776312918 + ], + [ + -29.357487229103338, + -14.779312634177279 + ], + [ + -29.463383147333403, + -14.78057966167395 + ], + [ + -29.468091501793786, + -14.780879519538313 + ] + ], + "yaw_rad": 1.5849810575780368, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832509994506836, + -14.903022766113281, + 0.02354884147644043 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464775799752665, + -14.857783718513724, + 0.11772092860865079 + ], + "intended_face_normal": [ + -0.9996841963059565, + -0.01415983919861108, + -0.020769009089421142 + ], + "commanded_contact_point": [ + -29.86227035522461, + -14.881819725036621, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.46481074475584, + -14.857000419441508, + 0.11886983611546513 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832496643066406, + -14.903122901916504, + 0.023549973964691162 + ], + "box_pose": [ + -29.411453247070312, + -14.852721214294434, + 0.13602665066719055, + -0.007411210332065821, + -0.0072768074460327625, + 0.7120568752288818, + 0.7020450830459595 + ], + "box_yaw_rad": 1.5849526889549987, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011523053826656571 + } + } + }, + { + "simulation_time_ns": 600000000, + "center": [ + -29.409183279925305, + -14.857331224322392, + 0.11884918542700418 + ], + "face_center": [ + -29.464486797071853, + -14.858112962981304, + 0.11783427507995987 + ], + "face_normal": [ + -0.9997316959643016, + -0.01413163132470685, + -0.018346718162854603 + ], + "footprint_xy": [ + [ + -29.467777894727615, + -14.935648787360547 + ], + [ + -29.350588665123, + -14.935648787360547 + ], + [ + -29.350588665123, + -14.779013661284237 + ], + [ + -29.467777894727615, + -14.779013661284237 + ] + ], + "projected_box_corners": [ + [ + -29.350588665123, + -14.933428271096293 + ], + [ + -29.354981117821033, + -14.934085310042724 + ], + [ + -29.461195699416095, + -14.934991748414117 + ], + [ + -29.46558815211413, + -14.935648787360547 + ], + [ + -29.35277840773648, + -14.779013661284237 + ], + [ + -29.357170860434515, + -14.77967070023067 + ], + [ + -29.463385442029576, + -14.78057713860206 + ], + [ + -29.467777894727615, + -14.781234177548493 + ] + ], + "yaw_rad": 1.584976305289315, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.8325252532959, + -14.90291690826416, + 0.02354845404624939 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464642083395614, + -14.857937098253432, + 0.11777355957040828 + ], + "intended_face_normal": [ + -0.999706734968668, + -0.014162435231896087, + -0.019642350469470105 + ], + "commanded_contact_point": [ + -29.862106323242188, + -14.880524635314941, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.46467453403537, + -14.857153655572915, + 0.11886014217089197 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832509994506836, + -14.903022766113281, + 0.02354884147644043 + ], + "box_pose": [ + -29.411298751831055, + -14.852896690368652, + 0.13602472841739655, + -0.006549596320837736, + -0.0073350961320102215, + 0.7120662331581116, + 0.7020434141159058 + ], + "box_yaw_rad": 1.5849810575780368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013054362789937822 + } + } + }, + { + "simulation_time_ns": 620000000, + "center": [ + -29.40900353583547, + -14.85753535186403, + 0.11883603491965775 + ], + "face_center": [ + -29.46430853949004, + -14.858315702824243, + 0.11790435995438502 + ], + "face_normal": [ + -0.9997585678390527, + -0.014106545644016144, + -0.01684205709107811 + ], + "footprint_xy": [ + [ + -29.46741622827927, + -14.936057130057417 + ], + [ + -29.350590843391668, + -14.936057130057417 + ], + [ + -29.350590843391668, + -14.77901357367064 + ], + [ + -29.46741622827927, + -14.77901357367064 + ] + ], + "projected_box_corners": [ + [ + -29.350590843391668, + -14.93342728940862 + ], + [ + -29.35461647517774, + -14.93449642813699 + ], + [ + -29.46120085070081, + -14.934987991329049 + ], + [ + -29.46522648248688, + -14.936057130057417 + ], + [ + -29.35278058918406, + -14.77901357367064 + ], + [ + -29.356806220970128, + -14.78008271239901 + ], + [ + -29.463390596493202, + -14.78057427559107 + ], + [ + -29.46741622827927, + -14.781643414319438 + ] + ], + "yaw_rad": 1.5849764079649187, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832530975341797, + -14.902803421020508, + 0.023548513650894165 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464486797071853, + -14.858112962981304, + 0.11783427507995987 + ], + "intended_face_normal": [ + -0.9997316959643016, + -0.01413163132470685, + -0.018346718162854603 + ], + "commanded_contact_point": [ + -29.86181640625, + -14.879125595092773, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.464516485333217, + -14.857331224322392, + 0.11884918542700418 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8325252532959, + -14.90291690826416, + 0.02354845404624939 + ], + "box_pose": [ + -29.41111946105957, + -14.853099822998047, + 0.1360226571559906, + -0.005557935684919357, + -0.007402974180877209, + 0.7120638489723206, + 0.7020536065101624 + ], + "box_yaw_rad": 1.584976305289315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014287635933270151 + } + } + }, + { + "simulation_time_ns": 640000000, + "center": [ + -29.408793602535997, + -14.857769202591673, + 0.11882035189258766 + ], + "face_center": [ + -29.464100175951017, + -14.858547908912803, + 0.11798494256407832 + ], + "face_normal": [ + -0.9997869446830001, + -0.014076815205428694, + -0.015101845739790565 + ], + "footprint_xy": [ + [ + -29.466995193778434, + -14.93652666511526 + ], + [ + -29.350592011293564, + -14.93652666511526 + ], + [ + -29.350592011293564, + -14.779011740068086 + ], + [ + -29.466995193778434, + -14.779011740068086 + ] + ], + "projected_box_corners": [ + [ + -29.350592011293564, + -14.933423873948852 + ], + [ + -29.354193422016394, + -14.934969252472998 + ], + [ + -29.4612051581236, + -14.934981286591114 + ], + [ + -29.464806568846434, + -14.93652666511526 + ], + [ + -29.352780636225564, + -14.779011740068086 + ], + [ + -29.356382046948394, + -14.780557118592231 + ], + [ + -29.4633937830556, + -14.780569152710347 + ], + [ + -29.466995193778434, + -14.782114531234493 + ] + ], + "yaw_rad": 1.5849692957823738, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.8325252532959, + -14.902688026428223, + 0.02354869246482849 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46430853949004, + -14.858315702824243, + 0.11790435995438502 + ], + "intended_face_normal": [ + -0.9997585678390527, + -0.014106545644016144, + -0.01684205709107811 + ], + "commanded_contact_point": [ + -29.861421585083008, + -14.877662658691406, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.464335253977342, + -14.85753535186403, + 0.11883603491965775 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832530975341797, + -14.902803421020508, + 0.023548513650894165 + ], + "box_pose": [ + -29.410913467407227, + -14.853333473205566, + 0.13601969182491302, + -0.004410363733768463, + -0.007477821782231331, + 0.7120630741119385, + 0.7020617723464966 + ], + "box_yaw_rad": 1.5849764079649187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015152777528770517 + } + } + }, + { + "simulation_time_ns": 660000000, + "center": [ + -29.40854874783768, + -14.858042842956154, + 0.11880142478998101 + ], + "face_center": [ + -29.463856916352672, + -14.858820511689114, + 0.1180786091006533 + ], + "face_normal": [ + -0.9998157795940694, + -0.0140580585361334, + -0.013066470131480351 + ], + "footprint_xy": [ + [ + -29.466503734239883, + -14.937077455480418 + ], + [ + -29.35059376143548, + -14.937077455480418 + ], + [ + -29.35059376143548, + -14.779008230431891 + ], + [ + -29.466503734239883, + -14.779008230431891 + ] + ], + "projected_box_corners": [ + [ + -29.35059376143548, + -14.93341765122501 + ], + [ + -29.353698966335205, + -14.935522118014498 + ], + [ + -29.46121009846546, + -14.93497298869093 + ], + [ + -29.464315303365186, + -14.937077455480418 + ], + [ + -29.35278219231018, + -14.779008230431891 + ], + [ + -29.3558873972099, + -14.781112697221378 + ], + [ + -29.463398529340157, + -14.78056356789781 + ], + [ + -29.466503734239883, + -14.782668034687298 + ] + ], + "yaw_rad": 1.5849682882598528, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832509994506836, + -14.902572631835938, + 0.023546725511550903 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464100175951017, + -14.858547908912803, + 0.11798494256407832 + ], + "intended_face_normal": [ + -0.9997869446830001, + -0.014076815205428694, + -0.015101845739790565 + ], + "commanded_contact_point": [ + -29.86092758178711, + -14.876192092895508, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.46412375020374, + -14.857769202591673, + 0.11882035189258766 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8325252532959, + -14.902688026428223, + 0.02354869246482849 + ], + "box_pose": [ + -29.410673141479492, + -14.853601455688477, + 0.13601566851139069, + -0.0030837282538414, + -0.007563868071883917, + 0.7120596170425415, + 0.7020715475082397 + ], + "box_yaw_rad": 1.5849692957823738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00155132298909042 + } + } + }, + { + "simulation_time_ns": 680000000, + "center": [ + -29.408266130971317, + -14.858361489579766, + 0.11877823026324093 + ], + "face_center": [ + -29.463575888371622, + -14.859137302552076, + 0.11818703883270275 + ], + "face_normal": [ + -0.9998445021616829, + -0.014024511614774138, + -0.01068707456571565 + ], + "footprint_xy": [ + [ + -29.465930762867465, + -14.93771687756587 + ], + [ + -29.350601499075168, + -14.93771687756587 + ], + [ + -29.350601499075168, + -14.77900610159366 + ], + [ + -29.465930762867465, + -14.77900610159366 + ] + ], + "projected_box_corners": [ + [ + -29.350601499075168, + -14.933411359255647 + ], + [ + -29.353126750744703, + -14.936165251621247 + ], + [ + -29.46122101387578, + -14.934962985200269 + ], + [ + -29.463746265545314, + -14.93771687756587 + ], + [ + -29.35278599639732, + -14.77900610159366 + ], + [ + -29.355311248066855, + -14.781759993959263 + ], + [ + -29.46340551119793, + -14.780557727538282 + ], + [ + -29.465930762867465, + -14.783311619903884 + ] + ], + "yaw_rad": 1.5849431999165746, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832490921020508, + -14.902463912963867, + 0.02354416251182556 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463856916352672, + -14.858820511689114, + 0.1180786091006533 + ], + "intended_face_normal": [ + -0.9998157795940694, + -0.0140580585361334, + -0.013066470131480351 + ], + "commanded_contact_point": [ + -29.86035919189453, + -14.874740600585938, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46387729977157, + -14.858042842956154, + 0.11880142478998101 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832509994506836, + -14.902572631835938, + 0.023546725511550903 + ], + "box_pose": [ + -29.41039276123047, + -14.853915214538574, + 0.13601025938987732, + -0.0015290618175640702, + -0.0076675149612128735, + 0.7120580673217773, + 0.7020770311355591 + ], + "box_yaw_rad": 1.5849682882598528, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015588126875762773 + } + } + }, + { + "simulation_time_ns": 700000000, + "center": [ + -29.40794177708859, + -14.858735893561422, + 0.11875378069643791 + ], + "face_center": [ + -29.463252958825223, + -14.859509967401713, + 0.1183128096918123 + ], + "face_normal": [ + -0.9998702501474672, + -0.013993073010277968, + -0.007971512718752127 + ], + "footprint_xy": [ + [ + -29.465273869589325, + -14.938467409774143 + ], + [ + -29.35060968458785, + -14.938467409774143 + ], + [ + -29.35060968458785, + -14.7790043773487 + ], + [ + -29.465273869589325, + -14.7790043773487 + ] + ], + "projected_box_corners": [ + [ + -29.35060968458785, + -14.933403286298077 + ], + [ + -29.352472801875212, + -14.936919262093557 + ], + [ + -29.461232048061117, + -14.934951433978663 + ], + [ + -29.463095165348477, + -14.938467409774143 + ], + [ + -29.3527883888287, + -14.7790043773487 + ], + [ + -29.35465150611606, + -14.78252035314418 + ], + [ + -29.463410752301964, + -14.780552525029286 + ], + [ + -29.465273869589325, + -14.784068500824766 + ] + ], + "yaw_rad": 1.5849062688102928, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832456588745117, + -14.902356147766113, + 0.023542940616607666 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463575888371622, + -14.859137302552076, + 0.11818703883270275 + ], + "intended_face_normal": [ + -0.9998445021616829, + -0.014024511614774138, + -0.01068707456571565 + ], + "commanded_contact_point": [ + -29.859718322753906, + -14.873353004455566, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.46359309347998, + -14.858361489579766, + 0.11877823026324093 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832490921020508, + -14.902463912963867, + 0.02354416251182556 + ], + "box_pose": [ + -29.41006851196289, + -14.854280471801758, + 0.1360025852918625, + 0.0002821676607709378, + -0.007782684173434973, + 0.7120478749275208, + 0.7020877003669739 + ], + "box_yaw_rad": 1.5849431999165746, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001528442434817602 + } + } + }, + { + "simulation_time_ns": 720000000, + "center": [ + -29.40787196778248, + -14.858829988282508, + 0.11876790735688147 + ], + "face_center": [ + -29.46318341314309, + -14.859603445672178, + 0.11835929340260264 + ], + "face_normal": [ + -0.999875015725844, + -0.013981929320725728, + -0.007386588459163734 + ], + "footprint_xy": [ + [ + -29.465131764607797, + -14.938655123725116 + ], + [ + -29.350612170957163, + -14.938655123725116 + ], + [ + -29.350612170957163, + -14.7790048528399 + ], + [ + -29.465131764607797, + -14.7790048528399 + ] + ], + "projected_box_corners": [ + [ + -29.350612170957163, + -14.933401959856091 + ], + [ + -29.352332325650927, + -14.937108208945777 + ], + [ + -29.461235061678384, + -14.934948874635431 + ], + [ + -29.462955216372148, + -14.938655123725116 + ], + [ + -29.352788719192812, + -14.7790048528399 + ], + [ + -29.354508873886576, + -14.782711101929586 + ], + [ + -29.463411609914033, + -14.78055176761924 + ], + [ + -29.465131764607797, + -14.784258016708925 + ] + ], + "yaw_rad": 1.5848924722136806, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83243179321289, + -14.902260780334473, + 0.023537904024124146 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463252958825223, + -14.859509967401713, + 0.1183128096918123 + ], + "intended_face_normal": [ + -0.9998702501474672, + -0.013993073010277968, + -0.007971512718752127 + ], + "commanded_contact_point": [ + -29.8590087890625, + -14.872052192687988, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + -29.463267314854548, + -14.858735893561422, + 0.11875378069643791 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832456588745117, + -14.902356147766113, + 0.023542940616607666 + ], + "box_pose": [ + -29.409696578979492, + -14.85470962524414, + 0.13599592447280884, + 0.0023802637588232756, + -0.007944762706756592, + 0.7120329141616821, + 0.7020970582962036 + ], + "box_yaw_rad": 1.5849062688102928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001481738612437942 + } + } + }, + { + "simulation_time_ns": 740000000, + "center": [ + -29.407958167997332, + -14.8587402335395, + 0.1187764248825684 + ], + "face_center": [ + -29.463269298357208, + -14.85951266702749, + 0.11832644654095231 + ], + "face_normal": [ + -0.9998693214005392, + -0.013963420064623255, + -0.008134339980927108 + ], + "footprint_xy": [ + [ + -29.46530765531544, + -14.938473418350728 + ], + [ + -29.350608680679226, + -14.938473418350728 + ], + [ + -29.350608680679226, + -14.779007048728271 + ], + [ + -29.46530765531544, + -14.779007048728271 + ] + ], + "projected_box_corners": [ + [ + -29.350608680679226, + -14.933405954233937 + ], + [ + -29.352510869467704, + -14.936928551374747 + ], + [ + -29.46123094139898, + -14.934950821209917 + ], + [ + -29.463133130187458, + -14.938473418350728 + ], + [ + -29.352783205807206, + -14.779007048728271 + ], + [ + -29.354685394595684, + -14.782529645869081 + ], + [ + -29.463405466526957, + -14.780551915704251 + ], + [ + -29.46530765531544, + -14.784074512845063 + ] + ], + "yaw_rad": 1.584879207517984, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832387924194336, + -14.90217399597168, + 0.023536890745162964 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46318341314309, + -14.859603445672178, + 0.11835929340260264 + ], + "intended_face_normal": [ + -0.999875015725844, + -0.013981929320725728, + -0.007386588459163734 + ], + "commanded_contact_point": [ + -29.858266830444336, + -14.87087631225586, + 0.05000004544854164 + ], + "centerline_face_intersection": [ + -29.463197241857294, + -14.858829988282508, + 0.11876790735688147 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83243179321289, + -14.902260780334473, + 0.023537904024124146 + ], + "box_pose": [ + -29.409616470336914, + -14.854817390441895, + 0.13601428270339966, + 0.0028709489852190018, + -0.008017935790121555, + 0.7120271921157837, + 0.7021002769470215 + ], + "box_yaw_rad": 1.5848924722136806, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013903946856152392 + } + } + }, + { + "simulation_time_ns": 760000000, + "center": [ + -29.408048254146234, + -14.858645274770018, + 0.11878439190885787 + ], + "face_center": [ + -29.4633590417939, + -14.859417327420584, + 0.11829343020510474 + ], + "face_normal": [ + -0.9998631261298356, + -0.013956535597509978, + -0.008875203641135268 + ], + "footprint_xy": [ + [ + -29.46548738939085, + -14.93828339511009 + ], + [ + -29.35060911890162, + -14.93828339511009 + ], + [ + -29.35060911890162, + -14.779007154429944 + ], + [ + -29.46548738939085, + -14.779007154429944 + ] + ], + "projected_box_corners": [ + [ + -29.35060911890162, + -14.933407834482786 + ], + [ + -29.35269175296946, + -14.936739289808962 + ], + [ + -29.461230694196953, + -14.934951939783916 + ], + [ + -29.463313328264793, + -14.93828339511009 + ], + [ + -29.35278318002768, + -14.779007154429944 + ], + [ + -29.35486581409552, + -14.78233860975612 + ], + [ + -29.463404755323012, + -14.780551259731075 + ], + [ + -29.46548738939085, + -14.783882715057251 + ] + ], + "yaw_rad": 1.5848760410982863, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832334518432617, + -14.902103424072266, + 0.023531436920166016 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463269298357208, + -14.85951266702749, + 0.11832644654095231 + ], + "intended_face_normal": [ + -0.9998693214005392, + -0.013963420064623255, + -0.008134339980927108 + ], + "commanded_contact_point": [ + -29.857486724853516, + -14.86983871459961, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46328375715343, + -14.8587402335395, + 0.1187764248825684 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832387924194336, + -14.90217399597168, + 0.023536890745162964 + ], + "box_pose": [ + -29.40971565246582, + -14.854714393615723, + 0.13601839542388916, + 0.002332080388441682, + -0.008011738769710064, + 0.7120226621627808, + 0.7021068334579468 + ], + "box_yaw_rad": 1.584879207517984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012981423769231996 + } + } + }, + { + "simulation_time_ns": 780000000, + "center": [ + -29.408141871326347, + -14.858544446357564, + 0.11879151174633093 + ], + "face_center": [ + -29.463452289235878, + -14.859315990563394, + 0.11825863811148082 + ], + "face_normal": [ + -0.9998564423065684, + -0.013947344349926505, + -0.009632853210613773 + ], + "footprint_xy": [ + [ + -29.465672435688305, + -14.93808179757416 + ], + [ + -29.350611306964392, + -14.93808179757416 + ], + [ + -29.350611306964392, + -14.779007095140969 + ], + [ + -29.465672435688305, + -14.779007095140969 + ] + ], + "projected_box_corners": [ + [ + -29.350611306964392, + -14.933409580049585 + ], + [ + -29.352878578318077, + -14.936538709162502 + ], + [ + -29.46123214278345, + -14.934952668461243 + ], + [ + -29.463499414137136, + -14.93808179757416 + ], + [ + -29.35278432851556, + -14.779007095140969 + ], + [ + -29.355051599869245, + -14.782136224253886 + ], + [ + -29.46340516433462, + -14.780550183552627 + ], + [ + -29.465672435688305, + -14.783679312665544 + ] + ], + "yaw_rad": 1.5848691449824703, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832286834716797, + -14.902044296264648, + 0.02352955937385559 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.4633590417939, + -14.859417327420584, + 0.11829343020510474 + ], + "intended_face_normal": [ + -0.9998631261298356, + -0.013956535597509978, + -0.008875203641135268 + ], + "commanded_contact_point": [ + -29.856657028198242, + -14.86897087097168, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.463374186106254, + -14.858645274770018, + 0.11878439190885787 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832334518432617, + -14.902103424072266, + 0.023531436920166016 + ], + "box_pose": [ + -29.409818649291992, + -14.854605674743652, + 0.13602182269096375, + 0.001784567371942103, + -0.007992119528353214, + 0.7120218276977539, + 0.7021095156669617 + ], + "box_yaw_rad": 1.5848760410982863, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012006452858504843 + } + } + }, + { + "simulation_time_ns": 800000000, + "center": [ + -29.40824042810985, + -14.858438133562663, + 0.11879875048981492 + ], + "face_center": [ + -29.463550411331905, + -14.859208427923836, + 0.11822129810878612 + ], + "face_normal": [ + -0.9998485843823348, + -0.013924750681704623, + -0.010438711279334469 + ], + "footprint_xy": [ + [ + -29.46586712832126, + -14.93786581142096 + ], + [ + -29.35061372789844, + -14.93786581142096 + ], + [ + -29.35061372789844, + -14.779010455704366 + ], + [ + -29.46586712832126, + -14.779010455704366 + ] + ], + "projected_box_corners": [ + [ + -29.35061372789844, + -14.933414748384957 + ], + [ + -29.35307746776387, + -14.936325222698613 + ], + [ + -29.461233694342546, + -14.934955337107302 + ], + [ + -29.46369743420798, + -14.93786581142096 + ], + [ + -29.352783422011722, + -14.779010455704366 + ], + [ + -29.355247161877156, + -14.781920930018023 + ], + [ + -29.46340338845583, + -14.780551044426712 + ], + [ + -29.46586712832126, + -14.783461518740367 + ] + ], + "yaw_rad": 1.5848474343356749, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832229614257812, + -14.901999473571777, + 0.023527055978775024 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463452289235878, + -14.859315990563394, + 0.11825863811148082 + ], + "intended_face_normal": [ + -0.9998564423065684, + -0.013947344349926505, + -0.009632853210613773 + ], + "commanded_contact_point": [ + -29.855823516845703, + -14.86826229095459, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463468173128213, + -14.858544446357564, + 0.11879151174633093 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832286834716797, + -14.902044296264648, + 0.02352955937385559 + ], + "box_pose": [ + -29.40992546081543, + -14.854490280151367, + 0.13602416217327118, + 0.0012144792126491666, + -0.007962037809193134, + 0.7120198011398315, + 0.7021132707595825 + ], + "box_yaw_rad": 1.5848691449824703, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010939958024496644 + } + } + }, + { + "simulation_time_ns": 820000000, + "center": [ + -29.408340136308084, + -14.858319885295689, + 0.11880488238432847 + ], + "face_center": [ + -29.46364960714974, + -14.85909002704324, + 0.11818071050485873 + ], + "face_normal": [ + -0.9998393219890978, + -0.013921991857626326, + -0.011283268114430468 + ], + "footprint_xy": [ + [ + -29.466069025316244, + -14.937628870894542 + ], + [ + -29.350611247299927, + -14.937628870894542 + ], + [ + -29.350611247299927, + -14.779010899696836 + ], + [ + -29.466069025316244, + -14.779010899696836 + ] + ], + "projected_box_corners": [ + [ + -29.350611247299927, + -14.933416967948025 + ], + [ + -29.353280962925385, + -14.936088587399441 + ], + [ + -29.46123018898324, + -14.934957251443128 + ], + [ + -29.4638999046087, + -14.937628870894542 + ], + [ + -29.35278036800747, + -14.779010899696836 + ], + [ + -29.35545008363293, + -14.78168251914825 + ], + [ + -29.463399309690782, + -14.780551183191937 + ], + [ + -29.466069025316244, + -14.783222802643353 + ] + ], + "yaw_rad": 1.584843559889385, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832170486450195, + -14.901969909667969, + 0.0235215425491333 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463550411331905, + -14.859208427923836, + 0.11822129810878612 + ], + "intended_face_normal": [ + -0.9998485843823348, + -0.013924750681704623, + -0.010438711279334469 + ], + "commanded_contact_point": [ + -29.854997634887695, + -14.867724418640137, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46356716472744, + -14.858438133562663, + 0.11879875048981492 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832229614257812, + -14.901999473571777, + 0.023527055978775024 + ], + "box_pose": [ + -29.410037994384766, + -14.854368209838867, + 0.13602623343467712, + 0.0006029920768924057, + -0.007925041019916534, + 0.7120126485824585, + 0.7021216750144958 + ], + "box_yaw_rad": 1.5848474343356749, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009855899934929791 + } + } + }, + { + "simulation_time_ns": 840000000, + "center": [ + -29.40845190329504, + -14.858189206147873, + 0.11881082501476199 + ], + "face_center": [ + -29.463760787038414, + -14.858959122555229, + 0.11813580411588921 + ], + "face_normal": [ + -0.9998287089070669, + -0.01391791834209477, + -0.012202475047892 + ], + "footprint_xy": [ + [ + -29.466291769230875, + -14.937366406810785 + ], + [ + -29.35061203735921, + -14.937366406810785 + ], + [ + -29.35061203735921, + -14.779012005484962 + ], + [ + -29.466291769230875, + -14.779012005484962 + ] + ], + "projected_box_corners": [ + [ + -29.35061203735921, + -14.933419907515084 + ], + [ + -29.353506008592188, + -14.935826573996074 + ], + [ + -29.461229804845953, + -14.934959740329795 + ], + [ + -29.46412377607893, + -14.937366406810785 + ], + [ + -29.352780030511152, + -14.779012005484962 + ], + [ + -29.35567400174413, + -14.781418671965953 + ], + [ + -29.463397797997896, + -14.780551838299674 + ], + [ + -29.466291769230875, + -14.782958504780664 + ] + ], + "yaw_rad": 1.5848360920761555, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.832115173339844, + -14.901952743530273, + 0.023518890142440796 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46364960714974, + -14.85909002704324, + 0.11818071050485873 + ], + "intended_face_normal": [ + -0.9998393219890978, + -0.013921991857626326, + -0.011283268114430468 + ], + "commanded_contact_point": [ + -29.85415267944336, + -14.867369651794434, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.46366738546602, + -14.858319885295689, + 0.11880488238432847 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832170486450195, + -14.901969909667969, + 0.0235215425491333 + ], + "box_pose": [ + -29.410152435302734, + -14.854232788085938, + 0.1360267549753189, + -5.2241342928027734e-05, + -0.007871994748711586, + 0.7120119333267212, + 0.7021231651306152 + ], + "box_yaw_rad": 1.584843559889385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009164110529370164 + } + } + }, + { + "simulation_time_ns": 860000000, + "center": [ + -29.408573477655185, + -14.858044482186024, + 0.11881641366478041 + ], + "face_center": [ + -29.463881645266465, + -14.858814164513195, + 0.11808532215180187 + ], + "face_normal": [ + -0.9998157632575346, + -0.013913686832216055, + -0.0132160736945236 + ], + "footprint_xy": [ + [ + -29.466535490947052, + -14.937074732262131 + ], + [ + -29.350611464363315, + -14.937074732262131 + ], + [ + -29.350611464363315, + -14.779014232109917 + ], + [ + -29.466535490947052, + -14.779014232109917 + ] + ], + "projected_box_corners": [ + [ + -29.350611464363315, + -14.933423914505958 + ], + [ + -29.35375276018671, + -14.935535367607788 + ], + [ + -29.461227799585874, + -14.934963279160302 + ], + [ + -29.464369095409268, + -14.937074732262131 + ], + [ + -29.3527778599011, + -14.779014232109917 + ], + [ + -29.355919155724493, + -14.781125685211745 + ], + [ + -29.46339419512366, + -14.78055359676426 + ], + [ + -29.466535490947052, + -14.78266504986609 + ] + ], + "yaw_rad": 1.5848255856615718, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83204460144043, + -14.901946067810059, + 0.02351468801498413 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463760787038414, + -14.858959122555229, + 0.11813580411588921 + ], + "intended_face_normal": [ + -0.9998287089070669, + -0.01391791834209477, + -0.012202475047892 + ], + "commanded_contact_point": [ + -29.853334426879883, + -14.867178916931152, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -29.46377973974621, + -14.858189206147873, + 0.11881082501476199 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832115173339844, + -14.901952743530273, + 0.023518890142440796 + ], + "box_pose": [ + -29.410280227661133, + -14.854083061218262, + 0.13602647185325623, + -0.0007727868505753577, + -0.007806973997503519, + 0.7120100855827332, + 0.7021254301071167 + ], + "box_yaw_rad": 1.5848360920761555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008401886964966625 + } + } + }, + { + "simulation_time_ns": 880000000, + "center": [ + -29.408710046151278, + -14.85788063399631, + 0.11882200889914839 + ], + "face_center": [ + -29.464017351613297, + -14.858650503779932, + 0.11802802066969834 + ], + "face_normal": [ + -0.9998001780292018, + -0.013917075516438837, + -0.014353069029956422 + ], + "footprint_xy": [ + [ + -29.466809414176918, + -14.936744653229336 + ], + [ + -29.350610678125637, + -14.936744653229336 + ], + [ + -29.350610678125637, + -14.779016614763282 + ], + [ + -29.466809414176918, + -14.779016614763282 + ] + ], + "projected_box_corners": [ + [ + -29.350610678125637, + -14.933428056975218 + ], + [ + -29.354029440272644, + -14.93520491366209 + ], + [ + -29.461225289049676, + -14.934967796542464 + ], + [ + -29.464644051196682, + -14.936744653229336 + ], + [ + -29.352776041105873, + -14.779016614763282 + ], + [ + -29.35619480325288, + -14.780793471450153 + ], + [ + -29.46339065202991, + -14.780556354330528 + ], + [ + -29.466809414176918, + -14.7823332110174 + ] + ], + "yaw_rad": 1.5848187400541802, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831989288330078, + -14.901956558227539, + 0.023510128259658813 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463881645266465, + -14.858814164513195, + 0.11808532215180187 + ], + "intended_face_normal": [ + -0.9998157632575346, + -0.013913686832216055, + -0.0132160736945236 + ], + "commanded_contact_point": [ + -29.852516174316406, + -14.867145538330078, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46390203049312, + -14.858044482186024, + 0.11881641366478041 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83204460144043, + -14.901946067810059, + 0.02351468801498413 + ], + "box_pose": [ + -29.410419464111328, + -14.853917121887207, + 0.1360251009464264, + -0.0015718501526862383, + -0.007730816025286913, + 0.7120072841644287, + 0.7021276950836182 + ], + "box_yaw_rad": 1.5848255856615718, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008189330797722352 + } + } + }, + { + "simulation_time_ns": 900000000, + "center": [ + -29.408865244713315, + -14.85769323361892, + 0.11882731717605564 + ], + "face_center": [ + -29.464171472856982, + -14.858464363822446, + 0.11796318259286152 + ], + "face_normal": [ + -0.9997807031502214, + -0.013939860355313138, + -0.01562111737141092 + ], + "footprint_xy": [ + [ + -29.46711885720775, + -14.936369753798981 + ], + [ + -29.35061163221888, + -14.936369753798981 + ], + [ + -29.35061163221888, + -14.779016713438859 + ], + [ + -29.46711885720775, + -14.779016713438859 + ] + ], + "projected_box_corners": [ + [ + -29.35061163221888, + -14.933429698389286 + ], + [ + -29.35433989996433, + -14.934827493391928 + ], + [ + -29.461224088506214, + -14.93497195879634 + ], + [ + -29.46495235625166, + -14.936369753798981 + ], + [ + -29.35277813317497, + -14.779016713438859 + ], + [ + -29.35650640092042, + -14.7804145084415 + ], + [ + -29.463390589462303, + -14.780558973845912 + ], + [ + -29.46711885720775, + -14.781956768848554 + ] + ], + "yaw_rad": 1.584825968215187, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831924438476562, + -14.901973724365234, + 0.023507267236709595 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464017351613297, + -14.858650503779932, + 0.11802802066969834 + ], + "intended_face_normal": [ + -0.9998001780292018, + -0.013917075516438837, + -0.014353069029956422 + ], + "commanded_contact_point": [ + -29.85173797607422, + -14.867263793945312, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.46403946146968, + -14.85788063399631, + 0.11882200889914839 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831989288330078, + -14.901956558227539, + 0.023510128259658813 + ], + "box_pose": [ + -29.41057586669922, + -14.853729248046875, + 0.13602277636528015, + -0.0024733063764870167, + -0.007640326861292124, + 0.7120059132575989, + 0.7021275758743286 + ], + "box_yaw_rad": 1.5848187400541802, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007871320694354198 + } + } + }, + { + "simulation_time_ns": 920000000, + "center": [ + -29.40903833519985, + -14.8574802298127, + 0.11883246510100885 + ], + "face_center": [ + -29.464343243442233, + -14.858253529898022, + 0.11788853152436526 + ], + "face_normal": [ + -0.9997568430556572, + -0.013979085701543603, + -0.017063658229093948 + ], + "footprint_xy": [ + [ + -29.46746797631271, + -14.935942208159457 + ], + [ + -29.350608694086986, + -14.935942208159457 + ], + [ + -29.350608694086986, + -14.779018251465942 + ], + [ + -29.46746797631271, + -14.779018251465942 + ] + ], + "projected_box_corners": [ + [ + -29.350608694086986, + -14.933432570427104 + ], + [ + -29.354689112026005, + -14.934395607988812 + ], + [ + -29.46121851057175, + -14.93497917059775 + ], + [ + -29.46529892851077, + -14.935942208159457 + ], + [ + -29.35277774188893, + -14.779018251465942 + ], + [ + -29.356858159827947, + -14.77998128902765 + ], + [ + -29.463387558373693, + -14.780564851636587 + ], + [ + -29.46746797631271, + -14.781527889198294 + ] + ], + "yaw_rad": 1.5848423373627305, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831857681274414, + -14.902000427246094, + 0.023504018783569336 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464171472856982, + -14.858464363822446, + 0.11796318259286152 + ], + "intended_face_normal": [ + -0.9997807031502214, + -0.013939860355313138, + -0.01562111737141092 + ], + "commanded_contact_point": [ + -29.850988388061523, + -14.867509841918945, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -29.464195737801738, + -14.85769323361892, + 0.11882731717605564 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831924438476562, + -14.901973724365234, + 0.023507267236709595 + ], + "box_pose": [ + -29.41075325012207, + -14.853514671325684, + 0.13601908087730408, + -0.00348745658993721, + -0.007530717644840479, + 0.7120096683502197, + 0.7021205425262451 + ], + "box_yaw_rad": 1.584825968215187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007889371299371704 + } + } + }, + { + "simulation_time_ns": 940000000, + "center": [ + -29.4092312728951, + -14.85723796449995, + 0.11883691381889548 + ], + "face_center": [ + -29.46453453782486, + -14.858013858450187, + 0.11780353689467943 + ], + "face_normal": [ + -0.9997271365958247, + -0.014025975467411245, + -0.01868054182303236 + ], + "footprint_xy": [ + [ + -29.467857811782043, + -14.93545666630866 + ], + [ + -29.35060473400815, + -14.93545666630866 + ], + [ + -29.35060473400815, + -14.779019262691241 + ], + [ + -29.467857811782043, + -14.779019262691241 + ] + ], + "projected_box_corners": [ + [ + -29.35060473400815, + -14.933434405301398 + ], + [ + -29.355079965198573, + -14.933904878408185 + ], + [ + -29.46121126386768, + -14.934986193201873 + ], + [ + -29.4656864950581, + -14.93545666630866 + ], + [ + -29.352776050732093, + -14.779019262691241 + ], + [ + -29.357251281922515, + -14.779489735798027 + ], + [ + -29.46338258059162, + -14.780571050591716 + ], + [ + -29.467857811782043, + -14.781041523698502 + ] + ], + "yaw_rad": 1.5848569531991752, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83180046081543, + -14.902032852172852, + 0.0235024094581604 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464343243442233, + -14.858253529898022, + 0.11788853152436526 + ], + "intended_face_normal": [ + -0.9997568430556572, + -0.013979085701543603, + -0.017063658229093948 + ], + "commanded_contact_point": [ + -29.850284576416016, + -14.867875099182129, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -29.46437014880016, + -14.8574802298127, + 0.11883246510100885 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831857681274414, + -14.902000427246094, + 0.023504018783569336 + ], + "box_pose": [ + -29.410951614379883, + -14.853270530700684, + 0.13601383566856384, + -0.004646460525691509, + -0.007400824222713709, + 0.7120168209075928, + 0.7021081447601318 + ], + "box_yaw_rad": 1.5848423373627305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007929462154905488 + } + } + }, + { + "simulation_time_ns": 960000000, + "center": [ + -29.409453193409625, + -14.856993163140757, + 0.11885016213614956 + ], + "face_center": [ + -29.464754444175675, + -14.857771509039319, + 0.11771612220645179 + ], + "face_normal": [ + -0.9996907261935088, + -0.014070299781351325, + -0.020500245205087142 + ], + "footprint_xy": [ + [ + -29.468299882411383, + -14.934992580189746 + ], + [ + -29.350606504407867, + -14.934992580189746 + ], + [ + -29.350606504407867, + -14.778993746091768 + ], + [ + -29.468299882411383, + -14.778993746091768 + ] + ], + "projected_box_corners": [ + [ + -29.350606504407867, + -14.933435888392625 + ], + [ + -29.355525306398025, + -14.933409068740657 + ], + [ + -29.461209005939963, + -14.934992580189746 + ], + [ + -29.46612780793012, + -14.934965760537779 + ], + [ + -29.352778578889133, + -14.779020565743737 + ], + [ + -29.357697380879287, + -14.778993746091768 + ], + [ + -29.46338108042123, + -14.780577257540859 + ], + [ + -29.468299882411383, + -14.78055043788889 + ] + ], + "yaw_rad": 1.5848618431047365, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83174705505371, + -14.902076721191406, + 0.023499101400375366 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46453453782486, + -14.858013858450187, + 0.11780353689467943 + ], + "intended_face_normal": [ + -0.9997271365958247, + -0.014025975467411245, + -0.01868054182303236 + ], + "commanded_contact_point": [ + -29.84964370727539, + -14.86833667755127, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.464564730656342, + -14.85723796449995, + 0.11883691381889548 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83180046081543, + -14.902032852172852, + 0.0235024094581604 + ], + "box_pose": [ + -29.41117286682129, + -14.85299301147461, + 0.1360064297914505, + -0.005953411106020212, + -0.007247545290738344, + 0.7120235562324524, + 0.7020929455757141 + ], + "box_yaw_rad": 1.5848569531991752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007897897494031855 + } + } + }, + { + "simulation_time_ns": 980000000, + "center": [ + -29.409646219900146, + -14.85678582101191, + 0.11886409118925823 + ], + "face_center": [ + -29.46494554177633, + -14.857565810811568, + 0.1176403070638612 + ], + "face_normal": [ + -0.9996558573020621, + -0.014100016879230237, + -0.022122567285102923 + ], + "footprint_xy": [ + [ + -29.46868780072185, + -14.934997246987907 + ], + [ + -29.350604639078448, + -14.934997246987907 + ], + [ + -29.350604639078448, + -14.778574395035914 + ], + [ + -29.46868780072185, + -14.778574395035914 + ] + ], + "projected_box_corners": [ + [ + -29.350604639078448, + -14.93343726738859 + ], + [ + -29.355918598644084, + -14.932989405713887 + ], + [ + -29.461203282830812, + -14.934997246987907 + ], + [ + -29.46651724239645, + -14.934549385313202 + ], + [ + -29.352775197403844, + -14.779022256710618 + ], + [ + -29.35808915696948, + -14.778574395035914 + ], + [ + -29.463373841156212, + -14.780582236309934 + ], + [ + -29.46868780072185, + -14.780134374635232 + ] + ], + "yaw_rad": 1.5848520547513985, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83169174194336, + -14.902119636535645, + 0.023497402667999268 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464754444175675, + -14.857771509039319, + 0.11771612220645179 + ], + "intended_face_normal": [ + -0.9996907261935088, + -0.014070299781351325, + -0.020500245205087142 + ], + "commanded_contact_point": [ + -29.849044799804688, + -14.868879318237305, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -29.464788666507616, + -14.856993163140757, + 0.11885016213614956 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83174705505371, + -14.902076721191406, + 0.023499101400375366 + ], + "box_pose": [ + -29.411426544189453, + -14.852712631225586, + 0.13600721955299377, + -0.0073396554216742516, + -0.007158602122217417, + 0.7120261788368225, + 0.7020779848098755 + ], + "box_yaw_rad": 1.5848618431047365, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000808176387482789 + } + } + }, + { + "simulation_time_ns": 1000000000, + "center": [ + -29.4098029892264, + -14.856610636321331, + 0.11887900814905054 + ], + "face_center": [ + -29.46510065660624, + -14.857393065615375, + 0.11758386562278786 + ], + "face_normal": [ + -0.9996259486719956, + -0.014144116061076017, + -0.023412526021898583 + ], + "footprint_xy": [ + [ + -29.469000678001468, + -14.93499978393821 + ], + [ + -29.35060530045133, + -14.93499978393821 + ], + [ + -29.35060530045133, + -14.778221488704453 + ], + [ + -29.469000678001468, + -14.778221488704453 + ] + ], + "projected_box_corners": [ + [ + -29.35060530045133, + -14.933434925350122 + ], + [ + -29.356233715494277, + -14.932635830037915 + ], + [ + -29.46120063521101, + -14.93499978393821 + ], + [ + -29.466829050253956, + -14.934200688626003 + ], + [ + -29.352776928198843, + -14.77902058401666 + ], + [ + -29.35840534324179, + -14.778221488704453 + ], + [ + -29.463372262958522, + -14.780585442604748 + ], + [ + -29.469000678001468, + -14.779786347292541 + ] + ], + "yaw_rad": 1.5848590399680553, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831642150878906, + -14.902167320251465, + 0.02349528670310974 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46494554177633, + -14.857565810811568, + 0.1176403070638612 + ], + "intended_face_normal": [ + -0.9996558573020621, + -0.014100016879230237, + -0.022122567285102923 + ], + "commanded_contact_point": [ + -29.848508834838867, + -14.869476318359375, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -29.464983623148992, + -14.85678582101191, + 0.11886409118925823 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83169174194336, + -14.902119636535645, + 0.023497402667999268 + ], + "box_pose": [ + -29.41164779663086, + -14.8524751663208, + 0.1360103338956833, + -0.008542428724467754, + -0.0071120127104222775, + 0.7120231986045837, + 0.7020679712295532 + ], + "box_yaw_rad": 1.5848520547513985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008022889721510199 + } + } + }, + { + "simulation_time_ns": 1020000000, + "center": [ + -29.409919867459276, + -14.856480817100694, + 0.11889104847709035 + ], + "face_center": [ + -29.46521625628449, + -14.857263924683965, + 0.11754288147307951 + ], + "face_normal": [ + -0.9996028360084266, + -0.014156377618265603, + -0.024371059109881466 + ], + "footprint_xy": [ + [ + -29.469231722063, + -14.935002787548115 + ], + [ + -29.350608012855552, + -14.935002787548115 + ], + [ + -29.350608012855552, + -14.777958846653274 + ], + [ + -29.469231722063, + -14.777958846653274 + ] + ], + "projected_box_corners": [ + [ + -29.350608012855552, + -14.933436572381575 + ], + [ + -29.356470134322986, + -14.932372494202866 + ], + [ + -29.461200790505977, + -14.935002787548115 + ], + [ + -29.46706291197341, + -14.933938709369405 + ], + [ + -29.352776822945145, + -14.779022924831983 + ], + [ + -29.358638944412576, + -14.777958846653274 + ], + [ + -29.463369600595566, + -14.780589139998522 + ], + [ + -29.469231722063, + -14.779525061819813 + ] + ], + "yaw_rad": 1.5848408592806422, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.831472396850586, + -14.902305603027344, + 0.02379932999610901 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46510065660624, + -14.857393065615375, + 0.11758386562278786 + ], + "intended_face_normal": [ + -0.9996259486719956, + -0.014144116061076017, + -0.023412526021898583 + ], + "commanded_contact_point": [ + -29.8480224609375, + -14.870108604431152, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.465142048160477, + -14.856610636321331, + 0.11887900814905054 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831642150878906, + -14.902167320251465, + 0.02349528670310974 + ], + "box_pose": [ + -29.411827087402344, + -14.852274894714355, + 0.13601627945899963, + -0.009523329325020313, + -0.007050837855786085, + 0.7120262384414673, + 0.7020529508590698 + ], + "box_yaw_rad": 1.5848590399680553, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000797712510979974 + } + } + }, + { + "simulation_time_ns": 1040000000, + "center": [ + -29.410003554484664, + -14.85638911368804, + 0.11889978400273546 + ], + "face_center": [ + -29.465299018861742, + -14.85717237520539, + 0.11751428207307175 + ], + "face_normal": [ + -0.9995861245920811, + -0.014159160312515073, + -0.025045969322964767 + ], + "footprint_xy": [ + [ + -29.46939521618736, + -14.93500318069148 + ], + [ + -29.350611892781973, + -14.93500318069148 + ], + [ + -29.350611892781973, + -14.777775046684603 + ], + [ + -29.46939521618736, + -14.777775046684603 + ] + ], + "projected_box_corners": [ + [ + -29.350611892781973, + -14.93343665765678 + ], + [ + -29.356638529414177, + -14.932188117394835 + ], + [ + -29.46120282153613, + -14.93500318069148 + ], + [ + -29.467229458168333, + -14.933754640429536 + ], + [ + -29.352777650801, + -14.779023586946547 + ], + [ + -29.3588042874332, + -14.777775046684603 + ], + [ + -29.463368579555155, + -14.780590109981246 + ], + [ + -29.46939521618736, + -14.779341569719303 + ] + ], + "yaw_rad": 1.5848211500096443, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83303451538086, + -14.909980773925781, + 0.03339642286300659 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46521625628449, + -14.857263924683965, + 0.11754288147307951 + ], + "intended_face_normal": [ + -0.9996028360084266, + -0.014156377618265603, + -0.024371059109881466 + ], + "commanded_contact_point": [ + -29.84769058227539, + -14.870706558227539, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.465260205934594, + -14.856480817100694, + 0.11889104847709035 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831472396850586, + -14.902305603027344, + 0.02379932999610901 + ], + "box_pose": [ + -29.41196060180664, + -14.852126121520996, + 0.13602153956890106, + -0.010258054360747337, + -0.006999620236456394, + 0.7120203375816345, + 0.7020490765571594 + ], + "box_yaw_rad": 1.5848408592806422, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006838802451137259 + } + } + }, + { + "simulation_time_ns": 1060000000, + "center": [ + -29.410055182200885, + -14.856329905476313, + 0.11890534412470607 + ], + "face_center": [ + -29.465350025613464, + -14.857114162711005, + 0.11749608987349633 + ], + "face_normal": [ + -0.9995748993044097, + -0.01417716007523584, + -0.02547534434154436 + ], + "footprint_xy": [ + [ + -29.46949880303199, + -14.935004333256506 + ], + [ + -29.350611561369778, + -14.935004333256506 + ], + [ + -29.350611561369778, + -14.77765547769612 + ], + [ + -29.46949880303199, + -14.77765547769612 + ] + ], + "projected_box_corners": [ + [ + -29.350611561369778, + -14.933435818787125 + ], + [ + -29.356742909579, + -14.932068072103533 + ], + [ + -29.46120124819494, + -14.935004333256506 + ], + [ + -29.467332596404166, + -14.933636586572916 + ], + [ + -29.3527777679976, + -14.779023224379712 + ], + [ + -29.358909116206828, + -14.77765547769612 + ], + [ + -29.463367454822766, + -14.780591738849093 + ], + [ + -29.46949880303199, + -14.779223992165504 + ] + ], + "yaw_rad": 1.5848240979539876, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83871078491211, + -14.91686725616455, + 0.048573076725006104 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465299018861742, + -14.85717237520539, + 0.11751428207307175 + ], + "intended_face_normal": [ + -0.9995861245920811, + -0.014159160312515073, + -0.025045969322964767 + ], + "commanded_contact_point": [ + -29.8478946685791, + -14.87131404876709, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.465344818158336, + -14.85638911368804, + 0.11889978400273546 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83303451538086, + -14.909980773925781, + 0.03339642286300659 + ], + "box_pose": [ + -29.41205596923828, + -14.852021217346191, + 0.13602551817893982, + -0.010772214271128178, + -0.006966675631701946, + 0.7120137214660645, + 0.7020484209060669 + ], + "box_yaw_rad": 1.5848211500096443, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006408556585776492 + } + } + }, + { + "simulation_time_ns": 1080000000, + "center": [ + -29.410084073410754, + -14.856304111597542, + 0.11890910275297738 + ], + "face_center": [ + -29.465378637229236, + -14.857088066981328, + 0.11748845238235246 + ], + "face_normal": [ + -0.9995698450312303, + -0.014171703461768326, + -0.02568135405626354 + ], + "footprint_xy": [ + [ + -29.469551537949993, + -14.935004428017132 + ], + [ + -29.350616608871515, + -14.935004428017132 + ], + [ + -29.350616608871515, + -14.777603795177951 + ], + [ + -29.469551537949993, + -14.777603795177951 + ] + ], + "projected_box_corners": [ + [ + -29.350616608871515, + -14.933436517249557 + ], + [ + -29.356798110632944, + -14.932016226568528 + ], + [ + -29.461205736508482, + -14.935004428017132 + ], + [ + -29.467387238269907, + -14.933584137336103 + ], + [ + -29.3527809085516, + -14.77902408585898 + ], + [ + -29.358962410313026, + -14.777603795177951 + ], + [ + -29.463370036188564, + -14.780591996626553 + ], + [ + -29.469551537949993, + -14.779171705945524 + ] + ], + "yaw_rad": 1.5848117654858747, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.8419189453125, + -14.911944389343262, + 0.05417633056640625 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465350025613464, + -14.857114162711005, + 0.11749608987349633 + ], + "intended_face_normal": [ + -0.9995748993044097, + -0.01417716007523584, + -0.02547534434154436 + ], + "commanded_contact_point": [ + -29.847444534301758, + -14.872753143310547, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + -29.465397067360357, + -14.856329905476313, + 0.11890534412470607 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83871078491211, + -14.91686725616455, + 0.048573076725006104 + ], + "box_pose": [ + -29.4121150970459, + -14.851953506469727, + 0.1360280066728592, + -0.01110216323286295, + -0.006942951586097479, + 0.7120149731636047, + 0.7020421624183655 + ], + "box_yaw_rad": 1.5848240979539876, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015078507803393821 + } + } + }, + { + "simulation_time_ns": 1100000000, + "center": [ + -29.410080724115417, + -14.856309183430048, + 0.11890984908783059 + ], + "face_center": [ + -29.465375319257614, + -14.857093128472538, + 0.11749068260323087 + ], + "face_normal": [ + -0.9995704112757281, + -0.014171516520292915, + -0.025654529579826613 + ], + "footprint_xy": [ + [ + -29.469545012309712, + -14.93500495634035 + ], + [ + -29.350616435921122, + -14.93500495634035 + ], + [ + -29.350616435921122, + -14.777613410519743 + ], + [ + -29.469545012309712, + -14.777613410519743 + ] + ], + "projected_box_corners": [ + [ + -29.350616435921122, + -14.933437066255369 + ], + [ + -29.35679137467114, + -14.932025857492498 + ], + [ + -29.46120562620552, + -14.93500495634035 + ], + [ + -29.467380564955537, + -14.93359374757748 + ], + [ + -29.352780883275294, + -14.779024619282614 + ], + [ + -29.35895582202531, + -14.777613410519743 + ], + [ + -29.46337007355969, + -14.780592509367597 + ], + [ + -29.469545012309712, + -14.779181300604726 + ] + ], + "yaw_rad": 1.584812720245185, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.8409366607666, + -14.906183242797852, + 0.058383211493492126 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465378637229236, + -14.857088066981328, + 0.11748845238235246 + ], + "intended_face_normal": [ + -0.9995698450312303, + -0.014171703461768326, + -0.02568135405626354 + ], + "commanded_contact_point": [ + -29.846393585205078, + -14.874485969543457, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.4654262384036, + -14.856304111597542, + 0.11890910275297738 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8419189453125, + -14.911944389343262, + 0.05417633056640625 + ], + "box_pose": [ + -29.412147521972656, + -14.851923942565918, + 0.136030375957489, + -0.011253487318754196, + -0.006938422564417124, + 0.7120106816291809, + 0.7020442485809326 + ], + "box_yaw_rad": 1.5848117654858747, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002026618059328781 + } + } + }, + { + "simulation_time_ns": 1120000000, + "center": [ + -29.4100472516107, + -14.856348225208981, + 0.11890786837599987 + ], + "face_center": [ + -29.465342235112185, + -14.857131920550758, + 0.11750359140489505 + ], + "face_normal": [ + -0.9995774317169497, + -0.014167002635250503, + -0.025385369147608583 + ], + "footprint_xy": [ + [ + -29.469479514339024, + -14.935003469518238 + ], + [ + -29.35061498888237, + -14.935003469518238 + ], + [ + -29.35061498888237, + -14.777692980899724 + ], + [ + -29.469479514339024, + -14.777692980899724 + ] + ], + "projected_box_corners": [ + [ + -29.35061498888237, + -14.933436078834685 + ], + [ + -29.356724211054797, + -14.932105748337628 + ], + [ + -29.461204955885346, + -14.935003469518238 + ], + [ + -29.467314178057773, + -14.933673139021181 + ], + [ + -29.35278032516362, + -14.779023311396779 + ], + [ + -29.358889547336048, + -14.777692980899724 + ], + [ + -29.463370292166598, + -14.780590702080334 + ], + [ + -29.469479514339024, + -14.779260371583277 + ] + ], + "yaw_rad": 1.5848184468519713, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.840404510498047, + -14.90086841583252, + 0.05986149609088898 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465375319257614, + -14.857093128472538, + 0.11749068260323087 + ], + "intended_face_normal": [ + -0.9995704112757281, + -0.014171516520292915, + -0.025654529579826613 + ], + "commanded_contact_point": [ + -29.845664978027344, + -14.875566482543945, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.4654228577576, + -14.856309183430048, + 0.11890984908783059 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8409366607666, + -14.906183242797852, + 0.058383211493492126 + ], + "box_pose": [ + -29.41214370727539, + -14.851929664611816, + 0.1360313445329666, + -0.01123045478016138, + -0.006942293606698513, + 0.7120109796524048, + 0.7020441889762878 + ], + "box_yaw_rad": 1.584812720245185, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013032178497070779 + } + } + }, + { + "simulation_time_ns": 1140000000, + "center": [ + -29.409995616805084, + -14.856409959519722, + 0.11890464005705638 + ], + "face_center": [ + -29.465291216164328, + -14.857192181214153, + 0.1175239599158023 + ], + "face_normal": [ + -0.9995885646891717, + -0.014140363245287224, + -0.024958804980567517 + ], + "footprint_xy": [ + [ + -29.469375575884722, + -14.935001936564122 + ], + [ + -29.35061565772544, + -14.935001936564122 + ], + [ + -29.35061565772544, + -14.777817982475321 + ], + [ + -29.469375575884722, + -14.777817982475321 + ] + ], + "projected_box_corners": [ + [ + -29.35061565772544, + -14.933437493175258 + ], + [ + -29.35662076478754, + -14.932231232575418 + ], + [ + -29.461206856443933, + -14.935001936564122 + ], + [ + -29.46721196350603, + -14.933795675964282 + ], + [ + -29.352779270104136, + -14.779024243075161 + ], + [ + -29.35878437716623, + -14.777817982475321 + ], + [ + -29.463370468822628, + -14.780588686464025 + ], + [ + -29.469375575884722, + -14.779382425864185 + ] + ], + "yaw_rad": 1.5848072410068939, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.838293075561523, + -14.896002769470215, + 0.06291578710079193 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465342235112185, + -14.857131920550758, + 0.11750359140489505 + ], + "intended_face_normal": [ + -0.9995774317169497, + -0.014167002635250503, + -0.025385369147608583 + ], + "commanded_contact_point": [ + -29.845062255859375, + -14.876460075378418, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -29.46538899656244, + -14.856348225208981, + 0.11890786837599987 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.840404510498047, + -14.90086841583252, + 0.05986149609088898 + ], + "box_pose": [ + -29.412105560302734, + -14.851974487304688, + 0.1360314041376114, + -0.011014527641236782, + -0.006966144312173128, + 0.712012767791748, + 0.7020456194877625 + ], + "box_yaw_rad": 1.5848184468519713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010778599938126648 + } + } + }, + { + "simulation_time_ns": 1160000000, + "center": [ + -29.409935800034496, + -14.85648064910528, + 0.11890052564371108 + ], + "face_center": [ + -29.46523210346044, + -14.857262026568339, + 0.11754793087794543 + ], + "face_normal": [ + -0.9996012922304125, + -0.014125101921881322, + -0.024451100561073802 + ], + "footprint_xy": [ + [ + -29.469254711941232, + -14.934999399017231 + ], + [ + -29.35061688812776, + -14.934999399017231 + ], + [ + -29.35061688812776, + -14.777961899193327 + ], + [ + -29.469254711941232, + -14.777961899193327 + ] + ], + "projected_box_corners": [ + [ + -29.35061688812776, + -14.933436644091111 + ], + [ + -29.356498134345387, + -14.932375618885626 + ], + [ + -29.46120949497965, + -14.934999399017231 + ], + [ + -29.467090741197275, + -14.933938373811747 + ], + [ + -29.352780858871718, + -14.779022924398811 + ], + [ + -29.358662105089344, + -14.777961899193327 + ], + [ + -29.463373465723606, + -14.780585679324933 + ], + [ + -29.469254711941232, + -14.779524654119447 + ] + ], + "yaw_rad": 1.5848095187601472, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.838640213012695, + -14.890433311462402, + 0.06435291469097137 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465291216164328, + -14.857192181214153, + 0.1175239599158023 + ], + "intended_face_normal": [ + -0.9995885646891717, + -0.014140363245287224, + -0.024958804980567517 + ], + "commanded_contact_point": [ + -29.844648361206055, + -14.877776145935059, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -29.465336745385116, + -14.856409959519722, + 0.11890464005705638 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.838293075561523, + -14.896002769470215, + 0.06291578710079193 + ], + "box_pose": [ + -29.412046432495117, + -14.852045059204102, + 0.13603132963180542, + -0.010678318329155445, + -0.006998002994805574, + 0.712008535861969, + 0.7020547986030579 + ], + "box_yaw_rad": 1.5848072410068939, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013796196929683226 + } + } + }, + { + "simulation_time_ns": 1180000000, + "center": [ + -29.40986560397439, + -14.856563926519943, + 0.11889644262430196 + ], + "face_center": [ + -29.46516265688958, + -14.85734598162581, + 0.11757570196700227 + ], + "face_normal": [ + -0.9996148408832393, + -0.014137351793643393, + -0.02387526807295709 + ], + "footprint_xy": [ + [ + -29.469117469349502, + -14.934999264933237 + ], + [ + -29.350613738599275, + -14.934999264933237 + ], + [ + -29.350613738599275, + -14.778128588106648 + ], + [ + -29.469117469349502, + -14.778128588106648 + ] + ], + "projected_box_corners": [ + [ + -29.350613738599275, + -14.933435154721503 + ], + [ + -29.356354480365994, + -14.932542692410426 + ], + [ + -29.461207844429655, + -14.934999264933237 + ], + [ + -29.466948586196374, + -14.93410680262216 + ], + [ + -29.352782621752404, + -14.779021050417725 + ], + [ + -29.358523363519122, + -14.778128588106648 + ], + [ + -29.463376727582784, + -14.78058516062946 + ], + [ + -29.469117469349502, + -14.779692698318383 + ] + ], + "yaw_rad": 1.5848412908155212, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.84213638305664, + -14.885931015014648, + 0.06438814103603363 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46523210346044, + -14.857262026568339, + 0.11754793087794543 + ], + "intended_face_normal": [ + -0.9996012922304125, + -0.014125101921881322, + -0.024451100561073802 + ], + "commanded_contact_point": [ + -29.84453582763672, + -14.879681587219238, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46527622397709, + -14.85648064910528, + 0.11890052564371108 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.838640213012695, + -14.890433311462402, + 0.06435291469097137 + ], + "box_pose": [ + -29.411977767944336, + -14.852126121520996, + 0.136030912399292, + -0.01028186734765768, + -0.00703230407088995, + 0.7120090126991272, + 0.7020598649978638 + ], + "box_yaw_rad": 1.5848095187601472, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019087614549253458 + } + } + }, + { + "simulation_time_ns": 1200000000, + "center": [ + -29.409787422457864, + -14.856657301184404, + 0.11889073359234541 + ], + "face_center": [ + -29.465085356542925, + -14.857438475416116, + 0.11760640815108166 + ], + "face_normal": [ + -0.9996307699506238, + -0.01412142807197636, + -0.023216983617195597 + ], + "footprint_xy": [ + [ + -29.468960258801726, + -14.934997992789118 + ], + [ + -29.350614586114, + -14.934997992789118 + ], + [ + -29.350614586114, + -14.77831660957969 + ], + [ + -29.468960258801726, + -14.77831660957969 + ] + ], + "projected_box_corners": [ + [ + -29.350614586114, + -14.933435644325696 + ], + [ + -29.356194737732547, + -14.9327311820664 + ], + [ + -29.461210454284124, + -14.934997992789118 + ], + [ + -29.466790605902673, + -14.934293530529823 + ], + [ + -29.35278423901305, + -14.779021071838985 + ], + [ + -29.3583643906316, + -14.77831660957969 + ], + [ + -29.463380107183177, + -14.780583420302408 + ], + [ + -29.468960258801726, + -14.779878958043113 + ] + ], + "yaw_rad": 1.5848462321839432, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.845272064208984, + -14.885777473449707, + 0.06547898054122925 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46516265688958, + -14.85734598162581, + 0.11757570196700227 + ], + "intended_face_normal": [ + -0.9996148408832393, + -0.014137351793643393, + -0.02387526807295709 + ], + "commanded_contact_point": [ + -29.844806671142578, + -14.88192081451416, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.46520527783989, + -14.856563926519943, + 0.11889644262430196 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84213638305664, + -14.885931015014648, + 0.06438814103603363 + ], + "box_pose": [ + -29.411897659301758, + -14.852221488952637, + 0.13603107631206512, + -0.009826675988733768, + -0.007076724898070097, + 0.7120197415351868, + 0.7020549178123474 + ], + "box_yaw_rad": 1.5848412908155212, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002255547623795911 + } + } + }, + { + "simulation_time_ns": 1220000000, + "center": [ + -29.40969910217017, + -14.856761299143864, + 0.11888438513443687 + ], + "face_center": [ + -29.464997973200592, + -14.85754246540059, + 0.11764084074886236 + ], + "face_normal": [ + -0.9996477072815907, + -0.014121283906704418, + -0.022479777087285713 + ], + "footprint_xy": [ + [ + -29.468784660867666, + -14.934995975147876 + ], + [ + -29.350613543472672, + -14.934995975147876 + ], + [ + -29.350613543472672, + -14.778526623139852 + ], + [ + -29.468784660867666, + -14.778526623139852 + ] + ], + "projected_box_corners": [ + [ + -29.350613543472672, + -14.933433642634427 + ], + [ + -29.356013838380175, + -14.932941550078485 + ], + [ + -29.461211285533516, + -14.934995975147876 + ], + [ + -29.46661158044102, + -14.934503882591935 + ], + [ + -29.35278662389932, + -14.779018715695793 + ], + [ + -29.358186918806823, + -14.778526623139852 + ], + [ + -29.463384365960163, + -14.780581048209243 + ], + [ + -29.468784660867666, + -14.780088955653301 + ] + ], + "yaw_rad": 1.584868392416039, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.846736907958984, + -14.88950252532959, + 0.06700457632541656 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465085356542925, + -14.857438475416116, + 0.11760640815108166 + ], + "intended_face_normal": [ + -0.9996307699506238, + -0.01412142807197636, + -0.023216983617195597 + ], + "commanded_contact_point": [ + -29.84539222717285, + -14.884369850158691, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + -29.46512621448837, + -14.856657301184404, + 0.11889073359234541 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.845272064208984, + -14.885777473449707, + 0.06547898054122925 + ], + "box_pose": [ + -29.411808013916016, + -14.852328300476074, + 0.13603012263774872, + -0.00931312795728445, + -0.007120736874639988, + 0.7120210528373718, + 0.7020602822303772 + ], + "box_yaw_rad": 1.5848462321839432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002518065021829651 + } + } + }, + { + "simulation_time_ns": 1240000000, + "center": [ + -29.409599239558638, + -14.856877053646047, + 0.11887715353980506 + ], + "face_center": [ + -29.464899141517908, + -14.857657138054602, + 0.11767988581211485 + ], + "face_normal": [ + -0.9996663435691069, + -0.014101727141415887, + -0.021643225561138846 + ], + "footprint_xy": [ + [ + -29.468584100298152, + -14.934993274878996 + ], + [ + -29.350614378819124, + -14.934993274878996 + ], + [ + -29.350614378819124, + -14.778760832413097 + ], + [ + -29.468584100298152, + -14.778760832413097 + ] + ], + "projected_box_corners": [ + [ + -29.350614378819124, + -14.933433106061884 + ], + [ + -29.355810651820455, + -14.933176022521499 + ], + [ + -29.461214182737667, + -14.934993274878996 + ], + [ + -29.466410455739, + -14.934736191338612 + ], + [ + -29.352788023378274, + -14.779017915953482 + ], + [ + -29.35798429637961, + -14.778760832413097 + ], + [ + -29.463387827296817, + -14.780578084770594 + ], + [ + -29.468584100298152, + -14.78032100123021 + ] + ], + "yaw_rad": 1.5848720210611007, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.847885131835938, + -14.894201278686523, + 0.06758135557174683 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464997973200592, + -14.85754246540059, + 0.11764084074886236 + ], + "intended_face_normal": [ + -0.9996477072815907, + -0.014121283906704418, + -0.022479777087285713 + ], + "commanded_contact_point": [ + -29.846235275268555, + -14.887063026428223, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -29.465036956578924, + -14.856761299143864, + 0.11888438513443687 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.846736907958984, + -14.88950252532959, + 0.06700457632541656 + ], + "box_pose": [ + -29.411706924438477, + -14.852447509765625, + 0.13602910935878754, + -0.008735382929444313, + -0.0071726455353200436, + 0.7120283246040344, + 0.7020598649978638 + ], + "box_yaw_rad": 1.584868392416039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002822043322409744 + } + } + }, + { + "simulation_time_ns": 1260000000, + "center": [ + -29.409486074981952, + -14.857011237234502, + 0.11886958235531585 + ], + "face_center": [ + -29.464787096482024, + -14.857791596579384, + 0.11772514047666771 + ], + "face_normal": [ + -0.9996865817108987, + -0.014106697215150232, + -0.020688283120251283 + ], + "footprint_xy": [ + [ + -29.468357881957626, + -14.935005700728864 + ], + [ + -29.350614268006282, + -14.935005700728864 + ], + [ + -29.350614268006282, + -14.77901677374014 + ], + [ + -29.468357881957626, + -14.77901677374014 + ] + ], + "projected_box_corners": [ + [ + -29.350614268006282, + -14.933432055323046 + ], + [ + -29.35557762700705, + -14.933444982039102 + ], + [ + -29.46121631100642, + -14.934992774012807 + ], + [ + -29.466179670007193, + -14.935005700728864 + ], + [ + -29.352792479956715, + -14.77901677374014 + ], + [ + -29.357755838957488, + -14.7790297004562 + ], + [ + -29.463394522956854, + -14.780577492429902 + ], + [ + -29.468357881957626, + -14.78059041914596 + ] + ], + "yaw_rad": 1.5849015854739092, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.851612091064453, + -14.897430419921875, + 0.06415900588035583 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464899141517908, + -14.857657138054602, + 0.11767988581211485 + ], + "intended_face_normal": [ + -0.9996663435691069, + -0.014101727141415887, + -0.021643225561138846 + ], + "commanded_contact_point": [ + -29.847553253173828, + -14.890153884887695, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.464936062331013, + -14.856877053646047, + 0.11887715353980506 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847885131835938, + -14.894201278686523, + 0.06758135557174683 + ], + "box_pose": [ + -29.411592483520508, + -14.852580070495605, + 0.13602779805660248, + -0.008088577538728714, + -0.007222872693091631, + 0.7120290994644165, + 0.7020662426948547 + ], + "box_yaw_rad": 1.5848720210611007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003360129726034732 + } + } + }, + { + "simulation_time_ns": 1280000000, + "center": [ + -29.409350983966025, + -14.85716359862368, + 0.11886026934460985 + ], + "face_center": [ + -29.464653254988054, + -14.85794285368045, + 0.11777743273256344 + ], + "face_normal": [ + -0.9997091695456628, + -0.014086734798973932, + -0.019574633558020582 + ], + "footprint_xy": [ + [ + -29.468088692493055, + -14.935311691239912 + ], + [ + -29.350613275439, + -14.935311691239912 + ], + [ + -29.350613275439, + -14.779015506007447 + ], + [ + -29.468088692493055, + -14.779015506007447 + ] + ], + "projected_box_corners": [ + [ + -29.350613275439, + -14.933430673210262 + ], + [ + -29.35530508130166, + -14.933753181126372 + ], + [ + -29.461217817483057, + -14.934989183323802 + ], + [ + -29.465909623345716, + -14.935311691239912 + ], + [ + -29.352792344586337, + -14.779015506007447 + ], + [ + -29.357484150448997, + -14.779338013923557 + ], + [ + -29.46339688663039, + -14.780574016120987 + ], + [ + -29.468088692493055, + -14.780896524037097 + ] + ], + "yaw_rad": 1.5849071460639976, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.857486724853516, + -14.901365280151367, + 0.06278891861438751 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464787096482024, + -14.857791596579384, + 0.11772514047666771 + ], + "intended_face_normal": [ + -0.9996865817108987, + -0.014106697215150232, + -0.020688283120251283 + ], + "commanded_contact_point": [ + -29.84882354736328, + -14.893415451049805, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46482177748875, + -14.857011237234502, + 0.11886958235531585 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851612091064453, + -14.897430419921875, + 0.06415900588035583 + ], + "box_pose": [ + -29.411462783813477, + -14.852733612060547, + 0.13602697849273682, + -0.007347763516008854, + -0.007282666862010956, + 0.7120388746261597, + 0.7020639181137085 + ], + "box_yaw_rad": 1.5849015854739092, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035002087306041183 + } + } + }, + { + "simulation_time_ns": 1300000000, + "center": [ + -29.409194383320077, + -14.857338370902529, + 0.118848922855333 + ], + "face_center": [ + -29.46449804811622, + -14.858115850174508, + 0.11783796077609064 + ], + "face_normal": [ + -0.9997343650527453, + -0.014054633615682377, + -0.01827534461069319 + ], + "footprint_xy": [ + [ + -29.46777462301142, + -14.935662652749764 + ], + [ + -29.350614143628736, + -14.935662652749764 + ], + [ + -29.350614143628736, + -14.779014089055295 + ], + [ + -29.46777462301142, + -14.779014089055295 + ] + ], + "projected_box_corners": [ + [ + -29.350614143628736, + -14.933428870088818 + ], + [ + -29.354989211136775, + -14.934107694205805 + ], + [ + -29.46122147322102, + -14.934983828632777 + ], + [ + -29.46559654072906, + -14.935662652749764 + ], + [ + -29.35279222591109, + -14.779014089055295 + ], + [ + -29.357167293419135, + -14.779692913172282 + ], + [ + -29.463399555503376, + -14.780569047599254 + ], + [ + -29.46777462301142, + -14.781247871716241 + ] + ], + "yaw_rad": 1.5849007916196018, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.8630428314209, + -14.904644966125488, + 0.06466487050056458 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464653254988054, + -14.85794285368045, + 0.11777743273256344 + ], + "intended_face_normal": [ + -0.9997091695456628, + -0.014086734798973932, + -0.019574633558020582 + ], + "commanded_contact_point": [ + -29.849451065063477, + -14.896344184875488, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -29.464685436195502, + -14.85716359862368, + 0.11886026934460985 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.857486724853516, + -14.901365280151367, + 0.06278891861438751 + ], + "box_pose": [ + -29.41130828857422, + -14.85290813446045, + 0.13602539896965027, + -0.006491611711680889, + -0.007344738580286503, + 0.7120401859283447, + 0.7020702958106995 + ], + "box_yaw_rad": 1.5849071460639976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002995206217652012 + } + } + }, + { + "simulation_time_ns": 1320000000, + "center": [ + -29.409010796998597, + -14.857541700665601, + 0.11883578917616712 + ], + "face_center": [ + -29.464315939279032, + -14.858316731649184, + 0.11790772056478073 + ], + "face_normal": [ + -0.999761073803912, + -0.014010375462897073, + -0.0167768643786963 + ], + "footprint_xy": [ + [ + -29.46740837710391, + -14.936068250304054 + ], + [ + -29.35061321689328, + -14.936068250304054 + ], + [ + -29.35061321689328, + -14.779015151027147 + ], + [ + -29.46740837710391, + -14.779015151027147 + ] + ], + "projected_box_corners": [ + [ + -29.35061321689328, + -14.933429026470991 + ], + [ + -29.354623023174863, + -14.934518188336888 + ], + [ + -29.46122350145415, + -14.934979088438157 + ], + [ + -29.465233307735733, + -14.936068250304054 + ], + [ + -29.352788286261458, + -14.779015151027147 + ], + [ + -29.35679809254304, + -14.780104312893046 + ], + [ + -29.463398570822328, + -14.780565212994313 + ], + [ + -29.46740837710391, + -14.781654374860212 + ] + ], + "yaw_rad": 1.5848813662636148, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.86363410949707, + -14.906560897827148, + 0.06957808136940002 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46449804811622, + -14.858115850174508, + 0.11783796077609064 + ], + "intended_face_normal": [ + -0.9997343650527453, + -0.014054633615682377, + -0.01827534461069319 + ], + "commanded_contact_point": [ + -29.850088119506836, + -14.898953437805176, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + -29.46452744099953, + -14.857338370902529, + 0.118848922855333 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8630428314209, + -14.904644966125488, + 0.06466487050056458 + ], + "box_pose": [ + -29.411128997802734, + -14.853108406066895, + 0.1360229253768921, + -0.0054999664425849915, + -0.007410075049847364, + 0.7120372653007507, + 0.7020811438560486 + ], + "box_yaw_rad": 1.5849007916196018, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026858963528046324 + } + } + }, + { + "simulation_time_ns": 1340000000, + "center": [ + -29.40880094667731, + -14.857776355965543, + 0.11882002191981603 + ], + "face_center": [ + -29.464107645672474, + -14.858550477412479, + 0.11798866585875757 + ], + "face_normal": [ + -0.9997892148179962, + -0.013993933604196318, + -0.015028574089958058 + ], + "footprint_xy": [ + [ + -29.46698745307805, + -14.936540171440585 + ], + [ + -29.350614440276573, + -14.936540171440585 + ], + [ + -29.350614440276573, + -14.7790125404905 + ], + [ + -29.46698745307805, + -14.7790125404905 + ] + ], + "projected_box_corners": [ + [ + -29.350614440276573, + -14.933424763434324 + ], + [ + -29.354198088900674, + -14.934991928546713 + ], + [ + -29.461227838266897, + -14.934973006328196 + ], + [ + -29.464811486890998, + -14.936540171440585 + ], + [ + -29.352790406463622, + -14.7790125404905 + ], + [ + -29.356374055087723, + -14.78057970560289 + ], + [ + -29.46340380445395, + -14.780560783384372 + ], + [ + -29.46698745307805, + -14.782127948496761 + ] + ], + "yaw_rad": 1.5848873237799437, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.860595703125, + -14.908210754394531, + 0.07313469052314758 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464315939279032, + -14.858316731649184, + 0.11790772056478073 + ], + "intended_face_normal": [ + -0.999761073803912, + -0.014010375462897073, + -0.0167768643786963 + ], + "commanded_contact_point": [ + -29.850543975830078, + -14.901240348815918, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -29.46434237644799, + -14.857541700665601, + 0.11883578917616712 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.86363410949707, + -14.906560897827148, + 0.06957808136940002 + ], + "box_pose": [ + -29.410919189453125, + -14.853341102600098, + 0.13601993024349213, + -0.004357215017080307, + -0.007484588772058487, + 0.7120296359062195, + 0.7020959854125977 + ], + "box_yaw_rad": 1.5848813662636148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002331902004505901 + } + } + }, + { + "simulation_time_ns": 1360000000, + "center": [ + -29.408556060261553, + -14.858051867221569, + 0.11880099196895752 + ], + "face_center": [ + -29.463864354717703, + -14.85882518713209, + 0.11808218958522018 + ], + "face_normal": [ + -0.9998180562552738, + -0.01397944408528029, + -0.01299392087943832 + ], + "footprint_xy": [ + [ + -29.46649636907218, + -14.937093269991022 + ], + [ + -29.350615751450924, + -14.937093269991022 + ], + [ + -29.350615751450924, + -14.779010464452115 + ], + [ + -29.46649636907218, + -14.779010464452115 + ] + ], + "projected_box_corners": [ + [ + -29.350615751450924, + -14.933419964770401 + ], + [ + -29.353703400601972, + -14.935546630169977 + ], + [ + -29.46123234036323, + -14.934966604591446 + ], + [ + -29.46431998951428, + -14.937093269991022 + ], + [ + -29.352792131008826, + -14.779010464452115 + ], + [ + -29.355879780159874, + -14.78113712985169 + ], + [ + -29.46340871992113, + -14.780557104273159 + ], + [ + -29.46649636907218, + -14.782683769672735 + ] + ], + "yaw_rad": 1.5848902487825325, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.85722541809082, + -14.909160614013672, + 0.07498596608638763 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464107645672474, + -14.858550477412479, + 0.11798866585875757 + ], + "intended_face_normal": [ + -0.9997892148179962, + -0.013993933604196318, + -0.015028574089958058 + ], + "commanded_contact_point": [ + -29.85082244873047, + -14.902807235717773, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.464130968711668, + -14.857776355965543, + 0.11882002191981603 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.860595703125, + -14.908210754394531, + 0.07313469052314758 + ], + "box_pose": [ + -29.41067886352539, + -14.853610038757324, + 0.1360158622264862, + -0.003025171346962452, + -0.007570334710180759, + 0.7120307683944702, + 0.7021009922027588 + ], + "box_yaw_rad": 1.5848873237799437, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015914401405161223 + } + } + }, + { + "simulation_time_ns": 1380000000, + "center": [ + -29.408269840617553, + -14.858370431081005, + 0.11877660194013505 + ], + "face_center": [ + -29.463579705185143, + -14.859142323166102, + 0.11819020749205646 + ], + "face_normal": [ + -0.9998464394440967, + -0.013953633026475565, + -0.01060035864496997 + ], + "footprint_xy": [ + [ + -29.465918641022366, + -14.93773346462473 + ], + [ + -29.350621040212744, + -14.93773346462473 + ], + [ + -29.350621040212744, + -14.779007397537281 + ], + [ + -29.465918641022366, + -14.779007397537281 + ] + ], + "projected_box_corners": [ + [ + -29.350621040212744, + -14.933412640011449 + ], + [ + -29.353125355257358, + -14.936189680454534 + ], + [ + -29.46124076934792, + -14.934956424181646 + ], + [ + -29.46374508439254, + -14.93773346462473 + ], + [ + -29.35279459684257, + -14.779007397537281 + ], + [ + -29.355298911887186, + -14.781784437980365 + ], + [ + -29.46341432597775, + -14.780551181707477 + ], + [ + -29.465918641022366, + -14.78332822215056 + ] + ], + "yaw_rad": 1.5848723584166242, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.85513687133789, + -14.908254623413086, + 0.07437540590763092 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463864354717703, + -14.85882518713209, + 0.11808218958522018 + ], + "intended_face_normal": [ + -0.9998180562552738, + -0.01397944408528029, + -0.01299392087943832 + ], + "commanded_contact_point": [ + -29.85096549987793, + -14.90367603302002, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46388448620815, + -14.858051867221569, + 0.11880099196895752 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85722541809082, + -14.909160614013672, + 0.07498596608638763 + ], + "box_pose": [ + -29.410398483276367, + -14.853925704956055, + 0.13601034879684448, + -0.0014702191110700369, + -0.007674827706068754, + 0.7120305895805359, + 0.7021051049232483 + ], + "box_yaw_rad": 1.5848902487825325, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008804955328688646 + } + } + }, + { + "simulation_time_ns": 1400000000, + "center": [ + -29.40794168404028, + -14.858747303408581, + 0.11875180152256049 + ], + "face_center": [ + -29.46325294966238, + -14.859519144780881, + 0.1183160522925126 + ], + "face_normal": [ + -0.9998717665601808, + -0.013952716282039423, + -0.00787711775394917 + ], + "footprint_xy": [ + [ + -29.46525925960566, + -14.938490469926005 + ], + [ + -29.350624108474907, + -14.938490469926005 + ], + [ + -29.350624108474907, + -14.779004136891157 + ], + [ + -29.46525925960566, + -14.779004136891157 + ] + ], + "projected_box_corners": [ + [ + -29.350624108474907, + -14.9334029000622 + ], + [ + -29.352464329796916, + -14.936946787181405 + ], + [ + -29.4612466397191, + -14.9349465828068 + ], + [ + -29.46308686104111, + -14.938490469926005 + ], + [ + -29.352796507039457, + -14.779004136891157 + ], + [ + -29.354636728361466, + -14.782548024010364 + ], + [ + -29.46341903828365, + -14.780547819635757 + ], + [ + -29.46525925960566, + -14.784091706754962 + ] + ], + "yaw_rad": 1.5848654500379997, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.8543701171875, + -14.905136108398438, + 0.07084217667579651 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463579705185143, + -14.859142323166102, + 0.11819020749205646 + ], + "intended_face_normal": [ + -0.9998464394440967, + -0.013953633026475565, + -0.01060035864496997 + ], + "commanded_contact_point": [ + -29.85112953186035, + -14.903915405273438, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.463596695925805, + -14.858370431081005, + 0.11877660194013505 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85513687133789, + -14.908254623413086, + 0.07437540590763092 + ], + "box_pose": [ + -29.410070419311523, + -14.854290962219238, + 0.13600151240825653, + 0.0003473919932730496, + -0.007786388974636793, + 0.7120229601860046, + 0.7021129131317139 + ], + "box_yaw_rad": 1.5848723584166242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00029018195513943773 + } + } + }, + { + "simulation_time_ns": 1420000000, + "center": [ + -29.407868152591924, + -14.858832332426436, + 0.11876872684186292 + ], + "face_center": [ + -29.463179665247807, + -14.859603867349767, + 0.11836575833467626 + ], + "face_normal": [ + -0.999876232234691, + -0.013947176548504858, + -0.00728453468958179 + ], + "footprint_xy": [ + [ + -29.465112997851502, + -14.93865952463635 + ], + [ + -29.35062330733235, + -14.93865952463635 + ], + [ + -29.35062330733235, + -14.779005140216523 + ], + [ + -29.465112997851502, + -14.779005140216523 + ] + ], + "projected_box_corners": [ + [ + -29.35062330733235, + -14.933402240158687 + ], + [ + -29.352318996092645, + -14.937116454789692 + ], + [ + -29.461246332644116, + -14.934945310005347 + ], + [ + -29.462942021404412, + -14.93865952463635 + ], + [ + -29.352794283779435, + -14.779005140216523 + ], + [ + -29.354489972539735, + -14.782719354847528 + ], + [ + -29.463417309091202, + -14.780548210063182 + ], + [ + -29.465112997851502, + -14.784262424694187 + ] + ], + "yaw_rad": 1.584856392619943, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.85411834716797, + -14.901968002319336, + 0.06707417964935303 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46325294966238, + -14.859519144780881, + 0.1183160522925126 + ], + "intended_face_normal": [ + -0.9998717665601808, + -0.013952716282039423, + -0.00787711775394917 + ], + "commanded_contact_point": [ + -29.851398468017578, + -14.903587341308594, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -29.463267137899134, + -14.858747303408581, + 0.11875180152256049 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8543701171875, + -14.905136108398438, + 0.07084217667579651 + ], + "box_pose": [ + -29.40969467163086, + -14.85472297668457, + 0.1359945833683014, + 0.0024552536197006702, + -0.007952631451189518, + 0.7120184898376465, + 0.7021114826202393 + ], + "box_yaw_rad": 1.5848654500379997, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00042420822918310926 + } + } + }, + { + "simulation_time_ns": 1440000000, + "center": [ + -29.407883057024883, + -14.858832316769082, + 0.11877345197240925 + ], + "face_center": [ + -29.463194531786296, + -14.859602769591987, + 0.11836297650118219 + ], + "face_normal": [ + -0.9998755472094716, + -0.013927615223148893, + -0.0074202394381925885 + ], + "footprint_xy": [ + [ + -29.46514282563412, + -14.93865877806375 + ], + [ + -29.350623288415644, + -14.93865877806375 + ], + [ + -29.350623288415644, + -14.779005855474415 + ], + [ + -29.46514282563412, + -14.779005855474415 + ] + ], + "projected_box_corners": [ + [ + -29.350623288415644, + -14.933402997148653 + ], + [ + -29.3523515946498, + -14.93711787241794 + ], + [ + -29.461246237938468, + -14.934943902794464 + ], + [ + -29.462974544172628, + -14.93865877806375 + ], + [ + -29.35279156987714, + -14.779005855474415 + ], + [ + -29.354519876111297, + -14.7827207307437 + ], + [ + -29.463414519399965, + -14.780546761120226 + ], + [ + -29.46514282563412, + -14.78426163638951 + ] + ], + "yaw_rad": 1.5848389373731828, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.854555130004883, + -14.900528907775879, + 0.06374427676200867 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463179665247807, + -14.859603867349767, + 0.11836575833467626 + ], + "intended_face_normal": [ + -0.999876232234691, + -0.013947176548504858, + -0.00728453468958179 + ], + "commanded_contact_point": [ + -29.85158348083496, + -14.902960777282715, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463193359354722, + -14.858832332426436, + 0.11876872684186292 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85411834716797, + -14.901968002319336, + 0.06707417964935303 + ], + "box_pose": [ + -29.409610748291016, + -14.854820251464844, + 0.1360154151916504, + 0.0029190583154559135, + -0.007993901148438454, + 0.7120147943496704, + 0.7021129131317139 + ], + "box_yaw_rad": 1.584856392619943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006533086725439277 + } + } + }, + { + "simulation_time_ns": 1460000000, + "center": [ + -29.407896250352042, + -14.858831538590499, + 0.11877709941503356 + ], + "face_center": [ + -29.463207671563463, + -14.859602103205624, + 0.11836003244047213 + ], + "face_normal": [ + -0.9998745791765633, + -0.013929636111370769, + -0.007539395237812774 + ], + "footprint_xy": [ + [ + -29.4651705629909, + -14.93865687440746 + ], + [ + -29.35062193771319, + -14.93865687440746 + ], + [ + -29.35062193771319, + -14.779006202773536 + ], + [ + -29.4651705629909, + -14.779006202773536 + ] + ], + "projected_box_corners": [ + [ + -29.35062193771319, + -14.933403357402009 + ], + [ + -29.352378855706572, + -14.937115745177207 + ], + [ + -29.461244780136028, + -14.934944486632261 + ], + [ + -29.463001698129414, + -14.93865687440746 + ], + [ + -29.352790802574674, + -14.779006202773536 + ], + [ + -29.35454772056806, + -14.782718590548736 + ], + [ + -29.463413644997516, + -14.780547332003788 + ], + [ + -29.4651705629909, + -14.784259719778989 + ] + ], + "yaw_rad": 1.5848427140168504, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.854476928710938, + -14.901780128479004, + 0.061387836933135986 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463194531786296, + -14.859602769591987, + 0.11836297650118219 + ], + "intended_face_normal": [ + -0.9998755472094716, + -0.013927615223148893, + -0.0074202394381925885 + ], + "commanded_contact_point": [ + -29.851844787597656, + -14.901946067810059, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.463208301691562, + -14.858832316769082, + 0.11877345197240925 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.854555130004883, + -14.900528907775879, + 0.06374427676200867 + ], + "box_pose": [ + -29.40962791442871, + -14.854820251464844, + 0.13601991534233093, + 0.0028716924134641886, + -0.008042591623961926, + 0.7120081186294556, + 0.7021193504333496 + ], + "box_yaw_rad": 1.5848389373731828, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001047815125990043 + } + } + }, + { + "simulation_time_ns": 1480000000, + "center": [ + -29.407909595162252, + -14.858829046055678, + 0.11878027014200541 + ], + "face_center": [ + -29.4632209696919, + -14.85959891437675, + 0.11835691529434546 + ], + "face_normal": [ + -0.9998737353017135, + -0.013917049077619925, + -0.0076530622586672425 + ], + "footprint_xy": [ + [ + -29.465196703476444, + -14.938651287669199 + ], + [ + -29.35062248684806, + -14.938651287669199 + ], + [ + -29.35062248684806, + -14.779006804442158 + ], + [ + -29.465196703476444, + -14.779006804442158 + ] + ], + "projected_box_corners": [ + [ + -29.35062248684806, + -14.93340401037436 + ], + [ + -29.35240678647171, + -14.937111551027057 + ], + [ + -29.461245235907356, + -14.934943747016503 + ], + [ + -29.46302953553101, + -14.938651287669199 + ], + [ + -29.352789654793494, + -14.779006804442158 + ], + [ + -29.354573954417145, + -14.782714345094854 + ], + [ + -29.46341240385279, + -14.7805465410843 + ], + [ + -29.465196703476444, + -14.784254081736997 + ] + ], + "yaw_rad": 1.5848317209288543, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.85492706298828, + -14.904305458068848, + 0.05940398573875427 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463207671563463, + -14.859602103205624, + 0.11836003244047213 + ], + "intended_face_normal": [ + -0.9998745791765633, + -0.013929636111370769, + -0.007539395237812774 + ], + "commanded_contact_point": [ + -29.85193634033203, + -14.900528907775879, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -29.463221548582098, + -14.858831538590499, + 0.11877709941503356 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.854476928710938, + -14.901780128479004, + 0.061387836933135986 + ], + "box_pose": [ + -29.409643173217773, + -14.854819297790527, + 0.13602331280708313, + 0.002825577976182103, + -0.008080778643488884, + 0.7120090126991272, + 0.7021181583404541 + ], + "box_yaw_rad": 1.5848427140168504, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014201142445754546 + } + } + }, + { + "simulation_time_ns": 1500000000, + "center": [ + -29.40792483051604, + -14.85882479755653, + 0.11878329884876611 + ], + "face_center": [ + -29.463236161102643, + -14.859595020371055, + 0.11835385545509289 + ], + "face_normal": [ + -0.9998729409352759, + -0.01392345732000555, + -0.007763126007698851 + ], + "footprint_xy": [ + [ + -29.46522574403453, + -14.938643753863698 + ], + [ + -29.350623916997552, + -14.938643753863698 + ], + [ + -29.350623916997552, + -14.77900584124936 + ], + [ + -29.46522574403453, + -14.77900584124936 + ] + ], + "projected_box_corners": [ + [ + -29.350623916997552, + -14.933403128718231 + ], + [ + -29.35243470029099, + -14.937103308234647 + ], + [ + -29.461246578170755, + -14.934943574347283 + ], + [ + -29.46305736146419, + -14.938643753863698 + ], + [ + -29.35279229956789, + -14.77900584124936 + ], + [ + -29.354603082861328, + -14.782706020765774 + ], + [ + -29.463414960741094, + -14.780546286878412 + ], + [ + -29.46522574403453, + -14.784246466394826 + ] + ], + "yaw_rad": 1.5848395788471288, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.85592269897461, + -14.902430534362793, + 0.059565186500549316 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.4632209696919, + -14.85959891437675, + 0.11835691529434546 + ], + "intended_face_normal": [ + -0.9998737353017135, + -0.013917049077619925, + -0.0076530622586672425 + ], + "commanded_contact_point": [ + -29.85173988342285, + -14.89883041381836, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + -29.46323494008583, + -14.858829046055678, + 0.11878027014200541 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85492706298828, + -14.904305458068848, + 0.05940398573875427 + ], + "box_pose": [ + -29.409658432006836, + -14.854816436767578, + 0.13602620363235474, + 0.0027778949588537216, + -0.008113643154501915, + 0.7120047807693481, + 0.702122151851654 + ], + "box_yaw_rad": 1.5848317209288543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00170981783852851 + } + } + }, + { + "simulation_time_ns": 1520000000, + "center": [ + -29.40793966701735, + -14.858815681991302, + 0.11878567340675744 + ], + "face_center": [ + -29.463250946634798, + -14.859585474261124, + 0.11834871089328808 + ], + "face_normal": [ + -0.9998720195566745, + -0.013915674285395196, + -0.007899050498107796 + ], + "footprint_xy": [ + [ + -29.465256493436634, + -14.938624847062497 + ], + [ + -29.350622840598064, + -14.938624847062497 + ], + [ + -29.350622840598064, + -14.77900651692011 + ], + [ + -29.465256493436634, + -14.77900651692011 + ] + ], + "projected_box_corners": [ + [ + -29.350622840598064, + -14.933404014031291 + ], + [ + -29.352466525526552, + -14.937085262522857 + ], + [ + -29.46124539983296, + -14.934943598570934 + ], + [ + -29.46308908476145, + -14.938624847062497 + ], + [ + -29.35279024927325, + -14.77900651692011 + ], + [ + -29.35463393420174, + -14.782687765411673 + ], + [ + -29.463412808508146, + -14.78054610145975 + ], + [ + -29.465256493436634, + -14.784227349951314 + ] + ], + "yaw_rad": 1.5848332533115594, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.856000900268555, + -14.899645805358887, + 0.06389153003692627 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463236161102643, + -14.859595020371055, + 0.11835385545509289 + ], + "intended_face_normal": [ + -0.9998729409352759, + -0.01392345732000555, + -0.007763126007698851 + ], + "commanded_contact_point": [ + -29.851558685302734, + -14.897411346435547, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -29.4632502193938, + -14.85882479755653, + 0.11878329884876611 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85592269897461, + -14.902430534362793, + 0.059565186500549316 + ], + "box_pose": [ + -29.40967559814453, + -14.854811668395996, + 0.13602891564369202, + 0.0027277893386781216, + -0.008141486905515194, + 0.7120072245597839, + 0.7021196484565735 + ], + "box_yaw_rad": 1.5848395788471288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001430589038037071 + } + } + }, + { + "simulation_time_ns": 1540000000, + "center": [ + -29.407956415502465, + -14.858804072948402, + 0.1187876717383102 + ], + "face_center": [ + -29.463267653567712, + -14.859572050623266, + 0.11834289400796184 + ], + "face_normal": [ + -0.9998712684100337, + -0.01388287152369605, + -0.008040327589111884 + ], + "footprint_xy": [ + [ + -29.465287944789832, + -14.938599826378587 + ], + [ + -29.350624886215094, + -14.938599826378587 + ], + [ + -29.350624886215094, + -14.779008319518217 + ], + [ + -29.465287944789832, + -14.779008319518217 + ] + ], + "projected_box_corners": [ + [ + -29.350624886215094, + -14.933406105818932 + ], + [ + -29.352502910913127, + -14.93706387102886 + ], + [ + -29.46124736234559, + -14.934942061168659 + ], + [ + -29.463125387043622, + -14.938599826378587 + ], + [ + -29.352787443961304, + -14.779008319518217 + ], + [ + -29.354665468659338, + -14.782666084728145 + ], + [ + -29.4634099200918, + -14.780544274867944 + ], + [ + -29.465287944789832, + -14.784202040077872 + ] + ], + "yaw_rad": 1.5848018148156413, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.858354568481445, + -14.896833419799805, + 0.06675794720649719 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463250946634798, + -14.859585474261124, + 0.11834871089328808 + ], + "intended_face_normal": [ + -0.9998720195566745, + -0.013915674285395196, + -0.007899050498107796 + ], + "commanded_contact_point": [ + -29.851484298706055, + -14.89631462097168, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + -29.463265106877262, + -14.858815681991302, + 0.11878567340675744 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.856000900268555, + -14.899645805358887, + 0.06389153003692627 + ], + "box_pose": [ + -29.409692764282227, + -14.854801177978516, + 0.13603073358535767, + 0.0026512835174798965, + -0.008161532692611217, + 0.7120047807693481, + 0.7021222114562988 + ], + "box_yaw_rad": 1.5848332533115594, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010992452451185747 + } + } + }, + { + "simulation_time_ns": 1560000000, + "center": [ + -29.407974594084262, + -14.858787356702827, + 0.11878922153942773 + ], + "face_center": [ + -29.46328575681077, + -14.859556074057577, + 0.11833571988489452 + ], + "face_normal": [ + -0.9998699064979784, + -0.013896242850979679, + -0.008198031546667761 + ], + "footprint_xy": [ + [ + -29.465326303332056, + -14.938567475677752 + ], + [ + -29.350622884836472, + -14.938567475677752 + ], + [ + -29.350622884836472, + -14.779007237727901 + ], + [ + -29.465326303332056, + -14.779007237727901 + ] + ], + "projected_box_corners": [ + [ + -29.350622884836472, + -14.933405334551686 + ], + [ + -29.352539156837434, + -14.937030040968253 + ], + [ + -29.461245210289487, + -14.934942769261188 + ], + [ + -29.46316148229045, + -14.938567475677752 + ], + [ + -29.352787705878075, + -14.779007237727901 + ], + [ + -29.35470397787904, + -14.782631944144466 + ], + [ + -29.46341003133109, + -14.780544672437403 + ], + [ + -29.465326303332056, + -14.784169378853967 + ] + ], + "yaw_rad": 1.5848164426031226, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.862184524536133, + -14.893855094909668, + 0.06935477256774902 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463267653567712, + -14.859572050623266, + 0.11834289400796184 + ], + "intended_face_normal": [ + -0.9998712684100337, + -0.01388287152369605, + -0.008040327589111884 + ], + "commanded_contact_point": [ + -29.85140037536621, + -14.89568042755127, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463281896925245, + -14.858804072948402, + 0.1187876717383102 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.858354568481445, + -14.896833419799805, + 0.06675794720649719 + ], + "box_pose": [ + -29.409711837768555, + -14.854787826538086, + 0.1360320895910263, + 0.0025660833343863487, + -0.008176895789802074, + 0.7119935750961304, + 0.7021336555480957 + ], + "box_yaw_rad": 1.5848018148156413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006397221452640788 + } + } + }, + { + "simulation_time_ns": 1580000000, + "center": [ + -29.407994536554746, + -14.858767295458495, + 0.1187909410440178 + ], + "face_center": [ + -29.46330563155609, + -14.859535724367309, + 0.11832803178770795 + ], + "face_normal": [ + -0.9998686822178992, + -0.013891028561533902, + -0.008368094467877785 + ], + "footprint_xy": [ + [ + -29.465366552101155, + -14.938527744926725 + ], + [ + -29.35062252100834, + -14.938527744926725 + ], + [ + -29.35062252100834, + -14.779006845990265 + ], + [ + -29.465366552101155, + -14.779006845990265 + ] + ], + "projected_box_corners": [ + [ + -29.35062252100834, + -14.933405350321575 + ], + [ + -29.35258015809038, + -14.936990887109097 + ], + [ + -29.461244711011023, + -14.934942208139201 + ], + [ + -29.463202348093063, + -14.938527744926725 + ], + [ + -29.35278672501643, + -14.779006845990265 + ], + [ + -29.35474436209847, + -14.782592382777787 + ], + [ + -29.463408915019112, + -14.780543703807892 + ], + [ + -29.465366552101155, + -14.784129240595416 + ] + ], + "yaw_rad": 1.5848124100198517, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.86695098876953, + -14.889979362487793, + 0.07232549786567688 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46328575681077, + -14.859556074057577, + 0.11833571988489452 + ], + "intended_face_normal": [ + -0.9998699064979784, + -0.013896242850979679, + -0.008198031546667761 + ], + "commanded_contact_point": [ + -29.851707458496094, + -14.8952054977417, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.463300150865287, + -14.858787356702827, + 0.11878922153942773 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.862184524536133, + -14.893855094909668, + 0.06935477256774902 + ], + "box_pose": [ + -29.409732818603516, + -14.854768753051758, + 0.1360328048467636, + 0.002460882067680359, + -0.008183824829757214, + 0.7119986414909363, + 0.7021288871765137 + ], + "box_yaw_rad": 1.5848164426031226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005655602291551429 + } + } + }, + { + "simulation_time_ns": 1600000000, + "center": [ + -29.408021484565513, + -14.858743294995685, + 0.11879285950943416 + ], + "face_center": [ + -29.46333249076199, + -14.859511067006402, + 0.11831848476037105 + ], + "face_normal": [ + -0.9998670768762523, + -0.013879153695653734, + -0.008575358256994986 + ], + "footprint_xy": [ + [ + -29.465417831425423, + -14.938478063478387 + ], + [ + -29.350625137705602, + -14.938478063478387 + ], + [ + -29.350625137705602, + -14.779008526512984 + ], + [ + -29.465417831425423, + -14.779008526512984 + ] + ], + "projected_box_corners": [ + [ + -29.350625137705602, + -14.933407537207536 + ], + [ + -29.352633246305214, + -14.936942519456956 + ], + [ + -29.461247150098554, + -14.934943081228969 + ], + [ + -29.463255258698165, + -14.938478063478387 + ], + [ + -29.35278771043286, + -14.779008526512984 + ], + [ + -29.35479581903247, + -14.782543508762403 + ], + [ + -29.463409722825812, + -14.780544070534416 + ], + [ + -29.465417831425423, + -14.784079052783834 + ] + ], + "yaw_rad": 1.5848018007748674, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.87200164794922, + -14.885760307312012, + 0.07410077750682831 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46330563155609, + -14.859535724367309, + 0.11832803178770795 + ], + "intended_face_normal": [ + -0.9998686822178992, + -0.013891028561533902, + -0.008368094467877785 + ], + "commanded_contact_point": [ + -29.852020263671875, + -14.894547462463379, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.463320161078645, + -14.858767295458495, + 0.1187909410440178 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.86695098876953, + -14.889979362487793, + 0.07232549786567688 + ], + "box_pose": [ + -29.40975570678711, + -14.854745864868164, + 0.1360335648059845, + 0.0023421866353601217, + -0.008186223916709423, + 0.7119972109794617, + 0.7021307945251465 + ], + "box_yaw_rad": 1.5848124100198517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000728599688716519 + } + } + }, + { + "simulation_time_ns": 1620000000, + "center": [ + -29.40804986342391, + -14.858715155756956, + 0.11879506532053355 + ], + "face_center": [ + -29.463360759839276, + -14.859481504617357, + 0.11830753703149559 + ], + "face_normal": [ + -0.9998650923432685, + -0.013853427149618902, + -0.008813137181473418 + ], + "footprint_xy": [ + [ + -29.46547319719037, + -14.93841927858268 + ], + [ + -29.350626529657447, + -14.93841927858268 + ], + [ + -29.350626529657447, + -14.779011032931233 + ], + [ + -29.46547319719037, + -14.779011032931233 + ] + ], + "projected_box_corners": [ + [ + -29.350626529657447, + -14.933410611677214 + ], + [ + -29.3526925944389, + -14.93688658086188 + ], + [ + -29.46124832248818, + -14.934943309398012 + ], + [ + -29.463314387269637, + -14.93841927858268 + ], + [ + -29.35278533957818, + -14.779011032931233 + ], + [ + -29.354851404359632, + -14.7824870021159 + ], + [ + -29.463407132408914, + -14.780543730652031 + ], + [ + -29.46547319719037, + -14.7840196998367 + ] + ], + "yaw_rad": 1.5847773834507097, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.874309539794922, + -14.889927864074707, + 0.07142862677574158 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46333249076199, + -14.859511067006402, + 0.11831848476037105 + ], + "intended_face_normal": [ + -0.9998670768762523, + -0.013879153695653734, + -0.008575358256994986 + ], + "commanded_contact_point": [ + -29.851926803588867, + -14.89366626739502, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.46334719791775, + -14.858743294995685, + 0.11879285950943416 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.87200164794922, + -14.885760307312012, + 0.07410077750682831 + ], + "box_pose": [ + -29.409786224365234, + -14.854718208312988, + 0.1360342651605606, + 0.002193341264501214, + -0.008185047656297684, + 0.7119935154914856, + 0.7021350264549255 + ], + "box_yaw_rad": 1.5848018007748674, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008861374249876006 + } + } + }, + { + "simulation_time_ns": 1640000000, + "center": [ + -29.408083017138154, + -14.858676002124813, + 0.1187971725188006 + ], + "face_center": [ + -29.463393781379086, + -14.859441779353379, + 0.11829370306326278 + ], + "face_normal": [ + -0.999862703002041, + -0.013843093657428085, + -0.009101308535536146 + ], + "footprint_xy": [ + [ + -29.465540647762225, + -14.938340642211323 + ], + [ + -29.350625386514082, + -14.938340642211323 + ], + [ + -29.350625386514082, + -14.779011362038304 + ], + [ + -29.465540647762225, + -14.779011362038304 + ] + ], + "projected_box_corners": [ + [ + -29.350625386514082, + -14.933411695248962 + ], + [ + -29.352761715946333, + -14.936809087754192 + ], + [ + -29.461246914995943, + -14.934943249706093 + ], + [ + -29.463383244428194, + -14.938340642211323 + ], + [ + -29.352782789848114, + -14.779011362038304 + ], + [ + -29.354919119280364, + -14.782408754543535 + ], + [ + -29.463404318329978, + -14.780542916495435 + ], + [ + -29.465540647762225, + -14.783940309000666 + ] + ], + "yaw_rad": 1.5847682069239244, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.870304107666016, + -14.898724555969238, + 0.06628158688545227 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463360759839276, + -14.859481504617357, + 0.11830753703149559 + ], + "intended_face_normal": [ + -0.9998650923432685, + -0.013853427149618902, + -0.008813137181473418 + ], + "commanded_contact_point": [ + -29.851579666137695, + -14.893386840820312, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -29.463375686586662, + -14.858715155756956, + 0.11879506532053355 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.874309539794922, + -14.889927864074707, + 0.07142862677574158 + ], + "box_pose": [ + -29.409818649291992, + -14.85468578338623, + 0.13603505492210388, + 0.0020210647489875555, + -0.008182261139154434, + 0.7119849920272827, + 0.7021440267562866 + ], + "box_yaw_rad": 1.5847773834507097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004456272228923081 + } + } + }, + { + "simulation_time_ns": 1660000000, + "center": [ + -29.408121574231174, + -14.858632548330474, + 0.11879930659665622 + ], + "face_center": [ + -29.46343218719134, + -14.859398482221769, + 0.11827905948692763 + ], + "face_normal": [ + -0.9998599682722772, + -0.013845925677932192, + -0.009404601229090759 + ], + "footprint_xy": [ + [ + -29.46561631926787, + -14.938255042060868 + ], + [ + -29.350626829194475, + -14.938255042060868 + ], + [ + -29.350626829194475, + -14.779010054600082 + ], + [ + -29.46561631926787, + -14.779010054600082 + ] + ], + "projected_box_corners": [ + [ + -29.350626829194475, + -14.93341116772577 + ], + [ + -29.35283710167573, + -14.936723174278281 + ], + [ + -29.46124805511481, + -14.934943035508358 + ], + [ + -29.46345832759606, + -14.938255042060868 + ], + [ + -29.352784820866287, + -14.779010054600082 + ], + [ + -29.354995093347537, + -14.782322061152593 + ], + [ + -29.46340604678662, + -14.78054192238267 + ], + [ + -29.46561631926787, + -14.78385392893518 + ] + ], + "yaw_rad": 1.5847719460643266, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.863311767578125, + -14.904748916625977, + 0.06220903992652893 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463393781379086, + -14.859441779353379, + 0.11829370306326278 + ], + "intended_face_normal": [ + -0.999862703002041, + -0.013843093657428085, + -0.009101308535536146 + ], + "commanded_contact_point": [ + -29.85114860534668, + -14.893441200256348, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463408972511328, + -14.858676002124813, + 0.1187971725188006 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.870304107666016, + -14.898724555969238, + 0.06628158688545227 + ], + "box_pose": [ + -29.40985679626465, + -14.85464096069336, + 0.13603532314300537, + 0.001801827922463417, + -0.008168471045792103, + 0.7119819521903992, + 0.702147901058197 + ], + "box_yaw_rad": 1.5847682069239244, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004344748035976049 + } + } + }, + { + "simulation_time_ns": 1680000000, + "center": [ + -29.408161272495153, + -14.858583606434138, + 0.11880126676352337 + ], + "face_center": [ + -29.463471698510794, + -14.859349584819327, + 0.11826179649883205 + ], + "face_normal": [ + -0.9998565888422115, + -0.013846730002137653, + -0.009752101683027023 + ], + "footprint_xy": [ + [ + -29.465698338863657, + -14.9381556510198 + ], + [ + -29.350624206126653, + -14.9381556510198 + ], + [ + -29.350624206126653, + -14.779011561848476 + ], + [ + -29.465698338863657, + -14.779011561848476 + ] + ], + "projected_box_corners": [ + [ + -29.350624206126653, + -14.933413558795959 + ], + [ + -29.3529192643505, + -14.936623694249421 + ], + [ + -29.461245058157935, + -14.934945515566335 + ], + [ + -29.463540116381782, + -14.9381556510198 + ], + [ + -29.352782428608528, + -14.779011561848476 + ], + [ + -29.355077486832375, + -14.782221697301939 + ], + [ + -29.46340328063981, + -14.780543518618853 + ], + [ + -29.465698338863657, + -14.783753654072317 + ] + ], + "yaw_rad": 1.5847733606486012, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.858097076416016, + -14.904573440551758, + 0.05913962423801422 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46343218719134, + -14.859398482221769, + 0.11827905948692763 + ], + "intended_face_normal": [ + -0.9998599682722772, + -0.013845925677932192, + -0.009404601229090759 + ], + "commanded_contact_point": [ + -29.850366592407227, + -14.893179893493652, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.463447680927075, + -14.858632548330474, + 0.11879930659665622 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.863311767578125, + -14.904748916625977, + 0.06220903992652893 + ], + "box_pose": [ + -29.409900665283203, + -14.854591369628906, + 0.1360354721546173, + 0.0015671136789023876, + -0.008149971254169941, + 0.7119835019111633, + 0.7021471858024597 + ], + "box_yaw_rad": 1.5847719460643266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008245152889524239 + } + } + }, + { + "simulation_time_ns": 1700000000, + "center": [ + -29.408213381267267, + -14.858524325390688, + 0.11880405233308472 + ], + "face_center": [ + -29.463523602238936, + -14.859288946911178, + 0.11824204338751279 + ], + "face_normal": [ + -0.9998528822252017, + -0.013822201713223237, + -0.010159537499484568 + ], + "footprint_xy": [ + [ + -29.465798115609143, + -14.938037196359735 + ], + [ + -29.350628646925394, + -14.938037196359735 + ], + [ + -29.350628646925394, + -14.779011454421642 + ], + [ + -29.465798115609143, + -14.779011454421642 + ] + ], + "projected_box_corners": [ + [ + -29.350628646925394, + -14.933414492431826 + ], + [ + -29.353023154699883, + -14.936507953318754 + ], + [ + -29.46124908886873, + -14.934943735472807 + ], + [ + -29.46364359664322, + -14.938037196359735 + ], + [ + -29.352783165891314, + -14.779011454421642 + ], + [ + -29.355177673665803, + -14.78210491530857 + ], + [ + -29.463403607834653, + -14.780540697462621 + ], + [ + -29.465798115609143, + -14.78363415834955 + ] + ], + "yaw_rad": 1.584749285067804, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.855003356933594, + -14.89875602722168, + 0.05813044309616089 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463471698510794, + -14.859349584819327, + 0.11826179649883205 + ], + "intended_face_normal": [ + -0.9998565888422115, + -0.013846730002137653, + -0.009752101683027023 + ], + "commanded_contact_point": [ + -29.849275588989258, + -14.892172813415527, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.46348756618858, + -14.858583606434138, + 0.11880126676352337 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.858097076416016, + -14.904573440551758, + 0.05913962423801422 + ], + "box_pose": [ + -29.40994644165039, + -14.854535102844238, + 0.13603508472442627, + 0.0012921903980895877, + -0.008122873492538929, + 0.7119843363761902, + 0.7021471858024597 + ], + "box_yaw_rad": 1.5847733606486012, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014847554484748494 + } + } + }, + { + "simulation_time_ns": 1720000000, + "center": [ + -29.40826815663541, + -14.858457018189902, + 0.11880680040728288 + ], + "face_center": [ + -29.463578104089574, + -14.859221434024017, + 0.11821888640354197 + ], + "face_normal": [ + -0.9998479377997536, + -0.013818483483343247, + -0.010627827927897758 + ], + "footprint_xy": [ + [ + -29.465909467465526, + -14.937901149983993 + ], + [ + -29.35062684580529, + -14.937901149983993 + ], + [ + -29.35062684580529, + -14.779012886395812 + ], + [ + -29.465909467465526, + -14.779012886395812 + ] + ], + "projected_box_corners": [ + [ + -29.35062684580529, + -14.933417034185748 + ], + [ + -29.35313563541416, + -14.936372318315767 + ], + [ + -29.461246740713623, + -14.934945865853974 + ], + [ + -29.46375553032249, + -14.937901149983993 + ], + [ + -29.352780782948326, + -14.779012886395812 + ], + [ + -29.355289572557194, + -14.78196817052583 + ], + [ + -29.463400677856658, + -14.780541718064038 + ], + [ + -29.465909467465526, + -14.783497002194057 + ] + ], + "yaw_rad": 1.584745417345589, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.851364135742188, + -14.895984649658203, + 0.06049804389476776 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463523602238936, + -14.859288946911178, + 0.11824204338751279 + ], + "intended_face_normal": [ + -0.9998528822252017, + -0.013822201713223237, + -0.010159537499484568 + ], + "commanded_contact_point": [ + -29.847858428955078, + -14.89099407196045, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46353988006425, + -14.858524325390688, + 0.11880405233308472 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.855003356933594, + -14.89875602722168, + 0.05813044309616089 + ], + "box_pose": [ + -29.410005569458008, + -14.854467391967773, + 0.13603515923023224, + 0.0009739434462971985, + -0.008095255121588707, + 0.7119762301445007, + 0.7021562457084656 + ], + "box_yaw_rad": 1.584749285067804, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018433051783168586 + } + } + }, + { + "simulation_time_ns": 1740000000, + "center": [ + -29.40833150748267, + -14.858379511363852, + 0.11880984972272281 + ], + "face_center": [ + -29.463641154749823, + -14.859142792189102, + 0.11819275969545578 + ], + "face_normal": [ + -0.9998425112647292, + -0.013797965722546657, + -0.011155248189505286 + ], + "footprint_xy": [ + [ + -29.466035255999834, + -14.93774557162789 + ], + [ + -29.350627758965505, + -14.93774557162789 + ], + [ + -29.350627758965505, + -14.779013451099814 + ], + [ + -29.466035255999834, + -14.779013451099814 + ] + ], + "projected_box_corners": [ + [ + -29.350627758965505, + -14.933418846171572 + ], + [ + -29.35326529876587, + -14.936219009977389 + ], + [ + -29.461247053499807, + -14.934945407822072 + ], + [ + -29.463884593300172, + -14.93774557162789 + ], + [ + -29.352778421665167, + -14.779013451099814 + ], + [ + -29.355415961465532, + -14.781813614905632 + ], + [ + -29.46339771619947, + -14.780540012750313 + ], + [ + -29.466035255999834, + -14.78334017655613 + ] + ], + "yaw_rad": 1.584724102005861, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.849172592163086, + -14.895820617675781, + 0.06405135989189148 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463578104089574, + -14.859221434024017, + 0.11821888640354197 + ], + "intended_face_normal": [ + -0.9998479377997536, + -0.013818483483343247, + -0.010627827927897758 + ], + "commanded_contact_point": [ + -29.846750259399414, + -14.889873504638672, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463594929031743, + -14.858457018189902, + 0.11880680040728288 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851364135742188, + -14.895984649658203, + 0.06049804389476776 + ], + "box_pose": [ + -29.41006851196289, + -14.854390144348145, + 0.13603471219539642, + 0.0006021318840794265, + -0.00805744994431734, + 0.7119753360748291, + 0.7021579146385193 + ], + "box_yaw_rad": 1.584745417345589, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015759793421207798 + } + } + }, + { + "simulation_time_ns": 1760000000, + "center": [ + -29.408404620010998, + -14.85829064179712, + 0.11881341286444139 + ], + "face_center": [ + -29.46371387531699, + -14.859054586655853, + 0.11816223120846772 + ], + "face_normal": [ + -0.9998354257119091, + -0.013809969576055625, + -0.011771528736270055 + ], + "footprint_xy": [ + [ + -29.466183952134777, + -14.937566260471762 + ], + [ + -29.350625287887215, + -14.937566260471762 + ], + [ + -29.350625287887215, + -14.779015023122481 + ], + [ + -29.466183952134777, + -14.779015023122481 + ] + ], + "projected_box_corners": [ + [ + -29.350625287887215, + -14.933421749287227 + ], + [ + -29.353413201947312, + -14.9360383707543 + ], + [ + -29.461243798499208, + -14.93494963900469 + ], + [ + -29.4640317125593, + -14.937566260471762 + ], + [ + -29.352777527462692, + -14.779015023122481 + ], + [ + -29.35556544152279, + -14.781631644589552 + ], + [ + -29.463396038074684, + -14.780542912839943 + ], + [ + -29.466183952134777, + -14.783159534307014 + ] + ], + "yaw_rad": 1.5847341924533385, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.848371505737305, + -14.89737319946289, + 0.06562960147857666 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463641154749823, + -14.859142792189102, + 0.11819275969545578 + ], + "intended_face_normal": [ + -0.9998425112647292, + -0.013797965722546657, + -0.011155248189505286 + ], + "commanded_contact_point": [ + -29.845905303955078, + -14.888876914978027, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.463658580158967, + -14.858379511363852, + 0.11880984972272281 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.849172592163086, + -14.895820617675781, + 0.06405135989189148 + ], + "box_pose": [ + -29.410140991210938, + -14.854301452636719, + 0.13603416085243225, + 0.00018412069766782224, + -0.008015675470232964, + 0.7119683623313904, + 0.7021657228469849 + ], + "box_yaw_rad": 1.584724102005861, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013065759276337655 + } + } + }, + { + "simulation_time_ns": 1780000000, + "center": [ + -29.408487813997983, + -14.858185650846838, + 0.11881672170862481 + ], + "face_center": [ + -29.463796593114107, + -14.858949959872144, + 0.11812705331433007 + ], + "face_normal": [ + -0.9998268175413223, + -0.013816552681173322, + -0.012467260475571756 + ], + "footprint_xy": [ + [ + -29.466351836871087, + -14.937356691651727 + ], + [ + -29.35062379112488, + -14.937356691651727 + ], + [ + -29.35062379112488, + -14.77901461004195 + ], + [ + -29.466351836871087, + -14.77901461004195 + ] + ], + "projected_box_corners": [ + [ + -29.35062379112488, + -14.933422733015101 + ], + [ + -29.353581544742916, + -14.935828073601117 + ], + [ + -29.461241349357124, + -14.934951351065711 + ], + [ + -29.46419910297516, + -14.937356691651727 + ], + [ + -29.352776525020808, + -14.77901461004195 + ], + [ + -29.355734278638845, + -14.781419950627965 + ], + [ + -29.46339408325305, + -14.78054322809256 + ], + [ + -29.466351836871087, + -14.782948568678577 + ] + ], + "yaw_rad": 1.5847372671516924, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.847911834716797, + -14.89833927154541, + 0.0664973109960556 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46371387531699, + -14.859054586655853, + 0.11816223120846772 + ], + "intended_face_normal": [ + -0.9998354257119091, + -0.013809969576055625, + -0.011771528736270055 + ], + "commanded_contact_point": [ + -29.84536361694336, + -14.888089179992676, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -29.463732084774716, + -14.85829064179712, + 0.11881341286444139 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.848371505737305, + -14.89737319946289, + 0.06562960147857666 + ], + "box_pose": [ + -29.41022491455078, + -14.854199409484863, + 0.13603346049785614, + -0.0003077056899201125, + -0.007963376119732857, + 0.7119725346565247, + 0.7021621465682983 + ], + "box_yaw_rad": 1.5847341924533385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009560079634388829 + } + } + }, + { + "simulation_time_ns": 1800000000, + "center": [ + -29.408586280030505, + -14.858065061884078, + 0.11882092058005625 + ], + "face_center": [ + -29.46389449836158, + -14.85882856716378, + 0.11808646553787745 + ], + "face_normal": [ + -0.999816680128409, + -0.013802023226337612, + -0.013276876821075145 + ], + "footprint_xy": [ + [ + -29.466547042061052, + -14.937113101492503 + ], + [ + -29.350625517999962, + -14.937113101492503 + ], + [ + -29.350625517999962, + -14.779017022275651 + ], + [ + -29.466547042061052, + -14.779017022275651 + ] + ], + "projected_box_corners": [ + [ + -29.350625517999962, + -14.93342669590331 + ], + [ + -29.353780965040713, + -14.935586090933098 + ], + [ + -29.461241954662107, + -14.934953706462716 + ], + [ + -29.464397401702858, + -14.937113101492503 + ], + [ + -29.352775158358156, + -14.779017022275651 + ], + [ + -29.355930605398907, + -14.78117641730544 + ], + [ + -29.4633915950203, + -14.780544032835058 + ], + [ + -29.466547042061052, + -14.782703427864845 + ] + ], + "yaw_rad": 1.584717096445247, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.847192764282227, + -14.897970199584961, + 0.06746549904346466 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.463796593114107, + -14.858949959872144, + 0.11812705331433007 + ], + "intended_face_normal": [ + -0.9998268175413223, + -0.013816552681173322, + -0.012467260475571756 + ], + "commanded_contact_point": [ + -29.844911575317383, + -14.887430191040039, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.463815755112453, + -14.858185650846838, + 0.11881672170862481 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847911834716797, + -14.89833927154541, + 0.0664973109960556 + ], + "box_pose": [ + -29.410320281982422, + -14.854079246520996, + 0.1360318660736084, + -0.0008689913665875793, + -0.007898400537669659, + 0.7119743824005127, + 0.7021604776382446 + ], + "box_yaw_rad": 1.5847372671516924, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007991295710761085 + } + } + }, + { + "simulation_time_ns": 1820000000, + "center": [ + -29.40869785399151, + -14.857925190507503, + 0.11882527770571646 + ], + "face_center": [ + -29.46400534336499, + -14.858690306510978, + 0.11803976487937964 + ], + "face_normal": [ + -0.9998035026300135, + -0.013831140571672451, + -0.01419985763282372 + ], + "footprint_xy": [ + [ + -29.466772141694307, + -14.936833604779418 + ], + [ + -29.35062356628871, + -14.936833604779418 + ], + [ + -29.35062356628871, + -14.77901677623559 + ], + [ + -29.466772141694307, + -14.77901677623559 + ] + ], + "projected_box_corners": [ + [ + -29.35062356628871, + -14.933427910741297 + ], + [ + -29.354004345030727, + -14.935303372772472 + ], + [ + -29.461238545035677, + -14.934958142748243 + ], + [ + -29.46461932377769, + -14.936833604779418 + ], + [ + -29.352776384205328, + -14.77901677623559 + ], + [ + -29.356157162947344, + -14.780892238266764 + ], + [ + -29.46339136295229, + -14.780547008242536 + ], + [ + -29.466772141694307, + -14.78242247027371 + ] + ], + "yaw_rad": 1.5847375393225027, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.847187042236328, + -14.896255493164062, + 0.0678814947605133 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46389449836158, + -14.85882856716378, + 0.11808646553787745 + ], + "intended_face_normal": [ + -0.999816680128409, + -0.013802023226337612, + -0.013276876821075145 + ], + "commanded_contact_point": [ + -29.844636917114258, + -14.88714599609375, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -29.463914782129997, + -14.858065061884078, + 0.11882092058005625 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847192764282227, + -14.897970199584961, + 0.06746549904346466 + ], + "box_pose": [ + -29.410432815551758, + -14.853940963745117, + 0.13603033125400543, + -0.0015222588554024696, + -0.007822764106094837, + 0.711968183517456, + 0.7021665573120117 + ], + "box_yaw_rad": 1.584717096445247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00039522638925069677 + } + } + }, + { + "simulation_time_ns": 1840000000, + "center": [ + -29.408824309302496, + -14.85776713959989, + 0.1188296661303307 + ], + "face_center": [ + -29.464130924276045, + -14.858534231005429, + 0.1179858977630879 + ], + "face_normal": [ + -0.9997876959440933, + -0.013866850272586273, + -0.015252953596954444 + ], + "footprint_xy": [ + [ + -29.46702807348187, + -14.936516665604296 + ], + [ + -29.350620545123117, + -14.936516665604296 + ], + [ + -29.350620545123117, + -14.779017613595483 + ], + [ + -29.46702807348187, + -14.779017613595483 + ] + ], + "projected_box_corners": [ + [ + -29.350620545123117, + -14.933430188955432 + ], + [ + -29.354258426377065, + -14.934982482793218 + ], + [ + -29.46123377507022, + -14.934964371766508 + ], + [ + -29.464871656324167, + -14.936516665604296 + ], + [ + -29.352776962280824, + -14.779017613595483 + ], + [ + -29.356414843534772, + -14.780569907433271 + ], + [ + -29.463390192227923, + -14.780551796406561 + ], + [ + -29.46702807348187, + -14.782104090244347 + ] + ], + "yaw_rad": 1.5847607139621167, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.84775733947754, + -14.8928804397583, + 0.06761595606803894 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46400534336499, + -14.858690306510978, + 0.11803976487937964 + ], + "intended_face_normal": [ + -0.9998035026300135, + -0.013831140571672451, + -0.01419985763282372 + ], + "commanded_contact_point": [ + -29.844491958618164, + -14.887445449829102, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -29.464027085325544, + -14.857925190507503, + 0.11882527770571646 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847187042236328, + -14.896255493164062, + 0.0678814947605133 + ], + "box_pose": [ + -29.410560607910156, + -14.853780746459961, + 0.13602805137634277, + -0.0022723055444657803, + -0.007731173653155565, + 0.7119764089584351, + 0.7021571397781372 + ], + "box_yaw_rad": 1.5847375393225027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003326943172921339 + } + } + }, + { + "simulation_time_ns": 1860000000, + "center": [ + -29.40897086266718, + -14.857584117165892, + 0.11883442669607105 + ], + "face_center": [ + -29.464276383574173, + -14.858351850554888, + 0.11792317064018074 + ], + "face_normal": [ + -0.9997679183047982, + -0.01387845552378919, + -0.016472940767923994 + ], + "footprint_xy": [ + [ + -29.46732199329838, + -14.9361482050667 + ], + [ + -29.350619732035977, + -14.9361482050667 + ], + [ + -29.350619732035977, + -14.779020029265086 + ], + [ + -29.46732199329838, + -14.779020029265086 + ] + ], + "projected_box_corners": [ + [ + -29.350619732035977, + -14.93343390831233 + ], + [ + -29.35455550659941, + -14.934612738288711 + ], + [ + -29.461230773849966, + -14.934969375090317 + ], + [ + -29.4651665484134, + -14.9361482050667 + ], + [ + -29.352775176920957, + -14.779020029265086 + ], + [ + -29.35671095148439, + -14.78019885924147 + ], + [ + -29.463386218734946, + -14.780555496043075 + ], + [ + -29.46732199329838, + -14.781734326019457 + ] + ], + "yaw_rad": 1.5847543007688072, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.847806930541992, + -14.888708114624023, + 0.06807298958301544 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464130924276045, + -14.858534231005429, + 0.1179858977630879 + ], + "intended_face_normal": [ + -0.9997876959440933, + -0.013866850272586273, + -0.015252953596954444 + ], + "commanded_contact_point": [ + -29.84433364868164, + -14.88831901550293, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.464154415394027, + -14.85776713959989, + 0.1188296661303307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84775733947754, + -14.8928804397583, + 0.06761595606803894 + ], + "box_pose": [ + -29.41070556640625, + -14.853599548339844, + 0.1360248327255249, + -0.003126941155642271, + -0.0076278336346149445, + 0.71198570728302, + 0.7021456956863403 + ], + "box_yaw_rad": 1.5847607139621167, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008877944708930959 + } + } + }, + { + "simulation_time_ns": 1880000000, + "center": [ + -29.409137361149995, + -14.85737341698992, + 0.11883830190439493 + ], + "face_center": [ + -29.46444154282268, + -14.858142965047954, + 0.11785042985513133 + ], + "face_normal": [ + -0.9997437087236456, + -0.013911259624670658, + -0.01785794195672874 + ], + "footprint_xy": [ + [ + -29.467656847583573, + -14.935726361854167 + ], + [ + -29.350617874716413, + -14.935726361854167 + ], + [ + -29.350617874716413, + -14.779020472125675 + ], + [ + -29.467656847583573, + -14.779020472125675 + ] + ], + "projected_box_corners": [ + [ + -29.350617874716413, + -14.933435390948494 + ], + [ + -29.354891867775255, + -14.934187265738101 + ], + [ + -29.461226238061784, + -14.93497448706456 + ], + [ + -29.465500231120625, + -14.935726361854167 + ], + [ + -29.352774491179364, + -14.779020472125675 + ], + [ + -29.357048484238202, + -14.779772346915284 + ], + [ + -29.463382854524735, + -14.78055956824174 + ], + [ + -29.467656847583573, + -14.781311443031349 + ] + ], + "yaw_rad": 1.5847617925211808, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.847490310668945, + -14.886947631835938, + 0.06871192157268524 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464276383574173, + -14.858351850554888, + 0.11792317064018074 + ], + "intended_face_normal": [ + -0.9997679183047982, + -0.01387845552378919, + -0.016472940767923994 + ], + "commanded_contact_point": [ + -29.84430503845215, + -14.889653205871582, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -29.464302063311614, + -14.857584117165892, + 0.11883442669607105 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847806930541992, + -14.888708114624023, + 0.06807298958301544 + ], + "box_pose": [ + -29.410873413085938, + -14.853389739990234, + 0.1360207349061966, + -0.004115627612918615, + -0.0075095887295901775, + 0.7119847536087036, + 0.7021426558494568 + ], + "box_yaw_rad": 1.5847543007688072, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00133449709155982 + } + } + }, + { + "simulation_time_ns": 1900000000, + "center": [ + -29.40933058423992, + -14.857134517285232, + 0.1188433195972813 + ], + "face_center": [ + -29.46463307740341, + -14.857905497272316, + 0.11776656482455658 + ], + "face_normal": [ + -0.9997131852370668, + -0.013937144865478812, + -0.019464691047067106 + ], + "footprint_xy": [ + [ + -29.468043828550986, + -14.935246217193567 + ], + [ + -29.350617339928853, + -14.935246217193567 + ], + [ + -29.350617339928853, + -14.779022817376896 + ], + [ + -29.468043828550986, + -14.779022817376896 + ] + ], + "projected_box_corners": [ + [ + -29.350617339928853, + -14.93343831782691 + ], + [ + -29.35528359645475, + -14.9337042572194 + ], + [ + -29.461222326255832, + -14.93498027780108 + ], + [ + -29.46588858278173, + -14.935246217193567 + ], + [ + -29.352772585698112, + -14.779022817376896 + ], + [ + -29.35743884222401, + -14.779288756769384 + ], + [ + -29.463377572025088, + -14.780564777351065 + ], + [ + -29.468043828550986, + -14.780830716743553 + ] + ], + "yaw_rad": 1.5847528649965275, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.846973419189453, + -14.889028549194336, + 0.06915239989757538 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46444154282268, + -14.858142965047954, + 0.11785042985513133 + ], + "intended_face_normal": [ + -0.9997437087236456, + -0.013911259624670658, + -0.01785794195672874 + ], + "commanded_contact_point": [ + -29.84444808959961, + -14.891425132751465, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.464469901683024, + -14.85737341698992, + 0.11883830190439493 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847490310668945, + -14.886947631835938, + 0.06871192157268524 + ], + "box_pose": [ + -29.41106414794922, + -14.853148460388184, + 0.1360144168138504, + -0.005242521874606609, + -0.0073709385469555855, + 0.7119888663291931, + 0.7021324634552002 + ], + "box_yaw_rad": 1.5847617925211808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017776919020989195 + } + } + }, + { + "simulation_time_ns": 1920000000, + "center": [ + -29.409528722379726, + -14.856922983504989, + 0.11885806230735993 + ], + "face_center": [ + -29.464829339335083, + -14.857696344167273, + 0.1176898463417392 + ], + "face_normal": [ + -0.9996792686828504, + -0.013980180762264816, + -0.021118051596388798 + ], + "footprint_xy": [ + [ + -29.4684419341773, + -14.934985754518923 + ], + [ + -29.35061551058215, + -14.934985754518923 + ], + [ + -29.35061551058215, + -14.778860212491052 + ], + [ + -29.4684419341773, + -14.778860212491052 + ] + ], + "projected_box_corners": [ + [ + -29.35061551058215, + -14.933439033194354 + ], + [ + -29.355684434879354, + -14.933275716867586 + ], + [ + -29.461216744492862, + -14.934985754518923 + ], + [ + -29.466285668790068, + -14.934822438192155 + ], + [ + -29.352771775969384, + -14.77902352881782 + ], + [ + -29.357840700266586, + -14.778860212491052 + ], + [ + -29.463373009880097, + -14.78057025014239 + ], + [ + -29.4684419341773, + -14.780406933815621 + ] + ], + "yaw_rad": 1.584759466435285, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.846460342407227, + -14.893965721130371, + 0.06967449188232422 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46463307740341, + -14.857905497272316, + 0.11776656482455658 + ], + "intended_face_normal": [ + -0.9997131852370668, + -0.013937144865478812, + -0.019464691047067106 + ], + "commanded_contact_point": [ + -29.844722747802734, + -14.893585205078125, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -29.464664814199562, + -14.857134517285232, + 0.1188433195972813 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.846973419189453, + -14.889028549194336, + 0.06915239989757538 + ], + "box_pose": [ + -29.411285400390625, + -14.852874755859375, + 0.1360076665878296, + -0.006535923574119806, + -0.007223882712423801, + 0.7119872570037842, + 0.7021246552467346 + ], + "box_yaw_rad": 1.5847528649965275, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021774640263551946 + } + } + }, + { + "simulation_time_ns": 1940000000, + "center": [ + -29.409693490629934, + -14.856744646829092, + 0.11886943989370252 + ], + "face_center": [ + -29.464992406320743, + -14.857520468259525, + 0.11762496618658885 + ], + "face_normal": [ + -0.9996485146155022, + -0.014024664513738294, + -0.022496576601066798 + ], + "footprint_xy": [ + [ + -29.468773611837737, + -14.934989858895166 + ], + [ + -29.350613369422135, + -14.934989858895166 + ], + [ + -29.350613369422135, + -14.778499434763019 + ], + [ + -29.468773611837737, + -14.778499434763019 + ] + ], + "projected_box_corners": [ + [ + -29.350613369422135, + -14.933438216034306 + ], + [ + -29.35601808198887, + -14.932914501593704 + ], + [ + -29.461211200803753, + -14.934989858895166 + ], + [ + -29.46661591337049, + -14.934466144454564 + ], + [ + -29.35277106788938, + -14.779023149203622 + ], + [ + -29.358175780456115, + -14.778499434763019 + ], + [ + -29.463368899271, + -14.780574792064483 + ], + [ + -29.468773611837737, + -14.780051077623881 + ] + ], + "yaw_rad": 1.584768784885779, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.846460342407227, + -14.899765014648438, + 0.07008026540279388 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464829339335083, + -14.857696344167273, + 0.1176898463417392 + ], + "intended_face_normal": [ + -0.9996792686828504, + -0.013980180762264816, + -0.021118051596388798 + ], + "commanded_contact_point": [ + -29.845237731933594, + -14.89592456817627, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.4648648296879, + -14.856922983504989, + 0.11885806230735993 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.846460342407227, + -14.893965721130371, + 0.06967449188232422 + ], + "box_pose": [ + -29.41151237487793, + -14.852632522583008, + 0.13601145148277283, + -0.007761899847537279, + -0.0071761091239750385, + 0.7119900584220886, + 0.7021099925041199 + ], + "box_yaw_rad": 1.584759466435285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00239537645482799 + } + } + }, + { + "simulation_time_ns": 1960000000, + "center": [ + -29.40982214942963, + -14.856599688367442, + 0.11888263005913567 + ], + "face_center": [ + -29.465119722111513, + -14.857376581013657, + 0.11758024418775545 + ], + "face_normal": [ + -0.9996242367999388, + -0.01404402907545843, + -0.02354346528349427 + ], + "footprint_xy": [ + [ + -29.469027632834003, + -14.934992375921126 + ], + [ + -29.350616666025253, + -14.934992375921126 + ], + [ + -29.350616666025253, + -14.77820700081376 + ], + [ + -29.469027632834003, + -14.77820700081376 + ] + ], + "projected_box_corners": [ + [ + -29.350616666025253, + -14.933438590628699 + ], + [ + -29.3562766590307, + -14.932621513656393 + ], + [ + -29.461211811389028, + -14.934992375921126 + ], + [ + -29.466871804394472, + -14.93417529894882 + ], + [ + -29.352772494464784, + -14.779024077786065 + ], + [ + -29.358432487470232, + -14.77820700081376 + ], + [ + -29.463367639828554, + -14.780577863078493 + ], + [ + -29.469027632834003, + -14.779760786106188 + ] + ], + "yaw_rad": 1.584756726929773, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.84970474243164, + -14.906607627868652, + 0.06506145000457764 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.464992406320743, + -14.857520468259525, + 0.11762496618658885 + ], + "intended_face_normal": [ + -0.9996485146155022, + -0.014024664513738294, + -0.022496576601066798 + ], + "commanded_contact_point": [ + -29.846155166625977, + -14.898629188537598, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.46503130034685, + -14.856744646829092, + 0.11886943989370252 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.846460342407227, + -14.899765014648438, + 0.07008026540279388 + ], + "box_pose": [ + -29.411701202392578, + -14.852428436279297, + 0.13601356744766235, + -0.008787869475781918, + -0.007132608909159899, + 0.7119937539100647, + 0.702094554901123 + ], + "box_yaw_rad": 1.584768784885779, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028559862944695347 + } + } + }, + { + "simulation_time_ns": 1980000000, + "center": [ + -29.40991217781654, + -14.856497276930627, + 0.118892444398888 + ], + "face_center": [ + -29.465208755927822, + -14.85727369229301, + 0.11754846547575072 + ], + "face_normal": [ + -0.9996062577669371, + -0.014035401129183889, + -0.024295350413389816 + ], + "footprint_xy": [ + [ + -29.469205794536265, + -14.934993113197235 + ], + [ + -29.35061856109682, + -14.934993113197235 + ], + [ + -29.35061856109682, + -14.778001440664019 + ], + [ + -29.469205794536265, + -14.778001440664019 + ] + ], + "projected_box_corners": [ + [ + -29.35061856109682, + -14.933440282472473 + ], + [ + -29.356461833714366, + -14.932415441941366 + ], + [ + -29.461211717319376, + -14.934993113197235 + ], + [ + -29.467054989936923, + -14.93396827266613 + ], + [ + -29.35276936569616, + -14.779026281195124 + ], + [ + -29.35861263831371, + -14.778001440664019 + ], + [ + -29.463362521918718, + -14.780579111919888 + ], + [ + -29.469205794536265, + -14.779554271388783 + ] + ], + "yaw_rad": 1.5847242446247825, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.852867126464844, + -14.912549018859863, + 0.06212115287780762 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465119722111513, + -14.857376581013657, + 0.11758024418775545 + ], + "intended_face_normal": [ + -0.9996242367999388, + -0.01404402907545843, + -0.02354346528349427 + ], + "commanded_contact_point": [ + -29.846799850463867, + -14.901369094848633, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + -29.465161303132707, + -14.856599688367442, + 0.11888263005913567 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84970474243164, + -14.906607627868652, + 0.06506145000457764 + ], + "box_pose": [ + -29.411848068237305, + -14.852262496948242, + 0.13601931929588318, + -0.009596164338290691, + -0.007070852909237146, + 0.7119901180267334, + 0.7020883560180664 + ], + "box_yaw_rad": 1.584756726929773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028147297995428635 + } + } + }, + { + "simulation_time_ns": 2000000000, + "center": [ + -29.409972302451315, + -14.856429759591713, + 0.11889930550798972 + ], + "face_center": [ + -29.465268215257076, + -14.857205839447488, + 0.11752791750131746 + ], + "face_normal": [ + -0.9995942309186155, + -0.014029336115514157, + -0.02479082938075161 + ], + "footprint_xy": [ + [ + -29.46932390086677, + -14.934992957687676 + ], + [ + -29.35062070403586, + -14.934992957687676 + ], + [ + -29.35062070403586, + -14.777866561495747 + ], + [ + -29.46932390086677, + -14.777866561495747 + ] + ], + "projected_box_corners": [ + [ + -29.35062070403586, + -14.933440797976123 + ], + [ + -29.35658473305595, + -14.932280186015577 + ], + [ + -29.461212529647383, + -14.934992957687676 + ], + [ + -29.46717655866747, + -14.93383234572713 + ], + [ + -29.352768046235155, + -14.779027173456294 + ], + [ + -29.358732075255244, + -14.777866561495747 + ], + [ + -29.46335987184668, + -14.780579333167847 + ], + [ + -29.46932390086677, + -14.7794187212073 + ] + ], + "yaw_rad": 1.5847018600538019, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.855873107910156, + -14.913801193237305, + 0.06288543343544006 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465208755927822, + -14.85727369229301, + 0.11754846547575072 + ], + "intended_face_normal": [ + -0.9996062577669371, + -0.014035401129183889, + -0.024295350413389816 + ], + "commanded_contact_point": [ + -29.846853256225586, + -14.903366088867188, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.465252326855996, + -14.856497276930627, + 0.118892444398888 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.852867126464844, + -14.912549018859863, + 0.06212115287780762 + ], + "box_pose": [ + -29.411951065063477, + -14.852145195007324, + 0.13602381944656372, + -0.010172232054173946, + -0.00703087355941534, + 0.71197909116745, + 0.7020917534828186 + ], + "box_yaw_rad": 1.5847242446247825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00199770800816208 + } + } + }, + { + "simulation_time_ns": 2020000000, + "center": [ + -29.410003982143362, + -14.85639291784722, + 0.1189033910163716 + ], + "face_center": [ + -29.465299530515402, + -14.857169430734103, + 0.11751751855367693 + ], + "face_normal": [ + -0.9995876429842043, + -0.014037164097268962, + -0.02505266751567603 + ], + "footprint_xy": [ + [ + -29.46938704875432, + -14.93499227766377 + ], + [ + -29.3506209155324, + -14.93499227766377 + ], + [ + -29.3506209155324, + -14.77779355803067 + ], + [ + -29.46938704875432, + -14.77779355803067 + ] + ], + "projected_box_corners": [ + [ + -29.3506209155324, + -14.933439251890004 + ], + [ + -29.35664877087537, + -14.932206943104243 + ], + [ + -29.46121201227648, + -14.93499227766377 + ], + [ + -29.467239867619448, + -14.93375996887801 + ], + [ + -29.352768096667273, + -14.779025866816431 + ], + [ + -29.358795952010244, + -14.77779355803067 + ], + [ + -29.463359193411353, + -14.780578892590198 + ], + [ + -29.46938704875432, + -14.779346583804436 + ] + ], + "yaw_rad": 1.5847008387428392, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.857860565185547, + -14.912958145141602, + 0.06566344201564789 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465268215257076, + -14.857205839447488, + 0.11752791750131746 + ], + "intended_face_normal": [ + -0.9995942309186155, + -0.014029336115514157, + -0.02479082938075161 + ], + "commanded_contact_point": [ + -29.847034454345703, + -14.904674530029297, + 0.04999994486570358 + ], + "centerline_face_intersection": [ + -29.465313117328524, + -14.856429759591713, + 0.11889930550798972 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.855873107910156, + -14.913801193237305, + 0.06288543343544006 + ], + "box_pose": [ + -29.412019729614258, + -14.852067947387695, + 0.13602718710899353, + -0.010550150647759438, + -0.007006200961768627, + 0.7119714617729187, + 0.7020941972732544 + ], + "box_yaw_rad": 1.5847018600538019, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001320928097379269 + } + } + }, + { + "simulation_time_ns": 2040000000, + "center": [ + -29.410016025544817, + -14.85638301072222, + 0.11890577277970803 + ], + "face_center": [ + -29.465311466689112, + -14.85715897029843, + 0.11751557256024515 + ], + "face_normal": [ + -0.9995857046088772, + -0.014027161800017618, + -0.025130901158612884 + ], + "footprint_xy": [ + [ + -29.46940753314948, + -14.934992409750311 + ], + [ + -29.350624517940155, + -14.934992409750311 + ], + [ + -29.350624517940155, + -14.777773611694128 + ], + [ + -29.46940753314948, + -14.777773611694128 + ] + ], + "projected_box_corners": [ + [ + -29.350624517940155, + -14.93344049059789 + ], + [ + -29.356671425083398, + -14.932186929808458 + ], + [ + -29.46121540022875, + -14.934992409750311 + ], + [ + -29.467262307371993, + -14.933738848960878 + ], + [ + -29.35276974371764, + -14.779027172483561 + ], + [ + -29.358816650860884, + -14.777773611694128 + ], + [ + -29.463360626006235, + -14.780579091635982 + ], + [ + -29.46940753314948, + -14.779325530846549 + ] + ], + "yaw_rad": 1.5846881840779148, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.857223510742188, + -14.911722183227539, + 0.06846746802330017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465299530515402, + -14.857169430734103, + 0.11751751855367693 + ], + "intended_face_normal": [ + -0.9995876429842043, + -0.014037164097268962, + -0.02505266751567603 + ], + "commanded_contact_point": [ + -29.847412109375, + -14.905458450317383, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.46534516175263, + -14.85639291784722, + 0.1189033910163716 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.857860565185547, + -14.912958145141602, + 0.06566344201564789 + ], + "box_pose": [ + -29.41205596923828, + -14.852025985717773, + 0.1360294222831726, + -0.010749844834208488, + -0.006993201561272144, + 0.7119712233543396, + 0.7020915746688843 + ], + "box_yaw_rad": 1.5847008387428392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008701461608398696 + } + } + }, + { + "simulation_time_ns": 2060000000, + "center": [ + -29.410007655876896, + -14.8563913789734, + 0.11890590089534543 + ], + "face_center": [ + -29.465303207370454, + -14.857166324064384, + 0.11751918133344003 + ], + "face_normal": [ + -0.9995876994124822, + -0.014008822766818474, + -0.025067980681534152 + ], + "footprint_xy": [ + [ + -29.469390344513762, + -14.934991449117623 + ], + [ + -29.350624967240027, + -14.934991449117623 + ], + [ + -29.350624967240027, + -14.777791308829178 + ], + [ + -29.469390344513762, + -14.777791308829178 + ] + ], + "projected_box_corners": [ + [ + -29.350624967240027, + -14.933441558935657 + ], + [ + -29.356656521582902, + -14.932204746964285 + ], + [ + -29.461216070227145, + -14.934991449117623 + ], + [ + -29.46724762457002, + -14.93375463714625 + ], + [ + -29.35276768718377, + -14.77902812080055 + ], + [ + -29.358799241526643, + -14.777791308829178 + ], + [ + -29.463358790170886, + -14.780578010982516 + ], + [ + -29.469390344513762, + -14.779341199011144 + ] + ], + "yaw_rad": 1.5846719483287377, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.854902267456055, + -14.90898323059082, + 0.07090386748313904 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465311466689112, + -14.85715897029843, + 0.11751557256024515 + ], + "intended_face_normal": [ + -0.9995857046088772, + -0.014027161800017618, + -0.025130901158612884 + ], + "commanded_contact_point": [ + -29.847671508789062, + -14.905744552612305, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -29.465357312470523, + -14.85638301072222, + 0.11890577277970803 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.857223510742188, + -14.911722183227539, + 0.06846746802330017 + ], + "box_pose": [ + -29.41206932067871, + -14.852014541625977, + 0.13603125512599945, + -0.010809192433953285, + -0.006989608984440565, + 0.7119668126106262, + 0.702095091342926 + ], + "box_yaw_rad": 1.5846881840779148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003861898230114 + } + } + }, + { + "simulation_time_ns": 2080000000, + "center": [ + -29.409986054837947, + -14.856416181675675, + 0.1189046373223962 + ], + "face_center": [ + -29.46528185882418, + -14.857191553470114, + 0.11752824706387718 + ], + "face_normal": [ + -0.9995922637683454, + -0.014016536362473575, + -0.02488125599338742 + ], + "footprint_xy": [ + [ + -29.469347334429635, + -14.934990249034986 + ], + [ + -29.350624775246256, + -14.934990249034986 + ], + [ + -29.350624775246256, + -14.777842114316366 + ], + [ + -29.469347334429635, + -14.777842114316366 + ] + ], + "projected_box_corners": [ + [ + -29.350624775246256, + -14.933439505446108 + ], + [ + -29.356610805164948, + -14.932255709068162 + ], + [ + -29.46121638321873, + -14.934990249034986 + ], + [ + -29.467202413137418, + -14.93380645265704 + ], + [ + -29.352769696538473, + -14.77902591069431 + ], + [ + -29.35875572645716, + -14.777842114316366 + ], + [ + -29.463361304510947, + -14.780576654283188 + ], + [ + -29.469347334429635, + -14.779392857905243 + ] + ], + "yaw_rad": 1.5846861876925853, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.852787017822266, + -14.905282020568848, + 0.07117614150047302 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.465303207370454, + -14.857166324064384, + 0.11751918133344003 + ], + "intended_face_normal": [ + -0.9995876994124822, + -0.014008822766818474, + -0.025067980681534152 + ], + "commanded_contact_point": [ + -29.84768295288086, + -14.905659675598145, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.465348832362068, + -14.8563913789734, + 0.11890590089534543 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.854902267456055, + -14.90898323059082, + 0.07090386748313904 + ], + "box_pose": [ + -29.412059783935547, + -14.85202407836914, + 0.13603182137012482, + -0.010761826299130917, + -0.00699208676815033, + 0.7119610905647278, + 0.7021017074584961 + ], + "box_yaw_rad": 1.5846719483287377, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.564505234888511e-05 + } + } + }, + { + "simulation_time_ns": 2100000000, + "center": [ + -29.409947515526675, + -14.856460545534828, + 0.11890221878992899 + ], + "face_center": [ + -29.46524373520433, + -14.85723524413643, + 0.11754270806626772 + ], + "face_normal": [ + -0.9995997782973998, + -0.01400436693362428, + -0.024576121584562904 + ], + "footprint_xy": [ + [ + -29.46927187070065, + -14.934990768735954 + ], + [ + -29.3506231603527, + -14.934990768735954 + ], + [ + -29.3506231603527, + -14.777930322333702 + ], + [ + -29.46927187070065, + -14.777930322333702 + ] + ], + "projected_box_corners": [ + [ + -29.3506231603527, + -14.93344137153275 + ], + [ + -29.356534765815404, + -14.932344176887339 + ], + [ + -29.461215599708012, + -14.934990768735954 + ], + [ + -29.467127205170712, + -14.933893574090542 + ], + [ + -29.352767825882637, + -14.779027516979115 + ], + [ + -29.35867943134534, + -14.777930322333702 + ], + [ + -29.46336026523795, + -14.780576914182317 + ], + [ + -29.46927187070065, + -14.779479719536907 + ] + ], + "yaw_rad": 1.5846845083025314, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.851675033569336, + -14.90157699584961, + 0.06860879063606262 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -29.46528185882418, + -14.857191553470114, + 0.11752824706387718 + ], + "intended_face_normal": [ + -0.9995922637683454, + -0.014016536362473575, + -0.02488125599338742 + ], + "commanded_contact_point": [ + -29.847719192504883, + -14.905145645141602, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.46532697862326, + -14.856416181675675, + 0.1189046373223962 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.852787017822266, + -14.905282020568848, + 0.07117614150047302 + ], + "box_pose": [ + -29.41203498840332, + -14.852052688598633, + 0.13603191077709198, + -0.010616691783070564, + -0.007004071958363056, + 0.7119659781455994, + 0.7020988464355469 + ], + "box_yaw_rad": 1.5846861876925853, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005153063373209615 + } + } + }, + { + "simulation_time_ns": 2120000000, + "center": [ + -29.409898713279794, + -14.856515385533339, + 0.11889965226845527 + ], + "face_center": [ + -29.465195446988385, + -14.857290760852731, + 0.11756112755326506 + ], + "face_normal": [ + -0.9996090705277443, + -0.01401660008369543, + -0.024196753708470797 + ], + "footprint_xy": [ + [ + -29.46917926597326, + -14.934989993626873 + ], + [ + -29.35061816058633, + -14.934989993626873 + ], + [ + -29.35061816058633, + -14.778040777439804 + ], + [ + -29.46917926597326, + -14.778040777439804 + ] + ], + "projected_box_corners": [ + [ + -29.35061816058633, + -14.933439242988088 + ], + [ + -29.35643719298655, + -14.932454953073218 + ], + [ + -29.46121162800351, + -14.934989993626873 + ], + [ + -29.467030660403733, + -14.934005703712003 + ], + [ + -29.352766766155856, + -14.779025067354672 + ], + [ + -29.358585798556078, + -14.778040777439804 + ], + [ + -29.463360233573038, + -14.780575817993457 + ], + [ + -29.46917926597326, + -14.779591528078589 + ] + ], + "yaw_rad": 1.5847099905461735, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.85147476196289, + -14.898885726928711, + 0.0650487095117569 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46524373520433, + -14.85723524413643, + 0.11754270806626772 + ], + "intended_face_normal": [ + -0.9995997782973998, + -0.01400436693362428, + -0.024576121584562904 + ], + "commanded_contact_point": [ + -29.847917556762695, + -14.904242515563965, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.465288023284504, + -14.856460545534828, + 0.11890221878992899 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851675033569336, + -14.90157699584961, + 0.06860879063606262 + ], + "box_pose": [ + -29.411991119384766, + -14.852103233337402, + 0.13603170216083527, + -0.010379440151154995, + -0.007023694925010204, + 0.7119652032852173, + 0.7021028399467468 + ], + "box_yaw_rad": 1.5846845083025314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009246574571844034 + } + } + }, + { + "simulation_time_ns": 2140000000, + "center": [ + -29.409842493226396, + -14.856582677098247, + 0.11889480784507728 + ], + "face_center": [ + -29.465139885745995, + -14.85735783271868, + 0.11758382334726891 + ], + "face_normal": [ + -0.9996209799736496, + -0.014012628545810202, + -0.023698904210808502 + ], + "footprint_xy": [ + [ + -29.46906394083476, + -14.934987672277643 + ], + [ + -29.35062104561803, + -14.934987672277643 + ], + [ + -29.35062104561803, + -14.778177681918852 + ], + [ + -29.46906394083476, + -14.778177681918852 + ] + ], + "projected_box_corners": [ + [ + -29.35062104561803, + -14.933437361036779 + ], + [ + -29.35631869436524, + -14.932592196371184 + ], + [ + -29.46121583065723, + -14.934987672277643 + ], + [ + -29.466913479404436, + -14.93414250761205 + ], + [ + -29.352771507048356, + -14.779022846584446 + ], + [ + -29.35846915579556, + -14.778177681918852 + ], + [ + -29.463366292087553, + -14.78057315782531 + ], + [ + -29.46906394083476, + -14.779727993159717 + ] + ], + "yaw_rad": 1.5847219763859508, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.851682662963867, + -14.898080825805664, + 0.061701953411102295 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465195446988385, + -14.857290760852731, + 0.11756112755326506 + ], + "intended_face_normal": [ + -0.9996090705277443, + -0.01401660008369543, + -0.024196753708470797 + ], + "commanded_contact_point": [ + -29.848017978682517, + -14.902944633458171, + 0.05012703447755432 + ], + "centerline_face_intersection": [ + -29.46523870659977, + -14.856515385533339, + 0.11889965226845527 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85147476196289, + -14.898885726928711, + 0.0650487095117569 + ], + "box_pose": [ + -29.411935806274414, + -14.852166175842285, + 0.13603197038173676, + -0.010076840408146381, + -0.007055658381432295, + 0.7119738459587097, + 0.7020983099937439 + ], + "box_yaw_rad": 1.5847099905461735, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013079453498527297 + } + } + }, + { + "simulation_time_ns": 2160000000, + "center": [ + -29.40977610587132, + -14.85666437441873, + 0.1188901423792896 + ], + "face_center": [ + -29.465074247623118, + -14.857438528460154, + 0.11761056248049048 + ], + "face_normal": [ + -0.999634523979838, + -0.013994522820664823, + -0.023131197586555574 + ], + "footprint_xy": [ + [ + -29.468929046563154, + -14.934986228383217 + ], + [ + -29.35062316517948, + -14.934986228383217 + ], + [ + -29.35062316517948, + -14.778342520454242 + ], + [ + -29.468929046563154, + -14.778342520454242 + ] + ], + "projected_box_corners": [ + [ + -29.35062316517948, + -14.933437920300369 + ], + [ + -29.356182302254314, + -14.932757409995528 + ], + [ + -29.461219448683078, + -14.934986228383217 + ], + [ + -29.46677858575791, + -14.934305718078377 + ], + [ + -29.352773625984725, + -14.779023030759083 + ], + [ + -29.358332763059558, + -14.778342520454242 + ], + [ + -29.463369909488325, + -14.78057133884193 + ], + [ + -29.468929046563154, + -14.779890828537091 + ] + ], + "yaw_rad": 1.5847219385162812, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.851472854614258, + -14.899041175842285, + 0.05935230851173401 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465139885745995, + -14.85735783271868, + 0.11758382334726891 + ], + "intended_face_normal": [ + -0.9996209799736496, + -0.014012628545810202, + -0.023698904210808502 + ], + "commanded_contact_point": [ + -29.847844834537508, + -14.90112108089433, + 0.05049951028622487 + ], + "centerline_face_intersection": [ + -29.46518182722782, + -14.856582677098247, + 0.11889480784507728 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851682662963867, + -14.898080825805664, + 0.061701953411102295 + ], + "box_pose": [ + -29.4118709564209, + -14.852243423461914, + 0.1360306739807129, + -0.009693051688373089, + -0.00708444369956851, + 0.7119777798652649, + 0.7020993828773499 + ], + "box_yaw_rad": 1.5847219763859508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018692407753120846 + } + } + }, + { + "simulation_time_ns": 2180000000, + "center": [ + -29.409695936991813, + -14.856758819795695, + 0.11888392827934864 + ], + "face_center": [ + -29.46499492071888, + -14.85753219511244, + 0.11764052117623881 + ], + "face_normal": [ + -0.9996497445192483, + -0.013980445673587694, + -0.02247729540730725 + ], + "footprint_xy": [ + [ + -29.46877039846591, + -14.934986926626568 + ], + [ + -29.350621475517713, + -14.934986926626568 + ], + [ + -29.350621475517713, + -14.778530712964823 + ], + [ + -29.46877039846591, + -14.778530712964823 + ] + ], + "projected_box_corners": [ + [ + -29.350621475517713, + -14.93344017599308 + ], + [ + -29.35602112485846, + -14.932945942987939 + ], + [ + -29.461219442971846, + -14.934986926626568 + ], + [ + -29.466619092312595, + -14.934492693621428 + ], + [ + -29.352772781671028, + -14.779024945969965 + ], + [ + -29.358172431011777, + -14.778530712964823 + ], + [ + -29.46337074912516, + -14.780571696603452 + ], + [ + -29.46877039846591, + -14.780077463598312 + ] + ], + "yaw_rad": 1.5847273812649083, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.851818084716797, + -14.900938987731934, + 0.058558911085128784 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465074247623118, + -14.857438528460154, + 0.11761056248049048 + ], + "intended_face_normal": [ + -0.999634523979838, + -0.013994522820664823, + -0.023131197586555574 + ], + "commanded_contact_point": [ + -29.847238083105086, + -14.898861043950175, + 0.05110441415597803 + ], + "centerline_face_intersection": [ + -29.46511469008243, + -14.85666437441873, + 0.1188901423792896 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851472854614258, + -14.899041175842285, + 0.05935230851173401 + ], + "box_pose": [ + -29.411794662475586, + -14.852336883544922, + 0.1360301524400711, + -0.009246432222425938, + -0.007126109674572945, + 0.7119773626327515, + 0.7021054029464722 + ], + "box_yaw_rad": 1.5847219385162812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024169863428098516 + } + } + }, + { + "simulation_time_ns": 2200000000, + "center": [ + -29.409602410493218, + -14.856866158432712, + 0.11887753020691706 + ], + "face_center": [ + -29.464902338197096, + -14.85763898159803, + 0.11767640213052069 + ], + "face_normal": [ + -0.9996668089590242, + -0.013970464332232702, + -0.021713009783881854 + ], + "footprint_xy": [ + [ + -29.468585505673172, + -14.934984260515542 + ], + [ + -29.350619315313267, + -14.934984260515542 + ], + [ + -29.350619315313267, + -14.778748056349883 + ], + [ + -29.468585505673172, + -14.778748056349883 + ] + ], + "projected_box_corners": [ + [ + -29.350619315313267, + -14.933438614184908 + ], + [ + -29.35583253844434, + -14.933163539109048 + ], + [ + -29.461219170721023, + -14.934984260515542 + ], + [ + -29.466432393852095, + -14.934709185439683 + ], + [ + -29.352772427134344, + -14.779023131425742 + ], + [ + -29.357985650265416, + -14.778748056349883 + ], + [ + -29.4633722825421, + -14.780568777756377 + ], + [ + -29.468585505673172, + -14.780293702680517 + ] + ], + "yaw_rad": 1.584739049762146, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.852821350097656, + -14.899319648742676, + 0.0607975572347641 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46499492071888, + -14.85753219511244, + 0.11764052117623881 + ], + "intended_face_normal": [ + -0.9996497445192483, + -0.013980445673587694, + -0.02247729540730725 + ], + "commanded_contact_point": [ + -29.846146564636232, + -14.896434368719417, + 0.05192873985307169 + ], + "centerline_face_intersection": [ + -29.465033678624707, + -14.856758819795695, + 0.11888392827934864 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851818084716797, + -14.900938987731934, + 0.058558911085128784 + ], + "box_pose": [ + -29.41170310974121, + -14.852444648742676, + 0.13602863252162933, + -0.008737051859498024, + -0.007169139571487904, + 0.7119788527488708, + 0.7021100521087646 + ], + "box_yaw_rad": 1.5847273812649083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027856198768522605 + } + } + }, + { + "simulation_time_ns": 2220000000, + "center": [ + -29.40949390810627, + -14.856991182270146, + 0.11887042610199233 + ], + "face_center": [ + -29.464794871235863, + -14.857763734013396, + 0.11771861723856807 + ], + "face_normal": [ + -0.9996855265372344, + -0.013965557786352445, + -0.02082145743834879 + ], + "footprint_xy": [ + [ + -29.46837074020492, + -14.934983219824076 + ], + [ + -29.350617076007616, + -14.934983219824076 + ], + [ + -29.350617076007616, + -14.778999144716218 + ], + [ + -29.46837074020492, + -14.778999144716218 + ] + ], + "projected_box_corners": [ + [ + -29.350617076007616, + -14.933438116337577 + ], + [ + -29.355612885809457, + -14.933414689761651 + ], + [ + -29.461219002266805, + -14.934983219824076 + ], + [ + -29.466214812068646, + -14.934959793248149 + ], + [ + -29.35277300414389, + -14.779022571292144 + ], + [ + -29.357768813945732, + -14.778999144716218 + ], + [ + -29.46337493040308, + -14.780567674778641 + ], + [ + -29.46837074020492, + -14.780544248202716 + ] + ], + "yaw_rad": 1.5847572791359992, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.85329246520996, + -14.896902084350586, + 0.06630532443523407 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464902338197096, + -14.85763898159803, + 0.11767640213052069 + ], + "intended_face_normal": [ + -0.9996668089590242, + -0.013970464332232702, + -0.021713009783881854 + ], + "commanded_contact_point": [ + -29.844953089654446, + -14.894364014932483, + 0.05295957495868386 + ], + "centerline_face_intersection": [ + -29.46493920750381, + -14.856866158432712, + 0.11887753020691706 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.852821350097656, + -14.899319648742676, + 0.0607975572347641 + ], + "box_pose": [ + -29.411596298217773, + -14.852567672729492, + 0.1360277235507965, + -0.008139589801430702, + -0.007221515756100416, + 0.7119824290275574, + 0.7021130919456482 + ], + "box_yaw_rad": 1.584739049762146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002602569566828679 + } + } + }, + { + "simulation_time_ns": 2240000000, + "center": [ + -29.409367228428735, + -14.857136933094035, + 0.11886142851032976 + ], + "face_center": [ + -29.464669369255827, + -14.85791060159271, + 0.11776819865297053 + ], + "face_normal": [ + -0.999706815988173, + -0.013985745576443165, + -0.01976251413595237 + ], + "footprint_xy": [ + [ + -29.468119610275842, + -14.935253839198344 + ], + [ + -29.350614846581628, + -14.935253839198344 + ], + [ + -29.350614846581628, + -14.779020026989727 + ], + [ + -29.468119610275842, + -14.779020026989727 + ] + ], + "projected_box_corners": [ + [ + -29.350614846581628, + -14.933435442508957 + ], + [ + -29.355352475357297, + -14.933706502200994 + ], + [ + -29.46121912823581, + -14.934982779506306 + ], + [ + -29.465956757011476, + -14.935253839198344 + ], + [ + -29.352777699845998, + -14.779020026989727 + ], + [ + -29.357515328621663, + -14.779291086681763 + ], + [ + -29.463381981500177, + -14.780567363987075 + ], + [ + -29.468119610275842, + -14.780838423679112 + ] + ], + "yaw_rad": 1.5848021294647363, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.856029510498047, + -14.894025802612305, + 0.0692175030708313 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464794871235863, + -14.857763734013396, + 0.11771861723856807 + ], + "intended_face_normal": [ + -0.9996855265372344, + -0.013965557786352445, + -0.02082145743834879 + ], + "commanded_contact_point": [ + -29.84354951309204, + -14.892676166721213, + 0.05418385109366052 + ], + "centerline_face_intersection": [ + -29.46482966902021, + -14.856991182270146, + 0.11887042610199233 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85329246520996, + -14.896902084350586, + 0.06630532443523407 + ], + "box_pose": [ + -29.41147232055664, + -14.852710723876953, + 0.13602691888809204, + -0.0074486155062913895, + -0.007276736665517092, + 0.7119882702827454, + 0.7021140456199646 + ], + "box_yaw_rad": 1.5847572791359992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025135056804191864 + } + } + }, + { + "simulation_time_ns": 2260000000, + "center": [ + -29.40921910947373, + -14.857304291332424, + 0.11885101569767371 + ], + "face_center": [ + -29.46452259975106, + -14.85807560036678, + 0.1178261705183644 + ], + "face_normal": [ + -0.9997312102445435, + -0.013943093112603888, + -0.018526311925093963 + ], + "footprint_xy": [ + [ + -29.467820824121066, + -14.935588828422995 + ], + [ + -29.3506173948264, + -14.935588828422995 + ], + [ + -29.3506173948264, + -14.779019754241853 + ], + [ + -29.467820824121066, + -14.779019754241853 + ] + ], + "projected_box_corners": [ + [ + -29.3506173948264, + -14.933434878231834 + ], + [ + -29.35505368733391, + -14.934046210354284 + ], + [ + -29.461224375381057, + -14.934977496300545 + ], + [ + -29.465660667888567, + -14.935588828422995 + ], + [ + -29.352777551058896, + -14.779019754241853 + ], + [ + -29.35721384356641, + -14.779631086364303 + ], + [ + -29.463384531613553, + -14.780562372310563 + ], + [ + -29.467820824121066, + -14.781173704433012 + ] + ], + "yaw_rad": 1.5847846932132288, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.858640670776367, + -14.89097785949707, + 0.07235360145568848 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464669369255827, + -14.85791060159271, + 0.11776819865297053 + ], + "intended_face_normal": [ + -0.999706815988173, + -0.013985745576443165, + -0.01976251413595237 + ], + "commanded_contact_point": [ + -29.841870455915927, + -14.891444767085174, + 0.05558853256917369 + ], + "centerline_face_intersection": [ + -29.464701810929217, + -14.857136933094035, + 0.11886142851032976 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.856029510498047, + -14.894025802612305, + 0.0692175030708313 + ], + "box_pose": [ + -29.411327362060547, + -14.852877616882324, + 0.13602527976036072, + -0.006634540855884552, + -0.007335785310715437, + 0.7120034098625183, + 0.7021062970161438 + ], + "box_yaw_rad": 1.5848021294647363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025117141779946715 + } + } + }, + { + "simulation_time_ns": 2280000000, + "center": [ + -29.409045841111897, + -14.85749824788653, + 0.11883835477545004 + ], + "face_center": [ + -29.464350756946263, + -14.858268345804984, + 0.11789314156101897 + ], + "face_normal": [ + -0.9997569802973104, + -0.013921199551078178, + -0.017086790473144764 + ], + "footprint_xy": [ + [ + -29.467473764133498, + -14.935978301555926 + ], + [ + -29.3506179180903, + -14.935978301555926 + ], + [ + -29.3506179180903, + -14.779018194217135 + ], + [ + -29.467473764133498, + -14.779018194217135 + ] + ], + "projected_box_corners": [ + [ + -29.3506179180903, + -14.933432482879832 + ], + [ + -29.354703342271378, + -14.93443810571902 + ], + [ + -29.461227749759033, + -14.934972678716738 + ], + [ + -29.46531317394011, + -14.935978301555926 + ], + [ + -29.352778508283688, + -14.779018194217135 + ], + [ + -29.356863932464766, + -14.780023817056323 + ], + [ + -29.46338833995242, + -14.780558390054042 + ], + [ + -29.467473764133498, + -14.781564012893229 + ] + ], + "yaw_rad": 1.5847875786929762, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.861251831054688, + -14.888132095336914, + 0.07508018612861633 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46452259975106, + -14.85807560036678, + 0.1178261705183644 + ], + "intended_face_normal": [ + -0.9997312102445435, + -0.013943093112603888, + -0.018526311925093963 + ], + "commanded_contact_point": [ + -29.840318796997067, + -14.890327248837634, + 0.0571605229894306 + ], + "centerline_face_intersection": [ + -29.4645523417653, + -14.857304291332424, + 0.11885101569767371 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.858640670776367, + -14.89097785949707, + 0.07235360145568848 + ], + "box_pose": [ + -29.411157608032227, + -14.853069305419922, + 0.13602334260940552, + -0.0056891897693276405, + -0.007399834226816893, + 0.7119966149330139, + 0.7021209001541138 + ], + "box_yaw_rad": 1.5847846932132288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024754083128731936 + } + } + }, + { + "simulation_time_ns": 2300000000, + "center": [ + -29.40884426189163, + -14.85772307615537, + 0.11882321525206252 + ], + "face_center": [ + -29.46415071628689, + -14.858491393976845, + 0.11797051402393223 + ], + "face_normal": [ + -0.9997847931412344, + -0.013889020415596143, + -0.01541443454112651 + ], + "footprint_xy": [ + [ + -29.46706919618213, + -14.936428582834898 + ], + [ + -29.35061932760113, + -14.936428582834898 + ], + [ + -29.35061932760113, + -14.779017569475842 + ], + [ + -29.46706919618213, + -14.779017569475842 + ] + ], + "projected_box_corners": [ + [ + -29.35061932760113, + -14.933430446201251 + ], + [ + -29.354297186863793, + -14.934891947191948 + ], + [ + -29.46123223639165, + -14.934967081844201 + ], + [ + -29.46491009565431, + -14.936428582834898 + ], + [ + -29.352778428128953, + -14.779017569475842 + ], + [ + -29.356456287391612, + -14.780479070466539 + ], + [ + -29.46339133691947, + -14.780554205118792 + ], + [ + -29.46706919618213, + -14.782015706109489 + ] + ], + "yaw_rad": 1.5847780612096585, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.863555908203125, + -14.88803768157959, + 0.07480983436107635 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464350756946263, + -14.858268345804984, + 0.11789314156101897 + ], + "intended_face_normal": [ + -0.9997569802973104, + -0.013921199551078178, + -0.017086790473144764 + ], + "commanded_contact_point": [ + -29.83832730693579, + -14.889248031525229, + 0.058886605255047554 + ], + "centerline_face_intersection": [ + -29.464377647116535, + -14.85749824788653, + 0.11883835477545004 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.861251831054688, + -14.888132095336914, + 0.07508018612861633 + ], + "box_pose": [ + -29.410959243774414, + -14.853291511535645, + 0.13602043688297272, + -0.004591360688209534, + -0.0074714841321110725, + 0.711996853351593, + 0.7021278142929077 + ], + "box_yaw_rad": 1.5847875786929762, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028478241973909557 + } + } + }, + { + "simulation_time_ns": 2320000000, + "center": [ + -29.408607560768168, + -14.857986836395012, + 0.11880504000018495 + ], + "face_center": [ + -29.46391557868662, + -14.85875485751766, + 0.11806076615151301 + ], + "face_normal": [ + -0.9998130572332173, + -0.013883656937150102, + -0.013454373164421982 + ], + "footprint_xy": [ + [ + -29.466596186403883, + -14.936959326684704 + ], + [ + -29.350618935132452, + -14.936959326684704 + ], + [ + -29.350618935132452, + -14.77901434610532 + ], + [ + -29.466596186403883, + -14.77901434610532 + ] + ], + "projected_box_corners": [ + [ + -29.350618935132452, + -14.933424724061009 + ], + [ + -29.353819044164112, + -14.935423284439409 + ], + [ + -29.46123497096936, + -14.934960766306304 + ], + [ + -29.46443508000102, + -14.936959326684704 + ], + [ + -29.352780041535315, + -14.77901434610532 + ], + [ + -29.355980150566975, + -14.78101290648372 + ], + [ + -29.463396077372224, + -14.780550388350616 + ], + [ + -29.466596186403883, + -14.782548948729014 + ] + ], + "yaw_rad": 1.584791275445462, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.86174774169922, + -14.893394470214844, + 0.07243584096431732 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46415071628689, + -14.858491393976845, + 0.11797051402393223 + ], + "intended_face_normal": [ + -0.9997847931412344, + -0.013889020415596143, + -0.01541443454112651 + ], + "commanded_contact_point": [ + -29.835769939422608, + -14.888079916283889, + 0.06075363744141855 + ], + "centerline_face_intersection": [ + -29.464174528630124, + -14.85772307615537, + 0.11882321525206252 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.863555908203125, + -14.88803768157959, + 0.07480983436107635 + ], + "box_pose": [ + -29.410728454589844, + -14.853549003601074, + 0.13601648807525635, + -0.0033192241098731756, + -0.0075515699572861195, + 0.711992621421814, + 0.7021385431289673 + ], + "box_yaw_rad": 1.5847780612096585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033749712590576955 + } + } + }, + { + "simulation_time_ns": 2340000000, + "center": [ + -29.408332937646453, + -14.858295304397794, + 0.11878311927596101 + ], + "face_center": [ + -29.463642518142507, + -14.859063248970743, + 0.11816604307136899 + ], + "face_normal": [ + -0.9998413042314899, + -0.013882273134404155, + -0.01115499831450564 + ], + "footprint_xy": [ + [ + -29.466043572047887, + -14.937581334614887 + ], + [ + -29.350622303245018, + -14.937581334614887 + ], + [ + -29.350622303245018, + -14.779009274180702 + ], + [ + -29.466043572047887, + -14.779009274180702 + ] + ], + "projected_box_corners": [ + [ + -29.350622303245018, + -14.933415724339596 + ], + [ + -29.353261937731848, + -14.936045445468988 + ], + [ + -29.461241464237123, + -14.934951613485497 + ], + [ + -29.463881098723952, + -14.937581334614887 + ], + [ + -29.35278477656895, + -14.779009274180702 + ], + [ + -29.355424411055782, + -14.781638995310091 + ], + [ + -29.463403937561058, + -14.7805451633266 + ], + [ + -29.466043572047887, + -14.78317488445599 + ] + ], + "yaw_rad": 1.5848004824139421, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.854633331298828, + -14.897390365600586, + 0.07120046019554138 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46391557868662, + -14.85875485751766, + 0.11806076615151301 + ], + "intended_face_normal": [ + -0.9998130572332173, + -0.013883656937150102, + -0.013454373164421982 + ], + "commanded_contact_point": [ + -29.833029332544804, + -14.886954530894943, + 0.06274829352973857 + ], + "centerline_face_intersection": [ + -29.463936263354505, + -14.857986836395012, + 0.11880504000018495 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.86174774169922, + -14.893394470214844, + 0.07243584096431732 + ], + "box_pose": [ + -29.410457611083984, + -14.853851318359375, + 0.13601133227348328, + -0.0018242272781208158, + -0.007649374194443226, + 0.7119961380958557, + 0.7021393179893494 + ], + "box_yaw_rad": 1.584791275445462, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035715642571557127 + } + } + }, + { + "simulation_time_ns": 2360000000, + "center": [ + -29.40800834458405, + -14.858656592104847, + 0.11875468708548761 + ], + "face_center": [ + -29.463319420495687, + -14.859423186395093, + 0.11828730783431123 + ], + "face_normal": [ + -0.9998683371298346, + -0.013857863829419115, + -0.008448899374680352 + ], + "footprint_xy": [ + [ + -29.465388593391253, + -14.938304490836536 + ], + [ + -29.350628095776848, + -14.938304490836536 + ], + [ + -29.350628095776848, + -14.779008693373157 + ], + [ + -29.465388593391253, + -14.779008693373157 + ] + ], + "projected_box_corners": [ + [ + -29.350628095776848, + -14.933409333761391 + ], + [ + -29.35260836069335, + -14.936771302256043 + ], + [ + -29.461250247600123, + -14.934942522341885 + ], + [ + -29.463230512516624, + -14.938304490836536 + ], + [ + -29.35278617665148, + -14.779008693373157 + ], + [ + -29.354766441567982, + -14.782370661867809 + ], + [ + -29.463408328474753, + -14.78054188195365 + ], + [ + -29.465388593391253, + -14.783903850448302 + ] + ], + "yaw_rad": 1.584772566471976, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.847063064575195, + -14.897390365600586, + 0.0716017484664917 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463642518142507, + -14.859063248970743, + 0.11816604307136899 + ], + "intended_face_normal": [ + -0.9998413042314899, + -0.013882273134404155, + -0.01115499831450564 + ], + "commanded_contact_point": [ + -29.83005318786621, + -14.885737534651291, + 0.06485716018898827 + ], + "centerline_face_intersection": [ + -29.463660077114962, + -14.858295304397794, + 0.11878311927596101 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.854633331298828, + -14.897390365600586, + 0.07120046019554138 + ], + "box_pose": [ + -29.41014289855957, + -14.854205131530762, + 0.1360045075416565, + -6.875469262013212e-05, + -0.007765785790979862, + 0.7119979858398438, + 0.7021384835243225 + ], + "box_yaw_rad": 1.5848004824139421, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003845235440319194 + } + } + }, + { + "simulation_time_ns": 2380000000, + "center": [ + -29.40785422918114, + -14.858827921749297, + 0.11877857096158377 + ], + "face_center": [ + -29.463165880733932, + -14.859593641769017, + 0.1183846554215465 + ], + "face_normal": [ + -0.9998787430992759, + -0.013842059482755964, + -0.007120882562760111 + ], + "footprint_xy": [ + [ + -29.465071480248724, + -14.938648109193542 + ], + [ + -29.350636978113553, + -14.938648109193542 + ], + [ + -29.350636978113553, + -14.77900773430505 + ], + [ + -29.465071480248724, + -14.77900773430505 + ] + ], + "projected_box_corners": [ + [ + -29.350636978113553, + -14.93340506598952 + ], + [ + -29.352293832121724, + -14.937116669154104 + ], + [ + -29.46126028121914, + -14.93493650602896 + ], + [ + -29.462917135227308, + -14.938648109193542 + ], + [ + -29.35279132313497, + -14.77900773430505 + ], + [ + -29.354448177143137, + -14.782719337469633 + ], + [ + -29.463414626240557, + -14.78053917434449 + ], + [ + -29.465071480248724, + -14.784250777509072 + ] + ], + "yaw_rad": 1.5847486743004258, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.841272354125977, + -14.892971992492676, + 0.07280170917510986 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463319420495687, + -14.859423186395093, + 0.11828730783431123 + ], + "intended_face_normal": [ + -0.9998683371298346, + -0.013857863829419115, + -0.008448899374680352 + ], + "commanded_contact_point": [ + -29.826483828990455, + -14.884235595589406, + 0.06706620864632833 + ], + "centerline_face_intersection": [ + -29.463333988202677, + -14.858656592104847, + 0.11875468708548761 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847063064575195, + -14.897390365600586, + 0.0716017484664917 + ], + "box_pose": [ + -29.409770965576172, + -14.854619026184082, + 0.13599339127540588, + 0.0019815482664853334, + -0.007887487299740314, + 0.7119866609573364, + 0.7021459341049194 + ], + "box_yaw_rad": 1.584772566471976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004458255131373895 + } + } + }, + { + "simulation_time_ns": 2400000000, + "center": [ + -29.407979120481325, + -14.858733057804661, + 0.11877283793337427 + ], + "face_center": [ + -29.463290348238406, + -14.859498383630305, + 0.11832111903668222 + ], + "face_normal": [ + -0.9998710820673911, + -0.013834933565034513, + -0.00816580431028266 + ], + "footprint_xy": [ + [ + -29.465322834919764, + -14.938457607775254 + ], + [ + -29.35063540604289, + -14.938457607775254 + ], + [ + -29.35063540604289, + -14.77900850783407 + ], + [ + -29.465322834919764, + -14.77900850783407 + ] + ], + "projected_box_corners": [ + [ + -29.35063540604289, + -14.933407756981413 + ], + [ + -29.35254564040229, + -14.936926956123967 + ], + [ + -29.461257861557044, + -14.9349384086327 + ], + [ + -29.463168095916448, + -14.938457607775254 + ], + [ + -29.352790145046203, + -14.77900850783407 + ], + [ + -29.354700379405607, + -14.782527706976625 + ], + [ + -29.46341260056036, + -14.780539159485356 + ], + [ + -29.465322834919764, + -14.78405835862791 + ] + ], + "yaw_rad": 1.5847510522625121, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.836572647094727, + -14.886326789855957, + 0.0745205283164978 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463165880733932, + -14.859593641769017, + 0.1183846554215465 + ], + "intended_face_normal": [ + -0.9998787430992759, + -0.013842059482755964, + -0.007120882562760111 + ], + "commanded_contact_point": [ + -29.822368784770966, + -14.88233402536618, + 0.06937832811959732 + ], + "centerline_face_intersection": [ + -29.463179297012992, + -14.858827921749297, + 0.11877857096158377 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.841272354125977, + -14.892971992492676, + 0.07280170917510986 + ], + "box_pose": [ + -29.40959358215332, + -14.854815483093262, + 0.13602550327777863, + 0.002973292488604784, + -0.007933031767606735, + 0.7119776606559753, + 0.7021509408950806 + ], + "box_yaw_rad": 1.5847486743004258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005088757677555182 + } + } + }, + { + "simulation_time_ns": 2420000000, + "center": [ + -29.40808023698685, + -14.858620013201918, + 0.11878182740481741 + ], + "face_center": [ + -29.463391018582605, + -14.859386582213018, + 0.11828216072599354 + ], + "face_normal": [ + -0.9998630167283417, + -0.01385740685368586, + -0.009032565052123465 + ], + "footprint_xy": [ + [ + -29.465531102775973, + -14.938230781662055 + ], + [ + -29.35062937119773, + -14.938230781662055 + ], + [ + -29.35062937119773, + -14.779009244741783 + ], + [ + -29.465531102775973, + -14.779009244741783 + ] + ], + "projected_box_corners": [ + [ + -29.35062937119773, + -14.933410519273817 + ], + [ + -29.35275070278087, + -14.936697643639857 + ], + [ + -29.461250934389238, + -14.934943657296014 + ], + [ + -29.46337226597238, + -14.938230781662055 + ], + [ + -29.352788208001318, + -14.779009244741783 + ], + [ + -29.35490953958446, + -14.782296369107822 + ], + [ + -29.46340977119283, + -14.78054238276398 + ], + [ + -29.465531102775973, + -14.78382950713002 + ] + ], + "yaw_rad": 1.5847774039933569, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.83037567138672, + -14.883983612060547, + 0.07738636434078217 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463290348238406, + -14.859498383630305, + 0.11832111903668222 + ], + "intended_face_normal": [ + -0.9998710820673911, + -0.013834933565034513, + -0.00816580431028266 + ], + "commanded_contact_point": [ + -29.817795464098452, + -14.880444224404048, + 0.0717601639014292 + ], + "centerline_face_intersection": [ + -29.463304612214934, + -14.858733057804661, + 0.11877283793337427 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.836572647094727, + -14.886326789855957, + 0.0745205283164978 + ], + "box_pose": [ + -29.40973663330078, + -14.854706764221191, + 0.13601469993591309, + 0.00231568212620914, + -0.008018320426344872, + 0.7119776010513306, + 0.702152669429779 + ], + "box_yaw_rad": 1.5847510522625121, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005491789448051283 + } + } + }, + { + "simulation_time_ns": 2440000000, + "center": [ + -29.408185210757697, + -14.85850087375059, + 0.11878978785020128 + ], + "face_center": [ + -29.463495546330567, + -14.859267801064123, + 0.11824210116689143 + ], + "face_normal": [ + -0.9998549538918337, + -0.013863883951669598, + -0.009900631370541618 + ], + "footprint_xy": [ + [ + -29.465742081622132, + -14.937993123681185 + ], + [ + -29.350628339893262, + -14.937993123681185 + ], + [ + -29.350628339893262, + -14.779008623819994 + ], + [ + -29.465742081622132, + -14.779008623819994 + ] + ], + "projected_box_corners": [ + [ + -29.350628339893262, + -14.933411960988522 + ], + [ + -29.35296125439421, + -14.93645926905412 + ], + [ + -29.461249011039, + -14.934945815615587 + ], + [ + -29.46358192553995, + -14.937993123681185 + ], + [ + -29.35278849597545, + -14.779008623819994 + ], + [ + -29.355121410476396, + -14.782055931885592 + ], + [ + -29.463409167121185, + -14.780542478447058 + ], + [ + -29.465742081622132, + -14.783589786512657 + ] + ], + "yaw_rad": 1.5847857599426713, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.824901580810547, + -14.884373664855957, + 0.08077584207057953 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463391018582605, + -14.859386582213018, + 0.11828216072599354 + ], + "intended_face_normal": [ + -0.9998630167283417, + -0.01385740685368586, + -0.009032565052123465 + ], + "commanded_contact_point": [ + -29.81334718078613, + -14.878664016070415, + 0.07421121097125766 + ], + "centerline_face_intersection": [ + -29.46340617500044, + -14.858620013201918, + 0.11878182740481741 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83037567138672, + -14.883983612060547, + 0.07738636434078217 + ], + "box_pose": [ + -29.409852981567383, + -14.85457706451416, + 0.13601823151111603, + 0.0016626531723886728, + -0.007982875220477581, + 0.711987316608429, + 0.7021448612213135 + ], + "box_yaw_rad": 1.5847774039933569, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005381821055769736 + } + } + }, + { + "simulation_time_ns": 2460000000, + "center": [ + -29.408298832485553, + -14.858371901486462, + 0.11879758489517092 + ], + "face_center": [ + -29.46360865951041, + -14.859137835264052, + 0.11819873390531 + ], + "face_normal": [ + -0.9998457607772935, + -0.013845923622498812, + -0.010825537806883143 + ], + "footprint_xy": [ + [ + -29.465966606680205, + -14.937733339354802 + ], + [ + -29.3506310582909, + -14.937733339354802 + ], + [ + -29.3506310582909, + -14.779010463618123 + ], + [ + -29.465966606680205, + -14.779010463618123 + ] + ], + "projected_box_corners": [ + [ + -29.3506310582909, + -14.933415910277215 + ], + [ + -29.353189571657445, + -14.936201471799622 + ], + [ + -29.46125071234061, + -14.934947777832397 + ], + [ + -29.463809225707156, + -14.937733339354802 + ], + [ + -29.35278843926395, + -14.779010463618123 + ], + [ + -29.355346952630494, + -14.781796025140528 + ], + [ + -29.46340809331366, + -14.780542331173303 + ], + [ + -29.465966606680205, + -14.78332789269571 + ] + ], + "yaw_rad": 1.5847675994854427, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.820016860961914, + -14.886153221130371, + 0.08375534415245056 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463495546330567, + -14.859267801064123, + 0.11824210116689143 + ], + "intended_face_normal": [ + -0.9998549538918337, + -0.013863883951669598, + -0.009900631370541618 + ], + "commanded_contact_point": [ + -29.808922811968323, + -14.876977904746937, + 0.076714084631171 + ], + "centerline_face_intersection": [ + -29.463511594919993, + -14.85850087375059, + 0.11878978785020128 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.824901580810547, + -14.884373664855957, + 0.08077584207057953 + ], + "box_pose": [ + -29.40997314453125, + -14.854440689086914, + 0.13602057099342346, + 0.0009976460132747889, + -0.007936627604067326, + 0.7119908332824707, + 0.7021432518959045 + ], + "box_yaw_rad": 1.5847857599426713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005355594027616772 + } + } + }, + { + "simulation_time_ns": 2480000000, + "center": [ + -29.408417066746022, + -14.858235638323384, + 0.11880508498848483 + ], + "face_center": [ + -29.46372627034802, + -14.859001758651237, + 0.1181517984274529 + ], + "face_normal": [ + -0.9998344910493837, + -0.013849295925371097, + -0.011809579486245947 + ], + "footprint_xy": [ + [ + -29.46620428869792, + -14.937458100770092 + ], + [ + -29.35062984479412, + -14.937458100770092 + ], + [ + -29.35062984479412, + -14.779013175876676 + ], + [ + -29.46620428869792, + -14.779013175876676 + ] + ], + "projected_box_corners": [ + [ + -29.35062984479412, + -14.933420592340712 + ], + [ + -29.353428342445184, + -14.935925860114388 + ], + [ + -29.461248251998118, + -14.934952832996416 + ], + [ + -29.46404674964918, + -14.937458100770092 + ], + [ + -29.352787383842863, + -14.779013175876676 + ], + [ + -29.355585881493926, + -14.781518443650354 + ], + [ + -29.463405791046856, + -14.78054541653238 + ], + [ + -29.46620428869792, + -14.783050684306058 + ] + ], + "yaw_rad": 1.5847684448317165, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.815515518188477, + -14.887001991271973, + 0.08668476343154907 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46360865951041, + -14.859137835264052, + 0.11819873390531 + ], + "intended_face_normal": [ + -0.9998457607772935, + -0.013845923622498812, + -0.010825537806883143 + ], + "commanded_contact_point": [ + -29.80455619113922, + -14.875355985553071, + 0.07925619909822074 + ], + "centerline_face_intersection": [ + -29.463625725348095, + -14.858371901486462, + 0.11879758489517092 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.820016860961914, + -14.886153221130371, + 0.08375534415245056 + ], + "box_pose": [ + -29.41010284423828, + -14.854292869567871, + 0.13602223992347717, + 0.0002798454079311341, + -0.00787834171205759, + 0.711985170841217, + 0.7021504044532776 + ], + "box_yaw_rad": 1.5847675994854427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005306632199443414 + } + } + }, + { + "simulation_time_ns": 2500000000, + "center": [ + -29.408545306906134, + -14.858083340689046, + 0.11881194043961775 + ], + "face_center": [ + -29.46385375563411, + -14.85885021130327, + 0.11809976715546666 + ], + "face_normal": [ + -0.9998208450548981, + -0.013862858988038296, + -0.012874085445563094 + ], + "footprint_xy": [ + [ + -29.46646223575255, + -14.937152667432672 + ], + [ + -29.350628378059717, + -14.937152667432672 + ], + [ + -29.350628378059717, + -14.77901401394542 + ], + [ + -29.46646223575255, + -14.77901401394542 + ] + ], + "projected_box_corners": [ + [ + -29.350628378059717, + -14.933423305587366 + ], + [ + -29.353686555612345, + -14.93561892620422 + ], + [ + -29.46124527551566, + -14.934957046815818 + ], + [ + -29.46430345306829, + -14.937152667432672 + ], + [ + -29.35278716074398, + -14.77901401394542 + ], + [ + -29.355845338296607, + -14.781209634562273 + ], + [ + -29.463404058199924, + -14.78054775517387 + ], + [ + -29.46646223575255, + -14.782743375790725 + ] + ], + "yaw_rad": 1.5847763277499705, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.811424255371094, + -14.88634204864502, + 0.0892724096775055 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46372627034802, + -14.859001758651237, + 0.1181517984274529 + ], + "intended_face_normal": [ + -0.9998344910493837, + -0.013849295925371097, + -0.011809579486245947 + ], + "commanded_contact_point": [ + -29.800063751778602, + -14.87379916811327, + 0.08182449635984418 + ], + "centerline_face_intersection": [ + -29.46374458323081, + -14.858235638323384, + 0.11880508498848483 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.815515518188477, + -14.887001991271973, + 0.08668476343154907 + ], + "box_pose": [ + -29.41023826599121, + -14.85413646697998, + 0.13602314889431, + -0.0004865278024226427, + -0.007813598029315472, + 0.711986243724823, + 0.7021498680114746 + ], + "box_yaw_rad": 1.5847684448317165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005403872942044325 + } + } + }, + { + "simulation_time_ns": 2520000000, + "center": [ + -29.408686870354593, + -14.85791351989422, + 0.11881892958911375 + ], + "face_center": [ + -29.46399443750334, + -14.858681585147709, + 0.11804179981375436 + ], + "face_normal": [ + -0.9998049085876517, + -0.013884454698363413, + -0.014048315701976899 + ], + "footprint_xy": [ + [ + -29.466747097351703, + -14.936812584102698 + ], + [ + -29.35062664335748, + -14.936812584102698 + ], + [ + -29.35062664335748, + -14.779014455685742 + ], + [ + -29.466747097351703, + -14.779014455685742 + ] + ], + "projected_box_corners": [ + [ + -29.35062664335748, + -14.9334255997622 + ], + [ + -29.353971312140075, + -14.935276453595721 + ], + [ + -29.46124177765498, + -14.934961730269178 + ], + [ + -29.464586446437576, + -14.936812584102698 + ], + [ + -29.352787294271607, + -14.779014455685742 + ], + [ + -29.356131963054203, + -14.780865309519264 + ], + [ + -29.463402428569108, + -14.780550586192719 + ], + [ + -29.466747097351703, + -14.78240144002624 + ] + ], + "yaw_rad": 1.584788256751617, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.80786895751953, + -14.884166717529297, + 0.09135368466377258 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46385375563411, + -14.85885021130327, + 0.11809976715546666 + ], + "intended_face_normal": [ + -0.9998208450548981, + -0.013862858988038296, + -0.012874085445563094 + ], + "commanded_contact_point": [ + -29.795637474060058, + -14.872443960688761, + 0.08440598176820878 + ], + "centerline_face_intersection": [ + -29.46387357852519, + -14.858083340689046, + 0.11881194043961775 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.811424255371094, + -14.88634204864502, + 0.0892724096775055 + ], + "box_pose": [ + -29.410385131835938, + -14.853961944580078, + 0.13602271676063538, + -0.001325124059803784, + -0.0077341157011687756, + 0.7119899392127991, + 0.7021456956863403 + ], + "box_yaw_rad": 1.5847763277499705, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005300244194253953 + } + } + }, + { + "simulation_time_ns": 2540000000, + "center": [ + -29.40884512713518, + -14.857722266599888, + 0.11882515221770823 + ], + "face_center": [ + -29.46415161663129, + -14.858491267882165, + 0.11797540556638031 + ], + "face_normal": [ + -0.9997854276657133, + -0.01390137546029635, + -0.015361024121140598 + ], + "footprint_xy": [ + [ + -29.467064615186214, + -14.93642730296393 + ], + [ + -29.350625639084146, + -14.93642730296393 + ], + [ + -29.350625639084146, + -14.779017230235848 + ], + [ + -29.467064615186214, + -14.779017230235848 + ] + ], + "projected_box_corners": [ + [ + -29.350625639084146, + -14.933430086971097 + ], + [ + -29.354290698921137, + -14.934889300399377 + ], + [ + -29.461238618076372, + -14.93496808953565 + ], + [ + -29.464903677913362, + -14.93642730296393 + ], + [ + -29.352786576356998, + -14.779017230235848 + ], + [ + -29.356451636193988, + -14.780476443664128 + ], + [ + -29.463399555349223, + -14.7805552328004 + ], + [ + -29.467064615186214, + -14.78201444622868 + ] + ], + "yaw_rad": 1.5847899557188514, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.803922653198242, + -14.880295753479004, + 0.09294542670249939 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46399443750334, + -14.858681585147709, + 0.11804179981375436 + ], + "intended_face_normal": [ + -0.9998049085876517, + -0.013884454698363413, + -0.014048315701976899 + ], + "commanded_contact_point": [ + -29.791349121787547, + -14.87135681931682, + 0.08698801062270618 + ], + "centerline_face_intersection": [ + -29.46401602388289, + -14.85791351989422, + 0.11881892958911375 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.80786895751953, + -14.884166717529297, + 0.09135368466377258 + ], + "box_pose": [ + -29.410547256469727, + -14.853767395019531, + 0.13602155447006226, + -0.002254930092021823, + -0.007641741540282965, + 0.7119951844215393, + 0.702139139175415 + ], + "box_yaw_rad": 1.584788256751617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005122373920477803 + } + } + }, + { + "simulation_time_ns": 2560000000, + "center": [ + -29.4090199505747, + -14.857505694403448, + 0.1188309903332329 + ], + "face_center": [ + -29.464325116622316, + -14.858276723705803, + 0.1179008640939519 + ], + "face_normal": [ + -0.999761503447583, + -0.013938036346557547, + -0.016814060490822236 + ], + "footprint_xy": [ + [ + -29.467416591111505, + -14.93599438471815 + ], + [ + -29.350623310037896, + -14.93599438471815 + ], + [ + -29.350623310037896, + -14.779017004088747 + ], + [ + -29.467416591111505, + -14.779017004088747 + ] + ], + "projected_box_corners": [ + [ + -29.350623310037896, + -14.93343123511273 + ], + [ + -29.35464306886473, + -14.93445232611344 + ], + [ + -29.46123364213313, + -14.934973293717437 + ], + [ + -29.465253400959966, + -14.93599438471815 + ], + [ + -29.352786500189435, + -14.779017004088747 + ], + [ + -29.356806259016267, + -14.78003809508946 + ], + [ + -29.46339683228467, + -14.780559062693456 + ], + [ + -29.467416591111505, + -14.781580153694168 + ] + ], + "yaw_rad": 1.5848044181703416, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.79869842529297, + -14.875435829162598, + 0.09615938365459442 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46415161663129, + -14.858491267882165, + 0.11797540556638031 + ], + "intended_face_normal": [ + -0.9997854276657133, + -0.01390137546029635, + -0.015361024121140598 + ], + "commanded_contact_point": [ + -29.787034939594268, + -14.870464248868881, + 0.08955726130650284 + ], + "centerline_face_intersection": [ + -29.46417535875773, + -14.857722266599888, + 0.11882515221770823 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.803922653198242, + -14.880295753479004, + 0.09294542670249939 + ], + "box_pose": [ + -29.410728454589844, + -14.853548049926758, + 0.13601848483085632, + -0.003303621895611286, + -0.007529421243816614, + 0.7119970321655273, + 0.702134370803833 + ], + "box_yaw_rad": 1.5847899557188514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005099990105631166 + } + } + }, + { + "simulation_time_ns": 2580000000, + "center": [ + -29.409216362939787, + -14.857261711263678, + 0.11883589465108085 + ], + "face_center": [ + -29.46451988870876, + -14.858035822858046, + 0.11781536696760189 + ], + "face_normal": [ + -0.9997318518334466, + -0.013993755497534233, + -0.018448263770988793 + ], + "footprint_xy": [ + [ + -29.467812727239433, + -14.935506248099546 + ], + [ + -29.350619998640138, + -14.935506248099546 + ], + [ + -29.350619998640138, + -14.77901717442781 + ], + [ + -29.467812727239433, + -14.77901717442781 + ] + ], + "projected_box_corners": [ + [ + -29.350619998640138, + -14.933432305253994 + ], + [ + -29.35503873970001, + -14.933958024910812 + ], + [ + -29.46122705017809, + -14.934980528442729 + ], + [ + -29.465645791237957, + -14.935506248099546 + ], + [ + -29.352786934641617, + -14.77901717442781 + ], + [ + -29.357205675701486, + -14.77954289408463 + ], + [ + -29.463393986179565, + -14.780565397616545 + ], + [ + -29.467812727239433, + -14.781091117273364 + ] + ], + "yaw_rad": 1.5848285900944659, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.79342269897461, + -14.872182846069336, + 0.09984889626502991 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464325116622316, + -14.858276723705803, + 0.1179008640939519 + ], + "intended_face_normal": [ + -0.999761503447583, + -0.013938036346557547, + -0.016814060490822236 + ], + "commanded_contact_point": [ + -29.782717050569055, + -14.86965555038549, + 0.09210091295381614 + ], + "centerline_face_intersection": [ + -29.46435150624556, + -14.857505694403448, + 0.1188309903332329 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.79869842529297, + -14.875435829162598, + 0.09615938365459442 + ], + "box_pose": [ + -29.41092872619629, + -14.853300094604492, + 0.13601386547088623, + -0.0044713267125189304, + -0.007398292422294617, + 0.7120035290718079, + 0.702122688293457 + ], + "box_yaw_rad": 1.5848044181703416, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0050762508383622165 + } + } + }, + { + "simulation_time_ns": 2600000000, + "center": [ + -29.409441476382298, + -14.857011168003668, + 0.11884829728304311 + ], + "face_center": [ + -29.46474298824657, + -14.857788106778264, + 0.11772523621954831 + ], + "face_normal": [ + -0.9996954461133721, + -0.014044862946610781, + -0.02030177825225704 + ], + "footprint_xy": [ + [ + -29.468262639100107, + -14.935003467898087 + ], + [ + -29.35062031366449, + -14.935003467898087 + ], + [ + -29.35062031366449, + -14.779018868109247 + ], + [ + -29.468262639100107, + -14.779018868109247 + ] + ], + "projected_box_corners": [ + [ + -29.35062031366449, + -14.93343429481779 + ], + [ + -29.35549090554498, + -14.933449590348893 + ], + [ + -29.46122333739303, + -14.934988172366985 + ], + [ + -29.466093929273523, + -14.935003467898087 + ], + [ + -29.352789023491077, + -14.779018868109247 + ], + [ + -29.357659615371567, + -14.779034163640349 + ], + [ + -29.463392047219617, + -14.780572745658441 + ], + [ + -29.468262639100107, + -14.780588041189544 + ] + ], + "yaw_rad": 1.5848400483033822, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.788806915283203, + -14.872001647949219, + 0.10308918356895447 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46451988870876, + -14.858035822858046, + 0.11781536696760189 + ], + "intended_face_normal": [ + -0.9997318518334466, + -0.013993755497534233, + -0.018448263770988793 + ], + "commanded_contact_point": [ + -29.778440920410155, + -14.868907902131284, + 0.09460567179788049 + ], + "centerline_face_intersection": [ + -29.46454955972065, + -14.857261711263678, + 0.11883589465108085 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.79342269897461, + -14.872182846069336, + 0.09984889626502991 + ], + "box_pose": [ + -29.41115379333496, + -14.853020668029785, + 0.13600684702396393, + -0.005788605194538832, + -0.007246949709951878, + 0.7120136022567749, + 0.702104389667511 + ], + "box_yaw_rad": 1.5848285900944659, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005011794480501682 + } + } + }, + { + "simulation_time_ns": 2620000000, + "center": [ + -29.409641171103765, + -14.856796303693146, + 0.1188628020641318 + ], + "face_center": [ + -29.464940700254687, + -14.857573831790056, + 0.11764666715801025 + ], + "face_normal": [ + -0.9996596042450805, + -0.014055516232805765, + -0.021984290962842823 + ], + "footprint_xy": [ + [ + -29.468662950104715, + -14.93499146653503 + ], + [ + -29.350619392102814, + -14.93499146653503 + ], + [ + -29.350619392102814, + -14.778601140851261 + ], + [ + -29.468662950104715, + -14.778601140851261 + ] + ], + "projected_box_corners": [ + [ + -29.350619392102814, + -14.933436410341209 + ], + [ + -29.35589976438845, + -14.933016291365218 + ], + [ + -29.461218450404658, + -14.93499146653503 + ], + [ + -29.466498822690298, + -14.93457134755904 + ], + [ + -29.35278351951723, + -14.779021259827251 + ], + [ + -29.358063891802868, + -14.778601140851261 + ], + [ + -29.463382577819075, + -14.780576316021074 + ], + [ + -29.468662950104715, + -14.780156197045084 + ] + ], + "yaw_rad": 1.5848104033361745, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.78538703918457, + -14.87429428100586, + 0.10568162798881531 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46474298824657, + -14.857788106778264, + 0.11772523621954831 + ], + "intended_face_normal": [ + -0.9996954461133721, + -0.014044862946610781, + -0.02030177825225704 + ], + "commanded_contact_point": [ + -29.77423556894064, + -14.868192054098872, + 0.09706427185009694 + ], + "centerline_face_intersection": [ + -29.464776688221725, + -14.857011168003668, + 0.11884829728304311 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.788806915283203, + -14.872001647949219, + 0.10308918356895447 + ], + "box_pose": [ + -29.41141128540039, + -14.852733612060547, + 0.13600650429725647, + -0.007206375245004892, + -0.007150633726269007, + 0.712018609046936, + 0.7020873427391052 + ], + "box_yaw_rad": 1.5848400483033822, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004923630124656293 + } + } + }, + { + "simulation_time_ns": 2640000000, + "center": [ + -29.40980248854033, + -14.856615482609596, + 0.11887762221245018 + ], + "face_center": [ + -29.465100269414826, + -14.857396622563297, + 0.11758666777161345 + ], + "face_normal": [ + -0.9996280003354262, + -0.014120808422160458, + -0.023336817243112984 + ], + "footprint_xy": [ + [ + -29.468989427288044, + -14.934996999388519 + ], + [ + -29.350615549792618, + -14.934996999388519 + ], + [ + -29.350615549792618, + -14.778233965830674 + ], + [ + -29.468989427288044, + -14.778233965830674 + ] + ], + "projected_box_corners": [ + [ + -29.350615549792618, + -14.933434719481118 + ], + [ + -29.356225601362986, + -14.932648377731267 + ], + [ + -29.461211111541605, + -14.934996999388519 + ], + [ + -29.466821163111973, + -14.934210657638667 + ], + [ + -29.35278381396869, + -14.779020307580526 + ], + [ + -29.358393865539057, + -14.778233965830674 + ], + [ + -29.463379375717675, + -14.780582587487926 + ], + [ + -29.468989427288044, + -14.779796245738074 + ] + ], + "yaw_rad": 1.5848372550871723, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.782621383666992, + -14.877424240112305, + 0.1080511063337326 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464940700254687, + -14.857573831790056, + 0.11764666715801025 + ], + "intended_face_normal": [ + -0.9996596042450805, + -0.014055516232805765, + -0.021984290962842823 + ], + "commanded_contact_point": [ + -29.770140997543336, + -14.867439947515603, + 0.0994607161892871 + ], + "centerline_face_intersection": [ + -29.46497836693591, + -14.856796303693146, + 0.1188628020641318 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.78538703918457, + -14.87429428100586, + 0.10568162798881531 + ], + "box_pose": [ + -29.411640167236328, + -14.852487564086914, + 0.1360098272562027, + -0.00845181755721569, + -0.007104211486876011, + 0.7120086550712585, + 0.702083945274353 + ], + "box_yaw_rad": 1.5848104033361745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0048035533421671465 + } + } + }, + { + "simulation_time_ns": 2660000000, + "center": [ + -29.40992563138432, + -14.856476187345615, + 0.11889084038619882 + ], + "face_center": [ + -29.46522201630172, + -14.857259814824706, + 0.11754294451133661 + ], + "face_normal": [ + -0.9996027653662443, + -0.014165775869191988, + -0.02436615785915508 + ], + "footprint_xy": [ + [ + -29.46923762502322, + -14.934999736153534 + ], + [ + -29.35061363774542, + -14.934999736153534 + ], + [ + -29.35061363774542, + -14.777952638537696 + ], + [ + -29.46923762502322, + -14.777952638537696 + ] + ], + "projected_box_corners": [ + [ + -29.35061363774542, + -14.933432481195352 + ], + [ + -29.35647462441122, + -14.932366250581552 + ], + [ + -29.461206407580224, + -14.934999736153534 + ], + [ + -29.467067394246023, + -14.933933505539734 + ], + [ + -29.352783868522614, + -14.779018869151496 + ], + [ + -29.358644855188412, + -14.777952638537696 + ], + [ + -29.463376638357417, + -14.780586124109679 + ], + [ + -29.46923762502322, + -14.779519893495879 + ] + ], + "yaw_rad": 1.5848500612271916, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.780155181884766, + -14.880609512329102, + 0.10563106834888458 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465100269414826, + -14.857396622563297, + 0.11758666777161345 + ], + "intended_face_normal": [ + -0.9996280003354262, + -0.014120808422160458, + -0.023336817243112984 + ], + "commanded_contact_point": [ + -29.76644274494171, + -14.86665608834913, + 0.10178089956071955 + ], + "centerline_face_intersection": [ + -29.46514143389503, + -14.856615482609596, + 0.11887762221245018 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.782621383666992, + -14.877424240112305, + 0.1080511063337326 + ], + "box_pose": [ + -29.41182518005371, + -14.852280616760254, + 0.13601528108119965, + -0.009477325715124607, + -0.00704299658536911, + 0.7120186686515808, + 0.7020612955093384 + ], + "box_yaw_rad": 1.5848372550871723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0044356237865011165 + } + } + }, + { + "simulation_time_ns": 2680000000, + "center": [ + -29.410017861153115, + -14.856377893097493, + 0.11890022830801594 + ], + "face_center": [ + -29.465313238294883, + -14.857162102783523, + 0.11751192406034351 + ], + "face_normal": [ + -0.9995845476235721, + -0.014176300529441965, + -0.02509662733316098 + ], + "footprint_xy": [ + [ + -29.46941680701697, + -14.935001275059765 + ], + [ + -29.350618915289264, + -14.935001275059765 + ], + [ + -29.350618915289264, + -14.777754511135223 + ], + [ + -29.46941680701697, + -14.777754511135223 + ] + ], + "projected_box_corners": [ + [ + -29.350618915289264, + -14.933432855687709 + ], + [ + -29.356657965010164, + -14.932167477746596 + ], + [ + -29.4612096695728, + -14.935001275059765 + ], + [ + -29.4672487192937, + -14.933735897118652 + ], + [ + -29.35278700301253, + -14.779019889076334 + ], + [ + -29.358826052733434, + -14.777754511135223 + ], + [ + -29.463377757296065, + -14.780588308448392 + ], + [ + -29.46941680701697, + -14.779322930507279 + ] + ], + "yaw_rad": 1.5848362439837038, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.776748657226562, + -14.881901741027832, + 0.10432611405849457 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46522201630172, + -14.857259814824706, + 0.11754294451133661 + ], + "intended_face_normal": [ + -0.9996027653662443, + -0.014165775869191988, + -0.02436615785915508 + ], + "commanded_contact_point": [ + -29.76287797973633, + -14.865777341560115, + 0.10401042626567676 + ], + "centerline_face_intersection": [ + -29.465265973770553, + -14.856476187345615, + 0.11889084038619882 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.780155181884766, + -14.880609512329102, + 0.10563106834888458 + ], + "box_pose": [ + -29.41196632385254, + -14.852121353149414, + 0.13602130115032196, + -0.010259552858769894, + -0.006994716823101044, + 0.7120236158370972, + 0.702045738697052 + ], + "box_yaw_rad": 1.5848500612271916, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004295408736872623 + } + } + }, + { + "simulation_time_ns": 2700000000, + "center": [ + -29.410076306150355, + -14.856311920734376, + 0.11890633183379212 + ], + "face_center": [ + -29.465370999101307, + -14.857097552029016, + 0.11749178348396208 + ], + "face_normal": [ + -0.9995721793822857, + -0.014201999205792237, + -0.02557104672116406 + ], + "footprint_xy": [ + [ + -29.469533111421942, + -14.935002194926653 + ], + [ + -29.350619500878768, + -14.935002194926653 + ], + [ + -29.350619500878768, + -14.777621646542096 + ], + [ + -29.469533111421942, + -14.777621646542096 + ] + ], + "projected_box_corners": [ + [ + -29.350619500878768, + -14.933430932337375 + ], + [ + -29.356774254496454, + -14.932034090367003 + ], + [ + -29.46120888678067, + -14.935002194926653 + ], + [ + -29.467363640398357, + -14.933605352956281 + ], + [ + -29.352788971902353, + -14.77901848851247 + ], + [ + -29.35894372552004, + -14.777621646542096 + ], + [ + -29.463378357804256, + -14.780589751101749 + ], + [ + -29.469533111421942, + -14.779192909131377 + ] + ], + "yaw_rad": 1.5848452482217328, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.773550033569336, + -14.878798484802246, + 0.10615739226341248 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465313238294883, + -14.857162102783523, + 0.11751192406034351 + ], + "intended_face_normal": [ + -0.9995845476235721, + -0.014176300529441965, + -0.02509662733316098 + ], + "commanded_contact_point": [ + -29.758712877962587, + -14.86469077176295, + 0.10613429835669645 + ], + "centerline_face_intersection": [ + -29.465359212134487, + -14.856377893097493, + 0.11890022830801594 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.776748657226562, + -14.881901741027832, + 0.10432611405849457 + ], + "box_pose": [ + -29.412071228027344, + -14.852008819580078, + 0.1360255479812622, + -0.010815341025590897, + -0.006959766149520874, + 0.7120190858840942, + 0.7020423412322998 + ], + "box_yaw_rad": 1.5848362439837038, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004799952017339935 + } + } + }, + { + "simulation_time_ns": 2720000000, + "center": [ + -29.410103123553984, + -14.85628532243884, + 0.11891009037695704 + ], + "face_center": [ + -29.46539751740622, + -14.857069368680719, + 0.11748328059587221 + ], + "face_normal": [ + -0.9995667725206561, + -0.014173345919957558, + -0.025792698834732453 + ], + "footprint_xy": [ + [ + -29.469583808337372, + -14.935000990928168 + ], + [ + -29.350622438770593, + -14.935000990928168 + ], + [ + -29.350622438770593, + -14.777569653949511 + ], + [ + -29.469583808337372, + -14.777569653949511 + ] + ], + "projected_box_corners": [ + [ + -29.350622438770593, + -14.93343289844441 + ], + [ + -29.356831086561456, + -14.931981935425812 + ], + [ + -29.46121122647507, + -14.935000990928168 + ], + [ + -29.467419874265932, + -14.93355002790957 + ], + [ + -29.352786372842033, + -14.779020616968108 + ], + [ + -29.358995020632896, + -14.777569653949511 + ], + [ + -29.463375160546512, + -14.780588709451866 + ], + [ + -29.469583808337372, + -14.77913774643327 + ] + ], + "yaw_rad": 1.5848094118129772, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.771163940429688, + -14.874048233032227, + 0.10896125435829163 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465370999101307, + -14.857097552029016, + 0.11749178348396208 + ], + "intended_face_normal": [ + -0.9995721793822857, + -0.014201999205792237, + -0.02557104672116406 + ], + "commanded_contact_point": [ + -29.754397494792936, + -14.863497390511368, + 0.10813972109363709 + ], + "centerline_face_intersection": [ + -29.465418341899866, + -14.856311920734376, + 0.11890633183379212 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.773550033569336, + -14.878798484802246, + 0.10615739226341248 + ], + "box_pose": [ + -29.412137985229492, + -14.851933479309082, + 0.1360282599925995, + -0.01117957103997469, + -0.00693389680236578, + 0.7120224833488464, + 0.7020334601402283 + ], + "box_yaw_rad": 1.5848452482217328, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004905956692264109 + } + } + }, + { + "simulation_time_ns": 2740000000, + "center": [ + -29.410098096989554, + -14.856291982655055, + 0.11891063747467519 + ], + "face_center": [ + -29.465392558985155, + -14.85707528707212, + 0.11748586014763865 + ], + "face_normal": [ + -0.9995680043605386, + -0.014159935818460978, + -0.02575595779478601 + ], + "footprint_xy": [ + [ + -29.469573433518754, + -14.935000032146547 + ], + [ + -29.350622760460354, + -14.935000032146547 + ], + [ + -29.350622760460354, + -14.777583933163562 + ], + [ + -29.469573433518754, + -14.777583933163562 + ] + ], + "projected_box_corners": [ + [ + -29.350622760460354, + -14.933433423312414 + ], + [ + -29.35682237877363, + -14.931996312236198 + ], + [ + -29.461211684451555, + -14.935000032146547 + ], + [ + -29.467411302764827, + -14.933562921070331 + ], + [ + -29.35278489121428, + -14.779021044239778 + ], + [ + -29.358984509527556, + -14.777583933163562 + ], + [ + -29.46337381520548, + -14.78058765307391 + ], + [ + -29.469573433518754, + -14.779150541997694 + ] + ], + "yaw_rad": 1.5847977266671256, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.76763343811035, + -14.871166229248047, + 0.11213569343090057 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46539751740622, + -14.857069368680719, + 0.11748328059587221 + ], + "intended_face_normal": [ + -0.9995667725206561, + -0.014173345919957558, + -0.025792698834732453 + ], + "commanded_contact_point": [ + -29.750496061971184, + -14.86229064134101, + 0.11001423522630283 + ], + "centerline_face_intersection": [ + -29.465445458659918, + -14.85628532243884, + 0.11891009037695704 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.771163940429688, + -14.874048233032227, + 0.10896125435829163 + ], + "box_pose": [ + -29.412168502807617, + -14.851902961730957, + 0.13603056967258453, + -0.011338678188621998, + -0.006932632531970739, + 0.7120099067687988, + 0.7020435929298401 + ], + "box_yaw_rad": 1.5848094118129772, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004493464682888989 + } + } + }, + { + "simulation_time_ns": 2760000000, + "center": [ + -29.41006498340576, + -14.85633639918727, + 0.11890862841411012 + ], + "face_center": [ + -29.465359851465294, + -14.857118871285325, + 0.11749974152944664 + ], + "face_normal": [ + -0.9995753448518706, + -0.014144889836907204, + -0.025468703389950553 + ], + "footprint_xy": [ + [ + -29.4695053414611, + -14.935000799470783 + ], + [ + -29.35062462535042, + -14.935000799470783 + ], + [ + -29.35062462535042, + -14.777671998903758 + ], + [ + -29.4695053414611, + -14.777671998903758 + ] + ], + "projected_box_corners": [ + [ + -29.35062462535042, + -14.933435855274677 + ], + [ + -29.35675410143123, + -14.932084696488797 + ], + [ + -29.46121436146949, + -14.935000799470783 + ], + [ + -29.4673438375503, + -14.933649640684903 + ], + [ + -29.35278612926122, + -14.77902315768964 + ], + [ + -29.358915605342027, + -14.777671998903758 + ], + [ + -29.463375865380293, + -14.780588101885746 + ], + [ + -29.4695053414611, + -14.779236943099864 + ] + ], + "yaw_rad": 1.5847936390543254, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.76254653930664, + -14.867846488952637, + 0.11576096713542938 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465392558985155, + -14.85707528707212, + 0.11748586014763865 + ], + "intended_face_normal": [ + -0.9995680043605386, + -0.014159935818460978, + -0.02575595779478601 + ], + "commanded_contact_point": [ + -29.746798054809567, + -14.861127783695256, + 0.11174393357937616 + ], + "centerline_face_intersection": [ + -29.465440363893126, + -14.856291982655055, + 0.11891063747467519 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.76763343811035, + -14.871166229248047, + 0.11213569343090057 + ], + "box_pose": [ + -29.41216278076172, + -14.851910591125488, + 0.13603144884109497, + -0.011304955929517746, + -0.006940046790987253, + 0.7120057344436646, + 0.7020483613014221 + ], + "box_yaw_rad": 1.5847977266671256, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004244920642872477 + } + } + }, + { + "simulation_time_ns": 2780000000, + "center": [ + -29.410011215960292, + -14.856396252204316, + 0.11890575975932197 + ], + "face_center": [ + -29.4653066858437, + -14.85717864515008, + 0.11752010275450137 + ], + "face_normal": [ + -0.9995862241310314, + -0.014143458986652258, + -0.025048772644663098 + ], + "footprint_xy": [ + [ + -29.469402018047177, + -14.934999231336807 + ], + [ + -29.350620413873408, + -14.934999231336807 + ], + [ + -29.350620413873408, + -14.777793273071824 + ], + [ + -29.469402018047177, + -14.777793273071824 + ] + ], + "projected_box_corners": [ + [ + -29.350620413873408, + -14.933434445445279 + ], + [ + -29.356647414511276, + -14.932206438228622 + ], + [ + -29.461211353640227, + -14.934999231336807 + ], + [ + -29.467238354278095, + -14.933771224120152 + ], + [ + -29.35278407764249, + -14.779021280288479 + ], + [ + -29.358811078280358, + -14.777793273071824 + ], + [ + -29.46337501740931, + -14.780586066180009 + ], + [ + -29.469402018047177, + -14.779358058963354 + ] + ], + "yaw_rad": 1.58480758145893, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.756433486938477, + -14.863425254821777, + 0.12030690908432007 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465359851465294, + -14.857118871285325, + 0.11749974152944664 + ], + "intended_face_normal": [ + -0.9995753448518706, + -0.014144889836907204, + -0.025468703389950553 + ], + "commanded_contact_point": [ + -29.743162721936702, + -14.860073820893334, + 0.11331626259984359 + ], + "centerline_face_intersection": [ + -29.46540684389732, + -14.85633639918727, + 0.11890862841411012 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.76254653930664, + -14.867846488952637, + 0.11576096713542938 + ], + "box_pose": [ + -29.412124633789062, + -14.851961135864258, + 0.1360316127538681, + -0.01107499934732914, + -0.006965004839003086, + 0.7120040655136108, + 0.7020533084869385 + ], + "box_yaw_rad": 1.5847936390543254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004098621869966655 + } + } + }, + { + "simulation_time_ns": 2800000000, + "center": [ + -29.40995317484776, + -14.856466166856562, + 0.11890151090628481 + ], + "face_center": [ + -29.465249338697358, + -14.857248090001933, + 0.11754361589327332 + ], + "face_normal": [ + -0.9995987690835101, + -0.014134966319886422, + -0.02454691409051124 + ], + "footprint_xy": [ + [ + -29.469284150439414, + -14.934997610121297 + ], + [ + -29.350622199256108, + -14.934997610121297 + ], + [ + -29.350622199256108, + -14.777934723591825 + ], + [ + -29.469284150439414, + -14.777934723591825 + ] + ], + "projected_box_corners": [ + [ + -29.350622199256108, + -14.933433763830552 + ], + [ + -29.356526786207603, + -14.932348346030944 + ], + [ + -29.461214526955303, + -14.934997610121297 + ], + [ + -29.4671191139068, + -14.93391219232169 + ], + [ + -29.35278723578872, + -14.779020141391433 + ], + [ + -29.358691822740216, + -14.777934723591825 + ], + [ + -29.46337956348792, + -14.780583987682178 + ], + [ + -29.469284150439414, + -14.779498569882572 + ] + ], + "yaw_rad": 1.5848164283961697, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.74952507019043, + -14.858372688293457, + 0.12439277768135071 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.4653066858437, + -14.85717864515008, + 0.11752010275450137 + ], + "intended_face_normal": [ + -0.9995862241310314, + -0.014143458986652258, + -0.025048772644663098 + ], + "commanded_contact_point": [ + -29.739669651756287, + -14.85914248870935, + 0.11471973399395986 + ], + "centerline_face_intersection": [ + -29.465352474123073, + -14.856396252204316, + 0.11890575975932197 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.756433486938477, + -14.863425254821777, + 0.12030690908432007 + ], + "box_pose": [ + -29.412063598632812, + -14.852029800415039, + 0.1360318660736084, + -0.010742653161287308, + -0.006997762247920036, + 0.7120086550712585, + 0.7020536661148071 + ], + "box_yaw_rad": 1.58480758145893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003877969942680026 + } + } + }, + { + "simulation_time_ns": 2820000000, + "center": [ + -29.409888535857952, + -14.856546970590266, + 0.1188972000689735 + ], + "face_center": [ + -29.465185466470015, + -14.85732886746671, + 0.11757046127173505 + ], + "face_normal": [ + -0.9996126299874329, + -0.014134491451705866, + -0.0239836975350059 + ], + "footprint_xy": [ + [ + -29.4691530085474, + -14.934996887943697 + ], + [ + -29.350624063168503, + -14.934996887943697 + ], + [ + -29.350624063168503, + -14.778097053236833 + ], + [ + -29.4691530085474, + -14.778097053236833 + ] + ], + "projected_box_corners": [ + [ + -29.350624063168503, + -14.933433094190809 + ], + [ + -29.356391230074294, + -14.932511145153889 + ], + [ + -29.461217924392628, + -14.934996887943697 + ], + [ + -29.46698509129842, + -14.934074938906777 + ], + [ + -29.35279198041749, + -14.779019002273753 + ], + [ + -29.358559147323277, + -14.778097053236833 + ], + [ + -29.46338584164161, + -14.780582796026643 + ], + [ + -29.4691530085474, + -14.779660846989723 + ] + ], + "yaw_rad": 1.5848350378903664, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.743196487426758, + -14.853822708129883, + 0.12719278037548065 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465249338697358, + -14.857248090001933, + 0.11754361589327332 + ], + "intended_face_normal": [ + -0.9995987690835101, + -0.014134966319886422, + -0.02454691409051124 + ], + "commanded_contact_point": [ + -29.736412139236926, + -14.858359528733631, + 0.11594089898147351 + ], + "centerline_face_intersection": [ + -29.46529373847842, + -14.856466166856562, + 0.11890151090628481 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.74952507019043, + -14.858372688293457, + 0.12439277768135071 + ], + "box_pose": [ + -29.411996841430664, + -14.852109909057617, + 0.13603125512599945, + -0.010352245531976223, + -0.007030220236629248, + 0.712011456489563, + 0.702056348323822 + ], + "box_yaw_rad": 1.5848164283961697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035659021388851756 + } + } + }, + { + "simulation_time_ns": 2840000000, + "center": [ + -29.409809857582, + -14.856637022670343, + 0.11889187991447221 + ], + "face_center": [ + -29.465107619001405, + -14.857418277985902, + 0.1176000288341014 + ], + "face_normal": [ + -0.9996276486422097, + -0.014122893839373374, + -0.023353025958368523 + ], + "footprint_xy": [ + [ + -29.46899890175058, + -14.934995997028716 + ], + [ + -29.35062081341342, + -14.934995997028716 + ], + [ + -29.35062081341342, + -14.77827804831197 + ], + [ + -29.46899890175058, + -14.77827804831197 + ] + ], + "projected_box_corners": [ + [ + -29.35062081341342, + -14.933433486397599 + ], + [ + -29.356234117651155, + -14.932692557423048 + ], + [ + -29.461216336252228, + -14.934995997028716 + ], + [ + -29.46682964048996, + -14.934255068054163 + ], + [ + -29.352790074674047, + -14.77901897728652 + ], + [ + -29.358403378911778, + -14.77827804831197 + ], + [ + -29.46338559751285, + -14.780581487917638 + ], + [ + -29.46899890175058, + -14.779840558943087 + ] + ], + "yaw_rad": 1.5848437021701731, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.73822021484375, + -14.85105037689209, + 0.12821725010871887 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465185466470015, + -14.85732886746671, + 0.11757046127173505 + ], + "intended_face_normal": [ + -0.9996126299874329, + -0.014134491451705866, + -0.0239836975350059 + ], + "commanded_contact_point": [ + -29.733365131225586, + -14.857741961993328, + 0.1169680768189738 + ], + "centerline_face_intersection": [ + -29.465228332121118, + -14.856546970590266, + 0.1188972000689735 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.743196487426758, + -14.853822708129883, + 0.12719278037548065 + ], + "box_pose": [ + -29.411922454833984, + -14.852202415466309, + 0.13603107631206512, + -0.009909038431942463, + -0.007071660365909338, + 0.7120175957679749, + 0.7020562291145325 + ], + "box_yaw_rad": 1.5848350378903664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032742542371886367 + } + } + }, + { + "simulation_time_ns": 2860000000, + "center": [ + -29.409726785667345, + -14.856738773768521, + 0.11888591623234576 + ], + "face_center": [ + -29.465025458461117, + -14.857519002015916, + 0.11763308077386372 + ], + "face_normal": [ + -0.9996441237217144, + -0.01410432734213507, + -0.02264773349502308 + ], + "footprint_xy": [ + [ + -29.468830937409816, + -14.934994807585664 + ], + [ + -29.350622633924875, + -14.934994807585664 + ], + [ + -29.350622633924875, + -14.77848273995138 + ], + [ + -29.468830937409816, + -14.77848273995138 + ] + ], + "projected_box_corners": [ + [ + -29.350622633924875, + -14.933434351090876 + ], + [ + -29.356063842353137, + -14.932897637328656 + ], + [ + -29.461219979512414, + -14.934994807585664 + ], + [ + -29.466661187940677, + -14.934458093823444 + ], + [ + -29.352792383394018, + -14.7790194537136 + ], + [ + -29.358233591822277, + -14.77848273995138 + ], + [ + -29.463389728981557, + -14.780579910208388 + ], + [ + -29.468830937409816, + -14.780043196446169 + ] + ], + "yaw_rad": 1.5848468278968244, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.7345027923584, + -14.851249694824219, + 0.12782137095928192 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465107619001405, + -14.857418277985902, + 0.1176000288341014 + ], + "intended_face_normal": [ + -0.9996276486422097, + -0.014122893839373374, + -0.023353025958368523 + ], + "commanded_contact_point": [ + -29.73055646618128, + -14.857292642987902, + 0.11778745709597965 + ], + "centerline_face_intersection": [ + -29.465148822406285, + -14.856637022670343, + 0.11889187991447221 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.73822021484375, + -14.85105037689209, + 0.12821725010871887 + ], + "box_pose": [ + -29.411832809448242, + -14.85230541229248, + 0.13603033125400543, + -0.009415707550942898, + -0.007115138694643974, + 0.712020218372345, + 0.7020598649978638 + ], + "box_yaw_rad": 1.5848437021701731, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029600457662152 + } + } + }, + { + "simulation_time_ns": 2880000000, + "center": [ + -29.40962845776986, + -14.85685203006205, + 0.1188788725777469 + ], + "face_center": [ + -29.464928150600638, + -14.857630604705804, + 0.11767098466348762 + ], + "face_normal": [ + -0.99966256311553, + -0.014074434849618456, + -0.021835208597263178 + ], + "footprint_xy": [ + [ + -29.468634007288088, + -14.934991472041496 + ], + [ + -29.35062290825163, + -14.934991472041496 + ], + [ + -29.35062290825163, + -14.778712588082605 + ], + [ + -29.468634007288088, + -14.778712588082605 + ] + ], + "projected_box_corners": [ + [ + -29.35062290825163, + -14.93343432275399 + ], + [ + -29.355865927258748, + -14.933127801713 + ], + [ + -29.461222293913192, + -14.934991472041496 + ], + [ + -29.46646531292031, + -14.934684951000506 + ], + [ + -29.352791602619405, + -14.779019109123595 + ], + [ + -29.358034621626523, + -14.778712588082605 + ], + [ + -29.463390988280967, + -14.7805762584111 + ], + [ + -29.468634007288088, + -14.78026973737011 + ] + ], + "yaw_rad": 1.5848399675875935, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.732757568359375, + -14.854327201843262, + 0.1259525865316391 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465025458461117, + -14.857519002015916, + 0.11763308077386372 + ], + "intended_face_normal": [ + -0.9996441237217144, + -0.01410432734213507, + -0.02264773349502308 + ], + "commanded_contact_point": [ + -29.72796557977676, + -14.857019918440713, + 0.11838649331805458 + ], + "centerline_face_intersection": [ + -29.465064838453213, + -14.856738773768521, + 0.11888591623234576 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.7345027923584, + -14.851249694824219, + 0.12782137095928192 + ], + "box_pose": [ + -29.4117374420166, + -14.852421760559082, + 0.13602949678897858, + -0.00886134896427393, + -0.007166385184973478, + 0.7120208144187927, + 0.7020659446716309 + ], + "box_yaw_rad": 1.5848468278968244, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026731845119856252 + } + } + }, + { + "simulation_time_ns": 2900000000, + "center": [ + -29.409516795778906, + -14.856979506703242, + 0.1188710941491011 + ], + "face_center": [ + -29.464817598741934, + -14.85775618430021, + 0.11771421702176121 + ], + "face_normal": [ + -0.9996826311772024, + -0.014040141591291189, + -0.020913077363109378 + ], + "footprint_xy": [ + [ + -29.46841022405321, + -14.934988125965104 + ], + [ + -29.350623367504603, + -14.934988125965104 + ], + [ + -29.350623367504603, + -14.778970887441382 + ], + [ + -29.46841022405321, + -14.778970887441382 + ] + ], + "projected_box_corners": [ + [ + -29.350623367504603, + -14.933434770771168 + ], + [ + -29.355641517544445, + -14.933386278311318 + ], + [ + -29.461224973430657, + -14.934988125965104 + ], + [ + -29.466243123470502, + -14.934939633505254 + ], + [ + -29.35279046808731, + -14.779019379901232 + ], + [ + -29.357808618127155, + -14.778970887441382 + ], + [ + -29.463392074013367, + -14.780572735095166 + ], + [ + -29.46841022405321, + -14.780524242635318 + ] + ], + "yaw_rad": 1.5848296320909883, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.733152389526367, + -14.856225967407227, + 0.12507422268390656 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464928150600638, + -14.857630604705804, + 0.11767098466348762 + ], + "intended_face_normal": [ + -0.99966256311553, + -0.014074434849618456, + -0.021835208597263178 + ], + "commanded_contact_point": [ + -29.725723889336585, + -14.856919537061358, + 0.11875187715093687 + ], + "centerline_face_intersection": [ + -29.46496548981114, + -14.85685203006205, + 0.1188788725777469 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.732757568359375, + -14.854327201843262, + 0.1259525865316391 + ], + "box_pose": [ + -29.411624908447266, + -14.852551460266113, + 0.1360282450914383, + -0.008230209350585938, + -0.007218037266284227, + 0.7120178937911987, + 0.7020760178565979 + ], + "box_yaw_rad": 1.5848399675875935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022734902234733062 + } + } + }, + { + "simulation_time_ns": 2920000000, + "center": [ + -29.40938844269087, + -14.857127078086892, + 0.11886229719136455 + ], + "face_center": [ + -29.464690461995307, + -14.85790297447885, + 0.11776427600283385 + ], + "face_normal": [ + -0.9997046192011708, + -0.014026019606842244, + -0.019849127897339502 + ], + "footprint_xy": [ + [ + -29.468154218672293, + -14.935234647716781 + ], + [ + -29.35062266670944, + -14.935234647716781 + ], + [ + -29.35062266670944, + -14.779019508457003 + ], + [ + -29.468154218672293, + -14.779019508457003 + ] + ], + "projected_box_corners": [ + [ + -29.35062266670944, + -14.933434865804704 + ], + [ + -29.355381391689484, + -14.933682854932865 + ], + [ + -29.461226705318317, + -14.93498665858862 + ], + [ + -29.465985430298357, + -14.935234647716781 + ], + [ + -29.352791455083377, + -14.779019508457003 + ], + [ + -29.35755018006342, + -14.779267497585163 + ], + [ + -29.463395493692254, + -14.780571301240919 + ], + [ + -29.468154218672293, + -14.78081929036908 + ] + ], + "yaw_rad": 1.5848405631861917, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.73370361328125, + -14.857401847839355, + 0.12621501088142395 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464817598741934, + -14.85775618430021, + 0.11771421702176121 + ], + "intended_face_normal": [ + -0.9996826311772024, + -0.014040141591291189, + -0.020913077363109378 + ], + "commanded_contact_point": [ + -29.723763198852538, + -14.856979506703242, + 0.1188710941491011 + ], + "centerline_face_intersection": [ + -29.464852716960664, + -14.856979506703242, + 0.1188710941491011 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.733152389526367, + -14.856225967407227, + 0.12507422268390656 + ], + "box_pose": [ + -29.411497116088867, + -14.852697372436523, + 0.13602694869041443, + -0.00751872593536973, + -0.007271958980709314, + 0.7120137214660645, + 0.7020875811576843 + ], + "box_yaw_rad": 1.5848296320909883, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019652267616823 + } + } + }, + { + "simulation_time_ns": 2940000000, + "center": [ + -29.409236589433657, + -14.857297060074304, + 0.11885200605796353 + ], + "face_center": [ + -29.464539952450135, + -14.858071306637918, + 0.117822796872138 + ], + "face_normal": [ + -0.9997289097270776, + -0.013996195361053676, + -0.018605200861291138 + ], + "footprint_xy": [ + [ + -29.46785176014843, + -14.935574459168343 + ], + [ + -29.350621418718884, + -14.935574459168343 + ], + [ + -29.350621418718884, + -14.779019660980264 + ], + [ + -29.46785176014843, + -14.779019660980264 + ] + ], + "projected_box_corners": [ + [ + -29.350621418718884, + -14.933434688328848 + ], + [ + -29.355076890593864, + -14.934025966041116 + ], + [ + -29.461228144751836, + -14.934983181456076 + ], + [ + -29.465683616626816, + -14.935574459168343 + ], + [ + -29.3527895622405, + -14.779019660980264 + ], + [ + -29.35724503411548, + -14.779610938692532 + ], + [ + -29.46339628827345, + -14.780568154107492 + ], + [ + -29.46785176014843, + -14.78115943181976 + ] + ], + "yaw_rad": 1.584836417921256, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.732362747192383, + -14.857319831848145, + 0.12728460133075714 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464690461995307, + -14.85790297447885, + 0.11776427600283385 + ], + "intended_face_normal": [ + -0.9997046192011708, + -0.014026019606842244, + -0.019849127897339502 + ], + "commanded_contact_point": [ + -29.721644134521483, + -14.857127078086892, + 0.11886229719136455 + ], + "centerline_face_intersection": [ + -29.46472314678556, + -14.857127078086892, + 0.11886229719136455 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.73370361328125, + -14.857401847839355, + 0.12621501088142395 + ], + "box_pose": [ + -29.41135025024414, + -14.852866172790527, + 0.1360255628824234, + -0.006699760444462299, + -0.00733229098841548, + 0.7120169401168823, + 0.7020920515060425 + ], + "box_yaw_rad": 1.5848405631861917, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021242147581838327 + } + } + }, + { + "simulation_time_ns": 2960000000, + "center": [ + -29.40906357111262, + -14.857491817870152, + 0.11883933434404514 + ], + "face_center": [ + -29.464368404913717, + -14.858263808039595, + 0.11789030059803517 + ], + "face_normal": [ + -0.999755497367105, + -0.013955406114953384, + -0.017155854914466917 + ], + "footprint_xy": [ + [ + -29.467502369183578, + -14.93596502475671 + ], + [ + -29.35062477304166, + -14.93596502475671 + ], + [ + -29.35062477304166, + -14.779018610983591 + ], + [ + -29.467502369183578, + -14.779018610983591 + ] + ], + "projected_box_corners": [ + [ + -29.35062477304166, + -14.9334329000582 + ], + [ + -29.354726979898544, + -14.934421044417823 + ], + [ + -29.46123444064386, + -14.934976880397086 + ], + [ + -29.465336647500745, + -14.93596502475671 + ], + [ + -29.352790494724495, + -14.779018610983591 + ], + [ + -29.356892701581376, + -14.780006755343216 + ], + [ + -29.463400162326693, + -14.780562591322479 + ], + [ + -29.467502369183578, + -14.781550735682103 + ] + ], + "yaw_rad": 1.584820804095094, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.729642868041992, + -14.85667896270752, + 0.13086751103401184 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464539952450135, + -14.858071306637918, + 0.117822796872138 + ], + "intended_face_normal": [ + -0.9997289097270776, + -0.013996195361053676, + -0.018605200861291138 + ], + "commanded_contact_point": [ + -29.719443054199218, + -14.857297060074304, + 0.11885200605796353 + ], + "centerline_face_intersection": [ + -29.464569949054813, + -14.857297060074304, + 0.11885200605796353 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.732362747192383, + -14.857319831848145, + 0.12728460133075714 + ], + "box_pose": [ + -29.411176681518555, + -14.853060722351074, + 0.13602381944656372, + -0.0057471999898552895, + -0.0073979925364255905, + 0.7120147943496704, + 0.7021019458770752 + ], + "box_yaw_rad": 1.584836417921256, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022076581185808933 + } + } + }, + { + "simulation_time_ns": 2980000000, + "center": [ + -29.408862110029858, + -14.857718406267294, + 0.11882388829066658 + ], + "face_center": [ + -29.464168472864753, + -14.858489311214, + 0.11796791031284601 + ], + "face_normal": [ + -0.9997831379879337, + -0.013935788347004596, + -0.0154736689387584 + ], + "footprint_xy": [ + [ + -29.467097695334434, + -14.93641861421952 + ], + [ + -29.350626524725282, + -14.93641861421952 + ], + [ + -29.350626524725282, + -14.779018198315068 + ], + [ + -29.467097695334434, + -14.779018198315068 + ] + ], + "projected_box_corners": [ + [ + -29.350626524725282, + -14.933431022073446 + ], + [ + -29.354318749689767, + -14.934876804326104 + ], + [ + -29.46123925039507, + -14.934972831966862 + ], + [ + -29.464931475359556, + -14.93641861421952 + ], + [ + -29.352792744700157, + -14.779018198315068 + ], + [ + -29.356484969664645, + -14.780463980567726 + ], + [ + -29.463405470369946, + -14.780560008208484 + ], + [ + -29.467097695334434, + -14.78200579046114 + ] + ], + "yaw_rad": 1.5848241635415756, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.726943969726562, + -14.85545539855957, + 0.13445945084095 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464368404913717, + -14.858263808039595, + 0.11789030059803517 + ], + "intended_face_normal": [ + -0.999755497367105, + -0.013955406114953384, + -0.017155854914466917 + ], + "commanded_contact_point": [ + -29.71734306335449, + -14.857491817870152, + 0.11883933434404514 + ], + "centerline_face_intersection": [ + -29.46439545919053, + -14.857491817870152, + 0.11883933434404514 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.729642868041992, + -14.85667896270752, + 0.13086751103401184 + ], + "box_pose": [ + -29.410978317260742, + -14.853283882141113, + 0.1360209733247757, + -0.004641973413527012, + -0.007470029406249523, + 0.712008535861969, + 0.7021157741546631 + ], + "box_yaw_rad": 1.584820804095094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002109040710681644 + } + } + }, + { + "simulation_time_ns": 3000000000, + "center": [ + -29.408625346840942, + -14.857980431647206, + 0.11880568156726508 + ], + "face_center": [ + -29.463933287958643, + -14.858750126013538, + 0.11805771508054737 + ], + "face_normal": [ + -0.999811668892054, + -0.013913904466294591, + -0.013521125651181576 + ], + "footprint_xy": [ + [ + -29.466624298524927, + -14.93694573615072 + ], + [ + -29.350626395156958, + -14.93694573615072 + ], + [ + -29.350626395156958, + -14.779015127143692 + ], + [ + -29.466624298524927, + -14.779015127143692 + ] + ], + "projected_box_corners": [ + [ + -29.350626395156958, + -14.933425524482633 + ], + [ + -29.353842708450546, + -14.935406347418056 + ], + [ + -29.461242277392355, + -14.934964913215298 + ], + [ + -29.464458590685943, + -14.93694573615072 + ], + [ + -29.352792102995938, + -14.779015127143692 + ], + [ + -29.35600841628953, + -14.780995950079115 + ], + [ + -29.46340798523134, + -14.780554515876357 + ], + [ + -29.466624298524927, + -14.78253533881178 + ] + ], + "yaw_rad": 1.584821067880919, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.725488662719727, + -14.856706619262695, + 0.13266056776046753 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464168472864753, + -14.858489311214, + 0.11796791031284601 + ], + "intended_face_normal": [ + -0.9997831379879337, + -0.013935788347004596, + -0.0154736689387584 + ], + "commanded_contact_point": [ + -29.715101928710936, + -14.857718406267294, + 0.11882388829066658 + ], + "centerline_face_intersection": [ + -29.46419246836829, + -14.857718406267294, + 0.11882388829066658 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.726943969726562, + -14.85545539855957, + 0.13445945084095 + ], + "box_pose": [ + -29.410747528076172, + -14.853543281555176, + 0.13601677119731903, + -0.0033637245651334524, + -0.00754918996244669, + 0.7120088338851929, + 0.7021218538284302 + ], + "box_yaw_rad": 1.5848241635415756, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002252613010000926 + } + } + }, + { + "simulation_time_ns": 3020000000, + "center": [ + -29.40834874312122, + -14.858289811463507, + 0.11878384126935178 + ], + "face_center": [ + -29.463658259470403, + -14.859059362879163, + 0.11816282146914575 + ], + "face_normal": [ + -0.9998401446369033, + -0.013911320321048137, + -0.011226287406679466 + ], + "footprint_xy": [ + [ + -29.466070188281222, + -14.937568925912107 + ], + [ + -29.350627297961218, + -14.937568925912107 + ], + [ + -29.350627297961218, + -14.779010697014906 + ], + [ + -29.466070188281222, + -14.779010697014906 + ] + ], + "projected_box_corners": [ + [ + -29.350627297961218, + -14.933417211679377 + ], + [ + -29.353284200024188, + -14.936029823080794 + ], + [ + -29.461246330659584, + -14.93495631451069 + ], + [ + -29.463903232722554, + -14.937568925912107 + ], + [ + -29.352794253519885, + -14.779010697014906 + ], + [ + -29.355451155582855, + -14.781623308416325 + ], + [ + -29.463413286218252, + -14.78054979984622 + ], + [ + -29.466070188281222, + -14.783162411247638 + ] + ], + "yaw_rad": 1.5848294996526968, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.723878860473633, + -14.862833023071289, + 0.1265452355146408 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463933287958643, + -14.858750126013538, + 0.11805771508054737 + ], + "intended_face_normal": [ + -0.999811668892054, + -0.013913904466294591, + -0.013521125651181576 + ], + "commanded_contact_point": [ + -29.71260139465332, + -14.857980431647206, + 0.11880568156726508 + ], + "centerline_face_intersection": [ + -29.463954126256866, + -14.857980431647206, + 0.11880568156726508 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.725488662719727, + -14.856706619262695, + 0.13266056776046753 + ], + "box_pose": [ + -29.410476684570312, + -14.853843688964844, + 0.13601154088974, + -0.001874349545687437, + -0.007646738551557064, + 0.7120066285133362, + 0.702128529548645 + ], + "box_yaw_rad": 1.584821067880919, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002514291024881336 + } + } + }, + { + "simulation_time_ns": 3040000000, + "center": [ + -29.408025948706648, + -14.858650151515562, + 0.11875505634062282 + ], + "face_center": [ + -29.463336963012434, + -14.859418309796874, + 0.11828337574100972 + ], + "face_normal": [ + -0.9998672234697376, + -0.013886136379199998, + -0.008526655629425728 + ], + "footprint_xy": [ + [ + -29.465417755810908, + -14.938291071933143 + ], + [ + -29.35063414160239, + -14.938291071933143 + ], + [ + -29.35063414160239, + -14.77900923109798 + ], + [ + -29.465417755810908, + -14.77900923109798 + ] + ], + "projected_box_corners": [ + [ + -29.35063414160239, + -14.933409955958396 + ], + [ + -29.352633205960824, + -14.936754755370517 + ], + [ + -29.461256170213964, + -14.934946272521023 + ], + [ + -29.463255234572397, + -14.938291071933143 + ], + [ + -29.3527966628409, + -14.77900923109798 + ], + [ + -29.35479572719933, + -14.782354030510099 + ], + [ + -29.46341869145247, + -14.780545547660607 + ], + [ + -29.465417755810908, + -14.783890347072726 + ] + ], + "yaw_rad": 1.5848013118962139, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.7203369140625, + -14.867928504943848, + 0.1239246129989624 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463658259470403, + -14.859059362879163, + 0.11816282146914575 + ], + "intended_face_normal": [ + -0.9998401446369033, + -0.013911320321048137, + -0.011226287406679466 + ], + "commanded_contact_point": [ + -29.71006652832031, + -14.858289811463507, + 0.11878384126935178 + ], + "centerline_face_intersection": [ + -29.46367594675704, + -14.858289811463507, + 0.11878384126935178 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.723878860473633, + -14.862833023071289, + 0.1265452355146408 + ], + "box_pose": [ + -29.410160064697266, + -14.854198455810547, + 0.13600480556488037, + -0.00011953360080951825, + -0.0077656633220613, + 0.7120081782341003, + 0.7021281719207764 + ], + "box_yaw_rad": 1.5848294996526968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025537698008167653 + } + } + }, + { + "simulation_time_ns": 3060000000, + "center": [ + -29.407871253602337, + -14.85883644128928, + 0.11877085177411034 + ], + "face_center": [ + -29.46318285330596, + -14.859603791482495, + 0.11837070786793877 + ], + "face_normal": [ + -0.9998778058123821, + -0.013871528424258539, + -0.0072334738654439845 + ], + "footprint_xy": [ + [ + -29.46510424876899, + -14.938664926751253 + ], + [ + -29.350638258435684, + -14.938664926751253 + ], + [ + -29.350638258435684, + -14.77900795582731 + ], + [ + -29.46510424876899, + -14.77900795582731 + ] + ], + "projected_box_corners": [ + [ + -29.350638258435684, + -14.933405132940356 + ], + [ + -29.352321825781804, + -14.937130226364825 + ], + [ + -29.461261457842923, + -14.934939833326784 + ], + [ + -29.462945025189043, + -14.938664926751253 + ], + [ + -29.35279748201563, + -14.77900795582731 + ], + [ + -29.354481049361752, + -14.78273304925178 + ], + [ + -29.46342068142287, + -14.780542656213738 + ], + [ + -29.46510424876899, + -14.784267749638207 + ] + ], + "yaw_rad": 1.5847802795615356, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.71623992919922, + -14.869099617004395, + 0.12433859705924988 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463336963012434, + -14.859418309796874, + 0.11828337574100972 + ], + "intended_face_normal": [ + -0.9998672234697376, + -0.013886136379199998, + -0.008526655629425728 + ], + "commanded_contact_point": [ + -29.707232208251952, + -14.858650151515562, + 0.11875505634062282 + ], + "centerline_face_intersection": [ + -29.463351653947417, + -14.858650151515562, + 0.11875505634062282 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.7203369140625, + -14.867928504943848, + 0.1239246129989624 + ], + "box_pose": [ + -29.4097900390625, + -14.85461139678955, + 0.1359933316707611, + 0.0019284087466076016, + -0.007889548316597939, + 0.7119967341423035, + 0.7021358013153076 + ], + "box_yaw_rad": 1.5848013118962139, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028572790859734674 + } + } + }, + { + "simulation_time_ns": 3080000000, + "center": [ + -29.407964304106564, + -14.85875431238327, + 0.11877522809926677 + ], + "face_center": [ + -29.463275595678247, + -14.859519587913285, + 0.11833093640973354 + ], + "face_normal": [ + -0.9998722356555556, + -0.013834024361842223, + -0.008031541341265824 + ], + "footprint_xy": [ + [ + -29.46529159806154, + -14.938496640722489 + ], + [ + -29.350637010151583, + -14.938496640722489 + ], + [ + -29.350637010151583, + -14.779011984044052 + ], + [ + -29.46529159806154, + -14.779011984044052 + ] + ], + "projected_box_corners": [ + [ + -29.350637010151583, + -14.933410901734751 + ], + [ + -29.352514536825897, + -14.93696608966246 + ], + [ + -29.46125959329495, + -14.93494145279478 + ], + [ + -29.46313711996926, + -14.938496640722489 + ], + [ + -29.352791488243863, + -14.779011984044052 + ], + [ + -29.354669014918173, + -14.782567171971762 + ], + [ + -29.46341407138723, + -14.780542535104079 + ], + [ + -29.46529159806154, + -14.78409772303179 + ] + ], + "yaw_rad": 1.584749392694847, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.712902069091797, + -14.866374969482422, + 0.12546247243881226 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46318285330596, + -14.859603791482495, + 0.11837070786793877 + ], + "intended_face_normal": [ + -0.9998778058123821, + -0.013871528424258539, + -0.0072334738654439845 + ], + "commanded_contact_point": [ + -29.703919143676757, + -14.85883644128928, + 0.11877085177411034 + ], + "centerline_face_intersection": [ + -29.463196373295986, + -14.85883644128928, + 0.11877085177411034 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.71623992919922, + -14.869099617004395, + 0.12433859705924988 + ], + "box_pose": [ + -29.40961265563965, + -14.854825019836426, + 0.1360178142786026, + 0.002953272545710206, + -0.007992194965481758, + 0.711988091468811, + 0.7021399736404419 + ], + "box_yaw_rad": 1.5847802795615356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00331833546449503 + } + } + }, + { + "simulation_time_ns": 3100000000, + "center": [ + -29.408056150336737, + -14.858660264318466, + 0.11878367360799227 + ], + "face_center": [ + -29.463367086898735, + -14.85942527935869, + 0.11829794872726818 + ], + "face_normal": [ + -0.9998658180811516, + -0.013829315440727852, + -0.008780536642752426 + ], + "footprint_xy": [ + [ + -29.465474227342224, + -14.93830790845401 + ], + [ + -29.350638073331254, + -14.93830790845401 + ], + [ + -29.350638073331254, + -14.779012620182923 + ], + [ + -29.465474227342224, + -14.779012620182923 + ] + ], + "projected_box_corners": [ + [ + -29.350638073331254, + -14.933413289160464 + ], + [ + -29.352697955250434, + -14.936777878373562 + ], + [ + -29.461259946455247, + -14.934943319240913 + ], + [ + -29.463319828374427, + -14.93830790845401 + ], + [ + -29.35279247229905, + -14.779012620182923 + ], + [ + -29.35485235421823, + -14.78237720939602 + ], + [ + -29.463414345423043, + -14.78054265026337 + ], + [ + -29.465474227342224, + -14.78390723947647 + ] + ], + "yaw_rad": 1.5847487220906857, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.71040916442871, + -14.862452507019043, + 0.126046285033226 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463275595678247, + -14.859519587913285, + 0.11833093640973354 + ], + "intended_face_normal": [ + -0.9998722356555556, + -0.013834024361842223, + -0.008031541341265824 + ], + "commanded_contact_point": [ + -29.70028755187988, + -14.85875431238327, + 0.11877522809926677 + ], + "centerline_face_intersection": [ + -29.463289732009184, + -14.85875431238327, + 0.11877522809926677 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.712902069091797, + -14.866374969482422, + 0.12546247243881226 + ], + "box_pose": [ + -29.409719467163086, + -14.854730606079102, + 0.13601793348789215, + 0.0024168987292796373, + -0.008023859933018684, + 0.711976945400238, + 0.7021529674530029 + ], + "box_yaw_rad": 1.584749392694847, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003632522992157669 + } + } + }, + { + "simulation_time_ns": 3120000000, + "center": [ + -29.408147780096062, + -14.858559578478234, + 0.1187909508979641 + ], + "face_center": [ + -29.46345834099539, + -14.859324139094692, + 0.11826307137653275 + ], + "face_normal": [ + -0.9998590271591005, + -0.01382110074001508, + -0.009542573717814862 + ], + "footprint_xy": [ + [ + -29.465657893960774, + -14.938105511907919 + ], + [ + -29.350637666231346, + -14.938105511907919 + ], + [ + -29.350637666231346, + -14.779013645048547 + ], + [ + -29.465657893960774, + -14.779013645048547 + ] + ], + "projected_box_corners": [ + [ + -29.350637666231346, + -14.933416132730384 + ], + [ + -29.352883236407934, + -14.936576390675002 + ], + [ + -29.46125878803001, + -14.934945253963301 + ], + [ + -29.463504358206595, + -14.938105511907919 + ], + [ + -29.352791201985525, + -14.779013645048547 + ], + [ + -29.355036772162112, + -14.782173902993165 + ], + [ + -29.463412323784187, + -14.780542766281464 + ], + [ + -29.465657893960774, + -14.783703024226082 + ] + ], + "yaw_rad": 1.5847429681831013, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.707355499267578, + -14.862686157226562, + 0.12441229820251465 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463367086898735, + -14.85942527935869, + 0.11829794872726818 + ], + "intended_face_normal": [ + -0.9998658180811516, + -0.013829315440727852, + -0.008780536642752426 + ], + "commanded_contact_point": [ + -29.696425170898436, + -14.858660264318466, + 0.11878367360799227 + ], + "centerline_face_intersection": [ + -29.463381933342056, + -14.858660264318466, + 0.11878367360799227 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.71040916442871, + -14.862452507019043, + 0.126046285033226 + ], + "box_pose": [ + -29.40982437133789, + -14.854622840881348, + 0.13602183759212494, + 0.0018673347076401114, + -0.008007880300283432, + 0.711976945400238, + 0.7021546959877014 + ], + "box_yaw_rad": 1.5847487220906857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003863535066612123 + } + } + }, + { + "simulation_time_ns": 3140000000, + "center": [ + -29.408248261553418, + -14.858451553698492, + 0.11879799163312771 + ], + "face_center": [ + -29.463558405084356, + -14.859214308709738, + 0.118225461478846 + ], + "face_normal": [ + -0.9998514823150665, + -0.01378846048757687, + -0.01034973129491959 + ], + "footprint_xy": [ + [ + -29.465853934770127, + -14.937886057998844 + ], + [ + -29.350642588336708, + -14.937886057998844 + ], + [ + -29.350642588336708, + -14.77901704939814 + ], + [ + -29.465853934770127, + -14.77901704939814 + ] + ], + "projected_box_corners": [ + [ + -29.350642588336708, + -14.933421421854192 + ], + [ + -29.353084975297012, + -14.93636054797635 + ], + [ + -29.461262875398585, + -14.934946931876686 + ], + [ + -29.463705262358886, + -14.937886057998844 + ], + [ + -29.35279126074795, + -14.77901704939814 + ], + [ + -29.355233647708253, + -14.781956175520298 + ], + [ + -29.463411547809827, + -14.780542559420635 + ], + [ + -29.465853934770127, + -14.783481685542792 + ] + ], + "yaw_rad": 1.584711306631194, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.702436447143555, + -14.864266395568848, + 0.12609735131263733 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46345834099539, + -14.859324139094692, + 0.11826307137653275 + ], + "intended_face_normal": [ + -0.9998590271591005, + -0.01382110074001508, + -0.009542573717814862 + ], + "commanded_contact_point": [ + -29.693297119140624, + -14.858559578478234, + 0.1187909508979641 + ], + "centerline_face_intersection": [ + -29.463473938867434, + -14.858559578478234, + 0.1187909508979641 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.707355499267578, + -14.862686157226562, + 0.12441229820251465 + ], + "box_pose": [ + -29.409929275512695, + -14.854507446289062, + 0.13602429628372192, + 0.0012927455827593803, + -0.00797639787197113, + 0.7119753360748291, + 0.7021580338478088 + ], + "box_yaw_rad": 1.5847429681831013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031296802387666546 + } + } + }, + { + "simulation_time_ns": 3160000000, + "center": [ + -29.408347896958542, + -14.85833507301694, + 0.11880466032788391 + ], + "face_center": [ + -29.463657531726664, + -14.859097833698257, + 0.11818520541852603 + ], + "face_normal": [ + -0.9998422853174721, + -0.01378856298644715, + -0.011197998591386392 + ], + "footprint_xy": [ + [ + -29.466056419867797, + -14.937651993813539 + ], + [ + -29.350639374049287, + -14.937651993813539 + ], + [ + -29.350639374049287, + -14.779018152220344 + ], + [ + -29.466056419867797, + -14.779018152220344 + ] + ], + "projected_box_corners": [ + [ + -29.350639374049287, + -14.933424309805757 + ], + [ + -29.353288560066368, + -14.936126472450905 + ], + [ + -29.461258643585527, + -14.93494983116839 + ], + [ + -29.463907829602608, + -14.937651993813539 + ], + [ + -29.35278796431448, + -14.779018152220344 + ], + [ + -29.355437150331557, + -14.781720314865492 + ], + [ + -29.46340723385072, + -14.780543673582976 + ], + [ + -29.466056419867797, + -14.783245836228124 + ] + ], + "yaw_rad": 1.5847106138674976, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.69762420654297, + -14.865641593933105, + 0.12824073433876038 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463558405084356, + -14.859214308709738, + 0.118225461478846 + ], + "intended_face_normal": [ + -0.9998514823150665, + -0.01378846048757687, + -0.01034973129491959 + ], + "commanded_contact_point": [ + -29.690544815063475, + -14.858451553698492, + 0.11879799163312771 + ], + "centerline_face_intersection": [ + -29.463574837814033, + -14.858451553698492, + 0.11879799163312771 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.702436447143555, + -14.864266395568848, + 0.12609735131263733 + ], + "box_pose": [ + -29.410043716430664, + -14.85438346862793, + 0.13602612912654877, + 0.0006771539920009673, + -0.007936268113553524, + 0.7119647264480591, + 0.7021701335906982 + ], + "box_yaw_rad": 1.584711306631194, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002754432184330887 + } + } + }, + { + "simulation_time_ns": 3180000000, + "center": [ + -29.408457662549672, + -14.858205314956251, + 0.11881127175504792 + ], + "face_center": [ + -29.463766691139078, + -14.858968157664078, + 0.11814073166431088 + ], + "face_normal": [ + -0.9998313273150575, + -0.013790045794516814, + -0.01212147466766382 + ], + "footprint_xy": [ + [ + -29.466278078304097, + -14.93739089880254 + ], + [ + -29.350637246795245, + -14.93739089880254 + ], + [ + -29.350637246795245, + -14.779019731109964 + ], + [ + -29.466278078304097, + -14.779019731109964 + ] + ], + "projected_box_corners": [ + [ + -29.350637246795245, + -14.933427684720446 + ], + [ + -29.3535116583306, + -14.935865213386888 + ], + [ + -29.461255303974056, + -14.934953370136098 + ], + [ + -29.46412971550941, + -14.93739089880254 + ], + [ + -29.35278560958993, + -14.779019731109964 + ], + [ + -29.355660021125285, + -14.781457259776406 + ], + [ + -29.46340366676874, + -14.780545416525614 + ], + [ + -29.466278078304097, + -14.782982945192058 + ] + ], + "yaw_rad": 1.5847089791482285, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.69408416748047, + -14.866783142089844, + 0.129171222448349 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463657531726664, + -14.859097833698257, + 0.11818520541852603 + ], + "intended_face_normal": [ + -0.9998422853174721, + -0.01378856298644715, + -0.011197998591386392 + ], + "commanded_contact_point": [ + -29.687655181884764, + -14.85833507301694, + 0.11880466032788391 + ], + "centerline_face_intersection": [ + -29.46367498213781, + -14.85833507301694, + 0.11880466032788391 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.69762420654297, + -14.865641593933105, + 0.12824073433876038 + ], + "box_pose": [ + -29.410158157348633, + -14.854249954223633, + 0.13602721691131592, + 2.3451668312191032e-05, + -0.007887277752161026, + 0.7119650840759277, + 0.7021706104278564 + ], + "box_yaw_rad": 1.5847106138674976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002891987574000202 + } + } + }, + { + "simulation_time_ns": 3200000000, + "center": [ + -29.408579277222998, + -14.858061390778587, + 0.11881745486314796 + ], + "face_center": [ + -29.46388760810208, + -14.858824200798216, + 0.11809101321696705 + ], + "face_normal": [ + -0.9998187146792246, + -0.013789454884053587, + -0.013132017210244595 + ], + "footprint_xy": [ + [ + -29.466521760867984, + -14.937101290570205 + ], + [ + -29.350636793578012, + -14.937101290570205 + ], + [ + -29.350636793578012, + -14.77902149098697 + ], + [ + -29.466521760867984, + -14.77902149098697 + ] + ], + "projected_box_corners": [ + [ + -29.350636793578012, + -14.933431269959092 + ], + [ + -29.35375772236343, + -14.935575670530948 + ], + [ + -29.46125345533618, + -14.93495688999835 + ], + [ + -29.464374384121598, + -14.937101290570205 + ], + [ + -29.352784170324394, + -14.77902149098697 + ], + [ + -29.355905099109812, + -14.781165891558825 + ], + [ + -29.463400832082566, + -14.780547111026227 + ], + [ + -29.466521760867984, + -14.782691511598081 + ] + ], + "yaw_rad": 1.5847024300171064, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.691139221191406, + -14.867427825927734, + 0.1289379894733429 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463766691139078, + -14.858968157664078, + 0.11814073166431088 + ], + "intended_face_normal": [ + -0.9998313273150575, + -0.013790045794516814, + -0.01212147466766382 + ], + "commanded_contact_point": [ + -29.684582443237304, + -14.858205314956251, + 0.11881127175504792 + ], + "centerline_face_intersection": [ + -29.463785354105553, + -14.858205314956251, + 0.11881127175504792 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.69408416748047, + -14.866783142089844, + 0.129171222448349 + ], + "box_pose": [ + -29.4102840423584, + -14.854101181030273, + 0.13602760434150696, + -0.0006980941398069263, + -0.007824196480214596, + 0.7119652628898621, + 0.7021706700325012 + ], + "box_yaw_rad": 1.5847089791482285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030754842969657682 + } + } + }, + { + "simulation_time_ns": 3220000000, + "center": [ + -29.40871598591032, + -14.857900060027648, + 0.11882299112894062 + ], + "face_center": [ + -29.464023453117154, + -14.85866414399952, + 0.11803434979669429 + ], + "face_normal": [ + -0.9998031019195621, + -0.01381248434952509, + -0.014256412200781443 + ], + "footprint_xy": [ + [ + -29.46679579311634, + -14.936776971842502 + ], + [ + -29.350636178704296, + -14.936776971842502 + ], + [ + -29.350636178704296, + -14.779023148212792 + ], + [ + -29.46679579311634, + -14.779023148212792 + ] + ], + "projected_box_corners": [ + [ + -29.350636178704296, + -14.933434648650202 + ], + [ + -29.35403141348468, + -14.935248803898755 + ], + [ + -29.46125111311797, + -14.93496281659395 + ], + [ + -29.464646347898352, + -14.936776971842502 + ], + [ + -29.352785623922284, + -14.779023148212792 + ], + [ + -29.35618085870267, + -14.780837303461343 + ], + [ + -29.463400558335955, + -14.780551316156538 + ], + [ + -29.46679579311634, + -14.782365471405091 + ] + ], + "yaw_rad": 1.5847156682503796, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.68880271911621, + -14.8673734664917, + 0.12785685062408447 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46388760810208, + -14.858824200798216, + 0.11809101321696705 + ], + "intended_face_normal": [ + -0.9998187146792246, + -0.013789454884053587, + -0.013132017210244595 + ], + "commanded_contact_point": [ + -29.68158981323242, + -14.858061390778587, + 0.11881745486314796 + ], + "centerline_face_intersection": [ + -29.46390766673343, + -14.858061390778587, + 0.11881745486314796 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.691139221191406, + -14.867427825927734, + 0.1289379894733429 + ], + "box_pose": [ + -29.410423278808594, + -14.853936195373535, + 0.13602687418460846, + -0.0014929256867617369, + -0.007749998010694981, + 0.7119638323783875, + 0.702171802520752 + ], + "box_yaw_rad": 1.5847024300171064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029960952497987883 + } + } + }, + { + "simulation_time_ns": 3240000000, + "center": [ + -29.40886770811204, + -14.857716326373406, + 0.11882775711803162 + ], + "face_center": [ + -29.46417413705071, + -14.85848079847764, + 0.11796983696405587 + ], + "face_normal": [ + -0.9997843329578174, + -0.013819500688480035, + -0.01550877800888023 + ], + "footprint_xy": [ + [ + -29.467098706497946, + -14.936406127057896 + ], + [ + -29.350636709726135, + -14.936406127057896 + ], + [ + -29.350636709726135, + -14.779026525688916 + ], + [ + -29.467098706497946, + -14.779026525688916 + ] + ], + "projected_box_corners": [ + [ + -29.350636709726135, + -14.933439649886532 + ], + [ + -29.354337635000757, + -14.93487718284943 + ], + [ + -29.46124956760347, + -14.934968594094999 + ], + [ + -29.464950492878092, + -14.936406127057896 + ], + [ + -29.35278492334599, + -14.779026525688916 + ], + [ + -29.35648584862061, + -14.780464058651814 + ], + [ + -29.463397781223325, + -14.780555469897381 + ], + [ + -29.467098706497946, + -14.781993002860279 + ] + ], + "yaw_rad": 1.5847075474482761, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.68550682067871, + -14.866344451904297, + 0.1260213851928711 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464023453117154, + -14.85866414399952, + 0.11803434979669429 + ], + "intended_face_normal": [ + -0.9998031019195621, + -0.01381248434952509, + -0.014256412200781443 + ], + "commanded_contact_point": [ + -29.67893669128418, + -14.857900060027648, + 0.11882299112894062 + ], + "centerline_face_intersection": [ + -29.464045239419722, + -14.857900060027648, + 0.11882299112894062 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.68880271911621, + -14.8673734664917, + 0.12785685062408447 + ], + "box_pose": [ + -29.410579681396484, + -14.853751182556152, + 0.1360245943069458, + -0.0023834053426980972, + -0.00766137195751071, + 0.7119694948196411, + 0.7021646499633789 + ], + "box_yaw_rad": 1.5847156682503796, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002658028279323257 + } + } + }, + { + "simulation_time_ns": 3260000000, + "center": [ + -29.409037530449304, + -14.85750655089881, + 0.11883284127301823 + ], + "face_center": [ + -29.464342662668432, + -14.858272412249761, + 0.11789666353054382 + ], + "face_normal": [ + -0.9997608919238907, + -0.013844614353005325, + -0.016923454610090427 + ], + "footprint_xy": [ + [ + -29.467440141475382, + -14.935985266459012 + ], + [ + -29.35063491942322, + -14.935985266459012 + ], + [ + -29.35063491942322, + -14.77902783533861 + ], + [ + -29.467440141475382, + -14.77902783533861 + ] + ], + "projected_box_corners": [ + [ + -29.35063491942322, + -14.933442283754767 + ], + [ + -29.354681150738205, + -14.934453543757112 + ], + [ + -29.461245183861482, + -14.934974006456667 + ], + [ + -29.465291415176466, + -14.935985266459012 + ], + [ + -29.352783645722138, + -14.77902783533861 + ], + [ + -29.35682987703712, + -14.780039095340955 + ], + [ + -29.4633939101604, + -14.78055955804051 + ], + [ + -29.467440141475382, + -14.781570818042855 + ] + ], + "yaw_rad": 1.584710747671558, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.6811466217041, + -14.863289833068848, + 0.12591320276260376 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46417413705071, + -14.85848079847764, + 0.11796983696405587 + ], + "intended_face_normal": [ + -0.9997843329578174, + -0.013819500688480035, + -0.01550877800888023 + ], + "commanded_contact_point": [ + -29.676352233886718, + -14.857716326373406, + 0.11882775711803162 + ], + "centerline_face_intersection": [ + -29.464198000318095, + -14.857716326373406, + 0.11882775711803162 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.68550682067871, + -14.866344451904297, + 0.1260213851928711 + ], + "box_pose": [ + -29.41075325012207, + -14.853540420532227, + 0.13602043688297272, + -0.0033882693387567997, + -0.007549877744168043, + 0.7119678854942322, + 0.7021633386611938 + ], + "box_yaw_rad": 1.5847075474482761, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002590984525164787 + } + } + }, + { + "simulation_time_ns": 3280000000, + "center": [ + -29.40922905254442, + -14.857268370322203, + 0.11883773856366905 + ], + "face_center": [ + -29.4645325836343, + -14.858037256102348, + 0.1178137821339055 + ], + "face_normal": [ + -0.9997319480204154, + -0.0138992875073356, + -0.018510245838585793 + ], + "footprint_xy": [ + [ + -29.46782559313696, + -14.935508956961796 + ], + [ + -29.350632511951876, + -14.935508956961796 + ], + [ + -29.350632511951876, + -14.779027783682611 + ], + [ + -29.46782559313696, + -14.779027783682611 + ] + ], + "projected_box_corners": [ + [ + -29.350632511951876, + -14.933443102919178 + ], + [ + -29.355066134570713, + -14.933971185401507 + ], + [ + -29.461239574131636, + -14.934980874479466 + ], + [ + -29.46567319675047, + -14.935508956961796 + ], + [ + -29.352784908338364, + -14.779027783682611 + ], + [ + -29.3572185309572, + -14.77955586616494 + ], + [ + -29.463391970518124, + -14.7805655552429 + ], + [ + -29.46782559313696, + -14.78109363772523 + ] + ], + "yaw_rad": 1.5847344322416133, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.677709579467773, + -14.859773635864258, + 0.12701751291751862 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464342662668432, + -14.858272412249761, + 0.11789666353054382 + ], + "intended_face_normal": [ + -0.9997608919238907, + -0.013844614353005325, + -0.016923454610090427 + ], + "commanded_contact_point": [ + -29.673704833984374, + -14.85750655089881, + 0.11883284127301823 + ], + "centerline_face_intersection": [ + -29.464369119964815, + -14.85750655089881, + 0.11883284127301823 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.6811466217041, + -14.863289833068848, + 0.12591320276260376 + ], + "box_pose": [ + -29.410947799682617, + -14.853300094604492, + 0.13601534068584442, + -0.004524657037109137, + -0.007422659546136856, + 0.7119703888893127, + 0.7021556496620178 + ], + "box_yaw_rad": 1.584710747671558, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026557028902540634 + } + } + }, + { + "simulation_time_ns": 3300000000, + "center": [ + -29.409447308764275, + -14.857016891039628, + 0.11884946208101985 + ], + "face_center": [ + -29.464748886909327, + -14.857787075168481, + 0.11772506572760003 + ], + "face_normal": [ + -0.9996966442830008, + -0.013922757992110846, + -0.02032591653007776 + ], + "footprint_xy": [ + [ + -29.468262002178285, + -14.935003939804046 + ], + [ + -29.350632615350268, + -14.935003939804046 + ], + [ + -29.350632615350268, + -14.77902984227521 + ], + [ + -29.468262002178285, + -14.77902984227521 + ] + ], + "projected_box_corners": [ + [ + -29.350632615350268, + -14.933445529587901 + ], + [ + -29.35550895379484, + -14.933463571546337 + ], + [ + -29.461235771640364, + -14.934985897845609 + ], + [ + -29.46611211008494, + -14.935003939804046 + ], + [ + -29.352782507443614, + -14.77902984227521 + ], + [ + -29.35765884588819, + -14.779047884233647 + ], + [ + -29.463385663733714, + -14.780570210532918 + ], + [ + -29.468262002178285, + -14.780588252491356 + ] + ], + "yaw_rad": 1.5847181843014384, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.675186157226562, + -14.858805656433105, + 0.12847256660461426 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.4645325836343, + -14.858037256102348, + 0.1178137821339055 + ], + "intended_face_normal": [ + -0.9997319480204154, + -0.0138992875073356, + -0.018510245838585793 + ], + "commanded_contact_point": [ + -29.671066970825194, + -14.857268370322203, + 0.11883773856366905 + ], + "centerline_face_intersection": [ + -29.464562244001517, + -14.857268370322203, + 0.11883773856366905 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.677709579467773, + -14.859773635864258, + 0.12701751291751862 + ], + "box_pose": [ + -29.41116714477539, + -14.85302734375, + 0.136008620262146, + -0.005806892644613981, + -0.007272511254996061, + 0.7119802832603455, + 0.7021377086639404 + ], + "box_yaw_rad": 1.5847344322416133, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026485988781025705 + } + } + }, + { + "simulation_time_ns": 3320000000, + "center": [ + -29.40964535316596, + -14.856802791673024, + 0.11886379984757077 + ], + "face_center": [ + -29.464944945434656, + -14.857575948812764, + 0.11764774194742646 + ], + "face_normal": [ + -0.99966074523647, + -0.013976501648358619, + -0.021982898911844906 + ], + "footprint_xy": [ + [ + -29.468660909865832, + -14.934991467483492 + ], + [ + -29.35062979646609, + -14.934991467483492 + ], + [ + -29.35062979646609, + -14.778614115862556 + ], + [ + -29.468660909865832, + -14.778614115862556 + ] + ], + "projected_box_corners": [ + [ + -29.35062979646609, + -14.933445153204012 + ], + [ + -29.355909734293043, + -14.933029442756164 + ], + [ + -29.46122898100348, + -14.934991467483492 + ], + [ + -29.46650891883043, + -14.934575757035644 + ], + [ + -29.352781787501492, + -14.779029826310405 + ], + [ + -29.358061725328444, + -14.778614115862556 + ], + [ + -29.46338097203888, + -14.780576140589885 + ], + [ + -29.468660909865832, + -14.780160430142036 + ] + ], + "yaw_rad": 1.5847318069900969, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.673660278320312, + -14.861237525939941, + 0.1290941685438156 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464748886909327, + -14.857787075168481, + 0.11772506572760003 + ], + "intended_face_normal": [ + -0.9996966442830008, + -0.013922757992110846, + -0.02032591653007776 + ], + "commanded_contact_point": [ + -29.668579788208007, + -14.857016891039628, + 0.11884946208101985 + ], + "centerline_face_intersection": [ + -29.464782454282613, + -14.857016891039628, + 0.11884946208101985 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.675186157226562, + -14.858805656433105, + 0.12847256660461426 + ], + "box_pose": [ + -29.41141700744629, + -14.852739334106445, + 0.13600768148899078, + -0.0072104488499462605, + -0.00716356048360467, + 0.7119756937026978, + 0.7021306753158569 + ], + "box_yaw_rad": 1.5847181843014384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024998913259706218 + } + } + }, + { + "simulation_time_ns": 3340000000, + "center": [ + -29.409810613801564, + -14.856622883701604, + 0.11887787868905716 + ], + "face_center": [ + -29.465108464020883, + -14.857399034502901, + 0.1175872507730353 + ], + "face_normal": [ + -0.9996292538943472, + -0.014030618610528789, + -0.023330914594894336 + ], + "footprint_xy": [ + [ + -29.468989917292383, + -14.934996892713398 + ], + [ + -29.35063131031075, + -14.934996892713398 + ], + [ + -29.35063131031075, + -14.77824887468981 + ], + [ + -29.468989917292383, + -14.77824887468981 + ] + ], + "projected_box_corners": [ + [ + -29.35063131031075, + -14.933444591110806 + ], + [ + -29.356239794992298, + -14.932663469834555 + ], + [ + -29.461227010749383, + -14.934996892713398 + ], + [ + -29.46683549543093, + -14.934215771437147 + ], + [ + -29.352785732172197, + -14.779029995966061 + ], + [ + -29.35839421685375, + -14.77824887468981 + ], + [ + -29.463381432610834, + -14.780582297568655 + ], + [ + -29.468989917292383, + -14.779801176292404 + ] + ], + "yaw_rad": 1.584747612163366, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.67300796508789, + -14.865463256835938, + 0.12898854911327362 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464944945434656, + -14.857575948812764, + 0.11764774194742646 + ], + "intended_face_normal": [ + -0.99966074523647, + -0.013976501648358619, + -0.021982898911844906 + ], + "commanded_contact_point": [ + -29.666273803710936, + -14.856802791673024, + 0.11886379984757077 + ], + "centerline_face_intersection": [ + -29.46498248583741, + -14.856802791673024, + 0.11886379984757077 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.673660278320312, + -14.861237525939941, + 0.1290941685438156 + ], + "box_pose": [ + -29.411643981933594, + -14.852494239807129, + 0.13601091504096985, + -0.008444440551102161, + -0.007110451348125935, + 0.7119809985160828, + 0.7021120190620422 + ], + "box_yaw_rad": 1.5847318069900969, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023159465907180007 + } + } + }, + { + "simulation_time_ns": 3360000000, + "center": [ + -29.409934041459184, + -14.856482895319324, + 0.11889035341711435 + ], + "face_center": [ + -29.465230532002813, + -14.85726019058487, + 0.11754336216770309 + ], + "face_normal": [ + -0.9996046747907243, + -0.014051307298078797, + -0.024349804781033435 + ], + "footprint_xy": [ + [ + -29.469235285297366, + -14.934999163751158 + ], + [ + -29.350632797621, + -14.934999163751158 + ], + [ + -29.350632797621, + -14.77796662688749 + ], + [ + -29.469235285297366, + -14.77796662688749 + ] + ], + "projected_box_corners": [ + [ + -29.350632797621, + -14.933444573220063 + ], + [ + -29.356489699752206, + -14.932380478304642 + ], + [ + -29.461225778708265, + -14.934999163751158 + ], + [ + -29.467082680839468, + -14.933935068835737 + ], + [ + -29.352785402078897, + -14.779030721802911 + ], + [ + -29.358642304210104, + -14.77796662688749 + ], + [ + -29.463378383166162, + -14.780585312334006 + ], + [ + -29.469235285297366, + -14.779521217418585 + ] + ], + "yaw_rad": 1.5847359119466673, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.671995162963867, + -14.869685173034668, + 0.12506543099880219 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465108464020883, + -14.857399034502901, + 0.1175872507730353 + ], + "intended_face_normal": [ + -0.9996292538943472, + -0.014030618610528789, + -0.023330914594894336 + ], + "commanded_contact_point": [ + -29.664318771362304, + -14.856622883701604, + 0.11887787868905716 + ], + "centerline_face_intersection": [ + -29.46514948975991, + -14.856622883701604, + 0.11887787868905716 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.67300796508789, + -14.865463256835938, + 0.12898854911327362 + ], + "box_pose": [ + -29.411832809448242, + -14.852288246154785, + 0.1360156536102295, + -0.009467043913900852, + -0.007048876956105232, + 0.7119871377944946, + 0.702093243598938 + ], + "box_yaw_rad": 1.584747612163366, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019633432140506615 + } + } + }, + { + "simulation_time_ns": 3380000000, + "center": [ + -29.41002626203216, + -14.856385546966145, + 0.11889975467048496 + ], + "face_center": [ + -29.465321749112242, + -14.857163423348629, + 0.11751232031437901 + ], + "face_normal": [ + -0.9995865349984013, + -0.014061812254194894, + -0.025080902145759865 + ], + "footprint_xy": [ + [ + -29.469414526264963, + -14.935001597303616 + ], + [ + -29.350637997799357, + -14.935001597303616 + ], + [ + -29.350637997799357, + -14.777769496628673 + ], + [ + -29.469414526264963, + -14.777769496628673 + ] + ], + "projected_box_corners": [ + [ + -29.350637997799357, + -14.933445844538648 + ], + [ + -29.356673088881607, + -14.932182716760016 + ], + [ + -29.46122897195952, + -14.935001597303616 + ], + [ + -29.46726406304177, + -14.933738469524984 + ], + [ + -29.35278846102255, + -14.779032624407305 + ], + [ + -29.3588235521048, + -14.777769496628673 + ], + [ + -29.463379435182713, + -14.780588377172274 + ], + [ + -29.469414526264963, + -14.77932524939364 + ] + ], + "yaw_rad": 1.5847221047068936, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.66996192932129, + -14.87187385559082, + 0.12264491617679596 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465230532002813, + -14.85726019058487, + 0.11754336216770309 + ], + "intended_face_normal": [ + -0.9996046747907243, + -0.014051307298078797, + -0.024349804781033435 + ], + "commanded_contact_point": [ + -29.66262886047363, + -14.856482895319324, + 0.11889035341711435 + ], + "centerline_face_intersection": [ + -29.46527427813542, + -14.856482895319324, + 0.11889035341711435 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.671995162963867, + -14.869685173034668, + 0.12506543099880219 + ], + "box_pose": [ + -29.41197395324707, + -14.852128028869629, + 0.13602089881896973, + -0.010249964892864227, + -0.006992494221776724, + 0.7119835615158081, + 0.7020864486694336 + ], + "box_yaw_rad": 1.5847359119466673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016957450214183773 + } + } + }, + { + "simulation_time_ns": 3400000000, + "center": [ + -29.410084699282553, + -14.856319567401318, + 0.11890584201210119 + ], + "face_center": [ + -29.465379501856845, + -14.857098864623444, + 0.11749213487817951 + ], + "face_normal": [ + -0.9995741610632444, + -0.014087497029725338, + -0.025555839908828704 + ], + "footprint_xy": [ + [ + -29.46953087712585, + -14.935002459171425 + ], + [ + -29.350638521439254, + -14.935002459171425 + ], + [ + -29.350638521439254, + -14.77763667563121 + ], + [ + -29.46953087712585, + -14.77763667563121 + ] + ], + "projected_box_corners": [ + [ + -29.350638521439254, + -14.933443864727176 + ], + [ + -29.356789424100672, + -14.932049374160696 + ], + [ + -29.461228126587837, + -14.935002459171425 + ], + [ + -29.46737902924926, + -14.933607968604946 + ], + [ + -29.35279036931585, + -14.77903116619769 + ], + [ + -29.35894127197727, + -14.77763667563121 + ], + [ + -29.463379974464434, + -14.780589760641941 + ], + [ + -29.46953087712585, + -14.77919527007546 + ] + ], + "yaw_rad": 1.5847311172266585, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.66777801513672, + -14.869611740112305, + 0.12344828248023987 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465321749112242, + -14.857163423348629, + 0.11751232031437901 + ], + "intended_face_normal": [ + -0.9995865349984013, + -0.014061812254194894, + -0.025080902145759865 + ], + "commanded_contact_point": [ + -29.660286636352538, + -14.856385546966145, + 0.11889975467048496 + ], + "centerline_face_intersection": [ + -29.465367502984034, + -14.856385546966145, + 0.11889975467048496 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.66996192932129, + -14.87187385559082, + 0.12264491617679596 + ], + "box_pose": [ + -29.412078857421875, + -14.85201644897461, + 0.13602516055107117, + -0.010805773548781872, + -0.006957929581403732, + 0.7119790315628052, + 0.7020831108093262 + ], + "box_yaw_rad": 1.5847221047068936, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023442651127517714 + } + } + }, + { + "simulation_time_ns": 3420000000, + "center": [ + -29.410114855138275, + -14.856288792761802, + 0.11890963030152973 + ], + "face_center": [ + -29.465409323389082, + -14.85706735621724, + 0.11748235604159352 + ], + "face_normal": [ + -0.999568117437106, + -0.014074232596408054, + -0.025801095303054855 + ], + "footprint_xy": [ + [ + -29.46958888207205, + -14.935002216031487 + ], + [ + -29.3506408282045, + -14.935002216031487 + ], + [ + -29.3506408282045, + -14.77757536949212 + ], + [ + -29.46958888207205, + -14.77757536949212 + ] + ], + "projected_box_corners": [ + [ + -29.3506408282045, + -14.933445089120612 + ], + [ + -29.356851424803647, + -14.931987867630568 + ], + [ + -29.46122976470612, + -14.935002216031487 + ], + [ + -29.46744036130527, + -14.93354499454144 + ], + [ + -29.352789348971278, + -14.779032590982164 + ], + [ + -29.358999945570428, + -14.77757536949212 + ], + [ + -29.4633782854729, + -14.780589717893038 + ], + [ + -29.46958888207205, + -14.779132496402992 + ] + ], + "yaw_rad": 1.5847095925910495, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.666519165039062, + -14.865535736083984, + 0.12484684586524963 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465379501856845, + -14.857098864623444, + 0.11749213487817951 + ], + "intended_face_normal": [ + -0.9995741610632444, + -0.014087497029725338, + -0.025555839908828704 + ], + "commanded_contact_point": [ + -29.65756294250488, + -14.856319567401318, + 0.11890584201210119 + ], + "centerline_face_intersection": [ + -29.465426625315086, + -14.856319567401318, + 0.11890584201210119 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.66777801513672, + -14.869611740112305, + 0.12344828248023987 + ], + "box_pose": [ + -29.412145614624023, + -14.851941108703613, + 0.13602785766124725, + -0.01117001660168171, + -0.006932388991117477, + 0.7119824290275574, + 0.7020742297172546 + ], + "box_yaw_rad": 1.5847311172266585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002724499685164818 + } + } + }, + { + "simulation_time_ns": 3440000000, + "center": [ + -29.410109463054496, + -14.85629555923841, + 0.1189106212823706 + ], + "face_center": [ + -29.46540395088592, + -14.857075260180029, + 0.1174846842023205 + ], + "face_normal": [ + -0.9995684713994705, + -0.014094795140149774, + -0.025776922860065 + ], + "footprint_xy": [ + [ + -29.469582240703968, + -14.935004325232077 + ], + [ + -29.350636685405025, + -14.935004325232077 + ], + [ + -29.350636685405025, + -14.77758679324474 + ], + [ + -29.469582240703968, + -14.77758679324474 + ] + ], + "projected_box_corners": [ + [ + -29.350636685405025, + -14.933444923348839 + ], + [ + -29.3568413528342, + -14.93199929490522 + ], + [ + -29.46122566106788, + -14.935004325232077 + ], + [ + -29.467430328497052, + -14.93355869678846 + ], + [ + -29.35278859761194, + -14.779032421688358 + ], + [ + -29.358993265041114, + -14.77758679324474 + ], + [ + -29.463377573274794, + -14.780591823571598 + ], + [ + -29.469582240703968, + -14.77914619512798 + ] + ], + "yaw_rad": 1.5847315515231126, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.66482162475586, + -14.86354923248291, + 0.126021146774292 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465409323389082, + -14.85706735621724, + 0.11748235604159352 + ], + "intended_face_normal": [ + -0.999568117437106, + -0.014074232596408054, + -0.025801095303054855 + ], + "commanded_contact_point": [ + -29.65513488769531, + -14.856288792761802, + 0.11890963030152973 + ], + "centerline_face_intersection": [ + -29.46545711578123, + -14.856288792761802, + 0.11890963030152973 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.666519165039062, + -14.865535736083984, + 0.12484684586524963 + ], + "box_pose": [ + -29.412179946899414, + -14.851905822753906, + 0.13602998852729797, + -0.011350384913384914, + -0.006926761008799076, + 0.7119749188423157, + 0.7020790576934814 + ], + "box_yaw_rad": 1.5847095925910495, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002428252784998228 + } + } + }, + { + "simulation_time_ns": 3460000000, + "center": [ + -29.41007972205698, + -14.856333907104505, + 0.11890871580024209 + ], + "face_center": [ + -29.465374592361492, + -14.85711196594908, + 0.11749705058342289 + ], + "face_normal": [ + -0.9995753854346865, + -0.014065110654475133, + -0.02551892780353754 + ], + "footprint_xy": [ + [ + -29.46951984705377, + -14.935002295856652 + ], + [ + -29.350639597060194, + -14.935002295856652 + ], + [ + -29.350639597060194, + -14.777665518352357 + ], + [ + -29.46951984705377, + -14.777665518352357 + ] + ], + "projected_box_corners": [ + [ + -29.350639597060194, + -14.9334461781675 + ], + [ + -29.35678123969488, + -14.932078359176035 + ], + [ + -29.461229337669216, + -14.935002295856652 + ], + [ + -29.4673709803039, + -14.933634476865187 + ], + [ + -29.352788463810064, + -14.779033337343822 + ], + [ + -29.35893010644475, + -14.777665518352357 + ], + [ + -29.463378204419087, + -14.780589455032974 + ], + [ + -29.46951984705377, + -14.779221636041509 + ] + ], + "yaw_rad": 1.584711801920613, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.661970138549805, + -14.861759185791016, + 0.12701515853405 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46540395088592, + -14.857075260180029, + 0.1174846842023205 + ], + "intended_face_normal": [ + -0.9995684713994705, + -0.014094795140149774, + -0.025776922860065 + ], + "commanded_contact_point": [ + -29.652891845703124, + -14.85629555923841, + 0.1189106212823706 + ], + "centerline_face_intersection": [ + -29.46545170409992, + -14.85629555923841, + 0.1189106212823706 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.66482162475586, + -14.86354923248291, + 0.126021146774292 + ], + "box_pose": [ + -29.412174224853516, + -14.851913452148438, + 0.13603124022483826, + -0.011324688792228699, + -0.006935167592018843, + 0.7119825482368469, + 0.7020716667175293 + ], + "box_yaw_rad": 1.5847315515231126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022430524171238564 + } + } + }, + { + "simulation_time_ns": 3480000000, + "center": [ + -29.410026339413804, + -14.856397982540802, + 0.11890581007520425 + ], + "face_center": [ + -29.46532183749101, + -14.857175482406062, + 0.11751848331247439 + ], + "face_normal": [ + -0.9995867337954049, + -0.01405500588414621, + -0.02507895716081321 + ], + "footprint_xy": [ + [ + -29.46941388203574, + -14.93500057434523 + ], + [ + -29.350638796791866, + -14.93500057434523 + ], + [ + -29.350638796791866, + -14.777795390736376 + ], + [ + -29.46941388203574, + -14.777795390736376 + ] + ], + "projected_box_corners": [ + [ + -29.350638796791866, + -14.933445574614709 + ], + [ + -29.356673046210208, + -14.93220872216809 + ], + [ + -29.46122979294628, + -14.93500057434523 + ], + [ + -29.467264042364622, + -14.933763721898611 + ], + [ + -29.352788636462986, + -14.779032243182993 + ], + [ + -29.358822885881327, + -14.777795390736376 + ], + [ + -29.4633796326174, + -14.780587242913514 + ], + [ + -29.46941388203574, + -14.779350390466895 + ] + ], + "yaw_rad": 1.5847180572523818, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.65793800354004, + -14.858786582946777, + 0.12902705371379852 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465374592361492, + -14.85711196594908, + 0.11749705058342289 + ], + "intended_face_normal": [ + -0.9995753854346865, + -0.014065110654475133, + -0.02551892780353754 + ], + "commanded_contact_point": [ + -29.65062400817871, + -14.856333907104505, + 0.11890871580024209 + ], + "centerline_face_intersection": [ + -29.465421580301655, + -14.856333907104505, + 0.11890871580024209 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.661970138549805, + -14.861759185791016, + 0.12701515853405 + ], + "box_pose": [ + -29.412139892578125, + -14.851957321166992, + 0.13603129982948303, + -0.011117161251604557, + -0.00695853540673852, + 0.7119753956794739, + 0.7020819187164307 + ], + "box_yaw_rad": 1.584711801920613, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002268162522139163 + } + } + }, + { + "simulation_time_ns": 3500000000, + "center": [ + -29.409966594341043, + -14.856472166774594, + 0.11890185669877716 + ], + "face_center": [ + -29.46526279301014, + -14.857249733229427, + 0.11754307592524785 + ], + "face_normal": [ + -0.9995993985219382, + -0.014056209635903816, + -0.02456292614381983 + ], + "footprint_xy": [ + [ + -29.469293392232576, + -14.935000380677021 + ], + [ + -29.35063979644951, + -14.935000380677021 + ], + [ + -29.35063979644951, + -14.777943952872167 + ], + [ + -29.469293392232576, + -14.777943952872167 + ] + ], + "projected_box_corners": [ + [ + -29.35063979644951, + -14.933445247767356 + ], + [ + -29.356548162370043, + -14.932357727080916 + ], + [ + -29.46123219378771, + -14.935000380677021 + ], + [ + -29.46714055970824, + -14.933912859990581 + ], + [ + -29.352792628973845, + -14.779031473558607 + ], + [ + -29.358700994894377, + -14.777943952872167 + ], + [ + -29.463385026312043, + -14.780586606468272 + ], + [ + -29.469293392232576, + -14.779499085781833 + ] + ], + "yaw_rad": 1.5847373956111377, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.652667999267578, + -14.85482120513916, + 0.131069615483284 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46532183749101, + -14.857175482406062, + 0.11751848331247439 + ], + "intended_face_normal": [ + -0.9995867337954049, + -0.01405500588414621, + -0.02507895716081321 + ], + "commanded_contact_point": [ + -29.648337097167968, + -14.856397982540802, + 0.11890581007520425 + ], + "centerline_face_intersection": [ + -29.465367569359454, + -14.856397982540802, + 0.11890581007520425 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.65793800354004, + -14.858786582946777, + 0.12902705371379852 + ], + "box_pose": [ + -29.412078857421875, + -14.852030754089355, + 0.13603170216083527, + -0.010766047984361649, + -0.006995723117142916, + 0.7119772434234619, + 0.7020851969718933 + ], + "box_yaw_rad": 1.5847180572523818, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022878103233940823 + } + } + }, + { + "simulation_time_ns": 3520000000, + "center": [ + -29.409894859293583, + -14.856555442910727, + 0.11889666878748857 + ], + "face_center": [ + -29.46519185511314, + -14.857333427837785, + 0.11757087131909727 + ], + "face_normal": [ + -0.9996138087551313, + -0.014063774434132537, + -0.02396668096294363 + ], + "footprint_xy": [ + [ + -29.469151869565888, + -14.934999944499644 + ], + [ + -29.350637849021282, + -14.934999944499644 + ], + [ + -29.350637849021282, + -14.778110941321811 + ], + [ + -29.469151869565888, + -14.778110941321811 + ] + ], + "projected_box_corners": [ + [ + -29.350637849021282, + -14.933443974645526 + ], + [ + -29.356400818848886, + -14.932525159956958 + ], + [ + -29.461231840660396, + -14.934999944499644 + ], + [ + -29.466994810488, + -14.934081129811075 + ], + [ + -29.35279490809917, + -14.77902975601038 + ], + [ + -29.358557877926774, + -14.778110941321811 + ], + [ + -29.463388899738284, + -14.780585725864498 + ], + [ + -29.469151869565888, + -14.779666911175928 + ] + ], + "yaw_rad": 1.5847647216929885, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.647998809814453, + -14.851306915283203, + 0.13216769695281982 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46526279301014, + -14.857249733229427, + 0.11754307592524785 + ], + "intended_face_normal": [ + -0.9995993985219382, + -0.014056209635903816, + -0.02456292614381983 + ], + "commanded_contact_point": [ + -29.646105499267577, + -14.856472166774594, + 0.11890185669877716 + ], + "centerline_face_intersection": [ + -29.465307123124262, + -14.856472166774594, + 0.11890185669877716 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.652667999267578, + -14.85482120513916, + 0.131069615483284 + ], + "box_pose": [ + -29.412010192871094, + -14.852115631103516, + 0.13603153824806213, + -0.010360656306147575, + -0.007033038884401321, + 0.7119836807250977, + 0.7020843029022217 + ], + "box_yaw_rad": 1.5847373956111377, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002232834100141875 + } + } + }, + { + "simulation_time_ns": 3540000000, + "center": [ + -29.40981466481988, + -14.85665058755803, + 0.11889142661874624 + ], + "face_center": [ + -29.465112534867046, + -14.857428085159817, + 0.1176018054999502 + ], + "face_normal": [ + -0.9996296123259639, + -0.014054964966937922, + -0.02331271453909367 + ], + "footprint_xy": [ + [ + -29.46899372724134, + -14.934999956190046 + ], + [ + -29.35063560239842, + -14.934999956190046 + ], + [ + -29.35063560239842, + -14.778301218926016 + ], + [ + -29.46899372724134, + -14.778301218926016 + ] + ], + "projected_box_corners": [ + [ + -29.35063560239842, + -14.93344496098647 + ], + [ + -29.356239013362533, + -14.932715909367067 + ], + [ + -29.461231342492752, + -14.934999956190046 + ], + [ + -29.466834753456865, + -14.934270904570642 + ], + [ + -29.352794576182895, + -14.77903027054542 + ], + [ + -29.358397987147008, + -14.778301218926016 + ], + [ + -29.463390316277227, + -14.780585265748995 + ], + [ + -29.46899372724134, + -14.779856214129591 + ] + ], + "yaw_rad": 1.5847770763671047, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.64463996887207, + -14.849555969238281, + 0.13156145811080933 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46519185511314, + -14.857333427837785, + 0.11757087131909727 + ], + "intended_face_normal": [ + -0.9996138087551313, + -0.014063774434132537, + -0.02396668096294363 + ], + "commanded_contact_point": [ + -29.643933029174804, + -14.856555442910727, + 0.11889666878748857 + ], + "centerline_face_intersection": [ + -29.465234590298785, + -14.856555442910727, + 0.11889666878748857 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.647998809814453, + -14.851306915283203, + 0.13216769695281982 + ], + "box_pose": [ + -29.411928176879883, + -14.852210998535156, + 0.1360306441783905, + -0.009897973388433456, + -0.007070518098771572, + 0.7119929194450378, + 0.7020812630653381 + ], + "box_yaw_rad": 1.5847647216929885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021740717865948575 + } + } + }, + { + "simulation_time_ns": 3560000000, + "center": [ + -29.409724778527472, + -14.856756442535335, + 0.11888479959947743 + ], + "face_center": [ + -29.465023608977383, + -14.857532145213954, + 0.11763661190423985 + ], + "face_normal": [ + -0.999646973700309, + -0.014022517815738711, + -0.022563715037055454 + ], + "footprint_xy": [ + [ + -29.468812691533117, + -14.934997314791271 + ], + [ + -29.350636865521828, + -14.934997314791271 + ], + [ + -29.350636865521828, + -14.778515570279398 + ], + [ + -29.468812691533117, + -14.778515570279398 + ] + ], + "projected_box_corners": [ + [ + -29.350636865521828, + -14.933445909434031 + ], + [ + -29.356057566594785, + -14.932930644606662 + ], + [ + -29.461234526421645, + -14.934997314791271 + ], + [ + -29.466655227494602, + -14.934482049963902 + ], + [ + -29.352794329560343, + -14.779030835106767 + ], + [ + -29.3582150306333, + -14.778515570279398 + ], + [ + -29.463391990460163, + -14.780582240464007 + ], + [ + -29.468812691533117, + -14.780066975636638 + ] + ], + "yaw_rad": 1.584767266331301, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.642358779907227, + -14.85082721710205, + 0.12973596155643463 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465112534867046, + -14.857428085159817, + 0.1176018054999502 + ], + "intended_face_normal": [ + -0.9996296123259639, + -0.014054964966937922, + -0.02331271453909367 + ], + "commanded_contact_point": [ + -29.641764373779296, + -14.85665058755803, + 0.11889142661874624 + ], + "centerline_face_intersection": [ + -29.465153520935672, + -14.85665058755803, + 0.11889142661874624 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.64463996887207, + -14.849555969238281, + 0.13156145811080933 + ], + "box_pose": [ + -29.411836624145508, + -14.852319717407227, + 0.1360301822423935, + -0.009383399039506912, + -0.007118602748960257, + 0.7119967937469482, + 0.7020840644836426 + ], + "box_yaw_rad": 1.5847770763671047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021707478454921583 + } + } + }, + { + "simulation_time_ns": 3580000000, + "center": [ + -29.409625061086366, + -14.856873176532314, + 0.11887700323753737 + ], + "face_center": [ + -29.46492494813028, + -14.857647211837818, + 0.11767542227496484 + ], + "face_normal": [ + -0.9996660739415238, + -0.013992376409943441, + -0.02172119668931438 + ], + "footprint_xy": [ + [ + -29.468610792105668, + -14.934995090275004 + ], + [ + -29.350639330067064, + -14.934995090275004 + ], + [ + -29.350639330067064, + -14.778751262789626 + ], + [ + -29.468610792105668, + -14.778751262789626 + ] + ], + "projected_box_corners": [ + [ + -29.350639330067064, + -14.933447019663994 + ], + [ + -29.355854598972833, + -14.933166655584179 + ], + [ + -29.461239104154895, + -14.934995090275004 + ], + [ + -29.466454373060664, + -14.934714726195187 + ], + [ + -29.352795749112065, + -14.779031626869441 + ], + [ + -29.358011018017837, + -14.778751262789626 + ], + [ + -29.463395523199896, + -14.78057969748045 + ], + [ + -29.468610792105668, + -14.780299333400635 + ] + ], + "yaw_rad": 1.584760471423455, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.64159393310547, + -14.854650497436523, + 0.12679779529571533 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.465023608977383, + -14.857532145213954, + 0.11763661190423985 + ], + "intended_face_normal": [ + -0.999646973700309, + -0.014022517815738711, + -0.022563715037055454 + ], + "commanded_contact_point": [ + -29.639559478759764, + -14.856756442535335, + 0.11888479959947743 + ], + "centerline_face_intersection": [ + -29.465062673545376, + -14.856756442535335, + 0.11888479959947743 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.642358779907227, + -14.85082721710205, + 0.12973596155643463 + ], + "box_pose": [ + -29.411733627319336, + -14.85244083404541, + 0.1360289454460144, + -0.008799229748547077, + -0.007168559357523918, + 0.7119928598403931, + 0.7020949125289917 + ], + "box_yaw_rad": 1.584767266331301, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002207444504570442 + } + } + }, + { + "simulation_time_ns": 3600000000, + "center": [ + -29.40950835008795, + -14.857006360992207, + 0.11886885034958715 + ], + "face_center": [ + -29.464809375384412, + -14.85778036907552, + 0.11772089237212895 + ], + "face_normal": [ + -0.9996866503389761, + -0.013991884309466851, + -0.020751844275272657 + ], + "footprint_xy": [ + [ + -29.468378924907903, + -14.934992915049309 + ], + [ + -29.350637775267995, + -14.934992915049309 + ], + [ + -29.350637775267995, + -14.779019806935105 + ], + [ + -29.468378924907903, + -14.779019806935105 + ] + ], + "projected_box_corners": [ + [ + -29.350637775267995, + -14.933444898882682 + ], + [ + -29.355616692459233, + -14.933435302618511 + ], + [ + -29.46123982586092, + -14.934992915049309 + ], + [ + -29.46621874305216, + -14.934983318785138 + ], + [ + -29.35279795712374, + -14.779029403199276 + ], + [ + -29.35777687431498, + -14.779019806935105 + ], + [ + -29.463400007716665, + -14.780577419365903 + ], + [ + -29.468378924907903, + -14.780567823101732 + ] + ], + "yaw_rad": 1.5847848254507935, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.642974853515625, + -14.85639476776123, + 0.12520690262317657 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46492494813028, + -14.857647211837818, + 0.11767542227496484 + ], + "intended_face_normal": [ + -0.9996660739415238, + -0.013992376409943441, + -0.02172119668931438 + ], + "commanded_contact_point": [ + -29.637423248291014, + -14.856873176532314, + 0.11887700323753737 + ], + "centerline_face_intersection": [ + -29.46496189878406, + -14.856873176532314, + 0.11887700323753737 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.64159393310547, + -14.854650497436523, + 0.12679779529571533 + ], + "box_pose": [ + -29.411619186401367, + -14.852574348449707, + 0.13602708280086517, + -0.00815044716000557, + -0.007216572295874357, + 0.7119899988174438, + 0.7021051645278931 + ], + "box_yaw_rad": 1.584760471423455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002139431752808683 + } + } + }, + { + "simulation_time_ns": 3620000000, + "center": [ + -29.409373241598516, + -14.857159664744227, + 0.11885938397084855 + ], + "face_center": [ + -29.46467551632125, + -14.857934227359044, + 0.11777340010424443 + ], + "face_normal": [ + -0.9997092364440429, + -0.014001908675871366, + -0.019631527048687203 + ], + "footprint_xy": [ + [ + -29.468111261819097, + -14.935291654346347 + ], + [ + -29.35063522137793, + -14.935291654346347 + ], + [ + -29.35063522137793, + -14.779027675142107 + ], + [ + -29.468111261819097, + -14.779027675142107 + ] + ], + "projected_box_corners": [ + [ + -29.35063522137793, + -14.933443044141011 + ], + [ + -29.355341021804954, + -14.933742529116715 + ], + [ + -29.461239770823408, + -14.934992169370643 + ], + [ + -29.46594557125043, + -14.935291654346347 + ], + [ + -29.352800911946602, + -14.779027675142107 + ], + [ + -29.35750671237362, + -14.779327160117813 + ], + [ + -29.463405461392075, + -14.780576800371739 + ], + [ + -29.468111261819097, + -14.780876285347444 + ] + ], + "yaw_rad": 1.584820504568985, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.644445419311523, + -14.85725212097168, + 0.12602108716964722 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464809375384412, + -14.85778036907552, + 0.11772089237212895 + ], + "intended_face_normal": [ + -0.9996866503389761, + -0.013991884309466851, + -0.020751844275272657 + ], + "commanded_contact_point": [ + -29.635390014648436, + -14.857006360992207, + 0.11886885034958715 + ], + "centerline_face_intersection": [ + -29.464844048795975, + -14.857006360992207, + 0.11886885034958715 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.642974853515625, + -14.85639476776123, + 0.12520690262317657 + ], + "box_pose": [ + -29.41148567199707, + -14.852726936340332, + 0.13602572679519653, + -0.007403398863971233, + -0.007272437214851379, + 0.7119979858398438, + 0.7021047472953796 + ], + "box_yaw_rad": 1.5847848254507935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020376073260690666 + } + } + }, + { + "simulation_time_ns": 3640000000, + "center": [ + -29.40921850308194, + -14.857336217700793, + 0.11884878240754511 + ], + "face_center": [ + -29.464522180947387, + -14.858108437185464, + 0.11783439372107017 + ], + "face_normal": [ + -0.999734601308958, + -0.01395955148787209, + -0.018337288010259745 + ], + "footprint_xy": [ + [ + -29.467798911084287, + -14.935644857498495 + ], + [ + -29.350638095079592, + -14.935644857498495 + ], + [ + -29.350638095079592, + -14.77902757790309 + ], + [ + -29.467798911084287, + -14.77902757790309 + ] + ], + "projected_box_corners": [ + [ + -29.350638095079592, + -14.93344260824037 + ], + [ + -29.355028377121762, + -14.934100418529152 + ], + [ + -29.46124545081049, + -14.934987047209713 + ], + [ + -29.465635732852657, + -14.935644857498495 + ], + [ + -29.352801273311222, + -14.77902757790309 + ], + [ + -29.35719155535339, + -14.779685388191872 + ], + [ + -29.463408629042117, + -14.780572016872433 + ], + [ + -29.467798911084287, + -14.781229827161216 + ] + ], + "yaw_rad": 1.5848042684895738, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.6435546875, + -14.856958389282227, + 0.12705576419830322 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46467551632125, + -14.857934227359044, + 0.11777340010424443 + ], + "intended_face_normal": [ + -0.9997092364440429, + -0.014001908675871366, + -0.019631527048687203 + ], + "commanded_contact_point": [ + -29.63313362121582, + -14.857159664744227, + 0.11885938397084855 + ], + "centerline_face_intersection": [ + -29.46470769012513, + -14.857159664744227, + 0.11885938397084855 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.644445419311523, + -14.85725212097168, + 0.12602108716964722 + ], + "box_pose": [ + -29.411331176757812, + -14.85290241241455, + 0.13602399826049805, + -0.006545762065798044, + -0.007331330329179764, + 0.7120099067687988, + 0.7021006345748901 + ], + "box_yaw_rad": 1.584820504568985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022616151254065803 + } + } + }, + { + "simulation_time_ns": 3660000000, + "center": [ + -29.409040686404175, + -14.857538489091569, + 0.11883561378985136 + ], + "face_center": [ + -29.464345839224343, + -14.858308825560018, + 0.11790441962137319 + ], + "face_normal": [ + -0.9997612643325957, + -0.013925511862539874, + -0.016833365640341658 + ], + "footprint_xy": [ + [ + -29.46743859735868, + -14.93605057000106 + ], + [ + -29.35064277544967, + -14.93605057000106 + ], + [ + -29.35064277544967, + -14.77902640818208 + ], + [ + -29.46743859735868, + -14.77902640818208 + ] + ], + "projected_box_corners": [ + [ + -29.35064277544967, + -14.933440516991325 + ], + [ + -29.354666501961756, + -14.934509897064164 + ], + [ + -29.46125308109001, + -14.934981189928221 + ], + [ + -29.465276807602095, + -14.93605057000106 + ], + [ + -29.352804565206256, + -14.77902640818208 + ], + [ + -29.35682829171834, + -14.780095788254918 + ], + [ + -29.463414870846595, + -14.780567081118974 + ], + [ + -29.46743859735868, + -14.781636461191814 + ] + ], + "yaw_rad": 1.584795361947484, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.6409854888916, + -14.856149673461914, + 0.1306999921798706 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464522180947387, + -14.858108437185464, + 0.11783439372107017 + ], + "intended_face_normal": [ + -0.999734601308958, + -0.01395955148787209, + -0.018337288010259745 + ], + "commanded_contact_point": [ + -29.63082954406738, + -14.857336217700793, + 0.11884878240754511 + ], + "centerline_face_intersection": [ + -29.464551547685144, + -14.857336217700793, + 0.11884878240754511 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.6435546875, + -14.856958389282227, + 0.12705576419830322 + ], + "box_pose": [ + -29.41115379333496, + -14.853104591369629, + 0.13602229952812195, + -0.005552946124225855, + -0.0074014198035001755, + 0.7120034694671631, + 0.7021151185035706 + ], + "box_yaw_rad": 1.5848042684895738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023108558686271226 + } + } + }, + { + "simulation_time_ns": 3680000000, + "center": [ + -29.408830748988326, + -14.857774997653525, + 0.11882022607130438 + ], + "face_center": [ + -29.464137450761466, + -14.85854436359436, + 0.11798546028238412 + ], + "face_normal": [ + -0.9997892650359623, + -0.013907967459078074, + -0.015090212358081834 + ], + "footprint_xy": [ + [ + -29.467018151567515, + -14.936524670776715 + ], + [ + -29.35064334640914, + -14.936524670776715 + ], + [ + -29.35064334640914, + -14.779025324530336 + ], + [ + -29.467018151567515, + -14.779025324530336 + ] + ], + "projected_box_corners": [ + [ + -29.35064334640914, + -14.933437778037547 + ], + [ + -29.354242179233815, + -14.934985938895048 + ], + [ + -29.461256749955414, + -14.934976509919213 + ], + [ + -29.464855582780093, + -14.936524670776715 + ], + [ + -29.352805915196562, + -14.779025324530336 + ], + [ + -29.35640474802124, + -14.780573485387837 + ], + [ + -29.46341931874284, + -14.780564056412004 + ], + [ + -29.467018151567515, + -14.782112217269505 + ] + ], + "yaw_rad": 1.5848005561381588, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.638410568237305, + -14.854697227478027, + 0.1342996209859848 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464345839224343, + -14.858308825560018, + 0.11790441962137319 + ], + "intended_face_normal": [ + -0.9997612643325957, + -0.013925511862539874, + -0.016833365640341658 + ], + "commanded_contact_point": [ + -29.628626556396483, + -14.857538489091569, + 0.11883561378985136 + ], + "centerline_face_intersection": [ + -29.4643722553088, + -14.857538489091569, + 0.11883561378985136 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.6409854888916, + -14.856149673461914, + 0.1306999921798706 + ], + "box_pose": [ + -29.41094970703125, + -14.853336334228516, + 0.13601930439472198, + -0.0044065057300031185, + -0.0074757905676960945, + 0.7119995355606079, + 0.7021262645721436 + ], + "box_yaw_rad": 1.584795361947484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002212293336370446 + } + } + }, + { + "simulation_time_ns": 3700000000, + "center": [ + -29.408587804098527, + -14.85804939532481, + 0.11880174501420825 + ], + "face_center": [ + -29.463896104154916, + -14.858817687714287, + 0.11807958684294774 + ], + "face_normal": [ + -0.9998181574917222, + -0.013888560676780903, + -0.013054584058290797 + ], + "footprint_xy": [ + [ + -29.46652856092585, + -14.937077554085333 + ], + [ + -29.350647047271206, + -14.937077554085333 + ], + [ + -29.350647047271206, + -14.779021236564288 + ], + [ + -29.46652856092585, + -14.779021236564288 + ] + ], + "projected_box_corners": [ + [ + -29.350647047271206, + -14.933430969291479 + ], + [ + -29.353749672137987, + -14.935540969306377 + ], + [ + -29.46126364738398, + -14.934967554070434 + ], + [ + -29.46436627225076, + -14.937077554085333 + ], + [ + -29.352809335946297, + -14.779021236564288 + ], + [ + -29.355911960813074, + -14.781131236579187 + ], + [ + -29.46342593605907, + -14.780557821343244 + ], + [ + -29.46652856092585, + -14.782667821358142 + ] + ], + "yaw_rad": 1.5847989891387302, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.63744354248047, + -14.855504035949707, + 0.13249099254608154 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464137450761466, + -14.85854436359436, + 0.11798546028238412 + ], + "intended_face_normal": [ + -0.9997892650359623, + -0.013907967459078074, + -0.015090212358081834 + ], + "commanded_contact_point": [ + -29.626381607055663, + -14.857774997653525, + 0.11882022607130438 + ], + "centerline_face_intersection": [ + -29.464160768243538, + -14.857774997653525, + 0.11882022607130438 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.638410568237305, + -14.854697227478027, + 0.1342996209859848 + ], + "box_pose": [ + -29.410709381103516, + -14.853607177734375, + 0.1360156238079071, + -0.0030751931481063366, + -0.0075644850730896, + 0.7120003700256348, + 0.7021315097808838 + ], + "box_yaw_rad": 1.5848005561381588, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022574256631415885 + } + } + }, + { + "simulation_time_ns": 3720000000, + "center": [ + -29.40830355708896, + -14.858367801933696, + 0.11877723026143581 + ], + "face_center": [ + -29.46361344728097, + -14.859135671877839, + 0.1181879442937026 + ], + "face_normal": [ + -0.9998469026613794, + -0.013880924055949206, + -0.010652629169475205 + ], + "footprint_xy": [ + [ + -29.465953239173064, + -14.937719520473566 + ], + [ + -29.35065387500486, + -14.937719520473566 + ], + [ + -29.35065387500486, + -14.779016083393826 + ], + [ + -29.465953239173064, + -14.779016083393826 + ] + ], + "projected_box_corners": [ + [ + -29.35065387500486, + -14.933421593605283 + ], + [ + -29.353171137379803, + -14.93618378058528 + ], + [ + -29.461273655388876, + -14.93495733349357 + ], + [ + -29.46379091776382, + -14.937719520473566 + ], + [ + -29.3528161964141, + -14.779016083393826 + ], + [ + -29.355333458789044, + -14.781778270373822 + ], + [ + -29.46343597679812, + -14.78055182328211 + ], + [ + -29.465953239173064, + -14.783314010262107 + ] + ], + "yaw_rad": 1.5847995839780502, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.63656234741211, + -14.861777305603027, + 0.12591832876205444 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463896104154916, + -14.858817687714287, + 0.11807958684294774 + ], + "intended_face_normal": [ + -0.9998181574917222, + -0.013888560676780903, + -0.013054584058290797 + ], + "commanded_contact_point": [ + -29.623980255126952, + -14.85804939532481, + 0.11880174501420825 + ], + "centerline_face_intersection": [ + -29.463916224442855, + -14.85804939532481, + 0.11880174501420825 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.63744354248047, + -14.855504035949707, + 0.13249099254608154 + ], + "box_pose": [ + -29.410430908203125, + -14.853921890258789, + 0.13601070642471313, + -0.0015164861688390374, + -0.007672080770134926, + 0.7119985818862915, + 0.7021372318267822 + ], + "box_yaw_rad": 1.5847989891387302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024170491755448314 + } + } + }, + { + "simulation_time_ns": 3740000000, + "center": [ + -29.407973614699216, + -14.858745546979502, + 0.1187521394690451 + ], + "face_center": [ + -29.463284909918467, + -14.859513753500387, + 0.11831399433493643 + ], + "face_normal": [ + -0.9998723015932904, + -0.013887008414663615, + -0.007920428945599134 + ], + "footprint_xy": [ + [ + -29.465291569224966, + -14.938478273935162 + ], + [ + -29.350655660173466, + -14.938478273935162 + ], + [ + -29.350655660173466, + -14.77901282002384 + ], + [ + -29.465291569224966, + -14.77901282002384 + ] + ], + "projected_box_corners": [ + [ + -29.350655660173466, + -14.933411850399995 + ], + [ + -29.352506696983294, + -14.936941860893395 + ], + [ + -29.461278250611965, + -14.934948263441765 + ], + [ + -29.463129287421797, + -14.938478273935162 + ], + [ + -29.352817941976635, + -14.77901282002384 + ], + [ + -29.354668978786467, + -14.78254283051724 + ], + [ + -29.463440532415138, + -14.78054923306561 + ], + [ + -29.465291569224966, + -14.78407924355901 + ] + ], + "yaw_rad": 1.5847999151241263, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.63318634033203, + -14.867348670959473, + 0.12316523492336273 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46361344728097, + -14.859135671877839, + 0.1181879442937026 + ], + "intended_face_normal": [ + -0.9998469026613794, + -0.013880924055949206, + -0.010652629169475205 + ], + "commanded_contact_point": [ + -29.621458740234374, + -14.858367801933696, + 0.11877723026143581 + ], + "centerline_face_intersection": [ + -29.46363038676493, + -14.858367801933696, + 0.11877723026143581 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.63656234741211, + -14.861777305603027, + 0.12591832876205444 + ], + "box_pose": [ + -29.410104751586914, + -14.854287147521973, + 0.1360017955303192, + 0.0003067224461119622, + -0.007783281151205301, + 0.7119974493980408, + 0.7021388411521912 + ], + "box_yaw_rad": 1.5847995839780502, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002541657155317881 + } + } + }, + { + "simulation_time_ns": 3760000000, + "center": [ + -29.407903880621678, + -14.858822136644664, + 0.11877432744100458 + ], + "face_center": [ + -29.4632154253411, + -14.859590441416332, + 0.1183690491908309 + ], + "face_normal": [ + -0.9998768118530661, + -0.013888784511873364, + -0.007326288331896302 + ], + "footprint_xy": [ + [ + -29.46514955347029, + -14.938631670161788 + ], + [ + -29.350658207773066, + -14.938631670161788 + ], + [ + -29.350658207773066, + -14.779012603127539 + ], + [ + -29.46514955347029, + -14.779012603127539 + ] + ], + "projected_box_corners": [ + [ + -29.350658207773066, + -14.933410130487218 + ], + [ + -29.352364538712852, + -14.937095060618454 + ], + [ + -29.461281297211908, + -14.934946740030554 + ], + [ + -29.462987628151694, + -14.938631670161788 + ], + [ + -29.35282013309166, + -14.779012603127539 + ], + [ + -29.354526464031448, + -14.782697533258773 + ], + [ + -29.463443222530504, + -14.780549212670874 + ], + [ + -29.46514955347029, + -14.78423414280211 + ] + ], + "yaw_rad": 1.5847977430050646, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.62856101989746, + -14.868444442749023, + 0.1241714209318161 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463284909918467, + -14.859513753500387, + 0.11831399433493643 + ], + "intended_face_normal": [ + -0.9998723015932904, + -0.013887008414663615, + -0.007920428945599134 + ], + "commanded_contact_point": [ + -29.618618698120116, + -14.858745546979502, + 0.1187521394690451 + ], + "centerline_face_intersection": [ + -29.463299038953338, + -14.858745546979502, + 0.1187521394690451 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.63318634033203, + -14.867348670959473, + 0.12316523492336273 + ], + "box_pose": [ + -29.409727096557617, + -14.854720115661621, + 0.13599461317062378, + 0.0024191546253859997, + -0.007947784848511219, + 0.711995542049408, + 0.702134907245636 + ], + "box_yaw_rad": 1.5847999151241263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002865163185274491 + } + } + }, + { + "simulation_time_ns": 3780000000, + "center": [ + -29.408016975377056, + -14.858721254016437, + 0.11877482388763741 + ], + "face_center": [ + -29.463328105865106, + -14.859489471961332, + 0.11831682345034691 + ], + "face_normal": [ + -0.9998693237175954, + -0.013887214928565594, + -0.008279356857385678 + ], + "footprint_xy": [ + [ + -29.465378443737638, + -14.938430823749025 + ], + [ + -29.35065550701647, + -14.938430823749025 + ], + [ + -29.35065550701647, + -14.779011684283851 + ], + [ + -29.465378443737638, + -14.779011684283851 + ] + ], + "projected_box_corners": [ + [ + -29.35065550701647, + -14.933411143963099 + ], + [ + -29.352593302709323, + -14.936894387859235 + ], + [ + -29.461277767992577, + -14.934947579852889 + ], + [ + -29.463215563685427, + -14.938430823749025 + ], + [ + -29.35281838706868, + -14.779011684283851 + ], + [ + -29.354756182761534, + -14.782494928179988 + ], + [ + -29.463440648044788, + -14.780548120173641 + ], + [ + -29.465378443737638, + -14.784031364069776 + ] + ], + "yaw_rad": 1.5848037501161734, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.62462615966797, + -14.865464210510254, + 0.12608791887760162 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.4632154253411, + -14.859590441416332, + 0.1183690491908309 + ], + "intended_face_normal": [ + -0.9998768118530661, + -0.013888784511873364, + -0.007326288331896302 + ], + "commanded_contact_point": [ + -29.615330429077147, + -14.858822136644664, + 0.11877432744100458 + ], + "centerline_face_intersection": [ + -29.46322905531302, + -14.858822136644664, + 0.11877432744100458 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.62856101989746, + -14.868444442749023, + 0.1241714209318161 + ], + "box_pose": [ + -29.40964698791504, + -14.85480785369873, + 0.1360204517841339, + 0.0028606392443180084, + -0.007965927012264729, + 0.7119945287704468, + 0.7021340727806091 + ], + "box_yaw_rad": 1.5847977430050646, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003289235713939605 + } + } + }, + { + "simulation_time_ns": 3800000000, + "center": [ + -29.408116526788643, + -14.858612472196972, + 0.11878397671201087 + ], + "face_center": [ + -29.463427239110572, + -14.859381013621977, + 0.1182788913994633 + ], + "face_normal": [ + -0.9998617644528187, + -0.01389306253708722, + -0.009130518675363353 + ], + "footprint_xy": [ + [ + -29.46558198828001, + -14.938211037765875 + ], + [ + -29.350651065297274, + -14.938211037765875 + ], + [ + -29.350651065297274, + -14.779013906628071 + ], + [ + -29.46558198828001, + -14.779013906628071 + ] + ], + "projected_box_corners": [ + [ + -29.350651065297274, + -14.93341537590669 + ], + [ + -29.352796180148726, + -14.936673954915866 + ], + [ + -29.46127248994113, + -14.934952458756698 + ], + [ + -29.463417604792582, + -14.938211037765875 + ], + [ + -29.352815448784707, + -14.779013906628071 + ], + [ + -29.354960563636155, + -14.782272485637247 + ], + [ + -29.463436873428563, + -14.780550989478078 + ], + [ + -29.46558198828001, + -14.783809568487255 + ] + ], + "yaw_rad": 1.584813303097993, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.621721267700195, + -14.861207962036133, + 0.12700185179710388 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463328105865106, + -14.859489471961332, + 0.11831682345034691 + ], + "intended_face_normal": [ + -0.9998693237175954, + -0.013887214928565594, + -0.008279356857385678 + ], + "commanded_contact_point": [ + -29.611735076904296, + -14.858721254016437, + 0.11877482388763741 + ], + "centerline_face_intersection": [ + -29.463342564404943, + -14.858721254016437, + 0.11877482388763741 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.62462615966797, + -14.865464210510254, + 0.12608791887760162 + ], + "box_pose": [ + -29.40977668762207, + -14.854692459106445, + 0.1360158771276474, + 0.0022219468373805285, + -0.00800535548478365, + 0.7119962573051453, + 0.7021341323852539 + ], + "box_yaw_rad": 1.5848037501161734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035967672704757462 + } + } + }, + { + "simulation_time_ns": 3820000000, + "center": [ + -29.408221445851172, + -14.858494159151174, + 0.11879208088871529 + ], + "face_center": [ + -29.46353170021633, + -14.85926239429325, + 0.11823863534754092 + ], + "face_normal": [ + -0.999853485885342, + -0.013887525805123202, + -0.010004735287196295 + ], + "footprint_xy": [ + [ + -29.465792715254292, + -14.93797452870402 + ], + [ + -29.350650176448053, + -14.93797452870402 + ], + [ + -29.350650176448053, + -14.779013789598329 + ], + [ + -29.465792715254292, + -14.779013789598329 + ] + ], + "projected_box_corners": [ + [ + -29.350650176448053, + -14.933417276089504 + ], + [ + -29.353008365712554, + -14.936438058419869 + ], + [ + -29.461270685178366, + -14.934953746373656 + ], + [ + -29.463628874442872, + -14.93797452870402 + ], + [ + -29.35281401725947, + -14.779013789598329 + ], + [ + -29.355172206523974, + -14.782034571928694 + ], + [ + -29.463434525989786, + -14.780550259882482 + ], + [ + -29.465792715254292, + -14.783571042212845 + ] + ], + "yaw_rad": 1.5848096060251105, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.617130279541016, + -14.860771179199219, + 0.12631937861442566 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463427239110572, + -14.859381013621977, + 0.1182788913994633 + ], + "intended_face_normal": [ + -0.9998617644528187, + -0.01389306253708722, + -0.009130518675363353 + ], + "commanded_contact_point": [ + -29.6079337310791, + -14.858612472196972, + 0.11878397671201087 + ], + "centerline_face_intersection": [ + -29.46344253409513, + -14.858612472196972, + 0.11878397671201087 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.621721267700195, + -14.861207962036133, + 0.12700185179710388 + ], + "box_pose": [ + -29.40989112854004, + -14.854567527770996, + 0.1360197216272354, + 0.0015854381490498781, + -0.00797534640878439, + 0.7120000123977661, + 0.7021323442459106 + ], + "box_yaw_rad": 1.584813303097993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003802913007310316 + } + } + }, + { + "simulation_time_ns": 3840000000, + "center": [ + -29.408333355437126, + -14.858367608949575, + 0.11879957898892939 + ], + "face_center": [ + -29.463643089411427, + -14.859134938411925, + 0.118195597734879 + ], + "face_normal": [ + -0.9998440786855568, + -0.013871153668700398, + -0.010918278521822974 + ], + "footprint_xy": [ + [ + -29.466014228258352, + -14.937720229178991 + ], + [ + -29.3506524826159, + -14.937720229178991 + ], + [ + -29.3506524826159, + -14.779014988720158 + ], + [ + -29.466014228258352, + -14.779014988720158 + ] + ], + "projected_box_corners": [ + [ + -29.3506524826159, + -14.933420483852975 + ], + [ + -29.353233461172447, + -14.936185570254288 + ], + [ + -29.4612719505645, + -14.934955142777676 + ], + [ + -29.46385292912105, + -14.937720229178991 + ], + [ + -29.352813781753206, + -14.779014988720158 + ], + [ + -29.355394760309753, + -14.781780075121473 + ], + [ + -29.463433249701808, + -14.780549647644861 + ], + [ + -29.466014228258352, + -14.783314734046176 + ] + ], + "yaw_rad": 1.5847929659463302, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.61159324645996, + -14.862576484680176, + 0.12616431713104248 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46353170021633, + -14.85926239429325, + 0.11823863534754092 + ], + "intended_face_normal": [ + -0.999853485885342, + -0.013887525805123202, + -0.010004735287196295 + ], + "commanded_contact_point": [ + -29.604450912475585, + -14.858494159151174, + 0.11879208088871529 + ], + "centerline_face_intersection": [ + -29.46354791124486, + -14.858494159151174, + 0.11879208088871529 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.617130279541016, + -14.860771179199219, + 0.12631937861442566 + ], + "box_pose": [ + -29.410011291503906, + -14.854432106018066, + 0.13602222502231598, + 0.0009212213335558772, + -0.007934262976050377, + 0.711999237537384, + 0.7021347880363464 + ], + "box_yaw_rad": 1.5848096060251105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003484837023374341 + } + } + }, + { + "simulation_time_ns": 3860000000, + "center": [ + -29.408453372638466, + -14.858229780900908, + 0.1188067895149012 + ], + "face_center": [ + -29.46376250511107, + -14.858996276013018, + 0.11814774141721171 + ], + "face_normal": [ + -0.999833205230463, + -0.013856070968285783, + -0.011913731827927543 + ], + "footprint_xy": [ + [ + -29.46625369375701, + -14.93744029292189 + ], + [ + -29.35065305151992, + -14.93744029292189 + ], + [ + -29.35065305151992, + -14.779019268879926 + ], + [ + -29.46625369375701, + -14.779019268879926 + ] + ], + "projected_box_corners": [ + [ + -29.35065305151992, + -14.93342684357114 + ], + [ + -29.353476866259218, + -14.93590730269767 + ], + [ + -29.46127131646513, + -14.93495983379536 + ], + [ + -29.464095131204427, + -14.93744029292189 + ], + [ + -29.3528116140725, + -14.779019268879926 + ], + [ + -29.3556354288118, + -14.781499728006455 + ], + [ + -29.46342987901771, + -14.780552259104146 + ], + [ + -29.46625369375701, + -14.783032718230675 + ] + ], + "yaw_rad": 1.584775057806974, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.607210159301758, + -14.8652982711792, + 0.12703107297420502 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.463643089411427, + -14.859134938411925, + 0.118195597734879 + ], + "intended_face_normal": [ + -0.9998440786855568, + -0.013871153668700398, + -0.010918278521822974 + ], + "commanded_contact_point": [ + -29.60111114501953, + -14.858367608949575, + 0.11879957898892939 + ], + "centerline_face_intersection": [ + -29.46366034137909, + -14.858367608949575, + 0.11879957898892939 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.61159324645996, + -14.862576484680176, + 0.12616431713104248 + ], + "box_pose": [ + -29.410139083862305, + -14.854287147521973, + 0.13602371513843536, + 0.00021643929358106107, + -0.007880838587880135, + 0.7119940519332886, + 0.7021411657333374 + ], + "box_yaw_rad": 1.5847929659463302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003342172622045986 + } + } + }, + { + "simulation_time_ns": 3880000000, + "center": [ + -29.40858321624409, + -14.85807414154749, + 0.11881327370493774 + ], + "face_center": [ + -29.46389158332086, + -14.858841067675472, + 0.11809429878716098 + ], + "face_normal": [ + -0.9998193690313064, + -0.013863862520248293, + -0.01299703980851824 + ], + "footprint_xy": [ + [ + -29.46651506319765, + -14.937127991381532 + ], + [ + -29.350651369290524, + -14.937127991381532 + ], + [ + -29.350651369290524, + -14.779020291713449 + ], + [ + -29.46651506319765, + -14.779020291713449 + ] + ], + "projected_box_corners": [ + [ + -29.350651369290524, + -14.9334297839964 + ], + [ + -29.35373948009375, + -14.93559413912557 + ], + [ + -29.461268103444063, + -14.934963636252363 + ], + [ + -29.46435621424729, + -14.937127991381532 + ], + [ + -29.352810218240887, + -14.779020291713449 + ], + [ + -29.355898329044116, + -14.78118464684262 + ], + [ + -29.463426952394425, + -14.780554143969413 + ], + [ + -29.46651506319765, + -14.782718499098582 + ] + ], + "yaw_rad": 1.5847767386609461, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.603830337524414, + -14.867033958435059, + 0.12756308913230896 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46376250511107, + -14.858996276013018, + 0.11814774141721171 + ], + "intended_face_normal": [ + -0.999833205230463, + -0.013856070968285783, + -0.011913731827927543 + ], + "commanded_contact_point": [ + -29.59776184082031, + -14.858229780900908, + 0.1188067895149012 + ], + "centerline_face_intersection": [ + -29.46378096027629, + -14.858229780900908, + 0.1188067895149012 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.607210159301758, + -14.8652982711792, + 0.12703107297420502 + ], + "box_pose": [ + -29.410276412963867, + -14.85412883758545, + 0.13602423667907715, + -0.000560433545615524, + -0.0078138317912817, + 0.7119885683059692, + 0.7021474838256836 + ], + "box_yaw_rad": 1.584775057806974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033521466527567643 + } + } + }, + { + "simulation_time_ns": 3900000000, + "center": [ + -29.408726439884028, + -14.857899138548724, + 0.11881915948498847 + ], + "face_center": [ + -29.464033909787872, + -14.858666441575952, + 0.11803424782834188 + ], + "face_normal": [ + -0.9998031506739198, + -0.013870675796201493, + -0.014188990179450744 + ], + "footprint_xy": [ + [ + -29.466802569253158, + -14.936778319601993 + ], + [ + -29.350650310514894, + -14.936778319601993 + ], + [ + -29.350650310514894, + -14.779019957495455 + ], + [ + -29.466802569253158, + -14.779019957495455 + ] + ], + "projected_box_corners": [ + [ + -29.350650310514894, + -14.933431325957985 + ], + [ + -29.354029291558625, + -14.935243713547537 + ], + [ + -29.46126525032259, + -14.93496593201244 + ], + [ + -29.464644231366318, + -14.936778319601993 + ], + [ + -29.352808648401734, + -14.779019957495455 + ], + [ + -29.35618762944546, + -14.78083234508501 + ], + [ + -29.46342358820943, + -14.780554563549913 + ], + [ + -29.466802569253158, + -14.782366951139466 + ] + ], + "yaw_rad": 1.5847732597071624, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.600933074951172, + -14.867386817932129, + 0.12758149206638336 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.46389158332086, + -14.858841067675472, + 0.11809429878716098 + ], + "intended_face_normal": [ + -0.9998193690313064, + -0.013863862520248293, + -0.01299703980851824 + ], + "commanded_contact_point": [ + -29.594467849731444, + -14.85807414154749, + 0.11881327370493774 + ], + "centerline_face_intersection": [ + -29.463911569543736, + -14.85807414154749, + 0.11881327370493774 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.603830337524414, + -14.867033958435059, + 0.12756308913230896 + ], + "box_pose": [ + -29.410425186157227, + -14.853950500488281, + 0.13602328300476074, + -0.001415306469425559, + -0.007731524296104908, + 0.7119901180267334, + 0.7021454572677612 + ], + "box_yaw_rad": 1.5847767386609461, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032976723528254197 + } + } + }, + { + "simulation_time_ns": 3920000000, + "center": [ + -29.408886062893334, + -14.857704556242881, + 0.11882528451958314 + ], + "face_center": [ + -29.464192419653987, + -14.85847299571309, + 0.11796607206223036 + ], + "face_normal": [ + -0.9997830281827822, + -0.013891219481767525, + -0.015532139211087509 + ], + "footprint_xy": [ + [ + -29.467125336960372, + -14.936386473987953 + ], + [ + -29.350646788826296, + -14.936386473987953 + ], + [ + -29.350646788826296, + -14.77902263849781 + ], + [ + -29.467125336960372, + -14.77902263849781 + ] + ], + "projected_box_corners": [ + [ + -29.350646788826296, + -14.933435707690677 + ], + [ + -29.354353550111963, + -14.934849595047538 + ], + [ + -29.461259502347605, + -14.934972586631092 + ], + [ + -29.46496626363327, + -14.936386473987953 + ], + [ + -29.3528058621534, + -14.77902263849781 + ], + [ + -29.356512623439066, + -14.780436525854672 + ], + [ + -29.46341857567471, + -14.780559517438226 + ], + [ + -29.467125336960372, + -14.781973404795085 + ] + ], + "yaw_rad": 1.584777867663351, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.598304748535156, + -14.866768836975098, + 0.12669037282466888 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -29.464033909787872, + -14.858666441575952, + 0.11803424782834188 + ], + "intended_face_normal": [ + -0.9998031506739198, + -0.013870675796201493, + -0.014188990179450744 + ], + "commanded_contact_point": [ + -29.591471405029296, + -14.857899138548724, + 0.11881915948498847 + ], + "centerline_face_intersection": [ + -29.464055690695357, + -14.857899138548724, + 0.11881915948498847 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.600933074951172, + -14.867386817932129, + 0.12758149206638336 + ], + "box_pose": [ + -29.41058921813965, + -14.853750228881836, + 0.13602085411548615, + -0.002362092724069953, + -0.007634890265762806, + 0.7119899988174438, + 0.7021441459655762 + ], + "box_yaw_rad": 1.5847732597071624, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030015565203769514 + } + } + }, + { + "simulation_time_ns": 3940000000, + "center": [ + -29.409062084020267, + -14.857482987135363, + 0.11883118176216356 + ], + "face_center": [ + -29.464367067689466, + -14.858252626724546, + 0.1178891136911587 + ], + "face_normal": [ + -0.9997582065599043, + -0.013912914249848862, + -0.017029935145784547 + ], + "footprint_xy": [ + [ + -29.4674826621028, + -14.935942828141092 + ], + [ + -29.350641505937734, + -14.935942828141092 + ], + [ + -29.350641505937734, + -14.779023146129633 + ], + [ + -29.4674826621028, + -14.779023146129633 + ] + ], + "projected_box_corners": [ + [ + -29.350641505937734, + -14.93343757925211 + ], + [ + -29.3547138519412, + -14.934403548962727 + ], + [ + -29.461251473276135, + -14.934976858430476 + ], + [ + -29.4653238192796, + -14.935942828141092 + ], + [ + -29.35280034876093, + -14.779023146129633 + ], + [ + -29.356872694764398, + -14.77998911584025 + ], + [ + -29.46341031609933, + -14.780562425307998 + ], + [ + -29.4674826621028, + -14.781528395018615 + ] + ], + "yaw_rad": 1.584776251712032, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.594789505004883, + -14.865036964416504, + 0.12523037195205688 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464192419653987, + -14.85847299571309, + 0.11796607206223036 + ], + "intended_face_normal": [ + -0.9997830281827822, + -0.013891219481767525, + -0.015532139211087509 + ], + "commanded_contact_point": [ + -29.591471405029296, + -14.857899138548724, + 0.11881915948498847 + ], + "centerline_face_intersection": [ + -29.464216427308642, + -14.857704556242881, + 0.11882528451958314 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.598304748535156, + -14.866768836975098, + 0.12669037282466888 + ], + "box_pose": [ + -29.4107723236084, + -14.853527069091797, + 0.13601750135421753, + -0.0034318037796765566, + -0.007523206528276205, + 0.7119928598403931, + 0.7021381258964539 + ], + "box_yaw_rad": 1.584777867663351, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 3960000000, + "center": [ + -29.409265463556554, + -14.85723320137029, + 0.11883694336092712 + ], + "face_center": [ + -29.464568758258427, + -14.85800534534742, + 0.1178022082097913 + ], + "face_normal": [ + -0.9997276747915887, + -0.0139581865243672, + -0.0187050947370615 + ], + "footprint_xy": [ + [ + -29.46788977285133, + -14.93544231904169 + ], + [ + -29.350641154261783, + -14.93544231904169 + ], + [ + -29.350641154261783, + -14.779024083698893 + ], + [ + -29.46788977285133, + -14.779024083698893 + ] + ], + "projected_box_corners": [ + [ + -29.350641154261783, + -14.933439395051025 + ], + [ + -29.35512246948069, + -14.933898031087429 + ], + [ + -29.461247743665528, + -14.934983683005287 + ], + [ + -29.46572905888443, + -14.93544231904169 + ], + [ + -29.35280186822868, + -14.779024083698893 + ], + [ + -29.357283183447585, + -14.779482719735295 + ], + [ + -29.463408457632422, + -14.780568371653153 + ], + [ + -29.46788977285133, + -14.781027007689556 + ] + ], + "yaw_rad": 1.5847882874468064, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.591503143310547, + -14.861763954162598, + 0.12545061111450195 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464367067689466, + -14.858252626724546, + 0.1178891136911587 + ], + "intended_face_normal": [ + -0.9997582065599043, + -0.013912914249848862, + -0.017029935145784547 + ], + "commanded_contact_point": [ + -29.58861406946543, + -14.857898398732095, + 0.11881947617101284 + ], + "centerline_face_intersection": [ + -29.46439382215717, + -14.857482987135363, + 0.11883118176216356 + ], + "commanded_world_base_velocity": [ + 0.13745536, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.594789505004883, + -14.865036964416504, + 0.12523037195205688 + ], + "box_pose": [ + -29.410974502563477, + -14.853273391723633, + 0.13601267337799072, + -0.004629945382475853, + -0.007393515203148127, + 0.7119936943054199, + 0.7021316885948181 + ], + "box_yaw_rad": 1.584776251712032, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028573356771926487 + } + } + }, + { + "simulation_time_ns": 3980000000, + "center": [ + -29.40949209186131, + -14.856981825032385, + 0.11885099113858966 + ], + "face_center": [ + -29.464793301799475, + -14.857756911187776, + 0.11771246690367676 + ], + "face_normal": [ + -0.9996899881404709, + -0.014011372813663492, + -0.020581308802653187 + ], + "footprint_xy": [ + [ + -29.468343920065216, + -14.934991428665288 + ], + [ + -29.350640263657404, + -14.934991428665288 + ], + [ + -29.350640263657404, + -14.778972221399483 + ], + [ + -29.468343920065216, + -14.778972221399483 + ] + ], + "projected_box_corners": [ + [ + -29.350640263657404, + -14.933441256354506 + ], + [ + -29.355578883474013, + -14.93338768437784 + ], + [ + -29.461242683533733, + -14.934991428665288 + ], + [ + -29.466181303350343, + -14.934937856688622 + ], + [ + -29.35280288037228, + -14.77902579337615 + ], + [ + -29.357741500188887, + -14.778972221399483 + ], + [ + -29.46340530024861, + -14.78057596568693 + ], + [ + -29.468343920065216, + -14.780522393710264 + ] + ], + "yaw_rad": 1.5848005935582257, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.589202880859375, + -14.858538627624512, + 0.12629824876785278 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464568758258427, + -14.85800534534742, + 0.1178022082097913 + ], + "intended_face_normal": [ + -0.9997276747915887, + -0.0139581865243672, + -0.0187050947370615 + ], + "commanded_contact_point": [ + -29.585647635730773, + -14.857895049100515, + 0.11882055342429602 + ], + "centerline_face_intersection": [ + -29.46459889152945, + -14.85723320137029, + 0.11883694336092712 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.591503143310547, + -14.861763954162598, + 0.12545061111450195 + ], + "box_pose": [ + -29.41120719909668, + -14.852987289428711, + 0.1360062062740326, + -0.005979517009109259, + -0.0072390856221318245, + 0.7119995355606079, + 0.7021172046661377 + ], + "box_yaw_rad": 1.5847882874468064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029664358214213 + } + } + }, + { + "simulation_time_ns": 4000000000, + "center": [ + -29.409690174018586, + -14.856770200847345, + 0.11886582660190546 + ], + "face_center": [ + -29.464989387091713, + -14.857548316263387, + 0.11763576084080096 + ], + "face_normal": [ + -0.9996538904495275, + -0.01406613330710682, + -0.022236121551509058 + ], + "footprint_xy": [ + [ + -29.468742618973483, + -14.934996834149205 + ], + [ + -29.350637729063685, + -14.934996834149205 + ], + [ + -29.350637729063685, + -14.778543567545487 + ], + [ + -29.468742618973483, + -14.778543567545487 + ] + ], + "projected_box_corners": [ + [ + -29.350637729063685, + -14.93344060331712 + ], + [ + -29.355979393188434, + -14.93295862096501 + ], + [ + -29.46123615520994, + -14.934996834149205 + ], + [ + -29.46657781933469, + -14.934514851797093 + ], + [ + -29.352802528702476, + -14.779025549897598 + ], + [ + -29.35814419282723, + -14.778543567545487 + ], + [ + -29.463400954848733, + -14.780581780729682 + ], + [ + -29.468742618973483, + -14.78009979837757 + ] + ], + "yaw_rad": 1.5848147646521162, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.587379455566406, + -14.858367919921875, + 0.12731815874576569 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464793301799475, + -14.857756911187776, + 0.11771246690367676 + ], + "intended_face_normal": [ + -0.9996899881404709, + -0.014011372813663492, + -0.020581308802653187 + ], + "commanded_contact_point": [ + -29.58258065033206, + -14.857887448793488, + 0.118822690320718 + ], + "centerline_face_intersection": [ + -29.46482760581248, + -14.856981825032385, + 0.11885099113858966 + ], + "commanded_world_base_velocity": [ + 0.11967871999999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.589202880859375, + -14.858538627624512, + 0.12629824876785278 + ], + "box_pose": [ + -29.411466598510742, + -14.852699279785156, + 0.1360074132680893, + -0.007408007048070431, + -0.007148124743252993, + 0.7120047807693481, + 0.7020991444587708 + ], + "box_yaw_rad": 1.5848005935582257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00306699556030316 + } + } + }, + { + "simulation_time_ns": 4020000000, + "center": [ + -29.40984835568193, + -14.856592671501783, + 0.11888055207995167 + ], + "face_center": [ + -29.465145847113373, + -14.857374921401862, + 0.11757796584574887 + ], + "face_normal": [ + -0.999622768020962, + -0.014140873123891451, + -0.0235470872785275 + ], + "footprint_xy": [ + [ + -29.46906169675429, + -14.935002614939613 + ], + [ + -29.350635014609566, + -14.935002614939613 + ], + [ + -29.350635014609566, + -14.778182728063952 + ], + [ + -29.46906169675429, + -14.778182728063952 + ] + ], + "projected_box_corners": [ + [ + -29.350635014609566, + -14.933438115139454 + ], + [ + -29.356296301728182, + -14.932596973770156 + ], + [ + -29.46122999747245, + -14.935002614939613 + ], + [ + -29.466891284591068, + -14.934161473570315 + ], + [ + -29.352805426772793, + -14.77902386943325 + ], + [ + -29.358466713891406, + -14.778182728063952 + ], + [ + -29.46340040963568, + -14.780588369233408 + ], + [ + -29.46906169675429, + -14.77974722786411 + ] + ], + "yaw_rad": 1.5848511780027574, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.586132049560547, + -14.861428260803223, + 0.1276349574327469 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464989387091713, + -14.857548316263387, + 0.11763576084080096 + ], + "intended_face_normal": [ + -0.9996538904495275, + -0.01406613330710682, + -0.022236121551509058 + ], + "commanded_contact_point": [ + -29.579420938358176, + -14.857874783986478, + 0.11882607016268536 + ], + "centerline_face_intersection": [ + -29.465027686145625, + -14.856770200847345, + 0.11886582660190546 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.587379455566406, + -14.858367919921875, + 0.12731815874576569 + ], + "box_pose": [ + -29.411693572998047, + -14.852457046508789, + 0.13601122796535492, + -0.00863336119800806, + -0.007102073635905981, + 0.7120102047920227, + 0.7020801901817322 + ], + "box_yaw_rad": 1.5848147646521162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003159739163058512 + } + } + }, + { + "simulation_time_ns": 4040000000, + "center": [ + -29.409970009412476, + -14.856456017729485, + 0.11889365885024737 + ], + "face_center": [ + -29.465266133428802, + -14.85723865303357, + 0.11753493168447697 + ], + "face_normal": [ + -0.9995980490102436, + -0.014147840141890411, + -0.02456195706665254 + ], + "footprint_xy": [ + [ + -29.469303716485754, + -14.935003954659305 + ], + [ + -29.3506363023392, + -14.935003954659305 + ], + [ + -29.3506363023392, + -14.777908080799664 + ], + [ + -29.469303716485754, + -14.777908080799664 + ] + ], + "projected_box_corners": [ + [ + -29.3506363023392, + -14.933438684051136 + ], + [ + -29.356544958587257, + -14.932321555397488 + ], + [ + -29.461228550371853, + -14.935003954659305 + ], + [ + -29.467137206619913, + -14.933886826005656 + ], + [ + -29.35280281220504, + -14.779025209453314 + ], + [ + -29.3587114684531, + -14.777908080799664 + ], + [ + -29.463395060237694, + -14.780590480061482 + ], + [ + -29.469303716485754, + -14.779473351407832 + ] + ], + "yaw_rad": 1.5848259814220824, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.585460662841797, + -14.865954399108887, + 0.12753602862358093 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465145847113373, + -14.857374921401862, + 0.11757796584574887 + ], + "intended_face_normal": [ + -0.999622768020962, + -0.014140873123891451, + -0.0235470872785275 + ], + "commanded_contact_point": [ + -29.576175616665413, + -14.857856618304698, + 0.11883076825430441 + ], + "centerline_face_intersection": [ + -29.465187590696665, + -14.856592671501783, + 0.11888055207995167 + ], + "commanded_world_base_velocity": [ + 0.09072000000000029, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.586132049560547, + -14.861428260803223, + 0.1276349574327469 + ], + "box_pose": [ + -29.411874771118164, + -14.852253913879395, + 0.13601678609848022, + -0.009633641690015793, + -0.007036571390926838, + 0.7120236158370972, + 0.7020542025566101 + ], + "box_yaw_rad": 1.5848511780027574, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003245375934090887 + } + } + }, + { + "simulation_time_ns": 4060000000, + "center": [ + -29.410058645239733, + -14.856358506554383, + 0.11890260971349711 + ], + "face_center": [ + -29.465353782513407, + -14.857142106481156, + 0.11750427575068524 + ], + "face_normal": [ + -0.9995802114845967, + -0.014165277800956888, + -0.025277936310306615 + ], + "footprint_xy": [ + [ + -29.469478107650986, + -14.935005545701182 + ], + [ + -29.350639182828477, + -14.935005545701182 + ], + [ + -29.350639182828477, + -14.777711467407581 + ], + [ + -29.469478107650986, + -14.777711467407581 + ] + ], + "projected_box_corners": [ + [ + -29.350639182828477, + -14.933438345847636 + ], + [ + -29.356722399232186, + -14.932124301460638 + ], + [ + -29.461229457375826, + -14.935005545701182 + ], + [ + -29.467312673779535, + -14.933691501314184 + ], + [ + -29.352804616699927, + -14.779025511794579 + ], + [ + -29.358887833103637, + -14.777711467407581 + ], + [ + -29.463394891247276, + -14.780592711648126 + ], + [ + -29.469478107650986, + -14.779278667261128 + ] + ], + "yaw_rad": 1.5848190726875677, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.584192276000977, + -14.870532035827637, + 0.12358476221561432 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465266133428802, + -14.85723865303357, + 0.11753493168447697 + ], + "intended_face_normal": [ + -0.9995980490102436, + -0.014147840141890411, + -0.02456195706665254 + ], + "commanded_contact_point": [ + -29.572851430134342, + -14.857833348778506, + 0.11883676324408617 + ], + "centerline_face_intersection": [ + -29.465310612908418, + -14.856456017729485, + 0.11889365885024737 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.585460662841797, + -14.865954399108887, + 0.12753602862358093 + ], + "box_pose": [ + -29.41201400756836, + -14.852097511291504, + 0.13602279126644135, + -0.0104047367349267, + -0.006989052519202232, + 0.7120152115821838, + 0.7020520567893982 + ], + "box_yaw_rad": 1.5848259814220824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003324273379868675 + } + } + }, + { + "simulation_time_ns": 4080000000, + "center": [ + -29.410117220358476, + -14.856295771130908, + 0.11890908987063294 + ], + "face_center": [ + -29.46541167168205, + -14.857081338804482, + 0.11748505445409257 + ], + "face_normal": [ + -0.9995678114404631, + -0.014200849116288161, + -0.025742546144372547 + ], + "footprint_xy": [ + [ + -29.46959413241752, + -14.935006320355802 + ], + [ + -29.350640308299432, + -14.935006320355802 + ], + [ + -29.350640308299432, + -14.777585221906012 + ], + [ + -29.46959413241752, + -14.777585221906012 + ] + ], + "projected_box_corners": [ + [ + -29.350640308299432, + -14.933435185008651 + ], + [ + -29.356836779100625, + -14.931997515704447 + ], + [ + -29.461229210946588, + -14.935006320355802 + ], + [ + -29.46742568174778, + -14.933568651051598 + ], + [ + -29.35280875896917, + -14.779022891210216 + ], + [ + -29.359005229770364, + -14.777585221906012 + ], + [ + -29.463397661616327, + -14.780594026557367 + ], + [ + -29.46959413241752, + -14.779156357253163 + ] + ], + "yaw_rad": 1.5848386551901434, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.581634521484375, + -14.872820854187012, + 0.12148258090019226 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465353782513407, + -14.857142106481156, + 0.11750427575068524 + ], + "intended_face_normal": [ + -0.9995802114845967, + -0.014165277800956888, + -0.025277936310306615 + ], + "commanded_contact_point": [ + -29.569454794577926, + -14.857805676686489, + 0.11884382264367935 + ], + "centerline_face_intersection": [ + -29.46540023628967, + -14.856358506554383, + 0.11890260971349711 + ], + "commanded_world_base_velocity": [ + 0.05746048000000027, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.584192276000977, + -14.870532035827637, + 0.12358476221561432 + ], + "box_pose": [ + -29.4121150970459, + -14.851985931396484, + 0.13602666556835175, + -0.010952083393931389, + -0.006952255964279175, + 0.7120131254196167, + 0.7020463943481445 + ], + "box_yaw_rad": 1.5848190726875677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033967556113023434 + } + } + }, + { + "simulation_time_ns": 4100000000, + "center": [ + -29.410139110772906, + -14.856275158475828, + 0.11891181703858045 + ], + "face_center": [ + -29.465433324778072, + -14.857059573633794, + 0.11747818102458646 + ], + "face_normal": [ + -0.9995635213925436, + -0.014180014882881009, + -0.025916097883390277 + ], + "footprint_xy": [ + [ + -29.469634834409103, + -14.93500681099064 + ], + [ + -29.35064338713671, + -14.93500681099064 + ], + [ + -29.35064338713671, + -14.777543505961017 + ], + [ + -29.469634834409103, + -14.777543505961017 + ] + ], + "projected_box_corners": [ + [ + -29.35064338713671, + -14.933437980674706 + ], + [ + -29.356882090158862, + -14.931955654831464 + ], + [ + -29.46123181514704, + -14.93500681099064 + ], + [ + -29.467470518169193, + -14.933524485147396 + ], + [ + -29.35280770337662, + -14.77902583180426 + ], + [ + -29.35904640639877, + -14.777543505961017 + ], + [ + -29.46339613138695, + -14.780594662120192 + ], + [ + -29.469634834409103, + -14.77911233627695 + ] + ], + "yaw_rad": 1.5848118983491046, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.578725814819336, + -14.87053108215332, + 0.12209108471870422 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46541167168205, + -14.857081338804482, + 0.11748505445409257 + ], + "intended_face_normal": [ + -0.9995678114404631, + -0.014200849116288161, + -0.025742546144372547 + ], + "commanded_contact_point": [ + -29.56599186488183, + -14.857774520339081, + 0.11885182159797486 + ], + "centerline_face_intersection": [ + -29.4654594979433, + -14.856295771130908, + 0.11890908987063294 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.581634521484375, + -14.872820854187012, + 0.12148258090019226 + ], + "box_pose": [ + -29.412181854248047, + -14.851914405822754, + 0.136029914021492, + -0.01130124181509018, + -0.006934380158782005, + 0.7120201587677002, + 0.7020338773727417 + ], + "box_yaw_rad": 1.5848386551901434, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034630790896759403 + } + } + }, + { + "simulation_time_ns": 4120000000, + "center": [ + -29.410125851222574, + -14.85629082605391, + 0.1189112456655494 + ], + "face_center": [ + -29.46542024007877, + -14.857075103550406, + 0.11748397239189551 + ], + "face_normal": [ + -0.9995666822063037, + -0.014177526351552672, + -0.025801077473850853 + ], + "footprint_xy": [ + [ + -29.46960786163521, + -14.93500525701209 + ], + [ + -29.35064384080994, + -14.93500525701209 + ], + [ + -29.35064384080994, + -14.777576395095728 + ], + [ + -29.46960786163521, + -14.777576395095728 + ] + ], + "projected_box_corners": [ + [ + -29.35064384080994, + -14.933436702019097 + ], + [ + -29.356854463301786, + -14.931988707559825 + ], + [ + -29.46123261852233, + -14.93500525701209 + ], + [ + -29.467443241014177, + -14.933557262552817 + ], + [ + -29.35280846143097, + -14.779024389555 + ], + [ + -29.359019083922817, + -14.777576395095728 + ], + [ + -29.463397239143365, + -14.780592944547992 + ], + [ + -29.46960786163521, + -14.77914495008872 + ] + ], + "yaw_rad": 1.5848138543380064, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.57664680480957, + -14.866716384887695, + 0.12307558953762054 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465433324778072, + -14.857059573633794, + 0.11747818102458646 + ], + "intended_face_normal": [ + -0.9995635213925436, + -0.014180014882881009, + -0.025916097883390277 + ], + "commanded_contact_point": [ + -29.562467783299702, + -14.857742036262913, + 0.11886033643172084 + ], + "centerline_face_intersection": [ + -29.46548162588243, + -14.856275158475828, + 0.11891181703858045 + ], + "commanded_world_base_velocity": [ + 0.026781440000000177, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.578725814819336, + -14.87053108215332, + 0.12209108471870422 + ], + "box_pose": [ + -29.412206649780273, + -14.851890563964844, + 0.13603146374225616, + -0.011429213918745518, + -0.006930048111826181, + 0.7120108008384705, + 0.7020412683486938 + ], + "box_yaw_rad": 1.5848118983491046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035242415801266763 + } + } + }, + { + "simulation_time_ns": 4140000000, + "center": [ + -29.410086078068943, + -14.85634185040816, + 0.11890867949293439 + ], + "face_center": [ + -29.465380954663335, + -14.857125146279206, + 0.11750036522733756 + ], + "face_normal": [ + -0.9995754991380341, + -0.014159781330503662, + -0.025458352051370703 + ], + "footprint_xy": [ + [ + -29.46952637200729, + -14.935005345984772 + ], + [ + -29.35064578413059, + -14.935005345984772 + ], + [ + -29.35064578413059, + -14.777678354831547 + ], + [ + -29.46952637200729, + -14.777678354831547 + ] + ], + "projected_box_corners": [ + [ + -29.35064578413059, + -14.93343875424268 + ], + [ + -29.35677274963665, + -14.932091048029397 + ], + [ + -29.46123553731938, + -14.935005345984772 + ], + [ + -29.467362502825438, + -14.93365763977149 + ], + [ + -29.352809653312445, + -14.77902606104483 + ], + [ + -29.358936618818504, + -14.777678354831547 + ], + [ + -29.46339940650123, + -14.780592652786922 + ], + [ + -29.46952637200729, + -14.77924494657364 + ] + ], + "yaw_rad": 1.5848089543014825, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.574214935302734, + -14.864598274230957, + 0.12453918159008026 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46542024007877, + -14.857075103550406, + 0.11748397239189551 + ], + "intended_face_normal": [ + -0.9995666822063037, + -0.014177526351552672, + -0.025801077473850853 + ], + "commanded_contact_point": [ + -29.558887746780208, + -14.857709757108154, + 0.11886898612862601 + ], + "centerline_face_intersection": [ + -29.46546819132888, + -14.85629082605391, + 0.1189112456655494 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.57664680480957, + -14.866716384887695, + 0.12307558953762054 + ], + "box_pose": [ + -29.41219139099121, + -14.851908683776855, + 0.13603176176548004, + -0.01133727841079235, + -0.006939904764294624, + 0.7120113968849182, + 0.7020421624183655 + ], + "box_yaw_rad": 1.5848138543380064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035801924867250477 + } + } + }, + { + "simulation_time_ns": 4160000000, + "center": [ + -29.41002910404367, + -14.856406758706857, + 0.11890564261901143 + ], + "face_center": [ + -29.465324633123785, + -14.857190185392744, + 0.11752255836698125 + ], + "face_normal": [ + -0.9995872942406643, + -0.014162146094081951, + -0.025002264526496898 + ], + "footprint_xy": [ + [ + -29.469415873960752, + -14.935004442677798 + ], + [ + -29.350642334126583, + -14.935004442677798 + ], + [ + -29.350642334126583, + -14.777809074735917 + ], + [ + -29.469415873960752, + -14.777809074735917 + ] + ], + "projected_box_corners": [ + [ + -29.350642334126583, + -14.933437589306022 + ], + [ + -29.35665802300118, + -14.932222266928594 + ], + [ + -29.46123339228682, + -14.935004442677798 + ], + [ + -29.46724908116142, + -14.93378912030037 + ], + [ + -29.352809126925916, + -14.779024397113345 + ], + [ + -29.358824815800514, + -14.777809074735917 + ], + [ + -29.463400185086154, + -14.78059125048512 + ], + [ + -29.469415873960752, + -14.779375928107692 + ] + ], + "yaw_rad": 1.584827839031006, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.570842742919922, + -14.862542152404785, + 0.12598258256912231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465380954663335, + -14.857125146279206, + 0.11750036522733756 + ], + "intended_face_normal": [ + -0.9995754991380341, + -0.014159781330503662, + -0.025458352051370703 + ], + "commanded_contact_point": [ + -29.555257623261866, + -14.857679867515765, + 0.11887756724684159 + ], + "centerline_face_intersection": [ + -29.465427930018393, + -14.85634185040816, + 0.11890867949293439 + ], + "commanded_world_base_velocity": [ + 0.005564160000000094, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.574214935302734, + -14.864598274230957, + 0.12453918159008026 + ], + "box_pose": [ + -29.412145614624023, + -14.851966857910156, + 0.13603174686431885, + -0.011066270992159843, + -0.006966371089220047, + 0.7120094299316406, + 0.7020480632781982 + ], + "box_yaw_rad": 1.5848089543014825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036302567101707314 + } + } + }, + { + "simulation_time_ns": 4180000000, + "center": [ + -29.409969459507135, + -14.856480032027086, + 0.11890134710230249 + ], + "face_center": [ + -29.465265695355225, + -14.857263115601166, + 0.11754702434846641 + ], + "face_normal": [ + -0.9996000706133389, + -0.014155943599765353, + -0.02448233771439412 + ], + "footprint_xy": [ + [ + -29.469294433113927, + -14.935003145670068 + ], + [ + -29.35064448590034, + -14.935003145670068 + ], + [ + -29.35064448590034, + -14.777956918384106 + ], + [ + -29.469294433113927, + -14.777956918384106 + ] + ], + "projected_box_corners": [ + [ + -29.35064448590034, + -14.933436978521911 + ], + [ + -29.356533337632726, + -14.932370552096753 + ], + [ + -29.461236957596526, + -14.935003145670068 + ], + [ + -29.467125809328913, + -14.93393671924491 + ], + [ + -29.352813109685354, + -14.779023344809264 + ], + [ + -29.35870196141774, + -14.777956918384106 + ], + [ + -29.46340558138154, + -14.780589511957421 + ], + [ + -29.469294433113927, + -14.779523085532261 + ] + ], + "yaw_rad": 1.584839654247623, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.56610107421875, + -14.859659194946289, + 0.12810349464416504 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465324633123785, + -14.857190185392744, + 0.11752255836698125 + ], + "intended_face_normal": [ + -0.9995872942406643, + -0.014162146094081951, + -0.025002264526496898 + ], + "commanded_contact_point": [ + -29.551583836437846, + -14.85765168167247, + 0.11888614961536642 + ], + "centerline_face_intersection": [ + -29.465370302960785, + -14.856406758706857, + 0.11890564261901143 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.570842742919922, + -14.862542152404785, + 0.12598258256912231 + ], + "box_pose": [ + -29.412080764770508, + -14.852041244506836, + 0.1360320746898651, + -0.010707362554967403, + -0.006999928504228592, + 0.7120157480239868, + 0.7020471096038818 + ], + "box_yaw_rad": 1.584827839031006, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003673904969804765 + } + } + }, + { + "simulation_time_ns": 4200000000, + "center": [ + -29.409897723509893, + -14.85656423450087, + 0.11889604988146338 + ], + "face_center": [ + -29.465194756581038, + -14.857347741546963, + 0.11757470235335482 + ], + "face_normal": [ + -0.9996144821588746, + -0.01416359878008322, + -0.02388623858648481 + ], + "footprint_xy": [ + [ + -29.469152917067145, + -14.935003450968882 + ], + [ + -29.35064252995264, + -14.935003450968882 + ], + [ + -29.35064252995264, + -14.77812501803286 + ], + [ + -29.469152917067145, + -14.77812501803286 + ] + ], + "projected_box_corners": [ + [ + -29.35064252995264, + -14.933436436876693 + ], + [ + -29.356385997689173, + -14.932539095699465 + ], + [ + -29.461236596094935, + -14.935003450968882 + ], + [ + -29.466980063831464, + -14.934106109791651 + ], + [ + -29.35281538318832, + -14.779022359210089 + ], + [ + -29.35855885092485, + -14.77812501803286 + ], + [ + -29.463409449330612, + -14.780589373302275 + ], + [ + -29.469152917067145, + -14.779692032125046 + ] + ], + "yaw_rad": 1.5848669987830368, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.56028938293457, + -14.85580062866211, + 0.12992887198925018 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465265695355225, + -14.857263115601166, + 0.11754702434846641 + ], + "intended_face_normal": [ + -0.9996000706133389, + -0.014155943599765353, + -0.02448233771439412 + ], + "commanded_contact_point": [ + -29.547874335308293, + -14.857625629944096, + 0.11889450429895307 + ], + "centerline_face_intersection": [ + -29.46530995108158, + -14.856480032027086, + 0.11890134710230249 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.56610107421875, + -14.859659194946289, + 0.12810349464416504 + ], + "box_pose": [ + -29.412012100219727, + -14.85212516784668, + 0.13603156805038452, + -0.010301169939339161, + -0.007035262417048216, + 0.7120195627212524, + 0.7020488381385803 + ], + "box_yaw_rad": 1.584839654247623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003709602016853282 + } + } + }, + { + "simulation_time_ns": 4220000000, + "center": [ + -29.4098175457197, + -14.856659344082304, + 0.11889066566122103 + ], + "face_center": [ + -29.4651154212, + -14.857442321784331, + 0.11760552767485319 + ], + "face_normal": [ + -0.9996297105416893, + -0.014154029731529016, + -0.02323167214220917 + ], + "footprint_xy": [ + [ + -29.46899461010627, + -14.935003104291786 + ], + [ + -29.35064048133313, + -14.935003104291786 + ], + [ + -29.35064048133313, + -14.778315583872821 + ], + [ + -29.46899461010627, + -14.778315583872821 + ] + ], + "projected_box_corners": [ + [ + -29.35064048133313, + -14.933437148887732 + ], + [ + -29.35622422001587, + -14.932730040472274 + ], + [ + -29.461236232293725, + -14.935003104291786 + ], + [ + -29.466819970976466, + -14.93429599587633 + ], + [ + -29.35281512046293, + -14.77902269228828 + ], + [ + -29.358398859145673, + -14.778315583872821 + ], + [ + -29.46341087142353, + -14.780588647692335 + ], + [ + -29.46899461010627, + -14.779881539276877 + ] + ], + "yaw_rad": 1.5848785275555681, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.555238723754883, + -14.852325439453125, + 0.13042134046554565 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465194756581038, + -14.857347741546963, + 0.11757470235335482 + ], + "intended_face_normal": [ + -0.9996144821588746, + -0.01416359878008322, + -0.02388623858648481 + ], + "commanded_contact_point": [ + -29.544133734320457, + -14.857603135147102, + 0.11890240843872213 + ], + "centerline_face_intersection": [ + -29.46523741723474, + -14.85656423450087, + 0.11889604988146338 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.56028938293457, + -14.85580062866211, + 0.12992887198925018 + ], + "box_pose": [ + -29.411930084228516, + -14.852221488952637, + 0.13603056967258453, + -0.009837952442467213, + -0.007073346059769392, + 0.7120288014411926, + 0.7020457983016968 + ], + "box_yaw_rad": 1.5848669987830368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003740676976366321 + } + } + }, + { + "simulation_time_ns": 4240000000, + "center": [ + -29.409725538769113, + -14.856764222213604, + 0.1188841191127612 + ], + "face_center": [ + -29.465024368304274, + -14.85754751076201, + 0.11764025328161391 + ], + "face_normal": [ + -0.9996469571642362, + -0.014159648957823512, + -0.022485587917124406 + ], + "footprint_xy": [ + [ + -29.468814724173352, + -14.935001841129958 + ], + [ + -29.350636353364873, + -14.935001841129958 + ], + [ + -29.350636353364873, + -14.77852660329725 + ], + [ + -29.468814724173352, + -14.77852660329725 + ] + ], + "projected_box_corners": [ + [ + -29.350636353364873, + -14.933435264033145 + ], + [ + -29.356038088798204, + -14.932941432300334 + ], + [ + -29.461234012435195, + -14.935001841129958 + ], + [ + -29.466635747868526, + -14.934508009397147 + ], + [ + -29.352815329669703, + -14.779020435030063 + ], + [ + -29.35821706510303, + -14.77852660329725 + ], + [ + -29.463412988740025, + -14.780587012126876 + ], + [ + -29.468814724173352, + -14.780093180394063 + ] + ], + "yaw_rad": 1.5849065758313061, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.551111221313477, + -14.850780487060547, + 0.12957504391670227 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.4651154212, + -14.857442321784331, + 0.11760552767485319 + ], + "intended_face_normal": [ + -0.9996297105416893, + -0.014154029731529016, + -0.02323167214220917 + ], + "commanded_contact_point": [ + -29.540368562902856, + -14.857585483887648, + 0.11890987543679547 + ], + "centerline_face_intersection": [ + -29.465156396398335, + -14.856659344082304, + 0.11889066566122103 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.555238723754883, + -14.852325439453125, + 0.13042134046554565 + ], + "box_pose": [ + -29.41183853149414, + -14.852330207824707, + 0.13602997362613678, + -0.009322443045675755, + -0.007121908012777567, + 0.7120323777198792, + 0.7020484805107117 + ], + "box_yaw_rad": 1.5848785275555681, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037652201963422455 + } + } + }, + { + "simulation_time_ns": 4260000000, + "center": [ + -29.409627564468174, + -14.856879829498714, + 0.11887715042562923 + ], + "face_center": [ + -29.46492742762263, + -14.8576622557978, + 0.11767954957243609 + ], + "face_normal": [ + -0.9996656420874543, + -0.014144061920668305, + -0.021649247531190463 + ], + "footprint_xy": [ + [ + -29.46861638325273, + -14.93499823251123 + ], + [ + -29.350638745683618, + -14.93499823251123 + ], + [ + -29.350638745683618, + -14.7787614264862 + ], + [ + -29.46861638325273, + -14.7787614264862 + ] + ], + "projected_box_corners": [ + [ + -29.350638745683618, + -14.933433379913058 + ], + [ + -29.355836474179977, + -14.933176528582322 + ], + [ + -29.46123847199253, + -14.93499823251123 + ], + [ + -29.466436200488893, + -14.934741381180494 + ], + [ + -29.35281892844746, + -14.779018277816936 + ], + [ + -29.358016656943818, + -14.7787614264862 + ], + [ + -29.46341865475637, + -14.780583130415106 + ], + [ + -29.46861638325273, + -14.78032627908437 + ] + ], + "yaw_rad": 1.5849143624128932, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.547401428222656, + -14.852164268493652, + 0.12860746681690216 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465024368304274, + -14.85754751076201, + 0.11764025328161391 + ], + "intended_face_normal": [ + -0.9996469571642362, + -0.014159648957823512, + -0.022485587917124406 + ], + "commanded_contact_point": [ + -29.53658394905438, + -14.85757354196643, + 0.1189163672452506 + ], + "centerline_face_intersection": [ + -29.46506343470241, + -14.856764222213604, + 0.1188841191127612 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.551111221313477, + -14.850780487060547, + 0.12957504391670227 + ], + "box_pose": [ + -29.411733627319336, + -14.852450370788574, + 0.13602879643440247, + -0.008740204386413097, + -0.007172005251049995, + 0.7120417356491089, + 0.7020461559295654 + ], + "box_yaw_rad": 1.5849065758313061, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037846382568412365 + } + } + }, + { + "simulation_time_ns": 4280000000, + "center": [ + -29.409508862998674, + -14.857014148658793, + 0.1188685935012432 + ], + "face_center": [ + -29.464809841503573, + -14.857797101115501, + 0.11772447824931064 + ], + "face_normal": [ + -0.9996858044794513, + -0.014153573367334804, + -0.02068237862995559 + ], + "footprint_xy": [ + [ + -29.468383539653487, + -14.935010246900347 + ], + [ + -29.350634186343857, + -14.935010246900347 + ], + [ + -29.350634186343857, + -14.779018050417237 + ], + [ + -29.468383539653487, + -14.779018050417237 + ] + ], + "projected_box_corners": [ + [ + -29.350634186343857, + -14.93343319319145 + ], + [ + -29.355596156594917, + -14.93344434198693 + ], + [ + -29.461236143353663, + -14.934999098104868 + ], + [ + -29.46619811360472, + -14.935010246900347 + ], + [ + -29.352819612392626, + -14.779018050417237 + ], + [ + -29.357781582643685, + -14.779029199212717 + ], + [ + -29.463421569402428, + -14.780583955330655 + ], + [ + -29.468383539653487, + -14.780595104126135 + ] + ], + "yaw_rad": 1.5849483076794328, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.54510498046875, + -14.855592727661133, + 0.12663990259170532 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46492742762263, + -14.8576622557978, + 0.11767954957243609 + ], + "intended_face_normal": [ + -0.9996656420874543, + -0.014144061920668305, + -0.021649247531190463 + ], + "commanded_contact_point": [ + -29.532787150410353, + -14.857568868152166, + 0.11892180451624909 + ], + "centerline_face_intersection": [ + -29.4649644260713, + -14.856879829498714, + 0.11887715042562923 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.547401428222656, + -14.852164268493652, + 0.12860746681690216 + ], + "box_pose": [ + -29.41162109375, + -14.852582931518555, + 0.13602778315544128, + -0.008090551011264324, + -0.007225176319479942, + 0.7120439410209656, + 0.7020511627197266 + ], + "box_yaw_rad": 1.5849143624128932, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003796805413992941 + } + } + }, + { + "simulation_time_ns": 4300000000, + "center": [ + -29.409373825029448, + -14.857168135750664, + 0.11885941274051072 + ], + "face_center": [ + -29.464676050271017, + -14.857951943424029, + 0.11777755080170614 + ], + "face_normal": [ + -0.9997083419640114, + -0.014169033273735643, + -0.019557014213296364 + ], + "footprint_xy": [ + [ + -29.468115714542925, + -14.935321371573389 + ], + [ + -29.35063193551597, + -14.935321371573389 + ], + [ + -29.35063193551597, + -14.779014899927938 + ], + [ + -29.468115714542925, + -14.779014899927938 + ] + ], + "projected_box_corners": [ + [ + -29.35063193551597, + -14.933429884925332 + ], + [ + -29.355319473699105, + -14.933753756226656 + ], + [ + -29.461236385999108, + -14.934997500272063 + ], + [ + -29.465923924182245, + -14.935321371573389 + ], + [ + -29.35282372587665, + -14.779014899927938 + ], + [ + -29.357511264059788, + -14.779338771229265 + ], + [ + -29.46342817635979, + -14.78058251527467 + ], + [ + -29.468115714542925, + -14.780906386575996 + ] + ], + "yaw_rad": 1.5849895294961014, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.545244216918945, + -14.856521606445312, + 0.12468579411506653 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464809841503573, + -14.857797101115501, + 0.11772447824931064 + ], + "intended_face_normal": [ + -0.9996858044794513, + -0.014153573367334804, + -0.02068237862995559 + ], + "commanded_contact_point": [ + -29.528979938799704, + -14.857574901489823, + 0.11892543756403268 + ], + "centerline_face_intersection": [ + -29.46484460852764, + -14.857014148658793, + 0.1188685935012432 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.54510498046875, + -14.855592727661133, + 0.12663990259170532 + ], + "box_pose": [ + -29.41148567199707, + -14.852736473083496, + 0.13602596521377563, + -0.007348475977778435, + -0.007277823518961668, + 0.7120553255081177, + 0.7020471096038818 + ], + "box_yaw_rad": 1.5849483076794328, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038072181246234034 + } + } + }, + { + "simulation_time_ns": 4320000000, + "center": [ + -29.40921725222256, + -14.857345529212555, + 0.1188484963610821 + ], + "face_center": [ + -29.464520856704947, + -14.858127931447752, + 0.1178386743594651 + ], + "face_normal": [ + -0.9997332747501012, + -0.014143626913420526, + -0.018254735220970264 + ], + "footprint_xy": [ + [ + -29.467801792558056, + -14.935676888335061 + ], + [ + -29.350632711887062, + -14.935676888335061 + ], + [ + -29.350632711887062, + -14.779014170090049 + ], + [ + -29.467801792558056, + -14.779014170090049 + ] + ], + "projected_box_corners": [ + [ + -29.350632711887062, + -14.933428716331683 + ], + [ + -29.35500271525677, + -14.934112083864665 + ], + [ + -29.461239920851842, + -14.93499352080208 + ], + [ + -29.46560992422155, + -14.935676888335061 + ], + [ + -29.352824580223572, + -14.779014170090049 + ], + [ + -29.35719458359328, + -14.779697537623031 + ], + [ + -29.46343178918835, + -14.780578974560443 + ], + [ + -29.467801792558056, + -14.781262342093427 + ] + ], + "yaw_rad": 1.5849900746949535, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.545793533325195, + -14.856355667114258, + 0.12425550818443298 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464676050271017, + -14.857951943424029, + 0.11777755080170614 + ], + "intended_face_normal": [ + -0.9997083419640114, + -0.014169033273735643, + -0.019557014213296364 + ], + "commanded_contact_point": [ + -29.52516862066792, + -14.857593945425275, + 0.1189270671458473 + ], + "centerline_face_intersection": [ + -29.46470832306606, + -14.857168135750664, + 0.11885941274051072 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.545244216918945, + -14.856521606445312, + 0.12468579411506653 + ], + "box_pose": [ + -29.411331176757812, + -14.852912902832031, + 0.1360245943069458, + -0.006483584176748991, + -0.007340249139815569, + 0.7120691537857056, + 0.7020410299301147 + ], + "box_yaw_rad": 1.5849895294961014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003811366058080127 + } + } + }, + { + "simulation_time_ns": 4340000000, + "center": [ + -29.409037641364016, + -14.857551258910576, + 0.1188360075617953 + ], + "face_center": [ + -29.464342728941908, + -14.858332498889194, + 0.11790988888225915 + ], + "face_normal": [ + -0.9997600849361465, + -0.014122616590708015, + -0.016741615107470353 + ], + "footprint_xy": [ + [ + -29.4674395159765, + -14.936089107622955 + ], + [ + -29.35063576675153, + -14.936089107622955 + ], + [ + -29.35063576675153, + -14.779013410198196 + ], + [ + -29.4674395159765, + -14.779013410198196 + ] + ], + "projected_box_corners": [ + [ + -29.35063576675153, + -14.933427011004614 + ], + [ + -29.35463685173538, + -14.93452662766572 + ], + [ + -29.46124594190732, + -14.934989490961849 + ], + [ + -29.465247026891166, + -14.936089107622955 + ], + [ + -29.35282825583687, + -14.779013410198196 + ], + [ + -29.356829340820717, + -14.780113026859304 + ], + [ + -29.463438430992653, + -14.780575890155433 + ], + [ + -29.4674395159765, + -14.781675506816539 + ] + ], + "yaw_rad": 1.5849941808177663, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.544471740722656, + -14.855390548706055, + 0.12366214394569397 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464520856704947, + -14.858127931447752, + 0.1178386743594651 + ], + "intended_face_normal": [ + -0.9997332747501012, + -0.014143626913420526, + -0.018254735220970264 + ], + "commanded_contact_point": [ + -29.52135660909556, + -14.857629589712289, + 0.11892587106734015 + ], + "centerline_face_intersection": [ + -29.46455037024789, + -14.857345529212555, + 0.1188484963610821 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.545793533325195, + -14.856355667114258, + 0.12425550818443298 + ], + "box_pose": [ + -29.411151885986328, + -14.853116035461426, + 0.13602261245250702, + -0.005486132577061653, + -0.007409162353724241, + 0.7120686173439026, + 0.7020493149757385 + ], + "box_yaw_rad": 1.5849900746949535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00381217840264762 + } + } + }, + { + "simulation_time_ns": 4360000000, + "center": [ + -29.408826348849512, + -14.857785959655013, + 0.11881980033370936 + ], + "face_center": [ + -29.46413302933468, + -14.858565194437475, + 0.1179916108447528 + ], + "face_normal": [ + -0.9997888802094587, + -0.014086368296606588, + -0.014971331392546194 + ], + "footprint_xy": [ + [ + -29.46701298485575, + -14.936559909819485 + ], + [ + -29.35063971284327, + -14.936559909819485 + ], + [ + -29.35063971284327, + -14.779012009490542 + ], + [ + -29.46701298485575, + -14.779012009490542 + ] + ], + "projected_box_corners": [ + [ + -29.35063971284327, + -14.933424004812535 + ], + [ + -29.354209342329966, + -14.935001440254561 + ], + [ + -29.46125307381361, + -14.934982474377456 + ], + [ + -29.464822703300303, + -14.936559909819485 + ], + [ + -29.35282999439872, + -14.779012009490542 + ], + [ + -29.356399623885416, + -14.78058944493257 + ], + [ + -29.463443355369055, + -14.780570479055463 + ], + [ + -29.46701298485575, + -14.782147914497491 + ] + ], + "yaw_rad": 1.5849800349349294, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.5419921875, + -14.854158401489258, + 0.12477903068065643 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464342728941908, + -14.858332498889194, + 0.11790988888225915 + ], + "intended_face_normal": [ + -0.9997600849361465, + -0.014122616590708015, + -0.016741615107470353 + ], + "commanded_contact_point": [ + -29.517548134444546, + -14.85768587221952, + 0.11892126336392635 + ], + "centerline_face_intersection": [ + -29.464369275542154, + -14.857551258910576, + 0.1188360075617953 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.544471740722656, + -14.855390548706055, + 0.12366214394569397 + ], + "box_pose": [ + -29.410945892333984, + -14.853351593017578, + 0.13602039217948914, + -0.004329392220824957, + -0.007487097755074501, + 0.7120692133903503, + 0.7020559906959534 + ], + "box_yaw_rad": 1.5849941808177663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038088932931967666 + } + } + }, + { + "simulation_time_ns": 4380000000, + "center": [ + -29.4085762127108, + -14.858062429493248, + 0.11879983101641309 + ], + "face_center": [ + -29.46388446936563, + -14.858841716889664, + 0.11808590121650092 + ], + "face_normal": [ + -0.9998173729139999, + -0.01408731940857999, + -0.012905838299114125 + ], + "footprint_xy": [ + [ + -29.466514045243358, + -14.93711454218578 + ], + [ + -29.35063838017824, + -14.93711454218578 + ], + [ + -29.35063838017824, + -14.779010316800719 + ], + [ + -29.466514045243358, + -14.779010316800719 + ] + ], + "projected_box_corners": [ + [ + -29.35063838017824, + -14.93341947922517 + ], + [ + -29.35370453242695, + -14.93555596739295 + ], + [ + -29.461254893487908, + -14.934978054018 + ], + [ + -29.464321045736618, + -14.93711454218578 + ], + [ + -29.352831379684975, + -14.779010316800719 + ], + [ + -29.35589753193369, + -14.781146804968499 + ], + [ + -29.463447892994644, + -14.780568891593546 + ], + [ + -29.466514045243358, + -14.782705379761328 + ] + ], + "yaw_rad": 1.5849978938455958, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.539880752563477, + -14.85288143157959, + 0.12569119036197662 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46413302933468, + -14.858565194437475, + 0.1179916108447528 + ], + "intended_face_normal": [ + -0.9997888802094587, + -0.014086368296606588, + -0.014971331392546194 + ], + "commanded_contact_point": [ + -29.513744308289986, + -14.857765963864331, + 0.11891159321210226 + ], + "centerline_face_intersection": [ + -29.464156389401676, + -14.857785959655013, + 0.11881980033370936 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.5419921875, + -14.854158401489258, + 0.12477903068065643 + ], + "box_pose": [ + -29.410703659057617, + -14.853620529174805, + 0.13601592183113098, + -0.0029896842315793037, + -0.007564921397715807, + 0.7120633721351624, + 0.7020682096481323 + ], + "box_yaw_rad": 1.5849800349349294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038046815369377866 + } + } + }, + { + "simulation_time_ns": 4400000000, + "center": [ + -29.40828630863136, + -14.858386787005598, + 0.1187765644484285 + ], + "face_center": [ + -29.463596142351104, + -14.859165314866955, + 0.11819556736295213 + ], + "face_normal": [ + -0.9998458818019842, + -0.014073589155776167, + -0.010502789543646002 + ], + "footprint_xy": [ + [ + -29.465932303121228, + -14.937767171489002 + ], + [ + -29.350640314141497, + -14.937767171489002 + ], + [ + -29.350640314141497, + -14.779006402522192 + ], + [ + -29.465932303121228, + -14.779006402522192 + ] + ], + "projected_box_corners": [ + [ + -29.350640314141497, + -14.933411236456177 + ], + [ + -29.353120583207783, + -14.936210115766288 + ], + [ + -29.46125998158098, + -14.93496829217889 + ], + [ + -29.46374025064727, + -14.937767171489002 + ], + [ + -29.352832366615456, + -14.779006402522192 + ], + [ + -29.35531263568174, + -14.781805281832304 + ], + [ + -29.46345203405494, + -14.780563458244906 + ], + [ + -29.465932303121228, + -14.783362337555017 + ] + ], + "yaw_rad": 1.584992159706605, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.538076400756836, + -14.853973388671875, + 0.12297292053699493 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46388446936563, + -14.858841716889664, + 0.11808590121650092 + ], + "intended_face_normal": [ + -0.9998173729139999, + -0.01408731940857999, + -0.012905838299114125 + ], + "commanded_contact_point": [ + -29.509945961612466, + -14.857878004109807, + 0.11889585579675502 + ], + "centerline_face_intersection": [ + -29.463904676472502, + -14.858062429493248, + 0.11879983101641309 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.539880752563477, + -14.85288143157959, + 0.12569119036197662 + ], + "box_pose": [ + -29.410417556762695, + -14.853937149047852, + 0.13600951433181763, + -0.0014243536861613393, + -0.007657869253307581, + 0.7120685577392578, + 0.7020666599273682 + ], + "box_yaw_rad": 1.5849978938455958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003800031337433545 + } + } + }, + { + "simulation_time_ns": 4420000000, + "center": [ + -29.40796353853625, + -14.858766956557865, + 0.1187538777902917 + ], + "face_center": [ + -29.46327474782926, + -14.859544264259823, + 0.11832212304866915 + ], + "face_normal": [ + -0.999870748289093, + -0.014051532113312337, + -0.007804908663207488 + ], + "footprint_xy": [ + [ + -29.46527963287079, + -14.938530062932971 + ], + [ + -29.350647444201712, + -14.938530062932971 + ], + [ + -29.350647444201712, + -14.77900385018276 + ], + [ + -29.46527963287079, + -14.77900385018276 + ] + ], + "projected_box_corners": [ + [ + -29.350647444201712, + -14.933402087128245 + ], + [ + -29.352469577000615, + -14.936975447529058 + ], + [ + -29.461269862787734, + -14.93495670253216 + ], + [ + -29.463091995586637, + -14.938530062932971 + ], + [ + -29.352835081485864, + -14.77900385018276 + ], + [ + -29.354657214284767, + -14.78257721058357 + ], + [ + -29.463457500071886, + -14.780558465586672 + ], + [ + -29.46527963287079, + -14.784131825987485 + ] + ], + "yaw_rad": 1.5849641758076551, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.535911560058594, + -14.859720230102539, + 0.11783391237258911 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.463596142351104, + -14.859165314866955, + 0.11819556736295213 + ], + "intended_face_normal": [ + -0.9998458818019842, + -0.014073589155776167, + -0.010502789543646002 + ], + "commanded_contact_point": [ + -29.506155967059016, + -14.858029118944621, + 0.1188731863232369 + ], + "centerline_face_intersection": [ + -29.463613194796952, + -14.858386787005598, + 0.1187765644484285 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.538076400756836, + -14.853973388671875, + 0.12297292053699493 + ], + "box_pose": [ + -29.410085678100586, + -14.85430908203125, + 0.13600201904773712, + 0.0004145728889852762, + -0.007783634588122368, + 0.7120650410652161, + 0.7020702958106995 + ], + "box_yaw_rad": 1.584992159706605, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037930737289848726 + } + } + }, + { + "simulation_time_ns": 4440000000, + "center": [ + -29.40791997772135, + -14.858813594186195, + 0.11877295291339203 + ], + "face_center": [ + -29.463231342188447, + -14.859589909828, + 0.11836004130144635 + ], + "face_normal": [ + -0.9998735533991718, + -0.014033598462253494, + -0.007464277995193808 + ], + "footprint_xy": [ + [ + -29.46519318004006, + -14.938622502834063 + ], + [ + -29.350646775402637, + -14.938622502834063 + ], + [ + -29.350646775402637, + -14.779004685538325 + ], + [ + -29.46519318004006, + -14.779004685538325 + ] + ], + "projected_box_corners": [ + [ + -29.350646775402637, + -14.933402035951035 + ], + [ + -29.352385919855795, + -14.937069871550454 + ], + [ + -29.461269504336833, + -14.934954667234644 + ], + [ + -29.46300864878999, + -14.938622502834063 + ], + [ + -29.352831306652707, + -14.779004685538325 + ], + [ + -29.354570451105864, + -14.782672521137744 + ], + [ + -29.463454035586903, + -14.780557316821936 + ], + [ + -29.46519318004006, + -14.784225152421353 + ] + ], + "yaw_rad": 1.5849441440328789, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.531648635864258, + -14.86453914642334, + 0.11605747044086456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46327474782926, + -14.859544264259823, + 0.11832212304866915 + ], + "intended_face_normal": [ + -0.999870748289093, + -0.014051532113312337, + -0.007804908663207488 + ], + "commanded_contact_point": [ + -29.502381196271827, + -14.858227661062445, + 0.11884505545261415 + ], + "centerline_face_intersection": [ + -29.463289048738694, + -14.858766956557865, + 0.1187538777902917 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.535911560058594, + -14.859720230102539, + 0.11783391237258911 + ], + "box_pose": [ + -29.40971565246582, + -14.854744911193848, + 0.13599728047847748, + 0.0025248387828469276, + -0.00797002948820591, + 0.7120529413223267, + 0.7020759582519531 + ], + "box_yaw_rad": 1.5849641758076551, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037800932282478156 + } + } + }, + { + "simulation_time_ns": 4460000000, + "center": [ + -29.407986795811702, + -14.858754528464338, + 0.11877947625602252 + ], + "face_center": [ + -29.463297936492594, + -14.859531682401595, + 0.11833670793273222 + ], + "face_normal": [ + -0.9998695079753901, + -0.01404875248096471, + -0.00800400317378197 + ], + "footprint_xy": [ + [ + -29.46532683949151, + -14.938504625562075 + ], + [ + -29.350646752131894, + -14.938504625562075 + ], + [ + -29.350646752131894, + -14.779004431366603 + ], + [ + -29.46532683949151, + -14.779004431366603 + ] + ], + "projected_box_corners": [ + [ + -29.350646752131894, + -14.933402968396326 + ], + [ + -29.352517025946963, + -14.936950317687561 + ], + [ + -29.461269033493675, + -14.934957276270838 + ], + [ + -29.463139307308747, + -14.938504625562075 + ], + [ + -29.352834284314657, + -14.779004431366603 + ], + [ + -29.354704558129725, + -14.782551780657839 + ], + [ + -29.463456565676438, + -14.780558739241116 + ], + [ + -29.46532683949151, + -14.78410608853235 + ] + ], + "yaw_rad": 1.584963467696845, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.526363372802734, + -14.864782333374023, + 0.11748722195625305 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.463231342188447, + -14.859589909828, + 0.11836004130144635 + ], + "intended_face_normal": [ + -0.9998735533991718, + -0.014033598462253494, + -0.007464277995193808 + ], + "commanded_contact_point": [ + -29.498791763537366, + -14.858272221665583, + 0.11885400995998258 + ], + "centerline_face_intersection": [ + -29.46324533271002, + -14.858813594186195, + 0.11877295291339203 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.531648635864258, + -14.86453914642334, + 0.11605747044086456 + ], + "box_pose": [ + -29.409666061401367, + -14.854798316955566, + 0.1360185444355011, + 0.002786341356113553, + -0.007988784462213516, + 0.7120456695556641, + 0.702082097530365 + ], + "box_yaw_rad": 1.5849441440328789, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035897204885307664 + } + } + }, + { + "simulation_time_ns": 4480000000, + "center": [ + -29.408051670245577, + -14.85868951699561, + 0.11878555900186072 + ], + "face_center": [ + -29.46336255490669, + -14.8594661045323, + 0.11831250423246326 + ], + "face_normal": [ + -0.9998648798595215, + -0.014038513555336252, + -0.008551496745505816 + ], + "footprint_xy": [ + [ + -29.46545754741926, + -14.938374592231758 + ], + [ + -29.350645793071894, + -14.938374592231758 + ], + [ + -29.350645793071894, + -14.779004441759463 + ], + [ + -29.46545754741926, + -14.779004441759463 + ] + ], + "projected_box_corners": [ + [ + -29.350645793071894, + -14.933404180107253 + ], + [ + -29.35264928557002, + -14.936821417158379 + ], + [ + -29.461267562394124, + -14.934957355180632 + ], + [ + -29.46327105489225, + -14.938374592231758 + ], + [ + -29.352832285598904, + -14.779004441759463 + ], + [ + -29.35483577809703, + -14.782421678810588 + ], + [ + -29.463454054921133, + -14.780557616832843 + ], + [ + -29.46545754741926, + -14.783974853883967 + ] + ], + "yaw_rad": 1.5849566253007352, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.52174186706543, + -14.861255645751953, + 0.11967745423316956 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.463297936492594, + -14.859531682401595, + 0.11833670793273222 + ], + "intended_face_normal": [ + -0.9998695079753901, + -0.01404875248096471, + -0.00800400317378197 + ], + "commanded_contact_point": [ + -29.495324808251933, + -14.858260064864325, + 0.11886416021519453 + ], + "centerline_face_intersection": [ + -29.46331237464409, + -14.858754528464338, + 0.11877947625602252 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.526363372802734, + -14.864782333374023, + 0.11748722195625305 + ], + "box_pose": [ + -29.40974235534668, + -14.854730606079102, + 0.13602209091186523, + 0.002415331779047847, + -0.008001869544386864, + 0.7120523452758789, + 0.70207679271698 + ], + "box_yaw_rad": 1.584963467696845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034669914575444338 + } + } + }, + { + "simulation_time_ns": 4500000000, + "center": [ + -29.4081183622623, + -14.85861954442564, + 0.11879073751151928 + ], + "face_center": [ + -29.463428983399517, + -14.859395414117653, + 0.1182870924812259 + ], + "face_normal": [ + -0.9998601160902848, + -0.01402553694713271, + -0.00910448243219214 + ], + "footprint_xy": [ + [ + -29.46559052049092, + -14.938234223585946 + ], + [ + -29.35064620403368, + -14.938234223585946 + ], + [ + -29.35064620403368, + -14.779004865265332 + ], + [ + -29.46559052049092, + -14.779004865265332 + ] + ], + "projected_box_corners": [ + [ + -29.35064620403368, + -14.933405885273471 + ], + [ + -29.352784389988457, + -14.936682484201917 + ], + [ + -29.461267446308113, + -14.934957624657502 + ], + [ + -29.46340563226289, + -14.938234223585946 + ], + [ + -29.352831092261706, + -14.779004865265332 + ], + [ + -29.354969278216483, + -14.782281464193778 + ], + [ + -29.46345233453614, + -14.78055660464936 + ], + [ + -29.46559052049092, + -14.783833203577807 + ] + ], + "yaw_rad": 1.5849461193868069, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.51857566833496, + -14.85684585571289, + 0.11961443722248077 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46336255490669, + -14.8594661045323, + 0.11831250423246326 + ], + "intended_face_normal": [ + -0.9998648798595215, + -0.014038513555336252, + -0.008551496745505816 + ], + "commanded_contact_point": [ + -29.49193077561221, + -14.858240970513501, + 0.11887497504785062 + ], + "centerline_face_intersection": [ + -29.463377505165756, + -14.85868951699561, + 0.11878555900186072 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.52174186706543, + -14.861255645751953, + 0.11967745423316956 + ], + "box_pose": [ + -29.40981674194336, + -14.854656219482422, + 0.13602501153945923, + 0.002027236856520176, + -0.008003695867955685, + 0.7120499610900879, + 0.702080249786377 + ], + "box_yaw_rad": 1.5849566253007352, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033941035803784943 + } + } + }, + { + "simulation_time_ns": 4520000000, + "center": [ + -29.408189650690133, + -14.8585386176031, + 0.11879598178185477 + ], + "face_center": [ + -29.463499943270044, + -14.859315219773352, + 0.11825852021523584 + ], + "face_normal": [ + -0.9998541767003333, + -0.014038778088902193, + -0.009715790084159459 + ], + "footprint_xy": [ + [ + -29.465737093569114, + -14.938074046503145 + ], + [ + -29.350642207811156, + -14.938074046503145 + ], + [ + -29.350642207811156, + -14.779003188703054 + ], + [ + -29.465737093569114, + -14.779003188703054 + ] + ], + "projected_box_corners": [ + [ + -29.350642207811156, + -14.933405563714455 + ], + [ + -29.35292928815563, + -14.93652084216264 + ], + [ + -29.461262792970974, + -14.934958768054962 + ], + [ + -29.463549873315447, + -14.938074046503145 + ], + [ + -29.352829428064823, + -14.779003188703054 + ], + [ + -29.355116508409292, + -14.78211846715124 + ], + [ + -29.46345001322464, + -14.780556393043561 + ], + [ + -29.465737093569114, + -14.783671671491744 + ] + ], + "yaw_rad": 1.5849610957614466, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.514808654785156, + -14.85605239868164, + 0.11875438690185547 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.463428983399517, + -14.859395414117653, + 0.1182870924812259 + ], + "intended_face_normal": [ + -0.9998601160902848, + -0.01402553694713271, + -0.00910448243219214 + ], + "commanded_contact_point": [ + -29.488618777956685, + -14.858214830435434, + 0.11888609880730763 + ], + "centerline_face_intersection": [ + -29.463444460778863, + -14.85861954442564, + 0.11879073751151928 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.51857566833496, + -14.85684585571289, + 0.11961443722248077 + ], + "box_pose": [ + -29.409893035888672, + -14.854576110839844, + 0.13602682948112488, + 0.0016215634532272816, + -0.00799205806106329, + 0.7120464444160461, + 0.7020849585533142 + ], + "box_yaw_rad": 1.5849461193868069, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003312119489377941 + } + } + }, + { + "simulation_time_ns": 4540000000, + "center": [ + -29.408269939594916, + -14.8584529449708, + 0.1188015722829034 + ], + "face_center": [ + -29.463579894985607, + -14.859228348682802, + 0.11822813941998846 + ], + "face_normal": [ + -0.9998480812697128, + -0.014017113342047693, + -0.01036604972238006 + ], + "footprint_xy": [ + [ + -29.465894710747484, + -14.93790085092471 + ], + [ + -29.350645168442348, + -14.93790085092471 + ], + [ + -29.350645168442348, + -14.779005039016889 + ], + [ + -29.465894710747484, + -14.779005039016889 + ] + ], + "projected_box_corners": [ + [ + -29.350645168442348, + -14.933408896395726 + ], + [ + -29.353090777190225, + -14.936350043500706 + ], + [ + -29.461265079223725, + -14.93495970381973 + ], + [ + -29.463710687971602, + -14.93790085092471 + ], + [ + -29.352829191218234, + -14.779005039016889 + ], + [ + -29.355274799966107, + -14.78194618612187 + ], + [ + -29.46344910199961, + -14.780555846440894 + ], + [ + -29.465894710747484, + -14.783496993545874 + ] + ], + "yaw_rad": 1.5849402554024712, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.50969886779785, + -14.857970237731934, + 0.11874870955944061 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.463499943270044, + -14.859315219773352, + 0.11825852021523584 + ], + "intended_face_normal": [ + -0.9998541767003333, + -0.014038778088902193, + -0.009715790084159459 + ], + "commanded_contact_point": [ + -29.4853977704247, + -14.858177064052935, + 0.11889857781297586 + ], + "centerline_face_intersection": [ + -29.463516077857893, + -14.8585386176031, + 0.11879598178185477 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.514808654785156, + -14.85605239868164, + 0.11875438690185547 + ], + "box_pose": [ + -29.409975051879883, + -14.854483604431152, + 0.1360282450914383, + 0.0011644444894045591, + -0.00797052588313818, + 0.7120519876480103, + 0.702080488204956 + ], + "box_yaw_rad": 1.5849610957614466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032212531018729683 + } + } + }, + { + "simulation_time_ns": 4560000000, + "center": [ + -29.40835121735453, + -14.858356309375742, + 0.11880654419811898 + ], + "face_center": [ + -29.463660744137126, + -14.859132087454592, + 0.1181945990416517 + ], + "face_normal": [ + -0.9998403332436365, + -0.014023880839363567, + -0.011062243428226023 + ], + "footprint_xy": [ + [ + -29.46606092809849, + -14.937707918544374 + ], + [ + -29.350641506610568, + -14.937707918544374 + ], + [ + -29.350641506610568, + -14.77900470020711 + ], + [ + -29.46606092809849, + -14.77900470020711 + ] + ], + "projected_box_corners": [ + [ + -29.350641506610568, + -14.933409999787404 + ], + [ + -29.353256871074898, + -14.936156362386674 + ], + [ + -29.461260560175766, + -14.934961555945105 + ], + [ + -29.463875924640096, + -14.937707918544374 + ], + [ + -29.35282651006896, + -14.77900470020711 + ], + [ + -29.35544187453329, + -14.78175106280638 + ], + [ + -29.46344556363416, + -14.780556256364811 + ], + [ + -29.46606092809849, + -14.78330261896408 + ] + ], + "yaw_rad": 1.5849464733922782, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.50341796875, + -14.860845565795898, + 0.12131699919700623 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.463579894985607, + -14.859228348682802, + 0.11822813941998846 + ], + "intended_face_normal": [ + -0.9998480812697128, + -0.014017113342047693, + -0.01036604972238006 + ], + "commanded_contact_point": [ + -29.48227800502711, + -14.85813156505181, + 0.1189124573000917 + ], + "centerline_face_intersection": [ + -29.463596704052318, + -14.8584529449708, + 0.1188015722829034 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.50969886779785, + -14.857970237731934, + 0.11874870955944061 + ], + "box_pose": [ + -29.410066604614258, + -14.854385375976562, + 0.1360297054052353, + 0.0006744217243976891, + -0.007944060489535332, + 0.7120450139045715, + 0.7020885944366455 + ], + "box_yaw_rad": 1.5849402554024712, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003120128031873074 + } + } + }, + { + "simulation_time_ns": 4580000000, + "center": [ + -29.408446402014242, + -14.858247358441693, + 0.11881149777436502 + ], + "face_center": [ + -29.463755437224872, + -14.859023478002683, + 0.11815674578173362 + ], + "face_normal": [ + -0.9998314470081628, + -0.014030053873870463, + -0.011836070358687022 + ], + "footprint_xy": [ + [ + -29.466250325028252, + -14.937488852144845 + ], + [ + -29.35064247900023, + -14.937488852144845 + ], + [ + -29.35064247900023, + -14.779005864738538 + ], + [ + -29.466250325028252, + -14.779005864738538 + ] + ], + "projected_box_corners": [ + [ + -29.35064247900023, + -14.933412733889718 + ], + [ + -29.353446622245226, + -14.935936613022863 + ], + [ + -29.461260549421493, + -14.9349649730117 + ], + [ + -29.46406469266649, + -14.937488852144845 + ], + [ + -29.352828111361994, + -14.779005864738538 + ], + [ + -29.355632254606988, + -14.781529743871685 + ], + [ + -29.463446181783258, + -14.780558103860521 + ], + [ + -29.466250325028252, + -14.783081982993666 + ] + ], + "yaw_rad": 1.5849504017843925, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.497787475585938, + -14.862906455993652, + 0.12390254437923431 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.463660744137126, + -14.859132087454592, + 0.1181945990416517 + ], + "intended_face_normal": [ + -0.9998403332436365, + -0.014023880839363567, + -0.011062243428226023 + ], + "commanded_contact_point": [ + -29.47926155421242, + -14.858073020997338, + 0.11892717411263706 + ], + "centerline_face_intersection": [ + -29.463678410553598, + -14.858356309375742, + 0.11880654419811898 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.50341796875, + -14.860845565795898, + 0.12131699919700623 + ], + "box_pose": [ + -29.410160064697266, + -14.85427474975586, + 0.13603009283542633, + 0.00013740092981606722, + -0.007903387770056725, + 0.7120476961135864, + 0.7020865082740784 + ], + "box_yaw_rad": 1.5849464733922782, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030170547738339625 + } + } + }, + { + "simulation_time_ns": 4600000000, + "center": [ + -29.408545781949623, + -14.858125097297368, + 0.11881595983442463 + ], + "face_center": [ + -29.46385420557816, + -14.858903403475425, + 0.1181139847598098 + ], + "face_normal": [ + -0.9998203913277988, + -0.01406958174661277, + -0.01268973056468864 + ], + "footprint_xy": [ + [ + -29.466455943871292, + -14.937244330915455 + ], + [ + -29.35063562002796, + -14.937244330915455 + ], + [ + -29.35063562002796, + -14.77900586367928 + ], + [ + -29.466455943871292, + -14.77900586367928 + ] + ], + "projected_box_corners": [ + [ + -29.35063562002796, + -14.933414254473092 + ], + [ + -29.353648019532326, + -14.935687718559342 + ], + [ + -29.461252467285025, + -14.934970866829207 + ], + [ + -29.464264866789392, + -14.937244330915455 + ], + [ + -29.352826697109855, + -14.77900586367928 + ], + [ + -29.355839096614226, + -14.78127932776553 + ], + [ + -29.463443544366925, + -14.780562476035396 + ], + [ + -29.466455943871292, + -14.782835940121643 + ] + ], + "yaw_rad": 1.5849855170532705, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.493310928344727, + -14.863658905029297, + 0.12408114969730377 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.463755437224872, + -14.859023478002683, + 0.11815674578173362 + ], + "intended_face_normal": [ + -0.9998314470081628, + -0.014030053873870463, + -0.011836070358687022 + ], + "commanded_contact_point": [ + -29.4763647763043, + -14.857999959067177, + 0.1189434785485163 + ], + "centerline_face_intersection": [ + -29.46377408694666, + -14.858247358441693, + 0.11881149777436502 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.497787475585938, + -14.862906455993652, + 0.12390254437923431 + ], + "box_pose": [ + -29.410268783569336, + -14.85414981842041, + 0.13602982461452484, + -0.0004683805746026337, + -0.007849440909922123, + 0.7120497226715088, + 0.7020849585533142 + ], + "box_yaw_rad": 1.5849504017843925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028977450076291852 + } + } + }, + { + "simulation_time_ns": 4620000000, + "center": [ + -29.40866436987299, + -14.857987189514878, + 0.11882051069513315 + ], + "face_center": [ + -29.463972096116077, + -14.858765528792397, + 0.1180651568359078 + ], + "face_normal": [ + -0.9998077845647915, + -0.01407018009157679, + -0.013654668521994026 + ], + "footprint_xy": [ + [ + -29.466691099871674, + -14.936965263437804 + ], + [ + -29.350637639874307, + -14.936965263437804 + ], + [ + -29.350637639874307, + -14.77900911559195 + ], + [ + -29.466691099871674, + -14.77900911559195 + ] + ], + "projected_box_corners": [ + [ + -29.350637639874307, + -14.933419147473879 + ], + [ + -29.353885567293048, + -14.935408584882767 + ], + [ + -29.461253092360483, + -14.934975826028918 + ], + [ + -29.464501019779224, + -14.936965263437804 + ], + [ + -29.352827719966758, + -14.77900911559195 + ], + [ + -29.3560756473855, + -14.780998553000838 + ], + [ + -29.463443172452934, + -14.780565794146987 + ], + [ + -29.466691099871674, + -14.782555231555875 + ] + ], + "yaw_rad": 1.5849789108023424, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.489904403686523, + -14.86351490020752, + 0.12342332303524017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46385420557816, + -14.858903403475425, + 0.1181139847598098 + ], + "intended_face_normal": [ + -0.9998203913277988, + -0.01406958174661277, + -0.01268973056468864 + ], + "commanded_contact_point": [ + -29.473588282008528, + -14.857910449147184, + 0.11896107926754104 + ], + "centerline_face_intersection": [ + -29.463874078677126, + -14.858125097297368, + 0.11881595983442463 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.493310928344727, + -14.863658905029297, + 0.12408114969730377 + ], + "box_pose": [ + -29.410383224487305, + -14.854009628295898, + 0.13602840900421143, + -0.0011440706439316273, + -0.007782523520290852, + 0.7120628356933594, + 0.7020716071128845 + ], + "box_yaw_rad": 1.5849855170532705, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002777992509987728 + } + } + }, + { + "simulation_time_ns": 4640000000, + "center": [ + -29.408794125111253, + -14.857829225811365, + 0.11882493957902018 + ], + "face_center": [ + -29.464100984858597, + -14.858608747451088, + 0.11800952138250423 + ], + "face_normal": [ + -0.9997921207642742, + -0.014091553867295659, + -0.014740462425976458 + ], + "footprint_xy": [ + [ + -29.46695331921554, + -14.936647242865082 + ], + [ + -29.350634931006965, + -14.936647242865082 + ], + [ + -29.350634931006965, + -14.779011208757646 + ], + [ + -29.46695331921554, + -14.779011208757646 + ] + ], + "projected_box_corners": [ + [ + -29.350634931006965, + -14.933422791944299 + ], + [ + -29.35414791493806, + -14.935088199585635 + ], + [ + -29.461248650501652, + -14.934981835223745 + ], + [ + -29.464761634432744, + -14.936647242865082 + ], + [ + -29.352826615789763, + -14.779011208757646 + ], + [ + -29.356339599720854, + -14.780676616398983 + ], + [ + -29.46344033528445, + -14.780570252037093 + ], + [ + -29.46695331921554, + -14.78223565967843 + ] + ], + "yaw_rad": 1.5849891585361562, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.486526489257812, + -14.862435340881348, + 0.1237315833568573 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.463972096116077, + -14.858765528792397, + 0.1180651568359078 + ], + "intended_face_normal": [ + -0.9998077845647915, + -0.01407018009157679, + -0.013654668521994026 + ], + "commanded_contact_point": [ + -29.47095088150817, + -14.85780270518831, + 0.11898079773556056 + ], + "centerline_face_intersection": [ + -29.463993364245315, + -14.857987189514878, + 0.11882051069513315 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.489904403686523, + -14.86351490020752, + 0.12342332303524017 + ], + "box_pose": [ + -29.410518646240234, + -14.853851318359375, + 0.1360262632369995, + -0.0019092658767476678, + -0.0077056437730789185, + 0.7120614051818848, + 0.7020723223686218 + ], + "box_yaw_rad": 1.5849789108023424, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026396740287286257 + } + } + }, + { + "simulation_time_ns": 4660000000, + "center": [ + -29.40894042846831, + -14.857647650170204, + 0.11882993340304943 + ], + "face_center": [ + -29.464246223329358, + -14.858428305944251, + 0.11794637126415997 + ], + "face_normal": [ + -0.9997728706218734, + -0.014112055818887415, + -0.01597231281441064 + ], + "footprint_xy": [ + [ + -29.467249264633605, + -14.93628391063428 + ], + [ + -29.350631592303014, + -14.93628391063428 + ], + [ + -29.350631592303014, + -14.779011389706127 + ], + [ + -29.467249264633605, + -14.779011389706127 + ] + ], + "projected_box_corners": [ + [ + -29.350631592303014, + -14.933424382283459 + ], + [ + -29.3544453003342, + -14.934722599086184 + ], + [ + -29.461243182025115, + -14.934985693831553 + ], + [ + -29.4650568900563, + -14.93628391063428 + ], + [ + -29.352823966880322, + -14.779011389706127 + ], + [ + -29.356637674911504, + -14.780309606508853 + ], + [ + -29.46343555660242, + -14.780572701254222 + ], + [ + -29.467249264633605, + -14.78187091805695 + ] + ], + "yaw_rad": 1.5849934953148035, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.483243942260742, + -14.86025333404541, + 0.12584035098552704 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464100984858597, + -14.858608747451088, + 0.11800952138250423 + ], + "intended_face_normal": [ + -0.9997921207642742, + -0.014091553867295659, + -0.014740462425976458 + ], + "commanded_contact_point": [ + -29.468454279825895, + -14.85767166139869, + 0.11900264393403834 + ], + "centerline_face_intersection": [ + -29.464123986326108, + -14.857829225811365, + 0.11882493957902018 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.486526489257812, + -14.862435340881348, + 0.1237315833568573 + ], + "box_pose": [ + -29.410667419433594, + -14.853670120239258, + 0.13602302968502045, + -0.002776901936158538, + -0.007612585090100765, + 0.7120660543441772, + 0.7020657658576965 + ], + "box_yaw_rad": 1.5849891585361562, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025001339346366826 + } + } + }, + { + "simulation_time_ns": 4680000000, + "center": [ + -29.40911062632265, + -14.857439459597797, + 0.11883427296801705 + ], + "face_center": [ + -29.46441511434268, + -14.858221582907149, + 0.11787367484192146 + ], + "face_normal": [ + -0.9997492466199805, + -0.014138584720350789, + -0.017364906307800743 + ], + "footprint_xy": [ + [ + -29.467588446658677, + -14.935866838961912 + ], + [ + -29.350632805986628, + -14.935866838961912 + ], + [ + -29.350632805986628, + -14.779012080233684 + ], + [ + -29.467588446658677, + -14.779012080233684 + ] + ], + "projected_box_corners": [ + [ + -29.350632805986628, + -14.93342624112102 + ], + [ + -29.35478658574546, + -14.934302592343212 + ], + [ + -29.46124178202668, + -14.934990487739721 + ], + [ + -29.46539556178551, + -14.935866838961912 + ], + [ + -29.352825690859795, + -14.779012080233684 + ], + [ + -29.356979470618626, + -14.779888431455875 + ], + [ + -29.463434666899843, + -14.780576326852383 + ], + [ + -29.467588446658677, + -14.781452678074574 + ] + ], + "yaw_rad": 1.5849966919680252, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.480789184570312, + -14.85830307006836, + 0.1281815469264984 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464246223329358, + -14.858428305944251, + 0.11794637126415997 + ], + "intended_face_normal": [ + -0.9997728706218734, + -0.014112055818887415, + -0.01597231281441064 + ], + "commanded_contact_point": [ + -29.46611038478853, + -14.85751361872561, + 0.11902754597496984 + ], + "centerline_face_intersection": [ + -29.464271355032842, + -14.857647650170204, + 0.11882993340304943 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.483243942260742, + -14.86025333404541, + 0.12584035098552704 + ], + "box_pose": [ + -29.41083526611328, + -14.853462219238281, + 0.1360192745923996, + -0.0037606293335556984, + -0.0075076608918607235, + 0.7120687365531921, + 0.7020595669746399 + ], + "box_yaw_rad": 1.5849934953148035, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002349349174633021 + } + } + }, + { + "simulation_time_ns": 4700000000, + "center": [ + -29.409302288999278, + -14.857202160833355, + 0.11883923118245004 + ], + "face_center": [ + -29.464605159923085, + -14.857986307233599, + 0.11779106200024717 + ], + "face_normal": [ + -0.9997200140787996, + -0.014175156500861208, + -0.01894794414981632 + ], + "footprint_xy": [ + [ + -29.467972110042922, + -14.935391022476448 + ], + [ + -29.35063246795563, + -14.935391022476448 + ], + [ + -29.35063246795563, + -14.779013299190261 + ], + [ + -29.467972110042922, + -14.779013299190261 + ] + ], + "projected_box_corners": [ + [ + -29.35063246795563, + -14.933428207227864 + ], + [ + -29.355172872754878, + -14.933822729675962 + ], + [ + -29.461238209803252, + -14.934996500028353 + ], + [ + -29.4657786146025, + -14.935391022476448 + ], + [ + -29.352825963396057, + -14.779013299190261 + ], + [ + -29.357366368195304, + -14.779407821638356 + ], + [ + -29.463431705243675, + -14.78058159199075 + ], + [ + -29.467972110042922, + -14.780976114438845 + ] + ], + "yaw_rad": 1.585000576539406, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.47971534729004, + -14.857975959777832, + 0.12994727492332458 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46441511434268, + -14.858221582907149, + 0.11787367484192146 + ], + "intended_face_normal": [ + -0.9997492466199805, + -0.014138584720350789, + -0.017364906307800743 + ], + "commanded_contact_point": [ + -29.46393316301019, + -14.857324887803816, + 0.11905474454713964 + ], + "centerline_face_intersection": [ + -29.46444286035295, + -14.857439459597797, + 0.11883427296801705 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.480789184570312, + -14.85830307006836, + 0.1281815469264984 + ], + "box_pose": [ + -29.411029815673828, + -14.85322380065918, + 0.13601352274417877, + -0.0048827859573066235, + -0.007379157934337854, + 0.7120712399482727, + 0.7020514607429504 + ], + "box_yaw_rad": 1.5849966919680252, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021855557177167468 + } + } + }, + { + "simulation_time_ns": 4720000000, + "center": [ + -29.409510359748406, + -14.856969727845406, + 0.11885312161035476 + ], + "face_center": [ + -29.46481129615369, + -14.857755900700546, + 0.11770866837820206 + ], + "face_normal": [ + -0.9996850434370452, + -0.014211789093035332, + -0.02068848835960979 + ], + "footprint_xy": [ + [ + -29.468390261422805, + -14.935001219873921 + ], + [ + -29.35063045807401, + -14.935001219873921 + ], + [ + -29.35063045807401, + -14.77893823581689 + ], + [ + -29.468390261422805, + -14.77893823581689 + ] + ], + "projected_box_corners": [ + [ + -29.35063045807401, + -14.933428874163644 + ], + [ + -29.35559513009599, + -14.933353273104773 + ], + [ + -29.46123233088458, + -14.935001219873921 + ], + [ + -29.466197002906558, + -14.93492561881505 + ], + [ + -29.352823716590258, + -14.77901383687576 + ], + [ + -29.357788388612235, + -14.77893823581689 + ], + [ + -29.463425589400828, + -14.78058618258604 + ], + [ + -29.468390261422805, + -14.78051058152717 + ] + ], + "yaw_rad": 1.5849990306275208, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.47992515563965, + -14.859509468078613, + 0.13082219660282135 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.464605159923085, + -14.857986307233599, + 0.11779106200024717 + ], + "intended_face_normal": [ + -0.9997200140787996, + -0.014175156500861208, + -0.01894794414981632 + ], + "commanded_contact_point": [ + -29.461928496958798, + -14.857102237191555, + 0.11908574749001592 + ], + "centerline_face_intersection": [ + -29.464636140984393, + -14.857202160833355, + 0.11883923118245004 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47971534729004, + -14.857975959777832, + 0.12994727492332458 + ], + "box_pose": [ + -29.4112491607666, + -14.852952003479004, + 0.13600686192512512, + -0.006161825265735388, + -0.0072297584265470505, + 0.7120741605758667, + 0.7020400166511536 + ], + "box_yaw_rad": 1.585000576539406, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020172308879273584 + } + } + }, + { + "simulation_time_ns": 4740000000, + "center": [ + -29.409692106330667, + -14.856777168498217, + 0.11886625187553694 + ], + "face_center": [ + -29.46499122774788, + -14.857565972163732, + 0.1176389208815896 + ], + "face_normal": [ + -0.9996522335689904, + -0.014259346728672462, + -0.02218668467029139 + ], + "footprint_xy": [ + [ + -29.468753508037707, + -14.935005201598141 + ], + [ + -29.350630704623622, + -14.935005201598141 + ], + [ + -29.350630704623622, + -14.778549135398293 + ], + [ + -29.468753508037707, + -14.778549135398293 + ] + ], + "projected_box_corners": [ + [ + -29.350630704623622, + -14.933427594267112 + ], + [ + -29.35596035725587, + -14.932963786480828 + ], + [ + -29.461228947458054, + -14.935005201598141 + ], + [ + -29.4665586000903, + -14.934541393811857 + ], + [ + -29.35282561257103, + -14.779012943184577 + ], + [ + -29.35815526520328, + -14.778549135398293 + ], + [ + -29.46342385540546, + -14.780590550515607 + ], + [ + -29.468753508037707, + -14.780126742729323 + ] + ], + "yaw_rad": 1.5850097458195413, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.479936599731445, + -14.862667083740234, + 0.13082347810268402 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46481129615369, + -14.857755900700546, + 0.11770866837820206 + ], + "intended_face_normal": [ + -0.9996850434370452, + -0.014211789093035332, + -0.02068848835960979 + ], + "commanded_contact_point": [ + -29.460099407212777, + -14.856875380113141, + 0.11912764283286982 + ], + "centerline_face_intersection": [ + -29.464846147403488, + -14.856969727845406, + 0.11885312161035476 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47992515563965, + -14.859509468078613, + 0.13082219660282135 + ], + "box_pose": [ + -29.411487579345703, + -14.852685928344727, + 0.13600891828536987, + -0.007479628548026085, + -0.007152815815061331, + 0.7120743989944458, + 0.7020277976989746 + ], + "box_yaw_rad": 1.5849990306275208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018435803895623026 + } + } + }, + { + "simulation_time_ns": 4760000000, + "center": [ + -29.40984094067148, + -14.85661644902192, + 0.11887991585628858 + ], + "face_center": [ + -29.465138526796917, + -14.85740564476571, + 0.11758583688762408 + ], + "face_normal": [ + -0.9996244798214473, + -0.014266434398629624, + -0.02339329989856609 + ], + "footprint_xy": [ + [ + -29.469045747487897, + -14.935007589934452 + ], + [ + -29.350636133855062, + -14.935007589934452 + ], + [ + -29.350636133855062, + -14.77822530810939 + ], + [ + -29.469045747487897, + -14.77822530810939 + ] + ], + "projected_box_corners": [ + [ + -29.350636133855062, + -14.933429198446877 + ], + [ + -29.356259912339926, + -14.932639372939185 + ], + [ + -29.461231306105937, + -14.935007589934452 + ], + [ + -29.4668550845908, + -14.934217764426762 + ], + [ + -29.352826796752158, + -14.779015133617081 + ], + [ + -29.358450575237022, + -14.77822530810939 + ], + [ + -29.463421969003033, + -14.780593525104656 + ], + [ + -29.469045747487897, + -14.779803699596965 + ] + ], + "yaw_rad": 1.5849823139732164, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.477663040161133, + -14.8667573928833, + 0.12353898584842682 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46499122774788, + -14.857565972163732, + 0.1176389208815896 + ], + "intended_face_normal": [ + -0.9996522335689904, + -0.014259346728672462, + -0.02218668467029139 + ], + "commanded_contact_point": [ + -29.45841331728634, + -14.856677542439755, + 0.11916655764697398 + ], + "centerline_face_intersection": [ + -29.46502971017725, + -14.856777168498217, + 0.11886625187553694 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.479936599731445, + -14.862667083740234, + 0.13082347810268402 + ], + "box_pose": [ + -29.41169548034668, + -14.852465629577637, + 0.13601206243038177, + -0.008589623495936394, + -0.007110633421689272, + 0.7120785713195801, + 0.7020112872123718 + ], + "box_yaw_rad": 1.5850097458195413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016981028672612914 + } + } + }, + { + "simulation_time_ns": 4780000000, + "center": [ + -29.409949501406036, + -14.856494839044922, + 0.11889133841108235 + ], + "face_center": [ + -29.46524592499454, + -14.857283607000038, + 0.11754786325303758 + ], + "face_normal": [ + -0.9996034644308086, + -0.014258701185339895, + -0.024286243760571147 + ], + "footprint_xy": [ + [ + -29.46925922650786, + -14.935008259475083 + ], + [ + -29.35063977630421, + -14.935008259475083 + ], + [ + -29.35063977630421, + -14.777981418614761 + ], + [ + -29.46925922650786, + -14.777981418614761 + ] + ], + "projected_box_corners": [ + [ + -29.35063977630421, + -14.93343072356485 + ], + [ + -29.35648126625652, + -14.932394924171842 + ], + [ + -29.461232623481223, + -14.935008259475083 + ], + [ + -29.467074113433533, + -14.933972460082074 + ], + [ + -29.352824889378535, + -14.77901721800777 + ], + [ + -29.358666379330845, + -14.777981418614761 + ], + [ + -29.463417736555552, + -14.780594753918002 + ], + [ + -29.46925922650786, + -14.779558954524994 + ] + ], + "yaw_rad": 1.5849464312567838, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.475082397460938, + -14.86949348449707, + 0.11698013544082642 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465138526796917, + -14.85740564476571, + 0.11758583688762408 + ], + "intended_face_normal": [ + -0.9996244798214473, + -0.014266434398629624, + -0.02339329989856609 + ], + "commanded_contact_point": [ + -29.45686848243268, + -14.856505137141964, + 0.11920257246885331 + ], + "centerline_face_intersection": [ + -29.4651800809209, + -14.85661644902192, + 0.11887991585628858 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.477663040161133, + -14.8667573928833, + 0.12353898584842682 + ], + "box_pose": [ + -29.411865234375, + -14.85228157043457, + 0.13601738214492798, + -0.009503315202891827, + -0.00705722626298666, + 0.7120694518089294, + 0.7020092010498047 + ], + "box_yaw_rad": 1.5849823139732164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015548425576844597 + } + } + }, + { + "simulation_time_ns": 4800000000, + "center": [ + -29.410024699078747, + -14.85641156336275, + 0.11889921646086245 + ], + "face_center": [ + -29.465320276174868, + -14.857200531233403, + 0.11752177766980239 + ], + "face_normal": [ + -0.9995881622346241, + -0.014262315094684785, + -0.024900210506040743 + ], + "footprint_xy": [ + [ + -29.469407125048892, + -14.935009410633034 + ], + [ + -29.350642273108598, + -14.935009410633034 + ], + [ + -29.350642273108598, + -14.777813716092467 + ], + [ + -29.469407125048892, + -14.777813716092467 + ] + ], + "projected_box_corners": [ + [ + -29.350642273108598, + -14.93343147489173 + ], + [ + -29.356633459216415, + -14.932226683204869 + ], + [ + -29.46123342730084, + -14.935009410633034 + ], + [ + -29.467224613408654, + -14.933804618946173 + ], + [ + -29.352824784748837, + -14.779018507779327 + ], + [ + -29.35881597085665, + -14.777813716092467 + ], + [ + -29.46341593894108, + -14.780596443520631 + ], + [ + -29.469407125048892, + -14.779391651833771 + ] + ], + "yaw_rad": 1.5849296367097752, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.47313690185547, + -14.868579864501953, + 0.1141899824142456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46524592499454, + -14.857283607000038, + 0.11754786325303758 + ], + "intended_face_normal": [ + -0.9996034644308086, + -0.014258701185339895, + -0.024286243760571147 + ], + "commanded_contact_point": [ + -29.455462269478364, + -14.856367226940453, + 0.11923236284117256 + ], + "centerline_face_intersection": [ + -29.46528980509045, + -14.856494839044922, + 0.11889133841108235 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.475082397460938, + -14.86949348449707, + 0.11698013544082642 + ], + "box_pose": [ + -29.411989212036133, + -14.852142333984375, + 0.13602250814437866, + -0.010186404921114445, + -0.007010865490883589, + 0.7120572924613953, + 0.7020125389099121 + ], + "box_yaw_rad": 1.5849464312567838, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014132733503631559 + } + } + }, + { + "simulation_time_ns": 4820000000, + "center": [ + -29.410069762504722, + -14.856362515911348, + 0.1189043330224989 + ], + "face_center": [ + -29.465364817386405, + -14.8571516788457, + 0.11750634926399064 + ], + "face_normal": [ + -0.9995787220696047, + -0.014265841296511539, + -0.025271605603681357 + ], + "footprint_xy": [ + [ + -29.469496228051987, + -14.935010849196232 + ], + [ + -29.35064329695746, + -14.935010849196232 + ], + [ + -29.35064329695746, + -14.777714182626463 + ], + [ + -29.469496228051987, + -14.777714182626463 + ] + ], + "projected_box_corners": [ + [ + -29.35064329695746, + -14.933432523327529 + ], + [ + -29.356725018228975, + -14.932126791246187 + ], + [ + -29.461233406720822, + -14.935010849196232 + ], + [ + -29.467315127992336, + -14.93370511711489 + ], + [ + -29.352824397017113, + -14.779019914707805 + ], + [ + -29.358906118288626, + -14.777714182626463 + ], + [ + -29.463414506780474, + -14.78059824057651 + ], + [ + -29.469496228051987, + -14.779292508495166 + ] + ], + "yaw_rad": 1.5849205297280267, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.471866607666016, + -14.864723205566406, + 0.11424615979194641 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465320276174868, + -14.857200531233403, + 0.11752177766980239 + ], + "intended_face_normal": [ + -0.9995881622346241, + -0.014262315094684785, + -0.024900210506040743 + ], + "commanded_contact_point": [ + -29.45420580116698, + -14.856265253446288, + 0.11925469332450864 + ], + "centerline_face_intersection": [ + -29.465365849940245, + -14.85641156336275, + 0.11889921646086245 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47313690185547, + -14.868579864501953, + 0.1141899824142456 + ], + "box_pose": [ + -29.41207504272461, + -14.852046966552734, + 0.1360260397195816, + -0.010655930265784264, + -0.006979156285524368, + 0.7120516896247864, + 0.7020114660263062 + ], + "box_yaw_rad": 1.5849296367097752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012607973118252977 + } + } + }, + { + "simulation_time_ns": 4840000000, + "center": [ + -29.41008795579691, + -14.856341802456612, + 0.11890731447260078 + ], + "face_center": [ + -29.465382803231883, + -14.857130259809415, + 0.11750022797862465 + ], + "face_normal": [ + -0.9995749720178554, + -0.01425308637104572, + -0.025436157401410475 + ], + "footprint_xy": [ + [ + -29.469532835594627, + -14.935011087788428 + ], + [ + -29.350643075999198, + -14.935011087788428 + ], + [ + -29.350643075999198, + -14.777672517124797 + ], + [ + -29.469532835594627, + -14.777672517124797 + ] + ], + "projected_box_corners": [ + [ + -29.350643075999198, + -14.933434173082823 + ], + [ + -29.356764870324234, + -14.932085036536668 + ], + [ + -29.461232770869138, + -14.935011087788428 + ], + [ + -29.467354565194174, + -14.933661951242273 + ], + [ + -29.352821346399647, + -14.779021653670952 + ], + [ + -29.358943140724683, + -14.777672517124797 + ], + [ + -29.463411041269588, + -14.780598568376556 + ], + [ + -29.469532835594627, + -14.7792494318304 + ] + ], + "yaw_rad": 1.5849022162152346, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.47020721435547, + -14.862042427062988, + 0.11696022748947144 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465364817386405, + -14.8571516788457, + 0.11750634926399064 + ], + "intended_face_normal": [ + -0.9995787220696047, + -0.014265841296511539, + -0.025271605603681357 + ], + "commanded_contact_point": [ + -29.453107257380598, + -14.856197545379091, + 0.1192704081731503 + ], + "centerline_face_intersection": [ + -29.465411436015998, + -14.856362515911348, + 0.1189043330224989 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.471866607666016, + -14.864723205566406, + 0.11424615979194641 + ], + "box_pose": [ + -29.412126541137695, + -14.851990699768066, + 0.13602854311466217, + -0.010938052088022232, + -0.006961851846426725, + 0.7120486497879028, + 0.7020103335380554 + ], + "box_yaw_rad": 1.5849205297280267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001100740564090269 + } + } + }, + { + "simulation_time_ns": 4860000000, + "center": [ + -29.410086560721314, + -14.85634608433605, + 0.11890817180397935 + ], + "face_center": [ + -29.465381450949764, + -14.857133638694316, + 0.11750249538614245 + ], + "face_normal": [ + -0.9995757456033556, + -0.014236762775280853, + -0.025410667199650572 + ], + "footprint_xy": [ + [ + -29.46952717400118, + -14.935010908982798 + ], + [ + -29.35064594744145, + -14.935010908982798 + ], + [ + -29.35064594744145, + -14.777681259689299 + ], + [ + -29.46952717400118, + -14.777681259689299 + ] + ], + "projected_box_corners": [ + [ + -29.35064594744145, + -14.933435800266265 + ], + [ + -29.35676150205754, + -14.932093824297034 + ], + [ + -29.46123572789835, + -14.935010908982798 + ], + [ + -29.467351282514443, + -14.933668933013568 + ], + [ + -29.352821838928186, + -14.77902323565853 + ], + [ + -29.358937393544277, + -14.777681259689299 + ], + [ + -29.463411619385088, + -14.780598344375063 + ], + [ + -29.46952717400118, + -14.779256368405832 + ] + ], + "yaw_rad": 1.5848868089304355, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.468015670776367, + -14.860422134399414, + 0.12133148312568665 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465382803231883, + -14.857130259809415, + 0.11750022797862465 + ], + "intended_face_normal": [ + -0.9995749720178554, + -0.01425308637104572, + -0.025436157401410475 + ], + "commanded_contact_point": [ + -29.45217534801244, + -14.856160198263325, + 0.11928031961461318 + ], + "centerline_face_intersection": [ + -29.46542983693057, + -14.856341802456612, + 0.11890731447260078 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47020721435547, + -14.862042427062988, + 0.11696022748947144 + ], + "box_pose": [ + -29.412147521972656, + -14.851966857910156, + 0.1360303908586502, + -0.01106100995093584, + -0.006956163793802261, + 0.7120422720909119, + 0.7020151019096375 + ], + "box_yaw_rad": 1.5849022162152346, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009327100911807775 + } + } + }, + { + "simulation_time_ns": 4880000000, + "center": [ + -29.410058138762288, + -14.856381869643977, + 0.11890690898164435 + ], + "face_center": [ + -29.46535334681154, + -14.857169881471785, + 0.11751414450769689 + ], + "face_normal": [ + -0.9995814909075372, + -0.014245032535017632, + -0.02517725565136575 + ], + "footprint_xy": [ + [ + -29.469471900261066, + -14.935010878624412 + ], + [ + -29.350644377263514, + -14.935010878624412 + ], + [ + -29.350644377263514, + -14.777752860663542 + ], + [ + -29.469471900261066, + -14.777752860663542 + ] + ], + "projected_box_corners": [ + [ + -29.350644377263514, + -14.933434854968798 + ], + [ + -29.35670291793794, + -14.932165655397593 + ], + [ + -29.461234793362017, + -14.935010878624412 + ], + [ + -29.467293334036444, + -14.933741679053208 + ], + [ + -29.352822943488132, + -14.779022060234748 + ], + [ + -29.358881484162563, + -14.777752860663542 + ], + [ + -29.46341335958664, + -14.780598083890363 + ], + [ + -29.469471900261066, + -14.779328884319156 + ] + ], + "yaw_rad": 1.58490410648706, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.46491813659668, + -14.85813045501709, + 0.12482509016990662 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465381450949764, + -14.857133638694316, + 0.11750249538614245 + ], + "intended_face_normal": [ + -0.9995757456033556, + -0.014236762775280853, + -0.025410667199650572 + ], + "commanded_contact_point": [ + -29.451423270747284, + -14.856150849061844, + 0.11928445706528792 + ], + "centerline_face_intersection": [ + -29.465428399025125, + -14.85634608433605, + 0.11890817180397935 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.468015670776367, + -14.860422134399414, + 0.12133148312568665 + ], + "box_pose": [ + -29.412145614624023, + -14.851971626281738, + 0.13603143393993378, + -0.01104121282696724, + -0.006957747042179108, + 0.7120368480682373, + 0.7020208239555359 + ], + "box_yaw_rad": 1.5848868089304355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007521467535187572 + } + } + }, + { + "simulation_time_ns": 4900000000, + "center": [ + -29.41001485344749, + -14.856435411624215, + 0.11890413911021289 + ], + "face_center": [ + -29.465310573900634, + -14.857222814727699, + 0.11753138847645794 + ], + "face_normal": [ + -0.9995907537255198, + -0.014234028515170749, + -0.024815461837323027 + ], + "footprint_xy": [ + [ + -29.469385128679345, + -14.93501153450579 + ], + [ + -29.350644578215636, + -14.93501153450579 + ], + [ + -29.350644578215636, + -14.777859288742642 + ], + [ + -29.469385128679345, + -14.777859288742642 + ] + ], + "projected_box_corners": [ + [ + -29.350644578215636, + -14.933436728298823 + ], + [ + -29.35661482333816, + -14.932272459389758 + ], + [ + -29.461236019121927, + -14.93501153450579 + ], + [ + -29.46720626424445, + -14.933847265596725 + ], + [ + -29.352823442650532, + -14.779023557651707 + ], + [ + -29.358793687773055, + -14.777859288742642 + ], + [ + -29.463414883556823, + -14.780598363858674 + ], + [ + -29.469385128679345, + -14.77943409494961 + ] + ], + "yaw_rad": 1.5849060030113222, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.46091079711914, + -14.85463809967041, + 0.1270262449979782 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.46535334681154, + -14.857169881471785, + 0.11751414450769689 + ], + "intended_face_normal": [ + -0.9995814909075372, + -0.014245032535017632, + -0.02517725565136575 + ], + "commanded_contact_point": [ + -29.450849954482106, + -14.856176281128155, + 0.11928239342869043 + ], + "centerline_face_intersection": [ + -29.465399658977283, + -14.856381869643977, + 0.11890690898164435 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46491813659668, + -14.85813045501709, + 0.12482509016990662 + ], + "box_pose": [ + -29.412113189697266, + -14.852012634277344, + 0.13603198528289795, + -0.010850108228623867, + -0.0069822510704398155, + 0.7120426893234253, + 0.702017605304718 + ], + "box_yaw_rad": 1.58490410648706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005738837761352291 + } + } + }, + { + "simulation_time_ns": 4920000000, + "center": [ + -29.409958136669324, + -14.856500366632948, + 0.11889987509191652 + ], + "face_center": [ + -29.465254508565167, + -14.857286909272103, + 0.11755291767275727 + ], + "face_normal": [ + -0.9996025299731741, + -0.014218473745634563, + -0.02434919322544038 + ], + "footprint_xy": [ + [ + -29.46927221394683, + -14.935009798459859 + ], + [ + -29.35064405939182, + -14.935009798459859 + ], + [ + -29.35064405939182, + -14.77799093480604 + ], + [ + -29.46927221394683, + -14.77799093480604 + ] + ], + "projected_box_corners": [ + [ + -29.35064405939182, + -14.933436713181552 + ], + [ + -29.35650055582877, + -14.93240454259175 + ], + [ + -29.461236803183507, + -14.935009798459859 + ], + [ + -29.46709329962046, + -14.933977627870057 + ], + [ + -29.35282297371819, + -14.779023105395842 + ], + [ + -29.358679470155142, + -14.77799093480604 + ], + [ + -29.46341571750988, + -14.78059619067415 + ], + [ + -29.46927221394683, + -14.779564020084347 + ] + ], + "yaw_rad": 1.5849062861112087, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.457664489746094, + -14.851058006286621, + 0.12795023620128632 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -29.465310573900634, + -14.857222814727699, + 0.11753138847645794 + ], + "intended_face_normal": [ + -0.9995907537255198, + -0.014234028515170749, + -0.024815461837323027 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.856223887045513, + 0.11927582969929425 + ], + "centerline_face_intersection": [ + -29.46535586083418, + -14.856435411624215, + 0.11890413911021289 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46091079711914, + -14.85463809967041, + 0.1270262449979782 + ], + "box_pose": [ + -29.412063598632812, + -14.852073669433594, + 0.1360318809747696, + -0.010565446689724922, + -0.007008792366832495, + 0.7120431065559387, + 0.7020213007926941 + ], + "box_yaw_rad": 1.5849060030113222, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00037882192246572495 + } + } + }, + { + "simulation_time_ns": 4940000000, + "center": [ + -29.409896611038548, + -14.856578631402275, + 0.11889650923909605 + ], + "face_center": [ + -29.46519365719793, + -14.857365976862836, + 0.1175786542553705 + ], + "face_normal": [ + -0.9996147187572676, + -0.0142329864936106, + -0.0238231032291078 + ], + "footprint_xy": [ + [ + -29.469149668815948, + -14.93500973372236 + ], + [ + -29.35064355326115, + -14.93500973372236 + ], + [ + -29.35064355326115, + -14.778147529082188 + ], + [ + -29.469149668815948, + -14.778147529082188 + ] + ], + "projected_box_corners": [ + [ + -29.35064355326115, + -14.93343504280124 + ], + [ + -29.35637160572009, + -14.93256146714171 + ], + [ + -29.461237645579914, + -14.93500973372236 + ], + [ + -29.46696569803885, + -14.934136158062831 + ], + [ + -29.352827524038243, + -14.779021104741718 + ], + [ + -29.358555576497185, + -14.778147529082188 + ], + [ + -29.463421616357007, + -14.78059579566284 + ], + [ + -29.469149668815948, + -14.77972222000331 + ] + ], + "yaw_rad": 1.5849389954786246, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.45606803894043, + -14.849205017089844, + 0.12812356650829315 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.465254508565167, + -14.857286909272103, + 0.11755291767275727 + ], + "intended_face_normal": [ + -0.9996025299731741, + -0.014218473745634563, + -0.02434919322544038 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.856718061046802, + 0.11889987509191652 + ], + "centerline_face_intersection": [ + -29.46529849208747, + -14.856500366632948, + 0.11889987509191652 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.457664489746094, + -14.851058006286621, + 0.12795023620128632 + ], + "box_pose": [ + -29.411998748779297, + -14.852148056030273, + 0.13603098690509796, + -0.010203231126070023, + -0.007038419600576162, + 0.7120429277420044, + 0.7020266056060791 + ], + "box_yaw_rad": 1.5849062861112087, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00021769441385309564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006209265740480993 + } + } + }, + { + "simulation_time_ns": 4960000000, + "center": [ + -29.40981965484979, + -14.856666055178772, + 0.11889075225625662 + ], + "face_center": [ + -29.46511752462852, + -14.857453503170081, + 0.11760737549213096 + ], + "face_normal": [ + -0.9996296074734222, + -0.014234839960516998, + -0.02319983420874705 + ], + "footprint_xy": [ + [ + -29.468999176447706, + -14.935008726060863 + ], + [ + -29.350640133251876, + -14.935008726060863 + ], + [ + -29.350640133251876, + -14.778323384296682 + ], + [ + -29.468999176447706, + -14.778323384296682 + ] + ], + "projected_box_corners": [ + [ + -29.350640133251876, + -14.933433830078245 + ], + [ + -29.35621614074043, + -14.93273773155568 + ], + [ + -29.46123587280934, + -14.935008726060863 + ], + [ + -29.46681188029789, + -14.934312627538297 + ], + [ + -29.352827429401692, + -14.779019482819248 + ], + [ + -29.358403436890242, + -14.778323384296682 + ], + [ + -29.463423168959153, + -14.780594378801865 + ], + [ + -29.468999176447706, + -14.7798982802793 + ] + ], + "yaw_rad": 1.5849604890787208, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.456470489501953, + -14.85065746307373, + 0.12816056609153748 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.46519365719793, + -14.857365976862836, + 0.1175786542553705 + ], + "intended_face_normal": [ + -0.9996147187572676, + -0.0142329864936106, + -0.0238231032291078 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857091270388626, + 0.11889650923909605 + ], + "centerline_face_intersection": [ + -29.465236291665065, + -14.856578631402275, + 0.11889650923909605 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45606803894043, + -14.849205017089844, + 0.12812356650829315 + ], + "box_pose": [ + -29.411928176879883, + -14.852237701416016, + 0.13603158295154572, + -0.009780541062355042, + -0.007085711229592562, + 0.7120539546012878, + 0.7020207643508911 + ], + "box_yaw_rad": 1.5849389954786246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005126389863503533, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00037322451927709893 + } + } + }, + { + "simulation_time_ns": 4980000000, + "center": [ + -29.409736574700265, + -14.856767941863858, + 0.11888424732289254 + ], + "face_center": [ + -29.465035339477808, + -14.857555320791544, + 0.11764009563924818 + ], + "face_normal": [ + -0.9996457865290923, + -0.014233591484906327, + -0.022490755324487466 + ], + "footprint_xy": [ + [ + -29.46883204334859, + -14.935009743294907 + ], + [ + -29.350641106051935, + -14.935009743294907 + ], + [ + -29.350641106051935, + -14.77852614043281 + ], + [ + -29.46883204334859, + -14.77852614043281 + ] + ], + "projected_box_corners": [ + [ + -29.350641106051935, + -14.933434985439535 + ], + [ + -29.356044128363678, + -14.932940806186132 + ], + [ + -29.461238635607025, + -14.935009743294907 + ], + [ + -29.46664165791877, + -14.934515564041504 + ], + [ + -29.352831491481755, + -14.779020319686213 + ], + [ + -29.3582345137935, + -14.77852614043281 + ], + [ + -29.46342902103685, + -14.780595077541586 + ], + [ + -29.46883204334859, + -14.780100898288183 + ] + ], + "yaw_rad": 1.5849804622385033, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.45875358581543, + -14.853961944580078, + 0.12514938414096832 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.46511752462852, + -14.857453503170081, + 0.11760737549213096 + ], + "intended_face_normal": [ + -0.9996296074734222, + -0.014234839960516998, + -0.02319983420874705 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857419037849324, + 0.11889075225625662 + ], + "centerline_face_intersection": [ + -29.46515851123422, + -14.856666055178772, + 0.11889075225625662 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.456470489501953, + -14.85065746307373, + 0.12816056609153748 + ], + "box_pose": [ + -29.411840438842773, + -14.852337837219238, + 0.13603031635284424, + -0.009295141324400902, + -0.0071265557780861855, + 0.7120611071586609, + 0.7020198702812195 + ], + "box_yaw_rad": 1.5849604890787208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007529826705520293, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032781801528267797 + } + } + }, + { + "simulation_time_ns": 5000000000, + "center": [ + -29.409636242680083, + -14.856883621674271, + 0.1188776919737303 + ], + "face_center": [ + -29.4649359803927, + -14.857671929444015, + 0.11767880056466617 + ], + "face_normal": [ + -0.9996633744526252, + -0.014250382331006728, + -0.021672577143414307 + ], + "footprint_xy": [ + [ + -29.46863595768201, + -14.93500882305184 + ], + [ + -29.350636527678155, + -14.93500882305184 + ], + [ + -29.350636527678155, + -14.778758420296702 + ], + [ + -29.46863595768201, + -14.778758420296702 + ] + ], + "projected_box_corners": [ + [ + -29.350636527678155, + -14.933432207512352 + ], + [ + -29.355839918643806, + -14.933173248871991 + ], + [ + -29.46123600310339, + -14.93500882305184 + ], + [ + -29.46643939406904, + -14.934749864411478 + ], + [ + -29.35283309129112, + -14.779017378937064 + ], + [ + -29.35803648225677, + -14.778758420296702 + ], + [ + -29.46343256671636, + -14.780593994476552 + ], + [ + -29.46863595768201, + -14.78033503583619 + ] + ], + "yaw_rad": 1.5850204495092395, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.462934494018555, + -14.855379104614258, + 0.12083931267261505 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.465035339477808, + -14.857555320791544, + 0.11764009563924818 + ], + "intended_face_normal": [ + -0.9996457865290923, + -0.014233591484906327, + -0.022490755324487466 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85763316442576, + 0.11888424732289254 + ], + "centerline_face_intersection": [ + -29.465074535437004, + -14.856767941863858, + 0.11888424732289254 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45875358581543, + -14.853961944580078, + 0.12514938414096832 + ], + "box_pose": [ + -29.411745071411133, + -14.85245418548584, + 0.13602890074253082, + -0.00874288845807314, + -0.007173049729317427, + 0.7120676636695862, + 0.7020198106765747 + ], + "box_yaw_rad": 1.5849804622385033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008652225619032094, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00021422536006351046 + } + } + }, + { + "simulation_time_ns": 5020000000, + "center": [ + -29.40951921128953, + -14.857015335641064, + 0.11886988051439562 + ], + "face_center": [ + -29.464820081965907, + -14.85780275883812, + 0.1177233598903441 + ], + "face_normal": [ + -0.9996838552436762, + -0.014234391750342246, + -0.02072586097740814 + ], + "footprint_xy": [ + [ + -29.46840523917639, + -14.935013284773108 + ], + [ + -29.350633183402667, + -14.935013284773108 + ], + [ + -29.350633183402667, + -14.779017386509018 + ], + [ + -29.46840523917639, + -14.779017386509018 + ] + ], + "projected_box_corners": [ + [ + -29.350633183402667, + -14.933432367485702 + ], + [ + -29.355605663038208, + -14.933438438378992 + ], + [ + -29.46123492475542, + -14.935007213879818 + ], + [ + -29.46620740439096, + -14.935013284773108 + ], + [ + -29.3528310181881, + -14.779017386509018 + ], + [ + -29.35780349782364, + -14.779023457402308 + ], + [ + -29.46343275954085, + -14.780592232903134 + ], + [ + -29.46840523917639, + -14.780598303796424 + ] + ], + "yaw_rad": 1.585028665989604, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.467248916625977, + -14.855425834655762, + 0.11982238292694092 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.4649359803927, + -14.857671929444015, + 0.11767880056466617 + ], + "intended_face_normal": [ + -0.9996633744526252, + -0.014250382331006728, + -0.021672577143414307 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857809024918575, + 0.1188776919737303 + ], + "centerline_face_intersection": [ + -29.46497322980926, + -14.856883621674271, + 0.1188776919737303 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.462934494018555, + -14.855379104614258, + 0.12083931267261505 + ], + "box_pose": [ + -29.411630630493164, + -14.85258674621582, + 0.1360282301902771, + -0.008102426305413246, + -0.00722990557551384, + 0.7120811343193054, + 0.7020130753517151 + ], + "box_yaw_rad": 1.5850204495092395, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009254032443037374, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017598262850595606 + } + } + }, + { + "simulation_time_ns": 5040000000, + "center": [ + -29.40938592388876, + -14.85716605844468, + 0.11886003293567093 + ], + "face_center": [ + -29.464688038611328, + -14.857953771902707, + 0.11777513189681792 + ], + "face_normal": [ + -0.9997063440919839, + -0.014239638850497283, + -0.019611952575310287 + ], + "footprint_xy": [ + [ + -29.468139749895876, + -14.93531687268901 + ], + [ + -29.350632097881647, + -14.93531687268901 + ], + [ + -29.350632097881647, + -14.77901524420035 + ], + [ + -29.468139749895876, + -14.77901524420035 + ] + ], + "projected_box_corners": [ + [ + -29.350632097881647, + -14.933430097573133 + ], + [ + -29.355332977407258, + -14.93374144577295 + ], + [ + -29.46123632732678, + -14.935005524489192 + ], + [ + -29.46593720685239, + -14.93531687268901 + ], + [ + -29.35283464092513, + -14.77901524420035 + ], + [ + -29.357535520450742, + -14.779326592400167 + ], + [ + -29.463438870370265, + -14.780590671116407 + ], + [ + -29.468139749895876, + -14.780902019316224 + ] + ], + "yaw_rad": 1.5850591625261996, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.46898078918457, + -14.853365898132324, + 0.11910589039325714 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464820081965907, + -14.85780275883812, + 0.1177233598903441 + ], + "intended_face_normal": [ + -0.9996838552436762, + -0.014234391750342246, + -0.02072586097740814 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85800431892478, + 0.11886988051439562 + ], + "centerline_face_intersection": [ + -29.46485506471502, + -14.857015335641064, + 0.11886988051439562 + ], + "commanded_world_base_velocity": [ + 0.015144032921810602, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.467248916625977, + -14.855425834655762, + 0.11982238292694092 + ], + "box_pose": [ + -29.411497116088867, + -14.852737426757812, + 0.13602706789970398, + -0.007371800020337105, + -0.0072853704914450645, + 0.7120834589004517, + 0.7020183205604553 + ], + "box_yaw_rad": 1.585028665989604, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009889832837158253, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001954501669381305 + } + } + }, + { + "simulation_time_ns": 5060000000, + "center": [ + -29.409229109821617, + -14.857341026294188, + 0.11884906909100981 + ], + "face_center": [ + -29.46453260090333, + -14.858127033263422, + 0.11783536709908969 + ], + "face_normal": [ + -0.9997312247855776, + -0.01420879034345246, + -0.01832487450841891 + ], + "footprint_xy": [ + [ + -29.467826998203396, + -14.935666716986317 + ], + [ + -29.350631221439833, + -14.935666716986317 + ], + [ + -29.350631221439833, + -14.779015335602061 + ], + [ + -29.467826998203396, + -14.779015335602061 + ] + ], + "projected_box_corners": [ + [ + -29.350631221439833, + -14.933429796847284 + ], + [ + -29.35501827547686, + -14.934094703047851 + ], + [ + -29.461238203603266, + -14.93500181078575 + ], + [ + -29.465625257640287, + -14.935666716986317 + ], + [ + -29.352832962002942, + -14.779015335602061 + ], + [ + -29.357220016039967, + -14.779680241802629 + ], + [ + -29.463439944166375, + -14.780587349540527 + ], + [ + -29.467826998203396, + -14.781252255741094 + ] + ], + "yaw_rad": 1.585054002872764, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.469472885131836, + -14.85077953338623, + 0.1209694892168045 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464688038611328, + -14.857953771902707, + 0.11777513189681792 + ], + "intended_face_normal": [ + -0.9997063440919839, + -0.014239638850497283, + -0.019611952575310287 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85830704814089, + 0.11886003293567093 + ], + "centerline_face_intersection": [ + -29.46472053250909, + -14.85716605844468, + 0.11886003293567093 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46898078918457, + -14.853365898132324, + 0.11910589039325714 + ], + "box_pose": [ + -29.411344528198242, + -14.852910041809082, + 0.13602487742900848, + -0.006521970499306917, + -0.007340957876294851, + 0.7120935916900635, + 0.7020159363746643 + ], + "box_yaw_rad": 1.5850591625261996, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001140989696210042, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000302889341334364 + } + } + }, + { + "simulation_time_ns": 5080000000, + "center": [ + -29.409051188300833, + -14.857543292677335, + 0.11883589612779163 + ], + "face_center": [ + -29.464356146758195, + -14.858328501238717, + 0.11790529351552194 + ], + "face_normal": [ + -0.9997577508009292, + -0.014194357380111766, + -0.016822671971618852 + ], + "footprint_xy": [ + [ + -29.467468226690713, + -14.936073316238794 + ], + [ + -29.350634149910952, + -14.936073316238794 + ], + [ + -29.350634149910952, + -14.779013269115875 + ], + [ + -29.467468226690713, + -14.779013269115875 + ] + ], + "projected_box_corners": [ + [ + -29.350634149910952, + -14.933426788228852 + ], + [ + -29.354654942585643, + -14.934502899116032 + ], + [ + -29.461244066825675, + -14.934997205351614 + ], + [ + -29.465264859500365, + -14.936073316238794 + ], + [ + -29.3528375171013, + -14.779013269115875 + ], + [ + -29.356858309775987, + -14.780089380003055 + ], + [ + -29.46344743401602, + -14.780583686238637 + ], + [ + -29.467468226690713, + -14.781659797125817 + ] + ], + "yaw_rad": 1.585064621937427, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.46990203857422, + -14.848280906677246, + 0.12374943494796753 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.46453260090333, + -14.858127033263422, + 0.11783536709908969 + ], + "intended_face_normal": [ + -0.9997312247855776, + -0.01420879034345246, + -0.01832487450841891 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.858744475706716, + 0.11884906909100981 + ], + "centerline_face_intersection": [ + -29.464562341308365, + -14.857341026294188, + 0.11884906909100981 + ], + "commanded_world_base_velocity": [ + 0.02761744855967067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.469472885131836, + -14.85077953338623, + 0.1209694892168045 + ], + "box_pose": [ + -29.411165237426758, + -14.853110313415527, + 0.13602271676063538, + -0.005538695026189089, + -0.007406535558402538, + 0.7120910882949829, + 0.7020262479782104 + ], + "box_yaw_rad": 1.585054002872764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014034494125283459, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004375649451616284 + } + } + }, + { + "simulation_time_ns": 5100000000, + "center": [ + -29.408843042031872, + -14.857776258547451, + 0.11882046801946364 + ], + "face_center": [ + -29.464149544676552, + -14.858560515286529, + 0.11798590296862062 + ], + "face_normal": [ + -0.9997856653547754, + -0.014177151115932762, + -0.015086583579502072 + ], + "footprint_xy": [ + [ + -29.467050382544254, + -14.936542000991192 + ], + [ + -29.35063570151949, + -14.936542000991192 + ], + [ + -29.35063570151949, + -14.77901051610371 + ], + [ + -29.467050382544254, + -14.77901051610371 + ] + ], + "projected_box_corners": [ + [ + -29.35063570151949, + -14.933422393105166 + ], + [ + -29.354233218928492, + -14.934973487513037 + ], + [ + -29.461248706808853, + -14.934990906583321 + ], + [ + -29.464846224217855, + -14.936542000991192 + ], + [ + -29.35283985984589, + -14.77901051610371 + ], + [ + -29.356437377254892, + -14.780561610511581 + ], + [ + -29.463452865135253, + -14.780579029581865 + ], + [ + -29.467050382544254, + -14.782130123989736 + ] + ], + "yaw_rad": 1.5850698961553653, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.470256805419922, + -14.848782539367676, + 0.12365393340587616 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464356146758195, + -14.858328501238717, + 0.11790529351552194 + ], + "intended_face_normal": [ + -0.9997577508009292, + -0.014194357380111766, + -0.016822671971618852 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859317237529867, + 0.11883589612779163 + ], + "centerline_face_intersection": [ + -29.464382951661783, + -14.857543292677335, + 0.11883589612779163 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46990203857422, + -14.848280906677246, + 0.12374943494796753 + ], + "box_pose": [ + -29.410961151123047, + -14.853342056274414, + 0.13601970672607422, + -0.004393307026475668, + -0.007480894681066275, + 0.7120940089225769, + 0.7020305395126343 + ], + "box_yaw_rad": 1.585064621937427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017739448525318836, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005729132857758405 + } + } + }, + { + "simulation_time_ns": 5120000000, + "center": [ + -29.408598198464528, + -14.858049256881884, + 0.11880113835064683 + ], + "face_center": [ + -29.463906320895568, + -14.858831694151974, + 0.1180790125785342 + ], + "face_normal": [ + -0.9998149465261271, + -0.014144260245489981, + -0.01305399837302662 + ], + "footprint_xy": [ + [ + -29.466558196068988, + -14.937089412154736 + ], + [ + -29.35063820086007, + -14.937089412154736 + ], + [ + -29.35063820086007, + -14.779009101609033 + ], + [ + -29.466558196068988, + -14.779009101609033 + ] + ], + "projected_box_corners": [ + [ + -29.35063820086007, + -14.933418358926634 + ], + [ + -29.35374021204594, + -14.935524537614556 + ], + [ + -29.461254445722147, + -14.934983233466811 + ], + [ + -29.464356456908014, + -14.937089412154736 + ], + [ + -29.352839940021042, + -14.779009101609033 + ], + [ + -29.355941951206912, + -14.781115280296957 + ], + [ + -29.46345618488312, + -14.780573976149212 + ], + [ + -29.466558196068988, + -14.782680154837134 + ] + ], + "yaw_rad": 1.58505447424351, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.471019744873047, + -14.855807304382324, + 0.11968512833118439 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464149544676552, + -14.858560515286529, + 0.11798590296862062 + ], + "intended_face_normal": [ + -0.9997856653547754, + -0.014177151115932762, + -0.015086583579502072 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859909952167174, + 0.11882046801946364 + ], + "centerline_face_intersection": [ + -29.46417326050021, + -14.857776258547451, + 0.11882046801946364 + ], + "commanded_world_base_velocity": [ + 0.04223999999999988, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.470256805419922, + -14.848782539367676, + 0.12365393340587616 + ], + "box_pose": [ + -29.410722732543945, + -14.853609085083008, + 0.1360159069299698, + -0.0030699658673256636, + -0.00756649998947978, + 0.7120949029922485, + 0.7020357251167297 + ], + "box_yaw_rad": 1.5850698961553653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021336936197229052, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000592915396835271 + } + } + }, + { + "simulation_time_ns": 5140000000, + "center": [ + -29.408315517987337, + -14.85836790801481, + 0.11877750508410337 + ], + "face_center": [ + -29.463625218141896, + -14.859148539096863, + 0.11818679678124519 + ], + "face_normal": [ + -0.9998434673199547, + -0.014111609457240437, + -0.010678340979140874 + ], + "footprint_xy": [ + [ + -29.465985637560976, + -14.937728831327245 + ], + [ + -29.350645398413697, + -14.937728831327245 + ], + [ + -29.350645398413697, + -14.779006984702374 + ], + [ + -29.465985637560976, + -14.779006984702374 + ] + ], + "projected_box_corners": [ + [ + -29.350645398413697, + -14.9334120561595 + ], + [ + -29.353168295273132, + -14.936167569163137 + ], + [ + -29.461264798722816, + -14.934973318323609 + ], + [ + -29.463787695582248, + -14.937728831327245 + ], + [ + -29.352843340392425, + -14.779006984702374 + ], + [ + -29.35536623725186, + -14.78176249770601 + ], + [ + -29.463462740701544, + -14.78056824686648 + ], + [ + -29.465985637560976, + -14.783323759870116 + ] + ], + "yaw_rad": 1.5850302733732025, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.47099494934082, + -14.86313247680664, + 0.11707836389541626 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463906320895568, + -14.858831694151974, + 0.1180790125785342 + ], + "intended_face_normal": [ + -0.9998149465261271, + -0.014144260245489981, + -0.01305399837302662 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.860272628601589, + 0.11880113835064683 + ], + "centerline_face_intersection": [ + -29.463926796499393, + -14.858049256881884, + 0.11880113835064683 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.471019744873047, + -14.855807304382324, + 0.11968512833118439 + ], + "box_pose": [ + -29.410442352294922, + -14.853921890258789, + 0.13601002097129822, + -0.0015221459325402975, + -0.007665315642952919, + 0.7120883464813232, + 0.7020465135574341 + ], + "box_yaw_rad": 1.58505447424351, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022233717197052984, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00036319117855013097 + } + } + }, + { + "simulation_time_ns": 5160000000, + "center": [ + -29.407989189426022, + -14.858743165203377, + 0.11875257712658485 + ], + "face_center": [ + -29.463300302211277, + -14.859523309637158, + 0.11831214783999403 + ], + "face_normal": [ + -0.9998690037008744, + -0.014102812228275141, + -0.007961719983722304 + ], + "footprint_xy": [ + [ + -29.46532829704618, + -14.938481894356629 + ], + [ + -29.350650081805867, + -14.938481894356629 + ], + [ + -29.350650081805867, + -14.779004436050124 + ], + [ + -29.46532829704618, + -14.779004436050124 + ] + ], + "projected_box_corners": [ + [ + -29.350650081805867, + -14.93340311672233 + ], + [ + -29.35251043189356, + -14.936921605489067 + ], + [ + -29.461272307376372, + -14.934963405589892 + ], + [ + -29.463132657464065, + -14.938481894356629 + ], + [ + -29.352845721387983, + -14.779004436050124 + ], + [ + -29.354706071475675, + -14.78252292481686 + ], + [ + -29.463467946958488, + -14.780564724917685 + ], + [ + -29.46532829704618, + -14.784083213684422 + ] + ], + "yaw_rad": 1.5850159534528343, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.47015380859375, + -14.866472244262695, + 0.11744764447212219 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463625218141896, + -14.859148539096863, + 0.11818679678124519 + ], + "intended_face_normal": [ + -0.9998434673199547, + -0.014111609457240437, + -0.010678340979140874 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.860400696982841, + 0.11877750508410337 + ], + "centerline_face_intersection": [ + -29.463642537759615, + -14.85836790801481, + 0.11877750508410337 + ], + "commanded_world_base_velocity": [ + 0.0580003292181069, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47099494934082, + -14.86313247680664, + 0.11707836389541626 + ], + "box_pose": [ + -29.410118103027344, + -14.854287147521973, + 0.13600189983844757, + 0.00028769572963938117, + -0.00778165552765131, + 0.7120784521102905, + 0.7020567655563354 + ], + "box_yaw_rad": 1.5850302733732025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002032788968032051, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001302307243480735 + } + } + }, + { + "simulation_time_ns": 5180000000, + "center": [ + -29.407910953624057, + -14.858836396164216, + 0.11877096403360515 + ], + "face_center": [ + -29.463222341666945, + -14.859615834992484, + 0.11836642856804558 + ], + "face_normal": [ + -0.9998739795830339, + -0.014090056869630052, + -0.007312860879894634 + ], + "footprint_xy": [ + [ + -29.465169904951235, + -14.9386680261119 + ], + [ + -29.350652002296876, + -14.9386680261119 + ], + [ + -29.350652002296876, + -14.77900476621653 + ], + [ + -29.465169904951235, + -14.77900476621653 + ] + ], + "projected_box_corners": [ + [ + -29.350652002296876, + -14.933401616743934 + ], + [ + -29.35235405372081, + -14.937109148455363 + ], + [ + -29.461274778382656, + -14.934960494400473 + ], + [ + -29.46297682980659, + -14.9386680261119 + ], + [ + -29.352845077441525, + -14.77900476621653 + ], + [ + -29.354547128865455, + -14.78271229792796 + ], + [ + -29.463467853527305, + -14.78056364387307 + ], + [ + -29.465169904951235, + -14.784271175584497 + ] + ], + "yaw_rad": 1.5849995159471761, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.46929168701172, + -14.865385055541992, + 0.11780956387519836 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463300302211277, + -14.859523309637158, + 0.11831214783999403 + ], + "intended_face_normal": [ + -0.9998690037008744, + -0.014102812228275141, + -0.007961719983722304 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.860466791009037, + 0.11875257712658485 + ], + "centerline_face_intersection": [ + -29.463314796161345, + -14.858743165203377, + 0.11875257712658485 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47015380859375, + -14.866472244262695, + 0.11744764447212219 + ], + "box_pose": [ + -29.409744262695312, + -14.854717254638672, + 0.1359947770833969, + 0.00238761305809021, + -0.00794457271695137, + 0.712071418762207, + 0.7020581364631653 + ], + "box_yaw_rad": 1.5850159534528343, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00172362580565931, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 7.063868178790772e-05 + } + } + }, + { + "simulation_time_ns": 5200000000, + "center": [ + -29.407975792203644, + -14.858778157971152, + 0.1187772539310048 + ], + "face_center": [ + -29.463286948779746, + -14.859558473436268, + 0.11834263735508137 + ], + "face_normal": [ + -0.9998697953160114, + -0.014105903992697177, + -0.00785664256019658 + ], + "footprint_xy": [ + [ + -29.465302128220777, + -14.9385518642557 + ], + [ + -29.350649456186513, + -14.9385518642557 + ], + [ + -29.350649456186513, + -14.779004451686605 + ], + [ + -29.465302128220777, + -14.779004451686605 + ] + ], + "projected_box_corners": [ + [ + -29.350649456186513, + -14.933402455846839 + ], + [ + -29.3524835882166, + -14.936991233325468 + ], + [ + -29.46127176933872, + -14.934963086777072 + ], + [ + -29.463105901368806, + -14.9385518642557 + ], + [ + -29.35284568303848, + -14.779004451686605 + ], + [ + -29.354679815068568, + -14.782593229165233 + ], + [ + -29.463467996190687, + -14.780565082616837 + ], + [ + -29.465302128220777, + -14.784153860095465 + ] + ], + "yaw_rad": 1.585019818590456, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.469688415527344, + -14.862048149108887, + 0.11608576774597168 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463222341666945, + -14.859615834992484, + 0.11836642856804558 + ], + "intended_face_normal": [ + -0.9998739795830339, + -0.014090056869630052, + -0.007312860879894634 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.860298075594764, + 0.11877096403360515 + ], + "centerline_face_intersection": [ + -29.463236285030984, + -14.858836396164216, + 0.11877096403360515 + ], + "commanded_world_base_velocity": [ + 0.07388707818930032, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46929168701172, + -14.865385055541992, + 0.11780956387519836 + ], + "box_pose": [ + -29.40965461730957, + -14.85482406616211, + 0.13601748645305634, + 0.002899263286963105, + -0.007993501611053944, + 0.7120650410652161, + 0.7020620107650757 + ], + "box_yaw_rad": 1.5849995159471761, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014616794305482726, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016971437582838367 + } + } + }, + { + "simulation_time_ns": 5220000000, + "center": [ + -29.40804053909606, + -14.85871482424593, + 0.11878302466023999 + ], + "face_center": [ + -29.463351423198713, + -14.85949609597442, + 0.11831806601871023 + ], + "face_normal": [ + -0.9998648697641123, + -0.014123190538918973, + -0.00840514157568062 + ], + "footprint_xy": [ + [ + -29.46543489767086, + -14.938426287147104 + ], + [ + -29.35064618052126, + -14.938426287147104 + ], + [ + -29.35064618052126, + -14.779003361344754 + ], + [ + -29.46543489767086, + -14.779003361344754 + ] + ], + "projected_box_corners": [ + [ + -29.35064618052126, + -14.933402500259389 + ], + [ + -29.35261364887464, + -14.936863743690122 + ], + [ + -29.46126794872657, + -14.934965043716371 + ], + [ + -29.46323541707995, + -14.938426287147104 + ], + [ + -29.352845661112173, + -14.779003361344754 + ], + [ + -29.35481312946555, + -14.782464604775486 + ], + [ + -29.46346742931748, + -14.780565904801735 + ], + [ + -29.46543489767086, + -14.784027148232468 + ] + ], + "yaw_rad": 1.5850407833561466, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.469667434692383, + -14.861578941345215, + 0.11577101051807404 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463286948779746, + -14.859558473436268, + 0.11834263735508137 + ], + "intended_face_normal": [ + -0.9998697953160114, + -0.014105903992697177, + -0.00785664256019658 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.86010903775619, + 0.1187772539310048 + ], + "centerline_face_intersection": [ + -29.463301355136675, + -14.858778157971152, + 0.1187772539310048 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.469688415527344, + -14.862048149108887, + 0.11608576774597168 + ], + "box_pose": [ + -29.40972900390625, + -14.854757308959961, + 0.13602082431316376, + 0.0025293719954788685, + -0.008010542020201683, + 0.7120720148086548, + 0.7020562887191772 + ], + "box_yaw_rad": 1.585019818590456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001330879785038874, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018914245219400487 + } + } + }, + { + "simulation_time_ns": 5240000000, + "center": [ + -29.408105367927693, + -14.85864717400667, + 0.11878814321888317 + ], + "face_center": [ + -29.463415981386614, + -14.859429873382863, + 0.11829322788787992 + ], + "face_normal": [ + -0.9998599772883616, + -0.014148998385016709, + -0.008946674077011885 + ], + "footprint_xy": [ + [ + -29.46556753757799, + -14.93829365891784 + ], + [ + -29.350643198277396, + -14.93829365891784 + ], + [ + -29.350643198277396, + -14.779000689095499 + ], + [ + -29.46556753757799, + -14.779000689095499 + ] + ], + "projected_box_corners": [ + [ + -29.350643198277396, + -14.933401018869848 + ], + [ + -29.352742403149186, + -14.936728260165452 + ], + [ + -29.461264425195242, + -14.934966417622235 + ], + [ + -29.463363630067033, + -14.93829365891784 + ], + [ + -29.352847105788353, + -14.779000689095499 + ], + [ + -29.354946310660143, + -14.782327930391105 + ], + [ + -29.4634683327062, + -14.780566087847886 + ], + [ + -29.46556753757799, + -14.783893329143492 + ] + ], + "yaw_rad": 1.5850693393781512, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.467775344848633, + -14.863374710083008, + 0.11810733377933502 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463351423198713, + -14.85949609597442, + 0.11831806601871023 + ], + "intended_face_normal": [ + -0.9998648697641123, + -0.014123190538918973, + -0.00840514157568062 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859931139346997, + 0.11878302466023999 + ], + "centerline_face_intersection": [ + -29.463366374574854, + -14.85871482424593, + 0.11878302466023999 + ], + "commanded_world_base_velocity": [ + 0.08888888888888882, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.469667434692383, + -14.861578941345215, + 0.11577101051807404 + ], + "box_pose": [ + -29.40980339050293, + -14.854684829711914, + 0.13602347671985626, + 0.0021447641775012016, + -0.00801638513803482, + 0.7120793461799622, + 0.7020499110221863 + ], + "box_yaw_rad": 1.5850407833561466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012163151010674508, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017799198102541985 + } + } + }, + { + "simulation_time_ns": 5260000000, + "center": [ + -29.408177181614956, + -14.85857227665891, + 0.11879302820602192 + ], + "face_center": [ + -29.463487497626517, + -14.859354058233674, + 0.11826557468711844 + ], + "face_normal": [ + -0.9998546002784949, + -0.014132407122349422, + -0.009534872792961613 + ], + "footprint_xy": [ + [ + -29.46570960323434, + -14.938142678529054 + ], + [ + -29.35064475999557, + -14.938142678529054 + ], + [ + -29.35064475999557, + -14.779001874788765 + ], + [ + -29.46570960323434, + -14.779001874788765 + ] + ], + "projected_box_corners": [ + [ + -29.35064475999557, + -14.933403537191733 + ], + [ + -29.352887289708715, + -14.936579115379525 + ], + [ + -29.461265392018692, + -14.934967100341261 + ], + [ + -29.463507921731832, + -14.938142678529054 + ], + [ + -29.352846441498084, + -14.779001874788765 + ], + [ + -29.355088971211224, + -14.782177452976557 + ], + [ + -29.4634670735212, + -14.780565437938295 + ], + [ + -29.46570960323434, + -14.783741016126086 + ] + ], + "yaw_rad": 1.5850548021415045, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.464296340942383, + -14.865303993225098, + 0.12165454030036926 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463415981386614, + -14.859429873382863, + 0.11829322788787992 + ], + "intended_face_normal": [ + -0.9998599772883616, + -0.014148998385016709, + -0.008946674077011885 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859674387664684, + 0.11878814321888317 + ], + "centerline_face_intersection": [ + -29.4634314741247, + -14.85864717400667, + 0.11878814321888317 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.467775344848633, + -14.863374710083008, + 0.11810733377933502 + ], + "box_pose": [ + -29.40987777709961, + -14.854607582092285, + 0.13602536916732788, + 0.0017530354671180248, + -0.00801028497517109, + 0.712089478969574, + 0.7020409107208252 + ], + "box_yaw_rad": 1.5850693393781512, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010272136580139343, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002568026986096289 + } + } + }, + { + "simulation_time_ns": 5280000000, + "center": [ + -29.408251999590107, + -14.858488240287562, + 0.11879809110493762 + ], + "face_center": [ + -29.463561978431883, + -14.85927002036451, + 0.11823575457003072 + ], + "face_normal": [ + -0.9998485051992879, + -0.014132380046064874, + -0.010165459391225207 + ], + "footprint_xy": [ + [ + -29.46586102824351, + -14.937973938790048 + ], + [ + -29.3506429709367, + -14.937973938790048 + ], + [ + -29.3506429709367, + -14.779002541785077 + ], + [ + -29.46586102824351, + -14.779002541785077 + ] + ], + "projected_box_corners": [ + [ + -29.3506429709367, + -14.933405639168555 + ], + [ + -29.353039215617102, + -14.93641037863615 + ], + [ + -29.461262928620258, + -14.934969199322452 + ], + [ + -29.46365917330066, + -14.937973938790048 + ], + [ + -29.352844825879554, + -14.779002541785077 + ], + [ + -29.355241070559956, + -14.782007281252671 + ], + [ + -29.463464783563108, + -14.780566101938975 + ], + [ + -29.46586102824351, + -14.783570841406569 + ] + ], + "yaw_rad": 1.5850557927124331, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.460777282714844, + -14.866003036499023, + 0.1252274513244629 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463487497626517, + -14.859354058233674, + 0.11826557468711844 + ], + "intended_face_normal": [ + -0.9998546002784949, + -0.014132407122349422, + -0.009534872792961613 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859330221654275, + 0.11879302820602192 + ], + "centerline_face_intersection": [ + -29.46350358534424, + -14.85857227665891, + 0.11879302820602192 + ], + "commanded_world_base_velocity": [ + 0.10199440329218103, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.464296340942383, + -14.865303993225098, + 0.12165454030036926 + ], + "box_pose": [ + -29.40995979309082, + -14.854521751403809, + 0.13602663576602936, + 0.0013184339040890336, + -0.00799489114433527, + 0.7120845913887024, + 0.7020468711853027 + ], + "box_yaw_rad": 1.5850548021415045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007579449953664149, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00034420067667025354 + } + } + }, + { + "simulation_time_ns": 5300000000, + "center": [ + -29.408331694572098, + -14.85839482016002, + 0.11880335736904785 + ], + "face_center": [ + -29.463641282400843, + -14.859176317558942, + 0.11820338387740878 + ], + "face_normal": [ + -0.9998414367859328, + -0.014127270024191452, + -0.010845829474832688 + ], + "footprint_xy": [ + [ + -29.466022894271177, + -14.93778789170072 + ], + [ + -29.350640494873016, + -14.93778789170072 + ], + [ + -29.350640494873016, + -14.779001748619319 + ], + [ + -29.466022894271177, + -14.779001748619319 + ] + ], + "projected_box_corners": [ + [ + -29.350640494873016, + -14.933406313138105 + ], + [ + -29.35320263145577, + -14.936224896902875 + ], + [ + -29.461259670530513, + -14.934969307935951 + ], + [ + -29.463821807113263, + -14.93778789170072 + ], + [ + -29.35284158203093, + -14.779001748619319 + ], + [ + -29.35540371861368, + -14.781820332384088 + ], + [ + -29.463460757688427, + -14.780564743417164 + ], + [ + -29.466022894271177, + -14.783383327181934 + ] + ], + "yaw_rad": 1.5850506856961795, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.458396911621094, + -14.865716934204102, + 0.1263853758573532 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463561978431883, + -14.85927002036451, + 0.11823575457003072 + ], + "intended_face_normal": [ + -0.9998485051992879, + -0.014132380046064874, + -0.010165459391225207 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85894559343447, + 0.11879809110493762 + ], + "centerline_face_intersection": [ + -29.463578740589302, + -14.858488240287562, + 0.11879809110493762 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.460777282714844, + -14.866003036499023, + 0.1252274513244629 + ], + "box_pose": [ + -29.410045623779297, + -14.854425430297852, + 0.13602766394615173, + 0.000840288121253252, + -0.007966252975165844, + 0.7120853066444397, + 0.7020472884178162 + ], + "box_yaw_rad": 1.5850557927124331, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00045735314690794807, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003846615400792493 + } + } + }, + { + "simulation_time_ns": 5320000000, + "center": [ + -29.40842175773127, + -14.858290970909666, + 0.11880794296924 + ], + "face_center": [ + -29.463730897727057, + -14.859071788138705, + 0.11816683701097698 + ], + "face_normal": [ + -0.9998333412283954, + -0.014114974470005759, + -0.011589388523856214 + ], + "footprint_xy": [ + [ + -29.46620216955355, + -14.937577449236622 + ], + [ + -29.35064134590899, + -14.937577449236622 + ], + [ + -29.35064134590899, + -14.779004492582708 + ], + [ + -29.46620216955355, + -14.779004492582708 + ] + ], + "projected_box_corners": [ + [ + -29.35064134590899, + -14.933410648511073 + ], + [ + -29.353384940358367, + -14.936015814778544 + ], + [ + -29.461259625900563, + -14.93497228296915 + ], + [ + -29.46400322034994, + -14.937577449236622 + ], + [ + -29.3528402951126, + -14.779004492582708 + ], + [ + -29.355583889561974, + -14.78160965885018 + ], + [ + -29.463458575104173, + -14.780566127040785 + ], + [ + -29.46620216955355, + -14.783171293308257 + ] + ], + "yaw_rad": 1.5850366953095956, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.4574031829834, + -14.864490509033203, + 0.12640993297100067 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463641282400843, + -14.859176317558942, + 0.11820338387740878 + ], + "intended_face_normal": [ + -0.9998414367859328, + -0.014127270024191452, + -0.010845829474832688 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.858559288745164, + 0.11880335736904785 + ], + "centerline_face_intersection": [ + -29.463658826705586, + -14.85839482016002, + 0.11880335736904785 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.458396911621094, + -14.865716934204102, + 0.1263853758573532 + ], + "box_pose": [ + -29.410137176513672, + -14.854318618774414, + 0.13602852821350098, + 0.00032167768222279847, + -0.007932700216770172, + 0.7120839357376099, + 0.7020494937896729 + ], + "box_yaw_rad": 1.5850506856961795, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00016446858514470333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00038634058357509465 + } + } + }, + { + "simulation_time_ns": 5340000000, + "center": [ + -29.408520091830724, + -14.858174433813904, + 0.11881274672956772 + ], + "face_center": [ + -29.463828676814117, + -14.85895499519891, + 0.11812657684195968 + ], + "face_normal": [ + -0.9998233081688104, + -0.014110349531104793, + -0.012404017336550908 + ], + "footprint_xy": [ + [ + -29.466398736623447, + -14.937343339507288 + ], + [ + -29.350641447038, + -14.937343339507288 + ], + [ + -29.350641447038, + -14.779005528120518 + ], + [ + -29.466398736623447, + -14.779005528120518 + ] + ], + "projected_box_corners": [ + [ + -29.350641447038, + -14.933413220527871 + ], + [ + -29.353583850392138, + -14.935782216737275 + ], + [ + -29.461258617004788, + -14.934974343297885 + ], + [ + -29.464201020358924, + -14.937343339507288 + ], + [ + -29.352839163302523, + -14.779005528120518 + ], + [ + -29.35578156665666, + -14.781374524329923 + ], + [ + -29.46345633326931, + -14.780566650890533 + ], + [ + -29.466398736623447, + -14.782935647099936 + ] + ], + "yaw_rad": 1.5850285702850486, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.45628547668457, + -14.8623685836792, + 0.12722758948802948 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463730897727057, + -14.859071788138705, + 0.11816683701097698 + ], + "intended_face_normal": [ + -0.9998333412283954, + -0.014114974470005759, + -0.011589388523856214 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.858207457969868, + 0.11880794296924 + ], + "centerline_face_intersection": [ + -29.4637493378434, + -14.858290970909666, + 0.11880794296924 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.4574031829834, + -14.864490509033203, + 0.12640993297100067 + ], + "box_pose": [ + -29.410240173339844, + -14.854199409484863, + 0.13602811098098755, + -0.00025989703135564923, + -0.007881467230618, + 0.712079644203186, + 0.702054500579834 + ], + "box_yaw_rad": 1.5850366953095956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 8.351293979679073e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00035186065732676416 + } + } + }, + { + "simulation_time_ns": 5360000000, + "center": [ + -29.40863176780756, + -14.858042272331858, + 0.11881804128259905 + ], + "face_center": [ + -29.463939720420534, + -14.858822831970114, + 0.11808077352926727 + ], + "face_normal": [ + -0.9998118766942369, + -0.01411031795477502, + -0.013327722710022444 + ], + "footprint_xy": [ + [ + -29.46662205008553, + -14.937076511299221 + ], + [ + -29.350641485529586, + -14.937076511299221 + ], + [ + -29.350641485529586, + -14.779008033364494 + ], + [ + -29.46662205008553, + -14.779008033364494 + ] + ], + "projected_box_corners": [ + [ + -29.350641485529586, + -14.933417420603648 + ], + [ + -29.353809353243918, + -14.935515392022708 + ], + [ + -29.461257390755534, + -14.934978539880161 + ], + [ + -29.464425258469866, + -14.937076511299221 + ], + [ + -29.35283827714525, + -14.779008033364494 + ], + [ + -29.35600614485958, + -14.781106004783554 + ], + [ + -29.463454182371198, + -14.780569152641007 + ], + [ + -29.46662205008553, + -14.782667124060067 + ] + ], + "yaw_rad": 1.5850224270078879, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.45503044128418, + -14.85919189453125, + 0.1289934366941452 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463828676814117, + -14.85895499519891, + 0.11812657684195968 + ], + "intended_face_normal": [ + -0.9998233081688104, + -0.014110349531104793, + -0.012404017336550908 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857923154879495, + 0.11881274672956772 + ], + "centerline_face_intersection": [ + -29.463848227145863, + -14.858174433813904, + 0.11881274672956772 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45628547668457, + -14.8623685836792, + 0.12722758948802948 + ], + "box_pose": [ + -29.41035270690918, + -14.854065895080566, + 0.13602736592292786, + -0.0009005480096675456, + -0.007821863517165184, + 0.7120774984359741, + 0.7020565867424011 + ], + "box_yaw_rad": 1.5850285702850486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002512789344086034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00028434367112511734 + } + } + }, + { + "simulation_time_ns": 5380000000, + "center": [ + -29.408754959050828, + -14.857890668281643, + 0.11882308858536794 + ], + "face_center": [ + -29.464062092366444, + -14.858673034712622, + 0.11802930600400288 + ], + "face_normal": [ + -0.999797066107517, + -0.014142979674080403, + -0.01434935149227723 + ], + "footprint_xy": [ + [ + -29.46687091577386, + -14.936774171658975 + ], + [ + -29.350639002327796, + -14.936774171658975 + ], + [ + -29.350639002327796, + -14.779007164904309 + ], + [ + -29.46687091577386, + -14.779007164904309 + ] + ], + "projected_box_corners": [ + [ + -29.350639002327796, + -14.933418048748852 + ], + [ + -29.354056274936447, + -14.935209438797015 + ], + [ + -29.46125326895903, + -14.934982781610811 + ], + [ + -29.46467054156768, + -14.936774171658975 + ], + [ + -29.35283937653397, + -14.779007164904309 + ], + [ + -29.356256649142626, + -14.780798554952472 + ], + [ + -29.46345364316521, + -14.780571897766269 + ], + [ + -29.46687091577386, + -14.782363287814432 + ] + ], + "yaw_rad": 1.5850454861101253, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.45461082458496, + -14.856460571289062, + 0.13015738129615784 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463939720420534, + -14.858822831970114, + 0.11808077352926727 + ], + "intended_face_normal": [ + -0.9998118766942369, + -0.01411031795477502, + -0.013327722710022444 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857745008509474, + 0.11881804128259905 + ], + "centerline_face_intersection": [ + -29.463960535723878, + -14.858042272331858, + 0.11881804128259905 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45503044128418, + -14.85919189453125, + 0.1289934366941452 + ], + "box_pose": [ + -29.410480499267578, + -14.853914260864258, + 0.1360262781381607, + -0.0016317764529958367, + -0.007749536074697971, + 0.7120761871337891, + 0.7020577192306519 + ], + "box_yaw_rad": 1.5850224270078879, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002972638223842953, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017822503035145907 + } + } + }, + { + "simulation_time_ns": 5400000000, + "center": [ + -29.408892799592685, + -14.857716738219626, + 0.11882802600168223 + ], + "face_center": [ + -29.464198944976285, + -14.85850039920515, + 0.11796958572068833 + ], + "face_normal": [ + -0.9997792070814924, + -0.014166381571037556, + -0.015518180439192175 + ], + "footprint_xy": [ + [ + -29.46715118760355, + -14.93642519760691 + ], + [ + -29.35063441158182, + -14.93642519760691 + ], + [ + -29.35063441158182, + -14.779008278832343 + ], + [ + -29.46715118760355, + -14.779008278832343 + ] + ], + "projected_box_corners": [ + [ + -29.35063441158182, + -14.93342063517561 + ], + [ + -29.354337115977305, + -14.934857875635863 + ], + [ + -29.461246702349015, + -14.934987957146657 + ], + [ + -29.464949406744505, + -14.93642519760691 + ], + [ + -29.352836192440865, + -14.779008278832343 + ], + [ + -29.356538896836355, + -14.780445519292597 + ], + [ + -29.463448483208065, + -14.78057560080339 + ], + [ + -29.46715118760355, + -14.782012841263644 + ] + ], + "yaw_rad": 1.58505445811282, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.455801010131836, + -14.855986595153809, + 0.12986549735069275 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464062092366444, + -14.858673034712622, + 0.11802930600400288 + ], + "intended_face_normal": [ + -0.999797066107517, + -0.014142979674080403, + -0.01434935149227723 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857650608338961, + 0.11882308858536794 + ], + "centerline_face_intersection": [ + -29.46408454658499, + -14.857890668281643, + 0.11882308858536794 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45461082458496, + -14.856460571289062, + 0.13015738129615784 + ], + "box_pose": [ + -29.410621643066406, + -14.853740692138672, + 0.1360241025686264, + -0.0024506933987140656, + -0.007659438997507095, + 0.7120853066444397, + 0.7020469307899475 + ], + "box_yaw_rad": 1.5850454861101253, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000240059942681086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 9.453500652159503e-05 + } + } + }, + { + "simulation_time_ns": 5420000000, + "center": [ + -29.40905259087548, + -14.857519632162042, + 0.11883297091796803 + ], + "face_center": [ + -29.464357519774822, + -14.858305822125763, + 0.11790108397284585 + ], + "face_normal": [ + -0.9997572164752719, + -0.014212098367968995, + -0.016845889089210198 + ], + "footprint_xy": [ + [ + -29.467473827564817, + -14.936029289111687 + ], + [ + -29.35063135418614, + -14.936029289111687 + ], + [ + -29.35063135418614, + -14.779009975212395 + ], + [ + -29.467473827564817, + -14.779009975212395 + ] + ], + "projected_box_corners": [ + [ + -29.35063135418614, + -14.933423593317524 + ], + [ + -29.354658310460074, + -14.934456909184243 + ], + [ + -29.46124121198483, + -14.934995973244968 + ], + [ + -29.46526816825876, + -14.936029289111687 + ], + [ + -29.3528370134922, + -14.779009975212395 + ], + [ + -29.356863969766128, + -14.780043291079114 + ], + [ + -29.463446871290888, + -14.780582355139838 + ], + [ + -29.467473827564817, + -14.781615671006557 + ] + ], + "yaw_rad": 1.5850794537663029, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.458589553833008, + -14.858275413513184, + 0.12882187962532043 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464198944976285, + -14.85850039920515, + 0.11796958572068833 + ], + "intended_face_normal": [ + -0.9997792070814924, + -0.014166381571037556, + -0.015518180439192175 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857545883999578, + 0.11882802600168223 + ], + "centerline_face_intersection": [ + -29.464223375477612, + -14.857716738219626, + 0.11882802600168223 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.455801010131836, + -14.855986595153809, + 0.12986549735069275 + ], + "box_pose": [ + -29.41077995300293, + -14.853541374206543, + 0.13602066040039062, + -0.0033926484175026417, + -0.0075514595955610275, + 0.7120896577835083, + 0.7020397186279297 + ], + "box_yaw_rad": 1.58505445811282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00017085422004839792, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00010484066643800006 + } + } + }, + { + "simulation_time_ns": 5440000000, + "center": [ + -29.409235849020853, + -14.857293281433911, + 0.11883783642153357 + ], + "face_center": [ + -29.4645392636768, + -14.858081693438006, + 0.11782206926292813 + ], + "face_normal": [ + -0.9997298432231394, + -0.014252266594261487, + -0.018362206900629896 + ], + "footprint_xy": [ + [ + -29.467841606442974, + -14.935574793144553 + ], + [ + -29.35063009159873, + -14.935574793144553 + ], + [ + -29.35063009159873, + -14.779011769723269 + ], + [ + -29.467841606442974, + -14.779011769723269 + ] + ], + "projected_box_corners": [ + [ + -29.35063009159873, + -14.933426278087971 + ], + [ + -29.355027409039646, + -14.933997969136362 + ], + [ + -29.461236920910626, + -14.935003102096163 + ], + [ + -29.46563423835154, + -14.935574793144553 + ], + [ + -29.352837459690168, + -14.779011769723269 + ], + [ + -29.35723477713108, + -14.779583460771661 + ], + [ + -29.463444289002062, + -14.78058859373146 + ], + [ + -29.467841606442974, + -14.781160284779851 + ] + ], + "yaw_rad": 1.5850904353935458, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.461156845092773, + -14.863202095031738, + 0.12821608781814575 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464357519774822, + -14.858305822125763, + 0.11790108397284585 + ], + "intended_face_normal": [ + -0.9997572164752719, + -0.014212098367968995, + -0.016845889089210198 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857318546687948, + 0.11883297091796803 + ], + "centerline_face_intersection": [ + -29.46438438380879, + -14.857519632162042, + 0.11883297091796803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.458589553833008, + -14.858275413513184, + 0.12882187962532043 + ], + "box_pose": [ + -29.41096305847168, + -14.853315353393555, + 0.13601598143577576, + -0.004465137142688036, + -0.0074263568967580795, + 0.7120997905731201, + 0.7020248770713806 + ], + "box_yaw_rad": 1.5850794537663029, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00020108547409407188, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022739108482128592 + } + } + }, + { + "simulation_time_ns": 5460000000, + "center": [ + -29.409444018047825, + -14.857050848858291, + 0.11884861726571372 + ], + "face_center": [ + -29.464745565256834, + -14.85784101409868, + 0.11773690516498185 + ], + "face_normal": [ + -0.9996960850466223, + -0.014283960164281462, + -0.02009662099688131 + ], + "footprint_xy": [ + [ + -29.46825902876205, + -14.935089259575319 + ], + [ + -29.3506290073336, + -14.935089259575319 + ], + [ + -29.3506290073336, + -14.779012438141264 + ], + [ + -29.46825902876205, + -14.779012438141264 + ] + ], + "projected_box_corners": [ + [ + -29.3506290073336, + -14.933427314850087 + ], + [ + -29.355449443061893, + -14.933508929094542 + ], + [ + -29.46123210175162, + -14.935007645330865 + ], + [ + -29.46605253747991, + -14.935089259575319 + ], + [ + -29.352835498615736, + -14.779012438141264 + ], + [ + -29.35765593434403, + -14.779094052385718 + ], + [ + -29.463438593033757, + -14.780592768622041 + ], + [ + -29.46825902876205, + -14.780674382866495 + ] + ], + "yaw_rad": 1.5850847241908146, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.46097183227539, + -14.869073867797852, + 0.12139308452606201 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.4645392636768, + -14.858081693438006, + 0.11782206926292813 + ], + "intended_face_normal": [ + -0.9997298432231394, + -0.014252266594261487, + -0.018362206900629896 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.856855843415904, + 0.11883783642153357 + ], + "centerline_face_intersection": [ + -29.464569156974576, + -14.857293281433911, + 0.11883783642153357 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.461156845092773, + -14.863202095031738, + 0.12821608781814575 + ], + "box_pose": [ + -29.41117286682129, + -14.853055953979492, + 0.13600975275039673, + -0.005690477322787046, + -0.007283081766217947, + 0.7121051549911499, + 0.7020120024681091 + ], + "box_yaw_rad": 1.5850904353935458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00043743801800715724, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004627288526611174 + } + } + }, + { + "simulation_time_ns": 5480000000, + "center": [ + -29.4096339415664, + -14.856847455145228, + 0.1188622617386432 + ], + "face_center": [ + -29.464933628081756, + -14.857640785207458, + 0.11766350444605367 + ], + "face_normal": [ + -0.9996624489504389, + -0.01434117122190992, + -0.0216701526956119 + ], + "footprint_xy": [ + [ + -29.468640350643238, + -14.935012378518687 + ], + [ + -29.35062753248956, + -14.935012378518687 + ], + [ + -29.35062753248956, + -14.778682531771768 + ], + [ + -29.468640350643238, + -14.778682531771768 + ] + ], + "projected_box_corners": [ + [ + -29.35062753248956, + -14.933425718394227 + ], + [ + -29.35583136816721, + -14.933097154465798 + ], + [ + -29.461226905520274, + -14.935012378518687 + ], + [ + -29.46643074119792, + -14.934683814590258 + ], + [ + -29.352837141934877, + -14.779011095700197 + ], + [ + -29.358040977612525, + -14.778682531771768 + ], + [ + -29.46343651496559, + -14.780597755824656 + ], + [ + -29.468640350643238, + -14.780269191896227 + ] + ], + "yaw_rad": 1.585104937008982, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.460060119628906, + -14.872742652893066, + 0.11559171974658966 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464745565256834, + -14.85784101409868, + 0.11773690516498185 + ], + "intended_face_normal": [ + -0.9996960850466223, + -0.014283960164281462, + -0.02009662099688131 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.856132490082702, + 0.11884861726571372 + ], + "centerline_face_intersection": [ + -29.464779194520997, + -14.857050848858291, + 0.11884861726571372 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46097183227539, + -14.869073867797852, + 0.12139308452606201 + ], + "box_pose": [ + -29.41141128540039, + -14.852778434753418, + 0.1360083967447281, + -0.0070357415825128555, + -0.007174801547080278, + 0.7121042609214783, + 0.7020018696784973 + ], + "box_yaw_rad": 1.5850847241908146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009183587755895676, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007234336674879898 + } + } + }, + { + "simulation_time_ns": 5500000000, + "center": [ + -29.409790513035496, + -14.85667636729208, + 0.1188739991064032 + ], + "face_center": [ + -29.46508854590637, + -14.85747285939116, + 0.1176034494830511 + ], + "face_normal": [ + -0.9996325557195987, + -0.014398331934773578, + -0.022967955661747363 + ], + "footprint_xy": [ + [ + -29.46895512967798, + -14.9350152135261 + ], + [ + -29.350625896393012, + -14.9350152135261 + ], + [ + -29.350625896393012, + -14.77833752105806 + ], + [ + -29.46895512967798, + -14.77833752105806 + ] + ], + "projected_box_corners": [ + [ + -29.350625896393012, + -14.933422229327938 + ], + [ + -29.356146034258316, + -14.932751543401354 + ], + [ + -29.461221962134758, + -14.9350152135261 + ], + [ + -29.46674210000006, + -14.934344527599515 + ], + [ + -29.352838926070934, + -14.779008206984644 + ], + [ + -29.358359063936234, + -14.77833752105806 + ], + [ + -29.463434991812676, + -14.780601191182805 + ], + [ + -29.46895512967798, + -14.779930505256221 + ] + ], + "yaw_rad": 1.5851271378446063, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.45948028564453, + -14.871729850769043, + 0.11412197351455688 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464933628081756, + -14.857640785207458, + 0.11766350444605367 + ], + "intended_face_normal": [ + -0.9996624489504389, + -0.01434117122190992, + -0.0216701526956119 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.855293288459725, + 0.1188622617386432 + ], + "centerline_face_intersection": [ + -29.464970979927372, + -14.856847455145228, + 0.1188622617386432 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.460060119628906, + -14.872742652893066, + 0.11559171974658966 + ], + "box_pose": [ + -29.41162872314453, + -14.852545738220215, + 0.13601154088974, + -0.008205252699553967, + -0.0071268812753260136, + 0.7121118307113647, + 0.7019820213317871 + ], + "box_yaw_rad": 1.585104937008982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015541666855030914, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008393125375262657 + } + } + }, + { + "simulation_time_ns": 5520000000, + "center": [ + -29.40991072595975, + -14.856543146698606, + 0.11888713643615266 + ], + "face_center": [ + -29.465207482363624, + -14.857339447693148, + 0.1175618360724108 + ], + "face_normal": [ + -0.9996094807944259, + -0.014394877303423925, + -0.023957694712160693 + ], + "footprint_xy": [ + [ + -29.46919213299904, + -14.935016699316842 + ], + [ + -29.35062931892046, + -14.935016699316842 + ], + [ + -29.35062931892046, + -14.778069594080367 + ], + [ + -29.46919213299904, + -14.778069594080367 + ] + ], + "projected_box_corners": [ + [ + -29.35062931892046, + -14.933424097327757 + ], + [ + -29.356390781751532, + -14.932483055805365 + ], + [ + -29.461222831728204, + -14.935016699316842 + ], + [ + -29.466984294559275, + -14.93407565779445 + ], + [ + -29.352837157360227, + -14.77901063560276 + ], + [ + -29.3585986201913, + -14.778069594080367 + ], + [ + -29.46343067016797, + -14.780603237591846 + ], + [ + -29.46919213299904, + -14.779662196069454 + ] + ], + "yaw_rad": 1.5850935776775958, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.45899200439453, + -14.866944313049316, + 0.1151854544878006 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.46508854590637, + -14.85747285939116, + 0.1176034494830511 + ], + "intended_face_normal": [ + -0.9996325557195987, + -0.014398331934773578, + -0.022967955661747363 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.854520061267499, + 0.1188739991064032 + ], + "centerline_face_intersection": [ + -29.46512920620738, + -14.85667636729208, + 0.1188739991064032 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45948028564453, + -14.871729850769043, + 0.11412197351455688 + ], + "box_pose": [ + -29.411808013916016, + -14.852350234985352, + 0.13601447641849518, + -0.009175597690045834, + -0.007081750314682722, + 0.7121200561523438, + 0.7019620537757874 + ], + "box_yaw_rad": 1.5851271378446063, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002156306024581625, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007733162720390734 + } + } + }, + { + "simulation_time_ns": 5540000000, + "center": [ + -29.409995809413143, + -14.856447311156519, + 0.1188958594043868 + ], + "face_center": [ + -29.465291606227773, + -14.857244560969393, + 0.11753181567410995 + ], + "face_normal": [ + -0.9995921341258905, + -0.01441202926424312, + -0.024658065566165455 + ], + "footprint_xy": [ + [ + -29.469361218453603, + -14.935018346664554 + ], + [ + -29.350630400372687, + -14.935018346664554 + ], + [ + -29.350630400372687, + -14.777876275648484 + ], + [ + -29.469361218453603, + -14.777876275648484 + ] + ], + "projected_box_corners": [ + [ + -29.350630400372687, + -14.933423847038807 + ], + [ + -29.35656268304302, + -14.932289149292012 + ], + [ + -29.461221994001946, + -14.935018346664554 + ], + [ + -29.46715427667228, + -14.93388364891776 + ], + [ + -29.35283734215401, + -14.779010973395279 + ], + [ + -29.358769624824344, + -14.777876275648484 + ], + [ + -29.463428935783266, + -14.780605473021026 + ], + [ + -29.469361218453603, + -14.779470775274232 + ] + ], + "yaw_rad": 1.5850878264185253, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.458171844482422, + -14.86316967010498, + 0.11765420436859131 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.465207482363624, + -14.857339447693148, + 0.1175618360724108 + ], + "intended_face_normal": [ + -0.9996094807944259, + -0.014394877303423925, + -0.023957694712160693 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.853970794019995, + 0.11888713643615266 + ], + "centerline_face_intersection": [ + -29.465250696566702, + -14.856543146698606, + 0.11888713643615266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45899200439453, + -14.866944313049316, + 0.1151854544878006 + ], + "box_pose": [ + -29.411945343017578, + -14.852197647094727, + 0.136020690202713, + -0.00992942601442337, + -0.007033686153590679, + 0.7121087312698364, + 0.7019638419151306 + ], + "box_yaw_rad": 1.5850935776775958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0025723526786100596, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005494243338378084 + } + } + }, + { + "simulation_time_ns": 5560000000, + "center": [ + -29.410049055233028, + -14.856386287334608, + 0.11890206640850325 + ], + "face_center": [ + -29.465344217906022, + -14.857184641736398, + 0.11751338019993621 + ], + "face_normal": [ + -0.9995806706326955, + -0.014431997118112383, + -0.025103532109433058 + ], + "footprint_xy": [ + [ + -29.469468531580873, + -14.9350184636306 + ], + [ + -29.350629578885183, + -14.9350184636306 + ], + [ + -29.350629578885183, + -14.777754111038616 + ], + [ + -29.469468531580873, + -14.777754111038616 + ] + ], + "projected_box_corners": [ + [ + -29.350629578885183, + -14.933421754827025 + ], + [ + -29.35667048551501, + -14.932166540247065 + ], + [ + -29.46121990423117, + -14.9350184636306 + ], + [ + -29.467260810860996, + -14.933763249050642 + ], + [ + -29.352837299605056, + -14.779009325618574 + ], + [ + -29.358878206234884, + -14.777754111038616 + ], + [ + -29.463427624951045, + -14.780606034422151 + ], + [ + -29.469468531580873, + -14.779350819842193 + ] + ], + "yaw_rad": 1.5850929110492904, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.457117080688477, + -14.860367774963379, + 0.12072370946407318 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.465291606227773, + -14.857244560969393, + 0.11753181567410995 + ], + "intended_face_normal": [ + -0.9995921341258905, + -0.01441202926424312, + -0.024658065566165455 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85360606411997, + 0.1188958594043868 + ], + "centerline_face_intersection": [ + -29.465336740375918, + -14.856447311156519, + 0.1188958594043868 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.458171844482422, + -14.86316967010498, + 0.11765420436859131 + ], + "box_pose": [ + -29.41204261779785, + -14.85208797454834, + 0.13602444529533386, + -0.010466441512107849, + -0.006996180862188339, + 0.7121070623397827, + 0.7019580602645874 + ], + "box_yaw_rad": 1.5850878264185253, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002841247036548538, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003648341954182728 + } + } + }, + { + "simulation_time_ns": 5580000000, + "center": [ + -29.41007560109095, + -14.856356214110626, + 0.11890608900027458 + ], + "face_center": [ + -29.46537044113083, + -14.857154565372623, + 0.11750468696881845 + ], + "face_normal": [ + -0.9995748383355234, + -0.01443194035955786, + -0.02533339834287346 + ], + "footprint_xy": [ + [ + -29.46952216402453, + -14.935018033554163 + ], + [ + -29.350629038157365, + -14.935018033554163 + ], + [ + -29.350629038157365, + -14.777694394667087 + ], + [ + -29.46952216402453, + -14.777694394667087 + ] + ], + "projected_box_corners": [ + [ + -29.350629038157365, + -14.933421331030168 + ], + [ + -29.35672594423401, + -14.932106613589916 + ], + [ + -29.46121871823713, + -14.935018033554163 + ], + [ + -29.467315624313777, + -14.933703316113913 + ], + [ + -29.352835577868117, + -14.779009112107337 + ], + [ + -29.358932483944763, + -14.777694394667087 + ], + [ + -29.463425257947883, + -14.780605814631334 + ], + [ + -29.46952216402453, + -14.779291097191082 + ] + ], + "yaw_rad": 1.5850852836611868, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.455463409423828, + -14.85724925994873, + 0.12383472919464111 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.465344217906022, + -14.857184641736398, + 0.11751338019993621 + ], + "intended_face_normal": [ + -0.9995806706326955, + -0.014431997118112383, + -0.025103532109433058 + ], + "commanded_contact_point": [ + -29.44986831665039, + -14.853385780792909, + 0.11890206640850325 + ], + "centerline_face_intersection": [ + -29.465390620862323, + -14.856386287334608, + 0.11890206640850325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.457117080688477, + -14.860367774963379, + 0.12072370946407318 + ], + "box_pose": [ + -29.4121036529541, + -14.852018356323242, + 0.136027529835701, + -0.010804117657244205, + -0.00697618443518877, + 0.7121090292930603, + 0.7019510865211487 + ], + "box_yaw_rad": 1.5850929110492904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0030005065416993664, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00064470884912788 + } + } + }, + { + "simulation_time_ns": 5600000000, + "center": [ + -29.410082488603525, + -14.856350531086187, + 0.11890766810666883 + ], + "face_center": [ + -29.46537728507787, + -14.857148734996287, + 0.11750385938683014 + ], + "face_normal": [ + -0.9995740507934319, + -0.014429276652567324, + -0.0253769044846619 + ], + "footprint_xy": [ + [ + -29.469533985093936, + -14.93501909919326 + ], + [ + -29.350630992113114, + -14.93501909919326 + ], + [ + -29.350630992113114, + -14.777681962979116 + ], + [ + -29.469533985093936, + -14.777681962979116 + ] + ], + "projected_box_corners": [ + [ + -29.350630992113114, + -14.933422691373064 + ], + [ + -29.356738528982056, + -14.93209418177347 + ], + [ + -29.461220585061806, + -14.93501909919326 + ], + [ + -29.46732812193075, + -14.933690589593667 + ], + [ + -29.352836855276298, + -14.77901047257871 + ], + [ + -29.35894439214524, + -14.777681962979116 + ], + [ + -29.463426448224993, + -14.780606880398906 + ], + [ + -29.469533985093936, + -14.779278370799313 + ] + ], + "yaw_rad": 1.5850809031292963, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.45242691040039, + -14.853240966796875, + 0.1268991380929947 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.46537044113083, + -14.857154565372623, + 0.11750468696881845 + ], + "intended_face_normal": [ + -0.9995748383355234, + -0.01443194035955786, + -0.02533339834287346 + ], + "commanded_contact_point": [ + -29.448119277954103, + -14.853319985735402, + 0.11890608900027458 + ], + "centerline_face_intersection": [ + -29.465417489625988, + -14.856356214110626, + 0.11890608900027458 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.455463409423828, + -14.85724925994873, + 0.12383472919464111 + ], + "box_pose": [ + -29.412134170532227, + -14.851984024047852, + 0.13602998852729797, + -0.010974321514368057, + -0.006969831418246031, + 0.7121064066886902, + 0.7019511461257935 + ], + "box_yaw_rad": 1.5850852836611868, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0030362283752235447, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017502804152345049 + } + } + }, + { + "simulation_time_ns": 5620000000, + "center": [ + -29.410065853717157, + -14.85637126419162, + 0.11890699898081235 + ], + "face_center": [ + -29.465360831730155, + -14.857169621971504, + 0.1175110230829217 + ], + "face_normal": [ + -0.9995773325005392, + -0.014432058184557173, + -0.025235309143635476 + ], + "footprint_xy": [ + [ + -29.469500871075798, + -14.935018361941113 + ], + [ + -29.350630836358512, + -14.935018361941113 + ], + [ + -29.350630836358512, + -14.777724166442127 + ], + [ + -29.469500871075798, + -14.777724166442127 + ] + ], + "projected_box_corners": [ + [ + -29.350630836358512, + -14.933421646381346 + ], + [ + -29.356703786770527, + -14.932136490500971 + ], + [ + -29.461220792384513, + -14.935018361941113 + ], + [ + -29.467293742796524, + -14.933733206060738 + ], + [ + -29.352837964637786, + -14.779009322322501 + ], + [ + -29.3589109150498, + -14.777724166442127 + ], + [ + -29.463427920663786, + -14.78060603788227 + ], + [ + -29.469500871075798, + -14.779320882001894 + ] + ], + "yaw_rad": 1.5850890848231123, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.44915008544922, + -14.848981857299805, + 0.1292567104101181 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.46537728507787, + -14.857148734996287, + 0.11750385938683014 + ], + "intended_face_normal": [ + -0.9995740507934319, + -0.014429276652567324, + -0.0253769044846619 + ], + "commanded_contact_point": [ + -29.446452255249024, + -14.853438685282537, + 0.11890766810666883 + ], + "centerline_face_intersection": [ + -29.4654244207412, + -14.856350531086187, + 0.11890766810666883 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45242691040039, + -14.853240966796875, + 0.1268991380929947 + ], + "box_pose": [ + -29.412141799926758, + -14.851977348327637, + 0.13603122532367706, + -0.011010273359715939, + -0.0069649359211325645, + 0.7121049165725708, + 0.701952338218689 + ], + "box_yaw_rad": 1.5850809031292963, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002911845803651048, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016712440801131176 + } + } + }, + { + "simulation_time_ns": 5640000000, + "center": [ + -29.41003070636187, + -14.856412980227391, + 0.11890535046663797 + ], + "face_center": [ + -29.465326082667424, + -14.85721095280653, + 0.11752496530014808 + ], + "face_normal": [ + -0.999584532507215, + -0.014425094840940123, + -0.024953472668329812 + ], + "footprint_xy": [ + [ + -29.46943197155247, + -14.935018077440889 + ], + [ + -29.350629441171264, + -14.935018077440889 + ], + [ + -29.350629441171264, + -14.777807883013894 + ], + [ + -29.46943197155247, + -14.777807883013894 + ] + ], + "projected_box_corners": [ + [ + -29.350629441171264, + -14.933422132282608 + ], + [ + -29.356633570613223, + -14.93222050502518 + ], + [ + -29.461220193782378, + -14.935018077440889 + ], + [ + -29.467224323224332, + -14.93381645018346 + ], + [ + -29.352837089499403, + -14.779009510271322 + ], + [ + -29.35884121894136, + -14.777807883013894 + ], + [ + -29.463427842110516, + -14.780605455429601 + ], + [ + -29.46943197155247, + -14.779403828172173 + ] + ], + "yaw_rad": 1.5850924244764404, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.446969985961914, + -14.8461275100708, + 0.12998948991298676 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.465360831730155, + -14.857169621971504, + 0.1175110230829217 + ], + "intended_face_normal": [ + -0.9995773325005392, + -0.014432058184557173, + -0.025235309143635476 + ], + "commanded_contact_point": [ + -29.444777603149415, + -14.853754994663642, + 0.11890699898081235 + ], + "centerline_face_intersection": [ + -29.465407604162028, + -14.85637126419162, + 0.11890699898081235 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.44915008544922, + -14.848981857299805, + 0.1292567104101181 + ], + "box_pose": [ + -29.41212272644043, + -14.852001190185547, + 0.1360316425561905, + -0.0108955018222332, + -0.00697864405810833, + 0.7121076583862305, + 0.7019510269165039 + ], + "box_yaw_rad": 1.5850890848231123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0026162695279784037, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017042628104346968 + } + } + }, + { + "simulation_time_ns": 5660000000, + "center": [ + -29.409171468205564, + -14.856394107622737, + 0.11904800268432678 + ], + "face_center": [ + -29.464470822417187, + -14.857282683176974, + 0.11790242828672758 + ], + "face_normal": [ + -0.9996564418356819, + -0.01606294123167573, + -0.02070875587045018 + ], + "footprint_xy": [ + [ + -29.46819635622612, + -14.93493514990637 + ], + [ + -29.350146580185005, + -14.93493514990637 + ], + [ + -29.350146580185005, + -14.777853065339107 + ], + [ + -29.46819635622612, + -14.777853065339107 + ] + ], + "projected_box_corners": [ + [ + -29.350146580185005, + -14.933157998797894 + ], + [ + -29.35512952563531, + -14.93226268343658 + ], + [ + -29.46074528860825, + -14.93493514990637 + ], + [ + -29.465728234058556, + -14.934039834545056 + ], + [ + -29.352614702352568, + -14.77874838070042 + ], + [ + -29.357597647802873, + -14.777853065339107 + ], + [ + -29.463213410775815, + -14.780525531808895 + ], + [ + -29.46819635622612, + -14.77963021644758 + ] + ], + "yaw_rad": 1.5867792171841046, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.446352005004883, + -14.846271514892578, + 0.12903788685798645 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.465326082667424, + -14.85721095280653, + 0.11752496530014808 + ], + "intended_face_normal": [ + -0.999584532507215, + -0.014425094840940123, + -0.024953472668329812 + ], + "commanded_contact_point": [ + -29.443110580444337, + -14.854208129505677, + 0.11890535046663797 + ], + "centerline_face_intersection": [ + -29.46537205818015, + -14.856412980227391, + 0.11890535046663797 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.446969985961914, + -14.8461275100708, + 0.12998948991298676 + ], + "box_pose": [ + -29.41208267211914, + -14.852048873901367, + 0.1360321044921875, + -0.010671084746718407, + -0.007001928053796291, + 0.7121086120605469, + 0.7019532918930054 + ], + "box_yaw_rad": 1.5850924244764404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022048507217147777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001727512258107239 + } + } + }, + { + "simulation_time_ns": 5680000000, + "center": [ + -29.408925319875916, + -14.857040057769934, + 0.11884875830828345 + ], + "face_center": [ + -29.464225024956228, + -14.857997492219443, + 0.11777794660851326 + ], + "face_normal": [ + -0.9996627845525604, + -0.01730771595312519, + -0.019357257040865716 + ], + "footprint_xy": [ + [ + -29.4678823016517, + -14.935429134744611 + ], + [ + -29.34996833810013, + -14.935429134744611 + ], + [ + -29.34996833810013, + -14.778650980795259 + ], + [ + -29.4678823016517, + -14.778650980795259 + ] + ], + "projected_box_corners": [ + [ + -29.34996833810013, + -14.933058192993894 + ], + [ + -29.35460487100832, + -14.933514265845595 + ], + [ + -29.46056774826076, + -14.93497306189291 + ], + [ + -29.465204281168948, + -14.935429134744611 + ], + [ + -29.35264635858288, + -14.778650980795259 + ], + [ + -29.35728289149107, + -14.779107053646959 + ], + [ + -29.463245768743512, + -14.780565849694273 + ], + [ + -29.4678823016517, + -14.781021922545975 + ] + ], + "yaw_rad": 1.5881384701296737, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.44708251953125, + -14.849492073059082, + 0.1260019838809967 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464470822417187, + -14.857282683176974, + 0.11790242828672758 + ], + "intended_face_normal": [ + -0.9996564418356819, + -0.01606294123167573, + -0.02070875587045018 + ], + "commanded_contact_point": [ + -29.441407318115235, + -14.85459416061023, + 0.11904800268432678 + ], + "centerline_face_intersection": [ + -29.46450883909672, + -14.856394107622737, + 0.11904800268432678 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.446352005004883, + -14.846271514892578, + 0.12903788685798645 + ], + "box_pose": [ + -29.411157608032227, + -14.852054595947266, + 0.13618876039981842, + -0.008711706846952438, + -0.005954969674348831, + 0.7127100229263306, + 0.7013793587684631 + ], + "box_yaw_rad": 1.5867792171841046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017999470125084121, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001752276299739863 + } + } + }, + { + "simulation_time_ns": 5700000000, + "center": [ + -29.408476031199747, + -14.857536226909506, + 0.11881842683685435 + ], + "face_center": [ + -29.463779444519556, + -14.858488969679444, + 0.11795491410330196 + ], + "face_normal": [ + -0.9997298190694769, + -0.01722290361178125, + -0.015609876082808727 + ], + "footprint_xy": [ + [ + -29.46697649808374, + -14.936423704187037 + ], + [ + -29.34997556431576, + -14.936423704187037 + ], + [ + -29.34997556431576, + -14.778648749631975 + ], + [ + -29.46697649808374, + -14.778648749631975 + ] + ], + "projected_box_corners": [ + [ + -29.34997556431576, + -14.933053593530191 + ], + [ + -29.35369557945585, + -14.934518218647161 + ], + [ + -29.46058239095537, + -14.934959079070067 + ], + [ + -29.46430240609546, + -14.936423704187037 + ], + [ + -29.352649656304035, + -14.778648749631975 + ], + [ + -29.356369671444124, + -14.780113374748945 + ], + [ + -29.46325648294365, + -14.780554235171849 + ], + [ + -29.46697649808374, + -14.78201886028882 + ] + ], + "yaw_rad": 1.5881133008958368, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.449050903320312, + -14.851693153381348, + 0.12280815839767456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.464225024956228, + -14.857997492219443, + 0.11777794660851326 + ], + "intended_face_normal": [ + -0.9996627845525604, + -0.01730771595312519, + -0.019357257040865716 + ], + "commanded_contact_point": [ + -29.43969451904297, + -14.85554203014586, + 0.11884875830828345 + ], + "centerline_face_intersection": [ + -29.464262339659395, + -14.857040057769934, + 0.11884875830828345 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.44708251953125, + -14.849492073059082, + 0.1260019838809967 + ], + "box_pose": [ + -29.410892486572266, + -14.852799415588379, + 0.13601642847061157, + -0.006226139608770609, + -0.007452046498656273, + 0.7131725549697876, + 0.7009212374687195 + ], + "box_yaw_rad": 1.5881384701296737, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014980276240743257, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001967698056083902 + } + } + }, + { + "simulation_time_ns": 5720000000, + "center": [ + -29.40798980598314, + -14.858067799397471, + 0.11878127490905979 + ], + "face_center": [ + -29.46329629105357, + -14.859018192354624, + 0.11814102859786055 + ], + "face_normal": [ + -0.9997853476619208, + -0.0171804256204795, + -0.011573848528186492 + ], + "footprint_xy": [ + [ + -29.46599870833291, + -14.937492315157105 + ], + [ + -29.349980903633362, + -14.937492315157105 + ], + [ + -29.349980903633362, + -14.778643283637837 + ], + [ + -29.46599870833291, + -14.778643283637837 + ] + ], + "projected_box_corners": [ + [ + -29.349980903633362, + -14.933042387670822 + ], + [ + -29.35271388379726, + -14.935591529242798 + ], + [ + -29.46059387377423, + -14.934943173585127 + ], + [ + -29.463326853938128, + -14.937492315157105 + ], + [ + -29.352652758028146, + -14.778643283637837 + ], + [ + -29.355385738192044, + -14.781192425209815 + ], + [ + -29.463265728169013, + -14.780544069552144 + ], + [ + -29.46599870833291, + -14.783093211124122 + ] + ], + "yaw_rad": 1.5880994566066753, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.45078468322754, + -14.853103637695312, + 0.12229554355144501 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.463779444519556, + -14.858488969679444, + 0.11795491410330196 + ], + "intended_face_normal": [ + -0.9997298190694769, + -0.01722290361178125, + -0.015609876082808727 + ], + "commanded_contact_point": [ + -29.438023681640626, + -14.856271922226558, + 0.11881842683685435 + ], + "centerline_face_intersection": [ + -29.463809340490332, + -14.857536226909506, + 0.11881842683685435 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.449050903320312, + -14.851693153381348, + 0.12280815839767456 + ], + "box_pose": [ + -29.410377502441406, + -14.853367805480957, + 0.13601116836071014, + -0.003389914520084858, + -0.007612265646457672, + 0.7131619453430176, + 0.7009497880935669 + ], + "box_yaw_rad": 1.5881133008958368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001264304682947995, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018235569836706949 + } + } + }, + { + "simulation_time_ns": 5740000000, + "center": [ + -29.407497391066546, + -14.858631856997453, + 0.11877402034699727 + ], + "face_center": [ + -29.462806087695252, + -14.859580069082318, + 0.11836090668425536 + ], + "face_normal": [ + -0.9998253264013827, + -0.017141001597098526, + -0.007467930504032605 + ], + "footprint_xy": [ + [ + -29.465002427136945, + -14.93862378469941 + ], + [ + -29.349992354996143, + -14.93862378469941 + ], + [ + -29.349992354996143, + -14.7786399292955 + ], + [ + -29.465002427136945, + -14.7786399292955 + ] + ], + "projected_box_corners": [ + [ + -29.349992354996143, + -14.933029539118456 + ], + [ + -29.351720544543614, + -14.936727360529682 + ], + [ + -29.460609748253557, + -14.934925963288181 + ], + [ + -29.462337937801028, + -14.93862378469941 + ], + [ + -29.35265684433206, + -14.7786399292955 + ], + [ + -29.35438503387953, + -14.782337750706725 + ], + [ + -29.463274237589477, + -14.780536353465225 + ], + [ + -29.465002427136945, + -14.784234174876453 + ] + ], + "yaw_rad": 1.588052830327554, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.44947624206543, + -14.853365898132324, + 0.12241032719612122 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.46329629105357, + -14.859018192354624, + 0.11814102859786055 + ], + "intended_face_normal": [ + -0.9997853476619208, + -0.0171804256204795, + -0.011573848528186492 + ], + "commanded_contact_point": [ + -29.43609344482422, + -14.857002061182609, + 0.11878127490905979 + ], + "centerline_face_intersection": [ + -29.463320042033267, + -14.858067799397471, + 0.11878127490905979 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45078468322754, + -14.853103637695312, + 0.12229554355144501 + ], + "box_pose": [ + -29.409820556640625, + -14.85397720336914, + 0.1360003650188446, + -0.0003380507987458259, + -0.007782267406582832, + 0.7131550312042236, + 0.700963020324707 + ], + "box_yaw_rad": 1.5880994566066753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010657382148616542, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020640487708124154 + } + } + }, + { + "simulation_time_ns": 5760000000, + "center": [ + -29.40736885488804, + -14.85870173047452, + 0.11881510046480925 + ], + "face_center": [ + -29.462677940777244, + -14.859650367969527, + 0.11846035280850448 + ], + "face_normal": [ + -0.9998323631338811, + -0.01714869181331502, + -0.006412837634487967 + ], + "footprint_xy": [ + [ + -29.464746108334232, + -14.938764371946663 + ], + [ + -29.349991601441847, + -14.938764371946663 + ], + [ + -29.349991601441847, + -14.778639089002375 + ], + [ + -29.464746108334232, + -14.778639089002375 + ] + ], + "projected_box_corners": [ + [ + -29.349991601441847, + -14.933027217387188 + ], + [ + -29.351464190733687, + -14.93686709695665 + ], + [ + -29.460609773220256, + -14.9349244923772 + ], + [ + -29.462082362512092, + -14.938764371946663 + ], + [ + -29.35265534726399, + -14.778639089002375 + ], + [ + -29.354127936555827, + -14.782478968571837 + ], + [ + -29.463273519042396, + -14.78053636399239 + ], + [ + -29.464746108334232, + -14.784376243561852 + ] + ], + "yaw_rad": 1.5880481814397884, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.446794509887695, + -14.852840423583984, + 0.12569504976272583 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.462806087695252, + -14.859580069082318, + 0.11836090668425536 + ], + "intended_face_normal": [ + -0.9998253264013827, + -0.017141001597098526, + -0.007467930504032605 + ], + "commanded_contact_point": [ + -29.434151763916017, + -14.857776757137197, + 0.11877402034699727 + ], + "centerline_face_intersection": [ + -29.462825414697132, + -14.858631856997453, + 0.11877402034699727 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.44947624206543, + -14.853365898132324, + 0.12241032719612122 + ], + "box_pose": [ + -29.409255981445312, + -14.854623794555664, + 0.1360200196504593, + 0.002834020182490349, + -0.008021673187613487, + 0.7131356596946716, + 0.7009745240211487 + ], + "box_yaw_rad": 1.588052830327554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008550998602564882, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020905337117602912 + } + } + }, + { + "simulation_time_ns": 5780000000, + "center": [ + -29.407059530609665, + -14.858402609881582, + 0.11890136410212787 + ], + "face_center": [ + -29.462368674642548, + -14.859345239831852, + 0.11853946848340974 + ], + "face_normal": [ + -0.9998334142076628, + -0.017040092339021262, + -0.006542052645664764 + ], + "footprint_xy": [ + [ + -29.46444694107592, + -14.938261431499184 + ], + [ + -29.349672120143413, + -14.938261431499184 + ], + [ + -29.349672120143413, + -14.77854378826398 + ], + [ + -29.46444694107592, + -14.77854378826398 + ] + ], + "projected_box_corners": [ + [ + -29.349672120143413, + -14.932936114557233 + ], + [ + -29.351182976260933, + -14.936376171598644 + ], + [ + -29.460290408209175, + -14.934821374457771 + ], + [ + -29.461801264326695, + -14.938261431499184 + ], + [ + -29.35231779689264, + -14.77854378826398 + ], + [ + -29.353828653010158, + -14.781983845305392 + ], + [ + -29.4629360849584, + -14.78042904816452 + ], + [ + -29.46444694107592, + -14.78386910520593 + ] + ], + "yaw_rad": 1.5879307135574066, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.443981170654297, + -14.85133171081543, + 0.12996011972427368 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.462677940777244, + -14.859650367969527, + 0.11846035280850448 + ], + "intended_face_normal": [ + -0.9998323631338811, + -0.01714869181331502, + -0.006412837634487967 + ], + "commanded_contact_point": [ + -29.432446594238282, + -14.858081082889885, + 0.11881510046480925 + ], + "centerline_face_intersection": [ + -29.46269648912485, + -14.85870173047452, + 0.11881510046480925 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.446794509887695, + -14.852840423583984, + 0.12569504976272583 + ], + "box_pose": [ + -29.409109115600586, + -14.854703903198242, + 0.13606533408164978, + 0.0034215133637189865, + -0.007859385572373867, + 0.7131357789039612, + 0.7009735107421875 + ], + "box_yaw_rad": 1.5880481814397884, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006206475846350665, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017326007531147307 + } + } + }, + { + "simulation_time_ns": 5800000000, + "center": [ + -29.40550454796935, + -14.858479007179664, + 0.11917700824102659 + ], + "face_center": [ + -29.460803997269704, + -14.859925245592553, + 0.11920327635713102 + ], + "face_normal": [ + -0.9996581607718793, + -0.026143913730769297, + 0.0004748534924689518 + ], + "footprint_xy": [ + [ + -29.462929880566268, + -14.939056627363 + ], + [ + -29.348079215372433, + -14.939056627363 + ], + [ + -29.348079215372433, + -14.777901386996328 + ], + [ + -29.462929880566268, + -14.777901386996328 + ] + ], + "projected_box_corners": [ + [ + -29.348295291427206, + -14.932258769827186 + ], + [ + -29.348079215372433, + -14.93616415053722 + ], + [ + -29.458894190027912, + -14.935151246652968 + ], + [ + -29.45867811397314, + -14.939056627363 + ], + [ + -29.35233098196556, + -14.777901386996328 + ], + [ + -29.35211490591079, + -14.78180676770636 + ], + [ + -29.462929880566268, + -14.780793863822108 + ], + [ + -29.462713804511495, + -14.78469924453214 + ] + ], + "yaw_rad": 1.5969354805351366, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.44243812561035, + -14.852357864379883, + 0.12964509427547455 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.462368674642548, + -14.859345239831852, + 0.11853946848340974 + ], + "intended_face_normal": [ + -0.9998334142076628, + -0.017040092339021262, + -0.006542052645664764 + ], + "commanded_contact_point": [ + -29.430720443725587, + -14.858064798259592, + 0.11890136410212787 + ], + "centerline_face_intersection": [ + -29.462387106683355, + -14.858402609881582, + 0.11890136410212787 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.443981170654297, + -14.85133171081543, + 0.12996011972427368 + ], + "box_pose": [ + -29.408802032470703, + -14.854375839233398, + 0.13614463806152344, + 0.002780848415568471, + -0.007320779375731945, + 0.7131004929542542, + 0.7010180950164795 + ], + "box_yaw_rad": 1.5879307135574066, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003378116219889912, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017283813805944312 + } + } + }, + { + "simulation_time_ns": 5820000000, + "center": [ + -29.40371875849271, + -14.859354622809036, + 0.11942936341046234 + ], + "face_center": [ + -29.45900483585801, + -14.861115069356103, + 0.1201159934863674 + ], + "face_normal": [ + -0.9994164338799414, + -0.03182391108127325, + 0.012412336243744493 + ], + "footprint_xy": [ + [ + -29.463018855582945, + -14.941140688415018 + ], + [ + -29.34441866140248, + -14.941140688415018 + ], + [ + -29.34441866140248, + -14.777568557203054 + ], + [ + -29.463018855582945, + -14.777568557203054 + ] + ], + "projected_box_corners": [ + [ + -29.3475798388024, + -14.931876684789456 + ], + [ + -29.34441866140248, + -14.937619795320886 + ], + [ + -29.458151993532994, + -14.93539757788359 + ], + [ + -29.454990816133073, + -14.941140688415018 + ], + [ + -29.35244670085235, + -14.777568557203054 + ], + [ + -29.34928552345243, + -14.783311667734482 + ], + [ + -29.463018855582945, + -14.781089450297188 + ], + [ + -29.459857678183024, + -14.786832560828616 + ] + ], + "yaw_rad": 1.6023257691774664, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.442182540893555, + -14.85886287689209, + 0.12366388738155365 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.460803997269704, + -14.859925245592553, + 0.11920327635713102 + ], + "intended_face_normal": [ + -0.9996581607718793, + -0.026143913730769297, + 0.0004748534924689518 + ], + "commanded_contact_point": [ + -29.428845520019532, + -14.858386041269666, + 0.11917700824102659 + ], + "centerline_face_intersection": [ + -29.460841823706566, + -14.858479007179664, + 0.11917700824102659 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.44243812561035, + -14.852357864379883, + 0.12964509427547455 + ], + "box_pose": [ + -29.407161712646484, + -14.854500770568848, + 0.1364399492740631, + 0.006002707872539759, + -0.005516316741704941, + 0.7162652611732483, + 0.6977805495262146 + ], + "box_yaw_rad": 1.5969354805351366, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 9.296590999774505e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001922112292858139 + } + } + }, + { + "simulation_time_ns": 5840000000, + "center": [ + -29.40155997572954, + -14.860238228609795, + 0.11996808317702054 + ], + "face_center": [ + -29.45682308652133, + -14.862054682260826, + 0.12164438491244906 + ], + "face_normal": [ + -0.9990012629709076, + -0.032836361643598266, + 0.030302810081084403 + ], + "footprint_xy": [ + [ + -29.46304084081878, + -14.942925808068921 + ], + [ + -29.340079110640303, + -14.942925808068921 + ], + [ + -29.340079110640303, + -14.777550649150669 + ], + [ + -29.46304084081878, + -14.777550649150669 + ] + ], + "projected_box_corners": [ + [ + -29.34759434273294, + -14.931823076578478 + ], + [ + -29.340079110640303, + -14.939292900766857 + ], + [ + -29.458120564316513, + -14.935455983880543 + ], + [ + -29.450605332223876, + -14.942925808068921 + ], + [ + -29.352514619235208, + -14.777550649150669 + ], + [ + -29.344999387142572, + -14.785020473339046 + ], + [ + -29.46304084081878, + -14.781183556452733 + ], + [ + -29.455525608726145, + -14.788653380641112 + ] + ], + "yaw_rad": 1.6026789471384806, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.441532135009766, + -14.865296363830566, + 0.12021815776824951 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.45900483585801, + -14.861115069356103, + 0.1201159934863674 + ], + "intended_face_normal": [ + -0.9994164338799414, + -0.03182391108127325, + 0.012412336243744493 + ], + "commanded_contact_point": [ + -29.426892395019532, + -14.859281326735717, + 0.11942936341046234 + ], + "centerline_face_intersection": [ + -29.459069418548236, + -14.859354622809036, + 0.11942936341046234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.442182540893555, + -14.85886287689209, + 0.12366388738155365 + ], + "box_pose": [ + -29.405187606811523, + -14.855518341064453, + 0.13674141466617584, + 0.013062212616205215, + -0.004012946505099535, + 0.718151330947876, + 0.6957527995109558 + ], + "box_yaw_rad": 1.6023257691774664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 7.329607331989589e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021633114576702786 + } + } + }, + { + "simulation_time_ns": 5860000000, + "center": [ + -29.39911657038609, + -14.861248244054654, + 0.12051776107646636 + ], + "face_center": [ + -29.4543311806407, + -14.863170340509402, + 0.12330587490943108 + ], + "face_normal": [ + -0.9981245099760286, + -0.03474608574027038, + 0.05040123873830904 + ], + "footprint_xy": [ + [ + -29.463063702664126, + -14.944974330851437 + ], + [ + -29.335169438108057, + -14.944974330851437 + ], + [ + -29.335169438108057, + -14.77752215725787 + ], + [ + -29.463063702664126, + -14.77752215725787 + ] + ], + "projected_box_corners": [ + [ + -29.347584557052528, + -14.931741152500493 + ], + [ + -29.335169438108057, + -14.94113013794194 + ], + [ + -29.45801377756175, + -14.93558534540999 + ], + [ + -29.445598658617275, + -14.944974330851437 + ], + [ + -29.352634482154905, + -14.77752215725787 + ], + [ + -29.34021936321043, + -14.786911142699319 + ], + [ + -29.463063702664126, + -14.781366350167367 + ], + [ + -29.45064858371965, + -14.790755335608814 + ] + ], + "yaw_rad": 1.603529786997484, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.439451217651367, + -14.867847442626953, + 0.12122456729412079 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.45682308652133, + -14.862054682260826, + 0.12164438491244906 + ], + "intended_face_normal": [ + -0.9990012629709076, + -0.032836361643598266, + 0.030302810081084403 + ], + "commanded_contact_point": [ + -29.424588317871095, + -14.859962607127644, + 0.11996808317702054 + ], + "centerline_face_intersection": [ + -29.45693363874282, + -14.860238228609795, + 0.11996808317702054 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.441532135009766, + -14.865296363830566, + 0.12021815776824951 + ], + "box_pose": [ + -29.40271759033203, + -14.856528282165527, + 0.13733120262622833, + 0.022088173776865005, + -0.0002905821893364191, + 0.7182828783988953, + 0.6954004168510437 + ], + "box_yaw_rad": 1.6026789471384806, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002756214821507549, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002462343084392633 + } + } + }, + { + "simulation_time_ns": 5880000000, + "center": [ + -29.397039573388813, + -14.86207148260476, + 0.12094052218757143 + ], + "face_center": [ + -29.45219682976032, + -14.864036104030829, + 0.1246739590891942 + ], + "face_normal": [ + -0.9970877134433273, + -0.03551481734891393, + 0.06749001506621127 + ], + "footprint_xy": [ + [ + -29.462977537059288, + -14.946627990052143 + ], + [ + -29.33110160971834, + -14.946627990052143 + ], + [ + -29.33110160971834, + -14.777514975157375 + ], + [ + -29.462977537059288, + -14.777514975157375 + ] + ], + "projected_box_corners": [ + [ + -29.347675842124012, + -14.931685256189963 + ], + [ + -29.33110160971834, + -14.942698747200003 + ], + [ + -29.45799035486703, + -14.935614499042101 + ], + [ + -29.441416122461355, + -14.946627990052143 + ], + [ + -29.35266302431627, + -14.777514975157375 + ], + [ + -29.336088791910598, + -14.788528466167417 + ], + [ + -29.462977537059288, + -14.781444218009515 + ], + [ + -29.446403304653614, + -14.792457709019557 + ] + ], + "yaw_rad": 1.6031335819092385, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.437166213989258, + -14.866352081298828, + 0.12255829572677612 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.4543311806407, + -14.863170340509402, + 0.12330587490943108 + ], + "intended_face_normal": [ + -0.9981245099760286, + -0.03474608574027038, + 0.05040123873830904 + ], + "commanded_contact_point": [ + -29.42179023742676, + -14.860708654629612, + 0.12051776107646636 + ], + "centerline_face_intersection": [ + -29.45453887364856, + -14.861248244054654, + 0.12051776107646636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.439451217651367, + -14.867847442626953, + 0.12122456729412079 + ], + "box_pose": [ + -29.399925231933594, + -14.857680320739746, + 0.13793033361434937, + 0.032222021371126175, + 0.003918783739209175, + 0.7185643911361694, + 0.6947025656700134 + ], + "box_yaw_rad": 1.603529786997484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005395894250427354, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029475391161623518 + } + } + }, + { + "simulation_time_ns": 5900000000, + "center": [ + -29.395485198006558, + -14.86268747206578, + 0.12122796119822564 + ], + "face_center": [ + -29.450588945228784, + -14.864689011105131, + 0.12566553323185578 + ], + "face_normal": [ + -0.9961204188602562, + -0.036182183730699924, + 0.08021879337961224 + ], + "footprint_xy": [ + [ + -29.46289057717811, + -14.947864168495313 + ], + [ + -29.328079818835004, + -14.947864168495313 + ], + [ + -29.328079818835004, + -14.777510775636244 + ], + [ + -29.46289057717811, + -14.777510775636244 + ] + ], + "projected_box_corners": [ + [ + -29.347752660829908, + -14.931639627491808 + ], + [ + -29.328079818835004, + -14.94386109041661 + ], + [ + -29.45796015527436, + -14.935642705570514 + ], + [ + -29.438287313279456, + -14.947864168495313 + ], + [ + -29.35268308273366, + -14.777510775636244 + ], + [ + -29.333010240738755, + -14.789732238561044 + ], + [ + -29.46289057717811, + -14.781513853714948 + ], + [ + -29.443217735183207, + -14.793735316639749 + ] + ], + "yaw_rad": 1.602774383594337, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.43619728088379, + -14.862918853759766, + 0.12156224250793457 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.45219682976032, + -14.864036104030829, + 0.1246739590891942 + ], + "intended_face_normal": [ + -0.9970877134433273, + -0.03551481734891393, + 0.06749001506621127 + ], + "commanded_contact_point": [ + -29.418633575439454, + -14.861360669231955, + 0.12094052218757143 + ], + "centerline_face_intersection": [ + -29.452519506136714, + -14.86207148260476, + 0.12094052218757143 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.437166213989258, + -14.866352081298828, + 0.12255829572677612 + ], + "box_pose": [ + -29.397546768188477, + -14.858622550964355, + 0.13838842511177063, + 0.040826596319675446, + 0.007510037627071142, + 0.7183944582939148, + 0.6943963170051575 + ], + "box_yaw_rad": 1.6031335819092385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007108133728054619, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032509021672184556 + } + } + }, + { + "simulation_time_ns": 5920000000, + "center": [ + -29.393603606088377, + -14.863116046075621, + 0.12147021221268857 + ], + "face_center": [ + -29.448641148283123, + -14.865402227907147, + 0.12654607635724457 + ], + "face_normal": [ + -0.9949236185875137, + -0.04132772303898147, + 0.09175731547551447 + ], + "footprint_xy": [ + [ + -29.462694164699514, + -14.949033029926476 + ], + [ + -29.324513047477236, + -14.949033029926476 + ], + [ + -29.324513047477236, + -14.777199062224767 + ], + [ + -29.462694164699514, + -14.777199062224767 + ] + ], + "projected_box_corners": [ + [ + -29.34705427032208, + -14.931263735336188 + ], + [ + -29.324513047477236, + -14.944460666263424 + ], + [ + -29.457129354711572, + -14.93583609899924 + ], + [ + -29.43458813186673, + -14.949033029926476 + ], + [ + -29.35261908031002, + -14.777199062224767 + ], + [ + -29.330077857465177, + -14.790395993152003 + ], + [ + -29.462694164699514, + -14.781771425887818 + ], + [ + -29.44015294185467, + -14.794968356815055 + ] + ], + "yaw_rad": 1.6069005921152717, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.43402671813965, + -14.862507820129395, + 0.12102989852428436 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.450588945228784, + -14.864689011105131, + 0.12566553323185578 + ], + "intended_face_normal": [ + -0.9961204188602562, + -0.036182183730699924, + 0.08021879337961224 + ], + "commanded_contact_point": [ + -29.415207977294923, + -14.861967403425215, + 0.12122796119822564 + ], + "centerline_face_intersection": [ + -29.451019005203168, + -14.86268747206578, + 0.12122796119822564 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.43619728088379, + -14.862918853759766, + 0.12156224250793457 + ], + "box_pose": [ + -29.395767211914062, + -14.85932731628418, + 0.1386982649564743, + 0.047240812331438065, + 0.010189606808125973, + 0.7182335257530212, + 0.6941218376159668 + ], + "box_yaw_rad": 1.602774383594337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007200686405649045, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003490769286838223 + } + } + }, + { + "simulation_time_ns": 5940000000, + "center": [ + -29.389286969723702, + -14.864021198686254, + 0.12192988818181867 + ], + "face_center": [ + -29.44412869788706, + -14.867279096543783, + 0.12840231650671405 + ], + "face_normal": [ + -0.9913838528765234, + -0.05889360963708201, + 0.1170032591075243 + ], + "footprint_xy": [ + [ + -29.46253850507849, + -14.951750758214281 + ], + [ + -29.31603543436891, + -14.951750758214281 + ], + [ + -29.31603543436891, + -14.776291639158226 + ], + [ + -29.46253850507849, + -14.776291639158226 + ] + ], + "projected_box_corners": [ + [ + -29.344980997344226, + -14.930148000880996 + ], + [ + -29.31603543436891, + -14.945234962499223 + ], + [ + -29.454664453670944, + -14.936663796596056 + ], + [ + -29.425718890695627, + -14.951750758214281 + ], + [ + -29.352855048751774, + -14.776291639158226 + ], + [ + -29.323909485776458, + -14.791378600776453 + ], + [ + -29.46253850507849, + -14.782807434873286 + ], + [ + -29.433592942103175, + -14.797894396491511 + ] + ], + "yaw_rad": 1.6219296538781085, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.429691314697266, + -14.86451244354248, + 0.12325780093669891 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.448641148283123, + -14.865402227907147, + 0.12654607635724457 + ], + "intended_face_normal": [ + -0.9949236185875137, + -0.04132772303898147, + 0.09175731547551447 + ], + "commanded_contact_point": [ + -29.412116165161134, + -14.862420306472906, + 0.12147021221268857 + ], + "centerline_face_intersection": [ + -29.449204215272957, + -14.863116046075621, + 0.12147021221268857 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.43402671813965, + -14.862507820129395, + 0.12102989852428436 + ], + "box_pose": [ + -29.393695831298828, + -14.859835624694824, + 0.1389576941728592, + 0.053006090223789215, + 0.012765884399414062, + 0.7196208834648132, + 0.6922234892845154 + ], + "box_yaw_rad": 1.6069005921152717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006957396027158333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031341839440692312 + } + } + }, + { + "simulation_time_ns": 5960000000, + "center": [ + -29.384227033436005, + -14.865603574269368, + 0.1224373271442799 + ], + "face_center": [ + -29.43874532848624, + -14.869434811231132, + 0.13099289160170854 + ], + "face_normal": [ + -0.9855370939107916, + -0.06925796446680632, + 0.15466048827042567 + ], + "footprint_xy": [ + [ + -29.46226964734791, + -14.955327645644958 + ], + [ + -29.306184419524097, + -14.955327645644958 + ], + [ + -29.306184419524097, + -14.775879502893778 + ], + [ + -29.46226964734791, + -14.775879502893778 + ] + ], + "projected_box_corners": [ + [ + -29.344515120017, + -14.9294946047952 + ], + [ + -29.306184419524097, + -14.94766517172143 + ], + [ + -29.453551710117473, + -14.937157078718728 + ], + [ + -29.41522100962457, + -14.955327645644958 + ], + [ + -29.35323305724744, + -14.775879502893778 + ], + [ + -29.314902356754537, + -14.794050069820008 + ], + [ + -29.46226964734791, + -14.783541976817306 + ], + [ + -29.42393894685501, + -14.801712543743536 + ] + ], + "yaw_rad": 1.6274873401075751, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.4244327545166, + -14.866976737976074, + 0.1262158453464508 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.44412869788706, + -14.867279096543783, + 0.12840231650671405 + ], + "intended_face_normal": [ + -0.9913838528765234, + -0.05889360963708201, + 0.1170032591075243 + ], + "commanded_contact_point": [ + -29.409239883422853, + -14.86330580928929, + 0.12192988818181867 + ], + "centerline_face_intersection": [ + -29.445086102547062, + -14.864021198686254, + 0.12192988818181867 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.429691314697266, + -14.86451244354248, + 0.12325780093669891 + ], + "box_pose": [ + -29.388978958129883, + -14.860909461975098, + 0.1394457072019577, + 0.06558583676815033, + 0.01866845414042473, + 0.7246690988540649, + 0.6857147812843323 + ], + "box_yaw_rad": 1.6219296538781085, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007153893969648814, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003044406982055863 + } + } + }, + { + "simulation_time_ns": 5980000000, + "center": [ + -29.37896717793037, + -14.867487575217154, + 0.12275224134074762 + ], + "face_center": [ + -29.433058318753595, + -14.871578026036994, + 0.13359372115448614 + ], + "face_normal": [ + -0.9778153495834132, + -0.07394382032772917, + 0.19598339418866395 + ], + "footprint_xy": [ + [ + -29.461519915882597, + -14.95912976075989 + ], + [ + -29.296414439978143, + -14.95912976075989 + ], + [ + -29.296414439978143, + -14.775845389674421 + ], + [ + -29.461519915882597, + -14.775845389674421 + ] + ], + "projected_box_corners": [ + [ + -29.344944284406267, + -14.929216518863672 + ], + [ + -29.296414439978143, + -14.950948859120212 + ], + [ + -29.453126566052713, + -14.93739742050335 + ], + [ + -29.40459672162459, + -14.95912976075989 + ], + [ + -29.35333763423615, + -14.775845389674421 + ], + [ + -29.304807789808027, + -14.79757772993096 + ], + [ + -29.461519915882597, + -14.784026291314097 + ], + [ + -29.412990071454473, + -14.805758631570638 + ] + ], + "yaw_rad": 1.6254675403187693, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.419084548950195, + -14.868759155273438, + 0.12863542139530182 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.43874532848624, + -14.869434811231132, + 0.13099289160170854 + ], + "intended_face_normal": [ + -0.9855370939107916, + -0.06925796446680632, + 0.15466048827042567 + ], + "commanded_contact_point": [ + -29.406458969116212, + -14.864833258324134, + 0.1224373271442799 + ], + "centerline_face_intersection": [ + -29.44035719802076, + -14.865603574269368, + 0.1224373271442799 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.4244327545166, + -14.866976737976074, + 0.1262158453464508 + ], + "box_pose": [ + -29.38326072692871, + -14.862735748291016, + 0.1399708241224289, + 0.08450349420309067, + 0.027164705097675323, + 0.7262837886810303, + 0.6816399693489075 + ], + "box_yaw_rad": 1.6274873401075751, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007703159452331229, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003213110523394563 + } + } + }, + { + "simulation_time_ns": 6000000000, + "center": [ + -29.37388242147741, + -14.869281867903139, + 0.12281969403834225 + ], + "face_center": [ + -29.427470446935494, + -14.873601493606445, + 0.13584987061389858 + ], + "face_normal": [ + -0.9687204420041624, + -0.07808665620405009, + 0.235548861966155 + ], + "footprint_xy": [ + [ + -29.460520380152442, + -14.962712027343187 + ], + [ + -29.28724446280238, + -14.962712027343187 + ], + [ + -29.28724446280238, + -14.77585170846309 + ], + [ + -29.460520380152442, + -14.77585170846309 + ] + ], + "projected_box_corners": [ + [ + -29.34552286053704, + -14.92895969049653 + ], + [ + -29.28724446280238, + -14.954072775936575 + ], + [ + -29.45269891145321, + -14.937598941903143 + ], + [ + -29.39442051371855, + -14.962712027343187 + ], + [ + -29.353344329236272, + -14.77585170846309 + ], + [ + -29.29506593150161, + -14.800964793903136 + ], + [ + -29.460520380152442, + -14.784490959869704 + ], + [ + -29.40224198241778, + -14.809604045309747 + ] + ], + "yaw_rad": 1.621836615380989, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.41474723815918, + -14.870083808898926, + 0.1295206993818283 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.433058318753595, + -14.871578026036994, + 0.13359372115448614 + ], + "intended_face_normal": [ + -0.9778153495834132, + -0.07394382032772917, + 0.19598339418866395 + ], + "commanded_contact_point": [ + -29.403807754516603, + -14.86666639606967, + 0.12275224134074762 + ], + "centerline_face_intersection": [ + -29.435540598780392, + -14.867487575217154, + 0.12275224134074762 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.419084548950195, + -14.868759155273438, + 0.12863542139530182 + ], + "box_pose": [ + -29.377248764038086, + -14.864889144897461, + 0.1402701437473297, + 0.10543697327375412, + 0.03633444011211395, + 0.7251585721969604, + 0.6794909238815308 + ], + "box_yaw_rad": 1.6254675403187693, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000821179147484444, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032385959609721924 + } + } + }, + { + "simulation_time_ns": 6020000000, + "center": [ + -29.368837803829138, + -14.871062774413218, + 0.12263889938223976 + ], + "face_center": [ + -29.42183728814797, + -14.875630645639424, + 0.13781489538391445 + ], + "face_normal": [ + -0.958081277234013, + -0.08257423548341336, + 0.2743392283803159 + ], + "footprint_xy": [ + [ + -29.4593119583837, + -14.966258928349617 + ], + [ + -29.278363649274574, + -14.966258928349617 + ], + [ + -29.278363649274574, + -14.77586662047682 + ], + [ + -29.4593119583837, + -14.77586662047682 + ] + ], + "projected_box_corners": [ + [ + -29.34619901142643, + -14.928676551792767 + ], + [ + -29.278363649274574, + -14.957123185897208 + ], + [ + -29.452197980064092, + -14.937812294245175 + ], + [ + -29.384362617912238, + -14.966258928349617 + ], + [ + -29.353312989746037, + -14.77586662047682 + ], + [ + -29.285477627594183, + -14.804313254581261 + ], + [ + -29.4593119583837, + -14.78500236292923 + ], + [ + -29.391476596231843, + -14.813448997033671 + ] + ], + "yaw_rad": 1.617317161678502, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.411468505859375, + -14.87119197845459, + 0.1293916255235672 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.427470446935494, + -14.873601493606445, + 0.13584987061389858 + ], + "intended_face_normal": [ + -0.9687204420041624, + -0.07808665620405009, + 0.235548861966155 + ], + "commanded_contact_point": [ + -29.401435012817384, + -14.868428611115823, + 0.12281969403834225 + ], + "centerline_face_intersection": [ + -29.43098698631053, + -14.869281867903139, + 0.12281969403834225 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.41474723815918, + -14.870083808898926, + 0.1295206993818283 + ], + "box_pose": [ + -29.371435165405273, + -14.866939544677734, + 0.14028698205947876, + 0.12555980682373047, + 0.04522724822163582, + 0.7233796119689941, + 0.6774298548698425 + ], + "box_yaw_rad": 1.621836615380989, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008532567873159289, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029563245604147135 + } + } + }, + { + "simulation_time_ns": 6040000000, + "center": [ + -29.363695829885778, + -14.872856833369287, + 0.12221533829950906 + ], + "face_center": [ + -29.41600137715315, + -14.877717644981626, + 0.1395538107184591 + ], + "face_normal": [ + -0.9455368514697835, + -0.08786977190056833, + 0.31343070624051617 + ], + "footprint_xy": [ + [ + -29.457892749492355, + -14.969826879355226 + ], + [ + -29.2694989102792, + -14.969826879355226 + ], + [ + -29.2694989102792, + -14.775886787383348 + ], + [ + -29.457892749492355, + -14.775886787383348 + ] + ], + "projected_box_corners": [ + [ + -29.346971029088376, + -14.928356339070929 + ], + [ + -29.2694989102792, + -14.96010525613055 + ], + [ + -29.451582123623126, + -14.938077962295607 + ], + [ + -29.37411000481395, + -14.969826879355226 + ], + [ + -29.353281654957605, + -14.775886787383348 + ], + [ + -29.27580953614843, + -14.80763570444297 + ], + [ + -29.457892749492355, + -14.785608410608026 + ], + [ + -29.38042063068318, + -14.817357327667647 + ] + ], + "yaw_rad": 1.6121621336399412, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.407751083374023, + -14.87192440032959, + 0.12902620434761047 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.42183728814797, + -14.875630645639424, + 0.13781489538391445 + ], + "intended_face_normal": [ + -0.958081277234013, + -0.08257423548341336, + 0.2743392283803159 + ], + "commanded_contact_point": [ + -29.399335021972657, + -14.870204349464247, + 0.12263889938223976 + ], + "centerline_face_intersection": [ + -29.42657649531604, + -14.871062774413218, + 0.12263889938223976 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.411468505859375, + -14.87119197845459, + 0.1293916255235672 + ], + "box_pose": [ + -29.36566925048828, + -14.868974685668945, + 0.14002227783203125, + 0.1454976201057434, + 0.05399412289261818, + 0.7211917638778687, + 0.6751278638839722 + ], + "box_yaw_rad": 1.617317161678502, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008584249489707938, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027560651185478016 + } + } + }, + { + "simulation_time_ns": 6060000000, + "center": [ + -29.35835285771463, + -14.874718364261573, + 0.12150242058231647 + ], + "face_center": [ + -29.409836980316857, + -14.879918523190536, + 0.14105913375358067 + ], + "face_normal": [ + -0.930687809022472, + -0.09400421480535925, + 0.3535302460851817 + ], + "footprint_xy": [ + [ + -29.4561962180953, + -14.973522867961423 + ], + [ + -29.260509497333963, + -14.973522867961423 + ], + [ + -29.260509497333963, + -14.775913860561726 + ], + [ + -29.4561962180953, + -14.775913860561726 + ] + ], + "projected_box_corners": [ + [ + -29.347871868317057, + -14.927987940640582 + ], + [ + -29.260509497333963, + -14.963122550103495 + ], + [ + -29.450840113521508, + -14.938388258498508 + ], + [ + -29.363477742538418, + -14.973522867961423 + ], + [ + -29.35322797289085, + -14.775913860561726 + ], + [ + -29.265865601907755, + -14.81104847002464 + ], + [ + -29.4561962180953, + -14.786314178419651 + ], + [ + -29.36883384711221, + -14.821448787882566 + ] + ], + "yaw_rad": 1.6060021390867398, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.4040470123291, + -14.871232032775879, + 0.12918540835380554 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.41600137715315, + -14.877717644981626, + 0.1395538107184591 + ], + "intended_face_normal": [ + -0.9455368514697835, + -0.08786977190056833, + 0.31343070624051617 + ], + "commanded_contact_point": [ + -29.39733612060547, + -14.872035705741904, + 0.12221533829950906 + ], + "centerline_face_intersection": [ + -29.42220053988159, + -14.872856833369287, + 0.12221533829950906 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.407751083374023, + -14.87192440032959, + 0.12902620434761047 + ], + "box_pose": [ + -29.35979461669922, + -14.871023178100586, + 0.13947801291942596, + 0.1657448261976242, + 0.06299502402544022, + 0.7186539769172668, + 0.6723813414573669 + ], + "box_yaw_rad": 1.6121621336399412, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008211276273829079, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027438798228535508 + } + } + }, + { + "simulation_time_ns": 6080000000, + "center": [ + -29.352697271978357, + -14.876675231232003, + 0.12044799944780078 + ], + "face_center": [ + -29.403197135361246, + -14.882275364591308, + 0.1423232116323949 + ], + "face_normal": [ + -0.9128951768466695, + -0.10123462502551916, + 0.39544217267288406 + ], + "footprint_xy": [ + [ + -29.454158402230256, + -14.977401971950135 + ], + [ + -29.251236141726462, + -14.977401971950135 + ], + [ + -29.251236141726462, + -14.775948490513873 + ], + [ + -29.454158402230256, + -14.775948490513873 + ] + ], + "projected_box_corners": [ + [ + -29.3489412352856, + -14.927558509854881 + ], + [ + -29.251236141726462, + -14.966201705231526 + ], + [ + -29.44994096205138, + -14.93875877657349 + ], + [ + -29.35223586849224, + -14.977401971950135 + ], + [ + -29.353158675464478, + -14.775948490513873 + ], + [ + -29.25545358190534, + -14.814591685890518 + ], + [ + -29.454158402230256, + -14.78714875723248 + ], + [ + -29.356453308671117, + -14.825791952609125 + ] + ], + "yaw_rad": 1.5986068425524609, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.401418685913086, + -14.870219230651855, + 0.12897555530071259 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.409836980316857, + -14.879918523190536, + 0.14105913375358067 + ], + "intended_face_normal": [ + -0.930687809022472, + -0.09400421480535925, + 0.3535302460851817 + ], + "commanded_contact_point": [ + -29.39531433105469, + -14.874036689893618, + 0.12150242058231647 + ], + "centerline_face_intersection": [ + -29.41779100523232, + -14.874718364261573, + 0.12150242058231647 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.4040470123291, + -14.871232032775879, + 0.12918540835380554 + ], + "box_pose": [ + -29.35369300842285, + -14.873147964477539, + 0.13860216736793518, + 0.18679887056350708, + 0.07234064489603043, + 0.7156174182891846, + 0.6691523194313049 + ], + "box_yaw_rad": 1.6060021390867398, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000681674367955126, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002932545350807837 + } + } + }, + { + "simulation_time_ns": 6100000000, + "center": [ + -29.34660051049891, + -14.878741320960286, + 0.1189642431802262 + ], + "face_center": [ + -29.395905159816902, + -14.884813561691827, + 0.14330146602195395 + ], + "face_normal": [ + -0.8912890757198184, + -0.10976899550097174, + 0.4399483852382815 + ], + "footprint_xy": [ + [ + -29.451668435331328, + -14.981488058769171 + ], + [ + -29.241532585666487, + -14.981488058769171 + ], + [ + -29.241532585666487, + -14.7759945831514 + ], + [ + -29.451668435331328, + -14.7759945831514 + ] + ], + "projected_box_corners": [ + [ + -29.350220811720586, + -14.927059231269173 + ], + [ + -29.241532585666487, + -14.96934357730609 + ], + [ + -29.44883011035657, + -14.939203712732256 + ], + [ + -29.340141884302476, + -14.981488058769171 + ], + [ + -29.35305913669534, + -14.7759945831514 + ], + [ + -29.244370910641244, + -14.818278929188315 + ], + [ + -29.451668435331328, + -14.788139064614484 + ], + [ + -29.34298020927723, + -14.830423410651399 + ] + ], + "yaw_rad": 1.5895829263485646, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.400238037109375, + -14.871607780456543, + 0.12852241098880768 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.403197135361246, + -14.882275364591308, + 0.1423232116323949 + ], + "intended_face_normal": [ + -0.9128951768466695, + -0.10123462502551916, + 0.39544217267288406 + ], + "commanded_contact_point": [ + -29.39338218688965, + -14.876251796887253, + 0.12044799944780078 + ], + "centerline_face_intersection": [ + -29.413293888861222, + -14.876675231232003, + 0.12044799944780078 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.401418685913086, + -14.870219230651855, + 0.12897555530071259 + ], + "box_pose": [ + -29.34723663330078, + -14.875380516052246, + 0.1373325139284134, + 0.209128737449646, + 0.08229411393404007, + 0.711956799030304, + 0.6652898788452148 + ], + "box_yaw_rad": 1.5986068425524609, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00042343434474922584, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031227686428325395 + } + } + }, + { + "simulation_time_ns": 6120000000, + "center": [ + -29.339978181221642, + -14.880988724001389, + 0.11691983126541156 + ], + "face_center": [ + -29.38781995589893, + -14.887640366078843, + 0.14388353963036934 + ], + "face_normal": [ + -0.8648444258856998, + -0.1202429385715238, + 0.48742783974759263 + ], + "footprint_xy": [ + [ + -29.44861733388917, + -14.985925580192685 + ], + [ + -29.231339028554117, + -14.985925580192685 + ], + [ + -29.231339028554117, + -14.776051867810093 + ], + [ + -29.44861733388917, + -14.776051867810093 + ] + ], + "projected_box_corners": [ + [ + -29.35176297253415, + -14.926453654385238 + ], + [ + -29.231339028554117, + -14.972622296037775 + ], + [ + -29.447446521888722, + -14.939756938540148 + ], + [ + -29.327022577908693, + -14.985925580192685 + ], + [ + -29.352933784534596, + -14.776051867810093 + ], + [ + -29.232509840554563, + -14.822220509462628 + ], + [ + -29.44861733388917, + -14.789355151965003 + ], + [ + -29.32819338990914, + -14.835523793617538 + ] + ], + "yaw_rad": 1.57858073134087, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.40069580078125, + -14.876249313354492, + 0.1276690810918808 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.395905159816902, + -14.884813561691827, + 0.14330146602195395 + ], + "intended_face_normal": [ + -0.8912890757198184, + -0.10976899550097174, + 0.4399483852382815 + ], + "commanded_contact_point": [ + -29.39164649963379, + -14.878603228235686, + 0.1189642431802262 + ], + "centerline_face_intersection": [ + -29.40866607462682, + -14.878741320960286, + 0.1189642431802262 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.400238037109375, + -14.871607780456543, + 0.12852241098880768 + ], + "box_pose": [ + -29.340280532836914, + -14.87773609161377, + 0.1355663239955902, + 0.23318971693515778, + 0.09318041801452637, + 0.7074652314186096, + 0.6606307029724121 + ], + "box_yaw_rad": 1.5895829263485646, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00013809272459951752, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032777083912567395 + } + } + }, + { + "simulation_time_ns": 6140000000, + "center": [ + -29.33265899298091, + -14.883250834091715, + 0.11424905843887453 + ], + "face_center": [ + -29.378684685409397, + -14.890529621117606, + 0.14406139852228383 + ], + "face_normal": [ + -0.8320147781474936, + -0.1315799513921423, + 0.5389230712627722 + ], + "footprint_xy": [ + [ + -29.44571124841035, + -14.990362716976605 + ], + [ + -29.219606737551473, + -14.990362716976605 + ], + [ + -29.219606737551473, + -14.776138951206825 + ], + [ + -29.44571124841035, + -14.776138951206825 + ] + ], + "projected_box_corners": [ + [ + -29.35365986355338, + -14.925804946387393 + ], + [ + -29.22058511654404, + -14.975805142924822 + ], + [ + -29.44571124841035, + -14.940362520439177 + ], + [ + -29.312636501401013, + -14.990362716976605 + ], + [ + -29.35268148456081, + -14.776138951206825 + ], + [ + -29.219606737551473, + -14.826139147744254 + ], + [ + -29.444732869417784, + -14.790696525258607 + ], + [ + -29.311658122408446, + -14.840696721796036 + ] + ], + "yaw_rad": 1.5642593371785014, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.401748657226562, + -14.88319206237793, + 0.12656022608280182 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.38781995589893, + -14.887640366078843, + 0.14388353963036934 + ], + "intended_face_normal": [ + -0.8648444258856998, + -0.1202429385715238, + 0.48742783974759263 + ], + "commanded_contact_point": [ + -29.39000617980957, + -14.881040207702664, + 0.11691983126541156 + ], + "centerline_face_intersection": [ + -29.403941545764276, + -14.880988724001389, + 0.11691983126541156 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.40069580078125, + -14.876249313354492, + 0.1276690810918808 + ], + "box_pose": [ + -29.33272933959961, + -14.88029670715332, + 0.1331542730331421, + 0.2595514953136444, + 0.10505354404449463, + 0.7019647359848022, + 0.6548605561256409 + ], + "box_yaw_rad": 1.57858073134087, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -5.1483701276352806e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003578985628028404 + } + } + }, + { + "simulation_time_ns": 6160000000, + "center": [ + -29.324540640254302, + -14.885345659948126, + 0.11089870251845879 + ], + "face_center": [ + -29.36828603980599, + -14.893258529490387, + 0.14382054725500432 + ], + "face_normal": [ + -0.7907935108097739, + -0.14304237588482493, + 0.5951341500672385 + ], + "footprint_xy": [ + [ + -29.443507974771194, + -14.994456961910169 + ], + [ + -29.205573305737406, + -14.994456961910169 + ], + [ + -29.205573305737406, + -14.776234357986082 + ], + [ + -29.443507974771194, + -14.776234357986082 + ] + ], + "projected_box_corners": [ + [ + -29.356017175667816, + -14.925148811815378 + ], + [ + -29.209294374120883, + -14.978631222825644 + ], + [ + -29.443507974771194, + -14.9409745508999 + ], + [ + -29.296785173224265, + -14.994456961910169 + ], + [ + -29.35229610728434, + -14.776234357986082 + ], + [ + -29.205573305737406, + -14.829716768996349 + ], + [ + -29.439786906387717, + -14.792060097070605 + ], + [ + -29.293064104840788, + -14.845542508080872 + ] + ], + "yaw_rad": 1.5458135658756005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.4009952545166, + -14.89118766784668, + 0.11949388682842255 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.378684685409397, + -14.890529621117606, + 0.14406139852228383 + ], + "intended_face_normal": [ + -0.8320147781474936, + -0.1315799513921423, + 0.5389230712627722 + ], + "commanded_contact_point": [ + -29.38866912841797, + -14.883304668661543, + 0.11424905843887453 + ], + "centerline_face_intersection": [ + -29.399146224624513, + -14.883250834091715, + 0.11424905843887453 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.401748657226562, + -14.88319206237793, + 0.12656022608280182 + ], + "box_pose": [ + -29.324392318725586, + -14.882871627807617, + 0.1300002485513687, + 0.28827252984046936, + 0.11892593652009964, + 0.6947581768035889, + 0.6481254696846008 + ], + "box_yaw_rad": 1.5642593371785014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -5.383456982777011e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037481351828658623 + } + } + }, + { + "simulation_time_ns": 6180000000, + "center": [ + -29.315736209206968, + -14.887564252992794, + 0.10634789728811708 + ], + "face_center": [ + -29.35663206767779, + -14.896281704318774, + 0.14256467514027235 + ], + "face_normal": [ + -0.7392818405855213, + -0.1575869465139732, + 0.6546972527724169 + ], + "footprint_xy": [ + [ + -29.4407080945121, + -14.99880987687811 + ], + [ + -29.19076432390183, + -14.99880987687811 + ], + [ + -29.19076432390183, + -14.77631862910748 + ], + [ + -29.4407080945121, + -14.77631862910748 + ] + ], + "projected_box_corners": [ + [ + -29.358916377570452, + -14.924332757673156 + ], + [ + -29.19773425627417, + -14.981374974226151 + ], + [ + -29.4407080945121, + -14.941767660325114 + ], + [ + -29.27952597321582, + -14.99880987687811 + ], + [ + -29.351946445198113, + -14.77631862910748 + ], + [ + -29.19076432390183, + -14.833360845660474 + ], + [ + -29.43373816213976, + -14.793753531759439 + ], + [ + -29.27255604084348, + -14.850795748312434 + ] + ], + "yaw_rad": 1.5237414443053385, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.399646759033203, + -14.896960258483887, + 0.11359263956546783 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.36828603980599, + -14.893258529490387, + 0.14382054725500432 + ], + "intended_face_normal": [ + -0.7907935108097739, + -0.14304237588482493, + 0.5951341500672385 + ], + "commanded_contact_point": [ + -29.387436981201173, + -14.885165814202011, + 0.11089870251845879 + ], + "centerline_face_intersection": [ + -29.394493616005136, + -14.885345659948126, + 0.11089870251845879 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.4009952545166, + -14.89118766784668, + 0.11949388682842255 + ], + "box_pose": [ + -29.315155029296875, + -14.885254859924316, + 0.12601438164710999, + 0.3193891644477844, + 0.1357959806919098, + 0.6852092742919922, + 0.6403423547744751 + ], + "box_yaw_rad": 1.5458135658756005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0001798457461143962, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004025783685213443 + } + } + }, + { + "simulation_time_ns": 6200000000, + "center": [ + -29.306268400921347, + -14.889949773364524, + 0.10025414217926651 + ], + "face_center": [ + -29.343612385431904, + -14.89963128535918, + 0.13990027642095343 + ], + "face_normal": [ + -0.6750739716946175, + -0.1750144458311027, + 0.7166903493468624 + ], + "footprint_xy": [ + [ + -29.437192481393666, + -15.003471216311434 + ], + [ + -29.175344320449028, + -15.003471216311434 + ], + [ + -29.175344320449028, + -14.776428330417616 + ], + [ + -29.437192481393666, + -14.776428330417616 + ] + ], + "projected_box_corners": [ + [ + -29.362504512372556, + -14.923360562497368 + ], + [ + -29.18634826349009, + -14.984108192322125 + ], + [ + -29.437192481393666, + -14.942723586486677 + ], + [ + -29.2610362325112, + -15.003471216311434 + ], + [ + -29.351500569331495, + -14.776428330417616 + ], + [ + -29.175344320449028, + -14.837175960242373 + ], + [ + -29.42618853835261, + -14.795791354406925 + ], + [ + -29.250032289470138, + -14.85653898423168 + ] + ], + "yaw_rad": 1.4960445911045288, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.398183822631836, + -14.897963523864746, + 0.11096318066120148 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.35663206767779, + -14.896281704318774, + 0.14256467514027235 + ], + "intended_face_normal": [ + -0.7392818405855213, + -0.1575869465139732, + 0.6546972527724169 + ], + "commanded_contact_point": [ + -29.385470504760743, + -14.887008567027037, + 0.10634789728811708 + ], + "centerline_face_intersection": [ + -29.3905633674688, + -14.887564252992794, + 0.10634789728811708 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.399646759033203, + -14.896960258483887, + 0.11359263956546783 + ], + "box_pose": [ + -29.305143356323242, + -14.887776374816895, + 0.12064223736524582, + 0.35400110483169556, + 0.15477971732616425, + 0.6734067797660828, + 0.6302774548530579 + ], + "box_yaw_rad": 1.5237414443053385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005556859657581023, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005288912535617251 + } + } + }, + { + "simulation_time_ns": 6220000000, + "center": [ + -29.296269347515945, + -14.892495989699102, + 0.09215945504772313 + ], + "face_center": [ + -29.329199843523885, + -14.903340893880822, + 0.13526504353792043 + ], + "face_normal": [ + -0.5952905406671478, + -0.1960452971089115, + 0.7792275303693543 + ], + "footprint_xy": [ + [ + -29.432771210711685, + -15.008419532744016 + ], + [ + -29.159767484320202, + -15.008419532744016 + ], + [ + -29.159767484320202, + -14.776572446654187 + ], + [ + -29.432771210711685, + -14.776572446654187 + ] + ], + "projected_box_corners": [ + [ + -29.366910218695807, + -14.922196821302528 + ], + [ + -29.175758036791432, + -14.986729724380572 + ], + [ + -29.432771210711685, + -14.94388662966597 + ], + [ + -29.241619028807314, + -15.008419532744016 + ], + [ + -29.350919666224577, + -14.776572446654187 + ], + [ + -29.159767484320202, + -14.841105349732231 + ], + [ + -29.416780658240455, + -14.79826225501763 + ], + [ + -29.225628476336084, + -14.862795158095675 + ] + ], + "yaw_rad": 1.4614276542967455, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.39605712890625, + -14.895727157592773, + 0.10924892127513885 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.343612385431904, + -14.89963128535918, + 0.13990027642095343 + ], + "intended_face_normal": [ + -0.6750739716946175, + -0.1750144458311027, + 0.7166903493468624 + ], + "commanded_contact_point": [ + -29.383153076171876, + -14.889073537378756, + 0.10025414217926651 + ], + "centerline_face_intersection": [ + -29.388212545718886, + -14.889949773364524, + 0.10025414217926651 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.398183822631836, + -14.897963523864746, + 0.11096318066120148 + ], + "box_pose": [ + -29.294389724731445, + -14.890484809875488, + 0.11349017173051834, + 0.3925698399543762, + 0.17600111663341522, + 0.6583282947540283, + 0.6176701188087463 + ], + "box_yaw_rad": 1.4960445911045288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000876235985766983, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006838744705325887 + } + } + }, + { + "simulation_time_ns": 6240000000, + "center": [ + -29.286050891140327, + -14.895288481302634, + 0.08137582109390636 + ], + "face_center": [ + -29.313667485441368, + -14.907857402080118, + 0.12763019087318608 + ], + "face_normal": [ + -0.4992301770640939, + -0.2272106573623347, + 0.8361486200355568 + ], + "footprint_xy": [ + [ + -29.42700314271456, + -15.013883550274722 + ], + [ + -29.14509863956609, + -15.013883550274722 + ], + [ + -29.14509863956609, + -14.776693412330546 + ], + [ + -29.42700314271456, + -14.776693412330546 + ] + ], + "projected_box_corners": [ + [ + -29.371769954112477, + -14.920531333224645 + ], + [ + -29.166610740848242, + -14.988745708719751 + ], + [ + -29.42700314271456, + -14.945669174779615 + ], + [ + -29.221843929450326, + -15.013883550274722 + ], + [ + -29.350257852830328, + -14.776693412330546 + ], + [ + -29.14509863956609, + -14.844907787825653 + ], + [ + -29.40549104143241, + -14.801831253885517 + ], + [ + -29.200331828168174, + -14.870045629380623 + ] + ], + "yaw_rad": 1.4223387523680753, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.39301300048828, + -14.894757270812988, + 0.1076396256685257 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.329199843523885, + -14.903340893880822, + 0.13526504353792043 + ], + "intended_face_normal": [ + -0.5952905406671478, + -0.1960452971089115, + 0.7792275303693543 + ], + "commanded_contact_point": [ + -29.3811083984375, + -14.891490506997588, + 0.09215945504772313 + ], + "centerline_face_intersection": [ + -29.389196003504125, + -14.892495989699102, + 0.09215945504772313 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.39605712890625, + -14.895727157592773, + 0.10924892127513885 + ], + "box_pose": [ + -29.283052444458008, + -14.89337158203125, + 0.10403920710086823, + 0.4354725778102875, + 0.1996023803949356, + 0.639051079750061, + 0.6017776131629944 + ], + "box_yaw_rad": 1.4614276542967455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010054827015138564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008691743722256081 + } + } + }, + { + "simulation_time_ns": 6260000000, + "center": [ + -29.275685555804053, + -14.898183355787529, + 0.06785186404668528 + ], + "face_center": [ + -29.296846522619578, + -14.912867130325955, + 0.1168081855349998 + ], + "face_normal": [ + -0.38253062977299734, + -0.26544125183859535, + 0.8849922904540044 + ], + "footprint_xy": [ + [ + -29.419586501873905, + -15.019321515986412 + ], + [ + -29.1317846097342, + -15.019321515986412 + ], + [ + -29.1317846097342, + -14.777045195588645 + ], + [ + -29.419586501873905, + -14.777045195588645 + ] + ], + "projected_box_corners": [ + [ + -29.37726456824285, + -14.91869292911773 + ], + [ + -29.159986526816798, + -14.989953966909564 + ], + [ + -29.419586501873905, + -14.94806047819458 + ], + [ + -29.202308460447853, + -15.019321515986412 + ], + [ + -29.349062651160253, + -14.777045195588645 + ], + [ + -29.1317846097342, + -14.848306233380479 + ], + [ + -29.391384584791304, + -14.806412744665495 + ], + [ + -29.17410654336525, + -14.877673782457329 + ] + ], + "yaw_rad": 1.3742672970760181, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.389421463012695, + -14.894474029541016, + 0.10488016903400421 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.313667485441368, + -14.907857402080118, + 0.12763019087318608 + ], + "intended_face_normal": [ + -0.4992301770640939, + -0.2272106573623347, + 0.8361486200355568 + ], + "commanded_contact_point": [ + -29.37920867919922, + -14.894304247020706, + 0.08137582109390636 + ], + "centerline_face_intersection": [ + -29.396858213748335, + -14.895288481302634, + 0.08137582109390636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.39301300048828, + -14.894757270812988, + 0.1076396256685257 + ], + "box_pose": [ + -29.271526336669922, + -14.896526336669922, + 0.09157811105251312, + 0.48300451040267944, + 0.22369243204593658, + 0.6166943907737732, + 0.5799623727798462 + ], + "box_yaw_rad": 1.4223387523680753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009842342819280255, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011305433532240257 + } + } + }, + { + "simulation_time_ns": 6280000000, + "center": [ + -29.265580625696256, + -14.900849498371944, + 0.05127914936911401 + ], + "face_center": [ + -29.279012128810777, + -14.917192958799681, + 0.10239280854875865 + ], + "face_normal": [ + -0.24280371449885507, + -0.29544369426000827, + 0.9239908746345726 + ], + "footprint_xy": [ + [ + -29.410234419332667, + -15.023802490477477 + ], + [ + -29.12092683205984, + -15.023802490477477 + ], + [ + -29.12092683205984, + -14.77789650626641 + ], + [ + -29.410234419332667, + -14.77789650626641 + ] + ], + "projected_box_corners": [ + [ + -29.383371413103617, + -14.91764767382179 + ], + [ + -29.15782157863329, + -14.991115569622 + ], + [ + -29.410234419332667, + -14.950334594677265 + ], + [ + -29.184684584862335, + -15.023802490477477 + ], + [ + -29.346476666530172, + -14.77789650626641 + ], + [ + -29.12092683205984, + -14.851364402066622 + ], + [ + -29.373339672759222, + -14.810583427121887 + ], + [ + -29.14778983828889, + -14.8840513229221 + ] + ], + "yaw_rad": 1.3126822782103962, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.384572982788086, + -14.893762588500977, + 0.09987327456474304 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.296846522619578, + -14.912867130325955, + 0.1168081855349998 + ], + "intended_face_normal": [ + -0.38253062977299734, + -0.26544125183859535, + 0.8849922904540044 + ], + "commanded_contact_point": [ + -29.37724983215332, + -14.897347494555461, + 0.06785186404668528 + ], + "centerline_face_intersection": [ + -29.408120355810407, + -14.898183355787529, + 0.06785186404668528 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.389421463012695, + -14.894474029541016, + 0.10488016903400421 + ], + "box_pose": [ + -29.259923934936523, + -14.899760246276855, + 0.0759553462266922, + 0.5351793169975281, + 0.249773770570755, + 0.58847576379776, + 0.5521706938743591 + ], + "box_yaw_rad": 1.3742672970760181, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008358612320675014, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.013999851839291004 + } + } + }, + { + "simulation_time_ns": 6300000000, + "center": [ + -29.25991177297644, + -14.902474637848867, + 0.03568490842024177 + ], + "face_center": [ + -29.266757463623442, + -14.920137162716482, + 0.0876588772486829 + ], + "face_normal": [ + -0.12375078970904951, + -0.31928866104703957, + 0.9395428479741099 + ], + "footprint_xy": [ + [ + -29.40320997620823, + -15.027412955750668 + ], + [ + -29.11661356974465, + -15.027412955750668 + ], + [ + -29.11661356974465, + -14.777536319947068 + ], + [ + -29.40320997620823, + -14.777536319947068 + ] + ], + "projected_box_corners": [ + [ + -29.38951859491423, + -14.915277643450844 + ], + [ + -29.162283265263806, + -14.992087906015435 + ], + [ + -29.40320997620823, + -14.950602693186076 + ], + [ + -29.17597464655781, + -15.027412955750668 + ], + [ + -29.343848899395073, + -14.777536319947068 + ], + [ + -29.11661356974465, + -14.854346582511658 + ], + [ + -29.357540280689076, + -14.812861369682299 + ], + [ + -29.130304951038653, + -14.88967163224689 + ] + ], + "yaw_rad": 1.2506414281657314, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.376623153686523, + -14.892509460449219, + 0.09609152376651764 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.279012128810777, + -14.917192958799681, + 0.10239280854875865 + ], + "intended_face_normal": [ + -0.24280371449885507, + -0.29544369426000827, + 0.9239908746345726 + ], + "commanded_contact_point": [ + -29.375290985107423, + -14.900297113534714, + 0.05127914936911401 + ], + "centerline_face_intersection": [ + -29.39315852452117, + -14.900849498371944, + 0.05127914936911401 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.384572982788086, + -14.893762588500977, + 0.09987327456474304 + ], + "box_pose": [ + -29.24876594543457, + -14.902684211730957, + 0.056800201535224915, + 0.5884751081466675, + 0.28129521012306213, + 0.5490162968635559, + 0.5226385593414307 + ], + "box_yaw_rad": 1.3126822782103962, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005523848372288149, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01694674616721982 + } + } + }, + { + "simulation_time_ns": 6320000000, + "center": [ + -29.25431613255939, + -14.902715535811277, + 0.03331479173241971 + ], + "face_center": [ + -29.26135293692504, + -14.92141573102334, + 0.08489877974495091 + ], + "face_normal": [ + -0.12720558701537854, + -0.3380468158051855, + 0.9324930941320524 + ], + "footprint_xy": [ + [ + -29.39872041296975, + -15.030456731506984 + ], + [ + -29.109911852149022, + -15.030456731506984 + ], + [ + -29.109911852149022, + -14.774974340115572 + ], + [ + -29.39872041296975, + -14.774974340115572 + ] + ], + "projected_box_corners": [ + [ + -29.38464680423845, + -14.910163241547174 + ], + [ + -29.15952759233614, + -14.993056341082859 + ], + [ + -29.39872041296975, + -14.947563631971297 + ], + [ + -29.17360120106744, + -15.030456731506984 + ], + [ + -29.335031064051332, + -14.774974340115572 + ], + [ + -29.109911852149022, + -14.857867439651256 + ], + [ + -29.349104672782637, + -14.812374730539695 + ], + [ + -29.123985460880323, + -14.895267830075381 + ] + ], + "yaw_rad": 1.2190485211760358, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.368885040283203, + -14.890432357788086, + 0.09213016927242279 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.266757463623442, + -14.920137162716482, + 0.0876588772486829 + ], + "intended_face_normal": [ + -0.12375078970904951, + -0.31928866104703957, + 0.9395428479741099 + ], + "commanded_contact_point": [ + -29.37343704223633, + -14.902320860107624, + 0.03568490842024177 + ], + "centerline_face_intersection": [ + -29.386543375581102, + -14.902474637848867, + 0.03568490842024177 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.376623153686523, + -14.892509460449219, + 0.09609152376651764 + ], + "box_pose": [ + -29.24254608154297, + -14.904642105102539, + 0.03889685124158859, + 0.6322705745697021, + 0.3037383556365967, + 0.5097825527191162, + 0.49809515476226807 + ], + "box_yaw_rad": 1.2506414281657314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00015377774124289152, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01583391944946438 + } + } + }, + { + "simulation_time_ns": 6340000000, + "center": [ + -29.24916061742072, + -14.903159114461388, + 0.03228799323884104 + ], + "face_center": [ + -29.257265611757646, + -14.92239033961204, + 0.08351874693336318 + ], + "face_normal": [ + -0.14651545059533788, + -0.34764634018456064, + 0.9261076133880302 + ], + "footprint_xy": [ + [ + -29.395216911281288, + -15.033975584305756 + ], + [ + -29.103104323560153, + -15.033975584305756 + ], + [ + -29.103104323560153, + -14.772342644617023 + ], + [ + -29.395216911281288, + -14.772342644617023 + ] + ], + "projected_box_corners": [ + [ + -29.37900692260744, + -14.90486064263334 + ], + [ + -29.15690053639498, + -14.995513134004453 + ], + [ + -29.395216911281288, + -14.943323092934643 + ], + [ + -29.173110525068825, + -15.033975584305756 + ], + [ + -29.32521070977262, + -14.772342644617023 + ], + [ + -29.103104323560153, + -14.862995135988134 + ], + [ + -29.341420698446466, + -14.810805094918324 + ], + [ + -29.119314312234, + -14.901457586289437 + ] + ], + "yaw_rad": 1.1851677428410268, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.362668991088867, + -14.887575149536133, + 0.0873493105173111 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.26135293692504, + -14.92141573102334, + 0.08489877974495091 + ], + "intended_face_normal": [ + -0.12720558701537854, + -0.3380468158051855, + 0.9324930941320524 + ], + "commanded_contact_point": [ + -29.371777648925782, + -14.903053085190962, + 0.03331479173241971 + ], + "centerline_face_intersection": [ + -29.382138070628887, + -14.902715535811277, + 0.03331479173241971 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.368885040283203, + -14.890432357788086, + 0.09213016927242279 + ], + "box_pose": [ + -29.236997604370117, + -14.90541934967041, + 0.036370884627103806, + 0.643541157245636, + 0.29065605998039246, + 0.5048546195030212, + 0.49648338556289673 + ], + "box_yaw_rad": 1.2190485211760358, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003375493796847445, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029844920582319475 + } + } + }, + { + "simulation_time_ns": 6360000000, + "center": [ + -29.24640619096979, + -14.903514250631552, + 0.03162036706662609 + ], + "face_center": [ + -29.255195587938406, + -14.922913641030966, + 0.08267456270955774 + ], + "face_normal": [ + -0.15888752092662983, + -0.35068629384432626, + 0.9229159415114481 + ], + "footprint_xy": [ + [ + -29.39329919416736, + -15.035813685813105 + ], + [ + -29.09951318777222, + -15.035813685813105 + ], + [ + -29.09951318777222, + -14.77121481545 + ], + [ + -29.39329919416736, + -14.77121481545 + ] + ], + "projected_box_corners": [ + [ + -29.375720400230126, + -14.902381639054882 + ], + [ + -29.155286902595755, + -14.997014905014279 + ], + [ + -29.39329919416736, + -14.941180419853708 + ], + [ + -29.172865696532988, + -15.035813685813105 + ], + [ + -29.31994668540659, + -14.77121481545 + ], + [ + -29.09951318777222, + -14.865848081409395 + ], + [ + -29.337525479343824, + -14.810013596248826 + ], + [ + -29.117091981709454, + -14.904646862208223 + ] + ], + "yaw_rad": 1.1687460792124569, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.359289169311523, + -14.886018753051758, + 0.08389441668987274 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.257265611757646, + -14.92239033961204, + 0.08351874693336318 + ], + "intended_face_normal": [ + -0.14651545059533788, + -0.34764634018456064, + 0.9261076133880302 + ], + "commanded_contact_point": [ + -29.370335693359376, + -14.904120022438084, + 0.03228799323884104 + ], + "centerline_face_intersection": [ + -29.37871643277898, + -14.903159114461388, + 0.03228799323884104 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.362668991088867, + -14.887575149536133, + 0.0873493105173111 + ], + "box_pose": [ + -29.231971740722656, + -14.906508445739746, + 0.035435404628515244, + 0.6502645015716553, + 0.2735777199268341, + 0.5009782910346985, + 0.5013303160667419 + ], + "box_yaw_rad": 1.1851677428410268, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009609079766949685, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020668589916108112 + } + } + }, + { + "simulation_time_ns": 6380000000, + "center": [ + -29.24627344384611, + -14.903296423277814, + 0.031092494622263298 + ], + "face_center": [ + -29.255249208102736, + -14.922209374638697, + 0.08229657654110117 + ], + "face_normal": [ + -0.16225651614658432, + -0.3418928472415814, + 0.9256254628682257 + ], + "footprint_xy": [ + [ + -29.39327128788114, + -15.035456559799599 + ], + [ + -29.09927559981108, + -15.035456559799599 + ], + [ + -29.09927559981108, + -14.771136286756027 + ], + [ + -29.39327128788114, + -14.771136286756027 + ] + ], + "projected_box_corners": [ + [ + -29.37531975936789, + -14.902795440922446 + ], + [ + -29.15499332949781, + -14.99763065707783 + ], + [ + -29.39327128788114, + -14.940621343644215 + ], + [ + -29.172944858011057, + -15.035456559799599 + ], + [ + -29.319602029681164, + -14.771136286756027 + ], + [ + -29.09927559981108, + -14.86597150291141 + ], + [ + -29.337553558194415, + -14.808962189477796 + ], + [ + -29.11722712832433, + -14.90379740563318 + ] + ], + "yaw_rad": 1.170454016474303, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.358949661254883, + -14.885201454162598, + 0.0814342349767685 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.255195587938406, + -14.922913641030966, + 0.08267456270955774 + ], + "intended_face_normal": [ + -0.15888752092662983, + -0.35068629384432626, + 0.9229159415114481 + ], + "commanded_contact_point": [ + -29.368931884765626, + -14.90517497851144, + 0.03162036706662609 + ], + "centerline_face_intersection": [ + -29.376945216439324, + -14.903514250631552, + 0.03162036706662609 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.359289169311523, + -14.886018753051758, + 0.08389441668987274 + ], + "box_pose": [ + -29.22930145263672, + -14.907191276550293, + 0.034859053790569305, + 0.6525993943214417, + 0.26450762152671814, + 0.49945688247680664, + 0.5046707391738892 + ], + "box_yaw_rad": 1.1687460792124569, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016607278798867493, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018786525997167112 + } + } + }, + { + "simulation_time_ns": 6400000000, + "center": [ + -29.246245321016698, + -14.903108207278736, + 0.030865402741670107 + ], + "face_center": [ + -29.2553485593914, + -14.921694237387198, + 0.08216658439858993 + ], + "face_normal": [ + -0.16456088886702958, + -0.33598303254998996, + 0.9273807524201203 + ], + "footprint_xy": [ + [ + -29.393325187096583, + -15.035196274408147 + ], + [ + -29.099165454936813, + -15.035196274408147 + ], + [ + -29.099165454936813, + -14.771020140149323 + ], + [ + -29.393325187096583, + -14.771020140149323 + ] + ], + "projected_box_corners": [ + [ + -29.375118710347174, + -14.902978993245473 + ], + [ + -29.154902456736302, + -14.99802421419122 + ], + [ + -29.393325187096583, + -14.940151053462401 + ], + [ + -29.173108933485707, + -15.035196274408147 + ], + [ + -29.319381708547684, + -14.771020140149323 + ], + [ + -29.099165454936813, + -14.866065361095071 + ], + [ + -29.33758818529709, + -14.808192200366252 + ], + [ + -29.11737193168622, + -14.903237421311998 + ] + ], + "yaw_rad": 1.1711455102782404, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.3587589263916, + -14.884574890136719, + 0.08013895153999329 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.255249208102736, + -14.922209374638697, + 0.08229657654110117 + ], + "intended_face_normal": [ + -0.16225651614658432, + -0.3418928472415814, + 0.9256254628682257 + ], + "commanded_contact_point": [ + -29.367573852539063, + -14.90568094992231, + 0.031092494622263298 + ], + "centerline_face_intersection": [ + -29.37687590483547, + -14.903296423277814, + 0.031092494622263298 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358949661254883, + -14.885201454162598, + 0.0814342349767685 + ], + "box_pose": [ + -29.229183197021484, + -14.906960487365723, + 0.03442113474011421, + 0.6495593786239624, + 0.2656759023666382, + 0.4990180730819702, + 0.508399486541748 + ], + "box_yaw_rad": 1.170454016474303, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0023845266444953946, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015423708745039308 + } + } + }, + { + "simulation_time_ns": 6420000000, + "center": [ + -29.24647251822525, + -14.903522840427495, + 0.031107162191980082 + ], + "face_center": [ + -29.255928359545514, + -14.922784383328349, + 0.08209441656076283 + ], + "face_normal": [ + -0.1709349561769571, + -0.34819439964605436, + 0.9217058319743359 + ], + "footprint_xy": [ + [ + -29.393674285336456, + -15.035900035380598 + ], + [ + -29.099270751114044, + -15.035900035380598 + ], + [ + -29.099270751114044, + -14.771145645474395 + ], + [ + -29.393674285336456, + -14.771145645474395 + ] + ], + "projected_box_corners": [ + [ + -29.374762602695927, + -14.90235402831311 + ], + [ + -29.154543302418723, + -14.997376949578895 + ], + [ + -29.393674285336456, + -14.940877114114814 + ], + [ + -29.17345498505925, + -15.035900035380598 + ], + [ + -29.319490051391252, + -14.771145645474395 + ], + [ + -29.099270751114044, + -14.866168566740178 + ], + [ + -29.33840173403178, + -14.809668731276098 + ], + [ + -29.118182433754573, + -14.904691652541882 + ] + ], + "yaw_rad": 1.172099643399108, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.359134674072266, + -14.885401725769043, + 0.07986617088317871 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.2553485593914, + -14.921694237387198, + 0.08216658439858993 + ], + "intended_face_normal": [ + -0.16456088886702958, + -0.33598303254998996, + 0.9273807524201203 + ], + "commanded_contact_point": [ + -29.366143341064454, + -14.906234066608912, + 0.030865402741670107 + ], + "centerline_face_intersection": [ + -29.376913123643465, + -14.903108207278736, + 0.030865402741670107 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.3587589263916, + -14.884574890136719, + 0.08013895153999329 + ], + "box_pose": [ + -29.22916603088379, + -14.906769752502441, + 0.034252528101205826, + 0.6476013660430908, + 0.2663387656211853, + 0.498602032661438, + 0.5109521746635437 + ], + "box_yaw_rad": 1.1711455102782404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0031258593301760835, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015504424756235648 + } + } + }, + { + "simulation_time_ns": 6440000000, + "center": [ + -29.246411427148303, + -14.903457576195905, + 0.03034953973111944 + ], + "face_center": [ + -29.255803578263674, + -14.922594440564792, + 0.08139549559364864 + ], + "face_normal": [ + -0.1697836168075959, + -0.34594056324210953, + 0.9227669895087338 + ], + "footprint_xy": [ + [ + -29.39359677965469, + -15.035794829076549 + ], + [ + -29.09922607464192, + -15.035794829076549 + ], + [ + -29.09922607464192, + -14.771120323315259 + ], + [ + -29.39359677965469, + -14.771120323315259 + ] + ], + "projected_box_corners": [ + [ + -29.37481247742395, + -14.902459156630615 + ], + [ + -29.15460850077186, + -14.997521100338775 + ], + [ + -29.39359677965469, + -14.940732885368389 + ], + [ + -29.1733928030026, + -15.035794829076549 + ], + [ + -29.31943005129401, + -14.771120323315259 + ], + [ + -29.09922607464192, + -14.86618226702342 + ], + [ + -29.338214353524748, + -14.809394052053035 + ], + [ + -29.118010376872657, + -14.904455995761195 + ] + ], + "yaw_rad": 1.1717445528110864, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.358734130859375, + -14.885261535644531, + 0.07912513613700867 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.255928359545514, + -14.922784383328349, + 0.08209441656076283 + ], + "intended_face_normal": [ + -0.1709349561769571, + -0.34819439964605436, + 0.9217058319743359 + ], + "commanded_contact_point": [ + -29.364375228881837, + -14.90737354434401, + 0.031107162191980082 + ], + "centerline_face_intersection": [ + -29.37713851310313, + -14.903522840427495, + 0.031107162191980082 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.359134674072266, + -14.885401725769043, + 0.07986617088317871 + ], + "box_pose": [ + -29.229415893554688, + -14.907222747802734, + 0.03456604853272438, + 0.6491336822509766, + 0.26138365268707275, + 0.5027152895927429, + 0.5075246691703796 + ], + "box_yaw_rad": 1.172099643399108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003850703916514177, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021173279932304766 + } + } + }, + { + "simulation_time_ns": 6460000000, + "center": [ + -29.246483492993377, + -14.903593708377121, + 0.030342763387610064 + ], + "face_center": [ + -29.255995649659248, + -14.922941257419463, + 0.08128697880266325 + ], + "face_normal": [ + -0.17195297887928263, + -0.3497491482431201, + 0.9209278090126034 + ], + "footprint_xy": [ + [ + -29.39371153484696, + -15.036025385331165 + ], + [ + -29.099255451139793, + -15.036025385331165 + ], + [ + -29.099255451139793, + -14.771162031423078 + ], + [ + -29.39371153484696, + -14.771162031423078 + ] + ], + "projected_box_corners": [ + [ + -29.374687221515217, + -14.902256543282173 + ], + [ + -29.154491237502057, + -14.997330287246477 + ], + [ + -29.39371153484696, + -14.94095164136686 + ], + [ + -29.1735155508338, + -15.036025385331165 + ], + [ + -29.31945143515295, + -14.771162031423078 + ], + [ + -29.099255451139793, + -14.866235775387382 + ], + [ + -29.338475748484694, + -14.809857129507764 + ], + [ + -29.118279764471538, + -14.904930873472068 + ] + ], + "yaw_rad": 1.172027060644159, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.358510971069336, + -14.885479927062988, + 0.07880301773548126 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.255803578263674, + -14.922594440564792, + 0.08139549559364864 + ], + "intended_face_normal": [ + -0.1697836168075959, + -0.34594056324210953, + 0.9227669895087338 + ], + "commanded_contact_point": [ + -29.362603302001954, + -14.908036121734474, + 0.03034953973111944 + ], + "centerline_face_intersection": [ + -29.37708651485344, + -14.903457576195905, + 0.03034953973111944 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358734130859375, + -14.885261535644531, + 0.07912513613700867 + ], + "box_pose": [ + -29.229351043701172, + -14.907153129577637, + 0.033794526010751724, + 0.6488894820213318, + 0.2622510492801666, + 0.501909077167511, + 0.5081871747970581 + ], + "box_yaw_rad": 1.1717445528110864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004578545538569116, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020378237066062677 + } + } + }, + { + "simulation_time_ns": 6480000000, + "center": [ + -29.24652311777002, + -14.903642346102403, + 0.03020228096421993 + ], + "face_center": [ + -29.256097895901842, + -14.923063242077351, + 0.08110684182720651 + ], + "face_normal": [ + -0.17308499846117087, + -0.3510750540283212, + 0.9202109664927107 + ], + "footprint_xy": [ + [ + -29.393773214891954, + -15.036106597106256 + ], + [ + -29.099273020648088, + -15.036106597106256 + ], + [ + -29.099273020648088, + -14.771178095098549 + ], + [ + -29.393773214891954, + -14.771178095098549 + ] + ], + "projected_box_corners": [ + [ + -29.374623658628312, + -14.902186766049415 + ], + [ + -29.15443264470824, + -14.997264805156362 + ], + [ + -29.393773214891954, + -14.94102855799931 + ], + [ + -29.173582200971882, + -15.036106597106256 + ], + [ + -29.319464034568163, + -14.771178095098549 + ], + [ + -29.099273020648088, + -14.866256134205495 + ], + [ + -29.338613590831805, + -14.810019887048444 + ], + [ + -29.11842257691173, + -14.90509792615539 + ] + ], + "yaw_rad": 1.1722863401593344, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.35823631286621, + -14.88552188873291, + 0.07829350233078003 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.255995649659248, + -14.922941257419463, + 0.08128697880266325 + ], + "intended_face_normal": [ + -0.17195297887928263, + -0.3497491482431201, + 0.9209278090126034 + ], + "commanded_contact_point": [ + -29.36101257324219, + -14.908896805168256, + 0.030342763387610064 + ], + "centerline_face_intersection": [ + -29.37716332392214, + -14.903593708377121, + 0.030342763387610064 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358510971069336, + -14.885479927062988, + 0.07880301773548126 + ], + "box_pose": [ + -29.22943115234375, + -14.907302856445312, + 0.03381286934018135, + 0.6493362188339233, + 0.26062628626823425, + 0.503226637840271, + 0.5071483850479126 + ], + "box_yaw_rad": 1.172027060644159, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005303096791134436, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018086569268834251 + } + } + }, + { + "simulation_time_ns": 6500000000, + "center": [ + -29.246637523609156, + -14.903747238171215, + 0.03008153379848433 + ], + "face_center": [ + -29.256410416885508, + -14.92333877246847, + 0.08088295717672231 + ], + "face_normal": [ + -0.17666636181120055, + -0.3541597138864887, + 0.9183465315007737 + ], + "footprint_xy": [ + [ + -29.393953107605377, + -15.036279633401223 + ], + [ + -29.099321939612935, + -15.036279633401223 + ], + [ + -29.099321939612935, + -14.771214842941207 + ], + [ + -29.393953107605377, + -14.771214842941207 + ] + ], + "projected_box_corners": [ + [ + -29.374407321052676, + -14.902028319348648 + ], + [ + -29.154225644480103, + -14.997096564806712 + ], + [ + -29.393953107605377, + -14.941211387943161 + ], + [ + -29.173771431032804, + -15.036279633401223 + ], + [ + -29.319503616185507, + -14.771214842941207 + ], + [ + -29.099321939612935, + -14.86628308839927 + ], + [ + -29.33904940273821, + -14.810397911535718 + ], + [ + -29.118867726165636, + -14.90546615699378 + ] + ], + "yaw_rad": 1.1734150011282658, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.35820770263672, + -14.88572883605957, + 0.07700391113758087 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.256097895901842, + -14.923063242077351, + 0.08110684182720651 + ], + "intended_face_normal": [ + -0.17308499846117087, + -0.3510750540283212, + 0.9202109664927107 + ], + "commanded_contact_point": [ + -29.359545822143556, + -14.909670261188317, + 0.03020228096421993 + ], + "centerline_face_intersection": [ + -29.37720589836922, + -14.903642346102403, + 0.03020228096421993 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.35823631286621, + -14.88552188873291, + 0.07829350233078003 + ], + "box_pose": [ + -29.229475021362305, + -14.907356262207031, + 0.03368810564279556, + 0.6493880152702332, + 0.2599557042121887, + 0.503818154335022, + 0.506838858127594 + ], + "box_yaw_rad": 1.1722863401593344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0060279150859141595, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016641298962494942 + } + } + }, + { + "simulation_time_ns": 6520000000, + "center": [ + -29.246792135361407, + -14.903843089405033, + 0.02961158760471758 + ], + "face_center": [ + -29.25683869036709, + -14.923574501312757, + 0.08030537378354198 + ], + "face_normal": [ + -0.18161339445764213, + -0.35668830678540075, + 0.9164007543518551 + ], + "footprint_xy": [ + [ + -29.39419461314994, + -15.03642741599909 + ], + [ + -29.09938965757287, + -15.03642741599909 + ], + [ + -29.09938965757287, + -14.771258762810977 + ], + [ + -29.39419461314994, + -14.771258762810977 + ] + ], + "projected_box_corners": [ + [ + -29.374101503138572, + -14.901913425177929 + ], + [ + -29.153938822673542, + -14.99696459218364 + ], + [ + -29.39419461314994, + -14.941376248993379 + ], + [ + -29.174031932684912, + -15.03642741599909 + ], + [ + -29.3195523380379, + -14.771258762810977 + ], + [ + -29.09938965757287, + -14.866309929816687 + ], + [ + -29.339645448049268, + -14.810721586626427 + ], + [ + -29.11948276758424, + -14.905772753632137 + ] + ], + "yaw_rad": 1.1752898599910753, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.358245849609375, + -14.886516571044922, + 0.07548384368419647 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.256410416885508, + -14.92333877246847, + 0.08088295717672231 + ], + "intended_face_normal": [ + -0.17666636181120055, + -0.3541597138864887, + 0.9183465315007737 + ], + "commanded_contact_point": [ + -29.358086700439454, + -14.910495889341595, + 0.03008153379848433 + ], + "centerline_face_intersection": [ + -29.377325846134248, + -14.903747238171215, + 0.03008153379848433 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.35820770263672, + -14.88572883605957, + 0.07700391113758087 + ], + "box_pose": [ + -29.229602813720703, + -14.907470703125, + 0.03362218663096428, + 0.6492200493812561, + 0.2581571340560913, + 0.5055622458457947, + 0.5062363147735596 + ], + "box_yaw_rad": 1.1734150011282658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006748651170379958, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016808562915663428 + } + } + }, + { + "simulation_time_ns": 6540000000, + "center": [ + -29.246769356928677, + -14.903703500102125, + 0.029235544267212806 + ], + "face_center": [ + -29.256864007204776, + -14.923160517779127, + 0.08002572644525931 + ], + "face_normal": [ + -0.18248282137186678, + -0.35172803257868424, + 0.9181433222889197 + ], + "footprint_xy": [ + [ + -29.394190902385887, + -15.036168734218315 + ], + [ + -29.099347811471464, + -15.036168734218315 + ], + [ + -29.099347811471464, + -14.771238265985934 + ], + [ + -29.394190902385887, + -14.771238265985934 + ] + ], + "projected_box_corners": [ + [ + -29.374001601833694, + -14.902217342515128 + ], + [ + -29.153855603697842, + -14.99725469886431 + ], + [ + -29.394190902385887, + -14.941131377869132 + ], + [ + -29.174044904250035, + -15.036168734218315 + ], + [ + -29.319493809607316, + -14.771238265985934 + ], + [ + -29.099347811471464, + -14.866275622335117 + ], + [ + -29.339683110159513, + -14.810152301339938 + ], + [ + -29.11953711202366, + -14.905189657689121 + ] + ], + "yaw_rad": 1.1764399959845728, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.358177185058594, + -14.886636734008789, + 0.07478359341621399 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.25683869036709, + -14.923574501312757, + 0.08030537378354198 + ], + "intended_face_normal": [ + -0.18161339445764213, + -0.35668830678540075, + 0.9164007543518551 + ], + "commanded_contact_point": [ + -29.35660469055176, + -14.911284801309817, + 0.02961158760471758 + ], + "centerline_face_intersection": [ + -29.377491733954834, + -14.903843089405033, + 0.02961158760471758 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358245849609375, + -14.886516571044922, + 0.07548384368419647 + ], + "box_pose": [ + -29.22977638244629, + -14.907573699951172, + 0.03323490545153618, + 0.6485090255737305, + 0.2561366558074951, + 0.5077205896377563, + 0.506013810634613 + ], + "box_yaw_rad": 1.1752898599910753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.007441711904784399, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017434405140027537 + } + } + }, + { + "simulation_time_ns": 6560000000, + "center": [ + -29.24660385285187, + -14.903475333661566, + 0.02905488013541981 + ], + "face_center": [ + -29.256599755136484, + -14.92253043633167, + 0.08001668641643064 + ], + "face_normal": [ + -0.1806977360446851, + -0.34446254220463857, + 0.9212458022825558 + ], + "footprint_xy": [ + [ + -29.394005100775924, + -15.035779214369708 + ], + [ + -29.099202604927818, + -15.035779214369708 + ], + [ + -29.099202604927818, + -14.771171452953423 + ], + [ + -29.394005100775924, + -14.771171452953423 + ] + ], + "projected_box_corners": [ + [ + -29.374013296206698, + -14.9026010747103 + ], + [ + -29.15389008575519, + -14.997669009029497 + ], + [ + -29.394005100775924, + -14.94071128005051 + ], + [ + -29.173881890324417, + -15.035779214369708 + ], + [ + -29.319325815379326, + -14.771171452953423 + ], + [ + -29.099202604927818, + -14.866239387272621 + ], + [ + -29.339317619948552, + -14.809281658293633 + ], + [ + -29.119194409497045, + -14.904349592612832 + ] + ], + "yaw_rad": 1.1764906400621864, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.358076095581055, + -14.886162757873535, + 0.07445351779460907 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.256864007204776, + -14.923160517779127, + 0.08002572644525931 + ], + "intended_face_normal": [ + -0.18248282137186678, + -0.35172803257868424, + 0.9181433222889197 + ], + "commanded_contact_point": [ + -29.354973907470704, + -14.911827882650643, + 0.029235544267212806 + ], + "centerline_face_intersection": [ + -29.377478859739057, + -14.903703500102125, + 0.029235544267212806 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358177185058594, + -14.886636734008789, + 0.07478359341621399 + ], + "box_pose": [ + -29.22975730895996, + -14.907416343688965, + 0.0328943245112896, + 0.6469277739524841, + 0.2572385370731354, + 0.5072952508926392, + 0.5079017877578735 + ], + "box_yaw_rad": 1.1764399959845728, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008124382548517843, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017594883892453942 + } + } + }, + { + "simulation_time_ns": 6580000000, + "center": [ + -29.2459030304549, + -14.903107242800257, + 0.029007993969129345 + ], + "face_center": [ + -29.25580247056169, + -14.921642507438662, + 0.08017992740265842 + ], + "face_normal": [ + -0.17895397178506656, + -0.335065335953189, + 0.925044308876604 + ], + "footprint_xy": [ + [ + -29.39334631581409, + -15.035344176933464 + ], + [ + -29.098459745095713, + -15.035344176933464 + ], + [ + -29.098459745095713, + -14.770870308667048 + ], + [ + -29.39334631581409, + -14.770870308667048 + ] + ], + "projected_box_corners": [ + [ + -29.373547435600507, + -14.902738071296929 + ], + [ + -29.15363768043067, + -14.998273647656651 + ], + [ + -29.39334631581409, + -14.939808600573741 + ], + [ + -29.17343656064425, + -15.035344176933464 + ], + [ + -29.31836950026555, + -14.770870308667048 + ], + [ + -29.098459745095713, + -14.866405885026772 + ], + [ + -29.338168380479132, + -14.80794083794386 + ], + [ + -29.118258625309295, + -14.903476414303585 + ] + ], + "yaw_rad": 1.1745003884419034, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.357311248779297, + -14.884986877441406, + 0.07390893995761871 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.256599755136484, + -14.92253043633167, + 0.08001668641643064 + ], + "intended_face_normal": [ + -0.1806977360446851, + -0.34446254220463857, + 0.9212458022825558 + ], + "commanded_contact_point": [ + -29.353213424682618, + -14.912292219241605, + 0.02905488013541981 + ], + "centerline_face_intersection": [ + -29.377326887024456, + -14.903475333661566, + 0.02905488013541981 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358076095581055, + -14.886162757873535, + 0.07445351779460907 + ], + "box_pose": [ + -29.229585647583008, + -14.907166481018066, + 0.03270697593688965, + 0.6455198526382446, + 0.2596208155155182, + 0.5055050849914551, + 0.5102604627609253 + ], + "box_yaw_rad": 1.1764906400621864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008816885580039084, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018296304668893612 + } + } + }, + { + "simulation_time_ns": 6600000000, + "center": [ + -29.24392298121377, + -14.903037094697794, + 0.028881298898549273 + ], + "face_center": [ + -29.254086447700047, + -14.92148959081987, + 0.08003137034367057 + ], + "face_normal": [ + -0.18372682446712574, + -0.3335691144925619, + 0.9246491057525397 + ], + "footprint_xy": [ + [ + -29.391803014321482, + -15.036132067797848 + ], + [ + -29.096042948106064, + -15.036132067797848 + ], + [ + -29.096042948106064, + -14.769942121597738 + ], + [ + -29.391803014321482, + -14.769942121597738 + ] + ], + "projected_box_corners": [ + [ + -29.371476081348938, + -14.901114307166349 + ], + [ + -29.15270901106166, + -14.999227075553694 + ], + [ + -29.391803014321482, + -14.938019299410502 + ], + [ + -29.173035944034208, + -15.036132067797848 + ], + [ + -29.314810018393338, + -14.769942121597738 + ], + [ + -29.096042948106064, + -14.868054889985086 + ], + [ + -29.335136951365886, + -14.806847113841892 + ], + [ + -29.116369881078608, + -14.904959882229239 + ] + ], + "yaw_rad": 1.163013651760737, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.355140686035156, + -14.883400917053223, + 0.07308003306388855 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.25580247056169, + -14.921642507438662, + 0.08017992740265842 + ], + "intended_face_normal": [ + -0.17895397178506656, + -0.335065335953189, + 0.925044308876604 + ], + "commanded_contact_point": [ + -29.35154640197754, + -14.91264894299465, + 0.029007993969129345 + ], + "centerline_face_intersection": [ + -29.376752950867974, + -14.903107242800257, + 0.029007993969129345 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.357311248779297, + -14.884986877441406, + 0.07390893995761871 + ], + "box_pose": [ + -29.228883743286133, + -14.906805038452148, + 0.03264831006526947, + 0.6440642476081848, + 0.2619856894016266, + 0.5027065873146057, + 0.5136447548866272 + ], + "box_yaw_rad": 1.1745003884419034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0095417001943931, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017054075313021136 + } + } + }, + { + "simulation_time_ns": 6620000000, + "center": [ + -29.23944752370098, + -14.904234266326121, + 0.029134630910276012 + ], + "face_center": [ + -29.249732684466565, + -14.922979049467603, + 0.08015393718258008 + ], + "face_normal": [ + -0.1859267139953502, + -0.3388528398810209, + 0.9222852400394927 + ], + "footprint_xy": [ + [ + -29.387530478720564, + -15.03790617120406 + ], + [ + -29.0913645686814, + -15.03790617120406 + ], + [ + -29.0913645686814, + -14.770562361448183 + ], + [ + -29.387530478720564, + -14.770562361448183 + ] + ], + "projected_box_corners": [ + [ + -29.366960157189393, + -14.901003977742706 + ], + [ + -29.148758918430758, + -15.000416604921096 + ], + [ + -29.387530478720564, + -14.93849354402567 + ], + [ + -29.169329239961925, + -15.03790617120406 + ], + [ + -29.309565807440034, + -14.770562361448183 + ], + [ + -29.0913645686814, + -14.869974988626574 + ], + [ + -29.330136128971205, + -14.808051927731148 + ], + [ + -29.111934890212567, + -14.907464554909538 + ] + ], + "yaw_rad": 1.156289204419647, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.350811004638672, + -14.884414672851562, + 0.07342532277107239 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.254086447700047, + -14.92148959081987, + 0.08003137034367057 + ], + "intended_face_normal": [ + -0.18372682446712574, + -0.3335691144925619, + 0.9246491057525397 + ], + "commanded_contact_point": [ + -29.349862213134767, + -14.91336424199797, + 0.028881298898549273 + ], + "centerline_face_intersection": [ + -29.375456369324905, + -14.903037094697794, + 0.028881298898549273 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.355140686035156, + -14.883400917053223, + 0.07308003306388855 + ], + "box_pose": [ + -29.226951599121094, + -14.906936645507812, + 0.032534703612327576, + 0.6455320715904236, + 0.2577972114086151, + 0.5000728964805603, + 0.516484260559082 + ], + "box_yaw_rad": 1.163013651760737, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010327147300175952, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018341745727115592 + } + } + }, + { + "simulation_time_ns": 6640000000, + "center": [ + -29.23475016916467, + -14.9077844428384, + 0.02953725831522376 + ], + "face_center": [ + -29.24473037894021, + -14.927075524476377, + 0.0804132908101756 + ], + "face_normal": [ + -0.1804140597159929, + -0.348728376747097, + 0.9196952540167231 + ], + "footprint_xy": [ + [ + -29.38225279014756, + -15.04047162536807 + ], + [ + -29.08724754818178, + -15.04047162536807 + ], + [ + -29.08724754818178, + -14.77509726030873 + ], + [ + -29.38225279014756, + -14.77509726030873 + ] + ], + "projected_box_corners": [ + [ + -29.362292370596478, + -14.90601475079948 + ], + [ + -29.14249101463746, + -15.001889462092114 + ], + [ + -29.38225279014756, + -14.944596914075435 + ], + [ + -29.162451434188547, + -15.04047162536807 + ], + [ + -29.307048904140792, + -14.77509726030873 + ], + [ + -29.08724754818178, + -14.870971971601366 + ], + [ + -29.327009323691875, + -14.813679423584684 + ], + [ + -29.10720796773286, + -14.90955413487732 + ] + ], + "yaw_rad": 1.171493532307825, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.346904754638672, + -14.890506744384766, + 0.07480965554714203 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.249732684466565, + -14.922979049467603, + 0.08015393718258008 + ], + "intended_face_normal": [ + -0.1859267139953502, + -0.3388528398810209, + 0.9222852400394927 + ], + "commanded_contact_point": [ + -29.347989196777345, + -14.915354197365279, + 0.029134630910276012 + ], + "centerline_face_intersection": [ + -29.37132199941769, + -14.904234266326121, + 0.029134630910276012 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.350811004638672, + -14.884414672851562, + 0.07342532277107239 + ], + "box_pose": [ + -29.22249984741211, + -14.908255577087402, + 0.03276602551341057, + 0.6479572057723999, + 0.2541583180427551, + 0.49957770109176636, + 0.5157297253608704 + ], + "box_yaw_rad": 1.156289204419647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011119931039158289, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027445017302265774 + } + } + }, + { + "simulation_time_ns": 6660000000, + "center": [ + -29.232189435111753, + -14.910737407758738, + 0.029882370777894057 + ], + "face_center": [ + -29.24212305367419, + -14.930825771350841, + 0.08045807176738162 + ], + "face_normal": [ + -0.1795718219181417, + -0.3631409870345834, + 0.9142661069967666 + ], + "footprint_xy": [ + [ + -29.379292603687148, + -15.0428388834593 + ], + [ + -29.08508626653636, + -15.0428388834593 + ], + [ + -29.08508626653636, + -14.778635932058176 + ], + [ + -29.379292603687148, + -14.778635932058176 + ] + ], + "projected_box_corners": [ + [ + -29.359425366562277, + -14.909401222926851 + ], + [ + -29.13849007554173, + -15.002662156275091 + ], + [ + -29.379292603687148, + -14.949577950111058 + ], + [ + -29.1583573126666, + -15.0428388834593 + ], + [ + -29.306021557556907, + -14.778635932058176 + ], + [ + -29.08508626653636, + -14.871896865406416 + ], + [ + -29.32588879468178, + -14.818812659242383 + ], + [ + -29.104953503661232, + -14.912073592590625 + ] + ], + "yaw_rad": 1.1830744327358653, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.344757080078125, + -14.89596176147461, + 0.07550376653671265 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.24473037894021, + -14.927075524476377, + 0.0804132908101756 + ], + "intended_face_normal": [ + -0.1804140597159929, + -0.348728376747097, + 0.9196952540167231 + ], + "commanded_contact_point": [ + -29.345921630859376, + -14.919595481815703, + 0.02953725831522376 + ], + "centerline_face_intersection": [ + -29.365664620699707, + -14.9077844428384, + 0.02953725831522376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.346904754638672, + -14.890506744384766, + 0.07480965554714203 + ], + "box_pose": [ + -29.21773910522461, + -14.911554336547852, + 0.033141881227493286, + 0.6477375030517578, + 0.25756150484085083, + 0.5047774910926819, + 0.5092130303382874 + ], + "box_yaw_rad": 1.171493532307825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011811038977303668, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004735549750744201 + } + } + }, + { + "simulation_time_ns": 6680000000, + "center": [ + -29.231245709572516, + -14.912280558672386, + 0.03032375746586942 + ], + "face_center": [ + -29.241107595416896, + -14.93291828761501, + 0.08069188489122427 + ], + "face_normal": [ + -0.17827509658169305, + -0.37307196397632225, + 0.9105137620824664 + ], + "footprint_xy": [ + [ + -29.378132946188682, + -15.04415980686441 + ], + [ + -29.084358472956346, + -15.04415980686441 + ], + [ + -29.084358472956346, + -14.78040131048036 + ], + [ + -29.378132946188682, + -14.78040131048036 + ] + ], + "projected_box_corners": [ + [ + -29.358409174499922, + -14.91086365483681 + ], + [ + -29.13693567137915, + -15.002884348979162 + ], + [ + -29.378132946188682, + -14.952139112722058 + ], + [ + -29.15665944306791, + -15.04415980686441 + ], + [ + -29.305831976077123, + -14.78040131048036 + ], + [ + -29.084358472956346, + -14.872422004622713 + ], + [ + -29.325555747765883, + -14.82167676836561 + ], + [ + -29.104082244645106, + -14.913697462507962 + ] + ], + "yaw_rad": 1.187700660248013, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.344013214111328, + -14.898834228515625, + 0.07670953869819641 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.24212305367419, + -14.930825771350841, + 0.08045807176738162 + ], + "intended_face_normal": [ + -0.1795718219181417, + -0.3631409870345834, + 0.9142661069967666 + ], + "commanded_contact_point": [ + -29.34365188598633, + -14.923139472587406, + 0.029882370777894057 + ], + "centerline_face_intersection": [ + -29.36243197730188, + -14.910737407758738, + 0.029882370777894057 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.344757080078125, + -14.89596176147461, + 0.07550376653671265 + ], + "box_pose": [ + -29.215147018432617, + -14.914346694946289, + 0.033503249287605286, + 0.6485515236854553, + 0.2571829855442047, + 0.5108340382575989, + 0.5022811889648438 + ], + "box_yaw_rad": 1.1830744327358653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012402064828668813, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004222643128483857 + } + } + }, + { + "simulation_time_ns": 6700000000, + "center": [ + -29.23088726496303, + -14.913472147600821, + 0.030929520645669135 + ], + "face_center": [ + -29.24083861594327, + -14.934888421644194, + 0.08095386322127389 + ], + "face_normal": [ + -0.1798923740464886, + -0.38714586477171054, + 0.9042991010876378 + ], + "footprint_xy": [ + [ + -29.377692313988813, + -15.045414715005684 + ], + [ + -29.084082215937247, + -15.045414715005684 + ], + [ + -29.084082215937247, + -14.781529580195958 + ], + [ + -29.377692313988813, + -14.781529580195958 + ] + ], + "projected_box_corners": [ + [ + -29.35778961202833, + -14.911196578476416 + ], + [ + -29.136037207327956, + -15.002582166918938 + ], + [ + -29.377692313988813, + -14.954029126563162 + ], + [ + -29.15593990928844, + -15.045414715005684 + ], + [ + -29.305834620637622, + -14.781529580195958 + ], + [ + -29.084082215937247, + -14.872915168638478 + ], + [ + -29.32573732259811, + -14.824362128282704 + ], + [ + -29.103984917897733, + -14.915747716725225 + ] + ], + "yaw_rad": 1.1897037572090114, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.343721389770508, + -14.90127944946289, + 0.07777892053127289 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.241107595416896, + -14.93291828761501, + 0.08069188489122427 + ], + "intended_face_normal": [ + -0.17827509658169305, + -0.37307196397632225, + 0.9105137620824664 + ], + "commanded_contact_point": [ + -29.34119140625, + -14.925220476707326, + 0.03032375746586942 + ], + "centerline_face_intersection": [ + -29.361171743868095, + -14.912280558672386, + 0.03032375746586942 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.344013214111328, + -14.898834228515625, + 0.07670953869819641 + ], + "box_pose": [ + -29.21418571472168, + -14.915824890136719, + 0.03392597660422325, + 0.6499884128570557, + 0.25635868310928345, + 0.51385897397995, + 0.49773913621902466 + ], + "box_yaw_rad": 1.187700660248013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01293991803493924, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003252592948452562 + } + } + }, + { + "simulation_time_ns": 6720000000, + "center": [ + -29.229967337674683, + -14.914286964570078, + 0.03088841632946486 + ], + "face_center": [ + -29.23974655260506, + -14.935656309483623, + 0.08096675699280395 + ], + "face_normal": [ + -0.17678063949600187, + -0.3862975183920412, + 0.9052752342996797 + ], + "footprint_xy": [ + [ + -29.37661456571129, + -15.045965771225722 + ], + [ + -29.083320109638077, + -15.045965771225722 + ], + [ + -29.083320109638077, + -14.782608157914433 + ], + [ + -29.37661456571129, + -14.782608157914433 + ] + ], + "projected_box_corners": [ + [ + -29.357056135850534, + -14.912537871300321 + ], + [ + -29.13501087217907, + -15.003227081398634 + ], + [ + -29.37661456571129, + -14.955276561127409 + ], + [ + -29.154569302039825, + -15.045965771225722 + ], + [ + -29.30536537330954, + -14.782608157914433 + ], + [ + -29.083320109638077, + -14.873297368012746 + ], + [ + -29.324923803170293, + -14.825346847741521 + ], + [ + -29.10287853949883, + -14.916036057839834 + ] + ], + "yaw_rad": 1.1921565582672586, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.342695236206055, + -14.902541160583496, + 0.0783238410949707 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.24083861594327, + -14.934888421644194, + 0.08095386322127389 + ], + "intended_face_normal": [ + -0.1798923740464886, + -0.38714586477171054, + 0.9042991010876378 + ], + "commanded_contact_point": [ + -29.338990325927735, + -14.926899773561278, + 0.030929520645669135 + ], + "centerline_face_intersection": [ + -29.36064988918761, + -14.913472147600821, + 0.030929520645669135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.343721389770508, + -14.90127944946289, + 0.07777892053127289 + ], + "box_pose": [ + -29.21382713317871, + -14.917015075683594, + 0.03453247249126434, + 0.6524524092674255, + 0.2527974545955658, + 0.5175700783729553, + 0.49246373772621155 + ], + "box_yaw_rad": 1.1897037572090114, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.013427625960456454, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028340327342428638 + } + } + }, + { + "simulation_time_ns": 6740000000, + "center": [ + -29.22895298072, + -14.914564155119324, + 0.03059275678760652 + ], + "face_center": [ + -29.238599183428224, + -14.935376432897016, + 0.08093081986589257 + ], + "face_normal": [ + -0.17437615346518953, + -0.3762273148819304, + 0.9099702834352854 + ], + "footprint_xy": [ + [ + -29.375551791863842, + -15.046000400951804 + ], + [ + -29.082354169576156, + -15.046000400951804 + ], + [ + -29.082354169576156, + -14.783127909286844 + ], + [ + -29.375551791863842, + -14.783127909286844 + ] + ], + "projected_box_corners": [ + [ + -29.356259386447388, + -14.91379017182814 + ], + [ + -29.134181622116376, + -15.004375845396419 + ], + [ + -29.375551791863842, + -14.955414727383525 + ], + [ + -29.15347402753283, + -15.046000400951804 + ], + [ + -29.304431933907168, + -14.783127909286844 + ], + [ + -29.082354169576156, + -14.873713582855123 + ], + [ + -29.323724339323622, + -14.824752464842227 + ], + [ + -29.10164657499261, + -14.915338138410508 + ] + ], + "yaw_rad": 1.1931794528634858, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.341472625732422, + -14.902562141418457, + 0.07810637354850769 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.23974655260506, + -14.935656309483623, + 0.08096675699280395 + ], + "intended_face_normal": [ + -0.17678063949600187, + -0.3862975183920412, + 0.9052752342996797 + ], + "commanded_contact_point": [ + -29.337113494873048, + -14.928184422689997, + 0.03088841632946486 + ], + "centerline_face_intersection": [ + -29.35955881594466, + -14.914286964570078, + 0.03088841632946486 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.342695236206055, + -14.902541160583496, + 0.0783238410949707 + ], + "box_pose": [ + -29.212888717651367, + -14.917771339416504, + 0.03446075692772865, + 0.6522237062454224, + 0.2547309100627899, + 0.5174485445022583, + 0.49189791083335876 + ], + "box_yaw_rad": 1.1921565582672586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01389745811991972, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002274754438740166 + } + } + }, + { + "simulation_time_ns": 6760000000, + "center": [ + -29.228018077683732, + -14.913894987586492, + 0.030197867868996094 + ], + "face_center": [ + -29.23728298947913, + -14.933678834445457, + 0.08101993509771291 + ], + "face_normal": [ + -0.16748348857502293, + -0.3576361828959449, + 0.9187197141248689 + ], + "footprint_xy": [ + [ + -29.374526613840487, + -15.044970797097411 + ], + [ + -29.081509541526973, + -15.044970797097411 + ], + [ + -29.081509541526973, + -14.782819178075572 + ], + [ + -29.374526613840487, + -14.782819178075572 + ] + ], + "projected_box_corners": [ + [ + -29.355996790249694, + -14.914682176189437 + ], + [ + -29.133975494329885, + -15.005403103379479 + ], + [ + -29.374526613840487, + -14.954249869907368 + ], + [ + -29.15250531792068, + -15.044970797097411 + ], + [ + -29.303530837446782, + -14.782819178075572 + ], + [ + -29.081509541526973, + -14.873540105265615 + ], + [ + -29.32206066103758, + -14.822386871793505 + ], + [ + -29.10003936511777, + -14.913107798983546 + ] + ], + "yaw_rad": 1.1921168863266423, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.339994430541992, + -14.901115417480469, + 0.07754378020763397 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.238599183428224, + -14.935376432897016, + 0.08093081986589257 + ], + "intended_face_normal": [ + -0.17437615346518953, + -0.3762273148819304, + 0.9099702834352854 + ], + "commanded_contact_point": [ + -29.33517562866211, + -14.928941693787278, + 0.03059275678760652 + ], + "centerline_face_intersection": [ + -29.358525493522954, + -14.914564155119324, + 0.03059275678760652 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.341472625732422, + -14.902562141418457, + 0.07810637354850769 + ], + "box_pose": [ + -29.211864471435547, + -14.918004989624023, + 0.03415999561548233, + 0.6501069068908691, + 0.25830912590026855, + 0.515242338180542, + 0.49513909220695496 + ], + "box_yaw_rad": 1.1931794528634858, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014377538667954397, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021014755604011367 + } + } + }, + { + "simulation_time_ns": 6780000000, + "center": [ + -29.226280277470455, + -14.913642919693856, + 0.029957657258938713 + ], + "face_center": [ + -29.235464390406385, + -14.932888978088867, + 0.0810003889350641 + ], + "face_normal": [ + -0.16602287295821583, + -0.3479144834294132, + 0.9227087053071514 + ], + "footprint_xy": [ + [ + -29.372852399078294, + -15.044692905604458 + ], + [ + -29.079708155862615, + -15.044692905604458 + ], + [ + -29.079708155862615, + -14.782592933783254 + ], + [ + -29.372852399078294, + -14.782592933783254 + ] + ], + "projected_box_corners": [ + [ + -29.354484173206433, + -14.914913306840685 + ], + [ + -29.132703107210418, + -15.006200788814438 + ], + [ + -29.372852399078294, + -14.953405423630704 + ], + [ + -29.151071333082278, + -15.044692905604458 + ], + [ + -29.30148922185863, + -14.782592933783254 + ], + [ + -29.079708155862615, + -14.873880415757007 + ], + [ + -29.319857447730488, + -14.821085050573274 + ], + [ + -29.098076381734476, + -14.912372532547028 + ] + ], + "yaw_rad": 1.1898548087430334, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.337886810302734, + -14.900274276733398, + 0.07683858275413513 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.23728298947913, + -14.933678834445457, + 0.08101993509771291 + ], + "intended_face_normal": [ + -0.16748348857502293, + -0.3576361828959449, + 0.9187197141248689 + ], + "commanded_contact_point": [ + -29.333327407836915, + -14.928783709058687, + 0.030197867868996094 + ], + "centerline_face_intersection": [ + -29.35762354567643, + -14.913894987586492, + 0.030197867868996094 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.339994430541992, + -14.901115417480469, + 0.07754378020763397 + ], + "box_pose": [ + -29.210905075073242, + -14.917283058166504, + 0.03369756042957306, + 0.6472766995429993, + 0.265103816986084, + 0.5097557902336121, + 0.5009011626243591 + ], + "box_yaw_rad": 1.1921168863266423, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014888721472195315, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018965275245023893 + } + } + }, + { + "simulation_time_ns": 6800000000, + "center": [ + -29.224173695233272, + -14.91436451075124, + 0.029890250234855673 + ], + "face_center": [ + -29.23352451705591, + -14.933668404630579, + 0.08088086695302962 + ], + "face_normal": [ + -0.16903649969732015, + -0.3489599859547212, + 0.921766613773265 + ], + "footprint_xy": [ + [ + -29.370907932846553, + -15.045690000877828 + ], + [ + -29.077439457619995, + -15.045690000877828 + ], + [ + -29.077439457619995, + -14.783039020624651 + ], + [ + -29.370907932846553, + -14.783039020624651 + ] + ], + "projected_box_corners": [ + [ + -29.352206289201284, + -14.915091782778388 + ], + [ + -29.13072360225451, + -15.00708221311915 + ], + [ + -29.370907932846553, + -14.953699570537065 + ], + [ + -29.14942524589978, + -15.045690000877828 + ], + [ + -29.298922144566767, + -14.783039020624651 + ], + [ + -29.077439457619995, + -14.875029450965414 + ], + [ + -29.31762378821204, + -14.821646808383328 + ], + [ + -29.096141101265264, + -14.91363723872409 + ] + ], + "yaw_rad": 1.1872707857346925, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.335643768310547, + -14.900885581970215, + 0.07644857466220856 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.235464390406385, + -14.932888978088867, + 0.0810003889350641 + ], + "intended_face_normal": [ + -0.16602287295821583, + -0.3479144834294132, + 0.9227087053071514 + ], + "commanded_contact_point": [ + -29.33176338195801, + -14.928642919693857, + 0.029957657258938713 + ], + "centerline_face_intersection": [ + -29.356026132161897, + -14.913642919693856, + 0.029957657258938713 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.337886810302734, + -14.900274276733398, + 0.07683858275413513 + ], + "box_pose": [ + -29.20916748046875, + -14.917043685913086, + 0.03344600647687912, + 0.6457972526550293, + 0.2674230933189392, + 0.5068561434745789, + 0.5045071244239807 + ], + "box_yaw_rad": 1.1898548087430334, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015886156653897472 + } + } + }, + { + "simulation_time_ns": 6820000000, + "center": [ + -29.22287785161571, + -14.915310761035576, + 0.029762488521715043 + ], + "face_center": [ + -29.232176980761658, + -14.934488920673783, + 0.0808099681284479 + ], + "face_normal": [ + -0.16810204181831523, + -0.3466870653049483, + 0.9227945345086823 + ], + "footprint_xy": [ + [ + -29.369542634368976, + -15.046452588580959 + ], + [ + -29.07621306886244, + -15.046452588580959 + ], + [ + -29.07621306886244, + -14.784168933490193 + ], + [ + -29.369542634368976, + -14.784168933490193 + ] + ], + "projected_box_corners": [ + [ + -29.35094437607708, + -14.916468804790252 + ], + [ + -29.129315503135903, + -15.008096269304545 + ], + [ + -29.369542634368976, + -14.954825124066666 + ], + [ + -29.147913761427795, + -15.046452588580959 + ], + [ + -29.297841941803622, + -14.784168933490193 + ], + [ + -29.07621306886244, + -14.875796398004486 + ], + [ + -29.316440200095517, + -14.822525252766608 + ], + [ + -29.094811327154336, + -14.9141527172809 + ] + ], + "yaw_rad": 1.1891014342259327, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.33425521850586, + -14.902138710021973, + 0.07644772529602051 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.23352451705591, + -14.933668404630579, + 0.08088086695302962 + ], + "intended_face_normal": [ + -0.16903649969732015, + -0.3489599859547212, + 0.921766613773265 + ], + "commanded_contact_point": [ + -29.33044158935547, + -14.92936451075124, + 0.029890250234855673 + ], + "centerline_face_intersection": [ + -29.35409434211863, + -14.91436451075124, + 0.029890250234855673 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.335643768310547, + -14.900885581970215, + 0.07644857466220856 + ], + "box_pose": [ + -29.20707893371582, + -14.917824745178223, + 0.03340843319892883, + 0.6461148858070374, + 0.26545506715774536, + 0.5069670081138611, + 0.5050283670425415 + ], + "box_yaw_rad": 1.1872707857346925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001507439234303608 + } + } + }, + { + "simulation_time_ns": 6840000000, + "center": [ + -29.22216975872301, + -14.9166543312354, + 0.029828948224149544 + ], + "face_center": [ + -29.231506249028055, + -14.93619850534148, + 0.08073056687660018 + ], + "face_normal": [ + -0.1687774262581314, + -0.35330357513280575, + 0.9201577796199629 + ], + "footprint_xy": [ + [ + -29.368690742119128, + -15.047590257964114 + ], + [ + -29.07564877532689, + -15.047590257964114 + ], + [ + -29.07564877532689, + -14.785718404506683 + ], + [ + -29.368690742119128, + -14.785718404506683 + ] + ], + "projected_box_corners": [ + [ + -29.350017761509037, + -14.917890817578394 + ], + [ + -29.127971125211662, + -15.008501909751953 + ], + [ + -29.368690742119128, + -14.956979165790557 + ], + [ + -29.146644105821753, + -15.047590257964114 + ], + [ + -29.297695411624264, + -14.785718404506683 + ], + [ + -29.07564877532689, + -14.876329496680242 + ], + [ + -29.316368392234352, + -14.824806752718846 + ], + [ + -29.094321755936978, + -14.915417844892403 + ] + ], + "yaw_rad": 1.193860218726989, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.33363914489746, + -14.904587745666504, + 0.07653996348381042 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.232176980761658, + -14.934488920673783, + 0.0808099681284479 + ], + "intended_face_normal": [ + -0.16810204181831523, + -0.3466870653049483, + 0.9227945345086823 + ], + "commanded_contact_point": [ + -29.329054946899415, + -14.930310761035576, + 0.029762488521715043 + ], + "centerline_face_intersection": [ + -29.352712803082834, + -14.915310761035576, + 0.029762488521715043 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.33425521850586, + -14.902138710021973, + 0.07644772529602051 + ], + "box_pose": [ + -29.20577621459961, + -14.918734550476074, + 0.03328290954232216, + 0.6453189253807068, + 0.26676440238952637, + 0.5068599581718445, + 0.5054633617401123 + ], + "box_yaw_rad": 1.1891014342259327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00168359435639481 + } + } + }, + { + "simulation_time_ns": 6860000000, + "center": [ + -29.22132020878644, + -14.917830385785084, + 0.029132680043569892 + ], + "face_center": [ + -29.231021649094632, + -14.937609700660142, + 0.07987499110044527 + ], + "face_normal": [ + -0.175374693564315, + -0.35755425740200764, + 0.9172779473611499 + ], + "footprint_xy": [ + [ + -29.367823377717738, + -15.048546567939987 + ], + [ + -29.074817039855144, + -15.048546567939987 + ], + [ + -29.074817039855144, + -14.787114203630184 + ], + [ + -29.367823377717738, + -14.787114203630184 + ] + ], + "projected_box_corners": [ + [ + -29.348420497101355, + -14.919265197332063 + ], + [ + -29.126061893585312, + -15.00898793818987 + ], + [ + -29.367823377717738, + -14.958823827082178 + ], + [ + -29.145464774201695, + -15.048546567939987 + ], + [ + -29.297175643371187, + -14.787114203630184 + ], + [ + -29.074817039855144, + -14.87683694448799 + ], + [ + -29.31657852398757, + -14.826672833380298 + ], + [ + -29.094219920471527, + -14.916395574238107 + ] + ], + "yaw_rad": 1.2008729480802822, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.33205795288086, + -14.90767765045166, + 0.07378529012203217 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.231506249028055, + -14.93619850534148, + 0.08073056687660018 + ], + "intended_face_normal": [ + -0.1687774262581314, + -0.35330357513280575, + 0.9201577796199629 + ], + "commanded_contact_point": [ + -29.327731246948243, + -14.9316543312354, + 0.029828948224149544 + ], + "centerline_face_intersection": [ + -29.35176043589722, + -14.9166543312354, + 0.029828948224149544 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.33363914489746, + -14.904587745666504, + 0.07653996348381042 + ], + "box_pose": [ + -29.205060958862305, + -14.920019149780273, + 0.033371347934007645, + 0.6456319093704224, + 0.2660539746284485, + 0.509716808795929, + 0.5025568008422852 + ], + "box_yaw_rad": 1.193860218726989, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001887267690242784 + } + } + }, + { + "simulation_time_ns": 6880000000, + "center": [ + -29.221036948063198, + -14.918151282276165, + 0.028658666867094357 + ], + "face_center": [ + -29.231098554455993, + -14.93812666067657, + 0.07925382210075299 + ], + "face_normal": [ + -0.18188548110853375, + -0.36109853326048835, + 0.9146177848921759 + ], + "footprint_xy": [ + [ + -29.367599775124756, + -15.048840739975462 + ], + [ + -29.07447412100164, + -15.048840739975462 + ], + [ + -29.07447412100164, + -14.787461824576866 + ], + [ + -29.367599775124756, + -14.787461824576866 + ] + ], + "projected_box_corners": [ + [ + -29.347476562339168, + -14.919467141926761 + ], + [ + -29.12504860450542, + -15.008889983174655 + ], + [ + -29.367599775124756, + -14.959417898727569 + ], + [ + -29.14517181729101, + -15.048840739975462 + ], + [ + -29.296902078835384, + -14.787461824576866 + ], + [ + -29.07447412100164, + -14.87688466582476 + ], + [ + -29.317025291620975, + -14.827412581377676 + ], + [ + -29.09459733378723, + -14.916835422625569 + ] + ], + "yaw_rad": 1.204921820409554, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.329471588134766, + -14.910297393798828, + 0.07122355699539185 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.231021649094632, + -14.937609700660142, + 0.07987499110044527 + ], + "intended_face_normal": [ + -0.175374693564315, + -0.35755425740200764, + 0.9172779473611499 + ], + "commanded_contact_point": [ + -29.32652770996094, + -14.932830385785085, + 0.029132680043569892 + ], + "centerline_face_intersection": [ + -29.3507290713491, + -14.917830385785084, + 0.029132680043569892 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.33205795288086, + -14.90767765045166, + 0.07378529012203217 + ], + "box_pose": [ + -29.2042293548584, + -14.921138763427734, + 0.03281222656369209, + 0.6438088417053223, + 0.2641916871070862, + 0.5140888094902039, + 0.5014236569404602 + ], + "box_yaw_rad": 1.2008729480802822, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018210971865698278 + } + } + }, + { + "simulation_time_ns": 6900000000, + "center": [ + -29.22109759177479, + -14.918427028042954, + 0.028648417417432702 + ], + "face_center": [ + -29.231327190477106, + -14.938754559907727, + 0.07906932360796887 + ], + "face_normal": [ + -0.18492230851431657, + -0.3674644752175027, + 0.9114678533798752 + ], + "footprint_xy": [ + [ + -29.367691928526035, + -15.049242386453656 + ], + [ + -29.074503255023547, + -15.049242386453656 + ], + [ + -29.074503255023547, + -14.787611669632252 + ], + [ + -29.367691928526035, + -14.787611669632252 + ] + ], + "projected_box_corners": [ + [ + -29.3472327311214, + -14.919210224308404 + ], + [ + -29.12479321387117, + -15.008587322724107 + ], + [ + -29.367691928526035, + -14.959865288037951 + ], + [ + -29.1452524112758, + -15.049242386453656 + ], + [ + -29.29694277227378, + -14.787611669632252 + ], + [ + -29.074503255023547, + -14.876988768047955 + ], + [ + -29.31740196967841, + -14.828266733361799 + ], + [ + -29.094962452428177, + -14.917643831777504 + ] + ], + "yaw_rad": 1.2057747889242685, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.328201293945312, + -14.91185188293457, + 0.07046233117580414 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.231098554455993, + -14.93812666067657, + 0.07925382210075299 + ], + "intended_face_normal": [ + -0.18188548110853375, + -0.36109853326048835, + 0.9146177848921759 + ], + "commanded_contact_point": [ + -29.325162048339845, + -14.933151282276166, + 0.028658666867094357 + ], + "centerline_face_intersection": [ + -29.35040546019754, + -14.918151282276165, + 0.028658666867094357 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.329471588134766, + -14.910297393798828, + 0.07122355699539185 + ], + "box_pose": [ + -29.203969955444336, + -14.92144775390625, + 0.03245771303772926, + 0.6425284743309021, + 0.2618178427219391, + 0.5174035429954529, + 0.5009014010429382 + ], + "box_yaw_rad": 1.204921820409554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014807750378733452 + } + } + }, + { + "simulation_time_ns": 6920000000, + "center": [ + -29.220923866172097, + -14.918519340295607, + 0.028650242343540307 + ], + "face_center": [ + -29.23114369522444, + -14.938820350708925, + 0.07908381632378697 + ], + "face_normal": [ + -0.1847457007822939, + -0.36698504213600813, + 0.9116968513088466 + ], + "footprint_xy": [ + [ + -29.367495036205117, + -15.049276361371195 + ], + [ + -29.074352696139076, + -15.049276361371195 + ], + [ + -29.074352696139076, + -14.78776231922002 + ], + [ + -29.367495036205117, + -14.78776231922002 + ] + ], + "projected_box_corners": [ + [ + -29.34705537810043, + -14.919430148655152 + ], + [ + -29.12456517895923, + -15.008674340544559 + ], + [ + -29.367495036205117, + -14.960032169481789 + ], + [ + -29.14500483706392, + -15.049276361371195 + ], + [ + -29.296842895280275, + -14.78776231922002 + ], + [ + -29.074352696139076, + -14.877006511109427 + ], + [ + -29.31728255338496, + -14.828364340046656 + ], + [ + -29.09479235424376, + -14.917608531936063 + ] + ], + "yaw_rad": 1.2064638492343753, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.32771110534668, + -14.91207218170166, + 0.0703706294298172 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.231327190477106, + -14.938754559907727, + 0.07906932360796887 + ], + "intended_face_normal": [ + -0.18492230851431657, + -0.3674644752175027, + 0.9114678533798752 + ], + "commanded_contact_point": [ + -29.32380973815918, + -14.933427028042955, + 0.028648417417432702 + ], + "centerline_face_intersection": [ + -29.350459381072604, + -14.918427028042954, + 0.028648417417432702 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.328201293945312, + -14.91185188293457, + 0.07046233117580414 + ], + "box_pose": [ + -29.204042434692383, + -14.921741485595703, + 0.03248478099703789, + 0.6432716846466064, + 0.2593114674091339, + 0.5195515155792236, + 0.4990243911743164 + ], + "box_yaw_rad": 1.2057747889242685, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013801752076631785 + } + } + }, + { + "simulation_time_ns": 6940000000, + "center": [ + -29.220398580818923, + -14.918438590180061, + 0.02866783618071439 + ], + "face_center": [ + -29.230430168241114, + -14.938379968176053, + 0.07928234214372254 + ], + "face_normal": [ + -0.18134282273993563, + -0.36048390179178114, + 0.9149675915314077 + ], + "footprint_xy": [ + [ + -29.366909663757017, + -15.04901431931059 + ], + [ + -29.07388749788083, + -15.04901431931059 + ], + [ + -29.07388749788083, + -14.787862861049534 + ], + [ + -29.366909663757017, + -14.787862861049534 + ] + ], + "projected_box_corners": [ + [ + -29.346846488912636, + -14.919985793023075 + ], + [ + -29.124309630877942, + -15.00913156331861 + ], + [ + -29.366909663757017, + -14.959868549015056 + ], + [ + -29.144372805722327, + -15.04901431931059 + ], + [ + -29.296424355915523, + -14.787862861049534 + ], + [ + -29.07388749788083, + -14.877008631345069 + ], + [ + -29.316487530759904, + -14.827745617041513 + ], + [ + -29.09395067272521, + -14.916891387337047 + ] + ], + "yaw_rad": 1.2062253748733855, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.326831817626953, + -14.91176986694336, + 0.07074066996574402 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.23114369522444, + -14.938820350708925, + 0.07908381632378697 + ], + "intended_face_normal": [ + -0.1847457007822939, + -0.36698504213600813, + 0.9116968513088466 + ], + "commanded_contact_point": [ + -29.322692031860353, + -14.933519340295607, + 0.028650242343540307 + ], + "centerline_face_intersection": [ + -29.350256187654583, + -14.918519340295607, + 0.028650242343540307 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.32771110534668, + -14.91207218170166, + 0.0703706294298172 + ], + "box_pose": [ + -29.203866958618164, + -14.921821594238281, + 0.0324893482029438, + 0.6430280208587646, + 0.2596527934074402, + 0.5196224451065063, + 0.4990871250629425 + ], + "box_yaw_rad": 1.2064638492343753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011215133761062158 + } + } + }, + { + "simulation_time_ns": 6960000000, + "center": [ + -29.219822687487955, + -14.918189469160811, + 0.028669504983247395 + ], + "face_center": [ + -29.229600850988867, + -14.937710720204434, + 0.07949694860130004 + ], + "face_normal": [ + -0.17676163261515399, + -0.3528891907809566, + 0.9188169040886578 + ], + "footprint_xy": [ + [ + -29.3662856135258, + -15.048632011892774 + ], + [ + -29.073359761450106, + -15.048632011892774 + ], + [ + -29.073359761450106, + -14.787746926428847 + ], + [ + -29.3662856135258, + -14.787746926428847 + ] + ], + "projected_box_corners": [ + [ + -29.346729286523974, + -14.920324811722226 + ], + [ + -29.124221906362457, + -15.00958950980553 + ], + [ + -29.3662856135258, + -14.959367313809471 + ], + [ + -29.143778233364284, + -15.048632011892774 + ], + [ + -29.295867141611627, + -14.787746926428847 + ], + [ + -29.073359761450106, + -14.87701162451215 + ], + [ + -29.315423468613453, + -14.826789428516093 + ], + [ + -29.092916088451933, + -14.916054126599395 + ] + ], + "yaw_rad": 1.2044726914033137, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.324928283691406, + -14.911309242248535, + 0.07121078670024872 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.230430168241114, + -14.938379968176053, + 0.07928234214372254 + ], + "intended_face_normal": [ + -0.18134282273993563, + -0.36048390179178114, + 0.9149675915314077 + ], + "commanded_contact_point": [ + -29.321536178588868, + -14.933438590180062, + 0.02866783618071439 + ], + "centerline_face_intersection": [ + -29.349703785431572, + -14.918438590180061, + 0.02866783618071439 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.326831817626953, + -14.91176986694336, + 0.07074066996574402 + ], + "box_pose": [ + -29.203327178955078, + -14.921710968017578, + 0.03246789053082466, + 0.6421718597412109, + 0.2624709904193878, + 0.5175492763519287, + 0.5008661150932312 + ], + "box_yaw_rad": 1.2062253748733855, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011588040858869207 + } + } + }, + { + "simulation_time_ns": 6980000000, + "center": [ + -29.217714854718192, + -14.917976351017257, + 0.028675801873462192 + ], + "face_center": [ + -29.22735203567175, + -14.937044793635696, + 0.07970168139977057 + ], + "face_normal": [ + -0.174213065571994, + -0.34470369086677977, + 0.9224040659426684 + ], + "footprint_xy": [ + [ + -29.364220896012, + -15.04840348083847 + ], + [ + -29.071208813424384, + -15.04840348083847 + ], + [ + -29.071208813424384, + -14.787549221196047 + ], + [ + -29.364220896012, + -14.787549221196047 + ] + ], + "projected_box_corners": [ + [ + -29.34494653410489, + -14.920499652270315 + ], + [ + -29.122638196689387, + -15.010266595601594 + ], + [ + -29.364220896012, + -14.958636537507193 + ], + [ + -29.141912558596502, + -15.04840348083847 + ], + [ + -29.293517150839882, + -14.787549221196047 + ], + [ + -29.071208813424384, + -14.877316164527324 + ], + [ + -29.312791512746998, + -14.825686106432922 + ], + [ + -29.090483175331496, + -14.915453049764201 + ] + ], + "yaw_rad": 1.2016935997696525, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.321704864501953, + -14.910623550415039, + 0.07130762934684753 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.229600850988867, + -14.937710720204434, + 0.07949694860130004 + ], + "intended_face_normal": [ + -0.17676163261515399, + -0.3528891907809566, + 0.9188169040886578 + ], + "commanded_contact_point": [ + -29.32035743713379, + -14.933189469160812, + 0.028669504983247395 + ], + "centerline_face_intersection": [ + -29.349145022509582, + -14.918189469160811, + 0.028669504983247395 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.324928283691406, + -14.911309242248535, + 0.07121078670024872 + ], + "box_pose": [ + -29.202733993530273, + -14.921445846557617, + 0.03240504115819931, + 0.6416225433349609, + 0.2656285762786865, + 0.5145533084869385, + 0.5029879212379456 + ], + "box_yaw_rad": 1.2044726914033137, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012047802642198692 + } + } + }, + { + "simulation_time_ns": 7000000000, + "center": [ + -29.214264531964687, + -14.917967888065162, + 0.028740806007570896 + ], + "face_center": [ + -29.22394424255202, + -14.936978923377609, + 0.07978004650452694 + ], + "face_normal": [ + -0.17498188146461047, + -0.3436659285988597, + 0.9226455946289889 + ], + "footprint_xy": [ + [ + -29.360963223833625, + -15.048789239391022 + ], + [ + -29.067565840095753, + -15.048789239391022 + ], + [ + -29.067565840095753, + -14.7871465367393 + ], + [ + -29.360963223833625, + -14.7871465367393 + ] + ], + "projected_box_corners": [ + [ + -29.34160380265897, + -14.919831659871237 + ], + [ + -29.11976193840524, + -15.010767168766124 + ], + [ + -29.360963223833625, + -14.957853730496135 + ], + [ + -29.139121359579896, + -15.048789239391022 + ], + [ + -29.289407704349482, + -14.7871465367393 + ], + [ + -29.067565840095753, + -14.878082045634187 + ], + [ + -29.308767125524138, + -14.825168607364198 + ], + [ + -29.08692526127041, + -14.916104116259085 + ] + ], + "yaw_rad": 1.1960070700971297, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.3172550201416, + -14.910150527954102, + 0.0709574818611145 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.22735203567175, + -14.937044793635696, + 0.07970168139977057 + ], + "intended_face_normal": [ + -0.174213065571994, + -0.34470369086677977, + 0.9224040659426684 + ], + "commanded_contact_point": [ + -29.319228286743165, + -14.932976351017258, + 0.028675801873462192 + ], + "centerline_face_intersection": [ + -29.347152977896858, + -14.917976351017257, + 0.028675801873462192 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.321704864501953, + -14.910623550415039, + 0.07130762934684753 + ], + "box_pose": [ + -29.200620651245117, + -14.921245574951172, + 0.032374732196331024, + 0.6408087611198425, + 0.26790133118629456, + 0.5115818381309509, + 0.505842924118042 + ], + "box_yaw_rad": 1.2016935997696525, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011491038241111637 + } + } + }, + { + "simulation_time_ns": 7020000000, + "center": [ + -29.210486404582618, + -14.91819527049695, + 0.028761030556879293 + ], + "face_center": [ + -29.22024466917158, + -14.937171623336125, + 0.07979821452766955 + ], + "face_normal": [ + -0.17640191637974567, + -0.34303896724783556, + 0.9226084184330148 + ], + "footprint_xy": [ + [ + -29.357392940366996, + -15.049436011104836 + ], + [ + -29.06357986879824, + -15.049436011104836 + ], + [ + -29.06357986879824, + -14.786954529889064 + ], + [ + -29.357392940366996, + -14.786954529889064 + ] + ], + "projected_box_corners": [ + [ + -29.33787641118907, + -14.91932970444845 + ], + [ + -29.116532478764665, + -15.011483305426488 + ], + [ + -29.357392940366996, + -14.957282410126798 + ], + [ + -29.13604900794259, + -15.049436011104836 + ], + [ + -29.28492380122265, + -14.786954529889064 + ], + [ + -29.06357986879824, + -14.8791081308671 + ], + [ + -29.304440330400574, + -14.824907235567412 + ], + [ + -29.083096397976163, + -14.917060836545451 + ] + ], + "yaw_rad": 1.1902734075802799, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.31280517578125, + -14.90990161895752, + 0.07059153914451599 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.22394424255202, + -14.936978923377609, + 0.07978004650452694 + ], + "intended_face_normal": [ + -0.17498188146461047, + -0.3436659285988597, + 0.9226455946289889 + ], + "commanded_contact_point": [ + -29.318293685913087, + -14.932967888065162, + 0.028740806007570896 + ], + "centerline_face_intersection": [ + -29.343974828345537, + -14.917967888065162, + 0.028740806007570896 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.3172550201416, + -14.910150527954102, + 0.0709574818611145 + ], + "box_pose": [ + -29.19718360900879, + -14.921326637268066, + 0.03242082521319389, + 0.6417689919471741, + 0.266531765460968, + 0.5098681449890137, + 0.507077693939209 + ], + "box_yaw_rad": 1.1960070700971297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009368969370171483 + } + } + }, + { + "simulation_time_ns": 7040000000, + "center": [ + -29.20786957570842, + -14.918517860398806, + 0.028812769008858204 + ], + "face_center": [ + -29.217711699477622, + -14.93746601837955, + 0.07984433510520167 + ], + "face_normal": [ + -0.17791785396946125, + -0.3425292836853444, + 0.9225068630991373 + ], + "footprint_xy": [ + [ + -29.354915677934468, + -15.050015771432486 + ], + [ + -29.06082347348237, + -15.050015771432486 + ], + [ + -29.06082347348237, + -14.787019949365126 + ], + [ + -29.354915677934468, + -14.787019949365126 + ] + ], + "projected_box_corners": [ + [ + -29.33523143039606, + -14.919206541089377 + ], + [ + -29.1142077575366, + -15.012119455471002 + ], + [ + -29.354915677934468, + -14.957102857050863 + ], + [ + -29.13389200507501, + -15.050015771432486 + ], + [ + -29.28184714634183, + -14.787019949365126 + ], + [ + -29.06082347348237, + -14.879932863746749 + ], + [ + -29.30153139388024, + -14.82491626532661 + ], + [ + -29.08050772102078, + -14.917829179708235 + ] + ], + "yaw_rad": 1.1869706551711434, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.309846878051758, + -14.909934043884277, + 0.07035399973392487 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.22024466917158, + -14.937171623336125, + 0.07979821452766955 + ], + "intended_face_normal": [ + -0.17640191637974567, + -0.34303896724783556, + 0.9226084184330148 + ], + "commanded_contact_point": [ + -29.317511672973634, + -14.93319527049695, + 0.028761030556879293 + ], + "centerline_face_intersection": [ + -29.340488495206262, + -14.91819527049695, + 0.028761030556879293 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.31280517578125, + -14.90990161895752, + 0.07059153914451599 + ], + "box_pose": [ + -29.193422317504883, + -14.921648979187012, + 0.03243124485015869, + 0.6427176594734192, + 0.26480531692504883, + 0.5083635449409485, + 0.5082898139953613 + ], + "box_yaw_rad": 1.1902734075802799, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008146508700988213 + } + } + }, + { + "simulation_time_ns": 7060000000, + "center": [ + -29.206739280382727, + -14.918742445326064, + 0.02879943747305705 + ], + "face_center": [ + -29.216626817731655, + -14.937641432243884, + 0.07984046145553789 + ], + "face_normal": [ + -0.1787388034753974, + -0.3416404094750831, + 0.9226778350198437 + ], + "footprint_xy": [ + [ + -29.353881882018385, + -15.050415513353997 + ], + [ + -29.05959667874707, + -15.050415513353997 + ], + [ + -29.05959667874707, + -14.787069377298133 + ], + [ + -29.353881882018385, + -14.787069377298133 + ] + ], + "projected_box_corners": [ + [ + -29.334106807320527, + -14.919148252346497 + ], + [ + -29.11331904773786, + -15.012617539518358 + ], + [ + -29.353881882018385, + -14.956946226182136 + ], + [ + -29.13309412243572, + -15.050415513353997 + ], + [ + -29.280384438329733, + -14.787069377298133 + ], + [ + -29.05959667874707, + -14.880538664469992 + ], + [ + -29.300159513027594, + -14.824867351133772 + ], + [ + -29.079371753444928, + -14.918336638305632 + ] + ], + "yaw_rad": 1.1844891968657087, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.308629989624023, + -14.909862518310547, + 0.07027201354503632 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.217711699477622, + -14.93746601837955, + 0.07984433510520167 + ], + "intended_face_normal": [ + -0.17791785396946125, + -0.3425292836853444, + 0.9225068630991373 + ], + "commanded_contact_point": [ + -29.316714401245118, + -14.933517860398807, + 0.028812769008858204 + ], + "centerline_face_intersection": [ + -29.338060037163327, + -14.918517860398806, + 0.028812769008858204 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.309846878051758, + -14.909934043884277, + 0.07035399973392487 + ], + "box_pose": [ + -29.190818786621094, + -14.922030448913574, + 0.03248890861868858, + 0.643103837966919, + 0.2635822892189026, + 0.5076239705085754, + 0.5091755390167236 + ], + "box_yaw_rad": 1.1869706551711434, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008616166904621257 + } + } + }, + { + "simulation_time_ns": 7080000000, + "center": [ + -29.206968753041792, + -14.919298485637704, + 0.029178706443944748 + ], + "face_center": [ + -29.217198890367122, + -14.93904155597148, + 0.07983121372059448 + ], + "face_normal": [ + -0.18493204530012974, + -0.3568990582647089, + 0.9156545481608589 + ], + "footprint_xy": [ + [ + -29.354211100025584, + -15.05135277634244 + ], + [ + -29.059726406057997, + -15.05135277634244 + ], + [ + -29.059726406057997, + -14.787244194932967 + ], + [ + -29.354211100025584, + -14.787244194932967 + ] + ], + "projected_box_corners": [ + [ + -29.33375082537492, + -14.918340403582455 + ], + [ + -29.11298613648515, + -15.011866635674886 + ], + [ + -29.354211100025584, + -14.95782654425001 + ], + [ + -29.133446411135818, + -15.05135277634244 + ], + [ + -29.280491094947767, + -14.787244194932967 + ], + [ + -29.059726406057997, + -14.880770427025398 + ], + [ + -29.30095136959843, + -14.82673033560052 + ], + [ + -29.080186680708664, + -14.920256567692952 + ] + ], + "yaw_rad": 1.1849012457790278, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.309131622314453, + -14.910954475402832, + 0.06986834108829498 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.216626817731655, + -14.937641432243884, + 0.07984046145553789 + ], + "intended_face_normal": [ + -0.1787388034753974, + -0.3416404094750831, + 0.9226778350198437 + ], + "commanded_contact_point": [ + -29.315791244506837, + -14.933742445326065, + 0.02879943747305705 + ], + "centerline_face_intersection": [ + -29.33706885126303, + -14.918742445326064, + 0.02879943747305705 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.308629989624023, + -14.909862518310547, + 0.07027201354503632 + ], + "box_pose": [ + -29.189697265625, + -14.922296524047852, + 0.03247638791799545, + 0.6433298587799072, + 0.26289960741996765, + 0.5068992972373962, + 0.5099643468856812 + ], + "box_yaw_rad": 1.1844891968657087, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009501760272877648 + } + } + }, + { + "simulation_time_ns": 7100000000, + "center": [ + -29.206942060127346, + -14.919123071998307, + 0.02926037418400942 + ], + "face_center": [ + -29.21713608358918, + -14.9385880175127, + 0.08002767417453172 + ], + "face_normal": [ + -0.18427920844878187, + -0.35187134553107313, + 0.9177296768406507 + ], + "footprint_xy": [ + [ + -29.354184292992084, + -15.05107211611842 + ], + [ + -29.059699827262605, + -15.05107211611842 + ], + [ + -29.059699827262605, + -14.787174027878194 + ], + [ + -29.354184292992084, + -14.787174027878194 + ] + ], + "projected_box_corners": [ + [ + -29.333796246068417, + -14.918584752592924 + ], + [ + -29.113056814377607, + -15.012142225089635 + ], + [ + -29.354184292992084, + -14.95751464362171 + ], + [ + -29.133444861301278, + -15.05107211611842 + ], + [ + -29.28043925895341, + -14.787174027878194 + ], + [ + -29.059699827262605, + -14.880731500374905 + ], + [ + -29.300827305877082, + -14.82610391890698 + ], + [ + -29.080087874186273, + -14.91966139140369 + ] + ], + "yaw_rad": 1.1851006086068199, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.309093475341797, + -14.910517692565918, + 0.07001212239265442 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.217198890367122, + -14.93904155597148, + 0.07983121372059448 + ], + "intended_face_normal": [ + -0.18493204530012974, + -0.3568990582647089, + 0.9156545481608589 + ], + "commanded_contact_point": [ + -29.314929122924806, + -14.934298485637704, + 0.029178706443944748 + ], + "centerline_face_intersection": [ + -29.337311943824446, + -14.919298485637704, + 0.029178706443944748 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.309131622314453, + -14.910954475402832, + 0.06986834108829498 + ], + "box_pose": [ + -29.189950942993164, + -14.922907829284668, + 0.03291347250342369, + 0.6457311511039734, + 0.2570606470108032, + 0.5113519430160522, + 0.5054407119750977 + ], + "box_yaw_rad": 1.1849012457790278, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010937455840600093 + } + } + }, + { + "simulation_time_ns": 7120000000, + "center": [ + -29.207138525874463, + -14.918903855215008, + 0.030523359175547316 + ], + "face_center": [ + -29.21757375111544, + -14.938128577214988, + 0.08133317870106815 + ], + "face_normal": [ + -0.18863945669654214, + -0.34752878155203604, + 0.9184983101759059 + ], + "footprint_xy": [ + [ + -29.354442687497567, + -15.050704040942383 + ], + [ + -29.05983436425136, + -15.050704040942383 + ], + [ + -29.05983436425136, + -14.787103669487632 + ], + [ + -29.354442687497567, + -14.787103669487632 + ] + ], + "projected_box_corners": [ + [ + -29.33357223701561, + -14.918828316360878 + ], + [ + -29.112841159880155, + -15.012254596942423 + ], + [ + -29.354442687497567, + -14.957277760360839 + ], + [ + -29.133711610362113, + -15.050704040942383 + ], + [ + -29.280565441386813, + -14.787103669487632 + ], + [ + -29.05983436425136, + -14.880529950069176 + ], + [ + -29.30143589186877, + -14.825553113487592 + ], + [ + -29.080704814733316, + -14.918979394069137 + ] + ], + "yaw_rad": 1.1882174858989585, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.30940818786621, + -14.910157203674316, + 0.07092711329460144 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.21713608358918, + -14.9385880175127, + 0.08002767417453172 + ], + "intended_face_normal": [ + -0.18427920844878187, + -0.35187134553107313, + 0.9177296768406507 + ], + "commanded_contact_point": [ + -29.3138533782959, + -14.934123071998307, + 0.02926037418400942 + ], + "centerline_face_intersection": [ + -29.33730016489196, + -14.919123071998307, + 0.02926037418400942 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.309093475341797, + -14.910517692565918, + 0.07001212239265442 + ], + "box_pose": [ + -29.189922332763672, + -14.922718048095703, + 0.03300025686621666, + 0.6446207165718079, + 0.25854650139808655, + 0.5102938413619995, + 0.5071666836738586 + ], + "box_yaw_rad": 1.1851006086068199, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010930078093382568 + } + } + }, + { + "simulation_time_ns": 7140000000, + "center": [ + -29.207008981747006, + -14.918949914226413, + 0.03014449665279974 + ], + "face_center": [ + -29.217280234731696, + -14.93820807159439, + 0.08097505448512866 + ], + "face_normal": [ + -0.18567530052114734, + -0.34813319875508597, + 0.9188732003041729 + ], + "footprint_xy": [ + [ + -29.354273081255485, + -15.050792312456808 + ], + [ + -29.059744882238526, + -15.050792312456808 + ], + [ + -29.059744882238526, + -14.78710751599602 + ], + [ + -29.354273081255485, + -14.78710751599602 + ] + ], + "projected_box_corners": [ + [ + -29.333730575286108, + -14.91877088301571 + ], + [ + -29.112997871422934, + -15.012275997720854 + ], + [ + -29.354273081255485, + -14.957287197751665 + ], + [ + -29.13354037739231, + -15.050792312456808 + ], + [ + -29.2804775861017, + -14.78710751599602 + ], + [ + -29.059744882238526, + -14.880612630701163 + ], + [ + -29.301020092071077, + -14.825623830731972 + ], + [ + -29.080287388207903, + -14.919128945437118 + ] + ], + "yaw_rad": 1.186448278936786, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.308998107910156, + -14.91021728515625, + 0.07100751996040344 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.21757375111544, + -14.938128577214988, + 0.08133317870106815 + ], + "intended_face_normal": [ + -0.18863945669654214, + -0.34752878155203604, + 0.9184983101759059 + ], + "commanded_contact_point": [ + -29.31233512878418, + -14.933903855215009, + 0.030523359175547316 + ], + "centerline_face_intersection": [ + -29.337501564624887, + -14.918903855215008, + 0.030523359175547316 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30940818786621, + -14.910157203674316, + 0.07092711329460144 + ], + "box_pose": [ + -29.190135955810547, + -14.922473907470703, + 0.03436380997300148, + 0.6420964002609253, + 0.25865674018859863, + 0.5113478302955627, + 0.5092468857765198 + ], + "box_yaw_rad": 1.1882174858989585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001987025079550808 + } + } + }, + { + "simulation_time_ns": 7160000000, + "center": [ + -29.206858553217526, + -14.918904550533433, + 0.029748550727692724 + ], + "face_center": [ + -29.21693740160105, + -14.938066276538166, + 0.0806539969850659 + ], + "face_normal": [ + -0.1821971676977867, + -0.346389991536185, + 0.9202269719273986 + ], + "footprint_xy": [ + [ + -29.354069881473187, + -15.050720552388198 + ], + [ + -29.059647224961868, + -15.050720552388198 + ], + [ + -29.059647224961868, + -14.787088548678668 + ], + [ + -29.354069881473187, + -14.787088548678668 + ] + ], + "projected_box_corners": [ + [ + -29.33391218470614, + -14.918848762323837 + ], + [ + -29.113170420459706, + -15.012397100378733 + ], + [ + -29.354069881473187, + -14.9571722143333 + ], + [ + -29.133328117226753, + -15.050720552388198 + ], + [ + -29.2803889892083, + -14.787088548678668 + ], + [ + -29.059647224961868, + -14.880636886733566 + ], + [ + -29.30054668597535, + -14.825412000688132 + ], + [ + -29.079804921728915, + -14.91896033874303 + ] + ], + "yaw_rad": 1.1849422644374985, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.30846405029297, + -14.910120010375977, + 0.07103709876537323 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.217280234731696, + -14.93820807159439, + 0.08097505448512866 + ], + "intended_face_normal": [ + -0.18567530052114734, + -0.34813319875508597, + 0.9188732003041729 + ], + "commanded_contact_point": [ + -29.310616607666017, + -14.933949914226414, + 0.03014449665279974 + ], + "centerline_face_intersection": [ + -29.33737105976454, + -14.918949914226413, + 0.03014449665279974 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.308998107910156, + -14.91021728515625, + 0.07100751996040344 + ], + "box_pose": [ + -29.18999481201172, + -14.922528266906738, + 0.033925384283065796, + 0.6431784629821777, + 0.2592194974422455, + 0.5102823376655579, + 0.5086635947227478 + ], + "box_yaw_rad": 1.186448278936786, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017603900355461315 + } + } + }, + { + "simulation_time_ns": 7180000000, + "center": [ + -29.206705340038866, + -14.918826901925039, + 0.02932628499659644 + ], + "face_center": [ + -29.21657580084352, + -14.937850315695057, + 0.08032436016784297 + ], + "face_normal": [ + -0.17843010769164636, + -0.3438896962183122, + 0.9219014415803244 + ], + "footprint_xy": [ + [ + -29.353854192885798, + -15.050591385528366 + ], + [ + -29.059556487191934, + -15.050591385528366 + ], + [ + -29.059556487191934, + -14.787062418321712 + ], + [ + -29.353854192885798, + -14.787062418321712 + ] + ], + "projected_box_corners": [ + [ + -29.33411327127649, + -14.918971479960788 + ], + [ + -29.1133572130411, + -15.01254455798833 + ], + [ + -29.353854192885798, + -14.957018307500825 + ], + [ + -29.133098134650403, + -15.050591385528366 + ], + [ + -29.28031254542733, + -14.787062418321712 + ], + [ + -29.059556487191934, + -14.880635496349253 + ], + [ + -29.300053467036633, + -14.825109245861748 + ], + [ + -29.079297408801242, + -14.91868232388929 + ] + ], + "yaw_rad": 1.183530582029696, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.307878494262695, + -14.909989356994629, + 0.07099363207817078 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.21693740160105, + -14.938066276538166, + 0.0806539969850659 + ], + "intended_face_normal": [ + -0.1821971676977867, + -0.346389991536185, + 0.9202269719273986 + ], + "commanded_contact_point": [ + -29.309020156860353, + -14.933904550533434, + 0.029748550727692724 + ], + "centerline_face_intersection": [ + -29.337215280501393, + -14.918904550533433, + 0.029748550727692724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30846405029297, + -14.910120010375977, + 0.07103709876537323 + ], + "box_pose": [ + -29.189830780029297, + -14.922480583190918, + 0.03346991539001465, + 0.6437345147132874, + 0.2605898976325989, + 0.5087247490882874, + 0.5088199377059937 + ], + "box_yaw_rad": 1.1849422644374985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00164544407840408 + } + } + }, + { + "simulation_time_ns": 7200000000, + "center": [ + -29.20661418748554, + -14.918813248268146, + 0.028853060980343924 + ], + "face_center": [ + -29.21649849468915, + -14.937783185728742, + 0.0798683833965057 + ], + "face_normal": [ + -0.17868041155352188, + -0.3429229952873385, + 0.9222132231504574 + ], + "footprint_xy": [ + [ + -29.353775147315297, + -15.050569675501956 + ], + [ + -29.05945322765578, + -15.050569675501956 + ], + [ + -29.05945322765578, + -14.787056821034334 + ], + [ + -29.353775147315297, + -14.787056821034334 + ] + ], + "projected_box_corners": [ + [ + -29.334006532908067, + -14.919013105473386 + ], + [ + -29.11327374090847, + -15.012629800580763 + ], + [ + -29.353775147315297, + -14.956952980394579 + ], + [ + -29.1330423553157, + -15.050569675501956 + ], + [ + -29.28018601965538, + -14.787056821034334 + ], + [ + -29.05945322765578, + -14.88067351614171 + ], + [ + -29.29995463406261, + -14.824996695955527 + ], + [ + -29.07922184206301, + -14.918613391062904 + ] + ], + "yaw_rad": 1.1835271578567692, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.30742645263672, + -14.910115242004395, + 0.07025247812271118 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.21657580084352, + -14.937850315695057, + 0.08032436016784297 + ], + "intended_face_normal": [ + -0.17843010769164636, + -0.3438896962183122, + 0.9219014415803244 + ], + "commanded_contact_point": [ + -29.307400817871095, + -14.93382690192504, + 0.02932628499659644 + ], + "centerline_face_intersection": [ + -29.337053626704453, + -14.918826901925039, + 0.02932628499659644 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.307878494262695, + -14.909989356994629, + 0.07099363207817078 + ], + "box_pose": [ + -29.18966293334961, + -14.922396659851074, + 0.03298618271946907, + 0.6441403031349182, + 0.26226186752319336, + 0.5069794058799744, + 0.5091893076896667 + ], + "box_yaw_rad": 1.183530582029696, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001675289949881638 + } + } + }, + { + "simulation_time_ns": 7220000000, + "center": [ + -29.20667327787819, + -14.918779766145077, + 0.028521134898035636 + ], + "face_center": [ + -29.21669297384997, + -14.937683796989509, + 0.07953451595938887 + ], + "face_normal": [ + -0.1811278588370726, + -0.34173158945000637, + 0.9221781289279676 + ], + "footprint_xy": [ + [ + -29.353876441733266, + -15.050495379097937 + ], + [ + -29.059470114023114, + -15.050495379097937 + ], + [ + -29.059470114023114, + -14.787064153192217 + ], + [ + -29.353876441733266, + -14.787064153192217 + ] + ], + "projected_box_corners": [ + [ + -29.333837049789707, + -14.919103930449099 + ], + [ + -29.11311712063194, + -15.012687317409073 + ], + [ + -29.353876441733266, + -14.956911992137965 + ], + [ + -29.1331565125755, + -15.050495379097937 + ], + [ + -29.28019004318088, + -14.787064153192217 + ], + [ + -29.059470114023114, + -14.880647540152191 + ], + [ + -29.30022943512444, + -14.824872214881083 + ], + [ + -29.079509505966673, + -14.918455601841055 + ] + ], + "yaw_rad": 1.1848756482244935, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.307296752929688, + -14.91030502319336, + 0.06937278807163239 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.21649849468915, + -14.937783185728742, + 0.0798683833965057 + ], + "intended_face_normal": [ + -0.17868041155352188, + -0.3429229952873385, + 0.9222132231504574 + ], + "commanded_contact_point": [ + -29.305611724853517, + -14.933813248268146, + 0.028853060980343924 + ], + "centerline_face_intersection": [ + -29.33697621345078, + -14.918813248268146, + 0.028853060980343924 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30742645263672, + -14.910115242004395, + 0.07025247812271118 + ], + "box_pose": [ + -29.189573287963867, + -14.922383308410645, + 0.03251968324184418, + 0.643868625164032, + 0.2623940706253052, + 0.5068477988243103, + 0.5095958113670349 + ], + "box_yaw_rad": 1.1835271578567692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018506704778137883 + } + } + }, + { + "simulation_time_ns": 7240000000, + "center": [ + -29.20664370730768, + -14.918793234911536, + 0.028466092497265682 + ], + "face_center": [ + -29.216727708677585, + -14.937700369343087, + 0.07946564705875914 + ], + "face_normal": [ + -0.18229031916590088, + -0.3417876935564621, + 0.921928184785763 + ], + "footprint_xy": [ + [ + -29.35386920589817, + -15.050513098032585 + ], + [ + -29.05941820871719, + -15.050513098032585 + ], + [ + -29.05941820871719, + -14.78707337179049 + ], + [ + -29.35386920589817, + -14.78707337179049 + ] + ], + "projected_box_corners": [ + [ + -29.333701203158363, + -14.91910727693586 + ], + [ + -29.11299548694335, + -15.012698829169484 + ], + [ + -29.35386920589817, + -14.956921545798961 + ], + [ + -29.13316348968316, + -15.050513098032585 + ], + [ + -29.2801239249322, + -14.78707337179049 + ], + [ + -29.05941820871719, + -14.880664924024114 + ], + [ + -29.30029192767201, + -14.824887640653591 + ], + [ + -29.079586211457, + -14.918479192887213 + ] + ], + "yaw_rad": 1.1853135004790598, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.307235717773438, + -14.910237312316895, + 0.06907576322555542 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.21669297384997, + -14.937683796989509, + 0.07953451595938887 + ], + "intended_face_normal": [ + -0.1811278588370726, + -0.34173158945000637, + 0.9221781289279676 + ], + "commanded_contact_point": [ + -29.303826446533204, + -14.933779766145078, + 0.028521134898035636 + ], + "centerline_face_intersection": [ + -29.33704290091963, + -14.918779766145077, + 0.028521134898035636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.307296752929688, + -14.91030502319336, + 0.06937278807163239 + ], + "box_pose": [ + -29.18964195251465, + -14.922343254089355, + 0.03223828971385956, + 0.6428382396697998, + 0.2620730996131897, + 0.5075675249099731, + 0.5103449821472168 + ], + "box_yaw_rad": 1.1848756482244935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018161813394205824 + } + } + }, + { + "simulation_time_ns": 7260000000, + "center": [ + -29.20655947951894, + -14.919155385746299, + 0.028774660560515617 + ], + "face_center": [ + -29.216776378651225, + -14.93871190363822, + 0.07950216020105783 + ], + "face_normal": [ + -0.18469273608667436, + -0.35352671598514007, + 0.9170101987054693 + ], + "footprint_xy": [ + [ + -29.353800289486504, + -15.051127499468553 + ], + [ + -29.05931866955138, + -15.051127499468553 + ], + [ + -29.05931866955138, + -14.787183272024045 + ], + [ + -29.353800289486504, + -14.787183272024045 + ] + ], + "projected_box_corners": [ + [ + -29.33336649122194, + -14.918501008857262 + ], + [ + -29.112606796206354, + -15.012014463684709 + ], + [ + -29.353800289486504, + -14.957614044641106 + ], + [ + -29.133040594470916, + -15.051127499468553 + ], + [ + -29.280078364566968, + -14.787183272024045 + ], + [ + -29.05931866955138, + -14.880696726851491 + ], + [ + -29.30051216283153, + -14.826296307807889 + ], + [ + -29.079752467815943, + -14.919809762635335 + ] + ], + "yaw_rad": 1.1853039658022497, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.30683135986328, + -14.910820960998535, + 0.06903889775276184 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.216727708677585, + -14.937700369343087, + 0.07946564705875914 + ], + "intended_face_normal": [ + -0.18229031916590088, + -0.3417876935564621, + 0.921928184785763 + ], + "commanded_contact_point": [ + -29.302048797607423, + -14.933793234911537, + 0.028466092497265682 + ], + "centerline_face_intersection": [ + -29.337021725854328, + -14.918793234911536, + 0.028466092497265682 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.307235717773438, + -14.910237312316895, + 0.06907576322555542 + ], + "box_pose": [ + -29.189617156982422, + -14.922357559204102, + 0.03220425918698311, + 0.6425431370735168, + 0.26172637939453125, + 0.5079686641693115, + 0.5104953646659851 + ], + "box_yaw_rad": 1.1853135004790598, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017785518763543818 + } + } + }, + { + "simulation_time_ns": 7280000000, + "center": [ + -29.205110948743183, + -14.918824091280253, + 0.02860583704864804 + ], + "face_center": [ + -29.215293087049698, + -14.938139990566285, + 0.07943241069926947 + ], + "face_normal": [ + -0.18406435834342716, + -0.3491770098659259, + 0.9188011775298364 + ], + "footprint_xy": [ + [ + -29.35236326878625, + -15.050734626169774 + ], + [ + -29.057858628700114, + -15.050734626169774 + ], + [ + -29.057858628700114, + -14.786913556390731 + ], + [ + -29.35236326878625, + -14.786913556390731 + ] + ], + "projected_box_corners": [ + [ + -29.331998992173222, + -14.918474736492467 + ], + [ + -29.1112964338493, + -15.012102827597708 + ], + [ + -29.35236326878625, + -14.957106535064531 + ], + [ + -29.131660710462327, + -15.050734626169774 + ], + [ + -29.27856118702404, + -14.786913556390731 + ], + [ + -29.057858628700114, + -14.880541647495974 + ], + [ + -29.298925463637065, + -14.825545354962797 + ], + [ + -29.078222905313144, + -14.91917344606804 + ] + ], + "yaw_rad": 1.1849718830792126, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.30492401123047, + -14.90979290008545, + 0.0689077377319336 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.216776378651225, + -14.93871190363822, + 0.07950216020105783 + ], + "intended_face_normal": [ + -0.18469273608667436, + -0.35352671598514007, + 0.9170101987054693 + ], + "commanded_contact_point": [ + -29.300274963378907, + -14.9341553857463, + 0.028774660560515617 + ], + "centerline_face_intersection": [ + -29.336905618835722, + -14.919155385746299, + 0.028774660560515617 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30683135986328, + -14.910820960998535, + 0.06903889775276184 + ], + "box_pose": [ + -29.18954086303711, + -14.922752380371094, + 0.03251766040921211, + 0.6448888778686523, + 0.2580452561378479, + 0.510765790939331, + 0.5066057443618774 + ], + "box_yaw_rad": 1.1853039658022497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018365335137237664 + } + } + }, + { + "simulation_time_ns": 7300000000, + "center": [ + -29.202135615212192, + -14.917686893872773, + 0.028418128787348618 + ], + "face_center": [ + -29.21218147415896, + -14.936473467556466, + 0.0794697290794428 + ], + "face_normal": [ + -0.18160081167455644, + -0.33960829508160373, + 0.9228690248842923 + ], + "footprint_xy": [ + [ + -29.349403565310386, + -15.049482012775103 + ], + [ + -29.054867665114, + -15.049482012775103 + ], + [ + -29.054867665114, + -14.785891774970443 + ], + [ + -29.349403565310386, + -14.785891774970443 + ] + ], + "projected_box_corners": [ + [ + -29.32931184741685, + -14.917952357485678 + ], + [ + -29.10875656735332, + -15.01190886540772 + ], + [ + -29.349403565310386, + -14.955525504853062 + ], + [ + -29.12884828524686, + -15.049482012775103 + ], + [ + -29.275422945177528, + -14.785891774970443 + ], + [ + -29.054867665114, + -14.879848282892484 + ], + [ + -29.295514663071064, + -14.823464922337827 + ], + [ + -29.074959383007535, + -14.917421430259868 + ] + ], + "yaw_rad": 1.183359348750665, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.301668167114258, + -14.907575607299805, + 0.06885954737663269 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.215293087049698, + -14.938139990566285, + 0.07943241069926947 + ], + "intended_face_normal": [ + -0.18406435834342716, + -0.3491770098659259, + 0.9188011775298364 + ], + "commanded_contact_point": [ + -29.298678512573243, + -14.933824091280254, + 0.02860583704864804 + ], + "centerline_face_intersection": [ + -29.33549083278512, + -14.918824091280253, + 0.02860583704864804 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30492401123047, + -14.90979290008545, + 0.0689077377319336 + ], + "box_pose": [ + -29.188091278076172, + -14.922415733337402, + 0.032349176704883575, + 0.6440550684928894, + 0.259235143661499, + 0.5096877217292786, + 0.5081422924995422 + ], + "box_yaw_rad": 1.1849718830792126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016391804587345005 + } + } + }, + { + "simulation_time_ns": 7320000000, + "center": [ + -29.197565737600936, + -14.91746840187863, + 0.028727404851975353 + ], + "face_center": [ + -29.20745767927386, + -14.936365138584861, + 0.0797684061820959 + ], + "face_normal": [ + -0.17881842123790292, + -0.3415997319926376, + 0.9226774255290238 + ], + "footprint_xy": [ + [ + -29.34466544168124, + -15.049030914193416 + ], + [ + -29.050466033520635, + -15.049030914193416 + ], + [ + -29.050466033520635, + -14.785905889563843 + ], + [ + -29.34466544168124, + -14.785905889563843 + ] + ], + "projected_box_corners": [ + [ + -29.3248815583354, + -14.918077927905468 + ], + [ + -29.103968967718696, + -15.011237440780954 + ], + [ + -29.34466544168124, + -14.95587140131793 + ], + [ + -29.123752851064538, + -15.049030914193416 + ], + [ + -29.271378624137338, + -14.785905889563843 + ], + [ + -29.050466033520635, + -14.879065402439329 + ], + [ + -29.29116250748318, + -14.823699362976306 + ], + [ + -29.070249916866477, + -14.916858875851792 + ] + ], + "yaw_rad": 1.1861608750261585, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.2972412109375, + -14.907462120056152, + 0.06956835091114044 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.21218147415896, + -14.936473467556466, + 0.0794697290794428 + ], + "intended_face_normal": [ + -0.18160081167455644, + -0.33960829508160373, + 0.9228690248842923 + ], + "commanded_contact_point": [ + -29.297074432373048, + -14.932686893872773, + 0.028418128787348618 + ], + "centerline_face_intersection": [ + -29.332602561883085, + -14.917686893872773, + 0.028418128787348618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.301668167114258, + -14.907575607299805, + 0.06885954737663269 + ], + "box_pose": [ + -29.185110092163086, + -14.921273231506348, + 0.03213987872004509, + 0.6426064968109131, + 0.2620360255241394, + 0.5068145990371704, + 0.5114029049873352 + ], + "box_yaw_rad": 1.183359348750665, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001975227992814784 + } + } + }, + { + "simulation_time_ns": 7340000000, + "center": [ + -29.194518304249502, + -14.918462659906197, + 0.02902876286233601 + ], + "face_center": [ + -29.204054733863565, + -14.937631222255987, + 0.08003605100353497 + ], + "face_normal": [ + -0.172391765360004, + -0.34651357338398725, + 0.9220679861067964 + ], + "footprint_xy": [ + [ + -29.341040589484553, + -15.049058166269353 + ], + [ + -29.04799601901445, + -15.049058166269353 + ], + [ + -29.04799601901445, + -14.78786715354304 + ], + [ + -29.341040589484553, + -14.78786715354304 + ] + ], + "projected_box_corners": [ + [ + -29.32196773025643, + -14.920608247317936 + ], + [ + -29.099771687744617, + -15.010721041569774 + ], + [ + -29.341040589484553, + -14.958945372017517 + ], + [ + -29.118844546972742, + -15.049058166269353 + ], + [ + -29.270192061526263, + -14.78786715354304 + ], + [ + -29.04799601901445, + -14.877979947794877 + ], + [ + -29.289264920754388, + -14.82620427824262 + ], + [ + -29.067068878242576, + -14.916317072494456 + ] + ], + "yaw_rad": 1.1988968213017919, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.29444694519043, + -14.909783363342285, + 0.07059061527252197 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.20745767927386, + -14.936365138584861, + 0.0797684061820959 + ], + "intended_face_normal": [ + -0.17881842123790292, + -0.3415997319926376, + 0.9226774255290238 + ], + "commanded_contact_point": [ + -29.295256729125978, + -14.93246840187863, + 0.028727404851975353 + ], + "centerline_face_intersection": [ + -29.32782166317631, + -14.91746840187863, + 0.028727404851975353 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2972412109375, + -14.907462120056152, + 0.06956835091114044 + ], + "box_pose": [ + -29.18052101135254, + -14.920997619628906, + 0.032415714114904404, + 0.6429144740104675, + 0.26327309012413025, + 0.5074059963226318, + 0.5097915530204773 + ], + "box_yaw_rad": 1.1861608750261585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018567271016672728 + } + } + }, + { + "simulation_time_ns": 7360000000, + "center": [ + -29.193959682391625, + -14.918959704428312, + 0.02948504378595858 + ], + "face_center": [ + -29.203577901674986, + -14.938950723621984, + 0.08016018918511122 + ], + "face_normal": [ + -0.17387029202550863, + -0.36138127471322434, + 0.9160637816015331 + ], + "footprint_xy": [ + [ + -29.34036296816227, + -15.049605101672103 + ], + [ + -29.047556396620983, + -15.049605101672103 + ], + [ + -29.047556396620983, + -14.788314307184521 + ], + [ + -29.34036296816227, + -14.788314307184521 + ] + ], + "projected_box_corners": [ + [ + -29.321126529595553, + -14.920340523547903 + ], + [ + -29.098573817150278, + -15.00962306328476 + ], + [ + -29.34036296816227, + -14.960322561935246 + ], + [ + -29.117810255716993, + -15.049605101672103 + ], + [ + -29.27010910906626, + -14.788314307184521 + ], + [ + -29.047556396620983, + -14.877596846921378 + ], + [ + -29.289345547632976, + -14.828296345571864 + ], + [ + -29.0667928351877, + -14.917578885308721 + ] + ], + "yaw_rad": 1.2020523708859365, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.294036865234375, + -14.911105155944824, + 0.07099020481109619 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.204054733863565, + -14.937631222255987, + 0.08003605100353497 + ], + "intended_face_normal": [ + -0.172391765360004, + -0.34651357338398725, + 0.9220679861067964 + ], + "commanded_contact_point": [ + -29.293349380493165, + -14.933462659906198, + 0.02902876286233601 + ], + "centerline_face_intersection": [ + -29.32402184372187, + -14.918462659906197, + 0.02902876286233601 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.29444694519043, + -14.909783363342285, + 0.07059061527252197 + ], + "box_pose": [ + -29.177419662475586, + -14.921765327453613, + 0.032677121460437775, + 0.6422182321548462, + 0.26749467849731445, + 0.5106980800628662, + 0.5051631331443787 + ], + "box_yaw_rad": 1.1988968213017919, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002171944861842273 + } + } + }, + { + "simulation_time_ns": 7380000000, + "center": [ + -29.19386175506088, + -14.918725319307372, + 0.02943062693724472 + ], + "face_center": [ + -29.20334785623283, + -14.938367971788677, + 0.08026665697638513 + ], + "face_normal": [ + -0.17148196899654522, + -0.3550837865580334, + 0.9189721223778236 + ], + "footprint_xy": [ + [ + -29.340232920319888, + -15.049234275053198 + ], + [ + -29.047490589801875, + -15.049234275053198 + ], + [ + -29.047490589801875, + -14.788216363561546 + ], + [ + -29.340232920319888, + -14.788216363561546 + ] + ], + "projected_box_corners": [ + [ + -29.321260717975985, + -14.920642905382898 + ], + [ + -29.09871744053819, + -15.009948970090587 + ], + [ + -29.340232920319888, + -14.95992821034551 + ], + [ + -29.117689642882095, + -15.049234275053198 + ], + [ + -29.270033867239665, + -14.788216363561546 + ], + [ + -29.047490589801875, + -14.877522428269234 + ], + [ + -29.289006069583568, + -14.827501668524157 + ], + [ + -29.066462792145778, + -14.916807733231847 + ] + ], + "yaw_rad": 1.201692783881074, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.29389762878418, + -14.910433769226074, + 0.07137972116470337 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.203577901674986, + -14.938950723621984, + 0.08016018918511122 + ], + "intended_face_normal": [ + -0.17387029202550863, + -0.36138127471322434, + 0.9160637816015331 + ], + "commanded_contact_point": [ + -29.291361923217774, + -14.933959704428313, + 0.02948504378595858 + ], + "centerline_face_intersection": [ + -29.32325567544364, + -14.918959704428312, + 0.02948504378595858 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.294036865234375, + -14.911105155944824, + 0.07099020481109619 + ], + "box_pose": [ + -29.17685890197754, + -14.922245979309082, + 0.03313818201422691, + 0.6446858048439026, + 0.26410236954689026, + 0.5148503184318542, + 0.4995591640472412 + ], + "box_yaw_rad": 1.2020523708859365, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020988644452964544 + } + } + }, + { + "simulation_time_ns": 7400000000, + "center": [ + -29.19355182328389, + -14.918565085970673, + 0.02941263710006228 + ], + "face_center": [ + -29.20284463554243, + -14.937874290350598, + 0.08041183903152782 + ], + "face_normal": [ + -0.1679878503005341, + -0.34905598483565115, + 0.9219218102288806 + ], + "footprint_xy": [ + [ + -29.33984555698003, + -15.048888185912107 + ], + [ + -29.04725808958775, + -15.048888185912107 + ], + [ + -29.04725808958775, + -14.788241986029238 + ], + [ + -29.33984555698003, + -14.788241986029238 + ] + ], + "projected_box_corners": [ + [ + -29.32125993246295, + -14.921083467836018 + ], + [ + -29.098661650316522, + -15.010269777152256 + ], + [ + -29.33984555698003, + -14.959701876595869 + ], + [ + -29.117247274833602, + -15.048888185912107 + ], + [ + -29.26985637173418, + -14.788241986029238 + ], + [ + -29.04725808958775, + -14.877428295345476 + ], + [ + -29.288441996251258, + -14.826860394789088 + ], + [ + -29.06584371410483, + -14.916046704105327 + ] + ], + "yaw_rad": 1.2015867257075443, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.293455123901367, + -14.909987449645996, + 0.0719086229801178 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.20334785623283, + -14.938367971788677, + 0.08026665697638513 + ], + "intended_face_normal": [ + -0.17148196899654522, + -0.3550837865580334, + 0.9189721223778236 + ], + "commanded_contact_point": [ + -29.289281005859376, + -14.933725319307372, + 0.02943062693724472 + ], + "centerline_face_intersection": [ + -29.323163229782242, + -14.918725319307372, + 0.02943062693724472 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.29389762878418, + -14.910433769226074, + 0.07137972116470337 + ], + "box_pose": [ + -29.1767520904541, + -14.921992301940918, + 0.033059392124414444, + 0.6437267065048218, + 0.266430139541626, + 0.5129891037940979, + 0.5014710426330566 + ], + "box_yaw_rad": 1.201692783881074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020947827168530117 + } + } + }, + { + "simulation_time_ns": 7420000000, + "center": [ + -29.19321707597117, + -14.918552793693015, + 0.029517611299619235 + ], + "face_center": [ + -29.20243430244477, + -14.937815455978928, + 0.08054812681399232 + ], + "face_normal": [ + -0.1666214723761641, + -0.34821463497252125, + 0.9224878715385785 + ], + "footprint_xy": [ + [ + -29.339494067801006, + -15.048876504960331 + ], + [ + -29.046940084141337, + -15.048876504960331 + ], + [ + -29.046940084141337, + -14.7882290824257 + ], + [ + -29.339494067801006, + -14.7882290824257 + ] + ], + "projected_box_corners": [ + [ + -29.32105961485381, + -14.921107181585652 + ], + [ + -29.098476155077662, + -15.010351180388508 + ], + [ + -29.339494067801006, + -14.959632506157476 + ], + [ + -29.11691060802486, + -15.048876504960331 + ], + [ + -29.269523543917483, + -14.7882290824257 + ], + [ + -29.046940084141337, + -14.877473081228555 + ], + [ + -29.28795799686468, + -14.826754406997523 + ], + [ + -29.065374537088534, + -14.915998405800378 + ] + ], + "yaw_rad": 1.2008123454123272, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.292984008789062, + -14.90987777709961, + 0.0721418708562851 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.20284463554243, + -14.937874290350598, + 0.08041183903152782 + ], + "intended_face_normal": [ + -0.1679878503005341, + -0.34905598483565115, + 0.9219218102288806 + ], + "commanded_contact_point": [ + -29.28744613647461, + -14.933565085970674, + 0.02941263710006228 + ], + "centerline_face_intersection": [ + -29.32282134721985, + -14.918565085970673, + 0.02941263710006228 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.293455123901367, + -14.909987449645996, + 0.0719086229801178 + ], + "box_pose": [ + -29.176427841186523, + -14.921802520751953, + 0.03300010412931442, + 0.6429613828659058, + 0.26915061473846436, + 0.5110074877738953, + 0.5030207633972168 + ], + "box_yaw_rad": 1.2015867257075443, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018419402855634572 + } + } + }, + { + "simulation_time_ns": 7440000000, + "center": [ + -29.192894145032053, + -14.918734672049005, + 0.029658611832932034 + ], + "face_center": [ + -29.202221014109135, + -14.938323960873813, + 0.08054466450637962 + ], + "face_normal": [ + -0.16860350157763548, + -0.35411912207434426, + 0.9198763905982332 + ], + "footprint_xy": [ + [ + -29.339219097419164, + -15.049236484309898 + ], + [ + -29.04656919264494, + -15.049236484309898 + ], + [ + -29.04656919264494, + -14.788232859788115 + ], + [ + -29.339219097419164, + -14.788232859788115 + ] + ], + "projected_box_corners": [ + [ + -29.320565359265, + -14.920708996734358 + ], + [ + -29.098020443022357, + -15.010057906660283 + ], + [ + -29.339219097419164, + -14.959887574383973 + ], + [ + -29.116674181176517, + -15.049236484309898 + ], + [ + -29.26911410888759, + -14.788232859788115 + ], + [ + -29.04656919264494, + -14.877581769714038 + ], + [ + -29.287767847041753, + -14.82741143743773 + ], + [ + -29.065222930799106, + -14.916760347363653 + ] + ], + "yaw_rad": 1.2003460475157166, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.29244041442871, + -14.91034984588623, + 0.07195763289928436 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.20243430244477, + -14.937815455978928, + 0.08054812681399232 + ], + "intended_face_normal": [ + -0.1666214723761641, + -0.34821463497252125, + 0.9224878715385785 + ], + "commanded_contact_point": [ + -29.2858992767334, + -14.933552793693016, + 0.029517611299619235 + ], + "centerline_face_intersection": [ + -29.322495208277008, + -14.918552793693015, + 0.029517611299619235 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.292984008789062, + -14.90987777709961, + 0.0721418708562851 + ], + "box_pose": [ + -29.176088333129883, + -14.921792030334473, + 0.03308064490556717, + 0.6431890726089478, + 0.26967859268188477, + 0.5103088617324829, + 0.5031561851501465 + ], + "box_yaw_rad": 1.2008123454123272, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015504662981315695 + } + } + }, + { + "simulation_time_ns": 7460000000, + "center": [ + -29.192383322355685, + -14.918809118640038, + 0.029579847928545643 + ], + "face_center": [ + -29.201865976469076, + -14.938591194370153, + 0.0803624270344765 + ], + "face_normal": [ + -0.17141965589465968, + -0.35760416587891797, + 0.9180058801772262 + ], + "footprint_xy": [ + [ + -29.338797292327044, + -15.049485706001638 + ], + [ + -29.045969352384322, + -15.049485706001638 + ], + [ + -29.045969352384322, + -14.788132531278437 + ], + [ + -29.338797292327044, + -14.788132531278437 + ] + ], + "projected_box_corners": [ + [ + -29.319831984100258, + -14.920312184733707 + ], + [ + -29.09739865690572, + -15.009921554541409 + ], + [ + -29.338797292327044, + -14.959876336193936 + ], + [ + -29.116363965132507, + -15.049485706001638 + ], + [ + -29.26840267957886, + -14.788132531278437 + ], + [ + -29.045969352384322, + -14.877741901086138 + ], + [ + -29.287367987805645, + -14.827696682738667 + ], + [ + -29.064934660611108, + -14.917306052546367 + ] + ], + "yaw_rad": 1.199733491354918, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.291305541992188, + -14.910746574401855, + 0.07128052413463593 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.202221014109135, + -14.938323960873813, + 0.08054466450637962 + ], + "intended_face_normal": [ + -0.16860350157763548, + -0.35411912207434426, + 0.9198763905982332 + ], + "commanded_contact_point": [ + -29.28434669494629, + -14.933734672049006, + 0.029658611832932034 + ], + "centerline_face_intersection": [ + -29.3221946675866, + -14.918734672049005, + 0.029658611832932034 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.29244041442871, + -14.91034984588623, + 0.07195763289928436 + ], + "box_pose": [ + -29.17577362060547, + -14.922001838684082, + 0.033235616981983185, + 0.6443278193473816, + 0.26742303371429443, + 0.5117628574371338, + 0.5014233589172363 + ], + "box_yaw_rad": 1.2003460475157166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015695448679269779 + } + } + }, + { + "simulation_time_ns": 7480000000, + "center": [ + -29.1907094693237, + -14.91868854338982, + 0.029301357685858346 + ], + "face_center": [ + -29.200168072274668, + -14.93802655986231, + 0.08025914438178242 + ], + "face_normal": [ + -0.17098487867531276, + -0.3495768262513508, + 0.9211731395149201 + ], + "footprint_xy": [ + [ + -29.337165909081108, + -15.049273738047276 + ], + [ + -29.044253029566296, + -15.049273738047276 + ], + [ + -29.044253029566296, + -14.788103348732363 + ], + [ + -29.337165909081108, + -14.788103348732363 + ] + ], + "projected_box_corners": [ + [ + -29.31824870317918, + -14.920718420618233 + ], + [ + -29.09594070097993, + -15.010597705102297 + ], + [ + -29.337165909081108, + -14.959394453563213 + ], + [ + -29.114857906881863, + -15.049273738047276 + ], + [ + -29.26656103176554, + -14.788103348732363 + ], + [ + -29.044253029566296, + -14.877982633216428 + ], + [ + -29.285478237667473, + -14.826779381677342 + ], + [ + -29.063170235468224, + -14.916658666161407 + ] + ], + "yaw_rad": 1.1991510661513765, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.289020538330078, + -14.910609245300293, + 0.0709579586982727 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.201865976469076, + -14.938591194370153, + 0.0803624270344765 + ], + "intended_face_normal": [ + -0.17141965589465968, + -0.35760416587891797, + 0.9180058801772262 + ], + "commanded_contact_point": [ + -29.28286087036133, + -14.933809118640038, + 0.029579847928545643 + ], + "centerline_face_intersection": [ + -29.321748711638673, + -14.918809118640038, + 0.029579847928545643 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.291305541992188, + -14.910746574401855, + 0.07128052413463593 + ], + "box_pose": [ + -29.175275802612305, + -14.92210865020752, + 0.03318922221660614, + 0.6447867751121521, + 0.2653964161872864, + 0.5128860473632812, + 0.5007621645927429 + ], + "box_yaw_rad": 1.199733491354918, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001489772044584291 + } + } + }, + { + "simulation_time_ns": 7500000000, + "center": [ + -29.1885340037428, + -14.919127814728828, + 0.029133618167688814 + ], + "face_center": [ + -29.19800420376597, + -14.938198617092453, + 0.08018987799681908 + ], + "face_normal": [ + -0.17119452105004385, + -0.3447463484079236, + 0.9229532561792233 + ], + "footprint_xy": [ + [ + -29.335098379592463, + -15.049829549902686 + ], + [ + -29.041969627893135, + -15.049829549902686 + ], + [ + -29.041969627893135, + -14.78842607955497 + ], + [ + -29.335098379592463, + -14.78842607955497 + ] + ], + "projected_box_corners": [ + [ + -29.31615797954612, + -14.921159843187423 + ], + [ + -29.094120361620995, + -15.011687945175433 + ], + [ + -29.335098379592463, + -14.959301447914676 + ], + [ + -29.113060761667338, + -15.049829549902686 + ], + [ + -29.26400724581826, + -14.78842607955497 + ], + [ + -29.041969627893135, + -14.87895418154298 + ], + [ + -29.282947645864603, + -14.826567684282221 + ], + [ + -29.060910027939478, + -14.917095786270231 + ] + ], + "yaw_rad": 1.1964279468362164, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.286489486694336, + -14.910918235778809, + 0.07096873223781586 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.200168072274668, + -14.93802655986231, + 0.08025914438178242 + ], + "intended_face_normal": [ + -0.17098487867531276, + -0.3495768262513508, + 0.9211731395149201 + ], + "commanded_contact_point": [ + -29.281577224731446, + -14.93368854338982, + 0.029301357685858346 + ], + "centerline_face_intersection": [ + -29.32014778768096, + -14.91868854338982, + 0.029301357685858346 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.289020538330078, + -14.910609245300293, + 0.0709579586982727 + ], + "box_pose": [ + -29.173603057861328, + -14.921982765197754, + 0.03292081132531166, + 0.6431265473365784, + 0.2673465609550476, + 0.5110544562339783, + 0.5037234425544739 + ], + "box_yaw_rad": 1.1991510661513765, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013190304429217738 + } + } + }, + { + "simulation_time_ns": 7520000000, + "center": [ + -29.18741801401227, + -14.919821366925044, + 0.0295200178497643 + ], + "face_center": [ + -29.196954632163703, + -14.939449547720617, + 0.080352161626426 + ], + "face_normal": [ + -0.1723951735842455, + -0.3548221792739312, + 0.9189018697071205 + ], + "footprint_xy": [ + [ + -29.33399298438535, + -15.050761901735225 + ], + [ + -29.040843043639185, + -15.050761901735225 + ], + [ + -29.040843043639185, + -14.788880832114863 + ], + [ + -29.33399298438535, + -14.788880832114863 + ] + ], + "projected_box_corners": [ + [ + -29.31491974808248, + -14.920980692375588 + ], + [ + -29.09285981481333, + -15.01150554014408 + ], + [ + -29.33399298438535, + -14.960237053966733 + ], + [ + -29.1119330511162, + -15.050761901735225 + ], + [ + -29.262902976908336, + -14.788880832114863 + ], + [ + -29.040843043639185, + -14.879405679883355 + ], + [ + -29.281976213211205, + -14.828137193706008 + ], + [ + -29.059916279942055, + -14.9186620414745 + ] + ], + "yaw_rad": 1.1956734004047116, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.285266876220703, + -14.912230491638184, + 0.07131259143352509 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.19800420376597, + -14.938198617092453, + 0.08018987799681908 + ], + "intended_face_normal": [ + -0.17119452105004385, + -0.3447463484079236, + 0.9229532561792233 + ], + "commanded_contact_point": [ + -29.280381317138673, + -14.934127814728829, + 0.029133618167688814 + ], + "centerline_face_intersection": [ + -29.318129944425856, + -14.919127814728828, + 0.029133618167688814 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.286489486694336, + -14.910918235778809, + 0.07096873223781586 + ], + "box_pose": [ + -29.17143440246582, + -14.922457695007324, + 0.0327526330947876, + 0.642596423625946, + 0.26778456568717957, + 0.5093554854393005, + 0.5058837532997131 + ], + "box_yaw_rad": 1.1964279468362164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012850256128509607 + } + } + }, + { + "simulation_time_ns": 7540000000, + "center": [ + -29.18675338176118, + -14.92058135264723, + 0.02941758644283477 + ], + "face_center": [ + -29.1962950787513, + -14.94017052248436, + 0.08026382839636255 + ], + "face_normal": [ + -0.1724869846710675, + -0.35411697111251783, + 0.9191567250037735 + ], + "footprint_xy": [ + [ + -29.333238796399566, + -15.051288624200419 + ], + [ + -29.04026796712279, + -15.051288624200419 + ], + [ + -29.04026796712279, + -14.789874081094043 + ], + [ + -29.333238796399566, + -14.789874081094043 + ] + ], + "projected_box_corners": [ + [ + -29.31415540241932, + -14.92219002401294 + ], + [ + -29.09186130974333, + -15.012110284526162 + ], + [ + -29.333238796399566, + -14.961368363687196 + ], + [ + -29.110944703723575, + -15.051288624200419 + ], + [ + -29.262562059798785, + -14.789874081094043 + ], + [ + -29.04026796712279, + -14.879794341607267 + ], + [ + -29.28164545377903, + -14.8290524207683 + ], + [ + -29.059351361103037, + -14.918972681281524 + ] + ], + "yaw_rad": 1.1990050344322414, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.28460121154785, + -14.913468360900879, + 0.07119369506835938 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.196954632163703, + -14.939449547720617, + 0.080352161626426 + ], + "intended_face_normal": [ + -0.1723951735842455, + -0.3548221792739312, + 0.9189018697071205 + ], + "commanded_contact_point": [ + -29.27899658203125, + -14.934821366925044, + 0.0295200178497643 + ], + "centerline_face_intersection": [ + -29.31700093128332, + -14.919821366925044, + 0.0295200178497643 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.285266876220703, + -14.912230491638184, + 0.07131259143352509 + ], + "box_pose": [ + -29.17032241821289, + -14.923184394836426, + 0.03312727063894272, + 0.6449223160743713, + 0.26476219296455383, + 0.511357307434082, + 0.5024835467338562 + ], + "box_yaw_rad": 1.1956734004047116, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00159618629267095 + } + } + }, + { + "simulation_time_ns": 7560000000, + "center": [ + -29.186699410689783, + -14.920793127253644, + 0.02861089468285211 + ], + "face_center": [ + -29.196592742421664, + -14.940445516869152, + 0.07936545392933556 + ], + "face_normal": [ + -0.17884354958548698, + -0.3552598064965906, + 0.9174993601030721 + ], + "footprint_xy": [ + [ + -29.33325984476444, + -15.051440587777178 + ], + [ + -29.040138976615122, + -15.051440587777178 + ], + [ + -29.040138976615122, + -14.79014566673011 + ], + [ + -29.33325984476444, + -14.79014566673011 + ] + ], + "projected_box_corners": [ + [ + -29.313473181300683, + -14.92245623565755 + ], + [ + -29.091136289582025, + -15.01213580854616 + ], + [ + -29.33325984476444, + -14.961761014888568 + ], + [ + -29.110922953045787, + -15.051440587777178 + ], + [ + -29.26247586833378, + -14.79014566673011 + ], + [ + -29.040138976615122, + -14.879825239618718 + ], + [ + -29.28226253179754, + -14.829450445961127 + ], + [ + -29.059925640078884, + -14.919130018849735 + ] + ], + "yaw_rad": 1.202907451681074, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.28348731994629, + -14.914888381958008, + 0.06849877536296844 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.1962950787513, + -14.94017052248436, + 0.08026382839636255 + ], + "intended_face_normal": [ + -0.1724869846710675, + -0.35411697111251783, + 0.9191567250037735 + ], + "commanded_contact_point": [ + -29.2775927734375, + -14.935581352647231, + 0.02941758644283477 + ], + "centerline_face_intersection": [ + -29.316199799412832, + -14.92058135264723, + 0.02941758644283477 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.28460121154785, + -14.913468360900879, + 0.07119369506835938 + ], + "box_pose": [ + -29.169652938842773, + -14.923893928527832, + 0.03304847329854965, + 0.643957257270813, + 0.26566654443740845, + 0.5122280120849609, + 0.5023571252822876 + ], + "box_yaw_rad": 1.1990050344322414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015996090331515135 + } + } + }, + { + "simulation_time_ns": 7580000000, + "center": [ + -29.185535004839185, + -14.921127035050786, + 0.028104236495208757 + ], + "face_center": [ + -29.195614557905063, + -14.940692784671365, + 0.0788556282637849 + ], + "face_normal": [ + -0.18220990636831758, + -0.3536935996161361, + 0.9174421010312521 + ], + "footprint_xy": [ + [ + -29.332008459416713, + -15.051401829613978 + ], + [ + -29.03906155026166, + -15.051401829613978 + ], + [ + -29.03906155026166, + -14.790852240487592 + ], + [ + -29.332008459416713, + -14.790852240487592 + ] + ], + "projected_box_corners": [ + [ + -29.31184935328496, + -14.92352282877079 + ], + [ + -29.08919695533067, + -15.012270330372818 + ], + [ + -29.332008459416713, + -14.96265432801195 + ], + [ + -29.109356061462424, + -15.051401829613978 + ], + [ + -29.261713948215945, + -14.790852240487592 + ], + [ + -29.03906155026166, + -14.879599742089619 + ], + [ + -29.2818730543477, + -14.829983739728752 + ], + [ + -29.059220656393414, + -14.91873124133078 + ] + ], + "yaw_rad": 1.209490961995579, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.28194236755371, + -14.915897369384766, + 0.06691749393939972 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.196592742421664, + -14.940445516869152, + 0.07936545392933556 + ], + "intended_face_normal": [ + -0.17884354958548698, + -0.3552598064965906, + 0.9174993601030721 + ], + "commanded_contact_point": [ + -29.276265258789063, + -14.935793127253644, + 0.02861089468285211 + ], + "centerline_face_intersection": [ + -29.31612091037704, + -14.920793127253644, + 0.02861089468285211 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.28348731994629, + -14.914888381958008, + 0.06849877536296844 + ], + "box_pose": [ + -29.16962242126465, + -14.924090385437012, + 0.032364048063755035, + 0.6421794295310974, + 0.2639138698577881, + 0.5150101780891418, + 0.502712070941925 + ], + "box_yaw_rad": 1.202907451681074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015677675916287573 + } + } + }, + { + "simulation_time_ns": 7600000000, + "center": [ + -29.185203850326815, + -14.921065728442045, + 0.027878905745340986 + ], + "face_center": [ + -29.19524551425501, + -14.940459565188092, + 0.07870374304738986 + ], + "face_normal": [ + -0.18152497756399555, + -0.35058589944658536, + 0.9187697892422051 + ], + "footprint_xy": [ + [ + -29.331631459353154, + -15.051176086066292 + ], + [ + -29.038776241300475, + -15.051176086066292 + ], + [ + -29.038776241300475, + -14.790955370817798 + ], + [ + -29.331631459353154, + -14.790955370817798 + ] + ], + "projected_box_corners": [ + [ + -29.311548131496767, + -14.923891895924283 + ], + [ + -29.088806443571748, + -15.012388412574193 + ], + [ + -29.331631459353154, + -14.962679569416382 + ], + [ + -29.108889771428135, + -15.051176086066292 + ], + [ + -29.261517929225494, + -14.790955370817798 + ], + [ + -29.038776241300475, + -14.879451887467708 + ], + [ + -29.28160125708188, + -14.829743044309895 + ], + [ + -29.058859569156862, + -14.918239560959805 + ] + ], + "yaw_rad": 1.2108456445984703, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.281536102294922, + -14.915724754333496, + 0.0666339099407196 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.195614557905063, + -14.940692784671365, + 0.0788556282637849 + ], + "intended_face_normal": [ + -0.18220990636831758, + -0.3536935996161361, + 0.9174421010312521 + ], + "commanded_contact_point": [ + -29.274853820800782, + -14.936127035050786, + 0.028104236495208757 + ], + "centerline_face_intersection": [ + -29.3147731097346, + -14.921127035050786, + 0.028104236495208757 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.28194236755371, + -14.915897369384766, + 0.06691749393939972 + ], + "box_pose": [ + -29.16846466064453, + -14.924345016479492, + 0.03195515647530556, + 0.6396542191505432, + 0.26455119252204895, + 0.5173869729042053, + 0.5031557679176331 + ], + "box_yaw_rad": 1.209490961995579, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001536344405028238 + } + } + }, + { + "simulation_time_ns": 7620000000, + "center": [ + -29.18494380128013, + -14.92097705866351, + 0.027951713711887323 + ], + "face_center": [ + -29.19484196372245, + -14.940138375794426, + 0.07889277197405359 + ], + "face_normal": [ + -0.17893087521302675, + -0.3463826002501449, + 0.9208707365880464 + ], + "footprint_xy": [ + [ + -29.331327846812673, + -15.050971032259737 + ], + [ + -29.03855975574759, + -15.050971032259737 + ], + [ + -29.03855975574759, + -14.790983085067284 + ], + [ + -29.331327846812673, + -14.790983085067284 + ] + ], + "projected_box_corners": [ + [ + -29.311531521928032, + -14.92419366689634 + ], + [ + -29.088762932160336, + -15.012648397997907 + ], + [ + -29.331327846812673, + -14.962516301158171 + ], + [ + -29.108559257044977, + -15.050971032259737 + ], + [ + -29.261328345515288, + -14.790983085067284 + ], + [ + -29.03855975574759, + -14.87943781616885 + ], + [ + -29.281124670399926, + -14.829305719329115 + ], + [ + -29.05835608063223, + -14.91776045043068 + ] + ], + "yaw_rad": 1.210386526735044, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.28107452392578, + -14.915472984313965, + 0.06695204973220825 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.19524551425501, + -14.940459565188092, + 0.07870374304738986 + ], + "intended_face_normal": [ + -0.18152497756399555, + -0.35058589944658536, + 0.9187697892422051 + ], + "commanded_contact_point": [ + -29.27361022949219, + -14.936065728442045, + 0.027878905745340986 + ], + "centerline_face_intersection": [ + -29.314390147827254, + -14.921065728442045, + 0.027878905745340986 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.281536102294922, + -14.915724754333496, + 0.0666339099407196 + ], + "box_pose": [ + -29.168128967285156, + -14.924253463745117, + 0.031734857708215714, + 0.6387231945991516, + 0.26587891578674316, + 0.5170354247093201, + 0.5039993524551392 + ], + "box_yaw_rad": 1.2108456445984703, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012653267522348423 + } + } + }, + { + "simulation_time_ns": 7640000000, + "center": [ + -29.18379046502171, + -14.921017687246795, + 0.02813086646833701 + ], + "face_center": [ + -29.193495318785125, + -14.939905853307625, + 0.07921094255364194 + ], + "face_normal": [ + -0.17543639921267484, + -0.3414447988834155, + 0.9233837869556645 + ], + "footprint_xy": [ + [ + -29.330158902321323, + -15.050979020164473 + ], + [ + -29.037422027722094, + -15.050979020164473 + ], + [ + -29.037422027722094, + -14.791056354329118 + ], + [ + -29.330158902321323, + -14.791056354329118 + ] + ], + "projected_box_corners": [ + [ + -29.310749194794486, + -14.924503354232357 + ], + [ + -29.088055873638176, + -15.013202688042814 + ], + [ + -29.330158902321323, + -14.962279686354018 + ], + [ + -29.10746558116501, + -15.050979020164473 + ], + [ + -29.260115348878404, + -14.791056354329118 + ], + [ + -29.037422027722094, + -14.879755688139575 + ], + [ + -29.27952505640524, + -14.82883268645078 + ], + [ + -29.05683173524893, + -14.917532020261234 + ] + ], + "yaw_rad": 1.2081471562984125, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.279613494873047, + -14.91523265838623, + 0.06757532060146332 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.19484196372245, + -14.940138375794426, + 0.07889277197405359 + ], + "intended_face_normal": [ + -0.17893087521302675, + -0.3463826002501449, + 0.9208707365880464 + ], + "commanded_contact_point": [ + -29.272629852294923, + -14.93597705866351, + 0.027951713711887323 + ], + "centerline_face_intersection": [ + -29.3141144980648, + -14.92097705866351, + 0.027951713711887323 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.28107452392578, + -14.915472984313965, + 0.06695204973220825 + ], + "box_pose": [ + -29.167858123779297, + -14.924147605895996, + 0.0317738801240921, + 0.6383039951324463, + 0.2677645981311798, + 0.5155184864997864, + 0.5050849914550781 + ], + "box_yaw_rad": 1.210386526735044, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009870677679553778 + } + } + }, + { + "simulation_time_ns": 7660000000, + "center": [ + -29.18141069471469, + -14.921049561758679, + 0.028458334276986706 + ], + "face_center": [ + -29.191147915823695, + -14.939995789599115, + 0.07951073480896409 + ], + "face_normal": [ + -0.17602150958117946, + -0.34249439218940836, + 0.9228834909655994 + ], + "footprint_xy": [ + [ + -29.328019387696923, + -15.051578365345456 + ], + [ + -29.034802001732455, + -15.051578365345456 + ], + [ + -29.034802001732455, + -14.790520758171903 + ], + [ + -29.328019387696923, + -14.790520758171903 + ] + ], + "projected_box_corners": [ + [ + -29.308544945478914, + -14.923485872525532 + ], + [ + -29.086429497301385, + -15.013685909664588 + ], + [ + -29.328019387696923, + -14.9613783282064 + ], + [ + -29.105903939519393, + -15.051578365345456 + ], + [ + -29.256917449909984, + -14.790520758171903 + ], + [ + -29.034802001732455, + -14.880720795310959 + ], + [ + -29.276391892127993, + -14.828413213852771 + ], + [ + -29.054276443950464, + -14.918613250991827 + ] + ], + "yaw_rad": 1.2004353483166392, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.277009963989258, + -14.914698600769043, + 0.06808269023895264 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.193495318785125, + -14.939905853307625, + 0.07921094255364194 + ], + "intended_face_normal": [ + -0.17543639921267484, + -0.3414447988834155, + 0.9233837869556645 + ], + "commanded_contact_point": [ + -29.271605606079103, + -14.936017687246796, + 0.02813086646833701 + ], + "centerline_face_intersection": [ + -29.31300482049775, + -14.921017687246795, + 0.02813086646833701 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.279613494873047, + -14.91523265838623, + 0.06757532060146332 + ], + "box_pose": [ + -29.16669273376465, + -14.92419147491455, + 0.031896017491817474, + 0.6382929682731628, + 0.26973751187324524, + 0.5131320357322693, + 0.5064773559570312 + ], + "box_yaw_rad": 1.2081471562984125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010405895937138313 + } + } + }, + { + "simulation_time_ns": 7680000000, + "center": [ + -29.17759627768077, + -14.921072634036651, + 0.02857678724429505 + ], + "face_center": [ + -29.18743925801952, + -14.939957442311586, + 0.07963166993855995 + ], + "face_normal": [ + -0.17793333833225233, + -0.3413840995796136, + 0.9229283614628372 + ], + "footprint_xy": [ + [ + -29.324552132894407, + -15.05231776569643 + ], + [ + -29.030640422467137, + -15.05231776569643 + ], + [ + -29.030640422467137, + -14.789827502376875 + ], + [ + -29.324552132894407, + -14.789827502376875 + ] + ], + "projected_box_corners": [ + [ + -29.304866172216908, + -14.922268279361722 + ], + [ + -29.083592399004456, + -15.014548149146561 + ], + [ + -29.324552132894407, + -14.96003789591159 + ], + [ + -29.103278359681955, + -15.05231776569643 + ], + [ + -29.25191419567959, + -14.789827502376875 + ], + [ + -29.030640422467137, + -14.882107372161714 + ], + [ + -29.271600156357085, + -14.827597118926743 + ], + [ + -29.050326383144633, + -14.91987698871158 + ] + ], + "yaw_rad": 1.1904483535889254, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.27301025390625, + -14.9138822555542, + 0.06834833323955536 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.191147915823695, + -14.939995789599115, + 0.07951073480896409 + ], + "intended_face_normal": [ + -0.17602150958117946, + -0.34249439218940836, + 0.9228834909655994 + ], + "commanded_contact_point": [ + -29.270489807128907, + -14.93604956175868, + 0.028458334276986706 + ], + "centerline_face_intersection": [ + -29.31096122439704, + -14.921049561758679, + 0.028458334276986706 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.277009963989258, + -14.914698600769043, + 0.06808269023895264 + ], + "box_pose": [ + -29.16432762145996, + -14.924345970153809, + 0.032184455543756485, + 0.640263020992279, + 0.2674606740474701, + 0.511185348033905, + 0.5071662068367004 + ], + "box_yaw_rad": 1.2004353483166392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011632963712943454 + } + } + }, + { + "simulation_time_ns": 7700000000, + "center": [ + -29.172579094039552, + -14.921320848751927, + 0.028711409606001416 + ], + "face_center": [ + -29.18256526603403, + -14.940162948372276, + 0.07975427032242724 + ], + "face_normal": [ + -0.1805218398275592, + -0.3406120474953269, + 0.922711037992034 + ], + "footprint_xy": [ + [ + -29.31986468817967, + -15.053237715575781 + ], + [ + -29.025293499899437, + -15.053237715575781 + ], + [ + -29.025293499899437, + -14.789403981928073 + ], + [ + -29.31986468817967, + -14.789403981928073 + ] + ], + "projected_box_corners": [ + [ + -29.299892344190717, + -14.921321544773026 + ], + [ + -29.079435889987835, + -15.015553516335086 + ], + [ + -29.31986468817967, + -14.959005744013721 + ], + [ + -29.09940823397679, + -15.053237715575781 + ], + [ + -29.245749954102315, + -14.789403981928073 + ], + [ + -29.025293499899437, + -14.883635953490135 + ], + [ + -29.26572229809127, + -14.82708818116877 + ], + [ + -29.04526584388839, + -14.92132015273083 + ] + ], + "yaw_rad": 1.1813345045203956, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.267841339111328, + -14.91334056854248, + 0.06854806840419769 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.18743925801952, + -14.939957442311586, + 0.07963166993855995 + ], + "intended_face_normal": [ + -0.17793333833225233, + -0.3413840995796136, + 0.9229283614628372 + ], + "commanded_contact_point": [ + -29.269389266967774, + -14.936072634036652, + 0.02857678724429505 + ], + "centerline_face_intersection": [ + -29.30763958803009, + -14.921072634036651, + 0.02857678724429505 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.27301025390625, + -14.9138822555542, + 0.06834833323955536 + ], + "box_pose": [ + -29.160539627075195, + -14.924530982971191, + 0.03227708488702774, + 0.6420140266418457, + 0.2646646201610565, + 0.5084388256072998, + 0.5091764330863953 + ], + "box_yaw_rad": 1.1904483535889254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011071368848255545 + } + } + }, + { + "simulation_time_ns": 7720000000, + "center": [ + -29.167854036734134, + -14.921845887488383, + 0.028797764743891195 + ], + "face_center": [ + -29.177988796169924, + -14.940700855679093, + 0.07980657154166759 + ], + "face_normal": [ + -0.183207881916168, + -0.34084467497253, + 0.9220954391368039 + ], + "footprint_xy": [ + [ + -29.31545793928083, + -15.054447159185202 + ], + [ + -29.020250134187435, + -15.054447159185202 + ], + [ + -29.020250134187435, + -14.789244615791562 + ], + [ + -29.31545793928083, + -14.789244615791562 + ] + ], + "projected_box_corners": [ + [ + -29.29518842040925, + -14.920566769630295 + ], + [ + -29.075561056648187, + -15.01673722280378 + ], + [ + -29.31545793928083, + -14.958276706011718 + ], + [ + -29.09583057551977, + -15.054447159185202 + ], + [ + -29.2398774979485, + -14.789244615791562 + ], + [ + -29.020250134187435, + -14.885415068965045 + ], + [ + -29.260147016820078, + -14.826954552172985 + ], + [ + -29.040519653059018, + -14.923125005346469 + ] + ], + "yaw_rad": 1.1721614440677832, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.262998580932617, + -14.91309642791748, + 0.06866447627544403 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.18256526603403, + -14.940162948372276, + 0.07975427032242724 + ], + "intended_face_normal": [ + -0.1805218398275592, + -0.3406120474953269, + 0.922711037992034 + ], + "commanded_contact_point": [ + -29.26846420288086, + -14.936320848751928, + 0.028711409606001416 + ], + "centerline_face_intersection": [ + -29.303104526221052, + -14.921320848751927, + 0.028711409606001416 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.267841339111328, + -14.91334056854248, + 0.06854806840419769 + ], + "box_pose": [ + -29.15555191040039, + -14.924932479858398, + 0.03240097314119339, + 0.6435093283653259, + 0.26172778010368347, + 0.5061637759208679, + 0.5110701322555542 + ], + "box_yaw_rad": 1.1813345045203956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009672007496114745 + } + } + }, + { + "simulation_time_ns": 7740000000, + "center": [ + -29.164936142875835, + -14.922430784256157, + 0.02886659055449367 + ], + "face_center": [ + -29.175203288168575, + -14.94123528330332, + 0.07986754742923803 + ], + "face_normal": [ + -0.18560104502979868, + -0.3399323351236845, + 0.9219535346563852 + ], + "footprint_xy": [ + [ + -29.31278610562952, + -15.055528782132756 + ], + [ + -29.01708618012215, + -15.055528782132756 + ], + [ + -29.01708618012215, + -14.789332786379559 + ], + [ + -29.31278610562952, + -14.789332786379559 + ] + ], + "projected_box_corners": [ + [ + -29.29225181504404, + -14.920253111644694 + ], + [ + -29.073285053693464, + -15.017919784038432 + ], + [ + -29.31278610562952, + -14.95786210973902 + ], + [ + -29.093819344278945, + -15.055528782132756 + ], + [ + -29.23605294147272, + -14.789332786379559 + ], + [ + -29.01708618012215, + -14.886999458773294 + ], + [ + -29.2565872320582, + -14.826941784473883 + ], + [ + -29.037620470707626, + -14.924608456867619 + ] + ], + "yaw_rad": 1.1653228663098862, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.259986877441406, + -14.91303539276123, + 0.06869761645793915 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.177988796169924, + -14.940700855679093, + 0.07980657154166759 + ], + "intended_face_normal": [ + -0.183207881916168, + -0.34084467497253, + 0.9220954391368039 + ], + "commanded_contact_point": [ + -29.267666931152345, + -14.936845887488383, + 0.028797764743891195 + ], + "centerline_face_intersection": [ + -29.29887220072456, + -14.921845887488383, + 0.028797764743891195 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.262998580932617, + -14.91309642791748, + 0.06866447627544403 + ], + "box_pose": [ + -29.15085792541504, + -14.925613403320312, + 0.032474685460329056, + 0.6452303528785706, + 0.2584950923919678, + 0.5040834546089172, + 0.5125992894172668 + ], + "box_yaw_rad": 1.1721614440677832, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009585223490920949 + } + } + }, + { + "simulation_time_ns": 7760000000, + "center": [ + -29.16406611723239, + -14.922629637595852, + 0.02878766456858897 + ], + "face_center": [ + -29.174328209817567, + -14.941328353589244, + 0.0798285145634226 + ], + "face_normal": [ + -0.18550970632001906, + -0.3380200757013796, + 0.9226746898136327 + ], + "footprint_xy": [ + [ + -29.31196499407761, + -15.055808224201721 + ], + [ + -29.016167240387173, + -15.055808224201721 + ], + [ + -29.016167240387173, + -14.789451050989983 + ], + [ + -29.31196499407761, + -14.789451050989983 + ] + ], + "projected_box_corners": [ + [ + -29.291440808907257, + -14.92037518118442 + ], + [ + -29.072639208814334, + -15.018410792214937 + ], + [ + -29.31196499407761, + -14.957772613171205 + ], + [ + -29.093163393984685, + -15.055808224201721 + ], + [ + -29.234968840480096, + -14.789451050989983 + ], + [ + -29.016167240387173, + -14.8874866620205 + ], + [ + -29.25549302565045, + -14.826848482976768 + ], + [ + -29.036691425557525, + -14.924884094007284 + ] + ], + "yaw_rad": 1.1635733689320122, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.2590389251709, + -14.913050651550293, + 0.06865598261356354 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.175203288168575, + -14.94123528330332, + 0.07986754742923803 + ], + "intended_face_normal": [ + -0.18560104502979868, + -0.3399323351236845, + 0.9219535346563852 + ], + "commanded_contact_point": [ + -29.266871566772462, + -14.937430784256158, + 0.02886659055449367 + ], + "centerline_face_intersection": [ + -29.29634957651548, + -14.922430784256157, + 0.02886659055449367 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.259986877441406, + -14.91303539276123, + 0.06869761645793915 + ], + "box_pose": [ + -29.147966384887695, + -14.926315307617188, + 0.032543476670980453, + 0.6461814641952515, + 0.2561820447444916, + 0.5024098753929138, + 0.514202892780304 + ], + "box_yaw_rad": 1.1653228663098862, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009896694993504953 + } + } + }, + { + "simulation_time_ns": 7780000000, + "center": [ + -29.16429288845298, + -14.923098255552988, + 0.02918181699747131 + ], + "face_center": [ + -29.174881250135105, + -14.942521098242782, + 0.07988448347535615 + ], + "face_normal": [ + -0.19140773187902482, + -0.3511102451451862, + 0.9165612851263596 + ], + "footprint_xy": [ + [ + -29.312291140049176, + -15.056609771997397 + ], + [ + -29.016294636856784, + -15.056609771997397 + ], + [ + -29.016294636856784, + -14.789586739108577 + ], + [ + -29.312291140049176, + -14.789586739108577 + ] + ], + "projected_box_corners": [ + [ + -29.291114416684927, + -14.919667663196586 + ], + [ + -29.072341284399126, + -15.01776408661781 + ], + [ + -29.312291140049176, + -14.958513348576174 + ], + [ + -29.093518007763375, + -15.056609771997397 + ], + [ + -29.235067769142585, + -14.789586739108577 + ], + [ + -29.016294636856784, + -14.887683162529802 + ], + [ + -29.256244492506834, + -14.828432424488165 + ], + [ + -29.037471360221033, + -14.92652884790939 + ] + ], + "yaw_rad": 1.1639728212590914, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.259552001953125, + -14.913922309875488, + 0.06842891871929169 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.174328209817567, + -14.941328353589244, + 0.0798285145634226 + ], + "intended_face_normal": [ + -0.18550970632001906, + -0.3380200757013796, + 0.9226746898136327 + ], + "commanded_contact_point": [ + -29.26600944519043, + -14.937629637595853, + 0.02878766456858897 + ], + "centerline_face_intersection": [ + -29.295578747623626, + -14.922629637595852, + 0.02878766456858897 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2590389251709, + -14.913050651550293, + 0.06865598261356354 + ], + "box_pose": [ + -29.1471004486084, + -14.92653751373291, + 0.03245867043733597, + 0.6461487412452698, + 0.2562398910522461, + 0.501499593257904, + 0.5151029825210571 + ], + "box_yaw_rad": 1.1635733689320122, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008882711208651157 + } + } + }, + { + "simulation_time_ns": 7800000000, + "center": [ + -29.16443357279253, + -14.922928992907575, + 0.02978151882525564 + ], + "face_center": [ + -29.175191601017566, + -14.942074371277688, + 0.08055395601683503 + ], + "face_normal": [ + -0.19447482470505406, + -0.34609447238429425, + 0.9178225429546032 + ], + "footprint_xy": [ + [ + -29.312498779227443, + -15.056343736361738 + ], + [ + -29.016368366357618, + -15.056343736361738 + ], + [ + -29.016368366357618, + -14.789514249453413 + ], + [ + -29.312498779227443, + -14.789514249453413 + ] + ], + "projected_box_corners": [ + [ + -29.29098272277737, + -14.919896693410942 + ], + [ + -29.07228495267895, + -15.018052979621514 + ], + [ + -29.312498779227443, + -14.958187450151167 + ], + [ + -29.093801009129024, + -15.056343736361738 + ], + [ + -29.235066136456034, + -14.789514249453413 + ], + [ + -29.016368366357618, + -14.887670535663986 + ], + [ + -29.25658219290611, + -14.827805006193637 + ], + [ + -29.037884422807693, + -14.92596129240421 + ] + ], + "yaw_rad": 1.1656557755267407, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.25979995727539, + -14.913492202758789, + 0.0687318742275238 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.174881250135105, + -14.942521098242782, + 0.07988448347535615 + ], + "intended_face_normal": [ + -0.19140773187902482, + -0.3511102451451862, + 0.9165612851263596 + ], + "commanded_contact_point": [ + -29.26534378051758, + -14.938098255552989, + 0.02918181699747131 + ], + "centerline_face_intersection": [ + -29.295822631897163, + -14.923098255552988, + 0.02918181699747131 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.259552001953125, + -14.913922309875488, + 0.06842891871929169 + ], + "box_pose": [ + -29.147350311279297, + -14.927054405212402, + 0.032907355576753616, + 0.6481190919876099, + 0.2510797083377838, + 0.505466878414154, + 0.5112766623497009 + ], + "box_yaw_rad": 1.1639728212590914, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009044713282501417 + } + } + }, + { + "simulation_time_ns": 7820000000, + "center": [ + -29.16493390303667, + -14.922526500913417, + 0.032101969771795955 + ], + "face_center": [ + -29.176322286873607, + -14.941060489842668, + 0.08296371764940053 + ], + "face_normal": [ + -0.20586987727060801, + -0.3350422747277335, + 0.9194370284017239 + ], + "footprint_xy": [ + [ + -29.313210448209695, + -15.055694431040223 + ], + [ + -29.016657357863647, + -15.055694431040223 + ], + [ + -29.016657357863647, + -14.789358570786613 + ], + [ + -29.313210448209695, + -14.789358570786613 + ] + ], + "projected_box_corners": [ + [ + -29.29043368053582, + -14.920408597397804 + ], + [ + -29.071958814485875, + -15.01862645318172 + ], + [ + -29.313210448209695, + -14.957476575256306 + ], + [ + -29.09473558215975, + -15.055694431040223 + ], + [ + -29.235132223913592, + -14.789358570786613 + ], + [ + -29.016657357863647, + -14.887576426570527 + ], + [ + -29.257908991587467, + -14.826426548645115 + ], + [ + -29.03943412553752, + -14.92464440442903 + ] + ], + "yaw_rad": 1.1714801652372655, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.2606201171875, + -14.912651062011719, + 0.07002528011798859 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.175191601017566, + -14.942074371277688, + 0.08055395601683503 + ], + "intended_face_normal": [ + -0.19447482470505406, + -0.34609447238429425, + 0.9178225429546032 + ], + "commanded_contact_point": [ + -29.264466400146485, + -14.937928992907576, + 0.02978151882525564 + ], + "centerline_face_intersection": [ + -29.296008640746273, + -14.922928992907575, + 0.02978151882525564 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.25979995727539, + -14.913492202758789, + 0.0687318742275238 + ], + "box_pose": [ + -29.147504806518555, + -14.926873207092285, + 0.033581748604774475, + 0.6460070610046387, + 0.251469224691391, + 0.5056897401809692, + 0.5135328769683838 + ], + "box_yaw_rad": 1.1656557755267407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010761451765261747 + } + } + }, + { + "simulation_time_ns": 7840000000, + "center": [ + -29.164629833234667, + -14.92274839250291, + 0.031036836739149518 + ], + "face_center": [ + -29.175540591970297, + -14.941620121740577, + 0.08187908614042336 + ], + "face_normal": [ + -0.19723576180742697, + -0.34114766745406655, + 0.9190845509135528 + ], + "footprint_xy": [ + [ + -29.312765330390075, + -15.056087825818267 + ], + [ + -29.016494336079262, + -15.056087825818267 + ], + [ + -29.016494336079262, + -14.789408959187556 + ], + [ + -29.312765330390075, + -14.789408959187556 + ] + ], + "projected_box_corners": [ + [ + -29.29094381291881, + -14.920062997778587 + ], + [ + -29.072352074040086, + -15.018344367342936 + ], + [ + -29.312765330390075, + -14.957806456253918 + ], + [ + -29.09417359151135, + -15.056087825818267 + ], + [ + -29.235086074957987, + -14.789408959187556 + ], + [ + -29.016494336079262, + -14.887690328751905 + ], + [ + -29.256907592429247, + -14.827152417662887 + ], + [ + -29.03831585355052, + -14.925433787227236 + ] + ], + "yaw_rad": 1.166789767588674, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.259870529174805, + -14.913142204284668, + 0.0702284425497055 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.176322286873607, + -14.941060489842668, + 0.08296371764940053 + ], + "intended_face_normal": [ + -0.20586987727060801, + -0.3350422747277335, + 0.9194370284017239 + ], + "commanded_contact_point": [ + -29.26320182800293, + -14.937526500913417, + 0.032101969771795955 + ], + "centerline_face_intersection": [ + -29.29664321350469, + -14.922526500913417, + 0.032101969771795955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2606201171875, + -14.912651062011719, + 0.07002528011798859 + ], + "box_pose": [ + -29.148056030273438, + -14.92643928527832, + 0.03615280240774155, + 0.6400035619735718, + 0.25106555223464966, + 0.5078548789024353, + 0.5190809369087219 + ], + "box_yaw_rad": 1.1714801652372655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026731320780904277 + } + } + }, + { + "simulation_time_ns": 7860000000, + "center": [ + -29.164360415366104, + -14.92281367338738, + 0.030338859081538695 + ], + "face_center": [ + -29.174956552123987, + -14.941684614128697, + 0.08124789854584943 + ], + "face_normal": [ + -0.19154828333172702, + -0.3411334136627673, + 0.9202919269800063 + ], + "footprint_xy": [ + [ + -29.312411356102395, + -15.05618785724595 + ], + [ + -29.01630947462981, + -15.05618785724595 + ], + [ + -29.01630947462981, + -14.78943948952881 + ], + [ + -29.312411356102395, + -14.78943948952881 + ] + ], + "projected_box_corners": [ + [ + -29.29121908258663, + -14.920062582875723 + ], + [ + -29.072611038304977, + -15.018445975763314 + ], + [ + -29.312411356102395, + -14.95780446435836 + ], + [ + -29.093803311820746, + -15.05618785724595 + ], + [ + -29.234917518911463, + -14.78943948952881 + ], + [ + -29.01630947462981, + -14.8878228824164 + ], + [ + -29.256109792427228, + -14.827181371011445 + ], + [ + -29.037501748145576, + -14.925564763899036 + ] + ], + "yaw_rad": 1.1638351856395777, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.259132385253906, + -14.913329124450684, + 0.07040371000766754 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.175540591970297, + -14.941620121740577, + 0.08187908614042336 + ], + "intended_face_normal": [ + -0.19723576180742697, + -0.34114766745406655, + 0.9190845509135528 + ], + "commanded_contact_point": [ + -29.261731262207032, + -14.937748392502911, + 0.031036836739149518 + ], + "centerline_face_intersection": [ + -29.29626872365951, + -14.92274839250291, + 0.031036836739149518 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.259870529174805, + -14.913142204284668, + 0.0702284425497055 + ], + "box_pose": [ + -29.147714614868164, + -14.92668628692627, + 0.03490336984395981, + 0.6440833806991577, + 0.2518312633037567, + 0.5056979656219482, + 0.5157588720321655 + ], + "box_yaw_rad": 1.166789767588674, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018292916702344092 + } + } + }, + { + "simulation_time_ns": 7880000000, + "center": [ + -29.16423462211104, + -14.922794081593633, + 0.029749849159930866 + ], + "face_center": [ + -29.174666473231465, + -14.941611755367179, + 0.08071249979848188 + ], + "face_normal": [ + -0.18857846210818252, + -0.34017049703871294, + 0.9212610658867391 + ], + "footprint_xy": [ + [ + -29.31223770731403, + -15.056156630115137 + ], + [ + -29.016231536908048, + -15.056156630115137 + ], + [ + -29.016231536908048, + -14.789431533072127 + ], + [ + -29.31223770731403, + -14.789431533072127 + ] + ], + "projected_box_corners": [ + [ + -29.29137400507318, + -14.92010386320687 + ], + [ + -29.07275648482407, + -15.018521282568045 + ], + [ + -29.31223770731403, + -14.957739210753962 + ], + [ + -29.093620187064918, + -15.056156630115137 + ], + [ + -29.234849057157163, + -14.789431533072127 + ], + [ + -29.016231536908048, + -14.887848952433302 + ], + [ + -29.255712759398012, + -14.82706688061922 + ], + [ + -29.0370952391489, + -14.925484299980393 + ] + ], + "yaw_rad": 1.1625312169781534, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.258623123168945, + -14.913381576538086, + 0.07019098103046417 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.174956552123987, + -14.941684614128697, + 0.08124789854584943 + ], + "intended_face_normal": [ + -0.19154828333172702, + -0.3411334136627673, + 0.9202919269800063 + ], + "commanded_contact_point": [ + -29.260239715576173, + -14.93781367338738, + 0.030338859081538695 + ], + "centerline_face_intersection": [ + -29.295989487190006, + -14.92281367338738, + 0.030338859081538695 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.259132385253906, + -14.913329124450684, + 0.07040371000766754 + ], + "box_pose": [ + -29.147422790527344, + -14.926759719848633, + 0.03409748524427414, + 0.6457667350769043, + 0.2532990574836731, + 0.503539502620697, + 0.5150464773178101 + ], + "box_yaw_rad": 1.1638351856395777, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016480733467988823 + } + } + }, + { + "simulation_time_ns": 7900000000, + "center": [ + -29.164104169125892, + -14.922818749699651, + 0.028925823457394736 + ], + "face_center": [ + -29.17441599287355, + -14.941647783385902, + 0.07990871105383582 + ], + "face_normal": [ + -0.1864087055514858, + -0.3403758522381466, + 0.9216268930398108 + ], + "footprint_xy": [ + [ + -29.312066067836643, + -15.056183951841197 + ], + [ + -29.016142270415138, + -15.056183951841197 + ], + [ + -29.016142270415138, + -14.789453547558107 + ], + [ + -29.312066067836643, + -14.789453547558107 + ] + ], + "projected_box_corners": [ + [ + -29.291442420341326, + -14.920115277897995 + ], + [ + -29.07280195828307, + -15.018525884468696 + ], + [ + -29.312066067836643, + -14.957773345270496 + ], + [ + -29.093425605778386, + -15.056183951841197 + ], + [ + -29.234782732473395, + -14.789453547558107 + ], + [ + -29.016142270415138, + -14.887864154128808 + ], + [ + -29.25540637996871, + -14.827111614930606 + ], + [ + -29.036765917910458, + -14.925522221501307 + ] + ], + "yaw_rad": 1.161633336241298, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.258098602294922, + -14.913619041442871, + 0.06944753229618073 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.174666473231465, + -14.941611755367179, + 0.08071249979848188 + ], + "intended_face_normal": [ + -0.18857846210818252, + -0.34017049703871294, + 0.9212610658867391 + ], + "commanded_contact_point": [ + -29.258666152954103, + -14.937794081593633, + 0.029749849159930866 + ], + "centerline_face_intersection": [ + -29.29585798847821, + -14.922794081593633, + 0.029749849159930866 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.258623123168945, + -14.913381576538086, + 0.07019098103046417 + ], + "box_pose": [ + -29.14728546142578, + -14.926739692687988, + 0.03345656767487526, + 0.6463619470596313, + 0.25433778762817383, + 0.5022962093353271, + 0.5150018930435181 + ], + "box_yaw_rad": 1.1625312169781534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016803023096191537 + } + } + }, + { + "simulation_time_ns": 7920000000, + "center": [ + -29.16411930166976, + -14.922764647986938, + 0.028541578050055524 + ], + "face_center": [ + -29.174568711671583, + -14.941474303674893, + 0.079540389786048 + ], + "face_normal": [ + -0.18889587718744494, + -0.3382178345413678, + 0.9219147565946422 + ], + "footprint_xy": [ + [ + -29.312123729406316, + -15.056061570749122 + ], + [ + -29.016114873933205, + -15.056061570749122 + ], + [ + -29.016114873933205, + -14.789467725224753 + ], + [ + -29.312123729406316, + -14.789467725224753 + ] + ], + "projected_box_corners": [ + [ + -29.291224909402672, + -14.92027720593925 + ], + [ + -29.072595542390196, + -15.018642259373214 + ], + [ + -29.312123729406316, + -14.95769651731516 + ], + [ + -29.09349436239384, + -15.056061570749122 + ], + [ + -29.23474424094568, + -14.789467725224753 + ], + [ + -29.016114873933205, + -14.887832778658717 + ], + [ + -29.255643060949325, + -14.826887036600661 + ], + [ + -29.03701369393685, + -14.925252090034625 + ] + ], + "yaw_rad": 1.1631986081170926, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.258075714111328, + -14.913580894470215, + 0.06866765022277832 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.17441599287355, + -14.941647783385902, + 0.07990871105383582 + ], + "intended_face_normal": [ + -0.1864087055514858, + -0.3403758522381466, + 0.9216268930398108 + ], + "commanded_contact_point": [ + -29.25681983947754, + -14.937818749699652, + 0.028925823457394736 + ], + "centerline_face_intersection": [ + -29.295713724334227, + -14.922818749699651, + 0.028925823457394736 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.258098602294922, + -14.913619041442871, + 0.06944753229618073 + ], + "box_pose": [ + -29.147146224975586, + -14.926764488220215, + 0.03259201720356941, + 0.6469995975494385, + 0.2548989951610565, + 0.5015769600868225, + 0.5146247148513794 + ], + "box_yaw_rad": 1.161633336241298, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00202200403749127 + } + } + }, + { + "simulation_time_ns": 7940000000, + "center": [ + -29.163874004943956, + -14.922766853827358, + 0.028329891778522426 + ], + "face_center": [ + -29.174355258792097, + -14.941335741746647, + 0.07937360378832367 + ], + "face_normal": [ + -0.18947152416489743, + -0.335673150091516, + 0.9227264269765669 + ], + "footprint_xy": [ + [ + -29.311875769862777, + -15.055957842935955 + ], + [ + -29.015872240025132, + -15.055957842935955 + ], + [ + -29.015872240025132, + -14.78957586471876 + ], + [ + -29.311875769862777, + -14.78957586471876 + ] + ], + "projected_box_corners": [ + [ + -29.29091326216649, + -14.920580673543293 + ], + [ + -29.07224591486531, + -15.018820067097376 + ], + [ + -29.311875769862777, + -14.957718449381872 + ], + [ + -29.09320842256159, + -15.055957842935955 + ], + [ + -29.234539587326317, + -14.78957586471876 + ], + [ + -29.015872240025132, + -14.887815258272843 + ], + [ + -29.255502095022603, + -14.826713640557339 + ], + [ + -29.036834747721418, + -14.924953034111422 + ] + ], + "yaw_rad": 1.1644302604024788, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.25787353515625, + -14.913424491882324, + 0.06824353337287903 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.174568711671583, + -14.941474303674893, + 0.079540389786048 + ], + "intended_face_normal": [ + -0.18889587718744494, + -0.3382178345413678, + 0.9219147565946422 + ], + "commanded_contact_point": [ + -29.254956359863282, + -14.937764647986938, + 0.028541578050055524 + ], + "centerline_face_intersection": [ + -29.295735535825486, + -14.922764647986938, + 0.028541578050055524 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.258075714111328, + -14.913580894470215, + 0.06866765022277832 + ], + "box_pose": [ + -29.147171020507812, + -14.9266996383667, + 0.03226357698440552, + 0.6456871628761292, + 0.25482454895973206, + 0.5021921992301941, + 0.5157086849212646 + ], + "box_yaw_rad": 1.1631986081170926, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019034515494580477 + } + } + }, + { + "simulation_time_ns": 7960000000, + "center": [ + -29.163165224553563, + -14.922729888002142, + 0.028203131104263535 + ], + "face_center": [ + -29.17364339397941, + -14.941241596695642, + 0.07926824105809924 + ], + "face_normal": [ + -0.18941576650445313, + -0.3346395108706943, + 0.9231132414864476 + ], + "footprint_xy": [ + [ + -29.311160017670048, + -15.055875962681306 + ], + [ + -29.015170431437078, + -15.055875962681306 + ], + [ + -29.015170431437078, + -14.789583813322976 + ], + [ + -29.311160017670048, + -14.789583813322976 + ] + ], + "projected_box_corners": [ + [ + -29.290203678818347, + -14.920669021294279 + ], + [ + -29.071516186915037, + -15.018852545294305 + ], + [ + -29.311160017670048, + -14.957692438681278 + ], + [ + -29.092472525766738, + -15.055875962681306 + ], + [ + -29.233857923340388, + -14.789583813322976 + ], + [ + -29.015170431437078, + -14.887767337323004 + ], + [ + -29.254814262192085, + -14.826607230709977 + ], + [ + -29.036126770288778, + -14.924790754710004 + ] + ], + "yaw_rad": 1.164832731341728, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.257213592529297, + -14.913161277770996, + 0.06788375973701477 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.174355258792097, + -14.941335741746647, + 0.07937360378832367 + ], + "intended_face_normal": [ + -0.18947152416489743, + -0.335673150091516, + 0.9227264269765669 + ], + "commanded_contact_point": [ + -29.253146286010743, + -14.937766853827359, + 0.028329891778522426 + ], + "centerline_face_intersection": [ + -29.29546737870176, + -14.922766853827358, + 0.028329891778522426 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.25787353515625, + -14.913424491882324, + 0.06824353337287903 + ], + "box_pose": [ + -29.146926879882812, + -14.92668342590332, + 0.032076504081487656, + 0.6446936726570129, + 0.2554844915866852, + 0.5022017955780029, + 0.5166150331497192 + ], + "box_yaw_rad": 1.1644302604024788, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018224113956330356 + } + } + }, + { + "simulation_time_ns": 7980000000, + "center": [ + -29.161175951755084, + -14.92262087493404, + 0.02819429871167514 + ], + "face_center": [ + -29.171651835849094, + -14.94114169532985, + 0.07925656712936852 + ], + "face_normal": [ + -0.18937445414687915, + -0.33480422476365135, + 0.9230618745229471 + ], + "footprint_xy": [ + [ + -29.30914915121165, + -15.05571674280823 + ], + [ + -29.013202752298515, + -15.05571674280823 + ], + [ + -29.013202752298515, + -14.78952500705985 + ], + [ + -29.30914915121165, + -14.78952500705985 + ] + ], + "projected_box_corners": [ + [ + -29.28819738302363, + -14.920648973602718 + ], + [ + -29.069441202112795, + -15.018675102016608 + ], + [ + -29.30914915121165, + -14.957690614394338 + ], + [ + -29.090392970300815, + -15.05571674280823 + ], + [ + -29.23195893320935, + -14.78952500705985 + ], + [ + -29.013202752298515, + -14.887551135473743 + ], + [ + -29.25291070139737, + -14.826566647851472 + ], + [ + -29.034154520486535, + -14.924592776265364 + ] + ], + "yaw_rad": 1.1656309773927516, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.25514793395996, + -14.912744522094727, + 0.06743374466896057 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.17364339397941, + -14.941241596695642, + 0.07926824105809924 + ], + "intended_face_normal": [ + -0.18941576650445313, + -0.3346395108706943, + 0.9231132414864476 + ], + "commanded_contact_point": [ + -29.251345748901368, + -14.937729888002142, + 0.028203131104263535 + ], + "centerline_face_intersection": [ + -29.2947464764651, + -14.922729888002142, + 0.028203131104263535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.257213592529297, + -14.913161277770996, + 0.06788375973701477 + ], + "box_pose": [ + -29.146217346191406, + -14.92663860321045, + 0.03195453807711601, + 0.644363284111023, + 0.25583910942077637, + 0.5021112561225891, + 0.516939640045166 + ], + "box_yaw_rad": 1.164832731341728, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001805372156373586 + } + } + }, + { + "simulation_time_ns": 8000000000, + "center": [ + -29.157953993498978, + -14.921950658582247, + 0.02809839204565123 + ], + "face_center": [ + -29.16855509644239, + -14.940480600978207, + 0.0791314992604541 + ], + "face_normal": [ + -0.1916380579669763, + -0.33496912481252394, + 0.9225347221766533 + ], + "footprint_xy": [ + [ + -29.306041221285962, + -15.05524372404732 + ], + [ + -29.009866765711994, + -15.05524372404732 + ], + [ + -29.009866765711994, + -14.788657593117174 + ], + [ + -29.306041221285962, + -14.788657593117174 + ] + ], + "projected_box_corners": [ + [ + -29.28483901539914, + -14.91959726431927 + ], + [ + -29.066346365813107, + -15.0181838392554 + ], + [ + -29.306041221285962, + -14.956657149111189 + ], + [ + -29.08754857169993, + -15.05524372404732 + ], + [ + -29.228359415298026, + -14.788657593117174 + ], + [ + -29.009866765711994, + -14.887244168053304 + ], + [ + -29.249561621184846, + -14.825717477909093 + ], + [ + -29.031068971598817, + -14.924304052845223 + ] + ], + "yaw_rad": 1.1635673914120948, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.25179672241211, + -14.911275863647461, + 0.0667509138584137 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.171651835849094, + -14.94114169532985, + 0.07925656712936852 + ], + "intended_face_normal": [ + -0.18937445414687915, + -0.33480422476365135, + 0.9230618745229471 + ], + "commanded_contact_point": [ + -29.24978744506836, + -14.93762087493404, + 0.02819429871167514 + ], + "centerline_face_intersection": [ + -29.29271588741414, + -14.92262087493404, + 0.02819429871167514 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.25514793395996, + -14.912744522094727, + 0.06743374466896057 + ], + "box_pose": [ + -29.14422607421875, + -14.926517486572266, + 0.03194925934076309, + 0.6442245244979858, + 0.2560076415538788, + 0.5023712515830994, + 0.516776442527771 + ], + "box_yaw_rad": 1.1656309773927516, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015621372206507842 + } + } + }, + { + "simulation_time_ns": 8020000000, + "center": [ + -29.15370219834505, + -14.921624241982899, + 0.028331366910901244 + ], + "face_center": [ + -29.164118285225815, + -14.940227636318701, + 0.07937585310356607 + ], + "face_normal": [ + -0.1882934890925938, + -0.33629692883258144, + 0.9227404220204107 + ], + "footprint_xy": [ + [ + -29.30160508618898, + -15.054629719831352 + ], + [ + -29.00579931050112, + -15.054629719831352 + ], + [ + -29.00579931050112, + -14.788618764134448 + ], + [ + -29.30160508618898, + -14.788618764134448 + ] + ], + "projected_box_corners": [ + [ + -29.28077291242746, + -14.919765719227993 + ], + [ + -29.06184162498338, + -15.017422931159746 + ], + [ + -29.30160508618898, + -14.956972507899598 + ], + [ + -29.082673798744903, + -15.054629719831352 + ], + [ + -29.2247305979452, + -14.788618764134448 + ], + [ + -29.00579931050112, + -14.886275976066202 + ], + [ + -29.245562771706723, + -14.825825552806052 + ], + [ + -29.026631484262648, + -14.923482764737805 + ] + ], + "yaw_rad": 1.1669584074239128, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.247541427612305, + -14.911011695861816, + 0.06734725832939148 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.16855509644239, + -14.940480600978207, + 0.0791314992604541 + ], + "intended_face_normal": [ + -0.1916380579669763, + -0.33496912481252394, + 0.9225347221766533 + ], + "commanded_contact_point": [ + -29.248217697143556, + -14.936950658582248, + 0.02809839204565123 + ], + "centerline_face_intersection": [ + -29.289652583893442, + -14.921950658582247, + 0.02809839204565123 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.25179672241211, + -14.911275863647461, + 0.0667509138584137 + ], + "box_pose": [ + -29.141019821166992, + -14.92589282989502, + 0.0318765863776207, + 0.6443440914154053, + 0.2546188533306122, + 0.502299964427948, + 0.5173824429512024 + ], + "box_yaw_rad": 1.1635673914120948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001709531103614963 + } + } + }, + { + "simulation_time_ns": 8040000000, + "center": [ + -29.151317091584257, + -14.922121009594704, + 0.028748234402894122 + ], + "face_center": [ + -29.16144275904194, + -14.941101493377115, + 0.07971227403595513 + ], + "face_normal": [ + -0.18304352458112305, + -0.3431136430569097, + 0.9212861749920691 + ], + "footprint_xy": [ + [ + -29.298782063731952, + -15.054439303609202 + ], + [ + -29.003852119436566, + -15.054439303609202 + ], + [ + -29.003852119436566, + -14.789802715580207 + ], + [ + -29.298782063731952, + -14.789802715580207 + ] + ], + "projected_box_corners": [ + [ + -29.278530728816595, + -14.921276255282843 + ], + [ + -29.05848835422147, + -15.016478336044381 + ], + [ + -29.298782063731952, + -14.959237222847664 + ], + [ + -29.07873968913683, + -15.054439303609202 + ], + [ + -29.223894494031686, + -14.789802715580207 + ], + [ + -29.003852119436566, + -14.885004796341745 + ], + [ + -29.244145828947044, + -14.827763683145028 + ], + [ + -29.024103454351923, + -14.922965763906568 + ] + ], + "yaw_rad": 1.176941462225339, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.245336532592773, + -14.912534713745117, + 0.06828711926937103 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.164118285225815, + -14.940227636318701, + 0.07937585310356607 + ], + "intended_face_normal": [ + -0.1882934890925938, + -0.33629692883258144, + 0.9227404220204107 + ], + "commanded_contact_point": [ + -29.24638854980469, + -14.9366242419829, + 0.028331366910901244 + ], + "centerline_face_intersection": [ + -29.285136925185462, + -14.921624241982899, + 0.028331366910901244 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.247541427612305, + -14.911011695861816, + 0.06734725832939148 + ], + "box_pose": [ + -29.136743545532227, + -14.925496101379395, + 0.0320722870528698, + 0.6444629430770874, + 0.2563900053501129, + 0.5028080940246582, + 0.5158640146255493 + ], + "box_yaw_rad": 1.1669584074239128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018725931409286976 + } + } + }, + { + "simulation_time_ns": 8060000000, + "center": [ + -29.15106766212813, + -14.922473477275148, + 0.029047177848855046 + ], + "face_center": [ + -29.16130602499757, + -14.94203664535707, + 0.07976778288993713 + ], + "face_normal": [ + -0.18508073995074525, + -0.3536469326742875, + 0.9168855637822872 + ], + "footprint_xy": [ + [ + -29.29850388157534, + -15.054910375620082 + ], + [ + -29.003631442680923, + -15.054910375620082 + ], + [ + -29.003631442680923, + -14.790036578930211 + ], + [ + -29.29850388157534, + -14.790036578930211 + ] + ], + "projected_box_corners": [ + [ + -29.27802715583646, + -14.920955030572665 + ], + [ + -29.05780960065914, + -15.015784039456234 + ], + [ + -29.29850388157534, + -14.960081366736514 + ], + [ + -29.07828632639802, + -15.054910375620082 + ], + [ + -29.223848997858248, + -14.790036578930211 + ], + [ + -29.003631442680923, + -14.88486558781378 + ], + [ + -29.244325723597125, + -14.82916291509406 + ], + [ + -29.0241081684198, + -14.923991923977628 + ] + ], + "yaw_rad": 1.1784235383092547, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.245216369628906, + -14.913240432739258, + 0.06836515665054321 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.16144275904194, + -14.941101493377115, + 0.07971227403595513 + ], + "intended_face_normal": [ + -0.18304352458112305, + -0.3431136430569097, + 0.9212861749920691 + ], + "commanded_contact_point": [ + -29.244528884887696, + -14.937121009594705, + 0.028748234402894122 + ], + "centerline_face_intersection": [ + -29.282088148818023, + -14.922121009594704, + 0.028748234402894122 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.245336532592773, + -14.912534713745117, + 0.06828711926937103 + ], + "box_pose": [ + -29.134309768676758, + -14.92581844329834, + 0.03244440257549286, + 0.6446826457977295, + 0.25915858149528503, + 0.5059062242507935, + 0.5111556053161621 + ], + "box_yaw_rad": 1.176941462225339, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019694949021286435 + } + } + }, + { + "simulation_time_ns": 8080000000, + "center": [ + -29.150937255717484, + -14.922224198827927, + 0.028961214578834805 + ], + "face_center": [ + -29.16101828194231, + -14.941416172465743, + 0.07985484596505008 + ], + "face_normal": [ + -0.18223653692948005, + -0.34693678347787227, + 0.9200133923615823 + ], + "footprint_xy": [ + [ + -29.298332094776146, + -15.054507195058399 + ], + [ + -29.00354241665882, + -15.054507195058399 + ], + [ + -29.00354241665882, + -14.789941202597452 + ], + [ + -29.298332094776146, + -14.789941202597452 + ] + ], + "projected_box_corners": [ + [ + -29.27817004232649, + -14.921284075205126 + ], + [ + -29.057956154828794, + -15.016123247782765 + ], + [ + -29.298332094776146, + -14.95966802248076 + ], + [ + -29.07811820727845, + -15.054507195058399 + ], + [ + -29.22375630415652, + -14.789941202597452 + ], + [ + -29.00354241665882, + -14.884780375175092 + ], + [ + -29.243918356606173, + -14.828325149873086 + ], + [ + -29.023704469108477, + -14.923164322450726 + ] + ], + "yaw_rad": 1.1780339561560502, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.24497413635254, + -14.912495613098145, + 0.06867815554141998 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.16130602499757, + -14.94203664535707, + 0.07976778288993713 + ], + "intended_face_normal": [ + -0.18508073995074525, + -0.3536469326742875, + 0.9168855637822872 + ], + "commanded_contact_point": [ + -29.242671127319337, + -14.937473477275148, + 0.029047177848855046 + ], + "centerline_face_intersection": [ + -29.281734692460304, + -14.922473477275148, + 0.029047177848855046 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.245216369628906, + -14.913240432739258, + 0.06836515665054321 + ], + "box_pose": [ + -29.134063720703125, + -14.926176071166992, + 0.03275372460484505, + 0.6464592814445496, + 0.2562684714794159, + 0.5088357925415039, + 0.5074476003646851 + ], + "box_yaw_rad": 1.1784235383092547, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019143834078983544 + } + } + }, + { + "simulation_time_ns": 8100000000, + "center": [ + -29.150791231725247, + -14.922005057886661, + 0.028992892195506853 + ], + "face_center": [ + -29.1606898749409, + -14.940868554103604, + 0.08004489663572761 + ], + "face_normal": [ + -0.17893956623964868, + -0.3409988376472839, + 0.9228763307431755 + ], + "footprint_xy": [ + [ + -29.298135351110663, + -15.054154468415598 + ], + [ + -29.003447112339828, + -15.054154468415598 + ], + [ + -29.003447112339828, + -14.789855647357724 + ], + [ + -29.298135351110663, + -14.789855647357724 + ] + ], + "projected_box_corners": [ + [ + -29.278338064679357, + -14.921560638765031 + ], + [ + -29.058128598428063, + -15.016427475981715 + ], + [ + -29.298135351110663, + -14.959287631198915 + ], + [ + -29.07792588485937, + -15.054154468415598 + ], + [ + -29.22365657859112, + -14.789855647357724 + ], + [ + -29.003447112339828, + -14.884722484574407 + ], + [ + -29.24345386502243, + -14.827582639791608 + ], + [ + -29.023244398771133, + -14.922449477008293 + ] + ], + "yaw_rad": 1.1772712754318697, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.244657516479492, + -14.911951065063477, + 0.06919260323047638 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.16101828194231, + -14.941416172465743, + 0.07985484596505008 + ], + "intended_face_normal": [ + -0.18223653692948005, + -0.34693678347787227, + 0.9200133923615823 + ], + "commanded_contact_point": [ + -29.240790481567384, + -14.937224198827927, + 0.028961214578834805 + ], + "centerline_face_intersection": [ + -29.281606462319328, + -14.922224198827927, + 0.028961214578834805 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.24497413635254, + -14.912495613098145, + 0.06867815554141998 + ], + "box_pose": [ + -29.133922576904297, + -14.925905227661133, + 0.03263985738158226, + 0.645472526550293, + 0.25882628560066223, + 0.5067875385284424, + 0.5094512104988098 + ], + "box_yaw_rad": 1.1780339561560502, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018990413034952192 + } + } + }, + { + "simulation_time_ns": 8120000000, + "center": [ + -29.150595734726316, + -14.92209213862693, + 0.029161679466302645 + ], + "face_center": [ + -29.160473542080076, + -14.941083208896053, + 0.0801703998968971 + ], + "face_normal": [ + -0.17856291259042223, + -0.3433050168946039, + 0.922093877861613 + ], + "footprint_xy": [ + [ + -29.29793957671576, + -15.05432162143714 + ], + [ + -29.003251892736873, + -15.05432162143714 + ], + [ + -29.003251892736873, + -14.789862655816721 + ], + [ + -29.29793957671576, + -14.789862655816721 + ] + ], + "projected_box_corners": [ + [ + -29.27818396200824, + -14.921404221661385 + ], + [ + -29.05799213698298, + -15.016339480898896 + ], + [ + -29.29793957671576, + -14.959386362199629 + ], + [ + -29.077747751690495, + -15.05432162143714 + ], + [ + -29.223443717762137, + -14.789862655816721 + ], + [ + -29.003251892736873, + -14.884797915054232 + ], + [ + -29.243199332469654, + -14.827844796354965 + ], + [ + -29.023007507444394, + -14.922780055592476 + ] + ], + "yaw_rad": 1.1764505684008655, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.244380950927734, + -14.912047386169434, + 0.06941083073616028 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.1606898749409, + -14.940868554103604, + 0.08004489663572761 + ], + "intended_face_normal": [ + -0.17893956623964868, + -0.3409988376472839, + 0.9228763307431755 + ], + "commanded_contact_point": [ + -29.239161605834962, + -14.937005057886662, + 0.028992892195506853 + ], + "centerline_face_intersection": [ + -29.281463061832653, + -14.922005057886661, + 0.028992892195506853 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.244657516479492, + -14.911951065063477, + 0.06919260323047638 + ], + "box_pose": [ + -29.133764266967773, + -14.925668716430664, + 0.03263182193040848, + 0.6448291540145874, + 0.2612718641757965, + 0.5046729445457458, + 0.5111141800880432 + ], + "box_yaw_rad": 1.1772712754318697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016438559472196949 + } + } + }, + { + "simulation_time_ns": 8140000000, + "center": [ + -29.150512931241533, + -14.922336469566293, + 0.029307950877796078 + ], + "face_center": [ + -29.160509767335917, + -14.941706474241021, + 0.08015071691140821 + ], + "face_normal": [ + -0.18071461669308064, + -0.3501550827768938, + 0.9190938901699042 + ], + "footprint_xy": [ + [ + -29.297896280188294, + -15.054745863202738 + ], + [ + -29.00312958229477, + -15.054745863202738 + ], + [ + -29.00312958229477, + -14.789927075929848 + ], + [ + -29.297896280188294, + -14.789927075929848 + ] + ], + "projected_box_corners": [ + [ + -29.277902607999522, + -14.92102301674422 + ], + [ + -29.05772513742955, + -15.01600585385328 + ], + [ + -29.297896280188294, + -14.959763026093677 + ], + [ + -29.07771880961832, + -15.054745863202738 + ], + [ + -29.223307052864744, + -14.789927075929848 + ], + [ + -29.00312958229477, + -14.884909913038909 + ], + [ + -29.243300725053516, + -14.828667085279307 + ], + [ + -29.02312325448354, + -14.923649922388366 + ] + ], + "yaw_rad": 1.1761856075108592, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.24406623840332, + -14.91275405883789, + 0.06925500929355621 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.160473542080076, + -14.941083208896053, + 0.0801703998968971 + ], + "intended_face_normal": [ + -0.17856291259042223, + -0.3433050168946039, + 0.922093877861613 + ], + "commanded_contact_point": [ + -29.23782455444336, + -14.93709213862693, + 0.029161679466302645 + ], + "centerline_face_intersection": [ + -29.281278033938516, + -14.92209213862693, + 0.029161679466302645 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.244380950927734, + -14.912047386169434, + 0.06941083073616028 + ], + "box_pose": [ + -29.133567810058594, + -14.925768852233887, + 0.0327829048037529, + 0.6456319689750671, + 0.2606830596923828, + 0.5047889351844788, + 0.5102860927581787 + ], + "box_yaw_rad": 1.1764505684008655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013504734806326494 + } + } + }, + { + "simulation_time_ns": 8160000000, + "center": [ + -29.15022010924687, + -14.922542136218631, + 0.02926501043114782 + ], + "face_center": [ + -29.160416239251802, + -14.942129787035055, + 0.07998466064530832 + ], + "face_normal": [ + -0.18431728880992893, + -0.3540895115001206, + 0.9168683032030884 + ], + "footprint_xy": [ + [ + -29.297668354064108, + -15.055053590640316 + ], + [ + -29.00277186442963, + -15.055053590640316 + ], + [ + -29.00277186442963, + -14.790030681796946 + ], + [ + -29.297668354064108, + -14.790030681796946 + ] + ], + "projected_box_corners": [ + [ + -29.27727609405424, + -14.92086524117597 + ], + [ + -29.057126917272637, + -15.01587828900747 + ], + [ + -29.297668354064108, + -14.960040542808818 + ], + [ + -29.077519177282504, + -15.055053590640316 + ], + [ + -29.222921041211233, + -14.790030681796946 + ], + [ + -29.00277186442963, + -14.885043729628444 + ], + [ + -29.2433133012211, + -14.829205983429794 + ], + [ + -29.023164124439496, + -14.924219031261293 + ] + ], + "yaw_rad": 1.1770434156401506, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.2434024810791, + -14.913616180419922, + 0.06867754459381104 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.160509767335917, + -14.941706474241021, + 0.08015071691140821 + ], + "intended_face_normal": [ + -0.18071461669308064, + -0.3501550827768938, + 0.9190938901699042 + ], + "commanded_contact_point": [ + -29.236405487060548, + -14.937336469566294, + 0.029307950877796078 + ], + "centerline_face_intersection": [ + -29.281203750277385, + -14.922336469566293, + 0.029307950877796078 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.24406623840332, + -14.91275405883789, + 0.06925500929355621 + ], + "box_pose": [ + -29.133493423461914, + -14.926039695739746, + 0.032941702753305435, + 0.6469281911849976, + 0.2582141160964966, + 0.5065189599990845, + 0.5081809759140015 + ], + "box_yaw_rad": 1.1761856075108592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014473579967350136 + } + } + }, + { + "simulation_time_ns": 8180000000, + "center": [ + -29.14855847386822, + -14.922452260999533, + 0.02893264523850203 + ], + "face_center": [ + -29.15866588924121, + -14.941642727286892, + 0.07982160575064662 + ], + "face_normal": [ + -0.18271357834033708, + -0.3469095348306297, + 0.9199289561250232 + ], + "footprint_xy": [ + [ + -29.29599200644801, + -15.054809530673289 + ], + [ + -29.00112494128843, + -15.054809530673289 + ], + [ + -29.00112494128843, + -14.790094991325777 + ], + [ + -29.29599200644801, + -14.790094991325777 + ] + ], + "projected_box_corners": [ + [ + -29.275777175702036, + -14.921375451360106 + ], + [ + -29.05565624309884, + -15.016428598098573 + ], + [ + -29.29599200644801, + -14.959756383934822 + ], + [ + -29.075871073844816, + -15.054809530673289 + ], + [ + -29.221245873891625, + -14.790094991325777 + ], + [ + -29.00112494128843, + -14.885148138064244 + ], + [ + -29.2414607046376, + -14.828475923900495 + ], + [ + -29.021339772034406, + -14.923529070638962 + ] + ], + "yaw_rad": 1.1771018810535105, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.24131965637207, + -14.913750648498535, + 0.06854408979415894 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.160416239251802, + -14.942129787035055, + 0.07998466064530832 + ], + "intended_face_normal": [ + -0.18431728880992893, + -0.3540895115001206, + 0.9168683032030884 + ], + "commanded_contact_point": [ + -29.235032196044923, + -14.937542136218632, + 0.02926501043114782 + ], + "centerline_face_intersection": [ + -29.280927724795113, + -14.922542136218631, + 0.02926501043114782 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2434024810791, + -14.913616180419922, + 0.06867754459381104 + ], + "box_pose": [ + -29.133214950561523, + -14.926260948181152, + 0.03294966369867325, + 0.6470190286636353, + 0.2561318576335907, + 0.5083415508270264, + 0.5072983503341675 + ], + "box_yaw_rad": 1.1770434156401506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013892699044601162 + } + } + }, + { + "simulation_time_ns": 8200000000, + "center": [ + -29.146207781511755, + -14.923067297038408, + 0.028825427605153532 + ], + "face_center": [ + -29.156267934167893, + -14.941942520872148, + 0.07984150179498453 + ], + "face_normal": [ + -0.18185920164768277, + -0.34121083990024204, + 0.9222268130992362 + ], + "footprint_xy": [ + [ + -29.293681693380336, + -15.05541150235091 + ], + [ + -28.99873386964318, + -15.05541150235091 + ], + [ + -28.99873386964318, + -14.790723091725903 + ], + [ + -29.293681693380336, + -14.790723091725903 + ] + ], + "projected_box_corners": [ + [ + -29.27356138806806, + -14.922252752249552 + ], + [ + -29.05360142198645, + -15.01766105468343 + ], + [ + -29.293681693380336, + -14.960003199917034 + ], + [ + -29.073721727298725, + -15.05541150235091 + ], + [ + -29.21869383572479, + -14.790723091725903 + ], + [ + -28.99873386964318, + -14.886131394159781 + ], + [ + -29.238814141037064, + -14.828473539393386 + ], + [ + -29.018854174955454, + -14.923881841827262 + ] + ], + "yaw_rad": 1.1755937383980068, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.23867416381836, + -14.914402961730957, + 0.06869418919086456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.15866588924121, + -14.941642727286892, + 0.07982160575064662 + ], + "intended_face_normal": [ + -0.18271357834033708, + -0.3469095348306297, + 0.9199289561250232 + ], + "commanded_contact_point": [ + -29.23382293701172, + -14.937452260999533, + 0.02893264523850203 + ], + "centerline_face_intersection": [ + -29.27928286078468, + -14.922452260999533, + 0.02893264523850203 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.24131965637207, + -14.913750648498535, + 0.06854408979415894 + ], + "box_pose": [ + -29.131547927856445, + -14.92615032196045, + 0.03261331468820572, + 0.6455996632575989, + 0.25843408703804016, + 0.5066121220588684, + 0.5096635818481445 + ], + "box_yaw_rad": 1.1771018810535105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012573192059591547 + } + } + }, + { + "simulation_time_ns": 8220000000, + "center": [ + -29.1444618915373, + -14.923912257246048, + 0.02889807211136931 + ], + "face_center": [ + -29.154478251109946, + -14.942789038344223, + 0.07992218994692887 + ], + "face_normal": [ + -0.18106754614563414, + -0.3412389908514868, + 0.9223722195399269 + ], + "footprint_xy": [ + [ + -29.29189608824421, + -15.05619419680241 + ], + [ + -28.997027694830393, + -15.05619419680241 + ], + [ + -28.997027694830393, + -14.791630317689684 + ], + [ + -29.29189608824421, + -14.791630317689684 + ] + ], + "projected_box_corners": [ + [ + -29.27186336909892, + -14.923212275586623 + ], + [ + -29.05182140782765, + -15.01844063460606 + ], + [ + -29.29189608824421, + -14.960965837782975 + ], + [ + -29.07185412697294, + -15.05619419680241 + ], + [ + -29.217069656101664, + -14.791630317689684 + ], + [ + -28.997027694830393, + -14.88685867670912 + ], + [ + -29.237102375246952, + -14.829383879886036 + ], + [ + -29.01706041397568, + -14.924612238905473 + ] + ], + "yaw_rad": 1.1762131096741688, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.236793518066406, + -14.915616989135742, + 0.06894099712371826 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.156267934167893, + -14.941942520872148, + 0.07984150179498453 + ], + "intended_face_normal": [ + -0.18185920164768277, + -0.34121083990024204, + 0.9222268130992362 + ], + "commanded_contact_point": [ + -29.232625122070313, + -14.938067297038408, + 0.028825427605153532 + ], + "centerline_face_intersection": [ + -29.277027832426636, + -14.923067297038408, + 0.028825427605153532 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.23867416381836, + -14.914402961730957, + 0.06869418919086456 + ], + "box_pose": [ + -29.12919807434082, + -14.926774978637695, + 0.03250029310584068, + 0.6447553634643555, + 0.2597294747829437, + 0.50487220287323, + 0.5117959976196289 + ], + "box_yaw_rad": 1.1755937383980068, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013507500079110576 + } + } + }, + { + "simulation_time_ns": 8240000000, + "center": [ + -29.143985916463773, + -14.924793098689426, + 0.029348761516829233 + ], + "face_center": [ + -29.154214726545934, + -14.944656784583588, + 0.07995436210197582 + ], + "face_normal": [ + -0.18490805248492492, + -0.35907944759552635, + 0.9148066074028733 + ], + "footprint_xy": [ + [ + -29.29142542118218, + -15.057385149065539 + ], + [ + -28.996546411745367, + -15.057385149065539 + ], + [ + -28.996546411745367, + -14.792201048313315 + ], + [ + -29.29142542118218, + -14.792201048313315 + ] + ], + "projected_box_corners": [ + [ + -29.270967801017857, + -14.922739467560277 + ], + [ + -29.050767241655667, + -15.017657777277215 + ], + [ + -29.29142542118218, + -14.962466839348599 + ], + [ + -29.071224861819985, + -15.057385149065539 + ], + [ + -29.216746971107558, + -14.792201048313315 + ], + [ + -28.996546411745367, + -14.887119358030253 + ], + [ + -29.23720459127188, + -14.831928420101638 + ], + [ + -29.017004031909686, + -14.926846729818577 + ] + ], + "yaw_rad": 1.1771165344603651, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.23647689819336, + -14.91740608215332, + 0.06901726126670837 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.154478251109946, + -14.942789038344223, + 0.07992218994692887 + ], + "intended_face_normal": [ + -0.18106754614563414, + -0.3412389908514868, + 0.9223722195399269 + ], + "commanded_contact_point": [ + -29.231091613769532, + -14.938912257246049, + 0.02889807211136931 + ], + "centerline_face_intersection": [ + -29.275233194409655, + -14.923912257246048, + 0.02889807211136931 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.236793518066406, + -14.915616989135742, + 0.06894099712371826 + ], + "box_pose": [ + -29.1274471282959, + -14.927605628967285, + 0.03256393224000931, + 0.6447572708129883, + 0.2601669728755951, + 0.5048837065696716, + 0.5115600228309631 + ], + "box_yaw_rad": 1.1762131096741688, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017523934162578798 + } + } + }, + { + "simulation_time_ns": 8260000000, + "center": [ + -29.14358860144872, + -14.925349500426012, + 0.028510507367211602 + ], + "face_center": [ + -29.154230001229244, + -14.94523453410898, + 0.079022552115741 + ], + "face_normal": [ + -0.19236651118999148, + -0.35946535544025693, + 0.9131153815996242 + ], + "footprint_xy": [ + [ + -29.291076811171116, + -15.057767654249457 + ], + [ + -28.996100391726323, + -15.057767654249457 + ], + [ + -28.996100391726323, + -14.792931346602568 + ], + [ + -29.291076811171116, + -14.792931346602568 + ] + ], + "projected_box_corners": [ + [ + -29.269794011610067, + -14.923601173126722 + ], + [ + -29.049444493157218, + -15.017997586883522 + ], + [ + -29.291076811171116, + -14.963371240492656 + ], + [ + -29.070727292718264, + -15.057767654249457 + ], + [ + -29.216449910179172, + -14.792931346602568 + ], + [ + -28.996100391726323, + -14.88732776035937 + ], + [ + -29.23773270974022, + -14.832701413968504 + ], + [ + -29.017383191287372, + -14.927097827725305 + ] + ], + "yaw_rad": 1.1832103445669977, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.235109329223633, + -14.91937255859375, + 0.06620283424854279 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.154214726545934, + -14.944656784583588, + 0.07995436210197582 + ], + "intended_face_normal": [ + -0.18490805248492492, + -0.35907944759552635, + 0.9148066074028733 + ], + "commanded_contact_point": [ + -29.229477996826173, + -14.939793098689426, + 0.029348761516829233 + ], + "centerline_face_intersection": [ + -29.274663032114063, + -14.924793098689426, + 0.029348761516829233 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.23647689819336, + -14.91740608215332, + 0.06901726126670837 + ], + "box_pose": [ + -29.126981735229492, + -14.928521156311035, + 0.03302858769893646, + 0.6480651497840881, + 0.2547507584095001, + 0.5094617605209351, + 0.5055317878723145 + ], + "box_yaw_rad": 1.1771165344603651, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018928185936486 + } + } + }, + { + "simulation_time_ns": 8280000000, + "center": [ + -29.142304867336357, + -14.925907975336473, + 0.027865524600957658 + ], + "face_center": [ + -29.15310539730077, + -14.945686611418875, + 0.07838557261313762 + ], + "face_normal": [ + -0.19524313634559576, + -0.35754198674420934, + 0.9132600580461769 + ], + "footprint_xy": [ + [ + -29.289710051640608, + -15.057969270900863 + ], + [ + -28.99489968303211, + -15.057969270900863 + ], + [ + -28.99489968303211, + -14.793846679772084 + ], + [ + -29.289710051640608, + -14.793846679772084 + ] + ], + "projected_box_corners": [ + [ + -29.268108991711784, + -14.924907543785533 + ], + [ + -29.0474382983265, + -15.018411998736061 + ], + [ + -29.289710051640608, + -14.964464815950336 + ], + [ + -29.069039358255324, + -15.057969270900863 + ], + [ + -29.215570376417393, + -14.793846679772084 + ], + [ + -28.99489968303211, + -14.887351134722612 + ], + [ + -29.237171436346216, + -14.833403951936887 + ], + [ + -29.016500742960933, + -14.926908406887414 + ] + ], + "yaw_rad": 1.1895385527857387, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.233617782592773, + -14.920392990112305, + 0.06473594903945923 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.154230001229244, + -14.94523453410898, + 0.079022552115741 + ], + "intended_face_normal": [ + -0.19236651118999148, + -0.35946535544025693, + 0.9131153815996242 + ], + "commanded_contact_point": [ + -29.228013153076173, + -14.940349500426013, + 0.028510507367211602 + ], + "centerline_face_intersection": [ + -29.274177377698706, + -14.925349500426012, + 0.028510507367211602 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.235109329223633, + -14.91937255859375, + 0.06620283424854279 + ], + "box_pose": [ + -29.126609802246094, + -14.929037094116211, + 0.03234504908323288, + 0.6454240679740906, + 0.25323382019996643, + 0.5129916667938232, + 0.5061026811599731 + ], + "box_yaw_rad": 1.1832103445669977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017770819125020366 + } + } + }, + { + "simulation_time_ns": 8300000000, + "center": [ + -29.142067898062923, + -14.925850749706989, + 0.027688346435143087 + ], + "face_center": [ + -29.15285890303269, + -14.945426041146971, + 0.07828955491609488 + ], + "face_normal": [ + -0.19507095129229413, + -0.35386608881368886, + 0.9147272105398514 + ], + "footprint_xy": [ + [ + -29.289459067477434, + -15.057785296848769 + ], + [ + -28.994676728648408, + -15.057785296848769 + ], + [ + -28.994676728648408, + -14.793916202565207 + ], + [ + -29.289459067477434, + -14.793916202565207 + ] + ], + "projected_box_corners": [ + [ + -29.267877057537895, + -14.92525008361821 + ], + [ + -29.047173718341178, + -15.018634713968803 + ], + [ + -29.289459067477434, + -14.964400666498177 + ], + [ + -29.068755728280717, + -15.057785296848769 + ], + [ + -29.21538006784513, + -14.793916202565207 + ], + [ + -28.994676728648408, + -14.8873008329158 + ], + [ + -29.236962077784668, + -14.833066785445174 + ], + [ + -29.016258738587947, + -14.926451415795766 + ] + ], + "yaw_rad": 1.1905299686231021, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.233266830444336, + -14.92016315460205, + 0.06445461511611938 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.15310539730077, + -14.945686611418875, + 0.07838557261313762 + ], + "intended_face_normal": [ + -0.19524313634559576, + -0.35754198674420934, + 0.9132600580461769 + ], + "commanded_contact_point": [ + -29.226454849243165, + -14.940907975336474, + 0.027865524600957658 + ], + "centerline_face_intersection": [ + -29.27270357828703, + -14.925907975336473, + 0.027865524600957658 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.233617782592773, + -14.920392990112305, + 0.06473594903945923 + ], + "box_pose": [ + -29.125329971313477, + -14.92951774597168, + 0.03179033845663071, + 0.6429798007011414, + 0.2540625333786011, + 0.5151193737983704, + 0.5066372156143188 + ], + "box_yaw_rad": 1.1895385527857387, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017765719322183017 + } + } + }, + { + "simulation_time_ns": 8320000000, + "center": [ + -29.141763855415004, + -14.925709871025584, + 0.02777418485645905 + ], + "face_center": [ + -29.152338997932894, + -14.944991979644223, + 0.07853329741524054 + ], + "face_normal": [ + -0.1911687666529076, + -0.34856616985135247, + 0.9175816711541742 + ], + "footprint_xy": [ + [ + -29.289097348014366, + -15.057508461715836 + ], + [ + -28.994430362815645, + -15.057508461715836 + ], + [ + -28.994430362815645, + -14.793911280335331 + ], + [ + -29.289097348014366, + -14.793911280335331 + ] + ], + "projected_box_corners": [ + [ + -29.267947062978585, + -14.925592394932256 + ], + [ + -29.04720971727765, + -15.018944244478554 + ], + [ + -29.289097348014366, + -14.964156612169536 + ], + [ + -29.06836000231343, + -15.057508461715836 + ], + [ + -29.21516770851658, + -14.793911280335331 + ], + [ + -28.994430362815645, + -14.887263129881632 + ], + [ + -29.236317993552362, + -14.832475497572613 + ], + [ + -29.015580647851422, + -14.925827347118911 + ] + ], + "yaw_rad": 1.1895902533202793, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.232730865478516, + -14.919840812683105, + 0.06490036845207214 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.15285890303269, + -14.945426041146971, + 0.07828955491609488 + ], + "intended_face_normal": [ + -0.19507095129229413, + -0.35386608881368886, + 0.9147272105398514 + ], + "commanded_contact_point": [ + -29.225113983154298, + -14.94085074970699, + 0.027688346435143087 + ], + "centerline_face_intersection": [ + -29.272447320806425, + -14.925850749706989, + 0.027688346435143087 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.233266830444336, + -14.92016315460205, + 0.06445461511611938 + ], + "box_pose": [ + -29.125091552734375, + -14.929438591003418, + 0.03162696957588196, + 0.6419115662574768, + 0.25524091720581055, + 0.5146674513816833, + 0.5078572034835815 + ], + "box_yaw_rad": 1.1905299686231021, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013537314147885249 + } + } + }, + { + "simulation_time_ns": 8340000000, + "center": [ + -29.140442092710376, + -14.925753476417807, + 0.02799349284377618 + ], + "face_center": [ + -29.15074411399201, + -14.944642221839086, + 0.07895626869720462 + ], + "face_normal": [ + -0.1862315045977354, + -0.34145527208717397, + 0.9212633294187569 + ], + "footprint_xy": [ + [ + -29.287744970266342, + -15.057481224375259 + ], + [ + -28.993139215154407, + -15.057481224375259 + ], + [ + -28.993139215154407, + -14.794025728460355 + ], + [ + -29.287744970266342, + -14.794025728460355 + ] + ], + "projected_box_corners": [ + [ + -29.267140927703075, + -14.926066795594918 + ], + [ + -29.046495265811576, + -15.019703733532703 + ], + [ + -29.287744970266342, + -14.963844286437475 + ], + [ + -29.067099308374846, + -15.057481224375259 + ], + [ + -29.213784877045907, + -14.794025728460355 + ], + [ + -28.993139215154407, + -14.887662666398139 + ], + [ + -29.234388919609174, + -14.83180321930291 + ], + [ + -29.013743257717678, + -14.925440157240695 + ] + ], + "yaw_rad": 1.186771829276231, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.2310848236084, + -14.919578552246094, + 0.06567506492137909 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.152338997932894, + -14.944991979644223, + 0.07853329741524054 + ], + "intended_face_normal": [ + -0.1911687666529076, + -0.34856616985135247, + 0.9175816711541742 + ], + "commanded_contact_point": [ + -29.224085922241212, + -14.940709871025584, + 0.02777418485645905 + ], + "centerline_face_intersection": [ + -29.272123192076673, + -14.925709871025584, + 0.02777418485645905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.232730865478516, + -14.919840812683105, + 0.06490036845207214 + ], + "box_pose": [ + -29.124771118164062, + -14.929277420043945, + 0.031660206615924835, + 0.6415712833404541, + 0.2577730119228363, + 0.5125128030776978, + 0.5091856122016907 + ], + "box_yaw_rad": 1.1895902533202793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010412128881566534 + } + } + }, + { + "simulation_time_ns": 8360000000, + "center": [ + -29.1379835874272, + -14.925700073422457, + 0.02825238283290813 + ], + "face_center": [ + -29.148174853271346, + -14.944436211854747, + 0.07929369200927353 + ], + "face_normal": [ + -0.18422935849436328, + -0.3386965679072276, + 0.9226829905213485 + ], + "footprint_xy": [ + [ + -29.28539489018498, + -15.057706619919328 + ], + [ + -28.990572284669422, + -15.057706619919328 + ], + [ + -28.990572284669422, + -14.793693526925587 + ], + [ + -29.28539489018498, + -14.793693526925587 + ] + ], + "projected_box_corners": [ + [ + -29.265012358496687, + -14.925613218081073 + ], + [ + -29.044758582667694, + -15.02023434305475 + ], + [ + -29.28539489018498, + -14.963085494945652 + ], + [ + -29.065141114355985, + -15.057706619919328 + ], + [ + -29.210826060498416, + -14.793693526925587 + ], + [ + -28.990572284669422, + -14.888314651899263 + ], + [ + -29.231208592186707, + -14.831165803790165 + ], + [ + -29.010954816357714, + -14.925786928763841 + ] + ], + "yaw_rad": 1.1810553488952384, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.228330612182617, + -14.91907787322998, + 0.06634107232093811 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.15074411399201, + -14.944642221839086, + 0.07895626869720462 + ], + "intended_face_normal": [ + -0.1862315045977354, + -0.34145527208717397, + 0.9212633294187569 + ], + "commanded_contact_point": [ + -29.22304069519043, + -14.940753476417807, + 0.02799349284377618 + ], + "centerline_face_intersection": [ + -29.27085559694769, + -14.925753476417807, + 0.02799349284377618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2310848236084, + -14.919578552246094, + 0.06567506492137909 + ], + "box_pose": [ + -29.123432159423828, + -14.929320335388184, + 0.03180418536067009, + 0.6414240002632141, + 0.26066499948501587, + 0.5092179179191589, + 0.5112006664276123 + ], + "box_yaw_rad": 1.186771829276231, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010688765182269202 + } + } + }, + { + "simulation_time_ns": 8380000000, + "center": [ + -29.134135720094335, + -14.925884754663874, + 0.028413085867719835 + ], + "face_center": [ + -29.14445766609298, + -14.944559178839484, + 0.07945077560897215 + ], + "face_normal": [ + -0.1865916873158504, + -0.3375809481116008, + 0.9226175613372618 + ], + "footprint_xy": [ + [ + -29.28187258909104, + -15.058576370868236 + ], + [ + -28.98639885109763, + -15.058576370868236 + ], + [ + -28.98639885109763, + -14.793193138459513 + ], + [ + -29.28187258909104, + -14.793193138459513 + ] + ], + "projected_box_corners": [ + [ + -29.261228697093756, + -14.924567376370236 + ], + [ + -29.04185187133595, + -15.021227522517018 + ], + [ + -29.28187258909104, + -14.961916224721454 + ], + [ + -29.06249576333324, + -15.058576370868236 + ], + [ + -29.205775676855435, + -14.793193138459513 + ], + [ + -28.98639885109763, + -14.889853284606295 + ], + [ + -29.226419568852723, + -14.83054198681073 + ], + [ + -29.007042743094917, + -14.927202132957513 + ] + ], + "yaw_rad": 1.1713848619358296, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.22427749633789, + -14.918475151062012, + 0.066619873046875 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.148174853271346, + -14.944436211854747, + 0.07929369200927353 + ], + "intended_face_normal": [ + -0.18422935849436328, + -0.3386965679072276, + 0.9226829905213485 + ], + "commanded_contact_point": [ + -29.22191345214844, + -14.940700073422457, + 0.02825238283290813 + ], + "centerline_face_intersection": [ + -29.26862912961474, + -14.925700073422457, + 0.02825238283290813 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.228330612182617, + -14.91907787322998, + 0.06634107232093811 + ], + "box_pose": [ + -29.120975494384766, + -14.929336547851562, + 0.03200504556298256, + 0.6424641609191895, + 0.2607162296772003, + 0.5065452456474304, + 0.5125218629837036 + ], + "box_yaw_rad": 1.1810553488952384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011578224311633131 + } + } + }, + { + "simulation_time_ns": 8400000000, + "center": [ + -29.129128569635153, + -14.926383486134878, + 0.028487728186593987 + ], + "face_center": [ + -29.139530223788395, + -14.945001858427954, + 0.07952969890204356 + ], + "face_normal": [ + -0.18803258606319417, + -0.3365676880789934, + 0.9226949492831906 + ], + "footprint_xy": [ + [ + -29.27713923750033, + -15.059693123620232 + ], + [ + -28.981117901769974, + -15.059693123620232 + ], + [ + -28.981117901769974, + -14.793073848649525 + ], + [ + -29.27713923750033, + -14.793073848649525 + ] + ], + "projected_box_corners": [ + [ + -29.256335929193842, + -14.923936590721121 + ], + [ + -29.037772031143817, + -15.022456379034082 + ], + [ + -29.27713923750033, + -14.961173335307272 + ], + [ + -29.058575339450304, + -15.059693123620232 + ], + [ + -29.19968179982, + -14.793073848649525 + ], + [ + -28.981117901769974, + -14.891593636962485 + ], + [ + -29.220485108126486, + -14.830310593235675 + ], + [ + -29.00192121007646, + -14.928830381548636 + ] + ], + "yaw_rad": 1.162229903654793, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.219099044799805, + -14.918296813964844, + 0.06685489416122437 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.14445766609298, + -14.944559178839484, + 0.07945077560897215 + ], + "intended_face_normal": [ + -0.1865916873158504, + -0.3375809481116008, + 0.9226175613372618 + ], + "commanded_contact_point": [ + -29.220818634033204, + -14.940884754663875, + 0.028413085867719835 + ], + "centerline_face_intersection": [ + -29.26530351260219, + -14.925884754663874, + 0.028413085867719835 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.22427749633789, + -14.918475151062012, + 0.066619873046875 + ], + "box_pose": [ + -29.117158889770508, + -14.929680824279785, + 0.032149240374565125, + 0.6440393328666687, + 0.25779053568840027, + 0.5039879083633423, + 0.514542281627655 + ], + "box_yaw_rad": 1.1713848619358296, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011218553078604654 + } + } + }, + { + "simulation_time_ns": 8420000000, + "center": [ + -29.124595723664175, + -14.927178819455527, + 0.02863032369962603 + ], + "face_center": [ + -29.13510352676934, + -14.945725932419277, + 0.0796764904151159 + ], + "face_normal": [ + -0.1899514598926615, + -0.3352795202763801, + 0.9227708011358935 + ], + "footprint_xy": [ + [ + -29.27287163183594, + -15.061071151367356 + ], + [ + -28.97631981549241, + -15.061071151367356 + ], + [ + -28.97631981549241, + -14.7932864875437 + ], + [ + -29.27287163183594, + -14.7932864875437 + ] + ], + "projected_box_corners": [ + [ + -29.25185602562561, + -14.923662029470547 + ], + [ + -29.034101339028616, + -15.023976925439856 + ], + [ + -29.27287163183594, + -14.960756255398048 + ], + [ + -29.055116945238947, + -15.061071151367356 + ], + [ + -29.1940745020894, + -14.7932864875437 + ], + [ + -28.97631981549241, + -14.893601383513008 + ], + [ + -29.21509010829973, + -14.8303807134712 + ], + [ + -28.99733542170274, + -14.930695609440509 + ] + ], + "yaw_rad": 1.153617528794928, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.21442222595215, + -14.918404579162598, + 0.06710517406463623 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.139530223788395, + -14.945001858427954, + 0.07952969890204356 + ], + "intended_face_normal": [ + -0.18803258606319417, + -0.3365676880789934, + 0.9226949492831906 + ], + "commanded_contact_point": [ + -29.219931716918946, + -14.941383486134878, + 0.028487728186593987 + ], + "centerline_face_intersection": [ + -29.260784228317842, + -14.926383486134878, + 0.028487728186593987 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.219099044799805, + -14.918296813964844, + 0.06685489416122437 + ], + "box_pose": [ + -29.112178802490234, + -14.930325508117676, + 0.032195497304201126, + 0.6456705331802368, + 0.255298912525177, + 0.5013914704322815, + 0.5162737965583801 + ], + "box_yaw_rad": 1.162229903654793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010202580671081914 + } + } + }, + { + "simulation_time_ns": 8440000000, + "center": [ + -29.12181317949663, + -14.92777782265055, + 0.028846749600232948 + ], + "face_center": [ + -29.132424722674, + -14.946443405401972, + 0.07982824132853025 + ], + "face_normal": [ + -0.19182678796716246, + -0.3374211200852315, + 0.9216016596785579 + ], + "footprint_xy": [ + [ + -29.270252063657235, + -15.062082182045415 + ], + [ + -28.973374295336026, + -15.062082182045415 + ], + [ + -28.973374295336026, + -14.793473463255685 + ], + [ + -29.270252063657235, + -14.793473463255685 + ] + ], + "projected_box_corners": [ + [ + -29.249028977302498, + -14.923376891207058 + ], + [ + -29.031755216849195, + -15.024751016542572 + ], + [ + -29.270252063657235, + -14.960708056709901 + ], + [ + -29.052978303203933, + -15.062082182045415 + ], + [ + -29.19064805578933, + -14.793473463255685 + ], + [ + -28.973374295336026, + -14.894847588591198 + ], + [ + -29.21187114214407, + -14.830804628758528 + ], + [ + -28.994597381690763, + -14.932178754094043 + ] + ], + "yaw_rad": 1.148426608347165, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.211578369140625, + -14.918730735778809, + 0.06727619469165802 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.13510352676934, + -14.945725932419277, + 0.0796764904151159 + ], + "intended_face_normal": [ + -0.1899514598926615, + -0.3352795202763801, + 0.9227708011358935 + ], + "commanded_contact_point": [ + -29.219172592163087, + -14.942178819455528, + 0.02863032369962603 + ], + "centerline_face_intersection": [ + -29.256740635958472, + -14.927178819455527, + 0.02863032369962603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.21442222595215, + -14.918404579162598, + 0.06710517406463623 + ], + "box_pose": [ + -29.107675552368164, + -14.93126106262207, + 0.032321497797966, + 0.6470166444778442, + 0.2528073489665985, + 0.4990082383155823, + 0.518120288848877 + ], + "box_yaw_rad": 1.153617528794928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00110867441849744 + } + } + }, + { + "simulation_time_ns": 8460000000, + "center": [ + -29.121115994231403, + -14.927909501900904, + 0.02872190856233641 + ], + "face_center": [ + -29.131670768396557, + -14.946391666131028, + 0.07978194706546204 + ], + "face_normal": [ + -0.19080056425143255, + -0.33410543025519956, + 0.9230215639534265 + ], + "footprint_xy": [ + [ + -29.269565482860166, + -15.062205802744074 + ], + [ + -28.97266650560264, + -15.062205802744074 + ], + [ + -28.97266650560264, + -14.793613201057733 + ], + [ + -29.269565482860166, + -14.793613201057733 + ] + ], + "projected_box_corners": [ + [ + -29.248455934529858, + -14.923650856289859 + ], + [ + -29.031283721765575, + -15.025241474283824 + ], + [ + -29.269565482860166, + -14.96061518475011 + ], + [ + -29.052393270095884, + -15.062205802744074 + ], + [ + -29.18983871836692, + -14.793613201057733 + ], + [ + -28.97266650560264, + -14.895203819051698 + ], + [ + -29.21094826669723, + -14.830577529517983 + ], + [ + -28.993776053932947, + -14.932168147511948 + ] + ], + "yaw_rad": 1.1473013429838803, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.210790634155273, + -14.91877269744873, + 0.06728368997573853 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.132424722674, + -14.946443405401972, + 0.07982824132853025 + ], + "intended_face_normal": [ + -0.19182678796716246, + -0.3374211200852315, + 0.9216016596785579 + ], + "commanded_contact_point": [ + -29.218466873168946, + -14.94277782265055, + 0.028846749600232948 + ], + "centerline_face_intersection": [ + -29.254250588882822, + -14.92777782265055, + 0.028846749600232948 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.211578369140625, + -14.918730735778809, + 0.06727619469165802 + ], + "box_pose": [ + -29.10491371154785, + -14.931952476501465, + 0.03252940624952316, + 0.6483940482139587, + 0.25036850571632385, + 0.49829280376434326, + 0.518271267414093 + ], + "box_yaw_rad": 1.148426608347165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009506231097502575 + } + } + }, + { + "simulation_time_ns": 8480000000, + "center": [ + -29.121188503136974, + -14.927879431065112, + 0.028733544096597407 + ], + "face_center": [ + -29.131845898585546, + -14.946313352075336, + 0.07978969798577647 + ], + "face_normal": [ + -0.1926556677784177, + -0.33323332883131407, + 0.9229513410835377 + ], + "footprint_xy": [ + [ + -29.26967440066011, + -15.062156218980276 + ], + [ + -28.97270260561384, + -15.062156218980276 + ], + [ + -28.97270260561384, + -14.793602643149947 + ], + [ + -29.26967440066011, + -14.793602643149947 + ] + ], + "projected_box_corners": [ + [ + -29.248359609762968, + -14.923691656060393 + ], + [ + -29.031210585313673, + -15.025288376959827 + ], + [ + -29.26967440066011, + -14.960559498080842 + ], + [ + -29.05252537621082, + -15.062156218980276 + ], + [ + -29.18985163006313, + -14.793602643149947 + ], + [ + -28.97270260561384, + -14.89519936404938 + ], + [ + -29.211166420960275, + -14.830470485170396 + ], + [ + -28.994017396510984, + -14.93206720606983 + ] + ], + "yaw_rad": 1.14814746779405, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.21099853515625, + -14.918662071228027, + 0.06711041927337646 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.131670768396557, + -14.946391666131028, + 0.07978194706546204 + ], + "intended_face_normal": [ + -0.19080056425143255, + -0.33410543025519956, + 0.9230215639534265 + ], + "commanded_contact_point": [ + -29.21775161743164, + -14.942909501900905, + 0.02872190856233641 + ], + "centerline_face_intersection": [ + -29.2536153301076, + -14.927909501900904, + 0.02872190856233641 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.210790634155273, + -14.91877269744873, + 0.06728368997573853 + ], + "box_pose": [ + -29.104215621948242, + -14.932090759277344, + 0.03239290416240692, + 0.6480410695075989, + 0.25123608112335205, + 0.4970870018005371, + 0.5194494724273682 + ], + "box_yaw_rad": 1.1473013429838803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007379129213291078 + } + } + }, + { + "simulation_time_ns": 8500000000, + "center": [ + -29.121569914416483, + -14.927613159822128, + 0.03035214018589404 + ], + "face_center": [ + -29.132730027906227, + -14.945645513600711, + 0.08144429113053282 + ], + "face_normal": [ + -0.20174339286034382, + -0.3259741252535395, + 0.9236020663748263 + ], + "footprint_xy": [ + [ + -29.27024406987261, + -15.061750889526436 + ], + [ + -28.972895758960355, + -15.061750889526436 + ], + [ + -28.972895758960355, + -14.79347543011782 + ], + [ + -29.27024406987261, + -14.79347543011782 + ] + ], + "projected_box_corners": [ + [ + -29.247923842893123, + -14.923960881587146 + ], + [ + -29.030966790706845, + -15.025686181969272 + ], + [ + -29.27024406987261, + -14.96002558914431 + ], + [ + -29.05328701768633, + -15.061750889526436 + ], + [ + -29.189852811146636, + -14.79347543011782 + ], + [ + -28.972895758960355, + -14.895200730499948 + ], + [ + -29.21217303812612, + -14.829540137674984 + ], + [ + -28.995215985939844, + -14.931265438057112 + ] + ], + "yaw_rad": 1.1520761537563247, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.211658477783203, + -14.917957305908203, + 0.0679994523525238 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.131845898585546, + -14.946313352075336, + 0.07978969798577647 + ], + "intended_face_normal": [ + -0.1926556677784177, + -0.33323332883131407, + 0.9229513410835377 + ], + "commanded_contact_point": [ + -29.217284317016603, + -14.942879431065112, + 0.028733544096597407 + ], + "centerline_face_intersection": [ + -29.253701987989178, + -14.927879431065112, + 0.028733544096597407 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.21099853515625, + -14.918662071228027, + 0.06711041927337646 + ], + "box_pose": [ + -29.10429573059082, + -14.932058334350586, + 0.03244200348854065, + 0.6473129987716675, + 0.25093063712120056, + 0.49759677052497864, + 0.5200164318084717 + ], + "box_yaw_rad": 1.14814746779405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00046841148440074294 + } + } + }, + { + "simulation_time_ns": 8520000000, + "center": [ + -29.12237947599566, + -14.927332868736622, + 0.03329229438144956 + ], + "face_center": [ + -29.1345827793742, + -14.945028473104351, + 0.08426352849614786 + ], + "face_normal": [ + -0.22060132542140565, + -0.319886645161894, + 0.9214162309396823 + ], + "footprint_xy": [ + [ + -29.27136649418513, + -15.061322656206382 + ], + [ + -28.97339245780619, + -15.061322656206382 + ], + [ + -28.97339245780619, + -14.79334308126686 + ], + [ + -29.27136649418513, + -14.79334308126686 + ] + ], + "projected_box_corners": [ + [ + -29.24695988742805, + -14.92417838737657 + ], + [ + -29.030342184525942, + -15.025931447470926 + ], + [ + -29.27136649418513, + -14.959569596112027 + ], + [ + -29.05474879128302, + -15.061322656206382 + ], + [ + -29.190010160708297, + -14.79334308126686 + ], + [ + -28.97339245780619, + -14.895096141361217 + ], + [ + -29.214416767465377, + -14.828734290002318 + ], + [ + -28.997799064563267, + -14.930487350096673 + ] + ], + "yaw_rad": 1.160252452457889, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.212974548339844, + -14.917393684387207, + 0.06943003833293915 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.132730027906227, + -14.945645513600711, + 0.08144429113053282 + ], + "intended_face_normal": [ + -0.20174339286034382, + -0.3259741252535395, + 0.9236020663748263 + ], + "commanded_contact_point": [ + -29.21660339355469, + -14.942613159822129, + 0.03035214018589404 + ], + "centerline_face_intersection": [ + -29.254200652491434, + -14.927613159822128, + 0.03035214018589404 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.211658477783203, + -14.917957305908203, + 0.0679994523525238 + ], + "box_pose": [ + -29.104717254638672, + -14.931778907775879, + 0.03425292670726776, + 0.6430634260177612, + 0.25005388259887695, + 0.4994561970233917, + 0.5239142179489136 + ], + "box_yaw_rad": 1.1520761537563247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017760659999311304 + } + } + }, + { + "simulation_time_ns": 8540000000, + "center": [ + -29.122167734983087, + -14.927538917510152, + 0.03263162805913179 + ], + "face_center": [ + -29.1340284072051, + -14.945551269064344, + 0.08357277752054129 + ], + "face_normal": [ + -0.21440751994794205, + -0.3256125414204831, + 0.9208723852132845 + ], + "footprint_xy": [ + [ + -29.27105989898321, + -15.061699674746052 + ], + [ + -28.97327557098296, + -15.061699674746052 + ], + [ + -28.97327557098296, + -14.793378160274251 + ], + [ + -29.27105989898321, + -14.793378160274251 + ] + ], + "projected_box_corners": [ + [ + -29.247338554539184, + -14.923854292007261 + ], + [ + -29.030604106465155, + -15.025674971637665 + ], + [ + -29.27105989898321, + -14.959878995115648 + ], + [ + -29.054325450909182, + -15.061699674746052 + ], + [ + -29.190010019056988, + -14.793378160274251 + ], + [ + -28.97327557098296, + -14.895198839904655 + ], + [ + -29.213731363501015, + -14.829402863382638 + ], + [ + -28.996996915426987, + -14.931223543013042 + ] + ], + "yaw_rad": 1.1568094401074727, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.2123966217041, + -14.917913436889648, + 0.06984113156795502 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.1345827793742, + -14.945028473104351, + 0.08426352849614786 + ], + "intended_face_normal": [ + -0.22060132542140565, + -0.319886645161894, + 0.9214162309396823 + ], + "commanded_contact_point": [ + -29.215636367797853, + -14.942332868736623, + 0.03329229438144956 + ], + "centerline_face_intersection": [ + -29.255217990930127, + -14.927332868736622, + 0.03329229438144956 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.212974548339844, + -14.917393684387207, + 0.06943003833293915 + ], + "box_pose": [ + -29.10561180114746, + -14.93148136138916, + 0.03756041079759598, + 0.6363427639007568, + 0.2461761087179184, + 0.5049863457679749, + 0.5286341905593872 + ], + "box_yaw_rad": 1.160252452457889, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031077658535740697 + } + } + }, + { + "simulation_time_ns": 8560000000, + "center": [ + -29.12152362266246, + -14.927967548117051, + 0.030721401280922607 + ], + "face_center": [ + -29.132454735611596, + -14.94653309630585, + 0.08167188943914581 + ], + "face_normal": [ + -0.19760370861154364, + -0.3356127771785342, + 0.9210412025269994 + ], + "footprint_xy": [ + [ + -29.27014868451556, + -15.06244834550813 + ], + [ + -28.97289856080935, + -15.06244834550813 + ], + [ + -28.97289856080935, + -14.793486750725972 + ], + [ + -29.27014868451556, + -14.793486750725972 + ] + ], + "projected_box_corners": [ + [ + -29.248286458617283, + -14.923289939296904 + ], + [ + -29.03136908438783, + -15.025317249130534 + ], + [ + -29.27014868451556, + -14.9604210356745 + ], + [ + -29.053231310286108, + -15.06244834550813 + ], + [ + -29.189815935038805, + -14.793486750725972 + ], + [ + -28.97289856080935, + -14.895514060559602 + ], + [ + -29.211678160937083, + -14.830617847103566 + ], + [ + -28.99476078670763, + -14.932645156937198 + ] + ], + "yaw_rad": 1.1475639056586944, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.210914611816406, + -14.918827056884766, + 0.07018665969371796 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.1340284072051, + -14.945551269064344, + 0.08357277752054129 + ], + "intended_face_normal": [ + -0.21440751994794205, + -0.3256125414204831, + 0.9208723852132845 + ], + "commanded_contact_point": [ + -29.21446144104004, + -14.942538917510152, + 0.03263162805913179 + ], + "centerline_face_intersection": [ + -29.254934695739614, + -14.927538917510152, + 0.03263162805913179 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2123966217041, + -14.917913436889648, + 0.06984113156795502 + ], + "box_pose": [ + -29.105371475219727, + -14.931711196899414, + 0.03676193580031395, + 0.6396412253379822, + 0.24641843140125275, + 0.503652036190033, + 0.5258057713508606 + ], + "box_yaw_rad": 1.1568094401074727, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001363594137836374 + } + } + }, + { + "simulation_time_ns": 8580000000, + "center": [ + -29.121402088854982, + -14.928006929606942, + 0.03006257904220402 + ], + "face_center": [ + -29.13218698709156, + -14.946615199033912, + 0.08102862977599368 + ], + "face_normal": [ + -0.19496055877041663, + -0.3363850567385729, + 0.921322530024189 + ], + "footprint_xy": [ + [ + -29.269985929631574, + -15.062526683479254 + ], + [ + -28.97281824807839, + -15.062526683479254 + ], + [ + -28.97281824807839, + -14.793487175734633 + ], + [ + -29.269985929631574, + -14.793487175734633 + ] + ], + "projected_box_corners": [ + [ + -29.248416133158408, + -14.923223216679391 + ], + [ + -29.031496487008752, + -15.025310144625315 + ], + [ + -29.269985929631574, + -14.96043975553333 + ], + [ + -29.053066283481915, + -15.062526683479254 + ], + [ + -29.189737894228045, + -14.793487175734633 + ], + [ + -28.97281824807839, + -14.895574103680557 + ], + [ + -29.211307690701208, + -14.830703714588571 + ], + [ + -28.994388044551552, + -14.932790642534496 + ] + ], + "yaw_rad": 1.1460401477346722, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.210342407226562, + -14.91911506652832, + 0.06989437341690063 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.132454735611596, + -14.94653309630585, + 0.08167188943914581 + ], + "intended_face_normal": [ + -0.19760370861154364, + -0.3356127771785342, + 0.9210412025269994 + ], + "commanded_contact_point": [ + -29.21319305419922, + -14.942967548117052, + 0.030721401280922607 + ], + "centerline_face_intersection": [ + -29.25417862120395, + -14.927967548117051, + 0.030721401280922607 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.210914611816406, + -14.918827056884766, + 0.07018665969371796 + ], + "box_pose": [ + -29.104656219482422, + -14.932188987731934, + 0.03449656441807747, + 0.6471497416496277, + 0.24836747348308563, + 0.499002605676651, + 0.5201030969619751 + ], + "box_yaw_rad": 1.1475639056586944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023327013780860546 + } + } + }, + { + "simulation_time_ns": 8600000000, + "center": [ + -29.121294551442578, + -14.928124926732036, + 0.028988111998999144 + ], + "face_center": [ + -29.131935873942524, + -14.946908354523622, + 0.07992008331387351 + ], + "face_normal": [ + -0.19236511417498647, + -0.33955142622022016, + 0.9207064701960341 + ], + "footprint_xy": [ + [ + -29.26982785895236, + -15.062722766334081 + ], + [ + -28.972761243932794, + -15.062722766334081 + ], + [ + -28.972761243932794, + -14.79352708712999 + ], + [ + -29.26982785895236, + -14.79352708712999 + ] + ], + "projected_box_corners": [ + [ + -29.248545213952468, + -14.923064965737149 + ], + [ + -29.031591689374434, + -15.02515591075091 + ], + [ + -29.26982785895236, + -14.960631821320321 + ], + [ + -29.052874334374327, + -15.062722766334081 + ], + [ + -29.189714768510832, + -14.79352708712999 + ], + [ + -28.972761243932794, + -14.89561803214375 + ], + [ + -29.210997413510725, + -14.83109394271316 + ], + [ + -28.994043888932687, + -14.93318488772692 + ] + ], + "yaw_rad": 1.1444913880235634, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.209827423095703, + -14.919556617736816, + 0.06892405450344086 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.13218698709156, + -14.946615199033912, + 0.08102862977599368 + ], + "intended_face_normal": [ + -0.19496055877041663, + -0.3363850567385729, + 0.921322530024189 + ], + "commanded_contact_point": [ + -29.211733932495118, + -14.943006929606943, + 0.03006257904220402 + ], + "centerline_face_intersection": [ + -29.25405569802683, + -14.928006929606942, + 0.03006257904220402 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.210342407226562, + -14.91911506652832, + 0.06989437341690063 + ], + "box_pose": [ + -29.104524612426758, + -14.932235717773438, + 0.033784110099077225, + 0.6481472849845886, + 0.24883700907230377, + 0.49809399247169495, + 0.5195069909095764 + ], + "box_yaw_rad": 1.1460401477346722, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016014474051171586 + } + } + }, + { + "simulation_time_ns": 8620000000, + "center": [ + -29.12136704678987, + -14.928182609544963, + 0.028574927314826252 + ], + "face_center": [ + -29.132254840392342, + -14.94697272357427, + 0.07945230313878493 + ], + "face_normal": [ + -0.19682061693589148, + -0.3396722945504749, + 0.9197195376184819 + ], + "footprint_xy": [ + [ + -29.26997405895903, + -15.062763844932157 + ], + [ + -28.972760034620716, + -15.062763844932157 + ], + [ + -28.972760034620716, + -14.79360137415777 + ], + [ + -29.26997405895903, + -14.79360137415777 + ] + ], + "projected_box_corners": [ + [ + -29.248198471754083, + -14.923150577094994 + ], + [ + -29.031258013622242, + -15.025183616873548 + ], + [ + -29.26997405895903, + -14.960730805153604 + ], + [ + -29.053033600827185, + -15.062763844932157 + ], + [ + -29.189700492752557, + -14.79360137415777 + ], + [ + -28.972760034620716, + -14.895634413936325 + ], + [ + -29.2114760799575, + -14.83118160221638 + ], + [ + -28.99453562182566, + -14.933214641994935 + ] + ], + "yaw_rad": 1.1466539338300665, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.209877014160156, + -14.919745445251465, + 0.06784780323505402 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.131935873942524, + -14.946908354523622, + 0.07992008331387351 + ], + "intended_face_normal": [ + -0.19236511417498647, + -0.33955142622022016, + 0.9207064701960341 + ], + "commanded_contact_point": [ + -29.209925765991212, + -14.943124926732036, + 0.028988111998999144 + ], + "centerline_face_intersection": [ + -29.253927446059055, + -14.928124926732036, + 0.028988111998999144 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.209827423095703, + -14.919556617736816, + 0.06892405450344086 + ], + "box_pose": [ + -29.104406356811523, + -14.932364463806152, + 0.03264828771352768, + 0.6497108340263367, + 0.24874311685562134, + 0.4976460039615631, + 0.5180261731147766 + ], + "box_yaw_rad": 1.1444913880235634, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021066249913812883 + } + } + }, + { + "simulation_time_ns": 8640000000, + "center": [ + -29.121244682640988, + -14.92815597144696, + 0.028264906864757248 + ], + "face_center": [ + -29.132193199870734, + -14.946808915058986, + 0.07917972281263423 + ], + "face_normal": [ + -0.19791832894432204, + -0.3371926400731482, + 0.9203963495196632 + ], + "footprint_xy": [ + [ + -29.26986762204203, + -15.06265933694556 + ], + [ + -28.97262174323994, + -15.06265933694556 + ], + [ + -28.97262174323994, + -14.793652605948363 + ], + [ + -29.26986762204203, + -14.793652605948363 + ] + ], + "projected_box_corners": [ + [ + -29.24797058758254, + -14.92337355458736 + ], + [ + -29.03102784797922, + -15.02535344972151 + ], + [ + -29.26986762204203, + -14.96067944181141 + ], + [ + -29.052924882438713, + -15.06265933694556 + ], + [ + -29.18956448284326, + -14.793652605948363 + ], + [ + -28.97262174323994, + -14.895632501082513 + ], + [ + -29.211461517302755, + -14.83095849317241 + ], + [ + -28.994518777699433, + -14.932938388306562 + ] + ], + "yaw_rad": 1.1477393423232565, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.209781646728516, + -14.919551849365234, + 0.06725507974624634 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.132254840392342, + -14.94697272357427, + 0.07945230313878493 + ], + "intended_face_normal": [ + -0.19682061693589148, + -0.3396722945504749, + 0.9197195376184819 + ], + "commanded_contact_point": [ + -29.20800506591797, + -14.943182609544964, + 0.028574927314826252 + ], + "centerline_face_intersection": [ + -29.254007929960423, + -14.928182609544963, + 0.028574927314826252 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.209877014160156, + -14.919745445251465, + 0.06784780323505402 + ], + "box_pose": [ + -29.104496002197266, + -14.932417869567871, + 0.032318197190761566, + 0.6484650373458862, + 0.24753154814243317, + 0.4993287920951843, + 0.5185478329658508 + ], + "box_yaw_rad": 1.1466539338300665, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019654866220595035 + } + } + }, + { + "simulation_time_ns": 8660000000, + "center": [ + -29.12059588537096, + -14.928043404997899, + 0.028069911530979055 + ], + "face_center": [ + -29.13151558014869, + -14.946440054718238, + 0.07908405959784083 + ], + "face_normal": [ + -0.19739730025890623, + -0.33255956897352235, + 0.9221919942254644 + ], + "footprint_xy": [ + [ + -29.269196649462813, + -15.062380816551874 + ], + [ + -28.971995121279107, + -15.062380816551874 + ], + [ + -28.971995121279107, + -14.793705993443922 + ], + [ + -29.269196649462813, + -14.793705993443922 + ] + ], + "projected_box_corners": [ + [ + -29.247357259907357, + -14.923761959034824 + ], + [ + -29.030361295643747, + -15.025587517111195 + ], + [ + -29.269196649462813, + -14.960555258475502 + ], + [ + -29.052200685199203, + -15.062380816551874 + ], + [ + -29.18899108554272, + -14.793705993443922 + ], + [ + -28.971995121279107, + -14.895531551520294 + ], + [ + -29.210830475098177, + -14.830499292884602 + ], + [ + -28.993834510834564, + -14.932324850960972 + ] + ], + "yaw_rad": 1.1489596047277755, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.20915985107422, + -14.919107437133789, + 0.06682424247264862 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.132193199870734, + -14.946808915058986, + 0.07917972281263423 + ], + "intended_face_normal": [ + -0.19791832894432204, + -0.3371926400731482, + 0.9203963495196632 + ], + "commanded_contact_point": [ + -29.206141586303712, + -14.943155971446961, + 0.028264906864757248 + ], + "centerline_face_intersection": [ + -29.253884170897877, + -14.92815597144696, + 0.028264906864757248 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.209781646728516, + -14.919551849365234, + 0.06725507974624634 + ], + "box_pose": [ + -29.10437774658203, + -14.932378768920898, + 0.032040636986494064, + 0.6474319100379944, + 0.24793210625648499, + 0.4994279146194458, + 0.5195510983467102 + ], + "box_yaw_rad": 1.1477393423232565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018892798999832314 + } + } + }, + { + "simulation_time_ns": 8680000000, + "center": [ + -29.118612683436425, + -14.928132974692042, + 0.028037267824745277 + ], + "face_center": [ + -29.12958764968856, + -14.946613190705481, + 0.07900934586183217 + ], + "face_normal": [ + -0.19839645271244954, + -0.33407021198932263, + 0.9214314866775508 + ], + "footprint_xy": [ + [ + -29.26720603541972, + -15.062443556382506 + ], + [ + -28.97001933145313, + -15.062443556382506 + ], + [ + -28.97001933145313, + -14.793822393001578 + ], + [ + -29.26720603541972, + -14.793822393001578 + ] + ], + "projected_box_corners": [ + [ + -29.245256102915448, + -14.923847686957215 + ], + [ + -29.028178348772247, + -15.025483124355626 + ], + [ + -29.26720603541972, + -14.960808118984094 + ], + [ + -29.050128281276518, + -15.062443556382506 + ], + [ + -29.18709708559633, + -14.793822393001578 + ], + [ + -28.97001933145313, + -14.895457830399991 + ], + [ + -29.209047018100602, + -14.830782825028457 + ], + [ + -28.9919692639574, + -14.93241826242687 + ] + ], + "yaw_rad": 1.1501982999277565, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.207250595092773, + -14.91895866394043, + 0.06618469953536987 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.13151558014869, + -14.946440054718238, + 0.07908405959784083 + ], + "intended_face_normal": [ + -0.19739730025890623, + -0.33255956897352235, + 0.9221919942254644 + ], + "commanded_contact_point": [ + -29.204373474121095, + -14.9430434049979, + 0.028069911530979055 + ], + "centerline_face_intersection": [ + -29.2532028398813, + -14.928043404997899, + 0.028069911530979055 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.20915985107422, + -14.919107437133789, + 0.06682424247264862 + ], + "box_pose": [ + -29.10372543334961, + -14.932238578796387, + 0.03186069056391716, + 0.6461330652236938, + 0.24947145581245422, + 0.4987903833389282, + 0.5210413336753845 + ], + "box_yaw_rad": 1.1489596047277755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017823902703866259 + } + } + }, + { + "simulation_time_ns": 8700000000, + "center": [ + -29.11544781878086, + -14.92752010942785, + 0.02780539105938955 + ], + "face_center": [ + -29.12640483423496, + -14.945867418094885, + 0.07882931911048086 + ], + "face_normal": [ + -0.1980719528851509, + -0.331667621816365, + 0.9223687887717205 + ], + "footprint_xy": [ + [ + -29.2640355209682, + -15.061762490028316 + ], + [ + -28.966860116593523, + -15.061762490028316 + ], + [ + -28.966860116593523, + -14.79327772882738 + ], + [ + -29.2640355209682, + -14.79327772882738 + ] + ], + "projected_box_corners": [ + [ + -29.242121490059997, + -14.923457855111794 + ], + [ + -29.025040486133587, + -15.025067872694246 + ], + [ + -29.2640355209682, + -14.960152472445866 + ], + [ + -29.046954517041787, + -15.061762490028316 + ], + [ + -29.183941120519933, + -14.79327772882738 + ], + [ + -28.966860116593523, + -14.894887746409832 + ], + [ + -29.205855151428132, + -14.829972346161453 + ], + [ + -28.988774147501722, + -14.931582363743905 + ] + ], + "yaw_rad": 1.1505049684448319, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.203903198242188, + -14.917784690856934, + 0.06543907523155212 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.12958764968856, + -14.946613190705481, + 0.07900934586183217 + ], + "intended_face_normal": [ + -0.19839645271244954, + -0.33407021198932263, + 0.9214314866775508 + ], + "commanded_contact_point": [ + -29.202855224609376, + -14.943132974692043, + 0.028037267824745277 + ], + "centerline_face_intersection": [ + -29.251169674711768, + -14.928132974692042, + 0.028037267824745277 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.207250595092773, + -14.91895866394043, + 0.06618469953536987 + ], + "box_pose": [ + -29.101743698120117, + -14.932317733764648, + 0.031846050173044205, + 0.6460344195365906, + 0.24904604256153107, + 0.499674528837204, + 0.5205199122428894 + ], + "box_yaw_rad": 1.1501982999277565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015212396002930789 + } + } + }, + { + "simulation_time_ns": 8720000000, + "center": [ + -29.111331873859058, + -14.927318415143514, + 0.0279532956520818 + ], + "face_center": [ + -29.122116293176898, + -14.945655922618592, + 0.07901750623363428 + ], + "face_normal": [ + -0.19495190126953332, + -0.33149044389418414, + 0.9230969833707903 + ], + "footprint_xy": [ + [ + -29.259746225697747, + -15.061231754712367 + ], + [ + -28.962917522020373, + -15.061231754712367 + ], + [ + -28.962917522020373, + -14.79340507557466 + ], + [ + -29.259746225697747, + -14.79340507557466 + ] + ], + "projected_box_corners": [ + [ + -29.238177387062073, + -14.923903647292724 + ], + [ + -29.020638153638725, + -15.02455673976221 + ], + [ + -29.259746225697747, + -14.960578662242883 + ], + [ + -29.0422069922744, + -15.061231754712367 + ], + [ + -29.180456755443718, + -14.79340507557466 + ], + [ + -28.962917522020373, + -14.894058168044145 + ], + [ + -29.202025594079394, + -14.830080090524818 + ], + [ + -28.984486360656046, + -14.930733182994302 + ] + ], + "yaw_rad": 1.1543570077312675, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.199764251708984, + -14.917588233947754, + 0.06574873626232147 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.12640483423496, + -14.945867418094885, + 0.07882931911048086 + ], + "intended_face_normal": [ + -0.1980719528851509, + -0.331667621816365, + 0.9223687887717205 + ], + "commanded_contact_point": [ + -29.201382751464845, + -14.94252010942785, + 0.02780539105938955 + ], + "centerline_face_intersection": [ + -29.24800282562884, + -14.92752010942785, + 0.02780539105938955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.203903198242188, + -14.917784690856934, + 0.06543907523155212 + ], + "box_pose": [ + -29.09857749938965, + -14.931694984436035, + 0.0316191092133522, + 0.6454442739486694, + 0.24978777766227722, + 0.4992349147796631, + 0.5213178396224976 + ], + "box_yaw_rad": 1.1505049684448319, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016116909839457316 + } + } + }, + { + "simulation_time_ns": 8740000000, + "center": [ + -29.109106286395722, + -14.927843323227341, + 0.02829018165912201 + ], + "face_center": [ + -29.11971254130816, + -14.9464141685302, + 0.07930736581258876 + ], + "face_normal": [ + -0.19173119104421232, + -0.3357085340688002, + 0.9222468781129152 + ], + "footprint_xy": [ + [ + -29.257259543074774, + -15.061328152900078 + ], + [ + -28.96095302971667, + -15.061328152900078 + ], + [ + -28.96095302971667, + -14.794358493554606 + ], + [ + -29.257259543074774, + -14.794358493554606 + ] + ], + "projected_box_corners": [ + [ + -29.236047033249896, + -14.925094954076634 + ], + [ + -29.017770619786848, + -15.024186462294363 + ], + [ + -29.257259543074774, + -14.96223664468235 + ], + [ + -29.038983129611726, + -15.061328152900078 + ], + [ + -29.179229443179718, + -14.794358493554606 + ], + [ + -28.96095302971667, + -14.893450001772335 + ], + [ + -29.200441953004592, + -14.831500184160321 + ], + [ + -28.982165539541544, + -14.93059169237805 + ] + ], + "yaw_rad": 1.160825633992294, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.19763946533203, + -14.918574333190918, + 0.06632472574710846 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.122116293176898, + -14.945655922618592, + 0.07901750623363428 + ], + "intended_face_normal": [ + -0.19495190126953332, + -0.33149044389418414, + 0.9230969833707903 + ], + "commanded_contact_point": [ + -29.19963752746582, + -14.942318415143514, + 0.0279532956520818 + ], + "centerline_face_intersection": [ + -29.24360766388188, + -14.927318415143514, + 0.0279532956520818 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.199764251708984, + -14.917588233947754, + 0.06574873626232147 + ], + "box_pose": [ + -29.094436645507812, + -14.931415557861328, + 0.031740959733724594, + 0.6450607776641846, + 0.2519446611404419, + 0.49964168667793274, + 0.5203640460968018 + ], + "box_yaw_rad": 1.1543570077312675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017630550642678234 + } + } + }, + { + "simulation_time_ns": 8760000000, + "center": [ + -29.10911157331306, + -14.928377999487697, + 0.0286901316218234 + ], + "face_center": [ + -29.119943424668445, + -14.947790040827615, + 0.07934547331911225 + ], + "face_normal": [ + -0.19580933880307327, + -0.35091498718715286, + 0.9157057864961189 + ], + "footprint_xy": [ + [ + -29.25730346710377, + -15.062191846143017 + ], + [ + -28.960919679522352, + -15.062191846143017 + ], + [ + -28.960919679522352, + -14.794564152832375 + ], + [ + -29.25730346710377, + -14.794564152832375 + ] + ], + "projected_box_corners": [ + [ + -29.235639764393007, + -14.92437639523416 + ], + [ + -29.01729506697402, + -15.023367763463181 + ], + [ + -29.25730346710377, + -14.963200477913997 + ], + [ + -29.038958769684786, + -15.062191846143017 + ], + [ + -29.179264376941337, + -14.794564152832375 + ], + [ + -28.960919679522352, + -14.893555521061396 + ], + [ + -29.2009280796521, + -14.833388235512212 + ], + [ + -28.98258338223312, + -14.932379603741232 + ] + ], + "yaw_rad": 1.1610883522521, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.19782257080078, + -14.919441223144531, + 0.06606510281562805 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.11971254130816, + -14.9464141685302, + 0.07930736581258876 + ], + "intended_face_normal": [ + -0.19173119104421232, + -0.3357085340688002, + 0.9222468781129152 + ], + "commanded_contact_point": [ + -29.19794761657715, + -14.942843323227342, + 0.02829018165912201 + ], + "centerline_face_intersection": [ + -29.240935344357148, + -14.927843323227341, + 0.02829018165912201 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19763946533203, + -14.918574333190918, + 0.06632472574710846 + ], + "box_pose": [ + -29.092178344726562, + -14.931828498840332, + 0.03205115348100662, + 0.6451402902603149, + 0.25375860929489136, + 0.501645565032959, + 0.5174480080604553 + ], + "box_yaw_rad": 1.160825633992294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018013382497072614 + } + } + }, + { + "simulation_time_ns": 8780000000, + "center": [ + -29.10899824566284, + -14.928134395868321, + 0.028580207847171142 + ], + "face_center": [ + -29.119697862618402, + -14.947195783089535, + 0.0793965665573725 + ], + "face_normal": [ + -0.19341891360735275, + -0.34457614917327106, + 0.9186165202017449 + ], + "footprint_xy": [ + [ + -29.257161223359734, + -15.061810402533164 + ], + [ + -28.960835267965944, + -15.061810402533164 + ], + [ + -28.960835267965944, + -14.79445838920348 + ], + [ + -29.257161223359734, + -14.79445838920348 + ] + ], + "projected_box_corners": [ + [ + -29.235761989448616, + -14.924665204293545 + ], + [ + -29.017434252202708, + -15.023687628090737 + ], + [ + -29.257161223359734, + -14.962787978735971 + ], + [ + -29.038833486113827, + -15.061810402533164 + ], + [ + -29.17916300521185, + -14.79445838920348 + ], + [ + -28.960835267965944, + -14.893480813000673 + ], + [ + -29.200562239122974, + -14.832581163645907 + ], + [ + -28.982234501877066, + -14.9316035874431 + ] + ], + "yaw_rad": 1.1607508548860443, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.19756317138672, + -14.918746948242188, + 0.06625394523143768 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.119943424668445, + -14.947790040827615, + 0.07934547331911225 + ], + "intended_face_normal": [ + -0.19580933880307327, + -0.35091498718715286, + 0.9157057864961189 + ], + "commanded_contact_point": [ + -29.19632637023926, + -14.943377999487698, + 0.0286901316218234 + ], + "centerline_face_intersection": [ + -29.240899403758124, + -14.928377999487697, + 0.0286901316218234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19782257080078, + -14.919441223144531, + 0.06606510281562805 + ], + "box_pose": [ + -29.09219741821289, + -14.932405471801758, + 0.032468024641275406, + 0.6479730010032654, + 0.24876683950424194, + 0.5055575966835022, + 0.5125011801719666 + ], + "box_yaw_rad": 1.1610883522521, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017533620174331047 + } + } + }, + { + "simulation_time_ns": 8800000000, + "center": [ + -29.10884289979901, + -14.927930443446115, + 0.028639208847450293 + ], + "face_center": [ + -29.119334890614223, + -14.946692471342724, + 0.07961004441910435 + ], + "face_normal": [ + -0.18966561826326256, + -0.33916457644279774, + 0.9214090264048878 + ], + "footprint_xy": [ + [ + -29.256947874107315, + -15.061482819955293 + ], + [ + -28.960737925490708, + -15.061482819955293 + ], + [ + -28.960737925490708, + -14.794378066936938 + ], + [ + -29.256947874107315, + -14.794378066936938 + ] + ], + "projected_box_corners": [ + [ + -29.235963892476892, + -14.924917366947044 + ], + [ + -29.017631229206625, + -15.023958764162074 + ], + [ + -29.256947874107315, + -14.96244142274026 + ], + [ + -29.038615210837047, + -15.061482819955293 + ], + [ + -29.179070588760972, + -14.794378066936938 + ], + [ + -28.960737925490708, + -14.89341946415197 + ], + [ + -29.200054570391394, + -14.831902122730154 + ], + [ + -28.98172190712113, + -14.930943519945187 + ] + ], + "yaw_rad": 1.1597861279285964, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.197206497192383, + -14.918196678161621, + 0.06692709028720856 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.119697862618402, + -14.947195783089535, + 0.0793965665573725 + ], + "intended_face_normal": [ + -0.19341891360735275, + -0.34457614917327106, + 0.9186165202017449 + ], + "commanded_contact_point": [ + -29.194728012084962, + -14.943134395868322, + 0.028580207847171142 + ], + "centerline_face_intersection": [ + -29.24079631367296, + -14.928134395868321, + 0.028580207847171142 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19756317138672, + -14.918746948242188, + 0.06625394523143768 + ], + "box_pose": [ + -29.09207534790039, + -14.932143211364746, + 0.03233874589204788, + 0.6469708681106567, + 0.25106316804885864, + 0.5037030577659607, + 0.5144698023796082 + ], + "box_yaw_rad": 1.1607508548860443, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001620547669466781 + } + } + }, + { + "simulation_time_ns": 8820000000, + "center": [ + -29.10870327909766, + -14.927873598231457, + 0.02874033764753159 + ], + "face_center": [ + -29.119087837391895, + -14.946501189358003, + 0.07978243482085765 + ], + "face_normal": [ + -0.18772354112348566, + -0.33673433860133883, + 0.9226972352851277 + ], + "footprint_xy": [ + [ + -29.2567781543798, + -15.061374506988479 + ], + [ + -28.960628403815523, + -15.061374506988479 + ], + [ + -28.960628403815523, + -14.794372689474438 + ], + [ + -29.2567781543798, + -14.794372689474438 + ] + ], + "projected_box_corners": [ + [ + -29.236009037791334, + -14.92505464406208 + ], + [ + -29.01767851054256, + -15.024119324735388 + ], + [ + -29.2567781543798, + -14.96230982631517 + ], + [ + -29.038447627131024, + -15.061374506988479 + ], + [ + -29.178958931064297, + -14.794372689474438 + ], + [ + -28.960628403815523, + -14.893437370147744 + ], + [ + -29.199728047652762, + -14.831627871727529 + ], + [ + -28.98139752040399, + -14.930692552400835 + ] + ], + "yaw_rad": 1.1591777593266257, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.196943283081055, + -14.9180326461792, + 0.0672326534986496 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.119334890614223, + -14.946692471342724, + 0.07961004441910435 + ], + "intended_face_normal": [ + -0.18966561826326256, + -0.33916457644279774, + 0.9214090264048878 + ], + "commanded_contact_point": [ + -29.1933642578125, + -14.942930443446116, + 0.028639208847450293 + ], + "centerline_face_intersection": [ + -29.240637994179426, + -14.927930443446115, + 0.028639208847450293 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.197206497192383, + -14.918196678161621, + 0.06692709028720856 + ], + "box_pose": [ + -29.09190559387207, + -14.931922912597656, + 0.03234994783997536, + 0.6465676426887512, + 0.2535034418106079, + 0.5015302300453186, + 0.5159009695053101 + ], + "box_yaw_rad": 1.1597861279285964, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013801823880245222 + } + } + }, + { + "simulation_time_ns": 8840000000, + "center": [ + -29.108813325174914, + -14.928319661528157, + 0.029008902140223225 + ], + "face_center": [ + -29.11940800369675, + -14.947638220913381, + 0.07975007855540744 + ], + "face_normal": [ + -0.19152192253460143, + -0.34922509696083637, + 0.9172574362377937 + ], + "footprint_xy": [ + [ + -29.25694293522949, + -15.062119131313594 + ], + [ + -28.96068371512034, + -15.062119131313594 + ], + [ + -28.96068371512034, + -14.794520191742718 + ], + [ + -29.25694293522949, + -14.794520191742718 + ] + ], + "projected_box_corners": [ + [ + -29.235753578185815, + -14.924418223746423 + ], + [ + -29.017408171597964, + -15.023482012543143 + ], + [ + -29.25694293522949, + -14.963055342516876 + ], + [ + -29.038597528641635, + -15.062119131313594 + ], + [ + -29.179029121708194, + -14.794520191742718 + ], + [ + -28.96068371512034, + -14.893583980539436 + ], + [ + -29.200218478751868, + -14.83315731051317 + ], + [ + -28.981873072164014, + -14.932221099309889 + ] + ], + "yaw_rad": 1.1590705797647147, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.19698143005371, + -14.919270515441895, + 0.067069873213768 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.119087837391895, + -14.946501189358003, + 0.07978243482085765 + ], + "intended_face_normal": [ + -0.18772354112348566, + -0.33673433860133883, + 0.9226972352851277 + ], + "commanded_contact_point": [ + -29.19212257385254, + -14.942873598231458, + 0.02874033764753159 + ], + "centerline_face_intersection": [ + -29.240499662886194, + -14.927873598231457, + 0.02874033764753159 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.196943283081055, + -14.9180326461792, + 0.0672326534986496 + ], + "box_pose": [ + -29.091758728027344, + -14.931859970092773, + 0.03242446109652519, + 0.6464709639549255, + 0.2546496093273163, + 0.5004422664642334, + 0.5165138244628906 + ], + "box_yaw_rad": 1.1591777593266257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012470916041172288 + } + } + }, + { + "simulation_time_ns": 8860000000, + "center": [ + -29.108576081557487, + -14.928371211361151, + 0.028765660079561037 + ], + "face_center": [ + -29.11931632665054, + -14.94770260636529, + 0.07947134047870441 + ], + "face_normal": [ + -0.19415335580737647, + -0.34945712876870516, + 0.9166157683268281 + ], + "footprint_xy": [ + [ + -29.256746724147305, + -15.062164465093483 + ], + [ + -28.96040543896767, + -15.062164465093483 + ], + [ + -28.96040543896767, + -14.794577957628817 + ], + [ + -29.256746724147305, + -14.794577957628817 + ] + ], + "projected_box_corners": [ + [ + -29.23526623396119, + -14.924471869001461 + ], + [ + -29.016928570541907, + -15.023501675085205 + ], + [ + -29.256746724147305, + -14.96313465900974 + ], + [ + -29.038409060728018, + -15.062164465093483 + ], + [ + -29.178743102386953, + -14.794577957628817 + ], + [ + -28.96040543896767, + -14.893607763712563 + ], + [ + -29.200223592573064, + -14.833240747637095 + ], + [ + -28.98188592915378, + -14.93227055372084 + ] + ], + "yaw_rad": 1.160361365467023, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.196474075317383, + -14.920012474060059, + 0.06642396748065948 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.11940800369675, + -14.947638220913381, + 0.07975007855540744 + ], + "intended_face_normal": [ + -0.19152192253460143, + -0.34922509696083637, + 0.9172574362377937 + ], + "commanded_contact_point": [ + -29.19075309753418, + -14.943319661528157, + 0.029008902140223225 + ], + "centerline_face_intersection": [ + -29.240600727583374, + -14.928319661528157, + 0.029008902140223225 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19698143005371, + -14.919270515441895, + 0.067069873213768 + ], + "box_pose": [ + -29.091882705688477, + -14.932347297668457, + 0.03271213918924332, + 0.6487905383110046, + 0.2503195106983185, + 0.5036699175834656, + 0.5125696063041687 + ], + "box_yaw_rad": 1.1590705797647147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014651159469285648 + } + } + }, + { + "simulation_time_ns": 8880000000, + "center": [ + -29.107177811722593, + -14.928594743648718, + 0.028531726880137043 + ], + "face_center": [ + -29.117883643090007, + -14.947600417972003, + 0.07936765431543022 + ], + "face_normal": [ + -0.1935312526559727, + -0.34356901702679465, + 0.9189702675894935 + ], + "footprint_xy": [ + [ + -29.25534678991345, + -15.062254065079365 + ], + [ + -28.959008833531733, + -15.062254065079365 + ], + [ + -28.959008833531733, + -14.794935422218071 + ], + [ + -29.25534678991345, + -14.794935422218071 + ] + ], + "projected_box_corners": [ + [ + -29.233935127178622, + -14.925199037851845 + ], + [ + -29.01562190477588, + -15.024242716432793 + ], + [ + -29.25534678991345, + -14.963210386498417 + ], + [ + -29.03703356751071, + -15.062254065079365 + ], + [ + -29.177322055934475, + -14.794935422218071 + ], + [ + -28.959008833531733, + -14.893979100799019 + ], + [ + -29.198733718669303, + -14.832946770864643 + ], + [ + -28.98042049626656, + -14.93199044944559 + ] + ], + "yaw_rad": 1.160819319934707, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.19476890563965, + -14.920524597167969, + 0.06627205014228821 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.11931632665054, + -14.94770260636529, + 0.07947134047870441 + ], + "intended_face_normal": [ + -0.19415335580737647, + -0.34945712876870516, + 0.9166157683268281 + ], + "commanded_contact_point": [ + -29.189313049316407, + -14.943371211361152, + 0.028765660079561037 + ], + "centerline_face_intersection": [ + -29.24036815769954, + -14.928371211361151, + 0.028765660079561037 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.196474075317383, + -14.920012474060059, + 0.06642396748065948 + ], + "box_pose": [ + -29.091655731201172, + -14.93239688873291, + 0.03251764550805092, + 0.6480869054794312, + 0.24956591427326202, + 0.5046899318695068, + 0.5128239393234253 + ], + "box_yaw_rad": 1.160361365467023, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014613565461137055 + } + } + }, + { + "simulation_time_ns": 8900000000, + "center": [ + -29.104672624364905, + -14.929609508370461, + 0.028426249421962466 + ], + "face_center": [ + -29.11531250592422, + -14.948377294175838, + 0.0793642827820245 + ], + "face_normal": [ + -0.19233906603015072, + -0.3392686632024393, + 0.9208160548848419 + ], + "footprint_xy": [ + [ + -29.25288214892917, + -15.063314596475234 + ], + [ + -28.956463099800644, + -15.063314596475234 + ], + [ + -28.956463099800644, + -14.79590442026569 + ], + [ + -29.25288214892917, + -14.79590442026569 + ] + ], + "projected_box_corners": [ + [ + -29.23160238581055, + -14.92629889751245 + ], + [ + -29.01348612007247, + -15.025779024864482 + ], + [ + -29.25288214892917, + -14.9638344691232 + ], + [ + -29.034765883191096, + -15.063314596475234 + ], + [ + -29.17457936553872, + -14.79590442026569 + ], + [ + -28.956463099800644, + -14.895384547617725 + ], + [ + -29.195859128657343, + -14.833439991876443 + ], + [ + -28.977742862919264, + -14.932920119228475 + ] + ], + "yaw_rad": 1.1585440105965348, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.192041397094727, + -14.921563148498535, + 0.06642685830593109 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.117883643090007, + -14.947600417972003, + 0.07936765431543022 + ], + "intended_face_normal": [ + -0.1935312526559727, + -0.34356901702679465, + 0.9189702675894935 + ], + "commanded_contact_point": [ + -29.18801986694336, + -14.943594743648719, + 0.028531726880137043 + ], + "centerline_face_intersection": [ + -29.23898464250148, + -14.928594743648718, + 0.028531726880137043 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19476890563965, + -14.920524597167969, + 0.06627205014228821 + ], + "box_pose": [ + -29.090255737304688, + -14.932601928710938, + 0.03229571506381035, + 0.6466965675354004, + 0.2512684166431427, + 0.503555417060852, + 0.5148590207099915 + ], + "box_yaw_rad": 1.160819319934707, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013330461639931407 + } + } + }, + { + "simulation_time_ns": 8920000000, + "center": [ + -29.102860252965986, + -14.930533623028035, + 0.028412695229357868 + ], + "face_center": [ + -29.113453950281446, + -14.949148398064699, + 0.07941646355176958 + ], + "face_normal": [ + -0.19150418508920808, + -0.3365026598233172, + 0.9220043577050738 + ], + "footprint_xy": [ + [ + -29.25105438453477, + -15.064161028551586 + ], + [ + -28.954666121397203, + -15.064161028551586 + ], + [ + -28.954666121397203, + -14.796906217504482 + ], + [ + -29.25105438453477, + -14.796906217504482 + ] + ], + "projected_box_corners": [ + [ + -29.22986698990385, + -14.927480844349827 + ], + [ + -29.011741452592453, + -15.026931478478257 + ], + [ + -29.25105438453477, + -14.964710394423154 + ], + [ + -29.03292884722337, + -15.064161028551586 + ], + [ + -29.1727916587086, + -14.796906217504482 + ], + [ + -28.954666121397203, + -14.896356851632914 + ], + [ + -29.19397905333952, + -14.834135767577811 + ], + [ + -28.97585351602812, + -14.933586401706243 + ] + ], + "yaw_rad": 1.1587142018910337, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.190189361572266, + -14.92259693145752, + 0.06653280556201935 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.11531250592422, + -14.948377294175838, + 0.0793642827820245 + ], + "intended_face_normal": [ + -0.19233906603015072, + -0.3392686632024393, + 0.9208160548848419 + ], + "commanded_contact_point": [ + -29.186667556762696, + -14.944609508370462, + 0.028426249421962466 + ], + "centerline_face_intersection": [ + -29.23659847530803, + -14.929609508370461, + 0.028426249421962466 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.192041397094727, + -14.921563148498535, + 0.06642685830593109 + ], + "box_pose": [ + -29.087751388549805, + -14.933637619018555, + 0.03217161446809769, + 0.6464105844497681, + 0.2521683871746063, + 0.5017845034599304, + 0.5165042877197266 + ], + "box_yaw_rad": 1.1585440105965348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016939940257880083 + } + } + }, + { + "simulation_time_ns": 8940000000, + "center": [ + -29.102346196758756, + -14.931175489082058, + 0.028243409028418067 + ], + "face_center": [ + -29.11304054125859, + -14.949889518574436, + 0.07918981227891093 + ], + "face_normal": [ + -0.19332360247030778, + -0.3382969005960845, + 0.9209673589101044 + ], + "footprint_xy": [ + [ + -29.2505031564503, + -15.064667270028217 + ], + [ + -28.954189237067208, + -15.064667270028217 + ], + [ + -28.954189237067208, + -14.7976837081359 + ], + [ + -29.2505031564503, + -14.7976837081359 + ] + ], + "projected_box_corners": [ + [ + -29.229114467450625, + -14.928312731076895 + ], + [ + -29.010771307100004, + -15.027239211043463 + ], + [ + -29.2505031564503, + -14.965740790061648 + ], + [ + -29.03215999609968, + -15.064667270028217 + ], + [ + -29.17253239741783, + -14.7976837081359 + ], + [ + -28.954189237067208, + -14.896610188102468 + ], + [ + -29.193921086417504, + -14.835111767120653 + ], + [ + -28.975577926066883, + -14.934038247087221 + ] + ], + "yaw_rad": 1.162042157062352, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.189815521240234, + -14.923602104187012, + 0.0661393404006958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.113453950281446, + -14.949148398064699, + 0.07941646355176958 + ], + "intended_face_normal": [ + -0.19150418508920808, + -0.3365026598233172, + 0.9220043577050738 + ], + "commanded_contact_point": [ + -29.18494140625, + -14.945533623028036, + 0.028412695229357868 + ], + "centerline_face_intersection": [ + -29.23478049631169, + -14.930533623028035, + 0.028412695229357868 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.190189361572266, + -14.92259693145752, + 0.06653280556201935 + ], + "box_pose": [ + -29.085935592651367, + -14.934550285339355, + 0.032154884189367294, + 0.645858645439148, + 0.2531585991382599, + 0.5011166930198669, + 0.5173580646514893 + ], + "box_yaw_rad": 1.1587142018910337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019580008194476817 + } + } + }, + { + "simulation_time_ns": 8960000000, + "center": [ + -29.101037552394406, + -14.93240857064227, + 0.027461858216315516 + ], + "face_center": [ + -29.112089356163075, + -14.951420341668157, + 0.07822139484346008 + ], + "face_normal": [ + -0.19978545841557604, + -0.3436792282239267, + 0.9175893371147801 + ], + "footprint_xy": [ + [ + -29.24912285385368, + -15.065583058614365 + ], + [ + -28.952952250935127, + -15.065583058614365 + ], + [ + -28.952952250935127, + -14.799234082670177 + ], + [ + -29.24912285385368, + -14.799234082670177 + ] + ], + "projected_box_corners": [ + [ + -29.227019246316342, + -14.929933454917988 + ], + [ + -29.008166297663056, + -15.027559516562592 + ], + [ + -29.24912285385368, + -14.967956996969761 + ], + [ + -29.030269905200395, + -15.065583058614365 + ], + [ + -29.171805199588412, + -14.799234082670177 + ], + [ + -28.952952250935127, + -14.896860144314779 + ], + [ + -29.19390880712575, + -14.83725762472195 + ], + [ + -28.975055858472466, + -14.934883686366552 + ] + ], + "yaw_rad": 1.1710869041412568, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.188074111938477, + -14.926294326782227, + 0.06369136273860931 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.11304054125859, + -14.949889518574436, + 0.07918981227891093 + ], + "intended_face_normal": [ + -0.19332360247030778, + -0.3382969005960845, + 0.9209673589101044 + ], + "commanded_contact_point": [ + -29.18314468383789, + -14.946175489082059, + 0.028243409028418067 + ], + "centerline_face_intersection": [ + -29.234134954949415, + -14.931175489082058, + 0.028243409028418067 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.189815521240234, + -14.923602104187012, + 0.0661393404006958 + ], + "box_pose": [ + -29.08542251586914, + -14.935155868530273, + 0.03202854469418526, + 0.6451956629753113, + 0.2528502345085144, + 0.502862811088562, + 0.5166412591934204 + ], + "box_yaw_rad": 1.162042157062352, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019154271782847523 + } + } + }, + { + "simulation_time_ns": 8980000000, + "center": [ + -29.098370376108853, + -14.933671490706127, + 0.02704522006887343 + ], + "face_center": [ + -29.10946770257514, + -14.952716802107656, + 0.07778224892847896 + ], + "face_normal": [ + -0.20060838046542173, + -0.3442855436691872, + 0.9171824601243976 + ], + "footprint_xy": [ + [ + -29.24615053382564, + -15.0660696895771 + ], + [ + -28.950590218392062, + -15.0660696895771 + ], + [ + -28.950590218392062, + -14.801273291835155 + ], + [ + -29.24615053382564, + -14.801273291835155 + ] + ], + "projected_box_corners": [ + [ + -29.22395588089307, + -14.932629367309481 + ], + [ + -29.004165195228506, + -15.027979066774044 + ], + [ + -29.24615053382564, + -14.970719990112537 + ], + [ + -29.02635984816108, + -15.0660696895771 + ], + [ + -29.170380904056625, + -14.801273291835155 + ], + [ + -28.950590218392062, + -14.896622991299719 + ], + [ + -29.1925755569892, + -14.839363914638211 + ], + [ + -28.972784871324638, + -14.934713614102774 + ] + ], + "yaw_rad": 1.1835319320621698, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.185470581054688, + -14.928356170654297, + 0.06254030764102936 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.112089356163075, + -14.951420341668157, + 0.07822139484346008 + ], + "intended_face_normal": [ + -0.19978545841557604, + -0.3436792282239267, + 0.9175893371147801 + ], + "commanded_contact_point": [ + -29.181561584472657, + -14.94740857064227, + 0.027461858216315516 + ], + "centerline_face_intersection": [ + -29.232519326522194, + -14.93240857064227, + 0.027461858216315516 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.188074111938477, + -14.926294326782227, + 0.06369136273860931 + ], + "box_pose": [ + -29.084125518798828, + -14.936302185058594, + 0.03138672187924385, + 0.6432348489761353, + 0.2512865960597992, + 0.5080241560935974, + 0.5147964358329773 + ], + "box_yaw_rad": 1.1710869041412568, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021534891237799166 + } + } + }, + { + "simulation_time_ns": 9000000000, + "center": [ + -29.097794143944572, + -14.933798034093298, + 0.02703401873803203 + ], + "face_center": [ + -29.108761237796713, + -14.952719208059182, + 0.07784575912475822 + ], + "face_normal": [ + -0.19825414191193147, + -0.34204148876143137, + 0.9185330339318192 + ], + "footprint_xy": [ + [ + -29.245496059253128, + -15.066029597390525 + ], + [ + -28.95009222863602, + -15.066029597390525 + ], + [ + -28.95009222863602, + -14.801566470796072 + ], + [ + -29.245496059253128, + -14.801566470796072 + ] + ], + "projected_box_corners": [ + [ + -29.223561871548846, + -14.933158555331184 + ], + [ + -29.00362130814209, + -15.028187249458757 + ], + [ + -29.245496059253128, + -14.971000903262953 + ], + [ + -29.025555495846373, + -15.066029597390525 + ], + [ + -29.17003279204277, + -14.801566470796072 + ], + [ + -28.95009222863602, + -14.896595164923646 + ], + [ + -29.191966979747054, + -14.83940881872784 + ], + [ + -28.972026416340302, + -14.934437512855414 + ] + ], + "yaw_rad": 1.1844584862418486, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.18474006652832, + -14.928380966186523, + 0.06260725855827332 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.10946770257514, + -14.952716802107656, + 0.07778224892847896 + ], + "intended_face_normal": [ + -0.20060838046542173, + -0.3442855436691872, + 0.9171824601243976 + ], + "commanded_contact_point": [ + -29.17992889404297, + -14.948671490706127, + 0.02704522006887343 + ], + "centerline_face_intersection": [ + -29.229291183216883, + -14.933671490706127, + 0.02704522006887343 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.185470581054688, + -14.928356170654297, + 0.06254030764102936 + ], + "box_pose": [ + -29.081438064575195, + -14.937384605407715, + 0.031056614592671394, + 0.6403144001960754, + 0.25377169251441956, + 0.511996328830719, + 0.5132807493209839 + ], + "box_yaw_rad": 1.1835319320621698, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002105761732197894 + } + } + }, + { + "simulation_time_ns": 9020000000, + "center": [ + -29.097506812967644, + -14.93370905822252, + 0.02730572578268787 + ], + "face_center": [ + -29.108218141317984, + -14.952401222608522, + 0.07825659790281694 + ], + "face_normal": [ + -0.1936306226119484, + -0.3379016411079476, + 0.9210481434759146 + ], + "footprint_xy": [ + [ + -29.24513519982103, + -15.065824453910825 + ], + [ + -28.94987842611426, + -15.065824453910825 + ], + [ + -28.94987842611426, + -14.801593662534218 + ], + [ + -29.24513519982103, + -14.801593662534218 + ] + ], + "projected_box_corners": [ + [ + -29.223712543120346, + -14.933452979443402 + ], + [ + -29.00371755760129, + -15.028440125138822 + ], + [ + -29.24513519982103, + -14.970837308215403 + ], + [ + -29.025140214301974, + -15.065824453910825 + ], + [ + -29.169873411633315, + -14.801593662534218 + ], + [ + -28.94987842611426, + -14.896580808229638 + ], + [ + -29.191296068333997, + -14.83897799130622 + ], + [ + -28.971301082814943, + -14.93396513700164 + ] + ], + "yaw_rad": 1.1831489977501355, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.184167861938477, + -14.928094863891602, + 0.06334608793258667 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.108761237796713, + -14.952719208059182, + 0.07784575912475822 + ], + "intended_face_normal": [ + -0.19825414191193147, + -0.34204148876143137, + 0.9185330339318192 + ], + "commanded_contact_point": [ + -29.178473587036134, + -14.948798034093299, + 0.02703401873803203 + ], + "centerline_face_intersection": [ + -29.228625735517863, + -14.933798034093298, + 0.02703401873803203 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.18474006652832, + -14.928380966186523, + 0.06260725855827332 + ], + "box_pose": [ + -29.080848693847656, + -14.937478065490723, + 0.03102034330368042, + 0.6399781703948975, + 0.2554216682910919, + 0.5113205313682556, + 0.5135552883148193 + ], + "box_yaw_rad": 1.1844584862418486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014608412585887774 + } + } + }, + { + "simulation_time_ns": 9040000000, + "center": [ + -29.096211084740887, + -14.933925302486479, + 0.02766342463065368 + ], + "face_center": [ + -29.106626024305452, + -14.952364457106471, + 0.0787677081315731 + ], + "face_normal": [ + -0.1882727488499576, + -0.3333279377429932, + 0.9238213887921454 + ], + "footprint_xy": [ + [ + -29.243802523459795, + -15.06604694123558 + ], + [ + -28.948619646021974, + -15.06604694123558 + ], + [ + -28.948619646021974, + -14.801803663737378 + ], + [ + -29.243802523459795, + -14.801803663737378 + ] + ], + "projected_box_corners": [ + [ + -29.222972644330657, + -14.933837683901798 + ], + [ + -29.003077575925513, + -15.029168631995596 + ], + [ + -29.243802523459795, + -14.970715993141784 + ], + [ + -29.023907455054648, + -15.06604694123558 + ], + [ + -29.168514714427122, + -14.801803663737378 + ], + [ + -28.948619646021974, + -14.897134611831175 + ], + [ + -29.189344593556257, + -14.838681972977364 + ], + [ + -28.969449525151113, + -14.93401292107116 + ] + ], + "yaw_rad": 1.1796002525000941, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.18254280090332, + -14.928055763244629, + 0.06428317725658417 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.108218141317984, + -14.952401222608522, + 0.07825659790281694 + ], + "intended_face_normal": [ + -0.1936306226119484, + -0.3379016411079476, + 0.9210481434759146 + ], + "commanded_contact_point": [ + -29.17733871459961, + -14.948709058222521, + 0.02730572578268787 + ], + "centerline_face_intersection": [ + -29.22830603956883, + -14.93370905822252, + 0.02730572578268787 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.184167861938477, + -14.928094863891602, + 0.06334608793258667 + ], + "box_pose": [ + -29.080541610717773, + -14.937372207641602, + 0.031222987920045853, + 0.6401180028915405, + 0.2578474283218384, + 0.5091166496276855, + 0.5143577456474304 + ], + "box_yaw_rad": 1.1831489977501355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011703319490114444 + } + } + }, + { + "simulation_time_ns": 9060000000, + "center": [ + -29.094119033258206, + -14.934190757173992, + 0.028119411239594754 + ], + "face_center": [ + -29.104487603168227, + -14.95282609993813, + 0.07916191951994428 + ], + "face_normal": [ + -0.18743451620627383, + -0.3368744663580756, + 0.9227046669412502 + ], + "footprint_xy": [ + [ + -29.241835052193515, + -15.066769451548497 + ], + [ + -28.9464030143229, + -15.066769451548497 + ], + [ + -28.9464030143229, + -14.801612062799489 + ], + [ + -29.241835052193515, + -14.801612062799489 + ] + ], + "projected_box_corners": [ + [ + -29.221097912373473, + -14.93311297431509 + ], + [ + -29.00161700212298, + -15.02949876602022 + ], + [ + -29.241835052193515, + -14.970383659843367 + ], + [ + -29.022354141943023, + -15.066769451548497 + ], + [ + -29.165883924573393, + -14.801612062799489 + ], + [ + -28.9464030143229, + -14.897997854504617 + ], + [ + -29.18662106439343, + -14.838882748327766 + ], + [ + -28.96714015414294, + -14.935268540032894 + ] + ], + "yaw_rad": 1.1732743211352246, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.180156707763672, + -14.928126335144043, + 0.06495404243469238 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.106626024305452, + -14.952364457106471, + 0.0787677081315731 + ], + "intended_face_normal": [ + -0.1882727488499576, + -0.3333279377429932, + 0.9238213887921454 + ], + "commanded_contact_point": [ + -29.176295394897462, + -14.94892530248648, + 0.02766342463065368 + ], + "centerline_face_intersection": [ + -29.227069744604123, + -14.933925302486479, + 0.02766342463065368 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.18254280090332, + -14.928055763244629, + 0.06428317725658417 + ], + "box_pose": [ + -29.079227447509766, + -14.937601089477539, + 0.03148786723613739, + 0.6408081650733948, + 0.2601013481616974, + 0.5059929490089417, + 0.515444815158844 + ], + "box_yaw_rad": 1.1796002525000941, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011239332935819983 + } + } + }, + { + "simulation_time_ns": 9080000000, + "center": [ + -29.091030553795953, + -14.93455081183183, + 0.028330635503787685 + ], + "face_center": [ + -29.101461133402406, + -14.953158275261169, + 0.07937068741732839 + ], + "face_normal": [ + -0.18855547671979878, + -0.33637048657341495, + 0.9226602627535527 + ], + "footprint_xy": [ + [ + -29.238969889385267, + -15.067641259251998 + ], + [ + -28.943091218206643, + -15.067641259251998 + ], + [ + -28.943091218206643, + -14.801460364411662 + ], + [ + -29.238969889385267, + -14.801460364411662 + ] + ], + "projected_box_corners": [ + [ + -29.218108730172364, + -14.932528472519643 + ], + [ + -28.999282680421366, + -15.030426332393322 + ], + [ + -29.238969889385267, + -14.969743399378318 + ], + [ + -29.02014383963427, + -15.067641259251998 + ], + [ + -29.16191726795764, + -14.801460364411662 + ], + [ + -28.943091218206643, + -14.899358224285344 + ], + [ + -29.182778427170543, + -14.838675291270338 + ], + [ + -28.963952377419545, + -14.93657315114402 + ] + ], + "yaw_rad": 1.1657793979884492, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.176809310913086, + -14.92800235748291, + 0.06531904637813568 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.104487603168227, + -14.95282609993813, + 0.07916191951994428 + ], + "intended_face_normal": [ + -0.18743451620627383, + -0.3368744663580756, + 0.9227046669412502 + ], + "commanded_contact_point": [ + -29.17522918701172, + -14.949190757173993, + 0.028119411239594754 + ], + "centerline_face_intersection": [ + -29.225224622027593, + -14.934190757173992, + 0.028119411239594754 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.180156707763672, + -14.928126335144043, + 0.06495404243469238 + ], + "box_pose": [ + -29.0771427154541, + -14.937962532043457, + 0.031882394105196, + 0.643281877040863, + 0.25808531045913696, + 0.5046044588088989, + 0.5147375464439392 + ], + "box_yaw_rad": 1.1732743211352246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011896172637765106 + } + } + }, + { + "simulation_time_ns": 9100000000, + "center": [ + -29.086777249998416, + -14.935258463720142, + 0.02850720139951584 + ], + "face_center": [ + -29.097288750016663, + -14.953846761467823, + 0.07953763245348747 + ], + "face_normal": [ + -0.19001828965998158, + -0.33602402507484186, + 0.9224863447326044 + ], + "footprint_xy": [ + [ + -29.234949740828966, + -15.068887432515028 + ], + [ + -28.938604759167866, + -15.068887432515028 + ], + [ + -28.938604759167866, + -14.801629494925256 + ], + [ + -29.234949740828966, + -14.801629494925256 + ] + ], + "projected_box_corners": [ + [ + -29.213926740792477, + -14.932221236100395 + ], + [ + -28.995805984021, + -15.031710837019665 + ], + [ + -29.234949740828966, + -14.969397831595757 + ], + [ + -29.01682898405749, + -15.068887432515028 + ], + [ + -29.156725515939343, + -14.801629494925256 + ], + [ + -28.938604759167866, + -14.901119095844527 + ], + [ + -29.177748515975832, + -14.838806090420618 + ], + [ + -28.959627759204356, + -14.938295691339889 + ] + ], + "yaw_rad": 1.1579531692029565, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.17236328125, + -14.928245544433594, + 0.06562328338623047 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.101461133402406, + -14.953158275261169, + 0.07937068741732839 + ], + "intended_face_normal": [ + -0.18855547671979878, + -0.33637048657341495, + 0.9226602627535527 + ], + "commanded_contact_point": [ + -29.17418395996094, + -14.94955081183183, + 0.028330635503787685 + ], + "centerline_face_intersection": [ + -29.22252849014665, + -14.93455081183183, + 0.028330635503787685 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.176809310913086, + -14.92800235748291, + 0.06531904637813568 + ], + "box_pose": [ + -29.07407569885254, + -14.93844223022461, + 0.03206847980618477, + 0.6447082161903381, + 0.2559928894042969, + 0.5025301575660706, + 0.5160256624221802 + ], + "box_yaw_rad": 1.1657793979884492, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011255019476213793 + } + } + }, + { + "simulation_time_ns": 9120000000, + "center": [ + -29.08270423636993, + -14.93627124409138, + 0.02866608663599018 + ], + "face_center": [ + -29.093286026116328, + -14.95477256932864, + 0.07971359128720741 + ], + "face_normal": [ + -0.19128892980654655, + -0.3344518072516127, + 0.9227949872423622 + ], + "footprint_xy": [ + [ + -29.23112367188006, + -15.070467632523364 + ], + [ + -28.934284800859807, + -15.070467632523364 + ], + [ + -28.934284800859807, + -14.802074855659393 + ], + [ + -29.23112367188006, + -14.802074855659393 + ] + ], + "projected_box_corners": [ + [ + -29.209960092387266, + -14.932194831584573 + ], + [ + -28.992646753535293, + -15.033464982048843 + ], + [ + -29.23112367188006, + -14.969197482059094 + ], + [ + -29.013810333028083, + -15.070467632523364 + ], + [ + -29.151598139711783, + -14.802074855659393 + ], + [ + -28.934284800859807, + -14.903345006123663 + ], + [ + -29.172761719204573, + -14.839077506133915 + ], + [ + -28.955448380352596, + -14.940347656598185 + ] + ], + "yaw_rad": 1.1491703894640146, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.168113708496094, + -14.928666114807129, + 0.06599287688732147 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.097288750016663, + -14.953846761467823, + 0.07953763245348747 + ], + "intended_face_normal": [ + -0.19001828965998158, + -0.33602402507484186, + 0.9224863447326044 + ], + "commanded_contact_point": [ + -29.173327560424806, + -14.950258463720143, + 0.02850720139951584 + ], + "centerline_face_intersection": [ + -29.21870038463241, + -14.935258463720142, + 0.02850720139951584 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.17236328125, + -14.928245544433594, + 0.06562328338623047 + ], + "box_pose": [ + -29.069847106933594, + -14.939276695251465, + 0.03222281485795975, + 0.646181583404541, + 0.25364983081817627, + 0.5004611611366272, + 0.5173488259315491 + ], + "box_yaw_rad": 1.1579531692029565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011248852723966855 + } + } + }, + { + "simulation_time_ns": 9140000000, + "center": [ + -29.08023978248519, + -14.937016256129022, + 0.02878380456402184 + ], + "face_center": [ + -29.090857042657913, + -14.955514721190564, + 0.07982497995092129 + ], + "face_normal": [ + -0.19193013512756352, + -0.3344001033370958, + 0.9226805719849409 + ], + "footprint_xy": [ + [ + -29.228772404744653, + -15.07149477856978 + ], + [ + -28.93170716022573, + -15.07149477856978 + ], + [ + -28.93170716022573, + -14.802537733688263 + ], + [ + -29.228772404744653, + -14.802537733688263 + ] + ], + "projected_box_corners": [ + [ + -29.207537884399215, + -14.932388975526472 + ], + [ + -28.990608791473413, + -15.0344978484467 + ], + [ + -29.228772404744653, + -14.969385905649554 + ], + [ + -29.01184331181885, + -15.07149477856978 + ], + [ + -29.148636253151533, + -14.802537733688263 + ], + [ + -28.93170716022573, + -14.904646606608491 + ], + [ + -29.16987077349697, + -14.839534663811346 + ], + [ + -28.95294168057117, + -14.941643536731572 + ] + ], + "yaw_rad": 1.1449455978965626, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.16552734375, + -14.929241180419922, + 0.06622874736785889 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.093286026116328, + -14.95477256932864, + 0.07971359128720741 + ], + "intended_face_normal": [ + -0.19128892980654655, + -0.3344518072516127, + 0.9227949872423622 + ], + "commanded_contact_point": [ + -29.172600860595704, + -14.95127124409138, + 0.02866608663599018 + ], + "centerline_face_intersection": [ + -29.21511752546689, + -14.93627124409138, + 0.02866608663599018 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.168113708496094, + -14.928666114807129, + 0.06599287688732147 + ], + "box_pose": [ + -29.0658016204834, + -14.940427780151367, + 0.03235478326678276, + 0.6476086378097534, + 0.25142109394073486, + 0.49782422184944153, + 0.519193172454834 + ], + "box_yaw_rad": 1.1491703894640146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012566070349751767 + } + } + }, + { + "simulation_time_ns": 9160000000, + "center": [ + -29.079922931940853, + -14.93712842898036, + 0.02871929027066597 + ], + "face_center": [ + -29.090577270109353, + -14.955568696071666, + 0.07977380073674328 + ], + "face_normal": [ + -0.19260040077282525, + -0.33334804808840346, + 0.9229216326264726 + ], + "footprint_xy": [ + [ + -29.228480484759565, + -15.07161278883249 + ], + [ + -28.93136537912214, + -15.07161278883249 + ], + [ + -28.93136537912214, + -14.802644069128231 + ], + [ + -29.228480484759565, + -14.802644069128231 + ] + ], + "projected_box_corners": [ + [ + -29.207171808422565, + -14.93252909063942 + ], + [ + -28.99029571436667, + -15.034732254649878 + ], + [ + -29.228480484759565, + -14.969409624822031 + ], + [ + -29.011604390703674, + -15.07161278883249 + ], + [ + -29.148241473178032, + -14.802644069128231 + ], + [ + -28.93136537912214, + -14.904847233138687 + ], + [ + -29.169550149515032, + -14.839524603310842 + ], + [ + -28.95267405545914, + -14.941727767321298 + ] + ], + "yaw_rad": 1.1448601582147195, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.165163040161133, + -14.929444313049316, + 0.06622670590877533 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.090857042657913, + -14.955514721190564, + 0.07982497995092129 + ], + "intended_face_normal": [ + -0.19193013512756352, + -0.3344001033370958, + 0.9226805719849409 + ], + "commanded_contact_point": [ + -29.17197525024414, + -14.952016256129022, + 0.02878380456402184 + ], + "centerline_face_intersection": [ + -29.21288761488946, + -14.937016256129022, + 0.02878380456402184 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.16552734375, + -14.929241180419922, + 0.06622874736785889 + ], + "box_pose": [ + -29.063350677490234, + -14.941240310668945, + 0.032457657158374786, + 0.6484546065330505, + 0.25017499923706055, + 0.49669575691223145, + 0.5198196172714233 + ], + "box_yaw_rad": 1.1449455978965626, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000979943242639094 + } + } + }, + { + "simulation_time_ns": 9180000000, + "center": [ + -29.080092302953187, + -14.937187537328331, + 0.029026546624442547 + ], + "face_center": [ + -29.090947268891117, + -14.955712115792881, + 0.08000820873015135 + ], + "face_normal": [ + -0.19622718529831218, + -0.33487216005292453, + 0.921604739621884 + ], + "footprint_xy": [ + [ + -29.228725849217298, + -15.071740411095936 + ], + [ + -28.93145875668907, + -15.071740411095936 + ], + [ + -28.93145875668907, + -14.802634663560724 + ], + [ + -29.228725849217298, + -14.802634663560724 + ] + ], + "projected_box_corners": [ + [ + -29.207015917341433, + -14.9323960682305 + ], + [ + -28.990209166457547, + -15.034691254166836 + ], + [ + -29.228725849217298, + -14.9694452251596 + ], + [ + -29.01191909833341, + -15.071740411095936 + ], + [ + -29.148265507572958, + -14.802634663560724 + ], + [ + -28.93145875668907, + -14.904929849497062 + ], + [ + -29.169975439448823, + -14.839683820489824 + ], + [ + -28.953168688564936, + -14.941979006426163 + ] + ], + "yaw_rad": 1.1456518812771979, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.165489196777344, + -14.929500579833984, + 0.06639203429222107 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.090577270109353, + -14.955568696071666, + 0.07977380073674328 + ], + "intended_face_normal": [ + -0.19260040077282525, + -0.33334804808840346, + 0.9229216326264726 + ], + "commanded_contact_point": [ + -29.171433563232423, + -14.95212842898036, + 0.02871929027066597 + ], + "centerline_face_intersection": [ + -29.212603180021198, + -14.93712842898036, + 0.02871929027066597 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.165163040161133, + -14.929444313049316, + 0.06622670590877533 + ], + "box_pose": [ + -29.063037872314453, + -14.941356658935547, + 0.03240691125392914, + 0.6481053829193115, + 0.2501356303691864, + 0.4966220259666443, + 0.5203443169593811 + ], + "box_yaw_rad": 1.1448601582147195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005569287757777901 + } + } + }, + { + "simulation_time_ns": 9200000000, + "center": [ + -29.08084743404672, + -14.936674153936272, + 0.03121659331724409 + ], + "face_center": [ + -29.092361082535824, + -14.954479982207506, + 0.08230973633505241 + ], + "face_normal": [ + -0.20813430907562314, + -0.321879182629182, + 0.9236200002611952 + ], + "footprint_xy": [ + [ + -29.229824846404835, + -15.07123471828766 + ], + [ + -28.931870021688606, + -15.07123471828766 + ], + [ + -28.931870021688606, + -14.802113589584884 + ], + [ + -29.229824846404835, + -14.802113589584884 + ] + ], + "projected_box_corners": [ + [ + -29.20679754942663, + -14.932331174108382 + ], + [ + -28.99065045837641, + -15.035623061745191 + ], + [ + -29.229824846404835, + -14.967942830650852 + ], + [ + -29.013677755354617, + -15.07123471828766 + ], + [ + -29.148017112738824, + -14.802113589584884 + ], + [ + -28.931870021688606, + -14.905405477221692 + ], + [ + -29.17104440971703, + -14.837725246127352 + ], + [ + -28.954897318666813, + -14.941017133764161 + ] + ], + "yaw_rad": 1.1467773723235186, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.166494369506836, + -14.928040504455566, + 0.06787452101707458 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.090947268891117, + -14.955712115792881, + 0.08000820873015135 + ], + "intended_face_normal": [ + -0.19622718529831218, + -0.33487216005292453, + 0.921604739621884 + ], + "commanded_contact_point": [ + -29.17120849609375, + -14.952187537328332, + 0.029026546624442547 + ], + "centerline_face_intersection": [ + -29.212814987300977, + -14.937187537328331, + 0.029026546624442547 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.165489196777344, + -14.929500579833984, + 0.06639203429222107 + ], + "box_pose": [ + -29.063222885131836, + -14.941428184509277, + 0.03277105093002319, + 0.647653341293335, + 0.2486012578010559, + 0.4979771375656128, + 0.5203472375869751 + ], + "box_yaw_rad": 1.1456518812771979, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003854289566779649 + } + } + }, + { + "simulation_time_ns": 9220000000, + "center": [ + -29.081818638435337, + -14.936333328501263, + 0.033430457523587497 + ], + "face_center": [ + -29.09422732078623, + -14.953943935251893, + 0.08438153461713593 + ], + "face_normal": [ + -0.2243139983026765, + -0.31835012784291905, + 0.921051848817541 + ], + "footprint_xy": [ + [ + -29.231181802991717, + -15.071166036064511 + ], + [ + -28.932455473878957, + -15.071166036064511 + ], + [ + -28.932455473878957, + -14.801500620938016 + ], + [ + -29.231181802991717, + -14.801500620938016 + ] + ], + "projected_box_corners": [ + [ + -29.206364438289928, + -14.931565783458181 + ], + [ + -28.99098755819819, + -15.035944822563254 + ], + [ + -29.231181802991717, + -14.96678699695944 + ], + [ + -29.015804922899978, + -15.071166036064511 + ], + [ + -29.147832353970692, + -14.801500620938016 + ], + [ + -28.932455473878957, + -14.905879660043087 + ], + [ + -29.172649718672485, + -14.836721834439274 + ], + [ + -28.957272838580746, + -14.941100873544345 + ] + ], + "yaw_rad": 1.1479247465446893, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.167749404907227, + -14.927118301391602, + 0.06920790672302246 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.092361082535824, + -14.954479982207506, + 0.08230973633505241 + ], + "intended_face_normal": [ + -0.20813430907562314, + -0.321879182629182, + 0.9236200002611952 + ], + "commanded_contact_point": [ + -29.170743103027345, + -14.951674153936272, + 0.03121659331724409 + ], + "centerline_face_intersection": [ + -29.213975175078158, + -14.936674153936272, + 0.03121659331724409 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.166494369506836, + -14.928040504455566, + 0.06787452101707458 + ], + "box_pose": [ + -29.064043045043945, + -14.940953254699707, + 0.03520200401544571, + 0.6421683430671692, + 0.2472391277551651, + 0.49855732917785645, + 0.5271937251091003 + ], + "box_yaw_rad": 1.1467773723235186, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022970541417546507 + } + } + }, + { + "simulation_time_ns": 9240000000, + "center": [ + -29.081401218269725, + -14.936543097450874, + 0.03226505097009469 + ], + "face_center": [ + -29.093157320330693, + -14.954512119181892, + 0.08324572136362747 + ], + "face_normal": [ + -0.21251718620711557, + -0.32482926035911674, + 0.9215868122612605 + ], + "footprint_xy": [ + [ + -29.230578931020066, + -15.071559631385021 + ], + [ + -28.93222350551938, + -15.071559631385021 + ], + [ + -28.93222350551938, + -14.801526563516726 + ], + [ + -29.230578931020066, + -14.801526563516726 + ] + ], + "projected_box_corners": [ + [ + -29.20706672689813, + -14.931192334671147 + ], + [ + -28.99147847781995, + -15.035621587922984 + ], + [ + -29.230578931020066, + -14.967130378133184 + ], + [ + -29.01499068194189, + -15.071559631385021 + ], + [ + -29.147811754597562, + -14.801526563516726 + ], + [ + -28.93222350551938, + -14.905955816768563 + ], + [ + -29.171323958719498, + -14.837464606978765 + ], + [ + -28.95573570964132, + -14.9418938602306 + ] + ], + "yaw_rad": 1.142151047671307, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.16678810119629, + -14.927677154541016, + 0.06972026824951172 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.09422732078623, + -14.953943935251893, + 0.08438153461713593 + ], + "intended_face_normal": [ + -0.2243139983026765, + -0.31835012784291905, + 0.921051848817541 + ], + "commanded_contact_point": [ + -29.170111770629884, + -14.951333328501264, + 0.033430457523587497 + ], + "centerline_face_intersection": [ + -29.21542245863078, + -14.936333328501263, + 0.033430457523587497 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.167749404907227, + -14.927118301391602, + 0.06920790672302246 + ], + "box_pose": [ + -29.065101623535156, + -14.940689086914062, + 0.037690795958042145, + 0.6381823420524597, + 0.24205851554870605, + 0.5018947720527649, + 0.5312557220458984 + ], + "box_yaw_rad": 1.1479247465446893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023272166416905054 + } + } + }, + { + "simulation_time_ns": 9260000000, + "center": [ + -29.080775039047786, + -14.936864920553214, + 0.03065188183198695 + ], + "face_center": [ + -29.091670353538667, + -14.955264396983983, + 0.0816702297438045 + ], + "face_normal": [ + -0.19695657339785555, + -0.3326106679299201, + 0.9222679155834008 + ], + "footprint_xy": [ + [ + -29.229674403967334, + -15.072080338971965 + ], + [ + -28.93187567412824, + -15.072080338971965 + ], + [ + -28.93187567412824, + -14.801649502134465 + ], + [ + -29.229674403967334, + -14.801649502134465 + ] + ], + "projected_box_corners": [ + [ + -29.207883774985568, + -14.93083983322855 + ], + [ + -28.992079686808264, + -15.035281386110427 + ], + [ + -29.229674403967334, + -14.967638786090088 + ], + [ + -29.013870315790026, + -15.072080338971965 + ], + [ + -29.147679762305547, + -14.801649502134465 + ], + [ + -28.93187567412824, + -14.906091055016342 + ], + [ + -29.16947039128731, + -14.838448454996001 + ], + [ + -28.953666303110005, + -14.942890007877878 + ] + ], + "yaw_rad": 1.1347083677916097, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.165334701538086, + -14.928565979003906, + 0.07009491324424744 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.093157320330693, + -14.954512119181892, + 0.08324572136362747 + ], + "intended_face_normal": [ + -0.21251718620711557, + -0.32482926035911674, + 0.9215868122612605 + ], + "commanded_contact_point": [ + -29.169278259277345, + -14.951543097450875, + 0.03226505097009469 + ], + "centerline_face_intersection": [ + -29.21487404939605, + -14.936543097450874, + 0.03226505097009469 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.16678810119629, + -14.927677154541016, + 0.06972026824951172 + ], + "box_pose": [ + -29.06463050842285, + -14.940923690795898, + 0.03628193587064743, + 0.6431812047958374, + 0.24375730752944946, + 0.49873095750808716, + 0.5274160504341125 + ], + "box_yaw_rad": 1.142151047671307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014480734173226751 + } + } + }, + { + "simulation_time_ns": 9280000000, + "center": [ + -29.080627866255735, + -14.9369372456828, + 0.029859716557036176 + ], + "face_center": [ + -29.09133765794406, + -14.955422891305705, + 0.08088620480197545 + ], + "face_normal": [ + -0.19360284409431294, + -0.3341683640230517, + 0.9224150698596096 + ], + "footprint_xy": [ + [ + -29.22946644182145, + -15.072201895918745 + ], + [ + -28.93178929069002, + -15.072201895918745 + ], + [ + -28.93178929069002, + -14.801672595446854 + ], + [ + -29.22946644182145, + -14.801672595446854 + ] + ], + "projected_box_corners": [ + [ + -29.20804685844481, + -14.93075594632167 + ], + [ + -28.992223095671378, + -15.035230604672932 + ], + [ + -29.22946644182145, + -14.967727237567482 + ], + [ + -29.01364267904802, + -15.072201895918745 + ], + [ + -29.147613053463456, + -14.801672595446854 + ], + [ + -28.93178929069002, + -14.906147253798117 + ], + [ + -29.169032636840097, + -14.838643886692667 + ], + [ + -28.953208874066664, + -14.94311854504393 + ] + ], + "yaw_rad": 1.1329299717386714, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.164695739746094, + -14.929043769836426, + 0.06961892545223236 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.091670353538667, + -14.955264396983983, + 0.0816702297438045 + ], + "intended_face_normal": [ + -0.19695657339785555, + -0.3326106679299201, + 0.9222679155834008 + ], + "commanded_contact_point": [ + -29.168309326171876, + -14.951864920553215, + 0.03065188183198695 + ], + "centerline_face_intersection": [ + -29.214114375689036, + -14.936864920553214, + 0.03065188183198695 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.165334701538086, + -14.928565979003906, + 0.07009491324424744 + ], + "box_pose": [ + -29.06393814086914, + -14.941271781921387, + 0.03435054421424866, + 0.6494914293289185, + 0.2461935579776764, + 0.49443525075912476, + 0.5225737690925598 + ], + "box_yaw_rad": 1.1347083677916097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019091139673199414 + } + } + }, + { + "simulation_time_ns": 9300000000, + "center": [ + -29.080441897012932, + -14.937305945968486, + 0.029174146928540756 + ], + "face_center": [ + -29.091206618471997, + -14.956020138012029, + 0.08010567515536307 + ], + "face_normal": [ + -0.19459581950884086, + -0.3382998390629339, + 0.9206984604130657 + ], + "footprint_xy": [ + [ + -29.22927572005677, + -15.072612529668282 + ], + [ + -28.931608073969095, + -15.072612529668282 + ], + [ + -28.931608073969095, + -14.80199936226869 + ], + [ + -29.22927572005677, + -14.80199936226869 + ] + ], + "projected_box_corners": [ + [ + -29.20774627713864, + -14.930884568615935 + ], + [ + -28.991833115268797, + -15.0351841455812 + ], + [ + -29.22927572005677, + -14.968312952703018 + ], + [ + -29.013362558186927, + -15.072612529668282 + ], + [ + -29.147521235838937, + -14.80199936226869 + ], + [ + -28.931608073969095, + -14.906298939233956 + ], + [ + -29.169050678757063, + -14.839427746355774 + ], + [ + -28.95313751688722, + -14.943727323321038 + ] + ], + "yaw_rad": 1.1336684245681885, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.164188385009766, + -14.929935455322266, + 0.06859566271305084 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.09133765794406, + -14.955422891305705, + 0.08088620480197545 + ], + "intended_face_normal": [ + -0.19360284409431294, + -0.3341683640230517, + 0.9224150698596096 + ], + "commanded_contact_point": [ + -29.167187805175782, + -14.951937245682801, + 0.029859716557036176 + ], + "centerline_face_intersection": [ + -29.213955047620093, + -14.9369372456828, + 0.029859716557036176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.164695739746094, + -14.929043769836426, + 0.06961892545223236 + ], + "box_pose": [ + -29.063777923583984, + -14.941351890563965, + 0.03348904848098755, + 0.6508545279502869, + 0.24670006334781647, + 0.49342939257621765, + 0.5215888619422913 + ], + "box_yaw_rad": 1.1329299717386714, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013749785787010214 + } + } + }, + { + "simulation_time_ns": 9320000000, + "center": [ + -29.080177680056337, + -14.937862104815764, + 0.028793791177647098 + ], + "face_center": [ + -29.091219431233807, + -14.956778250772764, + 0.07959123027642259 + ], + "face_normal": [ + -0.1996037359037004, + -0.34195059653417736, + 0.9182745069593024 + ], + "footprint_xy": [ + [ + -29.229055946515068, + -15.07313095624165 + ], + [ + -28.93129941359761, + -15.07313095624165 + ], + [ + -28.93129941359761, + -14.802593253389878 + ], + [ + -29.229055946515068, + -14.802593253389878 + ] + ], + "projected_box_corners": [ + [ + -29.206972444160133, + -14.931374224135205 + ], + [ + -28.990912845343175, + -15.035298664327648 + ], + [ + -29.229055946515068, + -14.969206516049205 + ], + [ + -29.01299634769811, + -15.07313095624165 + ], + [ + -29.14735901241457, + -14.802593253389878 + ], + [ + -28.93129941359761, + -14.906517693582321 + ], + [ + -29.169442514769504, + -14.840425545303878 + ], + [ + -28.953382915952545, + -14.944349985496322 + ] + ], + "yaw_rad": 1.137262087083084, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.163867950439453, + -14.930971145629883, + 0.06737668812274933 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.091206618471997, + -14.956020138012029, + 0.08010567515536307 + ], + "intended_face_normal": [ + -0.19459581950884086, + -0.3382998390629339, + 0.9206984604130657 + ], + "commanded_contact_point": [ + -29.165665740966798, + -14.952305945968487, + 0.029174146928540756 + ], + "centerline_face_intersection": [ + -29.2137138741024, + -14.937305945968486, + 0.029174146928540756 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.164188385009766, + -14.929935455322266, + 0.06859566271305084 + ], + "box_pose": [ + -29.0635929107666, + -14.941720008850098, + 0.03280862048268318, + 0.6514992713928223, + 0.24558253586292267, + 0.49467021226882935, + 0.520133912563324 + ], + "box_yaw_rad": 1.1336684245681885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017095686802381025 + } + } + }, + { + "simulation_time_ns": 9340000000, + "center": [ + -29.07988047560261, + -14.938022700818244, + 0.028396029097008436 + ], + "face_center": [ + -29.091084556543827, + -14.956912398359904, + 0.079167767491321 + ], + "face_normal": [ + -0.20253820044393223, + -0.34147248373975003, + 0.9178099106698454 + ], + "footprint_xy": [ + [ + -29.22878587984927, + -15.07321069591531 + ], + [ + -28.930975071355952, + -15.07321069591531 + ], + [ + -28.930975071355952, + -14.80283470572118 + ], + [ + -29.22878587984927, + -14.80283470572118 + ] + ], + "projected_box_corners": [ + [ + -29.206377717966838, + -14.931715681727445 + ], + [ + -28.990251587680383, + -15.035431300831991 + ], + [ + -29.22878587984927, + -14.969495076810764 + ], + [ + -29.012659749562815, + -15.07321069591531 + ], + [ + -29.147101201642407, + -14.80283470572118 + ], + [ + -28.930975071355952, + -14.906550324825727 + ], + [ + -29.16950936352484, + -14.8406141008045 + ], + [ + -28.95338323323838, + -14.944329719909044 + ] + ], + "yaw_rad": 1.1397135114080874, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.16358184814453, + -14.931110382080078, + 0.0664273053407669 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.091219431233807, + -14.956778250772764, + 0.07959123027642259 + ], + "intended_face_normal": [ + -0.1996037359037004, + -0.34195059653417736, + 0.9182745069593024 + ], + "commanded_contact_point": [ + -29.163962478637696, + -14.952862104815765, + 0.028793791177647098 + ], + "centerline_face_intersection": [ + -29.213359330487936, + -14.937862104815764, + 0.028793791177647098 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.163867950439453, + -14.930971145629883, + 0.06737668812274933 + ], + "box_pose": [ + -29.063343048095703, + -14.94225788116455, + 0.032515887171030045, + 0.6506766080856323, + 0.24370957911014557, + 0.49758943915367126, + 0.5192593932151794 + ], + "box_yaw_rad": 1.137262087083084, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018316893083653544 + } + } + }, + { + "simulation_time_ns": 9360000000, + "center": [ + -29.07932524361496, + -14.938059587285638, + 0.028074991646483298 + ], + "face_center": [ + -29.090622735417373, + -14.956798721652644, + 0.07888181250067512 + ], + "face_normal": [ + -0.20422680550028538, + -0.33875072596172373, + 0.9184441026511756 + ], + "footprint_xy": [ + [ + -29.22823314157956, + -15.073099146092426 + ], + [ + -28.930417345650362, + -15.073099146092426 + ], + [ + -28.930417345650362, + -14.80302002847885 + ], + [ + -29.22823314157956, + -14.80302002847885 + ] + ], + "projected_box_corners": [ + [ + -29.205638157974732, + -14.932155351680489 + ], + [ + -28.989427791422404, + -15.035620877358413 + ], + [ + -29.22823314157956, + -14.969633620414502 + ], + [ + -29.012022775027233, + -15.073099146092426 + ], + [ + -29.14662771220269, + -14.80302002847885 + ], + [ + -28.930417345650362, + -14.906485554156774 + ], + [ + -29.169222695807516, + -14.84049829721286 + ], + [ + -28.953012329255188, + -14.943963822890787 + ] + ], + "yaw_rad": 1.1421646359756477, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.16288185119629, + -14.931002616882324, + 0.06553198397159576 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.091084556543827, + -14.956912398359904, + 0.079167767491321 + ], + "intended_face_normal": [ + -0.20253820044393223, + -0.34147248373975003, + 0.9178099106698454 + ], + "commanded_contact_point": [ + -29.16225540161133, + -14.953022700818245, + 0.028396029097008436 + ], + "centerline_face_intersection": [ + -29.213021127886964, + -14.938022700818244, + 0.028396029097008436 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.16358184814453, + -14.931110382080078, + 0.0664273053407669 + ], + "box_pose": [ + -29.06305503845215, + -14.942399978637695, + 0.03218097612261772, + 0.6494907140731812, + 0.24327430129051208, + 0.49889683723449707, + 0.5196936130523682 + ], + "box_yaw_rad": 1.1397135114080874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001760147074183668 + } + } + }, + { + "simulation_time_ns": 9380000000, + "center": [ + -29.077833170013793, + -14.938011452093734, + 0.0277641237304128 + ], + "face_center": [ + -29.089161013695303, + -14.956563226440242, + 0.07863290018291316 + ], + "face_normal": [ + -0.20477548191600903, + -0.3353637849367672, + 0.9195640852231222 + ], + "footprint_xy": [ + [ + -29.226700279445037, + -15.072815707865477 + ], + [ + -28.92896606058255, + -15.072815707865477 + ], + [ + -28.92896606058255, + -14.80320719632199 + ], + [ + -29.226700279445037, + -14.80320719632199 + ] + ], + "projected_box_corners": [ + [ + -29.204044592082017, + -14.932704510089412 + ], + [ + -28.987649240131837, + -15.03571215917246 + ], + [ + -29.226700279445037, + -14.969808058782428 + ], + [ + -29.010304927494857, + -15.072815707865477 + ], + [ + -29.14536141253273, + -14.80320719632199 + ], + [ + -28.92896606058255, + -14.90621484540504 + ], + [ + -29.16801709989575, + -14.840310745015008 + ], + [ + -28.95162174794557, + -14.943318394098057 + ] + ], + "yaw_rad": 1.1453165189792227, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.160938262939453, + -14.930801391601562, + 0.0645388662815094 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.090622735417373, + -14.956798721652644, + 0.07888181250067512 + ], + "intended_face_normal": [ + -0.20422680550028538, + -0.33875072596172373, + 0.9184441026511756 + ], + "commanded_contact_point": [ + -29.16064178466797, + -14.953059587285638, + 0.028074991646483298 + ], + "centerline_face_intersection": [ + -29.21241402386578, + -14.938059587285638, + 0.028074991646483298 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.16288185119629, + -14.931002616882324, + 0.06553198397159576 + ], + "box_pose": [ + -29.062503814697266, + -14.942407608032227, + 0.031911130994558334, + 0.6479842066764832, + 0.24382384121418, + 0.4994915723800659, + 0.5207443237304688 + ], + "box_yaw_rad": 1.1421646359756477, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016456564939296714 + } + } + }, + { + "simulation_time_ns": 9400000000, + "center": [ + -29.075025367549575, + -14.937980258901687, + 0.027457282614227266 + ], + "face_center": [ + -29.086214245114647, + -14.95624569191979, + 0.07846026373906109 + ], + "face_normal": [ + -0.2022633662597677, + -0.3301875408813846, + 0.921990127391882 + ], + "footprint_xy": [ + [ + -29.223791081875536, + -15.072471851444547 + ], + [ + -28.926259653223614, + -15.072471851444547 + ], + [ + -28.926259653223614, + -14.803488666358827 + ], + [ + -29.223791081875536, + -14.803488666358827 + ] + ], + "projected_box_corners": [ + [ + -29.201413326745392, + -14.933482951340643 + ], + [ + -28.984767715946944, + -15.035940985408342 + ], + [ + -29.223791081875536, + -14.970013817376849 + ], + [ + -29.007145471077088, + -15.072471851444547 + ], + [ + -29.142905264022062, + -14.803488666358827 + ], + [ + -28.926259653223614, + -14.905946700426526 + ], + [ + -29.165283019152206, + -14.840019532395035 + ], + [ + -28.948637408353758, + -14.942477566462731 + ] + ], + "yaw_rad": 1.1478743717257007, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.157697677612305, + -14.930399894714355, + 0.06381277740001678 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.089161013695303, + -14.956563226440242, + 0.07863290018291316 + ], + "intended_face_normal": [ + -0.20477548191600903, + -0.3353637849367672, + 0.9195640852231222 + ], + "commanded_contact_point": [ + -29.159300918579103, + -14.953011452093735, + 0.0277641237304128 + ], + "centerline_face_intersection": [ + -29.21080817942461, + -14.938011452093734, + 0.0277641237304128 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.160938262939453, + -14.930801391601562, + 0.0645388662815094 + ], + "box_pose": [ + -29.06100845336914, + -14.94231128692627, + 0.0316399484872818, + 0.6463521122932434, + 0.24513393640518188, + 0.499910831451416, + 0.5217542052268982 + ], + "box_yaw_rad": 1.1453165189792227, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001377271841800154 + } + } + }, + { + "simulation_time_ns": 9420000000, + "center": [ + -29.071264491808503, + -14.938342508104524, + 0.02767571115697618 + ], + "face_center": [ + -29.082245904517055, + -14.956581280245118, + 0.07873329879467916 + ], + "face_normal": [ + -0.19851298647267512, + -0.3297055873698671, + 0.9229772592152834 + ], + "footprint_xy": [ + [ + -29.219820035788064, + -15.072417889919057 + ], + [ + -28.92270894782894, + -15.072417889919057 + ], + [ + -28.92270894782894, + -14.804267126289991 + ], + [ + -29.219820035788064, + -14.804267126289991 + ] + ], + "projected_box_corners": [ + [ + -29.197857210370962, + -14.934678270406536 + ], + [ + -28.98063587014324, + -15.035940345637869 + ], + [ + -29.219820035788064, + -14.971155814687723 + ], + [ + -29.00259869556034, + -15.072417889919057 + ], + [ + -29.139930288056664, + -14.804267126289991 + ], + [ + -28.92270894782894, + -14.905529201521325 + ], + [ + -29.161893113473766, + -14.84074467057118 + ], + [ + -28.944671773246043, + -14.942006745802512 + ] + ], + "yaw_rad": 1.152787077559443, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.153810501098633, + -14.930817604064941, + 0.06408010423183441 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.086214245114647, + -14.95624569191979, + 0.07846026373906109 + ], + "intended_face_normal": [ + -0.2022633662597677, + -0.3301875408813846, + 0.921990127391882 + ], + "commanded_contact_point": [ + -29.157992477416993, + -14.952980258901688, + 0.027457282614227266 + ], + "centerline_face_intersection": [ + -29.207846770466443, + -14.937980258901687, + 0.027457282614227266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.157697677612305, + -14.930399894714355, + 0.06381277740001678 + ], + "box_pose": [ + -29.058183670043945, + -14.942218780517578, + 0.031326889991760254, + 0.6449589729309082, + 0.2478845864534378, + 0.49912092089653015, + 0.5229335427284241 + ], + "box_yaw_rad": 1.1478743717257007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013443001006152632 + } + } + }, + { + "simulation_time_ns": 9440000000, + "center": [ + -29.069167492669127, + -14.938963966673352, + 0.02804324943479398 + ], + "face_center": [ + -29.079950592877314, + -14.957513063970861, + 0.07903125703171121 + ], + "face_normal": [ + -0.19492805548544112, + -0.33531539143715605, + 0.9217194482157467 + ], + "footprint_xy": [ + [ + -29.217450542861467, + -15.072631899222754 + ], + [ + -28.92088444247679, + -15.072631899222754 + ], + [ + -28.92088444247679, + -14.80529603412395 + ], + [ + -29.217450542861467, + -14.80529603412395 + ] + ], + "projected_box_corners": [ + [ + -29.195884342445094, + -14.9358790621723 + ], + [ + -28.977888228540937, + -15.035533704627735 + ], + [ + -29.217450542861467, + -14.972977256767319 + ], + [ + -28.99945442895731, + -15.072631899222754 + ], + [ + -29.138880556380947, + -14.80529603412395 + ], + [ + -28.92088444247679, + -14.904950676579384 + ], + [ + -29.160446756797317, + -14.84239422871897 + ], + [ + -28.94245064289316, + -14.942048871174404 + ] + ], + "yaw_rad": 1.1591979151962561, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.1517391204834, + -14.9319486618042, + 0.0646844208240509 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.082245904517055, + -14.956581280245118, + 0.07873329879467916 + ], + "intended_face_normal": [ + -0.19851298647267512, + -0.3297055873698671, + 0.9229772592152834 + ], + "commanded_contact_point": [ + -29.15633499145508, + -14.953342508104525, + 0.02767571115697618 + ], + "centerline_face_intersection": [ + -29.203733861216985, + -14.938342508104524, + 0.02767571115697618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.153810501098633, + -14.930817604064941, + 0.06408010423183441 + ], + "box_pose": [ + -29.054391860961914, + -14.942482948303223, + 0.03151664882898331, + 0.6443681120872498, + 0.2506142258644104, + 0.49964240193367004, + 0.5218618512153625 + ], + "box_yaw_rad": 1.152787077559443, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017106125298224745 + } + } + }, + { + "simulation_time_ns": 9460000000, + "center": [ + -29.06889904493441, + -14.939058717519163, + 0.027856844260514293 + ], + "face_center": [ + -29.07968779339643, + -14.957512621182525, + 0.07887817356154522 + ], + "face_normal": [ + -0.19503015999307394, + -0.3335945588713116, + 0.9223218106961966 + ], + "footprint_xy": [ + [ + -29.217153717864253, + -15.072596874632044 + ], + [ + -28.920644372004567, + -15.072596874632044 + ], + [ + -28.920644372004567, + -14.805520560406283 + ], + [ + -29.217153717864253, + -14.805520560406283 + ] + ], + "projected_box_corners": [ + [ + -29.195576220940204, + -14.936288900879589 + ], + [ + -28.977478554225986, + -15.03568906730532 + ], + [ + -29.217153717864253, + -14.973196708206313 + ], + [ + -28.99905605115003, + -15.072596874632044 + ], + [ + -29.138742038718785, + -14.805520560406283 + ], + [ + -28.920644372004567, + -14.904920726832012 + ], + [ + -29.160319535642834, + -14.842428367733007 + ], + [ + -28.942221868928613, + -14.941828534158738 + ] + ], + "yaw_rad": 1.1608080275674162, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.151485443115234, + -14.931843757629395, + 0.06427659094333649 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.079950592877314, + -14.957513063970861, + 0.07903125703171121 + ], + "intended_face_normal": [ + -0.19492805548544112, + -0.33531539143715605, + 0.9217194482157467 + ], + "commanded_contact_point": [ + -29.154730911254884, + -14.953963966673353, + 0.02804324943479398 + ], + "centerline_face_intersection": [ + -29.201166056527395, + -14.938963966673352, + 0.02804324943479398 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1517391204834, + -14.9319486618042, + 0.0646844208240509 + ], + "box_pose": [ + -29.05225944519043, + -14.9429931640625, + 0.03184656426310539, + 0.644861102104187, + 0.25224393606185913, + 0.5018085837364197, + 0.5183776021003723 + ], + "box_yaw_rad": 1.1591979151962561, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00175908169994735 + } + } + }, + { + "simulation_time_ns": 9480000000, + "center": [ + -29.068845085049663, + -14.939014320120409, + 0.027923093527257973 + ], + "face_center": [ + -29.0795614192398, + -14.95740245871594, + 0.07898342817837292 + ], + "face_normal": [ + -0.19372111408454984, + -0.3324057118288479, + 0.9230269174742673 + ], + "footprint_xy": [ + [ + -29.217079073021694, + -15.072525298122857 + ], + [ + -28.920611097077632, + -15.072525298122857 + ], + [ + -28.920611097077632, + -14.80550334211796 + ], + [ + -29.217079073021694, + -14.80550334211796 + ] + ], + "projected_box_corners": [ + [ + -29.195646404641426, + -14.936341635089118 + ], + [ + -28.977543184135847, + -15.035749020931794 + ], + [ + -29.217079073021694, + -14.97311791228018 + ], + [ + -28.998975852516118, + -15.072525298122857 + ], + [ + -29.13871431758321, + -14.80550334211796 + ], + [ + -28.920611097077632, + -14.904910727960637 + ], + [ + -29.16014698596348, + -14.842279619309025 + ], + [ + -28.942043765457903, + -14.941687005151701 + ] + ], + "yaw_rad": 1.160374158074097, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.151323318481445, + -14.93156909942627, + 0.06452181935310364 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.07968779339643, + -14.957512621182525, + 0.07887817356154522 + ], + "intended_face_normal": [ + -0.19503015999307394, + -0.3335945588713116, + 0.9223218106961966 + ], + "commanded_contact_point": [ + -29.15325080871582, + -14.954058717519164, + 0.027856844260514293 + ], + "centerline_face_intersection": [ + -29.200836146305313, + -14.939058717519163, + 0.027856844260514293 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.151485443115234, + -14.931843757629395, + 0.06427659094333649 + ], + "box_pose": [ + -29.05198860168457, + -14.943061828613281, + 0.0316770076751709, + 0.6440578699111938, + 0.2529846727848053, + 0.5019828081130981, + 0.5188461542129517 + ], + "box_yaw_rad": 1.1608080275674162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014948003672462162 + } + } + }, + { + "simulation_time_ns": 9500000000, + "center": [ + -29.06884564143387, + -14.939343572996151, + 0.02854837687851183 + ], + "face_center": [ + -29.079563025080695, + -14.958261717194295, + 0.07941449943436427 + ], + "face_normal": [ + -0.19374008530319742, + -0.34198671910125, + 0.9195161102527472 + ], + "footprint_xy": [ + [ + -29.21707316154355, + -15.073104985541022 + ], + [ + -28.920618121324193, + -15.073104985541022 + ], + [ + -28.920618121324193, + -14.80558216045128 + ], + [ + -29.21707316154355, + -14.80558216045128 + ] + ], + "projected_box_corners": [ + [ + -29.1956383942499, + -14.935815852281925 + ], + [ + -28.97751224726502, + -15.035268697144733 + ], + [ + -29.21707316154355, + -14.973652140678213 + ], + [ + -28.99894701455867, + -15.073104985541022 + ], + [ + -29.13874426830907, + -14.80558216045128 + ], + [ + -28.920618121324193, + -14.905035005314089 + ], + [ + -29.160179035602717, + -14.843418448847569 + ], + [ + -28.942052888617837, + -14.942871293710377 + ] + ], + "yaw_rad": 1.1589216743723134, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.15120506286621, + -14.932079315185547, + 0.06564827263355255 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.0795614192398, + -14.95740245871594, + 0.07898342817837292 + ], + "intended_face_normal": [ + -0.19372111408454984, + -0.3324057118288479, + 0.9230269174742673 + ], + "commanded_contact_point": [ + -29.151808853149415, + -14.95401432012041, + 0.027923093527257973 + ], + "centerline_face_intersection": [ + -29.200778826767593, + -14.939014320120409, + 0.027923093527257973 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.151323318481445, + -14.93156909942627, + 0.06452181935310364 + ], + "box_pose": [ + -29.051929473876953, + -14.943014144897461, + 0.03172377869486809, + 0.6441043019294739, + 0.25365033745765686, + 0.5013307332992554, + 0.5190941095352173 + ], + "box_yaw_rad": 1.160374158074097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001444159253631756 + } + } + }, + { + "simulation_time_ns": 9520000000, + "center": [ + -29.068830123976273, + -14.939540327428123, + 0.028806079595202854 + ], + "face_center": [ + -29.0795294596637, + -14.958767903699561, + 0.07955985575495635 + ], + "face_normal": [ + -0.19341382907231264, + -0.3475803787341434, + 0.9174852041024231 + ], + "footprint_xy": [ + [ + -29.217048524601406, + -15.07344326916503 + ], + [ + -28.920611723351143, + -15.07344326916503 + ], + [ + -28.920611723351143, + -14.805637385691215 + ], + [ + -29.217048524601406, + -14.805637385691215 + ] + ], + "projected_box_corners": [ + [ + -29.195649853226556, + -14.935509143855569 + ], + [ + -28.977509053492394, + -15.034988116622156 + ], + [ + -29.217048524601406, + -14.973964296398446 + ], + [ + -28.998907724867244, + -15.07344326916503 + ], + [ + -29.138752523085305, + -14.805637385691215 + ], + [ + -28.920611723351143, + -14.9051163584578 + ], + [ + -29.160151194460155, + -14.84409253823409 + ], + [ + -28.942010394725994, + -14.943571511000677 + ] + ], + "yaw_rad": 1.1578790763449147, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.151100158691406, + -14.932502746582031, + 0.06631118059158325 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.079563025080695, + -14.958261717194295, + 0.07941449943436427 + ], + "intended_face_normal": [ + -0.19374008530319742, + -0.34198671910125, + 0.9195161102527472 + ], + "commanded_contact_point": [ + -29.15056526184082, + -14.954343572996152, + 0.02854837687851183 + ], + "centerline_face_intersection": [ + -29.200765516055903, + -14.939343572996151, + 0.02854837687851183 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.15120506286621, + -14.932079315185547, + 0.06564827263355255 + ], + "box_pose": [ + -29.051929473876953, + -14.943378448486328, + 0.03230932727456093, + 0.6467238664627075, + 0.25110217928886414, + 0.5027341246604919, + 0.5157076120376587 + ], + "box_yaw_rad": 1.1589216743723134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014303517288939073 + } + } + }, + { + "simulation_time_ns": 9540000000, + "center": [ + -29.068812226337315, + -14.939533585158557, + 0.02865832953091957 + ], + "face_center": [ + -29.079576278374784, + -14.958679428106676, + 0.07942932195493635 + ], + "face_normal": [ + -0.19458371825344756, + -0.34610287064506906, + 0.9177964256296995 + ], + "footprint_xy": [ + [ + -29.217048493293206, + -15.073390655689824 + ], + [ + -28.920575959381424, + -15.073390655689824 + ], + [ + -28.920575959381424, + -14.80567651462729 + ], + [ + -29.217048493293206, + -14.80567651462729 + ] + ], + "projected_box_corners": [ + [ + -29.195520389218263, + -14.935652744615796 + ], + [ + -28.97738211415239, + -15.035098969793586 + ], + [ + -29.217048493293206, + -14.973944430512034 + ], + [ + -28.99891021822733, + -15.073390655689824 + ], + [ + -29.138714234447296, + -14.80567651462729 + ], + [ + -28.920575959381424, + -14.90512273980508 + ], + [ + -29.160242338522238, + -14.843968200523529 + ], + [ + -28.942104063456366, + -14.943414425701318 + ] + ], + "yaw_rad": 1.1587633718144135, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.15096664428711, + -14.932848930358887, + 0.06610365211963654 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.0795294596637, + -14.958767903699561, + 0.07955985575495635 + ], + "intended_face_normal": [ + -0.19341382907231264, + -0.3475803787341434, + 0.9174852041024231 + ], + "commanded_contact_point": [ + -29.14934265136719, + -14.954540327428123, + 0.028806079595202854 + ], + "centerline_face_intersection": [ + -29.20074113740017, + -14.939540327428123, + 0.028806079595202854 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.151100158691406, + -14.932502746582031, + 0.06631118059158325 + ], + "box_pose": [ + -29.051912307739258, + -14.943595886230469, + 0.032537251710891724, + 0.6483474969863892, + 0.24969545006752014, + 0.5034239888191223, + 0.5136750340461731 + ], + "box_yaw_rad": 1.1578790763449147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012648712847270892 + } + } + }, + { + "simulation_time_ns": 9560000000, + "center": [ + -29.06882281467619, + -14.93959161965638, + 0.028323515839444674 + ], + "face_center": [ + -29.07976068249324, + -14.9587245325174, + 0.07906221660608867 + ], + "face_normal": [ + -0.1977258175822545, + -0.34586913111866835, + 0.9172126834907459 + ], + "footprint_xy": [ + [ + -29.217105107109358, + -15.073422781606682 + ], + [ + -28.92054052224302, + -15.073422781606682 + ], + [ + -28.92054052224302, + -14.805760457706079 + ], + [ + -29.217105107109358, + -14.805760457706079 + ] + ], + "projected_box_corners": [ + [ + -29.19522937147525, + -14.935770419429714 + ], + [ + -28.977097430918302, + -15.035156955884647 + ], + [ + -29.217105107109358, + -14.974036245151751 + ], + [ + -28.998973166552407, + -15.073422781606682 + ], + [ + -29.13867246279997, + -14.805760457706079 + ], + [ + -28.92054052224302, + -14.90514699416101 + ], + [ + -29.160548198434075, + -14.844026283428114 + ], + [ + -28.942416257877124, + -14.943412819883047 + ] + ], + "yaw_rad": 1.1604695142236292, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.150802612304688, + -14.933550834655762, + 0.0653708428144455 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.079576278374784, + -14.958679428106676, + 0.07942932195493635 + ], + "intended_face_normal": [ + -0.19458371825344756, + -0.34610287064506906, + 0.9177964256296995 + ], + "commanded_contact_point": [ + -29.14779769897461, + -14.954533585158558, + 0.02865832953091957 + ], + "centerline_face_intersection": [ + -29.20072476646051, + -14.939533585158557, + 0.02865832953091957 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.15096664428711, + -14.932848930358887, + 0.06610365211963654 + ], + "box_pose": [ + -29.051898956298828, + -14.943581581115723, + 0.03241821750998497, + 0.6475889682769775, + 0.24979744851589203, + 0.5036665201187134, + 0.5143441557884216 + ], + "box_yaw_rad": 1.1587633718144135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015520159261513669 + } + } + }, + { + "simulation_time_ns": 9580000000, + "center": [ + -29.06785768756697, + -14.94016330149836, + 0.028105249899411464 + ], + "face_center": [ + -29.07881064275117, + -14.959212235024019, + 0.07887229722575058 + ], + "face_normal": [ + -0.19799855465072547, + -0.3443510214631331, + 0.917725109384449 + ], + "footprint_xy": [ + [ + -29.216110825938134, + -15.073864670465644 + ], + [ + -28.91960454919581, + -15.073864670465644 + ], + [ + -28.91960454919581, + -14.806461932531077 + ], + [ + -29.216110825938134, + -14.806461932531077 + ] + ], + "projected_box_corners": [ + [ + -29.19420491556974, + -14.936654733458731 + ], + [ + -28.975963704020952, + -15.035766803414326 + ], + [ + -29.216110825938134, + -14.974752600510048 + ], + [ + -28.997869614389344, + -15.073864670465644 + ], + [ + -29.1378457607446, + -14.806461932531077 + ], + [ + -28.91960454919581, + -14.905574002486672 + ], + [ + -29.159751671112993, + -14.844559799582393 + ], + [ + -28.941510459564206, + -14.943671869537988 + ] + ], + "yaw_rad": 1.1622618480125941, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.14955711364746, + -14.934637069702148, + 0.06515039503574371 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.07976068249324, + -14.9587245325174, + 0.07906221660608867 + ], + "intended_face_normal": [ + -0.1977258175822545, + -0.34586913111866835, + 0.9172126834907459 + ], + "commanded_contact_point": [ + -29.146100158691407, + -14.95459161965638, + 0.028323515839444674 + ], + "centerline_face_intersection": [ + -29.20073918551377, + -14.93959161965638, + 0.028323515839444674 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.150802612304688, + -14.933550834655762, + 0.0653708428144455 + ], + "box_pose": [ + -29.051921844482422, + -14.943634033203125, + 0.032144222408533096, + 0.6465883851051331, + 0.24905358254909515, + 0.5048346519470215, + 0.5148181915283203 + ], + "box_yaw_rad": 1.1604695142236292, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001731216688931198 + } + } + }, + { + "simulation_time_ns": 9600000000, + "center": [ + -29.06538114107616, + -14.941420193076862, + 0.028082519422621542 + ], + "face_center": [ + -29.07618189789058, + -14.960348971677456, + 0.07892704858763286 + ], + "face_normal": [ + -0.19524723715435854, + -0.3421789591204245, + 0.9191257626155434 + ], + "footprint_xy": [ + [ + -29.213488818797817, + -15.074803417062856 + ], + [ + -28.9172734633545, + -15.074803417062856 + ], + [ + -28.9172734633545, + -14.808036969090868 + ], + [ + -29.213488818797817, + -14.808036969090868 + ] + ], + "projected_box_corners": [ + [ + -29.19188730516897, + -14.938609528088975 + ], + [ + -28.973292325954677, + -15.03694585986167 + ], + [ + -29.213488818797817, + -14.976467085290164 + ], + [ + -28.994893839583526, + -15.074803417062856 + ], + [ + -29.135868442568793, + -14.808036969090868 + ], + [ + -28.9172734633545, + -14.906373300863562 + ], + [ + -29.15746995619764, + -14.845894526292055 + ], + [ + -28.93887497698335, + -14.94423085806475 + ] + ], + "yaw_rad": 1.1655216047547254, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.146869659423828, + -14.936421394348145, + 0.06540775299072266 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.07881064275117, + -14.959212235024019, + 0.07887229722575058 + ], + "intended_face_normal": [ + -0.19799855465072547, + -0.3443510214631331, + 0.917725109384449 + ], + "commanded_contact_point": [ + -29.14445983886719, + -14.955163301498361, + 0.028105249899411464 + ], + "centerline_face_intersection": [ + -29.199708009317952, + -14.94016330149836, + 0.028105249899411464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.14955711364746, + -14.934637069702148, + 0.06515039503574371 + ], + "box_pose": [ + -29.050954818725586, + -14.944178581237793, + 0.03194612264633179, + 0.6457644104957581, + 0.2497241348028183, + 0.5051374435424805, + 0.5152305364608765 + ], + "box_yaw_rad": 1.1622618480125941, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001750745348345776 + } + } + }, + { + "simulation_time_ns": 9620000000, + "center": [ + -29.06318933354482, + -14.942571760233676, + 0.027981778381703203 + ], + "face_center": [ + -29.07391037067428, + -14.961453893907036, + 0.07886051917695117 + ], + "face_normal": [ + -0.19380612997058577, + -0.3413357503225285, + 0.9197442124517003 + ], + "footprint_xy": [ + [ + -29.211188856852466, + -15.075715397438117 + ], + [ + -28.915189810237173, + -15.075715397438117 + ], + [ + -28.915189810237173, + -14.809428123029237 + ], + [ + -29.211188856852466, + -14.809428123029237 + ] + ], + "projected_box_corners": [ + [ + -29.189746782593538, + -14.940251011887538 + ], + [ + -28.970868346527418, + -15.037951130091399 + ], + [ + -29.211188856852466, + -14.978015279234256 + ], + [ + -28.992310420786342, + -15.075715397438117 + ], + [ + -29.134068246303293, + -14.809428123029237 + ], + [ + -28.915189810237173, + -14.907128241233098 + ], + [ + -29.15551032056222, + -14.847192390375955 + ], + [ + -28.936631884496098, + -14.944892508579816 + ] + ], + "yaw_rad": 1.1684155465104509, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.14461326599121, + -14.937972068786621, + 0.06541307270526886 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.07618189789058, + -14.960348971677456, + 0.07892704858763286 + ], + "intended_face_normal": [ + -0.19524723715435854, + -0.3421789591204245, + 0.9191257626155434 + ], + "commanded_contact_point": [ + -29.142699356079103, + -14.956420193076863, + 0.028082519422621542 + ], + "centerline_face_intersection": [ + -29.197018080156187, + -14.941420193076862, + 0.028082519422621542 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.146869659423828, + -14.936421394348145, + 0.06540775299072266 + ], + "box_pose": [ + -29.048458099365234, + -14.945365905761719, + 0.0319066159427166, + 0.6449735760688782, + 0.2520499527454376, + 0.505072832107544, + 0.5151517987251282 + ], + "box_yaw_rad": 1.1655216047547254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021632366402753217 + } + } + }, + { + "simulation_time_ns": 9640000000, + "center": [ + -29.062755018681305, + -14.943003011884072, + 0.027644940817906343 + ], + "face_center": [ + -29.07372430067164, + -14.961997634181683, + 0.07842878235045188 + ], + "face_normal": [ + -0.19829369728235235, + -0.3433692275569342, + 0.9180287012917887 + ], + "footprint_xy": [ + [ + -29.210802176136035, + -15.076133119720323 + ], + [ + -28.914707861226574, + -15.076133119720323 + ], + [ + -28.914707861226574, + -14.809872904047822 + ], + [ + -29.210802176136035, + -14.809872904047822 + ] + ], + "projected_box_corners": [ + [ + -29.18886361215537, + -14.940624751426878 + ], + [ + -28.969949284013794, + -15.038143875125101 + ], + [ + -29.210802176136035, + -14.9786139960221 + ], + [ + -28.99188784799446, + -15.076133119720323 + ], + [ + -29.13362218936815, + -14.809872904047822 + ], + [ + -28.914707861226574, + -14.907392027746045 + ], + [ + -29.15556075334882, + -14.847862148643044 + ], + [ + -28.936646425207243, + -14.945381272341267 + ] + ], + "yaw_rad": 1.17105310605204, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.1440372467041, + -14.9388427734375, + 0.0642053484916687 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.07391037067428, + -14.961453893907036, + 0.07886051917695117 + ], + "intended_face_normal": [ + -0.19380612997058577, + -0.3413357503225285, + 0.9197442124517003 + ], + "commanded_contact_point": [ + -29.140471572875978, + -14.957571760233677, + 0.027981778381703203 + ], + "centerline_face_intersection": [ + -29.194655797209332, + -14.942571760233676, + 0.027981778381703203 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.14461326599121, + -14.937972068786621, + 0.06541307270526886 + ], + "box_pose": [ + -29.046253204345703, + -14.946463584899902, + 0.03180316090583801, + 0.6443529725074768, + 0.2534807622432709, + 0.5054474472999573, + 0.5148589611053467 + ], + "box_yaw_rad": 1.1684155465104509, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025098353878499806 + } + } + }, + { + "simulation_time_ns": 9660000000, + "center": [ + -29.062568858592975, + -14.944110391831206, + 0.027648897462282288 + ], + "face_center": [ + -29.074035506009118, + -14.964087181164432, + 0.07794368763717932 + ], + "face_normal": [ + -0.20728466216689512, + -0.3611240389486312, + 0.9091880313231862 + ], + "footprint_xy": [ + [ + -29.21063162737653, + -15.077425993180459 + ], + [ + -28.91450608980942, + -15.077425993180459 + ], + [ + -28.91450608980942, + -14.810794790481955 + ], + [ + -29.21063162737653, + -14.810794790481955 + ] + ], + "projected_box_corners": [ + [ + -29.187698332544247, + -14.94060259553651 + ], + [ + -28.968530491105856, + -15.03747241451401 + ], + [ + -29.21063162737653, + -14.98055617420296 + ], + [ + -28.99146378593814, + -15.077425993180459 + ], + [ + -29.133673931247813, + -14.810794790481955 + ], + [ + -28.91450608980942, + -14.907664609459454 + ], + [ + -29.156607226080094, + -14.850748369148404 + ], + [ + -28.937439384641706, + -14.947618188125903 + ] + ], + "yaw_rad": 1.1764134592441489, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.141582489013672, + -14.9430570602417, + 0.06153464317321777 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.07372430067164, + -14.961997634181683, + 0.07842878235045188 + ], + "intended_face_normal": [ + -0.19829369728235235, + -0.3433692275569342, + 0.9180287012917887 + ], + "commanded_contact_point": [ + -29.138291473388673, + -14.958003011884072, + 0.027644940817906343 + ], + "centerline_face_intersection": [ + -29.19419992777571, + -14.943003011884072, + 0.027644940817906343 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1440372467041, + -14.9388427734375, + 0.0642053484916687 + ], + "box_pose": [ + -29.045835494995117, + -14.946887016296387, + 0.03154697269201279, + 0.643431544303894, + 0.2519214153289795, + 0.5076223611831665, + 0.5146365761756897 + ], + "box_yaw_rad": 1.17105310605204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002247725807321612 + } + } + }, + { + "simulation_time_ns": 9680000000, + "center": [ + -29.06036749190828, + -14.945931660787632, + 0.02777510813243533 + ], + "face_center": [ + -29.07177832051913, + -14.966365662390361, + 0.07789861963537992 + ], + "face_normal": [ + -0.20627561551381035, + -0.36938914795418043, + 0.906091795748516 + ], + "footprint_xy": [ + [ + -29.208182856428287, + -15.078901942621224 + ], + [ + -28.912552127388274, + -15.078901942621224 + ], + [ + -28.912552127388274, + -14.81296137895404 + ], + [ + -29.208182856428287, + -14.81296137895404 + ] + ], + "projected_box_corners": [ + [ + -29.185361199206586, + -14.942679453154305 + ], + [ + -28.965513560000943, + -15.038033939415769 + ], + [ + -29.208182856428287, + -14.983547456359762 + ], + [ + -28.988335217222645, + -15.078901942621224 + ], + [ + -29.132399766593913, + -14.81296137895404 + ], + [ + -28.912552127388274, + -14.908315865215503 + ], + [ + -29.155221423815615, + -14.853829382159496 + ], + [ + -28.935373784609972, + -14.94918386842096 + ] + ], + "yaw_rad": 1.183171553761276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.138652801513672, + -14.94609260559082, + 0.06098519265651703 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.074035506009118, + -14.964087181164432, + 0.07794368763717932 + ], + "intended_face_normal": [ + -0.20728466216689512, + -0.3611240389486312, + 0.9091880313231862 + ], + "commanded_contact_point": [ + -29.136508102416993, + -14.959110391831206, + 0.027648897462282288 + ], + "centerline_face_intersection": [ + -29.193861724248727, + -14.944110391831206, + 0.027648897462282288 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.141582489013672, + -14.9430570602417, + 0.06153464317321777 + ], + "box_pose": [ + -29.045679092407227, + -14.948001861572266, + 0.03167058899998665, + 0.6447966694831848, + 0.24553194642066956, + 0.5145865082740784, + 0.5090699195861816 + ], + "box_yaw_rad": 1.1764134592441489, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020992184319359995 + } + } + }, + { + "simulation_time_ns": 9700000000, + "center": [ + -29.059705795298353, + -14.945830482901446, + 0.027795360153557103 + ], + "face_center": [ + -29.070866006830734, + -14.965824573011604, + 0.07815216111745052 + ], + "face_normal": [ + -0.2017451651948292, + -0.3614367882267473, + 0.9103090115871932 + ], + "footprint_xy": [ + [ + -29.207440651688223, + -15.078551404097118 + ], + [ + -28.911970938908485, + -15.078551404097118 + ], + [ + -28.911970938908485, + -14.813109561705774 + ], + [ + -29.207440651688223, + -14.813109561705774 + ] + ], + "projected_box_corners": [ + [ + -29.185120228623465, + -14.943426857919038 + ], + [ + -28.965167900690368, + -15.038563223876801 + ], + [ + -29.207440651688223, + -14.983415038139354 + ], + [ + -28.987488323755127, + -15.078551404097118 + ], + [ + -29.131923266841582, + -14.813109561705774 + ], + [ + -28.911970938908485, + -14.908245927663536 + ], + [ + -29.154243689906338, + -14.85309774192609 + ], + [ + -28.934291361973244, + -14.948234107883852 + ] + ], + "yaw_rad": 1.18323155134019, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.137746810913086, + -14.945775985717773, + 0.06139467656612396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.07177832051913, + -14.966365662390361, + 0.07789861963537992 + ], + "intended_face_normal": [ + -0.20627561551381035, + -0.36938914795418043, + 0.906091795748516 + ], + "commanded_contact_point": [ + -29.1346484375, + -14.960925222995504, + 0.02777510813243533 + ], + "centerline_face_intersection": [ + -29.191254382784177, + -14.945931660787632, + 0.02777510813243533 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.138652801513672, + -14.94609260559082, + 0.06098519265651703 + ], + "box_pose": [ + -29.04345703125, + -14.949729919433594, + 0.03179894760251045, + 0.6453196406364441, + 0.24549877643585205, + 0.5179354548454285, + 0.5050107836723328 + ], + "box_yaw_rad": 1.183171553761276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014993562207872485, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026015178053702807 + } + } + }, + { + "simulation_time_ns": 9720000000, + "center": [ + -29.05936849090206, + -14.945528550915242, + 0.027971031424082297 + ], + "face_center": [ + -29.07019214325897, + -14.965044119277112, + 0.07858833697537042 + ], + "face_normal": [ + -0.1956611240227204, + -0.35278646391367374, + 0.9150182001958029 + ], + "footprint_xy": [ + [ + -29.207028132907492, + -15.078058105651621 + ], + [ + -28.911708848896627, + -15.078058105651621 + ], + [ + -28.911708848896627, + -14.81299899617886 + ], + [ + -29.207028132907492, + -14.81299899617886 + ] + ], + "projected_box_corners": [ + [ + -29.18538082819367, + -14.943875964060503 + ], + [ + -28.96540479869453, + -15.03902696892788 + ], + [ + -29.207028132907492, + -14.982907100784244 + ], + [ + -28.987052103408352, + -15.078058105651621 + ], + [ + -29.13168487839577, + -14.81299899617886 + ], + [ + -28.911708848896627, + -14.908150001046238 + ], + [ + -29.153332183109594, + -14.852030132902602 + ], + [ + -28.93335615361045, + -14.947181137769979 + ] + ], + "yaw_rad": 1.18146106567531, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.137081146240234, + -14.945194244384766, + 0.06227084994316101 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.070866006830734, + -14.965824573011604, + 0.07815216111745052 + ], + "intended_face_normal": [ + -0.2017451651948292, + -0.3614367882267473, + 0.9103090115871932 + ], + "commanded_contact_point": [ + -29.132960433959962, + -14.960826224996666, + 0.027795360153557103 + ], + "centerline_face_intersection": [ + -29.19053038912027, + -14.945830482901446, + 0.027795360153557103 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.137746810913086, + -14.945775985717773, + 0.06139467656612396 + ], + "box_pose": [ + -29.042774200439453, + -14.949584007263184, + 0.03177202492952347, + 0.644237756729126, + 0.24917484819889069, + 0.5154377818107605, + 0.5071425437927246 + ], + "box_yaw_rad": 1.18323155134019, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014995742095219384, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001691025339643961 + } + } + }, + { + "simulation_time_ns": 9740000000, + "center": [ + -29.05808905612484, + -14.945465686166541, + 0.028242702018716058 + ], + "face_center": [ + -29.06849475041686, + -14.964488687435548, + 0.07913442553075091 + ], + "face_normal": [ + -0.18810562038363798, + -0.34388223936282714, + 0.9199789033744707 + ], + "footprint_xy": [ + [ + -29.205633146091316, + -15.0777761600572 + ], + [ + -28.91054496615836, + -15.0777761600572 + ], + [ + -28.91054496615836, + -14.81315521227588 + ], + [ + -29.205633146091316, + -14.81315521227588 + ] + ], + "projected_box_corners": [ + [ + -29.184821757507272, + -14.944603446533671 + ], + [ + -28.96479377490487, + -15.039730157519186 + ], + [ + -29.205633146091316, + -14.982649449071685 + ], + [ + -28.985605163488913, + -15.0777761600572 + ], + [ + -29.13057294876076, + -14.81315521227588 + ], + [ + -28.91054496615836, + -14.908281923261395 + ], + [ + -29.151384337344805, + -14.851201214813894 + ], + [ + -28.9313563547424, + -14.94632792579941 + ] + ], + "yaw_rad": 1.1793890462804353, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.1353702545166, + -14.945032119750977, + 0.06351566314697266 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.07019214325897, + -14.965044119277112, + 0.07858833697537042 + ], + "intended_face_normal": [ + -0.1956611240227204, + -0.35278646391367374, + 0.9150182001958029 + ], + "commanded_contact_point": [ + -29.13155471801758, + -14.960528550915242, + 0.027971031424082297 + ], + "centerline_face_intersection": [ + -29.190178988880177, + -14.945528550915242, + 0.027971031424082297 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.137081146240234, + -14.945194244384766, + 0.06227084994316101 + ], + "box_pose": [ + -29.04241180419922, + -14.949254035949707, + 0.03186631202697754, + 0.6436876058578491, + 0.2531583309173584, + 0.5119174718856812, + 0.5094286799430847 + ], + "box_yaw_rad": 1.18146106567531, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014475868073135936 + } + } + }, + { + "simulation_time_ns": 9760000000, + "center": [ + -29.055462011873892, + -14.945571342689663, + 0.028514979765160327 + ], + "face_center": [ + -29.065601494981053, + -14.964223497395796, + 0.07959734704513403 + ], + "face_normal": [ + -0.18329327257907124, + -0.3371783788784697, + 0.9234252052966703 + ], + "footprint_xy": [ + [ + -29.202985194770672, + -15.077860686610645 + ], + [ + -28.90793882897711, + -15.077860686610645 + ], + [ + -28.90793882897711, + -14.813281998768682 + ], + [ + -29.202985194770672, + -14.813281998768682 + ] + ], + "projected_box_corners": [ + [ + -29.18270622855635, + -14.945021378925903 + ], + [ + -28.9628275087387, + -15.040556377198378 + ], + [ + -29.202985194770672, + -14.98232568833817 + ], + [ + -28.983106474953026, + -15.077860686610645 + ], + [ + -29.12781754879476, + -14.813281998768682 + ], + [ + -28.90793882897711, + -14.908816997041157 + ], + [ + -29.14809651500908, + -14.850586308180947 + ], + [ + -28.928217795191433, + -14.946121306453422 + ] + ], + "yaw_rad": 1.1760228556507968, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.132354736328125, + -14.945034980773926, + 0.06459422409534454 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.06849475041686, + -14.964488687435548, + 0.07913442553075091 + ], + "intended_face_normal": [ + -0.18810562038363798, + -0.34388223936282714, + 0.9199789033744707 + ], + "commanded_contact_point": [ + -29.13034736633301, + -14.960465686166541, + 0.028242702018716058 + ], + "centerline_face_intersection": [ + -29.188868667071095, + -14.945465686166541, + 0.028242702018716058 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1353702545166, + -14.945032119750977, + 0.06351566314697266 + ], + "box_pose": [ + -29.041101455688477, + -14.949159622192383, + 0.032031890004873276, + 0.6433997750282288, + 0.2576447129249573, + 0.507915198802948, + 0.5115447640419006 + ], + "box_yaw_rad": 1.1793890462804353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012391347702540901 + } + } + }, + { + "simulation_time_ns": 9780000000, + "center": [ + -29.052284942284405, + -14.945924401481514, + 0.028831665395573483 + ], + "face_center": [ + -29.062353865978878, + -14.96469015935513, + 0.07988638500494023 + ], + "face_normal": [ + -0.18201775729627911, + -0.3392320039126915, + 0.9229254133475955 + ], + "footprint_xy": [ + [ + -29.199865803447768, + -15.078479575098715 + ], + [ + -28.90470408112104, + -15.078479575098715 + ], + [ + -28.90470408112104, + -14.813369227864316 + ], + [ + -29.199865803447768, + -14.813369227864316 + ] + ], + "projected_box_corners": [ + [ + -29.179727956058823, + -14.944796718232446 + ], + [ + -28.960088101955442, + -15.040948059351487 + ], + [ + -29.199865803447768, + -14.982328233979676 + ], + [ + -28.98022594934439, + -15.078479575098715 + ], + [ + -29.124343935224417, + -14.813369227864316 + ], + [ + -28.90470408112104, + -14.909520568983355 + ], + [ + -29.144481782613365, + -14.850900743611543 + ], + [ + -28.924841928509988, + -14.947052084730583 + ] + ], + "yaw_rad": 1.171975780819967, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.128799438476562, + -14.945470809936523, + 0.06527391076087952 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.065601494981053, + -14.964223497395796, + 0.07959734704513403 + ], + "intended_face_normal": [ + -0.18329327257907124, + -0.3371783788784697, + 0.9234252052966703 + ], + "commanded_contact_point": [ + -29.129164810180665, + -14.960571342689663, + 0.028514979765160327 + ], + "centerline_face_intersection": [ + -29.186330401438358, + -14.945571342689663, + 0.028514979765160327 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.132354736328125, + -14.945034980773926, + 0.06459422409534454 + ], + "box_pose": [ + -29.03845977783203, + -14.949275970458984, + 0.03222731500864029, + 0.6434448957443237, + 0.2602289021015167, + 0.5045471787452698, + 0.5135091543197632 + ], + "box_yaw_rad": 1.1760228556507968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012180876510058639 + } + } + }, + { + "simulation_time_ns": 9800000000, + "center": [ + -29.048637225982024, + -14.946653526794968, + 0.02910618783408536 + ], + "face_center": [ + -29.058584850160454, + -14.96544111423935, + 0.08017665204995578 + ], + "face_normal": [ + -0.17982500397516787, + -0.3396266210172172, + 0.9232100314510063 + ], + "footprint_xy": [ + [ + -29.196175948067633, + -15.079218789271083 + ], + [ + -28.90109850389641, + -15.079218789271083 + ], + [ + -28.90109850389641, + -14.814088264318855 + ], + [ + -29.196175948067633, + -14.814088264318855 + ] + ], + "projected_box_corners": [ + [ + -29.176280699710773, + -14.945491074310402 + ], + [ + -28.95662169471255, + -15.041643614382318 + ], + [ + -29.196175948067633, + -14.983066249199167 + ], + [ + -28.976516943069413, + -15.079218789271083 + ], + [ + -29.120757508894634, + -14.814088264318855 + ], + [ + -28.90109850389641, + -14.910240804390769 + ], + [ + -29.140652757251495, + -14.851663439207618 + ], + [ + -28.920993752253274, + -14.947815979279534 + ] + ], + "yaw_rad": 1.1710095672034861, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.12474250793457, + -14.946512222290039, + 0.06598648428916931 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.062353865978878, + -14.96469015935513, + 0.07988638500494023 + ], + "intended_face_normal": [ + -0.18201775729627911, + -0.3392320039126915, + 0.9229254133475955 + ], + "commanded_contact_point": [ + -29.128016586303712, + -14.960924401481515, + 0.028831665395573483 + ], + "centerline_face_intersection": [ + -29.18329565561555, + -14.945924401481514, + 0.028831665395573483 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.128799438476562, + -14.945470809936523, + 0.06527391076087952 + ], + "box_pose": [ + -29.0352840423584, + -14.949685096740723, + 0.03249339759349823, + 0.6451008319854736, + 0.2592725455760956, + 0.503449022769928, + 0.5129929780960083 + ], + "box_yaw_rad": 1.171975780819967, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012423197537749094 + } + } + }, + { + "simulation_time_ns": 9820000000, + "center": [ + -29.045564402152575, + -14.947441299521868, + 0.02942162104451275 + ], + "face_center": [ + -29.05544638693218, + -14.966426392261589, + 0.08043175518759144 + ], + "face_normal": [ + -0.17863842867402724, + -0.34319696001299604, + 0.9221194337982404 + ], + "footprint_xy": [ + [ + -29.193067907112717, + -15.080071194146244 + ], + [ + -28.89806089719243, + -15.080071194146244 + ], + [ + -28.89806089719243, + -14.81481140489749 + ], + [ + -29.193067907112717, + -14.81481140489749 + ] + ], + "projected_box_corners": [ + [ + -29.17330393755351, + -14.946012128852713 + ], + [ + -28.953597234213955, + -15.042101008666801 + ], + [ + -29.193067907112717, + -14.983982314332158 + ], + [ + -28.973361203773162, + -15.080071194146244 + ], + [ + -29.117767600531987, + -14.81481140489749 + ], + [ + -28.89806089719243, + -14.910900284711579 + ], + [ + -29.137531570091195, + -14.852781590376935 + ], + [ + -28.917824866751637, + -14.948870470191022 + ] + ], + "yaw_rad": 1.1703724829556594, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.121341705322266, + -14.947751998901367, + 0.06669892370700836 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.058584850160454, + -14.96544111423935, + 0.08017665204995578 + ], + "intended_face_normal": [ + -0.17982500397516787, + -0.3396266210172172, + 0.9232100314510063 + ], + "commanded_contact_point": [ + -29.126980895996095, + -14.961653526794969, + 0.02910618783408536 + ], + "centerline_face_intersection": [ + -29.17963651718916, + -14.946653526794968, + 0.02910618783408536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.12474250793457, + -14.946512222290039, + 0.06598648428916931 + ], + "box_pose": [ + -29.031627655029297, + -14.95041561126709, + 0.0327259823679924, + 0.6458054184913635, + 0.25977665185928345, + 0.5027411580085754, + 0.5125454068183899 + ], + "box_yaw_rad": 1.1710095672034861, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012960095313142926 + } + } + }, + { + "simulation_time_ns": 9840000000, + "center": [ + -29.044466839552054, + -14.947984142863522, + 0.02938908995647251 + ], + "face_center": [ + -29.05430079585336, + -14.966901218268456, + 0.08043376459283291 + ], + "face_normal": [ + -0.1777702091730049, + -0.3419673983328053, + 0.9227438285512264 + ], + "footprint_xy": [ + [ + -29.191911208057938, + -15.080472369396952 + ], + [ + -28.89702247104617, + -15.080472369396952 + ], + [ + -28.89702247104617, + -14.815495916330091 + ], + [ + -29.191911208057938, + -14.815495916330091 + ] + ], + "projected_box_corners": [ + [ + -29.17224329545532, + -14.946870363274897 + ], + [ + -28.952398404222457, + -15.042638218587086 + ], + [ + -29.191911208057938, + -14.984704514084765 + ], + [ + -28.97206631682507, + -15.080472369396952 + ], + [ + -29.116867362279034, + -14.815495916330091 + ], + [ + -28.89702247104617, + -14.91126377164228 + ], + [ + -29.136535274881652, + -14.853330067139959 + ], + [ + -28.916690383648785, + -14.949097922452147 + ] + ], + "yaw_rad": 1.1718835758776591, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.12004852294922, + -14.94871997833252, + 0.06696496903896332 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05544638693218, + -14.966426392261589, + 0.08043175518759144 + ], + "intended_face_normal": [ + -0.17863842867402724, + -0.34319696001299604, + 0.9221194337982404 + ], + "commanded_contact_point": [ + -29.12602912902832, + -14.962428871546688, + 0.02942162104451275 + ], + "centerline_face_intersection": [ + -29.176535253404026, + -14.947441299521868, + 0.02942162104451275 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.121341705322266, + -14.947751998901367, + 0.06669892370700836 + ], + "box_pose": [ + -29.028549194335938, + -14.951210021972656, + 0.03300786390900612, + 0.647006630897522, + 0.25924721360206604, + 0.5029720664024353, + 0.5110698938369751 + ], + "box_yaw_rad": 1.1703724829556594, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01498757202482004, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012674848934816864 + } + } + }, + { + "simulation_time_ns": 9860000000, + "center": [ + -29.044567580474006, + -14.94811969689879, + 0.029430926320315142 + ], + "face_center": [ + -29.054545896358928, + -14.967256418364398, + 0.08036559593459562 + ], + "face_normal": [ + -0.1803798235122116, + -0.3459379799536748, + 0.9207552478431111 + ], + "footprint_xy": [ + [ + -29.19205799442561, + -15.080703978957699 + ], + [ + -28.8970771665224, + -15.080703978957699 + ], + [ + -28.8970771665224, + -14.81553541483988 + ], + [ + -29.19205799442561, + -14.81553541483988 + ] + ], + "projected_box_corners": [ + [ + -29.17210136265577, + -14.946661296529493 + ], + [ + -28.952264138834078, + -15.04243053602648 + ], + [ + -29.19205799442561, + -14.984934739460714 + ], + [ + -28.97222077060392, + -15.080703978957699 + ], + [ + -29.116914390344096, + -14.81553541483988 + ], + [ + -28.8970771665224, + -14.911304654336865 + ], + [ + -29.136871022113937, + -14.8538088577711 + ], + [ + -28.91703379829224, + -14.949578097268084 + ] + ], + "yaw_rad": 1.1724288749994267, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.1202449798584, + -14.94921588897705, + 0.067219078540802 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05430079585336, + -14.966901218268456, + 0.08043376459283291 + ], + "intended_face_normal": [ + -0.1777702091730049, + -0.3419673983328053, + 0.9227438285512264 + ], + "commanded_contact_point": [ + -29.12527572631836, + -14.962942281469582, + 0.02938908995647251 + ], + "centerline_face_intersection": [ + -29.175355366461478, + -14.947984142863522, + 0.02938908995647251 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.12004852294922, + -14.94871997833252, + 0.06696496903896332 + ], + "box_pose": [ + -29.02744483947754, + -14.951723098754883, + 0.032974258065223694, + 0.6465180516242981, + 0.26021385192871094, + 0.5029891729354858, + 0.5111801028251648 + ], + "box_yaw_rad": 1.1718835758776591, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014958138606060132, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009122848590167405 + } + } + }, + { + "simulation_time_ns": 9880000000, + "center": [ + -29.045978905304473, + -14.948187670791176, + 0.030068497272642828 + ], + "face_center": [ + -29.05619456858034, + -14.96778461774223, + 0.0807806314975009 + ], + "face_normal": [ + -0.18467039528646367, + -0.3542575594095254, + 0.9167324353031816 + ], + "footprint_xy": [ + [ + -29.193526749166697, + -15.080936118953085 + ], + [ + -28.898431061442245, + -15.080936118953085 + ], + [ + -28.898431061442245, + -14.81543922262927 + ], + [ + -29.193526749166697, + -14.81543922262927 + ] + ], + "projected_box_corners": [ + [ + -29.173095422614956, + -14.946060985583319 + ], + [ + -28.9532274761617, + -15.041742225050978 + ], + [ + -29.193526749166697, + -14.985254879485426 + ], + [ + -28.973658802713437, + -15.080936118953085 + ], + [ + -29.118299007895505, + -14.81543922262927 + ], + [ + -28.898431061442245, + -14.911120462096928 + ], + [ + -29.138730334447246, + -14.854633116531376 + ], + [ + -28.918862387993986, + -14.950314355999035 + ] + ], + "yaw_rad": 1.1735896272166524, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.121793746948242, + -14.949686050415039, + 0.06809115409851074 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.054545896358928, + -14.967256418364398, + 0.08036559593459562 + ], + "intended_face_normal": [ + -0.1803798235122116, + -0.3459379799536748, + 0.9207552478431111 + ], + "commanded_contact_point": [ + -29.124730224609376, + -14.963033987821719, + 0.029430926320315142 + ], + "centerline_face_intersection": [ + -29.175460672470887, + -14.94811969689879, + 0.029430926320315142 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1202449798584, + -14.94921588897705, + 0.067219078540802 + ], + "box_pose": [ + -29.027555465698242, + -14.951871871948242, + 0.03304905444383621, + 0.646869421005249, + 0.25844189524650574, + 0.5045086145401001, + 0.5101361274719238 + ], + "box_yaw_rad": 1.1724288749994267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01491429092292968, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005547363796135373 + } + } + }, + { + "simulation_time_ns": 9900000000, + "center": [ + -29.047834370656524, + -14.946111808199937, + 0.030320856158194676 + ], + "face_center": [ + -29.057941303011876, + -14.965106462782227, + 0.08128334055746719 + ], + "face_normal": [ + -0.18270484674307497, + -0.3433698111729342, + 0.9212580607491923 + ], + "footprint_xy": [ + [ + -29.19552009031518, + -15.079016529564795 + ], + [ + -28.900148650997867, + -15.079016529564795 + ], + [ + -28.900148650997867, + -14.81320708683508 + ], + [ + -29.19552009031518, + -14.81320708683508 + ] + ], + "projected_box_corners": [ + [ + -29.175306225604476, + -14.944159463286086 + ], + [ + -28.9559610816191, + -15.041027220400213 + ], + [ + -29.19552009031518, + -14.982148772450666 + ], + [ + -28.976174946329806, + -15.079016529564795 + ], + [ + -29.119493794983242, + -14.81320708683508 + ], + [ + -28.900148650997867, + -14.910074843949209 + ], + [ + -29.139707659693947, + -14.851196395999661 + ], + [ + -28.92036251570857, + -14.94806415311379 + ] + ], + "yaw_rad": 1.1679062970312313, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.123546600341797, + -14.946858406066895, + 0.06893064081668854 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05619456858034, + -14.96778461774223, + 0.0807806314975009 + ], + "intended_face_normal": [ + -0.18467039528646367, + -0.3542575594095254, + 0.9167324353031816 + ], + "commanded_contact_point": [ + -29.124571914672853, + -14.963042026529152, + 0.030068497272642828 + ], + "centerline_face_intersection": [ + -29.176853707321825, + -14.948187670791176, + 0.030068497272642828 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.121793746948242, + -14.949686050415039, + 0.06809115409851074 + ], + "box_pose": [ + -29.028982162475586, + -14.951960563659668, + 0.03373697027564049, + 0.6478015780448914, + 0.25515440106391907, + 0.5074267387390137, + 0.5077080130577087 + ], + "box_yaw_rad": 1.1735896272166524, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014854355737975168, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006569804990037994 + } + } + }, + { + "simulation_time_ns": 9920000000, + "center": [ + -29.048320734527294, + -14.944068555681339, + 0.030666676999119562 + ], + "face_center": [ + -29.05821629370204, + -14.962599748263566, + 0.08184081837839788 + ], + "face_normal": [ + -0.17888381547356857, + -0.33499172465608495, + 0.9250842223118134 + ], + "footprint_xy": [ + [ + -29.195929527595336, + -15.076736215346633 + ], + [ + -28.90071194145925, + -15.076736215346633 + ], + [ + -28.90071194145925, + -14.811400896016046 + ], + [ + -29.195929527595336, + -14.811400896016046 + ] + ], + "projected_box_corners": [ + [ + -29.176138409245848, + -14.942897674240973 + ], + [ + -28.95675228085723, + -15.039673830182181 + ], + [ + -29.195929527595336, + -14.979960059405425 + ], + [ + -28.976543399206722, + -15.076736215346633 + ], + [ + -29.120098069847863, + -14.811400896016046 + ], + [ + -28.90071194145925, + -14.908177051957255 + ], + [ + -29.139889188197355, + -14.848463281180496 + ], + [ + -28.92050305980874, + -14.945239437121707 + ] + ], + "yaw_rad": 1.167932796042613, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.123779296875, + -14.944578170776367, + 0.06999027729034424 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.057941303011876, + -14.965106462782227, + 0.08128334055746719 + ], + "intended_face_normal": [ + -0.18270484674307497, + -0.3433698111729342, + 0.9212580607491923 + ], + "commanded_contact_point": [ + -29.1242724609375, + -14.960936300023235, + 0.030320856158194676 + ], + "centerline_face_intersection": [ + -29.17902110877711, + -14.946111808199937, + 0.030320856158194676 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.123546600341797, + -14.946858406066895, + 0.06893064081668854 + ], + "box_pose": [ + -29.03084373474121, + -14.949943542480469, + 0.03395649045705795, + 0.6469053626060486, + 0.2570948302745819, + 0.5031881928443909, + 0.5120717287063599 + ], + "box_yaw_rad": 1.1679062970312313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01482449182329688, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021418313809575236 + } + } + }, + { + "simulation_time_ns": 9940000000, + "center": [ + -29.048273348309834, + -14.944361765876174, + 0.030655677975964 + ], + "face_center": [ + -29.05811749106505, + -14.963347116237482, + 0.08167305004769927 + ], + "face_normal": [ + -0.17795435154530992, + -0.34320161708505026, + 0.9222502751454904 + ], + "footprint_xy": [ + [ + -29.195857911293153, + -15.077236212605678 + ], + [ + -28.900688785326512, + -15.077236212605678 + ], + [ + -28.900688785326512, + -14.811487319146671 + ], + [ + -29.195857911293153, + -14.811487319146671 + ] + ], + "projected_box_corners": [ + [ + -29.176169625782716, + -14.942473427637502 + ], + [ + -28.956757320045476, + -15.039265511883062 + ], + [ + -29.195857911293153, + -14.980444128360116 + ], + [ + -28.976445605555913, + -15.077236212605678 + ], + [ + -29.120101091063756, + -14.811487319146671 + ], + [ + -28.900688785326512, + -14.908279403392232 + ], + [ + -29.139789376574193, + -14.849458019869285 + ], + [ + -28.92037707083695, + -14.946250104114847 + ] + ], + "yaw_rad": 1.16634558623831, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.12337303161621, + -14.945414543151855, + 0.07013580203056335 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05821629370204, + -14.962599748263566, + 0.08184081837839788 + ], + "intended_face_normal": [ + -0.17888381547356857, + -0.33499172465608495, + 0.9250842223118134 + ], + "commanded_contact_point": [ + -29.123894805908204, + -14.958872662900834, + 0.030666676999119562 + ], + "centerline_face_intersection": [ + -29.179482965126763, + -14.944068555681339, + 0.030666676999119562 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.123779296875, + -14.944578170776367, + 0.06999027729034424 + ], + "box_pose": [ + -29.031314849853516, + -14.94786548614502, + 0.034267351031303406, + 0.6455849409103394, + 0.26046547293663025, + 0.500715434551239, + 0.5144528746604919 + ], + "box_yaw_rad": 1.167932796042613, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014804107219495747, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002126220484362269 + } + } + }, + { + "simulation_time_ns": 9960000000, + "center": [ + -29.048342596558165, + -14.944809096408434, + 0.030810692117462422 + ], + "face_center": [ + -29.058300364927703, + -14.964498587006041, + 0.08153826657845728 + ], + "face_normal": [ + -0.1800083823551013, + -0.3559304876696743, + 0.9170115512483434 + ], + "footprint_xy": [ + [ + -29.195956212328113, + -15.077982840186843 + ], + [ + -28.900728980788216, + -15.077982840186843 + ], + [ + -28.900728980788216, + -14.811635352630026 + ], + [ + -29.195956212328113, + -14.811635352630026 + ] + ], + "projected_box_corners": [ + [ + -29.17604067558904, + -14.941807346896358 + ], + [ + -28.956608493973604, + -15.038603858991628 + ], + [ + -29.195956212328113, + -14.981186328091573 + ], + [ + -28.976524030712678, + -15.077982840186843 + ], + [ + -29.12016116240365, + -14.811635352630026 + ], + [ + -28.900728980788216, + -14.908431864725294 + ], + [ + -29.14007669914273, + -14.85101433382524 + ], + [ + -28.920644517527293, + -14.94781084592051 + ] + ], + "yaw_rad": 1.165310747232519, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.1229305267334, + -14.946894645690918, + 0.07006746530532837 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05811749106505, + -14.963347116237482, + 0.08167305004769927 + ], + "intended_face_normal": [ + -0.17795435154530992, + -0.34320161708505026, + 0.9222502751454904 + ], + "commanded_contact_point": [ + -29.123408432006837, + -14.959123762004642, + 0.030655677975964 + ], + "centerline_face_intersection": [ + -29.17941993038209, + -14.944361765876174, + 0.030655677975964 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.12337303161621, + -14.945414543151855, + 0.07013580203056335 + ], + "box_pose": [ + -29.03126335144043, + -14.948186874389648, + 0.034206781536340714, + 0.6480613946914673, + 0.25855305790901184, + 0.5016146302223206, + 0.5114193558692932 + ], + "box_yaw_rad": 1.16634558623831, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01476199612846848, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005474772236128483 + } + } + }, + { + "simulation_time_ns": 9980000000, + "center": [ + -29.048252426548235, + -14.94479862876453, + 0.03033252123778339 + ], + "face_center": [ + -29.058106631324687, + -14.964465407850975, + 0.08108913183382649 + ], + "face_normal": [ + -0.17813624452560362, + -0.3555199275689134, + 0.9175364427205999 + ], + "footprint_xy": [ + [ + -29.195831566167914, + -15.077964823224972 + ], + [ + -28.900673286928555, + -15.077964823224972 + ], + [ + -28.900673286928555, + -14.811632434304089 + ], + [ + -29.195831566167914, + -14.811632434304089 + ] + ], + "projected_box_corners": [ + [ + -29.176123156615006, + -14.941829639619941 + ], + [ + -28.9566833422118, + -15.038631265052082 + ], + [ + -29.195831566167914, + -14.981163197792833 + ], + [ + -28.97639175176471, + -15.077964823224972 + ], + [ + -29.12011310133176, + -14.811632434304089 + ], + [ + -28.900673286928555, + -14.908434059736228 + ], + [ + -29.13982151088467, + -14.85096599247698 + ], + [ + -28.920381696481464, + -14.947767617909118 + ] + ], + "yaw_rad": 1.1645345612768752, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.121891021728516, + -14.947868347167969, + 0.06961989402770996 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.058300364927703, + -14.964498587006041, + 0.08153826657845728 + ], + "intended_face_normal": [ + -0.1800083823551013, + -0.3559304876696743, + 0.9170115512483434 + ], + "commanded_contact_point": [ + -29.122985000610353, + -14.959487670565604, + 0.030810692117462422 + ], + "centerline_face_intersection": [ + -29.17947729954563, + -14.944809096408434, + 0.030810692117462422 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1229305267334, + -14.946894645690918, + 0.07006746530532837 + ], + "box_pose": [ + -29.031339645385742, + -14.948677062988281, + 0.034349072724580765, + 0.6509284377098083, + 0.2546006739139557, + 0.5042394399642944, + 0.5071618556976318 + ], + "box_yaw_rad": 1.165310747232519, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014678574157169135, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005794419490634148 + } + } + }, + { + "simulation_time_ns": 10000000000, + "center": [ + -29.048115317713307, + -14.945270902335153, + 0.03037813347824758 + ], + "face_center": [ + -29.058108824161025, + -14.965303183049969, + 0.08096429187095626 + ], + "face_normal": [ + -0.1806544260671572, + -0.3621271667041768, + 0.9144551473688267 + ], + "footprint_xy": [ + [ + -29.195714742237445, + -15.078528733630503 + ], + [ + -28.900515893189173, + -15.078528733630503 + ], + [ + -28.900515893189173, + -14.812013071039804 + ], + [ + -29.195714742237445, + -14.812013071039804 + ] + ], + "projected_box_corners": [ + [ + -29.175727729342015, + -14.941825673655675 + ], + [ + -28.956216021698793, + -15.038464172200872 + ], + [ + -29.195714742237445, + -14.981890235085308 + ], + [ + -28.976203034594224, + -15.078528733630503 + ], + [ + -29.120027600832394, + -14.812013071039804 + ], + [ + -28.900515893189173, + -14.908651569584999 + ], + [ + -29.140014613727825, + -14.852077632469435 + ], + [ + -28.920502906084604, + -14.94871613101463 + ] + ], + "yaw_rad": 1.1654740733255744, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.120403289794922, + -14.950004577636719, + 0.0690876841545105 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.058106631324687, + -14.964465407850975, + 0.08108913183382649 + ], + "intended_face_normal": [ + -0.17813624452560362, + -0.3555199275689134, + 0.9175364427205999 + ], + "commanded_contact_point": [ + -29.122452850341798, + -14.959354414185562, + 0.03033252123778339 + ], + "centerline_face_intersection": [ + -29.179382568269734, + -14.94479862876453, + 0.03033252123778339 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.121891021728516, + -14.947868347167969, + 0.06961989402770996 + ], + "box_pose": [ + -29.03124237060547, + -14.948665618896484, + 0.03383767232298851, + 0.6513384580612183, + 0.2552216351032257, + 0.5035058856010437, + 0.5070522427558899 + ], + "box_yaw_rad": 1.1645345612768752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014555785421031612, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007277283568185776 + } + } + }, + { + "simulation_time_ns": 10020000000, + "center": [ + -29.04829365761726, + -14.94618940793769, + 0.03091220824901143 + ], + "face_center": [ + -29.058716232088987, + -14.967427832044939, + 0.08091640969688331 + ], + "face_normal": [ + -0.1884107664494401, + -0.38393083926445115, + 0.9039350062736737 + ], + "footprint_xy": [ + [ + -29.19599342438373, + -15.079858206330515 + ], + [ + -28.900593890850796, + -15.079858206330515 + ], + [ + -28.900593890850796, + -14.812520609544864 + ], + [ + -29.19599342438373, + -14.812520609544864 + ] + ], + "projected_box_corners": [ + [ + -29.17514827544028, + -14.94086983305796 + ], + [ + -28.955573525698583, + -15.037381358116015 + ], + [ + -29.19599342438373, + -14.98334668127246 + ], + [ + -28.97641867464203, + -15.079858206330515 + ], + [ + -29.120168640592492, + -14.812520609544864 + ], + [ + -28.900593890850796, + -14.909032134602919 + ], + [ + -29.14101378953594, + -14.854997457759364 + ], + [ + -28.921439039794244, + -14.951508982817419 + ] + ], + "yaw_rad": 1.1660834285669162, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.119651794433594, + -14.952799797058105, + 0.06830702722072601 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.058108824161025, + -14.965303183049969, + 0.08096429187095626 + ], + "intended_face_normal": [ + -0.1806544260671572, + -0.3621271667041768, + 0.9144551473688267 + ], + "commanded_contact_point": [ + -29.121434326171876, + -14.959637340744122, + 0.03037813347824758 + ], + "centerline_face_intersection": [ + -29.17920251242823, + -14.945270902335153, + 0.03037813347824758 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.120403289794922, + -14.950004577636719, + 0.0690876841545105 + ], + "box_pose": [ + -29.031112670898438, + -14.94914722442627, + 0.03390883654356003, + 0.6522200703620911, + 0.2529568076133728, + 0.5056407451629639, + 0.5049251317977905 + ], + "box_yaw_rad": 1.1654740733255744, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014366438408968986, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010580734373066023 + } + } + }, + { + "simulation_time_ns": 10040000000, + "center": [ + -29.04848294285393, + -14.946763765569097, + 0.031202723437225736 + ], + "face_center": [ + -29.059187937869503, + -14.968806512187987, + 0.08079750392490219 + ], + "face_normal": [ + -0.19351613377229882, + -0.3984707229853086, + 0.8965338294223919 + ], + "footprint_xy": [ + [ + -29.196237254539998, + -15.080673529183683 + ], + [ + -28.900728631167862, + -15.080673529183683 + ], + [ + -28.900728631167862, + -14.812854001954511 + ], + [ + -29.196237254539998, + -14.812854001954511 + ] + ], + "projected_box_corners": [ + [ + -29.174827264508846, + -14.940171928676046 + ], + [ + -28.955205836338834, + -15.0365880359459 + ], + [ + -29.196237254539998, + -14.984257421913828 + ], + [ + -28.976615826369983, + -15.080673529183683 + ], + [ + -29.120350059337877, + -14.812854001954511 + ], + [ + -28.900728631167862, + -14.909270109224366 + ], + [ + -29.141760049369026, + -14.856939495192293 + ], + [ + -28.92213862119901, + -14.953355602462148 + ] + ], + "yaw_rad": 1.1664860981527354, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.119163513183594, + -14.954568862915039, + 0.06739115715026855 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.058716232088987, + -14.967427832044939, + 0.08091640969688331 + ], + "intended_face_normal": [ + -0.1884107664494401, + -0.38393083926445115, + 0.9039350062736737 + ], + "commanded_contact_point": [ + -29.119946594238282, + -14.960291430781842, + 0.03091220824901143 + ], + "centerline_face_intersection": [ + -29.179343215892438, + -14.94618940793769, + 0.03091220824901143 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.119651794433594, + -14.952799797058105, + 0.06830702722072601 + ], + "box_pose": [ + -29.03131866455078, + -14.9501314163208, + 0.03450273349881172, + 0.6557515859603882, + 0.24502484500408173, + 0.5118156671524048, + 0.4979933798313141 + ], + "box_yaw_rad": 1.1660834285669162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01410202284415234, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017106770427073696 + } + } + }, + { + "simulation_time_ns": 10060000000, + "center": [ + -29.04854058296483, + -14.946879539039704, + 0.030980149062296795 + ], + "face_center": [ + -29.059401431022877, + -14.969041871208915, + 0.08048767122367273 + ], + "face_normal": [ + -0.19633351744901795, + -0.40063249263762657, + 0.8949564448537348 + ], + "footprint_xy": [ + [ + -29.196329133964667, + -15.080817108547281 + ], + [ + -28.90075203196499, + -15.080817108547281 + ], + [ + -28.90075203196499, + -14.812941969532126 + ], + [ + -29.196329133964667, + -14.812941969532126 + ] + ], + "projected_box_corners": [ + [ + -29.17460743784857, + -14.94010791847457 + ], + [ + -28.95498265649228, + -15.036492444208859 + ], + [ + -29.196329133964667, + -14.984432582812993 + ], + [ + -28.976704352608376, + -15.080817108547281 + ], + [ + -29.120376813321283, + -14.812941969532126 + ], + [ + -28.90075203196499, + -14.909326495266416 + ], + [ + -29.142098509437382, + -14.857266633870548 + ], + [ + -28.92247372808109, + -14.953651159604838 + ] + ], + "yaw_rad": 1.1676934628035445, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.11851692199707, + -14.955161094665527, + 0.06611466407775879 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.059187937869503, + -14.968806512187987, + 0.08079750392490219 + ], + "intended_face_normal": [ + -0.19351613377229882, + -0.3984707229853086, + 0.8965338294223919 + ], + "commanded_contact_point": [ + -29.11821662902832, + -14.960553584519412, + 0.031202723437225736 + ], + "centerline_face_intersection": [ + -29.179504647802304, + -14.946763765569097, + 0.031202723437225736 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.119163513183594, + -14.954568862915039, + 0.06739115715026855 + ], + "box_pose": [ + -29.031526565551758, + -14.950750350952148, + 0.03483179211616516, + 0.6580760478973389, + 0.2396828979253769, + 0.5159178972244263, + 0.4932715892791748 + ], + "box_yaw_rad": 1.1664860981527354, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01378981895031465, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017736694405610274 + } + } + }, + { + "simulation_time_ns": 10080000000, + "center": [ + -29.04812051779598, + -14.946647430743221, + 0.030248317068402565 + ], + "face_center": [ + -29.0590442523279, + -14.96830985580756, + 0.07996283678450704 + ], + "face_normal": [ + -0.19747032762712813, + -0.39159558136027073, + 0.8986983771417094 + ], + "footprint_xy": [ + [ + -29.195919201707266, + -15.080386125804104 + ], + [ + -28.900321833884696, + -15.080386125804104 + ], + [ + -28.900321833884696, + -14.812908735682338 + ], + [ + -29.195919201707266, + -14.812908735682338 + ] + ], + "projected_box_corners": [ + [ + -29.174071732643423, + -14.94077491562901 + ], + [ + -28.95443669200794, + -15.037061275675429 + ], + [ + -29.195919201707266, + -14.984099765757685 + ], + [ + -28.97628416107178, + -15.080386125804104 + ], + [ + -29.119956874520177, + -14.812908735682338 + ], + [ + -28.900321833884696, + -14.909195095728757 + ], + [ + -29.14180434358402, + -14.856233585811015 + ], + [ + -28.92216930294854, + -14.952519945857434 + ] + ], + "yaw_rad": 1.1704387419467746, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.117385864257812, + -14.954754829406738, + 0.06432431936264038 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.059401431022877, + -14.969041871208915, + 0.08048767122367273 + ], + "intended_face_normal": [ + -0.19633351744901795, + -0.40063249263762657, + 0.8949564448537348 + ], + "commanded_contact_point": [ + -29.11638557434082, + -14.960338095764985, + 0.030980149062296795 + ], + "centerline_face_intersection": [ + -29.17956028750059, + -14.946879539039704, + 0.030980149062296795 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11851692199707, + -14.955161094665527, + 0.06611466407775879 + ], + "box_pose": [ + -29.03159523010254, + -14.950871467590332, + 0.03465455397963524, + 0.657802164554596, + 0.2383379191160202, + 0.5173128247261047, + 0.492827445268631 + ], + "box_yaw_rad": 1.1676934628035445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.013458556725281736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018570772801030258 + } + } + }, + { + "simulation_time_ns": 10100000000, + "center": [ + -29.047443807007888, + -14.946060234990183, + 0.02936082085580655 + ], + "face_center": [ + -29.058307230063846, + -14.966850442260691, + 0.07945945692580833 + ], + "face_normal": [ + -0.1963800661525834, + -0.3758283423261801, + 0.9056421180418006 + ], + "footprint_xy": [ + [ + -29.195231046891514, + -15.079456961935117 + ], + [ + -28.89965656712426, + -15.079456961935117 + ], + [ + -28.89965656712426, + -14.812663508045247 + ], + [ + -29.195231046891514, + -14.812663508045247 + ] + ], + "projected_box_corners": [ + [ + -29.1735042007796, + -14.941681271972072 + ], + [ + -28.95387397437042, + -15.0378765473941 + ], + [ + -29.195231046891514, + -14.983261686513089 + ], + [ + -28.975600820482335, + -15.079456961935117 + ], + [ + -29.119286793533444, + -14.812663508045247 + ], + [ + -28.89965656712426, + -14.908858783467275 + ], + [ + -29.141013639645358, + -14.854243922586264 + ], + [ + -28.921383413236175, + -14.950439198008294 + ] + ], + "yaw_rad": 1.1729710457345723, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.116064071655273, + -14.953656196594238, + 0.062426865100860596 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.0590442523279, + -14.96830985580756, + 0.07996283678450704 + ], + "intended_face_normal": [ + -0.19747032762712813, + -0.39159558136027073, + 0.8986983771417094 + ], + "commanded_contact_point": [ + -29.114670867919923, + -14.959781691521963, + 0.030248317068402565 + ], + "centerline_face_intersection": [ + -29.17913410232591, + -14.946647430743221, + 0.030248317068402565 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.117385864257812, + -14.954754829406738, + 0.06432431936264038 + ], + "box_pose": [ + -29.031179428100586, + -14.95059871673584, + 0.033985771238803864, + 0.6549293398857117, + 0.2406802624464035, + 0.5165901184082031, + 0.4962613880634308 + ], + "box_yaw_rad": 1.1704387419467746, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.013134260778741049, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019456057819638333 + } + } + }, + { + "simulation_time_ns": 10120000000, + "center": [ + -29.0461755237797, + -14.945578842402325, + 0.02886921153674714 + ], + "face_center": [ + -29.056930413250043, + -14.96564759714786, + 0.07928446464235742 + ], + "face_normal": [ + -0.19441808486803325, + -0.36278651436361997, + 0.91136566153979 + ], + "footprint_xy": [ + [ + -29.193886824059664, + -15.078545211426002 + ], + [ + -28.89846422349973, + -15.078545211426002 + ], + [ + -28.89846422349973, + -14.812612473378648 + ], + [ + -29.193886824059664, + -14.812612473378648 + ] + ], + "projected_box_corners": [ + [ + -29.17237704511897, + -14.942652032119666 + ], + [ + -28.95259461875436, + -15.038407701934933 + ], + [ + -29.193886824059664, + -14.982789541610735 + ], + [ + -28.974104397695054, + -15.078545211426002 + ], + [ + -29.11824664986434, + -14.812612473378648 + ], + [ + -28.89846422349973, + -14.908368143193917 + ], + [ + -29.139756428805033, + -14.852749982869717 + ], + [ + -28.919974002440423, + -14.948505652684986 + ] + ], + "yaw_rad": 1.1763509235498235, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.114526748657227, + -14.95274829864502, + 0.06151726841926575 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.058307230063846, + -14.966850442260691, + 0.07945945692580833 + ], + "intended_face_normal": [ + -0.1963800661525834, + -0.3758283423261801, + 0.9056421180418006 + ], + "commanded_contact_point": [ + -29.112956161499024, + -14.958890657304762, + 0.02936082085580655 + ], + "centerline_face_intersection": [ + -29.178460263314875, + -14.946060234990183, + 0.02936082085580655 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.116064071655273, + -14.953656196594238, + 0.062426865100860596 + ], + "box_pose": [ + -29.030498504638672, + -14.94994831085205, + 0.03314516320824623, + 0.6509203314781189, + 0.2454453557729721, + 0.5140203237533569, + 0.5018389225006104 + ], + "box_yaw_rad": 1.1729710457345723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012830422314578838, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002126454705246573 + } + } + }, + { + "simulation_time_ns": 10140000000, + "center": [ + -29.045981858666806, + -14.945351732075531, + 0.028648418450390224 + ], + "face_center": [ + -29.05664646464456, + -14.965072033173078, + 0.07922013266725095 + ], + "face_normal": [ + -0.1927860138204096, + -0.35648745465744014, + 0.9141940373859114 + ], + "footprint_xy": [ + [ + -29.193669909032185, + -15.078162864142692 + ], + [ + -28.898293808301432, + -15.078162864142692 + ], + [ + -28.898293808301432, + -14.81254060000837 + ], + [ + -29.193669909032185, + -14.81254060000837 + ] + ], + "projected_box_corners": [ + [ + -29.172340697076674, + -14.943007443864028 + ], + [ + -28.95255084740684, + -15.0387222619476 + ], + [ + -29.193669909032185, + -14.98244804605912 + ], + [ + -28.97388005936235, + -15.078162864142692 + ], + [ + -29.118083657971265, + -14.81254060000837 + ], + [ + -28.898293808301432, + -14.908255418091942 + ], + [ + -29.139412869926776, + -14.851981202203463 + ], + [ + -28.919623020256942, + -14.947696020287037 + ] + ], + "yaw_rad": 1.1766855699054866, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.11430549621582, + -14.952152252197266, + 0.061441242694854736 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.056930413250043, + -14.96564759714786, + 0.07928446464235742 + ], + "intended_face_normal": [ + -0.19441808486803325, + -0.36278651436361997, + 0.91136566153979 + ], + "commanded_contact_point": [ + -29.111113662719728, + -14.958122486467197, + 0.02886921153674714 + ], + "centerline_face_intersection": [ + -29.177101250818016, + -14.945578842402325, + 0.02886921153674714 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.114526748657227, + -14.95274829864502, + 0.06151726841926575 + ], + "box_pose": [ + -29.029218673706055, + -14.949386596679688, + 0.03268338367342949, + 0.6474475860595703, + 0.2500742971897125, + 0.5120594501495361, + 0.5060331225395203 + ], + "box_yaw_rad": 1.1763509235498235, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012543644064871058, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002055861841170831 + } + } + }, + { + "simulation_time_ns": 10160000000, + "center": [ + -29.045938880359902, + -14.945186353920421, + 0.02840206361258074 + ], + "face_center": [ + -29.05655882096174, + -14.964651604417561, + 0.07908185713532583 + ], + "face_normal": [ + -0.19197858973026882, + -0.351876858759411, + 0.9161478065735764 + ], + "footprint_xy": [ + [ + -29.193621233017392, + -15.077894240035185 + ], + [ + -28.898256527702408, + -15.077894240035185 + ], + [ + -28.898256527702408, + -14.81247846780566 + ], + [ + -29.193621233017392, + -14.81247846780566 + ] + ], + "projected_box_corners": [ + [ + -29.172381351813712, + -14.943241027476956 + ], + [ + -28.952605939812553, + -15.038963739040907 + ], + [ + -29.193621233017392, + -14.982171528471234 + ], + [ + -28.973845821016234, + -15.077894240035185 + ], + [ + -29.118031939703567, + -14.81247846780566 + ], + [ + -28.898256527702408, + -14.90820117936961 + ], + [ + -29.139271820907247, + -14.851408968799937 + ], + [ + -28.919496408906088, + -14.947131680363889 + ] + ], + "yaw_rad": 1.1768851324431135, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.11420249938965, + -14.9517240524292, + 0.061279043555259705 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05664646464456, + -14.965072033173078, + 0.07922013266725095 + ], + "intended_face_normal": [ + -0.1927860138204096, + -0.35648745465744014, + 0.9141940373859114 + ], + "commanded_contact_point": [ + -29.109583969116212, + -14.957623355335533, + 0.028648418450390224 + ], + "centerline_face_intersection": [ + -29.17690316374644, + -14.945351732075531, + 0.028648418450390224 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11430549621582, + -14.952152252197266, + 0.061441242694854736 + ], + "box_pose": [ + -29.02901840209961, + -14.949134826660156, + 0.03245776146650314, + 0.6461811065673828, + 0.2522663176059723, + 0.5105817317962646, + 0.5080533027648926 + ], + "box_yaw_rad": 1.1766855699054866, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012271623260001687, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016241440804975246 + } + } + }, + { + "simulation_time_ns": 10180000000, + "center": [ + -29.04579685987167, + -14.94494578521657, + 0.028386348756996835 + ], + "face_center": [ + -29.056239638400868, + -14.964042394842426, + 0.07924288429223553 + ], + "face_normal": [ + -0.18877599885575336, + -0.34521287096146125, + 0.9193428039447227 + ], + "footprint_xy": [ + [ + -29.193434882930042, + -15.077498602089749 + ], + [ + -28.898158836813295, + -15.077498602089749 + ], + [ + -28.898158836813295, + -14.81239296834339 + ], + [ + -29.193434882930042, + -14.81239296834339 + ] + ], + "projected_box_corners": [ + [ + -29.172549325871643, + -14.943576586668147 + ], + [ + -28.95277215142505, + -15.039305382838034 + ], + [ + -29.193434882930042, + -14.98176980591986 + ], + [ + -28.973657708483447, + -15.077498602089749 + ], + [ + -29.117936011259886, + -14.81239296834339 + ], + [ + -28.898158836813295, + -14.908121764513279 + ], + [ + -29.138821568318285, + -14.850586187595106 + ], + [ + -28.91904439387169, + -14.946314983764992 + ] + ], + "yaw_rad": 1.1763074456784661, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.113889694213867, + -14.951142311096191, + 0.061572566628456116 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05655882096174, + -14.964651604417561, + 0.07908185713532583 + ], + "intended_face_normal": [ + -0.19197858973026882, + -0.351876858759411, + 0.9161478065735764 + ], + "commanded_contact_point": [ + -29.10823928833008, + -14.957196469240072, + 0.02840206361258074 + ], + "centerline_face_intersection": [ + -29.176868786030514, + -14.945186353920421, + 0.02840206361258074 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11420249938965, + -14.9517240524292, + 0.061279043555259705 + ], + "box_pose": [ + -29.028972625732422, + -14.948954582214355, + 0.03221366927027702, + 0.6451923251152039, + 0.25370776653289795, + 0.5095736384391785, + 0.5096017122268677 + ], + "box_yaw_rad": 1.1768851324431135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012010115319650579, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014321623026755277 + } + } + }, + { + "simulation_time_ns": 10200000000, + "center": [ + -29.045632972095092, + -14.944729821937807, + 0.028456264369739994 + ], + "face_center": [ + -29.055857174514923, + -14.963501687432794, + 0.07947785668659252 + ], + "face_normal": [ + -0.1848247589384897, + -0.3393424124904527, + 0.9223265652808408 + ], + "footprint_xy": [ + [ + -29.19320943961952, + -15.07714327251461 + ], + [ + -28.89805650457066, + -15.07714327251461 + ], + [ + -28.89805650457066, + -14.812316371361005 + ], + [ + -29.19320943961952, + -14.812316371361005 + ] + ], + "projected_box_corners": [ + [ + -29.172761034779857, + -14.943862227524585 + ], + [ + -28.95297268624688, + -15.039599541524638 + ], + [ + -29.19320943961952, + -14.981405958514559 + ], + [ + -28.973421091086543, + -15.07714327251461 + ], + [ + -29.117844853103637, + -14.812316371361005 + ], + [ + -28.89805650457066, + -14.908053685361056 + ], + [ + -29.138293257943303, + -14.849860102350979 + ], + [ + -28.918504909410327, + -14.94559741635103 + ] + ], + "yaw_rad": 1.1753226331293471, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.11354637145996, + -14.95068073272705, + 0.06203506886959076 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.056239638400868, + -14.964042394842426, + 0.07924288429223553 + ], + "intended_face_normal": [ + -0.18877599885575336, + -0.34521287096146125, + 0.9193428039447227 + ], + "commanded_contact_point": [ + -29.10693084716797, + -14.956708039501036, + 0.028386348756996835 + ], + "centerline_face_intersection": [ + -29.176725715584226, + -14.94494578521657, + 0.028386348756996835 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.113889694213867, + -14.951142311096191, + 0.061572566628456116 + ], + "box_pose": [ + -29.028818130493164, + -14.948692321777344, + 0.032163627445697784, + 0.6443172693252563, + 0.25635287165641785, + 0.5074068307876587, + 0.511543333530426 + ], + "box_yaw_rad": 1.1763074456784661, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01176225428446571, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013967207456621756 + } + } + }, + { + "simulation_time_ns": 10220000000, + "center": [ + -29.045580209217665, + -14.944677107813604, + 0.028485690221016016 + ], + "face_center": [ + -29.05573968282848, + -14.963373520143103, + 0.0795479111437084 + ], + "face_normal": [ + -0.18365464453429325, + -0.3379784319519388, + 0.9230610159472121 + ], + "footprint_xy": [ + [ + -29.19313841437426, + -15.077060943720907 + ], + [ + -28.89802200406107, + -15.077060943720907 + ], + [ + -28.89802200406107, + -14.8122932719063 + ], + [ + -29.19313841437426, + -14.8122932719063 + ] + ], + "projected_box_corners": [ + [ + -29.172819467152628, + -14.943919456233507 + ], + [ + -28.95303013656325, + -15.03966811906191 + ], + [ + -29.19313841437426, + -14.981312280892505 + ], + [ + -28.973349083784882, + -15.077060943720907 + ], + [ + -29.117811334650447, + -14.8122932719063 + ], + [ + -28.89802200406107, + -14.908041934734701 + ], + [ + -29.13813028187208, + -14.849686096565296 + ], + [ + -28.9183409512827, + -14.945434759393699 + ] + ], + "yaw_rad": 1.1749447544333955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.11341094970703, + -14.950614929199219, + 0.06219060719013214 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.055857174514923, + -14.963501687432794, + 0.07947785668659252 + ], + "intended_face_normal": [ + -0.1848247589384897, + -0.3393424124904527, + 0.9223265652808408 + ], + "commanded_contact_point": [ + -29.105754013061524, + -14.956254039790704, + 0.028456264369739994 + ], + "centerline_face_intersection": [ + -29.17655517135678, + -14.944729821937807, + 0.028456264369739994 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11354637145996, + -14.95068073272705, + 0.06203506886959076 + ], + "box_pose": [ + -29.02863883972168, + -14.948457717895508, + 0.03218237683176994, + 0.6438521146774292, + 0.2589830756187439, + 0.5050996541976929, + 0.5130852460861206 + ], + "box_yaw_rad": 1.1753226331293471, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01152421785289597, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012633061560762817 + } + } + }, + { + "simulation_time_ns": 10240000000, + "center": [ + -29.0456012303258, + -14.94469142718914, + 0.02839758168274536 + ], + "face_center": [ + -29.05581099471269, + -14.96341506220354, + 0.0794398045815363 + ], + "face_normal": [ + -0.1845637600019927, + -0.33847054135743093, + 0.9226995080471276 + ], + "footprint_xy": [ + [ + -29.193177747233978, + -15.077092829422126 + ], + [ + -28.898024713417623, + -15.077092829422126 + ], + [ + -28.898024713417623, + -14.812290024956154 + ], + [ + -29.193177747233978, + -14.812290024956154 + ] + ], + "projected_box_corners": [ + [ + -29.172758218460196, + -14.943881414893434 + ], + [ + -28.952981990707467, + -15.039645559393326 + ], + [ + -29.193177747233978, + -14.981328684922232 + ], + [ + -28.973401519481246, + -15.077092829422126 + ], + [ + -29.117800941170355, + -14.812290024956154 + ], + [ + -28.898024713417623, + -14.908054169456046 + ], + [ + -29.138220469944134, + -14.849737294984951 + ], + [ + -28.918444242191406, + -14.945501439484845 + ] + ], + "yaw_rad": 1.1751797087277422, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.11338233947754, + -14.950838088989258, + 0.06203334033489227 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05573968282848, + -14.963373520143103, + 0.0795479111437084 + ], + "intended_face_normal": [ + -0.18365464453429325, + -0.3379784319519388, + 0.9230610159472121 + ], + "commanded_contact_point": [ + -29.104617233276368, + -14.955963812811076, + 0.028485690221016016 + ], + "centerline_face_intersection": [ + -29.176501823496526, + -14.944677107813604, + 0.028485690221016016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11341094970703, + -14.950614929199219, + 0.06219060719013214 + ], + "box_pose": [ + -29.028581619262695, + -14.94840145111084, + 0.032194990664720535, + 0.6438227891921997, + 0.25965121388435364, + 0.5044615268707275, + 0.5134121775627136 + ], + "box_yaw_rad": 1.1749447544333955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011286704997471373, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011736123126343738 + } + } + }, + { + "simulation_time_ns": 10260000000, + "center": [ + -29.045655173058886, + -14.94470705790869, + 0.028224942695618534 + ], + "face_center": [ + -29.05601201815132, + -14.963466984702555, + 0.079224171482985 + ], + "face_normal": [ + -0.18722256455519215, + -0.33912659442792403, + 0.9219222957078657 + ], + "footprint_xy": [ + [ + -29.19328135242082, + -15.077130226744721 + ], + [ + -28.89802899369695, + -15.077130226744721 + ], + [ + -28.89802899369695, + -14.812283889072662 + ], + [ + -29.19328135242082, + -14.812283889072662 + ] + ], + "projected_box_corners": [ + [ + -29.172567662235952, + -14.943830054459585 + ], + [ + -28.952821805415372, + -15.039610373156995 + ], + [ + -29.19328135242082, + -14.981349908047312 + ], + [ + -28.973535495600238, + -15.077130226744721 + ], + [ + -29.11777485051753, + -14.812283889072662 + ], + [ + -28.89802899369695, + -14.908064207770071 + ], + [ + -29.1384885407024, + -14.849803742660388 + ], + [ + -28.91874268388182, + -14.945584061357797 + ] + ], + "yaw_rad": 1.1761223915476147, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.113435745239258, + -14.951192855834961, + 0.06157694756984711 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05581099471269, + -14.96341506220354, + 0.0794398045815363 + ], + "intended_face_normal": [ + -0.1845637600019927, + -0.33847054135743093, + 0.9226995080471276 + ], + "commanded_contact_point": [ + -29.10321533203125, + -14.955732265714607, + 0.02839758168274536 + ], + "centerline_face_intersection": [ + -29.17653065001903, + -14.94469142718914, + 0.02839758168274536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11338233947754, + -14.950838088989258, + 0.06203334033489227 + ], + "box_pose": [ + -29.028606414794922, + -14.948418617248535, + 0.03212129697203636, + 0.6437244415283203, + 0.25925031304359436, + 0.5048307776451111, + 0.5133752822875977 + ], + "box_yaw_rad": 1.1751797087277422, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011040838525466652, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014236236417889683 + } + } + }, + { + "simulation_time_ns": 10280000000, + "center": [ + -29.045118063536364, + -14.944870783382301, + 0.02801109785217693 + ], + "face_center": [ + -29.055547339256705, + -14.963572079379583, + 0.07901710396065975 + ], + "face_normal": [ + -0.1885319061344113, + -0.33806671489897155, + 0.9220448105691865 + ], + "footprint_xy": [ + [ + -29.192787134567713, + -15.077313398422445 + ], + [ + -28.897448992505016, + -15.077313398422445 + ], + [ + -28.897448992505016, + -14.812428168342157 + ], + [ + -29.192787134567713, + -14.812428168342157 + ] + ], + "projected_box_corners": [ + [ + -29.17192858312703, + -14.944000013090362 + ], + [ + -28.952255236171307, + -15.039910806427883 + ], + [ + -29.192787134567713, + -14.981402605084924 + ], + [ + -28.97311378761199, + -15.077313398422445 + ], + [ + -29.11712233946074, + -14.812428168342157 + ], + [ + -28.897448992505016, + -14.908338961679679 + ], + [ + -29.13798089090142, + -14.84983076033672 + ], + [ + -28.918307543945698, + -14.945741553674242 + ] + ], + "yaw_rad": 1.1761046730165647, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.112905502319336, + -14.951546669006348, + 0.06121024489402771 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05601201815132, + -14.963466984702555, + 0.079224171482985 + ], + "intended_face_normal": [ + -0.18722256455519215, + -0.33912659442792403, + 0.9219222957078657 + ], + "commanded_contact_point": [ + -29.10158073425293, + -14.955488464517106, + 0.028224942695618534 + ], + "centerline_face_intersection": [ + -29.176602688422175, + -14.94470705790869, + 0.028224942695618534 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.113435745239258, + -14.951192855834961, + 0.06157694756984711 + ], + "box_pose": [ + -29.028671264648438, + -14.948437690734863, + 0.03199467808008194, + 0.6431906819343567, + 0.2583181858062744, + 0.5058349967002869, + 0.5135254263877869 + ], + "box_yaw_rad": 1.1761223915476147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010781406608415834, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016616717908987274 + } + } + }, + { + "simulation_time_ns": 10300000000, + "center": [ + -29.042987824748074, + -14.945371030119826, + 0.027889566703548745 + ], + "face_center": [ + -29.05345991829825, + -14.963929925653762, + 0.07893878604317123 + ], + "face_normal": [ + -0.18930593179941013, + -0.3354925159316693, + 0.9228259839752262 + ], + "footprint_xy": [ + [ + -29.19077239794256, + -15.077999673296452 + ], + [ + -28.895203251553593, + -15.077999673296452 + ], + [ + -28.895203251553593, + -14.812742386943201 + ], + [ + -29.19077239794256, + -14.812742386943201 + ] + ], + "projected_box_corners": [ + [ + -29.169828210842212, + -14.944253867475759 + ], + [ + -28.950474668905528, + -15.040881882228579 + ], + [ + -29.19077239794256, + -14.98137165854363 + ], + [ + -28.971418856005876, + -15.077999673296452 + ], + [ + -29.114556793490273, + -14.812742386943201 + ], + [ + -28.895203251553593, + -14.909370401696021 + ], + [ + -29.13550098059062, + -14.849860178011072 + ], + [ + -28.91614743865394, + -14.946488192763892 + ] + ], + "yaw_rad": 1.1729318161902655, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.110837936401367, + -14.95193099975586, + 0.061086997389793396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.055547339256705, + -14.963572079379583, + 0.07901710396065975 + ], + "intended_face_normal": [ + -0.1885319061344113, + -0.33806671489897155, + 0.9220448105691865 + ], + "commanded_contact_point": [ + -29.100024337768556, + -14.955385154565755, + 0.02801109785217693 + ], + "centerline_face_intersection": [ + -29.17610880210708, + -14.944870783382301, + 0.02801109785217693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.112905502319336, + -14.951546669006348, + 0.06121024489402771 + ], + "box_pose": [ + -29.028141021728516, + -14.9486083984375, + 0.03180477395653725, + 0.6427112221717834, + 0.2580662667751312, + 0.5059205889701843, + 0.5141677260398865 + ], + "box_yaw_rad": 1.1761046730165647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010514371183453972, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015744118202330574 + } + } + }, + { + "simulation_time_ns": 10320000000, + "center": [ + -29.04078474906685, + -14.946039281321776, + 0.02809832789838751 + ], + "face_center": [ + -29.05143318159434, + -14.964961992413667, + 0.07897722310008062 + ], + "face_normal": [ + -0.19249364343065167, + -0.3420692756666597, + 0.9197470036849751 + ], + "footprint_xy": [ + [ + -29.188652398008628, + -15.07892310921603 + ], + [ + -28.892917100125075, + -15.07892310921603 + ], + [ + -28.892917100125075, + -14.81315545342752 + ], + [ + -29.188652398008628, + -14.81315545342752 + ] + ], + "projected_box_corners": [ + [ + -29.167355532953646, + -14.944179649071385 + ], + [ + -28.94812011407585, + -15.04107768703225 + ], + [ + -29.188652398008628, + -14.982025071255167 + ], + [ + -28.96941697913083, + -15.07892310921603 + ], + [ + -29.112152519002873, + -14.81315545342752 + ], + [ + -28.892917100125075, + -14.910053491388384 + ], + [ + -29.13344938405785, + -14.851000875611302 + ], + [ + -28.914213965180053, + -14.947898913572166 + ] + ], + "yaw_rad": 1.1720474461504156, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.108760833740234, + -14.952815055847168, + 0.060923293232917786 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05345991829825, + -14.963929925653762, + 0.07893878604317123 + ], + "intended_face_normal": [ + -0.18930593179941013, + -0.3354925159316693, + 0.9228259839752262 + ], + "commanded_contact_point": [ + -29.098429794311524, + -14.95562300251784, + 0.027889566703548745 + ], + "centerline_face_intersection": [ + -29.174169540383822, + -14.945371030119826, + 0.027889566703548745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.110837936401367, + -14.95193099975586, + 0.061086997389793396 + ], + "box_pose": [ + -29.02602195739746, + -14.94915771484375, + 0.03168456628918648, + 0.6427013874053955, + 0.2576170861721039, + 0.5046594738960266, + 0.5156424045562744 + ], + "box_yaw_rad": 1.1729318161902655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010251972398012652, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016167591981363744 + } + } + }, + { + "simulation_time_ns": 10340000000, + "center": [ + -29.040286526329204, + -14.946249789280406, + 0.027628322709800427 + ], + "face_center": [ + -29.051136320857218, + -14.965186174344508, + 0.07845956899897966 + ], + "face_normal": [ + -0.196133700784614, + -0.3423164625389248, + 0.9188856456633481 + ], + "footprint_xy": [ + [ + -29.188220789584072, + -15.079153662538703 + ], + [ + -28.892352263074333, + -15.079153662538703 + ], + [ + -28.892352263074333, + -14.813345916022111 + ], + [ + -29.188220789584072, + -14.813345916022111 + ] + ], + "projected_box_corners": [ + [ + -29.166521200528038, + -14.944342283168613 + ], + [ + -28.947342293459062, + -15.0412808924105 + ], + [ + -29.188220789584072, + -14.982215053296816 + ], + [ + -28.969041882515096, + -15.079153662538703 + ], + [ + -29.11153117014331, + -14.813345916022111 + ], + [ + -28.892352263074333, + -14.910284525263998 + ], + [ + -29.133230759199343, + -14.851218686150315 + ], + [ + -28.914051852130367, + -14.948157295392202 + ] + ], + "yaw_rad": 1.1733529248898058, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.108081817626953, + -14.953166007995605, + 0.05957728624343872 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.05143318159434, + -14.964961992413667, + 0.07897722310008062 + ], + "intended_face_normal": [ + -0.19249364343065167, + -0.3420692756666597, + 0.9197470036849751 + ], + "commanded_contact_point": [ + -29.096423263549806, + -14.956020222738772, + 0.02809832789838751 + ], + "centerline_face_intersection": [ + -29.172037144821715, + -14.946039281321776, + 0.02809832789838751 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.108760833740234, + -14.952815055847168, + 0.060923293232917786 + ], + "box_pose": [ + -29.023834228515625, + -14.949869155883789, + 0.0319184809923172, + 0.6439117193222046, + 0.2546701431274414, + 0.5063717365264893, + 0.5139147639274597 + ], + "box_yaw_rad": 1.1720474461504156, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.009980941416996954, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020560960186994832 + } + } + }, + { + "simulation_time_ns": 10360000000, + "center": [ + -29.03940169321141, + -14.947327653821686, + 0.027476963555097635 + ], + "face_center": [ + -29.050727537854357, + -14.967005133189954, + 0.07792141672943051 + ], + "face_normal": [ + -0.20473934493381307, + -0.3557133585014327, + 0.9118935164707693 + ], + "footprint_xy": [ + [ + -29.187353367358433, + -15.080314733461002 + ], + [ + -28.891450019064386, + -15.080314733461002 + ], + [ + -28.891450019064386, + -14.81434057418237 + ], + [ + -29.187353367358433, + -14.81434057418237 + ] + ], + "projected_box_corners": [ + [ + -29.164701678072543, + -14.944687839052806 + ], + [ + -28.945282150668287, + -15.040959774724467 + ], + [ + -29.187353367358433, + -14.984042797789341 + ], + [ + -28.967933839954178, + -15.080314733461002 + ], + [ + -29.110869546468642, + -14.81434057418237 + ], + [ + -28.891450019064386, + -14.910612509854031 + ], + [ + -29.133521235754532, + -14.853695532918906 + ], + [ + -28.91410170835028, + -14.949967468590566 + ] + ], + "yaw_rad": 1.1791419762696596, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.106733322143555, + -14.955191612243652, + 0.05724635720252991 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.051136320857218, + -14.965186174344508, + 0.07845956899897966 + ], + "intended_face_normal": [ + -0.196133700784614, + -0.3423164625389248, + 0.9188856456633481 + ], + "commanded_contact_point": [ + -29.094306106567384, + -14.955954081948795, + 0.027628322709800427 + ], + "centerline_face_intersection": [ + -29.17157276343493, + -14.946249789280406, + 0.027628322709800427 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.108081817626953, + -14.953166007995605, + 0.05957728624343872 + ], + "box_pose": [ + -29.023351669311523, + -14.95008373260498, + 0.031513314694166183, + 0.643024206161499, + 0.2535363733768463, + 0.5076200366020203, + 0.514354944229126 + ], + "box_yaw_rad": 1.1733529248898058, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.009704292668388986, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021697080839632107 + } + } + }, + { + "simulation_time_ns": 10380000000, + "center": [ + -29.036776512569947, + -14.948724422235026, + 0.027284921453127955 + ], + "face_center": [ + -29.04820193659281, + -14.968658942820882, + 0.07760584489055596 + ], + "face_normal": [ + -0.2065394594202985, + -0.36035993914678244, + 0.9096604470431835 + ], + "footprint_xy": [ + [ + -29.18467641311546, + -15.081650566366495 + ], + [ + -28.888876612024433, + -15.081650566366495 + ], + [ + -28.888876612024433, + -14.815798278103559 + ], + [ + -29.18467641311546, + -14.815798278103559 + ] + ], + "projected_box_corners": [ + [ + -29.161825565069734, + -14.945986734455667 + ], + [ + -28.942208338095814, + -15.041781525194782 + ], + [ + -29.18467641311546, + -14.98585577562738 + ], + [ + -28.965059186141545, + -15.081650566366495 + ], + [ + -29.108493838998353, + -14.815798278103559 + ], + [ + -28.888876612024433, + -14.911593068842674 + ], + [ + -29.13134468704408, + -14.85566731927527 + ], + [ + -28.91172746007016, + -14.951462110014385 + ] + ], + "yaw_rad": 1.181998600472405, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.103919982910156, + -14.956859588623047, + 0.056543946266174316 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.050727537854357, + -14.967005133189954, + 0.07792141672943051 + ], + "intended_face_normal": [ + -0.20473934493381307, + -0.3557133585014327, + 0.9118935164707693 + ], + "commanded_contact_point": [ + -29.092654342651368, + -14.956717388153196, + 0.027476963555097635 + ], + "centerline_face_intersection": [ + -29.17054395890874, + -14.947327653821686, + 0.027476963555097635 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.106733322143555, + -14.955191612243652, + 0.05724635720252991 + ], + "box_pose": [ + -29.02249526977539, + -14.951152801513672, + 0.03149228170514107, + 0.6433280110359192, + 0.24843907356262207, + 0.5137954354286194, + 0.51031494140625 + ], + "box_yaw_rad": 1.1791419762696596, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.009389734331510339, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018258888218183984 + } + } + }, + { + "simulation_time_ns": 10400000000, + "center": [ + -29.036195649542574, + -14.948538734265208, + 0.027238811248227288 + ], + "face_center": [ + -29.04747008595024, + -14.968088285717226, + 0.07774448010045254 + ], + "face_normal": [ + -0.20381002895368283, + -0.353400782389258, + 0.9130001233673397 + ], + "footprint_xy": [ + [ + -29.184053591384018, + -15.081267043858327 + ], + [ + -28.88833770770113, + -15.081267043858327 + ], + [ + -28.88833770770113, + -14.815810424672087 + ], + [ + -29.184053591384018, + -14.815810424672087 + ] + ], + "projected_box_corners": [ + [ + -29.161504718568686, + -14.946487875596484 + ], + [ + -28.941842098693577, + -15.04216794095429 + ], + [ + -29.184053591384018, + -14.98558697850052 + ], + [ + -28.964390971508912, + -15.081267043858327 + ], + [ + -29.10800032757624, + -14.815810424672087 + ], + [ + -28.88833770770113, + -14.911490490029895 + ], + [ + -29.13054920039157, + -14.854909527576124 + ], + [ + -28.910886580516465, + -14.950589592933932 + ] + ], + "yaw_rad": 1.1821798102227772, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.103134155273438, + -14.956571578979492, + 0.056739941239356995 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.04820193659281, + -14.968658942820882, + 0.07760584489055596 + ], + "intended_face_normal": [ + -0.2065394594202985, + -0.36035993914678244, + 0.9096604470431835 + ], + "commanded_contact_point": [ + -29.091025466918946, + -14.957788749911016, + 0.027284921453127955 + ], + "centerline_face_intersection": [ + -29.16780072391494, + -14.948724422235026, + 0.027284921453127955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.103919982910156, + -14.956859588623047, + 0.056543946266174316 + ], + "box_pose": [ + -29.019872665405273, + -14.952527046203613, + 0.0313323512673378, + 0.6434351205825806, + 0.24729874730110168, + 0.5159178376197815, + 0.5085895657539368 + ], + "box_yaw_rad": 1.181998600472405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.009064327675989501, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001959064148189243 + } + } + }, + { + "simulation_time_ns": 10420000000, + "center": [ + -29.03579199957755, + -14.948203265058522, + 0.027489957225793275 + ], + "face_center": [ + -29.04665780712685, + -14.967275586008466, + 0.07826692925753938 + ], + "face_normal": [ + -0.1964231710705846, + -0.3447738001678431, + 0.9179045200816418 + ], + "footprint_xy": [ + [ + -29.183548711605315, + -15.080719847921598 + ], + [ + -28.888035287549787, + -15.080719847921598 + ], + [ + -28.888035287549787, + -14.815686682195446 + ], + [ + -29.183548711605315, + -14.815686682195446 + ] + ], + "projected_box_corners": [ + [ + -29.16181709650672, + -14.946920138625508 + ], + [ + -28.94209574880416, + -15.04257520602171 + ], + [ + -29.183548711605315, + -14.985064780525397 + ], + [ + -28.96382736390276, + -15.080719847921598 + ], + [ + -29.107756635252347, + -14.815686682195446 + ], + [ + -28.888035287549787, + -14.911341749591646 + ], + [ + -29.129488250350942, + -14.853831324095333 + ], + [ + -28.909766902648382, + -14.949486391491535 + ] + ], + "yaw_rad": 1.180038425612882, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.102434158325195, + -14.956072807312012, + 0.057736486196517944 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.04747008595024, + -14.968088285717226, + 0.07774448010045254 + ], + "intended_face_normal": [ + -0.20381002895368283, + -0.353400782389258, + 0.9130001233673397 + ], + "commanded_contact_point": [ + -29.089503402709962, + -14.957281748152626, + 0.027238811248227288 + ], + "centerline_face_intersection": [ + -29.16719278496048, + -14.948538734265208, + 0.027238811248227288 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.103134155273438, + -14.956571578979492, + 0.056739941239356995 + ], + "box_pose": [ + -29.01927947998047, + -14.952308654785156, + 0.031265296041965485, + 0.642230749130249, + 0.250057578086853, + 0.514042854309082, + 0.5106571912765503 + ], + "box_yaw_rad": 1.1821798102227772, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008743013887418128, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016049474727471463 + } + } + }, + { + "simulation_time_ns": 10440000000, + "center": [ + -29.03417837181087, + -14.947849604707878, + 0.027828777811149556 + ], + "face_center": [ + -29.044671612994435, + -14.966484046896834, + 0.0788461355115701 + ], + "face_normal": [ + -0.18968822139844121, + -0.33685818649738053, + 0.9222500153526312 + ], + "footprint_xy": [ + [ + -29.181869100005333, + -15.080260727221685 + ], + [ + -28.88648764361641, + -15.080260727221685 + ], + [ + -28.88648764361641, + -14.815438482194072 + ], + [ + -29.181869100005333, + -14.815438482194072 + ] + ], + "projected_box_corners": [ + [ + -29.160882617638205, + -14.94708562328261 + ], + [ + -28.941225258005467, + -15.042991842843774 + ], + [ + -29.181869100005333, + -14.984354507660521 + ], + [ + -28.962211740372595, + -15.080260727221685 + ], + [ + -29.106145003249143, + -14.815438482194072 + ], + [ + -28.88648764361641, + -14.911344701755235 + ], + [ + -29.12713148561627, + -14.852707366571984 + ], + [ + -28.907474125983537, + -14.948613586133146 + ] + ], + "yaw_rad": 1.1767521005665014, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.100587844848633, + -14.955556869506836, + 0.058802634477615356 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.04665780712685, + -14.967275586008466, + 0.07826692925753938 + ], + "intended_face_normal": [ + -0.1964231710705846, + -0.3447738001678431, + 0.9179045200816418 + ], + "commanded_contact_point": [ + -29.088217849731446, + -14.9566314972558, + 0.027489957225793275 + ], + "centerline_face_intersection": [ + -29.166754121660407, + -14.948203265058522, + 0.027489957225793275 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.102434158325195, + -14.956072807312012, + 0.057736486196517944 + ], + "box_pose": [ + -29.018844604492188, + -14.951942443847656, + 0.031412456184625626, + 0.6419912576675415, + 0.254429429769516, + 0.5101314783096313, + 0.5127169489860535 + ], + "box_yaw_rad": 1.180038425612882, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008428232197278545, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014623771714028326 + } + } + }, + { + "simulation_time_ns": 10460000000, + "center": [ + -29.03062721231361, + -14.94710019596789, + 0.02838050152116963 + ], + "face_center": [ + -29.040941714915355, + -14.96565765007886, + 0.07946232788374419 + ], + "face_normal": [ + -0.1864571316819621, + -0.3354664590676535, + 0.9234154270348753 + ], + "footprint_xy": [ + [ + -29.178420591003515, + -15.079884893487618 + ], + [ + -28.88283383362371, + -15.079884893487618 + ], + [ + -28.88283383362371, + -14.814315498448162 + ], + [ + -29.178420591003515, + -14.814315498448162 + ] + ], + "projected_box_corners": [ + [ + -29.157791585800027, + -14.945690839959841 + ], + [ + -28.93859957309115, + -15.042769985265679 + ], + [ + -29.178420591003515, + -14.98280574818178 + ], + [ + -28.95922857829464, + -15.079884893487618 + ], + [ + -29.102025846332587, + -14.814315498448162 + ], + [ + -28.88283383362371, + -14.911394643753999 + ], + [ + -29.122654851536076, + -14.851430406670103 + ], + [ + -28.903462838827195, + -14.94850955197594 + ] + ], + "yaw_rad": 1.1693692087706054, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.0969295501709, + -14.95456600189209, + 0.05990584194660187 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.044671612994435, + -14.966484046896834, + 0.0788461355115701 + ], + "intended_face_normal": [ + -0.18968822139844121, + -0.33685818649738053, + 0.9222500153526312 + ], + "commanded_contact_point": [ + -29.08709442138672, + -14.955969546313199, + 0.027828777811149556 + ], + "centerline_face_intersection": [ + -29.165178644281337, + -14.947849604707878, + 0.027828777811149556 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.100587844848633, + -14.955556869506836, + 0.058802634477615356 + ], + "box_pose": [ + -29.0172061920166, + -14.951582908630371, + 0.03164836764335632, + 0.6420673131942749, + 0.2580646872520447, + 0.506140947341919, + 0.5147558450698853 + ], + "box_yaw_rad": 1.1767521005665014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008119941605320233, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013472452208888842 + } + } + }, + { + "simulation_time_ns": 10480000000, + "center": [ + -29.02534256860503, + -14.946094034094886, + 0.028926726345068886 + ], + "face_center": [ + -29.035523040691697, + -14.964682330198324, + 0.08002422239328692 + ], + "face_normal": [ + -0.18403423778547534, + -0.33602399535156025, + 0.9236986907803271 + ], + "footprint_xy": [ + [ + -29.173279665675114, + -15.079393744025747 + ], + [ + -28.877405471534946, + -15.079393744025747 + ], + [ + -28.877405471534946, + -14.812794324164022 + ], + [ + -29.173279665675114, + -14.812794324164022 + ] + ], + "projected_box_corners": [ + [ + -29.15291872150178, + -14.943687214960379 + ], + [ + -28.934325990935445, + -15.042217151818871 + ], + [ + -29.173279665675114, + -14.980863807167255 + ], + [ + -28.95468693510878, + -15.079393744025747 + ], + [ + -29.09599820210128, + -14.812794324164022 + ], + [ + -28.877405471534946, + -14.911324261022516 + ], + [ + -29.116359146274615, + -14.849970916370898 + ], + [ + -28.89776641570828, + -14.948500853229392 + ] + ], + "yaw_rad": 1.1606010935758992, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.091569900512695, + -14.953312873840332, + 0.061060428619384766 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.040941714915355, + -14.96565765007886, + 0.07946232788374419 + ], + "intended_face_normal": [ + -0.1864571316819621, + -0.3354664590676535, + 0.9234154270348753 + ], + "commanded_contact_point": [ + -29.08596145629883, + -14.954921505336243, + 0.02838050152116963 + ], + "centerline_face_intersection": [ + -29.161905599725703, + -14.94710019596789, + 0.02838050152116963 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.0969295501709, + -14.95456600189209, + 0.05990584194660187 + ], + "box_pose": [ + -29.013654708862305, + -14.950922966003418, + 0.03210907429456711, + 0.64402836561203, + 0.25784993171691895, + 0.502951979637146, + 0.51553875207901 + ], + "box_yaw_rad": 1.1693692087706054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00782130936835223, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016390237435608397 + } + } + }, + { + "simulation_time_ns": 10500000000, + "center": [ + -29.019408124038463, + -14.944979275723716, + 0.029521505719509268 + ], + "face_center": [ + -29.029455264810046, + -14.963621225814776, + 0.08062583274016479 + ], + "face_normal": [ + -0.18162398345388908, + -0.3369939082035476, + 0.923822175506297 + ], + "footprint_xy": [ + [ + -29.167442147992748, + -15.078695505953581 + ], + [ + -28.87137410008418, + -15.078695505953581 + ], + [ + -28.87137410008418, + -14.81126304549385 + ], + [ + -29.167442147992748, + -14.81126304549385 + ] + ], + "projected_box_corners": [ + [ + -29.147347866449582, + -14.941736439115138 + ], + [ + -28.929236276041397, + -15.041411605771462 + ], + [ + -29.167442147992748, + -14.979020339297257 + ], + [ + -28.949330557584563, + -15.078695505953581 + ], + [ + -29.08948569049236, + -14.81126304549385 + ], + [ + -28.87137410008418, + -14.910938212150173 + ], + [ + -29.109579972035526, + -14.84854694567597 + ], + [ + -28.891468381627345, + -14.948222112332294 + ] + ], + "yaw_rad": 1.15337870075487, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.085567474365234, + -14.95201301574707, + 0.062424436211586 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.035523040691697, + -14.964682330198324, + 0.08002422239328692 + ], + "intended_face_normal": [ + -0.18403423778547534, + -0.33602399535156025, + 0.9236986907803271 + ], + "commanded_contact_point": [ + -29.084715957641603, + -14.95362658987342, + 0.028926726345068886 + ], + "centerline_face_intersection": [ + -29.156980861824938, + -14.946094034094886, + 0.028926726345068886 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.091569900512695, + -14.953312873840332, + 0.061060428619384766 + ], + "box_pose": [ + -29.008377075195312, + -14.950035095214844, + 0.032562900334596634, + 0.6466211080551147, + 0.25654494762420654, + 0.4998931288719177, + 0.5159192681312561 + ], + "box_yaw_rad": 1.1606010935758992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0075325557785343705, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018778803261273662 + } + } + }, + { + "simulation_time_ns": 10520000000, + "center": [ + -29.014914377397925, + -14.944229540057082, + 0.030033299659860718 + ], + "face_center": [ + -29.024844925573365, + -14.962919576210489, + 0.08114287013042316 + ], + "face_normal": [ + -0.1795163179763435, + -0.33786316866189203, + 0.9239169622999519 + ], + "footprint_xy": [ + [ + -29.163020538143968, + -15.078286443843336 + ], + [ + -28.86680821665188, + -15.078286443843336 + ], + [ + -28.86680821665188, + -14.810172636270828 + ], + [ + -29.163020538143968, + -14.810172636270828 + ] + ], + "projected_box_corners": [ + [ + -29.143159441793085, + -14.940293853855534 + ], + [ + -28.925450604502977, + -15.04090637153652 + ], + [ + -29.163020538143968, + -14.97767392616235 + ], + [ + -28.945311700853864, + -15.078286443843336 + ], + [ + -29.084517053941987, + -14.810172636270828 + ], + [ + -28.86680821665188, + -14.910785153951814 + ], + [ + -29.10437815029287, + -14.847552708577641 + ], + [ + -28.886669313002763, + -14.948165226258629 + ] + ], + "yaw_rad": 1.147381160071514, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.081052780151367, + -14.951123237609863, + 0.0637422651052475 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.029455264810046, + -14.963621225814776, + 0.08062583274016479 + ], + "intended_face_normal": [ + -0.18162398345388908, + -0.3369939082035476, + 0.923822175506297 + ], + "commanded_contact_point": [ + -29.083394165039063, + -14.952230481901315, + 0.029521505719509268 + ], + "centerline_face_intersection": [ + -29.151336802877495, + -14.944979275723716, + 0.029521505719509268 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.085567474365234, + -14.95201301574707, + 0.062424436211586 + ], + "box_pose": [ + -29.0024471282959, + -14.949015617370605, + 0.03307315334677696, + 0.6489397883415222, + 0.2555103600025177, + 0.49736717343330383, + 0.515962541103363 + ], + "box_yaw_rad": 1.15337870075487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.007251206177600193, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020124650700468517 + } + } + }, + { + "simulation_time_ns": 10540000000, + "center": [ + -29.013916771889892, + -14.944436791020323, + 0.030389292485000507 + ], + "face_center": [ + -29.023850234333423, + -14.96344861847388, + 0.0813794734918693 + ], + "face_normal": [ + -0.1795689997284171, + -0.3436802482771455, + 0.9217587373410865 + ], + "footprint_xy": [ + [ + -29.162058088248926, + -15.078739974533004 + ], + [ + -28.86577545553086, + -15.078739974533004 + ], + [ + -28.86577545553086, + -14.810133607507641 + ], + [ + -29.162058088248926, + -14.810133607507641 + ] + ], + "projected_box_corners": [ + [ + -29.142191163361865, + -14.939789973543286 + ], + [ + -28.924609895272418, + -15.04071631962589 + ], + [ + -29.162058088248926, + -14.9778136284504 + ], + [ + -28.94447682015948, + -15.078739974533004 + ], + [ + -29.083356723620305, + -14.810133607507641 + ], + [ + -28.86577545553086, + -14.911059953590245 + ], + [ + -29.103223648507367, + -14.848157262414755 + ], + [ + -28.88564238041792, + -14.949083608497359 + ] + ], + "yaw_rad": 1.1448099623907895, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.080175399780273, + -14.95145320892334, + 0.06435094773769379 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.024844925573365, + -14.962919576210489, + 0.08114287013042316 + ], + "intended_face_normal": [ + -0.1795163179763435, + -0.33786316866189203, + 0.9239169622999519 + ], + "commanded_contact_point": [ + -29.082057113647462, + -14.951204998332571, + 0.030033299659860718 + ], + "centerline_face_intersection": [ + -29.147087119304988, + -14.944229540057082, + 0.030033299659860718 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.081052780151367, + -14.951123237609863, + 0.0637422651052475 + ], + "box_pose": [ + -28.997957229614258, + -14.948344230651855, + 0.03351269289851189, + 0.6508908867835999, + 0.25467807054519653, + 0.49525007605552673, + 0.5159530639648438 + ], + "box_yaw_rad": 1.147381160071514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00697545827548893, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017610383331798766 + } + } + }, + { + "simulation_time_ns": 10560000000, + "center": [ + -29.01435454702349, + -14.945070265587225, + 0.031125316419137426 + ], + "face_center": [ + -29.024628977716663, + -14.964605834690758, + 0.08184925932305565 + ], + "face_normal": [ + -0.18573274453296662, + -0.35314802094323916, + 0.9169459029333256 + ], + "footprint_xy": [ + [ + -29.162691963196266, + -15.079818161464063 + ], + [ + -28.86601713085071, + -15.079818161464063 + ], + [ + -28.86601713085071, + -14.810322369710384 + ], + [ + -29.162691963196266, + -14.810322369710384 + ] + ], + "projected_box_corners": [ + [ + -29.142143101809918, + -14.939153340022104 + ], + [ + -28.92487543155425, + -15.040747023256994 + ], + [ + -29.162691963196266, + -14.978224478229173 + ], + [ + -28.945424292940597, + -15.079818161464063 + ], + [ + -29.08328480110638, + -14.810322369710384 + ], + [ + -28.86601713085071, + -14.911916052945276 + ], + [ + -29.10383366249273, + -14.849393507917453 + ], + [ + -28.88656599223706, + -14.950987191152345 + ] + ], + "yaw_rad": 1.142248540135533, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.080873489379883, + -14.952223777770996, + 0.06507939100265503 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.023850234333423, + -14.96344861847388, + 0.0813794734918693 + ], + "intended_face_normal": [ + -0.1795689997284171, + -0.3436802482771455, + 0.9217587373410865 + ], + "commanded_contact_point": [ + -29.080878372192384, + -14.95113159257969, + 0.030389292485000507 + ], + "centerline_face_intersection": [ + -29.14616700746717, + -14.944436791020323, + 0.030389292485000507 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.080175399780273, + -14.95145320892334, + 0.06435094773769379 + ], + "box_pose": [ + -28.996963500976562, + -14.948596000671387, + 0.03383447974920273, + 0.6528455018997192, + 0.2527427077293396, + 0.49561363458633423, + 0.5140827894210815 + ], + "box_yaw_rad": 1.1448099623907895, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006694801559368241, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001233511537857135 + } + } + }, + { + "simulation_time_ns": 10580000000, + "center": [ + -29.016711207321308, + -14.944787004812767, + 0.03142819456334065 + ], + "face_center": [ + -29.027079235845832, + -14.964234936204589, + 0.08216677016420312 + ], + "face_normal": [ + -0.18742472948259525, + -0.3515637781557732, + 0.917210420846243 + ], + "footprint_xy": [ + [ + -29.165216677647525, + -15.079877555187966 + ], + [ + -28.868205736995094, + -15.079877555187966 + ], + [ + -28.868205736995094, + -14.809696454437569 + ], + [ + -29.165216677647525, + -14.809696454437569 + ] + ], + "projected_box_corners": [ + [ + -29.14448062059848, + -14.938259741222355 + ], + [ + -28.92774485497769, + -15.040981692404324 + ], + [ + -29.165216677647525, + -14.977155604005997 + ], + [ + -28.948480912026735, + -15.079877555187966 + ], + [ + -29.084941502615884, + -14.809696454437569 + ], + [ + -28.868205736995094, + -14.912418405619539 + ], + [ + -29.10567755966493, + -14.848592317221211 + ], + [ + -28.88894179404414, + -14.95131426840318 + ] + ], + "yaw_rad": 1.1370926492465943, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.08333969116211, + -14.95159912109375, + 0.0659140795469284 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.024628977716663, + -14.964605834690758, + 0.08184925932305565 + ], + "intended_face_normal": [ + -0.18573274453296662, + -0.35314802094323916, + 0.9169459029333256 + ], + "commanded_contact_point": [ + -29.07993232727051, + -14.951478926659242, + 0.031125316419137426 + ], + "centerline_face_intersection": [ + -29.14679566874294, + -14.945070265587225, + 0.031125316419137426 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.080873489379883, + -14.952223777770996, + 0.06507939100265503 + ], + "box_pose": [ + -28.997432708740234, + -14.949315071105957, + 0.034620270133018494, + 0.6545858383178711, + 0.24767540395259857, + 0.49808773398399353, + 0.5119403004646301 + ], + "box_yaw_rad": 1.142248540135533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006408661072017378, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012479475905043307 + } + } + }, + { + "simulation_time_ns": 10600000000, + "center": [ + -29.018808356394313, + -14.939617840383603, + 0.031166700554729275 + ], + "face_center": [ + -29.028565388643976, + -14.95850013240623, + 0.08223900279419608 + ], + "face_normal": [ + -0.17637963915902333, + -0.3413386128309668, + 0.9232432577364591 + ], + "footprint_xy": [ + [ + -29.166877052820507, + -15.073841834859893 + ], + [ + -28.870739659968123, + -15.073841834859893 + ], + [ + -28.870739659968123, + -14.805393845907311 + ], + [ + -29.166877052820507, + -14.805393845907311 + ] + ], + "projected_box_corners": [ + [ + -29.14736298832118, + -14.935219811783112 + ], + [ + -28.929740043681655, + -15.036077250814635 + ], + [ + -29.166877052820507, + -14.972984395828371 + ], + [ + -28.949254108180977, + -15.073841834859893 + ], + [ + -29.08836260460765, + -14.805393845907311 + ], + [ + -28.870739659968123, + -14.906251284938833 + ], + [ + -29.107876669106975, + -14.84315842995257 + ], + [ + -28.890253724467446, + -14.944015868984092 + ] + ], + "yaw_rad": 1.144241731026274, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.085268020629883, + -14.946656227111816, + 0.06658165156841278 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.027079235845832, + -14.964234936204589, + 0.08216677016420312 + ], + "intended_face_normal": [ + -0.18742472948259525, + -0.3515637781557732, + 0.917210420846243 + ], + "commanded_contact_point": [ + -29.079325790405274, + -14.950923181233545, + 0.03142819456334065 + ], + "centerline_face_intersection": [ + -29.149477360981326, + -14.944787004812767, + 0.03142819456334065 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.08333969116211, + -14.95159912109375, + 0.0659140795469284 + ], + "box_pose": [ + -28.99981117248535, + -14.949117660522461, + 0.03492332622408867, + 0.6550981402397156, + 0.24617452919483185, + 0.4966168701648712, + 0.5134357213973999 + ], + "box_yaw_rad": 1.1370926492465943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006136176420778053, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008766271255824856 + } + } + }, + { + "simulation_time_ns": 10620000000, + "center": [ + -29.018773962380124, + -14.933676701509688, + 0.03099100609172381 + ], + "face_center": [ + -29.028094539351038, + -14.952389261521033, + 0.0822070814198368 + ], + "face_normal": [ + -0.168489758034859, + -0.3382703365213189, + 0.925842269899924 + ], + "footprint_xy": [ + [ + -29.166364924572502, + -15.06696142196565 + ], + [ + -28.871183000187745, + -15.06696142196565 + ], + [ + -28.871183000187745, + -14.800391981053727 + ], + [ + -29.166364924572502, + -14.800391981053727 + ] + ], + "projected_box_corners": [ + [ + -29.147723770630673, + -14.931210398740456 + ], + [ + -28.928938019494797, + -15.02953630194296 + ], + [ + -29.166364924572502, + -14.968635518763145 + ], + [ + -28.947579173436626, + -15.06696142196565 + ], + [ + -29.08996875132362, + -14.800391981053727 + ], + [ + -28.871183000187745, + -14.89871788425623 + ], + [ + -29.10860990526545, + -14.837817101076416 + ], + [ + -28.889824154129574, + -14.93614300427892 + ] + ], + "yaw_rad": 1.1550418388034183, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.0849609375, + -14.941428184509277, + 0.06709074974060059 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.028565388643976, + -14.95850013240623, + 0.08223900279419608 + ], + "intended_face_normal": [ + -0.17637963915902333, + -0.3413386128309668, + 0.9232432577364591 + ], + "commanded_contact_point": [ + -29.078742141723634, + -14.945472481335253, + 0.031166700554729275 + ], + "centerline_face_intersection": [ + -29.151033264984235, + -14.939617840383603, + 0.031166700554729275 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.085268020629883, + -14.946656227111816, + 0.06658165156841278 + ], + "box_pose": [ + -29.001842498779297, + -14.943763732910156, + 0.03456566110253334, + 0.6529778838157654, + 0.2543330192565918, + 0.4942561984062195, + 0.5144369602203369 + ], + "box_yaw_rad": 1.144241731026274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005854640951649511, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0054880920438127034 + } + } + }, + { + "simulation_time_ns": 10640000000, + "center": [ + -29.0186189086236, + -14.933480906368633, + 0.031092690618309007 + ], + "face_center": [ + -29.027985264878744, + -14.952367554365106, + 0.08223647681915353 + ], + "face_normal": [ + -0.16931731844734088, + -0.3414173565590932, + 0.9245354862533723 + ], + "footprint_xy": [ + [ + -29.166261133606568, + -15.066937859546616 + ], + [ + -28.870976683640638, + -15.066937859546616 + ], + [ + -28.870976683640638, + -14.80002395319065 + ], + [ + -29.166261133606568, + -14.80002395319065 + ] + ], + "projected_box_corners": [ + [ + -29.14752842109628, + -14.930560321266272 + ], + [ + -28.928863480769948, + -15.02916456355367 + ], + [ + -29.166261133606568, + -14.96833361725922 + ], + [ + -28.947596193280233, + -15.066937859546616 + ], + [ + -29.08964162396697, + -14.80002395319065 + ], + [ + -28.870976683640638, + -14.898628195478045 + ], + [ + -29.108374336477258, + -14.837797249183595 + ], + [ + -28.889709396150923, + -14.936401491470992 + ] + ], + "yaw_rad": 1.1533998690746359, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.084550857543945, + -14.941411018371582, + 0.0673661082983017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.028094539351038, + -14.952389261521033, + 0.0822070814198368 + ], + "intended_face_normal": [ + -0.168489758034859, + -0.3382703365213189, + 0.925842269899924 + ], + "commanded_contact_point": [ + -29.078200454711915, + -14.939221283141354, + 0.03099100609172381 + ], + "centerline_face_intersection": [ + -29.150296119616776, + -14.933676701509688, + 0.03099100609172381 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.0849609375, + -14.941428184509277, + 0.06709074974060059 + ], + "box_pose": [ + -29.001747131347656, + -14.93760871887207, + 0.034338824450969696, + 0.6511600613594055, + 0.26053953170776367, + 0.4951017498970032, + 0.5128194689750671 + ], + "box_yaw_rad": 1.1550418388034183, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005544581631665931, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0062770830982555445 + } + } + }, + { + "simulation_time_ns": 10660000000, + "center": [ + -29.018568719202047, + -14.933590775141289, + 0.031187721600524042 + ], + "face_center": [ + -29.027886429378963, + -14.952655154707246, + 0.0822744281681595 + ], + "face_normal": [ + -0.16843793448049382, + -0.344630242331192, + 0.9235036473856582 + ], + "footprint_xy": [ + [ + -29.166191485592826, + -15.067127374652506 + ], + [ + -28.87094595281127, + -15.067127374652506 + ], + [ + -28.87094595281127, + -14.800054175630072 + ], + [ + -29.166191485592826, + -14.800054175630072 + ] + ], + "projected_box_corners": [ + [ + -29.147556065238998, + -14.930386638978106 + ], + [ + -28.928886149832394, + -15.028998615520589 + ], + [ + -29.166191485592826, + -14.968515398110023 + ], + [ + -28.947521570186225, + -15.067127374652506 + ], + [ + -29.089615868217873, + -14.800054175630072 + ], + [ + -28.87094595281127, + -14.898666152172554 + ], + [ + -29.108251288571704, + -14.838182934761988 + ], + [ + -28.8895813731651, + -14.936794911304471 + ] + ], + "yaw_rad": 1.1524780876091265, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.084123611450195, + -14.94185733795166, + 0.06782478094100952 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.027985264878744, + -14.952367554365106, + 0.08223647681915353 + ], + "intended_face_normal": [ + -0.16931731844734088, + -0.3414173565590932, + 0.9245354862533723 + ], + "commanded_contact_point": [ + -29.077691192626954, + -14.938708283520182, + 0.031092690618309007 + ], + "centerline_face_intersection": [ + -29.150213730907815, + -14.933480906368633, + 0.031092690618309007 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.084550857543945, + -14.941411018371582, + 0.0673661082983017 + ], + "box_pose": [ + -29.001598358154297, + -14.937445640563965, + 0.034433864057064056, + 0.6521339416503906, + 0.2591330409049988, + 0.49540892243385315, + 0.5119974613189697 + ], + "box_yaw_rad": 1.1533998690746359, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005227377151547966, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007299700168146383 + } + } + }, + { + "simulation_time_ns": 10680000000, + "center": [ + -29.018530789733013, + -14.933737327624435, + 0.0313454461146831 + ], + "face_center": [ + -29.02787451033893, + -14.953041921750987, + 0.0823370873264225 + ], + "face_normal": [ + -0.16890812971652736, + -0.3489726444504413, + 0.9217851337290028 + ], + "footprint_xy": [ + [ + -29.166163660360365, + -15.067380916766208 + ], + [ + -28.870897919105666, + -15.067380916766208 + ], + [ + -28.870897919105666, + -14.80009373848266 + ], + [ + -29.166163660360365, + -14.80009373848266 + ] + ], + "projected_box_corners": [ + [ + -29.14747621914853, + -14.930145948671756 + ], + [ + -28.92880790045004, + -15.028771728513101 + ], + [ + -29.166163660360365, + -14.96875513692486 + ], + [ + -28.94749534166187, + -15.067380916766208 + ], + [ + -29.089566237804156, + -14.80009373848266 + ], + [ + -28.870897919105666, + -14.898719518324008 + ], + [ + -29.10825367901599, + -14.838702926735767 + ], + [ + -28.889585360317497, + -14.937328706577114 + ] + ], + "yaw_rad": 1.151872343614388, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.08373260498047, + -14.942407608032227, + 0.0681142508983612 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.027886429378963, + -14.952655154707246, + 0.0822744281681595 + ], + "intended_face_normal": [ + -0.16843793448049382, + -0.344630242331192, + 0.9235036473856582 + ], + "commanded_contact_point": [ + -29.077277297973634, + -14.938487489780421, + 0.031187721600524042 + ], + "centerline_face_intersection": [ + -29.150160547499627, + -14.933590775141289, + 0.031187721600524042 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.084123611450195, + -14.94185733795166, + 0.06782478094100952 + ], + "box_pose": [ + -29.001544952392578, + -14.937566757202148, + 0.03449901565909386, + 0.6532539129257202, + 0.2585200071334839, + 0.49555468559265137, + 0.5107371211051941 + ], + "box_yaw_rad": 1.1524780876091265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004896714639133105, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047863299838750043 + } + } + }, + { + "simulation_time_ns": 10700000000, + "center": [ + -29.018407838105432, + -14.93414068076787, + 0.031344726531436745 + ], + "face_center": [ + -29.027957978751893, + -14.953851593791944, + 0.08214232143775804 + ], + "face_normal": [ + -0.17263962217602113, + -0.35631774475292843, + 0.9182773235205275 + ], + "footprint_xy": [ + [ + -29.166107171866756, + -15.067928878263242 + ], + [ + -28.870708504344105, + -15.067928878263242 + ], + [ + -28.870708504344105, + -14.800352483272498 + ], + [ + -29.166107171866756, + -14.800352483272498 + ] + ], + "projected_box_corners": [ + [ + -29.14700689057383, + -14.929950774592383 + ], + [ + -28.928309034046745, + -15.028507052215092 + ], + [ + -29.166107171866756, + -14.969372600640533 + ], + [ + -28.94740931533967, + -15.067928878263242 + ], + [ + -29.08940636087119, + -14.800352483272498 + ], + [ + -28.870708504344105, + -14.898908760895207 + ], + [ + -29.108506642164116, + -14.839774309320648 + ], + [ + -28.88980878563703, + -14.938330586943357 + ] + ], + "yaw_rad": 1.1525636909768717, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.083425521850586, + -14.943244934082031, + 0.06774245202541351 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.02787451033893, + -14.953041921750987, + 0.0823370873264225 + ], + "intended_face_normal": [ + -0.16890812971652736, + -0.3489726444504413, + 0.9217851337290028 + ], + "commanded_contact_point": [ + -29.07671844482422, + -14.938287231047257, + 0.0313454461146831 + ], + "centerline_face_intersection": [ + -29.150123578909337, + -14.933737327624435, + 0.0313454461146831 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.08373260498047, + -14.942407608032227, + 0.0681142508983612 + ], + "box_pose": [ + -29.001508712768555, + -14.937728881835938, + 0.034646663814783096, + 0.6543278694152832, + 0.2572226822376251, + 0.49632787704467773, + 0.5092642307281494 + ], + "box_yaw_rad": 1.151872343614388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00454990342282144, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006142454112040727 + } + } + }, + { + "simulation_time_ns": 10720000000, + "center": [ + -29.017461524685032, + -14.934597449098572, + 0.030888184855662998 + ], + "face_center": [ + -29.027173079717315, + -14.95424074804357, + 0.08168136288036199 + ], + "face_normal": [ + -0.17555753926371764, + -0.3550954727992863, + 0.9181974787514608 + ], + "footprint_xy": [ + [ + -29.1652104319593, + -15.068331124820185 + ], + [ + -28.869712617410766, + -15.068331124820185 + ], + [ + -28.869712617410766, + -14.80086377337696 + ], + [ + -29.1652104319593, + -14.80086377337696 + ] + ], + "projected_box_corners": [ + [ + -29.145787321894726, + -14.930566740081222 + ], + [ + -28.92706713268367, + -15.029044526930187 + ], + [ + -29.1652104319593, + -14.96985333797122 + ], + [ + -28.94649024274824, + -15.068331124820185 + ], + [ + -29.088432806621825, + -14.80086377337696 + ], + [ + -28.869712617410766, + -14.899341560225926 + ], + [ + -29.107855916686393, + -14.840150371266956 + ], + [ + -28.889135727475335, + -14.938628158115922 + ] + ], + "yaw_rad": 1.1544486652770622, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.08237648010254, + -14.943758964538574, + 0.06702587008476257 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.027957978751893, + -14.953851593791944, + 0.08214232143775804 + ], + "intended_face_normal": [ + -0.17263962217602113, + -0.35631774475292843, + 0.9182773235205275 + ], + "commanded_contact_point": [ + -29.075686569213868, + -14.938326414058125, + 0.031344726531436745 + ], + "centerline_face_intersection": [ + -29.149982854061147, + -14.93414068076787, + 0.031344726531436745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.083425521850586, + -14.943244934082031, + 0.06774245202541351 + ], + "box_pose": [ + -29.00139808654785, + -14.938151359558105, + 0.03468605875968933, + 0.6552340388298035, + 0.25432175397872925, + 0.4988258481025696, + 0.5071110129356384 + ], + "box_yaw_rad": 1.1525636909768717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004185733290254983, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010326195337001587 + } + } + }, + { + "simulation_time_ns": 10740000000, + "center": [ + -29.01637533604934, + -14.935008675242427, + 0.030419699456820052 + ], + "face_center": [ + -29.02618648301324, + -14.954426622052756, + 0.08128035097404944 + ], + "face_normal": [ + -0.17735788064952374, + -0.3510217414453578, + 0.9194172092966504 + ], + "footprint_xy": [ + [ + -29.16411839064091, + -15.06853173758229 + ], + [ + -28.868632281457774, + -15.06853173758229 + ], + [ + -28.868632281457774, + -14.801485612902564 + ], + [ + -29.16411839064091, + -14.801485612902564 + ] + ], + "projected_box_corners": [ + [ + -29.144496096713105, + -14.931559894380886 + ], + [ + -28.925641989765367, + -15.029695843961631 + ], + [ + -29.16411839064091, + -14.970395788001543 + ], + [ + -28.94526428369317, + -15.06853173758229 + ], + [ + -29.08748638840551, + -14.801485612902564 + ], + [ + -28.868632281457774, + -14.899621562483311 + ], + [ + -29.107108682333312, + -14.840321506523223 + ], + [ + -28.888254575385577, + -14.938457456103968 + ] + ], + "yaw_rad": 1.1577265330855524, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.08123779296875, + -14.944059371948242, + 0.06636214256286621 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.027173079717315, + -14.95424074804357, + 0.08168136288036199 + ], + "intended_face_normal": [ + -0.17555753926371764, + -0.3550954727992863, + 0.9181974787514608 + ], + "commanded_contact_point": [ + -29.074221725463868, + -14.938416721771226, + 0.030888184855662998 + ], + "centerline_face_intersection": [ + -29.149023106017903, + -14.934597449098572, + 0.030888184855662998 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.08237648010254, + -14.943758964538574, + 0.06702587008476257 + ], + "box_pose": [ + -29.00046157836914, + -14.938597679138184, + 0.03429136797785759, + 0.654011070728302, + 0.25394102931022644, + 0.49981722235679626, + 0.5079036951065063 + ], + "box_yaw_rad": 1.1544486652770622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0038192726726548856, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001536994793965797 + } + } + }, + { + "simulation_time_ns": 10760000000, + "center": [ + -29.015054785090243, + -14.935392129017508, + 0.02992874585474505 + ], + "face_center": [ + -29.024907018736734, + -14.954522437250985, + 0.0808903645766561 + ], + "face_normal": [ + -0.17810061205227612, + -0.3458220467948223, + 0.9212424117427389 + ], + "footprint_xy": [ + [ + -29.162746974879408, + -15.06860982341346 + ], + [ + -28.867362595301074, + -15.06860982341346 + ], + [ + -28.867362595301074, + -14.802174434621557 + ], + [ + -29.162746974879408, + -14.802174434621557 + ] + ], + "projected_box_corners": [ + [ + -29.143042507586426, + -14.932746090123452 + ], + [ + -28.92397321801793, + -15.030349206946509 + ], + [ + -29.162746974879408, + -14.971006706590403 + ], + [ + -28.943677685310917, + -15.06860982341346 + ], + [ + -29.08643188486957, + -14.802174434621557 + ], + [ + -28.867362595301074, + -14.899777551444615 + ], + [ + -29.10613635216255, + -14.840435051088507 + ], + [ + -28.88706706259406, + -14.938038167911566 + ] + ], + "yaw_rad": 1.1616978373587203, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.07984161376953, + -14.944262504577637, + 0.06557871401309967 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.02618648301324, + -14.954426622052756, + 0.08128035097404944 + ], + "intended_face_normal": [ + -0.17735788064952374, + -0.3510217414453578, + 0.9194172092966504 + ], + "commanded_contact_point": [ + -29.072478408813478, + -14.93846592004685, + 0.030419699456820052 + ], + "centerline_face_intersection": [ + -29.14785641430438, + -14.935008675242427, + 0.030419699456820052 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.08123779296875, + -14.944059371948242, + 0.06636214256286621 + ], + "box_pose": [ + -28.999378204345703, + -14.93896770477295, + 0.03388456627726555, + 0.6519931554794312, + 0.2549585998058319, + 0.5004156231880188, + 0.5093969702720642 + ], + "box_yaw_rad": 1.1577265330855524, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003457244804422284, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001805838304716845 + } + } + }, + { + "simulation_time_ns": 10780000000, + "center": [ + -29.013177873483755, + -14.935766174515711, + 0.029472336927999446 + ], + "face_center": [ + -29.023128906306983, + -14.954709072294776, + 0.0804847310374882 + ], + "face_normal": [ + -0.17988662266450817, + -0.34243419406687536, + 0.9221602876203576 + ], + "footprint_xy": [ + [ + -29.160849369429346, + -15.068748922755823 + ], + [ + -28.865506377538168, + -15.068748922755823 + ], + [ + -28.865506377538168, + -14.802783426275601 + ], + [ + -29.160849369429346, + -14.802783426275601 + ] + ], + "projected_box_corners": [ + [ + -29.14094730378289, + -14.933705077936656 + ], + [ + -28.921707886251383, + -15.030863127197696 + ], + [ + -29.160849369429346, + -14.971590873494783 + ], + [ + -28.941609951897835, + -15.068748922755823 + ], + [ + -29.084745795069676, + -14.802783426275601 + ], + [ + -28.865506377538168, + -14.899941475536641 + ], + [ + -29.10464786071613, + -14.840669221833728 + ], + [ + -28.88540844318462, + -14.937827271094768 + ] + ], + "yaw_rad": 1.1653095427576818, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.077823638916016, + -14.944398880004883, + 0.06441757082939148 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.024907018736734, + -14.954522437250985, + 0.0808903645766561 + ], + "intended_face_normal": [ + -0.17810061205227612, + -0.3458220467948223, + 0.9212424117427389 + ], + "commanded_contact_point": [ + -29.070563430786134, + -14.938494558799524, + 0.02992874585474505 + ], + "centerline_face_intersection": [ + -29.146406714969192, + -14.935392129017508, + 0.02992874585474505 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.07984161376953, + -14.944262504577637, + 0.06557871401309967 + ], + "box_pose": [ + -28.99805450439453, + -14.939291000366211, + 0.03344598785042763, + 0.6497276425361633, + 0.2568010687828064, + 0.5007644295692444, + 0.511020839214325 + ], + "box_yaw_rad": 1.1616978373587203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003102429782017136, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019771182217445966 + } + } + }, + { + "simulation_time_ns": 10800000000, + "center": [ + -29.011483728944643, + -14.935833854272513, + 0.029000800606921756 + ], + "face_center": [ + -29.021583029025507, + -14.954587839559437, + 0.08005384027550166 + ], + "face_normal": [ + -0.18256687673478922, + -0.3390191887308589, + 0.922895044753723 + ], + "footprint_xy": [ + [ + -29.159200490542553, + -15.068708066426892 + ], + [ + -28.86376696734673, + -15.068708066426892 + ], + [ + -28.86376696734673, + -14.802959642118136 + ], + [ + -29.159200490542553, + -14.802959642118136 + ] + ], + "projected_box_corners": [ + [ + -29.139001890380825, + -14.934115674855821 + ], + [ + -28.919763272844882, + -15.031200095853043 + ], + [ + -29.159200490542553, + -14.971623645429668 + ], + [ + -28.93996187300661, + -15.068708066426892 + ], + [ + -29.083005584882677, + -14.802959642118136 + ], + [ + -28.86376696734673, + -14.90004406311536 + ], + [ + -29.103204185044405, + -14.840467612691983 + ], + [ + -28.883965567508458, + -14.937552033689206 + ] + ], + "yaw_rad": 1.1672800903844442, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.075946807861328, + -14.944080352783203, + 0.06289738416671753 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.023128906306983, + -14.954709072294776, + 0.0804847310374882 + ], + "intended_face_normal": [ + -0.17988662266450817, + -0.34243419406687536, + 0.9221602876203576 + ], + "commanded_contact_point": [ + -29.068728561401368, + -14.938523296078161, + 0.029472336927999446 + ], + "centerline_face_intersection": [ + -29.144427875358517, + -14.935766174515711, + 0.029472336927999446 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.077823638916016, + -14.944398880004883, + 0.06441757082939148 + ], + "box_pose": [ + -28.996179580688477, + -14.939618110656738, + 0.03305036947131157, + 0.6477808356285095, + 0.257758229970932, + 0.5015945434570312, + 0.5121948719024658 + ], + "box_yaw_rad": 1.1653095427576818, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002757121562450276, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018909998939044658 + } + } + }, + { + "simulation_time_ns": 10820000000, + "center": [ + -29.009528661722253, + -14.93561342533112, + 0.028858636486423526 + ], + "face_center": [ + -29.01965984470001, + -14.954384491486815, + 0.07989907928434752 + ], + "face_normal": [ + -0.18314322963648166, + -0.33932796268932464, + 0.9226673288413458 + ], + "footprint_xy": [ + [ + -29.157206891728016, + -15.06836760257328 + ], + [ + -28.861850431716494, + -15.06836760257328 + ], + [ + -28.861850431716494, + -14.802859248088959 + ], + [ + -29.157206891728016, + -14.802859248088959 + ] + ], + "projected_box_corners": [ + [ + -29.136944525772506, + -14.934108791736778 + ], + [ + -28.917553154157257, + -15.030825470261886 + ], + [ + -29.157206891728016, + -14.971650924048172 + ], + [ + -28.937815520112768, + -15.06836760257328 + ], + [ + -29.081241803331743, + -14.802859248088959 + ], + [ + -28.861850431716494, + -14.899575926614068 + ], + [ + -29.101504169287253, + -14.840401380400351 + ], + [ + -28.882112797672, + -14.93711805892546 + ] + ], + "yaw_rad": 1.1694313079661445, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.07398796081543, + -14.943634033203125, + 0.06233334541320801 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.021583029025507, + -14.954587839559437, + 0.08005384027550166 + ], + "intended_face_normal": [ + -0.18256687673478922, + -0.3390191887308589, + 0.922895044753723 + ], + "commanded_contact_point": [ + -29.066920394897462, + -14.938261115894536, + 0.029000800606921756 + ], + "centerline_face_intersection": [ + -29.14273420974698, + -14.935833854272513, + 0.029000800606921756 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.075946807861328, + -14.944080352783203, + 0.06289738416671753 + ], + "box_pose": [ + -28.994495391845703, + -14.939668655395508, + 0.03264392912387848, + 0.6460444331169128, + 0.2580011487007141, + 0.5021316409111023, + 0.5137370824813843 + ], + "box_yaw_rad": 1.1672800903844442, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024272616220226656, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018869422504756116 + } + } + }, + { + "simulation_time_ns": 10840000000, + "center": [ + -29.008978017059352, + -14.935445026276149, + 0.029089726209515065 + ], + "face_center": [ + -29.019036710627876, + -14.95436889594286, + 0.0800880663390383 + ], + "face_normal": [ + -0.18183282545661683, + -0.3420902194335227, + 0.9219062312790811 + ], + "footprint_xy": [ + [ + -29.1565948987591, + -15.068179938781636 + ], + [ + -28.861361135359605, + -15.068179938781636 + ], + [ + -28.861361135359605, + -14.802710113770662 + ], + [ + -29.1565948987591, + -14.802710113770662 + ] + ], + "projected_box_corners": [ + [ + -29.13647751162205, + -14.933864578766853 + ], + [ + -28.916959663444604, + -15.030332199448216 + ], + [ + -29.1565948987591, + -14.971712318100275 + ], + [ + -28.937077050581653, + -15.068179938781636 + ], + [ + -29.08087898353705, + -14.802710113770662 + ], + [ + -28.861361135359605, + -14.899177734452023 + ], + [ + -29.1009963706741, + -14.840557853104082 + ], + [ + -28.881478522496653, + -14.937025473785445 + ] + ], + "yaw_rad": 1.1698438598244787, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.073442459106445, + -14.943377494812012, + 0.0625779926776886 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.01965984470001, + -14.954384491486815, + 0.07989907928434752 + ], + "intended_face_normal": [ + -0.18314322963648166, + -0.33932796268932464, + 0.9226673288413458 + ], + "commanded_contact_point": [ + -29.065106506347657, + -14.937719862638263, + 0.028858636486423526 + ], + "centerline_face_intersection": [ + -29.140687757680208, + -14.93561342533112, + 0.028858636486423526 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.07398796081543, + -14.943634033203125, + 0.06233334541320801 + ], + "box_pose": [ + -28.992538452148438, + -14.939419746398926, + 0.032522838562726974, + 0.6455168128013611, + 0.2582233250141144, + 0.5029632449150085, + 0.5134751200675964 + ], + "box_yaw_rad": 1.1694313079661445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002106437307142453, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018982511413655667 + } + } + }, + { + "simulation_time_ns": 10860000000, + "center": [ + -29.009010081395434, + -14.935663734278306, + 0.029304974922895147 + ], + "face_center": [ + -29.01913523798172, + -14.954934811540591, + 0.0801599502418176 + ], + "face_normal": [ + -0.1830342894663346, + -0.3483667540245392, + 0.9193145996317895 + ], + "footprint_xy": [ + [ + -29.156642461610375, + -15.06854803854199 + ], + [ + -28.861377701180494, + -15.06854803854199 + ], + [ + -28.861377701180494, + -14.802779430014619 + ], + [ + -29.156642461610375, + -14.802779430014619 + ] + ], + "projected_box_corners": [ + [ + -29.13639214843781, + -14.933539777531893 + ], + [ + -28.91686200698476, + -15.03000588401742 + ], + [ + -29.156642461610375, + -14.972081932056463 + ], + [ + -28.937112320157325, + -15.06854803854199 + ], + [ + -29.080907842633543, + -14.802779430014619 + ], + [ + -28.861377701180494, + -14.899245536500146 + ], + [ + -29.101158155806107, + -14.84132158453919 + ], + [ + -28.88162801435306, + -14.937787691024717 + ] + ], + "yaw_rad": 1.1695012994333431, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.073436737060547, + -14.943648338317871, + 0.06259874999523163 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.019036710627876, + -14.95436889594286, + 0.0800880663390383 + ], + "intended_face_normal": [ + -0.18183282545661683, + -0.3420902194335227, + 0.9219062312790811 + ], + "commanded_contact_point": [ + -29.06358825683594, + -14.937234164841858, + 0.029089726209515065 + ], + "centerline_face_intersection": [ + -29.140061544895193, + -14.935445026276149, + 0.029089726209515065 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.073442459106445, + -14.943377494812012, + 0.0625779926776886 + ], + "box_pose": [ + -28.991979598999023, + -14.939240455627441, + 0.03272705897688866, + 0.6463061571121216, + 0.25817668437957764, + 0.503322422504425, + 0.5121520161628723 + ], + "box_yaw_rad": 1.1698438598244787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017891385657079401, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001610709902305617 + } + } + }, + { + "simulation_time_ns": 10880000000, + "center": [ + -29.008936446995552, + -14.935644704301763, + 0.02948130374250955 + ], + "face_center": [ + -29.018973885937967, + -14.954898448227166, + 0.08036021944094246 + ], + "face_normal": [ + -0.1814486017308674, + -0.34805341615431473, + 0.9197473742082529 + ], + "footprint_xy": [ + [ + -29.156536490118132, + -15.068513549885866 + ], + [ + -28.861336403872972, + -15.068513549885866 + ], + [ + -28.861336403872972, + -14.802775858717661 + ], + [ + -29.156536490118132, + -14.802775858717661 + ] + ], + "projected_box_corners": [ + [ + -29.136461612233298, + -14.933563176456959 + ], + [ + -28.916910601889143, + -15.030006062035062 + ], + [ + -29.156536490118132, + -14.972070664307763 + ], + [ + -28.936985479773973, + -15.068513549885866 + ], + [ + -29.080887414217127, + -14.802775858717661 + ], + [ + -28.861336403872972, + -14.899218744295764 + ], + [ + -29.10096229210196, + -14.841283346568467 + ], + [ + -28.881411281757806, + -14.937726232146568 + ] + ], + "yaw_rad": 1.1689931119625432, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.07322120666504, + -14.943521499633789, + 0.06284388899803162 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.01913523798172, + -14.954934811540591, + 0.0801599502418176 + ], + "intended_face_normal": [ + -0.1830342894663346, + -0.3483667540245392, + 0.9193145996317895 + ], + "commanded_contact_point": [ + -29.06218444824219, + -14.93713348868243, + 0.029304974922895147 + ], + "centerline_face_intersection": [ + -29.140086268799916, + -14.935663734278306, + 0.029304974922895147 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.073436737060547, + -14.943648338317871, + 0.06259874999523163 + ], + "box_pose": [ + -28.992015838623047, + -14.93947982788086, + 0.032940201461315155, + 0.6476558446884155, + 0.25618976354599, + 0.504703164100647, + 0.5100818872451782 + ], + "box_yaw_rad": 1.1695012994333431, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014697544041253215, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014237788682148222 + } + } + }, + { + "simulation_time_ns": 10900000000, + "center": [ + -29.008841248442327, + -14.935560109028492, + 0.029569611425248804 + ], + "face_center": [ + -29.018737787458836, + -14.95467844586606, + 0.08052713242487619 + ], + "face_normal": [ + -0.17890152825060568, + -0.3456056377027892, + 0.9211683364748424 + ], + "footprint_xy": [ + [ + -29.156395626219282, + -15.068371856908433 + ], + [ + -28.861286870665367, + -15.068371856908433 + ], + [ + -28.861286870665367, + -14.802748361148549 + ], + [ + -29.156395626219282, + -14.802748361148549 + ] + ], + "projected_box_corners": [ + [ + -29.136602548186268, + -14.93368957203372 + ], + [ + -28.917041828801683, + -15.030135183233293 + ], + [ + -29.156395626219282, + -14.971926245708858 + ], + [ + -28.9368349068347, + -15.068371856908433 + ], + [ + -29.08084759004995, + -14.802748361148549 + ], + [ + -28.861286870665367, + -14.899193972348124 + ], + [ + -29.100640668082967, + -14.840985034823689 + ], + [ + -28.881079948698385, + -14.937430646023262 + ] + ], + "yaw_rad": 1.1682470355124257, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.072978973388672, + -14.943318367004395, + 0.06317241489887238 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.018973885937967, + -14.954898448227166, + 0.08036021944094246 + ], + "intended_face_normal": [ + -0.1814486017308674, + -0.34805341615431473, + 0.9197473742082529 + ], + "commanded_contact_point": [ + -29.060773010253907, + -14.936799386892607, + 0.02948130374250955 + ], + "centerline_face_intersection": [ + -29.140000175269567, + -14.935644704301763, + 0.02948130374250955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.07322120666504, + -14.943521499633789, + 0.06284388899803162 + ], + "box_pose": [ + -28.99193572998047, + -14.939457893371582, + 0.03308919817209244, + 0.6479780077934265, + 0.25674155354499817, + 0.5041341185569763, + 0.5099579095840454 + ], + "box_yaw_rad": 1.1689931119625432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011546825908442988, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014611204787262273 + } + } + }, + { + "simulation_time_ns": 10920000000, + "center": [ + -29.00882029488746, + -14.935628588576925, + 0.029732919591493316 + ], + "face_center": [ + -29.01869032222551, + -14.954853454599325, + 0.08065548385327528 + ], + "face_normal": [ + -0.17842227183733428, + -0.3475313850714201, + 0.9205364171934889 + ], + "footprint_xy": [ + [ + -29.15636444043246, + -15.06848807164079 + ], + [ + -28.861276149342466, + -15.06848807164079 + ], + [ + -28.861276149342466, + -14.802769105513061 + ], + [ + -29.15636444043246, + -14.802769105513061 + ] + ], + "projected_box_corners": [ + [ + -29.13662438575636, + -14.93358689936828 + ], + [ + -28.917057281130415, + -15.030038339595988 + ], + [ + -29.15636444043246, + -14.97203663141308 + ], + [ + -28.936797335806514, + -15.06848807164079 + ], + [ + -29.08084325396841, + -14.802769105513061 + ], + [ + -28.861276149342466, + -14.89922054574077 + ], + [ + -29.10058330864451, + -14.841218837557863 + ], + [ + -28.881016204018565, + -14.937670277785571 + ] + ], + "yaw_rad": 1.167737718955937, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.072895050048828, + -14.943502426147461, + 0.06338061392307281 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.018737787458836, + -14.95467844586606, + 0.08052713242487619 + ], + "intended_face_normal": [ + -0.17890152825060568, + -0.3456056377027892, + 0.9211683364748424 + ], + "commanded_contact_point": [ + -29.059517974853517, + -14.9364044613003, + 0.029569611425248804 + ], + "centerline_face_intersection": [ + -29.13989918103923, + -14.935560109028492, + 0.029569611425248804 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.072978973388672, + -14.943318367004395, + 0.06317241489887238 + ], + "box_pose": [ + -28.991830825805664, + -14.93936538696289, + 0.033139917999506, + 0.6480214595794678, + 0.25809141993522644, + 0.502862811088562, + 0.510476291179657 + ], + "box_yaw_rad": 1.1682470355124257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008443522718081871, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013186653580508263 + } + } + }, + { + "simulation_time_ns": 10940000000, + "center": [ + -29.00887267371105, + -14.935704509674894, + 0.029709329439796452 + ], + "face_center": [ + -29.018839186793056, + -14.955044606126885, + 0.0805694358834363 + ], + "face_normal": [ + -0.18016646210617182, + -0.34961442641750295, + 0.9194073559026492 + ], + "footprint_xy": [ + [ + -29.156450015754842, + -15.068617615573526 + ], + [ + -28.86129533166726, + -15.068617615573526 + ], + [ + -28.86129533166726, + -14.802791403776263 + ], + [ + -29.156450015754842, + -14.802791403776263 + ] + ], + "projected_box_corners": [ + [ + -29.136516989590834, + -14.933472725162268 + ], + [ + -28.916961325757402, + -15.029937422669546 + ], + [ + -29.156450015754842, + -14.972152918066248 + ], + [ + -28.93689435192141, + -15.068617615573526 + ], + [ + -29.080850995500693, + -14.802791403776263 + ], + [ + -28.86129533166726, + -14.899256101283541 + ], + [ + -29.100784021664698, + -14.841471596680242 + ], + [ + -28.88122835783127, + -14.937936294187521 + ] + ], + "yaw_rad": 1.1681064945040027, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.07291603088379, + -14.943872451782227, + 0.06321042776107788 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.01869032222551, + -14.954853454599325, + 0.08065548385327528 + ], + "intended_face_normal": [ + -0.17842227183733428, + -0.3475313850714201, + 0.9205364171934889 + ], + "commanded_contact_point": [ + -29.058350677490235, + -14.936157987345911, + 0.029732919591493316 + ], + "centerline_face_intersection": [ + -29.139874416182423, + -14.935628588576925, + 0.029732919591493316 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.072895050048828, + -14.943502426147461, + 0.06338061392307281 + ], + "box_pose": [ + -28.99180793762207, + -14.939440727233887, + 0.033286646008491516, + 0.6486766338348389, + 0.2577074468135834, + 0.5029754638671875, + 0.5097265243530273 + ], + "box_yaw_rad": 1.167737718955937, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005293987689867625, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001204160330553113 + } + } + }, + { + "simulation_time_ns": 10960000000, + "center": [ + -29.008869334398426, + -14.935578956141928, + 0.029297212313853817 + ], + "face_center": [ + -29.0189015879408, + -14.95471788639252, + 0.0802204493162849 + ], + "face_normal": [ + -0.1813548643151499, + -0.3459779085598669, + 0.9205485784480487 + ], + "footprint_xy": [ + [ + -29.156476427184362, + -15.068415856175475 + ], + [ + -28.861262241612486, + -15.068415856175475 + ], + [ + -28.861262241612486, + -14.80274205610838 + ], + [ + -29.156476427184362, + -14.80274205610838 + ] + ], + "projected_box_corners": [ + [ + -29.13641192009961, + -14.933645485275946 + ], + [ + -28.91688790915484, + -15.030137995674291 + ], + [ + -29.156476427184362, + -14.971923345777132 + ], + [ + -28.936952416239592, + -15.068415856175475 + ], + [ + -29.080786252557257, + -14.80274205610838 + ], + [ + -28.861262241612486, + -14.899234566506724 + ], + [ + -29.100850759642007, + -14.841019916609566 + ], + [ + -28.881326748697237, + -14.93751242700791 + ] + ], + "yaw_rad": 1.1689793199728327, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.072898864746094, + -14.943967819213867, + 0.06272321939468384 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.018839186793056, + -14.955044606126885, + 0.0805694358834363 + ], + "intended_face_normal": [ + -0.18016646210617182, + -0.34961442641750295, + 0.9194073559026492 + ], + "commanded_contact_point": [ + -29.057013626098634, + -14.935907190759588, + 0.029709329439796452 + ], + "centerline_face_intersection": [ + -29.139933624085177, + -14.935704509674894, + 0.029709329439796452 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.07291603088379, + -14.943872451782227, + 0.06321042776107788 + ], + "box_pose": [ + -28.991867065429688, + -14.93952465057373, + 0.0332866907119751, + 0.6487751007080078, + 0.2566556930541992, + 0.5038830041885376, + 0.5092353820800781 + ], + "box_yaw_rad": 1.1681064945040027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00020268108469344862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013605740871971076 + } + } + }, + { + "simulation_time_ns": 10980000000, + "center": [ + -29.00783005395103, + -14.935505827636103, + 0.029050914807931424 + ], + "face_center": [ + -29.01787261372285, + -14.954364332451908, + 0.08007663954079822 + ], + "face_normal": [ + -0.18154117189154562, + -0.34090860718488614, + 0.9224012677135889 + ], + "footprint_xy": [ + [ + -29.15547517101559, + -15.068296040608548 + ], + [ + -28.86018493688647, + -15.068296040608548 + ], + [ + -28.86018493688647, + -14.802715614663656 + ], + [ + -29.15547517101559, + -14.802715614663656 + ] + ], + "projected_box_corners": [ + [ + -29.13539005147194, + -14.933869681226312 + ], + [ + -28.91597655847634, + -15.03057903097694 + ], + [ + -29.15547517101559, + -14.97158669085792 + ], + [ + -28.936061678019993, + -15.068296040608548 + ], + [ + -29.079598429882065, + -14.802715614663656 + ], + [ + -28.86018493688647, + -14.899424964414285 + ], + [ + -29.099683549425713, + -14.840432624295266 + ], + [ + -28.880270056430117, + -14.937141974045893 + ] + ], + "yaw_rad": 1.16859543603367, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.071882247924805, + -14.943965911865234, + 0.0625215619802475 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.0189015879408, + -14.95471788639252, + 0.0802204493162849 + ], + "intended_face_normal": [ + -0.1813548643151499, + -0.3459779085598669, + 0.9205485784480487 + ], + "commanded_contact_point": [ + -29.055562133789063, + -14.935446082703743, + 0.029297212313853817 + ], + "centerline_face_intersection": [ + -29.13994918228473, + -14.935578956141928, + 0.029297212313853817 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.072898864746094, + -14.943967819213867, + 0.06272321939468384 + ], + "box_pose": [ + -28.99186897277832, + -14.9393892288208, + 0.03290985897183418, + 0.6475089192390442, + 0.257254034280777, + 0.5037074089050293, + 0.5107165575027466 + ], + "box_yaw_rad": 1.1689793199728327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00013287343818412385, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015777487408969505 + } + } + }, + { + "simulation_time_ns": 11000000000, + "center": [ + -29.004925442127195, + -14.935577723430226, + 0.0290669411085287 + ], + "face_center": [ + -29.014974286128947, + -14.954387026917276, + 0.08010959746315216 + ], + "face_normal": [ + -0.1816547730541629, + -0.3400191858536914, + 0.922707343706719 + ], + "footprint_xy": [ + [ + -29.152631802226296, + -15.068497542760364 + ], + [ + -28.857219082028095, + -15.068497542760364 + ], + [ + -28.857219082028095, + -14.80265790410009 + ], + [ + -29.152631802226296, + -14.80265790410009 + ] + ], + "projected_box_corners": [ + [ + -29.13253411422279, + -14.933733486633573 + ], + [ + -28.91331060764778, + -15.030878935786264 + ], + [ + -29.152631802226296, + -14.97135209360767 + ], + [ + -28.933408295651287, + -15.068497542760364 + ], + [ + -29.076442588603104, + -14.80265790410009 + ], + [ + -28.857219082028095, + -14.899803353252782 + ], + [ + -29.09654027660661, + -14.840276511074189 + ], + [ + -28.8773167700316, + -14.937421960226882 + ] + ], + "yaw_rad": 1.1664442957438803, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.06908416748047, + -14.944053649902344, + 0.06262081861495972 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.01787261372285, + -14.954364332451908, + 0.08007663954079822 + ], + "intended_face_normal": [ + -0.18154117189154562, + -0.34090860718488614, + 0.9224012677135889 + ], + "commanded_contact_point": [ + -29.05424415588379, + -14.935034550828753, + 0.029050914807931424 + ], + "centerline_face_intersection": [ + -29.13897592638199, + -14.935505827636103, + 0.029050914807931424 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.071882247924805, + -14.943965911865234, + 0.0625215619802475 + ], + "box_pose": [ + -28.990833282470703, + -14.939316749572754, + 0.032679732888936996, + 0.646367609500885, + 0.2582639455795288, + 0.5026561617851257, + 0.5126845240592957 + ], + "box_yaw_rad": 1.16859543603367, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004712768073493871, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014025286821827661 + } + } + }, + { + "simulation_time_ns": 11020000000, + "center": [ + -29.002334458441876, + -14.935691480447492, + 0.02911024087015453 + ], + "face_center": [ + -29.01244060755881, + -14.954603934667764, + 0.08010343100089669 + ], + "face_normal": [ + -0.1826906880002923, + -0.34188386034068685, + 0.921813133818354 + ], + "footprint_xy": [ + [ + -29.15006690730475, + -15.068678315002007 + ], + [ + -28.854602009579, + -15.068678315002007 + ], + [ + -28.854602009579, + -14.802704645892977 + ], + [ + -29.15006690730475, + -14.802704645892977 + ] + ], + "projected_box_corners": [ + [ + -29.129854609070886, + -14.933645147383752 + ], + [ + -28.910659929534166, + -15.030853406561464 + ], + [ + -29.15006690730475, + -14.971470055824295 + ], + [ + -28.93087222776803, + -15.068678315002007 + ], + [ + -29.07379668911572, + -14.802704645892977 + ], + [ + -28.854602009579, + -14.899912905070689 + ], + [ + -29.094008987349586, + -14.84052955433352 + ], + [ + -28.874814307812866, + -14.937737813511232 + ] + ], + "yaw_rad": 1.1662880961467796, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.066631317138672, + -14.944302558898926, + 0.06258480250835419 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.014974286128947, + -14.954387026917276, + 0.08010959746315216 + ], + "intended_face_normal": [ + -0.1816547730541629, + -0.3400191858536914, + 0.922707343706719 + ], + "commanded_contact_point": [ + -29.052865142822267, + -14.934767409563992, + 0.0290669411085287 + ], + "centerline_face_intersection": [ + -29.136184969956098, + -14.935577723430226, + 0.0290669411085287 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.06908416748047, + -14.944053649902344, + 0.06262081861495972 + ], + "box_pose": [ + -28.987934112548828, + -14.939420700073242, + 0.032687436789274216, + 0.646635890007019, + 0.2579163908958435, + 0.5018681287765503, + 0.5132929682731628 + ], + "box_yaw_rad": 1.1664442957438803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008103138662340862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014047413717482215 + } + } + }, + { + "simulation_time_ns": 11040000000, + "center": [ + -29.002003117652233, + -14.935774429890353, + 0.02853859900892318 + ], + "face_center": [ + -29.0123242994121, + -14.954655408102383, + 0.07950038245070307 + ], + "face_normal": [ + -0.18657787203306242, + -0.3413148628388001, + 0.9212453894136416 + ], + "footprint_xy": [ + [ + -29.149799053950517, + -15.068722750416663 + ], + [ + -28.85420718135395, + -15.068722750416663 + ], + [ + -28.85420718135395, + -14.802826109364043 + ], + [ + -29.149799053950517, + -14.802826109364043 + ] + ], + "projected_box_corners": [ + [ + -29.129156690430786, + -14.933824005540837 + ], + [ + -28.909966861543342, + -15.030960793992604 + ], + [ + -29.149799053950517, + -14.971585961964896 + ], + [ + -28.930609225063073, + -15.068722750416663 + ], + [ + -29.073397010241393, + -14.802826109364043 + ], + [ + -28.85420718135395, + -14.899962897815808 + ], + [ + -29.094039373761127, + -14.840588065788102 + ], + [ + -28.87484954487368, + -14.937724854239868 + ] + ], + "yaw_rad": 1.168372501262272, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.06638526916504, + -14.94448471069336, + 0.06136694550514221 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.01244060755881, + -14.954603934667764, + 0.08010343100089669 + ], + "intended_face_normal": [ + -0.1826906880002923, + -0.34188386034068685, + 0.921813133818354 + ], + "commanded_contact_point": [ + -29.051018829345704, + -14.9345367234432, + 0.02911024087015453 + ], + "centerline_face_intersection": [ + -29.133611248657996, + -14.935691480447492, + 0.02911024087015453 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.066631317138672, + -14.944302558898926, + 0.06258480250835419 + ], + "box_pose": [ + -28.985347747802734, + -14.939545631408691, + 0.0327405110001564, + 0.6469316482543945, + 0.25706014037132263, + 0.5024155378341675, + 0.512813925743103 + ], + "box_yaw_rad": 1.1662880961467796, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011547570042914437, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018611728585543538 + } + } + }, + { + "simulation_time_ns": 11060000000, + "center": [ + -29.001189650901523, + -14.936760933415268, + 0.028161771172510387 + ], + "face_center": [ + -29.011980901433336, + -14.956164409619925, + 0.07882906186392612 + ], + "face_normal": [ + -0.19507539036188248, + -0.35076015368571944, + 0.915921790627138 + ], + "footprint_xy": [ + [ + -29.149066480707347, + -15.069796599855803 + ], + [ + -28.853312821095695, + -15.069796599855803 + ], + [ + -28.853312821095695, + -14.803725266974734 + ], + [ + -29.149066480707347, + -14.803725266974734 + ] + ], + "projected_box_corners": [ + [ + -29.127483979643717, + -14.93424858864344 + ], + [ + -28.908171067264757, + -15.03098964744649 + ], + [ + -29.149066480707347, + -14.973055541052753 + ], + [ + -28.92975356832839, + -15.069796599855803 + ], + [ + -29.072625733474652, + -14.803725266974734 + ], + [ + -28.853312821095695, + -14.900466325777781 + ], + [ + -29.094208234538286, + -14.842532219384047 + ], + [ + -28.87489532215933, + -14.939273278187095 + ] + ], + "yaw_rad": 1.1729179437668111, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.065351486206055, + -14.945931434631348, + 0.05926504731178284 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.0123242994121, + -14.954655408102383, + 0.07950038245070307 + ], + "intended_face_normal": [ + -0.18657787203306242, + -0.3413148628388001, + 0.9212453894136416 + ], + "commanded_contact_point": [ + -29.04900848388672, + -14.934271261653942, + 0.02853859900892318 + ], + "centerline_face_intersection": [ + -29.133282813010762, + -14.935774429890353, + 0.02853859900892318 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.06638526916504, + -14.94448471069336, + 0.06136694550514221 + ], + "box_pose": [ + -28.985031127929688, + -14.939620971679688, + 0.03224499896168709, + 0.6456297636032104, + 0.25621721148490906, + 0.5038051605224609, + 0.5135127902030945 + ], + "box_yaw_rad": 1.168372501262272, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015031682364116997, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002106830141118943 + } + } + }, + { + "simulation_time_ns": 11080000000, + "center": [ + -28.998837032031542, + -14.937851793960997, + 0.027962287898452537 + ], + "face_center": [ + -29.009822803249087, + -14.957408315160343, + 0.07852883311873696 + ], + "face_normal": [ + -0.19859177602914002, + -0.3535267757740499, + 0.9141005964985993 + ], + "footprint_xy": [ + [ + -29.14668515731605, + -15.070751130461304 + ], + [ + -28.850988906747034, + -15.070751130461304 + ], + [ + -28.850988906747034, + -14.804952457460692 + ], + [ + -29.14668515731605, + -14.804952457460692 + ] + ], + "projected_box_corners": [ + [ + -29.12471361488096, + -14.935474644832059 + ], + [ + -28.90518540993542, + -15.03163808806261 + ], + [ + -29.14668515731605, + -14.97458768723075 + ], + [ + -28.927156952370506, + -15.070751130461304 + ], + [ + -29.070517111692578, + -14.804952457460692 + ], + [ + -28.850988906747034, + -14.901115900691243 + ], + [ + -29.092488654127667, + -14.844065499859383 + ], + [ + -28.872960449182123, + -14.940228943089936 + ] + ], + "yaw_rad": 1.1772314414030283, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.062889099121094, + -14.947216033935547, + 0.058509618043899536 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.011980901433336, + -14.956164409619925, + 0.07882906186392612 + ], + "intended_face_normal": [ + -0.19507539036188248, + -0.35076015368571944, + 0.915921790627138 + ], + "commanded_contact_point": [ + -29.047316665649415, + -14.934890945130213, + 0.028161771172510387 + ], + "centerline_face_intersection": [ + -29.132395669051107, + -14.936760933415268, + 0.028161771172510387 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.065351486206055, + -14.945931434631348, + 0.05926504731178284 + ], + "box_pose": [ + -28.9842472076416, + -14.940607070922852, + 0.03200136870145798, + 0.6453126072883606, + 0.2518605887889862, + 0.5088729858398438, + 0.5110636949539185 + ], + "box_yaw_rad": 1.1729179437668111, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0018699882850548768, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018407215370979454 + } + } + }, + { + "simulation_time_ns": 11100000000, + "center": [ + -28.99830584069895, + -14.93763675890082, + 0.02795182291794039 + ], + "face_center": [ + -29.009026719629045, + -14.956761175895078, + 0.07874001415802513 + ], + "face_normal": [ + -0.19380327017192656, + -0.34571554979648056, + 0.9181073317427888 + ], + "footprint_xy": [ + [ + -29.14608064194601, + -15.070331534828707 + ], + [ + -28.85053103945189, + -15.070331534828707 + ], + [ + -28.85053103945189, + -14.804941982972935 + ], + [ + -29.14608064194601, + -14.804941982972935 + ] + ], + "projected_box_corners": [ + [ + -29.124638884085826, + -14.935981018610239 + ], + [ + -28.90506759797805, + -15.032082700840192 + ], + [ + -29.14608064194601, + -14.974229852598755 + ], + [ + -28.926509355838235, + -15.070331534828707 + ], + [ + -29.070102325559667, + -14.804941982972935 + ], + [ + -28.85053103945189, + -14.901043665202886 + ], + [ + -29.091544083419855, + -14.843190816961451 + ], + [ + -28.87197279731208, + -14.939292499191403 + ] + ], + "yaw_rad": 1.1764151874923778, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.062114715576172, + -14.946859359741211, + 0.058981671929359436 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.009822803249087, + -14.957408315160343, + 0.07852883311873696 + ], + "intended_face_normal": [ + -0.19859177602914002, + -0.3535267757740499, + 0.9141005964985993 + ], + "commanded_contact_point": [ + -29.045619125366212, + -14.93560723607696, + 0.027962287898452537 + ], + "centerline_face_intersection": [ + -29.129914375688454, + -14.937851793960997, + 0.027962287898452537 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.062889099121094, + -14.947216033935547, + 0.058509618043899536 + ], + "box_pose": [ + -28.981903076171875, + -14.94166088104248, + 0.03187555447220802, + 0.6443392634391785, + 0.250873863697052, + 0.5114589929580688, + 0.5101948976516724 + ], + "box_yaw_rad": 1.1772314414030283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002244557884036883, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018532429171905813 + } + } + }, + { + "simulation_time_ns": 11120000000, + "center": [ + -28.997660200766894, + -14.937172843217253, + 0.028216043512891406 + ], + "face_center": [ + -29.007939617204354, + -14.955744214010847, + 0.0792998881574014 + ], + "face_normal": [ + -0.18582287273540388, + -0.33571803346004714, + 0.9234519118829709 + ], + "footprint_xy": [ + [ + -29.145290022521834, + -15.06957344949918 + ], + [ + -28.850030379011958, + -15.06957344949918 + ], + [ + -28.850030379011958, + -14.804772236935325 + ], + [ + -29.145290022521834, + -14.804772236935325 + ] + ], + "projected_box_corners": [ + [ + -29.124731189646916, + -14.936473401121573 + ], + [ + -28.9050593646819, + -15.032430707911988 + ], + [ + -29.145290022521834, + -14.973616142708764 + ], + [ + -28.92561819755682, + -15.06957344949918 + ], + [ + -29.069702203976973, + -14.804772236935325 + ], + [ + -28.850030379011958, + -14.90072954372574 + ], + [ + -29.09026103685189, + -14.841914978522516 + ], + [ + -28.870589211886873, + -14.937872285312931 + ] + ], + "yaw_rad": 1.1750125107682072, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.06114387512207, + -14.946236610412598, + 0.06003260612487793 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.009026719629045, + -14.956761175895078, + 0.07874001415802513 + ], + "intended_face_normal": [ + -0.19380327017192656, + -0.34571554979648056, + 0.9181073317427888 + ], + "commanded_contact_point": [ + -29.043971176147462, + -14.935023296983168, + 0.02795182291794039 + ], + "centerline_face_intersection": [ + -29.129357466219364, + -14.93763675890082, + 0.02795182291794039 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.062114715576172, + -14.946859359741211, + 0.058981671929359436 + ], + "box_pose": [ + -28.981351852416992, + -14.941414833068848, + 0.03180800378322601, + 0.6435257792472839, + 0.2543514370918274, + 0.5086573958396912, + 0.5122963786125183 + ], + "box_yaw_rad": 1.1764151874923778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00261346191765249, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017483795379305636 + } + } + }, + { + "simulation_time_ns": 11140000000, + "center": [ + -28.9945318345028, + -14.936138919314464, + 0.028705503049529877 + ], + "face_center": [ + -29.004649951618884, + -14.954748484809787, + 0.07980764084490818 + ], + "face_normal": [ + -0.18290703568855093, + -0.3364084860009484, + 0.9237826004844507 + ], + "footprint_xy": [ + [ + -29.14220900910986, + -15.0688211060145 + ], + [ + -28.846854659895744, + -15.0688211060145 + ], + [ + -28.846854659895744, + -14.803456732614428 + ], + [ + -29.14220900910986, + -14.803456732614428 + ] + ], + "projected_box_corners": [ + [ + -29.121972774877698, + -14.934885433735408 + ], + [ + -28.90259013298979, + -15.031601975023854 + ], + [ + -29.14220900910986, + -14.972104564726052 + ], + [ + -28.922826367221955, + -15.0688211060145 + ], + [ + -29.066237301783648, + -14.803456732614428 + ], + [ + -28.846854659895744, + -14.900173273902874 + ], + [ + -29.086473536015813, + -14.840675863605075 + ], + [ + -28.867090894127905, + -14.93739240489352 + ] + ], + "yaw_rad": 1.1697104123276039, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.0578556060791, + -14.945134162902832, + 0.06103585660457611 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.007939617204354, + -14.955744214010847, + 0.0792998881574014 + ], + "intended_face_normal": [ + -0.18582287273540388, + -0.33571803346004714, + 0.9234519118829709 + ], + "commanded_contact_point": [ + -29.042510147094728, + -14.934196830611787, + 0.028216043512891406 + ], + "centerline_face_intersection": [ + -29.128651846903647, + -14.937172843217253, + 0.028216043512891406 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.06114387512207, + -14.946236610412598, + 0.06003260612487793 + ], + "box_pose": [ + -28.98067283630371, + -14.940906524658203, + 0.031967148184776306, + 0.6428856253623962, + 0.25937536358833313, + 0.504536509513855, + 0.514650821685791 + ], + "box_yaw_rad": 1.1750125107682072, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002976012605466284, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001699254271365301 + } + } + }, + { + "simulation_time_ns": 11160000000, + "center": [ + -28.989073111793886, + -14.933566111846877, + 0.029257359650772946 + ], + "face_center": [ + -28.999054052494387, + -14.952207520405757, + 0.08037487838532761 + ], + "face_normal": [ + -0.1804272727788927, + -0.33698411882824786, + 0.9240606445077191 + ], + "footprint_xy": [ + [ + -29.136814773706217, + -15.0665585551227 + ], + [ + -28.841331449881555, + -15.0665585551227 + ], + [ + -28.841331449881555, + -14.800573668571054 + ], + [ + -29.136814773706217, + -14.800573668571054 + ] + ], + "projected_box_corners": [ + [ + -29.11685289230521, + -14.931705383668698 + ], + [ + -28.89781240110257, + -15.02927573800494 + ], + [ + -29.136814773706217, + -14.968988200786459 + ], + [ + -28.917774282503576, + -15.0665585551227 + ], + [ + -29.060371941084192, + -14.800573668571054 + ], + [ + -28.841331449881555, + -14.898144022907296 + ], + [ + -29.080333822485198, + -14.837856485688814 + ], + [ + -28.861293331282557, + -14.935426840025055 + ] + ], + "yaw_rad": 1.164091431435264, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.052244186401367, + -14.9425048828125, + 0.06229202449321747 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -29.004649951618884, + -14.954748484809787, + 0.07980764084490818 + ], + "intended_face_normal": [ + -0.18290703568855093, + -0.3364084860009484, + 0.9237826004844507 + ], + "commanded_contact_point": [ + -29.041138763427735, + -14.932803096965463, + 0.028705503049529877 + ], + "centerline_face_intersection": [ + -29.125696149575344, + -14.936138919314464, + 0.028705503049529877 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.0578556060791, + -14.945134162902832, + 0.06103585660457611 + ], + "box_pose": [ + -28.977540969848633, + -14.939935684204102, + 0.03237657621502876, + 0.6447998285293579, + 0.2590518295764923, + 0.5024315118789673, + 0.5144782662391663 + ], + "box_yaw_rad": 1.1697104123276039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003335822349000995, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020156282586319863 + } + } + }, + { + "simulation_time_ns": 11180000000, + "center": [ + -28.98239625600707, + -14.930207594117588, + 0.029678179922397616 + ], + "face_center": [ + -28.9922169537015, + -14.948878649675402, + 0.08081589298362765 + ], + "face_normal": [ + -0.1775305309351154, + -0.3375200529976059, + 0.9244257010086017 + ], + "footprint_xy": [ + [ + -29.13013200351004, + -15.063351985826722 + ], + [ + -28.834660508504104, + -15.063351985826722 + ], + [ + -28.834660508504104, + -14.797063202408454 + ], + [ + -29.13013200351004, + -14.797063202408454 + ] + ], + "projected_box_corners": [ + [ + -29.11049060812118, + -14.92803776210818 + ], + [ + -28.891601261534277, + -15.026009874711093 + ], + [ + -29.13013200351004, + -14.965379873223808 + ], + [ + -28.911242656923136, + -15.063351985826722 + ], + [ + -29.053549855091006, + -14.797063202408454 + ], + [ + -28.834660508504104, + -14.895035315011366 + ], + [ + -29.07319125047987, + -14.834405313524082 + ], + [ + -28.854301903892964, + -14.932377426126994 + ] + ], + "yaw_rad": 1.1606992159217353, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.04551124572754, + -14.939220428466797, + 0.06334304809570312 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.999054052494387, + -14.952207520405757, + 0.08037487838532761 + ], + "intended_face_normal": [ + -0.1804272727788927, + -0.33698411882824786, + 0.9240606445077191 + ], + "commanded_contact_point": [ + -29.039620513916017, + -14.92987273865925, + 0.029257359650772946 + ], + "centerline_face_intersection": [ + -29.120442311178174, + -14.933566111846877, + 0.029257359650772946 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.052244186401367, + -14.9425048828125, + 0.06229202449321747 + ], + "box_pose": [ + -28.972082138061523, + -14.937433242797852, + 0.03285372629761696, + 0.6466765403747559, + 0.25851523876190186, + 0.5003014206886292, + 0.5144686102867126 + ], + "box_yaw_rad": 1.164091431435264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003693373187625898, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033461361435180004 + } + } + }, + { + "simulation_time_ns": 11200000000, + "center": [ + -28.976081744267336, + -14.927538059333939, + 0.030053530239806617 + ], + "face_center": [ + -28.985806535028303, + -14.946250804906658, + 0.08119433542579534 + ], + "face_normal": [ + -0.17579680392837105, + -0.3382736909478652, + 0.9244815979079064 + ], + "footprint_xy": [ + [ + -29.12386441332283, + -15.060924197064232 + ], + [ + -28.828299075211838, + -15.060924197064232 + ], + [ + -28.828299075211838, + -14.794151921603648 + ], + [ + -29.12386441332283, + -14.794151921603648 + ] + ], + "projected_box_corners": [ + [ + -29.104414831800895, + -14.924878243499204 + ], + [ + -28.885795876201055, + -15.023498705918797 + ], + [ + -29.12386441332283, + -14.96230373464464 + ], + [ + -28.905245457722994, + -15.060924197064232 + ], + [ + -29.04691803081168, + -14.794151921603648 + ], + [ + -28.828299075211838, + -14.892772384023239 + ], + [ + -29.066367612333615, + -14.831577412749082 + ], + [ + -28.847748656733774, + -14.930197875168675 + ] + ], + "yaw_rad": 1.1564354586653243, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.03921890258789, + -14.936540603637695, + 0.06426872313022614 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.9922169537015, + -14.948878649675402, + 0.08081589298362765 + ], + "intended_face_normal": [ + -0.1775305309351154, + -0.3375200529976059, + 0.9244257010086017 + ], + "commanded_contact_point": [ + -29.037903900146485, + -14.926153707555994, + 0.029678179922397616 + ], + "centerline_face_intersection": [ + -29.113856166736934, + -14.930207594117588, + 0.029678179922397616 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.04551124572754, + -14.939220428466797, + 0.06334304809570312 + ], + "box_pose": [ + -28.96539878845215, + -14.93410873413086, + 0.03320647403597832, + 0.6480965614318848, + 0.25867366790771484, + 0.49872925877571106, + 0.5141282081604004 + ], + "box_yaw_rad": 1.1606992159217353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004053886561594243, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004117650407908415 + } + } + }, + { + "simulation_time_ns": 11220000000, + "center": [ + -28.97173443531386, + -14.925566017335395, + 0.030341351222092958 + ], + "face_center": [ + -28.98139774343982, + -14.944300364672698, + 0.08148589869481515 + ], + "face_normal": [ + -0.1746853711997325, + -0.3386641899587364, + 0.924549247902986 + ], + "footprint_xy": [ + [ + -29.119579306010028, + -15.059195539422376 + ], + [ + -28.82388956461769, + -15.059195539422376 + ], + [ + -28.82388956461769, + -14.791936495248414 + ], + [ + -29.119579306010028, + -14.791936495248414 + ] + ], + "projected_box_corners": [ + [ + -29.1002526897581, + -14.9224245989368 + ], + [ + -28.881928101388958, + -15.021726844747773 + ], + [ + -29.119579306010028, + -14.959893293611405 + ], + [ + -28.901254717640885, + -15.059195539422376 + ], + [ + -29.04221415298683, + -14.791936495248414 + ], + [ + -28.82388956461769, + -14.891238741059388 + ], + [ + -29.06154076923876, + -14.829405189923019 + ], + [ + -28.843216180869618, + -14.928707435733992 + ] + ], + "yaw_rad": 1.152291582728968, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.03497314453125, + -14.934518814086914, + 0.06503027677536011 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.985806535028303, + -14.946250804906658, + 0.08119433542579534 + ], + "intended_face_normal": [ + -0.17579680392837105, + -0.3382736909478652, + 0.9244815979079064 + ], + "commanded_contact_point": [ + -29.03613006591797, + -14.923124071000194, + 0.030053530239806617 + ], + "centerline_face_intersection": [ + -29.107704246456496, + -14.927538059333939, + 0.030053530239806617 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.03921890258789, + -14.936540603637695, + 0.06426872313022614 + ], + "box_pose": [ + -28.95908546447754, + -14.931493759155273, + 0.03352636471390724, + 0.64956134557724, + 0.2581389546394348, + 0.49719905853271484, + 0.5140305161476135 + ], + "box_yaw_rad": 1.1564354586653243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004413988333744501, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035307326989268274 + } + } + }, + { + "simulation_time_ns": 11240000000, + "center": [ + -28.970604219019055, + -14.92515758806339, + 0.030459678205750126 + ], + "face_center": [ + -28.980300104215864, + -14.943990423893526, + 0.0815618675802697 + ], + "face_normal": [ + -0.17527427280970542, + -0.3404445842818209, + 0.9237835328899298 + ], + "footprint_xy": [ + [ + -29.118524887792706, + -15.0590089533524 + ], + [ + -28.822683550245408, + -15.0590089533524 + ], + [ + -28.822683550245408, + -14.79130622277438 + ], + [ + -29.118524887792706, + -14.79130622277438 + ] + ], + "projected_box_corners": [ + [ + -29.099133117399088, + -14.921518225976346 + ], + [ + -28.881040906890313, + -15.021343281692127 + ], + [ + -29.118524887792706, + -14.959183897636617 + ], + [ + -28.900432677283927, + -15.0590089533524 + ], + [ + -29.040775760754183, + -14.79130622277438 + ], + [ + -28.822683550245408, + -14.891131278490162 + ], + [ + -29.0601675311478, + -14.828971894434652 + ], + [ + -28.842075320639022, + -14.928796950150435 + ] + ], + "yaw_rad": 1.1494637167725266, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.03403091430664, + -14.934067726135254, + 0.06524470448493958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.98139774343982, + -14.944300364672698, + 0.08148589869481515 + ], + "intended_face_normal": [ + -0.1746853711997325, + -0.3386641899587364, + 0.924549247902986 + ], + "commanded_contact_point": [ + -29.03439437866211, + -14.92079391713159, + 0.030341351222092958 + ], + "centerline_face_intersection": [ + -29.103534404236182, + -14.925566017335395, + 0.030341351222092958 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.03497314453125, + -14.934518814086914, + 0.06503027677536011 + ], + "box_pose": [ + -28.954742431640625, + -14.929577827453613, + 0.03377046808600426, + 0.6507998704910278, + 0.2574820816516876, + 0.4957737624645233, + 0.5141699910163879 + ], + "box_yaw_rad": 1.152291582728968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004772100203805254, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002919771946465371 + } + } + }, + { + "simulation_time_ns": 11260000000, + "center": [ + -28.97068292465795, + -14.925193360329082, + 0.03066097836401448 + ], + "face_center": [ + -28.9804316257214, + -14.94413157344176, + 0.08171415273657189 + ], + "face_normal": [ + -0.17622903479698238, + -0.34234950850415125, + 0.9228974798219216 + ], + "footprint_xy": [ + [ + -29.11863957705517, + -15.059138522331562 + ], + [ + -28.822726272260727, + -15.059138522331562 + ], + [ + -28.822726272260727, + -14.791248198326603 + ], + [ + -29.11863957705517, + -14.791248198326603 + ] + ], + "projected_box_corners": [ + [ + -29.099142174928264, + -14.921296218706871 + ], + [ + -28.881113627510953, + -15.021262096106204 + ], + [ + -29.11863957705517, + -14.959172644932229 + ], + [ + -28.900611029637858, + -15.059138522331562 + ], + [ + -29.040754819678043, + -14.791248198326603 + ], + [ + -28.822726272260727, + -14.891214075725935 + ], + [ + -29.060252221804948, + -14.82912462455196 + ], + [ + -28.842223674387633, + -14.929090501951292 + ] + ], + "yaw_rad": 1.14880122798165, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.034297943115234, + -14.934198379516602, + 0.06570667028427124 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.980300104215864, + -14.943990423893526, + 0.0815618675802697 + ], + "intended_face_normal": [ + -0.17527427280970542, + -0.3404445842818209, + 0.9237835328899298 + ], + "commanded_contact_point": [ + -29.032866592407228, + -14.920029082336711, + 0.030459678205750126 + ], + "centerline_face_intersection": [ + -29.102544621176946, + -14.92515758806339, + 0.030459678205750126 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.03403091430664, + -14.934067726135254, + 0.06524470448493958 + ], + "box_pose": [ + -28.95362091064453, + -14.929217338562012, + 0.033875420689582825, + 0.651765763759613, + 0.25618883967399597, + 0.4954025447368622, + 0.5139502286911011 + ], + "box_yaw_rad": 1.1494637167725266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005128505726679793, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017126308356232227 + } + } + }, + { + "simulation_time_ns": 11280000000, + "center": [ + -28.9722489492485, + -14.923561956593437, + 0.03093860828406076 + ], + "face_center": [ + -28.982046631019994, + -14.942435417121672, + 0.08200639465461199 + ], + "face_normal": [ + -0.1771144679275949, + -0.3411789643072769, + 0.9231616235561635 + ], + "footprint_xy": [ + [ + -29.12033499579785, + -15.057787611854081 + ], + [ + -28.824162902699147, + -15.057787611854081 + ], + [ + -28.824162902699147, + -14.78933630133279 + ], + [ + -29.12033499579785, + -14.78933630133279 + ] + ], + "projected_box_corners": [ + [ + -29.10073963225486, + -14.919167072039453 + ], + [ + -28.88312786077841, + -15.02004069079761 + ], + [ + -29.12033499579785, + -14.956913993095927 + ], + [ + -28.9027232243214, + -15.057787611854081 + ], + [ + -29.0417746741756, + -14.78933630133279 + ], + [ + -28.824162902699147, + -14.890209920090944 + ], + [ + -29.06137003771859, + -14.827083222389264 + ], + [ + -28.843758266242137, + -14.927956841147418 + ] + ], + "yaw_rad": 1.1444818494204723, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.03603172302246, + -14.932287216186523, + 0.06643754243850708 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.9804316257214, + -14.94413157344176, + 0.08171415273657189 + ], + "intended_face_normal": [ + -0.17622903479698238, + -0.34234950850415125, + 0.9228974798219216 + ], + "commanded_contact_point": [ + -29.03157341003418, + -14.919704653834902, + 0.03066097836401448 + ], + "centerline_face_intersection": [ + -29.102661852660233, + -14.925193360329082, + 0.03066097836401448 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.034297943115234, + -14.934198379516602, + 0.06570667028427124 + ], + "box_pose": [ + -28.953704833984375, + -14.92927074432373, + 0.034081652760505676, + 0.6522005200386047, + 0.25524505972862244, + 0.4957915246486664, + 0.513493001461029 + ], + "box_yaw_rad": 1.14880122798165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005488706494180564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013483679974185545 + } + } + }, + { + "simulation_time_ns": 11300000000, + "center": [ + -28.974524092072116, + -14.915574444303157, + 0.030848143028032328 + ], + "face_center": [ + -28.984067153970212, + -14.934428625022221, + 0.08197124734548136 + ], + "face_normal": [ + -0.17251165835974192, + -0.34083043970493243, + 0.9241616161013546 + ], + "footprint_xy": [ + [ + -29.122220152331487, + -15.048977749299663 + ], + [ + -28.826828031812745, + -15.048977749299663 + ], + [ + -28.826828031812745, + -14.782171139306651 + ], + [ + -29.122220152331487, + -14.782171139306651 + ] + ], + "projected_box_corners": [ + [ + -29.10313402853529, + -14.912780038903078 + ], + [ + -28.88443344222672, + -15.011269387861535 + ], + [ + -29.122220152331487, + -14.950488400341206 + ], + [ + -28.903519566022915, + -15.048977749299663 + ], + [ + -29.045528618121313, + -14.782171139306651 + ], + [ + -28.826828031812745, + -14.880660488265109 + ], + [ + -29.06461474191751, + -14.819879500744781 + ], + [ + -28.84591415560894, + -14.918368849703237 + ] + ], + "yaw_rad": 1.1554078241192447, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.038326263427734, + -14.925020217895508, + 0.06662282347679138 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.982046631019994, + -14.942435417121672, + 0.08200639465461199 + ], + "intended_face_normal": [ + -0.1771144679275949, + -0.3411789643072769, + 0.9231616235561635 + ], + "commanded_contact_point": [ + -29.030722732543946, + -14.917724239715533, + 0.03093860828406076 + ], + "centerline_face_intersection": [ + -29.104480646857493, + -14.923561956593437, + 0.03093860828406076 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.03603172302246, + -14.932287216186523, + 0.06643754243850708 + ], + "box_pose": [ + -28.955286026000977, + -14.927708625793457, + 0.03435124084353447, + 0.6527574062347412, + 0.2541494071483612, + 0.494466632604599, + 0.5146052837371826 + ], + "box_yaw_rad": 1.1444818494204723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005837716877904031, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021731936520003577 + } + } + }, + { + "simulation_time_ns": 11320000000, + "center": [ + -28.974800015745373, + -14.906389205310852, + 0.03072553494604498 + ], + "face_center": [ + -28.983901340003744, + -14.925231825156628, + 0.08193337683152549 + ], + "face_normal": [ + -0.16452628703937222, + -0.3406214517046138, + 0.9256934324662254 + ], + "footprint_xy": [ + [ + -29.121798017451372, + -15.038389942550214 + ], + [ + -28.827802014039378, + -15.038389942550214 + ], + [ + -28.827802014039378, + -14.774388468071487 + ], + [ + -29.121798017451372, + -14.774388468071487 + ] + ], + "projected_box_corners": [ + [ + -29.103595368934634, + -14.906234939510414 + ], + [ + -28.883127101510407, + -15.000704702858663 + ], + [ + -29.121798017451372, + -14.943920179201966 + ], + [ + -28.901329750027145, + -15.038389942550214 + ], + [ + -29.048270281463605, + -14.774388468071487 + ], + [ + -28.827802014039378, + -14.868858231419736 + ], + [ + -29.066472929980343, + -14.812073707763039 + ], + [ + -28.846004662556116, + -14.90654347111129 + ] + ], + "yaw_rad": 1.1734935193927702, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.038373947143555, + -14.917139053344727, + 0.06686241924762726 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.984067153970212, + -14.934428625022221, + 0.08197124734548136 + ], + "intended_face_normal": [ + -0.17251165835974192, + -0.34083043970493243, + 0.9241616161013546 + ], + "commanded_contact_point": [ + -29.029919738769532, + -14.909358896481558, + 0.030848143028032328 + ], + "centerline_face_intersection": [ + -29.106097465732084, + -14.915574444303157, + 0.030848143028032328 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.038326263427734, + -14.925020217895508, + 0.06662282347679138 + ], + "box_pose": [ + -28.9575138092041, + -14.919528007507324, + 0.03425421938300133, + 0.6509768962860107, + 0.25854724645614624, + 0.49663296341896057, + 0.5125799775123596 + ], + "box_yaw_rad": 1.1554078241192447, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0062155478215980536, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008404281669868762 + } + } + }, + { + "simulation_time_ns": 11340000000, + "center": [ + -28.974480262200657, + -14.904785113023191, + 0.03070288731348369 + ], + "face_center": [ + -28.98359721151598, + -14.923606416666916, + 0.08191578750776854 + ], + "face_normal": [ + -0.1648087440239614, + -0.34023611485936556, + 0.9257848724306363 + ], + "footprint_xy": [ + [ + -29.12148673994164, + -15.036781998761343 + ], + [ + -28.827473784459674, + -15.036781998761343 + ], + [ + -28.827473784459674, + -14.772788227285037 + ], + [ + -29.12148673994164, + -14.772788227285037 + ] + ], + "projected_box_corners": [ + [ + -29.10325284131099, + -14.904653689152621 + ], + [ + -28.882793410631724, + -14.999139391473895 + ], + [ + -29.12148673994164, + -14.94229629644007 + ], + [ + -28.901027309262375, + -15.036781998761343 + ], + [ + -29.04793321513894, + -14.772788227285037 + ], + [ + -28.827473784459674, + -14.867273929606311 + ], + [ + -29.066167113769588, + -14.810430834572488 + ], + [ + -28.845707683090325, + -14.904916536893762 + ] + ], + "yaw_rad": 1.1735801207676668, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.037853240966797, + -14.915771484375, + 0.06694445013999939 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.983901340003744, + -14.925231825156628, + 0.08193337683152549 + ], + "intended_face_normal": [ + -0.16452628703937222, + -0.3406214517046138, + 0.9256934324662254 + ], + "commanded_contact_point": [ + -29.02921211242676, + -14.899743663567898, + 0.03072553494604498 + ], + "centerline_face_intersection": [ + -29.105318454059503, + -14.906389205310852, + 0.03072553494604498 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.038373947143555, + -14.917139053344727, + 0.06686241924762726 + ], + "box_pose": [ + -28.957714080810547, + -14.910019874572754, + 0.034112390130758286, + 0.6481581926345825, + 0.26584261655807495, + 0.5002016425132751, + 0.5089371800422668 + ], + "box_yaw_rad": 1.1734935193927702, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006645541742953046, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009642015959678108 + } + } + }, + { + "simulation_time_ns": 11360000000, + "center": [ + -28.974445078270794, + -14.904756757139237, + 0.030779682629656416 + ], + "face_center": [ + -28.983537740945792, + -14.923584714651456, + 0.08199444874566525 + ], + "face_normal": [ + -0.1643697100280086, + -0.3403563980452944, + 0.9258186030355944 + ], + "footprint_xy": [ + [ + -29.121449101959627, + -15.036774697469678 + ], + [ + -28.827441054581957, + -15.036774697469678 + ], + [ + -28.827441054581957, + -14.772738816808795 + ], + [ + -29.121449101959627, + -14.772738816808795 + ] + ], + "projected_box_corners": [ + [ + -29.103263776609634, + -14.904581550999348 + ], + [ + -28.88282364263606, + -14.999118782445239 + ], + [ + -29.121449101959627, + -14.942237466023789 + ], + [ + -28.90100896798605, + -15.036774697469678 + ], + [ + -29.047881188555532, + -14.772738816808795 + ], + [ + -28.827441054581957, + -14.867276048254686 + ], + [ + -29.06606651390553, + -14.810394731833236 + ], + [ + -28.845626379931954, + -14.904931963279125 + ] + ], + "yaw_rad": 1.1731126324778578, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.037460327148438, + -14.916037559509277, + 0.06729328632354736 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.98359721151598, + -14.923606416666916, + 0.08191578750776854 + ], + "intended_face_normal": [ + -0.1648087440239614, + -0.34023611485936556, + 0.9257848724306363 + ], + "commanded_contact_point": [ + -29.028565521240235, + -14.897700116426165, + 0.03070288731348369 + ], + "centerline_face_intersection": [ + -29.105003932126557, + -14.904785113023191, + 0.03070288731348369 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.037853240966797, + -14.915771484375, + 0.06694445013999939 + ], + "box_pose": [ + -28.957395553588867, + -14.908415794372559, + 0.03409590944647789, + 0.6479976773262024, + 0.26584693789482117, + 0.5002170205116272, + 0.5091241598129272 + ], + "box_yaw_rad": 1.1735801207676668, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0070849965970253975, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021435200018279834 + } + } + }, + { + "simulation_time_ns": 11380000000, + "center": [ + -28.974385484297226, + -14.904719107732575, + 0.030767563533878932 + ], + "face_center": [ + -28.983468729071284, + -14.923562537984273, + 0.08197830495501972 + ], + "face_normal": [ + -0.16419946092690907, + -0.34063610155922674, + 0.9257458478975167 + ], + "footprint_xy": [ + [ + -29.121399508732605, + -15.036779586690145 + ], + [ + -28.827371459861848, + -15.036779586690145 + ], + [ + -28.827371459861848, + -14.772658628775007 + ], + [ + -29.121399508732605, + -14.772658628775007 + ] + ], + "projected_box_corners": [ + [ + -29.103233019184493, + -14.904453909819383 + ], + [ + -28.882834267864084, + -14.999092726186749 + ], + [ + -29.121399508732605, + -14.942140770322776 + ], + [ + -28.90100075741219, + -15.036779586690145 + ], + [ + -29.04777021118226, + -14.772658628775007 + ], + [ + -28.827371459861848, + -14.867297445142375 + ], + [ + -29.065936700730372, + -14.8103454892784 + ], + [ + -28.84553794940996, + -14.904984305645769 + ] + ], + "yaw_rad": 1.1724668704203178, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.037092208862305, + -14.916305541992188, + 0.06745685636997223 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.983537740945792, + -14.923584714651456, + 0.08199444874566525 + ], + "intended_face_normal": [ + -0.1643697100280086, + -0.3403563980452944, + 0.9258186030355944 + ], + "commanded_contact_point": [ + -29.02795135498047, + -14.897220528447411, + 0.030779682629656416 + ], + "centerline_face_intersection": [ + -29.1049801738695, + -14.904756757139237, + 0.030779682629656416 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.037460327148438, + -14.916037559509277, + 0.06729328632354736 + ], + "box_pose": [ + -28.957359313964844, + -14.908391952514648, + 0.03416253626346588, + 0.6482115387916565, + 0.2658717930316925, + 0.5, + 0.509052038192749 + ], + "box_yaw_rad": 1.1731126324778578, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007536228691826994, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00078300852140059 + } + } + }, + { + "simulation_time_ns": 11400000000, + "center": [ + -28.97444817068543, + -14.904943639975702, + 0.030664055659151243 + ], + "face_center": [ + -28.983656143234736, + -14.924153190275767, + 0.08171625783303031 + ], + "face_normal": [ + -0.16645418751066288, + -0.3472545199848085, + 0.9228799052103298 + ], + "footprint_xy": [ + [ + -29.1215053594507, + -15.037162635154335 + ], + [ + -28.82739098192016, + -15.037162635154335 + ], + [ + -28.82739098192016, + -14.772724644797067 + ], + [ + -29.1215053594507, + -14.772724644797067 + ] + ], + "projected_box_corners": [ + [ + -29.103089414352088, + -14.904108516568972 + ], + [ + -28.882686627898014, + -14.998743534554205 + ], + [ + -29.1215053594507, + -14.942527617169103 + ], + [ + -28.901102572996628, + -15.037162635154335 + ], + [ + -29.047793768374234, + -14.772724644797067 + ], + [ + -28.82739098192016, + -14.8673596627823 + ], + [ + -29.066209713472848, + -14.8111437453972 + ], + [ + -28.84580692701877, + -14.905778763382433 + ] + ], + "yaw_rad": 1.1724282714928764, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.036972045898438, + -14.916876792907715, + 0.06695440411567688 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.983468729071284, + -14.923562537984273, + 0.08197830495501972 + ], + "intended_face_normal": [ + -0.16419946092690907, + -0.34063610155922674, + 0.9257458478975167 + ], + "commanded_contact_point": [ + -29.02713119506836, + -14.896719421670364, + 0.030767563533878932 + ], + "centerline_face_intersection": [ + -29.104945089511137, + -14.904719107732575, + 0.030767563533878932 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.037092208862305, + -14.916305541992188, + 0.06745685636997223 + ], + "box_pose": [ + -28.957300186157227, + -14.908363342285156, + 0.03414303436875343, + 0.6484568119049072, + 0.26571840047836304, + 0.4998217821121216, + 0.5089946985244751 + ], + "box_yaw_rad": 1.1724668704203178, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007999686062211497, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009612060944025819 + } + } + }, + { + "simulation_time_ns": 11420000000, + "center": [ + -28.97424757307326, + -14.90533214103187, + 0.030641532413336007 + ], + "face_center": [ + -28.983673979192055, + -14.924942369578975, + 0.08150117039557203 + ], + "face_normal": [ + -0.17040285070873296, + -0.3544976532269004, + 0.9193988874410053 + ], + "footprint_xy": [ + [ + -29.121372963957906, + -15.03770102880545 + ], + [ + -28.827122182188614, + -15.03770102880545 + ], + [ + -28.827122182188614, + -14.77296325325829 + ], + [ + -29.121372963957906, + -14.77296325325829 + ] + ], + "projected_box_corners": [ + [ + -29.102520151720316, + -14.90390184665553 + ], + [ + -28.882097885410783, + -14.99848057171124 + ], + [ + -29.121372963957906, + -14.943122303749742 + ], + [ + -28.900950697648373, + -15.03770102880545 + ], + [ + -29.047544448498147, + -14.77296325325829 + ], + [ + -28.827122182188614, + -14.867541978314 + ], + [ + -29.066397260735737, + -14.8121837103525 + ], + [ + -28.845974994426204, + -14.90676243540821 + ] + ], + "yaw_rad": 1.1732884819855605, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.036678314208984, + -14.917499542236328, + 0.06632247567176819 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.983656143234736, + -14.924153190275767, + 0.08171625783303031 + ], + "intended_face_normal": [ + -0.16645418751066288, + -0.3472545199848085, + 0.9228799052103298 + ], + "commanded_contact_point": [ + -29.025797958374024, + -14.89646662779621, + 0.030664055659151243 + ], + "centerline_face_intersection": [ + -29.105005385614415, + -14.904943639975702, + 0.030664055659151243 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.036972045898438, + -14.916876792907715, + 0.06695440411567688 + ], + "box_pose": [ + -28.95737075805664, + -14.908609390258789, + 0.03405609726905823, + 0.6496232151985168, + 0.26334837079048157, + 0.5016143321990967, + 0.5069717764854431 + ], + "box_yaw_rad": 1.1724282714928764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008477012179492009, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013609330277659078 + } + } + }, + { + "simulation_time_ns": 11440000000, + "center": [ + -28.973199887511548, + -14.905101365179112, + 0.030153574366233206 + ], + "face_center": [ + -28.982525209063212, + -14.92421755933828, + 0.08121951487887694 + ], + "face_normal": [ + -0.16857552668035325, + -0.34556690411725555, + 0.9231282556484501 + ], + "footprint_xy": [ + [ + -29.120260189293933, + -15.037173129040434 + ], + [ + -28.826139585729166, + -15.037173129040434 + ], + [ + -28.826139585729166, + -14.77302960131779 + ], + [ + -29.120260189293933, + -14.77302960131779 + ] + ], + "projected_box_corners": [ + [ + -29.10160954619061, + -14.90461016679378 + ], + [ + -28.881093072053947, + -14.998940740722096 + ], + [ + -29.120260189293933, + -14.942842555112117 + ], + [ + -28.89974371515727, + -15.037173129040434 + ], + [ + -29.04665605986583, + -14.77302960131779 + ], + [ + -28.826139585729166, + -14.867360175246105 + ], + [ + -29.065306702969153, + -14.811261989636126 + ], + [ + -28.84479022883249, + -14.905592563564444 + ] + ], + "yaw_rad": 1.1751749865870238, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.035554885864258, + -14.917040824890137, + 0.06592001020908356 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.983673979192055, + -14.924942369578975, + 0.08150117039557203 + ], + "intended_face_normal": [ + -0.17040285070873296, + -0.3544976532269004, + 0.9193988874410053 + ], + "commanded_contact_point": [ + -29.024096603393556, + -14.8963684328042, + 0.030641532413336007 + ], + "centerline_face_intersection": [ + -29.104793249986063, + -14.90533214103187, + 0.030641532413336007 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.036678314208984, + -14.917499542236328, + 0.06632247567176819 + ], + "box_pose": [ + -28.957183837890625, + -14.909017562866211, + 0.034080762416124344, + 0.6504236459732056, + 0.2603982985019684, + 0.5041804313659668, + 0.504919707775116 + ], + "box_yaw_rad": 1.1732884819855605, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008963708227670326, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017043351556028045 + } + } + }, + { + "simulation_time_ns": 11460000000, + "center": [ + -28.971088465790228, + -14.904726417514956, + 0.03011100119264954 + ], + "face_center": [ + -28.980406079799234, + -14.923826115535588, + 0.08118452474540214 + ], + "face_normal": [ + -0.16843619603582738, + -0.34526870043314517, + 0.9232653356379288 + ], + "footprint_xy": [ + [ + -29.118076734177546, + -15.036615451673528 + ], + [ + -28.82410019740291, + -15.036615451673528 + ], + [ + -28.82410019740291, + -14.772837383356386 + ], + [ + -29.118076734177546, + -14.772837383356386 + ] + ], + "projected_box_corners": [ + [ + -29.09944150615953, + -14.904584335318035 + ], + [ + -28.878717361993242, + -14.998416055632267 + ], + [ + -29.118076734177546, + -14.942783731359295 + ], + [ + -28.89735259001126, + -15.036615451673528 + ], + [ + -29.044824341569193, + -14.772837383356386 + ], + [ + -28.82410019740291, + -14.866669103670619 + ], + [ + -29.063459569587213, + -14.811036779397647 + ], + [ + -28.842735425420926, + -14.90486849971188 + ] + ], + "yaw_rad": 1.1778006184919656, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.033483505249023, + -14.916513442993164, + 0.06582479178905487 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.982525209063212, + -14.92421755933828, + 0.08121951487887694 + ], + "intended_face_normal": [ + -0.16857552668035325, + -0.34556690411725555, + 0.9231282556484501 + ], + "commanded_contact_point": [ + -29.022210235595704, + -14.895660078563001, + 0.030153574366233206 + ], + "centerline_face_intersection": [ + -29.10368979342306, + -14.905101365179112, + 0.030153574366233206 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.035554885864258, + -14.917040824890137, + 0.06592001020908356 + ], + "box_pose": [ + -28.956127166748047, + -14.908737182617188, + 0.03360099717974663, + 0.6482184529304504, + 0.2635921537876129, + 0.5025895833969116, + 0.5076767802238464 + ], + "box_yaw_rad": 1.1751749865870238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009441286616111315, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020732226738893566 + } + } + }, + { + "simulation_time_ns": 11480000000, + "center": [ + -28.967427133901637, + -14.903965509726289, + 0.030006225336353276 + ], + "face_center": [ + -28.976772284834492, + -14.92313540526219, + 0.0810484149003237 + ], + "face_normal": [ + -0.16893398599562914, + -0.3465376736307988, + 0.9226989054475396 + ], + "footprint_xy": [ + [ + -29.114363176678975, + -15.035731166165517 + ], + [ + -28.820491091124303, + -15.035731166165517 + ], + [ + -28.820491091124303, + -14.772199853287061 + ], + [ + -29.114363176678975, + -14.772199853287061 + ] + ], + "projected_box_corners": [ + [ + -29.095672874813268, + -14.903995775885399 + ], + [ + -28.874768355813814, + -14.997391375093713 + ], + [ + -29.114363176678975, + -14.942335566957203 + ], + [ + -28.89345865767952, + -15.035731166165517 + ], + [ + -29.041395610123757, + -14.772199853287061 + ], + [ + -28.820491091124303, + -14.865595452495375 + ], + [ + -29.060085911989464, + -14.810539644358865 + ], + [ + -28.83918139299001, + -14.90393524356718 + ] + ], + "yaw_rad": 1.1801350785270857, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.02989959716797, + -14.915485382080078, + 0.06542962789535522 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.980406079799234, + -14.923826115535588, + 0.08118452474540214 + ], + "intended_face_normal": [ + -0.16843619603582738, + -0.34526870043314517, + 0.9232653356379288 + ], + "commanded_contact_point": [ + -29.020123596191407, + -14.894813649879717, + 0.03011100119264954 + ], + "centerline_face_intersection": [ + -29.101455599257754, + -14.904726417514956, + 0.03011100119264954 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.033483505249023, + -14.916513442993164, + 0.06582479178905487 + ], + "box_pose": [ + -28.954010009765625, + -14.908321380615234, + 0.033572833985090256, + 0.647563099861145, + 0.26432865858078003, + 0.5032855868339539, + 0.5074406862258911 + ], + "box_yaw_rad": 1.1778006184919656, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009912767635239635, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022521807197822107 + } + } + }, + { + "simulation_time_ns": 11500000000, + "center": [ + -28.963769932290006, + -14.902959620310776, + 0.02966466795258505 + ], + "face_center": [ + -28.973253112066544, + -14.922065513168096, + 0.08070538630364905 + ], + "face_normal": [ + -0.17142915840256023, + -0.3453806856179895, + 0.9226723100653658 + ], + "footprint_xy": [ + [ + -29.110741244912347, + -15.034658459007371 + ], + [ + -28.81679861966766, + -15.034658459007371 + ], + [ + -28.81679861966766, + -14.771260781614183 + ], + [ + -29.110741244912347, + -14.771260781614183 + ] + ], + "projected_box_corners": [ + [ + -29.091774885359268, + -14.90316145598518 + ], + [ + -28.870843563999372, + -14.99644667329273 + ], + [ + -29.110741244912347, + -14.94137324169982 + ], + [ + -28.889809923552452, + -15.034658459007371 + ], + [ + -29.037729941027557, + -14.771260781614183 + ], + [ + -28.81679861966766, + -14.864545998921733 + ], + [ + -29.056696300580636, + -14.809472567328823 + ], + [ + -28.83576497922074, + -14.902757784636373 + ] + ], + "yaw_rad": 1.1819219463176485, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.026309967041016, + -14.913978576660156, + 0.06431947648525238 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.976772284834492, + -14.92313540526219, + 0.0810484149003237 + ], + "intended_face_normal": [ + -0.16893398599562914, + -0.3465376736307988, + 0.9226989054475396 + ], + "commanded_contact_point": [ + -29.01802360534668, + -14.893591947196898, + 0.030006225336353276 + ], + "centerline_face_intersection": [ + -29.097687818890627, + -14.903965509726289, + 0.030006225336353276 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.02989959716797, + -14.915485382080078, + 0.06542962789535522 + ], + "box_pose": [ + -28.950345993041992, + -14.907529830932617, + 0.03348645195364952, + 0.6472302079200745, + 0.2643948197364807, + 0.5043430328369141, + 0.5067806839942932 + ], + "box_yaw_rad": 1.1801350785270857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010373562529391197, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024317682811498854 + } + } + }, + { + "simulation_time_ns": 11520000000, + "center": [ + -28.959306324647518, + -14.900551202331435, + 0.02975407588706462 + ], + "face_center": [ + -28.968633226835603, + -14.919578821505683, + 0.08085278775443402 + ], + "face_normal": [ + -0.1686041001312475, + -0.34396571807225484, + 0.923720669363334 + ], + "footprint_xy": [ + [ + -29.106079258373025, + -15.031861121688802 + ], + [ + -28.81253339092201, + -15.031861121688802 + ], + [ + -28.81253339092201, + -14.769241282974066 + ], + [ + -29.106079258373025, + -14.769241282974066 + ] + ], + "projected_box_corners": [ + [ + -29.087425453996858, + -14.90152123609779 + ], + [ + -28.866071875963637, + -14.993805883340306 + ], + [ + -29.106079258373025, + -14.939576474446286 + ], + [ + -28.884725680339805, + -15.031861121688802 + ], + [ + -29.03388696895523, + -14.769241282974066 + ], + [ + -28.81253339092201, + -14.861525930216583 + ], + [ + -29.052540773331398, + -14.807296521322563 + ], + [ + -28.831187195298178, + -14.89958116856508 + ] + ], + "yaw_rad": 1.1862137018725725, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.021881103515625, + -14.911377906799316, + 0.06454335153102875 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.973253112066544, + -14.922065513168096, + 0.08070538630364905 + ], + "intended_face_normal": [ + -0.17142915840256023, + -0.3453806856179895, + 0.9226723100653658 + ], + "commanded_contact_point": [ + -29.01588737487793, + -14.89214529952741, + 0.02966466795258505 + ], + "centerline_face_intersection": [ + -29.094014814658482, + -14.902959620310776, + 0.02966466795258505 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.026309967041016, + -14.913978576660156, + 0.06431947648525238 + ], + "box_pose": [ + -28.946697235107422, + -14.906511306762695, + 0.03319881856441498, + 0.6461026072502136, + 0.26415324211120605, + 0.5052145719528198, + 0.507476806640625 + ], + "box_yaw_rad": 1.1819219463176485, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010814320783366402, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002602485646772305 + } + } + }, + { + "simulation_time_ns": 11540000000, + "center": [ + -28.9555902477474, + -14.896298957317176, + 0.02996425180375545 + ], + "face_center": [ + -28.96462547171673, + -14.915358160697266, + 0.08110358906513306 + ], + "face_normal": [ + -0.16333138014240944, + -0.3445366714817766, + 0.9244550619688425 + ], + "footprint_xy": [ + [ + -29.101949378938496, + -15.026877228850214 + ], + [ + -28.8092311165563, + -15.026877228850214 + ], + [ + -28.8092311165563, + -14.765720685784139 + ], + [ + -29.101949378938496, + -14.765720685784139 + ] + ], + "projected_box_corners": [ + [ + -29.083878930999838, + -14.898560336286314 + ], + [ + -28.861656745317283, + -14.98875882209003 + ], + [ + -29.101949378938496, + -14.936678743046498 + ], + [ + -28.879727193255942, + -15.026877228850214 + ], + [ + -29.031453302238855, + -14.765720685784139 + ], + [ + -28.8092311165563, + -14.855919171587855 + ], + [ + -29.049523750177514, + -14.80383909254432 + ], + [ + -28.82730156449496, + -14.894037578348037 + ] + ], + "yaw_rad": 1.1949075092986432, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.018112182617188, + -14.907530784606934, + 0.06511199474334717 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.968633226835603, + -14.919578821505683, + 0.08085278775443402 + ], + "intended_face_normal": [ + -0.1686041001312475, + -0.34396571807225484, + 0.923720669363334 + ], + "commanded_contact_point": [ + -29.01372444152832, + -14.889303813369354, + 0.02975407588706462 + ], + "centerline_face_intersection": [ + -29.08930275035568, + -14.900551202331435, + 0.02975407588706462 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.021881103515625, + -14.911377906799316, + 0.06454335153102875 + ], + "box_pose": [ + -28.94221305847168, + -14.90401840209961, + 0.03327265754342079, + 0.6452664732933044, + 0.26654160022735596, + 0.505582869052887, + 0.5069246292114258 + ], + "box_yaw_rad": 1.1862137018725725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011247388962081648, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035721587366779922 + } + } + }, + { + "simulation_time_ns": 11560000000, + "center": [ + -28.955349576459735, + -14.896047799403052, + 0.02991339752110028 + ], + "face_center": [ + -28.964421299408546, + -14.915307968839917, + 0.08097093847809567 + ], + "face_normal": [ + -0.16399117880517622, + -0.3481695712887998, + 0.9229764153596776 + ], + "footprint_xy": [ + [ + -29.1016535963754, + -15.026557980401602 + ], + [ + -28.80904555654407, + -15.026557980401602 + ], + [ + -28.80904555654407, + -14.765537618404501 + ], + [ + -29.1016535963754, + -14.765537618404501 + ] + ], + "projected_box_corners": [ + [ + -29.08351015047777, + -14.898273254454574 + ], + [ + -28.861112383073863, + -14.988037641527873 + ], + [ + -29.1016535963754, + -14.936793593328304 + ], + [ + -28.87925582897149, + -15.026557980401602 + ], + [ + -29.03144332394798, + -14.765537618404501 + ], + [ + -28.80904555654407, + -14.8553020054778 + ], + [ + -29.049586769845604, + -14.80405795727823 + ], + [ + -28.827189002441695, + -14.893822344351529 + ] + ], + "yaw_rad": 1.1969804727725046, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.01786994934082, + -14.90737247467041, + 0.0648697018623352 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.96462547171673, + -14.915358160697266, + 0.08110358906513306 + ], + "intended_face_normal": [ + -0.16333138014240944, + -0.3445366714817766, + 0.9244550619688425 + ], + "commanded_contact_point": [ + -29.011748428344728, + -14.884602295263505, + 0.02996425180375545 + ], + "centerline_face_intersection": [ + -29.08507855186811, + -14.896298957317176, + 0.02996425180375545 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.018112182617188, + -14.907530784606934, + 0.06511199474334717 + ], + "box_pose": [ + -28.938457489013672, + -14.899601936340332, + 0.033448584377765656, + 0.6442980170249939, + 0.2703944444656372, + 0.5070980191230774, + 0.5045973062515259 + ], + "box_yaw_rad": 1.1949075092986432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011696662053671933, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005104221244941936 + } + } + }, + { + "simulation_time_ns": 11580000000, + "center": [ + -28.955183597254628, + -14.895755050664409, + 0.029874011750170803 + ], + "face_center": [ + -28.96422915853237, + -14.914913626096292, + 0.08097439119387588 + ], + "face_normal": [ + -0.16351824953889604, + -0.34633303806016613, + 0.9237508144427835 + ], + "footprint_xy": [ + [ + -29.101476724556864, + -15.02621363093252 + ], + [ + -28.808890469952388, + -15.02621363093252 + ], + [ + -28.808890469952388, + -14.765296470396295 + ], + [ + -29.101476724556864, + -14.765296470396295 + ] + ], + "projected_box_corners": [ + [ + -29.083385602001375, + -14.898152264220178 + ], + [ + -28.860981472147394, + -14.987896480068756 + ], + [ + -29.101476724556864, + -14.936469415083945 + ], + [ + -28.879072594702883, + -15.02621363093252 + ], + [ + -29.03129459980637, + -14.765296470396295 + ], + [ + -28.808890469952388, + -14.855040686244871 + ], + [ + -29.04938572236186, + -14.803613621260062 + ], + [ + -28.826981592507877, + -14.893357837108638 + ] + ], + "yaw_rad": 1.19713023808937, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.017635345458984, + -14.906946182250977, + 0.06487689912319183 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.964421299408546, + -14.915307968839917, + 0.08097093847809567 + ], + "intended_face_normal": [ + -0.16399117880517622, + -0.3481695712887998, + 0.9229764153596776 + ], + "commanded_contact_point": [ + -29.00981056213379, + -14.883898150338686, + 0.02991339752110028 + ], + "centerline_face_intersection": [ + -29.084735650330575, + -14.896047799403052, + 0.02991339752110028 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01786994934082, + -14.90737247467041, + 0.0648697018623352 + ], + "box_pose": [ + -28.938215255737305, + -14.899328231811523, + 0.03341133892536163, + 0.6445457339286804, + 0.26977336406707764, + 0.5085721015930176, + 0.5031279921531677 + ], + "box_yaw_rad": 1.1969804727725046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012149649064366276, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020624576807068595 + } + } + }, + { + "simulation_time_ns": 11600000000, + "center": [ + -28.954704194140664, + -14.895063624168307, + 0.030010029929831594 + ], + "face_center": [ + -28.96372632637672, + -14.914133894908346, + 0.08114756879239277 + ], + "face_normal": [ + -0.16309471850884094, + -0.34473673815206496, + 0.9244225519877141 + ], + "footprint_xy": [ + [ + -29.100994749388107, + -15.025494262303212 + ], + [ + -28.80841363889322, + -15.025494262303212 + ], + [ + -28.80841363889322, + -14.764632986033401 + ], + [ + -29.100994749388107, + -14.764632986033401 + ] + ], + "projected_box_corners": [ + [ + -29.082950484915997, + -14.897579307937033 + ], + [ + -28.860559454490556, + -14.987353720823133 + ], + [ + -29.100994749388107, + -14.935719849417112 + ], + [ + -28.878603718962665, + -15.025494262303212 + ], + [ + -29.030804669318663, + -14.764632986033401 + ], + [ + -28.80841363889322, + -14.854407398919502 + ], + [ + -29.048848933790772, + -14.80277352751348 + ], + [ + -28.82645790336533, + -14.89254794039958 + ] + ], + "yaw_rad": 1.1970042958187916, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.01708984375, + -14.90621566772461, + 0.06510606408119202 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.96422915853237, + -14.914913626096292, + 0.08097439119387588 + ], + "intended_face_normal": [ + -0.16351824953889604, + -0.34633303806016613, + 0.9237508144427835 + ], + "commanded_contact_point": [ + -29.007866973876954, + -14.88315775633658, + 0.029874011750170803 + ], + "centerline_face_intersection": [ + -29.08456596969944, + -14.895755050664409, + 0.029874011750170803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.017635345458984, + -14.906946182250977, + 0.06487689912319183 + ], + "box_pose": [ + -28.938047409057617, + -14.899027824401855, + 0.03336997330188751, + 0.6441643834114075, + 0.27041858434677124, + 0.5081523060798645, + 0.5036937594413757 + ], + "box_yaw_rad": 1.19713023808937, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01259729432782898, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020802090831012225 + } + } + }, + { + "simulation_time_ns": 11620000000, + "center": [ + -28.95420171935128, + -14.894683771156837, + 0.030018158107995484 + ], + "face_center": [ + -28.96323567351487, + -14.913824407598833, + 0.08112730013539834 + ], + "face_normal": [ + -0.16330842563411352, + -0.3460087516908814, + 0.9239092172553569 + ], + "footprint_xy": [ + [ + -29.10052955616469, + -15.025227014672165 + ], + [ + -28.807873882537862, + -15.025227014672165 + ], + [ + -28.807873882537862, + -14.76414052764151 + ], + [ + -29.10052955616469, + -14.76414052764151 + ] + ], + "projected_box_corners": [ + [ + -29.08246164783751, + -14.896944324265222 + ], + [ + -28.860158105408452, + -14.986945741788174 + ], + [ + -29.10052955616469, + -14.935225597149214 + ], + [ + -28.878226013735638, + -15.025227014672165 + ], + [ + -29.03017742496692, + -14.76414052764151 + ], + [ + -28.807873882537862, + -14.85414194516446 + ], + [ + -29.0482453332941, + -14.8024218005255 + ], + [ + -28.82594179086505, + -14.892423218048453 + ] + ], + "yaw_rad": 1.195736873915663, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.01654052734375, + -14.905956268310547, + 0.0651039332151413 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.96372632637672, + -14.914133894908346, + 0.08114756879239277 + ], + "intended_face_normal": [ + -0.16309471850884094, + -0.34473673815206496, + 0.9244225519877141 + ], + "commanded_contact_point": [ + -29.00613510131836, + -14.882020248098225, + 0.030010029929831594 + ], + "centerline_face_intersection": [ + -29.084094187554445, + -14.895063624168307, + 0.030010029929831594 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01708984375, + -14.90621566772461, + 0.06510606408119202 + ], + "box_pose": [ + -28.93756675720215, + -14.898333549499512, + 0.03350253403186798, + 0.6438948512077332, + 0.27092382311820984, + 0.5077083706855774, + 0.5042142868041992 + ], + "box_yaw_rad": 1.1970042958187916, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013043376070081084, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020764894646331717 + } + } + }, + { + "simulation_time_ns": 11640000000, + "center": [ + -28.95399852543647, + -14.89471893844786, + 0.029977723731196844 + ], + "face_center": [ + -28.963136969600747, + -14.914098146451462, + 0.08097827546512183 + ], + "face_normal": [ + -0.16519731030157203, + -0.3503214530198093, + 0.9219462108524148 + ], + "footprint_xy": [ + [ + -29.100389663514584, + -15.02543550099233 + ], + [ + -28.80760738735836, + -15.02543550099233 + ], + [ + -28.80760738735836, + -14.764002375903392 + ], + [ + -29.100389663514584, + -14.764002375903392 + ] + ], + "projected_box_corners": [ + [ + -29.08211277518603, + -14.89648157833555 + ], + [ + -28.85988686085886, + -14.986677084985129 + ], + [ + -29.100389663514584, + -14.935239994342751 + ], + [ + -28.878163749187415, + -15.02543550099233 + ], + [ + -29.029833301685528, + -14.764002375903392 + ], + [ + -28.80760738735836, + -14.85419788255297 + ], + [ + -29.048110190014082, + -14.802760791910593 + ], + [ + -28.825884275686914, + -14.892956298560172 + ] + ], + "yaw_rad": 1.194933001702345, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.01630210876465, + -14.906329154968262, + 0.0647721141576767 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.96323567351487, + -14.913824407598833, + 0.08112730013539834 + ], + "intended_face_normal": [ + -0.16330842563411352, + -0.3460087516908814, + 0.9239092172553569 + ], + "commanded_contact_point": [ + -29.004593963623048, + -14.881189495200607, + 0.030018158107995484 + ], + "centerline_face_intersection": [ + -29.083642634451476, + -14.894683771156837, + 0.030018158107995484 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01654052734375, + -14.905956268310547, + 0.0651039332151413 + ], + "box_pose": [ + -28.93706703186035, + -14.89797592163086, + 0.03350325673818588, + 0.6444526314735413, + 0.2702484130859375, + 0.507627010345459, + 0.5039458274841309 + ], + "box_yaw_rad": 1.195736873915663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01349427595622949, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017508060543918208 + } + } + }, + { + "simulation_time_ns": 11660000000, + "center": [ + -28.954067458364264, + -14.894840494466877, + 0.029900466107656773 + ], + "face_center": [ + -28.963340170736576, + -14.914433898214728, + 0.0807948300580163 + ], + "face_normal": [ + -0.167624501016725, + -0.35419350828352236, + 0.9200266350562991 + ], + "footprint_xy": [ + [ + -29.100506363292848, + -15.025657072390338 + ], + [ + -28.80762855343568, + -15.025657072390338 + ], + [ + -28.80762855343568, + -14.764023916543415 + ], + [ + -29.100506363292848, + -14.764023916543415 + ] + ], + "projected_box_corners": [ + [ + -29.081960938548225, + -14.896250483417814 + ], + [ + -28.859750125536184, + -14.986470264894633 + ], + [ + -29.100506363292848, + -14.93543729091352 + ], + [ + -28.878295550280807, + -15.025657072390338 + ], + [ + -29.029839366447717, + -14.764023916543415 + ], + [ + -28.80762855343568, + -14.854243698020234 + ], + [ + -29.04838479119234, + -14.80321072403912 + ], + [ + -28.826173978180304, + -14.893430505515939 + ] + ], + "yaw_rad": 1.195313939201007, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.016321182250977, + -14.90688419342041, + 0.06414201855659485 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.963136969600747, + -14.914098146451462, + 0.08097827546512183 + ], + "intended_face_normal": [ + -0.16519731030157203, + -0.3503214530198093, + 0.9219462108524148 + ], + "commanded_contact_point": [ + -29.003098602294923, + -14.880760253830815, + 0.029977723731196844 + ], + "centerline_face_intersection": [ + -29.083484656921875, + -14.89471893844786, + 0.029977723731196844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01630210876465, + -14.906329154968262, + 0.0647721141576767 + ], + "box_pose": [ + -28.936872482299805, + -14.898040771484375, + 0.033477120101451874, + 0.6453160047531128, + 0.2683407962322235, + 0.5086531043052673, + 0.5028245449066162 + ], + "box_yaw_rad": 1.194933001702345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013958684617045523, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001556273945685628 + } + } + }, + { + "simulation_time_ns": 11680000000, + "center": [ + -28.952886001443876, + -14.89443534912986, + 0.02987270749652099 + ], + "face_center": [ + -28.962181985391503, + -14.913983375052654, + 0.0807802658855799 + ], + "face_normal": [ + -0.16804518549863445, + -0.35337320512113735, + 0.9202651533144284 + ], + "footprint_xy": [ + [ + -29.09938383945356, + -15.025351672918221 + ], + [ + -28.80638816343419, + -15.025351672918221 + ], + [ + -28.80638816343419, + -14.7635190253415 + ], + [ + -29.09938383945356, + -14.7635190253415 + ] + ], + "projected_box_corners": [ + [ + -29.080791871558304, + -14.895703867125222 + ], + [ + -28.858716889901395, + -14.986255621072637 + ], + [ + -29.09938383945356, + -14.934799918970809 + ], + [ + -28.87730885779665, + -15.025351672918221 + ], + [ + -29.0284631450911, + -14.7635190253415 + ], + [ + -28.80638816343419, + -14.854070779288913 + ], + [ + -29.047055112986353, + -14.802615077187085 + ], + [ + -28.824980131329443, + -14.893166831134497 + ] + ], + "yaw_rad": 1.1938506929005812, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.015188217163086, + -14.906702995300293, + 0.0640566349029541 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.963340170736576, + -14.914433898214728, + 0.0807948300580163 + ], + "intended_face_normal": [ + -0.167624501016725, + -0.35419350828352236, + 0.9200266350562991 + ], + "commanded_contact_point": [ + -29.00168716430664, + -14.88040006189169, + 0.029900466107656773 + ], + "centerline_face_intersection": [ + -29.083562389650407, + -14.894840494466877, + 0.029900466107656773 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.016321182250977, + -14.90688419342041, + 0.06414201855659485 + ], + "box_pose": [ + -28.93695068359375, + -14.898177146911621, + 0.03343097120523453, + 0.6457014083862305, + 0.26660749316215515, + 0.5100651383399963, + 0.5018203854560852 + ], + "box_yaw_rad": 1.195313939201007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014440432575186865, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014587200444804054 + } + } + }, + { + "simulation_time_ns": 11700000000, + "center": [ + -28.950376511634715, + -14.893457739224626, + 0.02980486425374831 + ], + "face_center": [ + -28.959595710303734, + -14.912648876872094, + 0.08086195704689389 + ], + "face_normal": [ + -0.16665712410997457, + -0.3469216711289178, + 0.9229683138205935 + ], + "footprint_xy": [ + [ + -29.09689348283301, + -15.024317428272552 + ], + [ + -28.80385954043642, + -15.024317428272552 + ], + [ + -28.80385954043642, + -14.7625980501767 + ], + [ + -29.09689348283301, + -14.7625980501767 + ] + ], + "projected_box_corners": [ + [ + -29.078455085494973, + -14.895113238028634 + ], + [ + -28.856494675134755, + -14.985935152977616 + ], + [ + -29.09689348283301, + -14.93349551332357 + ], + [ + -28.874933072472793, + -15.024317428272552 + ], + [ + -29.025819950796638, + -14.7625980501767 + ], + [ + -28.80385954043642, + -14.853419965125683 + ], + [ + -29.044258348134676, + -14.800980325471636 + ], + [ + -28.822297937774458, + -14.891802240420619 + ] + ], + "yaw_rad": 1.1927054055176258, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.01276969909668, + -14.905803680419922, + 0.06424058973789215 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.962181985391503, + -14.913983375052654, + 0.0807802658855799 + ], + "intended_face_normal": [ + -0.16804518549863445, + -0.35337320512113735, + 0.9202651533144284 + ], + "commanded_contact_point": [ + -29.000529403686524, + -14.879504210707857, + 0.02987270749652099 + ], + "centerline_face_intersection": [ + -29.08246013783393, + -14.89443534912986, + 0.02987270749652099 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.015188217163086, + -14.906702995300293, + 0.0640566349029541 + ], + "box_pose": [ + -28.935773849487305, + -14.897795677185059, + 0.03340316191315651, + 0.6457794904708862, + 0.2663078010082245, + 0.5095639824867249, + 0.5023877620697021 + ], + "box_yaw_rad": 1.1938506929005812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014931138422004157, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00146414805861997 + } + } + }, + { + "simulation_time_ns": 11720000000, + "center": [ + -28.94856911598997, + -14.892971355675957, + 0.02985112990569165 + ], + "face_center": [ + -28.95775921041764, + -14.912115283148703, + 0.0809311946485855 + ], + "face_normal": [ + -0.16613100146779658, + -0.3460682442498211, + 0.9233835819168448 + ], + "footprint_xy": [ + [ + -29.095125867951733, + -15.023930292395958 + ], + [ + -28.8020123640282, + -15.023930292395958 + ], + [ + -28.8020123640282, + -14.762012418955957 + ], + [ + -29.095125867951733, + -14.762012418955957 + ] + ], + "projected_box_corners": [ + [ + -29.076745679096394, + -14.894485516535585 + ], + [ + -28.854917495515604, + -14.985642437450466 + ], + [ + -29.095125867951733, + -14.932773371481076 + ], + [ + -28.873297684370947, + -15.023930292395958 + ], + [ + -29.023840547608987, + -14.762012418955957 + ], + [ + -28.8020123640282, + -14.853169339870838 + ], + [ + -29.04222073646433, + -14.800300273901449 + ], + [ + -28.82039255288354, + -14.89145719481633 + ] + ], + "yaw_rad": 1.1908373995073214, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.011075973510742, + -14.905485153198242, + 0.06448408961296082 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.959595710303734, + -14.912648876872094, + 0.08086195704689389 + ], + "intended_face_normal": [ + -0.16665712410997457, + -0.3469216711289178, + 0.9229683138205935 + ], + "commanded_contact_point": [ + -28.99944030761719, + -14.878457739224626, + 0.02980486425374831 + ], + "centerline_face_intersection": [ + -29.080017531469437, + -14.893457739224626, + 0.02980486425374831 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01276969909668, + -14.905803680419922, + 0.06424058973789215 + ], + "box_pose": [ + -28.93326187133789, + -14.896818161010742, + 0.033323146402835846, + 0.6447850465774536, + 0.26808610558509827, + 0.5076544880867004, + 0.5046473145484924 + ], + "box_yaw_rad": 1.1927054055176258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015118979856623904 + } + } + }, + { + "simulation_time_ns": 11740000000, + "center": [ + -28.94830927101105, + -14.893031941314767, + 0.029778690822190576 + ], + "face_center": [ + -28.95765557133871, + -14.912402736431162, + 0.08074475188876878 + ], + "face_normal": [ + -0.16895476381373697, + -0.35016937173401885, + 0.9213227168118792 + ], + "footprint_xy": [ + [ + -29.09493991576012, + -15.024141456860027 + ], + [ + -28.801678626261975, + -15.024141456860027 + ], + [ + -28.801678626261975, + -14.761922425769509 + ], + [ + -29.09493991576012, + -14.761922425769509 + ] + ], + "projected_box_corners": [ + [ + -29.076247315104798, + -14.894096302285043 + ], + [ + -28.8544852469262, + -14.985399866627242 + ], + [ + -29.09493991576012, + -14.932837892517828 + ], + [ + -28.87317784758152, + -15.024141456860027 + ], + [ + -29.023440694440577, + -14.761922425769509 + ], + [ + -28.801678626261975, + -14.853225990111708 + ], + [ + -29.042133295095898, + -14.800664016002294 + ], + [ + -28.8203712269173, + -14.891967580344494 + ] + ], + "yaw_rad": 1.190700460870222, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.010990142822266, + -14.905832290649414, + 0.06412021815776825 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.95775921041764, + -14.912115283148703, + 0.0809311946485855 + ], + "intended_face_normal": [ + -0.16613100146779658, + -0.3460682442498211, + 0.9233835819168448 + ], + "commanded_contact_point": [ + -28.998034591674806, + -14.877971355675957, + 0.02985112990569165 + ], + "centerline_face_intersection": [ + -29.07828741191404, + -14.892971355675957, + 0.02985112990569165 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.011075973510742, + -14.905485153198242, + 0.06448408961296082 + ], + "box_pose": [ + -28.931455612182617, + -14.896355628967285, + 0.03335203975439072, + 0.6451156735420227, + 0.2680469751358032, + 0.5068134665489197, + 0.5050907731056213 + ], + "box_yaw_rad": 1.1908373995073214, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014882025324647876 + } + } + }, + { + "simulation_time_ns": 11760000000, + "center": [ + -28.948147296861322, + -14.893809623248162, + 0.029552450195491718 + ], + "face_center": [ + -28.95799786389739, + -14.914099953174043, + 0.08006373441414599 + ], + "face_normal": [ + -0.17807048443381035, + -0.3667919690301744, + 0.9131016333633255 + ], + "footprint_xy": [ + [ + -29.094888708343934, + -15.02520436561056 + ], + [ + -28.80140588537871, + -15.02520436561056 + ], + [ + -28.80140588537871, + -14.762414880885764 + ], + [ + -29.094888708343934, + -14.762414880885764 + ] + ], + "projected_box_corners": [ + [ + -29.075187574271794, + -14.893585678914002 + ], + [ + -28.853337157483516, + -14.984623705758796 + ], + [ + -29.094888708343934, + -14.934166338765765 + ], + [ + -28.873038291555655, + -15.02520436561056 + ], + [ + -29.02325630216699, + -14.762414880885764 + ], + [ + -28.80140588537871, + -14.853452907730558 + ], + [ + -29.042957436239128, + -14.802995540737527 + ], + [ + -28.821107019450846, + -14.894033567582321 + ] + ], + "yaw_rad": 1.1938244579221537, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.01082420349121, + -14.907130241394043, + 0.06210552155971527 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.95765557133871, + -14.912402736431162, + 0.08074475188876878 + ], + "intended_face_normal": [ + -0.16895476381373697, + -0.35016937173401885, + 0.9213227168118792 + ], + "commanded_contact_point": [ + -28.996476287841798, + -14.878031941314767, + 0.029778690822190576 + ], + "centerline_face_intersection": [ + -29.078066240714527, + -14.893031941314767, + 0.029778690822190576 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.010990142822266, + -14.905832290649414, + 0.06412021815776825 + ], + "box_pose": [ + -28.93120765686035, + -14.896441459655762, + 0.03331304341554642, + 0.6456095576286316, + 0.2659981846809387, + 0.5082056522369385, + 0.5041430592536926 + ], + "box_yaw_rad": 1.190700460870222, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015611626681468246 + } + } + }, + { + "simulation_time_ns": 11780000000, + "center": [ + -28.947967558333854, + -14.893514173875092, + 0.02891508315606756 + ], + "face_center": [ + -28.957980987762966, + -14.913411373228348, + 0.07955058276364503 + ], + "face_normal": [ + -0.18101457741031268, + -0.3596852764654983, + 0.9153470974466309 + ], + "footprint_xy": [ + [ + -29.094759306770666, + -15.024729170325328 + ], + [ + -28.80117580989704, + -15.024729170325328 + ], + [ + -28.80117580989704, + -14.762299177424858 + ], + [ + -29.094759306770666, + -14.762299177424858 + ] + ], + "projected_box_corners": [ + [ + -29.07473244791244, + -14.89395524309779 + ], + [ + -28.85290550990868, + -14.984934771618814 + ], + [ + -29.094759306770666, + -14.933749641804303 + ], + [ + -28.872932368766907, + -15.024729170325328 + ], + [ + -29.023002747900797, + -14.762299177424858 + ], + [ + -28.80117580989704, + -14.85327870594588 + ], + [ + -29.043029606759024, + -14.80209357613137 + ], + [ + -28.821202668755266, + -14.893073104652395 + ] + ], + "yaw_rad": 1.1964122153936407, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.010486602783203, + -14.906689643859863, + 0.060796529054641724 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.95799786389739, + -14.914099953174043, + 0.08006373441414599 + ], + "intended_face_normal": [ + -0.17807048443381035, + -0.3667919690301744, + 0.9131016333633255 + ], + "commanded_contact_point": [ + -28.99501335144043, + -14.878809623248161, + 0.029552450195491718 + ], + "centerline_face_intersection": [ + -29.077852592792738, + -14.893809623248162, + 0.029552450195491718 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01082420349121, + -14.907130241394043, + 0.06210552155971527 + ], + "box_pose": [ + -28.93107795715332, + -14.89725399017334, + 0.0332069918513298, + 0.6471400260925293, + 0.2593383193016052, + 0.514398455619812, + 0.4993472397327423 + ], + "box_yaw_rad": 1.1938244579221537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016721713205118652 + } + } + }, + { + "simulation_time_ns": 11800000000, + "center": [ + -28.947807804747956, + -14.893109614038798, + 0.028769349365813636 + ], + "face_center": [ + -28.957647260642315, + -14.912435675638282, + 0.07965951851411865 + ], + "face_normal": [ + -0.17786962631264203, + -0.3493607158467924, + 0.919950804859802 + ], + "footprint_xy": [ + [ + -29.0945592450637, + -15.024085973499021 + ], + [ + -28.801056364432213, + -15.024085973499021 + ], + [ + -28.801056364432213, + -14.762133254578576 + ], + [ + -29.0945592450637, + -14.762133254578576 + ] + ], + "projected_box_corners": [ + [ + -29.074880333274987, + -14.894449249214741 + ], + [ + -28.8530635760093, + -14.985433850300051 + ], + [ + -29.0945592450637, + -14.933101372413711 + ], + [ + -28.872742487798014, + -15.024085973499021 + ], + [ + -29.0228731216979, + -14.762133254578576 + ], + [ + -28.801056364432213, + -14.853117855663884 + ], + [ + -29.042552033486615, + -14.800785377777544 + ], + [ + -28.82073527622093, + -14.891769978862854 + ] + ], + "yaw_rad": 1.1962929666875148, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.0101318359375, + -14.906057357788086, + 0.060987964272499084 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.957980987762966, + -14.913411373228348, + 0.07955058276364503 + ], + "intended_face_normal": [ + -0.18101457741031268, + -0.3596852764654983, + 0.9153470974466309 + ], + "commanded_contact_point": [ + -28.99344551086426, + -14.878514173875091, + 0.02891508315606756 + ], + "centerline_face_intersection": [ + -29.077686582637135, + -14.893514173875092, + 0.02891508315606756 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.010486602783203, + -14.906689643859863, + 0.060796529054641724 + ], + "box_pose": [ + -28.930910110473633, + -14.896929740905762, + 0.03265126794576645, + 0.644364058971405, + 0.2605324685573578, + 0.5144293904304504, + 0.5022750496864319 + ], + "box_yaw_rad": 1.1964122153936407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017180370040492758 + } + } + }, + { + "simulation_time_ns": 11820000000, + "center": [ + -28.94696764969429, + -14.892453071064104, + 0.028783031011455525 + ], + "face_center": [ + -28.956590415873233, + -14.911343092877464, + 0.07987793145374764 + ], + "face_normal": [ + -0.1739524870805056, + -0.3414783456580395, + 0.9236517695418911 + ], + "footprint_xy": [ + [ + -29.093669003355863, + -15.023266770249984 + ], + [ + -28.80026629603272, + -15.023266770249984 + ], + [ + -28.80026629603272, + -14.761639371878223 + ], + [ + -29.093669003355863, + -14.761639371878223 + ] + ], + "projected_box_corners": [ + [ + -29.074423470997978, + -14.894422565480932 + ], + [ + -28.852630826506203, + -14.985486726623261 + ], + [ + -29.093669003355863, + -14.932202609107655 + ], + [ + -28.871876358864085, + -15.023266770249984 + ], + [ + -29.022058940524495, + -14.761639371878223 + ], + [ + -28.80026629603272, + -14.85270353302055 + ], + [ + -29.04130447288238, + -14.799419415504945 + ], + [ + -28.819511828390603, + -14.890483576647274 + ] + ], + "yaw_rad": 1.1951604752098182, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.009065628051758, + -14.905272483825684, + 0.06140786409378052 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.957647260642315, + -14.912435675638282, + 0.07965951851411865 + ], + "intended_face_normal": [ + -0.17786962631264203, + -0.3493607158467924, + 0.919950804859802 + ], + "commanded_contact_point": [ + -28.99193489074707, + -14.878109614038797, + 0.028769349365813636 + ], + "centerline_face_intersection": [ + -29.077532782773694, + -14.893109614038798, + 0.028769349365813636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.0101318359375, + -14.906057357788086, + 0.060987964272499084 + ], + "box_pose": [ + -28.93073844909668, + -14.896491050720215, + 0.032482121139764786, + 0.6425307393074036, + 0.26416218280792236, + 0.5116977691650391, + 0.5055076479911804 + ], + "box_yaw_rad": 1.1962929666875148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015706304903495946 + } + } + }, + { + "simulation_time_ns": 11840000000, + "center": [ + -28.943559751063837, + -14.890774888072247, + 0.029041187375147937 + ], + "face_center": [ + -28.953195916993526, + -14.909724784181442, + 0.08011140405241612 + ], + "face_normal": [ + -0.17419471680169352, + -0.34256070414816264, + 0.9232055566508599 + ], + "footprint_xy": [ + [ + -29.09042498261424, + -15.022003966007794 + ], + [ + -28.796694519513437, + -15.022003966007794 + ], + [ + -28.796694519513437, + -14.759545810136702 + ], + [ + -29.09042498261424, + -14.759545810136702 + ] + ], + "projected_box_corners": [ + [ + -29.071152650754865, + -14.89195055626047 + ], + [ + -28.8497916119446, + -14.984104173789406 + ], + [ + -29.09042498261424, + -14.929850348478857 + ], + [ + -28.869063943803976, + -15.022003966007794 + ], + [ + -29.018055558323702, + -14.759545810136702 + ], + [ + -28.796694519513437, + -14.851699427665638 + ], + [ + -29.03732789018308, + -14.797445602355088 + ], + [ + -28.815966851372814, + -14.889599219884026 + ] + ], + "yaw_rad": 1.189410030430184, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.005611419677734, + -14.903543472290039, + 0.06180122494697571 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.956590415873233, + -14.911343092877464, + 0.07987793145374764 + ], + "intended_face_normal": [ + -0.1739524870805056, + -0.3414783456580395, + 0.9236517695418911 + ], + "commanded_contact_point": [ + -28.990574951171876, + -14.877453071064103, + 0.028783031011455525 + ], + "centerline_face_intersection": [ + -29.076706731114093, + -14.892453071064104, + 0.028783031011455525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.009065628051758, + -14.905272483825684, + 0.06140786409378052 + ], + "box_pose": [ + -28.92988395690918, + -14.895814895629883, + 0.032447345554828644, + 0.6416345834732056, + 0.2672361135482788, + 0.5089638829231262, + 0.507784903049469 + ], + "box_yaw_rad": 1.1951604752098182, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015101892309342376 + } + } + }, + { + "simulation_time_ns": 11860000000, + "center": [ + -28.938236306276615, + -14.887161663919866, + 0.029272901215156678 + ], + "face_center": [ + -28.947906356174624, + -14.906095518243738, + 0.08034265948333695 + ], + "face_normal": [ + -0.17480724343406706, + -0.3422707138894623, + 0.9231972699067512 + ], + "footprint_xy": [ + [ + -29.08530432557694, + -15.018853006106688 + ], + [ + -28.79116828697629, + -15.018853006106688 + ], + [ + -28.79116828697629, + -14.755470321733041 + ], + [ + -29.08530432557694, + -14.755470321733041 + ] + ], + "projected_box_corners": [ + [ + -29.06596422578092, + -14.887507877613107 + ], + [ + -28.845145034927118, + -14.980985297458941 + ], + [ + -29.08530432557694, + -14.925375586260854 + ], + [ + -28.86448513472314, + -15.018853006106688 + ], + [ + -29.01198747783009, + -14.755470321733041 + ], + [ + -28.79116828697629, + -14.848947741578877 + ], + [ + -29.03132757762611, + -14.79333803038079 + ], + [ + -28.810508386772312, + -14.886815450226624 + ] + ], + "yaw_rad": 1.1827281671474357, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.000328063964844, + -14.899872779846191, + 0.06222039461135864 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.953195916993526, + -14.909724784181442, + 0.08011140405241612 + ], + "intended_face_normal": [ + -0.17419471680169352, + -0.34256070414816264, + 0.9232055566508599 + ], + "commanded_contact_point": [ + -28.98916732788086, + -14.875774888072247, + 0.029041187375147937 + ], + "centerline_face_intersection": [ + -29.07355179535803, + -14.890774888072247, + 0.029041187375147937 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.005611419677734, + -14.903543472290039, + 0.06180122494697571 + ], + "box_pose": [ + -28.92648696899414, + -14.894227027893066, + 0.03267224133014679, + 0.6431983709335327, + 0.2655397355556488, + 0.5075196623802185, + 0.5081420540809631 + ], + "box_yaw_rad": 1.189410030430184, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002205526284513666 + } + } + }, + { + "simulation_time_ns": 11880000000, + "center": [ + -28.93209229132792, + -14.883098299976348, + 0.029303138573914714 + ], + "face_center": [ + -28.941790817474484, + -14.901950904377415, + 0.08039754441128116 + ], + "face_normal": [ + -0.17532201373679612, + -0.3408019443189829, + 0.9236428284790676 + ], + "footprint_xy": [ + [ + -29.07935724818686, + -15.015219318048024 + ], + [ + -28.784827334468982, + -15.015219318048024 + ], + [ + -28.784827334468982, + -14.750977281904674 + ], + [ + -29.07935724818686, + -14.750977281904674 + ] + ], + "projected_box_corners": [ + [ + -29.059960195893726, + -14.882714418289634 + ], + [ + -28.839695133617933, + -14.97751410924589 + ], + [ + -29.07935724818686, + -14.920419627091766 + ], + [ + -28.859092185911067, + -15.015219318048024 + ], + [ + -29.005092396744775, + -14.750977281904674 + ], + [ + -28.784827334468982, + -14.84577697286093 + ], + [ + -29.024489449037905, + -14.788682490706806 + ], + [ + -28.80422438676211, + -14.883482181663064 + ] + ], + "yaw_rad": 1.1761518728936022, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.994291305541992, + -14.895752906799316, + 0.062384232878685 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.947906356174624, + -14.906095518243738, + 0.08034265948333695 + ], + "intended_face_normal": [ + -0.17480724343406706, + -0.3422707138894623, + 0.9231972699067512 + ], + "commanded_contact_point": [ + -28.98754608154297, + -14.872161663919865, + 0.029272901215156678 + ], + "centerline_face_intersection": [ + -29.068547326123994, + -14.887161663919866, + 0.029272901215156678 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.000328063964844, + -14.899872779846191, + 0.06222039461135864 + ], + "box_pose": [ + -28.921178817749023, + -14.890718460083008, + 0.0328747034072876, + 0.6445857286453247, + 0.2638084590435028, + 0.5056130886077881, + 0.5091853737831116 + ], + "box_yaw_rad": 1.1827281671474357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003967054293443604 + } + } + }, + { + "simulation_time_ns": 11900000000, + "center": [ + -28.92568492581174, + -14.879667323045123, + 0.029396389491930013 + ], + "face_center": [ + -28.935495358661274, + -14.898493195785123, + 0.08047930511009743 + ], + "face_normal": [ + -0.17734497147471373, + -0.34031871124030033, + 0.9234351177055125 + ], + "footprint_xy": [ + [ + -29.073209402683233, + -15.01233962051331 + ], + [ + -28.778160448940252, + -15.01233962051331 + ], + [ + -28.778160448940252, + -14.746995025576934 + ], + [ + -29.073209402683233, + -14.746995025576934 + ] + ], + "projected_box_corners": [ + [ + -29.05358853698417, + -14.878276533369998 + ], + [ + -28.83401812088731, + -14.97468787503331 + ], + [ + -29.073209402683233, + -14.91592827885 + ], + [ + -28.853638986586375, + -15.01233962051331 + ], + [ + -28.99773086503711, + -14.746995025576934 + ], + [ + -28.778160448940252, + -14.843406367240243 + ], + [ + -29.017351730736173, + -14.784646771056936 + ], + [ + -28.797781314639312, + -14.881058112720245 + ] + ], + "yaw_rad": 1.1685190820284979, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.98805809020996, + -14.892170906066895, + 0.06253920495510101 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.941790817474484, + -14.901950904377415, + 0.08039754441128116 + ], + "intended_face_normal": [ + -0.17532201373679612, + -0.3408019443189829, + 0.9236428284790676 + ], + "commanded_contact_point": [ + -28.98581039428711, + -14.868098299976348, + 0.029303138573914714 + ], + "centerline_face_intersection": [ + -29.06273113919932, + -14.883098299976348, + 0.029303138573914714 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.994291305541992, + -14.895752906799316, + 0.062384232878685 + ], + "box_pose": [ + -28.915050506591797, + -14.88675594329834, + 0.032878175377845764, + 0.6456814408302307, + 0.2624082565307617, + 0.503484308719635, + 0.5106279253959656 + ], + "box_yaw_rad": 1.1761518728936022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004418648106094802 + } + } + }, + { + "simulation_time_ns": 11920000000, + "center": [ + -28.920235363916095, + -14.876670923843552, + 0.029524002994801683 + ], + "face_center": [ + -28.930155019380067, + -14.89545400636719, + 0.08060156939197835 + ], + "face_normal": [ + -0.17931940845817707, + -0.339545184748987, + 0.9233384188688181 + ], + "footprint_xy": [ + [ + -29.06797775329141, + -15.009792412628665 + ], + [ + -28.772492974540786, + -15.009792412628665 + ], + [ + -28.772492974540786, + -14.743549435058439 + ], + [ + -29.06797775329141, + -14.743549435058439 + ] + ], + "projected_box_corners": [ + [ + -29.04813844236347, + -14.874464251541252 + ], + [ + -28.82916422504588, + -14.97222624758139 + ], + [ + -29.06797775329141, + -14.912030416588527 + ], + [ + -28.84900353597382, + -15.009792412628665 + ], + [ + -28.991467191858373, + -14.743549435058439 + ], + [ + -28.772492974540786, + -14.841311431098578 + ], + [ + -29.011306502786315, + -14.781115600105714 + ], + [ + -28.792332285468724, + -14.878877596145854 + ] + ], + "yaw_rad": 1.1622647917522555, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.98284339904785, + -14.889043807983398, + 0.06268465518951416 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.935495358661274, + -14.898493195785123, + 0.08047930511009743 + ], + "intended_face_normal": [ + -0.17734497147471373, + -0.34031871124030033, + 0.9234351177055125 + ], + "commanded_contact_point": [ + -28.984240646362306, + -14.864667323045122, + 0.029396389491930013 + ], + "centerline_face_intersection": [ + -29.05673707060222, + -14.879667323045123, + 0.029396389491930013 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.98805809020996, + -14.892170906066895, + 0.06253920495510101 + ], + "box_pose": [ + -28.908668518066406, + -14.883452415466309, + 0.03295963257551193, + 0.646983802318573, + 0.25995829701423645, + 0.5015688538551331, + 0.5121157169342041 + ], + "box_yaw_rad": 1.1685190820284979, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037741763318293667 + } + } + }, + { + "simulation_time_ns": 11940000000, + "center": [ + -28.916711682360436, + -14.874723036440686, + 0.029540473515399592 + ], + "face_center": [ + -28.926745947375004, + -14.89346344591488, + 0.0806113181902437 + ], + "face_normal": [ + -0.1813912260622743, + -0.33877377630529715, + 0.9232169090767819 + ], + "footprint_xy": [ + [ + -29.064682898664515, + -15.008328257681603 + ], + [ + -28.768740466056357, + -15.008328257681603 + ], + [ + -28.768740466056357, + -14.741117815199772 + ], + [ + -29.064682898664515, + -14.741117815199772 + ] + ], + "projected_box_corners": [ + [ + -29.044614368635383, + -14.871623990134886 + ], + [ + -28.82629579365053, + -14.970847438733216 + ], + [ + -29.064682898664515, + -14.909104809083274 + ], + [ + -28.846364323679666, + -15.008328257681603 + ], + [ + -28.987059041041206, + -14.741117815199772 + ], + [ + -28.768740466056357, + -14.8403412637981 + ], + [ + -29.007127571070342, + -14.778598634148159 + ], + [ + -28.78880899608549, + -14.877822082746489 + ] + ], + "yaw_rad": 1.1554384597889877, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.979598999023438, + -14.88687515258789, + 0.06271436810493469 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.930155019380067, + -14.89545400636719, + 0.08060156939197835 + ], + "intended_face_normal": [ + -0.17931940845817707, + -0.339545184748987, + 0.9233384188688181 + ], + "commanded_contact_point": [ + -28.982789154052735, + -14.861670923843551, + 0.029524002994801683 + ], + "centerline_face_intersection": [ + -29.05164432299139, + -14.876670923843552, + 0.029524002994801683 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.98284339904785, + -14.889043807983398, + 0.06268465518951416 + ], + "box_pose": [ + -28.903242111206055, + -14.880561828613281, + 0.03308377042412758, + 0.6479010581970215, + 0.25791218876838684, + 0.4999968111515045, + 0.5135258436203003 + ], + "box_yaw_rad": 1.1622647917522555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033318948521872237 + } + } + }, + { + "simulation_time_ns": 11960000000, + "center": [ + -28.915573571691315, + -14.87389500722976, + 0.02958389446738491 + ], + "face_center": [ + -28.925666588505543, + -14.892564588879061, + 0.08066910525560717 + ], + "face_normal": [ + -0.18245329298576252, + -0.3374934088864521, + 0.9234766079102918 + ], + "footprint_xy": [ + [ + -29.063690483566766, + -15.007807497889328 + ], + [ + -28.767456659815867, + -15.007807497889328 + ], + [ + -28.767456659815867, + -14.739982516570192 + ], + [ + -29.063690483566766, + -14.739982516570192 + ] + ], + "projected_box_corners": [ + [ + -29.043504449938315, + -14.870253786087462 + ], + [ + -28.825637114282173, + -14.970468334590727 + ], + [ + -29.063690483566766, + -14.907592949386062 + ], + [ + -28.845823147910625, + -15.007807497889328 + ], + [ + -28.985323995472008, + -14.739982516570192 + ], + [ + -28.767456659815867, + -14.840197065073458 + ], + [ + -29.00551002910046, + -14.777321679868793 + ], + [ + -28.78764269344432, + -14.877536228372058 + ] + ], + "yaw_rad": 1.1507650830538043, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.978683471679688, + -14.885852813720703, + 0.0628555566072464 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.926745947375004, + -14.89346344591488, + 0.0806113181902437 + ], + "intended_face_normal": [ + -0.1813912260622743, + -0.33877377630529715, + 0.9232169090767819 + ], + "commanded_contact_point": [ + -28.98142158508301, + -14.859723036440686, + 0.029540473515399592 + ], + "centerline_face_intersection": [ + -29.048515281591644, + -14.874723036440686, + 0.029540473515399592 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.979598999023438, + -14.88687515258789, + 0.06271436810493469 + ], + "box_pose": [ + -28.899744033813477, + -14.878728866577148, + 0.033094894140958786, + 0.6489291787147522, + 0.2556859850883484, + 0.4982748329639435, + 0.5150123834609985 + ], + "box_yaw_rad": 1.1554384597889877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002380080145551656 + } + } + }, + { + "simulation_time_ns": 11980000000, + "center": [ + -28.91604367657237, + -14.872263790503572, + 0.029646100821813695 + ], + "face_center": [ + -28.9261988258129, + -14.890896959504383, + 0.08073228651501738 + ], + "face_normal": [ + -0.1835764721093689, + -0.3368351708447168, + 0.9234942314442147 + ], + "footprint_xy": [ + [ + -29.064242480102433, + -15.00632411013351 + ], + [ + -28.76784487304231, + -15.00632411013351 + ], + [ + -28.76784487304231, + -14.738203470873632 + ], + [ + -29.064242480102433, + -14.738203470873632 + ] + ], + "projected_box_corners": [ + [ + -29.04393218162138, + -14.86836130239126 + ], + [ + -28.826290627570884, + -14.969057772131887 + ], + [ + -29.064242480102433, + -14.905627640392886 + ], + [ + -28.84660092605194, + -15.00632411013351 + ], + [ + -28.985486427092802, + -14.738203470873632 + ], + [ + -28.76784487304231, + -14.838899940614258 + ], + [ + -29.00579672557386, + -14.775469808875258 + ], + [ + -28.788155171523364, + -14.876166278615882 + ] + ], + "yaw_rad": 1.1487430582855278, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.9793643951416, + -14.884092330932617, + 0.06303390860557556 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.925666588505543, + -14.892564588879061, + 0.08066910525560717 + ], + "intended_face_normal": [ + -0.18245329298576252, + -0.3374934088864521, + 0.9234766079102918 + ], + "commanded_contact_point": [ + -28.980116958618165, + -14.85889500722976, + 0.02958389446738491 + ], + "centerline_face_intersection": [ + -29.047650158001836, + -14.87389500722976, + 0.02958389446738491 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.978683471679688, + -14.885852813720703, + 0.0628555566072464 + ], + "box_pose": [ + -28.898622512817383, + -14.877976417541504, + 0.03313148394227028, + 0.649513840675354, + 0.2544615566730499, + 0.49686866998672485, + 0.5162389278411865 + ], + "box_yaw_rad": 1.1507650830538043, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015458227472734155 + } + } + }, + { + "simulation_time_ns": 12000000000, + "center": [ + -28.918633793339005, + -14.863144362299025, + 0.029795621359957485 + ], + "face_center": [ + -28.928563478133245, + -14.881823126326768, + 0.08090947128153983 + ], + "face_normal": [ + -0.17950071047802751, + -0.33765940040468934, + 0.9239943227111276 + ], + "footprint_xy": [ + [ + -29.066529373078016, + -14.996616479505128 + ], + [ + -28.770738213599994, + -14.996616479505128 + ], + [ + -28.770738213599994, + -14.729672245092921 + ], + [ + -29.066529373078016, + -14.729672245092921 + ] + ], + "projected_box_corners": [ + [ + -29.04667000348953, + -14.860344340226174 + ], + [ + -28.828205736127497, + -14.95925895144964 + ], + [ + -29.066529373078016, + -14.897701868281663 + ], + [ + -28.848065105715985, + -14.996616479505128 + ], + [ + -28.989202480962025, + -14.729672245092921 + ], + [ + -28.770738213599994, + -14.828586856316385 + ], + [ + -29.00906185055051, + -14.767029773148408 + ], + [ + -28.79059758318848, + -14.865944384371874 + ] + ], + "yaw_rad": 1.1564702660578694, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.981910705566406, + -14.875717163085938, + 0.06370267271995544 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.9261988258129, + -14.890896959504383, + 0.08073228651501738 + ], + "intended_face_normal": [ + -0.1835764721093689, + -0.3368351708447168, + 0.9234942314442147 + ], + "commanded_contact_point": [ + -28.97929870605469, + -14.857263790503572, + 0.029646100821813695 + ], + "centerline_face_intersection": [ + -29.048257279289782, + -14.872263790503572, + 0.029646100821813695 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.9793643951416, + -14.884092330932617, + 0.06303390860557556 + ], + "box_pose": [ + -28.89910316467285, + -14.876381874084473, + 0.0332016758620739, + 0.6496250033378601, + 0.2537030875682831, + 0.4963919222354889, + 0.5169304609298706 + ], + "box_yaw_rad": 1.1487430582855278, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018259996976903096 + } + } + }, + { + "simulation_time_ns": 12020000000, + "center": [ + -28.920708534233018, + -14.851257857083064, + 0.029889635453837292 + ], + "face_center": [ + -28.930278642993013, + -14.870020060489491, + 0.08104150255646321 + ], + "face_normal": [ + -0.17300058938094054, + -0.33916774916556847, + 0.924681566178478 + ], + "footprint_xy": [ + [ + -29.068048618470556, + -14.98364647214241 + ], + [ + -28.773368449995477, + -14.98364647214241 + ], + [ + -28.773368449995477, + -14.718869242023716 + ], + [ + -29.068048618470556, + -14.718869242023716 + ] + ], + "projected_box_corners": [ + [ + -29.04890840095057, + -14.85044359952504 + ], + [ + -28.82900071351706, + -14.946122065329558 + ], + [ + -29.068048618470556, + -14.887968006337893 + ], + [ + -28.848140931037047, + -14.98364647214241 + ], + [ + -28.993276137428985, + -14.718869242023716 + ], + [ + -28.773368449995477, + -14.814547707828234 + ], + [ + -29.012416354948975, + -14.756393648836571 + ], + [ + -28.792508667515467, + -14.85207211464109 + ] + ], + "yaw_rad": 1.170773647770039, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.983715057373047, + -14.865204811096191, + 0.06425909698009491 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.928563478133245, + -14.881823126326768, + 0.08090947128153983 + ], + "intended_face_normal": [ + -0.17950071047802751, + -0.33765940040468934, + 0.9239943227111276 + ], + "commanded_contact_point": [ + -28.978375549316407, + -14.848144362299024, + 0.029795621359957485 + ], + "centerline_face_intersection": [ + -29.05034949362031, + -14.863144362299025, + 0.029795621359957485 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.981910705566406, + -14.875717163085938, + 0.06370267271995544 + ], + "box_pose": [ + -28.901655197143555, + -14.867121696472168, + 0.03332970663905144, + 0.648758590221405, + 0.2568957507610321, + 0.49793773889541626, + 0.5149512887001038 + ], + "box_yaw_rad": 1.1564702660578694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009167253979936242 + } + } + }, + { + "simulation_time_ns": 12040000000, + "center": [ + -28.92037149726197, + -14.845474260366585, + 0.029808015760585903 + ], + "face_center": [ + -28.929988354056523, + -14.864152680904066, + 0.08098178725382363 + ], + "face_normal": [ + -0.17384566206857244, + -0.33765319106899483, + 0.9250775358148644 + ], + "footprint_xy": [ + [ + -29.067798393317563, + -14.978003111377042 + ], + [ + -28.77294460120638, + -14.978003111377042 + ], + [ + -28.77294460120638, + -14.712945409356125 + ], + [ + -29.067798393317563, + -14.712945409356125 + ] + ], + "projected_box_corners": [ + [ + -29.04856467972846, + -14.844458950086352 + ], + [ + -28.82888257054247, + -14.940646270302079 + ], + [ + -29.067798393317563, + -14.881815791161316 + ], + [ + -28.84811628413157, + -14.978003111377042 + ], + [ + -28.99262671039237, + -14.712945409356125 + ], + [ + -28.77294460120638, + -14.809132729571852 + ], + [ + -29.01186042398147, + -14.750302250431089 + ], + [ + -28.792178314795482, + -14.846489570646815 + ] + ], + "yaw_rad": 1.1686377320482155, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.983190536499023, + -14.859701156616211, + 0.06420914828777313 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.930278642993013, + -14.870020060489491, + 0.08104150255646321 + ], + "intended_face_normal": [ + -0.17300058938094054, + -0.33916774916556847, + 0.924681566178478 + ], + "commanded_contact_point": [ + -28.977267379760743, + -14.836257857083064, + 0.029889635453837292 + ], + "centerline_face_intersection": [ + -29.05155968499478, + -14.851257857083064, + 0.029889635453837292 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.983715057373047, + -14.865204811096191, + 0.06425909698009491 + ], + "box_pose": [ + -28.903667449951172, + -14.85498046875, + 0.03340037539601326, + 0.6469534635543823, + 0.26238206028938293, + 0.5010340213775635, + 0.5114408731460571 + ], + "box_yaw_rad": 1.170773647770039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011938420526309113 + } + } + }, + { + "simulation_time_ns": 12060000000, + "center": [ + -28.91961623553307, + -14.84429836837512, + 0.029706803956010077 + ], + "face_center": [ + -28.929413273948786, + -14.86293972847764, + 0.08085989620495226 + ], + "face_normal": [ + -0.1771028378685955, + -0.33698324287383485, + 0.9247037133703344 + ], + "footprint_xy": [ + [ + -29.067336465552515, + -14.977409863800236 + ], + [ + -28.77189600551363, + -14.977409863800236 + ], + [ + -28.77189600551363, + -14.711186872950005 + ], + [ + -29.067336465552515, + -14.711186872950005 + ] + ], + "projected_box_corners": [ + [ + -29.047742388721087, + -14.842212104083545 + ], + [ + -28.828826890052845, + -14.940127143595198 + ], + [ + -29.067336465552515, + -14.879494824288583 + ], + [ + -28.84842096688427, + -14.977409863800236 + ], + [ + -28.99081150418187, + -14.711186872950005 + ], + [ + -28.77189600551363, + -14.809101912461657 + ], + [ + -29.0104055810133, + -14.748469593155043 + ], + [ + -28.791490082345053, + -14.846384632666695 + ] + ], + "yaw_rad": 1.1609039828943841, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.9821834564209, + -14.858397483825684, + 0.06404420733451843 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.929988354056523, + -14.864152680904066, + 0.08098178725382363 + ], + "intended_face_normal": [ + -0.17384566206857244, + -0.33765319106899483, + 0.9250775358148644 + ], + "commanded_contact_point": [ + -28.976086730957032, + -14.830474260366584, + 0.029808015760585903 + ], + "centerline_face_intersection": [ + -29.051357011142258, + -14.845474260366585, + 0.029808015760585903 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.983190536499023, + -14.859701156616211, + 0.06420914828777313 + ], + "box_pose": [ + -28.903339385986328, + -14.84923267364502, + 0.03332415968179703, + 0.6469411849975586, + 0.26190829277038574, + 0.5002936124801636, + 0.5124232769012451 + ], + "box_yaw_rad": 1.1686377320482155, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00590343834988622 + } + } + }, + { + "simulation_time_ns": 12080000000, + "center": [ + -28.91895729862633, + -14.843342334617285, + 0.02952662573445092 + ], + "face_center": [ + -28.92896049870703, + -14.861957307218773, + 0.0806494163634007 + ], + "face_normal": [ + -0.180829659626351, + -0.33650623123845236, + 0.9241559454975388 + ], + "footprint_xy": [ + [ + -29.066951872290886, + -14.976980701846063 + ], + [ + -28.770962724961773, + -14.976980701846063 + ], + [ + -28.770962724961773, + -14.709703967388505 + ], + [ + -29.066951872290886, + -14.709703967388505 + ] + ], + "projected_box_corners": [ + [ + -29.046945472129483, + -14.840268354468174 + ], + [ + -28.82874437526774, + -14.939750756643084 + ], + [ + -29.066951872290886, + -14.877498299671153 + ], + [ + -28.848750775429142, + -14.976980701846063 + ], + [ + -28.98916382182352, + -14.709703967388505 + ], + [ + -28.770962724961773, + -14.809186369563415 + ], + [ + -29.009170221984924, + -14.746933912591484 + ], + [ + -28.790969125123176, + -14.846416314766394 + ] + ], + "yaw_rad": 1.1541526287729753, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.98127555847168, + -14.857329368591309, + 0.06359119713306427 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.929413273948786, + -14.86293972847764, + 0.08085989620495226 + ], + "intended_face_normal": [ + -0.1771028378685955, + -0.33698324287383485, + 0.9247037133703344 + ], + "commanded_contact_point": [ + -28.974961395263673, + -14.82929836837512, + 0.029706803956010077 + ], + "centerline_face_intersection": [ + -29.051060441800253, + -14.84429836837512, + 0.029706803956010077 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.9821834564209, + -14.858397483825684, + 0.06404420733451843 + ], + "box_pose": [ + -28.902616500854492, + -14.848193168640137, + 0.033231183886528015, + 0.6479971408843994, + 0.25900495052337646, + 0.49858933687210083, + 0.5142225623130798 + ], + "box_yaw_rad": 1.1609039828943841, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016307502039621688 + } + } + }, + { + "simulation_time_ns": 12100000000, + "center": [ + -28.917925161360888, + -14.84234146757333, + 0.02934932756765402 + ], + "face_center": [ + -28.92811896560122, + -14.860995642868254, + 0.08042015043483444 + ], + "face_normal": [ + -0.1842752455420218, + -0.33721490542799337, + 0.9232165148556959 + ], + "footprint_xy": [ + [ + -29.06612225250395, + -14.976368952949676 + ], + [ + -28.769728070217823, + -14.976368952949676 + ], + [ + -28.769728070217823, + -14.708313982196985 + ], + [ + -29.06612225250395, + -14.708313982196985 + ] + ], + "projected_box_corners": [ + [ + -29.04573464402328, + -14.838488093265832 + ], + [ + -28.82804127206391, + -14.93906060235983 + ], + [ + -29.06612225250395, + -14.875796443855677 + ], + [ + -28.84842888054458, + -14.976368952949676 + ], + [ + -28.987421442177194, + -14.708313982196985 + ], + [ + -28.769728070217823, + -14.808886491290984 + ], + [ + -29.007809050657862, + -14.745622332786832 + ], + [ + -28.79011567869849, + -14.84619484188083 + ] + ], + "yaw_rad": 1.1496375564522732, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.98007583618164, + -14.856221199035645, + 0.0628432184457779 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.92896049870703, + -14.861957307218773, + 0.0806494163634007 + ], + "intended_face_normal": [ + -0.180829659626351, + -0.33650623123845236, + 0.9241559454975388 + ], + "commanded_contact_point": [ + -28.973702545166017, + -14.828342334617284, + 0.02952662573445092 + ], + "centerline_face_intersection": [ + -29.050831860101447, + -14.843342334617285, + 0.02952662573445092 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.98127555847168, + -14.857329368591309, + 0.06359119713306427 + ], + "box_pose": [ + -28.90199089050293, + -14.84736156463623, + 0.03307183086872101, + 0.6487851738929749, + 0.25610437989234924, + 0.49732375144958496, + 0.5159044861793518 + ], + "box_yaw_rad": 1.1541526287729753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015909645835201574 + } + } + }, + { + "simulation_time_ns": 12120000000, + "center": [ + -28.917789339163896, + -14.842691570023751, + 0.029711138541473257 + ], + "face_center": [ + -28.92825232949901, + -14.862052281868813, + 0.08046358378135723 + ], + "face_normal": [ + -0.18914137133200626, + -0.3499870946119046, + 0.9174611448228873 + ], + "footprint_xy": [ + [ + -29.066065222232563, + -14.977016086436526 + ], + [ + -28.769513456095233, + -14.977016086436526 + ], + [ + -28.769513456095233, + -14.708367053610974 + ], + [ + -29.066065222232563, + -14.708367053610974 + ] + ], + "projected_box_corners": [ + [ + -29.045139241562335, + -14.837740648276624 + ], + [ + -28.827431411093666, + -14.9382946627464 + ], + [ + -29.066065222232563, + -14.876462071966749 + ], + [ + -28.848357391763894, + -14.977016086436526 + ], + [ + -28.9872212865639, + -14.708367053610974 + ], + [ + -28.769513456095233, + -14.808921068080751 + ], + [ + -29.00814726723413, + -14.7470884773011 + ], + [ + -28.79043943676546, + -14.847642491770877 + ] + ], + "yaw_rad": 1.1498734907932033, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.979909896850586, + -14.85690975189209, + 0.06236054003238678 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.92811896560122, + -14.860995642868254, + 0.08042015043483444 + ], + "intended_face_normal": [ + -0.1842752455420218, + -0.33721490542799337, + 0.9232165148556959 + ], + "commanded_contact_point": [ + -28.97220527648926, + -14.82734146757333, + 0.02934932756765402 + ], + "centerline_face_intersection": [ + -29.050107293058506, + -14.84234146757333, + 0.02934932756765402 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.98007583618164, + -14.856221199035645, + 0.0628432184457779 + ], + "box_pose": [ + -28.900985717773438, + -14.846450805664062, + 0.03292008116841316, + 0.649387776851654, + 0.25356733798980713, + 0.4968933165073395, + 0.5168134570121765 + ], + "box_yaw_rad": 1.1496375564522732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018096914018758705 + } + } + }, + { + "simulation_time_ns": 12140000000, + "center": [ + -28.916608785240687, + -14.84224582553623, + 0.029590571266850513 + ], + "face_center": [ + -28.926909934932663, + -14.861293306570309, + 0.08049439809704693 + ], + "face_normal": [ + -0.18621574871363222, + -0.34432476450979443, + 0.9201976972490158 + ], + "footprint_xy": [ + [ + -29.064810290418418, + -14.976370623857305 + ], + [ + -28.768407280062956, + -14.976370623857305 + ], + [ + -28.768407280062956, + -14.708121027215155 + ], + [ + -29.064810290418418, + -14.708121027215155 + ] + ], + "projected_box_corners": [ + [ + -29.044207991034465, + -14.837920058612662 + ], + [ + -28.826408697129473, + -14.938275661789143 + ], + [ + -29.064810290418418, + -14.876015020680821 + ], + [ + -28.847010996513426, + -14.976370623857305 + ], + [ + -28.98620657396795, + -14.708121027215155 + ], + [ + -28.768407280062956, + -14.808476630391636 + ], + [ + -29.006808873351904, + -14.746215989283314 + ], + [ + -28.789009579446912, + -14.846571592459796 + ] + ], + "yaw_rad": 1.1505604057693801, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.978708267211914, + -14.856375694274902, + 0.0625375509262085 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.92825232949901, + -14.862052281868813, + 0.08046358378135723 + ], + "intended_face_normal": [ + -0.18914137133200626, + -0.3499870946119046, + 0.9174611448228873 + ], + "commanded_contact_point": [ + -28.970749969482423, + -14.82769157002375, + 0.029711138541473257 + ], + "centerline_face_intersection": [ + -29.049962692322975, + -14.842691570023751, + 0.029711138541473257 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.979909896850586, + -14.85690975189209, + 0.06236054003238678 + ], + "box_pose": [ + -28.900867462158203, + -14.846841812133789, + 0.03331770375370979, + 0.6515052914619446, + 0.2488868236541748, + 0.5005341172218323, + 0.5128956437110901 + ], + "box_yaw_rad": 1.1498734907932033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015399342163587228 + } + } + }, + { + "simulation_time_ns": 12160000000, + "center": [ + -28.91335007164068, + -14.83994743963267, + 0.029719867373165135 + ], + "face_center": [ + -28.923302801884294, + -14.858668372561597, + 0.080813808115463 + ], + "face_normal": [ + -0.17991730724028088, + -0.3384216952689503, + 0.9236344208712755 + ], + "footprint_xy": [ + [ + -29.061338387535713, + -14.973670059579275 + ], + [ + -28.765361755745648, + -14.973670059579275 + ], + [ + -28.765361755745648, + -14.706224819686065 + ], + [ + -29.061338387535713, + -14.706224819686065 + ] + ], + "projected_box_corners": [ + [ + -29.041432927048486, + -14.836636528097044 + ], + [ + -28.823268370320168, + -14.936228193721421 + ], + [ + -29.061338387535713, + -14.874078393954898 + ], + [ + -28.843173830807398, + -14.973670059579275 + ], + [ + -28.983526312473963, + -14.706224819686065 + ], + [ + -28.765361755745648, + -14.805816485310443 + ], + [ + -29.003431772961193, + -14.74366668554392 + ], + [ + -28.785267216232874, + -14.843258351168297 + ] + ], + "yaw_rad": 1.1529187498059756, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.975435256958008, + -14.854118347167969, + 0.06339399516582489 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.926909934932663, + -14.861293306570309, + 0.08049439809704693 + ], + "intended_face_normal": [ + -0.18621574871363222, + -0.34432476450979443, + 0.9201976972490158 + ], + "commanded_contact_point": [ + -28.969369049072267, + -14.82724582553623, + 0.029590571266850513 + ], + "centerline_face_intersection": [ + -29.04872663303584, + -14.84224582553623, + 0.029590571266850513 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.978708267211914, + -14.856375694274902, + 0.0625375509262085 + ], + "box_pose": [ + -28.899673461914062, + -14.84636116027832, + 0.03317393362522125, + 0.6505218744277954, + 0.2514461278915405, + 0.49898263812065125, + 0.514404833316803 + ], + "box_yaw_rad": 1.1505604057693801, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014560789109975497 + } + } + }, + { + "simulation_time_ns": 12180000000, + "center": [ + -28.90803342609394, + -14.83499792669391, + 0.02993507757963357 + ], + "face_center": [ + -28.917852319205664, + -14.853779726303708, + 0.08103257645662303 + ], + "face_normal": [ + -0.1774979091666431, + -0.3395219932831228, + 0.9236987419165406 + ], + "footprint_xy": [ + [ + -29.055881505225845, + -14.968500320860347 + ], + [ + -28.76018534696204, + -14.968500320860347 + ], + [ + -28.76018534696204, + -14.701495532527476 + ], + [ + -29.055881505225845, + -14.701495532527476 + ] + ], + "projected_box_corners": [ + [ + -29.0362437190024, + -14.832066390940508 + ], + [ + -28.81774169786593, + -14.930936721640753 + ], + [ + -29.055881505225845, + -14.869629990160101 + ], + [ + -28.837379484089375, + -14.968500320860347 + ], + [ + -28.97868736809851, + -14.701495532527476 + ], + [ + -28.76018534696204, + -14.800365863227722 + ], + [ + -28.998325154321954, + -14.73905913174707 + ], + [ + -28.779823133185484, + -14.837929462447315 + ] + ], + "yaw_rad": 1.1556148138587208, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.97038459777832, + -14.849350929260254, + 0.06393718719482422 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.923302801884294, + -14.858668372561597, + 0.080813808115463 + ], + "intended_face_normal": [ + -0.17991730724028088, + -0.3384216952689503, + 0.9236344208712755 + ], + "commanded_contact_point": [ + -28.96783172607422, + -14.82494743963267, + 0.029719867373165135 + ], + "centerline_face_intersection": [ + -29.04524672063608, + -14.83994743963267, + 0.029719867373165135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.975435256958008, + -14.854118347167969, + 0.06339399516582489 + ], + "box_pose": [ + -28.896381378173828, + -14.843981742858887, + 0.033236902207136154, + 0.6496832370758057, + 0.25572100281715393, + 0.4971142113208771, + 0.5151659250259399 + ], + "box_yaw_rad": 1.1529187498059756, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027681505098373542 + } + } + }, + { + "simulation_time_ns": 12200000000, + "center": [ + -28.901985880656227, + -14.828370864766724, + 0.029883088110811837 + ], + "face_center": [ + -28.91173874370599, + -14.847235986492802, + 0.08096252190515826 + ], + "face_normal": [ + -0.176304271777326, + -0.3410282222703245, + 0.9233721761456763 + ], + "footprint_xy": [ + [ + -29.049668601329447, + -14.961533171358083 + ], + [ + -28.754303159983007, + -14.961533171358083 + ], + [ + -28.754303159983007, + -14.695208558175366 + ], + [ + -29.049668601329447, + -14.695208558175366 + ] + ], + "projected_box_corners": [ + [ + -29.030162875229923, + -14.82602705695254 + ], + [ + -28.81117041142946, + -14.923802927905928 + ], + [ + -29.049668601329447, + -14.863757300404695 + ], + [ + -28.830676137528982, + -14.961533171358083 + ], + [ + -28.973295623783468, + -14.695208558175366 + ], + [ + -28.754303159983007, + -14.792984429128754 + ], + [ + -28.992801349882996, + -14.73293880162752 + ], + [ + -28.77380888608253, + -14.830714672580909 + ] + ], + "yaw_rad": 1.1607355703587978, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -28.96478271484375, + -14.842960357666016, + 0.06380456686019897 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.917852319205664, + -14.853779726303708, + 0.08103257645662303 + ], + "intended_face_normal": [ + -0.1774979091666431, + -0.3395219932831228, + 0.9236987419165406 + ], + "commanded_contact_point": [ + -28.966134185791017, + -14.81999792669391, + 0.02993507757963357 + ], + "centerline_face_intersection": [ + -29.039726367936613, + -14.83499792669391, + 0.02993507757963357 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.97038459777832, + -14.849350929260254, + 0.06393718719482422 + ], + "box_pose": [ + -28.89104652404785, + -14.838977813720703, + 0.03342611715197563, + 0.6497476696968079, + 0.25702306628227234, + 0.4975831210613251, + 0.5139826536178589 + ], + "box_yaw_rad": 1.1556148138587208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005236949186025774 + } + } + }, + { + "simulation_time_ns": 12220000000, + "center": [ + -28.89642037943585, + -14.82113525776825, + 0.03008870541630497 + ], + "face_center": [ + -28.905715115339163, + -14.840144142755685, + 0.0812002589451647 + ], + "face_normal": [ + -0.1680226243755243, + -0.3436270567841362, + 0.9239528104039607 + ], + "footprint_xy": [ + [ + -29.043358574350314, + -14.952876606203205 + ], + [ + -28.749482184521383, + -14.952876606203205 + ], + [ + -28.749482184521383, + -14.689393909333296 + ], + [ + -29.043358574350314, + -14.689393909333296 + ] + ], + "projected_box_corners": [ + [ + -29.024769102543686, + -14.821333280266787 + ], + [ + -28.803919867085767, + -14.914858836228333 + ], + [ + -29.043358574350314, + -14.859351050241658 + ], + [ + -28.82250933889239, + -14.952876606203205 + ], + [ + -28.970331419979306, + -14.689393909333296 + ], + [ + -28.749482184521383, + -14.782919465294842 + ], + [ + -28.98892089178593, + -14.727411679308167 + ], + [ + -28.76807165632801, + -14.820937235269714 + ] + ], + "yaw_rad": 1.179478542536228, + "box_fully_inside": true, + "actual_fl_eef_world": [ + -28.959352493286133, + -14.83696174621582, + 0.06448221206665039 + ], + "success_count": 1, + "first_fully_inside_policy_ns": 12220000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.91173874370599, + -14.847235986492802, + 0.08096252190515826 + ], + "intended_face_normal": [ + -0.176304271777326, + -0.3410282222703245, + 0.9233721761456763 + ], + "commanded_contact_point": [ + -28.964165802001954, + -14.813370864766723, + 0.029883088110811837 + ], + "centerline_face_intersection": [ + -29.033383890718575, + -14.828370864766724, + 0.029883088110811837 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.96478271484375, + -14.842960357666016, + 0.06380456686019897 + ], + "box_pose": [ + -28.884981155395508, + -14.832267761230469, + 0.03338096663355827, + 0.6491336822509766, + 0.2583434581756592, + 0.49913883209228516, + 0.5125859975814819 + ], + "box_yaw_rad": 1.1607355703587978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0069134063552406776 + } + } + }, + { + "simulation_time_ns": 12240000000, + "center": [ + -28.894271826240818, + -14.815185655596547, + 0.030225705154322463 + ], + "face_center": [ + -28.903181064707912, + -14.834320599112369, + 0.08135886564436959 + ], + "face_normal": [ + -0.16105391740014596, + -0.345905839633339, + 0.9243434033547722 + ], + "footprint_xy": [ + [ + -29.04045440187106, + -14.945489378392546 + ], + [ + -28.74808925061058, + -14.945489378392546 + ], + [ + -28.74808925061058, + -14.684881932800547 + ], + [ + -29.04045440187106, + -14.684881932800547 + ] + ], + "projected_box_corners": [ + [ + -29.02263592493687, + -14.817876114842106 + ], + [ + -28.800061173761467, + -14.907219491360904 + ], + [ + -29.04045440187106, + -14.856146001873748 + ], + [ + -28.81787965069565, + -14.945489378392546 + ], + [ + -28.970664001785984, + -14.684881932800547 + ], + [ + -28.74808925061058, + -14.774225309319345 + ], + [ + -28.98848247872017, + -14.72315181983219 + ], + [ + -28.765907727544764, + -14.812495196350987 + ] + ], + "yaw_rad": 1.1982604281949947, + "box_fully_inside": true, + "actual_fl_eef_world": [ + -28.95716667175293, + -14.832298278808594, + 0.06487728655338287 + ], + "success_count": 2, + "first_fully_inside_policy_ns": 12220000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.905715115339163, + -14.840144142755685, + 0.0812002589451647 + ], + "intended_face_normal": [ + -0.1680226243755243, + -0.3436270567841362, + 0.9239528104039607 + ], + "commanded_contact_point": [ + -28.961909408569337, + -14.806135257768249, + 0.03008870541630497 + ], + "centerline_face_intersection": [ + -29.02671367161034, + -14.82113525776825, + 0.03008870541630497 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.959352493286133, + -14.83696174621582, + 0.06448221206665039 + ], + "box_pose": [ + -28.879337310791016, + -14.824700355529785, + 0.03355865180492401, + 0.6468600034713745, + 0.2652573585510254, + 0.5033742785453796, + 0.5077646970748901 + ], + "box_yaw_rad": 1.179478542536228, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007582057665003994 + } + } + }, + { + "simulation_time_ns": 12260000000, + "center": [ + -28.893726960997345, + -14.811819194437549, + 0.029971226762819915 + ], + "face_center": [ + -28.902551509856163, + -14.830964722405529, + 0.08111510981828447 + ], + "face_normal": [ + -0.1595229680125314, + -0.346097176692048, + 0.9245372371118812 + ], + "footprint_xy": [ + [ + -29.03962188058468, + -14.941523645593357 + ], + [ + -28.747832041410007, + -14.941523645593357 + ], + [ + -28.747832041410007, + -14.682114743281742 + ], + [ + -29.03962188058468, + -14.682114743281742 + ] + ], + "projected_box_corners": [ + [ + -29.02197278286704, + -14.815555979295521 + ], + [ + -28.798744821584556, + -14.903232589657396 + ], + [ + -29.03962188058468, + -14.853847035231482 + ], + [ + -28.816393919302197, + -14.941523645593357 + ], + [ + -28.97106000269249, + -14.682114743281742 + ], + [ + -28.747832041410007, + -14.769791353643617 + ], + [ + -28.98870910041013, + -14.720405799217701 + ], + [ + -28.765481139127647, + -14.808082409579576 + ] + ], + "yaw_rad": 1.2063068669053436, + "box_fully_inside": true, + "actual_fl_eef_world": [ + -28.956636428833008, + -14.829503059387207, + 0.06447699666023254 + ], + "success_count": 3, + "first_fully_inside_policy_ns": 12220000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -28.903181064707912, + -14.834320599112369, + 0.08135886564436959 + ], + "intended_face_normal": [ + -0.16105391740014596, + -0.345905839633339, + 0.9243434033547722 + ], + "commanded_contact_point": [ + -28.959580535888673, + -14.800185655596547, + 0.030225705154322463 + ], + "centerline_face_intersection": [ + -29.023555016764774, + -14.815185655596547, + 0.030225705154322463 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.95716667175293, + -14.832298278808594, + 0.06487728655338287 + ], + "box_pose": [ + -28.87712287902832, + -14.818425178527832, + 0.033689919859170914, + 0.6442354917526245, + 0.27169278264045715, + 0.5078518986701965, + 0.503219723701477 + ], + "box_yaw_rad": 1.1982604281949947, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006390632432903797 + } + } + } + ], + "commands": [ + { + "simulation_time_ns": 0, + "phase": "settle", + "intended_face_center": [ + -29.461447613434665, + -14.857129964738494, + 0.13983054469072476 + ], + "intended_face_normal": [ + -0.9999998814777626, + 2.028159258316009e-07, + 1.866363933200727e-09 + ], + "commanded_contact_point": [ + -29.80660057067871, + -14.857999801635742, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.461447626547574, + -14.857129975957939, + 0.13983054458748057 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.82217788696289, + -14.857999801635742, + 0.08869010210037231 + ], + "box_pose": [ + -29.407690048217773, + -14.852828979492188, + 0.15702493488788605, + 7.056004669436788e-10, + 6.141182007368684e-10, + 0.7071067094802856, + 0.7071067690849304 + ], + "box_yaw_rad": 1.5707961239789467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 20000000, + "phase": "settle", + "intended_face_center": [ + -29.461447617974066, + -14.857129965086372, + 0.1376723648328082 + ], + "intended_face_normal": [ + -0.9999999657714511, + 2.028159258316009e-07, + 2.3303225561026055e-09 + ], + "commanded_contact_point": [ + -29.80628776550293, + -14.858072280883789, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.461447621761, + -14.857129976305815, + 0.13767236470389857 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84009552001953, + -14.863517761230469, + 0.0690588653087616 + ], + "box_pose": [ + -29.407690048217773, + -14.852828979492188, + 0.1548667550086975, + 1.171261754251418e-09, + 4.765250971594526e-10, + 0.7071067094802856, + 0.7071068286895752 + ], + "box_yaw_rad": 1.5707961239789638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032109238485990873 + } + }, + { + "simulation_time_ns": 40000000, + "phase": "settle", + "intended_face_center": [ + -29.461447617974066, + -14.857129965086372, + 0.1315901578683154 + ], + "intended_face_normal": [ + -0.9999999657714511, + 2.028159258316009e-07, + 2.3303225561026055e-09 + ], + "commanded_contact_point": [ + -29.806903839111328, + -14.858134269714355, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -29.461447621761, + -14.857129976305815, + 0.13159015773940577 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84699058532715, + -14.880027770996094, + 0.054181456565856934 + ], + "box_pose": [ + -29.407690048217773, + -14.852828979492188, + 0.1487845480442047, + 1.171261754251418e-09, + 4.765250971594526e-10, + 0.7071067094802856, + 0.7071068286895752 + ], + "box_yaw_rad": 1.5707961239789638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006191843878885852 + } + }, + { + "simulation_time_ns": 60000000, + "phase": "settle", + "intended_face_center": [ + -29.461447617974066, + -14.857129965086372, + 0.12158396852200193 + ], + "intended_face_normal": [ + -0.9999999657714511, + 2.028159258316009e-07, + 2.3303225561026055e-09 + ], + "commanded_contact_point": [ + -29.80766487121582, + -14.858078956604004, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.461447621761, + -14.857129976305815, + 0.12158396839309231 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.845178604125977, + -14.89749813079834, + 0.043376773595809937 + ], + "box_pose": [ + -29.407690048217773, + -14.852828979492188, + 0.13877835869789124, + 1.171261754251418e-09, + 4.765250971594526e-10, + 0.7071067094802856, + 0.7071068286895752 + ], + "box_yaw_rad": 1.5707961239789638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007630395824395167 + } + }, + { + "simulation_time_ns": 80000000, + "phase": "settle", + "intended_face_center": [ + -29.463639438542575, + -14.858617787290747, + 0.11818452317470071 + ], + "intended_face_normal": [ + -0.9998419967042493, + -0.0003438825904169551, + -0.01776788537734819 + ], + "commanded_contact_point": [ + -29.80777931213379, + -14.85810375213623, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -29.46365692088999, + -14.858598764270058, + 0.11916741344175008 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.836660385131836, + -14.904150009155273, + 0.034958869218826294 + ], + "box_pose": [ + -29.410198211669922, + -14.854515075683594, + 0.13638409972190857, + -0.001832159236073494, + -0.010730350390076637, + 0.7072259783744812, + 0.7069036960601807 + ], + "box_yaw_rad": 1.5713638215873666, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00011709630276968659 + } + }, + { + "simulation_time_ns": 100000000, + "phase": "settle", + "intended_face_center": [ + -29.464376678965817, + -14.859233326034827, + 0.1182628276580869 + ], + "intended_face_normal": [ + -0.9997510601291187, + -0.005076017659302545, + -0.0217243990879587 + ], + "commanded_contact_point": [ + -29.807382583618164, + -14.85817813873291, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -29.464404224285243, + -14.85895252906621, + 0.11946458577209822 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.827051162719727, + -14.901506423950195, + 0.02323240041732788 + ], + "box_pose": [ + -29.411027908325195, + -14.854934692382812, + 0.13668705523014069, + -0.0020392355509102345, + -0.013294135220348835, + 0.7088962197303772, + 0.7051845192909241 + ], + "box_yaw_rad": 1.5762182042075827, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000403642025101842 + } + }, + { + "simulation_time_ns": 120000000, + "phase": "settle", + "intended_face_center": [ + -29.46412112871335, + -14.859199646490543, + 0.11817729908053493 + ], + "intended_face_normal": [ + -0.9997997792309422, + -0.011969975454684922, + -0.01604132886719717 + ], + "commanded_contact_point": [ + -29.807695388793945, + -14.857877731323242, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -29.464143282700295, + -14.8585374870877, + 0.11906467907422888 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.828245162963867, + -14.901350975036621, + 0.023272186517715454 + ], + "box_pose": [ + -29.41069984436035, + -14.854477882385254, + 0.13628514111042023, + -0.001112582627683878, + -0.010176432318985462, + 0.7113253474235535, + 0.7027884125709534 + ], + "box_yaw_rad": 1.5829722309136993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004336953886380419 + } + }, + { + "simulation_time_ns": 140000000, + "phase": "settle", + "intended_face_center": [ + -29.463824118268438, + -14.85888677597141, + 0.1181508876831044 + ], + "intended_face_normal": [ + -0.9998210248780424, + -0.01393331346927651, + -0.01280999957167736 + ], + "commanded_contact_point": [ + -29.809694290161133, + -14.857892990112305, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463843921260917, + -14.858116007930878, + 0.11885951584185875 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.82923126220703, + -14.901241302490234, + 0.023338258266448975 + ], + "box_pose": [ + -29.410354614257812, + -14.854000091552734, + 0.13607169687747955, + -0.0011914714705199003, + -0.00782068446278572, + 0.71201491355896, + 0.7021198868751526 + ], + "box_yaw_rad": 1.5848501935292816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001998959606047545 + } + }, + { + "simulation_time_ns": 160000000, + "phase": "settle", + "intended_face_center": [ + -29.46396193100138, + -14.858766849632012, + 0.11806917674326757 + ], + "intended_face_normal": [ + -0.9998055126568072, + -0.01396241765703543, + -0.013932962155953854 + ], + "commanded_contact_point": [ + -29.813337326049805, + -14.858277320861816, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -29.463983450535675, + -14.857994471595564, + 0.1188399253497232 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83002281188965, + -14.901187896728516, + 0.023386150598526 + ], + "box_pose": [ + -29.410512924194336, + -14.853860855102539, + 0.13604575395584106, + -0.001958049600943923, + -0.00785327609628439, + 0.7120234370231628, + 0.7021090984344482 + ], + "box_yaw_rad": 1.5848753664458082, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036632527364889203 + } + }, + { + "simulation_time_ns": 180000000, + "phase": "settle", + "intended_face_center": [ + -29.464085941184205, + -14.858607287814584, + 0.11801393690517992 + ], + "intended_face_normal": [ + -0.9997900954869765, + -0.013998912183227352, + -0.014966954754248807 + ], + "commanded_contact_point": [ + -29.81830406188965, + -14.85895824432373, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -29.46410916676857, + -14.857832890960823, + 0.11884188428568666 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.830629348754883, + -14.901201248168945, + 0.023427098989486694 + ], + "box_pose": [ + -29.410655975341797, + -14.853675842285156, + 0.1360400915145874, + -0.0028117955662310123, + -0.007737450301647186, + 0.7120333909988403, + 0.7020974159240723 + ], + "box_yaw_rad": 1.5848999608292311, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005013194756218178 + } + }, + { + "simulation_time_ns": 200000000, + "phase": "settle", + "intended_face_center": [ + -29.46422989737483, + -14.858425947035661, + 0.11794995377573189 + ], + "intended_face_normal": [ + -0.9997708462854021, + -0.014043468868879971, + -0.016156423073124315 + ], + "commanded_contact_point": [ + -29.82404327392578, + -14.859973907470703, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -29.46425525309537, + -14.857649085379155, + 0.11884370059206102 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831029891967773, + -14.901277542114258, + 0.02344861626625061 + ], + "box_pose": [ + -29.41082191467285, + -14.85346508026123, + 0.1360330730676651, + -0.003794278483837843, + -0.007603897713124752, + 0.7120444774627686, + 0.7020829319953918 + ], + "box_yaw_rad": 1.5849273079159805, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005828389693891929 + } + }, + { + "simulation_time_ns": 220000000, + "phase": "settle", + "intended_face_center": [ + -29.46439349494385, + -14.858216241181186, + 0.11787690284218544 + ], + "intended_face_normal": [ + -0.9997474034437173, + -0.014078269249383935, + -0.017522592808111193 + ], + "commanded_contact_point": [ + -29.829975128173828, + -14.861448287963867, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46442144492844, + -14.857437454424728, + 0.11884622392675968 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831268310546875, + -14.901413917541504, + 0.023464560508728027 + ], + "box_pose": [ + -29.4110107421875, + -14.853222846984863, + 0.13602545857429504, + -0.00491500785574317, + -0.007458194624632597, + 0.7120498418807983, + 0.7020721435546875 + ], + "box_yaw_rad": 1.5849380866416096, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006112339376996555 + } + }, + { + "simulation_time_ns": 240000000, + "phase": "settle", + "intended_face_center": [ + -29.464581799834825, + -14.8579778000578, + 0.11779245196642031 + ], + "intended_face_normal": [ + -0.999718202991989, + -0.014100421138063757, + -0.019099546196020167 + ], + "commanded_contact_point": [ + -29.83568572998047, + -14.863430976867676, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.464612981325143, + -14.857197787895206, + 0.11884900752508354 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831396102905273, + -14.901592254638672, + 0.02347201108932495 + ], + "box_pose": [ + -29.41122817993164, + -14.852948188781738, + 0.13601651787757874, + -0.006201515439897776, + -0.007297125179320574, + 0.7120475769042969, + 0.7020659446716309 + ], + "box_yaw_rad": 1.5849268100840204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006045000271572101 + } + }, + { + "simulation_time_ns": 260000000, + "phase": "settle", + "intended_face_center": [ + -29.46478978459432, + -14.857742988005064, + 0.11770773618548397 + ], + "intended_face_normal": [ + -0.9996828980677037, + -0.0141325802998018, + -0.020843480410694115 + ], + "commanded_contact_point": [ + -29.840869903564453, + -14.865885734558105, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -29.464824873275788, + -14.856961196850408, + 0.11886076332360497 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831449508666992, + -14.901803970336914, + 0.023477494716644287 + ], + "box_pose": [ + -29.411468505859375, + -14.852677345275879, + 0.13601627945899963, + -0.007532949093729258, + -0.007209074217826128, + 0.7120460271835327, + 0.7020553946495056 + ], + "box_yaw_rad": 1.5849198295337168, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005735982136313248 + } + }, + { + "simulation_time_ns": 280000000, + "phase": "settle", + "intended_face_center": [ + -29.46497320139936, + -14.857546606625545, + 0.11763523891040184 + ], + "intended_face_normal": [ + -0.9996497016622968, + -0.014150077257134797, + -0.022366981763138893 + ], + "commanded_contact_point": [ + -29.845306396484375, + -14.868678092956543, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.4650119640484, + -14.856763847567915, + 0.11887254364370947 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831466674804688, + -14.902039527893066, + 0.02348381280899048 + ], + "box_pose": [ + -29.411680221557617, + -14.85245132446289, + 0.1360177993774414, + -0.008670084178447723, + -0.0071578375063836575, + 0.7120392322540283, + 0.7020496726036072 + ], + "box_yaw_rad": 1.5848990370359077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005242111679069778 + } + }, + { + "simulation_time_ns": 300000000, + "phase": "settle", + "intended_face_center": [ + -29.465116606518748, + -14.857383568860547, + 0.11758191421864453 + ], + "intended_face_normal": [ + -0.9996215852589422, + -0.014187295362743546, + -0.023569441256182155 + ], + "commanded_contact_point": [ + -29.848909378051758, + -14.871612548828125, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46515848100842, + -14.85659875095838, + 0.1188857370382147 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831506729125977, + -14.902276039123535, + 0.023487776517868042 + ], + "box_pose": [ + -29.411846160888672, + -14.852262496948242, + 0.13602253794670105, + -0.009591501206159592, + -0.007093881722539663, + 0.7120404839515686, + 0.7020370960235596 + ], + "box_yaw_rad": 1.5849008380196146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046467738742110905 + } + }, + { + "simulation_time_ns": 320000000, + "phase": "settle", + "intended_face_center": [ + -29.465222031543345, + -14.857262571098403, + 0.11754344959574042 + ], + "intended_face_normal": [ + -0.9995998992713592, + -0.014212500595574884, + -0.024455758277718675 + ], + "commanded_contact_point": [ + -29.85169792175293, + -14.874495506286621, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -29.465266306234, + -14.85647635888411, + 0.11889630201874887 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83157730102539, + -14.902501106262207, + 0.02349156141281128 + ], + "box_pose": [ + -29.411968231201172, + -14.85212230682373, + 0.1360267549753189, + -0.010277066379785538, + -0.007040455471724272, + 0.7120397686958313, + 0.7020286321640015 + ], + "box_yaw_rad": 1.584897353347248, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004010912574597661 + } + }, + { + "simulation_time_ns": 340000000, + "phase": "settle", + "intended_face_center": [ + -29.465294462322266, + -14.857177534853713, + 0.1175170762813818 + ], + "intended_face_normal": [ + -0.9995847011747514, + -0.014230131282984448, + -0.025067238336850428 + ], + "commanded_contact_point": [ + -29.853723526000977, + -14.877243041992188, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46534041916641, + -14.85639034733872, + 0.11890375477799728 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83170509338379, + -14.902711868286133, + 0.023501604795455933 + ], + "box_pose": [ + -29.412052154541016, + -14.85202407836914, + 0.13602982461452484, + -0.010748809203505516, + -0.007004826329648495, + 0.7120389938354492, + 0.7020228505134583 + ], + "box_yaw_rad": 1.5848941944266521, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034135062653069615 + } + }, + { + "simulation_time_ns": 360000000, + "phase": "settle", + "intended_face_center": [ + -29.465338703886363, + -14.857125847828781, + 0.11750074988062051 + ], + "intended_face_normal": [ + -0.9995745856633603, + -0.01424370411140341, + -0.025451237689535722 + ], + "commanded_contact_point": [ + -29.855270385742188, + -14.87971305847168, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.465385780348235, + -14.85633790948719, + 0.11890867059139328 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831867218017578, + -14.902908325195312, + 0.023510366678237915 + ], + "box_pose": [ + -29.4121036529541, + -14.851963996887207, + 0.13603198528289795, + -0.01104462705552578, + -0.006982889026403427, + 0.7120392322540283, + 0.7020180821418762 + ], + "box_yaw_rad": 1.5848942991870538, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029144049938095683 + } + }, + { + "simulation_time_ns": 380000000, + "phase": "settle", + "intended_face_center": [ + -29.46536000669661, + -14.857098584716473, + 0.1174930610186334 + ], + "intended_face_normal": [ + -0.9995699575955211, + -0.014231801361889174, + -0.02564147899867042 + ], + "commanded_contact_point": [ + -29.856529235839844, + -14.881731033325195, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.46540759541187, + -14.856311304815454, + 0.11891150556649584 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831993103027344, + -14.903069496154785, + 0.023520052433013916 + ], + "box_pose": [ + -29.412128448486328, + -14.851933479309082, + 0.13603343069553375, + -0.011193054728209972, + -0.0069701336324214935, + 0.7120327353477478, + 0.7020224928855896 + ], + "box_yaw_rad": 1.5848754554783842, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023784293300700577 + } + }, + { + "simulation_time_ns": 400000000, + "phase": "settle", + "intended_face_center": [ + -29.465358101678486, + -14.85709851329851, + 0.11749350571320863 + ], + "intended_face_normal": [ + -0.9995698410014607, + -0.01422738044373717, + -0.02564203725426517 + ], + "commanded_contact_point": [ + -29.857666015625, + -14.883285522460938, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.465405703298885, + -14.856311477955431, + 0.11891198114285464 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83209800720215, + -14.903197288513184, + 0.023527950048446655 + ], + "box_pose": [ + -29.412126541137695, + -14.851933479309082, + 0.13603386282920837, + -0.011196686886250973, + -0.006966936867684126, + 0.7120311260223389, + 0.702023983001709 + ], + "box_yaw_rad": 1.5848707854124222, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019257997698170304 + } + }, + { + "simulation_time_ns": 420000000, + "phase": "settle", + "intended_face_center": [ + -29.465335462229188, + -14.857127906299162, + 0.11750373381237943 + ], + "intended_face_normal": [ + -0.9995758146377844, + -0.014200763851548892, + -0.02543290079111077 + ], + "commanded_contact_point": [ + -29.85874366760254, + -14.88436508178711, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + -29.46538240266356, + -14.856342343342293, + 0.11891064015601693 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832204818725586, + -14.903287887573242, + 0.023534774780273438 + ], + "box_pose": [ + -29.412099838256836, + -14.851968765258789, + 0.13603410124778748, + -0.011029459536075592, + -0.00698487414047122, + 0.7120243906974792, + 0.7020334601402283 + ], + "box_yaw_rad": 1.5848520748797852, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015253793380984736 + } + }, + { + "simulation_time_ns": 440000000, + "phase": "settle", + "intended_face_center": [ + -29.465285387441913, + -14.857183695880769, + 0.11752196679514766 + ], + "intended_face_normal": [ + -0.9995852857134213, + -0.014216581325513733, + -0.02504597526390162 + ], + "commanded_contact_point": [ + -29.859725952148438, + -14.88500690460205, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.46533127958776, + -14.85639725792719, + 0.11890746905345424 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832277297973633, + -14.903342247009277, + 0.02353823184967041 + ], + "box_pose": [ + -29.41204261779785, + -14.852031707763672, + 0.1360337734222412, + -0.010725816711783409, + -0.007012537680566311, + 0.7120345830917358, + 0.7020274996757507 + ], + "box_yaw_rad": 1.5848818453885585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011733795028081309 + } + }, + { + "simulation_time_ns": 460000000, + "phase": "settle", + "intended_face_center": [ + -29.465226097467124, + -14.857255597164475, + 0.11754564775922645 + ], + "intended_face_normal": [ + -0.9995976183854537, + -0.01421812562006819, + -0.0245430018769508 + ], + "commanded_contact_point": [ + -29.8605899810791, + -14.88524055480957, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -29.465270624608824, + -14.856469073783055, + 0.11890332635500259 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832338333129883, + -14.903366088867188, + 0.023541748523712158 + ], + "box_pose": [ + -29.41197395324707, + -14.852113723754883, + 0.13603326678276062, + -0.010335272178053856, + -0.007044350262731314, + 0.712040901184082, + 0.7020265460014343 + ], + "box_yaw_rad": 1.5849006950567504, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008950633569742444 + } + }, + { + "simulation_time_ns": 480000000, + "phase": "settle", + "intended_face_center": [ + -29.465158698147214, + -14.857338203809597, + 0.11757265949856344 + ], + "intended_face_normal": [ + -0.9996118426700432, + -0.014217247669415345, + -0.023964374250386777 + ], + "commanded_contact_point": [ + -29.861305236816406, + -14.885113716125488, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.465201650938326, + -14.856551728994969, + 0.11889832936340075 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832387924194336, + -14.903363227844238, + 0.023542970418930054 + ], + "box_pose": [ + -29.411895751953125, + -14.852208137512207, + 0.13603244721889496, + -0.009885387495160103, + -0.0070815300568938255, + 0.7120469808578491, + 0.7020266056060791 + ], + "box_yaw_rad": 1.5849190171948764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000726415048857157 + } + }, + { + "simulation_time_ns": 500000000, + "phase": "settle", + "intended_face_center": [ + -29.46508126385837, + -14.857430011993598, + 0.11760250548834972 + ], + "intended_face_normal": [ + -0.9996273714682548, + -0.014202465680751342, + -0.023312274317565995 + ], + "commanded_contact_point": [ + -29.861833572387695, + -14.884666442871094, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.465122497940296, + -14.856644354894328, + 0.11889210225481314 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832422256469727, + -14.903332710266113, + 0.02354484796524048 + ], + "box_pose": [ + -29.411806106567383, + -14.852313995361328, + 0.136030912399292, + -0.009378335438668728, + -0.007123461924493313, + 0.7120486497879028, + 0.7020313739776611 + ], + "box_yaw_rad": 1.5849249226702298, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000692236838233895 + } + }, + { + "simulation_time_ns": 520000000, + "phase": "settle", + "intended_face_center": [ + -29.464992103583754, + -14.857533626000286, + 0.11763677889295857 + ], + "intended_face_normal": [ + -0.9996444375710578, + -0.014192379143158185, + -0.022570347660701207 + ], + "commanded_contact_point": [ + -29.86216163635254, + -14.883935928344727, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -29.465031448840232, + -14.856748526871726, + 0.11888533349405399 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83245277404785, + -14.903281211853027, + 0.023549318313598633 + ], + "box_pose": [ + -29.41170310974121, + -14.852433204650879, + 0.136029452085495, + -0.008802124299108982, + -0.007170510478317738, + 0.7120524644851685, + 0.7020344138145447 + ], + "box_yaw_rad": 1.584937098987126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008007980014651984 + } + }, + { + "simulation_time_ns": 540000000, + "phase": "settle", + "intended_face_center": [ + -29.464893414377165, + -14.857649152107337, + 0.11767585212790893 + ], + "intended_face_normal": [ + -0.9996633923155721, + -0.01417283596235519, + -0.021726578818012432 + ], + "commanded_contact_point": [ + -29.862295150756836, + -14.88297176361084, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.46493066181676, + -14.856865134075475, + 0.1188777308210105 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832475662231445, + -14.903207778930664, + 0.023548156023025513 + ], + "box_pose": [ + -29.411588668823242, + -14.852566719055176, + 0.13602781295776367, + -0.00815061666071415, + -0.0072202784940600395, + 0.7120533585548401, + 0.7020408511161804 + ], + "box_yaw_rad": 1.5849410507600692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009733651582780726 + } + }, + { + "simulation_time_ns": 560000000, + "phase": "settle", + "intended_face_center": [ + -29.464775799752665, + -14.857783718513724, + 0.11772092860865079 + ], + "intended_face_normal": [ + -0.9996841963059565, + -0.01415983919861108, + -0.020769009089421142 + ], + "commanded_contact_point": [ + -29.86227035522461, + -14.881819725036621, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.46481074475584, + -14.857000419441508, + 0.11886983611546513 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832496643066406, + -14.903122901916504, + 0.023549973964691162 + ], + "box_pose": [ + -29.411453247070312, + -14.852721214294434, + 0.13602665066719055, + -0.007411210332065821, + -0.0072768074460327625, + 0.7120568752288818, + 0.7020450830459595 + ], + "box_yaw_rad": 1.5849526889549987, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011523053826656571 + } + }, + { + "simulation_time_ns": 580000000, + "phase": "settle", + "intended_face_center": [ + -29.464642083395614, + -14.857937098253432, + 0.11777355957040828 + ], + "intended_face_normal": [ + -0.999706734968668, + -0.014162435231896087, + -0.019642350469470105 + ], + "commanded_contact_point": [ + -29.862106323242188, + -14.880524635314941, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.46467453403537, + -14.857153655572915, + 0.11886014217089197 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832509994506836, + -14.903022766113281, + 0.02354884147644043 + ], + "box_pose": [ + -29.411298751831055, + -14.852896690368652, + 0.13602472841739655, + -0.006549596320837736, + -0.0073350961320102215, + 0.7120662331581116, + 0.7020434141159058 + ], + "box_yaw_rad": 1.5849810575780368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013054362789937822 + } + }, + { + "simulation_time_ns": 600000000, + "phase": "settle", + "intended_face_center": [ + -29.464486797071853, + -14.858112962981304, + 0.11783427507995987 + ], + "intended_face_normal": [ + -0.9997316959643016, + -0.01413163132470685, + -0.018346718162854603 + ], + "commanded_contact_point": [ + -29.86181640625, + -14.879125595092773, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.464516485333217, + -14.857331224322392, + 0.11884918542700418 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8325252532959, + -14.90291690826416, + 0.02354845404624939 + ], + "box_pose": [ + -29.41111946105957, + -14.853099822998047, + 0.1360226571559906, + -0.005557935684919357, + -0.007402974180877209, + 0.7120638489723206, + 0.7020536065101624 + ], + "box_yaw_rad": 1.584976305289315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014287635933270151 + } + }, + { + "simulation_time_ns": 620000000, + "phase": "settle", + "intended_face_center": [ + -29.46430853949004, + -14.858315702824243, + 0.11790435995438502 + ], + "intended_face_normal": [ + -0.9997585678390527, + -0.014106545644016144, + -0.01684205709107811 + ], + "commanded_contact_point": [ + -29.861421585083008, + -14.877662658691406, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.464335253977342, + -14.85753535186403, + 0.11883603491965775 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832530975341797, + -14.902803421020508, + 0.023548513650894165 + ], + "box_pose": [ + -29.410913467407227, + -14.853333473205566, + 0.13601969182491302, + -0.004410363733768463, + -0.007477821782231331, + 0.7120630741119385, + 0.7020617723464966 + ], + "box_yaw_rad": 1.5849764079649187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015152777528770517 + } + }, + { + "simulation_time_ns": 640000000, + "phase": "settle", + "intended_face_center": [ + -29.464100175951017, + -14.858547908912803, + 0.11798494256407832 + ], + "intended_face_normal": [ + -0.9997869446830001, + -0.014076815205428694, + -0.015101845739790565 + ], + "commanded_contact_point": [ + -29.86092758178711, + -14.876192092895508, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.46412375020374, + -14.857769202591673, + 0.11882035189258766 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8325252532959, + -14.902688026428223, + 0.02354869246482849 + ], + "box_pose": [ + -29.410673141479492, + -14.853601455688477, + 0.13601566851139069, + -0.0030837282538414, + -0.007563868071883917, + 0.7120596170425415, + 0.7020715475082397 + ], + "box_yaw_rad": 1.5849692957823738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00155132298909042 + } + }, + { + "simulation_time_ns": 660000000, + "phase": "settle", + "intended_face_center": [ + -29.463856916352672, + -14.858820511689114, + 0.1180786091006533 + ], + "intended_face_normal": [ + -0.9998157795940694, + -0.0140580585361334, + -0.013066470131480351 + ], + "commanded_contact_point": [ + -29.86035919189453, + -14.874740600585938, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46387729977157, + -14.858042842956154, + 0.11880142478998101 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832509994506836, + -14.902572631835938, + 0.023546725511550903 + ], + "box_pose": [ + -29.41039276123047, + -14.853915214538574, + 0.13601025938987732, + -0.0015290618175640702, + -0.0076675149612128735, + 0.7120580673217773, + 0.7020770311355591 + ], + "box_yaw_rad": 1.5849682882598528, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015588126875762773 + } + }, + { + "simulation_time_ns": 680000000, + "phase": "settle", + "intended_face_center": [ + -29.463575888371622, + -14.859137302552076, + 0.11818703883270275 + ], + "intended_face_normal": [ + -0.9998445021616829, + -0.014024511614774138, + -0.01068707456571565 + ], + "commanded_contact_point": [ + -29.859718322753906, + -14.873353004455566, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.46359309347998, + -14.858361489579766, + 0.11877823026324093 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832490921020508, + -14.902463912963867, + 0.02354416251182556 + ], + "box_pose": [ + -29.41006851196289, + -14.854280471801758, + 0.1360025852918625, + 0.0002821676607709378, + -0.007782684173434973, + 0.7120478749275208, + 0.7020877003669739 + ], + "box_yaw_rad": 1.5849431999165746, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001528442434817602 + } + }, + { + "simulation_time_ns": 700000000, + "phase": "settle", + "intended_face_center": [ + -29.463252958825223, + -14.859509967401713, + 0.1183128096918123 + ], + "intended_face_normal": [ + -0.9998702501474672, + -0.013993073010277968, + -0.007971512718752127 + ], + "commanded_contact_point": [ + -29.8590087890625, + -14.872052192687988, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + -29.463267314854548, + -14.858735893561422, + 0.11875378069643791 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832456588745117, + -14.902356147766113, + 0.023542940616607666 + ], + "box_pose": [ + -29.409696578979492, + -14.85470962524414, + 0.13599592447280884, + 0.0023802637588232756, + -0.007944762706756592, + 0.7120329141616821, + 0.7020970582962036 + ], + "box_yaw_rad": 1.5849062688102928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001481738612437942 + } + }, + { + "simulation_time_ns": 720000000, + "phase": "settle", + "intended_face_center": [ + -29.46318341314309, + -14.859603445672178, + 0.11835929340260264 + ], + "intended_face_normal": [ + -0.999875015725844, + -0.013981929320725728, + -0.007386588459163734 + ], + "commanded_contact_point": [ + -29.858266830444336, + -14.87087631225586, + 0.05000004544854164 + ], + "centerline_face_intersection": [ + -29.463197241857294, + -14.858829988282508, + 0.11876790735688147 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83243179321289, + -14.902260780334473, + 0.023537904024124146 + ], + "box_pose": [ + -29.409616470336914, + -14.854817390441895, + 0.13601428270339966, + 0.0028709489852190018, + -0.008017935790121555, + 0.7120271921157837, + 0.7021002769470215 + ], + "box_yaw_rad": 1.5848924722136806, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013903946856152392 + } + }, + { + "simulation_time_ns": 740000000, + "phase": "settle", + "intended_face_center": [ + -29.463269298357208, + -14.85951266702749, + 0.11832644654095231 + ], + "intended_face_normal": [ + -0.9998693214005392, + -0.013963420064623255, + -0.008134339980927108 + ], + "commanded_contact_point": [ + -29.857486724853516, + -14.86983871459961, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46328375715343, + -14.8587402335395, + 0.1187764248825684 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832387924194336, + -14.90217399597168, + 0.023536890745162964 + ], + "box_pose": [ + -29.40971565246582, + -14.854714393615723, + 0.13601839542388916, + 0.002332080388441682, + -0.008011738769710064, + 0.7120226621627808, + 0.7021068334579468 + ], + "box_yaw_rad": 1.584879207517984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012981423769231996 + } + }, + { + "simulation_time_ns": 760000000, + "phase": "settle", + "intended_face_center": [ + -29.4633590417939, + -14.859417327420584, + 0.11829343020510474 + ], + "intended_face_normal": [ + -0.9998631261298356, + -0.013956535597509978, + -0.008875203641135268 + ], + "commanded_contact_point": [ + -29.856657028198242, + -14.86897087097168, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.463374186106254, + -14.858645274770018, + 0.11878439190885787 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832334518432617, + -14.902103424072266, + 0.023531436920166016 + ], + "box_pose": [ + -29.409818649291992, + -14.854605674743652, + 0.13602182269096375, + 0.001784567371942103, + -0.007992119528353214, + 0.7120218276977539, + 0.7021095156669617 + ], + "box_yaw_rad": 1.5848760410982863, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012006452858504843 + } + }, + { + "simulation_time_ns": 780000000, + "phase": "settle", + "intended_face_center": [ + -29.463452289235878, + -14.859315990563394, + 0.11825863811148082 + ], + "intended_face_normal": [ + -0.9998564423065684, + -0.013947344349926505, + -0.009632853210613773 + ], + "commanded_contact_point": [ + -29.855823516845703, + -14.86826229095459, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463468173128213, + -14.858544446357564, + 0.11879151174633093 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832286834716797, + -14.902044296264648, + 0.02352955937385559 + ], + "box_pose": [ + -29.40992546081543, + -14.854490280151367, + 0.13602416217327118, + 0.0012144792126491666, + -0.007962037809193134, + 0.7120198011398315, + 0.7021132707595825 + ], + "box_yaw_rad": 1.5848691449824703, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010939958024496644 + } + }, + { + "simulation_time_ns": 800000000, + "phase": "settle", + "intended_face_center": [ + -29.463550411331905, + -14.859208427923836, + 0.11822129810878612 + ], + "intended_face_normal": [ + -0.9998485843823348, + -0.013924750681704623, + -0.010438711279334469 + ], + "commanded_contact_point": [ + -29.854997634887695, + -14.867724418640137, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46356716472744, + -14.858438133562663, + 0.11879875048981492 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832229614257812, + -14.901999473571777, + 0.023527055978775024 + ], + "box_pose": [ + -29.410037994384766, + -14.854368209838867, + 0.13602623343467712, + 0.0006029920768924057, + -0.007925041019916534, + 0.7120126485824585, + 0.7021216750144958 + ], + "box_yaw_rad": 1.5848474343356749, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009855899934929791 + } + }, + { + "simulation_time_ns": 820000000, + "phase": "settle", + "intended_face_center": [ + -29.46364960714974, + -14.85909002704324, + 0.11818071050485873 + ], + "intended_face_normal": [ + -0.9998393219890978, + -0.013921991857626326, + -0.011283268114430468 + ], + "commanded_contact_point": [ + -29.85415267944336, + -14.867369651794434, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.46366738546602, + -14.858319885295689, + 0.11880488238432847 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832170486450195, + -14.901969909667969, + 0.0235215425491333 + ], + "box_pose": [ + -29.410152435302734, + -14.854232788085938, + 0.1360267549753189, + -5.2241342928027734e-05, + -0.007871994748711586, + 0.7120119333267212, + 0.7021231651306152 + ], + "box_yaw_rad": 1.584843559889385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009164110529370164 + } + }, + { + "simulation_time_ns": 840000000, + "phase": "settle", + "intended_face_center": [ + -29.463760787038414, + -14.858959122555229, + 0.11813580411588921 + ], + "intended_face_normal": [ + -0.9998287089070669, + -0.01391791834209477, + -0.012202475047892 + ], + "commanded_contact_point": [ + -29.853334426879883, + -14.867178916931152, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -29.46377973974621, + -14.858189206147873, + 0.11881082501476199 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.832115173339844, + -14.901952743530273, + 0.023518890142440796 + ], + "box_pose": [ + -29.410280227661133, + -14.854083061218262, + 0.13602647185325623, + -0.0007727868505753577, + -0.007806973997503519, + 0.7120100855827332, + 0.7021254301071167 + ], + "box_yaw_rad": 1.5848360920761555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008401886964966625 + } + }, + { + "simulation_time_ns": 860000000, + "phase": "settle", + "intended_face_center": [ + -29.463881645266465, + -14.858814164513195, + 0.11808532215180187 + ], + "intended_face_normal": [ + -0.9998157632575346, + -0.013913686832216055, + -0.0132160736945236 + ], + "commanded_contact_point": [ + -29.852516174316406, + -14.867145538330078, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46390203049312, + -14.858044482186024, + 0.11881641366478041 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83204460144043, + -14.901946067810059, + 0.02351468801498413 + ], + "box_pose": [ + -29.410419464111328, + -14.853917121887207, + 0.1360251009464264, + -0.0015718501526862383, + -0.007730816025286913, + 0.7120072841644287, + 0.7021276950836182 + ], + "box_yaw_rad": 1.5848255856615718, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008189330797722352 + } + }, + { + "simulation_time_ns": 880000000, + "phase": "settle", + "intended_face_center": [ + -29.464017351613297, + -14.858650503779932, + 0.11802802066969834 + ], + "intended_face_normal": [ + -0.9998001780292018, + -0.013917075516438837, + -0.014353069029956422 + ], + "commanded_contact_point": [ + -29.85173797607422, + -14.867263793945312, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.46403946146968, + -14.85788063399631, + 0.11882200889914839 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831989288330078, + -14.901956558227539, + 0.023510128259658813 + ], + "box_pose": [ + -29.41057586669922, + -14.853729248046875, + 0.13602277636528015, + -0.0024733063764870167, + -0.007640326861292124, + 0.7120059132575989, + 0.7021275758743286 + ], + "box_yaw_rad": 1.5848187400541802, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007871320694354198 + } + }, + { + "simulation_time_ns": 900000000, + "phase": "settle", + "intended_face_center": [ + -29.464171472856982, + -14.858464363822446, + 0.11796318259286152 + ], + "intended_face_normal": [ + -0.9997807031502214, + -0.013939860355313138, + -0.01562111737141092 + ], + "commanded_contact_point": [ + -29.850988388061523, + -14.867509841918945, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -29.464195737801738, + -14.85769323361892, + 0.11882731717605564 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831924438476562, + -14.901973724365234, + 0.023507267236709595 + ], + "box_pose": [ + -29.41075325012207, + -14.853514671325684, + 0.13601908087730408, + -0.00348745658993721, + -0.007530717644840479, + 0.7120096683502197, + 0.7021205425262451 + ], + "box_yaw_rad": 1.584825968215187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007889371299371704 + } + }, + { + "simulation_time_ns": 920000000, + "phase": "settle", + "intended_face_center": [ + -29.464343243442233, + -14.858253529898022, + 0.11788853152436526 + ], + "intended_face_normal": [ + -0.9997568430556572, + -0.013979085701543603, + -0.017063658229093948 + ], + "commanded_contact_point": [ + -29.850284576416016, + -14.867875099182129, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -29.46437014880016, + -14.8574802298127, + 0.11883246510100885 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831857681274414, + -14.902000427246094, + 0.023504018783569336 + ], + "box_pose": [ + -29.410951614379883, + -14.853270530700684, + 0.13601383566856384, + -0.004646460525691509, + -0.007400824222713709, + 0.7120168209075928, + 0.7021081447601318 + ], + "box_yaw_rad": 1.5848423373627305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007929462154905488 + } + }, + { + "simulation_time_ns": 940000000, + "phase": "settle", + "intended_face_center": [ + -29.46453453782486, + -14.858013858450187, + 0.11780353689467943 + ], + "intended_face_normal": [ + -0.9997271365958247, + -0.014025975467411245, + -0.01868054182303236 + ], + "commanded_contact_point": [ + -29.84964370727539, + -14.86833667755127, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.464564730656342, + -14.85723796449995, + 0.11883691381889548 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83180046081543, + -14.902032852172852, + 0.0235024094581604 + ], + "box_pose": [ + -29.41117286682129, + -14.85299301147461, + 0.1360064297914505, + -0.005953411106020212, + -0.007247545290738344, + 0.7120235562324524, + 0.7020929455757141 + ], + "box_yaw_rad": 1.5848569531991752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007897897494031855 + } + }, + { + "simulation_time_ns": 960000000, + "phase": "settle", + "intended_face_center": [ + -29.464754444175675, + -14.857771509039319, + 0.11771612220645179 + ], + "intended_face_normal": [ + -0.9996907261935088, + -0.014070299781351325, + -0.020500245205087142 + ], + "commanded_contact_point": [ + -29.849044799804688, + -14.868879318237305, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -29.464788666507616, + -14.856993163140757, + 0.11885016213614956 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83174705505371, + -14.902076721191406, + 0.023499101400375366 + ], + "box_pose": [ + -29.411426544189453, + -14.852712631225586, + 0.13600721955299377, + -0.0073396554216742516, + -0.007158602122217417, + 0.7120261788368225, + 0.7020779848098755 + ], + "box_yaw_rad": 1.5848618431047365, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000808176387482789 + } + }, + { + "simulation_time_ns": 980000000, + "phase": "settle", + "intended_face_center": [ + -29.46494554177633, + -14.857565810811568, + 0.1176403070638612 + ], + "intended_face_normal": [ + -0.9996558573020621, + -0.014100016879230237, + -0.022122567285102923 + ], + "commanded_contact_point": [ + -29.848508834838867, + -14.869476318359375, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -29.464983623148992, + -14.85678582101191, + 0.11886409118925823 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83169174194336, + -14.902119636535645, + 0.023497402667999268 + ], + "box_pose": [ + -29.41164779663086, + -14.8524751663208, + 0.1360103338956833, + -0.008542428724467754, + -0.0071120127104222775, + 0.7120231986045837, + 0.7020679712295532 + ], + "box_yaw_rad": 1.5848520547513985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008022889721510199 + } + }, + { + "simulation_time_ns": 1000000000, + "phase": "settle", + "intended_face_center": [ + -29.46510065660624, + -14.857393065615375, + 0.11758386562278786 + ], + "intended_face_normal": [ + -0.9996259486719956, + -0.014144116061076017, + -0.023412526021898583 + ], + "commanded_contact_point": [ + -29.8480224609375, + -14.870108604431152, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.465142048160477, + -14.856610636321331, + 0.11887900814905054 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831642150878906, + -14.902167320251465, + 0.02349528670310974 + ], + "box_pose": [ + -29.411827087402344, + -14.852274894714355, + 0.13601627945899963, + -0.009523329325020313, + -0.007050837855786085, + 0.7120262384414673, + 0.7020529508590698 + ], + "box_yaw_rad": 1.5848590399680553, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000797712510979974 + } + }, + { + "simulation_time_ns": 1020000000, + "phase": "settle", + "intended_face_center": [ + -29.46521625628449, + -14.857263924683965, + 0.11754288147307951 + ], + "intended_face_normal": [ + -0.9996028360084266, + -0.014156377618265603, + -0.024371059109881466 + ], + "commanded_contact_point": [ + -29.84769058227539, + -14.870706558227539, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.465260205934594, + -14.856480817100694, + 0.11889104847709035 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.831472396850586, + -14.902305603027344, + 0.02379932999610901 + ], + "box_pose": [ + -29.41196060180664, + -14.852126121520996, + 0.13602153956890106, + -0.010258054360747337, + -0.006999620236456394, + 0.7120203375816345, + 0.7020490765571594 + ], + "box_yaw_rad": 1.5848408592806422, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006838802451137259 + } + }, + { + "simulation_time_ns": 1040000000, + "phase": "settle", + "intended_face_center": [ + -29.465299018861742, + -14.85717237520539, + 0.11751428207307175 + ], + "intended_face_normal": [ + -0.9995861245920811, + -0.014159160312515073, + -0.025045969322964767 + ], + "commanded_contact_point": [ + -29.8478946685791, + -14.87131404876709, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.465344818158336, + -14.85638911368804, + 0.11889978400273546 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83303451538086, + -14.909980773925781, + 0.03339642286300659 + ], + "box_pose": [ + -29.41205596923828, + -14.852021217346191, + 0.13602551817893982, + -0.010772214271128178, + -0.006966675631701946, + 0.7120137214660645, + 0.7020484209060669 + ], + "box_yaw_rad": 1.5848211500096443, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006408556585776492 + } + }, + { + "simulation_time_ns": 1060000000, + "phase": "settle", + "intended_face_center": [ + -29.465350025613464, + -14.857114162711005, + 0.11749608987349633 + ], + "intended_face_normal": [ + -0.9995748993044097, + -0.01417716007523584, + -0.02547534434154436 + ], + "commanded_contact_point": [ + -29.847444534301758, + -14.872753143310547, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + -29.465397067360357, + -14.856329905476313, + 0.11890534412470607 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83871078491211, + -14.91686725616455, + 0.048573076725006104 + ], + "box_pose": [ + -29.4121150970459, + -14.851953506469727, + 0.1360280066728592, + -0.01110216323286295, + -0.006942951586097479, + 0.7120149731636047, + 0.7020421624183655 + ], + "box_yaw_rad": 1.5848240979539876, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015078507803393821 + } + }, + { + "simulation_time_ns": 1080000000, + "phase": "settle", + "intended_face_center": [ + -29.465378637229236, + -14.857088066981328, + 0.11748845238235246 + ], + "intended_face_normal": [ + -0.9995698450312303, + -0.014171703461768326, + -0.02568135405626354 + ], + "commanded_contact_point": [ + -29.846393585205078, + -14.874485969543457, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.4654262384036, + -14.856304111597542, + 0.11890910275297738 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8419189453125, + -14.911944389343262, + 0.05417633056640625 + ], + "box_pose": [ + -29.412147521972656, + -14.851923942565918, + 0.136030375957489, + -0.011253487318754196, + -0.006938422564417124, + 0.7120106816291809, + 0.7020442485809326 + ], + "box_yaw_rad": 1.5848117654858747, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002026618059328781 + } + }, + { + "simulation_time_ns": 1100000000, + "phase": "settle", + "intended_face_center": [ + -29.465375319257614, + -14.857093128472538, + 0.11749068260323087 + ], + "intended_face_normal": [ + -0.9995704112757281, + -0.014171516520292915, + -0.025654529579826613 + ], + "commanded_contact_point": [ + -29.845664978027344, + -14.875566482543945, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.4654228577576, + -14.856309183430048, + 0.11890984908783059 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8409366607666, + -14.906183242797852, + 0.058383211493492126 + ], + "box_pose": [ + -29.41214370727539, + -14.851929664611816, + 0.1360313445329666, + -0.01123045478016138, + -0.006942293606698513, + 0.7120109796524048, + 0.7020441889762878 + ], + "box_yaw_rad": 1.584812720245185, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013032178497070779 + } + }, + { + "simulation_time_ns": 1120000000, + "phase": "settle", + "intended_face_center": [ + -29.465342235112185, + -14.857131920550758, + 0.11750359140489505 + ], + "intended_face_normal": [ + -0.9995774317169497, + -0.014167002635250503, + -0.025385369147608583 + ], + "commanded_contact_point": [ + -29.845062255859375, + -14.876460075378418, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -29.46538899656244, + -14.856348225208981, + 0.11890786837599987 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.840404510498047, + -14.90086841583252, + 0.05986149609088898 + ], + "box_pose": [ + -29.412105560302734, + -14.851974487304688, + 0.1360314041376114, + -0.011014527641236782, + -0.006966144312173128, + 0.712012767791748, + 0.7020456194877625 + ], + "box_yaw_rad": 1.5848184468519713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010778599938126648 + } + }, + { + "simulation_time_ns": 1140000000, + "phase": "settle", + "intended_face_center": [ + -29.465291216164328, + -14.857192181214153, + 0.1175239599158023 + ], + "intended_face_normal": [ + -0.9995885646891717, + -0.014140363245287224, + -0.024958804980567517 + ], + "commanded_contact_point": [ + -29.844648361206055, + -14.877776145935059, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -29.465336745385116, + -14.856409959519722, + 0.11890464005705638 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.838293075561523, + -14.896002769470215, + 0.06291578710079193 + ], + "box_pose": [ + -29.412046432495117, + -14.852045059204102, + 0.13603132963180542, + -0.010678318329155445, + -0.006998002994805574, + 0.712008535861969, + 0.7020547986030579 + ], + "box_yaw_rad": 1.5848072410068939, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013796196929683226 + } + }, + { + "simulation_time_ns": 1160000000, + "phase": "settle", + "intended_face_center": [ + -29.46523210346044, + -14.857262026568339, + 0.11754793087794543 + ], + "intended_face_normal": [ + -0.9996012922304125, + -0.014125101921881322, + -0.024451100561073802 + ], + "commanded_contact_point": [ + -29.84453582763672, + -14.879681587219238, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.46527622397709, + -14.85648064910528, + 0.11890052564371108 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.838640213012695, + -14.890433311462402, + 0.06435291469097137 + ], + "box_pose": [ + -29.411977767944336, + -14.852126121520996, + 0.136030912399292, + -0.01028186734765768, + -0.00703230407088995, + 0.7120090126991272, + 0.7020598649978638 + ], + "box_yaw_rad": 1.5848095187601472, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019087614549253458 + } + }, + { + "simulation_time_ns": 1180000000, + "phase": "settle", + "intended_face_center": [ + -29.46516265688958, + -14.85734598162581, + 0.11757570196700227 + ], + "intended_face_normal": [ + -0.9996148408832393, + -0.014137351793643393, + -0.02387526807295709 + ], + "commanded_contact_point": [ + -29.844806671142578, + -14.88192081451416, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.46520527783989, + -14.856563926519943, + 0.11889644262430196 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84213638305664, + -14.885931015014648, + 0.06438814103603363 + ], + "box_pose": [ + -29.411897659301758, + -14.852221488952637, + 0.13603107631206512, + -0.009826675988733768, + -0.007076724898070097, + 0.7120197415351868, + 0.7020549178123474 + ], + "box_yaw_rad": 1.5848412908155212, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002255547623795911 + } + }, + { + "simulation_time_ns": 1200000000, + "phase": "settle", + "intended_face_center": [ + -29.465085356542925, + -14.857438475416116, + 0.11760640815108166 + ], + "intended_face_normal": [ + -0.9996307699506238, + -0.01412142807197636, + -0.023216983617195597 + ], + "commanded_contact_point": [ + -29.84539222717285, + -14.884369850158691, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + -29.46512621448837, + -14.856657301184404, + 0.11889073359234541 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.845272064208984, + -14.885777473449707, + 0.06547898054122925 + ], + "box_pose": [ + -29.411808013916016, + -14.852328300476074, + 0.13603012263774872, + -0.00931312795728445, + -0.007120736874639988, + 0.7120210528373718, + 0.7020602822303772 + ], + "box_yaw_rad": 1.5848462321839432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002518065021829651 + } + }, + { + "simulation_time_ns": 1220000000, + "phase": "settle", + "intended_face_center": [ + -29.464997973200592, + -14.85754246540059, + 0.11764084074886236 + ], + "intended_face_normal": [ + -0.9996477072815907, + -0.014121283906704418, + -0.022479777087285713 + ], + "commanded_contact_point": [ + -29.846235275268555, + -14.887063026428223, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -29.465036956578924, + -14.856761299143864, + 0.11888438513443687 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.846736907958984, + -14.88950252532959, + 0.06700457632541656 + ], + "box_pose": [ + -29.411706924438477, + -14.852447509765625, + 0.13602910935878754, + -0.008735382929444313, + -0.0071726455353200436, + 0.7120283246040344, + 0.7020598649978638 + ], + "box_yaw_rad": 1.584868392416039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002822043322409744 + } + }, + { + "simulation_time_ns": 1240000000, + "phase": "settle", + "intended_face_center": [ + -29.464899141517908, + -14.857657138054602, + 0.11767988581211485 + ], + "intended_face_normal": [ + -0.9996663435691069, + -0.014101727141415887, + -0.021643225561138846 + ], + "commanded_contact_point": [ + -29.847553253173828, + -14.890153884887695, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.464936062331013, + -14.856877053646047, + 0.11887715353980506 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847885131835938, + -14.894201278686523, + 0.06758135557174683 + ], + "box_pose": [ + -29.411592483520508, + -14.852580070495605, + 0.13602779805660248, + -0.008088577538728714, + -0.007222872693091631, + 0.7120290994644165, + 0.7020662426948547 + ], + "box_yaw_rad": 1.5848720210611007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003360129726034732 + } + }, + { + "simulation_time_ns": 1260000000, + "phase": "settle", + "intended_face_center": [ + -29.464787096482024, + -14.857791596579384, + 0.11772514047666771 + ], + "intended_face_normal": [ + -0.9996865817108987, + -0.014106697215150232, + -0.020688283120251283 + ], + "commanded_contact_point": [ + -29.84882354736328, + -14.893415451049805, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46482177748875, + -14.857011237234502, + 0.11886958235531585 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851612091064453, + -14.897430419921875, + 0.06415900588035583 + ], + "box_pose": [ + -29.411462783813477, + -14.852733612060547, + 0.13602697849273682, + -0.007347763516008854, + -0.007282666862010956, + 0.7120388746261597, + 0.7020639181137085 + ], + "box_yaw_rad": 1.5849015854739092, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035002087306041183 + } + }, + { + "simulation_time_ns": 1280000000, + "phase": "settle", + "intended_face_center": [ + -29.464653254988054, + -14.85794285368045, + 0.11777743273256344 + ], + "intended_face_normal": [ + -0.9997091695456628, + -0.014086734798973932, + -0.019574633558020582 + ], + "commanded_contact_point": [ + -29.849451065063477, + -14.896344184875488, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -29.464685436195502, + -14.85716359862368, + 0.11886026934460985 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.857486724853516, + -14.901365280151367, + 0.06278891861438751 + ], + "box_pose": [ + -29.41130828857422, + -14.85290813446045, + 0.13602539896965027, + -0.006491611711680889, + -0.007344738580286503, + 0.7120401859283447, + 0.7020702958106995 + ], + "box_yaw_rad": 1.5849071460639976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002995206217652012 + } + }, + { + "simulation_time_ns": 1300000000, + "phase": "settle", + "intended_face_center": [ + -29.46449804811622, + -14.858115850174508, + 0.11783796077609064 + ], + "intended_face_normal": [ + -0.9997343650527453, + -0.014054633615682377, + -0.01827534461069319 + ], + "commanded_contact_point": [ + -29.850088119506836, + -14.898953437805176, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + -29.46452744099953, + -14.857338370902529, + 0.118848922855333 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8630428314209, + -14.904644966125488, + 0.06466487050056458 + ], + "box_pose": [ + -29.411128997802734, + -14.853108406066895, + 0.1360229253768921, + -0.0054999664425849915, + -0.007410075049847364, + 0.7120372653007507, + 0.7020811438560486 + ], + "box_yaw_rad": 1.5849007916196018, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026858963528046324 + } + }, + { + "simulation_time_ns": 1320000000, + "phase": "settle", + "intended_face_center": [ + -29.464315939279032, + -14.858316731649184, + 0.11790772056478073 + ], + "intended_face_normal": [ + -0.999761073803912, + -0.014010375462897073, + -0.0167768643786963 + ], + "commanded_contact_point": [ + -29.850543975830078, + -14.901240348815918, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -29.46434237644799, + -14.857541700665601, + 0.11883578917616712 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.86363410949707, + -14.906560897827148, + 0.06957808136940002 + ], + "box_pose": [ + -29.410919189453125, + -14.853341102600098, + 0.13601993024349213, + -0.004357215017080307, + -0.007484588772058487, + 0.7120296359062195, + 0.7020959854125977 + ], + "box_yaw_rad": 1.5848813662636148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002331902004505901 + } + }, + { + "simulation_time_ns": 1340000000, + "phase": "settle", + "intended_face_center": [ + -29.464107645672474, + -14.858550477412479, + 0.11798866585875757 + ], + "intended_face_normal": [ + -0.9997892148179962, + -0.013993933604196318, + -0.015028574089958058 + ], + "commanded_contact_point": [ + -29.85082244873047, + -14.902807235717773, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.464130968711668, + -14.857776355965543, + 0.11882002191981603 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.860595703125, + -14.908210754394531, + 0.07313469052314758 + ], + "box_pose": [ + -29.41067886352539, + -14.853610038757324, + 0.1360158622264862, + -0.003025171346962452, + -0.007570334710180759, + 0.7120307683944702, + 0.7021009922027588 + ], + "box_yaw_rad": 1.5848873237799437, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015914401405161223 + } + }, + { + "simulation_time_ns": 1360000000, + "phase": "settle", + "intended_face_center": [ + -29.463864354717703, + -14.85882518713209, + 0.11808218958522018 + ], + "intended_face_normal": [ + -0.9998180562552738, + -0.01397944408528029, + -0.01299392087943832 + ], + "commanded_contact_point": [ + -29.85096549987793, + -14.90367603302002, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46388448620815, + -14.858051867221569, + 0.11880099196895752 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85722541809082, + -14.909160614013672, + 0.07498596608638763 + ], + "box_pose": [ + -29.410398483276367, + -14.853925704956055, + 0.13601034879684448, + -0.0014702191110700369, + -0.007674827706068754, + 0.7120305895805359, + 0.7021051049232483 + ], + "box_yaw_rad": 1.5848902487825325, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008804955328688646 + } + }, + { + "simulation_time_ns": 1380000000, + "phase": "settle", + "intended_face_center": [ + -29.463579705185143, + -14.859142323166102, + 0.11819020749205646 + ], + "intended_face_normal": [ + -0.9998464394440967, + -0.013953633026475565, + -0.01060035864496997 + ], + "commanded_contact_point": [ + -29.85112953186035, + -14.903915405273438, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.463596695925805, + -14.858370431081005, + 0.11877660194013505 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85513687133789, + -14.908254623413086, + 0.07437540590763092 + ], + "box_pose": [ + -29.410070419311523, + -14.854290962219238, + 0.13600151240825653, + 0.0003473919932730496, + -0.007786388974636793, + 0.7120229601860046, + 0.7021129131317139 + ], + "box_yaw_rad": 1.5848723584166242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00029018195513943773 + } + }, + { + "simulation_time_ns": 1400000000, + "phase": "settle", + "intended_face_center": [ + -29.46325294966238, + -14.859519144780881, + 0.1183160522925126 + ], + "intended_face_normal": [ + -0.9998717665601808, + -0.013952716282039423, + -0.00787711775394917 + ], + "commanded_contact_point": [ + -29.851398468017578, + -14.903587341308594, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -29.463267137899134, + -14.858747303408581, + 0.11875180152256049 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.8543701171875, + -14.905136108398438, + 0.07084217667579651 + ], + "box_pose": [ + -29.40969467163086, + -14.85472297668457, + 0.1359945833683014, + 0.0024552536197006702, + -0.007952631451189518, + 0.7120184898376465, + 0.7021114826202393 + ], + "box_yaw_rad": 1.5848654500379997, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00042420822918310926 + } + }, + { + "simulation_time_ns": 1420000000, + "phase": "settle", + "intended_face_center": [ + -29.463179665247807, + -14.859603867349767, + 0.11836575833467626 + ], + "intended_face_normal": [ + -0.999876232234691, + -0.013947176548504858, + -0.00728453468958179 + ], + "commanded_contact_point": [ + -29.85158348083496, + -14.902960777282715, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463193359354722, + -14.858832332426436, + 0.11876872684186292 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85411834716797, + -14.901968002319336, + 0.06707417964935303 + ], + "box_pose": [ + -29.409610748291016, + -14.854820251464844, + 0.1360154151916504, + 0.0029190583154559135, + -0.007993901148438454, + 0.7120147943496704, + 0.7021129131317139 + ], + "box_yaw_rad": 1.584856392619943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006533086725439277 + } + }, + { + "simulation_time_ns": 1440000000, + "phase": "settle", + "intended_face_center": [ + -29.463194531786296, + -14.859602769591987, + 0.11836297650118219 + ], + "intended_face_normal": [ + -0.9998755472094716, + -0.013927615223148893, + -0.0074202394381925885 + ], + "commanded_contact_point": [ + -29.851844787597656, + -14.901946067810059, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.463208301691562, + -14.858832316769082, + 0.11877345197240925 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.854555130004883, + -14.900528907775879, + 0.06374427676200867 + ], + "box_pose": [ + -29.40962791442871, + -14.854820251464844, + 0.13601991534233093, + 0.0028716924134641886, + -0.008042591623961926, + 0.7120081186294556, + 0.7021193504333496 + ], + "box_yaw_rad": 1.5848389373731828, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001047815125990043 + } + }, + { + "simulation_time_ns": 1460000000, + "phase": "settle", + "intended_face_center": [ + -29.463207671563463, + -14.859602103205624, + 0.11836003244047213 + ], + "intended_face_normal": [ + -0.9998745791765633, + -0.013929636111370769, + -0.007539395237812774 + ], + "commanded_contact_point": [ + -29.85193634033203, + -14.900528907775879, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -29.463221548582098, + -14.858831538590499, + 0.11877709941503356 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.854476928710938, + -14.901780128479004, + 0.061387836933135986 + ], + "box_pose": [ + -29.409643173217773, + -14.854819297790527, + 0.13602331280708313, + 0.002825577976182103, + -0.008080778643488884, + 0.7120090126991272, + 0.7021181583404541 + ], + "box_yaw_rad": 1.5848427140168504, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014201142445754546 + } + }, + { + "simulation_time_ns": 1480000000, + "phase": "settle", + "intended_face_center": [ + -29.4632209696919, + -14.85959891437675, + 0.11835691529434546 + ], + "intended_face_normal": [ + -0.9998737353017135, + -0.013917049077619925, + -0.0076530622586672425 + ], + "commanded_contact_point": [ + -29.85173988342285, + -14.89883041381836, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + -29.46323494008583, + -14.858829046055678, + 0.11878027014200541 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85492706298828, + -14.904305458068848, + 0.05940398573875427 + ], + "box_pose": [ + -29.409658432006836, + -14.854816436767578, + 0.13602620363235474, + 0.0027778949588537216, + -0.008113643154501915, + 0.7120047807693481, + 0.702122151851654 + ], + "box_yaw_rad": 1.5848317209288543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00170981783852851 + } + }, + { + "simulation_time_ns": 1500000000, + "phase": "settle", + "intended_face_center": [ + -29.463236161102643, + -14.859595020371055, + 0.11835385545509289 + ], + "intended_face_normal": [ + -0.9998729409352759, + -0.01392345732000555, + -0.007763126007698851 + ], + "commanded_contact_point": [ + -29.851558685302734, + -14.897411346435547, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -29.4632502193938, + -14.85882479755653, + 0.11878329884876611 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85592269897461, + -14.902430534362793, + 0.059565186500549316 + ], + "box_pose": [ + -29.40967559814453, + -14.854811668395996, + 0.13602891564369202, + 0.0027277893386781216, + -0.008141486905515194, + 0.7120072245597839, + 0.7021196484565735 + ], + "box_yaw_rad": 1.5848395788471288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001430589038037071 + } + }, + { + "simulation_time_ns": 1520000000, + "phase": "settle", + "intended_face_center": [ + -29.463250946634798, + -14.859585474261124, + 0.11834871089328808 + ], + "intended_face_normal": [ + -0.9998720195566745, + -0.013915674285395196, + -0.007899050498107796 + ], + "commanded_contact_point": [ + -29.851484298706055, + -14.89631462097168, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + -29.463265106877262, + -14.858815681991302, + 0.11878567340675744 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.856000900268555, + -14.899645805358887, + 0.06389153003692627 + ], + "box_pose": [ + -29.409692764282227, + -14.854801177978516, + 0.13603073358535767, + 0.0026512835174798965, + -0.008161532692611217, + 0.7120047807693481, + 0.7021222114562988 + ], + "box_yaw_rad": 1.5848332533115594, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010992452451185747 + } + }, + { + "simulation_time_ns": 1540000000, + "phase": "settle", + "intended_face_center": [ + -29.463267653567712, + -14.859572050623266, + 0.11834289400796184 + ], + "intended_face_normal": [ + -0.9998712684100337, + -0.01388287152369605, + -0.008040327589111884 + ], + "commanded_contact_point": [ + -29.85140037536621, + -14.89568042755127, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463281896925245, + -14.858804072948402, + 0.1187876717383102 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.858354568481445, + -14.896833419799805, + 0.06675794720649719 + ], + "box_pose": [ + -29.409711837768555, + -14.854787826538086, + 0.1360320895910263, + 0.0025660833343863487, + -0.008176895789802074, + 0.7119935750961304, + 0.7021336555480957 + ], + "box_yaw_rad": 1.5848018148156413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006397221452640788 + } + }, + { + "simulation_time_ns": 1560000000, + "phase": "settle", + "intended_face_center": [ + -29.46328575681077, + -14.859556074057577, + 0.11833571988489452 + ], + "intended_face_normal": [ + -0.9998699064979784, + -0.013896242850979679, + -0.008198031546667761 + ], + "commanded_contact_point": [ + -29.851707458496094, + -14.8952054977417, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.463300150865287, + -14.858787356702827, + 0.11878922153942773 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.862184524536133, + -14.893855094909668, + 0.06935477256774902 + ], + "box_pose": [ + -29.409732818603516, + -14.854768753051758, + 0.1360328048467636, + 0.002460882067680359, + -0.008183824829757214, + 0.7119986414909363, + 0.7021288871765137 + ], + "box_yaw_rad": 1.5848164426031226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005655602291551429 + } + }, + { + "simulation_time_ns": 1580000000, + "phase": "settle", + "intended_face_center": [ + -29.46330563155609, + -14.859535724367309, + 0.11832803178770795 + ], + "intended_face_normal": [ + -0.9998686822178992, + -0.013891028561533902, + -0.008368094467877785 + ], + "commanded_contact_point": [ + -29.852020263671875, + -14.894547462463379, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.463320161078645, + -14.858767295458495, + 0.1187909410440178 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.86695098876953, + -14.889979362487793, + 0.07232549786567688 + ], + "box_pose": [ + -29.40975570678711, + -14.854745864868164, + 0.1360335648059845, + 0.0023421866353601217, + -0.008186223916709423, + 0.7119972109794617, + 0.7021307945251465 + ], + "box_yaw_rad": 1.5848124100198517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000728599688716519 + } + }, + { + "simulation_time_ns": 1600000000, + "phase": "settle", + "intended_face_center": [ + -29.46333249076199, + -14.859511067006402, + 0.11831848476037105 + ], + "intended_face_normal": [ + -0.9998670768762523, + -0.013879153695653734, + -0.008575358256994986 + ], + "commanded_contact_point": [ + -29.851926803588867, + -14.89366626739502, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.46334719791775, + -14.858743294995685, + 0.11879285950943416 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.87200164794922, + -14.885760307312012, + 0.07410077750682831 + ], + "box_pose": [ + -29.409786224365234, + -14.854718208312988, + 0.1360342651605606, + 0.002193341264501214, + -0.008185047656297684, + 0.7119935154914856, + 0.7021350264549255 + ], + "box_yaw_rad": 1.5848018007748674, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008861374249876006 + } + }, + { + "simulation_time_ns": 1620000000, + "phase": "settle", + "intended_face_center": [ + -29.463360759839276, + -14.859481504617357, + 0.11830753703149559 + ], + "intended_face_normal": [ + -0.9998650923432685, + -0.013853427149618902, + -0.008813137181473418 + ], + "commanded_contact_point": [ + -29.851579666137695, + -14.893386840820312, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -29.463375686586662, + -14.858715155756956, + 0.11879506532053355 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.874309539794922, + -14.889927864074707, + 0.07142862677574158 + ], + "box_pose": [ + -29.409818649291992, + -14.85468578338623, + 0.13603505492210388, + 0.0020210647489875555, + -0.008182261139154434, + 0.7119849920272827, + 0.7021440267562866 + ], + "box_yaw_rad": 1.5847773834507097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004456272228923081 + } + }, + { + "simulation_time_ns": 1640000000, + "phase": "settle", + "intended_face_center": [ + -29.463393781379086, + -14.859441779353379, + 0.11829370306326278 + ], + "intended_face_normal": [ + -0.999862703002041, + -0.013843093657428085, + -0.009101308535536146 + ], + "commanded_contact_point": [ + -29.85114860534668, + -14.893441200256348, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463408972511328, + -14.858676002124813, + 0.1187971725188006 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.870304107666016, + -14.898724555969238, + 0.06628158688545227 + ], + "box_pose": [ + -29.40985679626465, + -14.85464096069336, + 0.13603532314300537, + 0.001801827922463417, + -0.008168471045792103, + 0.7119819521903992, + 0.702147901058197 + ], + "box_yaw_rad": 1.5847682069239244, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004344748035976049 + } + }, + { + "simulation_time_ns": 1660000000, + "phase": "settle", + "intended_face_center": [ + -29.46343218719134, + -14.859398482221769, + 0.11827905948692763 + ], + "intended_face_normal": [ + -0.9998599682722772, + -0.013845925677932192, + -0.009404601229090759 + ], + "commanded_contact_point": [ + -29.850366592407227, + -14.893179893493652, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.463447680927075, + -14.858632548330474, + 0.11879930659665622 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.863311767578125, + -14.904748916625977, + 0.06220903992652893 + ], + "box_pose": [ + -29.409900665283203, + -14.854591369628906, + 0.1360354721546173, + 0.0015671136789023876, + -0.008149971254169941, + 0.7119835019111633, + 0.7021471858024597 + ], + "box_yaw_rad": 1.5847719460643266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008245152889524239 + } + }, + { + "simulation_time_ns": 1680000000, + "phase": "settle", + "intended_face_center": [ + -29.463471698510794, + -14.859349584819327, + 0.11826179649883205 + ], + "intended_face_normal": [ + -0.9998565888422115, + -0.013846730002137653, + -0.009752101683027023 + ], + "commanded_contact_point": [ + -29.849275588989258, + -14.892172813415527, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -29.46348756618858, + -14.858583606434138, + 0.11880126676352337 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.858097076416016, + -14.904573440551758, + 0.05913962423801422 + ], + "box_pose": [ + -29.40994644165039, + -14.854535102844238, + 0.13603508472442627, + 0.0012921903980895877, + -0.008122873492538929, + 0.7119843363761902, + 0.7021471858024597 + ], + "box_yaw_rad": 1.5847733606486012, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014847554484748494 + } + }, + { + "simulation_time_ns": 1700000000, + "phase": "settle", + "intended_face_center": [ + -29.463523602238936, + -14.859288946911178, + 0.11824204338751279 + ], + "intended_face_normal": [ + -0.9998528822252017, + -0.013822201713223237, + -0.010159537499484568 + ], + "commanded_contact_point": [ + -29.847858428955078, + -14.89099407196045, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.46353988006425, + -14.858524325390688, + 0.11880405233308472 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.855003356933594, + -14.89875602722168, + 0.05813044309616089 + ], + "box_pose": [ + -29.410005569458008, + -14.854467391967773, + 0.13603515923023224, + 0.0009739434462971985, + -0.008095255121588707, + 0.7119762301445007, + 0.7021562457084656 + ], + "box_yaw_rad": 1.584749285067804, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018433051783168586 + } + }, + { + "simulation_time_ns": 1720000000, + "phase": "settle", + "intended_face_center": [ + -29.463578104089574, + -14.859221434024017, + 0.11821888640354197 + ], + "intended_face_normal": [ + -0.9998479377997536, + -0.013818483483343247, + -0.010627827927897758 + ], + "commanded_contact_point": [ + -29.846750259399414, + -14.889873504638672, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.463594929031743, + -14.858457018189902, + 0.11880680040728288 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851364135742188, + -14.895984649658203, + 0.06049804389476776 + ], + "box_pose": [ + -29.41006851196289, + -14.854390144348145, + 0.13603471219539642, + 0.0006021318840794265, + -0.00805744994431734, + 0.7119753360748291, + 0.7021579146385193 + ], + "box_yaw_rad": 1.584745417345589, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015759793421207798 + } + }, + { + "simulation_time_ns": 1740000000, + "phase": "settle", + "intended_face_center": [ + -29.463641154749823, + -14.859142792189102, + 0.11819275969545578 + ], + "intended_face_normal": [ + -0.9998425112647292, + -0.013797965722546657, + -0.011155248189505286 + ], + "commanded_contact_point": [ + -29.845905303955078, + -14.888876914978027, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -29.463658580158967, + -14.858379511363852, + 0.11880984972272281 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.849172592163086, + -14.895820617675781, + 0.06405135989189148 + ], + "box_pose": [ + -29.410140991210938, + -14.854301452636719, + 0.13603416085243225, + 0.00018412069766782224, + -0.008015675470232964, + 0.7119683623313904, + 0.7021657228469849 + ], + "box_yaw_rad": 1.584724102005861, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013065759276337655 + } + }, + { + "simulation_time_ns": 1760000000, + "phase": "settle", + "intended_face_center": [ + -29.46371387531699, + -14.859054586655853, + 0.11816223120846772 + ], + "intended_face_normal": [ + -0.9998354257119091, + -0.013809969576055625, + -0.011771528736270055 + ], + "commanded_contact_point": [ + -29.84536361694336, + -14.888089179992676, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -29.463732084774716, + -14.85829064179712, + 0.11881341286444139 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.848371505737305, + -14.89737319946289, + 0.06562960147857666 + ], + "box_pose": [ + -29.41022491455078, + -14.854199409484863, + 0.13603346049785614, + -0.0003077056899201125, + -0.007963376119732857, + 0.7119725346565247, + 0.7021621465682983 + ], + "box_yaw_rad": 1.5847341924533385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009560079634388829 + } + }, + { + "simulation_time_ns": 1780000000, + "phase": "settle", + "intended_face_center": [ + -29.463796593114107, + -14.858949959872144, + 0.11812705331433007 + ], + "intended_face_normal": [ + -0.9998268175413223, + -0.013816552681173322, + -0.012467260475571756 + ], + "commanded_contact_point": [ + -29.844911575317383, + -14.887430191040039, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.463815755112453, + -14.858185650846838, + 0.11881672170862481 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847911834716797, + -14.89833927154541, + 0.0664973109960556 + ], + "box_pose": [ + -29.410320281982422, + -14.854079246520996, + 0.1360318660736084, + -0.0008689913665875793, + -0.007898400537669659, + 0.7119743824005127, + 0.7021604776382446 + ], + "box_yaw_rad": 1.5847372671516924, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007991295710761085 + } + }, + { + "simulation_time_ns": 1800000000, + "phase": "settle", + "intended_face_center": [ + -29.46389449836158, + -14.85882856716378, + 0.11808646553787745 + ], + "intended_face_normal": [ + -0.999816680128409, + -0.013802023226337612, + -0.013276876821075145 + ], + "commanded_contact_point": [ + -29.844636917114258, + -14.88714599609375, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -29.463914782129997, + -14.858065061884078, + 0.11882092058005625 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847192764282227, + -14.897970199584961, + 0.06746549904346466 + ], + "box_pose": [ + -29.410432815551758, + -14.853940963745117, + 0.13603033125400543, + -0.0015222588554024696, + -0.007822764106094837, + 0.711968183517456, + 0.7021665573120117 + ], + "box_yaw_rad": 1.584717096445247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00039522638925069677 + } + }, + { + "simulation_time_ns": 1820000000, + "phase": "settle", + "intended_face_center": [ + -29.46400534336499, + -14.858690306510978, + 0.11803976487937964 + ], + "intended_face_normal": [ + -0.9998035026300135, + -0.013831140571672451, + -0.01419985763282372 + ], + "commanded_contact_point": [ + -29.844491958618164, + -14.887445449829102, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -29.464027085325544, + -14.857925190507503, + 0.11882527770571646 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847187042236328, + -14.896255493164062, + 0.0678814947605133 + ], + "box_pose": [ + -29.410560607910156, + -14.853780746459961, + 0.13602805137634277, + -0.0022723055444657803, + -0.007731173653155565, + 0.7119764089584351, + 0.7021571397781372 + ], + "box_yaw_rad": 1.5847375393225027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003326943172921339 + } + }, + { + "simulation_time_ns": 1840000000, + "phase": "settle", + "intended_face_center": [ + -29.464130924276045, + -14.858534231005429, + 0.1179858977630879 + ], + "intended_face_normal": [ + -0.9997876959440933, + -0.013866850272586273, + -0.015252953596954444 + ], + "commanded_contact_point": [ + -29.84433364868164, + -14.88831901550293, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -29.464154415394027, + -14.85776713959989, + 0.1188296661303307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84775733947754, + -14.8928804397583, + 0.06761595606803894 + ], + "box_pose": [ + -29.41070556640625, + -14.853599548339844, + 0.1360248327255249, + -0.003126941155642271, + -0.0076278336346149445, + 0.71198570728302, + 0.7021456956863403 + ], + "box_yaw_rad": 1.5847607139621167, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008877944708930959 + } + }, + { + "simulation_time_ns": 1860000000, + "phase": "settle", + "intended_face_center": [ + -29.464276383574173, + -14.858351850554888, + 0.11792317064018074 + ], + "intended_face_normal": [ + -0.9997679183047982, + -0.01387845552378919, + -0.016472940767923994 + ], + "commanded_contact_point": [ + -29.84430503845215, + -14.889653205871582, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -29.464302063311614, + -14.857584117165892, + 0.11883442669607105 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847806930541992, + -14.888708114624023, + 0.06807298958301544 + ], + "box_pose": [ + -29.410873413085938, + -14.853389739990234, + 0.1360207349061966, + -0.004115627612918615, + -0.0075095887295901775, + 0.7119847536087036, + 0.7021426558494568 + ], + "box_yaw_rad": 1.5847543007688072, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00133449709155982 + } + }, + { + "simulation_time_ns": 1880000000, + "phase": "settle", + "intended_face_center": [ + -29.46444154282268, + -14.858142965047954, + 0.11785042985513133 + ], + "intended_face_normal": [ + -0.9997437087236456, + -0.013911259624670658, + -0.01785794195672874 + ], + "commanded_contact_point": [ + -29.84444808959961, + -14.891425132751465, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -29.464469901683024, + -14.85737341698992, + 0.11883830190439493 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847490310668945, + -14.886947631835938, + 0.06871192157268524 + ], + "box_pose": [ + -29.41106414794922, + -14.853148460388184, + 0.1360144168138504, + -0.005242521874606609, + -0.0073709385469555855, + 0.7119888663291931, + 0.7021324634552002 + ], + "box_yaw_rad": 1.5847617925211808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017776919020989195 + } + }, + { + "simulation_time_ns": 1900000000, + "phase": "settle", + "intended_face_center": [ + -29.46463307740341, + -14.857905497272316, + 0.11776656482455658 + ], + "intended_face_normal": [ + -0.9997131852370668, + -0.013937144865478812, + -0.019464691047067106 + ], + "commanded_contact_point": [ + -29.844722747802734, + -14.893585205078125, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -29.464664814199562, + -14.857134517285232, + 0.1188433195972813 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.846973419189453, + -14.889028549194336, + 0.06915239989757538 + ], + "box_pose": [ + -29.411285400390625, + -14.852874755859375, + 0.1360076665878296, + -0.006535923574119806, + -0.007223882712423801, + 0.7119872570037842, + 0.7021246552467346 + ], + "box_yaw_rad": 1.5847528649965275, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021774640263551946 + } + }, + { + "simulation_time_ns": 1920000000, + "phase": "settle", + "intended_face_center": [ + -29.464829339335083, + -14.857696344167273, + 0.1176898463417392 + ], + "intended_face_normal": [ + -0.9996792686828504, + -0.013980180762264816, + -0.021118051596388798 + ], + "commanded_contact_point": [ + -29.845237731933594, + -14.89592456817627, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -29.4648648296879, + -14.856922983504989, + 0.11885806230735993 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.846460342407227, + -14.893965721130371, + 0.06967449188232422 + ], + "box_pose": [ + -29.41151237487793, + -14.852632522583008, + 0.13601145148277283, + -0.007761899847537279, + -0.0071761091239750385, + 0.7119900584220886, + 0.7021099925041199 + ], + "box_yaw_rad": 1.584759466435285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00239537645482799 + } + }, + { + "simulation_time_ns": 1940000000, + "phase": "settle", + "intended_face_center": [ + -29.464992406320743, + -14.857520468259525, + 0.11762496618658885 + ], + "intended_face_normal": [ + -0.9996485146155022, + -0.014024664513738294, + -0.022496576601066798 + ], + "commanded_contact_point": [ + -29.846155166625977, + -14.898629188537598, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.46503130034685, + -14.856744646829092, + 0.11886943989370252 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.846460342407227, + -14.899765014648438, + 0.07008026540279388 + ], + "box_pose": [ + -29.411701202392578, + -14.852428436279297, + 0.13601356744766235, + -0.008787869475781918, + -0.007132608909159899, + 0.7119937539100647, + 0.702094554901123 + ], + "box_yaw_rad": 1.584768784885779, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028559862944695347 + } + }, + { + "simulation_time_ns": 1960000000, + "phase": "settle", + "intended_face_center": [ + -29.465119722111513, + -14.857376581013657, + 0.11758024418775545 + ], + "intended_face_normal": [ + -0.9996242367999388, + -0.01404402907545843, + -0.02354346528349427 + ], + "commanded_contact_point": [ + -29.846799850463867, + -14.901369094848633, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + -29.465161303132707, + -14.856599688367442, + 0.11888263005913567 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.84970474243164, + -14.906607627868652, + 0.06506145000457764 + ], + "box_pose": [ + -29.411848068237305, + -14.852262496948242, + 0.13601931929588318, + -0.009596164338290691, + -0.007070852909237146, + 0.7119901180267334, + 0.7020883560180664 + ], + "box_yaw_rad": 1.584756726929773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028147297995428635 + } + }, + { + "simulation_time_ns": 1980000000, + "phase": "settle", + "intended_face_center": [ + -29.465208755927822, + -14.85727369229301, + 0.11754846547575072 + ], + "intended_face_normal": [ + -0.9996062577669371, + -0.014035401129183889, + -0.024295350413389816 + ], + "commanded_contact_point": [ + -29.846853256225586, + -14.903366088867188, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.465252326855996, + -14.856497276930627, + 0.118892444398888 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.852867126464844, + -14.912549018859863, + 0.06212115287780762 + ], + "box_pose": [ + -29.411951065063477, + -14.852145195007324, + 0.13602381944656372, + -0.010172232054173946, + -0.00703087355941534, + 0.71197909116745, + 0.7020917534828186 + ], + "box_yaw_rad": 1.5847242446247825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00199770800816208 + } + }, + { + "simulation_time_ns": 2000000000, + "phase": "settle", + "intended_face_center": [ + -29.465268215257076, + -14.857205839447488, + 0.11752791750131746 + ], + "intended_face_normal": [ + -0.9995942309186155, + -0.014029336115514157, + -0.02479082938075161 + ], + "commanded_contact_point": [ + -29.847034454345703, + -14.904674530029297, + 0.04999994486570358 + ], + "centerline_face_intersection": [ + -29.465313117328524, + -14.856429759591713, + 0.11889930550798972 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.855873107910156, + -14.913801193237305, + 0.06288543343544006 + ], + "box_pose": [ + -29.412019729614258, + -14.852067947387695, + 0.13602718710899353, + -0.010550150647759438, + -0.007006200961768627, + 0.7119714617729187, + 0.7020941972732544 + ], + "box_yaw_rad": 1.5847018600538019, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001320928097379269 + } + }, + { + "simulation_time_ns": 2020000000, + "phase": "settle", + "intended_face_center": [ + -29.465299530515402, + -14.857169430734103, + 0.11751751855367693 + ], + "intended_face_normal": [ + -0.9995876429842043, + -0.014037164097268962, + -0.02505266751567603 + ], + "commanded_contact_point": [ + -29.847412109375, + -14.905458450317383, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.46534516175263, + -14.85639291784722, + 0.1189033910163716 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.857860565185547, + -14.912958145141602, + 0.06566344201564789 + ], + "box_pose": [ + -29.41205596923828, + -14.852025985717773, + 0.1360294222831726, + -0.010749844834208488, + -0.006993201561272144, + 0.7119712233543396, + 0.7020915746688843 + ], + "box_yaw_rad": 1.5847008387428392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008701461608398696 + } + }, + { + "simulation_time_ns": 2040000000, + "phase": "settle", + "intended_face_center": [ + -29.465311466689112, + -14.85715897029843, + 0.11751557256024515 + ], + "intended_face_normal": [ + -0.9995857046088772, + -0.014027161800017618, + -0.025130901158612884 + ], + "commanded_contact_point": [ + -29.847671508789062, + -14.905744552612305, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -29.465357312470523, + -14.85638301072222, + 0.11890577277970803 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.857223510742188, + -14.911722183227539, + 0.06846746802330017 + ], + "box_pose": [ + -29.41206932067871, + -14.852014541625977, + 0.13603125512599945, + -0.010809192433953285, + -0.006989608984440565, + 0.7119668126106262, + 0.702095091342926 + ], + "box_yaw_rad": 1.5846881840779148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003861898230114 + } + }, + { + "simulation_time_ns": 2060000000, + "phase": "settle", + "intended_face_center": [ + -29.465303207370454, + -14.857166324064384, + 0.11751918133344003 + ], + "intended_face_normal": [ + -0.9995876994124822, + -0.014008822766818474, + -0.025067980681534152 + ], + "commanded_contact_point": [ + -29.84768295288086, + -14.905659675598145, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -29.465348832362068, + -14.8563913789734, + 0.11890590089534543 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.854902267456055, + -14.90898323059082, + 0.07090386748313904 + ], + "box_pose": [ + -29.412059783935547, + -14.85202407836914, + 0.13603182137012482, + -0.010761826299130917, + -0.00699208676815033, + 0.7119610905647278, + 0.7021017074584961 + ], + "box_yaw_rad": 1.5846719483287377, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.564505234888511e-05 + } + }, + { + "simulation_time_ns": 2080000000, + "phase": "settle", + "intended_face_center": [ + -29.46528185882418, + -14.857191553470114, + 0.11752824706387718 + ], + "intended_face_normal": [ + -0.9995922637683454, + -0.014016536362473575, + -0.02488125599338742 + ], + "commanded_contact_point": [ + -29.847719192504883, + -14.905145645141602, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -29.46532697862326, + -14.856416181675675, + 0.1189046373223962 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.852787017822266, + -14.905282020568848, + 0.07117614150047302 + ], + "box_pose": [ + -29.41203498840332, + -14.852052688598633, + 0.13603191077709198, + -0.010616691783070564, + -0.007004071958363056, + 0.7119659781455994, + 0.7020988464355469 + ], + "box_yaw_rad": 1.5846861876925853, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005153063373209615 + } + }, + { + "simulation_time_ns": 2100000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46524373520433, + -14.85723524413643, + 0.11754270806626772 + ], + "intended_face_normal": [ + -0.9995997782973998, + -0.01400436693362428, + -0.024576121584562904 + ], + "commanded_contact_point": [ + -29.847917556762695, + -14.904242515563965, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -29.465288023284504, + -14.856460545534828, + 0.11890221878992899 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851675033569336, + -14.90157699584961, + 0.06860879063606262 + ], + "box_pose": [ + -29.411991119384766, + -14.852103233337402, + 0.13603170216083527, + -0.010379440151154995, + -0.007023694925010204, + 0.7119652032852173, + 0.7021028399467468 + ], + "box_yaw_rad": 1.5846845083025314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009246574571844034 + } + }, + { + "simulation_time_ns": 2120000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465195446988385, + -14.857290760852731, + 0.11756112755326506 + ], + "intended_face_normal": [ + -0.9996090705277443, + -0.01401660008369543, + -0.024196753708470797 + ], + "commanded_contact_point": [ + -29.848017978682517, + -14.902944633458171, + 0.05012703447755432 + ], + "centerline_face_intersection": [ + -29.46523870659977, + -14.856515385533339, + 0.11889965226845527 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85147476196289, + -14.898885726928711, + 0.0650487095117569 + ], + "box_pose": [ + -29.411935806274414, + -14.852166175842285, + 0.13603197038173676, + -0.010076840408146381, + -0.007055658381432295, + 0.7119738459587097, + 0.7020983099937439 + ], + "box_yaw_rad": 1.5847099905461735, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013079453498527297 + } + }, + { + "simulation_time_ns": 2140000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465139885745995, + -14.85735783271868, + 0.11758382334726891 + ], + "intended_face_normal": [ + -0.9996209799736496, + -0.014012628545810202, + -0.023698904210808502 + ], + "commanded_contact_point": [ + -29.847844834537508, + -14.90112108089433, + 0.05049951028622487 + ], + "centerline_face_intersection": [ + -29.46518182722782, + -14.856582677098247, + 0.11889480784507728 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851682662963867, + -14.898080825805664, + 0.061701953411102295 + ], + "box_pose": [ + -29.4118709564209, + -14.852243423461914, + 0.1360306739807129, + -0.009693051688373089, + -0.00708444369956851, + 0.7119777798652649, + 0.7020993828773499 + ], + "box_yaw_rad": 1.5847219763859508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018692407753120846 + } + }, + { + "simulation_time_ns": 2160000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465074247623118, + -14.857438528460154, + 0.11761056248049048 + ], + "intended_face_normal": [ + -0.999634523979838, + -0.013994522820664823, + -0.023131197586555574 + ], + "commanded_contact_point": [ + -29.847238083105086, + -14.898861043950175, + 0.05110441415597803 + ], + "centerline_face_intersection": [ + -29.46511469008243, + -14.85666437441873, + 0.1188901423792896 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851472854614258, + -14.899041175842285, + 0.05935230851173401 + ], + "box_pose": [ + -29.411794662475586, + -14.852336883544922, + 0.1360301524400711, + -0.009246432222425938, + -0.007126109674572945, + 0.7119773626327515, + 0.7021054029464722 + ], + "box_yaw_rad": 1.5847219385162812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024169863428098516 + } + }, + { + "simulation_time_ns": 2180000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46499492071888, + -14.85753219511244, + 0.11764052117623881 + ], + "intended_face_normal": [ + -0.9996497445192483, + -0.013980445673587694, + -0.02247729540730725 + ], + "commanded_contact_point": [ + -29.846146564636232, + -14.896434368719417, + 0.05192873985307169 + ], + "centerline_face_intersection": [ + -29.465033678624707, + -14.856758819795695, + 0.11888392827934864 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.851818084716797, + -14.900938987731934, + 0.058558911085128784 + ], + "box_pose": [ + -29.41170310974121, + -14.852444648742676, + 0.13602863252162933, + -0.008737051859498024, + -0.007169139571487904, + 0.7119788527488708, + 0.7021100521087646 + ], + "box_yaw_rad": 1.5847273812649083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027856198768522605 + } + }, + { + "simulation_time_ns": 2200000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464902338197096, + -14.85763898159803, + 0.11767640213052069 + ], + "intended_face_normal": [ + -0.9996668089590242, + -0.013970464332232702, + -0.021713009783881854 + ], + "commanded_contact_point": [ + -29.844953089654446, + -14.894364014932483, + 0.05295957495868386 + ], + "centerline_face_intersection": [ + -29.46493920750381, + -14.856866158432712, + 0.11887753020691706 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.852821350097656, + -14.899319648742676, + 0.0607975572347641 + ], + "box_pose": [ + -29.411596298217773, + -14.852567672729492, + 0.1360277235507965, + -0.008139589801430702, + -0.007221515756100416, + 0.7119824290275574, + 0.7021130919456482 + ], + "box_yaw_rad": 1.584739049762146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002602569566828679 + } + }, + { + "simulation_time_ns": 2220000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464794871235863, + -14.857763734013396, + 0.11771861723856807 + ], + "intended_face_normal": [ + -0.9996855265372344, + -0.013965557786352445, + -0.02082145743834879 + ], + "commanded_contact_point": [ + -29.84354951309204, + -14.892676166721213, + 0.05418385109366052 + ], + "centerline_face_intersection": [ + -29.46482966902021, + -14.856991182270146, + 0.11887042610199233 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.85329246520996, + -14.896902084350586, + 0.06630532443523407 + ], + "box_pose": [ + -29.41147232055664, + -14.852710723876953, + 0.13602691888809204, + -0.0074486155062913895, + -0.007276736665517092, + 0.7119882702827454, + 0.7021140456199646 + ], + "box_yaw_rad": 1.5847572791359992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025135056804191864 + } + }, + { + "simulation_time_ns": 2240000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464669369255827, + -14.85791060159271, + 0.11776819865297053 + ], + "intended_face_normal": [ + -0.999706815988173, + -0.013985745576443165, + -0.01976251413595237 + ], + "commanded_contact_point": [ + -29.841870455915927, + -14.891444767085174, + 0.05558853256917369 + ], + "centerline_face_intersection": [ + -29.464701810929217, + -14.857136933094035, + 0.11886142851032976 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.856029510498047, + -14.894025802612305, + 0.0692175030708313 + ], + "box_pose": [ + -29.411327362060547, + -14.852877616882324, + 0.13602527976036072, + -0.006634540855884552, + -0.007335785310715437, + 0.7120034098625183, + 0.7021062970161438 + ], + "box_yaw_rad": 1.5848021294647363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025117141779946715 + } + }, + { + "simulation_time_ns": 2260000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46452259975106, + -14.85807560036678, + 0.1178261705183644 + ], + "intended_face_normal": [ + -0.9997312102445435, + -0.013943093112603888, + -0.018526311925093963 + ], + "commanded_contact_point": [ + -29.840318796997067, + -14.890327248837634, + 0.0571605229894306 + ], + "centerline_face_intersection": [ + -29.4645523417653, + -14.857304291332424, + 0.11885101569767371 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.858640670776367, + -14.89097785949707, + 0.07235360145568848 + ], + "box_pose": [ + -29.411157608032227, + -14.853069305419922, + 0.13602334260940552, + -0.0056891897693276405, + -0.007399834226816893, + 0.7119966149330139, + 0.7021209001541138 + ], + "box_yaw_rad": 1.5847846932132288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024754083128731936 + } + }, + { + "simulation_time_ns": 2280000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464350756946263, + -14.858268345804984, + 0.11789314156101897 + ], + "intended_face_normal": [ + -0.9997569802973104, + -0.013921199551078178, + -0.017086790473144764 + ], + "commanded_contact_point": [ + -29.83832730693579, + -14.889248031525229, + 0.058886605255047554 + ], + "centerline_face_intersection": [ + -29.464377647116535, + -14.85749824788653, + 0.11883835477545004 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.861251831054688, + -14.888132095336914, + 0.07508018612861633 + ], + "box_pose": [ + -29.410959243774414, + -14.853291511535645, + 0.13602043688297272, + -0.004591360688209534, + -0.0074714841321110725, + 0.711996853351593, + 0.7021278142929077 + ], + "box_yaw_rad": 1.5847875786929762, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028478241973909557 + } + }, + { + "simulation_time_ns": 2300000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46415071628689, + -14.858491393976845, + 0.11797051402393223 + ], + "intended_face_normal": [ + -0.9997847931412344, + -0.013889020415596143, + -0.01541443454112651 + ], + "commanded_contact_point": [ + -29.835769939422608, + -14.888079916283889, + 0.06075363744141855 + ], + "centerline_face_intersection": [ + -29.464174528630124, + -14.85772307615537, + 0.11882321525206252 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.863555908203125, + -14.88803768157959, + 0.07480983436107635 + ], + "box_pose": [ + -29.410728454589844, + -14.853549003601074, + 0.13601648807525635, + -0.0033192241098731756, + -0.0075515699572861195, + 0.711992621421814, + 0.7021385431289673 + ], + "box_yaw_rad": 1.5847780612096585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033749712590576955 + } + }, + { + "simulation_time_ns": 2320000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46391557868662, + -14.85875485751766, + 0.11806076615151301 + ], + "intended_face_normal": [ + -0.9998130572332173, + -0.013883656937150102, + -0.013454373164421982 + ], + "commanded_contact_point": [ + -29.833029332544804, + -14.886954530894943, + 0.06274829352973857 + ], + "centerline_face_intersection": [ + -29.463936263354505, + -14.857986836395012, + 0.11880504000018495 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.86174774169922, + -14.893394470214844, + 0.07243584096431732 + ], + "box_pose": [ + -29.410457611083984, + -14.853851318359375, + 0.13601133227348328, + -0.0018242272781208158, + -0.007649374194443226, + 0.7119961380958557, + 0.7021393179893494 + ], + "box_yaw_rad": 1.584791275445462, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035715642571557127 + } + }, + { + "simulation_time_ns": 2340000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463642518142507, + -14.859063248970743, + 0.11816604307136899 + ], + "intended_face_normal": [ + -0.9998413042314899, + -0.013882273134404155, + -0.01115499831450564 + ], + "commanded_contact_point": [ + -29.83005318786621, + -14.885737534651291, + 0.06485716018898827 + ], + "centerline_face_intersection": [ + -29.463660077114962, + -14.858295304397794, + 0.11878311927596101 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.854633331298828, + -14.897390365600586, + 0.07120046019554138 + ], + "box_pose": [ + -29.41014289855957, + -14.854205131530762, + 0.1360045075416565, + -6.875469262013212e-05, + -0.007765785790979862, + 0.7119979858398438, + 0.7021384835243225 + ], + "box_yaw_rad": 1.5848004824139421, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003845235440319194 + } + }, + { + "simulation_time_ns": 2360000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463319420495687, + -14.859423186395093, + 0.11828730783431123 + ], + "intended_face_normal": [ + -0.9998683371298346, + -0.013857863829419115, + -0.008448899374680352 + ], + "commanded_contact_point": [ + -29.826483828990455, + -14.884235595589406, + 0.06706620864632833 + ], + "centerline_face_intersection": [ + -29.463333988202677, + -14.858656592104847, + 0.11875468708548761 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.847063064575195, + -14.897390365600586, + 0.0716017484664917 + ], + "box_pose": [ + -29.409770965576172, + -14.854619026184082, + 0.13599339127540588, + 0.0019815482664853334, + -0.007887487299740314, + 0.7119866609573364, + 0.7021459341049194 + ], + "box_yaw_rad": 1.584772566471976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004458255131373895 + } + }, + { + "simulation_time_ns": 2380000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463165880733932, + -14.859593641769017, + 0.1183846554215465 + ], + "intended_face_normal": [ + -0.9998787430992759, + -0.013842059482755964, + -0.007120882562760111 + ], + "commanded_contact_point": [ + -29.822368784770966, + -14.88233402536618, + 0.06937832811959732 + ], + "centerline_face_intersection": [ + -29.463179297012992, + -14.858827921749297, + 0.11877857096158377 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.841272354125977, + -14.892971992492676, + 0.07280170917510986 + ], + "box_pose": [ + -29.40959358215332, + -14.854815483093262, + 0.13602550327777863, + 0.002973292488604784, + -0.007933031767606735, + 0.7119776606559753, + 0.7021509408950806 + ], + "box_yaw_rad": 1.5847486743004258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005088757677555182 + } + }, + { + "simulation_time_ns": 2400000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463290348238406, + -14.859498383630305, + 0.11832111903668222 + ], + "intended_face_normal": [ + -0.9998710820673911, + -0.013834933565034513, + -0.00816580431028266 + ], + "commanded_contact_point": [ + -29.817795464098452, + -14.880444224404048, + 0.0717601639014292 + ], + "centerline_face_intersection": [ + -29.463304612214934, + -14.858733057804661, + 0.11877283793337427 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.836572647094727, + -14.886326789855957, + 0.0745205283164978 + ], + "box_pose": [ + -29.40973663330078, + -14.854706764221191, + 0.13601469993591309, + 0.00231568212620914, + -0.008018320426344872, + 0.7119776010513306, + 0.702152669429779 + ], + "box_yaw_rad": 1.5847510522625121, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005491789448051283 + } + }, + { + "simulation_time_ns": 2420000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463391018582605, + -14.859386582213018, + 0.11828216072599354 + ], + "intended_face_normal": [ + -0.9998630167283417, + -0.01385740685368586, + -0.009032565052123465 + ], + "commanded_contact_point": [ + -29.81334718078613, + -14.878664016070415, + 0.07421121097125766 + ], + "centerline_face_intersection": [ + -29.46340617500044, + -14.858620013201918, + 0.11878182740481741 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.83037567138672, + -14.883983612060547, + 0.07738636434078217 + ], + "box_pose": [ + -29.409852981567383, + -14.85457706451416, + 0.13601823151111603, + 0.0016626531723886728, + -0.007982875220477581, + 0.711987316608429, + 0.7021448612213135 + ], + "box_yaw_rad": 1.5847774039933569, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005381821055769736 + } + }, + { + "simulation_time_ns": 2440000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463495546330567, + -14.859267801064123, + 0.11824210116689143 + ], + "intended_face_normal": [ + -0.9998549538918337, + -0.013863883951669598, + -0.009900631370541618 + ], + "commanded_contact_point": [ + -29.808922811968323, + -14.876977904746937, + 0.076714084631171 + ], + "centerline_face_intersection": [ + -29.463511594919993, + -14.85850087375059, + 0.11878978785020128 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.824901580810547, + -14.884373664855957, + 0.08077584207057953 + ], + "box_pose": [ + -29.40997314453125, + -14.854440689086914, + 0.13602057099342346, + 0.0009976460132747889, + -0.007936627604067326, + 0.7119908332824707, + 0.7021432518959045 + ], + "box_yaw_rad": 1.5847857599426713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005355594027616772 + } + }, + { + "simulation_time_ns": 2460000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46360865951041, + -14.859137835264052, + 0.11819873390531 + ], + "intended_face_normal": [ + -0.9998457607772935, + -0.013845923622498812, + -0.010825537806883143 + ], + "commanded_contact_point": [ + -29.80455619113922, + -14.875355985553071, + 0.07925619909822074 + ], + "centerline_face_intersection": [ + -29.463625725348095, + -14.858371901486462, + 0.11879758489517092 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.820016860961914, + -14.886153221130371, + 0.08375534415245056 + ], + "box_pose": [ + -29.41010284423828, + -14.854292869567871, + 0.13602223992347717, + 0.0002798454079311341, + -0.00787834171205759, + 0.711985170841217, + 0.7021504044532776 + ], + "box_yaw_rad": 1.5847675994854427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005306632199443414 + } + }, + { + "simulation_time_ns": 2480000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46372627034802, + -14.859001758651237, + 0.1181517984274529 + ], + "intended_face_normal": [ + -0.9998344910493837, + -0.013849295925371097, + -0.011809579486245947 + ], + "commanded_contact_point": [ + -29.800063751778602, + -14.87379916811327, + 0.08182449635984418 + ], + "centerline_face_intersection": [ + -29.46374458323081, + -14.858235638323384, + 0.11880508498848483 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.815515518188477, + -14.887001991271973, + 0.08668476343154907 + ], + "box_pose": [ + -29.41023826599121, + -14.85413646697998, + 0.13602314889431, + -0.0004865278024226427, + -0.007813598029315472, + 0.711986243724823, + 0.7021498680114746 + ], + "box_yaw_rad": 1.5847684448317165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005403872942044325 + } + }, + { + "simulation_time_ns": 2500000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46385375563411, + -14.85885021130327, + 0.11809976715546666 + ], + "intended_face_normal": [ + -0.9998208450548981, + -0.013862858988038296, + -0.012874085445563094 + ], + "commanded_contact_point": [ + -29.795637474060058, + -14.872443960688761, + 0.08440598176820878 + ], + "centerline_face_intersection": [ + -29.46387357852519, + -14.858083340689046, + 0.11881194043961775 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.811424255371094, + -14.88634204864502, + 0.0892724096775055 + ], + "box_pose": [ + -29.410385131835938, + -14.853961944580078, + 0.13602271676063538, + -0.001325124059803784, + -0.0077341157011687756, + 0.7119899392127991, + 0.7021456956863403 + ], + "box_yaw_rad": 1.5847763277499705, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005300244194253953 + } + }, + { + "simulation_time_ns": 2520000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46399443750334, + -14.858681585147709, + 0.11804179981375436 + ], + "intended_face_normal": [ + -0.9998049085876517, + -0.013884454698363413, + -0.014048315701976899 + ], + "commanded_contact_point": [ + -29.791349121787547, + -14.87135681931682, + 0.08698801062270618 + ], + "centerline_face_intersection": [ + -29.46401602388289, + -14.85791351989422, + 0.11881892958911375 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.80786895751953, + -14.884166717529297, + 0.09135368466377258 + ], + "box_pose": [ + -29.410547256469727, + -14.853767395019531, + 0.13602155447006226, + -0.002254930092021823, + -0.007641741540282965, + 0.7119951844215393, + 0.702139139175415 + ], + "box_yaw_rad": 1.584788256751617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005122373920477803 + } + }, + { + "simulation_time_ns": 2540000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46415161663129, + -14.858491267882165, + 0.11797540556638031 + ], + "intended_face_normal": [ + -0.9997854276657133, + -0.01390137546029635, + -0.015361024121140598 + ], + "commanded_contact_point": [ + -29.787034939594268, + -14.870464248868881, + 0.08955726130650284 + ], + "centerline_face_intersection": [ + -29.46417535875773, + -14.857722266599888, + 0.11882515221770823 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.803922653198242, + -14.880295753479004, + 0.09294542670249939 + ], + "box_pose": [ + -29.410728454589844, + -14.853548049926758, + 0.13601848483085632, + -0.003303621895611286, + -0.007529421243816614, + 0.7119970321655273, + 0.702134370803833 + ], + "box_yaw_rad": 1.5847899557188514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005099990105631166 + } + }, + { + "simulation_time_ns": 2560000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464325116622316, + -14.858276723705803, + 0.1179008640939519 + ], + "intended_face_normal": [ + -0.999761503447583, + -0.013938036346557547, + -0.016814060490822236 + ], + "commanded_contact_point": [ + -29.782717050569055, + -14.86965555038549, + 0.09210091295381614 + ], + "centerline_face_intersection": [ + -29.46435150624556, + -14.857505694403448, + 0.1188309903332329 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.79869842529297, + -14.875435829162598, + 0.09615938365459442 + ], + "box_pose": [ + -29.41092872619629, + -14.853300094604492, + 0.13601386547088623, + -0.0044713267125189304, + -0.007398292422294617, + 0.7120035290718079, + 0.702122688293457 + ], + "box_yaw_rad": 1.5848044181703416, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0050762508383622165 + } + }, + { + "simulation_time_ns": 2580000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46451988870876, + -14.858035822858046, + 0.11781536696760189 + ], + "intended_face_normal": [ + -0.9997318518334466, + -0.013993755497534233, + -0.018448263770988793 + ], + "commanded_contact_point": [ + -29.778440920410155, + -14.868907902131284, + 0.09460567179788049 + ], + "centerline_face_intersection": [ + -29.46454955972065, + -14.857261711263678, + 0.11883589465108085 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.79342269897461, + -14.872182846069336, + 0.09984889626502991 + ], + "box_pose": [ + -29.41115379333496, + -14.853020668029785, + 0.13600684702396393, + -0.005788605194538832, + -0.007246949709951878, + 0.7120136022567749, + 0.702104389667511 + ], + "box_yaw_rad": 1.5848285900944659, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005011794480501682 + } + }, + { + "simulation_time_ns": 2600000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46474298824657, + -14.857788106778264, + 0.11772523621954831 + ], + "intended_face_normal": [ + -0.9996954461133721, + -0.014044862946610781, + -0.02030177825225704 + ], + "commanded_contact_point": [ + -29.77423556894064, + -14.868192054098872, + 0.09706427185009694 + ], + "centerline_face_intersection": [ + -29.464776688221725, + -14.857011168003668, + 0.11884829728304311 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.788806915283203, + -14.872001647949219, + 0.10308918356895447 + ], + "box_pose": [ + -29.41141128540039, + -14.852733612060547, + 0.13600650429725647, + -0.007206375245004892, + -0.007150633726269007, + 0.712018609046936, + 0.7020873427391052 + ], + "box_yaw_rad": 1.5848400483033822, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004923630124656293 + } + }, + { + "simulation_time_ns": 2620000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464940700254687, + -14.857573831790056, + 0.11764666715801025 + ], + "intended_face_normal": [ + -0.9996596042450805, + -0.014055516232805765, + -0.021984290962842823 + ], + "commanded_contact_point": [ + -29.770140997543336, + -14.867439947515603, + 0.0994607161892871 + ], + "centerline_face_intersection": [ + -29.46497836693591, + -14.856796303693146, + 0.1188628020641318 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.78538703918457, + -14.87429428100586, + 0.10568162798881531 + ], + "box_pose": [ + -29.411640167236328, + -14.852487564086914, + 0.1360098272562027, + -0.00845181755721569, + -0.007104211486876011, + 0.7120086550712585, + 0.702083945274353 + ], + "box_yaw_rad": 1.5848104033361745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0048035533421671465 + } + }, + { + "simulation_time_ns": 2640000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465100269414826, + -14.857396622563297, + 0.11758666777161345 + ], + "intended_face_normal": [ + -0.9996280003354262, + -0.014120808422160458, + -0.023336817243112984 + ], + "commanded_contact_point": [ + -29.76644274494171, + -14.86665608834913, + 0.10178089956071955 + ], + "centerline_face_intersection": [ + -29.46514143389503, + -14.856615482609596, + 0.11887762221245018 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.782621383666992, + -14.877424240112305, + 0.1080511063337326 + ], + "box_pose": [ + -29.41182518005371, + -14.852280616760254, + 0.13601528108119965, + -0.009477325715124607, + -0.00704299658536911, + 0.7120186686515808, + 0.7020612955093384 + ], + "box_yaw_rad": 1.5848372550871723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0044356237865011165 + } + }, + { + "simulation_time_ns": 2660000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46522201630172, + -14.857259814824706, + 0.11754294451133661 + ], + "intended_face_normal": [ + -0.9996027653662443, + -0.014165775869191988, + -0.02436615785915508 + ], + "commanded_contact_point": [ + -29.76287797973633, + -14.865777341560115, + 0.10401042626567676 + ], + "centerline_face_intersection": [ + -29.465265973770553, + -14.856476187345615, + 0.11889084038619882 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.780155181884766, + -14.880609512329102, + 0.10563106834888458 + ], + "box_pose": [ + -29.41196632385254, + -14.852121353149414, + 0.13602130115032196, + -0.010259552858769894, + -0.006994716823101044, + 0.7120236158370972, + 0.702045738697052 + ], + "box_yaw_rad": 1.5848500612271916, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004295408736872623 + } + }, + { + "simulation_time_ns": 2680000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465313238294883, + -14.857162102783523, + 0.11751192406034351 + ], + "intended_face_normal": [ + -0.9995845476235721, + -0.014176300529441965, + -0.02509662733316098 + ], + "commanded_contact_point": [ + -29.758712877962587, + -14.86469077176295, + 0.10613429835669645 + ], + "centerline_face_intersection": [ + -29.465359212134487, + -14.856377893097493, + 0.11890022830801594 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.776748657226562, + -14.881901741027832, + 0.10432611405849457 + ], + "box_pose": [ + -29.412071228027344, + -14.852008819580078, + 0.1360255479812622, + -0.010815341025590897, + -0.006959766149520874, + 0.7120190858840942, + 0.7020423412322998 + ], + "box_yaw_rad": 1.5848362439837038, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004799952017339935 + } + }, + { + "simulation_time_ns": 2700000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465370999101307, + -14.857097552029016, + 0.11749178348396208 + ], + "intended_face_normal": [ + -0.9995721793822857, + -0.014201999205792237, + -0.02557104672116406 + ], + "commanded_contact_point": [ + -29.754397494792936, + -14.863497390511368, + 0.10813972109363709 + ], + "centerline_face_intersection": [ + -29.465418341899866, + -14.856311920734376, + 0.11890633183379212 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.773550033569336, + -14.878798484802246, + 0.10615739226341248 + ], + "box_pose": [ + -29.412137985229492, + -14.851933479309082, + 0.1360282599925995, + -0.01117957103997469, + -0.00693389680236578, + 0.7120224833488464, + 0.7020334601402283 + ], + "box_yaw_rad": 1.5848452482217328, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004905956692264109 + } + }, + { + "simulation_time_ns": 2720000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46539751740622, + -14.857069368680719, + 0.11748328059587221 + ], + "intended_face_normal": [ + -0.9995667725206561, + -0.014173345919957558, + -0.025792698834732453 + ], + "commanded_contact_point": [ + -29.750496061971184, + -14.86229064134101, + 0.11001423522630283 + ], + "centerline_face_intersection": [ + -29.465445458659918, + -14.85628532243884, + 0.11891009037695704 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.771163940429688, + -14.874048233032227, + 0.10896125435829163 + ], + "box_pose": [ + -29.412168502807617, + -14.851902961730957, + 0.13603056967258453, + -0.011338678188621998, + -0.006932632531970739, + 0.7120099067687988, + 0.7020435929298401 + ], + "box_yaw_rad": 1.5848094118129772, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004493464682888989 + } + }, + { + "simulation_time_ns": 2740000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465392558985155, + -14.85707528707212, + 0.11748586014763865 + ], + "intended_face_normal": [ + -0.9995680043605386, + -0.014159935818460978, + -0.02575595779478601 + ], + "commanded_contact_point": [ + -29.746798054809567, + -14.861127783695256, + 0.11174393357937616 + ], + "centerline_face_intersection": [ + -29.465440363893126, + -14.856291982655055, + 0.11891063747467519 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.76763343811035, + -14.871166229248047, + 0.11213569343090057 + ], + "box_pose": [ + -29.41216278076172, + -14.851910591125488, + 0.13603144884109497, + -0.011304955929517746, + -0.006940046790987253, + 0.7120057344436646, + 0.7020483613014221 + ], + "box_yaw_rad": 1.5847977266671256, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004244920642872477 + } + }, + { + "simulation_time_ns": 2760000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465359851465294, + -14.857118871285325, + 0.11749974152944664 + ], + "intended_face_normal": [ + -0.9995753448518706, + -0.014144889836907204, + -0.025468703389950553 + ], + "commanded_contact_point": [ + -29.743162721936702, + -14.860073820893334, + 0.11331626259984359 + ], + "centerline_face_intersection": [ + -29.46540684389732, + -14.85633639918727, + 0.11890862841411012 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.76254653930664, + -14.867846488952637, + 0.11576096713542938 + ], + "box_pose": [ + -29.412124633789062, + -14.851961135864258, + 0.1360316127538681, + -0.01107499934732914, + -0.006965004839003086, + 0.7120040655136108, + 0.7020533084869385 + ], + "box_yaw_rad": 1.5847936390543254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004098621869966655 + } + }, + { + "simulation_time_ns": 2780000000, + "phase": "base_approach", + "intended_face_center": [ + -29.4653066858437, + -14.85717864515008, + 0.11752010275450137 + ], + "intended_face_normal": [ + -0.9995862241310314, + -0.014143458986652258, + -0.025048772644663098 + ], + "commanded_contact_point": [ + -29.739669651756287, + -14.85914248870935, + 0.11471973399395986 + ], + "centerline_face_intersection": [ + -29.465352474123073, + -14.856396252204316, + 0.11890575975932197 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.756433486938477, + -14.863425254821777, + 0.12030690908432007 + ], + "box_pose": [ + -29.412063598632812, + -14.852029800415039, + 0.1360318660736084, + -0.010742653161287308, + -0.006997762247920036, + 0.7120086550712585, + 0.7020536661148071 + ], + "box_yaw_rad": 1.58480758145893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003877969942680026 + } + }, + { + "simulation_time_ns": 2800000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465249338697358, + -14.857248090001933, + 0.11754361589327332 + ], + "intended_face_normal": [ + -0.9995987690835101, + -0.014134966319886422, + -0.02454691409051124 + ], + "commanded_contact_point": [ + -29.736412139236926, + -14.858359528733631, + 0.11594089898147351 + ], + "centerline_face_intersection": [ + -29.46529373847842, + -14.856466166856562, + 0.11890151090628481 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.74952507019043, + -14.858372688293457, + 0.12439277768135071 + ], + "box_pose": [ + -29.411996841430664, + -14.852109909057617, + 0.13603125512599945, + -0.010352245531976223, + -0.007030220236629248, + 0.712011456489563, + 0.702056348323822 + ], + "box_yaw_rad": 1.5848164283961697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035659021388851756 + } + }, + { + "simulation_time_ns": 2820000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465185466470015, + -14.85732886746671, + 0.11757046127173505 + ], + "intended_face_normal": [ + -0.9996126299874329, + -0.014134491451705866, + -0.0239836975350059 + ], + "commanded_contact_point": [ + -29.733365131225586, + -14.857741961993328, + 0.1169680768189738 + ], + "centerline_face_intersection": [ + -29.465228332121118, + -14.856546970590266, + 0.1188972000689735 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.743196487426758, + -14.853822708129883, + 0.12719278037548065 + ], + "box_pose": [ + -29.411922454833984, + -14.852202415466309, + 0.13603107631206512, + -0.009909038431942463, + -0.007071660365909338, + 0.7120175957679749, + 0.7020562291145325 + ], + "box_yaw_rad": 1.5848350378903664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032742542371886367 + } + }, + { + "simulation_time_ns": 2840000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465107619001405, + -14.857418277985902, + 0.1176000288341014 + ], + "intended_face_normal": [ + -0.9996276486422097, + -0.014122893839373374, + -0.023353025958368523 + ], + "commanded_contact_point": [ + -29.73055646618128, + -14.857292642987902, + 0.11778745709597965 + ], + "centerline_face_intersection": [ + -29.465148822406285, + -14.856637022670343, + 0.11889187991447221 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.73822021484375, + -14.85105037689209, + 0.12821725010871887 + ], + "box_pose": [ + -29.411832809448242, + -14.85230541229248, + 0.13603033125400543, + -0.009415707550942898, + -0.007115138694643974, + 0.712020218372345, + 0.7020598649978638 + ], + "box_yaw_rad": 1.5848437021701731, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029600457662152 + } + }, + { + "simulation_time_ns": 2860000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465025458461117, + -14.857519002015916, + 0.11763308077386372 + ], + "intended_face_normal": [ + -0.9996441237217144, + -0.01410432734213507, + -0.02264773349502308 + ], + "commanded_contact_point": [ + -29.72796557977676, + -14.857019918440713, + 0.11838649331805458 + ], + "centerline_face_intersection": [ + -29.465064838453213, + -14.856738773768521, + 0.11888591623234576 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.7345027923584, + -14.851249694824219, + 0.12782137095928192 + ], + "box_pose": [ + -29.4117374420166, + -14.852421760559082, + 0.13602949678897858, + -0.00886134896427393, + -0.007166385184973478, + 0.7120208144187927, + 0.7020659446716309 + ], + "box_yaw_rad": 1.5848468278968244, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026731845119856252 + } + }, + { + "simulation_time_ns": 2880000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464928150600638, + -14.857630604705804, + 0.11767098466348762 + ], + "intended_face_normal": [ + -0.99966256311553, + -0.014074434849618456, + -0.021835208597263178 + ], + "commanded_contact_point": [ + -29.725723889336585, + -14.856919537061358, + 0.11875187715093687 + ], + "centerline_face_intersection": [ + -29.46496548981114, + -14.85685203006205, + 0.1188788725777469 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.732757568359375, + -14.854327201843262, + 0.1259525865316391 + ], + "box_pose": [ + -29.411624908447266, + -14.852551460266113, + 0.1360282450914383, + -0.008230209350585938, + -0.007218037266284227, + 0.7120178937911987, + 0.7020760178565979 + ], + "box_yaw_rad": 1.5848399675875935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022734902234733062 + } + }, + { + "simulation_time_ns": 2900000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464817598741934, + -14.85775618430021, + 0.11771421702176121 + ], + "intended_face_normal": [ + -0.9996826311772024, + -0.014040141591291189, + -0.020913077363109378 + ], + "commanded_contact_point": [ + -29.723763198852538, + -14.856979506703242, + 0.1188710941491011 + ], + "centerline_face_intersection": [ + -29.464852716960664, + -14.856979506703242, + 0.1188710941491011 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.733152389526367, + -14.856225967407227, + 0.12507422268390656 + ], + "box_pose": [ + -29.411497116088867, + -14.852697372436523, + 0.13602694869041443, + -0.00751872593536973, + -0.007271958980709314, + 0.7120137214660645, + 0.7020875811576843 + ], + "box_yaw_rad": 1.5848296320909883, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019652267616823 + } + }, + { + "simulation_time_ns": 2920000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464690461995307, + -14.85790297447885, + 0.11776427600283385 + ], + "intended_face_normal": [ + -0.9997046192011708, + -0.014026019606842244, + -0.019849127897339502 + ], + "commanded_contact_point": [ + -29.721644134521483, + -14.857127078086892, + 0.11886229719136455 + ], + "centerline_face_intersection": [ + -29.46472314678556, + -14.857127078086892, + 0.11886229719136455 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.73370361328125, + -14.857401847839355, + 0.12621501088142395 + ], + "box_pose": [ + -29.41135025024414, + -14.852866172790527, + 0.1360255628824234, + -0.006699760444462299, + -0.00733229098841548, + 0.7120169401168823, + 0.7020920515060425 + ], + "box_yaw_rad": 1.5848405631861917, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021242147581838327 + } + }, + { + "simulation_time_ns": 2940000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464539952450135, + -14.858071306637918, + 0.117822796872138 + ], + "intended_face_normal": [ + -0.9997289097270776, + -0.013996195361053676, + -0.018605200861291138 + ], + "commanded_contact_point": [ + -29.719443054199218, + -14.857297060074304, + 0.11885200605796353 + ], + "centerline_face_intersection": [ + -29.464569949054813, + -14.857297060074304, + 0.11885200605796353 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.732362747192383, + -14.857319831848145, + 0.12728460133075714 + ], + "box_pose": [ + -29.411176681518555, + -14.853060722351074, + 0.13602381944656372, + -0.0057471999898552895, + -0.0073979925364255905, + 0.7120147943496704, + 0.7021019458770752 + ], + "box_yaw_rad": 1.584836417921256, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022076581185808933 + } + }, + { + "simulation_time_ns": 2960000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464368404913717, + -14.858263808039595, + 0.11789030059803517 + ], + "intended_face_normal": [ + -0.999755497367105, + -0.013955406114953384, + -0.017155854914466917 + ], + "commanded_contact_point": [ + -29.71734306335449, + -14.857491817870152, + 0.11883933434404514 + ], + "centerline_face_intersection": [ + -29.46439545919053, + -14.857491817870152, + 0.11883933434404514 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.729642868041992, + -14.85667896270752, + 0.13086751103401184 + ], + "box_pose": [ + -29.410978317260742, + -14.853283882141113, + 0.1360209733247757, + -0.004641973413527012, + -0.007470029406249523, + 0.712008535861969, + 0.7021157741546631 + ], + "box_yaw_rad": 1.584820804095094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002109040710681644 + } + }, + { + "simulation_time_ns": 2980000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464168472864753, + -14.858489311214, + 0.11796791031284601 + ], + "intended_face_normal": [ + -0.9997831379879337, + -0.013935788347004596, + -0.0154736689387584 + ], + "commanded_contact_point": [ + -29.715101928710936, + -14.857718406267294, + 0.11882388829066658 + ], + "centerline_face_intersection": [ + -29.46419246836829, + -14.857718406267294, + 0.11882388829066658 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.726943969726562, + -14.85545539855957, + 0.13445945084095 + ], + "box_pose": [ + -29.410747528076172, + -14.853543281555176, + 0.13601677119731903, + -0.0033637245651334524, + -0.00754918996244669, + 0.7120088338851929, + 0.7021218538284302 + ], + "box_yaw_rad": 1.5848241635415756, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002252613010000926 + } + }, + { + "simulation_time_ns": 3000000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463933287958643, + -14.858750126013538, + 0.11805771508054737 + ], + "intended_face_normal": [ + -0.999811668892054, + -0.013913904466294591, + -0.013521125651181576 + ], + "commanded_contact_point": [ + -29.71260139465332, + -14.857980431647206, + 0.11880568156726508 + ], + "centerline_face_intersection": [ + -29.463954126256866, + -14.857980431647206, + 0.11880568156726508 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.725488662719727, + -14.856706619262695, + 0.13266056776046753 + ], + "box_pose": [ + -29.410476684570312, + -14.853843688964844, + 0.13601154088974, + -0.001874349545687437, + -0.007646738551557064, + 0.7120066285133362, + 0.702128529548645 + ], + "box_yaw_rad": 1.584821067880919, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002514291024881336 + } + }, + { + "simulation_time_ns": 3020000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463658259470403, + -14.859059362879163, + 0.11816282146914575 + ], + "intended_face_normal": [ + -0.9998401446369033, + -0.013911320321048137, + -0.011226287406679466 + ], + "commanded_contact_point": [ + -29.71006652832031, + -14.858289811463507, + 0.11878384126935178 + ], + "centerline_face_intersection": [ + -29.46367594675704, + -14.858289811463507, + 0.11878384126935178 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.723878860473633, + -14.862833023071289, + 0.1265452355146408 + ], + "box_pose": [ + -29.410160064697266, + -14.854198455810547, + 0.13600480556488037, + -0.00011953360080951825, + -0.0077656633220613, + 0.7120081782341003, + 0.7021281719207764 + ], + "box_yaw_rad": 1.5848294996526968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025537698008167653 + } + }, + { + "simulation_time_ns": 3040000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463336963012434, + -14.859418309796874, + 0.11828337574100972 + ], + "intended_face_normal": [ + -0.9998672234697376, + -0.013886136379199998, + -0.008526655629425728 + ], + "commanded_contact_point": [ + -29.707232208251952, + -14.858650151515562, + 0.11875505634062282 + ], + "centerline_face_intersection": [ + -29.463351653947417, + -14.858650151515562, + 0.11875505634062282 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.7203369140625, + -14.867928504943848, + 0.1239246129989624 + ], + "box_pose": [ + -29.4097900390625, + -14.85461139678955, + 0.1359933316707611, + 0.0019284087466076016, + -0.007889548316597939, + 0.7119967341423035, + 0.7021358013153076 + ], + "box_yaw_rad": 1.5848013118962139, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028572790859734674 + } + }, + { + "simulation_time_ns": 3060000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46318285330596, + -14.859603791482495, + 0.11837070786793877 + ], + "intended_face_normal": [ + -0.9998778058123821, + -0.013871528424258539, + -0.0072334738654439845 + ], + "commanded_contact_point": [ + -29.703919143676757, + -14.85883644128928, + 0.11877085177411034 + ], + "centerline_face_intersection": [ + -29.463196373295986, + -14.85883644128928, + 0.11877085177411034 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.71623992919922, + -14.869099617004395, + 0.12433859705924988 + ], + "box_pose": [ + -29.40961265563965, + -14.854825019836426, + 0.1360178142786026, + 0.002953272545710206, + -0.007992194965481758, + 0.711988091468811, + 0.7021399736404419 + ], + "box_yaw_rad": 1.5847802795615356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00331833546449503 + } + }, + { + "simulation_time_ns": 3080000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463275595678247, + -14.859519587913285, + 0.11833093640973354 + ], + "intended_face_normal": [ + -0.9998722356555556, + -0.013834024361842223, + -0.008031541341265824 + ], + "commanded_contact_point": [ + -29.70028755187988, + -14.85875431238327, + 0.11877522809926677 + ], + "centerline_face_intersection": [ + -29.463289732009184, + -14.85875431238327, + 0.11877522809926677 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.712902069091797, + -14.866374969482422, + 0.12546247243881226 + ], + "box_pose": [ + -29.409719467163086, + -14.854730606079102, + 0.13601793348789215, + 0.0024168987292796373, + -0.008023859933018684, + 0.711976945400238, + 0.7021529674530029 + ], + "box_yaw_rad": 1.584749392694847, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003632522992157669 + } + }, + { + "simulation_time_ns": 3100000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463367086898735, + -14.85942527935869, + 0.11829794872726818 + ], + "intended_face_normal": [ + -0.9998658180811516, + -0.013829315440727852, + -0.008780536642752426 + ], + "commanded_contact_point": [ + -29.696425170898436, + -14.858660264318466, + 0.11878367360799227 + ], + "centerline_face_intersection": [ + -29.463381933342056, + -14.858660264318466, + 0.11878367360799227 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.71040916442871, + -14.862452507019043, + 0.126046285033226 + ], + "box_pose": [ + -29.40982437133789, + -14.854622840881348, + 0.13602183759212494, + 0.0018673347076401114, + -0.008007880300283432, + 0.711976945400238, + 0.7021546959877014 + ], + "box_yaw_rad": 1.5847487220906857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003863535066612123 + } + }, + { + "simulation_time_ns": 3120000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46345834099539, + -14.859324139094692, + 0.11826307137653275 + ], + "intended_face_normal": [ + -0.9998590271591005, + -0.01382110074001508, + -0.009542573717814862 + ], + "commanded_contact_point": [ + -29.693297119140624, + -14.858559578478234, + 0.1187909508979641 + ], + "centerline_face_intersection": [ + -29.463473938867434, + -14.858559578478234, + 0.1187909508979641 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.707355499267578, + -14.862686157226562, + 0.12441229820251465 + ], + "box_pose": [ + -29.409929275512695, + -14.854507446289062, + 0.13602429628372192, + 0.0012927455827593803, + -0.00797639787197113, + 0.7119753360748291, + 0.7021580338478088 + ], + "box_yaw_rad": 1.5847429681831013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031296802387666546 + } + }, + { + "simulation_time_ns": 3140000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463558405084356, + -14.859214308709738, + 0.118225461478846 + ], + "intended_face_normal": [ + -0.9998514823150665, + -0.01378846048757687, + -0.01034973129491959 + ], + "commanded_contact_point": [ + -29.690544815063475, + -14.858451553698492, + 0.11879799163312771 + ], + "centerline_face_intersection": [ + -29.463574837814033, + -14.858451553698492, + 0.11879799163312771 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.702436447143555, + -14.864266395568848, + 0.12609735131263733 + ], + "box_pose": [ + -29.410043716430664, + -14.85438346862793, + 0.13602612912654877, + 0.0006771539920009673, + -0.007936268113553524, + 0.7119647264480591, + 0.7021701335906982 + ], + "box_yaw_rad": 1.584711306631194, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002754432184330887 + } + }, + { + "simulation_time_ns": 3160000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463657531726664, + -14.859097833698257, + 0.11818520541852603 + ], + "intended_face_normal": [ + -0.9998422853174721, + -0.01378856298644715, + -0.011197998591386392 + ], + "commanded_contact_point": [ + -29.687655181884764, + -14.85833507301694, + 0.11880466032788391 + ], + "centerline_face_intersection": [ + -29.46367498213781, + -14.85833507301694, + 0.11880466032788391 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.69762420654297, + -14.865641593933105, + 0.12824073433876038 + ], + "box_pose": [ + -29.410158157348633, + -14.854249954223633, + 0.13602721691131592, + 2.3451668312191032e-05, + -0.007887277752161026, + 0.7119650840759277, + 0.7021706104278564 + ], + "box_yaw_rad": 1.5847106138674976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002891987574000202 + } + }, + { + "simulation_time_ns": 3180000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463766691139078, + -14.858968157664078, + 0.11814073166431088 + ], + "intended_face_normal": [ + -0.9998313273150575, + -0.013790045794516814, + -0.01212147466766382 + ], + "commanded_contact_point": [ + -29.684582443237304, + -14.858205314956251, + 0.11881127175504792 + ], + "centerline_face_intersection": [ + -29.463785354105553, + -14.858205314956251, + 0.11881127175504792 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.69408416748047, + -14.866783142089844, + 0.129171222448349 + ], + "box_pose": [ + -29.4102840423584, + -14.854101181030273, + 0.13602760434150696, + -0.0006980941398069263, + -0.007824196480214596, + 0.7119652628898621, + 0.7021706700325012 + ], + "box_yaw_rad": 1.5847089791482285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030754842969657682 + } + }, + { + "simulation_time_ns": 3200000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46388760810208, + -14.858824200798216, + 0.11809101321696705 + ], + "intended_face_normal": [ + -0.9998187146792246, + -0.013789454884053587, + -0.013132017210244595 + ], + "commanded_contact_point": [ + -29.68158981323242, + -14.858061390778587, + 0.11881745486314796 + ], + "centerline_face_intersection": [ + -29.46390766673343, + -14.858061390778587, + 0.11881745486314796 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.691139221191406, + -14.867427825927734, + 0.1289379894733429 + ], + "box_pose": [ + -29.410423278808594, + -14.853936195373535, + 0.13602687418460846, + -0.0014929256867617369, + -0.007749998010694981, + 0.7119638323783875, + 0.702171802520752 + ], + "box_yaw_rad": 1.5847024300171064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029960952497987883 + } + }, + { + "simulation_time_ns": 3220000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464023453117154, + -14.85866414399952, + 0.11803434979669429 + ], + "intended_face_normal": [ + -0.9998031019195621, + -0.01381248434952509, + -0.014256412200781443 + ], + "commanded_contact_point": [ + -29.67893669128418, + -14.857900060027648, + 0.11882299112894062 + ], + "centerline_face_intersection": [ + -29.464045239419722, + -14.857900060027648, + 0.11882299112894062 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.68880271911621, + -14.8673734664917, + 0.12785685062408447 + ], + "box_pose": [ + -29.410579681396484, + -14.853751182556152, + 0.1360245943069458, + -0.0023834053426980972, + -0.00766137195751071, + 0.7119694948196411, + 0.7021646499633789 + ], + "box_yaw_rad": 1.5847156682503796, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002658028279323257 + } + }, + { + "simulation_time_ns": 3240000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46417413705071, + -14.85848079847764, + 0.11796983696405587 + ], + "intended_face_normal": [ + -0.9997843329578174, + -0.013819500688480035, + -0.01550877800888023 + ], + "commanded_contact_point": [ + -29.676352233886718, + -14.857716326373406, + 0.11882775711803162 + ], + "centerline_face_intersection": [ + -29.464198000318095, + -14.857716326373406, + 0.11882775711803162 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.68550682067871, + -14.866344451904297, + 0.1260213851928711 + ], + "box_pose": [ + -29.41075325012207, + -14.853540420532227, + 0.13602043688297272, + -0.0033882693387567997, + -0.007549877744168043, + 0.7119678854942322, + 0.7021633386611938 + ], + "box_yaw_rad": 1.5847075474482761, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002590984525164787 + } + }, + { + "simulation_time_ns": 3260000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464342662668432, + -14.858272412249761, + 0.11789666353054382 + ], + "intended_face_normal": [ + -0.9997608919238907, + -0.013844614353005325, + -0.016923454610090427 + ], + "commanded_contact_point": [ + -29.673704833984374, + -14.85750655089881, + 0.11883284127301823 + ], + "centerline_face_intersection": [ + -29.464369119964815, + -14.85750655089881, + 0.11883284127301823 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.6811466217041, + -14.863289833068848, + 0.12591320276260376 + ], + "box_pose": [ + -29.410947799682617, + -14.853300094604492, + 0.13601534068584442, + -0.004524657037109137, + -0.007422659546136856, + 0.7119703888893127, + 0.7021556496620178 + ], + "box_yaw_rad": 1.584710747671558, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026557028902540634 + } + }, + { + "simulation_time_ns": 3280000000, + "phase": "base_approach", + "intended_face_center": [ + -29.4645325836343, + -14.858037256102348, + 0.1178137821339055 + ], + "intended_face_normal": [ + -0.9997319480204154, + -0.0138992875073356, + -0.018510245838585793 + ], + "commanded_contact_point": [ + -29.671066970825194, + -14.857268370322203, + 0.11883773856366905 + ], + "centerline_face_intersection": [ + -29.464562244001517, + -14.857268370322203, + 0.11883773856366905 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.677709579467773, + -14.859773635864258, + 0.12701751291751862 + ], + "box_pose": [ + -29.41116714477539, + -14.85302734375, + 0.136008620262146, + -0.005806892644613981, + -0.007272511254996061, + 0.7119802832603455, + 0.7021377086639404 + ], + "box_yaw_rad": 1.5847344322416133, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026485988781025705 + } + }, + { + "simulation_time_ns": 3300000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464748886909327, + -14.857787075168481, + 0.11772506572760003 + ], + "intended_face_normal": [ + -0.9996966442830008, + -0.013922757992110846, + -0.02032591653007776 + ], + "commanded_contact_point": [ + -29.668579788208007, + -14.857016891039628, + 0.11884946208101985 + ], + "centerline_face_intersection": [ + -29.464782454282613, + -14.857016891039628, + 0.11884946208101985 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.675186157226562, + -14.858805656433105, + 0.12847256660461426 + ], + "box_pose": [ + -29.41141700744629, + -14.852739334106445, + 0.13600768148899078, + -0.0072104488499462605, + -0.00716356048360467, + 0.7119756937026978, + 0.7021306753158569 + ], + "box_yaw_rad": 1.5847181843014384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024998913259706218 + } + }, + { + "simulation_time_ns": 3320000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464944945434656, + -14.857575948812764, + 0.11764774194742646 + ], + "intended_face_normal": [ + -0.99966074523647, + -0.013976501648358619, + -0.021982898911844906 + ], + "commanded_contact_point": [ + -29.666273803710936, + -14.856802791673024, + 0.11886379984757077 + ], + "centerline_face_intersection": [ + -29.46498248583741, + -14.856802791673024, + 0.11886379984757077 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.673660278320312, + -14.861237525939941, + 0.1290941685438156 + ], + "box_pose": [ + -29.411643981933594, + -14.852494239807129, + 0.13601091504096985, + -0.008444440551102161, + -0.007110451348125935, + 0.7119809985160828, + 0.7021120190620422 + ], + "box_yaw_rad": 1.5847318069900969, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023159465907180007 + } + }, + { + "simulation_time_ns": 3340000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465108464020883, + -14.857399034502901, + 0.1175872507730353 + ], + "intended_face_normal": [ + -0.9996292538943472, + -0.014030618610528789, + -0.023330914594894336 + ], + "commanded_contact_point": [ + -29.664318771362304, + -14.856622883701604, + 0.11887787868905716 + ], + "centerline_face_intersection": [ + -29.46514948975991, + -14.856622883701604, + 0.11887787868905716 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.67300796508789, + -14.865463256835938, + 0.12898854911327362 + ], + "box_pose": [ + -29.411832809448242, + -14.852288246154785, + 0.1360156536102295, + -0.009467043913900852, + -0.007048876956105232, + 0.7119871377944946, + 0.702093243598938 + ], + "box_yaw_rad": 1.584747612163366, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019633432140506615 + } + }, + { + "simulation_time_ns": 3360000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465230532002813, + -14.85726019058487, + 0.11754336216770309 + ], + "intended_face_normal": [ + -0.9996046747907243, + -0.014051307298078797, + -0.024349804781033435 + ], + "commanded_contact_point": [ + -29.66262886047363, + -14.856482895319324, + 0.11889035341711435 + ], + "centerline_face_intersection": [ + -29.46527427813542, + -14.856482895319324, + 0.11889035341711435 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.671995162963867, + -14.869685173034668, + 0.12506543099880219 + ], + "box_pose": [ + -29.41197395324707, + -14.852128028869629, + 0.13602089881896973, + -0.010249964892864227, + -0.006992494221776724, + 0.7119835615158081, + 0.7020864486694336 + ], + "box_yaw_rad": 1.5847359119466673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016957450214183773 + } + }, + { + "simulation_time_ns": 3380000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465321749112242, + -14.857163423348629, + 0.11751232031437901 + ], + "intended_face_normal": [ + -0.9995865349984013, + -0.014061812254194894, + -0.025080902145759865 + ], + "commanded_contact_point": [ + -29.660286636352538, + -14.856385546966145, + 0.11889975467048496 + ], + "centerline_face_intersection": [ + -29.465367502984034, + -14.856385546966145, + 0.11889975467048496 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.66996192932129, + -14.87187385559082, + 0.12264491617679596 + ], + "box_pose": [ + -29.412078857421875, + -14.85201644897461, + 0.13602516055107117, + -0.010805773548781872, + -0.006957929581403732, + 0.7119790315628052, + 0.7020831108093262 + ], + "box_yaw_rad": 1.5847221047068936, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023442651127517714 + } + }, + { + "simulation_time_ns": 3400000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465379501856845, + -14.857098864623444, + 0.11749213487817951 + ], + "intended_face_normal": [ + -0.9995741610632444, + -0.014087497029725338, + -0.025555839908828704 + ], + "commanded_contact_point": [ + -29.65756294250488, + -14.856319567401318, + 0.11890584201210119 + ], + "centerline_face_intersection": [ + -29.465426625315086, + -14.856319567401318, + 0.11890584201210119 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.66777801513672, + -14.869611740112305, + 0.12344828248023987 + ], + "box_pose": [ + -29.412145614624023, + -14.851941108703613, + 0.13602785766124725, + -0.01117001660168171, + -0.006932388991117477, + 0.7119824290275574, + 0.7020742297172546 + ], + "box_yaw_rad": 1.5847311172266585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002724499685164818 + } + }, + { + "simulation_time_ns": 3420000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465409323389082, + -14.85706735621724, + 0.11748235604159352 + ], + "intended_face_normal": [ + -0.999568117437106, + -0.014074232596408054, + -0.025801095303054855 + ], + "commanded_contact_point": [ + -29.65513488769531, + -14.856288792761802, + 0.11890963030152973 + ], + "centerline_face_intersection": [ + -29.46545711578123, + -14.856288792761802, + 0.11890963030152973 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.666519165039062, + -14.865535736083984, + 0.12484684586524963 + ], + "box_pose": [ + -29.412179946899414, + -14.851905822753906, + 0.13602998852729797, + -0.011350384913384914, + -0.006926761008799076, + 0.7119749188423157, + 0.7020790576934814 + ], + "box_yaw_rad": 1.5847095925910495, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002428252784998228 + } + }, + { + "simulation_time_ns": 3440000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46540395088592, + -14.857075260180029, + 0.1174846842023205 + ], + "intended_face_normal": [ + -0.9995684713994705, + -0.014094795140149774, + -0.025776922860065 + ], + "commanded_contact_point": [ + -29.652891845703124, + -14.85629555923841, + 0.1189106212823706 + ], + "centerline_face_intersection": [ + -29.46545170409992, + -14.85629555923841, + 0.1189106212823706 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.66482162475586, + -14.86354923248291, + 0.126021146774292 + ], + "box_pose": [ + -29.412174224853516, + -14.851913452148438, + 0.13603124022483826, + -0.011324688792228699, + -0.006935167592018843, + 0.7119825482368469, + 0.7020716667175293 + ], + "box_yaw_rad": 1.5847315515231126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022430524171238564 + } + }, + { + "simulation_time_ns": 3460000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465374592361492, + -14.85711196594908, + 0.11749705058342289 + ], + "intended_face_normal": [ + -0.9995753854346865, + -0.014065110654475133, + -0.02551892780353754 + ], + "commanded_contact_point": [ + -29.65062400817871, + -14.856333907104505, + 0.11890871580024209 + ], + "centerline_face_intersection": [ + -29.465421580301655, + -14.856333907104505, + 0.11890871580024209 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.661970138549805, + -14.861759185791016, + 0.12701515853405 + ], + "box_pose": [ + -29.412139892578125, + -14.851957321166992, + 0.13603129982948303, + -0.011117161251604557, + -0.00695853540673852, + 0.7119753956794739, + 0.7020819187164307 + ], + "box_yaw_rad": 1.584711801920613, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002268162522139163 + } + }, + { + "simulation_time_ns": 3480000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46532183749101, + -14.857175482406062, + 0.11751848331247439 + ], + "intended_face_normal": [ + -0.9995867337954049, + -0.01405500588414621, + -0.02507895716081321 + ], + "commanded_contact_point": [ + -29.648337097167968, + -14.856397982540802, + 0.11890581007520425 + ], + "centerline_face_intersection": [ + -29.465367569359454, + -14.856397982540802, + 0.11890581007520425 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.65793800354004, + -14.858786582946777, + 0.12902705371379852 + ], + "box_pose": [ + -29.412078857421875, + -14.852030754089355, + 0.13603170216083527, + -0.010766047984361649, + -0.006995723117142916, + 0.7119772434234619, + 0.7020851969718933 + ], + "box_yaw_rad": 1.5847180572523818, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022878103233940823 + } + }, + { + "simulation_time_ns": 3500000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46526279301014, + -14.857249733229427, + 0.11754307592524785 + ], + "intended_face_normal": [ + -0.9995993985219382, + -0.014056209635903816, + -0.02456292614381983 + ], + "commanded_contact_point": [ + -29.646105499267577, + -14.856472166774594, + 0.11890185669877716 + ], + "centerline_face_intersection": [ + -29.465307123124262, + -14.856472166774594, + 0.11890185669877716 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.652667999267578, + -14.85482120513916, + 0.131069615483284 + ], + "box_pose": [ + -29.412010192871094, + -14.852115631103516, + 0.13603153824806213, + -0.010360656306147575, + -0.007033038884401321, + 0.7119836807250977, + 0.7020843029022217 + ], + "box_yaw_rad": 1.5847373956111377, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002232834100141875 + } + }, + { + "simulation_time_ns": 3520000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46519185511314, + -14.857333427837785, + 0.11757087131909727 + ], + "intended_face_normal": [ + -0.9996138087551313, + -0.014063774434132537, + -0.02396668096294363 + ], + "commanded_contact_point": [ + -29.643933029174804, + -14.856555442910727, + 0.11889666878748857 + ], + "centerline_face_intersection": [ + -29.465234590298785, + -14.856555442910727, + 0.11889666878748857 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.647998809814453, + -14.851306915283203, + 0.13216769695281982 + ], + "box_pose": [ + -29.411928176879883, + -14.852210998535156, + 0.1360306441783905, + -0.009897973388433456, + -0.007070518098771572, + 0.7119929194450378, + 0.7020812630653381 + ], + "box_yaw_rad": 1.5847647216929885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021740717865948575 + } + }, + { + "simulation_time_ns": 3540000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465112534867046, + -14.857428085159817, + 0.1176018054999502 + ], + "intended_face_normal": [ + -0.9996296123259639, + -0.014054964966937922, + -0.02331271453909367 + ], + "commanded_contact_point": [ + -29.641764373779296, + -14.85665058755803, + 0.11889142661874624 + ], + "centerline_face_intersection": [ + -29.465153520935672, + -14.85665058755803, + 0.11889142661874624 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.64463996887207, + -14.849555969238281, + 0.13156145811080933 + ], + "box_pose": [ + -29.411836624145508, + -14.852319717407227, + 0.1360301822423935, + -0.009383399039506912, + -0.007118602748960257, + 0.7119967937469482, + 0.7020840644836426 + ], + "box_yaw_rad": 1.5847770763671047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021707478454921583 + } + }, + { + "simulation_time_ns": 3560000000, + "phase": "base_approach", + "intended_face_center": [ + -29.465023608977383, + -14.857532145213954, + 0.11763661190423985 + ], + "intended_face_normal": [ + -0.999646973700309, + -0.014022517815738711, + -0.022563715037055454 + ], + "commanded_contact_point": [ + -29.639559478759764, + -14.856756442535335, + 0.11888479959947743 + ], + "centerline_face_intersection": [ + -29.465062673545376, + -14.856756442535335, + 0.11888479959947743 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.642358779907227, + -14.85082721710205, + 0.12973596155643463 + ], + "box_pose": [ + -29.411733627319336, + -14.85244083404541, + 0.1360289454460144, + -0.008799229748547077, + -0.007168559357523918, + 0.7119928598403931, + 0.7020949125289917 + ], + "box_yaw_rad": 1.584767266331301, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002207444504570442 + } + }, + { + "simulation_time_ns": 3580000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46492494813028, + -14.857647211837818, + 0.11767542227496484 + ], + "intended_face_normal": [ + -0.9996660739415238, + -0.013992376409943441, + -0.02172119668931438 + ], + "commanded_contact_point": [ + -29.637423248291014, + -14.856873176532314, + 0.11887700323753737 + ], + "centerline_face_intersection": [ + -29.46496189878406, + -14.856873176532314, + 0.11887700323753737 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.64159393310547, + -14.854650497436523, + 0.12679779529571533 + ], + "box_pose": [ + -29.411619186401367, + -14.852574348449707, + 0.13602708280086517, + -0.00815044716000557, + -0.007216572295874357, + 0.7119899988174438, + 0.7021051645278931 + ], + "box_yaw_rad": 1.584760471423455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002139431752808683 + } + }, + { + "simulation_time_ns": 3600000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464809375384412, + -14.85778036907552, + 0.11772089237212895 + ], + "intended_face_normal": [ + -0.9996866503389761, + -0.013991884309466851, + -0.020751844275272657 + ], + "commanded_contact_point": [ + -29.635390014648436, + -14.857006360992207, + 0.11886885034958715 + ], + "centerline_face_intersection": [ + -29.464844048795975, + -14.857006360992207, + 0.11886885034958715 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.642974853515625, + -14.85639476776123, + 0.12520690262317657 + ], + "box_pose": [ + -29.41148567199707, + -14.852726936340332, + 0.13602572679519653, + -0.007403398863971233, + -0.007272437214851379, + 0.7119979858398438, + 0.7021047472953796 + ], + "box_yaw_rad": 1.5847848254507935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020376073260690666 + } + }, + { + "simulation_time_ns": 3620000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46467551632125, + -14.857934227359044, + 0.11777340010424443 + ], + "intended_face_normal": [ + -0.9997092364440429, + -0.014001908675871366, + -0.019631527048687203 + ], + "commanded_contact_point": [ + -29.63313362121582, + -14.857159664744227, + 0.11885938397084855 + ], + "centerline_face_intersection": [ + -29.46470769012513, + -14.857159664744227, + 0.11885938397084855 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.644445419311523, + -14.85725212097168, + 0.12602108716964722 + ], + "box_pose": [ + -29.411331176757812, + -14.85290241241455, + 0.13602399826049805, + -0.006545762065798044, + -0.007331330329179764, + 0.7120099067687988, + 0.7021006345748901 + ], + "box_yaw_rad": 1.584820504568985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022616151254065803 + } + }, + { + "simulation_time_ns": 3640000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464522180947387, + -14.858108437185464, + 0.11783439372107017 + ], + "intended_face_normal": [ + -0.999734601308958, + -0.01395955148787209, + -0.018337288010259745 + ], + "commanded_contact_point": [ + -29.63082954406738, + -14.857336217700793, + 0.11884878240754511 + ], + "centerline_face_intersection": [ + -29.464551547685144, + -14.857336217700793, + 0.11884878240754511 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.6435546875, + -14.856958389282227, + 0.12705576419830322 + ], + "box_pose": [ + -29.41115379333496, + -14.853104591369629, + 0.13602229952812195, + -0.005552946124225855, + -0.0074014198035001755, + 0.7120034694671631, + 0.7021151185035706 + ], + "box_yaw_rad": 1.5848042684895738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023108558686271226 + } + }, + { + "simulation_time_ns": 3660000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464345839224343, + -14.858308825560018, + 0.11790441962137319 + ], + "intended_face_normal": [ + -0.9997612643325957, + -0.013925511862539874, + -0.016833365640341658 + ], + "commanded_contact_point": [ + -29.628626556396483, + -14.857538489091569, + 0.11883561378985136 + ], + "centerline_face_intersection": [ + -29.4643722553088, + -14.857538489091569, + 0.11883561378985136 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.6409854888916, + -14.856149673461914, + 0.1306999921798706 + ], + "box_pose": [ + -29.41094970703125, + -14.853336334228516, + 0.13601930439472198, + -0.0044065057300031185, + -0.0074757905676960945, + 0.7119995355606079, + 0.7021262645721436 + ], + "box_yaw_rad": 1.584795361947484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002212293336370446 + } + }, + { + "simulation_time_ns": 3680000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464137450761466, + -14.85854436359436, + 0.11798546028238412 + ], + "intended_face_normal": [ + -0.9997892650359623, + -0.013907967459078074, + -0.015090212358081834 + ], + "commanded_contact_point": [ + -29.626381607055663, + -14.857774997653525, + 0.11882022607130438 + ], + "centerline_face_intersection": [ + -29.464160768243538, + -14.857774997653525, + 0.11882022607130438 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.638410568237305, + -14.854697227478027, + 0.1342996209859848 + ], + "box_pose": [ + -29.410709381103516, + -14.853607177734375, + 0.1360156238079071, + -0.0030751931481063366, + -0.0075644850730896, + 0.7120003700256348, + 0.7021315097808838 + ], + "box_yaw_rad": 1.5848005561381588, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022574256631415885 + } + }, + { + "simulation_time_ns": 3700000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463896104154916, + -14.858817687714287, + 0.11807958684294774 + ], + "intended_face_normal": [ + -0.9998181574917222, + -0.013888560676780903, + -0.013054584058290797 + ], + "commanded_contact_point": [ + -29.623980255126952, + -14.85804939532481, + 0.11880174501420825 + ], + "centerline_face_intersection": [ + -29.463916224442855, + -14.85804939532481, + 0.11880174501420825 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.63744354248047, + -14.855504035949707, + 0.13249099254608154 + ], + "box_pose": [ + -29.410430908203125, + -14.853921890258789, + 0.13601070642471313, + -0.0015164861688390374, + -0.007672080770134926, + 0.7119985818862915, + 0.7021372318267822 + ], + "box_yaw_rad": 1.5847989891387302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024170491755448314 + } + }, + { + "simulation_time_ns": 3720000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46361344728097, + -14.859135671877839, + 0.1181879442937026 + ], + "intended_face_normal": [ + -0.9998469026613794, + -0.013880924055949206, + -0.010652629169475205 + ], + "commanded_contact_point": [ + -29.621458740234374, + -14.858367801933696, + 0.11877723026143581 + ], + "centerline_face_intersection": [ + -29.46363038676493, + -14.858367801933696, + 0.11877723026143581 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.63656234741211, + -14.861777305603027, + 0.12591832876205444 + ], + "box_pose": [ + -29.410104751586914, + -14.854287147521973, + 0.1360017955303192, + 0.0003067224461119622, + -0.007783281151205301, + 0.7119974493980408, + 0.7021388411521912 + ], + "box_yaw_rad": 1.5847995839780502, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002541657155317881 + } + }, + { + "simulation_time_ns": 3740000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463284909918467, + -14.859513753500387, + 0.11831399433493643 + ], + "intended_face_normal": [ + -0.9998723015932904, + -0.013887008414663615, + -0.007920428945599134 + ], + "commanded_contact_point": [ + -29.618618698120116, + -14.858745546979502, + 0.1187521394690451 + ], + "centerline_face_intersection": [ + -29.463299038953338, + -14.858745546979502, + 0.1187521394690451 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.63318634033203, + -14.867348670959473, + 0.12316523492336273 + ], + "box_pose": [ + -29.409727096557617, + -14.854720115661621, + 0.13599461317062378, + 0.0024191546253859997, + -0.007947784848511219, + 0.711995542049408, + 0.702134907245636 + ], + "box_yaw_rad": 1.5847999151241263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002865163185274491 + } + }, + { + "simulation_time_ns": 3760000000, + "phase": "base_approach", + "intended_face_center": [ + -29.4632154253411, + -14.859590441416332, + 0.1183690491908309 + ], + "intended_face_normal": [ + -0.9998768118530661, + -0.013888784511873364, + -0.007326288331896302 + ], + "commanded_contact_point": [ + -29.615330429077147, + -14.858822136644664, + 0.11877432744100458 + ], + "centerline_face_intersection": [ + -29.46322905531302, + -14.858822136644664, + 0.11877432744100458 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.62856101989746, + -14.868444442749023, + 0.1241714209318161 + ], + "box_pose": [ + -29.40964698791504, + -14.85480785369873, + 0.1360204517841339, + 0.0028606392443180084, + -0.007965927012264729, + 0.7119945287704468, + 0.7021340727806091 + ], + "box_yaw_rad": 1.5847977430050646, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003289235713939605 + } + }, + { + "simulation_time_ns": 3780000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463328105865106, + -14.859489471961332, + 0.11831682345034691 + ], + "intended_face_normal": [ + -0.9998693237175954, + -0.013887214928565594, + -0.008279356857385678 + ], + "commanded_contact_point": [ + -29.611735076904296, + -14.858721254016437, + 0.11877482388763741 + ], + "centerline_face_intersection": [ + -29.463342564404943, + -14.858721254016437, + 0.11877482388763741 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.62462615966797, + -14.865464210510254, + 0.12608791887760162 + ], + "box_pose": [ + -29.40977668762207, + -14.854692459106445, + 0.1360158771276474, + 0.0022219468373805285, + -0.00800535548478365, + 0.7119962573051453, + 0.7021341323852539 + ], + "box_yaw_rad": 1.5848037501161734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035967672704757462 + } + }, + { + "simulation_time_ns": 3800000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463427239110572, + -14.859381013621977, + 0.1182788913994633 + ], + "intended_face_normal": [ + -0.9998617644528187, + -0.01389306253708722, + -0.009130518675363353 + ], + "commanded_contact_point": [ + -29.6079337310791, + -14.858612472196972, + 0.11878397671201087 + ], + "centerline_face_intersection": [ + -29.46344253409513, + -14.858612472196972, + 0.11878397671201087 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.621721267700195, + -14.861207962036133, + 0.12700185179710388 + ], + "box_pose": [ + -29.40989112854004, + -14.854567527770996, + 0.1360197216272354, + 0.0015854381490498781, + -0.00797534640878439, + 0.7120000123977661, + 0.7021323442459106 + ], + "box_yaw_rad": 1.584813303097993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003802913007310316 + } + }, + { + "simulation_time_ns": 3820000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46353170021633, + -14.85926239429325, + 0.11823863534754092 + ], + "intended_face_normal": [ + -0.999853485885342, + -0.013887525805123202, + -0.010004735287196295 + ], + "commanded_contact_point": [ + -29.604450912475585, + -14.858494159151174, + 0.11879208088871529 + ], + "centerline_face_intersection": [ + -29.46354791124486, + -14.858494159151174, + 0.11879208088871529 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.617130279541016, + -14.860771179199219, + 0.12631937861442566 + ], + "box_pose": [ + -29.410011291503906, + -14.854432106018066, + 0.13602222502231598, + 0.0009212213335558772, + -0.007934262976050377, + 0.711999237537384, + 0.7021347880363464 + ], + "box_yaw_rad": 1.5848096060251105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003484837023374341 + } + }, + { + "simulation_time_ns": 3840000000, + "phase": "base_approach", + "intended_face_center": [ + -29.463643089411427, + -14.859134938411925, + 0.118195597734879 + ], + "intended_face_normal": [ + -0.9998440786855568, + -0.013871153668700398, + -0.010918278521822974 + ], + "commanded_contact_point": [ + -29.60111114501953, + -14.858367608949575, + 0.11879957898892939 + ], + "centerline_face_intersection": [ + -29.46366034137909, + -14.858367608949575, + 0.11879957898892939 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.61159324645996, + -14.862576484680176, + 0.12616431713104248 + ], + "box_pose": [ + -29.410139083862305, + -14.854287147521973, + 0.13602371513843536, + 0.00021643929358106107, + -0.007880838587880135, + 0.7119940519332886, + 0.7021411657333374 + ], + "box_yaw_rad": 1.5847929659463302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003342172622045986 + } + }, + { + "simulation_time_ns": 3860000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46376250511107, + -14.858996276013018, + 0.11814774141721171 + ], + "intended_face_normal": [ + -0.999833205230463, + -0.013856070968285783, + -0.011913731827927543 + ], + "commanded_contact_point": [ + -29.59776184082031, + -14.858229780900908, + 0.1188067895149012 + ], + "centerline_face_intersection": [ + -29.46378096027629, + -14.858229780900908, + 0.1188067895149012 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.607210159301758, + -14.8652982711792, + 0.12703107297420502 + ], + "box_pose": [ + -29.410276412963867, + -14.85412883758545, + 0.13602423667907715, + -0.000560433545615524, + -0.0078138317912817, + 0.7119885683059692, + 0.7021474838256836 + ], + "box_yaw_rad": 1.584775057806974, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033521466527567643 + } + }, + { + "simulation_time_ns": 3880000000, + "phase": "base_approach", + "intended_face_center": [ + -29.46389158332086, + -14.858841067675472, + 0.11809429878716098 + ], + "intended_face_normal": [ + -0.9998193690313064, + -0.013863862520248293, + -0.01299703980851824 + ], + "commanded_contact_point": [ + -29.594467849731444, + -14.85807414154749, + 0.11881327370493774 + ], + "centerline_face_intersection": [ + -29.463911569543736, + -14.85807414154749, + 0.11881327370493774 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.603830337524414, + -14.867033958435059, + 0.12756308913230896 + ], + "box_pose": [ + -29.410425186157227, + -14.853950500488281, + 0.13602328300476074, + -0.001415306469425559, + -0.007731524296104908, + 0.7119901180267334, + 0.7021454572677612 + ], + "box_yaw_rad": 1.5847767386609461, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032976723528254197 + } + }, + { + "simulation_time_ns": 3900000000, + "phase": "base_approach", + "intended_face_center": [ + -29.464033909787872, + -14.858666441575952, + 0.11803424782834188 + ], + "intended_face_normal": [ + -0.9998031506739198, + -0.013870675796201493, + -0.014188990179450744 + ], + "commanded_contact_point": [ + -29.591471405029296, + -14.857899138548724, + 0.11881915948498847 + ], + "centerline_face_intersection": [ + -29.464055690695357, + -14.857899138548724, + 0.11881915948498847 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.600933074951172, + -14.867386817932129, + 0.12758149206638336 + ], + "box_pose": [ + -29.41058921813965, + -14.853750228881836, + 0.13602085411548615, + -0.002362092724069953, + -0.007634890265762806, + 0.7119899988174438, + 0.7021441459655762 + ], + "box_yaw_rad": 1.5847732597071624, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030015565203769514 + } + }, + { + "simulation_time_ns": 3920000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464192419653987, + -14.85847299571309, + 0.11796607206223036 + ], + "intended_face_normal": [ + -0.9997830281827822, + -0.013891219481767525, + -0.015532139211087509 + ], + "commanded_contact_point": [ + -29.591471405029296, + -14.857899138548724, + 0.11881915948498847 + ], + "centerline_face_intersection": [ + -29.464216427308642, + -14.857704556242881, + 0.11882528451958314 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.598304748535156, + -14.866768836975098, + 0.12669037282466888 + ], + "box_pose": [ + -29.4107723236084, + -14.853527069091797, + 0.13601750135421753, + -0.0034318037796765566, + -0.007523206528276205, + 0.7119928598403931, + 0.7021381258964539 + ], + "box_yaw_rad": 1.584777867663351, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 3940000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464367067689466, + -14.858252626724546, + 0.1178891136911587 + ], + "intended_face_normal": [ + -0.9997582065599043, + -0.013912914249848862, + -0.017029935145784547 + ], + "commanded_contact_point": [ + -29.58861406946543, + -14.857898398732095, + 0.11881947617101284 + ], + "centerline_face_intersection": [ + -29.46439382215717, + -14.857482987135363, + 0.11883118176216356 + ], + "commanded_world_base_velocity": [ + 0.13745536, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.594789505004883, + -14.865036964416504, + 0.12523037195205688 + ], + "box_pose": [ + -29.410974502563477, + -14.853273391723633, + 0.13601267337799072, + -0.004629945382475853, + -0.007393515203148127, + 0.7119936943054199, + 0.7021316885948181 + ], + "box_yaw_rad": 1.584776251712032, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028573356771926487 + } + }, + { + "simulation_time_ns": 3960000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464568758258427, + -14.85800534534742, + 0.1178022082097913 + ], + "intended_face_normal": [ + -0.9997276747915887, + -0.0139581865243672, + -0.0187050947370615 + ], + "commanded_contact_point": [ + -29.585647635730773, + -14.857895049100515, + 0.11882055342429602 + ], + "centerline_face_intersection": [ + -29.46459889152945, + -14.85723320137029, + 0.11883694336092712 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.591503143310547, + -14.861763954162598, + 0.12545061111450195 + ], + "box_pose": [ + -29.41120719909668, + -14.852987289428711, + 0.1360062062740326, + -0.005979517009109259, + -0.0072390856221318245, + 0.7119995355606079, + 0.7021172046661377 + ], + "box_yaw_rad": 1.5847882874468064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029664358214213 + } + }, + { + "simulation_time_ns": 3980000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464793301799475, + -14.857756911187776, + 0.11771246690367676 + ], + "intended_face_normal": [ + -0.9996899881404709, + -0.014011372813663492, + -0.020581308802653187 + ], + "commanded_contact_point": [ + -29.58258065033206, + -14.857887448793488, + 0.118822690320718 + ], + "centerline_face_intersection": [ + -29.46482760581248, + -14.856981825032385, + 0.11885099113858966 + ], + "commanded_world_base_velocity": [ + 0.11967871999999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.589202880859375, + -14.858538627624512, + 0.12629824876785278 + ], + "box_pose": [ + -29.411466598510742, + -14.852699279785156, + 0.1360074132680893, + -0.007408007048070431, + -0.007148124743252993, + 0.7120047807693481, + 0.7020991444587708 + ], + "box_yaw_rad": 1.5848005935582257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00306699556030316 + } + }, + { + "simulation_time_ns": 4000000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464989387091713, + -14.857548316263387, + 0.11763576084080096 + ], + "intended_face_normal": [ + -0.9996538904495275, + -0.01406613330710682, + -0.022236121551509058 + ], + "commanded_contact_point": [ + -29.579420938358176, + -14.857874783986478, + 0.11882607016268536 + ], + "centerline_face_intersection": [ + -29.465027686145625, + -14.856770200847345, + 0.11886582660190546 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.587379455566406, + -14.858367919921875, + 0.12731815874576569 + ], + "box_pose": [ + -29.411693572998047, + -14.852457046508789, + 0.13601122796535492, + -0.00863336119800806, + -0.007102073635905981, + 0.7120102047920227, + 0.7020801901817322 + ], + "box_yaw_rad": 1.5848147646521162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003159739163058512 + } + }, + { + "simulation_time_ns": 4020000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465145847113373, + -14.857374921401862, + 0.11757796584574887 + ], + "intended_face_normal": [ + -0.999622768020962, + -0.014140873123891451, + -0.0235470872785275 + ], + "commanded_contact_point": [ + -29.576175616665413, + -14.857856618304698, + 0.11883076825430441 + ], + "centerline_face_intersection": [ + -29.465187590696665, + -14.856592671501783, + 0.11888055207995167 + ], + "commanded_world_base_velocity": [ + 0.09072000000000029, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.586132049560547, + -14.861428260803223, + 0.1276349574327469 + ], + "box_pose": [ + -29.411874771118164, + -14.852253913879395, + 0.13601678609848022, + -0.009633641690015793, + -0.007036571390926838, + 0.7120236158370972, + 0.7020542025566101 + ], + "box_yaw_rad": 1.5848511780027574, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003245375934090887 + } + }, + { + "simulation_time_ns": 4040000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465266133428802, + -14.85723865303357, + 0.11753493168447697 + ], + "intended_face_normal": [ + -0.9995980490102436, + -0.014147840141890411, + -0.02456195706665254 + ], + "commanded_contact_point": [ + -29.572851430134342, + -14.857833348778506, + 0.11883676324408617 + ], + "centerline_face_intersection": [ + -29.465310612908418, + -14.856456017729485, + 0.11889365885024737 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.585460662841797, + -14.865954399108887, + 0.12753602862358093 + ], + "box_pose": [ + -29.41201400756836, + -14.852097511291504, + 0.13602279126644135, + -0.0104047367349267, + -0.006989052519202232, + 0.7120152115821838, + 0.7020520567893982 + ], + "box_yaw_rad": 1.5848259814220824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003324273379868675 + } + }, + { + "simulation_time_ns": 4060000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465353782513407, + -14.857142106481156, + 0.11750427575068524 + ], + "intended_face_normal": [ + -0.9995802114845967, + -0.014165277800956888, + -0.025277936310306615 + ], + "commanded_contact_point": [ + -29.569454794577926, + -14.857805676686489, + 0.11884382264367935 + ], + "centerline_face_intersection": [ + -29.46540023628967, + -14.856358506554383, + 0.11890260971349711 + ], + "commanded_world_base_velocity": [ + 0.05746048000000027, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.584192276000977, + -14.870532035827637, + 0.12358476221561432 + ], + "box_pose": [ + -29.4121150970459, + -14.851985931396484, + 0.13602666556835175, + -0.010952083393931389, + -0.006952255964279175, + 0.7120131254196167, + 0.7020463943481445 + ], + "box_yaw_rad": 1.5848190726875677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033967556113023434 + } + }, + { + "simulation_time_ns": 4080000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46541167168205, + -14.857081338804482, + 0.11748505445409257 + ], + "intended_face_normal": [ + -0.9995678114404631, + -0.014200849116288161, + -0.025742546144372547 + ], + "commanded_contact_point": [ + -29.56599186488183, + -14.857774520339081, + 0.11885182159797486 + ], + "centerline_face_intersection": [ + -29.4654594979433, + -14.856295771130908, + 0.11890908987063294 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.581634521484375, + -14.872820854187012, + 0.12148258090019226 + ], + "box_pose": [ + -29.412181854248047, + -14.851914405822754, + 0.136029914021492, + -0.01130124181509018, + -0.006934380158782005, + 0.7120201587677002, + 0.7020338773727417 + ], + "box_yaw_rad": 1.5848386551901434, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034630790896759403 + } + }, + { + "simulation_time_ns": 4100000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465433324778072, + -14.857059573633794, + 0.11747818102458646 + ], + "intended_face_normal": [ + -0.9995635213925436, + -0.014180014882881009, + -0.025916097883390277 + ], + "commanded_contact_point": [ + -29.562467783299702, + -14.857742036262913, + 0.11886033643172084 + ], + "centerline_face_intersection": [ + -29.46548162588243, + -14.856275158475828, + 0.11891181703858045 + ], + "commanded_world_base_velocity": [ + 0.026781440000000177, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.578725814819336, + -14.87053108215332, + 0.12209108471870422 + ], + "box_pose": [ + -29.412206649780273, + -14.851890563964844, + 0.13603146374225616, + -0.011429213918745518, + -0.006930048111826181, + 0.7120108008384705, + 0.7020412683486938 + ], + "box_yaw_rad": 1.5848118983491046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035242415801266763 + } + }, + { + "simulation_time_ns": 4120000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46542024007877, + -14.857075103550406, + 0.11748397239189551 + ], + "intended_face_normal": [ + -0.9995666822063037, + -0.014177526351552672, + -0.025801077473850853 + ], + "commanded_contact_point": [ + -29.558887746780208, + -14.857709757108154, + 0.11886898612862601 + ], + "centerline_face_intersection": [ + -29.46546819132888, + -14.85629082605391, + 0.1189112456655494 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.57664680480957, + -14.866716384887695, + 0.12307558953762054 + ], + "box_pose": [ + -29.41219139099121, + -14.851908683776855, + 0.13603176176548004, + -0.01133727841079235, + -0.006939904764294624, + 0.7120113968849182, + 0.7020421624183655 + ], + "box_yaw_rad": 1.5848138543380064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035801924867250477 + } + }, + { + "simulation_time_ns": 4140000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465380954663335, + -14.857125146279206, + 0.11750036522733756 + ], + "intended_face_normal": [ + -0.9995754991380341, + -0.014159781330503662, + -0.025458352051370703 + ], + "commanded_contact_point": [ + -29.555257623261866, + -14.857679867515765, + 0.11887756724684159 + ], + "centerline_face_intersection": [ + -29.465427930018393, + -14.85634185040816, + 0.11890867949293439 + ], + "commanded_world_base_velocity": [ + 0.005564160000000094, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.574214935302734, + -14.864598274230957, + 0.12453918159008026 + ], + "box_pose": [ + -29.412145614624023, + -14.851966857910156, + 0.13603174686431885, + -0.011066270992159843, + -0.006966371089220047, + 0.7120094299316406, + 0.7020480632781982 + ], + "box_yaw_rad": 1.5848089543014825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036302567101707314 + } + }, + { + "simulation_time_ns": 4160000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465324633123785, + -14.857190185392744, + 0.11752255836698125 + ], + "intended_face_normal": [ + -0.9995872942406643, + -0.014162146094081951, + -0.025002264526496898 + ], + "commanded_contact_point": [ + -29.551583836437846, + -14.85765168167247, + 0.11888614961536642 + ], + "centerline_face_intersection": [ + -29.465370302960785, + -14.856406758706857, + 0.11890564261901143 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.570842742919922, + -14.862542152404785, + 0.12598258256912231 + ], + "box_pose": [ + -29.412080764770508, + -14.852041244506836, + 0.1360320746898651, + -0.010707362554967403, + -0.006999928504228592, + 0.7120157480239868, + 0.7020471096038818 + ], + "box_yaw_rad": 1.584827839031006, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003673904969804765 + } + }, + { + "simulation_time_ns": 4180000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465265695355225, + -14.857263115601166, + 0.11754702434846641 + ], + "intended_face_normal": [ + -0.9996000706133389, + -0.014155943599765353, + -0.02448233771439412 + ], + "commanded_contact_point": [ + -29.547874335308293, + -14.857625629944096, + 0.11889450429895307 + ], + "centerline_face_intersection": [ + -29.46530995108158, + -14.856480032027086, + 0.11890134710230249 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.56610107421875, + -14.859659194946289, + 0.12810349464416504 + ], + "box_pose": [ + -29.412012100219727, + -14.85212516784668, + 0.13603156805038452, + -0.010301169939339161, + -0.007035262417048216, + 0.7120195627212524, + 0.7020488381385803 + ], + "box_yaw_rad": 1.584839654247623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003709602016853282 + } + }, + { + "simulation_time_ns": 4200000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465194756581038, + -14.857347741546963, + 0.11757470235335482 + ], + "intended_face_normal": [ + -0.9996144821588746, + -0.01416359878008322, + -0.02388623858648481 + ], + "commanded_contact_point": [ + -29.544133734320457, + -14.857603135147102, + 0.11890240843872213 + ], + "centerline_face_intersection": [ + -29.46523741723474, + -14.85656423450087, + 0.11889604988146338 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.56028938293457, + -14.85580062866211, + 0.12992887198925018 + ], + "box_pose": [ + -29.411930084228516, + -14.852221488952637, + 0.13603056967258453, + -0.009837952442467213, + -0.007073346059769392, + 0.7120288014411926, + 0.7020457983016968 + ], + "box_yaw_rad": 1.5848669987830368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003740676976366321 + } + }, + { + "simulation_time_ns": 4220000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.4651154212, + -14.857442321784331, + 0.11760552767485319 + ], + "intended_face_normal": [ + -0.9996297105416893, + -0.014154029731529016, + -0.02323167214220917 + ], + "commanded_contact_point": [ + -29.540368562902856, + -14.857585483887648, + 0.11890987543679547 + ], + "centerline_face_intersection": [ + -29.465156396398335, + -14.856659344082304, + 0.11889066566122103 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.555238723754883, + -14.852325439453125, + 0.13042134046554565 + ], + "box_pose": [ + -29.41183853149414, + -14.852330207824707, + 0.13602997362613678, + -0.009322443045675755, + -0.007121908012777567, + 0.7120323777198792, + 0.7020484805107117 + ], + "box_yaw_rad": 1.5848785275555681, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037652201963422455 + } + }, + { + "simulation_time_ns": 4240000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465024368304274, + -14.85754751076201, + 0.11764025328161391 + ], + "intended_face_normal": [ + -0.9996469571642362, + -0.014159648957823512, + -0.022485587917124406 + ], + "commanded_contact_point": [ + -29.53658394905438, + -14.85757354196643, + 0.1189163672452506 + ], + "centerline_face_intersection": [ + -29.46506343470241, + -14.856764222213604, + 0.1188841191127612 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.551111221313477, + -14.850780487060547, + 0.12957504391670227 + ], + "box_pose": [ + -29.411733627319336, + -14.852450370788574, + 0.13602879643440247, + -0.008740204386413097, + -0.007172005251049995, + 0.7120417356491089, + 0.7020461559295654 + ], + "box_yaw_rad": 1.5849065758313061, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037846382568412365 + } + }, + { + "simulation_time_ns": 4260000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46492742762263, + -14.8576622557978, + 0.11767954957243609 + ], + "intended_face_normal": [ + -0.9996656420874543, + -0.014144061920668305, + -0.021649247531190463 + ], + "commanded_contact_point": [ + -29.532787150410353, + -14.857568868152166, + 0.11892180451624909 + ], + "centerline_face_intersection": [ + -29.4649644260713, + -14.856879829498714, + 0.11887715042562923 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.547401428222656, + -14.852164268493652, + 0.12860746681690216 + ], + "box_pose": [ + -29.41162109375, + -14.852582931518555, + 0.13602778315544128, + -0.008090551011264324, + -0.007225176319479942, + 0.7120439410209656, + 0.7020511627197266 + ], + "box_yaw_rad": 1.5849143624128932, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003796805413992941 + } + }, + { + "simulation_time_ns": 4280000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464809841503573, + -14.857797101115501, + 0.11772447824931064 + ], + "intended_face_normal": [ + -0.9996858044794513, + -0.014153573367334804, + -0.02068237862995559 + ], + "commanded_contact_point": [ + -29.528979938799704, + -14.857574901489823, + 0.11892543756403268 + ], + "centerline_face_intersection": [ + -29.46484460852764, + -14.857014148658793, + 0.1188685935012432 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.54510498046875, + -14.855592727661133, + 0.12663990259170532 + ], + "box_pose": [ + -29.41148567199707, + -14.852736473083496, + 0.13602596521377563, + -0.007348475977778435, + -0.007277823518961668, + 0.7120553255081177, + 0.7020471096038818 + ], + "box_yaw_rad": 1.5849483076794328, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038072181246234034 + } + }, + { + "simulation_time_ns": 4300000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464676050271017, + -14.857951943424029, + 0.11777755080170614 + ], + "intended_face_normal": [ + -0.9997083419640114, + -0.014169033273735643, + -0.019557014213296364 + ], + "commanded_contact_point": [ + -29.52516862066792, + -14.857593945425275, + 0.1189270671458473 + ], + "centerline_face_intersection": [ + -29.46470832306606, + -14.857168135750664, + 0.11885941274051072 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.545244216918945, + -14.856521606445312, + 0.12468579411506653 + ], + "box_pose": [ + -29.411331176757812, + -14.852912902832031, + 0.1360245943069458, + -0.006483584176748991, + -0.007340249139815569, + 0.7120691537857056, + 0.7020410299301147 + ], + "box_yaw_rad": 1.5849895294961014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003811366058080127 + } + }, + { + "simulation_time_ns": 4320000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464520856704947, + -14.858127931447752, + 0.1178386743594651 + ], + "intended_face_normal": [ + -0.9997332747501012, + -0.014143626913420526, + -0.018254735220970264 + ], + "commanded_contact_point": [ + -29.52135660909556, + -14.857629589712289, + 0.11892587106734015 + ], + "centerline_face_intersection": [ + -29.46455037024789, + -14.857345529212555, + 0.1188484963610821 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.545793533325195, + -14.856355667114258, + 0.12425550818443298 + ], + "box_pose": [ + -29.411151885986328, + -14.853116035461426, + 0.13602261245250702, + -0.005486132577061653, + -0.007409162353724241, + 0.7120686173439026, + 0.7020493149757385 + ], + "box_yaw_rad": 1.5849900746949535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00381217840264762 + } + }, + { + "simulation_time_ns": 4340000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464342728941908, + -14.858332498889194, + 0.11790988888225915 + ], + "intended_face_normal": [ + -0.9997600849361465, + -0.014122616590708015, + -0.016741615107470353 + ], + "commanded_contact_point": [ + -29.517548134444546, + -14.85768587221952, + 0.11892126336392635 + ], + "centerline_face_intersection": [ + -29.464369275542154, + -14.857551258910576, + 0.1188360075617953 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.544471740722656, + -14.855390548706055, + 0.12366214394569397 + ], + "box_pose": [ + -29.410945892333984, + -14.853351593017578, + 0.13602039217948914, + -0.004329392220824957, + -0.007487097755074501, + 0.7120692133903503, + 0.7020559906959534 + ], + "box_yaw_rad": 1.5849941808177663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038088932931967666 + } + }, + { + "simulation_time_ns": 4360000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46413302933468, + -14.858565194437475, + 0.1179916108447528 + ], + "intended_face_normal": [ + -0.9997888802094587, + -0.014086368296606588, + -0.014971331392546194 + ], + "commanded_contact_point": [ + -29.513744308289986, + -14.857765963864331, + 0.11891159321210226 + ], + "centerline_face_intersection": [ + -29.464156389401676, + -14.857785959655013, + 0.11881980033370936 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.5419921875, + -14.854158401489258, + 0.12477903068065643 + ], + "box_pose": [ + -29.410703659057617, + -14.853620529174805, + 0.13601592183113098, + -0.0029896842315793037, + -0.007564921397715807, + 0.7120633721351624, + 0.7020682096481323 + ], + "box_yaw_rad": 1.5849800349349294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038046815369377866 + } + }, + { + "simulation_time_ns": 4380000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46388446936563, + -14.858841716889664, + 0.11808590121650092 + ], + "intended_face_normal": [ + -0.9998173729139999, + -0.01408731940857999, + -0.012905838299114125 + ], + "commanded_contact_point": [ + -29.509945961612466, + -14.857878004109807, + 0.11889585579675502 + ], + "centerline_face_intersection": [ + -29.463904676472502, + -14.858062429493248, + 0.11879983101641309 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.539880752563477, + -14.85288143157959, + 0.12569119036197662 + ], + "box_pose": [ + -29.410417556762695, + -14.853937149047852, + 0.13600951433181763, + -0.0014243536861613393, + -0.007657869253307581, + 0.7120685577392578, + 0.7020666599273682 + ], + "box_yaw_rad": 1.5849978938455958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003800031337433545 + } + }, + { + "simulation_time_ns": 4400000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.463596142351104, + -14.859165314866955, + 0.11819556736295213 + ], + "intended_face_normal": [ + -0.9998458818019842, + -0.014073589155776167, + -0.010502789543646002 + ], + "commanded_contact_point": [ + -29.506155967059016, + -14.858029118944621, + 0.1188731863232369 + ], + "centerline_face_intersection": [ + -29.463613194796952, + -14.858386787005598, + 0.1187765644484285 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.538076400756836, + -14.853973388671875, + 0.12297292053699493 + ], + "box_pose": [ + -29.410085678100586, + -14.85430908203125, + 0.13600201904773712, + 0.0004145728889852762, + -0.007783634588122368, + 0.7120650410652161, + 0.7020702958106995 + ], + "box_yaw_rad": 1.584992159706605, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037930737289848726 + } + }, + { + "simulation_time_ns": 4420000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46327474782926, + -14.859544264259823, + 0.11832212304866915 + ], + "intended_face_normal": [ + -0.999870748289093, + -0.014051532113312337, + -0.007804908663207488 + ], + "commanded_contact_point": [ + -29.502381196271827, + -14.858227661062445, + 0.11884505545261415 + ], + "centerline_face_intersection": [ + -29.463289048738694, + -14.858766956557865, + 0.1187538777902917 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.535911560058594, + -14.859720230102539, + 0.11783391237258911 + ], + "box_pose": [ + -29.40971565246582, + -14.854744911193848, + 0.13599728047847748, + 0.0025248387828469276, + -0.00797002948820591, + 0.7120529413223267, + 0.7020759582519531 + ], + "box_yaw_rad": 1.5849641758076551, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037800932282478156 + } + }, + { + "simulation_time_ns": 4440000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.463231342188447, + -14.859589909828, + 0.11836004130144635 + ], + "intended_face_normal": [ + -0.9998735533991718, + -0.014033598462253494, + -0.007464277995193808 + ], + "commanded_contact_point": [ + -29.498791763537366, + -14.858272221665583, + 0.11885400995998258 + ], + "centerline_face_intersection": [ + -29.46324533271002, + -14.858813594186195, + 0.11877295291339203 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.531648635864258, + -14.86453914642334, + 0.11605747044086456 + ], + "box_pose": [ + -29.409666061401367, + -14.854798316955566, + 0.1360185444355011, + 0.002786341356113553, + -0.007988784462213516, + 0.7120456695556641, + 0.702082097530365 + ], + "box_yaw_rad": 1.5849441440328789, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035897204885307664 + } + }, + { + "simulation_time_ns": 4460000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.463297936492594, + -14.859531682401595, + 0.11833670793273222 + ], + "intended_face_normal": [ + -0.9998695079753901, + -0.01404875248096471, + -0.00800400317378197 + ], + "commanded_contact_point": [ + -29.495324808251933, + -14.858260064864325, + 0.11886416021519453 + ], + "centerline_face_intersection": [ + -29.46331237464409, + -14.858754528464338, + 0.11877947625602252 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.526363372802734, + -14.864782333374023, + 0.11748722195625305 + ], + "box_pose": [ + -29.40974235534668, + -14.854730606079102, + 0.13602209091186523, + 0.002415331779047847, + -0.008001869544386864, + 0.7120523452758789, + 0.70207679271698 + ], + "box_yaw_rad": 1.584963467696845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034669914575444338 + } + }, + { + "simulation_time_ns": 4480000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46336255490669, + -14.8594661045323, + 0.11831250423246326 + ], + "intended_face_normal": [ + -0.9998648798595215, + -0.014038513555336252, + -0.008551496745505816 + ], + "commanded_contact_point": [ + -29.49193077561221, + -14.858240970513501, + 0.11887497504785062 + ], + "centerline_face_intersection": [ + -29.463377505165756, + -14.85868951699561, + 0.11878555900186072 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.52174186706543, + -14.861255645751953, + 0.11967745423316956 + ], + "box_pose": [ + -29.40981674194336, + -14.854656219482422, + 0.13602501153945923, + 0.002027236856520176, + -0.008003695867955685, + 0.7120499610900879, + 0.702080249786377 + ], + "box_yaw_rad": 1.5849566253007352, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033941035803784943 + } + }, + { + "simulation_time_ns": 4500000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.463428983399517, + -14.859395414117653, + 0.1182870924812259 + ], + "intended_face_normal": [ + -0.9998601160902848, + -0.01402553694713271, + -0.00910448243219214 + ], + "commanded_contact_point": [ + -29.488618777956685, + -14.858214830435434, + 0.11888609880730763 + ], + "centerline_face_intersection": [ + -29.463444460778863, + -14.85861954442564, + 0.11879073751151928 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.51857566833496, + -14.85684585571289, + 0.11961443722248077 + ], + "box_pose": [ + -29.409893035888672, + -14.854576110839844, + 0.13602682948112488, + 0.0016215634532272816, + -0.00799205806106329, + 0.7120464444160461, + 0.7020849585533142 + ], + "box_yaw_rad": 1.5849461193868069, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003312119489377941 + } + }, + { + "simulation_time_ns": 4520000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.463499943270044, + -14.859315219773352, + 0.11825852021523584 + ], + "intended_face_normal": [ + -0.9998541767003333, + -0.014038778088902193, + -0.009715790084159459 + ], + "commanded_contact_point": [ + -29.4853977704247, + -14.858177064052935, + 0.11889857781297586 + ], + "centerline_face_intersection": [ + -29.463516077857893, + -14.8585386176031, + 0.11879598178185477 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.514808654785156, + -14.85605239868164, + 0.11875438690185547 + ], + "box_pose": [ + -29.409975051879883, + -14.854483604431152, + 0.1360282450914383, + 0.0011644444894045591, + -0.00797052588313818, + 0.7120519876480103, + 0.702080488204956 + ], + "box_yaw_rad": 1.5849610957614466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032212531018729683 + } + }, + { + "simulation_time_ns": 4540000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.463579894985607, + -14.859228348682802, + 0.11822813941998846 + ], + "intended_face_normal": [ + -0.9998480812697128, + -0.014017113342047693, + -0.01036604972238006 + ], + "commanded_contact_point": [ + -29.48227800502711, + -14.85813156505181, + 0.1189124573000917 + ], + "centerline_face_intersection": [ + -29.463596704052318, + -14.8584529449708, + 0.1188015722829034 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.50969886779785, + -14.857970237731934, + 0.11874870955944061 + ], + "box_pose": [ + -29.410066604614258, + -14.854385375976562, + 0.1360297054052353, + 0.0006744217243976891, + -0.007944060489535332, + 0.7120450139045715, + 0.7020885944366455 + ], + "box_yaw_rad": 1.5849402554024712, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003120128031873074 + } + }, + { + "simulation_time_ns": 4560000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.463660744137126, + -14.859132087454592, + 0.1181945990416517 + ], + "intended_face_normal": [ + -0.9998403332436365, + -0.014023880839363567, + -0.011062243428226023 + ], + "commanded_contact_point": [ + -29.47926155421242, + -14.858073020997338, + 0.11892717411263706 + ], + "centerline_face_intersection": [ + -29.463678410553598, + -14.858356309375742, + 0.11880654419811898 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.50341796875, + -14.860845565795898, + 0.12131699919700623 + ], + "box_pose": [ + -29.410160064697266, + -14.85427474975586, + 0.13603009283542633, + 0.00013740092981606722, + -0.007903387770056725, + 0.7120476961135864, + 0.7020865082740784 + ], + "box_yaw_rad": 1.5849464733922782, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030170547738339625 + } + }, + { + "simulation_time_ns": 4580000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.463755437224872, + -14.859023478002683, + 0.11815674578173362 + ], + "intended_face_normal": [ + -0.9998314470081628, + -0.014030053873870463, + -0.011836070358687022 + ], + "commanded_contact_point": [ + -29.4763647763043, + -14.857999959067177, + 0.1189434785485163 + ], + "centerline_face_intersection": [ + -29.46377408694666, + -14.858247358441693, + 0.11881149777436502 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.497787475585938, + -14.862906455993652, + 0.12390254437923431 + ], + "box_pose": [ + -29.410268783569336, + -14.85414981842041, + 0.13602982461452484, + -0.0004683805746026337, + -0.007849440909922123, + 0.7120497226715088, + 0.7020849585533142 + ], + "box_yaw_rad": 1.5849504017843925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028977450076291852 + } + }, + { + "simulation_time_ns": 4600000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46385420557816, + -14.858903403475425, + 0.1181139847598098 + ], + "intended_face_normal": [ + -0.9998203913277988, + -0.01406958174661277, + -0.01268973056468864 + ], + "commanded_contact_point": [ + -29.473588282008528, + -14.857910449147184, + 0.11896107926754104 + ], + "centerline_face_intersection": [ + -29.463874078677126, + -14.858125097297368, + 0.11881595983442463 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.493310928344727, + -14.863658905029297, + 0.12408114969730377 + ], + "box_pose": [ + -29.410383224487305, + -14.854009628295898, + 0.13602840900421143, + -0.0011440706439316273, + -0.007782523520290852, + 0.7120628356933594, + 0.7020716071128845 + ], + "box_yaw_rad": 1.5849855170532705, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002777992509987728 + } + }, + { + "simulation_time_ns": 4620000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.463972096116077, + -14.858765528792397, + 0.1180651568359078 + ], + "intended_face_normal": [ + -0.9998077845647915, + -0.01407018009157679, + -0.013654668521994026 + ], + "commanded_contact_point": [ + -29.47095088150817, + -14.85780270518831, + 0.11898079773556056 + ], + "centerline_face_intersection": [ + -29.463993364245315, + -14.857987189514878, + 0.11882051069513315 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.489904403686523, + -14.86351490020752, + 0.12342332303524017 + ], + "box_pose": [ + -29.410518646240234, + -14.853851318359375, + 0.1360262632369995, + -0.0019092658767476678, + -0.0077056437730789185, + 0.7120614051818848, + 0.7020723223686218 + ], + "box_yaw_rad": 1.5849789108023424, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026396740287286257 + } + }, + { + "simulation_time_ns": 4640000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464100984858597, + -14.858608747451088, + 0.11800952138250423 + ], + "intended_face_normal": [ + -0.9997921207642742, + -0.014091553867295659, + -0.014740462425976458 + ], + "commanded_contact_point": [ + -29.468454279825895, + -14.85767166139869, + 0.11900264393403834 + ], + "centerline_face_intersection": [ + -29.464123986326108, + -14.857829225811365, + 0.11882493957902018 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.486526489257812, + -14.862435340881348, + 0.1237315833568573 + ], + "box_pose": [ + -29.410667419433594, + -14.853670120239258, + 0.13602302968502045, + -0.002776901936158538, + -0.007612585090100765, + 0.7120660543441772, + 0.7020657658576965 + ], + "box_yaw_rad": 1.5849891585361562, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025001339346366826 + } + }, + { + "simulation_time_ns": 4660000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464246223329358, + -14.858428305944251, + 0.11794637126415997 + ], + "intended_face_normal": [ + -0.9997728706218734, + -0.014112055818887415, + -0.01597231281441064 + ], + "commanded_contact_point": [ + -29.46611038478853, + -14.85751361872561, + 0.11902754597496984 + ], + "centerline_face_intersection": [ + -29.464271355032842, + -14.857647650170204, + 0.11882993340304943 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.483243942260742, + -14.86025333404541, + 0.12584035098552704 + ], + "box_pose": [ + -29.41083526611328, + -14.853462219238281, + 0.1360192745923996, + -0.0037606293335556984, + -0.0075076608918607235, + 0.7120687365531921, + 0.7020595669746399 + ], + "box_yaw_rad": 1.5849934953148035, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002349349174633021 + } + }, + { + "simulation_time_ns": 4680000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46441511434268, + -14.858221582907149, + 0.11787367484192146 + ], + "intended_face_normal": [ + -0.9997492466199805, + -0.014138584720350789, + -0.017364906307800743 + ], + "commanded_contact_point": [ + -29.46393316301019, + -14.857324887803816, + 0.11905474454713964 + ], + "centerline_face_intersection": [ + -29.46444286035295, + -14.857439459597797, + 0.11883427296801705 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.480789184570312, + -14.85830307006836, + 0.1281815469264984 + ], + "box_pose": [ + -29.411029815673828, + -14.85322380065918, + 0.13601352274417877, + -0.0048827859573066235, + -0.007379157934337854, + 0.7120712399482727, + 0.7020514607429504 + ], + "box_yaw_rad": 1.5849966919680252, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021855557177167468 + } + }, + { + "simulation_time_ns": 4700000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.464605159923085, + -14.857986307233599, + 0.11779106200024717 + ], + "intended_face_normal": [ + -0.9997200140787996, + -0.014175156500861208, + -0.01894794414981632 + ], + "commanded_contact_point": [ + -29.461928496958798, + -14.857102237191555, + 0.11908574749001592 + ], + "centerline_face_intersection": [ + -29.464636140984393, + -14.857202160833355, + 0.11883923118245004 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47971534729004, + -14.857975959777832, + 0.12994727492332458 + ], + "box_pose": [ + -29.4112491607666, + -14.852952003479004, + 0.13600686192512512, + -0.006161825265735388, + -0.0072297584265470505, + 0.7120741605758667, + 0.7020400166511536 + ], + "box_yaw_rad": 1.585000576539406, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020172308879273584 + } + }, + { + "simulation_time_ns": 4720000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46481129615369, + -14.857755900700546, + 0.11770866837820206 + ], + "intended_face_normal": [ + -0.9996850434370452, + -0.014211789093035332, + -0.02068848835960979 + ], + "commanded_contact_point": [ + -29.460099407212777, + -14.856875380113141, + 0.11912764283286982 + ], + "centerline_face_intersection": [ + -29.464846147403488, + -14.856969727845406, + 0.11885312161035476 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47992515563965, + -14.859509468078613, + 0.13082219660282135 + ], + "box_pose": [ + -29.411487579345703, + -14.852685928344727, + 0.13600891828536987, + -0.007479628548026085, + -0.007152815815061331, + 0.7120743989944458, + 0.7020277976989746 + ], + "box_yaw_rad": 1.5849990306275208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018435803895623026 + } + }, + { + "simulation_time_ns": 4740000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46499122774788, + -14.857565972163732, + 0.1176389208815896 + ], + "intended_face_normal": [ + -0.9996522335689904, + -0.014259346728672462, + -0.02218668467029139 + ], + "commanded_contact_point": [ + -29.45841331728634, + -14.856677542439755, + 0.11916655764697398 + ], + "centerline_face_intersection": [ + -29.46502971017725, + -14.856777168498217, + 0.11886625187553694 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.479936599731445, + -14.862667083740234, + 0.13082347810268402 + ], + "box_pose": [ + -29.41169548034668, + -14.852465629577637, + 0.13601206243038177, + -0.008589623495936394, + -0.007110633421689272, + 0.7120785713195801, + 0.7020112872123718 + ], + "box_yaw_rad": 1.5850097458195413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016981028672612914 + } + }, + { + "simulation_time_ns": 4760000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465138526796917, + -14.85740564476571, + 0.11758583688762408 + ], + "intended_face_normal": [ + -0.9996244798214473, + -0.014266434398629624, + -0.02339329989856609 + ], + "commanded_contact_point": [ + -29.45686848243268, + -14.856505137141964, + 0.11920257246885331 + ], + "centerline_face_intersection": [ + -29.4651800809209, + -14.85661644902192, + 0.11887991585628858 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.477663040161133, + -14.8667573928833, + 0.12353898584842682 + ], + "box_pose": [ + -29.411865234375, + -14.85228157043457, + 0.13601738214492798, + -0.009503315202891827, + -0.00705722626298666, + 0.7120694518089294, + 0.7020092010498047 + ], + "box_yaw_rad": 1.5849823139732164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015548425576844597 + } + }, + { + "simulation_time_ns": 4780000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46524592499454, + -14.857283607000038, + 0.11754786325303758 + ], + "intended_face_normal": [ + -0.9996034644308086, + -0.014258701185339895, + -0.024286243760571147 + ], + "commanded_contact_point": [ + -29.455462269478364, + -14.856367226940453, + 0.11923236284117256 + ], + "centerline_face_intersection": [ + -29.46528980509045, + -14.856494839044922, + 0.11889133841108235 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.475082397460938, + -14.86949348449707, + 0.11698013544082642 + ], + "box_pose": [ + -29.411989212036133, + -14.852142333984375, + 0.13602250814437866, + -0.010186404921114445, + -0.007010865490883589, + 0.7120572924613953, + 0.7020125389099121 + ], + "box_yaw_rad": 1.5849464312567838, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014132733503631559 + } + }, + { + "simulation_time_ns": 4800000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465320276174868, + -14.857200531233403, + 0.11752177766980239 + ], + "intended_face_normal": [ + -0.9995881622346241, + -0.014262315094684785, + -0.024900210506040743 + ], + "commanded_contact_point": [ + -29.45420580116698, + -14.856265253446288, + 0.11925469332450864 + ], + "centerline_face_intersection": [ + -29.465365849940245, + -14.85641156336275, + 0.11889921646086245 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47313690185547, + -14.868579864501953, + 0.1141899824142456 + ], + "box_pose": [ + -29.41207504272461, + -14.852046966552734, + 0.1360260397195816, + -0.010655930265784264, + -0.006979156285524368, + 0.7120516896247864, + 0.7020114660263062 + ], + "box_yaw_rad": 1.5849296367097752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012607973118252977 + } + }, + { + "simulation_time_ns": 4820000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465364817386405, + -14.8571516788457, + 0.11750634926399064 + ], + "intended_face_normal": [ + -0.9995787220696047, + -0.014265841296511539, + -0.025271605603681357 + ], + "commanded_contact_point": [ + -29.453107257380598, + -14.856197545379091, + 0.1192704081731503 + ], + "centerline_face_intersection": [ + -29.465411436015998, + -14.856362515911348, + 0.1189043330224989 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.471866607666016, + -14.864723205566406, + 0.11424615979194641 + ], + "box_pose": [ + -29.412126541137695, + -14.851990699768066, + 0.13602854311466217, + -0.010938052088022232, + -0.006961851846426725, + 0.7120486497879028, + 0.7020103335380554 + ], + "box_yaw_rad": 1.5849205297280267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001100740564090269 + } + }, + { + "simulation_time_ns": 4840000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465382803231883, + -14.857130259809415, + 0.11750022797862465 + ], + "intended_face_normal": [ + -0.9995749720178554, + -0.01425308637104572, + -0.025436157401410475 + ], + "commanded_contact_point": [ + -29.45217534801244, + -14.856160198263325, + 0.11928031961461318 + ], + "centerline_face_intersection": [ + -29.46542983693057, + -14.856341802456612, + 0.11890731447260078 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47020721435547, + -14.862042427062988, + 0.11696022748947144 + ], + "box_pose": [ + -29.412147521972656, + -14.851966857910156, + 0.1360303908586502, + -0.01106100995093584, + -0.006956163793802261, + 0.7120422720909119, + 0.7020151019096375 + ], + "box_yaw_rad": 1.5849022162152346, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009327100911807775 + } + }, + { + "simulation_time_ns": 4860000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465381450949764, + -14.857133638694316, + 0.11750249538614245 + ], + "intended_face_normal": [ + -0.9995757456033556, + -0.014236762775280853, + -0.025410667199650572 + ], + "commanded_contact_point": [ + -29.451423270747284, + -14.856150849061844, + 0.11928445706528792 + ], + "centerline_face_intersection": [ + -29.465428399025125, + -14.85634608433605, + 0.11890817180397935 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.468015670776367, + -14.860422134399414, + 0.12133148312568665 + ], + "box_pose": [ + -29.412145614624023, + -14.851971626281738, + 0.13603143393993378, + -0.01104121282696724, + -0.006957747042179108, + 0.7120368480682373, + 0.7020208239555359 + ], + "box_yaw_rad": 1.5848868089304355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007521467535187572 + } + }, + { + "simulation_time_ns": 4880000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.46535334681154, + -14.857169881471785, + 0.11751414450769689 + ], + "intended_face_normal": [ + -0.9995814909075372, + -0.014245032535017632, + -0.02517725565136575 + ], + "commanded_contact_point": [ + -29.450849954482106, + -14.856176281128155, + 0.11928239342869043 + ], + "centerline_face_intersection": [ + -29.465399658977283, + -14.856381869643977, + 0.11890690898164435 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46491813659668, + -14.85813045501709, + 0.12482509016990662 + ], + "box_pose": [ + -29.412113189697266, + -14.852012634277344, + 0.13603198528289795, + -0.010850108228623867, + -0.0069822510704398155, + 0.7120426893234253, + 0.702017605304718 + ], + "box_yaw_rad": 1.58490410648706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005738837761352291 + } + }, + { + "simulation_time_ns": 4900000000, + "phase": "normal_approach", + "intended_face_center": [ + -29.465310573900634, + -14.857222814727699, + 0.11753138847645794 + ], + "intended_face_normal": [ + -0.9995907537255198, + -0.014234028515170749, + -0.024815461837323027 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.856223887045513, + 0.11927582969929425 + ], + "centerline_face_intersection": [ + -29.46535586083418, + -14.856435411624215, + 0.11890413911021289 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46091079711914, + -14.85463809967041, + 0.1270262449979782 + ], + "box_pose": [ + -29.412063598632812, + -14.852073669433594, + 0.1360318809747696, + -0.010565446689724922, + -0.007008792366832495, + 0.7120431065559387, + 0.7020213007926941 + ], + "box_yaw_rad": 1.5849060030113222, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00037882192246572495 + } + }, + { + "simulation_time_ns": 4920000000, + "phase": "straight_push", + "intended_face_center": [ + -29.465254508565167, + -14.857286909272103, + 0.11755291767275727 + ], + "intended_face_normal": [ + -0.9996025299731741, + -0.014218473745634563, + -0.02434919322544038 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.856718061046802, + 0.11889987509191652 + ], + "centerline_face_intersection": [ + -29.46529849208747, + -14.856500366632948, + 0.11889987509191652 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.457664489746094, + -14.851058006286621, + 0.12795023620128632 + ], + "box_pose": [ + -29.411998748779297, + -14.852148056030273, + 0.13603098690509796, + -0.010203231126070023, + -0.007038419600576162, + 0.7120429277420044, + 0.7020266056060791 + ], + "box_yaw_rad": 1.5849062861112087, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00021769441385309564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006209265740480993 + } + }, + { + "simulation_time_ns": 4940000000, + "phase": "straight_push", + "intended_face_center": [ + -29.46519365719793, + -14.857365976862836, + 0.1175786542553705 + ], + "intended_face_normal": [ + -0.9996147187572676, + -0.0142329864936106, + -0.0238231032291078 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857091270388626, + 0.11889650923909605 + ], + "centerline_face_intersection": [ + -29.465236291665065, + -14.856578631402275, + 0.11889650923909605 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45606803894043, + -14.849205017089844, + 0.12812356650829315 + ], + "box_pose": [ + -29.411928176879883, + -14.852237701416016, + 0.13603158295154572, + -0.009780541062355042, + -0.007085711229592562, + 0.7120539546012878, + 0.7020207643508911 + ], + "box_yaw_rad": 1.5849389954786246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005126389863503533, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00037322451927709893 + } + }, + { + "simulation_time_ns": 4960000000, + "phase": "straight_push", + "intended_face_center": [ + -29.46511752462852, + -14.857453503170081, + 0.11760737549213096 + ], + "intended_face_normal": [ + -0.9996296074734222, + -0.014234839960516998, + -0.02319983420874705 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857419037849324, + 0.11889075225625662 + ], + "centerline_face_intersection": [ + -29.46515851123422, + -14.856666055178772, + 0.11889075225625662 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.456470489501953, + -14.85065746307373, + 0.12816056609153748 + ], + "box_pose": [ + -29.411840438842773, + -14.852337837219238, + 0.13603031635284424, + -0.009295141324400902, + -0.0071265557780861855, + 0.7120611071586609, + 0.7020198702812195 + ], + "box_yaw_rad": 1.5849604890787208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007529826705520293, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032781801528267797 + } + }, + { + "simulation_time_ns": 4980000000, + "phase": "straight_push", + "intended_face_center": [ + -29.465035339477808, + -14.857555320791544, + 0.11764009563924818 + ], + "intended_face_normal": [ + -0.9996457865290923, + -0.014233591484906327, + -0.022490755324487466 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85763316442576, + 0.11888424732289254 + ], + "centerline_face_intersection": [ + -29.465074535437004, + -14.856767941863858, + 0.11888424732289254 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45875358581543, + -14.853961944580078, + 0.12514938414096832 + ], + "box_pose": [ + -29.411745071411133, + -14.85245418548584, + 0.13602890074253082, + -0.00874288845807314, + -0.007173049729317427, + 0.7120676636695862, + 0.7020198106765747 + ], + "box_yaw_rad": 1.5849804622385033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008652225619032094, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00021422536006351046 + } + }, + { + "simulation_time_ns": 5000000000, + "phase": "straight_push", + "intended_face_center": [ + -29.4649359803927, + -14.857671929444015, + 0.11767880056466617 + ], + "intended_face_normal": [ + -0.9996633744526252, + -0.014250382331006728, + -0.021672577143414307 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857809024918575, + 0.1188776919737303 + ], + "centerline_face_intersection": [ + -29.46497322980926, + -14.856883621674271, + 0.1188776919737303 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.462934494018555, + -14.855379104614258, + 0.12083931267261505 + ], + "box_pose": [ + -29.411630630493164, + -14.85258674621582, + 0.1360282301902771, + -0.008102426305413246, + -0.00722990557551384, + 0.7120811343193054, + 0.7020130753517151 + ], + "box_yaw_rad": 1.5850204495092395, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009254032443037374, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017598262850595606 + } + }, + { + "simulation_time_ns": 5020000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464820081965907, + -14.85780275883812, + 0.1177233598903441 + ], + "intended_face_normal": [ + -0.9996838552436762, + -0.014234391750342246, + -0.02072586097740814 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85800431892478, + 0.11886988051439562 + ], + "centerline_face_intersection": [ + -29.46485506471502, + -14.857015335641064, + 0.11886988051439562 + ], + "commanded_world_base_velocity": [ + 0.015144032921810602, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.467248916625977, + -14.855425834655762, + 0.11982238292694092 + ], + "box_pose": [ + -29.411497116088867, + -14.852737426757812, + 0.13602706789970398, + -0.007371800020337105, + -0.0072853704914450645, + 0.7120834589004517, + 0.7020183205604553 + ], + "box_yaw_rad": 1.585028665989604, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009889832837158253, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001954501669381305 + } + }, + { + "simulation_time_ns": 5040000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464688038611328, + -14.857953771902707, + 0.11777513189681792 + ], + "intended_face_normal": [ + -0.9997063440919839, + -0.014239638850497283, + -0.019611952575310287 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85830704814089, + 0.11886003293567093 + ], + "centerline_face_intersection": [ + -29.46472053250909, + -14.85716605844468, + 0.11886003293567093 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46898078918457, + -14.853365898132324, + 0.11910589039325714 + ], + "box_pose": [ + -29.411344528198242, + -14.852910041809082, + 0.13602487742900848, + -0.006521970499306917, + -0.007340957876294851, + 0.7120935916900635, + 0.7020159363746643 + ], + "box_yaw_rad": 1.5850591625261996, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001140989696210042, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000302889341334364 + } + }, + { + "simulation_time_ns": 5060000000, + "phase": "straight_push", + "intended_face_center": [ + -29.46453260090333, + -14.858127033263422, + 0.11783536709908969 + ], + "intended_face_normal": [ + -0.9997312247855776, + -0.01420879034345246, + -0.01832487450841891 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.858744475706716, + 0.11884906909100981 + ], + "centerline_face_intersection": [ + -29.464562341308365, + -14.857341026294188, + 0.11884906909100981 + ], + "commanded_world_base_velocity": [ + 0.02761744855967067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.469472885131836, + -14.85077953338623, + 0.1209694892168045 + ], + "box_pose": [ + -29.411165237426758, + -14.853110313415527, + 0.13602271676063538, + -0.005538695026189089, + -0.007406535558402538, + 0.7120910882949829, + 0.7020262479782104 + ], + "box_yaw_rad": 1.585054002872764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014034494125283459, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004375649451616284 + } + }, + { + "simulation_time_ns": 5080000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464356146758195, + -14.858328501238717, + 0.11790529351552194 + ], + "intended_face_normal": [ + -0.9997577508009292, + -0.014194357380111766, + -0.016822671971618852 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859317237529867, + 0.11883589612779163 + ], + "centerline_face_intersection": [ + -29.464382951661783, + -14.857543292677335, + 0.11883589612779163 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46990203857422, + -14.848280906677246, + 0.12374943494796753 + ], + "box_pose": [ + -29.410961151123047, + -14.853342056274414, + 0.13601970672607422, + -0.004393307026475668, + -0.007480894681066275, + 0.7120940089225769, + 0.7020305395126343 + ], + "box_yaw_rad": 1.585064621937427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017739448525318836, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005729132857758405 + } + }, + { + "simulation_time_ns": 5100000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464149544676552, + -14.858560515286529, + 0.11798590296862062 + ], + "intended_face_normal": [ + -0.9997856653547754, + -0.014177151115932762, + -0.015086583579502072 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859909952167174, + 0.11882046801946364 + ], + "centerline_face_intersection": [ + -29.46417326050021, + -14.857776258547451, + 0.11882046801946364 + ], + "commanded_world_base_velocity": [ + 0.04223999999999988, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.470256805419922, + -14.848782539367676, + 0.12365393340587616 + ], + "box_pose": [ + -29.410722732543945, + -14.853609085083008, + 0.1360159069299698, + -0.0030699658673256636, + -0.00756649998947978, + 0.7120949029922485, + 0.7020357251167297 + ], + "box_yaw_rad": 1.5850698961553653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021336936197229052, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000592915396835271 + } + }, + { + "simulation_time_ns": 5120000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463906320895568, + -14.858831694151974, + 0.1180790125785342 + ], + "intended_face_normal": [ + -0.9998149465261271, + -0.014144260245489981, + -0.01305399837302662 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.860272628601589, + 0.11880113835064683 + ], + "centerline_face_intersection": [ + -29.463926796499393, + -14.858049256881884, + 0.11880113835064683 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.471019744873047, + -14.855807304382324, + 0.11968512833118439 + ], + "box_pose": [ + -29.410442352294922, + -14.853921890258789, + 0.13601002097129822, + -0.0015221459325402975, + -0.007665315642952919, + 0.7120883464813232, + 0.7020465135574341 + ], + "box_yaw_rad": 1.58505447424351, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022233717197052984, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00036319117855013097 + } + }, + { + "simulation_time_ns": 5140000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463625218141896, + -14.859148539096863, + 0.11818679678124519 + ], + "intended_face_normal": [ + -0.9998434673199547, + -0.014111609457240437, + -0.010678340979140874 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.860400696982841, + 0.11877750508410337 + ], + "centerline_face_intersection": [ + -29.463642537759615, + -14.85836790801481, + 0.11877750508410337 + ], + "commanded_world_base_velocity": [ + 0.0580003292181069, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47099494934082, + -14.86313247680664, + 0.11707836389541626 + ], + "box_pose": [ + -29.410118103027344, + -14.854287147521973, + 0.13600189983844757, + 0.00028769572963938117, + -0.00778165552765131, + 0.7120784521102905, + 0.7020567655563354 + ], + "box_yaw_rad": 1.5850302733732025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002032788968032051, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001302307243480735 + } + }, + { + "simulation_time_ns": 5160000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463300302211277, + -14.859523309637158, + 0.11831214783999403 + ], + "intended_face_normal": [ + -0.9998690037008744, + -0.014102812228275141, + -0.007961719983722304 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.860466791009037, + 0.11875257712658485 + ], + "centerline_face_intersection": [ + -29.463314796161345, + -14.858743165203377, + 0.11875257712658485 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.47015380859375, + -14.866472244262695, + 0.11744764447212219 + ], + "box_pose": [ + -29.409744262695312, + -14.854717254638672, + 0.1359947770833969, + 0.00238761305809021, + -0.00794457271695137, + 0.712071418762207, + 0.7020581364631653 + ], + "box_yaw_rad": 1.5850159534528343, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00172362580565931, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 7.063868178790772e-05 + } + }, + { + "simulation_time_ns": 5180000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463222341666945, + -14.859615834992484, + 0.11836642856804558 + ], + "intended_face_normal": [ + -0.9998739795830339, + -0.014090056869630052, + -0.007312860879894634 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.860298075594764, + 0.11877096403360515 + ], + "centerline_face_intersection": [ + -29.463236285030984, + -14.858836396164216, + 0.11877096403360515 + ], + "commanded_world_base_velocity": [ + 0.07388707818930032, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46929168701172, + -14.865385055541992, + 0.11780956387519836 + ], + "box_pose": [ + -29.40965461730957, + -14.85482406616211, + 0.13601748645305634, + 0.002899263286963105, + -0.007993501611053944, + 0.7120650410652161, + 0.7020620107650757 + ], + "box_yaw_rad": 1.5849995159471761, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014616794305482726, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00016971437582838367 + } + }, + { + "simulation_time_ns": 5200000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463286948779746, + -14.859558473436268, + 0.11834263735508137 + ], + "intended_face_normal": [ + -0.9998697953160114, + -0.014105903992697177, + -0.00785664256019658 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.86010903775619, + 0.1187772539310048 + ], + "centerline_face_intersection": [ + -29.463301355136675, + -14.858778157971152, + 0.1187772539310048 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.469688415527344, + -14.862048149108887, + 0.11608576774597168 + ], + "box_pose": [ + -29.40972900390625, + -14.854757308959961, + 0.13602082431316376, + 0.0025293719954788685, + -0.008010542020201683, + 0.7120720148086548, + 0.7020562887191772 + ], + "box_yaw_rad": 1.585019818590456, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001330879785038874, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018914245219400487 + } + }, + { + "simulation_time_ns": 5220000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463351423198713, + -14.85949609597442, + 0.11831806601871023 + ], + "intended_face_normal": [ + -0.9998648697641123, + -0.014123190538918973, + -0.00840514157568062 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859931139346997, + 0.11878302466023999 + ], + "centerline_face_intersection": [ + -29.463366374574854, + -14.85871482424593, + 0.11878302466023999 + ], + "commanded_world_base_velocity": [ + 0.08888888888888882, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.469667434692383, + -14.861578941345215, + 0.11577101051807404 + ], + "box_pose": [ + -29.40980339050293, + -14.854684829711914, + 0.13602347671985626, + 0.0021447641775012016, + -0.00801638513803482, + 0.7120793461799622, + 0.7020499110221863 + ], + "box_yaw_rad": 1.5850407833561466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012163151010674508, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017799198102541985 + } + }, + { + "simulation_time_ns": 5240000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463415981386614, + -14.859429873382863, + 0.11829322788787992 + ], + "intended_face_normal": [ + -0.9998599772883616, + -0.014148998385016709, + -0.008946674077011885 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859674387664684, + 0.11878814321888317 + ], + "centerline_face_intersection": [ + -29.4634314741247, + -14.85864717400667, + 0.11878814321888317 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.467775344848633, + -14.863374710083008, + 0.11810733377933502 + ], + "box_pose": [ + -29.40987777709961, + -14.854607582092285, + 0.13602536916732788, + 0.0017530354671180248, + -0.00801028497517109, + 0.712089478969574, + 0.7020409107208252 + ], + "box_yaw_rad": 1.5850693393781512, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010272136580139343, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002568026986096289 + } + }, + { + "simulation_time_ns": 5260000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463487497626517, + -14.859354058233674, + 0.11826557468711844 + ], + "intended_face_normal": [ + -0.9998546002784949, + -0.014132407122349422, + -0.009534872792961613 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.859330221654275, + 0.11879302820602192 + ], + "centerline_face_intersection": [ + -29.46350358534424, + -14.85857227665891, + 0.11879302820602192 + ], + "commanded_world_base_velocity": [ + 0.10199440329218103, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.464296340942383, + -14.865303993225098, + 0.12165454030036926 + ], + "box_pose": [ + -29.40995979309082, + -14.854521751403809, + 0.13602663576602936, + 0.0013184339040890336, + -0.00799489114433527, + 0.7120845913887024, + 0.7020468711853027 + ], + "box_yaw_rad": 1.5850548021415045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007579449953664149, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00034420067667025354 + } + }, + { + "simulation_time_ns": 5280000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463561978431883, + -14.85927002036451, + 0.11823575457003072 + ], + "intended_face_normal": [ + -0.9998485051992879, + -0.014132380046064874, + -0.010165459391225207 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85894559343447, + 0.11879809110493762 + ], + "centerline_face_intersection": [ + -29.463578740589302, + -14.858488240287562, + 0.11879809110493762 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.460777282714844, + -14.866003036499023, + 0.1252274513244629 + ], + "box_pose": [ + -29.410045623779297, + -14.854425430297852, + 0.13602766394615173, + 0.000840288121253252, + -0.007966252975165844, + 0.7120853066444397, + 0.7020472884178162 + ], + "box_yaw_rad": 1.5850557927124331, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00045735314690794807, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003846615400792493 + } + }, + { + "simulation_time_ns": 5300000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463641282400843, + -14.859176317558942, + 0.11820338387740878 + ], + "intended_face_normal": [ + -0.9998414367859328, + -0.014127270024191452, + -0.010845829474832688 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.858559288745164, + 0.11880335736904785 + ], + "centerline_face_intersection": [ + -29.463658826705586, + -14.85839482016002, + 0.11880335736904785 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.458396911621094, + -14.865716934204102, + 0.1263853758573532 + ], + "box_pose": [ + -29.410137176513672, + -14.854318618774414, + 0.13602852821350098, + 0.00032167768222279847, + -0.007932700216770172, + 0.7120839357376099, + 0.7020494937896729 + ], + "box_yaw_rad": 1.5850506856961795, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00016446858514470333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00038634058357509465 + } + }, + { + "simulation_time_ns": 5320000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463730897727057, + -14.859071788138705, + 0.11816683701097698 + ], + "intended_face_normal": [ + -0.9998333412283954, + -0.014114974470005759, + -0.011589388523856214 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.858207457969868, + 0.11880794296924 + ], + "centerline_face_intersection": [ + -29.4637493378434, + -14.858290970909666, + 0.11880794296924 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.4574031829834, + -14.864490509033203, + 0.12640993297100067 + ], + "box_pose": [ + -29.410240173339844, + -14.854199409484863, + 0.13602811098098755, + -0.00025989703135564923, + -0.007881467230618, + 0.712079644203186, + 0.702054500579834 + ], + "box_yaw_rad": 1.5850366953095956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 8.351293979679073e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00035186065732676416 + } + }, + { + "simulation_time_ns": 5340000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463828676814117, + -14.85895499519891, + 0.11812657684195968 + ], + "intended_face_normal": [ + -0.9998233081688104, + -0.014110349531104793, + -0.012404017336550908 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857923154879495, + 0.11881274672956772 + ], + "centerline_face_intersection": [ + -29.463848227145863, + -14.858174433813904, + 0.11881274672956772 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45628547668457, + -14.8623685836792, + 0.12722758948802948 + ], + "box_pose": [ + -29.41035270690918, + -14.854065895080566, + 0.13602736592292786, + -0.0009005480096675456, + -0.007821863517165184, + 0.7120774984359741, + 0.7020565867424011 + ], + "box_yaw_rad": 1.5850285702850486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002512789344086034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00028434367112511734 + } + }, + { + "simulation_time_ns": 5360000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463939720420534, + -14.858822831970114, + 0.11808077352926727 + ], + "intended_face_normal": [ + -0.9998118766942369, + -0.01411031795477502, + -0.013327722710022444 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857745008509474, + 0.11881804128259905 + ], + "centerline_face_intersection": [ + -29.463960535723878, + -14.858042272331858, + 0.11881804128259905 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45503044128418, + -14.85919189453125, + 0.1289934366941452 + ], + "box_pose": [ + -29.410480499267578, + -14.853914260864258, + 0.1360262781381607, + -0.0016317764529958367, + -0.007749536074697971, + 0.7120761871337891, + 0.7020577192306519 + ], + "box_yaw_rad": 1.5850224270078879, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002972638223842953, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00017822503035145907 + } + }, + { + "simulation_time_ns": 5380000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464062092366444, + -14.858673034712622, + 0.11802930600400288 + ], + "intended_face_normal": [ + -0.999797066107517, + -0.014142979674080403, + -0.01434935149227723 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857650608338961, + 0.11882308858536794 + ], + "centerline_face_intersection": [ + -29.46408454658499, + -14.857890668281643, + 0.11882308858536794 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45461082458496, + -14.856460571289062, + 0.13015738129615784 + ], + "box_pose": [ + -29.410621643066406, + -14.853740692138672, + 0.1360241025686264, + -0.0024506933987140656, + -0.007659438997507095, + 0.7120853066444397, + 0.7020469307899475 + ], + "box_yaw_rad": 1.5850454861101253, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000240059942681086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 9.453500652159503e-05 + } + }, + { + "simulation_time_ns": 5400000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464198944976285, + -14.85850039920515, + 0.11796958572068833 + ], + "intended_face_normal": [ + -0.9997792070814924, + -0.014166381571037556, + -0.015518180439192175 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857545883999578, + 0.11882802600168223 + ], + "centerline_face_intersection": [ + -29.464223375477612, + -14.857716738219626, + 0.11882802600168223 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.455801010131836, + -14.855986595153809, + 0.12986549735069275 + ], + "box_pose": [ + -29.41077995300293, + -14.853541374206543, + 0.13602066040039062, + -0.0033926484175026417, + -0.0075514595955610275, + 0.7120896577835083, + 0.7020397186279297 + ], + "box_yaw_rad": 1.58505445811282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00017085422004839792, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00010484066643800006 + } + }, + { + "simulation_time_ns": 5420000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464357519774822, + -14.858305822125763, + 0.11790108397284585 + ], + "intended_face_normal": [ + -0.9997572164752719, + -0.014212098367968995, + -0.016845889089210198 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.857318546687948, + 0.11883297091796803 + ], + "centerline_face_intersection": [ + -29.46438438380879, + -14.857519632162042, + 0.11883297091796803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.458589553833008, + -14.858275413513184, + 0.12882187962532043 + ], + "box_pose": [ + -29.41096305847168, + -14.853315353393555, + 0.13601598143577576, + -0.004465137142688036, + -0.0074263568967580795, + 0.7120997905731201, + 0.7020248770713806 + ], + "box_yaw_rad": 1.5850794537663029, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00020108547409407188, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022739108482128592 + } + }, + { + "simulation_time_ns": 5440000000, + "phase": "straight_push", + "intended_face_center": [ + -29.4645392636768, + -14.858081693438006, + 0.11782206926292813 + ], + "intended_face_normal": [ + -0.9997298432231394, + -0.014252266594261487, + -0.018362206900629896 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.856855843415904, + 0.11883783642153357 + ], + "centerline_face_intersection": [ + -29.464569156974576, + -14.857293281433911, + 0.11883783642153357 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.461156845092773, + -14.863202095031738, + 0.12821608781814575 + ], + "box_pose": [ + -29.41117286682129, + -14.853055953979492, + 0.13600975275039673, + -0.005690477322787046, + -0.007283081766217947, + 0.7121051549911499, + 0.7020120024681091 + ], + "box_yaw_rad": 1.5850904353935458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00043743801800715724, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004627288526611174 + } + }, + { + "simulation_time_ns": 5460000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464745565256834, + -14.85784101409868, + 0.11773690516498185 + ], + "intended_face_normal": [ + -0.9996960850466223, + -0.014283960164281462, + -0.02009662099688131 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.856132490082702, + 0.11884861726571372 + ], + "centerline_face_intersection": [ + -29.464779194520997, + -14.857050848858291, + 0.11884861726571372 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.46097183227539, + -14.869073867797852, + 0.12139308452606201 + ], + "box_pose": [ + -29.41141128540039, + -14.852778434753418, + 0.1360083967447281, + -0.0070357415825128555, + -0.007174801547080278, + 0.7121042609214783, + 0.7020018696784973 + ], + "box_yaw_rad": 1.5850847241908146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009183587755895676, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007234336674879898 + } + }, + { + "simulation_time_ns": 5480000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464933628081756, + -14.857640785207458, + 0.11766350444605367 + ], + "intended_face_normal": [ + -0.9996624489504389, + -0.01434117122190992, + -0.0216701526956119 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.855293288459725, + 0.1188622617386432 + ], + "centerline_face_intersection": [ + -29.464970979927372, + -14.856847455145228, + 0.1188622617386432 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.460060119628906, + -14.872742652893066, + 0.11559171974658966 + ], + "box_pose": [ + -29.41162872314453, + -14.852545738220215, + 0.13601154088974, + -0.008205252699553967, + -0.0071268812753260136, + 0.7121118307113647, + 0.7019820213317871 + ], + "box_yaw_rad": 1.585104937008982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015541666855030914, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008393125375262657 + } + }, + { + "simulation_time_ns": 5500000000, + "phase": "straight_push", + "intended_face_center": [ + -29.46508854590637, + -14.85747285939116, + 0.1176034494830511 + ], + "intended_face_normal": [ + -0.9996325557195987, + -0.014398331934773578, + -0.022967955661747363 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.854520061267499, + 0.1188739991064032 + ], + "centerline_face_intersection": [ + -29.46512920620738, + -14.85667636729208, + 0.1188739991064032 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45948028564453, + -14.871729850769043, + 0.11412197351455688 + ], + "box_pose": [ + -29.411808013916016, + -14.852350234985352, + 0.13601447641849518, + -0.009175597690045834, + -0.007081750314682722, + 0.7121200561523438, + 0.7019620537757874 + ], + "box_yaw_rad": 1.5851271378446063, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002156306024581625, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007733162720390734 + } + }, + { + "simulation_time_ns": 5520000000, + "phase": "straight_push", + "intended_face_center": [ + -29.465207482363624, + -14.857339447693148, + 0.1175618360724108 + ], + "intended_face_normal": [ + -0.9996094807944259, + -0.014394877303423925, + -0.023957694712160693 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.853970794019995, + 0.11888713643615266 + ], + "centerline_face_intersection": [ + -29.465250696566702, + -14.856543146698606, + 0.11888713643615266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45899200439453, + -14.866944313049316, + 0.1151854544878006 + ], + "box_pose": [ + -29.411945343017578, + -14.852197647094727, + 0.136020690202713, + -0.00992942601442337, + -0.007033686153590679, + 0.7121087312698364, + 0.7019638419151306 + ], + "box_yaw_rad": 1.5850935776775958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0025723526786100596, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005494243338378084 + } + }, + { + "simulation_time_ns": 5540000000, + "phase": "straight_push", + "intended_face_center": [ + -29.465291606227773, + -14.857244560969393, + 0.11753181567410995 + ], + "intended_face_normal": [ + -0.9995921341258905, + -0.01441202926424312, + -0.024658065566165455 + ], + "commanded_contact_point": [ + -29.45047419306441, + -14.85360606411997, + 0.1188958594043868 + ], + "centerline_face_intersection": [ + -29.465336740375918, + -14.856447311156519, + 0.1188958594043868 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.458171844482422, + -14.86316967010498, + 0.11765420436859131 + ], + "box_pose": [ + -29.41204261779785, + -14.85208797454834, + 0.13602444529533386, + -0.010466441512107849, + -0.006996180862188339, + 0.7121070623397827, + 0.7019580602645874 + ], + "box_yaw_rad": 1.5850878264185253, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002841247036548538, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003648341954182728 + } + }, + { + "simulation_time_ns": 5560000000, + "phase": "straight_push", + "intended_face_center": [ + -29.465344217906022, + -14.857184641736398, + 0.11751338019993621 + ], + "intended_face_normal": [ + -0.9995806706326955, + -0.014431997118112383, + -0.025103532109433058 + ], + "commanded_contact_point": [ + -29.44986831665039, + -14.853385780792909, + 0.11890206640850325 + ], + "centerline_face_intersection": [ + -29.465390620862323, + -14.856386287334608, + 0.11890206640850325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.457117080688477, + -14.860367774963379, + 0.12072370946407318 + ], + "box_pose": [ + -29.4121036529541, + -14.852018356323242, + 0.136027529835701, + -0.010804117657244205, + -0.00697618443518877, + 0.7121090292930603, + 0.7019510865211487 + ], + "box_yaw_rad": 1.5850929110492904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0030005065416993664, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00064470884912788 + } + }, + { + "simulation_time_ns": 5580000000, + "phase": "straight_push", + "intended_face_center": [ + -29.46537044113083, + -14.857154565372623, + 0.11750468696881845 + ], + "intended_face_normal": [ + -0.9995748383355234, + -0.01443194035955786, + -0.02533339834287346 + ], + "commanded_contact_point": [ + -29.448119277954103, + -14.853319985735402, + 0.11890608900027458 + ], + "centerline_face_intersection": [ + -29.465417489625988, + -14.856356214110626, + 0.11890608900027458 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.455463409423828, + -14.85724925994873, + 0.12383472919464111 + ], + "box_pose": [ + -29.412134170532227, + -14.851984024047852, + 0.13602998852729797, + -0.010974321514368057, + -0.006969831418246031, + 0.7121064066886902, + 0.7019511461257935 + ], + "box_yaw_rad": 1.5850852836611868, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0030362283752235447, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017502804152345049 + } + }, + { + "simulation_time_ns": 5600000000, + "phase": "straight_push", + "intended_face_center": [ + -29.46537728507787, + -14.857148734996287, + 0.11750385938683014 + ], + "intended_face_normal": [ + -0.9995740507934319, + -0.014429276652567324, + -0.0253769044846619 + ], + "commanded_contact_point": [ + -29.446452255249024, + -14.853438685282537, + 0.11890766810666883 + ], + "centerline_face_intersection": [ + -29.4654244207412, + -14.856350531086187, + 0.11890766810666883 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45242691040039, + -14.853240966796875, + 0.1268991380929947 + ], + "box_pose": [ + -29.412141799926758, + -14.851977348327637, + 0.13603122532367706, + -0.011010273359715939, + -0.0069649359211325645, + 0.7121049165725708, + 0.701952338218689 + ], + "box_yaw_rad": 1.5850809031292963, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002911845803651048, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016712440801131176 + } + }, + { + "simulation_time_ns": 5620000000, + "phase": "straight_push", + "intended_face_center": [ + -29.465360831730155, + -14.857169621971504, + 0.1175110230829217 + ], + "intended_face_normal": [ + -0.9995773325005392, + -0.014432058184557173, + -0.025235309143635476 + ], + "commanded_contact_point": [ + -29.444777603149415, + -14.853754994663642, + 0.11890699898081235 + ], + "centerline_face_intersection": [ + -29.465407604162028, + -14.85637126419162, + 0.11890699898081235 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.44915008544922, + -14.848981857299805, + 0.1292567104101181 + ], + "box_pose": [ + -29.41212272644043, + -14.852001190185547, + 0.1360316425561905, + -0.0108955018222332, + -0.00697864405810833, + 0.7121076583862305, + 0.7019510269165039 + ], + "box_yaw_rad": 1.5850890848231123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0026162695279784037, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017042628104346968 + } + }, + { + "simulation_time_ns": 5640000000, + "phase": "straight_push", + "intended_face_center": [ + -29.465326082667424, + -14.85721095280653, + 0.11752496530014808 + ], + "intended_face_normal": [ + -0.999584532507215, + -0.014425094840940123, + -0.024953472668329812 + ], + "commanded_contact_point": [ + -29.443110580444337, + -14.854208129505677, + 0.11890535046663797 + ], + "centerline_face_intersection": [ + -29.46537205818015, + -14.856412980227391, + 0.11890535046663797 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.446969985961914, + -14.8461275100708, + 0.12998948991298676 + ], + "box_pose": [ + -29.41208267211914, + -14.852048873901367, + 0.1360321044921875, + -0.010671084746718407, + -0.007001928053796291, + 0.7121086120605469, + 0.7019532918930054 + ], + "box_yaw_rad": 1.5850924244764404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022048507217147777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001727512258107239 + } + }, + { + "simulation_time_ns": 5660000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464470822417187, + -14.857282683176974, + 0.11790242828672758 + ], + "intended_face_normal": [ + -0.9996564418356819, + -0.01606294123167573, + -0.02070875587045018 + ], + "commanded_contact_point": [ + -29.441407318115235, + -14.85459416061023, + 0.11904800268432678 + ], + "centerline_face_intersection": [ + -29.46450883909672, + -14.856394107622737, + 0.11904800268432678 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.446352005004883, + -14.846271514892578, + 0.12903788685798645 + ], + "box_pose": [ + -29.411157608032227, + -14.852054595947266, + 0.13618876039981842, + -0.008711706846952438, + -0.005954969674348831, + 0.7127100229263306, + 0.7013793587684631 + ], + "box_yaw_rad": 1.5867792171841046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017999470125084121, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001752276299739863 + } + }, + { + "simulation_time_ns": 5680000000, + "phase": "straight_push", + "intended_face_center": [ + -29.464225024956228, + -14.857997492219443, + 0.11777794660851326 + ], + "intended_face_normal": [ + -0.9996627845525604, + -0.01730771595312519, + -0.019357257040865716 + ], + "commanded_contact_point": [ + -29.43969451904297, + -14.85554203014586, + 0.11884875830828345 + ], + "centerline_face_intersection": [ + -29.464262339659395, + -14.857040057769934, + 0.11884875830828345 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.44708251953125, + -14.849492073059082, + 0.1260019838809967 + ], + "box_pose": [ + -29.410892486572266, + -14.852799415588379, + 0.13601642847061157, + -0.006226139608770609, + -0.007452046498656273, + 0.7131725549697876, + 0.7009212374687195 + ], + "box_yaw_rad": 1.5881384701296737, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014980276240743257, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001967698056083902 + } + }, + { + "simulation_time_ns": 5700000000, + "phase": "straight_push", + "intended_face_center": [ + -29.463779444519556, + -14.858488969679444, + 0.11795491410330196 + ], + "intended_face_normal": [ + -0.9997298190694769, + -0.01722290361178125, + -0.015609876082808727 + ], + "commanded_contact_point": [ + -29.438023681640626, + -14.856271922226558, + 0.11881842683685435 + ], + "centerline_face_intersection": [ + -29.463809340490332, + -14.857536226909506, + 0.11881842683685435 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.449050903320312, + -14.851693153381348, + 0.12280815839767456 + ], + "box_pose": [ + -29.410377502441406, + -14.853367805480957, + 0.13601116836071014, + -0.003389914520084858, + -0.007612265646457672, + 0.7131619453430176, + 0.7009497880935669 + ], + "box_yaw_rad": 1.5881133008958368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001264304682947995, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018235569836706949 + } + }, + { + "simulation_time_ns": 5720000000, + "phase": "straight_push", + "intended_face_center": [ + -29.46329629105357, + -14.859018192354624, + 0.11814102859786055 + ], + "intended_face_normal": [ + -0.9997853476619208, + -0.0171804256204795, + -0.011573848528186492 + ], + "commanded_contact_point": [ + -29.43609344482422, + -14.857002061182609, + 0.11878127490905979 + ], + "centerline_face_intersection": [ + -29.463320042033267, + -14.858067799397471, + 0.11878127490905979 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.45078468322754, + -14.853103637695312, + 0.12229554355144501 + ], + "box_pose": [ + -29.409820556640625, + -14.85397720336914, + 0.1360003650188446, + -0.0003380507987458259, + -0.007782267406582832, + 0.7131550312042236, + 0.700963020324707 + ], + "box_yaw_rad": 1.5880994566066753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010657382148616542, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020640487708124154 + } + }, + { + "simulation_time_ns": 5740000000, + "phase": "straight_push", + "intended_face_center": [ + -29.462806087695252, + -14.859580069082318, + 0.11836090668425536 + ], + "intended_face_normal": [ + -0.9998253264013827, + -0.017141001597098526, + -0.007467930504032605 + ], + "commanded_contact_point": [ + -29.434151763916017, + -14.857776757137197, + 0.11877402034699727 + ], + "centerline_face_intersection": [ + -29.462825414697132, + -14.858631856997453, + 0.11877402034699727 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.44947624206543, + -14.853365898132324, + 0.12241032719612122 + ], + "box_pose": [ + -29.409255981445312, + -14.854623794555664, + 0.1360200196504593, + 0.002834020182490349, + -0.008021673187613487, + 0.7131356596946716, + 0.7009745240211487 + ], + "box_yaw_rad": 1.588052830327554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008550998602564882, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020905337117602912 + } + }, + { + "simulation_time_ns": 5760000000, + "phase": "straight_push", + "intended_face_center": [ + -29.462677940777244, + -14.859650367969527, + 0.11846035280850448 + ], + "intended_face_normal": [ + -0.9998323631338811, + -0.01714869181331502, + -0.006412837634487967 + ], + "commanded_contact_point": [ + -29.432446594238282, + -14.858081082889885, + 0.11881510046480925 + ], + "centerline_face_intersection": [ + -29.46269648912485, + -14.85870173047452, + 0.11881510046480925 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.446794509887695, + -14.852840423583984, + 0.12569504976272583 + ], + "box_pose": [ + -29.409109115600586, + -14.854703903198242, + 0.13606533408164978, + 0.0034215133637189865, + -0.007859385572373867, + 0.7131357789039612, + 0.7009735107421875 + ], + "box_yaw_rad": 1.5880481814397884, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006206475846350665, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017326007531147307 + } + }, + { + "simulation_time_ns": 5780000000, + "phase": "straight_push", + "intended_face_center": [ + -29.462368674642548, + -14.859345239831852, + 0.11853946848340974 + ], + "intended_face_normal": [ + -0.9998334142076628, + -0.017040092339021262, + -0.006542052645664764 + ], + "commanded_contact_point": [ + -29.430720443725587, + -14.858064798259592, + 0.11890136410212787 + ], + "centerline_face_intersection": [ + -29.462387106683355, + -14.858402609881582, + 0.11890136410212787 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.443981170654297, + -14.85133171081543, + 0.12996011972427368 + ], + "box_pose": [ + -29.408802032470703, + -14.854375839233398, + 0.13614463806152344, + 0.002780848415568471, + -0.007320779375731945, + 0.7131004929542542, + 0.7010180950164795 + ], + "box_yaw_rad": 1.5879307135574066, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003378116219889912, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017283813805944312 + } + }, + { + "simulation_time_ns": 5800000000, + "phase": "straight_push", + "intended_face_center": [ + -29.460803997269704, + -14.859925245592553, + 0.11920327635713102 + ], + "intended_face_normal": [ + -0.9996581607718793, + -0.026143913730769297, + 0.0004748534924689518 + ], + "commanded_contact_point": [ + -29.428845520019532, + -14.858386041269666, + 0.11917700824102659 + ], + "centerline_face_intersection": [ + -29.460841823706566, + -14.858479007179664, + 0.11917700824102659 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.44243812561035, + -14.852357864379883, + 0.12964509427547455 + ], + "box_pose": [ + -29.407161712646484, + -14.854500770568848, + 0.1364399492740631, + 0.006002707872539759, + -0.005516316741704941, + 0.7162652611732483, + 0.6977805495262146 + ], + "box_yaw_rad": 1.5969354805351366, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 9.296590999774505e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001922112292858139 + } + }, + { + "simulation_time_ns": 5820000000, + "phase": "straight_push", + "intended_face_center": [ + -29.45900483585801, + -14.861115069356103, + 0.1201159934863674 + ], + "intended_face_normal": [ + -0.9994164338799414, + -0.03182391108127325, + 0.012412336243744493 + ], + "commanded_contact_point": [ + -29.426892395019532, + -14.859281326735717, + 0.11942936341046234 + ], + "centerline_face_intersection": [ + -29.459069418548236, + -14.859354622809036, + 0.11942936341046234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.442182540893555, + -14.85886287689209, + 0.12366388738155365 + ], + "box_pose": [ + -29.405187606811523, + -14.855518341064453, + 0.13674141466617584, + 0.013062212616205215, + -0.004012946505099535, + 0.718151330947876, + 0.6957527995109558 + ], + "box_yaw_rad": 1.6023257691774664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 7.329607331989589e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021633114576702786 + } + }, + { + "simulation_time_ns": 5840000000, + "phase": "straight_push", + "intended_face_center": [ + -29.45682308652133, + -14.862054682260826, + 0.12164438491244906 + ], + "intended_face_normal": [ + -0.9990012629709076, + -0.032836361643598266, + 0.030302810081084403 + ], + "commanded_contact_point": [ + -29.424588317871095, + -14.859962607127644, + 0.11996808317702054 + ], + "centerline_face_intersection": [ + -29.45693363874282, + -14.860238228609795, + 0.11996808317702054 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.441532135009766, + -14.865296363830566, + 0.12021815776824951 + ], + "box_pose": [ + -29.40271759033203, + -14.856528282165527, + 0.13733120262622833, + 0.022088173776865005, + -0.0002905821893364191, + 0.7182828783988953, + 0.6954004168510437 + ], + "box_yaw_rad": 1.6026789471384806, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002756214821507549, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002462343084392633 + } + }, + { + "simulation_time_ns": 5860000000, + "phase": "straight_push", + "intended_face_center": [ + -29.4543311806407, + -14.863170340509402, + 0.12330587490943108 + ], + "intended_face_normal": [ + -0.9981245099760286, + -0.03474608574027038, + 0.05040123873830904 + ], + "commanded_contact_point": [ + -29.42179023742676, + -14.860708654629612, + 0.12051776107646636 + ], + "centerline_face_intersection": [ + -29.45453887364856, + -14.861248244054654, + 0.12051776107646636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.439451217651367, + -14.867847442626953, + 0.12122456729412079 + ], + "box_pose": [ + -29.399925231933594, + -14.857680320739746, + 0.13793033361434937, + 0.032222021371126175, + 0.003918783739209175, + 0.7185643911361694, + 0.6947025656700134 + ], + "box_yaw_rad": 1.603529786997484, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005395894250427354, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029475391161623518 + } + }, + { + "simulation_time_ns": 5880000000, + "phase": "straight_push", + "intended_face_center": [ + -29.45219682976032, + -14.864036104030829, + 0.1246739590891942 + ], + "intended_face_normal": [ + -0.9970877134433273, + -0.03551481734891393, + 0.06749001506621127 + ], + "commanded_contact_point": [ + -29.418633575439454, + -14.861360669231955, + 0.12094052218757143 + ], + "centerline_face_intersection": [ + -29.452519506136714, + -14.86207148260476, + 0.12094052218757143 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.437166213989258, + -14.866352081298828, + 0.12255829572677612 + ], + "box_pose": [ + -29.397546768188477, + -14.858622550964355, + 0.13838842511177063, + 0.040826596319675446, + 0.007510037627071142, + 0.7183944582939148, + 0.6943963170051575 + ], + "box_yaw_rad": 1.6031335819092385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007108133728054619, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032509021672184556 + } + }, + { + "simulation_time_ns": 5900000000, + "phase": "straight_push", + "intended_face_center": [ + -29.450588945228784, + -14.864689011105131, + 0.12566553323185578 + ], + "intended_face_normal": [ + -0.9961204188602562, + -0.036182183730699924, + 0.08021879337961224 + ], + "commanded_contact_point": [ + -29.415207977294923, + -14.861967403425215, + 0.12122796119822564 + ], + "centerline_face_intersection": [ + -29.451019005203168, + -14.86268747206578, + 0.12122796119822564 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.43619728088379, + -14.862918853759766, + 0.12156224250793457 + ], + "box_pose": [ + -29.395767211914062, + -14.85932731628418, + 0.1386982649564743, + 0.047240812331438065, + 0.010189606808125973, + 0.7182335257530212, + 0.6941218376159668 + ], + "box_yaw_rad": 1.602774383594337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007200686405649045, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003490769286838223 + } + }, + { + "simulation_time_ns": 5920000000, + "phase": "straight_push", + "intended_face_center": [ + -29.448641148283123, + -14.865402227907147, + 0.12654607635724457 + ], + "intended_face_normal": [ + -0.9949236185875137, + -0.04132772303898147, + 0.09175731547551447 + ], + "commanded_contact_point": [ + -29.412116165161134, + -14.862420306472906, + 0.12147021221268857 + ], + "centerline_face_intersection": [ + -29.449204215272957, + -14.863116046075621, + 0.12147021221268857 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.43402671813965, + -14.862507820129395, + 0.12102989852428436 + ], + "box_pose": [ + -29.393695831298828, + -14.859835624694824, + 0.1389576941728592, + 0.053006090223789215, + 0.012765884399414062, + 0.7196208834648132, + 0.6922234892845154 + ], + "box_yaw_rad": 1.6069005921152717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006957396027158333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031341839440692312 + } + }, + { + "simulation_time_ns": 5940000000, + "phase": "straight_push", + "intended_face_center": [ + -29.44412869788706, + -14.867279096543783, + 0.12840231650671405 + ], + "intended_face_normal": [ + -0.9913838528765234, + -0.05889360963708201, + 0.1170032591075243 + ], + "commanded_contact_point": [ + -29.409239883422853, + -14.86330580928929, + 0.12192988818181867 + ], + "centerline_face_intersection": [ + -29.445086102547062, + -14.864021198686254, + 0.12192988818181867 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.429691314697266, + -14.86451244354248, + 0.12325780093669891 + ], + "box_pose": [ + -29.388978958129883, + -14.860909461975098, + 0.1394457072019577, + 0.06558583676815033, + 0.01866845414042473, + 0.7246690988540649, + 0.6857147812843323 + ], + "box_yaw_rad": 1.6219296538781085, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007153893969648814, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003044406982055863 + } + }, + { + "simulation_time_ns": 5960000000, + "phase": "straight_push", + "intended_face_center": [ + -29.43874532848624, + -14.869434811231132, + 0.13099289160170854 + ], + "intended_face_normal": [ + -0.9855370939107916, + -0.06925796446680632, + 0.15466048827042567 + ], + "commanded_contact_point": [ + -29.406458969116212, + -14.864833258324134, + 0.1224373271442799 + ], + "centerline_face_intersection": [ + -29.44035719802076, + -14.865603574269368, + 0.1224373271442799 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.4244327545166, + -14.866976737976074, + 0.1262158453464508 + ], + "box_pose": [ + -29.38326072692871, + -14.862735748291016, + 0.1399708241224289, + 0.08450349420309067, + 0.027164705097675323, + 0.7262837886810303, + 0.6816399693489075 + ], + "box_yaw_rad": 1.6274873401075751, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007703159452331229, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003213110523394563 + } + }, + { + "simulation_time_ns": 5980000000, + "phase": "straight_push", + "intended_face_center": [ + -29.433058318753595, + -14.871578026036994, + 0.13359372115448614 + ], + "intended_face_normal": [ + -0.9778153495834132, + -0.07394382032772917, + 0.19598339418866395 + ], + "commanded_contact_point": [ + -29.403807754516603, + -14.86666639606967, + 0.12275224134074762 + ], + "centerline_face_intersection": [ + -29.435540598780392, + -14.867487575217154, + 0.12275224134074762 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.419084548950195, + -14.868759155273438, + 0.12863542139530182 + ], + "box_pose": [ + -29.377248764038086, + -14.864889144897461, + 0.1402701437473297, + 0.10543697327375412, + 0.03633444011211395, + 0.7251585721969604, + 0.6794909238815308 + ], + "box_yaw_rad": 1.6254675403187693, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000821179147484444, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032385959609721924 + } + }, + { + "simulation_time_ns": 6000000000, + "phase": "straight_push", + "intended_face_center": [ + -29.427470446935494, + -14.873601493606445, + 0.13584987061389858 + ], + "intended_face_normal": [ + -0.9687204420041624, + -0.07808665620405009, + 0.235548861966155 + ], + "commanded_contact_point": [ + -29.401435012817384, + -14.868428611115823, + 0.12281969403834225 + ], + "centerline_face_intersection": [ + -29.43098698631053, + -14.869281867903139, + 0.12281969403834225 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.41474723815918, + -14.870083808898926, + 0.1295206993818283 + ], + "box_pose": [ + -29.371435165405273, + -14.866939544677734, + 0.14028698205947876, + 0.12555980682373047, + 0.04522724822163582, + 0.7233796119689941, + 0.6774298548698425 + ], + "box_yaw_rad": 1.621836615380989, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008532567873159289, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029563245604147135 + } + }, + { + "simulation_time_ns": 6020000000, + "phase": "straight_push", + "intended_face_center": [ + -29.42183728814797, + -14.875630645639424, + 0.13781489538391445 + ], + "intended_face_normal": [ + -0.958081277234013, + -0.08257423548341336, + 0.2743392283803159 + ], + "commanded_contact_point": [ + -29.399335021972657, + -14.870204349464247, + 0.12263889938223976 + ], + "centerline_face_intersection": [ + -29.42657649531604, + -14.871062774413218, + 0.12263889938223976 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.411468505859375, + -14.87119197845459, + 0.1293916255235672 + ], + "box_pose": [ + -29.36566925048828, + -14.868974685668945, + 0.14002227783203125, + 0.1454976201057434, + 0.05399412289261818, + 0.7211917638778687, + 0.6751278638839722 + ], + "box_yaw_rad": 1.617317161678502, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008584249489707938, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027560651185478016 + } + }, + { + "simulation_time_ns": 6040000000, + "phase": "straight_push", + "intended_face_center": [ + -29.41600137715315, + -14.877717644981626, + 0.1395538107184591 + ], + "intended_face_normal": [ + -0.9455368514697835, + -0.08786977190056833, + 0.31343070624051617 + ], + "commanded_contact_point": [ + -29.39733612060547, + -14.872035705741904, + 0.12221533829950906 + ], + "centerline_face_intersection": [ + -29.42220053988159, + -14.872856833369287, + 0.12221533829950906 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.407751083374023, + -14.87192440032959, + 0.12902620434761047 + ], + "box_pose": [ + -29.35979461669922, + -14.871023178100586, + 0.13947801291942596, + 0.1657448261976242, + 0.06299502402544022, + 0.7186539769172668, + 0.6723813414573669 + ], + "box_yaw_rad": 1.6121621336399412, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008211276273829079, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027438798228535508 + } + }, + { + "simulation_time_ns": 6060000000, + "phase": "straight_push", + "intended_face_center": [ + -29.409836980316857, + -14.879918523190536, + 0.14105913375358067 + ], + "intended_face_normal": [ + -0.930687809022472, + -0.09400421480535925, + 0.3535302460851817 + ], + "commanded_contact_point": [ + -29.39531433105469, + -14.874036689893618, + 0.12150242058231647 + ], + "centerline_face_intersection": [ + -29.41779100523232, + -14.874718364261573, + 0.12150242058231647 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.4040470123291, + -14.871232032775879, + 0.12918540835380554 + ], + "box_pose": [ + -29.35369300842285, + -14.873147964477539, + 0.13860216736793518, + 0.18679887056350708, + 0.07234064489603043, + 0.7156174182891846, + 0.6691523194313049 + ], + "box_yaw_rad": 1.6060021390867398, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000681674367955126, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002932545350807837 + } + }, + { + "simulation_time_ns": 6080000000, + "phase": "straight_push", + "intended_face_center": [ + -29.403197135361246, + -14.882275364591308, + 0.1423232116323949 + ], + "intended_face_normal": [ + -0.9128951768466695, + -0.10123462502551916, + 0.39544217267288406 + ], + "commanded_contact_point": [ + -29.39338218688965, + -14.876251796887253, + 0.12044799944780078 + ], + "centerline_face_intersection": [ + -29.413293888861222, + -14.876675231232003, + 0.12044799944780078 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.401418685913086, + -14.870219230651855, + 0.12897555530071259 + ], + "box_pose": [ + -29.34723663330078, + -14.875380516052246, + 0.1373325139284134, + 0.209128737449646, + 0.08229411393404007, + 0.711956799030304, + 0.6652898788452148 + ], + "box_yaw_rad": 1.5986068425524609, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00042343434474922584, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031227686428325395 + } + }, + { + "simulation_time_ns": 6100000000, + "phase": "straight_push", + "intended_face_center": [ + -29.395905159816902, + -14.884813561691827, + 0.14330146602195395 + ], + "intended_face_normal": [ + -0.8912890757198184, + -0.10976899550097174, + 0.4399483852382815 + ], + "commanded_contact_point": [ + -29.39164649963379, + -14.878603228235686, + 0.1189642431802262 + ], + "centerline_face_intersection": [ + -29.40866607462682, + -14.878741320960286, + 0.1189642431802262 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.400238037109375, + -14.871607780456543, + 0.12852241098880768 + ], + "box_pose": [ + -29.340280532836914, + -14.87773609161377, + 0.1355663239955902, + 0.23318971693515778, + 0.09318041801452637, + 0.7074652314186096, + 0.6606307029724121 + ], + "box_yaw_rad": 1.5895829263485646, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00013809272459951752, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032777083912567395 + } + }, + { + "simulation_time_ns": 6120000000, + "phase": "straight_push", + "intended_face_center": [ + -29.38781995589893, + -14.887640366078843, + 0.14388353963036934 + ], + "intended_face_normal": [ + -0.8648444258856998, + -0.1202429385715238, + 0.48742783974759263 + ], + "commanded_contact_point": [ + -29.39000617980957, + -14.881040207702664, + 0.11691983126541156 + ], + "centerline_face_intersection": [ + -29.403941545764276, + -14.880988724001389, + 0.11691983126541156 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.40069580078125, + -14.876249313354492, + 0.1276690810918808 + ], + "box_pose": [ + -29.33272933959961, + -14.88029670715332, + 0.1331542730331421, + 0.2595514953136444, + 0.10505354404449463, + 0.7019647359848022, + 0.6548605561256409 + ], + "box_yaw_rad": 1.57858073134087, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -5.1483701276352806e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003578985628028404 + } + }, + { + "simulation_time_ns": 6140000000, + "phase": "straight_push", + "intended_face_center": [ + -29.378684685409397, + -14.890529621117606, + 0.14406139852228383 + ], + "intended_face_normal": [ + -0.8320147781474936, + -0.1315799513921423, + 0.5389230712627722 + ], + "commanded_contact_point": [ + -29.38866912841797, + -14.883304668661543, + 0.11424905843887453 + ], + "centerline_face_intersection": [ + -29.399146224624513, + -14.883250834091715, + 0.11424905843887453 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.401748657226562, + -14.88319206237793, + 0.12656022608280182 + ], + "box_pose": [ + -29.324392318725586, + -14.882871627807617, + 0.1300002485513687, + 0.28827252984046936, + 0.11892593652009964, + 0.6947581768035889, + 0.6481254696846008 + ], + "box_yaw_rad": 1.5642593371785014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -5.383456982777011e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037481351828658623 + } + }, + { + "simulation_time_ns": 6160000000, + "phase": "straight_push", + "intended_face_center": [ + -29.36828603980599, + -14.893258529490387, + 0.14382054725500432 + ], + "intended_face_normal": [ + -0.7907935108097739, + -0.14304237588482493, + 0.5951341500672385 + ], + "commanded_contact_point": [ + -29.387436981201173, + -14.885165814202011, + 0.11089870251845879 + ], + "centerline_face_intersection": [ + -29.394493616005136, + -14.885345659948126, + 0.11089870251845879 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.4009952545166, + -14.89118766784668, + 0.11949388682842255 + ], + "box_pose": [ + -29.315155029296875, + -14.885254859924316, + 0.12601438164710999, + 0.3193891644477844, + 0.1357959806919098, + 0.6852092742919922, + 0.6403423547744751 + ], + "box_yaw_rad": 1.5458135658756005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0001798457461143962, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004025783685213443 + } + }, + { + "simulation_time_ns": 6180000000, + "phase": "straight_push", + "intended_face_center": [ + -29.35663206767779, + -14.896281704318774, + 0.14256467514027235 + ], + "intended_face_normal": [ + -0.7392818405855213, + -0.1575869465139732, + 0.6546972527724169 + ], + "commanded_contact_point": [ + -29.385470504760743, + -14.887008567027037, + 0.10634789728811708 + ], + "centerline_face_intersection": [ + -29.3905633674688, + -14.887564252992794, + 0.10634789728811708 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.399646759033203, + -14.896960258483887, + 0.11359263956546783 + ], + "box_pose": [ + -29.305143356323242, + -14.887776374816895, + 0.12064223736524582, + 0.35400110483169556, + 0.15477971732616425, + 0.6734067797660828, + 0.6302774548530579 + ], + "box_yaw_rad": 1.5237414443053385, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005556859657581023, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005288912535617251 + } + }, + { + "simulation_time_ns": 6200000000, + "phase": "straight_push", + "intended_face_center": [ + -29.343612385431904, + -14.89963128535918, + 0.13990027642095343 + ], + "intended_face_normal": [ + -0.6750739716946175, + -0.1750144458311027, + 0.7166903493468624 + ], + "commanded_contact_point": [ + -29.383153076171876, + -14.889073537378756, + 0.10025414217926651 + ], + "centerline_face_intersection": [ + -29.388212545718886, + -14.889949773364524, + 0.10025414217926651 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.398183822631836, + -14.897963523864746, + 0.11096318066120148 + ], + "box_pose": [ + -29.294389724731445, + -14.890484809875488, + 0.11349017173051834, + 0.3925698399543762, + 0.17600111663341522, + 0.6583282947540283, + 0.6176701188087463 + ], + "box_yaw_rad": 1.4960445911045288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000876235985766983, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006838744705325887 + } + }, + { + "simulation_time_ns": 6220000000, + "phase": "straight_push", + "intended_face_center": [ + -29.329199843523885, + -14.903340893880822, + 0.13526504353792043 + ], + "intended_face_normal": [ + -0.5952905406671478, + -0.1960452971089115, + 0.7792275303693543 + ], + "commanded_contact_point": [ + -29.3811083984375, + -14.891490506997588, + 0.09215945504772313 + ], + "centerline_face_intersection": [ + -29.389196003504125, + -14.892495989699102, + 0.09215945504772313 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.39605712890625, + -14.895727157592773, + 0.10924892127513885 + ], + "box_pose": [ + -29.283052444458008, + -14.89337158203125, + 0.10403920710086823, + 0.4354725778102875, + 0.1996023803949356, + 0.639051079750061, + 0.6017776131629944 + ], + "box_yaw_rad": 1.4614276542967455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0010054827015138564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008691743722256081 + } + }, + { + "simulation_time_ns": 6240000000, + "phase": "straight_push", + "intended_face_center": [ + -29.313667485441368, + -14.907857402080118, + 0.12763019087318608 + ], + "intended_face_normal": [ + -0.4992301770640939, + -0.2272106573623347, + 0.8361486200355568 + ], + "commanded_contact_point": [ + -29.37920867919922, + -14.894304247020706, + 0.08137582109390636 + ], + "centerline_face_intersection": [ + -29.396858213748335, + -14.895288481302634, + 0.08137582109390636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.39301300048828, + -14.894757270812988, + 0.1076396256685257 + ], + "box_pose": [ + -29.271526336669922, + -14.896526336669922, + 0.09157811105251312, + 0.48300451040267944, + 0.22369243204593658, + 0.6166943907737732, + 0.5799623727798462 + ], + "box_yaw_rad": 1.4223387523680753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009842342819280255, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011305433532240257 + } + }, + { + "simulation_time_ns": 6260000000, + "phase": "straight_push", + "intended_face_center": [ + -29.296846522619578, + -14.912867130325955, + 0.1168081855349998 + ], + "intended_face_normal": [ + -0.38253062977299734, + -0.26544125183859535, + 0.8849922904540044 + ], + "commanded_contact_point": [ + -29.37724983215332, + -14.897347494555461, + 0.06785186404668528 + ], + "centerline_face_intersection": [ + -29.408120355810407, + -14.898183355787529, + 0.06785186404668528 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.389421463012695, + -14.894474029541016, + 0.10488016903400421 + ], + "box_pose": [ + -29.259923934936523, + -14.899760246276855, + 0.0759553462266922, + 0.5351793169975281, + 0.249773770570755, + 0.58847576379776, + 0.5521706938743591 + ], + "box_yaw_rad": 1.3742672970760181, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008358612320675014, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.013999851839291004 + } + }, + { + "simulation_time_ns": 6280000000, + "phase": "straight_push", + "intended_face_center": [ + -29.279012128810777, + -14.917192958799681, + 0.10239280854875865 + ], + "intended_face_normal": [ + -0.24280371449885507, + -0.29544369426000827, + 0.9239908746345726 + ], + "commanded_contact_point": [ + -29.375290985107423, + -14.900297113534714, + 0.05127914936911401 + ], + "centerline_face_intersection": [ + -29.39315852452117, + -14.900849498371944, + 0.05127914936911401 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.384572982788086, + -14.893762588500977, + 0.09987327456474304 + ], + "box_pose": [ + -29.24876594543457, + -14.902684211730957, + 0.056800201535224915, + 0.5884751081466675, + 0.28129521012306213, + 0.5490162968635559, + 0.5226385593414307 + ], + "box_yaw_rad": 1.3126822782103962, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005523848372288149, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01694674616721982 + } + }, + { + "simulation_time_ns": 6300000000, + "phase": "straight_push", + "intended_face_center": [ + -29.266757463623442, + -14.920137162716482, + 0.0876588772486829 + ], + "intended_face_normal": [ + -0.12375078970904951, + -0.31928866104703957, + 0.9395428479741099 + ], + "commanded_contact_point": [ + -29.37343704223633, + -14.902320860107624, + 0.03568490842024177 + ], + "centerline_face_intersection": [ + -29.386543375581102, + -14.902474637848867, + 0.03568490842024177 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.376623153686523, + -14.892509460449219, + 0.09609152376651764 + ], + "box_pose": [ + -29.24254608154297, + -14.904642105102539, + 0.03889685124158859, + 0.6322705745697021, + 0.3037383556365967, + 0.5097825527191162, + 0.49809515476226807 + ], + "box_yaw_rad": 1.2506414281657314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00015377774124289152, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01583391944946438 + } + }, + { + "simulation_time_ns": 6320000000, + "phase": "straight_push", + "intended_face_center": [ + -29.26135293692504, + -14.92141573102334, + 0.08489877974495091 + ], + "intended_face_normal": [ + -0.12720558701537854, + -0.3380468158051855, + 0.9324930941320524 + ], + "commanded_contact_point": [ + -29.371777648925782, + -14.903053085190962, + 0.03331479173241971 + ], + "centerline_face_intersection": [ + -29.382138070628887, + -14.902715535811277, + 0.03331479173241971 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.368885040283203, + -14.890432357788086, + 0.09213016927242279 + ], + "box_pose": [ + -29.236997604370117, + -14.90541934967041, + 0.036370884627103806, + 0.643541157245636, + 0.29065605998039246, + 0.5048546195030212, + 0.49648338556289673 + ], + "box_yaw_rad": 1.2190485211760358, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003375493796847445, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029844920582319475 + } + }, + { + "simulation_time_ns": 6340000000, + "phase": "straight_push", + "intended_face_center": [ + -29.257265611757646, + -14.92239033961204, + 0.08351874693336318 + ], + "intended_face_normal": [ + -0.14651545059533788, + -0.34764634018456064, + 0.9261076133880302 + ], + "commanded_contact_point": [ + -29.370335693359376, + -14.904120022438084, + 0.03228799323884104 + ], + "centerline_face_intersection": [ + -29.37871643277898, + -14.903159114461388, + 0.03228799323884104 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.362668991088867, + -14.887575149536133, + 0.0873493105173111 + ], + "box_pose": [ + -29.231971740722656, + -14.906508445739746, + 0.035435404628515244, + 0.6502645015716553, + 0.2735777199268341, + 0.5009782910346985, + 0.5013303160667419 + ], + "box_yaw_rad": 1.1851677428410268, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009609079766949685, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020668589916108112 + } + }, + { + "simulation_time_ns": 6360000000, + "phase": "straight_push", + "intended_face_center": [ + -29.255195587938406, + -14.922913641030966, + 0.08267456270955774 + ], + "intended_face_normal": [ + -0.15888752092662983, + -0.35068629384432626, + 0.9229159415114481 + ], + "commanded_contact_point": [ + -29.368931884765626, + -14.90517497851144, + 0.03162036706662609 + ], + "centerline_face_intersection": [ + -29.376945216439324, + -14.903514250631552, + 0.03162036706662609 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.359289169311523, + -14.886018753051758, + 0.08389441668987274 + ], + "box_pose": [ + -29.22930145263672, + -14.907191276550293, + 0.034859053790569305, + 0.6525993943214417, + 0.26450762152671814, + 0.49945688247680664, + 0.5046707391738892 + ], + "box_yaw_rad": 1.1687460792124569, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016607278798867493, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018786525997167112 + } + }, + { + "simulation_time_ns": 6380000000, + "phase": "straight_push", + "intended_face_center": [ + -29.255249208102736, + -14.922209374638697, + 0.08229657654110117 + ], + "intended_face_normal": [ + -0.16225651614658432, + -0.3418928472415814, + 0.9256254628682257 + ], + "commanded_contact_point": [ + -29.367573852539063, + -14.90568094992231, + 0.031092494622263298 + ], + "centerline_face_intersection": [ + -29.37687590483547, + -14.903296423277814, + 0.031092494622263298 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358949661254883, + -14.885201454162598, + 0.0814342349767685 + ], + "box_pose": [ + -29.229183197021484, + -14.906960487365723, + 0.03442113474011421, + 0.6495593786239624, + 0.2656759023666382, + 0.4990180730819702, + 0.508399486541748 + ], + "box_yaw_rad": 1.170454016474303, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0023845266444953946, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015423708745039308 + } + }, + { + "simulation_time_ns": 6400000000, + "phase": "straight_push", + "intended_face_center": [ + -29.2553485593914, + -14.921694237387198, + 0.08216658439858993 + ], + "intended_face_normal": [ + -0.16456088886702958, + -0.33598303254998996, + 0.9273807524201203 + ], + "commanded_contact_point": [ + -29.366143341064454, + -14.906234066608912, + 0.030865402741670107 + ], + "centerline_face_intersection": [ + -29.376913123643465, + -14.903108207278736, + 0.030865402741670107 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.3587589263916, + -14.884574890136719, + 0.08013895153999329 + ], + "box_pose": [ + -29.22916603088379, + -14.906769752502441, + 0.034252528101205826, + 0.6476013660430908, + 0.2663387656211853, + 0.498602032661438, + 0.5109521746635437 + ], + "box_yaw_rad": 1.1711455102782404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0031258593301760835, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015504424756235648 + } + }, + { + "simulation_time_ns": 6420000000, + "phase": "straight_push", + "intended_face_center": [ + -29.255928359545514, + -14.922784383328349, + 0.08209441656076283 + ], + "intended_face_normal": [ + -0.1709349561769571, + -0.34819439964605436, + 0.9217058319743359 + ], + "commanded_contact_point": [ + -29.364375228881837, + -14.90737354434401, + 0.031107162191980082 + ], + "centerline_face_intersection": [ + -29.37713851310313, + -14.903522840427495, + 0.031107162191980082 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.359134674072266, + -14.885401725769043, + 0.07986617088317871 + ], + "box_pose": [ + -29.229415893554688, + -14.907222747802734, + 0.03456604853272438, + 0.6491336822509766, + 0.26138365268707275, + 0.5027152895927429, + 0.5075246691703796 + ], + "box_yaw_rad": 1.172099643399108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003850703916514177, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021173279932304766 + } + }, + { + "simulation_time_ns": 6440000000, + "phase": "straight_push", + "intended_face_center": [ + -29.255803578263674, + -14.922594440564792, + 0.08139549559364864 + ], + "intended_face_normal": [ + -0.1697836168075959, + -0.34594056324210953, + 0.9227669895087338 + ], + "commanded_contact_point": [ + -29.362603302001954, + -14.908036121734474, + 0.03034953973111944 + ], + "centerline_face_intersection": [ + -29.37708651485344, + -14.903457576195905, + 0.03034953973111944 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358734130859375, + -14.885261535644531, + 0.07912513613700867 + ], + "box_pose": [ + -29.229351043701172, + -14.907153129577637, + 0.033794526010751724, + 0.6488894820213318, + 0.2622510492801666, + 0.501909077167511, + 0.5081871747970581 + ], + "box_yaw_rad": 1.1717445528110864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004578545538569116, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020378237066062677 + } + }, + { + "simulation_time_ns": 6460000000, + "phase": "straight_push", + "intended_face_center": [ + -29.255995649659248, + -14.922941257419463, + 0.08128697880266325 + ], + "intended_face_normal": [ + -0.17195297887928263, + -0.3497491482431201, + 0.9209278090126034 + ], + "commanded_contact_point": [ + -29.36101257324219, + -14.908896805168256, + 0.030342763387610064 + ], + "centerline_face_intersection": [ + -29.37716332392214, + -14.903593708377121, + 0.030342763387610064 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358510971069336, + -14.885479927062988, + 0.07880301773548126 + ], + "box_pose": [ + -29.22943115234375, + -14.907302856445312, + 0.03381286934018135, + 0.6493362188339233, + 0.26062628626823425, + 0.503226637840271, + 0.5071483850479126 + ], + "box_yaw_rad": 1.172027060644159, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005303096791134436, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018086569268834251 + } + }, + { + "simulation_time_ns": 6480000000, + "phase": "straight_push", + "intended_face_center": [ + -29.256097895901842, + -14.923063242077351, + 0.08110684182720651 + ], + "intended_face_normal": [ + -0.17308499846117087, + -0.3510750540283212, + 0.9202109664927107 + ], + "commanded_contact_point": [ + -29.359545822143556, + -14.909670261188317, + 0.03020228096421993 + ], + "centerline_face_intersection": [ + -29.37720589836922, + -14.903642346102403, + 0.03020228096421993 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.35823631286621, + -14.88552188873291, + 0.07829350233078003 + ], + "box_pose": [ + -29.229475021362305, + -14.907356262207031, + 0.03368810564279556, + 0.6493880152702332, + 0.2599557042121887, + 0.503818154335022, + 0.506838858127594 + ], + "box_yaw_rad": 1.1722863401593344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0060279150859141595, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016641298962494942 + } + }, + { + "simulation_time_ns": 6500000000, + "phase": "straight_push", + "intended_face_center": [ + -29.256410416885508, + -14.92333877246847, + 0.08088295717672231 + ], + "intended_face_normal": [ + -0.17666636181120055, + -0.3541597138864887, + 0.9183465315007737 + ], + "commanded_contact_point": [ + -29.358086700439454, + -14.910495889341595, + 0.03008153379848433 + ], + "centerline_face_intersection": [ + -29.377325846134248, + -14.903747238171215, + 0.03008153379848433 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.35820770263672, + -14.88572883605957, + 0.07700391113758087 + ], + "box_pose": [ + -29.229602813720703, + -14.907470703125, + 0.03362218663096428, + 0.6492200493812561, + 0.2581571340560913, + 0.5055622458457947, + 0.5062363147735596 + ], + "box_yaw_rad": 1.1734150011282658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006748651170379958, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016808562915663428 + } + }, + { + "simulation_time_ns": 6520000000, + "phase": "straight_push", + "intended_face_center": [ + -29.25683869036709, + -14.923574501312757, + 0.08030537378354198 + ], + "intended_face_normal": [ + -0.18161339445764213, + -0.35668830678540075, + 0.9164007543518551 + ], + "commanded_contact_point": [ + -29.35660469055176, + -14.911284801309817, + 0.02961158760471758 + ], + "centerline_face_intersection": [ + -29.377491733954834, + -14.903843089405033, + 0.02961158760471758 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358245849609375, + -14.886516571044922, + 0.07548384368419647 + ], + "box_pose": [ + -29.22977638244629, + -14.907573699951172, + 0.03323490545153618, + 0.6485090255737305, + 0.2561366558074951, + 0.5077205896377563, + 0.506013810634613 + ], + "box_yaw_rad": 1.1752898599910753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.007441711904784399, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017434405140027537 + } + }, + { + "simulation_time_ns": 6540000000, + "phase": "straight_push", + "intended_face_center": [ + -29.256864007204776, + -14.923160517779127, + 0.08002572644525931 + ], + "intended_face_normal": [ + -0.18248282137186678, + -0.35172803257868424, + 0.9181433222889197 + ], + "commanded_contact_point": [ + -29.354973907470704, + -14.911827882650643, + 0.029235544267212806 + ], + "centerline_face_intersection": [ + -29.377478859739057, + -14.903703500102125, + 0.029235544267212806 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358177185058594, + -14.886636734008789, + 0.07478359341621399 + ], + "box_pose": [ + -29.22975730895996, + -14.907416343688965, + 0.0328943245112896, + 0.6469277739524841, + 0.2572385370731354, + 0.5072952508926392, + 0.5079017877578735 + ], + "box_yaw_rad": 1.1764399959845728, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008124382548517843, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017594883892453942 + } + }, + { + "simulation_time_ns": 6560000000, + "phase": "straight_push", + "intended_face_center": [ + -29.256599755136484, + -14.92253043633167, + 0.08001668641643064 + ], + "intended_face_normal": [ + -0.1806977360446851, + -0.34446254220463857, + 0.9212458022825558 + ], + "commanded_contact_point": [ + -29.353213424682618, + -14.912292219241605, + 0.02905488013541981 + ], + "centerline_face_intersection": [ + -29.377326887024456, + -14.903475333661566, + 0.02905488013541981 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.358076095581055, + -14.886162757873535, + 0.07445351779460907 + ], + "box_pose": [ + -29.229585647583008, + -14.907166481018066, + 0.03270697593688965, + 0.6455198526382446, + 0.2596208155155182, + 0.5055050849914551, + 0.5102604627609253 + ], + "box_yaw_rad": 1.1764906400621864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008816885580039084, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018296304668893612 + } + }, + { + "simulation_time_ns": 6580000000, + "phase": "straight_push", + "intended_face_center": [ + -29.25580247056169, + -14.921642507438662, + 0.08017992740265842 + ], + "intended_face_normal": [ + -0.17895397178506656, + -0.335065335953189, + 0.925044308876604 + ], + "commanded_contact_point": [ + -29.35154640197754, + -14.91264894299465, + 0.029007993969129345 + ], + "centerline_face_intersection": [ + -29.376752950867974, + -14.903107242800257, + 0.029007993969129345 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.357311248779297, + -14.884986877441406, + 0.07390893995761871 + ], + "box_pose": [ + -29.228883743286133, + -14.906805038452148, + 0.03264831006526947, + 0.6440642476081848, + 0.2619856894016266, + 0.5027065873146057, + 0.5136447548866272 + ], + "box_yaw_rad": 1.1745003884419034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0095417001943931, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017054075313021136 + } + }, + { + "simulation_time_ns": 6600000000, + "phase": "straight_push", + "intended_face_center": [ + -29.254086447700047, + -14.92148959081987, + 0.08003137034367057 + ], + "intended_face_normal": [ + -0.18372682446712574, + -0.3335691144925619, + 0.9246491057525397 + ], + "commanded_contact_point": [ + -29.349862213134767, + -14.91336424199797, + 0.028881298898549273 + ], + "centerline_face_intersection": [ + -29.375456369324905, + -14.903037094697794, + 0.028881298898549273 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.355140686035156, + -14.883400917053223, + 0.07308003306388855 + ], + "box_pose": [ + -29.226951599121094, + -14.906936645507812, + 0.032534703612327576, + 0.6455320715904236, + 0.2577972114086151, + 0.5000728964805603, + 0.516484260559082 + ], + "box_yaw_rad": 1.163013651760737, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010327147300175952, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018341745727115592 + } + }, + { + "simulation_time_ns": 6620000000, + "phase": "straight_push", + "intended_face_center": [ + -29.249732684466565, + -14.922979049467603, + 0.08015393718258008 + ], + "intended_face_normal": [ + -0.1859267139953502, + -0.3388528398810209, + 0.9222852400394927 + ], + "commanded_contact_point": [ + -29.347989196777345, + -14.915354197365279, + 0.029134630910276012 + ], + "centerline_face_intersection": [ + -29.37132199941769, + -14.904234266326121, + 0.029134630910276012 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.350811004638672, + -14.884414672851562, + 0.07342532277107239 + ], + "box_pose": [ + -29.22249984741211, + -14.908255577087402, + 0.03276602551341057, + 0.6479572057723999, + 0.2541583180427551, + 0.49957770109176636, + 0.5157297253608704 + ], + "box_yaw_rad": 1.156289204419647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011119931039158289, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027445017302265774 + } + }, + { + "simulation_time_ns": 6640000000, + "phase": "straight_push", + "intended_face_center": [ + -29.24473037894021, + -14.927075524476377, + 0.0804132908101756 + ], + "intended_face_normal": [ + -0.1804140597159929, + -0.348728376747097, + 0.9196952540167231 + ], + "commanded_contact_point": [ + -29.345921630859376, + -14.919595481815703, + 0.02953725831522376 + ], + "centerline_face_intersection": [ + -29.365664620699707, + -14.9077844428384, + 0.02953725831522376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.346904754638672, + -14.890506744384766, + 0.07480965554714203 + ], + "box_pose": [ + -29.21773910522461, + -14.911554336547852, + 0.033141881227493286, + 0.6477375030517578, + 0.25756150484085083, + 0.5047774910926819, + 0.5092130303382874 + ], + "box_yaw_rad": 1.171493532307825, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011811038977303668, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004735549750744201 + } + }, + { + "simulation_time_ns": 6660000000, + "phase": "straight_push", + "intended_face_center": [ + -29.24212305367419, + -14.930825771350841, + 0.08045807176738162 + ], + "intended_face_normal": [ + -0.1795718219181417, + -0.3631409870345834, + 0.9142661069967666 + ], + "commanded_contact_point": [ + -29.34365188598633, + -14.923139472587406, + 0.029882370777894057 + ], + "centerline_face_intersection": [ + -29.36243197730188, + -14.910737407758738, + 0.029882370777894057 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.344757080078125, + -14.89596176147461, + 0.07550376653671265 + ], + "box_pose": [ + -29.215147018432617, + -14.914346694946289, + 0.033503249287605286, + 0.6485515236854553, + 0.2571829855442047, + 0.5108340382575989, + 0.5022811889648438 + ], + "box_yaw_rad": 1.1830744327358653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012402064828668813, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004222643128483857 + } + }, + { + "simulation_time_ns": 6680000000, + "phase": "straight_push", + "intended_face_center": [ + -29.241107595416896, + -14.93291828761501, + 0.08069188489122427 + ], + "intended_face_normal": [ + -0.17827509658169305, + -0.37307196397632225, + 0.9105137620824664 + ], + "commanded_contact_point": [ + -29.34119140625, + -14.925220476707326, + 0.03032375746586942 + ], + "centerline_face_intersection": [ + -29.361171743868095, + -14.912280558672386, + 0.03032375746586942 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.344013214111328, + -14.898834228515625, + 0.07670953869819641 + ], + "box_pose": [ + -29.21418571472168, + -14.915824890136719, + 0.03392597660422325, + 0.6499884128570557, + 0.25635868310928345, + 0.51385897397995, + 0.49773913621902466 + ], + "box_yaw_rad": 1.187700660248013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01293991803493924, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003252592948452562 + } + }, + { + "simulation_time_ns": 6700000000, + "phase": "straight_push", + "intended_face_center": [ + -29.24083861594327, + -14.934888421644194, + 0.08095386322127389 + ], + "intended_face_normal": [ + -0.1798923740464886, + -0.38714586477171054, + 0.9042991010876378 + ], + "commanded_contact_point": [ + -29.338990325927735, + -14.926899773561278, + 0.030929520645669135 + ], + "centerline_face_intersection": [ + -29.36064988918761, + -14.913472147600821, + 0.030929520645669135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.343721389770508, + -14.90127944946289, + 0.07777892053127289 + ], + "box_pose": [ + -29.21382713317871, + -14.917015075683594, + 0.03453247249126434, + 0.6524524092674255, + 0.2527974545955658, + 0.5175700783729553, + 0.49246373772621155 + ], + "box_yaw_rad": 1.1897037572090114, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.013427625960456454, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028340327342428638 + } + }, + { + "simulation_time_ns": 6720000000, + "phase": "straight_push", + "intended_face_center": [ + -29.23974655260506, + -14.935656309483623, + 0.08096675699280395 + ], + "intended_face_normal": [ + -0.17678063949600187, + -0.3862975183920412, + 0.9052752342996797 + ], + "commanded_contact_point": [ + -29.337113494873048, + -14.928184422689997, + 0.03088841632946486 + ], + "centerline_face_intersection": [ + -29.35955881594466, + -14.914286964570078, + 0.03088841632946486 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.342695236206055, + -14.902541160583496, + 0.0783238410949707 + ], + "box_pose": [ + -29.212888717651367, + -14.917771339416504, + 0.03446075692772865, + 0.6522237062454224, + 0.2547309100627899, + 0.5174485445022583, + 0.49189791083335876 + ], + "box_yaw_rad": 1.1921565582672586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01389745811991972, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002274754438740166 + } + }, + { + "simulation_time_ns": 6740000000, + "phase": "straight_push", + "intended_face_center": [ + -29.238599183428224, + -14.935376432897016, + 0.08093081986589257 + ], + "intended_face_normal": [ + -0.17437615346518953, + -0.3762273148819304, + 0.9099702834352854 + ], + "commanded_contact_point": [ + -29.33517562866211, + -14.928941693787278, + 0.03059275678760652 + ], + "centerline_face_intersection": [ + -29.358525493522954, + -14.914564155119324, + 0.03059275678760652 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.341472625732422, + -14.902562141418457, + 0.07810637354850769 + ], + "box_pose": [ + -29.211864471435547, + -14.918004989624023, + 0.03415999561548233, + 0.6501069068908691, + 0.25830912590026855, + 0.515242338180542, + 0.49513909220695496 + ], + "box_yaw_rad": 1.1931794528634858, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014377538667954397, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021014755604011367 + } + }, + { + "simulation_time_ns": 6760000000, + "phase": "straight_push", + "intended_face_center": [ + -29.23728298947913, + -14.933678834445457, + 0.08101993509771291 + ], + "intended_face_normal": [ + -0.16748348857502293, + -0.3576361828959449, + 0.9187197141248689 + ], + "commanded_contact_point": [ + -29.333327407836915, + -14.928783709058687, + 0.030197867868996094 + ], + "centerline_face_intersection": [ + -29.35762354567643, + -14.913894987586492, + 0.030197867868996094 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.339994430541992, + -14.901115417480469, + 0.07754378020763397 + ], + "box_pose": [ + -29.210905075073242, + -14.917283058166504, + 0.03369756042957306, + 0.6472766995429993, + 0.265103816986084, + 0.5097557902336121, + 0.5009011626243591 + ], + "box_yaw_rad": 1.1921168863266423, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014888721472195315, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018965275245023893 + } + }, + { + "simulation_time_ns": 6780000000, + "phase": "straight_push", + "intended_face_center": [ + -29.235464390406385, + -14.932888978088867, + 0.0810003889350641 + ], + "intended_face_normal": [ + -0.16602287295821583, + -0.3479144834294132, + 0.9227087053071514 + ], + "commanded_contact_point": [ + -29.33176338195801, + -14.928642919693857, + 0.029957657258938713 + ], + "centerline_face_intersection": [ + -29.356026132161897, + -14.913642919693856, + 0.029957657258938713 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.337886810302734, + -14.900274276733398, + 0.07683858275413513 + ], + "box_pose": [ + -29.20916748046875, + -14.917043685913086, + 0.03344600647687912, + 0.6457972526550293, + 0.2674230933189392, + 0.5068561434745789, + 0.5045071244239807 + ], + "box_yaw_rad": 1.1898548087430334, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015886156653897472 + } + }, + { + "simulation_time_ns": 6800000000, + "phase": "straight_push", + "intended_face_center": [ + -29.23352451705591, + -14.933668404630579, + 0.08088086695302962 + ], + "intended_face_normal": [ + -0.16903649969732015, + -0.3489599859547212, + 0.921766613773265 + ], + "commanded_contact_point": [ + -29.33044158935547, + -14.92936451075124, + 0.029890250234855673 + ], + "centerline_face_intersection": [ + -29.35409434211863, + -14.91436451075124, + 0.029890250234855673 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.335643768310547, + -14.900885581970215, + 0.07644857466220856 + ], + "box_pose": [ + -29.20707893371582, + -14.917824745178223, + 0.03340843319892883, + 0.6461148858070374, + 0.26545506715774536, + 0.5069670081138611, + 0.5050283670425415 + ], + "box_yaw_rad": 1.1872707857346925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001507439234303608 + } + }, + { + "simulation_time_ns": 6820000000, + "phase": "straight_push", + "intended_face_center": [ + -29.232176980761658, + -14.934488920673783, + 0.0808099681284479 + ], + "intended_face_normal": [ + -0.16810204181831523, + -0.3466870653049483, + 0.9227945345086823 + ], + "commanded_contact_point": [ + -29.329054946899415, + -14.930310761035576, + 0.029762488521715043 + ], + "centerline_face_intersection": [ + -29.352712803082834, + -14.915310761035576, + 0.029762488521715043 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.33425521850586, + -14.902138710021973, + 0.07644772529602051 + ], + "box_pose": [ + -29.20577621459961, + -14.918734550476074, + 0.03328290954232216, + 0.6453189253807068, + 0.26676440238952637, + 0.5068599581718445, + 0.5054633617401123 + ], + "box_yaw_rad": 1.1891014342259327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00168359435639481 + } + }, + { + "simulation_time_ns": 6840000000, + "phase": "straight_push", + "intended_face_center": [ + -29.231506249028055, + -14.93619850534148, + 0.08073056687660018 + ], + "intended_face_normal": [ + -0.1687774262581314, + -0.35330357513280575, + 0.9201577796199629 + ], + "commanded_contact_point": [ + -29.327731246948243, + -14.9316543312354, + 0.029828948224149544 + ], + "centerline_face_intersection": [ + -29.35176043589722, + -14.9166543312354, + 0.029828948224149544 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.33363914489746, + -14.904587745666504, + 0.07653996348381042 + ], + "box_pose": [ + -29.205060958862305, + -14.920019149780273, + 0.033371347934007645, + 0.6456319093704224, + 0.2660539746284485, + 0.509716808795929, + 0.5025568008422852 + ], + "box_yaw_rad": 1.193860218726989, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001887267690242784 + } + }, + { + "simulation_time_ns": 6860000000, + "phase": "straight_push", + "intended_face_center": [ + -29.231021649094632, + -14.937609700660142, + 0.07987499110044527 + ], + "intended_face_normal": [ + -0.175374693564315, + -0.35755425740200764, + 0.9172779473611499 + ], + "commanded_contact_point": [ + -29.32652770996094, + -14.932830385785085, + 0.029132680043569892 + ], + "centerline_face_intersection": [ + -29.3507290713491, + -14.917830385785084, + 0.029132680043569892 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.33205795288086, + -14.90767765045166, + 0.07378529012203217 + ], + "box_pose": [ + -29.2042293548584, + -14.921138763427734, + 0.03281222656369209, + 0.6438088417053223, + 0.2641916871070862, + 0.5140888094902039, + 0.5014236569404602 + ], + "box_yaw_rad": 1.2008729480802822, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018210971865698278 + } + }, + { + "simulation_time_ns": 6880000000, + "phase": "straight_push", + "intended_face_center": [ + -29.231098554455993, + -14.93812666067657, + 0.07925382210075299 + ], + "intended_face_normal": [ + -0.18188548110853375, + -0.36109853326048835, + 0.9146177848921759 + ], + "commanded_contact_point": [ + -29.325162048339845, + -14.933151282276166, + 0.028658666867094357 + ], + "centerline_face_intersection": [ + -29.35040546019754, + -14.918151282276165, + 0.028658666867094357 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.329471588134766, + -14.910297393798828, + 0.07122355699539185 + ], + "box_pose": [ + -29.203969955444336, + -14.92144775390625, + 0.03245771303772926, + 0.6425284743309021, + 0.2618178427219391, + 0.5174035429954529, + 0.5009014010429382 + ], + "box_yaw_rad": 1.204921820409554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014807750378733452 + } + }, + { + "simulation_time_ns": 6900000000, + "phase": "straight_push", + "intended_face_center": [ + -29.231327190477106, + -14.938754559907727, + 0.07906932360796887 + ], + "intended_face_normal": [ + -0.18492230851431657, + -0.3674644752175027, + 0.9114678533798752 + ], + "commanded_contact_point": [ + -29.32380973815918, + -14.933427028042955, + 0.028648417417432702 + ], + "centerline_face_intersection": [ + -29.350459381072604, + -14.918427028042954, + 0.028648417417432702 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.328201293945312, + -14.91185188293457, + 0.07046233117580414 + ], + "box_pose": [ + -29.204042434692383, + -14.921741485595703, + 0.03248478099703789, + 0.6432716846466064, + 0.2593114674091339, + 0.5195515155792236, + 0.4990243911743164 + ], + "box_yaw_rad": 1.2057747889242685, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013801752076631785 + } + }, + { + "simulation_time_ns": 6920000000, + "phase": "straight_push", + "intended_face_center": [ + -29.23114369522444, + -14.938820350708925, + 0.07908381632378697 + ], + "intended_face_normal": [ + -0.1847457007822939, + -0.36698504213600813, + 0.9116968513088466 + ], + "commanded_contact_point": [ + -29.322692031860353, + -14.933519340295607, + 0.028650242343540307 + ], + "centerline_face_intersection": [ + -29.350256187654583, + -14.918519340295607, + 0.028650242343540307 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.32771110534668, + -14.91207218170166, + 0.0703706294298172 + ], + "box_pose": [ + -29.203866958618164, + -14.921821594238281, + 0.0324893482029438, + 0.6430280208587646, + 0.2596527934074402, + 0.5196224451065063, + 0.4990871250629425 + ], + "box_yaw_rad": 1.2064638492343753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011215133761062158 + } + }, + { + "simulation_time_ns": 6940000000, + "phase": "straight_push", + "intended_face_center": [ + -29.230430168241114, + -14.938379968176053, + 0.07928234214372254 + ], + "intended_face_normal": [ + -0.18134282273993563, + -0.36048390179178114, + 0.9149675915314077 + ], + "commanded_contact_point": [ + -29.321536178588868, + -14.933438590180062, + 0.02866783618071439 + ], + "centerline_face_intersection": [ + -29.349703785431572, + -14.918438590180061, + 0.02866783618071439 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.326831817626953, + -14.91176986694336, + 0.07074066996574402 + ], + "box_pose": [ + -29.203327178955078, + -14.921710968017578, + 0.03246789053082466, + 0.6421718597412109, + 0.2624709904193878, + 0.5175492763519287, + 0.5008661150932312 + ], + "box_yaw_rad": 1.2062253748733855, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011588040858869207 + } + }, + { + "simulation_time_ns": 6960000000, + "phase": "straight_push", + "intended_face_center": [ + -29.229600850988867, + -14.937710720204434, + 0.07949694860130004 + ], + "intended_face_normal": [ + -0.17676163261515399, + -0.3528891907809566, + 0.9188169040886578 + ], + "commanded_contact_point": [ + -29.32035743713379, + -14.933189469160812, + 0.028669504983247395 + ], + "centerline_face_intersection": [ + -29.349145022509582, + -14.918189469160811, + 0.028669504983247395 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.324928283691406, + -14.911309242248535, + 0.07121078670024872 + ], + "box_pose": [ + -29.202733993530273, + -14.921445846557617, + 0.03240504115819931, + 0.6416225433349609, + 0.2656285762786865, + 0.5145533084869385, + 0.5029879212379456 + ], + "box_yaw_rad": 1.2044726914033137, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012047802642198692 + } + }, + { + "simulation_time_ns": 6980000000, + "phase": "straight_push", + "intended_face_center": [ + -29.22735203567175, + -14.937044793635696, + 0.07970168139977057 + ], + "intended_face_normal": [ + -0.174213065571994, + -0.34470369086677977, + 0.9224040659426684 + ], + "commanded_contact_point": [ + -29.319228286743165, + -14.932976351017258, + 0.028675801873462192 + ], + "centerline_face_intersection": [ + -29.347152977896858, + -14.917976351017257, + 0.028675801873462192 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.321704864501953, + -14.910623550415039, + 0.07130762934684753 + ], + "box_pose": [ + -29.200620651245117, + -14.921245574951172, + 0.032374732196331024, + 0.6408087611198425, + 0.26790133118629456, + 0.5115818381309509, + 0.505842924118042 + ], + "box_yaw_rad": 1.2016935997696525, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011491038241111637 + } + }, + { + "simulation_time_ns": 7000000000, + "phase": "straight_push", + "intended_face_center": [ + -29.22394424255202, + -14.936978923377609, + 0.07978004650452694 + ], + "intended_face_normal": [ + -0.17498188146461047, + -0.3436659285988597, + 0.9226455946289889 + ], + "commanded_contact_point": [ + -29.318293685913087, + -14.932967888065162, + 0.028740806007570896 + ], + "centerline_face_intersection": [ + -29.343974828345537, + -14.917967888065162, + 0.028740806007570896 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.3172550201416, + -14.910150527954102, + 0.0709574818611145 + ], + "box_pose": [ + -29.19718360900879, + -14.921326637268066, + 0.03242082521319389, + 0.6417689919471741, + 0.266531765460968, + 0.5098681449890137, + 0.507077693939209 + ], + "box_yaw_rad": 1.1960070700971297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009368969370171483 + } + }, + { + "simulation_time_ns": 7020000000, + "phase": "straight_push", + "intended_face_center": [ + -29.22024466917158, + -14.937171623336125, + 0.07979821452766955 + ], + "intended_face_normal": [ + -0.17640191637974567, + -0.34303896724783556, + 0.9226084184330148 + ], + "commanded_contact_point": [ + -29.317511672973634, + -14.93319527049695, + 0.028761030556879293 + ], + "centerline_face_intersection": [ + -29.340488495206262, + -14.91819527049695, + 0.028761030556879293 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.31280517578125, + -14.90990161895752, + 0.07059153914451599 + ], + "box_pose": [ + -29.193422317504883, + -14.921648979187012, + 0.03243124485015869, + 0.6427176594734192, + 0.26480531692504883, + 0.5083635449409485, + 0.5082898139953613 + ], + "box_yaw_rad": 1.1902734075802799, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008146508700988213 + } + }, + { + "simulation_time_ns": 7040000000, + "phase": "straight_push", + "intended_face_center": [ + -29.217711699477622, + -14.93746601837955, + 0.07984433510520167 + ], + "intended_face_normal": [ + -0.17791785396946125, + -0.3425292836853444, + 0.9225068630991373 + ], + "commanded_contact_point": [ + -29.316714401245118, + -14.933517860398807, + 0.028812769008858204 + ], + "centerline_face_intersection": [ + -29.338060037163327, + -14.918517860398806, + 0.028812769008858204 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.309846878051758, + -14.909934043884277, + 0.07035399973392487 + ], + "box_pose": [ + -29.190818786621094, + -14.922030448913574, + 0.03248890861868858, + 0.643103837966919, + 0.2635822892189026, + 0.5076239705085754, + 0.5091755390167236 + ], + "box_yaw_rad": 1.1869706551711434, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008616166904621257 + } + }, + { + "simulation_time_ns": 7060000000, + "phase": "straight_push", + "intended_face_center": [ + -29.216626817731655, + -14.937641432243884, + 0.07984046145553789 + ], + "intended_face_normal": [ + -0.1787388034753974, + -0.3416404094750831, + 0.9226778350198437 + ], + "commanded_contact_point": [ + -29.315791244506837, + -14.933742445326065, + 0.02879943747305705 + ], + "centerline_face_intersection": [ + -29.33706885126303, + -14.918742445326064, + 0.02879943747305705 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.308629989624023, + -14.909862518310547, + 0.07027201354503632 + ], + "box_pose": [ + -29.189697265625, + -14.922296524047852, + 0.03247638791799545, + 0.6433298587799072, + 0.26289960741996765, + 0.5068992972373962, + 0.5099643468856812 + ], + "box_yaw_rad": 1.1844891968657087, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009501760272877648 + } + }, + { + "simulation_time_ns": 7080000000, + "phase": "straight_push", + "intended_face_center": [ + -29.217198890367122, + -14.93904155597148, + 0.07983121372059448 + ], + "intended_face_normal": [ + -0.18493204530012974, + -0.3568990582647089, + 0.9156545481608589 + ], + "commanded_contact_point": [ + -29.314929122924806, + -14.934298485637704, + 0.029178706443944748 + ], + "centerline_face_intersection": [ + -29.337311943824446, + -14.919298485637704, + 0.029178706443944748 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.309131622314453, + -14.910954475402832, + 0.06986834108829498 + ], + "box_pose": [ + -29.189950942993164, + -14.922907829284668, + 0.03291347250342369, + 0.6457311511039734, + 0.2570606470108032, + 0.5113519430160522, + 0.5054407119750977 + ], + "box_yaw_rad": 1.1849012457790278, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010937455840600093 + } + }, + { + "simulation_time_ns": 7100000000, + "phase": "straight_push", + "intended_face_center": [ + -29.21713608358918, + -14.9385880175127, + 0.08002767417453172 + ], + "intended_face_normal": [ + -0.18427920844878187, + -0.35187134553107313, + 0.9177296768406507 + ], + "commanded_contact_point": [ + -29.3138533782959, + -14.934123071998307, + 0.02926037418400942 + ], + "centerline_face_intersection": [ + -29.33730016489196, + -14.919123071998307, + 0.02926037418400942 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.309093475341797, + -14.910517692565918, + 0.07001212239265442 + ], + "box_pose": [ + -29.189922332763672, + -14.922718048095703, + 0.03300025686621666, + 0.6446207165718079, + 0.25854650139808655, + 0.5102938413619995, + 0.5071666836738586 + ], + "box_yaw_rad": 1.1851006086068199, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010930078093382568 + } + }, + { + "simulation_time_ns": 7120000000, + "phase": "straight_push", + "intended_face_center": [ + -29.21757375111544, + -14.938128577214988, + 0.08133317870106815 + ], + "intended_face_normal": [ + -0.18863945669654214, + -0.34752878155203604, + 0.9184983101759059 + ], + "commanded_contact_point": [ + -29.31233512878418, + -14.933903855215009, + 0.030523359175547316 + ], + "centerline_face_intersection": [ + -29.337501564624887, + -14.918903855215008, + 0.030523359175547316 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30940818786621, + -14.910157203674316, + 0.07092711329460144 + ], + "box_pose": [ + -29.190135955810547, + -14.922473907470703, + 0.03436380997300148, + 0.6420964002609253, + 0.25865674018859863, + 0.5113478302955627, + 0.5092468857765198 + ], + "box_yaw_rad": 1.1882174858989585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001987025079550808 + } + }, + { + "simulation_time_ns": 7140000000, + "phase": "straight_push", + "intended_face_center": [ + -29.217280234731696, + -14.93820807159439, + 0.08097505448512866 + ], + "intended_face_normal": [ + -0.18567530052114734, + -0.34813319875508597, + 0.9188732003041729 + ], + "commanded_contact_point": [ + -29.310616607666017, + -14.933949914226414, + 0.03014449665279974 + ], + "centerline_face_intersection": [ + -29.33737105976454, + -14.918949914226413, + 0.03014449665279974 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.308998107910156, + -14.91021728515625, + 0.07100751996040344 + ], + "box_pose": [ + -29.18999481201172, + -14.922528266906738, + 0.033925384283065796, + 0.6431784629821777, + 0.2592194974422455, + 0.5102823376655579, + 0.5086635947227478 + ], + "box_yaw_rad": 1.186448278936786, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017603900355461315 + } + }, + { + "simulation_time_ns": 7160000000, + "phase": "straight_push", + "intended_face_center": [ + -29.21693740160105, + -14.938066276538166, + 0.0806539969850659 + ], + "intended_face_normal": [ + -0.1821971676977867, + -0.346389991536185, + 0.9202269719273986 + ], + "commanded_contact_point": [ + -29.309020156860353, + -14.933904550533434, + 0.029748550727692724 + ], + "centerline_face_intersection": [ + -29.337215280501393, + -14.918904550533433, + 0.029748550727692724 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30846405029297, + -14.910120010375977, + 0.07103709876537323 + ], + "box_pose": [ + -29.189830780029297, + -14.922480583190918, + 0.03346991539001465, + 0.6437345147132874, + 0.2605898976325989, + 0.5087247490882874, + 0.5088199377059937 + ], + "box_yaw_rad": 1.1849422644374985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00164544407840408 + } + }, + { + "simulation_time_ns": 7180000000, + "phase": "straight_push", + "intended_face_center": [ + -29.21657580084352, + -14.937850315695057, + 0.08032436016784297 + ], + "intended_face_normal": [ + -0.17843010769164636, + -0.3438896962183122, + 0.9219014415803244 + ], + "commanded_contact_point": [ + -29.307400817871095, + -14.93382690192504, + 0.02932628499659644 + ], + "centerline_face_intersection": [ + -29.337053626704453, + -14.918826901925039, + 0.02932628499659644 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.307878494262695, + -14.909989356994629, + 0.07099363207817078 + ], + "box_pose": [ + -29.18966293334961, + -14.922396659851074, + 0.03298618271946907, + 0.6441403031349182, + 0.26226186752319336, + 0.5069794058799744, + 0.5091893076896667 + ], + "box_yaw_rad": 1.183530582029696, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001675289949881638 + } + }, + { + "simulation_time_ns": 7200000000, + "phase": "straight_push", + "intended_face_center": [ + -29.21649849468915, + -14.937783185728742, + 0.0798683833965057 + ], + "intended_face_normal": [ + -0.17868041155352188, + -0.3429229952873385, + 0.9222132231504574 + ], + "commanded_contact_point": [ + -29.305611724853517, + -14.933813248268146, + 0.028853060980343924 + ], + "centerline_face_intersection": [ + -29.33697621345078, + -14.918813248268146, + 0.028853060980343924 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30742645263672, + -14.910115242004395, + 0.07025247812271118 + ], + "box_pose": [ + -29.189573287963867, + -14.922383308410645, + 0.03251968324184418, + 0.643868625164032, + 0.2623940706253052, + 0.5068477988243103, + 0.5095958113670349 + ], + "box_yaw_rad": 1.1835271578567692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018506704778137883 + } + }, + { + "simulation_time_ns": 7220000000, + "phase": "straight_push", + "intended_face_center": [ + -29.21669297384997, + -14.937683796989509, + 0.07953451595938887 + ], + "intended_face_normal": [ + -0.1811278588370726, + -0.34173158945000637, + 0.9221781289279676 + ], + "commanded_contact_point": [ + -29.303826446533204, + -14.933779766145078, + 0.028521134898035636 + ], + "centerline_face_intersection": [ + -29.33704290091963, + -14.918779766145077, + 0.028521134898035636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.307296752929688, + -14.91030502319336, + 0.06937278807163239 + ], + "box_pose": [ + -29.18964195251465, + -14.922343254089355, + 0.03223828971385956, + 0.6428382396697998, + 0.2620730996131897, + 0.5075675249099731, + 0.5103449821472168 + ], + "box_yaw_rad": 1.1848756482244935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018161813394205824 + } + }, + { + "simulation_time_ns": 7240000000, + "phase": "straight_push", + "intended_face_center": [ + -29.216727708677585, + -14.937700369343087, + 0.07946564705875914 + ], + "intended_face_normal": [ + -0.18229031916590088, + -0.3417876935564621, + 0.921928184785763 + ], + "commanded_contact_point": [ + -29.302048797607423, + -14.933793234911537, + 0.028466092497265682 + ], + "centerline_face_intersection": [ + -29.337021725854328, + -14.918793234911536, + 0.028466092497265682 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.307235717773438, + -14.910237312316895, + 0.06907576322555542 + ], + "box_pose": [ + -29.189617156982422, + -14.922357559204102, + 0.03220425918698311, + 0.6425431370735168, + 0.26172637939453125, + 0.5079686641693115, + 0.5104953646659851 + ], + "box_yaw_rad": 1.1853135004790598, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017785518763543818 + } + }, + { + "simulation_time_ns": 7260000000, + "phase": "straight_push", + "intended_face_center": [ + -29.216776378651225, + -14.93871190363822, + 0.07950216020105783 + ], + "intended_face_normal": [ + -0.18469273608667436, + -0.35352671598514007, + 0.9170101987054693 + ], + "commanded_contact_point": [ + -29.300274963378907, + -14.9341553857463, + 0.028774660560515617 + ], + "centerline_face_intersection": [ + -29.336905618835722, + -14.919155385746299, + 0.028774660560515617 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30683135986328, + -14.910820960998535, + 0.06903889775276184 + ], + "box_pose": [ + -29.18954086303711, + -14.922752380371094, + 0.03251766040921211, + 0.6448888778686523, + 0.2580452561378479, + 0.510765790939331, + 0.5066057443618774 + ], + "box_yaw_rad": 1.1853039658022497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018365335137237664 + } + }, + { + "simulation_time_ns": 7280000000, + "phase": "straight_push", + "intended_face_center": [ + -29.215293087049698, + -14.938139990566285, + 0.07943241069926947 + ], + "intended_face_normal": [ + -0.18406435834342716, + -0.3491770098659259, + 0.9188011775298364 + ], + "commanded_contact_point": [ + -29.298678512573243, + -14.933824091280254, + 0.02860583704864804 + ], + "centerline_face_intersection": [ + -29.33549083278512, + -14.918824091280253, + 0.02860583704864804 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.30492401123047, + -14.90979290008545, + 0.0689077377319336 + ], + "box_pose": [ + -29.188091278076172, + -14.922415733337402, + 0.032349176704883575, + 0.6440550684928894, + 0.259235143661499, + 0.5096877217292786, + 0.5081422924995422 + ], + "box_yaw_rad": 1.1849718830792126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016391804587345005 + } + }, + { + "simulation_time_ns": 7300000000, + "phase": "straight_push", + "intended_face_center": [ + -29.21218147415896, + -14.936473467556466, + 0.0794697290794428 + ], + "intended_face_normal": [ + -0.18160081167455644, + -0.33960829508160373, + 0.9228690248842923 + ], + "commanded_contact_point": [ + -29.297074432373048, + -14.932686893872773, + 0.028418128787348618 + ], + "centerline_face_intersection": [ + -29.332602561883085, + -14.917686893872773, + 0.028418128787348618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.301668167114258, + -14.907575607299805, + 0.06885954737663269 + ], + "box_pose": [ + -29.185110092163086, + -14.921273231506348, + 0.03213987872004509, + 0.6426064968109131, + 0.2620360255241394, + 0.5068145990371704, + 0.5114029049873352 + ], + "box_yaw_rad": 1.183359348750665, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001975227992814784 + } + }, + { + "simulation_time_ns": 7320000000, + "phase": "straight_push", + "intended_face_center": [ + -29.20745767927386, + -14.936365138584861, + 0.0797684061820959 + ], + "intended_face_normal": [ + -0.17881842123790292, + -0.3415997319926376, + 0.9226774255290238 + ], + "commanded_contact_point": [ + -29.295256729125978, + -14.93246840187863, + 0.028727404851975353 + ], + "centerline_face_intersection": [ + -29.32782166317631, + -14.91746840187863, + 0.028727404851975353 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2972412109375, + -14.907462120056152, + 0.06956835091114044 + ], + "box_pose": [ + -29.18052101135254, + -14.920997619628906, + 0.032415714114904404, + 0.6429144740104675, + 0.26327309012413025, + 0.5074059963226318, + 0.5097915530204773 + ], + "box_yaw_rad": 1.1861608750261585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018567271016672728 + } + }, + { + "simulation_time_ns": 7340000000, + "phase": "straight_push", + "intended_face_center": [ + -29.204054733863565, + -14.937631222255987, + 0.08003605100353497 + ], + "intended_face_normal": [ + -0.172391765360004, + -0.34651357338398725, + 0.9220679861067964 + ], + "commanded_contact_point": [ + -29.293349380493165, + -14.933462659906198, + 0.02902876286233601 + ], + "centerline_face_intersection": [ + -29.32402184372187, + -14.918462659906197, + 0.02902876286233601 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.29444694519043, + -14.909783363342285, + 0.07059061527252197 + ], + "box_pose": [ + -29.177419662475586, + -14.921765327453613, + 0.032677121460437775, + 0.6422182321548462, + 0.26749467849731445, + 0.5106980800628662, + 0.5051631331443787 + ], + "box_yaw_rad": 1.1988968213017919, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002171944861842273 + } + }, + { + "simulation_time_ns": 7360000000, + "phase": "straight_push", + "intended_face_center": [ + -29.203577901674986, + -14.938950723621984, + 0.08016018918511122 + ], + "intended_face_normal": [ + -0.17387029202550863, + -0.36138127471322434, + 0.9160637816015331 + ], + "commanded_contact_point": [ + -29.291361923217774, + -14.933959704428313, + 0.02948504378595858 + ], + "centerline_face_intersection": [ + -29.32325567544364, + -14.918959704428312, + 0.02948504378595858 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.294036865234375, + -14.911105155944824, + 0.07099020481109619 + ], + "box_pose": [ + -29.17685890197754, + -14.922245979309082, + 0.03313818201422691, + 0.6446858048439026, + 0.26410236954689026, + 0.5148503184318542, + 0.4995591640472412 + ], + "box_yaw_rad": 1.2020523708859365, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020988644452964544 + } + }, + { + "simulation_time_ns": 7380000000, + "phase": "straight_push", + "intended_face_center": [ + -29.20334785623283, + -14.938367971788677, + 0.08026665697638513 + ], + "intended_face_normal": [ + -0.17148196899654522, + -0.3550837865580334, + 0.9189721223778236 + ], + "commanded_contact_point": [ + -29.289281005859376, + -14.933725319307372, + 0.02943062693724472 + ], + "centerline_face_intersection": [ + -29.323163229782242, + -14.918725319307372, + 0.02943062693724472 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.29389762878418, + -14.910433769226074, + 0.07137972116470337 + ], + "box_pose": [ + -29.1767520904541, + -14.921992301940918, + 0.033059392124414444, + 0.6437267065048218, + 0.266430139541626, + 0.5129891037940979, + 0.5014710426330566 + ], + "box_yaw_rad": 1.201692783881074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020947827168530117 + } + }, + { + "simulation_time_ns": 7400000000, + "phase": "straight_push", + "intended_face_center": [ + -29.20284463554243, + -14.937874290350598, + 0.08041183903152782 + ], + "intended_face_normal": [ + -0.1679878503005341, + -0.34905598483565115, + 0.9219218102288806 + ], + "commanded_contact_point": [ + -29.28744613647461, + -14.933565085970674, + 0.02941263710006228 + ], + "centerline_face_intersection": [ + -29.32282134721985, + -14.918565085970673, + 0.02941263710006228 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.293455123901367, + -14.909987449645996, + 0.0719086229801178 + ], + "box_pose": [ + -29.176427841186523, + -14.921802520751953, + 0.03300010412931442, + 0.6429613828659058, + 0.26915061473846436, + 0.5110074877738953, + 0.5030207633972168 + ], + "box_yaw_rad": 1.2015867257075443, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018419402855634572 + } + }, + { + "simulation_time_ns": 7420000000, + "phase": "straight_push", + "intended_face_center": [ + -29.20243430244477, + -14.937815455978928, + 0.08054812681399232 + ], + "intended_face_normal": [ + -0.1666214723761641, + -0.34821463497252125, + 0.9224878715385785 + ], + "commanded_contact_point": [ + -29.2858992767334, + -14.933552793693016, + 0.029517611299619235 + ], + "centerline_face_intersection": [ + -29.322495208277008, + -14.918552793693015, + 0.029517611299619235 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.292984008789062, + -14.90987777709961, + 0.0721418708562851 + ], + "box_pose": [ + -29.176088333129883, + -14.921792030334473, + 0.03308064490556717, + 0.6431890726089478, + 0.26967859268188477, + 0.5103088617324829, + 0.5031561851501465 + ], + "box_yaw_rad": 1.2008123454123272, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015504662981315695 + } + }, + { + "simulation_time_ns": 7440000000, + "phase": "straight_push", + "intended_face_center": [ + -29.202221014109135, + -14.938323960873813, + 0.08054466450637962 + ], + "intended_face_normal": [ + -0.16860350157763548, + -0.35411912207434426, + 0.9198763905982332 + ], + "commanded_contact_point": [ + -29.28434669494629, + -14.933734672049006, + 0.029658611832932034 + ], + "centerline_face_intersection": [ + -29.3221946675866, + -14.918734672049005, + 0.029658611832932034 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.29244041442871, + -14.91034984588623, + 0.07195763289928436 + ], + "box_pose": [ + -29.17577362060547, + -14.922001838684082, + 0.033235616981983185, + 0.6443278193473816, + 0.26742303371429443, + 0.5117628574371338, + 0.5014233589172363 + ], + "box_yaw_rad": 1.2003460475157166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015695448679269779 + } + }, + { + "simulation_time_ns": 7460000000, + "phase": "straight_push", + "intended_face_center": [ + -29.201865976469076, + -14.938591194370153, + 0.0803624270344765 + ], + "intended_face_normal": [ + -0.17141965589465968, + -0.35760416587891797, + 0.9180058801772262 + ], + "commanded_contact_point": [ + -29.28286087036133, + -14.933809118640038, + 0.029579847928545643 + ], + "centerline_face_intersection": [ + -29.321748711638673, + -14.918809118640038, + 0.029579847928545643 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.291305541992188, + -14.910746574401855, + 0.07128052413463593 + ], + "box_pose": [ + -29.175275802612305, + -14.92210865020752, + 0.03318922221660614, + 0.6447867751121521, + 0.2653964161872864, + 0.5128860473632812, + 0.5007621645927429 + ], + "box_yaw_rad": 1.199733491354918, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001489772044584291 + } + }, + { + "simulation_time_ns": 7480000000, + "phase": "straight_push", + "intended_face_center": [ + -29.200168072274668, + -14.93802655986231, + 0.08025914438178242 + ], + "intended_face_normal": [ + -0.17098487867531276, + -0.3495768262513508, + 0.9211731395149201 + ], + "commanded_contact_point": [ + -29.281577224731446, + -14.93368854338982, + 0.029301357685858346 + ], + "centerline_face_intersection": [ + -29.32014778768096, + -14.91868854338982, + 0.029301357685858346 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.289020538330078, + -14.910609245300293, + 0.0709579586982727 + ], + "box_pose": [ + -29.173603057861328, + -14.921982765197754, + 0.03292081132531166, + 0.6431265473365784, + 0.2673465609550476, + 0.5110544562339783, + 0.5037234425544739 + ], + "box_yaw_rad": 1.1991510661513765, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013190304429217738 + } + }, + { + "simulation_time_ns": 7500000000, + "phase": "straight_push", + "intended_face_center": [ + -29.19800420376597, + -14.938198617092453, + 0.08018987799681908 + ], + "intended_face_normal": [ + -0.17119452105004385, + -0.3447463484079236, + 0.9229532561792233 + ], + "commanded_contact_point": [ + -29.280381317138673, + -14.934127814728829, + 0.029133618167688814 + ], + "centerline_face_intersection": [ + -29.318129944425856, + -14.919127814728828, + 0.029133618167688814 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.286489486694336, + -14.910918235778809, + 0.07096873223781586 + ], + "box_pose": [ + -29.17143440246582, + -14.922457695007324, + 0.0327526330947876, + 0.642596423625946, + 0.26778456568717957, + 0.5093554854393005, + 0.5058837532997131 + ], + "box_yaw_rad": 1.1964279468362164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012850256128509607 + } + }, + { + "simulation_time_ns": 7520000000, + "phase": "straight_push", + "intended_face_center": [ + -29.196954632163703, + -14.939449547720617, + 0.080352161626426 + ], + "intended_face_normal": [ + -0.1723951735842455, + -0.3548221792739312, + 0.9189018697071205 + ], + "commanded_contact_point": [ + -29.27899658203125, + -14.934821366925044, + 0.0295200178497643 + ], + "centerline_face_intersection": [ + -29.31700093128332, + -14.919821366925044, + 0.0295200178497643 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.285266876220703, + -14.912230491638184, + 0.07131259143352509 + ], + "box_pose": [ + -29.17032241821289, + -14.923184394836426, + 0.03312727063894272, + 0.6449223160743713, + 0.26476219296455383, + 0.511357307434082, + 0.5024835467338562 + ], + "box_yaw_rad": 1.1956734004047116, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00159618629267095 + } + }, + { + "simulation_time_ns": 7540000000, + "phase": "straight_push", + "intended_face_center": [ + -29.1962950787513, + -14.94017052248436, + 0.08026382839636255 + ], + "intended_face_normal": [ + -0.1724869846710675, + -0.35411697111251783, + 0.9191567250037735 + ], + "commanded_contact_point": [ + -29.2775927734375, + -14.935581352647231, + 0.02941758644283477 + ], + "centerline_face_intersection": [ + -29.316199799412832, + -14.92058135264723, + 0.02941758644283477 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.28460121154785, + -14.913468360900879, + 0.07119369506835938 + ], + "box_pose": [ + -29.169652938842773, + -14.923893928527832, + 0.03304847329854965, + 0.643957257270813, + 0.26566654443740845, + 0.5122280120849609, + 0.5023571252822876 + ], + "box_yaw_rad": 1.1990050344322414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015996090331515135 + } + }, + { + "simulation_time_ns": 7560000000, + "phase": "straight_push", + "intended_face_center": [ + -29.196592742421664, + -14.940445516869152, + 0.07936545392933556 + ], + "intended_face_normal": [ + -0.17884354958548698, + -0.3552598064965906, + 0.9174993601030721 + ], + "commanded_contact_point": [ + -29.276265258789063, + -14.935793127253644, + 0.02861089468285211 + ], + "centerline_face_intersection": [ + -29.31612091037704, + -14.920793127253644, + 0.02861089468285211 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.28348731994629, + -14.914888381958008, + 0.06849877536296844 + ], + "box_pose": [ + -29.16962242126465, + -14.924090385437012, + 0.032364048063755035, + 0.6421794295310974, + 0.2639138698577881, + 0.5150101780891418, + 0.502712070941925 + ], + "box_yaw_rad": 1.202907451681074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015677675916287573 + } + }, + { + "simulation_time_ns": 7580000000, + "phase": "straight_push", + "intended_face_center": [ + -29.195614557905063, + -14.940692784671365, + 0.0788556282637849 + ], + "intended_face_normal": [ + -0.18220990636831758, + -0.3536935996161361, + 0.9174421010312521 + ], + "commanded_contact_point": [ + -29.274853820800782, + -14.936127035050786, + 0.028104236495208757 + ], + "centerline_face_intersection": [ + -29.3147731097346, + -14.921127035050786, + 0.028104236495208757 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.28194236755371, + -14.915897369384766, + 0.06691749393939972 + ], + "box_pose": [ + -29.16846466064453, + -14.924345016479492, + 0.03195515647530556, + 0.6396542191505432, + 0.26455119252204895, + 0.5173869729042053, + 0.5031557679176331 + ], + "box_yaw_rad": 1.209490961995579, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001536344405028238 + } + }, + { + "simulation_time_ns": 7600000000, + "phase": "straight_push", + "intended_face_center": [ + -29.19524551425501, + -14.940459565188092, + 0.07870374304738986 + ], + "intended_face_normal": [ + -0.18152497756399555, + -0.35058589944658536, + 0.9187697892422051 + ], + "commanded_contact_point": [ + -29.27361022949219, + -14.936065728442045, + 0.027878905745340986 + ], + "centerline_face_intersection": [ + -29.314390147827254, + -14.921065728442045, + 0.027878905745340986 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.281536102294922, + -14.915724754333496, + 0.0666339099407196 + ], + "box_pose": [ + -29.168128967285156, + -14.924253463745117, + 0.031734857708215714, + 0.6387231945991516, + 0.26587891578674316, + 0.5170354247093201, + 0.5039993524551392 + ], + "box_yaw_rad": 1.2108456445984703, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012653267522348423 + } + }, + { + "simulation_time_ns": 7620000000, + "phase": "straight_push", + "intended_face_center": [ + -29.19484196372245, + -14.940138375794426, + 0.07889277197405359 + ], + "intended_face_normal": [ + -0.17893087521302675, + -0.3463826002501449, + 0.9208707365880464 + ], + "commanded_contact_point": [ + -29.272629852294923, + -14.93597705866351, + 0.027951713711887323 + ], + "centerline_face_intersection": [ + -29.3141144980648, + -14.92097705866351, + 0.027951713711887323 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.28107452392578, + -14.915472984313965, + 0.06695204973220825 + ], + "box_pose": [ + -29.167858123779297, + -14.924147605895996, + 0.0317738801240921, + 0.6383039951324463, + 0.2677645981311798, + 0.5155184864997864, + 0.5050849914550781 + ], + "box_yaw_rad": 1.210386526735044, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009870677679553778 + } + }, + { + "simulation_time_ns": 7640000000, + "phase": "straight_push", + "intended_face_center": [ + -29.193495318785125, + -14.939905853307625, + 0.07921094255364194 + ], + "intended_face_normal": [ + -0.17543639921267484, + -0.3414447988834155, + 0.9233837869556645 + ], + "commanded_contact_point": [ + -29.271605606079103, + -14.936017687246796, + 0.02813086646833701 + ], + "centerline_face_intersection": [ + -29.31300482049775, + -14.921017687246795, + 0.02813086646833701 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.279613494873047, + -14.91523265838623, + 0.06757532060146332 + ], + "box_pose": [ + -29.16669273376465, + -14.92419147491455, + 0.031896017491817474, + 0.6382929682731628, + 0.26973751187324524, + 0.5131320357322693, + 0.5064773559570312 + ], + "box_yaw_rad": 1.2081471562984125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010405895937138313 + } + }, + { + "simulation_time_ns": 7660000000, + "phase": "straight_push", + "intended_face_center": [ + -29.191147915823695, + -14.939995789599115, + 0.07951073480896409 + ], + "intended_face_normal": [ + -0.17602150958117946, + -0.34249439218940836, + 0.9228834909655994 + ], + "commanded_contact_point": [ + -29.270489807128907, + -14.93604956175868, + 0.028458334276986706 + ], + "centerline_face_intersection": [ + -29.31096122439704, + -14.921049561758679, + 0.028458334276986706 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.277009963989258, + -14.914698600769043, + 0.06808269023895264 + ], + "box_pose": [ + -29.16432762145996, + -14.924345970153809, + 0.032184455543756485, + 0.640263020992279, + 0.2674606740474701, + 0.511185348033905, + 0.5071662068367004 + ], + "box_yaw_rad": 1.2004353483166392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011632963712943454 + } + }, + { + "simulation_time_ns": 7680000000, + "phase": "straight_push", + "intended_face_center": [ + -29.18743925801952, + -14.939957442311586, + 0.07963166993855995 + ], + "intended_face_normal": [ + -0.17793333833225233, + -0.3413840995796136, + 0.9229283614628372 + ], + "commanded_contact_point": [ + -29.269389266967774, + -14.936072634036652, + 0.02857678724429505 + ], + "centerline_face_intersection": [ + -29.30763958803009, + -14.921072634036651, + 0.02857678724429505 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.27301025390625, + -14.9138822555542, + 0.06834833323955536 + ], + "box_pose": [ + -29.160539627075195, + -14.924530982971191, + 0.03227708488702774, + 0.6420140266418457, + 0.2646646201610565, + 0.5084388256072998, + 0.5091764330863953 + ], + "box_yaw_rad": 1.1904483535889254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011071368848255545 + } + }, + { + "simulation_time_ns": 7700000000, + "phase": "straight_push", + "intended_face_center": [ + -29.18256526603403, + -14.940162948372276, + 0.07975427032242724 + ], + "intended_face_normal": [ + -0.1805218398275592, + -0.3406120474953269, + 0.922711037992034 + ], + "commanded_contact_point": [ + -29.26846420288086, + -14.936320848751928, + 0.028711409606001416 + ], + "centerline_face_intersection": [ + -29.303104526221052, + -14.921320848751927, + 0.028711409606001416 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.267841339111328, + -14.91334056854248, + 0.06854806840419769 + ], + "box_pose": [ + -29.15555191040039, + -14.924932479858398, + 0.03240097314119339, + 0.6435093283653259, + 0.26172778010368347, + 0.5061637759208679, + 0.5110701322555542 + ], + "box_yaw_rad": 1.1813345045203956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009672007496114745 + } + }, + { + "simulation_time_ns": 7720000000, + "phase": "straight_push", + "intended_face_center": [ + -29.177988796169924, + -14.940700855679093, + 0.07980657154166759 + ], + "intended_face_normal": [ + -0.183207881916168, + -0.34084467497253, + 0.9220954391368039 + ], + "commanded_contact_point": [ + -29.267666931152345, + -14.936845887488383, + 0.028797764743891195 + ], + "centerline_face_intersection": [ + -29.29887220072456, + -14.921845887488383, + 0.028797764743891195 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.262998580932617, + -14.91309642791748, + 0.06866447627544403 + ], + "box_pose": [ + -29.15085792541504, + -14.925613403320312, + 0.032474685460329056, + 0.6452303528785706, + 0.2584950923919678, + 0.5040834546089172, + 0.5125992894172668 + ], + "box_yaw_rad": 1.1721614440677832, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009585223490920949 + } + }, + { + "simulation_time_ns": 7740000000, + "phase": "straight_push", + "intended_face_center": [ + -29.175203288168575, + -14.94123528330332, + 0.07986754742923803 + ], + "intended_face_normal": [ + -0.18560104502979868, + -0.3399323351236845, + 0.9219535346563852 + ], + "commanded_contact_point": [ + -29.266871566772462, + -14.937430784256158, + 0.02886659055449367 + ], + "centerline_face_intersection": [ + -29.29634957651548, + -14.922430784256157, + 0.02886659055449367 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.259986877441406, + -14.91303539276123, + 0.06869761645793915 + ], + "box_pose": [ + -29.147966384887695, + -14.926315307617188, + 0.032543476670980453, + 0.6461814641952515, + 0.2561820447444916, + 0.5024098753929138, + 0.514202892780304 + ], + "box_yaw_rad": 1.1653228663098862, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009896694993504953 + } + }, + { + "simulation_time_ns": 7760000000, + "phase": "straight_push", + "intended_face_center": [ + -29.174328209817567, + -14.941328353589244, + 0.0798285145634226 + ], + "intended_face_normal": [ + -0.18550970632001906, + -0.3380200757013796, + 0.9226746898136327 + ], + "commanded_contact_point": [ + -29.26600944519043, + -14.937629637595853, + 0.02878766456858897 + ], + "centerline_face_intersection": [ + -29.295578747623626, + -14.922629637595852, + 0.02878766456858897 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2590389251709, + -14.913050651550293, + 0.06865598261356354 + ], + "box_pose": [ + -29.1471004486084, + -14.92653751373291, + 0.03245867043733597, + 0.6461487412452698, + 0.2562398910522461, + 0.501499593257904, + 0.5151029825210571 + ], + "box_yaw_rad": 1.1635733689320122, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008882711208651157 + } + }, + { + "simulation_time_ns": 7780000000, + "phase": "straight_push", + "intended_face_center": [ + -29.174881250135105, + -14.942521098242782, + 0.07988448347535615 + ], + "intended_face_normal": [ + -0.19140773187902482, + -0.3511102451451862, + 0.9165612851263596 + ], + "commanded_contact_point": [ + -29.26534378051758, + -14.938098255552989, + 0.02918181699747131 + ], + "centerline_face_intersection": [ + -29.295822631897163, + -14.923098255552988, + 0.02918181699747131 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.259552001953125, + -14.913922309875488, + 0.06842891871929169 + ], + "box_pose": [ + -29.147350311279297, + -14.927054405212402, + 0.032907355576753616, + 0.6481190919876099, + 0.2510797083377838, + 0.505466878414154, + 0.5112766623497009 + ], + "box_yaw_rad": 1.1639728212590914, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009044713282501417 + } + }, + { + "simulation_time_ns": 7800000000, + "phase": "straight_push", + "intended_face_center": [ + -29.175191601017566, + -14.942074371277688, + 0.08055395601683503 + ], + "intended_face_normal": [ + -0.19447482470505406, + -0.34609447238429425, + 0.9178225429546032 + ], + "commanded_contact_point": [ + -29.264466400146485, + -14.937928992907576, + 0.02978151882525564 + ], + "centerline_face_intersection": [ + -29.296008640746273, + -14.922928992907575, + 0.02978151882525564 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.25979995727539, + -14.913492202758789, + 0.0687318742275238 + ], + "box_pose": [ + -29.147504806518555, + -14.926873207092285, + 0.033581748604774475, + 0.6460070610046387, + 0.251469224691391, + 0.5056897401809692, + 0.5135328769683838 + ], + "box_yaw_rad": 1.1656557755267407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010761451765261747 + } + }, + { + "simulation_time_ns": 7820000000, + "phase": "straight_push", + "intended_face_center": [ + -29.176322286873607, + -14.941060489842668, + 0.08296371764940053 + ], + "intended_face_normal": [ + -0.20586987727060801, + -0.3350422747277335, + 0.9194370284017239 + ], + "commanded_contact_point": [ + -29.26320182800293, + -14.937526500913417, + 0.032101969771795955 + ], + "centerline_face_intersection": [ + -29.29664321350469, + -14.922526500913417, + 0.032101969771795955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2606201171875, + -14.912651062011719, + 0.07002528011798859 + ], + "box_pose": [ + -29.148056030273438, + -14.92643928527832, + 0.03615280240774155, + 0.6400035619735718, + 0.25106555223464966, + 0.5078548789024353, + 0.5190809369087219 + ], + "box_yaw_rad": 1.1714801652372655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026731320780904277 + } + }, + { + "simulation_time_ns": 7840000000, + "phase": "straight_push", + "intended_face_center": [ + -29.175540591970297, + -14.941620121740577, + 0.08187908614042336 + ], + "intended_face_normal": [ + -0.19723576180742697, + -0.34114766745406655, + 0.9190845509135528 + ], + "commanded_contact_point": [ + -29.261731262207032, + -14.937748392502911, + 0.031036836739149518 + ], + "centerline_face_intersection": [ + -29.29626872365951, + -14.92274839250291, + 0.031036836739149518 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.259870529174805, + -14.913142204284668, + 0.0702284425497055 + ], + "box_pose": [ + -29.147714614868164, + -14.92668628692627, + 0.03490336984395981, + 0.6440833806991577, + 0.2518312633037567, + 0.5056979656219482, + 0.5157588720321655 + ], + "box_yaw_rad": 1.166789767588674, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018292916702344092 + } + }, + { + "simulation_time_ns": 7860000000, + "phase": "straight_push", + "intended_face_center": [ + -29.174956552123987, + -14.941684614128697, + 0.08124789854584943 + ], + "intended_face_normal": [ + -0.19154828333172702, + -0.3411334136627673, + 0.9202919269800063 + ], + "commanded_contact_point": [ + -29.260239715576173, + -14.93781367338738, + 0.030338859081538695 + ], + "centerline_face_intersection": [ + -29.295989487190006, + -14.92281367338738, + 0.030338859081538695 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.259132385253906, + -14.913329124450684, + 0.07040371000766754 + ], + "box_pose": [ + -29.147422790527344, + -14.926759719848633, + 0.03409748524427414, + 0.6457667350769043, + 0.2532990574836731, + 0.503539502620697, + 0.5150464773178101 + ], + "box_yaw_rad": 1.1638351856395777, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016480733467988823 + } + }, + { + "simulation_time_ns": 7880000000, + "phase": "straight_push", + "intended_face_center": [ + -29.174666473231465, + -14.941611755367179, + 0.08071249979848188 + ], + "intended_face_normal": [ + -0.18857846210818252, + -0.34017049703871294, + 0.9212610658867391 + ], + "commanded_contact_point": [ + -29.258666152954103, + -14.937794081593633, + 0.029749849159930866 + ], + "centerline_face_intersection": [ + -29.29585798847821, + -14.922794081593633, + 0.029749849159930866 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.258623123168945, + -14.913381576538086, + 0.07019098103046417 + ], + "box_pose": [ + -29.14728546142578, + -14.926739692687988, + 0.03345656767487526, + 0.6463619470596313, + 0.25433778762817383, + 0.5022962093353271, + 0.5150018930435181 + ], + "box_yaw_rad": 1.1625312169781534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016803023096191537 + } + }, + { + "simulation_time_ns": 7900000000, + "phase": "straight_push", + "intended_face_center": [ + -29.17441599287355, + -14.941647783385902, + 0.07990871105383582 + ], + "intended_face_normal": [ + -0.1864087055514858, + -0.3403758522381466, + 0.9216268930398108 + ], + "commanded_contact_point": [ + -29.25681983947754, + -14.937818749699652, + 0.028925823457394736 + ], + "centerline_face_intersection": [ + -29.295713724334227, + -14.922818749699651, + 0.028925823457394736 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.258098602294922, + -14.913619041442871, + 0.06944753229618073 + ], + "box_pose": [ + -29.147146224975586, + -14.926764488220215, + 0.03259201720356941, + 0.6469995975494385, + 0.2548989951610565, + 0.5015769600868225, + 0.5146247148513794 + ], + "box_yaw_rad": 1.161633336241298, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00202200403749127 + } + }, + { + "simulation_time_ns": 7920000000, + "phase": "straight_push", + "intended_face_center": [ + -29.174568711671583, + -14.941474303674893, + 0.079540389786048 + ], + "intended_face_normal": [ + -0.18889587718744494, + -0.3382178345413678, + 0.9219147565946422 + ], + "commanded_contact_point": [ + -29.254956359863282, + -14.937764647986938, + 0.028541578050055524 + ], + "centerline_face_intersection": [ + -29.295735535825486, + -14.922764647986938, + 0.028541578050055524 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.258075714111328, + -14.913580894470215, + 0.06866765022277832 + ], + "box_pose": [ + -29.147171020507812, + -14.9266996383667, + 0.03226357698440552, + 0.6456871628761292, + 0.25482454895973206, + 0.5021921992301941, + 0.5157086849212646 + ], + "box_yaw_rad": 1.1631986081170926, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019034515494580477 + } + }, + { + "simulation_time_ns": 7940000000, + "phase": "straight_push", + "intended_face_center": [ + -29.174355258792097, + -14.941335741746647, + 0.07937360378832367 + ], + "intended_face_normal": [ + -0.18947152416489743, + -0.335673150091516, + 0.9227264269765669 + ], + "commanded_contact_point": [ + -29.253146286010743, + -14.937766853827359, + 0.028329891778522426 + ], + "centerline_face_intersection": [ + -29.29546737870176, + -14.922766853827358, + 0.028329891778522426 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.25787353515625, + -14.913424491882324, + 0.06824353337287903 + ], + "box_pose": [ + -29.146926879882812, + -14.92668342590332, + 0.032076504081487656, + 0.6446936726570129, + 0.2554844915866852, + 0.5022017955780029, + 0.5166150331497192 + ], + "box_yaw_rad": 1.1644302604024788, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018224113956330356 + } + }, + { + "simulation_time_ns": 7960000000, + "phase": "straight_push", + "intended_face_center": [ + -29.17364339397941, + -14.941241596695642, + 0.07926824105809924 + ], + "intended_face_normal": [ + -0.18941576650445313, + -0.3346395108706943, + 0.9231132414864476 + ], + "commanded_contact_point": [ + -29.251345748901368, + -14.937729888002142, + 0.028203131104263535 + ], + "centerline_face_intersection": [ + -29.2947464764651, + -14.922729888002142, + 0.028203131104263535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.257213592529297, + -14.913161277770996, + 0.06788375973701477 + ], + "box_pose": [ + -29.146217346191406, + -14.92663860321045, + 0.03195453807711601, + 0.644363284111023, + 0.25583910942077637, + 0.5021112561225891, + 0.516939640045166 + ], + "box_yaw_rad": 1.164832731341728, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001805372156373586 + } + }, + { + "simulation_time_ns": 7980000000, + "phase": "straight_push", + "intended_face_center": [ + -29.171651835849094, + -14.94114169532985, + 0.07925656712936852 + ], + "intended_face_normal": [ + -0.18937445414687915, + -0.33480422476365135, + 0.9230618745229471 + ], + "commanded_contact_point": [ + -29.24978744506836, + -14.93762087493404, + 0.02819429871167514 + ], + "centerline_face_intersection": [ + -29.29271588741414, + -14.92262087493404, + 0.02819429871167514 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.25514793395996, + -14.912744522094727, + 0.06743374466896057 + ], + "box_pose": [ + -29.14422607421875, + -14.926517486572266, + 0.03194925934076309, + 0.6442245244979858, + 0.2560076415538788, + 0.5023712515830994, + 0.516776442527771 + ], + "box_yaw_rad": 1.1656309773927516, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015621372206507842 + } + }, + { + "simulation_time_ns": 8000000000, + "phase": "straight_push", + "intended_face_center": [ + -29.16855509644239, + -14.940480600978207, + 0.0791314992604541 + ], + "intended_face_normal": [ + -0.1916380579669763, + -0.33496912481252394, + 0.9225347221766533 + ], + "commanded_contact_point": [ + -29.248217697143556, + -14.936950658582248, + 0.02809839204565123 + ], + "centerline_face_intersection": [ + -29.289652583893442, + -14.921950658582247, + 0.02809839204565123 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.25179672241211, + -14.911275863647461, + 0.0667509138584137 + ], + "box_pose": [ + -29.141019821166992, + -14.92589282989502, + 0.0318765863776207, + 0.6443440914154053, + 0.2546188533306122, + 0.502299964427948, + 0.5173824429512024 + ], + "box_yaw_rad": 1.1635673914120948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001709531103614963 + } + }, + { + "simulation_time_ns": 8020000000, + "phase": "straight_push", + "intended_face_center": [ + -29.164118285225815, + -14.940227636318701, + 0.07937585310356607 + ], + "intended_face_normal": [ + -0.1882934890925938, + -0.33629692883258144, + 0.9227404220204107 + ], + "commanded_contact_point": [ + -29.24638854980469, + -14.9366242419829, + 0.028331366910901244 + ], + "centerline_face_intersection": [ + -29.285136925185462, + -14.921624241982899, + 0.028331366910901244 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.247541427612305, + -14.911011695861816, + 0.06734725832939148 + ], + "box_pose": [ + -29.136743545532227, + -14.925496101379395, + 0.0320722870528698, + 0.6444629430770874, + 0.2563900053501129, + 0.5028080940246582, + 0.5158640146255493 + ], + "box_yaw_rad": 1.1669584074239128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018725931409286976 + } + }, + { + "simulation_time_ns": 8040000000, + "phase": "straight_push", + "intended_face_center": [ + -29.16144275904194, + -14.941101493377115, + 0.07971227403595513 + ], + "intended_face_normal": [ + -0.18304352458112305, + -0.3431136430569097, + 0.9212861749920691 + ], + "commanded_contact_point": [ + -29.244528884887696, + -14.937121009594705, + 0.028748234402894122 + ], + "centerline_face_intersection": [ + -29.282088148818023, + -14.922121009594704, + 0.028748234402894122 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.245336532592773, + -14.912534713745117, + 0.06828711926937103 + ], + "box_pose": [ + -29.134309768676758, + -14.92581844329834, + 0.03244440257549286, + 0.6446826457977295, + 0.25915858149528503, + 0.5059062242507935, + 0.5111556053161621 + ], + "box_yaw_rad": 1.176941462225339, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019694949021286435 + } + }, + { + "simulation_time_ns": 8060000000, + "phase": "straight_push", + "intended_face_center": [ + -29.16130602499757, + -14.94203664535707, + 0.07976778288993713 + ], + "intended_face_normal": [ + -0.18508073995074525, + -0.3536469326742875, + 0.9168855637822872 + ], + "commanded_contact_point": [ + -29.242671127319337, + -14.937473477275148, + 0.029047177848855046 + ], + "centerline_face_intersection": [ + -29.281734692460304, + -14.922473477275148, + 0.029047177848855046 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.245216369628906, + -14.913240432739258, + 0.06836515665054321 + ], + "box_pose": [ + -29.134063720703125, + -14.926176071166992, + 0.03275372460484505, + 0.6464592814445496, + 0.2562684714794159, + 0.5088357925415039, + 0.5074476003646851 + ], + "box_yaw_rad": 1.1784235383092547, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019143834078983544 + } + }, + { + "simulation_time_ns": 8080000000, + "phase": "straight_push", + "intended_face_center": [ + -29.16101828194231, + -14.941416172465743, + 0.07985484596505008 + ], + "intended_face_normal": [ + -0.18223653692948005, + -0.34693678347787227, + 0.9200133923615823 + ], + "commanded_contact_point": [ + -29.240790481567384, + -14.937224198827927, + 0.028961214578834805 + ], + "centerline_face_intersection": [ + -29.281606462319328, + -14.922224198827927, + 0.028961214578834805 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.24497413635254, + -14.912495613098145, + 0.06867815554141998 + ], + "box_pose": [ + -29.133922576904297, + -14.925905227661133, + 0.03263985738158226, + 0.645472526550293, + 0.25882628560066223, + 0.5067875385284424, + 0.5094512104988098 + ], + "box_yaw_rad": 1.1780339561560502, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018990413034952192 + } + }, + { + "simulation_time_ns": 8100000000, + "phase": "straight_push", + "intended_face_center": [ + -29.1606898749409, + -14.940868554103604, + 0.08004489663572761 + ], + "intended_face_normal": [ + -0.17893956623964868, + -0.3409988376472839, + 0.9228763307431755 + ], + "commanded_contact_point": [ + -29.239161605834962, + -14.937005057886662, + 0.028992892195506853 + ], + "centerline_face_intersection": [ + -29.281463061832653, + -14.922005057886661, + 0.028992892195506853 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.244657516479492, + -14.911951065063477, + 0.06919260323047638 + ], + "box_pose": [ + -29.133764266967773, + -14.925668716430664, + 0.03263182193040848, + 0.6448291540145874, + 0.2612718641757965, + 0.5046729445457458, + 0.5111141800880432 + ], + "box_yaw_rad": 1.1772712754318697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016438559472196949 + } + }, + { + "simulation_time_ns": 8120000000, + "phase": "straight_push", + "intended_face_center": [ + -29.160473542080076, + -14.941083208896053, + 0.0801703998968971 + ], + "intended_face_normal": [ + -0.17856291259042223, + -0.3433050168946039, + 0.922093877861613 + ], + "commanded_contact_point": [ + -29.23782455444336, + -14.93709213862693, + 0.029161679466302645 + ], + "centerline_face_intersection": [ + -29.281278033938516, + -14.92209213862693, + 0.029161679466302645 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.244380950927734, + -14.912047386169434, + 0.06941083073616028 + ], + "box_pose": [ + -29.133567810058594, + -14.925768852233887, + 0.0327829048037529, + 0.6456319689750671, + 0.2606830596923828, + 0.5047889351844788, + 0.5102860927581787 + ], + "box_yaw_rad": 1.1764505684008655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013504734806326494 + } + }, + { + "simulation_time_ns": 8140000000, + "phase": "straight_push", + "intended_face_center": [ + -29.160509767335917, + -14.941706474241021, + 0.08015071691140821 + ], + "intended_face_normal": [ + -0.18071461669308064, + -0.3501550827768938, + 0.9190938901699042 + ], + "commanded_contact_point": [ + -29.236405487060548, + -14.937336469566294, + 0.029307950877796078 + ], + "centerline_face_intersection": [ + -29.281203750277385, + -14.922336469566293, + 0.029307950877796078 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.24406623840332, + -14.91275405883789, + 0.06925500929355621 + ], + "box_pose": [ + -29.133493423461914, + -14.926039695739746, + 0.032941702753305435, + 0.6469281911849976, + 0.2582141160964966, + 0.5065189599990845, + 0.5081809759140015 + ], + "box_yaw_rad": 1.1761856075108592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014473579967350136 + } + }, + { + "simulation_time_ns": 8160000000, + "phase": "straight_push", + "intended_face_center": [ + -29.160416239251802, + -14.942129787035055, + 0.07998466064530832 + ], + "intended_face_normal": [ + -0.18431728880992893, + -0.3540895115001206, + 0.9168683032030884 + ], + "commanded_contact_point": [ + -29.235032196044923, + -14.937542136218632, + 0.02926501043114782 + ], + "centerline_face_intersection": [ + -29.280927724795113, + -14.922542136218631, + 0.02926501043114782 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2434024810791, + -14.913616180419922, + 0.06867754459381104 + ], + "box_pose": [ + -29.133214950561523, + -14.926260948181152, + 0.03294966369867325, + 0.6470190286636353, + 0.2561318576335907, + 0.5083415508270264, + 0.5072983503341675 + ], + "box_yaw_rad": 1.1770434156401506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013892699044601162 + } + }, + { + "simulation_time_ns": 8180000000, + "phase": "straight_push", + "intended_face_center": [ + -29.15866588924121, + -14.941642727286892, + 0.07982160575064662 + ], + "intended_face_normal": [ + -0.18271357834033708, + -0.3469095348306297, + 0.9199289561250232 + ], + "commanded_contact_point": [ + -29.23382293701172, + -14.937452260999533, + 0.02893264523850203 + ], + "centerline_face_intersection": [ + -29.27928286078468, + -14.922452260999533, + 0.02893264523850203 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.24131965637207, + -14.913750648498535, + 0.06854408979415894 + ], + "box_pose": [ + -29.131547927856445, + -14.92615032196045, + 0.03261331468820572, + 0.6455996632575989, + 0.25843408703804016, + 0.5066121220588684, + 0.5096635818481445 + ], + "box_yaw_rad": 1.1771018810535105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012573192059591547 + } + }, + { + "simulation_time_ns": 8200000000, + "phase": "straight_push", + "intended_face_center": [ + -29.156267934167893, + -14.941942520872148, + 0.07984150179498453 + ], + "intended_face_normal": [ + -0.18185920164768277, + -0.34121083990024204, + 0.9222268130992362 + ], + "commanded_contact_point": [ + -29.232625122070313, + -14.938067297038408, + 0.028825427605153532 + ], + "centerline_face_intersection": [ + -29.277027832426636, + -14.923067297038408, + 0.028825427605153532 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.23867416381836, + -14.914402961730957, + 0.06869418919086456 + ], + "box_pose": [ + -29.12919807434082, + -14.926774978637695, + 0.03250029310584068, + 0.6447553634643555, + 0.2597294747829437, + 0.50487220287323, + 0.5117959976196289 + ], + "box_yaw_rad": 1.1755937383980068, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013507500079110576 + } + }, + { + "simulation_time_ns": 8220000000, + "phase": "straight_push", + "intended_face_center": [ + -29.154478251109946, + -14.942789038344223, + 0.07992218994692887 + ], + "intended_face_normal": [ + -0.18106754614563414, + -0.3412389908514868, + 0.9223722195399269 + ], + "commanded_contact_point": [ + -29.231091613769532, + -14.938912257246049, + 0.02889807211136931 + ], + "centerline_face_intersection": [ + -29.275233194409655, + -14.923912257246048, + 0.02889807211136931 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.236793518066406, + -14.915616989135742, + 0.06894099712371826 + ], + "box_pose": [ + -29.1274471282959, + -14.927605628967285, + 0.03256393224000931, + 0.6447572708129883, + 0.2601669728755951, + 0.5048837065696716, + 0.5115600228309631 + ], + "box_yaw_rad": 1.1762131096741688, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017523934162578798 + } + }, + { + "simulation_time_ns": 8240000000, + "phase": "straight_push", + "intended_face_center": [ + -29.154214726545934, + -14.944656784583588, + 0.07995436210197582 + ], + "intended_face_normal": [ + -0.18490805248492492, + -0.35907944759552635, + 0.9148066074028733 + ], + "commanded_contact_point": [ + -29.229477996826173, + -14.939793098689426, + 0.029348761516829233 + ], + "centerline_face_intersection": [ + -29.274663032114063, + -14.924793098689426, + 0.029348761516829233 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.23647689819336, + -14.91740608215332, + 0.06901726126670837 + ], + "box_pose": [ + -29.126981735229492, + -14.928521156311035, + 0.03302858769893646, + 0.6480651497840881, + 0.2547507584095001, + 0.5094617605209351, + 0.5055317878723145 + ], + "box_yaw_rad": 1.1771165344603651, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018928185936486 + } + }, + { + "simulation_time_ns": 8260000000, + "phase": "straight_push", + "intended_face_center": [ + -29.154230001229244, + -14.94523453410898, + 0.079022552115741 + ], + "intended_face_normal": [ + -0.19236651118999148, + -0.35946535544025693, + 0.9131153815996242 + ], + "commanded_contact_point": [ + -29.228013153076173, + -14.940349500426013, + 0.028510507367211602 + ], + "centerline_face_intersection": [ + -29.274177377698706, + -14.925349500426012, + 0.028510507367211602 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.235109329223633, + -14.91937255859375, + 0.06620283424854279 + ], + "box_pose": [ + -29.126609802246094, + -14.929037094116211, + 0.03234504908323288, + 0.6454240679740906, + 0.25323382019996643, + 0.5129916667938232, + 0.5061026811599731 + ], + "box_yaw_rad": 1.1832103445669977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017770819125020366 + } + }, + { + "simulation_time_ns": 8280000000, + "phase": "straight_push", + "intended_face_center": [ + -29.15310539730077, + -14.945686611418875, + 0.07838557261313762 + ], + "intended_face_normal": [ + -0.19524313634559576, + -0.35754198674420934, + 0.9132600580461769 + ], + "commanded_contact_point": [ + -29.226454849243165, + -14.940907975336474, + 0.027865524600957658 + ], + "centerline_face_intersection": [ + -29.27270357828703, + -14.925907975336473, + 0.027865524600957658 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.233617782592773, + -14.920392990112305, + 0.06473594903945923 + ], + "box_pose": [ + -29.125329971313477, + -14.92951774597168, + 0.03179033845663071, + 0.6429798007011414, + 0.2540625333786011, + 0.5151193737983704, + 0.5066372156143188 + ], + "box_yaw_rad": 1.1895385527857387, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017765719322183017 + } + }, + { + "simulation_time_ns": 8300000000, + "phase": "straight_push", + "intended_face_center": [ + -29.15285890303269, + -14.945426041146971, + 0.07828955491609488 + ], + "intended_face_normal": [ + -0.19507095129229413, + -0.35386608881368886, + 0.9147272105398514 + ], + "commanded_contact_point": [ + -29.225113983154298, + -14.94085074970699, + 0.027688346435143087 + ], + "centerline_face_intersection": [ + -29.272447320806425, + -14.925850749706989, + 0.027688346435143087 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.233266830444336, + -14.92016315460205, + 0.06445461511611938 + ], + "box_pose": [ + -29.125091552734375, + -14.929438591003418, + 0.03162696957588196, + 0.6419115662574768, + 0.25524091720581055, + 0.5146674513816833, + 0.5078572034835815 + ], + "box_yaw_rad": 1.1905299686231021, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013537314147885249 + } + }, + { + "simulation_time_ns": 8320000000, + "phase": "straight_push", + "intended_face_center": [ + -29.152338997932894, + -14.944991979644223, + 0.07853329741524054 + ], + "intended_face_normal": [ + -0.1911687666529076, + -0.34856616985135247, + 0.9175816711541742 + ], + "commanded_contact_point": [ + -29.224085922241212, + -14.940709871025584, + 0.02777418485645905 + ], + "centerline_face_intersection": [ + -29.272123192076673, + -14.925709871025584, + 0.02777418485645905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.232730865478516, + -14.919840812683105, + 0.06490036845207214 + ], + "box_pose": [ + -29.124771118164062, + -14.929277420043945, + 0.031660206615924835, + 0.6415712833404541, + 0.2577730119228363, + 0.5125128030776978, + 0.5091856122016907 + ], + "box_yaw_rad": 1.1895902533202793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010412128881566534 + } + }, + { + "simulation_time_ns": 8340000000, + "phase": "straight_push", + "intended_face_center": [ + -29.15074411399201, + -14.944642221839086, + 0.07895626869720462 + ], + "intended_face_normal": [ + -0.1862315045977354, + -0.34145527208717397, + 0.9212633294187569 + ], + "commanded_contact_point": [ + -29.22304069519043, + -14.940753476417807, + 0.02799349284377618 + ], + "centerline_face_intersection": [ + -29.27085559694769, + -14.925753476417807, + 0.02799349284377618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2310848236084, + -14.919578552246094, + 0.06567506492137909 + ], + "box_pose": [ + -29.123432159423828, + -14.929320335388184, + 0.03180418536067009, + 0.6414240002632141, + 0.26066499948501587, + 0.5092179179191589, + 0.5112006664276123 + ], + "box_yaw_rad": 1.186771829276231, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010688765182269202 + } + }, + { + "simulation_time_ns": 8360000000, + "phase": "straight_push", + "intended_face_center": [ + -29.148174853271346, + -14.944436211854747, + 0.07929369200927353 + ], + "intended_face_normal": [ + -0.18422935849436328, + -0.3386965679072276, + 0.9226829905213485 + ], + "commanded_contact_point": [ + -29.22191345214844, + -14.940700073422457, + 0.02825238283290813 + ], + "centerline_face_intersection": [ + -29.26862912961474, + -14.925700073422457, + 0.02825238283290813 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.228330612182617, + -14.91907787322998, + 0.06634107232093811 + ], + "box_pose": [ + -29.120975494384766, + -14.929336547851562, + 0.03200504556298256, + 0.6424641609191895, + 0.2607162296772003, + 0.5065452456474304, + 0.5125218629837036 + ], + "box_yaw_rad": 1.1810553488952384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011578224311633131 + } + }, + { + "simulation_time_ns": 8380000000, + "phase": "straight_push", + "intended_face_center": [ + -29.14445766609298, + -14.944559178839484, + 0.07945077560897215 + ], + "intended_face_normal": [ + -0.1865916873158504, + -0.3375809481116008, + 0.9226175613372618 + ], + "commanded_contact_point": [ + -29.220818634033204, + -14.940884754663875, + 0.028413085867719835 + ], + "centerline_face_intersection": [ + -29.26530351260219, + -14.925884754663874, + 0.028413085867719835 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.22427749633789, + -14.918475151062012, + 0.066619873046875 + ], + "box_pose": [ + -29.117158889770508, + -14.929680824279785, + 0.032149240374565125, + 0.6440393328666687, + 0.25779053568840027, + 0.5039879083633423, + 0.514542281627655 + ], + "box_yaw_rad": 1.1713848619358296, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011218553078604654 + } + }, + { + "simulation_time_ns": 8400000000, + "phase": "straight_push", + "intended_face_center": [ + -29.139530223788395, + -14.945001858427954, + 0.07952969890204356 + ], + "intended_face_normal": [ + -0.18803258606319417, + -0.3365676880789934, + 0.9226949492831906 + ], + "commanded_contact_point": [ + -29.219931716918946, + -14.941383486134878, + 0.028487728186593987 + ], + "centerline_face_intersection": [ + -29.260784228317842, + -14.926383486134878, + 0.028487728186593987 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.219099044799805, + -14.918296813964844, + 0.06685489416122437 + ], + "box_pose": [ + -29.112178802490234, + -14.930325508117676, + 0.032195497304201126, + 0.6456705331802368, + 0.255298912525177, + 0.5013914704322815, + 0.5162737965583801 + ], + "box_yaw_rad": 1.162229903654793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010202580671081914 + } + }, + { + "simulation_time_ns": 8420000000, + "phase": "straight_push", + "intended_face_center": [ + -29.13510352676934, + -14.945725932419277, + 0.0796764904151159 + ], + "intended_face_normal": [ + -0.1899514598926615, + -0.3352795202763801, + 0.9227708011358935 + ], + "commanded_contact_point": [ + -29.219172592163087, + -14.942178819455528, + 0.02863032369962603 + ], + "centerline_face_intersection": [ + -29.256740635958472, + -14.927178819455527, + 0.02863032369962603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.21442222595215, + -14.918404579162598, + 0.06710517406463623 + ], + "box_pose": [ + -29.107675552368164, + -14.93126106262207, + 0.032321497797966, + 0.6470166444778442, + 0.2528073489665985, + 0.4990082383155823, + 0.518120288848877 + ], + "box_yaw_rad": 1.153617528794928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00110867441849744 + } + }, + { + "simulation_time_ns": 8440000000, + "phase": "straight_push", + "intended_face_center": [ + -29.132424722674, + -14.946443405401972, + 0.07982824132853025 + ], + "intended_face_normal": [ + -0.19182678796716246, + -0.3374211200852315, + 0.9216016596785579 + ], + "commanded_contact_point": [ + -29.218466873168946, + -14.94277782265055, + 0.028846749600232948 + ], + "centerline_face_intersection": [ + -29.254250588882822, + -14.92777782265055, + 0.028846749600232948 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.211578369140625, + -14.918730735778809, + 0.06727619469165802 + ], + "box_pose": [ + -29.10491371154785, + -14.931952476501465, + 0.03252940624952316, + 0.6483940482139587, + 0.25036850571632385, + 0.49829280376434326, + 0.518271267414093 + ], + "box_yaw_rad": 1.148426608347165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009506231097502575 + } + }, + { + "simulation_time_ns": 8460000000, + "phase": "straight_push", + "intended_face_center": [ + -29.131670768396557, + -14.946391666131028, + 0.07978194706546204 + ], + "intended_face_normal": [ + -0.19080056425143255, + -0.33410543025519956, + 0.9230215639534265 + ], + "commanded_contact_point": [ + -29.21775161743164, + -14.942909501900905, + 0.02872190856233641 + ], + "centerline_face_intersection": [ + -29.2536153301076, + -14.927909501900904, + 0.02872190856233641 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.210790634155273, + -14.91877269744873, + 0.06728368997573853 + ], + "box_pose": [ + -29.104215621948242, + -14.932090759277344, + 0.03239290416240692, + 0.6480410695075989, + 0.25123608112335205, + 0.4970870018005371, + 0.5194494724273682 + ], + "box_yaw_rad": 1.1473013429838803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007379129213291078 + } + }, + { + "simulation_time_ns": 8480000000, + "phase": "straight_push", + "intended_face_center": [ + -29.131845898585546, + -14.946313352075336, + 0.07978969798577647 + ], + "intended_face_normal": [ + -0.1926556677784177, + -0.33323332883131407, + 0.9229513410835377 + ], + "commanded_contact_point": [ + -29.217284317016603, + -14.942879431065112, + 0.028733544096597407 + ], + "centerline_face_intersection": [ + -29.253701987989178, + -14.927879431065112, + 0.028733544096597407 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.21099853515625, + -14.918662071228027, + 0.06711041927337646 + ], + "box_pose": [ + -29.10429573059082, + -14.932058334350586, + 0.03244200348854065, + 0.6473129987716675, + 0.25093063712120056, + 0.49759677052497864, + 0.5200164318084717 + ], + "box_yaw_rad": 1.14814746779405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00046841148440074294 + } + }, + { + "simulation_time_ns": 8500000000, + "phase": "straight_push", + "intended_face_center": [ + -29.132730027906227, + -14.945645513600711, + 0.08144429113053282 + ], + "intended_face_normal": [ + -0.20174339286034382, + -0.3259741252535395, + 0.9236020663748263 + ], + "commanded_contact_point": [ + -29.21660339355469, + -14.942613159822129, + 0.03035214018589404 + ], + "centerline_face_intersection": [ + -29.254200652491434, + -14.927613159822128, + 0.03035214018589404 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.211658477783203, + -14.917957305908203, + 0.0679994523525238 + ], + "box_pose": [ + -29.104717254638672, + -14.931778907775879, + 0.03425292670726776, + 0.6430634260177612, + 0.25005388259887695, + 0.4994561970233917, + 0.5239142179489136 + ], + "box_yaw_rad": 1.1520761537563247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017760659999311304 + } + }, + { + "simulation_time_ns": 8520000000, + "phase": "straight_push", + "intended_face_center": [ + -29.1345827793742, + -14.945028473104351, + 0.08426352849614786 + ], + "intended_face_normal": [ + -0.22060132542140565, + -0.319886645161894, + 0.9214162309396823 + ], + "commanded_contact_point": [ + -29.215636367797853, + -14.942332868736623, + 0.03329229438144956 + ], + "centerline_face_intersection": [ + -29.255217990930127, + -14.927332868736622, + 0.03329229438144956 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.212974548339844, + -14.917393684387207, + 0.06943003833293915 + ], + "box_pose": [ + -29.10561180114746, + -14.93148136138916, + 0.03756041079759598, + 0.6363427639007568, + 0.2461761087179184, + 0.5049863457679749, + 0.5286341905593872 + ], + "box_yaw_rad": 1.160252452457889, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031077658535740697 + } + }, + { + "simulation_time_ns": 8540000000, + "phase": "straight_push", + "intended_face_center": [ + -29.1340284072051, + -14.945551269064344, + 0.08357277752054129 + ], + "intended_face_normal": [ + -0.21440751994794205, + -0.3256125414204831, + 0.9208723852132845 + ], + "commanded_contact_point": [ + -29.21446144104004, + -14.942538917510152, + 0.03263162805913179 + ], + "centerline_face_intersection": [ + -29.254934695739614, + -14.927538917510152, + 0.03263162805913179 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.2123966217041, + -14.917913436889648, + 0.06984113156795502 + ], + "box_pose": [ + -29.105371475219727, + -14.931711196899414, + 0.03676193580031395, + 0.6396412253379822, + 0.24641843140125275, + 0.503652036190033, + 0.5258057713508606 + ], + "box_yaw_rad": 1.1568094401074727, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001363594137836374 + } + }, + { + "simulation_time_ns": 8560000000, + "phase": "straight_push", + "intended_face_center": [ + -29.132454735611596, + -14.94653309630585, + 0.08167188943914581 + ], + "intended_face_normal": [ + -0.19760370861154364, + -0.3356127771785342, + 0.9210412025269994 + ], + "commanded_contact_point": [ + -29.21319305419922, + -14.942967548117052, + 0.030721401280922607 + ], + "centerline_face_intersection": [ + -29.25417862120395, + -14.927967548117051, + 0.030721401280922607 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.210914611816406, + -14.918827056884766, + 0.07018665969371796 + ], + "box_pose": [ + -29.104656219482422, + -14.932188987731934, + 0.03449656441807747, + 0.6471497416496277, + 0.24836747348308563, + 0.499002605676651, + 0.5201030969619751 + ], + "box_yaw_rad": 1.1475639056586944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023327013780860546 + } + }, + { + "simulation_time_ns": 8580000000, + "phase": "straight_push", + "intended_face_center": [ + -29.13218698709156, + -14.946615199033912, + 0.08102862977599368 + ], + "intended_face_normal": [ + -0.19496055877041663, + -0.3363850567385729, + 0.921322530024189 + ], + "commanded_contact_point": [ + -29.211733932495118, + -14.943006929606943, + 0.03006257904220402 + ], + "centerline_face_intersection": [ + -29.25405569802683, + -14.928006929606942, + 0.03006257904220402 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.210342407226562, + -14.91911506652832, + 0.06989437341690063 + ], + "box_pose": [ + -29.104524612426758, + -14.932235717773438, + 0.033784110099077225, + 0.6481472849845886, + 0.24883700907230377, + 0.49809399247169495, + 0.5195069909095764 + ], + "box_yaw_rad": 1.1460401477346722, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016014474051171586 + } + }, + { + "simulation_time_ns": 8600000000, + "phase": "straight_push", + "intended_face_center": [ + -29.131935873942524, + -14.946908354523622, + 0.07992008331387351 + ], + "intended_face_normal": [ + -0.19236511417498647, + -0.33955142622022016, + 0.9207064701960341 + ], + "commanded_contact_point": [ + -29.209925765991212, + -14.943124926732036, + 0.028988111998999144 + ], + "centerline_face_intersection": [ + -29.253927446059055, + -14.928124926732036, + 0.028988111998999144 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.209827423095703, + -14.919556617736816, + 0.06892405450344086 + ], + "box_pose": [ + -29.104406356811523, + -14.932364463806152, + 0.03264828771352768, + 0.6497108340263367, + 0.24874311685562134, + 0.4976460039615631, + 0.5180261731147766 + ], + "box_yaw_rad": 1.1444913880235634, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021066249913812883 + } + }, + { + "simulation_time_ns": 8620000000, + "phase": "straight_push", + "intended_face_center": [ + -29.132254840392342, + -14.94697272357427, + 0.07945230313878493 + ], + "intended_face_normal": [ + -0.19682061693589148, + -0.3396722945504749, + 0.9197195376184819 + ], + "commanded_contact_point": [ + -29.20800506591797, + -14.943182609544964, + 0.028574927314826252 + ], + "centerline_face_intersection": [ + -29.254007929960423, + -14.928182609544963, + 0.028574927314826252 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.209877014160156, + -14.919745445251465, + 0.06784780323505402 + ], + "box_pose": [ + -29.104496002197266, + -14.932417869567871, + 0.032318197190761566, + 0.6484650373458862, + 0.24753154814243317, + 0.4993287920951843, + 0.5185478329658508 + ], + "box_yaw_rad": 1.1466539338300665, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019654866220595035 + } + }, + { + "simulation_time_ns": 8640000000, + "phase": "straight_push", + "intended_face_center": [ + -29.132193199870734, + -14.946808915058986, + 0.07917972281263423 + ], + "intended_face_normal": [ + -0.19791832894432204, + -0.3371926400731482, + 0.9203963495196632 + ], + "commanded_contact_point": [ + -29.206141586303712, + -14.943155971446961, + 0.028264906864757248 + ], + "centerline_face_intersection": [ + -29.253884170897877, + -14.92815597144696, + 0.028264906864757248 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.209781646728516, + -14.919551849365234, + 0.06725507974624634 + ], + "box_pose": [ + -29.10437774658203, + -14.932378768920898, + 0.032040636986494064, + 0.6474319100379944, + 0.24793210625648499, + 0.4994279146194458, + 0.5195510983467102 + ], + "box_yaw_rad": 1.1477393423232565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018892798999832314 + } + }, + { + "simulation_time_ns": 8660000000, + "phase": "straight_push", + "intended_face_center": [ + -29.13151558014869, + -14.946440054718238, + 0.07908405959784083 + ], + "intended_face_normal": [ + -0.19739730025890623, + -0.33255956897352235, + 0.9221919942254644 + ], + "commanded_contact_point": [ + -29.204373474121095, + -14.9430434049979, + 0.028069911530979055 + ], + "centerline_face_intersection": [ + -29.2532028398813, + -14.928043404997899, + 0.028069911530979055 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.20915985107422, + -14.919107437133789, + 0.06682424247264862 + ], + "box_pose": [ + -29.10372543334961, + -14.932238578796387, + 0.03186069056391716, + 0.6461330652236938, + 0.24947145581245422, + 0.4987903833389282, + 0.5210413336753845 + ], + "box_yaw_rad": 1.1489596047277755, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017823902703866259 + } + }, + { + "simulation_time_ns": 8680000000, + "phase": "straight_push", + "intended_face_center": [ + -29.12958764968856, + -14.946613190705481, + 0.07900934586183217 + ], + "intended_face_normal": [ + -0.19839645271244954, + -0.33407021198932263, + 0.9214314866775508 + ], + "commanded_contact_point": [ + -29.202855224609376, + -14.943132974692043, + 0.028037267824745277 + ], + "centerline_face_intersection": [ + -29.251169674711768, + -14.928132974692042, + 0.028037267824745277 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.207250595092773, + -14.91895866394043, + 0.06618469953536987 + ], + "box_pose": [ + -29.101743698120117, + -14.932317733764648, + 0.031846050173044205, + 0.6460344195365906, + 0.24904604256153107, + 0.499674528837204, + 0.5205199122428894 + ], + "box_yaw_rad": 1.1501982999277565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015212396002930789 + } + }, + { + "simulation_time_ns": 8700000000, + "phase": "straight_push", + "intended_face_center": [ + -29.12640483423496, + -14.945867418094885, + 0.07882931911048086 + ], + "intended_face_normal": [ + -0.1980719528851509, + -0.331667621816365, + 0.9223687887717205 + ], + "commanded_contact_point": [ + -29.201382751464845, + -14.94252010942785, + 0.02780539105938955 + ], + "centerline_face_intersection": [ + -29.24800282562884, + -14.92752010942785, + 0.02780539105938955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.203903198242188, + -14.917784690856934, + 0.06543907523155212 + ], + "box_pose": [ + -29.09857749938965, + -14.931694984436035, + 0.0316191092133522, + 0.6454442739486694, + 0.24978777766227722, + 0.4992349147796631, + 0.5213178396224976 + ], + "box_yaw_rad": 1.1505049684448319, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016116909839457316 + } + }, + { + "simulation_time_ns": 8720000000, + "phase": "straight_push", + "intended_face_center": [ + -29.122116293176898, + -14.945655922618592, + 0.07901750623363428 + ], + "intended_face_normal": [ + -0.19495190126953332, + -0.33149044389418414, + 0.9230969833707903 + ], + "commanded_contact_point": [ + -29.19963752746582, + -14.942318415143514, + 0.0279532956520818 + ], + "centerline_face_intersection": [ + -29.24360766388188, + -14.927318415143514, + 0.0279532956520818 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.199764251708984, + -14.917588233947754, + 0.06574873626232147 + ], + "box_pose": [ + -29.094436645507812, + -14.931415557861328, + 0.031740959733724594, + 0.6450607776641846, + 0.2519446611404419, + 0.49964168667793274, + 0.5203640460968018 + ], + "box_yaw_rad": 1.1543570077312675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017630550642678234 + } + }, + { + "simulation_time_ns": 8740000000, + "phase": "straight_push", + "intended_face_center": [ + -29.11971254130816, + -14.9464141685302, + 0.07930736581258876 + ], + "intended_face_normal": [ + -0.19173119104421232, + -0.3357085340688002, + 0.9222468781129152 + ], + "commanded_contact_point": [ + -29.19794761657715, + -14.942843323227342, + 0.02829018165912201 + ], + "centerline_face_intersection": [ + -29.240935344357148, + -14.927843323227341, + 0.02829018165912201 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19763946533203, + -14.918574333190918, + 0.06632472574710846 + ], + "box_pose": [ + -29.092178344726562, + -14.931828498840332, + 0.03205115348100662, + 0.6451402902603149, + 0.25375860929489136, + 0.501645565032959, + 0.5174480080604553 + ], + "box_yaw_rad": 1.160825633992294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018013382497072614 + } + }, + { + "simulation_time_ns": 8760000000, + "phase": "straight_push", + "intended_face_center": [ + -29.119943424668445, + -14.947790040827615, + 0.07934547331911225 + ], + "intended_face_normal": [ + -0.19580933880307327, + -0.35091498718715286, + 0.9157057864961189 + ], + "commanded_contact_point": [ + -29.19632637023926, + -14.943377999487698, + 0.0286901316218234 + ], + "centerline_face_intersection": [ + -29.240899403758124, + -14.928377999487697, + 0.0286901316218234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19782257080078, + -14.919441223144531, + 0.06606510281562805 + ], + "box_pose": [ + -29.09219741821289, + -14.932405471801758, + 0.032468024641275406, + 0.6479730010032654, + 0.24876683950424194, + 0.5055575966835022, + 0.5125011801719666 + ], + "box_yaw_rad": 1.1610883522521, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017533620174331047 + } + }, + { + "simulation_time_ns": 8780000000, + "phase": "straight_push", + "intended_face_center": [ + -29.119697862618402, + -14.947195783089535, + 0.0793965665573725 + ], + "intended_face_normal": [ + -0.19341891360735275, + -0.34457614917327106, + 0.9186165202017449 + ], + "commanded_contact_point": [ + -29.194728012084962, + -14.943134395868322, + 0.028580207847171142 + ], + "centerline_face_intersection": [ + -29.24079631367296, + -14.928134395868321, + 0.028580207847171142 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19756317138672, + -14.918746948242188, + 0.06625394523143768 + ], + "box_pose": [ + -29.09207534790039, + -14.932143211364746, + 0.03233874589204788, + 0.6469708681106567, + 0.25106316804885864, + 0.5037030577659607, + 0.5144698023796082 + ], + "box_yaw_rad": 1.1607508548860443, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001620547669466781 + } + }, + { + "simulation_time_ns": 8800000000, + "phase": "straight_push", + "intended_face_center": [ + -29.119334890614223, + -14.946692471342724, + 0.07961004441910435 + ], + "intended_face_normal": [ + -0.18966561826326256, + -0.33916457644279774, + 0.9214090264048878 + ], + "commanded_contact_point": [ + -29.1933642578125, + -14.942930443446116, + 0.028639208847450293 + ], + "centerline_face_intersection": [ + -29.240637994179426, + -14.927930443446115, + 0.028639208847450293 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.197206497192383, + -14.918196678161621, + 0.06692709028720856 + ], + "box_pose": [ + -29.09190559387207, + -14.931922912597656, + 0.03234994783997536, + 0.6465676426887512, + 0.2535034418106079, + 0.5015302300453186, + 0.5159009695053101 + ], + "box_yaw_rad": 1.1597861279285964, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013801823880245222 + } + }, + { + "simulation_time_ns": 8820000000, + "phase": "straight_push", + "intended_face_center": [ + -29.119087837391895, + -14.946501189358003, + 0.07978243482085765 + ], + "intended_face_normal": [ + -0.18772354112348566, + -0.33673433860133883, + 0.9226972352851277 + ], + "commanded_contact_point": [ + -29.19212257385254, + -14.942873598231458, + 0.02874033764753159 + ], + "centerline_face_intersection": [ + -29.240499662886194, + -14.927873598231457, + 0.02874033764753159 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.196943283081055, + -14.9180326461792, + 0.0672326534986496 + ], + "box_pose": [ + -29.091758728027344, + -14.931859970092773, + 0.03242446109652519, + 0.6464709639549255, + 0.2546496093273163, + 0.5004422664642334, + 0.5165138244628906 + ], + "box_yaw_rad": 1.1591777593266257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012470916041172288 + } + }, + { + "simulation_time_ns": 8840000000, + "phase": "straight_push", + "intended_face_center": [ + -29.11940800369675, + -14.947638220913381, + 0.07975007855540744 + ], + "intended_face_normal": [ + -0.19152192253460143, + -0.34922509696083637, + 0.9172574362377937 + ], + "commanded_contact_point": [ + -29.19075309753418, + -14.943319661528157, + 0.029008902140223225 + ], + "centerline_face_intersection": [ + -29.240600727583374, + -14.928319661528157, + 0.029008902140223225 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19698143005371, + -14.919270515441895, + 0.067069873213768 + ], + "box_pose": [ + -29.091882705688477, + -14.932347297668457, + 0.03271213918924332, + 0.6487905383110046, + 0.2503195106983185, + 0.5036699175834656, + 0.5125696063041687 + ], + "box_yaw_rad": 1.1590705797647147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014651159469285648 + } + }, + { + "simulation_time_ns": 8860000000, + "phase": "straight_push", + "intended_face_center": [ + -29.11931632665054, + -14.94770260636529, + 0.07947134047870441 + ], + "intended_face_normal": [ + -0.19415335580737647, + -0.34945712876870516, + 0.9166157683268281 + ], + "commanded_contact_point": [ + -29.189313049316407, + -14.943371211361152, + 0.028765660079561037 + ], + "centerline_face_intersection": [ + -29.24036815769954, + -14.928371211361151, + 0.028765660079561037 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.196474075317383, + -14.920012474060059, + 0.06642396748065948 + ], + "box_pose": [ + -29.091655731201172, + -14.93239688873291, + 0.03251764550805092, + 0.6480869054794312, + 0.24956591427326202, + 0.5046899318695068, + 0.5128239393234253 + ], + "box_yaw_rad": 1.160361365467023, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014613565461137055 + } + }, + { + "simulation_time_ns": 8880000000, + "phase": "straight_push", + "intended_face_center": [ + -29.117883643090007, + -14.947600417972003, + 0.07936765431543022 + ], + "intended_face_normal": [ + -0.1935312526559727, + -0.34356901702679465, + 0.9189702675894935 + ], + "commanded_contact_point": [ + -29.18801986694336, + -14.943594743648719, + 0.028531726880137043 + ], + "centerline_face_intersection": [ + -29.23898464250148, + -14.928594743648718, + 0.028531726880137043 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.19476890563965, + -14.920524597167969, + 0.06627205014228821 + ], + "box_pose": [ + -29.090255737304688, + -14.932601928710938, + 0.03229571506381035, + 0.6466965675354004, + 0.2512684166431427, + 0.503555417060852, + 0.5148590207099915 + ], + "box_yaw_rad": 1.160819319934707, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013330461639931407 + } + }, + { + "simulation_time_ns": 8900000000, + "phase": "straight_push", + "intended_face_center": [ + -29.11531250592422, + -14.948377294175838, + 0.0793642827820245 + ], + "intended_face_normal": [ + -0.19233906603015072, + -0.3392686632024393, + 0.9208160548848419 + ], + "commanded_contact_point": [ + -29.186667556762696, + -14.944609508370462, + 0.028426249421962466 + ], + "centerline_face_intersection": [ + -29.23659847530803, + -14.929609508370461, + 0.028426249421962466 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.192041397094727, + -14.921563148498535, + 0.06642685830593109 + ], + "box_pose": [ + -29.087751388549805, + -14.933637619018555, + 0.03217161446809769, + 0.6464105844497681, + 0.2521683871746063, + 0.5017845034599304, + 0.5165042877197266 + ], + "box_yaw_rad": 1.1585440105965348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016939940257880083 + } + }, + { + "simulation_time_ns": 8920000000, + "phase": "straight_push", + "intended_face_center": [ + -29.113453950281446, + -14.949148398064699, + 0.07941646355176958 + ], + "intended_face_normal": [ + -0.19150418508920808, + -0.3365026598233172, + 0.9220043577050738 + ], + "commanded_contact_point": [ + -29.18494140625, + -14.945533623028036, + 0.028412695229357868 + ], + "centerline_face_intersection": [ + -29.23478049631169, + -14.930533623028035, + 0.028412695229357868 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.190189361572266, + -14.92259693145752, + 0.06653280556201935 + ], + "box_pose": [ + -29.085935592651367, + -14.934550285339355, + 0.032154884189367294, + 0.645858645439148, + 0.2531585991382599, + 0.5011166930198669, + 0.5173580646514893 + ], + "box_yaw_rad": 1.1587142018910337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019580008194476817 + } + }, + { + "simulation_time_ns": 8940000000, + "phase": "straight_push", + "intended_face_center": [ + -29.11304054125859, + -14.949889518574436, + 0.07918981227891093 + ], + "intended_face_normal": [ + -0.19332360247030778, + -0.3382969005960845, + 0.9209673589101044 + ], + "commanded_contact_point": [ + -29.18314468383789, + -14.946175489082059, + 0.028243409028418067 + ], + "centerline_face_intersection": [ + -29.234134954949415, + -14.931175489082058, + 0.028243409028418067 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.189815521240234, + -14.923602104187012, + 0.0661393404006958 + ], + "box_pose": [ + -29.08542251586914, + -14.935155868530273, + 0.03202854469418526, + 0.6451956629753113, + 0.2528502345085144, + 0.502862811088562, + 0.5166412591934204 + ], + "box_yaw_rad": 1.162042157062352, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019154271782847523 + } + }, + { + "simulation_time_ns": 8960000000, + "phase": "straight_push", + "intended_face_center": [ + -29.112089356163075, + -14.951420341668157, + 0.07822139484346008 + ], + "intended_face_normal": [ + -0.19978545841557604, + -0.3436792282239267, + 0.9175893371147801 + ], + "commanded_contact_point": [ + -29.181561584472657, + -14.94740857064227, + 0.027461858216315516 + ], + "centerline_face_intersection": [ + -29.232519326522194, + -14.93240857064227, + 0.027461858216315516 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.188074111938477, + -14.926294326782227, + 0.06369136273860931 + ], + "box_pose": [ + -29.084125518798828, + -14.936302185058594, + 0.03138672187924385, + 0.6432348489761353, + 0.2512865960597992, + 0.5080241560935974, + 0.5147964358329773 + ], + "box_yaw_rad": 1.1710869041412568, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021534891237799166 + } + }, + { + "simulation_time_ns": 8980000000, + "phase": "straight_push", + "intended_face_center": [ + -29.10946770257514, + -14.952716802107656, + 0.07778224892847896 + ], + "intended_face_normal": [ + -0.20060838046542173, + -0.3442855436691872, + 0.9171824601243976 + ], + "commanded_contact_point": [ + -29.17992889404297, + -14.948671490706127, + 0.02704522006887343 + ], + "centerline_face_intersection": [ + -29.229291183216883, + -14.933671490706127, + 0.02704522006887343 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.185470581054688, + -14.928356170654297, + 0.06254030764102936 + ], + "box_pose": [ + -29.081438064575195, + -14.937384605407715, + 0.031056614592671394, + 0.6403144001960754, + 0.25377169251441956, + 0.511996328830719, + 0.5132807493209839 + ], + "box_yaw_rad": 1.1835319320621698, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002105761732197894 + } + }, + { + "simulation_time_ns": 9000000000, + "phase": "straight_push", + "intended_face_center": [ + -29.108761237796713, + -14.952719208059182, + 0.07784575912475822 + ], + "intended_face_normal": [ + -0.19825414191193147, + -0.34204148876143137, + 0.9185330339318192 + ], + "commanded_contact_point": [ + -29.178473587036134, + -14.948798034093299, + 0.02703401873803203 + ], + "centerline_face_intersection": [ + -29.228625735517863, + -14.933798034093298, + 0.02703401873803203 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.18474006652832, + -14.928380966186523, + 0.06260725855827332 + ], + "box_pose": [ + -29.080848693847656, + -14.937478065490723, + 0.03102034330368042, + 0.6399781703948975, + 0.2554216682910919, + 0.5113205313682556, + 0.5135552883148193 + ], + "box_yaw_rad": 1.1844584862418486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014608412585887774 + } + }, + { + "simulation_time_ns": 9020000000, + "phase": "straight_push", + "intended_face_center": [ + -29.108218141317984, + -14.952401222608522, + 0.07825659790281694 + ], + "intended_face_normal": [ + -0.1936306226119484, + -0.3379016411079476, + 0.9210481434759146 + ], + "commanded_contact_point": [ + -29.17733871459961, + -14.948709058222521, + 0.02730572578268787 + ], + "centerline_face_intersection": [ + -29.22830603956883, + -14.93370905822252, + 0.02730572578268787 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.184167861938477, + -14.928094863891602, + 0.06334608793258667 + ], + "box_pose": [ + -29.080541610717773, + -14.937372207641602, + 0.031222987920045853, + 0.6401180028915405, + 0.2578474283218384, + 0.5091166496276855, + 0.5143577456474304 + ], + "box_yaw_rad": 1.1831489977501355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011703319490114444 + } + }, + { + "simulation_time_ns": 9040000000, + "phase": "straight_push", + "intended_face_center": [ + -29.106626024305452, + -14.952364457106471, + 0.0787677081315731 + ], + "intended_face_normal": [ + -0.1882727488499576, + -0.3333279377429932, + 0.9238213887921454 + ], + "commanded_contact_point": [ + -29.176295394897462, + -14.94892530248648, + 0.02766342463065368 + ], + "centerline_face_intersection": [ + -29.227069744604123, + -14.933925302486479, + 0.02766342463065368 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.18254280090332, + -14.928055763244629, + 0.06428317725658417 + ], + "box_pose": [ + -29.079227447509766, + -14.937601089477539, + 0.03148786723613739, + 0.6408081650733948, + 0.2601013481616974, + 0.5059929490089417, + 0.515444815158844 + ], + "box_yaw_rad": 1.1796002525000941, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011239332935819983 + } + }, + { + "simulation_time_ns": 9060000000, + "phase": "straight_push", + "intended_face_center": [ + -29.104487603168227, + -14.95282609993813, + 0.07916191951994428 + ], + "intended_face_normal": [ + -0.18743451620627383, + -0.3368744663580756, + 0.9227046669412502 + ], + "commanded_contact_point": [ + -29.17522918701172, + -14.949190757173993, + 0.028119411239594754 + ], + "centerline_face_intersection": [ + -29.225224622027593, + -14.934190757173992, + 0.028119411239594754 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.180156707763672, + -14.928126335144043, + 0.06495404243469238 + ], + "box_pose": [ + -29.0771427154541, + -14.937962532043457, + 0.031882394105196, + 0.643281877040863, + 0.25808531045913696, + 0.5046044588088989, + 0.5147375464439392 + ], + "box_yaw_rad": 1.1732743211352246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011896172637765106 + } + }, + { + "simulation_time_ns": 9080000000, + "phase": "straight_push", + "intended_face_center": [ + -29.101461133402406, + -14.953158275261169, + 0.07937068741732839 + ], + "intended_face_normal": [ + -0.18855547671979878, + -0.33637048657341495, + 0.9226602627535527 + ], + "commanded_contact_point": [ + -29.17418395996094, + -14.94955081183183, + 0.028330635503787685 + ], + "centerline_face_intersection": [ + -29.22252849014665, + -14.93455081183183, + 0.028330635503787685 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.176809310913086, + -14.92800235748291, + 0.06531904637813568 + ], + "box_pose": [ + -29.07407569885254, + -14.93844223022461, + 0.03206847980618477, + 0.6447082161903381, + 0.2559928894042969, + 0.5025301575660706, + 0.5160256624221802 + ], + "box_yaw_rad": 1.1657793979884492, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011255019476213793 + } + }, + { + "simulation_time_ns": 9100000000, + "phase": "straight_push", + "intended_face_center": [ + -29.097288750016663, + -14.953846761467823, + 0.07953763245348747 + ], + "intended_face_normal": [ + -0.19001828965998158, + -0.33602402507484186, + 0.9224863447326044 + ], + "commanded_contact_point": [ + -29.173327560424806, + -14.950258463720143, + 0.02850720139951584 + ], + "centerline_face_intersection": [ + -29.21870038463241, + -14.935258463720142, + 0.02850720139951584 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.17236328125, + -14.928245544433594, + 0.06562328338623047 + ], + "box_pose": [ + -29.069847106933594, + -14.939276695251465, + 0.03222281485795975, + 0.646181583404541, + 0.25364983081817627, + 0.5004611611366272, + 0.5173488259315491 + ], + "box_yaw_rad": 1.1579531692029565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011248852723966855 + } + }, + { + "simulation_time_ns": 9120000000, + "phase": "straight_push", + "intended_face_center": [ + -29.093286026116328, + -14.95477256932864, + 0.07971359128720741 + ], + "intended_face_normal": [ + -0.19128892980654655, + -0.3344518072516127, + 0.9227949872423622 + ], + "commanded_contact_point": [ + -29.172600860595704, + -14.95127124409138, + 0.02866608663599018 + ], + "centerline_face_intersection": [ + -29.21511752546689, + -14.93627124409138, + 0.02866608663599018 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.168113708496094, + -14.928666114807129, + 0.06599287688732147 + ], + "box_pose": [ + -29.0658016204834, + -14.940427780151367, + 0.03235478326678276, + 0.6476086378097534, + 0.25142109394073486, + 0.49782422184944153, + 0.519193172454834 + ], + "box_yaw_rad": 1.1491703894640146, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012566070349751767 + } + }, + { + "simulation_time_ns": 9140000000, + "phase": "straight_push", + "intended_face_center": [ + -29.090857042657913, + -14.955514721190564, + 0.07982497995092129 + ], + "intended_face_normal": [ + -0.19193013512756352, + -0.3344001033370958, + 0.9226805719849409 + ], + "commanded_contact_point": [ + -29.17197525024414, + -14.952016256129022, + 0.02878380456402184 + ], + "centerline_face_intersection": [ + -29.21288761488946, + -14.937016256129022, + 0.02878380456402184 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.16552734375, + -14.929241180419922, + 0.06622874736785889 + ], + "box_pose": [ + -29.063350677490234, + -14.941240310668945, + 0.032457657158374786, + 0.6484546065330505, + 0.25017499923706055, + 0.49669575691223145, + 0.5198196172714233 + ], + "box_yaw_rad": 1.1449455978965626, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000979943242639094 + } + }, + { + "simulation_time_ns": 9160000000, + "phase": "straight_push", + "intended_face_center": [ + -29.090577270109353, + -14.955568696071666, + 0.07977380073674328 + ], + "intended_face_normal": [ + -0.19260040077282525, + -0.33334804808840346, + 0.9229216326264726 + ], + "commanded_contact_point": [ + -29.171433563232423, + -14.95212842898036, + 0.02871929027066597 + ], + "centerline_face_intersection": [ + -29.212603180021198, + -14.93712842898036, + 0.02871929027066597 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.165163040161133, + -14.929444313049316, + 0.06622670590877533 + ], + "box_pose": [ + -29.063037872314453, + -14.941356658935547, + 0.03240691125392914, + 0.6481053829193115, + 0.2501356303691864, + 0.4966220259666443, + 0.5203443169593811 + ], + "box_yaw_rad": 1.1448601582147195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005569287757777901 + } + }, + { + "simulation_time_ns": 9180000000, + "phase": "straight_push", + "intended_face_center": [ + -29.090947268891117, + -14.955712115792881, + 0.08000820873015135 + ], + "intended_face_normal": [ + -0.19622718529831218, + -0.33487216005292453, + 0.921604739621884 + ], + "commanded_contact_point": [ + -29.17120849609375, + -14.952187537328332, + 0.029026546624442547 + ], + "centerline_face_intersection": [ + -29.212814987300977, + -14.937187537328331, + 0.029026546624442547 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.165489196777344, + -14.929500579833984, + 0.06639203429222107 + ], + "box_pose": [ + -29.063222885131836, + -14.941428184509277, + 0.03277105093002319, + 0.647653341293335, + 0.2486012578010559, + 0.4979771375656128, + 0.5203472375869751 + ], + "box_yaw_rad": 1.1456518812771979, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003854289566779649 + } + }, + { + "simulation_time_ns": 9200000000, + "phase": "straight_push", + "intended_face_center": [ + -29.092361082535824, + -14.954479982207506, + 0.08230973633505241 + ], + "intended_face_normal": [ + -0.20813430907562314, + -0.321879182629182, + 0.9236200002611952 + ], + "commanded_contact_point": [ + -29.170743103027345, + -14.951674153936272, + 0.03121659331724409 + ], + "centerline_face_intersection": [ + -29.213975175078158, + -14.936674153936272, + 0.03121659331724409 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.166494369506836, + -14.928040504455566, + 0.06787452101707458 + ], + "box_pose": [ + -29.064043045043945, + -14.940953254699707, + 0.03520200401544571, + 0.6421683430671692, + 0.2472391277551651, + 0.49855732917785645, + 0.5271937251091003 + ], + "box_yaw_rad": 1.1467773723235186, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022970541417546507 + } + }, + { + "simulation_time_ns": 9220000000, + "phase": "straight_push", + "intended_face_center": [ + -29.09422732078623, + -14.953943935251893, + 0.08438153461713593 + ], + "intended_face_normal": [ + -0.2243139983026765, + -0.31835012784291905, + 0.921051848817541 + ], + "commanded_contact_point": [ + -29.170111770629884, + -14.951333328501264, + 0.033430457523587497 + ], + "centerline_face_intersection": [ + -29.21542245863078, + -14.936333328501263, + 0.033430457523587497 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.167749404907227, + -14.927118301391602, + 0.06920790672302246 + ], + "box_pose": [ + -29.065101623535156, + -14.940689086914062, + 0.037690795958042145, + 0.6381823420524597, + 0.24205851554870605, + 0.5018947720527649, + 0.5312557220458984 + ], + "box_yaw_rad": 1.1479247465446893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023272166416905054 + } + }, + { + "simulation_time_ns": 9240000000, + "phase": "straight_push", + "intended_face_center": [ + -29.093157320330693, + -14.954512119181892, + 0.08324572136362747 + ], + "intended_face_normal": [ + -0.21251718620711557, + -0.32482926035911674, + 0.9215868122612605 + ], + "commanded_contact_point": [ + -29.169278259277345, + -14.951543097450875, + 0.03226505097009469 + ], + "centerline_face_intersection": [ + -29.21487404939605, + -14.936543097450874, + 0.03226505097009469 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.16678810119629, + -14.927677154541016, + 0.06972026824951172 + ], + "box_pose": [ + -29.06463050842285, + -14.940923690795898, + 0.03628193587064743, + 0.6431812047958374, + 0.24375730752944946, + 0.49873095750808716, + 0.5274160504341125 + ], + "box_yaw_rad": 1.142151047671307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014480734173226751 + } + }, + { + "simulation_time_ns": 9260000000, + "phase": "straight_push", + "intended_face_center": [ + -29.091670353538667, + -14.955264396983983, + 0.0816702297438045 + ], + "intended_face_normal": [ + -0.19695657339785555, + -0.3326106679299201, + 0.9222679155834008 + ], + "commanded_contact_point": [ + -29.168309326171876, + -14.951864920553215, + 0.03065188183198695 + ], + "centerline_face_intersection": [ + -29.214114375689036, + -14.936864920553214, + 0.03065188183198695 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.165334701538086, + -14.928565979003906, + 0.07009491324424744 + ], + "box_pose": [ + -29.06393814086914, + -14.941271781921387, + 0.03435054421424866, + 0.6494914293289185, + 0.2461935579776764, + 0.49443525075912476, + 0.5225737690925598 + ], + "box_yaw_rad": 1.1347083677916097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019091139673199414 + } + }, + { + "simulation_time_ns": 9280000000, + "phase": "straight_push", + "intended_face_center": [ + -29.09133765794406, + -14.955422891305705, + 0.08088620480197545 + ], + "intended_face_normal": [ + -0.19360284409431294, + -0.3341683640230517, + 0.9224150698596096 + ], + "commanded_contact_point": [ + -29.167187805175782, + -14.951937245682801, + 0.029859716557036176 + ], + "centerline_face_intersection": [ + -29.213955047620093, + -14.9369372456828, + 0.029859716557036176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.164695739746094, + -14.929043769836426, + 0.06961892545223236 + ], + "box_pose": [ + -29.063777923583984, + -14.941351890563965, + 0.03348904848098755, + 0.6508545279502869, + 0.24670006334781647, + 0.49342939257621765, + 0.5215888619422913 + ], + "box_yaw_rad": 1.1329299717386714, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013749785787010214 + } + }, + { + "simulation_time_ns": 9300000000, + "phase": "straight_push", + "intended_face_center": [ + -29.091206618471997, + -14.956020138012029, + 0.08010567515536307 + ], + "intended_face_normal": [ + -0.19459581950884086, + -0.3382998390629339, + 0.9206984604130657 + ], + "commanded_contact_point": [ + -29.165665740966798, + -14.952305945968487, + 0.029174146928540756 + ], + "centerline_face_intersection": [ + -29.2137138741024, + -14.937305945968486, + 0.029174146928540756 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.164188385009766, + -14.929935455322266, + 0.06859566271305084 + ], + "box_pose": [ + -29.0635929107666, + -14.941720008850098, + 0.03280862048268318, + 0.6514992713928223, + 0.24558253586292267, + 0.49467021226882935, + 0.520133912563324 + ], + "box_yaw_rad": 1.1336684245681885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017095686802381025 + } + }, + { + "simulation_time_ns": 9320000000, + "phase": "straight_push", + "intended_face_center": [ + -29.091219431233807, + -14.956778250772764, + 0.07959123027642259 + ], + "intended_face_normal": [ + -0.1996037359037004, + -0.34195059653417736, + 0.9182745069593024 + ], + "commanded_contact_point": [ + -29.163962478637696, + -14.952862104815765, + 0.028793791177647098 + ], + "centerline_face_intersection": [ + -29.213359330487936, + -14.937862104815764, + 0.028793791177647098 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.163867950439453, + -14.930971145629883, + 0.06737668812274933 + ], + "box_pose": [ + -29.063343048095703, + -14.94225788116455, + 0.032515887171030045, + 0.6506766080856323, + 0.24370957911014557, + 0.49758943915367126, + 0.5192593932151794 + ], + "box_yaw_rad": 1.137262087083084, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018316893083653544 + } + }, + { + "simulation_time_ns": 9340000000, + "phase": "straight_push", + "intended_face_center": [ + -29.091084556543827, + -14.956912398359904, + 0.079167767491321 + ], + "intended_face_normal": [ + -0.20253820044393223, + -0.34147248373975003, + 0.9178099106698454 + ], + "commanded_contact_point": [ + -29.16225540161133, + -14.953022700818245, + 0.028396029097008436 + ], + "centerline_face_intersection": [ + -29.213021127886964, + -14.938022700818244, + 0.028396029097008436 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.16358184814453, + -14.931110382080078, + 0.0664273053407669 + ], + "box_pose": [ + -29.06305503845215, + -14.942399978637695, + 0.03218097612261772, + 0.6494907140731812, + 0.24327430129051208, + 0.49889683723449707, + 0.5196936130523682 + ], + "box_yaw_rad": 1.1397135114080874, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001760147074183668 + } + }, + { + "simulation_time_ns": 9360000000, + "phase": "straight_push", + "intended_face_center": [ + -29.090622735417373, + -14.956798721652644, + 0.07888181250067512 + ], + "intended_face_normal": [ + -0.20422680550028538, + -0.33875072596172373, + 0.9184441026511756 + ], + "commanded_contact_point": [ + -29.16064178466797, + -14.953059587285638, + 0.028074991646483298 + ], + "centerline_face_intersection": [ + -29.21241402386578, + -14.938059587285638, + 0.028074991646483298 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.16288185119629, + -14.931002616882324, + 0.06553198397159576 + ], + "box_pose": [ + -29.062503814697266, + -14.942407608032227, + 0.031911130994558334, + 0.6479842066764832, + 0.24382384121418, + 0.4994915723800659, + 0.5207443237304688 + ], + "box_yaw_rad": 1.1421646359756477, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016456564939296714 + } + }, + { + "simulation_time_ns": 9380000000, + "phase": "straight_push", + "intended_face_center": [ + -29.089161013695303, + -14.956563226440242, + 0.07863290018291316 + ], + "intended_face_normal": [ + -0.20477548191600903, + -0.3353637849367672, + 0.9195640852231222 + ], + "commanded_contact_point": [ + -29.159300918579103, + -14.953011452093735, + 0.0277641237304128 + ], + "centerline_face_intersection": [ + -29.21080817942461, + -14.938011452093734, + 0.0277641237304128 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.160938262939453, + -14.930801391601562, + 0.0645388662815094 + ], + "box_pose": [ + -29.06100845336914, + -14.94231128692627, + 0.0316399484872818, + 0.6463521122932434, + 0.24513393640518188, + 0.499910831451416, + 0.5217542052268982 + ], + "box_yaw_rad": 1.1453165189792227, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001377271841800154 + } + }, + { + "simulation_time_ns": 9400000000, + "phase": "straight_push", + "intended_face_center": [ + -29.086214245114647, + -14.95624569191979, + 0.07846026373906109 + ], + "intended_face_normal": [ + -0.2022633662597677, + -0.3301875408813846, + 0.921990127391882 + ], + "commanded_contact_point": [ + -29.157992477416993, + -14.952980258901688, + 0.027457282614227266 + ], + "centerline_face_intersection": [ + -29.207846770466443, + -14.937980258901687, + 0.027457282614227266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.157697677612305, + -14.930399894714355, + 0.06381277740001678 + ], + "box_pose": [ + -29.058183670043945, + -14.942218780517578, + 0.031326889991760254, + 0.6449589729309082, + 0.2478845864534378, + 0.49912092089653015, + 0.5229335427284241 + ], + "box_yaw_rad": 1.1478743717257007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013443001006152632 + } + }, + { + "simulation_time_ns": 9420000000, + "phase": "straight_push", + "intended_face_center": [ + -29.082245904517055, + -14.956581280245118, + 0.07873329879467916 + ], + "intended_face_normal": [ + -0.19851298647267512, + -0.3297055873698671, + 0.9229772592152834 + ], + "commanded_contact_point": [ + -29.15633499145508, + -14.953342508104525, + 0.02767571115697618 + ], + "centerline_face_intersection": [ + -29.203733861216985, + -14.938342508104524, + 0.02767571115697618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.153810501098633, + -14.930817604064941, + 0.06408010423183441 + ], + "box_pose": [ + -29.054391860961914, + -14.942482948303223, + 0.03151664882898331, + 0.6443681120872498, + 0.2506142258644104, + 0.49964240193367004, + 0.5218618512153625 + ], + "box_yaw_rad": 1.152787077559443, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017106125298224745 + } + }, + { + "simulation_time_ns": 9440000000, + "phase": "straight_push", + "intended_face_center": [ + -29.079950592877314, + -14.957513063970861, + 0.07903125703171121 + ], + "intended_face_normal": [ + -0.19492805548544112, + -0.33531539143715605, + 0.9217194482157467 + ], + "commanded_contact_point": [ + -29.154730911254884, + -14.953963966673353, + 0.02804324943479398 + ], + "centerline_face_intersection": [ + -29.201166056527395, + -14.938963966673352, + 0.02804324943479398 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1517391204834, + -14.9319486618042, + 0.0646844208240509 + ], + "box_pose": [ + -29.05225944519043, + -14.9429931640625, + 0.03184656426310539, + 0.644861102104187, + 0.25224393606185913, + 0.5018085837364197, + 0.5183776021003723 + ], + "box_yaw_rad": 1.1591979151962561, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00175908169994735 + } + }, + { + "simulation_time_ns": 9460000000, + "phase": "straight_push", + "intended_face_center": [ + -29.07968779339643, + -14.957512621182525, + 0.07887817356154522 + ], + "intended_face_normal": [ + -0.19503015999307394, + -0.3335945588713116, + 0.9223218106961966 + ], + "commanded_contact_point": [ + -29.15325080871582, + -14.954058717519164, + 0.027856844260514293 + ], + "centerline_face_intersection": [ + -29.200836146305313, + -14.939058717519163, + 0.027856844260514293 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.151485443115234, + -14.931843757629395, + 0.06427659094333649 + ], + "box_pose": [ + -29.05198860168457, + -14.943061828613281, + 0.0316770076751709, + 0.6440578699111938, + 0.2529846727848053, + 0.5019828081130981, + 0.5188461542129517 + ], + "box_yaw_rad": 1.1608080275674162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014948003672462162 + } + }, + { + "simulation_time_ns": 9480000000, + "phase": "straight_push", + "intended_face_center": [ + -29.0795614192398, + -14.95740245871594, + 0.07898342817837292 + ], + "intended_face_normal": [ + -0.19372111408454984, + -0.3324057118288479, + 0.9230269174742673 + ], + "commanded_contact_point": [ + -29.151808853149415, + -14.95401432012041, + 0.027923093527257973 + ], + "centerline_face_intersection": [ + -29.200778826767593, + -14.939014320120409, + 0.027923093527257973 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.151323318481445, + -14.93156909942627, + 0.06452181935310364 + ], + "box_pose": [ + -29.051929473876953, + -14.943014144897461, + 0.03172377869486809, + 0.6441043019294739, + 0.25365033745765686, + 0.5013307332992554, + 0.5190941095352173 + ], + "box_yaw_rad": 1.160374158074097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001444159253631756 + } + }, + { + "simulation_time_ns": 9500000000, + "phase": "straight_push", + "intended_face_center": [ + -29.079563025080695, + -14.958261717194295, + 0.07941449943436427 + ], + "intended_face_normal": [ + -0.19374008530319742, + -0.34198671910125, + 0.9195161102527472 + ], + "commanded_contact_point": [ + -29.15056526184082, + -14.954343572996152, + 0.02854837687851183 + ], + "centerline_face_intersection": [ + -29.200765516055903, + -14.939343572996151, + 0.02854837687851183 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.15120506286621, + -14.932079315185547, + 0.06564827263355255 + ], + "box_pose": [ + -29.051929473876953, + -14.943378448486328, + 0.03230932727456093, + 0.6467238664627075, + 0.25110217928886414, + 0.5027341246604919, + 0.5157076120376587 + ], + "box_yaw_rad": 1.1589216743723134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014303517288939073 + } + }, + { + "simulation_time_ns": 9520000000, + "phase": "straight_push", + "intended_face_center": [ + -29.0795294596637, + -14.958767903699561, + 0.07955985575495635 + ], + "intended_face_normal": [ + -0.19341382907231264, + -0.3475803787341434, + 0.9174852041024231 + ], + "commanded_contact_point": [ + -29.14934265136719, + -14.954540327428123, + 0.028806079595202854 + ], + "centerline_face_intersection": [ + -29.20074113740017, + -14.939540327428123, + 0.028806079595202854 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.151100158691406, + -14.932502746582031, + 0.06631118059158325 + ], + "box_pose": [ + -29.051912307739258, + -14.943595886230469, + 0.032537251710891724, + 0.6483474969863892, + 0.24969545006752014, + 0.5034239888191223, + 0.5136750340461731 + ], + "box_yaw_rad": 1.1578790763449147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012648712847270892 + } + }, + { + "simulation_time_ns": 9540000000, + "phase": "straight_push", + "intended_face_center": [ + -29.079576278374784, + -14.958679428106676, + 0.07942932195493635 + ], + "intended_face_normal": [ + -0.19458371825344756, + -0.34610287064506906, + 0.9177964256296995 + ], + "commanded_contact_point": [ + -29.14779769897461, + -14.954533585158558, + 0.02865832953091957 + ], + "centerline_face_intersection": [ + -29.20072476646051, + -14.939533585158557, + 0.02865832953091957 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.15096664428711, + -14.932848930358887, + 0.06610365211963654 + ], + "box_pose": [ + -29.051898956298828, + -14.943581581115723, + 0.03241821750998497, + 0.6475889682769775, + 0.24979744851589203, + 0.5036665201187134, + 0.5143441557884216 + ], + "box_yaw_rad": 1.1587633718144135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015520159261513669 + } + }, + { + "simulation_time_ns": 9560000000, + "phase": "straight_push", + "intended_face_center": [ + -29.07976068249324, + -14.9587245325174, + 0.07906221660608867 + ], + "intended_face_normal": [ + -0.1977258175822545, + -0.34586913111866835, + 0.9172126834907459 + ], + "commanded_contact_point": [ + -29.146100158691407, + -14.95459161965638, + 0.028323515839444674 + ], + "centerline_face_intersection": [ + -29.20073918551377, + -14.93959161965638, + 0.028323515839444674 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.150802612304688, + -14.933550834655762, + 0.0653708428144455 + ], + "box_pose": [ + -29.051921844482422, + -14.943634033203125, + 0.032144222408533096, + 0.6465883851051331, + 0.24905358254909515, + 0.5048346519470215, + 0.5148181915283203 + ], + "box_yaw_rad": 1.1604695142236292, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001731216688931198 + } + }, + { + "simulation_time_ns": 9580000000, + "phase": "straight_push", + "intended_face_center": [ + -29.07881064275117, + -14.959212235024019, + 0.07887229722575058 + ], + "intended_face_normal": [ + -0.19799855465072547, + -0.3443510214631331, + 0.917725109384449 + ], + "commanded_contact_point": [ + -29.14445983886719, + -14.955163301498361, + 0.028105249899411464 + ], + "centerline_face_intersection": [ + -29.199708009317952, + -14.94016330149836, + 0.028105249899411464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.14955711364746, + -14.934637069702148, + 0.06515039503574371 + ], + "box_pose": [ + -29.050954818725586, + -14.944178581237793, + 0.03194612264633179, + 0.6457644104957581, + 0.2497241348028183, + 0.5051374435424805, + 0.5152305364608765 + ], + "box_yaw_rad": 1.1622618480125941, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001750745348345776 + } + }, + { + "simulation_time_ns": 9600000000, + "phase": "straight_push", + "intended_face_center": [ + -29.07618189789058, + -14.960348971677456, + 0.07892704858763286 + ], + "intended_face_normal": [ + -0.19524723715435854, + -0.3421789591204245, + 0.9191257626155434 + ], + "commanded_contact_point": [ + -29.142699356079103, + -14.956420193076863, + 0.028082519422621542 + ], + "centerline_face_intersection": [ + -29.197018080156187, + -14.941420193076862, + 0.028082519422621542 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.146869659423828, + -14.936421394348145, + 0.06540775299072266 + ], + "box_pose": [ + -29.048458099365234, + -14.945365905761719, + 0.0319066159427166, + 0.6449735760688782, + 0.2520499527454376, + 0.505072832107544, + 0.5151517987251282 + ], + "box_yaw_rad": 1.1655216047547254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021632366402753217 + } + }, + { + "simulation_time_ns": 9620000000, + "phase": "straight_push", + "intended_face_center": [ + -29.07391037067428, + -14.961453893907036, + 0.07886051917695117 + ], + "intended_face_normal": [ + -0.19380612997058577, + -0.3413357503225285, + 0.9197442124517003 + ], + "commanded_contact_point": [ + -29.140471572875978, + -14.957571760233677, + 0.027981778381703203 + ], + "centerline_face_intersection": [ + -29.194655797209332, + -14.942571760233676, + 0.027981778381703203 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.14461326599121, + -14.937972068786621, + 0.06541307270526886 + ], + "box_pose": [ + -29.046253204345703, + -14.946463584899902, + 0.03180316090583801, + 0.6443529725074768, + 0.2534807622432709, + 0.5054474472999573, + 0.5148589611053467 + ], + "box_yaw_rad": 1.1684155465104509, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025098353878499806 + } + }, + { + "simulation_time_ns": 9640000000, + "phase": "straight_push", + "intended_face_center": [ + -29.07372430067164, + -14.961997634181683, + 0.07842878235045188 + ], + "intended_face_normal": [ + -0.19829369728235235, + -0.3433692275569342, + 0.9180287012917887 + ], + "commanded_contact_point": [ + -29.138291473388673, + -14.958003011884072, + 0.027644940817906343 + ], + "centerline_face_intersection": [ + -29.19419992777571, + -14.943003011884072, + 0.027644940817906343 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1440372467041, + -14.9388427734375, + 0.0642053484916687 + ], + "box_pose": [ + -29.045835494995117, + -14.946887016296387, + 0.03154697269201279, + 0.643431544303894, + 0.2519214153289795, + 0.5076223611831665, + 0.5146365761756897 + ], + "box_yaw_rad": 1.17105310605204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002247725807321612 + } + }, + { + "simulation_time_ns": 9660000000, + "phase": "straight_push", + "intended_face_center": [ + -29.074035506009118, + -14.964087181164432, + 0.07794368763717932 + ], + "intended_face_normal": [ + -0.20728466216689512, + -0.3611240389486312, + 0.9091880313231862 + ], + "commanded_contact_point": [ + -29.136508102416993, + -14.959110391831206, + 0.027648897462282288 + ], + "centerline_face_intersection": [ + -29.193861724248727, + -14.944110391831206, + 0.027648897462282288 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.141582489013672, + -14.9430570602417, + 0.06153464317321777 + ], + "box_pose": [ + -29.045679092407227, + -14.948001861572266, + 0.03167058899998665, + 0.6447966694831848, + 0.24553194642066956, + 0.5145865082740784, + 0.5090699195861816 + ], + "box_yaw_rad": 1.1764134592441489, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020992184319359995 + } + }, + { + "simulation_time_ns": 9680000000, + "phase": "straight_push", + "intended_face_center": [ + -29.07177832051913, + -14.966365662390361, + 0.07789861963537992 + ], + "intended_face_normal": [ + -0.20627561551381035, + -0.36938914795418043, + 0.906091795748516 + ], + "commanded_contact_point": [ + -29.1346484375, + -14.960925222995504, + 0.02777510813243533 + ], + "centerline_face_intersection": [ + -29.191254382784177, + -14.945931660787632, + 0.02777510813243533 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.138652801513672, + -14.94609260559082, + 0.06098519265651703 + ], + "box_pose": [ + -29.04345703125, + -14.949729919433594, + 0.03179894760251045, + 0.6453196406364441, + 0.24549877643585205, + 0.5179354548454285, + 0.5050107836723328 + ], + "box_yaw_rad": 1.183171553761276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014993562207872485, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026015178053702807 + } + }, + { + "simulation_time_ns": 9700000000, + "phase": "straight_push", + "intended_face_center": [ + -29.070866006830734, + -14.965824573011604, + 0.07815216111745052 + ], + "intended_face_normal": [ + -0.2017451651948292, + -0.3614367882267473, + 0.9103090115871932 + ], + "commanded_contact_point": [ + -29.132960433959962, + -14.960826224996666, + 0.027795360153557103 + ], + "centerline_face_intersection": [ + -29.19053038912027, + -14.945830482901446, + 0.027795360153557103 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.137746810913086, + -14.945775985717773, + 0.06139467656612396 + ], + "box_pose": [ + -29.042774200439453, + -14.949584007263184, + 0.03177202492952347, + 0.644237756729126, + 0.24917484819889069, + 0.5154377818107605, + 0.5071425437927246 + ], + "box_yaw_rad": 1.18323155134019, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014995742095219384, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001691025339643961 + } + }, + { + "simulation_time_ns": 9720000000, + "phase": "straight_push", + "intended_face_center": [ + -29.07019214325897, + -14.965044119277112, + 0.07858833697537042 + ], + "intended_face_normal": [ + -0.1956611240227204, + -0.35278646391367374, + 0.9150182001958029 + ], + "commanded_contact_point": [ + -29.13155471801758, + -14.960528550915242, + 0.027971031424082297 + ], + "centerline_face_intersection": [ + -29.190178988880177, + -14.945528550915242, + 0.027971031424082297 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.137081146240234, + -14.945194244384766, + 0.06227084994316101 + ], + "box_pose": [ + -29.04241180419922, + -14.949254035949707, + 0.03186631202697754, + 0.6436876058578491, + 0.2531583309173584, + 0.5119174718856812, + 0.5094286799430847 + ], + "box_yaw_rad": 1.18146106567531, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014475868073135936 + } + }, + { + "simulation_time_ns": 9740000000, + "phase": "straight_push", + "intended_face_center": [ + -29.06849475041686, + -14.964488687435548, + 0.07913442553075091 + ], + "intended_face_normal": [ + -0.18810562038363798, + -0.34388223936282714, + 0.9199789033744707 + ], + "commanded_contact_point": [ + -29.13034736633301, + -14.960465686166541, + 0.028242702018716058 + ], + "centerline_face_intersection": [ + -29.188868667071095, + -14.945465686166541, + 0.028242702018716058 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1353702545166, + -14.945032119750977, + 0.06351566314697266 + ], + "box_pose": [ + -29.041101455688477, + -14.949159622192383, + 0.032031890004873276, + 0.6433997750282288, + 0.2576447129249573, + 0.507915198802948, + 0.5115447640419006 + ], + "box_yaw_rad": 1.1793890462804353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012391347702540901 + } + }, + { + "simulation_time_ns": 9760000000, + "phase": "straight_push", + "intended_face_center": [ + -29.065601494981053, + -14.964223497395796, + 0.07959734704513403 + ], + "intended_face_normal": [ + -0.18329327257907124, + -0.3371783788784697, + 0.9234252052966703 + ], + "commanded_contact_point": [ + -29.129164810180665, + -14.960571342689663, + 0.028514979765160327 + ], + "centerline_face_intersection": [ + -29.186330401438358, + -14.945571342689663, + 0.028514979765160327 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.132354736328125, + -14.945034980773926, + 0.06459422409534454 + ], + "box_pose": [ + -29.03845977783203, + -14.949275970458984, + 0.03222731500864029, + 0.6434448957443237, + 0.2602289021015167, + 0.5045471787452698, + 0.5135091543197632 + ], + "box_yaw_rad": 1.1760228556507968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012180876510058639 + } + }, + { + "simulation_time_ns": 9780000000, + "phase": "straight_push", + "intended_face_center": [ + -29.062353865978878, + -14.96469015935513, + 0.07988638500494023 + ], + "intended_face_normal": [ + -0.18201775729627911, + -0.3392320039126915, + 0.9229254133475955 + ], + "commanded_contact_point": [ + -29.128016586303712, + -14.960924401481515, + 0.028831665395573483 + ], + "centerline_face_intersection": [ + -29.18329565561555, + -14.945924401481514, + 0.028831665395573483 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.128799438476562, + -14.945470809936523, + 0.06527391076087952 + ], + "box_pose": [ + -29.0352840423584, + -14.949685096740723, + 0.03249339759349823, + 0.6451008319854736, + 0.2592725455760956, + 0.503449022769928, + 0.5129929780960083 + ], + "box_yaw_rad": 1.171975780819967, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012423197537749094 + } + }, + { + "simulation_time_ns": 9800000000, + "phase": "straight_push", + "intended_face_center": [ + -29.058584850160454, + -14.96544111423935, + 0.08017665204995578 + ], + "intended_face_normal": [ + -0.17982500397516787, + -0.3396266210172172, + 0.9232100314510063 + ], + "commanded_contact_point": [ + -29.126980895996095, + -14.961653526794969, + 0.02910618783408536 + ], + "centerline_face_intersection": [ + -29.17963651718916, + -14.946653526794968, + 0.02910618783408536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.12474250793457, + -14.946512222290039, + 0.06598648428916931 + ], + "box_pose": [ + -29.031627655029297, + -14.95041561126709, + 0.0327259823679924, + 0.6458054184913635, + 0.25977665185928345, + 0.5027411580085754, + 0.5125454068183899 + ], + "box_yaw_rad": 1.1710095672034861, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012960095313142926 + } + }, + { + "simulation_time_ns": 9820000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05544638693218, + -14.966426392261589, + 0.08043175518759144 + ], + "intended_face_normal": [ + -0.17863842867402724, + -0.34319696001299604, + 0.9221194337982404 + ], + "commanded_contact_point": [ + -29.12602912902832, + -14.962428871546688, + 0.02942162104451275 + ], + "centerline_face_intersection": [ + -29.176535253404026, + -14.947441299521868, + 0.02942162104451275 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.121341705322266, + -14.947751998901367, + 0.06669892370700836 + ], + "box_pose": [ + -29.028549194335938, + -14.951210021972656, + 0.03300786390900612, + 0.647006630897522, + 0.25924721360206604, + 0.5029720664024353, + 0.5110698938369751 + ], + "box_yaw_rad": 1.1703724829556594, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01498757202482004, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012674848934816864 + } + }, + { + "simulation_time_ns": 9840000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05430079585336, + -14.966901218268456, + 0.08043376459283291 + ], + "intended_face_normal": [ + -0.1777702091730049, + -0.3419673983328053, + 0.9227438285512264 + ], + "commanded_contact_point": [ + -29.12527572631836, + -14.962942281469582, + 0.02938908995647251 + ], + "centerline_face_intersection": [ + -29.175355366461478, + -14.947984142863522, + 0.02938908995647251 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.12004852294922, + -14.94871997833252, + 0.06696496903896332 + ], + "box_pose": [ + -29.02744483947754, + -14.951723098754883, + 0.032974258065223694, + 0.6465180516242981, + 0.26021385192871094, + 0.5029891729354858, + 0.5111801028251648 + ], + "box_yaw_rad": 1.1718835758776591, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014958138606060132, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009122848590167405 + } + }, + { + "simulation_time_ns": 9860000000, + "phase": "straight_push", + "intended_face_center": [ + -29.054545896358928, + -14.967256418364398, + 0.08036559593459562 + ], + "intended_face_normal": [ + -0.1803798235122116, + -0.3459379799536748, + 0.9207552478431111 + ], + "commanded_contact_point": [ + -29.124730224609376, + -14.963033987821719, + 0.029430926320315142 + ], + "centerline_face_intersection": [ + -29.175460672470887, + -14.94811969689879, + 0.029430926320315142 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1202449798584, + -14.94921588897705, + 0.067219078540802 + ], + "box_pose": [ + -29.027555465698242, + -14.951871871948242, + 0.03304905444383621, + 0.646869421005249, + 0.25844189524650574, + 0.5045086145401001, + 0.5101361274719238 + ], + "box_yaw_rad": 1.1724288749994267, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01491429092292968, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005547363796135373 + } + }, + { + "simulation_time_ns": 9880000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05619456858034, + -14.96778461774223, + 0.0807806314975009 + ], + "intended_face_normal": [ + -0.18467039528646367, + -0.3542575594095254, + 0.9167324353031816 + ], + "commanded_contact_point": [ + -29.124571914672853, + -14.963042026529152, + 0.030068497272642828 + ], + "centerline_face_intersection": [ + -29.176853707321825, + -14.948187670791176, + 0.030068497272642828 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.121793746948242, + -14.949686050415039, + 0.06809115409851074 + ], + "box_pose": [ + -29.028982162475586, + -14.951960563659668, + 0.03373697027564049, + 0.6478015780448914, + 0.25515440106391907, + 0.5074267387390137, + 0.5077080130577087 + ], + "box_yaw_rad": 1.1735896272166524, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014854355737975168, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006569804990037994 + } + }, + { + "simulation_time_ns": 9900000000, + "phase": "straight_push", + "intended_face_center": [ + -29.057941303011876, + -14.965106462782227, + 0.08128334055746719 + ], + "intended_face_normal": [ + -0.18270484674307497, + -0.3433698111729342, + 0.9212580607491923 + ], + "commanded_contact_point": [ + -29.1242724609375, + -14.960936300023235, + 0.030320856158194676 + ], + "centerline_face_intersection": [ + -29.17902110877711, + -14.946111808199937, + 0.030320856158194676 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.123546600341797, + -14.946858406066895, + 0.06893064081668854 + ], + "box_pose": [ + -29.03084373474121, + -14.949943542480469, + 0.03395649045705795, + 0.6469053626060486, + 0.2570948302745819, + 0.5031881928443909, + 0.5120717287063599 + ], + "box_yaw_rad": 1.1679062970312313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01482449182329688, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021418313809575236 + } + }, + { + "simulation_time_ns": 9920000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05821629370204, + -14.962599748263566, + 0.08184081837839788 + ], + "intended_face_normal": [ + -0.17888381547356857, + -0.33499172465608495, + 0.9250842223118134 + ], + "commanded_contact_point": [ + -29.123894805908204, + -14.958872662900834, + 0.030666676999119562 + ], + "centerline_face_intersection": [ + -29.179482965126763, + -14.944068555681339, + 0.030666676999119562 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.123779296875, + -14.944578170776367, + 0.06999027729034424 + ], + "box_pose": [ + -29.031314849853516, + -14.94786548614502, + 0.034267351031303406, + 0.6455849409103394, + 0.26046547293663025, + 0.500715434551239, + 0.5144528746604919 + ], + "box_yaw_rad": 1.167932796042613, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014804107219495747, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002126220484362269 + } + }, + { + "simulation_time_ns": 9940000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05811749106505, + -14.963347116237482, + 0.08167305004769927 + ], + "intended_face_normal": [ + -0.17795435154530992, + -0.34320161708505026, + 0.9222502751454904 + ], + "commanded_contact_point": [ + -29.123408432006837, + -14.959123762004642, + 0.030655677975964 + ], + "centerline_face_intersection": [ + -29.17941993038209, + -14.944361765876174, + 0.030655677975964 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.12337303161621, + -14.945414543151855, + 0.07013580203056335 + ], + "box_pose": [ + -29.03126335144043, + -14.948186874389648, + 0.034206781536340714, + 0.6480613946914673, + 0.25855305790901184, + 0.5016146302223206, + 0.5114193558692932 + ], + "box_yaw_rad": 1.16634558623831, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01476199612846848, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005474772236128483 + } + }, + { + "simulation_time_ns": 9960000000, + "phase": "straight_push", + "intended_face_center": [ + -29.058300364927703, + -14.964498587006041, + 0.08153826657845728 + ], + "intended_face_normal": [ + -0.1800083823551013, + -0.3559304876696743, + 0.9170115512483434 + ], + "commanded_contact_point": [ + -29.122985000610353, + -14.959487670565604, + 0.030810692117462422 + ], + "centerline_face_intersection": [ + -29.17947729954563, + -14.944809096408434, + 0.030810692117462422 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.1229305267334, + -14.946894645690918, + 0.07006746530532837 + ], + "box_pose": [ + -29.031339645385742, + -14.948677062988281, + 0.034349072724580765, + 0.6509284377098083, + 0.2546006739139557, + 0.5042394399642944, + 0.5071618556976318 + ], + "box_yaw_rad": 1.165310747232519, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014678574157169135, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005794419490634148 + } + }, + { + "simulation_time_ns": 9980000000, + "phase": "straight_push", + "intended_face_center": [ + -29.058106631324687, + -14.964465407850975, + 0.08108913183382649 + ], + "intended_face_normal": [ + -0.17813624452560362, + -0.3555199275689134, + 0.9175364427205999 + ], + "commanded_contact_point": [ + -29.122452850341798, + -14.959354414185562, + 0.03033252123778339 + ], + "centerline_face_intersection": [ + -29.179382568269734, + -14.94479862876453, + 0.03033252123778339 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.121891021728516, + -14.947868347167969, + 0.06961989402770996 + ], + "box_pose": [ + -29.03124237060547, + -14.948665618896484, + 0.03383767232298851, + 0.6513384580612183, + 0.2552216351032257, + 0.5035058856010437, + 0.5070522427558899 + ], + "box_yaw_rad": 1.1645345612768752, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014555785421031612, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007277283568185776 + } + }, + { + "simulation_time_ns": 10000000000, + "phase": "straight_push", + "intended_face_center": [ + -29.058108824161025, + -14.965303183049969, + 0.08096429187095626 + ], + "intended_face_normal": [ + -0.1806544260671572, + -0.3621271667041768, + 0.9144551473688267 + ], + "commanded_contact_point": [ + -29.121434326171876, + -14.959637340744122, + 0.03037813347824758 + ], + "centerline_face_intersection": [ + -29.17920251242823, + -14.945270902335153, + 0.03037813347824758 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.120403289794922, + -14.950004577636719, + 0.0690876841545105 + ], + "box_pose": [ + -29.031112670898438, + -14.94914722442627, + 0.03390883654356003, + 0.6522200703620911, + 0.2529568076133728, + 0.5056407451629639, + 0.5049251317977905 + ], + "box_yaw_rad": 1.1654740733255744, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014366438408968986, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010580734373066023 + } + }, + { + "simulation_time_ns": 10020000000, + "phase": "straight_push", + "intended_face_center": [ + -29.058716232088987, + -14.967427832044939, + 0.08091640969688331 + ], + "intended_face_normal": [ + -0.1884107664494401, + -0.38393083926445115, + 0.9039350062736737 + ], + "commanded_contact_point": [ + -29.119946594238282, + -14.960291430781842, + 0.03091220824901143 + ], + "centerline_face_intersection": [ + -29.179343215892438, + -14.94618940793769, + 0.03091220824901143 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.119651794433594, + -14.952799797058105, + 0.06830702722072601 + ], + "box_pose": [ + -29.03131866455078, + -14.9501314163208, + 0.03450273349881172, + 0.6557515859603882, + 0.24502484500408173, + 0.5118156671524048, + 0.4979933798313141 + ], + "box_yaw_rad": 1.1660834285669162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01410202284415234, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017106770427073696 + } + }, + { + "simulation_time_ns": 10040000000, + "phase": "straight_push", + "intended_face_center": [ + -29.059187937869503, + -14.968806512187987, + 0.08079750392490219 + ], + "intended_face_normal": [ + -0.19351613377229882, + -0.3984707229853086, + 0.8965338294223919 + ], + "commanded_contact_point": [ + -29.11821662902832, + -14.960553584519412, + 0.031202723437225736 + ], + "centerline_face_intersection": [ + -29.179504647802304, + -14.946763765569097, + 0.031202723437225736 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.119163513183594, + -14.954568862915039, + 0.06739115715026855 + ], + "box_pose": [ + -29.031526565551758, + -14.950750350952148, + 0.03483179211616516, + 0.6580760478973389, + 0.2396828979253769, + 0.5159178972244263, + 0.4932715892791748 + ], + "box_yaw_rad": 1.1664860981527354, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01378981895031465, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017736694405610274 + } + }, + { + "simulation_time_ns": 10060000000, + "phase": "straight_push", + "intended_face_center": [ + -29.059401431022877, + -14.969041871208915, + 0.08048767122367273 + ], + "intended_face_normal": [ + -0.19633351744901795, + -0.40063249263762657, + 0.8949564448537348 + ], + "commanded_contact_point": [ + -29.11638557434082, + -14.960338095764985, + 0.030980149062296795 + ], + "centerline_face_intersection": [ + -29.17956028750059, + -14.946879539039704, + 0.030980149062296795 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11851692199707, + -14.955161094665527, + 0.06611466407775879 + ], + "box_pose": [ + -29.03159523010254, + -14.950871467590332, + 0.03465455397963524, + 0.657802164554596, + 0.2383379191160202, + 0.5173128247261047, + 0.492827445268631 + ], + "box_yaw_rad": 1.1676934628035445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.013458556725281736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018570772801030258 + } + }, + { + "simulation_time_ns": 10080000000, + "phase": "straight_push", + "intended_face_center": [ + -29.0590442523279, + -14.96830985580756, + 0.07996283678450704 + ], + "intended_face_normal": [ + -0.19747032762712813, + -0.39159558136027073, + 0.8986983771417094 + ], + "commanded_contact_point": [ + -29.114670867919923, + -14.959781691521963, + 0.030248317068402565 + ], + "centerline_face_intersection": [ + -29.17913410232591, + -14.946647430743221, + 0.030248317068402565 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.117385864257812, + -14.954754829406738, + 0.06432431936264038 + ], + "box_pose": [ + -29.031179428100586, + -14.95059871673584, + 0.033985771238803864, + 0.6549293398857117, + 0.2406802624464035, + 0.5165901184082031, + 0.4962613880634308 + ], + "box_yaw_rad": 1.1704387419467746, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.013134260778741049, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019456057819638333 + } + }, + { + "simulation_time_ns": 10100000000, + "phase": "straight_push", + "intended_face_center": [ + -29.058307230063846, + -14.966850442260691, + 0.07945945692580833 + ], + "intended_face_normal": [ + -0.1963800661525834, + -0.3758283423261801, + 0.9056421180418006 + ], + "commanded_contact_point": [ + -29.112956161499024, + -14.958890657304762, + 0.02936082085580655 + ], + "centerline_face_intersection": [ + -29.178460263314875, + -14.946060234990183, + 0.02936082085580655 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.116064071655273, + -14.953656196594238, + 0.062426865100860596 + ], + "box_pose": [ + -29.030498504638672, + -14.94994831085205, + 0.03314516320824623, + 0.6509203314781189, + 0.2454453557729721, + 0.5140203237533569, + 0.5018389225006104 + ], + "box_yaw_rad": 1.1729710457345723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012830422314578838, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002126454705246573 + } + }, + { + "simulation_time_ns": 10120000000, + "phase": "straight_push", + "intended_face_center": [ + -29.056930413250043, + -14.96564759714786, + 0.07928446464235742 + ], + "intended_face_normal": [ + -0.19441808486803325, + -0.36278651436361997, + 0.91136566153979 + ], + "commanded_contact_point": [ + -29.111113662719728, + -14.958122486467197, + 0.02886921153674714 + ], + "centerline_face_intersection": [ + -29.177101250818016, + -14.945578842402325, + 0.02886921153674714 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.114526748657227, + -14.95274829864502, + 0.06151726841926575 + ], + "box_pose": [ + -29.029218673706055, + -14.949386596679688, + 0.03268338367342949, + 0.6474475860595703, + 0.2500742971897125, + 0.5120594501495361, + 0.5060331225395203 + ], + "box_yaw_rad": 1.1763509235498235, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012543644064871058, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002055861841170831 + } + }, + { + "simulation_time_ns": 10140000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05664646464456, + -14.965072033173078, + 0.07922013266725095 + ], + "intended_face_normal": [ + -0.1927860138204096, + -0.35648745465744014, + 0.9141940373859114 + ], + "commanded_contact_point": [ + -29.109583969116212, + -14.957623355335533, + 0.028648418450390224 + ], + "centerline_face_intersection": [ + -29.17690316374644, + -14.945351732075531, + 0.028648418450390224 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11430549621582, + -14.952152252197266, + 0.061441242694854736 + ], + "box_pose": [ + -29.02901840209961, + -14.949134826660156, + 0.03245776146650314, + 0.6461811065673828, + 0.2522663176059723, + 0.5105817317962646, + 0.5080533027648926 + ], + "box_yaw_rad": 1.1766855699054866, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012271623260001687, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016241440804975246 + } + }, + { + "simulation_time_ns": 10160000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05655882096174, + -14.964651604417561, + 0.07908185713532583 + ], + "intended_face_normal": [ + -0.19197858973026882, + -0.351876858759411, + 0.9161478065735764 + ], + "commanded_contact_point": [ + -29.10823928833008, + -14.957196469240072, + 0.02840206361258074 + ], + "centerline_face_intersection": [ + -29.176868786030514, + -14.945186353920421, + 0.02840206361258074 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11420249938965, + -14.9517240524292, + 0.061279043555259705 + ], + "box_pose": [ + -29.028972625732422, + -14.948954582214355, + 0.03221366927027702, + 0.6451923251152039, + 0.25370776653289795, + 0.5095736384391785, + 0.5096017122268677 + ], + "box_yaw_rad": 1.1768851324431135, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.012010115319650579, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014321623026755277 + } + }, + { + "simulation_time_ns": 10180000000, + "phase": "straight_push", + "intended_face_center": [ + -29.056239638400868, + -14.964042394842426, + 0.07924288429223553 + ], + "intended_face_normal": [ + -0.18877599885575336, + -0.34521287096146125, + 0.9193428039447227 + ], + "commanded_contact_point": [ + -29.10693084716797, + -14.956708039501036, + 0.028386348756996835 + ], + "centerline_face_intersection": [ + -29.176725715584226, + -14.94494578521657, + 0.028386348756996835 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.113889694213867, + -14.951142311096191, + 0.061572566628456116 + ], + "box_pose": [ + -29.028818130493164, + -14.948692321777344, + 0.032163627445697784, + 0.6443172693252563, + 0.25635287165641785, + 0.5074068307876587, + 0.511543333530426 + ], + "box_yaw_rad": 1.1763074456784661, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01176225428446571, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013967207456621756 + } + }, + { + "simulation_time_ns": 10200000000, + "phase": "straight_push", + "intended_face_center": [ + -29.055857174514923, + -14.963501687432794, + 0.07947785668659252 + ], + "intended_face_normal": [ + -0.1848247589384897, + -0.3393424124904527, + 0.9223265652808408 + ], + "commanded_contact_point": [ + -29.105754013061524, + -14.956254039790704, + 0.028456264369739994 + ], + "centerline_face_intersection": [ + -29.17655517135678, + -14.944729821937807, + 0.028456264369739994 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11354637145996, + -14.95068073272705, + 0.06203506886959076 + ], + "box_pose": [ + -29.02863883972168, + -14.948457717895508, + 0.03218237683176994, + 0.6438521146774292, + 0.2589830756187439, + 0.5050996541976929, + 0.5130852460861206 + ], + "box_yaw_rad": 1.1753226331293471, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01152421785289597, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012633061560762817 + } + }, + { + "simulation_time_ns": 10220000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05573968282848, + -14.963373520143103, + 0.0795479111437084 + ], + "intended_face_normal": [ + -0.18365464453429325, + -0.3379784319519388, + 0.9230610159472121 + ], + "commanded_contact_point": [ + -29.104617233276368, + -14.955963812811076, + 0.028485690221016016 + ], + "centerline_face_intersection": [ + -29.176501823496526, + -14.944677107813604, + 0.028485690221016016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11341094970703, + -14.950614929199219, + 0.06219060719013214 + ], + "box_pose": [ + -29.028581619262695, + -14.94840145111084, + 0.032194990664720535, + 0.6438227891921997, + 0.25965121388435364, + 0.5044615268707275, + 0.5134121775627136 + ], + "box_yaw_rad": 1.1749447544333955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011286704997471373, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011736123126343738 + } + }, + { + "simulation_time_ns": 10240000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05581099471269, + -14.96341506220354, + 0.0794398045815363 + ], + "intended_face_normal": [ + -0.1845637600019927, + -0.33847054135743093, + 0.9226995080471276 + ], + "commanded_contact_point": [ + -29.10321533203125, + -14.955732265714607, + 0.02839758168274536 + ], + "centerline_face_intersection": [ + -29.17653065001903, + -14.94469142718914, + 0.02839758168274536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.11338233947754, + -14.950838088989258, + 0.06203334033489227 + ], + "box_pose": [ + -29.028606414794922, + -14.948418617248535, + 0.03212129697203636, + 0.6437244415283203, + 0.25925031304359436, + 0.5048307776451111, + 0.5133752822875977 + ], + "box_yaw_rad": 1.1751797087277422, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011040838525466652, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014236236417889683 + } + }, + { + "simulation_time_ns": 10260000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05601201815132, + -14.963466984702555, + 0.079224171482985 + ], + "intended_face_normal": [ + -0.18722256455519215, + -0.33912659442792403, + 0.9219222957078657 + ], + "commanded_contact_point": [ + -29.10158073425293, + -14.955488464517106, + 0.028224942695618534 + ], + "centerline_face_intersection": [ + -29.176602688422175, + -14.94470705790869, + 0.028224942695618534 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.113435745239258, + -14.951192855834961, + 0.06157694756984711 + ], + "box_pose": [ + -29.028671264648438, + -14.948437690734863, + 0.03199467808008194, + 0.6431906819343567, + 0.2583181858062744, + 0.5058349967002869, + 0.5135254263877869 + ], + "box_yaw_rad": 1.1761223915476147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010781406608415834, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016616717908987274 + } + }, + { + "simulation_time_ns": 10280000000, + "phase": "straight_push", + "intended_face_center": [ + -29.055547339256705, + -14.963572079379583, + 0.07901710396065975 + ], + "intended_face_normal": [ + -0.1885319061344113, + -0.33806671489897155, + 0.9220448105691865 + ], + "commanded_contact_point": [ + -29.100024337768556, + -14.955385154565755, + 0.02801109785217693 + ], + "centerline_face_intersection": [ + -29.17610880210708, + -14.944870783382301, + 0.02801109785217693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.112905502319336, + -14.951546669006348, + 0.06121024489402771 + ], + "box_pose": [ + -29.028141021728516, + -14.9486083984375, + 0.03180477395653725, + 0.6427112221717834, + 0.2580662667751312, + 0.5059205889701843, + 0.5141677260398865 + ], + "box_yaw_rad": 1.1761046730165647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010514371183453972, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015744118202330574 + } + }, + { + "simulation_time_ns": 10300000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05345991829825, + -14.963929925653762, + 0.07893878604317123 + ], + "intended_face_normal": [ + -0.18930593179941013, + -0.3354925159316693, + 0.9228259839752262 + ], + "commanded_contact_point": [ + -29.098429794311524, + -14.95562300251784, + 0.027889566703548745 + ], + "centerline_face_intersection": [ + -29.174169540383822, + -14.945371030119826, + 0.027889566703548745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.110837936401367, + -14.95193099975586, + 0.061086997389793396 + ], + "box_pose": [ + -29.02602195739746, + -14.94915771484375, + 0.03168456628918648, + 0.6427013874053955, + 0.2576170861721039, + 0.5046594738960266, + 0.5156424045562744 + ], + "box_yaw_rad": 1.1729318161902655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010251972398012652, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016167591981363744 + } + }, + { + "simulation_time_ns": 10320000000, + "phase": "straight_push", + "intended_face_center": [ + -29.05143318159434, + -14.964961992413667, + 0.07897722310008062 + ], + "intended_face_normal": [ + -0.19249364343065167, + -0.3420692756666597, + 0.9197470036849751 + ], + "commanded_contact_point": [ + -29.096423263549806, + -14.956020222738772, + 0.02809832789838751 + ], + "centerline_face_intersection": [ + -29.172037144821715, + -14.946039281321776, + 0.02809832789838751 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.108760833740234, + -14.952815055847168, + 0.060923293232917786 + ], + "box_pose": [ + -29.023834228515625, + -14.949869155883789, + 0.0319184809923172, + 0.6439117193222046, + 0.2546701431274414, + 0.5063717365264893, + 0.5139147639274597 + ], + "box_yaw_rad": 1.1720474461504156, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.009980941416996954, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020560960186994832 + } + }, + { + "simulation_time_ns": 10340000000, + "phase": "straight_push", + "intended_face_center": [ + -29.051136320857218, + -14.965186174344508, + 0.07845956899897966 + ], + "intended_face_normal": [ + -0.196133700784614, + -0.3423164625389248, + 0.9188856456633481 + ], + "commanded_contact_point": [ + -29.094306106567384, + -14.955954081948795, + 0.027628322709800427 + ], + "centerline_face_intersection": [ + -29.17157276343493, + -14.946249789280406, + 0.027628322709800427 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.108081817626953, + -14.953166007995605, + 0.05957728624343872 + ], + "box_pose": [ + -29.023351669311523, + -14.95008373260498, + 0.031513314694166183, + 0.643024206161499, + 0.2535363733768463, + 0.5076200366020203, + 0.514354944229126 + ], + "box_yaw_rad": 1.1733529248898058, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.009704292668388986, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021697080839632107 + } + }, + { + "simulation_time_ns": 10360000000, + "phase": "straight_push", + "intended_face_center": [ + -29.050727537854357, + -14.967005133189954, + 0.07792141672943051 + ], + "intended_face_normal": [ + -0.20473934493381307, + -0.3557133585014327, + 0.9118935164707693 + ], + "commanded_contact_point": [ + -29.092654342651368, + -14.956717388153196, + 0.027476963555097635 + ], + "centerline_face_intersection": [ + -29.17054395890874, + -14.947327653821686, + 0.027476963555097635 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.106733322143555, + -14.955191612243652, + 0.05724635720252991 + ], + "box_pose": [ + -29.02249526977539, + -14.951152801513672, + 0.03149228170514107, + 0.6433280110359192, + 0.24843907356262207, + 0.5137954354286194, + 0.51031494140625 + ], + "box_yaw_rad": 1.1791419762696596, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.009389734331510339, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018258888218183984 + } + }, + { + "simulation_time_ns": 10380000000, + "phase": "straight_push", + "intended_face_center": [ + -29.04820193659281, + -14.968658942820882, + 0.07760584489055596 + ], + "intended_face_normal": [ + -0.2065394594202985, + -0.36035993914678244, + 0.9096604470431835 + ], + "commanded_contact_point": [ + -29.091025466918946, + -14.957788749911016, + 0.027284921453127955 + ], + "centerline_face_intersection": [ + -29.16780072391494, + -14.948724422235026, + 0.027284921453127955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.103919982910156, + -14.956859588623047, + 0.056543946266174316 + ], + "box_pose": [ + -29.019872665405273, + -14.952527046203613, + 0.0313323512673378, + 0.6434351205825806, + 0.24729874730110168, + 0.5159178376197815, + 0.5085895657539368 + ], + "box_yaw_rad": 1.181998600472405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.009064327675989501, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001959064148189243 + } + }, + { + "simulation_time_ns": 10400000000, + "phase": "straight_push", + "intended_face_center": [ + -29.04747008595024, + -14.968088285717226, + 0.07774448010045254 + ], + "intended_face_normal": [ + -0.20381002895368283, + -0.353400782389258, + 0.9130001233673397 + ], + "commanded_contact_point": [ + -29.089503402709962, + -14.957281748152626, + 0.027238811248227288 + ], + "centerline_face_intersection": [ + -29.16719278496048, + -14.948538734265208, + 0.027238811248227288 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.103134155273438, + -14.956571578979492, + 0.056739941239356995 + ], + "box_pose": [ + -29.01927947998047, + -14.952308654785156, + 0.031265296041965485, + 0.642230749130249, + 0.250057578086853, + 0.514042854309082, + 0.5106571912765503 + ], + "box_yaw_rad": 1.1821798102227772, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008743013887418128, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016049474727471463 + } + }, + { + "simulation_time_ns": 10420000000, + "phase": "straight_push", + "intended_face_center": [ + -29.04665780712685, + -14.967275586008466, + 0.07826692925753938 + ], + "intended_face_normal": [ + -0.1964231710705846, + -0.3447738001678431, + 0.9179045200816418 + ], + "commanded_contact_point": [ + -29.088217849731446, + -14.9566314972558, + 0.027489957225793275 + ], + "centerline_face_intersection": [ + -29.166754121660407, + -14.948203265058522, + 0.027489957225793275 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.102434158325195, + -14.956072807312012, + 0.057736486196517944 + ], + "box_pose": [ + -29.018844604492188, + -14.951942443847656, + 0.031412456184625626, + 0.6419912576675415, + 0.254429429769516, + 0.5101314783096313, + 0.5127169489860535 + ], + "box_yaw_rad": 1.180038425612882, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008428232197278545, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014623771714028326 + } + }, + { + "simulation_time_ns": 10440000000, + "phase": "straight_push", + "intended_face_center": [ + -29.044671612994435, + -14.966484046896834, + 0.0788461355115701 + ], + "intended_face_normal": [ + -0.18968822139844121, + -0.33685818649738053, + 0.9222500153526312 + ], + "commanded_contact_point": [ + -29.08709442138672, + -14.955969546313199, + 0.027828777811149556 + ], + "centerline_face_intersection": [ + -29.165178644281337, + -14.947849604707878, + 0.027828777811149556 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.100587844848633, + -14.955556869506836, + 0.058802634477615356 + ], + "box_pose": [ + -29.0172061920166, + -14.951582908630371, + 0.03164836764335632, + 0.6420673131942749, + 0.2580646872520447, + 0.506140947341919, + 0.5147558450698853 + ], + "box_yaw_rad": 1.1767521005665014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.008119941605320233, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013472452208888842 + } + }, + { + "simulation_time_ns": 10460000000, + "phase": "straight_push", + "intended_face_center": [ + -29.040941714915355, + -14.96565765007886, + 0.07946232788374419 + ], + "intended_face_normal": [ + -0.1864571316819621, + -0.3354664590676535, + 0.9234154270348753 + ], + "commanded_contact_point": [ + -29.08596145629883, + -14.954921505336243, + 0.02838050152116963 + ], + "centerline_face_intersection": [ + -29.161905599725703, + -14.94710019596789, + 0.02838050152116963 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.0969295501709, + -14.95456600189209, + 0.05990584194660187 + ], + "box_pose": [ + -29.013654708862305, + -14.950922966003418, + 0.03210907429456711, + 0.64402836561203, + 0.25784993171691895, + 0.502951979637146, + 0.51553875207901 + ], + "box_yaw_rad": 1.1693692087706054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00782130936835223, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016390237435608397 + } + }, + { + "simulation_time_ns": 10480000000, + "phase": "straight_push", + "intended_face_center": [ + -29.035523040691697, + -14.964682330198324, + 0.08002422239328692 + ], + "intended_face_normal": [ + -0.18403423778547534, + -0.33602399535156025, + 0.9236986907803271 + ], + "commanded_contact_point": [ + -29.084715957641603, + -14.95362658987342, + 0.028926726345068886 + ], + "centerline_face_intersection": [ + -29.156980861824938, + -14.946094034094886, + 0.028926726345068886 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.091569900512695, + -14.953312873840332, + 0.061060428619384766 + ], + "box_pose": [ + -29.008377075195312, + -14.950035095214844, + 0.032562900334596634, + 0.6466211080551147, + 0.25654494762420654, + 0.4998931288719177, + 0.5159192681312561 + ], + "box_yaw_rad": 1.1606010935758992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0075325557785343705, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018778803261273662 + } + }, + { + "simulation_time_ns": 10500000000, + "phase": "straight_push", + "intended_face_center": [ + -29.029455264810046, + -14.963621225814776, + 0.08062583274016479 + ], + "intended_face_normal": [ + -0.18162398345388908, + -0.3369939082035476, + 0.923822175506297 + ], + "commanded_contact_point": [ + -29.083394165039063, + -14.952230481901315, + 0.029521505719509268 + ], + "centerline_face_intersection": [ + -29.151336802877495, + -14.944979275723716, + 0.029521505719509268 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.085567474365234, + -14.95201301574707, + 0.062424436211586 + ], + "box_pose": [ + -29.0024471282959, + -14.949015617370605, + 0.03307315334677696, + 0.6489397883415222, + 0.2555103600025177, + 0.49736717343330383, + 0.515962541103363 + ], + "box_yaw_rad": 1.15337870075487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.007251206177600193, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020124650700468517 + } + }, + { + "simulation_time_ns": 10520000000, + "phase": "straight_push", + "intended_face_center": [ + -29.024844925573365, + -14.962919576210489, + 0.08114287013042316 + ], + "intended_face_normal": [ + -0.1795163179763435, + -0.33786316866189203, + 0.9239169622999519 + ], + "commanded_contact_point": [ + -29.082057113647462, + -14.951204998332571, + 0.030033299659860718 + ], + "centerline_face_intersection": [ + -29.147087119304988, + -14.944229540057082, + 0.030033299659860718 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.081052780151367, + -14.951123237609863, + 0.0637422651052475 + ], + "box_pose": [ + -28.997957229614258, + -14.948344230651855, + 0.03351269289851189, + 0.6508908867835999, + 0.25467807054519653, + 0.49525007605552673, + 0.5159530639648438 + ], + "box_yaw_rad": 1.147381160071514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00697545827548893, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017610383331798766 + } + }, + { + "simulation_time_ns": 10540000000, + "phase": "straight_push", + "intended_face_center": [ + -29.023850234333423, + -14.96344861847388, + 0.0813794734918693 + ], + "intended_face_normal": [ + -0.1795689997284171, + -0.3436802482771455, + 0.9217587373410865 + ], + "commanded_contact_point": [ + -29.080878372192384, + -14.95113159257969, + 0.030389292485000507 + ], + "centerline_face_intersection": [ + -29.14616700746717, + -14.944436791020323, + 0.030389292485000507 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.080175399780273, + -14.95145320892334, + 0.06435094773769379 + ], + "box_pose": [ + -28.996963500976562, + -14.948596000671387, + 0.03383447974920273, + 0.6528455018997192, + 0.2527427077293396, + 0.49561363458633423, + 0.5140827894210815 + ], + "box_yaw_rad": 1.1448099623907895, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006694801559368241, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001233511537857135 + } + }, + { + "simulation_time_ns": 10560000000, + "phase": "straight_push", + "intended_face_center": [ + -29.024628977716663, + -14.964605834690758, + 0.08184925932305565 + ], + "intended_face_normal": [ + -0.18573274453296662, + -0.35314802094323916, + 0.9169459029333256 + ], + "commanded_contact_point": [ + -29.07993232727051, + -14.951478926659242, + 0.031125316419137426 + ], + "centerline_face_intersection": [ + -29.14679566874294, + -14.945070265587225, + 0.031125316419137426 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.080873489379883, + -14.952223777770996, + 0.06507939100265503 + ], + "box_pose": [ + -28.997432708740234, + -14.949315071105957, + 0.034620270133018494, + 0.6545858383178711, + 0.24767540395259857, + 0.49808773398399353, + 0.5119403004646301 + ], + "box_yaw_rad": 1.142248540135533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006408661072017378, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012479475905043307 + } + }, + { + "simulation_time_ns": 10580000000, + "phase": "straight_push", + "intended_face_center": [ + -29.027079235845832, + -14.964234936204589, + 0.08216677016420312 + ], + "intended_face_normal": [ + -0.18742472948259525, + -0.3515637781557732, + 0.917210420846243 + ], + "commanded_contact_point": [ + -29.079325790405274, + -14.950923181233545, + 0.03142819456334065 + ], + "centerline_face_intersection": [ + -29.149477360981326, + -14.944787004812767, + 0.03142819456334065 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.08333969116211, + -14.95159912109375, + 0.0659140795469284 + ], + "box_pose": [ + -28.99981117248535, + -14.949117660522461, + 0.03492332622408867, + 0.6550981402397156, + 0.24617452919483185, + 0.4966168701648712, + 0.5134357213973999 + ], + "box_yaw_rad": 1.1370926492465943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006136176420778053, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008766271255824856 + } + }, + { + "simulation_time_ns": 10600000000, + "phase": "straight_push", + "intended_face_center": [ + -29.028565388643976, + -14.95850013240623, + 0.08223900279419608 + ], + "intended_face_normal": [ + -0.17637963915902333, + -0.3413386128309668, + 0.9232432577364591 + ], + "commanded_contact_point": [ + -29.078742141723634, + -14.945472481335253, + 0.031166700554729275 + ], + "centerline_face_intersection": [ + -29.151033264984235, + -14.939617840383603, + 0.031166700554729275 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.085268020629883, + -14.946656227111816, + 0.06658165156841278 + ], + "box_pose": [ + -29.001842498779297, + -14.943763732910156, + 0.03456566110253334, + 0.6529778838157654, + 0.2543330192565918, + 0.4942561984062195, + 0.5144369602203369 + ], + "box_yaw_rad": 1.144241731026274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005854640951649511, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0054880920438127034 + } + }, + { + "simulation_time_ns": 10620000000, + "phase": "straight_push", + "intended_face_center": [ + -29.028094539351038, + -14.952389261521033, + 0.0822070814198368 + ], + "intended_face_normal": [ + -0.168489758034859, + -0.3382703365213189, + 0.925842269899924 + ], + "commanded_contact_point": [ + -29.078200454711915, + -14.939221283141354, + 0.03099100609172381 + ], + "centerline_face_intersection": [ + -29.150296119616776, + -14.933676701509688, + 0.03099100609172381 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.0849609375, + -14.941428184509277, + 0.06709074974060059 + ], + "box_pose": [ + -29.001747131347656, + -14.93760871887207, + 0.034338824450969696, + 0.6511600613594055, + 0.26053953170776367, + 0.4951017498970032, + 0.5128194689750671 + ], + "box_yaw_rad": 1.1550418388034183, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005544581631665931, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0062770830982555445 + } + }, + { + "simulation_time_ns": 10640000000, + "phase": "straight_push", + "intended_face_center": [ + -29.027985264878744, + -14.952367554365106, + 0.08223647681915353 + ], + "intended_face_normal": [ + -0.16931731844734088, + -0.3414173565590932, + 0.9245354862533723 + ], + "commanded_contact_point": [ + -29.077691192626954, + -14.938708283520182, + 0.031092690618309007 + ], + "centerline_face_intersection": [ + -29.150213730907815, + -14.933480906368633, + 0.031092690618309007 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.084550857543945, + -14.941411018371582, + 0.0673661082983017 + ], + "box_pose": [ + -29.001598358154297, + -14.937445640563965, + 0.034433864057064056, + 0.6521339416503906, + 0.2591330409049988, + 0.49540892243385315, + 0.5119974613189697 + ], + "box_yaw_rad": 1.1533998690746359, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005227377151547966, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007299700168146383 + } + }, + { + "simulation_time_ns": 10660000000, + "phase": "straight_push", + "intended_face_center": [ + -29.027886429378963, + -14.952655154707246, + 0.0822744281681595 + ], + "intended_face_normal": [ + -0.16843793448049382, + -0.344630242331192, + 0.9235036473856582 + ], + "commanded_contact_point": [ + -29.077277297973634, + -14.938487489780421, + 0.031187721600524042 + ], + "centerline_face_intersection": [ + -29.150160547499627, + -14.933590775141289, + 0.031187721600524042 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.084123611450195, + -14.94185733795166, + 0.06782478094100952 + ], + "box_pose": [ + -29.001544952392578, + -14.937566757202148, + 0.03449901565909386, + 0.6532539129257202, + 0.2585200071334839, + 0.49555468559265137, + 0.5107371211051941 + ], + "box_yaw_rad": 1.1524780876091265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004896714639133105, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047863299838750043 + } + }, + { + "simulation_time_ns": 10680000000, + "phase": "straight_push", + "intended_face_center": [ + -29.02787451033893, + -14.953041921750987, + 0.0823370873264225 + ], + "intended_face_normal": [ + -0.16890812971652736, + -0.3489726444504413, + 0.9217851337290028 + ], + "commanded_contact_point": [ + -29.07671844482422, + -14.938287231047257, + 0.0313454461146831 + ], + "centerline_face_intersection": [ + -29.150123578909337, + -14.933737327624435, + 0.0313454461146831 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.08373260498047, + -14.942407608032227, + 0.0681142508983612 + ], + "box_pose": [ + -29.001508712768555, + -14.937728881835938, + 0.034646663814783096, + 0.6543278694152832, + 0.2572226822376251, + 0.49632787704467773, + 0.5092642307281494 + ], + "box_yaw_rad": 1.151872343614388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00454990342282144, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006142454112040727 + } + }, + { + "simulation_time_ns": 10700000000, + "phase": "straight_push", + "intended_face_center": [ + -29.027957978751893, + -14.953851593791944, + 0.08214232143775804 + ], + "intended_face_normal": [ + -0.17263962217602113, + -0.35631774475292843, + 0.9182773235205275 + ], + "commanded_contact_point": [ + -29.075686569213868, + -14.938326414058125, + 0.031344726531436745 + ], + "centerline_face_intersection": [ + -29.149982854061147, + -14.93414068076787, + 0.031344726531436745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.083425521850586, + -14.943244934082031, + 0.06774245202541351 + ], + "box_pose": [ + -29.00139808654785, + -14.938151359558105, + 0.03468605875968933, + 0.6552340388298035, + 0.25432175397872925, + 0.4988258481025696, + 0.5071110129356384 + ], + "box_yaw_rad": 1.1525636909768717, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004185733290254983, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010326195337001587 + } + }, + { + "simulation_time_ns": 10720000000, + "phase": "straight_push", + "intended_face_center": [ + -29.027173079717315, + -14.95424074804357, + 0.08168136288036199 + ], + "intended_face_normal": [ + -0.17555753926371764, + -0.3550954727992863, + 0.9181974787514608 + ], + "commanded_contact_point": [ + -29.074221725463868, + -14.938416721771226, + 0.030888184855662998 + ], + "centerline_face_intersection": [ + -29.149023106017903, + -14.934597449098572, + 0.030888184855662998 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.08237648010254, + -14.943758964538574, + 0.06702587008476257 + ], + "box_pose": [ + -29.00046157836914, + -14.938597679138184, + 0.03429136797785759, + 0.654011070728302, + 0.25394102931022644, + 0.49981722235679626, + 0.5079036951065063 + ], + "box_yaw_rad": 1.1544486652770622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0038192726726548856, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001536994793965797 + } + }, + { + "simulation_time_ns": 10740000000, + "phase": "straight_push", + "intended_face_center": [ + -29.02618648301324, + -14.954426622052756, + 0.08128035097404944 + ], + "intended_face_normal": [ + -0.17735788064952374, + -0.3510217414453578, + 0.9194172092966504 + ], + "commanded_contact_point": [ + -29.072478408813478, + -14.93846592004685, + 0.030419699456820052 + ], + "centerline_face_intersection": [ + -29.14785641430438, + -14.935008675242427, + 0.030419699456820052 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.08123779296875, + -14.944059371948242, + 0.06636214256286621 + ], + "box_pose": [ + -28.999378204345703, + -14.93896770477295, + 0.03388456627726555, + 0.6519931554794312, + 0.2549585998058319, + 0.5004156231880188, + 0.5093969702720642 + ], + "box_yaw_rad": 1.1577265330855524, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003457244804422284, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001805838304716845 + } + }, + { + "simulation_time_ns": 10760000000, + "phase": "straight_push", + "intended_face_center": [ + -29.024907018736734, + -14.954522437250985, + 0.0808903645766561 + ], + "intended_face_normal": [ + -0.17810061205227612, + -0.3458220467948223, + 0.9212424117427389 + ], + "commanded_contact_point": [ + -29.070563430786134, + -14.938494558799524, + 0.02992874585474505 + ], + "centerline_face_intersection": [ + -29.146406714969192, + -14.935392129017508, + 0.02992874585474505 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.07984161376953, + -14.944262504577637, + 0.06557871401309967 + ], + "box_pose": [ + -28.99805450439453, + -14.939291000366211, + 0.03344598785042763, + 0.6497276425361633, + 0.2568010687828064, + 0.5007644295692444, + 0.511020839214325 + ], + "box_yaw_rad": 1.1616978373587203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003102429782017136, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019771182217445966 + } + }, + { + "simulation_time_ns": 10780000000, + "phase": "straight_push", + "intended_face_center": [ + -29.023128906306983, + -14.954709072294776, + 0.0804847310374882 + ], + "intended_face_normal": [ + -0.17988662266450817, + -0.34243419406687536, + 0.9221602876203576 + ], + "commanded_contact_point": [ + -29.068728561401368, + -14.938523296078161, + 0.029472336927999446 + ], + "centerline_face_intersection": [ + -29.144427875358517, + -14.935766174515711, + 0.029472336927999446 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.077823638916016, + -14.944398880004883, + 0.06441757082939148 + ], + "box_pose": [ + -28.996179580688477, + -14.939618110656738, + 0.03305036947131157, + 0.6477808356285095, + 0.257758229970932, + 0.5015945434570312, + 0.5121948719024658 + ], + "box_yaw_rad": 1.1653095427576818, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002757121562450276, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018909998939044658 + } + }, + { + "simulation_time_ns": 10800000000, + "phase": "straight_push", + "intended_face_center": [ + -29.021583029025507, + -14.954587839559437, + 0.08005384027550166 + ], + "intended_face_normal": [ + -0.18256687673478922, + -0.3390191887308589, + 0.922895044753723 + ], + "commanded_contact_point": [ + -29.066920394897462, + -14.938261115894536, + 0.029000800606921756 + ], + "centerline_face_intersection": [ + -29.14273420974698, + -14.935833854272513, + 0.029000800606921756 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.075946807861328, + -14.944080352783203, + 0.06289738416671753 + ], + "box_pose": [ + -28.994495391845703, + -14.939668655395508, + 0.03264392912387848, + 0.6460444331169128, + 0.2580011487007141, + 0.5021316409111023, + 0.5137370824813843 + ], + "box_yaw_rad": 1.1672800903844442, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024272616220226656, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018869422504756116 + } + }, + { + "simulation_time_ns": 10820000000, + "phase": "straight_push", + "intended_face_center": [ + -29.01965984470001, + -14.954384491486815, + 0.07989907928434752 + ], + "intended_face_normal": [ + -0.18314322963648166, + -0.33932796268932464, + 0.9226673288413458 + ], + "commanded_contact_point": [ + -29.065106506347657, + -14.937719862638263, + 0.028858636486423526 + ], + "centerline_face_intersection": [ + -29.140687757680208, + -14.93561342533112, + 0.028858636486423526 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.07398796081543, + -14.943634033203125, + 0.06233334541320801 + ], + "box_pose": [ + -28.992538452148438, + -14.939419746398926, + 0.032522838562726974, + 0.6455168128013611, + 0.2582233250141144, + 0.5029632449150085, + 0.5134751200675964 + ], + "box_yaw_rad": 1.1694313079661445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002106437307142453, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018982511413655667 + } + }, + { + "simulation_time_ns": 10840000000, + "phase": "straight_push", + "intended_face_center": [ + -29.019036710627876, + -14.95436889594286, + 0.0800880663390383 + ], + "intended_face_normal": [ + -0.18183282545661683, + -0.3420902194335227, + 0.9219062312790811 + ], + "commanded_contact_point": [ + -29.06358825683594, + -14.937234164841858, + 0.029089726209515065 + ], + "centerline_face_intersection": [ + -29.140061544895193, + -14.935445026276149, + 0.029089726209515065 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.073442459106445, + -14.943377494812012, + 0.0625779926776886 + ], + "box_pose": [ + -28.991979598999023, + -14.939240455627441, + 0.03272705897688866, + 0.6463061571121216, + 0.25817668437957764, + 0.503322422504425, + 0.5121520161628723 + ], + "box_yaw_rad": 1.1698438598244787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017891385657079401, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001610709902305617 + } + }, + { + "simulation_time_ns": 10860000000, + "phase": "straight_push", + "intended_face_center": [ + -29.01913523798172, + -14.954934811540591, + 0.0801599502418176 + ], + "intended_face_normal": [ + -0.1830342894663346, + -0.3483667540245392, + 0.9193145996317895 + ], + "commanded_contact_point": [ + -29.06218444824219, + -14.93713348868243, + 0.029304974922895147 + ], + "centerline_face_intersection": [ + -29.140086268799916, + -14.935663734278306, + 0.029304974922895147 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.073436737060547, + -14.943648338317871, + 0.06259874999523163 + ], + "box_pose": [ + -28.992015838623047, + -14.93947982788086, + 0.032940201461315155, + 0.6476558446884155, + 0.25618976354599, + 0.504703164100647, + 0.5100818872451782 + ], + "box_yaw_rad": 1.1695012994333431, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014697544041253215, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014237788682148222 + } + }, + { + "simulation_time_ns": 10880000000, + "phase": "straight_push", + "intended_face_center": [ + -29.018973885937967, + -14.954898448227166, + 0.08036021944094246 + ], + "intended_face_normal": [ + -0.1814486017308674, + -0.34805341615431473, + 0.9197473742082529 + ], + "commanded_contact_point": [ + -29.060773010253907, + -14.936799386892607, + 0.02948130374250955 + ], + "centerline_face_intersection": [ + -29.140000175269567, + -14.935644704301763, + 0.02948130374250955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.07322120666504, + -14.943521499633789, + 0.06284388899803162 + ], + "box_pose": [ + -28.99193572998047, + -14.939457893371582, + 0.03308919817209244, + 0.6479780077934265, + 0.25674155354499817, + 0.5041341185569763, + 0.5099579095840454 + ], + "box_yaw_rad": 1.1689931119625432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011546825908442988, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014611204787262273 + } + }, + { + "simulation_time_ns": 10900000000, + "phase": "straight_push", + "intended_face_center": [ + -29.018737787458836, + -14.95467844586606, + 0.08052713242487619 + ], + "intended_face_normal": [ + -0.17890152825060568, + -0.3456056377027892, + 0.9211683364748424 + ], + "commanded_contact_point": [ + -29.059517974853517, + -14.9364044613003, + 0.029569611425248804 + ], + "centerline_face_intersection": [ + -29.13989918103923, + -14.935560109028492, + 0.029569611425248804 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.072978973388672, + -14.943318367004395, + 0.06317241489887238 + ], + "box_pose": [ + -28.991830825805664, + -14.93936538696289, + 0.033139917999506, + 0.6480214595794678, + 0.25809141993522644, + 0.502862811088562, + 0.510476291179657 + ], + "box_yaw_rad": 1.1682470355124257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008443522718081871, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013186653580508263 + } + }, + { + "simulation_time_ns": 10920000000, + "phase": "straight_push", + "intended_face_center": [ + -29.01869032222551, + -14.954853454599325, + 0.08065548385327528 + ], + "intended_face_normal": [ + -0.17842227183733428, + -0.3475313850714201, + 0.9205364171934889 + ], + "commanded_contact_point": [ + -29.058350677490235, + -14.936157987345911, + 0.029732919591493316 + ], + "centerline_face_intersection": [ + -29.139874416182423, + -14.935628588576925, + 0.029732919591493316 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.072895050048828, + -14.943502426147461, + 0.06338061392307281 + ], + "box_pose": [ + -28.99180793762207, + -14.939440727233887, + 0.033286646008491516, + 0.6486766338348389, + 0.2577074468135834, + 0.5029754638671875, + 0.5097265243530273 + ], + "box_yaw_rad": 1.167737718955937, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005293987689867625, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001204160330553113 + } + }, + { + "simulation_time_ns": 10940000000, + "phase": "straight_push", + "intended_face_center": [ + -29.018839186793056, + -14.955044606126885, + 0.0805694358834363 + ], + "intended_face_normal": [ + -0.18016646210617182, + -0.34961442641750295, + 0.9194073559026492 + ], + "commanded_contact_point": [ + -29.057013626098634, + -14.935907190759588, + 0.029709329439796452 + ], + "centerline_face_intersection": [ + -29.139933624085177, + -14.935704509674894, + 0.029709329439796452 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.07291603088379, + -14.943872451782227, + 0.06321042776107788 + ], + "box_pose": [ + -28.991867065429688, + -14.93952465057373, + 0.0332866907119751, + 0.6487751007080078, + 0.2566556930541992, + 0.5038830041885376, + 0.5092353820800781 + ], + "box_yaw_rad": 1.1681064945040027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00020268108469344862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013605740871971076 + } + }, + { + "simulation_time_ns": 10960000000, + "phase": "straight_push", + "intended_face_center": [ + -29.0189015879408, + -14.95471788639252, + 0.0802204493162849 + ], + "intended_face_normal": [ + -0.1813548643151499, + -0.3459779085598669, + 0.9205485784480487 + ], + "commanded_contact_point": [ + -29.055562133789063, + -14.935446082703743, + 0.029297212313853817 + ], + "centerline_face_intersection": [ + -29.13994918228473, + -14.935578956141928, + 0.029297212313853817 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.072898864746094, + -14.943967819213867, + 0.06272321939468384 + ], + "box_pose": [ + -28.99186897277832, + -14.9393892288208, + 0.03290985897183418, + 0.6475089192390442, + 0.257254034280777, + 0.5037074089050293, + 0.5107165575027466 + ], + "box_yaw_rad": 1.1689793199728327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00013287343818412385, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015777487408969505 + } + }, + { + "simulation_time_ns": 10980000000, + "phase": "straight_push", + "intended_face_center": [ + -29.01787261372285, + -14.954364332451908, + 0.08007663954079822 + ], + "intended_face_normal": [ + -0.18154117189154562, + -0.34090860718488614, + 0.9224012677135889 + ], + "commanded_contact_point": [ + -29.05424415588379, + -14.935034550828753, + 0.029050914807931424 + ], + "centerline_face_intersection": [ + -29.13897592638199, + -14.935505827636103, + 0.029050914807931424 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.071882247924805, + -14.943965911865234, + 0.0625215619802475 + ], + "box_pose": [ + -28.990833282470703, + -14.939316749572754, + 0.032679732888936996, + 0.646367609500885, + 0.2582639455795288, + 0.5026561617851257, + 0.5126845240592957 + ], + "box_yaw_rad": 1.16859543603367, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004712768073493871, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014025286821827661 + } + }, + { + "simulation_time_ns": 11000000000, + "phase": "straight_push", + "intended_face_center": [ + -29.014974286128947, + -14.954387026917276, + 0.08010959746315216 + ], + "intended_face_normal": [ + -0.1816547730541629, + -0.3400191858536914, + 0.922707343706719 + ], + "commanded_contact_point": [ + -29.052865142822267, + -14.934767409563992, + 0.0290669411085287 + ], + "centerline_face_intersection": [ + -29.136184969956098, + -14.935577723430226, + 0.0290669411085287 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.06908416748047, + -14.944053649902344, + 0.06262081861495972 + ], + "box_pose": [ + -28.987934112548828, + -14.939420700073242, + 0.032687436789274216, + 0.646635890007019, + 0.2579163908958435, + 0.5018681287765503, + 0.5132929682731628 + ], + "box_yaw_rad": 1.1664442957438803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008103138662340862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014047413717482215 + } + }, + { + "simulation_time_ns": 11020000000, + "phase": "straight_push", + "intended_face_center": [ + -29.01244060755881, + -14.954603934667764, + 0.08010343100089669 + ], + "intended_face_normal": [ + -0.1826906880002923, + -0.34188386034068685, + 0.921813133818354 + ], + "commanded_contact_point": [ + -29.051018829345704, + -14.9345367234432, + 0.02911024087015453 + ], + "centerline_face_intersection": [ + -29.133611248657996, + -14.935691480447492, + 0.02911024087015453 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.066631317138672, + -14.944302558898926, + 0.06258480250835419 + ], + "box_pose": [ + -28.985347747802734, + -14.939545631408691, + 0.0327405110001564, + 0.6469316482543945, + 0.25706014037132263, + 0.5024155378341675, + 0.512813925743103 + ], + "box_yaw_rad": 1.1662880961467796, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011547570042914437, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018611728585543538 + } + }, + { + "simulation_time_ns": 11040000000, + "phase": "straight_push", + "intended_face_center": [ + -29.0123242994121, + -14.954655408102383, + 0.07950038245070307 + ], + "intended_face_normal": [ + -0.18657787203306242, + -0.3413148628388001, + 0.9212453894136416 + ], + "commanded_contact_point": [ + -29.04900848388672, + -14.934271261653942, + 0.02853859900892318 + ], + "centerline_face_intersection": [ + -29.133282813010762, + -14.935774429890353, + 0.02853859900892318 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.06638526916504, + -14.94448471069336, + 0.06136694550514221 + ], + "box_pose": [ + -28.985031127929688, + -14.939620971679688, + 0.03224499896168709, + 0.6456297636032104, + 0.25621721148490906, + 0.5038051605224609, + 0.5135127902030945 + ], + "box_yaw_rad": 1.168372501262272, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015031682364116997, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002106830141118943 + } + }, + { + "simulation_time_ns": 11060000000, + "phase": "straight_push", + "intended_face_center": [ + -29.011980901433336, + -14.956164409619925, + 0.07882906186392612 + ], + "intended_face_normal": [ + -0.19507539036188248, + -0.35076015368571944, + 0.915921790627138 + ], + "commanded_contact_point": [ + -29.047316665649415, + -14.934890945130213, + 0.028161771172510387 + ], + "centerline_face_intersection": [ + -29.132395669051107, + -14.936760933415268, + 0.028161771172510387 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.065351486206055, + -14.945931434631348, + 0.05926504731178284 + ], + "box_pose": [ + -28.9842472076416, + -14.940607070922852, + 0.03200136870145798, + 0.6453126072883606, + 0.2518605887889862, + 0.5088729858398438, + 0.5110636949539185 + ], + "box_yaw_rad": 1.1729179437668111, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0018699882850548768, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018407215370979454 + } + }, + { + "simulation_time_ns": 11080000000, + "phase": "straight_push", + "intended_face_center": [ + -29.009822803249087, + -14.957408315160343, + 0.07852883311873696 + ], + "intended_face_normal": [ + -0.19859177602914002, + -0.3535267757740499, + 0.9141005964985993 + ], + "commanded_contact_point": [ + -29.045619125366212, + -14.93560723607696, + 0.027962287898452537 + ], + "centerline_face_intersection": [ + -29.129914375688454, + -14.937851793960997, + 0.027962287898452537 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.062889099121094, + -14.947216033935547, + 0.058509618043899536 + ], + "box_pose": [ + -28.981903076171875, + -14.94166088104248, + 0.03187555447220802, + 0.6443392634391785, + 0.250873863697052, + 0.5114589929580688, + 0.5101948976516724 + ], + "box_yaw_rad": 1.1772314414030283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002244557884036883, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018532429171905813 + } + }, + { + "simulation_time_ns": 11100000000, + "phase": "straight_push", + "intended_face_center": [ + -29.009026719629045, + -14.956761175895078, + 0.07874001415802513 + ], + "intended_face_normal": [ + -0.19380327017192656, + -0.34571554979648056, + 0.9181073317427888 + ], + "commanded_contact_point": [ + -29.043971176147462, + -14.935023296983168, + 0.02795182291794039 + ], + "centerline_face_intersection": [ + -29.129357466219364, + -14.93763675890082, + 0.02795182291794039 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.062114715576172, + -14.946859359741211, + 0.058981671929359436 + ], + "box_pose": [ + -28.981351852416992, + -14.941414833068848, + 0.03180800378322601, + 0.6435257792472839, + 0.2543514370918274, + 0.5086573958396912, + 0.5122963786125183 + ], + "box_yaw_rad": 1.1764151874923778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00261346191765249, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017483795379305636 + } + }, + { + "simulation_time_ns": 11120000000, + "phase": "straight_push", + "intended_face_center": [ + -29.007939617204354, + -14.955744214010847, + 0.0792998881574014 + ], + "intended_face_normal": [ + -0.18582287273540388, + -0.33571803346004714, + 0.9234519118829709 + ], + "commanded_contact_point": [ + -29.042510147094728, + -14.934196830611787, + 0.028216043512891406 + ], + "centerline_face_intersection": [ + -29.128651846903647, + -14.937172843217253, + 0.028216043512891406 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.06114387512207, + -14.946236610412598, + 0.06003260612487793 + ], + "box_pose": [ + -28.98067283630371, + -14.940906524658203, + 0.031967148184776306, + 0.6428856253623962, + 0.25937536358833313, + 0.504536509513855, + 0.514650821685791 + ], + "box_yaw_rad": 1.1750125107682072, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002976012605466284, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001699254271365301 + } + }, + { + "simulation_time_ns": 11140000000, + "phase": "straight_push", + "intended_face_center": [ + -29.004649951618884, + -14.954748484809787, + 0.07980764084490818 + ], + "intended_face_normal": [ + -0.18290703568855093, + -0.3364084860009484, + 0.9237826004844507 + ], + "commanded_contact_point": [ + -29.041138763427735, + -14.932803096965463, + 0.028705503049529877 + ], + "centerline_face_intersection": [ + -29.125696149575344, + -14.936138919314464, + 0.028705503049529877 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.0578556060791, + -14.945134162902832, + 0.06103585660457611 + ], + "box_pose": [ + -28.977540969848633, + -14.939935684204102, + 0.03237657621502876, + 0.6447998285293579, + 0.2590518295764923, + 0.5024315118789673, + 0.5144782662391663 + ], + "box_yaw_rad": 1.1697104123276039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003335822349000995, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020156282586319863 + } + }, + { + "simulation_time_ns": 11160000000, + "phase": "straight_push", + "intended_face_center": [ + -28.999054052494387, + -14.952207520405757, + 0.08037487838532761 + ], + "intended_face_normal": [ + -0.1804272727788927, + -0.33698411882824786, + 0.9240606445077191 + ], + "commanded_contact_point": [ + -29.039620513916017, + -14.92987273865925, + 0.029257359650772946 + ], + "centerline_face_intersection": [ + -29.120442311178174, + -14.933566111846877, + 0.029257359650772946 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.052244186401367, + -14.9425048828125, + 0.06229202449321747 + ], + "box_pose": [ + -28.972082138061523, + -14.937433242797852, + 0.03285372629761696, + 0.6466765403747559, + 0.25851523876190186, + 0.5003014206886292, + 0.5144686102867126 + ], + "box_yaw_rad": 1.164091431435264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.003693373187625898, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033461361435180004 + } + }, + { + "simulation_time_ns": 11180000000, + "phase": "straight_push", + "intended_face_center": [ + -28.9922169537015, + -14.948878649675402, + 0.08081589298362765 + ], + "intended_face_normal": [ + -0.1775305309351154, + -0.3375200529976059, + 0.9244257010086017 + ], + "commanded_contact_point": [ + -29.037903900146485, + -14.926153707555994, + 0.029678179922397616 + ], + "centerline_face_intersection": [ + -29.113856166736934, + -14.930207594117588, + 0.029678179922397616 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.04551124572754, + -14.939220428466797, + 0.06334304809570312 + ], + "box_pose": [ + -28.96539878845215, + -14.93410873413086, + 0.03320647403597832, + 0.6480965614318848, + 0.25867366790771484, + 0.49872925877571106, + 0.5141282081604004 + ], + "box_yaw_rad": 1.1606992159217353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004053886561594243, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004117650407908415 + } + }, + { + "simulation_time_ns": 11200000000, + "phase": "straight_push", + "intended_face_center": [ + -28.985806535028303, + -14.946250804906658, + 0.08119433542579534 + ], + "intended_face_normal": [ + -0.17579680392837105, + -0.3382736909478652, + 0.9244815979079064 + ], + "commanded_contact_point": [ + -29.03613006591797, + -14.923124071000194, + 0.030053530239806617 + ], + "centerline_face_intersection": [ + -29.107704246456496, + -14.927538059333939, + 0.030053530239806617 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.03921890258789, + -14.936540603637695, + 0.06426872313022614 + ], + "box_pose": [ + -28.95908546447754, + -14.931493759155273, + 0.03352636471390724, + 0.64956134557724, + 0.2581389546394348, + 0.49719905853271484, + 0.5140305161476135 + ], + "box_yaw_rad": 1.1564354586653243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004413988333744501, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035307326989268274 + } + }, + { + "simulation_time_ns": 11220000000, + "phase": "straight_push", + "intended_face_center": [ + -28.98139774343982, + -14.944300364672698, + 0.08148589869481515 + ], + "intended_face_normal": [ + -0.1746853711997325, + -0.3386641899587364, + 0.924549247902986 + ], + "commanded_contact_point": [ + -29.03439437866211, + -14.92079391713159, + 0.030341351222092958 + ], + "centerline_face_intersection": [ + -29.103534404236182, + -14.925566017335395, + 0.030341351222092958 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.03497314453125, + -14.934518814086914, + 0.06503027677536011 + ], + "box_pose": [ + -28.954742431640625, + -14.929577827453613, + 0.03377046808600426, + 0.6507998704910278, + 0.2574820816516876, + 0.4957737624645233, + 0.5141699910163879 + ], + "box_yaw_rad": 1.152291582728968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004772100203805254, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002919771946465371 + } + }, + { + "simulation_time_ns": 11240000000, + "phase": "straight_push", + "intended_face_center": [ + -28.980300104215864, + -14.943990423893526, + 0.0815618675802697 + ], + "intended_face_normal": [ + -0.17527427280970542, + -0.3404445842818209, + 0.9237835328899298 + ], + "commanded_contact_point": [ + -29.032866592407228, + -14.920029082336711, + 0.030459678205750126 + ], + "centerline_face_intersection": [ + -29.102544621176946, + -14.92515758806339, + 0.030459678205750126 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.03403091430664, + -14.934067726135254, + 0.06524470448493958 + ], + "box_pose": [ + -28.95362091064453, + -14.929217338562012, + 0.033875420689582825, + 0.651765763759613, + 0.25618883967399597, + 0.4954025447368622, + 0.5139502286911011 + ], + "box_yaw_rad": 1.1494637167725266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005128505726679793, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017126308356232227 + } + }, + { + "simulation_time_ns": 11260000000, + "phase": "straight_push", + "intended_face_center": [ + -28.9804316257214, + -14.94413157344176, + 0.08171415273657189 + ], + "intended_face_normal": [ + -0.17622903479698238, + -0.34234950850415125, + 0.9228974798219216 + ], + "commanded_contact_point": [ + -29.03157341003418, + -14.919704653834902, + 0.03066097836401448 + ], + "centerline_face_intersection": [ + -29.102661852660233, + -14.925193360329082, + 0.03066097836401448 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.034297943115234, + -14.934198379516602, + 0.06570667028427124 + ], + "box_pose": [ + -28.953704833984375, + -14.92927074432373, + 0.034081652760505676, + 0.6522005200386047, + 0.25524505972862244, + 0.4957915246486664, + 0.513493001461029 + ], + "box_yaw_rad": 1.14880122798165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005488706494180564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013483679974185545 + } + }, + { + "simulation_time_ns": 11280000000, + "phase": "straight_push", + "intended_face_center": [ + -28.982046631019994, + -14.942435417121672, + 0.08200639465461199 + ], + "intended_face_normal": [ + -0.1771144679275949, + -0.3411789643072769, + 0.9231616235561635 + ], + "commanded_contact_point": [ + -29.030722732543946, + -14.917724239715533, + 0.03093860828406076 + ], + "centerline_face_intersection": [ + -29.104480646857493, + -14.923561956593437, + 0.03093860828406076 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.03603172302246, + -14.932287216186523, + 0.06643754243850708 + ], + "box_pose": [ + -28.955286026000977, + -14.927708625793457, + 0.03435124084353447, + 0.6527574062347412, + 0.2541494071483612, + 0.494466632604599, + 0.5146052837371826 + ], + "box_yaw_rad": 1.1444818494204723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005837716877904031, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021731936520003577 + } + }, + { + "simulation_time_ns": 11300000000, + "phase": "straight_push", + "intended_face_center": [ + -28.984067153970212, + -14.934428625022221, + 0.08197124734548136 + ], + "intended_face_normal": [ + -0.17251165835974192, + -0.34083043970493243, + 0.9241616161013546 + ], + "commanded_contact_point": [ + -29.029919738769532, + -14.909358896481558, + 0.030848143028032328 + ], + "centerline_face_intersection": [ + -29.106097465732084, + -14.915574444303157, + 0.030848143028032328 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.038326263427734, + -14.925020217895508, + 0.06662282347679138 + ], + "box_pose": [ + -28.9575138092041, + -14.919528007507324, + 0.03425421938300133, + 0.6509768962860107, + 0.25854724645614624, + 0.49663296341896057, + 0.5125799775123596 + ], + "box_yaw_rad": 1.1554078241192447, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0062155478215980536, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008404281669868762 + } + }, + { + "simulation_time_ns": 11320000000, + "phase": "straight_push", + "intended_face_center": [ + -28.983901340003744, + -14.925231825156628, + 0.08193337683152549 + ], + "intended_face_normal": [ + -0.16452628703937222, + -0.3406214517046138, + 0.9256934324662254 + ], + "commanded_contact_point": [ + -29.02921211242676, + -14.899743663567898, + 0.03072553494604498 + ], + "centerline_face_intersection": [ + -29.105318454059503, + -14.906389205310852, + 0.03072553494604498 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.038373947143555, + -14.917139053344727, + 0.06686241924762726 + ], + "box_pose": [ + -28.957714080810547, + -14.910019874572754, + 0.034112390130758286, + 0.6481581926345825, + 0.26584261655807495, + 0.5002016425132751, + 0.5089371800422668 + ], + "box_yaw_rad": 1.1734935193927702, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006645541742953046, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009642015959678108 + } + }, + { + "simulation_time_ns": 11340000000, + "phase": "straight_push", + "intended_face_center": [ + -28.98359721151598, + -14.923606416666916, + 0.08191578750776854 + ], + "intended_face_normal": [ + -0.1648087440239614, + -0.34023611485936556, + 0.9257848724306363 + ], + "commanded_contact_point": [ + -29.028565521240235, + -14.897700116426165, + 0.03070288731348369 + ], + "centerline_face_intersection": [ + -29.105003932126557, + -14.904785113023191, + 0.03070288731348369 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.037853240966797, + -14.915771484375, + 0.06694445013999939 + ], + "box_pose": [ + -28.957395553588867, + -14.908415794372559, + 0.03409590944647789, + 0.6479976773262024, + 0.26584693789482117, + 0.5002170205116272, + 0.5091241598129272 + ], + "box_yaw_rad": 1.1735801207676668, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0070849965970253975, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021435200018279834 + } + }, + { + "simulation_time_ns": 11360000000, + "phase": "straight_push", + "intended_face_center": [ + -28.983537740945792, + -14.923584714651456, + 0.08199444874566525 + ], + "intended_face_normal": [ + -0.1643697100280086, + -0.3403563980452944, + 0.9258186030355944 + ], + "commanded_contact_point": [ + -29.02795135498047, + -14.897220528447411, + 0.030779682629656416 + ], + "centerline_face_intersection": [ + -29.1049801738695, + -14.904756757139237, + 0.030779682629656416 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.037460327148438, + -14.916037559509277, + 0.06729328632354736 + ], + "box_pose": [ + -28.957359313964844, + -14.908391952514648, + 0.03416253626346588, + 0.6482115387916565, + 0.2658717930316925, + 0.5, + 0.509052038192749 + ], + "box_yaw_rad": 1.1731126324778578, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007536228691826994, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00078300852140059 + } + }, + { + "simulation_time_ns": 11380000000, + "phase": "straight_push", + "intended_face_center": [ + -28.983468729071284, + -14.923562537984273, + 0.08197830495501972 + ], + "intended_face_normal": [ + -0.16419946092690907, + -0.34063610155922674, + 0.9257458478975167 + ], + "commanded_contact_point": [ + -29.02713119506836, + -14.896719421670364, + 0.030767563533878932 + ], + "centerline_face_intersection": [ + -29.104945089511137, + -14.904719107732575, + 0.030767563533878932 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.037092208862305, + -14.916305541992188, + 0.06745685636997223 + ], + "box_pose": [ + -28.957300186157227, + -14.908363342285156, + 0.03414303436875343, + 0.6484568119049072, + 0.26571840047836304, + 0.4998217821121216, + 0.5089946985244751 + ], + "box_yaw_rad": 1.1724668704203178, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007999686062211497, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009612060944025819 + } + }, + { + "simulation_time_ns": 11400000000, + "phase": "straight_push", + "intended_face_center": [ + -28.983656143234736, + -14.924153190275767, + 0.08171625783303031 + ], + "intended_face_normal": [ + -0.16645418751066288, + -0.3472545199848085, + 0.9228799052103298 + ], + "commanded_contact_point": [ + -29.025797958374024, + -14.89646662779621, + 0.030664055659151243 + ], + "centerline_face_intersection": [ + -29.105005385614415, + -14.904943639975702, + 0.030664055659151243 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.036972045898438, + -14.916876792907715, + 0.06695440411567688 + ], + "box_pose": [ + -28.95737075805664, + -14.908609390258789, + 0.03405609726905823, + 0.6496232151985168, + 0.26334837079048157, + 0.5016143321990967, + 0.5069717764854431 + ], + "box_yaw_rad": 1.1724282714928764, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008477012179492009, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013609330277659078 + } + }, + { + "simulation_time_ns": 11420000000, + "phase": "straight_push", + "intended_face_center": [ + -28.983673979192055, + -14.924942369578975, + 0.08150117039557203 + ], + "intended_face_normal": [ + -0.17040285070873296, + -0.3544976532269004, + 0.9193988874410053 + ], + "commanded_contact_point": [ + -29.024096603393556, + -14.8963684328042, + 0.030641532413336007 + ], + "centerline_face_intersection": [ + -29.104793249986063, + -14.90533214103187, + 0.030641532413336007 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.036678314208984, + -14.917499542236328, + 0.06632247567176819 + ], + "box_pose": [ + -28.957183837890625, + -14.909017562866211, + 0.034080762416124344, + 0.6504236459732056, + 0.2603982985019684, + 0.5041804313659668, + 0.504919707775116 + ], + "box_yaw_rad": 1.1732884819855605, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008963708227670326, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017043351556028045 + } + }, + { + "simulation_time_ns": 11440000000, + "phase": "straight_push", + "intended_face_center": [ + -28.982525209063212, + -14.92421755933828, + 0.08121951487887694 + ], + "intended_face_normal": [ + -0.16857552668035325, + -0.34556690411725555, + 0.9231282556484501 + ], + "commanded_contact_point": [ + -29.022210235595704, + -14.895660078563001, + 0.030153574366233206 + ], + "centerline_face_intersection": [ + -29.10368979342306, + -14.905101365179112, + 0.030153574366233206 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.035554885864258, + -14.917040824890137, + 0.06592001020908356 + ], + "box_pose": [ + -28.956127166748047, + -14.908737182617188, + 0.03360099717974663, + 0.6482184529304504, + 0.2635921537876129, + 0.5025895833969116, + 0.5076767802238464 + ], + "box_yaw_rad": 1.1751749865870238, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009441286616111315, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020732226738893566 + } + }, + { + "simulation_time_ns": 11460000000, + "phase": "straight_push", + "intended_face_center": [ + -28.980406079799234, + -14.923826115535588, + 0.08118452474540214 + ], + "intended_face_normal": [ + -0.16843619603582738, + -0.34526870043314517, + 0.9232653356379288 + ], + "commanded_contact_point": [ + -29.020123596191407, + -14.894813649879717, + 0.03011100119264954 + ], + "centerline_face_intersection": [ + -29.101455599257754, + -14.904726417514956, + 0.03011100119264954 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.033483505249023, + -14.916513442993164, + 0.06582479178905487 + ], + "box_pose": [ + -28.954010009765625, + -14.908321380615234, + 0.033572833985090256, + 0.647563099861145, + 0.26432865858078003, + 0.5032855868339539, + 0.5074406862258911 + ], + "box_yaw_rad": 1.1778006184919656, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009912767635239635, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022521807197822107 + } + }, + { + "simulation_time_ns": 11480000000, + "phase": "straight_push", + "intended_face_center": [ + -28.976772284834492, + -14.92313540526219, + 0.0810484149003237 + ], + "intended_face_normal": [ + -0.16893398599562914, + -0.3465376736307988, + 0.9226989054475396 + ], + "commanded_contact_point": [ + -29.01802360534668, + -14.893591947196898, + 0.030006225336353276 + ], + "centerline_face_intersection": [ + -29.097687818890627, + -14.903965509726289, + 0.030006225336353276 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.02989959716797, + -14.915485382080078, + 0.06542962789535522 + ], + "box_pose": [ + -28.950345993041992, + -14.907529830932617, + 0.03348645195364952, + 0.6472302079200745, + 0.2643948197364807, + 0.5043430328369141, + 0.5067806839942932 + ], + "box_yaw_rad": 1.1801350785270857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010373562529391197, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024317682811498854 + } + }, + { + "simulation_time_ns": 11500000000, + "phase": "straight_push", + "intended_face_center": [ + -28.973253112066544, + -14.922065513168096, + 0.08070538630364905 + ], + "intended_face_normal": [ + -0.17142915840256023, + -0.3453806856179895, + 0.9226723100653658 + ], + "commanded_contact_point": [ + -29.01588737487793, + -14.89214529952741, + 0.02966466795258505 + ], + "centerline_face_intersection": [ + -29.094014814658482, + -14.902959620310776, + 0.02966466795258505 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.026309967041016, + -14.913978576660156, + 0.06431947648525238 + ], + "box_pose": [ + -28.946697235107422, + -14.906511306762695, + 0.03319881856441498, + 0.6461026072502136, + 0.26415324211120605, + 0.5052145719528198, + 0.507476806640625 + ], + "box_yaw_rad": 1.1819219463176485, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010814320783366402, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002602485646772305 + } + }, + { + "simulation_time_ns": 11520000000, + "phase": "straight_push", + "intended_face_center": [ + -28.968633226835603, + -14.919578821505683, + 0.08085278775443402 + ], + "intended_face_normal": [ + -0.1686041001312475, + -0.34396571807225484, + 0.923720669363334 + ], + "commanded_contact_point": [ + -29.01372444152832, + -14.889303813369354, + 0.02975407588706462 + ], + "centerline_face_intersection": [ + -29.08930275035568, + -14.900551202331435, + 0.02975407588706462 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.021881103515625, + -14.911377906799316, + 0.06454335153102875 + ], + "box_pose": [ + -28.94221305847168, + -14.90401840209961, + 0.03327265754342079, + 0.6452664732933044, + 0.26654160022735596, + 0.505582869052887, + 0.5069246292114258 + ], + "box_yaw_rad": 1.1862137018725725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011247388962081648, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035721587366779922 + } + }, + { + "simulation_time_ns": 11540000000, + "phase": "straight_push", + "intended_face_center": [ + -28.96462547171673, + -14.915358160697266, + 0.08110358906513306 + ], + "intended_face_normal": [ + -0.16333138014240944, + -0.3445366714817766, + 0.9244550619688425 + ], + "commanded_contact_point": [ + -29.011748428344728, + -14.884602295263505, + 0.02996425180375545 + ], + "centerline_face_intersection": [ + -29.08507855186811, + -14.896298957317176, + 0.02996425180375545 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.018112182617188, + -14.907530784606934, + 0.06511199474334717 + ], + "box_pose": [ + -28.938457489013672, + -14.899601936340332, + 0.033448584377765656, + 0.6442980170249939, + 0.2703944444656372, + 0.5070980191230774, + 0.5045973062515259 + ], + "box_yaw_rad": 1.1949075092986432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011696662053671933, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005104221244941936 + } + }, + { + "simulation_time_ns": 11560000000, + "phase": "straight_push", + "intended_face_center": [ + -28.964421299408546, + -14.915307968839917, + 0.08097093847809567 + ], + "intended_face_normal": [ + -0.16399117880517622, + -0.3481695712887998, + 0.9229764153596776 + ], + "commanded_contact_point": [ + -29.00981056213379, + -14.883898150338686, + 0.02991339752110028 + ], + "centerline_face_intersection": [ + -29.084735650330575, + -14.896047799403052, + 0.02991339752110028 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01786994934082, + -14.90737247467041, + 0.0648697018623352 + ], + "box_pose": [ + -28.938215255737305, + -14.899328231811523, + 0.03341133892536163, + 0.6445457339286804, + 0.26977336406707764, + 0.5085721015930176, + 0.5031279921531677 + ], + "box_yaw_rad": 1.1969804727725046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012149649064366276, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020624576807068595 + } + }, + { + "simulation_time_ns": 11580000000, + "phase": "straight_push", + "intended_face_center": [ + -28.96422915853237, + -14.914913626096292, + 0.08097439119387588 + ], + "intended_face_normal": [ + -0.16351824953889604, + -0.34633303806016613, + 0.9237508144427835 + ], + "commanded_contact_point": [ + -29.007866973876954, + -14.88315775633658, + 0.029874011750170803 + ], + "centerline_face_intersection": [ + -29.08456596969944, + -14.895755050664409, + 0.029874011750170803 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.017635345458984, + -14.906946182250977, + 0.06487689912319183 + ], + "box_pose": [ + -28.938047409057617, + -14.899027824401855, + 0.03336997330188751, + 0.6441643834114075, + 0.27041858434677124, + 0.5081523060798645, + 0.5036937594413757 + ], + "box_yaw_rad": 1.19713023808937, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01259729432782898, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020802090831012225 + } + }, + { + "simulation_time_ns": 11600000000, + "phase": "straight_push", + "intended_face_center": [ + -28.96372632637672, + -14.914133894908346, + 0.08114756879239277 + ], + "intended_face_normal": [ + -0.16309471850884094, + -0.34473673815206496, + 0.9244225519877141 + ], + "commanded_contact_point": [ + -29.00613510131836, + -14.882020248098225, + 0.030010029929831594 + ], + "centerline_face_intersection": [ + -29.084094187554445, + -14.895063624168307, + 0.030010029929831594 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01708984375, + -14.90621566772461, + 0.06510606408119202 + ], + "box_pose": [ + -28.93756675720215, + -14.898333549499512, + 0.03350253403186798, + 0.6438948512077332, + 0.27092382311820984, + 0.5077083706855774, + 0.5042142868041992 + ], + "box_yaw_rad": 1.1970042958187916, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013043376070081084, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020764894646331717 + } + }, + { + "simulation_time_ns": 11620000000, + "phase": "straight_push", + "intended_face_center": [ + -28.96323567351487, + -14.913824407598833, + 0.08112730013539834 + ], + "intended_face_normal": [ + -0.16330842563411352, + -0.3460087516908814, + 0.9239092172553569 + ], + "commanded_contact_point": [ + -29.004593963623048, + -14.881189495200607, + 0.030018158107995484 + ], + "centerline_face_intersection": [ + -29.083642634451476, + -14.894683771156837, + 0.030018158107995484 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01654052734375, + -14.905956268310547, + 0.0651039332151413 + ], + "box_pose": [ + -28.93706703186035, + -14.89797592163086, + 0.03350325673818588, + 0.6444526314735413, + 0.2702484130859375, + 0.507627010345459, + 0.5039458274841309 + ], + "box_yaw_rad": 1.195736873915663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01349427595622949, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017508060543918208 + } + }, + { + "simulation_time_ns": 11640000000, + "phase": "straight_push", + "intended_face_center": [ + -28.963136969600747, + -14.914098146451462, + 0.08097827546512183 + ], + "intended_face_normal": [ + -0.16519731030157203, + -0.3503214530198093, + 0.9219462108524148 + ], + "commanded_contact_point": [ + -29.003098602294923, + -14.880760253830815, + 0.029977723731196844 + ], + "centerline_face_intersection": [ + -29.083484656921875, + -14.89471893844786, + 0.029977723731196844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01630210876465, + -14.906329154968262, + 0.0647721141576767 + ], + "box_pose": [ + -28.936872482299805, + -14.898040771484375, + 0.033477120101451874, + 0.6453160047531128, + 0.2683407962322235, + 0.5086531043052673, + 0.5028245449066162 + ], + "box_yaw_rad": 1.194933001702345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013958684617045523, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001556273945685628 + } + }, + { + "simulation_time_ns": 11660000000, + "phase": "straight_push", + "intended_face_center": [ + -28.963340170736576, + -14.914433898214728, + 0.0807948300580163 + ], + "intended_face_normal": [ + -0.167624501016725, + -0.35419350828352236, + 0.9200266350562991 + ], + "commanded_contact_point": [ + -29.00168716430664, + -14.88040006189169, + 0.029900466107656773 + ], + "centerline_face_intersection": [ + -29.083562389650407, + -14.894840494466877, + 0.029900466107656773 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.016321182250977, + -14.90688419342041, + 0.06414201855659485 + ], + "box_pose": [ + -28.93695068359375, + -14.898177146911621, + 0.03343097120523453, + 0.6457014083862305, + 0.26660749316215515, + 0.5100651383399963, + 0.5018203854560852 + ], + "box_yaw_rad": 1.195313939201007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014440432575186865, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014587200444804054 + } + }, + { + "simulation_time_ns": 11680000000, + "phase": "straight_push", + "intended_face_center": [ + -28.962181985391503, + -14.913983375052654, + 0.0807802658855799 + ], + "intended_face_normal": [ + -0.16804518549863445, + -0.35337320512113735, + 0.9202651533144284 + ], + "commanded_contact_point": [ + -29.000529403686524, + -14.879504210707857, + 0.02987270749652099 + ], + "centerline_face_intersection": [ + -29.08246013783393, + -14.89443534912986, + 0.02987270749652099 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.015188217163086, + -14.906702995300293, + 0.0640566349029541 + ], + "box_pose": [ + -28.935773849487305, + -14.897795677185059, + 0.03340316191315651, + 0.6457794904708862, + 0.2663078010082245, + 0.5095639824867249, + 0.5023877620697021 + ], + "box_yaw_rad": 1.1938506929005812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014931138422004157, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00146414805861997 + } + }, + { + "simulation_time_ns": 11700000000, + "phase": "straight_push", + "intended_face_center": [ + -28.959595710303734, + -14.912648876872094, + 0.08086195704689389 + ], + "intended_face_normal": [ + -0.16665712410997457, + -0.3469216711289178, + 0.9229683138205935 + ], + "commanded_contact_point": [ + -28.99944030761719, + -14.878457739224626, + 0.02980486425374831 + ], + "centerline_face_intersection": [ + -29.080017531469437, + -14.893457739224626, + 0.02980486425374831 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01276969909668, + -14.905803680419922, + 0.06424058973789215 + ], + "box_pose": [ + -28.93326187133789, + -14.896818161010742, + 0.033323146402835846, + 0.6447850465774536, + 0.26808610558509827, + 0.5076544880867004, + 0.5046473145484924 + ], + "box_yaw_rad": 1.1927054055176258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015118979856623904 + } + }, + { + "simulation_time_ns": 11720000000, + "phase": "straight_push", + "intended_face_center": [ + -28.95775921041764, + -14.912115283148703, + 0.0809311946485855 + ], + "intended_face_normal": [ + -0.16613100146779658, + -0.3460682442498211, + 0.9233835819168448 + ], + "commanded_contact_point": [ + -28.998034591674806, + -14.877971355675957, + 0.02985112990569165 + ], + "centerline_face_intersection": [ + -29.07828741191404, + -14.892971355675957, + 0.02985112990569165 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.011075973510742, + -14.905485153198242, + 0.06448408961296082 + ], + "box_pose": [ + -28.931455612182617, + -14.896355628967285, + 0.03335203975439072, + 0.6451156735420227, + 0.2680469751358032, + 0.5068134665489197, + 0.5050907731056213 + ], + "box_yaw_rad": 1.1908373995073214, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014882025324647876 + } + }, + { + "simulation_time_ns": 11740000000, + "phase": "straight_push", + "intended_face_center": [ + -28.95765557133871, + -14.912402736431162, + 0.08074475188876878 + ], + "intended_face_normal": [ + -0.16895476381373697, + -0.35016937173401885, + 0.9213227168118792 + ], + "commanded_contact_point": [ + -28.996476287841798, + -14.878031941314767, + 0.029778690822190576 + ], + "centerline_face_intersection": [ + -29.078066240714527, + -14.893031941314767, + 0.029778690822190576 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.010990142822266, + -14.905832290649414, + 0.06412021815776825 + ], + "box_pose": [ + -28.93120765686035, + -14.896441459655762, + 0.03331304341554642, + 0.6456095576286316, + 0.2659981846809387, + 0.5082056522369385, + 0.5041430592536926 + ], + "box_yaw_rad": 1.190700460870222, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015611626681468246 + } + }, + { + "simulation_time_ns": 11760000000, + "phase": "straight_push", + "intended_face_center": [ + -28.95799786389739, + -14.914099953174043, + 0.08006373441414599 + ], + "intended_face_normal": [ + -0.17807048443381035, + -0.3667919690301744, + 0.9131016333633255 + ], + "commanded_contact_point": [ + -28.99501335144043, + -14.878809623248161, + 0.029552450195491718 + ], + "centerline_face_intersection": [ + -29.077852592792738, + -14.893809623248162, + 0.029552450195491718 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.01082420349121, + -14.907130241394043, + 0.06210552155971527 + ], + "box_pose": [ + -28.93107795715332, + -14.89725399017334, + 0.0332069918513298, + 0.6471400260925293, + 0.2593383193016052, + 0.514398455619812, + 0.4993472397327423 + ], + "box_yaw_rad": 1.1938244579221537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016721713205118652 + } + }, + { + "simulation_time_ns": 11780000000, + "phase": "straight_push", + "intended_face_center": [ + -28.957980987762966, + -14.913411373228348, + 0.07955058276364503 + ], + "intended_face_normal": [ + -0.18101457741031268, + -0.3596852764654983, + 0.9153470974466309 + ], + "commanded_contact_point": [ + -28.99344551086426, + -14.878514173875091, + 0.02891508315606756 + ], + "centerline_face_intersection": [ + -29.077686582637135, + -14.893514173875092, + 0.02891508315606756 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.010486602783203, + -14.906689643859863, + 0.060796529054641724 + ], + "box_pose": [ + -28.930910110473633, + -14.896929740905762, + 0.03265126794576645, + 0.644364058971405, + 0.2605324685573578, + 0.5144293904304504, + 0.5022750496864319 + ], + "box_yaw_rad": 1.1964122153936407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017180370040492758 + } + }, + { + "simulation_time_ns": 11800000000, + "phase": "straight_push", + "intended_face_center": [ + -28.957647260642315, + -14.912435675638282, + 0.07965951851411865 + ], + "intended_face_normal": [ + -0.17786962631264203, + -0.3493607158467924, + 0.919950804859802 + ], + "commanded_contact_point": [ + -28.99193489074707, + -14.878109614038797, + 0.028769349365813636 + ], + "centerline_face_intersection": [ + -29.077532782773694, + -14.893109614038798, + 0.028769349365813636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.0101318359375, + -14.906057357788086, + 0.060987964272499084 + ], + "box_pose": [ + -28.93073844909668, + -14.896491050720215, + 0.032482121139764786, + 0.6425307393074036, + 0.26416218280792236, + 0.5116977691650391, + 0.5055076479911804 + ], + "box_yaw_rad": 1.1962929666875148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015706304903495946 + } + }, + { + "simulation_time_ns": 11820000000, + "phase": "straight_push", + "intended_face_center": [ + -28.956590415873233, + -14.911343092877464, + 0.07987793145374764 + ], + "intended_face_normal": [ + -0.1739524870805056, + -0.3414783456580395, + 0.9236517695418911 + ], + "commanded_contact_point": [ + -28.990574951171876, + -14.877453071064103, + 0.028783031011455525 + ], + "centerline_face_intersection": [ + -29.076706731114093, + -14.892453071064104, + 0.028783031011455525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.009065628051758, + -14.905272483825684, + 0.06140786409378052 + ], + "box_pose": [ + -28.92988395690918, + -14.895814895629883, + 0.032447345554828644, + 0.6416345834732056, + 0.2672361135482788, + 0.5089638829231262, + 0.507784903049469 + ], + "box_yaw_rad": 1.1951604752098182, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015101892309342376 + } + }, + { + "simulation_time_ns": 11840000000, + "phase": "straight_push", + "intended_face_center": [ + -28.953195916993526, + -14.909724784181442, + 0.08011140405241612 + ], + "intended_face_normal": [ + -0.17419471680169352, + -0.34256070414816264, + 0.9232055566508599 + ], + "commanded_contact_point": [ + -28.98916732788086, + -14.875774888072247, + 0.029041187375147937 + ], + "centerline_face_intersection": [ + -29.07355179535803, + -14.890774888072247, + 0.029041187375147937 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.005611419677734, + -14.903543472290039, + 0.06180122494697571 + ], + "box_pose": [ + -28.92648696899414, + -14.894227027893066, + 0.03267224133014679, + 0.6431983709335327, + 0.2655397355556488, + 0.5075196623802185, + 0.5081420540809631 + ], + "box_yaw_rad": 1.189410030430184, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002205526284513666 + } + }, + { + "simulation_time_ns": 11860000000, + "phase": "straight_push", + "intended_face_center": [ + -28.947906356174624, + -14.906095518243738, + 0.08034265948333695 + ], + "intended_face_normal": [ + -0.17480724343406706, + -0.3422707138894623, + 0.9231972699067512 + ], + "commanded_contact_point": [ + -28.98754608154297, + -14.872161663919865, + 0.029272901215156678 + ], + "centerline_face_intersection": [ + -29.068547326123994, + -14.887161663919866, + 0.029272901215156678 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -29.000328063964844, + -14.899872779846191, + 0.06222039461135864 + ], + "box_pose": [ + -28.921178817749023, + -14.890718460083008, + 0.0328747034072876, + 0.6445857286453247, + 0.2638084590435028, + 0.5056130886077881, + 0.5091853737831116 + ], + "box_yaw_rad": 1.1827281671474357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003967054293443604 + } + }, + { + "simulation_time_ns": 11880000000, + "phase": "straight_push", + "intended_face_center": [ + -28.941790817474484, + -14.901950904377415, + 0.08039754441128116 + ], + "intended_face_normal": [ + -0.17532201373679612, + -0.3408019443189829, + 0.9236428284790676 + ], + "commanded_contact_point": [ + -28.98581039428711, + -14.868098299976348, + 0.029303138573914714 + ], + "centerline_face_intersection": [ + -29.06273113919932, + -14.883098299976348, + 0.029303138573914714 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.994291305541992, + -14.895752906799316, + 0.062384232878685 + ], + "box_pose": [ + -28.915050506591797, + -14.88675594329834, + 0.032878175377845764, + 0.6456814408302307, + 0.2624082565307617, + 0.503484308719635, + 0.5106279253959656 + ], + "box_yaw_rad": 1.1761518728936022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004418648106094802 + } + }, + { + "simulation_time_ns": 11900000000, + "phase": "straight_push", + "intended_face_center": [ + -28.935495358661274, + -14.898493195785123, + 0.08047930511009743 + ], + "intended_face_normal": [ + -0.17734497147471373, + -0.34031871124030033, + 0.9234351177055125 + ], + "commanded_contact_point": [ + -28.984240646362306, + -14.864667323045122, + 0.029396389491930013 + ], + "centerline_face_intersection": [ + -29.05673707060222, + -14.879667323045123, + 0.029396389491930013 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.98805809020996, + -14.892170906066895, + 0.06253920495510101 + ], + "box_pose": [ + -28.908668518066406, + -14.883452415466309, + 0.03295963257551193, + 0.646983802318573, + 0.25995829701423645, + 0.5015688538551331, + 0.5121157169342041 + ], + "box_yaw_rad": 1.1685190820284979, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037741763318293667 + } + }, + { + "simulation_time_ns": 11920000000, + "phase": "straight_push", + "intended_face_center": [ + -28.930155019380067, + -14.89545400636719, + 0.08060156939197835 + ], + "intended_face_normal": [ + -0.17931940845817707, + -0.339545184748987, + 0.9233384188688181 + ], + "commanded_contact_point": [ + -28.982789154052735, + -14.861670923843551, + 0.029524002994801683 + ], + "centerline_face_intersection": [ + -29.05164432299139, + -14.876670923843552, + 0.029524002994801683 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.98284339904785, + -14.889043807983398, + 0.06268465518951416 + ], + "box_pose": [ + -28.903242111206055, + -14.880561828613281, + 0.03308377042412758, + 0.6479010581970215, + 0.25791218876838684, + 0.4999968111515045, + 0.5135258436203003 + ], + "box_yaw_rad": 1.1622647917522555, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033318948521872237 + } + }, + { + "simulation_time_ns": 11940000000, + "phase": "straight_push", + "intended_face_center": [ + -28.926745947375004, + -14.89346344591488, + 0.0806113181902437 + ], + "intended_face_normal": [ + -0.1813912260622743, + -0.33877377630529715, + 0.9232169090767819 + ], + "commanded_contact_point": [ + -28.98142158508301, + -14.859723036440686, + 0.029540473515399592 + ], + "centerline_face_intersection": [ + -29.048515281591644, + -14.874723036440686, + 0.029540473515399592 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.979598999023438, + -14.88687515258789, + 0.06271436810493469 + ], + "box_pose": [ + -28.899744033813477, + -14.878728866577148, + 0.033094894140958786, + 0.6489291787147522, + 0.2556859850883484, + 0.4982748329639435, + 0.5150123834609985 + ], + "box_yaw_rad": 1.1554384597889877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002380080145551656 + } + }, + { + "simulation_time_ns": 11960000000, + "phase": "straight_push", + "intended_face_center": [ + -28.925666588505543, + -14.892564588879061, + 0.08066910525560717 + ], + "intended_face_normal": [ + -0.18245329298576252, + -0.3374934088864521, + 0.9234766079102918 + ], + "commanded_contact_point": [ + -28.980116958618165, + -14.85889500722976, + 0.02958389446738491 + ], + "centerline_face_intersection": [ + -29.047650158001836, + -14.87389500722976, + 0.02958389446738491 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.978683471679688, + -14.885852813720703, + 0.0628555566072464 + ], + "box_pose": [ + -28.898622512817383, + -14.877976417541504, + 0.03313148394227028, + 0.649513840675354, + 0.2544615566730499, + 0.49686866998672485, + 0.5162389278411865 + ], + "box_yaw_rad": 1.1507650830538043, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015458227472734155 + } + }, + { + "simulation_time_ns": 11980000000, + "phase": "straight_push", + "intended_face_center": [ + -28.9261988258129, + -14.890896959504383, + 0.08073228651501738 + ], + "intended_face_normal": [ + -0.1835764721093689, + -0.3368351708447168, + 0.9234942314442147 + ], + "commanded_contact_point": [ + -28.97929870605469, + -14.857263790503572, + 0.029646100821813695 + ], + "centerline_face_intersection": [ + -29.048257279289782, + -14.872263790503572, + 0.029646100821813695 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.9793643951416, + -14.884092330932617, + 0.06303390860557556 + ], + "box_pose": [ + -28.89910316467285, + -14.876381874084473, + 0.0332016758620739, + 0.6496250033378601, + 0.2537030875682831, + 0.4963919222354889, + 0.5169304609298706 + ], + "box_yaw_rad": 1.1487430582855278, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018259996976903096 + } + }, + { + "simulation_time_ns": 12000000000, + "phase": "straight_push", + "intended_face_center": [ + -28.928563478133245, + -14.881823126326768, + 0.08090947128153983 + ], + "intended_face_normal": [ + -0.17950071047802751, + -0.33765940040468934, + 0.9239943227111276 + ], + "commanded_contact_point": [ + -28.978375549316407, + -14.848144362299024, + 0.029795621359957485 + ], + "centerline_face_intersection": [ + -29.05034949362031, + -14.863144362299025, + 0.029795621359957485 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.981910705566406, + -14.875717163085938, + 0.06370267271995544 + ], + "box_pose": [ + -28.901655197143555, + -14.867121696472168, + 0.03332970663905144, + 0.648758590221405, + 0.2568957507610321, + 0.49793773889541626, + 0.5149512887001038 + ], + "box_yaw_rad": 1.1564702660578694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009167253979936242 + } + }, + { + "simulation_time_ns": 12020000000, + "phase": "straight_push", + "intended_face_center": [ + -28.930278642993013, + -14.870020060489491, + 0.08104150255646321 + ], + "intended_face_normal": [ + -0.17300058938094054, + -0.33916774916556847, + 0.924681566178478 + ], + "commanded_contact_point": [ + -28.977267379760743, + -14.836257857083064, + 0.029889635453837292 + ], + "centerline_face_intersection": [ + -29.05155968499478, + -14.851257857083064, + 0.029889635453837292 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.983715057373047, + -14.865204811096191, + 0.06425909698009491 + ], + "box_pose": [ + -28.903667449951172, + -14.85498046875, + 0.03340037539601326, + 0.6469534635543823, + 0.26238206028938293, + 0.5010340213775635, + 0.5114408731460571 + ], + "box_yaw_rad": 1.170773647770039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011938420526309113 + } + }, + { + "simulation_time_ns": 12040000000, + "phase": "straight_push", + "intended_face_center": [ + -28.929988354056523, + -14.864152680904066, + 0.08098178725382363 + ], + "intended_face_normal": [ + -0.17384566206857244, + -0.33765319106899483, + 0.9250775358148644 + ], + "commanded_contact_point": [ + -28.976086730957032, + -14.830474260366584, + 0.029808015760585903 + ], + "centerline_face_intersection": [ + -29.051357011142258, + -14.845474260366585, + 0.029808015760585903 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.983190536499023, + -14.859701156616211, + 0.06420914828777313 + ], + "box_pose": [ + -28.903339385986328, + -14.84923267364502, + 0.03332415968179703, + 0.6469411849975586, + 0.26190829277038574, + 0.5002936124801636, + 0.5124232769012451 + ], + "box_yaw_rad": 1.1686377320482155, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00590343834988622 + } + }, + { + "simulation_time_ns": 12060000000, + "phase": "straight_push", + "intended_face_center": [ + -28.929413273948786, + -14.86293972847764, + 0.08085989620495226 + ], + "intended_face_normal": [ + -0.1771028378685955, + -0.33698324287383485, + 0.9247037133703344 + ], + "commanded_contact_point": [ + -28.974961395263673, + -14.82929836837512, + 0.029706803956010077 + ], + "centerline_face_intersection": [ + -29.051060441800253, + -14.84429836837512, + 0.029706803956010077 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.9821834564209, + -14.858397483825684, + 0.06404420733451843 + ], + "box_pose": [ + -28.902616500854492, + -14.848193168640137, + 0.033231183886528015, + 0.6479971408843994, + 0.25900495052337646, + 0.49858933687210083, + 0.5142225623130798 + ], + "box_yaw_rad": 1.1609039828943841, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016307502039621688 + } + }, + { + "simulation_time_ns": 12080000000, + "phase": "straight_push", + "intended_face_center": [ + -28.92896049870703, + -14.861957307218773, + 0.0806494163634007 + ], + "intended_face_normal": [ + -0.180829659626351, + -0.33650623123845236, + 0.9241559454975388 + ], + "commanded_contact_point": [ + -28.973702545166017, + -14.828342334617284, + 0.02952662573445092 + ], + "centerline_face_intersection": [ + -29.050831860101447, + -14.843342334617285, + 0.02952662573445092 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.98127555847168, + -14.857329368591309, + 0.06359119713306427 + ], + "box_pose": [ + -28.90199089050293, + -14.84736156463623, + 0.03307183086872101, + 0.6487851738929749, + 0.25610437989234924, + 0.49732375144958496, + 0.5159044861793518 + ], + "box_yaw_rad": 1.1541526287729753, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015909645835201574 + } + }, + { + "simulation_time_ns": 12100000000, + "phase": "straight_push", + "intended_face_center": [ + -28.92811896560122, + -14.860995642868254, + 0.08042015043483444 + ], + "intended_face_normal": [ + -0.1842752455420218, + -0.33721490542799337, + 0.9232165148556959 + ], + "commanded_contact_point": [ + -28.97220527648926, + -14.82734146757333, + 0.02934932756765402 + ], + "centerline_face_intersection": [ + -29.050107293058506, + -14.84234146757333, + 0.02934932756765402 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.98007583618164, + -14.856221199035645, + 0.0628432184457779 + ], + "box_pose": [ + -28.900985717773438, + -14.846450805664062, + 0.03292008116841316, + 0.649387776851654, + 0.25356733798980713, + 0.4968933165073395, + 0.5168134570121765 + ], + "box_yaw_rad": 1.1496375564522732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018096914018758705 + } + }, + { + "simulation_time_ns": 12120000000, + "phase": "straight_push", + "intended_face_center": [ + -28.92825232949901, + -14.862052281868813, + 0.08046358378135723 + ], + "intended_face_normal": [ + -0.18914137133200626, + -0.3499870946119046, + 0.9174611448228873 + ], + "commanded_contact_point": [ + -28.970749969482423, + -14.82769157002375, + 0.029711138541473257 + ], + "centerline_face_intersection": [ + -29.049962692322975, + -14.842691570023751, + 0.029711138541473257 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.979909896850586, + -14.85690975189209, + 0.06236054003238678 + ], + "box_pose": [ + -28.900867462158203, + -14.846841812133789, + 0.03331770375370979, + 0.6515052914619446, + 0.2488868236541748, + 0.5005341172218323, + 0.5128956437110901 + ], + "box_yaw_rad": 1.1498734907932033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015399342163587228 + } + }, + { + "simulation_time_ns": 12140000000, + "phase": "straight_push", + "intended_face_center": [ + -28.926909934932663, + -14.861293306570309, + 0.08049439809704693 + ], + "intended_face_normal": [ + -0.18621574871363222, + -0.34432476450979443, + 0.9201976972490158 + ], + "commanded_contact_point": [ + -28.969369049072267, + -14.82724582553623, + 0.029590571266850513 + ], + "centerline_face_intersection": [ + -29.04872663303584, + -14.84224582553623, + 0.029590571266850513 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.978708267211914, + -14.856375694274902, + 0.0625375509262085 + ], + "box_pose": [ + -28.899673461914062, + -14.84636116027832, + 0.03317393362522125, + 0.6505218744277954, + 0.2514461278915405, + 0.49898263812065125, + 0.514404833316803 + ], + "box_yaw_rad": 1.1505604057693801, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014560789109975497 + } + }, + { + "simulation_time_ns": 12160000000, + "phase": "straight_push", + "intended_face_center": [ + -28.923302801884294, + -14.858668372561597, + 0.080813808115463 + ], + "intended_face_normal": [ + -0.17991730724028088, + -0.3384216952689503, + 0.9236344208712755 + ], + "commanded_contact_point": [ + -28.96783172607422, + -14.82494743963267, + 0.029719867373165135 + ], + "centerline_face_intersection": [ + -29.04524672063608, + -14.83994743963267, + 0.029719867373165135 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.975435256958008, + -14.854118347167969, + 0.06339399516582489 + ], + "box_pose": [ + -28.896381378173828, + -14.843981742858887, + 0.033236902207136154, + 0.6496832370758057, + 0.25572100281715393, + 0.4971142113208771, + 0.5151659250259399 + ], + "box_yaw_rad": 1.1529187498059756, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027681505098373542 + } + }, + { + "simulation_time_ns": 12180000000, + "phase": "straight_push", + "intended_face_center": [ + -28.917852319205664, + -14.853779726303708, + 0.08103257645662303 + ], + "intended_face_normal": [ + -0.1774979091666431, + -0.3395219932831228, + 0.9236987419165406 + ], + "commanded_contact_point": [ + -28.966134185791017, + -14.81999792669391, + 0.02993507757963357 + ], + "centerline_face_intersection": [ + -29.039726367936613, + -14.83499792669391, + 0.02993507757963357 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.97038459777832, + -14.849350929260254, + 0.06393718719482422 + ], + "box_pose": [ + -28.89104652404785, + -14.838977813720703, + 0.03342611715197563, + 0.6497476696968079, + 0.25702306628227234, + 0.4975831210613251, + 0.5139826536178589 + ], + "box_yaw_rad": 1.1556148138587208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005236949186025774 + } + }, + { + "simulation_time_ns": 12200000000, + "phase": "straight_push", + "intended_face_center": [ + -28.91173874370599, + -14.847235986492802, + 0.08096252190515826 + ], + "intended_face_normal": [ + -0.176304271777326, + -0.3410282222703245, + 0.9233721761456763 + ], + "commanded_contact_point": [ + -28.964165802001954, + -14.813370864766723, + 0.029883088110811837 + ], + "centerline_face_intersection": [ + -29.033383890718575, + -14.828370864766724, + 0.029883088110811837 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.96478271484375, + -14.842960357666016, + 0.06380456686019897 + ], + "box_pose": [ + -28.884981155395508, + -14.832267761230469, + 0.03338096663355827, + 0.6491336822509766, + 0.2583434581756592, + 0.49913883209228516, + 0.5125859975814819 + ], + "box_yaw_rad": 1.1607355703587978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0069134063552406776 + } + }, + { + "simulation_time_ns": 12220000000, + "phase": "straight_push", + "intended_face_center": [ + -28.905715115339163, + -14.840144142755685, + 0.0812002589451647 + ], + "intended_face_normal": [ + -0.1680226243755243, + -0.3436270567841362, + 0.9239528104039607 + ], + "commanded_contact_point": [ + -28.961909408569337, + -14.806135257768249, + 0.03008870541630497 + ], + "centerline_face_intersection": [ + -29.02671367161034, + -14.82113525776825, + 0.03008870541630497 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.959352493286133, + -14.83696174621582, + 0.06448221206665039 + ], + "box_pose": [ + -28.879337310791016, + -14.824700355529785, + 0.03355865180492401, + 0.6468600034713745, + 0.2652573585510254, + 0.5033742785453796, + 0.5077646970748901 + ], + "box_yaw_rad": 1.179478542536228, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007582057665003994 + } + }, + { + "simulation_time_ns": 12240000000, + "phase": "straight_push", + "intended_face_center": [ + -28.903181064707912, + -14.834320599112369, + 0.08135886564436959 + ], + "intended_face_normal": [ + -0.16105391740014596, + -0.345905839633339, + 0.9243434033547722 + ], + "commanded_contact_point": [ + -28.959580535888673, + -14.800185655596547, + 0.030225705154322463 + ], + "centerline_face_intersection": [ + -29.023555016764774, + -14.815185655596547, + 0.030225705154322463 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -28.95716667175293, + -14.832298278808594, + 0.06487728655338287 + ], + "box_pose": [ + -28.87712287902832, + -14.818425178527832, + 0.033689919859170914, + 0.6442354917526245, + 0.27169278264045715, + 0.5078518986701965, + 0.503219723701477 + ], + "box_yaw_rad": 1.1982604281949947, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006390632432903797 + } + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/raw-validation.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/raw-validation.json new file mode 100644 index 0000000000000000000000000000000000000000..3857b929a9a155992e26f7862b69544034474ea2 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/raw-validation.json @@ -0,0 +1,12 @@ +{ + "contract_valid": true, + "diagnostic_only": false, + "raw_actions": 613, + "raw_boundaries": 614, + "physics_steps": 6130, + "controller_steps": 1226, + "sensor_updates": 1227, + "sensor_rate": "observed timestamps, not assumed 200Hz", + "video_validation": "passed", + "published": false +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/review/terminal_pre_reset_ego.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/review/terminal_pre_reset_ego.png new file mode 100644 index 0000000000000000000000000000000000000000..b33c3ff4a50c973996832713154a4c00c8840bb8 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/review/terminal_pre_reset_ego.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0db7ad508f3d544b83f309c4357131f6e11533fb4408560d538108c11465f24 +size 282633 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/review/terminal_pre_reset_task_centric.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/review/terminal_pre_reset_task_centric.png new file mode 100644 index 0000000000000000000000000000000000000000..e19eb05423dd38858562ecf8b7ecc73f50124fdf --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/review/terminal_pre_reset_task_centric.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57a11b387c030bb12438367881a115d4658a27fa1d37594cd12c5a0da8c37a64 +size 741174 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/camera_index.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/camera_index.parquet new file mode 100644 index 0000000000000000000000000000000000000000..42085df3a890e622edb309be6f4b89ce5b4a02d0 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/camera_index.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:397d884c43333943ccda930e4b4a14b4dc10188f8546a633db1353c8c4840dbd +size 16185 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/contact_sensor.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/contact_sensor.parquet new file mode 100644 index 0000000000000000000000000000000000000000..789fffb2d97de72ece5d64fc0c61932ac6915884 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/contact_sensor.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7345d36415a58d73ee90706e2d3b84612d4895785f43dacadfd4590bcc07645a +size 121402 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/controller_100hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/controller_100hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..82396509e8f4f904bddc36ecb343ae106598823e --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/controller_100hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f7be02f07e1689f08e89c4fe59acd6a86dc17e8ca1f5c0850c2197a506a70fb +size 451956 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/physics_500hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/physics_500hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d1e6ef9dab56b205d8c1e8269fc241dfc3285d29 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/physics_500hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:508b6673d1309834d90a45da304affcbd89c88b81000e4e43b7cbf1043f3c238 +size 2487195 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/policy_50hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/policy_50hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e07a05f98f8305ac4b1c695f4cc974f4a6792294 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/streams/policy_50hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5ced7bfa84414522249e6b81e9b0b23bb55065546bcb5e586e33ef8f184c152 +size 259234 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/summary.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0ad2eb830e1d8736a649aa27ca4c57d8e9bdb389 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0085/summary.json @@ -0,0 +1,111 @@ +{ + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 613, + "n_boundaries": 614, + "initial_geometry": { + "center": [ + -29.406129260705526, + -14.857129975957939, + 0.13983054458748057 + ], + "face_center": [ + -29.461447613434665, + -14.857129964738494, + 0.13983054469072476 + ], + "face_normal": [ + -0.9999998814777626, + 2.028159258316009e-07, + 1.866363933200727e-09 + ], + "footprint_xy": [ + [ + -29.461447629319025, + -14.934345291952607 + ], + [ + -29.350810892092028, + -14.934345291952607 + ], + [ + -29.350810892092028, + -14.77991465996327 + ], + [ + -29.461447629319025, + -14.77991465996327 + ] + ], + "projected_box_corners": [ + [ + -29.350810923860752, + -14.93434529192157 + ], + [ + -29.350810923413018, + -14.934345291952607 + ], + [ + -29.461447629319025, + -14.934345269482682 + ], + [ + -29.46144762887129, + -14.934345269513718 + ], + [ + -29.350810892539762, + -14.779914682402158 + ], + [ + -29.350810892092028, + -14.779914682433194 + ], + [ + -29.461447597998035, + -14.77991465996327 + ], + [ + -29.4614475975503, + -14.779914659994306 + ] + ], + "yaw_rad": 1.5707961239789467, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -29.82217788696289, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0085", + "seed": 202610070085, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.004662663744610507, + "approach_continuity_verified": true +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/cameras/ego.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/cameras/ego.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e88daa2b9d72bd8600ecb794dd05ec4c4358529 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/cameras/ego.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5aefce7a0e0469b72c6e936c11768d7072d11d247f7af91aa9f2a539e011ac6d +size 3395129 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/cameras/observer.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/cameras/observer.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..24dc4a60f6f9c228059b335d4047cd1964c9a361 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/cameras/observer.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63dd6dbe9f57da864989e4a642f2d5a23268a2fbefa03e8cbacc8ac2a4f46f8d +size 1243920 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/cameras/task_centric.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/cameras/task_centric.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6404a65fceb9e422f0ed5ee27280b2458d00971d --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/cameras/task_centric.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b5f0acad16d7d874b4c87518875fe36583c792eaca4bf46a8613cc8cc10dc44 +size 4089452 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/capture.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/capture.json new file mode 100644 index 0000000000000000000000000000000000000000..ef4deeffc021d78d08471651d782b8c9376308b8 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/capture.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9ac57270bcf40c1866e9cf5ebf57f692c19f117b3e0c3855438f50d997b73f8 +size 24953428 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/manifest.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3b2950d8209c08df90a294952e70b16abca474d6 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/manifest.json @@ -0,0 +1,289 @@ +{ + "dataset_schema_version": "wam-quadruped-v2.1.0", + "profile_hash": "905d76c38f7c95a8bad986b945d1535f9ef0668476cc9f825005fc8d4da4603e", + "diagnostic_only": false, + "episode_uid": "push_box__ep0086", + "n_actions": 575, + "n_boundaries": 576, + "reset_epoch": 0, + "streams": { + "policy": "streams/policy_50hz.parquet", + "controller": "streams/controller_100hz.parquet", + "physics": "streams/physics_500hz.parquet", + "contact_sensor": "streams/contact_sensor.parquet", + "camera_index": "streams/camera_index.parquet" + }, + "stream_sha256": { + "policy": "9043cf8d227d9c252a1822f0c4de7abe9e5e00bf35cd402e022d1f50759b3a61", + "controller": "6a952297982cd84d0d537ea54b79bb37673225663e7f7a490842bb19f7f1fd0a", + "physics": "65086762f75a976beaa6c8c61a405d509c34ed548a1ce45aafcdf64aa2d9d855", + "contact_sensor": "de78683d8ec6a6be007c532ed38e9f43551d223f8923f3a43a57ca5107ecba8b", + "camera_index": "e8a9499621ff0ba1ebf49953ec68372c1e8d79e0373b9b59481118515e876e3d" + }, + "videos": { + "observation.images.ego": { + "path": "cameras/ego.mp4", + "sha256": "5aefce7a0e0469b72c6e936c11768d7072d11d247f7af91aa9f2a539e011ac6d", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0086__a06/raw/push_box__ep0086/cameras/ego.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + }, + "observation.images.task_centric": { + "path": "cameras/task_centric.mp4", + "sha256": "2b5f0acad16d7d874b4c87518875fe36583c792eaca4bf46a8613cc8cc10dc44", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0086__a06/raw/push_box__ep0086/cameras/task_centric.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + } + }, + "observer": { + "present": true, + "source_key": "approved_fixed_observer", + "canonical_key": "monitor.images.observer", + "reason": "monitor only", + "path": "cameras/observer.mp4", + "crf": 23, + "sha256": "63dd6dbe9f57da864989e4a642f2d5a23268a2fbefa03e8cbacc8ac2a4f46f8d" + }, + "terminal": { + "simulation_time_ns": 11500000000, + "state": { + "observation.state.base.position": [ + -14.292351722717285, + 0.11231273412704468, + 0.2798890173435211 + ], + "observation.state.base.orientation": [ + 0.0172317773103714, + -0.050585247576236725, + 0.2219640165567398, + 0.9735893607139587 + ], + "observation.state.base.linear_velocity": [ + 0.06829625368118286, + 0.10283853113651276, + -0.21602261066436768 + ], + "observation.state.base.angular_velocity": [ + -0.7084333896636963, + 0.586578905582428, + 0.3246968984603882 + ], + "observation.state.projected_gravity": [ + -0.10614818334579468, + -0.011097140610218048, + -0.9942883849143982 + ], + "observation.state.joint_position": [ + -1.0375417470932007, + 0.5125902891159058, + 0.09267181158065796, + -0.13597317039966583, + 0.19809511303901672, + 0.8965588212013245, + 1.0987755060195923, + 1.2505476474761963, + -1.0266720056533813, + -1.955645203590393, + -1.9006837606430054, + -1.8572770357131958 + ], + "observation.state.joint_velocity": [ + -1.0924617052078247, + -3.4525928497314453, + 0.4482314884662628, + 0.5084686279296875, + 0.22133909165859222, + -6.700394630432129, + -0.486803263425827, + -0.18023794889450073, + -1.749005675315857, + 9.86216926574707, + -0.3641515374183655, + -0.09822332859039307 + ], + "observation.state.fl_ee_position": [ + 0.33448150753974915, + -0.20623961091041565, + 0.05022256076335907 + ], + "observation.state.fl_ee_velocity": [ + -0.060544610023498535, + -0.16095910966396332, + 0.004336535930633545 + ], + "observation.state.fl_contact_force": [ + 9.399534225463867, + 0.46324023604393005, + 28.241771697998047 + ], + "task.object.position": [ + -13.936594009399414, + 0.053465262055397034, + 0.03469628095626831 + ], + "task.object.orientation": [ + 0.1473277360200882, + 0.6956503391265869, + 0.6844254732131958, + -0.16101840138435364 + ], + "task.object.linear_velocity": [ + 0.10783443599939346, + 0.036937303841114044, + 0.022371243685483932 + ], + "task.object.angular_velocity": [ + -0.6193313598632812, + 0.9230141639709473, + -0.3170308768749237 + ], + "observation.state.foot_contact": [ + true, + false, + true, + true + ], + "task.goal.position": [ + -13.831081003718765, + 0.16090884990255738, + 0.0 + ], + "task.progress": [ + 0.4567707114157269 + ], + "task.success": [ + true + ], + "task.contact.fl_object": [ + false + ], + "task.contact.body_object": [ + false + ] + } + }, + "extensions": { + "task_profile_version": "push-box-v2-2", + "contact_diagnostics": { + "path": "metadata/contact_provenance.json", + "sha256": "42bb328104504fd0785562071a9a790c2e660e07f089750b86757a165475c1f0" + }, + "provenance": { + "path": "metadata/provenance.json", + "sha256": "f6eb609a61499585f2990c288b9b9024857b8457705ea872c1b611019e30d5b9" + }, + "origin": "real_isaac_acquisition", + "purpose": "demonstration", + "task_review": { + "path": "metadata/task_review.json", + "sha256": "dc45b21a3c506067f1175d7840708a873c479a136706c7d7e157afe92108d981" + } + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/metadata/contact_provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/metadata/contact_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..65a031eadb33d9f52e8cf848d5a19e298992bf8c --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/metadata/contact_provenance.json @@ -0,0 +1,4616 @@ +{ + "version": "push-box-contact-diagnostic-v1", + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns_are_invalid_placeholders": true, + "rows": [ + { + "simulation_time_ns": 0, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 20000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 40000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 60000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 80000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 10980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 11500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/metadata/provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/metadata/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..704d699351eb7345c06c70ee5f8e6879aea1bc23 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/metadata/provenance.json @@ -0,0 +1,317 @@ +{ + "work_id": "QLM-DATA-001", + "scenario": { + "id": "push_box__ep0086", + "seed": 202610070086, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "task_profile": { + "task_profile_version": "push-box-v2-2", + "asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a", + "scale": 1, + "initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command", + "initial_floor_clearance": 0.02, + "goal_x": [ + -14.031081003718764, + -13.631081003718766 + ], + "goal_y": [ + -0.08909115009744265, + 0.4109088499025574 + ], + "goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal", + "success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks", + "fall": { + "base_height_lt": 0.1, + "projected_gravity_error_gt": 0.75 + }, + "contact": { + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact" + }, + "observer": { + "position": [ + 1.8, + 2.0, + 1.5 + ], + "look_at": [ + 0.65, + 0.1, + 0.2 + ], + "fps": 25, + "model_input": false + }, + "policy_rgb_fps": 50, + "policy_fps": 50, + "controller_fps": 100, + "physics_fps": 500, + "force_zero": true, + "success_policy_ticks": 3, + "initial_box_yaw_rad": 0.0, + "push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)", + "robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment", + "expert": { + "settle_seconds": 2.1, + "normal_approach_seconds": 1.0, + "standoff_m": 0.1, + "penetration_m": 0.015, + "align_base_speed": 0.14, + "push_base_speed": 0.12, + "face_distance_for_foot_approach": 0.405, + "approach_foot_x": 0.28, + "push_foot_x": 0.38, + "motion": "coordinated", + "transition_s": 0.45, + "leg_finish_max_x": 0.4, + "lateral_tracking_gain": 2.0, + "lateral_tracking_limit_m": 0.015, + "corner_recovery": false + }, + "initial_face_distance_x": 0.54, + "asset_id": "cardboard-box-01", + "source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00", + "goal_color": [ + 0.05, + 0.8, + 0.15 + ], + "scaleup_recovery": false, + "recovery_progress_m": 0.12, + "episode_scenario": { + "work_id": "QLM-DATA-001", + "authorization": "qlm-scaleup-push-v1", + "selected_face": "local_x_max" + }, + "instruction": "Push the box into the target area.", + "scaleup_metadata": { + "episode_uid": "push_box__ep0086", + "task_id": "push_box", + "split": "train", + "difficulty": "randomized", + "trajectory_type": "normal", + "recovery_type": null, + "appearance_preset": "ap_03", + "asset_id": "cardboard-box-01", + "initial_condition_id": "ic_0086", + "goal_condition_id": "gc_0086", + "environment_seed": 202610070086 + }, + "scaleup_motion_revision": "continuous-v2", + "canonical_goal_position": [ + -13.831081003718765, + 0.16090884990255738, + 0.0 + ], + "environment_origin": [ + -15.0, + 0.0, + 0.0 + ], + "initial_center_x_world": -14.389753011547633 + }, + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706", + "capture_sha256": "f9ac57270bcf40c1866e9cf5ebf57f692c19f117b3e0c3855438f50d997b73f8", + "terminal_gate": { + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 575, + "n_boundaries": 576, + "initial_geometry": { + "center": [ + -14.389753416145531, + 0.14394692701822176, + 0.13983054459767388 + ], + "face_center": [ + -14.46696873005697, + 0.14394692733204145, + 0.13983054446862794 + ], + "face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "footprint_xy": [ + [ + -14.466968730482257, + 0.0886285673831379 + ], + [ + -14.312538101808805, + 0.0886285673831379 + ], + [ + -14.312538101808805, + 0.19926528665330565 + ], + [ + -14.466968730482257, + 0.19926528665330565 + ] + ], + "projected_box_corners": [ + [ + -14.312538101808805, + 0.19926528595432397 + ], + [ + -14.31253810220973, + 0.1992652860256663 + ], + [ + -14.312538102258456, + 0.0886285673831379 + ], + [ + -14.312538102659381, + 0.08862856745448021 + ], + [ + -14.466968729631681, + 0.19926528658196335 + ], + [ + -14.466968730032606, + 0.19926528665330565 + ], + [ + -14.466968730081332, + 0.08862856801077727 + ], + [ + -14.466968730482257, + 0.08862856808211958 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.822178840637207, + 0.1420000046491623, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0086", + "seed": 202610070086, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.021706397035868047, + "approach_continuity_verified": true + }, + "collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench", + "fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4", + "initial_geometry": { + "center": [ + -14.389753416145531, + 0.14394692701822176, + 0.13983054459767388 + ], + "face_center": [ + -14.46696873005697, + 0.14394692733204145, + 0.13983054446862794 + ], + "face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "footprint_xy": [ + [ + -14.466968730482257, + 0.0886285673831379 + ], + [ + -14.312538101808805, + 0.0886285673831379 + ], + [ + -14.312538101808805, + 0.19926528665330565 + ], + [ + -14.466968730482257, + 0.19926528665330565 + ] + ], + "projected_box_corners": [ + [ + -14.312538101808805, + 0.19926528595432397 + ], + [ + -14.31253810220973, + 0.1992652860256663 + ], + [ + -14.312538102258456, + 0.0886285673831379 + ], + [ + -14.312538102659381, + 0.08862856745448021 + ], + [ + -14.466968729631681, + 0.19926528658196335 + ], + [ + -14.466968730032606, + 0.19926528665330565 + ], + [ + -14.466968730081332, + 0.08862856801077727 + ], + [ + -14.466968730482257, + 0.08862856808211958 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.822178840637207, + 0.1420000046491623, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/metadata/task_review.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/metadata/task_review.json new file mode 100644 index 0000000000000000000000000000000000000000..0bac57e7e72e927e339826fc766c6157c6018d1c --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/metadata/task_review.json @@ -0,0 +1,102436 @@ +{ + "boundaries": [ + { + "simulation_time_ns": 0, + "center": [ + -14.389753416145531, + 0.14394692701822176, + 0.13983054459767388 + ], + "face_center": [ + -14.46696873005697, + 0.14394692733204145, + 0.13983054446862794 + ], + "face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "footprint_xy": [ + [ + -14.466968730482257, + 0.0886285673831379 + ], + [ + -14.312538101808805, + 0.0886285673831379 + ], + [ + -14.312538101808805, + 0.19926528665330565 + ], + [ + -14.466968730482257, + 0.19926528665330565 + ] + ], + "projected_box_corners": [ + [ + -14.312538101808805, + 0.19926528595432397 + ], + [ + -14.31253810220973, + 0.1992652860256663 + ], + [ + -14.312538102258456, + 0.0886285673831379 + ], + [ + -14.312538102659381, + 0.08862856745448021 + ], + [ + -14.466968729631681, + 0.19926528658196335 + ], + [ + -14.466968730032606, + 0.19926528665330565 + ], + [ + -14.466968730081332, + 0.08862856801077727 + ], + [ + -14.466968730482257, + 0.08862856808211958 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.822178840637207, + 0.1420000046491623, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + { + "simulation_time_ns": 20000000, + "center": [ + -14.389753416113503, + 0.14394692701349013, + 0.13767234982490587 + ], + "face_center": [ + -14.466968730024941, + 0.1439469273273098, + 0.1376723495520352 + ], + "face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "footprint_xy": [ + [ + -14.466968730673653, + 0.08862856734539815 + ], + [ + -14.312538101553356, + 0.08862856734539815 + ], + [ + -14.312538101553356, + 0.1992652866815821 + ], + [ + -14.466968730673653, + 0.1992652866815821 + ] + ], + "projected_box_corners": [ + [ + -14.312538101553356, + 0.1992652859165842 + ], + [ + -14.312538102401124, + 0.19926528605394273 + ], + [ + -14.312538102003007, + 0.08862856734539815 + ], + [ + -14.312538102850777, + 0.08862856748275666 + ], + [ + -14.466968729376232, + 0.19926528654422357 + ], + [ + -14.466968730224, + 0.1992652866815821 + ], + [ + -14.466968729825883, + 0.0886285679730375 + ], + [ + -14.466968730673653, + 0.08862856811039603 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.834175109863281, + 0.14466147124767303, + 0.052543073892593384 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46696873005697, + 0.14394692733204145, + 0.13983054446862794 + ], + "intended_face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "commanded_contact_point": [ + -14.806599617004395, + 0.1420000046491623, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.46696873005697, + 0.14394692701822176, + 0.13983054459767388 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.822178840637207, + 0.1420000046491623, + 0.08869010210037231 + ], + "box_pose": [ + -14.394054412841797, + 0.14238613843917847, + 0.15702493488788605, + -8.356240144280491e-10, + 1.48693918289311e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 40000000, + "center": [ + -14.389753416113503, + 0.14394692701349013, + 0.13159014286041307 + ], + "face_center": [ + -14.466968730024941, + 0.1439469273273098, + 0.1315901425875424 + ], + "face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "footprint_xy": [ + [ + -14.466968730673653, + 0.08862856734539815 + ], + [ + -14.312538101553356, + 0.08862856734539815 + ], + [ + -14.312538101553356, + 0.1992652866815821 + ], + [ + -14.466968730673653, + 0.1992652866815821 + ] + ], + "projected_box_corners": [ + [ + -14.312538101553356, + 0.1992652859165842 + ], + [ + -14.312538102401124, + 0.19926528605394273 + ], + [ + -14.312538102003007, + 0.08862856734539815 + ], + [ + -14.312538102850777, + 0.08862856748275666 + ], + [ + -14.466968729376232, + 0.19926528654422357 + ], + [ + -14.466968730224, + 0.1992652866815821 + ], + [ + -14.466968729825883, + 0.0886285679730375 + ], + [ + -14.466968730673653, + 0.08862856811039603 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.839278221130371, + 0.1238822191953659, + 0.049322426319122314 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466968730024941, + 0.1439469273273098, + 0.1376723495520352 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + -14.807353973388672, + 0.14197462797164917, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -14.466968730024941, + 0.14394692701349013, + 0.13767234982490587 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.834175109863281, + 0.14466147124767303, + 0.052543073892593384 + ], + "box_pose": [ + -14.394054412841797, + 0.14238613843917847, + 0.15486674010753632, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007547831020563265 + } + } + }, + { + "simulation_time_ns": 60000000, + "center": [ + -14.389753416113503, + 0.14394692701349013, + 0.1215839535140996 + ], + "face_center": [ + -14.466968730024941, + 0.1439469273273098, + 0.12158395324122893 + ], + "face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "footprint_xy": [ + [ + -14.466968730673653, + 0.08862856734539815 + ], + [ + -14.312538101553356, + 0.08862856734539815 + ], + [ + -14.312538101553356, + 0.1992652866815821 + ], + [ + -14.466968730673653, + 0.1992652866815821 + ] + ], + "projected_box_corners": [ + [ + -14.312538101553356, + 0.1992652859165842 + ], + [ + -14.312538102401124, + 0.19926528605394273 + ], + [ + -14.312538102003007, + 0.08862856734539815 + ], + [ + -14.312538102850777, + 0.08862856748275666 + ], + [ + -14.466968729376232, + 0.19926528654422357 + ], + [ + -14.466968730224, + 0.1992652866815821 + ], + [ + -14.466968729825883, + 0.0886285679730375 + ], + [ + -14.466968730673653, + 0.08862856811039603 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.846565246582031, + 0.10432019084692001, + 0.035378336906433105 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466968730024941, + 0.1439469273273098, + 0.1315901425875424 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + -14.807236671447754, + 0.1418858766555786, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.466968730024941, + 0.14394692701349013, + 0.13159014286041307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.839278221130371, + 0.1238822191953659, + 0.049322426319122314 + ], + "box_pose": [ + -14.394054412841797, + 0.14238613843917847, + 0.14878453314304352, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00014709365780829874 + } + } + }, + { + "simulation_time_ns": 80000000, + "center": [ + -14.387915479507841, + 0.14202781350146904, + 0.1192134390201301 + ], + "face_center": [ + -14.46512109755243, + 0.14196631666281054, + 0.1204345385949103 + ], + "face_normal": [ + -0.9998744307785881, + -0.0007964331884867254, + 0.015814214990833787 + ], + "footprint_xy": [ + [ + -14.46704986248295, + 0.08481560420969321 + ], + [ + -14.308781096532734, + 0.08481560420969321 + ], + [ + -14.308781096532734, + 0.19924002279324485 + ], + [ + -14.46704986248295, + 0.19924002279324485 + ] + ], + "projected_box_corners": [ + [ + -14.312638626393772, + 0.19924002279324485 + ], + [ + -14.30884236691615, + 0.1955622571483905 + ], + [ + -14.312577356010356, + 0.08861636353186453 + ], + [ + -14.308781096532734, + 0.08493859788701019 + ], + [ + -14.46704986248295, + 0.19911702911592788 + ], + [ + -14.463253603005327, + 0.19543926347107354 + ], + [ + -14.466988592099534, + 0.08849336985454756 + ], + [ + -14.463192332621912, + 0.08481560420969321 + ] + ], + "yaw_rad": -3.1407961205497092, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.843371391296387, + 0.09577811509370804, + 0.02700325846672058 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466968730024941, + 0.1439469273273098, + 0.12158395324122893 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + -14.807971954345703, + 0.1419515311717987, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.466968730024941, + 0.14394692701349013, + 0.1215839535140996 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.846565246582031, + 0.10432019084692001, + 0.035378336906433105 + ], + "box_pose": [ + -14.394054412841797, + 0.14238613843917847, + 0.13877834379673004, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007382082751602675 + } + } + }, + { + "simulation_time_ns": 100000000, + "center": [ + -14.387116484929146, + 0.1415773836246756, + 0.11947993713161634 + ], + "face_center": [ + -14.46431038244816, + 0.14115013400117463, + 0.12124733048014168 + ], + "face_normal": [ + -0.9997226406092126, + -0.005533223940408883, + 0.02288915577747259 + ], + "footprint_xy": [ + [ + -14.467351426739267, + 0.08383165514164276 + ], + [ + -14.306881543119028, + 0.08383165514164276 + ], + [ + -14.306881543119028, + 0.19932311210770842 + ], + [ + -14.467351426739267, + 0.19932311210770842 + ] + ], + "projected_box_corners": [ + [ + -14.312963631701242, + 0.19932311210770842 + ], + [ + -14.30745106453618, + 0.19530565779526496 + ], + [ + -14.31239411028409, + 0.0887036087010881 + ], + [ + -14.306881543119028, + 0.08468615438864466 + ], + [ + -14.467351426739267, + 0.1984686128607065 + ], + [ + -14.461838859574204, + 0.19445115854826306 + ], + [ + -14.466781905322113, + 0.0878491094540862 + ], + [ + -14.46126933815705, + 0.08383165514164276 + ] + ], + "yaw_rad": -3.136057951047399, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.842618942260742, + 0.09588777273893356, + 0.023106366395950317 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46512109755243, + 0.14196631666281054, + 0.1204345385949103 + ], + "intended_face_normal": [ + -0.9998744307785881, + -0.0007964331884867254, + 0.015814214990833787 + ], + "commanded_contact_point": [ + -14.808145523071289, + 0.1418183296918869, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -14.465140490503783, + 0.14202781350146904, + 0.1192134390201301 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.843371391296387, + 0.09577811509370804, + 0.02700325846672058 + ], + "box_pose": [ + -14.391942977905273, + 0.1402001827955246, + 0.1364477276802063, + 0.007910177111625671, + -0.007668452803045511, + 0.9999392032623291, + -0.0003375782980583608 + ], + "box_yaw_rad": -3.1407961205497092, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002187892544809321 + } + } + }, + { + "simulation_time_ns": 120000000, + "center": [ + -14.387151694151312, + 0.1421105423894675, + 0.11919908377848018 + ], + "face_center": [ + -14.464342867114416, + 0.14129797672171163, + 0.1209496589391865 + ], + "face_normal": [ + -0.9996873554336543, + -0.010523374530185077, + 0.0226713468097032 + ], + "footprint_xy": [ + [ + -14.46764430727266, + 0.0847976798651952 + ], + [ + -14.306659081029963, + 0.0847976798651952 + ], + [ + -14.306659081029963, + 0.1994234049137398 + ], + [ + -14.46764430727266, + 0.1994234049137398 + ] + ], + "projected_box_corners": [ + [ + -14.313261961346452, + 0.1994234049137398 + ], + [ + -14.30779815657099, + 0.1970479537601615 + ], + [ + -14.312122885805424, + 0.08879826235428526 + ], + [ + -14.306659081029963, + 0.08642281120070694 + ], + [ + -14.46764430727266, + 0.19779827357822807 + ], + [ + -14.4621805024972, + 0.19542282242464976 + ], + [ + -14.466505231731633, + 0.0871731310187735 + ], + [ + -14.461041426956172, + 0.0847976798651952 + ] + ], + "yaw_rad": -3.131066376751305, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.843741416931152, + 0.09600348025560379, + 0.02318495512008667 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46431038244816, + 0.14115013400117463, + 0.12124733048014168 + ], + "intended_face_normal": [ + -0.9997226406092126, + -0.005533223940408883, + 0.02288915577747259 + ], + "commanded_contact_point": [ + -14.807696342468262, + 0.14154982566833496, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.464353221174695, + 0.1415773836246756, + 0.11947993713161634 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.842618942260742, + 0.09588777273893356, + 0.023106366395950317 + ], + "box_pose": [ + -14.391013145446777, + 0.139705091714859, + 0.13673949241638184, + 0.011468223296105862, + -0.008404811844229698, + 0.9998953342437744, + -0.002670503221452236 + ], + "box_yaw_rad": -3.136057951047399, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005233140790186997 + } + } + }, + { + "simulation_time_ns": 140000000, + "center": [ + -14.388183403612784, + 0.142552676357806, + 0.11897830319225657 + ], + "face_center": [ + -14.465386876504867, + 0.14173169266624228, + 0.12005145981905549 + ], + "face_normal": [ + -0.9998466493399492, + -0.010632394663387269, + 0.013898235627582554 + ], + "footprint_xy": [ + [ + -14.46764523162853, + 0.08567734797065812 + ], + [ + -14.308721575597035, + 0.08567734797065812 + ], + [ + -14.308721575597035, + 0.1994280047449539 + ], + [ + -14.46764523162853, + 0.1994280047449539 + ] + ], + "projected_box_corners": [ + [ + -14.313238285844363, + 0.1994280047449539 + ], + [ + -14.309888283166849, + 0.19794764757467254 + ], + [ + -14.312071578274551, + 0.08879967252406695 + ], + [ + -14.308721575597035, + 0.08731931535378562 + ], + [ + -14.46764523162853, + 0.1977860373618264 + ], + [ + -14.464295228951016, + 0.19630568019154507 + ], + [ + -14.466478524058719, + 0.08715770514093947 + ], + [ + -14.463128521381202, + 0.08567734797065812 + ] + ], + "yaw_rad": -3.1309590290051097, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.844705581665039, + 0.09608426690101624, + 0.023251444101333618 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.464342867114416, + 0.14129797672171163, + 0.1209496589391865 + ], + "intended_face_normal": [ + -0.9996873554336543, + -0.010523374530185077, + 0.0226713468097032 + ], + "commanded_contact_point": [ + -14.807865142822266, + 0.14123106002807617, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.46439115656098, + 0.1421105423894675, + 0.11919908377848018 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.843741416931152, + 0.09600348025560379, + 0.02318495512008667 + ], + "box_pose": [ + -14.391043663024902, + 0.14033439755439758, + 0.13646985590457916, + 0.01136278547346592, + -0.005010591354221106, + 0.9999092817306519, + -0.005205225199460983 + ], + "box_yaw_rad": -3.131066376751305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003607008376885457 + } + } + }, + { + "simulation_time_ns": 160000000, + "center": [ + -14.388603090113397, + 0.14186789063904007, + 0.1188560823524293 + ], + "face_center": [ + -14.46580973649659, + 0.14102601517364818, + 0.11964963062196805 + ], + "face_normal": [ + -0.9998877485850142, + -0.010902959824231947, + 0.010277084030881636 + ], + "footprint_xy": [ + [ + -14.467654373162087, + 0.08427479572337285 + ], + [ + -14.30955180706471, + 0.08427479572337285 + ], + [ + -14.30955180706471, + 0.1994609855547073 + ], + [ + -14.467654373162087, + 0.1994609855547073 + ] + ], + "projected_box_corners": [ + [ + -14.3132410803957, + 0.1994609855547073 + ], + [ + -14.310744271031918, + 0.1965807142585259 + ], + [ + -14.312048616428491, + 0.08883881795033793 + ], + [ + -14.30955180706471, + 0.08595854665415657 + ], + [ + -14.467654373162087, + 0.19777723462392355 + ], + [ + -14.465157563798304, + 0.19489696332774217 + ], + [ + -14.466461909194877, + 0.08715506701955421 + ], + [ + -14.463965099831094, + 0.08427479572337285 + ] + ], + "yaw_rad": -3.130688901898273, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.845471382141113, + 0.0961012989282608, + 0.02330145239830017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465386876504867, + 0.14173169266624228, + 0.12005145981905549 + ], + "intended_face_normal": [ + -0.9998466493399492, + -0.010632394663387269, + 0.013898235627582554 + ], + "commanded_contact_point": [ + -14.809752464294434, + 0.1405637115240097, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.465410560359683, + 0.142552676357806, + 0.11897830319225657 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.844705581665039, + 0.09608426690101624, + 0.023251444101333618 + ], + "box_pose": [ + -14.392227172851562, + 0.14084017276763916, + 0.13622060418128967, + 0.006965951062738895, + -0.003122424939647317, + 0.9999567866325378, + -0.005294675473123789 + ], + "box_yaw_rad": -3.1309590290051097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020018332514407386 + } + } + }, + { + "simulation_time_ns": 180000000, + "center": [ + -14.389174395341763, + 0.14135554238103035, + 0.11884832535295656 + ], + "face_center": [ + -14.466383751908948, + 0.14049068464144293, + 0.11926394387508171 + ], + "face_normal": [ + -0.9999228476327988, + -0.01120059863486876, + 0.00538259188587703 + ], + "footprint_xy": [ + [ + -14.467665833152315, + 0.083234885814929 + ], + [ + -14.31068295753121, + 0.083234885814929 + ], + [ + -14.31068295753121, + 0.1994761989471317 + ], + [ + -14.467665833152315, + 0.1994761989471317 + ] + ], + "projected_box_corners": [ + [ + -14.313247120017945, + 0.1994761989471317 + ], + [ + -14.31191230003216, + 0.19557979173221635 + ], + [ + -14.312017777516994, + 0.08886100850901915 + ], + [ + -14.31068295753121, + 0.08496460129410383 + ], + [ + -14.467665833152315, + 0.19774648346795687 + ], + [ + -14.466331013166531, + 0.19385007625304151 + ], + [ + -14.466436490651365, + 0.08713129302984432 + ], + [ + -14.46510167066558, + 0.083234885814929 + ] + ], + "yaw_rad": -3.13039165919314, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.84604263305664, + 0.09604303538799286, + 0.023339420557022095 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46580973649659, + 0.14102601517364818, + 0.11964963062196805 + ], + "intended_face_normal": [ + -0.9998877485850142, + -0.010902959824231947, + 0.010277084030881636 + ], + "commanded_contact_point": [ + -14.813570022583008, + 0.13979433476924896, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.465827072526132, + 0.14186789063904007, + 0.1188560823524293 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.845471382141113, + 0.0961012989282608, + 0.02330145239830017 + ], + "box_pose": [ + -14.392707824707031, + 0.14005397260189056, + 0.13607358932495117, + 0.005171475000679493, + -0.006031464319676161, + 0.9999537467956543, + -0.005420539062470198 + ], + "box_yaw_rad": -3.130688901898273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00389431532863168 + } + } + }, + { + "simulation_time_ns": 200000000, + "center": [ + -14.38980126771028, + 0.1408658253347694, + 0.11885737041775953 + ], + "face_center": [ + -14.467011727953675, + 0.14000065403470935, + 0.11885925330948474 + ], + "face_normal": [ + -0.9999371411214284, + -0.011204659493482991, + 2.438495202351787e-05 + ], + "footprint_xy": [ + [ + -14.467661728534175, + 0.0822512052358045 + ], + [ + -14.311940806886383, + 0.0822512052358045 + ], + [ + -14.311940806886383, + 0.1994804454337343 + ], + [ + -14.467661728534175, + 0.1994804454337343 + ] + ], + "projected_box_corners": [ + [ + -14.31324080804738, + 0.1994804454337343 + ], + [ + -14.313180140800497, + 0.1945883032482385 + ], + [ + -14.312001474133266, + 0.08887369002142041 + ], + [ + -14.311940806886383, + 0.08398154783592462 + ], + [ + -14.467661728534175, + 0.19775010283361416 + ], + [ + -14.467601061287292, + 0.1928579606481184 + ], + [ + -14.466422394620059, + 0.08714334742130028 + ], + [ + -14.466361727373176, + 0.0822512052358045 + ] + ], + "yaw_rad": -3.1303877586868736, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.846458435058594, + 0.09592549502849579, + 0.02336704730987549 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466383751908948, + 0.14049068464144293, + 0.11926394387508171 + ], + "intended_face_normal": [ + -0.9999228476327988, + -0.01120059863486876, + 0.00538259188587703 + ], + "commanded_contact_point": [ + -14.819000244140625, + 0.13884709775447845, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.466395667057112, + 0.14135554238103035, + 0.11884832535295656 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84604263305664, + 0.09604303538799286, + 0.023339420557022095 + ], + "box_pose": [ + -14.393362045288086, + 0.13946761190891266, + 0.1360378861427307, + 0.0027368285227566957, + -0.008136709220707417, + 0.9999476075172424, + -0.005578322801738977 + ], + "box_yaw_rad": -3.13039165919314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055122195284029755 + } + } + }, + { + "simulation_time_ns": 220000000, + "center": [ + -14.390463835390571, + 0.14036303189702581, + 0.11887025556363498 + ], + "face_center": [ + -14.467673081333606, + 0.1395001258903423, + 0.11843371538238757 + ], + "face_normal": [ + -0.9999214149616833, + -0.01117532213458617, + -0.005653544085154977 + ], + "footprint_xy": [ + [ + -14.468943709136974, + 0.08124416857385841 + ], + [ + -14.311983961644168, + 0.08124416857385841 + ], + [ + -14.311983961644168, + 0.19948189522019322 + ], + [ + -14.468943709136974, + 0.19948189522019322 + ] + ], + "projected_box_corners": [ + [ + -14.313235393118472, + 0.19948189522019322 + ], + [ + -14.314525217250903, + 0.1935661267425528 + ], + [ + -14.311983961644168, + 0.08888574906486585 + ], + [ + -14.3132737857766, + 0.08296998058722543 + ], + [ + -14.467653885004543, + 0.1977560832068262 + ], + [ + -14.468943709136974, + 0.19184031472918578 + ], + [ + -14.46640245353024, + 0.08715993705149883 + ], + [ + -14.467692277662671, + 0.08124416857385841 + ] + ], + "yaw_rad": -3.1304169184684514, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.846739768981934, + 0.0957658588886261, + 0.023384541273117065 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467011727953675, + 0.14000065403470935, + 0.11885925330948474 + ], + "intended_face_normal": [ + -0.9999371411214284, + -0.011204659493482991, + 2.438495202351787e-05 + ], + "commanded_contact_point": [ + -14.82542610168457, + 0.1376088708639145, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -14.467021435594873, + 0.1408658253347694, + 0.11885737041775953 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.846458435058594, + 0.09592549502849579, + 0.02336704730987549 + ], + "box_pose": [ + -14.39408016204834, + 0.13890662789344788, + 0.13601645827293396, + 6.932323594810441e-05, + -0.01019743736833334, + 0.9999322891235352, + -0.005602002143859863 + ], + "box_yaw_rad": -3.1303877586868736, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0065440699115929864 + } + } + }, + { + "simulation_time_ns": 240000000, + "center": [ + -14.391015618908636, + 0.1398539428426325, + 0.11892298847638787 + ], + "face_center": [ + -14.468222010502611, + 0.1389932430202484, + 0.11812376501056009 + ], + "face_normal": [ + -0.9998844488611045, + -0.011146750285458473, + -0.01035058235655753 + ], + "footprint_xy": [ + [ + -14.470057293468004, + 0.08022794397028785 + ], + [ + -14.311973944349266, + 0.08022794397028785 + ], + [ + -14.311973944349266, + 0.19947994171497713 + ], + [ + -14.470057293468004, + 0.19947994171497713 + ] + ], + "projected_box_corners": [ + [ + -14.313239767433272, + 0.19947994171497713 + ], + [ + -14.315644510280054, + 0.1925328014387682 + ], + [ + -14.311973944349266, + 0.08889648389126495 + ], + [ + -14.314378687196047, + 0.08194934361505601 + ], + [ + -14.467652550621223, + 0.19775854207020896 + ], + [ + -14.470057293468004, + 0.19081140179400002 + ], + [ + -14.466386727537216, + 0.08717508424649678 + ], + [ + -14.468791470383998, + 0.08022794397028785 + ] + ], + "yaw_rad": -3.1304450769228316, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.846922874450684, + 0.09557198733091354, + 0.02339765429496765 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467673081333606, + 0.1395001258903423, + 0.11843371538238757 + ], + "intended_face_normal": [ + -0.9999214149616833, + -0.01117532213458617, + -0.005653544085154977 + ], + "commanded_contact_point": [ + -14.832037925720215, + 0.13599221408367157, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.4676852177473, + 0.14036303189702581, + 0.11887025556363498 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.846739768981934, + 0.0957658588886261, + 0.023384541273117065 + ], + "box_pose": [ + -14.3948392868042, + 0.13833074271678925, + 0.13599646091461182, + -0.0027577956207096577, + -0.012315504252910614, + 0.9999045133590698, + -0.00562216155230999 + ], + "box_yaw_rad": -3.1304169184684514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006806599461106239 + } + } + }, + { + "simulation_time_ns": 260000000, + "center": [ + -14.391047497025045, + 0.1397664155388534, + 0.11895114930738568 + ], + "face_center": [ + -14.468253688598166, + 0.13890572312463942, + 0.11813152617864127 + ], + "face_normal": [ + -0.9998818584312428, + -0.011146654343737707, + -0.01061477428796673 + ], + "footprint_xy": [ + [ + -14.470120474267151, + 0.08005341468896905 + ], + [ + -14.31197451978294, + 0.08005341468896905 + ], + [ + -14.31197451978294, + 0.19947941638873776 + ], + [ + -14.470120474267151, + 0.19947941638873776 + ] + ], + "projected_box_corners": [ + [ + -14.3132420123709, + 0.19947941638873776 + ], + [ + -14.31570809112091, + 0.1923558904011219 + ], + [ + -14.31197451978294, + 0.08889832550501295 + ], + [ + -14.31444059853295, + 0.08177479951739705 + ], + [ + -14.46765439551714, + 0.19775803156030977 + ], + [ + -14.470120474267151, + 0.19063450557269387 + ], + [ + -14.46638690292918, + 0.08717694067658494 + ], + [ + -14.468852981679191, + 0.08005341468896905 + ] + ], + "yaw_rad": -3.13044514398593, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.84707260131836, + 0.09536156803369522, + 0.023408204317092896 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468222010502611, + 0.1389932430202484, + 0.11812376501056009 + ], + "intended_face_normal": [ + -0.9998844488611045, + -0.011146750285458473, + -0.01035058235655753 + ], + "commanded_contact_point": [ + -14.838212966918945, + 0.13391630351543427, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -14.468239856168639, + 0.1398539428426325, + 0.11892298847638787 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.846922874450684, + 0.09557198733091354, + 0.02339765429496765 + ], + "box_pose": [ + -14.39547061920166, + 0.13774803280830383, + 0.136019766330719, + -0.005094345659017563, + -0.014452606439590454, + 0.9998666644096375, + -0.005647754762321711 + ], + "box_yaw_rad": -3.1304450769228316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006514640319606107 + } + } + }, + { + "simulation_time_ns": 280000000, + "center": [ + -14.3910182802185, + 0.1397953298027358, + 0.11894787966013218 + ], + "face_center": [ + -14.468224656355254, + 0.13893450962947732, + 0.11814726737117925 + ], + "face_normal": [ + -0.9998842486777482, + -0.011148308925426351, + -0.010368568725514612 + ], + "footprint_xy": [ + [ + -14.470061803129616, + 0.08011100376746984 + ], + [ + -14.311974757307384, + 0.08011100376746984 + ], + [ + -14.311974757307384, + 0.19947965583800176 + ], + [ + -14.470061803129616, + 0.19947965583800176 + ] + ], + "projected_box_corners": [ + [ + -14.313241356781568, + 0.19947965583800176 + ], + [ + -14.315649050856106, + 0.19241451023444972 + ], + [ + -14.311974757307384, + 0.08889778971753885 + ], + [ + -14.314382451381922, + 0.0818326441139868 + ], + [ + -14.467654109055077, + 0.1977580154914848 + ], + [ + -14.470061803129616, + 0.19069286988793274 + ], + [ + -14.466387509580894, + 0.08717614937102189 + ], + [ + -14.468795203655432, + 0.08011100376746984 + ] + ], + "yaw_rad": -3.1304435160645268, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.847233772277832, + 0.09515249729156494, + 0.023419737815856934 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468253688598166, + 0.13890572312463942, + 0.11813152617864127 + ], + "intended_face_normal": [ + -0.9998818584312428, + -0.011146654343737707, + -0.01061477428796673 + ], + "commanded_contact_point": [ + -14.843635559082031, + 0.13143083453178406, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.468271934352655, + 0.1397664155388534, + 0.11895114930738568 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84707260131836, + 0.09536156803369522, + 0.023408204317092896 + ], + "box_pose": [ + -14.395506858825684, + 0.13764789700508118, + 0.13604523241519928, + -0.005224361550062895, + -0.014819619245827198, + 0.9998606443405151, + -0.005651537794619799 + ], + "box_yaw_rad": -3.13044514398593, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005965070145231105 + } + } + }, + { + "simulation_time_ns": 300000000, + "center": [ + -14.39097317863426, + 0.13983556597647856, + 0.11894444951155414 + ], + "face_center": [ + -14.468179849440304, + 0.13897389297312748, + 0.11817294332087214 + ], + "face_normal": [ + -0.9998880648804467, + -0.01115935375642415, + -0.009991621500974315 + ], + "footprint_xy": [ + [ + -14.46997204081546, + 0.08019017761423325 + ], + [ + -14.31197431645306, + 0.08019017761423325 + ], + [ + -14.31197431645306, + 0.19948095433872384 + ], + [ + -14.46997204081546, + 0.19948095433872384 + ] + ], + "projected_box_corners": [ + [ + -14.313240554060506, + 0.19948095433872384 + ], + [ + -14.315558699203372, + 0.19249647729181726 + ], + [ + -14.31197431645306, + 0.08889800066784198 + ], + [ + -14.314292461595926, + 0.0819135236209354 + ], + [ + -14.467653895672594, + 0.1977576083320217 + ], + [ + -14.46997204081546, + 0.19077313128511514 + ], + [ + -14.466387658065148, + 0.08717465466113983 + ], + [ + -14.468705803208014, + 0.08019017761423325 + ] + ], + "yaw_rad": -3.1304325139200473, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.847418785095215, + 0.0949629694223404, + 0.023434340953826904 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468224656355254, + 0.13893450962947732, + 0.11814726737117925 + ], + "intended_face_normal": [ + -0.9998842486777482, + -0.011148308925426351, + -0.010368568725514612 + ], + "commanded_contact_point": [ + -14.84830379486084, + 0.1287440061569214, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + -14.4682425329393, + 0.1397953298027358, + 0.11894787966013218 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.847233772277832, + 0.09515249729156494, + 0.023419737815856934 + ], + "box_pose": [ + -14.39547348022461, + 0.13768097758293152, + 0.13604356348514557, + -0.005101937334984541, + -0.014698589220643044, + 0.9998630285263062, + -0.005649919621646404 + ], + "box_yaw_rad": -3.1304435160645268, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00538622985063798 + } + } + }, + { + "simulation_time_ns": 320000000, + "center": [ + -14.390909799682596, + 0.13989333940756127, + 0.11893938456279497 + ], + "face_center": [ + -14.468116871442444, + 0.139030728337904, + 0.11820931627472671 + ], + "face_normal": [ + -0.999893257552507, + -0.01117150246448043, + -0.009454967558710097 + ], + "footprint_xy": [ + [ + -14.469844903613547, + 0.08030433435668194 + ], + [ + -14.311974695751644, + 0.08030433435668194 + ], + [ + -14.311974695751644, + 0.1994823444584406 + ], + [ + -14.469844903613547, + 0.1994823444584406 + ] + ], + "projected_box_corners": [ + [ + -14.313240065012033, + 0.1994823444584406 + ], + [ + -14.315430760093854, + 0.19261405513379348 + ], + [ + -14.311974695751644, + 0.08889784582064358 + ], + [ + -14.314165390833464, + 0.08202955649599647 + ], + [ + -14.467654208531728, + 0.19775712231912607 + ], + [ + -14.469844903613547, + 0.19088883299447895 + ], + [ + -14.466388839271339, + 0.08717262368132905 + ], + [ + -14.468579534353157, + 0.08030433435668194 + ] + ], + "yaw_rad": -3.130420423382226, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.847620964050293, + 0.09479173272848129, + 0.023446619510650635 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468179849440304, + 0.13897389297312748, + 0.11817294332087214 + ], + "intended_face_normal": [ + -0.9998880648804467, + -0.01115935375642415, + -0.009991621500974315 + ], + "commanded_contact_point": [ + -14.852352142333984, + 0.12612317502498627, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.468197136618667, + 0.13983556597647856, + 0.11894444951155414 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.847418785095215, + 0.0949629694223404, + 0.023434340953826904 + ], + "box_pose": [ + -14.395421981811523, + 0.13772693276405334, + 0.1360425055027008, + -0.004914337769150734, + -0.014531435444951057, + 0.9998664259910583, + -0.005651844199746847 + ], + "box_yaw_rad": -3.1304325139200473, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004822641712358796 + } + } + }, + { + "simulation_time_ns": 340000000, + "center": [ + -14.390827349386315, + 0.1399676050771683, + 0.11893296882251632 + ], + "face_center": [ + -14.468034899394707, + 0.13910482229297, + 0.11825747541202584 + ], + "face_normal": [ + -0.9998994512532198, + -0.011173726304963962, + -0.008748179295951989 + ], + "footprint_xy": [ + [ + -14.469677749937741, + 0.08045277966875783 + ], + [ + -14.31197694883489, + 0.08045277966875783 + ], + [ + -14.31197694883489, + 0.19948243048557876 + ], + [ + -14.469677749937741, + 0.19948243048557876 + ] + ], + "projected_box_corners": [ + [ + -14.313239747045651, + 0.19948243048557876 + ], + [ + -14.315262649920957, + 0.19276478551397325 + ], + [ + -14.31197694883489, + 0.0888959902087599 + ], + [ + -14.313999851710197, + 0.0821783452371544 + ], + [ + -14.467654847062434, + 0.1977568649171822 + ], + [ + -14.469677749937741, + 0.19103921994557668 + ], + [ + -14.466392048851674, + 0.08717042464036334 + ], + [ + -14.46841495172698, + 0.08045277966875783 + ] + ], + "yaw_rad": -3.130418268794411, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.847820281982422, + 0.09463653713464737, + 0.02345898747444153 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468116871442444, + 0.139030728337904, + 0.11820931627472671 + ], + "intended_face_normal": [ + -0.999893257552507, + -0.01117150246448043, + -0.009454967558710097 + ], + "commanded_contact_point": [ + -14.855889320373535, + 0.12373264133930206, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.468133356625506, + 0.13989333940756127, + 0.11893938456279497 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.847620964050293, + 0.09479173272848129, + 0.023446619510650635 + ], + "box_pose": [ + -14.395349502563477, + 0.13779295980930328, + 0.1360408216714859, + -0.004647298716008663, + -0.01429067738354206, + 0.9998711943626404, + -0.005652892403304577 + ], + "box_yaw_rad": -3.130420423382226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00426922472892834 + } + } + }, + { + "simulation_time_ns": 360000000, + "center": [ + -14.390718836042174, + 0.14005919079905285, + 0.11892639042220489 + ], + "face_center": [ + -14.467926941646622, + 0.13919437560541803, + 0.11832116382987495 + ], + "face_normal": [ + -0.9999066466659954, + -0.011200047630794213, + -0.007838167866857239 + ], + "footprint_xy": [ + [ + -14.46946137204218, + 0.08063385217372022 + ], + [ + -14.31197630004217, + 0.08063385217372022 + ], + [ + -14.31197630004217, + 0.1994845294243855 + ], + [ + -14.46946137204218, + 0.1994845294243855 + ] + ], + "projected_box_corners": [ + [ + -14.313238555147286, + 0.1994845294243855 + ], + [ + -14.315045160833282, + 0.1929522456780671 + ], + [ + -14.31197630004217, + 0.08889576630730828 + ], + [ + -14.313782905728164, + 0.08236348256098988 + ], + [ + -14.467654766356183, + 0.19775489903711582 + ], + [ + -14.46946137204218, + 0.19122261529079743 + ], + [ + -14.466392511251065, + 0.0871661359200386 + ], + [ + -14.468199116937061, + 0.08063385217372022 + ] + ], + "yaw_rad": -3.130392028710824, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848012924194336, + 0.09449732303619385, + 0.02347162365913391 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468034899394707, + 0.13910482229297, + 0.11825747541202584 + ], + "intended_face_normal": [ + -0.9998994512532198, + -0.011173726304963962, + -0.008748179295951989 + ], + "commanded_contact_point": [ + -14.858969688415527, + 0.12162268906831741, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.46805042798153, + 0.1399676050771683, + 0.11893296882251632 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.847820281982422, + 0.09463653713464737, + 0.02345898747444153 + ], + "box_pose": [ + -14.395255088806152, + 0.13787798583507538, + 0.13603882491588593, + -0.004295671824365854, + -0.013978586532175541, + 0.9998771548271179, + -0.00564760435372591 + ], + "box_yaw_rad": -3.130418268794411, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003733706718527038 + } + } + }, + { + "simulation_time_ns": 380000000, + "center": [ + -14.390585585412628, + 0.14017310266700783, + 0.11891831538090358 + ], + "face_center": [ + -14.467794318524964, + 0.13930554483825056, + 0.11840088497806438 + ], + "face_normal": [ + -0.9999147733944345, + -0.011235566946633435, + -0.006701137075382176 + ], + "footprint_xy": [ + [ + -14.46919351182324, + 0.08085769727985781 + ], + [ + -14.311977659002018, + 0.08085769727985781 + ], + [ + -14.311977659002018, + 0.19948850805415785 + ], + [ + -14.46919351182324, + 0.19948850805415785 + ] + ], + "projected_box_corners": [ + [ + -14.313239753173233, + 0.19948850805415785 + ], + [ + -14.314776045598569, + 0.19318437683730477 + ], + [ + -14.311977659002018, + 0.08889694415422544 + ], + [ + -14.313513951427353, + 0.08259281293737238 + ], + [ + -14.467657219397905, + 0.1977533923966433 + ], + [ + -14.46919351182324, + 0.19144926117979022 + ], + [ + -14.46639512522669, + 0.08716182849671089 + ], + [ + -14.467931417652025, + 0.08085769727985781 + ] + ], + "yaw_rad": -3.1303566018624243, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848221778869629, + 0.09437532722949982, + 0.02348366379737854 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467926941646622, + 0.13919437560541803, + 0.11832116382987495 + ], + "intended_face_normal": [ + -0.9999066466659954, + -0.011200047630794213, + -0.007838167866857239 + ], + "commanded_contact_point": [ + -14.861601829528809, + 0.11977075040340424, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.467941358933585, + 0.14005919079905285, + 0.11892639042220489 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848012924194336, + 0.09449732303619385, + 0.02347162365913391 + ], + "box_pose": [ + -14.39513111114502, + 0.13798271119594574, + 0.13603784143924713, + -0.0038426793180406094, + -0.013594645075500011, + 0.9998842477798462, + -0.005652918014675379 + ], + "box_yaw_rad": -3.130392028710824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00321836039925703 + } + } + }, + { + "simulation_time_ns": 400000000, + "center": [ + -14.390434083485479, + 0.14030646848045408, + 0.11890812476071136 + ], + "face_center": [ + -14.467643363001267, + 0.13943737501529704, + 0.11849103453808618 + ], + "face_normal": [ + -0.9999218497556521, + -0.011255454664781325, + -0.005401651583046736 + ], + "footprint_xy": [ + [ + -14.468887089534, + 0.08112162747318255 + ], + [ + -14.311981077436956, + 0.08112162747318255 + ], + [ + -14.311981077436956, + 0.19949130948772562 + ], + [ + -14.468887089534, + 0.19949130948772562 + ] + ], + "projected_box_corners": [ + [ + -14.313240972117354, + 0.19949130948772562 + ], + [ + -14.314468530502424, + 0.19345446298284072 + ], + [ + -14.311981077436956, + 0.08889666090838154 + ], + [ + -14.313208635822026, + 0.08285981440349664 + ], + [ + -14.467659531148932, + 0.1977531225574115 + ], + [ + -14.468887089534, + 0.1917162760525266 + ], + [ + -14.466399636468534, + 0.08715847397806745 + ], + [ + -14.467627194853602, + 0.08112162747318255 + ] + ], + "yaw_rad": -3.130336794615111, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848443984985352, + 0.09426432847976685, + 0.023498207330703735 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467794318524964, + 0.13930554483825056, + 0.11840088497806438 + ], + "intended_face_normal": [ + -0.9999147733944345, + -0.011235566946633435, + -0.006701137075382176 + ], + "commanded_contact_point": [ + -14.863828659057617, + 0.11816495656967163, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.467807480684076, + 0.14017310266700783, + 0.11891831538090358 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848221778869629, + 0.09437532722949982, + 0.02348366379737854 + ], + "box_pose": [ + -14.394978523254395, + 0.13811278343200684, + 0.1360366940498352, + -0.0032766310032457113, + -0.013122130185365677, + 0.9998925924301147, + -0.005661387927830219 + ], + "box_yaw_rad": -3.1303566018624243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002745422296692169 + } + } + }, + { + "simulation_time_ns": 420000000, + "center": [ + -14.390274678846335, + 0.1404422926797196, + 0.11889845507404082 + ], + "face_center": [ + -14.467484447371248, + 0.13957135796770131, + 0.11858471588137068 + ], + "face_normal": [ + -0.9999281828144704, + -0.011279300282547929, + -0.004063173181293659 + ], + "footprint_xy": [ + [ + -14.468568367191967, + 0.08139042612771023 + ], + [ + -14.311980990500704, + 0.08139042612771023 + ], + [ + -14.311980990500704, + 0.19949415923172897 + ], + [ + -14.468568367191967, + 0.19949415923172897 + ] + ], + "projected_box_corners": [ + [ + -14.313239327269073, + 0.19949415923172897 + ], + [ + -14.314148830142141, + 0.19373003868675637 + ], + [ + -14.311980990500704, + 0.08889641609671949 + ], + [ + -14.312890493373773, + 0.08313229555174685 + ], + [ + -14.4676588643189, + 0.19775228980769238 + ], + [ + -14.468568367191967, + 0.19198816926271972 + ], + [ + -14.46640052755053, + 0.08715454667268287 + ], + [ + -14.467310030423599, + 0.08139042612771023 + ] + ], + "yaw_rad": -3.1303130215953723, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848657608032227, + 0.09416665136814117, + 0.023510754108428955 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467643363001267, + 0.13943737501529704, + 0.11849103453808618 + ], + "intended_face_normal": [ + -0.9999218497556521, + -0.011255454664781325, + -0.005401651583046736 + ], + "commanded_contact_point": [ + -14.865739822387695, + 0.11671346426010132, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -14.467655432264193, + 0.14030646848045408, + 0.11890812476071136 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848443984985352, + 0.09426432847976685, + 0.023498207330703735 + ], + "box_pose": [ + -14.394804954528809, + 0.13826517760753632, + 0.13603442907333374, + -0.002629930153489113, + -0.012568537145853043, + 0.9999014735221863, + -0.005661339499056339 + ], + "box_yaw_rad": -3.130336794615111, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002399869829824353 + } + } + }, + { + "simulation_time_ns": 440000000, + "center": [ + -14.390113019595908, + 0.14058473688189407, + 0.1188877288379123 + ], + "face_center": [ + -14.467323134449671, + 0.1397138118764399, + 0.11868027932127323 + ], + "face_normal": [ + -0.9999326680497398, + -0.011279174574788218, + -0.0026866369652656886 + ], + "footprint_xy": [ + [ + -14.4682416174429, + 0.08167536894324721 + ], + [ + -14.311984421748917, + 0.08167536894324721 + ], + [ + -14.311984421748917, + 0.19949410482054095 + ], + [ + -14.4682416174429, + 0.19949410482054095 + ] + ], + "projected_box_corners": [ + [ + -14.313238768802133, + 0.19949410482054095 + ], + [ + -14.313821387735375, + 0.19401805776772213 + ], + [ + -14.311984421748917, + 0.08889326600697439 + ], + [ + -14.31256704068216, + 0.08341721895415558 + ], + [ + -14.467658998509659, + 0.19775225480963257 + ], + [ + -14.4682416174429, + 0.19227620775681376 + ], + [ + -14.466404651456443, + 0.08715141599606602 + ], + [ + -14.466987270389684, + 0.08167536894324721 + ] + ], + "yaw_rad": -3.1303131978865215, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848804473876953, + 0.09409139305353165, + 0.023518681526184082 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467484447371248, + 0.13957135796770131, + 0.11858471588137068 + ], + "intended_face_normal": [ + -0.9999281828144704, + -0.011279300282547929, + -0.004063173181293659 + ], + "commanded_contact_point": [ + -14.86740779876709, + 0.1154109388589859, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.46749553854258, + 0.1404422926797196, + 0.11889845507404082 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848657608032227, + 0.09416665136814117, + 0.023510754108428955 + ], + "box_pose": [ + -14.394622802734375, + 0.13842040300369263, + 0.1360328495502472, + -0.001963777467608452, + -0.012003721669316292, + 0.9999099969863892, + -0.005663732532411814 + ], + "box_yaw_rad": -3.1303130215953723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002116298094351726 + } + } + }, + { + "simulation_time_ns": 460000000, + "center": [ + -14.389940479823943, + 0.14073487461913467, + 0.11887664642226528 + ], + "face_center": [ + -14.467150801345312, + 0.13986329704960096, + 0.1187822403819727 + ], + "face_normal": [ + -0.9999353445603405, + -0.011287625800930574, + -0.001222633639757901 + ], + "footprint_xy": [ + [ + -14.467893971694133, + 0.08197608788669164 + ], + [ + -14.311986987953755, + 0.08197608788669164 + ], + [ + -14.311986987953755, + 0.1994936613515777 + ], + [ + -14.467893971694133, + 0.1994936613515777 + ] + ], + "projected_box_corners": [ + [ + -14.3132384385677, + 0.1994936613515777 + ], + [ + -14.313473328651396, + 0.19432318944572569 + ], + [ + -14.311986987953755, + 0.08888971493161105 + ], + [ + -14.312221878037452, + 0.08371924302575903 + ], + [ + -14.467659081610437, + 0.1977505062125103 + ], + [ + -14.467893971694133, + 0.1925800343066583 + ], + [ + -14.466407630996493, + 0.08714655979254364 + ], + [ + -14.466642521080189, + 0.08197608788669164 + ] + ], + "yaw_rad": -3.1303047773789405, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.84889030456543, + 0.09403932839632034, + 0.023523539304733276 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467323134449671, + 0.1397138118764399, + 0.11868027932127323 + ], + "intended_face_normal": [ + -0.9999326680497398, + -0.011279174574788218, + -0.0026866369652656886 + ], + "commanded_contact_point": [ + -14.868938446044922, + 0.11445174366235733, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.467333532915108, + 0.14058473688189407, + 0.1188877288379123 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848804473876953, + 0.09409139305353165, + 0.023518681526184082 + ], + "box_pose": [ + -14.394437789916992, + 0.1385834515094757, + 0.13603045046329498, + -0.001278920448385179, + -0.011407054029405117, + 0.9999181032180786, + -0.005654639098793268 + ], + "box_yaw_rad": -3.1303131978865215, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018063600179321418 + } + } + }, + { + "simulation_time_ns": 480000000, + "center": [ + -14.389757457521341, + 0.14089789396131136, + 0.1188646418273066 + ], + "face_center": [ + -14.466967848257259, + 0.14002591504745684, + 0.11889195474389753 + ], + "face_normal": [ + -0.9999362409440289, + -0.01129282353050639, + 0.0003537240892689669 + ], + "footprint_xy": [ + [ + -14.467661772916033, + 0.08230295153389214 + ], + [ + -14.311853142126651, + 0.08230295153389214 + ], + [ + -14.311853142126651, + 0.1994928363887306 + ], + [ + -14.467661772916033, + 0.1994928363887306 + ] + ], + "projected_box_corners": [ + [ + -14.3132409914442, + 0.1994928363887306 + ], + [ + -14.313101499317924, + 0.19465407144841765 + ], + [ + -14.311992634252926, + 0.08888567430191416 + ], + [ + -14.311853142126651, + 0.08404690936160118 + ], + [ + -14.467661772916033, + 0.19774887856102155 + ], + [ + -14.467522280789757, + 0.1929101136207086 + ], + [ + -14.466413415724759, + 0.0871417164742051 + ], + [ + -14.466273923598484, + 0.08230295153389214 + ] + ], + "yaw_rad": -3.1302995900985877, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848926544189453, + 0.09401236474514008, + 0.023525863885879517 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467150801345312, + 0.13986329704960096, + 0.1187822403819727 + ], + "intended_face_normal": [ + -0.9999353445603405, + -0.011287625800930574, + -0.001222633639757901 + ], + "commanded_contact_point": [ + -14.87034797668457, + 0.11386144906282425, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.467160786448257, + 0.14073487461913467, + 0.11887664642226528 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84889030456543, + 0.09403932839632034, + 0.023523539304733276 + ], + "box_pose": [ + -14.394240379333496, + 0.1387554109096527, + 0.13602815568447113, + -0.0005504819564521313, + -0.010774151422083378, + 0.9999257922172546, + -0.005650163162499666 + ], + "box_yaw_rad": -3.1303047773789405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015281440829977928 + } + } + }, + { + "simulation_time_ns": 500000000, + "center": [ + -14.38955430068677, + 0.1410774230105851, + 0.1188509650996609 + ], + "face_center": [ + -14.46676453551905, + 0.1402059285594372, + 0.11901251233533905 + ], + "face_normal": [ + -0.9999342218673988, + -0.01128654935143385, + 0.0020921657569565183 + ], + "footprint_xy": [ + [ + -14.467662787650248, + 0.0826643064876887 + ], + [ + -14.311445813723294, + 0.0826643064876887 + ], + [ + -14.311445813723294, + 0.19949053953348148 + ], + [ + -14.467662787650248, + 0.19949053953348148 + ] + ], + "projected_box_corners": [ + [ + -14.313242317985686, + 0.19949053953348148 + ], + [ + -14.312689984448081, + 0.19501774575021813 + ], + [ + -14.3119981472609, + 0.08888008917324787 + ], + [ + -14.311445813723294, + 0.08440729538998451 + ], + [ + -14.467662787650248, + 0.19774755063118568 + ], + [ + -14.467110454112643, + 0.1932747568479223 + ], + [ + -14.466418616925461, + 0.08713710027095206 + ], + [ + -14.465866283387856, + 0.0826643064876887 + ] + ], + "yaw_rad": -3.1303058410895255, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848956108093262, + 0.09401041269302368, + 0.023526787757873535 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466967848257259, + 0.14002591504745684, + 0.11889195474389753 + ], + "intended_face_normal": [ + -0.9999362409440289, + -0.01129282353050639, + 0.0003537240892689669 + ], + "commanded_contact_point": [ + -14.87161636352539, + 0.1136198341846466, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -14.466977694922218, + 0.14089789396131136, + 0.1188646418273066 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848926544189453, + 0.09401236474514008, + 0.023525863885879517 + ], + "box_pose": [ + -14.394030570983887, + 0.13894213736057281, + 0.1360255628824234, + 0.00023381361097563058, + -0.010087101720273495, + 0.9999331831932068, + -0.005644430406391621 + ], + "box_yaw_rad": -3.1302995900985877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012911943806842984 + } + } + }, + { + "simulation_time_ns": 520000000, + "center": [ + -14.389326986966925, + 0.14128022636181573, + 0.11883580698376928 + ], + "face_center": [ + -14.466536753957287, + 0.14040911067128595, + 0.11914735544987254 + ], + "face_normal": [ + -0.9999281629408037, + -0.011281644098849217, + 0.004034801522151383 + ], + "footprint_xy": [ + [ + -14.467663800064122, + 0.08307171779845773 + ], + [ + -14.31099017386973, + 0.08307171779845773 + ], + [ + -14.31099017386973, + 0.19948873492517372 + ], + [ + -14.467663800064122, + 0.19948873492517372 + ] + ], + "projected_box_corners": [ + [ + -14.313244266083398, + 0.19948873492517372 + ], + [ + -14.312230591348852, + 0.19542776654003832 + ], + [ + -14.312003848604276, + 0.08887491756465263 + ], + [ + -14.31099017386973, + 0.08481394917951726 + ], + [ + -14.467663800064122, + 0.19774650354411416 + ], + [ + -14.466650125329576, + 0.1936855351589788 + ], + [ + -14.466423382584999, + 0.0871326861835931 + ], + [ + -14.465409707850453, + 0.08307171779845773 + ] + ], + "yaw_rad": -3.130310677684796, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848984718322754, + 0.0940314382314682, + 0.023528218269348145 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46676453551905, + 0.1402059285594372, + 0.11901251233533905 + ], + "intended_face_normal": [ + -0.9999342218673988, + -0.01128654935143385, + 0.0020921657569565183 + ], + "commanded_contact_point": [ + -14.872705459594727, + 0.11368419229984283, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.46677469401148, + 0.1410774230105851, + 0.1188509650996609 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848956108093262, + 0.09401041269302368, + 0.023526787757873535 + ], + "box_pose": [ + -14.393797874450684, + 0.13914787769317627, + 0.1360221803188324, + 0.0010987028945237398, + -0.009329088032245636, + 0.999940037727356, + -0.00563336256891489 + ], + "box_yaw_rad": -3.1303058410895255, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010909959746132792 + } + } + }, + { + "simulation_time_ns": 540000000, + "center": [ + -14.389076272222963, + 0.14148787107052743, + 0.11882562054949593 + ], + "face_center": [ + -14.466285230181375, + 0.14061743149111716, + 0.11930194623197304 + ], + "face_normal": [ + -0.9999176853307543, + -0.011272887919728247, + 0.006168798109445622 + ], + "footprint_xy": [ + [ + -14.467663975878434, + 0.08348964658884497 + ], + [ + -14.310488568567493, + 0.08348964658884497 + ], + [ + -14.310488568567493, + 0.19948609555220992 + ], + [ + -14.467663975878434, + 0.19948609555220992 + ] + ], + "projected_box_corners": [ + [ + -14.313246059961608, + 0.19948609555220992 + ], + [ + -14.311725243759, + 0.19584751519162075 + ], + [ + -14.312009384770102, + 0.08886910610825466 + ], + [ + -14.310488568567493, + 0.08523052574766551 + ], + [ + -14.467663975878434, + 0.19774521639338935 + ], + [ + -14.466143159675825, + 0.1941066360328002 + ], + [ + -14.466427300686926, + 0.08712822694943412 + ], + [ + -14.464906484484318, + 0.08348964658884497 + ] + ], + "yaw_rad": -3.1303193152631787, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.84901237487793, + 0.09407223761081696, + 0.023530781269073486 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466536753957287, + 0.14040911067128595, + 0.11914735544987254 + ], + "intended_face_normal": [ + -0.9999281629408037, + -0.011281644098849217, + 0.004034801522151383 + ], + "commanded_contact_point": [ + -14.87356185913086, + 0.11401712894439697, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.466547848197942, + 0.14128022636181573, + 0.11883580698376928 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848984718322754, + 0.0940314382314682, + 0.023528218269348145 + ], + "box_pose": [ + -14.393537521362305, + 0.13938017189502716, + 0.13601844012737274, + 0.0020651782397180796, + -0.008476070128381252, + 0.999946117401123, + -0.005623620469123125 + ], + "box_yaw_rad": -3.130310677684796, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009188400159064559 + } + } + }, + { + "simulation_time_ns": 560000000, + "center": [ + -14.388855658072494, + 0.14166267768866567, + 0.11881965388702015 + ], + "face_center": [ + -14.466063561777771, + 0.14079270691804746, + 0.1194413598870557 + ], + "face_normal": [ + -0.9999040319104406, + -0.011266816471354702, + 0.008051589361517205 + ], + "footprint_xy": [ + [ + -14.46766488971595, + 0.08384144598439841 + ], + [ + -14.310046426429038, + 0.08384144598439841 + ], + [ + -14.310046426429038, + 0.19948390939293292 + ], + [ + -14.46766488971595, + 0.19948390939293292 + ] + ], + "projected_box_corners": [ + [ + -14.313249082305397, + 0.19948390939293292 + ], + [ + -14.311280599909932, + 0.19620071250592924 + ], + [ + -14.312014908824503, + 0.0888645844126385 + ], + [ + -14.310046426429038, + 0.08558138752563484 + ], + [ + -14.46766488971595, + 0.1977439678516965 + ], + [ + -14.465696407320486, + 0.19446077096469283 + ], + [ + -14.466430716235056, + 0.08712464287140208 + ], + [ + -14.464462233839592, + 0.08384144598439841 + ] + ], + "yaw_rad": -3.13032523260166, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849041938781738, + 0.09413091838359833, + 0.02353215217590332 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466285230181375, + 0.14061743149111716, + 0.11930194623197304 + ], + "intended_face_normal": [ + -0.9999176853307543, + -0.011272887919728247, + 0.006168798109445622 + ], + "commanded_contact_point": [ + -14.8741455078125, + 0.11458945274353027, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.466297942610659, + 0.14148787107052743, + 0.11882562054949593 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84901237487793, + 0.09407223761081696, + 0.023530781269073486 + ], + "box_pose": [ + -14.393250465393066, + 0.13961808383464813, + 0.13602043688297272, + 0.003127221018075943, + -0.007601574063301086, + 0.9999505281448364, + -0.005612949840724468 + ], + "box_yaw_rad": -3.1303193152631787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008174352051686373 + } + } + }, + { + "simulation_time_ns": 580000000, + "center": [ + -14.388666048019683, + 0.1418113519062233, + 0.11881478444586335 + ], + "face_center": [ + -14.465872844220042, + 0.14094190611645394, + 0.11956239866643303 + ], + "face_normal": [ + -0.9998896888369999, + -0.011260017549971744, + 0.00968220140148822 + ], + "footprint_xy": [ + [ + -14.467667120742119, + 0.08414174355554188 + ], + [ + -14.309664975297249, + 0.08414174355554188 + ], + [ + -14.309664975297249, + 0.1994809602569047 + ], + [ + -14.467667120742119, + 0.1994809602569047 + ] + ], + "projected_box_corners": [ + [ + -14.313253528341402, + 0.1994809602569047 + ], + [ + -14.310897287737966, + 0.19650180348315938 + ], + [ + -14.312021215900684, + 0.08885979190882595 + ], + [ + -14.309664975297249, + 0.08588063513508062 + ], + [ + -14.467667120742119, + 0.197742068677366 + ], + [ + -14.465310880138682, + 0.19476291190362066 + ], + [ + -14.466434808301402, + 0.08712090032928721 + ], + [ + -14.464078567697966, + 0.08414174355554188 + ] + ], + "yaw_rad": -3.1303318697968083, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849067687988281, + 0.09420483559370041, + 0.023533135652542114 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466063561777771, + 0.14079270691804746, + 0.1194413598870557 + ], + "intended_face_normal": [ + -0.9999040319104406, + -0.011266816471354702, + 0.008051589361517205 + ], + "commanded_contact_point": [ + -14.87446403503418, + 0.11537528038024902, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -14.466078382901305, + 0.14166267768866567, + 0.11881965388702015 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849041938781738, + 0.09413091838359833, + 0.02353215217590332 + ], + "box_pose": [ + -14.392997741699219, + 0.13981835544109344, + 0.13602498173713684, + 0.004064477514475584, + -0.006866054609417915, + 0.9999524354934692, + -0.005605767946690321 + ], + "box_yaw_rad": -3.13032523260166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008479296350104183 + } + } + }, + { + "simulation_time_ns": 600000000, + "center": [ + -14.388503898061677, + 0.14194038978973986, + 0.11880982926852339 + ], + "face_center": [ + -14.465709584862923, + 0.14107141863295733, + 0.1196651447504826 + ], + "face_normal": [ + -0.9998753212322222, + -0.01125387067362309, + 0.011077018775578694 + ], + "footprint_xy": [ + [ + -14.467669068674322, + 0.08440151149972117 + ], + [ + -14.309338727449031, + 0.08440151149972117 + ], + [ + -14.309338727449031, + 0.19947926807975858 + ], + [ + -14.467669068674322, + 0.19947926807975858 + ] + ], + "projected_box_corners": [ + [ + -14.31325769507183, + 0.19947926807975858 + ], + [ + -14.310569779775454, + 0.19676206905017135 + ], + [ + -14.312026642745408, + 0.08885665284287345 + ], + [ + -14.309338727449031, + 0.08613945381328622 + ], + [ + -14.467669068674322, + 0.1977413257661935 + ], + [ + -14.464981153377945, + 0.1950241267366063 + ], + [ + -14.466438016347901, + 0.08711871052930836 + ], + [ + -14.463750101051524, + 0.08440151149972117 + ] + ], + "yaw_rad": -3.130337854863533, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849087715148926, + 0.09429012984037399, + 0.023534327745437622 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465872844220042, + 0.14094190611645394, + 0.11956239866643303 + ], + "intended_face_normal": [ + -0.9998896888369999, + -0.011260017549971744, + 0.00968220140148822 + ], + "commanded_contact_point": [ + -14.874549865722656, + 0.11634480208158493, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + -14.465889880581903, + 0.1418113519062233, + 0.11881478444586335 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849067687988281, + 0.09420483559370041, + 0.023533135652542114 + ], + "box_pose": [ + -14.392780303955078, + 0.13998882472515106, + 0.13602910935878754, + 0.00487625552341342, + -0.006236853078007698, + 0.9999529719352722, + -0.00559985963627696 + ], + "box_yaw_rad": -3.1303318697968083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009733135346165063 + } + } + }, + { + "simulation_time_ns": 620000000, + "center": [ + -14.388364133627782, + 0.14205102830004435, + 0.11880518561363658 + ], + "face_center": [ + -14.465568741104223, + 0.14118179487952023, + 0.11975287218845619 + ], + "face_normal": [ + -0.9998613431137593, + -0.011257267198590767, + 0.012273298220435382 + ], + "footprint_xy": [ + [ + -14.467670542772737, + 0.08462371897824544 + ], + [ + -14.309057724482825, + 0.08462371897824544 + ], + [ + -14.309057724482825, + 0.19947833762184325 + ], + [ + -14.467670542772737, + 0.19947833762184325 + ] + ], + "projected_box_corners": [ + [ + -14.313261327819855, + 0.19947833762184325 + ], + [ + -14.310288921047132, + 0.19698592577647017 + ], + [ + -14.312030131255549, + 0.08885459766466677 + ], + [ + -14.309057724482825, + 0.0863621858192937 + ], + [ + -14.467670542772737, + 0.197739870780795 + ], + [ + -14.464698136000013, + 0.19524745893542192 + ], + [ + -14.46643934620843, + 0.08711613082361853 + ], + [ + -14.463466939435708, + 0.08462371897824544 + ] + ], + "yaw_rad": -3.1303343009685323, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849104881286621, + 0.09438608586788177, + 0.023533374071121216 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465709584862923, + 0.14107141863295733, + 0.1196651447504826 + ], + "intended_face_normal": [ + -0.9998753212322222, + -0.01125387067362309, + 0.011077018775578694 + ], + "commanded_contact_point": [ + -14.874458312988281, + 0.11746569722890854, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.465728840283752, + 0.14194038978973986, + 0.11880982926852339 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849087715148926, + 0.09429012984037399, + 0.023534327745437622 + ], + "box_pose": [ + -14.392594337463379, + 0.14013664424419403, + 0.13603180646896362, + 0.005570637993514538, + -0.005694712977856398, + 0.9999526143074036, + -0.005595477297902107 + ], + "box_yaw_rad": -3.130337854863533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011246278659229902 + } + } + }, + { + "simulation_time_ns": 640000000, + "center": [ + -14.388241656932339, + 0.14214708128064063, + 0.11880106095417604 + ], + "face_center": [ + -14.465445251523247, + 0.1412774294944169, + 0.11982869549958686 + ], + "face_normal": [ + -0.9998482254369534, + -0.011262685368619775, + 0.013308688307470408 + ], + "footprint_xy": [ + [ + -14.46767046926132, + 0.08481634330118093 + ], + [ + -14.30881284460336, + 0.08481634330118093 + ], + [ + -14.30881284460336, + 0.19947781926010033 + ], + [ + -14.46767046926132, + 0.19947781926010033 + ] + ], + "projected_box_corners": [ + [ + -14.313263280079502, + 0.19947781926010033 + ], + [ + -14.310044640194018, + 0.19718029839439072 + ], + [ + -14.312031484488843, + 0.08885316773933802 + ], + [ + -14.30881284460336, + 0.0865556468736284 + ], + [ + -14.46767046926132, + 0.19773851568765288 + ], + [ + -14.464451829375834, + 0.19544099482194327 + ], + [ + -14.46643867367066, + 0.08711386416689054 + ], + [ + -14.463220033785175, + 0.08481634330118093 + ] + ], + "yaw_rad": -3.13032873496985, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849109649658203, + 0.09448886662721634, + 0.023533672094345093 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465568741104223, + 0.14118179487952023, + 0.11975287218845619 + ], + "intended_face_normal": [ + -0.9998613431137593, + -0.011257267198590767, + 0.012273298220435382 + ], + "commanded_contact_point": [ + -14.874229431152344, + 0.11870291829109192, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.465590155458944, + 0.14205102830004435, + 0.11880518561363658 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849104881286621, + 0.09438608586788177, + 0.023533374071121216 + ], + "box_pose": [ + -14.392434120178223, + 0.1402633637189865, + 0.13603368401527405, + 0.006166215054690838, + -0.005229527130723, + 0.9999516606330872, + -0.005596657749265432 + ], + "box_yaw_rad": -3.1303343009685323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012582141519679008 + } + } + }, + { + "simulation_time_ns": 660000000, + "center": [ + -14.388136977176178, + 0.14223009914881862, + 0.11879746135719711 + ], + "face_center": [ + -14.465339608245708, + 0.14136129301008218, + 0.11989506652987168 + ], + "face_normal": [ + -0.9998357470653907, + -0.011251733558098496, + 0.014214863827834308 + ], + "footprint_xy": [ + [ + -14.467672033222248, + 0.08498449252411557 + ], + [ + -14.308601921130105, + 0.08498449252411557 + ], + [ + -14.308601921130105, + 0.1994757057735217 + ], + [ + -14.467672033222248, + 0.1994757057735217 + ] + ], + "projected_box_corners": [ + [ + -14.313266771083185, + 0.1994757057735217 + ], + [ + -14.309832647460645, + 0.19734747593685792 + ], + [ + -14.312036044752647, + 0.08885033463825223 + ], + [ + -14.308601921130105, + 0.08672210480158843 + ], + [ + -14.467672033222248, + 0.19773809349604882 + ], + [ + -14.464237909599706, + 0.19560986365938504 + ], + [ + -14.46644130689171, + 0.08711272236077937 + ], + [ + -14.463007183269168, + 0.08498449252411557 + ] + ], + "yaw_rad": -3.1303395466245982, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849116325378418, + 0.09459562599658966, + 0.023532390594482422 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465445251523247, + 0.1412774294944169, + 0.11982869549958686 + ], + "intended_face_normal": [ + -0.9998482254369534, + -0.011262685368619775, + 0.013308688307470408 + ], + "commanded_contact_point": [ + -14.873912811279297, + 0.12002158910036087, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -14.46546869194327, + 0.14214708128064063, + 0.11880106095417604 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849109649658203, + 0.09448886662721634, + 0.023533672094345093 + ], + "box_pose": [ + -14.392293930053711, + 0.1403733491897583, + 0.13603517413139343, + 0.006681699305772781, + -0.004826218821108341, + 0.9999504089355469, + -0.005599373020231724 + ], + "box_yaw_rad": -3.13032873496985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013561492720620503 + } + } + }, + { + "simulation_time_ns": 680000000, + "center": [ + -14.388043803875112, + 0.14230358616760305, + 0.11879399095619661 + ], + "face_center": [ + -14.465245525716872, + 0.14143453270813794, + 0.11995310717515213 + ], + "face_normal": [ + -0.9998239718394049, + -0.011254936559111495, + 0.015011481016381938 + ], + "footprint_xy": [ + [ + -14.467672977856656, + 0.08513206467022844 + ], + [ + -14.308414629893567, + 0.08513206467022844 + ], + [ + -14.308414629893567, + 0.19947510766497764 + ], + [ + -14.467672977856656, + 0.19947510766497764 + ] + ], + "projected_box_corners": [ + [ + -14.313269534173136, + 0.19947510766497764 + ], + [ + -14.309645954017018, + 0.19749611735143732 + ], + [ + -14.312038210049685, + 0.08884916190269901 + ], + [ + -14.308414629893567, + 0.08687017158915868 + ], + [ + -14.467672977856656, + 0.19773700074604741 + ], + [ + -14.464049397700538, + 0.1957580104325071 + ], + [ + -14.466441653733206, + 0.08711105498376877 + ], + [ + -14.46281807357709, + 0.08513206467022844 + ] + ], + "yaw_rad": -3.130336210945432, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849111557006836, + 0.09470316767692566, + 0.02353188395500183 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465339608245708, + 0.14136129301008218, + 0.11989506652987168 + ], + "intended_face_normal": [ + -0.9998357470653907, + -0.011251733558098496, + 0.014214863827834308 + ], + "commanded_contact_point": [ + -14.873541831970215, + 0.12138578295707703, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + -14.465364976013058, + 0.14223009914881862, + 0.11879746135719711 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849116325378418, + 0.09459562599658966, + 0.023532390594482422 + ], + "box_pose": [ + -14.392173767089844, + 0.1404685378074646, + 0.1360364556312561, + 0.00713283522054553, + -0.0044758557341992855, + 0.9999489188194275, + -0.005594226997345686 + ], + "box_yaw_rad": -3.1303395466245982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014137363732980525 + } + } + }, + { + "simulation_time_ns": 700000000, + "center": [ + -14.387967305297645, + 0.1423674257744282, + 0.11879123033008622 + ], + "face_center": [ + -14.465168236224434, + 0.1414987922530048, + 0.1200011010817742 + ], + "face_normal": [ + -0.9998137288586819, + -0.01124949802599646, + 0.015668792761441706 + ], + "footprint_xy": [ + [ + -14.467673674268966, + 0.08526019887077405 + ], + [ + -14.308260936326326, + 0.08526019887077405 + ], + [ + -14.308260936326326, + 0.1994746526780824 + ], + [ + -14.467673674268966, + 0.1994746526780824 + ] + ], + "projected_box_corners": [ + [ + -14.313271812415389, + 0.1994746526780824 + ], + [ + -14.309491978147696, + 0.19762386620135353 + ], + [ + -14.312040770594017, + 0.08884825239034974 + ], + [ + -14.308260936326326, + 0.08699746591362087 + ], + [ + -14.467673674268966, + 0.19773738563523557 + ], + [ + -14.463893840001273, + 0.1958865991585067 + ], + [ + -14.466442632447594, + 0.08711098534750292 + ], + [ + -14.462662798179903, + 0.08526019887077405 + ] + ], + "yaw_rad": -3.1303415344916297, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849104881286621, + 0.09480840712785721, + 0.023530542850494385 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465245525716872, + 0.14143453270813794, + 0.11995310717515213 + ], + "intended_face_normal": [ + -0.9998239718394049, + -0.011254936559111495, + 0.015011481016381938 + ], + "commanded_contact_point": [ + -14.873125076293945, + 0.1227567046880722, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465272712249236, + 0.14230358616760305, + 0.11879399095619661 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849111557006836, + 0.09470316767692566, + 0.02353188395500183 + ], + "box_pose": [ + -14.392066955566406, + 0.14055269956588745, + 0.13603726029396057, + 0.007529457565397024, + -0.004167031962424517, + 0.9999473094940186, + -0.005596387665718794 + ], + "box_yaw_rad": -3.130336210945432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014328683429457472 + } + } + }, + { + "simulation_time_ns": 720000000, + "center": [ + -14.387969749042615, + 0.1423666022097766, + 0.11879077856748468 + ], + "face_center": [ + -14.465170718076804, + 0.1414982183925705, + 0.119998806620426 + ], + "face_normal": [ + -0.9998142223799797, + -0.011246264156901317, + 0.015644928340599187 + ], + "footprint_xy": [ + [ + -14.467673123093578, + 0.08525934345594052 + ], + [ + -14.308266374991652, + 0.08525934345594052 + ], + [ + -14.308266374991652, + 0.1994738609636127 + ], + [ + -14.467673123093578, + 0.1994738609636127 + ] + ], + "projected_box_corners": [ + [ + -14.313271185025197, + 0.1994738609636127 + ], + [ + -14.309497075917609, + 0.1976225226688058 + ], + [ + -14.312040484099239, + 0.08884744938515954 + ], + [ + -14.308266374991652, + 0.08699611109035268 + ], + [ + -14.467673123093578, + 0.1977370933292005 + ], + [ + -14.463899013985989, + 0.19588575503439365 + ], + [ + -14.46644242216762, + 0.08711068175074738 + ], + [ + -14.462668313060032, + 0.08525934345594052 + ] + ], + "yaw_rad": -3.1303447741055384, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849093437194824, + 0.0949091762304306, + 0.023529261350631714 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465168236224434, + 0.1414987922530048, + 0.1200011010817742 + ], + "intended_face_normal": [ + -0.9998137288586819, + -0.01124949802599646, + 0.015668792761441706 + ], + "commanded_contact_point": [ + -14.872679710388184, + 0.12409781664609909, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.465197004873366, + 0.1423674257744282, + 0.11879123033008622 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849104881286621, + 0.09480840712785721, + 0.023530542850494385 + ], + "box_pose": [ + -14.391979217529297, + 0.1406257450580597, + 0.13603805005550385, + 0.007856649346649647, + -0.0039016327355057, + 0.9999458193778992, + -0.005594398360699415 + ], + "box_yaw_rad": -3.1303415344916297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014131284704875788 + } + } + }, + { + "simulation_time_ns": 740000000, + "center": [ + -14.387971481905012, + 0.14236349703097786, + 0.11879101386053396 + ], + "face_center": [ + -14.465172484366098, + 0.14149460776890718, + 0.11999819761566859 + ], + "face_normal": [ + -0.9998146552849736, + -0.011252810071681503, + 0.01563399400951993 + ], + "footprint_xy": [ + [ + -14.467673962395246, + 0.08525274370073302 + ], + [ + -14.308269001414779, + 0.08525274370073302 + ], + [ + -14.308269001414779, + 0.19947425036122268 + ], + [ + -14.467673962395246, + 0.19947425036122268 + ] + ], + "projected_box_corners": [ + [ + -14.313271957473075, + 0.19947425036122268 + ], + [ + -14.30950039270551, + 0.19761694148840098 + ], + [ + -14.312040566182343, + 0.0888478310976961 + ], + [ + -14.308269001414779, + 0.08699052222487438 + ], + [ + -14.467673962395246, + 0.19773647183708132 + ], + [ + -14.463902397627681, + 0.1958791629642596 + ], + [ + -14.466442571104514, + 0.08711005257355475 + ], + [ + -14.462671006336949, + 0.08525274370073302 + ] + ], + "yaw_rad": -3.1303382326757925, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849079132080078, + 0.09500278532505035, + 0.023526102304458618 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465170718076804, + 0.1414982183925705, + 0.119998806620426 + ], + "intended_face_normal": [ + -0.9998142223799797, + -0.011246264156901317, + 0.015644928340599187 + ], + "commanded_contact_point": [ + -14.87221622467041, + 0.12537351250648499, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.465199410496753, + 0.1423666022097766, + 0.11879077856748468 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849093437194824, + 0.0949091762304306, + 0.023529261350631714 + ], + "box_pose": [ + -14.391982078552246, + 0.14062489569187164, + 0.13603749871253967, + 0.007844715379178524, + -0.0039027032908052206, + 0.9999459385871887, + -0.005592818837612867 + ], + "box_yaw_rad": -3.1303447741055384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013572836618928183 + } + } + }, + { + "simulation_time_ns": 760000000, + "center": [ + -14.387977372701336, + 0.1423583499309741, + 0.11879101826226758 + ], + "face_center": [ + -14.465178400945954, + 0.14148938048487542, + 0.11999464115976344 + ], + "face_normal": [ + -0.9998149892023247, + -0.011253848518900673, + 0.015587878058442523 + ], + "footprint_xy": [ + [ + -14.4676744459156, + 0.08524242519881156 + ], + [ + -14.308280299487071, + 0.08524242519881156 + ], + [ + -14.308280299487071, + 0.19947427466313664 + ], + [ + -14.4676744459156, + 0.19947427466313664 + ] + ], + "projected_box_corners": [ + [ + -14.313272389426363, + 0.19947427466313664 + ], + [ + -14.309511771856004, + 0.1976067038911826 + ], + [ + -14.31204091705743, + 0.08884793486296298 + ], + [ + -14.308280299487071, + 0.08698036409100894 + ], + [ + -14.4676744459156, + 0.19773633577093927 + ], + [ + -14.463913828345241, + 0.19586876499898523 + ], + [ + -14.466442973546668, + 0.0871099959707656 + ], + [ + -14.462682355976309, + 0.08524242519881156 + ] + ], + "yaw_rad": -3.130337197926401, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849056243896484, + 0.0950871929526329, + 0.02352505922317505 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465172484366098, + 0.14149460776890718, + 0.11999819761566859 + ], + "intended_face_normal": [ + -0.9998146552849736, + -0.011252810071681503, + 0.01563399400951993 + ], + "commanded_contact_point": [ + -14.871729850769043, + 0.1265535205602646, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + -14.465201109919846, + 0.14236349703097786, + 0.11879101386053396 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849079132080078, + 0.09500278532505035, + 0.023526102304458618 + ], + "box_pose": [ + -14.391983985900879, + 0.1406213343143463, + 0.1360376477241516, + 0.007839329540729523, + -0.003915142733603716, + 0.9999459981918335, + -0.005596015136688948 + ], + "box_yaw_rad": -3.1303382326757925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012763144523436256 + } + } + }, + { + "simulation_time_ns": 780000000, + "center": [ + -14.387984796697936, + 0.142352283087289, + 0.11879108008498021 + ], + "face_center": [ + -14.465185911533334, + 0.14148328078814393, + 0.1199894738485572 + ], + "face_normal": [ + -0.9998161106221033, + -0.011254273992096657, + 0.015520156596805241 + ], + "footprint_xy": [ + [ + -14.467673911375778, + 0.08523013063792283 + ], + [ + -14.308295682020093, + 0.08523013063792283 + ], + [ + -14.308295682020093, + 0.1994744355366552 + ], + [ + -14.467673911375778, + 0.1994744355366552 + ] + ], + "projected_box_corners": [ + [ + -14.31327168170498, + 0.1994744355366552 + ], + [ + -14.30952717163935, + 0.1975944377775993 + ], + [ + -14.312040192085723, + 0.08884813299526888 + ], + [ + -14.308295682020093, + 0.08696813523621298 + ], + [ + -14.467673911375778, + 0.19773643093836504 + ], + [ + -14.463929401310148, + 0.19585643317930915 + ], + [ + -14.46644242175652, + 0.08711012839697872 + ], + [ + -14.46269791169089, + 0.08523013063792283 + ] + ], + "yaw_rad": -3.130336785052207, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.84902572631836, + 0.0951606035232544, + 0.023522764444351196 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465178400945954, + 0.14148938048487542, + 0.11999464115976344 + ], + "intended_face_normal": [ + -0.9998149892023247, + -0.011253848518900673, + 0.015587878058442523 + ], + "commanded_contact_point": [ + -14.871222496032715, + 0.1276109665632248, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -14.465206974923085, + 0.1423583499309741, + 0.11879101826226758 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849056243896484, + 0.0950871929526329, + 0.02352505922317505 + ], + "box_pose": [ + -14.391990661621094, + 0.14061544835567474, + 0.13603739440441132, + 0.007816391065716743, + -0.003936407156288624, + 0.9999459981918335, + -0.005596457980573177 + ], + "box_yaw_rad": -3.130337197926401, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011728601272095662 + } + } + }, + { + "simulation_time_ns": 800000000, + "center": [ + -14.38799577673981, + 0.14234404420052382, + 0.11879105084994172 + ], + "face_center": [ + -14.465197007491737, + 0.14147553614905115, + 0.11998309939738627 + ], + "face_normal": [ + -0.9998176118337334, + -0.011247873089900448, + 0.01543798097889966 + ], + "footprint_xy": [ + [ + -14.467674859397166, + 0.08521408971156126 + ], + [ + -14.308316694082455, + 0.08521408971156126 + ], + [ + -14.308316694082455, + 0.1994739986894864 + ], + [ + -14.467674859397166, + 0.1994739986894864 + ] + ], + "projected_box_corners": [ + [ + -14.313272397893314, + 0.1994739986894864 + ], + [ + -14.30954742939911, + 0.19757737332116881 + ], + [ + -14.312041662576659, + 0.08884773118282421 + ], + [ + -14.308316694082455, + 0.08695110581450663 + ], + [ + -14.467674859397166, + 0.19773698258654104 + ], + [ + -14.463949890902962, + 0.19584035721822346 + ], + [ + -14.466444124080512, + 0.08711071507987886 + ], + [ + -14.462719155586308, + 0.08521408971156126 + ] + ], + "yaw_rad": -3.1303432032105514, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848997116088867, + 0.09522202610969543, + 0.023520469665527344 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465185911533334, + 0.14148328078814393, + 0.1199894738485572 + ], + "intended_face_normal": [ + -0.9998161106221033, + -0.011254273992096657, + 0.015520156596805241 + ], + "commanded_contact_point": [ + -14.870708465576172, + 0.1285286247730255, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.465214312296952, + 0.142352283087289, + 0.11879108008498021 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84902572631836, + 0.0951606035232544, + 0.023522764444351196 + ], + "box_pose": [ + -14.391999244689941, + 0.14060848951339722, + 0.13603709638118744, + 0.0077826716005802155, + -0.003962120972573757, + 0.9999461770057678, + -0.005596602335572243 + ], + "box_yaw_rad": -3.130336785052207, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010518193288846618 + } + } + }, + { + "simulation_time_ns": 820000000, + "center": [ + -14.388005621187327, + 0.14233348408255192, + 0.11879208295932321 + ], + "face_center": [ + -14.465206961824954, + 0.14146520602707738, + 0.11997692657707412 + ], + "face_normal": [ + -0.999819034941354, + -0.01124489445798825, + 0.015344671383578999 + ], + "footprint_xy": [ + [ + -14.46767353769141, + 0.08519316957709841 + ], + [ + -14.308337704683245, + 0.08519316957709841 + ], + [ + -14.308337704683245, + 0.19947379858800546 + ], + [ + -14.46767353769141, + 0.19947379858800546 + ] + ], + "projected_box_corners": [ + [ + -14.313270856416155, + 0.19947379858800546 + ], + [ + -14.309568042575805, + 0.19755591376514522 + ], + [ + -14.312040518523595, + 0.08884761051090773 + ], + [ + -14.308337704683245, + 0.08692972568804751 + ], + [ + -14.46767353769141, + 0.19773724247705635 + ], + [ + -14.463970723851059, + 0.1958193576541961 + ], + [ + -14.466443199798851, + 0.08711105439995862 + ], + [ + -14.4627403859585, + 0.08519316957709841 + ] + ], + "yaw_rad": -3.130346198015417, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848965644836426, + 0.09527084231376648, + 0.023518502712249756 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465197007491737, + 0.14147553614905115, + 0.11998309939738627 + ], + "intended_face_normal": [ + -0.9998176118337334, + -0.011247873089900448, + 0.01543798097889966 + ], + "commanded_contact_point": [ + -14.870184898376465, + 0.12929238379001617, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + -14.46522517637983, + 0.14234404420052382, + 0.11879105084994172 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848997116088867, + 0.09522202610969543, + 0.023520469665527344 + ], + "box_pose": [ + -14.392011642456055, + 0.1405990868806839, + 0.13603661954402924, + 0.007741759065538645, + -0.003996523097157478, + 0.9999464154243469, + -0.005593296140432358 + ], + "box_yaw_rad": -3.1303432032105514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000925986203748081 + } + } + }, + { + "simulation_time_ns": 840000000, + "center": [ + -14.3880207180482, + 0.14232135024375936, + 0.1187925641498799 + ], + "face_center": [ + -14.465222195862605, + 0.14145300159694343, + 0.11996805933783745 + ], + "face_normal": [ + -0.9998208114902125, + -0.011245808672252276, + 0.0152236017495931 + ], + "footprint_xy": [ + [ + -14.467674404961402, + 0.08516879606400046 + ], + [ + -14.308367031134999, + 0.08516879606400046 + ], + [ + -14.308367031134999, + 0.19947390442351828 + ], + [ + -14.467674404961402, + 0.19947390442351828 + ] + ], + "projected_box_corners": [ + [ + -14.313271449332591, + 0.19947390442351828 + ], + [ + -14.30959740694822, + 0.1975315825403774 + ], + [ + -14.312041073519369, + 0.0888478152407732 + ], + [ + -14.308367031134999, + 0.08690549335763231 + ], + [ + -14.467674404961402, + 0.1977372071298864 + ], + [ + -14.46400036257703, + 0.19579488524674554 + ], + [ + -14.46644402914818, + 0.08711111794714135 + ], + [ + -14.46276998676381, + 0.08516879606400046 + ] + ], + "yaw_rad": -3.1303453037347375, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848928451538086, + 0.0953068733215332, + 0.023515790700912476 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465206961824954, + 0.14146520602707738, + 0.11997692657707412 + ], + "intended_face_normal": [ + -0.999819034941354, + -0.01124489445798825, + 0.015344671383578999 + ], + "commanded_contact_point": [ + -14.86965560913086, + 0.12989318370819092, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -14.465234910901707, + 0.14233348408255192, + 0.11879208295932321 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848965644836426, + 0.09527084231376648, + 0.023518502712249756 + ], + "box_pose": [ + -14.392023086547852, + 0.14058701694011688, + 0.13603712618350983, + 0.00769534008577466, + -0.004040562082082033, + 0.9999465942382812, + -0.0055916523560881615 + ], + "box_yaw_rad": -3.130346198015417, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008006919819209077 + } + } + }, + { + "simulation_time_ns": 860000000, + "center": [ + -14.388037065114641, + 0.14230587328198882, + 0.11879325692567053 + ], + "face_center": [ + -14.465238752903808, + 0.1414379614454086, + 0.11995649893280963 + ], + "face_normal": [ + -0.9998235308311032, + -0.011240151630746003, + 0.015064913269319571 + ], + "footprint_xy": [ + [ + -14.46767174462014, + 0.08513840460157979 + ], + [ + -14.308402385609144, + 0.08513840460157979 + ], + [ + -14.308402385609144, + 0.19947334196239783 + ], + [ + -14.46767174462014, + 0.19947334196239783 + ] + ], + "projected_box_corners": [ + [ + -14.313268369041808, + 0.19947334196239783 + ], + [ + -14.309632065593258, + 0.19750023651573406 + ], + [ + -14.312038689057696, + 0.08884733372140399 + ], + [ + -14.308402385609144, + 0.08687422827474023 + ], + [ + -14.46767174462014, + 0.1977375182892374 + ], + [ + -14.464035441171589, + 0.19576441284257362 + ], + [ + -14.466442064636027, + 0.08711151004824358 + ], + [ + -14.462805761187475, + 0.08513840460157979 + ] + ], + "yaw_rad": -3.1303509916475463, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848891258239746, + 0.09532982110977173, + 0.023512929677963257 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465222195862605, + 0.14145300159694343, + 0.11996805933783745 + ], + "intended_face_normal": [ + -0.9998208114902125, + -0.011245808672252276, + 0.0152236017495931 + ], + "commanded_contact_point": [ + -14.86912727355957, + 0.13032770156860352, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.465249870536384, + 0.14232135024375936, + 0.1187925641498799 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848928451538086, + 0.0953068733215332, + 0.023515790700912476 + ], + "box_pose": [ + -14.392040252685547, + 0.14057312905788422, + 0.1360369473695755, + 0.007635084446519613, + -0.004091161768883467, + 0.9999468326568604, + -0.005591965280473232 + ], + "box_yaw_rad": -3.1303453037347375, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006840645051848739 + } + } + }, + { + "simulation_time_ns": 880000000, + "center": [ + -14.388058011578241, + 0.14228726486499424, + 0.1187945155547667 + ], + "face_center": [ + -14.465259871341294, + 0.14141879056202375, + 0.11994461758147563 + ], + "face_normal": [ + -0.9998257580303185, + -0.011247436019836316, + 0.014894740025638505 + ], + "footprint_xy": [ + [ + -14.467673016901593, + 0.08510099787230116 + ], + [ + -14.30844300625489, + 0.08510099787230116 + ], + [ + -14.30844300625489, + 0.1994735318576873 + ], + [ + -14.467673016901593, + 0.1994735318576873 + ] + ], + "projected_box_corners": [ + [ + -14.313269297375488, + 0.1994735318576873 + ], + [ + -14.30967339673022, + 0.19746377873487356 + ], + [ + -14.31203890690016, + 0.08884769960105587 + ], + [ + -14.30844300625489, + 0.08683794647824211 + ], + [ + -14.467673016901593, + 0.19773658325174637 + ], + [ + -14.464077116256325, + 0.1957268301289326 + ], + [ + -14.466442626426264, + 0.08711075099511492 + ], + [ + -14.462846725780997, + 0.08510099787230116 + ] + ], + "yaw_rad": -3.1303437319499414, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848848342895508, + 0.09534020721912384, + 0.023511499166488647 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465238752903808, + 0.1414379614454086, + 0.11995649893280963 + ], + "intended_face_normal": [ + -0.9998235308311032, + -0.011240151630746003, + 0.015064913269319571 + ], + "commanded_contact_point": [ + -14.868614196777344, + 0.13060075044631958, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -14.465266007553366, + 0.14230587328198882, + 0.11879325692567053 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848891258239746, + 0.09532982110977173, + 0.023512929677963257 + ], + "box_pose": [ + -14.392059326171875, + 0.1405554711818695, + 0.13603678345680237, + 0.007556076627224684, + -0.004154859110713005, + 0.9999472498893738, + -0.005588976200670004 + ], + "box_yaw_rad": -3.1303509916475463, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005812086324452782 + } + } + }, + { + "simulation_time_ns": 900000000, + "center": [ + -14.388083009445925, + 0.14226651407209384, + 0.11879577169265125 + ], + "face_center": [ + -14.465285131915856, + 0.14139792338095328, + 0.11992956055706619 + ], + "face_normal": [ + -0.9998291602942757, + -0.011248943339618062, + 0.014683471541867284 + ], + "footprint_xy": [ + [ + -14.467673211244977, + 0.08505908231525905 + ], + [ + -14.308492807646871, + 0.08505908231525905 + ], + [ + -14.308492807646871, + 0.19947394582892866 + ], + [ + -14.467673211244977, + 0.19947394582892866 + ] + ], + "projected_box_corners": [ + [ + -14.313268966305113, + 0.19947394582892866 + ], + [ + -14.309723276725885, + 0.19742196173251744 + ], + [ + -14.3120384972261, + 0.08884824779395145 + ], + [ + -14.308492807646871, + 0.08679626369754022 + ], + [ + -14.467673211244977, + 0.1977367644466475 + ], + [ + -14.46412752166575, + 0.19568478035023626 + ], + [ + -14.466442742165963, + 0.08711106641167027 + ], + [ + -14.462897052586735, + 0.08505908231525905 + ] + ], + "yaw_rad": -3.130342262838499, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848808288574219, + 0.09534004330635071, + 0.023509740829467773 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465259871341294, + 0.14141879056202375, + 0.11994461758147563 + ], + "intended_face_normal": [ + -0.9998257580303185, + -0.011247436019836316, + 0.014894740025638505 + ], + "commanded_contact_point": [ + -14.868114471435547, + 0.13072147965431213, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465286781982751, + 0.14228726486499424, + 0.1187945155547667 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848848342895508, + 0.09534020721912384, + 0.023511499166488647 + ], + "box_pose": [ + -14.392083168029785, + 0.1405342072248459, + 0.13603709638118744, + 0.007471422664821148, + -0.004230796825140715, + 0.9999474883079529, + -0.00559240160509944 + ], + "box_yaw_rad": -3.1303437319499414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005141020904412987 + } + } + }, + { + "simulation_time_ns": 920000000, + "center": [ + -14.388110514704666, + 0.1422432080757077, + 0.11879699775016726 + ], + "face_center": [ + -14.465312878324044, + 0.14137433154984835, + 0.1199128468500735 + ], + "face_normal": [ + -0.9998322833722588, + -0.011252645127570009, + 0.01445113725997494 + ], + "footprint_xy": [ + [ + -14.467673512874025, + 0.08501219937611545 + ], + [ + -14.308547516535304, + 0.08501219937611545 + ], + [ + -14.308547516535304, + 0.19947421677529992 + ], + [ + -14.467673512874025, + 0.19947421677529992 + ] + ], + "projected_box_corners": [ + [ + -14.313268785635268, + 0.19947421677529992 + ], + [ + -14.309778305184123, + 0.19737543474688768 + ], + [ + -14.312037996986449, + 0.08884873445624636 + ], + [ + -14.308547516535304, + 0.08674995242783412 + ], + [ + -14.467673512874025, + 0.19773646372358125 + ], + [ + -14.46418303242288, + 0.195637681695169 + ], + [ + -14.466442724225207, + 0.0871109814045277 + ], + [ + -14.462952243774062, + 0.08501219937611545 + ] + ], + "yaw_rad": -3.130338596037118, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.84876537322998, + 0.0953298807144165, + 0.023507267236709595 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465285131915856, + 0.14139792338095328, + 0.11992956055706619 + ], + "intended_face_normal": [ + -0.9998291602942757, + -0.011248943339618062, + 0.014683471541867284 + ], + "commanded_contact_point": [ + -14.86764144897461, + 0.13069918751716614, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -14.465311517052877, + 0.14226651407209384, + 0.11879577169265125 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848808288574219, + 0.09534004330635071, + 0.023509740829467773 + ], + "box_pose": [ + -14.392111778259277, + 0.1405104249715805, + 0.1360372006893158, + 0.007366270758211613, + -0.004318234510719776, + 0.9999479651451111, + -0.005592953413724899 + ], + "box_yaw_rad": -3.130342262838499, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047354745233093264 + } + } + }, + { + "simulation_time_ns": 940000000, + "center": [ + -14.388144053846933, + 0.14221741052717718, + 0.11879824008646372 + ], + "face_center": [ + -14.465346729310442, + 0.14134887052791786, + 0.11989333005072633 + ], + "face_normal": [ + -0.9998363220028605, + -0.011248286839259797, + 0.014182289869579617 + ], + "footprint_xy": [ + [ + -14.46767511818213, + 0.08496124061296685 + ], + [ + -14.308612989511735, + 0.08496124061296685 + ], + [ + -14.308612989511735, + 0.19947358044138752 + ], + [ + -14.46767511818213, + 0.19947358044138752 + ] + ], + "projected_box_corners": [ + [ + -14.313269767255113, + 0.19947358044138752 + ], + [ + -14.309843223925, + 0.1973236147842985 + ], + [ + -14.312039532841847, + 0.08884828626857456 + ], + [ + -14.308612989511735, + 0.08669832061148554 + ], + [ + -14.46767511818213, + 0.19773650044286883 + ], + [ + -14.464248574852018, + 0.1955865347857798 + ], + [ + -14.466444883768864, + 0.08711120627005588 + ], + [ + -14.463018340438753, + 0.08496124061296685 + ] + ], + "yaw_rad": -3.1303429999416417, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848721504211426, + 0.09530937671661377, + 0.02350372076034546 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465312878324044, + 0.14137433154984835, + 0.1199128468500735 + ], + "intended_face_normal": [ + -0.9998322833722588, + -0.011252645127570009, + 0.01445113725997494 + ], + "commanded_contact_point": [ + -14.867191314697266, + 0.13054798543453217, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.465338781080506, + 0.1422432080757077, + 0.11879699775016726 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84876537322998, + 0.0953298807144165, + 0.023507267236709595 + ], + "box_pose": [ + -14.392143249511719, + 0.14048375189304352, + 0.13603715598583221, + 0.007250644266605377, + -0.004415140952914953, + 0.9999483227729797, + -0.005594599060714245 + ], + "box_yaw_rad": -3.130338596037118, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004748504380925971 + } + } + }, + { + "simulation_time_ns": 960000000, + "center": [ + -14.388181448120953, + 0.14218707483918885, + 0.11879950956917468 + ], + "face_center": [ + -14.465384451133446, + 0.1413183693640668, + 0.1198696560654135 + ], + "face_normal": [ + -0.9998405640238581, + -0.011250429883875389, + 0.013859252032132265 + ], + "footprint_xy": [ + [ + -14.467674519272677, + 0.08490012925001 + ], + [ + -14.308688376969231, + 0.08490012925001 + ], + [ + -14.308688376969231, + 0.19947402042836773 + ], + [ + -14.467674519272677, + 0.19947402042836773 + ] + ], + "projected_box_corners": [ + [ + -14.313268513247694, + 0.19947402042836773 + ], + [ + -14.309918778323185, + 0.1972625446207556 + ], + [ + -14.31203811189374, + 0.08884901600786627 + ], + [ + -14.308688376969231, + 0.08663754020025413 + ], + [ + -14.467674519272677, + 0.1977366094781236 + ], + [ + -14.464324784348168, + 0.19552513367051147 + ], + [ + -14.466444117918723, + 0.08711160505762214 + ], + [ + -14.463094382994212, + 0.08490012925001 + ] + ], + "yaw_rad": -3.1303409045514368, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848682403564453, + 0.09528326988220215, + 0.023502260446548462 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465346729310442, + 0.14134887052791786, + 0.11989333005072633 + ], + "intended_face_normal": [ + -0.9998363220028605, + -0.011248286839259797, + 0.014182289869579617 + ], + "commanded_contact_point": [ + -14.86677360534668, + 0.1302846074104309, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.465372008275274, + 0.14221741052717718, + 0.11879824008646372 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848721504211426, + 0.09530937671661377, + 0.02350372076034546 + ], + "box_pose": [ + -14.392181396484375, + 0.14045430719852448, + 0.1360369473695755, + 0.007116791792213917, + -0.0045210570096969604, + 0.9999488592147827, + -0.005592253990471363 + ], + "box_yaw_rad": -3.1303429999416417, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004938107791917957 + } + } + }, + { + "simulation_time_ns": 980000000, + "center": [ + -14.388222051610503, + 0.14215311124507113, + 0.11880111268190681 + ], + "face_center": [ + -14.465425428640511, + 0.14128442910146904, + 0.11984359964234861 + ], + "face_normal": [ + -0.9998454078494858, + -0.011250127722053114, + 0.01350103894724167 + ], + "footprint_xy": [ + [ + -14.467672864955588, + 0.08483181742653079 + ], + [ + -14.308771238265418, + 0.08483181742653079 + ], + [ + -14.308771238265418, + 0.19947440506361147 + ], + [ + -14.467672864955588, + 0.19947440506361147 + ] + ], + "projected_box_corners": [ + [ + -14.313266110895572, + 0.19947440506361147 + ], + [ + -14.310001544349351, + 0.19719388162450108 + ], + [ + -14.31203580481164, + 0.08884970515284538 + ], + [ + -14.308771238265418, + 0.086569181713735 + ], + [ + -14.467672864955588, + 0.19773704077640727 + ], + [ + -14.464408298409367, + 0.19545651733729688 + ], + [ + -14.466442558871655, + 0.08711234086564118 + ], + [ + -14.463177992325434, + 0.08483181742653079 + ] + ], + "yaw_rad": -3.1303412612270574, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.84864616394043, + 0.09524967521429062, + 0.023500829935073853 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465384451133446, + 0.1413183693640668, + 0.1198696560654135 + ], + "intended_face_normal": [ + -0.9998405640238581, + -0.011250429883875389, + 0.013859252032132265 + ], + "commanded_contact_point": [ + -14.866382598876953, + 0.12992675602436066, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.46540907489445, + 0.14218707483918885, + 0.11879950956917468 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848682403564453, + 0.09528326988220215, + 0.023502260446548462 + ], + "box_pose": [ + -14.392224311828613, + 0.14041955769062042, + 0.1360364705324173, + 0.006955977529287338, + -0.004648369736969471, + 0.9999493360519409, + -0.00559316435828805 + ], + "box_yaw_rad": -3.1303409045514368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000530041200499899 + } + } + }, + { + "simulation_time_ns": 1000000000, + "center": [ + -14.38827117601085, + 0.14211451359098431, + 0.11880247191952617 + ], + "face_center": [ + -14.465474980060359, + 0.14124614937538113, + 0.11981274626746317 + ], + "face_normal": [ + -0.9998509380931562, + -0.011246010300484735, + 0.013083859881677495 + ], + "footprint_xy": [ + [ + -14.46767256237594, + 0.08475470248510955 + ], + [ + -14.308869789645758, + 0.08475470248510955 + ], + [ + -14.308869789645758, + 0.19947432469685908 + ], + [ + -14.46767256237594, + 0.19947432469685908 + ] + ], + "projected_box_corners": [ + [ + -14.31326495427692, + 0.19947432469685908 + ], + [ + -14.310099611224047, + 0.1971157811229059 + ], + [ + -14.312035132698632, + 0.08884997449026913 + ], + [ + -14.308869789645758, + 0.08649143091631595 + ], + [ + -14.46767256237594, + 0.19773759626565268 + ], + [ + -14.464507219323066, + 0.1953790526916995 + ], + [ + -14.466442740797651, + 0.08711324605906275 + ], + [ + -14.463277397744777, + 0.08475470248510955 + ] + ], + "yaw_rad": -3.1303454409683344, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848612785339355, + 0.09521277993917465, + 0.02349892258644104 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465425428640511, + 0.14128442910146904, + 0.11984359964234861 + ], + "intended_face_normal": [ + -0.9998454078494858, + -0.011250127722053114, + 0.01350103894724167 + ], + "commanded_contact_point": [ + -14.86602783203125, + 0.12949304282665253, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.465449304249004, + 0.14215311124507113, + 0.11880111268190681 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84864616394043, + 0.09524967521429062, + 0.023500829935073853 + ], + "box_pose": [ + -14.392271041870117, + 0.1403806507587433, + 0.13603612780570984, + 0.006777656264603138, + -0.0047912863083183765, + 0.9999498724937439, + -0.0055928705260157585 + ], + "box_yaw_rad": -3.1303412612270574, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005603272728788662 + } + } + }, + { + "simulation_time_ns": 1020000000, + "center": [ + -14.388326900152364, + 0.1420707446305898, + 0.11880421674362009 + ], + "face_center": [ + -14.465531210421597, + 0.1412025521240598, + 0.11977761992843236 + ], + "face_normal": [ + -0.9998574940429816, + -0.011243786530813957, + 0.012606348864018456 + ], + "footprint_xy": [ + [ + -14.467671885589999, + 0.0846670345958316 + ], + [ + -14.30898191471473, + 0.0846670345958316 + ], + [ + -14.30898191471473, + 0.19947445466534802 + ], + [ + -14.467671885589999, + 0.19947445466534802 + ] + ], + "projected_box_corners": [ + [ + -14.313263265051534, + 0.19947445466534802 + ], + [ + -14.31021149818754, + 0.19702740757131937 + ], + [ + -14.312033681578725, + 0.08885046670292027 + ], + [ + -14.30898191471473, + 0.08640341960889159 + ], + [ + -14.467671885589999, + 0.19773806965228802 + ], + [ + -14.464620118726005, + 0.19529102255825936 + ], + [ + -14.46644230211719, + 0.08711408168986026 + ], + [ + -14.463390535253195, + 0.0846670345958316 + ] + ], + "yaw_rad": -3.1303477385141276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.848583221435547, + 0.09517201036214828, + 0.02349790930747986 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465474980060359, + 0.14124614937538113, + 0.11981274626746317 + ], + "intended_face_normal": [ + -0.9998509380931562, + -0.011246010300484735, + 0.013083859881677495 + ], + "commanded_contact_point": [ + -14.865711212158203, + 0.129002183675766, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465498001500155, + 0.14211451359098431, + 0.11880247191952617 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848612785339355, + 0.09521277993917465, + 0.02349892258644104 + ], + "box_pose": [ + -14.392327308654785, + 0.14033648371696472, + 0.1360352337360382, + 0.00656994478777051, + -0.004952727816998959, + 0.9999504685401917, + -0.0055907429195940495 + ], + "box_yaw_rad": -3.1303454409683344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005841154423837362 + } + } + }, + { + "simulation_time_ns": 1040000000, + "center": [ + -14.388391165525798, + 0.14201968312451235, + 0.1188067759759496 + ], + "face_center": [ + -14.465595952497107, + 0.14115238819987816, + 0.11973884775515319 + ], + "face_normal": [ + -0.9998636677157029, + -0.011232162128213673, + 0.012071074143046676 + ], + "footprint_xy": [ + [ + -14.46767235518157, + 0.08456525244523018 + ], + [ + -14.309109975870024, + 0.08456525244523018 + ], + [ + -14.309109975870024, + 0.1994741138037945 + ], + [ + -14.46767235518157, + 0.1994741138037945 + ] + ], + "projected_box_corners": [ + [ + -14.31326278123895, + 0.1994741138037945 + ], + [ + -14.31033830235784, + 0.19692328384306246 + ], + [ + -14.312034454751135, + 0.0888506722552306 + ], + [ + -14.309109975870024, + 0.08629984229449855 + ], + [ + -14.46767235518157, + 0.19773952395452615 + ], + [ + -14.464747876300459, + 0.1951886939937941 + ], + [ + -14.466444028693754, + 0.08711608240596223 + ], + [ + -14.463519549812643, + 0.08456525244523018 + ] + ], + "yaw_rad": -3.130359432459279, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.849658966064453, + 0.09173276275396347, + 0.02642849087715149 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465531210421597, + 0.1412025521240598, + 0.11977761992843236 + ], + "intended_face_normal": [ + -0.9998574940429816, + -0.011243786530813957, + 0.012606348864018456 + ], + "commanded_contact_point": [ + -14.865445137023926, + 0.12848560512065887, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -14.465553219274316, + 0.1420707446305898, + 0.11880421674362009 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848583221435547, + 0.09517201036214828, + 0.02349790930747986 + ], + "box_pose": [ + -14.392391204833984, + 0.140286386013031, + 0.13603439927101135, + 0.006332191172987223, + -0.0051358588971197605, + 0.999951183795929, + -0.005589644890278578 + ], + "box_yaw_rad": -3.1303477385141276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005810760555697294 + } + } + }, + { + "simulation_time_ns": 1060000000, + "center": [ + -14.388462500473334, + 0.14196064158311805, + 0.11880963724762009 + ], + "face_center": [ + -14.465667910787058, + 0.1410930836572525, + 0.11969343633785662 + ], + "face_normal": [ + -0.9998717404979498, + -0.011235568204263165, + 0.011445904257414714 + ], + "footprint_xy": [ + [ + -14.467670237346418, + 0.0844460949221264 + ], + [ + -14.309254763600249, + 0.0844460949221264 + ], + [ + -14.309254763600249, + 0.1994751882441097 + ], + [ + -14.467670237346418, + 0.1994751882441097 + ] + ], + "projected_box_corners": [ + [ + -14.313259416718969, + 0.1994751882441097 + ], + [ + -14.310483570049689, + 0.19680412851284745 + ], + [ + -14.312030610269527, + 0.08885227050511976 + ], + [ + -14.309254763600249, + 0.08618121077385751 + ], + [ + -14.467670237346418, + 0.19774007239237862 + ], + [ + -14.46489439067714, + 0.19506901266111637 + ], + [ + -14.466441430896978, + 0.08711715465338865 + ], + [ + -14.463665584227698, + 0.0844460949221264 + ] + ], + "yaw_rad": -3.13035611706362, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.855920791625977, + 0.08153443783521652, + 0.041075438261032104 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465595952497107, + 0.14115238819987816, + 0.11973884775515319 + ], + "intended_face_normal": [ + -0.9998636677157029, + -0.011232162128213673, + 0.012071074143046676 + ], + "commanded_contact_point": [ + -14.86568832397461, + 0.12813284993171692, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.465617007812721, + 0.14201968312451235, + 0.1188067759759496 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849658966064453, + 0.09173276275396347, + 0.02642849087715149 + ], + "box_pose": [ + -14.392464637756348, + 0.14022794365882874, + 0.1360340267419815, + 0.006065708119422197, + -0.005350650288164616, + 0.9999516010284424, + -0.0055838958360254765 + ], + "box_yaw_rad": -3.130359432459279, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004284578359610638 + } + } + }, + { + "simulation_time_ns": 1080000000, + "center": [ + -14.388546688543512, + 0.14189293095132025, + 0.11881279232808897 + ], + "face_center": [ + -14.465752637695685, + 0.1410243098320794, + 0.11964162900453798 + ], + "face_normal": [ + -0.9998787188863074, + -0.011249337407824427, + 0.010734097091150018 + ], + "footprint_xy": [ + [ + -14.467671226066702, + 0.08430935112122917 + ], + [ + -14.309422151020321, + 0.08430935112122917 + ], + [ + -14.309422151020321, + 0.19947651078141132 + ], + [ + -14.467671226066702, + 0.19947651078141132 + ] + ], + "projected_box_corners": [ + [ + -14.313259327762356, + 0.19947651078141132 + ], + [ + -14.31065268220903, + 0.19666868936241608 + ], + [ + -14.31202879657365, + 0.08885441477870609 + ], + [ + -14.309422151020321, + 0.08604659335971085 + ], + [ + -14.467671226066702, + 0.19773926854292964 + ], + [ + -14.465064580513374, + 0.1949314471239344 + ], + [ + -14.466440694877994, + 0.08711717254022441 + ], + [ + -14.463834049324667, + 0.08430935112122917 + ] + ], + "yaw_rad": -3.1303424263464787, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.860658645629883, + 0.08744833618402481, + 0.050517886877059937 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465667910787058, + 0.1410930836572525, + 0.11969343633785662 + ], + "intended_face_normal": [ + -0.9998717404979498, + -0.011235568204263165, + 0.011445904257414714 + ], + "commanded_contact_point": [ + -14.865737915039062, + 0.1271161288022995, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -14.465687719252879, + 0.14196064158311805, + 0.11880963724762009 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.855920791625977, + 0.08153443783521652, + 0.041075438261032104 + ], + "box_pose": [ + -14.392546653747559, + 0.14016027748584747, + 0.13603346049785614, + 0.005754504818469286, + -0.005599518772214651, + 0.9999522566795349, + -0.005585828330367804 + ], + "box_yaw_rad": -3.13035611706362, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001017929825032799 + } + } + }, + { + "simulation_time_ns": 1100000000, + "center": [ + -14.388642213582404, + 0.14181460229474072, + 0.11881651844379268 + ], + "face_center": [ + -14.465848871148479, + 0.14094586963609104, + 0.11958139481206076 + ], + "face_normal": [ + -0.9998878934122732, + -0.011250781932273876, + 0.009905760004360595 + ], + "footprint_xy": [ + [ + -14.46766924436109, + 0.08415160863650377 + ], + [ + -14.309615182803718, + 0.08415160863650377 + ], + [ + -14.309615182803718, + 0.19947759595297765 + ], + [ + -14.46766924436109, + 0.19947759595297765 + ] + ], + "projected_box_corners": [ + [ + -14.313255929228939, + 0.19947759595297765 + ], + [ + -14.31084621886116, + 0.19651035404426362 + ], + [ + -14.312024893171497, + 0.0888563158625171 + ], + [ + -14.309615182803718, + 0.0858890739538031 + ], + [ + -14.46766924436109, + 0.1977401306356783 + ], + [ + -14.46525953399331, + 0.1947728887269643 + ], + [ + -14.466438208303648, + 0.08711885054521779 + ], + [ + -14.464028497935868, + 0.08415160863650377 + ] + ], + "yaw_rad": -3.130341085061298, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.86276912689209, + 0.09423719346523285, + 0.0543043315410614 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465752637695685, + 0.1410243098320794, + 0.11964162900453798 + ], + "intended_face_normal": [ + -0.9998787188863074, + -0.011249337407824427, + 0.010734097091150018 + ], + "commanded_contact_point": [ + -14.864899635314941, + 0.12535011768341064, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -14.465771368350122, + 0.14189293095132025, + 0.11881279232808897 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.860658645629883, + 0.08744833618402481, + 0.050517886877059937 + ], + "box_pose": [ + -14.392642974853516, + 0.1400827169418335, + 0.13603270053863525, + 0.005400208290666342, + -0.005882635246962309, + 0.9999523758888245, + -0.005593167617917061 + ], + "box_yaw_rad": -3.1303424263464787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00195486781358526 + } + } + }, + { + "simulation_time_ns": 1120000000, + "center": [ + -14.388754481363213, + 0.1417251793465445, + 0.11882018414771242 + ], + "face_center": [ + -14.465961844579642, + 0.14085698546186354, + 0.11951060592775532 + ], + "face_normal": [ + -0.999897032148082, + -0.011243804378969866, + 0.008941513607453232 + ], + "footprint_xy": [ + [ + -14.46766745864305, + 0.08397251180990825 + ], + [ + -14.309841504083375, + 0.08397251180990825 + ], + [ + -14.309841504083375, + 0.19947784688318076 + ], + [ + -14.46766745864305, + 0.19947784688318076 + ] + ], + "projected_box_corners": [ + [ + -14.31325273221019, + 0.19947784688318076 + ], + [ + -14.311072338770092, + 0.19632911824444435 + ], + [ + -14.312021897523474, + 0.08885762821800658 + ], + [ + -14.309841504083375, + 0.08570889957927016 + ], + [ + -14.46766745864305, + 0.19774145911381885 + ], + [ + -14.46548706520295, + 0.19459273047508244 + ], + [ + -14.466436623956332, + 0.08712124044864467 + ], + [ + -14.464256230516234, + 0.08397251180990825 + ] + ], + "yaw_rad": -3.130348165277329, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.861355781555176, + 0.09654288738965988, + 0.05794060230255127 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465848871148479, + 0.14094586963609104, + 0.11958139481206076 + ], + "intended_face_normal": [ + -0.9998878934122732, + -0.011250781932273876, + 0.009905760004360595 + ], + "commanded_contact_point": [ + -14.863813400268555, + 0.12411583960056305, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -14.465866184809746, + 0.14181460229474072, + 0.11881651844379268 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.86276912689209, + 0.09423719346523285, + 0.0543043315410614 + ], + "box_pose": [ + -14.392752647399902, + 0.13999296724796295, + 0.1360318511724472, + 0.00498787360265851, + -0.006212619598954916, + 0.9999526739120483, + -0.005594667978584766 + ], + "box_yaw_rad": -3.130341085061298, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016441864145550445 + } + } + }, + { + "simulation_time_ns": 1140000000, + "center": [ + -14.38888529524062, + 0.14162170577219416, + 0.11882434594243838 + ], + "face_center": [ + -14.46609336624852, + 0.14075468441936992, + 0.11942932860733167 + ], + "face_normal": [ + -0.9999061986130777, + -0.01122861915472708, + 0.007835008811687048 + ], + "footprint_xy": [ + [ + -14.467666983858315, + 0.08376623079595846 + ], + [ + -14.310103606622924, + 0.08376623079595846 + ], + [ + -14.310103606622924, + 0.19947718074842985 + ], + [ + -14.467666983858315, + 0.19947718074842985 + ] + ], + "projected_box_corners": [ + [ + -14.313250841842512, + 0.19947718074842985 + ], + [ + -14.31133360900958, + 0.19611917018884284 + ], + [ + -14.312020839455855, + 0.08885828406119395 + ], + [ + -14.310103606622924, + 0.08550027350160694 + ], + [ + -14.467666983858315, + 0.19774313804278137 + ], + [ + -14.465749751025383, + 0.19438512748319436 + ], + [ + -14.466436981471658, + 0.08712424135554547 + ], + [ + -14.464519748638727, + 0.08376623079595846 + ] + ], + "yaw_rad": -3.13036345308182, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.857085227966309, + 0.09904871135950089, + 0.061372965574264526 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465961844579642, + 0.14085698546186354, + 0.11951060592775532 + ], + "intended_face_normal": [ + -0.999897032148082, + -0.011243804378969866, + 0.008941513607453232 + ], + "commanded_contact_point": [ + -14.862709999084473, + 0.12347397953271866, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -14.46597774678841, + 0.1417251793465445, + 0.11882018414771242 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.861355781555176, + 0.09654288738965988, + 0.05794060230255127 + ], + "box_pose": [ + -14.392881393432617, + 0.13989058136940002, + 0.1360301971435547, + 0.00450781499966979, + -0.006588202901184559, + 0.9999525547027588, + -0.005592469125986099 + ], + "box_yaw_rad": -3.130348165277329, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012765102902501857 + } + } + }, + { + "simulation_time_ns": 1160000000, + "center": [ + -14.389034236231298, + 0.1415035814289881, + 0.11882863064540757 + ], + "face_center": [ + -14.466243016768178, + 0.14063637525225348, + 0.1193350809669427 + ], + "face_normal": [ + -0.9999153875801723, + -0.011231012772016585, + 0.00655893625085828 + ], + "footprint_xy": [ + [ + -14.467665671261907, + 0.0835288020261785 + ], + [ + -14.310402801200691, + 0.0835288020261785 + ], + [ + -14.310402801200691, + 0.1994783608317977 + ], + [ + -14.467665671261907, + 0.1994783608317977 + ] + ], + "projected_box_corners": [ + [ + -14.313248110188146, + 0.1994783608317977 + ], + [ + -14.311634312643074, + 0.19588050766137685 + ], + [ + -14.312016598745764, + 0.08886106755006862 + ], + [ + -14.310402801200691, + 0.08526321437964776 + ], + [ + -14.467665671261907, + 0.19774394847832846 + ], + [ + -14.466051873716834, + 0.1941460953079076 + ], + [ + -14.466434159819524, + 0.08712665519659936 + ], + [ + -14.464820362274452, + 0.0835288020261785 + ] + ], + "yaw_rad": -3.1303611627486894, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.853766441345215, + 0.10468857735395432, + 0.06557439267635345 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46609336624852, + 0.14075468441936992, + 0.11942932860733167 + ], + "intended_face_normal": [ + -0.9999061986130777, + -0.01122861915472708, + 0.007835008811687048 + ], + "commanded_contact_point": [ + -14.86181926727295, + 0.12278925627470016, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.466107852735052, + 0.14162170577219416, + 0.11882434594243838 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.857085227966309, + 0.09904871135950089, + 0.061372965574264526 + ], + "box_pose": [ + -14.393031120300293, + 0.1397721916437149, + 0.1360282152891159, + 0.003956921398639679, + -0.007021316792815924, + 0.9999518990516663, + -0.005586795508861542 + ], + "box_yaw_rad": -3.13036345308182, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011234985982872118 + } + } + }, + { + "simulation_time_ns": 1180000000, + "center": [ + -14.389206525331053, + 0.1413666605938391, + 0.11883375955735612 + ], + "face_center": [ + -14.466415979450197, + 0.14049917687893027, + 0.11922641552170846 + ], + "face_normal": [ + -0.9999241110085739, + -0.011234607113088706, + 0.005085208418665485 + ], + "footprint_xy": [ + [ + -14.467664522313708, + 0.08325317454870884 + ], + [ + -14.310748528348398, + 0.08325317454870884 + ], + [ + -14.310748528348398, + 0.19948014663896935 + ], + [ + -14.467664522313708, + 0.19948014663896935 + ] + ], + "projected_box_corners": [ + [ + -14.313245614075424, + 0.19948014663896935 + ], + [ + -14.311982217147369, + 0.19560344724986228 + ], + [ + -14.312011925276453, + 0.08886484136763353 + ], + [ + -14.310748528348398, + 0.08498814197852647 + ], + [ + -14.467664522313708, + 0.1977451792091517 + ], + [ + -14.466401125385655, + 0.19386847982004463 + ], + [ + -14.466430833514737, + 0.08712987393781589 + ], + [ + -14.465167436586684, + 0.08325317454870884 + ] + ], + "yaw_rad": -3.1303576665646933, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.855311393737793, + 0.1119447723031044, + 0.06732487678527832 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466243016768178, + 0.14063637525225348, + 0.1193350809669427 + ], + "intended_face_normal": [ + -0.9999153875801723, + -0.011231012772016585, + 0.00655893625085828 + ], + "commanded_contact_point": [ + -14.861335754394531, + 0.12164846807718277, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.466256084070146, + 0.1415035814289881, + 0.11882863064540757 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.853766441345215, + 0.10468857735395432, + 0.06557439267635345 + ], + "box_pose": [ + -14.39320182800293, + 0.13963688910007477, + 0.13602538406848907, + 0.003321662312373519, + -0.007517702411860228, + 0.9999505877494812, + -0.005590811371803284 + ], + "box_yaw_rad": -3.1303611627486894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012390247839516883 + } + } + }, + { + "simulation_time_ns": 1200000000, + "center": [ + -14.389405270102475, + 0.1412097193034959, + 0.11883769429825217 + ], + "face_center": [ + -14.4666152865805, + 0.14034245076701113, + 0.11909813884666551 + ], + "face_normal": [ + -0.9999313940053496, + -0.011231820380598377, + 0.003372964962779974 + ], + "footprint_xy": [ + [ + -14.467661362664728, + 0.082937811133793 + ], + [ + -14.311149177540223, + 0.082937811133793 + ], + [ + -14.311149177540223, + 0.19948162747319884 + ], + [ + -14.467661362664728, + 0.19948162747319884 + ] + ], + "projected_box_corners": [ + [ + -14.31324132970868, + 0.19948162747319884 + ], + [ + -14.312385103399741, + 0.19528517624420408 + ], + [ + -14.312005403849161, + 0.08886879943575733 + ], + [ + -14.311149177540223, + 0.08467234820676259 + ], + [ + -14.467661362664728, + 0.19774709040022925 + ], + [ + -14.46680513635579, + 0.1935506391712345 + ], + [ + -14.466425436805212, + 0.08713426236278775 + ], + [ + -14.465569210496273, + 0.082937811133793 + ] + ], + "yaw_rad": -3.130360534959814, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.859975814819336, + 0.11602267622947693, + 0.066470667719841 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466415979450197, + 0.14049917687893027, + 0.11922641552170846 + ], + "intended_face_normal": [ + -0.9999241110085739, + -0.011234607113088706, + 0.005085208418665485 + ], + "commanded_contact_point": [ + -14.861227035522461, + 0.12009080499410629, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.466427699479514, + 0.1413666605938391, + 0.11883375955735612 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.855311393737793, + 0.1119447723031044, + 0.06732487678527832 + ], + "box_pose": [ + -14.393399238586426, + 0.13947999477386475, + 0.13602222502231598, + 0.0025880420580506325, + -0.008094843477010727, + 0.999948263168335, + -0.005596643313765526 + ], + "box_yaw_rad": -3.1303576665646933, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015614525524806884 + } + } + }, + { + "simulation_time_ns": 1220000000, + "center": [ + -14.389633384165514, + 0.14102893098417857, + 0.11884132830700515 + ], + "face_center": [ + -14.466843764283684, + 0.14016096641777456, + 0.11895116516296278 + ], + "face_normal": [ + -0.9999361034357435, + -0.011240834524088195, + 0.0014224750298056366 + ], + "footprint_xy": [ + [ + -14.467660236967362, + 0.0825738995720717 + ], + [ + -14.311606531363665, + 0.0825738995720717 + ], + [ + -14.311606531363665, + 0.19948396239628544 + ], + [ + -14.467660236967362, + 0.19948396239628544 + ] + ], + "projected_box_corners": [ + [ + -14.31323947673102, + 0.19948396239628544 + ], + [ + -14.312846959259874, + 0.19491956107585837 + ], + [ + -14.31199904883481, + 0.08887423002530677 + ], + [ + -14.311606531363665, + 0.08430982870487971 + ], + [ + -14.467660236967362, + 0.19774803326347742 + ], + [ + -14.467267719496217, + 0.19318363194305035 + ], + [ + -14.466419809071153, + 0.08713830089249877 + ], + [ + -14.466027291600007, + 0.0825738995720717 + ] + ], + "yaw_rad": -3.130351574274282, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.863419532775879, + 0.11461013555526733, + 0.0657230019569397 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.4666152865805, + 0.14034245076701113, + 0.11909813884666551 + ], + "intended_face_normal": [ + -0.9999313940053496, + -0.011231820380598377, + 0.003372964962779974 + ], + "commanded_contact_point": [ + -14.861418724060059, + 0.11835937201976776, + 0.04999994859099388 + ], + "centerline_face_intersection": [ + -14.466625881810787, + 0.1412097193034959, + 0.11883769429825217 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.859975814819336, + 0.11602267622947693, + 0.066470667719841 + ], + "box_pose": [ + -14.393627166748047, + 0.1393001824617386, + 0.13601648807525635, + 0.0017356246244162321, + -0.008756584487855434, + 0.9999445080757141, + -0.005601022858172655 + ], + "box_yaw_rad": -3.130360534959814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001742011665515805 + } + } + }, + { + "simulation_time_ns": 1240000000, + "center": [ + -14.389896727839119, + 0.14082096994645213, + 0.1188449671286381 + ], + "face_center": [ + -14.467107135232482, + 0.13995294653999485, + 0.11878222760553159 + ], + "face_normal": [ + -0.9999364566712732, + -0.011241596549783513, + -0.0008125269448294378 + ], + "footprint_xy": [ + [ + -14.467799224830276, + 0.08215738776347517 + ], + [ + -14.311994230847962, + 0.08215738776347517 + ], + [ + -14.311994230847962, + 0.19948455212942912 + ], + [ + -14.467799224830276, + 0.19948455212942912 + ] + ], + "projected_box_corners": [ + [ + -14.313239563524773, + 0.19948455212942912 + ], + [ + -14.31337841004355, + 0.19449926616210583 + ], + [ + -14.311994230847962, + 0.08887872054371299 + ], + [ + -14.312133077366738, + 0.0838934345763897 + ], + [ + -14.4676603783115, + 0.19774850531651456 + ], + [ + -14.467799224830276, + 0.19276321934919127 + ], + [ + -14.466415045634688, + 0.08714267373079844 + ], + [ + -14.466553892153465, + 0.08215738776347517 + ] + ], + "yaw_rad": -3.130350816267128, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.864619255065918, + 0.1100919172167778, + 0.06539176404476166 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466843764283684, + 0.14016096641777456, + 0.11895116516296278 + ], + "intended_face_normal": [ + -0.9999361034357435, + -0.011240834524088195, + 0.0014224750298056366 + ], + "commanded_contact_point": [ + -14.861726760864258, + 0.11641867458820343, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -14.46685363218549, + 0.14102893098417857, + 0.11884132830700515 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863419532775879, + 0.11461013555526733, + 0.0657230019569397 + ], + "box_pose": [ + -14.393888473510742, + 0.13909302651882172, + 0.13600897789001465, + 0.0007647143211215734, + -0.009518146514892578, + 0.9999387264251709, + -0.005613482557237148 + ], + "box_yaw_rad": -3.130351574274282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019649919070433243 + } + } + }, + { + "simulation_time_ns": 1260000000, + "center": [ + -14.39020092035045, + 0.14058676571170894, + 0.11885115226314888 + ], + "face_center": [ + -14.467410902085946, + 0.1397191283959838, + 0.11858903888749062 + ], + "face_normal": [ + -0.999930944061842, + -0.011236596366366789, + -0.0033945776087746463 + ], + "footprint_xy": [ + [ + -14.468413023957456, + 0.08168917570420914 + ], + [ + -14.311988816743446, + 0.08168917570420914 + ], + [ + -14.311988816743446, + 0.19948435571920872 + ], + [ + -14.468413023957456, + 0.19948435571920872 + ] + ], + "projected_box_corners": [ + [ + -14.313240214844997, + 0.19948435571920872 + ], + [ + -14.313993060486464, + 0.19402551753247238 + ], + [ + -14.311988816743446, + 0.08888328852239574 + ], + [ + -14.312741662384912, + 0.0834244503356594 + ], + [ + -14.467660178315988, + 0.19774908108775846 + ], + [ + -14.468413023957456, + 0.19229024290102212 + ], + [ + -14.466408780214437, + 0.08714801389094548 + ], + [ + -14.467161625855905, + 0.08168917570420914 + ] + ], + "yaw_rad": -3.1303557541932836, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.865317344665527, + 0.10780835151672363, + 0.0649184137582779 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467107135232482, + 0.13995294653999485, + 0.11878222760553159 + ], + "intended_face_normal": [ + -0.9999364566712732, + -0.011241596549783513, + -0.0008125269448294378 + ], + "commanded_contact_point": [ + -14.86223316192627, + 0.11415990442037582, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.467116948580427, + 0.14082096994645213, + 0.1188449671286381 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864619255065918, + 0.1100919172167778, + 0.06539176404476166 + ], + "box_pose": [ + -14.394189834594727, + 0.1388549506664276, + 0.13599972426891327, + -0.0003478502039797604, + -0.010389260947704315, + 0.9999301433563232, + -0.005624805111438036 + ], + "box_yaw_rad": -3.130350816267128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023148401042736755 + } + } + }, + { + "simulation_time_ns": 1280000000, + "center": [ + -14.390532685505148, + 0.1403400160203073, + 0.118860591098852 + ], + "face_center": [ + -14.467741653900207, + 0.13947446593888158, + 0.11838142460412963 + ], + "face_normal": [ + -0.9999178204936585, + -0.011209565014764594, + -0.0062055888974556885 + ], + "footprint_xy": [ + [ + -14.469080854155054, + 0.08119879444458111 + ], + [ + -14.311984516855242, + 0.08119879444458111 + ], + [ + -14.311984516855242, + 0.19948123759603348 + ], + [ + -14.469080854155054, + 0.19948123759603348 + ] + ], + "projected_box_corners": [ + [ + -14.313241347055236, + 0.19948123759603348 + ], + [ + -14.314662917364936, + 0.19352554956536167 + ], + [ + -14.311984516855242, + 0.08888558263810437 + ], + [ + -14.313406087164942, + 0.08292989460743255 + ], + [ + -14.467659283845352, + 0.19775013743318204 + ], + [ + -14.469080854155054, + 0.19179444940251023 + ], + [ + -14.466402453645358, + 0.08715448247525293 + ], + [ + -14.46782402395506, + 0.08119879444458111 + ] + ], + "yaw_rad": -3.130382636893356, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.868972778320312, + 0.10670754313468933, + 0.0627552717924118 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467410902085946, + 0.1397191283959838, + 0.11858903888749062 + ], + "intended_face_normal": [ + -0.999930944061842, + -0.011236596366366789, + -0.0033945776087746463 + ], + "commanded_contact_point": [ + -14.8629789352417, + 0.11132819950580597, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -14.467421566806074, + 0.14058676571170894, + 0.11885115226314888 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.865317344665527, + 0.10780835151672363, + 0.0649184137582779 + ], + "box_pose": [ + -14.394537925720215, + 0.1385868936777115, + 0.1359909474849701, + -0.0016333305975422263, + -0.011369207873940468, + 0.9999181032180786, + -0.005637329537421465 + ], + "box_yaw_rad": -3.1303557541932836, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002928264086943879 + } + } + }, + { + "simulation_time_ns": 1300000000, + "center": [ + -14.390865495726901, + 0.14007064294352747, + 0.11887807192557176 + ], + "face_center": [ + -14.468072842189674, + 0.13920710508940048, + 0.11818182007696247 + ], + "face_normal": [ + -0.9998968151748491, + -0.011183505063741613, + -0.009017017652843455 + ], + "footprint_xy": [ + [ + -14.469749660230466, + 0.08066270015771336 + ], + [ + -14.311981331223338, + 0.08066270015771336 + ], + [ + -14.311981331223338, + 0.19947858572934157 + ], + [ + -14.469749660230466, + 0.19947858572934157 + ] + ], + "projected_box_corners": [ + [ + -14.313245165140547, + 0.19947858572934157 + ], + [ + -14.315334967304919, + 0.19297895979790275 + ], + [ + -14.311981331223338, + 0.08888940179740612 + ], + [ + -14.31407113338771, + 0.0823897758659673 + ], + [ + -14.467659858066092, + 0.19775151002108765 + ], + [ + -14.469749660230466, + 0.1912518840896488 + ], + [ + -14.466396024148883, + 0.0871623260891522 + ], + [ + -14.468485826313257, + 0.08066270015771336 + ] + ], + "yaw_rad": -3.1304084607915614, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.874813079833984, + 0.10308921337127686, + 0.06367716193199158 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467741653900207, + 0.13947446593888158, + 0.11838142460412963 + ], + "intended_face_normal": [ + -0.9999178204936585, + -0.011209565014764594, + -0.0062055888974556885 + ], + "commanded_contact_point": [ + -14.863333702087402, + 0.1085919439792633, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.46775434545448, + 0.1403400160203073, + 0.118860591098852 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.868972778320312, + 0.10670754313468933, + 0.0627552717924118 + ], + "box_pose": [ + -14.394917488098145, + 0.1383047252893448, + 0.13598404824733734, + -0.003033133689314127, + -0.01239712629467249, + 0.999902606010437, + -0.005642934236675501 + ], + "box_yaw_rad": -3.130382636893356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027591581725880253 + } + } + }, + { + "simulation_time_ns": 1320000000, + "center": [ + -14.390958930025336, + 0.13995962972584672, + 0.11890047004380674 + ], + "face_center": [ + -14.468165719155893, + 0.1390961770067946, + 0.11814296330598062 + ], + "face_normal": [ + -0.9998895972773996, + -0.01118240249651052, + -0.009810317402775152 + ], + "footprint_xy": [ + [ + -14.469938002632926, + 0.0804417395723765 + ], + [ + -14.311979857417747, + 0.0804417395723765 + ], + [ + -14.311979857417747, + 0.19947751987931692 + ], + [ + -14.469938002632926, + 0.19947751987931692 + ] + ], + "projected_box_corners": [ + [ + -14.31324691518545, + 0.19947751987931692 + ], + [ + -14.315524424371814, + 0.19275502289609683 + ], + [ + -14.311979857417747, + 0.08889114199370081 + ], + [ + -14.314257366604112, + 0.08216864501048071 + ], + [ + -14.467660493446562, + 0.1977506144412127 + ], + [ + -14.469938002632926, + 0.1910281174579926 + ], + [ + -14.466393435678858, + 0.0871642365555966 + ], + [ + -14.468670944865224, + 0.0804417395723765 + ] + ], + "yaw_rad": -3.1304094826140814, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.878145217895508, + 0.10093462467193604, + 0.0679984837770462 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468072842189674, + 0.13920710508940048, + 0.11818182007696247 + ], + "intended_face_normal": [ + -0.9998968151748491, + -0.011183505063741613, + -0.009017017652843455 + ], + "commanded_contact_point": [ + -14.86317253112793, + 0.10589441657066345, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.468088777909209, + 0.14007064294352747, + 0.11887807192557176 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.874813079833984, + 0.10308921337127686, + 0.06367716193199158 + ], + "box_pose": [ + -14.39529800415039, + 0.13799656927585602, + 0.13598458468914032, + -0.004432590212672949, + -0.01352325826883316, + 0.9998827576637268, + -0.005652358289808035 + ], + "box_yaw_rad": -3.1304084607915614, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027023379134232597 + } + } + }, + { + "simulation_time_ns": 1340000000, + "center": [ + -14.39094565897974, + 0.13995717440393557, + 0.11890653955713788 + ], + "face_center": [ + -14.468152517791975, + 0.1390943230280515, + 0.11815805195235776 + ], + "face_normal": [ + -0.9998904997108122, + -0.011174614622090451, + -0.009693512424732134 + ], + "footprint_xy": [ + [ + -14.469910190701126, + 0.08043717281512061 + ], + [ + -14.311981127258354, + 0.08043717281512061 + ], + [ + -14.311981127258354, + 0.1994771759927505 + ], + [ + -14.469910190701126, + 0.1994771759927505 + ] + ], + "projected_box_corners": [ + [ + -14.313246986907206, + 0.1994771759927505 + ], + [ + -14.315496473076657, + 0.1927491558136575 + ], + [ + -14.311981127258354, + 0.08889089574598172 + ], + [ + -14.314230613427803, + 0.08216287556688874 + ], + [ + -14.467660704531676, + 0.19775147324098236 + ], + [ + -14.469910190701126, + 0.1910234530618894 + ], + [ + -14.466394844882824, + 0.08716519299421359 + ], + [ + -14.468644331052273, + 0.08043717281512061 + ] + ], + "yaw_rad": -3.1304172804603363, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.876970291137695, + 0.09799564629793167, + 0.073247030377388 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468165719155893, + 0.1390961770067946, + 0.11814296330598062 + ], + "intended_face_normal": [ + -0.9998895972773996, + -0.01118240249651052, + -0.009810317402775152 + ], + "commanded_contact_point": [ + -14.863399505615234, + 0.10340499877929688, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + -14.46818276965892, + 0.13995962972584672, + 0.11890047004380674 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.878145217895508, + 0.10093462467193604, + 0.0679984837770462 + ], + "box_pose": [ + -14.395404815673828, + 0.13786962628364563, + 0.1360015720129013, + -0.004826613236218691, + -0.013985680416226387, + 0.9998745918273926, + -0.005659414455294609 + ], + "box_yaw_rad": -3.1304094826140814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002499743659231953 + } + } + }, + { + "simulation_time_ns": 1360000000, + "center": [ + -14.39090300384778, + 0.13997770234295345, + 0.11891018098490909 + ], + "face_center": [ + -14.468110102010838, + 0.13911289998824275, + 0.11818862723516665 + ], + "face_normal": [ + -0.999893599495173, + -0.011199881356470254, + -0.009344697485398047 + ], + "footprint_xy": [ + [ + -14.469826873187326, + 0.08047619864767079 + ], + [ + -14.311979134508235, + 0.08047619864767079 + ], + [ + -14.311979134508235, + 0.19947920603823613 + ], + [ + -14.469826873187326, + 0.19947920603823613 + ] + ], + "projected_box_corners": [ + [ + -14.313246537532443, + 0.19947920603823613 + ], + [ + -14.31541267686121, + 0.19279259331100373 + ], + [ + -14.311979134508235, + 0.0888924160843246 + ], + [ + -14.314145273837003, + 0.08220580335709221 + ], + [ + -14.467660733858558, + 0.1977496013288147 + ], + [ + -14.469826873187326, + 0.1910629886015823 + ], + [ + -14.46639333083435, + 0.08716281137490317 + ], + [ + -14.468559470163118, + 0.08047619864767079 + ] + ], + "yaw_rad": -3.130392048842187, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.871432304382324, + 0.09559233486652374, + 0.07676535844802856 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468152517791975, + 0.1390943230280515, + 0.11815805195235776 + ], + "intended_face_normal": [ + -0.9998904997108122, + -0.011174614622090451, + -0.009693512424732134 + ], + "commanded_contact_point": [ + -14.863279342651367, + 0.10115835815668106, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.468169428916319, + 0.13995717440393557, + 0.11890653955713788 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.876970291137695, + 0.09799564629793167, + 0.073247030377388 + ], + "box_pose": [ + -14.395389556884766, + 0.13786680996418, + 0.1360081136226654, + -0.004768201150000095, + -0.013997545465826988, + 0.9998746514320374, + -0.005654759239405394 + ], + "box_yaw_rad": -3.1304172804603363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022498518238060925 + } + } + }, + { + "simulation_time_ns": 1380000000, + "center": [ + -14.390838770387678, + 0.14002183084608166, + 0.11891024592785072 + ], + "face_center": [ + -14.468046294358833, + 0.1391577359512226, + 0.11823066547436606 + ], + "face_normal": [ + -0.9998991140502036, + -0.011190719186224163, + -0.008801109767734665 + ], + "footprint_xy": [ + [ + -14.469696909030912, + 0.0805651388277242 + ], + [ + -14.311980631744445, + 0.0805651388277242 + ], + [ + -14.311980631744445, + 0.19947852286443912 + ], + [ + -14.469696909030912, + 0.19947852286443912 + ] + ], + "projected_box_corners": [ + [ + -14.313245000926276, + 0.19947852286443912 + ], + [ + -14.3152818610886, + 0.19288132520514326 + ], + [ + -14.311980631744445, + 0.08889052627673816 + ], + [ + -14.31401749190677, + 0.08229332861744232 + ], + [ + -14.467660048868586, + 0.197750333074721 + ], + [ + -14.469696909030912, + 0.19115313541542517 + ], + [ + -14.466395679686757, + 0.08716233648702006 + ], + [ + -14.468432539849081, + 0.0805651388277242 + ] + ], + "yaw_rad": -3.1304012725557357, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.866680145263672, + 0.0940818041563034, + 0.07800057530403137 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468110102010838, + 0.13911289998824275, + 0.11818862723516665 + ], + "intended_face_normal": [ + -0.999893599495173, + -0.011199881356470254, + -0.009344697485398047 + ], + "commanded_contact_point": [ + -14.863153457641602, + 0.09959633648395538, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.468126534381852, + 0.13997770234295345, + 0.11891018098490909 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.871432304382324, + 0.09559233486652374, + 0.07676535844802856 + ], + "box_pose": [ + -14.395340919494629, + 0.13789018988609314, + 0.13601365685462952, + -0.004594109486788511, + -0.013912144117057323, + 0.9998766183853149, + -0.005664553493261337 + ], + "box_yaw_rad": -3.130392048842187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001567086067115784 + } + } + }, + { + "simulation_time_ns": 1400000000, + "center": [ + -14.390752114717817, + 0.1400876838062753, + 0.1189082518385398 + ], + "face_center": [ + -14.467960089564375, + 0.13922227854570599, + 0.11828555883898172 + ], + "face_normal": [ + -0.9999049532468633, + -0.01120768946898123, + -0.00806437179381651 + ], + "footprint_xy": [ + [ + -14.469522646789224, + 0.08069509896050239 + ], + [ + -14.31198158264641, + 0.08069509896050239 + ], + [ + -14.31198158264641, + 0.1994802686520482 + ], + [ + -14.469522646789224, + 0.1994802686520482 + ] + ], + "projected_box_corners": [ + [ + -14.31324512042198, + 0.1994802686520482 + ], + [ + -14.315106697096107, + 0.19301552843682745 + ], + [ + -14.31198158264641, + 0.08889064969686175 + ], + [ + -14.313843159320538, + 0.082425909481641 + ], + [ + -14.467661070115097, + 0.1977494581309096 + ], + [ + -14.469522646789224, + 0.19128471791568885 + ], + [ + -14.466397532339528, + 0.08715983917572315 + ], + [ + -14.468259109013655, + 0.08069509896050239 + ] + ], + "yaw_rad": -3.130384368138075, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.864155769348145, + 0.0940578281879425, + 0.07591810822486877 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.468046294358833, + 0.1391577359512226, + 0.11823066547436606 + ], + "intended_face_normal": [ + -0.9998991140502036, + -0.011190719186224163, + -0.008801109767734665 + ], + "commanded_contact_point": [ + -14.863228797912598, + 0.09868191182613373, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -14.468061875025374, + 0.14002183084608166, + 0.11891024592785072 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866680145263672, + 0.0940818041563034, + 0.07800057530403137 + ], + "box_pose": [ + -14.395267486572266, + 0.13794074952602386, + 0.13601689040660858, + -0.00432343827560544, + -0.0137272784486413, + 0.9998805522918701, + -0.005655384156852961 + ], + "box_yaw_rad": -3.1304012725557357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009175230849891793 + } + } + }, + { + "simulation_time_ns": 1420000000, + "center": [ + -14.390640312339828, + 0.14017446657943067, + 0.11890429668404462 + ], + "face_center": [ + -14.467848827647295, + 0.13930841794880802, + 0.1183543461113492 + ], + "face_normal": [ + -0.9999119526473712, + -0.011216021625139823, + -0.007122299254344595 + ], + "footprint_xy": [ + [ + -14.469298174784496, + 0.0808676513099417 + ], + [ + -14.311982449895162, + 0.0808676513099417 + ], + [ + -14.311982449895162, + 0.1994812818489196 + ], + [ + -14.469298174784496, + 0.1994812818489196 + ] + ], + "projected_box_corners": [ + [ + -14.313243558263602, + 0.1994812818489196 + ], + [ + -14.314881144169565, + 0.19319149621582066 + ], + [ + -14.311982449895162, + 0.08888953420428597 + ], + [ + -14.313620035801122, + 0.082599748571187 + ], + [ + -14.467660588878534, + 0.19774918458767432 + ], + [ + -14.469298174784496, + 0.19145939895457537 + ], + [ + -14.466399480510091, + 0.08715743694304068 + ], + [ + -14.468037066416054, + 0.0808676513099417 + ] + ], + "yaw_rad": -3.130376114747388, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.863737106323242, + 0.09574173390865326, + 0.0706360936164856 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467960089564375, + 0.13922227854570599, + 0.11828555883898172 + ], + "intended_face_normal": [ + -0.9999049532468633, + -0.01120768946898123, + -0.00806437179381651 + ], + "commanded_contact_point": [ + -14.863446235656738, + 0.09832507371902466, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.467974768391755, + 0.1400876838062753, + 0.1189082518385398 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864155769348145, + 0.0940578281879425, + 0.07591810822486877 + ], + "box_pose": [ + -14.39516830444336, + 0.1380160003900528, + 0.1360192745923996, + -0.003956523723900318, + -0.013453169725835323, + 0.9998857378959656, + -0.005657718982547522 + ], + "box_yaw_rad": -3.130384368138075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00041786673710908636 + } + } + }, + { + "simulation_time_ns": 1440000000, + "center": [ + -14.390500316389367, + 0.140286568302751, + 0.1188980619970854 + ], + "face_center": [ + -14.46770939164703, + 0.13941817000876033, + 0.1184398922601484 + ], + "face_normal": [ + -0.9999192044497449, + -0.011246451642826599, + -0.005933664110496265 + ], + "footprint_xy": [ + [ + -14.469017062254354, + 0.08108869766450852 + ], + [ + -14.311983570524383, + 0.08108869766450852 + ], + [ + -14.311983570524383, + 0.1994844389409935 + ], + [ + -14.469017062254354, + 0.1994844389409935 + ] + ], + "projected_box_corners": [ + [ + -14.313244019346971, + 0.1994844389409935 + ], + [ + -14.314598911739028, + 0.19341986110072568 + ], + [ + -14.311983570524383, + 0.08889007209275766 + ], + [ + -14.31333846291644, + 0.08282549425248985 + ], + [ + -14.467662169862296, + 0.19774764235301215 + ], + [ + -14.469017062254354, + 0.19168306451274433 + ], + [ + -14.466401721039707, + 0.08715327550477633 + ], + [ + -14.467756613431765, + 0.08108869766450852 + ] + ], + "yaw_rad": -3.1303457674496773, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.864459037780762, + 0.0977892279624939, + 0.06579132378101349 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467848827647295, + 0.13930841794880802, + 0.1183543461113492 + ], + "intended_face_normal": [ + -0.9999119526473712, + -0.011216021625139823, + -0.007122299254344595 + ], + "commanded_contact_point": [ + -14.863648414611816, + 0.09837111830711365, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.467862425453891, + 0.14017446657943067, + 0.11890429668404462 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863737106323242, + 0.09574173390865326, + 0.0706360936164856 + ], + "box_pose": [ + -14.395040512084961, + 0.13811525702476501, + 0.1360209435224533, + -0.0034875047858804464, + -0.013091062195599079, + 0.9998922944068909, + -0.0056542749516665936 + ], + "box_yaw_rad": -3.130376114747388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002073558170318489 + } + } + }, + { + "simulation_time_ns": 1460000000, + "center": [ + -14.390351474716724, + 0.14041397863396202, + 0.11888990071769014 + ], + "face_center": [ + -14.467561060997406, + 0.1395442125475928, + 0.1185311115758654 + ], + "face_normal": [ + -0.9999258226061076, + -0.01126416564681441, + -0.004646606011810637 + ], + "footprint_xy": [ + [ + -14.46871471175209, + 0.08134048012742137 + ], + [ + -14.311988237681355, + 0.08134048012742137 + ], + [ + -14.311988237681355, + 0.19948747714050263 + ], + [ + -14.46871471175209, + 0.19948747714050263 + ] + ], + "projected_box_corners": [ + [ + -14.313246541493912, + 0.19948747714050263 + ], + [ + -14.314295539190724, + 0.1936772624397639 + ], + [ + -14.311988237681355, + 0.08889022700089852 + ], + [ + -14.313037235378166, + 0.0830800123001598 + ], + [ + -14.467665714055281, + 0.1977479449677642 + ], + [ + -14.46871471175209, + 0.19193773026702549 + ], + [ + -14.466407410242722, + 0.0871506948281601 + ], + [ + -14.467456407939533, + 0.08134048012742137 + ] + ], + "yaw_rad": -3.1303281288087694, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.865567207336426, + 0.0983121246099472, + 0.06162892282009125 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46770939164703, + 0.13941817000876033, + 0.1184398922601484 + ], + "intended_face_normal": [ + -0.9999192044497449, + -0.011246451642826599, + -0.005933664110496265 + ], + "commanded_contact_point": [ + -14.863850593566895, + 0.09872715175151825, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.467721869458677, + 0.140286568302751, + 0.1188980619970854 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864459037780762, + 0.0977892279624939, + 0.06579132378101349 + ], + "box_pose": [ + -14.394880294799805, + 0.13824333250522614, + 0.13602180778980255, + -0.0028956602327525616, + -0.012624857015907764, + 0.9999001026153564, + -0.005660348571836948 + ], + "box_yaw_rad": -3.1303457674496773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00040943393073013864 + } + } + }, + { + "simulation_time_ns": 1480000000, + "center": [ + -14.390192921237498, + 0.14054436873993983, + 0.11888208856813566 + ], + "face_center": [ + -14.467402883971996, + 0.13967227154088693, + 0.11862604714364575 + ], + "face_normal": [ + -0.9999306979837441, + -0.011294355418319833, + -0.0033159409904565578 + ], + "footprint_xy": [ + [ + -14.468398067042322, + 0.08159801156682583 + ], + [ + -14.311987775432675, + 0.08159801156682583 + ], + [ + -14.311987775432675, + 0.19949072591305383 + ], + [ + -14.468398067042322, + 0.19949072591305383 + ] + ], + "projected_box_corners": [ + [ + -14.313245490814374, + 0.19949072591305383 + ], + [ + -14.313978141573326, + 0.19394226820678395 + ], + [ + -14.311987775432675, + 0.08889066367120158 + ], + [ + -14.312720426191625, + 0.08334220596493166 + ], + [ + -14.46766541628337, + 0.19774653151494803 + ], + [ + -14.468398067042322, + 0.1921980738086781 + ], + [ + -14.466407700901671, + 0.08714646927309574 + ], + [ + -14.467140351660621, + 0.08159801156682583 + ] + ], + "yaw_rad": -3.130297995703986, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.866373062133789, + 0.09594768285751343, + 0.05849161744117737 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467561060997406, + 0.1395442125475928, + 0.1185311115758654 + ], + "intended_face_normal": [ + -0.9999258226061076, + -0.01126416564681441, + -0.004646606011810637 + ], + "commanded_contact_point": [ + -14.864120483398438, + 0.09949687123298645, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.46757251668381, + 0.14041397863396202, + 0.11888990071769014 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.865567207336426, + 0.0983121246099472, + 0.06162892282009125 + ], + "box_pose": [ + -14.394709587097168, + 0.13838885724544525, + 0.13602137565612793, + -0.002255035564303398, + -0.012098181061446667, + 0.9999082684516907, + -0.005659883841872215 + ], + "box_yaw_rad": -3.1303281288087694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008156645154851154 + } + } + }, + { + "simulation_time_ns": 1500000000, + "center": [ + -14.390029574330303, + 0.14068287211911476, + 0.11887324264014265 + ], + "face_center": [ + -14.46723981964257, + 0.13981091956471417, + 0.1187244319431328 + ], + "face_normal": [ + -0.9999343575915955, + -0.011292482154520058, + -0.001927217406388273 + ], + "footprint_xy": [ + [ + -14.468068068225774, + 0.08187526651262025 + ], + [ + -14.311991080434833, + 0.08187526651262025 + ], + [ + -14.311991080434833, + 0.19949047772560924 + ], + [ + -14.468068068225774, + 0.19949047772560924 + ] + ], + "projected_box_corners": [ + [ + -14.313244823048585, + 0.19949047772560924 + ], + [ + -14.31364757760124, + 0.19422214944405586 + ], + [ + -14.311991080434833, + 0.08888749990297481 + ], + [ + -14.312393834987487, + 0.0836191716214214 + ], + [ + -14.467665313673118, + 0.1977465726168081 + ], + [ + -14.468068068225774, + 0.19247824433525468 + ], + [ + -14.466411571059366, + 0.08714359479417366 + ], + [ + -14.466814325612022, + 0.08187526651262025 + ] + ], + "yaw_rad": -3.130299910185041, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.867114067077637, + 0.09493251144886017, + 0.05690324306488037 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.467402883971996, + 0.13967227154088693, + 0.11862604714364575 + ], + "intended_face_normal": [ + -0.9999306979837441, + -0.011294355418319833, + -0.0033159409904565578 + ], + "commanded_contact_point": [ + -14.864025115966797, + 0.10056513547897339, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.467413586696749, + 0.14054436873993983, + 0.11888208856813566 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866373062133789, + 0.09594768285751343, + 0.05849161744117737 + ], + "box_pose": [ + -14.39452838897705, + 0.13853783905506134, + 0.13602149486541748, + -0.0015926262130960822, + -0.01155622024089098, + 0.9999158978462219, + -0.005666058976203203 + ], + "box_yaw_rad": -3.130297995703986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010725126788978636 + } + } + }, + { + "simulation_time_ns": 1520000000, + "center": [ + -14.389854549695364, + 0.14083311233496681, + 0.1188634092179497 + ], + "face_center": [ + -14.46706493044769, + 0.1399613647222325, + 0.1188293895581289 + ], + "face_normal": [ + -0.9999361116485401, + -0.011289827996220542, + -0.0004405817718986134 + ], + "footprint_xy": [ + [ + -14.46771465033698, + 0.0821762560069147 + ], + [ + -14.311994449053751, + 0.0821762560069147 + ], + [ + -14.311994449053751, + 0.19948996866301894 + ], + [ + -14.46771465033698, + 0.19948996866301894 + ] + ], + "projected_box_corners": [ + [ + -14.31324425977221, + 0.19948996866301894 + ], + [ + -14.31329388883233, + 0.19452572009834176 + ], + [ + -14.311994449053751, + 0.08888399979706046 + ], + [ + -14.31204407811387, + 0.0839197512323833 + ], + [ + -14.46766502127686, + 0.1977464734375503 + ], + [ + -14.46771465033698, + 0.19278222487287314 + ], + [ + -14.466415210558399, + 0.08714050457159185 + ], + [ + -14.466464839618519, + 0.0821762560069147 + ] + ], + "yaw_rad": -3.130302583982217, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.868523597717285, + 0.09744199365377426, + 0.058726727962493896 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46723981964257, + 0.13981091956471417, + 0.1187244319431328 + ], + "intended_face_normal": [ + -0.9999343575915955, + -0.011292482154520058, + -0.001927217406388273 + ], + "commanded_contact_point": [ + -14.863663673400879, + 0.10156787931919098, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -14.467249957173648, + 0.14068287211911476, + 0.11887324264014265 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.867114067077637, + 0.09493251144886017, + 0.05690324306488037 + ], + "box_pose": [ + -14.394341468811035, + 0.13869638741016388, + 0.13602092862129211, + -0.0009015903924591839, + -0.010976159013807774, + 0.9999233484268188, + -0.005656570661813021 + ], + "box_yaw_rad": -3.130299910185041, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010658967770055868 + } + } + }, + { + "simulation_time_ns": 1540000000, + "center": [ + -14.389664792361067, + 0.14099873489803333, + 0.11885235137137307 + ], + "face_center": [ + -14.466875144136786, + 0.14012761349611308, + 0.11894415681183573 + ], + "face_normal": [ + -0.9999357363783463, + -0.011281718065918643, + 0.0011889537944242638 + ], + "footprint_xy": [ + [ + -14.467666551529026, + 0.08250870750007533 + ], + [ + -14.311663033193106, + 0.08250870750007533 + ], + [ + -14.311663033193106, + 0.1994887622959913 + ], + [ + -14.467666551529026, + 0.1994887622959913 + ] + ], + "projected_box_corners": [ + [ + -14.313245847977589, + 0.1994887622959913 + ], + [ + -14.312908433808827, + 0.19486003979686128 + ], + [ + -14.31200044736187, + 0.08887967280304584 + ], + [ + -14.311663033193106, + 0.08425095030391583 + ], + [ + -14.467666551529026, + 0.19774651949215083 + ], + [ + -14.467329137360265, + 0.1931177969930208 + ], + [ + -14.466421150913307, + 0.08713742999920535 + ], + [ + -14.466083736744546, + 0.08250870750007533 + ] + ], + "yaw_rad": -3.1303106891639683, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.869745254516602, + 0.09978143125772476, + 0.06373023986816406 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46706493044769, + 0.1399613647222325, + 0.1188293895581289 + ], + "intended_face_normal": [ + -0.9999361116485401, + -0.011289827996220542, + -0.0004405817718986134 + ], + "commanded_contact_point": [ + -14.863490104675293, + 0.10226476937532425, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.467074797081107, + 0.14083311233496681, + 0.1188634092179497 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.868523597717285, + 0.09744199365377426, + 0.058726727962493896 + ], + "box_pose": [ + -14.39414119720459, + 0.13886839151382446, + 0.13601993024349213, + -0.00016187592700589448, + -0.010346449911594391, + 0.9999305009841919, + -0.005646981298923492 + ], + "box_yaw_rad": -3.130302583982217, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007181795414289783 + } + } + }, + { + "simulation_time_ns": 1560000000, + "center": [ + -14.389449854085374, + 0.14118511582594984, + 0.11883962965364359 + ], + "face_center": [ + -14.466659897722943, + 0.14031381462144854, + 0.11907264020573949 + ], + "face_normal": [ + -0.9999317457431445, + -0.011284046652981782, + 0.0030176727943261525 + ], + "footprint_xy": [ + [ + -14.467666966735978, + 0.0828824817132299 + ], + [ + -14.311232741434768, + 0.0828824817132299 + ], + [ + -14.311232741434768, + 0.19948774993866977 + ], + [ + -14.467666966735978, + 0.19948774993866977 + ] + ], + "projected_box_corners": [ + [ + -14.313246879460841, + 0.19948774993866977 + ], + [ + -14.312475053649862, + 0.19523738764071688 + ], + [ + -14.312004567245745, + 0.0888754464201854 + ], + [ + -14.311232741434768, + 0.08462508412223249 + ], + [ + -14.467666966735978, + 0.19774514752966718 + ], + [ + -14.466895140925, + 0.19349478523171426 + ], + [ + -14.466424654520884, + 0.08713284401118279 + ], + [ + -14.465652828709906, + 0.0828824817132299 + ] + ], + "yaw_rad": -3.1303083156929614, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.8724365234375, + 0.10254506766796112, + 0.06824988126754761 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466875144136786, + 0.14012761349611308, + 0.11894415681183573 + ], + "intended_face_normal": [ + -0.9999357363783463, + -0.011281718065918643, + 0.0011889537944242638 + ], + "commanded_contact_point": [ + -14.863312721252441, + 0.10266990214586258, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.46688506872713, + 0.14099873489803333, + 0.11885235137137307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.869745254516602, + 0.09978143125772476, + 0.06373023986816406 + ], + "box_pose": [ + -14.39392375946045, + 0.13905805349349976, + 0.13601849973201752, + 0.0006489037768915296, + -0.009651592001318932, + 0.9999373555183411, + -0.005634949076920748 + ], + "box_yaw_rad": -3.1303106891639683, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000442263994229125 + } + } + }, + { + "simulation_time_ns": 1580000000, + "center": [ + -14.389207788757409, + 0.1413949928901962, + 0.11882550243074963 + ], + "face_center": [ + -14.466417200438643, + 0.1405234585981478, + 0.11921929535979828 + ], + "face_normal": [ + -0.9999235614037607, + -0.011287065322922582, + 0.005099933019767369 + ], + "footprint_xy": [ + [ + -14.467670260737703, + 0.08330452893559429 + ], + [ + -14.310745316777115, + 0.08330452893559429 + ], + [ + -14.310745316777115, + 0.19948545684479807 + ], + [ + -14.467670260737703, + 0.19948545684479807 + ] + ], + "projected_box_corners": [ + [ + -14.313251437375236, + 0.19948545684479807 + ], + [ + -14.31198491485925, + 0.19566325364094272 + ], + [ + -14.312011839293099, + 0.08886980072354639 + ], + [ + -14.310745316777115, + 0.08504759751969104 + ], + [ + -14.467670260737703, + 0.19774238826070134 + ], + [ + -14.466403738221718, + 0.19392018505684597 + ], + [ + -14.466430662655569, + 0.08712673213944966 + ], + [ + -14.465164140139583, + 0.08330452893559429 + ] + ], + "yaw_rad": -3.1303052048226983, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.874767303466797, + 0.10560991615056992, + 0.07378993928432465 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466659897722943, + 0.14031381462144854, + 0.11907264020573949 + ], + "intended_face_normal": [ + -0.9999317457431445, + -0.011284046652981782, + 0.0030176727943261525 + ], + "commanded_contact_point": [ + -14.863327980041504, + 0.10287748277187347, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.466670438630423, + 0.14118511582594984, + 0.11883962965364359 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.8724365234375, + 0.10254506766796112, + 0.06824988126754761 + ], + "box_pose": [ + -14.393677711486816, + 0.13927149772644043, + 0.13601650297641754, + 0.0015588380629196763, + -0.008868014439940453, + 0.9999436140060425, + -0.005628516897559166 + ], + "box_yaw_rad": -3.1303083156929614, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00020814069055239757 + } + } + }, + { + "simulation_time_ns": 1600000000, + "center": [ + -14.388968081013674, + 0.14158094257833692, + 0.11882045013703439 + ], + "face_center": [ + -14.466176523452381, + 0.1407095927857194, + 0.11937249289842093 + ], + "face_normal": [ + -0.9999110089387266, + -0.011284675907902404, + 0.007149394769277274 + ], + "footprint_xy": [ + [ + -14.467671971275612, + 0.08367842216661237 + ], + [ + -14.310264190751736, + 0.08367842216661237 + ], + [ + -14.310264190751736, + 0.19948346299006148 + ], + [ + -14.467671971275612, + 0.19948346299006148 + ] + ], + "projected_box_corners": [ + [ + -14.3132550863982, + 0.19948346299006148 + ], + [ + -14.311501172545022, + 0.19603941967208333 + ], + [ + -14.312018104604913, + 0.08886516506982557 + ], + [ + -14.310264190751736, + 0.08542112175184742 + ], + [ + -14.467671971275612, + 0.19774076340482644 + ], + [ + -14.465918057422435, + 0.19429672008684828 + ], + [ + -14.466434989482327, + 0.08712246548459052 + ], + [ + -14.46468107562915, + 0.08367842216661237 + ] + ], + "yaw_rad": -3.130307452460109, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.877294540405273, + 0.11033724248409271, + 0.07828716933727264 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466417200438643, + 0.1405234585981478, + 0.11921929535979828 + ], + "intended_face_normal": [ + -0.9999235614037607, + -0.011287065322922582, + 0.005099933019767369 + ], + "commanded_contact_point": [ + -14.863661766052246, + 0.1032152846455574, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -14.466429005350243, + 0.1413949928901962, + 0.11882550243074963 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.874767303466797, + 0.10560991615056992, + 0.07378993928432465 + ], + "box_pose": [ + -14.393400192260742, + 0.13951200246810913, + 0.1360144466161728, + 0.002594978781417012, + -0.007981356233358383, + 0.999949038028717, + -0.005623107776045799 + ], + "box_yaw_rad": -3.1303052048226983, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047489283897608883 + } + } + }, + { + "simulation_time_ns": 1620000000, + "center": [ + -14.388762303210646, + 0.14174050071849875, + 0.11881509287836317 + ], + "face_center": [ + -14.465969652904759, + 0.14086957122925564, + 0.11950190161326878 + ], + "face_normal": [ + -0.9998968570232776, + -0.011279232643436889, + 0.008894721786578885 + ], + "footprint_xy": [ + [ + -14.467671601951343, + 0.08399971264229673 + ], + [ + -14.30985300446995, + 0.08399971264229673 + ], + [ + -14.30985300446995, + 0.19948128879470078 + ], + [ + -14.467671601951343, + 0.19948128879470078 + ] + ], + "projected_box_corners": [ + [ + -14.313256902563117, + 0.19948128879470078 + ], + [ + -14.311087949166787, + 0.19636190154400057 + ], + [ + -14.31202195786628, + 0.08886095887148318 + ], + [ + -14.30985300446995, + 0.08574157162078297 + ], + [ + -14.467671601951343, + 0.19773942981621456 + ], + [ + -14.465502648555011, + 0.19462004256551435 + ], + [ + -14.466436657254507, + 0.08711909989299695 + ], + [ + -14.464267703858175, + 0.08399971264229673 + ] + ], + "yaw_rad": -3.130312735882983, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.881735801696777, + 0.11083643138408661, + 0.0776650458574295 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.466176523452381, + 0.1407095927857194, + 0.11937249289842093 + ], + "intended_face_normal": [ + -0.9999110089387266, + -0.011284675907902404, + 0.007149394769277274 + ], + "commanded_contact_point": [ + -14.863831520080566, + 0.1039256900548935, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.466190267009397, + 0.14158094257833692, + 0.11882045013703439 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.877294540405273, + 0.11033724248409271, + 0.07828716933727264 + ], + "box_pose": [ + -14.393125534057617, + 0.13972502946853638, + 0.13602082431316376, + 0.003615304362028837, + -0.007198837120085955, + 0.9999518394470215, + -0.005616582464426756 + ], + "box_yaw_rad": -3.130307452460109, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007304055584095947 + } + } + }, + { + "simulation_time_ns": 1640000000, + "center": [ + -14.388584816060265, + 0.14187821399383685, + 0.11881038487367793 + ], + "face_center": [ + -14.465791068253887, + 0.14100766333041984, + 0.11961318388083883 + ], + "face_normal": [ + -0.9998826435151753, + -0.011274326546356949, + 0.010396888473207362 + ], + "footprint_xy": [ + [ + -14.467670947146809, + 0.08427694159506913 + ], + [ + -14.309498684973722, + 0.08427694159506913 + ], + [ + -14.309498684973722, + 0.1994794863926046 + ], + [ + -14.467670947146809, + 0.1994794863926046 + ] + ], + "projected_box_corners": [ + [ + -14.313258442759563, + 0.1994794863926046 + ], + [ + -14.310732267933389, + 0.19664000704100326 + ], + [ + -14.312024859799894, + 0.08885752227350449 + ], + [ + -14.309498684973722, + 0.08601804292190315 + ], + [ + -14.467670947146809, + 0.19773838506577057 + ], + [ + -14.465144772320635, + 0.19489890571416923 + ], + [ + -14.46643736418714, + 0.08711642094667046 + ], + [ + -14.463911189360966, + 0.08427694159506913 + ] + ], + "yaw_rad": -3.130317481599447, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.883543014526367, + 0.10291805863380432, + 0.07175226509571075 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465969652904759, + 0.14086957122925564, + 0.11950190161326878 + ], + "intended_face_normal": [ + -0.9998968570232776, + -0.011279232643436889, + 0.008894721786578885 + ], + "commanded_contact_point": [ + -14.863832473754883, + 0.10452520847320557, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.465985582160947, + 0.14174050071849875, + 0.11881509287836317 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.881735801696777, + 0.11083643138408661, + 0.0776650458574295 + ], + "box_pose": [ + -14.392889976501465, + 0.1399078518152237, + 0.13602513074874878, + 0.004484192468225956, + -0.006526992656290531, + 0.9999529123306274, + -0.005610612221062183 + ], + "box_yaw_rad": -3.130312735882983, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005995191770178464 + } + } + }, + { + "simulation_time_ns": 1660000000, + "center": [ + -14.388435171379747, + 0.14199720373509642, + 0.1188055675927023 + ], + "face_center": [ + -14.46564031976369, + 0.14112738440195302, + 0.11970793055349052 + ], + "face_normal": [ + -0.999868348298012, + -0.011264855235076964, + 0.011686321211141881 + ], + "footprint_xy": [ + [ + -14.467672782965987, + 0.0845172588134093 + ], + [ + -14.309197559793509, + 0.0845172588134093 + ], + [ + -14.309197559793509, + 0.1994771486567835 + ], + [ + -14.467672782965987, + 0.1994771486567835 + ] + ], + "projected_box_corners": [ + [ + -14.313262486198104, + 0.1994771486567835 + ], + [ + -14.310429709660008, + 0.19688012253921744 + ], + [ + -14.312030336331603, + 0.08885392359726213 + ], + [ + -14.309197559793509, + 0.08625689747969603 + ], + [ + -14.467672782965987, + 0.19773750999049677 + ], + [ + -14.464840006427893, + 0.1951404838729307 + ], + [ + -14.466440633099486, + 0.08711428493097537 + ], + [ + -14.463607856561392, + 0.0845172588134093 + ] + ], + "yaw_rad": -3.1303267917659987, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.878918647766113, + 0.09564881026744843, + 0.06561042368412018 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465791068253887, + 0.14100766333041984, + 0.11961318388083883 + ], + "intended_face_normal": [ + -0.9998826435151753, + -0.011274326546356949, + 0.010396888473207362 + ], + "commanded_contact_point": [ + -14.863809585571289, + 0.10465368628501892, + 0.05000004544854164 + ], + "centerline_face_intersection": [ + -14.465809192753094, + 0.14187821399383685, + 0.11881038487367793 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.883543014526367, + 0.10291805863380432, + 0.07175226509571075 + ], + "box_pose": [ + -14.39268684387207, + 0.14006562530994415, + 0.13602867722511292, + 0.005232035182416439, + -0.005947745405137539, + 0.9999529719352722, + -0.005606308113783598 + ], + "box_yaw_rad": -3.130317481599447, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00013050065056012305 + } + } + }, + { + "simulation_time_ns": 1680000000, + "center": [ + -14.388305353698412, + 0.1420996744299868, + 0.11880142308819416 + ], + "face_center": [ + -14.465509438862574, + 0.1412296648114853, + 0.11978937625356291 + ], + "face_normal": [ + -0.9998545787524815, + -0.01126731958247791, + 0.01279478273573922 + ], + "footprint_xy": [ + [ + -14.46767378946302, + 0.08472299664799116 + ], + [ + -14.308936917933803, + 0.08472299664799116 + ], + [ + -14.308936917933803, + 0.19947635221198248 + ], + [ + -14.46767378946302, + 0.19947635221198248 + ] + ], + "projected_box_corners": [ + [ + -14.313265619134699, + 0.19947635221198248 + ], + [ + -14.310169233799588, + 0.19708721535982932 + ], + [ + -14.312033303268912, + 0.08885215273714736 + ], + [ + -14.308936917933803, + 0.0864630158849942 + ], + [ + -14.46767378946302, + 0.19773633297497945 + ], + [ + -14.464577404127912, + 0.19534719612282628 + ], + [ + -14.466441473597236, + 0.0871121335001443 + ], + [ + -14.463345088262125, + 0.08472299664799116 + ] + ], + "yaw_rad": -3.130324172237829, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.873360633850098, + 0.09430312365293503, + 0.06070341169834137 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46564031976369, + 0.14112738440195302, + 0.11970793055349052 + ], + "intended_face_normal": [ + -0.999868348298012, + -0.011264855235076964, + 0.011686321211141881 + ], + "commanded_contact_point": [ + -14.863802909851074, + 0.10495215654373169, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.465660652157167, + 0.14199720373509642, + 0.1188055675927023 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.878918647766113, + 0.09564881026744843, + 0.06561042368412018 + ], + "box_pose": [ + -14.392515182495117, + 0.14020201563835144, + 0.136030912399292, + 0.005873942282050848, + -0.005445962771773338, + 0.9999522566795349, + -0.0056007057428359985 + ], + "box_yaw_rad": -3.1303267917659987, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002985449088074612 + } + } + }, + { + "simulation_time_ns": 1700000000, + "center": [ + -14.38819030928424, + 0.14218900970440645, + 0.11879771590195068 + ], + "face_center": [ + -14.465393375069494, + 0.14131845077932054, + 0.1198603810228161 + ], + "face_normal": [ + -0.9998413769812691, + -0.011274433541569182, + 0.013762362244414766 + ], + "footprint_xy": [ + [ + -14.467673217700808, + 0.08490200361575653 + ], + [ + -14.308707400867673, + 0.08490200361575653 + ], + [ + -14.308707400867673, + 0.19947601579305638 + ], + [ + -14.467673217700808, + 0.19947601579305638 + ] + ], + "projected_box_corners": [ + [ + -14.3132670861303, + 0.19947601579305638 + ], + [ + -14.309940580688789, + 0.19726808281384686 + ], + [ + -14.312033906309185, + 0.08885105444513788 + ], + [ + -14.308707400867673, + 0.08664312146592835 + ], + [ + -14.467673217700808, + 0.19773489794288457 + ], + [ + -14.464346712259296, + 0.19552696496367505 + ], + [ + -14.466440037879693, + 0.08710993659496605 + ], + [ + -14.46311353243818, + 0.08490200361575653 + ] + ], + "yaw_rad": -3.130316909279223, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.869721412658691, + 0.09873025864362717, + 0.05668346583843231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465509438862574, + 0.1412296648114853, + 0.11978937625356291 + ], + "intended_face_normal": [ + -0.9998545787524815, + -0.01126731958247791, + 0.01279478273573922 + ], + "commanded_contact_point": [ + -14.863492012023926, + 0.10589314252138138, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.465531897990262, + 0.1420996744299868, + 0.11880142308819416 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.873360633850098, + 0.09430312365293503, + 0.06070341169834137 + ], + "box_pose": [ + -14.392366409301758, + 0.140319362282753, + 0.13603278994560242, + 0.00642580259591341, + -0.005015756003558636, + 0.9999510645866394, + -0.005601703654974699 + ], + "box_yaw_rad": -3.130324172237829, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009910156758290818 + } + } + }, + { + "simulation_time_ns": 1720000000, + "center": [ + -14.388092342127893, + 0.1422679116892034, + 0.11879436664828016 + ], + "face_center": [ + -14.465294526527096, + 0.14139776996813339, + 0.11992282667785273 + ], + "face_normal": [ + -0.9998299623278144, + -0.011269030416272786, + 0.014614458873622529 + ], + "footprint_xy": [ + [ + -14.467675483953471, + 0.08506101117982015 + ], + [ + -14.308509200302316, + 0.08506101117982015 + ], + [ + -14.308509200302316, + 0.1994748121985867 + ], + [ + -14.467675483953471, + 0.1994748121985867 + ] + ], + "projected_box_corners": [ + [ + -14.313271115155064, + 0.1994748121985867 + ], + [ + -14.309741986212869, + 0.1974269859109158 + ], + [ + -14.31203832924451, + 0.08884912090963115 + ], + [ + -14.308509200302316, + 0.08680129462196023 + ], + [ + -14.467675483953471, + 0.1977345287564466 + ], + [ + -14.464146355011275, + 0.19568670246877568 + ], + [ + -14.466442698042917, + 0.08710883746749107 + ], + [ + -14.462913569100722, + 0.08506101117982015 + ] + ], + "yaw_rad": -3.130322183916978, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.866503715515137, + 0.10247717797756195, + 0.05432784557342529 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465393375069494, + 0.14131845077932054, + 0.1198603810228161 + ], + "intended_face_normal": [ + -0.9998413769812691, + -0.011274433541569182, + 0.013762362244414766 + ], + "commanded_contact_point": [ + -14.862793922424316, + 0.1073177233338356, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.465417873265007, + 0.14218900970440645, + 0.11879771590195068 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.869721412658691, + 0.09873025864362717, + 0.05668346583843231 + ], + "box_pose": [ + -14.392234802246094, + 0.14042164385318756, + 0.1360343098640442, + 0.006907543167471886, + -0.004640798084437847, + 0.99994957447052, + -0.00560544291511178 + ], + "box_yaw_rad": -3.130316909279223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015864298221612131 + } + } + }, + { + "simulation_time_ns": 1740000000, + "center": [ + -14.388005101521136, + 0.14233633628359393, + 0.11879154066296077 + ], + "face_center": [ + -14.46520640176525, + 0.14146659784125207, + 0.1199782067700964 + ], + "face_normal": [ + -0.9998185118130987, + -0.011263807634576396, + 0.015368274077039619 + ], + "footprint_xy": [ + [ + -14.467676845649788, + 0.08519882319522959 + ], + [ + -14.308333357392485, + 0.08519882319522959 + ], + [ + -14.308333357392485, + 0.19947384937195828 + ], + [ + -14.467676845649788, + 0.19947384937195828 + ] + ], + "projected_box_corners": [ + [ + -14.313274245161557, + 0.19947384937195828 + ], + [ + -14.309565826997302, + 0.19756450179942445 + ], + [ + -14.31204177555674, + 0.08884764765244715 + ], + [ + -14.308333357392485, + 0.08693830007991332 + ], + [ + -14.467676845649788, + 0.19773437248727455 + ], + [ + -14.463968427485533, + 0.19582502491474071 + ], + [ + -14.46644437604497, + 0.08710817076776342 + ], + [ + -14.462735957880716, + 0.08519882319522959 + ] + ], + "yaw_rad": -3.1303272779183295, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.861767768859863, + 0.10273298621177673, + 0.05686211585998535 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465294526527096, + 0.14139776996813339, + 0.11992282667785273 + ], + "intended_face_normal": [ + -0.9998299623278144, + -0.011269030416272786, + 0.014614458873622529 + ], + "commanded_contact_point": [ + -14.861882209777832, + 0.10868760943412781, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465320787784457, + 0.1422679116892034, + 0.11879436664828016 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866503715515137, + 0.10247717797756195, + 0.05432784557342529 + ], + "box_pose": [ + -14.392122268676758, + 0.14051203429698944, + 0.13603554666042328, + 0.007331755943596363, + -0.004309449344873428, + 0.9999482035636902, + -0.005603209603577852 + ], + "box_yaw_rad": -3.130322183916978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016455418188725045 + } + } + }, + { + "simulation_time_ns": 1760000000, + "center": [ + -14.387968390429322, + 0.14236653597066434, + 0.11879152740173379 + ], + "face_center": [ + -14.465169332809591, + 0.14149690223929823, + 0.12000190179579676 + ], + "face_normal": [ + -0.9998138771904046, + -0.0112624515437903, + 0.01567531533254147 + ], + "footprint_xy": [ + [ + -14.467676273692867, + 0.08525969212262569 + ], + [ + -14.308260507165777, + 0.08525969212262569 + ], + [ + -14.308260507165777, + 0.19947337981870303 + ], + [ + -14.467676273692867, + 0.19947337981870303 + ] + ], + "projected_box_corners": [ + [ + -14.313274388932328, + 0.19947337981870303 + ], + [ + -14.309492996593749, + 0.19762539756594574 + ], + [ + -14.312041899504356, + 0.08884694183811523 + ], + [ + -14.308260507165777, + 0.08699895958535793 + ], + [ + -14.467676273692867, + 0.19773411235597077 + ], + [ + -14.463894881354287, + 0.19588613010321348 + ], + [ + -14.466443784264893, + 0.08710767437538297 + ], + [ + -14.462662391926315, + 0.08525969212262569 + ] + ], + "yaw_rad": -3.13032858187339, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.859869956970215, + 0.10028567910194397, + 0.05989375710487366 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46520640176525, + 0.14146659784125207, + 0.1199782067700964 + ], + "intended_face_normal": [ + -0.9998185118130987, + -0.011263807634576396, + 0.015368274077039619 + ], + "commanded_contact_point": [ + -14.861183166503906, + 0.11009220778942108, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.465234431643674, + 0.14233633628359393, + 0.11879154066296077 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.861767768859863, + 0.10273298621177673, + 0.05686211585998535 + ], + "box_pose": [ + -14.392022132873535, + 0.14059039950370789, + 0.1360367387533188, + 0.007707082200795412, + -0.0040229070000350475, + 0.9999465346336365, + -0.00560119841247797 + ], + "box_yaw_rad": -3.1303272779183295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00156893532033721 + } + } + }, + { + "simulation_time_ns": 1780000000, + "center": [ + -14.387968460246531, + 0.14236577895400007, + 0.11879216466605891 + ], + "face_center": [ + -14.4651693701536, + 0.14149616183217947, + 0.12000284091611954 + ], + "face_normal": [ + -0.9998134566365084, + -0.011262236436906804, + 0.01567922460885433 + ], + "footprint_xy": [ + [ + -14.46767676949765, + 0.0852581115539997 + ], + [ + -14.308260150995412, + 0.0852581115539997 + ], + [ + -14.308260150995412, + 0.19947344635400044 + ], + [ + -14.46767676949765, + 0.19947344635400044 + ] + ], + "projected_box_corners": [ + [ + -14.313274949683516, + 0.19947344635400044 + ], + [ + -14.309492600664433, + 0.1976237378972098 + ], + [ + -14.312042500014494, + 0.08884705425443154 + ], + [ + -14.308260150995412, + 0.08699734579764089 + ], + [ + -14.46767676949765, + 0.19773421211035924 + ], + [ + -14.463894420478569, + 0.1958845036535686 + ], + [ + -14.46644431982863, + 0.08710782001079034 + ], + [ + -14.462661970809547, + 0.0852581115539997 + ] + ], + "yaw_rad": -3.130328792255479, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.859268188476562, + 0.09834963083267212, + 0.06365834176540375 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465169332809591, + 0.14149690223929823, + 0.12000190179579676 + ], + "intended_face_normal": [ + -0.9998138771904046, + -0.0112624515437903, + 0.01567531533254147 + ], + "commanded_contact_point": [ + -14.860618591308594, + 0.11117686331272125, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -14.465198078547296, + 0.14236653597066434, + 0.11879152740173379 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.859869956970215, + 0.10028567910194397, + 0.05989375710487366 + ], + "box_pose": [ + -14.391980171203613, + 0.140625, + 0.1360383927822113, + 0.007859903387725353, + -0.0038958569057285786, + 0.999945878982544, + -0.00560090783983469 + ], + "box_yaw_rad": -3.13032858187339, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012227930159614579 + } + } + }, + { + "simulation_time_ns": 1800000000, + "center": [ + -14.38797003858201, + 0.14236418534272846, + 0.11879212649647225 + ], + "face_center": [ + -14.465170993155262, + 0.14149515143944563, + 0.12000138309394505 + ], + "face_normal": [ + -0.9998140350992699, + -0.01125468329092806, + 0.015660838973726825 + ], + "footprint_xy": [ + [ + -14.467675776336655, + 0.08525550913187219 + ], + [ + -14.308264300827362, + 0.08525550913187219 + ], + [ + -14.308264300827362, + 0.19947286155358473 + ], + [ + -14.467675776336655, + 0.19947286155358473 + ] + ], + "projected_box_corners": [ + [ + -14.313273867190151, + 0.19947286155358473 + ], + [ + -14.30949590804125, + 0.19761998989571064 + ], + [ + -14.312042259976266, + 0.08884644859631194 + ], + [ + -14.308264300827362, + 0.08699357693843784 + ], + [ + -14.467675776336655, + 0.19773479374701908 + ], + [ + -14.463897817187753, + 0.195881922089145 + ], + [ + -14.466444169122768, + 0.08710838078974628 + ], + [ + -14.462666209973866, + 0.08525550913187219 + ] + ], + "yaw_rad": -3.130336352364928, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.858966827392578, + 0.0993635505437851, + 0.06809602677822113 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.4651693701536, + 0.14149616183217947, + 0.12000284091611954 + ], + "intended_face_normal": [ + -0.9998134566365084, + -0.011262236436906804, + 0.01567922460885433 + ], + "commanded_contact_point": [ + -14.860274314880371, + 0.1120145320892334, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465198180849812, + 0.14236577895400007, + 0.11879216466605891 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.859268188476562, + 0.09834963083267212, + 0.06365834176540375 + ], + "box_pose": [ + -14.391980171203613, + 0.14062412083148956, + 0.13603903353214264, + 0.007861878722906113, + -0.0038994653150439262, + 0.9999457597732544, + -0.005600764881819487 + ], + "box_yaw_rad": -3.130328792255479, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009056573521817643 + } + } + }, + { + "simulation_time_ns": 1820000000, + "center": [ + -14.387976059167967, + 0.14235926038198826, + 0.1187927631695419 + ], + "face_center": [ + -14.46517705510031, + 0.14149009235055898, + 0.11999904420822852 + ], + "face_normal": [ + -0.9998145707325483, + -0.011256420357575223, + 0.015622303110366748 + ], + "footprint_xy": [ + [ + -14.467677348186683, + 0.0852458933568961 + ], + [ + -14.308274770149252, + 0.0852458933568961 + ], + [ + -14.308274770149252, + 0.19947262740708044 + ], + [ + -14.467677348186683, + 0.19947262740708044 + ] + ], + "projected_box_corners": [ + [ + -14.313275356321995, + 0.19947262740708044 + ], + [ + -14.309506536875686, + 0.1976106022496853 + ], + [ + -14.312043589595561, + 0.08884625457714979 + ], + [ + -14.308274770149252, + 0.08698422941975464 + ], + [ + -14.467677348186683, + 0.19773429134422188 + ], + [ + -14.463908528740374, + 0.19587226618682674 + ], + [ + -14.466445581460247, + 0.08710791851429124 + ], + [ + -14.462676762013938, + 0.0852458933568961 + ] + ], + "yaw_rad": -3.1303346212261354, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.85871696472168, + 0.1027170717716217, + 0.0714096873998642 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465170993155262, + 0.14149515143944563, + 0.12000138309394505 + ], + "intended_face_normal": [ + -0.9998140350992699, + -0.01125468329092806, + 0.015660838973726825 + ], + "commanded_contact_point": [ + -14.859906196594238, + 0.11254121363162994, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465199714502464, + 0.14236418534272846, + 0.11879212649647225 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.858966827392578, + 0.0993635505437851, + 0.06809602677822113 + ], + "box_pose": [ + -14.391982078552246, + 0.1406223326921463, + 0.1360388994216919, + 0.007852706126868725, + -0.003905976889654994, + 0.999945878982544, + -0.005596972070634365 + ], + "box_yaw_rad": -3.130336352364928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000642576469913553 + } + } + }, + { + "simulation_time_ns": 1840000000, + "center": [ + -14.387984407664497, + 0.1423526074959819, + 0.11879336036420393 + ], + "face_center": [ + -14.465185493701556, + 0.14148399992306201, + 0.11999433620756865 + ], + "face_normal": [ + -0.9998157376606145, + -0.011249161972146038, + 0.01555359659279731 + ], + "footprint_xy": [ + [ + -14.467677194213715, + 0.08523289071244174 + ], + [ + -14.308291621115277, + 0.08523289071244174 + ], + [ + -14.308291621115277, + 0.19947232427952202 + ], + [ + -14.467677194213715, + 0.19947232427952202 + ] + ], + "projected_box_corners": [ + [ + -14.313275022139596, + 0.19947232427952202 + ], + [ + -14.309522545274673, + 0.19759643947771002 + ], + [ + -14.3120440979802, + 0.08884599066009347 + ], + [ + -14.308291621115277, + 0.08697010585828147 + ], + [ + -14.467677194213715, + 0.1977351091336823 + ], + [ + -14.463924717348792, + 0.1958592243318703 + ], + [ + -14.46644627005432, + 0.08710877551425374 + ], + [ + -14.462693793189397, + 0.08523289071244174 + ] + ], + "yaw_rad": -3.130341893168396, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.859994888305664, + 0.10657859593629837, + 0.07178987562656403 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46517705510031, + 0.14149009235055898, + 0.11999904420822852 + ], + "intended_face_normal": [ + -0.9998145707325483, + -0.011256420357575223, + 0.015622303110366748 + ], + "commanded_contact_point": [ + -14.85965633392334, + 0.11257520318031311, + 0.05000005662441254 + ], + "centerline_face_intersection": [ + -14.465205693713964, + 0.14235926038198826, + 0.1187927631695419 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.85871696472168, + 0.1027170717716217, + 0.0714096873998642 + ], + "box_pose": [ + -14.391988754272461, + 0.1406167447566986, + 0.13603931665420532, + 0.00783354602754116, + -0.003924954682588577, + 0.9999459385871887, + -0.005597766488790512 + ], + "box_yaw_rad": -3.1303346212261354, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00025216392773002373 + } + } + }, + { + "simulation_time_ns": 1860000000, + "center": [ + -14.387994380571131, + 0.14234363303086311, + 0.11879378886100839 + ], + "face_center": [ + -14.46519556755172, + 0.1414749565659332, + 0.11998811557885844 + ], + "face_normal": [ + -0.9998170449599519, + -0.011250054178711687, + 0.015467485105608466 + ], + "footprint_xy": [ + [ + -14.46767706266434, + 0.08521488553738271 + ], + [ + -14.308311698477924, + 0.08521488553738271 + ], + [ + -14.308311698477924, + 0.1994723805243435 + ], + [ + -14.46767706266434, + 0.1994723805243435 + ] + ], + "projected_box_corners": [ + [ + -14.31327468870316, + 0.1994723805243435 + ], + [ + -14.30954266840924, + 0.19757850372348815 + ], + [ + -14.312043718771845, + 0.08884611526809788 + ], + [ + -14.308311698477924, + 0.08695223846724254 + ], + [ + -14.46767706266434, + 0.1977350275944837 + ], + [ + -14.463945042370419, + 0.19584115079362835 + ], + [ + -14.466446092733023, + 0.08710876233823805 + ], + [ + -14.462714072439102, + 0.08521488553738271 + ] + ], + "yaw_rad": -3.1303410156210885, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.862027168273926, + 0.1112341433763504, + 0.07054245471954346 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465185493701556, + 0.14148399992306201, + 0.11999433620756865 + ], + "intended_face_normal": [ + -0.9998157376606145, + -0.011249161972146038, + 0.01555359659279731 + ], + "commanded_contact_point": [ + -14.859443664550781, + 0.11206036061048508, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.465213952072457, + 0.1423526074959819, + 0.11879336036420393 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.859994888305664, + 0.10657859593629837, + 0.07178987562656403 + ], + "box_pose": [ + -14.391998291015625, + 0.14060913026332855, + 0.13603954017162323, + 0.007799335289746523, + -0.003953621722757816, + 0.999946117401123, + -0.005594046786427498 + ], + "box_yaw_rad": -3.130341893168396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005570378262305925 + } + } + }, + { + "simulation_time_ns": 1880000000, + "center": [ + -14.388006042051172, + 0.14233327691824407, + 0.118794512119719 + ], + "face_center": [ + -14.46520733598524, + 0.14146374056901478, + 0.11998112292889268 + ], + "face_normal": [ + -0.9998184300929269, + -0.011261190367322812, + 0.015367557924256568 + ], + "footprint_xy": [ + [ + -14.467677556337657, + 0.08519364377561318 + ], + [ + -14.30833452776469, + 0.08519364377561318 + ], + [ + -14.30833452776469, + 0.19947291006087498 + ], + [ + -14.467677556337657, + 0.19947291006087498 + ] + ], + "projected_box_corners": [ + [ + -14.313274968469523, + 0.19947291006087498 + ], + [ + -14.309566675183977, + 0.19755889076415478 + ], + [ + -14.312042821050236, + 0.08884673577079198 + ], + [ + -14.30833452776469, + 0.08693271647407178 + ], + [ + -14.467677556337657, + 0.1977338373624164 + ], + [ + -14.46396926305211, + 0.19581981806569618 + ], + [ + -14.466445408918368, + 0.08710766307233339 + ], + [ + -14.462737115632823, + 0.08519364377561318 + ] + ], + "yaw_rad": -3.1303298944080655, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.863637924194336, + 0.11474636197090149, + 0.06952552497386932 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46519556755172, + 0.1414749565659332, + 0.11998811557885844 + ], + "intended_face_normal": [ + -0.9998170449599519, + -0.011250054178711687, + 0.015467485105608466 + ], + "commanded_contact_point": [ + -14.85930061340332, + 0.11116071045398712, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + -14.465223823998484, + 0.14234363303086311, + 0.11879378886100839 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.862027168273926, + 0.1112341433763504, + 0.07054245471954346 + ], + "box_pose": [ + -14.392009735107422, + 0.140598863363266, + 0.13603949546813965, + 0.007756485603749752, + -0.0039908853359520435, + 0.9999462962150574, + -0.005594372283667326 + ], + "box_yaw_rad": -3.1303410156210885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009109522683563783 + } + } + }, + { + "simulation_time_ns": 1900000000, + "center": [ + -14.388022840337069, + 0.14232003218715275, + 0.11879517606964075 + ], + "face_center": [ + -14.465224295258206, + 0.14145035383577398, + 0.11997150518281555 + ], + "face_normal": [ + -0.9998205150041135, + -0.011263029408599459, + 0.01523440174735272 + ], + "footprint_xy": [ + [ + -14.467678760892424, + 0.08516702720199501 + ], + [ + -14.308366919781713, + 0.08516702720199501 + ], + [ + -14.308366919781713, + 0.19947303717231046 + ], + [ + -14.467678760892424, + 0.19947303717231046 + ] + ], + "projected_box_corners": [ + [ + -14.313275851050147, + 0.19947303717231046 + ], + [ + -14.309599203040468, + 0.19753246501793112 + ], + [ + -14.312043567791394, + 0.0888469560591319 + ], + [ + -14.308366919781713, + 0.08690638390475255 + ], + [ + -14.467678760892424, + 0.19773368046955292 + ], + [ + -14.464002112882744, + 0.1957931083151736 + ], + [ + -14.466446477633669, + 0.08710759935637435 + ], + [ + -14.46276982962399, + 0.08516702720199501 + ] + ], + "yaw_rad": -3.1303280787540824, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.863786697387695, + 0.11434753239154816, + 0.06878343224525452 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46520733598524, + 0.14146374056901478, + 0.11998112292889268 + ], + "intended_face_normal": [ + -0.9998184300929269, + -0.011261190367322812, + 0.015367557924256568 + ], + "commanded_contact_point": [ + -14.859319686889648, + 0.10991550981998444, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.46523537848605, + 0.14233327691824407, + 0.118794512119719 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863637924194336, + 0.11474636197090149, + 0.06952552497386932 + ], + "box_pose": [ + -14.392023086547852, + 0.14058701694011688, + 0.13603967428207397, + 0.007706773467361927, + -0.00403263233602047, + 0.9999464750289917, + -0.005599816329777241 + ], + "box_yaw_rad": -3.1303298944080655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012453467055998277 + } + } + }, + { + "simulation_time_ns": 1920000000, + "center": [ + -14.388041198859927, + 0.14230511436802745, + 0.11879596037976306 + ], + "face_center": [ + -14.465242824221473, + 0.14143522066547842, + 0.1199604326021415 + ], + "face_normal": [ + -0.9998227223435561, + -0.011265818378291756, + 0.01508084553944869 + ], + "footprint_xy": [ + [ + -14.46767915939326, + 0.08513707137633511 + ], + [ + -14.308403238326596, + 0.08513707137633511 + ], + [ + -14.308403238326596, + 0.19947315735971982 + ], + [ + -14.46767915939326, + 0.19947315735971982 + ] + ], + "projected_box_corners": [ + [ + -14.313275908670168, + 0.19947315735971982 + ], + [ + -14.309635762103282, + 0.19750281462447766 + ], + [ + -14.312043384893482, + 0.08884720151667533 + ], + [ + -14.308403238326596, + 0.0868768587814332 + ], + [ + -14.46767915939326, + 0.1977333699546217 + ], + [ + -14.464039012826374, + 0.19576302721937958 + ], + [ + -14.466446635616574, + 0.08710741411157724 + ], + [ + -14.462806489049688, + 0.08513707137633511 + ] + ], + "yaw_rad": -3.1303253145109537, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.862870216369629, + 0.11038116365671158, + 0.06813265383243561 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465224295258206, + 0.14145035383577398, + 0.11997150518281555 + ], + "intended_face_normal": [ + -0.9998205150041135, + -0.011263029408599459, + 0.01523440174735272 + ], + "commanded_contact_point": [ + -14.859457015991211, + 0.10820139944553375, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -14.465252015726733, + 0.14232003218715275, + 0.11879517606964075 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863786697387695, + 0.11434753239154816, + 0.06878343224525452 + ], + "box_pose": [ + -14.39204216003418, + 0.14057186245918274, + 0.1360396146774292, + 0.00764050055295229, + -0.004087611101567745, + 0.9999467730522156, + -0.005600581411272287 + ], + "box_yaw_rad": -3.1303280787540824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017196027621560273 + } + } + }, + { + "simulation_time_ns": 1940000000, + "center": [ + -14.388060299690373, + 0.1422866654483302, + 0.11879750145992274 + ], + "face_center": [ + -14.46526213292255, + 0.14141591652141694, + 0.11994909163889113 + ], + "face_normal": [ + -0.9998254144342897, + -0.011276894217019908, + 0.014914012786235794 + ], + "footprint_xy": [ + [ + -14.467679234223427, + 0.08509965265529781 + ], + [ + -14.30844136515732, + 0.08509965265529781 + ], + [ + -14.30844136515732, + 0.1994736782413626 + ], + [ + -14.467679234223427, + 0.1994736782413626 + ] + ], + "projected_box_corners": [ + [ + -14.31327556775907, + 0.1994736782413626 + ], + [ + -14.309675017289022, + 0.19746698836618518 + ], + [ + -14.31204191562737, + 0.0888478403843018 + ], + [ + -14.30844136515732, + 0.08684115050912436 + ], + [ + -14.467679234223427, + 0.19773218038753607 + ], + [ + -14.464078683753376, + 0.19572549051235863 + ], + [ + -14.466445582091724, + 0.08710634253047525 + ], + [ + -14.462845031621674, + 0.08509965265529781 + ] + ], + "yaw_rad": -3.130314268481306, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.86221981048584, + 0.10436619818210602, + 0.06746549904346466 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465242824221473, + 0.14143522066547842, + 0.1199604326021415 + ], + "intended_face_normal": [ + -0.9998227223435561, + -0.011265818378291756, + 0.01508084553944869 + ], + "commanded_contact_point": [ + -14.859796524047852, + 0.10616374760866165, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.46527020374836, + 0.14230511436802745, + 0.11879596037976306 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.862870216369629, + 0.11038116365671158, + 0.06813265383243561 + ], + "box_pose": [ + -14.39206314086914, + 0.14055480062961578, + 0.13603956997394562, + 0.00756406644359231, + -0.004149243235588074, + 0.9999470710754395, + -0.005601820535957813 + ], + "box_yaw_rad": -3.1303253145109537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002065742174124409 + } + } + }, + { + "simulation_time_ns": 1960000000, + "center": [ + -14.388086119200734, + 0.1422668659293189, + 0.11879825368301 + ], + "face_center": [ + -14.46528817300387, + 0.14139606167738375, + 0.11993293833241095 + ], + "face_normal": [ + -0.9998282710043993, + -0.011277610720250627, + 0.014695072673050117 + ], + "footprint_xy": [ + [ + -14.467679243268917, + 0.08505970442955169 + ], + [ + -14.308492995132553, + 0.08505970442955169 + ], + [ + -14.308492995132553, + 0.1994740274290861 + ], + [ + -14.467679243268917, + 0.1994740274290861 + ] + ], + "projected_box_corners": [ + [ + -14.313275135662646, + 0.1994740274290861 + ], + [ + -14.309726657694641, + 0.1974269507791676 + ], + [ + -14.312041473100559, + 0.08884838958334049 + ], + [ + -14.308492995132553, + 0.086801312933422 + ], + [ + -14.467679243268917, + 0.1977324189252158 + ], + [ + -14.464130765300911, + 0.1956853422752973 + ], + [ + -14.466445580706829, + 0.08710678107947019 + ], + [ + -14.462897102738824, + 0.08505970442955169 + ] + ], + "yaw_rad": -3.1303135841664664, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.863398551940918, + 0.09859128296375275, + 0.06557260453701019 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46526213292255, + 0.14141591652141694, + 0.11994909163889113 + ], + "intended_face_normal": [ + -0.9998254144342897, + -0.011276894217019908, + 0.014914012786235794 + ], + "commanded_contact_point": [ + -14.860549926757812, + 0.1039959043264389, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + -14.465289096635015, + 0.1422866654483302, + 0.11879750145992274 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.86221981048584, + 0.10436619818210602, + 0.06746549904346466 + ], + "box_pose": [ + -14.392085075378418, + 0.1405337005853653, + 0.13604018092155457, + 0.00748108746483922, + -0.004224576521664858, + 0.9999474287033081, + -0.005607137456536293 + ], + "box_yaw_rad": -3.130314268481306, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002295029442077318 + } + } + }, + { + "simulation_time_ns": 1980000000, + "center": [ + -14.388113655255228, + 0.1422426791148937, + 0.11879997423184761 + ], + "face_center": [ + -14.465315971446898, + 0.141371160703385, + 0.11991681628287665 + ], + "face_normal": [ + -0.9998316691455529, + -0.011286859657247118, + 0.014463996770252032 + ], + "footprint_xy": [ + [ + -14.4676800626897, + 0.08501095131740764 + ], + [ + -14.308547247820757, + 0.08501095131740764 + ], + [ + -14.308547247820757, + 0.19947440691237972 + ], + [ + -14.4676800626897, + 0.19947440691237972 + ] + ], + "projected_box_corners": [ + [ + -14.313275430306359, + 0.19947440691237972 + ], + [ + -14.309781834236054, + 0.19737943845362377 + ], + [ + -14.31204084389106, + 0.08884895659918098 + ], + [ + -14.308547247820757, + 0.08675398814042501 + ], + [ + -14.4676800626897, + 0.19773137008936237 + ], + [ + -14.464186466619395, + 0.19563640163060642 + ], + [ + -14.466445476274401, + 0.08710591977616361 + ], + [ + -14.462951880204098, + 0.08501095131740764 + ] + ], + "yaw_rad": -3.1303043731811293, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.866167068481445, + 0.09275675565004349, + 0.06151020526885986 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46528817300387, + 0.14139606167738375, + 0.11993293833241095 + ], + "intended_face_normal": [ + -0.9998282710043993, + -0.011277610720250627, + 0.014695072673050117 + ], + "commanded_contact_point": [ + -14.861390113830566, + 0.10150513052940369, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -14.46531469549801, + 0.1422668659293189, + 0.11879825368301 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863398551940918, + 0.09859128296375275, + 0.06557260453701019 + ], + "box_pose": [ + -14.392114639282227, + 0.14051100611686707, + 0.13603976368904114, + 0.007372078485786915, + -0.004308145027607679, + 0.9999477863311768, + -0.005607338156551123 + ], + "box_yaw_rad": -3.1303135841664664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026286628591166315 + } + } + }, + { + "simulation_time_ns": 2000000000, + "center": [ + -14.388147024725173, + 0.1422168721601952, + 0.11880095578419769 + ], + "face_center": [ + -14.46534967482178, + 0.1413451890269319, + 0.1198962267618291 + ], + "face_normal": [ + -0.9998359934812142, + -0.011288992935560412, + 0.01418463413731137 + ], + "footprint_xy": [ + [ + -14.467680634085065, + 0.08495880290776918 + ], + [ + -14.308613415365281, + 0.08495880290776918 + ], + [ + -14.308613415365281, + 0.19947494141262123 + ], + [ + -14.467680634085065, + 0.19947494141262123 + ] + ], + "projected_box_corners": [ + [ + -14.313275333891854, + 0.19947494141262123 + ], + [ + -14.309848166598597, + 0.19732744086625523 + ], + [ + -14.312040582658536, + 0.08884966972066179 + ], + [ + -14.308613415365281, + 0.0867021691742958 + ], + [ + -14.467680634085065, + 0.19773157514609463 + ], + [ + -14.46425346679181, + 0.19558407459972862 + ], + [ + -14.46644588285175, + 0.08710630345413517 + ], + [ + -14.463018715558494, + 0.08495880290776918 + ] + ], + "yaw_rad": -3.130302288642976, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.86972427368164, + 0.08880607783794403, + 0.061134278774261475 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465315971446898, + 0.141371160703385, + 0.11991681628287665 + ], + "intended_face_normal": [ + -0.9998316691455529, + -0.011286859657247118, + 0.014463996770252032 + ], + "commanded_contact_point": [ + -14.861650466918945, + 0.09965131431818008, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.46534196907472, + 0.1422426791148937, + 0.11879997423184761 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866167068481445, + 0.09275675565004349, + 0.06151020526885986 + ], + "box_pose": [ + -14.392146110534668, + 0.14048334956169128, + 0.13604021072387695, + 0.007257107179611921, + -0.004407353233546019, + 0.9999482035636902, + -0.005611735861748457 + ], + "box_yaw_rad": -3.1303043731811293, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018720091547953883 + } + } + }, + { + "simulation_time_ns": 2020000000, + "center": [ + -14.388184479921497, + 0.14218744988299234, + 0.11880221078317074 + ], + "face_center": [ + -14.465387469928002, + 0.1413156827949305, + 0.11987282884969615 + ], + "face_normal": [ + -0.9998403955859467, + -0.011290080217270088, + 0.01386535924406598 + ], + "footprint_xy": [ + [ + -14.467680494693177, + 0.08489965047805123 + ], + [ + -14.308688465149817, + 0.08489965047805123 + ], + [ + -14.308688465149817, + 0.19947524928793345 + ], + [ + -14.467680494693177, + 0.19947524928793345 + ] + ], + "projected_box_corners": [ + [ + -14.313274514680167, + 0.19947524928793345 + ], + [ + -14.30992327484556, + 0.19726819860504888 + ], + [ + -14.312039704984425, + 0.08885023533705946 + ], + [ + -14.308688465149817, + 0.08664318465417489 + ], + [ + -14.467680494693177, + 0.1977317151118098 + ], + [ + -14.46432925485857, + 0.19552466442892522 + ], + [ + -14.466445684997435, + 0.08710670116093581 + ], + [ + -14.463094445162827, + 0.08489965047805123 + ] + ], + "yaw_rad": -3.130301251031409, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.872810363769531, + 0.09015607833862305, + 0.0642947405576706 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46534967482178, + 0.1413451890269319, + 0.1198962267618291 + ], + "intended_face_normal": [ + -0.9998359934812142, + -0.011288992935560412, + 0.01418463413731137 + ], + "commanded_contact_point": [ + -14.861359596252441, + 0.09840971231460571, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.465375004528731, + 0.1422168721601952, + 0.11880095578419769 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.86972427368164, + 0.08880607783794403, + 0.061134278774261475 + ], + "box_pose": [ + -14.392184257507324, + 0.1404537707567215, + 0.13603968918323517, + 0.007118028588593006, + -0.0045160711742937565, + 0.9999487996101379, + -0.005612638313323259 + ], + "box_yaw_rad": -3.130302288642976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012752181303750428 + } + } + }, + { + "simulation_time_ns": 2040000000, + "center": [ + -14.388225951430872, + 0.1421552052705269, + 0.11880299473342178 + ], + "face_center": [ + -14.46542932201723, + 0.14128477942501672, + 0.11984571331643587 + ], + "face_normal": [ + -0.9998453243990602, + -0.0112727100547508, + 0.013504038644588557 + ], + "footprint_xy": [ + [ + -14.46767837201323, + 0.08483620847551111 + ], + [ + -14.308773530848514, + 0.08483620847551111 + ], + [ + -14.308773530848514, + 0.19947420206554273 + ], + [ + -14.46767837201323, + 0.19947420206554273 + ] + ], + "projected_box_corners": [ + [ + -14.313271630840516, + 0.19947420206554273 + ], + [ + -14.31000638274374, + 0.19720179083301012 + ], + [ + -14.31203877894529, + 0.08884947139906413 + ], + [ + -14.308773530848514, + 0.08657706016653152 + ], + [ + -14.46767837201323, + 0.1977333503745223 + ], + [ + -14.464413123916453, + 0.1954609391419897 + ], + [ + -14.466445520118004, + 0.0871086197080437 + ], + [ + -14.463180272021228, + 0.08483620847551111 + ] + ], + "yaw_rad": -3.1303186773267324, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.873488426208496, + 0.09136240184307098, + 0.06929704546928406 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465387469928002, + 0.1413156827949305, + 0.11987282884969615 + ], + "intended_face_normal": [ + -0.9998403955859467, + -0.011290080217270088, + 0.01386535924406598 + ], + "commanded_contact_point": [ + -14.861444473266602, + 0.09765233099460602, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -14.465412119705132, + 0.14218744988299234, + 0.11880221078317074 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.872810363769531, + 0.09015607833862305, + 0.0642947405576706 + ], + "box_pose": [ + -14.392227172851562, + 0.1404200792312622, + 0.13603922724723816, + 0.006959072779864073, + -0.004639301914721727, + 0.9999493360519409, + -0.005613039247691631 + ], + "box_yaw_rad": -3.130301251031409, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007621224125029182 + } + } + }, + { + "simulation_time_ns": 2060000000, + "center": [ + -14.388274362103607, + 0.14211672792078653, + 0.11880506224378881 + ], + "face_center": [ + -14.4654781227959, + 0.1412460535689821, + 0.11981657924681746 + ], + "face_normal": [ + -0.9998503765825748, + -0.011275928409784568, + 0.013099953257831738 + ], + "footprint_xy": [ + [ + -14.467679297254362, + 0.08475856157567574 + ], + [ + -14.308869426952853, + 0.08475856157567574 + ], + [ + -14.308869426952853, + 0.1994748942658973 + ], + [ + -14.467679297254362, + 0.1994748942658973 + ] + ], + "projected_box_corners": [ + [ + -14.313271775869776, + 0.1994748942658973 + ], + [ + -14.310102588527664, + 0.19712425747185144 + ], + [ + -14.312038614294964, + 0.08885054707333041 + ], + [ + -14.308869426952853, + 0.08649991027928458 + ], + [ + -14.467679297254362, + 0.19773354556228845 + ], + [ + -14.46451010991225, + 0.1953829087682426 + ], + [ + -14.46644613567955, + 0.08710919836972159 + ], + [ + -14.46327694833744, + 0.08475856157567574 + ] + ], + "yaw_rad": -3.130315515861197, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.870643615722656, + 0.09318225085735321, + 0.07341040670871735 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.46542932201723, + 0.14128477942501672, + 0.11984571331643587 + ], + "intended_face_normal": [ + -0.9998453243990602, + -0.0112727100547508, + 0.013504038644588557 + ], + "commanded_contact_point": [ + -14.86160945892334, + 0.09729547798633575, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.465453210515017, + 0.1421552052705269, + 0.11880299473342178 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.873488426208496, + 0.09136240184307098, + 0.06929704546928406 + ], + "box_pose": [ + -14.392274856567383, + 0.14038322865962982, + 0.13603807985782623, + 0.006779116112738848, + -0.0047744628973305225, + 0.9999499320983887, + -0.005604268983006477 + ], + "box_yaw_rad": -3.1303186773267324, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00039314671137241305 + } + } + }, + { + "simulation_time_ns": 2080000000, + "center": [ + -14.388327640339366, + 0.14207364949443888, + 0.11880724989379156 + ], + "face_center": [ + -14.465531883051643, + 0.14120298582925206, + 0.11978374346008619 + ], + "face_normal": [ + -0.9998566191264462, + -0.011275790009549688, + 0.012646371773021754 + ], + "footprint_xy": [ + [ + -14.467679121121314, + 0.08467217542600597 + ], + [ + -14.308976159557417, + 0.08467217542600597 + ], + [ + -14.308976159557417, + 0.19947512356287178 + ], + [ + -14.467679121121314, + 0.19947512356287178 + ] + ], + "projected_box_corners": [ + [ + -14.313270635696759, + 0.19947512356287178 + ], + [ + -14.310209292942282, + 0.197037494062491 + ], + [ + -14.312037502311894, + 0.08885113225676045 + ], + [ + -14.308976159557417, + 0.08641350275637964 + ], + [ + -14.467679121121314, + 0.19773379623249812 + ], + [ + -14.464617778366838, + 0.19529616673211733 + ], + [ + -14.46644598773645, + 0.08710980492638677 + ], + [ + -14.463384644981973, + 0.08467217542600597 + ] + ], + "yaw_rad": -3.130315724665829, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.866923332214355, + 0.09616634249687195, + 0.07569326460361481 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.4654781227959, + 0.1412460535689821, + 0.11981657924681746 + ], + "intended_face_normal": [ + -0.9998503765825748, + -0.011275928409784568, + 0.013099953257831738 + ], + "commanded_contact_point": [ + -14.861698150634766, + 0.0973074734210968, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.465501230963081, + 0.14211672792078653, + 0.11880506224378881 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.870643615722656, + 0.09318225085735321, + 0.07341040670871735 + ], + "box_pose": [ + -14.392330169677734, + 0.14033913612365723, + 0.1360379457473755, + 0.006577975116670132, + -0.0049363914877176285, + 0.9999504089355469, + -0.005605770740658045 + ], + "box_yaw_rad": -3.130315515861197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.949922240305892e-05 + } + } + }, + { + "simulation_time_ns": 2100000000, + "center": [ + -14.388389072960251, + 0.14202448973643075, + 0.11880912057757628 + ], + "face_center": [ + -14.465593795563485, + 0.14115386404370456, + 0.11974433566165417 + ], + "face_normal": [ + -0.9998628340977067, + -0.011275298235849144, + 0.01211178245225461 + ], + "footprint_xy": [ + [ + -14.467677461393972, + 0.0845734617146423 + ], + [ + -14.309100684526529, + 0.0845734617146423 + ], + [ + -14.309100684526529, + 0.19947551775821915 + ], + [ + -14.467677461393972, + 0.19947551775821915 + ] + ], + "projected_box_corners": [ + [ + -14.313268016187504, + 0.19947551775821915 + ], + [ + -14.310333810446057, + 0.19693818289601955 + ], + [ + -14.312034890267975, + 0.08885204796229426 + ], + [ + -14.309100684526529, + 0.08631471310009467 + ], + [ + -14.467677461393972, + 0.1977342663727668 + ], + [ + -14.464743255652527, + 0.19519693151056722 + ], + [ + -14.466444335474444, + 0.08711079657684193 + ], + [ + -14.463510129732999, + 0.0845734617146423 + ] + ], + "yaw_rad": -3.130316286533914, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.864287376403809, + 0.0991477370262146, + 0.07424686849117279 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + -14.465531883051643, + 0.14120298582925206, + 0.11978374346008619 + ], + "intended_face_normal": [ + -0.9998566191264462, + -0.011275790009549688, + 0.012646371773021754 + ], + "commanded_contact_point": [ + -14.8616304397583, + 0.09761467576026917, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -14.46555402703759, + 0.14207364949443888, + 0.11880724989379156 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866923332214355, + 0.09616634249687195, + 0.07569326460361481 + ], + "box_pose": [ + -14.392391204833984, + 0.14028982818126678, + 0.1360376626253128, + 0.006352177821099758, + -0.005116443615406752, + 0.9999510645866394, + -0.005605668760836124 + ], + "box_yaw_rad": -3.130315724665829, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003145759699544571 + } + } + }, + { + "simulation_time_ns": 2120000000, + "center": [ + -14.38846000190876, + 0.1419677672921056, + 0.11881180131791655 + ], + "face_center": [ + -14.465665286040457, + 0.14109728301253133, + 0.11970125109327345 + ], + "face_normal": [ + -0.9998701063398834, + -0.011273466822561687, + 0.011519085143875323 + ], + "footprint_xy": [ + [ + -14.467678434860606, + 0.08446024094359972 + ], + [ + -14.309241568956915, + 0.08446024094359972 + ], + [ + -14.309241568956915, + 0.19947529364061148 + ], + [ + -14.467678434860606, + 0.19947529364061148 + ] + ], + "projected_box_corners": [ + [ + -14.313267866597212, + 0.19947529364061148 + ], + [ + -14.310474583546135, + 0.19682414127891876 + ], + [ + -14.312034852007992, + 0.088852361864441 + ], + [ + -14.309241568956915, + 0.08620120950274827 + ], + [ + -14.467678434860606, + 0.19773432508146294 + ], + [ + -14.46488515180953, + 0.19508317271977021 + ], + [ + -14.466445420271386, + 0.08711139330529244 + ], + [ + -14.46365213722031, + 0.08446024094359972 + ] + ], + "yaw_rad": -3.1303181999604393, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.863286972045898, + 0.10200636088848114, + 0.0695638507604599 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465593795563485, + 0.14115386404370456, + 0.11974433566165417 + ], + "intended_face_normal": [ + -0.9998628340977067, + -0.011275298235849144, + 0.01211178245225461 + ], + "commanded_contact_point": [ + -14.861652374267578, + 0.09826508164405823, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -14.465614979632859, + 0.14202448973643075, + 0.11880912057757628 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864287376403809, + 0.0991477370262146, + 0.07424686849117279 + ], + "box_pose": [ + -14.392461776733398, + 0.14023353159427643, + 0.13603663444519043, + 0.006086023058742285, + -0.005322767421603203, + 0.9999515414237976, + -0.005605526268482208 + ], + "box_yaw_rad": -3.130316286533914, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006507756421107579 + } + } + }, + { + "simulation_time_ns": 2140000000, + "center": [ + -14.388541676069853, + 0.14190209213864652, + 0.11881517008877508 + ], + "face_center": [ + -14.465747555074623, + 0.14103067770179015, + 0.11965125706216999 + ], + "face_normal": [ + -0.9998778104214148, + -0.01128551310243751, + 0.010827994228630037 + ], + "footprint_xy": [ + [ + -14.46767932478195, + 0.08432747674861188 + ], + [ + -14.309404027357756, + 0.08432747674861188 + ], + [ + -14.309404027357756, + 0.19947670752868113 + ], + [ + -14.46767932478195, + 0.19947670752868113 + ] + ], + "projected_box_corners": [ + [ + -14.313267566772408, + 0.19947670752868113 + ], + [ + -14.310638557096835, + 0.19669254028810707 + ], + [ + -14.312033037033327, + 0.08885447286289869 + ], + [ + -14.309404027357756, + 0.0860703056223246 + ], + [ + -14.46767932478195, + 0.19773387865496844 + ], + [ + -14.465050315106378, + 0.19494971141439435 + ], + [ + -14.46644479504287, + 0.08711164398918597 + ], + [ + -14.463815785367297, + 0.08432747674861188 + ] + ], + "yaw_rad": -3.130306240603995, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.863551139831543, + 0.10352662205696106, + 0.06451225280761719 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465665286040457, + 0.14109728301253133, + 0.11970125109327345 + ], + "intended_face_normal": [ + -0.9998701063398834, + -0.011273466822561687, + 0.011519085143875323 + ], + "commanded_contact_point": [ + -14.86161505891323, + 0.09927115878167925, + 0.050126861347098886 + ], + "centerline_face_intersection": [ + -14.465685346902912, + 0.1419677672921056, + 0.11881180131791655 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863286972045898, + 0.10200636088848114, + 0.0695638507604599 + ], + "box_pose": [ + -14.392542839050293, + 0.1401686668395996, + 0.13603606820106506, + 0.005790973547846079, + -0.00555833987891674, + 0.9999520778656006, + -0.005604813806712627 + ], + "box_yaw_rad": -3.1303181999604393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010147268791394063 + } + } + }, + { + "simulation_time_ns": 2160000000, + "center": [ + -14.388636620968231, + 0.1418270721197414, + 0.11881797581576642 + ], + "face_center": [ + -14.465843119942665, + 0.14095568632005076, + 0.11959179699315982 + ], + "face_normal": [ + -0.9998858395238144, + -0.011285142228264324, + 0.010021602428255746 + ], + "footprint_xy": [ + [ + -14.467679160294866, + 0.08417678828798908 + ], + [ + -14.309594081641597, + 0.08417678828798908 + ], + [ + -14.309594081641597, + 0.19947735595149377 + ], + [ + -14.467679160294866, + 0.19947735595149377 + ] + ], + "projected_box_corners": [ + [ + -14.313266162345998, + 0.19947735595149377 + ], + [ + -14.310828903080616, + 0.19654091526633632 + ], + [ + -14.31203134090698, + 0.08885600057252782 + ], + [ + -14.309594081641597, + 0.08591955988737038 + ], + [ + -14.467679160294866, + 0.19773458435211244 + ], + [ + -14.465241901029481, + 0.194798143666955 + ], + [ + -14.466444338855847, + 0.08711322897314652 + ], + [ + -14.464007079590463, + 0.08417678828798908 + ] + ], + "yaw_rad": -3.1303067020956834, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.863971710205078, + 0.10285858809947968, + 0.060165777802467346 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465747555074623, + 0.14103067770179015, + 0.11965125706216999 + ], + "intended_face_normal": [ + -0.9998778104214148, + -0.01128551310243751, + 0.010827994228630037 + ], + "commanded_contact_point": [ + -14.861366661520005, + 0.10068639370753166, + 0.05049891442108195 + ], + "centerline_face_intersection": [ + -14.465766426040945, + 0.14190209213864652, + 0.11881517008877508 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863551139831543, + 0.10352662205696106, + 0.06451225280761719 + ], + "box_pose": [ + -14.3926362991333, + 0.14009341597557068, + 0.13603563606739044, + 0.0054469904862344265, + -0.005833691917359829, + 0.9999524354934692, + -0.005611247383058071 + ], + "box_yaw_rad": -3.130306240603995, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014842555878869753 + } + } + }, + { + "simulation_time_ns": 2180000000, + "center": [ + -14.388747420225556, + 0.1417405293648913, + 0.11882080431034384 + ], + "face_center": [ + -14.465954650404454, + 0.14086998983893412, + 0.11952219960055857 + ], + "face_normal": [ + -0.999895309205757, + -0.011274182307354642, + 0.009083629330565043 + ], + "footprint_xy": [ + [ + -14.467678810405863, + 0.08400349907943933 + ], + [ + -14.309816030045251, + 0.08400349907943933 + ], + [ + -14.309816030045251, + 0.19947755965034322 + ], + [ + -14.467678810405863, + 0.19947755965034322 + ] + ], + "projected_box_corners": [ + [ + -14.313264350048069, + 0.19947755965034322 + ], + [ + -14.31105017106278, + 0.19636496540196224 + ], + [ + -14.312030209030539, + 0.08885717237973464 + ], + [ + -14.309816030045251, + 0.08574457813135367 + ], + [ + -14.467678810405863, + 0.19773648059842888 + ], + [ + -14.465464631420573, + 0.1946238863500479 + ], + [ + -14.466444669388332, + 0.0871160933278203 + ], + [ + -14.464230490403045, + 0.08400349907943933 + ] + ], + "yaw_rad": -3.1303177686459014, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.864465713500977, + 0.10051210224628448, + 0.057088375091552734 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465843119942665, + 0.14095568632005076, + 0.11959179699315982 + ], + "intended_face_normal": [ + -0.9998858395238144, + -0.011285142228264324, + 0.010021602428255746 + ], + "commanded_contact_point": [ + -14.860826419304608, + 0.10249880302288951, + 0.05110324623904883 + ], + "centerline_face_intersection": [ + -14.465860750823106, + 0.1418270721197414, + 0.11881797581576642 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863971710205078, + 0.10285858809947968, + 0.060165777802467346 + ], + "box_pose": [ + -14.392745018005371, + 0.14000749588012695, + 0.1360340118408203, + 0.005045546684414148, + -0.006148829590529203, + 0.9999525547027588, + -0.00561181316152215 + ], + "box_yaw_rad": -3.1303067020956834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019854234117437485 + } + } + }, + { + "simulation_time_ns": 2200000000, + "center": [ + -14.388874736410756, + 0.14164022877148777, + 0.11882335327738702 + ], + "face_center": [ + -14.466082692030204, + 0.14077231844416574, + 0.1194409127328943 + ], + "face_normal": [ + -0.9999047042404079, + -0.01124013208464717, + 0.007997888297334256 + ], + "footprint_xy": [ + [ + -14.467676219489622, + 0.08380489450833761 + ], + [ + -14.31007325333189, + 0.08380489450833761 + ], + [ + -14.31007325333189, + 0.19947556303463795 + ], + [ + -14.467676219489622, + 0.19947556303463795 + ] + ], + "projected_box_corners": [ + [ + -14.31326030825073, + 0.19947556303463795 + ], + [ + -14.311304434547461, + 0.19615986063334961 + ], + [ + -14.312029127035158, + 0.08885641756427008 + ], + [ + -14.31007325333189, + 0.08554071516298173 + ], + [ + -14.467676219489622, + 0.19773974237999384 + ], + [ + -14.465720345786353, + 0.1944240399787055 + ], + [ + -14.466445038274053, + 0.08712059690962597 + ], + [ + -14.464489164570784, + 0.08380489450833761 + ] + ], + "yaw_rad": -3.1303519237271558, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.865850448608398, + 0.10033263266086578, + 0.056656286120414734 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465954650404454, + 0.14086998983893412, + 0.11952219960055857 + ], + "intended_face_normal": [ + -0.999895309205757, + -0.011274182307354642, + 0.009083629330565043 + ], + "commanded_contact_point": [ + -14.85968967453003, + 0.10454536732191179, + 0.05192696151899305 + ], + "centerline_face_intersection": [ + -14.465970818715917, + 0.1417405293648913, + 0.11882080431034384 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864465713500977, + 0.10051210224628448, + 0.057088375091552734 + ], + "box_pose": [ + -14.392871856689453, + 0.13990838825702667, + 0.13603167235851288, + 0.004578555468469858, + -0.006513351108878851, + 0.9999526143074036, + -0.005607535131275654 + ], + "box_yaw_rad": -3.1303177686459014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002481757638243132 + } + } + }, + { + "simulation_time_ns": 2220000000, + "center": [ + -14.389019535038768, + 0.1415221110250701, + 0.11882834274773506 + ], + "face_center": [ + -14.466228175534011, + 0.1406536239989344, + 0.11935013464350164 + ], + "face_normal": [ + -0.9999135739290947, + -0.011247600794989994, + 0.006757621893048824 + ], + "footprint_xy": [ + [ + -14.467675280184967, + 0.0835663639659829 + ], + [ + -14.310363789892572, + 0.0835663639659829 + ], + [ + -14.310363789892572, + 0.1994778580841573 + ], + [ + -14.467675280184967, + 0.1994778580841573 + ] + ], + "projected_box_corners": [ + [ + -14.31325799919448, + 0.1994778580841573 + ], + [ + -14.311596935461479, + 0.1959208580253365 + ], + [ + -14.312024853625573, + 0.08886033807707511 + ], + [ + -14.310363789892572, + 0.08530333801825428 + ], + [ + -14.467675280184967, + 0.19774088403188594 + ], + [ + -14.466014216451965, + 0.1941838839730651 + ], + [ + -14.46644213461606, + 0.08712336402480372 + ], + [ + -14.464781070883058, + 0.0835663639659829 + ] + ], + "yaw_rad": -3.1303445550176128, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.867612838745117, + 0.10281282663345337, + 0.06042008101940155 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466082692030204, + 0.14077231844416574, + 0.1194409127328943 + ], + "intended_face_normal": [ + -0.9999047042404079, + -0.01124013208464717, + 0.007997888297334256 + ], + "commanded_contact_point": [ + -14.858175482302904, + 0.1064122426524468, + 0.052957254174181574 + ], + "centerline_face_intersection": [ + -14.466097409315466, + 0.14164022877148777, + 0.11882335327738702 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.865850448608398, + 0.10033263266086578, + 0.056656286120414734 + ], + "box_pose": [ + -14.393017768859863, + 0.13979369401931763, + 0.1360282152891159, + 0.004037912469357252, + -0.0069336057640612125, + 0.9999521374702454, + -0.0055923364125192165 + ], + "box_yaw_rad": -3.1303519237271558, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00261524464549337 + } + } + }, + { + "simulation_time_ns": 2240000000, + "center": [ + -14.389188368860065, + 0.1413882591065046, + 0.1188317549359781 + ], + "face_center": [ + -14.466397707694432, + 0.1405201572481922, + 0.11924147110473196 + ], + "face_normal": [ + -0.999922617978636, + -0.01124261256397991, + 0.005306151694517251 + ], + "footprint_xy": [ + [ + -14.46767280601209, + 0.0832977152207205 + ], + [ + -14.31070393170804, + 0.0832977152207205 + ], + [ + -14.31070393170804, + 0.19947880299228868 + ], + [ + -14.46767280601209, + 0.19947880299228868 + ] + ], + "projected_box_corners": [ + [ + -14.313254128343356, + 0.19947880299228868 + ], + [ + -14.311938229618711, + 0.19564953745209962 + ], + [ + -14.312019830432684, + 0.08886318447753436 + ], + [ + -14.31070393170804, + 0.08503391893734527 + ], + [ + -14.46767280601209, + 0.1977425992756639 + ], + [ + -14.466356907287444, + 0.19391333373547484 + ], + [ + -14.466438508101419, + 0.08712698076090958 + ], + [ + -14.465122609376774, + 0.0832977152207205 + ] + ], + "yaw_rad": -3.130349644731464, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.868977546691895, + 0.10495519638061523, + 0.06657746434211731 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466228175534011, + 0.1406536239989344, + 0.11935013464350164 + ], + "intended_face_normal": [ + -0.9999135739290947, + -0.011247600794989994, + 0.006757621893048824 + ], + "commanded_contact_point": [ + -14.856570971956254, + 0.10778864984486686, + 0.05418132602069961 + ], + "centerline_face_intersection": [ + -14.466241522943209, + 0.1415221110250701, + 0.11882834274773506 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.867612838745117, + 0.10281282663345337, + 0.06042008101940155 + ], + "box_pose": [ + -14.393183708190918, + 0.13965827226638794, + 0.13602623343467712, + 0.003420594846829772, + -0.007433129474520683, + 0.9999507665634155, + -0.005598650313913822 + ], + "box_yaw_rad": -3.1303445550176128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002442806193150157 + } + } + }, + { + "simulation_time_ns": 2260000000, + "center": [ + -14.389383951675816, + 0.1412334588721773, + 0.11883546034194738 + ], + "face_center": [ + -14.466593912553739, + 0.14036522564674062, + 0.1191159023756535 + ], + "face_normal": [ + -0.9999306739396048, + -0.011244313873184825, + 0.003631948372673669 + ], + "footprint_xy": [ + [ + -14.467671267013142, + 0.0829868594537657 + ], + [ + -14.311096636338489, + 0.0829868594537657 + ], + [ + -14.311096636338489, + 0.19948005829058893 + ], + [ + -14.467671267013142, + 0.19948005829058893 + ] + ], + "projected_box_corners": [ + [ + -14.313251345257298, + 0.19948005829058893 + ], + [ + -14.312333535355673, + 0.19533659954297553 + ], + [ + -14.312014446240115, + 0.08886678465225252 + ], + [ + -14.311096636338489, + 0.0847233259046391 + ], + [ + -14.467671267013142, + 0.19774359183971552 + ], + [ + -14.466753457111517, + 0.1936001330921021 + ], + [ + -14.466434367995959, + 0.08713031820137912 + ], + [ + -14.465516558094334, + 0.0829868594537657 + ] + ], + "yaw_rad": -3.1303480340912824, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.870844841003418, + 0.10761544108390808, + 0.07163839042186737 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466397707694432, + 0.1405201572481922, + 0.11924147110473196 + ], + "intended_face_normal": [ + -0.999922617978636, + -0.01124261256397991, + 0.005306151694517251 + ], + "commanded_contact_point": [ + -14.854690168972015, + 0.10881858592747745, + 0.05558614148795375 + ], + "centerline_face_intersection": [ + -14.466409658310972, + 0.1413882591065046, + 0.1188317549359781 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.868977546691895, + 0.10495519638061523, + 0.06657746434211731 + ], + "box_pose": [ + -14.393377304077148, + 0.13950495421886444, + 0.13602150976657867, + 0.002697995398193598, + -0.007996596395969391, + 0.9999486804008484, + -0.00560001889243722 + ], + "box_yaw_rad": -3.130349644731464, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025635316843803575 + } + } + }, + { + "simulation_time_ns": 2280000000, + "center": [ + -14.389609720990427, + 0.14105480948345395, + 0.11884049069001539 + ], + "face_center": [ + -14.466820027985085, + 0.14018631241372667, + 0.11897271320699873 + ], + "face_normal": [ + -0.9999351564278389, + -0.01124773086752436, + 0.001712387223278107 + ], + "footprint_xy": [ + [ + -14.467671064567655, + 0.08262789217950917 + ], + [ + -14.311548377413196, + 0.08262789217950917 + ], + [ + -14.311548377413196, + 0.19948172678739873 + ], + [ + -14.467671064567655, + 0.19948172678739873 + ] + ], + "projected_box_corners": [ + [ + -14.31325045057834, + 0.19948172678739873 + ], + [ + -14.312789008511423, + 0.19497506778079227 + ], + [ + -14.312009819480112, + 0.08887154532557015 + ], + [ + -14.311548377413196, + 0.08436488631896369 + ], + [ + -14.467671064567655, + 0.1977447326479442 + ], + [ + -14.46720962250074, + 0.19323807364133774 + ], + [ + -14.46643043346943, + 0.08713455118611563 + ], + [ + -14.465968991402514, + 0.08262789217950917 + ] + ], + "yaw_rad": -3.13034466771044, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.87079906463623, + 0.11006985604763031, + 0.07785438001155853 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466593912553739, + 0.14036522564674062, + 0.1191159023756535 + ], + "intended_face_normal": [ + -0.9999306739396048, + -0.011244313873184825, + 0.003631948372673669 + ], + "commanded_contact_point": [ + -14.852721682434083, + 0.10965780982829723, + 0.057158901894574954 + ], + "centerline_face_intersection": [ + -14.4666046189919, + 0.1412334588721773, + 0.11883546034194738 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.870844841003418, + 0.10761544108390808, + 0.07163839042186737 + ], + "box_pose": [ + -14.393601417541504, + 0.13932766020298004, + 0.13601575791835785, + 0.0018645534291863441, + -0.008646855130791664, + 0.9999452829360962, + -0.005606341175734997 + ], + "box_yaw_rad": -3.1303480340912824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026557129555657695 + } + } + }, + { + "simulation_time_ns": 2300000000, + "center": [ + -14.389868768615282, + 0.1408499784880551, + 0.11884525074058098 + ], + "face_center": [ + -14.46707916680418, + 0.13998089811685094, + 0.11880700587900722 + ], + "face_normal": [ + -0.9999363374661063, + -0.01125528508763101, + -0.0004953015099779861 + ], + "footprint_xy": [ + [ + -14.467733919511593, + 0.08221642595476372 + ], + [ + -14.31200361771897, + 0.08221642595476372 + ], + [ + -14.31200361771897, + 0.19948353102134647 + ], + [ + -14.467733919511593, + 0.19948353102134647 + ] + ], + "projected_box_corners": [ + [ + -14.313249727738715, + 0.19948353102134647 + ], + [ + -14.313313123133796, + 0.19456097976125908 + ], + [ + -14.31200361771897, + 0.08887713795725945 + ], + [ + -14.31206701311405, + 0.08395458669717204 + ], + [ + -14.467670524116512, + 0.19774537027893818 + ], + [ + -14.467733919511593, + 0.19282281901885076 + ], + [ + -14.466424414096767, + 0.08713897721485114 + ], + [ + -14.466487809491849, + 0.08221642595476372 + ] + ], + "yaw_rad": -3.1303371272498075, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.870304107666016, + 0.1116182878613472, + 0.08132196962833405 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466820027985085, + 0.14018631241372667, + 0.11897271320699873 + ], + "intended_face_normal": [ + -0.9999351564278389, + -0.01124773086752436, + 0.001712387223278107 + ], + "commanded_contact_point": [ + -14.850697443912031, + 0.11048949236055486, + 0.058886861521996854 + ], + "centerline_face_intersection": [ + -14.466830042143332, + 0.14105480948345395, + 0.11884049069001539 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.87079906463623, + 0.11006985604763031, + 0.07785438001155853 + ], + "box_pose": [ + -14.39385986328125, + 0.13912300765514374, + 0.1360098272562027, + 0.0009090278181247413, + -0.009398594498634338, + 0.9999396204948425, + -0.005615660920739174 + ], + "box_yaw_rad": -3.13034466771044, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027883833851576442 + } + } + }, + { + "simulation_time_ns": 2320000000, + "center": [ + -14.390168804499696, + 0.1406179934661772, + 0.11885058888213093 + ], + "face_center": [ + -14.467378887639153, + 0.13974964555270372, + 0.11861581742671796 + ], + "face_normal": [ + -0.9999322573241431, + -0.011245799174881799, + -0.0030404778990114102 + ], + "footprint_xy": [ + [ + -14.468338921466515, + 0.08175308204757756 + ], + [ + -14.31199868753288, + 0.08175308204757756 + ], + [ + -14.31199868753288, + 0.19948290488477685 + ], + [ + -14.468338921466515, + 0.19948290488477685 + ] + ], + "projected_box_corners": [ + [ + -14.313250126635706, + 0.19948290488477685 + ], + [ + -14.3139187551876, + 0.19409156853368958 + ], + [ + -14.31199868753288, + 0.08888111422561182 + ], + [ + -14.312667316084775, + 0.08348977787452455 + ], + [ + -14.467670292914619, + 0.19774620905782989 + ], + [ + -14.468338921466515, + 0.19235487270674262 + ], + [ + -14.466418853811794, + 0.08714441839866484 + ], + [ + -14.467087482363688, + 0.08175308204757756 + ] + ], + "yaw_rad": -3.1303465666810553, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.870936393737793, + 0.10831647366285324, + 0.07940629124641418 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46707916680418, + 0.13998089811685094, + 0.11880700587900722 + ], + "intended_face_normal": [ + -0.9999363374661063, + -0.01125528508763101, + -0.0004953015099779861 + ], + "commanded_contact_point": [ + -14.848019319772721, + 0.11141769809359175, + 0.060757074200072175 + ], + "centerline_face_intersection": [ + -14.467088998562225, + 0.1408499784880551, + 0.11884525074058098 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.870304107666016, + 0.1116182878613472, + 0.08132196962833405 + ], + "box_pose": [ + -14.394156455993652, + 0.1388883888721466, + 0.13600187003612518, + -0.00018990374519489706, + -0.010259372182190418, + 0.9999314546585083, + -0.005629976745694876 + ], + "box_yaw_rad": -3.1303371272498075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033958224702758865 + } + } + }, + { + "simulation_time_ns": 2340000000, + "center": [ + -14.390499553504204, + 0.14037162080273358, + 0.11886017137001018 + ], + "face_center": [ + -14.467708718534086, + 0.13950598465198996, + 0.11840816787479355 + ], + "face_normal": [ + -0.9999203670717003, + -0.011210679681189398, + -0.005853806354203998 + ], + "footprint_xy": [ + [ + -14.469005600298928, + 0.0812629816003263 + ], + [ + -14.311993506709479, + 0.0812629816003263 + ], + [ + -14.311993506709479, + 0.19948026000514085 + ], + [ + -14.469005600298928, + 0.19948026000514085 + ] + ], + "projected_box_corners": [ + [ + -14.313249326338948, + 0.19948026000514085 + ], + [ + -14.314587270239166, + 0.1935907092212628 + ], + [ + -14.311993506709479, + 0.08888380468569161 + ], + [ + -14.313331450609697, + 0.08299425390181354 + ], + [ + -14.467667656398712, + 0.19774898770365362 + ], + [ + -14.469005600298928, + 0.19185943691977556 + ], + [ + -14.466411836769241, + 0.08715253238420437 + ], + [ + -14.46774978066946, + 0.0812629816003263 + ] + ], + "yaw_rad": -3.1303815508253163, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.868383407592773, + 0.10234883427619934, + 0.07542172074317932 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467378887639153, + 0.13974964555270372, + 0.11861581742671796 + ], + "intended_face_normal": [ + -0.9999322573241431, + -0.011245799174881799, + -0.0030404778990114102 + ], + "commanded_contact_point": [ + -14.845199710007908, + 0.11246354776322132, + 0.06275672377833007 + ], + "centerline_face_intersection": [ + -14.467389349537486, + 0.1406179934661772, + 0.11885058888213093 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.870936393737793, + 0.10831647366285324, + 0.07940629124641418 + ], + "box_pose": [ + -14.394499778747559, + 0.13862290978431702, + 0.13599246740341187, + -0.0014570244820788503, + -0.01122947596013546, + 0.9999200105667114, + -0.005639712326228619 + ], + "box_yaw_rad": -3.1303465666810553, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003611453889103737 + } + } + }, + { + "simulation_time_ns": 2360000000, + "center": [ + -14.390836184835125, + 0.14010368867157977, + 0.11887549731922117 + ], + "face_center": [ + -14.468043740882342, + 0.13924070174243836, + 0.11820224059107792 + ], + "face_normal": [ + -0.9998995294608313, + -0.011176370145062463, + -0.008719212472741362 + ], + "footprint_xy": [ + [ + -14.469684286730981, + 0.08072966510681184 + ], + [ + -14.311988082939267, + 0.08072966510681184 + ], + [ + -14.311988082939267, + 0.1994777122363477 + ], + [ + -14.469684286730981, + 0.1994777122363477 + ] + ], + "projected_box_corners": [ + [ + -14.313249975851518, + 0.1994777122363477 + ], + [ + -14.315269174636548, + 0.193045671431501 + ], + [ + -14.311988082939267, + 0.08888767976994139 + ], + [ + -14.314007281724297, + 0.0824556389650947 + ], + [ + -14.467665087945953, + 0.19775173837806487 + ], + [ + -14.469684286730981, + 0.19131969757321815 + ], + [ + -14.466403195033703, + 0.08716170591165853 + ], + [ + -14.46842239381873, + 0.08072966510681184 + ] + ], + "yaw_rad": -3.1304156258928204, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.86192798614502, + 0.10095144063234329, + 0.0732228010892868 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467708718534086, + 0.13950598465198996, + 0.11840816787479355 + ], + "intended_face_normal": [ + -0.9999203670717003, + -0.011210679681189398, + -0.005853806354203998 + ], + "commanded_contact_point": [ + -14.842477893371582, + 0.11361194279999444, + 0.06487377131439935 + ], + "centerline_face_intersection": [ + -14.467721016786891, + 0.14037162080273358, + 0.11886017137001018 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.868383407592773, + 0.10234883427619934, + 0.07542172074317932 + ], + "box_pose": [ + -14.394878387451172, + 0.1383410543203354, + 0.13598571717739105, + -0.0028580159414559603, + -0.01226023305207491, + 0.9999049305915833, + -0.005640916060656309 + ], + "box_yaw_rad": -3.1303815508253163, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003634417041595864 + } + } + }, + { + "simulation_time_ns": 2380000000, + "center": [ + -14.390967363553663, + 0.13996101789197515, + 0.11890017888487966 + ], + "face_center": [ + -14.468174145113494, + 0.13909815192021857, + 0.11814208618026517 + ], + "face_normal": [ + -0.9998894992304608, + -0.011174803650299794, + -0.00981790614079462 + ], + "footprint_xy": [ + [ + -14.46994697295188, + 0.0804461482238557 + ], + [ + -14.311987754155448, + 0.0804461482238557 + ], + [ + -14.311987754155448, + 0.1994758875600946 + ], + [ + -14.46994697295188, + 0.1994758875600946 + ] + ], + "projected_box_corners": [ + [ + -14.313253973410383, + 0.1994758875600946 + ], + [ + -14.315533409832218, + 0.19275831914760644 + ], + [ + -14.311987754155448, + 0.08888944857985703 + ], + [ + -14.314267190577283, + 0.08217188016736887 + ], + [ + -14.467667536530044, + 0.19775015561658144 + ], + [ + -14.46994697295188, + 0.19103258720409327 + ], + [ + -14.466401317275109, + 0.08716371663634387 + ], + [ + -14.468680753696944, + 0.0804461482238557 + ] + ], + "yaw_rad": -3.130417080253801, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.856221199035645, + 0.10460711270570755, + 0.07211348414421082 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.468043740882342, + 0.13924070174243836, + 0.11820224059107792 + ], + "intended_face_normal": [ + -0.9998995294608313, + -0.011176370145062463, + -0.008719212472741362 + ], + "commanded_contact_point": [ + -14.839526814101934, + 0.11502156430715899, + 0.06709618760972269 + ], + "centerline_face_intersection": [ + -14.4680592573903, + 0.14010368867157977, + 0.11887549731922117 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.86192798614502, + 0.10095144063234329, + 0.0732228010892868 + ], + "box_pose": [ + -14.395263671875, + 0.13803447782993317, + 0.1359838992357254, + -0.0042845336720347404, + -0.013383207842707634, + 0.9998853206634521, + -0.0056461733765900135 + ], + "box_yaw_rad": -3.1304156258928204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003954116315806397 + } + } + }, + { + "simulation_time_ns": 2400000000, + "center": [ + -14.390957243045625, + 0.1399543155962401, + 0.11890654754040361 + ], + "face_center": [ + -14.468164065121774, + 0.13909167154433683, + 0.1181543943014947 + ], + "face_normal": [ + -0.9998900239491744, + -0.011171929610914757, + -0.009740985315058045 + ], + "footprint_xy": [ + [ + -14.469927349624376, + 0.08043247248255922 + ], + [ + -14.311987136466874, + 0.08043247248255922 + ], + [ + -14.311987136466874, + 0.19947615870992097 + ], + [ + -14.469927349624376, + 0.19947615870992097 + ] + ], + "projected_box_corners": [ + [ + -14.313252863993691, + 0.19947615870992097 + ], + [ + -14.315513705472075, + 0.19274398548235713 + ], + [ + -14.311987136466874, + 0.08888993381392961 + ], + [ + -14.314247977945255, + 0.08215776058636576 + ], + [ + -14.467666508145992, + 0.19775087060611443 + ], + [ + -14.469927349624376, + 0.1910186973785506 + ], + [ + -14.466400780619175, + 0.08716464571012307 + ], + [ + -14.468661622097557, + 0.08043247248255922 + ] + ], + "yaw_rad": -3.1304199601146045, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.851470947265625, + 0.11155439913272858, + 0.071647509932518 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.468174145113494, + 0.13909815192021857, + 0.11814208618026517 + ], + "intended_face_normal": [ + -0.9998894992304608, + -0.011174803650299794, + -0.00981790614079462 + ], + "commanded_contact_point": [ + -14.83608175192833, + 0.11683578677744016, + 0.06941263396302205 + ], + "centerline_face_intersection": [ + -14.468191210759645, + 0.13996101789197515, + 0.11890017888487966 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.856221199035645, + 0.10460711270570755, + 0.07211348414421082 + ], + "box_pose": [ + -14.395413398742676, + 0.1378713995218277, + 0.13600128889083862, + -0.004830518737435341, + -0.013975401408970356, + 0.9998747110366821, + -0.005655618850141764 + ], + "box_yaw_rad": -3.130417080253801, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004530538627954236 + } + } + }, + { + "simulation_time_ns": 2420000000, + "center": [ + -14.39092144025968, + 0.1399709515845789, + 0.11891015144381335 + ], + "face_center": [ + -14.468128515613797, + 0.13910757693838458, + 0.1181815503931791 + ], + "face_normal": [ + -0.9998933041011766, + -0.011181391390632511, + -0.009435965661810642 + ], + "footprint_xy": [ + [ + -14.469855366955422, + 0.08046495581638152 + ], + [ + -14.311987513563937, + 0.08046495581638152 + ], + [ + -14.311987513563937, + 0.1994769473527763 + ], + [ + -14.469855366955422, + 0.1994769473527763 + ] + ], + "projected_box_corners": [ + [ + -14.313253202421082, + 0.1994769473527763 + ], + [ + -14.315441216247187, + 0.1927784036522524 + ], + [ + -14.311987513563937, + 0.08889024880929408 + ], + [ + -14.314175527390043, + 0.08219170510877019 + ], + [ + -14.467667353129317, + 0.19775019806038763 + ], + [ + -14.469855366955422, + 0.19105165435986374 + ], + [ + -14.466401664272173, + 0.08716349951690541 + ], + [ + -14.468589678098278, + 0.08046495581638152 + ] + ], + "yaw_rad": -3.1304105351564147, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.845763206481934, + 0.11525264382362366, + 0.07123219966888428 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.468164065121774, + 0.13909167154433683, + 0.1181543943014947 + ], + "intended_face_normal": [ + -0.9998900239491744, + -0.011171929610914757, + -0.009740985315058045 + ], + "commanded_contact_point": [ + -14.83205479130149, + 0.11880803129498693, + 0.07180245517726734 + ], + "centerline_face_intersection": [ + -14.46818104972635, + 0.1399543155962401, + 0.11890654754040361 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.851470947265625, + 0.11155439913272858, + 0.071647509932518 + ], + "box_pose": [ + -14.395401954650879, + 0.1378636658191681, + 0.1360078752040863, + -0.004791907034814358, + -0.014006076380610466, + 0.9998744130134583, + -0.0056537906639277935 + ], + "box_yaw_rad": -3.1304199601146045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005081083128937097 + } + } + }, + { + "simulation_time_ns": 2440000000, + "center": [ + -14.39086123591612, + 0.14001081539025823, + 0.11891064696815111 + ], + "face_center": [ + -14.468068632012518, + 0.13914655307199744, + 0.11822043859942233 + ], + "face_normal": [ + -0.9998974579699542, + -0.01119288745302574, + -0.008938749760447976 + ], + "footprint_xy": [ + [ + -14.469735993967346, + 0.08054356940195131 + ], + [ + -14.311986477864894, + 0.08054356940195131 + ], + [ + -14.311986477864894, + 0.1994780613785651 + ], + [ + -14.469735993967346, + 0.1994780613785651 + ] + ], + "projected_box_corners": [ + [ + -14.313251588107576, + 0.1994780613785651 + ], + [ + -14.315321201774546, + 0.19285977446553776 + ], + [ + -14.311986477864894, + 0.08889038095150024 + ], + [ + -14.314056091531866, + 0.08227209403847288 + ], + [ + -14.467666380300374, + 0.19774953674204357 + ], + [ + -14.469735993967346, + 0.1911312498290162 + ], + [ + -14.466401270057691, + 0.08716185631497869 + ], + [ + -14.468470883724663, + 0.08054356940195131 + ] + ], + "yaw_rad": -3.1303990858040334, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.837739944458008, + 0.11501582711935043, + 0.07408584654331207 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.468128515613797, + 0.13910757693838458, + 0.1181815503931791 + ], + "intended_face_normal": [ + -0.9998933041011766, + -0.011181391390632511, + -0.009435965661810642 + ], + "commanded_contact_point": [ + -14.82770237487793, + 0.12057635740863845, + 0.07425640034488915 + ], + "centerline_face_intersection": [ + -14.468144993607552, + 0.1399709515845789, + 0.11891015144381335 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.845763206481934, + 0.11525264382362366, + 0.07123219966888428 + ], + "box_pose": [ + -14.395360946655273, + 0.13788266479969025, + 0.13601312041282654, + -0.004639729857444763, + -0.013936800882220268, + 0.9998762011528015, + -0.0056560589000582695 + ], + "box_yaw_rad": -3.1304105351564147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005300221962709408 + } + } + }, + { + "simulation_time_ns": 2460000000, + "center": [ + -14.390778678046296, + 0.14007256074484223, + 0.11890897786133536 + ], + "face_center": [ + -14.4679865080749, + 0.13920682678620072, + 0.11827257953836642 + ], + "face_normal": [ + -0.9999030777386808, + -0.011211946371602624, + -0.008241866680731909 + ], + "footprint_xy": [ + [ + -14.469570717172815, + 0.08066475703799802 + ], + [ + -14.311986638919775, + 0.08066475703799802 + ], + [ + -14.311986638919775, + 0.1994803644516864 + ], + [ + -14.469570717172815, + 0.1994803644516864 + ] + ], + "projected_box_corners": [ + [ + -14.313251285548562, + 0.1994803644516864 + ], + [ + -14.315155057115604, + 0.19298542010771233 + ], + [ + -14.311986638919775, + 0.08889116929925511 + ], + [ + -14.313890410486817, + 0.08239622495528104 + ], + [ + -14.467666945605773, + 0.1977488965344034 + ], + [ + -14.469570717172815, + 0.19125395219042932 + ], + [ + -14.466402298976986, + 0.08715970138197211 + ], + [ + -14.468306070544028, + 0.08066475703799802 + ] + ], + "yaw_rad": -3.1303800903363275, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.832110404968262, + 0.11224200576543808, + 0.07803615927696228 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.468068632012518, + 0.13914655307199744, + 0.11822043859942233 + ], + "intended_face_normal": [ + -0.9998974579699542, + -0.01119288745302574, + -0.008938749760447976 + ], + "commanded_contact_point": [ + -14.823426509870291, + 0.12230698850253591, + 0.07676101267846605 + ], + "centerline_face_intersection": [ + -14.468084468454588, + 0.14001081539025823, + 0.11891064696815111 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.837739944458008, + 0.11501582711935043, + 0.07408584654331207 + ], + "box_pose": [ + -14.395292282104492, + 0.13792821764945984, + 0.13601650297641754, + -0.00439199386164546, + -0.013770855031907558, + 0.9998795390129089, + -0.00565760675817728 + ], + "box_yaw_rad": -3.1303990858040334, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005248922602612748 + } + } + }, + { + "simulation_time_ns": 2480000000, + "center": [ + -14.390671084542978, + 0.14015620327423806, + 0.11890511308690126 + ], + "face_center": [ + -14.467879480697778, + 0.13928927874615032, + 0.11833885895764079 + ], + "face_normal": [ + -0.9999104095251818, + -0.011227365197039107, + -0.007333443336252457 + ], + "footprint_xy": [ + [ + -14.469354895891037, + 0.0808305922019722 + ], + [ + -14.311987273194918, + 0.0808305922019722 + ], + [ + -14.311987273194918, + 0.1994818143465039 + ], + [ + -14.469354895891037, + 0.1994818143465039 + ] + ], + "projected_box_corners": [ + [ + -14.313250364560245, + 0.1994818143465039 + ], + [ + -14.314938103581435, + 0.19315574688041404 + ], + [ + -14.311987273194918, + 0.08889050872423751 + ], + [ + -14.313675012216107, + 0.08256444125814766 + ], + [ + -14.467667156869847, + 0.19774796529032843 + ], + [ + -14.469354895891037, + 0.19142189782423857 + ], + [ + -14.46640406550452, + 0.08715665966806205 + ], + [ + -14.46809180452571, + 0.0808305922019722 + ] + ], + "yaw_rad": -3.130364754279192, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.827766418457031, + 0.11019515991210938, + 0.08353018760681152 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.4679865080749, + 0.13920682678620072, + 0.11827257953836642 + ], + "intended_face_normal": [ + -0.9999030777386808, + -0.011211946371602624, + -0.008241866680731909 + ], + "commanded_contact_point": [ + -14.81909987133026, + 0.1238835898544515, + 0.07930355825152915 + ], + "centerline_face_intersection": [ + -14.468001476565991, + 0.14007256074484223, + 0.11890897786133536 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.832110404968262, + 0.11224200576543808, + 0.07803615927696228 + ], + "box_pose": [ + -14.395197868347168, + 0.13799870014190674, + 0.13601896166801453, + -0.004044884815812111, + -0.013515632599592209, + 0.9998844265937805, + -0.005661296658217907 + ], + "box_yaw_rad": -3.1303800903363275, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005260229165163981 + } + } + }, + { + "simulation_time_ns": 2500000000, + "center": [ + -14.390535147983998, + 0.14026285956089385, + 0.11889957635261701 + ], + "face_center": [ + -14.467744126868986, + 0.13939380247549382, + 0.11842190390014759 + ], + "face_normal": [ + -0.9999179563466145, + -0.011254983517865143, + -0.006186239856737191 + ], + "footprint_xy": [ + [ + -14.4690826790549, + 0.0810409976648597 + ], + [ + -14.311987616913099, + 0.0810409976648597 + ], + [ + -14.311987616913099, + 0.199484721456928 + ], + [ + -14.4690826790549, + 0.199484721456928 + ] + ], + "projected_box_corners": [ + [ + -14.313249842388002, + 0.199484721456928 + ], + [ + -14.314664721284924, + 0.19337295747060934 + ], + [ + -14.311987616913099, + 0.08889087582197838 + ], + [ + -14.313402495810019, + 0.08277911183565972 + ], + [ + -14.467667800157978, + 0.19774660728612797 + ], + [ + -14.4690826790549, + 0.1916348432998093 + ], + [ + -14.466405574683073, + 0.08715276165117836 + ], + [ + -14.467820453579995, + 0.0810409976648597 + ] + ], + "yaw_rad": -3.1303372219174355, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.823994636535645, + 0.11097880452871323, + 0.08950093388557434 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467879480697778, + 0.13928927874615032, + 0.11833885895764079 + ], + "intended_face_normal": [ + -0.9999104095251818, + -0.011227365197039107, + -0.007333443336252457 + ], + "commanded_contact_point": [ + -14.814688532373905, + 0.12540047348571698, + 0.08187074846565001 + ], + "centerline_face_intersection": [ + -14.467893316830873, + 0.14015620327423806, + 0.11890511308690126 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.827766418457031, + 0.11019515991210938, + 0.08353018760681152 + ], + "box_pose": [ + -14.395074844360352, + 0.13809435069561005, + 0.13602052628993988, + -0.003592572407796979, + -0.013166087679564953, + 0.999890923500061, + -0.005661600269377232 + ], + "box_yaw_rad": -3.130364754279192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005324595095792683 + } + } + }, + { + "simulation_time_ns": 2520000000, + "center": [ + -14.390377398241212, + 0.1403904345529432, + 0.11889212126136554 + ], + "face_center": [ + -14.467586901864758, + 0.13951929184646422, + 0.1185165889209353 + ], + "face_normal": [ + -0.9999247521301573, + -0.011281993976973834, + -0.004863443809358291 + ], + "footprint_xy": [ + [ + -14.468767565581423, + 0.08129270924804542 + ], + [ + -14.311987230900998, + 0.08129270924804542 + ], + [ + -14.311987230900998, + 0.19948815985784096 + ], + [ + -14.468767565581423, + 0.19948815985784096 + ] + ], + "projected_box_corners": [ + [ + -14.313248184246858, + 0.19948815985784096 + ], + [ + -14.31434855833433, + 0.1936317219032821 + ], + [ + -14.311987230900998, + 0.08889143261556226 + ], + [ + -14.313087604988471, + 0.08303499466100339 + ], + [ + -14.46766719149395, + 0.197745874444883 + ], + [ + -14.468767565581423, + 0.19188943649032414 + ], + [ + -14.46640623814809, + 0.08714914720260429 + ], + [ + -14.467506612235564, + 0.08129270924804542 + ] + ], + "yaw_rad": -3.1303102893445645, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.820514678955078, + 0.11404862999916077, + 0.09394289553165436 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467744126868986, + 0.13939380247549382, + 0.11842190390014759 + ], + "intended_face_normal": [ + -0.9999179563466145, + -0.011254983517865143, + -0.006186239856737191 + ], + "commanded_contact_point": [ + -14.8100732421875, + 0.12681045134755317, + 0.08444978668619237 + ], + "centerline_face_intersection": [ + -14.467756797441679, + 0.14026285956089385, + 0.11889957635261701 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.823994636535645, + 0.11097880452871323, + 0.08950093388557434 + ], + "box_pose": [ + -14.394919395446777, + 0.13821621239185333, + 0.13602182269096375, + -0.003021334297955036, + -0.012722503393888474, + 0.9998985528945923, + -0.005666505545377731 + ], + "box_yaw_rad": -3.1303372219174355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0054717802604472695 + } + } + }, + { + "simulation_time_ns": 2540000000, + "center": [ + -14.390218855990987, + 0.1405232033784913, + 0.11888358561025882 + ], + "face_center": [ + -14.467428781413686, + 0.13965073169649503, + 0.11861099831613793 + ], + "face_normal": [ + -0.9999302147661353, + -0.011299205271598698, + -0.0035302232201441597 + ], + "footprint_xy": [ + [ + -14.468449982590775, + 0.0815556212134119 + ], + [ + -14.311987729391198, + 0.0815556212134119 + ], + [ + -14.311987729391198, + 0.1994907855435707 + ], + [ + -14.468449982590775, + 0.1994907855435707 + ] + ], + "projected_box_corners": [ + [ + -14.313246592163438, + 0.1994907855435707 + ], + [ + -14.314030131745378, + 0.1939002033400946 + ], + [ + -14.311987729391198, + 0.08889114678088053 + ], + [ + -14.312771268973137, + 0.08330056457740442 + ], + [ + -14.467666443008836, + 0.19774584217957816 + ], + [ + -14.468449982590775, + 0.19215525997610206 + ], + [ + -14.466407580236595, + 0.08714620341688799 + ], + [ + -14.467191119818535, + 0.0815556212134119 + ] + ], + "yaw_rad": -3.130293140673517, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.817745208740234, + 0.11798153072595596, + 0.09558001160621643 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467586901864758, + 0.13951929184646422, + 0.1185165889209353 + ], + "intended_face_normal": [ + -0.9999247521301573, + -0.011281993976973834, + -0.004863443809358291 + ], + "commanded_contact_point": [ + -14.805486549922229, + 0.1280091602167244, + 0.0870273540284913 + ], + "centerline_face_intersection": [ + -14.467598522877786, + 0.1403904345529432, + 0.11889212126136554 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.820514678955078, + 0.11404862999916077, + 0.09394289553165436 + ], + "box_pose": [ + -14.394739151000977, + 0.13836193084716797, + 0.13602226972579956, + -0.002362798433750868, + -0.012193912640213966, + 0.9999068379402161, + -0.005670337006449699 + ], + "box_yaw_rad": -3.1303102893445645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005396156251760067 + } + } + }, + { + "simulation_time_ns": 2560000000, + "center": [ + -14.390054752642522, + 0.14066204224049003, + 0.11887452555608984 + ], + "face_center": [ + -14.467264963312706, + 0.1397896923229384, + 0.11871006924147319 + ], + "face_normal": [ + -0.999933908948935, + -0.011297628324767016, + -0.002129840653180247 + ], + "footprint_xy": [ + [ + -14.468117821921814, + 0.08183448854028372 + ], + [ + -14.31199168336323, + 0.08183448854028372 + ], + [ + -14.31199168336323, + 0.19948959594069635 + ], + [ + -14.468117821921814, + 0.19948959594069635 + ] + ], + "projected_box_corners": [ + [ + -14.313246521324137, + 0.19948959594069635 + ], + [ + -14.313697400581448, + 0.19418176028339298 + ], + [ + -14.31199168336323, + 0.08888702403269033 + ], + [ + -14.312442562620541, + 0.08357918837538698 + ], + [ + -14.467666942664504, + 0.19774489610559307 + ], + [ + -14.468117821921814, + 0.1924370604482897 + ], + [ + -14.466412104703597, + 0.08714232419758705 + ], + [ + -14.466862983960906, + 0.08183448854028372 + ] + ], + "yaw_rad": -3.1302947592649315, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.814312934875488, + 0.12302085012197495, + 0.09628531336784363 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467428781413686, + 0.13965073169649503, + 0.11861099831613793 + ], + "intended_face_normal": [ + -0.9999302147661353, + -0.011299205271598698, + -0.0035302232201441597 + ], + "commanded_contact_point": [ + -14.800989173955918, + 0.12898182031516026, + 0.0895908284728946 + ], + "centerline_face_intersection": [ + -14.467439558767229, + 0.1405232033784913, + 0.11888358561025882 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.817745208740234, + 0.11798153072595596, + 0.09558001160621643 + ], + "box_pose": [ + -14.39455795288086, + 0.13851363956928253, + 0.1360217183828354, + -0.0016992397140711546, + -0.011643427424132824, + 0.9999147653579712, + -0.005669870879501104 + ], + "box_yaw_rad": -3.130293140673517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005267244011487543 + } + } + }, + { + "simulation_time_ns": 2580000000, + "center": [ + -14.389877193642976, + 0.14081164541013608, + 0.11886541302806702 + ], + "face_center": [ + -14.467087565652573, + 0.13993929172712521, + 0.11881720307766552 + ], + "face_normal": [ + -0.9999359984232312, + -0.011297677090471915, + -0.0006243573710883318 + ], + "footprint_xy": [ + [ + -14.46775972687315, + 0.08213426424260736 + ], + [ + -14.311994660412804, + 0.08213426424260736 + ], + [ + -14.311994660412804, + 0.1994890265776648 + ], + [ + -14.46775972687315, + 0.1994890265776648 + ] + ], + "projected_box_corners": [ + [ + -14.31324576724547, + 0.1994890265776648 + ], + [ + -14.313338982853955, + 0.19448455322765987 + ], + [ + -14.311994660412804, + 0.08888344495863398 + ], + [ + -14.312087876021291, + 0.08387897160862907 + ], + [ + -14.467666511264662, + 0.1977443192116431 + ], + [ + -14.46775972687315, + 0.19273984586163817 + ], + [ + -14.466415404431999, + 0.08713873759261229 + ], + [ + -14.466508620040484, + 0.08213426424260736 + ] + ], + "yaw_rad": -3.130294734108492, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.810258865356445, + 0.12742926180362701, + 0.09793153405189514 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467264963312706, + 0.1397896923229384, + 0.11871006924147319 + ], + "intended_face_normal": [ + -0.999933908948935, + -0.011297628324767016, + -0.002129840653180247 + ], + "commanded_contact_point": [ + -14.796525398002863, + 0.12984628398098141, + 0.09212753575819892 + ], + "centerline_face_intersection": [ + -14.467275170132515, + 0.14066204224049003, + 0.11887452555608984 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.814312934875488, + 0.12302085012197495, + 0.09628531336784363 + ], + "box_pose": [ + -14.394370079040527, + 0.13867270946502686, + 0.13602101802825928, + -0.0010024064686149359, + -0.011057944968342781, + 0.9999223351478577, + -0.005660338327288628 + ], + "box_yaw_rad": -3.1302947592649315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005206484134221995 + } + } + }, + { + "simulation_time_ns": 2600000000, + "center": [ + -14.389683983056186, + 0.14097885560631956, + 0.1188540571525316 + ], + "face_center": [ + -14.466894353821566, + 0.1401068269266866, + 0.11893329385580242 + ], + "face_normal": [ + -0.9999359823096252, + -0.011293468037093291, + 0.0010261786070275298 + ], + "footprint_xy": [ + [ + -14.467667281081939, + 0.0824702153426565 + ], + [ + -14.311700685030434, + 0.0824702153426565 + ], + [ + -14.311700685030434, + 0.19948749586998263 + ], + [ + -14.467667281081939, + 0.19948749586998263 + ] + ], + "projected_box_corners": [ + [ + -14.313246539551178, + 0.19948749586998263 + ], + [ + -14.312947712613065, + 0.19482305027018032 + ], + [ + -14.311999511968548, + 0.0888787183017247 + ], + [ + -14.311700685030434, + 0.0842142727019224 + ], + [ + -14.467667281081939, + 0.19774343851071674 + ], + [ + -14.467368454143825, + 0.19307899291091443 + ], + [ + -14.466420253499308, + 0.08713466094245881 + ], + [ + -14.466121426561193, + 0.0824702153426565 + ] + ], + "yaw_rad": -3.1302989427122276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.805489540100098, + 0.12900932133197784, + 0.10028176009654999 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467087565652573, + 0.13993929172712521, + 0.11881720307766552 + ], + "intended_face_normal": [ + -0.9999359984232312, + -0.011297677090471915, + -0.0006243573710883318 + ], + "commanded_contact_point": [ + -14.792070612487795, + 0.1306568291755973, + 0.09462478528184351 + ], + "centerline_face_intersection": [ + -14.467097449772565, + 0.14081164541013608, + 0.11886541302806702 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.810258865356445, + 0.12742926180362701, + 0.09793153405189514 + ], + "box_pose": [ + -14.394166946411133, + 0.13884401321411133, + 0.13602082431316376, + -0.00025324863963760436, + -0.010429785586893559, + 0.9999296069145203, + -0.005651877727359533 + ], + "box_yaw_rad": -3.130294734108492, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005170914104984355 + } + } + }, + { + "simulation_time_ns": 2620000000, + "center": [ + -14.389469971364374, + 0.14116678815309308, + 0.11884081903123303 + ], + "face_center": [ + -14.466680074923644, + 0.1402947360712344, + 0.1190611811244843 + ], + "face_normal": [ + -0.9999325217770538, + -0.011293771114611563, + 0.0028538651478385033 + ], + "footprint_xy": [ + [ + -14.467668379794661, + 0.0828469457827239 + ], + [ + -14.311271562934087, + 0.0828469457827239 + ], + [ + -14.311271562934087, + 0.19948663052346224 + ], + [ + -14.467668379794661, + 0.19948663052346224 + ] + ], + "projected_box_corners": [ + [ + -14.313248172676118, + 0.19948663052346224 + ], + [ + -14.312515225881988, + 0.19520311409477248 + ], + [ + -14.312004509728217, + 0.088874566375131 + ], + [ + -14.311271562934087, + 0.08459104994644123 + ], + [ + -14.467668379794661, + 0.19774252635974493 + ], + [ + -14.46693543300053, + 0.19345900993105516 + ], + [ + -14.46642471684676, + 0.08713046221141368 + ], + [ + -14.46569177005263, + 0.0828469457827239 + ] + ], + "yaw_rad": -3.1302986005713476, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.80052375793457, + 0.1276872754096985, + 0.10260477662086487 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466894353821566, + 0.1401068269266866, + 0.11893329385580242 + ], + "intended_face_normal": [ + -0.9999359823096252, + -0.011293468037093291, + 0.0010261786070275298 + ], + "commanded_contact_point": [ + -14.787676498293877, + 0.131379783465412, + 0.09706819747382876 + ], + "centerline_face_intersection": [ + -14.46690424043015, + 0.14097885560631956, + 0.1188540571525316 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.805489540100098, + 0.12900932133197784, + 0.10028176009654999 + ], + "box_pose": [ + -14.393945693969727, + 0.13903556764125824, + 0.13601922988891602, + 0.0005679929163306952, + -0.009725606068968773, + 0.9999366998672485, + -0.005641567055135965 + ], + "box_yaw_rad": -3.1302989427122276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005079484776460531 + } + } + }, + { + "simulation_time_ns": 2640000000, + "center": [ + -14.389227037924051, + 0.1413795698433528, + 0.11882607195989515 + ], + "face_center": [ + -14.466436483867048, + 0.1405071654287432, + 0.11920760499937574 + ], + "face_normal": [ + -0.9999240051209375, + -0.011298334105203544, + 0.004941157655827077 + ], + "footprint_xy": [ + [ + -14.467671411095655, + 0.08327422657478271 + ], + [ + -14.310782664752448, + 0.08327422657478271 + ], + [ + -14.310782664752448, + 0.19948491311192285 + ], + [ + -14.467671411095655, + 0.19948491311192285 + ] + ], + "projected_box_corners": [ + [ + -14.313252519209662, + 0.19948491311192285 + ], + [ + -14.312023723533857, + 0.19563444390948906 + ], + [ + -14.312011460428256, + 0.0888695046064357 + ], + [ + -14.310782664752448, + 0.08501903540400191 + ], + [ + -14.467671411095655, + 0.19774010428270367 + ], + [ + -14.466442615419847, + 0.19388963508026988 + ], + [ + -14.466430352314246, + 0.08712469577721649 + ], + [ + -14.46520155663844, + 0.08327422657478271 + ] + ], + "yaw_rad": -3.130293941629569, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.796747207641602, + 0.12447859346866608, + 0.10402832925319672 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466680074923644, + 0.1402947360712344, + 0.1190611811244843 + ], + "intended_face_normal": [ + -0.9999325217770538, + -0.011293771114611563, + 0.0028538651478385033 + ], + "commanded_contact_point": [ + -14.783417209043503, + 0.13207905156887284, + 0.09944490693349728 + ], + "centerline_face_intersection": [ + -14.466690495979588, + 0.14116678815309308, + 0.11884081903123303 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.80052375793457, + 0.1276872754096985, + 0.10260477662086487 + ], + "box_pose": [ + -14.39370059967041, + 0.1392507553100586, + 0.13601674139499664, + 0.0014773657312616706, + -0.00893667247146368, + 0.999943196773529, + -0.005634002853184938 + ], + "box_yaw_rad": -3.1302986005713476, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004927399786352636 + } + } + }, + { + "simulation_time_ns": 2660000000, + "center": [ + -14.388980677238768, + 0.14157294206638976, + 0.1188205245241529 + ], + "face_center": [ + -14.466189173949092, + 0.1407012418412945, + 0.11936481929087808 + ], + "face_normal": [ + -0.9999117117995169, + -0.011289214288438341, + 0.007049052048787458 + ], + "footprint_xy": [ + [ + -14.467672971821157, + 0.08366420031967894 + ], + [ + -14.31028838265638, + 0.08366420031967894 + ], + [ + -14.31028838265638, + 0.19948168381310055 + ], + [ + -14.467672971821157, + 0.19948168381310055 + ] + ], + "projected_box_corners": [ + [ + -14.31325597840051, + 0.19948168381310055 + ], + [ + -14.311525987464076, + 0.19602581921695172 + ], + [ + -14.312018373592814, + 0.0888634653660183 + ], + [ + -14.31028838265638, + 0.08540760076986947 + ], + [ + -14.467672971821157, + 0.19773828336291005 + ], + [ + -14.465942980884723, + 0.1942824187667612 + ], + [ + -14.466435367013458, + 0.0871200649158278 + ], + [ + -14.464705376077024, + 0.08366420031967894 + ] + ], + "yaw_rad": -3.1303029221890517, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.794039726257324, + 0.1218099445104599, + 0.10458555817604065 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466436483867048, + 0.1405071654287432, + 0.11920760499937574 + ], + "intended_face_normal": [ + -0.9999240051209375, + -0.011298334105203544, + 0.004941157655827077 + ], + "commanded_contact_point": [ + -14.779346243263484, + 0.1328589709133051, + 0.10174215706834562 + ], + "centerline_face_intersection": [ + -14.466448220249902, + 0.1413795698433528, + 0.11882607195989515 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.796747207641602, + 0.12447859346866608, + 0.10402832925319672 + ], + "box_pose": [ + -14.39342212677002, + 0.13949450850486755, + 0.13601413369178772, + 0.002515966072678566, + -0.008039846085011959, + 0.9999486804008484, + -0.005629227962344885 + ], + "box_yaw_rad": -3.130293941629569, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004739028882372372 + } + } + }, + { + "simulation_time_ns": 2680000000, + "center": [ + -14.388767487406096, + 0.141738383651804, + 0.11881542754057052 + ], + "face_center": [ + -14.465974834140685, + 0.1408671436824426, + 0.11949978719749663 + ], + "face_normal": [ + -0.9998968186950823, + -0.01128325360900122, + 0.008863004270254297 + ], + "footprint_xy": [ + [ + -14.467673228195096, + 0.08399763393950606 + ], + [ + -14.309861746617093, + 0.08399763393950606 + ], + [ + -14.309861746617093, + 0.19947913336410192 + ], + [ + -14.467673228195096, + 0.19947913336410192 + ] + ], + "projected_box_corners": [ + [ + -14.313258534725918, + 0.19947913336410192 + ], + [ + -14.31109718487772, + 0.19636041239553906 + ], + [ + -14.31202309646529, + 0.08885883484679172 + ], + [ + -14.309861746617093, + 0.08574011387822886 + ], + [ + -14.467673228195096, + 0.19773665342537913 + ], + [ + -14.465511878346899, + 0.19461793245681624 + ], + [ + -14.466437789934469, + 0.08711635490806893 + ], + [ + -14.464276440086271, + 0.08399763393950606 + ] + ], + "yaw_rad": -3.1303087145819677, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.79079818725586, + 0.12046638131141663, + 0.1036641001701355 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466189173949092, + 0.1407012418412945, + 0.11936481929087808 + ], + "intended_face_normal": [ + -0.9999117117995169, + -0.011289214288438341, + 0.007049052048787458 + ], + "commanded_contact_point": [ + -14.775591976623534, + 0.13365817247520645, + 0.10395529380185653 + ], + "centerline_face_intersection": [ + -14.466202808953252, + 0.14157294206638976, + 0.1188205245241529 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.794039726257324, + 0.1218099445104599, + 0.10458555817604065 + ], + "box_pose": [ + -14.393139839172363, + 0.13971616327762604, + 0.13602039217948914, + 0.0035652858205139637, + -0.007223204709589481, + 0.9999518394470215, + -0.005619124975055456 + ], + "box_yaw_rad": -3.1303029221890517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004430712735170478 + } + } + }, + { + "simulation_time_ns": 2700000000, + "center": [ + -14.388583521069439, + 0.14188170054718283, + 0.11881034683485854 + ], + "face_center": [ + -14.465789708757782, + 0.1410102700323456, + 0.11961583201955986 + ], + "face_normal": [ + -0.9998818081202845, + -0.011285721325134274, + 0.01043167661825703 + ], + "footprint_xy": [ + [ + -14.467674345859114, + 0.0842856041824753 + ], + [ + -14.309492696279763, + 0.0842856041824753 + ], + [ + -14.309492696279763, + 0.19947779691189038 + ], + [ + -14.467674345859114, + 0.19947779691189038 + ] + ], + "projected_box_corners": [ + [ + -14.313261970482428, + 0.19947779691189038 + ], + [ + -14.310727552831644, + 0.19665044305009755 + ], + [ + -14.312027113930545, + 0.08885581907394263 + ], + [ + -14.309492696279763, + 0.0860284652121498 + ], + [ + -14.467674345859114, + 0.19773493588221586 + ], + [ + -14.465139928208332, + 0.19490758202042305 + ], + [ + -14.466439489307234, + 0.08711295804426814 + ], + [ + -14.46390507165645, + 0.0842856041824753 + ] + ], + "yaw_rad": -3.130306077504393, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.787827491760254, + 0.12130877375602722, + 0.10507242381572723 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465974834140685, + 0.1408671436824426, + 0.11949978719749663 + ], + "intended_face_normal": [ + -0.9998968186950823, + -0.01128325360900122, + 0.008863004270254297 + ], + "commanded_contact_point": [ + -14.771448296431304, + 0.13463615258016814, + 0.10606522200552025 + ], + "centerline_face_intersection": [ + -14.465990769316532, + 0.141738383651804, + 0.11881542754057052 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.79079818725586, + 0.12046638131141663, + 0.1036641001701355 + ], + "box_pose": [ + -14.392895698547363, + 0.13990576565265656, + 0.1360253393650055, + 0.004468338564038277, + -0.00652552442625165, + 0.9999529123306274, + -0.005612732842564583 + ], + "box_yaw_rad": -3.1303087145819677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004751665775893786 + } + } + }, + { + "simulation_time_ns": 2720000000, + "center": [ + -14.388426523394395, + 0.14200630511147325, + 0.11880548374032752 + ], + "face_center": [ + -14.46563153486892, + 0.1411353943264867, + 0.11971605981641179 + ], + "face_normal": [ + -0.999866575211692, + -0.011278990408371966, + 0.011792687615421044 + ], + "footprint_xy": [ + [ + -14.467677425861682, + 0.08453702227545595 + ], + [ + -14.30917562092711, + 0.08453702227545595 + ], + [ + -14.30917562092711, + 0.1994755879474905 + ], + [ + -14.467677425861682, + 0.1994755879474905 + ] + ], + "projected_box_corners": [ + [ + -14.313267402912631, + 0.1994755879474905 + ], + [ + -14.310409334991498, + 0.19690212804339133 + ], + [ + -14.312033688848246, + 0.08885230374952824 + ], + [ + -14.30917562092711, + 0.08627884384542904 + ], + [ + -14.467677425861682, + 0.19773376637751744 + ], + [ + -14.464819357940547, + 0.19516030647341825 + ], + [ + -14.466443711797295, + 0.08711048217955515 + ], + [ + -14.46358564387616, + 0.08453702227545595 + ] + ], + "yaw_rad": -3.130312636526602, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.784985542297363, + 0.12598861753940582, + 0.10843464732170105 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465789708757782, + 0.1410102700323456, + 0.11961583201955986 + ], + "intended_face_normal": [ + -0.9998818081202845, + -0.011285721325134274, + 0.01043167661825703 + ], + "commanded_contact_point": [ + -14.766808046102524, + 0.13572516764745102, + 0.10805872909417401 + ], + "centerline_face_intersection": [ + -14.465807962282744, + 0.14188170054718283, + 0.11881034683485854 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.787827491760254, + 0.12130877375602722, + 0.10507242381572723 + ], + "box_pose": [ + -14.392684936523438, + 0.14006993174552917, + 0.13602887094020844, + 0.005249323323369026, + -0.005922599229961634, + 0.9999529123306274, + -0.005612035281956196 + ], + "box_yaw_rad": -3.130306077504393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005166425015716958 + } + } + }, + { + "simulation_time_ns": 2740000000, + "center": [ + -14.388290237826666, + 0.14211489394140775, + 0.11880080552096847 + ], + "face_center": [ + -14.4654941702419, + 0.14124452447216393, + 0.11980230301413931 + ], + "face_normal": [ + -0.9998526005318464, + -0.011271979937063562, + 0.01297019260090706 + ], + "footprint_xy": [ + [ + -14.4676796335305, + 0.08475596651550082 + ], + [ + -14.308900842122831, + 0.08475596651550082 + ], + [ + -14.308900842122831, + 0.19947382136731465 + ], + [ + -14.4676796335305, + 0.19947382136731465 + ] + ], + "projected_box_corners": [ + [ + -14.313271768700032, + 0.19947382136731465 + ], + [ + -14.310133697148968, + 0.19712110211697978 + ], + [ + -14.312038913673895, + 0.08884942470432328 + ], + [ + -14.308900842122831, + 0.08649670545398841 + ], + [ + -14.4676796335305, + 0.19773308242882706 + ], + [ + -14.464541561979436, + 0.1953803631784922 + ], + [ + -14.466446778504363, + 0.08710868576583569 + ], + [ + -14.463308706953299, + 0.08475596651550082 + ] + ], + "yaw_rad": -3.130319489495342, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.78183650970459, + 0.12928423285484314, + 0.11286841332912445 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46563153486892, + 0.1411353943264867, + 0.11971605981641179 + ], + "intended_face_normal": [ + -0.999866575211692, + -0.011278990408371966, + 0.011792687615421044 + ], + "commanded_contact_point": [ + -14.762356270095111, + 0.13683840338760261, + 0.10992312591990697 + ], + "centerline_face_intersection": [ + -14.46565214111753, + 0.14200630511147325, + 0.11880548374032752 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.784985542297363, + 0.12598861753940582, + 0.10843464732170105 + ], + "box_pose": [ + -14.392504692077637, + 0.140212744474411, + 0.13603143393993378, + 0.005926894024014473, + -0.005397182423621416, + 0.9999520778656006, + -0.005607775412499905 + ], + "box_yaw_rad": -3.130312636526602, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0049531382937616315 + } + } + }, + { + "simulation_time_ns": 2760000000, + "center": [ + -14.388169622126572, + 0.14221005974398204, + 0.11879640300673261 + ], + "face_center": [ + -14.465372470145352, + 0.14134016953775227, + 0.11987770140610805 + ], + "face_normal": [ + -0.9998385567314796, + -0.011265773098164157, + 0.014003678086650618 + ], + "footprint_xy": [ + [ + -14.467680531385879, + 0.08494813345013005 + ], + [ + -14.308658712867263, + 0.08494813345013005 + ], + [ + -14.308658712867263, + 0.19947198603783406 + ], + [ + -14.467680531385879, + 0.19947198603783406 + ] + ], + "projected_box_corners": [ + [ + -14.313274835348318, + 0.19947198603783406 + ], + [ + -14.309891004110149, + 0.19731313995908026 + ], + [ + -14.312042544105434, + 0.08884675994134339 + ], + [ + -14.308658712867263, + 0.08668791386258962 + ], + [ + -14.467680531385879, + 0.1977322056253745 + ], + [ + -14.46429670014771, + 0.1955733595466207 + ], + [ + -14.466448240142995, + 0.08710697952888383 + ], + [ + -14.463064408904824, + 0.08494813345013005 + ] + ], + "yaw_rad": -3.130325538217768, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.776552200317383, + 0.13105255365371704, + 0.117368683218956 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.4654941702419, + 0.14124452447216393, + 0.11980230301413931 + ], + "intended_face_normal": [ + -0.9998526005318464, + -0.011271979937063562, + 0.01297019260090706 + ], + "commanded_contact_point": [ + -14.7582616015625, + 0.13793326134294223, + 0.11164552298656438 + ], + "centerline_face_intersection": [ + -14.465516934912182, + 0.14211489394140775, + 0.11880080552096847 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.78183650970459, + 0.12928423285484314, + 0.11286841332912445 + ], + "box_pose": [ + -14.392348289489746, + 0.14033716917037964, + 0.13603314757347107, + 0.006513101980090141, + -0.004940354730933905, + 0.9999509453773499, + -0.005604087840765715 + ], + "box_yaw_rad": -3.130319489495342, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004575114860804497 + } + } + }, + { + "simulation_time_ns": 2780000000, + "center": [ + -14.388062260693081, + 0.1422941177838061, + 0.11879260854058452 + ], + "face_center": [ + -14.465264080768836, + 0.14142477974735054, + 0.11994463476440322 + ], + "face_normal": [ + -0.9998252440481119, + -0.011258622058477049, + 0.014919659915389648 + ], + "footprint_xy": [ + [ + -14.46768078865392, + 0.0851177021659688 + ], + [ + -14.308443732732242, + 0.0851177021659688 + ], + [ + -14.308443732732242, + 0.1994705334016434 + ], + [ + -14.46768078865392, + 0.1994705334016434 + ] + ], + "projected_box_corners": [ + [ + -14.31327714850241, + 0.1994705334016434 + ], + [ + -14.309675485911008, + 0.19748227735886043 + ], + [ + -14.312045395323645, + 0.08884463428166284 + ], + [ + -14.308443732732242, + 0.0868563782388799 + ], + [ + -14.46768078865392, + 0.1977318573287323 + ], + [ + -14.464079126062517, + 0.19574360128594936 + ], + [ + -14.466449035475154, + 0.08710595820875175 + ], + [ + -14.462847372883752, + 0.0851177021659688 + ] + ], + "yaw_rad": -3.1303325395909227, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.77027702331543, + 0.13361619412899017, + 0.12120883166790009 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465372470145352, + 0.14134016953775227, + 0.11987770140610805 + ], + "intended_face_normal": [ + -0.9998385567314796, + -0.011265773098164157, + 0.014003678086650618 + ], + "commanded_contact_point": [ + -14.754475211595297, + 0.13896464780584203, + 0.11321314286936943 + ], + "centerline_face_intersection": [ + -14.465397403943527, + 0.14221005974398204, + 0.11879640300673261 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.776552200317383, + 0.13105255365371704, + 0.117368683218956 + ], + "box_pose": [ + -14.392210006713867, + 0.1404462456703186, + 0.13603432476520538, + 0.007027619984000921, + -0.004539129324257374, + 0.9999493360519409, + -0.00560127105563879 + ], + "box_yaw_rad": -3.130325538217768, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0042258654872766805 + } + } + }, + { + "simulation_time_ns": 2800000000, + "center": [ + -14.387978033300929, + 0.142361320208533, + 0.11879060871259187 + ], + "face_center": [ + -14.465179042699083, + 0.141492216962572, + 0.11999722861787387 + ], + "face_normal": [ + -0.9998147451255488, + -0.011255581334006157, + 0.01562669170348706 + ], + "footprint_xy": [ + [ + -14.467679795064555, + 0.08525262230744671 + ], + [ + -14.308276271537304, + 0.08525262230744671 + ], + [ + -14.308276271537304, + 0.19947001810961928 + ], + [ + -14.467679795064555, + 0.19947001810961928 + ] + ], + "projected_box_corners": [ + [ + -14.313277776268247, + 0.19947001810961928 + ], + [ + -14.309508008776698, + 0.19761726160877635 + ], + [ + -14.312046039028854, + 0.08884358530021168 + ], + [ + -14.308276271537304, + 0.08699082879936873 + ], + [ + -14.467679795064555, + 0.19773181161769726 + ], + [ + -14.463910027573005, + 0.19587905511685433 + ], + [ + -14.466448057825161, + 0.08710537880828967 + ], + [ + -14.462678290333612, + 0.08525262230744671 + ] + ], + "yaw_rad": -3.1303354622623387, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.763265609741211, + 0.13739418983459473, + 0.12450961768627167 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465264080768836, + 0.14142477974735054, + 0.11994463476440322 + ], + "intended_face_normal": [ + -0.9998252440481119, + -0.011258622058477049, + 0.014919659915389648 + ], + "commanded_contact_point": [ + -14.750815125236512, + 0.13989575879653474, + 0.11461345829594043 + ], + "centerline_face_intersection": [ + -14.465291070798742, + 0.1422941177838061, + 0.11879260854058452 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.77027702331543, + 0.13361619412899017, + 0.12120883166790009 + ], + "box_pose": [ + -14.39208698272705, + 0.14054255187511444, + 0.13603544235229492, + 0.0074836574494838715, + -0.004186101723462343, + 0.9999475479125977, + -0.005598277319222689 + ], + "box_yaw_rad": -3.1303325395909227, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040279129986440345 + } + } + }, + { + "simulation_time_ns": 2820000000, + "center": [ + -14.387973053582208, + 0.14236491465657972, + 0.11879046836479283 + ], + "face_center": [ + -14.465174025066716, + 0.14149585424325922, + 0.12000044335669556 + ], + "face_normal": [ + -0.999814254113558, + -0.01125502661709363, + 0.015670142755496764 + ], + "footprint_xy": [ + [ + -14.46767992414502, + 0.08526015069326195 + ], + [ + -14.308266183019395, + 0.08526015069326195 + ], + [ + -14.308266183019395, + 0.19946967861989745 + ], + [ + -14.46767992414502, + 0.19946967861989745 + ] + ], + "projected_box_corners": [ + [ + -14.313277981176004, + 0.19946967861989745 + ], + [ + -14.309497877832092, + 0.19762475308064134 + ], + [ + -14.312046286363309, + 0.08884319705915902 + ], + [ + -14.308266183019395, + 0.08699827151990291 + ], + [ + -14.46767992414502, + 0.1977315577932565 + ], + [ + -14.463899820801108, + 0.19588663225400038 + ], + [ + -14.466448229332325, + 0.08710507623251806 + ], + [ + -14.462668125988412, + 0.08526015069326195 + ] + ], + "yaw_rad": -3.130336011484028, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.755699157714844, + 0.14187824726104736, + 0.12712939083576202 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465179042699083, + 0.141492216962572, + 0.11999722861787387 + ], + "intended_face_normal": [ + -0.9998147451255488, + -0.011255581334006157, + 0.01562669170348706 + ], + "commanded_contact_point": [ + -14.747373317927122, + 0.1407003687229036, + 0.11583476067577621 + ], + "centerline_face_intersection": [ + -14.465207654376123, + 0.142361320208533, + 0.11879060871259187 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.763265609741211, + 0.13739418983459473, + 0.12450961768627167 + ], + "box_pose": [ + -14.391990661621094, + 0.14061947166919708, + 0.13603724539279938, + 0.00783563032746315, + -0.0039056446403265, + 0.9999460577964783, + -0.005597489420324564 + ], + "box_yaw_rad": -3.1303354622623387, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003739654287707814 + } + } + }, + { + "simulation_time_ns": 2840000000, + "center": [ + -14.387973795692591, + 0.14236329310947207, + 0.11879027230542454 + ], + "face_center": [ + -14.465174775070148, + 0.14149424088048657, + 0.11999928945907194 + ], + "face_normal": [ + -0.9998143563348258, + -0.011254920623417736, + 0.015657737984903962 + ], + "footprint_xy": [ + [ + -14.467679191735998, + 0.08525696480542794 + ], + [ + -14.308268399649183, + 0.08525696480542794 + ], + [ + -14.308268399649183, + 0.1994696214135162 + ], + [ + -14.467679191735998, + 0.1994696214135162 + ] + ], + "projected_box_corners": [ + [ + -14.313277232980887, + 0.1994696214135162 + ], + [ + -14.309500070539285, + 0.1976215293910864 + ], + [ + -14.312045562090786, + 0.08884316128582878 + ], + [ + -14.308268399649183, + 0.08699506926339898 + ], + [ + -14.467679191735998, + 0.19773151695554517 + ], + [ + -14.463902029294397, + 0.19588342493311536 + ], + [ + -14.466447520845897, + 0.08710505682785774 + ], + [ + -14.462670358404296, + 0.08525696480542794 + ] + ], + "yaw_rad": -3.130336118634737, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.749429702758789, + 0.14567573368549347, + 0.12828786671161652 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465174025066716, + 0.14149585424325922, + 0.12000044335669556 + ], + "intended_face_normal": [ + -0.999814254113558, + -0.01125502661709363, + 0.015670142755496764 + ], + "commanded_contact_point": [ + -14.744214736785889, + 0.14131253818527362, + 0.11686433527144025 + ], + "centerline_face_intersection": [ + -14.465202712585116, + 0.14236491465657972, + 0.11879046836479283 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.755699157714844, + 0.14187824726104736, + 0.12712939083576202 + ], + "box_pose": [ + -14.391984939575195, + 0.14062362909317017, + 0.13603733479976654, + 0.007857265882194042, + -0.0038894417230039835, + 0.9999459981918335, + -0.005597255192697048 + ], + "box_yaw_rad": -3.130336011484028, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003378077874243423 + } + } + }, + { + "simulation_time_ns": 2860000000, + "center": [ + -14.387977242624768, + 0.14235973890946835, + 0.11879043967159511 + ], + "face_center": [ + -14.465178239849159, + 0.14149062705927157, + 0.11999778045435282 + ], + "face_normal": [ + -0.9998145874656093, + -0.011255692765733127, + 0.015636027642683265 + ], + "footprint_xy": [ + [ + -14.467680119054503, + 0.0852498047774756 + ], + [ + -14.30827436619503, + 0.0852498047774756 + ], + [ + -14.30827436619503, + 0.19946967304146113 + ], + [ + -14.467680119054503, + 0.19946967304146113 + ] + ], + "projected_box_corners": [ + [ + -14.31327812460572, + 0.19946967304146113 + ], + [ + -14.309506089721939, + 0.19761445120525925 + ], + [ + -14.312046401078812, + 0.08884325031407103 + ], + [ + -14.30827436619503, + 0.08698802847786918 + ], + [ + -14.467680119054503, + 0.19773144934106754 + ], + [ + -14.463908084170722, + 0.1958762275048657 + ], + [ + -14.466448395527594, + 0.08710502661367746 + ], + [ + -14.462676360643814, + 0.0852498047774756 + ] + ], + "yaw_rad": -3.130335349049083, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.744863510131836, + 0.14733344316482544, + 0.12733907997608185 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465174775070148, + 0.14149424088048657, + 0.11999928945907194 + ], + "intended_face_normal": [ + -0.9998143563348258, + -0.011254920623417736, + 0.015657737984903962 + ], + "commanded_contact_point": [ + -14.741370641369821, + 0.14178199413963505, + 0.11768747832419346 + ], + "centerline_face_intersection": [ + -14.46520344679952, + 0.14236329310947207, + 0.11879027230542454 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.749429702758789, + 0.14567573368549347, + 0.12828786671161652 + ], + "box_pose": [ + -14.391985893249512, + 0.14062178134918213, + 0.13603706657886505, + 0.007851099595427513, + -0.003896006615832448, + 0.9999459981918335, + -0.005597174633294344 + ], + "box_yaw_rad": -3.130336118634737, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002997804549012126 + } + } + }, + { + "simulation_time_ns": 2880000000, + "center": [ + -14.387983081689626, + 0.14235329108064754, + 0.11879117349011853 + ], + "face_center": [ + -14.465184147461397, + 0.14148401710728836, + 0.11999471616192021 + ], + "face_normal": [ + -0.9998154752089339, + -0.01125779239020111, + 0.015586839071613429 + ], + "footprint_xy": [ + [ + -14.467680290695634, + 0.08523689914342103 + ], + [ + -14.308285872683616, + 0.08523689914342103 + ], + [ + -14.308285872683616, + 0.19946968301787402 + ], + [ + -14.467680290695634, + 0.19946968301787402 + ] + ], + "projected_box_corners": [ + [ + -14.313278159152093, + 0.19946968301787402 + ], + [ + -14.3095177802572, + 0.19760183788103203 + ], + [ + -14.312046251578508, + 0.08884329222698138 + ], + [ + -14.308285872683616, + 0.0869754470901394 + ], + [ + -14.467680290695634, + 0.19773113507115567 + ], + [ + -14.463919911800742, + 0.19586328993431368 + ], + [ + -14.466448383122051, + 0.08710474428026302 + ], + [ + -14.462688004227159, + 0.08523689914342103 + ] + ], + "yaw_rad": -3.1303332592978736, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.742402076721191, + 0.14542847871780396, + 0.12465451657772064 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465178239849159, + 0.14149062705927157, + 0.11999778045435282 + ], + "intended_face_normal": [ + -0.9998145874656093, + -0.011255692765733127, + 0.015636027642683265 + ], + "commanded_contact_point": [ + -14.738834049491883, + 0.14210879776565394, + 0.11829170920544455 + ], + "centerline_face_intersection": [ + -14.465206875878238, + 0.14235973890946835, + 0.11879043967159511 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.744863510131836, + 0.14733344316482544, + 0.12733907997608185 + ], + "box_pose": [ + -14.391989707946777, + 0.1406177133321762, + 0.13603709638118744, + 0.00784032791852951, + -0.003910809755325317, + 0.9999459981918335, + -0.00559748662635684 + ], + "box_yaw_rad": -3.130335349049083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002627963835949213 + } + } + }, + { + "simulation_time_ns": 2900000000, + "center": [ + -14.387991465028376, + 0.1423456260832707, + 0.11879160951976335 + ], + "face_center": [ + -14.465192605431538, + 0.141476420522429, + 0.11998994761865597 + ], + "face_normal": [ + -0.9998164417450455, + -0.011256906393447112, + 0.015519435694673813 + ], + "footprint_xy": [ + [ + -14.467680672758265, + 0.08522185728562606 + ], + [ + -14.30830225729849, + 0.08522185728562606 + ], + [ + -14.30830225729849, + 0.19946939488091533 + ], + [ + -14.467680672758265, + 0.19946939488091533 + ] + ], + "projected_box_corners": [ + [ + -14.313278391951943, + 0.19946939488091533 + ], + [ + -14.30953401859101, + 0.1975865962120917 + ], + [ + -14.312046630659422, + 0.08884306707613307 + ], + [ + -14.30830225729849, + 0.08696026840730944 + ], + [ + -14.467680672758265, + 0.19773098375923195 + ], + [ + -14.463936299397332, + 0.1958481850904083 + ], + [ + -14.466448911465744, + 0.08710465595444969 + ], + [ + -14.462704538104811, + 0.08522185728562606 + ] + ], + "yaw_rad": -3.130334156228651, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.742344856262207, + 0.14286071062088013, + 0.1217566728591919 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465184147461397, + 0.14148401710728836, + 0.11999471616192021 + ], + "intended_face_normal": [ + -0.9998154752089339, + -0.01125779239020111, + 0.015586839071613429 + ], + "commanded_contact_point": [ + -14.736539868698122, + 0.14229278815573124, + 0.11866433975850131 + ], + "centerline_face_intersection": [ + -14.46521264637035, + 0.14235329108064754, + 0.11879117349011853 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.742402076721191, + 0.14542847871780396, + 0.12465451657772064 + ], + "box_pose": [ + -14.391996383666992, + 0.14061035215854645, + 0.13603754341602325, + 0.007815881632268429, + -0.003936991095542908, + 0.999946117401123, + -0.0055984267964959145 + ], + "box_yaw_rad": -3.1303332592978736, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023315169969733178 + } + } + }, + { + "simulation_time_ns": 2920000000, + "center": [ + -14.388001442346635, + 0.14233726653667786, + 0.11879152809676966 + ], + "face_center": [ + -14.465202664316893, + 0.14146788014692072, + 0.11998322227492844 + ], + "face_normal": [ + -0.9998174981041044, + -0.011259248272360411, + 0.015433391613554878 + ], + "footprint_xy": [ + [ + -14.46768061535854, + 0.08520458920693519 + ], + [ + -14.30832226933473, + 0.08520458920693519 + ], + [ + -14.30832226933473, + 0.19946994386642053 + ], + [ + -14.46768061535854, + 0.19946994386642053 + ] + ], + "projected_box_corners": [ + [ + -14.313278171418027, + 0.19946994386642053 + ], + [ + -14.309554240418612, + 0.19756959548379543 + ], + [ + -14.312046200334144, + 0.08884371036907451 + ], + [ + -14.30832226933473, + 0.08694336198644943 + ], + [ + -14.46768061535854, + 0.19773117108690627 + ], + [ + -14.463956684359125, + 0.19583082270428118 + ], + [ + -14.466448644274658, + 0.08710493758956027 + ], + [ + -14.462724713275243, + 0.08520458920693519 + ] + ], + "yaw_rad": -3.1303318261133883, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.743765830993652, + 0.14179399609565735, + 0.12159757316112518 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465192605431538, + 0.141476420522429, + 0.11998994761865597 + ], + "intended_face_normal": [ + -0.9998164417450455, + -0.011256906393447112, + 0.015519435694673813 + ], + "commanded_contact_point": [ + -14.73457691192627, + 0.1423456260832707, + 0.11879160951976335 + ], + "centerline_face_intersection": [ + -14.465220955050233, + 0.1423456260832707, + 0.11879160951976335 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.742344856262207, + 0.14286071062088013, + 0.1217566728591919 + ], + "box_pose": [ + -14.392005920410156, + 0.14060162007808685, + 0.13603760302066803, + 0.007782348431646824, + -0.0039679668843746185, + 0.9999462366104126, + -0.00559787405654788 + ], + "box_yaw_rad": -3.130334156228651, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019677877748571016 + } + } + }, + { + "simulation_time_ns": 2940000000, + "center": [ + -14.38801139180169, + 0.14232776510864592, + 0.11879204564258318 + ], + "face_center": [ + -14.465212700134925, + 0.14145840445436653, + 0.11997698691178674 + ], + "face_normal": [ + -0.999818616573666, + -0.011258914977364391, + 0.01534593604790133 + ], + "footprint_xy": [ + [ + -14.467680219765324, + 0.08518554008742213 + ], + [ + -14.308342563838057, + 0.08518554008742213 + ], + [ + -14.308342563838057, + 0.19946999012986966 + ], + [ + -14.467680219765324, + 0.19946999012986966 + ] + ], + "projected_box_corners": [ + [ + -14.313277603098854, + 0.19946999012986966 + ], + [ + -14.309574439385528, + 0.19755039904196192 + ], + [ + -14.312045727551382, + 0.08884385248388867 + ], + [ + -14.308342563838057, + 0.0869242613959809 + ], + [ + -14.467680219765324, + 0.1977312688213109 + ], + [ + -14.463977056051998, + 0.19581167773340313 + ], + [ + -14.466448344217852, + 0.08710513117532989 + ], + [ + -14.462745180504527, + 0.08518554008742213 + ] + ], + "yaw_rad": -3.1303321720226935, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.743768692016602, + 0.14128810167312622, + 0.12425139546394348 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465202664316893, + 0.14146788014692072, + 0.11998322227492844 + ], + "intended_face_normal": [ + -0.9998174981041044, + -0.011259248272360411, + 0.015433391613554878 + ], + "commanded_contact_point": [ + -14.732595176696778, + 0.14233726653667786, + 0.11879152809676966 + ], + "centerline_face_intersection": [ + -14.46523085077153, + 0.14233726653667786, + 0.11879152809676966 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.743765830993652, + 0.14179399609565735, + 0.12159757316112518 + ], + "box_pose": [ + -14.392017364501953, + 0.14059199392795563, + 0.13603705167770386, + 0.007739530876278877, + -0.004004314541816711, + 0.9999463558197021, + -0.005598932970315218 + ], + "box_yaw_rad": -3.1303318261133883, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001981752862609108 + } + } + }, + { + "simulation_time_ns": 2960000000, + "center": [ + -14.388022147815715, + 0.14231654180333522, + 0.11879285310090584 + ], + "face_center": [ + -14.46522356590675, + 0.14144633673929438, + 0.11997029452952587 + ], + "face_normal": [ + -0.9998200380248616, + -0.01126985075834721, + 0.015248807120961591 + ], + "footprint_xy": [ + [ + -14.467680136880935, + 0.08516304275046181 + ], + [ + -14.308364158750495, + 0.08516304275046181 + ], + [ + -14.308364158750495, + 0.19947004085620865 + ], + [ + -14.467680136880935, + 0.19947004085620865 + ] + ], + "projected_box_corners": [ + [ + -14.313277300698864, + 0.19947004085620865 + ], + [ + -14.309597183679056, + 0.19752950565559316 + ], + [ + -14.312044275770303, + 0.08884398807915897 + ], + [ + -14.308364158750495, + 0.08690345287854348 + ], + [ + -14.467680136880935, + 0.19772963072812696 + ], + [ + -14.464000019861128, + 0.19578909552751148 + ], + [ + -14.466447111952373, + 0.0871035779510773 + ], + [ + -14.462766994932567, + 0.08516304275046181 + ] + ], + "yaw_rad": -3.130321251669259, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.74139404296875, + 0.14181368052959442, + 0.12880808115005493 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465212700134925, + 0.14145840445436653, + 0.11997698691178674 + ], + "intended_face_normal": [ + -0.999818616573666, + -0.011258914977364391, + 0.01534593604790133 + ], + "commanded_contact_point": [ + -14.730382652282715, + 0.14232776510864592, + 0.11879204564258318 + ], + "centerline_face_intersection": [ + -14.465240713832172, + 0.14232776510864592, + 0.11879204564258318 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.743768692016602, + 0.14128810167312622, + 0.12425139546394348 + ], + "box_pose": [ + -14.39202880859375, + 0.14058111608028412, + 0.13603708148002625, + 0.007696021813899279, + -0.004044176544994116, + 0.9999464750289917, + -0.005598633084446192 + ], + "box_yaw_rad": -3.1303321720226935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022125448758863455 + } + } + }, + { + "simulation_time_ns": 2980000000, + "center": [ + -14.388038754898979, + 0.1423027210994208, + 0.1187933993449351 + ], + "face_center": [ + -14.465240322287967, + 0.14143240557634898, + 0.11995969285554636 + ], + "face_normal": [ + -0.9998219715526071, + -0.011271281291040599, + 0.015104432677032709 + ], + "footprint_xy": [ + [ + -14.467679781270308, + 0.08513481131858716 + ], + [ + -14.308397728527652, + 0.08513481131858716 + ], + [ + -14.308397728527652, + 0.1994706308802544 + ], + [ + -14.467679781270308, + 0.1994706308802544 + ] + ], + "projected_box_corners": [ + [ + -14.313276646492332, + 0.1994706308802544 + ], + [ + -14.309630842232991, + 0.19750135859153728 + ], + [ + -14.312043532786992, + 0.08884471465344794 + ], + [ + -14.308397728527652, + 0.0868754423647308 + ], + [ + -14.467679781270308, + 0.19772999983411077 + ], + [ + -14.464033977010965, + 0.19576072754539364 + ], + [ + -14.466446667564968, + 0.0871040836073043 + ], + [ + -14.462800863305626, + 0.08513481131858716 + ] + ], + "yaw_rad": -3.130319842859236, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.737610816955566, + 0.14289182424545288, + 0.13602189719676971 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46522356590675, + 0.14144633673929438, + 0.11997029452952587 + ], + "intended_face_normal": [ + -0.9998200380248616, + -0.01126985075834721, + 0.015248807120961591 + ], + "commanded_contact_point": [ + -14.728201599121094, + 0.14231654180333522, + 0.11879285310090584 + ], + "centerline_face_intersection": [ + -14.465251360048725, + 0.14231654180333522, + 0.11879285310090584 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.74139404296875, + 0.14181368052959442, + 0.12880808115005493 + ], + "box_pose": [ + -14.392041206359863, + 0.140568345785141, + 0.13603734970092773, + 0.0076477183029055595, + -0.0040876008570194244, + 0.999946653842926, + -0.0056039635092020035 + ], + "box_yaw_rad": -3.130321251669259, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002181082187444666 + } + } + }, + { + "simulation_time_ns": 3000000000, + "center": [ + -14.3880581159571, + 0.14228812842582766, + 0.11879399731752258 + ], + "face_center": [ + -14.465259907556357, + 0.14141832674092555, + 0.11994874204034806 + ], + "face_normal": [ + -0.9998248752547003, + -0.011264626676254042, + 0.014954866649249238 + ], + "footprint_xy": [ + [ + -14.467681180946025, + 0.08510633756253715 + ], + [ + -14.308435050968177, + 0.08510633756253715 + ], + [ + -14.308435050968177, + 0.1994699192891182 + ], + [ + -14.467681180946025, + 0.1994699192891182 + ] + ], + "projected_box_corners": [ + [ + -14.313277597747513, + 0.1994699192891182 + ], + [ + -14.309667367114553, + 0.19747181972138392 + ], + [ + -14.312045281601137, + 0.08884404050007566 + ], + [ + -14.308435050968177, + 0.08684594093234138 + ], + [ + -14.467681180946025, + 0.19773031591931398 + ], + [ + -14.464070950313065, + 0.19573221635157967 + ], + [ + -14.466448864799649, + 0.08710443713027144 + ], + [ + -14.462838634166689, + 0.08510633756253715 + ] + ], + "yaw_rad": -3.1303265305302066, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.733939170837402, + 0.1436074674129486, + 0.14041098952293396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465240322287967, + 0.14143240557634898, + 0.11995969285554636 + ], + "intended_face_normal": [ + -0.9998219715526071, + -0.011271281291040599, + 0.015104432677032709 + ], + "commanded_contact_point": [ + -14.726024360656739, + 0.1423027210994208, + 0.1187933993449351 + ], + "centerline_face_intersection": [ + -14.465267817780575, + 0.1423027210994208, + 0.1187933993449351 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.737610816955566, + 0.14289182424545288, + 0.13602189719676971 + ], + "box_pose": [ + -14.392060279846191, + 0.14055246114730835, + 0.13603711128234863, + 0.007575861178338528, + -0.004147099331021309, + 0.9999468922615051, + -0.0056045204401016235 + ], + "box_yaw_rad": -3.130319842859236, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002177282398061443 + } + } + }, + { + "simulation_time_ns": 3020000000, + "center": [ + -14.388077978222489, + 0.14227007154836704, + 0.11879509443281852 + ], + "face_center": [ + -14.465279980703773, + 0.14139987363999376, + 0.11993613722939361 + ], + "face_normal": [ + -0.999827606345437, + -0.011269758086735908, + 0.014777415758275752 + ], + "footprint_xy": [ + [ + -14.467680420280617, + 0.08506946148479802 + ], + [ + -14.30847553616436, + 0.08506946148479802 + ], + [ + -14.30847553616436, + 0.19947068161193607 + ], + [ + -14.467680420280617, + 0.19947068161193607 + ] + ], + "projected_box_corners": [ + [ + -14.313276415318049, + 0.19947068161193607 + ], + [ + -14.309708333115216, + 0.19743560296472096 + ], + [ + -14.312043618367193, + 0.0888449359487597 + ], + [ + -14.30847553616436, + 0.08680985730154459 + ], + [ + -14.467680420280617, + 0.1977302857951895 + ], + [ + -14.464112338077785, + 0.1956952071479744 + ], + [ + -14.466447623329763, + 0.08710454013201314 + ], + [ + -14.46287954112693, + 0.08506946148479802 + ] + ], + "yaw_rad": -3.13032142965814, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.73235034942627, + 0.13975246250629425, + 0.13648086786270142 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465259907556357, + 0.14141832674092555, + 0.11994874204034806 + ], + "intended_face_normal": [ + -0.9998248752547003, + -0.011264626676254042, + 0.014954866649249238 + ], + "commanded_contact_point": [ + -14.723540992736817, + 0.14228812842582766, + 0.11879399731752258 + ], + "centerline_face_intersection": [ + -14.465286954549226, + 0.14228812842582766, + 0.11879399731752258 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.733939170837402, + 0.1436074674129486, + 0.14041098952293396 + ], + "box_pose": [ + -14.392082214355469, + 0.14053583145141602, + 0.13603690266609192, + 0.0075013902969658375, + -0.004206739831715822, + 0.9999473690986633, + -0.005601051729172468 + ], + "box_yaw_rad": -3.1303265305302066, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024834108660048405 + } + } + }, + { + "simulation_time_ns": 3040000000, + "center": [ + -14.388103741311959, + 0.1422489104410188, + 0.118796254137555 + ], + "face_center": [ + -14.465305955503894, + 0.14137868489115676, + 0.11992012907321277 + ], + "face_normal": [ + -0.9998303481675004, + -0.011270116066097437, + 0.014555078244540984 + ], + "footprint_xy": [ + [ + -14.467679946798409, + 0.0850267636702654 + ], + [ + -14.308527535825508, + 0.0850267636702654 + ], + [ + -14.308527535825508, + 0.19947105721177222 + ], + [ + -14.467679946798409, + 0.19947105721177222 + ] + ], + "projected_box_corners": [ + [ + -14.313275518414537, + 0.19947105721177222 + ], + [ + -14.3097602928794, + 0.19739273194039367 + ], + [ + -14.312042761360646, + 0.08884554004136808 + ], + [ + -14.308527535825508, + 0.08676721476998953 + ], + [ + -14.467679946798409, + 0.1977306061120481 + ], + [ + -14.464164721263272, + 0.19565228084066955 + ], + [ + -14.466447189744516, + 0.08710508894164395 + ], + [ + -14.46293196420938, + 0.0850267636702654 + ] + ], + "yaw_rad": -3.130321102569838, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.730840682983398, + 0.13342778384685516, + 0.12947694957256317 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465279980703773, + 0.14139987363999376, + 0.11993613722939361 + ], + "intended_face_normal": [ + -0.999827606345437, + -0.011269758086735908, + 0.014777415758275752 + ], + "commanded_contact_point": [ + -14.721035690307618, + 0.14227007154836704, + 0.11879509443281852 + ], + "centerline_face_intersection": [ + -14.465306605859283, + 0.14227007154836704, + 0.11879509443281852 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.73235034942627, + 0.13975246250629425, + 0.13648086786270142 + ], + "box_pose": [ + -14.392105102539062, + 0.14051510393619537, + 0.13603702187538147, + 0.007413096725940704, + -0.0042833383195102215, + 0.999947726726532, + -0.005603419151157141 + ], + "box_yaw_rad": -3.13032142965814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025053677407193354 + } + } + }, + { + "simulation_time_ns": 3060000000, + "center": [ + -14.388133006894503, + 0.14222440754815868, + 0.11879802145296053 + ], + "face_center": [ + -14.465335506397356, + 0.14135388539952634, + 0.11990329880127587 + ], + "face_normal": [ + -0.9998340431718098, + -0.011273957257115778, + 0.014314224631438211 + ], + "footprint_xy": [ + [ + -14.467681050930029, + 0.08497765416828673 + ], + [ + -14.308584962858978, + 0.08497765416828673 + ], + [ + -14.308584962858978, + 0.19947116092803063 + ], + [ + -14.467681050930029, + 0.19947116092803063 + ] + ], + "projected_box_corners": [ + [ + -14.313276051924321, + 0.19947116092803063 + ], + [ + -14.309818055679058, + 0.19734404247120513 + ], + [ + -14.312042959104241, + 0.08884581692237689 + ], + [ + -14.308584962858978, + 0.08671869846555139 + ], + [ + -14.467681050930029, + 0.19773011663076595 + ], + [ + -14.464223054684764, + 0.19560299817394047 + ], + [ + -14.46644795810995, + 0.08710477262511224 + ], + [ + -14.462989961864684, + 0.08497765416828673 + ] + ], + "yaw_rad": -3.1303173028812945, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.727883338928223, + 0.13055828213691711, + 0.1266464740037918 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465305955503894, + 0.14137868489115676, + 0.11992012907321277 + ], + "intended_face_normal": [ + -0.9998303481675004, + -0.011270116066097437, + 0.014555078244540984 + ], + "commanded_contact_point": [ + -14.718594284057618, + 0.1422489104410188, + 0.118796254137555 + ], + "centerline_face_intersection": [ + -14.465332157165667, + 0.1422489104410188, + 0.118796254137555 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.730840682983398, + 0.13342778384685516, + 0.12947694957256317 + ], + "box_pose": [ + -14.392134666442871, + 0.1404908448457718, + 0.1360369771718979, + 0.007302421610802412, + -0.004372857511043549, + 0.9999480247497559, + -0.005603416822850704 + ], + "box_yaw_rad": -3.130321102569838, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024414982316025425 + } + } + }, + { + "simulation_time_ns": 3080000000, + "center": [ + -14.388168113840928, + 0.14219701064238432, + 0.1187990782922182 + ], + "face_center": [ + -14.465370920150361, + 0.14132629539287078, + 0.11988200305981883 + ], + "face_normal": [ + -0.999838016562103, + -0.011276458067789543, + 0.014024740854420487 + ], + "footprint_xy": [ + [ + -14.46768215404442, + 0.08492264547936387 + ], + [ + -14.308654073637436, + 0.08492264547936387 + ], + [ + -14.308654073637436, + 0.19947137580540475 + ], + [ + -14.46768215404442, + 0.19947137580540475 + ] + ], + "projected_box_corners": [ + [ + -14.313276541425555, + 0.19947137580540475 + ], + [ + -14.309887373360361, + 0.19728917752473185 + ], + [ + -14.312043241702632, + 0.08884627425906386 + ], + [ + -14.308654073637436, + 0.08666407597839096 + ], + [ + -14.46768215404442, + 0.19772994530637766 + ], + [ + -14.464292985979226, + 0.19554774702570477 + ], + [ + -14.466448854321497, + 0.0871048437600368 + ], + [ + -14.463059686256301, + 0.08492264547936387 + ] + ], + "yaw_rad": -3.130314846788338, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.724455833435059, + 0.1321042776107788, + 0.1254175454378128 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465335506397356, + 0.14135388539952634, + 0.11990329880127587 + ], + "intended_face_normal": [ + -0.9998340431718098, + -0.011273957257115778, + 0.014314224631438211 + ], + "commanded_contact_point": [ + -14.7159135055542, + 0.14222440754815868, + 0.11879802145296053 + ], + "centerline_face_intersection": [ + -14.465361137341517, + 0.14222440754815868, + 0.11879802145296053 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.727883338928223, + 0.13055828213691711, + 0.1266464740037918 + ], + "box_pose": [ + -14.392168045043945, + 0.14046283066272736, + 0.1360374242067337, + 0.007182558998465538, + -0.0044738976284861565, + 0.9999485015869141, + -0.0056051332503557205 + ], + "box_yaw_rad": -3.1303173028812945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002680891064469077 + } + } + }, + { + "simulation_time_ns": 3100000000, + "center": [ + -14.38820735330015, + 0.14216570095731612, + 0.11880070182324252 + ], + "face_center": [ + -14.465410494440777, + 0.14129503016251624, + 0.11985842052430783 + ], + "face_normal": [ + -0.9998423528935672, + -0.011275882343734429, + 0.013698302156466733 + ], + "footprint_xy": [ + [ + -14.467682857176685, + 0.08485999846580462 + ], + [ + -14.308731849423614, + 0.08485999846580462 + ], + [ + -14.308731849423614, + 0.19947140344882763 + ], + [ + -14.467682857176685, + 0.19947140344882763 + ] + ], + "projected_box_corners": [ + [ + -14.313276574895431, + 0.19947140344882763 + ], + [ + -14.309965018262595, + 0.19722615229052337 + ], + [ + -14.31204340605645, + 0.08884659121370869 + ], + [ + -14.308731849423614, + 0.08660134005540442 + ], + [ + -14.467682857176685, + 0.19773006185922784 + ], + [ + -14.46437130054385, + 0.19548481070092358 + ], + [ + -14.466449688337704, + 0.0871052496241089 + ], + [ + -14.46313813170487, + 0.08485999846580462 + ] + ], + "yaw_rad": -3.1303154714378105, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.721465110778809, + 0.13650795817375183, + 0.12433074414730072 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465370920150361, + 0.14132629539287078, + 0.11988200305981883 + ], + "intended_face_normal": [ + -0.999838016562103, + -0.011276458067789543, + 0.014024740854420487 + ], + "commanded_contact_point": [ + -14.712927551269532, + 0.14219701064238432, + 0.1187990782922182 + ], + "centerline_face_intersection": [ + -14.465395937380725, + 0.14219701064238432, + 0.1187990782922182 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.724455833435059, + 0.1321042776107788, + 0.1254175454378128 + ], + "box_pose": [ + -14.392208099365234, + 0.1404314786195755, + 0.1360369175672531, + 0.007038450334221125, + -0.00458790035918355, + 0.9999489784240723, + -0.005606223363429308 + ], + "box_yaw_rad": -3.130314846788338, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029860801559037603 + } + } + }, + { + "simulation_time_ns": 3120000000, + "center": [ + -14.38825325055836, + 0.1421293235975809, + 0.11880240755941376 + ], + "face_center": [ + -14.465456836643401, + 0.14125855582621316, + 0.119830533181025 + ], + "face_normal": [ + -0.9998481152791685, + -0.011277138267759298, + 0.013315048136571028 + ], + "footprint_xy": [ + [ + -14.467683681731012, + 0.08478709926655709 + ], + [ + -14.308822819385707, + 0.08478709926655709 + ], + [ + -14.308822819385707, + 0.1994715479286047 + ], + [ + -14.467683681731012, + 0.1994715479286047 + ] + ], + "projected_box_corners": [ + [ + -14.31327650956093, + 0.1994715479286047 + ], + [ + -14.310056077927209, + 0.19715319105449178 + ], + [ + -14.312043251019428, + 0.08884699168340546 + ], + [ + -14.308822819385707, + 0.08652863480929254 + ], + [ + -14.467683681731012, + 0.19773001238586924 + ], + [ + -14.46446325009729, + 0.19541165551175632 + ], + [ + -14.46645042318951, + 0.08710545614067002 + ], + [ + -14.463229991555789, + 0.08478709926655709 + ] + ], + "yaw_rad": -3.13031428047059, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.718077659606934, + 0.13754084706306458, + 0.12179985642433167 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465410494440777, + 0.14129503016251624, + 0.11985842052430783 + ], + "intended_face_normal": [ + -0.9998423528935672, + -0.011275882343734429, + 0.013698302156466733 + ], + "commanded_contact_point": [ + -14.709665031433106, + 0.14216570095731612, + 0.11880070182324252 + ], + "centerline_face_intersection": [ + -14.465434841901702, + 0.14216570095731612, + 0.11880070182324252 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.721465110778809, + 0.13650795817375183, + 0.12433074414730072 + ], + "box_pose": [ + -14.392252922058105, + 0.1403956562280655, + 0.13603676855564117, + 0.00687594898045063, + -0.0047184075228869915, + 0.9999494552612305, + -0.005605780985206366 + ], + "box_yaw_rad": -3.1303154714378105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032626704729873906 + } + } + }, + { + "simulation_time_ns": 3140000000, + "center": [ + -14.388304857318998, + 0.14208745360144087, + 0.1188044958852002 + ], + "face_center": [ + -14.465508861057874, + 0.14121661639029912, + 0.11979864048755715 + ], + "face_normal": [ + -0.9998535242299822, + -0.011278037568306353, + 0.01287496679087741 + ], + "footprint_xy": [ + [ + -14.467683428162008, + 0.08470272248621008 + ], + [ + -14.308926286475986, + 0.08470272248621008 + ], + [ + -14.308926286475986, + 0.19947218471667166 + ], + [ + -14.467683428162008, + 0.19947218471667166 + ] + ], + "projected_box_corners": [ + [ + -14.313275420684258, + 0.19947218471667166 + ], + [ + -14.310159611352237, + 0.1970685266879208 + ], + [ + -14.312042095808007, + 0.08884805493724449 + ], + [ + -14.308926286475986, + 0.08644439690849362 + ], + [ + -14.467683428162008, + 0.19773051029438815 + ], + [ + -14.464567618829987, + 0.19532685226563729 + ], + [ + -14.466450103285759, + 0.08710638051496095 + ], + [ + -14.463334293953737, + 0.08470272248621008 + ] + ], + "yaw_rad": -3.130313442160639, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.712084770202637, + 0.13566987216472626, + 0.12082991003990173 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465456836643401, + 0.14125855582621316, + 0.119830533181025 + ], + "intended_face_normal": [ + -0.9998481152791685, + -0.011277138267759298, + 0.013315048136571028 + ], + "commanded_contact_point": [ + -14.706330032348633, + 0.1421293235975809, + 0.11880240755941376 + ], + "centerline_face_intersection": [ + -14.465480294077745, + 0.1421293235975809, + 0.11880240755941376 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.718077659606934, + 0.13754084706306458, + 0.12179985642433167 + ], + "box_pose": [ + -14.392305374145508, + 0.14035403728485107, + 0.13603639602661133, + 0.006685158237814903, + -0.004869714844971895, + 0.9999501705169678, + -0.005606293678283691 + ], + "box_yaw_rad": -3.13031428047059, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033351979124589667 + } + } + }, + { + "simulation_time_ns": 3160000000, + "center": [ + -14.38836393760637, + 0.14203967828604167, + 0.11880674225218354 + ], + "face_center": [ + -14.465568443328042, + 0.14116871004348452, + 0.11976189444225656 + ], + "face_normal": [ + -0.9998600253082321, + -0.011279734529812546, + 0.012369983902008339 + ], + "footprint_xy": [ + [ + -14.467683078345797, + 0.08460672262454774 + ], + [ + -14.30904479686694, + 0.08460672262454774 + ], + [ + -14.30904479686694, + 0.19947263394753562 + ], + [ + -14.467683078345797, + 0.19947263394753562 + ] + ], + "projected_box_corners": [ + [ + -14.31327406690245, + 0.19947263394753562 + ], + [ + -14.31027832082096, + 0.19697234729626262 + ], + [ + -14.31204054294843, + 0.08884894576093505 + ], + [ + -14.30904479686694, + 0.08634865910966208 + ], + [ + -14.467683078345797, + 0.19773069746242128 + ], + [ + -14.464687332264306, + 0.19523041081114828 + ], + [ + -14.466449554391778, + 0.08710700927582074 + ], + [ + -14.463453808310287, + 0.08460672262454774 + ] + ], + "yaw_rad": -3.1303118185085888, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.706625938415527, + 0.13313710689544678, + 0.12342579662799835 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465508861057874, + 0.14121661639029912, + 0.11979864048755715 + ], + "intended_face_normal": [ + -0.9998535242299822, + -0.011278037568306353, + 0.01287496679087741 + ], + "commanded_contact_point": [ + -14.703502388000489, + 0.14208745360144087, + 0.1188044958852002 + ], + "centerline_face_intersection": [ + -14.465531483059907, + 0.14208745360144087, + 0.1188044958852002 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.712084770202637, + 0.13566987216472626, + 0.12082991003990173 + ], + "box_pose": [ + -14.392364501953125, + 0.14030605554580688, + 0.13603608310222626, + 0.006466095335781574, + -0.005046282894909382, + 0.999950647354126, + -0.00560666574165225 + ], + "box_yaw_rad": -3.130313442160639, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002827955094635533 + } + } + }, + { + "simulation_time_ns": 3180000000, + "center": [ + -14.388431271261188, + 0.14198619147145558, + 0.11880897235763778 + ], + "face_center": [ + -14.465636334950487, + 0.14111575478543095, + 0.11971940089692057 + ], + "face_normal": [ + -0.9998672514347233, + -0.011272850448072556, + 0.011790776895979418 + ], + "footprint_xy": [ + [ + -14.467681751954803, + 0.08449944547608054 + ], + [ + -14.309180790567572, + 0.08449944547608054 + ], + [ + -14.309180790567572, + 0.1994729374668306 + ], + [ + -14.467681751954803, + 0.1994729374668306 + ] + ], + "projected_box_corners": [ + [ + -14.313271624576206, + 0.1994729374668306 + ], + [ + -14.31041363001212, + 0.1968634960900343 + ], + [ + -14.312038785131659, + 0.08884976022492606 + ], + [ + -14.309180790567572, + 0.08624031884812977 + ], + [ + -14.467681751954803, + 0.19773206409478136 + ], + [ + -14.464823757390718, + 0.19512262271798508 + ], + [ + -14.466448912510256, + 0.08710888685287684 + ], + [ + -14.46359091794617, + 0.08449944547608054 + ] + ], + "yaw_rad": -3.130318784149368, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.703649520874023, + 0.13116639852523804, + 0.12753508985042572 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465568443328042, + 0.14116871004348452, + 0.11976189444225656 + ], + "intended_face_normal": [ + -0.9998600253082321, + -0.011279734529812546, + 0.012369983902008339 + ], + "commanded_contact_point": [ + -14.700703353881837, + 0.14203967828604167, + 0.11880674225218354 + ], + "centerline_face_intersection": [ + -14.465590061220658, + 0.14203967828604167, + 0.11880674225218354 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.706625938415527, + 0.13313710689544678, + 0.12342579662799835 + ], + "box_pose": [ + -14.39243221282959, + 0.14025135338306427, + 0.13603557646274567, + 0.006214713677763939, + -0.005246282089501619, + 0.9999512434005737, + -0.005607536528259516 + ], + "box_yaw_rad": -3.1303118185085888, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027994427167395337 + } + } + }, + { + "simulation_time_ns": 3200000000, + "center": [ + -14.38850945687345, + 0.14192469009579267, + 0.11881075341892164 + ], + "face_center": [ + -14.465715112120392, + 0.1410547213086818, + 0.11966945889066899 + ], + "face_normal": [ + -0.9998749125787907, + -0.011266790783350054, + 0.011120921851489718 + ], + "footprint_xy": [ + [ + -14.467680615305142, + 0.08437666606876465 + ], + [ + -14.309338298441757, + 0.08437666606876465 + ], + [ + -14.309338298441757, + 0.19947271412282072 + ], + [ + -14.467680615305142, + 0.19947271412282072 + ] + ], + "projected_box_corners": [ + [ + -14.313269304811255, + 0.19947271412282072 + ], + [ + -14.310570639441242, + 0.1967391417886462 + ], + [ + -14.31203696381177, + 0.08885017597716088 + ], + [ + -14.309338298441757, + 0.08611660364298637 + ], + [ + -14.467680615305142, + 0.19773277654859897 + ], + [ + -14.464981949935128, + 0.19499920421442446 + ], + [ + -14.466448274305657, + 0.08711023840293913 + ], + [ + -14.463749608935643, + 0.08437666606876465 + ] + ], + "yaw_rad": -3.130324930176575, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.701529502868652, + 0.13051635026931763, + 0.1302042454481125 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465636334950487, + 0.14111575478543095, + 0.11971940089692057 + ], + "intended_face_normal": [ + -0.9998672514347233, + -0.011272850448072556, + 0.011790776895979418 + ], + "commanded_contact_point": [ + -14.697727890014649, + 0.14198619147145558, + 0.11880897235763778 + ], + "centerline_face_intersection": [ + -14.465656836755649, + 0.14198619147145558, + 0.11880897235763778 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.703649520874023, + 0.13116639852523804, + 0.12753508985042572 + ], + "box_pose": [ + -14.392509460449219, + 0.14019007980823517, + 0.13603465259075165, + 0.005926341284066439, + -0.005472157150506973, + 0.9999518394470215, + -0.005604265257716179 + ], + "box_yaw_rad": -3.130318784149368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029759454023290306 + } + } + }, + { + "simulation_time_ns": 3220000000, + "center": [ + -14.38859924200793, + 0.14185261070299016, + 0.11881344271266522 + ], + "face_center": [ + -14.465805535738307, + 0.14098231632154104, + 0.11961240457127471 + ], + "face_normal": [ + -0.9998831814493307, + -0.011271007490137076, + 0.01034719433409114 + ], + "footprint_xy": [ + [ + -14.46767942313463, + 0.08423195610935316 + ], + [ + -14.309519060881229, + 0.08423195610935316 + ], + [ + -14.309519060881229, + 0.19947326529662712 + ], + [ + -14.46767942313463, + 0.19947326529662712 + ] + ], + "projected_box_corners": [ + [ + -14.313266835673875, + 0.19947326529662712 + ], + [ + -14.310752151481145, + 0.19659429437320763 + ], + [ + -14.31203374507396, + 0.08885151579567085 + ], + [ + -14.309519060881229, + 0.08597254487225137 + ], + [ + -14.46767942313463, + 0.19773267653372892 + ], + [ + -14.4651647389419, + 0.19485370561030943 + ], + [ + -14.466446332534714, + 0.08711092703277265 + ], + [ + -14.463931648341983, + 0.08423195610935316 + ] + ], + "yaw_rad": -3.130320806687077, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.699356079101562, + 0.13115733861923218, + 0.13105376064777374 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465715112120392, + 0.1410547213086818, + 0.11966945889066899 + ], + "intended_face_normal": [ + -0.9998749125787907, + -0.011266790783350054, + 0.011120921851489718 + ], + "commanded_contact_point": [ + -14.694593162536622, + 0.14192469009579267, + 0.11881075341892164 + ], + "centerline_face_intersection": [ + -14.465734430657712, + 0.14192469009579267, + 0.11881075341892164 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.701529502868652, + 0.13051635026931763, + 0.1302042454481125 + ], + "box_pose": [ + -14.392599105834961, + 0.14011971652507782, + 0.13603278994560242, + 0.005592819303274155, + -0.005729000549763441, + 0.9999523162841797, + -0.0056016212329268456 + ], + "box_yaw_rad": -3.130324930176575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003135331234955471 + } + } + }, + { + "simulation_time_ns": 3240000000, + "center": [ + -14.38870499849955, + 0.14176884462669379, + 0.11881659736546579 + ], + "face_center": [ + -14.46591196401206, + 0.14089995937580008, + 0.11954625741139528 + ], + "face_normal": [ + -0.9998918815646027, + -0.011252758123735296, + 0.009449680496881245 + ], + "footprint_xy": [ + [ + -14.467678331368205, + 0.08406539773496768 + ], + [ + -14.309731665630895, + 0.08406539773496768 + ], + [ + -14.309731665630895, + 0.1994722915184199 + ], + [ + -14.467678331368205, + 0.1994722915184199 + ] + ], + "projected_box_corners": [ + [ + -14.313264400343186, + 0.1994722915184199 + ], + [ + -14.310963191154327, + 0.19642393206700176 + ], + [ + -14.312032874819753, + 0.0888515276881732 + ], + [ + -14.309731665630895, + 0.0858031682367551 + ], + [ + -14.467678331368205, + 0.19773452101663247 + ], + [ + -14.465377122179346, + 0.19468616156521437 + ], + [ + -14.466446805844772, + 0.08711375718638578 + ], + [ + -14.464145596655912, + 0.08406539773496768 + ] + ], + "yaw_rad": -3.1303391537804246, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.697171211242676, + 0.1321370154619217, + 0.12954777479171753 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465805535738307, + 0.14098231632154104, + 0.11961240457127471 + ], + "intended_face_normal": [ + -0.9998831814493307, + -0.011271007490137076, + 0.01034719433409114 + ], + "commanded_contact_point": [ + -14.691638679504395, + 0.14185261070299016, + 0.11881344271266522 + ], + "centerline_face_intersection": [ + -14.465823577154275, + 0.14185261070299016, + 0.11881344271266522 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.699356079101562, + 0.13115733861923218, + 0.13105376064777374 + ], + "box_pose": [ + -14.392702102661133, + 0.14003720879554749, + 0.13603124022483826, + 0.005207637790590525, + -0.006029914133250713, + 0.9999526143074036, + -0.005604367703199387 + ], + "box_yaw_rad": -3.130320806687077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002955363371716291 + } + } + }, + { + "simulation_time_ns": 3260000000, + "center": [ + -14.388828280891937, + 0.14167296866989834, + 0.11881973618825893 + ], + "face_center": [ + -14.466036010872939, + 0.14080550965768363, + 0.11946878022155061 + ], + "face_normal": [ + -0.9999017820422702, + -0.011234287193465696, + 0.00840563873166528 + ], + "footprint_xy": [ + [ + -14.467677538799688, + 0.08387407649062689 + ], + [ + -14.309979022984189, + 0.08387407649062689 + ], + [ + -14.309979022984189, + 0.1994718608491698 + ], + [ + -14.467677538799688, + 0.1994718608491698 + ] + ], + "projected_box_corners": [ + [ + -14.313262078837688, + 0.1994718608491698 + ], + [ + -14.311209216041977, + 0.19622864377826188 + ], + [ + -14.312031885779898, + 0.08885221158596418 + ], + [ + -14.309979022984189, + 0.0856089945150563 + ], + [ + -14.467677538799688, + 0.19773694282474036 + ], + [ + -14.465624676003976, + 0.19449372575383247 + ], + [ + -14.4664473457419, + 0.08711729356153478 + ], + [ + -14.464394482946188, + 0.08387407649062689 + ] + ], + "yaw_rad": -3.1303577356061805, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.693583488464355, + 0.1346566081047058, + 0.12728150188922882 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46591196401206, + 0.14089995937580008, + 0.11954625741139528 + ], + "intended_face_normal": [ + -0.9998918815646027, + -0.011252758123735296, + 0.009449680496881245 + ], + "commanded_contact_point": [ + -14.688998908996583, + 0.14176884462669379, + 0.11881659736546579 + ], + "centerline_face_intersection": [ + -14.465928661712631, + 0.14176884462669379, + 0.11881659736546579 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.697171211242676, + 0.1321370154619217, + 0.12954777479171753 + ], + "box_pose": [ + -14.392823219299316, + 0.13994139432907104, + 0.136029452085495, + 0.004760772455483675, + -0.00638043275102973, + 0.9999526143074036, + -0.005596268456429243 + ], + "box_yaw_rad": -3.1303391537804246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002641101103950594 + } + } + }, + { + "simulation_time_ns": 3280000000, + "center": [ + -14.38896626776473, + 0.14155990975171434, + 0.11882469573385304 + ], + "face_center": [ + -14.466174712542964, + 0.1406927820016368, + 0.11938180059482081 + ], + "face_normal": [ + -0.9999110392374801, + -0.011229997084154692, + 0.007214953002803842 + ], + "footprint_xy": [ + [ + -14.467674960955188, + 0.08364760047690639 + ], + [ + -14.31025757457427, + 0.08364760047690639 + ], + [ + -14.31025757457427, + 0.1994722190265223 + ], + [ + -14.467674960955188, + 0.1994722190265223 + ] + ], + "projected_box_corners": [ + [ + -14.31325807139872, + 0.1994722190265223 + ], + [ + -14.311488307153487, + 0.19600002215600476 + ], + [ + -14.312027338819503, + 0.08885405284757897 + ], + [ + -14.31025757457427, + 0.08538185597706147 + ], + [ + -14.467674960955188, + 0.1977379635263672 + ], + [ + -14.465905196709956, + 0.19426576665584971 + ], + [ + -14.466444228375972, + 0.0871197973474239 + ], + [ + -14.46467446413074, + 0.08364760047690639 + ] + ], + "yaw_rad": -3.130362129560186, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.690169334411621, + 0.13845986127853394, + 0.12651528418064117 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466036010872939, + 0.14080550965768363, + 0.11946878022155061 + ], + "intended_face_normal": [ + -0.9999017820422702, + -0.011234287193465696, + 0.00840563873166528 + ], + "commanded_contact_point": [ + -14.686407775878907, + 0.14167296866989834, + 0.11881973618825893 + ], + "centerline_face_intersection": [ + -14.466051179478765, + 0.14167296866989834, + 0.11881973618825893 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.693583488464355, + 0.1346566081047058, + 0.12728150188922882 + ], + "box_pose": [ + -14.392964363098145, + 0.13983164727687836, + 0.13602682948112488, + 0.004240932408720255, + -0.006783640012145042, + 0.9999524354934692, + -0.005588640458881855 + ], + "box_yaw_rad": -3.1303577356061805, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025929081905875844 + } + } + }, + { + "simulation_time_ns": 3300000000, + "center": [ + -14.389125207896821, + 0.14143118804790514, + 0.11883012454280087 + ], + "face_center": [ + -14.466334324403377, + 0.1405636680273066, + 0.11928208176305678 + ], + "face_normal": [ + -0.9999197386558436, + -0.011235077300773994, + 0.005853207056495211 + ], + "footprint_xy": [ + [ + -14.467673722765333, + 0.08338843687082856 + ], + [ + -14.310576693028311, + 0.08338843687082856 + ], + [ + -14.310576693028311, + 0.19947393922498172 + ], + [ + -14.467673722765333, + 0.19947393922498172 + ] + ], + "projected_box_corners": [ + [ + -14.313255489752224, + 0.19947393922498172 + ], + [ + -14.31180945197296, + 0.1957398063533216 + ], + [ + -14.312022730807575, + 0.08885760978368576 + ], + [ + -14.310576693028311, + 0.08512347691202564 + ], + [ + -14.467673722765333, + 0.19773889918378462 + ], + [ + -14.46622768498607, + 0.19400476631212452 + ], + [ + -14.466440963820682, + 0.08712256974248868 + ], + [ + -14.464994926041419, + 0.08338843687082856 + ] + ], + "yaw_rad": -3.1303571472754865, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.688157081604004, + 0.14118435978889465, + 0.12599985301494598 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466174712542964, + 0.1406927820016368, + 0.11938180059482081 + ], + "intended_face_normal": [ + -0.9999110392374801, + -0.011229997084154692, + 0.007214953002803842 + ], + "commanded_contact_point": [ + -14.683769912719727, + 0.14155990975171434, + 0.11882469573385304 + ], + "centerline_face_intersection": [ + -14.466188451420509, + 0.14155990975171434, + 0.11882469573385304 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.690169334411621, + 0.13845986127853394, + 0.12651528418064117 + ], + "box_pose": [ + -14.393122673034668, + 0.1397022157907486, + 0.13602513074874878, + 0.0036482149735093117, + -0.007257604971528053, + 0.9999514222145081, + -0.005588792730122805 + ], + "box_yaw_rad": -3.130362129560186, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026402895603760733 + } + } + }, + { + "simulation_time_ns": 3320000000, + "center": [ + -14.389309921025935, + 0.14128373573595643, + 0.11883461181734688 + ], + "face_center": [ + -14.466519651450751, + 0.14041591748535165, + 0.11916421103589707 + ], + "face_normal": [ + -0.999927689387756, + -0.011238939617601548, + 0.0042685731865083325 + ], + "footprint_xy": [ + [ + -14.467671942845612, + 0.08309205171089185 + ], + [ + -14.31094789920626, + 0.08309205171089185 + ], + [ + -14.31094789920626, + 0.19947541976102104 + ], + [ + -14.467671942845612, + 0.19947541976102104 + ] + ], + "projected_box_corners": [ + [ + -14.313252481995983, + 0.19947541976102104 + ], + [ + -14.312183209823864, + 0.195441773199465 + ], + [ + -14.312017171378379, + 0.08886133477365746 + ], + [ + -14.31094789920626, + 0.08482768821210145 + ], + [ + -14.467671942845612, + 0.19773978325981142 + ], + [ + -14.466602670673494, + 0.19370613669825543 + ], + [ + -14.466436632228008, + 0.08712569827244786 + ], + [ + -14.46536736005589, + 0.08309205171089185 + ] + ], + "yaw_rad": -3.1303533744965333, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.686294555664062, + 0.14076781272888184, + 0.1261185109615326 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466334324403377, + 0.1405636680273066, + 0.11928208176305678 + ], + "intended_face_normal": [ + -0.9999197386558436, + -0.011235077300773994, + 0.005853207056495211 + ], + "commanded_contact_point": [ + -14.681190223693848, + 0.14143118804790514, + 0.11883012454280087 + ], + "centerline_face_intersection": [ + -14.466346719710595, + 0.14143118804790514, + 0.11883012454280087 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.688157081604004, + 0.14118435978889465, + 0.12599985301494598 + ], + "box_pose": [ + -14.393304824829102, + 0.1395547240972519, + 0.1360228955745697, + 0.002970390720292926, + -0.007799810729920864, + 0.9999495148658752, + -0.005594652611762285 + ], + "box_yaw_rad": -3.1303571472754865, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002582904221847608 + } + } + }, + { + "simulation_time_ns": 3340000000, + "center": [ + -14.389525638146615, + 0.14111387236217807, + 0.11883884410647744 + ], + "face_center": [ + -14.466735836974738, + 0.14024541541670854, + 0.11902655213837078 + ], + "face_normal": [ + -0.9999337555848011, + -0.011247211226332997, + 0.0024309689669672428 + ], + "footprint_xy": [ + [ + -14.467671644237562, + 0.08274998673124309 + ], + [ + -14.311379632055667, + 0.08274998673124309 + ], + [ + -14.311379632055667, + 0.19947775799311307 + ], + [ + -14.467671644237562, + 0.19947775799311307 + ] + ], + "projected_box_corners": [ + [ + -14.313251246581315, + 0.19947775799311307 + ], + [ + -14.312618864829423, + 0.19509817752188963 + ], + [ + -14.312012013807559, + 0.08886648109340563 + ], + [ + -14.311379632055667, + 0.0844869006221822 + ], + [ + -14.467671644237562, + 0.19774084410217396 + ], + [ + -14.46703926248567, + 0.19336126363095052 + ], + [ + -14.466432411463806, + 0.08712956720246653 + ], + [ + -14.465800029711914, + 0.08274998673124309 + ] + ], + "yaw_rad": -3.130345171563937, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.684731483459473, + 0.13683949410915375, + 0.1256437748670578 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466519651450751, + 0.14041591748535165, + 0.11916421103589707 + ], + "intended_face_normal": [ + -0.999927689387756, + -0.011238939617601548, + 0.0042685731865083325 + ], + "commanded_contact_point": [ + -14.678792686462403, + 0.14128373573595643, + 0.11883461181734688 + ], + "centerline_face_intersection": [ + -14.466530818827772, + 0.14128373573595643, + 0.11883461181734688 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.686294555664062, + 0.14076781272888184, + 0.1261185109615326 + ], + "box_pose": [ + -14.393516540527344, + 0.13938581943511963, + 0.13601844012737274, + 0.002181565621867776, + -0.008419725112617016, + 0.9999464750289917, + -0.005601401440799236 + ], + "box_yaw_rad": -3.1303533744965333, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024020714177764003 + } + } + }, + { + "simulation_time_ns": 3360000000, + "center": [ + -14.38977123359685, + 0.1409180862443043, + 0.11884322591031057 + ], + "face_center": [ + -14.466981649343364, + 0.14004924412374328, + 0.11886873606406034 + ], + "face_normal": [ + -0.9999365648512522, + -0.011252199551471399, + 0.00033037687030610004 + ], + "footprint_xy": [ + [ + -14.467670115852698, + 0.08235682699272498 + ], + [ + -14.311872351341002, + 0.08235682699272498 + ], + [ + -14.311872351341002, + 0.19947934549588361 + ], + [ + -14.467670115852698, + 0.19947934549588361 + ] + ], + "projected_box_corners": [ + [ + -14.313249284359669, + 0.19947934549588361 + ], + [ + -14.313116282882286, + 0.19470227870224638 + ], + [ + -14.312005352818385, + 0.0888715780274842 + ], + [ + -14.311872351341002, + 0.08409451123384698 + ], + [ + -14.467670115852698, + 0.1977416612547616 + ], + [ + -14.467537114375315, + 0.19296459446112438 + ], + [ + -14.466426184311414, + 0.08713389378636219 + ], + [ + -14.46629318283403, + 0.08235682699272498 + ] + ], + "yaw_rad": -3.130340215150199, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.683582305908203, + 0.13269411027431488, + 0.12446770071983337 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466735836974738, + 0.14024541541670854, + 0.11902655213837078 + ], + "intended_face_normal": [ + -0.9999337555848011, + -0.011247211226332997, + 0.0024309689669672428 + ], + "commanded_contact_point": [ + -14.67653533935547, + 0.14111387236217807, + 0.11883884410647744 + ], + "centerline_face_intersection": [ + -14.466746067480235, + 0.14111387236217807, + 0.11883884410647744 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.684731483459473, + 0.13683949410915375, + 0.1256437748670578 + ], + "box_pose": [ + -14.393763542175293, + 0.1391911655664444, + 0.1360122263431549, + 0.0012668311828747392, + -0.009135703556239605, + 0.9999417066574097, + -0.005612359382212162 + ], + "box_yaw_rad": -3.130345171563937, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022637330759619424 + } + } + }, + { + "simulation_time_ns": 3380000000, + "center": [ + -14.390054308199879, + 0.14069379534585694, + 0.11884669790266048 + ], + "face_center": [ + -14.467264532984187, + 0.13982502018314907, + 0.11868522305337119 + ], + "face_normal": [ + -0.9999340917381094, + -0.01125133239378276, + -0.0020912282953933856 + ], + "footprint_xy": [ + [ + -14.468110674083215, + 0.08190751894502188 + ], + [ + -14.311997942316543, + 0.08190751894502188 + ], + [ + -14.311997942316543, + 0.19948007174669202 + ], + [ + -14.468110674083215, + 0.19948007174669202 + ] + ], + "projected_box_corners": [ + [ + -14.31324750027825, + 0.19948007174669202 + ], + [ + -14.313690224514602, + 0.19424842447244353 + ], + [ + -14.311997942316543, + 0.0888767165446861 + ], + [ + -14.312440666552895, + 0.0836450692704376 + ], + [ + -14.467667949846865, + 0.1977425214212763 + ], + [ + -14.468110674083215, + 0.19251087414702778 + ], + [ + -14.466418391885156, + 0.08713916621927037 + ], + [ + -14.466861116121509, + 0.08190751894502188 + ] + ], + "yaw_rad": -3.130341054427214, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.682246208190918, + 0.13028965890407562, + 0.12204334139823914 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466981649343364, + 0.14004924412374328, + 0.11886873606406034 + ], + "intended_face_normal": [ + -0.9999365648512522, + -0.011252199551471399, + 0.00033037687030610004 + ], + "commanded_contact_point": [ + -14.674608917236329, + 0.1409180862443043, + 0.11884322591031057 + ], + "centerline_face_intersection": [ + -14.466991445983947, + 0.1409180862443043, + 0.11884322591031057 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.683582305908203, + 0.13269411027431488, + 0.12446770071983337 + ], + "box_pose": [ + -14.394044876098633, + 0.13896691799163818, + 0.13600453734397888, + 0.0002212116523878649, + -0.009958410635590553, + 0.9999345541000366, + -0.005624264944344759 + ], + "box_yaw_rad": -3.130340215150199, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019363505842876622 + } + } + }, + { + "simulation_time_ns": 3400000000, + "center": [ + -14.390376798480082, + 0.14045192714630023, + 0.1188564283743522 + ], + "face_center": [ + -14.467586324499308, + 0.13958428909141138, + 0.11848341999819849 + ], + "face_normal": [ + -0.9999250421720971, + -0.011236605939127106, + -0.004830756455662897 + ], + "footprint_xy": [ + [ + -14.468761281238441, + 0.08142550808649873 + ], + [ + -14.311992315721724, + 0.08142550808649873 + ], + [ + -14.311992315721724, + 0.1994783462061017 + ], + [ + -14.468761281238441, + 0.1994783462061017 + ] + ], + "projected_box_corners": [ + [ + -14.313247872504993, + 0.1994783462061017 + ], + [ + -14.314342229199987, + 0.19375905252363007 + ], + [ + -14.311992315721724, + 0.088880077878748 + ], + [ + -14.31308667241672, + 0.0831607841962764 + ], + [ + -14.467666924543446, + 0.19774307009632403 + ], + [ + -14.468761281238441, + 0.19202377641385243 + ], + [ + -14.466411367760177, + 0.08714480176897035 + ], + [ + -14.467505724455172, + 0.08142550808649873 + ] + ], + "yaw_rad": -3.1303556783026845, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.681051254272461, + 0.1303260624408722, + 0.12214554846286774 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467264532984187, + 0.13982502018314907, + 0.11868522305337119 + ], + "intended_face_normal": [ + -0.9999340917381094, + -0.01125133239378276, + -0.0020912282953933856 + ], + "commanded_contact_point": [ + -14.672365875244141, + 0.14069379534585694, + 0.11884669790266048 + ], + "centerline_face_intersection": [ + -14.467274711573886, + 0.14069379534585694, + 0.11884669790266048 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.682246208190918, + 0.13028965890407562, + 0.12204334139823914 + ], + "box_pose": [ + -14.394369125366211, + 0.1387101113796234, + 0.13599397242069244, + -0.000984251732006669, + -0.01089924480766058, + 0.9999241232872009, + -0.005636821500957012 + ], + "box_yaw_rad": -3.130341054427214, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002254230653809337 + } + } + }, + { + "simulation_time_ns": 3420000000, + "center": [ + -14.390722025588518, + 0.14019657151103493, + 0.11886509784067095 + ], + "face_center": [ + -14.467930183856925, + 0.13933140493199817, + 0.11826677705846725 + ], + "face_normal": [ + -0.9999073287063323, + -0.011204598352459677, + -0.0077487321088916695 + ], + "footprint_xy": [ + [ + -14.469455178087477, + 0.08091773808615839 + ], + [ + -14.31198887308956, + 0.08091773808615839 + ], + [ + -14.31198887308956, + 0.19947540493591145 + ], + [ + -14.469455178087477, + 0.19947540493591145 + ] + ], + "projected_box_corners": [ + [ + -14.313250340987445, + 0.19947540493591145 + ], + [ + -14.315038861550663, + 0.1932404834640319 + ], + [ + -14.31198887308956, + 0.08888299271611144 + ], + [ + -14.313777393652778, + 0.0826480712442319 + ], + [ + -14.467666657524259, + 0.19774507177783796 + ], + [ + -14.469455178087477, + 0.1915101503059584 + ], + [ + -14.466405189626373, + 0.08715265955803794 + ], + [ + -14.468193710189592, + 0.08091773808615839 + ] + ], + "yaw_rad": -3.130387485777912, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.679271697998047, + 0.13365109264850616, + 0.12413899600505829 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467586324499308, + 0.13958428909141138, + 0.11848341999819849 + ], + "intended_face_normal": [ + -0.9999250421720971, + -0.011236605939127106, + -0.004830756455662897 + ], + "commanded_contact_point": [ + -14.669522018432618, + 0.14045192714630023, + 0.1188564283743522 + ], + "centerline_face_intersection": [ + -14.467597900717612, + 0.14045192714630023, + 0.1188564283743522 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.681051254272461, + 0.1303260624408722, + 0.12214554846286774 + ], + "box_pose": [ + -14.39473819732666, + 0.13843342661857605, + 0.13598784804344177, + -0.002348346170037985, + -0.01190814096480608, + 0.9999103546142578, + -0.005646773613989353 + ], + "box_yaw_rad": -3.1303556783026845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002854140233500169 + } + } + }, + { + "simulation_time_ns": 3440000000, + "center": [ + -14.390973768970706, + 0.1399531269498316, + 0.11889681052388883 + ], + "face_center": [ + -14.46818046322463, + 0.13908893123768673, + 0.11813299841324187 + ], + "face_normal": [ + -0.9998883685492299, + -0.01119202485061541, + -0.00989197701796574 + ], + "footprint_xy": [ + [ + -14.469963157846465, + 0.0804336045052611 + ], + [ + -14.31198438009495, + 0.0804336045052611 + ], + [ + -14.31198438009495, + 0.19947264939440212 + ], + [ + -14.469963157846465, + 0.19947264939440212 + ] + ], + "projected_box_corners": [ + [ + -14.313252762367163, + 0.19947264939440212 + ], + [ + -14.315549769338615, + 0.19274830295747267 + ], + [ + -14.31198438009495, + 0.08888634236648033 + ], + [ + -14.3142813870664, + 0.08216199592955087 + ], + [ + -14.467666150875013, + 0.19774425797011236 + ], + [ + -14.469963157846465, + 0.1910199115331829 + ], + [ + -14.466397768602798, + 0.08715795094219056 + ], + [ + -14.46869477557425, + 0.0804336045052611 + ] + ], + "yaw_rad": -3.1303998466487597, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.677701950073242, + 0.13548777997493744, + 0.12680187821388245 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467930183856925, + 0.13933140493199817, + 0.11826677705846725 + ], + "intended_face_normal": [ + -0.9999073287063323, + -0.011204598352459677, + -0.0077487321088916695 + ], + "commanded_contact_point": [ + -14.666641921997071, + 0.14019657151103493, + 0.11886509784067095 + ], + "centerline_face_intersection": [ + -14.467944495806172, + 0.14019657151103493, + 0.11886509784067095 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.679271697998047, + 0.13365109264850616, + 0.12413899600505829 + ], + "box_pose": [ + -14.395133018493652, + 0.13814133405685425, + 0.13597944378852844, + -0.003801436861976981, + -0.012974928133189678, + 0.9998926520347595, + -0.005652229301631451 + ], + "box_yaw_rad": -3.130387485777912, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028914074666428133 + } + } + }, + { + "simulation_time_ns": 3460000000, + "center": [ + -14.39096716746476, + 0.13994381846023096, + 0.11890379691750017 + ], + "face_center": [ + -14.46817391881301, + 0.13907973216716085, + 0.1181445677696607 + ], + "face_normal": [ + -0.9998891079663625, + -0.01119060778618576, + -0.009832623988426117 + ], + "footprint_xy": [ + [ + -14.469949265758961, + 0.08041527154052464 + ], + [ + -14.311985069170559, + 0.08041527154052464 + ], + [ + -14.311985069170559, + 0.19947236537993726 + ], + [ + -14.469949265758961, + 0.19947236537993726 + ] + ], + "projected_box_corners": [ + [ + -14.313253192545004, + 0.19947236537993726 + ], + [ + -14.31553576306246, + 0.19272952873233898 + ], + [ + -14.311985069170559, + 0.08888628077426315 + ], + [ + -14.314267639688016, + 0.08214344412666488 + ], + [ + -14.467666695241505, + 0.19774419279379704 + ], + [ + -14.469949265758961, + 0.19100135614619876 + ], + [ + -14.46639857186706, + 0.08715810818812292 + ], + [ + -14.468681142384515, + 0.08041527154052464 + ] + ], + "yaw_rad": -3.1304012719692103, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.675180435180664, + 0.13530832529067993, + 0.12885400652885437 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46818046322463, + 0.13908893123768673, + 0.11813299841324187 + ], + "intended_face_normal": [ + -0.9998883685492299, + -0.01119202485061541, + -0.00989197701796574 + ], + "commanded_contact_point": [ + -14.664077491760255, + 0.1399531269498316, + 0.11889681052388883 + ], + "centerline_face_intersection": [ + -14.46819770350199, + 0.1399531269498316, + 0.11889681052388883 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.677701950073242, + 0.13548777997493744, + 0.12680187821388245 + ], + "box_pose": [ + -14.395421028137207, + 0.1378629505634308, + 0.13599753379821777, + -0.004867353942245245, + -0.013989283703267574, + 0.9998742341995239, + -0.0056648156605660915 + ], + "box_yaw_rad": -3.1303998466487597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025761547678962537 + } + } + }, + { + "simulation_time_ns": 3480000000, + "center": [ + -14.390937126983973, + 0.1399550932594992, + 0.11890848016927114 + ], + "face_center": [ + -14.468144047073729, + 0.1390903809928432, + 0.11816863676054541 + ], + "face_normal": [ + -0.9998912933036561, + -0.011198714644193142, + -0.009581563180255772 + ], + "footprint_xy": [ + [ + -14.469889402481874, + 0.08043701046373564 + ], + [ + -14.311984851486073, + 0.08043701046373564 + ], + [ + -14.311984851486073, + 0.19947317605526277 + ], + [ + -14.469889402481874, + 0.19947317605526277 + ] + ], + "projected_box_corners": [ + [ + -14.313252997654164, + 0.19947317605526277 + ], + [ + -14.315475562302362, + 0.19275278228332027 + ], + [ + -14.311984851486073, + 0.08888682876899011 + ], + [ + -14.314207416134272, + 0.08216643499704762 + ], + [ + -14.467666837833676, + 0.19774375152195078 + ], + [ + -14.469889402481874, + 0.19102335775000828 + ], + [ + -14.466398691665583, + 0.08715740423567812 + ], + [ + -14.468621256313781, + 0.08043701046373564 + ] + ], + "yaw_rad": -3.1303931897035566, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.671634674072266, + 0.13550178706645966, + 0.12955477833747864 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46817391881301, + 0.13907973216716085, + 0.1181445677696607 + ], + "intended_face_normal": [ + -0.9998891079663625, + -0.01119060778618576, + -0.009832623988426117 + ], + "commanded_contact_point": [ + -14.661806793212891, + 0.13994381846023096, + 0.11890379691750017 + ], + "centerline_face_intersection": [ + -14.46819104488901, + 0.13994381846023096, + 0.11890379691750017 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.675180435180664, + 0.13530832529067993, + 0.12885400652885437 + ], + "box_pose": [ + -14.395413398742676, + 0.13785232603549957, + 0.13600462675094604, + -0.004837469197809696, + -0.014028005301952362, + 0.9998738765716553, + -0.005663878284394741 + ], + "box_yaw_rad": -3.1304012719692103, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002270728374480764 + } + } + }, + { + "simulation_time_ns": 3500000000, + "center": [ + -14.39088370215657, + 0.1399891955000344, + 0.11890997208758243 + ], + "face_center": [ + -14.468090969031634, + 0.13912464669714994, + 0.11820478098944043 + ], + "face_normal": [ + -0.9998957844504441, + -0.011196597657766158, + -0.009132788075572867 + ], + "footprint_xy": [ + [ + -14.46978196313143, + 0.08050519384736625 + ], + [ + -14.311985441181708, + 0.08050519384736625 + ], + [ + -14.311985441181708, + 0.1994731971527026 + ], + [ + -14.46978196313143, + 0.1994731971527026 + ] + ], + "projected_box_corners": [ + [ + -14.313251687635093, + 0.1994731971527026 + ], + [ + -14.3153674293813, + 0.19282155508222684 + ], + [ + -14.311985441181708, + 0.08888593352361097 + ], + [ + -14.314101182927917, + 0.08223429145313522 + ], + [ + -14.467666221385223, + 0.19774409954693362 + ], + [ + -14.46978196313143, + 0.19109245747645787 + ], + [ + -14.466399974931837, + 0.087156835917842 + ], + [ + -14.468515716678047, + 0.08050519384736625 + ] + ], + "yaw_rad": -3.1303953569446086, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.666509628295898, + 0.13766679167747498, + 0.13059155642986298 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.468144047073729, + 0.1390903809928432, + 0.11816863676054541 + ], + "intended_face_normal": [ + -0.9998912933036561, + -0.011198714644193142, + -0.009581563180255772 + ], + "commanded_contact_point": [ + -14.659436912536622, + 0.1399550932594992, + 0.11890848016927114 + ], + "centerline_face_intersection": [ + -14.468160835629657, + 0.1399550932594992, + 0.11890848016927114 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.671634674072266, + 0.13550178706645966, + 0.12955477833747864 + ], + "box_pose": [ + -14.395379066467285, + 0.13786517083644867, + 0.13601061701774597, + -0.004712149500846863, + -0.013981906697154045, + 0.9998750686645508, + -0.005665950011461973 + ], + "box_yaw_rad": -3.1303931897035566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002369912123624296 + } + } + }, + { + "simulation_time_ns": 3520000000, + "center": [ + -14.390806911870401, + 0.14004451329937753, + 0.11890918767497705 + ], + "face_center": [ + -14.46801460550471, + 0.13917935887426547, + 0.11825377039537813 + ], + "face_normal": [ + -0.9999013113235833, + -0.011204440949425569, + -0.008488177362726867 + ], + "footprint_xy": [ + [ + -14.469628151626177, + 0.08061464447231956 + ], + [ + -14.311985672114623, + 0.08061464447231956 + ], + [ + -14.311985672114623, + 0.19947438212643548 + ], + [ + -14.469628151626177, + 0.19947438212643548 + ] + ], + "projected_box_corners": [ + [ + -14.313250397022522, + 0.19947438212643548 + ], + [ + -14.315212764357558, + 0.19293360650811026 + ], + [ + -14.311985672114623, + 0.08888572894086891 + ], + [ + -14.31394803944966, + 0.08234495332254368 + ], + [ + -14.46766578429114, + 0.19774407327621135 + ], + [ + -14.469628151626177, + 0.19120329765788613 + ], + [ + -14.466401059383243, + 0.08715542009064478 + ], + [ + -14.468363426718279, + 0.08061464447231956 + ] + ], + "yaw_rad": -3.130387575749923, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.660158157348633, + 0.14126397669315338, + 0.13163696229457855 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.468090969031634, + 0.13912464669714994, + 0.11820478098944043 + ], + "intended_face_normal": [ + -0.9998957844504441, + -0.011196597657766158, + -0.009132788075572867 + ], + "commanded_contact_point": [ + -14.65704891204834, + 0.1399891955000344, + 0.11890997208758243 + ], + "centerline_face_intersection": [ + -14.468107063943094, + 0.1399891955000344, + 0.11890997208758243 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.666509628295898, + 0.13766679167747498, + 0.13059155642986298 + ], + "box_pose": [ + -14.395318031311035, + 0.13790419697761536, + 0.1360146850347519, + -0.0044885920360684395, + -0.013839839957654476, + 0.9998781681060791, + -0.0056611099280416965 + ], + "box_yaw_rad": -3.1303953569446086, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023882444432388526 + } + } + }, + { + "simulation_time_ns": 3540000000, + "center": [ + -14.390705895580647, + 0.14012158822448148, + 0.11890643742608994 + ], + "face_center": [ + -14.467914098907169, + 0.13925555364201056, + 0.11831639660216958 + ], + "face_normal": [ + -0.999907912244927, + -0.01121583969035241, + -0.0076415000345283444 + ], + "footprint_xy": [ + [ + -14.469426061039142, + 0.08076729933155716 + ], + [ + -14.31198573012215, + 0.08076729933155716 + ], + [ + -14.31198573012215, + 0.1994758771174058 + ], + [ + -14.469426061039142, + 0.1994758771174058 + ] + ], + "projected_box_corners": [ + [ + -14.313248645693992, + 0.1994758771174058 + ], + [ + -14.315009654386097, + 0.19308992095723856 + ], + [ + -14.31198573012215, + 0.08888532465666626 + ], + [ + -14.313746738814254, + 0.082499368496499 + ], + [ + -14.467665052347039, + 0.19774380795246396 + ], + [ + -14.469426061039142, + 0.1913578517922967 + ], + [ + -14.466402136775194, + 0.0871532554917244 + ], + [ + -14.4681631454673, + 0.08076729933155716 + ] + ], + "yaw_rad": -3.1303762513563376, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.655054092407227, + 0.14425988495349884, + 0.13151274621486664 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46801460550471, + 0.13917935887426547, + 0.11825377039537813 + ], + "intended_face_normal": [ + -0.9999013113235833, + -0.011204440949425569, + -0.008488177362726867 + ], + "commanded_contact_point": [ + -14.654770584106446, + 0.14004451329937753, + 0.11890918767497705 + ], + "centerline_face_intersection": [ + -14.468029846811078, + 0.14004451329937753, + 0.11890918767497705 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.660158157348633, + 0.14126397669315338, + 0.13163696229457855 + ], + "box_pose": [ + -14.395230293273926, + 0.13796740770339966, + 0.13601769506931305, + -0.004167547449469566, + -0.01361050270497799, + 0.999882698059082, + -0.005659606773406267 + ], + "box_yaw_rad": -3.130387575749923, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022789995359904468 + } + } + }, + { + "simulation_time_ns": 3560000000, + "center": [ + -14.39057841527812, + 0.14022271251525162, + 0.11890144958094548 + ], + "face_center": [ + -14.467787171305678, + 0.13935431257754113, + 0.1183950489167779 + ], + "face_normal": [ + -0.9999150701648731, + -0.011246472930311205, + -0.006558293148278714 + ], + "footprint_xy": [ + [ + -14.469170111549124, + 0.08096608796338053 + ], + [ + -14.311986719007116, + 0.08096608796338053 + ], + [ + -14.311986719007116, + 0.1994793370671227 + ], + [ + -14.469170111549124, + 0.1994793370671227 + ] + ], + "projected_box_corners": [ + [ + -14.313249256583033, + 0.1994793370671227 + ], + [ + -14.314752599494009, + 0.19329582822768118 + ], + [ + -14.311986719007116, + 0.088886396678243 + ], + [ + -14.313490061918092, + 0.08270288783880148 + ], + [ + -14.46766676863815, + 0.19774253719170176 + ], + [ + -14.469170111549124, + 0.19155902835226024 + ], + [ + -14.466404231062233, + 0.08714959680282205 + ], + [ + -14.467907573973209, + 0.08096608796338053 + ] + ], + "yaw_rad": -3.130345699665218, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.651843070983887, + 0.1451132744550705, + 0.12943442165851593 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467914098907169, + 0.13925555364201056, + 0.11831639660216958 + ], + "intended_face_normal": [ + -0.999907912244927, + -0.01121583969035241, + -0.0076415000345283444 + ], + "commanded_contact_point": [ + -14.652626724243165, + 0.14012158822448148, + 0.11890643742608994 + ], + "centerline_face_intersection": [ + -14.467928320731858, + 0.14012158822448148, + 0.11890643742608994 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.655054092407227, + 0.14425988495349884, + 0.13151274621486664 + ], + "box_pose": [ + -14.39511489868164, + 0.13805550336837769, + 0.1360199898481369, + -0.0037459672894328833, + -0.013290097005665302, + 0.9998886585235596, + -0.005658334121108055 + ], + "box_yaw_rad": -3.1303762513563376, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002145246657458536 + } + } + }, + { + "simulation_time_ns": 3580000000, + "center": [ + -14.390424044068121, + 0.14034811512547452, + 0.11889385797761554 + ], + "face_center": [ + -14.467633391594186, + 0.13947806854723943, + 0.11848768990808323 + ], + "face_normal": [ + -0.9999227305430531, + -0.011267798240553508, + -0.005260200975134924 + ], + "footprint_xy": [ + [ + -14.468861078555252, + 0.08121377862755422 + ], + [ + -14.311987009580992, + 0.08121377862755422 + ], + [ + -14.311987009580992, + 0.1994824516233948 + ], + [ + -14.468861078555252, + 0.1994824516233948 + ] + ], + "projected_box_corners": [ + [ + -14.313247637407073, + 0.1994824516233948 + ], + [ + -14.314442383503122, + 0.19354973285187682 + ], + [ + -14.311987009580992, + 0.08888659055554236 + ], + [ + -14.313181755677043, + 0.08295387178402439 + ], + [ + -14.467666332459201, + 0.19774235846692462 + ], + [ + -14.468861078555252, + 0.19180963969540665 + ], + [ + -14.46640570463312, + 0.08714649739907218 + ], + [ + -14.46760045072917, + 0.08121377862755422 + ] + ], + "yaw_rad": -3.13032446156506, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.650630950927734, + 0.142611563205719, + 0.12589921057224274 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467787171305678, + 0.13935431257754113, + 0.1183950489167779 + ], + "intended_face_normal": [ + -0.9999150701648731, + -0.011246472930311205, + -0.006558293148278714 + ], + "commanded_contact_point": [ + -14.650526733398438, + 0.14022271251525162, + 0.11890144958094548 + ], + "centerline_face_intersection": [ + -14.467800287630446, + 0.14022271251525162, + 0.11890144958094548 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.651843070983887, + 0.1451132744550705, + 0.12943442165851593 + ], + "box_pose": [ + -14.39496898651123, + 0.1381709724664688, + 0.1360214650630951, + -0.0032065645791590214, + -0.012871040031313896, + 0.9998959302902222, + -0.0056650978513062 + ], + "box_yaw_rad": -3.130345699665218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021024301531128997 + } + } + }, + { + "simulation_time_ns": 3600000000, + "center": [ + -14.39026459420786, + 0.14048187296706163, + 0.11888514099960654 + ], + "face_center": [ + -14.467474405304934, + 0.13961036576288816, + 0.1185821292947706 + ], + "face_normal": [ + -0.9999287341579699, + -0.011286714513303337, + -0.003924243643993672 + ], + "footprint_xy": [ + [ + -14.468542343495335, + 0.08147785371959029 + ], + [ + -14.311986844920385, + 0.08147785371959029 + ], + [ + -14.311986844920385, + 0.199485892214533 + ], + [ + -14.468542343495335, + 0.199485892214533 + ] + ], + "projected_box_corners": [ + [ + -14.313245467975282, + 0.199485892214533 + ], + [ + -14.314122721301185, + 0.19381968704209063 + ], + [ + -14.311986844920385, + 0.08888707330037968 + ], + [ + -14.312864098246289, + 0.08322086812793729 + ], + [ + -14.467665090169431, + 0.197742877806186 + ], + [ + -14.468542343495335, + 0.19207667263374362 + ], + [ + -14.466406467114533, + 0.08714405889203267 + ], + [ + -14.467283720440438, + 0.08147785371959029 + ] + ], + "yaw_rad": -3.130305613999025, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.651674270629883, + 0.1401425004005432, + 0.12206943333148956 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467633391594186, + 0.13947806854723943, + 0.11848768990808323 + ], + "intended_face_normal": [ + -0.9999227305430531, + -0.011267798240553508, + -0.005260200975134924 + ], + "commanded_contact_point": [ + -14.648393363952637, + 0.14034811512547452, + 0.11889385797761554 + ], + "centerline_face_intersection": [ + -14.467645324825988, + 0.14034811512547452, + 0.11889385797761554 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.650630950927734, + 0.142611563205719, + 0.12589921057224274 + ], + "box_pose": [ + -14.394792556762695, + 0.13831421732902527, + 0.13602164387702942, + -0.0025603589601814747, + -0.012351835146546364, + 0.9999043941497803, + -0.005666065961122513 + ], + "box_yaw_rad": -3.13032446156506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021370654270209343 + } + } + }, + { + "simulation_time_ns": 3620000000, + "center": [ + -14.390101405696065, + 0.14062026777496067, + 0.11887627455707432 + ], + "face_center": [ + -14.46731157443543, + 0.139749325889409, + 0.11868128989635325 + ], + "face_normal": [ + -0.9999333659113465, + -0.011279393185535933, + -0.002525207123352605 + ], + "footprint_xy": [ + [ + -14.468210976078161, + 0.08175608278829896 + ], + [ + -14.311991835313968, + 0.08175608278829896 + ], + [ + -14.311991835313968, + 0.1994844527616224 + ], + [ + -14.468210976078161, + 0.1994844527616224 + ] + ], + "projected_box_corners": [ + [ + -14.313245703658673, + 0.1994844527616224 + ], + [ + -14.31379063859943, + 0.19409979035577818 + ], + [ + -14.311991835313968, + 0.08888262896524657 + ], + [ + -14.312536770254725, + 0.08349796655940235 + ], + [ + -14.467666041137404, + 0.197742568990519 + ], + [ + -14.468210976078161, + 0.1923579065846748 + ], + [ + -14.4664121727927, + 0.0871407451941432 + ], + [ + -14.466957107733457, + 0.08175608278829896 + ] + ], + "yaw_rad": -3.130312987160376, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.65420150756836, + 0.13977062702178955, + 0.1215968132019043 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467474405304934, + 0.13961036576288816, + 0.1185821292947706 + ], + "intended_face_normal": [ + -0.9999287341579699, + -0.011286714513303337, + -0.003924243643993672 + ], + "commanded_contact_point": [ + -14.646362991333008, + 0.14048187296706163, + 0.11888514099960654 + ], + "centerline_face_intersection": [ + -14.467485411325852, + 0.14048187296706163, + 0.11888514099960654 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.651674270629883, + 0.1401425004005432, + 0.12206943333148956 + ], + "box_pose": [ + -14.394610404968262, + 0.1384669542312622, + 0.1360209435224533, + -0.00189542630687356, + -0.011799977160990238, + 0.9999125599861145, + -0.00566621869802475 + ], + "box_yaw_rad": -3.130305613999025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002034792402293266 + } + } + }, + { + "simulation_time_ns": 3640000000, + "center": [ + -14.389927456544378, + 0.14076863206642617, + 0.11886705167862657 + ], + "face_center": [ + -14.467137826940126, + 0.13989755403400894, + 0.11878738488273152 + ], + "face_normal": [ + -0.9999359775225931, + -0.01128115639620803, + -0.0010317486500983734 + ], + "footprint_xy": [ + [ + -14.46785801109769, + 0.08205329974260961 + ], + [ + -14.311996901991067, + 0.08205329974260961 + ], + [ + -14.311996901991067, + 0.1994839643902427 + ], + [ + -14.46785801109769, + 0.1994839643902427 + ] + ], + "projected_box_corners": [ + [ + -14.313247150397656, + 0.1994839643902427 + ], + [ + -14.313437270306194, + 0.19440030436231043 + ], + [ + -14.311996901991067, + 0.08887911583537636 + ], + [ + -14.312187021899605, + 0.08379545580744407 + ], + [ + -14.467667891189151, + 0.19774180832540825 + ], + [ + -14.46785801109769, + 0.19265814829747596 + ], + [ + -14.466417642782561, + 0.0871369597705419 + ], + [ + -14.466607762691101, + 0.08205329974260961 + ] + ], + "yaw_rad": -3.130311253518676, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.655091285705566, + 0.1399737447500229, + 0.1243361234664917 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46731157443543, + 0.139749325889409, + 0.11868128989635325 + ], + "intended_face_normal": [ + -0.9999333659113465, + -0.011279393185535933, + -0.002525207123352605 + ], + "commanded_contact_point": [ + -14.64422103881836, + 0.14062026777496067, + 0.11887627455707432 + ], + "centerline_face_intersection": [ + -14.467321865122441, + 0.14062026777496067, + 0.11887627455707432 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.65420150756836, + 0.13977062702178955, + 0.1215968132019043 + ], + "box_pose": [ + -14.394423484802246, + 0.13862551748752594, + 0.13602043688297272, + -0.0011992825893685222, + -0.011216997168958187, + 0.9999204277992249, + -0.005653598811477423 + ], + "box_yaw_rad": -3.130312987160376, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021464371203614033 + } + } + }, + { + "simulation_time_ns": 3660000000, + "center": [ + -14.389737606502605, + 0.1409331849513083, + 0.11885623456636113 + ], + "face_center": [ + -14.466948002037547, + 0.14006200639035624, + 0.11890191348721096 + ], + "face_normal": [ + -0.999936303095255, + -0.011282458321043194, + 0.0005915785164356769 + ], + "footprint_xy": [ + [ + -14.467669108381823, + 0.08238274916619788 + ], + [ + -14.311806104623384, + 0.08238274916619788 + ], + [ + -14.311806104623384, + 0.19948362073641873 + ], + [ + -14.467669108381823, + 0.19948362073641873 + ] + ], + "projected_box_corners": [ + [ + -14.313248317311936, + 0.19948362073641873 + ], + [ + -14.313052817538647, + 0.19473310129991872 + ], + [ + -14.312001604396675, + 0.08887562572460203 + ], + [ + -14.311806104623384, + 0.08412510628810202 + ], + [ + -14.467669108381823, + 0.19774126361451458 + ], + [ + -14.467473608608534, + 0.19299074417801457 + ], + [ + -14.46642239546656, + 0.08713326860269789 + ], + [ + -14.466226895693271, + 0.08238274916619788 + ] + ], + "yaw_rad": -3.1303099553494635, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.653206825256348, + 0.14091196656227112, + 0.128877192735672 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.467137826940126, + 0.13989755403400894, + 0.11878738488273152 + ], + "intended_face_normal": [ + -0.9999359775225931, + -0.01128115639620803, + -0.0010317486500983734 + ], + "commanded_contact_point": [ + -14.641890258789063, + 0.14076863206642617, + 0.11886705167862657 + ], + "centerline_face_intersection": [ + -14.467147714288023, + 0.14076863206642617, + 0.11886705167862657 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.655091285705566, + 0.1399737447500229, + 0.1243361234664917 + ], + "box_pose": [ + -14.394224166870117, + 0.138795405626297, + 0.13602007925510406, + -0.00045609704102389514, + -0.010593715123832226, + 0.9999278783798218, + -0.005645817145705223 + ], + "box_yaw_rad": -3.130311253518676, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002335515482594381 + } + } + }, + { + "simulation_time_ns": 3680000000, + "center": [ + -14.389527783053373, + 0.14111620820208431, + 0.11884377564704734 + ], + "face_center": [ + -14.466737963168171, + 0.14024512964521785, + 0.11902797105468366 + ], + "face_normal": [ + -0.9999335132323057, + -0.011281163188244287, + 0.0023854776767154653 + ], + "footprint_xy": [ + [ + -14.467670312721738, + 0.0827497211835406 + ], + [ + -14.311385253385005, + 0.0827497211835406 + ], + [ + -14.311385253385005, + 0.199482695220628 + ], + [ + -14.467670312721738, + 0.199482695220628 + ] + ], + "projected_box_corners": [ + [ + -14.31324995249214, + 0.199482695220628 + ], + [ + -14.312628333884815, + 0.1951031162686262 + ], + [ + -14.312006871992331, + 0.0888714572492753 + ], + [ + -14.311385253385005, + 0.08449187829727348 + ], + [ + -14.467670312721738, + 0.19774053810689513 + ], + [ + -14.467048694114414, + 0.19336095915489332 + ], + [ + -14.46642723222193, + 0.08712930013554242 + ], + [ + -14.465805613614604, + 0.0827497211835406 + ] + ], + "yaw_rad": -3.1303112189269187, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.649744033813477, + 0.1422760784626007, + 0.13579876720905304 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466948002037547, + 0.14006200639035624, + 0.11890191348721096 + ], + "intended_face_normal": [ + -0.999936303095255, + -0.011282458321043194, + 0.0005915785164356769 + ], + "commanded_contact_point": [ + -14.63959571838379, + 0.1409331849513083, + 0.11885623456636113 + ], + "centerline_face_intersection": [ + -14.466957839103843, + 0.1409331849513083, + 0.11885623456636113 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.653206825256348, + 0.14091196656227112, + 0.128877192735672 + ], + "box_pose": [ + -14.394006729125977, + 0.13898378610610962, + 0.13601887226104736, + 0.0003516509023029357, + -0.009903809987008572, + 0.9999350309371948, + -0.0056381127797067165 + ], + "box_yaw_rad": -3.1303099553494635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023004587223580393 + } + } + }, + { + "simulation_time_ns": 3700000000, + "center": [ + -14.389291325363752, + 0.14132362853147487, + 0.11882866190945654 + ], + "face_center": [ + -14.466500960385758, + 0.1404527492755834, + 0.1191689008967192 + ], + "face_normal": [ + -0.9999264538451911, + -0.011278582081403182, + 0.004406366691105782 + ], + "footprint_xy": [ + [ + -14.467671576397827, + 0.08316675184809653 + ], + [ + -14.310911074329676, + 0.08316675184809653 + ], + [ + -14.310911074329676, + 0.19948050521485322 + ], + [ + -14.467671576397827, + 0.19948050521485322 + ] + ], + "projected_box_corners": [ + [ + -14.313252306353812, + 0.19948050521485322 + ], + [ + -14.312150674664133, + 0.19552311059168961 + ], + [ + -14.312012706019354, + 0.08886590498304306 + ], + [ + -14.310911074329676, + 0.08490851035987947 + ], + [ + -14.467671576397827, + 0.1977387467030703 + ], + [ + -14.466569944708148, + 0.19378135207990668 + ], + [ + -14.466431976063369, + 0.08712414647126013 + ], + [ + -14.46533034437369, + 0.08316675184809653 + ] + ], + "yaw_rad": -3.1303137202560505, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.646479606628418, + 0.1434021294116974, + 0.1401241272687912 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466737963168171, + 0.14024512964521785, + 0.11902797105468366 + ], + "intended_face_normal": [ + -0.9999335132323057, + -0.011281163188244287, + 0.0023854776767154653 + ], + "commanded_contact_point": [ + -14.637362213134766, + 0.14111620820208431, + 0.11884377564704734 + ], + "centerline_face_intersection": [ + -14.466748231102802, + 0.14111620820208431, + 0.11884377564704734 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.649744033813477, + 0.1422760784626007, + 0.13579876720905304 + ], + "box_pose": [ + -14.393766403198242, + 0.1391933560371399, + 0.13601696491241455, + 0.0012442406732589006, + -0.00913559552282095, + 0.9999416470527649, + -0.005629543215036392 + ], + "box_yaw_rad": -3.1303112189269187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002241026200741601 + } + } + }, + { + "simulation_time_ns": 3720000000, + "center": [ + -14.38903985862351, + 0.1415236682392712, + 0.11882172033052794 + ], + "face_center": [ + -14.46624862113508, + 0.14065260338359473, + 0.11932746539962036 + ], + "face_normal": [ + -0.9999151541379843, + -0.011280985746888718, + 0.006549802668321489 + ], + "footprint_xy": [ + [ + -14.467672856660645, + 0.08356782944426618 + ], + [ + -14.310406860586378, + 0.08356782944426618 + ], + [ + -14.310406860586378, + 0.19947950703427622 + ], + [ + -14.467672856660645, + 0.19947950703427622 + ] + ], + "projected_box_corners": [ + [ + -14.313255331637508, + 0.19947950703427622 + ], + [ + -14.311644057523218, + 0.19592753535902185 + ], + [ + -14.312018134700669, + 0.08886193083087349 + ], + [ + -14.310406860586378, + 0.08530995915561912 + ], + [ + -14.467672856660645, + 0.1977373773229233 + ], + [ + -14.466061582546354, + 0.1941854056476689 + ], + [ + -14.466435659723805, + 0.08711980111952056 + ], + [ + -14.464824385609514, + 0.08356782944426618 + ] + ], + "yaw_rad": -3.130311189243823, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.645503044128418, + 0.13977527618408203, + 0.13623465597629547 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466500960385758, + 0.1404527492755834, + 0.1191689008967192 + ], + "intended_face_normal": [ + -0.9999264538451911, + -0.011278582081403182, + 0.004406366691105782 + ], + "commanded_contact_point": [ + -14.634985656738282, + 0.14132362853147487, + 0.11882866190945654 + ], + "centerline_face_intersection": [ + -14.466512318582312, + 0.14132362853147487, + 0.11882866190945654 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.646479606628418, + 0.1434021294116974, + 0.1401241272687912 + ], + "box_pose": [ + -14.393495559692383, + 0.13943099975585938, + 0.13601365685462952, + 0.002249737735837698, + -0.008261207491159439, + 0.9999474883079529, + -0.005621000658720732 + ], + "box_yaw_rad": -3.1303137202560505, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023856386825710316 + } + } + }, + { + "simulation_time_ns": 3740000000, + "center": [ + -14.388820110609272, + 0.14169277482139933, + 0.11881695855888916 + ], + "face_center": [ + -14.466027760261866, + 0.14082159218911444, + 0.11946756833457298 + ], + "face_normal": [ + -0.9999007417252279, + -0.01128251104805578, + 0.008425916346465306 + ], + "footprint_xy": [ + [ + -14.467674323071831, + 0.08390785884739314 + ], + [ + -14.309965898146713, + 0.08390785884739314 + ], + [ + -14.309965898146713, + 0.1994776907954055 + ], + [ + -14.467674323071831, + 0.1994776907954055 + ] + ], + "projected_box_corners": [ + [ + -14.313259023766646, + 0.1994776907954055 + ], + [ + -14.311201535840075, + 0.196269997462578 + ], + [ + -14.312023386073284, + 0.08885791744479044 + ], + [ + -14.309965898146713, + 0.08565022411196294 + ], + [ + -14.467674323071831, + 0.19773532553083573 + ], + [ + -14.465616835145262, + 0.19452763219800823 + ], + [ + -14.46643868537847, + 0.08711555218022063 + ], + [ + -14.4643811974519, + 0.08390785884739314 + ] + ], + "yaw_rad": -3.1303095013899487, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.644221305847168, + 0.1329839825630188, + 0.1289321482181549 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46624862113508, + 0.14065260338359473, + 0.11932746539962036 + ], + "intended_face_normal": [ + -0.9999151541379843, + -0.011280985746888718, + 0.006549802668321489 + ], + "commanded_contact_point": [ + -14.632599563598633, + 0.1415236682392712, + 0.11882172033052794 + ], + "centerline_face_intersection": [ + -14.466261724490725, + 0.1415236682392712, + 0.11882172033052794 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.645503044128418, + 0.13977527618408203, + 0.13623465597629547 + ], + "box_pose": [ + -14.393207550048828, + 0.13966004550457, + 0.1360187828540802, + 0.0033167467918246984, + -0.007422121707350016, + 0.9999512434005737, + -0.00561614939942956 + ], + "box_yaw_rad": -3.130311189243823, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002394473750386628 + } + } + }, + { + "simulation_time_ns": 3760000000, + "center": [ + -14.388631094569638, + 0.14183859427382556, + 0.11881201014473346 + ], + "face_center": [ + -14.465837620346768, + 0.1409672941710046, + 0.1195868119625792 + ], + "face_normal": [ + -0.9998861866401487, + -0.011284032385341317, + 0.010034302505515931 + ], + "footprint_xy": [ + [ + -14.46767502849544, + 0.0842012522938918 + ], + [ + -14.309587160643835, + 0.0842012522938918 + ], + [ + -14.309587160643835, + 0.19947593625375928 + ], + [ + -14.46767502849544, + 0.19947593625375928 + ] + ], + "projected_box_corners": [ + [ + -14.313261976941181, + 0.19947593625375928 + ], + [ + -14.310821963515952, + 0.19656540601694988 + ], + [ + -14.312027174069064, + 0.08885438273634315 + ], + [ + -14.309587160643835, + 0.08594385249953373 + ], + [ + -14.46767502849544, + 0.19773333604811738 + ], + [ + -14.465235015070212, + 0.19482280581130795 + ], + [ + -14.466440225623323, + 0.08711178253070123 + ], + [ + -14.464000212198094, + 0.0842012522938918 + ] + ], + "yaw_rad": -3.1303078158412276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.640799522399902, + 0.13004526495933533, + 0.12645180523395538 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.466027760261866, + 0.14082159218911444, + 0.11946756833457298 + ], + "intended_face_normal": [ + -0.9999007417252279, + -0.01128251104805578, + 0.008425916346465306 + ], + "commanded_contact_point": [ + -14.63019344329834, + 0.14169277482139933, + 0.11881695855888916 + ], + "centerline_face_intersection": [ + -14.46604308954037, + 0.14169277482139933, + 0.11881695855888916 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.644221305847168, + 0.1329839825630188, + 0.1289321482181549 + ], + "box_pose": [ + -14.392955780029297, + 0.13985379040241241, + 0.13602440059185028, + 0.004250821191817522, + -0.006709754001349211, + 0.9999526739120483, + -0.005612999200820923 + ], + "box_yaw_rad": -3.1303095013899487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002412060241799554 + } + } + }, + { + "simulation_time_ns": 3780000000, + "center": [ + -14.388467173440906, + 0.14196557355211764, + 0.11880732165299912 + ], + "face_center": [ + -14.46567251461033, + 0.14109349305169705, + 0.11969027563622212 + ], + "face_normal": [ + -0.9998708450240197, + -0.011294139157691091, + 0.011434959446460303 + ], + "footprint_xy": [ + [ + -14.46767679758707, + 0.08445616977451018 + ], + [ + -14.309257549294742, + 0.08445616977451018 + ], + [ + -14.309257549294742, + 0.19947497732972508 + ], + [ + -14.46767679758707, + 0.19947497732972508 + ] + ], + "projected_box_corners": [ + [ + -14.31326611524822, + 0.19947497732972508 + ], + [ + -14.310492951634455, + 0.19682323443178343 + ], + [ + -14.312030712908507, + 0.08885207367329301 + ], + [ + -14.309257549294742, + 0.08620033077535134 + ], + [ + -14.46767679758707, + 0.19773081632888392 + ], + [ + -14.464903633973304, + 0.19507907343094227 + ], + [ + -14.466441395247356, + 0.08710791267245184 + ], + [ + -14.46366823163359, + 0.08445616977451018 + ] + ], + "yaw_rad": -3.1302975359164344, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.6368989944458, + 0.1322200745344162, + 0.1258818358182907 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465837620346768, + 0.1409672941710046, + 0.1195868119625792 + ], + "intended_face_normal": [ + -0.9998861866401487, + -0.011284032385341317, + 0.010034302505515931 + ], + "commanded_contact_point": [ + -14.627539367675782, + 0.14183859427382556, + 0.11881201014473346 + ], + "centerline_face_intersection": [ + -14.465855197615705, + 0.14183859427382556, + 0.11881201014473346 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.640799522399902, + 0.13004526495933533, + 0.12645180523395538 + ], + "box_pose": [ + -14.392739295959473, + 0.14002087712287903, + 0.13602828979492188, + 0.005051590036600828, + -0.0060948533937335014, + 0.9999529719352722, + -0.00561149138957262 + ], + "box_yaw_rad": -3.1303078158412276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026580829952746634 + } + } + }, + { + "simulation_time_ns": 3800000000, + "center": [ + -14.388324738913473, + 0.14207662938677482, + 0.11880249857991976 + ], + "face_center": [ + -14.465528979607745, + 0.14120493392643738, + 0.11977874379664374 + ], + "face_normal": [ + -0.9998565929916583, + -0.01128915258101812, + 0.012643155447683387 + ], + "footprint_xy": [ + [ + -14.467676558104278, + 0.08468001695582651 + ], + [ + -14.308972919722667, + 0.08468001695582651 + ], + [ + -14.308972919722667, + 0.19947324181772313 + ], + [ + -14.467676558104278, + 0.19947324181772313 + ] + ], + "projected_box_corners": [ + [ + -14.313268076715735, + 0.19947324181772313 + ], + [ + -14.31020760460758, + 0.1970474471230509 + ], + [ + -14.312033391830822, + 0.08884920257117362 + ], + [ + -14.308972919722667, + 0.08642340787650138 + ], + [ + -14.467676558104278, + 0.19772985089704825 + ], + [ + -14.464616085996125, + 0.195304056202376 + ], + [ + -14.466441873219365, + 0.08710581165049876 + ], + [ + -14.46338140111121, + 0.08468001695582651 + ] + ], + "yaw_rad": -3.1303023615845547, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.633599281311035, + 0.1371903121471405, + 0.12564049661159515 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46567251461033, + 0.14109349305169705, + 0.11969027563622212 + ], + "intended_face_normal": [ + -0.9998708450240197, + -0.011294139157691091, + 0.011434959446460303 + ], + "commanded_contact_point": [ + -14.62463161468506, + 0.14196557355211764, + 0.11880732165299912 + ], + "centerline_face_intersection": [ + -14.465692461382554, + 0.14196557355211764, + 0.11880732165299912 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.6368989944458, + 0.1322200745344162, + 0.1258818358182907 + ], + "box_pose": [ + -14.39255142211914, + 0.14016634225845337, + 0.13603124022483826, + 0.005748972296714783, + -0.00555939506739378, + 0.9999522566795349, + -0.005615376867353916 + ], + "box_yaw_rad": -3.1302975359164344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029105279888925434 + } + } + }, + { + "simulation_time_ns": 3820000000, + "center": [ + -14.388201447720794, + 0.14217480575722857, + 0.1187971679256988 + ], + "face_center": [ + -14.465404605154493, + 0.14130329884380427, + 0.11985404240489592 + ], + "face_normal": [ + -0.9998425639018615, + -0.011286710747868713, + 0.013687368808851774 + ], + "footprint_xy": [ + [ + -14.467676227992321, + 0.08487770291931243 + ], + [ + -14.308726667449267, + 0.08487770291931243 + ], + [ + -14.308726667449267, + 0.19947190859514471 + ], + [ + -14.467676227992321, + 0.19947190859514471 + ] + ], + "projected_box_corners": [ + [ + -14.313269913124923, + 0.19947190859514471 + ], + [ + -14.309961166267227, + 0.1972456172612087 + ], + [ + -14.312035414306964, + 0.088847008080097 + ], + [ + -14.308726667449267, + 0.086620716746161 + ], + [ + -14.467676227992321, + 0.19772889476829614 + ], + [ + -14.464367481134627, + 0.19550260343436013 + ], + [ + -14.466441729174361, + 0.08710399425324844 + ], + [ + -14.463132982316667, + 0.08487770291931243 + ] + ], + "yaw_rad": -3.1303046450869596, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.629441261291504, + 0.13949355483055115, + 0.1241120994091034 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465528979607745, + 0.14120493392643738, + 0.11977874379664374 + ], + "intended_face_normal": [ + -0.9998565929916583, + -0.01128915258101812, + 0.012643155447683387 + ], + "commanded_contact_point": [ + -14.621473999023438, + 0.14207662938677482, + 0.11880249857991976 + ], + "centerline_face_intersection": [ + -14.465551127630283, + 0.14207662938677482, + 0.11880249857991976 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.633599281311035, + 0.1371903121471405, + 0.12564049661159515 + ], + "box_pose": [ + -14.392388343811035, + 0.14029359817504883, + 0.13603298366069794, + 0.006350465584546328, + -0.005091809201985598, + 0.999951183795929, + -0.005612514913082123 + ], + "box_yaw_rad": -3.1303023615845547, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003159571699923923 + } + } + }, + { + "simulation_time_ns": 3840000000, + "center": [ + -14.388089875187847, + 0.14225954286749196, + 0.11879387547709022 + ], + "face_center": [ + -14.465292004626656, + 0.1413868517539092, + 0.11992381802782023 + ], + "face_normal": [ + -0.9998292505468114, + -0.011302047085940788, + 0.01463365870695018 + ], + "footprint_xy": [ + [ + -14.467677131019663, + 0.08504681198769794 + ], + [ + -14.308502619356029, + 0.08504681198769794 + ], + [ + -14.308502619356029, + 0.199472273747286 + ], + [ + -14.467677131019663, + 0.199472273747286 + ] + ], + "projected_box_corners": [ + [ + -14.313272872142043, + 0.199472273747286 + ], + [ + -14.309738994016833, + 0.19741781165882072 + ], + [ + -14.312036497481241, + 0.08884665630332873 + ], + [ + -14.308502619356029, + 0.08679219421486348 + ], + [ + -14.467677131019663, + 0.19772689152012043 + ], + [ + -14.464143252894452, + 0.1956724294316552 + ], + [ + -14.46644075635886, + 0.0871012740761632 + ], + [ + -14.46290687823365, + 0.08504681198769794 + ] + ], + "yaw_rad": -3.130289157792709, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.622993469238281, + 0.13869136571884155, + 0.1231420636177063 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465404605154493, + 0.14130329884380427, + 0.11985404240489592 + ], + "intended_face_normal": [ + -0.9998425639018615, + -0.011286710747868713, + 0.013687368808851774 + ], + "commanded_contact_point": [ + -14.618153305053712, + 0.14217480575722857, + 0.1187971679256988 + ], + "centerline_face_intersection": [ + -14.465428920024141, + 0.14217480575722857, + 0.1187971679256988 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.629441261291504, + 0.13949355483055115, + 0.1241120994091034 + ], + "box_pose": [ + -14.392247200012207, + 0.14040607213974, + 0.1360333263874054, + 0.0068702856078743935, + -0.004678895231336355, + 0.9999496936798096, + -0.005611492320895195 + ], + "box_yaw_rad": -3.1303046450869596, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003322149222441438 + } + } + }, + { + "simulation_time_ns": 3860000000, + "center": [ + -14.387990738995388, + 0.14233648930464726, + 0.11879050057102775 + ], + "face_center": [ + -14.465191846693294, + 0.14146342819582639, + 0.1199851365372771 + ], + "face_normal": [ + -0.9998160181858864, + -0.011306838819851553, + 0.015471490119428232 + ], + "footprint_xy": [ + [ + -14.46767702585497, + 0.08520099520199056 + ], + [ + -14.308304452135806, + 0.08520099520199056 + ], + [ + -14.308304452135806, + 0.19947198340730393 + ], + [ + -14.46767702585497, + 0.19947198340730393 + ] + ], + "projected_box_corners": [ + [ + -14.313274810459156, + 0.19947198340730393 + ], + [ + -14.309541665191906, + 0.19757325826425892 + ], + [ + -14.312037597403053, + 0.0888458425626773 + ], + [ + -14.308304452135806, + 0.0869471174196323 + ], + [ + -14.46767702585497, + 0.19772586118966218 + ], + [ + -14.463943880587722, + 0.1958271360466172 + ], + [ + -14.466439812798868, + 0.08709972034503558 + ], + [ + -14.46270666753162, + 0.08520099520199056 + ] + ], + "yaw_rad": -3.130284216202925, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.618236541748047, + 0.13543277978897095, + 0.12300582230091095 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465292004626656, + 0.1413868517539092, + 0.11992381802782023 + ], + "intended_face_normal": [ + -0.9998292505468114, + -0.011302047085940788, + 0.01463365870695018 + ], + "commanded_contact_point": [ + -14.615030975341798, + 0.14225954286749196, + 0.11879387547709022 + ], + "centerline_face_intersection": [ + -14.46531837582354, + 0.14225954286749196, + 0.11879387547709022 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.622993469238281, + 0.13869136571884155, + 0.1231420636177063 + ], + "box_pose": [ + -14.392119407653809, + 0.14050304889678955, + 0.13603508472442627, + 0.0073415073566138744, + -0.004323456436395645, + 0.9999479651451111, + -0.005619575269520283 + ], + "box_yaw_rad": -3.130289157792709, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003123481078536411 + } + } + }, + { + "simulation_time_ns": 3880000000, + "center": [ + -14.387968337127647, + 0.14235879242329796, + 0.11879067950517358 + ], + "face_center": [ + -14.465169258000683, + 0.14148555768187293, + 0.12000043463478191 + ], + "face_normal": [ + -0.999813598654566, + -0.011309087500784964, + 0.01566729536314347 + ], + "footprint_xy": [ + [ + -14.46767787567066, + 0.0852453721767561 + ], + [ + -14.308258798584633, + 0.0852453721767561 + ], + [ + -14.308258798584633, + 0.19947221266983983 + ], + [ + -14.46767787567066, + 0.19947221266983983 + ] + ], + "projected_box_corners": [ + [ + -14.313276033924586, + 0.19947221266983983 + ], + [ + -14.30949641013158, + 0.19761821350829673 + ], + [ + -14.312038422377642, + 0.08884584082114928 + ], + [ + -14.308258798584633, + 0.08699184165960616 + ], + [ + -14.46767787567066, + 0.19772574318698977 + ], + [ + -14.463898251877652, + 0.19587174402544666 + ], + [ + -14.466440264123715, + 0.08709937133829923 + ], + [ + -14.462660640330707, + 0.0852453721767561 + ] + ], + "yaw_rad": -3.1302819400265327, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.615495681762695, + 0.13225436210632324, + 0.12532462179660797 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465191846693294, + 0.14146342819582639, + 0.1199851365372771 + ], + "intended_face_normal": [ + -0.9998160181858864, + -0.011306838819851553, + 0.015471490119428232 + ], + "commanded_contact_point": [ + -14.611941070556641, + 0.14233648930464726, + 0.11879050057102775 + ], + "centerline_face_intersection": [ + -14.465220261734522, + 0.14233648930464726, + 0.11879050057102775 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.618236541748047, + 0.13543277978897095, + 0.12300582230091095 + ], + "box_pose": [ + -14.392005920410156, + 0.14059112966060638, + 0.13603618741035461, + 0.007758661638945341, + -0.00400122394785285, + 0.9999459981918335, + -0.005622678902000189 + ], + "box_yaw_rad": -3.130284216202925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030908645595550312 + } + } + }, + { + "simulation_time_ns": 3900000000, + "center": [ + -14.387969864913153, + 0.14235906821407737, + 0.11879064379915538 + ], + "face_center": [ + -14.465170784456898, + 0.14148612482808545, + 0.11999872322466618 + ], + "face_normal": [ + -0.9998135814391773, + -0.011305314215171692, + 0.015645593656413645 + ], + "footprint_xy": [ + [ + -14.467676595207932, + 0.08524620426400947 + ], + [ + -14.308263134618372, + 0.08524620426400947 + ], + [ + -14.308263134618372, + 0.19947193216414527 + ], + [ + -14.467676595207932, + 0.19947193216414527 + ] + ], + "projected_box_corners": [ + [ + -14.313274756120443, + 0.19947193216414527 + ], + [ + -14.309500351317991, + 0.1976184251374145 + ], + [ + -14.312037539420823, + 0.0888455980627241 + ], + [ + -14.308263134618372, + 0.08699209103599331 + ], + [ + -14.467676595207932, + 0.19772604539216143 + ], + [ + -14.463902190405483, + 0.19587253836543067 + ], + [ + -14.466439378508312, + 0.08709971129074025 + ], + [ + -14.462664973705863, + 0.08524620426400947 + ] + ], + "yaw_rad": -3.130285713338316, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.613183975219727, + 0.13109447062015533, + 0.128109872341156 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465169258000683, + 0.14148555768187293, + 0.12000043463478191 + ], + "intended_face_normal": [ + -0.999813598654566, + -0.011309087500784964, + 0.01566729536314347 + ], + "commanded_contact_point": [ + -14.608792037963868, + 0.14235879242329796, + 0.11879067950517358 + ], + "centerline_face_intersection": [ + -14.465198046760868, + 0.14235879242329796, + 0.11879067950517358 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.615495681762695, + 0.13225436210632324, + 0.12532462179660797 + ], + "box_pose": [ + -14.391980171203613, + 0.14061662554740906, + 0.13603746891021729, + 0.007856056094169617, + -0.003908559679985046, + 0.9999457597732544, + -0.005624142941087484 + ], + "box_yaw_rad": -3.1302819400265327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003149111578123007 + } + } + }, + { + "simulation_time_ns": 3920000000, + "center": [ + -14.387972374052506, + 0.142357471361015, + 0.11879078915722083 + ], + "face_center": [ + -14.465173355863309, + 0.14148474635520297, + 0.11999731554410661 + ], + "face_normal": [ + -0.999814387847332, + -0.011302486017385253, + 0.015625480565547082 + ], + "footprint_xy": [ + [ + -14.467676609255822, + 0.08524338871903783 + ], + [ + -14.30826813884919, + 0.08524338871903783 + ], + [ + -14.30826813884919, + 0.1994715540029922 + ], + [ + -14.467676609255822, + 0.1994715540029922 + ] + ], + "projected_box_corners": [ + [ + -14.313274645634213, + 0.1994715540029922 + ], + [ + -14.309505039777338, + 0.1976152171563787 + ], + [ + -14.312037744706064, + 0.08884517557727542 + ], + [ + -14.30826813884919, + 0.08698883873066192 + ], + [ + -14.467676609255822, + 0.1977261039913681 + ], + [ + -14.463907003398946, + 0.19586976714475463 + ], + [ + -14.466439708327673, + 0.08709972556565135 + ], + [ + -14.462670102470797, + 0.08524338871903783 + ] + ], + "yaw_rad": -3.130288550818535, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.61085033416748, + 0.13214808702468872, + 0.1295074075460434 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465170784456898, + 0.14148612482808545, + 0.11999872322466618 + ], + "intended_face_normal": [ + -0.9998135814391773, + -0.011305314215171692, + 0.015645593656413645 + ], + "commanded_contact_point": [ + -14.605672569274903, + 0.14235906821407737, + 0.11879064379915538 + ], + "centerline_face_intersection": [ + -14.465199575876161, + 0.14235906821407737, + 0.11879064379915538 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.613183975219727, + 0.13109447062015533, + 0.128109872341156 + ], + "box_pose": [ + -14.391982078552246, + 0.14061695337295532, + 0.13603734970092773, + 0.007845191285014153, + -0.003907458391040564, + 0.9999457597732544, + -0.005622307304292917 + ], + "box_yaw_rad": -3.130285713338316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00311946870136046 + } + } + }, + { + "simulation_time_ns": 3940000000, + "center": [ + -14.387979157824486, + 0.14235272233155963, + 0.11879123291809203 + ], + "face_center": [ + -14.465180199987364, + 0.14147994653679266, + 0.11999393983039625 + ], + "face_normal": [ + -0.9998151694548931, + -0.011303143774925074, + 0.01557601531845942 + ], + "footprint_xy": [ + [ + -14.46767759714648, + 0.08523391292566068 + ], + [ + -14.308280718502493, + 0.08523391292566068 + ], + [ + -14.308280718502493, + 0.19947153173745857 + ], + [ + -14.46767759714648, + 0.19947153173745857 + ] + ], + "projected_box_corners": [ + [ + -14.313275512820725, + 0.19947153173745857 + ], + [ + -14.309517667709615, + 0.19760581044384762 + ], + [ + -14.312038563613603, + 0.08884518580880553 + ], + [ + -14.308280718502493, + 0.08697946451519459 + ], + [ + -14.46767759714648, + 0.19772598014792464 + ], + [ + -14.46391975203537, + 0.1958602588543137 + ], + [ + -14.466440647939358, + 0.08709963421927161 + ], + [ + -14.462682802828246, + 0.08523391292566068 + ] + ], + "yaw_rad": -3.130287901859719, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.60831356048584, + 0.13355523347854614, + 0.12810899317264557 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465173355863309, + 0.14148474635520297, + 0.11999731554410661 + ], + "intended_face_normal": [ + -0.999814387847332, + -0.011302486017385253, + 0.015625480565547082 + ], + "commanded_contact_point": [ + -14.602881164550782, + 0.142357471361015, + 0.11879078915722083 + ], + "centerline_face_intersection": [ + -14.465202022725284, + 0.142357471361015, + 0.11879078915722083 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.61085033416748, + 0.13214808702468872, + 0.1295074075460434 + ], + "box_pose": [ + -14.391984939575195, + 0.14061516523361206, + 0.13603739440441132, + 0.00783516000956297, + -0.0039132884703576565, + 0.9999459385871887, + -0.005620885640382767 + ], + "box_yaw_rad": -3.130288550818535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027914051846541785 + } + } + }, + { + "simulation_time_ns": 3960000000, + "center": [ + -14.387987484098211, + 0.14234683217985933, + 0.11879159030213636 + ], + "face_center": [ + -14.46518857703083, + 0.14147458691904632, + 0.11998888230820842 + ], + "face_normal": [ + -0.9998158269636055, + -0.011296272936395013, + 0.01550588795695763 + ], + "footprint_xy": [ + [ + -14.467677232116824, + 0.08522217715303057 + ], + [ + -14.308297736079599, + 0.08522217715303057 + ], + [ + -14.308297736079599, + 0.19947148720668811 + ], + [ + -14.467677232116824, + 0.19947148720668811 + ] + ], + "projected_box_corners": [ + [ + -14.313275046251585, + 0.19947148720668811 + ], + [ + -14.309533894544424, + 0.19759291951095279 + ], + [ + -14.31203888778676, + 0.08884523537039193 + ], + [ + -14.308297736079599, + 0.08696666767465663 + ], + [ + -14.467677232116824, + 0.19772699668506205 + ], + [ + -14.463936080409661, + 0.19584842898932675 + ], + [ + -14.466441073651998, + 0.0871007448487659 + ], + [ + -14.462699921944838, + 0.08522217715303057 + ] + ], + "yaw_rad": -3.130294780519949, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.60450553894043, + 0.1364637315273285, + 0.12650205194950104 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465180199987364, + 0.14147994653679266, + 0.11999393983039625 + ], + "intended_face_normal": [ + -0.9998151694548931, + -0.011303143774925074, + 0.01557601531845942 + ], + "commanded_contact_point": [ + -14.600341529846192, + 0.14235272233155963, + 0.11879123291809203 + ], + "centerline_face_intersection": [ + -14.465208746122826, + 0.14235272233155963, + 0.11879123291809203 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.60831356048584, + 0.13355523347854614, + 0.12810899317264557 + ], + "box_pose": [ + -14.391992568969727, + 0.1406097412109375, + 0.13603757321834564, + 0.007810535375028849, + -0.003932712133973837, + 0.9999460577964783, + -0.005621158517897129 + ], + "box_yaw_rad": -3.130287901859719, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025396391836167635 + } + } + }, + { + "simulation_time_ns": 3980000000, + "center": [ + -14.38799752089009, + 0.14233997919830663, + 0.11879139153938165 + ], + "face_center": [ + -14.465198721505994, + 0.14146730006083236, + 0.11998230120745608 + ], + "face_normal": [ + -0.999817221548176, + -0.011301891985768225, + 0.015423231581242305 + ], + "footprint_xy": [ + [ + -14.467677841576387, + 0.08520820167787921 + ], + [ + -14.308317200203792, + 0.08520820167787921 + ], + [ + -14.308317200203792, + 0.19947175671873402 + ], + [ + -14.467677841576387, + 0.19947175671873402 + ] + ], + "projected_box_corners": [ + [ + -14.31327544034458, + 0.19947175671873402 + ], + [ + -14.309553957498242, + 0.19757977601684806 + ], + [ + -14.31203868305013, + 0.08884554065471367 + ], + [ + -14.308317200203792, + 0.08695355995282773 + ], + [ + -14.467677841576387, + 0.1977263984437855 + ], + [ + -14.46395635873005, + 0.19583441774189955 + ], + [ + -14.46644108428194, + 0.08710018237976516 + ], + [ + -14.462719601435602, + 0.08520820167787921 + ] + ], + "yaw_rad": -3.1302891769184074, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.601553916931152, + 0.14032448828220367, + 0.12584474682807922 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.46518857703083, + 0.14147458691904632, + 0.11998888230820842 + ], + "intended_face_normal": [ + -0.9998158269636055, + -0.011296272936395013, + 0.01550588795695763 + ], + "commanded_contact_point": [ + -14.597795219421387, + 0.14234683217985933, + 0.11879159030213636 + ], + "centerline_face_intersection": [ + -14.46521702160807, + 0.14234683217985933, + 0.11879159030213636 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.60450553894043, + 0.1364637315273285, + 0.12650205194950104 + ], + "box_pose": [ + -14.39200210571289, + 0.1406029611825943, + 0.13603755831718445, + 0.007775604724884033, + -0.0039592646062374115, + 0.999946117401123, + -0.005617653485387564 + ], + "box_yaw_rad": -3.130294780519949, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002546317262455611 + } + } + }, + { + "simulation_time_ns": 4000000000, + "center": [ + -14.38800831923718, + 0.14233072327656054, + 0.11879196648627173 + ], + "face_center": [ + -14.465209639522934, + 0.1414584794517405, + 0.11997570493824246 + ], + "face_normal": [ + -0.9998187713683377, + -0.011296254339138955, + 0.015330358603843987 + ], + "footprint_xy": [ + [ + -14.467677379970617, + 0.08519041316510902 + ], + [ + -14.308339258503741, + 0.08519041316510902 + ], + [ + -14.308339258503741, + 0.1994710333880121 + ], + [ + -14.467677379970617, + 0.1994710333880121 + ] + ], + "projected_box_corners": [ + [ + -14.313274739399109, + 0.1994710333880121 + ], + [ + -14.309575347058148, + 0.19756106457330297 + ], + [ + -14.312038650844702, + 0.08884486962945823 + ], + [ + -14.308339258503741, + 0.08693490081474914 + ], + [ + -14.467677379970617, + 0.19772654573837198 + ], + [ + -14.463977987629658, + 0.19581657692366286 + ], + [ + -14.46644129141621, + 0.08710038197981812 + ], + [ + -14.462741899075251, + 0.08519041316510902 + ] + ], + "yaw_rad": -3.130294832386911, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.59992504119873, + 0.14254646003246307, + 0.12518619000911713 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465198721505994, + 0.14146730006083236, + 0.11998230120745608 + ], + "intended_face_normal": [ + -0.999817221548176, + -0.011301891985768225, + 0.015423231581242305 + ], + "commanded_contact_point": [ + -14.595242233276368, + 0.14233997919830663, + 0.11879139153938165 + ], + "centerline_face_intersection": [ + -14.46522695067714, + 0.14233997919830663, + 0.11879139153938165 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.601553916931152, + 0.14032448828220367, + 0.12584474682807922 + ], + "box_pose": [ + -14.392013549804688, + 0.14059512317180634, + 0.1360369324684143, + 0.0077344393357634544, + -0.003987011034041643, + 0.9999463558197021, + -0.0056204102002084255 + ], + "box_yaw_rad": -3.1302891769184074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002552995350470596 + } + } + }, + { + "simulation_time_ns": 4020000000, + "center": [ + -14.388019984144883, + 0.14231824113515537, + 0.11879406601741879 + ], + "face_center": [ + -14.465221388377241, + 0.14144546415311823, + 0.1199701139606374 + ], + "face_normal": [ + -0.9998198585439404, + -0.011303159151022462, + 0.015230760371802442 + ], + "footprint_xy": [ + [ + -14.46767766723352, + 0.08516484082022721 + ], + [ + -14.308362301056244, + 0.08516484082022721 + ], + [ + -14.308362301056244, + 0.19947164145008353 + ], + [ + -14.46767766723352, + 0.19947164145008353 + ] + ], + "projected_box_corners": [ + [ + -14.3132748587688, + 0.19947164145008353 + ], + [ + -14.309599064585589, + 0.19753641706132127 + ], + [ + -14.312038095239455, + 0.08884561917306377 + ], + [ + -14.308362301056244, + 0.08691039478430151 + ], + [ + -14.46767766723352, + 0.19772608748600926 + ], + [ + -14.464001873050309, + 0.195790863097247 + ], + [ + -14.466440903704175, + 0.08710006520898948 + ], + [ + -14.462765109520964, + 0.08516484082022721 + ] + ], + "yaw_rad": -3.1302879394968377, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.598272323608398, + 0.14139463007450104, + 0.12508179247379303 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465209639522934, + 0.1414584794517405, + 0.11997570493824246 + ], + "intended_face_normal": [ + -0.9998187713683377, + -0.011296254339138955, + 0.015330358603843987 + ], + "commanded_contact_point": [ + -14.592788429260255, + 0.14233072327656054, + 0.11879196648627173 + ], + "centerline_face_intersection": [ + -14.465237629310806, + 0.14233072327656054, + 0.11879196648627173 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.59992504119873, + 0.14254646003246307, + 0.12518619000911713 + ], + "box_pose": [ + -14.3920259475708, + 0.14058460295200348, + 0.13603700697422028, + 0.007688195910304785, + -0.00402422109618783, + 0.9999465942382812, + -0.0056174881756305695 + ], + "box_yaw_rad": -3.130294832386911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00245382154040284 + } + } + }, + { + "simulation_time_ns": 4040000000, + "center": [ + -14.3880357358207, + 0.1423024872853862, + 0.11879592470396313 + ], + "face_center": [ + -14.46523731583581, + 0.14142923490358414, + 0.11996122671084725 + ], + "face_normal": [ + -0.9998221350709642, + -0.011309315957759636, + 0.015091591911685465 + ], + "footprint_xy": [ + [ + -14.467677377788776, + 0.08513274768614795 + ], + [ + -14.308394093852623, + 0.08513274768614795 + ], + [ + -14.308394093852623, + 0.19947222688462443 + ], + [ + -14.467677377788776, + 0.19947222688462443 + ] + ], + "projected_box_corners": [ + [ + -14.31327421775856, + 0.19947222688462443 + ], + [ + -14.309631442405788, + 0.19750517371398885 + ], + [ + -14.312036869205395, + 0.08884630562038764 + ], + [ + -14.308394093852623, + 0.08687925244975206 + ], + [ + -14.467677377788776, + 0.19772572212102033 + ], + [ + -14.464034602436005, + 0.19575866895038474 + ], + [ + -14.466440029235612, + 0.08709980085678354 + ], + [ + -14.46279725388284, + 0.08513274768614795 + ] + ], + "yaw_rad": -3.1302818081200483, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.59697437286377, + 0.13723233342170715, + 0.12449643015861511 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + -14.465221388377241, + 0.14144546415311823, + 0.1199701139606374 + ], + "intended_face_normal": [ + -0.9998198585439404, + -0.011303159151022462, + 0.015230760371802442 + ], + "commanded_contact_point": [ + -14.590532035827637, + 0.14231824113515537, + 0.11879406601741879 + ], + "centerline_face_intersection": [ + -14.465249210241561, + 0.14231824113515537, + 0.11879406601741879 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.598272323608398, + 0.14139463007450104, + 0.12508179247379303 + ], + "box_pose": [ + -14.39203929901123, + 0.1405702829360962, + 0.13603852689266205, + 0.0076387012377381325, + -0.004076608922332525, + 0.999946653842926, + -0.005620739422738552 + ], + "box_yaw_rad": -3.1302879394968377, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002256428934099869 + } + } + }, + { + "simulation_time_ns": 4060000000, + "center": [ + -14.38805579671421, + 0.1422865233256736, + 0.1187966085177452 + ], + "face_center": [ + -14.465257553695409, + 0.14141305649472785, + 0.11994912700697148 + ], + "face_normal": [ + -0.9998244269231955, + -0.011312093245487183, + 0.014926035145672801 + ], + "footprint_xy": [ + [ + -14.467678057651122, + 0.08510073509592286 + ], + [ + -14.3084335357773, + 0.08510073509592286 + ], + [ + -14.3084335357773, + 0.19947231155542433 + ], + [ + -14.467678057651122, + 0.19947231155542433 + ] + ], + "projected_box_corners": [ + [ + -14.313274543688726, + 0.19947231155542433 + ], + [ + -14.309671124495459, + 0.19747344734720274 + ], + [ + -14.312036954970567, + 0.08884653296603594 + ], + [ + -14.3084335357773, + 0.08684766875781436 + ], + [ + -14.467678057651122, + 0.19772537789353284 + ], + [ + -14.464074638457854, + 0.19572651368531124 + ], + [ + -14.466440468932964, + 0.08709959930414443 + ], + [ + -14.462837049739697, + 0.08510073509592286 + ] + ], + "yaw_rad": -3.1302790566251915, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.596136093139648, + 0.13329347968101501, + 0.12357951700687408 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.46523731583581, + 0.14142923490358414, + 0.11996122671084725 + ], + "intended_face_normal": [ + -0.9998221350709642, + -0.011309315957759636, + 0.015091591911685465 + ], + "commanded_contact_point": [ + -14.590532035827637, + 0.14231824113515537, + 0.11879406601741879 + ], + "centerline_face_intersection": [ + -14.465264786071682, + 0.1423024872853862, + 0.11879592470396313 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.59697437286377, + 0.13723233342170715, + 0.12449643015861511 + ], + "box_pose": [ + -14.392057418823242, + 0.14055222272872925, + 0.136039599776268, + 0.007569493725895882, + -0.004142582416534424, + 0.9999469518661499, + -0.005623599048703909 + ], + "box_yaw_rad": -3.1302818081200483, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 4080000000, + "center": [ + -14.388078273151956, + 0.14226704236555113, + 0.11879800142586372 + ], + "face_center": [ + -14.465280246850703, + 0.14139338441118135, + 0.11993572314021035 + ], + "face_normal": [ + -0.9998272335885943, + -0.011314568446510704, + 0.014734405090310744 + ], + "footprint_xy": [ + [ + -14.467678079067568, + 0.08506158900216562 + ], + [ + -14.308478467236345, + 0.08506158900216562 + ], + [ + -14.308478467236345, + 0.1994724957289366 + ], + [ + -14.467678079067568, + 0.1994724957289366 + ] + ], + "projected_box_corners": [ + [ + -14.313274131670072, + 0.1994724957289366 + ], + [ + -14.309716242524123, + 0.19743452779768414 + ], + [ + -14.312036356382292, + 0.08884687284215766 + ], + [ + -14.308478467236345, + 0.08680890491090518 + ], + [ + -14.467678079067568, + 0.19772517982019705 + ], + [ + -14.46412018992162, + 0.19568721188894458 + ], + [ + -14.466440303779788, + 0.0870995569334181 + ], + [ + -14.46288241463384, + 0.08506158900216562 + ] + ], + "yaw_rad": -3.1302766130696487, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.595399856567383, + 0.13092133402824402, + 0.12125158309936523 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465257553695409, + 0.14141305649472785, + 0.11994912700697148 + ], + "intended_face_normal": [ + -0.9998244269231955, + -0.011312093245487183, + 0.014926035145672801 + ], + "commanded_contact_point": [ + -14.5876768660646, + 0.14231840448404498, + 0.118793803941355 + ], + "centerline_face_intersection": [ + -14.465284669936539, + 0.1422865233256736, + 0.1187966085177452 + ], + "commanded_world_base_velocity": [ + 0.1374553600000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.596136093139648, + 0.13329347968101501, + 0.12357951700687408 + ], + "box_pose": [ + -14.392080307006836, + 0.14053396880626678, + 0.1360393911600113, + 0.007487084250897169, + -0.0042084320448338985, + 0.9999472498893738, + -0.005624834448099136 + ], + "box_yaw_rad": -3.1302790566251915, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002855169779738389 + } + } + }, + { + "simulation_time_ns": 4100000000, + "center": [ + -14.388104856206592, + 0.14224688676327385, + 0.11879839519760887 + ], + "face_center": [ + -14.46530709005946, + 0.1413739648371029, + 0.11991844343031902 + ], + "face_normal": [ + -0.9998306027922719, + -0.011305036293346487, + 0.014505519384338493 + ], + "footprint_xy": [ + [ + -14.467677130336536, + 0.08502184526332879 + ], + [ + -14.308532582076648, + 0.08502184526332879 + ], + [ + -14.308532582076648, + 0.1994719282632189 + ], + [ + -14.467677130336536, + 0.1994719282632189 + ] + ], + "projected_box_corners": [ + [ + -14.313272662630801, + 0.1994719282632189 + ], + [ + -14.309769247401489, + 0.197393152978222 + ], + [ + -14.31203599730596, + 0.0888464644006676 + ], + [ + -14.308532582076648, + 0.08676768911567068 + ], + [ + -14.467677130336536, + 0.19772608441087702 + ], + [ + -14.464173715107224, + 0.19564730912588008 + ], + [ + -14.466440465011695, + 0.08710062054832571 + ], + [ + -14.462937049782383, + 0.08502184526332879 + ] + ], + "yaw_rad": -3.130286183747319, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.594687461853027, + 0.13099339604377747, + 0.12118057906627655 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465280246850703, + 0.14139338441118135, + 0.11993572314021035 + ], + "intended_face_normal": [ + -0.9998272335885943, + -0.011314568446510704, + 0.014734405090310744 + ], + "commanded_contact_point": [ + -14.584715956238725, + 0.14231879485946053, + 0.11879305181653832 + ], + "centerline_face_intersection": [ + -14.465306929581223, + 0.14226704236555113, + 0.11879800142586372 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.595399856567383, + 0.13092133402824402, + 0.12125158309936523 + ], + "box_pose": [ + -14.392106056213379, + 0.1405116766691208, + 0.13603973388671875, + 0.007391721475869417, + -0.004289407283067703, + 0.9999476075172424, + -0.005625872872769833 + ], + "box_yaw_rad": -3.1302766130696487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002960909947135753 + } + } + }, + { + "simulation_time_ns": 4120000000, + "center": [ + -14.388134867032656, + 0.14222304718596976, + 0.11879937021898496 + ], + "face_center": [ + -14.465337402157964, + 0.14134995016243923, + 0.11989990229263377 + ], + "face_normal": [ + -0.9998345045110277, + -0.011307303944032777, + 0.014252769533658317 + ], + "footprint_xy": [ + [ + -14.467677485427899, + 0.08497393611266824 + ], + [ + -14.308592248637414, + 0.08497393611266824 + ], + [ + -14.308592248637414, + 0.19947215825927125 + ], + [ + -14.467677485427899, + 0.19947215825927125 + ] + ], + "projected_box_corners": [ + [ + -14.313272415177288, + 0.19947215825927125 + ], + [ + -14.309829094265675, + 0.19734542967116392 + ], + [ + -14.312035569549026, + 0.08884685874783664 + ], + [ + -14.308592248637414, + 0.0867201301597293 + ], + [ + -14.467677485427899, + 0.1977259642122102 + ], + [ + -14.464234164516286, + 0.19559923562410286 + ], + [ + -14.46644063979964, + 0.08710066470077557 + ], + [ + -14.462997318888027, + 0.08497393611266824 + ] + ], + "yaw_rad": -3.1302839601294714, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.592920303344727, + 0.13456901907920837, + 0.12318466603755951 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.46530709005946, + 0.1413739648371029, + 0.11991844343031902 + ], + "intended_face_normal": [ + -0.9998306027922719, + -0.011305036293346487, + 0.014505519384338493 + ], + "commanded_contact_point": [ + -14.581656241185637, + 0.14231925949227206, + 0.11879185500398436 + ], + "centerline_face_intersection": [ + -14.465333252392702, + 0.14224688676327385, + 0.11879839519760887 + ], + "commanded_world_base_velocity": [ + 0.11967872000000025, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.594687461853027, + 0.13099339604377747, + 0.12118057906627655 + ], + "box_pose": [ + -14.392136573791504, + 0.1404886394739151, + 0.1360389143228531, + 0.007277722470462322, + -0.004373784642666578, + 0.9999480843544006, + -0.005620978772640228 + ], + "box_yaw_rad": -3.130286183747319, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030597153224333055 + } + } + }, + { + "simulation_time_ns": 4140000000, + "center": [ + -14.388169893120509, + 0.14219545153890256, + 0.11880061407732223 + ], + "face_center": [ + -14.465372754983779, + 0.1413221403509369, + 0.11987843065218967 + ], + "face_normal": [ + -0.9998387360286962, + -0.011310077544556835, + 0.013958585677753516 + ], + "footprint_xy": [ + [ + -14.467677984553042, + 0.08491843055279448 + ], + [ + -14.308661801687974, + 0.08491843055279448 + ], + [ + -14.308661801687974, + 0.19947247252501063 + ], + [ + -14.467677984553042, + 0.19947247252501063 + ] + ], + "projected_box_corners": [ + [ + -14.3132722608265, + 0.19947247252501063 + ], + [ + -14.309898887246773, + 0.1972901310513041 + ], + [ + -14.3120351752677, + 0.08884739440243233 + ], + [ + -14.308661801687974, + 0.08666505292872581 + ], + [ + -14.467677984553042, + 0.1977258501490793 + ], + [ + -14.464304610973315, + 0.1955435086753728 + ], + [ + -14.466440898994243, + 0.08710077202650102 + ], + [ + -14.463067525414516, + 0.08491843055279448 + ] + ], + "yaw_rad": -3.1302812342929998, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.590959548950195, + 0.13681936264038086, + 0.12601980566978455 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465337402157964, + 0.14134995016243923, + 0.11989990229263377 + ], + "intended_face_normal": [ + -0.9998345045110277, + -0.011307303944032777, + 0.014252769533658317 + ], + "commanded_contact_point": [ + -14.578504687859626, + 0.14231959371328226, + 0.1187902765515008 + ], + "centerline_face_intersection": [ + -14.465362961845408, + 0.14222304718596976, + 0.11879937021898496 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.592920303344727, + 0.13456901907920837, + 0.12318466603755951 + ], + "box_pose": [ + -14.392170906066895, + 0.14046135544776917, + 0.13603852689266205, + 0.007151899393647909, + -0.004473032895475626, + 0.9999486207962036, + -0.005621950142085552 + ], + "box_yaw_rad": -3.1302839601294714, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031515537390167693 + } + } + }, + { + "simulation_time_ns": 4160000000, + "center": [ + -14.388208210185159, + 0.14216338877271176, + 0.11880255638496355 + ], + "face_center": [ + -14.46541141148638, + 0.14128979678708928, + 0.11985527036434077 + ], + "face_normal": [ + -0.9998431320213286, + -0.011313714098533096, + 0.01363348701249369 + ], + "footprint_xy": [ + [ + -14.46767817339788, + 0.08485395019871214 + ], + [ + -14.308738246972437, + 0.08485395019871214 + ], + [ + -14.308738246972437, + 0.1994728273467114 + ], + [ + -14.46767817339788, + 0.1994728273467114 + ] + ], + "projected_box_corners": [ + [ + -14.313271770795437, + 0.1994728273467114 + ], + [ + -14.309975658590375, + 0.1972259274742299 + ], + [ + -14.312034359177499, + 0.0888480340424386 + ], + [ + -14.308738246972437, + 0.08660113416995713 + ], + [ + -14.46767817339788, + 0.1977256433754664 + ], + [ + -14.46438206119282, + 0.19547874350298494 + ], + [ + -14.466440761779943, + 0.08710085007119361 + ], + [ + -14.46314464957488, + 0.08485395019871214 + ] + ], + "yaw_rad": -3.1302776473624396, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.58799934387207, + 0.13718059659004211, + 0.1283012479543686 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465372754983779, + 0.1413221403509369, + 0.11987843065218967 + ], + "intended_face_normal": [ + -0.9998387360286962, + -0.011310077544556835, + 0.013958585677753516 + ], + "commanded_contact_point": [ + -14.575268341065808, + 0.142319553259029, + 0.11878838675711142 + ], + "centerline_face_intersection": [ + -14.465397661088504, + 0.14219545153890256, + 0.11880061407732223 + ], + "commanded_world_base_velocity": [ + 0.09072000000000029, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.590959548950195, + 0.13681936264038086, + 0.12601980566978455 + ], + "box_pose": [ + -14.392210960388184, + 0.1404297649860382, + 0.1360381841659546, + 0.007005448918789625, + -0.004588131792843342, + 0.9999491572380066, + -0.005623182747513056 + ], + "box_yaw_rad": -3.1302812342929998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032363473458228782 + } + } + }, + { + "simulation_time_ns": 4180000000, + "center": [ + -14.388253985781134, + 0.14212659660490748, + 0.11880432097625795 + ], + "face_center": [ + -14.465457581404623, + 0.1412522553701665, + 0.11982681110362009 + ], + "face_normal": [ + -0.9998482388096956, + -0.011323417473168639, + 0.013242063984028857 + ], + "footprint_xy": [ + [ + -14.467678333598874, + 0.0847793203668061 + ], + [ + -14.308829637963395, + 0.0847793203668061 + ], + [ + -14.308829637963395, + 0.19947387284300883 + ], + [ + -14.467678333598874, + 0.19947387284300883 + ] + ], + "projected_box_corners": [ + [ + -14.313271142351896, + 0.19947387284300883 + ], + [ + -14.310068076362327, + 0.19715245184764932 + ], + [ + -14.312032703952962, + 0.08884942383164757 + ], + [ + -14.308829637963395, + 0.08652800283628806 + ], + [ + -14.467678333598874, + 0.19772519037352687 + ], + [ + -14.464475267609306, + 0.19540376937816736 + ], + [ + -14.46643989519994, + 0.08710074136216561 + ], + [ + -14.463236829210372, + 0.0847793203668061 + ] + ], + "yaw_rad": -3.1302680015456708, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.584051132202148, + 0.1378861665725708, + 0.1291656792163849 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.46541141148638, + 0.14128979678708928, + 0.11985527036434077 + ], + "intended_face_normal": [ + -0.9998431320213286, + -0.011313714098533096, + 0.01363348701249369 + ], + "commanded_contact_point": [ + -14.571954218134922, + 0.1423188314666594, + 0.11878627571896912 + ], + "centerline_face_intersection": [ + -14.465435638607191, + 0.14216338877271176, + 0.11880255638496355 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.58799934387207, + 0.13718059659004211, + 0.1283012479543686 + ], + "box_pose": [ + -14.392254829406738, + 0.14039306342601776, + 0.13603834807872772, + 0.006843647453933954, + -0.0047217924147844315, + 0.9999496340751648, + -0.005624826066195965 + ], + "box_yaw_rad": -3.1302776473624396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033141236818340553 + } + } + }, + { + "simulation_time_ns": 4200000000, + "center": [ + -14.38830555059508, + 0.1420838584111863, + 0.11880659254065452 + ], + "face_center": [ + -14.465509567242373, + 0.14120910865917705, + 0.11979487519643994 + ], + "face_normal": [ + -0.9998536914042901, + -0.011328708098143896, + 0.012799049899854469 + ], + "footprint_xy": [ + [ + -14.467677945716721, + 0.08469327201176863 + ], + [ + -14.30893315547344, + 0.08469327201176863 + ], + [ + -14.30893315547344, + 0.19947444481060395 + ], + [ + -14.467677945716721, + 0.19947444481060395 + ] + ], + "projected_box_corners": [ + [ + -14.313269912422136, + 0.19947444481060395 + ], + [ + -14.310172147211562, + 0.19706679348701278 + ], + [ + -14.312030920684014, + 0.08885042283937826 + ], + [ + -14.30893315547344, + 0.08644277151578708 + ], + [ + -14.467677945716721, + 0.1977249453065855 + ], + [ + -14.464580180506147, + 0.1953172939829943 + ], + [ + -14.466438953978598, + 0.08710092333535979 + ], + [ + -14.463341188768023, + 0.08469327201176863 + ] + ], + "yaw_rad": -3.1302627725779013, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.578553199768066, + 0.1401556134223938, + 0.13037824630737305 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465457581404623, + 0.1412522553701665, + 0.11982681110362009 + ], + "intended_face_normal": [ + -0.9998482388096956, + -0.011323417473168639, + 0.013242063984028857 + ], + "commanded_contact_point": [ + -14.568569597419383, + 0.14231707929244375, + 0.11878402331605767 + ], + "centerline_face_intersection": [ + -14.465481019759173, + 0.14212659660490748, + 0.11880432097625795 + ], + "commanded_world_base_velocity": [ + 0.05746048000000027, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.584051132202148, + 0.1378861665725708, + 0.1291656792163849 + ], + "box_pose": [ + -14.39230728149414, + 0.14035089313983917, + 0.13603799045085907, + 0.006648813374340534, + -0.0048760524950921535, + 0.9999501705169678, + -0.0056295692920684814 + ], + "box_yaw_rad": -3.1302680015456708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033846219185432254 + } + } + }, + { + "simulation_time_ns": 4220000000, + "center": [ + -14.388366302235369, + 0.1420355428787717, + 0.11880868194742863 + ], + "face_center": [ + -14.465570862758327, + 0.14116062996461617, + 0.1197569123190811 + ], + "face_normal": [ + -0.9998607350286504, + -0.01133082117828331, + 0.012280340823842752 + ], + "footprint_xy": [ + [ + -14.467677702623071, + 0.08459599560238809 + ], + [ + -14.309054901847666, + 0.08459599560238809 + ], + [ + -14.309054901847666, + 0.1994750901551553 + ], + [ + -14.467677702623071, + 0.1994750901551553 + ] + ], + "projected_box_corners": [ + [ + -14.313268581577153, + 0.1994750901551553 + ], + [ + -14.310294151199313, + 0.1969694400730637 + ], + [ + -14.312029332225508, + 0.08885147151279074 + ], + [ + -14.309054901847666, + 0.08634582143069913 + ], + [ + -14.467677702623071, + 0.19772526432684429 + ], + [ + -14.46470327224523, + 0.19521961424475265 + ], + [ + -14.466438453271424, + 0.0871016456844797 + ], + [ + -14.463464022893584, + 0.08459599560238809 + ] + ], + "yaw_rad": -3.130260739282475, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.572076797485352, + 0.14363686740398407, + 0.13149355351924896 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465509567242373, + 0.14120910865917705, + 0.11979487519643994 + ], + "intended_face_normal": [ + -0.9998536914042901, + -0.011328708098143896, + 0.012799049899854469 + ], + "commanded_contact_point": [ + -14.565121635150856, + 0.14231381920530725, + 0.118781753678892 + ], + "centerline_face_intersection": [ + -14.465532163423791, + 0.1420838584111863, + 0.11880659254065452 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.578553199768066, + 0.1401556134223938, + 0.13037824630737305 + ], + "box_pose": [ + -14.392366409301758, + 0.14030195772647858, + 0.13603784143924713, + 0.006428310181945562, + -0.005054558161646128, + 0.999950647354126, + -0.00563213974237442 + ], + "box_yaw_rad": -3.1302627725779013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034479645567508863 + } + } + }, + { + "simulation_time_ns": 4240000000, + "center": [ + -14.38843606643371, + 0.14198004843650805, + 0.11881066377178107 + ], + "face_center": [ + -14.465641178560672, + 0.14110627075842647, + 0.1197122825891441 + ], + "face_normal": [ + -0.9998678787411561, + -0.011316118964222308, + 0.01167668395931339 + ], + "footprint_xy": [ + [ + -14.46767545486095, + 0.08448572151447026 + ], + [ + -14.309196678006469, + 0.08448572151447026 + ], + [ + -14.309196678006469, + 0.19947437535854587 + ], + [ + -14.46767545486095, + 0.19947437535854587 + ] + ], + "projected_box_corners": [ + [ + -14.313265230607026, + 0.19947437535854587 + ], + [ + -14.310434396086462, + 0.1968563321560222 + ], + [ + -14.312027512527035, + 0.08885132007315713 + ], + [ + -14.309196678006469, + 0.08623327687063345 + ], + [ + -14.46767545486095, + 0.19772682000238265 + ], + [ + -14.464844620340386, + 0.19510877679985897 + ], + [ + -14.466437736780957, + 0.08710376471699394 + ], + [ + -14.463606902260393, + 0.08448572151447026 + ] + ], + "yaw_rad": -3.1302755225093337, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.567004203796387, + 0.14657224714756012, + 0.131144180893898 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465570862758327, + 0.14116062996461617, + 0.1197569123190811 + ], + "intended_face_normal": [ + -0.9998607350286504, + -0.01133082117828331, + 0.012280340823842752 + ], + "commanded_contact_point": [ + -14.561617855342298, + 0.14230859815390193, + 0.11877956003711748 + ], + "centerline_face_intersection": [ + -14.465592371033065, + 0.1420355428787717, + 0.11880868194742863 + ], + "commanded_world_base_velocity": [ + 0.026781440000000177, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.572076797485352, + 0.14363686740398407, + 0.13149355351924896 + ], + "box_pose": [ + -14.392436027526855, + 0.14024661481380463, + 0.13603711128234863, + 0.006170086562633514, + -0.005257369019091129, + 0.9999513626098633, + -0.005633246153593063 + ], + "box_yaw_rad": -3.130260739282475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003503784385246546 + } + } + }, + { + "simulation_time_ns": 4260000000, + "center": [ + -14.388517051303761, + 0.1419140403770015, + 0.11881466764642945 + ], + "face_center": [ + -14.465722774318346, + 0.14104035112883423, + 0.11966421722929024 + ], + "face_normal": [ + -0.999875790223876, + -0.011314973726188142, + 0.011002345776061666 + ], + "footprint_xy": [ + [ + -14.46767691748725, + 0.08435316469481827 + ], + [ + -14.309357185120275, + 0.08435316469481827 + ], + [ + -14.309357185120275, + 0.19947491605918474 + ], + [ + -14.46767691748725, + 0.19947491605918474 + ] + ], + "projected_box_corners": [ + [ + -14.313265471458081, + 0.19947491605918474 + ], + [ + -14.310594912868018, + 0.196722936230492 + ], + [ + -14.312027743710338, + 0.08885252301984559 + ], + [ + -14.309357185120275, + 0.08610054319115285 + ], + [ + -14.46767691748725, + 0.19772753756285016 + ], + [ + -14.465006358897185, + 0.19497555773415742 + ], + [ + -14.466439189739505, + 0.08710514452351101 + ], + [ + -14.463768631149442, + 0.08435316469481827 + ] + ], + "yaw_rad": -3.130276757281725, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.563608169555664, + 0.14748051762580872, + 0.12887996435165405 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465641178560672, + 0.14110627075842647, + 0.1197122825891441 + ], + "intended_face_normal": [ + -0.9998678787411561, + -0.011316118964222308, + 0.01167668395931339 + ], + "commanded_contact_point": [ + -14.558065714892404, + 0.14230072224008022, + 0.11877757655689594 + ], + "centerline_face_intersection": [ + -14.465661583477676, + 0.14198004843650805, + 0.11881066377178107 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.567004203796387, + 0.14657224714756012, + 0.131144180893898 + ], + "box_pose": [ + -14.392516136169434, + 0.14018313586711884, + 0.13603581488132477, + 0.0058695110492408276, + -0.005489895585924387, + 0.9999518990516663, + -0.005626107100397348 + ], + "box_yaw_rad": -3.1302755225093337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003552149735017961 + } + } + }, + { + "simulation_time_ns": 4280000000, + "center": [ + -14.388608480792637, + 0.1418381683365011, + 0.11881861156829535 + ], + "face_center": [ + -14.465814825718134, + 0.14096353132807024, + 0.11960713393042817 + ], + "face_normal": [ + -0.9998838444670322, + -0.011327247978736707, + 0.010211994514938007 + ], + "footprint_xy": [ + [ + -14.467675867501203, + 0.08419958924775664 + ], + [ + -14.309541094084071, + 0.08419958924775664 + ], + [ + -14.309541094084071, + 0.19947674742524554 + ], + [ + -14.467675867501203, + 0.19947674742524554 + ] + ], + "projected_box_corners": [ + [ + -14.313263177650208, + 0.19947674742524554 + ], + [ + -14.310780456652667, + 0.19657037996546697 + ], + [ + -14.312023815081613, + 0.08885523072439694 + ], + [ + -14.309541094084071, + 0.08594886326461836 + ], + [ + -14.467675867501203, + 0.19772747340838384 + ], + [ + -14.465193146503662, + 0.19482110594860527 + ], + [ + -14.466436504932608, + 0.08710595670753522 + ], + [ + -14.463953783935066, + 0.08419958924775664 + ] + ], + "yaw_rad": -3.1302645743205835, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.561980247497559, + 0.14527809619903564, + 0.12528258562088013 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465722774318346, + 0.14104035112883423, + 0.11966421722929024 + ], + "intended_face_normal": [ + -0.999875790223876, + -0.011314973726188142, + 0.011002345776061666 + ], + "commanded_contact_point": [ + -14.554472996789501, + 0.1422891886019856, + 0.11877617012189416 + ], + "centerline_face_intersection": [ + -14.465741957303484, + 0.1419140403770015, + 0.11881466764642945 + ], + "commanded_world_base_velocity": [ + 0.005564160000000094, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.563608169555664, + 0.14748051762580872, + 0.12887996435165405 + ], + "box_pose": [ + -14.392608642578125, + 0.14010754227638245, + 0.13603608310222626, + 0.005533881951123476, + -0.005767171736806631, + 0.9999523162841797, + -0.005625840276479721 + ], + "box_yaw_rad": -3.130276757281725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003592736891256045 + } + } + }, + { + "simulation_time_ns": 4300000000, + "center": [ + -14.388718329097669, + 0.14175310398429025, + 0.1188210453354292 + ], + "face_center": [ + -14.465925386789532, + 0.14087863844929085, + 0.11953708807881958 + ], + "face_normal": [ + -0.9998930753608726, + -0.01132502726081494, + 0.009273325550572037 + ], + "footprint_xy": [ + [ + -14.467674942200142, + 0.08402849523994477 + ], + [ + -14.309761715995196, + 0.08402849523994477 + ], + [ + -14.309761715995196, + 0.19947771272863574 + ], + [ + -14.467674942200142, + 0.19947771272863574 + ] + ], + "projected_box_corners": [ + [ + -14.313260826816418, + 0.19947771272863574 + ], + [ + -14.311001349751573, + 0.19639795456076467 + ], + [ + -14.31202119306004, + 0.0888571844778147 + ], + [ + -14.309761715995196, + 0.08577742630994362 + ], + [ + -14.467674942200142, + 0.19772878165863692 + ], + [ + -14.4654154651353, + 0.19464902349076585 + ], + [ + -14.466435308443765, + 0.08710825340781586 + ], + [ + -14.464175831378922, + 0.08402849523994477 + ] + ], + "yaw_rad": -3.1302668995615814, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.562681198120117, + 0.14294084906578064, + 0.12153773009777069 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465814825718134, + 0.14096353132807024, + 0.11960713393042817 + ], + "intended_face_normal": [ + -0.9998838444670322, + -0.011327247978736707, + 0.010211994514938007 + ], + "commanded_contact_point": [ + -14.550847300132673, + 0.14227322019876426, + 0.11877539448180215 + ], + "centerline_face_intersection": [ + -14.465832764731934, + 0.1418381683365011, + 0.11881861156829535 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.561980247497559, + 0.14527809619903564, + 0.12528258562088013 + ], + "box_pose": [ + -14.39271354675293, + 0.14002056419849396, + 0.13603565096855164, + 0.005140526220202446, + -0.006086787674576044, + 0.9999524354934692, + -0.005632602609694004 + ], + "box_yaw_rad": -3.1302645743205835, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036257319038852094 + } + } + }, + { + "simulation_time_ns": 4320000000, + "center": [ + -14.388844711127648, + 0.1416532551726672, + 0.11882445175383607 + ], + "face_center": [ + -14.466052501870777, + 0.1407802079030758, + 0.11945662188105996 + ], + "face_normal": [ + -0.9999025689603684, + -0.011306659590774404, + 0.008187108168063072 + ], + "footprint_xy": [ + [ + -14.46767224797088, + 0.08382935966921971 + ], + [ + -14.310017174284418, + 0.08382935966921971 + ], + [ + -14.310017174284418, + 0.19947715067611468 + ], + [ + -14.46767224797088, + 0.19947715067611468 + ] + ], + "projected_box_corners": [ + [ + -14.313256666484623, + 0.19947715067611468 + ], + [ + -14.3112555517515, + 0.19619474406623144 + ], + [ + -14.31201828901754, + 0.08885786081828578 + ], + [ + -14.310017174284418, + 0.08557545420840254 + ], + [ + -14.46767224797088, + 0.19773105613693187 + ], + [ + -14.465671133237757, + 0.1944486495270486 + ], + [ + -14.466433870503797, + 0.08711176627910296 + ], + [ + -14.464432755770673, + 0.08382935966921971 + ] + ], + "yaw_rad": -3.130285374192496, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.565093040466309, + 0.1426963210105896, + 0.12055736780166626 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.465925386789532, + 0.14087863844929085, + 0.11953708807881958 + ], + "intended_face_normal": [ + -0.9998930753608726, + -0.01132502726081494, + 0.009273325550572037 + ], + "commanded_contact_point": [ + -14.547197657640638, + 0.14225197629464043, + 0.11877526922889606 + ], + "centerline_face_intersection": [ + -14.46594190011157, + 0.14175310398429025, + 0.1188210453354292 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.562681198120117, + 0.14294084906578064, + 0.12153773009777069 + ], + "box_pose": [ + -14.392839431762695, + 0.139923095703125, + 0.13603293895721436, + 0.004673190414905548, + -0.006445558741688728, + 0.999952495098114, + -0.005632659886032343 + ], + "box_yaw_rad": -3.1302668995615814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036497043221094044 + } + } + }, + { + "simulation_time_ns": 4340000000, + "center": [ + -14.388987657353972, + 0.14153713534601065, + 0.11882851353452423 + ], + "face_center": [ + -14.466196179696912, + 0.14066372714387448, + 0.11936522044415257 + ], + "face_normal": [ + -0.9999120437623572, + -0.011311333955566286, + 0.006950783237686685 + ], + "footprint_xy": [ + [ + -14.467669771451483, + 0.08359664929489033 + ], + [ + -14.310305543256463, + 0.08359664929489033 + ], + [ + -14.310305543256463, + 0.19947762139713096 + ], + [ + -14.467669771451483, + 0.19947762139713096 + ] + ], + "projected_box_corners": [ + [ + -14.313252726765606, + 0.19947762139713096 + ], + [ + -14.311545553882752, + 0.1959612391114112 + ], + [ + -14.31201271613932, + 0.08885984798488242 + ], + [ + -14.310305543256463, + 0.08534346569916265 + ], + [ + -14.467669771451483, + 0.19773080499285867 + ], + [ + -14.465962598568627, + 0.19421442270713887 + ], + [ + -14.466429760825195, + 0.08711303158061011 + ], + [ + -14.464722587942338, + 0.08359664929489033 + ] + ], + "yaw_rad": -3.130280807148955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.565710067749023, + 0.1430554986000061, + 0.12248250842094421 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.466052501870777, + 0.1407802079030758, + 0.11945662188105996 + ], + "intended_face_normal": [ + -0.9999025689603684, + -0.011306659590774404, + 0.008187108168063072 + ], + "commanded_contact_point": [ + -14.54353203691659, + 0.14222347576177138, + 0.11877638627159069 + ], + "centerline_face_intersection": [ + -14.466067548940458, + 0.1416532551726672, + 0.11882445175383607 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.565093040466309, + 0.1426963210105896, + 0.12055736780166626 + ], + "box_pose": [ + -14.392984390258789, + 0.13980881869792938, + 0.13603034615516663, + 0.004132368601858616, + -0.006864870898425579, + 0.9999520778656006, + -0.0056252311915159225 + ], + "box_yaw_rad": -3.130285374192496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003665731689680541 + } + } + }, + { + "simulation_time_ns": 4360000000, + "center": [ + -14.38915413460633, + 0.14140390997954147, + 0.11883320052917648 + ], + "face_center": [ + -14.466363351154556, + 0.14053044110837734, + 0.11926005542775586 + ], + "face_normal": [ + -0.9999210342754294, + -0.011312119667945137, + 0.00552811193734124 + ], + "footprint_xy": [ + [ + -14.467668671486738, + 0.08332896790311856 + ], + [ + -14.31063959772592, + 0.08332896790311856 + ], + [ + -14.31063959772592, + 0.1994788520559644 + ], + [ + -14.467668671486738, + 0.1994788520559644 + ] + ], + "projected_box_corners": [ + [ + -14.313250238390285, + 0.1994788520559644 + ], + [ + -14.31188130214594, + 0.195691791011148 + ], + [ + -14.312008533970264, + 0.08886296669026322 + ], + [ + -14.31063959772592, + 0.08507590564544683 + ], + [ + -14.467668671486738, + 0.19773191431363613 + ], + [ + -14.466299735242394, + 0.19394485326881974 + ], + [ + -14.466426967066718, + 0.08711602894793495 + ], + [ + -14.465058030822375, + 0.08332896790311856 + ] + ], + "yaw_rad": -3.130280123173733, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.563582420349121, + 0.14374659955501556, + 0.12600529193878174 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.466196179696912, + 0.14066372714387448, + 0.11936522044415257 + ], + "intended_face_normal": [ + -0.9999120437623572, + -0.011311333955566286, + 0.006950783237686685 + ], + "commanded_contact_point": [ + -14.539858709968245, + 0.14218617100671616, + 0.11877898614342347 + ], + "centerline_face_intersection": [ + -14.466209763431324, + 0.14153713534601065, + 0.11882851353452423 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.565710067749023, + 0.1430554986000061, + 0.12248250842094421 + ], + "box_pose": [ + -14.393148422241211, + 0.13967593014240265, + 0.1360275149345398, + 0.0035169401671737432, + -0.00734911672770977, + 0.9999510049819946, + -0.005630096420645714 + ], + "box_yaw_rad": -3.130280807148955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003673517289127681 + } + } + }, + { + "simulation_time_ns": 4380000000, + "center": [ + -14.389346312044212, + 0.14125029760261013, + 0.11883821271317077 + ], + "face_center": [ + -14.466556094130212, + 0.14037595091667496, + 0.11913753906635827 + ], + "face_normal": [ + -0.9999283584413645, + -0.01132348807048817, + 0.003876515396036796 + ], + "footprint_xy": [ + [ + -14.467666890857362, + 0.08301880278355163 + ], + [ + -14.311025733231062, + 0.08301880278355163 + ], + [ + -14.311025733231062, + 0.19948179242166858 + ], + [ + -14.467666890857362, + 0.19948179242166858 + ] + ], + "projected_box_corners": [ + [ + -14.313247326685365, + 0.19948179242166858 + ], + [ + -14.312271001918365, + 0.19538095299696442 + ], + [ + -14.312002057998063, + 0.08886833558012613 + ], + [ + -14.311025733231062, + 0.08476749615542196 + ], + [ + -14.467666890857362, + 0.19773309904979824 + ], + [ + -14.466690566090362, + 0.1936322596250941 + ], + [ + -14.46642162217006, + 0.0871196422082558 + ], + [ + -14.46544529740306, + 0.08301880278355163 + ] + ], + "yaw_rad": -3.1302688382667343, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.56016731262207, + 0.14434057474136353, + 0.13102594017982483 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.466363351154556, + 0.14053044110837734, + 0.11926005542775586 + ], + "intended_face_normal": [ + -0.9999210342754294, + -0.011312119667945137, + 0.00552811193734124 + ], + "commanded_contact_point": [ + -14.536187688205128, + 0.1421382861920766, + 0.11878348423541982 + ], + "centerline_face_intersection": [ + -14.4663755463625, + 0.14140390997954147, + 0.11883320052917648 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.563582420349121, + 0.14374659955501556, + 0.12600529193878174 + ], + "box_pose": [ + -14.393339157104492, + 0.13952332735061646, + 0.13602420687675476, + 0.0028087615501135588, + -0.007909341715276241, + 0.9999489784240723, + -0.005634131841361523 + ], + "box_yaw_rad": -3.130280123173733, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036713368101522524 + } + } + }, + { + "simulation_time_ns": 4400000000, + "center": [ + -14.389568717553232, + 0.14107426692337677, + 0.11884198589646244 + ], + "face_center": [ + -14.466778919596889, + 0.1401992688823468, + 0.11899511474577268 + ], + "face_normal": [ + -0.9999337972285283, + -0.011331923639312621, + 0.0019831409283119945 + ], + "footprint_xy": [ + [ + -14.467666744866195, + 0.08266489135410861 + ], + [ + -14.31147069024027, + 0.08266489135410861 + ], + [ + -14.31147069024027, + 0.1994836424926449 + ], + [ + -14.467666744866195, + 0.1994836424926449 + ] + ], + "projected_box_corners": [ + [ + -14.31324634077888, + 0.1994836424926449 + ], + [ + -14.312720120058195, + 0.19502539109587602 + ], + [ + -14.311996910960955, + 0.08887313883293743 + ], + [ + -14.31147069024027, + 0.08441488743616854 + ], + [ + -14.467666744866195, + 0.19773364641058497 + ], + [ + -14.46714052414551, + 0.19327539501381608 + ], + [ + -14.46641731504827, + 0.0871231427508775 + ], + [ + -14.465891094327585, + 0.08266489135410861 + ] + ], + "yaw_rad": -3.130260464808551, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.556748390197754, + 0.14440877735614777, + 0.1332481950521469 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.466556094130212, + 0.14037595091667496, + 0.11913753906635827 + ], + "intended_face_normal": [ + -0.9999283584413645, + -0.01132348807048817, + 0.003876515396036796 + ], + "commanded_contact_point": [ + -14.532528495566266, + 0.142077380256964, + 0.1187903110517895 + ], + "centerline_face_intersection": [ + -14.466567158177426, + 0.14125029760261013, + 0.11883821271317077 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.56016731262207, + 0.14434057474136353, + 0.13102594017982483 + ], + "box_pose": [ + -14.393559455871582, + 0.13934721052646637, + 0.13601987063884735, + 0.0019866807851940393, + -0.008558781817555428, + 0.9999454617500305, + -0.005645048338919878 + ], + "box_yaw_rad": -3.1302688382667343, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003659705849744746 + } + } + }, + { + "simulation_time_ns": 4420000000, + "center": [ + -14.38982508562468, + 0.14087141878442905, + 0.11884505476126982 + ], + "face_center": [ + -14.467035445149786, + 0.13999653859909741, + 0.11882864422271451 + ], + "face_normal": [ + -0.9999358367390894, + -0.011330397313867709, + -0.00021252958414607866 + ], + "footprint_xy": [ + [ + -14.467664428347335, + 0.08225879658656876 + ], + [ + -14.311985742902026, + 0.08225879658656876 + ], + [ + -14.311985742902026, + 0.1994840409822893 + ], + [ + -14.467664428347335, + 0.1994840409822893 + ] + ], + "projected_box_corners": [ + [ + -14.313243709297124, + 0.1994840409822893 + ], + [ + -14.313239519900453, + 0.1946153909606648 + ], + [ + -14.3119899322987, + 0.0888772069788565 + ], + [ + -14.311985742902026, + 0.08400855695723197 + ], + [ + -14.467664428347335, + 0.1977342806116261 + ], + [ + -14.467660238950662, + 0.19286563059000156 + ], + [ + -14.466410651348909, + 0.08712744660819327 + ], + [ + -14.466406461952236, + 0.08225879658656876 + ] + ], + "yaw_rad": -3.130262014147574, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.555246353149414, + 0.14062710106372833, + 0.12927238643169403 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.466778919596889, + 0.1401992688823468, + 0.11899511474577268 + ], + "intended_face_normal": [ + -0.9999337972285283, + -0.011331923639312621, + 0.0019831409283119945 + ], + "commanded_contact_point": [ + -14.528891629541894, + 0.14200088839505035, + 0.11879943585143826 + ], + "centerline_face_intersection": [ + -14.466789143670892, + 0.14107426692337677, + 0.11884198589646244 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.556748390197754, + 0.14440877735614777, + 0.1332481950521469 + ], + "box_pose": [ + -14.393814086914062, + 0.13914556801319122, + 0.13601285219192505, + 0.0010442306520417333, + -0.009298492223024368, + 0.9999402165412903, + -0.005656590219587088 + ], + "box_yaw_rad": -3.130260464808551, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003637681781869055 + } + } + }, + { + "simulation_time_ns": 4440000000, + "center": [ + -14.390119128224477, + 0.1406373250006581, + 0.11884828204348907 + ], + "face_center": [ + -14.467329203626038, + 0.13976286688594342, + 0.11863837298922691 + ], + "face_normal": [ + -0.9999321571122106, + -0.011324931162199677, + -0.0027184899423309643 + ], + "footprint_xy": [ + [ + -14.468254643011173, + 0.08179114400239364 + ], + [ + -14.311983613437782, + 0.08179114400239364 + ], + [ + -14.311983613437782, + 0.1994835059989225 + ], + [ + -14.468254643011173, + 0.1994835059989225 + ] + ], + "projected_box_corners": [ + [ + -14.313242948725561, + 0.1994835059989225 + ], + [ + -14.313834492208052, + 0.19414225404299437 + ], + [ + -14.311983613437782, + 0.08888131218775114 + ], + [ + -14.312575156920271, + 0.08354006023182298 + ], + [ + -14.467663099528682, + 0.19773458976949318 + ], + [ + -14.468254643011173, + 0.19239333781356502 + ], + [ + -14.466403764240903, + 0.08713239595832178 + ], + [ + -14.466995307723392, + 0.08179114400239364 + ] + ], + "yaw_rad": -3.1302674382768734, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.553373336791992, + 0.13423804938793182, + 0.12325377762317657 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.467035445149786, + 0.13999653859909741, + 0.11882864422271451 + ], + "intended_face_normal": [ + -0.9999358367390894, + -0.011330397313867709, + -0.00021252958414607866 + ], + "commanded_contact_point": [ + -14.52528791905802, + 0.14190523103978214, + 0.11881158979208742 + ], + "centerline_face_intersection": [ + -14.467045354240362, + 0.14087141878442905, + 0.11884505476126982 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.555246353149414, + 0.14062710106372833, + 0.12927238643169403 + ], + "box_pose": [ + -14.394107818603516, + 0.1389133632183075, + 0.136003315448761, + -4.8769852583063766e-05, + -0.010147804394364357, + 0.9999324679374695, + -0.005666076205670834 + ], + "box_yaw_rad": -3.130262014147574, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003605000318928784 + } + } + }, + { + "simulation_time_ns": 4460000000, + "center": [ + -14.390450811000443, + 0.1403898415904092, + 0.11885838798110214 + ], + "face_center": [ + -14.467660027685273, + 0.13951727994531418, + 0.11843107593525987 + ], + "face_normal": [ + -0.9999210360445514, + -0.011300370365596224, + -0.005534032359596222 + ], + "footprint_xy": [ + [ + -14.468923050790844, + 0.08129906135627683 + ], + [ + -14.311978571210041, + 0.08129906135627683 + ], + [ + -14.311978571210041, + 0.1994806218245416 + ], + [ + -14.468923050790844, + 0.1994806218245416 + ] + ], + "projected_box_corners": [ + [ + -14.313243323129903, + 0.1994806218245416 + ], + [ + -14.314504617421182, + 0.19364107646085033 + ], + [ + -14.311978571210041, + 0.08888373001015815 + ], + [ + -14.313239865501322, + 0.08304418464646687 + ], + [ + -14.467661756499563, + 0.19773549853435157 + ], + [ + -14.468923050790844, + 0.19189595317066027 + ], + [ + -14.466397004579703, + 0.0871386067199681 + ], + [ + -14.467658298870981, + 0.08129906135627683 + ] + ], + "yaw_rad": -3.130291871921848, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.548930168151855, + 0.13196353614330292, + 0.12174314260482788 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.467329203626038, + 0.13976286688594342, + 0.11863837298922691 + ], + "intended_face_normal": [ + -0.9999321571122106, + -0.011324931162199677, + -0.0027184899423309643 + ], + "commanded_contact_point": [ + -14.521728685139182, + 0.14178635429234873, + 0.11882750368549104 + ], + "centerline_face_intersection": [ + -14.467339681001212, + 0.1406373250006581, + 0.11884828204348907 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.553373336791992, + 0.13423804938793182, + 0.12325377762317657 + ], + "box_pose": [ + -14.394444465637207, + 0.1386454850435257, + 0.13599196076393127, + -0.0012961815809831023, + -0.011125925928354263, + 0.9999211430549622, + -0.005677334498614073 + ], + "box_yaw_rad": -3.1302674382768734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003561254136127522 + } + } + }, + { + "simulation_time_ns": 4480000000, + "center": [ + -14.390800149693908, + 0.1401256179250492, + 0.11886950523911378 + ], + "face_center": [ + -14.468007764696717, + 0.1392557516443757, + 0.1182137792565554 + ], + "face_normal": [ + -0.9999002929828529, + -0.011265463243096963, + -0.008492175312664836 + ], + "footprint_xy": [ + [ + -14.469625613909022, + 0.08077328389593702 + ], + [ + -14.311974685478793, + 0.08077328389593702 + ], + [ + -14.311974685478793, + 0.1994779519541614 + ], + [ + -14.469625613909022, + 0.1994779519541614 + ] + ], + "projected_box_corners": [ + [ + -14.31324554230126, + 0.1994779519541614 + ], + [ + -14.315210383903404, + 0.19310362794763158 + ], + [ + -14.311974685478793, + 0.08888734046381386 + ], + [ + -14.313939527080935, + 0.08251301645728401 + ], + [ + -14.46766077230688, + 0.1977382193928144 + ], + [ + -14.469625613909022, + 0.19136389538628457 + ], + [ + -14.466389915484411, + 0.08714760790246685 + ], + [ + -14.468354757086555, + 0.08077328389593702 + ] + ], + "yaw_rad": -3.130326543664362, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.543844223022461, + 0.13450194895267487, + 0.12181209027767181 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.467660027685273, + 0.13951727994531418, + 0.11843107593525987 + ], + "intended_face_normal": [ + -0.9999210360445514, + -0.011300370365596224, + -0.005534032359596222 + ], + "commanded_contact_point": [ + -14.518224269667437, + 0.14164806031179072, + 0.11885020321649602 + ], + "centerline_face_intersection": [ + -14.467672222619989, + 0.1403898415904092, + 0.11885838798110214 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.548930168151855, + 0.13196353614330292, + 0.12174314260482788 + ], + "box_pose": [ + -14.394824028015137, + 0.13836246728897095, + 0.13598574697971344, + -0.002698175609111786, + -0.012156769633293152, + 0.9999063611030579, + -0.00568351848050952 + ], + "box_yaw_rad": -3.130291871921848, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035072166018617927 + } + } + }, + { + "simulation_time_ns": 4500000000, + "center": [ + -14.390961066695182, + 0.1399536441328942, + 0.11889781153456082 + ], + "face_center": [ + -14.46816769629954, + 0.13908402340604487, + 0.11813628163686146 + ], + "face_normal": [ + -0.9998875312857141, + -0.011262283124908855, + -0.009862420537107442 + ], + "footprint_xy": [ + [ + -14.46995046891672, + 0.08043127461560923 + ], + [ + -14.311971664473644, + 0.08043127461560923 + ], + [ + -14.311971664473644, + 0.1994760136501792 + ], + [ + -14.46995046891672, + 0.1994760136501792 + ] + ], + "projected_box_corners": [ + [ + -14.313247702757751, + 0.1994760136501792 + ], + [ + -14.315537209708001, + 0.19275676401828373 + ], + [ + -14.311971664473644, + 0.08888976570120333 + ], + [ + -14.314261171423894, + 0.08217051606930788 + ], + [ + -14.46766096196647, + 0.19773677219648053 + ], + [ + -14.46995046891672, + 0.1910175225645851 + ], + [ + -14.466384923682362, + 0.08715052424750466 + ], + [ + -14.468674430632612, + 0.08043127461560923 + ] + ], + "yaw_rad": -3.130329579958005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.539301872253418, + 0.1396101415157318, + 0.1212778091430664 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.468007764696717, + 0.1392557516443757, + 0.1182137792565554 + ], + "intended_face_normal": [ + -0.9999002929828529, + -0.011265463243096963, + -0.008492175312664836 + ], + "commanded_contact_point": [ + -14.514776848095114, + 0.14148767400493195, + 0.11887731059552642 + ], + "centerline_face_intersection": [ + -14.468023163281686, + 0.1401256179250492, + 0.11886950523911378 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.543844223022461, + 0.13450194895267487, + 0.12181209027767181 + ], + "box_pose": [ + -14.395223617553711, + 0.13806015253067017, + 0.13597939908504486, + -0.004171107430011034, + -0.01326333824545145, + 0.9998871088027954, + -0.005688696634024382 + ], + "box_yaw_rad": -3.130326543664362, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00345125688333184 + } + } + }, + { + "simulation_time_ns": 4520000000, + "center": [ + -14.390948693933543, + 0.1399493585791128, + 0.11890446805098112 + ], + "face_center": [ + -14.468155401763457, + 0.13907882612602743, + 0.11815151763263475 + ], + "face_normal": [ + -0.9998885443691505, + -0.011274090708014488, + -0.009751309425614332 + ], + "footprint_xy": [ + [ + -14.469925262265388, + 0.08042186384631264 + ], + [ + -14.311972125601699, + 0.08042186384631264 + ], + [ + -14.311972125601699, + 0.19947685331191295 + ], + [ + -14.469925262265388, + 0.19947685331191295 + ] + ], + "projected_box_corners": [ + [ + -14.313249163862595, + 0.19947685331191295 + ], + [ + -14.315511846605558, + 0.1927490577010028 + ], + [ + -14.311972125601699, + 0.08889072436339354 + ], + [ + -14.314234808344661, + 0.08216292875248338 + ], + [ + -14.467662579522425, + 0.19773578840574224 + ], + [ + -14.469925262265388, + 0.19100799279483208 + ], + [ + -14.466385541261529, + 0.0871496594572228 + ], + [ + -14.468648224004491, + 0.08042186384631264 + ] + ], + "yaw_rad": -3.130317783969015, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.534220695495605, + 0.14155104756355286, + 0.11903239786624908 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.46816769629954, + 0.13908402340604487, + 0.11813628163686146 + ], + "intended_face_normal": [ + -0.9998875312857141, + -0.011262283124908855, + -0.009862420537107442 + ], + "commanded_contact_point": [ + -14.511303491152608, + 0.14135186847795217, + 0.11890483823577983 + ], + "centerline_face_intersection": [ + -14.468185065890522, + 0.1399536441328942, + 0.11889781153456082 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.539301872253418, + 0.1396101415157318, + 0.1212778091430664 + ], + "box_pose": [ + -14.395407676696777, + 0.13786353170871735, + 0.1359987109899521, + -0.0048521473072469234, + -0.013978577218949795, + 0.9998741745948792, + -0.005699684843420982 + ], + "box_yaw_rad": -3.130329579958005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003476119871665327 + } + } + }, + { + "simulation_time_ns": 4540000000, + "center": [ + -14.390912096489902, + 0.13996556068061558, + 0.11890863761241166 + ], + "face_center": [ + -14.468119047043688, + 0.13909380177321992, + 0.11817989160176615 + ], + "face_normal": [ + -0.999891687837178, + -0.011289974271107957, + -0.009437843009760263 + ], + "footprint_xy": [ + [ + -14.469851781063928, + 0.08045301287703284 + ], + [ + -14.311972411915876, + 0.08045301287703284 + ], + [ + -14.311972411915876, + 0.1994781084841983 + ], + [ + -14.469851781063928, + 0.1994781084841983 + ] + ], + "projected_box_corners": [ + [ + -14.313250099794494, + 0.1994781084841983 + ], + [ + -14.315437879956358, + 0.19278309782901598 + ], + [ + -14.311972411915876, + 0.08889154134700648 + ], + [ + -14.31416019207774, + 0.08219653069182416 + ], + [ + -14.467664000902063, + 0.197734590669407 + ], + [ + -14.469851781063928, + 0.19103958001422466 + ], + [ + -14.466386313023447, + 0.08714802353221517 + ], + [ + -14.46857409318531, + 0.08045301287703284 + ] + ], + "yaw_rad": -3.130301936150507, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.527848243713379, + 0.14038480818271637, + 0.11870025098323822 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.468155401763457, + 0.13907882612602743, + 0.11815151763263475 + ], + "intended_face_normal": [ + -0.9998885443691505, + -0.011274090708014488, + -0.009751309425614332 + ], + "commanded_contact_point": [ + -14.507800816023188, + 0.14128431347696774, + 0.11891470581139046 + ], + "centerline_face_intersection": [ + -14.468172614885807, + 0.1399493585791128, + 0.11890446805098112 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.534220695495605, + 0.14155104756355286, + 0.11903239786624908 + ], + "box_pose": [ + -14.395393371582031, + 0.137858584523201, + 0.13600578904151917, + -0.004796408582478762, + -0.013996683992445469, + 0.9998741745948792, + -0.005704896990209818 + ], + "box_yaw_rad": -3.130317783969015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035033404215782595 + } + } + }, + { + "simulation_time_ns": 4560000000, + "center": [ + -14.390853876213992, + 0.14000505839100338, + 0.11890945302482249 + ], + "face_center": [ + -14.468061168821333, + 0.13913317067524136, + 0.11821954216900289 + ], + "face_normal": [ + -0.9998961177039916, + -0.011291642442353055, + -0.008934896730600422 + ], + "footprint_xy": [ + [ + -14.469733210311489, + 0.08053187897367103 + ], + [ + -14.311974542116493, + 0.08053187897367103 + ], + [ + -14.311974542116493, + 0.1994782378083357 + ], + [ + -14.469733210311489, + 0.1994782378083357 + ] + ], + "projected_box_corners": [ + [ + -14.31325054901546, + 0.1994782378083357 + ], + [ + -14.315318625096806, + 0.19286322434981273 + ], + [ + -14.311974542116493, + 0.08889066786371805 + ], + [ + -14.314042618197838, + 0.08227565440519506 + ], + [ + -14.467665134230144, + 0.1977344623768117 + ], + [ + -14.469733210311489, + 0.19111944891828872 + ], + [ + -14.466389127331176, + 0.08714689243219402 + ], + [ + -14.468457203412521, + 0.08053187897367103 + ] + ], + "yaw_rad": -3.130300318035972, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.522777557373047, + 0.13703790307044983, + 0.11921432614326477 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.468119047043688, + 0.13909380177321992, + 0.11817989160176615 + ], + "intended_face_normal": [ + -0.999891687837178, + -0.011289974271107957, + -0.009437843009760263 + ], + "commanded_contact_point": [ + -14.504334717587513, + 0.14122657571491878, + 0.11892213563748844 + ], + "centerline_face_intersection": [ + -14.468135774664944, + 0.13996556068061558, + 0.11890863761241166 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.527848243713379, + 0.14038480818271637, + 0.11870025098323822 + ], + "box_pose": [ + -14.39535140991211, + 0.13787706196308136, + 0.13601163029670715, + -0.004639957100152969, + -0.013929187320172787, + 0.9998759031295776, + -0.005710326600819826 + ], + "box_yaw_rad": -3.130301936150507, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034665872579919127 + } + } + }, + { + "simulation_time_ns": 4580000000, + "center": [ + -14.390770357082634, + 0.14006471599778517, + 0.11890842333311064 + ], + "face_center": [ + -14.467978109644404, + 0.1391911343486512, + 0.1182722608554079 + ], + "face_normal": [ + -0.9999020744812779, + -0.01131358023274906, + -0.00823881229612546 + ], + "footprint_xy": [ + [ + -14.469567240324904, + 0.08064929432990822 + ], + [ + -14.311973473840364, + 0.08064929432990822 + ], + [ + -14.311973473840364, + 0.19948013766566214 + ], + [ + -14.469567240324904, + 0.19948013766566214 + ] + ], + "projected_box_corners": [ + [ + -14.313249350056578, + 0.19948013766566214 + ], + [ + -14.315151735201365, + 0.19298554333059967 + ], + [ + -14.311973473840364, + 0.0888910519632386 + ], + [ + -14.31387585898515, + 0.08239645762817614 + ], + [ + -14.467664855180118, + 0.1977329743673942 + ], + [ + -14.469567240324904, + 0.19123838003233173 + ], + [ + -14.466388978963904, + 0.08714388866497069 + ], + [ + -14.468291364108689, + 0.08064929432990822 + ] + ], + "yaw_rad": -3.1302784481668904, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.518383026123047, + 0.13383324444293976, + 0.12219610810279846 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.468061168821333, + 0.13913317067524136, + 0.11821954216900289 + ], + "intended_face_normal": [ + -0.9998961177039916, + -0.011291642442353055, + -0.008934896730600422 + ], + "commanded_contact_point": [ + -14.500910884454818, + 0.14118205713910126, + 0.11892624956978368 + ], + "centerline_face_intersection": [ + -14.468077212262884, + 0.14000505839100338, + 0.11890945302482249 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.522777557373047, + 0.13703790307044983, + 0.11921432614326477 + ], + "box_pose": [ + -14.395284652709961, + 0.1379222720861435, + 0.13601535558700562, + -0.004389428999274969, + -0.013763832859694958, + 0.9998793005943298, + -0.00570692541077733 + ], + "box_yaw_rad": -3.130300318035972, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003424125019413262 + } + } + }, + { + "simulation_time_ns": 4600000000, + "center": [ + -14.390665411705804, + 0.1401466832105871, + 0.11890505834308215 + ], + "face_center": [ + -14.467873697651985, + 0.13927177991715492, + 0.11833804434426633 + ], + "face_normal": [ + -0.9999089822355114, + -0.011330696582230486, + -0.0073432842540296014 + ], + "footprint_xy": [ + [ + -14.469355676873759, + 0.08081096187586123 + ], + [ + -14.311975146537849, + 0.08081096187586123 + ], + [ + -14.311975146537849, + 0.19948240454531296 + ], + [ + -14.469355676873759, + 0.19948240454531296 + ] + ], + "projected_box_corners": [ + [ + -14.31324970905481, + 0.19948240454531296 + ], + [ + -14.314939104981395, + 0.19315186974930484 + ], + [ + -14.311975146537849, + 0.08889130325873372 + ], + [ + -14.313664542464434, + 0.0825607684627256 + ], + [ + -14.467666280947174, + 0.19773259795844858 + ], + [ + -14.469355676873759, + 0.19140206316244046 + ], + [ + -14.466391718430211, + 0.08714149667186935 + ], + [ + -14.468081114356796, + 0.08081096187586123 + ] + ], + "yaw_rad": -3.130261410610047, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.514568328857422, + 0.13209876418113708, + 0.12517166137695312 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.467978109644404, + 0.1391911343486512, + 0.1182722608554079 + ], + "intended_face_normal": [ + -0.9999020744812779, + -0.01131358023274906, + -0.00823881229612546 + ], + "commanded_contact_point": [ + -14.497531773644438, + 0.14115156786132668, + 0.11892728168123765 + ], + "centerline_face_intersection": [ + -14.467993233084261, + 0.14006471599778517, + 0.11890842333311064 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.518383026123047, + 0.13383324444293976, + 0.12219610810279846 + ], + "box_pose": [ + -14.39518928527832, + 0.13799044489860535, + 0.13601842522621155, + -0.004042677115648985, + -0.013514713384211063, + 0.9998841881752014, + -0.005712087266147137 + ], + "box_yaw_rad": -3.1302784481668904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003379248515593634 + } + } + }, + { + "simulation_time_ns": 4620000000, + "center": [ + -14.390532777885163, + 0.14025402266837061, + 0.11889881055113016 + ], + "face_center": [ + -14.46774162935492, + 0.13937849290066828, + 0.11841825040133486 + ], + "face_normal": [ + -0.999916306217608, + -0.011338809924499274, + -0.0062236378439965625 + ], + "footprint_xy": [ + [ + -14.469089077900646, + 0.08102340660856712 + ], + [ + -14.31197647786968, + 0.08102340660856712 + ], + [ + -14.31197647786968, + 0.19948463872817412 + ], + [ + -14.469089077900646, + 0.19948463872817412 + ] + ], + "projected_box_corners": [ + [ + -14.31324809267911, + 0.19948463872817412 + ], + [ + -14.31467137496113, + 0.1933680986899107 + ], + [ + -14.31197647786968, + 0.08889100618223522 + ], + [ + -14.3133997601517, + 0.0827744661439718 + ], + [ + -14.467665795618625, + 0.19773357919276943 + ], + [ + -14.469089077900646, + 0.191617039154506 + ], + [ + -14.466394180809196, + 0.08713994664683053 + ], + [ + -14.467817463091217, + 0.08102340660856712 + ] + ], + "yaw_rad": -3.1302533806208506, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.510787010192871, + 0.13273943960666656, + 0.12613148987293243 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.467873697651985, + 0.13927177991715492, + 0.11833804434426633 + ], + "intended_face_normal": [ + -0.9999089822355114, + -0.011330696582230486, + -0.0073432842540296014 + ], + "commanded_contact_point": [ + -14.49420393692752, + 0.1411381633145224, + 0.11892444402204169 + ], + "centerline_face_intersection": [ + -14.467887754222227, + 0.1401466832105871, + 0.11890505834308215 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.514568328857422, + 0.13209876418113708, + 0.12517166137695312 + ], + "box_pose": [ + -14.395069122314453, + 0.1380840688943863, + 0.13602039217948914, + -0.0035967614967375994, + -0.013175196014344692, + 0.9998904466629028, + -0.005713362246751785 + ], + "box_yaw_rad": -3.130261410610047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003327864923438995 + } + } + }, + { + "simulation_time_ns": 4640000000, + "center": [ + -14.3903826647612, + 0.14037922662232719, + 0.11889098654862362 + ], + "face_center": [ + -14.46759204972513, + 0.13950220544473624, + 0.118508360698469 + ], + "face_normal": [ + -0.9999232153933251, + -0.011358124873996608, + -0.004955310427067328 + ], + "footprint_xy": [ + [ + -14.468787791100457, + 0.08127032775057974 + ], + [ + -14.311977538421944, + 0.08127032775057974 + ], + [ + -14.311977538421944, + 0.19948812549407463 + ], + [ + -14.468787791100457, + 0.19948812549407463 + ] + ], + "projected_box_corners": [ + [ + -14.313247183013441, + 0.19948812549407463 + ], + [ + -14.314369021172597, + 0.19362085508397073 + ], + [ + -14.311977538421944, + 0.08889164051586555 + ], + [ + -14.3130993765811, + 0.08302437010576165 + ], + [ + -14.467665952941301, + 0.1977340831388927 + ], + [ + -14.468787791100457, + 0.1918668127287888 + ], + [ + -14.466396308349804, + 0.08713759816068364 + ], + [ + -14.46751814650896, + 0.08127032775057974 + ] + ], + "yaw_rad": -3.1302341450202595, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.507482528686523, + 0.1342904269695282, + 0.12465609610080719 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.46774162935492, + 0.13937849290066828, + 0.11841825040133486 + ], + "intended_face_normal": [ + -0.999916306217608, + -0.011338809924499274, + -0.0062236378439965625 + ], + "commanded_contact_point": [ + -14.490928178784834, + 0.1411458162136362, + 0.11891668460678921 + ], + "centerline_face_intersection": [ + -14.467754554779193, + 0.14025402266837061, + 0.11889881055113016 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.510787010192871, + 0.13273943960666656, + 0.12613148987293243 + ], + "box_pose": [ + -14.394917488098145, + 0.13820667564868927, + 0.13602085411548615, + -0.003039444563910365, + -0.01273223478347063, + 0.9998980164527893, + -0.005708686076104641 + ], + "box_yaw_rad": -3.1302533806208506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032757762720852807 + } + } + }, + { + "simulation_time_ns": 4660000000, + "center": [ + -14.390229427056282, + 0.14050676639217866, + 0.11888347194216985 + ], + "face_center": [ + -14.467439230629655, + 0.13962825874014373, + 0.11860186331149632 + ], + "face_normal": [ + -0.9999286367200193, + -0.011377375905542803, + -0.0036470567353585857 + ], + "footprint_xy": [ + [ + -14.46847859552565, + 0.08152295986161326 + ], + [ + -14.311980258586916, + 0.08152295986161326 + ], + [ + -14.311980258586916, + 0.19949057292274402 + ], + [ + -14.46847859552565, + 0.19949057292274402 + ] + ], + "projected_box_corners": [ + [ + -14.313248100586208, + 0.19949057292274402 + ], + [ + -14.314058988378903, + 0.1938792624327943 + ], + [ + -14.311980258586916, + 0.08889128565563281 + ], + [ + -14.312791146379611, + 0.08327997516568308 + ], + [ + -14.467667707732952, + 0.1977335576186742 + ], + [ + -14.46847859552565, + 0.19212224712872447 + ], + [ + -14.46639986573366, + 0.08713427035156299 + ], + [ + -14.467210753526357, + 0.08152295986161326 + ] + ], + "yaw_rad": -3.1302149566800233, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.504289627075195, + 0.13691851496696472, + 0.1233062595129013 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.46759204972513, + 0.13950220544473624, + 0.118508360698469 + ], + "intended_face_normal": [ + -0.9999232153933251, + -0.011358124873996608, + -0.004955310427067328 + ], + "commanded_contact_point": [ + -14.487715355390588, + 0.14117216070461797, + 0.11890503613899062 + ], + "centerline_face_intersection": [ + -14.467603908075432, + 0.14037922662232719, + 0.11889098654862362 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.507482528686523, + 0.1342904269695282, + 0.12465609610080719 + ], + "box_pose": [ + -14.394745826721191, + 0.13834962248802185, + 0.13602064549922943, + -0.002408138941973448, + -0.01221614982932806, + 0.9999061822891235, + -0.005709016229957342 + ], + "box_yaw_rad": -3.1302341450202595, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032129525177980924 + } + } + }, + { + "simulation_time_ns": 4680000000, + "center": [ + -14.39006858468681, + 0.1406428896990347, + 0.11887486495033936 + ], + "face_center": [ + -14.467278709962299, + 0.1397632959703464, + 0.11869874398996935 + ], + "face_normal": [ + -0.9999328030194201, + -0.011391441465836405, + -0.0022809071341989232 + ], + "footprint_xy": [ + [ + -14.468154654681657, + 0.08179352668913176 + ], + [ + -14.311982514691964, + 0.08179352668913176 + ], + [ + -14.311982514691964, + 0.19949225270893767 + ], + [ + -14.468154654681657, + 0.19949225270893767 + ] + ], + "projected_box_corners": [ + [ + -14.313248126312322, + 0.19949225270893767 + ], + [ + -14.31373440413068, + 0.19415489839672895 + ], + [ + -14.311982514691964, + 0.08889006845871715 + ], + [ + -14.312468792510321, + 0.08355271414650842 + ], + [ + -14.4676683768633, + 0.197733065251561 + ], + [ + -14.468154654681657, + 0.19239571093935226 + ], + [ + -14.466402765242941, + 0.0871308810013405 + ], + [ + -14.466889043061299, + 0.08179352668913176 + ] + ], + "yaw_rad": -3.130200939399584, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.501941680908203, + 0.13975349068641663, + 0.12335710227489471 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.467439230629655, + 0.13962825874014373, + 0.11860186331149632 + ], + "intended_face_normal": [ + -0.9999286367200193, + -0.011377375905542803, + -0.0036470567353585857 + ], + "commanded_contact_point": [ + -14.484580437472129, + 0.1412081581977125, + 0.11889156397465306 + ], + "centerline_face_intersection": [ + -14.467450251699049, + 0.14050676639217866, + 0.11888347194216985 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.504289627075195, + 0.13691851496696472, + 0.1233062595129013 + ], + "box_pose": [ + -14.394570350646973, + 0.13849538564682007, + 0.13602092862129211, + -0.0017569545889273286, + -0.01168624684214592, + 0.9999138712882996, + -0.00570971192792058 + ], + "box_yaw_rad": -3.1302149566800233, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003135153532794668 + } + } + }, + { + "simulation_time_ns": 4700000000, + "center": [ + -14.389896287369638, + 0.1407893478146223, + 0.11886586531220306 + ], + "face_center": [ + -14.467106582728503, + 0.13990944871683278, + 0.11880387838065161 + ], + "face_normal": [ + -0.9999350057350127, + -0.011395396239646197, + -0.0008027802829699785 + ], + "footprint_xy": [ + [ + -14.467805311155026, + 0.08208698442483664 + ], + [ + -14.311987263584252, + 0.08208698442483664 + ], + [ + -14.311987263584252, + 0.19949171120440795 + ], + [ + -14.467805311155026, + 0.19949171120440795 + ] + ], + "projected_box_corners": [ + [ + -14.313249600269803, + 0.19949171120440795 + ], + [ + -14.313384720437297, + 0.1944519274664496 + ], + [ + -14.311987263584252, + 0.08888656635837397 + ], + [ + -14.312122383751746, + 0.08384678262041564 + ], + [ + -14.467670190987532, + 0.19773191300882895 + ], + [ + -14.467805311155026, + 0.1926921292708706 + ], + [ + -14.46640785430198, + 0.08712676816279497 + ], + [ + -14.466542974469474, + 0.08208698442483664 + ] + ], + "yaw_rad": -3.1301970099742893, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.500054359436035, + 0.14088988304138184, + 0.1239977478981018 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.467278709962299, + 0.1397632959703464, + 0.11869874398996935 + ], + "intended_face_normal": [ + -0.9999328030194201, + -0.011391441465836405, + -0.0022809071341989232 + ], + "commanded_contact_point": [ + -14.481526769990017, + 0.14125831705234082, + 0.11887509373195246 + ], + "centerline_face_intersection": [ + -14.467289087582882, + 0.1406428896990347, + 0.11887486495033936 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.501941680908203, + 0.13975349068641663, + 0.12335710227489471 + ], + "box_pose": [ + -14.394386291503906, + 0.138651043176651, + 0.1360204666852951, + -0.0010770693188533187, + -0.011119009926915169, + 0.9999213814735413, + -0.005708145443350077 + ], + "box_yaw_rad": -3.130200939399584, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030541238139438816 + } + } + }, + { + "simulation_time_ns": 4720000000, + "center": [ + -14.389708078399275, + 0.1409523635899016, + 0.11885474459938151 + ], + "face_center": [ + -14.466918371382812, + 0.1400730241829379, + 0.11891697351166167 + ], + "face_normal": [ + -0.9999349749726154, + -0.011388147796332893, + 0.0008059141267176047 + ], + "footprint_xy": [ + [ + -14.467670813330153, + 0.0824149165232023 + ], + [ + -14.311745343468397, + 0.0824149165232023 + ], + [ + -14.311745343468397, + 0.19948981065660087 + ], + [ + -14.467670813330153, + 0.19948981065660087 + ] + ], + "projected_box_corners": [ + [ + -14.31325022736308, + 0.19948981065660087 + ], + [ + -14.313003297617216, + 0.19478184695702944 + ], + [ + -14.311992273214262, + 0.08888155903670114 + ], + [ + -14.311745343468397, + 0.0841735953371297 + ], + [ + -14.467670813330153, + 0.1977311318426735 + ], + [ + -14.467423883584289, + 0.19302316814310205 + ], + [ + -14.466412859181334, + 0.08712288022277374 + ], + [ + -14.466165929435471, + 0.0824149165232023 + ] + ], + "yaw_rad": -3.1302042575977036, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.498392105102539, + 0.13966049253940582, + 0.12504877150058746 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.467106582728503, + 0.13990944871683278, + 0.11880387838065161 + ], + "intended_face_normal": [ + -0.9999350057350127, + -0.011395396239646197, + -0.0008027802829699785 + ], + "commanded_contact_point": [ + -14.478557800768469, + 0.14132447340401283, + 0.11885542153123607 + ], + "centerline_face_intersection": [ + -14.467116620159848, + 0.1407893478146223, + 0.11886586531220306 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.500054359436035, + 0.14088988304138184, + 0.1239977478981018 + ], + "box_pose": [ + -14.39418888092041, + 0.13881877064704895, + 0.136020228266716, + -0.00034153033629991114, + -0.010502880439162254, + 0.9999285936355591, + -0.005701692309230566 + ], + "box_yaw_rad": -3.1301970099742893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002969771354304821 + } + } + }, + { + "simulation_time_ns": 4740000000, + "center": [ + -14.389500991130335, + 0.14113565153533794, + 0.11884151280278173 + ], + "face_center": [ + -14.466711055743755, + 0.14025706511779312, + 0.11904178108951118 + ], + "face_normal": [ + -0.9999320173971682, + -0.011378395981819502, + 0.0025936343010810985 + ], + "footprint_xy": [ + [ + -14.467673524304, + 0.08278413070278164 + ], + [ + -14.311328457956668, + 0.08278413070278164 + ], + [ + -14.311328457956668, + 0.19948717236789426 + ], + [ + -14.467673524304, + 0.19948717236789426 + ] + ], + "projected_box_corners": [ + [ + -14.31325339507716, + 0.19948717236789426 + ], + [ + -14.312581931404509, + 0.19515281217245686 + ], + [ + -14.31199992162932, + 0.08887566373330871 + ], + [ + -14.311328457956668, + 0.08454130353787132 + ], + [ + -14.467673524304, + 0.1977299995328046 + ], + [ + -14.467002060631348, + 0.1933956393373672 + ], + [ + -14.46642005085616, + 0.08711849089821903 + ], + [ + -14.465748587183509, + 0.08278413070278164 + ] + ], + "yaw_rad": -3.130213975130075, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.49709701538086, + 0.13684147596359253, + 0.12536096572875977 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.466918371382812, + 0.1400730241829379, + 0.11891697351166167 + ], + "intended_face_normal": [ + -0.9999349749726154, + -0.011388147796332893, + 0.0008059141267176047 + ], + "commanded_contact_point": [ + -14.475676178997857, + 0.14141198765770702, + 0.11883091346512209 + ], + "centerline_face_intersection": [ + -14.466928413565123, + 0.1409523635899016, + 0.11885474459938151 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.498392105102539, + 0.13966049253940582, + 0.12504877150058746 + ], + "box_pose": [ + -14.393973350524902, + 0.13900555670261383, + 0.13601863384246826, + 0.0004588375159073621, + -0.009815731085836887, + 0.9999355673789978, + -0.005689936690032482 + ], + "box_yaw_rad": -3.1302042575977036, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00288305452927459 + } + } + }, + { + "simulation_time_ns": 4760000000, + "center": [ + -14.389264366768899, + 0.1413423698130872, + 0.11882656205182747 + ], + "face_center": [ + -14.466473851244695, + 0.14046402894327412, + 0.11918211855093458 + ], + "face_normal": [ + -0.9999245041514842, + -0.01137521594253324, + 0.004604740706162453 + ], + "footprint_xy": [ + [ + -14.467673421134215, + 0.08319927785873346 + ], + [ + -14.310855312403584, + 0.08319927785873346 + ], + [ + -14.310855312403584, + 0.19948546176744095 + ], + [ + -14.467673421134215, + 0.19948546176744095 + ] + ], + "projected_box_corners": [ + [ + -14.313254452182623, + 0.19948546176744095 + ], + [ + -14.312105333557438, + 0.19557076615895846 + ], + [ + -14.312004431028768, + 0.08887065520684212 + ], + [ + -14.310855312403584, + 0.08495595959835965 + ], + [ + -14.467673421134215, + 0.19772878002781474 + ], + [ + -14.466524302509029, + 0.1938140844193323 + ], + [ + -14.46642339998036, + 0.08711397346721593 + ], + [ + -14.465274281355176, + 0.08319927785873346 + ] + ], + "yaw_rad": -3.130217069507939, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.495361328125, + 0.1340191811323166, + 0.12371227145195007 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.466711055743755, + 0.14025706511779312, + 0.11904178108951118 + ], + "intended_face_normal": [ + -0.9999320173971682, + -0.011378395981819502, + 0.0025936343010810985 + ], + "commanded_contact_point": [ + -14.472885418096373, + 0.14152490082564473, + 0.11880076315776261 + ], + "centerline_face_intersection": [ + -14.466721554696676, + 0.14113565153533794, + 0.11884151280278173 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.49709701538086, + 0.13684147596359253, + 0.12536096572875977 + ], + "box_pose": [ + -14.393735885620117, + 0.1392156183719635, + 0.13601593673229218, + 0.0013482295908033848, + -0.009041989222168922, + 0.9999421238899231, + -0.005677335895597935 + ], + "box_yaw_rad": -3.130213975130075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027932069085148457 + } + } + }, + { + "simulation_time_ns": 4780000000, + "center": [ + -14.38902619650365, + 0.14152814351439708, + 0.11882138219124702 + ], + "face_center": [ + -14.46623483551593, + 0.1406500937892772, + 0.11933358743727657 + ], + "face_normal": [ + -0.9999135547235318, + -0.011371445386169677, + 0.006633467120486163 + ], + "footprint_xy": [ + [ + -14.46767414299565, + 0.08357258030716251 + ], + [ + -14.310378250011652, + 0.08357258030716251 + ], + [ + -14.310378250011652, + 0.19948370672163165 + ], + [ + -14.46767414299565, + 0.19948370672163165 + ] + ], + "projected_box_corners": [ + [ + -14.313256864971091, + 0.19948370672163165 + ], + [ + -14.311625361508902, + 0.19594623886984713 + ], + [ + -14.312009753473841, + 0.08886614760918678 + ], + [ + -14.310378250011652, + 0.08532867975740224 + ], + [ + -14.46767414299565, + 0.19772760727139194 + ], + [ + -14.46604263953346, + 0.1941901394196074 + ], + [ + -14.4664270314984, + 0.08711004815894705 + ], + [ + -14.46479552803621, + 0.08357258030716251 + ] + ], + "yaw_rad": -3.1302207153463226, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.492059707641602, + 0.13222827017307281, + 0.11782476305961609 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.466473851244695, + 0.14046402894327412, + 0.11918211855093458 + ], + "intended_face_normal": [ + -0.9999245041514842, + -0.01137521594253324, + 0.004604740706162453 + ], + "commanded_contact_point": [ + -14.47018275046137, + 0.1416670378330174, + 0.11876448760700868 + ], + "centerline_face_intersection": [ + -14.46648551055611, + 0.1413423698130872, + 0.11882656205182747 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.495361328125, + 0.1340191811323166, + 0.12371227145195007 + ], + "box_pose": [ + -14.393465042114258, + 0.13945238292217255, + 0.1360127180814743, + 0.0023488227743655443, + -0.00817287527024746, + 0.999947726726532, + -0.00566870765760541 + ], + "box_yaw_rad": -3.130217069507939, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027066457451498703 + } + } + }, + { + "simulation_time_ns": 4800000000, + "center": [ + -14.388823749645711, + 0.14168649770610625, + 0.1188158086915224 + ], + "face_center": [ + -14.466031359141013, + 0.14080872862837807, + 0.11946061696902746 + ], + "face_normal": [ + -0.999900221656232, + -0.011367810778247188, + 0.008350782310418522 + ], + "footprint_xy": [ + [ + -14.46767385024684, + 0.0838912059987599 + ], + [ + -14.309973649044581, + 0.0838912059987599 + ], + [ + -14.309973649044581, + 0.19948178941345257 + ], + [ + -14.46767385024684, + 0.19948178941345257 + ] + ], + "projected_box_corners": [ + [ + -14.313258631256236, + 0.19948178941345257 + ], + [ + -14.311218804361951, + 0.1962663423447793 + ], + [ + -14.312013475938864, + 0.08886219122288955 + ], + [ + -14.309973649044581, + 0.08564674415421628 + ], + [ + -14.46767385024684, + 0.1977262512579962 + ], + [ + -14.465634023352557, + 0.19451080418932293 + ], + [ + -14.46642869492947, + 0.08710665306743318 + ], + [ + -14.464388868035186, + 0.0838912059987599 + ] + ], + "yaw_rad": -3.1302241982221415, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.489128112792969, + 0.13198554515838623, + 0.11404861509799957 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.46623483551593, + 0.1406500937892772, + 0.11933358743727657 + ], + "intended_face_normal": [ + -0.9999135547235318, + -0.011371445386169677, + 0.006633467120486163 + ], + "commanded_contact_point": [ + -14.467596564058915, + 0.141802577479973, + 0.118733981994967 + ], + "centerline_face_intersection": [ + -14.46624818589131, + 0.14152814351439708, + 0.11882138219124702 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.492059707641602, + 0.13222827017307281, + 0.11782476305961609 + ], + "box_pose": [ + -14.393192291259766, + 0.1396651715040207, + 0.13601890206336975, + 0.0033587468788027763, + -0.007392279338091612, + 0.9999510645866394, + -0.005661170929670334 + ], + "box_yaw_rad": -3.1302207153463226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025899153840438856 + } + } + }, + { + "simulation_time_ns": 4820000000, + "center": [ + -14.386419887975281, + 0.14293066541271393, + 0.11891433220369084 + ], + "face_center": [ + -14.463623261858443, + 0.1428801518520283, + 0.12027142590802653 + ], + "face_normal": [ + -0.9998453670953058, + -0.0006541909645485233, + 0.01757544760994177 + ], + "footprint_xy": [ + [ + -14.465762343076937, + 0.0868634854622169 + ], + [ + -14.307077432873626, + 0.0868634854622169 + ], + [ + -14.307077432873626, + 0.19899784536321097 + ], + [ + -14.465762343076937, + 0.19899784536321097 + ] + ], + "projected_box_corners": [ + [ + -14.311355595310616, + 0.19899784536321097 + ], + [ + -14.30713846230232, + 0.1975993320383805 + ], + [ + -14.311294565881921, + 0.08836302590841866 + ], + [ + -14.307077432873626, + 0.08696451258358817 + ], + [ + -14.465762343076937, + 0.1988968182418397 + ], + [ + -14.461545210068643, + 0.19749830491700923 + ], + [ + -14.465701313648243, + 0.08826199878704738 + ], + [ + -14.461484180639948, + 0.0868634854622169 + ] + ], + "yaw_rad": -3.1409383615435176, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.486562728881836, + 0.135214701294899, + 0.11356903612613678 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.466031359141013, + 0.14080872862837807, + 0.11946061696902746 + ], + "intended_face_normal": [ + -0.999900221656232, + -0.011367810778247188, + 0.008350782310418522 + ], + "commanded_contact_point": [ + -14.465165973659861, + 0.14192396278294203, + 0.11870557295554347 + ], + "centerline_face_intersection": [ + -14.466046768742096, + 0.14168649770610625, + 0.1188158086915224 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.489128112792969, + 0.13198554515838623, + 0.11404861509799957 + ], + "box_pose": [ + -14.392960548400879, + 0.1398465931415558, + 0.1360228806734085, + 0.004213632084429264, + -0.006725888699293137, + 0.9999524354934692, + -0.0056558339856565 + ], + "box_yaw_rad": -3.1302241982221415, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002433785354807117 + } + } + }, + { + "simulation_time_ns": 4840000000, + "center": [ + -14.384016697337174, + 0.1451381708474077, + 0.1196222356155874 + ], + "face_center": [ + -14.461199201912702, + 0.14576999956394932, + 0.12178258324593533 + ], + "face_normal": [ + -0.9995750928896372, + 0.008182686626985467, + 0.02797822764569391 + ], + "footprint_xy": [ + [ + -14.465002757512336, + 0.08816867273000986 + ], + [ + -14.303030637162012, + 0.08816867273000986 + ], + [ + -14.303030637162012, + 0.20210766896480556 + ], + [ + -14.465002757512336, + 0.20210766896480556 + ] + ], + "projected_box_corners": [ + [ + -14.30975923614491, + 0.19879766774743898 + ], + [ + -14.303030637162012, + 0.20084401153172235 + ], + [ + -14.310637748361279, + 0.08816867273000986 + ], + [ + -14.30390914937838, + 0.09021501651429323 + ], + [ + -14.464124245295967, + 0.20006132518052222 + ], + [ + -14.457395646313069, + 0.20210766896480556 + ], + [ + -14.465002757512336, + 0.08943233016309307 + ], + [ + -14.458274158529438, + 0.09147867394737644 + ] + ], + "yaw_rad": 3.133406671456382, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.484216690063477, + 0.13849669694900513, + 0.11568868160247803 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.463623261858443, + 0.1428801518520283, + 0.12027142590802653 + ], + "intended_face_normal": [ + -0.9998453670953058, + -0.0006541909645485233, + 0.01757544760994177 + ], + "commanded_contact_point": [ + -14.460944001527192, + 0.14286338060633647, + 0.1186684640519078 + ], + "centerline_face_intersection": [ + -14.463647143761603, + 0.14293066541271393, + 0.11891433220369084 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.486562728881836, + 0.135214701294899, + 0.11356903612613678 + ], + "box_pose": [ + -14.390417098999023, + 0.1412668526172638, + 0.13617224991321564, + 0.008788980543613434, + -0.0029176007956266403, + 0.9999570846557617, + -0.0003014656831510365 + ], + "box_yaw_rad": -3.1409383615435176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004325382249775439 + } + } + }, + { + "simulation_time_ns": 4860000000, + "center": [ + -14.38027365403918, + 0.1473954310274852, + 0.12124697680344454 + ], + "face_center": [ + -14.457375863931128, + 0.14725407007923463, + 0.12542235395163912 + ], + "face_normal": [ + -0.9985352125924325, + -0.001830737208589183, + 0.054074469644499974 + ], + "footprint_xy": [ + [ + -14.464041489309455, + 0.08844702069703048 + ], + [ + -14.296505818768905, + 0.08844702069703048 + ], + [ + -14.296505818768905, + 0.20634384135793993 + ], + [ + -14.464041489309455, + 0.20634384135793993 + ] + ], + "projected_box_corners": [ + [ + -14.309837069525557, + 0.19931882703967754 + ], + [ + -14.296883175242755, + 0.20634384135793993 + ], + [ + -14.309459713051707, + 0.0887297425935316 + ], + [ + -14.296505818768905, + 0.09575475691179397 + ], + [ + -14.464041489309455, + 0.1990361051431764 + ], + [ + -14.451087595026653, + 0.2060611194614388 + ], + [ + -14.463664132835605, + 0.08844702069703048 + ], + [ + -14.450710238552803, + 0.09547203501529286 + ] + ], + "yaw_rad": -3.139759232860907, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.480469703674316, + 0.13986027240753174, + 0.12050807476043701 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.461199201912702, + 0.14576999956394932, + 0.12178258324593533 + ], + "intended_face_normal": [ + -0.9995750928896372, + 0.008182686626985467, + 0.02797822764569391 + ], + "commanded_contact_point": [ + -14.456794334217744, + 0.14473492284906678, + 0.11916007859781974 + ], + "centerline_face_intersection": [ + -14.461264834531368, + 0.1451381708474077, + 0.1196222356155874 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.484216690063477, + 0.13849669694900513, + 0.11568868160247803 + ], + "box_pose": [ + -14.387845993041992, + 0.1437593549489975, + 0.13694323599338531, + 0.014008156023919582, + 0.004322024993598461, + 0.9998844265937805, + 0.0040312656201422215 + ], + "box_yaw_rad": 3.133406671456382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004578656353908005 + } + } + }, + { + "simulation_time_ns": 4880000000, + "center": [ + -14.375454681795956, + 0.14979975088414801, + 0.12315979032955965 + ], + "face_center": [ + -14.452365255729719, + 0.1488075770863221, + 0.12994091997708962 + ], + "face_normal": [ + -0.9960533738420718, + -0.012849443297787672, + 0.0878210461632982 + ], + "footprint_xy": [ + [ + -14.463763696025426, + 0.08742025427922809 + ], + [ + -14.287145667566485, + 0.08742025427922809 + ], + [ + -14.287145667566485, + 0.21217924748906794 + ], + [ + -14.463763696025426, + 0.21217924748906794 + ] + ], + "projected_box_corners": [ + [ + -14.3099425481579, + 0.19988683414917163 + ], + [ + -14.289057880145592, + 0.21217924748906794 + ], + [ + -14.308030335578794, + 0.08940460187487988 + ], + [ + -14.287145667566485, + 0.10169701521477618 + ], + [ + -14.463763696025426, + 0.19790248655351983 + ], + [ + -14.442879028013117, + 0.21019489989341614 + ], + [ + -14.461851483446319, + 0.08742025427922809 + ], + [ + -14.44096681543401, + 0.0997126676191244 + ] + ], + "yaw_rad": -3.1286930129596815, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.475613594055176, + 0.1413019448518753, + 0.1256789267063141 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.457375863931128, + 0.14725407007923463, + 0.12542235395163912 + ], + "intended_face_normal": [ + -0.9985352125924325, + -0.001830737208589183, + 0.054074469644499974 + ], + "commanded_contact_point": [ + -14.451556133513453, + 0.1469862606619156, + 0.12029542728931622 + ], + "centerline_face_intersection": [ + -14.457602237886482, + 0.1473954310274852, + 0.12124697680344454 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.480469703674316, + 0.13986027240753174, + 0.12050807476043701 + ], + "box_pose": [ + -14.383634567260742, + 0.14633095264434814, + 0.13868695497512817, + 0.027030864730477333, + 0.01461323443800211, + 0.9995269179344177, + -0.0013109971769154072 + ], + "box_yaw_rad": -3.139759232860907, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005813457251694432 + } + } + }, + { + "simulation_time_ns": 4900000000, + "center": [ + -14.368585843511358, + 0.15305722570528654, + 0.12441617544917169 + ], + "face_center": [ + -14.445302702202723, + 0.1520816708000958, + 0.13312105822186504 + ], + "face_normal": [ + -0.9935446067001201, + -0.01263421536186013, + 0.11273518595906237 + ], + "footprint_xy": [ + [ + -14.459840633698741, + 0.08776232481726666 + ], + [ + -14.277331053323973, + 0.08776232481726666 + ], + [ + -14.277331053323973, + 0.2183521265933064 + ], + [ + -14.459840633698741, + 0.2183521265933064 + ] + ], + "projected_box_corners": [ + [ + -14.30640691631601, + 0.20001769430985517 + ], + [ + -14.279669278492754, + 0.2183521265933064 + ], + [ + -14.304068691147227, + 0.08971343462764815 + ], + [ + -14.277331053323973, + 0.10804786691109938 + ], + [ + -14.459840633698741, + 0.19806658449947367 + ], + [ + -14.433102995875487, + 0.21640101678292492 + ], + [ + -14.45750240852996, + 0.08776232481726666 + ], + [ + -14.430764770706705, + 0.10609675710071789 + ] + ], + "yaw_rad": -3.1288770348445127, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.468762397766113, + 0.14446498453617096, + 0.12882386147975922 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.452365255729719, + 0.1488075770863221, + 0.12994091997708962 + ], + "intended_face_normal": [ + -0.9960533738420718, + -0.012849443297787672, + 0.0878210461632982 + ], + "commanded_contact_point": [ + -14.445487089392442, + 0.14946597749366933, + 0.12163332941853039 + ], + "centerline_face_intersection": [ + -14.45297594314523, + 0.14979975088414801, + 0.12315979032955965 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.475613594055176, + 0.1413019448518753, + 0.1256789267063141 + ], + "box_pose": [ + -14.378214836120605, + 0.14906692504882812, + 0.14072185754776, + 0.043776772916316986, + 0.02532315067946911, + 0.9986918568611145, + -0.007543154992163181 + ], + "box_yaw_rad": -3.1286930129596815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006691208726068558 + } + } + }, + { + "simulation_time_ns": 4920000000, + "center": [ + -14.360285334263022, + 0.15729956036581336, + 0.1246291583189465 + ], + "face_center": [ + -14.436940827051593, + 0.15731477591790263, + 0.13391023954009157 + ], + "face_normal": [ + -0.9927498692356638, + 0.00019705355477434017, + 0.1201974161730403 + ], + "footprint_xy": [ + [ + -14.451978995049863, + 0.08944335194207119 + ], + [ + -14.268591673476182, + 0.08944335194207119 + ], + [ + -14.268591673476182, + 0.2251557687895555 + ], + [ + -14.451978995049863, + 0.2251557687895555 + ] + ], + "projected_box_corners": [ + [ + -14.29866800947272, + 0.19944429031289143 + ], + [ + -14.269993738936135, + 0.22512533768537699 + ], + [ + -14.297265944012768, + 0.08944335194207119 + ], + [ + -14.268591673476182, + 0.11512439931455676 + ], + [ + -14.451978995049863, + 0.19947472141706996 + ], + [ + -14.423304724513276, + 0.2251557687895555 + ], + [ + -14.45057692958991, + 0.08947378304624973 + ], + [ + -14.421902659053323, + 0.11515483041873528 + ] + ], + "yaw_rad": 3.1413941609399396, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.4605131149292, + 0.14937856793403625, + 0.12997040152549744 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.445302702202723, + 0.1520816708000958, + 0.13312105822186504 + ], + "intended_face_normal": [ + -0.9935446067001201, + -0.01263421536186013, + 0.11273518595906237 + ], + "commanded_contact_point": [ + -14.437523506211502, + 0.15266411886097106, + 0.1225155738352679 + ], + "centerline_face_intersection": [ + -14.446302851273993, + 0.15305722570528654, + 0.12441617544917169 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.468762397766113, + 0.14446498453617096, + 0.12882386147975922 + ], + "box_pose": [ + -14.370909690856934, + 0.15276089310646057, + 0.14205402135849, + 0.05617852136492729, + 0.037826042622327805, + 0.9976680278778076, + -0.008461851626634598 + ], + "box_yaw_rad": -3.1288770348445127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00862699950712088 + } + } + }, + { + "simulation_time_ns": 4940000000, + "center": [ + -14.351721924954237, + 0.16203695167054225, + 0.12457270756838094 + ], + "face_center": [ + -14.428313037883887, + 0.16282453239779074, + 0.13433923426030214 + ], + "face_normal": [ + -0.9919160986316209, + 0.010199799590944192, + 0.12648432282646546 + ], + "footprint_xy": [ + [ + -14.443969099321272, + 0.08899308344921637 + ], + [ + -14.259474750587202, + 0.08899308344921637 + ], + [ + -14.259474750587202, + 0.23508081989186808 + ], + [ + -14.443969099321272, + 0.23508081989186808 + ] + ], + "projected_box_corners": [ + [ + -14.290786873461974, + 0.19843536713931528 + ], + [ + -14.260413327220231, + 0.23350565843737106 + ], + [ + -14.289848296828945, + 0.08899308344921637 + ], + [ + -14.259474750587202, + 0.12406337474727216 + ], + [ + -14.443969099321272, + 0.2000105285938123 + ], + [ + -14.41359555307953, + 0.23508081989186808 + ], + [ + -14.443030522688243, + 0.0905682449037134 + ], + [ + -14.412656976446502, + 0.12563853620176918 + ] + ], + "yaw_rad": 3.131310090252255, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.45195484161377, + 0.15438248217105865, + 0.13098061084747314 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.436940827051593, + 0.15731477591790263, + 0.13391023954009157 + ], + "intended_face_normal": [ + -0.9927498692356638, + 0.00019705355477434017, + 0.1201974161730403 + ], + "commanded_contact_point": [ + -14.428050734888844, + 0.1567013044864357, + 0.12266594405954469 + ], + "centerline_face_intersection": [ + -14.438064557715236, + 0.15729956036581336, + 0.1246291583189465 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.4605131149292, + 0.14937856793403625, + 0.12997040152549744 + ], + "box_pose": [ + -14.362480163574219, + 0.15758925676345825, + 0.142283633351326, + 0.0601266510784626, + 0.05351100116968155, + 0.9967504739761353, + -0.0031290785409510136 + ], + "box_yaw_rad": 3.1413941609399396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010298294786525447 + } + } + }, + { + "simulation_time_ns": 4960000000, + "center": [ + -14.343180124224654, + 0.16676679025399807, + 0.12455446633028357 + ], + "face_center": [ + -14.419636608747126, + 0.16661700938139928, + 0.13535221223271024 + ], + "face_normal": [ + -0.9901725532083399, + -0.001939781955307307, + 0.13983943541058627 + ], + "footprint_xy": [ + [ + -14.437652813029024, + 0.08905145364786358 + ], + [ + -14.248707435420286, + 0.08905145364786358 + ], + [ + -14.248707435420286, + 0.2444821268601326 + ], + [ + -14.437652813029024, + 0.2444821268601326 + ] + ], + "projected_box_corners": [ + [ + -14.28473984398408, + 0.1978799401173978 + ], + [ + -14.251921362746984, + 0.2444821268601326 + ], + [ + -14.281525916657381, + 0.08935101539306117 + ], + [ + -14.248707435420286, + 0.13595320213579598 + ], + [ + -14.437652813029024, + 0.1975803783722002 + ], + [ + -14.404834331791927, + 0.24418256511493497 + ], + [ + -14.434438885702326, + 0.08905145364786358 + ], + [ + -14.40162040446523, + 0.13565364039059838 + ] + ], + "yaw_rad": -3.1396336218356615, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.443257331848145, + 0.15760163962841034, + 0.13230575621128082 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.428313037883887, + 0.16282453239779074, + 0.13433923426030214 + ], + "intended_face_normal": [ + -0.9919160986316209, + 0.010199799590944192, + 0.12648432282646546 + ], + "commanded_contact_point": [ + -14.418351424480788, + 0.16133611469751544, + 0.12256676417814415 + ], + "centerline_face_intersection": [ + -14.429566526950271, + 0.16203695167054225, + 0.12457270756838094 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.45195484161377, + 0.15438248217105865, + 0.13098061084747314 + ], + "box_pose": [ + -14.353797912597656, + 0.16305051743984222, + 0.142214834690094, + 0.06357461214065552, + 0.0734696164727211, + 0.9952689409255981, + 0.00043113715946674347 + ], + "box_yaw_rad": 3.131310090252255, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010750252310221744 + } + } + }, + { + "simulation_time_ns": 4980000000, + "center": [ + -14.335642732465141, + 0.1712137801461774, + 0.12427644561577406 + ], + "face_center": [ + -14.411880160122156, + 0.16853477345632215, + 0.13622969410068592 + ], + "face_normal": [ + -0.9873355918031348, + -0.03469527680646278, + 0.1548041169478585 + ], + "footprint_xy": [ + [ + -14.43282188451401, + 0.08527386629109382 + ], + [ + -14.238463580416274, + 0.08527386629109382 + ], + [ + -14.238463580416274, + 0.257153694001261 + ], + [ + -14.43282188451401, + 0.257153694001261 + ] + ], + "projected_box_corners": [ + [ + -14.28034702919998, + 0.19775479714508282 + ], + [ + -14.246383392434653, + 0.257153694001261 + ], + [ + -14.272427217181601, + 0.09063187967080433 + ], + [ + -14.238463580416274, + 0.15003077652698255 + ], + [ + -14.43282188451401, + 0.19239678376537228 + ], + [ + -14.398858247748683, + 0.2517956806215505 + ], + [ + -14.424902072495629, + 0.08527386629109382 + ], + [ + -14.390938435730304, + 0.144672763147272 + ] + ], + "yaw_rad": -3.1064667991052586, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.435432434082031, + 0.15889449417591095, + 0.13247433304786682 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.419636608747126, + 0.16661700938139928, + 0.13535221223271024 + ], + "intended_face_normal": [ + -0.9901725532083399, + -0.001939781955307307, + 0.13983943541058627 + ], + "commanded_contact_point": [ + -14.408833324667913, + 0.1663509812923913, + 0.12239029958670848 + ], + "centerline_face_intersection": [ + -14.421161798894635, + 0.16676679025399807, + 0.12455446633028357 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.443257331848145, + 0.15760163962841034, + 0.13230575621128082 + ], + "box_pose": [ + -14.345041275024414, + 0.16856756806373596, + 0.14215773344039917, + 0.0696631669998169, + 0.0972881093621254, + 0.9927846193313599, + -0.007803594693541527 + ], + "box_yaw_rad": -3.1396336218356615, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010759844365243883 + } + } + }, + { + "simulation_time_ns": 5000000000, + "center": [ + -14.328882031534917, + 0.17588979377406241, + 0.12310845773093823 + ], + "face_center": [ + -14.404967254152192, + 0.1712574909791968, + 0.13542869967531826 + ], + "face_normal": [ + -0.9853644149467553, + -0.05999202179218788, + 0.15955697542731906 + ], + "footprint_xy": [ + [ + -14.426882226752126, + 0.08224788160675534 + ], + [ + -14.23088183631771, + 0.08224788160675534 + ], + [ + -14.23088183631771, + 0.2695317059413695 + ], + [ + -14.426882226752126, + 0.2695317059413695 + ] + ], + "projected_box_corners": [ + [ + -14.274711781517576, + 0.1967212262204436 + ], + [ + -14.242500740618878, + 0.2695317059413695 + ], + [ + -14.263092877216408, + 0.09151248719648657 + ], + [ + -14.23088183631771, + 0.16432296691741247 + ], + [ + -14.426882226752126, + 0.18745662063071236 + ], + [ + -14.394671185853426, + 0.26026710035163825 + ], + [ + -14.415263322450956, + 0.08224788160675534 + ], + [ + -14.383052281552258, + 0.15505836132768122 + ] + ], + "yaw_rad": -3.080784631530131, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.428848266601562, + 0.1618657261133194, + 0.12839394807815552 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.411880160122156, + 0.16853477345632215, + 0.13622969410068592 + ], + "intended_face_normal": [ + -0.9873355918031348, + -0.03469527680646278, + 0.1548041169478585 + ], + "commanded_contact_point": [ + -14.400550087538145, + 0.17142922454035914, + 0.12192161768614816 + ], + "centerline_face_intersection": [ + -14.413848475833941, + 0.1712137801461774, + 0.12427644561577406 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.435432434082031, + 0.15889449417591095, + 0.13247433304786682 + ], + "box_pose": [ + -14.337343215942383, + 0.1738107055425644, + 0.1417963206768036, + 0.07490431517362595, + 0.1231192797422409, + 0.9891963601112366, + -0.026859989389777184 + ], + "box_yaw_rad": -3.1064667991052586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009727293280117729 + } + } + }, + { + "simulation_time_ns": 5020000000, + "center": [ + -14.324050276575162, + 0.18116119142900364, + 0.12161726620258237 + ], + "face_center": [ + -14.399963005135058, + 0.17566718908545642, + 0.13462806372894662 + ], + "face_normal": [ + -0.983130479103723, + -0.07115171933184872, + 0.16850022187680236 + ], + "footprint_xy": [ + [ + -14.422800430647134, + 0.08086150251165578 + ], + [ + -14.22530012250319, + 0.08086150251165578 + ], + [ + -14.22530012250319, + 0.2814608803463515 + ], + [ + -14.422800430647134, + 0.2814608803463515 + ] + ], + "projected_box_corners": [ + [ + -14.270974973527341, + 0.19469567503263405 + ], + [ + -14.239307775807234, + 0.2814608803463515 + ], + [ + -14.256967320223298, + 0.09184950719875024 + ], + [ + -14.22530012250319, + 0.17861471251246772 + ], + [ + -14.422800430647134, + 0.1837076703455396 + ], + [ + -14.391133232927027, + 0.27047287565925704 + ], + [ + -14.408792777343091, + 0.08086150251165578 + ], + [ + -14.377125579622984, + 0.16762670782537326 + ] + ], + "yaw_rad": -3.069346004996554, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.424278259277344, + 0.167768657207489, + 0.12339967489242554 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.404967254152192, + 0.1712574909791968, + 0.13542869967531826 + ], + "intended_face_normal": [ + -0.9853644149467553, + -0.05999202179218788, + 0.15955697542731906 + ], + "commanded_contact_point": [ + -14.393174090729559, + 0.17662862356612904, + 0.12070612801428082 + ], + "centerline_face_intersection": [ + -14.40724422194912, + 0.17588979377406241, + 0.12310845773093823 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.428848266601562, + 0.1618657261133194, + 0.12839394807815552 + ], + "box_pose": [ + -14.330647468566895, + 0.17936618626117706, + 0.1404687464237213, + 0.07458777725696564, + 0.15091781318187714, + 0.98483806848526, + -0.041887734085321426 + ], + "box_yaw_rad": -3.080784631530131, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009105849454710853 + } + } + }, + { + "simulation_time_ns": 5040000000, + "center": [ + -14.319921213425305, + 0.18788763776236175, + 0.1203121434716703 + ], + "face_center": [ + -14.395562189343119, + 0.18285579885058725, + 0.13498619933489583 + ], + "face_normal": [ + -0.9796110652942578, + -0.06516633368279456, + 0.19004074606309207 + ], + "footprint_xy": [ + [ + -14.420737132883662, + 0.08279585844747518 + ], + [ + -14.21910529396695, + 0.08279585844747518 + ], + [ + -14.21910529396695, + 0.2929794170772483 + ], + [ + -14.420737132883662, + 0.2929794170772483 + ] + ], + "projected_box_corners": [ + [ + -14.269455181048032, + 0.1932173703772612 + ], + [ + -14.234320057146777, + 0.2929794170772483 + ], + [ + -14.254240417868205, + 0.09285953627102417 + ], + [ + -14.21910529396695, + 0.1926215829710113 + ], + [ + -14.420737132883662, + 0.1831536925537122 + ], + [ + -14.385602008982405, + 0.28291573925369934 + ], + [ + -14.405522369703833, + 0.08279585844747518 + ], + [ + -14.370387245802577, + 0.1825579051474623 + ] + ], + "yaw_rad": -3.0751678608007427, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.420178413391113, + 0.17564357817173004, + 0.12145902216434479 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + -14.399963005135058, + 0.17566718908545642, + 0.13462806372894662 + ], + "intended_face_normal": [ + -0.983130479103723, + -0.07115171933184872, + 0.16850022187680236 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.18218121351129812, + 0.11908941276935163 + ], + "centerline_face_intersection": [ + -14.402590526880322, + 0.18116119142900364, + 0.12161726620258237 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.424278259277344, + 0.167768657207489, + 0.12339967489242554 + ], + "box_pose": [ + -14.325811386108398, + 0.18562310934066772, + 0.13875119388103485, + 0.07671880722045898, + 0.18071749806404114, + 0.9792376756668091, + -0.05048855021595955 + ], + "box_yaw_rad": -3.069346004996554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007740823506873615 + } + } + }, + { + "simulation_time_ns": 5060000000, + "center": [ + -14.314909211708459, + 0.19609215291514584, + 0.11808677396209702 + ], + "face_center": [ + -14.390255634278489, + 0.19342222823083075, + 0.13475992659698718 + ], + "face_normal": [ + -0.97579636413121, + -0.034577657579393684, + 0.21593064627067904 + ], + "footprint_xy": [ + [ + -14.418436367800018, + 0.08755255260633693 + ], + [ + -14.2113820556169, + 0.08755255260633693 + ], + [ + -14.2113820556169, + 0.30463175322395475 + ], + [ + -14.418436367800018, + 0.30463175322395475 + ] + ], + "projected_box_corners": [ + [ + -14.267743522659954, + 0.19000757992580194 + ], + [ + -14.226091114277155, + 0.30463175322395475 + ], + [ + -14.253034463999699, + 0.09289240197496712 + ], + [ + -14.2113820556169, + 0.20751657527311992 + ], + [ + -14.418436367800018, + 0.18466773055717176 + ], + [ + -14.376783959417217, + 0.29929190385532456 + ], + [ + -14.40372730913976, + 0.08755255260633693 + ], + [ + -14.362074900756962, + 0.2021767259044897 + ] + ], + "yaw_rad": -3.1061721528306263, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.415460586547852, + 0.18539656698703766, + 0.1215711385011673 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.395562189343119, + 0.18285579885058725, + 0.13498619933489583 + ], + "intended_face_normal": [ + -0.9796110652942578, + -0.06516633368279456, + 0.19004074606309207 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.18837740014598703, + 0.1203121434716703 + ], + "centerline_face_intersection": [ + -14.398743632492451, + 0.18788763776236175, + 0.1203121434716703 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.420178413391113, + 0.17564357817173004, + 0.12145902216434479 + ], + "box_pose": [ + -14.321401596069336, + 0.1933419406414032, + 0.13718344271183014, + 0.08648974448442459, + 0.20913948118686676, + 0.9726593494415283, + -0.0520959235727787 + ], + "box_yaw_rad": -3.0751678608007427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004897623836252685, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006315678837804382 + } + } + }, + { + "simulation_time_ns": 5080000000, + "center": [ + -14.310755651479942, + 0.20531307897976117, + 0.11479943318352093 + ], + "face_center": [ + -14.385640496041459, + 0.20543631063086412, + 0.133626246691842 + ], + "face_normal": [ + -0.969818560181027, + 0.0015959483276115627, + 0.24382227507246101 + ], + "footprint_xy": [ + [ + -14.41754473543831, + 0.09348477019756936 + ], + [ + -14.203966567521572, + 0.09348477019756936 + ], + [ + -14.203966567521572, + 0.317141387761953 + ], + [ + -14.41754473543831, + 0.317141387761953 + ] + ], + "projected_box_corners": [ + [ + -14.267775046315277, + 0.18628707756706558 + ], + [ + -14.218509455517536, + 0.31689492445974704 + ], + [ + -14.253232158319312, + 0.09348477019756936 + ], + [ + -14.203966567521572, + 0.22409261709025083 + ], + [ + -14.41754473543831, + 0.18653354086927149 + ], + [ + -14.36827914464057, + 0.317141387761953 + ], + [ + -14.403001847442347, + 0.09373123349977529 + ], + [ + -14.353736256644607, + 0.22433908039245676 + ] + ], + "yaw_rad": 3.139947039706429, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.411314964294434, + 0.1940799504518509, + 0.12553493678569794 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.390255634278489, + 0.19342222823083075, + 0.13475992659698718 + ], + "intended_face_normal": [ + -0.97579636413121, + -0.034577657579393684, + 0.21593064627067904 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.19700973873589545, + 0.11808677396209702 + ], + "centerline_face_intersection": [ + -14.394039772909295, + 0.19609215291514584, + 0.11808677396209702 + ], + "commanded_world_base_velocity": [ + 0.0006900411522633454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.415460586547852, + 0.18539656698703766, + 0.1215711385011673 + ], + "box_pose": [ + -14.315913200378418, + 0.20278899371623993, + 0.13454052805900574, + 0.10105979442596436, + 0.24334974586963654, + 0.9636799693107605, + -0.0434601791203022 + ], + "box_yaw_rad": -3.1061721528306263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009175858207495957, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008914568917505795 + } + } + }, + { + "simulation_time_ns": 5100000000, + "center": [ + -14.307362258638406, + 0.21566038469907306, + 0.11073221991385458 + ], + "face_center": [ + -14.381771910317, + 0.21847161465010875, + 0.13116514930316145 + ], + "face_normal": [ + -0.9636644327307522, + 0.03640767366768749, + 0.2646227588058814 + ], + "footprint_xy": [ + [ + -14.416898578479584, + 0.09579480756521441 + ], + [ + -14.197825938797227, + 0.09579480756521441 + ], + [ + -14.197825938797227, + 0.3355259618329317 + ], + [ + -14.416898578479584, + 0.3355259618329317 + ] + ], + "projected_box_corners": [ + [ + -14.268079275122398, + 0.1832627240680803 + ], + [ + -14.212672879270457, + 0.3299035019308604 + ], + [ + -14.25323233464917, + 0.09579480756521441 + ], + [ + -14.197825938797227, + 0.24243558542799448 + ], + [ + -14.416898578479584, + 0.18888518397015167 + ], + [ + -14.361492182627643, + 0.3355259618329317 + ], + [ + -14.402051638006355, + 0.10141726746728578 + ], + [ + -14.346645242154413, + 0.24805804533006584 + ] + ], + "yaw_rad": 3.103830166006973, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.407369613647461, + 0.19997304677963257, + 0.12864573299884796 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.385640496041459, + 0.20543631063086412, + 0.133626246691842 + ], + "intended_face_normal": [ + -0.969818560181027, + 0.0015959483276115627, + 0.24382227507246101 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.20667998994162717, + 0.11479943318352093 + ], + "centerline_face_intersection": [ + -14.390373960596468, + 0.20531307897976117, + 0.11479943318352093 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.411314964294434, + 0.1940799504518509, + 0.12553493678569794 + ], + "box_pose": [ + -14.311190605163574, + 0.21337196230888367, + 0.13065651059150696, + 0.11801204830408096, + 0.28184232115745544, + 0.9515640735626221, + -0.03411521762609482 + ], + "box_yaw_rad": 3.139947039706429, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013669109618660068, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010213734271873593 + } + } + }, + { + "simulation_time_ns": 5120000000, + "center": [ + -14.304137665875713, + 0.2263881725279294, + 0.1050356635671208 + ], + "face_center": [ + -14.377929545150117, + 0.23136826934205848, + 0.1272204456547477 + ], + "face_normal": [ + -0.9556637865778725, + 0.06449623218317813, + 0.2873106507482661 + ], + "footprint_xy": [ + [ + -14.41658415609155, + 0.0991899056950035 + ], + [ + -14.191691175659876, + 0.0991899056950035 + ], + [ + -14.191691175659876, + 0.3535864393608553 + ], + [ + -14.41658415609155, + 0.3535864393608553 + ] + ], + "projected_box_corners": [ + [ + -14.269000397542742, + 0.17961536754057383 + ], + [ + -14.208536085017375, + 0.34362624573259715 + ], + [ + -14.252155488185243, + 0.0991899056950035 + ], + [ + -14.191691175659876, + 0.2632007838870268 + ], + [ + -14.41658415609155, + 0.189575561168832 + ], + [ + -14.356119843566184, + 0.3535864393608553 + ], + [ + -14.399739246734052, + 0.10915009932326167 + ], + [ + -14.339274934208683, + 0.27316097751528495 + ] + ], + "yaw_rad": 3.0742064244668494, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.404927253723145, + 0.20170767605304718, + 0.12542098760604858 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.381771910317, + 0.21847161465010875, + 0.13116514930316145 + ], + "intended_face_normal": [ + -0.9636644327307522, + 0.03640767366768749, + 0.2646227588058814 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2176547891777167, + 0.11073221991385458 + ], + "centerline_face_intersection": [ + -14.387489024023564, + 0.21566038469907306, + 0.11073221991385458 + ], + "commanded_world_base_velocity": [ + 0.00583111111111104, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.407369613647461, + 0.19997304677963257, + 0.12864573299884796 + ], + "box_pose": [ + -14.307326316833496, + 0.22509339451789856, + 0.12581859529018402, + 0.13223804533481598, + 0.32253026962280273, + 0.936913251876831, + -0.02609306201338768 + ], + "box_yaw_rad": 3.103830166006973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0019944044786436264, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011704206169297472 + } + } + }, + { + "simulation_time_ns": 5140000000, + "center": [ + -14.300845130025522, + 0.23704600700702474, + 0.0972590069271232 + ], + "face_center": [ + -14.374006207957255, + 0.24407218780990675, + 0.12092956876763411 + ], + "face_normal": [ + -0.9474944052632353, + 0.09099465438864485, + 0.30655268549008063 + ], + "footprint_xy": [ + [ + -14.415720158933661, + 0.10340663618067722 + ], + [ + -14.185970101117382, + 0.10340663618067722 + ], + [ + -14.185970101117382, + 0.37068537783337224 + ], + [ + -14.415720158933661, + 0.37068537783337224 + ] + ], + "projected_box_corners": [ + [ + -14.269398003070197, + 0.17494999553502127 + ], + [ + -14.205650708053112, + 0.35663301622760823 + ], + [ + -14.249717396134468, + 0.10340663618067722 + ], + [ + -14.185970101117382, + 0.28508965687326415 + ], + [ + -14.415720158933661, + 0.1890023571407853 + ], + [ + -14.351972863916576, + 0.37068537783337224 + ], + [ + -14.396039551997932, + 0.11745899778644125 + ], + [ + -14.332292256980846, + 0.2991420184790282 + ] + ], + "yaw_rad": 3.04584914317789, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.404484748840332, + 0.2029893845319748, + 0.11602187156677246 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.377929545150117, + 0.23136826934205848, + 0.1272204456547477 + ], + "intended_face_normal": [ + -0.9556637865778725, + 0.06449623218317813, + 0.2873106507482661 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2293697968655683, + 0.1050356635671208 + ], + "centerline_face_intersection": [ + -14.384935238197604, + 0.2263881725279294, + 0.1050356635671208 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.404927253723145, + 0.20170767605304718, + 0.12542098760604858 + ], + "box_pose": [ + -14.30367660522461, + 0.23728632926940918, + 0.1190926656126976, + 0.1469573676586151, + 0.36873018741607666, + 0.9175347089767456, + -0.023911358788609505 + ], + "box_yaw_rad": 3.0742064244668494, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002981624337638915, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.013026594310791109 + } + } + }, + { + "simulation_time_ns": 5160000000, + "center": [ + -14.297445595000626, + 0.24752986116248843, + 0.0870869249624248 + ], + "face_center": [ + -14.369853680142516, + 0.2567447456841807, + 0.11227340590838522 + ], + "face_normal": [ + -0.9377425470928973, + 0.11934011603269923, + 0.32618504892498434 + ], + "footprint_xy": [ + [ + -14.414597455973208, + 0.10870426486130394 + ], + [ + -14.180293734028046, + 0.10870426486130394 + ], + [ + -14.180293734028046, + 0.3863554574636729 + ], + [ + -14.414597455973208, + 0.3863554574636729 + ] + ], + "projected_box_corners": [ + [ + -14.26978128568943, + 0.16938585279178173 + ], + [ + -14.20370291880936, + 0.3679256884202883 + ], + [ + -14.246372100908113, + 0.10870426486130394 + ], + [ + -14.180293734028046, + 0.3072441004898105 + ], + [ + -14.414597455973208, + 0.18781562183516634 + ], + [ + -14.34851908909314, + 0.3863554574636729 + ], + [ + -14.391188271191892, + 0.12713403390468853 + ], + [ + -14.325109904311825, + 0.3256738695331951 + ] + ], + "yaw_rad": 3.015009903077684, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.404329299926758, + 0.20925837755203247, + 0.10557122528553009 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.374006207957255, + 0.24407218780990675, + 0.12092956876763411 + ], + "intended_face_normal": [ + -0.9474944052632353, + 0.09099465438864485, + 0.30655268549008063 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.24138989624366566, + 0.0972590069271232 + ], + "centerline_face_intersection": [ + -14.382339346226182, + 0.23704600700702474, + 0.0972590069271232 + ], + "commanded_world_base_velocity": [ + 0.015144032921810602, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.404484748840332, + 0.2029893845319748, + 0.11602187156677246 + ], + "box_pose": [ + -14.300073623657227, + 0.24945007264614105, + 0.10999186336994171, + 0.16019141674041748, + 0.41962236166000366, + 0.893120527267456, + -0.024322107434272766 + ], + "box_yaw_rad": 3.04584914317789, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0043438892366409135, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.014316395410708496 + } + } + }, + { + "simulation_time_ns": 5180000000, + "center": [ + -14.294135130337663, + 0.258247083211456, + 0.07387678512074655 + ], + "face_center": [ + -14.365354822319102, + 0.26998603990991765, + 0.10130229241888773 + ], + "face_normal": [ + -0.922351906295745, + 0.15202886712246766, + 0.3551822288723301 + ], + "footprint_xy": [ + [ + -14.414051577073009, + 0.11600062253450763 + ], + [ + -14.174218683602318, + 0.11600062253450763 + ], + [ + -14.174218683602318, + 0.4004935438884044 + ], + [ + -14.414051577073009, + 0.4004935438884044 + ] + ], + "projected_box_corners": [ + [ + -14.27161219311013, + 0.16444026859656055 + ], + [ + -14.202910277235375, + 0.3770156304914811 + ], + [ + -14.242920599477072, + 0.11600062253450763 + ], + [ + -14.174218683602318, + 0.3285759844294282 + ], + [ + -14.414051577073009, + 0.1879181819934838 + ], + [ + -14.345349661198254, + 0.4004935438884044 + ], + [ + -14.38535998343995, + 0.1394785359314309 + ], + [ + -14.316658067565195, + 0.35205389782635144 + ] + ], + "yaw_rad": 2.9782340643796212, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.403096199035645, + 0.22070638835430145, + 0.09636262059211731 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.369853680142516, + 0.2567447456841807, + 0.11227340590838522 + ], + "intended_face_normal": [ + -0.9377425470928973, + 0.11934011603269923, + 0.32618504892498434 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.25340460974354756, + 0.0870869249624248 + ], + "centerline_face_intersection": [ + -14.379787293317305, + 0.24752986116248843, + 0.0870869249624248 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.404329299926758, + 0.20925837755203247, + 0.10557122528553009 + ], + "box_pose": [ + -14.296412467956543, + 0.2614172697067261, + 0.09816186130046844, + 0.17439520359039307, + 0.4743911325931549, + 0.862452507019043, + -0.026739420369267464 + ], + "box_yaw_rad": 3.015009903077684, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005874748581059152, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.015742445552733755 + } + } + }, + { + "simulation_time_ns": 5200000000, + "center": [ + -14.291246663024067, + 0.26909583704336326, + 0.05824730659995572 + ], + "face_center": [ + -14.361327646347492, + 0.2849885487693266, + 0.08650116145111046 + ], + "face_normal": [ + -0.9076047194965042, + 0.2058233130307734, + 0.3659099914242461 + ], + "footprint_xy": [ + [ + -14.413327315372609, + 0.12487608445625706 + ], + [ + -14.169166010675527, + 0.12487608445625706 + ], + [ + -14.169166010675527, + 0.41331558963046944 + ], + [ + -14.413327315372609, + 0.41331558963046944 + ] + ], + "projected_box_corners": [ + [ + -14.273165348725758, + 0.15808905059453676 + ], + [ + -14.20206136767214, + 0.3815301661785428 + ], + [ + -14.240269991729145, + 0.12487608445625706 + ], + [ + -14.169166010675527, + 0.34831720004026306 + ], + [ + -14.413327315372609, + 0.18987447404646343 + ], + [ + -14.34222333431899, + 0.41331558963046944 + ], + [ + -14.380431958375993, + 0.15666150790818373 + ], + [ + -14.309327977322377, + 0.3801026234921897 + ] + ], + "yaw_rad": 2.9185880714830454, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.399954795837402, + 0.234721839427948, + 0.08839085698127747 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.365354822319102, + 0.26998603990991765, + 0.10130229241888773 + ], + "intended_face_normal": [ + -0.922351906295745, + 0.15202886712246766, + 0.3551822288723301 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.26562345958680134, + 0.07387678512074655 + ], + "centerline_face_intersection": [ + -14.377850806951313, + 0.258247083211456, + 0.07387678512074655 + ], + "commanded_world_base_velocity": [ + 0.02761744855967067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.403096199035645, + 0.22070638835430145, + 0.09636262059211731 + ], + "box_pose": [ + -14.292773246765137, + 0.2734537720680237, + 0.08301372081041336, + 0.19433894753456116, + 0.5291790962219238, + 0.8253153562545776, + -0.03250354528427124 + ], + "box_yaw_rad": 2.9782340643796212, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007376376375345334, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01799466826948132 + } + } + }, + { + "simulation_time_ns": 5220000000, + "center": [ + -14.288206503534322, + 0.27917708696450366, + 0.03924440304906804 + ], + "face_center": [ + -14.357296397517388, + 0.29942591768703103, + 0.0671509401729334 + ], + "face_normal": [ + -0.8947693207892442, + 0.2622385340005444, + 0.3614119493948147 + ], + "footprint_xy": [ + [ + -14.411281731703243, + 0.13656200348624903 + ], + [ + -14.1651312753654, + 0.13656200348624903 + ], + [ + -14.1651312753654, + 0.4217921704427583 + ], + [ + -14.411281731703243, + 0.4217921704427583 + ] + ], + "projected_box_corners": [ + [ + -14.273101943737112, + 0.15233341070921497 + ], + [ + -14.202138300603343, + 0.3812945089977036 + ], + [ + -14.23609491849917, + 0.13656200348624903 + ], + [ + -14.1651312753654, + 0.3655231017747377 + ], + [ + -14.411281731703243, + 0.19283107215426964 + ], + [ + -14.340318088569475, + 0.4217921704427583 + ], + [ + -14.3742747064653, + 0.1770596649313037 + ], + [ + -14.303311063331533, + 0.40602076321979236 + ] + ], + "yaw_rad": 2.856496983691645, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.393585205078125, + 0.2446640282869339, + 0.08302879333496094 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.361327646347492, + 0.2849885487693266, + 0.08650116145111046 + ], + "intended_face_normal": [ + -0.9076047194965042, + 0.2058233130307734, + 0.3659099914242461 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2778471733233252, + 0.05824730659995572 + ], + "centerline_face_intersection": [ + -14.376322591181728, + 0.26909583704336326, + 0.05824730659995572 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.399954795837402, + 0.234721839427948, + 0.08839085698127747 + ], + "box_pose": [ + -14.289589881896973, + 0.2855274975299835, + 0.06486827880144119, + 0.21291369199752808, + 0.590792179107666, + 0.7776676416397095, + -0.0294162780046463 + ], + "box_yaw_rad": 2.9185880714830454, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008751336279961944, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.019841869275457495 + } + } + }, + { + "simulation_time_ns": 5240000000, + "center": [ + -14.281973592689148, + 0.281696485768109, + 0.03566934012667107 + ], + "face_center": [ + -14.350632230450392, + 0.30054144638407027, + 0.06555352372637496 + ], + "face_normal": [ + -0.8891842081998504, + 0.24405729461354575, + 0.38702405113549787 + ], + "footprint_xy": [ + [ + -14.402963970793786, + 0.14159990695804453 + ], + [ + -14.160983214584508, + 0.14159990695804453 + ], + [ + -14.160983214584508, + 0.4217930645781735 + ], + [ + -14.402963970793786, + 0.4217930645781735 + ] + ], + "projected_box_corners": [ + [ + -14.265646695271297, + 0.15271196524474404 + ], + [ + -14.202335843635067, + 0.384103143346251 + ], + [ + -14.224294066220738, + 0.14159990695804453 + ], + [ + -14.160983214584508, + 0.3729910850595515 + ], + [ + -14.402963970793786, + 0.1904018864766665 + ], + [ + -14.339653119157557, + 0.4217930645781735 + ], + [ + -14.361611341743227, + 0.179289828189967 + ], + [ + -14.298300490107, + 0.41068100629147397 + ] + ], + "yaw_rad": 2.87371620805196, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.381742477416992, + 0.2467191219329834, + 0.08895044028759003 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.357296397517388, + 0.29942591768703103, + 0.0671509401729334 + ], + "intended_face_normal": [ + -0.8947693207892442, + 0.2622385340005444, + 0.3614119493948147 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2893089455915684, + 0.03924440304906804 + ], + "centerline_face_intersection": [ + -14.374502839491985, + 0.27917708696450366, + 0.03924440304906804 + ], + "commanded_world_base_velocity": [ + 0.04223999999999988, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.393585205078125, + 0.2446640282869339, + 0.08302879333496094 + ], + "box_pose": [ + -14.286446571350098, + 0.2964930832386017, + 0.04293771833181381, + 0.2280064970254898, + 0.6542904376983643, + 0.72061687707901, + -0.025066306814551353 + ], + "box_yaw_rad": 2.856496983691645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010131858627064736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.022191948244654147 + } + } + }, + { + "simulation_time_ns": 5260000000, + "center": [ + -14.271541264169267, + 0.2813849635031391, + 0.03914084031308691 + ], + "face_center": [ + -14.338671137122901, + 0.29639962507488055, + 0.0742171483977461 + ], + "face_normal": [ + -0.8693854826599505, + 0.19445186208738985, + 0.45426621103800624 + ], + "footprint_xy": [ + [ + -14.389082498178643, + 0.1441314850052282 + ], + [ + -14.154000030159889, + 0.1441314850052282 + ], + [ + -14.154000030159889, + 0.41863844200104994 + ], + [ + -14.389082498178643, + 0.41863844200104994 + ] + ], + "projected_box_corners": [ + [ + -14.254822752271373, + 0.1543338260388568 + ], + [ + -14.203217125465695, + 0.38860911885756705 + ], + [ + -14.205605656965568, + 0.1441314850052282 + ], + [ + -14.154000030159889, + 0.3784067778239385 + ], + [ + -14.389082498178643, + 0.1843631491823397 + ], + [ + -14.337476871372965, + 0.41863844200104994 + ], + [ + -14.339865402872839, + 0.17416080814871113 + ], + [ + -14.288259776067159, + 0.4084361009674214 + ] + ], + "yaw_rad": 2.921548415707172, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.36099910736084, + 0.23938150703907013, + 0.10960611701011658 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.350632230450392, + 0.30054144638407027, + 0.06555352372637496 + ], + "intended_face_normal": [ + -0.8891842081998504, + 0.24405729461354575, + 0.38702405113549787 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2932274389485788, + 0.03566934012667107 + ], + "centerline_face_intersection": [ + -14.368811970158491, + 0.281696485768109, + 0.03566934012667107 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.381742477416992, + 0.2467191219329834, + 0.08895044028759003 + ], + "box_pose": [ + -14.28067684173584, + 0.2991741895675659, + 0.03874017298221588, + 0.23085010051727295, + 0.6690778732299805, + 0.7049304246902466, + -0.04600176960229874 + ], + "box_yaw_rad": 2.87371620805196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01153095318046976, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005304306277736241 + } + } + }, + { + "simulation_time_ns": 5280000000, + "center": [ + -14.26176897107144, + 0.28013478914615697, + 0.041458949645717676 + ], + "face_center": [ + -14.32761403113609, + 0.2918638328900483, + 0.0800473183729914 + ], + "face_normal": [ + -0.8527461293516154, + 0.15190048644163934, + 0.49975020203288434 + ], + "footprint_xy": [ + [ + -14.375327074596303, + 0.14595351106446366 + ], + [ + -14.148210867546577, + 0.14595351106446366 + ], + [ + -14.148210867546577, + 0.4143160672278503 + ], + [ + -14.375327074596303, + 0.4143160672278503 + ] + ], + "projected_box_corners": [ + [ + -14.243636954467005, + 0.1544645129132543 + ], + [ + -14.202852549181557, + 0.3908579797400677 + ], + [ + -14.188995272832026, + 0.14595351106446366 + ], + [ + -14.148210867546577, + 0.3823469778912771 + ], + [ + -14.375327074596303, + 0.1779226004010369 + ], + [ + -14.334542669310855, + 0.4143160672278503 + ], + [ + -14.320685392961323, + 0.1694115985522463 + ], + [ + -14.279900987675875, + 0.4058050653790597 + ] + ], + "yaw_rad": 2.965310687336921, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.339010238647461, + 0.22739486396312714, + 0.14318209886550903 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.338671137122901, + 0.29639962507488055, + 0.0742171483977461 + ], + "intended_face_normal": [ + -0.8693854826599505, + 0.19445186208738985, + 0.45426621103800624 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2945960549421716, + 0.03914084031308691 + ], + "centerline_face_intersection": [ + -14.360357232978858, + 0.2813849635031391, + 0.03914084031308691 + ], + "commanded_world_base_velocity": [ + 0.0580003292181069, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.36099910736084, + 0.23938150703907013, + 0.10960611701011658 + ], + "box_pose": [ + -14.27088737487793, + 0.298868864774704, + 0.04237617179751396, + 0.23935426771640778, + 0.6677393317222595, + 0.6991544365882874, + -0.08953719586133957 + ], + "box_yaw_rad": 2.921548415707172, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013211091439032518, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037315443561886405 + } + } + }, + { + "simulation_time_ns": 5300000000, + "center": [ + -14.253245602447628, + 0.27830840726200273, + 0.04232988846911549 + ], + "face_center": [ + -14.318731909109214, + 0.28725348580481, + 0.0822514885286851 + ], + "face_normal": [ + -0.8480999861853391, + 0.11584591306676373, + 0.5170166128620242 + ], + "footprint_xy": [ + [ + -14.362622476315662, + 0.1472398083148713 + ], + [ + -14.143868728579594, + 0.1472398083148713 + ], + [ + -14.143868728579594, + 0.40937700620913414 + ], + [ + -14.362622476315662, + 0.40937700620913414 + ] + ], + "projected_box_corners": [ + [ + -14.231649862992487, + 0.15360561672869097 + ], + [ + -14.200726837557779, + 0.3914868491235195 + ], + [ + -14.174791754014302, + 0.1472398083148713 + ], + [ + -14.143868728579594, + 0.3851210407096998 + ], + [ + -14.362622476315662, + 0.1714957738143056 + ], + [ + -14.331699450880954, + 0.40937700620913414 + ], + [ + -14.305764367337476, + 0.1651299654004859 + ], + [ + -14.274841341902768, + 0.40301119779531447 + ] + ], + "yaw_rad": 3.005838159198977, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.323685646057129, + 0.21632254123687744, + 0.17541757225990295 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.32761403113609, + 0.2918638328900483, + 0.0800473183729914 + ], + "intended_face_normal": [ + -0.8527461293516154, + 0.15190048644163934, + 0.49975020203288434 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.295134789146157, + 0.041458949645717676 + ], + "centerline_face_intersection": [ + -14.352317976518288, + 0.28013478914615697, + 0.041458949645717676 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.339010238647461, + 0.22739486396312714, + 0.14318209886550903 + ], + "box_pose": [ + -14.26174259185791, + 0.2976113557815552, + 0.04479820281267166, + 0.2416624277830124, + 0.6680644154548645, + 0.692865788936615, + -0.12339449673891068 + ], + "box_yaw_rad": 2.965310687336921, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023798876907479517 + } + } + }, + { + "simulation_time_ns": 5320000000, + "center": [ + -14.246198988633838, + 0.27611677368028736, + 0.04193233195008111 + ], + "face_center": [ + -14.312371173711346, + 0.2824283574281692, + 0.08122119033287266 + ], + "face_normal": [ + -0.8569826595978753, + 0.08174005165763987, + 0.5088221026706421 + ], + "footprint_xy": [ + [ + -14.351107008096578, + 0.1483303271886962 + ], + [ + -14.141290969171097, + 0.1483303271886962 + ], + [ + -14.141290969171097, + 0.4039032201718785 + ], + [ + -14.351107008096578, + 0.4039032201718785 + ] + ], + "projected_box_corners": [ + [ + -14.21876263794156, + 0.15234474735376088 + ], + [ + -14.19745384434476, + 0.3912800526761149 + ], + [ + -14.162599762767895, + 0.1483303271886962 + ], + [ + -14.141290969171097, + 0.38726563251105023 + ], + [ + -14.351107008096578, + 0.1649679148495245 + ], + [ + -14.32979821449978, + 0.4039032201718785 + ], + [ + -14.294944132922913, + 0.16095349468445985 + ], + [ + -14.273635339326114, + 0.39988880000681387 + ] + ], + "yaw_rad": 3.046499110840055, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.314984321594238, + 0.2097363919019699, + 0.1998513787984848 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.318731909109214, + 0.28725348580481, + 0.0822514885286851 + ], + "intended_face_normal": [ + -0.8480999861853391, + 0.11584591306676373, + 0.5170166128620242 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.29330840726200275, + 0.04232988846911549 + ], + "centerline_face_intersection": [ + -14.344290662191991, + 0.27830840726200273, + 0.04232988846911549 + ], + "commanded_world_base_velocity": [ + 0.07388707818930032, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.323685646057129, + 0.21632254123687744, + 0.17541757225990295 + ], + "box_pose": [ + -14.253874778747559, + 0.29576680064201355, + 0.04570484533905983, + 0.23461417853832245, + 0.6710624694824219, + 0.6882769465446472, + -0.14458978176116943 + ], + "box_yaw_rad": 3.005838159198977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00202341424845936 + } + } + }, + { + "simulation_time_ns": 5340000000, + "center": [ + -14.240702244281689, + 0.2737452486898123, + 0.040292493177677365 + ], + "face_center": [ + -14.308556008442999, + 0.2773285465427127, + 0.0769698791787834 + ], + "face_normal": [ + -0.8787604520928909, + 0.04640656977721136, + 0.47500144910597797 + ], + "footprint_xy": [ + [ + -14.340582247572703, + 0.14952098920491896 + ], + [ + -14.140822240990673, + 0.14952098920491896 + ], + [ + -14.140822240990673, + 0.39796950817470567 + ], + [ + -14.340582247572703, + 0.39796950817470567 + ] + ], + "projected_box_corners": [ + [ + -14.204874719250084, + 0.15119224205761794 + ], + [ + -14.19335720505185, + 0.3908029124689048 + ], + [ + -14.152339755188907, + 0.14952098920491896 + ], + [ + -14.140822240990673, + 0.3891316596162058 + ], + [ + -14.340582247572703, + 0.15835883776341877 + ], + [ + -14.32906473337447, + 0.39796950817470567 + ], + [ + -14.288047283511526, + 0.15668758491071982 + ], + [ + -14.276529769313292, + 0.3962982553220067 + ] + ], + "yaw_rad": 3.0888325389245845, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.311508178710938, + 0.2084711194038391, + 0.21411360800266266 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.312371173711346, + 0.2824283574281692, + 0.08122119033287266 + ], + "intended_face_normal": [ + -0.8569826595978753, + 0.08174005165763987, + 0.5088221026706421 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2911167736802874, + 0.04193233195008111 + ], + "centerline_face_intersection": [ + -14.336300361218985, + 0.27611677368028736, + 0.04193233195008111 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.314984321594238, + 0.2097363919019699, + 0.1998513787984848 + ], + "box_pose": [ + -14.247565269470215, + 0.2935371994972229, + 0.04528551176190376, + 0.21777337789535522, + 0.6765901446342468, + 0.6860882639884949, + -0.1551889181137085 + ], + "box_yaw_rad": 3.046499110840055, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002227399591974748 + } + } + }, + { + "simulation_time_ns": 5360000000, + "center": [ + -14.236839145702133, + 0.2713670840824578, + 0.037491800765647676 + ], + "face_center": [ + -14.307130766193511, + 0.2720276611208557, + 0.06944259776332867 + ], + "face_normal": [ + -0.9103326390928217, + 0.008555000361139875, + 0.41378834559070654 + ], + "footprint_xy": [ + [ + -14.330735844637987, + 0.1505167380654204 + ], + [ + -14.142942446766277, + 0.1505167380654204 + ], + [ + -14.142942446766277, + 0.3922174300994952 + ], + [ + -14.330735844637987, + 0.3922174300994952 + ] + ], + "projected_box_corners": [ + [ + -14.190152603655227, + 0.1505167380654204 + ], + [ + -14.188727699111771, + 0.3904020700653478 + ], + [ + -14.144367351309732, + 0.15101094402277204 + ], + [ + -14.142942446766277, + 0.39089627602269944 + ], + [ + -14.330735844637987, + 0.15183789214221616 + ], + [ + -14.329310940094532, + 0.39172322414214356 + ], + [ + -14.284950592292493, + 0.1523320980995678 + ], + [ + -14.283525687749037, + 0.3922174300994952 + ] + ], + "yaw_rad": 3.1321952661304713, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.311650276184082, + 0.21174150705337524, + 0.21935459971427917 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.308556008442999, + 0.2773285465427127, + 0.0769698791787834 + ], + "intended_face_normal": [ + -0.8787604520928909, + 0.04640656977721136, + 0.47500144910597797 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28874524868981233, + 0.040292493177677365 + ], + "centerline_face_intersection": [ + -14.328570688665524, + 0.2737452486898123, + 0.040292493177677365 + ], + "commanded_world_base_velocity": [ + 0.08888888888888882, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.311508178710938, + 0.2084711194038391, + 0.21411360800266266 + ], + "box_pose": [ + -14.242915153503418, + 0.29109516739845276, + 0.04355822876095772, + 0.19046436250209808, + 0.684181272983551, + 0.6864956021308899, + -0.15602265298366547 + ], + "box_yaw_rad": 3.0888325389245845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028832623848561367 + } + } + }, + { + "simulation_time_ns": 5380000000, + "center": [ + -14.235225280550559, + 0.26980610126906135, + 0.0353054533865156 + ], + "face_center": [ + -14.307620094991265, + 0.26795062251584983, + 0.062096333079882646 + ], + "face_normal": [ + -0.9375706809110227, + -0.024029932136773624, + 0.3469632944067911 + ], + "footprint_xy": [ + [ + -14.32974474504735, + 0.14773369010322404 + ], + [ + -14.140705816053767, + 0.14773369010322404 + ], + [ + -14.140705816053767, + 0.3918785124348987 + ], + [ + -14.32974474504735, + 0.3918785124348987 + ] + ], + "projected_box_corners": [ + [ + -14.179089442786427, + 0.1514446476096471 + ], + [ + -14.18495511616594, + 0.3912682446501327 + ], + [ + -14.140705816053767, + 0.15205491539441304 + ], + [ + -14.14657148943328, + 0.3918785124348987 + ], + [ + -14.32387907166784, + 0.14773369010322404 + ], + [ + -14.32974474504735, + 0.3875572871437097 + ], + [ + -14.285495444935178, + 0.14834395788798999 + ], + [ + -14.29136111831469, + 0.38816755492847566 + ] + ], + "yaw_rad": -3.115968268173936, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.313278198242188, + 0.2151605784893036, + 0.2192710041999817 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307130766193511, + 0.2720276611208557, + 0.06944259776332867 + ], + "intended_face_normal": [ + -0.9103326390928217, + 0.008555000361139875, + 0.41378834559070654 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2863670840824578, + 0.037491800765647676 + ], + "centerline_face_intersection": [ + -14.321660133762482, + 0.2713670840824578, + 0.037491800765647676 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.311650276184082, + 0.21174150705337524, + 0.21935459971427917 + ], + "box_pose": [ + -14.240006446838379, + 0.2886044383049011, + 0.04056156426668167, + 0.15232114493846893, + 0.693254292011261, + 0.6888866424560547, + -0.14707759022712708 + ], + "box_yaw_rad": 3.1321952661304713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003674172680546511 + } + } + }, + { + "simulation_time_ns": 5400000000, + "center": [ + -14.235342675117037, + 0.2697504241466716, + 0.035250121708715706 + ], + "face_center": [ + -14.307828291478808, + 0.2678271774850517, + 0.061789569306045636 + ], + "face_normal": [ + -0.9387466383275864, + -0.024907580688278586, + 0.3437070479020434 + ], + "footprint_xy": [ + [ + -14.329823367910693, + 0.14768106847281473 + ], + [ + -14.14086198232338, + 0.14768106847281473 + ], + [ + -14.14086198232338, + 0.3918197798205285 + ], + [ + -14.329823367910693, + 0.3918197798205285 + ] + ], + "projected_box_corners": [ + [ + -14.178889006695968, + 0.15152756179605453 + ], + [ + -14.18485213518715, + 0.39134749594622587 + ], + [ + -14.14086198232338, + 0.15199984567035715 + ], + [ + -14.14682511081456, + 0.3918197798205285 + ], + [ + -14.323860239419512, + 0.14768106847281473 + ], + [ + -14.329823367910693, + 0.3875010026229861 + ], + [ + -14.285833215046923, + 0.14815335234711735 + ], + [ + -14.291796343538104, + 0.3879732864972887 + ] + ], + "yaw_rad": -3.1150660730985247, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.315255165100098, + 0.21575848758220673, + 0.21516361832618713 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307620094991265, + 0.26795062251584983, + 0.062096333079882646 + ], + "intended_face_normal": [ + -0.9375706809110227, + -0.024029932136773624, + 0.3469632944067911 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28480610126906136, + 0.0353054533865156 + ], + "centerline_face_intersection": [ + -14.31758207293277, + 0.26980610126906135, + 0.0353054533865156 + ], + "commanded_world_base_velocity": [ + 0.10199440329218103, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.313278198242188, + 0.2151605784893036, + 0.2192710041999817 + ], + "box_pose": [ + -14.239136695861816, + 0.28690052032470703, + 0.03831598907709122, + 0.1159181147813797, + 0.696405291557312, + 0.6955609321594238, + -0.13333261013031006 + ], + "box_yaw_rad": -3.115968268173936, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002686406932308805 + } + } + }, + { + "simulation_time_ns": 5420000000, + "center": [ + -14.235379641815474, + 0.2697296410945104, + 0.035221040318262 + ], + "face_center": [ + -14.307895606336459, + 0.2677864363023079, + 0.06167597877585179 + ], + "face_normal": [ + -0.939139671233562, + -0.02516605442323616, + 0.34261258703075725 + ], + "footprint_xy": [ + [ + -14.329835686644495, + 0.14767459273568198 + ], + [ + -14.140923596986454, + 0.14767459273568198 + ], + [ + -14.140923596986454, + 0.39178468945333894 + ], + [ + -14.329835686644495, + 0.39178468945333894 + ] + ], + "projected_box_corners": [ + [ + -14.178831312802828, + 0.15156100232008698 + ], + [ + -14.184803757602525, + 0.39137995584974083 + ], + [ + -14.140923596986454, + 0.15196573592368506 + ], + [ + -14.146896041786151, + 0.39178468945333894 + ], + [ + -14.323863241844796, + 0.14767459273568198 + ], + [ + -14.329835686644495, + 0.38749354626533583 + ], + [ + -14.285955526028422, + 0.14807932633928003 + ], + [ + -14.291927970828121, + 0.3878982798689339 + ] + ], + "yaw_rad": -3.1148021408664346, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.317376136779785, + 0.21407678723335266, + 0.20760996639728546 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307828291478808, + 0.2678271774850517, + 0.061789569306045636 + ], + "intended_face_normal": [ + -0.9387466383275864, + -0.024907580688278586, + 0.3437070479020434 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847504241466716, + 0.035250121708715706 + ], + "centerline_face_intersection": [ + -14.317596300066363, + 0.2697504241466716, + 0.035250121708715706 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.315255165100098, + 0.21575848758220673, + 0.21516361832618713 + ], + "box_pose": [ + -14.23927116394043, + 0.2868388593196869, + 0.03827238455414772, + 0.11448904871940613, + 0.6961432695388794, + 0.696245551109314, + -0.13235929608345032 + ], + "box_yaw_rad": -3.1150660730985247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 7.849545544649836e-05 + } + } + }, + { + "simulation_time_ns": 5440000000, + "center": [ + -14.23537516841484, + 0.2697291432208596, + 0.03518806056344116 + ], + "face_center": [ + -14.307887647997632, + 0.26778484787749773, + 0.0616524798261163 + ], + "face_normal": [ + -0.9390945384999725, + -0.025180177931956038, + 0.34273537103052476 + ], + "footprint_xy": [ + [ + -14.329835196362744, + 0.14767420602045292 + ], + [ + -14.140915140466937, + 0.14767420602045292 + ], + [ + -14.140915140466937, + 0.3917840804212662 + ], + [ + -14.329835196362744, + 0.3917840804212662 + ] + ], + "projected_box_corners": [ + [ + -14.178836511778217, + 0.15156279670717662 + ], + [ + -14.184810237197159, + 0.39138168905913634 + ], + [ + -14.140915140466937, + 0.15196518806930653 + ], + [ + -14.14688886588588, + 0.3917840804212662 + ], + [ + -14.3238614709438, + 0.14767420602045292 + ], + [ + -14.329835196362744, + 0.38749309837241264 + ], + [ + -14.285940099632521, + 0.14807659738258283 + ], + [ + -14.291913825051465, + 0.3878954897345426 + ] + ], + "yaw_rad": -3.1147858252373566, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.319098472595215, + 0.2112259566783905, + 0.1985350102186203 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307895606336459, + 0.2677864363023079, + 0.06167597877585179 + ], + "intended_face_normal": [ + -0.939139671233562, + -0.02516605442323616, + 0.34261258703075725 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28472964109451043, + 0.035221040318262 + ], + "centerline_face_intersection": [ + -14.317598843364074, + 0.2697296410945104, + 0.035221040318262 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.317376136779785, + 0.21407678723335266, + 0.20760996639728546 + ], + "box_pose": [ + -14.239312171936035, + 0.28681594133377075, + 0.03825010731816292, + 0.11403398960828781, + 0.6959904432296753, + 0.6965394020080566, + -0.13200917840003967 + ], + "box_yaw_rad": -3.1148021408664346, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.574440554625978e-05 + } + } + }, + { + "simulation_time_ns": 5460000000, + "center": [ + -14.235371633023068, + 0.2697291268973863, + 0.03515942150372121 + ], + "face_center": [ + -14.307880857377674, + 0.2677842549873422, + 0.06163269557988106 + ], + "face_normal": [ + -0.939052380694477, + -0.02518764493109238, + 0.34285004793897933 + ], + "footprint_xy": [ + [ + -14.329835327668297, + 0.14767390241444608 + ], + [ + -14.140907938377838, + 0.14767390241444608 + ], + [ + -14.140907938377838, + 0.3917843513803266 + ], + [ + -14.329835327668297, + 0.3917843513803266 + ] + ], + "projected_box_corners": [ + [ + -14.178842019090087, + 0.15156364623453436 + ], + [ + -14.184816878959083, + 0.39138248641099505 + ], + [ + -14.140907938377838, + 0.15196551120386587 + ], + [ + -14.146882798246832, + 0.3917843513803266 + ], + [ + -14.323860467799301, + 0.14767390241444608 + ], + [ + -14.329835327668297, + 0.3874927425909068 + ], + [ + -14.285926387087052, + 0.1480757673837776 + ], + [ + -14.291901246956048, + 0.3878946075602383 + ] + ], + "yaw_rad": -3.1147766764311906, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.318942070007324, + 0.20623503625392914, + 0.1908472627401352 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307887647997632, + 0.26778484787749773, + 0.0616524798261163 + ], + "intended_face_normal": [ + -0.9390945384999725, + -0.025180177931956038, + 0.34273537103052476 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847291432208596, + 0.03518806056344116 + ], + "centerline_face_intersection": [ + -14.317598321405141, + 0.2697291432208596, + 0.03518806056344116 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.319098472595215, + 0.2112259566783905, + 0.1985350102186203 + ], + "box_pose": [ + -14.239307403564453, + 0.286815345287323, + 0.03821806609630585, + 0.11407602578401566, + 0.6959735155105591, + 0.696540117263794, + -0.13205841183662415 + ], + "box_yaw_rad": -3.1147858252373566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.298351264215047e-05 + } + } + }, + { + "simulation_time_ns": 5480000000, + "center": [ + -14.235368100842015, + 0.26972944441358293, + 0.03513442523729719 + ], + "face_center": [ + -14.307874453659126, + 0.26778458096025903, + 0.06161550754390416 + ], + "face_normal": [ + -0.9390151919899381, + -0.02518753540980967, + 0.34295117076101533 + ], + "footprint_xy": [ + [ + -14.329834753173763, + 0.1476738041124545 + ], + [ + -14.140901448510265, + 0.1476738041124545 + ], + [ + -14.140901448510265, + 0.39178508471471135 + ], + [ + -14.329834753173763, + 0.39178508471471135 + ] + ], + "projected_box_corners": [ + [ + -14.178846699198855, + 0.15156353101910233 + ], + [ + -14.184822047539539, + 0.3913823341521593 + ], + [ + -14.140901448510265, + 0.15196628158165434 + ], + [ + -14.146876796850949, + 0.39178508471471135 + ], + [ + -14.32385940483308, + 0.1476738041124545 + ], + [ + -14.329834753173763, + 0.3874926072455115 + ], + [ + -14.28591415414449, + 0.14807655467500652 + ], + [ + -14.291889502485175, + 0.3878953578080635 + ] + ], + "yaw_rad": -3.114775731472174, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.316411972045898, + 0.19964519143104553, + 0.184525266289711 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307880857377674, + 0.2677842549873422, + 0.06163269557988106 + ], + "intended_face_normal": [ + -0.939052380694477, + -0.02518764493109238, + 0.34285004793897933 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28472912689738633, + 0.03515942150372121 + ], + "centerline_face_intersection": [ + -14.317598477338539, + 0.2697291268973863, + 0.03515942150372121 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.318942070007324, + 0.20623503625392914, + 0.1908472627401352 + ], + "box_pose": [ + -14.239303588867188, + 0.2868152856826782, + 0.03819002956151962, + 0.11411628872156143, + 0.6959632635116577, + 0.6965352296829224, + -0.13210324943065643 + ], + "box_yaw_rad": -3.1147766764311906, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.863906437191928e-05 + } + } + }, + { + "simulation_time_ns": 5500000000, + "center": [ + -14.235365377197462, + 0.2697295009076774, + 0.035114861999786855 + ], + "face_center": [ + -14.307869705083112, + 0.2677841248045917, + 0.06160164857886277 + ], + "face_normal": [ + -0.9389889675098431, + -0.025194174633764277, + 0.3430250456464492 + ], + "footprint_xy": [ + [ + -14.329834730650605, + 0.14767342519791885 + ], + [ + -14.14089602374432, + 0.14767342519791885 + ], + [ + -14.14089602374432, + 0.39178557661743596 + ], + [ + -14.329834730650605, + 0.39178557661743596 + ] + ], + "projected_box_corners": [ + [ + -14.178849458701809, + 0.15156417740409023 + ], + [ + -14.184826074879306, + 0.39138305076574637 + ], + [ + -14.14089602374432, + 0.15196670325577982 + ], + [ + -14.146872639921819, + 0.39178557661743596 + ], + [ + -14.323858114473106, + 0.14767342519791885 + ], + [ + -14.329834730650605, + 0.38749229855957495 + ], + [ + -14.28590467951562, + 0.1480759510496084 + ], + [ + -14.291881295693118, + 0.38789482441126455 + ] + ], + "yaw_rad": -3.1147679173529896, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.313645362854004, + 0.1944667100906372, + 0.18023163080215454 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307874453659126, + 0.26778458096025903, + 0.06161550754390416 + ], + "intended_face_normal": [ + -0.9390151919899381, + -0.02518753540980967, + 0.34295117076101533 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28472944441358294, + 0.03513442523729719 + ], + "centerline_face_intersection": [ + -14.317598201664778, + 0.26972944441358293, + 0.03513442523729719 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.316411972045898, + 0.19964519143104553, + 0.184525266289711 + ], + "box_pose": [ + -14.239299774169922, + 0.2868156135082245, + 0.03816533088684082, + 0.11415331810712814, + 0.6959588527679443, + 0.696526288986206, + -0.1321411430835724 + ], + "box_yaw_rad": -3.114775731472174, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.499828297454464e-05 + } + } + }, + { + "simulation_time_ns": 5520000000, + "center": [ + -14.235362548759603, + 0.2697294487390825, + 0.03509986950368392 + ], + "face_center": [ + -14.307865044705498, + 0.26778292220133726, + 0.06159134692105334 + ], + "face_normal": [ + -0.9389652424265265, + -0.02520907368165126, + 0.3430857957497109 + ], + "footprint_xy": [ + [ + -14.329834602952783, + 0.14767295302956898 + ], + [ + -14.140890494566424, + 0.14767295302956898 + ], + [ + -14.140890494566424, + 0.39178594444859605 + ], + [ + -14.329834602952783, + 0.39178594444859605 + ] + ], + "projected_box_corners": [ + [ + -14.178850694336449, + 0.15156600610505952 + ], + [ + -14.184829611060996, + 0.3913846683506305 + ], + [ + -14.140890494566424, + 0.15196728220302508 + ], + [ + -14.146869411290973, + 0.39178594444859605 + ], + [ + -14.323855686228235, + 0.14767295302956898 + ], + [ + -14.329834602952783, + 0.38749161527514 + ], + [ + -14.285895486458212, + 0.14807422912753454 + ], + [ + -14.29187440318276, + 0.3878928913731055 + ] + ], + "yaw_rad": -3.1147513837947045, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.31125545501709, + 0.19234172999858856, + 0.18039250373840332 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307869705083112, + 0.2677841248045917, + 0.06160164857886277 + ], + "intended_face_normal": [ + -0.9389889675098431, + -0.025194174633764277, + 0.3430250456464492 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847295009076774, + 0.035114861999786855 + ], + "centerline_face_intersection": [ + -14.317597774577179, + 0.2697295009076774, + 0.035114861999786855 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.313645362854004, + 0.1944667100906372, + 0.18023163080215454 + ], + "box_pose": [ + -14.239296913146973, + 0.2868156433105469, + 0.038146134465932846, + 0.11417849361896515, + 0.695952832698822, + 0.6965228915214539, + -0.13217072188854218 + ], + "box_yaw_rad": -3.1147679173529896, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.956331908109165e-05 + } + } + }, + { + "simulation_time_ns": 5540000000, + "center": [ + -14.235361739465235, + 0.2697294591396147, + 0.03508626907648468 + ], + "face_center": [ + -14.307862710272499, + 0.26778276236166537, + 0.06158194342535911 + ], + "face_normal": [ + -0.9389454906629027, + -0.025211278428293404, + 0.3431401493654951 + ], + "footprint_xy": [ + [ + -14.329835455887732, + 0.14767284013020573 + ], + [ + -14.140888023042736, + 0.14767284013020573 + ], + [ + -14.140888023042736, + 0.3917860781490237 + ], + [ + -14.329835455887732, + 0.3917860781490237 + ] + ], + "projected_box_corners": [ + [ + -14.178854241961345, + 0.15156623368610442 + ], + [ + -14.184833514273201, + 0.3913849029926909 + ], + [ + -14.140888023042736, + 0.15196740884243723 + ], + [ + -14.146867295354593, + 0.3917860781490237 + ], + [ + -14.323856183575876, + 0.14767284013020573 + ], + [ + -14.329835455887732, + 0.3874915094367922 + ], + [ + -14.285889964657267, + 0.14807401528653855 + ], + [ + -14.291869236969124, + 0.38789268459312504 + ] + ], + "yaw_rad": -3.114748473012094, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.308744430541992, + 0.1915571689605713, + 0.18374845385551453 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307865044705498, + 0.26778292220133726, + 0.06159134692105334 + ], + "intended_face_normal": [ + -0.9389652424265265, + -0.02520907368165126, + 0.3430857957497109 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847294487390825, + 0.03509986950368392 + ], + "centerline_face_intersection": [ + -14.31759702392707, + 0.2697294487390825, + 0.03509986950368392 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.31125545501709, + 0.19234172999858856, + 0.18039250373840332 + ], + "box_pose": [ + -14.239294052124023, + 0.28681549429893494, + 0.03813168406486511, + 0.11419668048620224, + 0.6959432363510132, + 0.6965239644050598, + -0.1321978121995926 + ], + "box_yaw_rad": -3.1147513837947045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.4992586866808908e-05 + } + } + }, + { + "simulation_time_ns": 5560000000, + "center": [ + -14.235359920027223, + 0.2697292916819284, + 0.03507599138366986 + ], + "face_center": [ + -14.307859661023837, + 0.2677820975769507, + 0.06157505306842498 + ], + "face_normal": [ + -0.9389295636324988, + -0.02521771921060889, + 0.3431840180711845 + ], + "footprint_xy": [ + [ + -14.329835192952677, + 0.14767265405046254 + ], + [ + -14.140884647101771, + 0.14767265405046254 + ], + [ + -14.140884647101771, + 0.3917859293133942 + ], + [ + -14.329835192952677, + 0.3917859293133942 + ] + ], + "projected_box_corners": [ + [ + -14.17885574844803, + 0.15156704226041787 + ], + [ + -14.184835710959451, + 0.3913857124305228 + ], + [ + -14.140884647101771, + 0.15196725914328926 + ], + [ + -14.146864609613193, + 0.3917859293133942 + ], + [ + -14.323855230441255, + 0.14767265405046254 + ], + [ + -14.329835192952677, + 0.3874913242205675 + ], + [ + -14.285884129094995, + 0.14807287093333393 + ], + [ + -14.291864091606419, + 0.3878915411034389 + ] + ], + "yaw_rad": -3.1147411631096587, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.305809020996094, + 0.1904793083667755, + 0.18821659684181213 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307862710272499, + 0.26778276236166537, + 0.06158194342535911 + ], + "intended_face_normal": [ + -0.9389454906629027, + -0.025211278428293404, + 0.3431401493654951 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847294591396147, + 0.03508626907648468 + ], + "centerline_face_intersection": [ + -14.31759794452643, + 0.2697294591396147, + 0.03508626907648468 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.308744430541992, + 0.1915571689605713, + 0.18374845385551453 + ], + "box_pose": [ + -14.239293098449707, + 0.28681549429893494, + 0.03811833634972572, + 0.11421612650156021, + 0.6959390044212341, + 0.6965211033821106, + -0.13221867382526398 + ], + "box_yaw_rad": -3.114748473012094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.3600431175988907e-05 + } + } + }, + { + "simulation_time_ns": 5580000000, + "center": [ + -14.235357004735828, + 0.269729570058858, + 0.035067601843415 + ], + "face_center": [ + -14.307855579828884, + 0.26778136367574434, + 0.06156974835145995 + ], + "face_normal": [ + -0.9389144642500256, + -0.025230829021146484, + 0.34322396899715457 + ], + "footprint_xy": [ + [ + -14.329834601136746, + 0.14767220596351394 + ], + [ + -14.140879408334913, + 0.14767220596351394 + ], + [ + -14.140879408334913, + 0.39178693415420207 + ], + [ + -14.329834601136746, + 0.39178693415420207 + ] + ], + "projected_box_corners": [ + [ + -14.178854951034019, + 0.15156861872974123 + ], + [ + -14.184837450950635, + 0.3913871966372193 + ], + [ + -14.140879408334913, + 0.15196835624672397 + ], + [ + -14.146861908251527, + 0.39178693415420207 + ], + [ + -14.32385210122013, + 0.14767220596351394 + ], + [ + -14.329834601136746, + 0.387490783870992 + ], + [ + -14.285876558521023, + 0.14807194348049668 + ], + [ + -14.291859058437637, + 0.38789052138797475 + ] + ], + "yaw_rad": -3.114726778837216, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.30278491973877, + 0.1894264966249466, + 0.1926652044057846 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307859661023837, + 0.2677820975769507, + 0.06157505306842498 + ], + "intended_face_normal": [ + -0.9389295636324988, + -0.02521771921060889, + 0.3431840180711845 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847292916819284, + 0.03507599138366986 + ], + "centerline_face_intersection": [ + -14.31759752005838, + 0.2697292916819284, + 0.03507599138366986 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.305809020996094, + 0.1904793083667755, + 0.18821659684181213 + ], + "box_pose": [ + -14.239291191101074, + 0.2868152856826782, + 0.03810841590166092, + 0.11423072218894958, + 0.6959325671195984, + 0.6965218186378479, + -0.13223668932914734 + ], + "box_yaw_rad": -3.1147411631096587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.0279056944708602e-05 + } + } + }, + { + "simulation_time_ns": 5600000000, + "center": [ + -14.235356132107944, + 0.26972991591230516, + 0.035058991480288695 + ], + "face_center": [ + -14.307853578854502, + 0.26778168605310887, + 0.0615642794625198 + ], + "face_normal": [ + -0.938899851261489, + -0.025231133055171107, + 0.3432646535974886 + ], + "footprint_xy": [ + [ + -14.329835155522213, + 0.14767211139602923 + ], + [ + -14.140877108693674, + 0.14767211139602923 + ], + [ + -14.140877108693674, + 0.3917877204285811 + ], + [ + -14.329835155522213, + 0.3917877204285811 + ] + ], + "projected_box_corners": [ + [ + -14.178857133741856, + 0.15156857111442182 + ], + [ + -14.184840262029097, + 0.39138717191900285 + ], + [ + -14.140877108693674, + 0.1519691196240001 + ], + [ + -14.146860236980915, + 0.3917877204285811 + ], + [ + -14.323852027234972, + 0.14767211139602923 + ], + [ + -14.329835155522213, + 0.38749071220061027 + ], + [ + -14.28587200218679, + 0.1480726599056075 + ], + [ + -14.291855130474033, + 0.38789126071018853 + ] + ], + "yaw_rad": -3.114726037313552, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.300225257873535, + 0.18916085362434387, + 0.1965680718421936 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307855579828884, + 0.26778136367574434, + 0.06156974835145995 + ], + "intended_face_normal": [ + -0.9389144642500256, + -0.025230829021146484, + 0.34322396899715457 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.284729570058858, + 0.035067601843415 + ], + "centerline_face_intersection": [ + -14.317595927291054, + 0.269729570058858, + 0.035067601843415 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.30278491973877, + 0.1894264966249466, + 0.1926652044057846 + ], + "box_pose": [ + -14.239288330078125, + 0.28681549429893494, + 0.03810034319758415, + 0.11424129456281662, + 0.6959273219108582, + 0.6965216398239136, + -0.13225583732128143 + ], + "box_yaw_rad": -3.114726778837216, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.394157456400689e-06 + } + } + }, + { + "simulation_time_ns": 5620000000, + "center": [ + -14.235356172705293, + 0.2697301030337779, + 0.0350522862484091 + ], + "face_center": [ + -14.307852811869996, + 0.267781698745508, + 0.061559736019476646 + ], + "face_normal": [ + -0.9388893924313066, + -0.025233392051020154, + 0.34329265048990454 + ], + "footprint_xy": [ + [ + -14.32983627015292, + 0.14767200360000354 + ], + [ + -14.140876075257665, + 0.14767200360000354 + ], + [ + -14.140876075257665, + 0.3917882024675523 + ], + [ + -14.32983627015292, + 0.3917882024675523 + ] + ], + "projected_box_corners": [ + [ + -14.178859193518136, + 0.15156881217654336 + ], + [ + -14.184842991823514, + 0.3913873783927438 + ], + [ + -14.140876075257665, + 0.15196963625135188 + ], + [ + -14.146859873563045, + 0.3917882024675523 + ], + [ + -14.323852471847541, + 0.14767200360000354 + ], + [ + -14.32983627015292, + 0.38749056981620394 + ], + [ + -14.28586935358707, + 0.14807282767481209 + ], + [ + -14.29185315189245, + 0.3878913938910125 + ] + ], + "yaw_rad": -3.114723333881518, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.298526763916016, + 0.18995101749897003, + 0.19915616512298584 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307853578854502, + 0.26778168605310887, + 0.0615642794625198 + ], + "intended_face_normal": [ + -0.938899851261489, + -0.025231133055171107, + 0.3432646535974886 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847299159123052, + 0.035058991480288695 + ], + "centerline_face_intersection": [ + -14.317596334625488, + 0.26972991591230516, + 0.035058991480288695 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300225257873535, + 0.18916085362434387, + 0.1965680718421936 + ], + "box_pose": [ + -14.239287376403809, + 0.2868158519268036, + 0.03809178248047829, + 0.11425577849149704, + 0.695927083492279, + 0.6965166330337524, + -0.1322714388370514 + ], + "box_yaw_rad": -3.114726037313552, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.61730629453087e-06 + } + } + }, + { + "simulation_time_ns": 5640000000, + "center": [ + -14.23535517462729, + 0.26973003695439407, + 0.035047827326790036 + ], + "face_center": [ + -14.307851263206727, + 0.26778093139459946, + 0.061556732094202635 + ], + "face_normal": [ + -0.9388822619122621, + -0.02524247407748792, + 0.3433114938549231 + ], + "footprint_xy": [ + [ + -14.329836507539078, + 0.1476716355073259 + ], + [ + -14.140873841715505, + 0.1476716355073259 + ], + [ + -14.140873841715505, + 0.3917884384014622 + ], + [ + -14.329836507539078, + 0.3917884384014622 + ] + ], + "projected_box_corners": [ + [ + -14.178859069466132, + 0.15156984662691503 + ], + [ + -14.184844330380205, + 0.3913883641483369 + ], + [ + -14.140873841715505, + 0.15196992088004038 + ], + [ + -14.146859102629577, + 0.3917884384014622 + ], + [ + -14.323851246625004, + 0.1476716355073259 + ], + [ + -14.329836507539078, + 0.38749015302874773 + ], + [ + -14.285866018874378, + 0.14807170976045125 + ], + [ + -14.29185127978845, + 0.38789022728187306 + ] + ], + "yaw_rad": -3.1147134636676537, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.298149108886719, + 0.19214066863059998, + 0.1989538073539734 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307852811869996, + 0.267781698745508, + 0.061559736019476646 + ], + "intended_face_normal": [ + -0.9388893924313066, + -0.025233392051020154, + 0.34329265048990454 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473010303377794, + 0.0350522862484091 + ], + "centerline_face_intersection": [ + -14.317597291343864, + 0.2697301030337779, + 0.0350522862484091 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.298526763916016, + 0.18995101749897003, + 0.19915616512298584 + ], + "box_pose": [ + -14.239287376403809, + 0.2868160307407379, + 0.03808517009019852, + 0.11426522582769394, + 0.695925772190094, + 0.6965141892433167, + -0.13228274881839752 + ], + "box_yaw_rad": -3.114723333881518, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 6.7078423509128475e-06 + } + } + }, + { + "simulation_time_ns": 5660000000, + "center": [ + -14.235355160147524, + 0.2697303387983306, + 0.0350429535462317 + ], + "face_center": [ + -14.307850761361742, + 0.26778106213211994, + 0.06155313124731735 + ], + "face_normal": [ + -0.9388759501433483, + -0.025244690042267592, + 0.34332797936289516 + ], + "footprint_xy": [ + [ + -14.329837379453071, + 0.14767147348484438 + ], + [ + -14.140872940841978, + 0.14767147348484438 + ], + [ + -14.140872940841978, + 0.39178920411181684 + ], + [ + -14.329837379453071, + 0.39178920411181684 + ] + ], + "projected_box_corners": [ + [ + -14.17885997899959, + 0.15157002681726567 + ], + [ + -14.184846177024633, + 0.39138850004273584 + ], + [ + -14.140872940841978, + 0.15197073088634666 + ], + [ + -14.146859138867022, + 0.39178920411181684 + ], + [ + -14.323851181428026, + 0.14767147348484438 + ], + [ + -14.329837379453071, + 0.38748994671031456 + ], + [ + -14.285864143270414, + 0.14807217755392535 + ], + [ + -14.291850341295458, + 0.38789065077939555 + ] + ], + "yaw_rad": -3.1147109245276123, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.299051284790039, + 0.1958249807357788, + 0.19477781653404236 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307851263206727, + 0.26778093139459946, + 0.061556732094202635 + ], + "intended_face_normal": [ + -0.9388822619122621, + -0.02524247407748792, + 0.3433114938549231 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847300369543941, + 0.035047827326790036 + ], + "centerline_face_intersection": [ + -14.317596917861602, + 0.26973003695439407, + 0.035047827326790036 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.298149108886719, + 0.19214066863059998, + 0.1989538073539734 + ], + "box_pose": [ + -14.239286422729492, + 0.28681591153144836, + 0.03808095306158066, + 0.11426951736211777, + 0.6959214806556702, + 0.6965159177780151, + -0.13229252398014069 + ], + "box_yaw_rad": -3.1147134636676537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 4.459411226824958e-06 + } + } + }, + { + "simulation_time_ns": 5680000000, + "center": [ + -14.235355163705542, + 0.26973065826411785, + 0.03503870611137097 + ], + "face_center": [ + -14.307850315948853, + 0.26778132446250263, + 0.06155017632349607 + ], + "face_normal": [ + -0.9388701356114382, + -0.02524542999140067, + 0.34334471841340175 + ], + "footprint_xy": [ + [ + -14.329838182193852, + 0.14767138390994278 + ], + [ + -14.140872145217232, + 0.14767138390994278 + ], + [ + -14.140872145217232, + 0.391789932618293 + ], + [ + -14.329838182193852, + 0.391789932618293 + ] + ], + "projected_box_corners": [ + [ + -14.17886101909127, + 0.15157005151317324 + ], + [ + -14.184847877707229, + 0.3913885527650174 + ], + [ + -14.140872145217232, + 0.1519714313664488 + ], + [ + -14.146859003833193, + 0.391789932618293 + ], + [ + -14.323851323577893, + 0.14767138390994278 + ], + [ + -14.329838182193852, + 0.38748988516178695 + ], + [ + -14.285862449703856, + 0.14807276376321835 + ], + [ + -14.291849308319815, + 0.3878912650150625 + ] + ], + "yaw_rad": -3.1147099705682946, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.300605773925781, + 0.20053152740001678, + 0.1878865510225296 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307850761361742, + 0.26778106213211994, + 0.06155313124731735 + ], + "intended_face_normal": [ + -0.9388759501433483, + -0.025244690042267592, + 0.34332797936289516 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847303387983306, + 0.0350429535462317 + ], + "centerline_face_intersection": [ + -14.317597456267313, + 0.2697303387983306, + 0.0350429535462317 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.299051284790039, + 0.1958249807357788, + 0.19477781653404236 + ], + "box_pose": [ + -14.239286422729492, + 0.28681620955467224, + 0.03807607293128967, + 0.11427450180053711, + 0.6959220767021179, + 0.6965130567550659, + -0.1322997361421585 + ], + "box_yaw_rad": -3.1147109245276123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 4.8831185417538484e-06 + } + } + }, + { + "simulation_time_ns": 5700000000, + "center": [ + -14.235355161082111, + 0.26973089524244864, + 0.035035258450569796 + ], + "face_center": [ + -14.307849877255348, + 0.2677814544035383, + 0.06154792411843518 + ], + "face_normal": [ + -0.9388644881556161, + -0.025246816209881118, + 0.34336020052024985 + ], + "footprint_xy": [ + [ + -14.329838948701656, + 0.14767123760013262 + ], + [ + -14.140871373462566, + 0.14767123760013262 + ], + [ + -14.140871373462566, + 0.3917905528847646 + ], + [ + -14.329838948701656, + 0.3917905528847646 + ] + ], + "projected_box_corners": [ + [ + -14.178861947592534, + 0.1515701192779533 + ], + [ + -14.18484951635518, + 0.39138861372112693 + ], + [ + -14.140871373462566, + 0.151972058441591 + ], + [ + -14.146858942225213, + 0.3917905528847646 + ], + [ + -14.323851379939008, + 0.14767123760013262 + ], + [ + -14.329838948701656, + 0.3874897320433062 + ], + [ + -14.28586080580904, + 0.1480731767637703 + ], + [ + -14.291848374571689, + 0.3878916712069439 + ] + ], + "yaw_rad": -3.114708333524276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.302292823791504, + 0.20581769943237305, + 0.180592879652977 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307850315948853, + 0.26778132446250263, + 0.06155017632349607 + ], + "intended_face_normal": [ + -0.9388701356114382, + -0.02524542999140067, + 0.34334471841340175 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473065826411786, + 0.03503870611137097 + ], + "centerline_face_intersection": [ + -14.317597969161433, + 0.26973065826411785, + 0.03503870611137097 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300605773925781, + 0.20053152740001678, + 0.1878865510225296 + ], + "box_pose": [ + -14.239286422729492, + 0.2868165373802185, + 0.03807179629802704, + 0.11428003013134003, + 0.6959230899810791, + 0.6965099573135376, + -0.1323065459728241 + ], + "box_yaw_rad": -3.1147099705682946, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 4.259432037886808e-06 + } + } + }, + { + "simulation_time_ns": 5720000000, + "center": [ + -14.235355148828834, + 0.26973116286738263, + 0.0350323634061772 + ], + "face_center": [ + -14.307849480170214, + 0.26778161514565146, + 0.06154604051129782 + ], + "face_normal": [ + -0.9388595042756407, + -0.02524820042779652, + 0.34337329944071016 + ], + "footprint_xy": [ + [ + -14.329839645453106, + 0.14767110220590127 + ], + [ + -14.140870652204562, + 0.14767110220590127 + ], + [ + -14.140870652204562, + 0.39179122352886403 + ], + [ + -14.329839645453106, + 0.39179122352886403 + ] + ], + "projected_box_corners": [ + [ + -14.178862661501174, + 0.1515701976493637 + ], + [ + -14.184850982770344, + 0.3913886607220303 + ], + [ + -14.140870652204562, + 0.1519727604561974 + ], + [ + -14.146858973473732, + 0.39179122352886403 + ], + [ + -14.323851324183936, + 0.14767110220590127 + ], + [ + -14.329839645453106, + 0.3874895652785679 + ], + [ + -14.285859314887324, + 0.14807366501273497 + ], + [ + -14.291847636156493, + 0.38789212808540163 + ] + ], + "yaw_rad": -3.1147067175835637, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.304388046264648, + 0.21123233437538147, + 0.17588642239570618 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307849877255348, + 0.2677814544035383, + 0.06154792411843518 + ], + "intended_face_normal": [ + -0.9388644881556161, + -0.025246816209881118, + 0.34336020052024985 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473089524244866, + 0.035035258450569796 + ], + "centerline_face_intersection": [ + -14.317598461244765, + 0.26973089524244864, + 0.035035258450569796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.302292823791504, + 0.20581769943237305, + 0.180592879652977 + ], + "box_pose": [ + -14.239286422729492, + 0.2868167757987976, + 0.038068339228630066, + 0.1142849549651146, + 0.6959236860275269, + 0.6965073347091675, + -0.1323130577802658 + ], + "box_yaw_rad": -3.114708333524276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.455795672376953e-06 + } + } + }, + { + "simulation_time_ns": 5740000000, + "center": [ + -14.235355127327225, + 0.26973146185604996, + 0.03502992497396716 + ], + "face_center": [ + -14.307849137971965, + 0.2677817734537203, + 0.06154447984945675 + ], + "face_normal": [ + -0.9388553509979616, + -0.02525002235393181, + 0.3433846672682108 + ], + "footprint_xy": [ + [ + -14.329840323372931, + 0.14767099850251908 + ], + [ + -14.140869931281518, + 0.14767099850251908 + ], + [ + -14.140869931281518, + 0.39179192520958084 + ], + [ + -14.329840323372931, + 0.39179192520958084 + ] + ], + "projected_box_corners": [ + [ + -14.178863186387645, + 0.15157037530717843 + ], + [ + -14.18485230208345, + 0.3913888293137135 + ], + [ + -14.140869931281518, + 0.15197347120304577 + ], + [ + -14.146859046977323, + 0.39179192520958084 + ], + [ + -14.323851207677126, + 0.14767099850251908 + ], + [ + -14.329840323372931, + 0.38748945250905414 + ], + [ + -14.285857952571, + 0.14807409439838642 + ], + [ + -14.291847068266804, + 0.3878925484049215 + ] + ], + "yaw_rad": -3.1147046595239147, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.306262016296387, + 0.2159367799758911, + 0.17390155792236328 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307849480170214, + 0.26778161514565146, + 0.06154604051129782 + ], + "intended_face_normal": [ + -0.9388595042756407, + -0.02524820042779652, + 0.34337329944071016 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473116286738265, + 0.0350323634061772 + ], + "centerline_face_intersection": [ + -14.317598885575167, + 0.26973116286738263, + 0.0350323634061772 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.304388046264648, + 0.21123233437538147, + 0.17588642239570618 + ], + "box_pose": [ + -14.239286422729492, + 0.2868170440196991, + 0.03806541860103607, + 0.11428897082805634, + 0.6959245800971985, + 0.6965046525001526, + -0.13231872022151947 + ], + "box_yaw_rad": -3.1147067175835637, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.9073880271471556e-06 + } + } + }, + { + "simulation_time_ns": 5760000000, + "center": [ + -14.235355095928014, + 0.2697316205626066, + 0.035028200397985945 + ], + "face_center": [ + -14.307848888593707, + 0.2677817219115462, + 0.06154333969175696 + ], + "face_normal": [ + -0.9388525279951523, + -0.0252527452429554, + 0.34339223595182844 + ], + "footprint_xy": [ + [ + -14.329840876576682, + 0.1476708425790728 + ], + [ + -14.140869315279346, + 0.1476708425790728 + ], + [ + -14.140869315279346, + 0.39179239854614034 + ], + [ + -14.329840876576682, + 0.39179239854614034 + ] + ], + "projected_box_corners": [ + [ + -14.17886340399039, + 0.15157063988119354 + ], + [ + -14.184853291245297, + 0.39138907775188314 + ], + [ + -14.140869315279346, + 0.15197396067545074 + ], + [ + -14.146859202534255, + 0.39179239854614034 + ], + [ + -14.323850989321775, + 0.1476708425790728 + ], + [ + -14.329840876576682, + 0.3874892804497624 + ], + [ + -14.285856900610732, + 0.14807416337333001 + ], + [ + -14.29184678786564, + 0.3878926012440196 + ] + ], + "yaw_rad": -3.1147016805799987, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.306509017944336, + 0.2183387577533722, + 0.1757645308971405 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307849137971965, + 0.2677817734537203, + 0.06154447984945675 + ], + "intended_face_normal": [ + -0.9388553509979616, + -0.02525002235393181, + 0.3433846672682108 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473146185604997, + 0.03502992497396716 + ], + "centerline_face_intersection": [ + -14.317599227900716, + 0.26973146185604996, + 0.03502992497396716 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.306262016296387, + 0.2159367799758911, + 0.17390155792236328 + ], + "box_pose": [ + -14.239286422729492, + 0.286817342042923, + 0.03806295990943909, + 0.11429223418235779, + 0.6959253549575806, + 0.6965023875236511, + -0.13232384622097015 + ], + "box_yaw_rad": -3.1147046595239147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.456694092911089e-06 + } + } + }, + { + "simulation_time_ns": 5780000000, + "center": [ + -14.235355068208179, + 0.2697318597653615, + 0.03502648116993563 + ], + "face_center": [ + -14.307848617081552, + 0.2677818320522518, + 0.06154227674547269 + ], + "face_normal": [ + -0.9388493706898444, + -0.025254416699597826, + 0.3434007353249813 + ], + "footprint_xy": [ + [ + -14.329841448756827, + 0.1476706956653981 + ], + [ + -14.14086868765953, + 0.1476706956653981 + ], + [ + -14.14086868765953, + 0.391793023865325 + ], + [ + -14.329841448756827, + 0.391793023865325 + ] + ], + "projected_box_corners": [ + [ + -14.178863704805176, + 0.1515707510916175 + ], + [ + -14.184854351010083, + 0.3913891742325152 + ], + [ + -14.14086868765953, + 0.1519746007244273 + ], + [ + -14.146859333864438, + 0.391793023865325 + ], + [ + -14.32385080255192, + 0.1476706956653981 + ], + [ + -14.329841448756827, + 0.3874891188062958 + ], + [ + -14.285855785406275, + 0.14807454529820788 + ], + [ + -14.291846431611182, + 0.3878929684391056 + ] + ], + "yaw_rad": -3.114699811153106, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.305480003356934, + 0.21908774971961975, + 0.18104353547096252 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307848888593707, + 0.2677817219115462, + 0.06154333969175696 + ], + "intended_face_normal": [ + -0.9388525279951523, + -0.0252527452429554, + 0.34339223595182844 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847316205626066, + 0.035028200397985945 + ], + "centerline_face_intersection": [ + -14.317599443798414, + 0.2697316205626066, + 0.035028200397985945 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.306509017944336, + 0.2183387577533722, + 0.1757645308971405 + ], + "box_pose": [ + -14.239286422729492, + 0.2868174910545349, + 0.03806125000119209, + 0.11429396271705627, + 0.6959253549575806, + 0.6965013742446899, + -0.13232772052288055 + ], + "box_yaw_rad": -3.1147016805799987, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.7318631834240864e-06 + } + } + }, + { + "simulation_time_ns": 5800000000, + "center": [ + -14.235355096965648, + 0.2697320005105435, + 0.035025030877672204 + ], + "face_center": [ + -14.307848389310116, + 0.2677820590979156, + 0.06154149166445588 + ], + "face_normal": [ + -0.9388460484355861, + -0.025253299039416532, + 0.343409350342041 + ], + "footprint_xy": [ + [ + -14.329841685267455, + 0.1476707608559752 + ], + [ + -14.140868508663843, + 0.1476707608559752 + ], + [ + -14.140868508663843, + 0.39179324016511186 + ], + [ + -14.329841685267455, + 0.39179324016511186 + ] + ], + "projected_box_corners": [ + [ + -14.178864470331664, + 0.15157064368123113 + ], + [ + -14.18485510057852, + 0.3913890475869528 + ], + [ + -14.140868508663843, + 0.1519748362593902 + ], + [ + -14.1468591389107, + 0.39179324016511186 + ], + [ + -14.323851055020597, + 0.1476707608559752 + ], + [ + -14.329841685267455, + 0.38748916476169687 + ], + [ + -14.285855093352778, + 0.1480749534341343 + ], + [ + -14.291845723599634, + 0.38789335733985597 + ] + ], + "yaw_rad": -3.1147009056353157, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.303447723388672, + 0.21947917342185974, + 0.1871996521949768 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307848617081552, + 0.2677818320522518, + 0.06154227674547269 + ], + "intended_face_normal": [ + -0.9388493706898444, + -0.025254416699597826, + 0.3434007353249813 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473185976536153, + 0.03502648116993563 + ], + "centerline_face_intersection": [ + -14.317599692662368, + 0.2697318597653615, + 0.03502648116993563 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.305480003356934, + 0.21908774971961975, + 0.18104353547096252 + ], + "box_pose": [ + -14.239286422729492, + 0.286817729473114, + 0.038059499114751816, + 0.11429622024297714, + 0.695926308631897, + 0.6964992880821228, + -0.1323317289352417 + ], + "box_yaw_rad": -3.114699811153106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.735788883173585e-06 + } + } + }, + { + "simulation_time_ns": 5820000000, + "center": [ + -14.23535504705019, + 0.2697321049026013, + 0.03502415292113388 + ], + "face_center": [ + -14.30784818553861, + 0.2677818880922643, + 0.06154100212988089 + ], + "face_normal": [ + -0.9388440558768778, + -0.025256865659755157, + 0.343414380716764 + ], + "footprint_xy": [ + [ + -14.32984222131287, + 0.14767051696199532 + ], + [ + -14.14086787278751, + 0.14767051696199532 + ], + [ + -14.14086787278751, + 0.39179369284320725 + ], + [ + -14.32984222131287, + 0.39179369284320725 + ] + ], + "projected_box_corners": [ + [ + -14.178864388958345, + 0.15157095058266934 + ], + [ + -14.184855944336027, + 0.39138932492993284 + ], + [ + -14.14086787278751, + 0.15197531849594376 + ], + [ + -14.146859428165193, + 0.39179369284320725 + ], + [ + -14.323850665935186, + 0.14767051696199532 + ], + [ + -14.32984222131287, + 0.3874888913092588 + ], + [ + -14.285854149764353, + 0.14807488487526974 + ], + [ + -14.291845705142034, + 0.38789325922253326 + ] + ], + "yaw_rad": -3.1146970523874193, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.30173110961914, + 0.22065478563308716, + 0.1893351823091507 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307848389310116, + 0.2677820590979156, + 0.06154149166445588 + ], + "intended_face_normal": [ + -0.9388460484355861, + -0.025253299039416532, + 0.343409350342041 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473200051054354, + 0.035025030877672204 + ], + "centerline_face_intersection": [ + -14.317600012455364, + 0.2697320005105435, + 0.035025030877672204 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.303447723388672, + 0.21947917342185974, + 0.1871996521949768 + ], + "box_pose": [ + -14.239286422729492, + 0.28681787848472595, + 0.03805803135037422, + 0.11429961025714874, + 0.6959267854690552, + 0.6964976191520691, + -0.13233470916748047 + ], + "box_yaw_rad": -3.1147009056353157, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.457105643260014e-06 + } + } + }, + { + "simulation_time_ns": 5840000000, + "center": [ + -14.235355074182113, + 0.26973215650651, + 0.03502314665107284 + ], + "face_center": [ + -14.307847994672228, + 0.2677819951110253, + 0.061540649606152034 + ], + "face_normal": [ + -0.9388412326246822, + -0.025256147993148126, + 0.34342284725402283 + ], + "footprint_xy": [ + [ + -14.329842483410532, + 0.1476705158097125 + ], + [ + -14.140867664953692, + 0.1476705158097125 + ], + [ + -14.140867664953692, + 0.3917937972033075 + ], + [ + -14.329842483410532, + 0.3917937972033075 + ] + ], + "projected_box_corners": [ + [ + -14.178865112802907, + 0.15157083860068185 + ], + [ + -14.184856642430299, + 0.39138924529373054 + ], + [ + -14.140867664953692, + 0.1519753905102588 + ], + [ + -14.146859194581086, + 0.3917937972033075 + ], + [ + -14.323850953783138, + 0.1476705158097125 + ], + [ + -14.329842483410532, + 0.3874889225027612 + ], + [ + -14.285853505933925, + 0.14807506771928947 + ], + [ + -14.29184503556132, + 0.3878934744123381 + ] + ], + "yaw_rad": -3.11469773541148, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.300999641418457, + 0.22122637927532196, + 0.18341907858848572 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.30784818553861, + 0.2677818880922643, + 0.06154100212988089 + ], + "intended_face_normal": [ + -0.9388440558768778, + -0.025256865659755157, + 0.343414380716764 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847321049026013, + 0.03502415292113388 + ], + "centerline_face_intersection": [ + -14.317600137092667, + 0.2697321049026013, + 0.03502415292113388 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.30173110961914, + 0.22065478563308716, + 0.1893351823091507 + ], + "box_pose": [ + -14.239286422729492, + 0.2868179678916931, + 0.03805717080831528, + 0.11430013924837112, + 0.6959267258644104, + 0.6964969635009766, + -0.13233791291713715 + ], + "box_yaw_rad": -3.1146970523874193, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.841410435629957e-07 + } + } + }, + { + "simulation_time_ns": 5860000000, + "center": [ + -14.235355045483171, + 0.2697322914489322, + 0.035022791687205145 + ], + "face_center": [ + -14.30784792767456, + 0.26778191630098774, + 0.06154039289285917 + ], + "face_normal": [ + -0.938840736625572, + -0.025258916258262154, + 0.3434241196774561 + ], + "footprint_xy": [ + [ + -14.329842719997172, + 0.14767055234465926 + ], + [ + -14.14086737096917, + 0.14767055234465926 + ], + [ + -14.14086737096917, + 0.39179403055320505 + ], + [ + -14.329842719997172, + 0.39179403055320505 + ] + ], + "projected_box_corners": [ + [ + -14.178864966706735, + 0.15157130264054813 + ], + [ + -14.184856955614393, + 0.3913896993901281 + ], + [ + -14.14086737096917, + 0.15197563380362514 + ], + [ + -14.146859359876828, + 0.39179403055320505 + ], + [ + -14.323850731089514, + 0.14767055234465926 + ], + [ + -14.329842719997172, + 0.3874889490942392 + ], + [ + -14.285853135351948, + 0.14807488350773626 + ], + [ + -14.291845124259606, + 0.3878932802573162 + ] + ], + "yaw_rad": -3.11469477474275, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.300941467285156, + 0.22205719351768494, + 0.17079536616802216 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847994672228, + 0.2677819951110253, + 0.061540649606152034 + ], + "intended_face_normal": [ + -0.9388412326246822, + -0.025256147993148126, + 0.34342284725402283 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473215650651, + 0.03502314665107284 + ], + "centerline_face_intersection": [ + -14.317600411549295, + 0.26973215650651, + 0.03502314665107284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300999641418457, + 0.22122637927532196, + 0.18341907858848572 + ], + "box_pose": [ + -14.239286422729492, + 0.2868180274963379, + 0.03805616497993469, + 0.11430340260267258, + 0.6959268450737, + 0.6964958310127258, + -0.13234089314937592 + ], + "box_yaw_rad": -3.11469773541148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.00759237747235e-06 + } + } + }, + { + "simulation_time_ns": 5880000000, + "center": [ + -14.235355090515137, + 0.26973242303241507, + 0.03502163342767566 + ], + "face_center": [ + -14.307847844306474, + 0.267782290788966, + 0.06153953782403415 + ], + "face_normal": [ + -0.9388390737423222, + -0.025255770450998583, + 0.34342804623928824 + ], + "footprint_xy": [ + [ + -14.329842625943153, + 0.14767074795933027 + ], + [ + -14.140867555087121, + 0.14767074795933027 + ], + [ + -14.140867555087121, + 0.39179409810549987 + ], + [ + -14.329842625943153, + 0.39179409810549987 + ] + ], + "projected_box_corners": [ + [ + -14.178865574553464, + 0.15157101244622842 + ], + [ + -14.184857118360478, + 0.39138938923941863 + ], + [ + -14.140867555087121, + 0.15197572131230966 + ], + [ + -14.146859098894135, + 0.39179409810549987 + ], + [ + -14.32385108213614, + 0.14767074795933027 + ], + [ + -14.329842625943153, + 0.3874891247525205 + ], + [ + -14.285853062669794, + 0.1480754568254115 + ], + [ + -14.291844606476808, + 0.38789383361860175 + ] + ], + "yaw_rad": -3.1146980754422353, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.301522254943848, + 0.22513802349567413, + 0.1534893959760666 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.30784792767456, + 0.26778191630098774, + 0.06154039289285917 + ], + "intended_face_normal": [ + -0.938840736625572, + -0.025258916258262154, + 0.3434241196774561 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847322914489322, + 0.035022791687205145 + ], + "centerline_face_intersection": [ + -14.317600426301402, + 0.2697322914489322, + 0.035022791687205145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300941467285156, + 0.22205719351768494, + 0.17079536616802216 + ], + "box_pose": [ + -14.239286422729492, + 0.28681814670562744, + 0.03805586323142052, + 0.11430304497480392, + 0.6959258913993835, + 0.6964966058731079, + -0.13234221935272217 + ], + "box_yaw_rad": -3.11469477474275, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.797483438713439e-07 + } + } + }, + { + "simulation_time_ns": 5900000000, + "center": [ + -14.23535509423829, + 0.2697324243026492, + 0.0350208208565108 + ], + "face_center": [ + -14.307847835249303, + 0.26778228658512854, + 0.06153875798310095 + ], + "face_normal": [ + -0.9388389082269271, + -0.025255841344598906, + 0.34342847012193545 + ], + "footprint_xy": [ + [ + -14.329842624937903, + 0.14767077610466972 + ], + [ + -14.140867563538675, + 0.14767077610466972 + ], + [ + -14.140867563538675, + 0.39179407250062875 + ], + [ + -14.329842624937903, + 0.39179407250062875 + ] + ], + "projected_box_corners": [ + [ + -14.178865631564449, + 0.15157105153971107 + ], + [ + -14.184857142915876, + 0.3913894274191804 + ], + [ + -14.140867563538675, + 0.15197569662115937 + ], + [ + -14.146859074890102, + 0.39179407250062875 + ], + [ + -14.323851113586477, + 0.14767077610466972 + ], + [ + -14.329842624937903, + 0.3874891519841391 + ], + [ + -14.285853045560703, + 0.14807542118611802 + ], + [ + -14.29184455691213, + 0.38789379706558735 + ] + ], + "yaw_rad": -3.1146979952456713, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.306380271911621, + 0.23263365030288696, + 0.12874306738376617 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847844306474, + 0.267782290788966, + 0.06153953782403415 + ], + "intended_face_normal": [ + -0.9388390737423222, + -0.025255770450998583, + 0.34342804623928824 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847324230324151, + 0.03502163342767566 + ], + "centerline_face_intersection": [ + -14.317600617007392, + 0.26973242303241507, + 0.03502163342767566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.301522254943848, + 0.22513802349567413, + 0.1534893959760666 + ], + "box_pose": [ + -14.239286422729492, + 0.2868182957172394, + 0.03805465251207352, + 0.11430538445711136, + 0.6959269046783447, + 0.696494996547699, + -0.13234277069568634 + ], + "box_yaw_rad": -3.1146980754422353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.165709805485673e-06 + } + } + }, + { + "simulation_time_ns": 5920000000, + "center": [ + -14.235355093570872, + 0.2697325060829181, + 0.035019905902234 + ], + "face_center": [ + -14.307847834477336, + 0.26778240304981304, + 0.06153793040730953 + ], + "face_normal": [ + -0.9388389068729168, + -0.0252553921537082, + 0.3434296017431251 + ], + "footprint_xy": [ + [ + -14.32984270092752, + 0.14767078829578878 + ], + [ + -14.140867486214223, + 0.14767078829578878 + ], + [ + -14.140867486214223, + 0.3917942238700474 + ], + [ + -14.32984270092752, + 0.3917942238700474 + ] + ], + "projected_box_corners": [ + [ + -14.178865674666953, + 0.1515709943619989 + ], + [ + -14.184857219114592, + 0.39138941805867833 + ], + [ + -14.140867486214223, + 0.15197580017336795 + ], + [ + -14.146859030661862, + 0.3917942238700474 + ], + [ + -14.323851156479881, + 0.14767078829578878 + ], + [ + -14.32984270092752, + 0.3874892119924682 + ], + [ + -14.28585296802715, + 0.14807559410715784 + ], + [ + -14.291844512474789, + 0.3878940178038373 + ] + ], + "yaw_rad": -3.1146984733145535, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.320805549621582, + 0.24466004967689514, + 0.09297589957714081 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847835249303, + 0.26778228658512854, + 0.06153875798310095 + ], + "intended_face_normal": [ + -0.9388389082269271, + -0.025255841344598906, + 0.34342847012193545 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847324243026492, + 0.0350208208565108 + ], + "centerline_face_intersection": [ + -14.317600635230264, + 0.2697324243026492, + 0.0350208208565108 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.306380271911621, + 0.23263365030288696, + 0.12874306738376617 + ], + "box_pose": [ + -14.239286422729492, + 0.2868182957172394, + 0.03805385157465935, + 0.11430555582046509, + 0.6959266662597656, + 0.6964951753616333, + -0.13234291970729828 + ], + "box_yaw_rad": -3.1146979952456713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.12572157693568e-07 + } + } + }, + { + "simulation_time_ns": 5940000000, + "center": [ + -14.235355040054499, + 0.26973247720464755, + 0.03502020288804648 + ], + "face_center": [ + -14.307847806919664, + 0.2677820120982809, + 0.0615380802064084 + ], + "face_normal": [ + -0.938839243058851, + -0.025260081291694547, + 0.343427695557601 + ], + "footprint_xy": [ + [ + -14.32984291944331, + 0.14767066592686037 + ], + [ + -14.140867160665687, + 0.14767066592686037 + ], + [ + -14.140867160665687, + 0.39179428848243475 + ], + [ + -14.32984291944331, + 0.39179428848243475 + ] + ], + "projected_box_corners": [ + [ + -14.17886515331627, + 0.15157159613959365 + ], + [ + -14.184857385712979, + 0.39138996806271964 + ], + [ + -14.140867160665687, + 0.15197591655930873 + ], + [ + -14.146859393062394, + 0.39179428848243475 + ], + [ + -14.323850687046601, + 0.14767066592686037 + ], + [ + -14.32984291944331, + 0.38748903784998634 + ], + [ + -14.285852694396018, + 0.14807498634657545 + ], + [ + -14.291844926792727, + 0.38789335826970145 + ] + ], + "yaw_rad": -3.114693491940493, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.342108726501465, + 0.25509557127952576, + 0.06086820363998413 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847834477336, + 0.26778240304981304, + 0.06153793040730953 + ], + "intended_face_normal": [ + -0.9388389068729168, + -0.0252553921537082, + 0.3434296017431251 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847325060829181, + 0.035019905902234 + ], + "centerline_face_intersection": [ + -14.317600634681462, + 0.2697325060829181, + 0.035019905902234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.320805549621582, + 0.24466004967689514, + 0.09297589957714081 + ], + "box_pose": [ + -14.239286422729492, + 0.28681838512420654, + 0.03805290907621384, + 0.1143060103058815, + 0.6959272623062134, + 0.6964945793151855, + -0.13234326243400574 + ], + "box_yaw_rad": -3.1146984733145535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 9.186018403075302e-07 + } + } + }, + { + "simulation_time_ns": 5960000000, + "center": [ + -14.23535508821593, + 0.2697327503845925, + 0.03501927057109139 + ], + "face_center": [ + -14.307847662444805, + 0.26778257344871276, + 0.061537658494974085 + ], + "face_normal": [ + -0.9388367482649826, + -0.025256349253679033, + 0.3434343083070015 + ], + "footprint_xy": [ + [ + -14.329842941117406, + 0.14767090987850504 + ], + [ + -14.140867235314456, + 0.14767090987850504 + ], + [ + -14.140867235314456, + 0.39179459089068 + ], + [ + -14.329842941117406, + 0.39179459089068 + ] + ], + "projected_box_corners": [ + [ + -14.178865941970987, + 0.15157126375026453 + ], + [ + -14.184857792659656, + 0.39138963283317263 + ], + [ + -14.140867235314456, + 0.15197622180777184 + ], + [ + -14.146859086003126, + 0.39179459089068 + ], + [ + -14.323851090428736, + 0.14767090987850504 + ], + [ + -14.329842941117406, + 0.38748927896141316 + ], + [ + -14.285852383772204, + 0.14807586793601235 + ], + [ + -14.291844234460873, + 0.3878942370189205 + ] + ], + "yaw_rad": -3.114697392792467, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.36202621459961, + 0.25886374711990356, + 0.042014092206954956 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847806919664, + 0.2677820120982809, + 0.0615380802064084 + ], + "intended_face_normal": [ + -0.938839243058851, + -0.025260081291694547, + 0.343427695557601 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473247720464756, + 0.03502020288804648 + ], + "centerline_face_intersection": [ + -14.317600551714047, + 0.26973247720464755, + 0.03502020288804648 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.342108726501465, + 0.25509557127952576, + 0.06086820363998413 + ], + "box_pose": [ + -14.239286422729492, + 0.28681832551956177, + 0.038053300231695175, + 0.11430398374795914, + 0.6959254741668701, + 0.6964964866638184, + -0.13234394788742065 + ], + "box_yaw_rad": -3.114693491940493, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.983865401166794e-07 + } + } + }, + { + "simulation_time_ns": 5980000000, + "center": [ + -14.235355083758673, + 0.2697325569104102, + 0.035019223066554056 + ], + "face_center": [ + -14.307847696747048, + 0.2677822447027703, + 0.061537502929284796 + ], + "face_normal": [ + -0.9388372502314866, + -0.02525810113103777, + 0.3434329088287571 + ], + "footprint_xy": [ + [ + -14.329842907245444, + 0.1476708464201193 + ], + [ + -14.1408672602719, + 0.1476708464201193 + ], + [ + -14.1408672602719, + 0.3917942674007011 + ], + [ + -14.329842907245444, + 0.3917942674007011 + ] + ], + "projected_box_corners": [ + [ + -14.17886582621091, + 0.15157147083539915 + ], + [ + -14.184857681268694, + 0.391389837794551 + ], + [ + -14.1408672602719, + 0.15197590044154924 + ], + [ + -14.146859115329686, + 0.3917942674007011 + ], + [ + -14.32385105218766, + 0.1476708464201193 + ], + [ + -14.329842907245444, + 0.38748921337927117 + ], + [ + -14.285852486248652, + 0.14807527602626938 + ], + [ + -14.291844341306437, + 0.3878936429854212 + ] + ], + "yaw_rad": -3.11469554250762, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.374658584594727, + 0.2600420117378235, + 0.03805984556674957 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847662444805, + 0.26778257344871276, + 0.061537658494974085 + ], + "intended_face_normal": [ + -0.9388367482649826, + -0.025256349253679033, + 0.3434343083070015 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847327503845925, + 0.03501927057109139 + ], + "centerline_face_intersection": [ + -14.31760081842849, + 0.2697327503845925, + 0.03501927057109139 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.36202621459961, + 0.25886374711990356, + 0.042014092206954956 + ], + "box_pose": [ + -14.239286422729492, + 0.28681862354278564, + 0.038052283227443695, + 0.11430735886096954, + 0.6959272027015686, + 0.6964938640594482, + -0.13234542310237885 + ], + "box_yaw_rad": -3.114697392792467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 9.715154075288508e-07 + } + } + }, + { + "simulation_time_ns": 6000000000, + "center": [ + -14.235355079587839, + 0.26973249984429626, + 0.035018934893902294 + ], + "face_center": [ + -14.307847743938519, + 0.26778214848331827, + 0.06153712887794411 + ], + "face_normal": [ + -0.9388379154143536, + -0.02525860819804393, + 0.34343179663112977 + ], + "footprint_xy": [ + [ + -14.329842892515641, + 0.1476708237125451 + ], + [ + -14.140867266660038, + 0.1476708237125451 + ], + [ + -14.140867266660038, + 0.3917941759760474 + ], + [ + -14.329842892515641, + 0.3917941759760474 + ] + ], + "projected_box_corners": [ + [ + -14.17886571385321, + 0.15157152643450109 + ], + [ + -14.184857563814283, + 0.3913899232107231 + ], + [ + -14.140867266660038, + 0.15197577919982538 + ], + [ + -14.146859116621112, + 0.3917941759760474 + ], + [ + -14.323851042554567, + 0.1476708237125451 + ], + [ + -14.329842892515641, + 0.3874892204887671 + ], + [ + -14.285852595361396, + 0.14807507647786944 + ], + [ + -14.29184444532247, + 0.3878934732540914 + ] + ], + "yaw_rad": -3.1146950218454585, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.379276275634766, + 0.26083746552467346, + 0.04536803066730499 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847696747048, + 0.2677822447027703, + 0.061537502929284796 + ], + "intended_face_normal": [ + -0.9388372502314866, + -0.02525810113103777, + 0.3434329088287571 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847325569104102, + 0.035019223066554056 + ], + "centerline_face_intersection": [ + -14.317600769997048, + 0.2697325569104102, + 0.035019223066554056 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.374658584594727, + 0.2600420117378235, + 0.03805984556674957 + ], + "box_pose": [ + -14.239286422729492, + 0.28681841492652893, + 0.03805231675505638, + 0.11430654674768448, + 0.6959255337715149, + 0.6964957118034363, + -0.13234524428844452 + ], + "box_yaw_rad": -3.11469554250762, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.9922083294276253e-07 + } + } + }, + { + "simulation_time_ns": 6020000000, + "center": [ + -14.235355080366942, + 0.26973249927766035, + 0.03501848776053169 + ], + "face_center": [ + -14.307847744717622, + 0.2677821503149285, + 0.061536693761438055 + ], + "face_normal": [ + -0.9388379154143536, + -0.02525857713884072, + 0.3434319522591256 + ], + "footprint_xy": [ + [ + -14.329842898161603, + 0.14767082388539138 + ], + [ + -14.14086726257228, + 0.14767082388539138 + ], + [ + -14.14086726257228, + 0.3917941746699294 + ], + [ + -14.329842898161603, + 0.3917941746699294 + ] + ], + "projected_box_corners": [ + [ + -14.178865726980797, + 0.1515715218108551 + ], + [ + -14.184857569460245, + 0.3913899252966472 + ], + [ + -14.14086726257228, + 0.15197577118413724 + ], + [ + -14.146859105051728, + 0.3917941746699294 + ], + [ + -14.323851055682155, + 0.14767082388539138 + ], + [ + -14.329842898161603, + 0.38748922737118346 + ], + [ + -14.285852591273638, + 0.14807507325867353 + ], + [ + -14.291844433753086, + 0.3878934767444656 + ] + ], + "yaw_rad": -3.114695054904134, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.37696361541748, + 0.26219916343688965, + 0.05776533484458923 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847743938519, + 0.26778214848331827, + 0.06153712887794411 + ], + "intended_face_normal": [ + -0.9388379154143536, + -0.02525860819804393, + 0.34343179663112977 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473249984429627, + 0.035018934893902294 + ], + "centerline_face_intersection": [ + -14.317600707553726, + 0.26973249984429626, + 0.035018934893902294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.379276275634766, + 0.26083746552467346, + 0.04536803066730499 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.03805204853415489, + 0.11430604755878448, + 0.6959251165390015, + 0.6964963674545288, + -0.13234491646289825 + ], + "box_yaw_rad": -3.1146950218454585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.9376864806234457e-07 + } + } + }, + { + "simulation_time_ns": 6040000000, + "center": [ + -14.235355079003922, + 0.2697325000638774, + 0.03501822703770408 + ], + "face_center": [ + -14.307847743354602, + 0.26778214630070957, + 0.06153641861758426 + ], + "face_normal": [ + -0.9388379154143536, + -0.02525863930832095, + 0.34343176549531584 + ], + "footprint_xy": [ + [ + -14.329842893945441, + 0.1476708216742437 + ], + [ + -14.140867264062402, + 0.1476708216742437 + ], + [ + -14.140867264062402, + 0.39179417845351105 + ], + [ + -14.329842893945441, + 0.39179417845351105 + ] + ], + "projected_box_corners": [ + [ + -14.178865707813635, + 0.15157152920057929 + ], + [ + -14.184857565244082, + 0.3913899245575065 + ], + [ + -14.140867264062402, + 0.15197578309658386 + ], + [ + -14.14685912149285, + 0.39179417845351105 + ], + [ + -14.323851036514993, + 0.1476708216742437 + ], + [ + -14.329842893945441, + 0.3874892170311709 + ], + [ + -14.28585259276376, + 0.1480750755702483 + ], + [ + -14.291844450194208, + 0.3878934709271755 + ] + ], + "yaw_rad": -3.1146949887324213, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.371549606323242, + 0.264937162399292, + 0.0704057365655899 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847744717622, + 0.2677821503149285, + 0.061536693761438055 + ], + "intended_face_normal": [ + -0.9388379154143536, + -0.02525857713884072, + 0.3434319522591256 + ], + "commanded_contact_point": [ + -14.3869677734375, + 0.28473249927766037, + 0.03501848776053169 + ], + "centerline_face_intersection": [ + -14.31760070833283, + 0.26973249927766035, + 0.03501848776053169 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.37696361541748, + 0.26219916343688965, + 0.05776533484458923 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.03805160149931908, + 0.11430611461400986, + 0.6959251165390015, + 0.6964963674545288, + -0.13234496116638184 + ], + "box_yaw_rad": -3.114695054904134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010608994943952668 + } + } + }, + { + "simulation_time_ns": 6060000000, + "center": [ + -14.235355079783023, + 0.26973249949724154, + 0.03501804067465426 + ], + "face_center": [ + -14.307847744133703, + 0.2677821481323199, + 0.06153624427139899 + ], + "face_normal": [ + -0.9388379154143536, + -0.025258608249117742, + 0.34343192112331167 + ], + "footprint_xy": [ + [ + -14.329842899591403, + 0.14767082184708988 + ], + [ + -14.140867259974645, + 0.14767082184708988 + ], + [ + -14.140867259974645, + 0.3917941771473932 + ], + [ + -14.329842899591403, + 0.3917941771473932 + ] + ], + "projected_box_corners": [ + [ + -14.178865720941223, + 0.1515715245769332 + ], + [ + -14.184857570890044, + 0.3913899266434301 + ], + [ + -14.140867259974645, + 0.1519757750808963 + ], + [ + -14.146859109923467, + 0.3917941771473932 + ], + [ + -14.323851049642581, + 0.14767082184708988 + ], + [ + -14.329842899591403, + 0.38748922391358676 + ], + [ + -14.285852588676002, + 0.148075072351053 + ], + [ + -14.291844438624825, + 0.38789347441754984 + ] + ], + "yaw_rad": -3.1146950217910967, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.367269515991211, + 0.27082559466362, + 0.08051858842372894 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847743354602, + 0.26778214630070957, + 0.06153641861758426 + ], + "intended_face_normal": [ + -0.9388379154143536, + -0.02525863930832095, + 0.34343176549531584 + ], + "commanded_contact_point": [ + -14.38440143585205, + 0.2847325000638774, + 0.03501822703770408 + ], + "centerline_face_intersection": [ + -14.31760070696981, + 0.2697325000638774, + 0.03501822703770408 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.371549606323242, + 0.264937162399292, + 0.0704057365655899 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.038051340728998184, + 0.1143060252070427, + 0.6959251165390015, + 0.6964963674545288, + -0.13234491646289825 + ], + "box_yaw_rad": -3.1146949887324213, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025663375986931915 + } + } + }, + { + "simulation_time_ns": 6080000000, + "center": [ + -14.235355076320408, + 0.26973250141441374, + 0.03501787097928687 + ], + "face_center": [ + -14.307847753514324, + 0.2677821298879323, + 0.06153603523725751 + ], + "face_normal": [ + -0.9388380817445139, + -0.025258869357422498, + 0.34343141165476077 + ], + "footprint_xy": [ + [ + -14.329842895128637, + 0.14767082613056032 + ], + [ + -14.140867257512179, + 0.14767082613056032 + ], + [ + -14.140867257512179, + 0.3917941766982671 + ], + [ + -14.329842895128637, + 0.3917941766982671 + ] + ], + "projected_box_corners": [ + [ + -14.178865663319355, + 0.15157156918352307 + ], + [ + -14.184857540740806, + 0.39138996849617114 + ], + [ + -14.140867257512179, + 0.15197577738561907 + ], + [ + -14.14685913493363, + 0.3917941766982671 + ], + [ + -14.323851017707186, + 0.14767082613056032 + ], + [ + -14.329842895128637, + 0.38748922544320835 + ], + [ + -14.285852611900008, + 0.1480750343326563 + ], + [ + -14.29184448932146, + 0.3878934336453044 + ] + ], + "yaw_rad": -3.114694748636741, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.366042137145996, + 0.2784217298030853, + 0.0853627473115921 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847744133703, + 0.2677821481323199, + 0.06153624427139899 + ], + "intended_face_normal": [ + -0.9388379154143536, + -0.025258608249117742, + 0.34343192112331167 + ], + "commanded_contact_point": [ + -14.38172924041748, + 0.2846887756905864, + 0.03501804067465426 + ], + "centerline_face_intersection": [ + -14.31760070774891, + 0.26973249949724154, + 0.03501804067465426 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.367269515991211, + 0.27082559466362, + 0.08051858842372894 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.03805115446448326, + 0.11430609226226807, + 0.6959251165390015, + 0.6964963674545288, + -0.13234496116638184 + ], + "box_yaw_rad": -3.1146950217910967, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014956276193344862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002672553141864404 + } + } + }, + { + "simulation_time_ns": 6100000000, + "center": [ + -14.23535507196592, + 0.2697325031559686, + 0.03501770800014439 + ], + "face_center": [ + -14.307847774804234, + 0.2677821228253879, + 0.0615357750285287 + ], + "face_normal": [ + -0.9388384138599761, + -0.025258983377542066, + 0.34343015245394426 + ], + "footprint_xy": [ + [ + -14.329842853752837, + 0.14767083256264196 + ], + [ + -14.140867290179003, + 0.14767083256264196 + ], + [ + -14.140867290179003, + 0.39179417374929526 + ], + [ + -14.329842853752837, + 0.39179417374929526 + ] + ], + "projected_box_corners": [ + [ + -14.178865557155703, + 0.15157159322380337 + ], + [ + -14.184857448076206, + 0.3913899774164946 + ], + [ + -14.140867290179003, + 0.15197578955660396 + ], + [ + -14.146859181099506, + 0.39179417374929526 + ], + [ + -14.323850962832333, + 0.14767083256264196 + ], + [ + -14.329842853752837, + 0.3874892167553332 + ], + [ + -14.285852695855633, + 0.14807502889544255 + ], + [ + -14.291844586776136, + 0.38789341308813385 + ] + ], + "yaw_rad": -3.1146946367870956, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.367241859436035, + 0.2831193506717682, + 0.0835665613412857 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847753514324, + 0.2677821298879323, + 0.06153603523725751 + ], + "intended_face_normal": [ + -0.9388380817445139, + -0.025258869357422498, + 0.34343141165476077 + ], + "commanded_contact_point": [ + -14.379209632873534, + 0.2843412084722117, + 0.03501787097928687 + ], + "centerline_face_intersection": [ + -14.317600689715169, + 0.26973250141441374, + 0.03501787097928687 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.366042137145996, + 0.2784217298030853, + 0.0853627473115921 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.03805099055171013, + 0.11430583894252777, + 0.6959249973297119, + 0.6964965462684631, + -0.13234484195709229 + ], + "box_yaw_rad": -3.114694748636741, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014608707057797998, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002543467156381496 + } + } + }, + { + "simulation_time_ns": 6120000000, + "center": [ + -14.235355080087789, + 0.2697326390490244, + 0.03501718470417178 + ], + "face_center": [ + -14.307847731448309, + 0.26778235403488565, + 0.06153546681886591 + ], + "face_normal": [ + -0.9388377471814024, + -0.025257748953473325, + 0.34343293799348196 + ], + "footprint_xy": [ + [ + -14.329842952432497, + 0.14767087210368626 + ], + [ + -14.140867207743081, + 0.14767087210368626 + ], + [ + -14.140867207743081, + 0.39179440599436255 + ], + [ + -14.329842952432497, + 0.39179440599436255 + ] + ], + "projected_box_corners": [ + [ + -14.178865773327914, + 0.15157144213196375 + ], + [ + -14.184857649711459, + 0.3913898680403633 + ], + [ + -14.140867207743081, + 0.15197598008596297 + ], + [ + -14.146859084126627, + 0.39179440599436255 + ], + [ + -14.323851076048953, + 0.14767087210368626 + ], + [ + -14.329842952432497, + 0.3874892980120858 + ], + [ + -14.285852510464121, + 0.14807541005768549 + ], + [ + -14.291844386847666, + 0.38789383596608507 + ] + ], + "yaw_rad": -3.114695931587541, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.368555068969727, + 0.28318315744400024, + 0.07777413725852966 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847774804234, + 0.2677821228253879, + 0.0615357750285287 + ], + "intended_face_normal": [ + -0.9388384138599761, + -0.025258983377542066, + 0.34343015245394426 + ], + "commanded_contact_point": [ + -14.377078170776366, + 0.2838057363131346, + 0.03501770800014439 + ], + "centerline_face_intersection": [ + -14.317600656266174, + 0.2697325031559686, + 0.03501770800014439 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.367241859436035, + 0.2831193506717682, + 0.0835665613412857 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.038050826638936996, + 0.11430534720420837, + 0.6959249973297119, + 0.6964966654777527, + -0.13234440982341766 + ], + "box_yaw_rad": -3.1146946367870956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014073233157166014, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021976945036498116 + } + } + }, + { + "simulation_time_ns": 6140000000, + "center": [ + -14.235355088414472, + 0.269732581184073, + 0.03501706166324374 + ], + "face_center": [ + -14.3078476885387, + 0.26778229685289634, + 0.0615354548954798 + ], + "face_normal": [ + -0.9388370836304958, + -0.02525774010856896, + 0.34343437705441815 + ], + "footprint_xy": [ + [ + -14.329842967469153, + 0.14767084635563937 + ], + [ + -14.140867209359792, + 0.14767084635563937 + ], + [ + -14.140867209359792, + 0.39179431601250664 + ], + [ + -14.329842967469153, + 0.39179431601250664 + ] + ], + "projected_box_corners": [ + [ + -14.17886593557661, + 0.1515714150179927 + ], + [ + -14.184857767220699, + 0.3913898254515632 + ], + [ + -14.140867209359792, + 0.15197590557893617 + ], + [ + -14.14685904100388, + 0.39179431601250664 + ], + [ + -14.323851135825066, + 0.14767084635563937 + ], + [ + -14.329842967469153, + 0.38748925678920987 + ], + [ + -14.285852409608248, + 0.14807533691658284 + ], + [ + -14.291844241252335, + 0.3878937473501533 + ] + ], + "yaw_rad": -3.1146959220009673, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.367692947387695, + 0.2789989709854126, + 0.07211963832378387 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847731448309, + 0.26778235403488565, + 0.06153546681886591 + ], + "intended_face_normal": [ + -0.9388377471814024, + -0.025257748953473325, + 0.34343293799348196 + ], + "commanded_contact_point": [ + -14.375313873291015, + 0.28326785147039135, + 0.03501718470417178 + ], + "centerline_face_intersection": [ + -14.3176007227915, + 0.2697326390490244, + 0.03501718470417178 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.368555068969727, + 0.28318315744400024, + 0.07777413725852966 + ], + "box_pose": [ + -14.239286422729492, + 0.2868185043334961, + 0.03805025294423103, + 0.11430658400058746, + 0.6959260702133179, + 0.6964953541755676, + -0.13234518468379974 + ], + "box_yaw_rad": -3.114695931587541, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013535212421366979, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001844469027853126 + } + } + }, + { + "simulation_time_ns": 6160000000, + "center": [ + -14.235355027330296, + 0.2697324447373705, + 0.03501829308400687 + ], + "face_center": [ + -14.30784771774787, + 0.2677816877554565, + 0.06153637826372867 + ], + "face_normal": [ + -0.938838253001478, + -0.025263861313202796, + 0.34343038752826516 + ], + "footprint_xy": [ + [ + -14.329843139349693, + 0.1476707151727221 + ], + [ + -14.1408669153109, + 0.1476707151727221 + ], + [ + -14.1408669153109, + 0.391794174302019 + ], + [ + -14.329843139349693, + 0.391794174302019 + ] + ], + "projected_box_corners": [ + [ + -14.178865226484877, + 0.15157222913655005 + ], + [ + -14.184857758514543, + 0.3913905951738112 + ], + [ + -14.1408669153109, + 0.15197580826475784 + ], + [ + -14.146859447340564, + 0.391794174302019 + ], + [ + -14.323850607320027, + 0.1476707151727221 + ], + [ + -14.329843139349693, + 0.3874890812099832 + ], + [ + -14.28585229614605, + 0.14807429430092986 + ], + [ + -14.291844828175716, + 0.38789266033819103 + ] + ], + "yaw_rad": -3.114689440224962, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.363055229187012, + 0.2702459692955017, + 0.06928877532482147 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.3078476885387, + 0.26778229685289634, + 0.0615354548954798 + ], + "intended_face_normal": [ + -0.9388370836304958, + -0.02525774010856896, + 0.34343437705441815 + ], + "commanded_contact_point": [ + -14.373763198852538, + 0.2828971380133864, + 0.03501706166324374 + ], + "centerline_face_intersection": [ + -14.317600789247726, + 0.269732581184073, + 0.03501706166324374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.367692947387695, + 0.2789989709854126, + 0.07211963832378387 + ], + "box_pose": [ + -14.239286422729492, + 0.2868184447288513, + 0.03805014491081238, + 0.11430715769529343, + 0.695925772190094, + 0.6964954137802124, + -0.13234569132328033 + ], + "box_yaw_rad": -3.1146959220009673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013164556829313395, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015943712542843458 + } + } + }, + { + "simulation_time_ns": 6180000000, + "center": [ + -14.235355046892106, + 0.26973252680711607, + 0.03501823658462701 + ], + "face_center": [ + -14.307847596201565, + 0.26778183833345637, + 0.06153672134621006 + ], + "face_normal": [ + -0.9388364255386321, + -0.025262974076580846, + 0.3434355624325818 + ], + "footprint_xy": [ + [ + -14.329843275478252, + 0.14767075844241484 + ], + [ + -14.140866818305962, + 0.14767075844241484 + ], + [ + -14.140866818305962, + 0.3917942951718173 + ], + [ + -14.329843275478252, + 0.3917942951718173 + ] + ], + "projected_box_corners": [ + [ + -14.178865696492212, + 0.15157213538973424 + ], + [ + -14.184858176859336, + 0.3913905100005508 + ], + [ + -14.140866818305962, + 0.15197592056100076 + ], + [ + -14.146859298673087, + 0.3917942951718173 + ], + [ + -14.323850795111127, + 0.14767075844241484 + ], + [ + -14.329843275478252, + 0.38748913305323135 + ], + [ + -14.285851916924878, + 0.14807454361368133 + ], + [ + -14.291844397292003, + 0.38789291822449784 + ] + ], + "yaw_rad": -3.1146903322373554, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.356266021728516, + 0.26079314947128296, + 0.06387211382389069 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.30784771774787, + 0.2677816877554565, + 0.06153637826372867 + ], + "intended_face_normal": [ + -0.938838253001478, + -0.025263861313202796, + 0.34343038752826516 + ], + "commanded_contact_point": [ + -14.37234317779541, + 0.28287646058435867, + 0.03501829308400687 + ], + "centerline_face_intersection": [ + -14.31760062572233, + 0.2697324447373705, + 0.03501829308400687 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.363055229187012, + 0.2702459692955017, + 0.06928877532482147 + ], + "box_pose": [ + -14.239286422729492, + 0.286818265914917, + 0.038051530718803406, + 0.11430411040782928, + 0.6959227323532104, + 0.6964988708496094, + -0.13234588503837585 + ], + "box_yaw_rad": -3.114689440224962, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013144015846988146, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014201721287075693 + } + } + }, + { + "simulation_time_ns": 6200000000, + "center": [ + -14.23535506327627, + 0.26973265951060305, + 0.03501795034559235 + ], + "face_center": [ + -14.307847522556024, + 0.26778213542523766, + 0.061536670013771194 + ], + "face_normal": [ + -0.9388352595820493, + -0.025260845116845232, + 0.34343860466065657 + ], + "footprint_xy": [ + [ + -14.329843315465604, + 0.14767079380517467 + ], + [ + -14.140866811086934, + 0.14767079380517467 + ], + [ + -14.140866811086934, + 0.3917945252160314 + ], + [ + -14.329843315465604, + 0.3917945252160314 + ] + ], + "projected_box_corners": [ + [ + -14.178866011702517, + 0.15157184197590554 + ], + [ + -14.184858396906096, + 0.391390212537193 + ], + [ + -14.140866811086934, + 0.15197615465474396 + ], + [ + -14.146859196290514, + 0.3917945252160314 + ], + [ + -14.323850930262026, + 0.14767079380517467 + ], + [ + -14.329843315465604, + 0.3874891643664622 + ], + [ + -14.285851729646442, + 0.14807510648401312 + ], + [ + -14.291844114850022, + 0.38789347704530064 + ] + ], + "yaw_rad": -3.114692564862944, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.350629806518555, + 0.2530025839805603, + 0.059170931577682495 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847596201565, + 0.26778183833345637, + 0.06153672134621006 + ], + "intended_face_normal": [ + -0.9388364255386321, + -0.025262974076580846, + 0.3434355624325818 + ], + "commanded_contact_point": [ + -14.370513076782226, + 0.28323411774753754, + 0.03501823658462701 + ], + "centerline_face_intersection": [ + -14.317600805376753, + 0.26973252680711607, + 0.03501823658462701 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.356266021728516, + 0.26079314947128296, + 0.06387211382389069 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.038051459938287735, + 0.11430621147155762, + 0.6959230899810791, + 0.6964978575706482, + -0.13234759867191315 + ], + "box_yaw_rad": -3.1146903322373554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01350159094042147, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018647220618689944 + } + } + }, + { + "simulation_time_ns": 6220000000, + "center": [ + -14.235355073543603, + 0.26973318671338126, + 0.03501690236530249 + ], + "face_center": [ + -14.307847326938964, + 0.2677829553404803, + 0.061536260118128606 + ], + "face_normal": [ + -0.9388325932146699, + -0.02525705425659197, + 0.3434468683665841 + ], + "footprint_xy": [ + [ + -14.32984365304416, + 0.14767089219682816 + ], + [ + -14.140866494043047, + 0.14767089219682816 + ], + [ + -14.140866494043047, + 0.3917954812299344 + ], + [ + -14.32984365304416, + 0.3917954812299344 + ] + ], + "projected_box_corners": [ + [ + -14.178866571677657, + 0.1515713549426301 + ], + [ + -14.184859146253439, + 0.39138976683548016 + ], + [ + -14.140866494043047, + 0.15197706933708435 + ], + [ + -14.146859068618829, + 0.3917954812299344 + ], + [ + -14.323851078468378, + 0.14767089219682816 + ], + [ + -14.32984365304416, + 0.3874893040896782 + ], + [ + -14.285851000833768, + 0.1480766065912824 + ], + [ + -14.29184357540955, + 0.38789501848413244 + ] + ], + "yaw_rad": -3.114696523425197, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.346020698547363, + 0.24901467561721802, + 0.05961282551288605 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847522556024, + 0.26778213542523766, + 0.061536670013771194 + ], + "intended_face_normal": [ + -0.9388352595820493, + -0.025260845116845232, + 0.34343860466065657 + ], + "commanded_contact_point": [ + -14.368117446899413, + 0.28390345347222623, + 0.03501795034559235 + ], + "centerline_face_intersection": [ + -14.317600923903418, + 0.26973265951060305, + 0.03501795034559235 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.350629806518555, + 0.2530025839805603, + 0.059170931577682495 + ], + "box_pose": [ + -14.239286422729492, + 0.2868185043334961, + 0.038051098585128784, + 0.11430776864290237, + 0.6959246397018433, + 0.6964958906173706, + -0.13234825432300568 + ], + "box_yaw_rad": -3.114692564862944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01417079396162318, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024873787266320247 + } + } + }, + { + "simulation_time_ns": 6240000000, + "center": [ + -14.235354091796882, + 0.2697333242434198, + 0.03501773756024155 + ], + "face_center": [ + -14.307846294163092, + 0.2677828310222631, + 0.06153729033645078 + ], + "face_normal": [ + -0.938831932346389, + -0.025260445400686393, + 0.3434493940751935 + ], + "footprint_xy": [ + [ + -14.329843009843637, + 0.14767094826836086 + ], + [ + -14.140865173750127, + 0.14767094826836086 + ], + [ + -14.140865173750127, + 0.39179570021847876 + ], + [ + -14.329843009843637, + 0.39179570021847876 + ] + ], + "projected_box_corners": [ + [ + -14.178865542009108, + 0.15157193471067434 + ], + [ + -14.184858605111222, + 0.39139037012722444 + ], + [ + -14.140865173750127, + 0.15197726480192866 + ], + [ + -14.14685823685224, + 0.39179570021847876 + ], + [ + -14.323849946741525, + 0.14767094826836086 + ], + [ + -14.329843009843637, + 0.3874893836849109 + ], + [ + -14.285849578482544, + 0.14807627835961518 + ], + [ + -14.291842641584656, + 0.38789471377616525 + ] + ], + "yaw_rad": -3.114692895025582, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.34189510345459, + 0.24842211604118347, + 0.06361782550811768 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307847326938964, + 0.2677829553404803, + 0.061536260118128606 + ], + "intended_face_normal": [ + -0.9388325932146699, + -0.02525705425659197, + 0.3434468683665841 + ], + "commanded_contact_point": [ + -14.3654776763916, + 0.28473272111885095, + 0.03501690236530249 + ], + "centerline_face_intersection": [ + -14.317601167756251, + 0.26973318671338126, + 0.03501690236530249 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.346020698547363, + 0.24901467561721802, + 0.05961282551288605 + ], + "box_pose": [ + -14.239286422729492, + 0.28681907057762146, + 0.0380498543381691, + 0.11431129276752472, + 0.6959288120269775, + 0.6964907646179199, + -0.13235071301460266 + ], + "box_yaw_rad": -3.114696523425197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014999534405469708, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027669611963158885 + } + } + }, + { + "simulation_time_ns": 6260000000, + "center": [ + -14.23535410538217, + 0.2697334635089619, + 0.03501723602209604 + ], + "face_center": [ + -14.307846166518624, + 0.26778307328601525, + 0.06153711747789635 + ], + "face_normal": [ + -0.9388301033082556, + -0.02525911149158322, + 0.34345365073846956 + ], + "footprint_xy": [ + [ + -14.329843117398514, + 0.14767098508432452 + ], + [ + -14.140865093365825, + 0.14767098508432452 + ], + [ + -14.140865093365825, + 0.3917959419335992 + ], + [ + -14.329843117398514, + 0.3917959419335992 + ] + ], + "projected_box_corners": [ + [ + -14.17886592132808, + 0.15157176553021776 + ], + [ + -14.184858995125605, + 0.39139016989230724 + ], + [ + -14.140865093365825, + 0.1519775375715097 + ], + [ + -14.146858167163352, + 0.3917959419335992 + ], + [ + -14.32385004360099, + 0.14767098508432452 + ], + [ + -14.329843117398514, + 0.38748938944641403 + ], + [ + -14.285849215638734, + 0.1480767571256165 + ], + [ + -14.29184228943626, + 0.387895161487706 + ] + ], + "yaw_rad": -3.1146942624372285, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.336329460144043, + 0.24886244535446167, + 0.0697871744632721 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307846294163092, + 0.2677828310222631, + 0.06153729033645078 + ], + "intended_face_normal": [ + -0.938831932346389, + -0.025260445400686393, + 0.3434493940751935 + ], + "commanded_contact_point": [ + -14.36290657043457, + 0.2847333242434198, + 0.03501773756024155 + ], + "centerline_face_intersection": [ + -14.3176002439047, + 0.2697333242434198, + 0.03501773756024155 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.34189510345459, + 0.24842211604118347, + 0.06361782550811768 + ], + "box_pose": [ + -14.239285469055176, + 0.286819189786911, + 0.03805077075958252, + 0.11431126296520233, + 0.6959273219108582, + 0.6964920163154602, + -0.13235263526439667 + ], + "box_yaw_rad": -3.114692895025582, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025711061634229363 + } + } + }, + { + "simulation_time_ns": 6280000000, + "center": [ + -14.235354129968485, + 0.26973362843655163, + 0.035016887809842176 + ], + "face_center": [ + -14.30784598574565, + 0.2677833765952493, + 0.0615373004991924 + ], + "face_normal": [ + -0.9388274437413955, + -0.02525731933874109, + 0.3434605306373264 + ], + "footprint_xy": [ + [ + -14.329843292377495, + 0.14767103811634633 + ], + [ + -14.140864967559477, + 0.14767103811634633 + ], + [ + -14.140864967559477, + 0.39179621875675696 + ], + [ + -14.329843292377495, + 0.39179621875675696 + ] + ], + "projected_box_corners": [ + [ + -14.17886654328179, + 0.151571541798951 + ], + [ + -14.184859580823165, + 0.391389930819144 + ], + [ + -14.140864967559477, + 0.1519778297365639 + ], + [ + -14.146858005100851, + 0.39179621875675696 + ], + [ + -14.32385025483612, + 0.14767103811634633 + ], + [ + -14.329843292377495, + 0.38748942713653933 + ], + [ + -14.285848679113807, + 0.14807732605395926 + ], + [ + -14.291841716655181, + 0.38789571507415227 + ] + ], + "yaw_rad": -3.1146960938206396, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.327674865722656, + 0.24838364124298096, + 0.07766787707805634 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.307846166518624, + 0.26778307328601525, + 0.06153711747789635 + ], + "intended_face_normal": [ + -0.9388301033082556, + -0.02525911149158322, + 0.34345365073846956 + ], + "commanded_contact_point": [ + -14.360586280822753, + 0.2847334635089619, + 0.03501723602209604 + ], + "centerline_face_intersection": [ + -14.317600417722758, + 0.2697334635089619, + 0.03501723602209604 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.336329460144043, + 0.24886244535446167, + 0.0697871744632721 + ], + "box_pose": [ + -14.239285469055176, + 0.28681933879852295, + 0.03805021941661835, + 0.11431305855512619, + 0.6959283947944641, + 0.6964902877807617, + -0.1323539763689041 + ], + "box_yaw_rad": -3.1146942624372285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002320289670200368 + } + } + }, + { + "simulation_time_ns": 6300000000, + "center": [ + -14.231151077238932, + 0.26952327681345073, + 0.036703956426363545 + ], + "face_center": [ + -14.301854571052774, + 0.2669184489057915, + 0.06763025540758032 + ], + "face_normal": [ + -0.9156667276511286, + -0.03373460231796521, + 0.4005202778387673 + ], + "footprint_xy": [ + [ + -14.328640156064463, + 0.14597104629719532 + ], + [ + -14.133661998413402, + 0.14597104629719532 + ], + [ + -14.133661998413402, + 0.3930755073297061 + ], + [ + -14.328640156064463, + 0.3930755073297061 + ] + ], + "projected_box_corners": [ + [ + -14.17792339228374, + 0.15118070211251372 + ], + [ + -14.187233168436782, + 0.3908940354058771 + ], + [ + -14.133661998413402, + 0.15336217403634278 + ], + [ + -14.142971774566444, + 0.3930755073297061 + ], + [ + -14.319330379911422, + 0.14597104629719532 + ], + [ + -14.328640156064463, + 0.3856843795905587 + ], + [ + -14.275068986041084, + 0.14815251822102435 + ], + [ + -14.284378762194125, + 0.3878658515143877 + ] + ], + "yaw_rad": -3.1047677356998022, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.317658424377441, + 0.24729129672050476, + 0.0865040123462677 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.30784598574565, + 0.2677833765952493, + 0.0615373004991924 + ], + "intended_face_normal": [ + -0.9388274437413955, + -0.02525731933874109, + 0.3434605306373264 + ], + "commanded_contact_point": [ + -14.35845863342285, + 0.28473362843655164, + 0.035016887809842176 + ], + "centerline_face_intersection": [ + -14.317600675301374, + 0.26973362843655163, + 0.035016887809842176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.327674865722656, + 0.24838364124298096, + 0.07766787707805634 + ], + "box_pose": [ + -14.239285469055176, + 0.2868195176124573, + 0.03804981708526611, + 0.1143159344792366, + 0.6959295868873596, + 0.6964881420135498, + -0.1323561668395996 + ], + "box_yaw_rad": -3.1146960938206396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021276474347889708 + } + } + }, + { + "simulation_time_ns": 6320000000, + "center": [ + -14.225188829019013, + 0.26928773115789684, + 0.03999957745205029 + ], + "face_center": [ + -14.293422684751157, + 0.2654330840423531, + 0.07593683644149898 + ], + "face_normal": [ + -0.8836829415782077, + -0.04992075950069719, + 0.4654162130411965 + ], + "footprint_xy": [ + [ + -14.326398798639193, + 0.14372717764267712 + ], + [ + -14.123978859398832, + 0.14372717764267712 + ], + [ + -14.123978859398832, + 0.3948482846731165 + ], + [ + -14.326398798639193, + 0.3948482846731165 + ] + ], + "projected_box_corners": [ + [ + -14.175326468073068, + 0.15143647187376458 + ], + [ + -14.189931087174905, + 0.39087928169142205 + ], + [ + -14.123978859398832, + 0.15540547485545902 + ], + [ + -14.138583478500669, + 0.3948482846731165 + ], + [ + -14.311794179537356, + 0.14372717764267712 + ], + [ + -14.326398798639193, + 0.3831699874603346 + ], + [ + -14.26044657086312, + 0.14769618062437156 + ], + [ + -14.275051189964957, + 0.38713899044202904 + ] + ], + "yaw_rad": -3.085160924122835, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.308314323425293, + 0.24630165100097656, + 0.09521476924419403 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.301854571052774, + 0.2669184489057915, + 0.06763025540758032 + ], + "intended_face_normal": [ + -0.9156667276511286, + -0.03373460231796521, + 0.4005202778387673 + ], + "commanded_contact_point": [ + -14.356565589904784, + 0.28452327681345074, + 0.036703956426363545 + ], + "centerline_face_intersection": [ + -14.315477952486994, + 0.26952327681345073, + 0.036703956426363545 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.317658424377441, + 0.24729129672050476, + 0.0865040123462677 + ], + "box_pose": [ + -14.235132217407227, + 0.28659021854400635, + 0.039778321981430054, + 0.1315053105354309, + 0.6964091658592224, + 0.6876391768455505, + -0.15771178901195526 + ], + "box_yaw_rad": -3.1047677356998022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025444178280081566 + } + } + }, + { + "simulation_time_ns": 6340000000, + "center": [ + -14.220509410319094, + 0.2688291811331806, + 0.041882555041280314 + ], + "face_center": [ + -14.287025920538701, + 0.2637040226711505, + 0.08076042404009523 + ], + "face_normal": [ + -0.861441945258413, + -0.06637489640861105, + 0.5034994618218587 + ], + "footprint_xy": [ + [ + -14.32471345523524, + 0.14134363777068137 + ], + [ + -14.116305365402948, + 0.14134363777068137 + ], + [ + -14.116305365402948, + 0.39631472449567984 + ], + [ + -14.32471345523524, + 0.39631472449567984 + ] + ], + "projected_box_corners": [ + [ + -14.17173475955397, + 0.15159395469474155 + ], + [ + -14.191680434796025, + 0.3906455874119926 + ], + [ + -14.116305365402948, + 0.15726309177842876 + ], + [ + -14.136251040645002, + 0.39631472449567984 + ], + [ + -14.304767779993186, + 0.14134363777068137 + ], + [ + -14.32471345523524, + 0.3803952704879324 + ], + [ + -14.249338385842163, + 0.1470127748543686 + ], + [ + -14.269284061084218, + 0.38606440757161964 + ] + ], + "yaw_rad": -3.06469367019651, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.301660537719727, + 0.24613288044929504, + 0.10144713521003723 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.293422684751157, + 0.2654330840423531, + 0.07593683644149898 + ], + "intended_face_normal": [ + -0.8836829415782077, + -0.04992075950069719, + 0.4654162130411965 + ], + "commanded_contact_point": [ + -14.354911918640136, + 0.28428773115789685, + 0.03999957745205029 + ], + "centerline_face_intersection": [ + -14.312567808829957, + 0.26928773115789684, + 0.03999957745205029 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.308314323425293, + 0.24630165100097656, + 0.09521476924419403 + ], + "box_pose": [ + -14.2293119430542, + 0.28629088401794434, + 0.04323599487543106, + 0.14914380013942719, + 0.694278359413147, + 0.6780995726585388, + -0.18951153755187988 + ], + "box_yaw_rad": -3.085160924122835, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00369475687323575 + } + } + }, + { + "simulation_time_ns": 6360000000, + "center": [ + -14.217115932948335, + 0.2682993043778365, + 0.04238402798568471 + ], + "face_center": [ + -14.283024351365839, + 0.26181127023853357, + 0.08208532200856201 + ], + "face_normal": [ + -0.8535666706360487, + -0.08402522518712274, + 0.514163473691406 + ], + "footprint_xy": [ + [ + -14.3238295558984, + 0.13900590919898667 + ], + [ + -14.110402309998271, + 0.13900590919898667 + ], + [ + -14.110402309998271, + 0.3975926995566863 + ], + [ + -14.3238295558984, + 0.3975926995566863 + ] + ], + "projected_box_corners": [ + [ + -14.16686325476332, + 0.15198197747759257 + ], + [ + -14.192012719063392, + 0.3905406020943967 + ], + [ + -14.110402309998271, + 0.15903407493988217 + ], + [ + -14.13555177429834, + 0.3975926995566863 + ], + [ + -14.298680091598328, + 0.13900590919898667 + ], + [ + -14.3238295558984, + 0.3775645338157908 + ], + [ + -14.242219146833277, + 0.14605800666127627 + ], + [ + -14.267368611133348, + 0.38461663127808043 + ] + ], + "yaw_rad": -3.043468651218543, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.29906940460205, + 0.24726299941539764, + 0.10271193087100983 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.287025920538701, + 0.2637040226711505, + 0.08076042404009523 + ], + "intended_face_normal": [ + -0.861441945258413, + -0.06637489640861105, + 0.5034994618218587 + ], + "commanded_contact_point": [ + -14.353268737792968, + 0.2838291811331806, + 0.041882555041280314 + ], + "centerline_face_intersection": [ + -14.310144369861579, + 0.2688291811331806, + 0.041882555041280314 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.301660537719727, + 0.24613288044929504, + 0.10144713521003723 + ], + "box_pose": [ + -14.224862098693848, + 0.28575751185417175, + 0.04520931839942932, + 0.15668752789497375, + 0.6934641003608704, + 0.6706925630569458, + -0.21148978173732758 + ], + "box_yaw_rad": -3.06469367019651, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025408494688212886 + } + } + }, + { + "simulation_time_ns": 6380000000, + "center": [ + -14.215058614138325, + 0.2676449075781062, + 0.04157838653575501 + ], + "face_center": [ + -14.281514233161928, + 0.2596039002801165, + 0.0800647038923474 + ], + "face_normal": [ + -0.8606533556261198, + -0.10413746821274827, + 0.49842855525698226 + ], + "footprint_xy": [ + [ + -14.323930313871342, + 0.1366431760833012 + ], + [ + -14.106186914405308, + 0.1366431760833012 + ], + [ + -14.106186914405308, + 0.3986466390729112 + ], + [ + -14.323930313871342, + 0.3986466390729112 + ] + ], + "projected_box_corners": [ + [ + -14.160767212547055, + 0.15272519067928073 + ], + [ + -14.191019075824135, + 0.39069331461480183 + ], + [ + -14.106186914405308, + 0.16067851513739012 + ], + [ + -14.136438777682386, + 0.3986466390729112 + ], + [ + -14.293678450594262, + 0.1366431760833012 + ], + [ + -14.323930313871342, + 0.3746113000188223 + ], + [ + -14.239098152452515, + 0.14459650054141063 + ], + [ + -14.269350015729593, + 0.38256462447693174 + ] + ], + "yaw_rad": -3.0211798583551457, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.300515174865723, + 0.24958761036396027, + 0.09849904477596283 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.283024351365839, + 0.26181127023853357, + 0.08208532200856201 + ], + "intended_face_normal": [ + -0.8535666706360487, + -0.08402522518712274, + 0.514163473691406 + ], + "commanded_contact_point": [ + -14.35137855529785, + 0.2832993043778365, + 0.04238402798568471 + ], + "centerline_face_intersection": [ + -14.307577892825353, + 0.2682993043778365, + 0.04238402798568471 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.29906940460205, + 0.24726299941539764, + 0.10271193087100983 + ], + "box_pose": [ + -14.221793174743652, + 0.2851358950138092, + 0.04573579877614975, + 0.1534758359193802, + 0.6944124698638916, + 0.6667643189430237, + -0.22284957766532898 + ], + "box_yaw_rad": -3.043468651218543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002026088437031081 + } + } + }, + { + "simulation_time_ns": 6400000000, + "center": [ + -14.214302177428754, + 0.26682168356845043, + 0.039411024079854806 + ], + "face_center": [ + -14.28235719890752, + 0.25697668945672136, + 0.0745364254101488 + ], + "face_normal": [ + -0.8813668951319826, + -0.12750053859809185, + 0.45490200778800194 + ], + "footprint_xy": [ + [ + -14.324850752827068, + 0.13424172573459553 + ], + [ + -14.103753602030443, + 0.13424172573459553 + ], + [ + -14.103753602030443, + 0.39940164140230533 + ], + [ + -14.324850752827068, + 0.39940164140230533 + ] + ], + "projected_box_corners": [ + [ + -14.153418642199489, + 0.1539317139580537 + ], + [ + -14.188740709869537, + 0.39120573129126 + ], + [ + -14.103753602030443, + 0.16212762406909906 + ], + [ + -14.13907566970049, + 0.39940164140230533 + ], + [ + -14.28952868515702, + 0.13424172573459553 + ], + [ + -14.324850752827068, + 0.37151574306780183 + ], + [ + -14.239863644987974, + 0.1424376358456409 + ], + [ + -14.27518571265802, + 0.3797116531788472 + ] + ], + "yaw_rad": -2.9979270200183663, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.305845260620117, + 0.2531474530696869, + 0.0905742198228836 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.281514233161928, + 0.2596039002801165, + 0.0800647038923474 + ], + "intended_face_normal": [ + -0.8606533556261198, + -0.10413746821274827, + 0.49842855525698226 + ], + "commanded_contact_point": [ + -14.349228973388671, + 0.28264490757810623, + 0.04157838653575501 + ], + "centerline_face_intersection": [ + -14.304775703378352, + 0.2676449075781062, + 0.04157838653575501 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300515174865723, + 0.24958761036396027, + 0.09849904477596283 + ], + "box_pose": [ + -14.220158576965332, + 0.28436538577079773, + 0.04489465802907944, + 0.1396024227142334, + 0.6969640851020813, + 0.6667591333389282, + -0.22401884198188782 + ], + "box_yaw_rad": -3.0211798583551457, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023870474862504637 + } + } + }, + { + "simulation_time_ns": 6420000000, + "center": [ + -14.214788996918772, + 0.26585129617751874, + 0.03591601658121456 + ], + "face_center": [ + -14.285275238474053, + 0.2541981177412988, + 0.06520934908858915 + ], + "face_normal": [ + -0.912853137346886, + -0.15091797010092467, + 0.37937205747777636 + ], + "footprint_xy": [ + [ + -14.325801560472565, + 0.13209813441701831 + ], + [ + -14.10377643336498, + 0.13209813441701831 + ], + [ + -14.10377643336498, + 0.39960445793801913 + ], + [ + -14.325801560472565, + 0.39960445793801913 + ] + ], + "projected_box_corners": [ + [ + -14.145056334617026, + 0.15540449128945813 + ], + [ + -14.184829077362004, + 0.3919757297353865 + ], + [ + -14.10377643336498, + 0.16303321949209076 + ], + [ + -14.143549176109957, + 0.39960445793801913 + ], + [ + -14.286028817727587, + 0.13209813441701831 + ], + [ + -14.325801560472565, + 0.3686693728629467 + ], + [ + -14.244748916475542, + 0.13972686261965092 + ], + [ + -14.28452165922052, + 0.37629810106557937 + ] + ], + "yaw_rad": -2.977749104915326, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.313981056213379, + 0.257554292678833, + 0.08332429826259613 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.28235719890752, + 0.25697668945672136, + 0.0745364254101488 + ], + "intended_face_normal": [ + -0.8813668951319826, + -0.12750053859809185, + 0.45490200778800194 + ], + "commanded_contact_point": [ + -14.347164268493652, + 0.28182168356845044, + 0.039411024079854806 + ], + "centerline_face_intersection": [ + -14.301910770782916, + 0.26682168356845043, + 0.039411024079854806 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.305845260620117, + 0.2531474530696869, + 0.0905742198228836 + ], + "box_pose": [ + -14.219923973083496, + 0.28339534997940063, + 0.04261893033981323, + 0.11468380689620972, + 0.7006251215934753, + 0.6706771850585938, + -0.21485839784145355 + ], + "box_yaw_rad": -2.9979270200183663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003104539271588803 + } + } + }, + { + "simulation_time_ns": 6440000000, + "center": [ + -14.216156261919926, + 0.2651131662004204, + 0.035478623504684365 + ], + "face_center": [ + -14.28774706525265, + 0.2527524989294541, + 0.06163544148387778 + ], + "face_normal": [ + -0.9271580947639109, + -0.1600805157011127, + 0.33875168867660044 + ], + "footprint_xy": [ + [ + -14.326445883383467, + 0.13163795663943054 + ], + [ + -14.105866640456384, + 0.13163795663943054 + ], + [ + -14.105866640456384, + 0.3985883757614103 + ], + [ + -14.326445883383467, + 0.3985883757614103 + ] + ], + "projected_box_corners": [ + [ + -14.142905226979897, + 0.1563592911813631 + ], + [ + -14.183264276718015, + 0.3928330941042887 + ], + [ + -14.105866640456384, + 0.1621145728384848 + ], + [ + -14.146225690194502, + 0.3985883757614103 + ], + [ + -14.28608683364535, + 0.13163795663943054 + ], + [ + -14.326445883383467, + 0.3681117595623561 + ], + [ + -14.249048247121836, + 0.1373932382965522 + ], + [ + -14.289407296859954, + 0.3738670412194777 + ] + ], + "yaw_rad": -2.9706210767437224, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.321983337402344, + 0.2612742781639099, + 0.07888217270374298 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.285275238474053, + 0.2541981177412988, + 0.06520934908858915 + ], + "intended_face_normal": [ + -0.912853137346886, + -0.15091797010092467, + 0.37937205747777636 + ], + "commanded_contact_point": [ + -14.345130081176757, + 0.28085129617751875, + 0.03591601658121456 + ], + "centerline_face_intersection": [ + -14.299375783941114, + 0.26585129617751874, + 0.03591601658121456 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.313981056213379, + 0.257554292678833, + 0.08332429826259613 + ], + "box_pose": [ + -14.220983505249023, + 0.28226587176322937, + 0.038877688348293304, + 0.0787855014204979, + 0.7050604224205017, + 0.6777288317680359, + -0.19330374896526337 + ], + "box_yaw_rad": -2.977749104915326, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00415868334262725 + } + } + }, + { + "simulation_time_ns": 6460000000, + "center": [ + -14.216226688684973, + 0.2650860300017175, + 0.035322787470203273 + ], + "face_center": [ + -14.287757620537526, + 0.25273468939956784, + 0.061647157275938495 + ], + "face_normal": [ + -0.9263827112662426, + -0.15995972788915935, + 0.3409216186821169 + ], + "footprint_xy": [ + [ + -14.326580343838698, + 0.13159096435943746 + ], + [ + -14.105873033531248, + 0.13159096435943746 + ], + [ + -14.105873033531248, + 0.3985810956439975 + ], + [ + -14.326580343838698, + 0.3985810956439975 + ] + ], + "projected_box_corners": [ + [ + -14.143144812418013, + 0.15629364556373673 + ], + [ + -14.183518480133595, + 0.39276510840653567 + ], + [ + -14.105873033531248, + 0.16210963280119858 + ], + [ + -14.14624670124683, + 0.3985810956439975 + ], + [ + -14.286206676123118, + 0.13159096435943746 + ], + [ + -14.326580343838698, + 0.36806242720223636 + ], + [ + -14.248934897236353, + 0.1374069515968993 + ], + [ + -14.289308564951934, + 0.37387841443969827 + ] + ], + "yaw_rad": -2.9706073579647807, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.32479190826416, + 0.26237252354621887, + 0.07995563745498657 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.28774706525265, + 0.2527524989294541, + 0.06163544148387778 + ], + "intended_face_normal": [ + -0.9271580947639109, + -0.1600805157011127, + 0.33875168867660044 + ], + "commanded_contact_point": [ + -14.342949981689452, + 0.2801131662004204, + 0.035478623504684365 + ], + "centerline_face_intersection": [ + -14.299437974442858, + 0.2651131662004204, + 0.035478623504684365 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.321983337402344, + 0.2612742781639099, + 0.07888217270374298 + ], + "box_pose": [ + -14.222514152526855, + 0.2814549207687378, + 0.03849624842405319, + 0.06217270344495773, + 0.7024630308151245, + 0.6856564283370972, + -0.18043188750743866 + ], + "box_yaw_rad": -2.9706210767437224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023428577295759724 + } + } + }, + { + "simulation_time_ns": 6480000000, + "center": [ + -14.21621257190269, + 0.26508840372851483, + 0.03527089947627443 + ], + "face_center": [ + -14.287731908133336, + 0.2527380157651133, + 0.06162721657483543 + ], + "face_normal": [ + -0.9262325386992103, + -0.1599473904563382, + 0.3413353616458821 + ], + "footprint_xy": [ + [ + -14.326578231016304, + 0.1315908783791848 + ], + [ + -14.105846912789074, + 0.1315908783791848 + ], + [ + -14.105846912789074, + 0.39858592907784485 + ], + [ + -14.326578231016304, + 0.39858592907784485 + ] + ], + "projected_box_corners": [ + [ + -14.143163912102462, + 0.15629165430598776 + ], + [ + -14.183539558555008, + 0.39276277540453075 + ], + [ + -14.105846912789074, + 0.1621148079793019 + ], + [ + -14.14622255924162, + 0.39858592907784485 + ], + [ + -14.286202584563759, + 0.1315908783791848 + ], + [ + -14.326578231016304, + 0.3680619994777277 + ], + [ + -14.24888558525037, + 0.1374140320524989 + ], + [ + -14.289261231702916, + 0.37388515315104187 + ] + ], + "yaw_rad": -2.9705931072434026, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.320808410644531, + 0.2608370780944824, + 0.08690357208251953 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.287757620537526, + 0.25273468939956784, + 0.061647157275938495 + ], + "intended_face_normal": [ + -0.9263827112662426, + -0.15995972788915935, + 0.3409216186821169 + ], + "commanded_contact_point": [ + -14.340840454101562, + 0.2800860300017175, + 0.035322787470203273 + ], + "centerline_face_intersection": [ + -14.29957810810632, + 0.2650860300017175, + 0.035322787470203273 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.32479190826416, + 0.26237252354621887, + 0.07995563745498657 + ], + "box_pose": [ + -14.222579002380371, + 0.2814289927482605, + 0.0383455865085125, + 0.06296670436859131, + 0.702453076839447, + 0.6853838562965393, + -0.1812283992767334 + ], + "box_yaw_rad": -2.9706073579647807, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021154498072500976 + } + } + }, + { + "simulation_time_ns": 6500000000, + "center": [ + -14.21620013515113, + 0.2650900495821365, + 0.035229562821276914 + ], + "face_center": [ + -14.28771028445693, + 0.2527399865118523, + 0.06161097513651151 + ], + "face_normal": [ + -0.9261135606832909, + -0.15994318283092213, + 0.34166036474957195 + ], + "footprint_xy": [ + [ + -14.326575242232865, + 0.13159108435198477 + ], + [ + -14.105825028069395, + 0.13159108435198477 + ], + [ + -14.105825028069395, + 0.39858901481228814 + ], + [ + -14.326575242232865, + 0.39858901481228814 + ] + ], + "projected_box_corners": [ + [ + -14.1431778654814, + 0.15629121049255312 + ], + [ + -14.183554943621266, + 0.39276207083827186 + ], + [ + -14.105825028069395, + 0.16211815446656946 + ], + [ + -14.146202106209259, + 0.39858901481228814 + ], + [ + -14.286198164093, + 0.13159108435198477 + ], + [ + -14.326575242232865, + 0.3680619446977035 + ], + [ + -14.248845326680994, + 0.13741802832600114 + ], + [ + -14.28922240482086, + 0.3738888886717198 + ] + ], + "yaw_rad": -2.9705759764496675, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.310833930969238, + 0.2578190565109253, + 0.09720654785633087 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.287731908133336, + 0.2527380157651133, + 0.06162721657483543 + ], + "intended_face_normal": [ + -0.9262325386992103, + -0.1599473904563382, + 0.3413353616458821 + ], + "commanded_contact_point": [ + -14.338924522399902, + 0.28008840372851485, + 0.03527089947627443 + ], + "centerline_face_intersection": [ + -14.29957750531334, + 0.26508840372851483, + 0.03527089947627443 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.320808410644531, + 0.2608370780944824, + 0.08690357208251953 + ], + "box_pose": [ + -14.222563743591309, + 0.28143149614334106, + 0.03829539939761162, + 0.06311807036399841, + 0.7024362683296204, + 0.6853463053703308, + -0.1813829243183136 + ], + "box_yaw_rad": -2.9705931072434026, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001916635668018116 + } + } + }, + { + "simulation_time_ns": 6520000000, + "center": [ + -14.216189585383392, + 0.26509139838618456, + 0.035194426459122664 + ], + "face_center": [ + -14.287691938919542, + 0.2527423151247064, + 0.061597397452941266 + ], + "face_normal": [ + -0.9260125992385184, + -0.15993049352414612, + 0.3419395668597742 + ], + "footprint_xy": [ + [ + -14.326572047877855, + 0.1315914688113499 + ], + [ + -14.10580712288893, + 0.1315914688113499 + ], + [ + -14.10580712288893, + 0.39859132796101926 + ], + [ + -14.326572047877855, + 0.39859132796101926 + ] + ], + "projected_box_corners": [ + [ + -14.1431906427451, + 0.15628963533430618 + ], + [ + -14.183567340805556, + 0.3927605318024828 + ], + [ + -14.10580712288893, + 0.16212043149284264 + ], + [ + -14.146183820949386, + 0.39859132796101926 + ], + [ + -14.2861953498174, + 0.1315914688113499 + ], + [ + -14.326572047877855, + 0.3680623652795265 + ], + [ + -14.248811829961227, + 0.13742226496988635 + ], + [ + -14.289188528021684, + 0.37389316143806295 + ] + ], + "yaw_rad": -2.970570998537478, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.298388481140137, + 0.25462964177131653, + 0.10644537210464478 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.28771028445693, + 0.2527399865118523, + 0.06161097513651151 + ], + "intended_face_normal": [ + -0.9261135606832909, + -0.15994318283092213, + 0.34166036474957195 + ], + "commanded_contact_point": [ + -14.337068672180175, + 0.2800900495821365, + 0.035229562821276914 + ], + "centerline_face_intersection": [ + -14.29957577847339, + 0.2650900495821365, + 0.035229562821276914 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.310833930969238, + 0.2578190565109253, + 0.09720654785633087 + ], + "box_pose": [ + -14.222550392150879, + 0.28143319487571716, + 0.03825570270419121, + 0.06323660910129547, + 0.7024167776107788, + 0.6853228807449341, + -0.18150575459003448 + ], + "box_yaw_rad": -2.9705759764496675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018563112524411574 + } + } + }, + { + "simulation_time_ns": 6540000000, + "center": [ + -14.216180859956872, + 0.2650930788172504, + 0.03516341827155746 + ], + "face_center": [ + -14.287676382995857, + 0.25274548417560666, + 0.061585565331897865 + ], + "face_normal": [ + -0.925924138843591, + -0.1599112147080799, + 0.34218791224037837 + ], + "footprint_xy": [ + [ + -14.326569618326404, + 0.1315919007026459 + ], + [ + -14.105792101587339, + 0.1315919007026459 + ], + [ + -14.105792101587339, + 0.3985942569318549 + ], + [ + -14.326569618326404, + 0.3985942569318549 + ] + ], + "projected_box_corners": [ + [ + -14.143202579382676, + 0.1562870899859334 + ], + [ + -14.183578572248432, + 0.3927581109489249 + ], + [ + -14.105792101587339, + 0.1621232359688634 + ], + [ + -14.146168094453095, + 0.3985942569318549 + ], + [ + -14.286193625460648, + 0.1315919007026459 + ], + [ + -14.326569618326404, + 0.36806292166563737 + ], + [ + -14.24878314766531, + 0.13742804668557593 + ], + [ + -14.289159140531067, + 0.3738990676485674 + ] + ], + "yaw_rad": -2.9705751943983083, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.2870512008667, + 0.24992917478084564, + 0.110078826546669 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.287691938919542, + 0.2527423151247064, + 0.061597397452941266 + ], + "intended_face_normal": [ + -0.9260125992385184, + -0.15993049352414612, + 0.3419395668597742 + ], + "commanded_contact_point": [ + -14.335106010437011, + 0.2800913983861846, + 0.035194426459122664 + ], + "centerline_face_intersection": [ + -14.299574318998175, + 0.26509139838618456, + 0.035194426459122664 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.298388481140137, + 0.25462964177131653, + 0.10644537210464478 + ], + "box_pose": [ + -14.222538948059082, + 0.28143465518951416, + 0.03822183609008789, + 0.06334110349416733, + 0.702402651309967, + 0.6853005290031433, + -0.18160821497440338 + ], + "box_yaw_rad": -2.970570998537478, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001962976694028126 + } + } + }, + { + "simulation_time_ns": 6560000000, + "center": [ + -14.216171927435205, + 0.2650934080032072, + 0.03514036735983535 + ], + "face_center": [ + -14.287661848295931, + 0.2527460153325295, + 0.06157779809239998 + ], + "face_normal": [ + -0.9258515861597303, + -0.15990859902272092, + 0.34238584800531946 + ], + "footprint_xy": [ + [ + -14.326566191101177, + 0.13159171887311033 + ], + [ + -14.105777663769233, + 0.13159171887311033 + ], + [ + -14.105777663769233, + 0.398595097133304 + ], + [ + -14.326566191101177, + 0.398595097133304 + ] + ], + "projected_box_corners": [ + [ + -14.143210109130194, + 0.15628650421446566 + ], + [ + -14.183586349379723, + 0.3927574743702523 + ], + [ + -14.105777663769233, + 0.16212412697751732 + ], + [ + -14.146153904018762, + 0.398595097133304 + ], + [ + -14.286189950851648, + 0.13159171887311033 + ], + [ + -14.326566191101177, + 0.36806268902889705 + ], + [ + -14.248757505490685, + 0.137429341636162 + ], + [ + -14.289133745740214, + 0.3739003117919487 + ] + ], + "yaw_rad": -2.970564796062621, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.280030250549316, + 0.24733373522758484, + 0.10715202987194061 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.287676382995857, + 0.25274548417560666, + 0.061585565331897865 + ], + "intended_face_normal": [ + -0.925924138843591, + -0.1599112147080799, + 0.34218791224037837 + ], + "commanded_contact_point": [ + -14.332878227233886, + 0.28009307881725043, + 0.03516341827155746 + ], + "centerline_face_intersection": [ + -14.299573559933215, + 0.2650930788172504, + 0.03516341827155746 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.2870512008667, + 0.24992917478084564, + 0.110078826546669 + ], + "box_pose": [ + -14.222529411315918, + 0.2814365029335022, + 0.038191623985767365, + 0.06343521177768707, + 0.7023968696594238, + 0.6852741837501526, + -0.1816970556974411 + ], + "box_yaw_rad": -2.9705751943983083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00222799962559928 + } + } + }, + { + "simulation_time_ns": 6580000000, + "center": [ + -14.216165755568012, + 0.2650938021073816, + 0.03512160047023071 + ], + "face_center": [ + -14.287651045716292, + 0.25274658820774226, + 0.06157163002058948 + ], + "face_normal": [ + -0.9257916147342158, + -0.1599062837949603, + 0.3425490127605464 + ], + "footprint_xy": [ + [ + -14.326564513898452, + 0.1315917254903746 + ], + [ + -14.105766997237572, + 0.1315917254903746 + ], + [ + -14.105766997237572, + 0.39859587872438856 + ], + [ + -14.326564513898452, + 0.39859587872438856 + ] + ], + "projected_box_corners": [ + [ + -14.143217558669857, + 0.1562861532896533 + ], + [ + -14.183593933601893, + 0.39275707469825766 + ], + [ + -14.105766997237572, + 0.1621249573157842 + ], + [ + -14.146143372169607, + 0.39859587872438856 + ], + [ + -14.286188138966416, + 0.1315917254903746 + ], + [ + -14.326564513898452, + 0.36806264689897894 + ], + [ + -14.248737577534131, + 0.1374305295165055 + ], + [ + -14.289113952466167, + 0.37390145092510985 + ] + ], + "yaw_rad": -2.970556360292643, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.279269218444824, + 0.2501954436302185, + 0.09692022204399109 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.287661848295931, + 0.2527460153325295, + 0.06157779809239998 + ], + "intended_face_normal": [ + -0.9258515861597303, + -0.15990859902272092, + 0.34238584800531946 + ], + "commanded_contact_point": [ + -14.330254669189452, + 0.2800934080032072, + 0.03514036735983535 + ], + "centerline_face_intersection": [ + -14.299571162329551, + 0.2650934080032072, + 0.03514036735983535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.280030250549316, + 0.24733373522758484, + 0.10715202987194061 + ], + "box_pose": [ + -14.222519874572754, + 0.28143686056137085, + 0.03816969320178032, + 0.06350812315940857, + 0.7023823857307434, + 0.6852625608444214, + -0.18177162110805511 + ], + "box_yaw_rad": -2.970564796062621, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00262365932723874 + } + } + }, + { + "simulation_time_ns": 6600000000, + "center": [ + -14.216751745389828, + 0.2651983784750798, + 0.03413487732308974 + ], + "face_center": [ + -14.28870422940392, + 0.2529335906594149, + 0.05932651725415335 + ], + "face_normal": [ + -0.9318421485227333, + -0.15883880015992702, + 0.3262518619034189 + ], + "footprint_xy": [ + [ + -14.326667801400305, + 0.13163006976051325 + ], + [ + -14.106835689379352, + 0.13163006976051325 + ], + [ + -14.106835689379352, + 0.3987666871896464 + ], + [ + -14.326667801400305, + 0.3987666871896464 + ] + ], + "projected_box_corners": [ + [ + -14.142406972186038, + 0.1561596453918431 + ], + [ + -14.182762833372122, + 0.39263740256500634 + ], + [ + -14.106835689379352, + 0.16228893001648315 + ], + [ + -14.147191550565436, + 0.3987666871896464 + ], + [ + -14.28631194021422, + 0.13163006976051325 + ], + [ + -14.326667801400305, + 0.3681078269336765 + ], + [ + -14.250740657407535, + 0.13775935438515327 + ], + [ + -14.29109651859362, + 0.37423711155831657 + ] + ], + "yaw_rad": -2.9727585925824105, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.276490211486816, + 0.2554476261138916, + 0.09074561297893524 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.287651045716292, + 0.25274658820774226, + 0.06157163002058948 + ], + "intended_face_normal": [ + -0.9257916147342158, + -0.1599062837949603, + 0.3425490127605464 + ], + "commanded_contact_point": [ + -14.327251548767089, + 0.2800938021073816, + 0.03512160047023071 + ], + "centerline_face_intersection": [ + -14.299570392942703, + 0.2650938021073816, + 0.03512160047023071 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.279269218444824, + 0.2501954436302185, + 0.09692022204399109 + ], + "box_pose": [ + -14.222513198852539, + 0.2814372777938843, + 0.038151856511831284, + 0.06356832385063171, + 0.702370285987854, + 0.6852530837059021, + -0.18183302879333496 + ], + "box_yaw_rad": -2.970556360292643, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030031790860151754 + } + } + }, + { + "simulation_time_ns": 6620000000, + "center": [ + -14.21708764266414, + 0.26532439582187334, + 0.03319630730180152 + ], + "face_center": [ + -14.28929136975928, + 0.2531430340272599, + 0.05770024681544717 + ], + "face_normal": [ + -0.9350959471323748, + -0.15775836654092812, + 0.31734559211596824 + ], + "footprint_xy": [ + [ + -14.326721716188542, + 0.1316648619135223 + ], + [ + -14.10745356913974, + 0.1316648619135223 + ], + [ + -14.10745356913974, + 0.3989839297302244 + ], + [ + -14.326721716188542, + 0.3989839297302244 + ] + ], + "projected_box_corners": [ + [ + -14.14196578048482, + 0.15602758550274923 + ], + [ + -14.182314261998263, + 0.3925029027780106 + ], + [ + -14.10745356913974, + 0.162508612454963 + ], + [ + -14.14780205065318, + 0.3989839297302244 + ], + [ + -14.2863732346751, + 0.1316648619135223 + ], + [ + -14.326721716188542, + 0.3681401791887837 + ], + [ + -14.251861023330019, + 0.1381458888657361 + ], + [ + -14.292209504843461, + 0.3746212061409975 + ] + ], + "yaw_rad": -2.9744582664433175, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.272808074951172, + 0.2609066963195801, + 0.08583793044090271 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.28870422940392, + 0.2529335906594149, + 0.05932651725415335 + ], + "intended_face_normal": [ + -0.9318421485227333, + -0.15883880015992702, + 0.3262518619034189 + ], + "commanded_contact_point": [ + -14.324081535339355, + 0.28019837847507983, + 0.03413487732308974 + ], + "centerline_face_intersection": [ + -14.299614829050348, + 0.2651983784750798, + 0.03413487732308974 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.276490211486816, + 0.2554476261138916, + 0.09074561297893524 + ], + "box_pose": [ + -14.223150253295898, + 0.2815510332584381, + 0.03700392693281174, + 0.05769072473049164, + 0.7049463391304016, + 0.6848151087760925, + -0.17535866796970367 + ], + "box_yaw_rad": -2.9727585925824105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033216778768870667 + } + } + }, + { + "simulation_time_ns": 6640000000, + "center": [ + -14.217195222845211, + 0.26526476997772935, + 0.03288049313126097 + ], + "face_center": [ + -14.289460085360632, + 0.25303505076959515, + 0.05717919908203749 + ], + "face_normal": [ + -0.9358876996641428, + -0.15838463367721367, + 0.3146876535222778 + ], + "footprint_xy": [ + [ + -14.326795193154958, + 0.13159507044209007 + ], + [ + -14.107595252535466, + 0.13159507044209007 + ], + [ + -14.107595252535466, + 0.3989344695133686 + ], + [ + -14.326795193154958, + 0.3989344695133686 + ] + ], + "projected_box_corners": [ + [ + -14.141819090457535, + 0.1560545088583584 + ], + [ + -14.182265468124116, + 0.39251338909344535 + ], + [ + -14.107595252535466, + 0.16247558927828165 + ], + [ + -14.148041630202046, + 0.3989344695133686 + ], + [ + -14.286348815488376, + 0.13159507044209007 + ], + [ + -14.326795193154958, + 0.368053950677177 + ], + [ + -14.252124977566305, + 0.13801615086201333 + ], + [ + -14.292571355232887, + 0.3744750310971003 + ] + ], + "yaw_rad": -2.973946436406242, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.272079467773438, + 0.26161471009254456, + 0.08436168730258942 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.28929136975928, + 0.2531430340272599, + 0.05770024681544717 + ], + "intended_face_normal": [ + -0.9350959471323748, + -0.15775836654092812, + 0.31734559211596824 + ], + "commanded_contact_point": [ + -14.320822830200195, + 0.28032439582187335, + 0.03319630730180152 + ], + "centerline_face_intersection": [ + -14.299662392504764, + 0.26532439582187334, + 0.03319630730180152 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.272808074951172, + 0.2609066963195801, + 0.08583793044090271 + ], + "box_pose": [ + -14.223514556884766, + 0.2816864848136902, + 0.0359455905854702, + 0.054522398859262466, + 0.7069726586341858, + 0.6839134693145752, + -0.171695739030838 + ], + "box_yaw_rad": -2.9744582664433175, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003393516353363081 + } + } + }, + { + "simulation_time_ns": 6660000000, + "center": [ + -14.21896024905728, + 0.26481458615072867, + 0.03553026589553271 + ], + "face_center": [ + -14.29227647249674, + 0.2522247637460743, + 0.05622882613356907 + ], + "face_normal": [ + -0.9495036635291001, + -0.16304825774708753, + 0.268062890500925 + ], + "footprint_xy": [ + [ + -14.327224256560726, + 0.13142559327222442 + ], + [ + -14.110696241553836, + 0.13142559327222442 + ], + [ + -14.110696241553836, + 0.3982035790292329 + ], + [ + -14.327224256560726, + 0.3982035790292329 + ] + ], + "projected_box_corners": [ + [ + -14.139898629978546, + 0.15660523808153326 + ], + [ + -14.180591809681806, + 0.3930249683759858 + ], + [ + -14.110696241553836, + 0.1617838487347804 + ], + [ + -14.151389421257095, + 0.3982035790292329 + ], + [ + -14.286531076857464, + 0.13142559327222442 + ], + [ + -14.327224256560726, + 0.36784532356667693 + ], + [ + -14.257328688432754, + 0.13660420392547157 + ], + [ + -14.298021868136015, + 0.3730239342199241 + ] + ], + "yaw_rad": -2.9715318078476964, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.275543212890625, + 0.2606334984302521, + 0.08395741879940033 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.289460085360632, + 0.25303505076959515, + 0.05717919908203749 + ], + "intended_face_normal": [ + -0.9358876996641428, + -0.15838463367721367, + 0.3146876535222778 + ], + "commanded_contact_point": [ + -14.317696685791015, + 0.28026476997772937, + 0.03288049313126097 + ], + "centerline_face_intersection": [ + -14.2997001151941, + 0.26526476997772935, + 0.03288049313126097 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.272079467773438, + 0.26161471009254456, + 0.08436168730258942 + ], + "box_pose": [ + -14.223636627197266, + 0.28162214159965515, + 0.03562391549348831, + 0.05337914451956749, + 0.7069737911224365, + 0.6842016577720642, + -0.1708998680114746 + ], + "box_yaw_rad": -2.973946436406242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003142621946504147 + } + } + }, + { + "simulation_time_ns": 6680000000, + "center": [ + -14.22098942892563, + 0.26441669938161366, + 0.03876730660244955 + ], + "face_center": [ + -14.295271844744349, + 0.25153775818704655, + 0.05545438780543853 + ], + "face_normal": [ + -0.9620166267007164, + -0.16679257704421957, + 0.21611103235464668 + ], + "footprint_xy": [ + [ + -14.327528693599268, + 0.1313509667717849 + ], + [ + -14.114450164251993, + 0.1313509667717849 + ], + [ + -14.114450164251993, + 0.3974824319914424 + ], + [ + -14.327528693599268, + 0.3974824319914424 + ] + ], + "projected_box_corners": [ + [ + -14.138023804042108, + 0.15710884916091913 + ], + [ + -14.178963861961831, + 0.3934861234687598 + ], + [ + -14.114450164251993, + 0.16110515768360179 + ], + [ + -14.155390222171716, + 0.3974824319914424 + ], + [ + -14.286588635679545, + 0.1313509667717849 + ], + [ + -14.327528693599268, + 0.36772824107962554 + ], + [ + -14.263014995889431, + 0.13534727529446755 + ], + [ + -14.303955053809153, + 0.37172454960230816 + ] + ], + "yaw_rad": -2.9699211628364255, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.279088973999023, + 0.2599581182003021, + 0.08401288092136383 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.29227647249674, + 0.2522247637460743, + 0.05622882613356907 + ], + "intended_face_normal": [ + -0.9495036635291001, + -0.16304825774708753, + 0.268062890500925 + ], + "commanded_contact_point": [ + -14.314591522216796, + 0.2798145861507287, + 0.03553026589553271 + ], + "centerline_face_intersection": [ + -14.30028201418291, + 0.26481458615072867, + 0.03553026589553271 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.275543212890625, + 0.2606334984302521, + 0.08395741879940033 + ], + "box_pose": [ + -14.22554874420166, + 0.2811315655708313, + 0.03816267102956772, + 0.03569396585226059, + 0.7067033052444458, + 0.6894361972808838, + -0.15483546257019043 + ], + "box_yaw_rad": -2.9715318078476964, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004106823833940802 + } + } + }, + { + "simulation_time_ns": 6700000000, + "center": [ + -14.222778288639573, + 0.26404331116738433, + 0.04145244303408028 + ], + "face_center": [ + -14.297705120325181, + 0.25091695492405797, + 0.054714114905837434 + ], + "face_normal": [ + -0.9703623269802009, + -0.16999679957762778, + 0.17174924506513842 + ], + "footprint_xy": [ + [ + -14.327727695074039, + 0.13129042561267334 + ], + [ + -14.117828882205107, + 0.13129042561267334 + ], + [ + -14.117828882205107, + 0.39679619672209526 + ], + [ + -14.327727695074039, + 0.39679619672209526 + ] + ], + "projected_box_corners": [ + [ + -14.136605955835877, + 0.15754313809932602 + ], + [ + -14.17787403170282, + 0.39386225924662044 + ], + [ + -14.117828882205107, + 0.16047707557480084 + ], + [ + -14.159096958072048, + 0.39679619672209526 + ], + [ + -14.286459619207095, + 0.13129042561267334 + ], + [ + -14.327727695074039, + 0.3676095467599678 + ], + [ + -14.267682545576326, + 0.13422436308814814 + ], + [ + -14.308950621443268, + 0.3705434842354426 + ] + ], + "yaw_rad": -2.9681636152782964, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.2819242477417, + 0.25942882895469666, + 0.08398258686065674 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.295271844744349, + 0.25153775818704655, + 0.05545438780543853 + ], + "intended_face_normal": [ + -0.9620166267007164, + -0.16679257704421957, + 0.21611103235464668 + ], + "commanded_contact_point": [ + -14.311452026367187, + 0.2794166993816137, + 0.03876730660244955 + ], + "centerline_face_intersection": [ + -14.301253440761114, + 0.26441669938161366, + 0.03876730660244955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.279088973999023, + 0.2599581182003021, + 0.08401288092136383 + ], + "box_pose": [ + -14.227728843688965, + 0.28069785237312317, + 0.04123428836464882, + 0.016373276710510254, + 0.7066377401351929, + 0.6940255165100098, + -0.13683396577835083 + ], + "box_yaw_rad": -2.9699211628364255, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00452693943067366 + } + } + }, + { + "simulation_time_ns": 6720000000, + "center": [ + -14.22339040482524, + 0.26375389090152523, + 0.04247998413890097 + ], + "face_center": [ + -14.29848902339722, + 0.25051225118774456, + 0.05460684732940021 + ], + "face_normal": [ + -0.9725871043937389, + -0.17148981261629181, + 0.1570525660804556 + ], + "footprint_xy": [ + [ + -14.327827241763066, + 0.1311406504703033 + ], + [ + -14.118953567887415, + 0.1311406504703033 + ], + [ + -14.118953567887415, + 0.39636713133274715 + ], + [ + -14.327827241763066, + 0.39636713133274715 + ] + ], + "projected_box_corners": [ + [ + -14.13616326765589, + 0.1576239298978646 + ], + [ + -14.17763000461911, + 0.39390637116151894 + ], + [ + -14.118953567887415, + 0.16008469006909284 + ], + [ + -14.160420304850634, + 0.39636713133274715 + ], + [ + -14.286360504799848, + 0.1311406504703033 + ], + [ + -14.327827241763066, + 0.3674230917339576 + ], + [ + -14.269150805031373, + 0.13360141064153155 + ], + [ + -14.310617541994592, + 0.36988385190518586 + ] + ], + "yaw_rad": -2.9670632534082713, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.282735824584961, + 0.25921952724456787, + 0.08438371121883392 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.297705120325181, + 0.25091695492405797, + 0.054714114905837434 + ], + "intended_face_normal": [ + -0.9703623269802009, + -0.16999679957762778, + 0.17174924506513842 + ], + "commanded_contact_point": [ + -14.30836498260498, + 0.27904331116738434, + 0.04145244303408028 + ], + "centerline_face_intersection": [ + -14.302351981645291, + 0.26404331116738433, + 0.04145244303408028 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.2819242477417, + 0.25942882895469666, + 0.08398258686065674 + ], + "box_pose": [ + -14.229644775390625, + 0.28029152750968933, + 0.04378235340118408, + -9.862530714599416e-05, + 0.7060031890869141, + 0.6976680159568787, + -0.12173235416412354 + ], + "box_yaw_rad": -2.9681636152782964, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004108432256320811 + } + } + }, + { + "simulation_time_ns": 6740000000, + "center": [ + -14.223099854019159, + 0.26382599340655116, + 0.04273395197619748 + ], + "face_center": [ + -14.29811364880835, + 0.2505994730069967, + 0.05539077206100035 + ], + "face_normal": [ + -0.971488568643629, + -0.1712940054187253, + 0.16391593122731568 + ], + "footprint_xy": [ + [ + -14.327816252599773, + 0.13118792225780557 + ], + [ + -14.118383455438545, + 0.13118792225780557 + ], + [ + -14.118383455438545, + 0.39646406455529676 + ], + [ + -14.327816252599773, + 0.39646406455529676 + ] + ], + "projected_box_corners": [ + [ + -14.136350838920173, + 0.15764096305691444 + ], + [ + -14.17778866302139, + 0.39392783646090346 + ], + [ + -14.118383455438545, + 0.16017719115130774 + ], + [ + -14.159821279539761, + 0.39646406455529676 + ], + [ + -14.286378428498555, + 0.13118792225780557 + ], + [ + -14.327816252599773, + 0.36747479566179453 + ], + [ + -14.268411045016927, + 0.1337241503521989 + ], + [ + -14.309848869118145, + 0.3700110237561879 + ] + ], + "yaw_rad": -2.967065359543622, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.28216552734375, + 0.25954124331474304, + 0.08552892506122589 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.29848902339722, + 0.25051225118774456, + 0.05460684732940021 + ], + "intended_face_normal": [ + -0.9725871043937389, + -0.17148981261629181, + 0.1570525660804556 + ], + "commanded_contact_point": [ + -14.305614585876464, + 0.27875389090152525, + 0.04247998413890097 + ], + "centerline_face_intersection": [ + -14.302782074283545, + 0.26375389090152523, + 0.04247998413890097 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.282735824584961, + 0.25921952724456787, + 0.08438371121883392 + ], + "box_pose": [ + -14.230302810668945, + 0.2799863815307617, + 0.0447835847735405, + -0.0056495144963264465, + 0.7052987813949585, + 0.6991760730743408, + -0.11693808436393738 + ], + "box_yaw_rad": -2.9670632534082713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029503028618458028 + } + } + }, + { + "simulation_time_ns": 6760000000, + "center": [ + -14.223070025615808, + 0.2659056172832941, + 0.04167499854073006 + ], + "face_center": [ + -14.297832808798447, + 0.2533054183099351, + 0.05630261457221217 + ], + "face_normal": [ + -0.9682377678136191, + -0.16318264260132087, + 0.18943931314271711 + ], + "footprint_xy": [ + [ + -14.328038303349976, + 0.13352451559284045 + ], + [ + -14.118101747881639, + 0.13352451559284045 + ], + [ + -14.118101747881639, + 0.39828671897374773 + ], + [ + -14.328038303349976, + 0.39828671897374773 + ] + ], + "projected_box_corners": [ + [ + -14.138855751515107, + 0.15872491353955842 + ], + [ + -14.178512736984699, + 0.39531832445400356 + ], + [ + -14.118101747881639, + 0.16169330805930254 + ], + [ + -14.157758733351232, + 0.39828671897374773 + ], + [ + -14.288381317880384, + 0.13352451559284045 + ], + [ + -14.328038303349976, + 0.3701179265072856 + ], + [ + -14.267627314246917, + 0.1364929101125846 + ], + [ + -14.307284299716509, + 0.37308632102702977 + ] + ], + "yaw_rad": -2.974625997570073, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.281320571899414, + 0.26239556074142456, + 0.08653581142425537 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.29811364880835, + 0.2505994730069967, + 0.05539077206100035 + ], + "intended_face_normal": [ + -0.971488568643629, + -0.1712940054187253, + 0.16391593122731568 + ], + "commanded_contact_point": [ + -14.303133125305175, + 0.2788259934065512, + 0.04273395197619748 + ], + "centerline_face_intersection": [ + -14.302581297654923, + 0.26382599340655116, + 0.04273395197619748 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.28216552734375, + 0.25954124331474304, + 0.08552892506122589 + ], + "box_pose": [ + -14.229994773864746, + 0.28006070852279663, + 0.04507399722933769, + -0.0031533590517938137, + 0.7051355838775635, + 0.6989478468894958, + -0.11935576796531677 + ], + "box_yaw_rad": -2.967065359543622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024954648866442344 + } + } + }, + { + "simulation_time_ns": 6780000000, + "center": [ + -14.223873496440952, + 0.26945102222317724, + 0.04040650054867084 + ], + "face_center": [ + -14.298478688798767, + 0.2581072831465314, + 0.056764724234355454 + ], + "face_normal": [ + -0.9661968407378723, + -0.1469104831932233, + 0.2118520647917932 + ], + "footprint_xy": [ + [ + -14.328048346268805, + 0.1379039332171778 + ], + [ + -14.119698646613099, + 0.1379039332171778 + ], + [ + -14.119698646613099, + 0.4009981112291766 + ], + [ + -14.328048346268805, + 0.4009981112291766 + ] + ], + "projected_box_corners": [ + [ + -14.142917640813701, + 0.16059141137046937 + ], + [ + -14.178837961553176, + 0.3977825845458626 + ], + [ + -14.119698646613099, + 0.16380693805378338 + ], + [ + -14.155618967352574, + 0.4009981112291766 + ], + [ + -14.292128025529331, + 0.1379039332171778 + ], + [ + -14.328048346268805, + 0.37509510639257104 + ], + [ + -14.268909031328727, + 0.14111945990049182 + ], + [ + -14.304829352068202, + 0.3783106330758851 + ] + ], + "yaw_rad": -2.9906981649449857, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.281171798706055, + 0.2679778039455414, + 0.08668912947177887 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.297832808798447, + 0.2533054183099351, + 0.05630261457221217 + ], + "intended_face_normal": [ + -0.9682377678136191, + -0.16318264260132087, + 0.18943931314271711 + ], + "commanded_contact_point": [ + -14.300543899536132, + 0.2809056172832941, + 0.04167499854073006 + ], + "centerline_face_intersection": [ + -14.302818323480492, + 0.2659056172832941, + 0.04167499854073006 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.281320571899414, + 0.26239556074142456, + 0.08653581142425537 + ], + "box_pose": [ + -14.22978401184082, + 0.2822032868862152, + 0.04410194605588913, + 0.008648929186165333, + 0.7054138779640198, + 0.6975027918815613, + -0.12572336196899414 + ], + "box_yaw_rad": -2.974625997570073, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034857291820053525 + } + } + }, + { + "simulation_time_ns": 6800000000, + "center": [ + -14.224016894944262, + 0.27079254989745466, + 0.04017859103052722 + ], + "face_center": [ + -14.298679908780022, + 0.259739997907436, + 0.05647202838786624 + ], + "face_normal": [ + -0.9669456750689918, + -0.14313937780134367, + 0.2110130300839903 + ], + "footprint_xy": [ + [ + -14.327791096101304, + 0.13937753837252737 + ], + [ + -14.120242693787219, + 0.13937753837252737 + ], + [ + -14.120242693787219, + 0.40220756142238195 + ], + [ + -14.327791096101304, + 0.40220756142238195 + ] + ], + "projected_box_corners": [ + [ + -14.143337483477863, + 0.1614826423525647 + ], + [ + -14.178465068429785, + 0.39879336835859086 + ], + [ + -14.120242693787219, + 0.1648968354163558 + ], + [ + -14.155370278739142, + 0.40220756142238195 + ], + [ + -14.292663511149383, + 0.13937753837252737 + ], + [ + -14.327791096101304, + 0.3766882643785535 + ], + [ + -14.269568721458738, + 0.1427917314363185 + ], + [ + -14.30469630641066, + 0.3801024574423446 + ] + ], + "yaw_rad": -2.9946274724651682, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.280097961425781, + 0.2720133662223816, + 0.08583082258701324 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.298478688798767, + 0.2581072831465314, + 0.056764724234355454 + ], + "intended_face_normal": [ + -0.9661968407378723, + -0.1469104831932233, + 0.2118520647917932 + ], + "commanded_contact_point": [ + -14.297959442138671, + 0.28445102222317725, + 0.04040650054867084 + ], + "centerline_face_intersection": [ + -14.303790249069195, + 0.26945102222317724, + 0.04040650054867084 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.281171798706055, + 0.2679778039455414, + 0.08668912947177887 + ], + "box_pose": [ + -14.230276107788086, + 0.28586500883102417, + 0.04289031773805618, + 0.022300276905298233, + 0.7057815790176392, + 0.6963984370231628, + -0.12807950377464294 + ], + "box_yaw_rad": -2.9906981649449857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004567100106511422 + } + } + }, + { + "simulation_time_ns": 6820000000, + "center": [ + -14.222940410251221, + 0.27097685697945567, + 0.03839990332724234 + ], + "face_center": [ + -14.297140360393769, + 0.2600679407007384, + 0.056772880763482664 + ], + "face_normal": [ + -0.9609486303151158, + -0.1412791805940108, + 0.23794473538387972 + ], + "footprint_xy": [ + [ + -14.327632803307306, + 0.13942463594731366 + ], + [ + -14.118248017195135, + 0.13942463594731366 + ], + [ + -14.118248017195135, + 0.4025290780115977 + ], + [ + -14.327632803307306, + 0.4025290780115977 + ] + ], + "projected_box_corners": [ + [ + -14.144275560499718, + 0.16124246850474824 + ], + [ + -14.17923290302221, + 0.3985782189726901 + ], + [ + -14.118248017195135, + 0.16519332754365584 + ], + [ + -14.153205359717628, + 0.4025290780115977 + ], + [ + -14.292675460784814, + 0.13942463594731366 + ], + [ + -14.327632803307306, + 0.3767603864152555 + ], + [ + -14.266647917480231, + 0.1433754949862213 + ], + [ + -14.301605260002724, + 0.3807112454541631 + ] + ], + "yaw_rad": -2.9956178752673965, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.277139663696289, + 0.2741719186306, + 0.08496691286563873 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.298679908780022, + 0.259739997907436, + 0.05647202838786624 + ], + "intended_face_normal": [ + -0.9669456750689918, + -0.14313937780134367, + 0.2110130300839903 + ], + "commanded_contact_point": [ + -14.295623893737792, + 0.2857437172444576, + 0.04017859103052722 + ], + "centerline_face_intersection": [ + -14.303871757427544, + 0.27079254989745466, + 0.04017859103052722 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.280097961425781, + 0.2720133662223816, + 0.08583082258701324 + ], + "box_pose": [ + -14.230367660522461, + 0.2872341275215149, + 0.04261249676346779, + 0.023207832127809525, + 0.7067115306854248, + 0.695723831653595, + -0.12644518911838531 + ], + "box_yaw_rad": -2.9946274724651682, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014951167347002923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002679139693885223 + } + } + }, + { + "simulation_time_ns": 6840000000, + "center": [ + -14.22071813138152, + 0.27116835967184927, + 0.03531403934710046 + ], + "face_center": [ + -14.293711990466429, + 0.2604430212867183, + 0.058097094817534126 + ], + "face_normal": [ + -0.9453287876110892, + -0.13890170021755477, + 0.2950587689971016 + ], + "footprint_xy": [ + [ + -14.327286505589589, + 0.13941750849279944 + ], + [ + -14.114149757173452, + 0.13941750849279944 + ], + [ + -14.114149757173452, + 0.40291921085089905 + ], + [ + -14.327286505589589, + 0.40291921085089905 + ] + ], + "projected_box_corners": [ + [ + -14.14645421702435, + 0.16086818526306135 + ], + [ + -14.18129878741977, + 0.39822064566491916 + ], + [ + -14.114149757173452, + 0.1655667504490412 + ], + [ + -14.148994327568872, + 0.40291921085089905 + ], + [ + -14.29244193519417, + 0.13941750849279944 + ], + [ + -14.327286505589589, + 0.3767699688946573 + ], + [ + -14.26013747534327, + 0.14411607367877932 + ], + [ + -14.29498204573869, + 0.3814685340806372 + ] + ], + "yaw_rad": -2.9957017921692373, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.273077964782715, + 0.2747291028499603, + 0.0850750207901001 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.297140360393769, + 0.2600679407007384, + 0.056772880763482664 + ], + "intended_face_normal": [ + -0.9609486303151158, + -0.1412791805940108, + 0.23794473538387972 + ], + "commanded_contact_point": [ + -14.293654556274413, + 0.2858002218604128, + 0.03839990332724234 + ], + "centerline_face_intersection": [ + -14.30329362734891, + 0.27097685697945567, + 0.03839990332724234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.277139663696289, + 0.2741719186306, + 0.08496691286563873 + ], + "box_pose": [ + -14.229211807250977, + 0.2874357998371124, + 0.04092070460319519, + 0.033243320882320404, + 0.7067068219184875, + 0.6935703158378601, + -0.13572217524051666 + ], + "box_yaw_rad": -2.9956178752673965, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01482336488095715, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002654281967332925 + } + } + }, + { + "simulation_time_ns": 6860000000, + "center": [ + -14.21865649602505, + 0.2696047881403743, + 0.03443851413428003 + ], + "face_center": [ + -14.29112500574211, + 0.25872929236277736, + 0.05877454432199099 + ], + "face_normal": [ + -0.9385250936126184, + -0.1408463584059323, + 0.315171032207719 + ], + "footprint_xy": [ + [ + -14.326146760012143, + 0.1375579654578543 + ], + [ + -14.111166232037956, + 0.1375579654578543 + ], + [ + -14.111166232037956, + 0.40165161082289436 + ], + [ + -14.326146760012143, + 0.40165161082289436 + ] + ], + "projected_box_corners": [ + [ + -14.145661629795802, + 0.1593089570130482 + ], + [ + -14.181209740578025, + 0.3965570268304237 + ], + [ + -14.111166232037956, + 0.16440354100551885 + ], + [ + -14.146714342820177, + 0.40165161082289436 + ], + [ + -14.290598649229922, + 0.1375579654578543 + ], + [ + -14.326146760012143, + 0.3748060352752298 + ], + [ + -14.256103251472075, + 0.1426525494503249 + ], + [ + -14.291651362254298, + 0.3799006192677004 + ] + ], + "yaw_rad": -2.992632269654846, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.27033519744873, + 0.27296826243400574, + 0.08557482063770294 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.293711990466429, + 0.2604430212867183, + 0.058097094817534126 + ], + "intended_face_normal": [ + -0.9453287876110892, + -0.13890170021755477, + 0.2950587689971016 + ], + "commanded_contact_point": [ + -14.29190647125244, + 0.285849294825682, + 0.03531403934710046 + ], + "centerline_face_intersection": [ + -14.302399039572803, + 0.27116835967184927, + 0.03531403934710046 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.273077964782715, + 0.2747291028499603, + 0.0850750207901001 + ], + "box_pose": [ + -14.226825714111328, + 0.2876492738723755, + 0.03808145225048065, + 0.054295238107442856, + 0.7048734426498413, + 0.6897954940795898, + -0.15616530179977417 + ], + "box_yaw_rad": -2.9957017921692373, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014680935153832708, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003546937538765318 + } + } + }, + { + "simulation_time_ns": 6880000000, + "center": [ + -14.217676231717839, + 0.26891204738607094, + 0.0338088434480955 + ], + "face_center": [ + -14.28995119148983, + 0.2578962861629539, + 0.05865208885871135 + ], + "face_normal": [ + -0.9360184672031124, + -0.14266290797899916, + 0.32173987454237096 + ], + "footprint_xy": [ + [ + -14.325526938251226, + 0.1367873401565711 + ], + [ + -14.109825525184451, + 0.1367873401565711 + ], + [ + -14.109825525184451, + 0.40103675461557076 + ], + [ + -14.325526938251226, + 0.40103675461557076 + ] + ], + "projected_box_corners": [ + [ + -14.145066741553233, + 0.15881886260280512 + ], + [ + -14.180977018707244, + 0.39601140404749524 + ], + [ + -14.109825525184451, + 0.1638442131708807 + ], + [ + -14.145735802338463, + 0.40103675461557076 + ], + [ + -14.289616661097215, + 0.1367873401565711 + ], + [ + -14.325526938251226, + 0.37397988160126117 + ], + [ + -14.254375444728433, + 0.14181269072464667 + ], + [ + -14.290285721882444, + 0.3790052321693368 + ] + ], + "yaw_rad": -2.9903420506257716, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.267603874206543, + 0.27149665355682373, + 0.08483318984508514 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.29112500574211, + 0.25872929236277736, + 0.05877454432199099 + ], + "intended_face_normal": [ + -0.9385250936126184, + -0.1408463584059323, + 0.315171032207719 + ], + "commanded_contact_point": [ + -14.290226097106933, + 0.2841511843224618, + 0.03443851413428003 + ], + "centerline_face_intersection": [ + -14.300929537456703, + 0.2696047881403743, + 0.03443851413428003 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.27033519744873, + 0.27296826243400574, + 0.08557482063770294 + ], + "box_pose": [ + -14.224754333496094, + 0.2860754430294037, + 0.03728729858994484, + 0.060682740062475204, + 0.7042505741119385, + 0.6879634261131287, + -0.16448408365249634 + ], + "box_yaw_rad": -2.992632269654846, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01454639618208745, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025443625819293507 + } + } + }, + { + "simulation_time_ns": 6900000000, + "center": [ + -14.216489165794913, + 0.26783446270689215, + 0.03363205967576584 + ], + "face_center": [ + -14.288601642093578, + 0.2564179543400235, + 0.058764838117265246 + ], + "face_normal": [ + -0.9339141764207, + -0.14785290363466963, + 0.3254895585909994 + ], + "footprint_xy": [ + [ + -14.325001453372591, + 0.13535801773461525 + ], + [ + -14.107976878217235, + 0.13535801773461525 + ], + [ + -14.107976878217235, + 0.40031090767916905 + ], + [ + -14.325001453372591, + 0.40031090767916905 + ] + ], + "projected_box_corners": [ + [ + -14.143625522348504, + 0.15819103446835245 + ], + [ + -14.180776500775258, + 0.3951910681757377 + ], + [ + -14.107976878217235, + 0.1633108739717838 + ], + [ + -14.145127856643988, + 0.40031090767916905 + ], + [ + -14.287850474945836, + 0.13535801773461525 + ], + [ + -14.325001453372591, + 0.3723580514420005 + ], + [ + -14.252201830814567, + 0.14047785723804657 + ], + [ + -14.289352809241322, + 0.3774778909454318 + ] + ], + "yaw_rad": -2.984580469323076, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.264886856079102, + 0.2695856988430023, + 0.0847495049238205 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.28995119148983, + 0.2578962861629539, + 0.05865208885871135 + ], + "intended_face_normal": [ + -0.9360184672031124, + -0.14266290797899916, + 0.32173987454237096 + ], + "commanded_contact_point": [ + -14.288313980102538, + 0.28335505932132826, + 0.0338088434480955 + ], + "centerline_face_intersection": [ + -14.300169597625631, + 0.26891204738607094, + 0.0338088434480955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.267603874206543, + 0.27149665355682373, + 0.08483318984508514 + ], + "box_pose": [ + -14.22377872467041, + 0.2853699326515198, + 0.03672076016664505, + 0.06251544505357742, + 0.7032982707023621, + 0.6880267262458801, + -0.16757845878601074 + ], + "box_yaw_rad": -2.9903420506257716, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014443011935257339, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002164830623620391 + } + } + }, + { + "simulation_time_ns": 6920000000, + "center": [ + -14.213930706424216, + 0.26526097819565697, + 0.033616541256855384 + ], + "face_center": [ + -14.28576954701219, + 0.2529090937584477, + 0.0590884056254207 + ], + "face_normal": [ + -0.9303703753684047, + -0.159966770987634, + 0.32988099223141454 + ], + "footprint_xy": [ + [ + -14.323917173956076, + 0.13186632885127791 + ], + [ + -14.103944238892357, + 0.13186632885127791 + ], + [ + -14.103944238892357, + 0.39865562754003603 + ], + [ + -14.323917173956076, + 0.39865562754003603 + ] + ], + "projected_box_corners": [ + [ + -14.140015299894408, + 0.15657009772569647 + ], + [ + -14.180239492780128, + 0.3930670887499688 + ], + [ + -14.103944238892357, + 0.16215863651576368 + ], + [ + -14.144168431778077, + 0.39865562754003603 + ], + [ + -14.283692981070356, + 0.13186632885127791 + ], + [ + -14.323917173956076, + 0.36836331987555027 + ], + [ + -14.247621920068305, + 0.13745486764134512 + ], + [ + -14.287846112954025, + 0.3739518586656175 + ] + ], + "yaw_rad": -2.971318754287178, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.261950492858887, + 0.26655444502830505, + 0.08522284030914307 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.288601642093578, + 0.2564179543400235, + 0.058764838117265246 + ], + "intended_face_normal": [ + -0.9339141764207, + -0.14785290363466963, + 0.3254895585909994 + ], + "commanded_contact_point": [ + -14.286160583496093, + 0.2822074251967051, + 0.03363205967576584 + ], + "centerline_face_intersection": [ + -14.299168405344924, + 0.26783446270689215, + 0.03363205967576584 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.264886856079102, + 0.2695856988430023, + 0.0847495049238205 + ], + "box_pose": [ + -14.222665786743164, + 0.28425756096839905, + 0.03658381104469299, + 0.06202265992760658, + 0.7028100490570068, + 0.6877609491348267, + -0.170868381857872 + ], + "box_yaw_rad": -2.984580469323076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014372962489812933, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024465145678717807 + } + } + }, + { + "simulation_time_ns": 6940000000, + "center": [ + -14.210759676189289, + 0.26216711362528616, + 0.033543148655256344 + ], + "face_center": [ + -14.282290106789677, + 0.2487034389805625, + 0.0593178442846245 + ], + "face_normal": [ + -0.9263762196502867, + -0.17436534234861512, + 0.33380289898102866 + ], + "footprint_xy": [ + [ + -14.32244313384539, + 0.12770271729677388 + ], + [ + -14.099076218533186, + 0.12770271729677388 + ], + [ + -14.099076218533186, + 0.3966315099537985 + ], + [ + -14.32244313384539, + 0.3966315099537985 + ] + ], + "projected_box_corners": [ + [ + -14.135495873879844, + 0.1546300665862212 + ], + [ + -14.179382272644615, + 0.39047405123135226 + ], + [ + -14.099076218533186, + 0.1607875253086674 + ], + [ + -14.142962617297957, + 0.3966315099537985 + ], + [ + -14.27855673508062, + 0.12770271729677388 + ], + [ + -14.32244313384539, + 0.36354670194190497 + ], + [ + -14.242137079733963, + 0.13386017601922007 + ], + [ + -14.286023478498732, + 0.36970416066435113 + ] + ], + "yaw_rad": -2.9555463173971566, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.258529663085938, + 0.2629338800907135, + 0.08554033935070038 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.28576954701219, + 0.2529090937584477, + 0.0590884056254207 + ], + "intended_face_normal": [ + -0.9303703753684047, + -0.159966770987634, + 0.32988099223141454 + ], + "commanded_contact_point": [ + -14.284014816284179, + 0.279582202012164, + 0.033616541256855384 + ], + "centerline_face_intersection": [ + -14.296924873001009, + 0.26526097819565697, + 0.033616541256855384 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.261950492858887, + 0.26655444502830505, + 0.08522284030914307 + ], + "box_pose": [ + -14.220306396484375, + 0.28160253167152405, + 0.03659746050834656, + 0.05907237157225609, + 0.7028022408485413, + 0.6864795684814453, + -0.1769893616437912 + ], + "box_yaw_rad": -2.971318754287178, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014321223816507009, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033906274519184677 + } + } + }, + { + "simulation_time_ns": 6960000000, + "center": [ + -14.206290648885744, + 0.25866812108063947, + 0.033544118950974006 + ], + "face_center": [ + -14.2774682404528, + 0.24397638275475428, + 0.0596229139779317 + ], + "face_normal": [ + -0.921806672296789, + -0.1902697480804889, + 0.3377412291151045 + ], + "footprint_xy": [ + [ + -14.319831418457412, + 0.12302202570983581 + ], + [ + -14.092749879314079, + 0.12302202570983581 + ], + [ + -14.092749879314079, + 0.39431421645144304 + ], + [ + -14.319831418457412, + 0.39431421645144304 + ] + ], + "projected_box_corners": [ + [ + -14.129486254030583, + 0.15240550236160616 + ], + [ + -14.177476235323303, + 0.3874485472945853 + ], + [ + -14.092749879314079, + 0.15927117151846398 + ], + [ + -14.140739860606798, + 0.39431421645144304 + ], + [ + -14.271841437164692, + 0.12302202570983581 + ], + [ + -14.319831418457412, + 0.3580650706428149 + ], + [ + -14.235105062448188, + 0.12988769486669363 + ], + [ + -14.283095043740907, + 0.3649307397996727 + ] + ], + "yaw_rad": -2.9380416802720206, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.253890991210938, + 0.25888004899024963, + 0.08600492775440216 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.282290106789677, + 0.2487034389805625, + 0.0593178442846245 + ], + "intended_face_normal": [ + -0.9263762196502867, + -0.17436534234861512, + 0.33380289898102866 + ], + "commanded_contact_point": [ + -14.2819815826416, + 0.27645766678317607, + 0.033543148655256344 + ], + "centerline_face_intersection": [ + -14.29411167969882, + 0.26216711362528616, + 0.033543148655256344 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.258529663085938, + 0.2629338800907135, + 0.08554033935070038 + ], + "box_pose": [ + -14.217375755310059, + 0.2784079611301422, + 0.03655049577355385, + 0.05506482720375061, + 0.7028852105140686, + 0.6849383115768433, + -0.1837930828332901 + ], + "box_yaw_rad": -2.9555463173971566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014290553157889916, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037285581551677054 + } + } + }, + { + "simulation_time_ns": 6980000000, + "center": [ + -14.20056673448239, + 0.25489335766117466, + 0.03370935690118788 + ], + "face_center": [ + -14.271430888694546, + 0.23907005866526224, + 0.059979139359747066 + ], + "face_normal": [ + -0.9177474081557833, + -0.20492436272500214, + 0.34021466892810004 + ], + "footprint_xy": [ + [ + -14.315766504643264, + 0.1181831578830776 + ], + [ + -14.085366964321514, + 0.1181831578830776 + ], + [ + -14.085366964321514, + 0.3916035574392717 + ], + [ + -14.315766504643264, + 0.3916035574392717 + ] + ], + "projected_box_corners": [ + [ + -14.122250247822324, + 0.14982975587490244 + ], + [ + -14.17403819621895, + 0.3840656157517805 + ], + [ + -14.085366964321514, + 0.1573676975623937 + ], + [ + -14.137154912718138, + 0.3916035574392717 + ], + [ + -14.26397855624664, + 0.1181831578830776 + ], + [ + -14.315766504643264, + 0.35241901775995566 + ], + [ + -14.22709527274583, + 0.12572109957056884 + ], + [ + -14.278883221142454, + 0.3599569594474469 + ] + ], + "yaw_rad": -2.9219058441227728, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.248135566711426, + 0.254679411649704, + 0.08667726814746857 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.2774682404528, + 0.24397638275475428, + 0.0596229139779317 + ], + "intended_face_normal": [ + -0.921806672296789, + -0.1902697480804889, + 0.3377412291151045 + ], + "commanded_contact_point": [ + -14.280084724426269, + 0.27295019712214497, + 0.033544118950974006 + ], + "centerline_face_intersection": [ + -14.290055841991851, + 0.25866812108063947, + 0.033544118950974006 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.253890991210938, + 0.25888004899024963, + 0.08600492775440216 + ], + "box_pose": [ + -14.213176727294922, + 0.2747931480407715, + 0.036568522453308105, + 0.05040455237030983, + 0.7031869888305664, + 0.6829578280448914, + -0.19119584560394287 + ], + "box_yaw_rad": -2.9380416802720206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014282076041505509, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003987532501886354 + } + } + }, + { + "simulation_time_ns": 7000000000, + "center": [ + -14.194812695273368, + 0.25135580066335517, + 0.033823559407526016 + ], + "face_center": [ + -14.265414780835158, + 0.2346083403560622, + 0.06022569584076866 + ], + "face_normal": [ + -0.9143534097752379, + -0.21689298999032047, + 0.3419287586336117 + ], + "footprint_xy": [ + [ + -14.31133531829163, + 0.11380897094829534 + ], + [ + -14.078290072255108, + 0.11380897094829534 + ], + [ + -14.078290072255108, + 0.38890263037841505 + ], + [ + -14.31133531829163, + 0.38890263037841505 + ] + ], + "projected_box_corners": [ + [ + -14.11525538186096, + 0.1473038915628813 + ], + [ + -14.170131147168053, + 0.38083561127364485 + ], + [ + -14.078290072255108, + 0.15537091066765152 + ], + [ + -14.133165837562201, + 0.38890263037841505 + ], + [ + -14.256459552984538, + 0.11380897094829534 + ], + [ + -14.31133531829163, + 0.34734069065905887 + ], + [ + -14.219494243378685, + 0.12187599005306557 + ], + [ + -14.274370008685779, + 0.35540770976382907 + ] + ], + "yaw_rad": -2.9086881964830273, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.242478370666504, + 0.25086134672164917, + 0.08719086647033691 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.271430888694546, + 0.23907005866526224, + 0.059979139359747066 + ], + "intended_face_normal": [ + -0.9177474081557833, + -0.20492436272500214, + 0.34021466892810004 + ], + "commanded_contact_point": [ + -14.278320426940917, + 0.269183991543139, + 0.03370935690118788 + ], + "centerline_face_intersection": [ + -14.284702427185247, + 0.25489335766117466, + 0.03370935690118788 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.248135566711426, + 0.254679411649704, + 0.08667726814746857 + ], + "box_pose": [ + -14.2077054977417, + 0.2709069848060608, + 0.03673979267477989, + 0.04564113914966583, + 0.7035787105560303, + 0.6810658574104309, + -0.19759368896484375 + ], + "box_yaw_rad": -2.9219058441227728, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014290633881964335, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004162253435381425 + } + } + }, + { + "simulation_time_ns": 7020000000, + "center": [ + -14.191307195938606, + 0.24912216323809916, + 0.03369651081452394 + ], + "face_center": [ + -14.261671209053755, + 0.2317281367915356, + 0.060315246266112496 + ], + "face_normal": [ + -0.9112701814027915, + -0.22526653801490237, + 0.3447338889552256 + ], + "footprint_xy": [ + [ + -14.30880156573504, + 0.11098204394917785 + ], + [ + -14.07381282614217, + 0.11098204394917785 + ], + [ + -14.07381282614217, + 0.38726228252702044 + ], + [ + -14.30880156573504, + 0.38726228252702044 + ] + ], + "projected_box_corners": [ + [ + -14.111002290419682, + 0.14577009684230496 + ], + [ + -14.168073539504741, + 0.3787749659032201 + ], + [ + -14.07381282614217, + 0.1542574134661054 + ], + [ + -14.13088407522723, + 0.38726228252702044 + ], + [ + -14.251730316649981, + 0.11098204394917785 + ], + [ + -14.30880156573504, + 0.34398691301009293 + ], + [ + -14.21454085237247, + 0.11946936057297827 + ], + [ + -14.27161210145753, + 0.35247422963389335 + ] + ], + "yaw_rad": -2.8992504478673196, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.23853874206543, + 0.24835459887981415, + 0.08717653155326843 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.265414780835158, + 0.2346083403560622, + 0.06022569584076866 + ], + "intended_face_normal": [ + -0.9143534097752379, + -0.21689298999032047, + 0.3419287586336117 + ], + "commanded_contact_point": [ + -14.276688690185546, + 0.26566621270298774, + 0.033823559407526016 + ], + "centerline_face_intersection": [ + -14.279260692170343, + 0.25135580066335517, + 0.033823559407526016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.242478370666504, + 0.25086134672164917, + 0.08719086647033691 + ], + "box_pose": [ + -14.202157020568848, + 0.26727494597435, + 0.03686056286096573, + 0.041637320071458817, + 0.7038235664367676, + 0.6795653700828552, + -0.2027057707309723 + ], + "box_yaw_rad": -2.9086881964830273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014310412039632575, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003879481282271999 + } + } + }, + { + "simulation_time_ns": 7040000000, + "center": [ + -14.191068606420137, + 0.24897299336373546, + 0.03333785722806568 + ], + "face_center": [ + -14.261366748897885, + 0.23153162204438116, + 0.060099299316872815 + ], + "face_normal": [ + -0.9104171040264788, + -0.22587969193984847, + 0.3465820539109785 + ], + "footprint_xy": [ + [ + -14.308691236722247, + 0.110768260993897 + ], + [ + -14.073445976118029, + 0.110768260993897 + ], + [ + -14.073445976118029, + 0.3871777257335739 + ], + [ + -14.308691236722247, + 0.3871777257335739 + ] + ], + "projected_box_corners": [ + [ + -14.11082614543928, + 0.14565100363260564 + ], + [ + -14.168094951766752, + 0.37860744243024885 + ], + [ + -14.073445976118029, + 0.15422128693593068 + ], + [ + -14.130714782445501, + 0.3871777257335739 + ], + [ + -14.251422430394772, + 0.110768260993897 + ], + [ + -14.308691236722247, + 0.34372469979154024 + ], + [ + -14.214042261073523, + 0.11933854429722207 + ], + [ + -14.271311067400996, + 0.3522949830948653 + ] + ], + "yaw_rad": -2.898397634456215, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.237013816833496, + 0.24810734391212463, + 0.08639971911907196 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.261671209053755, + 0.2317281367915356, + 0.060315246266112496 + ], + "intended_face_normal": [ + -0.9112701814027915, + -0.22526653801490237, + 0.3447338889552256 + ], + "commanded_contact_point": [ + -14.275184745788573, + 0.26346327785206314, + 0.03369651081452394 + ], + "centerline_face_intersection": [ + -14.276040917602332, + 0.24912216323809916, + 0.03369651081452394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.23853874206543, + 0.24835459887981415, + 0.08717653155326843 + ], + "box_pose": [ + -14.198792457580566, + 0.2649734616279602, + 0.03674427419900894, + 0.039375729858875275, + 0.7039476037025452, + 0.6783014535903931, + -0.2069164365530014 + ], + "box_yaw_rad": -2.8992504478673196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014341114613963975, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002670376762104448 + } + } + }, + { + "simulation_time_ns": 7060000000, + "center": [ + -14.191084273221183, + 0.2489871207234123, + 0.03297115237637609 + ], + "face_center": [ + -14.261395522029547, + 0.23155700381920907, + 0.0597054130160901 + ], + "face_normal": [ + -0.9105868414781995, + -0.2257339382728496, + 0.3462300324308316 + ], + "footprint_xy": [ + [ + -14.308694874387385, + 0.11077151333715246 + ], + [ + -14.07347367205498, + 0.11077151333715246 + ], + [ + -14.07347367205498, + 0.38720272810967216 + ], + [ + -14.308694874387385, + 0.38720272810967216 + ] + ], + "projected_box_corners": [ + [ + -14.110802869734698, + 0.14563174714555893 + ], + [ + -14.168072376770656, + 0.3785886928426982 + ], + [ + -14.07347367205498, + 0.15424578241253292 + ], + [ + -14.130743179090938, + 0.38720272810967216 + ], + [ + -14.251425367351425, + 0.11077151333715246 + ], + [ + -14.308694874387385, + 0.34372845903429167 + ], + [ + -14.21409616967171, + 0.11938554860412642 + ], + [ + -14.271365676707667, + 0.35234249430126563 + ] + ], + "yaw_rad": -2.8985919939759963, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.236077308654785, + 0.24891646206378937, + 0.08521407842636108 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.261366748897885, + 0.23153162204438116, + 0.060099299316872815 + ], + "intended_face_normal": [ + -0.9104171040264788, + -0.22587969193984847, + 0.3465820539109785 + ], + "commanded_contact_point": [ + -14.273630256652831, + 0.26334873395576386, + 0.03333785722806568 + ], + "centerline_face_intersection": [ + -14.275881725121378, + 0.24897299336373546, + 0.03333785722806568 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.237013816833496, + 0.24810734391212463, + 0.08639971911907196 + ], + "box_pose": [ + -14.198561668395996, + 0.26481935381889343, + 0.036392129957675934, + 0.0397709459066391, + 0.7039331793785095, + 0.6780019402503967, + -0.2078695148229599 + ], + "box_yaw_rad": -2.898397634456215, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014375740592028409, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015994340162692813 + } + } + }, + { + "simulation_time_ns": 7080000000, + "center": [ + -14.191169708144932, + 0.2489780293562434, + 0.03263288518008322 + ], + "face_center": [ + -14.2615536722902, + 0.23154062918312246, + 0.05917046441876579 + ], + "face_normal": [ + -0.9115285631810721, + -0.2258282624237049, + 0.3436828511649881 + ], + "footprint_xy": [ + [ + -14.308711894917735, + 0.11077136307731475 + ], + [ + -14.07362752137213, + 0.11077136307731475 + ], + [ + -14.07362752137213, + 0.3871846956351721 + ], + [ + -14.308711894917735, + 0.3871846956351721 + ] + ], + "projected_box_corners": [ + [ + -14.110674542473301, + 0.14564616342355668 + ], + [ + -14.167943966627197, + 0.37860364149125303 + ], + [ + -14.07362752137213, + 0.1542272175674758 + ], + [ + -14.130896945526025, + 0.3871846956351721 + ], + [ + -14.25144247076384, + 0.11077136307731475 + ], + [ + -14.308711894917735, + 0.34372884114501107 + ], + [ + -14.214395449662666, + 0.11935241722123385 + ], + [ + -14.271664873816562, + 0.3523098952889302 + ] + ], + "yaw_rad": -2.8987357939569693, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.235063552856445, + 0.2501301169395447, + 0.08362528681755066 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.261395522029547, + 0.23155700381920907, + 0.0597054130160901 + ], + "intended_face_normal": [ + -0.9105868414781995, + -0.2257339382728496, + 0.3462300324308316 + ], + "commanded_contact_point": [ + -14.27186595916748, + 0.2633656876618256, + 0.03297115237637609 + ], + "centerline_face_intersection": [ + -14.275881582378528, + 0.2489871207234123, + 0.03297115237637609 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.236077308654785, + 0.24891646206378937, + 0.08521407842636108 + ], + "box_pose": [ + -14.198578834533691, + 0.26483476161956787, + 0.03601507097482681, + 0.03964817523956299, + 0.7041269540786743, + 0.6778632998466492, + -0.2076883614063263 + ], + "box_yaw_rad": -2.8985919939759963, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014378566938413327, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001802083653224723 + } + } + }, + { + "simulation_time_ns": 7100000000, + "center": [ + -14.191298763901429, + 0.24899918012011785, + 0.032390220626162064 + ], + "face_center": [ + -14.261788516923177, + 0.2315762922478727, + 0.05865496035813273 + ], + "face_normal": [ + -0.912898613642831, + -0.22564031653394956, + 0.3401493615903055 + ], + "footprint_xy": [ + [ + -14.30874043293619, + 0.11077800880965755 + ], + [ + -14.07385709486667, + 0.11077800880965755 + ], + [ + -14.07385709486667, + 0.3872203514305782 + ], + [ + -14.30874043293619, + 0.3872203514305782 + ] + ], + "projected_box_corners": [ + [ + -14.11048713595626, + 0.14562378455414784 + ], + [ + -14.167760926892695, + 0.3785816264421044 + ], + [ + -14.07385709486667, + 0.15426250954262158 + ], + [ + -14.131130885803104, + 0.3872203514305782 + ], + [ + -14.251466641999755, + 0.11077800880965755 + ], + [ + -14.30874043293619, + 0.34373585069761414 + ], + [ + -14.214836600910164, + 0.11941673379813128 + ], + [ + -14.2721103918466, + 0.3523745756860879 + ] + ], + "yaw_rad": -2.8992801491103375, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.234447479248047, + 0.2519077956676483, + 0.08218972384929657 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.2615536722902, + 0.23154062918312246, + 0.05917046441876579 + ], + "intended_face_normal": [ + -0.9115285631810721, + -0.2258282624237049, + 0.3436828511649881 + ], + "commanded_contact_point": [ + -14.269917602539062, + 0.26331051279132467, + 0.03263288518008322 + ], + "centerline_face_intersection": [ + -14.275879411197977, + 0.2489780293562434, + 0.03263288518008322 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.235063552856445, + 0.2501301169395447, + 0.08362528681755066 + ], + "box_pose": [ + -14.1986722946167, + 0.26482483744621277, + 0.03566135838627815, + 0.03869948163628578, + 0.7043026685714722, + 0.6780280470848083, + -0.20673227310180664 + ], + "box_yaw_rad": -2.8987357939569693, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014332483435081277, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019782726085964156 + } + } + }, + { + "simulation_time_ns": 7120000000, + "center": [ + -14.19155544478651, + 0.2490851372559768, + 0.03245011924513622 + ], + "face_center": [ + -14.262230658474682, + 0.23169871875054449, + 0.058236378230905175 + ], + "face_normal": [ + -0.9153004774316074, + -0.2251680090995114, + 0.33395265368401494 + ], + "footprint_xy": [ + [ + -14.308812303887814, + 0.11082855504664446 + ], + [ + -14.074298585685206, + 0.11082855504664446 + ], + [ + -14.074298585685206, + 0.38734171946530915 + ], + [ + -14.308812303887814, + 0.38734171946530915 + ] + ], + "projected_box_corners": [ + [ + -14.110187375930058, + 0.14560139205750905 + ], + [ + -14.167461876511473, + 0.37856055093386176 + ], + [ + -14.074298585685206, + 0.15438256058895644 + ], + [ + -14.131573086266622, + 0.38734171946530915 + ], + [ + -14.251537803306398, + 0.11082855504664446 + ], + [ + -14.308812303887814, + 0.3437877139229971 + ], + [ + -14.215649013061547, + 0.11960972357809185 + ], + [ + -14.272923513642963, + 0.3525688824544445 + ] + ], + "yaw_rad": -2.9003780099089815, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.23482894897461, + 0.2530127465724945, + 0.08148452639579773 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.261788516923177, + 0.2315762922478727, + 0.05865496035813273 + ], + "intended_face_normal": [ + -0.912898613642831, + -0.22564031653394956, + 0.3401493615903055 + ], + "commanded_contact_point": [ + -14.268121833801269, + 0.2632153189332979, + 0.032390220626162064 + ], + "centerline_face_intersection": [ + -14.275881337209672, + 0.24899918012011785, + 0.032390220626162064 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.234447479248047, + 0.2519077956676483, + 0.08218972384929657 + ], + "box_pose": [ + -14.198813438415527, + 0.26484763622283936, + 0.035379812121391296, + 0.03739648312330246, + 0.7049033641815186, + 0.6779089570045471, + -0.20530937612056732 + ], + "box_yaw_rad": -2.8992801491103375, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014216138813180058, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018145890212305164 + } + } + }, + { + "simulation_time_ns": 7140000000, + "center": [ + -14.192161629320314, + 0.2489774479107203, + 0.03330384087216051 + ], + "face_center": [ + -14.263260931233008, + 0.2315013355675325, + 0.05783297037218796 + ], + "face_normal": [ + -0.920792758729732, + -0.22632961595198609, + 0.3176718225630877 + ], + "footprint_xy": [ + [ + -14.308971117197071, + 0.11079908087360676 + ], + [ + -14.075352141443554, + 0.11079908087360676 + ], + [ + -14.075352141443554, + 0.3871558149478338 + ], + [ + -14.308971117197071, + 0.3871558149478338 + ] + ], + "projected_box_corners": [ + [ + -14.109466690704519, + 0.1457513055599824 + ], + [ + -14.166772513371681, + 0.37870272947839134 + ], + [ + -14.075352141443554, + 0.15420439102942485 + ], + [ + -14.132657964110718, + 0.3871558149478338 + ], + [ + -14.251665294529909, + 0.11079908087360676 + ], + [ + -14.308971117197071, + 0.34375050479201574 + ], + [ + -14.217550745268946, + 0.11925216634304922 + ], + [ + -14.274856567936109, + 0.3522035902614582 + ] + ], + "yaw_rad": -2.900572095472687, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.23576545715332, + 0.2529859244823456, + 0.08137960731983185 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.262230658474682, + 0.23169871875054449, + 0.058236378230905175 + ], + "intended_face_normal": [ + -0.9153004774316074, + -0.2251680090995114, + 0.33395265368401494 + ], + "commanded_contact_point": [ + -14.266269798278808, + 0.2631441716964962, + 0.03245011924513622 + ], + "centerline_face_intersection": [ + -14.275916062764237, + 0.2490851372559768, + 0.03245011924513622 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.23482894897461, + 0.2530127465724945, + 0.08148452639579773 + ], + "box_pose": [ + -14.199090957641602, + 0.26493772864341736, + 0.035364408046007156, + 0.03512848541140556, + 0.7060941457748413, + 0.6775553822517395, + -0.2027701735496521 + ], + "box_yaw_rad": -2.9003780099089815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01405903444051935, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018543692594293866 + } + } + }, + { + "simulation_time_ns": 7160000000, + "center": [ + -14.193318929946885, + 0.2486673490132902, + 0.03548112463637414 + ], + "face_center": [ + -14.265149522762416, + 0.230953400159646, + 0.05758964662557772 + ], + "face_normal": [ + -0.9302635601263773, + -0.22940978876238471, + 0.28632302155192857 + ], + "footprint_xy": [ + [ + -14.309236476467815, + 0.1107265506002518 + ], + [ + -14.077401383425956, + 0.1107265506002518 + ], + [ + -14.077401383425956, + 0.38660814742632865 + ], + [ + -14.309236476467815, + 0.38660814742632865 + ] + ], + "projected_box_corners": [ + [ + -14.108172233681527, + 0.1461544483075402 + ], + [ + -14.165575290836754, + 0.37908195141544093 + ], + [ + -14.077401383425956, + 0.15368064431842793 + ], + [ + -14.134804440581183, + 0.38660814742632865 + ], + [ + -14.251833419312588, + 0.1107265506002518 + ], + [ + -14.309236476467815, + 0.3436540537081525 + ], + [ + -14.221062569057016, + 0.11825274661113952 + ], + [ + -14.278465626212244, + 0.3511802497190402 + ] + ], + "yaw_rad": -2.89980965608819, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.237499237060547, + 0.2527335286140442, + 0.08212925493717194 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.263260931233008, + 0.2315013355675325, + 0.05783297037218796 + ], + "intended_face_normal": [ + -0.920792758729732, + -0.22632961595198609, + 0.3176718225630877 + ], + "commanded_contact_point": [ + -14.2641593170166, + 0.2628761432883746, + 0.03330384087216051 + ], + "centerline_face_intersection": [ + -14.276019058887808, + 0.2489774479107203, + 0.03330384087216051 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.23576545715332, + 0.2529859244823456, + 0.08137960731983185 + ], + "box_pose": [ + -14.199748039245605, + 0.264819860458374, + 0.03614038974046707, + 0.029013928025960922, + 0.7067108154296875, + 0.678937554359436, + -0.1968800574541092 + ], + "box_yaw_rad": -2.900572095472687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01389869537765434, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022923374538091385 + } + } + }, + { + "simulation_time_ns": 7180000000, + "center": [ + -14.194940998271397, + 0.24806478161781095, + 0.03805906504527374 + ], + "face_center": [ + -14.267458756037005, + 0.2299251052589407, + 0.057406672121015884 + ], + "face_normal": [ + -0.939162895184019, + -0.23492330005516177, + 0.25056696781590326 + ], + "footprint_xy": [ + [ + -14.30997521385308, + 0.11030865769803028 + ], + [ + -14.079906782689712, + 0.11030865769803028 + ], + [ + -14.079906782689712, + 0.38582090553759163 + ], + [ + -14.30997521385308, + 0.38582090553759163 + ] + ], + "projected_box_corners": [ + [ + -14.106863596476924, + 0.1465880104157708 + ], + [ + -14.164939698321863, + 0.3793479792148388 + ], + [ + -14.079906782689712, + 0.1530609367385236 + ], + [ + -14.137982884534651, + 0.38582090553759163 + ], + [ + -14.251899112008141, + 0.11030865769803028 + ], + [ + -14.30997521385308, + 0.3430686264970983 + ], + [ + -14.22494229822093, + 0.11678158402078309 + ], + [ + -14.283018400065869, + 0.3495415528198511 + ] + ], + "yaw_rad": -2.896481134372452, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.239729881286621, + 0.25212082266807556, + 0.08320179581642151 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.265149522762416, + 0.230953400159646, + 0.05758964662557772 + ], + "intended_face_normal": [ + -0.9302635601263773, + -0.22940978876238471, + 0.28632302155192857 + ], + "commanded_contact_point": [ + -14.261998291015624, + 0.2624033972069144, + 0.03548112463637414 + ], + "centerline_face_intersection": [ + -14.276322626126221, + 0.2486673490132902, + 0.03548112463637414 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.237499237060547, + 0.2527335286140442, + 0.08212925493717194 + ], + "box_pose": [ + -14.201000213623047, + 0.26448172330856323, + 0.03821702301502228, + 0.017233090475201607, + 0.706712007522583, + 0.6824147701263428, + -0.1859334409236908 + ], + "box_yaw_rad": -2.89980965608819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01373604819362418, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003103882540358281 + } + } + }, + { + "simulation_time_ns": 7200000000, + "center": [ + -14.195620626717748, + 0.24751993266646174, + 0.038960029791411215 + ], + "face_center": [ + -14.268259380002224, + 0.22910439157775894, + 0.057579575022816146 + ], + "face_normal": [ + -0.9407298838127929, + -0.23849596868601075, + 0.24113798530639396 + ], + "footprint_xy": [ + [ + -14.31061359691396, + 0.10972723211040242 + ], + [ + -14.080627656521536, + 0.10972723211040242 + ], + [ + -14.080627656521536, + 0.3853126332225211 + ], + [ + -14.31061359691396, + 0.3853126332225211 + ] + ], + "projected_box_corners": [ + [ + -14.10658748110038, + 0.14655831428780802 + ], + [ + -14.16533609034501, + 0.3791485999839799 + ], + [ + -14.080627656521536, + 0.15272234752634922 + ], + [ + -14.139376265766163, + 0.3853126332225211 + ], + [ + -14.251864987669332, + 0.10972723211040242 + ], + [ + -14.31061359691396, + 0.34231751780657427 + ], + [ + -14.225905163090486, + 0.11589126534894362 + ], + [ + -14.284653772335115, + 0.34848155104511547 + ] + ], + "yaw_rad": -2.893301676996239, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.240424156188965, + 0.2516373097896576, + 0.08389744162559509 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.267458756037005, + 0.2299251052589407, + 0.057406672121015884 + ], + "intended_face_normal": [ + -0.939162895184019, + -0.23492330005516177, + 0.25056696781590326 + ], + "commanded_contact_point": [ + -14.259887809753417, + 0.26163858816942454, + 0.03805906504527374 + ], + "centerline_face_intersection": [ + -14.277158166674658, + 0.24806478161781095, + 0.03805906504527374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.239729881286621, + 0.25212082266807556, + 0.08320179581642151 + ], + "box_pose": [ + -14.202762603759766, + 0.2638285756111145, + 0.04068716987967491, + 0.0030894943047314882, + 0.7062889337539673, + 0.6861030459403992, + -0.1743815690279007 + ], + "box_yaw_rad": -2.896481134372452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013573806551613596, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034183096369098318 + } + } + }, + { + "simulation_time_ns": 7220000000, + "center": [ + -14.194879945937457, + 0.24743851166670627, + 0.03769455225129994 + ], + "face_center": [ + -14.267135583452973, + 0.22907366566904064, + 0.057795850299742726 + ], + "face_normal": [ + -0.9357682285458182, + -0.2378394267583911, + 0.2603278680120105 + ], + "footprint_xy": [ + [ + -14.310548651467464, + 0.10952612136042117 + ], + [ + -14.079211240407451, + 0.10952612136042117 + ], + [ + -14.079211240407451, + 0.3853509019729913 + ], + [ + -14.310548651467464, + 0.3853509019729913 + ] + ], + "projected_box_corners": [ + [ + -14.107273612917249, + 0.14625581335575244 + ], + [ + -14.166037376436432, + 0.3788403924576755 + ], + [ + -14.079211240407451, + 0.15276632287106828 + ], + [ + -14.137975003926636, + 0.3853509019729913 + ], + [ + -14.25178488794828, + 0.10952612136042117 + ], + [ + -14.310548651467464, + 0.3421107004623442 + ], + [ + -14.223722515438483, + 0.11603663087573704 + ], + [ + -14.282486278957666, + 0.3486212099776601 + ] + ], + "yaw_rad": -2.8926979537702007, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.239139556884766, + 0.25164929032325745, + 0.08355212211608887 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.268259380002224, + 0.22910439157775894, + 0.057579575022816146 + ], + "intended_face_normal": [ + -0.9407298838127929, + -0.23849596868601075, + 0.24113798530639396 + ], + "commanded_contact_point": [ + -14.257784004211425, + 0.2609290441331475, + 0.038960029791411215 + ], + "centerline_face_intersection": [ + -14.277700844684762, + 0.24751993266646174, + 0.038960029791411215 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.240424156188965, + 0.2516373097896576, + 0.08389744162559509 + ], + "box_pose": [ + -14.203511238098145, + 0.2632518410682678, + 0.041572898626327515, + -0.001365638803690672, + 0.7058497667312622, + 0.6871252059936523, + -0.1721433699131012 + ], + "box_yaw_rad": -2.893301676996239, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013409111466685763, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023960776222226037 + } + } + }, + { + "simulation_time_ns": 7240000000, + "center": [ + -14.193205530160421, + 0.24780795569040137, + 0.03502532594987403 + ], + "face_center": [ + -14.264476435159018, + 0.22972528001717557, + 0.05859817646180733 + ], + "face_normal": [ + -0.9230151557803836, + -0.23418509564003998, + 0.30528724572654276 + ], + "footprint_xy": [ + [ + -14.310240523060308, + 0.10951901206414347 + ], + [ + -14.076170537260534, + 0.10951901206414347 + ], + [ + -14.076170537260534, + 0.3860968993166593 + ], + [ + -14.310240523060308, + 0.3860968993166593 + ] + ], + "projected_box_corners": [ + [ + -14.109036974822997, + 0.1456843634105951 + ], + [ + -14.167698713063114, + 0.37829560420548125 + ], + [ + -14.076170537260534, + 0.15348565852177318 + ], + [ + -14.134832275500651, + 0.3860968993166593 + ], + [ + -14.251578784820191, + 0.10951901206414347 + ], + [ + -14.310240523060308, + 0.3421302528590296 + ], + [ + -14.218712347257728, + 0.11732030717532155 + ], + [ + -14.277374085497845, + 0.34993154797020765 + ] + ], + "yaw_rad": -2.8931182411252054, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.236381530761719, + 0.2521600127220154, + 0.08271151781082153 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.267135583452973, + 0.22907366566904064, + 0.057795850299742726 + ], + "intended_face_normal": [ + -0.9357682285458182, + -0.2378394267583911, + 0.2603278680120105 + ], + "commanded_contact_point": [ + -14.255539054870605, + 0.26067919198712997, + 0.03769455225129994 + ], + "centerline_face_intersection": [ + -14.277395371826012, + 0.24743851166670627, + 0.03769455225129994 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.239139556884766, + 0.25164929032325745, + 0.08355212211608887 + ], + "box_pose": [ + -14.202720642089844, + 0.2631777226924896, + 0.04041162133216858, + 0.005602797027677298, + 0.7052222490310669, + 0.6859633326530457, + -0.1791217178106308 + ], + "box_yaw_rad": -2.8926979537702007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013240680320423715, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025891421440788465 + } + } + }, + { + "simulation_time_ns": 7260000000, + "center": [ + -14.192150448337989, + 0.24826065875746123, + 0.033319081821900284 + ], + "face_center": [ + -14.262688245041842, + 0.230514573642318, + 0.05923627452776889 + ], + "face_normal": [ + -0.9135208177066545, + -0.2298259790214292, + 0.33564834995807047 + ], + "footprint_xy": [ + [ + -14.309982439835908, + 0.10962187982558491 + ], + [ + -14.074318456840068, + 0.10962187982558491 + ], + [ + -14.074318456840068, + 0.3868994376893375 + ], + [ + -14.309982439835908, + 0.3868994376893375 + ] + ], + "projected_box_corners": [ + [ + -14.110307135508178, + 0.14511405005587136 + ], + [ + -14.168906846428202, + 0.3777433332523521 + ], + [ + -14.074318456840068, + 0.15427015449285675 + ], + [ + -14.132918167760092, + 0.3868994376893375 + ], + [ + -14.251382728915884, + 0.10962187982558491 + ], + [ + -14.309982439835908, + 0.3422511630220657 + ], + [ + -14.215394050247774, + 0.1187779842625703 + ], + [ + -14.273993761167798, + 0.35140726745905104 + ] + ], + "yaw_rad": -2.8951250025043627, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.232856750488281, + 0.2543583810329437, + 0.08120952546596527 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.264476435159018, + 0.22972528001717557, + 0.05859817646180733 + ], + "intended_face_normal": [ + -0.9230151557803836, + -0.23418509564003998, + 0.30528724572654276 + ], + "commanded_contact_point": [ + -14.253032798767089, + 0.26087455372956053, + 0.03502532594987403 + ], + "centerline_face_intersection": [ + -14.27686105133781, + 0.24780795569040137, + 0.03502532594987403 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.236381530761719, + 0.2521600127220154, + 0.08271151781082153 + ], + "box_pose": [ + -14.200916290283203, + 0.2635830044746399, + 0.037901729345321655, + 0.022292999550700188, + 0.705167293548584, + 0.6813564896583557, + -0.19492416083812714 + ], + "box_yaw_rad": -2.8931182411252054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013066598039159154, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003666640821656611 + } + } + }, + { + "simulation_time_ns": 7280000000, + "center": [ + -14.192206376589926, + 0.2482518873351845, + 0.032655290828929984 + ], + "face_center": [ + -14.26278918712669, + 0.23049736440016533, + 0.05844382790598035 + ], + "face_normal": [ + -0.9141037828029894, + -0.22993525552952754, + 0.3339821567860035 + ], + "footprint_xy": [ + [ + -14.309992710741863, + 0.10962116662720162 + ], + [ + -14.074420042437987, + 0.10962116662720162 + ], + [ + -14.074420042437987, + 0.3868826080431674 + ], + [ + -14.309992710741863, + 0.3868826080431674 + ] + ], + "projected_box_corners": [ + [ + -14.11022689709381, + 0.14513021249723995 + ], + [ + -14.168827089668332, + 0.37775934444893267 + ], + [ + -14.074420042437987, + 0.15425347609147472 + ], + [ + -14.13302023501251, + 0.3868826080431674 + ], + [ + -14.251392518167343, + 0.10962116662720162 + ], + [ + -14.309992710741863, + 0.3422502985788943 + ], + [ + -14.215585663511519, + 0.11874443022143635 + ], + [ + -14.27418585608604, + 0.35137356217312904 + ] + ], + "yaw_rad": -2.895163468816517, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.228858947753906, + 0.2591623365879059, + 0.07781481742858887 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.262688245041842, + 0.230514573642318, + 0.05923627452776889 + ], + "intended_face_normal": [ + -0.9135208177066545, + -0.2298259790214292, + 0.33564834995807047 + ], + "commanded_contact_point": [ + -14.250370140075683, + 0.26108334790560106, + 0.033319081821900284 + ], + "centerline_face_intersection": [ + -14.276675411989373, + 0.24826065875746123, + 0.033319081821900284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.232856750488281, + 0.2543583810329437, + 0.08120952546596527 + ], + "box_pose": [ + -14.199771881103516, + 0.2640748620033264, + 0.036218468099832535, + 0.033774860203266144, + 0.7065976858139038, + 0.676372766494751, + -0.2051800936460495 + ], + "box_yaw_rad": -2.8951250025043627, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012822689148139855, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003169324113926276 + } + } + }, + { + "simulation_time_ns": 7300000000, + "center": [ + -14.190073886923694, + 0.2500020967838972, + 0.03164928330021642 + ], + "face_center": [ + -14.260119379572748, + 0.23235428302927175, + 0.05893281975953894 + ], + "face_normal": [ + -0.9071450869110436, + -0.228553286396874, + 0.3533435930936619 + ], + "footprint_xy": [ + [ + -14.308390182282201, + 0.11124689393881979 + ], + [ + -14.071757591565186, + 0.11124689393881979 + ], + [ + -14.071757591565186, + 0.38875729962897454 + ], + [ + -14.308390182282201, + 0.38875729962897454 + ] + ], + "projected_box_corners": [ + [ + -14.109654130493457, + 0.14654252144807062 + ], + [ + -14.16829919698409, + 0.3791604704297307 + ], + [ + -14.071757591565186, + 0.15613935064731443 + ], + [ + -14.13040265805582, + 0.38875729962897454 + ], + [ + -14.249745115791566, + 0.11124689393881979 + ], + [ + -14.308390182282201, + 0.34386484292047986 + ], + [ + -14.211848576863295, + 0.12084372313806363 + ], + [ + -14.27049364335393, + 0.3534616721197237 + ] + ], + "yaw_rad": -2.8947815284754177, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.223384857177734, + 0.2647399604320526, + 0.07584869861602783 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.26278918712669, + 0.23049736440016533, + 0.05844382790598035 + ], + "intended_face_normal": [ + -0.9141037828029894, + -0.22993525552952754, + 0.3339821567860035 + ], + "commanded_contact_point": [ + -14.247619743347167, + 0.2606381585132155, + 0.032655290828929984 + ], + "centerline_face_intersection": [ + -14.276677434870274, + 0.2482518873351845, + 0.032655290828929984 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.228858947753906, + 0.2591623365879059, + 0.07781481742858887 + ], + "box_pose": [ + -14.199832916259766, + 0.264065146446228, + 0.03554638475179672, + 0.03315137326717377, + 0.7066693902015686, + 0.6765133142471313, + -0.20457053184509277 + ], + "box_yaw_rad": -2.895163468816517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012386271178030999, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002864174268732717 + } + } + }, + { + "simulation_time_ns": 7320000000, + "center": [ + -14.188703862373714, + 0.2506383661758167, + 0.03089727202792295 + ], + "face_center": [ + -14.258089799876707, + 0.23309494876461412, + 0.05988043853938026 + ], + "face_normal": [ + -0.898603320872013, + -0.22720127035064586, + 0.37535516004894465 + ], + "footprint_xy": [ + [ + -14.30758841533385, + 0.11176478521484667 + ], + [ + -14.069819309413578, + 0.11176478521484667 + ], + [ + -14.069819309413578, + 0.3895119471367867 + ], + [ + -14.30758841533385, + 0.3895119471367867 + ] + ], + "projected_box_corners": [ + [ + -14.110111187499381, + 0.14685162003725188 + ], + [ + -14.168816540327864, + 0.37945420154151405 + ], + [ + -14.069819309413578, + 0.1569093656325246 + ], + [ + -14.12852466224206, + 0.3895119471367867 + ], + [ + -14.248883062505367, + 0.11176478521484667 + ], + [ + -14.30758841533385, + 0.34436736671910884 + ], + [ + -14.208591184419564, + 0.12182253081011937 + ], + [ + -14.267296537248049, + 0.3544251123143815 + ] + ], + "yaw_rad": -2.8939445071454006, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.218629837036133, + 0.2673925459384918, + 0.07466764748096466 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.260119379572748, + 0.23235428302927175, + 0.05893281975953894 + ], + "intended_face_normal": [ + -0.9071450869110436, + -0.228553286396874, + 0.3533435930936619 + ], + "commanded_contact_point": [ + -14.244757766723632, + 0.26179885341600195, + 0.03164928330021642 + ], + "centerline_face_intersection": [ + -14.27519292138197, + 0.2500020967838972, + 0.03164928330021642 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.223384857177734, + 0.2647399604320526, + 0.07584869861602783 + ], + "box_pose": [ + -14.197644233703613, + 0.2658271789550781, + 0.034622225910425186, + 0.040354982018470764, + 0.7060962915420532, + 0.6745373010635376, + -0.21165789663791656 + ], + "box_yaw_rad": -2.8947815284754177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011796756632104782, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032481031385786637 + } + } + }, + { + "simulation_time_ns": 7340000000, + "center": [ + -14.188150185814104, + 0.249461194379645, + 0.03078837235689662 + ], + "face_center": [ + -14.2574860785047, + 0.23172963999898294, + 0.05977677573886578 + ], + "face_normal": [ + -0.8979552005722695, + -0.2296377944017589, + 0.3754229817056416 + ], + "footprint_xy": [ + [ + -14.307198841219048, + 0.11055486795419883 + ], + [ + -14.069101530409158, + 0.11055486795419883 + ], + [ + -14.069101530409158, + 0.3883675208050912 + ], + [ + -14.307198841219048, + 0.3883675208050912 + ] + ], + "projected_box_corners": [ + [ + -14.109456710409576, + 0.14601797671552297 + ], + [ + -14.168527055837854, + 0.3785263769997391 + ], + [ + -14.069101530409158, + 0.15585912052087503 + ], + [ + -14.128171875837438, + 0.3883675208050912 + ], + [ + -14.248128495790768, + 0.11055486795419883 + ], + [ + -14.307198841219048, + 0.343063268238415 + ], + [ + -14.207773315790352, + 0.12039601175955086 + ], + [ + -14.26684366121863, + 0.35290441204376705 + ] + ], + "yaw_rad": -2.8912244835252965, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.21782112121582, + 0.26596134901046753, + 0.07446174323558807 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.258089799876707, + 0.23309494876461412, + 0.05988043853938026 + ], + "intended_face_normal": [ + -0.898603320872013, + -0.22720127035064586, + 0.37535516004894465 + ], + "commanded_contact_point": [ + -14.241672630310058, + 0.2617649556174145, + 0.03089727202792295 + ], + "centerline_face_intersection": [ + -14.274632004544953, + 0.2506383661758167, + 0.03089727202792295 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.218629837036133, + 0.2673925459384918, + 0.07466764748096466 + ], + "box_pose": [ + -14.196208000183105, + 0.2664746642112732, + 0.03397643566131592, + 0.04857027158141136, + 0.7050635814666748, + 0.6724485158920288, + -0.21986183524131775 + ], + "box_yaw_rad": -2.8939445071454006, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011126589441597777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003175647446548045 + } + } + }, + { + "simulation_time_ns": 7360000000, + "center": [ + -14.187647209611242, + 0.2438363177649818, + 0.031173153930059122 + ], + "face_center": [ + -14.25726752919225, + 0.22602123537033963, + 0.059419189432179755 + ], + "face_normal": [ + -0.9016387560226704, + -0.23071954891066238, + 0.36580872460762626 + ], + "footprint_xy": [ + [ + -14.306440275885482, + 0.10504897945081021 + ], + [ + -14.068854143337001, + 0.10504897945081021 + ], + [ + -14.068854143337001, + 0.3826236560791534 + ], + [ + -14.306440275885482, + 0.3826236560791534 + ] + ], + "projected_box_corners": [ + [ + -14.108220235188355, + 0.14067914424009453 + ], + [ + -14.167199636723463, + 0.37320896869608516 + ], + [ + -14.068854143337001, + 0.15009383162316275 + ], + [ + -14.12783354487211, + 0.3826236560791534 + ], + [ + -14.247460874350374, + 0.10504897945081021 + ], + [ + -14.306440275885482, + 0.33757880390680084 + ], + [ + -14.20809478249902, + 0.1144636668338784 + ], + [ + -14.267074184034128, + 0.346993491289869 + ] + ], + "yaw_rad": -2.8910790144484153, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.217977523803711, + 0.26043447852134705, + 0.07463043928146362 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.2574860785047, + 0.23172963999898294, + 0.05977677573886578 + ], + "intended_face_normal": [ + -0.8979552005722695, + -0.2296377944017589, + 0.3754229817056416 + ], + "commanded_contact_point": [ + -14.238632316589355, + 0.2599277776360099, + 0.03078837235689662 + ], + "centerline_face_intersection": [ + -14.274140348644307, + 0.249461194379645, + 0.03078837235689662 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.21782112121582, + 0.26596134901046753, + 0.07446174323558807 + ], + "box_pose": [ + -14.195676803588867, + 0.2652772068977356, + 0.03391653299331665, + 0.04797489941120148, + 0.7040981650352478, + 0.6732186675071716, + -0.2207275927066803 + ], + "box_yaw_rad": -2.8912244835252965, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010466583256364875, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035539540787696135 + } + } + }, + { + "simulation_time_ns": 7380000000, + "center": [ + -14.186847258605358, + 0.2373025141094501, + 0.031512157805192266 + ], + "face_center": [ + -14.25673038731636, + 0.2198158900487724, + 0.05931090031340232 + ], + "face_normal": [ + -0.9050423442058815, + -0.2264657510909558, + 0.36001592300840457 + ], + "footprint_xy": [ + [ + -14.304978140692832, + 0.09890805416327814 + ], + [ + -14.068716376517884, + 0.09890805416327814 + ], + [ + -14.068716376517884, + 0.3756969740556221 + ], + [ + -14.304978140692832, + 0.3756969740556221 + ] + ], + "projected_box_corners": [ + [ + -14.107532188661727, + 0.1338813022846336 + ], + [ + -14.16521188327083, + 0.36673580761616176 + ], + [ + -14.068716376517884, + 0.1428424687240939 + ], + [ + -14.126396071126988, + 0.3756969740556221 + ], + [ + -14.247298446083729, + 0.09890805416327814 + ], + [ + -14.304978140692832, + 0.3317625594948063 + ], + [ + -14.208482633939886, + 0.10786922060273843 + ], + [ + -14.26616232854899, + 0.3407237259342666 + ] + ], + "yaw_rad": -2.896400645521649, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.217605590820312, + 0.2544403672218323, + 0.07495371997356415 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.25726752919225, + 0.22602123537033963, + 0.059419189432179755 + ], + "intended_face_normal": [ + -0.9016387560226704, + -0.23071954891066238, + 0.36580872460762626 + ], + "commanded_contact_point": [ + -14.235598678588866, + 0.2536389745910921, + 0.031173153930059122 + ], + "centerline_face_intersection": [ + -14.27328606818477, + 0.2438363177649818, + 0.031173153930059122 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.217977523803711, + 0.26043447852134705, + 0.07463043928146362 + ], + "box_pose": [ + -14.195197105407715, + 0.25964319705963135, + 0.034291379153728485, + 0.0444350428879261, + 0.7038050889968872, + 0.67489093542099, + -0.21726974844932556 + ], + "box_yaw_rad": -2.8910790144484153, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009802656826110265, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006992857793121447 + } + } + }, + { + "simulation_time_ns": 7400000000, + "center": [ + -14.186043203615714, + 0.23023652685404808, + 0.0317890671513876 + ], + "face_center": [ + -14.256174625640755, + 0.21309992693646818, + 0.0591774325549135 + ], + "face_normal": [ + -0.9082579409762843, + -0.2219326588147359, + 0.35470121166558943 + ], + "footprint_xy": [ + [ + -14.303499738820724, + 0.09224430945375503 + ], + [ + -14.068586668410704, + 0.09224430945375503 + ], + [ + -14.068586668410704, + 0.36822874425434116 + ], + [ + -14.303499738820724, + 0.36822874425434116 + ] + ], + "projected_box_corners": [ + [ + -14.106898922455542, + 0.1265175092889148 + ], + [ + -14.163236894770645, + 0.35969915960156307 + ], + [ + -14.068586668410704, + 0.13504709394169284 + ], + [ + -14.124924640725807, + 0.36822874425434116 + ], + [ + -14.247161766505622, + 0.09224430945375503 + ], + [ + -14.303499738820724, + 0.3254259597664033 + ], + [ + -14.208849512460784, + 0.10077389410653306 + ], + [ + -14.265187484775886, + 0.33395554441918135 + ] + ], + "yaw_rad": -2.9019388416043075, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.217140197753906, + 0.24800817668437958, + 0.07515087723731995 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.25673038731636, + 0.2198158900487724, + 0.05931090031340232 + ], + "intended_face_normal": [ + -0.9050423442058815, + -0.2264657510909558, + 0.36001592300840457 + ], + "commanded_contact_point": [ + -14.232486839294433, + 0.2464196568110651, + 0.031512157805192266 + ], + "centerline_face_intersection": [ + -14.272164055554995, + 0.2373025141094501, + 0.031512157805192266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.217605590820312, + 0.2544403672218323, + 0.07495371997356415 + ], + "box_pose": [ + -14.194326400756836, + 0.2531445622444153, + 0.034622400999069214, + 0.04419577121734619, + 0.7035428881645203, + 0.6764233708381653, + -0.21336710453033447 + ], + "box_yaw_rad": -2.896400645521649, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009117142701614978, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007868736660401724 + } + } + }, + { + "simulation_time_ns": 7420000000, + "center": [ + -14.184498393346084, + 0.22272836329802276, + 0.032094984242279224 + ], + "face_center": [ + -14.254788661450252, + 0.20596709620474507, + 0.059307911955996384 + ], + "face_normal": [ + -0.9103151245980499, + -0.2170717988986226, + 0.352429153431002 + ], + "footprint_xy": [ + [ + -14.301362981481496, + 0.08509964443330525 + ], + [ + -14.067633805210674, + 0.08509964443330525 + ], + [ + -14.067633805210674, + 0.3603570821627402 + ], + [ + -14.301362981481496, + 0.3603570821627402 + ] + ], + "projected_box_corners": [ + [ + -14.105752323706039, + 0.11862217861986063 + ], + [ + -14.16078244527316, + 0.3521157181463105 + ], + [ + -14.067633805210674, + 0.12686354263629035 + ], + [ + -14.122663926777795, + 0.3603570821627402 + ], + [ + -14.246332859914375, + 0.08509964443330525 + ], + [ + -14.301362981481496, + 0.3185931839597551 + ], + [ + -14.20821434141901, + 0.093341008449735 + ], + [ + -14.263244462986131, + 0.3268345479761849 + ] + ], + "yaw_rad": -2.9075063303768425, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.21583080291748, + 0.24125251173973083, + 0.07562798261642456 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.256174625640755, + 0.21309992693646818, + 0.0591774325549135 + ], + "intended_face_normal": [ + -0.9082579409762843, + -0.2219326588147359, + 0.35470121166558943 + ], + "commanded_contact_point": [ + -14.229397888183593, + 0.2386428035624498, + 0.0317890671513876 + ], + "centerline_face_intersection": [ + -14.271057944943976, + 0.23023652685404808, + 0.0317890671513876 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.217140197753906, + 0.24800817668437958, + 0.07515087723731995 + ], + "box_pose": [ + -14.19344711303711, + 0.24611543118953705, + 0.03489134833216667, + 0.04420451447367668, + 0.703299880027771, + 0.6778630018234253, + -0.20956352353096008 + ], + "box_yaw_rad": -2.9019388416043075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008406276708401718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008372439560944427 + } + } + }, + { + "simulation_time_ns": 7440000000, + "center": [ + -14.182994354049944, + 0.21585673408901432, + 0.032381511545725515 + ], + "face_center": [ + -14.253443163536708, + 0.19955828718005597, + 0.059465253767318704 + ], + "face_normal": [ + -0.9123683621563146, + -0.21107790777943158, + 0.3507560981058351 + ], + "footprint_xy": [ + [ + -14.299169387533647, + 0.0786575842804988 + ], + [ + -14.06681932056624, + 0.0786575842804988 + ], + [ + -14.06681932056624, + 0.35305588389752984 + ], + [ + -14.299169387533647, + 0.35305588389752984 + ] + ], + "projected_box_corners": [ + [ + -14.104812008057564, + 0.11125447809841553 + ], + [ + -14.158271768560118, + 0.34511253584052476 + ], + [ + -14.06681932056624, + 0.11919782615542061 + ], + [ + -14.120279081068796, + 0.35305588389752984 + ], + [ + -14.245709627031092, + 0.0786575842804988 + ], + [ + -14.299169387533647, + 0.31251564202260806 + ], + [ + -14.20771693953977, + 0.08660093233750388 + ], + [ + -14.261176700042325, + 0.3204589900796131 + ] + ], + "yaw_rad": -2.914240924028149, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.214518547058105, + 0.2351757138967514, + 0.07609100639820099 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.254788661450252, + 0.20596709620474507, + 0.059307911955996384 + ], + "intended_face_normal": [ + -0.9103151245980499, + -0.2170717988986226, + 0.352429153431002 + ], + "commanded_contact_point": [ + -14.226644630432128, + 0.23039367406875616, + 0.032094984242279224 + ], + "centerline_face_intersection": [ + -14.269321013365204, + 0.22272836329802276, + 0.032094984242279224 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.21583080291748, + 0.24125251173973083, + 0.07562798261642456 + ], + "box_pose": [ + -14.19182014465332, + 0.2386464625597, + 0.03519139811396599, + 0.04531791806221008, + 0.703175961971283, + 0.678749680519104, + -0.2068544179201126 + ], + "box_yaw_rad": -2.9075063303768425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007665310770733395, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008701847557629762 + } + } + }, + { + "simulation_time_ns": 7460000000, + "center": [ + -14.182521563798035, + 0.2132372832695991, + 0.03255187124958488 + ], + "face_center": [ + -14.25306124289711, + 0.19712288039619122, + 0.059508962981105556 + ], + "face_normal": [ + -0.9135451962285543, + -0.20869439049215366, + 0.3491158730823667 + ], + "footprint_xy": [ + [ + -14.29838609814825, + 0.07622541086445464 + ], + [ + -14.066657029447821, + 0.07622541086445464 + ], + [ + -14.066657029447821, + 0.3502491556747435 + ], + [ + -14.29838609814825, + 0.3502491556747435 + ] + ], + "projected_box_corners": [ + [ + -14.104496523741982, + 0.10845421661127037 + ], + [ + -14.157306739950101, + 0.34245969556447164 + ], + [ + -14.066657029447821, + 0.11624367672154225 + ], + [ + -14.119467245655938, + 0.3502491556747435 + ], + [ + -14.24557588194013, + 0.07622541086445464 + ], + [ + -14.29838609814825, + 0.3102308898176559 + ], + [ + -14.20773638764597, + 0.08401487097472651 + ], + [ + -14.260546603854086, + 0.3180203499279278 + ] + ], + "yaw_rad": -2.917002099441211, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.21413516998291, + 0.23300275206565857, + 0.07630044221878052 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.253443163536708, + 0.19955828718005597, + 0.059465253767318704 + ], + "intended_face_normal": [ + -0.9123683621563146, + -0.21107790777943158, + 0.3507560981058351 + ], + "commanded_contact_point": [ + -14.224039192199706, + 0.22274928566743823, + 0.032381511545725515 + ], + "centerline_face_intersection": [ + -14.267626085173266, + 0.21585673408901432, + 0.032381511545725515 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.214518547058105, + 0.2351757138967514, + 0.07609100639820099 + ], + "box_pose": [ + -14.190214157104492, + 0.23182253539562225, + 0.035471703857183456, + 0.047052182257175446, + 0.7030621767044067, + 0.6796232461929321, + -0.20396530628204346 + ], + "box_yaw_rad": -2.914240924028149, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006892551578423911, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008081279620752512 + } + } + }, + { + "simulation_time_ns": 7480000000, + "center": [ + -14.182579975897418, + 0.21324846622878052, + 0.03255265417041531 + ], + "face_center": [ + -14.253170467291186, + 0.19714900155610032, + 0.05938537431182717 + ], + "face_normal": [ + -0.9142032560371547, + -0.20850092885907934, + 0.3475051616339684 + ], + "footprint_xy": [ + [ + -14.298397350315634, + 0.07622467088475554 + ], + [ + -14.066762601479205, + 0.07622467088475554 + ], + [ + -14.066762601479205, + 0.3502722615728055 + ], + [ + -14.298397350315634, + 0.3502722615728055 + ] + ], + "projected_box_corners": [ + [ + -14.104407439314363, + 0.10842360023011598 + ], + [ + -14.157216367528099, + 0.34243084562278625 + ], + [ + -14.066762601479205, + 0.11626501618013524 + ], + [ + -14.119571529692939, + 0.3502722615728055 + ], + [ + -14.245588422101898, + 0.07622467088475554 + ], + [ + -14.298397350315634, + 0.3102319162774258 + ], + [ + -14.20794358426674, + 0.08406608683477482 + ], + [ + -14.260752512480474, + 0.31807333222744505 + ] + ], + "yaw_rad": -2.9173595329687716, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.214225769042969, + 0.233178049325943, + 0.0762450098991394 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.25306124289711, + 0.19712288039619122, + 0.059508962981105556 + ], + "intended_face_normal": [ + -0.9135451962285543, + -0.20869439049215366, + 0.3491158730823667 + ], + "commanded_contact_point": [ + -14.221234436035155, + 0.21933921609618062, + 0.03255187124958488 + ], + "centerline_face_intersection": [ + -14.26704427184818, + 0.2132372832695991, + 0.03255187124958488 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.21413516998291, + 0.23300275206565857, + 0.07630044221878052 + ], + "box_pose": [ + -14.189702033996582, + 0.22922173142433167, + 0.03563731536269188, + 0.04741087555885315, + 0.7030101418495178, + 0.6801097989082336, + -0.2024342566728592 + ], + "box_yaw_rad": -2.917002099441211, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006101932826581532, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004418625810373824 + } + } + }, + { + "simulation_time_ns": 7500000000, + "center": [ + -14.182563275258811, + 0.2132331900834233, + 0.032283606687018594 + ], + "face_center": [ + -14.253140472202695, + 0.19712223287895198, + 0.05914438306393466 + ], + "face_normal": [ + -0.9140310822906272, + -0.20864976632679078, + 0.3478685122969778 + ], + "footprint_xy": [ + [ + -14.298393121614966, + 0.07621969676822532 + ], + [ + -14.066733428902658, + 0.07621969676822532 + ], + [ + -14.066733428902658, + 0.3502466833986213 + ], + [ + -14.298393121614966, + 0.3502466833986213 + ] + ], + "projected_box_corners": [ + [ + -14.104429236045602, + 0.10844161117716797 + ], + [ + -14.1572387277272, + 0.34244792249912226 + ], + [ + -14.066733428902658, + 0.11624037207666704 + ], + [ + -14.119542920584257, + 0.3502466833986213 + ], + [ + -14.245583629933368, + 0.07621969676822532 + ], + [ + -14.298393121614966, + 0.3102260080901796 + ], + [ + -14.207887822790424, + 0.08401845766772437 + ], + [ + -14.260697314472022, + 0.3180247689896787 + ] + ], + "yaw_rad": -2.917163919989623, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.214214324951172, + 0.2331807017326355, + 0.07589210569858551 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.253170467291186, + 0.19714900155610032, + 0.05938537431182717 + ], + "intended_face_normal": [ + -0.9142032560371547, + -0.20850092885907934, + 0.3475051616339684 + ], + "commanded_contact_point": [ + -14.218383903503417, + 0.21855321573147554, + 0.03255265417041531 + ], + "centerline_face_intersection": [ + -14.267041842994837, + 0.21324846622878052, + 0.03255265417041531 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.214225769042969, + 0.233178049325943, + 0.0762450098991394 + ], + "box_pose": [ + -14.189765930175781, + 0.22923460602760315, + 0.03561649098992348, + 0.046829886734485626, + 0.7033721208572388, + 0.6799774169921875, + -0.20175567269325256 + ], + "box_yaw_rad": -2.9173595329687716, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005304749502695033, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029569127313432506 + } + } + }, + { + "simulation_time_ns": 7520000000, + "center": [ + -14.182456884315085, + 0.21318447781305586, + 0.031918737006305965 + ], + "face_center": [ + -14.252957929200294, + 0.1970398583983773, + 0.05895865914037619 + ], + "face_normal": [ + -0.91304485229535, + -0.20908571884063853, + 0.35018859296594496 + ], + "footprint_xy": [ + [ + -14.298357677812275, + 0.07619815343770797 + ], + [ + -14.066556090817897, + 0.07619815343770797 + ], + [ + -14.066556090817897, + 0.35017080218840374 + ], + [ + -14.298357677812275, + 0.35017080218840374 + ] + ], + "projected_box_corners": [ + [ + -14.104542107723569, + 0.1084873922670651 + ], + [ + -14.15735558804186, + 0.3424895716357441 + ], + [ + -14.066556090817897, + 0.11616862281972473 + ], + [ + -14.119369571136186, + 0.35017080218840374 + ], + [ + -14.245544197493984, + 0.07619815343770797 + ], + [ + -14.298357677812275, + 0.3102003328063869 + ], + [ + -14.207558180588313, + 0.0838793839903676 + ], + [ + -14.260371660906603, + 0.3178815633590466 + ] + ], + "yaw_rad": -2.916475846094664, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.214078903198242, + 0.2330554723739624, + 0.07544581592082977 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.253140472202695, + 0.19712223287895198, + 0.05914438306393466 + ], + "intended_face_normal": [ + -0.9140310822906272, + -0.20864976632679078, + 0.3478685122969778 + ], + "commanded_contact_point": [ + -14.215705986022948, + 0.21774003912014986, + 0.032283606687018594 + ], + "centerline_face_intersection": [ + -14.26704105222667, + 0.2132331900834233, + 0.032283606687018594 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.214214324951172, + 0.2331807017326355, + 0.07589210569858551 + ], + "box_pose": [ + -14.18974781036377, + 0.2292180210351944, + 0.035357583314180374, + 0.046953413635492325, + 0.7031821012496948, + 0.6801106333732605, + -0.20194020867347717 + ], + "box_yaw_rad": -2.917163919989623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004506849036726546, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028115626938998396 + } + } + }, + { + "simulation_time_ns": 7540000000, + "center": [ + -14.181847696705951, + 0.21206454308790923, + 0.03178730037243523 + ], + "face_center": [ + -14.252250461933299, + 0.19572387000843372, + 0.058965134020650116 + ], + "face_normal": [ + -0.9117720522135784, + -0.21162477042076722, + 0.35197465724722 + ], + "footprint_xy": [ + [ + -14.298040381763624, + 0.07494059408728113 + ], + [ + -14.06565501164828, + 0.07494059408728113 + ], + [ + -14.06565501164828, + 0.34918849208853736 + ], + [ + -14.298040381763624, + 0.34918849208853736 + ] + ], + "projected_box_corners": [ + [ + -14.103842561265168, + 0.10762194024623219 + ], + [ + -14.157234851308928, + 0.34149004559816865 + ], + [ + -14.06565501164828, + 0.11532038673660089 + ], + [ + -14.119047301692039, + 0.34918849208853736 + ], + [ + -14.244648091719863, + 0.07494059408728113 + ], + [ + -14.298040381763624, + 0.3088086994392176 + ], + [ + -14.206460542102976, + 0.08263904057764981 + ], + [ + -14.259852832146734, + 0.3165071459295863 + ] + ], + "yaw_rad": -2.9135281134276245, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.21360969543457, + 0.23186583817005157, + 0.07537497580051422 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.252957929200294, + 0.1970398583983773, + 0.05895865914037619 + ], + "intended_face_normal": [ + -0.91304485229535, + -0.20908571884063853, + 0.35018859296594496 + ], + "commanded_contact_point": [ + -14.213307495117187, + 0.21689648706734613, + 0.031918737006305965 + ], + "centerline_face_intersection": [ + -14.267025910379164, + 0.21318447781305586, + 0.031918737006305965 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.214078903198242, + 0.2330554723739624, + 0.07544581592082977 + ], + "box_pose": [ + -14.1896333694458, + 0.2291654795408249, + 0.03503118082880974, + 0.047776736319065094, + 0.7025089263916016, + 0.6804437041282654, + -0.20296527445316315 + ], + "box_yaw_rad": -2.916475846094664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0037120092542902838, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025685537905043754 + } + } + }, + { + "simulation_time_ns": 7560000000, + "center": [ + -14.179350803605336, + 0.206134563729064, + 0.03183285086291009 + ], + "face_center": [ + -14.249616488184062, + 0.18922579953993474, + 0.05901794435775212 + ], + "face_normal": [ + -0.9099967483045717, + -0.2189820041206172, + 0.35206867806070097 + ], + "footprint_xy": [ + [ + -14.29632174934716, + 0.06851062820534204 + ], + [ + -14.062379857863514, + 0.06851062820534204 + ], + [ + -14.062379857863514, + 0.34375849925278595 + ], + [ + -14.29632174934716, + 0.34375849925278595 + ] + ], + "projected_box_corners": [ + [ + -14.100516242911159, + 0.10232815658360057 + ], + [ + -14.155790380189709, + 0.33575846601782533 + ], + [ + -14.062379857863514, + 0.11032818981856123 + ], + [ + -14.117653995142064, + 0.34375849925278595 + ], + [ + -14.24104761206861, + 0.06851062820534204 + ], + [ + -14.29632174934716, + 0.30194093763956675 + ], + [ + -14.202911227020964, + 0.07651066144030269 + ], + [ + -14.258185364299514, + 0.30994097087452743 + ] + ], + "yaw_rad": -2.9054422155051833, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.211594581604004, + 0.22581133246421814, + 0.0755663514137268 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.252250461933299, + 0.19572387000843372, + 0.058965134020650116 + ], + "intended_face_normal": [ + -0.9117720522135784, + -0.21162477042076722, + 0.35197465724722 + ], + "commanded_contact_point": [ + -14.211012001037597, + 0.21498450053891383, + 0.03178730037243523 + ], + "centerline_face_intersection": [ + -14.26653477800437, + 0.21206454308790923, + 0.03178730037243523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.21360969543457, + 0.23186583817005157, + 0.07537497580051422 + ], + "box_pose": [ + -14.189057350158691, + 0.22802525758743286, + 0.034927062690258026, + 0.04754937067627907, + 0.7020958065986633, + 0.6804024577140808, + -0.20457980036735535 + ], + "box_yaw_rad": -2.9135281134276245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00291995745100459, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029903613733229467 + } + } + }, + { + "simulation_time_ns": 7580000000, + "center": [ + -14.17482839508595, + 0.200514941415676, + 0.03133212062221543 + ], + "face_center": [ + -14.244789130821728, + 0.18269542021153945, + 0.05872122302051819 + ], + "face_normal": [ + -0.9060474171745412, + -0.23077703503963765, + 0.35471075633671134 + ], + "footprint_xy": [ + [ + -14.29304129899923, + 0.06219616073934475 + ], + [ + -14.056615491172668, + 0.06219616073934475 + ], + [ + -14.056615491172668, + 0.33883372209200724 + ], + [ + -14.29304129899923, + 0.33883372209200724 + ] + ], + "projected_box_corners": [ + [ + -14.095003331076729, + 0.09783520314761784 + ], + [ + -14.15311982752767, + 0.3305668120437725 + ], + [ + -14.056615491172668, + 0.10610211319585264 + ], + [ + -14.114731987623609, + 0.33883372209200724 + ], + [ + -14.234924802548289, + 0.06219616073934475 + ], + [ + -14.29304129899923, + 0.2949277696354994 + ], + [ + -14.196536962644227, + 0.07046307078757955 + ], + [ + -14.254653459095168, + 0.30319467968373415 + ] + ], + "yaw_rad": -2.892188372056682, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.20720386505127, + 0.21979519724845886, + 0.07482011616230011 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.249616488184062, + 0.18922579953993474, + 0.05901794435775212 + ], + "intended_face_normal": [ + -0.9099967483045717, + -0.2189820041206172, + 0.35206867806070097 + ], + "commanded_contact_point": [ + -14.208987350463866, + 0.20826745043066242, + 0.03183285086291009 + ], + "centerline_face_intersection": [ + -14.264203100116614, + 0.206134563729064, + 0.03183285086291009 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.211594581604004, + 0.22581133246421814, + 0.0755663514137268 + ], + "box_pose": [ + -14.186688423156738, + 0.22203651070594788, + 0.034974355250597, + 0.04475509375333786, + 0.702250599861145, + 0.6795899271965027, + -0.20736077427864075 + ], + "box_yaw_rad": -2.9054422155051833, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002132886701598424, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007015700032758663 + } + } + }, + { + "simulation_time_ns": 7600000000, + "center": [ + -14.171244738924873, + 0.19574248081188733, + 0.031194600007491833 + ], + "face_center": [ + -14.240971650040317, + 0.17718576440710407, + 0.05869028002236637 + ], + "face_normal": [ + -0.9030192015461722, + -0.24032430180970143, + 0.3560910216127682 + ], + "footprint_xy": [ + [ + -14.290471420688291, + 0.05681419582022648 + ], + [ + -14.052018057161455, + 0.05681419582022648 + ], + [ + -14.052018057161455, + 0.33467076580354815 + ], + [ + -14.290471420688291, + 0.33467076580354815 + ] + ], + "projected_box_corners": [ + [ + -14.090485235377562, + 0.093927628629793 + ], + [ + -14.151017598457404, + 0.3260402922629233 + ], + [ + -14.052018057161455, + 0.10255810217041787 + ], + [ + -14.112550420241297, + 0.33467076580354815 + ], + [ + -14.22993905760845, + 0.05681419582022648 + ], + [ + -14.290471420688291, + 0.2889268594533568 + ], + [ + -14.191471879392344, + 0.06544466936085136 + ], + [ + -14.252004242472184, + 0.2975573329939816 + ] + ], + "yaw_rad": -2.8814874345630033, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.203654289245605, + 0.21488560736179352, + 0.07459330558776855 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.244789130821728, + 0.18269542021153945, + 0.05872122302051819 + ], + "intended_face_normal": [ + -0.9060474171745412, + -0.23077703503963765, + 0.35471075633671134 + ], + "commanded_contact_point": [ + -14.206894035339355, + 0.2018766178839631, + 0.03133212062221543 + ], + "centerline_face_intersection": [ + -14.260050550624156, + 0.200514941415676, + 0.03133212062221543 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.20720386505127, + 0.21979519724845886, + 0.07482011616230011 + ], + "box_pose": [ + -14.18234920501709, + 0.21631984412670135, + 0.034529637545347214, + 0.04140958935022354, + 0.7014977335929871, + 0.6789143085479736, + -0.21274739503860474 + ], + "box_yaw_rad": -2.892188372056682, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013616764682871092, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006743547999711046 + } + } + }, + { + "simulation_time_ns": 7620000000, + "center": [ + -14.16921575571569, + 0.1905410156030228, + 0.03136764790756432 + ], + "face_center": [ + -14.238894188921932, + 0.17169141794234913, + 0.05878679953137657 + ], + "face_normal": [ + -0.9023913738945453, + -0.2441173480469585, + 0.3550999178124252 + ], + "footprint_xy": [ + [ + -14.288822918889329, + 0.05134344027280344 + ], + [ + -14.049608592542052, + 0.05134344027280344 + ], + [ + -14.049608592542052, + 0.3297385909332422 + ], + [ + -14.288822918889329, + 0.3297385909332422 + ] + ], + "projected_box_corners": [ + [ + -14.087910154133947, + 0.08904263559415077 + ], + [ + -14.149466052476846, + 0.3208883982099336 + ], + [ + -14.049608592542052, + 0.09789282831745932 + ], + [ + -14.111164490884953, + 0.3297385909332422 + ], + [ + -14.227267020546428, + 0.05134344027280344 + ], + [ + -14.288822918889329, + 0.2831892028885863 + ], + [ + -14.188965458954534, + 0.060193632996111995 + ], + [ + -14.250521357297435, + 0.29203939561189485 + ] + ], + "yaw_rad": -2.877393701944232, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.201680183410645, + 0.20993250608444214, + 0.07477632164955139 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.240971650040317, + 0.17718576440710407, + 0.05869028002236637 + ], + "intended_face_normal": [ + -0.9030192015461722, + -0.24032430180970143, + 0.3560910216127682 + ], + "commanded_contact_point": [ + -14.204603309631347, + 0.1963384322181782, + 0.031194600007491833 + ], + "centerline_face_intersection": [ + -14.256752681368653, + 0.19574248081188733, + 0.031194600007491833 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.203654289245605, + 0.21488560736179352, + 0.07459330558776855 + ], + "box_pose": [ + -14.178924560546875, + 0.21146708726882935, + 0.03441000357270241, + 0.03826741501688957, + 0.7014111876487732, + 0.6778878569602966, + -0.21685495972633362 + ], + "box_yaw_rad": -2.8814874345630033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005959514062908617, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005994817483252279 + } + } + }, + { + "simulation_time_ns": 7640000000, + "center": [ + -14.167602251530901, + 0.18461998330590443, + 0.03144628894229932 + ], + "face_center": [ + -14.237276354199624, + 0.16558915568742427, + 0.05875108291994633 + ], + "face_normal": [ + -0.9023352899741681, + -0.24646442077937447, + 0.3536188949379162 + ], + "footprint_xy": [ + [ + -14.287418986862024, + 0.0452612828062377 + ], + [ + -14.047785516199777, + 0.0452612828062377 + ], + [ + -14.047785516199777, + 0.32397868380557115 + ], + [ + -14.287418986862024, + 0.32397868380557115 + ] + ], + "projected_box_corners": [ + [ + -14.08588715631305, + 0.08332293804319797 + ], + [ + -14.148070781524575, + 0.3150031057459296 + ], + [ + -14.047785516199777, + 0.09229851610283954 + ], + [ + -14.109969141411304, + 0.32397868380557115 + ], + [ + -14.225235361650498, + 0.0452612828062377 + ], + [ + -14.287418986862024, + 0.2769414505089693 + ], + [ + -14.187133721537226, + 0.054236860865879255 + ], + [ + -14.249317346748752, + 0.2859170285686109 + ] + ], + "yaw_rad": -2.8749559136639617, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.200217247009277, + 0.2043943703174591, + 0.07477359473705292 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.238894188921932, + 0.17169141794234913, + 0.05878679953137657 + ], + "intended_face_normal": [ + -0.9023913738945453, + -0.2441173480469585, + 0.3550999178124252 + ], + "commanded_contact_point": [ + -14.202362174987792, + 0.19036130739005688, + 0.03136764790756432 + ], + "centerline_face_intersection": [ + -14.25478318925419, + 0.1905410156030228, + 0.03136764790756432 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.201680183410645, + 0.20993250608444214, + 0.07477632164955139 + ], + "box_pose": [ + -14.176968574523926, + 0.20623327791690826, + 0.034565821290016174, + 0.03636210039258003, + 0.7017937898635864, + 0.6772600412368774, + -0.21790355443954468 + ], + "box_yaw_rad": -2.877393701944232, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0001797082129659116, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006385816414304818 + } + } + }, + { + "simulation_time_ns": 7660000000, + "center": [ + -14.165049036251304, + 0.17995660378418443, + 0.031330467846875217 + ], + "face_center": [ + -14.23463158736445, + 0.160656274302364, + 0.05867952855220964 + ], + "face_normal": [ + -0.9011496241918451, + -0.2499546852060579, + 0.35419218442474243 + ], + "footprint_xy": [ + [ + -14.285236098299345, + 0.04037703516948282 + ], + [ + -14.044861974203261, + 0.04037703516948282 + ], + [ + -14.044861974203261, + 0.3195361723988861 + ], + [ + -14.285236098299345, + 0.3195361723988861 + ] + ], + "projected_box_corners": [ + [ + -14.08299516763013, + 0.07897769413312367 + ], + [ + -14.14607099607305, + 0.3104159928238242 + ], + [ + -14.044861974203261, + 0.0880978737081855 + ], + [ + -14.10793780264618, + 0.3195361723988861 + ], + [ + -14.222160269856426, + 0.04037703516948282 + ], + [ + -14.285236098299345, + 0.27181533386018336 + ], + [ + -14.184027076429556, + 0.04949721474454466 + ], + [ + -14.247102904872476, + 0.2809355134352452 + ] + ], + "yaw_rad": -2.871021510842276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.19776439666748, + 0.1999809443950653, + 0.07456186413764954 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.237276354199624, + 0.16558915568742427, + 0.05875108291994633 + ], + "intended_face_normal": [ + -0.9023352899741681, + -0.24646442077937447, + 0.3536188949379162 + ], + "commanded_contact_point": [ + -14.200260276794433, + 0.18364929961247634, + 0.03144628894229932 + ], + "centerline_face_intersection": [ + -14.25317500344405, + 0.18461998330590443, + 0.03144628894229932 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.200217247009277, + 0.2043943703174591, + 0.07477359473705292 + ], + "box_pose": [ + -14.175402641296387, + 0.20029205083847046, + 0.03462778404355049, + 0.034866999834775925, + 0.7021015882492065, + 0.6769202351570129, + -0.21821239590644836 + ], + "box_yaw_rad": -2.8749559136639617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009706836934280988, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00703386158762691 + } + } + }, + { + "simulation_time_ns": 7680000000, + "center": [ + -14.16238364100998, + 0.17668844485175222, + 0.03129088330905523 + ], + "face_center": [ + -14.23183527330724, + 0.15710028199184886, + 0.058767766455101955 + ], + "face_normal": [ + -0.8994541209392679, + -0.25368235739311995, + 0.35584758714523 + ], + "footprint_xy": [ + [ + -14.283000775901769, + 0.03685933503010955 + ], + [ + -14.041766506118188, + 0.03685933503010955 + ], + [ + -14.041766506118188, + 0.31651755467339493 + ], + [ + -14.283000775901769, + 0.31651755467339493 + ] + ], + "projected_box_corners": [ + [ + -14.080042086976889, + 0.07603566074991626 + ], + [ + -14.144097511307246, + 0.3072042056229541 + ], + [ + -14.041766506118188, + 0.08534900980035709 + ], + [ + -14.105821930448544, + 0.31651755467339493 + ], + [ + -14.218945351571413, + 0.03685933503010955 + ], + [ + -14.283000775901769, + 0.26802787990314736 + ], + [ + -14.180669770712711, + 0.046172684080550364 + ], + [ + -14.244725195043069, + 0.2773412289535882 + ] + ], + "yaw_rad": -2.866692936216092, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.195185661315918, + 0.19692233204841614, + 0.07454702258110046 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.23463158736445, + 0.160656274302364, + 0.05867952855220964 + ], + "intended_face_normal": [ + -0.9011496241918451, + -0.2499546852060579, + 0.35419218442474243 + ], + "commanded_contact_point": [ + -14.19830238342285, + 0.1781849464663211, + 0.031330467846875217 + ], + "centerline_face_intersection": [ + -14.250734378439272, + 0.17995660378418443, + 0.031330467846875217 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.19776439666748, + 0.1999809443950653, + 0.07456186413764954 + ], + "box_pose": [ + -14.172907829284668, + 0.19559836387634277, + 0.034517381340265274, + 0.03372636064887047, + 0.7020890712738037, + 0.6764951944351196, + -0.2197447270154953 + ], + "box_yaw_rad": -2.871021510842276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017716573178633338, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005805679657587617 + } + } + }, + { + "simulation_time_ns": 7700000000, + "center": [ + -14.159575850678317, + 0.17442214681512117, + 0.03128905855785829 + ], + "face_center": [ + -14.228879786239363, + 0.15460996028158977, + 0.058977385896814186 + ], + "face_normal": [ + -0.8975413302150628, + -0.25658364293195746, + 0.35858595835941287 + ], + "footprint_xy": [ + [ + -14.28057459149303, + 0.03438142427540214 + ], + [ + -14.038577109863603, + 0.03438142427540214 + ], + [ + -14.038577109863603, + 0.3144628693548402 + ], + [ + -14.28057459149303, + 0.3144628693548402 + ] + ], + "projected_box_corners": [ + [ + -14.077116756184626, + 0.07400579734246497 + ], + [ + -14.14196672037094, + 0.3049521453922412 + ], + [ + -14.038577109863603, + 0.08351652130506398 + ], + [ + -14.103427074049916, + 0.3144628693548402 + ], + [ + -14.215724627306717, + 0.03438142427540214 + ], + [ + -14.28057459149303, + 0.26532777232517835 + ], + [ + -14.177184980985693, + 0.043892148238001166 + ], + [ + -14.242034945172007, + 0.27483849628777735 + ] + ], + "yaw_rad": -2.863145430357052, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.19245433807373, + 0.19486892223358154, + 0.07464265823364258 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.23183527330724, + 0.15710028199184886, + 0.058767766455101955 + ], + "intended_face_normal": [ + -0.8994541209392679, + -0.25368235739311995, + 0.35584758714523 + ], + "commanded_contact_point": [ + -14.196453208923339, + 0.17410743204602233, + 0.03129088330905523 + ], + "centerline_face_intersection": [ + -14.248230503138762, + 0.17668844485175222, + 0.03129088330905523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.195185661315918, + 0.19692233204841614, + 0.07454702258110046 + ], + "box_pose": [ + -14.170303344726562, + 0.19229756295681, + 0.0344870388507843, + 0.032858364284038544, + 0.7020658850669861, + 0.6758924126625061, + -0.22179552912712097 + ], + "box_yaw_rad": -2.866692936216092, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025810128057298905, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004477402942892595 + } + } + }, + { + "simulation_time_ns": 7720000000, + "center": [ + -14.157208456741305, + 0.17327120990691194, + 0.03112000675949659 + ], + "face_center": [ + -14.226287870879203, + 0.15326344459126756, + 0.05922569716356753 + ], + "face_normal": [ + -0.8946335984223026, + -0.25911654440195964, + 0.36399114347066863 + ], + "footprint_xy": [ + [ + -14.278615858307953, + 0.033042747408336653 + ], + [ + -14.035801055174655, + 0.033042747408336653 + ], + [ + -14.035801055174655, + 0.31349967240548726 + ], + [ + -14.278615858307953, + 0.31349967240548726 + ] + ], + "projected_box_corners": [ + [ + -14.07491512571664, + 0.07305827803962539 + ], + [ + -14.140457030032158, + 0.3038060871040673 + ], + [ + -14.035801055174655, + 0.08275186334104531 + ], + [ + -14.101342959490175, + 0.31349967240548726 + ], + [ + -14.213073953992435, + 0.033042747408336653 + ], + [ + -14.278615858307953, + 0.2637905564727786 + ], + [ + -14.17395988345045, + 0.04273633270975655 + ], + [ + -14.239501787765969, + 0.2734841417741985 + ] + ], + "yaw_rad": -2.859672627725536, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.189602851867676, + 0.1938304305076599, + 0.07436998188495636 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.228879786239363, + 0.15460996028158977, + 0.058977385896814186 + ], + "intended_face_normal": [ + -0.8975413302150628, + -0.25658364293195746, + 0.35858595835941287 + ], + "commanded_contact_point": [ + -14.194760437011718, + 0.17102326299265286, + 0.03128905855785829 + ], + "centerline_face_intersection": [ + -14.245605664918667, + 0.17442214681512117, + 0.03128905855785829 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.19245433807373, + 0.19486892223358154, + 0.07464265823364258 + ], + "box_pose": [ + -14.167540550231934, + 0.19000564515590668, + 0.03449838235974312, + 0.032677680253982544, + 0.7020115852355957, + 0.6752409934997559, + -0.22396734356880188 + ], + "box_yaw_rad": -2.863145430357052, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033988838224683054, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003518178338892475 + } + } + }, + { + "simulation_time_ns": 7740000000, + "center": [ + -14.1564756966101, + 0.17311496144251304, + 0.03081441216038792 + ], + "face_center": [ + -14.225324955973983, + 0.15307970258040368, + 0.0594600299407676 + ], + "face_normal": [ + -0.8916529102355426, + -0.259472607792397, + 0.37098363432459447 + ], + "footprint_xy": [ + [ + -14.278105577456708, + 0.03283501405831843 + ], + [ + -14.03484581576349, + 0.03283501405831843 + ], + [ + -14.03484581576349, + 0.3133949088267077 + ], + [ + -14.278105577456708, + 0.3133949088267077 + ] + ], + "projected_box_corners": [ + [ + -14.074740765009706, + 0.07290553178253717 + ], + [ + -14.14040705872894, + 0.30361270218347525 + ], + [ + -14.03484581576349, + 0.08268773842576956 + ], + [ + -14.100512109482723, + 0.3133949088267077 + ], + [ + -14.212439283737474, + 0.03283501405831843 + ], + [ + -14.278105577456708, + 0.26354218445925653 + ], + [ + -14.172544334491258, + 0.04261722070155083 + ], + [ + -14.238210628210494, + 0.2733243911024889 + ] + ], + "yaw_rad": -2.858411388810791, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.187466621398926, + 0.1938609480857849, + 0.07382647693157196 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.226287870879203, + 0.15326344459126756, + 0.05922569716356753 + ], + "intended_face_normal": [ + -0.8946335984223026, + -0.25911654440195964, + 0.36399114347066863 + ], + "commanded_contact_point": [ + -14.193307991027831, + 0.16904995726041372, + 0.03112000675949659 + ], + "centerline_face_intersection": [ + -14.243517884475304, + 0.17327120990691194, + 0.03112000675949659 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.189602851867676, + 0.1938304305076599, + 0.07436998188495636 + ], + "box_pose": [ + -14.165202140808105, + 0.18883216381072998, + 0.034366458654403687, + 0.03364386782050133, + 0.7016102075576782, + 0.6745812892913818, + -0.22704921662807465 + ], + "box_yaw_rad": -2.859672627725536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004221252646498224, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002456036107129907 + } + } + }, + { + "simulation_time_ns": 7760000000, + "center": [ + -14.155449732987368, + 0.17270480005893213, + 0.030506247503501848 + ], + "face_center": [ + -14.224084921910958, + 0.15260555301340445, + 0.059616956650564865 + ], + "face_normal": [ + -0.8888805270197011, + -0.2603013058857795, + 0.37700693906977456 + ], + "footprint_xy": [ + [ + -14.277307626608088, + 0.03236546853473177 + ], + [ + -14.033591839366647, + 0.03236546853473177 + ], + [ + -14.033591839366647, + 0.3130441315831325 + ], + [ + -14.277307626608088, + 0.3130441315831325 + ] + ], + "projected_box_corners": [ + [ + -14.074166580303832, + 0.07256396262578718 + ], + [ + -14.140037248760907, + 0.3032062584043322 + ], + [ + -14.033591839366647, + 0.08240183580458751 + ], + [ + -14.099462507823723, + 0.3130441315831325 + ], + [ + -14.211436958151012, + 0.03236546853473177 + ], + [ + -14.277307626608088, + 0.26300776431327677 + ], + [ + -14.170862217213829, + 0.0422033417135321 + ], + [ + -14.236732885670904, + 0.27284563749207713 + ] + ], + "yaw_rad": -2.8567159539876625, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.186182022094727, + 0.19365248084068298, + 0.07335434854030609 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.225324955973983, + 0.15307970258040368, + 0.0594600299407676 + ], + "intended_face_normal": [ + -0.8916529102355426, + -0.259472607792397, + 0.37098363432459447 + ], + "commanded_contact_point": [ + -14.192063446044921, + 0.16806386933028394, + 0.03081441216038792 + ], + "centerline_face_intersection": [ + -14.243073646356084, + 0.17311496144251304, + 0.03081441216038792 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.187466621398926, + 0.1938609480857849, + 0.07382647693157196 + ], + "box_pose": [ + -14.164454460144043, + 0.1886727213859558, + 0.03411245718598366, + 0.03606569394469261, + 0.7009535431861877, + 0.6741591691970825, + -0.2299407720565796 + ], + "box_yaw_rad": -2.858411388810791, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0050510921122290985, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016169878414629016 + } + } + }, + { + "simulation_time_ns": 7780000000, + "center": [ + -14.154790137391675, + 0.17216971147853755, + 0.030205921566215755 + ], + "face_center": [ + -14.223335529854849, + 0.1519584937406684, + 0.05945040724440991 + ], + "face_normal": [ + -0.8877175911217847, + -0.2617514158014096, + 0.37873945201771875 + ], + "footprint_xy": [ + [ + -14.276797215270177, + 0.031793659247382866 + ], + [ + -14.032783059513172, + 0.031793659247382866 + ], + [ + -14.032783059513172, + 0.3125457637096922 + ], + [ + -14.276797215270177, + 0.3125457637096922 + ] + ], + "projected_box_corners": [ + [ + -14.073580602865098, + 0.07221609472312121 + ], + [ + -14.139706430343828, + 0.30277794562862326 + ], + [ + -14.032783059513172, + 0.0819839128041902 + ], + [ + -14.098908886991902, + 0.3125457637096922 + ], + [ + -14.210671387791447, + 0.031793659247382866 + ], + [ + -14.276797215270177, + 0.2623555101528849 + ], + [ + -14.16987384443952, + 0.04156147732845186 + ], + [ + -14.23599967191825, + 0.2721233282339539 + ] + ], + "yaw_rad": -2.8548591300917097, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.185680389404297, + 0.19327686727046967, + 0.07289016246795654 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.224084921910958, + 0.15260555301340445, + 0.059616956650564865 + ], + "intended_face_normal": [ + -0.8888805270197011, + -0.2603013058857795, + 0.37700693906977456 + ], + "commanded_contact_point": [ + -14.190791244506835, + 0.166815800715433, + 0.030506247503501848 + ], + "centerline_face_intersection": [ + -14.242317778314371, + 0.17270480005893213, + 0.030506247503501848 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.186182022094727, + 0.19365248084068298, + 0.07335434854030609 + ], + "box_pose": [ + -14.163421630859375, + 0.18825513124465942, + 0.03385552763938904, + 0.037999916821718216, + 0.7002460360527039, + 0.6738662719726562, + -0.23262767493724823 + ], + "box_yaw_rad": -2.8567159539876625, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005888999343499133, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018086286176652955 + } + } + }, + { + "simulation_time_ns": 7800000000, + "center": [ + -14.154835296446155, + 0.17216486390507169, + 0.02994341601079561 + ], + "face_center": [ + -14.223429994524814, + 0.15195250689360532, + 0.059071313478269966 + ], + "face_normal": [ + -0.8883561382309892, + -0.26176617030462257, + 0.3772295415503013 + ], + "footprint_xy": [ + [ + -14.276807467681099, + 0.03179177660060395 + ], + [ + -14.032863125211213, + 0.03179177660060395 + ], + [ + -14.032863125211213, + 0.3125379512095394 + ], + [ + -14.276807467681099, + 0.3125379512095394 + ] + ], + "projected_box_corners": [ + [ + -14.073489174908566, + 0.07221649062353667 + ], + [ + -14.139618071523781, + 0.3027792073623034 + ], + [ + -14.032863125211213, + 0.08197523447077269 + ], + [ + -14.098992021826428, + 0.3125379512095394 + ], + [ + -14.210678571065884, + 0.03179177660060395 + ], + [ + -14.276807467681099, + 0.26235449333937066 + ], + [ + -14.170052521368529, + 0.04155052044783997 + ], + [ + -14.236181417983744, + 0.2721132371866067 + ] + ], + "yaw_rad": -2.855038849981028, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.18592643737793, + 0.19343866407871246, + 0.07237420976161957 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.223335529854849, + 0.1519584937406684, + 0.05945040724440991 + ], + "intended_face_normal": [ + -0.8877175911217847, + -0.2617514158014096, + 0.37873945201771875 + ], + "commanded_contact_point": [ + -14.189418907165527, + 0.16543642590336113, + 0.030205921566215755 + ], + "centerline_face_intersection": [ + -14.241771982387968, + 0.17216971147853755, + 0.030205921566215755 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.185680389404297, + 0.19327686727046967, + 0.07289016246795654 + ], + "box_pose": [ + -14.162772178649902, + 0.1877070516347885, + 0.033591147512197495, + 0.03823550045490265, + 0.699617326259613, + 0.6740878224372864, + -0.23383589088916779 + ], + "box_yaw_rad": -2.8548591300917097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006733285575176417, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019688017470367654 + } + } + }, + { + "simulation_time_ns": 7820000000, + "center": [ + -14.155062837499392, + 0.17166975233338583, + 0.030159413027327144 + ], + "face_center": [ + -14.223817627854286, + 0.15136232043508158, + 0.058840242503460795 + ], + "face_normal": [ + -0.890429461100851, + -0.26299746604146224, + 0.37143965391410694 + ], + "footprint_xy": [ + [ + -14.277015177409114, + 0.03123785102041393 + ], + [ + -14.03311049758967, + 0.03123785102041393 + ], + [ + -14.03311049758967, + 0.3121016536463577 + ], + [ + -14.277015177409114, + 0.3121016536463577 + ] + ], + "projected_box_corners": [ + [ + -14.073068386687932, + 0.07185271481702243 + ], + [ + -14.139505596699324, + 0.3023327105820526 + ], + [ + -14.03311049758967, + 0.08162165788132761 + ], + [ + -14.09954770760106, + 0.3121016536463577 + ], + [ + -14.210577967397723, + 0.03123785102041393 + ], + [ + -14.277015177409114, + 0.261717846785444 + ], + [ + -14.170620078299459, + 0.04100679408471908 + ], + [ + -14.23705728831085, + 0.2714867898497492 + ] + ], + "yaw_rad": -2.854397929624306, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.186322212219238, + 0.1931370347738266, + 0.07241120934486389 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.223429994524814, + 0.15195250689360532, + 0.059071313478269966 + ], + "intended_face_normal": [ + -0.8883561382309892, + -0.26176617030462257, + 0.3772295415503013 + ], + "commanded_contact_point": [ + -14.187989349365234, + 0.16458062632294965, + 0.02994341601079561 + ], + "centerline_face_intersection": [ + -14.24175461921371, + 0.17216486390507169, + 0.02994341601079561 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.18592643737793, + 0.19343866407871246, + 0.07237420976161957 + ], + "box_pose": [ + -14.162822723388672, + 0.18770207464694977, + 0.03331651911139488, + 0.03766728565096855, + 0.6997853517532349, + 0.6741502285003662, + -0.2332448959350586 + ], + "box_yaw_rad": -2.855038849981028, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.007584237582122048, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016866942796006 + } + } + }, + { + "simulation_time_ns": 7840000000, + "center": [ + -14.155427963970087, + 0.16869275176008805, + 0.03059571544625931 + ], + "face_center": [ + -14.224347805549627, + 0.14806346089493563, + 0.05864379834825065 + ], + "face_normal": [ + -0.8925670063141595, + -0.2671657967849894, + 0.3632450802979452 + ], + "footprint_xy": [ + [ + -14.277574697518784, + 0.028050641984979974 + ], + [ + -14.03328123042139, + 0.028050641984979974 + ], + [ + -14.03328123042139, + 0.3093348615351961 + ], + [ + -14.277574697518784, + 0.3093348615351961 + ] + ], + "projected_box_corners": [ + [ + -14.072282054864305, + 0.06930922371528478 + ], + [ + -14.139735014359703, + 0.2994999958636361 + ], + [ + -14.03328123042139, + 0.0791440893868448 + ], + [ + -14.100734189916789, + 0.3093348615351961 + ], + [ + -14.210121738023386, + 0.028050641984979974 + ], + [ + -14.277574697518784, + 0.2582414141333313 + ], + [ + -14.17112091358047, + 0.037885507656539974 + ], + [ + -14.238573873075868, + 0.26807627980489135 + ] + ], + "yaw_rad": -2.8507571139987182, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.186860084533691, + 0.1904030591249466, + 0.07262124121189117 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.223817627854286, + 0.15136232043508158, + 0.058840242503460795 + ], + "intended_face_normal": [ + -0.890429461100851, + -0.26299746604146224, + 0.37143965391410694 + ], + "commanded_contact_point": [ + -14.186219329833984, + 0.16322682345364614, + 0.030159413027327144 + ], + "centerline_face_intersection": [ + -14.241779772736436, + 0.17166975233338583, + 0.030159413027327144 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.186322212219238, + 0.1931370347738266, + 0.07241120934486389 + ], + "box_pose": [ + -14.163090705871582, + 0.18719588220119476, + 0.033487215638160706, + 0.03503799065947533, + 0.7004221081733704, + 0.6742578148841858, + -0.23142500221729279 + ], + "box_yaw_rad": -2.854397929624306, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00844292887973968, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022388403384545753 + } + } + }, + { + "simulation_time_ns": 7860000000, + "center": [ + -14.155085232872718, + 0.1665608886971654, + 0.030697260720832627 + ], + "face_center": [ + -14.224023294629571, + 0.14570883551028638, + 0.0585350574372506 + ], + "face_normal": [ + -0.8928029721658746, + -0.2700507468090494, + 0.36052170620385615 + ], + "footprint_xy": [ + [ + -14.277459794990293, + 0.025733440482873404 + ], + [ + -14.032710670755145, + 0.025733440482873404 + ], + [ + -14.032710670755145, + 0.3073883369114574 + ], + [ + -14.277459794990293, + 0.3073883369114574 + ] + ], + "projected_box_corners": [ + [ + -14.071357861206367, + 0.06743754685663142 + ], + [ + -14.139583671476586, + 0.2974042759236424 + ], + [ + -14.032710670755145, + 0.07742160784444642 + ], + [ + -14.100936481025364, + 0.3073883369114574 + ], + [ + -14.209233984720074, + 0.025733440482873404 + ], + [ + -14.277459794990293, + 0.2557001695498844 + ], + [ + -14.17058679426885, + 0.03571750147068839 + ], + [ + -14.23881260453907, + 0.26568423053769935 + ] + ], + "yaw_rad": -2.8478665942998425, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.186261177062988, + 0.18854409456253052, + 0.07258085906505585 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.224347805549627, + 0.14806346089493563, + 0.05864379834825065 + ], + "intended_face_normal": [ + -0.8925670063141595, + -0.2671657967849894, + 0.3632450802979452 + ], + "commanded_contact_point": [ + -14.184101219177245, + 0.15938141058575403, + 0.03059571544625931 + ], + "centerline_face_intersection": [ + -14.241937226989227, + 0.16869275176008805, + 0.03059571544625931 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.186860084533691, + 0.1904030591249466, + 0.07262124121189117 + ], + "box_pose": [ + -14.163551330566406, + 0.18418115377426147, + 0.03386711701750755, + 0.030429579317569733, + 0.701181948184967, + 0.6742606163024902, + -0.22976215183734894 + ], + "box_yaw_rad": -2.8507571139987182, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00931134117433402, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004411796989833572 + } + } + }, + { + "simulation_time_ns": 7880000000, + "center": [ + -14.154999596431411, + 0.1642888971047286, + 0.031069352916988133 + ], + "face_center": [ + -14.223966077493097, + 0.143136155142306, + 0.05860819634515022 + ], + "face_normal": [ + -0.8931710248667315, + -0.2739449066629933, + 0.3566500222967135 + ], + "footprint_xy": [ + [ + -14.277659052850732, + 0.023236223218348673 + ], + [ + -14.032340140012092, + 0.023236223218348673 + ], + [ + -14.032340140012092, + 0.30534157099110854 + ], + [ + -14.277659052850732, + 0.30534157099110854 + ] + ], + "projected_box_corners": [ + [ + -14.070502772421003, + 0.0655417071431939 + ], + [ + -14.139726090727361, + 0.295213516271504 + ], + [ + -14.032340140012092, + 0.07566976186279842 + ], + [ + -14.10156345831845, + 0.30534157099110854 + ], + [ + -14.208435734544373, + 0.023236223218348673 + ], + [ + -14.277659052850732, + 0.2529080323466588 + ], + [ + -14.170273102135463, + 0.03336427793795321 + ], + [ + -14.23949642044182, + 0.2630360870662633 + ] + ], + "yaw_rad": -2.843990889481595, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.185873985290527, + 0.18651583790779114, + 0.0728558748960495 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.224023294629571, + 0.14570883551028638, + 0.0585350574372506 + ], + "intended_face_normal": [ + -0.8928029721658746, + -0.2700507468090494, + 0.36052170620385615 + ], + "commanded_contact_point": [ + -14.18204605102539, + 0.15637021928821676, + 0.030697260720832627 + ], + "centerline_face_intersection": [ + -14.241571631684899, + 0.1665608886971654, + 0.030697260720832627 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.186261177062988, + 0.18854409456253052, + 0.07258085906505585 + ], + "box_pose": [ + -14.163269996643066, + 0.18202292919158936, + 0.033940207213163376, + 0.028242284432053566, + 0.7016552090644836, + 0.6738556623458862, + -0.22978469729423523 + ], + "box_yaw_rad": -2.8478665942998425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010190669408948624, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036470948171871504 + } + } + }, + { + "simulation_time_ns": 7900000000, + "center": [ + -14.153699507188941, + 0.161974482565757, + 0.03108668744583414 + ], + "face_center": [ + -14.222580225034598, + 0.1406262721853162, + 0.058689328570594564 + ], + "face_normal": [ + -0.8920603227056745, + -0.2764763788298019, + 0.3574762534336031 + ], + "footprint_xy": [ + [ + -14.276643994481338, + 0.020748838708070982 + ], + [ + -14.030755019896544, + 0.020748838708070982 + ], + [ + -14.030755019896544, + 0.3032001264234431 + ], + [ + -14.276643994481338, + 0.3032001264234431 + ] + ], + "projected_box_corners": [ + [ + -14.068967493333528, + 0.06344525946895259 + ], + [ + -14.138882558790023, + 0.29290817740252845 + ], + [ + -14.030755019896544, + 0.07373720848986719 + ], + [ + -14.10067008535304, + 0.3032001264234431 + ], + [ + -14.206728929024843, + 0.020748838708070982 + ], + [ + -14.276643994481338, + 0.25021175664164685 + ], + [ + -14.16851645558786, + 0.03104078772898558 + ], + [ + -14.238431521044355, + 0.2605037056625614 + ] + ], + "yaw_rad": -2.8410507217847543, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.184341430664062, + 0.18442325294017792, + 0.07286639511585236 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.223966077493097, + 0.143136155142306, + 0.05860819634515022 + ], + "intended_face_normal": [ + -0.8931710248667315, + -0.2739449066629933, + 0.3566500222967135 + ], + "commanded_contact_point": [ + -14.180158729553222, + 0.15320915006365748, + 0.031069352916988133 + ], + "centerline_face_intersection": [ + -14.241450356433349, + 0.1642888971047286, + 0.031069352916988133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.185873985290527, + 0.18651583790779114, + 0.0728558748960495 + ], + "box_pose": [ + -14.163264274597168, + 0.1797150820493698, + 0.0342801995575428, + 0.025276947766542435, + 0.7021368145942688, + 0.6734904646873474, + -0.2297290563583374 + ], + "box_yaw_rad": -2.843990889481595, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011079747041071127, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037003774921218354 + } + } + }, + { + "simulation_time_ns": 7920000000, + "center": [ + -14.152124095550722, + 0.16003293138607882, + 0.030669150469223014 + ], + "face_center": [ + -14.220820415935925, + 0.13839545729263816, + 0.05850502415115136 + ], + "face_normal": [ + -0.8896722282835583, + -0.2802225749966869, + 0.3604968013709646 + ], + "footprint_xy": [ + [ + -14.275493829435764, + 0.018618776309429125 + ], + [ + -14.02875436166568, + 0.018618776309429125 + ], + [ + -14.02875436166568, + 0.3014470864627285 + ], + [ + -14.275493829435764, + 0.3014470864627285 + ] + ], + "projected_box_corners": [ + [ + -14.06729955531312, + 0.061893724496310434 + ], + [ + -14.138101188665358, + 0.29107872789485834 + ], + [ + -14.02875436166568, + 0.07226208306418062 + ], + [ + -14.099555995017917, + 0.3014470864627285 + ], + [ + -14.204692196083528, + 0.018618776309429125 + ], + [ + -14.275493829435764, + 0.247803779707977 + ], + [ + -14.166147002436087, + 0.028987134877299314 + ], + [ + -14.236948635788325, + 0.2581721382758472 + ] + ], + "yaw_rad": -2.8364565512010573, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.182726860046387, + 0.1825016885995865, + 0.07223957777023315 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.222580225034598, + 0.1406262721853162, + 0.058689328570594564 + ], + "intended_face_normal": [ + -0.8920603227056745, + -0.2764763788298019, + 0.3574762534336031 + ], + "commanded_contact_point": [ + -14.178358192443847, + 0.14999678470970904, + 0.03108668744583414 + ], + "centerline_face_intersection": [ + -14.240257906824112, + 0.161974482565757, + 0.03108668744583414 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.184341430664062, + 0.18442325294017792, + 0.07286639511585236 + ], + "box_pose": [ + -14.162008285522461, + 0.1773771196603775, + 0.034296777099370956, + 0.024532314389944077, + 0.702242374420166, + 0.6729679107666016, + -0.23101520538330078 + ], + "box_yaw_rad": -2.8410507217847543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011977697856047964, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003682597661349273 + } + } + }, + { + "simulation_time_ns": 7940000000, + "center": [ + -14.15125945226284, + 0.15894874380931828, + 0.030172863134587655 + ], + "face_center": [ + -14.219798502757635, + 0.13711320940924887, + 0.05824093743075554 + ], + "face_normal": [ + -0.8876354575648762, + -0.2827876141915793, + 0.3635039848230175 + ], + "footprint_xy": [ + [ + -14.274928688022221, + 0.01742738251104517 + ], + [ + -14.027590216503459, + 0.01742738251104517 + ], + [ + -14.027590216503459, + 0.3004701051075914 + ], + [ + -14.274928688022221, + 0.3004701051075914 + ] + ], + "projected_box_corners": [ + [ + -14.066489260093629, + 0.06109845131118398 + ], + [ + -14.137850587032633, + 0.2901022560139715 + ], + [ + -14.027590216503459, + 0.0714663004048039 + ], + [ + -14.09895154344246, + 0.3004701051075914 + ], + [ + -14.20356736108322, + 0.01742738251104517 + ], + [ + -14.274928688022221, + 0.24643118721383267 + ], + [ + -14.164668317493048, + 0.02779523160466507 + ], + [ + -14.236029644432051, + 0.2567990363074526 + ] + ], + "yaw_rad": -2.8331735207660134, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.181998252868652, + 0.18139608204364777, + 0.07149389386177063 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.220820415935925, + 0.13839545729263816, + 0.05850502415115136 + ], + "intended_face_normal": [ + -0.8896722282835583, + -0.2802225749966869, + 0.3604968013709646 + ], + "commanded_contact_point": [ + -14.176609153747558, + 0.14715648324149055, + 0.030669150469223014 + ], + "centerline_face_intersection": [ + -14.238914838766805, + 0.16003293138607882, + 0.030669150469223014 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.182726860046387, + 0.1825016885995865, + 0.07223957777023315 + ], + "box_pose": [ + -14.160481452941895, + 0.17540061473846436, + 0.03392037749290466, + 0.024290475994348526, + 0.7016294002532959, + 0.6727200746536255, + -0.2336100935935974 + ], + "box_yaw_rad": -2.8364565512010573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01287644814458827, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003361664159061426 + } + } + }, + { + "simulation_time_ns": 7960000000, + "center": [ + -14.151082614282858, + 0.15890052841361216, + 0.029805290247593545 + ], + "face_center": [ + -14.21951378767533, + 0.13707575180819223, + 0.05814354407928722 + ], + "face_normal": [ + -0.886238362910241, + -0.28264829215680987, + 0.36700302564587384 + ], + "footprint_xy": [ + [ + -14.274847244541967, + 0.01734725889502267 + ], + [ + -14.027317984023748, + 0.01734725889502267 + ], + [ + -14.027317984023748, + 0.3004537979322016 + ], + [ + -14.274847244541967, + 0.3004537979322016 + ] + ], + "projected_box_corners": [ + [ + -14.066593079093401, + 0.06099681210586248 + ], + [ + -14.13798489775702, + 0.2899899214253808 + ], + [ + -14.027317984023748, + 0.0714606886126833 + ], + [ + -14.098709802687369, + 0.3004537979322016 + ], + [ + -14.203455425878348, + 0.01734725889502267 + ], + [ + -14.274847244541967, + 0.246340368214541 + ], + [ + -14.164180330808694, + 0.02781113540184349 + ], + [ + -14.235572149472315, + 0.2568042447213618 + ] + ], + "yaw_rad": -2.832860321767266, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.18218994140625, + 0.18142597377300262, + 0.07109946012496948 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.219798502757635, + 0.13711320940924887, + 0.05824093743075554 + ], + "intended_face_normal": [ + -0.8876354575648762, + -0.2827876141915793, + 0.3635039848230175 + ], + "commanded_contact_point": [ + -14.174831504821777, + 0.14517440213535684, + 0.030172863134587655 + ], + "centerline_face_intersection": [ + -14.238249345752752, + 0.15894874380931828, + 0.030172863134587655 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.181998252868652, + 0.18139608204364777, + 0.07149389386177063 + ], + "box_pose": [ + -14.159643173217773, + 0.1742924004793167, + 0.03346940875053406, + 0.02454126626253128, + 0.7009103894233704, + 0.6727126836776733, + -0.23575448989868164 + ], + "box_yaw_rad": -2.8331735207660134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01377434167396145, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027083172511991518 + } + } + }, + { + "simulation_time_ns": 7980000000, + "center": [ + -14.150750586111817, + 0.1590648124150075, + 0.029359174501937032 + ], + "face_center": [ + -14.218903244703181, + 0.13737426138757106, + 0.05846141562444147 + ], + "face_normal": [ + -0.8826313737393008, + -0.2809099636933987, + 0.37689727138690676 + ], + "footprint_xy": [ + [ + -14.274727524138559, + 0.017380130660545834 + ], + [ + -14.026773648085078, + 0.017380130660545834 + ], + [ + -14.026773648085078, + 0.30074949416946917 + ], + [ + -14.274727524138559, + 0.30074949416946917 + ] + ], + "projected_box_corners": [ + [ + -14.0670309986272, + 0.060761232715418695 + ], + [ + -14.13842220695583, + 0.2897622038069977 + ], + [ + -14.026773648085078, + 0.07174852307789015 + ], + [ + -14.098164856413709, + 0.30074949416946917 + ], + [ + -14.203336315809928, + 0.017380130660545834 + ], + [ + -14.274727524138559, + 0.24638110175212485 + ], + [ + -14.163078965267806, + 0.028367421023017286 + ], + [ + -14.234470173596437, + 0.2573683921145963 + ] + ], + "yaw_rad": -2.833465070581797, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.182270050048828, + 0.18183542788028717, + 0.07061223685741425 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.21951378767533, + 0.13707575180819223, + 0.05814354407928722 + ], + "intended_face_normal": [ + -0.886238362910241, + -0.28264829215680987, + 0.36700302564587384 + ], + "commanded_contact_point": [ + -14.172933692932128, + 0.1442251689252751, + 0.029805290247593545 + ], + "centerline_face_intersection": [ + -14.238209641438258, + 0.15890052841361216, + 0.029805290247593545 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.18218994140625, + 0.18142597377300262, + 0.07109946012496948 + ], + "box_pose": [ + -14.159457206726074, + 0.17424537241458893, + 0.03311944380402565, + 0.025808576494455338, + 0.7007671594619751, + 0.6723425984382629, + -0.23709630966186523 + ], + "box_yaw_rad": -2.832860321767266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014675359488337068, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002153565295705302 + } + } + }, + { + "simulation_time_ns": 8000000000, + "center": [ + -14.150456442842206, + 0.1592686514956837, + 0.028918375949416056 + ], + "face_center": [ + -14.218349858798662, + 0.13775619022911786, + 0.05874961754320593 + ], + "face_normal": [ + -0.8792739745165932, + -0.2786035590199054, + 0.3863384098652345 + ], + "footprint_xy": [ + [ + -14.274617820663186, + 0.01743280962099661 + ], + [ + -14.026295065021223, + 0.01743280962099661 + ], + [ + -14.026295065021223, + 0.3011044933703708 + ], + [ + -14.274617820663186, + 0.3011044933703708 + ] + ], + "projected_box_corners": [ + [ + -14.067443119882883, + 0.06045773215412828 + ], + [ + -14.138830988750273, + 0.28947073000811635 + ], + [ + -14.026295065021223, + 0.07209149551638273 + ], + [ + -14.097682933888615, + 0.3011044933703708 + ], + [ + -14.203229951795796, + 0.01743280962099661 + ], + [ + -14.274617820663186, + 0.24644580747498468 + ], + [ + -14.162081896934136, + 0.02906657298325105 + ], + [ + -14.233469765801528, + 0.25807957083723915 + ] + ], + "yaw_rad": -2.8347439303729525, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.181668281555176, + 0.18281181156635284, + 0.06958487629890442 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.218903244703181, + 0.13737426138757106, + 0.05846141562444147 + ], + "intended_face_normal": [ + -0.8826313737393008, + -0.2809099636933987, + 0.37689727138690676 + ], + "commanded_contact_point": [ + -14.17111789703369, + 0.14406481241500751, + 0.029359174501937032 + ], + "centerline_face_intersection": [ + -14.23823366932051, + 0.1590648124150075, + 0.029359174501937032 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.182270050048828, + 0.18183542788028717, + 0.07061223685741425 + ], + "box_pose": [ + -14.159095764160156, + 0.17442508041858673, + 0.032676082104444504, + 0.029572855681180954, + 0.7013166546821594, + 0.6704257130622864, + -0.24043665826320648 + ], + "box_yaw_rad": -2.833465070581797, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018766587898950385 + } + } + }, + { + "simulation_time_ns": 8020000000, + "center": [ + -14.149397585366275, + 0.15909307798327155, + 0.028743076143823616 + ], + "face_center": [ + -14.217273139578277, + 0.1376451982357891, + 0.058661371427018896 + ], + "face_normal": [ + -0.8790426506567215, + -0.2777671767556633, + 0.38746582468744517 + ], + "footprint_xy": [ + [ + -14.273525195945298, + 0.017273658333387815 + ], + [ + -14.025269974787253, + 0.017273658333387815 + ], + [ + -14.025269974787253, + 0.30091249763315525 + ], + [ + -14.273525195945298, + 0.30091249763315525 + ] + ], + "projected_box_corners": [ + [ + -14.066532244285304, + 0.06016941782835268 + ], + [ + -14.137774087521295, + 0.28922899370106236 + ], + [ + -14.025269974787253, + 0.07185292176044555 + ], + [ + -14.096511818023245, + 0.30091249763315525 + ], + [ + -14.202283352709305, + 0.017273658333387815 + ], + [ + -14.273525195945298, + 0.2463332342060975 + ], + [ + -14.161021083211256, + 0.0289571622654807 + ], + [ + -14.232262926447248, + 0.25801673813819037 + ] + ], + "yaw_rad": -2.835533012387102, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.179519653320312, + 0.18330897390842438, + 0.06856293976306915 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.218349858798662, + 0.13775619022911786, + 0.05874961754320593 + ], + "intended_face_normal": [ + -0.8792739745165932, + -0.2786035590199054, + 0.3863384098652345 + ], + "commanded_contact_point": [ + -14.169417495727538, + 0.1442686514956837, + 0.028918375949416056 + ], + "centerline_face_intersection": [ + -14.238273569414034, + 0.1592686514956837, + 0.028918375949416056 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.181668281555176, + 0.18281181156635284, + 0.06958487629890442 + ], + "box_pose": [ + -14.158774375915527, + 0.17464882135391235, + 0.03221140801906586, + 0.0332152284681797, + 0.7023650407791138, + 0.6680721044540405, + -0.24343329668045044 + ], + "box_yaw_rad": -2.8347439303729525, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017683942820197341 + } + } + }, + { + "simulation_time_ns": 8040000000, + "center": [ + -14.143690696611472, + 0.1545354716442366, + 0.028975599515164676 + ], + "face_center": [ + -14.211718662699484, + 0.1333004595393658, + 0.05869891367298598 + ], + "face_normal": [ + -0.8810165062080273, + -0.27501037073068524, + 0.3849406633496617 + ], + "footprint_xy": [ + [ + -14.267439173769414, + 0.012950988053482437 + ], + [ + -14.019942219453531, + 0.012950988053482437 + ], + [ + -14.019942219453531, + 0.29611995523499074 + ], + [ + -14.267439173769414, + 0.29611995523499074 + ] + ], + "projected_box_corners": [ + [ + -14.061003239085789, + 0.055421012263224045 + ], + [ + -14.131383241593392, + 0.28474483705782255 + ], + [ + -14.019942219453531, + 0.06679613044039225 + ], + [ + -14.090322221961134, + 0.29611995523499074 + ], + [ + -14.197059171261811, + 0.012950988053482437 + ], + [ + -14.267439173769414, + 0.24227481284808094 + ], + [ + -14.155998151629554, + 0.02432610623065065 + ], + [ + -14.226378154137157, + 0.25364993102524913 + ] + ], + "yaw_rad": -2.8390255732555163, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.174638748168945, + 0.1794278472661972, + 0.06925486028194427 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.217273139578277, + 0.1376451982357891, + 0.058661371427018896 + ], + "intended_face_normal": [ + -0.8790426506567215, + -0.2777671767556633, + 0.38746582468744517 + ], + "commanded_contact_point": [ + -14.16749584197998, + 0.14409307798327153, + 0.028743076143823616 + ], + "centerline_face_intersection": [ + -14.23723782139322, + 0.15909307798327155, + 0.028743076143823616 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.179519653320312, + 0.18330897390842438, + 0.06856293976306915 + ], + "box_pose": [ + -14.157702445983887, + 0.1744808852672577, + 0.03203342854976654, + 0.03387511521577835, + 0.7024742364883423, + 0.6678707003593445, + -0.24358005821704865 + ], + "box_yaw_rad": -2.835533012387102, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019376039857534036 + } + } + }, + { + "simulation_time_ns": 8060000000, + "center": [ + -14.138072771337896, + 0.14474188071956912, + 0.029312178993241064 + ], + "face_center": [ + -14.206249075655238, + 0.12355898158575937, + 0.05873124049720993 + ], + "face_normal": [ + -0.8829376047805368, + -0.27433546612405735, + 0.3810003484245499 + ], + "footprint_xy": [ + [ + -14.261623852035816, + 0.003256387196989924 + ], + [ + -14.014521690639974, + 0.003256387196989924 + ], + [ + -14.014521690639974, + 0.2862273742421483 + ], + [ + -14.261623852035816, + 0.2862273742421483 + ] + ], + "projected_box_corners": [ + [ + -14.055181085011489, + 0.04562218546460943 + ], + [ + -14.125271243401132, + 0.27503472319351896 + ], + [ + -14.014521690639974, + 0.05681483651323879 + ], + [ + -14.084611849029619, + 0.2862273742421483 + ], + [ + -14.191533693646173, + 0.003256387196989924 + ], + [ + -14.261623852035816, + 0.23266892492589944 + ], + [ + -14.150874299274658, + 0.0144490382456193 + ], + [ + -14.220964457664303, + 0.24386157597452882 + ] + ], + "yaw_rad": -2.8403415078939522, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.169784545898438, + 0.17070092260837555, + 0.06983247399330139 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.211718662699484, + 0.1333004595393658, + 0.05869891367298598 + ], + "intended_face_normal": [ + -0.8810165062080273, + -0.27501037073068524, + 0.3849406633496617 + ], + "commanded_contact_point": [ + -14.165548439025878, + 0.13953547164423658, + 0.028975599515164676 + ], + "centerline_face_intersection": [ + -14.231334132764308, + 0.1545354716442366, + 0.028975599515164676 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.174638748168945, + 0.1794278472661972, + 0.06925486028194427 + ], + "box_pose": [ + -14.151945114135742, + 0.1699497252702713, + 0.03226909041404724, + 0.03422214835882187, + 0.7022014856338501, + 0.6688956022262573, + -0.24149662256240845 + ], + "box_yaw_rad": -2.8390255732555163, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004961675213622406 + } + } + }, + { + "simulation_time_ns": 8080000000, + "center": [ + -14.133633829910606, + 0.1342287871942151, + 0.029927000642176637 + ], + "face_center": [ + -14.202153597943555, + 0.11361765882023872, + 0.05895163217192926 + ], + "face_normal": [ + -0.8873857342798175, + -0.2669305780148261, + 0.37589216516094703 + ], + "footprint_xy": [ + [ + -14.256299543972672, + -0.006766428603820512 + ], + [ + -14.010968115848542, + -0.006766428603820512 + ], + [ + -14.010968115848542, + 0.2752240029922507 + ], + [ + -14.256299543972672, + 0.2752240029922507 + ] + ], + "projected_box_corners": [ + [ + -14.05115819384943, + 0.03445582814413227 + ], + [ + -14.119260007906774, + 0.26446867711285743 + ], + [ + -14.010968115848542, + 0.04521115402352559 + ], + [ + -14.079069929905888, + 0.2752240029922507 + ], + [ + -14.188197729915325, + -0.006766428603820512 + ], + [ + -14.256299543972672, + 0.22324642036490464 + ], + [ + -14.148007651914437, + 0.003988897275572806 + ], + [ + -14.216109465971783, + 0.23400174624429795 + ] + ], + "yaw_rad": -2.8493969614060703, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.16575813293457, + 0.16166597604751587, + 0.07070177793502808 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.206249075655238, + 0.12355898158575937, + 0.05873124049720993 + ], + "intended_face_normal": [ + -0.8829376047805368, + -0.27433546612405735, + 0.3810003484245499 + ], + "commanded_contact_point": [ + -14.16342746734619, + 0.1297418807195691, + 0.029312178993241064 + ], + "centerline_face_intersection": [ + -14.225525512611307, + 0.14474188071956912, + 0.029312178993241064 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.169784545898438, + 0.17070092260837555, + 0.06983247399330139 + ], + "box_pose": [ + -14.146320343017578, + 0.1601628214120865, + 0.03259148448705673, + 0.03316783905029297, + 0.702247679233551, + 0.6695647835731506, + -0.23964786529541016 + ], + "box_yaw_rad": -2.8403415078939522, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010026276966592718 + } + } + }, + { + "simulation_time_ns": 8100000000, + "center": [ + -14.131852441360781, + 0.12238226337769297, + 0.03060007082780694 + ], + "face_center": [ + -14.20084256336701, + 0.10271627859173457, + 0.059162595296546786 + ], + "face_normal": [ + -0.893477193984566, + -0.25469021350498267, + 0.3699075095582671 + ], + "footprint_xy": [ + [ + -14.253108111946572, + -0.017803569506824796 + ], + [ + -14.01059677077499, + -0.017803569506824796 + ], + [ + -14.01059677077499, + 0.2625680962622107 + ], + [ + -14.253108111946572, + 0.2625680962622107 + ] + ], + "projected_box_corners": [ + [ + -14.050274388972475, + 0.02152840006509199 + ], + [ + -14.115127867934113, + 0.2524802782372433 + ], + [ + -14.01059677077499, + 0.031616218090059475 + ], + [ + -14.075450249736628, + 0.2625680962622107 + ], + [ + -14.188254632984934, + -0.017803569506824796 + ], + [ + -14.253108111946572, + 0.21314830866532647 + ], + [ + -14.148577014787449, + -0.007715751481857325 + ], + [ + -14.213430493749085, + 0.22323612669029397 + ] + ], + "yaw_rad": -2.863902554478523, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.164125442504883, + 0.15160171687602997, + 0.07154175639152527 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.202153597943555, + 0.11361765882023872, + 0.05895163217192926 + ], + "intended_face_normal": [ + -0.8873857342798175, + -0.2669305780148261, + 0.37589216516094703 + ], + "commanded_contact_point": [ + -14.160964126586913, + 0.1192287871942151, + 0.029927000642176637 + ], + "centerline_face_intersection": [ + -14.220648203624991, + 0.1342287871942151, + 0.029927000642176637 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.16575813293457, + 0.16166597604751587, + 0.07070177793502808 + ], + "box_pose": [ + -14.141764640808105, + 0.14971843361854553, + 0.03317392244935036, + 0.0342826209962368, + 0.7024775147438049, + 0.6709830164909363, + -0.23480185866355896 + ], + "box_yaw_rad": -2.8493969614060703, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010815321947550017 + } + } + }, + { + "simulation_time_ns": 8120000000, + "center": [ + -14.130659753305105, + 0.11157971552928463, + 0.031091297320586606 + ], + "face_center": [ + -14.200071245769383, + 0.09293968607171665, + 0.059318841065152464 + ], + "face_normal": [ + -0.8989342780356822, + -0.24140327239939907, + 0.36556924157481774 + ], + "footprint_xy": [ + [ + -14.250432948467376, + -0.0277291217316101 + ], + [ + -14.010886558142836, + -0.0277291217316101 + ], + [ + -14.010886558142836, + 0.25088855279017935 + ], + [ + -14.250432948467376, + 0.25088855279017935 + ] + ], + "projected_box_corners": [ + [ + -14.05022861400104, + 0.009550937183525843 + ], + [ + -14.111609963538822, + 0.24145139309458336 + ], + [ + -14.010886558142836, + 0.018988096879121827 + ], + [ + -14.072267907680617, + 0.25088855279017935 + ], + [ + -14.189051598929595, + -0.0277291217316101 + ], + [ + -14.250432948467376, + 0.20417133417944744 + ], + [ + -14.14970954307139, + -0.01829196203601413 + ], + [ + -14.211090892609171, + 0.2136084938750434 + ] + ], + "yaw_rad": -2.879238524755956, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.162798881530762, + 0.14250633120536804, + 0.07213205099105835 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.20084256336701, + 0.10271627859173457, + 0.059162595296546786 + ], + "intended_face_normal": [ + -0.893477193984566, + -0.25469021350498267, + 0.3699075095582671 + ], + "commanded_contact_point": [ + -14.158287162780761, + 0.10738226337769297, + 0.03060007082780694 + ], + "centerline_face_intersection": [ + -14.218273577156186, + 0.12238226337769297, + 0.03060007082780694 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.164125442504883, + 0.15160171687602997, + 0.07154175639152527 + ], + "box_pose": [ + -14.13978385925293, + 0.13798244297504425, + 0.03381079062819481, + 0.03698204457759857, + 0.7026351094245911, + 0.6730843186378479, + -0.22780205309391022 + ], + "box_yaw_rad": -2.863902554478523, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.012163851578741839 + } + } + }, + { + "simulation_time_ns": 8140000000, + "center": [ + -14.129388939566406, + 0.10281663745529895, + 0.031314527402976355 + ], + "face_center": [ + -14.199078696026065, + 0.08489952165768433, + 0.05932377059638537 + ], + "face_normal": [ + -0.9025380190721037, + -0.2320409629903808, + 0.362742075044002 + ], + "footprint_xy": [ + [ + -14.248118195271521, + -0.03587060466422454 + ], + [ + -14.010659683861292, + -0.03587060466422454 + ], + [ + -14.010659683861292, + 0.24150387957482242 + ], + [ + -14.248118195271521, + 0.24150387957482242 + ] + ], + "projected_box_corners": [ + [ + -14.04977900311216, + -3.6373068995287916e-05 + ], + [ + -14.108738682352202, + 0.2324929794020837 + ], + [ + -14.010659683861292, + 0.00897452710374344 + ], + [ + -14.069619363101332, + 0.24150387957482242 + ], + [ + -14.189158516031481, + -0.03587060466422454 + ], + [ + -14.248118195271521, + 0.19665874780685444 + ], + [ + -14.150039196780611, + -0.02685970449148578 + ], + [ + -14.208998876020651, + 0.2056696479795932 + ] + ], + "yaw_rad": -2.8899445044003658, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.161348342895508, + 0.1350213885307312, + 0.07234455645084381 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.200071245769383, + 0.09293968607171665, + 0.059318841065152464 + ], + "intended_face_normal": [ + -0.8989342780356822, + -0.24140327239939907, + 0.36556924157481774 + ], + "commanded_contact_point": [ + -14.155849571228027, + 0.09657971552928463, + 0.031091297320586606 + ], + "centerline_face_intersection": [ + -14.216556259643884, + 0.11157971552928463, + 0.031091297320586606 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.162798881530762, + 0.14250633120536804, + 0.07213205099105835 + ], + "box_pose": [ + -14.138370513916016, + 0.1272958517074585, + 0.03427387773990631, + 0.040627509355545044, + 0.7026855945587158, + 0.6750556230545044, + -0.22109289467334747 + ], + "box_yaw_rad": -2.879238524755956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011085043800649695 + } + } + }, + { + "simulation_time_ns": 8160000000, + "center": [ + -14.127487452215174, + 0.09686180332670591, + 0.03113374299370878 + ], + "face_center": [ + -14.197277228120136, + 0.0792588848549028, + 0.05909318660979624 + ], + "face_normal": [ + -0.9038333507911105, + -0.22797185661891817, + 0.362097130734397 + ], + "footprint_xy": [ + [ + -14.245760273314485, + -0.041529931595307906 + ], + [ + -14.009214631115862, + -0.041529931595307906 + ], + [ + -14.009214631115862, + 0.23525353824871972 + ], + [ + -14.245760273314485, + 0.23525353824871972 + ] + ], + "projected_box_corners": [ + [ + -14.048315565433647, + -0.006324094651701723 + ], + [ + -14.10618072150456, + 0.22647932218471079 + ], + [ + -14.009214631115862, + 0.002450121412307202 + ], + [ + -14.067079787186774, + 0.23525353824871972 + ], + [ + -14.187895117243572, + -0.041529931595307906 + ], + [ + -14.245760273314485, + 0.1912734852411046 + ], + [ + -14.148794182925787, + -0.032755715531298996 + ], + [ + -14.2066593389967, + 0.2000477013051135 + ] + ], + "yaw_rad": -2.8945183817745406, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.159242630004883, + 0.12975463271141052, + 0.07200022041797638 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.199078696026065, + 0.08489952165768433, + 0.05932377059638537 + ], + "intended_face_normal": [ + -0.9025380190721037, + -0.2320409629903808, + 0.362742075044002 + ], + "commanded_contact_point": [ + -14.153522605895995, + 0.08781663745529895, + 0.031314527402976355 + ], + "centerline_face_intersection": [ + -14.214942470032438, + 0.10281663745529895, + 0.031314527402976355 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.161348342895508, + 0.1350213885307312, + 0.07234455645084381 + ], + "box_pose": [ + -14.136944770812988, + 0.11861210316419601, + 0.0344759076833725, + 0.043238017708063126, + 0.7027527689933777, + 0.6763191223144531, + -0.21647490561008453 + ], + "box_yaw_rad": -2.8899445044003658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009069516892146322 + } + } + }, + { + "simulation_time_ns": 8180000000, + "center": [ + -14.125335941731159, + 0.09404666912325933, + 0.0307233822547523 + ], + "face_center": [ + -14.19497644023766, + 0.07624907824273833, + 0.0589306176047764 + ], + "face_normal": [ + -0.9019000892280928, + -0.23049301982938175, + 0.36530623164177456 + ], + "footprint_xy": [ + [ + -14.24392359487431, + -0.04447170084421362 + ], + [ + -14.006748288588005, + -0.04447170084421362 + ], + [ + -14.006748288588005, + 0.23256503909073228 + ], + [ + -14.24392359487431, + 0.23256503909073228 + ] + ], + "projected_box_corners": [ + [ + -14.04621632154634, + -0.008876519083171594 + ], + [ + -14.104642597861309, + 0.22378245446570685 + ], + [ + -14.006748288588005, + -9.393445814616375e-05 + ], + [ + -14.065174564902975, + 0.23256503909073228 + ], + [ + -14.185497318559342, + -0.04447170084421362 + ], + [ + -14.24392359487431, + 0.18818727270466484 + ], + [ + -14.146029285601008, + -0.03568911621918819 + ], + [ + -14.204455561915978, + 0.19696985732969025 + ] + ], + "yaw_rad": -2.891384360765121, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.156916618347168, + 0.12699316442012787, + 0.0713919997215271 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.197277228120136, + 0.0792588848549028, + 0.05909318660979624 + ], + "intended_face_normal": [ + -0.9038333507911105, + -0.22797185661891817, + 0.362097130734397 + ], + "commanded_contact_point": [ + -14.151144142150878, + 0.08186180332670591, + 0.03113374299370878 + ], + "centerline_face_intersection": [ + -14.212918371359564, + 0.09686180332670591, + 0.03113374299370878 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.159242630004883, + 0.12975463271141052, + 0.07200022041797638 + ], + "box_pose": [ + -14.134970664978027, + 0.11269107460975647, + 0.03429877385497093, + 0.04463996738195419, + 0.7025401592254639, + 0.6770184636116028, + -0.21468734741210938 + ], + "box_yaw_rad": -2.8945183817745406, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006414812724353501 + } + } + }, + { + "simulation_time_ns": 8200000000, + "center": [ + -14.123132522479072, + 0.09141045600067321, + 0.03033261059942726 + ], + "face_center": [ + -14.192597714700648, + 0.07336060097792313, + 0.05881056903213076 + ], + "face_normal": [ + -0.8996297327917375, + -0.2337600419970105, + 0.3688123118344926 + ], + "footprint_xy": [ + [ + -14.242122200276707, + -0.047290520767389405 + ], + [ + -14.004142844681434, + -0.047290520767389405 + ], + [ + -14.004142844681434, + 0.23011143276873583 + ], + [ + -14.242122200276707, + 0.23011143276873583 + ] + ], + "projected_box_corners": [ + [ + -14.04400096670448, + -0.01119081072188921 + ], + [ + -14.103191815833554, + 0.22127004910588705 + ], + [ + -14.004142844681434, + -0.0023494270590404404 + ], + [ + -14.063333693810508, + 0.23011143276873583 + ], + [ + -14.182931351147635, + -0.047290520767389405 + ], + [ + -14.242122200276707, + 0.18517033906038688 + ], + [ + -14.143073229124589, + -0.03844913710454062 + ], + [ + -14.202264078253663, + 0.19401172272323564 + ] + ], + "yaw_rad": -2.8873742071034383, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.154562950134277, + 0.12431398034095764, + 0.07081738114356995 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.19497644023766, + 0.07624907824273833, + 0.0589306176047764 + ], + "intended_face_normal": [ + -0.9019000892280928, + -0.23049301982938175, + 0.36530623164177456 + ], + "commanded_contact_point": [ + -14.148913497924804, + 0.07904666912325933, + 0.0307233822547523 + ], + "centerline_face_intersection": [ + -14.210949985718585, + 0.09404666912325933, + 0.0307233822547523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.156916618347168, + 0.12699316442012787, + 0.0713919997215271 + ], + "box_pose": [ + -14.132845878601074, + 0.10985486209392548, + 0.03393017128109932, + 0.04496454447507858, + 0.701899528503418, + 0.676969051361084, + -0.21685940027236938 + ], + "box_yaw_rad": -2.891384360765121, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003615127962162605 + } + } + }, + { + "simulation_time_ns": 8220000000, + "center": [ + -14.12048798817028, + 0.08709285927581735, + 0.030019111323477603 + ], + "face_center": [ + -14.189812282407962, + 0.0686717794964902, + 0.0586025149515936 + ], + "face_normal": [ + -0.8978049913413955, + -0.2385676991542791, + 0.3701779113518815 + ], + "footprint_xy": [ + [ + -14.239987808585926, + -0.051893114596464035 + ], + [ + -14.000988167754635, + -0.051893114596464035 + ], + [ + -14.000988167754635, + 0.22607883314809873 + ], + [ + -14.239987808585926, + 0.22607883314809873 + ] + ], + "projected_box_corners": [ + [ + -14.040975634474838, + -0.015050955037809718 + ], + [ + -14.101339220110562, + 0.217104704922321 + ], + [ + -14.000988167754635, + -0.006076826812031977 + ], + [ + -14.061351753390358, + 0.22607883314809873 + ], + [ + -14.179624222950203, + -0.051893114596464035 + ], + [ + -14.239987808585926, + 0.1802625453636667 + ], + [ + -14.139636756229997, + -0.04291898637068631 + ], + [ + -14.200000341865723, + 0.18923667358944443 + ] + ], + "yaw_rad": -2.881871211169821, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.151918411254883, + 0.11999586969614029, + 0.07027658820152283 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.192597714700648, + 0.07336060097792313, + 0.05881056903213076 + ], + "intended_face_normal": [ + -0.8996297327917375, + -0.2337600419970105, + 0.3688123118344926 + ], + "commanded_contact_point": [ + -14.146934623718261, + 0.07641045600067321, + 0.03033261059942726 + ], + "centerline_face_intersection": [ + -14.208962626906393, + 0.09141045600067321, + 0.03033261059942726 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.154562950134277, + 0.12431398034095764, + 0.07081738114356995 + ], + "box_pose": [ + -14.130681991577148, + 0.10719122737646103, + 0.03358137235045433, + 0.04509600251913071, + 0.7012883424758911, + 0.6767640113830566, + -0.21943442523479462 + ], + "box_yaw_rad": -2.8873742071034383, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003319377236715013 + } + } + }, + { + "simulation_time_ns": 8240000000, + "center": [ + -14.117949891930179, + 0.08084681546310597, + 0.029884982516422774 + ], + "face_center": [ + -14.187199449742252, + 0.06202528445919824, + 0.05838854667383074 + ], + "face_normal": [ + -0.8968370949252247, + -0.2437538624202844, + 0.3691439264250107 + ], + "footprint_xy": [ + [ + -14.237949889581206, + -0.058460799365411736 + ], + [ + -13.997949894279152, + -0.058460799365411736 + ], + [ + -13.997949894279152, + 0.22015443029162368 + ], + [ + -14.237949889581206, + 0.22015443029162368 + ] + ], + "projected_box_corners": [ + [ + -14.037777984087361, + -0.02081773735759629 + ], + [ + -14.09945077395706, + 0.21099327378897104 + ], + [ + -13.997949894279152, + -0.01165658085494363 + ], + [ + -14.05962268414885, + 0.22015443029162368 + ], + [ + -14.176277099711507, + -0.058460799365411736 + ], + [ + -14.237949889581206, + 0.17335021178115556 + ], + [ + -14.136449009903298, + -0.04929964286275909 + ], + [ + -14.198121799772998, + 0.1825113682838082 + ] + ], + "yaw_rad": -2.876210591910861, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.149496078491211, + 0.11387476325035095, + 0.06993517279624939 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.189812282407962, + 0.0686717794964902, + 0.0586025149515936 + ], + "intended_face_normal": [ + -0.8978049913413955, + -0.2385676991542791, + 0.3701779113518815 + ], + "commanded_contact_point": [ + -14.145015830993652, + 0.07209285927581735, + 0.030019111323477603 + ], + "centerline_face_intersection": [ + -14.206492537773054, + 0.08709285927581735, + 0.030019111323477603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.151918411254883, + 0.11999586969614029, + 0.07027658820152283 + ], + "box_pose": [ + -14.128111839294434, + 0.10283295065164566, + 0.03329143673181534, + 0.04381788894534111, + 0.7009844779968262, + 0.6764046549797058, + -0.22176001965999603 + ], + "box_yaw_rad": -2.881871211169821, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0047351545692322335 + } + } + }, + { + "simulation_time_ns": 8260000000, + "center": [ + -14.115545307770475, + 0.07468801563410793, + 0.02959566563681241 + ], + "face_center": [ + -14.184721963803705, + 0.05554727264587877, + 0.058063661231605355 + ], + "face_normal": [ + -0.8958929586502862, + -0.24788791262550092, + 0.36868328512455806 + ], + "footprint_xy": [ + [ + -14.23594232693862, + -0.06486081585416453 + ], + [ + -13.995148288602332, + -0.06486081585416453 + ], + [ + -13.995148288602332, + 0.2142368471223804 + ], + [ + -14.23594232693862, + 0.2142368471223804 + ] + ], + "projected_box_corners": [ + [ + -14.034898419716644, + -0.026579329877706212 + ], + [ + -14.097589014872163, + 0.2049570346239458 + ], + [ + -13.995148288602332, + -0.0172995173792716 + ], + [ + -14.05783888375785, + 0.2142368471223804 + ], + [ + -14.173251731783102, + -0.06486081585416453 + ], + [ + -14.23594232693862, + 0.16667554864748746 + ], + [ + -14.133501600668788, + -0.055581003355729935 + ], + [ + -14.196192195824308, + 0.17595536114592208 + ] + ], + "yaw_rad": -2.8716525319479946, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.147353172302246, + 0.10797439515590668, + 0.06934404373168945 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.187199449742252, + 0.06202528445919824, + 0.05838854667383074 + ], + "intended_face_normal": [ + -0.8968370949252247, + -0.2437538624202844, + 0.3691439264250107 + ], + "commanded_contact_point": [ + -14.142884368896484, + 0.06584681546310597, + 0.029884982516422774 + ], + "centerline_face_intersection": [ + -14.20404726050287, + 0.08084681546310597, + 0.029884982516422774 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.149496078491211, + 0.11387476325035095, + 0.06993517279624939 + ], + "box_pose": [ + -14.125665664672852, + 0.09654253721237183, + 0.03315497562289238, + 0.04144781827926636, + 0.7010980248451233, + 0.675929069519043, + -0.22330141067504883 + ], + "box_yaw_rad": -2.876210591910861, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0066010744972963085 + } + } + }, + { + "simulation_time_ns": 8280000000, + "center": [ + -14.11193714043319, + 0.06937533096688914, + 0.029026878687739024 + ], + "face_center": [ + -14.180901922238839, + 0.049828937567928, + 0.057732294350020974 + ], + "face_normal": [ + -0.8931490181435962, + -0.2531414095056306, + 0.3717580646658458 + ], + "footprint_xy": [ + [ + -14.232940610329297, + -0.07050404950928901 + ], + [ + -13.99093367053708, + -0.07050404950928901 + ], + [ + -13.99093367053708, + 0.2092547114430673 + ], + [ + -14.232940610329297, + 0.2092547114430673 + ] + ], + "projected_box_corners": [ + [ + -14.030986098855555, + -0.03141126271136675 + ], + [ + -14.095011046717998, + 0.1997559244768493 + ], + [ + -13.99093367053708, + -0.02191247574514875 + ], + [ + -14.054958618399523, + 0.2092547114430673 + ], + [ + -14.168915662466857, + -0.07050404950928901 + ], + [ + -14.232940610329297, + 0.16066313767892704 + ], + [ + -14.128863234148382, + -0.06100526254307104 + ], + [ + -14.192888182010822, + 0.170161924645145 + ] + ], + "yaw_rad": -2.8654101088648796, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.14387035369873, + 0.1028585135936737, + 0.06829406321048737 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.184721963803705, + 0.05554727264587877, + 0.058063661231605355 + ], + "intended_face_normal": [ + -0.8958929586502862, + -0.24788791262550092, + 0.36868328512455806 + ], + "commanded_contact_point": [ + -14.140976066589355, + 0.05968801563410793, + 0.02959566563681241 + ], + "centerline_face_intersection": [ + -14.201733410005106, + 0.07468801563410793, + 0.02959566563681241 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.147353172302246, + 0.10797439515590668, + 0.06934404373168945 + ], + "box_pose": [ + -14.123331069946289, + 0.09034794569015503, + 0.03287136182188988, + 0.03972547873854637, + 0.7010440826416016, + 0.6756357550621033, + -0.22466731071472168 + ], + "box_yaw_rad": -2.8716525319479946, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006454156589817705 + } + } + }, + { + "simulation_time_ns": 8300000000, + "center": [ + -14.109613434904125, + 0.06477368144152641, + 0.028752251508485725 + ], + "face_center": [ + -14.178463779732121, + 0.044899027211112635, + 0.05750691108764128 + ], + "face_normal": [ + -0.891666967862939, + -0.25739264951003094, + 0.37239581272875055 + ], + "footprint_xy": [ + [ + -14.231053684408169, + -0.07535817968482861 + ], + [ + -13.988173185400079, + -0.07535817968482861 + ], + [ + -13.988173185400079, + 0.2049055425678814 + ], + [ + -14.231053684408169, + 0.2049055425678814 + ] + ], + "projected_box_corners": [ + [ + -14.028265508884909, + -0.035608871224001054 + ], + [ + -14.093352994752175, + 0.19525921912136962 + ], + [ + -13.988173185400079, + -0.025962547777489284 + ], + [ + -14.053260671267346, + 0.2049055425678814 + ], + [ + -14.165966198540902, + -0.07535817968482861 + ], + [ + -14.231053684408169, + 0.1555099106605421 + ], + [ + -14.125873875056072, + -0.06571185623831682 + ], + [ + -14.19096136092334, + 0.16515623410705388 + ] + ], + "yaw_rad": -2.860567516834595, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.141419410705566, + 0.09848817437887192, + 0.06771953403949738 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.180901922238839, + 0.049828937567928, + 0.057732294350020974 + ], + "intended_face_normal": [ + -0.8931490181435962, + -0.2531414095056306, + 0.3717580646658458 + ], + "commanded_contact_point": [ + -14.13888084411621, + 0.05437533096688914, + 0.029026878687739024 + ], + "centerline_face_intersection": [ + -14.198390030536489, + 0.06937533096688914, + 0.029026878687739024 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.14387035369873, + 0.1028585135936737, + 0.06829406321048737 + ], + "box_pose": [ + -14.119802474975586, + 0.08498929440975189, + 0.03233177214860916, + 0.03884425759315491, + 0.7007219195365906, + 0.6749542951583862, + -0.22785206139087677 + ], + "box_yaw_rad": -2.8654101088648796, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00573917190705312 + } + } + }, + { + "simulation_time_ns": 8320000000, + "center": [ + -14.10887029703429, + 0.06161773455794684, + 0.028756784405278013 + ], + "face_center": [ + -14.177753810745777, + 0.04158254755326327, + 0.05732001793310973 + ], + "face_normal": [ + -0.8920965314017053, + -0.25947167718132835, + 0.3699166924399515 + ], + "footprint_xy": [ + [ + -14.23045783916917, + -0.0786361082780763 + ], + [ + -13.987282754899411, + -0.0786361082780763 + ], + [ + -13.987282754899411, + 0.20187157739397 + ], + [ + -14.23045783916917, + 0.20187157739397 + ] + ], + "projected_box_corners": [ + [ + -14.027073293225463, + -0.03856573426870917 + ], + [ + -14.092690811746195, + 0.19215444551616243 + ], + [ + -13.987282754899411, + -0.028848602390901604 + ], + [ + -14.052900273420141, + 0.20187157739397 + ], + [ + -14.16484032064844, + -0.0786361082780763 + ], + [ + -14.23045783916917, + 0.1520840715067953 + ], + [ + -14.125049782322385, + -0.06891897640026873 + ], + [ + -14.190667300843117, + 0.16180120338460285 + ] + ], + "yaw_rad": -2.858545767410703, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.14043140411377, + 0.09557585418224335, + 0.06751599907875061 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.178463779732121, + 0.044899027211112635, + 0.05750691108764128 + ], + "intended_face_normal": [ + -0.891666967862939, + -0.25739264951003094, + 0.37239581272875055 + ], + "commanded_contact_point": [ + -14.136543388366698, + 0.04977368144152641, + 0.028752251508485725 + ], + "centerline_face_intersection": [ + -14.1962100193851, + 0.06477368144152641, + 0.028752251508485725 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.141419410705566, + 0.09848817437887192, + 0.06771953403949738 + ], + "box_pose": [ + -14.117547988891602, + 0.08035000413656235, + 0.03206927701830864, + 0.037463027983903885, + 0.7005937099456787, + 0.6745383143424988, + -0.22970183193683624 + ], + "box_yaw_rad": -2.860567516834595, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005168587604247509 + } + } + }, + { + "simulation_time_ns": 8340000000, + "center": [ + -14.107609959935468, + 0.056641357830238825, + 0.0289799101119603 + ], + "face_center": [ + -14.176526565275603, + 0.036480181988365744, + 0.057374114859225334 + ], + "face_normal": [ + -0.892525094428521, + -0.26110333327138857, + 0.3677276346999214 + ], + "footprint_xy": [ + [ + -14.229319899728106, + -0.08372863814001044 + ], + [ + -13.985900020142832, + -0.08372863814001044 + ], + [ + -13.985900020142832, + 0.1970113538004881 + ], + [ + -14.229319899728106, + 0.1970113538004881 + ] + ], + "projected_box_corners": [ + [ + -14.025410367861005, + -0.04340628645626429 + ], + [ + -14.091486689047837, + 0.18718642684875691 + ], + [ + -13.985900020142832, + -0.03358135950453309 + ], + [ + -14.051976341329663, + 0.1970113538004881 + ], + [ + -14.163243578541273, + -0.08372863814001044 + ], + [ + -14.229319899728106, + 0.14686407516501074 + ], + [ + -14.1237332308231, + -0.07390371118827926 + ], + [ + -14.189809552009931, + 0.15668900211674194 + ] + ], + "yaw_rad": -2.8569896975966658, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.1388578414917, + 0.09092992544174194, + 0.06773163378238678 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.177753810745777, + 0.04158254755326327, + 0.05732001793310973 + ], + "intended_face_normal": [ + -0.8920965314017053, + -0.25947167718132835, + 0.3699166924399515 + ], + "commanded_contact_point": [ + -14.13441478729248, + 0.04661773455794684, + 0.028756784405278013 + ], + "centerline_face_intersection": [ + -14.195425183409775, + 0.06161773455794684, + 0.028756784405278013 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.14043140411377, + 0.09557585418224335, + 0.06751599907875061 + ], + "box_pose": [ + -14.116848945617676, + 0.07717551290988922, + 0.03205502778291702, + 0.0357329361140728, + 0.7008849382400513, + 0.674394965171814, + -0.22951018810272217 + ], + "box_yaw_rad": -2.858545767410703, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038066998584461776 + } + } + }, + { + "simulation_time_ns": 8360000000, + "center": [ + -14.105177803208614, + 0.05111217296966277, + 0.029156717712255156 + ], + "face_center": [ + -14.174114342033725, + 0.031003171359011324, + 0.057539564370775814 + ], + "face_normal": [ + -0.8927832489831928, + -0.2604276352967423, + 0.3675805383770676 + ], + "footprint_xy": [ + [ + -14.226828235505256, + -0.08923466987782849 + ], + [ + -13.983527370911974, + -0.08923466987782849 + ], + [ + -13.983527370911974, + 0.19145901581715402 + ], + [ + -14.226828235505256, + 0.19145901581715402 + ] + ], + "projected_box_corners": [ + [ + -14.023014618486085, + -0.0490166666565256 + ], + [ + -14.088955157855034, + 0.18161651381000876 + ], + [ + -13.983527370911974, + -0.03917416464938034 + ], + [ + -14.049467910280923, + 0.19145901581715402 + ], + [ + -14.160887696136307, + -0.08923466987782849 + ], + [ + -14.226828235505256, + 0.1413985105887059 + ], + [ + -14.121400448562195, + -0.07939216787068323 + ], + [ + -14.187340987931144, + 0.15124101259585115 + ] + ], + "yaw_rad": -2.8577649740055002, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.13599681854248, + 0.08576488494873047, + 0.06795243918895721 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.176526565275603, + 0.036480181988365744, + 0.057374114859225334 + ], + "intended_face_normal": [ + -0.892525094428521, + -0.26110333327138857, + 0.3677276346999214 + ], + "commanded_contact_point": [ + -14.132575149536132, + 0.041641357830238826, + 0.0289799101119603 + ], + "centerline_face_intersection": [ + -14.194123285323679, + 0.056641357830238825, + 0.0289799101119603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.1388578414917, + 0.09092992544174194, + 0.06773163378238678 + ], + "box_pose": [ + -14.11562728881836, + 0.0721845030784607, + 0.032253243029117584, + 0.03422684594988823, + 0.7013100385665894, + 0.6741118431091309, + -0.2292724847793579 + ], + "box_yaw_rad": -2.8569896975966658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005310214448742748 + } + } + }, + { + "simulation_time_ns": 8380000000, + "center": [ + -14.10198446925851, + 0.04793245178921056, + 0.029105920271937823 + ], + "face_center": [ + -14.170766724222178, + 0.02782319468647703, + 0.057860456768336496 + ], + "face_normal": [ + -0.890785149725076, + -0.2604309441233097, + 0.37239421870872214 + ], + "footprint_xy": [ + [ + -14.223777435805058, + -0.09245717941122142 + ], + [ + -13.980191502711959, + -0.09245717941122142 + ], + [ + -13.980191502711959, + 0.18832208298964254 + ], + [ + -14.223777435805058, + 0.18832208298964254 + ] + ], + "projected_box_corners": [ + [ + -14.020202946299108, + -0.052238665205754375 + ], + [ + -14.08621292587772, + 0.17837274530753705 + ], + [ + -13.980191502711959, + -0.042289327523648876 + ], + [ + -14.046201482290572, + 0.18832208298964254 + ], + [ + -14.157767456226447, + -0.09245717941122142 + ], + [ + -14.223777435805058, + 0.13815423110206998 + ], + [ + -14.117756012639298, + -0.08250784172911593 + ], + [ + -14.183765992217909, + 0.1481035687841755 + ] + ], + "yaw_rad": -2.8571586556515047, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.13240909576416, + 0.08274522423744202, + 0.06794838607311249 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.174114342033725, + 0.031003171359011324, + 0.057539564370775814 + ], + "intended_face_normal": [ + -0.8927832489831928, + -0.2604276352967423, + 0.3675805383770676 + ], + "commanded_contact_point": [ + -14.13076316833496, + 0.03611217296966277, + 0.029156717712255156 + ], + "centerline_face_intersection": [ + -14.191666112660409, + 0.05111217296966277, + 0.029156717712255156 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.13599681854248, + 0.08576488494873047, + 0.06795243918895721 + ], + "box_pose": [ + -14.113186836242676, + 0.06666137278079987, + 0.032421600073575974, + 0.034385617822408676, + 0.70146644115448, + 0.6740448474884033, + -0.22896721959114075 + ], + "box_yaw_rad": -2.8577649740055002, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005821204516536568 + } + } + }, + { + "simulation_time_ns": 8400000000, + "center": [ + -14.097678561137776, + 0.045944704674179576, + 0.02881333348668997 + ], + "face_center": [ + -14.166200463580271, + 0.025991026573499318, + 0.058288775955050776 + ], + "face_normal": [ + -0.8874133765885475, + -0.25841607175962666, + 0.38173052695437626 + ], + "footprint_xy": [ + [ + -14.219568961563379, + -0.09444686894906407 + ], + [ + -13.975788160712174, + -0.09444686894906407 + ], + [ + -13.975788160712174, + 0.18633627829742322 + ], + [ + -14.219568961563379, + 0.18633627829742322 + ] + ], + "projected_box_corners": [ + [ + -14.016805748729345, + -0.054539512747703536 + ], + [ + -14.08252515667839, + 0.17615463351250663 + ], + [ + -13.975788160712174, + -0.04435786796278696 + ], + [ + -14.04150756866122, + 0.18633627829742322 + ], + [ + -14.153849553614332, + -0.09444686894906407 + ], + [ + -14.219568961563379, + 0.1362472773111461 + ], + [ + -14.112831965597163, + -0.08426522416414747 + ], + [ + -14.178551373546208, + 0.14642892209606267 + ] + ], + "yaw_rad": -2.858227331530697, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.127584457397461, + 0.08085986971855164, + 0.06750644743442535 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.170766724222178, + 0.02782319468647703, + 0.057860456768336496 + ], + "intended_face_normal": [ + -0.890785149725076, + -0.2604309441233097, + 0.37239421870872214 + ], + "commanded_contact_point": [ + -14.128913993835448, + 0.03293245178921056, + 0.029105920271937823 + ], + "centerline_face_intersection": [ + -14.188666778606919, + 0.04793245178921056, + 0.029105920271937823 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.13240909576416, + 0.08274522423744202, + 0.06794838607311249 + ], + "box_pose": [ + -14.10998249053955, + 0.06348158419132233, + 0.032398004084825516, + 0.03608757629990578, + 0.7011839151382446, + 0.6735975742340088, + -0.23087894916534424 + ], + "box_yaw_rad": -2.8571586556515047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00367867550825071 + } + } + }, + { + "simulation_time_ns": 8420000000, + "center": [ + -14.092495410779017, + 0.04331499189758668, + 0.028723027686459283 + ], + "face_center": [ + -14.160927546390244, + 0.023228041040270472, + 0.05831627174712711 + ], + "face_normal": [ + -0.8862508244117748, + -0.26014206042540877, + 0.38325615168268 + ], + "footprint_xy": [ + [ + -14.21460445586714, + -0.09719852139165472 + ], + [ + -13.970386365690898, + -0.09719852139165472 + ], + [ + -13.970386365690898, + 0.18382850518682808 + ], + [ + -14.21460445586714, + 0.18382850518682808 + ] + ], + "projected_box_corners": [ + [ + -14.011550568339626, + -0.05702461967702231 + ], + [ + -14.077740184644687, + 0.17353438805083116 + ], + [ + -13.970386365690898, + -0.0467305025410254 + ], + [ + -14.03657598199596, + 0.18382850518682808 + ], + [ + -14.148414839562077, + -0.09719852139165472 + ], + [ + -14.21460445586714, + 0.13336048633619876 + ], + [ + -14.10725063691335, + -0.08690440425565782 + ], + [ + -14.173440253218411, + 0.14365460347219566 + ] + ], + "yaw_rad": -2.8560812685620207, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.122217178344727, + 0.07823432981967926, + 0.0671008825302124 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.166200463580271, + 0.025991026573499318, + 0.058288775955050776 + ], + "intended_face_normal": [ + -0.8874133765885475, + -0.25841607175962666, + 0.38173052695437626 + ], + "commanded_contact_point": [ + -14.127295608520507, + 0.030944704674179577, + 0.02881333348668997 + ], + "centerline_face_intersection": [ + -14.184690224415013, + 0.045944704674179576, + 0.02881333348668997 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.127584457397461, + 0.08085986971855164, + 0.06750644743442535 + ], + "box_pose": [ + -14.105627059936523, + 0.06151171028614044, + 0.03214069455862045, + 0.040061961859464645, + 0.7009461522102356, + 0.6725928783416748, + -0.23385515809059143 + ], + "box_yaw_rad": -2.858227331530697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025799063253989793 + } + } + }, + { + "simulation_time_ns": 8440000000, + "center": [ + -14.088372516402387, + 0.040285549807349316, + 0.028667326169410808 + ], + "face_center": [ + -14.156748623494487, + 0.0199729363658046, + 0.05823605040321309 + ], + "face_normal": [ + -0.8855252103296891, + -0.2630645711657955, + 0.38293860033666505 + ], + "footprint_xy": [ + [ + -14.210751172647015, + -0.10038337901002475 + ], + [ + -13.965993860157761, + -0.10038337901002475 + ], + [ + -13.965993860157761, + 0.18095447862472339 + ], + [ + -14.210751172647015, + 0.18095447862472339 + ] + ], + "projected_box_corners": [ + [ + -14.007108110727447, + -0.05975815212693533 + ], + [ + -14.073998958462816, + 0.17059648492824253 + ], + [ + -13.965993860157761, + -0.04940015843045448 + ], + [ + -14.032884707893128, + 0.18095447862472339 + ], + [ + -14.143860324911646, + -0.10038337901002475 + ], + [ + -14.210751172647015, + 0.1299712580451531 + ], + [ + -14.10274607434196, + -0.0900253853135439 + ], + [ + -14.169636922077327, + 0.14032925174163396 + ] + ], + "yaw_rad": -2.852824438357003, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.118033409118652, + 0.07521620392799377, + 0.06681801378726959 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.160927546390244, + 0.023228041040270472, + 0.05831627174712711 + ], + "intended_face_normal": [ + -0.8862508244117748, + -0.26014206042540877, + 0.38325615168268 + ], + "commanded_contact_point": [ + -14.126064414978027, + 0.028314991897586683, + 0.028723027686459283 + ], + "centerline_face_intersection": [ + -14.1796212128483, + 0.04331499189758668, + 0.028723027686459283 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.122217178344727, + 0.07823432981967926, + 0.0671008825302124 + ], + "box_pose": [ + -14.100470542907715, + 0.0588664747774601, + 0.032059237360954285, + 0.039922431111335754, + 0.7008861303329468, + 0.6722232103347778, + -0.23511849343776703 + ], + "box_yaw_rad": -2.8560812685620207, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002905061438933231 + } + } + }, + { + "simulation_time_ns": 8460000000, + "center": [ + -14.08614137065985, + 0.03764427214986697, + 0.028618518412772687 + ], + "face_center": [ + -14.154508883774973, + 0.017121533789946852, + 0.05806173730966921 + ], + "face_normal": [ + -0.8854139114623791, + -0.26578585672083976, + 0.3813132059615323 + ], + "footprint_xy": [ + [ + -14.208722737651506, + -0.1031423652730569 + ], + [ + -13.963560003668196, + -0.1031423652730569 + ], + [ + -13.963560003668196, + 0.17843090957279084 + ], + [ + -14.208722737651506, + 0.17843090957279084 + ] + ], + "projected_box_corners": [ + [ + -14.004493414417606, + -0.062096888553216656 + ], + [ + -14.071987711421263, + 0.16807922958249438 + ], + [ + -13.963560003668196, + -0.051745208562920184 + ], + [ + -14.031054300671851, + 0.17843090957279084 + ], + [ + -14.14122844064785, + -0.1031423652730569 + ], + [ + -14.208722737651506, + 0.12703375286265411 + ], + [ + -14.100295029898438, + -0.09279068528276044 + ], + [ + -14.167789326902096, + 0.1373854328529506 + ] + ], + "yaw_rad": -2.8499683376529297, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.115781784057617, + 0.07256060838699341, + 0.0665978491306305 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.156748623494487, + 0.0199729363658046, + 0.05823605040321309 + ], + "intended_face_normal": [ + -0.8855252103296891, + -0.2630645711657955, + 0.38293860033666505 + ], + "commanded_contact_point": [ + -14.125125999450683, + 0.025285549807349317, + 0.028667326169410808 + ], + "centerline_face_intersection": [ + -14.175569710802634, + 0.040285549807349316, + 0.028667326169410808 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.118033409118652, + 0.07521620392799377, + 0.06681801378726959 + ], + "box_pose": [ + -14.096395492553711, + 0.05581071600317955, + 0.03201138600707054, + 0.038725584745407104, + 0.7007660865783691, + 0.6720784902572632, + -0.23608829081058502 + ], + "box_yaw_rad": -2.852824438357003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003171946679732037 + } + } + }, + { + "simulation_time_ns": 8480000000, + "center": [ + -14.085460224076034, + 0.03550271420876197, + 0.028583735606245244 + ], + "face_center": [ + -14.153909534454613, + 0.014853536477429041, + 0.05774722606992089 + ], + "face_normal": [ + -0.8864732513693525, + -0.2674233475890091, + 0.37769049928521525 + ], + "footprint_xy": [ + [ + -14.208096170883355, + -0.10534350822792876 + ], + [ + -13.962824277268714, + -0.10534350822792876 + ], + [ + -13.962824277268714, + 0.17634893664545268 + ], + [ + -14.208096170883355, + 0.17634893664545268 + ] + ], + "projected_box_corners": [ + [ + -14.003351371704083, + -0.06404515276526289 + ], + [ + -14.0711975501262, + 0.16602839450124413 + ], + [ + -13.962824277268714, + -0.05372461062105434 + ], + [ + -14.03067045569083, + 0.17634893664545268 + ], + [ + -14.14024999246124, + -0.10534350822792876 + ], + [ + -14.208096170883355, + 0.12473003903857828 + ], + [ + -14.099722898025869, + -0.09502296608372021 + ], + [ + -14.167569076447986, + 0.13505058118278684 + ] + ], + "yaw_rad": -2.8486034595806258, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.115188598632812, + 0.07041379809379578, + 0.0664261132478714 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.154508883774973, + 0.017121533789946852, + 0.05806173730966921 + ], + "intended_face_normal": [ + -0.8854139114623791, + -0.26578585672083976, + 0.3813132059615323 + ], + "commanded_contact_point": [ + -14.124311561584472, + 0.022644272149866973, + 0.028618518412772687 + ], + "centerline_face_intersection": [ + -14.173349525977748, + 0.03764427214986697, + 0.028618518412772687 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.115781784057617, + 0.07256060838699341, + 0.0665978491306305 + ], + "box_pose": [ + -14.094209671020508, + 0.053144849836826324, + 0.031967587769031525, + 0.037179265171289444, + 0.7006222605705261, + 0.6721870303153992, + -0.23645435273647308 + ], + "box_yaw_rad": -2.8499683376529297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002764423791487421 + } + } + }, + { + "simulation_time_ns": 8500000000, + "center": [ + -14.085678308144987, + 0.035373684390656884, + 0.02849786232547905 + ], + "face_center": [ + -14.154334055634212, + 0.014753596053558443, + 0.05719283961994401 + ], + "face_normal": [ + -0.8891467768682517, + -0.2670466166950849, + 0.3716228794637373 + ], + "footprint_xy": [ + [ + -14.20816514468823, + -0.10549464396751992 + ], + [ + -13.963191471601743, + -0.10549464396751992 + ], + [ + -13.963191471601743, + 0.1762420127488337 + ], + [ + -14.20816514468823, + 0.1762420127488337 + ] + ], + "projected_box_corners": [ + [ + -14.002988060799574, + -0.06425446729332307 + ], + [ + -14.07085364970978, + 0.16582344698275356 + ], + [ + -13.963191471601743, + -0.05383590152724292 + ], + [ + -14.03105706051195, + 0.1762420127488337 + ], + [ + -14.140299555778025, + -0.10549464396751992 + ], + [ + -14.20816514468823, + 0.12458327030855668 + ], + [ + -14.100502966580194, + -0.09507607820143979 + ], + [ + -14.1683685554904, + 0.13500183607463684 + ] + ], + "yaw_rad": -2.8498236793181273, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.11558723449707, + 0.07043647766113281, + 0.06590399146080017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.153909534454613, + 0.014853536477429041, + 0.05774722606992089 + ], + "intended_face_normal": [ + -0.8864732513693525, + -0.2674233475890091, + 0.37769049928521525 + ], + "commanded_contact_point": [ + -14.123592491149902, + 0.02050271420876197, + 0.028583735606245244 + ], + "centerline_face_intersection": [ + -14.172564165218263, + 0.03550271420876197, + 0.028583735606245244 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.115188598632812, + 0.07041379809379578, + 0.0664261132478714 + ], + "box_pose": [ + -14.0935640335083, + 0.05098845809698105, + 0.031915660947561264, + 0.035275496542453766, + 0.7008013725280762, + 0.6723942756652832, + -0.23562483489513397 + ], + "box_yaw_rad": -2.8486034595806258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022593234714429356 + } + } + }, + { + "simulation_time_ns": 8520000000, + "center": [ + -14.086180463745153, + 0.035418104320076374, + 0.02887936957234089 + ], + "face_center": [ + -14.155146228596395, + 0.01479741789156331, + 0.05682067757012952 + ], + "face_normal": [ + -0.8931617493693267, + -0.26705436245670033, + 0.3618622599894612 + ], + "footprint_xy": [ + [ + -14.2084807274968, + -0.10553318206704088 + ], + [ + -13.963880199993506, + -0.10553318206704088 + ], + [ + -13.963880199993506, + 0.17636939070719362 + ], + [ + -14.2084807274968, + 0.17636939070719362 + ] + ], + "projected_box_corners": [ + [ + -14.002487354778909, + -0.06429180921001477 + ], + [ + -14.070549197794318, + 0.16574037150536647 + ], + [ + -13.963880199993506, + -0.05366279000818762 + ], + [ + -14.031942043008915, + 0.17636939070719362 + ], + [ + -14.140418884481393, + -0.10553318206704088 + ], + [ + -14.2084807274968, + 0.12449899864834037 + ], + [ + -14.10181172969599, + -0.09490416286521375 + ], + [ + -14.169873572711397, + 0.1351280178501675 + ] + ], + "yaw_rad": -2.851054570979602, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.116226196289062, + 0.07064598798751831, + 0.06591317057609558 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.154334055634212, + 0.014753596053558443, + 0.05719283961994401 + ], + "intended_face_normal": [ + -0.8891467768682517, + -0.2670466166950849, + 0.3716228794637373 + ], + "commanded_contact_point": [ + -14.122810478210448, + 0.020373684390656885, + 0.02849786232547905 + ], + "centerline_face_intersection": [ + -14.172520341339332, + 0.035373684390656884, + 0.02849786232547905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.11558723449707, + 0.07043647766113281, + 0.06590399146080017 + ], + "box_pose": [ + -14.093805313110352, + 0.05086274445056915, + 0.03175706788897514, + 0.03299993649125099, + 0.7019593715667725, + 0.6721803545951843, + -0.23310399055480957 + ], + "box_yaw_rad": -2.8498236793181273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007972246557789708 + } + } + }, + { + "simulation_time_ns": 8540000000, + "center": [ + -14.087173648321487, + 0.03417295007723824, + 0.029365724275573667 + ], + "face_center": [ + -14.15624467689354, + 0.013262553308188596, + 0.056827595932506525 + ], + "face_normal": [ + -0.8945249986456503, + -0.27080634280698246, + 0.3556531763690065 + ], + "footprint_xy": [ + [ + -14.20967002227919, + -0.10697840475584519 + ], + [ + -13.964677274363785, + -0.10697840475584519 + ], + [ + -13.964677274363785, + 0.17532430491032167 + ], + [ + -14.20967002227919, + 0.17532430491032167 + ] + ], + "projected_box_corners": [ + [ + -14.00254214777443, + -0.06515761121774591 + ], + [ + -14.071527965135083, + 0.1646015018671191 + ], + [ + -13.964677274363785, + -0.05443480817454335 + ], + [ + -14.033663091724438, + 0.17532430491032167 + ], + [ + -14.140684204918534, + -0.10697840475584519 + ], + [ + -14.20967002227919, + 0.12278070832901983 + ], + [ + -14.10281933150789, + -0.09625560171264264 + ], + [ + -14.171805148868543, + 0.13350351137222238 + ] + ], + "yaw_rad": -2.8476262043282747, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.1171236038208, + 0.06937944144010544, + 0.06647692620754242 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.155146228596395, + 0.01479741789156331, + 0.05682067757012952 + ], + "intended_face_normal": [ + -0.8931617493693267, + -0.26705436245670033, + 0.3618622599894612 + ], + "commanded_contact_point": [ + -14.121624107360839, + 0.020418104320076375, + 0.02887936957234089 + ], + "centerline_face_intersection": [ + -14.172632121539456, + 0.035418104320076374, + 0.02887936957234089 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.116226196289062, + 0.07064598798751831, + 0.06591317057609558 + ], + "box_pose": [ + -14.094355583190918, + 0.050906822085380554, + 0.03201764449477196, + 0.029088271781802177, + 0.7038910984992981, + 0.6716533303260803, + -0.22928816080093384 + ], + "box_yaw_rad": -2.851054570979602, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012469950690923374 + } + } + }, + { + "simulation_time_ns": 8560000000, + "center": [ + -14.087328403118534, + 0.03081098211618908, + 0.02952179366609905 + ], + "face_center": [ + -14.156401676465766, + 0.009767233056509124, + 0.0568759637708766 + ], + "face_normal": [ + -0.8945540702775148, + -0.27253336150152885, + 0.35425835522926685 + ], + "footprint_xy": [ + [ + -14.209952842426551, + -0.1104334916261818 + ], + [ + -13.964703963810516, + -0.1104334916261818 + ], + [ + -13.964703963810516, + 0.17205545585855997 + ], + [ + -14.209952842426551, + 0.17205545585855997 + ] + ], + "projected_box_corners": [ + [ + -14.002394465979979, + -0.0683459935068219 + ], + [ + -14.071806295732085, + 0.16128512070110776 + ], + [ + -13.964703963810516, + -0.057575658349369674 + ], + [ + -14.034115793562622, + 0.17205545585855997 + ], + [ + -14.140541012674445, + -0.1104334916261818 + ], + [ + -14.209952842426551, + 0.11919762258174783 + ], + [ + -14.102850510504982, + -0.09966315646872959 + ], + [ + -14.172262340257086, + 0.12996795773920006 + ] + ], + "yaw_rad": -2.8458676474739955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.11671257019043, + 0.06595870852470398, + 0.06670428812503815 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.15624467689354, + 0.013262553308188596, + 0.056827595932506525 + ], + "intended_face_normal": [ + -0.8945249986456503, + -0.27080634280698246, + 0.3556531763690065 + ], + "commanded_contact_point": [ + -14.120168800354003, + 0.019172950077238238, + 0.029365724275573667 + ], + "centerline_face_intersection": [ + -14.173493554448589, + 0.03417295007723824, + 0.029365724275573667 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.1171236038208, + 0.06937944144010544, + 0.06647692620754242 + ], + "box_pose": [ + -14.095431327819824, + 0.04962728172540665, + 0.03245701640844345, + 0.025349734351038933, + 0.7045314908027649, + 0.6714892983436584, + -0.22824318706989288 + ], + "box_yaw_rad": -2.8476262043282747, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019760740041709557 + } + } + }, + { + "simulation_time_ns": 8580000000, + "center": [ + -14.087282524292931, + 0.026093680046671147, + 0.02971354762594111 + ], + "face_center": [ + -14.156391616415407, + 0.005114448168898757, + 0.05702664722003456 + ], + "face_normal": [ + -0.8950179520313739, + -0.2716978124551108, + 0.3537264593059892 + ], + "footprint_xy": [ + [ + -14.20980763246091, + -0.1150967175730837 + ], + [ + -13.964757416124954, + -0.1150967175730837 + ], + [ + -13.964757416124954, + 0.167284077666426 + ], + [ + -14.20980763246091, + 0.167284077666426 + ] + ], + "projected_box_corners": [ + [ + -14.002399779884893, + -0.07313825381753894 + ], + [ + -14.07158944821596, + 0.1565599269501882 + ], + [ + -13.964757416124954, + -0.06241410310130112 + ], + [ + -14.03394708445602, + 0.167284077666426 + ], + [ + -14.140617964129843, + -0.1150967175730837 + ], + [ + -14.20980763246091, + 0.11460146319464341 + ], + [ + -14.102975600369902, + -0.1043725668568459 + ], + [ + -14.17216526870097, + 0.12532561391088123 + ] + ], + "yaw_rad": -2.846866707817677, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.115888595581055, + 0.06126422435045242, + 0.06702730059623718 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.156401676465766, + 0.009767233056509124, + 0.0568759637708766 + ], + "intended_face_normal": [ + -0.8945540702775148, + -0.27253336150152885, + 0.35425835522926685 + ], + "commanded_contact_point": [ + -14.118719215393066, + 0.01581098211618908, + 0.02952179366609905 + ], + "centerline_face_intersection": [ + -14.173645503981406, + 0.03081098211618908, + 0.02952179366609905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.11671257019043, + 0.06595870852470398, + 0.06670428812503815 + ], + "box_pose": [ + -14.095619201660156, + 0.0462493821978569, + 0.03260403499007225, + 0.02417348138988018, + 0.7046529054641724, + 0.6713727116584778, + -0.2283390313386917 + ], + "box_yaw_rad": -2.8458676474739955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003664489430296691 + } + } + }, + { + "simulation_time_ns": 8600000000, + "center": [ + -14.085791617945313, + 0.019671768069144384, + 0.029721202042117832 + ], + "face_center": [ + -14.154896983504191, + -0.0012021683425961216, + 0.05712436105739917 + ], + "face_normal": [ + -0.8949696900557598, + -0.27033415205281486, + 0.35489280075596596 + ], + "footprint_xy": [ + [ + -14.208202114286376, + -0.12141986653879142 + ], + [ + -13.96338112160425, + -0.12141986653879142 + ], + [ + -13.96338112160425, + 0.16076340267708017 + ], + [ + -14.208202114286376, + 0.16076340267708017 + ] + ], + "projected_box_corners": [ + [ + -14.001187872624813, + -0.07967199371531039 + ], + [ + -14.06999138316862, + 0.15014105118843057 + ], + [ + -13.96338112160425, + -0.06904964222666077 + ], + [ + -14.032184632148057, + 0.16076340267708017 + ], + [ + -14.139398603742569, + -0.12141986653879142 + ], + [ + -14.208202114286376, + 0.10839317836494954 + ], + [ + -14.101591852722006, + -0.11079751505014179 + ], + [ + -14.170395363265815, + 0.11901552985359916 + ] + ], + "yaw_rad": -2.848247425939662, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.113712310791016, + 0.05495859682559967, + 0.06710022687911987 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.156391616415407, + 0.005114448168898757, + 0.05702664722003456 + ], + "intended_face_normal": [ + -0.8950179520313739, + -0.2716978124551108, + 0.3537264593059892 + ], + "commanded_contact_point": [ + -14.117334480285644, + 0.011093680046671148, + 0.02971354762594111 + ], + "centerline_face_intersection": [ + -14.173554887585965, + 0.026093680046671147, + 0.02971354762594111 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.115888595581055, + 0.06126422435045242, + 0.06702730059623718 + ], + "box_pose": [ + -14.095560073852539, + 0.04153982922434807, + 0.03279254585504532, + 0.024314817041158676, + 0.704674243927002, + 0.6715230345726013, + -0.22781486809253693 + ], + "box_yaw_rad": -2.846866707817677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004920081271068594 + } + } + }, + { + "simulation_time_ns": 8620000000, + "center": [ + -14.083303602363323, + 0.011964407787687535, + 0.029523951523953536 + ], + "face_center": [ + -14.152304732153922, + -0.009034070142680213, + 0.05709416299374657 + ], + "face_normal": [ + -0.8936197535859378, + -0.2719470642112771, + 0.3570562634947603 + ], + "footprint_xy": [ + [ + -14.20591357857923, + -0.1291960075500894 + ], + [ + -13.960693626147414, + -0.1291960075500894 + ], + [ + -13.960693626147414, + 0.15312482312546447 + ], + [ + -14.20591357857923, + 0.15312482312546447 + ] + ], + "projected_box_corners": [ + [ + -13.998752638029373, + -0.08719905168935389 + ], + [ + -14.06791131899803, + 0.14250503468047937 + ], + [ + -13.960693626147414, + -0.07657926324436878 + ], + [ + -14.029852307116071, + 0.15312482312546447 + ], + [ + -14.136754897610572, + -0.1291960075500894 + ], + [ + -14.20591357857923, + 0.10050807881974386 + ], + [ + -14.098695885728613, + -0.1185762191051043 + ], + [ + -14.16785456669727, + 0.11112786726472897 + ] + ], + "yaw_rad": -2.8461765660171836, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.1107816696167, + 0.04740345478057861, + 0.06681716442108154 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.154896983504191, + -0.0012021683425961216, + 0.05712436105739917 + ], + "intended_face_normal": [ + -0.8949696900557598, + -0.27033415205281486, + 0.35489280075596596 + ], + "commanded_contact_point": [ + -14.115749473571777, + 0.004671768069144384, + 0.029721202042117832 + ], + "centerline_face_intersection": [ + -14.172068633546397, + 0.019671768069144384, + 0.029721202042117832 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.113712310791016, + 0.05495859682559967, + 0.06710022687911987 + ], + "box_pose": [ + -14.094038963317871, + 0.0351305790245533, + 0.03281768038868904, + 0.025336802005767822, + 0.7043666243553162, + 0.6718277335166931, + -0.22775700688362122 + ], + "box_yaw_rad": -2.848247425939662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0066146245789305965 + } + } + }, + { + "simulation_time_ns": 8640000000, + "center": [ + -14.080749050037083, + 0.006787053811818688, + 0.029132082135493884 + ], + "face_center": [ + -14.149560586677515, + -0.014365712519587695, + 0.05705584769589099 + ], + "face_normal": [ + -0.8911643708313619, + -0.27394522226080076, + 0.36163507141114826 + ], + "footprint_xy": [ + [ + -14.203664080884417, + -0.13447657796819337 + ], + [ + -13.957834019189749, + -0.13447657796819337 + ], + [ + -13.957834019189749, + 0.14805068559183074 + ], + [ + -14.203664080884417, + 0.14805068559183074 + ] + ], + "projected_box_corners": [ + [ + -13.996411500206044, + -0.0921710453053806 + ], + [ + -14.06604100760355, + 0.13738667054919682 + ], + [ + -13.957834019189749, + -0.08150703026274667 + ], + [ + -14.027463526587256, + 0.14805068559183074 + ], + [ + -14.13403457348691, + -0.13447657796819337 + ], + [ + -14.203664080884417, + 0.09508113788638405 + ], + [ + -14.095457092470614, + -0.12381256292555945 + ], + [ + -14.165086599868122, + 0.10574515292901798 + ] + ], + "yaw_rad": -2.843359443612478, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.108048439025879, + 0.04248584806919098, + 0.066257044672966 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.152304732153922, + -0.009034070142680213, + 0.05709416299374657 + ], + "intended_face_normal": [ + -0.8936197535859378, + -0.2719470642112771, + 0.3570562634947603 + ], + "commanded_contact_point": [ + -14.113900299072265, + -0.0030355922123124646, + 0.029523951523953536 + ], + "centerline_face_intersection": [ + -14.169710951352181, + 0.011964407787687535, + 0.029523951523953536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.1107816696167, + 0.04740345478057861, + 0.06681716442108154 + ], + "box_pose": [ + -14.091567039489746, + 0.027408435940742493, + 0.0326511524617672, + 0.02559097856283188, + 0.7038882970809937, + 0.6718267202377319, + -0.22920601069927216 + ], + "box_yaw_rad": -2.8461765660171836, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007928540635245498 + } + } + }, + { + "simulation_time_ns": 8660000000, + "center": [ + -14.079870027534703, + 0.006110070176309651, + 0.028523100280316682 + ], + "face_center": [ + -14.14839922449443, + -0.015048674972741052, + 0.05712833199460845 + ], + "face_normal": [ + -0.88750784641406, + -0.27402265272558113, + 0.3704606025056183 + ], + "footprint_xy": [ + [ + -14.203063318845027, + -0.1352403595474604 + ], + [ + -13.956676736224379, + -0.1352403595474604 + ], + [ + -13.956676736224379, + 0.1474604999000797 + ], + [ + -14.203063318845027, + 0.1474604999000797 + ] + ], + "projected_box_corners": [ + [ + -13.996210900909587, + -0.09292286924935898 + ], + [ + -14.066004924925576, + 0.13658224825578522 + ], + [ + -13.956676736224379, + -0.0820446176050645 + ], + [ + -14.026470760240368, + 0.1474604999000797 + ], + [ + -14.133269294829038, + -0.1352403595474604 + ], + [ + -14.203063318845027, + 0.09426475795768381 + ], + [ + -14.093735130143832, + -0.1243621079031659 + ], + [ + -14.163529154159821, + 0.10514300960197828 + ] + ], + "yaw_rad": -2.842123055999674, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.106264114379883, + 0.04208102077245712, + 0.06511348485946655 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.149560586677515, + -0.014365712519587695, + 0.05705584769589099 + ], + "intended_face_normal": [ + -0.8911643708313619, + -0.27394522226080076, + 0.36163507141114826 + ], + "commanded_contact_point": [ + -14.111881370544433, + -0.008212946188181311, + 0.029132082135493884 + ], + "centerline_face_intersection": [ + -14.167394473079977, + 0.006787053811818688, + 0.029132082135493884 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.108048439025879, + 0.04248584806919098, + 0.066257044672966 + ], + "box_pose": [ + -14.089028358459473, + 0.022212620824575424, + 0.03230802342295647, + 0.026571903377771378, + 0.7031942009925842, + 0.6716398596763611, + -0.23175786435604095 + ], + "box_yaw_rad": -2.843359443612478, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005570873199916751 + } + } + }, + { + "simulation_time_ns": 8680000000, + "center": [ + -14.079718447082067, + 0.006207279723506197, + 0.028114687621823068 + ], + "face_center": [ + -14.148120730217144, + -0.0148623713328538, + 0.057087135597158535 + ], + "face_normal": [ + -0.8858642109974681, + -0.2728688130508128, + 0.3752163464434708 + ], + "footprint_xy": [ + [ + -14.203005282864595, + -0.13521556923990644 + ], + [ + -13.956431611299537, + -0.13521556923990644 + ], + [ + -13.956431611299537, + 0.14763012868691883 + ], + [ + -14.203005282864595, + 0.14763012868691883 + ] + ], + "projected_box_corners": [ + [ + -13.996419159744653, + -0.09307626712718643 + ], + [ + -14.06620071659444, + 0.1364367507774034 + ], + [ + -13.956431611299537, + -0.081882889217671 + ], + [ + -14.026213168149324, + 0.14763012868691883 + ], + [ + -14.133223726014808, + -0.13521556923990644 + ], + [ + -14.203005282864595, + 0.0942974486646834 + ], + [ + -14.093236177569693, + -0.124022191330391 + ], + [ + -14.16301773441948, + 0.10549082657419884 + ] + ], + "yaw_rad": -2.8427893268712996, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.103950500488281, + 0.0429084487259388, + 0.0633888989686966 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.14839922449443, + -0.015048674972741052, + 0.05712833199460845 + ], + "intended_face_normal": [ + -0.88750784641406, + -0.27402265272558113, + 0.3704606025056183 + ], + "commanded_contact_point": [ + -14.109795684814452, + -0.008889929823690348, + 0.028523100280316682 + ], + "centerline_face_intersection": [ + -14.166872428948306, + 0.006110070176309651, + 0.028523100280316682 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.106264114379883, + 0.04208102077245712, + 0.06511348485946655 + ], + "box_pose": [ + -14.08813190460205, + 0.02153455652296543, + 0.03174928203225136, + 0.02963920310139656, + 0.7027050852775574, + 0.6707901954650879, + -0.23530299961566925 + ], + "box_yaw_rad": -2.842123055999674, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022757967191571085 + } + } + }, + { + "simulation_time_ns": 8700000000, + "center": [ + -14.07967855671996, + 0.006188718407516626, + 0.027975728387934634 + ], + "face_center": [ + -14.148047024201897, + -0.014899978830038296, + 0.057014054088801946 + ], + "face_normal": [ + -0.8854262712750725, + -0.27311547631267263, + 0.376069515616718 + ], + "footprint_xy": [ + [ + -14.202989115039701, + -0.13521742862715352 + ], + [ + -13.956367998400218, + -0.13521742862715352 + ], + [ + -13.956367998400218, + 0.14759486544218678 + ], + [ + -14.202989115039701, + 0.14759486544218678 + ] + ], + "projected_box_corners": [ + [ + -13.996476121598912, + -0.09304003415204368 + ], + [ + -14.066252180075823, + 0.13647227498878048 + ], + [ + -13.956367998400218, + -0.08191744369863738 + ], + [ + -14.02614405687713, + 0.14759486544218678 + ], + [ + -14.13321305656279, + -0.13521742862715352 + ], + [ + -14.202989115039701, + 0.09429488051367063 + ], + [ + -14.093104933364096, + -0.12409483817374722 + ], + [ + -14.162880991841007, + 0.10541747096707693 + ] + ], + "yaw_rad": -2.8423957847552592, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.101459503173828, + 0.043865785002708435, + 0.061754390597343445 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.148120730217144, + -0.0148623713328538, + 0.057087135597158535 + ], + "intended_face_normal": [ + -0.8858642109974681, + -0.2728688130508128, + 0.3752163464434708 + ], + "commanded_contact_point": [ + -14.107907409667968, + -0.008792720276493802, + 0.028114687621823068 + ], + "centerline_face_intersection": [ + -14.166882273041912, + 0.006207279723506197, + 0.028114687621823068 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.103950500488281, + 0.0429084487259388, + 0.0633888989686966 + ], + "box_pose": [ + -14.087965965270996, + 0.021641740575432777, + 0.03132989630103111, + 0.031484831124544144, + 0.7032137513160706, + 0.6696435809135437, + -0.2368050366640091 + ], + "box_yaw_rad": -2.8427893268712996, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019343819748215622 + } + } + }, + { + "simulation_time_ns": 8720000000, + "center": [ + -14.079116795410796, + 0.005974177957044909, + 0.02800111658339163 + ], + "face_center": [ + -14.147433909333271, + -0.01507114888951639, + 0.05719134442579446 + ], + "face_normal": [ + -0.8847612016553015, + -0.27255379510208577, + 0.37803676969936983 + ], + "footprint_xy": [ + [ + -14.202374111116171, + -0.13533332487475136 + ], + [ + -13.95585947970542, + -0.13533332487475136 + ], + [ + -13.95585947970542, + 0.14728168078884118 + ], + [ + -14.202374111116171, + 0.14728168078884118 + ] + ], + "projected_box_corners": [ + [ + -13.996252957639781, + -0.09324267118162877 + ], + [ + -14.06573988327122, + 0.13635149357933446 + ], + [ + -13.95585947970542, + -0.08231248397212203 + ], + [ + -14.025346405336858, + 0.14728168078884118 + ], + [ + -14.132887185484732, + -0.13533332487475136 + ], + [ + -14.202374111116171, + 0.09426083988621184 + ], + [ + -14.09249370755037, + -0.12440313766524463 + ], + [ + -14.161980633181809, + 0.10519102709571858 + ] + ], + "yaw_rad": -2.8427637908570005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.098061561584473, + 0.04469447582960129, + 0.06058703362941742 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.148047024201897, + -0.014899978830038296, + 0.057014054088801946 + ], + "intended_face_normal": [ + -0.8854262712750725, + -0.27311547631267263, + 0.376069515616718 + ], + "commanded_contact_point": [ + -14.106345291137695, + -0.008811281592483374, + 0.027975728387934634 + ], + "centerline_face_intersection": [ + -14.166885494684703, + 0.006188718407516626, + 0.027975728387934634 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.101459503173828, + 0.043865785002708435, + 0.061754390597343445 + ], + "box_pose": [ + -14.087922096252441, + 0.021621068939566612, + 0.031211204826831818, + 0.03180127218365669, + 0.7028447389602661, + 0.6698674559593201, + -0.23722468316555023 + ], + "box_yaw_rad": -2.8423957847552592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015683967909166895 + } + } + }, + { + "simulation_time_ns": 8740000000, + "center": [ + -14.076725285451797, + 0.004357294330719434, + 0.028258919401714162 + ], + "face_center": [ + -14.145009973858746, + -0.016537857657876034, + 0.05763235209689629 + ], + "face_normal": [ + -0.8843412653255385, + -0.27060891072153304, + 0.3804094188993643 + ], + "footprint_xy": [ + [ + -14.199813287645588, + -0.1367882542193618 + ], + [ + -13.953637283258004, + -0.1367882542193618 + ], + [ + -13.953637283258004, + 0.14550284288080068 + ], + [ + -14.199813287645588, + 0.14550284288080068 + ] + ], + "projected_box_corners": [ + [ + -13.994362621400061, + -0.09499795024217088 + ], + [ + -14.06324391083169, + 0.13477298693764356 + ], + [ + -13.953637283258004, + -0.08426809429901375 + ], + [ + -14.022518572689632, + 0.14550284288080068 + ], + [ + -14.13093199821396, + -0.1367882542193618 + ], + [ + -14.199813287645588, + 0.09298268296045262 + ], + [ + -14.090206660071903, + -0.1260583982762047 + ], + [ + -14.159087949503531, + 0.10371253890360974 + ] + ], + "yaw_rad": -2.8446399024783715, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.095154762268066, + 0.043731510639190674, + 0.06109194457530975 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.147433909333271, + -0.01507114888951639, + 0.05719134442579446 + ], + "intended_face_normal": [ + -0.8847612016553015, + -0.27255379510208577, + 0.37803676969936983 + ], + "commanded_contact_point": [ + -14.104697341918945, + -0.00902582204295509, + 0.02800111658339163 + ], + "centerline_face_intersection": [ + -14.166389286300966, + 0.005974177957044909, + 0.02800111658339163 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.098061561584473, + 0.04469447582960129, + 0.06058703362941742 + ], + "box_pose": [ + -14.087332725524902, + 0.021412096917629242, + 0.03127995878458023, + 0.03295610100030899, + 0.7020423412322998, + 0.6704604029655457, + -0.23776717483997345 + ], + "box_yaw_rad": -2.8427637908570005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001662049575956116 + } + } + }, + { + "simulation_time_ns": 8760000000, + "center": [ + -14.075614184946016, + 0.0020192456791652182, + 0.02841122741643294 + ], + "face_center": [ + -14.14389809722287, + -0.018950569764642607, + 0.0577331816650464 + ], + "face_normal": [ + -0.8843312138207935, + -0.2715758621127815, + 0.37974273189181407 + ], + "footprint_xy": [ + [ + -14.198774836667182, + -0.13917230593010604 + ], + [ + -13.952453533224848, + -0.13917230593010604 + ], + [ + -13.952453533224848, + 0.14321079728843647 + ], + [ + -14.198774836667182, + 0.14321079728843647 + ] + ], + "projected_box_corners": [ + [ + -13.99310013824359, + -0.09723267504249039 + ], + [ + -14.062207012113472, + 0.1324702240626724 + ], + [ + -13.952453533224848, + -0.08649210181672633 + ], + [ + -14.021560407094729, + 0.14321079728843647 + ], + [ + -14.129667962797301, + -0.13917230593010604 + ], + [ + -14.198774836667182, + 0.09053059317505677 + ], + [ + -14.089021357778558, + -0.12843173270434197 + ], + [ + -14.15812823164844, + 0.10127116640082083 + ] + ], + "yaw_rad": -2.843637221926378, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.093978881835938, + 0.04182397946715355, + 0.06164856255054474 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.145009973858746, + -0.016537857657876034, + 0.05763235209689629 + ], + "intended_face_normal": [ + -0.8843412653255385, + -0.27060891072153304, + 0.3804094188993643 + ], + "commanded_contact_point": [ + -14.103126640319823, + -0.010642705669280566, + 0.028258919401714162 + ], + "centerline_face_intersection": [ + -14.164039218363222, + 0.004357294330719434, + 0.028258919401714162 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.095154762268066, + 0.043731510639190674, + 0.06109194457530975 + ], + "box_pose": [ + -14.084891319274902, + 0.019813422113656998, + 0.031576402485370636, + 0.03475188463926315, + 0.7013342380523682, + 0.671044647693634, + -0.2379530817270279 + ], + "box_yaw_rad": -2.8446399024783715, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022688936660178725 + } + } + }, + { + "simulation_time_ns": 8780000000, + "center": [ + -14.075173264692134, + 0.0011017215597793895, + 0.0285211661989851 + ], + "face_center": [ + -14.143470221143247, + -0.019884728490850274, + 0.057800778447691256 + ], + "face_normal": [ + -0.8845001462980022, + -0.2717912935599802, + 0.37919436916734384 + ], + "footprint_xy": [ + [ + -14.198335955222259, + -0.14009271739613816 + ], + [ + -13.952010574162008, + -0.14009271739613816 + ], + [ + -13.952010574162008, + 0.14229616051569693 + ], + [ + -14.198335955222259, + 0.14229616051569693 + ] + ], + "projected_box_corners": [ + [ + -13.99259902632657, + -0.09811981729487881 + ], + [ + -14.061742042320033, + 0.13157200620412068 + ], + [ + -13.952010574162008, + -0.08739566298330256 + ], + [ + -14.021153590155471, + 0.14229616051569693 + ], + [ + -14.129192939228796, + -0.14009271739613816 + ], + [ + -14.198335955222259, + 0.08959910610286134 + ], + [ + -14.088604487064234, + -0.1293685630845619 + ], + [ + -14.157747503057697, + 0.10032326041443759 + ] + ], + "yaw_rad": -2.843468256675741, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.09338665008545, + 0.041265711188316345, + 0.06203828752040863 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.14389809722287, + -0.018950569764642607, + 0.0577331816650464 + ], + "intended_face_normal": [ + -0.8843312138207935, + -0.2715758621127815, + 0.37974273189181407 + ], + "commanded_contact_point": [ + -14.101696128845214, + -0.012980754320834781, + 0.02841122741643294 + ], + "centerline_face_intersection": [ + -14.16292911028697, + 0.0020192456791652182, + 0.02841122741643294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.093978881835938, + 0.04182397946715355, + 0.06164856255054474 + ], + "box_pose": [ + -14.083797454833984, + 0.017466489225625992, + 0.031727612018585205, + 0.03415345400571823, + 0.7013357877731323, + 0.6710392832756042, + -0.23805010318756104 + ], + "box_yaw_rad": -2.843637221926378, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027451834742638153 + } + } + }, + { + "simulation_time_ns": 8800000000, + "center": [ + -14.07526313665585, + 0.0011113470274206859, + 0.02866421943790077 + ], + "face_center": [ + -14.143643140111232, + -0.019852051290124628, + 0.057766031468182585 + ], + "face_normal": [ + -0.8855756713468566, + -0.27149275520124494, + 0.3768917142998358 + ], + "footprint_xy": [ + [ + -14.198363500517505, + -0.14009544765308682 + ], + [ + -13.952162772794198, + -0.14009544765308682 + ], + [ + -13.952162772794198, + 0.1423181417079282 + ], + [ + -14.198363500517505, + 0.1423181417079282 + ] + ], + "projected_box_corners": [ + [ + -13.992464802638787, + -0.09816865101799617 + ], + [ + -14.061603493606745, + 0.13152927739820214 + ], + [ + -13.952162772794198, + -0.08737978670827012 + ], + [ + -14.021301463762155, + 0.1423181417079282 + ], + [ + -14.129224809549548, + -0.14009544765308682 + ], + [ + -14.198363500517505, + 0.0896024807631115 + ], + [ + -14.088922779704957, + -0.12930658334336076 + ], + [ + -14.158061470672916, + 0.10039134507283755 + ] + ], + "yaw_rad": -2.8441174081241636, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.093304634094238, + 0.041614167392253876, + 0.0624556839466095 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.143470221143247, + -0.019884728490850274, + 0.057800778447691256 + ], + "intended_face_normal": [ + -0.8845001462980022, + -0.2717912935599802, + 0.37919436916734384 + ], + "commanded_contact_point": [ + -14.100191230773925, + -0.01389827844022061, + 0.0285211661989851 + ], + "centerline_face_intersection": [ + -14.162471513578373, + 0.0011017215597793895, + 0.0285211661989851 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.09338665008545, + 0.041265711188316345, + 0.06203828752040863 + ], + "box_pose": [ + -14.08336067199707, + 0.016547013074159622, + 0.03183642402291298, + 0.033889561891555786, + 0.701330304145813, + 0.6711079478263855, + -0.237910196185112 + ], + "box_yaw_rad": -2.843468256675741, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017659714750055653 + } + } + }, + { + "simulation_time_ns": 8820000000, + "center": [ + -14.075409037013364, + 0.001068629657782684, + 0.028814036257381943 + ], + "face_center": [ + -14.143904798287696, + -0.01986945018788134, + 0.057660712236528265 + ], + "face_normal": [ + -0.8870748275775284, + -0.27116486076426405, + 0.37358749861759266 + ], + "footprint_xy": [ + [ + -14.198415489652845, + -0.1401432534663586 + ], + [ + -13.952402584373882, + -0.1401432534663586 + ], + [ + -13.952402584373882, + 0.142280512781924 + ], + [ + -14.198415489652845, + 0.142280512781924 + ] + ], + "projected_box_corners": [ + [ + -13.9923069751675, + -0.09826709377503057 + ], + [ + -14.061423967104178, + 0.13144215886038715 + ], + [ + -13.952402584373882, + -0.08742873985349374 + ], + [ + -14.02151957631056, + 0.142280512781924 + ], + [ + -14.129298497716167, + -0.1401432534663586 + ], + [ + -14.198415489652845, + 0.08956599916905911 + ], + [ + -14.08939410692255, + -0.12930489954482177 + ], + [ + -14.158511098859227, + 0.10040435309059594 + ] + ], + "yaw_rad": -2.8449290845634345, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.093281745910645, + 0.04173082858324051, + 0.06281006336212158 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.143643140111232, + -0.019852051290124628, + 0.057766031468182585 + ], + "intended_face_normal": [ + -0.8855756713468566, + -0.27149275520124494, + 0.3768917142998358 + ], + "commanded_contact_point": [ + -14.098515625, + -0.013888652972579314, + 0.02866421943790077 + ], + "centerline_face_intersection": [ + -14.162455362469826, + 0.0011113470274206859, + 0.02866421943790077 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.093304634094238, + 0.041614167392253876, + 0.0624556839466095 + ], + "box_pose": [ + -14.08345890045166, + 0.01655927300453186, + 0.03194640204310417, + 0.033047158271074295, + 0.7018817663192749, + 0.6709320545196533, + -0.23689667880535126 + ], + "box_yaw_rad": -2.8441174081241636, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016817287499489902 + } + } + }, + { + "simulation_time_ns": 8840000000, + "center": [ + -14.07566569577211, + 2.626250025149733e-05, + 0.02882420176871535 + ], + "face_center": [ + -14.1441802226985, + -0.02089969129623722, + 0.057635042865727654 + ], + "face_normal": [ + -0.8873178577629588, + -0.27100781874033064, + 0.37312340826661483 + ], + "footprint_xy": [ + [ + -14.198649160692687, + -0.14118178785711227 + ], + [ + -13.952682230851531, + -0.14118178785711227 + ], + [ + -13.952682230851531, + 0.14123431285761526 + ], + [ + -14.198649160692687, + 0.14123431285761526 + ] + ], + "projected_box_corners": [ + [ + -13.992530436600465, + -0.09932988026413483 + ], + [ + -14.061620106839904, + 0.1303883143427762 + ], + [ + -13.952682230851531, + -0.08848388174929579 + ], + [ + -14.02177190109097, + 0.14123431285761526 + ], + [ + -14.129559490453246, + -0.14118178785711227 + ], + [ + -14.198649160692687, + 0.08853640674979879 + ], + [ + -14.089711284704315, + -0.13033578934227322 + ], + [ + -14.158800954943754, + 0.09938240526463783 + ] + ], + "yaw_rad": -2.8451675322102257, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.093262672424316, + 0.04060684144496918, + 0.06298364698886871 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.143904798287696, + -0.01986945018788134, + 0.057660712236528265 + ], + "intended_face_normal": [ + -0.8870748275775284, + -0.27116486076426405, + 0.37358749861759266 + ], + "commanded_contact_point": [ + -14.096879119873046, + -0.013931370342217315, + 0.028814036257381943 + ], + "centerline_face_intersection": [ + -14.162453907988118, + 0.001068629657782684, + 0.028814036257381943 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.093281745910645, + 0.04173082858324051, + 0.06281006336212158 + ], + "box_pose": [ + -14.08361530303955, + 0.01651947572827339, + 0.03205598145723343, + 0.03185483440756798, + 0.7025196552276611, + 0.6708230376243591, + -0.23547354340553284 + ], + "box_yaw_rad": -2.8449290845634345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001643903550580784 + } + } + }, + { + "simulation_time_ns": 8860000000, + "center": [ + -14.07534603489117, + -0.0020145155539528885, + 0.02859251636000459 + ], + "face_center": [ + -14.143769355575593, + -0.0228155831290213, + 0.057709003187409125 + ], + "face_normal": [ + -0.8861366640676991, + -0.26939044240532617, + 0.37708176464580134 + ], + "footprint_xy": [ + [ + -14.198277234835746, + -0.14314732201761454 + ], + [ + -13.952414834946596, + -0.14314732201761454 + ], + [ + -13.952414834946596, + 0.13911829090970876 + ], + [ + -14.198277234835746, + 0.13911829090970876 + ] + ], + "projected_box_corners": [ + [ + -13.99272260959853, + -0.10154518686747771 + ], + [ + -14.061430593466902, + 0.1282854216120392 + ], + [ + -13.952414834946596, + -0.09071231756980815 + ], + [ + -14.021122818814968, + 0.13911829090970876 + ], + [ + -14.129569250967375, + -0.14314732201761454 + ], + [ + -14.198277234835746, + 0.08668328646190236 + ], + [ + -14.089261476315441, + -0.13231445271994496 + ], + [ + -14.157969460183812, + 0.09751615575957194 + ] + ], + "yaw_rad": -2.846465128147592, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.092350006103516, + 0.03833285719156265, + 0.06275002658367157 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.1441802226985, + -0.02089969129623722, + 0.057635042865727654 + ], + "intended_face_normal": [ + -0.8873178577629588, + -0.27100781874033064, + 0.37312340826661483 + ], + "commanded_contact_point": [ + -14.095257873535155, + -0.014973737499748502, + 0.02882420176871535 + ], + "centerline_face_intersection": [ + -14.162686725762542, + 2.626250025149733e-05, + 0.02882420176871535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.093262672424316, + 0.04060684144496918, + 0.06298364698886871 + ], + "box_pose": [ + -14.083871841430664, + 0.015478532761335373, + 0.032059647142887115, + 0.03172525018453598, + 0.7026248574256897, + 0.670803427696228, + -0.2352326363325119 + ], + "box_yaw_rad": -2.8451675322102257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001927452286528535 + } + } + }, + { + "simulation_time_ns": 8880000000, + "center": [ + -14.074177070994352, + -0.0038755163051865903, + 0.028501628098757083 + ], + "face_center": [ + -14.142549016853497, + -0.02469439572634899, + 0.05772591320450071 + ], + "face_normal": [ + -0.8854713190386647, + -0.2696211200415579, + 0.37847783846689254 + ], + "footprint_xy": [ + [ + -14.197143799772057, + -0.1449928065030812 + ], + [ + -13.951210342216646, + -0.1449928065030812 + ], + [ + -13.951210342216646, + 0.137241773892708 + ], + [ + -14.197143799772057, + 0.137241773892708 + ] + ], + "projected_box_corners": [ + [ + -13.991699492916009, + -0.1033550476607564 + ], + [ + -14.060399908053766, + 0.12647451459862116 + ], + [ + -13.951210342216646, + -0.09258778836666955 + ], + [ + -14.019910757354404, + 0.137241773892708 + ], + [ + -14.1284433846343, + -0.1449928065030812 + ], + [ + -14.197143799772057, + 0.08483675575629637 + ], + [ + -14.087954233934937, + -0.13422554720899435 + ], + [ + -14.156654649072694, + 0.09560401505038321 + ] + ], + "yaw_rad": -2.846017609713836, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.090716361999512, + 0.036055788397789, + 0.0624852180480957 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.143769355575593, + -0.0228155831290213, + 0.057709003187409125 + ], + "intended_face_normal": [ + -0.8861366640676991, + -0.26939044240532617, + 0.37708176464580134 + ], + "commanded_contact_point": [ + -14.093452568054198, + -0.017014515553952888, + 0.02859251636000459 + ], + "centerline_face_intersection": [ + -14.162483061314376, + -0.0020145155539528885, + 0.02859251636000459 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.092350006103516, + 0.03833285719156265, + 0.06275002658367157 + ], + "box_pose": [ + -14.083513259887695, + 0.013452582992613316, + 0.03185549005866051, + 0.03379631042480469, + 0.702258825302124, + 0.6707465052604675, + -0.23619799315929413 + ], + "box_yaw_rad": -2.846465128147592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00273451660713648 + } + } + }, + { + "simulation_time_ns": 8900000000, + "center": [ + -14.072112907946813, + -0.006114288499010892, + 0.028517425684958495 + ], + "face_center": [ + -14.140452181931625, + -0.026909120708250182, + 0.057835060664102524 + ], + "face_normal": [ + -0.885048192165506, + -0.2693096894366045, + 0.3796867939016586 + ], + "footprint_xy": [ + [ + -14.195067701599514, + -0.1471999445018556 + ], + [ + -13.949158114294114, + -0.1471999445018556 + ], + [ + -13.949158114294114, + 0.13497136750383384 + ], + [ + -14.195067701599514, + 0.13497136750383384 + ] + ], + "projected_box_corners": [ + [ + -13.989800429117635, + -0.10561028008337704 + ], + [ + -14.058389153629895, + 0.12425045660477334 + ], + [ + -13.949158114294114, + -0.09488936918431654 + ], + [ + -14.017746838806373, + 0.13497136750383384 + ], + [ + -14.126478977087254, + -0.1471999445018556 + ], + [ + -14.195067701599514, + 0.08266079218629475 + ], + [ + -14.085836662263734, + -0.13647903360279512 + ], + [ + -14.154425386775994, + 0.09338170308535525 + ] + ], + "yaw_rad": -2.8462064215911203, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.088292121887207, + 0.03353223577141762, + 0.062346115708351135 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.142549016853497, + -0.02469439572634899, + 0.05772591320450071 + ], + "intended_face_normal": [ + -0.8854713190386647, + -0.2696211200415579, + 0.37847783846689254 + ], + "commanded_contact_point": [ + -14.09165298461914, + -0.01887551630518659, + 0.028501628098757083 + ], + "centerline_face_intersection": [ + -14.16137957236421, + -0.0038755163051865903, + 0.028501628098757083 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.090716361999512, + 0.036055788397789, + 0.0624852180480957 + ], + "box_pose": [ + -14.082338333129883, + 0.011589589528739452, + 0.03178888559341431, + 0.0343184620141983, + 0.7018360495567322, + 0.6709409952163696, + -0.2368263304233551 + ], + "box_yaw_rad": -2.846017609713836, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002590383178578468 + } + } + }, + { + "simulation_time_ns": 8920000000, + "center": [ + -14.069931671265191, + -0.00820209432053879, + 0.028517235576293366 + ], + "face_center": [ + -14.138235210908322, + -0.028964709956210068, + 0.05794071223110228 + ], + "face_normal": [ + -0.8845854038937162, + -0.26889245907210757, + 0.38105752815505145 + ], + "footprint_xy": [ + [ + -14.192880691681014, + -0.1492691706038063 + ], + [ + -13.94698265084937, + -0.1492691706038063 + ], + [ + -13.94698265084937, + 0.13286498196272872 + ], + [ + -14.192880691681014, + 0.13286498196272872 + ] + ], + "projected_box_corners": [ + [ + -13.987783099928304, + -0.10774393933246373 + ], + [ + -14.056273612394754, + 0.1221450841582079 + ], + [ + -13.94698265084937, + -0.09702404152794293 + ], + [ + -14.01547316331582, + 0.13286498196272872 + ], + [ + -14.124390179214563, + -0.1492691706038063 + ], + [ + -14.192880691681014, + 0.08061985288686535 + ], + [ + -14.083589730135628, + -0.13854927279928547 + ], + [ + -14.152080242602079, + 0.09133975069138615 + ] + ], + "yaw_rad": -2.8464924393799134, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.085890769958496, + 0.03126393258571625, + 0.062167853116989136 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.140452181931625, + -0.026909120708250182, + 0.057835060664102524 + ], + "intended_face_normal": [ + -0.885048192165506, + -0.2693096894366045, + 0.3796867939016586 + ], + "commanded_contact_point": [ + -14.08992015838623, + -0.02111428849901089, + 0.028517425684958495 + ], + "centerline_face_intersection": [ + -14.159357099387407, + -0.006114288499010892, + 0.028517425684958495 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.088292121887207, + 0.03353223577141762, + 0.062346115708351135 + ], + "box_pose": [ + -14.080262184143066, + 0.009353737346827984, + 0.0318206325173378, + 0.03493594378232956, + 0.7015665173530579, + 0.6710652112960815, + -0.23718221485614777 + ], + "box_yaw_rad": -2.8462064215911203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002831084112673494 + } + } + }, + { + "simulation_time_ns": 8940000000, + "center": [ + -14.06836627215256, + -0.009608162130480252, + 0.028447120362273693 + ], + "face_center": [ + -14.136636359818281, + -0.030373891261691204, + 0.05794596334429838 + ], + "face_normal": [ + -0.8841521740625709, + -0.26893278132661846, + 0.3820335823002461 + ], + "footprint_xy": [ + [ + -14.191347624181027, + -0.15068665167643397 + ], + [ + -13.945384920124091, + -0.15068665167643397 + ], + [ + -13.945384920124091, + 0.1314703274154735 + ], + [ + -14.191347624181027, + 0.1314703274154735 + ] + ], + "projected_box_corners": [ + [ + -13.986290921545391, + -0.10915519341401207 + ], + [ + -14.054807448849584, + 0.12072570197083106 + ], + [ + -13.945384920124091, + -0.09841056796936966 + ], + [ + -14.013901447428285, + 0.1314703274154735 + ], + [ + -14.122831096876835, + -0.15068665167643397 + ], + [ + -14.191347624181027, + 0.07919424370840915 + ], + [ + -14.081925095455535, + -0.13994202623179156 + ], + [ + -14.150441622759727, + 0.08993886915305158 + ] + ], + "yaw_rad": -2.8463143532677297, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.08420181274414, + 0.029647082090377808, + 0.0618261843919754 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.138235210908322, + -0.028964709956210068, + 0.05794071223110228 + ], + "intended_face_normal": [ + -0.8845854038937162, + -0.26889245907210757, + 0.38105752815505145 + ], + "commanded_contact_point": [ + -14.08790599822998, + -0.02320209432053879, + 0.028517235576293366 + ], + "centerline_face_intersection": [ + -14.157221506222399, + -0.00820209432053879, + 0.028517235576293366 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.085890769958496, + 0.03126393258571625, + 0.062167853116989136 + ], + "box_pose": [ + -14.078069686889648, + 0.007269739173352718, + 0.03183034062385559, + 0.03560078889131546, + 0.7014317512512207, + 0.6710336804389954, + -0.23757041990756989 + ], + "box_yaw_rad": -2.8464924393799134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002900995401508268 + } + } + }, + { + "simulation_time_ns": 8960000000, + "center": [ + -14.067339221836328, + -0.010182165586601953, + 0.028282012221399602 + ], + "face_center": [ + -14.135606021575164, + -0.030903471371877038, + 0.057819713138457546 + ], + "face_normal": [ + -0.8841095927827851, + -0.26835746350835743, + 0.3825368236012894 + ], + "footprint_xy": [ + [ + -14.190231895420908, + -0.15116411356529388 + ], + [ + -13.944446548251745, + -0.15116411356529388 + ], + [ + -13.944446548251745, + 0.13079978239208997 + ], + [ + -14.190231895420908, + 0.13079978239208997 + ] + ], + "projected_box_corners": [ + [ + -13.98546408531866, + -0.10972150199474372 + ], + [ + -14.053698295943235, + 0.12023791450732325 + ], + [ + -13.944446548251745, + -0.099159634109977 + ], + [ + -14.012680758876321, + 0.13079978239208997 + ], + [ + -14.121997684796332, + -0.15116411356529388 + ], + [ + -14.190231895420908, + 0.07879530293677309 + ], + [ + -14.080980147729418, + -0.14060224568052715 + ], + [ + -14.149214358353994, + 0.08935717082153982 + ] + ], + "yaw_rad": -2.846896671651862, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.082497596740723, + 0.028884531930088997, + 0.06070725619792938 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.136636359818281, + -0.030373891261691204, + 0.05794596334429838 + ], + "intended_face_normal": [ + -0.8841521740625709, + -0.26893278132661846, + 0.3820335823002461 + ], + "commanded_contact_point": [ + -14.085445518493652, + -0.02460816213048025, + 0.028447120362273693 + ], + "centerline_face_intersection": [ + -14.155698878661507, + -0.009608162130480252, + 0.028447120362273693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.08420181274414, + 0.029647082090377808, + 0.0618261843919754 + ], + "box_pose": [ + -14.076502799987793, + 0.005863264203071594, + 0.031765781342983246, + 0.035929422825574875, + 0.7013737559318542, + 0.6709328889846802, + -0.23797662556171417 + ], + "box_yaw_rad": -2.8463143532677297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028347668973430465 + } + } + }, + { + "simulation_time_ns": 8980000000, + "center": [ + -14.063007664245417, + -0.013474669396853994, + 0.028106011319532543 + ], + "face_center": [ + -14.13142710707298, + -0.03380712584665419, + 0.057560689996673964 + ], + "face_normal": [ + -0.8860864427234816, + -0.2633215539746492, + 0.381461619270556 + ], + "footprint_xy": [ + [ + -14.185271076308187, + -0.15400289763936842 + ], + [ + -13.940744252182647, + -0.15400289763936842 + ], + [ + -13.940744252182647, + 0.12705355884566044 + ], + [ + -14.185271076308187, + 0.12705355884566044 + ] + ], + "projected_box_corners": [ + [ + -13.981799796745086, + -0.11333798473976803 + ], + [ + -14.048432190653061, + 0.11707942859381099 + ], + [ + -13.940744252182647, + -0.10336385448791859 + ], + [ + -14.007376646090622, + 0.12705355884566044 + ], + [ + -14.118638682400213, + -0.15400289763936842 + ], + [ + -14.185271076308187, + 0.0764145156942106 + ], + [ + -14.077583137837774, + -0.144028767387519 + ], + [ + -14.144215531745747, + 0.08638864594606004 + ] + ], + "yaw_rad": -2.852730841571791, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.077220916748047, + 0.025689713656902313, + 0.059680670499801636 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.135606021575164, + -0.030903471371877038, + 0.057819713138457546 + ], + "intended_face_normal": [ + -0.8841095927827851, + -0.26835746350835743, + 0.3825368236012894 + ], + "commanded_contact_point": [ + -14.08326732635498, + -0.025182165586601954, + 0.028282012221399602 + ], + "centerline_face_intersection": [ + -14.15467603453666, + -0.010182165586601953, + 0.028282012221399602 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.082497596740723, + 0.028884531930088997, + 0.06070725619792938 + ], + "box_pose": [ + -14.075453758239746, + 0.005294784903526306, + 0.031628649681806564, + 0.03652369603514671, + 0.7008002400398254, + 0.6715160608291626, + -0.23793108761310577 + ], + "box_yaw_rad": -2.846896671651862, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022585972768057864 + } + } + }, + { + "simulation_time_ns": 9000000000, + "center": [ + -14.059405644655788, + -0.016007048008444373, + 0.028247149894798283 + ], + "face_center": [ + -14.127874777008518, + -0.03600455729361334, + 0.0578154235402748 + ], + "face_normal": [ + -0.8867299617697881, + -0.25898372061408814, + 0.38293276485788574 + ], + "footprint_xy": [ + [ + -14.181233718084966, + -0.15622354261523014 + ], + [ + -13.937577571226608, + -0.15622354261523014 + ], + [ + -13.937577571226608, + 0.12420944659834139 + ], + [ + -14.181233718084966, + 0.12420944659834139 + ] + ], + "projected_box_corners": [ + [ + -13.978877761852333, + -0.1162285240448922 + ], + [ + -14.044295453379503, + 0.11453080960948799 + ], + [ + -13.937577571226608, + -0.10654988705603878 + ], + [ + -14.002995262753778, + 0.12420944659834139 + ], + [ + -14.115816026557797, + -0.15622354261523014 + ], + [ + -14.181233718084966, + 0.07453579103915003 + ], + [ + -14.074515835932072, + -0.14654490562637673 + ], + [ + -14.139933527459242, + 0.08421442802800345 + ] + ], + "yaw_rad": -2.857430508836961, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.073047637939453, + 0.023396547883749008, + 0.059813663363456726 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.13142710707298, + -0.03380712584665419, + 0.057560689996673964 + ], + "intended_face_normal": [ + -0.8860864427234816, + -0.2633215539746492, + 0.381461619270556 + ], + "commanded_contact_point": [ + -14.081383819580077, + -0.028474669396853995, + 0.028106011319532543 + ], + "centerline_face_intersection": [ + -14.150149629395123, + -0.013474669396853994, + 0.028106011319532543 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.077220916748047, + 0.025689713656902313, + 0.059680670499801636 + ], + "box_pose": [ + -14.071015357971191, + 0.002048475667834282, + 0.03149578347802162, + 0.03850233182311058, + 0.6997154355049133, + 0.6733806729316711, + -0.23553015291690826 + ], + "box_yaw_rad": -2.852730841571791, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037972563027909054 + } + } + }, + { + "simulation_time_ns": 9020000000, + "center": [ + -14.059291811802103, + -0.015977985982487217, + 0.02840932728076066 + ], + "face_center": [ + -14.127762545681223, + -0.03589973445903834, + 0.0580250099165259 + ], + "face_normal": [ + -0.8867507028159309, + -0.2580025576195979, + 0.3835467491556521 + ], + "footprint_xy": [ + [ + -14.181102999000672, + -0.1562323323032195 + ], + [ + -13.937480624603536, + -0.1562323323032195 + ], + [ + -13.937480624603536, + 0.12427636033824507 + ], + [ + -14.181102999000672, + 0.12427636033824507 + ] + ], + "projected_box_corners": [ + [ + -13.978791401475782, + -0.11638883535011728 + ], + [ + -14.044161531242432, + 0.11439295025470413 + ], + [ + -13.937480624603536, + -0.10650542526657632 + ], + [ + -14.002850754370185, + 0.12427636033824507 + ], + [ + -14.115732869234023, + -0.1562323323032195 + ], + [ + -14.181102999000672, + 0.07454945330160188 + ], + [ + -14.074422092361775, + -0.14634892221967855 + ], + [ + -14.139792222128426, + 0.08443286338514285 + ] + ], + "yaw_rad": -2.8584566140179115, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.072587013244629, + 0.023516710847616196, + 0.0599956214427948 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.127874777008518, + -0.03600455729361334, + 0.0578154235402748 + ], + "intended_face_normal": [ + -0.8867299617697881, + -0.25898372061408814, + 0.38293276485788574 + ], + "commanded_contact_point": [ + -14.07955467224121, + -0.031007048008444373, + 0.028247149894798283 + ], + "centerline_face_intersection": [ + -14.146484369003081, + -0.016007048008444373, + 0.028247149894798283 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.073047637939453, + 0.023396547883749008, + 0.059813663363456726 + ], + "box_pose": [ + -14.067325592041016, + -0.00044490769505500793, + 0.031664155423641205, + 0.04087670519948006, + 0.6991255283355713, + 0.674231767654419, + -0.23444432020187378 + ], + "box_yaw_rad": -2.857430508836961, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031270819492225277 + } + } + }, + { + "simulation_time_ns": 9040000000, + "center": [ + -14.059046546232482, + -0.016011735878040795, + 0.02855647691443844 + ], + "face_center": [ + -14.127462637785566, + -0.03584955657349482, + 0.05835422900223432 + ], + "face_normal": [ + -0.886043041041745, + -0.2569156258071681, + 0.38590469400891614 + ], + "footprint_xy": [ + [ + -14.180867230087143, + -0.15629479444706243 + ], + [ + -13.93722586237782, + -0.15629479444706243 + ], + [ + -13.93722586237782, + 0.12427132269098083 + ], + [ + -14.180867230087143, + 0.12427132269098083 + ] + ], + "projected_box_corners": [ + [ + -13.978750870288492, + -0.11661915305615438 + ], + [ + -14.044035046980976, + 0.11419273337275054 + ], + [ + -13.93722586237782, + -0.10654056373792409 + ], + [ + -14.002510039070307, + 0.12427132269098083 + ], + [ + -14.115583053394658, + -0.15629479444706243 + ], + [ + -14.180867230087143, + 0.0745170919818425 + ], + [ + -14.074058045483989, + -0.14621620512883213 + ], + [ + -14.139342222176474, + 0.08459568130007279 + ] + ], + "yaw_rad": -2.859373601448177, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.071956634521484, + 0.023467011749744415, + 0.06018829345703125 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.127762545681223, + -0.03589973445903834, + 0.0580250099165259 + ], + "intended_face_normal": [ + -0.8867507028159309, + -0.2580025576195979, + 0.3835467491556521 + ], + "commanded_contact_point": [ + -14.077977294921874, + -0.030977985982487216, + 0.02840932728076066 + ], + "centerline_face_intersection": [ + -14.146368499383218, + -0.015977985982487217, + 0.02840932728076066 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.072587013244629, + 0.023516710847616196, + 0.0599956214427948 + ], + "box_pose": [ + -14.067208290100098, + -0.00040712766349315643, + 0.031794510781764984, + 0.04122114181518555, + 0.6998146772384644, + 0.6735241413116455, + -0.23436196148395538 + ], + "box_yaw_rad": -2.8584566140179115, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015859587994099193 + } + } + }, + { + "simulation_time_ns": 9060000000, + "center": [ + -14.057984817860072, + -0.016475383214837047, + 0.02867677681570297 + ], + "face_center": [ + -14.126345290672772, + -0.0362100470465727, + 0.05866997862300992 + ], + "face_normal": [ + -0.8853227339217398, + -0.2555796620132931, + 0.38843592401511984 + ], + "footprint_xy": [ + [ + -14.179728125345845, + -0.15667929761049232 + ], + [ + -13.9362415103743, + -0.15667929761049232 + ], + [ + -13.9362415103743, + 0.12372853118081822 + ], + [ + -14.179728125345845, + 0.12372853118081822 + ] + ], + "projected_box_corners": [ + [ + -13.978068670880003, + -0.11720996994702103 + ], + [ + -14.043007179720444, + 0.11369682324464794 + ], + [ + -13.9362415103743, + -0.10717826201085075 + ], + [ + -14.001180019214742, + 0.12372853118081822 + ], + [ + -14.114789616505401, + -0.15667929761049232 + ], + [ + -14.179728125345845, + 0.07422749558117664 + ], + [ + -14.072962455999699, + -0.14664758967432204 + ], + [ + -14.13790096484014, + 0.08425920351734693 + ] + ], + "yaw_rad": -2.8605483655603603, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.070418357849121, + 0.022855959832668304, + 0.06038939952850342 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.127462637785566, + -0.03584955657349482, + 0.05835422900223432 + ], + "intended_face_normal": [ + -0.886043041041745, + -0.2569156258071681, + 0.38590469400891614 + ], + "commanded_contact_point": [ + -14.076642150878905, + -0.031011735878040795, + 0.02855647691443844 + ], + "centerline_face_intersection": [ + -14.146192779919565, + -0.016011735878040795, + 0.02855647691443844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.071956634521484, + 0.023467011749744415, + 0.06018829345703125 + ], + "box_pose": [ + -14.066950798034668, + -0.00043129175901412964, + 0.03192609176039696, + 0.042274583131074905, + 0.7002547979354858, + 0.6728036403656006, + -0.23492856323719025 + ], + "box_yaw_rad": -2.859373601448177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013436523678453148 + } + } + }, + { + "simulation_time_ns": 9080000000, + "center": [ + -14.05599444302766, + -0.017511524023904733, + 0.02876034593532301 + ], + "face_center": [ + -14.124351970532533, + -0.03705578864738033, + 0.05888467992954894 + ], + "face_normal": [ + -0.8852845898324588, + -0.2531138401624822, + 0.39013419059303445 + ], + "footprint_xy": [ + [ + -14.177489084103287, + -0.15751259737201403 + ], + [ + -13.934499801952033, + -0.15751259737201403 + ], + [ + -13.934499801952033, + 0.12248954932420458 + ], + [ + -14.177489084103287, + 0.12248954932420458 + ] + ], + "projected_box_corners": [ + [ + -13.97658081835036, + -0.11842406812506284 + ], + [ + -14.040774029093544, + 0.11268480721335526 + ], + [ + -13.934499801952033, + -0.10861932601421352 + ], + [ + -13.998693012695217, + 0.12248954932420458 + ], + [ + -14.113295873360105, + -0.15751259737201403 + ], + [ + -14.177489084103287, + 0.07359627796640406 + ], + [ + -14.071214856961777, + -0.14770785526116473 + ], + [ + -14.13540806770496, + 0.08340102007725338 + ] + ], + "yaw_rad": -2.8631098435776012, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.067941665649414, + 0.02166225016117096, + 0.06052817404270172 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.126345290672772, + -0.0362100470465727, + 0.05866997862300992 + ], + "intended_face_normal": [ + -0.8853227339217398, + -0.2555796620132931, + 0.38843592401511984 + ], + "commanded_contact_point": [ + -14.075713272094726, + -0.03147538321483705, + 0.02867677681570297 + ], + "centerline_face_intersection": [ + -14.145201954563877, + -0.016475383214837047, + 0.02867677681570297 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.070418357849121, + 0.022855959832668304, + 0.06038939952850342 + ], + "box_pose": [ + -14.06585693359375, + -0.0008830521255731583, + 0.03206656500697136, + 0.043746426701545715, + 0.6999366879463196, + 0.6728670001029968, + -0.23542477190494537 + ], + "box_yaw_rad": -2.8605483655603603, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001045110862474239 + } + } + }, + { + "simulation_time_ns": 9100000000, + "center": [ + -14.052242103241879, + -0.019997330972300394, + 0.028839226910503557 + ], + "face_center": [ + -14.120666963778291, + -0.03914564157791114, + 0.05906481518924715 + ], + "face_normal": [ + -0.8861566063811281, + -0.24798591931612002, + 0.39144551446635045 + ], + "footprint_xy": [ + [ + -14.17323842512496, + -0.15966926891081412 + ], + [ + -13.931245781358795, + -0.15966926891081412 + ], + [ + -13.931245781358795, + 0.11967460696621333 + ], + [ + -14.17323842512496, + 0.11967460696621333 + ] + ], + "projected_box_corners": [ + [ + -13.973530193719649, + -0.12137264769959263 + ], + [ + -14.036388704052133, + 0.11010154602232923 + ], + [ + -13.931245781358795, + -0.11179958675570853 + ], + [ + -13.994104291691281, + 0.11967460696621333 + ], + [ + -14.110379914792475, + -0.15966926891081412 + ], + [ + -14.17323842512496, + 0.07180492481110774 + ], + [ + -14.068095502431623, + -0.15009620796693002 + ], + [ + -14.130954012764107, + 0.08137798575499186 + ] + ], + "yaw_rad": -2.8687282907380642, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.063650131225586, + 0.019206974655389786, + 0.060710325837135315 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.124351970532533, + -0.03705578864738033, + 0.05888467992954894 + ], + "intended_face_normal": [ + -0.8852845898324588, + -0.2531138401624822, + 0.39013419059303445 + ], + "commanded_contact_point": [ + -14.074972267150878, + -0.03251152402390473, + 0.02876034593532301 + ], + "centerline_face_intersection": [ + -14.143215337639699, + -0.017511524023904733, + 0.02876034593532301 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.067941665649414, + 0.02166225016117096, + 0.06052817404270172 + ], + "box_pose": [ + -14.063809394836426, + -0.0018973052501678467, + 0.032181516289711, + 0.04548800364136696, + 0.6993010640144348, + 0.6735134124755859, + -0.23513522744178772 + ], + "box_yaw_rad": -2.8631098435776012, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012765813333964174 + } + } + }, + { + "simulation_time_ns": 9120000000, + "center": [ + -14.048171252046329, + -0.023708218691233497, + 0.028902233678771296 + ], + "face_center": [ + -14.116720070440735, + -0.042380430677219104, + 0.05914479891226189 + ], + "face_normal": [ + -0.8877619596681043, + -0.241820061852001, + 0.3916653795926708 + ], + "footprint_xy": [ + [ + -14.168543342632821, + -0.16298937318848997 + ], + [ + -13.927799161459836, + -0.16298937318848997 + ], + [ + -13.927799161459836, + 0.11557293580602296 + ], + [ + -14.168543342632821, + 0.11557293580602296 + ] + ], + "projected_box_corners": [ + [ + -13.970163415002375, + -0.12564494921651875 + ], + [ + -14.031445705844009, + 0.10625281611461612 + ], + [ + -13.927799161459836, + -0.1163248295251119 + ], + [ + -13.98908145230147, + 0.11557293580602296 + ], + [ + -14.107261051791188, + -0.16298937318848997 + ], + [ + -14.168543342632821, + 0.0689083921426449 + ], + [ + -14.064896798248649, + -0.1536692534970831 + ], + [ + -14.12617908909028, + 0.07822851183405174 + ] + ], + "yaw_rad": -2.8756518471977617, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.05909252166748, + 0.015694119036197662, + 0.06089840829372406 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.120666963778291, + -0.03914564157791114, + 0.05906481518924715 + ], + "intended_face_normal": [ + -0.8861566063811281, + -0.24798591931612002, + 0.39144551446635045 + ], + "commanded_contact_point": [ + -14.074311370849609, + -0.03499733097230039, + 0.028839226910503557 + ], + "centerline_face_intersection": [ + -14.139377168709334, + -0.019997330972300394, + 0.028839226910503557 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.063650131225586, + 0.019206974655389786, + 0.060710325837135315 + ], + "box_pose": [ + -14.059962272644043, + -0.004338141530752182, + 0.03227004036307335, + 0.047996945679187775, + 0.6990318298339844, + 0.674116313457489, + -0.23370499908924103 + ], + "box_yaw_rad": -2.8687282907380642, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025733717791973486 + } + } + }, + { + "simulation_time_ns": 9140000000, + "center": [ + -14.045717977709714, + -0.02805144693792261, + 0.028894248605951446 + ], + "face_center": [ + -14.114457962388716, + -0.046273535931489855, + 0.058977005326610044 + ], + "face_normal": [ + -0.8902377157702475, + -0.23599060951130824, + 0.38959573168558226 + ], + "footprint_xy": [ + [ + -14.165429315710345, + -0.16693214694570888 + ], + [ + -13.926006639709083, + -0.16693214694570888 + ], + [ + -13.926006639709083, + 0.11082925306986365 + ], + [ + -14.165429315710345, + 0.11082925306986365 + ] + ], + "projected_box_corners": [ + [ + -13.968200434759854, + -0.13048796895857437 + ], + [ + -14.027949346352342, + 0.1018112034901626 + ], + [ + -13.926006639709083, + -0.12146991937887332 + ], + [ + -13.985755551301573, + 0.11082925306986365 + ], + [ + -14.105680404117857, + -0.16693214694570888 + ], + [ + -14.165429315710345, + 0.0653670255030281 + ], + [ + -14.063486609067086, + -0.1579140973660078 + ], + [ + -14.123235520659573, + 0.07438507508272915 + ] + ], + "yaw_rad": -2.882465461251313, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.056294441223145, + 0.011608593165874481, + 0.06094428896903992 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.116720070440735, + -0.042380430677219104, + 0.05914479891226189 + ], + "intended_face_normal": [ + -0.8877619596681043, + -0.241820061852001, + 0.3916653795926708 + ], + "commanded_contact_point": [ + -14.073801155090331, + -0.0387082186912335, + 0.028902233678771296 + ], + "centerline_face_intersection": [ + -14.13514874986602, + -0.023708218691233497, + 0.028902233678771296 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.05909252166748, + 0.015694119036197662, + 0.06089840829372406 + ], + "box_pose": [ + -14.055784225463867, + -0.007995719090104103, + 0.03232884779572487, + 0.05046520754694939, + 0.6989621520042419, + 0.6747835874557495, + -0.23145687580108643 + ], + "box_yaw_rad": -2.8756518471977617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003746328554250285 + } + } + }, + { + "simulation_time_ns": 9160000000, + "center": [ + -14.04500031161748, + -0.03243388020975338, + 0.02889545428419609 + ], + "face_center": [ + -14.114021529351046, + -0.05008833582839816, + 0.05867116251859321 + ], + "face_normal": [ + -0.8938799084949665, + -0.22863930384189768, + 0.38561920849727205 + ], + "footprint_xy": [ + [ + -14.163853456685793, + -0.1708169018359113 + ], + [ + -13.926147166549168, + -0.1708169018359113 + ], + [ + -13.926147166549168, + 0.10594914141640456 + ], + [ + -14.163853456685793, + 0.10594914141640456 + ] + ], + "projected_box_corners": [ + [ + -13.967958848667616, + -0.13550799059862176 + ], + [ + -14.02581102121866, + 0.09727540998744562 + ], + [ + -13.926147166549168, + -0.12683425916966282 + ], + [ + -13.983999339100212, + 0.10594914141640456 + ], + [ + -14.106001284134749, + -0.1708169018359113 + ], + [ + -14.163853456685793, + 0.06196649875015607 + ], + [ + -14.0641896020163, + -0.1621431704069524 + ], + [ + -14.122041774567345, + 0.070640230179115 + ] + ], + "yaw_rad": -2.891178596310516, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.055234909057617, + 0.007451444864273071, + 0.06101082265377045 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.114457962388716, + -0.046273535931489855, + 0.058977005326610044 + ], + "intended_face_normal": [ + -0.8902377157702475, + -0.23599060951130824, + 0.38959573168558226 + ], + "commanded_contact_point": [ + -14.073557968139648, + -0.04305144693792261, + 0.028894248605951446 + ], + "centerline_face_intersection": [ + -14.132453590618036, + -0.02805144693792261, + 0.028894248605951446 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.056294441223145, + 0.011608593165874481, + 0.06094428896903992 + ], + "box_pose": [ + -14.053234100341797, + -0.012289365753531456, + 0.03230692073702812, + 0.0519975945353508, + 0.6989834308624268, + 0.6756781935691833, + -0.22842347621917725 + ], + "box_yaw_rad": -2.882465461251313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004350038535140682 + } + } + }, + { + "simulation_time_ns": 9180000000, + "center": [ + -14.046029816573306, + -0.03591200448499737, + 0.028836050553440983 + ], + "face_center": [ + -14.115285574727737, + -0.053091048580850904, + 0.058344152531563304 + ], + "face_normal": [ + -0.8969173943120268, + -0.2224823448306772, + 0.3821534936964266 + ], + "footprint_xy": [ + [ + -14.164182818661157, + -0.17391075130779085 + ], + [ + -13.927876814485453, + -0.17391075130779085 + ], + [ + -13.927876814485453, + 0.10208674233779612 + ], + [ + -14.164182818661157, + 0.10208674233779612 + ] + ], + "projected_box_corners": [ + [ + -13.969329615300179, + -0.1395526631160838 + ], + [ + -14.025671302352293, + 0.0936075363225889 + ], + [ + -13.927876814485453, + -0.1310734571008766 + ], + [ + -13.984218501537567, + 0.10208674233779612 + ], + [ + -14.107841131609042, + -0.17391075130779085 + ], + [ + -14.164182818661157, + 0.05924944813088184 + ], + [ + -14.066388330794316, + -0.16543154529258364 + ], + [ + -14.122730017846433, + 0.06772865414608906 + ] + ], + "yaw_rad": -2.898448039943618, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.056066513061523, + 0.004129983484745026, + 0.061003297567367554 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.114021529351046, + -0.05008833582839816, + 0.05867116251859321 + ], + "intended_face_normal": [ + -0.8938799084949665, + -0.22863930384189768, + 0.38561920849727205 + ], + "commanded_contact_point": [ + -14.0736714553833, + -0.04743388020975338, + 0.02889545428419609 + ], + "centerline_face_intersection": [ + -14.131382512601778, + -0.03243388020975338, + 0.02889545428419609 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.055234909057617, + 0.007451444864273071, + 0.06101082265377045 + ], + "box_pose": [ + -14.052401542663574, + -0.01661033183336258, + 0.03227461129426956, + 0.05336923524737358, + 0.699276328086853, + 0.6767219305038452, + -0.22407947480678558 + ], + "box_yaw_rad": -2.891178596310516, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004383902620973827 + } + } + }, + { + "simulation_time_ns": 9200000000, + "center": [ + -14.046479723380227, + -0.03654426943976927, + 0.028678229240426487 + ], + "face_center": [ + -14.11582848723227, + -0.05356770500909079, + 0.05805773431392177 + ], + "face_normal": [ + -0.8981218923953591, + -0.2204670901014083, + 0.3804880610495487 + ], + "footprint_xy": [ + [ + -14.164440635548594, + -0.17448647284519153 + ], + [ + -13.92851881121186, + -0.17448647284519153 + ], + [ + -13.92851881121186, + 0.10139793396565301 + ], + [ + -14.164440635548594, + 0.10139793396565301 + ] + ], + "projected_box_corners": [ + [ + -13.969753047630286, + -0.14043960170654848 + ], + [ + -14.025743107844509, + 0.0928124141865391 + ], + [ + -13.92851881121186, + -0.13185408192743459 + ], + [ + -13.984508871426083, + 0.10139793396565301 + ], + [ + -14.108450575334372, + -0.17448647284519153 + ], + [ + -14.164440635548594, + 0.05876554304789605 + ], + [ + -14.067216338915944, + -0.16590095306607763 + ], + [ + -14.123206399130167, + 0.06735106282700995 + ] + ], + "yaw_rad": -2.9008766777999995, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.056445121765137, + 0.003688603639602661, + 0.06070272624492645 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.115285574727737, + -0.053091048580850904, + 0.058344152531563304 + ], + "intended_face_normal": [ + -0.8969173943120268, + -0.2224823448306772, + 0.3821534936964266 + ], + "commanded_contact_point": [ + -14.074218864440917, + -0.05091200448499737, + 0.028836050553440983 + ], + "centerline_face_intersection": [ + -14.132119477004817, + -0.03591200448499737, + 0.028836050553440983 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.056066513061523, + 0.004129983484745026, + 0.061003297567367554 + ], + "box_pose": [ + -14.053340911865234, + -0.020037712529301643, + 0.032173190265893936, + 0.05436920002102852, + 0.6998105049133301, + 0.6772916316986084, + -0.22042101621627808 + ], + "box_yaw_rad": -2.898448039943618, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035214391878364898 + } + } + }, + { + "simulation_time_ns": 9220000000, + "center": [ + -14.046481490844029, + -0.036474225526684396, + 0.028650312879109744 + ], + "face_center": [ + -14.115833326378208, + -0.05343053007936475, + 0.058061354651386544 + ], + "face_normal": [ + -0.8981616731329112, + -0.21959768980708105, + 0.38089648649243024 + ], + "footprint_xy": [ + [ + -14.164439308032485, + -0.17446789040159233 + ], + [ + -13.928523673655572, + -0.17446789040159233 + ], + [ + -13.928523673655572, + 0.10151943934822355 + ], + [ + -14.164439308032485, + 0.10151943934822355 + ] + ], + "projected_box_corners": [ + [ + -13.969747968899725, + -0.14055528129623163 + ], + [ + -14.025735636964125, + 0.09270351486052503 + ], + [ + -13.928523673655572, + -0.1317393568085331 + ], + [ + -13.984511341719971, + 0.10151943934822355 + ], + [ + -14.108451639968086, + -0.17446789040159233 + ], + [ + -14.164439308032485, + 0.05879090575516434 + ], + [ + -14.067227344723932, + -0.16565196591389383 + ], + [ + -14.12321501278833, + 0.06760683024286285 + ] + ], + "yaw_rad": -2.901800105168597, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.056215286254883, + 0.003891207277774811, + 0.06047333776950836 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.11582848723227, + -0.05356770500909079, + 0.05805773431392177 + ], + "intended_face_normal": [ + -0.8981218923953591, + -0.2204670901014083, + 0.3804880610495487 + ], + "commanded_contact_point": [ + -14.074775810241698, + -0.051544269439769266, + 0.028678229240426487 + ], + "centerline_face_intersection": [ + -14.132453926397925, + -0.03654426943976927, + 0.028678229240426487 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.056445121765137, + 0.003688603639602661, + 0.06070272624492645 + ], + "box_pose": [ + -14.053773880004883, + -0.02065322920680046, + 0.031972434371709824, + 0.05432365462183952, + 0.7005801200866699, + 0.6769405007362366, + -0.21906152367591858 + ], + "box_yaw_rad": -2.9008766777999995, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008572369362563609 + } + } + }, + { + "simulation_time_ns": 9240000000, + "center": [ + -14.046395625682448, + -0.03640068741753266, + 0.028950469628661216 + ], + "face_center": [ + -14.11567000228422, + -0.05328516982815119, + 0.058584523908297506 + ], + "face_normal": [ + -0.8971585180787613, + -0.2186675356909662, + 0.38378467662030147 + ], + "footprint_xy": [ + [ + -14.164407001655285, + -0.17444943475239297 + ], + [ + -13.92838424970961, + -0.17444943475239297 + ], + [ + -13.92838424970961, + 0.10164805991732764 + ], + [ + -14.164407001655285, + 0.10164805991732764 + ] + ], + "projected_box_corners": [ + [ + -13.969876845245992, + -0.1406804699311559 + ], + [ + -14.02585824845174, + 0.0925838728600013 + ], + [ + -13.92838424970961, + -0.1316162828738296 + ], + [ + -13.98436565291536, + 0.10164805991732764 + ], + [ + -14.108425598449536, + -0.17444943475239297 + ], + [ + -14.164407001655285, + 0.058814908038764255 + ], + [ + -14.066933002913155, + -0.16538524769506663 + ], + [ + -14.122914406118904, + 0.0678790950960906 + ] + ], + "yaw_rad": -2.90252056580357, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.055688858032227, + 0.004015423357486725, + 0.060866788029670715 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.115833326378208, + -0.05343053007936475, + 0.058061354651386544 + ], + "intended_face_normal": [ + -0.8981616731329112, + -0.21959768980708105, + 0.38089648649243024 + ], + "commanded_contact_point": [ + -14.07500373840332, + -0.051474225526684396, + 0.028650312879109744 + ], + "centerline_face_intersection": [ + -14.13245188595352, + -0.036474225526684396, + 0.028650312879109744 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.056215286254883, + 0.003891207277774811, + 0.06047333776950836 + ], + "box_pose": [ + -14.053775787353516, + -0.020575709640979767, + 0.031907930970191956, + 0.054541587829589844, + 0.7013539671897888, + 0.6761534214019775, + -0.21896184980869293 + ], + "box_yaw_rad": -2.901800105168597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000240076487498004 + } + } + }, + { + "simulation_time_ns": 9260000000, + "center": [ + -14.04651285360384, + -0.03558753804040388, + 0.029701701522708922 + ], + "face_center": [ + -14.115865441193293, + -0.0524617990024733, + 0.0591581966106489 + ], + "face_normal": [ + -0.8981714128494787, + -0.2185351597666667, + 0.38148514324146987 + ], + "footprint_xy": [ + [ + -14.164523998231708, + -0.17371896868330367 + ], + [ + -13.928501708975972, + -0.17371896868330367 + ], + [ + -13.928501708975972, + 0.1025438926024959 + ], + [ + -14.164523998231708, + 0.1025438926024959 + ] + ], + "projected_box_corners": [ + [ + -13.969679676088163, + -0.1399704467591648 + ], + [ + -14.025818823052804, + 0.09326056263491105 + ], + [ + -13.928501708975972, + -0.13068711679157996 + ], + [ + -13.984640855940615, + 0.1025438926024959 + ], + [ + -14.108384851267067, + -0.17371896868330367 + ], + [ + -14.164523998231708, + 0.05951204071077219 + ], + [ + -14.067206884154876, + -0.1644356387157188 + ], + [ + -14.12334603111952, + 0.06879537067835705 + ] + ], + "yaw_rad": -2.9029191762608293, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.055437088012695, + 0.004835061728954315, + 0.06204156577587128 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.11567000228422, + -0.05328516982815119, + 0.058584523908297506 + ], + "intended_face_normal": [ + -0.8971585180787613, + -0.2186675356909662, + 0.38378467662030147 + ], + "commanded_contact_point": [ + -14.075025672912597, + -0.05140068741753266, + 0.028950469628661216 + ], + "centerline_face_intersection": [ + -14.132462148326399, + -0.03640068741753266, + 0.028950469628661216 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.055688858032227, + 0.004015423357486725, + 0.060866788029670715 + ], + "box_pose": [ + -14.053681373596191, + -0.02049427106976509, + 0.03218859061598778, + 0.05569525808095932, + 0.7018867135047913, + 0.6752290725708008, + -0.21981507539749146 + ], + "box_yaw_rad": -2.90252056580357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003098113143449663 + } + } + }, + { + "simulation_time_ns": 9280000000, + "center": [ + -14.045083112866513, + -0.032116497418662036, + 0.030513424100329457 + ], + "face_center": [ + -14.11450575269017, + -0.04886294498166482, + 0.059877652171467115 + ], + "face_normal": [ + -0.8990786452449271, + -0.21687987414271337, + 0.38029021166470844 + ], + "footprint_xy": [ + [ + -14.162951266775162, + -0.1702172015571352 + ], + [ + -13.927214958957862, + -0.1702172015571352 + ], + [ + -13.927214958957862, + 0.10598420671981112 + ], + [ + -14.162951266775162, + 0.10598420671981112 + ] + ], + "projected_box_corners": [ + [ + -13.968224795099125, + -0.13672430643112965 + ], + [ + -14.024105987127847, + 0.09657113816234893 + ], + [ + -13.927214958957862, + -0.12731123787366744 + ], + [ + -13.983096150986583, + 0.10598420671981112 + ], + [ + -14.10707007474644, + -0.1702172015571352 + ], + [ + -14.162951266775162, + 0.06307824303634338 + ], + [ + -14.066060238605177, + -0.160804132999673 + ], + [ + -14.121941430633898, + 0.07249131159380558 + ] + ], + "yaw_rad": -2.90489010344491, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.0537109375, + 0.008181191980838776, + 0.06341280043125153 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.115865441193293, + -0.0524617990024733, + 0.0591581966106489 + ], + "intended_face_normal": [ + -0.8981714128494787, + -0.2185351597666667, + 0.38148514324146987 + ], + "commanded_contact_point": [ + -14.074654693603515, + -0.050587538040403876, + 0.029701701522708922 + ], + "centerline_face_intersection": [ + -14.132482316455558, + -0.03558753804040388, + 0.029701701522708922 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.055437088012695, + 0.004835061728954315, + 0.06204156577587128 + ], + "box_pose": [ + -14.053818702697754, + -0.019679849967360497, + 0.032887887209653854, + 0.054652903228998184, + 0.7028703689575195, + 0.6745805740356445, + -0.218923419713974 + ], + "box_yaw_rad": -2.9029191762608293, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011675559583704826 + } + } + }, + { + "simulation_time_ns": 9300000000, + "center": [ + -14.039743526241619, + -0.026489179619608047, + 0.03156341526474825 + ], + "face_center": [ + -14.10953995454599, + -0.0424744179456881, + 0.06046206578894504 + ], + "face_normal": [ + -0.9039195046778445, + -0.20702160641882905, + 0.3742606104967994 + ], + "footprint_xy": [ + [ + -14.156305152935575, + -0.1637455006992196 + ], + [ + -13.923181899547663, + -0.1637455006992196 + ], + [ + -13.923181899547663, + 0.11076714146000351 + ], + [ + -14.156305152935575, + 0.11076714146000351 + ] + ], + "projected_box_corners": [ + [ + -13.96369476708409, + -0.13177502404705949 + ], + [ + -14.016712296326832, + 0.10218566793483766 + ], + [ + -13.923181899547663, + -0.12319355052189365 + ], + [ + -13.976199428790403, + 0.11076714146000351 + ], + [ + -14.103287623692834, + -0.1637455006992196 + ], + [ + -14.156305152935575, + 0.07021519128267756 + ], + [ + -14.062774756156406, + -0.15516402717405375 + ], + [ + -14.115792285399145, + 0.0787966648078434 + ] + ], + "yaw_rad": -2.9164489608436286, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.04785442352295, + 0.013639770448207855, + 0.06525301933288574 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.11450575269017, + -0.04886294498166482, + 0.059877652171467115 + ], + "intended_face_normal": [ + -0.8990786452449271, + -0.21687987414271337, + 0.38029021166470844 + ], + "commanded_contact_point": [ + -14.073903198242187, + -0.047116497418662036, + 0.030513424100329457 + ], + "centerline_face_intersection": [ + -14.130965826597748, + -0.032116497418662036, + 0.030513424100329457 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.0537109375, + 0.008181191980838776, + 0.06341280043125153 + ], + "box_pose": [ + -14.052376747131348, + -0.01619524136185646, + 0.03365956246852875, + 0.05464371293783188, + 0.703609049320221, + 0.6741465926170349, + -0.21788695454597473 + ], + "box_yaw_rad": -2.90489010344491, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036430429339905667 + } + } + }, + { + "simulation_time_ns": 9320000000, + "center": [ + -14.03282691002607, + -0.021083934085177464, + 0.032290779821322835 + ], + "face_center": [ + -14.102711225943967, + -0.03688634606127025, + 0.061077402246892426 + ], + "face_normal": [ + -0.9050577194835938, + -0.20465385913236522, + 0.37280975712390907 + ], + "footprint_xy": [ + [ + -14.149064570938847, + -0.15812334393403335 + ], + [ + -13.916589249113294, + -0.15812334393403335 + ], + [ + -13.916589249113294, + 0.11595547576367841 + ], + [ + -14.149064570938847, + 0.11595547576367841 + ] + ], + "projected_box_corners": [ + [ + -13.956986818619985, + -0.12651851998184777 + ], + [ + -14.009295939103055, + 0.10760058433740824 + ], + [ + -13.916589249113294, + -0.11816362855557758 + ], + [ + -13.968898369596364, + 0.11595547576367841 + ], + [ + -14.096755450455776, + -0.15812334393403335 + ], + [ + -14.149064570938847, + 0.07599576038522265 + ], + [ + -14.056357880949085, + -0.14976845250776316 + ], + [ + -14.108667001432156, + 0.08435065181149283 + ] + ], + "yaw_rad": -2.919210114622279, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.04085636138916, + 0.01892886310815811, + 0.06659512221813202 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.10953995454599, + -0.0424744179456881, + 0.06046206578894504 + ], + "intended_face_normal": [ + -0.9039195046778445, + -0.20702160641882905, + 0.3742606104967994 + ], + "commanded_contact_point": [ + -14.072574729919433, + -0.041489179619608046, + 0.03156341526474825 + ], + "centerline_face_intersection": [ + -14.125166302840467, + -0.026489179619608047, + 0.03156341526474825 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.04785442352295, + 0.013639770448207855, + 0.06525301933288574 + ], + "box_pose": [ + -14.046859741210938, + -0.010489573702216148, + 0.03471836447715759, + 0.05661443620920181, + 0.7028137445449829, + 0.6767662763595581, + -0.21174253523349762 + ], + "box_yaw_rad": -2.9164489608436286, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005876564910002095 + } + } + }, + { + "simulation_time_ns": 9340000000, + "center": [ + -14.030552219046765, + -0.02053650716567407, + 0.03183114901862564 + ], + "face_center": [ + -14.099895440913729, + -0.03625836011615891, + 0.061940005058369746 + ], + "face_normal": [ + -0.8980501192612849, + -0.20361055539471096, + 0.3899337387176516 + ], + "footprint_xy": [ + [ + -14.147228333168275, + -0.15771083401277752 + ], + [ + -13.913876104925254, + -0.15771083401277752 + ], + [ + -13.913876104925254, + 0.11663781968142939 + ], + [ + -14.147228333168275, + 0.11663781968142939 + ] + ], + "projected_box_corners": [ + [ + -13.956113031330862, + -0.12626712811180785 + ], + [ + -14.008541889434346, + 0.10782545666614103 + ], + [ + -13.913876104925254, + -0.11745476509651949 + ], + [ + -13.966304963028739, + 0.11663781968142939 + ], + [ + -14.094799475064791, + -0.15771083401277752 + ], + [ + -14.147228333168275, + 0.07638175076517136 + ], + [ + -14.052562548659184, + -0.14889847099748918 + ], + [ + -14.104991406762666, + 0.0851941137804597 + ] + ], + "yaw_rad": -2.91863678870534, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.038212776184082, + 0.019602801650762558, + 0.0659431666135788 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.102711225943967, + -0.03688634606127025, + 0.061077402246892426 + ], + "intended_face_normal": [ + -0.9050577194835938, + -0.20465385913236522, + 0.37280975712390907 + ], + "commanded_contact_point": [ + -14.070525283813476, + -0.03608393408517746, + 0.032290779821322835 + ], + "centerline_face_intersection": [ + -14.118142257599146, + -0.021083934085177464, + 0.032290779821322835 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.04085636138916, + 0.01892886310815811, + 0.06659512221813202 + ], + "box_pose": [ + -14.039898872375488, + -0.0050659868866205215, + 0.03545216843485832, + 0.05710902437567711, + 0.7025300860404968, + 0.6774808764457703, + -0.21026089787483215 + ], + "box_yaw_rad": -2.919210114622279, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005826316832001601 + } + } + }, + { + "simulation_time_ns": 9360000000, + "center": [ + -14.02977737586529, + -0.020492036459190514, + 0.03030633502066033 + ], + "face_center": [ + -14.098478931329698, + -0.03614110982315976, + 0.06188810372507655 + ], + "face_normal": [ + -0.8897400267413929, + -0.202668001608048, + 0.40900913438801645 + ], + "footprint_xy": [ + [ + -14.146871776782817, + -0.15774391338080423 + ], + [ + -13.912682974947764, + -0.15774391338080423 + ], + [ + -13.912682974947764, + 0.1167598404624232 + ], + [ + -14.146871776782817, + 0.1167598404624232 + ] + ], + "projected_box_corners": [ + [ + -13.957014028832608, + -0.12644576665286572 + ], + [ + -14.009468665854001, + 0.10763822435538241 + ], + [ + -13.912682974947764, + -0.11732415054582494 + ], + [ + -13.965137611969157, + 0.1167598404624232 + ], + [ + -14.094417139761424, + -0.15774391338080423 + ], + [ + -14.146871776782817, + 0.07634007762744392 + ], + [ + -14.05008608587658, + -0.14862229727376344 + ], + [ + -14.102540722897972, + 0.08546169373448471 + ] + ], + "yaw_rad": -2.917630522766998, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.03703498840332, + 0.019822150468826294, + 0.06364047527313232 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.099895440913729, + -0.03625836011615891, + 0.061940005058369746 + ], + "intended_face_normal": [ + -0.8980501192612849, + -0.20361055539471096, + 0.3899337387176516 + ], + "commanded_contact_point": [ + -14.067957038879394, + -0.03553650716567407, + 0.03183114901862564 + ], + "centerline_face_intersection": [ + -14.116533293215491, + -0.02053650716567407, + 0.03183114901862564 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.038212776184082, + 0.019602801650762558, + 0.0659431666135788 + ], + "box_pose": [ + -14.037576675415039, + -0.004509519785642624, + 0.035052068531513214, + 0.0634397566318512, + 0.7020508050918579, + 0.6753885746002197, + -0.21668002009391785 + ], + "box_yaw_rad": -2.91863678870534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026658617271762353 + } + } + }, + { + "simulation_time_ns": 9380000000, + "center": [ + -14.029933873070956, + -0.020656320959651225, + 0.02941647883989163 + ], + "face_center": [ + -14.098800167720636, + -0.03646691011300709, + 0.060555831479758626 + ], + "face_normal": [ + -0.8918735307955359, + -0.20475976011040764, + 0.4032794929200474 + ], + "footprint_xy": [ + [ + -14.146917044313678, + -0.1577824252681121 + ], + [ + -13.912950701828235, + -0.1577824252681121 + ], + [ + -13.912950701828235, + 0.11646978334880963 + ], + [ + -14.146917044313678, + 0.11646978334880963 + ] + ], + "projected_box_corners": [ + [ + -13.95676190023964, + -0.12616124696140035 + ], + [ + -14.009184455014317, + 0.10791929311327149 + ], + [ + -13.912950701828235, + -0.11761075672586221 + ], + [ + -13.965373256602913, + 0.11646978334880963 + ], + [ + -14.094494489538999, + -0.1577824252681121 + ], + [ + -14.146917044313678, + 0.07629811480655976 + ], + [ + -14.050683291127594, + -0.14923193503257395 + ], + [ + -14.103105845902272, + 0.0848486050420979 + ] + ], + "yaw_rad": -2.915919541946423, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.03621768951416, + 0.01975996047258377, + 0.06110700964927673 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.098478931329698, + -0.03614110982315976, + 0.06188810372507655 + ], + "intended_face_normal": [ + -0.8897400267413929, + -0.202668001608048, + 0.40900913438801645 + ], + "commanded_contact_point": [ + -14.065398330688476, + -0.03549203645919051, + 0.03030633502066033 + ], + "centerline_face_intersection": [ + -14.116561505600616, + -0.020492036459190514, + 0.03030633502066033 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03703498840332, + 0.019822150468826294, + 0.06364047527313232 + ], + "box_pose": [ + -14.036738395690918, + -0.0044572483748197556, + 0.033624690026044846, + 0.07064414024353027, + 0.7007737755775452, + 0.6736364960670471, + -0.22391833364963531 + ], + "box_yaw_rad": -2.917630522766998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029789298377767806 + } + } + }, + { + "simulation_time_ns": 9400000000, + "center": [ + -14.030025034226954, + -0.02087746457966707, + 0.028800718679997325 + ], + "face_center": [ + -14.099025173686279, + -0.03687637476982391, + 0.059545124824862794 + ], + "face_normal": [ + -0.893606928004786, + -0.2071986679806388, + 0.39816462029964317 + ], + "footprint_xy": [ + [ + -14.146906784868781, + -0.15784199365422164 + ], + [ + -13.913143283585127, + -0.15784199365422164 + ], + [ + -13.913143283585127, + 0.1160870644948875 + ], + [ + -14.146906784868781, + 0.1160870644948875 + ] + ], + "projected_box_corners": [ + [ + -13.956532504140977, + -0.12584417327390796 + ], + [ + -14.00890650595013, + 0.10822660523649275 + ], + [ + -13.913143283585127, + -0.1179837140155132 + ], + [ + -13.96551728539428, + 0.1160870644948875 + ], + [ + -14.094532783059627, + -0.15784199365422164 + ], + [ + -14.146906784868781, + 0.07622878485617907 + ], + [ + -14.051143562503778, + -0.1499815343958269 + ], + [ + -14.10351756431293, + 0.08408924411457382 + ] + ], + "yaw_rad": -2.913751038069619, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.035140991210938, + 0.019617415964603424, + 0.05874030292034149 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.098800167720636, + -0.03646691011300709, + 0.060555831479758626 + ], + "intended_face_normal": [ + -0.8918735307955359, + -0.20475976011040764, + 0.4032794929200474 + ], + "commanded_contact_point": [ + -14.063266868591308, + -0.035656320959651225, + 0.02941647883989163 + ], + "centerline_face_intersection": [ + -14.116510401295269, + -0.020656320959651225, + 0.02941647883989163 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03621768951416, + 0.01975996047258377, + 0.06110700964927673 + ], + "box_pose": [ + -14.036909103393555, + -0.004638833925127983, + 0.03278810530900955, + 0.06834933161735535, + 0.6994644999504089, + 0.6757856011390686, + -0.22224180400371552 + ], + "box_yaw_rad": -2.915919541946423, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002315591520801447 + } + } + }, + { + "simulation_time_ns": 9420000000, + "center": [ + -14.029968937838268, + -0.020944179263523904, + 0.028546637644566778 + ], + "face_center": [ + -14.099064698858195, + -0.03690719603936983, + 0.05909434227089719 + ], + "face_normal": [ + -0.8948453036036028, + -0.20673381959121073, + 0.3956171784960567 + ], + "footprint_xy": [ + [ + -14.146754805662834, + -0.1578829815899078 + ], + [ + -13.9131830700137, + -0.1578829815899078 + ], + [ + -13.9131830700137, + 0.11599462306285997 + ], + [ + -14.146754805662834, + 0.11599462306285997 + ] + ], + "projected_box_corners": [ + [ + -13.95628299492179, + -0.12595694803821594 + ], + [ + -14.008563283622978, + 0.10813812351523425 + ], + [ + -13.9131830700137, + -0.1181004484905902 + ], + [ + -13.965463358714889, + 0.11599462306285997 + ], + [ + -14.094474516961645, + -0.1578829815899078 + ], + [ + -14.146754805662834, + 0.0762120899635424 + ], + [ + -14.051374592053556, + -0.15002648204228206 + ], + [ + -14.103654880754744, + 0.08406858951116812 + ] + ], + "yaw_rad": -2.9145486658036965, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.03437614440918, + 0.020016998052597046, + 0.05647493898868561 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.099025173686279, + -0.03687637476982391, + 0.059545124824862794 + ], + "intended_face_normal": [ + -0.893606928004786, + -0.2071986679806388, + 0.39816462029964317 + ], + "commanded_contact_point": [ + -14.061682815551757, + -0.03587746457966707, + 0.028800718679997325 + ], + "centerline_face_intersection": [ + -14.11643362338577, + -0.02087746457966707, + 0.028800718679997325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.035140991210938, + 0.019617415964603424, + 0.05874030292034149 + ], + "box_pose": [ + -14.037010192871094, + -0.004880901426076889, + 0.032250236719846725, + 0.06628599017858505, + 0.6976539492607117, + 0.678293764591217, + -0.22091315686702728 + ], + "box_yaw_rad": -2.913751038069619, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001713852125271268 + } + } + }, + { + "simulation_time_ns": 9440000000, + "center": [ + -14.030072707823061, + -0.020952290498797824, + 0.028464213745288805 + ], + "face_center": [ + -14.099277765323553, + -0.03692183249648387, + 0.05876005335637307 + ], + "face_normal": [ + -0.8962607803403699, + -0.2068183264268315, + 0.3923553253417067 + ], + "footprint_xy": [ + [ + -14.14678456620857, + -0.1578758438046906 + ], + [ + -13.913360849437552, + -0.1578758438046906 + ], + [ + -13.913360849437552, + 0.11597126280709498 + ], + [ + -14.14678456620857, + 0.11597126280709498 + ] + ], + "projected_box_corners": [ + [ + -13.956101028104188, + -0.1259367598093185 + ], + [ + -14.008374451207585, + 0.10816134182090822 + ], + [ + -13.913360849437552, + -0.11812683882313178 + ], + [ + -13.965634272540951, + 0.11597126280709498 + ], + [ + -14.094511143105173, + -0.1578758438046906 + ], + [ + -14.14678456620857, + 0.07622225782553613 + ], + [ + -14.051770964438537, + -0.15006592281850387 + ], + [ + -14.104044387541935, + 0.08403217881172288 + ] + ], + "yaw_rad": -2.9148055476554373, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.034497261047363, + 0.020289167761802673, + 0.05615943670272827 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.099064698858195, + -0.03690719603936983, + 0.05909434227089719 + ], + "intended_face_normal": [ + -0.8948453036036028, + -0.20673381959121073, + 0.3956171784960567 + ], + "commanded_contact_point": [ + -14.06029426574707, + -0.035944179263523904, + 0.028546637644566778 + ], + "centerline_face_intersection": [ + -14.116257946229425, + -0.020944179263523904, + 0.028546637644566778 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03437614440918, + 0.020016998052597046, + 0.05647493898868561 + ], + "box_pose": [ + -14.036956787109375, + -0.004943931475281715, + 0.031973548233509064, + 0.0654822438955307, + 0.6980088949203491, + 0.6783850193023682, + -0.21974851191043854 + ], + "box_yaw_rad": -2.9145486658036965, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001413180307570577 + } + } + }, + { + "simulation_time_ns": 9460000000, + "center": [ + -14.030273611602121, + -0.0209203323431636, + 0.02847406243680721 + ], + "face_center": [ + -14.099680445075842, + -0.03685522734150714, + 0.05832322842623579 + ], + "face_normal": [ + -0.8988739403860677, + -0.20636962010696536, + 0.3865705451079826 + ], + "footprint_xy": [ + [ + -14.146851164167622, + -0.15786112537650643 + ], + [ + -13.913696059036623, + -0.15786112537650643 + ], + [ + -13.913696059036623, + 0.11602046069017923 + ], + [ + -14.146851164167622, + 0.11602046069017923 + ] + ], + "projected_box_corners": [ + [ + -13.955757304464198, + -0.12599133537981935 + ], + [ + -14.008037497220178, + 0.10811435494981526 + ], + [ + -13.913696059036623, + -0.1180852296394554 + ], + [ + -13.965976251792602, + 0.11602046069017923 + ], + [ + -14.094570971411642, + -0.15786112537650643 + ], + [ + -14.146851164167622, + 0.07624456495312819 + ], + [ + -14.052509725984065, + -0.14995501963614247 + ], + [ + -14.104789918740044, + 0.08415067069349215 + ] + ], + "yaw_rad": -2.915916710778032, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.034699440002441, + 0.020476333796977997, + 0.05619877576828003 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.099277765323553, + -0.03692183249648387, + 0.05876005335637307 + ], + "intended_face_normal": [ + -0.8962607803403699, + -0.2068183264268315, + 0.3923553253417067 + ], + "commanded_contact_point": [ + -14.05921947479248, + -0.03595229049879782, + 0.028464213745288805 + ], + "centerline_face_intersection": [ + -14.11622543881963, + -0.020952290498797824, + 0.028464213745288805 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034497261047363, + 0.020289167761802673, + 0.05615943670272827 + ], + "box_pose": [ + -14.037071228027344, + -0.004952846094965935, + 0.03187305107712746, + 0.06426500529050827, + 0.6982519030570984, + 0.6786565184593201, + -0.21849392354488373 + ], + "box_yaw_rad": -2.9148055476554373, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010779773130163743 + } + } + }, + { + "simulation_time_ns": 9480000000, + "center": [ + -14.03039501851246, + -0.02089480576874054, + 0.028501202524732108 + ], + "face_center": [ + -14.099919834659131, + -0.036803074614109574, + 0.05808894404756662 + ], + "face_normal": [ + -0.9004019102533505, + -0.20602479015516284, + 0.38318488942193696 + ], + "footprint_xy": [ + [ + -14.146893629496025, + -0.1578552429208853 + ], + [ + -13.913896407528895, + -0.1578552429208853 + ], + [ + -13.913896407528895, + 0.11606563138340423 + ], + [ + -14.146893629496025, + 0.11606563138340423 + ] + ], + "projected_box_corners": [ + [ + -13.955552925362051, + -0.1260387052301472 + ], + [ + -14.007843997202682, + 0.10807026601338435 + ], + [ + -13.913896407528895, + -0.11804333986012734 + ], + [ + -13.966187479369529, + 0.11606563138340423 + ], + [ + -14.094602557655392, + -0.1578552429208853 + ], + [ + -14.146893629496025, + 0.07625372832264626 + ], + [ + -14.052946039822237, + -0.1498598775508654 + ], + [ + -14.10523711166287, + 0.08424909369266614 + ] + ], + "yaw_rad": -2.9166507297298723, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.034661293029785, + 0.020664095878601074, + 0.05633470416069031 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.099680445075842, + -0.03685522734150714, + 0.05832322842623579 + ], + "intended_face_normal": [ + -0.8988739403860677, + -0.20636962010696536, + 0.3865705451079826 + ], + "commanded_contact_point": [ + -14.058128471374511, + -0.0359203323431636, + 0.02847406243680721 + ], + "centerline_face_intersection": [ + -14.116175883814256, + -0.0209203323431636, + 0.02847406243680721 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034699440002441, + 0.020476333796977997, + 0.05619877576828003 + ], + "box_pose": [ + -14.037293434143066, + -0.004917057231068611, + 0.03182053938508034, + 0.06213480234146118, + 0.6993051767349243, + 0.6785346269607544, + -0.21610687673091888 + ], + "box_yaw_rad": -2.915916710778032, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010915158168600494 + } + } + }, + { + "simulation_time_ns": 9500000000, + "center": [ + -14.030492541778, + -0.02079505752921218, + 0.028509784246673085 + ], + "face_center": [ + -14.100110661635446, + -0.03660707948851395, + 0.057929151949578414 + ], + "face_normal": [ + -0.9016102678452356, + -0.20477831609203, + 0.3810043139453896 + ], + "footprint_xy": [ + [ + -14.146921669713878, + -0.1578231631736838 + ], + [ + -13.914063413842124, + -0.1578231631736838 + ], + [ + -13.914063413842124, + 0.11623304811525946 + ], + [ + -14.146921669713878, + 0.11623304811525946 + ] + ], + "projected_box_corners": [ + [ + -13.955400208565559, + -0.12619911925508026 + ], + [ + -14.007685429998988, + 0.10792085096086966 + ], + [ + -13.914063413842124, + -0.11788692210069047 + ], + [ + -13.966348635275551, + 0.11623304811525946 + ], + [ + -14.094636448280449, + -0.1578231631736838 + ], + [ + -14.146921669713878, + 0.07629680704226613 + ], + [ + -14.053299653557014, + -0.14951096601929403 + ], + [ + -14.105584874990443, + 0.08460900419665592 + ] + ], + "yaw_rad": -2.91825643984132, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.03454875946045, + 0.02090313285589218, + 0.056443288922309875 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.099919834659131, + -0.036803074614109574, + 0.05808894404756662 + ], + "intended_face_normal": [ + -0.9004019102533505, + -0.20602479015516284, + 0.38318488942193696 + ], + "commanded_contact_point": [ + -14.056704635620116, + -0.03589480576874054, + 0.028501202524732108 + ], + "centerline_face_intersection": [ + -14.116151515730143, + -0.02089480576874054, + 0.028501202524732108 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034661293029785, + 0.020664095878601074, + 0.05633470416069031 + ], + "box_pose": [ + -14.03742790222168, + -0.00488855317234993, + 0.031805772334337234, + 0.060887206345796585, + 0.700029730796814, + 0.6783504486083984, + -0.21469028294086456 + ], + "box_yaw_rad": -2.9166507297298723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014243231535949247 + } + } + }, + { + "simulation_time_ns": 9520000000, + "center": [ + -14.030555342181978, + -0.020751504034714357, + 0.028519948291496802 + ], + "face_center": [ + -14.100234035222732, + -0.03652271090742391, + 0.057817540768284666 + ], + "face_normal": [ + -0.902394738959039, + -0.20424972811479236, + 0.3794272274848316 + ], + "footprint_xy": [ + [ + -14.14694230869839, + -0.15781246511117086 + ], + [ + -13.914168375665568, + -0.15781246511117086 + ], + [ + -13.914168375665568, + 0.11630945704174216 + ], + [ + -14.14694230869839, + 0.11630945704174216 + ] + ], + "projected_box_corners": [ + [ + -13.955293345598175, + -0.12627005136575176 + ], + [ + -14.007584922616886, + 0.10785201909320788 + ], + [ + -13.914168375665568, + -0.11781261341721748 + ], + [ + -13.96645995268428, + 0.11630945704174216 + ], + [ + -14.094650731679678, + -0.15781246511117086 + ], + [ + -14.14694230869839, + 0.07630960534778877 + ], + [ + -14.053525761747071, + -0.14935502716263657 + ], + [ + -14.105817338765783, + 0.08476704329632305 + ] + ], + "yaw_rad": -2.919001351426239, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.034369468688965, + 0.020926430821418762, + 0.0565495491027832 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.100110661635446, + -0.03660707948851395, + 0.057929151949578414 + ], + "intended_face_normal": [ + -0.9016102678452356, + -0.20477831609203, + 0.3810043139453896 + ], + "commanded_contact_point": [ + -14.054938430786132, + -0.03579505752921218, + 0.028509784246673085 + ], + "centerline_face_intersection": [ + -14.116134106282335, + -0.02079505752921218, + 0.028509784246673085 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03454875946045, + 0.02090313285589218, + 0.056443288922309875 + ], + "box_pose": [ + -14.037534713745117, + -0.004778185859322548, + 0.031742315739393234, + 0.0601806640625, + 0.7014214992523193, + 0.6773573756217957, + -0.21347840130329132 + ], + "box_yaw_rad": -2.91825643984132, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001769040099271425 + } + } + }, + { + "simulation_time_ns": 9540000000, + "center": [ + -14.030552550294734, + -0.02073145752432506, + 0.028542167242430333 + ], + "face_center": [ + -14.100217545816719, + -0.03644184540312937, + 0.05790499413528066 + ], + "face_normal": [ + -0.9022173451484861, + -0.20346207355736867, + 0.380272065286531 + ], + "footprint_xy": [ + [ + -14.146928605283554, + -0.15781070262825833 + ], + [ + -13.914176495305915, + -0.15781070262825833 + ], + [ + -13.914176495305915, + 0.11634778757960822 + ], + [ + -14.146928605283554, + 0.11634778757960822 + ] + ], + "projected_box_corners": [ + [ + -13.955364737359327, + -0.12638992687064973 + ], + [ + -14.007598614239585, + 0.10774711257310357 + ], + [ + -13.914176495305915, + -0.11778925186414507 + ], + [ + -13.966410372186173, + 0.11634778757960822 + ], + [ + -14.094694728403296, + -0.15781070262825833 + ], + [ + -14.146928605283554, + 0.07632633681549496 + ], + [ + -14.053506486349884, + -0.1492100276217537 + ], + [ + -14.105740363230142, + 0.0849270118219996 + ] + ], + "yaw_rad": -2.9197896324823707, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.034138679504395, + 0.020793311297893524, + 0.05683700740337372 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.100234035222732, + -0.03652271090742391, + 0.057817540768284666 + ], + "intended_face_normal": [ + -0.902394738959039, + -0.20424972811479236, + 0.3794272274848316 + ], + "commanded_contact_point": [ + -14.053039665222167, + -0.03575150403471436, + 0.028519948291496802 + ], + "centerline_face_intersection": [ + -14.116122456636248, + -0.020751504034714357, + 0.028519948291496802 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034369468688965, + 0.020926430821418762, + 0.0565495491027832 + ], + "box_pose": [ + -14.037604331970215, + -0.004730159416794777, + 0.031715232878923416, + 0.059627167880535126, + 0.702121376991272, + 0.6769216656684875, + -0.21271349489688873 + ], + "box_yaw_rad": -2.919001351426239, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018992922054251898 + } + } + }, + { + "simulation_time_ns": 9560000000, + "center": [ + -14.030424981078804, + -0.020686484324133714, + 0.028684577948266957 + ], + "face_center": [ + -14.09997324327172, + -0.03635511061184925, + 0.05834495369064388 + ], + "face_normal": [ + -0.9007055552825136, + -0.20292122759076836, + 0.3841255605901681 + ], + "footprint_xy": [ + [ + -14.146883732314246, + -0.15779689024598098 + ], + [ + -13.913966229843362, + -0.15779689024598098 + ], + [ + -13.913966229843362, + 0.11642392159771356 + ], + [ + -14.146883732314246, + 0.11642392159771356 + ] + ], + "projected_box_corners": [ + [ + -13.95555906501148, + -0.12645963767054993 + ], + [ + -14.007787207928414, + 0.10767936704936097 + ], + [ + -13.913966229843362, + -0.11771508312219735 + ], + [ + -13.966194372760297, + 0.11642392159771356 + ], + [ + -14.094655589397311, + -0.15779689024598098 + ], + [ + -14.146883732314246, + 0.07634211447392993 + ], + [ + -14.053062754229193, + -0.1490523356976284 + ], + [ + -14.105290897146128, + 0.0850866690222825 + ] + ], + "yaw_rad": -2.920000857106, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.03377628326416, + 0.020701251924037933, + 0.057112306356430054 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.100217545816719, + -0.03644184540312937, + 0.05790499413528066 + ], + "intended_face_normal": [ + -0.9022173451484861, + -0.20346207355736867, + 0.380272065286531 + ], + "commanded_contact_point": [ + -14.051056022644042, + -0.035731457524325064, + 0.028542167242430333 + ], + "centerline_face_intersection": [ + -14.116136488939507, + -0.02073145752432506, + 0.028542167242430333 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034138679504395, + 0.020793311297893524, + 0.05683700740337372 + ], + "box_pose": [ + -14.037595748901367, + -0.00470363162457943, + 0.03171766921877861, + 0.06007396802306175, + 0.7025571465492249, + 0.676403820514679, + -0.21279659867286682 + ], + "box_yaw_rad": -2.9197896324823707, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019838682975716333 + } + } + }, + { + "simulation_time_ns": 9580000000, + "center": [ + -14.029789184480933, + -0.020832847474073435, + 0.02891362786122534 + ], + "face_center": [ + -14.099194723701633, + -0.03635518456012477, + 0.058982466037145756 + ], + "face_normal": [ + -0.8988571787755077, + -0.2010266655634485, + 0.38941547541214216 + ], + "footprint_xy": [ + [ + -14.146204963333627, + -0.15786199155145242 + ], + [ + -13.913373405628237, + -0.15786199155145242 + ], + [ + -13.913373405628237, + 0.11619629660330555 + ], + [ + -14.146204963333627, + 0.11619629660330555 + ] + ], + "projected_box_corners": [ + [ + -13.955555206972361, + -0.12681731737934976 + ], + [ + -14.007393884892226, + 0.10740805938641483 + ], + [ + -13.913373405628237, + -0.11802908016245903 + ], + [ + -13.965212083548101, + 0.11619629660330555 + ], + [ + -14.094366285413763, + -0.15786199155145242 + ], + [ + -14.146204963333627, + 0.07636338521431216 + ], + [ + -14.052184484069638, + -0.14907375433456171 + ], + [ + -14.104023161989502, + 0.08515162243120289 + ] + ], + "yaw_rad": -2.921566437295384, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.032950401306152, + 0.020478837192058563, + 0.05731695890426636 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.09997324327172, + -0.03635511061184925, + 0.05834495369064388 + ], + "intended_face_normal": [ + -0.9007055552825136, + -0.20292122759076836, + 0.3841255605901681 + ], + "commanded_contact_point": [ + -14.048871154785155, + -0.03568648432413371, + 0.028684577948266957 + ], + "centerline_face_intersection": [ + -14.116152568144944, + -0.020686484324133714, + 0.028684577948266957 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03377628326416, + 0.020701251924037933, + 0.057112306356430054 + ], + "box_pose": [ + -14.037455558776855, + -0.004654161632061005, + 0.03186534717679024, + 0.06156301870942116, + 0.7026108503341675, + 0.6757889986038208, + -0.21414296329021454 + ], + "box_yaw_rad": -2.920000857106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021899659720343995 + } + } + }, + { + "simulation_time_ns": 9600000000, + "center": [ + -14.027895329808446, + -0.021769556838229707, + 0.029052966314999547 + ], + "face_center": [ + -14.097210313983398, + -0.03712655964074029, + 0.059414130783689595 + ], + "face_normal": [ + -0.8976844185915311, + -0.1988854545113199, + 0.3932013344336429 + ], + "footprint_xy": [ + [ + -14.14406523112029, + -0.15851666817831617 + ], + [ + -13.9117254284966, + -0.15851666817831617 + ], + [ + -13.9117254284966, + 0.11497755450185675 + ], + [ + -14.14406523112029, + 0.11497755450185675 + ] + ], + "projected_box_corners": [ + [ + -13.954424343864831, + -0.12780266257329498 + ], + [ + -14.005435262770387, + 0.10659829474248025 + ], + [ + -13.9117254284966, + -0.1194234028139185 + ], + [ + -13.962736347402158, + 0.11497755450185675 + ], + [ + -14.093054312214734, + -0.15851666817831617 + ], + [ + -14.14406523112029, + 0.07588428913745908 + ], + [ + -14.050355396846506, + -0.15013740841893966 + ], + [ + -14.101366315752061, + 0.08426354889683559 + ] + ], + "yaw_rad": -2.9235607007569664, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.030879020690918, + 0.01955755054950714, + 0.05758340656757355 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.099194723701633, + -0.03635518456012477, + 0.058982466037145756 + ], + "intended_face_normal": [ + -0.8988571787755077, + -0.2010266655634485, + 0.38941547541214216 + ], + "commanded_contact_point": [ + -14.046849365234374, + -0.035832847474073434, + 0.02891362786122534 + ], + "centerline_face_intersection": [ + -14.115693058572061, + -0.020832847474073435, + 0.02891362786122534 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.032950401306152, + 0.020478837192058563, + 0.05731695890426636 + ], + "box_pose": [ + -14.036775588989258, + -0.004785569384694099, + 0.03211624547839165, + 0.06415732949972153, + 0.702325701713562, + 0.675401508808136, + -0.2155350148677826 + ], + "box_yaw_rad": -2.921566437295384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002039980152338441 + } + } + }, + { + "simulation_time_ns": 9620000000, + "center": [ + -14.025789452720753, + -0.022992826864440413, + 0.02909155653643059 + ], + "face_center": [ + -14.095068186086587, + -0.038227675064694565, + 0.05959666941265303 + ], + "face_normal": [ + -0.8972149416538429, + -0.19730345482669076, + 0.39506558130697034 + ], + "footprint_xy": [ + [ + -14.141694067598436, + -0.15945234147315696 + ], + [ + -13.90988483784307, + -0.15945234147315696 + ], + [ + -13.90988483784307, + 0.11346668774427612 + ], + [ + -14.141694067598436, + 0.11346668774427612 + ] + ], + "projected_box_corners": [ + [ + -13.952898197720076, + -0.12898264507264867 + ], + [ + -14.003136600866767, + 0.10557472817759174 + ], + [ + -13.90988483784307, + -0.12109068550596426 + ], + [ + -13.96012324098976, + 0.11346668774427612 + ], + [ + -14.091455664451743, + -0.15945234147315696 + ], + [ + -14.141694067598436, + 0.07510503177708344 + ], + [ + -14.048442304574737, + -0.15156038190647256 + ], + [ + -14.09868070772143, + 0.08299699134376783 + ] + ], + "yaw_rad": -2.925131473005348, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.028647422790527, + 0.018349461257457733, + 0.05776625871658325 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.097210313983398, + -0.03712655964074029, + 0.059414130783689595 + ], + "intended_face_normal": [ + -0.8976844185915311, + -0.1988854545113199, + 0.3932013344336429 + ], + "commanded_contact_point": [ + -14.045114631652831, + -0.0367695568382297, + 0.029052966314999547 + ], + "centerline_face_intersection": [ + -14.113911431137897, + -0.021769556838229707, + 0.029052966314999547 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.030879020690918, + 0.01955755054950714, + 0.05758340656757355 + ], + "box_pose": [ + -14.034810066223145, + -0.00570625439286232, + 0.032329920679330826, + 0.06672535836696625, + 0.7008301019668579, + 0.676520049571991, + -0.2161146104335785 + ], + "box_yaw_rad": -2.9235607007569664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001976395769204924 + } + } + }, + { + "simulation_time_ns": 9640000000, + "center": [ + -14.024506270717582, + -0.023845858036817658, + 0.0290625119963421 + ], + "face_center": [ + -14.093770405098438, + -0.03902857036045866, + 0.05962661007419415 + ], + "face_normal": [ + -0.8970258731357035, + -0.1966282535748647, + 0.3958294867894665 + ], + "footprint_xy": [ + [ + -14.140224683885915, + -0.16008939458600627 + ], + [ + -13.908787857549251, + -0.16008939458600627 + ], + [ + -13.908787857549251, + 0.11239767851237097 + ], + [ + -14.140224683885915, + 0.11239767851237097 + ] + ], + "projected_box_corners": [ + [ + -13.951977313532673, + -0.12972396993872426 + ], + [ + -14.001696415124204, + 0.10493148630421027 + ], + [ + -13.908787857549251, + -0.12225777773056358 + ], + [ + -13.958506959140783, + 0.11239767851237097 + ], + [ + -14.090505582294384, + -0.16008939458600627 + ], + [ + -14.140224683885915, + 0.07456606165692826 + ], + [ + -14.047316126310962, + -0.15262320237784557 + ], + [ + -14.097035227902493, + 0.08203225386508896 + ] + ], + "yaw_rad": -2.9258053503322468, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.027284622192383, + 0.01748446375131607, + 0.05782879889011383 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.095068186086587, + -0.038227675064694565, + 0.05959666941265303 + ], + "intended_face_normal": [ + -0.8972149416538429, + -0.19730345482669076, + 0.39506558130697034 + ], + "commanded_contact_point": [ + -14.043240661621093, + -0.037992826864440415, + 0.02909155653643059 + ], + "centerline_face_intersection": [ + -14.111850562859095, + -0.022992826864440413, + 0.02909155653643059 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.028647422790527, + 0.018349461257457733, + 0.05776625871658325 + ], + "box_pose": [ + -14.032642364501953, + -0.00691838376224041, + 0.032442912459373474, + 0.0684572234749794, + 0.6992567181587219, + 0.6779730916023254, + -0.21611610054969788 + ], + "box_yaw_rad": -2.925131473005348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022382230545834408 + } + } + }, + { + "simulation_time_ns": 9660000000, + "center": [ + -14.024272448978321, + -0.023931456414763883, + 0.02898085658630248 + ], + "face_center": [ + -14.093572289896379, + -0.03902073256485248, + 0.05951033693324187 + ], + "face_normal": [ + -0.8974883013173098, + -0.1954181804841877, + 0.39538115951914854 + ], + "footprint_xy": [ + [ + -14.13991673499369, + -0.16017410391285933 + ], + [ + -13.90862816296295, + -0.16017410391285933 + ], + [ + -13.90862816296295, + 0.11231119108333157 + ], + [ + -14.13991673499369, + 0.11231119108333157 + ] + ], + "projected_box_corners": [ + [ + -13.951733085688856, + -0.12999555161268211 + ], + [ + -14.001317053157571, + 0.10469553703443944 + ], + [ + -13.90862816296295, + -0.12237989756379 + ], + [ + -13.958212130431667, + 0.11231119108333157 + ], + [ + -14.090332767524975, + -0.16017410391285933 + ], + [ + -14.13991673499369, + 0.07451698473426224 + ], + [ + -14.04722784479907, + -0.15255844986396722 + ], + [ + -14.096811812267784, + 0.08213263878315437 + ] + ], + "yaw_rad": -2.9272000149192534, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.026795387268066, + 0.01758715510368347, + 0.05660690367221832 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.093770405098438, + -0.03902857036045866, + 0.05962661007419415 + ], + "intended_face_normal": [ + -0.8970258731357035, + -0.1966282535748647, + 0.3958294867894665 + ], + "commanded_contact_point": [ + -14.041005249023437, + -0.03884585803681766, + 0.0290625119963421 + ], + "centerline_face_intersection": [ + -14.110585520183953, + -0.023845858036817658, + 0.0290625119963421 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.027284622192383, + 0.01748446375131607, + 0.05782879889011383 + ], + "box_pose": [ + -14.031318664550781, + -0.007767487317323685, + 0.03247701749205589, + 0.0694018304347992, + 0.6979050636291504, + 0.6792948246002197, + -0.21603287756443024 + ], + "box_yaw_rad": -2.9258053503322468, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023928174289143973 + } + } + }, + { + "simulation_time_ns": 9680000000, + "center": [ + -14.023300786391452, + -0.02397170794447183, + 0.02920272240122346 + ], + "face_center": [ + -14.092423536395073, + -0.0388403191278729, + 0.06023778381869194 + ], + "face_normal": [ + -0.8951948325030585, + -0.19256039288339366, + 0.40192883827506165 + ], + "footprint_xy": [ + [ + -14.138810436444286, + -0.1600628285255249 + ], + [ + -13.907791136338618, + -0.1600628285255249 + ], + [ + -13.907791136338618, + 0.11211941263658123 + ], + [ + -14.138810436444286, + 0.11211941263658123 + ] + ], + "projected_box_corners": [ + [ + -13.951631769857647, + -0.13032560615872274 + ], + [ + -14.000564936437046, + 0.10450098178451983 + ], + [ + -13.907791136338618, + -0.12270717530666134 + ], + [ + -13.956724302918015, + 0.11211941263658123 + ], + [ + -14.089877269864889, + -0.1600628285255249 + ], + [ + -14.138810436444286, + 0.07476375941771768 + ], + [ + -14.046036636345859, + -0.1524443976734635 + ], + [ + -14.094969802925258, + 0.08238219026977908 + ] + ], + "yaw_rad": -2.9297166597427027, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.025259971618652, + 0.01767498254776001, + 0.05596655607223511 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.093572289896379, + -0.03902073256485248, + 0.05951033693324187 + ], + "intended_face_normal": [ + -0.8974883013173098, + -0.1954181804841877, + 0.39538115951914854 + ], + "commanded_contact_point": [ + -14.038553352355956, + -0.03893145641476388, + 0.02898085658630248 + ], + "centerline_face_intersection": [ + -14.11030734636707, + -0.023931456414763883, + 0.02898085658630248 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.026795387268066, + 0.01758715510368347, + 0.05660690367221832 + ], + "box_pose": [ + -14.031078338623047, + -0.007843218743801117, + 0.0323617048561573, + 0.06949601322412491, + 0.6985636949539185, + 0.6787878274917603, + -0.2154671549797058 + ], + "box_yaw_rad": -2.9272000149192534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002454748858090699 + } + } + }, + { + "simulation_time_ns": 9700000000, + "center": [ + -14.022074518341386, + -0.023762768582717333, + 0.02971833850596839 + ], + "face_center": [ + -14.090968764557738, + -0.038220857428200555, + 0.06144769002535179 + ], + "face_normal": [ + -0.8922355259135486, + -0.1872438006541799, + 0.41092044974103636 + ], + "footprint_xy": [ + [ + -14.137403827019329, + -0.15974190132959798 + ], + [ + -13.906745209663445, + -0.15974190132959798 + ], + [ + -13.906745209663445, + 0.11221636416416331 + ], + [ + -14.137403827019329, + 0.11221636416416331 + ] + ], + "projected_box_corners": [ + [ + -13.951509237527098, + -0.13082572363863154 + ], + [ + -13.999615334586625, + 0.10418325646995781 + ], + [ + -13.906745209663445, + -0.12279261594442603 + ], + [ + -13.95485130672297, + 0.11221636416416331 + ], + [ + -14.089297729959803, + -0.15974190132959798 + ], + [ + -14.137403827019329, + 0.07526707877899137 + ], + [ + -14.044533702096148, + -0.15170879363539247 + ], + [ + -14.092639799155673, + 0.08330018647319687 + ] + ], + "yaw_rad": -2.9347353516246883, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.023412704467773, + 0.018139615654945374, + 0.055497124791145325 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.092423536395073, + -0.0388403191278729, + 0.06023778381869194 + ], + "intended_face_normal": [ + -0.8951948325030585, + -0.19256039288339366, + 0.40192883827506165 + ], + "commanded_contact_point": [ + -14.036409492492675, + -0.03897170794447183, + 0.02920272240122346 + ], + "centerline_face_intersection": [ + -14.10955610323185, + -0.02397170794447183, + 0.02920272240122346 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.025259971618652, + 0.01767498254776001, + 0.05596655607223511 + ], + "box_pose": [ + -14.03003978729248, + -0.007861427962779999, + 0.032612480223178864, + 0.07294660806655884, + 0.6981035470962524, + 0.6784164309501648, + -0.21698248386383057 + ], + "box_yaw_rad": -2.9297166597427027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021556854452499975 + } + } + }, + { + "simulation_time_ns": 9720000000, + "center": [ + -14.02199398933529, + -0.023586942424897922, + 0.030078385620424072 + ], + "face_center": [ + -14.090819297565616, + -0.037868840650756116, + 0.06203630086354199 + ], + "face_normal": [ + -0.891342723922186, + -0.18496199137698, + 0.4138805325556536 + ], + "footprint_xy": [ + [ + -14.137366282733732, + -0.15968034197210096 + ], + [ + -13.906621695936845, + -0.15968034197210096 + ], + [ + -13.906621695936845, + 0.11250645712230511 + ], + [ + -14.137366282733732, + 0.11250645712230511 + ] + ], + "projected_box_corners": [ + [ + -13.951600914172285, + -0.13111654552038457 + ], + [ + -13.999715666273076, + 0.10390118463785802 + ], + [ + -13.906621695936845, + -0.12251127303593748 + ], + [ + -13.954736448037636, + 0.11250645712230511 + ], + [ + -14.089251530632941, + -0.15968034197210096 + ], + [ + -14.137366282733732, + 0.07533738818614162 + ], + [ + -14.044272312397501, + -0.15107506948765387 + ], + [ + -14.092387064498292, + 0.08394266067058871 + ] + ], + "yaw_rad": -2.93698705671057, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.023011207580566, + 0.01845700293779373, + 0.05521179735660553 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.090968764557738, + -0.038220857428200555, + 0.06144769002535179 + ], + "intended_face_normal": [ + -0.8922355259135486, + -0.1872438006541799, + 0.41092044974103636 + ], + "commanded_contact_point": [ + -14.034572715759277, + -0.038762768582717336, + 0.02971833850596839 + ], + "centerline_face_intersection": [ + -14.108615920996675, + -0.023762768582717333, + 0.02971833850596839 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.023412704467773, + 0.018139615654945374, + 0.055497124791145325 + ], + "box_pose": [ + -14.028728485107422, + -0.007610699161887169, + 0.03309725597500801, + 0.07775027304887772, + 0.6989040374755859, + 0.6764990091323853, + -0.2187170684337616 + ], + "box_yaw_rad": -2.9347353516246883, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019191832618894273 + } + } + }, + { + "simulation_time_ns": 9740000000, + "center": [ + -14.021363151561108, + -0.02342788248019448, + 0.030417620819486936 + ], + "face_center": [ + -14.090181763548376, + -0.03753880068130441, + 0.06246584591467697 + ], + "face_normal": [ + -0.8912560022251412, + -0.1827476634660119, + 0.41505011728564245 + ], + "footprint_xy": [ + [ + -14.13664664916531, + -0.15951238677869586 + ], + [ + -13.906079653956906, + -0.15951238677869586 + ], + [ + -13.906079653956906, + 0.1126566218183069 + ], + [ + -14.13664664916531, + 0.1126566218183069 + ] + ], + "projected_box_corners": [ + [ + -13.951134326760693, + -0.131290550376476 + ], + [ + -13.999009425190774, + 0.10377934063676797 + ], + [ + -13.906079653956906, + -0.12241326919493704 + ], + [ + -13.953954752386988, + 0.1126566218183069 + ], + [ + -14.088771550735228, + -0.15951238677869586 + ], + [ + -14.13664664916531, + 0.07555750423454809 + ], + [ + -14.043716877931441, + -0.15063510559715693 + ], + [ + -14.091591976361522, + 0.08443478541608704 + ] + ], + "yaw_rad": -2.9393507895852182, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.021993637084961, + 0.01860734075307846, + 0.05574977397918701 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.090819297565616, + -0.037868840650756116, + 0.06203630086354199 + ], + "intended_face_normal": [ + -0.891342723922186, + -0.18496199137698, + 0.4138805325556536 + ], + "commanded_contact_point": [ + -14.033131713867187, + -0.03858694242489792, + 0.030078385620424072 + ], + "centerline_face_intersection": [ + -14.108622075075045, + -0.023586942424897922, + 0.030078385620424072 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.023011207580566, + 0.01845700293779373, + 0.05521179735660553 + ], + "box_pose": [ + -14.028641700744629, + -0.007416360080242157, + 0.033380184322595596, + 0.079072505235672, + 0.700580894947052, + 0.6744314432144165, + -0.2192627340555191 + ], + "box_yaw_rad": -2.93698705671057, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014956721617413059 + } + } + }, + { + "simulation_time_ns": 9760000000, + "center": [ + -14.01963884964668, + -0.02258231341692345, + 0.03078301373553944 + ], + "face_center": [ + -14.088389689136948, + -0.03622892297355916, + 0.06317584536224041 + ], + "face_normal": [ + -0.8903782942476965, + -0.17673449559873156, + 0.4195130471638553 + ], + "footprint_xy": [ + [ + -14.134584425984341, + -0.1584906120687395 + ], + [ + -13.90469327330902, + -0.1584906120687395 + ], + [ + -13.90469327330902, + 0.11332598523489258 + ], + [ + -14.134584425984341, + 0.11332598523489258 + ] + ], + "projected_box_corners": [ + [ + -13.95017456258089, + -0.13119739295546806 + ], + [ + -13.997082747003809, + 0.10406791667721141 + ], + [ + -13.90469327330902, + -0.12193932439778689 + ], + [ + -13.951601457731936, + 0.11332598523489258 + ], + [ + -14.087676241561423, + -0.1584906120687395 + ], + [ + -14.134584425984341, + 0.07677469756393998 + ], + [ + -14.042194952289552, + -0.1492325435110583 + ], + [ + -14.08910313671247, + 0.08603276612162115 + ] + ], + "yaw_rad": -2.9456458631177793, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.01968002319336, + 0.01949489116668701, + 0.05656072497367859 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.090181763548376, + -0.03753880068130441, + 0.06246584591467697 + ], + "intended_face_normal": [ + -0.8912560022251412, + -0.1827476634660119, + 0.41505011728564245 + ], + "commanded_contact_point": [ + -14.032051200866698, + -0.03842788248019448, + 0.030417620819486936 + ], + "centerline_face_intersection": [ + -14.107999666455436, + -0.02342788248019448, + 0.030417620819486936 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.021993637084961, + 0.01860734075307846, + 0.05574977397918701 + ], + "box_pose": [ + -14.027992248535156, + -0.007240200415253639, + 0.03367273882031441, + 0.0799974873661995, + 0.7015316486358643, + 0.6734102368354797, + -0.2190263718366623 + ], + "box_yaw_rad": -2.9393507895852182, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011436297173982807 + } + } + }, + { + "simulation_time_ns": 9780000000, + "center": [ + -14.01629295167145, + -0.020048701994784677, + 0.03108490645766985 + ], + "face_center": [ + -14.085151905921139, + -0.032951165564299806, + 0.06355292884415774 + ], + "face_normal": [ + -0.8917784667516528, + -0.16709721059106997, + 0.4204868275705911 + ], + "footprint_xy": [ + [ + -14.130316584260795, + -0.15537210626982612 + ], + [ + -13.902269319082103, + -0.15537210626982612 + ], + [ + -13.902269319082103, + 0.11527470228025677 + ], + [ + -14.130316584260795, + 0.11527470228025677 + ] + ], + "projected_box_corners": [ + [ + -13.947884646628859, + -0.12956717913079588 + ], + [ + -13.992598675761416, + 0.10612248790007801 + ], + [ + -13.902269319082103, + -0.12041496475061711 + ], + [ + -13.94698334821466, + 0.11527470228025677 + ], + [ + -14.085602555128238, + -0.15537210626982612 + ], + [ + -14.130316584260795, + 0.08031756076104775 + ], + [ + -14.039987227581483, + -0.14621989188964735 + ], + [ + -14.084701256714041, + 0.08946977514122652 + ] + ], + "yaw_rad": -2.956365222298799, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.015664100646973, + 0.022010203450918198, + 0.057586267590522766 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.088389689136948, + -0.03622892297355916, + 0.06317584536224041 + ], + "intended_face_normal": [ + -0.8903782942476965, + -0.17673449559873156, + 0.4195130471638553 + ], + "commanded_contact_point": [ + -14.031233901977538, + -0.037582313416923446, + 0.03078301373553944 + ], + "centerline_face_intersection": [ + -14.10636076819556, + -0.02258231341692345, + 0.03078301373553944 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.01968002319336, + 0.01949489116668701, + 0.05656072497367859 + ], + "box_pose": [ + -14.026188850402832, + -0.006349390372633934, + 0.03397227078676224, + 0.08335955440998077, + 0.7028356194496155, + 0.6717225909233093, + -0.21877381205558777 + ], + "box_yaw_rad": -2.9456458631177793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001231453002791754 + } + } + }, + { + "simulation_time_ns": 9800000000, + "center": [ + -14.011547186166013, + -0.016544601521074502, + 0.03134428273609367 + ], + "face_center": [ + -14.08055202735048, + -0.0286462276783386, + 0.06381101159516843 + ], + "face_normal": [ + -0.893667819101438, + -0.15672572633900117, + 0.42047007535723324 + ], + "footprint_xy": [ + [ + -14.124516733771879, + -0.15118900665072044 + ], + [ + -13.898577638560148, + -0.15118900665072044 + ], + [ + -13.898577638560148, + 0.11809980360857143 + ], + [ + -14.124516733771879, + 0.11809980360857143 + ] + ], + "projected_box_corners": [ + [ + -13.944235826576485, + -0.12698575433619225 + ], + [ + -13.986507051402942, + 0.10915014471373521 + ], + [ + -13.898577638560148, + -0.11803609544135601 + ], + [ + -13.940848863386606, + 0.11809980360857143 + ], + [ + -14.082245508945421, + -0.15118900665072044 + ], + [ + -14.124516733771879, + 0.08494689239920701 + ], + [ + -14.036587320929083, + -0.1422393477558842 + ], + [ + -14.07885854575554, + 0.09389655129404323 + ] + ], + "yaw_rad": -2.9679845293600735, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.010351181030273, + 0.025432556867599487, + 0.058651670813560486 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.085151905921139, + -0.032951165564299806, + 0.06355292884415774 + ], + "intended_face_normal": [ + -0.8917784667516528, + -0.16709721059106997, + 0.4204868275705911 + ], + "commanded_contact_point": [ + -14.030490036010741, + -0.03504870199478467, + 0.03108490645766985 + ], + "centerline_face_intersection": [ + -14.102878708998265, + -0.020048701994784677, + 0.03108490645766985 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.015664100646973, + 0.022010203450918198, + 0.057586267590522766 + ], + "box_pose": [ + -14.022689819335938, + -0.0037454068660736084, + 0.03422565013170242, + 0.08714208751916885, + 0.7034518718719482, + 0.6715986132621765, + -0.21567773818969727 + ], + "box_yaw_rad": -2.956365222298799, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026577551863604773 + } + } + }, + { + "simulation_time_ns": 9820000000, + "center": [ + -14.007591633928431, + -0.014614329714886642, + 0.0314933165137983 + ], + "face_center": [ + -14.076674923087054, + -0.02619314528709947, + 0.06398386898327375 + ], + "face_normal": [ + -0.894683783036335, + -0.14995491160591712, + 0.4207786101438433 + ], + "footprint_xy": [ + [ + -14.119863714166135, + -0.14879555080197876 + ], + [ + -13.895319553690728, + -0.14879555080197876 + ], + [ + -13.895319553690728, + 0.11956689137220547 + ], + [ + -14.119863714166135, + 0.11956689137220547 + ] + ], + "projected_box_corners": [ + [ + -13.941047288664127, + -0.1256379196575531 + ], + [ + -13.981697135848886, + 0.11077949976626829 + ], + [ + -13.895319553690728, + -0.11685052805161593 + ], + [ + -13.935969400875488, + 0.11956689137220547 + ], + [ + -14.079213866981375, + -0.14879555080197876 + ], + [ + -14.119863714166135, + 0.08762186862184264 + ], + [ + -14.033486132007974, + -0.14000815919604157 + ], + [ + -14.074135979192734, + 0.09640926022777982 + ] + ], + "yaw_rad": -2.9755295810112012, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.006048202514648, + 0.027278117835521698, + 0.05951179563999176 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.08055202735048, + -0.0286462276783386, + 0.06381101159516843 + ], + "intended_face_normal": [ + -0.893667819101438, + -0.15672572633900117, + 0.42047007535723324 + ], + "commanded_contact_point": [ + -14.029581184387206, + -0.0315446015210745, + 0.03134428273609367 + ], + "centerline_face_intersection": [ + -14.09794988777507, + -0.016544601521074502, + 0.03134428273609367 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.010351181030273, + 0.025432556867599487, + 0.058651670813560486 + ], + "box_pose": [ + -14.017776489257812, + -0.00016757287085056305, + 0.03443789482116699, + 0.09090154618024826, + 0.7039482593536377, + 0.6717817783355713, + -0.2119034081697464 + ], + "box_yaw_rad": -2.9679845293600735, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003629326033476096 + } + } + }, + { + "simulation_time_ns": 9840000000, + "center": [ + -14.006928017520217, + -0.01498274416035417, + 0.03105841557320592 + ], + "face_center": [ + -14.076023139698988, + -0.02665189502998867, + 0.06349145003802922 + ], + "face_normal": [ + -0.8948370301002484, + -0.15112482587351028, + 0.42003370603430223 + ], + "footprint_xy": [ + [ + -14.119155180095051, + -0.1490741864923466 + ], + [ + -13.894700854945382, + -0.1490741864923466 + ], + [ + -13.894700854945382, + 0.11910869817163827 + ], + [ + -14.119155180095051, + 0.11910869817163827 + ] + ], + "projected_box_corners": [ + [ + -13.940409785849607, + -0.1257358847530776 + ], + [ + -13.980964935737513, + 0.11070411043129062 + ], + [ + -13.894700854945382, + -0.11733129701272996 + ], + [ + -13.93525600483329, + 0.11910869817163827 + ], + [ + -14.078600030207145, + -0.1490741864923466 + ], + [ + -14.119155180095051, + 0.08736580869202162 + ], + [ + -14.032891099302923, + -0.14066959875199897 + ], + [ + -14.073446249190829, + 0.09577039643236926 + ] + ], + "yaw_rad": -2.974286079539901, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.005457878112793, + 0.026798173785209656, + 0.059623196721076965 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.076674923087054, + -0.02619314528709947, + 0.06398386898327375 + ], + "intended_face_normal": [ + -0.894683783036335, + -0.14995491160591712, + 0.4207786101438433 + ], + "commanded_contact_point": [ + -14.028552169799804, + -0.02961432971488664, + 0.0314933165137983 + ], + "centerline_face_intersection": [ + -14.093896220392923, + -0.014614329714886642, + 0.0314933165137983 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006048202514648, + 0.027278117835521698, + 0.05951179563999176 + ], + "box_pose": [ + -14.013708114624023, + 0.0018097087740898132, + 0.03456273674964905, + 0.09350533783435822, + 0.7041292190551758, + 0.6719701886177063, + -0.20955884456634521 + ], + "box_yaw_rad": -2.9755295810112012, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021924943178369865 + } + } + }, + { + "simulation_time_ns": 9860000000, + "center": [ + -14.007102966926054, + -0.01532404598591907, + 0.03046777385866847 + ], + "face_center": [ + -14.076330532503546, + -0.027153761070821094, + 0.0625583835008918 + ], + "face_normal": [ + -0.8965522779185022, + -0.15320426073084548, + 0.4155990310293838 + ], + "footprint_xy": [ + [ + -14.11920242684341, + -0.14926767117076697 + ], + [ + -13.895003507008695, + -0.14926767117076697 + ], + [ + -13.895003507008695, + 0.11861957919892885 + ], + [ + -14.11920242684341, + 0.11861957919892885 + ] + ], + "projected_box_corners": [ + [ + -13.940324219885584, + -0.12560824100096293 + ], + [ + -13.980747295688428, + 0.11085808729167948 + ], + [ + -13.895003507008695, + -0.11784674909371357 + ], + [ + -13.93542658281154, + 0.11861957919892885 + ], + [ + -14.078779351040568, + -0.14926767117076697 + ], + [ + -14.11920242684341, + 0.08719865712187543 + ], + [ + -14.03345863816368, + -0.1415061792635176 + ], + [ + -14.073881713966523, + 0.0949601490291248 + ] + ], + "yaw_rad": -2.972345813308213, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.005864143371582, + 0.02636067569255829, + 0.05950044095516205 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.076023139698988, + -0.02665189502998867, + 0.06349145003802922 + ], + "intended_face_normal": [ + -0.8948370301002484, + -0.15112482587351028, + 0.42003370603430223 + ], + "commanded_contact_point": [ + -14.027663345336913, + -0.02998274416035417, + 0.03105841557320592 + ], + "centerline_face_intersection": [ + -14.093217823724132, + -0.01498274416035417, + 0.03105841557320592 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.005457878112793, + 0.026798173785209656, + 0.059623196721076965 + ], + "box_pose": [ + -14.013038635253906, + 0.0014324802905321121, + 0.03418611362576485, + 0.09319066256284714, + 0.7029123902320862, + 0.6732998490333557, + -0.20951628684997559 + ], + "box_yaw_rad": -2.974286079539901, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010558773402200156 + } + } + }, + { + "simulation_time_ns": 9880000000, + "center": [ + -14.007506512327424, + -0.015537614856209955, + 0.030026095398103306 + ], + "face_center": [ + -14.077036159806369, + -0.027367306568547512, + 0.06145684310222076 + ], + "face_normal": [ + -0.9004644798658887, + -0.153203958037464, + 0.4070532917882961 + ], + "footprint_xy": [ + [ + -14.11928866778527, + -0.14931578885056487 + ], + [ + -13.895724356869577, + -0.14931578885056487 + ], + [ + -13.895724356869577, + 0.11824055913814496 + ], + [ + -14.11928866778527, + 0.11824055913814496 + ] + ], + "projected_box_corners": [ + [ + -13.940152233255048, + -0.12565640542588977 + ], + [ + -13.980229372827381, + 0.11086852171519258 + ], + [ + -13.895724356869577, + -0.11828436800293739 + ], + [ + -13.935801496441911, + 0.11824055913814496 + ], + [ + -14.079211528212937, + -0.14931578885056487 + ], + [ + -14.11928866778527, + 0.08720913829051748 + ], + [ + -14.034783651827466, + -0.1419437514276125 + ], + [ + -14.074860791399798, + 0.09458117571346984 + ] + ], + "yaw_rad": -2.9730675852445314, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.006488800048828, + 0.026091471314430237, + 0.05935654044151306 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.076330532503546, + -0.027153761070821094, + 0.0625583835008918 + ], + "intended_face_normal": [ + -0.8965522779185022, + -0.15320426073084548, + 0.4155990310293838 + ], + "commanded_contact_point": [ + -14.02713882446289, + -0.03032404598591907, + 0.03046777385866847 + ], + "centerline_face_intersection": [ + -14.093227686937592, + -0.01532404598591907, + 0.03046777385866847 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.005864143371582, + 0.02636067569255829, + 0.05950044095516205 + ], + "box_pose": [ + -14.013216972351074, + 0.0010750498622655869, + 0.033672504127025604, + 0.09142307937145233, + 0.7012209296226501, + 0.6756961941719055, + -0.20824433863162994 + ], + "box_yaw_rad": -2.972345813308213, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008605037584880046 + } + } + }, + { + "simulation_time_ns": 9900000000, + "center": [ + -14.00777689159774, + -0.015598192757634674, + 0.029583879793019796 + ], + "face_center": [ + -14.077553158751687, + -0.027435700741617455, + 0.06046028754784518 + ], + "face_normal": [ + -0.9036584016737521, + -0.15330518499943935, + 0.39987414660049225 + ], + "footprint_xy": [ + [ + -14.11937028779199, + -0.14932780677961865 + ], + [ + -13.89618349540349, + -0.14932780677961865 + ], + [ + -13.89618349540349, + 0.11813142126434932 + ], + [ + -14.11937028779199, + 0.11813142126434932 + ] + ], + "projected_box_corners": [ + [ + -13.939827311691936, + -0.1256527908116531 + ], + [ + -13.979817753484095, + 0.11088689790218977 + ], + [ + -13.89618349540349, + -0.11840826744949355 + ], + [ + -13.936173937195647, + 0.11813142126434932 + ], + [ + -14.079379845999831, + -0.14932780677961865 + ], + [ + -14.11937028779199, + 0.0872118819342242 + ], + [ + -14.035736029711384, + -0.14208328341745913 + ], + [ + -14.075726471503543, + 0.09445640529638374 + ] + ], + "yaw_rad": -2.973543183075215, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.006915092468262, + 0.02614247053861618, + 0.058926910161972046 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.077036159806369, + -0.027367306568547512, + 0.06145684310222076 + ], + "intended_face_normal": [ + -0.9004644798658887, + -0.153203958037464, + 0.4070532917882961 + ], + "commanded_contact_point": [ + -14.027056808471679, + -0.030537614856209955, + 0.030026095398103306 + ], + "centerline_face_intersection": [ + -14.093257050675076, + -0.015537614856209955, + 0.030026095398103306 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006488800048828, + 0.026091471314430237, + 0.05935654044151306 + ], + "box_pose": [ + -14.013625144958496, + 0.0008601881563663483, + 0.03322860971093178, + 0.0885745957493782, + 0.7009950876235962, + 0.6773759126663208, + -0.2047494351863861 + ], + "box_yaw_rad": -2.9730675852445314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004974114470926962 + } + } + }, + { + "simulation_time_ns": 9920000000, + "center": [ + -14.007909528837706, + -0.015604357705274196, + 0.02936358656732207 + ], + "face_center": [ + -14.077821993209707, + -0.027450179513263614, + 0.0599270491457791 + ], + "face_normal": [ + -0.9054222644511611, + -0.1534128556619736, + 0.39582125656462086 + ], + "footprint_xy": [ + [ + -14.119410612343943, + -0.14932352118401365 + ], + [ + -13.896408445331469, + -0.14932352118401365 + ], + [ + -13.896408445331469, + 0.11811480577346525 + ], + [ + -14.119410612343943, + 0.11811480577346525 + ] + ], + "projected_box_corners": [ + [ + -13.939604087143815, + -0.12563187756803482 + ], + [ + -13.979585683599941, + 0.11090935249552533 + ], + [ + -13.896408445331469, + -0.1184264242900949 + ], + [ + -13.936390041787595, + 0.11811480577346525 + ], + [ + -14.079429015887817, + -0.14932352118401365 + ], + [ + -14.119410612343943, + 0.0872177088795465 + ], + [ + -14.03623337407547, + -0.14211806790607373 + ], + [ + -14.076214970531597, + 0.09442316215748642 + ] + ], + "yaw_rad": -2.9737488495346596, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.00698471069336, + 0.026247575879096985, + 0.05868138372898102 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.077553158751687, + -0.027435700741617455, + 0.06046028754784518 + ], + "intended_face_normal": [ + -0.9036584016737521, + -0.15330518499943935, + 0.39987414660049225 + ], + "commanded_contact_point": [ + -14.027085418701171, + -0.030598192757634673, + 0.029583879793019796 + ], + "centerline_face_intersection": [ + -14.093224350248509, + -0.015598192757634674, + 0.029583879793019796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006915092468262, + 0.02614247053861618, + 0.058926910161972046 + ], + "box_pose": [ + -14.013914108276367, + 0.0007984340190887451, + 0.03275672346353531, + 0.08596171438694, + 0.701397716999054, + 0.678137481212616, + -0.20194421708583832 + ], + "box_yaw_rad": -2.973543183075215, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004472615216537119 + } + } + }, + { + "simulation_time_ns": 9940000000, + "center": [ + -14.007893084538452, + -0.015549373578158877, + 0.029587335965583505 + ], + "face_center": [ + -14.07778676919699, + -0.02734022404559176, + 0.060215037892521486 + ], + "face_normal": [ + -0.9051790521593048, + -0.1527009328869191, + 0.3966532074462119 + ], + "footprint_xy": [ + [ + -14.119407994272484, + -0.14930654629893914 + ], + [ + -13.89637817480442, + -0.14930654629893914 + ], + [ + -13.89637817480442, + 0.11820779914262139 + ], + [ + -14.119407994272484, + 0.11820779914262139 + ] + ], + "projected_box_corners": [ + [ + -13.939635641895919, + -0.12572484536407338 + ], + [ + -13.979620624955407, + 0.11081590904682735 + ], + [ + -13.89637817480442, + -0.11833295526827935 + ], + [ + -13.936363157863909, + 0.11820779914262139 + ], + [ + -14.079423011212995, + -0.14930654629893914 + ], + [ + -14.119407994272484, + 0.08723420811196159 + ], + [ + -14.036165544121497, + -0.1419146562031451 + ], + [ + -14.076150527180985, + 0.09462609820775562 + ] + ], + "yaw_rad": -2.97446923142925, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.006646156311035, + 0.026341266930103302, + 0.05915357172489166 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.077821993209707, + -0.027450179513263614, + 0.0599270491457791 + ], + "intended_face_normal": [ + -0.9054222644511611, + -0.1534128556619736, + 0.39582125656462086 + ], + "commanded_contact_point": [ + -14.026829833984374, + -0.030604357705274195, + 0.02936358656732207 + ], + "centerline_face_intersection": [ + -14.093190526382253, + -0.015604357705274196, + 0.02936358656732207 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.00698471069336, + 0.026247575879096985, + 0.05868138372898102 + ], + "box_pose": [ + -14.014060020446777, + 0.0007913652807474136, + 0.032515306025743484, + 0.08444119244813919, + 0.7017157673835754, + 0.6784586310386658, + -0.2003956288099289 + ], + "box_yaw_rad": -2.9737488495346596, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003374769019175192 + } + } + }, + { + "simulation_time_ns": 9960000000, + "center": [ + -14.008074041874554, + -0.014483915325616471, + 0.03032003146887086 + ], + "face_center": [ + -14.07799083828618, + -0.026098528140431756, + 0.06096229802710024 + ], + "face_normal": [ + -0.9054783678250402, + -0.15041851449489219, + 0.39684183105665394 + ], + "footprint_xy": [ + [ + -14.119428247467809, + -0.14817668478203866 + ], + [ + -13.896719836281298, + -0.14817668478203866 + ], + [ + -13.896719836281298, + 0.11920885413080572 + ], + [ + -14.119428247467809, + 0.11920885413080572 + ] + ], + "projected_box_corners": [ + [ + -13.939971385928938, + -0.1249474591524081 + ], + [ + -13.979594654644556, + 0.11165309417445979 + ], + [ + -13.896719836281298, + -0.11739169919606215 + ], + [ + -13.936343104996915, + 0.11920885413080572 + ], + [ + -14.079804978752193, + -0.14817668478203866 + ], + [ + -14.119428247467809, + 0.08842386854482921 + ], + [ + -14.03655342910455, + -0.14062092482569272 + ], + [ + -14.076176697820168, + 0.09597962850117514 + ] + ], + "yaw_rad": -2.976975433659162, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.006406784057617, + 0.02739451825618744, + 0.06047320365905762 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.07778676919699, + -0.02734022404559176, + 0.060215037892521486 + ], + "intended_face_normal": [ + -0.9051790521593048, + -0.1527009328869191, + 0.3966532074462119 + ], + "commanded_contact_point": [ + -14.026392097473144, + -0.030549373578158876, + 0.029587335965583505 + ], + "centerline_face_intersection": [ + -14.093196996209011, + -0.015549373578158877, + 0.029587335965583505 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006646156311035, + 0.026341266930103302, + 0.05915357172489166 + ], + "box_pose": [ + -14.014041900634766, + 0.0008520074188709259, + 0.032712798565626144, + 0.08482623100280762, + 0.7022756934165955, + 0.6777893304824829, + -0.2005370408296585 + ], + "box_yaw_rad": -2.97446923142925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004946719122016236 + } + } + }, + { + "simulation_time_ns": 9980000000, + "center": [ + -14.007246827859195, + -0.010506503538217402, + 0.03108412397126673 + ], + "face_center": [ + -14.077273257533045, + -0.02156365523822196, + 0.061682243608861584 + ], + "face_normal": [ + -0.9068982061533291, + -0.14319894772022224, + 0.3962700931668728 + ], + "footprint_xy": [ + [ + -14.117820653666328, + -0.14369213244949186 + ], + [ + -13.896673002052061, + -0.14369213244949186 + ], + [ + -13.896673002052061, + 0.12267912537305704 + ], + [ + -14.117820653666328, + 0.12267912537305704 + ] + ], + "projected_box_corners": [ + [ + -13.939893725652222, + -0.12157782904948272 + ], + [ + -13.97776779431863, + 0.11530770192326309 + ], + [ + -13.896673002052061, + -0.11420640559968878 + ], + [ + -13.934547070718471, + 0.12267912537305704 + ], + [ + -14.07994658499992, + -0.14369213244949186 + ], + [ + -14.117820653666328, + 0.09319339852325398 + ], + [ + -14.036725861399761, + -0.1363207089996979 + ], + [ + -14.074599930066169, + 0.10056482197304793 + ] + ], + "yaw_rad": -2.984985941668943, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.005035400390625, + 0.031144052743911743, + 0.061881691217422485 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.07799083828618, + -0.026098528140431756, + 0.06096229802710024 + ], + "intended_face_normal": [ + -0.9054783678250402, + -0.15041851449489219, + 0.39684183105665394 + ], + "commanded_contact_point": [ + -14.025704498291015, + -0.02948391532561647, + 0.03032003146887086 + ], + "centerline_face_intersection": [ + -14.09334975541469, + -0.014483915325616471, + 0.03032003146887086 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006406784057617, + 0.02739451825618744, + 0.06047320365905762 + ], + "box_pose": [ + -14.014198303222656, + 0.0019338801503181458, + 0.03340728580951691, + 0.08553212136030197, + 0.7029947638511658, + 0.677154004573822, + -0.1998627930879593 + ], + "box_yaw_rad": -2.976975433659162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014645260747807008 + } + } + }, + { + "simulation_time_ns": 10000000000, + "center": [ + -14.003565865849485, + -0.003937575008187689, + 0.03173454044665184 + ], + "face_center": [ + -14.073729101149286, + -0.014211528214119317, + 0.062292165051592976 + ], + "face_normal": [ + -0.9086699482990355, + -0.1330559015497279, + 0.39574565014381946 + ], + "footprint_xy": [ + [ + -14.112995250625016, + -0.13634302398600895 + ], + [ + -13.894136481073955, + -0.13634302398600895 + ], + [ + -13.894136481073955, + 0.12846787396963355 + ], + [ + -14.112995250625016, + 0.12846787396963355 + ] + ], + "projected_box_corners": [ + [ + -13.937364271699042, + -0.11579511757414568 + ], + [ + -13.972668780025415, + 0.12148588775345583 + ], + [ + -13.894136481073955, + -0.10881313135796795 + ], + [ + -13.929440989400328, + 0.12846787396963355 + ], + [ + -14.077690742298643, + -0.13634302398600895 + ], + [ + -14.112995250625016, + 0.10093798134159257 + ], + [ + -14.034462951673556, + -0.1293610377698312 + ], + [ + -14.069767459999929, + 0.10791996755777031 + ] + ], + "yaw_rad": -2.996196652239532, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.000837326049805, + 0.037427499890327454, + 0.06310611963272095 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.077273257533045, + -0.02156365523822196, + 0.061682243608861584 + ], + "intended_face_normal": [ + -0.9068982061533291, + -0.14319894772022224, + 0.3962700931668728 + ], + "commanded_contact_point": [ + -14.024765129089355, + -0.0255065035382174, + 0.03108412397126673 + ], + "centerline_face_intersection": [ + -14.092389033883565, + -0.010506503538217402, + 0.03108412397126673 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.005035400390625, + 0.031144052743911743, + 0.061881691217422485 + ], + "box_pose": [ + -14.013252258300781, + 0.005960168316960335, + 0.03414439409971237, + 0.08797372877597809, + 0.7032084465026855, + 0.677456259727478, + -0.19700658321380615 + ], + "box_yaw_rad": -2.984985941668943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0041576503431368875 + } + } + }, + { + "simulation_time_ns": 10020000000, + "center": [ + -13.999486255934194, + 0.00034725857688847755, + 0.03220550852134332 + ], + "face_center": [ + -14.069402301971648, + -0.009207207255966927, + 0.06355294360345762 + ], + "face_normal": [ + -0.9054686498800564, + -0.12373796529291958, + 0.40597432677756373 + ], + "footprint_xy": [ + [ + -14.1082053506466, + -0.1314576533048553 + ], + [ + -13.890767161221788, + -0.1314576533048553 + ], + [ + -13.890767161221788, + 0.13215217045863226 + ], + [ + -14.1082053506466, + 0.13215217045863226 + ] + ], + "projected_box_corners": [ + [ + -13.935153080729458, + -0.1123487216391445 + ], + [ + -13.96837325857169, + 0.12523060175657022 + ], + [ + -13.890767161221788, + -0.10542715293708245 + ], + [ + -13.92398733906402, + 0.13215217045863226 + ], + [ + -14.074985172804368, + -0.1314576533048553 + ], + [ + -14.1082053506466, + 0.1061216700908594 + ], + [ + -14.030599253296696, + -0.12453608460279325 + ], + [ + -14.063819431138928, + 0.11304323879292144 + ] + ], + "yaw_rad": -3.0057776626807757, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.996251106262207, + 0.041692569851875305, + 0.06370152533054352 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.073729101149286, + -0.014211528214119317, + 0.062292165051592976 + ], + "intended_face_normal": [ + -0.9086699482990355, + -0.1330559015497279, + 0.39574565014381946 + ], + "commanded_contact_point": [ + -14.023265953063964, + -0.01893757500818769, + 0.03173454044665184 + ], + "centerline_face_intersection": [ + -14.088542059962627, + -0.003937575008187689, + 0.03173454044665184 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.000837326049805, + 0.037427499890327454, + 0.06310611963272095 + ], + "box_pose": [ + -14.009394645690918, + 0.01259557344019413, + 0.03477788716554642, + 0.09162269532680511, + 0.7030528783798218, + 0.6782710552215576, + -0.1930548995733261 + ], + "box_yaw_rad": -2.996196652239532, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006769150048506588 + } + } + }, + { + "simulation_time_ns": 10040000000, + "center": [ + -13.998069553485072, + 0.0001960449450963131, + 0.03156318836152984 + ], + "face_center": [ + -14.067683006660694, + -0.009358323210176326, + 0.06357699864614325 + ], + "face_normal": [ + -0.9015498305875695, + -0.12373670029019124, + 0.4146044179957826 + ], + "footprint_xy": [ + [ + -14.107004326298147, + -0.1316421397274457 + ], + [ + -13.889134780671995, + -0.1316421397274457 + ], + [ + -13.889134780671995, + 0.13203422961763833 + ], + [ + -14.107004326298147, + 0.13203422961763833 + ] + ], + "projected_box_corners": [ + [ + -13.934473561799871, + -0.11253340341690043 + ], + [ + -13.967777419946902, + 0.1250353005409679 + ], + [ + -13.889134780671995, + -0.10553447434022999 + ], + [ + -13.922438638819028, + 0.13203422961763833 + ], + [ + -14.073700468151117, + -0.1316421397274457 + ], + [ + -14.107004326298147, + 0.10592656423042261 + ], + [ + -14.02836168702324, + -0.12464321065077524 + ], + [ + -14.061665545170273, + 0.11292549330709307 + ] + ], + "yaw_rad": -3.0051959644015787, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.994685173034668, + 0.041627541184425354, + 0.06279638409614563 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.069402301971648, + -0.009207207255966927, + 0.06355294360345762 + ], + "intended_face_normal": [ + -0.9054686498800564, + -0.12373796529291958, + 0.40597432677756373 + ], + "commanded_contact_point": [ + -14.021075363159179, + -0.014652741423111522, + 0.03220550852134332 + ], + "centerline_face_intersection": [ + -14.084762884696179, + 0.00034725857688847755, + 0.03220550852134332 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.996251106262207, + 0.041692569851875305, + 0.06370152533054352 + ], + "box_pose": [ + -14.005135536193848, + 0.016941012814641, + 0.0352574922144413, + 0.09871076047420502, + 0.7026796936988831, + 0.6774773597717285, + -0.19370540976524353 + ], + "box_yaw_rad": -3.0057776626807757, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00483531735360999 + } + } + }, + { + "simulation_time_ns": 10060000000, + "center": [ + -13.997554560889158, + -7.401621146969906e-05, + 0.030744609252421676 + ], + "face_center": [ + -14.066994433589997, + -0.009781212675411002, + 0.06308779135221519 + ], + "face_normal": [ + -0.8993018247712143, + -0.1257159489771027, + 0.4188700461269832 + ], + "footprint_xy": [ + [ + -14.106593878128193, + -0.1318333677064706 + ], + [ + -13.888515243650124, + -0.1318333677064706 + ], + [ + -13.888515243650124, + 0.1316853352835312 + ], + [ + -14.106593878128193, + 0.1316853352835312 + ] + ], + "projected_box_corners": [ + [ + -13.934394981469778, + -0.11241897477858798 + ], + [ + -13.967714132726515, + 0.12515236120426548 + ], + [ + -13.888515243650124, + -0.10588600069932227 + ], + [ + -13.921834394906861, + 0.1316853352835312 + ], + [ + -14.073274726871455, + -0.1318333677064706 + ], + [ + -14.106593878128193, + 0.10573796827638288 + ], + [ + -14.0273949890518, + -0.12530039362720488 + ], + [ + -14.060714140308537, + 0.11227094235564859 + ] + ], + "yaw_rad": -3.0026999033719943, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.993412017822266, + 0.04137669503688812, + 0.06111273169517517 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.067683006660694, + -0.009358323210176326, + 0.06357699864614325 + ], + "intended_face_normal": [ + -0.9015498305875695, + -0.12373670029019124, + 0.4146044179957826 + ], + "commanded_contact_point": [ + -14.018477554321288, + -0.014803955054903686, + 0.03156318836152984 + ], + "centerline_face_intersection": [ + -14.083716859148824, + 0.0001960449450963131, + 0.03156318836152984 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.994685173034668, + 0.041627541184425354, + 0.06279638409614563 + ], + "box_pose": [ + -14.003694534301758, + 0.016790134832262993, + 0.034657929092645645, + 0.10187600553035736, + 0.7019856572151184, + 0.6767503619194031, + -0.1970946043729782 + ], + "box_yaw_rad": -3.0051959644015787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002680308099522373 + } + } + }, + { + "simulation_time_ns": 10080000000, + "center": [ + -13.997447744591788, + -0.00035222760105014725, + 0.030337651012812304 + ], + "face_center": [ + -14.067028120874157, + -0.010211119207876304, + 0.062331043845466796 + ], + "face_normal": [ + -0.9011214583958491, + -0.12768052226186377, + 0.4143399956820648 + ], + "footprint_xy": [ + [ + -14.106404160007187, + -0.13202056175567312 + ], + [ + -13.88849132917639, + -0.13202056175567312 + ], + [ + -13.88849132917639, + 0.13131610655357284 + ], + [ + -14.106404160007187, + 0.13131610655357284 + ] + ], + "projected_box_corners": [ + [ + -13.933933271308442, + -0.11230277854202081 + ], + [ + -13.96724340744245, + 0.12526866997753572 + ], + [ + -13.88849132917639, + -0.10625534196598373 + ], + [ + -13.921801465310397, + 0.13131610655357284 + ], + [ + -14.07309402387318, + -0.13202056175567312 + ], + [ + -14.106404160007187, + 0.10555088676388343 + ], + [ + -14.027652081741126, + -0.12597312517963605 + ], + [ + -14.060962217875133, + 0.11159832333992051 + ] + ], + "yaw_rad": -3.0008389078539084, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.991828918457031, + 0.04103807359933853, + 0.059209540486335754 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.066994433589997, + -0.009781212675411002, + 0.06308779135221519 + ], + "intended_face_normal": [ + -0.8993018247712143, + -0.1257159489771027, + 0.4188700461269832 + ], + "commanded_contact_point": [ + -14.016021842956542, + -0.015074016211469699, + 0.030744609252421676 + ], + "centerline_face_intersection": [ + -14.08341596112715, + -7.401621146969906e-05, + 0.030744609252421676 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.993412017822266, + 0.04137669503688812, + 0.06111273169517517 + ], + "box_pose": [ + -14.00316333770752, + 0.016505176201462746, + 0.03394675627350807, + 0.10322225093841553, + 0.6998786926269531, + 0.6781008243560791, + -0.19923442602157593 + ], + "box_yaw_rad": -3.0026999033719943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00260259929553076 + } + } + }, + { + "simulation_time_ns": 10100000000, + "center": [ + -13.997329674184382, + -0.0004731311258961042, + 0.030276600558871807 + ], + "face_center": [ + -14.06696119427676, + -0.010342188272036257, + 0.062155406641787425 + ], + "face_normal": [ + -0.9017838115926224, + -0.1278121741169045, + 0.41285600573325354 + ], + "footprint_xy": [ + [ + -14.106231836728215, + -0.13210588975164664 + ], + [ + -13.888427511640549, + -0.13210588975164664 + ], + [ + -13.888427511640549, + 0.13115962749985444 + ], + [ + -14.106231836728215, + 0.13115962749985444 + ] + ], + "projected_box_corners": [ + [ + -13.933717578037657, + -0.11236777545936633 + ], + [ + -13.96696879654346, + 0.1252113883665634 + ], + [ + -13.888427511640549, + -0.1064195363260753 + ], + [ + -13.921678730146352, + 0.13115962749985444 + ], + [ + -14.072980618222411, + -0.13210588975164664 + ], + [ + -14.106231836728215, + 0.1054732740742831 + ], + [ + -14.027690551825303, + -0.1261576506183556 + ], + [ + -14.060941770331107, + 0.11142151320757412 + ] + ], + "yaw_rad": -3.000797813348531, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.990042686462402, + 0.04086468368768692, + 0.057304441928863525 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.067028120874157, + -0.010211119207876304, + 0.062331043845466796 + ], + "intended_face_normal": [ + -0.9011214583958491, + -0.12768052226186377, + 0.4143399956820648 + ], + "commanded_contact_point": [ + -14.01400577545166, + -0.015352227601050147, + 0.030337651012812304 + ], + "centerline_face_intersection": [ + -14.083135764993493, + -0.00035222760105014725, + 0.030337651012812304 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.991828918457031, + 0.04103807359933853, + 0.059209540486335754 + ], + "box_pose": [ + -14.003069877624512, + 0.016211673617362976, + 0.033595021814107895, + 0.10128100216388702, + 0.6986764073371887, + 0.6800088286399841, + -0.19794288277626038 + ], + "box_yaw_rad": -3.0008389078539084, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020754625437050538 + } + } + }, + { + "simulation_time_ns": 10120000000, + "center": [ + -13.997175339328292, + -0.0004952459265158832, + 0.030269526696880912 + ], + "face_center": [ + -14.066841324096007, + -0.01023496561341207, + 0.062112774289592325 + ], + "face_normal": [ + -0.9022301566709672, + -0.12613715069613196, + 0.4123954948785675 + ], + "footprint_xy": [ + [ + -14.106015042798507, + -0.132154611876877 + ], + [ + -13.888335635858079, + -0.132154611876877 + ], + [ + -13.888335635858079, + 0.13116412002384523 + ], + [ + -14.106015042798507, + 0.13116412002384523 + ] + ], + "projected_box_corners": [ + [ + -13.933532453108722, + -0.11267517250308462 + ], + [ + -13.966683073263077, + 0.12491977585432877 + ], + [ + -13.888335635858079, + -0.10643082833356816 + ], + [ + -13.921486256012434, + 0.13116412002384523 + ], + [ + -14.07286442264415, + -0.132154611876877 + ], + [ + -14.106015042798507, + 0.10544033648053638 + ], + [ + -14.027667605393507, + -0.12591026770736052 + ], + [ + -14.060818225547864, + 0.11168468065005285 + ] + ], + "yaw_rad": -3.0026870298173587, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.989174842834473, + 0.041046060621738434, + 0.054854393005371094 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.06696119427676, + -0.010342188272036257, + 0.062155406641787425 + ], + "intended_face_normal": [ + -0.9017838115926224, + -0.1278121741169045, + 0.41285600573325354 + ], + "commanded_contact_point": [ + -14.012480850219726, + -0.015473131125896104, + 0.030276600558871807 + ], + "centerline_face_intersection": [ + -14.082954757401467, + -0.0004731311258961042, + 0.030276600558871807 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.990042686462402, + 0.04086468368768692, + 0.057304441928863525 + ], + "box_pose": [ + -14.002952575683594, + 0.016089357435703278, + 0.03353982791304588, + 0.10076554119586945, + 0.6985180377960205, + 0.6804149150848389, + -0.19736874103546143 + ], + "box_yaw_rad": -3.000797813348531, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015309284056526753 + } + } + }, + { + "simulation_time_ns": 10140000000, + "center": [ + -13.997259367317964, + -0.0005010533939077515, + 0.030171273773875393 + ], + "face_center": [ + -14.067012143517859, + -0.010247915818036569, + 0.06182179261437197 + ], + "face_normal": [ + -0.9033541750525984, + -0.12622965484939908, + 0.4098995035725439 + ], + "footprint_xy": [ + [ + -14.10605210706223, + -0.13216077464414933 + ], + [ + -13.888466627573699, + -0.13216077464414933 + ], + [ + -13.888466627573699, + 0.13115866785633382 + ], + [ + -14.10605210706223, + 0.13115866785633382 + ] + ], + "projected_box_corners": [ + [ + -13.933386330598674, + -0.11266704979589168 + ], + [ + -13.966546554662441, + 0.12492661315923123 + ], + [ + -13.888466627573699, + -0.10643499509878909 + ], + [ + -13.921626851637466, + 0.13115866785633382 + ], + [ + -14.072891882998462, + -0.13216077464414933 + ], + [ + -14.10605210706223, + 0.1054328883109736 + ], + [ + -14.027972179973487, + -0.12592871994704674 + ], + [ + -14.061132404037254, + 0.11166494300807618 + ] + ], + "yaw_rad": -3.0027572145988817, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.989290237426758, + 0.041201189160346985, + 0.05433720350265503 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.066841324096007, + -0.01023496561341207, + 0.062112774289592325 + ], + "intended_face_normal": [ + -0.9022301566709672, + -0.12613715069613196, + 0.4123954948785675 + ], + "commanded_contact_point": [ + -14.0111714553833, + -0.015495245926515883, + 0.030269526696880912 + ], + "centerline_face_intersection": [ + -14.08275806269496, + -0.0004952459265158832, + 0.030269526696880912 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.989174842834473, + 0.041046060621738434, + 0.054854393005371094 + ], + "box_pose": [ + -14.00279426574707, + 0.016079755499958992, + 0.03347556293010712, + 0.10089928656816483, + 0.6996540427207947, + 0.679410994052887, + -0.19673389196395874 + ], + "box_yaw_rad": -3.0026870298173587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001309600680203098 + } + } + }, + { + "simulation_time_ns": 10160000000, + "center": [ + -13.997432647804356, + -0.0005145272474652053, + 0.029881910340728672 + ], + "face_center": [ + -14.067360918749474, + -0.010277490048789938, + 0.061137680019891213 + ], + "face_normal": [ + -0.9056269722003734, + -0.126438167596163, + 0.4047871865807773 + ], + "footprint_xy": [ + [ + -14.106117404496946, + -0.1321624435263842 + ], + [ + -13.888747891111766, + -0.1321624435263842 + ], + [ + -13.888747891111766, + 0.13113338903145377 + ], + [ + -14.106117404496946, + 0.13113338903145377 + ] + ], + "projected_box_corners": [ + [ + -13.933104358985409, + -0.11263651792373472 + ], + [ + -13.966260862606712, + 0.12495762689731203 + ], + [ + -13.888747891111766, + -0.10646075578959298 + ], + [ + -13.921904394733069, + 0.13113338903145377 + ], + [ + -14.072960900875643, + -0.1321624435263842 + ], + [ + -14.106117404496946, + 0.10543170129466256 + ], + [ + -14.028604433002, + -0.12598668139224245 + ], + [ + -14.061760936623303, + 0.11160746342880432 + ] + ], + "yaw_rad": -3.0028753515247644, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.98933219909668, + 0.041210658848285675, + 0.054439619183540344 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.067012143517859, + -0.010247915818036569, + 0.06182179261437197 + ], + "intended_face_normal": [ + -0.9033541750525984, + -0.12622965484939908, + 0.4098995035725439 + ], + "commanded_contact_point": [ + -14.010346527099609, + -0.015501053393907751, + 0.030171273773875393 + ], + "centerline_face_intersection": [ + -14.082735602491109, + -0.0005010533939077515, + 0.030171273773875393 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.989290237426758, + 0.041201189160346985, + 0.05433720350265503 + ], + "box_pose": [ + -14.002887725830078, + 0.016073284670710564, + 0.033364176750183105, + 0.09993923455476761, + 0.6998781561851501, + 0.6795937418937683, + -0.19579361379146576 + ], + "box_yaw_rad": -3.0027572145988817, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008307791745046847 + } + } + }, + { + "simulation_time_ns": 10180000000, + "center": [ + -13.997510123161348, + -0.0005257651197260738, + 0.029714114859679234 + ], + "face_center": [ + -14.067515196605978, + -0.010301158481323045, + 0.06079364000603573 + ], + "face_normal": [ + -0.9066216259241244, + -0.12659915328206583, + 0.4025046790848137 + ], + "footprint_xy": [ + [ + -14.10614478238072, + -0.13216319991542674 + ], + [ + -13.888875463941975, + -0.13216319991542674 + ], + [ + -13.888875463941975, + 0.1311116696759746 + ], + [ + -14.10614478238072, + 0.1311116696759746 + ] + ], + "projected_box_corners": [ + [ + -13.932983456846138, + -0.11261241319223281 + ], + [ + -13.96613463549146, + 0.12498251072409686 + ], + [ + -13.888875463941975, + -0.10648325424035507 + ], + [ + -13.922026642587298, + 0.1311116696759746 + ], + [ + -14.072993603735398, + -0.13216319991542674 + ], + [ + -14.10614478238072, + 0.10543172400090292 + ], + [ + -14.028885610831235, + -0.126034040963549 + ], + [ + -14.062036789476556, + 0.11156088295278066 + ] + ], + "yaw_rad": -3.0028514218249667, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.989106178283691, + 0.041223734617233276, + 0.05469164252281189 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.067360918749474, + -0.010277490048789938, + 0.061137680019891213 + ], + "intended_face_normal": [ + -0.9056269722003734, + -0.126438167596163, + 0.4047871865807773 + ], + "commanded_contact_point": [ + -14.00947582244873, + -0.015514527247465205, + 0.029881910340728672 + ], + "centerline_face_intersection": [ + -14.082694368448376, + -0.0005145272474652053, + 0.029881910340728672 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.98933219909668, + 0.041210658848285675, + 0.054439619183540344 + ], + "box_pose": [ + -14.00307846069336, + 0.01605815440416336, + 0.03305250033736229, + 0.09799652546644211, + 0.7002334594726562, + 0.6800636649131775, + -0.19386351108551025 + ], + "box_yaw_rad": -3.0028753515247644, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009176270104101679 + } + } + }, + { + "simulation_time_ns": 10200000000, + "center": [ + -13.997630022727284, + -0.0005508247462020915, + 0.029566012541965336 + ], + "face_center": [ + -14.067752026699422, + -0.01035497371908856, + 0.06037163487864425 + ], + "face_normal": [ + -0.9081359696674127, + -0.12697156142020383, + 0.39895741888728686 + ], + "footprint_xy": [ + [ + -14.10618890374677, + -0.1321682122529443 + ], + [ + -13.889071141707799, + -0.1321682122529443 + ], + [ + -13.889071141707799, + 0.13106656276054013 + ], + [ + -14.10618890374677, + 0.13106656276054013 + ] + ], + "projected_box_corners": [ + [ + -13.932796548868913, + -0.11255991430717138 + ], + [ + -13.965944895802496, + 0.12503533164870761 + ], + [ + -13.889071141707799, + -0.10652868319533884 + ], + [ + -13.922219488641382, + 0.13106656276054013 + ], + [ + -14.073040556813188, + -0.1321682122529443 + ], + [ + -14.10618890374677, + 0.10542703370293466 + ], + [ + -14.029315149652072, + -0.12613698114111177 + ], + [ + -14.062463496585655, + 0.11145826481476721 + ] + ], + "yaw_rad": -3.0026775871082942, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.988958358764648, + 0.041172221302986145, + 0.05491127073764801 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.067515196605978, + -0.010301158481323045, + 0.06079364000603573 + ], + "intended_face_normal": [ + -0.9066216259241244, + -0.12659915328206583, + 0.4025046790848137 + ], + "commanded_contact_point": [ + -14.008157844543456, + -0.015525765119726073, + 0.029714114859679234 + ], + "centerline_face_intersection": [ + -14.08267830325272, + -0.0005257651197260738, + 0.029714114859679234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.989106178283691, + 0.041223734617233276, + 0.05469164252281189 + ], + "box_pose": [ + -14.00316333770752, + 0.016045622527599335, + 0.03287828713655472, + 0.09712565690279007, + 0.700316846370697, + 0.6803433895111084, + -0.19301769137382507 + ], + "box_yaw_rad": -3.0028514218249667, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001328663754312024 + } + } + }, + { + "simulation_time_ns": 10220000000, + "center": [ + -13.997723943191621, + -0.0005487810413189846, + 0.029370698168976098 + ], + "face_center": [ + -14.067934231286179, + -0.010348347256803152, + 0.05997610318977912 + ], + "face_normal": [ + -0.9092793195801008, + -0.12691221105082562, + 0.3963644446994783 + ], + "footprint_xy": [ + [ + -14.106225485469878, + -0.13216933605181633 + ], + [ + -13.889222400913367, + -0.13216933605181633 + ], + [ + -13.889222400913367, + 0.13107177396917835 + ], + [ + -14.106225485469878, + 0.13107177396917835 + ] + ], + "projected_box_corners": [ + [ + -13.932655978091425, + -0.11257020362084799 + ], + [ + -13.965804909280765, + 0.12502505370699504 + ], + [ + -13.889222400913367, + -0.10652348335866467 + ], + [ + -13.922371332102706, + 0.13107177396917835 + ], + [ + -14.073076554280538, + -0.13216933605181633 + ], + [ + -14.106225485469878, + 0.10542592127602671 + ], + [ + -14.02964297710248, + -0.12612261578963302 + ], + [ + -14.062791908291818, + 0.11147264153821002 + ] + ], + "yaw_rad": -3.0029140519575575, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.988790512084961, + 0.04100444167852402, + 0.055205658078193665 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.067752026699422, + -0.01035497371908856, + 0.06037163487864425 + ], + "intended_face_normal": [ + -0.9081359696674127, + -0.12697156142020383, + 0.39895741888728686 + ], + "commanded_contact_point": [ + -14.006385917663573, + -0.015550824746202091, + 0.029566012541965336 + ], + "centerline_face_intersection": [ + -14.082656182344898, + -0.0005508247462020915, + 0.029566012541965336 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.988958358764648, + 0.041172221302986145, + 0.05491127073764801 + ], + "box_pose": [ + -14.003294944763184, + 0.016017602756619453, + 0.032724734395742416, + 0.09575338661670685, + 0.7003524899482727, + 0.6808629631996155, + -0.19173741340637207 + ], + "box_yaw_rad": -3.0026775871082942, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017782820780299692 + } + } + }, + { + "simulation_time_ns": 10240000000, + "center": [ + -13.997808758777353, + -0.0005689114729202568, + 0.029283359027323496 + ], + "face_center": [ + -14.068078874360147, + -0.010366090079946922, + 0.05975189642647863 + ], + "face_normal": [ + -0.9100541333470602, + -0.12688128961391687, + 0.3945918996599689 + ], + "footprint_xy": [ + [ + -14.10625235614095, + -0.13216866235150745 + ], + [ + -13.889365161413755, + -0.13216866235150745 + ], + [ + -13.889365161413755, + 0.13103083940566695 + ], + [ + -14.10625235614095, + 0.13103083940566695 + ] + ], + "projected_box_corners": [ + [ + -13.93260671047946, + -0.11257430513745412 + ], + [ + -13.96571212497536, + 0.1250270031167058 + ], + [ + -13.889365161413755, + -0.10657046884849299 + ], + [ + -13.922470575909657, + 0.13103083940566695 + ], + [ + -14.07314694164505, + -0.13216866235150745 + ], + [ + -14.10625235614095, + 0.10543264590265249 + ], + [ + -14.029905392579346, + -0.12616482606254634 + ], + [ + -14.063010807075246, + 0.1114364821916136 + ] + ], + "yaw_rad": -3.0030639454163692, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.988630294799805, + 0.04072354733943939, + 0.055702075362205505 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.067934231286179, + -0.010348347256803152, + 0.05997610318977912 + ], + "intended_face_normal": [ + -0.9092793195801008, + -0.12691221105082562, + 0.3963644446994783 + ], + "commanded_contact_point": [ + -14.00434600830078, + -0.015548781041318984, + 0.029370698168976098 + ], + "centerline_face_intersection": [ + -14.082643188849925, + -0.0005487810413189846, + 0.029370698168976098 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.988790512084961, + 0.04100444167852402, + 0.055205658078193665 + ], + "box_pose": [ + -14.003397941589355, + 0.016020121052861214, + 0.03251059725880623, + 0.09478876739740372, + 0.7006793022155762, + 0.6809465289115906, + -0.19072368741035461 + ], + "box_yaw_rad": -3.0029140519575575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020492393929056325 + } + } + }, + { + "simulation_time_ns": 10260000000, + "center": [ + -13.997603039680032, + -0.0005486169871324921, + 0.029565113239368786 + ], + "face_center": [ + -14.067700842390897, + -0.01033149899047963, + 0.06043254444812761 + ], + "face_normal": [ + -0.9078225440003465, + -0.12669613717516715, + 0.3997578931578545 + ], + "footprint_xy": [ + [ + -14.106166095742926, + -0.1321659525864226 + ], + [ + -13.889039983617135, + -0.1321659525864226 + ], + [ + -13.889039983617135, + 0.13106871861215763 + ], + [ + -14.106166095742926, + 0.13106871861215763 + ] + ], + "projected_box_corners": [ + [ + -13.93284941656579, + -0.11260018857972831 + ], + [ + -13.965970490321192, + 0.12499892018477719 + ], + [ + -13.889039983617135, + -0.1065303901523479 + ], + [ + -13.922161057372536, + 0.13106871861215763 + ], + [ + -14.073045021987525, + -0.1321659525864226 + ], + [ + -14.106166095742926, + 0.10543315617808292 + ], + [ + -14.02923558903887, + -0.12609615415904218 + ], + [ + -14.06235666279427, + 0.11150295460546333 + ] + ], + "yaw_rad": -3.002927822958212, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.988247871398926, + 0.04055653512477875, + 0.05614636838436127 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.068078874360147, + -0.010366090079946922, + 0.05975189642647863 + ], + "intended_face_normal": [ + -0.9100541333470602, + -0.12688128961391687, + 0.3945918996599689 + ], + "commanded_contact_point": [ + -14.002096290588378, + -0.015568911472920256, + 0.029283359027323496 + ], + "centerline_face_intersection": [ + -14.08265570477984, + -0.0005689114729202568, + 0.029283359027323496 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.988630294799805, + 0.04072354733943939, + 0.055702075362205505 + ], + "box_pose": [ + -14.003485679626465, + 0.01599995233118534, + 0.03241816908121109, + 0.09417311102151871, + 0.7007344365119934, + 0.6811742186546326, + -0.19001157581806183 + ], + "box_yaw_rad": -3.0030639454163692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002251502419594059 + } + } + }, + { + "simulation_time_ns": 10280000000, + "center": [ + -13.996410857058804, + -0.0008565431076991495, + 0.03007985574074497 + ], + "face_center": [ + -14.066210912257397, + -0.01046869013105901, + 0.061667256234097856 + ], + "face_normal": [ + -0.9039664758554196, + -0.12448498278961218, + 0.4090820705538025 + ], + "footprint_xy": [ + [ + -14.104999659105166, + -0.1323908841272297 + ], + [ + -13.887822055012442, + -0.1323908841272297 + ], + [ + -13.887822055012442, + 0.1306777979118314 + ], + [ + -14.104999659105166, + 0.1306777979118314 + ] + ], + "projected_box_corners": [ + [ + -13.932655854749951, + -0.11316659008051 + ], + [ + -13.965399548707982, + 0.12448483173359955 + ], + [ + -13.887822055012442, + -0.10697362390227813 + ], + [ + -13.920565748970471, + 0.1306777979118314 + ], + [ + -14.072255965147138, + -0.1323908841272297 + ], + [ + -14.104999659105166, + 0.10526053768687983 + ], + [ + -14.027422165409627, + -0.12619791794899785 + ], + [ + -14.060165859367656, + 0.11145350386511169 + ] + ], + "yaw_rad": -3.0047436547911452, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.986833572387695, + 0.0401812419295311, + 0.056402936577796936 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.067700842390897, + -0.01033149899047963, + 0.06043254444812761 + ], + "intended_face_normal": [ + -0.9078225440003465, + -0.12669613717516715, + 0.3997578931578545 + ], + "commanded_contact_point": [ + -13.99971019744873, + -0.015548616987132492, + 0.029565113239368786 + ], + "centerline_face_intersection": [ + -14.08265855457305, + -0.0005486169871324921, + 0.029565113239368786 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.988247871398926, + 0.04055653512477875, + 0.05614636838436127 + ], + "box_pose": [ + -14.003263473510742, + 0.016021816059947014, + 0.03272136673331261, + 0.09611430019140244, + 0.7004144787788391, + 0.6806840896606445, + -0.19196557998657227 + ], + "box_yaw_rad": -3.002927822958212, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024027562866915965 + } + } + }, + { + "simulation_time_ns": 10300000000, + "center": [ + -13.993766376672982, + -0.0016461863343802743, + 0.030636203864292843 + ], + "face_center": [ + -14.063289209686864, + -0.010901446103722772, + 0.06293356298532314 + ], + "face_normal": [ + -0.9003762270994713, + -0.1198630077442644, + 0.418276601945486 + ], + "footprint_xy": [ + [ + -14.102038072669645, + -0.13283628617036353 + ], + [ + -13.885494680676318, + -0.13283628617036353 + ], + [ + -13.885494680676318, + 0.12954391350160296 + ], + [ + -14.102038072669645, + 0.12954391350160296 + ] + ], + "projected_box_corners": [ + [ + -13.931372129185199, + -0.11432576663167851 + ], + [ + -13.962992406641881, + 0.12347771028791313 + ], + [ + -13.885494680676318, + -0.10825956341798869 + ], + [ + -13.917114958133002, + 0.12954391350160296 + ], + [ + -14.070417795212961, + -0.13283628617036353 + ], + [ + -14.102038072669645, + 0.10496719074922814 + ], + [ + -14.024540346704082, + -0.1267700829566737 + ], + [ + -14.056160624160766, + 0.11103339396291798 + ] + ], + "yaw_rad": -3.0092453601105533, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.983909606933594, + 0.039423197507858276, + 0.056746840476989746 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.066210912257397, + -0.01046869013105901, + 0.061667256234097856 + ], + "intended_face_normal": [ + -0.9039664758554196, + -0.12448498278961218, + 0.4090820705538025 + ], + "commanded_contact_point": [ + -13.997609252929687, + -0.01585654310769915, + 0.03007985574074497 + ], + "centerline_face_intersection": [ + -14.081829194988172, + -0.0008565431076991495, + 0.03007985574074497 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.986833572387695, + 0.0401812419295311, + 0.056402936577796936 + ], + "box_pose": [ + -14.002013206481934, + 0.015728887170553207, + 0.03326087445020676, + 0.10026516020298004, + 0.7000172734260559, + 0.6796756982803345, + -0.19484268128871918 + ], + "box_yaw_rad": -3.0047436547911452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021848904344490445 + } + } + }, + { + "simulation_time_ns": 10320000000, + "center": [ + -13.9914610621208, + -0.0026552536343780672, + 0.030559267056623214 + ], + "face_center": [ + -14.061043482343182, + -0.011685647426890551, + 0.06279186658087084 + ], + "face_normal": [ + -0.9011479290518594, + -0.11695081370607241, + 0.4174379134327779 + ], + "footprint_xy": [ + [ + -14.099379136847578, + -0.13360639514329878 + ], + [ + -13.883542987394023, + -0.13360639514329878 + ], + [ + -13.883542987394023, + 0.12829588787454266 + ], + [ + -14.099379136847578, + 0.12829588787454266 + ] + ], + "projected_box_corners": [ + [ + -13.929343422290142, + -0.11554560755827381 + ], + [ + -13.960214296402816, + 0.12235630852735513 + ], + [ + -13.883542987394023, + -0.1096060282110863 + ], + [ + -13.914413861506697, + 0.12829588787454266 + ], + [ + -14.068508262734905, + -0.13360639514329878 + ], + [ + -14.099379136847578, + 0.10429552094233016 + ], + [ + -14.022707827838786, + -0.12766681579611128 + ], + [ + -14.05357870195146, + 0.11023510028951768 + ] + ], + "yaw_rad": -3.0125341789629756, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.98141098022461, + 0.038388416171073914, + 0.05661363899707794 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.063289209686864, + -0.010901446103722772, + 0.06293356298532314 + ], + "intended_face_normal": [ + -0.9003762270994713, + -0.1198630077442644, + 0.418276601945486 + ], + "commanded_contact_point": [ + -13.995825881958007, + -0.016646186334380274, + 0.030636203864292843 + ], + "centerline_face_intersection": [ + -14.079525320087319, + -0.0016461863343802743, + 0.030636203864292843 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.983909606933594, + 0.039423197507858276, + 0.056746840476989746 + ], + "box_pose": [ + -13.999258041381836, + 0.014968233183026314, + 0.03385867923498154, + 0.10542535781860352, + 0.6990833878517151, + 0.6793162226676941, + -0.19671636819839478 + ], + "box_yaw_rad": -3.0092453601105533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020281695399173042 + } + } + }, + { + "simulation_time_ns": 10340000000, + "center": [ + -13.990420544548176, + -0.0032452096564246254, + 0.030509777868791176 + ], + "face_center": [ + -14.060018793965808, + -0.012186177232063153, + 0.0627331652967975 + ], + "face_normal": [ + -0.901352929775797, + -0.11579267275780758, + 0.41731860942720367 + ], + "footprint_xy": [ + [ + -14.098160007992877, + -0.13405314189299328 + ], + [ + -13.882681081103472, + -0.13405314189299328 + ], + [ + -13.882681081103472, + 0.12756272258014403 + ], + [ + -14.098160007992877, + 0.12756272258014403 + ] + ], + "projected_box_corners": [ + [ + -13.928488587931701, + -0.11617120674171624 + ], + [ + -13.958963509157613, + 0.12178169215008246 + ], + [ + -13.882681081103472, + -0.11039017631165467 + ], + [ + -13.913156002329384, + 0.12756272258014403 + ], + [ + -14.067685086766966, + -0.13405314189299328 + ], + [ + -14.098160007992877, + 0.10389975699880541 + ], + [ + -14.021877579938739, + -0.12827211146293171 + ], + [ + -14.052352501164648, + 0.10968078742886699 + ] + ], + "yaw_rad": -3.01382703195183, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.980279922485352, + 0.03774320334196091, + 0.05635233223438263 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.061043482343182, + -0.011685647426890551, + 0.06279186658087084 + ], + "intended_face_normal": [ + -0.9011479290518594, + -0.11695081370607241, + 0.4174379134327779 + ], + "commanded_contact_point": [ + -13.993937606811523, + -0.017655253634378067, + 0.030559267056623214 + ], + "centerline_face_intersection": [ + -14.077146565490574, + -0.0026552536343780672, + 0.030559267056623214 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.98141098022461, + 0.038388416171073914, + 0.05661363899707794 + ], + "box_pose": [ + -13.996903419494629, + 0.013976960442960262, + 0.03377358242869377, + 0.10621984302997589, + 0.6990703344345093, + 0.6796135902404785, + -0.19530296325683594 + ], + "box_yaw_rad": -3.0125341789629756, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002142362975111785 + } + } + }, + { + "simulation_time_ns": 10360000000, + "center": [ + -13.990397572544758, + -0.0032524476055882066, + 0.030509740724272764 + ], + "face_center": [ + -14.060067539821308, + -0.012145890447302316, + 0.06259099043673602 + ], + "face_normal": [ + -0.90228173334188, + -0.11517718948749511, + 0.41547781246164206 + ], + "footprint_xy": [ + [ + -14.098088688463468, + -0.1340781903094273 + ], + [ + -13.882706456626048, + -0.1340781903094273 + ], + [ + -13.882706456626048, + 0.12757329509825088 + ], + [ + -14.098088688463468, + 0.12757329509825088 + ] + ], + "projected_box_corners": [ + [ + -13.928292210991366, + -0.11629130462599907 + ], + [ + -13.958748753910369, + 0.12166397150363148 + ], + [ + -13.882706456626048, + -0.11038198103137968 + ], + [ + -13.913162999545051, + 0.12757329509825088 + ], + [ + -14.067632145544465, + -0.1340781903094273 + ], + [ + -14.098088688463468, + 0.10387708582020326 + ], + [ + -14.022046391179147, + -0.1281688667148079 + ], + [ + -14.052502934098149, + 0.10978640941482266 + ] + ], + "yaw_rad": -3.0146282748434348, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.980208396911621, + 0.03771431744098663, + 0.054984137415885925 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.060018793965808, + -0.012186177232063153, + 0.0627331652967975 + ], + "intended_face_normal": [ + -0.901352929775797, + -0.11579267275780758, + 0.41731860942720367 + ], + "commanded_contact_point": [ + -13.991720314025878, + -0.018245209656424625, + 0.030509777868791176 + ], + "centerline_face_intersection": [ + -14.07608655989096, + -0.0032452096564246254, + 0.030509777868791176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.980279922485352, + 0.03774320334196091, + 0.05635233223438263 + ], + "box_pose": [ + -13.995835304260254, + 0.01339340303093195, + 0.03373756632208824, + 0.1067124754190445, + 0.6987060904502869, + 0.6800634264945984, + -0.19477152824401855 + ], + "box_yaw_rad": -3.01382703195183, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022949694082781496 + } + } + }, + { + "simulation_time_ns": 10380000000, + "center": [ + -13.989765023844106, + -0.003349833170253686, + 0.030652263553208745 + ], + "face_center": [ + -14.059368084779212, + -0.012178338492106273, + 0.06289622086171452 + ], + "face_normal": [ + -0.9014152427708382, + -0.11433619672877882, + 0.41758500581229185 + ], + "footprint_xy": [ + [ + -14.097400887190311, + -0.1341059590678468 + ], + [ + -13.882129160497902, + -0.1341059590678468 + ], + [ + -13.882129160497902, + 0.12740629272733944 + ], + [ + -14.097400887190311, + 0.12740629272733944 + ] + ], + "projected_box_corners": [ + [ + -13.927954702295418, + -0.11644894842414164 + ], + [ + -13.958194765320101, + 0.12153394170185272 + ], + [ + -13.882129160497902, + -0.11057659739865493 + ], + [ + -13.912369223522584, + 0.12740629272733944 + ], + [ + -14.06716082416563, + -0.1341059590678468 + ], + [ + -14.097400887190311, + 0.10387693105814756 + ], + [ + -14.021335282368112, + -0.1282336080423601 + ], + [ + -14.051575345392793, + 0.10974928208363426 + ] + ], + "yaw_rad": -3.0154256284678738, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.979183197021484, + 0.037558577954769135, + 0.05437763035297394 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.060067539821308, + -0.012145890447302316, + 0.06259099043673602 + ], + "intended_face_normal": [ + -0.90228173334188, + -0.11517718948749511, + 0.41547781246164206 + ], + "commanded_contact_point": [ + -13.989309425354003, + -0.018252447605588206, + 0.030509740724272764 + ], + "centerline_face_intersection": [ + -14.075975403789824, + -0.0032524476055882066, + 0.030509740724272764 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.980208396911621, + 0.03771431744098663, + 0.054984137415885925 + ], + "box_pose": [ + -13.995818138122559, + 0.013390792533755302, + 0.0337037518620491, + 0.1061158999800682, + 0.6993621587753296, + 0.6797304153442383, + -0.19390340149402618 + ], + "box_yaw_rad": -3.0146282748434348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024108995369909155 + } + } + }, + { + "simulation_time_ns": 10400000000, + "center": [ + -13.98918014344334, + -0.003338573778830841, + 0.0306965342415469 + ], + "face_center": [ + -14.058773567555185, + -0.012077422771844645, + 0.06298572741293101 + ], + "face_normal": [ + -0.9012904382110563, + -0.11317507564674045, + 0.41817084637405166 + ], + "footprint_xy": [ + [ + -14.096739544123094, + -0.13405152459716563 + ], + [ + -13.881620742763587, + -0.13405152459716563 + ], + [ + -13.881620742763587, + 0.12737437703950394 + ], + [ + -14.096739544123094, + 0.12737437703950394 + ] + ], + "projected_box_corners": [ + [ + -13.927502993554192, + -0.11657382661113802 + ], + [ + -13.957552695899407, + 0.12143297339234106 + ], + [ + -13.881620742763587, + -0.11063242296397514 + ], + [ + -13.9116704451088, + 0.12737437703950394 + ], + [ + -14.06668984177788, + -0.13405152459716563 + ], + [ + -14.096739544123094, + 0.10395527540631345 + ], + [ + -14.020807590987275, + -0.12811012095000274 + ], + [ + -14.05085729333249, + 0.10989667905347632 + ] + ], + "yaw_rad": -3.016676429121884, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.978217124938965, + 0.037616271525621414, + 0.05376911163330078 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.059368084779212, + -0.012178338492106273, + 0.06289622086171452 + ], + "intended_face_normal": [ + -0.9014152427708382, + -0.11433619672877882, + 0.41758500581229185 + ], + "commanded_contact_point": [ + -13.987194175720214, + -0.018349833170253686, + 0.030652263553208745 + ], + "centerline_face_intersection": [ + -14.07542511727018, + -0.003349833170253686, + 0.030652263553208745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.979183197021484, + 0.037558577954769135, + 0.05437763035297394 + ], + "box_pose": [ + -13.995162963867188, + 0.013298481702804565, + 0.03385811299085617, + 0.1072310209274292, + 0.6991029977798462, + 0.6796783208847046, + -0.19440612196922302 + ], + "box_yaw_rad": -3.0154256284678738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021222812533257442 + } + } + }, + { + "simulation_time_ns": 10420000000, + "center": [ + -13.988920403833731, + -0.0032805992905655702, + 0.030820135919652075 + ], + "face_center": [ + -14.058455545607398, + -0.011961829864777763, + 0.06325009847779307 + ], + "face_normal": [ + -0.900535635371746, + -0.112428871093746, + 0.41999392238871813 + ], + "footprint_xy": [ + [ + -14.096469840361962, + -0.13397704906853944 + ], + [ + -13.881370967305502, + -0.13397704906853944 + ], + [ + -13.881370967305502, + 0.12741585048740828 + ], + [ + -14.096469840361962, + 0.12741585048740828 + ] + ], + "projected_box_corners": [ + [ + -13.927447795834752, + -0.11661458792011503 + ], + [ + -13.95739955681463, + 0.12140425851802844 + ], + [ + -13.881370967305502, + -0.1106029959507352 + ], + [ + -13.91132272828538, + 0.12741585048740828 + ], + [ + -14.066518079382082, + -0.13397704906853944 + ], + [ + -14.096469840361962, + 0.10404179736960406 + ], + [ + -14.020441250852834, + -0.12796545709915957 + ], + [ + -14.050393011832712, + 0.1100533893389839 + ] + ], + "yaw_rad": -3.017388637558841, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.977591514587402, + 0.03766866773366928, + 0.05364157259464264 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.058773567555185, + -0.012077422771844645, + 0.06298572741293101 + ], + "intended_face_normal": [ + -0.9012904382110563, + -0.11317507564674045, + 0.41817084637405166 + ], + "commanded_contact_point": [ + -13.985306854248046, + -0.01833857377883084, + 0.0306965342415469 + ], + "centerline_face_intersection": [ + -14.074852098495587, + -0.003338573778830841, + 0.0306965342415469 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.978217124938965, + 0.037616271525621414, + 0.05376911163330078 + ], + "box_pose": [ + -13.994563102722168, + 0.013317422941327095, + 0.03388764709234238, + 0.10778878629207611, + 0.6993672847747803, + 0.6793604493141174, + -0.1942584216594696 + ], + "box_yaw_rad": -3.016676429121884, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018878742031839453 + } + } + }, + { + "simulation_time_ns": 10440000000, + "center": [ + -13.988294462909128, + -0.0031207126962950853, + 0.031006930891752667 + ], + "face_center": [ + -14.057849742494172, + -0.01160630498506579, + 0.06344553436681447 + ], + "face_normal": [ + -0.9007964361165719, + -0.10989519900810407, + 0.4201058291657951 + ], + "footprint_xy": [ + [ + -14.09563304660711, + -0.13369833583232685 + ], + [ + -13.880955879211143, + -0.13369833583232685 + ], + [ + -13.880955879211143, + 0.12745691043973667 + ], + [ + -14.09563304660711, + 0.12745691043973667 + ] + ], + "projected_box_corners": [ + [ + -13.927033919211071, + -0.11672715125478544 + ], + [ + -13.95652248743702, + 0.12134819146060878 + ], + [ + -13.880955879211143, + -0.11061843227565754 + ], + [ + -13.91044444743709, + 0.12745691043973667 + ], + [ + -14.066144478381164, + -0.13369833583232685 + ], + [ + -14.09563304660711, + 0.10437700688306736 + ], + [ + -14.020066438381235, + -0.12758961685319894 + ], + [ + -14.049555006607182, + 0.11048572586219527 + ] + ], + "yaw_rad": -3.0201947383723993, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.976373672485352, + 0.03771961107850075, + 0.05420792102813721 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.058455545607398, + -0.011961829864777763, + 0.06325009847779307 + ], + "intended_face_normal": [ + -0.900535635371746, + -0.112428871093746, + 0.41999392238871813 + ], + "commanded_contact_point": [ + -13.983740921020507, + -0.01828059929056557, + 0.030820135919652075 + ], + "centerline_face_intersection": [ + -14.074664166632816, + -0.0032805992905655702, + 0.030820135919652075 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.977591514587402, + 0.03766866773366928, + 0.05364157259464264 + ], + "box_pose": [ + -13.994290351867676, + 0.013380460441112518, + 0.03400672972202301, + 0.108669713139534, + 0.6994605660438538, + 0.6789865493774414, + -0.19473819434642792 + ], + "box_yaw_rad": -3.017388637558841, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015718731784819474 + } + } + }, + { + "simulation_time_ns": 10460000000, + "center": [ + -13.986830495630107, + -0.002238792230883222, + 0.031298245155851966 + ], + "face_center": [ + -14.056446312529612, + -0.010018539649064927, + 0.06378395783504633 + ], + "face_normal": [ + -0.9015804427001513, + -0.10075394405706461, + 0.4207159309933495 + ], + "footprint_xy": [ + [ + -14.093244428442166, + -0.13219647728347214 + ], + [ + -13.880416562818048, + -0.13219647728347214 + ], + [ + -13.880416562818048, + 0.1277188928217057 + ], + [ + -14.093244428442166, + 0.1277188928217057 + ] + ], + "projected_box_corners": [ + [ + -13.926576533827687, + -0.11663698244710874 + ], + [ + -13.954012794643155, + 0.12167929693227099 + ], + [ + -13.880416562818048, + -0.11059738655767401 + ], + [ + -13.907852823633517, + 0.1277188928217057 + ], + [ + -14.065808167626699, + -0.13219647728347214 + ], + [ + -14.093244428442166, + 0.10611980209590757 + ], + [ + -14.019648196617059, + -0.12615688139403744 + ], + [ + -14.047084457432527, + 0.11215939798534229 + ] + ], + "yaw_rad": -3.0303018271692017, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.97401237487793, + 0.038408368825912476, + 0.0549980103969574 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.057849742494172, + -0.01160630498506579, + 0.06344553436681447 + ], + "intended_face_normal": [ + -0.9007964361165719, + -0.10989519900810407, + 0.4201058291657951 + ], + "commanded_contact_point": [ + -13.982462997436523, + -0.018120712696295085, + 0.031006930891752667 + ], + "centerline_face_intersection": [ + -14.074013400968342, + -0.0031207126962950853, + 0.031006930891752667 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.976373672485352, + 0.03771961107850075, + 0.05420792102813721 + ], + "box_pose": [ + -13.993632316589355, + 0.013556663878262043, + 0.034161947667598724, + 0.1094953715801239, + 0.6999961137771606, + 0.6785305142402649, + -0.19393959641456604 + ], + "box_yaw_rad": -3.0201947383723993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013013626593432537 + } + } + }, + { + "simulation_time_ns": 10480000000, + "center": [ + -13.983670609318445, + 0.00016355361961339562, + 0.03161525835936295 + ], + "face_center": [ + -14.053295850878342, + -0.006834316641684528, + 0.06425813883083226 + ], + "face_normal": [ + -0.9017024995812903, + -0.09062801025874379, + 0.4227513794596369 + ], + "footprint_xy": [ + [ + -14.089116401279869, + -0.12913270387893275 + ], + [ + -13.87822481735702, + -0.12913270387893275 + ], + [ + -13.87822481735702, + 0.12945981111815952 + ], + [ + -14.089116401279869, + 0.12945981111815952 + ] + ], + "projected_box_corners": [ + [ + -13.924620812561036, + -0.11513696335633689 + ], + [ + -13.949865918160073, + 0.12341217634818884 + ], + [ + -13.87822481735702, + -0.10908932858636619 + ], + [ + -13.903469922956058, + 0.12945981111815952 + ], + [ + -14.063871295680832, + -0.12913270387893275 + ], + [ + -14.089116401279869, + 0.10941643582559299 + ], + [ + -14.017475300476816, + -0.12308506910896205 + ], + [ + -14.042720406075853, + 0.11546407059556368 + ] + ], + "yaw_rad": -3.0414213905339076, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.970076560974121, + 0.040577635169029236, + 0.05590105056762695 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.056446312529612, + -0.010018539649064927, + 0.06378395783504633 + ], + "intended_face_normal": [ + -0.9015804427001513, + -0.10075394405706461, + 0.4207159309933495 + ], + "commanded_contact_point": [ + -13.981476898193359, + -0.01723879223088322, + 0.031298245155851966 + ], + "centerline_face_intersection": [ + -14.072474893239471, + -0.002238792230883222, + 0.031298245155851966 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.97401237487793, + 0.038408368825912476, + 0.0549980103969574 + ], + "box_pose": [ + -13.992023468017578, + 0.014494194649159908, + 0.03440017253160477, + 0.11292750388383865, + 0.7005980014801025, + 0.6781980991363525, + -0.19093795120716095 + ], + "box_yaw_rad": -3.0303018271692017, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013546362704241791 + } + } + }, + { + "simulation_time_ns": 10500000000, + "center": [ + -13.979076139146066, + 0.003123044079406268, + 0.03204984600291447 + ], + "face_center": [ + -14.048601621462721, + -0.0033006721014416963, + 0.06502179972098447 + ], + "face_normal": [ + -0.9004105376868239, + -0.08319225624356896, + 0.42701314088921727 + ], + "footprint_xy": [ + [ + -14.08385769839903, + -0.12567066823371 + ], + [ + -13.874294579893103, + -0.12567066823371 + ], + [ + -13.874294579893103, + 0.13191675639252254 + ], + [ + -14.08385769839903, + 0.13191675639252254 + ] + ], + "projected_box_corners": [ + [ + -13.921176133753395, + -0.1128232358720141 + ], + [ + -13.94480673376572, + 0.12588351743552795 + ], + [ + -13.874294579893103, + -0.10678999691501947 + ], + [ + -13.897925179905428, + 0.13191675639252254 + ], + [ + -14.060227098386704, + -0.12567066823371 + ], + [ + -14.08385769839903, + 0.11303608507383202 + ], + [ + -14.013345544526414, + -0.11963742927671542 + ], + [ + -14.036976144538738, + 0.11906932403082662 + ] + ], + "yaw_rad": -3.049460529703992, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.964905738830566, + 0.04331091046333313, + 0.05702607333660126 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.053295850878342, + -0.006834316641684528, + 0.06425813883083226 + ], + "intended_face_normal": [ + -0.9017024995812903, + -0.09062801025874379, + 0.4227513794596369 + ], + "commanded_contact_point": [ + -13.980599517822265, + -0.014836446380386604, + 0.03161525835936295 + ], + "centerline_face_intersection": [ + -14.06930341387127, + 0.00016355361961339562, + 0.03161525835936295 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.970076560974121, + 0.040577635169029236, + 0.05590105056762695 + ], + "box_pose": [ + -13.988703727722168, + 0.01695689558982849, + 0.03465384617447853, + 0.11717389523983002, + 0.7013643980026245, + 0.6774505376815796, + -0.18819913268089294 + ], + "box_yaw_rad": -3.0414213905339076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002577122285065111 + } + } + }, + { + "simulation_time_ns": 10520000000, + "center": [ + -13.974945077591832, + 0.004684661489096523, + 0.03217496110002327 + ], + "face_center": [ + -14.044457498736815, + -0.001607198418009298, + 0.06519975745344986 + ], + "face_normal": [ + -0.9002413850795463, + -0.08148461216284453, + 0.4276974952313779 + ], + "footprint_xy": [ + [ + -14.079617418343721, + -0.12404569232184065 + ], + [ + -13.870272736839942, + -0.12404569232184065 + ], + [ + -13.870272736839942, + 0.1334150153000337 + ], + [ + -14.079617418343721, + 0.1334150153000337 + ] + ], + "projected_box_corners": [ + [ + -13.917221568856508, + -0.11146197250762901 + ], + [ + -13.940592576053751, + 0.12726456245827075 + ], + [ + -13.870272736839942, + -0.10531151966586608 + ], + [ + -13.893643744037183, + 0.1334150153000337 + ], + [ + -14.056246411146478, + -0.12404569232184065 + ], + [ + -14.079617418343721, + 0.11468084264405912 + ], + [ + -14.00929757912991, + -0.11789523948007771 + ], + [ + -14.032668586327153, + 0.12083129548582207 + ] + ], + "yaw_rad": -3.051324452718345, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.960579872131348, + 0.044705890119075775, + 0.05791211128234863 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.048601621462721, + -0.0033006721014416963, + 0.06502179972098447 + ], + "intended_face_normal": [ + -0.9004105376868239, + -0.08319225624356896, + 0.42701314088921727 + ], + "commanded_contact_point": [ + -13.979601020812987, + -0.011876955920593731, + 0.03204984600291447 + ], + "centerline_face_intersection": [ + -14.064831814673594, + 0.003123044079406268, + 0.03204984600291447 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.964905738830566, + 0.04331091046333313, + 0.05702607333660126 + ], + "box_pose": [ + -13.983981132507324, + 0.0199594609439373, + 0.03505947068333626, + 0.12135346233844757, + 0.7015681862831116, + 0.6767624020576477, + -0.18726491928100586 + ], + "box_yaw_rad": -3.049460529703992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031534816440037332 + } + } + }, + { + "simulation_time_ns": 10540000000, + "center": [ + -13.974147926114172, + 0.004107377895138525, + 0.031638946167164145 + ], + "face_center": [ + -14.043837483550735, + -0.0024264964136466033, + 0.06424076378369263 + ], + "face_normal": [ + -0.9025354415639981, + -0.08461889200216355, + 0.42221958268435067 + ], + "footprint_xy": [ + [ + -14.078851318957726, + -0.12465050597845939 + ], + [ + -13.869444533270618, + -0.12465050597845939 + ], + [ + -13.869444533270618, + 0.13286526176873642 + ], + [ + -14.078851318957726, + 0.13286526176873642 + ] + ], + "projected_box_corners": [ + [ + -13.91582097013784, + -0.11158275736088913 + ], + [ + -13.9394722040846, + 0.12712960564332676 + ], + [ + -13.869444533270618, + -0.10584710123547944 + ], + [ + -13.89309576721738, + 0.13286526176873642 + ], + [ + -14.055200085010965, + -0.12465050597845939 + ], + [ + -14.078851318957726, + 0.1140618570257565 + ], + [ + -14.008823648143744, + -0.1189148498530497 + ], + [ + -14.032474882090504, + 0.11979751315116619 + ] + ], + "yaw_rad": -3.048109068949488, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.959931373596191, + 0.043970465660095215, + 0.05807332694530487 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.044457498736815, + -0.001607198418009298, + 0.06519975745344986 + ], + "intended_face_normal": [ + -0.9002413850795463, + -0.08148461216284453, + 0.4276974952313779 + ], + "commanded_contact_point": [ + -13.978535766601562, + -0.010315338510903476, + 0.03217496110002327 + ], + "centerline_face_intersection": [ + -14.060716866348928, + 0.004684661489096523, + 0.03217496110002327 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.960579872131348, + 0.044705890119075775, + 0.05791211128234863 + ], + "box_pose": [ + -13.979829788208008, + 0.021531494334340096, + 0.0351591594517231, + 0.12210090458393097, + 0.7020149827003479, + 0.6762363910675049, + -0.18700408935546875 + ], + "box_yaw_rad": -3.051324452718345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018944839024738664 + } + } + }, + { + "simulation_time_ns": 10560000000, + "center": [ + -13.974235598565349, + 0.00372802927763086, + 0.031083824702049415 + ], + "face_center": [ + -14.04400108081428, + -0.0029805581723626635, + 0.0634871819743188 + ], + "face_normal": [ + -0.9035187285380815, + -0.08688156675355785, + 0.41964936268256814 + ], + "footprint_xy": [ + [ + -14.078875154066017, + -0.12491820351890534 + ], + [ + -13.86959604306468, + -0.12491820351890534 + ], + [ + -13.86959604306468, + 0.13237426207416705 + ], + [ + -14.078875154066017, + 0.13237426207416705 + ] + ], + "projected_box_corners": [ + [ + -13.915742991715403, + -0.11150102861891828 + ], + [ + -13.939344189568155, + 0.12722769608564582 + ], + [ + -13.86959604306468, + -0.10635446263039705 + ], + [ + -13.893197240917432, + 0.13237426207416705 + ], + [ + -14.055273956213265, + -0.12491820351890534 + ], + [ + -14.078875154066017, + 0.11381052118565878 + ], + [ + -14.009127007562542, + -0.11977163753038411 + ], + [ + -14.032728205415294, + 0.11895708717418 + ] + ], + "yaw_rad": -3.0457282799471117, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.960238456726074, + 0.04348735511302948, + 0.05798952281475067 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.043837483550735, + -0.0024264964136466033, + 0.06424076378369263 + ], + "intended_face_normal": [ + -0.9025354415639981, + -0.08461889200216355, + 0.42221958268435067 + ], + "commanded_contact_point": [ + -13.97764980316162, + -0.010892622104861475, + 0.031638946167164145 + ], + "centerline_face_intersection": [ + -14.05970170090847, + 0.004107377895138525, + 0.031638946167164145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.959931373596191, + 0.043970465660095215, + 0.05807332694530487 + ], + "box_pose": [ + -13.979070663452148, + 0.020933862775564194, + 0.03467502072453499, + 0.11931199580430984, + 0.7010165452957153, + 0.6781176328659058, + -0.18573345243930817 + ], + "box_yaw_rad": -3.048109068949488, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011855376725409636 + } + } + }, + { + "simulation_time_ns": 10580000000, + "center": [ + -13.974460793624456, + 0.0033834062344035784, + 0.030607750607801933 + ], + "face_center": [ + -14.044328023093922, + -0.0034804745427982273, + 0.06275837538922813 + ], + "face_normal": [ + -0.9048364363266046, + -0.08889273939978182, + 0.41637627502623786 + ], + "footprint_xy": [ + [ + -14.078998475464687, + -0.12512878430656113 + ], + [ + -13.869923111784225, + -0.12512878430656113 + ], + [ + -13.869923111784225, + 0.13189559677536827 + ], + [ + -14.078998475464687, + 0.13189559677536827 + ] + ], + "projected_box_corners": [ + [ + -13.915763999530723, + -0.11140102275215752 + ], + [ + -13.939264016525755, + 0.127341705529807 + ], + [ + -13.869923111784225, + -0.10684713150659625 + ], + [ + -13.893423128779256, + 0.13189559677536827 + ], + [ + -14.055498458469655, + -0.12512878430656113 + ], + [ + -14.078998475464687, + 0.11361394397540339 + ], + [ + -14.009657570723157, + -0.12057489306099983 + ], + [ + -14.033157587718188, + 0.11816783522096468 + ] + ], + "yaw_rad": -3.043665117286347, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.960672378540039, + 0.043046481907367706, + 0.057966798543930054 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.04400108081428, + -0.0029805581723626635, + 0.0634871819743188 + ], + "intended_face_normal": [ + -0.9035187285380815, + -0.08688156675355785, + 0.41964936268256814 + ], + "commanded_contact_point": [ + -13.977181549072265, + -0.01127197072236914, + 0.031083824702049415 + ], + "centerline_face_intersection": [ + -14.059696266366197, + 0.00372802927763086, + 0.031083824702049415 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.960238456726074, + 0.04348735511302948, + 0.05798952281475067 + ], + "box_pose": [ + -13.979162216186523, + 0.020537644624710083, + 0.0342058390378952, + 0.1180620938539505, + 0.6992545127868652, + 0.6802958846092224, + -0.18520799279212952 + ], + "box_yaw_rad": -3.0457282799471117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008193455356772381 + } + } + }, + { + "simulation_time_ns": 10600000000, + "center": [ + -13.97468151002927, + 0.003287226198327782, + 0.030201595023762205 + ], + "face_center": [ + -14.044727533190017, + -0.003621094637986693, + 0.061951152478084644 + ], + "face_normal": [ + -0.9071519574612594, + -0.08946827366703403, + 0.41118213274037263 + ], + "footprint_xy": [ + [ + -14.0791091018581, + -0.12519122365743393 + ], + [ + -13.870253918200442, + -0.12519122365743393 + ], + [ + -13.870253918200442, + 0.13176567605408948 + ], + [ + -14.0791091018581, + 0.13176567605408948 + ] + ], + "projected_box_corners": [ + [ + -13.915532907969263, + -0.11137458198480499 + ], + [ + -13.939017055536606, + 0.12736968228768994 + ], + [ + -13.870253918200442, + -0.10697858821840542 + ], + [ + -13.893738065767785, + 0.13176567605408948 + ], + [ + -14.055624954290757, + -0.12519122365743393 + ], + [ + -14.0791091018581, + 0.11355304061506098 + ], + [ + -14.010345964521935, + -0.12079522989103439 + ], + [ + -14.033830112089278, + 0.11794903438146054 + ] + ], + "yaw_rad": -3.0432851221149515, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.961043357849121, + 0.043039560317993164, + 0.05763813853263855 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.044328023093922, + -0.0034804745427982273, + 0.06275837538922813 + ], + "intended_face_normal": [ + -0.9048364363266046, + -0.08889273939978182, + 0.41637627502623786 + ], + "commanded_contact_point": [ + -13.97719871520996, + -0.011616593765596421, + 0.030607750607801933 + ], + "centerline_face_intersection": [ + -14.059797005575549, + 0.0033834062344035784, + 0.030607750607801933 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.960672378540039, + 0.043046481907367706, + 0.057966798543930054 + ], + "box_pose": [ + -13.979390144348145, + 0.02017701417207718, + 0.03381055220961571, + 0.11663517355918884, + 0.6975688934326172, + 0.6825070381164551, + -0.18433134257793427 + ], + "box_yaw_rad": -3.043665117286347, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000587967908495155 + } + } + }, + { + "simulation_time_ns": 10620000000, + "center": [ + -13.974709424629241, + 0.003319558428799517, + 0.030234171519721374 + ], + "face_center": [ + -14.044788918009266, + -0.0035614110242426153, + 0.061915660034232343 + ], + "face_normal": [ + -0.9075854235391958, + -0.08911405140351114, + 0.41030058559171323 + ], + "footprint_xy": [ + [ + -14.07912414501884, + -0.12518301457524808 + ], + [ + -13.870294704239644, + -0.12518301457524808 + ], + [ + -13.870294704239644, + 0.1318221314328471 + ], + [ + -14.07912414501884, + 0.1318221314328471 + ] + ], + "projected_box_corners": [ + [ + -13.915465407370785, + -0.11142107566916382 + ], + [ + -13.93896515825879, + 0.12732160707326545 + ], + [ + -13.870294704239644, + -0.10692055130958217 + ], + [ + -13.893794455127649, + 0.1318221314328471 + ], + [ + -14.055624394130835, + -0.12518301457524808 + ], + [ + -14.07912414501884, + 0.11355966816718119 + ], + [ + -14.010453690999691, + -0.12068249021566643 + ], + [ + -14.033953441887698, + 0.11806019252676284 + ] + ], + "yaw_rad": -3.043718321748837, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.961007118225098, + 0.04317199066281319, + 0.057519763708114624 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.044727533190017, + -0.003621094637986693, + 0.061951152478084644 + ], + "intended_face_normal": [ + -0.9071519574612594, + -0.08946827366703403, + 0.41118213274037263 + ], + "commanded_contact_point": [ + -13.977324600219726, + -0.011712773801672217, + 0.030201595023762205 + ], + "centerline_face_intersection": [ + -14.059799899816502, + 0.003287226198327782, + 0.030201595023762205 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.961043357849121, + 0.043039560317993164, + 0.05763813853263855 + ], + "box_pose": [ + -13.97962760925293, + 0.020076241344213486, + 0.03340265154838562, + 0.11461154371500015, + 0.6975518465042114, + 0.6833720803260803, + -0.1824505776166916 + ], + "box_yaw_rad": -3.0432851221149515, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004359587061521832 + } + } + }, + { + "simulation_time_ns": 10640000000, + "center": [ + -13.974673854818192, + 0.0033653866717890182, + 0.030497396550474697 + ], + "face_center": [ + -14.044715747862782, + -0.003473636398593629, + 0.06227108590434052 + ], + "face_normal": [ + -0.9070984691575887, + -0.0885708122384461, + 0.411494660117663 + ], + "footprint_xy": [ + [ + -14.079112367689557, + -0.12516334613172822 + ], + [ + -13.870235341946827, + -0.12516334613172822 + ], + [ + -13.870235341946827, + 0.13189411947530627 + ], + [ + -14.079112367689557, + 0.13189411947530627 + ] + ], + "projected_box_corners": [ + [ + -13.91552538322627, + -0.1114852999909629 + ], + [ + -13.939028581600382, + 0.1272567718501436 + ], + [ + -13.870235341946827, + -0.10684795236580027 + ], + [ + -13.893738540320939, + 0.13189411947530627 + ], + [ + -14.055609169315447, + -0.12516334613172822 + ], + [ + -14.079112367689557, + 0.11357872570937831 + ], + [ + -14.010319128036004, + -0.12052599850656556 + ], + [ + -14.033822326410114, + 0.11821607333454096 + ] + ], + "yaw_rad": -3.0442593008715546, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.960630416870117, + 0.043257907032966614, + 0.05797186493873596 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.044788918009266, + -0.0035614110242426153, + 0.061915660034232343 + ], + "intended_face_normal": [ + -0.9075854235391958, + -0.08911405140351114, + 0.41030058559171323 + ], + "commanded_contact_point": [ + -13.977128143310546, + -0.011680441571200482, + 0.030234171519721374 + ], + "centerline_face_intersection": [ + -14.059787161565927, + 0.003319558428799517, + 0.030234171519721374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.961007118225098, + 0.04317199066281319, + 0.057519763708114624 + ], + "box_pose": [ + -13.979660034179688, + 0.020111458376049995, + 0.033413030207157135, + 0.11431476473808289, + 0.697996973991394, + 0.6830760836601257, + -0.18204177916049957 + ], + "box_yaw_rad": -3.043718321748837, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00020174716449231975 + } + } + }, + { + "simulation_time_ns": 10660000000, + "center": [ + -13.974948399052641, + 0.004648478036938575, + 0.031117837488465673 + ], + "face_center": [ + -14.045049683642638, + -0.002080501524439976, + 0.06278380624541685 + ], + "face_normal": [ + -0.907867637116631, + -0.08714566088660014, + 0.4100995923330757 + ], + "footprint_xy": [ + [ + -14.07928138405753, + -0.12386405481569163 + ], + [ + -13.870615414047752, + -0.12386405481569163 + ], + [ + -13.870615414047752, + 0.13316101088956878 + ], + [ + -14.07928138405753, + 0.13316101088956878 + ] + ], + "projected_box_corners": [ + [ + -13.915733802214772, + -0.11040609569293452 + ], + [ + -13.93907881487754, + 0.1283499628517967 + ], + [ + -13.870615414047752, + -0.10559504765516245 + ], + [ + -13.893960426710517, + 0.13316101088956878 + ], + [ + -14.055936371394765, + -0.12386405481569163 + ], + [ + -14.07928138405753, + 0.11489200372903959 + ], + [ + -14.010817983227744, + -0.11905300677791955 + ], + [ + -14.03416299589051, + 0.11970305176681167 + ] + ], + "yaw_rad": -3.0458964584075368, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.9605073928833, + 0.04448294639587402, + 0.05911692976951599 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.044715747862782, + -0.003473636398593629, + 0.06227108590434052 + ], + "intended_face_normal": [ + -0.9070984691575887, + -0.0885708122384461, + 0.411494660117663 + ], + "commanded_contact_point": [ + -13.976716156005859, + -0.011634613328210981, + 0.030497396550474697 + ], + "centerline_face_intersection": [ + -14.059797263727864, + 0.0033653866717890182, + 0.030497396550474697 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.960630416870117, + 0.043257907032966614, + 0.05797186493873596 + ], + "box_pose": [ + -13.979620933532715, + 0.02016150951385498, + 0.033659420907497406, + 0.1148373931646347, + 0.6983512043952942, + 0.6825355887413025, + -0.18238204717636108 + ], + "box_yaw_rad": -3.0442593008715546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004910409187575545 + } + } + }, + { + "simulation_time_ns": 10680000000, + "center": [ + -13.974186015837544, + 0.00875253650190988, + 0.031749341476740564 + ], + "face_center": [ + -14.044385732193293, + 0.00235997517390105, + 0.06326665420259357 + ], + "face_normal": [ + -0.9091424071171232, + -0.0827887760106858, + 0.4081743779738014 + ], + "footprint_xy": [ + [ + -14.078006768538847, + -0.11943759634185744 + ], + [ + -13.870365263136241, + -0.11943759634185744 + ], + [ + -13.870365263136241, + 0.1369426693456772 + ], + [ + -14.078006768538847, + 0.1369426693456772 + ] + ], + "projected_box_corners": [ + [ + -13.915278449667593, + -0.10665247368583977 + ], + [ + -13.93760733582735, + 0.13219918613039108 + ], + [ + -13.870365263136241, + -0.10190899047055366 + ], + [ + -13.892694149295998, + 0.1369426693456772 + ], + [ + -14.05567788237909, + -0.11943759634185744 + ], + [ + -14.078006768538847, + 0.11941406347437342 + ], + [ + -14.01076469584774, + -0.11469411312657132 + ], + [ + -14.033093582007497, + 0.12415754668965953 + ] + ], + "yaw_rad": -3.0507806216961466, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.959336280822754, + 0.048334620893001556, + 0.060355156660079956 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.045049683642638, + -0.002080501524439976, + 0.06278380624541685 + ], + "intended_face_normal": [ + -0.907867637116631, + -0.08714566088660014, + 0.4100995923330757 + ], + "commanded_contact_point": [ + -13.976029510498046, + -0.010351521963061425, + 0.031117837488465673 + ], + "centerline_face_intersection": [ + -14.059999689300934, + 0.004648478036938575, + 0.031117837488465673 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.9605073928833, + 0.04448294639587402, + 0.05911692976951599 + ], + "box_pose": [ + -13.979889869689941, + 0.021454183384776115, + 0.034237418323755264, + 0.11465954780578613, + 0.6991589069366455, + 0.6819902062416077, + -0.18143673241138458 + ], + "box_yaw_rad": -3.0458964584075368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015820089956304173 + } + } + }, + { + "simulation_time_ns": 10700000000, + "center": [ + -13.970884092965923, + 0.01517165977366718, + 0.03225576905125822 + ], + "face_center": [ + -14.041195027069273, + 0.00937892356022178, + 0.06364075519716453 + ], + "face_normal": [ + -0.9105827657968604, + -0.0750205615959727, + 0.40646064305201524 + ], + "footprint_xy": [ + [ + -14.073766781480968, + -0.11237294449750773 + ], + [ + -13.868001404450878, + -0.11237294449750773 + ], + [ + -13.868001404450878, + 0.1427162640448421 + ], + [ + -14.073766781480968, + 0.1427162640448421 + ] + ], + "projected_box_corners": [ + [ + -13.912752937309126, + -0.10078747207061695 + ], + [ + -13.933144913274269, + 0.13823562079442722 + ], + [ + -13.868001404450878, + -0.09630682882020206 + ], + [ + -13.88839338041602, + 0.1427162640448421 + ], + [ + -14.053374805515826, + -0.11237294449750773 + ], + [ + -14.073766781480968, + 0.1266501483675364 + ], + [ + -14.008623272657577, + -0.10789230124709287 + ], + [ + -14.02901524862272, + 0.1311307916179513 + ] + ], + "yaw_rad": -3.05939088822431, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.955605506896973, + 0.05438772216439247, + 0.06138816475868225 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.044385732193293, + 0.00235997517390105, + 0.06326665420259357 + ], + "intended_face_normal": [ + -0.9091424071171232, + -0.0827887760106858, + 0.4081743779738014 + ], + "commanded_contact_point": [ + -13.975074882507323, + -0.0062474634980901195, + 0.031749341476740564 + ], + "centerline_face_intersection": [ + -14.059118049924797, + 0.00875253650190988, + 0.031749341476740564 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.959336280822754, + 0.048334620893001556, + 0.060355156660079956 + ], + "box_pose": [ + -13.979063034057617, + 0.025582879781723022, + 0.034837376326322556, + 0.11549239605665207, + 0.6995333433151245, + 0.6820735335350037, + -0.17913782596588135 + ], + "box_yaw_rad": -3.0507806216961466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004260681608825153 + } + } + }, + { + "simulation_time_ns": 10720000000, + "center": [ + -13.967466757036169, + 0.01905819781531216, + 0.03280947339615426 + ], + "face_center": [ + -14.037340605940772, + 0.014167165860462096, + 0.06530451330650856 + ], + "face_normal": [ + -0.9049221632996733, + -0.06334277110444475, + 0.42083672608809763 + ], + "footprint_xy": [ + [ + -14.069425325726336, + -0.10764904371853753 + ], + [ + -13.865508188346004, + -0.10764904371853753 + ], + [ + -13.865508188346004, + 0.14576543934916186 + ], + [ + -14.069425325726336, + 0.14576543934916186 + ] + ], + "projected_box_corners": [ + [ + -13.911870951910966, + -0.0978669798088374 + ], + [ + -13.929677627917131, + 0.14135688987291492 + ], + [ + -13.865508188346004, + -0.09345843033259046 + ], + [ + -13.883314864352169, + 0.14576543934916186 + ], + [ + -14.051618649720169, + -0.10764904371853753 + ], + [ + -14.069425325726336, + 0.1315748259632148 + ], + [ + -14.005255886155206, + -0.10324049424229059 + ], + [ + -14.023062562161373, + 0.1359833754394617 + ] + ], + "yaw_rad": -3.0717086097431068, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.951512336730957, + 0.05812458693981171, + 0.06177103519439697 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.041195027069273, + 0.00937892356022178, + 0.06364075519716453 + ], + "intended_face_normal": [ + -0.9105827657968604, + -0.0750205615959727, + 0.40646064305201524 + ], + "commanded_contact_point": [ + -13.973527069091796, + 0.00017165977366718002, + 0.03225576905125822 + ], + "centerline_face_intersection": [ + -14.05568178166791, + 0.01517165977366718, + 0.03225576905125822 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.955605506896973, + 0.05438772216439247, + 0.06138816475868225 + ], + "box_pose": [ + -13.975630760192871, + 0.03204399347305298, + 0.03531764820218086, + 0.11773964017629623, + 0.6995736956596375, + 0.6825599074363708, + -0.17562976479530334 + ], + "box_yaw_rad": -3.05939088822431, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006622487360164185 + } + } + }, + { + "simulation_time_ns": 10740000000, + "center": [ + -13.965924750828359, + 0.01879886035758783, + 0.032742937357569155 + ], + "face_center": [ + -14.03530102458894, + 0.013747029906343175, + 0.066263336056511 + ], + "face_normal": [ + -0.8984781676877063, + -0.06542524008953521, + 0.4341159415266773 + ], + "footprint_xy": [ + [ + -14.068521453971643, + -0.10822106969088699 + ], + [ + -13.863328047685076, + -0.10822106969088699 + ], + [ + -13.863328047685076, + 0.14581879040606266 + ], + [ + -14.068521453971643, + 0.14581879040606266 + ] + ], + "projected_box_corners": [ + [ + -13.91113316853139, + -0.09811740878839767 + ], + [ + -13.929768906450484, + 0.14104086034758528 + ], + [ + -13.863328047685076, + -0.0933394787299203 + ], + [ + -13.88196378560417, + 0.14581879040606266 + ], + [ + -14.049885716052549, + -0.10822106969088699 + ], + [ + -14.068521453971643, + 0.13093719944509596 + ], + [ + -14.002080595206236, + -0.10344313963240961 + ], + [ + -14.02071633312533, + 0.13571512950357334 + ] + ], + "yaw_rad": -3.068903108991208, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.94941234588623, + 0.05795321613550186, + 0.061167553067207336 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.037340605940772, + 0.014167165860462096, + 0.06530451330650856 + ], + "intended_face_normal": [ + -0.9049221632996733, + -0.06334277110444475, + 0.42083672608809763 + ], + "commanded_contact_point": [ + -13.971299285888671, + 0.004058197815312161, + 0.03280947339615426 + ], + "centerline_face_intersection": [ + -14.052794884739312, + 0.01905819781531216, + 0.03280947339615426 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.951512336730957, + 0.05812458693981171, + 0.06177103519439697 + ], + "box_pose": [ + -13.971981048583984, + 0.03599413111805916, + 0.03587166592478752, + 0.12722539901733398, + 0.6989784836769104, + 0.6810948252677917, + -0.17706668376922607 + ], + "box_yaw_rad": -3.0717086097431068, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004513843644925713 + } + } + }, + { + "simulation_time_ns": 10760000000, + "center": [ + -13.966112376785736, + 0.018625939215815797, + 0.03134094647021069 + ], + "face_center": [ + -14.03585985630476, + 0.013413131063404436, + 0.0640566564268399 + ], + "face_normal": [ + -0.9032855788040095, + -0.06751002991958543, + 0.4236945794736062 + ], + "footprint_xy": [ + [ + -14.068584910927527, + -0.10840003591259806 + ], + [ + -13.863639842643943, + -0.10840003591259806 + ], + [ + -13.863639842643943, + 0.14565191434422967 + ], + [ + -14.068584910927527, + 0.14565191434422967 + ] + ], + "projected_box_corners": [ + [ + -13.910310541584627, + -0.09797441960777534 + ], + [ + -13.929089951889473, + 0.1411781269938212 + ], + [ + -13.863639842643943, + -0.09350063225736688 + ], + [ + -13.88241925294879, + 0.14565191434422967 + ], + [ + -14.04980550062268, + -0.10840003591259806 + ], + [ + -14.068584910927527, + 0.13075251068899846 + ], + [ + -14.003134801681997, + -0.1039262485621896 + ], + [ + -14.021914211986843, + 0.13522629803940694 + ] + ], + "yaw_rad": -3.0669930456429793, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.948101043701172, + 0.05750112980604172, + 0.05863264203071594 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.03530102458894, + 0.013747029906343175, + 0.066263336056511 + ], + "intended_face_normal": [ + -0.8984781676877063, + -0.06542524008953521, + 0.4341159415266773 + ], + "commanded_contact_point": [ + -13.968733901977538, + 0.003798860357587832, + 0.032742937357569155 + ], + "centerline_face_intersection": [ + -14.051864862328404, + 0.01879886035758783, + 0.032742937357569155 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.94941234588623, + 0.05795321613550186, + 0.061167553067207336 + ], + "box_pose": [ + -13.970450401306152, + 0.03572634607553482, + 0.03583493083715439, + 0.13121351599693298, + 0.6986050009727478, + 0.6791098117828369, + -0.18315011262893677 + ], + "box_yaw_rad": -3.068903108991208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025793172687571036 + } + } + }, + { + "simulation_time_ns": 10780000000, + "center": [ + -13.966156017065156, + 0.018357174756607152, + 0.030843624006347995 + ], + "face_center": [ + -14.036076346649487, + 0.012953836035255146, + 0.0631570276880079 + ], + "face_normal": [ + -0.9055241252340878, + -0.06997755299614994, + 0.41848439182312624 + ], + "footprint_xy": [ + [ + -14.068505994395302, + -0.10854085239187355 + ], + [ + -13.86380603973501, + -0.10854085239187355 + ], + [ + -13.86380603973501, + 0.14525520190508784 + ], + [ + -14.068505994395302, + 0.14525520190508784 + ] + ], + "projected_box_corners": [ + [ + -13.909948132720166, + -0.09773417494916953 + ], + [ + -13.928665335226642, + 0.14143052863905875 + ], + [ + -13.86380603973501, + -0.09390950168314041 + ], + [ + -13.882523242241486, + 0.14525520190508784 + ], + [ + -14.049788791888826, + -0.10854085239187355 + ], + [ + -14.068505994395302, + 0.13062385119635472 + ], + [ + -14.00364669890367, + -0.10471617912584444 + ], + [ + -14.022363901410147, + 0.13444852446238384 + ] + ], + "yaw_rad": -3.064467432027513, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.945993423461914, + 0.056928470730781555, + 0.05643320083618164 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.03585985630476, + 0.013413131063404436, + 0.0640566564268399 + ], + "intended_face_normal": [ + -0.9032855788040095, + -0.06751002991958543, + 0.4236945794736062 + ], + "commanded_contact_point": [ + -13.966227645874023, + 0.0036259392158157974, + 0.03134094647021069 + ], + "centerline_face_intersection": [ + -14.05159510309437, + 0.018625939215815797, + 0.03134094647021069 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.948101043701172, + 0.05750112980604172, + 0.05863264203071594 + ], + "box_pose": [ + -13.970685005187988, + 0.03553975746035576, + 0.0344385989010334, + 0.12681199610233307, + 0.6985287666320801, + 0.6809554696083069, + -0.17965468764305115 + ], + "box_yaw_rad": -3.0669930456429793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002876942791561424 + } + } + }, + { + "simulation_time_ns": 10800000000, + "center": [ + -13.965676774708037, + 0.01812105565331559, + 0.030762908751885382 + ], + "face_center": [ + -14.03554206018511, + 0.012730900320798603, + 0.06319731069450571 + ], + "face_normal": [ + -0.9048112600721225, + -0.06980681757894835, + 0.4200514159642079 + ], + "footprint_xy": [ + [ + -14.067992882611522, + -0.10871225521067598 + ], + [ + -13.863360666804553, + -0.10871225521067598 + ], + [ + -13.863360666804553, + 0.14495436651730714 + ], + [ + -14.067992882611522, + 0.14495436651730714 + ] + ], + "projected_box_corners": [ + [ + -13.90968559565574, + -0.097931944545642 + ], + [ + -13.928262311657377, + 0.14124407846541742 + ], + [ + -13.863360666804553, + -0.09422165649375228 + ], + [ + -13.88193738280619, + 0.14495436651730714 + ], + [ + -14.049416166609886, + -0.10871225521067598 + ], + [ + -14.067992882611522, + 0.13046376780038346 + ], + [ + -14.003091237758698, + -0.10500196715878626 + ], + [ + -14.021667953760334, + 0.13417405585227318 + ] + ], + "yaw_rad": -3.0645944870927977, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.943704605102539, + 0.05652817338705063, + 0.05402861535549164 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.036076346649487, + 0.012953836035255146, + 0.0631570276880079 + ], + "intended_face_normal": [ + -0.9055241252340878, + -0.06997755299614994, + 0.41848439182312624 + ], + "commanded_contact_point": [ + -13.964073295593261, + 0.003357174756607153, + 0.030843624006347995 + ], + "centerline_face_intersection": [ + -14.051427421503417, + 0.018357174756607152, + 0.030843624006347995 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.945993423461914, + 0.056928470730781555, + 0.05643320083618164 + ], + "box_pose": [ + -13.970741271972656, + 0.03525209426879883, + 0.03402463346719742, + 0.12452416121959686, + 0.6968164443969727, + 0.6835268139839172, + -0.17813384532928467 + ], + "box_yaw_rad": -3.064467432027513, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022272828962245175 + } + } + }, + { + "simulation_time_ns": 10820000000, + "center": [ + -13.9652049691378, + 0.017943698660618776, + 0.03079793143314879 + ], + "face_center": [ + -14.035085976765375, + 0.01262692800815473, + 0.06321061712670206 + ], + "face_normal": [ + -0.9050148744810613, + -0.0688564273475869, + 0.419770173190372 + ], + "footprint_xy": [ + [ + -14.067405201007372, + -0.10881019576817166 + ], + [ + -13.863004737268227, + -0.10881019576817166 + ], + [ + -13.863004737268227, + 0.14469759308940922 + ], + [ + -14.067405201007372, + 0.14469759308940922 + ] + ], + "projected_box_corners": [ + [ + -13.909300911247401, + -0.09817665446324356 + ], + [ + -13.92764318575222, + 0.14101744434552999 + ], + [ + -13.863004737268227, + -0.09449650571936435 + ], + [ + -13.881347011773046, + 0.14469759308940922 + ], + [ + -14.049062926502554, + -0.10881019576817166 + ], + [ + -14.067405201007372, + 0.1303839030406019 + ], + [ + -14.002766752523378, + -0.10513004702429243 + ], + [ + -14.021109027028198, + 0.1340640517844811 + ] + ], + "yaw_rad": -3.0656557526096164, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.942270278930664, + 0.05669667571783066, + 0.05130228400230408 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.03554206018511, + 0.012730900320798603, + 0.06319731069450571 + ], + "intended_face_normal": [ + -0.9048112600721225, + -0.06980681757894835, + 0.4200514159642079 + ], + "commanded_contact_point": [ + -13.962315673828124, + 0.00312105565331559, + 0.030762908751885382 + ], + "centerline_face_intersection": [ + -14.05101536112802, + 0.01812105565331559, + 0.030762908751885382 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.943704605102539, + 0.05652817338705063, + 0.05402861535549164 + ], + "box_pose": [ + -13.970246315002441, + 0.035015907138586044, + 0.033966802060604095, + 0.12526707351207733, + 0.6963227391242981, + 0.683769166469574, + -0.17861250042915344 + ], + "box_yaw_rad": -3.0645944870927977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017752468708673989 + } + } + }, + { + "simulation_time_ns": 10840000000, + "center": [ + -13.965289474962994, + 0.01790544919445676, + 0.030605374438982876 + ], + "face_center": [ + -14.03529459190816, + 0.012565307157649312, + 0.06274521537803189 + ], + "face_normal": [ + -0.9066221892908288, + -0.06915910544548609, + 0.4162366156525863 + ], + "footprint_xy": [ + [ + -14.0673990793765, + -0.10881190379824335 + ], + [ + -13.863179870549487, + -0.10881190379824335 + ], + [ + -13.863179870549487, + 0.14462280218715687 + ], + [ + -14.0673990793765, + 0.14462280218715687 + ] + ], + "projected_box_corners": [ + [ + -13.909093405339833, + -0.09813161972462847 + ], + [ + -13.927388845486167, + 0.14106621528474173 + ], + [ + -13.863179870549487, + -0.0945750328222133 + ], + [ + -13.881475310695821, + 0.14462280218715687 + ], + [ + -14.049103639230166, + -0.10881190379824335 + ], + [ + -14.0673990793765, + 0.1303859312111268 + ], + [ + -14.00319010443982, + -0.10525531689582818 + ], + [ + -14.021485544586154, + 0.13394251811354196 + ] + ], + "yaw_rad": -3.0654579331116887, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.942193984985352, + 0.056985825300216675, + 0.05011947453022003 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.035085976765375, + 0.01262692800815473, + 0.06321061712670206 + ], + "intended_face_normal": [ + -0.9050148744810613, + -0.0688564273475869, + 0.419770173190372 + ], + "commanded_contact_point": [ + -13.960726852416991, + 0.0029436986606187765, + 0.03079793143314879 + ], + "centerline_face_intersection": [ + -14.050524355690108, + 0.017943698660618776, + 0.03079793143314879 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.942270278930664, + 0.05669667571783066, + 0.05130228400230408 + ], + "box_pose": [ + -13.969758987426758, + 0.034843508154153824, + 0.0339977853000164, + 0.12551149725914001, + 0.6963420510292053, + 0.6838239431381226, + -0.17815572023391724 + ], + "box_yaw_rad": -3.0656557526096164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015990733465152238 + } + } + }, + { + "simulation_time_ns": 10860000000, + "center": [ + -13.965508010595782, + 0.017889769248964637, + 0.03059654167639889 + ], + "face_center": [ + -14.035538049639662, + 0.012663890895463475, + 0.06270087710776195 + ], + "face_normal": [ + -0.9069449503786373, + -0.06767929946506435, + 0.4157767909638377 + ], + "footprint_xy": [ + [ + -14.067467088260818, + -0.1087384013092777 + ], + [ + -13.863548932930748, + -0.1087384013092777 + ], + [ + -13.863548932930748, + 0.14451793980720695 + ], + [ + -14.067467088260818, + 0.14451793980720695 + ] + ], + "projected_box_corners": [ + [ + -13.909409491117922, + -0.09828664460227537 + ], + [ + -13.927407010173058, + 0.14093361955891767 + ], + [ + -13.863548932930748, + -0.09470232435398607 + ], + [ + -13.881546451985884, + 0.14451793980720695 + ], + [ + -14.04946956920568, + -0.1087384013092777 + ], + [ + -14.067467088260818, + 0.13048186285191535 + ], + [ + -14.003609011018508, + -0.10515408106098839 + ], + [ + -14.021606530073644, + 0.13406618310020463 + ] + ], + "yaw_rad": -3.0671073277766854, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.9423246383667, + 0.05702883005142212, + 0.050057366490364075 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.03529459190816, + 0.012565307157649312, + 0.06274521537803189 + ], + "intended_face_normal": [ + -0.9066221892908288, + -0.06915910544548609, + 0.4162366156525863 + ], + "commanded_contact_point": [ + -13.959570999145507, + 0.0029054491944567606, + 0.030605374438982876 + ], + "centerline_face_intersection": [ + -14.05045760213164, + 0.01790544919445676, + 0.030605374438982876 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.942193984985352, + 0.056985825300216675, + 0.05011947453022003 + ], + "box_pose": [ + -13.969852447509766, + 0.03480248153209686, + 0.03380712866783142, + 0.12417256087064743, + 0.6962780952453613, + 0.684476375579834, + -0.17683325707912445 + ], + "box_yaw_rad": -3.0654579331116887, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011724069271652326 + } + } + }, + { + "simulation_time_ns": 10880000000, + "center": [ + -13.96544827092006, + 0.017943679088631717, + 0.03089155921798455 + ], + "face_center": [ + -14.035374525408866, + 0.01281209857630869, + 0.06323644866622627 + ], + "face_normal": [ + -0.9056008574802519, + -0.06645806709027546, + 0.41889215765333354 + ], + "footprint_xy": [ + [ + -14.067420508579575, + -0.10868527134136727 + ], + [ + -13.863476033260545, + -0.10868527134136727 + ], + [ + -13.863476033260545, + 0.1445726295186307 + ], + [ + -14.067420508579575, + 0.1445726295186307 + ] + ], + "projected_box_corners": [ + [ + -13.909668723784534, + -0.09842211031672121 + ], + [ + -13.927567999601964, + 0.14080460081843915 + ], + [ + -13.863476033260545, + -0.09465408161652969 + ], + [ + -13.881375309077976, + 0.1445726295186307 + ], + [ + -14.049521232762144, + -0.10868527134136727 + ], + [ + -14.067420508579575, + 0.13054143979379312 + ], + [ + -14.003328542238156, + -0.10491724264117575 + ], + [ + -14.021227818055586, + 0.13430946849398467 + ] + ], + "yaw_rad": -3.068338362332616, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.942109107971191, + 0.05716317892074585, + 0.050196170806884766 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.035538049639662, + 0.012663890895463475, + 0.06270087710776195 + ], + "intended_face_normal": [ + -0.9069449503786373, + -0.06767929946506435, + 0.4157767909638377 + ], + "commanded_contact_point": [ + -13.958384628295898, + 0.0028897692489646375, + 0.03059654167639889 + ], + "centerline_face_intersection": [ + -14.050645828364326, + 0.017889769248964637, + 0.03059654167639889 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.9423246383667, + 0.05702883005142212, + 0.050057366490364075 + ], + "box_pose": [ + -13.970051765441895, + 0.034795165061950684, + 0.03378143906593323, + 0.12448517978191376, + 0.6965397596359253, + 0.684328019618988, + -0.17615605890750885 + ], + "box_yaw_rad": -3.0671073277766854, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011865073413967447 + } + } + }, + { + "simulation_time_ns": 10900000000, + "center": [ + -13.965492005946798, + 0.01793804685823998, + 0.030912822870538592 + ], + "face_center": [ + -14.035383830637702, + 0.012861422271743455, + 0.06334065616976528 + ], + "face_normal": [ + -0.9051549640925671, + -0.06574634394828927, + 0.41996634678478095 + ], + "footprint_xy": [ + [ + -14.067421487813194, + -0.10865158569173203 + ], + [ + -13.863562524080402, + -0.10865158569173203 + ], + [ + -13.863562524080402, + 0.14452767940821198 + ], + [ + -14.067421487813194, + 0.14452767940821198 + ] + ], + "projected_box_corners": [ + [ + -13.909873027212427, + -0.09849833651873899 + ], + [ + -13.927637838431385, + 0.14073806451240978 + ], + [ + -13.863562524080402, + -0.09470872162293675 + ], + [ + -13.881327335299362, + 0.14452767940821198 + ], + [ + -14.049656676594235, + -0.10865158569173203 + ], + [ + -14.067421487813194, + 0.13058481533941674 + ], + [ + -14.00334617346221, + -0.10486197079592982 + ], + [ + -14.02111098468117, + 0.13437443023521894 + ] + ], + "yaw_rad": -3.0690845336875254, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.941938400268555, + 0.0571800172328949, + 0.05019073188304901 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.035374525408866, + 0.01281209857630869, + 0.06323644866622627 + ], + "intended_face_normal": [ + -0.9056008574802519, + -0.06645806709027546, + 0.41889215765333354 + ], + "commanded_contact_point": [ + -13.956744308471679, + 0.0029436790886317177, + 0.03089155921798455 + ], + "centerline_face_intersection": [ + -14.050712450247675, + 0.017943679088631717, + 0.03089155921798455 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.942109107971191, + 0.05716317892074585, + 0.050196170806884766 + ], + "box_pose": [ + -13.969974517822266, + 0.034857381135225296, + 0.03405723348259926, + 0.12593339383602142, + 0.6969135403633118, + 0.6834558844566345, + -0.1770322322845459 + ], + "box_yaw_rad": -3.068338362332616, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016675103437104094 + } + } + }, + { + "simulation_time_ns": 10920000000, + "center": [ + -13.965745833150965, + 0.01775202322143424, + 0.03076840474070194 + ], + "face_center": [ + -14.035700106471824, + 0.012738240162786255, + 0.06307109068295902 + ], + "face_normal": [ + -0.9059637237387079, + -0.06493249596056216, + 0.41834558853580006 + ], + "footprint_xy": [ + [ + -14.067456146056744, + -0.10866711392848868 + ], + [ + -13.864035520245185, + -0.10866711392848868 + ], + [ + -13.864035520245185, + 0.1441711603713572 + ], + [ + -14.067456146056744, + 0.1441711603713572 + ] + ], + "projected_box_corners": [ + [ + -13.910184532486474, + -0.09863954781119272 + ], + [ + -13.927547599415025, + 0.14062733730638755 + ], + [ + -13.864035520245185, + -0.0950957247462231 + ], + [ + -13.881398587173736, + 0.1441711603713572 + ], + [ + -14.050093079128192, + -0.10866711392848868 + ], + [ + -14.067456146056744, + 0.13059977118909158 + ], + [ + -14.003944066886906, + -0.10512329086351907 + ], + [ + -14.021307133815455, + 0.1341435942540612 + ] + ], + "yaw_rad": -3.0700427102443117, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.941964149475098, + 0.05681489408016205, + 0.050358787178993225 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.035383830637702, + 0.012861422271743455, + 0.06334065616976528 + ], + "intended_face_normal": [ + -0.9051549640925671, + -0.06574634394828927, + 0.41996634678478095 + ], + "commanded_contact_point": [ + -13.95465003967285, + 0.0029380468582399823, + 0.030912822870538592 + ], + "centerline_face_intersection": [ + -14.05079818773286, + 0.01793804685823998, + 0.030912822870538592 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.941938400268555, + 0.0571800172328949, + 0.05019073188304901 + ], + "box_pose": [ + -13.97000503540039, + 0.034855809062719345, + 0.03407566249370575, + 0.12656621634960175, + 0.6969382166862488, + 0.6832675933837891, + -0.1772102266550064 + ], + "box_yaw_rad": -3.0690845336875254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020943843168540303 + } + } + }, + { + "simulation_time_ns": 10940000000, + "center": [ + -13.965899689152378, + 0.017583932067548675, + 0.03066060173266464 + ], + "face_center": [ + -14.035862281152374, + 0.012593226449126908, + 0.06294889324076841 + ], + "face_normal": [ + -0.9060714572790403, + -0.06463362467380307, + 0.41815916911426143 + ], + "footprint_xy": [ + [ + -14.067471545653996, + -0.10869840827547778 + ], + [ + -13.86432783265076, + -0.10869840827547778 + ], + [ + -13.86432783265076, + 0.14386627241057515 + ], + [ + -14.067471545653996, + 0.14386627241057515 + ] + ], + "projected_box_corners": [ + [ + -13.91047410523211, + -0.09871699703863424 + ], + [ + -13.927546361654006, + 0.1405712985734146 + ], + [ + -13.86432783265076, + -0.09542202320147372 + ], + [ + -13.881400089072656, + 0.14386627241057515 + ], + [ + -14.0503992892321, + -0.10869840827547778 + ], + [ + -14.067471545653996, + 0.1305898873365711 + ], + [ + -14.00425301665075, + -0.10540343443831726 + ], + [ + -14.021325273072646, + 0.1338848611737316 + ] + ], + "yaw_rad": -3.0703793649855404, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.941912651062012, + 0.056397512555122375, + 0.05063420534133911 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.035700106471824, + 0.012738240162786255, + 0.06307109068295902 + ], + "intended_face_normal": [ + -0.9059637237387079, + -0.06493249596056216, + 0.41834558853580006 + ], + "commanded_contact_point": [ + -13.952408905029296, + 0.0027520232214342417, + 0.03076840474070194 + ], + "centerline_face_intersection": [ + -14.050975861559595, + 0.01775202322143424, + 0.03076840474070194 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.941964149475098, + 0.05681489408016205, + 0.050358787178993225 + ], + "box_pose": [ + -13.970235824584961, + 0.034672003239393234, + 0.03395209461450577, + 0.12643098831176758, + 0.6964066624641418, + 0.6841049790382385, + -0.1761624813079834 + ], + "box_yaw_rad": -3.0700427102443117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022534741800644058 + } + } + }, + { + "simulation_time_ns": 10960000000, + "center": [ + -13.965924014033096, + 0.017500219021982608, + 0.030742488873728796 + ], + "face_center": [ + -14.03587673595222, + 0.012591684798794536, + 0.06306468147501 + ], + "face_normal": [ + -0.9059436318468812, + -0.06356943946142479, + 0.41859821535340913 + ], + "footprint_xy": [ + [ + -14.067419915286983, + -0.10873659062334634 + ], + [ + -13.864428112779207, + -0.10873659062334634 + ], + [ + -13.864428112779207, + 0.14373702866731158 + ], + [ + -14.067419915286983, + 0.14373702866731158 + ] + ], + "projected_box_corners": [ + [ + -13.910618817828174, + -0.09891952217697023 + ], + [ + -13.927514471448733, + 0.1403811590866508 + ], + [ + -13.864428112779207, + -0.09556365259630945 + ], + [ + -13.881323766399767, + 0.14373702866731158 + ], + [ + -14.050524261666425, + -0.10873659062334634 + ], + [ + -14.067419915286983, + 0.1305640906402747 + ], + [ + -14.004333556617457, + -0.10538072104268559 + ], + [ + -14.021229210238017, + 0.13391996022093544 + ] + ], + "yaw_rad": -3.071538169609948, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.94180679321289, + 0.05610419064760208, + 0.05084943771362305 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.035862281152374, + 0.012593226449126908, + 0.06294889324076841 + ], + "intended_face_normal": [ + -0.9060714572790403, + -0.06463362467380307, + 0.41815916911426143 + ], + "commanded_contact_point": [ + -13.950100059509277, + 0.0025839320675486756, + 0.03066060173266464 + ], + "centerline_face_intersection": [ + -14.05111958355598, + 0.017583932067548675, + 0.03066060173266464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.941912651062012, + 0.056397512555122375, + 0.05063420534133911 + ], + "box_pose": [ + -13.970369338989258, + 0.03450322151184082, + 0.033876433968544006, + 0.12666165828704834, + 0.6956794261932373, + 0.6848838329315186, + -0.1758440136909485 + ], + "box_yaw_rad": -3.0703793649855404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023174649425332697 + } + } + }, + { + "simulation_time_ns": 10980000000, + "center": [ + -13.965108910372232, + 0.017080324066892853, + 0.03080814436543939 + ], + "face_center": [ + -14.035010879553806, + 0.01234689809418521, + 0.06326603476178738 + ], + "face_normal": [ + -0.905286343350852, + -0.061301647729317565, + 0.42035561020415635 + ], + "footprint_xy": [ + [ + -14.06639062657071, + -0.10898242142337156 + ], + [ + -13.863827194173753, + -0.10898242142337156 + ], + [ + -13.863827194173753, + 0.14314306955715728 + ], + [ + -14.06639062657071, + 0.14314306955715728 + ] + ], + "projected_box_corners": [ + [ + -13.91021547638806, + -0.09951556947795626 + ], + [ + -13.926586688207562, + 0.13982144972408092 + ], + [ + -13.863827194173753, + -0.09619394964487993 + ], + [ + -13.880198405993253, + 0.14314306955715728 + ], + [ + -14.050019414751208, + -0.10898242142337156 + ], + [ + -14.06639062657071, + 0.13035459777866565 + ], + [ + -14.003631132536901, + -0.10566080159029523 + ], + [ + -14.020002344356401, + 0.13367621761174198 + ] + ], + "yaw_rad": -3.0739806669058845, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.940879821777344, + 0.05554671585559845, + 0.05091288685798645 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.03587673595222, + 0.012591684798794536, + 0.06306468147501 + ], + "intended_face_normal": [ + -0.9059436318468812, + -0.06356943946142479, + 0.41859821535340913 + ], + "commanded_contact_point": [ + -13.947670097351073, + 0.002500219021982608, + 0.030742488873728796 + ], + "centerline_face_intersection": [ + -14.051155932661437, + 0.017500219021982608, + 0.030742488873728796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.94180679321289, + 0.05610419064760208, + 0.05084943771362305 + ], + "box_pose": [ + -13.970379829406738, + 0.03442583233118057, + 0.03394419699907303, + 0.12714456021785736, + 0.6959193348884583, + 0.6845933794975281, + -0.17567665874958038 + ], + "box_yaw_rad": -3.071538169609948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002432782248407941 + } + } + }, + { + "simulation_time_ns": 11000000000, + "center": [ + -13.963218583764682, + 0.016413545715155995, + 0.030921965025574167 + ], + "face_center": [ + -14.033120777242138, + 0.01203009832158718, + 0.06342848284937008 + ], + "face_normal": [ + -0.9052892481617079, + -0.05676914554276635, + 0.42098537423650484 + ], + "footprint_xy": [ + [ + -14.063996009795694, + -0.10927956715957607 + ], + [ + -13.86244115773367, + -0.10927956715957607 + ], + [ + -13.86244115773367, + 0.14210665858988808 + ], + [ + -14.063996009795694, + 0.14210665858988808 + ] + ], + "projected_box_corners": [ + [ + -13.908907568857794, + -0.10051267237243844 + ], + [ + -13.924191622840784, + 0.13889577974114473 + ], + [ + -13.86244115773367, + -0.09730179352369511 + ], + [ + -13.877725211716658, + 0.14210665858988808 + ], + [ + -14.048711955812706, + -0.10927956715957607 + ], + [ + -14.063996009795694, + 0.1301288849540071 + ], + [ + -14.00224554468858, + -0.10606868831083274 + ], + [ + -14.01752959867157, + 0.13333976380275042 + ] + ], + "yaw_rad": -3.078966361434098, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.938815116882324, + 0.054760903120040894, + 0.050922244787216187 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.035010879553806, + 0.01234689809418521, + 0.06326603476178738 + ], + "intended_face_normal": [ + -0.905286343350852, + -0.061301647729317565, + 0.42035561020415635 + ], + "commanded_contact_point": [ + -13.945429916381835, + 0.002080324066892854, + 0.03080814436543939 + ], + "centerline_face_intersection": [ + -14.050402712138457, + 0.017080324066892853, + 0.03080814436543939 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.940879821777344, + 0.05554671585559845, + 0.05091288685798645 + ], + "box_pose": [ + -13.969521522521973, + 0.034017812460660934, + 0.03400690108537674, + 0.12861502170562744, + 0.6958422064781189, + 0.6844317317008972, + -0.17554210126399994 + ], + "box_yaw_rad": -3.0739806669058845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022801388536312765 + } + } + }, + { + "simulation_time_ns": 11020000000, + "center": [ + -13.961125537084374, + 0.015416256544956163, + 0.030982545549322834 + ], + "face_center": [ + -14.031051926064274, + 0.011261399059736353, + 0.06346701956163675 + ], + "face_normal": [ + -0.9056025992473735, + -0.053808723616473486, + 0.4206998892677163 + ], + "footprint_xy": [ + [ + -14.061554603317546, + -0.11002938707159932 + ], + [ + -13.8606964708512, + -0.11002938707159932 + ], + [ + -13.8606964708512, + 0.14086190016151162 + ], + [ + -14.061554603317546, + 0.14086190016151162 + ] + ], + "projected_box_corners": [ + [ + -13.90713725909802, + -0.1017196721011597 + ], + [ + -13.921701825357747, + 0.13773322684537814 + ], + [ + -13.8606964708512, + -0.09859099878502622 + ], + [ + -13.875261037110928, + 0.14086190016151162 + ], + [ + -14.046990037057821, + -0.11002938707159932 + ], + [ + -14.061554603317546, + 0.12942351187493856 + ], + [ + -14.000549248811001, + -0.10690071375546584 + ], + [ + -14.015113815070727, + 0.13255218519107204 + ] + ], + "yaw_rad": -3.0822448398169433, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.936643600463867, + 0.05369459092617035, + 0.050949811935424805 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.033120777242138, + 0.01203009832158718, + 0.06342848284937008 + ], + "intended_face_normal": [ + -0.9052892481617079, + -0.05676914554276635, + 0.42098537423650484 + ], + "commanded_contact_point": [ + -13.943487281799316, + 0.0014135457151559956, + 0.030921965025574167 + ], + "centerline_face_intersection": [ + -14.048512111847813, + 0.016413545715155995, + 0.030921965025574167 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.938815116882324, + 0.054760903120040894, + 0.050922244787216187 + ], + "box_pose": [ + -13.967552185058594, + 0.033374086022377014, + 0.03410656377673149, + 0.13049863278865814, + 0.6958343386650085, + 0.6844407916069031, + -0.17414216697216034 + ], + "box_yaw_rad": -3.078966361434098, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020570312671953413 + } + } + }, + { + "simulation_time_ns": 11040000000, + "center": [ + -13.959800679202978, + 0.01460280889339459, + 0.030937499035993757 + ], + "face_center": [ + -14.029749891825656, + 0.010550893473915798, + 0.06338581180392402 + ], + "face_normal": [ + -0.905898183654422, + -0.0524755416280005, + 0.4202315722648855 + ], + "footprint_xy": [ + [ + -14.06003220075943, + -0.11069393449910478 + ], + [ + -13.859569157646527, + -0.11069393449910478 + ], + [ + -13.859569157646527, + 0.13989955228589396 + ], + [ + -14.06003220075943, + 0.13989955228589396 + ] + ], + "projected_box_corners": [ + [ + -13.905965419871766, + -0.10259010366014717 + ], + [ + -13.920133775514074, + 0.13688680733783198 + ], + [ + -13.859569157646527, + -0.09957735871208523 + ], + [ + -13.873737513288834, + 0.13989955228589396 + ], + [ + -14.045863845117122, + -0.11069393449910478 + ], + [ + -14.06003220075943, + 0.1287829764988744 + ], + [ + -13.999467582891883, + -0.1076811895510428 + ], + [ + -14.01363593853419, + 0.13179572144693635 + ] + ], + "yaw_rad": -3.0837307803050105, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.93529987335205, + 0.05281304568052292, + 0.050853073596954346 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.031051926064274, + 0.011261399059736353, + 0.06346701956163675 + ], + "intended_face_normal": [ + -0.9056025992473735, + -0.053808723616473486, + 0.4206998892677163 + ], + "commanded_contact_point": [ + -13.941505546569823, + 0.0004162565449561638, + 0.030982545549322834 + ], + "centerline_face_intersection": [ + -14.046389552421356, + 0.015416256544956163, + 0.030982545549322834 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.936643600463867, + 0.05369459092617035, + 0.050949811935424805 + ], + "box_pose": [ + -13.965409278869629, + 0.03239155560731888, + 0.034155942499637604, + 0.13147354125976562, + 0.6958634853363037, + 0.6845256090164185, + -0.17295481264591217 + ], + "box_yaw_rad": -3.0822448398169433, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002219353556481253 + } + } + }, + { + "simulation_time_ns": 11060000000, + "center": [ + -13.959208176724312, + 0.014611407228385196, + 0.031359164085286585 + ], + "face_center": [ + -14.02904201943822, + 0.01079264744894513, + 0.0640830659592307 + ], + "face_normal": [ + -0.9044040511705376, + -0.04945598982890864, + 0.4238006713470952 + ], + "footprint_xy": [ + [ + -14.059380742840577, + -0.11067190596833623 + ], + [ + -13.859035610608045, + -0.11067190596833623 + ], + [ + -13.859035610608045, + 0.13989472042510662 + ], + [ + -14.059380742840577, + 0.13989472042510662 + ] + ], + "projected_box_corners": [ + [ + -13.905803835392268, + -0.10303438640945609 + ], + [ + -13.91971305741276, + 0.13645226697056 + ], + [ + -13.859035610608045, + -0.09959193295490948 + ], + [ + -13.872944832628537, + 0.13989472042510662 + ], + [ + -14.045471520820087, + -0.11067190596833623 + ], + [ + -14.059380742840577, + 0.12881474741167986 + ], + [ + -13.998703296035863, + -0.10722945251378962 + ], + [ + -14.012612518056356, + 0.1322572008662265 + ] + ], + "yaw_rad": -3.0869635504114914, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.934459686279297, + 0.05290956050157547, + 0.0500025600194931 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.029749891825656, + 0.010550893473915798, + 0.06338581180392402 + ], + "intended_face_normal": [ + -0.905898183654422, + -0.0524755416280005, + 0.4202315722648855 + ], + "commanded_contact_point": [ + -13.939210052490234, + -0.0003971911066054101, + 0.030937499035993757 + ], + "centerline_face_intersection": [ + -14.045036873848991, + 0.01460280889339459, + 0.030937499035993757 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.93529987335205, + 0.05281304568052292, + 0.050853073596954346 + ], + "box_pose": [ + -13.964057922363281, + 0.03158392757177353, + 0.03411541506648064, + 0.13184578716754913, + 0.6956636309623718, + 0.6848366260528564, + -0.172242671251297 + ], + "box_yaw_rad": -3.0837307803050105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024357790005717205 + } + } + }, + { + "simulation_time_ns": 11080000000, + "center": [ + -13.957787867854288, + 0.014534695395993672, + 0.03165641836345131 + ], + "face_center": [ + -14.027584526262215, + 0.011026999057889692, + 0.06449427717204306 + ], + "face_normal": [ + -0.9039224847027185, + -0.045427469764963035, + 0.4252765046873357 + ], + "footprint_xy": [ + [ + -14.057610892366805, + -0.11050361525103075 + ], + [ + -13.857964843341772, + -0.11050361525103075 + ], + [ + -13.857964843341772, + 0.1395730060430181 + ], + [ + -14.057610892366805, + 0.1395730060430181 + ] + ], + "projected_box_corners": [ + [ + -13.904895110181034, + -0.10348822257482279 + ], + [ + -13.91801757555095, + 0.13603801895762827 + ], + [ + -13.857964843341772, + -0.09995323548943297 + ], + [ + -13.871087308711687, + 0.1395730060430181 + ], + [ + -14.044488426996889, + -0.11050361525103075 + ], + [ + -14.057610892366805, + 0.1290226262814203 + ], + [ + -13.997558160157626, + -0.10696862816564093 + ], + [ + -14.010680625527542, + 0.13255761336681016 + ] + ], + "yaw_rad": -3.091378964232046, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.932623863220215, + 0.052820347249507904, + 0.04965616762638092 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.02904201943822, + 0.01079264744894513, + 0.0640830659592307 + ], + "intended_face_normal": [ + -0.9044040511705376, + -0.04945598982890864, + 0.4238006713470952 + ], + "commanded_contact_point": [ + -13.936753387451171, + -0.0003885927716148034, + 0.031359164085286585 + ], + "centerline_face_intersection": [ + -14.04458518693507, + 0.014611407228385196, + 0.031359164085286585 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.934459686279297, + 0.05290956050157547, + 0.0500025600194931 + ], + "box_pose": [ + -13.963435173034668, + 0.031612273305654526, + 0.034471187740564346, + 0.1338985711336136, + 0.6969134211540222, + 0.6830180883407593, + -0.1728266179561615 + ], + "box_yaw_rad": -3.0869635504114914, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002492604753929449 + } + } + }, + { + "simulation_time_ns": 11100000000, + "center": [ + -13.95735001752327, + 0.014649273046412902, + 0.03201338157569034 + ], + "face_center": [ + -14.02704114994112, + 0.011349732035663716, + 0.06509604941071667 + ], + "face_normal": [ + -0.9025558388298833, + -0.042731691987079046, + 0.42844697714977187 + ], + "footprint_xy": [ + [ + -14.057110492392493, + -0.11035847549821076 + ], + [ + -13.857589542654047, + -0.11035847549821076 + ], + [ + -13.857589542654047, + 0.13965702159103657 + ], + [ + -14.057110492392493, + 0.13965702159103657 + ] + ], + "projected_box_corners": [ + [ + -13.904855302032171, + -0.1037593934767124 + ], + [ + -13.917728227556792, + 0.13576975071252775 + ], + [ + -13.857589542654047, + -0.09987212259820358 + ], + [ + -13.870462468178667, + 0.13965702159103657 + ], + [ + -14.044237566867873, + -0.11035847549821076 + ], + [ + -14.057110492392493, + 0.1291706686910294 + ], + [ + -13.996971807489748, + -0.10647120461970194 + ], + [ + -14.009844733014369, + 0.1330579395695382 + ] + ], + "yaw_rad": -3.0942827760711205, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.931746482849121, + 0.052983030676841736, + 0.04920734465122223 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.027584526262215, + 0.011026999057889692, + 0.06449427717204306 + ], + "intended_face_normal": [ + -0.9039224847027185, + -0.045427469764963035, + 0.4252765046873357 + ], + "commanded_contact_point": [ + -13.934659118652343, + -0.0004653046040063273, + 0.03165641836345131 + ], + "centerline_face_intersection": [ + -14.043210362833857, + 0.014534695395993672, + 0.03165641836345131 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.932623863220215, + 0.052820347249507904, + 0.04965616762638092 + ], + "box_pose": [ + -13.961954116821289, + 0.031557030975818634, + 0.034732796251773834, + 0.1357736587524414, + 0.6974033117294312, + 0.682341456413269, + -0.17205862700939178 + ], + "box_yaw_rad": -3.091378964232046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021166498559896706 + } + } + }, + { + "simulation_time_ns": 11120000000, + "center": [ + -13.957211797720458, + 0.014705803776538438, + 0.03228637863449257 + ], + "face_center": [ + -14.026785417836933, + 0.011463743065153867, + 0.06562115264038176 + ], + "face_normal": [ + -0.9010339606502455, + -0.04198727619113285, + 0.43171195346200975 + ], + "footprint_xy": [ + [ + -14.057025862817122, + -0.1103157600252741 + ], + [ + -13.857397732623793, + -0.1103157600252741 + ], + [ + -13.857397732623793, + 0.13972736757835097 + ], + [ + -14.057025862817122, + 0.13972736757835097 + ] + ], + "projected_box_corners": [ + [ + -13.905018375161163, + -0.10383163860250497 + ], + [ + -13.917878622584173, + 0.1356937335352191 + ], + [ + -13.857397732623793, + -0.0997980045593731 + ], + [ + -13.870257980046805, + 0.13972736757835097 + ], + [ + -14.044165615394112, + -0.1103157600252741 + ], + [ + -14.057025862817122, + 0.12920961211244997 + ], + [ + -13.996544972856743, + -0.10628212598214223 + ], + [ + -14.009405220279755, + 0.13324324615558183 + ] + ], + "yaw_rad": -3.0950273450213253, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.931364059448242, + 0.053023409098386765, + 0.04930560290813446 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.02704114994112, + 0.011349732035663716, + 0.06509604941071667 + ], + "intended_face_normal": [ + -0.9025558388298833, + -0.042731691987079046, + 0.42844697714977187 + ], + "commanded_contact_point": [ + -13.93279182434082, + -0.0003507269535870973, + 0.03201338157569034 + ], + "centerline_face_intersection": [ + -14.04290185884928, + 0.014649273046412902, + 0.03201338157569034 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.931746482849121, + 0.052983030676841736, + 0.04920734465122223 + ], + "box_pose": [ + -13.961487770080566, + 0.0316883809864521, + 0.03503488376736641, + 0.13762693107128143, + 0.6984173655509949, + 0.6808018088340759, + -0.1725713461637497 + ], + "box_yaw_rad": -3.0942827760711205, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019045573813134089 + } + } + }, + { + "simulation_time_ns": 11140000000, + "center": [ + -13.95672897383619, + 0.014826215213242473, + 0.03274364274182796 + ], + "face_center": [ + -14.026069619013365, + 0.01170730087754555, + 0.06657187279173048 + ], + "face_normal": [ + -0.8980167490700595, + -0.04039243224827338, + 0.4381026034382476 + ], + "footprint_xy": [ + [ + -14.056470689958399, + -0.11004412714533471 + ], + [ + -13.856987257713984, + -0.11004412714533471 + ], + [ + -13.856987257713984, + 0.13969655757181965 + ], + [ + -14.056470689958399, + 0.13969655757181965 + ] + ], + "projected_box_corners": [ + [ + -13.905322298734854, + -0.10380629847394088 + ], + [ + -13.917789399604052, + 0.13574092221078465 + ], + [ + -13.856987257713984, + -0.09985066311290589 + ], + [ + -13.869454358583182, + 0.13969655757181965 + ], + [ + -14.0440035890892, + -0.11004412714533471 + ], + [ + -14.056470689958399, + 0.12950309353939082 + ], + [ + -13.99566854806833, + -0.10608849178429972 + ], + [ + -14.008135648937529, + 0.13345872890042582 + ] + ], + "yaw_rad": -3.0966433526613235, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.930557250976562, + 0.053056180477142334, + 0.0496734082698822 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.026785417836933, + 0.011463743065153867, + 0.06562115264038176 + ], + "intended_face_normal": [ + -0.9010339606502455, + -0.04198727619113285, + 0.43171195346200975 + ], + "commanded_contact_point": [ + -13.931269760131835, + -0.0002941962234615618, + 0.03228637863449257 + ], + "centerline_face_intersection": [ + -14.04290813912774, + 0.014705803776538438, + 0.03228637863449257 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.931364059448242, + 0.053023409098386765, + 0.04930560290813446 + ], + "box_pose": [ + -13.961337089538574, + 0.0317499078810215, + 0.035296730697155, + 0.13900157809257507, + 0.6986183524131775, + 0.6800363063812256, + -0.173671156167984 + ], + "box_yaw_rad": -3.0950273450213253, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015473857223828912 + } + } + }, + { + "simulation_time_ns": 11160000000, + "center": [ + -13.955955950346569, + 0.015631616496252276, + 0.03221214233798114 + ], + "face_center": [ + -14.025705526801909, + 0.013061406102372601, + 0.06523631643590949 + ], + "face_normal": [ + -0.9033127358044482, + -0.033286277859694735, + 0.4276894365255757 + ], + "footprint_xy": [ + [ + -14.054599596131679, + -0.10856822496753657 + ], + [ + -13.857312304561457, + -0.10856822496753657 + ], + [ + -13.857312304561457, + 0.1398314579600411 + ], + [ + -14.054599596131679, + 0.1398314579600411 + ] + ], + "projected_box_corners": [ + [ + -13.904522152928035, + -0.1034278041797772 + ], + [ + -13.915100443220998, + 0.13620696381156278 + ], + [ + -13.857312304561457, + -0.09980331003129886 + ], + [ + -13.86789059485442, + 0.1398314579600411 + ], + [ + -14.044021305838715, + -0.10856822496753657 + ], + [ + -14.054599596131679, + 0.13106654302380338 + ], + [ + -13.996811457472138, + -0.1049437308190582 + ], + [ + -14.007389747765101, + 0.13469103717228176 + ] + ], + "yaw_rad": -3.1047602003363712, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.929369926452637, + 0.05352706462144852, + 0.04974023997783661 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.026069619013365, + 0.01170730087754555, + 0.06657187279173048 + ], + "intended_face_normal": [ + -0.8980167490700595, + -0.04039243224827338, + 0.4381026034382476 + ], + "commanded_contact_point": [ + -13.930062408447265, + -0.00017378478675752693, + 0.03274364274182796 + ], + "centerline_face_intersection": [ + -14.042713243050988, + 0.014826215213242473, + 0.03274364274182796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.930557250976562, + 0.053056180477142334, + 0.0496734082698822 + ], + "box_pose": [ + -13.960803031921387, + 0.03187764436006546, + 0.035782136023044586, + 0.1420300155878067, + 0.6978951096534729, + 0.6796696186065674, + -0.1755533367395401 + ], + "box_yaw_rad": -3.0966433526613235, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001296644696199052 + } + } + }, + { + "simulation_time_ns": 11180000000, + "center": [ + -13.95406467884288, + 0.017046990792264547, + 0.03222405601709469 + ], + "face_center": [ + -14.02386480626374, + 0.014872096109799417, + 0.06516975275075798 + ], + "face_normal": [ + -0.9039674111914806, + -0.028166623591786788, + 0.42667309196528436 + ], + "footprint_xy": [ + [ + -14.052095875215603, + -0.10671975919263574 + ], + [ + -13.856033482470156, + -0.10671975919263574 + ], + [ + -13.856033482470156, + 0.14081374077716485 + ], + [ + -14.052095875215603, + 0.14081374077716485 + ] + ], + "projected_box_corners": [ + [ + -13.903144984829039, + -0.10236996982770546 + ], + [ + -13.912495620373882, + 0.13731110742810043 + ], + [ + -13.856033482470156, + -0.09886733647864107 + ], + [ + -13.865384118015001, + 0.14081374077716485 + ], + [ + -14.042745239670758, + -0.10671975919263574 + ], + [ + -14.052095875215603, + 0.13296131806317016 + ], + [ + -13.995633737311877, + -0.10321712584357132 + ], + [ + -14.00498437285672, + 0.13646395141223455 + ] + ], + "yaw_rad": -3.110443838808483, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.927169799804688, + 0.05467313528060913, + 0.05015559494495392 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.025705526801909, + 0.013061406102372601, + 0.06523631643590949 + ], + "intended_face_normal": [ + -0.9033127358044482, + -0.033286277859694735, + 0.4276894365255757 + ], + "commanded_contact_point": [ + -13.929124946594237, + 0.0006316164962522769, + 0.03221214233798114 + ], + "centerline_face_intersection": [ + -14.041436106720843, + 0.015631616496252276, + 0.03221214233798114 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.929369926452637, + 0.05352706462144852, + 0.04974023997783661 + ], + "box_pose": [ + -13.959933280944824, + 0.03271521255373955, + 0.035197656601667404, + 0.14081567525863647, + 0.6984737515449524, + 0.6810218691825867, + -0.1688627004623413 + ], + "box_yaw_rad": -3.1047602003363712, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013453618962363345 + } + } + }, + { + "simulation_time_ns": 11200000000, + "center": [ + -13.950170464260857, + 0.01928038914793327, + 0.03233645215272925 + ], + "face_center": [ + -14.019994614210129, + 0.01750227426068246, + 0.06525503502027714 + ], + "face_normal": [ + -0.9042785221252245, + -0.023028008269061928, + 0.42632194573868887 + ], + "footprint_xy": [ + [ + -14.047573285254378, + -0.10402180434190927 + ], + [ + -13.852767643267336, + -0.10402180434190927 + ], + [ + -13.852767643267336, + 0.1425825826377758 + ], + [ + -14.047573285254378, + 0.1425825826377758 + ] + ], + "projected_box_corners": [ + [ + -13.899856467241152, + -0.10046557456740765 + ], + [ + -13.907924985355837, + 0.13925907259457954 + ], + [ + -13.852767643267336, + -0.0971420645242114 + ], + [ + -13.860836161382021, + 0.1425825826377758 + ], + [ + -14.039504767139693, + -0.10402180434190927 + ], + [ + -14.047573285254378, + 0.13570284282007794 + ], + [ + -13.992415943165877, + -0.10069829429871302 + ], + [ + -14.000484461280562, + 0.1390263528632742 + ] + ], + "yaw_rad": -3.1161325417183288, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.923020362854004, + 0.0565718412399292, + 0.05092896521091461 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.02386480626374, + 0.014872096109799417, + 0.06516975275075798 + ], + "intended_face_normal": [ + -0.9039674111914806, + -0.028166623591786788, + 0.42667309196528436 + ], + "commanded_contact_point": [ + -13.928286666870116, + 0.0020469907922645476, + 0.03222405601709469 + ], + "centerline_face_intersection": [ + -14.0394829283898, + 0.017046990792264547, + 0.03222405601709469 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.927169799804688, + 0.05467313528060913, + 0.05015559494495392 + ], + "box_pose": [ + -13.957958221435547, + 0.03415420651435852, + 0.035184670239686966, + 0.14230120182037354, + 0.6986148953437805, + 0.6811174154281616, + -0.16663360595703125 + ], + "box_yaw_rad": -3.110443838808483, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016450347198265418 + } + } + }, + { + "simulation_time_ns": 11220000000, + "center": [ + -13.945597860898602, + 0.02119112660794057, + 0.03242961142901296 + ], + "face_center": [ + -14.015413821679918, + 0.019435899891241885, + 0.06536677453329293 + ], + "face_normal": [ + -0.9041724658581671, + -0.022731588175783912, + 0.42656257464752656 + ], + "footprint_xy": [ + [ + -14.043002200718357, + -0.10211806323113062 + ], + [ + -13.848193521078844, + -0.10211806323113062 + ], + [ + -13.848193521078844, + 0.14450031644701175 + ], + [ + -14.043002200718357, + 0.14450031644701175 + ] + ], + "projected_box_corners": [ + [ + -13.895307456951233, + -0.09860760979773325 + ], + [ + -13.903370279155723, + 0.141114562111957 + ], + [ + -13.848193521078844, + -0.0952218554626785 + ], + [ + -13.856256343283333, + 0.14450031644701175 + ], + [ + -14.034939378513869, + -0.10211806323113062 + ], + [ + -14.043002200718357, + 0.13760410867855966 + ], + [ + -13.987825442641478, + -0.09873230889607587 + ], + [ + -13.995888264845968, + 0.14098986301361438 + ] + ], + "yaw_rad": -3.1164571826246745, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.91844367980957, + 0.05832210183143616, + 0.05168704688549042 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.019994614210129, + 0.01750227426068246, + 0.06525503502027714 + ], + "intended_face_normal": [ + -0.9042785221252245, + -0.023028008269061928, + 0.42632194573868887 + ], + "commanded_contact_point": [ + -13.92742835998535, + 0.004280389147933269, + 0.03233645215272925 + ], + "centerline_face_intersection": [ + -14.035559326234454, + 0.01928038914793327, + 0.03233645215272925 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.923020362854004, + 0.0565718412399292, + 0.05092896521091461 + ], + "box_pose": [ + -13.953973770141602, + 0.03641030192375183, + 0.03528309240937233, + 0.14408771693706512, + 0.6985130310058594, + 0.6813360452651978, + -0.16461943089962006 + ], + "box_yaw_rad": -3.1161325417183288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023952853305703272 + } + } + }, + { + "simulation_time_ns": 11240000000, + "center": [ + -13.944152951430853, + 0.020856816371776, + 0.03217481389892394 + ], + "face_center": [ + -14.013972803050757, + 0.019129727327011785, + 0.06510521721963285 + ], + "face_normal": [ + -0.9042228553261467, + -0.02236718284594552, + 0.42647503005010634 + ], + "footprint_xy": [ + [ + -14.041406799008438, + -0.10230950704773481 + ], + [ + -13.846899103853266, + -0.10230950704773481 + ], + [ + -13.846899103853266, + 0.1440231397912868 + ], + [ + -14.041406799008438, + 0.1440231397912868 + ] + ], + "projected_box_corners": [ + [ + -13.89401219794496, + -0.09885532895820637 + ], + [ + -13.901767095768628, + 0.14088463462052098 + ], + [ + -13.846899103853266, + -0.09571682378744054 + ], + [ + -13.854654001676936, + 0.1440231397912868 + ], + [ + -14.03365190118477, + -0.10230950704773481 + ], + [ + -14.041406799008438, + 0.13743045653099253 + ], + [ + -13.986538807093076, + -0.09917100187696898 + ], + [ + -13.994293704916746, + 0.14056896170175837 + ] + ], + "yaw_rad": -3.116861336170109, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.917044639587402, + 0.05785564333200455, + 0.05193611979484558 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.015413821679918, + 0.019435899891241885, + 0.06536677453329293 + ], + "intended_face_normal": [ + -0.9041724658581671, + -0.022731588175783912, + 0.42656257464752656 + ], + "commanded_contact_point": [ + -13.926610107421874, + 0.006191126607940571, + 0.03242961142901296 + ], + "centerline_face_intersection": [ + -14.03099673868698, + 0.02119112660794057, + 0.03242961142901296 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.91844367980957, + 0.05832210183143616, + 0.05168704688549042 + ], + "box_pose": [ + -13.949399948120117, + 0.038323014974594116, + 0.03536631911993027, + 0.1442350298166275, + 0.6987068057060242, + 0.6810984015464783, + -0.16465137898921967 + ], + "box_yaw_rad": -3.1164571826246745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002080656999476086 + } + } + }, + { + "simulation_time_ns": 11260000000, + "center": [ + -13.944324302776469, + 0.020382042640074434, + 0.03155696453837297 + ], + "face_center": [ + -14.014290435833463, + 0.018533618513815346, + 0.06416876291410713 + ], + "face_normal": [ + -0.9061173167960135, + -0.02393856908202352, + 0.4223488414893737 + ], + "footprint_xy": [ + [ + -14.041412346178841, + -0.1026398265137484 + ], + [ + -13.847236259374094, + -0.1026398265137484 + ], + [ + -13.847236259374094, + 0.14340391179389728 + ], + [ + -14.041412346178841, + 0.14340391179389728 + ] + ], + "projected_box_corners": [ + [ + -13.893908085919598, + -0.09894297826123022 + ], + [ + -13.901480080064854, + 0.14081933508603728 + ], + [ + -13.847236259374094, + -0.09635840155337022 + ], + [ + -13.85480825351935, + 0.14340391179389728 + ], + [ + -14.033840352033586, + -0.1026398265137484 + ], + [ + -14.041412346178841, + 0.13712248683351907 + ], + [ + -13.987168525488084, + -0.1000552498058884 + ], + [ + -13.99474051963334, + 0.13970706354137907 + ] + ], + "yaw_rad": -3.1151799566681384, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.917399406433105, + 0.05729018151760101, + 0.05187292397022247 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.013972803050757, + 0.019129727327011785, + 0.06510521721963285 + ], + "intended_face_normal": [ + -0.9042228553261467, + -0.02236718284594552, + 0.42647503005010634 + ], + "commanded_contact_point": [ + -13.92602741241455, + 0.005856816371776, + 0.03217481389892394 + ], + "centerline_face_intersection": [ + -14.029547070210993, + 0.020856816371776, + 0.03217481389892394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917044639587402, + 0.05785564333200455, + 0.05193611979484558 + ], + "box_pose": [ + -13.947933197021484, + 0.03798805922269821, + 0.03514331206679344, + 0.14451256394386292, + 0.6979821920394897, + 0.6818594336509705, + -0.16433121263980865 + ], + "box_yaw_rad": -3.116861336170109, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007184835327997776 + } + } + }, + { + "simulation_time_ns": 11280000000, + "center": [ + -13.944575336917111, + 0.0200159671956637, + 0.031240274366535876 + ], + "face_center": [ + -14.014606328894383, + 0.018113351812533495, + 0.06370935467083798 + ], + "face_normal": [ + -0.9069572916273003, + -0.024640389150167863, + 0.42050052845142183 + ], + "footprint_xy": [ + [ + -14.04148780386091, + -0.10282885366826752 + ], + [ + -13.847662869973314, + -0.10282885366826752 + ], + [ + -13.847662869973314, + 0.1428607880595949 + ], + [ + -14.04148780386091, + 0.1428607880595949 + ] + ], + "projected_box_corners": [ + [ + -13.894144324704584, + -0.09902362290200711 + ], + [ + -13.90142581990637, + 0.1407566334914343 + ], + [ + -13.847662869973314, + -0.09691946833384649 + ], + [ + -13.854944365175102, + 0.1428607880595949 + ], + [ + -14.034206308659122, + -0.10282885366826752 + ], + [ + -14.04148780386091, + 0.13695140272517387 + ], + [ + -13.987724853927855, + -0.1007246991001069 + ], + [ + -13.99500634912964, + 0.13905555729333452 + ] + ], + "yaw_rad": -3.1144311437626455, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.917789459228516, + 0.05682550370693207, + 0.052020251750946045 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.014290435833463, + 0.018533618513815346, + 0.06416876291410713 + ], + "intended_face_normal": [ + -0.9061173167960135, + -0.02393856908202352, + 0.4223488414893737 + ], + "commanded_contact_point": [ + -13.92589199066162, + 0.0053820426400744345, + 0.03155696453837297 + ], + "centerline_face_intersection": [ + -14.02953988411473, + 0.020382042640074434, + 0.03155696453837297 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917399406433105, + 0.05729018151760101, + 0.05187292397022247 + ], + "box_pose": [ + -13.948105812072754, + 0.03750031441450119, + 0.03459779918193817, + 0.1428208351135254, + 0.6965177059173584, + 0.684048056602478, + -0.16292206943035126 + ], + "box_yaw_rad": -3.1151799566681384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007908773481480039 + } + } + }, + { + "simulation_time_ns": 11300000000, + "center": [ + -13.944779057829225, + 0.01983064824521972, + 0.031023660721094738 + ], + "face_center": [ + -14.014840535471487, + 0.017930808591856907, + 0.06342710135690893 + ], + "face_normal": [ + -0.9073521053429943, + -0.024604441232238372, + 0.41965044230706994 + ], + "footprint_xy": [ + [ + -14.04156107317393, + -0.10289218343581896 + ], + [ + -13.847997042484517, + -0.10289218343581896 + ], + [ + -13.847997042484517, + 0.1425534799262584 + ], + [ + -14.04156107317393, + 0.1425534799262584 + ] + ], + "projected_box_corners": [ + [ + -13.89439185523344, + -0.09909250412909335 + ], + [ + -13.901438117889404, + 0.14069762571188865 + ], + [ + -13.847997042484517, + -0.09723664991472361 + ], + [ + -13.85504330514048, + 0.1425534799262584 + ], + [ + -14.034514810517967, + -0.10289218343581896 + ], + [ + -14.04156107317393, + 0.13689794640516303 + ], + [ + -13.988119997769044, + -0.10103632922144923 + ], + [ + -13.995166260425007, + 0.1387538006195328 + ] + ], + "yaw_rad": -3.1144825460042886, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.918033599853516, + 0.05669258534908295, + 0.052040234208106995 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.014606328894383, + 0.018113351812533495, + 0.06370935467083798 + ], + "intended_face_normal": [ + -0.9069572916273003, + -0.024640389150167863, + 0.42050052845142183 + ], + "commanded_contact_point": [ + -13.926306838989257, + 0.0050159671956637, + 0.031240274366535876 + ], + "centerline_face_intersection": [ + -14.029711996189011, + 0.0200159671956637, + 0.031240274366535876 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917789459228516, + 0.05682550370693207, + 0.052020251750946045 + ], + "box_pose": [ + -13.948342323303223, + 0.03712572902441025, + 0.034346312284469604, + 0.14223287999629974, + 0.6951389312744141, + 0.6857554316520691, + -0.1621449887752533 + ], + "box_yaw_rad": -3.1144311437626455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006374974751963395 + } + } + }, + { + "simulation_time_ns": 11320000000, + "center": [ + -13.944716728325696, + 0.01986882064394975, + 0.03117381707407563 + ], + "face_center": [ + -14.014718025664394, + 0.018000287913961993, + 0.06370885429468869 + ], + "face_normal": [ + -0.9065727223356888, + -0.024198991564430727, + 0.4213547232085215 + ], + "footprint_xy": [ + [ + -14.041535608935249, + -0.1028735696735664 + ], + [ + -13.847897847716144, + -0.1028735696735664 + ], + [ + -13.847897847716144, + 0.1426112109614659 + ], + [ + -14.041535608935249, + 0.1426112109614659 + ] + ], + "projected_box_corners": [ + [ + -13.894478488070131, + -0.09913650421359088 + ], + [ + -13.901533014257854, + 0.14065212562990886 + ], + [ + -13.847897847716144, + -0.09717741888203382 + ], + [ + -13.854952373903867, + 0.1426112109614659 + ], + [ + -14.034481082747526, + -0.1028735696735664 + ], + [ + -14.041535608935249, + 0.13691506016993332 + ], + [ + -13.987900442393538, + -0.10091448434200934 + ], + [ + -13.994954968581261, + 0.13887414550149038 + ] + ], + "yaw_rad": -3.1149061604869663, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.917890548706055, + 0.05684635043144226, + 0.05217313766479492 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.014840535471487, + 0.017930808591856907, + 0.06342710135690893 + ], + "intended_face_normal": [ + -0.9073521053429943, + -0.024604441232238372, + 0.41965044230706994 + ], + "commanded_contact_point": [ + -13.926796073913573, + 0.004830648245219719, + 0.031023660721094738 + ], + "centerline_face_intersection": [ + -14.02987867181232, + 0.01983064824521972, + 0.031023660721094738 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.918033599853516, + 0.05669258534908295, + 0.052040234208106995 + ], + "box_pose": [ + -13.948532104492188, + 0.03693776950240135, + 0.03416096791625023, + 0.14210553467273712, + 0.69444739818573, + 0.6865994930267334, + -0.16164742410182953 + ], + "box_yaw_rad": -3.1144825460042886, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005662291020036305 + } + } + }, + { + "simulation_time_ns": 11340000000, + "center": [ + -13.944746555318247, + 0.01997587904885397, + 0.03136828583980556 + ], + "face_center": [ + -14.014778895470366, + 0.01818501928318338, + 0.0638408807836354 + ], + "face_normal": [ + -0.906974751568626, + -0.02319306462607429, + 0.4205460458410393 + ], + "footprint_xy": [ + [ + -14.041538933212705, + -0.10279711988191984 + ], + [ + -13.847954177423787, + -0.10279711988191984 + ], + [ + -13.847954177423787, + 0.14274887797962776 + ], + [ + -14.041538933212705, + 0.14274887797962776 + ] + ], + "projected_box_corners": [ + [ + -13.894439643526859, + -0.09921540035057863 + ], + [ + -13.901474252908466, + 0.14057007416605033 + ], + [ + -13.847954177423787, + -0.0970365965370012 + ], + [ + -13.854988786805395, + 0.14274887797962776 + ], + [ + -14.034504323831097, + -0.10279711988191984 + ], + [ + -14.041538933212705, + 0.13698835463470915 + ], + [ + -13.988018857728028, + -0.1006183160683424 + ], + [ + -13.995053467109635, + 0.1391671584482866 + ] + ], + "yaw_rad": -3.1160263287452588, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.917675971984863, + 0.05693169683218002, + 0.05273205041885376 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.014718025664394, + 0.018000287913961993, + 0.06370885429468869 + ], + "intended_face_normal": [ + -0.9065727223356888, + -0.024198991564430727, + 0.4213547232085215 + ], + "commanded_contact_point": [ + -13.926818962097167, + 0.0048688206439497506, + 0.03117381707407563 + ], + "centerline_face_intersection": [ + -14.029889502675779, + 0.01986882064394975, + 0.03117381707407563 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917890548706055, + 0.05684635043144226, + 0.05217313766479492 + ], + "box_pose": [ + -13.948464393615723, + 0.036979034543037415, + 0.03430067002773285, + 0.14281485974788666, + 0.6946482062339783, + 0.6861124038696289, + -0.16222645342350006 + ], + "box_yaw_rad": -3.1149061604869663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00015661395631791003 + } + } + }, + { + "simulation_time_ns": 11360000000, + "center": [ + -13.944881745008473, + 0.021694555132976103, + 0.03181490601832459 + ], + "face_center": [ + -14.015031534118906, + 0.02005735891157818, + 0.06404113005991845 + ], + "face_normal": [ + -0.9084958094050108, + -0.021202998970847986, + 0.4173553458392423 + ], + "footprint_xy": [ + [ + -14.041423245728799, + -0.10096024316845004 + ], + [ + -13.848340244288147, + -0.10096024316845004 + ], + [ + -13.848340244288147, + 0.14434935343440225 + ], + [ + -14.041423245728799, + 0.14434935343440225 + ] + ], + "projected_box_corners": [ + [ + -13.894472761527593, + -0.0976858507256542 + ], + [ + -13.901123667507932, + 0.14210746704459049 + ], + [ + -13.848340244288147, + -0.09544396433584246 + ], + [ + -13.854991150268486, + 0.14434935343440225 + ], + [ + -14.03477233974846, + -0.10096024316845004 + ], + [ + -14.041423245728799, + 0.13883307460179467 + ], + [ + -13.988639822509015, + -0.0987183567786383 + ], + [ + -13.995290728489353, + 0.14107496099160638 + ] + ], + "yaw_rad": -3.118258313103206, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.917434692382812, + 0.058445043861866, + 0.05403658747673035 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.014778895470366, + 0.01818501928318338, + 0.0638408807836354 + ], + "intended_face_normal": [ + -0.906974751568626, + -0.02319306462607429, + 0.4205460458410393 + ], + "commanded_contact_point": [ + -13.926493759155273, + 0.004975879048853972, + 0.03136828583980556 + ], + "centerline_face_intersection": [ + -14.029881575645872, + 0.01997587904885397, + 0.03136828583980556 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917675971984863, + 0.05693169683218002, + 0.05273205041885376 + ], + "box_pose": [ + -13.948495864868164, + 0.03709329292178154, + 0.03445349633693695, + 0.14269587397575378, + 0.6954826712608337, + 0.6854131817817688, + -0.16171127557754517 + ], + "box_yaw_rad": -3.1160263287452588, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00039374681753890625 + } + } + }, + { + "simulation_time_ns": 11380000000, + "center": [ + -13.94368145843425, + 0.026662108399702202, + 0.03224005697887605 + ], + "face_center": [ + -14.014011388624361, + 0.025145188050514307, + 0.06407725626772237 + ], + "face_normal": [ + -0.9108287802957946, + -0.019645330341177214, + 0.41231716451171785 + ], + "footprint_xy": [ + [ + -14.03993186541669, + -0.09585782691264277 + ], + [ + -13.847431051451808, + -0.09585782691264277 + ], + [ + -13.847431051451808, + 0.14918204371204719 + ], + [ + -14.03993186541669, + 0.14918204371204719 + ] + ], + "projected_box_corners": [ + [ + -13.893008781185378, + -0.09282398621426696 + ], + [ + -13.899272005036467, + 0.14697869304847272 + ], + [ + -13.847431051451808, + -0.09062063555069252 + ], + [ + -13.853694275302898, + 0.14918204371204719 + ], + [ + -14.033668641565601, + -0.09585782691264277 + ], + [ + -14.03993186541669, + 0.1439448523500969 + ], + [ + -13.988090911832032, + -0.09365447624906831 + ], + [ + -13.994354135683121, + 0.14614820301367137 + ] + ], + "yaw_rad": -3.1200273657532276, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.915903091430664, + 0.06306345760822296, + 0.05548137426376343 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.015031534118906, + 0.02005735891157818, + 0.06404113005991845 + ], + "intended_face_normal": [ + -0.9084958094050108, + -0.021202998970847986, + 0.4173553458392423 + ], + "commanded_contact_point": [ + -13.92580997467041, + 0.006694555132976104, + 0.03181490601832459 + ], + "centerline_face_intersection": [ + -14.029874227210463, + 0.021694555132976103, + 0.03181490601832459 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917434692382812, + 0.058445043861866, + 0.05403658747673035 + ], + "box_pose": [ + -13.948615074157715, + 0.038821980357170105, + 0.03486371040344238, + 0.1421344131231308, + 0.6961191296577454, + 0.6853218674659729, + -0.15984311699867249 + ], + "box_yaw_rad": -3.118258313103206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019028605539380692 + } + } + }, + { + "simulation_time_ns": 11400000000, + "center": [ + -13.939875467011278, + 0.034001305180278246, + 0.03259325176272816 + ], + "face_center": [ + -14.01029777182241, + 0.032585569384020754, + 0.06423022558392098 + ], + "face_normal": [ + -0.9120251054331234, + -0.018334909547622402, + 0.40972408475187727 + ], + "footprint_xy": [ + [ + -14.035930785674347, + -0.08842272865423279 + ], + [ + -13.84382014834821, + -0.08842272865423279 + ], + [ + -13.84382014834821, + 0.15642533901478928 + ], + [ + -14.035930785674347, + 0.15642533901478928 + ] + ], + "projected_box_corners": [ + [ + -13.889112326000982, + -0.08559125706171783 + ], + [ + -13.895086176052086, + 0.15421714402540204 + ], + [ + -13.84382014834821, + -0.0833830620723306 + ], + [ + -13.849793998399313, + 0.15642533901478928 + ], + [ + -14.029956935623243, + -0.08842272865423279 + ], + [ + -14.035930785674347, + 0.1513856724328871 + ], + [ + -13.98466475797047, + -0.08621453366484558 + ], + [ + -13.990638608021575, + 0.15359386742227432 + ] + ], + "yaw_rad": -3.1214918471410593, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.911906242370605, + 0.07006961107254028, + 0.05660852789878845 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.014011388624361, + 0.025145188050514307, + 0.06407725626772237 + ], + "intended_face_normal": [ + -0.9108287802957946, + -0.019645330341177214, + 0.41231716451171785 + ], + "commanded_contact_point": [ + -13.924805755615234, + 0.011662108399702203, + 0.03224005697887605 + ], + "centerline_face_intersection": [ + -14.028456243313537, + 0.026662108399702202, + 0.03224005697887605 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.915903091430664, + 0.06306345760822296, + 0.05548137426376343 + ], + "box_pose": [ + -13.947404861450195, + 0.0437963604927063, + 0.035262543708086014, + 0.1408035159111023, + 0.6965612769126892, + 0.6857235431671143, + -0.15735341608524323 + ], + "box_yaw_rad": -3.1200273657532276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005085842575994376 + } + } + }, + { + "simulation_time_ns": 11420000000, + "center": [ + -13.93601872027167, + 0.037883294323594496, + 0.033809355386249774 + ], + "face_center": [ + -14.005445000052218, + 0.036628468546063, + 0.06758242597824493 + ], + "face_normal": [ + -0.8991257855945065, + -0.01625099625924875, + 0.4373882443932189 + ], + "footprint_xy": [ + [ + -14.032640075165753, + -0.08460814845839076 + ], + [ + -13.839397365377588, + -0.08460814845839076 + ], + [ + -13.839397365377588, + 0.16037473710557976 + ], + [ + -14.032640075165753, + 0.16037473710557976 + ] + ], + "projected_box_corners": [ + [ + -13.88774161417001, + -0.08209849690332777 + ], + [ + -13.893787515604656, + 0.15769600831678207 + ], + [ + -13.839397365377588, + -0.07941976811453008 + ], + [ + -13.845443266812236, + 0.16037473710557976 + ], + [ + -14.026594173731105, + -0.08460814845839076 + ], + [ + -14.032640075165753, + 0.15518635676171907 + ], + [ + -13.978249924938684, + -0.08192941966959308 + ], + [ + -13.984295826373332, + 0.15786508555051676 + ] + ], + "yaw_rad": -3.123520402459466, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.907783508300781, + 0.07385322451591492, + 0.05721449851989746 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.01029777182241, + 0.032585569384020754, + 0.06423022558392098 + ], + "intended_face_normal": [ + -0.9120251054331234, + -0.018334909547622402, + 0.40972408475187727 + ], + "commanded_contact_point": [ + -13.92319309234619, + 0.019001305180278247, + 0.03259325176272816 + ], + "centerline_face_intersection": [ + -14.024539050778271, + 0.034001305180278246, + 0.03259325176272816 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.911906242370605, + 0.07006961107254028, + 0.05660852789878845 + ], + "box_pose": [ + -13.943587303161621, + 0.05114167183637619, + 0.03559521213173866, + 0.14027918875217438, + 0.696900486946106, + 0.6858150362968445, + -0.15591388940811157 + ], + "box_yaw_rad": -3.1214918471410593, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007522581921034723 + } + } + }, + { + "simulation_time_ns": 11440000000, + "center": [ + -13.934302349717015, + 0.03768266640593354, + 0.033797940059839444 + ], + "face_center": [ + -14.003093883919231, + 0.03634561333703158, + 0.06884279522910983 + ], + "face_normal": [ + -0.8909053232771456, + -0.017315905371251716, + 0.45385887065699215 + ], + "footprint_xy": [ + [ + -14.031556315616372, + -0.08509731258270956 + ], + [ + -13.837048383817658, + -0.08509731258270956 + ], + [ + -13.837048383817658, + 0.16046264539457664 + ], + [ + -14.031556315616372, + 0.16046264539457664 + ] + ], + "projected_box_corners": [ + [ + -13.887201222836751, + -0.08242320644490567 + ], + [ + -13.89397324721194, + 0.15734189224330097 + ], + [ + -13.837048383817658, + -0.07930245329362998 + ], + [ + -13.843820408192848, + 0.16046264539457664 + ], + [ + -14.024784291241183, + -0.08509731258270956 + ], + [ + -14.031556315616372, + 0.15466778610549703 + ], + [ + -13.97463145222209, + -0.08197655943143389 + ], + [ + -13.98140347659728, + 0.15778853925677272 + ] + ], + "yaw_rad": -3.1221587980079533, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -13.905953407287598, + 0.07378649711608887, + 0.05649225413799286 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.005445000052218, + 0.036628468546063, + 0.06758242597824493 + ], + "intended_face_normal": [ + -0.8991257855945065, + -0.01625099625924875, + 0.4373882443932189 + ], + "commanded_contact_point": [ + -13.920936698913573, + 0.022883294323594497, + 0.033809355386249774 + ], + "centerline_face_intersection": [ + -14.021896931250108, + 0.037883294323594496, + 0.033809355386249774 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.907783508300781, + 0.07385322451591492, + 0.05721449851989746 + ], + "box_pose": [ + -13.939637184143066, + 0.05503826588392258, + 0.0368417352437973, + 0.15110479295253754, + 0.6960614323616028, + 0.6819540858268738, + -0.1661456674337387 + ], + "box_yaw_rad": -3.123520402459466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046518876872432766 + } + } + }, + { + "simulation_time_ns": 11460000000, + "center": [ + -13.934161060671514, + 0.03701573882258283, + 0.03211847786402119 + ], + "face_center": [ + -14.003860317157645, + 0.03567977309897985, + 0.06532139388800529 + ], + "face_normal": [ + -0.90266105200417, + -0.017301823380984516, + 0.43000428725921047 + ], + "footprint_xy": [ + [ + -14.030693360499457, + -0.08550031755731863 + ], + [ + -13.837628760843572, + -0.08550031755731863 + ], + [ + -13.837628760843572, + 0.15953179520248428 + ], + [ + -14.030693360499457, + 0.15953179520248428 + ] + ], + "projected_box_corners": [ + [ + -13.885157307927809, + -0.08282838611011267 + ], + [ + -13.891294847527195, + 0.15696780153866274 + ], + [ + -13.837628760843572, + -0.08026439244629116 + ], + [ + -13.843766300442958, + 0.15953179520248428 + ], + [ + -14.02455582090007, + -0.08550031755731863 + ], + [ + -14.030693360499457, + 0.1542958700914568 + ], + [ + -13.977027273815834, + -0.08293632389349709 + ], + [ + -13.98316481341522, + 0.15685986375527833 + ] + ], + "yaw_rad": -3.122427425471922, + "box_fully_inside": true, + "actual_fl_eef_world": [ + -13.904865264892578, + 0.07279062271118164, + 0.05445094406604767 + ], + "success_count": 1, + "first_fully_inside_policy_ns": 11460000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.003093883919231, + 0.03634561333703158, + 0.06884279522910983 + ], + "intended_face_normal": [ + -0.8909053232771456, + -0.017315905371251716, + 0.45385887065699215 + ], + "commanded_contact_point": [ + -13.918357009887695, + 0.02268266640593354, + 0.033797940059839444 + ], + "centerline_face_intersection": [ + -14.020972966553613, + 0.03768266640593354, + 0.033797940059839444 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.905953407287598, + 0.07378649711608887, + 0.05649225413799286 + ], + "box_pose": [ + -13.937911987304688, + 0.0548371858894825, + 0.036843374371528625, + 0.1566588133573532, + 0.6957716941833496, + 0.6792307496070862, + -0.17322054505348206 + ], + "box_yaw_rad": -3.1221587980079533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025875040756029905 + } + } + }, + { + "simulation_time_ns": 11480000000, + "center": [ + -13.933985248289634, + 0.036798154744944495, + 0.03178114744793453 + ], + "face_center": [ + -14.003803765138693, + 0.03546603353122002, + 0.06473271127994144 + ], + "face_normal": [ + -0.9042055689773889, + -0.017252033906801856, + 0.42674907557587183 + ], + "footprint_xy": [ + [ + -14.0303473374505, + -0.08561030541128856 + ], + [ + -13.837623159128768, + -0.08561030541128856 + ], + [ + -13.837623159128768, + 0.15920661490117755 + ], + [ + -14.0303473374505, + 0.15920661490117755 + ] + ], + "projected_box_corners": [ + [ + -13.88479708230761, + -0.08294606298383958 + ], + [ + -13.890710303752382, + 0.15686084061322114 + ], + [ + -13.837623159128768, + -0.0806002886958832 + ], + [ + -13.84353638057354, + 0.15920661490117755 + ], + [ + -14.024434116005729, + -0.08561030541128856 + ], + [ + -14.0303473374505, + 0.1541965981857722 + ], + [ + -13.977260192826886, + -0.08326453112333215 + ], + [ + -13.983173414271658, + 0.1565423724737286 + ] + ], + "yaw_rad": -3.122515198757919, + "box_fully_inside": true, + "actual_fl_eef_world": [ + -13.903311729431152, + 0.07223232835531235, + 0.05225743353366852 + ], + "success_count": 2, + "first_fully_inside_policy_ns": 11460000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.003860317157645, + 0.03567977309897985, + 0.06532139388800529 + ], + "intended_face_normal": [ + -0.90266105200417, + -0.017301823380984516, + 0.43000428725921047 + ], + "commanded_contact_point": [ + -13.915931816101073, + 0.022015738822582828, + 0.03211847786402119 + ], + "centerline_face_intersection": [ + -14.01970293016948, + 0.03701573882258283, + 0.03211847786402119 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.904865264892578, + 0.07279062271118164, + 0.05445094406604767 + ], + "box_pose": [ + -13.937812805175781, + 0.054164692759513855, + 0.035144999623298645, + 0.14802907407283783, + 0.6962977647781372, + 0.6830080151557922, + -0.16357527673244476 + ], + "box_yaw_rad": -3.122427425471922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030243925954284213 + } + } + }, + { + "simulation_time_ns": 11500000000, + "center": [ + -13.932982300131906, + 0.03631187095724947, + 0.03164694887706008 + ], + "face_center": [ + -14.00284171611376, + 0.03512020608514159, + 0.0645171004623503 + ], + "face_normal": [ + -0.9047352454200848, + -0.015433012076783825, + 0.4256947219432483 + ], + "footprint_xy": [ + [ + -14.029054927027538, + -0.08588093722027587 + ], + [ + -13.836909673236274, + -0.08588093722027587 + ], + [ + -13.836909673236274, + 0.1585046791347748 + ], + [ + -14.029054927027538, + 0.1585046791347748 + ] + ], + "projected_box_corners": [ + [ + -13.883973135994317, + -0.08349760747606011 + ], + [ + -13.88933609506383, + 0.15632373958422888 + ], + [ + -13.836909673236274, + -0.08131666792551417 + ], + [ + -13.84227263230579, + 0.1585046791347748 + ], + [ + -14.023691967958024, + -0.08588093722027587 + ], + [ + -14.029054927027538, + 0.15394040984001311 + ], + [ + -13.976628505199983, + -0.08369999766972994 + ], + [ + -13.981991464269496, + 0.15612134939055905 + ] + ], + "yaw_rad": -3.12453626551016, + "box_fully_inside": true, + "actual_fl_eef_world": [ + -13.901506423950195, + 0.07166236639022827, + 0.050222575664520264 + ], + "success_count": 3, + "first_fully_inside_policy_ns": 11460000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + -14.003803765138693, + 0.03546603353122002, + 0.06473271127994144 + ], + "intended_face_normal": [ + -0.9042055689773889, + -0.017252033906801856, + 0.42674907557587183 + ], + "commanded_contact_point": [ + -13.913900489807128, + 0.021798154744944495, + 0.03178114744793453 + ], + "centerline_face_intersection": [ + -14.019380999610613, + 0.036798154744944495, + 0.03178114744793453 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.903311729431152, + 0.07223232835531235, + 0.05225743353366852 + ], + "box_pose": [ + -13.93763256072998, + 0.053945012390613556, + 0.03482484444975853, + 0.14697566628456116, + 0.6959208846092224, + 0.6839568018913269, + -0.1621585637331009 + ], + "box_yaw_rad": -3.122515198757919, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020706088845874582 + } + } + } + ], + "commands": [ + { + "simulation_time_ns": 0, + "phase": "settle", + "intended_face_center": [ + -14.46696873005697, + 0.14394692733204145, + 0.13983054446862794 + ], + "intended_face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "commanded_contact_point": [ + -14.806599617004395, + 0.1420000046491623, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.46696873005697, + 0.14394692701822176, + 0.13983054459767388 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.822178840637207, + 0.1420000046491623, + 0.08869010210037231 + ], + "box_pose": [ + -14.394054412841797, + 0.14238613843917847, + 0.15702493488788605, + -8.356240144280491e-10, + 1.48693918289311e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 20000000, + "phase": "settle", + "intended_face_center": [ + -14.466968730024941, + 0.1439469273273098, + 0.1376723495520352 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + -14.807353973388672, + 0.14197462797164917, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -14.466968730024941, + 0.14394692701349013, + 0.13767234982490587 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.834175109863281, + 0.14466147124767303, + 0.052543073892593384 + ], + "box_pose": [ + -14.394054412841797, + 0.14238613843917847, + 0.15486674010753632, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007547831020563265 + } + }, + { + "simulation_time_ns": 40000000, + "phase": "settle", + "intended_face_center": [ + -14.466968730024941, + 0.1439469273273098, + 0.1315901425875424 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + -14.807236671447754, + 0.1418858766555786, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.466968730024941, + 0.14394692701349013, + 0.13159014286041307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.839278221130371, + 0.1238822191953659, + 0.049322426319122314 + ], + "box_pose": [ + -14.394054412841797, + 0.14238613843917847, + 0.14878453314304352, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00014709365780829874 + } + }, + { + "simulation_time_ns": 60000000, + "phase": "settle", + "intended_face_center": [ + -14.466968730024941, + 0.1439469273273098, + 0.12158395324122893 + ], + "intended_face_normal": [ + -1.0, + 4.064215629694095e-09, + -3.5338931792505874e-09 + ], + "commanded_contact_point": [ + -14.807971954345703, + 0.1419515311717987, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.466968730024941, + 0.14394692701349013, + 0.1215839535140996 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.846565246582031, + 0.10432019084692001, + 0.035378336906433105 + ], + "box_pose": [ + -14.394054412841797, + 0.14238613843917847, + 0.13877834379673004, + -1.7669465890435276e-09, + 2.862869941111512e-10, + 1.0, + 2.0321078153529015e-09 + ], + "box_yaw_rad": 3.1415926495255775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007382082751602675 + } + }, + { + "simulation_time_ns": 80000000, + "phase": "settle", + "intended_face_center": [ + -14.46512109755243, + 0.14196631666281054, + 0.1204345385949103 + ], + "intended_face_normal": [ + -0.9998744307785881, + -0.0007964331884867254, + 0.015814214990833787 + ], + "commanded_contact_point": [ + -14.808145523071289, + 0.1418183296918869, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -14.465140490503783, + 0.14202781350146904, + 0.1192134390201301 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.843371391296387, + 0.09577811509370804, + 0.02700325846672058 + ], + "box_pose": [ + -14.391942977905273, + 0.1402001827955246, + 0.1364477276802063, + 0.007910177111625671, + -0.007668452803045511, + 0.9999392032623291, + -0.0003375782980583608 + ], + "box_yaw_rad": -3.1407961205497092, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002187892544809321 + } + }, + { + "simulation_time_ns": 100000000, + "phase": "settle", + "intended_face_center": [ + -14.46431038244816, + 0.14115013400117463, + 0.12124733048014168 + ], + "intended_face_normal": [ + -0.9997226406092126, + -0.005533223940408883, + 0.02288915577747259 + ], + "commanded_contact_point": [ + -14.807696342468262, + 0.14154982566833496, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.464353221174695, + 0.1415773836246756, + 0.11947993713161634 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.842618942260742, + 0.09588777273893356, + 0.023106366395950317 + ], + "box_pose": [ + -14.391013145446777, + 0.139705091714859, + 0.13673949241638184, + 0.011468223296105862, + -0.008404811844229698, + 0.9998953342437744, + -0.002670503221452236 + ], + "box_yaw_rad": -3.136057951047399, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005233140790186997 + } + }, + { + "simulation_time_ns": 120000000, + "phase": "settle", + "intended_face_center": [ + -14.464342867114416, + 0.14129797672171163, + 0.1209496589391865 + ], + "intended_face_normal": [ + -0.9996873554336543, + -0.010523374530185077, + 0.0226713468097032 + ], + "commanded_contact_point": [ + -14.807865142822266, + 0.14123106002807617, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.46439115656098, + 0.1421105423894675, + 0.11919908377848018 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.843741416931152, + 0.09600348025560379, + 0.02318495512008667 + ], + "box_pose": [ + -14.391043663024902, + 0.14033439755439758, + 0.13646985590457916, + 0.01136278547346592, + -0.005010591354221106, + 0.9999092817306519, + -0.005205225199460983 + ], + "box_yaw_rad": -3.131066376751305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003607008376885457 + } + }, + { + "simulation_time_ns": 140000000, + "phase": "settle", + "intended_face_center": [ + -14.465386876504867, + 0.14173169266624228, + 0.12005145981905549 + ], + "intended_face_normal": [ + -0.9998466493399492, + -0.010632394663387269, + 0.013898235627582554 + ], + "commanded_contact_point": [ + -14.809752464294434, + 0.1405637115240097, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.465410560359683, + 0.142552676357806, + 0.11897830319225657 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.844705581665039, + 0.09608426690101624, + 0.023251444101333618 + ], + "box_pose": [ + -14.392227172851562, + 0.14084017276763916, + 0.13622060418128967, + 0.006965951062738895, + -0.003122424939647317, + 0.9999567866325378, + -0.005294675473123789 + ], + "box_yaw_rad": -3.1309590290051097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020018332514407386 + } + }, + { + "simulation_time_ns": 160000000, + "phase": "settle", + "intended_face_center": [ + -14.46580973649659, + 0.14102601517364818, + 0.11964963062196805 + ], + "intended_face_normal": [ + -0.9998877485850142, + -0.010902959824231947, + 0.010277084030881636 + ], + "commanded_contact_point": [ + -14.813570022583008, + 0.13979433476924896, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.465827072526132, + 0.14186789063904007, + 0.1188560823524293 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.845471382141113, + 0.0961012989282608, + 0.02330145239830017 + ], + "box_pose": [ + -14.392707824707031, + 0.14005397260189056, + 0.13607358932495117, + 0.005171475000679493, + -0.006031464319676161, + 0.9999537467956543, + -0.005420539062470198 + ], + "box_yaw_rad": -3.130688901898273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00389431532863168 + } + }, + { + "simulation_time_ns": 180000000, + "phase": "settle", + "intended_face_center": [ + -14.466383751908948, + 0.14049068464144293, + 0.11926394387508171 + ], + "intended_face_normal": [ + -0.9999228476327988, + -0.01120059863486876, + 0.00538259188587703 + ], + "commanded_contact_point": [ + -14.819000244140625, + 0.13884709775447845, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.466395667057112, + 0.14135554238103035, + 0.11884832535295656 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84604263305664, + 0.09604303538799286, + 0.023339420557022095 + ], + "box_pose": [ + -14.393362045288086, + 0.13946761190891266, + 0.1360378861427307, + 0.0027368285227566957, + -0.008136709220707417, + 0.9999476075172424, + -0.005578322801738977 + ], + "box_yaw_rad": -3.13039165919314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055122195284029755 + } + }, + { + "simulation_time_ns": 200000000, + "phase": "settle", + "intended_face_center": [ + -14.467011727953675, + 0.14000065403470935, + 0.11885925330948474 + ], + "intended_face_normal": [ + -0.9999371411214284, + -0.011204659493482991, + 2.438495202351787e-05 + ], + "commanded_contact_point": [ + -14.82542610168457, + 0.1376088708639145, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -14.467021435594873, + 0.1408658253347694, + 0.11885737041775953 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.846458435058594, + 0.09592549502849579, + 0.02336704730987549 + ], + "box_pose": [ + -14.39408016204834, + 0.13890662789344788, + 0.13601645827293396, + 6.932323594810441e-05, + -0.01019743736833334, + 0.9999322891235352, + -0.005602002143859863 + ], + "box_yaw_rad": -3.1303877586868736, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0065440699115929864 + } + }, + { + "simulation_time_ns": 220000000, + "phase": "settle", + "intended_face_center": [ + -14.467673081333606, + 0.1395001258903423, + 0.11843371538238757 + ], + "intended_face_normal": [ + -0.9999214149616833, + -0.01117532213458617, + -0.005653544085154977 + ], + "commanded_contact_point": [ + -14.832037925720215, + 0.13599221408367157, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.4676852177473, + 0.14036303189702581, + 0.11887025556363498 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.846739768981934, + 0.0957658588886261, + 0.023384541273117065 + ], + "box_pose": [ + -14.3948392868042, + 0.13833074271678925, + 0.13599646091461182, + -0.0027577956207096577, + -0.012315504252910614, + 0.9999045133590698, + -0.00562216155230999 + ], + "box_yaw_rad": -3.1304169184684514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006806599461106239 + } + }, + { + "simulation_time_ns": 240000000, + "phase": "settle", + "intended_face_center": [ + -14.468222010502611, + 0.1389932430202484, + 0.11812376501056009 + ], + "intended_face_normal": [ + -0.9998844488611045, + -0.011146750285458473, + -0.01035058235655753 + ], + "commanded_contact_point": [ + -14.838212966918945, + 0.13391630351543427, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -14.468239856168639, + 0.1398539428426325, + 0.11892298847638787 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.846922874450684, + 0.09557198733091354, + 0.02339765429496765 + ], + "box_pose": [ + -14.39547061920166, + 0.13774803280830383, + 0.136019766330719, + -0.005094345659017563, + -0.014452606439590454, + 0.9998666644096375, + -0.005647754762321711 + ], + "box_yaw_rad": -3.1304450769228316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006514640319606107 + } + }, + { + "simulation_time_ns": 260000000, + "phase": "settle", + "intended_face_center": [ + -14.468253688598166, + 0.13890572312463942, + 0.11813152617864127 + ], + "intended_face_normal": [ + -0.9998818584312428, + -0.011146654343737707, + -0.01061477428796673 + ], + "commanded_contact_point": [ + -14.843635559082031, + 0.13143083453178406, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.468271934352655, + 0.1397664155388534, + 0.11895114930738568 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84707260131836, + 0.09536156803369522, + 0.023408204317092896 + ], + "box_pose": [ + -14.395506858825684, + 0.13764789700508118, + 0.13604523241519928, + -0.005224361550062895, + -0.014819619245827198, + 0.9998606443405151, + -0.005651537794619799 + ], + "box_yaw_rad": -3.13044514398593, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005965070145231105 + } + }, + { + "simulation_time_ns": 280000000, + "phase": "settle", + "intended_face_center": [ + -14.468224656355254, + 0.13893450962947732, + 0.11814726737117925 + ], + "intended_face_normal": [ + -0.9998842486777482, + -0.011148308925426351, + -0.010368568725514612 + ], + "commanded_contact_point": [ + -14.84830379486084, + 0.1287440061569214, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + -14.4682425329393, + 0.1397953298027358, + 0.11894787966013218 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.847233772277832, + 0.09515249729156494, + 0.023419737815856934 + ], + "box_pose": [ + -14.39547348022461, + 0.13768097758293152, + 0.13604356348514557, + -0.005101937334984541, + -0.014698589220643044, + 0.9998630285263062, + -0.005649919621646404 + ], + "box_yaw_rad": -3.1304435160645268, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00538622985063798 + } + }, + { + "simulation_time_ns": 300000000, + "phase": "settle", + "intended_face_center": [ + -14.468179849440304, + 0.13897389297312748, + 0.11817294332087214 + ], + "intended_face_normal": [ + -0.9998880648804467, + -0.01115935375642415, + -0.009991621500974315 + ], + "commanded_contact_point": [ + -14.852352142333984, + 0.12612317502498627, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.468197136618667, + 0.13983556597647856, + 0.11894444951155414 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.847418785095215, + 0.0949629694223404, + 0.023434340953826904 + ], + "box_pose": [ + -14.395421981811523, + 0.13772693276405334, + 0.1360425055027008, + -0.004914337769150734, + -0.014531435444951057, + 0.9998664259910583, + -0.005651844199746847 + ], + "box_yaw_rad": -3.1304325139200473, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004822641712358796 + } + }, + { + "simulation_time_ns": 320000000, + "phase": "settle", + "intended_face_center": [ + -14.468116871442444, + 0.139030728337904, + 0.11820931627472671 + ], + "intended_face_normal": [ + -0.999893257552507, + -0.01117150246448043, + -0.009454967558710097 + ], + "commanded_contact_point": [ + -14.855889320373535, + 0.12373264133930206, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.468133356625506, + 0.13989333940756127, + 0.11893938456279497 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.847620964050293, + 0.09479173272848129, + 0.023446619510650635 + ], + "box_pose": [ + -14.395349502563477, + 0.13779295980930328, + 0.1360408216714859, + -0.004647298716008663, + -0.01429067738354206, + 0.9998711943626404, + -0.005652892403304577 + ], + "box_yaw_rad": -3.130420423382226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00426922472892834 + } + }, + { + "simulation_time_ns": 340000000, + "phase": "settle", + "intended_face_center": [ + -14.468034899394707, + 0.13910482229297, + 0.11825747541202584 + ], + "intended_face_normal": [ + -0.9998994512532198, + -0.011173726304963962, + -0.008748179295951989 + ], + "commanded_contact_point": [ + -14.858969688415527, + 0.12162268906831741, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.46805042798153, + 0.1399676050771683, + 0.11893296882251632 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.847820281982422, + 0.09463653713464737, + 0.02345898747444153 + ], + "box_pose": [ + -14.395255088806152, + 0.13787798583507538, + 0.13603882491588593, + -0.004295671824365854, + -0.013978586532175541, + 0.9998771548271179, + -0.00564760435372591 + ], + "box_yaw_rad": -3.130418268794411, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003733706718527038 + } + }, + { + "simulation_time_ns": 360000000, + "phase": "settle", + "intended_face_center": [ + -14.467926941646622, + 0.13919437560541803, + 0.11832116382987495 + ], + "intended_face_normal": [ + -0.9999066466659954, + -0.011200047630794213, + -0.007838167866857239 + ], + "commanded_contact_point": [ + -14.861601829528809, + 0.11977075040340424, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.467941358933585, + 0.14005919079905285, + 0.11892639042220489 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848012924194336, + 0.09449732303619385, + 0.02347162365913391 + ], + "box_pose": [ + -14.39513111114502, + 0.13798271119594574, + 0.13603784143924713, + -0.0038426793180406094, + -0.013594645075500011, + 0.9998842477798462, + -0.005652918014675379 + ], + "box_yaw_rad": -3.130392028710824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00321836039925703 + } + }, + { + "simulation_time_ns": 380000000, + "phase": "settle", + "intended_face_center": [ + -14.467794318524964, + 0.13930554483825056, + 0.11840088497806438 + ], + "intended_face_normal": [ + -0.9999147733944345, + -0.011235566946633435, + -0.006701137075382176 + ], + "commanded_contact_point": [ + -14.863828659057617, + 0.11816495656967163, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.467807480684076, + 0.14017310266700783, + 0.11891831538090358 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848221778869629, + 0.09437532722949982, + 0.02348366379737854 + ], + "box_pose": [ + -14.394978523254395, + 0.13811278343200684, + 0.1360366940498352, + -0.0032766310032457113, + -0.013122130185365677, + 0.9998925924301147, + -0.005661387927830219 + ], + "box_yaw_rad": -3.1303566018624243, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002745422296692169 + } + }, + { + "simulation_time_ns": 400000000, + "phase": "settle", + "intended_face_center": [ + -14.467643363001267, + 0.13943737501529704, + 0.11849103453808618 + ], + "intended_face_normal": [ + -0.9999218497556521, + -0.011255454664781325, + -0.005401651583046736 + ], + "commanded_contact_point": [ + -14.865739822387695, + 0.11671346426010132, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + -14.467655432264193, + 0.14030646848045408, + 0.11890812476071136 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848443984985352, + 0.09426432847976685, + 0.023498207330703735 + ], + "box_pose": [ + -14.394804954528809, + 0.13826517760753632, + 0.13603442907333374, + -0.002629930153489113, + -0.012568537145853043, + 0.9999014735221863, + -0.005661339499056339 + ], + "box_yaw_rad": -3.130336794615111, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002399869829824353 + } + }, + { + "simulation_time_ns": 420000000, + "phase": "settle", + "intended_face_center": [ + -14.467484447371248, + 0.13957135796770131, + 0.11858471588137068 + ], + "intended_face_normal": [ + -0.9999281828144704, + -0.011279300282547929, + -0.004063173181293659 + ], + "commanded_contact_point": [ + -14.86740779876709, + 0.1154109388589859, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.46749553854258, + 0.1404422926797196, + 0.11889845507404082 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848657608032227, + 0.09416665136814117, + 0.023510754108428955 + ], + "box_pose": [ + -14.394622802734375, + 0.13842040300369263, + 0.1360328495502472, + -0.001963777467608452, + -0.012003721669316292, + 0.9999099969863892, + -0.005663732532411814 + ], + "box_yaw_rad": -3.1303130215953723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002116298094351726 + } + }, + { + "simulation_time_ns": 440000000, + "phase": "settle", + "intended_face_center": [ + -14.467323134449671, + 0.1397138118764399, + 0.11868027932127323 + ], + "intended_face_normal": [ + -0.9999326680497398, + -0.011279174574788218, + -0.0026866369652656886 + ], + "commanded_contact_point": [ + -14.868938446044922, + 0.11445174366235733, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.467333532915108, + 0.14058473688189407, + 0.1188877288379123 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848804473876953, + 0.09409139305353165, + 0.023518681526184082 + ], + "box_pose": [ + -14.394437789916992, + 0.1385834515094757, + 0.13603045046329498, + -0.001278920448385179, + -0.011407054029405117, + 0.9999181032180786, + -0.005654639098793268 + ], + "box_yaw_rad": -3.1303131978865215, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018063600179321418 + } + }, + { + "simulation_time_ns": 460000000, + "phase": "settle", + "intended_face_center": [ + -14.467150801345312, + 0.13986329704960096, + 0.1187822403819727 + ], + "intended_face_normal": [ + -0.9999353445603405, + -0.011287625800930574, + -0.001222633639757901 + ], + "commanded_contact_point": [ + -14.87034797668457, + 0.11386144906282425, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.467160786448257, + 0.14073487461913467, + 0.11887664642226528 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84889030456543, + 0.09403932839632034, + 0.023523539304733276 + ], + "box_pose": [ + -14.394240379333496, + 0.1387554109096527, + 0.13602815568447113, + -0.0005504819564521313, + -0.010774151422083378, + 0.9999257922172546, + -0.005650163162499666 + ], + "box_yaw_rad": -3.1303047773789405, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015281440829977928 + } + }, + { + "simulation_time_ns": 480000000, + "phase": "settle", + "intended_face_center": [ + -14.466967848257259, + 0.14002591504745684, + 0.11889195474389753 + ], + "intended_face_normal": [ + -0.9999362409440289, + -0.01129282353050639, + 0.0003537240892689669 + ], + "commanded_contact_point": [ + -14.87161636352539, + 0.1136198341846466, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -14.466977694922218, + 0.14089789396131136, + 0.1188646418273066 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848926544189453, + 0.09401236474514008, + 0.023525863885879517 + ], + "box_pose": [ + -14.394030570983887, + 0.13894213736057281, + 0.1360255628824234, + 0.00023381361097563058, + -0.010087101720273495, + 0.9999331831932068, + -0.005644430406391621 + ], + "box_yaw_rad": -3.1302995900985877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012911943806842984 + } + }, + { + "simulation_time_ns": 500000000, + "phase": "settle", + "intended_face_center": [ + -14.46676453551905, + 0.1402059285594372, + 0.11901251233533905 + ], + "intended_face_normal": [ + -0.9999342218673988, + -0.01128654935143385, + 0.0020921657569565183 + ], + "commanded_contact_point": [ + -14.872705459594727, + 0.11368419229984283, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.46677469401148, + 0.1410774230105851, + 0.1188509650996609 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848956108093262, + 0.09401041269302368, + 0.023526787757873535 + ], + "box_pose": [ + -14.393797874450684, + 0.13914787769317627, + 0.1360221803188324, + 0.0010987028945237398, + -0.009329088032245636, + 0.999940037727356, + -0.00563336256891489 + ], + "box_yaw_rad": -3.1303058410895255, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010909959746132792 + } + }, + { + "simulation_time_ns": 520000000, + "phase": "settle", + "intended_face_center": [ + -14.466536753957287, + 0.14040911067128595, + 0.11914735544987254 + ], + "intended_face_normal": [ + -0.9999281629408037, + -0.011281644098849217, + 0.004034801522151383 + ], + "commanded_contact_point": [ + -14.87356185913086, + 0.11401712894439697, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.466547848197942, + 0.14128022636181573, + 0.11883580698376928 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848984718322754, + 0.0940314382314682, + 0.023528218269348145 + ], + "box_pose": [ + -14.393537521362305, + 0.13938017189502716, + 0.13601844012737274, + 0.0020651782397180796, + -0.008476070128381252, + 0.999946117401123, + -0.005623620469123125 + ], + "box_yaw_rad": -3.130310677684796, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009188400159064559 + } + }, + { + "simulation_time_ns": 540000000, + "phase": "settle", + "intended_face_center": [ + -14.466285230181375, + 0.14061743149111716, + 0.11930194623197304 + ], + "intended_face_normal": [ + -0.9999176853307543, + -0.011272887919728247, + 0.006168798109445622 + ], + "commanded_contact_point": [ + -14.8741455078125, + 0.11458945274353027, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.466297942610659, + 0.14148787107052743, + 0.11882562054949593 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84901237487793, + 0.09407223761081696, + 0.023530781269073486 + ], + "box_pose": [ + -14.393250465393066, + 0.13961808383464813, + 0.13602043688297272, + 0.003127221018075943, + -0.007601574063301086, + 0.9999505281448364, + -0.005612949840724468 + ], + "box_yaw_rad": -3.1303193152631787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008174352051686373 + } + }, + { + "simulation_time_ns": 560000000, + "phase": "settle", + "intended_face_center": [ + -14.466063561777771, + 0.14079270691804746, + 0.1194413598870557 + ], + "intended_face_normal": [ + -0.9999040319104406, + -0.011266816471354702, + 0.008051589361517205 + ], + "commanded_contact_point": [ + -14.87446403503418, + 0.11537528038024902, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -14.466078382901305, + 0.14166267768866567, + 0.11881965388702015 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849041938781738, + 0.09413091838359833, + 0.02353215217590332 + ], + "box_pose": [ + -14.392997741699219, + 0.13981835544109344, + 0.13602498173713684, + 0.004064477514475584, + -0.006866054609417915, + 0.9999524354934692, + -0.005605767946690321 + ], + "box_yaw_rad": -3.13032523260166, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008479296350104183 + } + }, + { + "simulation_time_ns": 580000000, + "phase": "settle", + "intended_face_center": [ + -14.465872844220042, + 0.14094190611645394, + 0.11956239866643303 + ], + "intended_face_normal": [ + -0.9998896888369999, + -0.011260017549971744, + 0.00968220140148822 + ], + "commanded_contact_point": [ + -14.874549865722656, + 0.11634480208158493, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + -14.465889880581903, + 0.1418113519062233, + 0.11881478444586335 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849067687988281, + 0.09420483559370041, + 0.023533135652542114 + ], + "box_pose": [ + -14.392780303955078, + 0.13998882472515106, + 0.13602910935878754, + 0.00487625552341342, + -0.006236853078007698, + 0.9999529719352722, + -0.00559985963627696 + ], + "box_yaw_rad": -3.1303318697968083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009733135346165063 + } + }, + { + "simulation_time_ns": 600000000, + "phase": "settle", + "intended_face_center": [ + -14.465709584862923, + 0.14107141863295733, + 0.1196651447504826 + ], + "intended_face_normal": [ + -0.9998753212322222, + -0.01125387067362309, + 0.011077018775578694 + ], + "commanded_contact_point": [ + -14.874458312988281, + 0.11746569722890854, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.465728840283752, + 0.14194038978973986, + 0.11880982926852339 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849087715148926, + 0.09429012984037399, + 0.023534327745437622 + ], + "box_pose": [ + -14.392594337463379, + 0.14013664424419403, + 0.13603180646896362, + 0.005570637993514538, + -0.005694712977856398, + 0.9999526143074036, + -0.005595477297902107 + ], + "box_yaw_rad": -3.130337854863533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011246278659229902 + } + }, + { + "simulation_time_ns": 620000000, + "phase": "settle", + "intended_face_center": [ + -14.465568741104223, + 0.14118179487952023, + 0.11975287218845619 + ], + "intended_face_normal": [ + -0.9998613431137593, + -0.011257267198590767, + 0.012273298220435382 + ], + "commanded_contact_point": [ + -14.874229431152344, + 0.11870291829109192, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.465590155458944, + 0.14205102830004435, + 0.11880518561363658 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849104881286621, + 0.09438608586788177, + 0.023533374071121216 + ], + "box_pose": [ + -14.392434120178223, + 0.1402633637189865, + 0.13603368401527405, + 0.006166215054690838, + -0.005229527130723, + 0.9999516606330872, + -0.005596657749265432 + ], + "box_yaw_rad": -3.1303343009685323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012582141519679008 + } + }, + { + "simulation_time_ns": 640000000, + "phase": "settle", + "intended_face_center": [ + -14.465445251523247, + 0.1412774294944169, + 0.11982869549958686 + ], + "intended_face_normal": [ + -0.9998482254369534, + -0.011262685368619775, + 0.013308688307470408 + ], + "commanded_contact_point": [ + -14.873912811279297, + 0.12002158910036087, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -14.46546869194327, + 0.14214708128064063, + 0.11880106095417604 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849109649658203, + 0.09448886662721634, + 0.023533672094345093 + ], + "box_pose": [ + -14.392293930053711, + 0.1403733491897583, + 0.13603517413139343, + 0.006681699305772781, + -0.004826218821108341, + 0.9999504089355469, + -0.005599373020231724 + ], + "box_yaw_rad": -3.13032873496985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013561492720620503 + } + }, + { + "simulation_time_ns": 660000000, + "phase": "settle", + "intended_face_center": [ + -14.465339608245708, + 0.14136129301008218, + 0.11989506652987168 + ], + "intended_face_normal": [ + -0.9998357470653907, + -0.011251733558098496, + 0.014214863827834308 + ], + "commanded_contact_point": [ + -14.873541831970215, + 0.12138578295707703, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + -14.465364976013058, + 0.14223009914881862, + 0.11879746135719711 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849116325378418, + 0.09459562599658966, + 0.023532390594482422 + ], + "box_pose": [ + -14.392173767089844, + 0.1404685378074646, + 0.1360364556312561, + 0.00713283522054553, + -0.0044758557341992855, + 0.9999489188194275, + -0.005594226997345686 + ], + "box_yaw_rad": -3.1303395466245982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014137363732980525 + } + }, + { + "simulation_time_ns": 680000000, + "phase": "settle", + "intended_face_center": [ + -14.465245525716872, + 0.14143453270813794, + 0.11995310717515213 + ], + "intended_face_normal": [ + -0.9998239718394049, + -0.011254936559111495, + 0.015011481016381938 + ], + "commanded_contact_point": [ + -14.873125076293945, + 0.1227567046880722, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465272712249236, + 0.14230358616760305, + 0.11879399095619661 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849111557006836, + 0.09470316767692566, + 0.02353188395500183 + ], + "box_pose": [ + -14.392066955566406, + 0.14055269956588745, + 0.13603726029396057, + 0.007529457565397024, + -0.004167031962424517, + 0.9999473094940186, + -0.005596387665718794 + ], + "box_yaw_rad": -3.130336210945432, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014328683429457472 + } + }, + { + "simulation_time_ns": 700000000, + "phase": "settle", + "intended_face_center": [ + -14.465168236224434, + 0.1414987922530048, + 0.1200011010817742 + ], + "intended_face_normal": [ + -0.9998137288586819, + -0.01124949802599646, + 0.015668792761441706 + ], + "commanded_contact_point": [ + -14.872679710388184, + 0.12409781664609909, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.465197004873366, + 0.1423674257744282, + 0.11879123033008622 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849104881286621, + 0.09480840712785721, + 0.023530542850494385 + ], + "box_pose": [ + -14.391979217529297, + 0.1406257450580597, + 0.13603805005550385, + 0.007856649346649647, + -0.0039016327355057, + 0.9999458193778992, + -0.005594398360699415 + ], + "box_yaw_rad": -3.1303415344916297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014131284704875788 + } + }, + { + "simulation_time_ns": 720000000, + "phase": "settle", + "intended_face_center": [ + -14.465170718076804, + 0.1414982183925705, + 0.119998806620426 + ], + "intended_face_normal": [ + -0.9998142223799797, + -0.011246264156901317, + 0.015644928340599187 + ], + "commanded_contact_point": [ + -14.87221622467041, + 0.12537351250648499, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.465199410496753, + 0.1423666022097766, + 0.11879077856748468 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849093437194824, + 0.0949091762304306, + 0.023529261350631714 + ], + "box_pose": [ + -14.391982078552246, + 0.14062489569187164, + 0.13603749871253967, + 0.007844715379178524, + -0.0039027032908052206, + 0.9999459385871887, + -0.005592818837612867 + ], + "box_yaw_rad": -3.1303447741055384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013572836618928183 + } + }, + { + "simulation_time_ns": 740000000, + "phase": "settle", + "intended_face_center": [ + -14.465172484366098, + 0.14149460776890718, + 0.11999819761566859 + ], + "intended_face_normal": [ + -0.9998146552849736, + -0.011252810071681503, + 0.01563399400951993 + ], + "commanded_contact_point": [ + -14.871729850769043, + 0.1265535205602646, + 0.050000034272670746 + ], + "centerline_face_intersection": [ + -14.465201109919846, + 0.14236349703097786, + 0.11879101386053396 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849079132080078, + 0.09500278532505035, + 0.023526102304458618 + ], + "box_pose": [ + -14.391983985900879, + 0.1406213343143463, + 0.1360376477241516, + 0.007839329540729523, + -0.003915142733603716, + 0.9999459981918335, + -0.005596015136688948 + ], + "box_yaw_rad": -3.1303382326757925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012763144523436256 + } + }, + { + "simulation_time_ns": 760000000, + "phase": "settle", + "intended_face_center": [ + -14.465178400945954, + 0.14148938048487542, + 0.11999464115976344 + ], + "intended_face_normal": [ + -0.9998149892023247, + -0.011253848518900673, + 0.015587878058442523 + ], + "commanded_contact_point": [ + -14.871222496032715, + 0.1276109665632248, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + -14.465206974923085, + 0.1423583499309741, + 0.11879101826226758 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849056243896484, + 0.0950871929526329, + 0.02352505922317505 + ], + "box_pose": [ + -14.391990661621094, + 0.14061544835567474, + 0.13603739440441132, + 0.007816391065716743, + -0.003936407156288624, + 0.9999459981918335, + -0.005596457980573177 + ], + "box_yaw_rad": -3.130337197926401, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011728601272095662 + } + }, + { + "simulation_time_ns": 780000000, + "phase": "settle", + "intended_face_center": [ + -14.465185911533334, + 0.14148328078814393, + 0.1199894738485572 + ], + "intended_face_normal": [ + -0.9998161106221033, + -0.011254273992096657, + 0.015520156596805241 + ], + "commanded_contact_point": [ + -14.870708465576172, + 0.1285286247730255, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.465214312296952, + 0.142352283087289, + 0.11879108008498021 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84902572631836, + 0.0951606035232544, + 0.023522764444351196 + ], + "box_pose": [ + -14.391999244689941, + 0.14060848951339722, + 0.13603709638118744, + 0.0077826716005802155, + -0.003962120972573757, + 0.9999461770057678, + -0.005596602335572243 + ], + "box_yaw_rad": -3.130336785052207, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010518193288846618 + } + }, + { + "simulation_time_ns": 800000000, + "phase": "settle", + "intended_face_center": [ + -14.465197007491737, + 0.14147553614905115, + 0.11998309939738627 + ], + "intended_face_normal": [ + -0.9998176118337334, + -0.011247873089900448, + 0.01543798097889966 + ], + "commanded_contact_point": [ + -14.870184898376465, + 0.12929238379001617, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + -14.46522517637983, + 0.14234404420052382, + 0.11879105084994172 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848997116088867, + 0.09522202610969543, + 0.023520469665527344 + ], + "box_pose": [ + -14.392011642456055, + 0.1405990868806839, + 0.13603661954402924, + 0.007741759065538645, + -0.003996523097157478, + 0.9999464154243469, + -0.005593296140432358 + ], + "box_yaw_rad": -3.1303432032105514, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000925986203748081 + } + }, + { + "simulation_time_ns": 820000000, + "phase": "settle", + "intended_face_center": [ + -14.465206961824954, + 0.14146520602707738, + 0.11997692657707412 + ], + "intended_face_normal": [ + -0.999819034941354, + -0.01124489445798825, + 0.015344671383578999 + ], + "commanded_contact_point": [ + -14.86965560913086, + 0.12989318370819092, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -14.465234910901707, + 0.14233348408255192, + 0.11879208295932321 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848965644836426, + 0.09527084231376648, + 0.023518502712249756 + ], + "box_pose": [ + -14.392023086547852, + 0.14058701694011688, + 0.13603712618350983, + 0.00769534008577466, + -0.004040562082082033, + 0.9999465942382812, + -0.0055916523560881615 + ], + "box_yaw_rad": -3.130346198015417, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008006919819209077 + } + }, + { + "simulation_time_ns": 840000000, + "phase": "settle", + "intended_face_center": [ + -14.465222195862605, + 0.14145300159694343, + 0.11996805933783745 + ], + "intended_face_normal": [ + -0.9998208114902125, + -0.011245808672252276, + 0.0152236017495931 + ], + "commanded_contact_point": [ + -14.86912727355957, + 0.13032770156860352, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.465249870536384, + 0.14232135024375936, + 0.1187925641498799 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848928451538086, + 0.0953068733215332, + 0.023515790700912476 + ], + "box_pose": [ + -14.392040252685547, + 0.14057312905788422, + 0.1360369473695755, + 0.007635084446519613, + -0.004091161768883467, + 0.9999468326568604, + -0.005591965280473232 + ], + "box_yaw_rad": -3.1303453037347375, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006840645051848739 + } + }, + { + "simulation_time_ns": 860000000, + "phase": "settle", + "intended_face_center": [ + -14.465238752903808, + 0.1414379614454086, + 0.11995649893280963 + ], + "intended_face_normal": [ + -0.9998235308311032, + -0.011240151630746003, + 0.015064913269319571 + ], + "commanded_contact_point": [ + -14.868614196777344, + 0.13060075044631958, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -14.465266007553366, + 0.14230587328198882, + 0.11879325692567053 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848891258239746, + 0.09532982110977173, + 0.023512929677963257 + ], + "box_pose": [ + -14.392059326171875, + 0.1405554711818695, + 0.13603678345680237, + 0.007556076627224684, + -0.004154859110713005, + 0.9999472498893738, + -0.005588976200670004 + ], + "box_yaw_rad": -3.1303509916475463, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005812086324452782 + } + }, + { + "simulation_time_ns": 880000000, + "phase": "settle", + "intended_face_center": [ + -14.465259871341294, + 0.14141879056202375, + 0.11994461758147563 + ], + "intended_face_normal": [ + -0.9998257580303185, + -0.011247436019836316, + 0.014894740025638505 + ], + "commanded_contact_point": [ + -14.868114471435547, + 0.13072147965431213, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465286781982751, + 0.14228726486499424, + 0.1187945155547667 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848848342895508, + 0.09534020721912384, + 0.023511499166488647 + ], + "box_pose": [ + -14.392083168029785, + 0.1405342072248459, + 0.13603709638118744, + 0.007471422664821148, + -0.004230796825140715, + 0.9999474883079529, + -0.00559240160509944 + ], + "box_yaw_rad": -3.1303437319499414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005141020904412987 + } + }, + { + "simulation_time_ns": 900000000, + "phase": "settle", + "intended_face_center": [ + -14.465285131915856, + 0.14139792338095328, + 0.11992956055706619 + ], + "intended_face_normal": [ + -0.9998291602942757, + -0.011248943339618062, + 0.014683471541867284 + ], + "commanded_contact_point": [ + -14.86764144897461, + 0.13069918751716614, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -14.465311517052877, + 0.14226651407209384, + 0.11879577169265125 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848808288574219, + 0.09534004330635071, + 0.023509740829467773 + ], + "box_pose": [ + -14.392111778259277, + 0.1405104249715805, + 0.1360372006893158, + 0.007366270758211613, + -0.004318234510719776, + 0.9999479651451111, + -0.005592953413724899 + ], + "box_yaw_rad": -3.130342262838499, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047354745233093264 + } + }, + { + "simulation_time_ns": 920000000, + "phase": "settle", + "intended_face_center": [ + -14.465312878324044, + 0.14137433154984835, + 0.1199128468500735 + ], + "intended_face_normal": [ + -0.9998322833722588, + -0.011252645127570009, + 0.01445113725997494 + ], + "commanded_contact_point": [ + -14.867191314697266, + 0.13054798543453217, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.465338781080506, + 0.1422432080757077, + 0.11879699775016726 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84876537322998, + 0.0953298807144165, + 0.023507267236709595 + ], + "box_pose": [ + -14.392143249511719, + 0.14048375189304352, + 0.13603715598583221, + 0.007250644266605377, + -0.004415140952914953, + 0.9999483227729797, + -0.005594599060714245 + ], + "box_yaw_rad": -3.130338596037118, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004748504380925971 + } + }, + { + "simulation_time_ns": 940000000, + "phase": "settle", + "intended_face_center": [ + -14.465346729310442, + 0.14134887052791786, + 0.11989333005072633 + ], + "intended_face_normal": [ + -0.9998363220028605, + -0.011248286839259797, + 0.014182289869579617 + ], + "commanded_contact_point": [ + -14.86677360534668, + 0.1302846074104309, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.465372008275274, + 0.14221741052717718, + 0.11879824008646372 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848721504211426, + 0.09530937671661377, + 0.02350372076034546 + ], + "box_pose": [ + -14.392181396484375, + 0.14045430719852448, + 0.1360369473695755, + 0.007116791792213917, + -0.0045210570096969604, + 0.9999488592147827, + -0.005592253990471363 + ], + "box_yaw_rad": -3.1303429999416417, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004938107791917957 + } + }, + { + "simulation_time_ns": 960000000, + "phase": "settle", + "intended_face_center": [ + -14.465384451133446, + 0.1413183693640668, + 0.1198696560654135 + ], + "intended_face_normal": [ + -0.9998405640238581, + -0.011250429883875389, + 0.013859252032132265 + ], + "commanded_contact_point": [ + -14.866382598876953, + 0.12992675602436066, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.46540907489445, + 0.14218707483918885, + 0.11879950956917468 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848682403564453, + 0.09528326988220215, + 0.023502260446548462 + ], + "box_pose": [ + -14.392224311828613, + 0.14041955769062042, + 0.1360364705324173, + 0.006955977529287338, + -0.004648369736969471, + 0.9999493360519409, + -0.00559316435828805 + ], + "box_yaw_rad": -3.1303409045514368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000530041200499899 + } + }, + { + "simulation_time_ns": 980000000, + "phase": "settle", + "intended_face_center": [ + -14.465425428640511, + 0.14128442910146904, + 0.11984359964234861 + ], + "intended_face_normal": [ + -0.9998454078494858, + -0.011250127722053114, + 0.01350103894724167 + ], + "commanded_contact_point": [ + -14.86602783203125, + 0.12949304282665253, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.465449304249004, + 0.14215311124507113, + 0.11880111268190681 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.84864616394043, + 0.09524967521429062, + 0.023500829935073853 + ], + "box_pose": [ + -14.392271041870117, + 0.1403806507587433, + 0.13603612780570984, + 0.006777656264603138, + -0.0047912863083183765, + 0.9999498724937439, + -0.0055928705260157585 + ], + "box_yaw_rad": -3.1303412612270574, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005603272728788662 + } + }, + { + "simulation_time_ns": 1000000000, + "phase": "settle", + "intended_face_center": [ + -14.465474980060359, + 0.14124614937538113, + 0.11981274626746317 + ], + "intended_face_normal": [ + -0.9998509380931562, + -0.011246010300484735, + 0.013083859881677495 + ], + "commanded_contact_point": [ + -14.865711212158203, + 0.129002183675766, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465498001500155, + 0.14211451359098431, + 0.11880247191952617 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848612785339355, + 0.09521277993917465, + 0.02349892258644104 + ], + "box_pose": [ + -14.392327308654785, + 0.14033648371696472, + 0.1360352337360382, + 0.00656994478777051, + -0.004952727816998959, + 0.9999504685401917, + -0.0055907429195940495 + ], + "box_yaw_rad": -3.1303454409683344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005841154423837362 + } + }, + { + "simulation_time_ns": 1020000000, + "phase": "settle", + "intended_face_center": [ + -14.465531210421597, + 0.1412025521240598, + 0.11977761992843236 + ], + "intended_face_normal": [ + -0.9998574940429816, + -0.011243786530813957, + 0.012606348864018456 + ], + "commanded_contact_point": [ + -14.865445137023926, + 0.12848560512065887, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -14.465553219274316, + 0.1420707446305898, + 0.11880421674362009 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.848583221435547, + 0.09517201036214828, + 0.02349790930747986 + ], + "box_pose": [ + -14.392391204833984, + 0.140286386013031, + 0.13603439927101135, + 0.006332191172987223, + -0.0051358588971197605, + 0.999951183795929, + -0.005589644890278578 + ], + "box_yaw_rad": -3.1303477385141276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005810760555697294 + } + }, + { + "simulation_time_ns": 1040000000, + "phase": "settle", + "intended_face_center": [ + -14.465595952497107, + 0.14115238819987816, + 0.11973884775515319 + ], + "intended_face_normal": [ + -0.9998636677157029, + -0.011232162128213673, + 0.012071074143046676 + ], + "commanded_contact_point": [ + -14.86568832397461, + 0.12813284993171692, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.465617007812721, + 0.14201968312451235, + 0.1188067759759496 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.849658966064453, + 0.09173276275396347, + 0.02642849087715149 + ], + "box_pose": [ + -14.392464637756348, + 0.14022794365882874, + 0.1360340267419815, + 0.006065708119422197, + -0.005350650288164616, + 0.9999516010284424, + -0.0055838958360254765 + ], + "box_yaw_rad": -3.130359432459279, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004284578359610638 + } + }, + { + "simulation_time_ns": 1060000000, + "phase": "settle", + "intended_face_center": [ + -14.465667910787058, + 0.1410930836572525, + 0.11969343633785662 + ], + "intended_face_normal": [ + -0.9998717404979498, + -0.011235568204263165, + 0.011445904257414714 + ], + "commanded_contact_point": [ + -14.865737915039062, + 0.1271161288022995, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -14.465687719252879, + 0.14196064158311805, + 0.11880963724762009 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.855920791625977, + 0.08153443783521652, + 0.041075438261032104 + ], + "box_pose": [ + -14.392546653747559, + 0.14016027748584747, + 0.13603346049785614, + 0.005754504818469286, + -0.005599518772214651, + 0.9999522566795349, + -0.005585828330367804 + ], + "box_yaw_rad": -3.13035611706362, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001017929825032799 + } + }, + { + "simulation_time_ns": 1080000000, + "phase": "settle", + "intended_face_center": [ + -14.465752637695685, + 0.1410243098320794, + 0.11964162900453798 + ], + "intended_face_normal": [ + -0.9998787188863074, + -0.011249337407824427, + 0.010734097091150018 + ], + "commanded_contact_point": [ + -14.864899635314941, + 0.12535011768341064, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + -14.465771368350122, + 0.14189293095132025, + 0.11881279232808897 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.860658645629883, + 0.08744833618402481, + 0.050517886877059937 + ], + "box_pose": [ + -14.392642974853516, + 0.1400827169418335, + 0.13603270053863525, + 0.005400208290666342, + -0.005882635246962309, + 0.9999523758888245, + -0.005593167617917061 + ], + "box_yaw_rad": -3.1303424263464787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00195486781358526 + } + }, + { + "simulation_time_ns": 1100000000, + "phase": "settle", + "intended_face_center": [ + -14.465848871148479, + 0.14094586963609104, + 0.11958139481206076 + ], + "intended_face_normal": [ + -0.9998878934122732, + -0.011250781932273876, + 0.009905760004360595 + ], + "commanded_contact_point": [ + -14.863813400268555, + 0.12411583960056305, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -14.465866184809746, + 0.14181460229474072, + 0.11881651844379268 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.86276912689209, + 0.09423719346523285, + 0.0543043315410614 + ], + "box_pose": [ + -14.392752647399902, + 0.13999296724796295, + 0.1360318511724472, + 0.00498787360265851, + -0.006212619598954916, + 0.9999526739120483, + -0.005594667978584766 + ], + "box_yaw_rad": -3.130341085061298, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016441864145550445 + } + }, + { + "simulation_time_ns": 1120000000, + "phase": "settle", + "intended_face_center": [ + -14.465961844579642, + 0.14085698546186354, + 0.11951060592775532 + ], + "intended_face_normal": [ + -0.999897032148082, + -0.011243804378969866, + 0.008941513607453232 + ], + "commanded_contact_point": [ + -14.862709999084473, + 0.12347397953271866, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + -14.46597774678841, + 0.1417251793465445, + 0.11882018414771242 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.861355781555176, + 0.09654288738965988, + 0.05794060230255127 + ], + "box_pose": [ + -14.392881393432617, + 0.13989058136940002, + 0.1360301971435547, + 0.00450781499966979, + -0.006588202901184559, + 0.9999525547027588, + -0.005592469125986099 + ], + "box_yaw_rad": -3.130348165277329, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012765102902501857 + } + }, + { + "simulation_time_ns": 1140000000, + "phase": "settle", + "intended_face_center": [ + -14.46609336624852, + 0.14075468441936992, + 0.11942932860733167 + ], + "intended_face_normal": [ + -0.9999061986130777, + -0.01122861915472708, + 0.007835008811687048 + ], + "commanded_contact_point": [ + -14.86181926727295, + 0.12278925627470016, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.466107852735052, + 0.14162170577219416, + 0.11882434594243838 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.857085227966309, + 0.09904871135950089, + 0.061372965574264526 + ], + "box_pose": [ + -14.393031120300293, + 0.1397721916437149, + 0.1360282152891159, + 0.003956921398639679, + -0.007021316792815924, + 0.9999518990516663, + -0.005586795508861542 + ], + "box_yaw_rad": -3.13036345308182, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011234985982872118 + } + }, + { + "simulation_time_ns": 1160000000, + "phase": "settle", + "intended_face_center": [ + -14.466243016768178, + 0.14063637525225348, + 0.1193350809669427 + ], + "intended_face_normal": [ + -0.9999153875801723, + -0.011231012772016585, + 0.00655893625085828 + ], + "commanded_contact_point": [ + -14.861335754394531, + 0.12164846807718277, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.466256084070146, + 0.1415035814289881, + 0.11882863064540757 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.853766441345215, + 0.10468857735395432, + 0.06557439267635345 + ], + "box_pose": [ + -14.39320182800293, + 0.13963688910007477, + 0.13602538406848907, + 0.003321662312373519, + -0.007517702411860228, + 0.9999505877494812, + -0.005590811371803284 + ], + "box_yaw_rad": -3.1303611627486894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012390247839516883 + } + }, + { + "simulation_time_ns": 1180000000, + "phase": "settle", + "intended_face_center": [ + -14.466415979450197, + 0.14049917687893027, + 0.11922641552170846 + ], + "intended_face_normal": [ + -0.9999241110085739, + -0.011234607113088706, + 0.005085208418665485 + ], + "commanded_contact_point": [ + -14.861227035522461, + 0.12009080499410629, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.466427699479514, + 0.1413666605938391, + 0.11883375955735612 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.855311393737793, + 0.1119447723031044, + 0.06732487678527832 + ], + "box_pose": [ + -14.393399238586426, + 0.13947999477386475, + 0.13602222502231598, + 0.0025880420580506325, + -0.008094843477010727, + 0.999948263168335, + -0.005596643313765526 + ], + "box_yaw_rad": -3.1303576665646933, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015614525524806884 + } + }, + { + "simulation_time_ns": 1200000000, + "phase": "settle", + "intended_face_center": [ + -14.4666152865805, + 0.14034245076701113, + 0.11909813884666551 + ], + "intended_face_normal": [ + -0.9999313940053496, + -0.011231820380598377, + 0.003372964962779974 + ], + "commanded_contact_point": [ + -14.861418724060059, + 0.11835937201976776, + 0.04999994859099388 + ], + "centerline_face_intersection": [ + -14.466625881810787, + 0.1412097193034959, + 0.11883769429825217 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.859975814819336, + 0.11602267622947693, + 0.066470667719841 + ], + "box_pose": [ + -14.393627166748047, + 0.1393001824617386, + 0.13601648807525635, + 0.0017356246244162321, + -0.008756584487855434, + 0.9999445080757141, + -0.005601022858172655 + ], + "box_yaw_rad": -3.130360534959814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001742011665515805 + } + }, + { + "simulation_time_ns": 1220000000, + "phase": "settle", + "intended_face_center": [ + -14.466843764283684, + 0.14016096641777456, + 0.11895116516296278 + ], + "intended_face_normal": [ + -0.9999361034357435, + -0.011240834524088195, + 0.0014224750298056366 + ], + "commanded_contact_point": [ + -14.861726760864258, + 0.11641867458820343, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -14.46685363218549, + 0.14102893098417857, + 0.11884132830700515 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863419532775879, + 0.11461013555526733, + 0.0657230019569397 + ], + "box_pose": [ + -14.393888473510742, + 0.13909302651882172, + 0.13600897789001465, + 0.0007647143211215734, + -0.009518146514892578, + 0.9999387264251709, + -0.005613482557237148 + ], + "box_yaw_rad": -3.130351574274282, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019649919070433243 + } + }, + { + "simulation_time_ns": 1240000000, + "phase": "settle", + "intended_face_center": [ + -14.467107135232482, + 0.13995294653999485, + 0.11878222760553159 + ], + "intended_face_normal": [ + -0.9999364566712732, + -0.011241596549783513, + -0.0008125269448294378 + ], + "commanded_contact_point": [ + -14.86223316192627, + 0.11415990442037582, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.467116948580427, + 0.14082096994645213, + 0.1188449671286381 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864619255065918, + 0.1100919172167778, + 0.06539176404476166 + ], + "box_pose": [ + -14.394189834594727, + 0.1388549506664276, + 0.13599972426891327, + -0.0003478502039797604, + -0.010389260947704315, + 0.9999301433563232, + -0.005624805111438036 + ], + "box_yaw_rad": -3.130350816267128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023148401042736755 + } + }, + { + "simulation_time_ns": 1260000000, + "phase": "settle", + "intended_face_center": [ + -14.467410902085946, + 0.1397191283959838, + 0.11858903888749062 + ], + "intended_face_normal": [ + -0.999930944061842, + -0.011236596366366789, + -0.0033945776087746463 + ], + "commanded_contact_point": [ + -14.8629789352417, + 0.11132819950580597, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + -14.467421566806074, + 0.14058676571170894, + 0.11885115226314888 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.865317344665527, + 0.10780835151672363, + 0.0649184137582779 + ], + "box_pose": [ + -14.394537925720215, + 0.1385868936777115, + 0.1359909474849701, + -0.0016333305975422263, + -0.011369207873940468, + 0.9999181032180786, + -0.005637329537421465 + ], + "box_yaw_rad": -3.1303557541932836, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002928264086943879 + } + }, + { + "simulation_time_ns": 1280000000, + "phase": "settle", + "intended_face_center": [ + -14.467741653900207, + 0.13947446593888158, + 0.11838142460412963 + ], + "intended_face_normal": [ + -0.9999178204936585, + -0.011209565014764594, + -0.0062055888974556885 + ], + "commanded_contact_point": [ + -14.863333702087402, + 0.1085919439792633, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.46775434545448, + 0.1403400160203073, + 0.118860591098852 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.868972778320312, + 0.10670754313468933, + 0.0627552717924118 + ], + "box_pose": [ + -14.394917488098145, + 0.1383047252893448, + 0.13598404824733734, + -0.003033133689314127, + -0.01239712629467249, + 0.999902606010437, + -0.005642934236675501 + ], + "box_yaw_rad": -3.130382636893356, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027591581725880253 + } + }, + { + "simulation_time_ns": 1300000000, + "phase": "settle", + "intended_face_center": [ + -14.468072842189674, + 0.13920710508940048, + 0.11818182007696247 + ], + "intended_face_normal": [ + -0.9998968151748491, + -0.011183505063741613, + -0.009017017652843455 + ], + "commanded_contact_point": [ + -14.86317253112793, + 0.10589441657066345, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.468088777909209, + 0.14007064294352747, + 0.11887807192557176 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.874813079833984, + 0.10308921337127686, + 0.06367716193199158 + ], + "box_pose": [ + -14.39529800415039, + 0.13799656927585602, + 0.13598458468914032, + -0.004432590212672949, + -0.01352325826883316, + 0.9998827576637268, + -0.005652358289808035 + ], + "box_yaw_rad": -3.1304084607915614, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027023379134232597 + } + }, + { + "simulation_time_ns": 1320000000, + "phase": "settle", + "intended_face_center": [ + -14.468165719155893, + 0.1390961770067946, + 0.11814296330598062 + ], + "intended_face_normal": [ + -0.9998895972773996, + -0.01118240249651052, + -0.009810317402775152 + ], + "commanded_contact_point": [ + -14.863399505615234, + 0.10340499877929688, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + -14.46818276965892, + 0.13995962972584672, + 0.11890047004380674 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.878145217895508, + 0.10093462467193604, + 0.0679984837770462 + ], + "box_pose": [ + -14.395404815673828, + 0.13786962628364563, + 0.1360015720129013, + -0.004826613236218691, + -0.013985680416226387, + 0.9998745918273926, + -0.005659414455294609 + ], + "box_yaw_rad": -3.1304094826140814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002499743659231953 + } + }, + { + "simulation_time_ns": 1340000000, + "phase": "settle", + "intended_face_center": [ + -14.468152517791975, + 0.1390943230280515, + 0.11815805195235776 + ], + "intended_face_normal": [ + -0.9998904997108122, + -0.011174614622090451, + -0.009693512424732134 + ], + "commanded_contact_point": [ + -14.863279342651367, + 0.10115835815668106, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.468169428916319, + 0.13995717440393557, + 0.11890653955713788 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.876970291137695, + 0.09799564629793167, + 0.073247030377388 + ], + "box_pose": [ + -14.395389556884766, + 0.13786680996418, + 0.1360081136226654, + -0.004768201150000095, + -0.013997545465826988, + 0.9998746514320374, + -0.005654759239405394 + ], + "box_yaw_rad": -3.1304172804603363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022498518238060925 + } + }, + { + "simulation_time_ns": 1360000000, + "phase": "settle", + "intended_face_center": [ + -14.468110102010838, + 0.13911289998824275, + 0.11818862723516665 + ], + "intended_face_normal": [ + -0.999893599495173, + -0.011199881356470254, + -0.009344697485398047 + ], + "commanded_contact_point": [ + -14.863153457641602, + 0.09959633648395538, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.468126534381852, + 0.13997770234295345, + 0.11891018098490909 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.871432304382324, + 0.09559233486652374, + 0.07676535844802856 + ], + "box_pose": [ + -14.395340919494629, + 0.13789018988609314, + 0.13601365685462952, + -0.004594109486788511, + -0.013912144117057323, + 0.9998766183853149, + -0.005664553493261337 + ], + "box_yaw_rad": -3.130392048842187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001567086067115784 + } + }, + { + "simulation_time_ns": 1380000000, + "phase": "settle", + "intended_face_center": [ + -14.468046294358833, + 0.1391577359512226, + 0.11823066547436606 + ], + "intended_face_normal": [ + -0.9998991140502036, + -0.011190719186224163, + -0.008801109767734665 + ], + "commanded_contact_point": [ + -14.863228797912598, + 0.09868191182613373, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -14.468061875025374, + 0.14002183084608166, + 0.11891024592785072 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866680145263672, + 0.0940818041563034, + 0.07800057530403137 + ], + "box_pose": [ + -14.395267486572266, + 0.13794074952602386, + 0.13601689040660858, + -0.00432343827560544, + -0.0137272784486413, + 0.9998805522918701, + -0.005655384156852961 + ], + "box_yaw_rad": -3.1304012725557357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009175230849891793 + } + }, + { + "simulation_time_ns": 1400000000, + "phase": "settle", + "intended_face_center": [ + -14.467960089564375, + 0.13922227854570599, + 0.11828555883898172 + ], + "intended_face_normal": [ + -0.9999049532468633, + -0.01120768946898123, + -0.00806437179381651 + ], + "commanded_contact_point": [ + -14.863446235656738, + 0.09832507371902466, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.467974768391755, + 0.1400876838062753, + 0.1189082518385398 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864155769348145, + 0.0940578281879425, + 0.07591810822486877 + ], + "box_pose": [ + -14.39516830444336, + 0.1380160003900528, + 0.1360192745923996, + -0.003956523723900318, + -0.013453169725835323, + 0.9998857378959656, + -0.005657718982547522 + ], + "box_yaw_rad": -3.130384368138075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00041786673710908636 + } + }, + { + "simulation_time_ns": 1420000000, + "phase": "settle", + "intended_face_center": [ + -14.467848827647295, + 0.13930841794880802, + 0.1183543461113492 + ], + "intended_face_normal": [ + -0.9999119526473712, + -0.011216021625139823, + -0.007122299254344595 + ], + "commanded_contact_point": [ + -14.863648414611816, + 0.09837111830711365, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.467862425453891, + 0.14017446657943067, + 0.11890429668404462 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863737106323242, + 0.09574173390865326, + 0.0706360936164856 + ], + "box_pose": [ + -14.395040512084961, + 0.13811525702476501, + 0.1360209435224533, + -0.0034875047858804464, + -0.013091062195599079, + 0.9998922944068909, + -0.0056542749516665936 + ], + "box_yaw_rad": -3.130376114747388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002073558170318489 + } + }, + { + "simulation_time_ns": 1440000000, + "phase": "settle", + "intended_face_center": [ + -14.46770939164703, + 0.13941817000876033, + 0.1184398922601484 + ], + "intended_face_normal": [ + -0.9999192044497449, + -0.011246451642826599, + -0.005933664110496265 + ], + "commanded_contact_point": [ + -14.863850593566895, + 0.09872715175151825, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.467721869458677, + 0.140286568302751, + 0.1188980619970854 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864459037780762, + 0.0977892279624939, + 0.06579132378101349 + ], + "box_pose": [ + -14.394880294799805, + 0.13824333250522614, + 0.13602180778980255, + -0.0028956602327525616, + -0.012624857015907764, + 0.9999001026153564, + -0.005660348571836948 + ], + "box_yaw_rad": -3.1303457674496773, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00040943393073013864 + } + }, + { + "simulation_time_ns": 1460000000, + "phase": "settle", + "intended_face_center": [ + -14.467561060997406, + 0.1395442125475928, + 0.1185311115758654 + ], + "intended_face_normal": [ + -0.9999258226061076, + -0.01126416564681441, + -0.004646606011810637 + ], + "commanded_contact_point": [ + -14.864120483398438, + 0.09949687123298645, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.46757251668381, + 0.14041397863396202, + 0.11888990071769014 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.865567207336426, + 0.0983121246099472, + 0.06162892282009125 + ], + "box_pose": [ + -14.394709587097168, + 0.13838885724544525, + 0.13602137565612793, + -0.002255035564303398, + -0.012098181061446667, + 0.9999082684516907, + -0.005659883841872215 + ], + "box_yaw_rad": -3.1303281288087694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008156645154851154 + } + }, + { + "simulation_time_ns": 1480000000, + "phase": "settle", + "intended_face_center": [ + -14.467402883971996, + 0.13967227154088693, + 0.11862604714364575 + ], + "intended_face_normal": [ + -0.9999306979837441, + -0.011294355418319833, + -0.0033159409904565578 + ], + "commanded_contact_point": [ + -14.864025115966797, + 0.10056513547897339, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.467413586696749, + 0.14054436873993983, + 0.11888208856813566 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866373062133789, + 0.09594768285751343, + 0.05849161744117737 + ], + "box_pose": [ + -14.39452838897705, + 0.13853783905506134, + 0.13602149486541748, + -0.0015926262130960822, + -0.01155622024089098, + 0.9999158978462219, + -0.005666058976203203 + ], + "box_yaw_rad": -3.130297995703986, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010725126788978636 + } + }, + { + "simulation_time_ns": 1500000000, + "phase": "settle", + "intended_face_center": [ + -14.46723981964257, + 0.13981091956471417, + 0.1187244319431328 + ], + "intended_face_normal": [ + -0.9999343575915955, + -0.011292482154520058, + -0.001927217406388273 + ], + "commanded_contact_point": [ + -14.863663673400879, + 0.10156787931919098, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + -14.467249957173648, + 0.14068287211911476, + 0.11887324264014265 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.867114067077637, + 0.09493251144886017, + 0.05690324306488037 + ], + "box_pose": [ + -14.394341468811035, + 0.13869638741016388, + 0.13602092862129211, + -0.0009015903924591839, + -0.010976159013807774, + 0.9999233484268188, + -0.005656570661813021 + ], + "box_yaw_rad": -3.130299910185041, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010658967770055868 + } + }, + { + "simulation_time_ns": 1520000000, + "phase": "settle", + "intended_face_center": [ + -14.46706493044769, + 0.1399613647222325, + 0.1188293895581289 + ], + "intended_face_normal": [ + -0.9999361116485401, + -0.011289827996220542, + -0.0004405817718986134 + ], + "commanded_contact_point": [ + -14.863490104675293, + 0.10226476937532425, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.467074797081107, + 0.14083311233496681, + 0.1188634092179497 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.868523597717285, + 0.09744199365377426, + 0.058726727962493896 + ], + "box_pose": [ + -14.39414119720459, + 0.13886839151382446, + 0.13601993024349213, + -0.00016187592700589448, + -0.010346449911594391, + 0.9999305009841919, + -0.005646981298923492 + ], + "box_yaw_rad": -3.130302583982217, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007181795414289783 + } + }, + { + "simulation_time_ns": 1540000000, + "phase": "settle", + "intended_face_center": [ + -14.466875144136786, + 0.14012761349611308, + 0.11894415681183573 + ], + "intended_face_normal": [ + -0.9999357363783463, + -0.011281718065918643, + 0.0011889537944242638 + ], + "commanded_contact_point": [ + -14.863312721252441, + 0.10266990214586258, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.46688506872713, + 0.14099873489803333, + 0.11885235137137307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.869745254516602, + 0.09978143125772476, + 0.06373023986816406 + ], + "box_pose": [ + -14.39392375946045, + 0.13905805349349976, + 0.13601849973201752, + 0.0006489037768915296, + -0.009651592001318932, + 0.9999373555183411, + -0.005634949076920748 + ], + "box_yaw_rad": -3.1303106891639683, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000442263994229125 + } + }, + { + "simulation_time_ns": 1560000000, + "phase": "settle", + "intended_face_center": [ + -14.466659897722943, + 0.14031381462144854, + 0.11907264020573949 + ], + "intended_face_normal": [ + -0.9999317457431445, + -0.011284046652981782, + 0.0030176727943261525 + ], + "commanded_contact_point": [ + -14.863327980041504, + 0.10287748277187347, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.466670438630423, + 0.14118511582594984, + 0.11883962965364359 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.8724365234375, + 0.10254506766796112, + 0.06824988126754761 + ], + "box_pose": [ + -14.393677711486816, + 0.13927149772644043, + 0.13601650297641754, + 0.0015588380629196763, + -0.008868014439940453, + 0.9999436140060425, + -0.005628516897559166 + ], + "box_yaw_rad": -3.1303083156929614, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00020814069055239757 + } + }, + { + "simulation_time_ns": 1580000000, + "phase": "settle", + "intended_face_center": [ + -14.466417200438643, + 0.1405234585981478, + 0.11921929535979828 + ], + "intended_face_normal": [ + -0.9999235614037607, + -0.011287065322922582, + 0.005099933019767369 + ], + "commanded_contact_point": [ + -14.863661766052246, + 0.1032152846455574, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -14.466429005350243, + 0.1413949928901962, + 0.11882550243074963 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.874767303466797, + 0.10560991615056992, + 0.07378993928432465 + ], + "box_pose": [ + -14.393400192260742, + 0.13951200246810913, + 0.1360144466161728, + 0.002594978781417012, + -0.007981356233358383, + 0.999949038028717, + -0.005623107776045799 + ], + "box_yaw_rad": -3.1303052048226983, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00047489283897608883 + } + }, + { + "simulation_time_ns": 1600000000, + "phase": "settle", + "intended_face_center": [ + -14.466176523452381, + 0.1407095927857194, + 0.11937249289842093 + ], + "intended_face_normal": [ + -0.9999110089387266, + -0.011284675907902404, + 0.007149394769277274 + ], + "commanded_contact_point": [ + -14.863831520080566, + 0.1039256900548935, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.466190267009397, + 0.14158094257833692, + 0.11882045013703439 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.877294540405273, + 0.11033724248409271, + 0.07828716933727264 + ], + "box_pose": [ + -14.393125534057617, + 0.13972502946853638, + 0.13602082431316376, + 0.003615304362028837, + -0.007198837120085955, + 0.9999518394470215, + -0.005616582464426756 + ], + "box_yaw_rad": -3.130307452460109, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007304055584095947 + } + }, + { + "simulation_time_ns": 1620000000, + "phase": "settle", + "intended_face_center": [ + -14.465969652904759, + 0.14086957122925564, + 0.11950190161326878 + ], + "intended_face_normal": [ + -0.9998968570232776, + -0.011279232643436889, + 0.008894721786578885 + ], + "commanded_contact_point": [ + -14.863832473754883, + 0.10452520847320557, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.465985582160947, + 0.14174050071849875, + 0.11881509287836317 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.881735801696777, + 0.11083643138408661, + 0.0776650458574295 + ], + "box_pose": [ + -14.392889976501465, + 0.1399078518152237, + 0.13602513074874878, + 0.004484192468225956, + -0.006526992656290531, + 0.9999529123306274, + -0.005610612221062183 + ], + "box_yaw_rad": -3.130312735882983, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005995191770178464 + } + }, + { + "simulation_time_ns": 1640000000, + "phase": "settle", + "intended_face_center": [ + -14.465791068253887, + 0.14100766333041984, + 0.11961318388083883 + ], + "intended_face_normal": [ + -0.9998826435151753, + -0.011274326546356949, + 0.010396888473207362 + ], + "commanded_contact_point": [ + -14.863809585571289, + 0.10465368628501892, + 0.05000004544854164 + ], + "centerline_face_intersection": [ + -14.465809192753094, + 0.14187821399383685, + 0.11881038487367793 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.883543014526367, + 0.10291805863380432, + 0.07175226509571075 + ], + "box_pose": [ + -14.39268684387207, + 0.14006562530994415, + 0.13602867722511292, + 0.005232035182416439, + -0.005947745405137539, + 0.9999529719352722, + -0.005606308113783598 + ], + "box_yaw_rad": -3.130317481599447, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00013050065056012305 + } + }, + { + "simulation_time_ns": 1660000000, + "phase": "settle", + "intended_face_center": [ + -14.46564031976369, + 0.14112738440195302, + 0.11970793055349052 + ], + "intended_face_normal": [ + -0.999868348298012, + -0.011264855235076964, + 0.011686321211141881 + ], + "commanded_contact_point": [ + -14.863802909851074, + 0.10495215654373169, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + -14.465660652157167, + 0.14199720373509642, + 0.1188055675927023 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.878918647766113, + 0.09564881026744843, + 0.06561042368412018 + ], + "box_pose": [ + -14.392515182495117, + 0.14020201563835144, + 0.136030912399292, + 0.005873942282050848, + -0.005445962771773338, + 0.9999522566795349, + -0.0056007057428359985 + ], + "box_yaw_rad": -3.1303267917659987, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002985449088074612 + } + }, + { + "simulation_time_ns": 1680000000, + "phase": "settle", + "intended_face_center": [ + -14.465509438862574, + 0.1412296648114853, + 0.11978937625356291 + ], + "intended_face_normal": [ + -0.9998545787524815, + -0.01126731958247791, + 0.01279478273573922 + ], + "commanded_contact_point": [ + -14.863492012023926, + 0.10589314252138138, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.465531897990262, + 0.1420996744299868, + 0.11880142308819416 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.873360633850098, + 0.09430312365293503, + 0.06070341169834137 + ], + "box_pose": [ + -14.392366409301758, + 0.140319362282753, + 0.13603278994560242, + 0.00642580259591341, + -0.005015756003558636, + 0.9999510645866394, + -0.005601703654974699 + ], + "box_yaw_rad": -3.130324172237829, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009910156758290818 + } + }, + { + "simulation_time_ns": 1700000000, + "phase": "settle", + "intended_face_center": [ + -14.465393375069494, + 0.14131845077932054, + 0.1198603810228161 + ], + "intended_face_normal": [ + -0.9998413769812691, + -0.011274433541569182, + 0.013762362244414766 + ], + "commanded_contact_point": [ + -14.862793922424316, + 0.1073177233338356, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + -14.465417873265007, + 0.14218900970440645, + 0.11879771590195068 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.869721412658691, + 0.09873025864362717, + 0.05668346583843231 + ], + "box_pose": [ + -14.392234802246094, + 0.14042164385318756, + 0.1360343098640442, + 0.006907543167471886, + -0.004640798084437847, + 0.99994957447052, + -0.00560544291511178 + ], + "box_yaw_rad": -3.130316909279223, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015864298221612131 + } + }, + { + "simulation_time_ns": 1720000000, + "phase": "settle", + "intended_face_center": [ + -14.465294526527096, + 0.14139776996813339, + 0.11992282667785273 + ], + "intended_face_normal": [ + -0.9998299623278144, + -0.011269030416272786, + 0.014614458873622529 + ], + "commanded_contact_point": [ + -14.861882209777832, + 0.10868760943412781, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465320787784457, + 0.1422679116892034, + 0.11879436664828016 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866503715515137, + 0.10247717797756195, + 0.05432784557342529 + ], + "box_pose": [ + -14.392122268676758, + 0.14051203429698944, + 0.13603554666042328, + 0.007331755943596363, + -0.004309449344873428, + 0.9999482035636902, + -0.005603209603577852 + ], + "box_yaw_rad": -3.130322183916978, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016455418188725045 + } + }, + { + "simulation_time_ns": 1740000000, + "phase": "settle", + "intended_face_center": [ + -14.46520640176525, + 0.14146659784125207, + 0.1199782067700964 + ], + "intended_face_normal": [ + -0.9998185118130987, + -0.011263807634576396, + 0.015368274077039619 + ], + "commanded_contact_point": [ + -14.861183166503906, + 0.11009220778942108, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + -14.465234431643674, + 0.14233633628359393, + 0.11879154066296077 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.861767768859863, + 0.10273298621177673, + 0.05686211585998535 + ], + "box_pose": [ + -14.392022132873535, + 0.14059039950370789, + 0.1360367387533188, + 0.007707082200795412, + -0.0040229070000350475, + 0.9999465346336365, + -0.00560119841247797 + ], + "box_yaw_rad": -3.1303272779183295, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00156893532033721 + } + }, + { + "simulation_time_ns": 1760000000, + "phase": "settle", + "intended_face_center": [ + -14.465169332809591, + 0.14149690223929823, + 0.12000190179579676 + ], + "intended_face_normal": [ + -0.9998138771904046, + -0.0112624515437903, + 0.01567531533254147 + ], + "commanded_contact_point": [ + -14.860618591308594, + 0.11117686331272125, + 0.05000004172325134 + ], + "centerline_face_intersection": [ + -14.465198078547296, + 0.14236653597066434, + 0.11879152740173379 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.859869956970215, + 0.10028567910194397, + 0.05989375710487366 + ], + "box_pose": [ + -14.391980171203613, + 0.140625, + 0.1360383927822113, + 0.007859903387725353, + -0.0038958569057285786, + 0.999945878982544, + -0.00560090783983469 + ], + "box_yaw_rad": -3.13032858187339, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012227930159614579 + } + }, + { + "simulation_time_ns": 1780000000, + "phase": "settle", + "intended_face_center": [ + -14.4651693701536, + 0.14149616183217947, + 0.12000284091611954 + ], + "intended_face_normal": [ + -0.9998134566365084, + -0.011262236436906804, + 0.01567922460885433 + ], + "commanded_contact_point": [ + -14.860274314880371, + 0.1120145320892334, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465198180849812, + 0.14236577895400007, + 0.11879216466605891 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.859268188476562, + 0.09834963083267212, + 0.06365834176540375 + ], + "box_pose": [ + -14.391980171203613, + 0.14062412083148956, + 0.13603903353214264, + 0.007861878722906113, + -0.0038994653150439262, + 0.9999457597732544, + -0.005600764881819487 + ], + "box_yaw_rad": -3.130328792255479, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009056573521817643 + } + }, + { + "simulation_time_ns": 1800000000, + "phase": "settle", + "intended_face_center": [ + -14.465170993155262, + 0.14149515143944563, + 0.12000138309394505 + ], + "intended_face_normal": [ + -0.9998140350992699, + -0.01125468329092806, + 0.015660838973726825 + ], + "commanded_contact_point": [ + -14.859906196594238, + 0.11254121363162994, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + -14.465199714502464, + 0.14236418534272846, + 0.11879212649647225 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.858966827392578, + 0.0993635505437851, + 0.06809602677822113 + ], + "box_pose": [ + -14.391982078552246, + 0.1406223326921463, + 0.1360388994216919, + 0.007852706126868725, + -0.003905976889654994, + 0.999945878982544, + -0.005596972070634365 + ], + "box_yaw_rad": -3.130336352364928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000642576469913553 + } + }, + { + "simulation_time_ns": 1820000000, + "phase": "settle", + "intended_face_center": [ + -14.46517705510031, + 0.14149009235055898, + 0.11999904420822852 + ], + "intended_face_normal": [ + -0.9998145707325483, + -0.011256420357575223, + 0.015622303110366748 + ], + "commanded_contact_point": [ + -14.85965633392334, + 0.11257520318031311, + 0.05000005662441254 + ], + "centerline_face_intersection": [ + -14.465205693713964, + 0.14235926038198826, + 0.1187927631695419 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.85871696472168, + 0.1027170717716217, + 0.0714096873998642 + ], + "box_pose": [ + -14.391988754272461, + 0.1406167447566986, + 0.13603931665420532, + 0.00783354602754116, + -0.003924954682588577, + 0.9999459385871887, + -0.005597766488790512 + ], + "box_yaw_rad": -3.1303346212261354, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00025216392773002373 + } + }, + { + "simulation_time_ns": 1840000000, + "phase": "settle", + "intended_face_center": [ + -14.465185493701556, + 0.14148399992306201, + 0.11999433620756865 + ], + "intended_face_normal": [ + -0.9998157376606145, + -0.011249161972146038, + 0.01555359659279731 + ], + "commanded_contact_point": [ + -14.859443664550781, + 0.11206036061048508, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.465213952072457, + 0.1423526074959819, + 0.11879336036420393 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.859994888305664, + 0.10657859593629837, + 0.07178987562656403 + ], + "box_pose": [ + -14.391998291015625, + 0.14060913026332855, + 0.13603954017162323, + 0.007799335289746523, + -0.003953621722757816, + 0.999946117401123, + -0.005594046786427498 + ], + "box_yaw_rad": -3.130341893168396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005570378262305925 + } + }, + { + "simulation_time_ns": 1860000000, + "phase": "settle", + "intended_face_center": [ + -14.46519556755172, + 0.1414749565659332, + 0.11998811557885844 + ], + "intended_face_normal": [ + -0.9998170449599519, + -0.011250054178711687, + 0.015467485105608466 + ], + "commanded_contact_point": [ + -14.85930061340332, + 0.11116071045398712, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + -14.465223823998484, + 0.14234363303086311, + 0.11879378886100839 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.862027168273926, + 0.1112341433763504, + 0.07054245471954346 + ], + "box_pose": [ + -14.392009735107422, + 0.140598863363266, + 0.13603949546813965, + 0.007756485603749752, + -0.0039908853359520435, + 0.9999462962150574, + -0.005594372283667326 + ], + "box_yaw_rad": -3.1303410156210885, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009109522683563783 + } + }, + { + "simulation_time_ns": 1880000000, + "phase": "settle", + "intended_face_center": [ + -14.46520733598524, + 0.14146374056901478, + 0.11998112292889268 + ], + "intended_face_normal": [ + -0.9998184300929269, + -0.011261190367322812, + 0.015367557924256568 + ], + "commanded_contact_point": [ + -14.859319686889648, + 0.10991550981998444, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + -14.46523537848605, + 0.14233327691824407, + 0.118794512119719 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863637924194336, + 0.11474636197090149, + 0.06952552497386932 + ], + "box_pose": [ + -14.392023086547852, + 0.14058701694011688, + 0.13603967428207397, + 0.007706773467361927, + -0.00403263233602047, + 0.9999464750289917, + -0.005599816329777241 + ], + "box_yaw_rad": -3.1303298944080655, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012453467055998277 + } + }, + { + "simulation_time_ns": 1900000000, + "phase": "settle", + "intended_face_center": [ + -14.465224295258206, + 0.14145035383577398, + 0.11997150518281555 + ], + "intended_face_normal": [ + -0.9998205150041135, + -0.011263029408599459, + 0.01523440174735272 + ], + "commanded_contact_point": [ + -14.859457015991211, + 0.10820139944553375, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + -14.465252015726733, + 0.14232003218715275, + 0.11879517606964075 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863786697387695, + 0.11434753239154816, + 0.06878343224525452 + ], + "box_pose": [ + -14.39204216003418, + 0.14057186245918274, + 0.1360396146774292, + 0.00764050055295229, + -0.004087611101567745, + 0.9999467730522156, + -0.005600581411272287 + ], + "box_yaw_rad": -3.1303280787540824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017196027621560273 + } + }, + { + "simulation_time_ns": 1920000000, + "phase": "settle", + "intended_face_center": [ + -14.465242824221473, + 0.14143522066547842, + 0.1199604326021415 + ], + "intended_face_normal": [ + -0.9998227223435561, + -0.011265818378291756, + 0.01508084553944869 + ], + "commanded_contact_point": [ + -14.859796524047852, + 0.10616374760866165, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + -14.46527020374836, + 0.14230511436802745, + 0.11879596037976306 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.862870216369629, + 0.11038116365671158, + 0.06813265383243561 + ], + "box_pose": [ + -14.39206314086914, + 0.14055480062961578, + 0.13603956997394562, + 0.00756406644359231, + -0.004149243235588074, + 0.9999470710754395, + -0.005601820535957813 + ], + "box_yaw_rad": -3.1303253145109537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002065742174124409 + } + }, + { + "simulation_time_ns": 1940000000, + "phase": "settle", + "intended_face_center": [ + -14.46526213292255, + 0.14141591652141694, + 0.11994909163889113 + ], + "intended_face_normal": [ + -0.9998254144342897, + -0.011276894217019908, + 0.014914012786235794 + ], + "commanded_contact_point": [ + -14.860549926757812, + 0.1039959043264389, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + -14.465289096635015, + 0.1422866654483302, + 0.11879750145992274 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.86221981048584, + 0.10436619818210602, + 0.06746549904346466 + ], + "box_pose": [ + -14.392085075378418, + 0.1405337005853653, + 0.13604018092155457, + 0.00748108746483922, + -0.004224576521664858, + 0.9999474287033081, + -0.005607137456536293 + ], + "box_yaw_rad": -3.130314268481306, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002295029442077318 + } + }, + { + "simulation_time_ns": 1960000000, + "phase": "settle", + "intended_face_center": [ + -14.46528817300387, + 0.14139606167738375, + 0.11993293833241095 + ], + "intended_face_normal": [ + -0.9998282710043993, + -0.011277610720250627, + 0.014695072673050117 + ], + "commanded_contact_point": [ + -14.861390113830566, + 0.10150513052940369, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -14.46531469549801, + 0.1422668659293189, + 0.11879825368301 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863398551940918, + 0.09859128296375275, + 0.06557260453701019 + ], + "box_pose": [ + -14.392114639282227, + 0.14051100611686707, + 0.13603976368904114, + 0.007372078485786915, + -0.004308145027607679, + 0.9999477863311768, + -0.005607338156551123 + ], + "box_yaw_rad": -3.1303135841664664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026286628591166315 + } + }, + { + "simulation_time_ns": 1980000000, + "phase": "settle", + "intended_face_center": [ + -14.465315971446898, + 0.141371160703385, + 0.11991681628287665 + ], + "intended_face_normal": [ + -0.9998316691455529, + -0.011286859657247118, + 0.014463996770252032 + ], + "commanded_contact_point": [ + -14.861650466918945, + 0.09965131431818008, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + -14.46534196907472, + 0.1422426791148937, + 0.11879997423184761 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866167068481445, + 0.09275675565004349, + 0.06151020526885986 + ], + "box_pose": [ + -14.392146110534668, + 0.14048334956169128, + 0.13604021072387695, + 0.007257107179611921, + -0.004407353233546019, + 0.9999482035636902, + -0.005611735861748457 + ], + "box_yaw_rad": -3.1303043731811293, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018720091547953883 + } + }, + { + "simulation_time_ns": 2000000000, + "phase": "settle", + "intended_face_center": [ + -14.46534967482178, + 0.1413451890269319, + 0.1198962267618291 + ], + "intended_face_normal": [ + -0.9998359934812142, + -0.011288992935560412, + 0.01418463413731137 + ], + "commanded_contact_point": [ + -14.861359596252441, + 0.09840971231460571, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.465375004528731, + 0.1422168721601952, + 0.11880095578419769 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.86972427368164, + 0.08880607783794403, + 0.061134278774261475 + ], + "box_pose": [ + -14.392184257507324, + 0.1404537707567215, + 0.13603968918323517, + 0.007118028588593006, + -0.0045160711742937565, + 0.9999487996101379, + -0.005612638313323259 + ], + "box_yaw_rad": -3.130302288642976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012752181303750428 + } + }, + { + "simulation_time_ns": 2020000000, + "phase": "settle", + "intended_face_center": [ + -14.465387469928002, + 0.1413156827949305, + 0.11987282884969615 + ], + "intended_face_normal": [ + -0.9998403955859467, + -0.011290080217270088, + 0.01386535924406598 + ], + "commanded_contact_point": [ + -14.861444473266602, + 0.09765233099460602, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + -14.465412119705132, + 0.14218744988299234, + 0.11880221078317074 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.872810363769531, + 0.09015607833862305, + 0.0642947405576706 + ], + "box_pose": [ + -14.392227172851562, + 0.1404200792312622, + 0.13603922724723816, + 0.006959072779864073, + -0.004639301914721727, + 0.9999493360519409, + -0.005613039247691631 + ], + "box_yaw_rad": -3.130301251031409, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007621224125029182 + } + }, + { + "simulation_time_ns": 2040000000, + "phase": "settle", + "intended_face_center": [ + -14.46542932201723, + 0.14128477942501672, + 0.11984571331643587 + ], + "intended_face_normal": [ + -0.9998453243990602, + -0.0112727100547508, + 0.013504038644588557 + ], + "commanded_contact_point": [ + -14.86160945892334, + 0.09729547798633575, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + -14.465453210515017, + 0.1421552052705269, + 0.11880299473342178 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.873488426208496, + 0.09136240184307098, + 0.06929704546928406 + ], + "box_pose": [ + -14.392274856567383, + 0.14038322865962982, + 0.13603807985782623, + 0.006779116112738848, + -0.0047744628973305225, + 0.9999499320983887, + -0.005604268983006477 + ], + "box_yaw_rad": -3.1303186773267324, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00039314671137241305 + } + }, + { + "simulation_time_ns": 2060000000, + "phase": "settle", + "intended_face_center": [ + -14.4654781227959, + 0.1412460535689821, + 0.11981657924681746 + ], + "intended_face_normal": [ + -0.9998503765825748, + -0.011275928409784568, + 0.013099953257831738 + ], + "commanded_contact_point": [ + -14.861698150634766, + 0.0973074734210968, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + -14.465501230963081, + 0.14211672792078653, + 0.11880506224378881 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.870643615722656, + 0.09318225085735321, + 0.07341040670871735 + ], + "box_pose": [ + -14.392330169677734, + 0.14033913612365723, + 0.1360379457473755, + 0.006577975116670132, + -0.0049363914877176285, + 0.9999504089355469, + -0.005605770740658045 + ], + "box_yaw_rad": -3.130315515861197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.949922240305892e-05 + } + }, + { + "simulation_time_ns": 2080000000, + "phase": "settle", + "intended_face_center": [ + -14.465531883051643, + 0.14120298582925206, + 0.11978374346008619 + ], + "intended_face_normal": [ + -0.9998566191264462, + -0.011275790009549688, + 0.012646371773021754 + ], + "commanded_contact_point": [ + -14.8616304397583, + 0.09761467576026917, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -14.46555402703759, + 0.14207364949443888, + 0.11880724989379156 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.866923332214355, + 0.09616634249687195, + 0.07569326460361481 + ], + "box_pose": [ + -14.392391204833984, + 0.14028982818126678, + 0.1360376626253128, + 0.006352177821099758, + -0.005116443615406752, + 0.9999510645866394, + -0.005605668760836124 + ], + "box_yaw_rad": -3.130315724665829, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003145759699544571 + } + }, + { + "simulation_time_ns": 2100000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465593795563485, + 0.14115386404370456, + 0.11974433566165417 + ], + "intended_face_normal": [ + -0.9998628340977067, + -0.011275298235849144, + 0.01211178245225461 + ], + "commanded_contact_point": [ + -14.861652374267578, + 0.09826508164405823, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + -14.465614979632859, + 0.14202448973643075, + 0.11880912057757628 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864287376403809, + 0.0991477370262146, + 0.07424686849117279 + ], + "box_pose": [ + -14.392461776733398, + 0.14023353159427643, + 0.13603663444519043, + 0.006086023058742285, + -0.005322767421603203, + 0.9999515414237976, + -0.005605526268482208 + ], + "box_yaw_rad": -3.130316286533914, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006507756421107579 + } + }, + { + "simulation_time_ns": 2120000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465665286040457, + 0.14109728301253133, + 0.11970125109327345 + ], + "intended_face_normal": [ + -0.9998701063398834, + -0.011273466822561687, + 0.011519085143875323 + ], + "commanded_contact_point": [ + -14.86161505891323, + 0.09927115878167925, + 0.050126861347098886 + ], + "centerline_face_intersection": [ + -14.465685346902912, + 0.1419677672921056, + 0.11881180131791655 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863286972045898, + 0.10200636088848114, + 0.0695638507604599 + ], + "box_pose": [ + -14.392542839050293, + 0.1401686668395996, + 0.13603606820106506, + 0.005790973547846079, + -0.00555833987891674, + 0.9999520778656006, + -0.005604813806712627 + ], + "box_yaw_rad": -3.1303181999604393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010147268791394063 + } + }, + { + "simulation_time_ns": 2140000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465747555074623, + 0.14103067770179015, + 0.11965125706216999 + ], + "intended_face_normal": [ + -0.9998778104214148, + -0.01128551310243751, + 0.010827994228630037 + ], + "commanded_contact_point": [ + -14.861366661520005, + 0.10068639370753166, + 0.05049891442108195 + ], + "centerline_face_intersection": [ + -14.465766426040945, + 0.14190209213864652, + 0.11881517008877508 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863551139831543, + 0.10352662205696106, + 0.06451225280761719 + ], + "box_pose": [ + -14.3926362991333, + 0.14009341597557068, + 0.13603563606739044, + 0.0054469904862344265, + -0.005833691917359829, + 0.9999524354934692, + -0.005611247383058071 + ], + "box_yaw_rad": -3.130306240603995, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014842555878869753 + } + }, + { + "simulation_time_ns": 2160000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465843119942665, + 0.14095568632005076, + 0.11959179699315982 + ], + "intended_face_normal": [ + -0.9998858395238144, + -0.011285142228264324, + 0.010021602428255746 + ], + "commanded_contact_point": [ + -14.860826419304608, + 0.10249880302288951, + 0.05110324623904883 + ], + "centerline_face_intersection": [ + -14.465860750823106, + 0.1418270721197414, + 0.11881797581576642 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.863971710205078, + 0.10285858809947968, + 0.060165777802467346 + ], + "box_pose": [ + -14.392745018005371, + 0.14000749588012695, + 0.1360340118408203, + 0.005045546684414148, + -0.006148829590529203, + 0.9999525547027588, + -0.00561181316152215 + ], + "box_yaw_rad": -3.1303067020956834, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019854234117437485 + } + }, + { + "simulation_time_ns": 2180000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465954650404454, + 0.14086998983893412, + 0.11952219960055857 + ], + "intended_face_normal": [ + -0.999895309205757, + -0.011274182307354642, + 0.009083629330565043 + ], + "commanded_contact_point": [ + -14.85968967453003, + 0.10454536732191179, + 0.05192696151899305 + ], + "centerline_face_intersection": [ + -14.465970818715917, + 0.1417405293648913, + 0.11882080431034384 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.864465713500977, + 0.10051210224628448, + 0.057088375091552734 + ], + "box_pose": [ + -14.392871856689453, + 0.13990838825702667, + 0.13603167235851288, + 0.004578555468469858, + -0.006513351108878851, + 0.9999526143074036, + -0.005607535131275654 + ], + "box_yaw_rad": -3.1303177686459014, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002481757638243132 + } + }, + { + "simulation_time_ns": 2200000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466082692030204, + 0.14077231844416574, + 0.1194409127328943 + ], + "intended_face_normal": [ + -0.9999047042404079, + -0.01124013208464717, + 0.007997888297334256 + ], + "commanded_contact_point": [ + -14.858175482302904, + 0.1064122426524468, + 0.052957254174181574 + ], + "centerline_face_intersection": [ + -14.466097409315466, + 0.14164022877148777, + 0.11882335327738702 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.865850448608398, + 0.10033263266086578, + 0.056656286120414734 + ], + "box_pose": [ + -14.393017768859863, + 0.13979369401931763, + 0.1360282152891159, + 0.004037912469357252, + -0.0069336057640612125, + 0.9999521374702454, + -0.0055923364125192165 + ], + "box_yaw_rad": -3.1303519237271558, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00261524464549337 + } + }, + { + "simulation_time_ns": 2220000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466228175534011, + 0.1406536239989344, + 0.11935013464350164 + ], + "intended_face_normal": [ + -0.9999135739290947, + -0.011247600794989994, + 0.006757621893048824 + ], + "commanded_contact_point": [ + -14.856570971956254, + 0.10778864984486686, + 0.05418132602069961 + ], + "centerline_face_intersection": [ + -14.466241522943209, + 0.1415221110250701, + 0.11882834274773506 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.867612838745117, + 0.10281282663345337, + 0.06042008101940155 + ], + "box_pose": [ + -14.393183708190918, + 0.13965827226638794, + 0.13602623343467712, + 0.003420594846829772, + -0.007433129474520683, + 0.9999507665634155, + -0.005598650313913822 + ], + "box_yaw_rad": -3.1303445550176128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002442806193150157 + } + }, + { + "simulation_time_ns": 2240000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466397707694432, + 0.1405201572481922, + 0.11924147110473196 + ], + "intended_face_normal": [ + -0.999922617978636, + -0.01124261256397991, + 0.005306151694517251 + ], + "commanded_contact_point": [ + -14.854690168972015, + 0.10881858592747745, + 0.05558614148795375 + ], + "centerline_face_intersection": [ + -14.466409658310972, + 0.1413882591065046, + 0.1188317549359781 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.868977546691895, + 0.10495519638061523, + 0.06657746434211731 + ], + "box_pose": [ + -14.393377304077148, + 0.13950495421886444, + 0.13602150976657867, + 0.002697995398193598, + -0.007996596395969391, + 0.9999486804008484, + -0.00560001889243722 + ], + "box_yaw_rad": -3.130349644731464, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025635316843803575 + } + }, + { + "simulation_time_ns": 2260000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466593912553739, + 0.14036522564674062, + 0.1191159023756535 + ], + "intended_face_normal": [ + -0.9999306739396048, + -0.011244313873184825, + 0.003631948372673669 + ], + "commanded_contact_point": [ + -14.852721682434083, + 0.10965780982829723, + 0.057158901894574954 + ], + "centerline_face_intersection": [ + -14.4666046189919, + 0.1412334588721773, + 0.11883546034194738 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.870844841003418, + 0.10761544108390808, + 0.07163839042186737 + ], + "box_pose": [ + -14.393601417541504, + 0.13932766020298004, + 0.13601575791835785, + 0.0018645534291863441, + -0.008646855130791664, + 0.9999452829360962, + -0.005606341175734997 + ], + "box_yaw_rad": -3.1303480340912824, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026557129555657695 + } + }, + { + "simulation_time_ns": 2280000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466820027985085, + 0.14018631241372667, + 0.11897271320699873 + ], + "intended_face_normal": [ + -0.9999351564278389, + -0.01124773086752436, + 0.001712387223278107 + ], + "commanded_contact_point": [ + -14.850697443912031, + 0.11048949236055486, + 0.058886861521996854 + ], + "centerline_face_intersection": [ + -14.466830042143332, + 0.14105480948345395, + 0.11884049069001539 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.87079906463623, + 0.11006985604763031, + 0.07785438001155853 + ], + "box_pose": [ + -14.39385986328125, + 0.13912300765514374, + 0.1360098272562027, + 0.0009090278181247413, + -0.009398594498634338, + 0.9999396204948425, + -0.005615660920739174 + ], + "box_yaw_rad": -3.13034466771044, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027883833851576442 + } + }, + { + "simulation_time_ns": 2300000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46707916680418, + 0.13998089811685094, + 0.11880700587900722 + ], + "intended_face_normal": [ + -0.9999363374661063, + -0.01125528508763101, + -0.0004953015099779861 + ], + "commanded_contact_point": [ + -14.848019319772721, + 0.11141769809359175, + 0.060757074200072175 + ], + "centerline_face_intersection": [ + -14.467088998562225, + 0.1408499784880551, + 0.11884525074058098 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.870304107666016, + 0.1116182878613472, + 0.08132196962833405 + ], + "box_pose": [ + -14.394156455993652, + 0.1388883888721466, + 0.13600187003612518, + -0.00018990374519489706, + -0.010259372182190418, + 0.9999314546585083, + -0.005629976745694876 + ], + "box_yaw_rad": -3.1303371272498075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033958224702758865 + } + }, + { + "simulation_time_ns": 2320000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467378887639153, + 0.13974964555270372, + 0.11861581742671796 + ], + "intended_face_normal": [ + -0.9999322573241431, + -0.011245799174881799, + -0.0030404778990114102 + ], + "commanded_contact_point": [ + -14.845199710007908, + 0.11246354776322132, + 0.06275672377833007 + ], + "centerline_face_intersection": [ + -14.467389349537486, + 0.1406179934661772, + 0.11885058888213093 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.870936393737793, + 0.10831647366285324, + 0.07940629124641418 + ], + "box_pose": [ + -14.394499778747559, + 0.13862290978431702, + 0.13599246740341187, + -0.0014570244820788503, + -0.01122947596013546, + 0.9999200105667114, + -0.005639712326228619 + ], + "box_yaw_rad": -3.1303465666810553, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003611453889103737 + } + }, + { + "simulation_time_ns": 2340000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467708718534086, + 0.13950598465198996, + 0.11840816787479355 + ], + "intended_face_normal": [ + -0.9999203670717003, + -0.011210679681189398, + -0.005853806354203998 + ], + "commanded_contact_point": [ + -14.842477893371582, + 0.11361194279999444, + 0.06487377131439935 + ], + "centerline_face_intersection": [ + -14.467721016786891, + 0.14037162080273358, + 0.11886017137001018 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.868383407592773, + 0.10234883427619934, + 0.07542172074317932 + ], + "box_pose": [ + -14.394878387451172, + 0.1383410543203354, + 0.13598571717739105, + -0.0028580159414559603, + -0.01226023305207491, + 0.9999049305915833, + -0.005640916060656309 + ], + "box_yaw_rad": -3.1303815508253163, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003634417041595864 + } + }, + { + "simulation_time_ns": 2360000000, + "phase": "base_approach", + "intended_face_center": [ + -14.468043740882342, + 0.13924070174243836, + 0.11820224059107792 + ], + "intended_face_normal": [ + -0.9998995294608313, + -0.011176370145062463, + -0.008719212472741362 + ], + "commanded_contact_point": [ + -14.839526814101934, + 0.11502156430715899, + 0.06709618760972269 + ], + "centerline_face_intersection": [ + -14.4680592573903, + 0.14010368867157977, + 0.11887549731922117 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.86192798614502, + 0.10095144063234329, + 0.0732228010892868 + ], + "box_pose": [ + -14.395263671875, + 0.13803447782993317, + 0.1359838992357254, + -0.0042845336720347404, + -0.013383207842707634, + 0.9998853206634521, + -0.0056461733765900135 + ], + "box_yaw_rad": -3.1304156258928204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003954116315806397 + } + }, + { + "simulation_time_ns": 2380000000, + "phase": "base_approach", + "intended_face_center": [ + -14.468174145113494, + 0.13909815192021857, + 0.11814208618026517 + ], + "intended_face_normal": [ + -0.9998894992304608, + -0.011174803650299794, + -0.00981790614079462 + ], + "commanded_contact_point": [ + -14.83608175192833, + 0.11683578677744016, + 0.06941263396302205 + ], + "centerline_face_intersection": [ + -14.468191210759645, + 0.13996101789197515, + 0.11890017888487966 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.856221199035645, + 0.10460711270570755, + 0.07211348414421082 + ], + "box_pose": [ + -14.395413398742676, + 0.1378713995218277, + 0.13600128889083862, + -0.004830518737435341, + -0.013975401408970356, + 0.9998747110366821, + -0.005655618850141764 + ], + "box_yaw_rad": -3.130417080253801, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004530538627954236 + } + }, + { + "simulation_time_ns": 2400000000, + "phase": "base_approach", + "intended_face_center": [ + -14.468164065121774, + 0.13909167154433683, + 0.1181543943014947 + ], + "intended_face_normal": [ + -0.9998900239491744, + -0.011171929610914757, + -0.009740985315058045 + ], + "commanded_contact_point": [ + -14.83205479130149, + 0.11880803129498693, + 0.07180245517726734 + ], + "centerline_face_intersection": [ + -14.46818104972635, + 0.1399543155962401, + 0.11890654754040361 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.851470947265625, + 0.11155439913272858, + 0.071647509932518 + ], + "box_pose": [ + -14.395401954650879, + 0.1378636658191681, + 0.1360078752040863, + -0.004791907034814358, + -0.014006076380610466, + 0.9998744130134583, + -0.0056537906639277935 + ], + "box_yaw_rad": -3.1304199601146045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005081083128937097 + } + }, + { + "simulation_time_ns": 2420000000, + "phase": "base_approach", + "intended_face_center": [ + -14.468128515613797, + 0.13910757693838458, + 0.1181815503931791 + ], + "intended_face_normal": [ + -0.9998933041011766, + -0.011181391390632511, + -0.009435965661810642 + ], + "commanded_contact_point": [ + -14.82770237487793, + 0.12057635740863845, + 0.07425640034488915 + ], + "centerline_face_intersection": [ + -14.468144993607552, + 0.1399709515845789, + 0.11891015144381335 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.845763206481934, + 0.11525264382362366, + 0.07123219966888428 + ], + "box_pose": [ + -14.395360946655273, + 0.13788266479969025, + 0.13601312041282654, + -0.004639729857444763, + -0.013936800882220268, + 0.9998762011528015, + -0.0056560589000582695 + ], + "box_yaw_rad": -3.1304105351564147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005300221962709408 + } + }, + { + "simulation_time_ns": 2440000000, + "phase": "base_approach", + "intended_face_center": [ + -14.468068632012518, + 0.13914655307199744, + 0.11822043859942233 + ], + "intended_face_normal": [ + -0.9998974579699542, + -0.01119288745302574, + -0.008938749760447976 + ], + "commanded_contact_point": [ + -14.823426509870291, + 0.12230698850253591, + 0.07676101267846605 + ], + "centerline_face_intersection": [ + -14.468084468454588, + 0.14001081539025823, + 0.11891064696815111 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.837739944458008, + 0.11501582711935043, + 0.07408584654331207 + ], + "box_pose": [ + -14.395292282104492, + 0.13792821764945984, + 0.13601650297641754, + -0.00439199386164546, + -0.013770855031907558, + 0.9998795390129089, + -0.00565760675817728 + ], + "box_yaw_rad": -3.1303990858040334, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005248922602612748 + } + }, + { + "simulation_time_ns": 2460000000, + "phase": "base_approach", + "intended_face_center": [ + -14.4679865080749, + 0.13920682678620072, + 0.11827257953836642 + ], + "intended_face_normal": [ + -0.9999030777386808, + -0.011211946371602624, + -0.008241866680731909 + ], + "commanded_contact_point": [ + -14.81909987133026, + 0.1238835898544515, + 0.07930355825152915 + ], + "centerline_face_intersection": [ + -14.468001476565991, + 0.14007256074484223, + 0.11890897786133536 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.832110404968262, + 0.11224200576543808, + 0.07803615927696228 + ], + "box_pose": [ + -14.395197868347168, + 0.13799870014190674, + 0.13601896166801453, + -0.004044884815812111, + -0.013515632599592209, + 0.9998844265937805, + -0.005661296658217907 + ], + "box_yaw_rad": -3.1303800903363275, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005260229165163981 + } + }, + { + "simulation_time_ns": 2480000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467879480697778, + 0.13928927874615032, + 0.11833885895764079 + ], + "intended_face_normal": [ + -0.9999104095251818, + -0.011227365197039107, + -0.007333443336252457 + ], + "commanded_contact_point": [ + -14.814688532373905, + 0.12540047348571698, + 0.08187074846565001 + ], + "centerline_face_intersection": [ + -14.467893316830873, + 0.14015620327423806, + 0.11890511308690126 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.827766418457031, + 0.11019515991210938, + 0.08353018760681152 + ], + "box_pose": [ + -14.395074844360352, + 0.13809435069561005, + 0.13602052628993988, + -0.003592572407796979, + -0.013166087679564953, + 0.999890923500061, + -0.005661600269377232 + ], + "box_yaw_rad": -3.130364754279192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005324595095792683 + } + }, + { + "simulation_time_ns": 2500000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467744126868986, + 0.13939380247549382, + 0.11842190390014759 + ], + "intended_face_normal": [ + -0.9999179563466145, + -0.011254983517865143, + -0.006186239856737191 + ], + "commanded_contact_point": [ + -14.8100732421875, + 0.12681045134755317, + 0.08444978668619237 + ], + "centerline_face_intersection": [ + -14.467756797441679, + 0.14026285956089385, + 0.11889957635261701 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.823994636535645, + 0.11097880452871323, + 0.08950093388557434 + ], + "box_pose": [ + -14.394919395446777, + 0.13821621239185333, + 0.13602182269096375, + -0.003021334297955036, + -0.012722503393888474, + 0.9998985528945923, + -0.005666505545377731 + ], + "box_yaw_rad": -3.1303372219174355, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0054717802604472695 + } + }, + { + "simulation_time_ns": 2520000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467586901864758, + 0.13951929184646422, + 0.1185165889209353 + ], + "intended_face_normal": [ + -0.9999247521301573, + -0.011281993976973834, + -0.004863443809358291 + ], + "commanded_contact_point": [ + -14.805486549922229, + 0.1280091602167244, + 0.0870273540284913 + ], + "centerline_face_intersection": [ + -14.467598522877786, + 0.1403904345529432, + 0.11889212126136554 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.820514678955078, + 0.11404862999916077, + 0.09394289553165436 + ], + "box_pose": [ + -14.394739151000977, + 0.13836193084716797, + 0.13602226972579956, + -0.002362798433750868, + -0.012193912640213966, + 0.9999068379402161, + -0.005670337006449699 + ], + "box_yaw_rad": -3.1303102893445645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005396156251760067 + } + }, + { + "simulation_time_ns": 2540000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467428781413686, + 0.13965073169649503, + 0.11861099831613793 + ], + "intended_face_normal": [ + -0.9999302147661353, + -0.011299205271598698, + -0.0035302232201441597 + ], + "commanded_contact_point": [ + -14.800989173955918, + 0.12898182031516026, + 0.0895908284728946 + ], + "centerline_face_intersection": [ + -14.467439558767229, + 0.1405232033784913, + 0.11888358561025882 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.817745208740234, + 0.11798153072595596, + 0.09558001160621643 + ], + "box_pose": [ + -14.39455795288086, + 0.13851363956928253, + 0.1360217183828354, + -0.0016992397140711546, + -0.011643427424132824, + 0.9999147653579712, + -0.005669870879501104 + ], + "box_yaw_rad": -3.130293140673517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005267244011487543 + } + }, + { + "simulation_time_ns": 2560000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467264963312706, + 0.1397896923229384, + 0.11871006924147319 + ], + "intended_face_normal": [ + -0.999933908948935, + -0.011297628324767016, + -0.002129840653180247 + ], + "commanded_contact_point": [ + -14.796525398002863, + 0.12984628398098141, + 0.09212753575819892 + ], + "centerline_face_intersection": [ + -14.467275170132515, + 0.14066204224049003, + 0.11887452555608984 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.814312934875488, + 0.12302085012197495, + 0.09628531336784363 + ], + "box_pose": [ + -14.394370079040527, + 0.13867270946502686, + 0.13602101802825928, + -0.0010024064686149359, + -0.011057944968342781, + 0.9999223351478577, + -0.005660338327288628 + ], + "box_yaw_rad": -3.1302947592649315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005206484134221995 + } + }, + { + "simulation_time_ns": 2580000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467087565652573, + 0.13993929172712521, + 0.11881720307766552 + ], + "intended_face_normal": [ + -0.9999359984232312, + -0.011297677090471915, + -0.0006243573710883318 + ], + "commanded_contact_point": [ + -14.792070612487795, + 0.1306568291755973, + 0.09462478528184351 + ], + "centerline_face_intersection": [ + -14.467097449772565, + 0.14081164541013608, + 0.11886541302806702 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.810258865356445, + 0.12742926180362701, + 0.09793153405189514 + ], + "box_pose": [ + -14.394166946411133, + 0.13884401321411133, + 0.13602082431316376, + -0.00025324863963760436, + -0.010429785586893559, + 0.9999296069145203, + -0.005651877727359533 + ], + "box_yaw_rad": -3.130294734108492, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005170914104984355 + } + }, + { + "simulation_time_ns": 2600000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466894353821566, + 0.1401068269266866, + 0.11893329385580242 + ], + "intended_face_normal": [ + -0.9999359823096252, + -0.011293468037093291, + 0.0010261786070275298 + ], + "commanded_contact_point": [ + -14.787676498293877, + 0.131379783465412, + 0.09706819747382876 + ], + "centerline_face_intersection": [ + -14.46690424043015, + 0.14097885560631956, + 0.1188540571525316 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.805489540100098, + 0.12900932133197784, + 0.10028176009654999 + ], + "box_pose": [ + -14.393945693969727, + 0.13903556764125824, + 0.13601922988891602, + 0.0005679929163306952, + -0.009725606068968773, + 0.9999366998672485, + -0.005641567055135965 + ], + "box_yaw_rad": -3.1302989427122276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005079484776460531 + } + }, + { + "simulation_time_ns": 2620000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466680074923644, + 0.1402947360712344, + 0.1190611811244843 + ], + "intended_face_normal": [ + -0.9999325217770538, + -0.011293771114611563, + 0.0028538651478385033 + ], + "commanded_contact_point": [ + -14.783417209043503, + 0.13207905156887284, + 0.09944490693349728 + ], + "centerline_face_intersection": [ + -14.466690495979588, + 0.14116678815309308, + 0.11884081903123303 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.80052375793457, + 0.1276872754096985, + 0.10260477662086487 + ], + "box_pose": [ + -14.39370059967041, + 0.1392507553100586, + 0.13601674139499664, + 0.0014773657312616706, + -0.00893667247146368, + 0.999943196773529, + -0.005634002853184938 + ], + "box_yaw_rad": -3.1302986005713476, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004927399786352636 + } + }, + { + "simulation_time_ns": 2640000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466436483867048, + 0.1405071654287432, + 0.11920760499937574 + ], + "intended_face_normal": [ + -0.9999240051209375, + -0.011298334105203544, + 0.004941157655827077 + ], + "commanded_contact_point": [ + -14.779346243263484, + 0.1328589709133051, + 0.10174215706834562 + ], + "centerline_face_intersection": [ + -14.466448220249902, + 0.1413795698433528, + 0.11882607195989515 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.796747207641602, + 0.12447859346866608, + 0.10402832925319672 + ], + "box_pose": [ + -14.39342212677002, + 0.13949450850486755, + 0.13601413369178772, + 0.002515966072678566, + -0.008039846085011959, + 0.9999486804008484, + -0.005629227962344885 + ], + "box_yaw_rad": -3.130293941629569, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004739028882372372 + } + }, + { + "simulation_time_ns": 2660000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466189173949092, + 0.1407012418412945, + 0.11936481929087808 + ], + "intended_face_normal": [ + -0.9999117117995169, + -0.011289214288438341, + 0.007049052048787458 + ], + "commanded_contact_point": [ + -14.775591976623534, + 0.13365817247520645, + 0.10395529380185653 + ], + "centerline_face_intersection": [ + -14.466202808953252, + 0.14157294206638976, + 0.1188205245241529 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.794039726257324, + 0.1218099445104599, + 0.10458555817604065 + ], + "box_pose": [ + -14.393139839172363, + 0.13971616327762604, + 0.13602039217948914, + 0.0035652858205139637, + -0.007223204709589481, + 0.9999518394470215, + -0.005619124975055456 + ], + "box_yaw_rad": -3.1303029221890517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004430712735170478 + } + }, + { + "simulation_time_ns": 2680000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465974834140685, + 0.1408671436824426, + 0.11949978719749663 + ], + "intended_face_normal": [ + -0.9998968186950823, + -0.01128325360900122, + 0.008863004270254297 + ], + "commanded_contact_point": [ + -14.771448296431304, + 0.13463615258016814, + 0.10606522200552025 + ], + "centerline_face_intersection": [ + -14.465990769316532, + 0.141738383651804, + 0.11881542754057052 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.79079818725586, + 0.12046638131141663, + 0.1036641001701355 + ], + "box_pose": [ + -14.392895698547363, + 0.13990576565265656, + 0.1360253393650055, + 0.004468338564038277, + -0.00652552442625165, + 0.9999529123306274, + -0.005612732842564583 + ], + "box_yaw_rad": -3.1303087145819677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004751665775893786 + } + }, + { + "simulation_time_ns": 2700000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465789708757782, + 0.1410102700323456, + 0.11961583201955986 + ], + "intended_face_normal": [ + -0.9998818081202845, + -0.011285721325134274, + 0.01043167661825703 + ], + "commanded_contact_point": [ + -14.766808046102524, + 0.13572516764745102, + 0.10805872909417401 + ], + "centerline_face_intersection": [ + -14.465807962282744, + 0.14188170054718283, + 0.11881034683485854 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.787827491760254, + 0.12130877375602722, + 0.10507242381572723 + ], + "box_pose": [ + -14.392684936523438, + 0.14006993174552917, + 0.13602887094020844, + 0.005249323323369026, + -0.005922599229961634, + 0.9999529123306274, + -0.005612035281956196 + ], + "box_yaw_rad": -3.130306077504393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005166425015716958 + } + }, + { + "simulation_time_ns": 2720000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46563153486892, + 0.1411353943264867, + 0.11971605981641179 + ], + "intended_face_normal": [ + -0.999866575211692, + -0.011278990408371966, + 0.011792687615421044 + ], + "commanded_contact_point": [ + -14.762356270095111, + 0.13683840338760261, + 0.10992312591990697 + ], + "centerline_face_intersection": [ + -14.46565214111753, + 0.14200630511147325, + 0.11880548374032752 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.784985542297363, + 0.12598861753940582, + 0.10843464732170105 + ], + "box_pose": [ + -14.392504692077637, + 0.140212744474411, + 0.13603143393993378, + 0.005926894024014473, + -0.005397182423621416, + 0.9999520778656006, + -0.005607775412499905 + ], + "box_yaw_rad": -3.130312636526602, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0049531382937616315 + } + }, + { + "simulation_time_ns": 2740000000, + "phase": "base_approach", + "intended_face_center": [ + -14.4654941702419, + 0.14124452447216393, + 0.11980230301413931 + ], + "intended_face_normal": [ + -0.9998526005318464, + -0.011271979937063562, + 0.01297019260090706 + ], + "commanded_contact_point": [ + -14.7582616015625, + 0.13793326134294223, + 0.11164552298656438 + ], + "centerline_face_intersection": [ + -14.465516934912182, + 0.14211489394140775, + 0.11880080552096847 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.78183650970459, + 0.12928423285484314, + 0.11286841332912445 + ], + "box_pose": [ + -14.392348289489746, + 0.14033716917037964, + 0.13603314757347107, + 0.006513101980090141, + -0.004940354730933905, + 0.9999509453773499, + -0.005604087840765715 + ], + "box_yaw_rad": -3.130319489495342, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004575114860804497 + } + }, + { + "simulation_time_ns": 2760000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465372470145352, + 0.14134016953775227, + 0.11987770140610805 + ], + "intended_face_normal": [ + -0.9998385567314796, + -0.011265773098164157, + 0.014003678086650618 + ], + "commanded_contact_point": [ + -14.754475211595297, + 0.13896464780584203, + 0.11321314286936943 + ], + "centerline_face_intersection": [ + -14.465397403943527, + 0.14221005974398204, + 0.11879640300673261 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.776552200317383, + 0.13105255365371704, + 0.117368683218956 + ], + "box_pose": [ + -14.392210006713867, + 0.1404462456703186, + 0.13603432476520538, + 0.007027619984000921, + -0.004539129324257374, + 0.9999493360519409, + -0.00560127105563879 + ], + "box_yaw_rad": -3.130325538217768, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0042258654872766805 + } + }, + { + "simulation_time_ns": 2780000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465264080768836, + 0.14142477974735054, + 0.11994463476440322 + ], + "intended_face_normal": [ + -0.9998252440481119, + -0.011258622058477049, + 0.014919659915389648 + ], + "commanded_contact_point": [ + -14.750815125236512, + 0.13989575879653474, + 0.11461345829594043 + ], + "centerline_face_intersection": [ + -14.465291070798742, + 0.1422941177838061, + 0.11879260854058452 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.77027702331543, + 0.13361619412899017, + 0.12120883166790009 + ], + "box_pose": [ + -14.39208698272705, + 0.14054255187511444, + 0.13603544235229492, + 0.0074836574494838715, + -0.004186101723462343, + 0.9999475479125977, + -0.005598277319222689 + ], + "box_yaw_rad": -3.1303325395909227, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0040279129986440345 + } + }, + { + "simulation_time_ns": 2800000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465179042699083, + 0.141492216962572, + 0.11999722861787387 + ], + "intended_face_normal": [ + -0.9998147451255488, + -0.011255581334006157, + 0.01562669170348706 + ], + "commanded_contact_point": [ + -14.747373317927122, + 0.1407003687229036, + 0.11583476067577621 + ], + "centerline_face_intersection": [ + -14.465207654376123, + 0.142361320208533, + 0.11879060871259187 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.763265609741211, + 0.13739418983459473, + 0.12450961768627167 + ], + "box_pose": [ + -14.391990661621094, + 0.14061947166919708, + 0.13603724539279938, + 0.00783563032746315, + -0.0039056446403265, + 0.9999460577964783, + -0.005597489420324564 + ], + "box_yaw_rad": -3.1303354622623387, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003739654287707814 + } + }, + { + "simulation_time_ns": 2820000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465174025066716, + 0.14149585424325922, + 0.12000044335669556 + ], + "intended_face_normal": [ + -0.999814254113558, + -0.01125502661709363, + 0.015670142755496764 + ], + "commanded_contact_point": [ + -14.744214736785889, + 0.14131253818527362, + 0.11686433527144025 + ], + "centerline_face_intersection": [ + -14.465202712585116, + 0.14236491465657972, + 0.11879046836479283 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.755699157714844, + 0.14187824726104736, + 0.12712939083576202 + ], + "box_pose": [ + -14.391984939575195, + 0.14062362909317017, + 0.13603733479976654, + 0.007857265882194042, + -0.0038894417230039835, + 0.9999459981918335, + -0.005597255192697048 + ], + "box_yaw_rad": -3.130336011484028, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003378077874243423 + } + }, + { + "simulation_time_ns": 2840000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465174775070148, + 0.14149424088048657, + 0.11999928945907194 + ], + "intended_face_normal": [ + -0.9998143563348258, + -0.011254920623417736, + 0.015657737984903962 + ], + "commanded_contact_point": [ + -14.741370641369821, + 0.14178199413963505, + 0.11768747832419346 + ], + "centerline_face_intersection": [ + -14.46520344679952, + 0.14236329310947207, + 0.11879027230542454 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.749429702758789, + 0.14567573368549347, + 0.12828786671161652 + ], + "box_pose": [ + -14.391985893249512, + 0.14062178134918213, + 0.13603706657886505, + 0.007851099595427513, + -0.003896006615832448, + 0.9999459981918335, + -0.005597174633294344 + ], + "box_yaw_rad": -3.130336118634737, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002997804549012126 + } + }, + { + "simulation_time_ns": 2860000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465178239849159, + 0.14149062705927157, + 0.11999778045435282 + ], + "intended_face_normal": [ + -0.9998145874656093, + -0.011255692765733127, + 0.015636027642683265 + ], + "commanded_contact_point": [ + -14.738834049491883, + 0.14210879776565394, + 0.11829170920544455 + ], + "centerline_face_intersection": [ + -14.465206875878238, + 0.14235973890946835, + 0.11879043967159511 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.744863510131836, + 0.14733344316482544, + 0.12733907997608185 + ], + "box_pose": [ + -14.391989707946777, + 0.1406177133321762, + 0.13603709638118744, + 0.00784032791852951, + -0.003910809755325317, + 0.9999459981918335, + -0.00559748662635684 + ], + "box_yaw_rad": -3.130335349049083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002627963835949213 + } + }, + { + "simulation_time_ns": 2880000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465184147461397, + 0.14148401710728836, + 0.11999471616192021 + ], + "intended_face_normal": [ + -0.9998154752089339, + -0.01125779239020111, + 0.015586839071613429 + ], + "commanded_contact_point": [ + -14.736539868698122, + 0.14229278815573124, + 0.11866433975850131 + ], + "centerline_face_intersection": [ + -14.46521264637035, + 0.14235329108064754, + 0.11879117349011853 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.742402076721191, + 0.14542847871780396, + 0.12465451657772064 + ], + "box_pose": [ + -14.391996383666992, + 0.14061035215854645, + 0.13603754341602325, + 0.007815881632268429, + -0.003936991095542908, + 0.999946117401123, + -0.0055984267964959145 + ], + "box_yaw_rad": -3.1303332592978736, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023315169969733178 + } + }, + { + "simulation_time_ns": 2900000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465192605431538, + 0.141476420522429, + 0.11998994761865597 + ], + "intended_face_normal": [ + -0.9998164417450455, + -0.011256906393447112, + 0.015519435694673813 + ], + "commanded_contact_point": [ + -14.73457691192627, + 0.1423456260832707, + 0.11879160951976335 + ], + "centerline_face_intersection": [ + -14.465220955050233, + 0.1423456260832707, + 0.11879160951976335 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.742344856262207, + 0.14286071062088013, + 0.1217566728591919 + ], + "box_pose": [ + -14.392005920410156, + 0.14060162007808685, + 0.13603760302066803, + 0.007782348431646824, + -0.0039679668843746185, + 0.9999462366104126, + -0.00559787405654788 + ], + "box_yaw_rad": -3.130334156228651, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019677877748571016 + } + }, + { + "simulation_time_ns": 2920000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465202664316893, + 0.14146788014692072, + 0.11998322227492844 + ], + "intended_face_normal": [ + -0.9998174981041044, + -0.011259248272360411, + 0.015433391613554878 + ], + "commanded_contact_point": [ + -14.732595176696778, + 0.14233726653667786, + 0.11879152809676966 + ], + "centerline_face_intersection": [ + -14.46523085077153, + 0.14233726653667786, + 0.11879152809676966 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.743765830993652, + 0.14179399609565735, + 0.12159757316112518 + ], + "box_pose": [ + -14.392017364501953, + 0.14059199392795563, + 0.13603705167770386, + 0.007739530876278877, + -0.004004314541816711, + 0.9999463558197021, + -0.005598932970315218 + ], + "box_yaw_rad": -3.1303318261133883, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001981752862609108 + } + }, + { + "simulation_time_ns": 2940000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465212700134925, + 0.14145840445436653, + 0.11997698691178674 + ], + "intended_face_normal": [ + -0.999818616573666, + -0.011258914977364391, + 0.01534593604790133 + ], + "commanded_contact_point": [ + -14.730382652282715, + 0.14232776510864592, + 0.11879204564258318 + ], + "centerline_face_intersection": [ + -14.465240713832172, + 0.14232776510864592, + 0.11879204564258318 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.743768692016602, + 0.14128810167312622, + 0.12425139546394348 + ], + "box_pose": [ + -14.39202880859375, + 0.14058111608028412, + 0.13603708148002625, + 0.007696021813899279, + -0.004044176544994116, + 0.9999464750289917, + -0.005598633084446192 + ], + "box_yaw_rad": -3.1303321720226935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022125448758863455 + } + }, + { + "simulation_time_ns": 2960000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46522356590675, + 0.14144633673929438, + 0.11997029452952587 + ], + "intended_face_normal": [ + -0.9998200380248616, + -0.01126985075834721, + 0.015248807120961591 + ], + "commanded_contact_point": [ + -14.728201599121094, + 0.14231654180333522, + 0.11879285310090584 + ], + "centerline_face_intersection": [ + -14.465251360048725, + 0.14231654180333522, + 0.11879285310090584 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.74139404296875, + 0.14181368052959442, + 0.12880808115005493 + ], + "box_pose": [ + -14.392041206359863, + 0.140568345785141, + 0.13603734970092773, + 0.0076477183029055595, + -0.0040876008570194244, + 0.999946653842926, + -0.0056039635092020035 + ], + "box_yaw_rad": -3.130321251669259, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002181082187444666 + } + }, + { + "simulation_time_ns": 2980000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465240322287967, + 0.14143240557634898, + 0.11995969285554636 + ], + "intended_face_normal": [ + -0.9998219715526071, + -0.011271281291040599, + 0.015104432677032709 + ], + "commanded_contact_point": [ + -14.726024360656739, + 0.1423027210994208, + 0.1187933993449351 + ], + "centerline_face_intersection": [ + -14.465267817780575, + 0.1423027210994208, + 0.1187933993449351 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.737610816955566, + 0.14289182424545288, + 0.13602189719676971 + ], + "box_pose": [ + -14.392060279846191, + 0.14055246114730835, + 0.13603711128234863, + 0.007575861178338528, + -0.004147099331021309, + 0.9999468922615051, + -0.0056045204401016235 + ], + "box_yaw_rad": -3.130319842859236, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002177282398061443 + } + }, + { + "simulation_time_ns": 3000000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465259907556357, + 0.14141832674092555, + 0.11994874204034806 + ], + "intended_face_normal": [ + -0.9998248752547003, + -0.011264626676254042, + 0.014954866649249238 + ], + "commanded_contact_point": [ + -14.723540992736817, + 0.14228812842582766, + 0.11879399731752258 + ], + "centerline_face_intersection": [ + -14.465286954549226, + 0.14228812842582766, + 0.11879399731752258 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.733939170837402, + 0.1436074674129486, + 0.14041098952293396 + ], + "box_pose": [ + -14.392082214355469, + 0.14053583145141602, + 0.13603690266609192, + 0.0075013902969658375, + -0.004206739831715822, + 0.9999473690986633, + -0.005601051729172468 + ], + "box_yaw_rad": -3.1303265305302066, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024834108660048405 + } + }, + { + "simulation_time_ns": 3020000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465279980703773, + 0.14139987363999376, + 0.11993613722939361 + ], + "intended_face_normal": [ + -0.999827606345437, + -0.011269758086735908, + 0.014777415758275752 + ], + "commanded_contact_point": [ + -14.721035690307618, + 0.14227007154836704, + 0.11879509443281852 + ], + "centerline_face_intersection": [ + -14.465306605859283, + 0.14227007154836704, + 0.11879509443281852 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.73235034942627, + 0.13975246250629425, + 0.13648086786270142 + ], + "box_pose": [ + -14.392105102539062, + 0.14051510393619537, + 0.13603702187538147, + 0.007413096725940704, + -0.0042833383195102215, + 0.999947726726532, + -0.005603419151157141 + ], + "box_yaw_rad": -3.13032142965814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025053677407193354 + } + }, + { + "simulation_time_ns": 3040000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465305955503894, + 0.14137868489115676, + 0.11992012907321277 + ], + "intended_face_normal": [ + -0.9998303481675004, + -0.011270116066097437, + 0.014555078244540984 + ], + "commanded_contact_point": [ + -14.718594284057618, + 0.1422489104410188, + 0.118796254137555 + ], + "centerline_face_intersection": [ + -14.465332157165667, + 0.1422489104410188, + 0.118796254137555 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.730840682983398, + 0.13342778384685516, + 0.12947694957256317 + ], + "box_pose": [ + -14.392134666442871, + 0.1404908448457718, + 0.1360369771718979, + 0.007302421610802412, + -0.004372857511043549, + 0.9999480247497559, + -0.005603416822850704 + ], + "box_yaw_rad": -3.130321102569838, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024414982316025425 + } + }, + { + "simulation_time_ns": 3060000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465335506397356, + 0.14135388539952634, + 0.11990329880127587 + ], + "intended_face_normal": [ + -0.9998340431718098, + -0.011273957257115778, + 0.014314224631438211 + ], + "commanded_contact_point": [ + -14.7159135055542, + 0.14222440754815868, + 0.11879802145296053 + ], + "centerline_face_intersection": [ + -14.465361137341517, + 0.14222440754815868, + 0.11879802145296053 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.727883338928223, + 0.13055828213691711, + 0.1266464740037918 + ], + "box_pose": [ + -14.392168045043945, + 0.14046283066272736, + 0.1360374242067337, + 0.007182558998465538, + -0.0044738976284861565, + 0.9999485015869141, + -0.0056051332503557205 + ], + "box_yaw_rad": -3.1303173028812945, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002680891064469077 + } + }, + { + "simulation_time_ns": 3080000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465370920150361, + 0.14132629539287078, + 0.11988200305981883 + ], + "intended_face_normal": [ + -0.999838016562103, + -0.011276458067789543, + 0.014024740854420487 + ], + "commanded_contact_point": [ + -14.712927551269532, + 0.14219701064238432, + 0.1187990782922182 + ], + "centerline_face_intersection": [ + -14.465395937380725, + 0.14219701064238432, + 0.1187990782922182 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.724455833435059, + 0.1321042776107788, + 0.1254175454378128 + ], + "box_pose": [ + -14.392208099365234, + 0.1404314786195755, + 0.1360369175672531, + 0.007038450334221125, + -0.00458790035918355, + 0.9999489784240723, + -0.005606223363429308 + ], + "box_yaw_rad": -3.130314846788338, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029860801559037603 + } + }, + { + "simulation_time_ns": 3100000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465410494440777, + 0.14129503016251624, + 0.11985842052430783 + ], + "intended_face_normal": [ + -0.9998423528935672, + -0.011275882343734429, + 0.013698302156466733 + ], + "commanded_contact_point": [ + -14.709665031433106, + 0.14216570095731612, + 0.11880070182324252 + ], + "centerline_face_intersection": [ + -14.465434841901702, + 0.14216570095731612, + 0.11880070182324252 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.721465110778809, + 0.13650795817375183, + 0.12433074414730072 + ], + "box_pose": [ + -14.392252922058105, + 0.1403956562280655, + 0.13603676855564117, + 0.00687594898045063, + -0.0047184075228869915, + 0.9999494552612305, + -0.005605780985206366 + ], + "box_yaw_rad": -3.1303154714378105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032626704729873906 + } + }, + { + "simulation_time_ns": 3120000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465456836643401, + 0.14125855582621316, + 0.119830533181025 + ], + "intended_face_normal": [ + -0.9998481152791685, + -0.011277138267759298, + 0.013315048136571028 + ], + "commanded_contact_point": [ + -14.706330032348633, + 0.1421293235975809, + 0.11880240755941376 + ], + "centerline_face_intersection": [ + -14.465480294077745, + 0.1421293235975809, + 0.11880240755941376 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.718077659606934, + 0.13754084706306458, + 0.12179985642433167 + ], + "box_pose": [ + -14.392305374145508, + 0.14035403728485107, + 0.13603639602661133, + 0.006685158237814903, + -0.004869714844971895, + 0.9999501705169678, + -0.005606293678283691 + ], + "box_yaw_rad": -3.13031428047059, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033351979124589667 + } + }, + { + "simulation_time_ns": 3140000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465508861057874, + 0.14121661639029912, + 0.11979864048755715 + ], + "intended_face_normal": [ + -0.9998535242299822, + -0.011278037568306353, + 0.01287496679087741 + ], + "commanded_contact_point": [ + -14.703502388000489, + 0.14208745360144087, + 0.1188044958852002 + ], + "centerline_face_intersection": [ + -14.465531483059907, + 0.14208745360144087, + 0.1188044958852002 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.712084770202637, + 0.13566987216472626, + 0.12082991003990173 + ], + "box_pose": [ + -14.392364501953125, + 0.14030605554580688, + 0.13603608310222626, + 0.006466095335781574, + -0.005046282894909382, + 0.999950647354126, + -0.00560666574165225 + ], + "box_yaw_rad": -3.130313442160639, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002827955094635533 + } + }, + { + "simulation_time_ns": 3160000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465568443328042, + 0.14116871004348452, + 0.11976189444225656 + ], + "intended_face_normal": [ + -0.9998600253082321, + -0.011279734529812546, + 0.012369983902008339 + ], + "commanded_contact_point": [ + -14.700703353881837, + 0.14203967828604167, + 0.11880674225218354 + ], + "centerline_face_intersection": [ + -14.465590061220658, + 0.14203967828604167, + 0.11880674225218354 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.706625938415527, + 0.13313710689544678, + 0.12342579662799835 + ], + "box_pose": [ + -14.39243221282959, + 0.14025135338306427, + 0.13603557646274567, + 0.006214713677763939, + -0.005246282089501619, + 0.9999512434005737, + -0.005607536528259516 + ], + "box_yaw_rad": -3.1303118185085888, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027994427167395337 + } + }, + { + "simulation_time_ns": 3180000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465636334950487, + 0.14111575478543095, + 0.11971940089692057 + ], + "intended_face_normal": [ + -0.9998672514347233, + -0.011272850448072556, + 0.011790776895979418 + ], + "commanded_contact_point": [ + -14.697727890014649, + 0.14198619147145558, + 0.11880897235763778 + ], + "centerline_face_intersection": [ + -14.465656836755649, + 0.14198619147145558, + 0.11880897235763778 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.703649520874023, + 0.13116639852523804, + 0.12753508985042572 + ], + "box_pose": [ + -14.392509460449219, + 0.14019007980823517, + 0.13603465259075165, + 0.005926341284066439, + -0.005472157150506973, + 0.9999518394470215, + -0.005604265257716179 + ], + "box_yaw_rad": -3.130318784149368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029759454023290306 + } + }, + { + "simulation_time_ns": 3200000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465715112120392, + 0.1410547213086818, + 0.11966945889066899 + ], + "intended_face_normal": [ + -0.9998749125787907, + -0.011266790783350054, + 0.011120921851489718 + ], + "commanded_contact_point": [ + -14.694593162536622, + 0.14192469009579267, + 0.11881075341892164 + ], + "centerline_face_intersection": [ + -14.465734430657712, + 0.14192469009579267, + 0.11881075341892164 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.701529502868652, + 0.13051635026931763, + 0.1302042454481125 + ], + "box_pose": [ + -14.392599105834961, + 0.14011971652507782, + 0.13603278994560242, + 0.005592819303274155, + -0.005729000549763441, + 0.9999523162841797, + -0.0056016212329268456 + ], + "box_yaw_rad": -3.130324930176575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003135331234955471 + } + }, + { + "simulation_time_ns": 3220000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465805535738307, + 0.14098231632154104, + 0.11961240457127471 + ], + "intended_face_normal": [ + -0.9998831814493307, + -0.011271007490137076, + 0.01034719433409114 + ], + "commanded_contact_point": [ + -14.691638679504395, + 0.14185261070299016, + 0.11881344271266522 + ], + "centerline_face_intersection": [ + -14.465823577154275, + 0.14185261070299016, + 0.11881344271266522 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.699356079101562, + 0.13115733861923218, + 0.13105376064777374 + ], + "box_pose": [ + -14.392702102661133, + 0.14003720879554749, + 0.13603124022483826, + 0.005207637790590525, + -0.006029914133250713, + 0.9999526143074036, + -0.005604367703199387 + ], + "box_yaw_rad": -3.130320806687077, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002955363371716291 + } + }, + { + "simulation_time_ns": 3240000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46591196401206, + 0.14089995937580008, + 0.11954625741139528 + ], + "intended_face_normal": [ + -0.9998918815646027, + -0.011252758123735296, + 0.009449680496881245 + ], + "commanded_contact_point": [ + -14.688998908996583, + 0.14176884462669379, + 0.11881659736546579 + ], + "centerline_face_intersection": [ + -14.465928661712631, + 0.14176884462669379, + 0.11881659736546579 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.697171211242676, + 0.1321370154619217, + 0.12954777479171753 + ], + "box_pose": [ + -14.392823219299316, + 0.13994139432907104, + 0.136029452085495, + 0.004760772455483675, + -0.00638043275102973, + 0.9999526143074036, + -0.005596268456429243 + ], + "box_yaw_rad": -3.1303391537804246, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002641101103950594 + } + }, + { + "simulation_time_ns": 3260000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466036010872939, + 0.14080550965768363, + 0.11946878022155061 + ], + "intended_face_normal": [ + -0.9999017820422702, + -0.011234287193465696, + 0.00840563873166528 + ], + "commanded_contact_point": [ + -14.686407775878907, + 0.14167296866989834, + 0.11881973618825893 + ], + "centerline_face_intersection": [ + -14.466051179478765, + 0.14167296866989834, + 0.11881973618825893 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.693583488464355, + 0.1346566081047058, + 0.12728150188922882 + ], + "box_pose": [ + -14.392964363098145, + 0.13983164727687836, + 0.13602682948112488, + 0.004240932408720255, + -0.006783640012145042, + 0.9999524354934692, + -0.005588640458881855 + ], + "box_yaw_rad": -3.1303577356061805, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025929081905875844 + } + }, + { + "simulation_time_ns": 3280000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466174712542964, + 0.1406927820016368, + 0.11938180059482081 + ], + "intended_face_normal": [ + -0.9999110392374801, + -0.011229997084154692, + 0.007214953002803842 + ], + "commanded_contact_point": [ + -14.683769912719727, + 0.14155990975171434, + 0.11882469573385304 + ], + "centerline_face_intersection": [ + -14.466188451420509, + 0.14155990975171434, + 0.11882469573385304 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.690169334411621, + 0.13845986127853394, + 0.12651528418064117 + ], + "box_pose": [ + -14.393122673034668, + 0.1397022157907486, + 0.13602513074874878, + 0.0036482149735093117, + -0.007257604971528053, + 0.9999514222145081, + -0.005588792730122805 + ], + "box_yaw_rad": -3.130362129560186, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026402895603760733 + } + }, + { + "simulation_time_ns": 3300000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466334324403377, + 0.1405636680273066, + 0.11928208176305678 + ], + "intended_face_normal": [ + -0.9999197386558436, + -0.011235077300773994, + 0.005853207056495211 + ], + "commanded_contact_point": [ + -14.681190223693848, + 0.14143118804790514, + 0.11883012454280087 + ], + "centerline_face_intersection": [ + -14.466346719710595, + 0.14143118804790514, + 0.11883012454280087 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.688157081604004, + 0.14118435978889465, + 0.12599985301494598 + ], + "box_pose": [ + -14.393304824829102, + 0.1395547240972519, + 0.1360228955745697, + 0.002970390720292926, + -0.007799810729920864, + 0.9999495148658752, + -0.005594652611762285 + ], + "box_yaw_rad": -3.1303571472754865, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002582904221847608 + } + }, + { + "simulation_time_ns": 3320000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466519651450751, + 0.14041591748535165, + 0.11916421103589707 + ], + "intended_face_normal": [ + -0.999927689387756, + -0.011238939617601548, + 0.0042685731865083325 + ], + "commanded_contact_point": [ + -14.678792686462403, + 0.14128373573595643, + 0.11883461181734688 + ], + "centerline_face_intersection": [ + -14.466530818827772, + 0.14128373573595643, + 0.11883461181734688 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.686294555664062, + 0.14076781272888184, + 0.1261185109615326 + ], + "box_pose": [ + -14.393516540527344, + 0.13938581943511963, + 0.13601844012737274, + 0.002181565621867776, + -0.008419725112617016, + 0.9999464750289917, + -0.005601401440799236 + ], + "box_yaw_rad": -3.1303533744965333, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024020714177764003 + } + }, + { + "simulation_time_ns": 3340000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466735836974738, + 0.14024541541670854, + 0.11902655213837078 + ], + "intended_face_normal": [ + -0.9999337555848011, + -0.011247211226332997, + 0.0024309689669672428 + ], + "commanded_contact_point": [ + -14.67653533935547, + 0.14111387236217807, + 0.11883884410647744 + ], + "centerline_face_intersection": [ + -14.466746067480235, + 0.14111387236217807, + 0.11883884410647744 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.684731483459473, + 0.13683949410915375, + 0.1256437748670578 + ], + "box_pose": [ + -14.393763542175293, + 0.1391911655664444, + 0.1360122263431549, + 0.0012668311828747392, + -0.009135703556239605, + 0.9999417066574097, + -0.005612359382212162 + ], + "box_yaw_rad": -3.130345171563937, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022637330759619424 + } + }, + { + "simulation_time_ns": 3360000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466981649343364, + 0.14004924412374328, + 0.11886873606406034 + ], + "intended_face_normal": [ + -0.9999365648512522, + -0.011252199551471399, + 0.00033037687030610004 + ], + "commanded_contact_point": [ + -14.674608917236329, + 0.1409180862443043, + 0.11884322591031057 + ], + "centerline_face_intersection": [ + -14.466991445983947, + 0.1409180862443043, + 0.11884322591031057 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.683582305908203, + 0.13269411027431488, + 0.12446770071983337 + ], + "box_pose": [ + -14.394044876098633, + 0.13896691799163818, + 0.13600453734397888, + 0.0002212116523878649, + -0.009958410635590553, + 0.9999345541000366, + -0.005624264944344759 + ], + "box_yaw_rad": -3.130340215150199, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019363505842876622 + } + }, + { + "simulation_time_ns": 3380000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467264532984187, + 0.13982502018314907, + 0.11868522305337119 + ], + "intended_face_normal": [ + -0.9999340917381094, + -0.01125133239378276, + -0.0020912282953933856 + ], + "commanded_contact_point": [ + -14.672365875244141, + 0.14069379534585694, + 0.11884669790266048 + ], + "centerline_face_intersection": [ + -14.467274711573886, + 0.14069379534585694, + 0.11884669790266048 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.682246208190918, + 0.13028965890407562, + 0.12204334139823914 + ], + "box_pose": [ + -14.394369125366211, + 0.1387101113796234, + 0.13599397242069244, + -0.000984251732006669, + -0.01089924480766058, + 0.9999241232872009, + -0.005636821500957012 + ], + "box_yaw_rad": -3.130341054427214, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002254230653809337 + } + }, + { + "simulation_time_ns": 3400000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467586324499308, + 0.13958428909141138, + 0.11848341999819849 + ], + "intended_face_normal": [ + -0.9999250421720971, + -0.011236605939127106, + -0.004830756455662897 + ], + "commanded_contact_point": [ + -14.669522018432618, + 0.14045192714630023, + 0.1188564283743522 + ], + "centerline_face_intersection": [ + -14.467597900717612, + 0.14045192714630023, + 0.1188564283743522 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.681051254272461, + 0.1303260624408722, + 0.12214554846286774 + ], + "box_pose": [ + -14.39473819732666, + 0.13843342661857605, + 0.13598784804344177, + -0.002348346170037985, + -0.01190814096480608, + 0.9999103546142578, + -0.005646773613989353 + ], + "box_yaw_rad": -3.1303556783026845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002854140233500169 + } + }, + { + "simulation_time_ns": 3420000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467930183856925, + 0.13933140493199817, + 0.11826677705846725 + ], + "intended_face_normal": [ + -0.9999073287063323, + -0.011204598352459677, + -0.0077487321088916695 + ], + "commanded_contact_point": [ + -14.666641921997071, + 0.14019657151103493, + 0.11886509784067095 + ], + "centerline_face_intersection": [ + -14.467944495806172, + 0.14019657151103493, + 0.11886509784067095 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.679271697998047, + 0.13365109264850616, + 0.12413899600505829 + ], + "box_pose": [ + -14.395133018493652, + 0.13814133405685425, + 0.13597944378852844, + -0.003801436861976981, + -0.012974928133189678, + 0.9998926520347595, + -0.005652229301631451 + ], + "box_yaw_rad": -3.130387485777912, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028914074666428133 + } + }, + { + "simulation_time_ns": 3440000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46818046322463, + 0.13908893123768673, + 0.11813299841324187 + ], + "intended_face_normal": [ + -0.9998883685492299, + -0.01119202485061541, + -0.00989197701796574 + ], + "commanded_contact_point": [ + -14.664077491760255, + 0.1399531269498316, + 0.11889681052388883 + ], + "centerline_face_intersection": [ + -14.46819770350199, + 0.1399531269498316, + 0.11889681052388883 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.677701950073242, + 0.13548777997493744, + 0.12680187821388245 + ], + "box_pose": [ + -14.395421028137207, + 0.1378629505634308, + 0.13599753379821777, + -0.004867353942245245, + -0.013989283703267574, + 0.9998742341995239, + -0.0056648156605660915 + ], + "box_yaw_rad": -3.1303998466487597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025761547678962537 + } + }, + { + "simulation_time_ns": 3460000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46817391881301, + 0.13907973216716085, + 0.1181445677696607 + ], + "intended_face_normal": [ + -0.9998891079663625, + -0.01119060778618576, + -0.009832623988426117 + ], + "commanded_contact_point": [ + -14.661806793212891, + 0.13994381846023096, + 0.11890379691750017 + ], + "centerline_face_intersection": [ + -14.46819104488901, + 0.13994381846023096, + 0.11890379691750017 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.675180435180664, + 0.13530832529067993, + 0.12885400652885437 + ], + "box_pose": [ + -14.395413398742676, + 0.13785232603549957, + 0.13600462675094604, + -0.004837469197809696, + -0.014028005301952362, + 0.9998738765716553, + -0.005663878284394741 + ], + "box_yaw_rad": -3.1304012719692103, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002270728374480764 + } + }, + { + "simulation_time_ns": 3480000000, + "phase": "base_approach", + "intended_face_center": [ + -14.468144047073729, + 0.1390903809928432, + 0.11816863676054541 + ], + "intended_face_normal": [ + -0.9998912933036561, + -0.011198714644193142, + -0.009581563180255772 + ], + "commanded_contact_point": [ + -14.659436912536622, + 0.1399550932594992, + 0.11890848016927114 + ], + "centerline_face_intersection": [ + -14.468160835629657, + 0.1399550932594992, + 0.11890848016927114 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.671634674072266, + 0.13550178706645966, + 0.12955477833747864 + ], + "box_pose": [ + -14.395379066467285, + 0.13786517083644867, + 0.13601061701774597, + -0.004712149500846863, + -0.013981906697154045, + 0.9998750686645508, + -0.005665950011461973 + ], + "box_yaw_rad": -3.1303931897035566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002369912123624296 + } + }, + { + "simulation_time_ns": 3500000000, + "phase": "base_approach", + "intended_face_center": [ + -14.468090969031634, + 0.13912464669714994, + 0.11820478098944043 + ], + "intended_face_normal": [ + -0.9998957844504441, + -0.011196597657766158, + -0.009132788075572867 + ], + "commanded_contact_point": [ + -14.65704891204834, + 0.1399891955000344, + 0.11890997208758243 + ], + "centerline_face_intersection": [ + -14.468107063943094, + 0.1399891955000344, + 0.11890997208758243 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.666509628295898, + 0.13766679167747498, + 0.13059155642986298 + ], + "box_pose": [ + -14.395318031311035, + 0.13790419697761536, + 0.1360146850347519, + -0.0044885920360684395, + -0.013839839957654476, + 0.9998781681060791, + -0.0056611099280416965 + ], + "box_yaw_rad": -3.1303953569446086, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023882444432388526 + } + }, + { + "simulation_time_ns": 3520000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46801460550471, + 0.13917935887426547, + 0.11825377039537813 + ], + "intended_face_normal": [ + -0.9999013113235833, + -0.011204440949425569, + -0.008488177362726867 + ], + "commanded_contact_point": [ + -14.654770584106446, + 0.14004451329937753, + 0.11890918767497705 + ], + "centerline_face_intersection": [ + -14.468029846811078, + 0.14004451329937753, + 0.11890918767497705 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.660158157348633, + 0.14126397669315338, + 0.13163696229457855 + ], + "box_pose": [ + -14.395230293273926, + 0.13796740770339966, + 0.13601769506931305, + -0.004167547449469566, + -0.01361050270497799, + 0.999882698059082, + -0.005659606773406267 + ], + "box_yaw_rad": -3.130387575749923, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022789995359904468 + } + }, + { + "simulation_time_ns": 3540000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467914098907169, + 0.13925555364201056, + 0.11831639660216958 + ], + "intended_face_normal": [ + -0.999907912244927, + -0.01121583969035241, + -0.0076415000345283444 + ], + "commanded_contact_point": [ + -14.652626724243165, + 0.14012158822448148, + 0.11890643742608994 + ], + "centerline_face_intersection": [ + -14.467928320731858, + 0.14012158822448148, + 0.11890643742608994 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.655054092407227, + 0.14425988495349884, + 0.13151274621486664 + ], + "box_pose": [ + -14.39511489868164, + 0.13805550336837769, + 0.1360199898481369, + -0.0037459672894328833, + -0.013290097005665302, + 0.9998886585235596, + -0.005658334121108055 + ], + "box_yaw_rad": -3.1303762513563376, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002145246657458536 + } + }, + { + "simulation_time_ns": 3560000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467787171305678, + 0.13935431257754113, + 0.1183950489167779 + ], + "intended_face_normal": [ + -0.9999150701648731, + -0.011246472930311205, + -0.006558293148278714 + ], + "commanded_contact_point": [ + -14.650526733398438, + 0.14022271251525162, + 0.11890144958094548 + ], + "centerline_face_intersection": [ + -14.467800287630446, + 0.14022271251525162, + 0.11890144958094548 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.651843070983887, + 0.1451132744550705, + 0.12943442165851593 + ], + "box_pose": [ + -14.39496898651123, + 0.1381709724664688, + 0.1360214650630951, + -0.0032065645791590214, + -0.012871040031313896, + 0.9998959302902222, + -0.0056650978513062 + ], + "box_yaw_rad": -3.130345699665218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021024301531128997 + } + }, + { + "simulation_time_ns": 3580000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467633391594186, + 0.13947806854723943, + 0.11848768990808323 + ], + "intended_face_normal": [ + -0.9999227305430531, + -0.011267798240553508, + -0.005260200975134924 + ], + "commanded_contact_point": [ + -14.648393363952637, + 0.14034811512547452, + 0.11889385797761554 + ], + "centerline_face_intersection": [ + -14.467645324825988, + 0.14034811512547452, + 0.11889385797761554 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.650630950927734, + 0.142611563205719, + 0.12589921057224274 + ], + "box_pose": [ + -14.394792556762695, + 0.13831421732902527, + 0.13602164387702942, + -0.0025603589601814747, + -0.012351835146546364, + 0.9999043941497803, + -0.005666065961122513 + ], + "box_yaw_rad": -3.13032446156506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021370654270209343 + } + }, + { + "simulation_time_ns": 3600000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467474405304934, + 0.13961036576288816, + 0.1185821292947706 + ], + "intended_face_normal": [ + -0.9999287341579699, + -0.011286714513303337, + -0.003924243643993672 + ], + "commanded_contact_point": [ + -14.646362991333008, + 0.14048187296706163, + 0.11888514099960654 + ], + "centerline_face_intersection": [ + -14.467485411325852, + 0.14048187296706163, + 0.11888514099960654 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.651674270629883, + 0.1401425004005432, + 0.12206943333148956 + ], + "box_pose": [ + -14.394610404968262, + 0.1384669542312622, + 0.1360209435224533, + -0.00189542630687356, + -0.011799977160990238, + 0.9999125599861145, + -0.00566621869802475 + ], + "box_yaw_rad": -3.130305613999025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002034792402293266 + } + }, + { + "simulation_time_ns": 3620000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46731157443543, + 0.139749325889409, + 0.11868128989635325 + ], + "intended_face_normal": [ + -0.9999333659113465, + -0.011279393185535933, + -0.002525207123352605 + ], + "commanded_contact_point": [ + -14.64422103881836, + 0.14062026777496067, + 0.11887627455707432 + ], + "centerline_face_intersection": [ + -14.467321865122441, + 0.14062026777496067, + 0.11887627455707432 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.65420150756836, + 0.13977062702178955, + 0.1215968132019043 + ], + "box_pose": [ + -14.394423484802246, + 0.13862551748752594, + 0.13602043688297272, + -0.0011992825893685222, + -0.011216997168958187, + 0.9999204277992249, + -0.005653598811477423 + ], + "box_yaw_rad": -3.130312987160376, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021464371203614033 + } + }, + { + "simulation_time_ns": 3640000000, + "phase": "base_approach", + "intended_face_center": [ + -14.467137826940126, + 0.13989755403400894, + 0.11878738488273152 + ], + "intended_face_normal": [ + -0.9999359775225931, + -0.01128115639620803, + -0.0010317486500983734 + ], + "commanded_contact_point": [ + -14.641890258789063, + 0.14076863206642617, + 0.11886705167862657 + ], + "centerline_face_intersection": [ + -14.467147714288023, + 0.14076863206642617, + 0.11886705167862657 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.655091285705566, + 0.1399737447500229, + 0.1243361234664917 + ], + "box_pose": [ + -14.394224166870117, + 0.138795405626297, + 0.13602007925510406, + -0.00045609704102389514, + -0.010593715123832226, + 0.9999278783798218, + -0.005645817145705223 + ], + "box_yaw_rad": -3.130311253518676, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002335515482594381 + } + }, + { + "simulation_time_ns": 3660000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466948002037547, + 0.14006200639035624, + 0.11890191348721096 + ], + "intended_face_normal": [ + -0.999936303095255, + -0.011282458321043194, + 0.0005915785164356769 + ], + "commanded_contact_point": [ + -14.63959571838379, + 0.1409331849513083, + 0.11885623456636113 + ], + "centerline_face_intersection": [ + -14.466957839103843, + 0.1409331849513083, + 0.11885623456636113 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.653206825256348, + 0.14091196656227112, + 0.128877192735672 + ], + "box_pose": [ + -14.394006729125977, + 0.13898378610610962, + 0.13601887226104736, + 0.0003516509023029357, + -0.009903809987008572, + 0.9999350309371948, + -0.0056381127797067165 + ], + "box_yaw_rad": -3.1303099553494635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023004587223580393 + } + }, + { + "simulation_time_ns": 3680000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466737963168171, + 0.14024512964521785, + 0.11902797105468366 + ], + "intended_face_normal": [ + -0.9999335132323057, + -0.011281163188244287, + 0.0023854776767154653 + ], + "commanded_contact_point": [ + -14.637362213134766, + 0.14111620820208431, + 0.11884377564704734 + ], + "centerline_face_intersection": [ + -14.466748231102802, + 0.14111620820208431, + 0.11884377564704734 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.649744033813477, + 0.1422760784626007, + 0.13579876720905304 + ], + "box_pose": [ + -14.393766403198242, + 0.1391933560371399, + 0.13601696491241455, + 0.0012442406732589006, + -0.00913559552282095, + 0.9999416470527649, + -0.005629543215036392 + ], + "box_yaw_rad": -3.1303112189269187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002241026200741601 + } + }, + { + "simulation_time_ns": 3700000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466500960385758, + 0.1404527492755834, + 0.1191689008967192 + ], + "intended_face_normal": [ + -0.9999264538451911, + -0.011278582081403182, + 0.004406366691105782 + ], + "commanded_contact_point": [ + -14.634985656738282, + 0.14132362853147487, + 0.11882866190945654 + ], + "centerline_face_intersection": [ + -14.466512318582312, + 0.14132362853147487, + 0.11882866190945654 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.646479606628418, + 0.1434021294116974, + 0.1401241272687912 + ], + "box_pose": [ + -14.393495559692383, + 0.13943099975585938, + 0.13601365685462952, + 0.002249737735837698, + -0.008261207491159439, + 0.9999474883079529, + -0.005621000658720732 + ], + "box_yaw_rad": -3.1303137202560505, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023856386825710316 + } + }, + { + "simulation_time_ns": 3720000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46624862113508, + 0.14065260338359473, + 0.11932746539962036 + ], + "intended_face_normal": [ + -0.9999151541379843, + -0.011280985746888718, + 0.006549802668321489 + ], + "commanded_contact_point": [ + -14.632599563598633, + 0.1415236682392712, + 0.11882172033052794 + ], + "centerline_face_intersection": [ + -14.466261724490725, + 0.1415236682392712, + 0.11882172033052794 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.645503044128418, + 0.13977527618408203, + 0.13623465597629547 + ], + "box_pose": [ + -14.393207550048828, + 0.13966004550457, + 0.1360187828540802, + 0.0033167467918246984, + -0.007422121707350016, + 0.9999512434005737, + -0.00561614939942956 + ], + "box_yaw_rad": -3.130311189243823, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002394473750386628 + } + }, + { + "simulation_time_ns": 3740000000, + "phase": "base_approach", + "intended_face_center": [ + -14.466027760261866, + 0.14082159218911444, + 0.11946756833457298 + ], + "intended_face_normal": [ + -0.9999007417252279, + -0.01128251104805578, + 0.008425916346465306 + ], + "commanded_contact_point": [ + -14.63019344329834, + 0.14169277482139933, + 0.11881695855888916 + ], + "centerline_face_intersection": [ + -14.46604308954037, + 0.14169277482139933, + 0.11881695855888916 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.644221305847168, + 0.1329839825630188, + 0.1289321482181549 + ], + "box_pose": [ + -14.392955780029297, + 0.13985379040241241, + 0.13602440059185028, + 0.004250821191817522, + -0.006709754001349211, + 0.9999526739120483, + -0.005612999200820923 + ], + "box_yaw_rad": -3.1303095013899487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002412060241799554 + } + }, + { + "simulation_time_ns": 3760000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465837620346768, + 0.1409672941710046, + 0.1195868119625792 + ], + "intended_face_normal": [ + -0.9998861866401487, + -0.011284032385341317, + 0.010034302505515931 + ], + "commanded_contact_point": [ + -14.627539367675782, + 0.14183859427382556, + 0.11881201014473346 + ], + "centerline_face_intersection": [ + -14.465855197615705, + 0.14183859427382556, + 0.11881201014473346 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.640799522399902, + 0.13004526495933533, + 0.12645180523395538 + ], + "box_pose": [ + -14.392739295959473, + 0.14002087712287903, + 0.13602828979492188, + 0.005051590036600828, + -0.0060948533937335014, + 0.9999529719352722, + -0.00561149138957262 + ], + "box_yaw_rad": -3.1303078158412276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026580829952746634 + } + }, + { + "simulation_time_ns": 3780000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46567251461033, + 0.14109349305169705, + 0.11969027563622212 + ], + "intended_face_normal": [ + -0.9998708450240197, + -0.011294139157691091, + 0.011434959446460303 + ], + "commanded_contact_point": [ + -14.62463161468506, + 0.14196557355211764, + 0.11880732165299912 + ], + "centerline_face_intersection": [ + -14.465692461382554, + 0.14196557355211764, + 0.11880732165299912 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.6368989944458, + 0.1322200745344162, + 0.1258818358182907 + ], + "box_pose": [ + -14.39255142211914, + 0.14016634225845337, + 0.13603124022483826, + 0.005748972296714783, + -0.00555939506739378, + 0.9999522566795349, + -0.005615376867353916 + ], + "box_yaw_rad": -3.1302975359164344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029105279888925434 + } + }, + { + "simulation_time_ns": 3800000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465528979607745, + 0.14120493392643738, + 0.11977874379664374 + ], + "intended_face_normal": [ + -0.9998565929916583, + -0.01128915258101812, + 0.012643155447683387 + ], + "commanded_contact_point": [ + -14.621473999023438, + 0.14207662938677482, + 0.11880249857991976 + ], + "centerline_face_intersection": [ + -14.465551127630283, + 0.14207662938677482, + 0.11880249857991976 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.633599281311035, + 0.1371903121471405, + 0.12564049661159515 + ], + "box_pose": [ + -14.392388343811035, + 0.14029359817504883, + 0.13603298366069794, + 0.006350465584546328, + -0.005091809201985598, + 0.999951183795929, + -0.005612514913082123 + ], + "box_yaw_rad": -3.1303023615845547, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003159571699923923 + } + }, + { + "simulation_time_ns": 3820000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465404605154493, + 0.14130329884380427, + 0.11985404240489592 + ], + "intended_face_normal": [ + -0.9998425639018615, + -0.011286710747868713, + 0.013687368808851774 + ], + "commanded_contact_point": [ + -14.618153305053712, + 0.14217480575722857, + 0.1187971679256988 + ], + "centerline_face_intersection": [ + -14.465428920024141, + 0.14217480575722857, + 0.1187971679256988 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.629441261291504, + 0.13949355483055115, + 0.1241120994091034 + ], + "box_pose": [ + -14.392247200012207, + 0.14040607213974, + 0.1360333263874054, + 0.0068702856078743935, + -0.004678895231336355, + 0.9999496936798096, + -0.005611492320895195 + ], + "box_yaw_rad": -3.1303046450869596, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003322149222441438 + } + }, + { + "simulation_time_ns": 3840000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465292004626656, + 0.1413868517539092, + 0.11992381802782023 + ], + "intended_face_normal": [ + -0.9998292505468114, + -0.011302047085940788, + 0.01463365870695018 + ], + "commanded_contact_point": [ + -14.615030975341798, + 0.14225954286749196, + 0.11879387547709022 + ], + "centerline_face_intersection": [ + -14.46531837582354, + 0.14225954286749196, + 0.11879387547709022 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.622993469238281, + 0.13869136571884155, + 0.1231420636177063 + ], + "box_pose": [ + -14.392119407653809, + 0.14050304889678955, + 0.13603508472442627, + 0.0073415073566138744, + -0.004323456436395645, + 0.9999479651451111, + -0.005619575269520283 + ], + "box_yaw_rad": -3.130289157792709, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003123481078536411 + } + }, + { + "simulation_time_ns": 3860000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465191846693294, + 0.14146342819582639, + 0.1199851365372771 + ], + "intended_face_normal": [ + -0.9998160181858864, + -0.011306838819851553, + 0.015471490119428232 + ], + "commanded_contact_point": [ + -14.611941070556641, + 0.14233648930464726, + 0.11879050057102775 + ], + "centerline_face_intersection": [ + -14.465220261734522, + 0.14233648930464726, + 0.11879050057102775 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.618236541748047, + 0.13543277978897095, + 0.12300582230091095 + ], + "box_pose": [ + -14.392005920410156, + 0.14059112966060638, + 0.13603618741035461, + 0.007758661638945341, + -0.00400122394785285, + 0.9999459981918335, + -0.005622678902000189 + ], + "box_yaw_rad": -3.130284216202925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030908645595550312 + } + }, + { + "simulation_time_ns": 3880000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465169258000683, + 0.14148555768187293, + 0.12000043463478191 + ], + "intended_face_normal": [ + -0.999813598654566, + -0.011309087500784964, + 0.01566729536314347 + ], + "commanded_contact_point": [ + -14.608792037963868, + 0.14235879242329796, + 0.11879067950517358 + ], + "centerline_face_intersection": [ + -14.465198046760868, + 0.14235879242329796, + 0.11879067950517358 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.615495681762695, + 0.13225436210632324, + 0.12532462179660797 + ], + "box_pose": [ + -14.391980171203613, + 0.14061662554740906, + 0.13603746891021729, + 0.007856056094169617, + -0.003908559679985046, + 0.9999457597732544, + -0.005624142941087484 + ], + "box_yaw_rad": -3.1302819400265327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003149111578123007 + } + }, + { + "simulation_time_ns": 3900000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465170784456898, + 0.14148612482808545, + 0.11999872322466618 + ], + "intended_face_normal": [ + -0.9998135814391773, + -0.011305314215171692, + 0.015645593656413645 + ], + "commanded_contact_point": [ + -14.605672569274903, + 0.14235906821407737, + 0.11879064379915538 + ], + "centerline_face_intersection": [ + -14.465199575876161, + 0.14235906821407737, + 0.11879064379915538 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.613183975219727, + 0.13109447062015533, + 0.128109872341156 + ], + "box_pose": [ + -14.391982078552246, + 0.14061695337295532, + 0.13603734970092773, + 0.007845191285014153, + -0.003907458391040564, + 0.9999457597732544, + -0.005622307304292917 + ], + "box_yaw_rad": -3.130285713338316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00311946870136046 + } + }, + { + "simulation_time_ns": 3920000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465173355863309, + 0.14148474635520297, + 0.11999731554410661 + ], + "intended_face_normal": [ + -0.999814387847332, + -0.011302486017385253, + 0.015625480565547082 + ], + "commanded_contact_point": [ + -14.602881164550782, + 0.142357471361015, + 0.11879078915722083 + ], + "centerline_face_intersection": [ + -14.465202022725284, + 0.142357471361015, + 0.11879078915722083 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.61085033416748, + 0.13214808702468872, + 0.1295074075460434 + ], + "box_pose": [ + -14.391984939575195, + 0.14061516523361206, + 0.13603739440441132, + 0.00783516000956297, + -0.0039132884703576565, + 0.9999459385871887, + -0.005620885640382767 + ], + "box_yaw_rad": -3.130288550818535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027914051846541785 + } + }, + { + "simulation_time_ns": 3940000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465180199987364, + 0.14147994653679266, + 0.11999393983039625 + ], + "intended_face_normal": [ + -0.9998151694548931, + -0.011303143774925074, + 0.01557601531845942 + ], + "commanded_contact_point": [ + -14.600341529846192, + 0.14235272233155963, + 0.11879123291809203 + ], + "centerline_face_intersection": [ + -14.465208746122826, + 0.14235272233155963, + 0.11879123291809203 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.60831356048584, + 0.13355523347854614, + 0.12810899317264557 + ], + "box_pose": [ + -14.391992568969727, + 0.1406097412109375, + 0.13603757321834564, + 0.007810535375028849, + -0.003932712133973837, + 0.9999460577964783, + -0.005621158517897129 + ], + "box_yaw_rad": -3.130287901859719, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025396391836167635 + } + }, + { + "simulation_time_ns": 3960000000, + "phase": "base_approach", + "intended_face_center": [ + -14.46518857703083, + 0.14147458691904632, + 0.11998888230820842 + ], + "intended_face_normal": [ + -0.9998158269636055, + -0.011296272936395013, + 0.01550588795695763 + ], + "commanded_contact_point": [ + -14.597795219421387, + 0.14234683217985933, + 0.11879159030213636 + ], + "centerline_face_intersection": [ + -14.46521702160807, + 0.14234683217985933, + 0.11879159030213636 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.60450553894043, + 0.1364637315273285, + 0.12650205194950104 + ], + "box_pose": [ + -14.39200210571289, + 0.1406029611825943, + 0.13603755831718445, + 0.007775604724884033, + -0.0039592646062374115, + 0.999946117401123, + -0.005617653485387564 + ], + "box_yaw_rad": -3.130294780519949, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002546317262455611 + } + }, + { + "simulation_time_ns": 3980000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465198721505994, + 0.14146730006083236, + 0.11998230120745608 + ], + "intended_face_normal": [ + -0.999817221548176, + -0.011301891985768225, + 0.015423231581242305 + ], + "commanded_contact_point": [ + -14.595242233276368, + 0.14233997919830663, + 0.11879139153938165 + ], + "centerline_face_intersection": [ + -14.46522695067714, + 0.14233997919830663, + 0.11879139153938165 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.601553916931152, + 0.14032448828220367, + 0.12584474682807922 + ], + "box_pose": [ + -14.392013549804688, + 0.14059512317180634, + 0.1360369324684143, + 0.0077344393357634544, + -0.003987011034041643, + 0.9999463558197021, + -0.0056204102002084255 + ], + "box_yaw_rad": -3.1302891769184074, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002552995350470596 + } + }, + { + "simulation_time_ns": 4000000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465209639522934, + 0.1414584794517405, + 0.11997570493824246 + ], + "intended_face_normal": [ + -0.9998187713683377, + -0.011296254339138955, + 0.015330358603843987 + ], + "commanded_contact_point": [ + -14.592788429260255, + 0.14233072327656054, + 0.11879196648627173 + ], + "centerline_face_intersection": [ + -14.465237629310806, + 0.14233072327656054, + 0.11879196648627173 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.59992504119873, + 0.14254646003246307, + 0.12518619000911713 + ], + "box_pose": [ + -14.3920259475708, + 0.14058460295200348, + 0.13603700697422028, + 0.007688195910304785, + -0.00402422109618783, + 0.9999465942382812, + -0.0056174881756305695 + ], + "box_yaw_rad": -3.130294832386911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00245382154040284 + } + }, + { + "simulation_time_ns": 4020000000, + "phase": "base_approach", + "intended_face_center": [ + -14.465221388377241, + 0.14144546415311823, + 0.1199701139606374 + ], + "intended_face_normal": [ + -0.9998198585439404, + -0.011303159151022462, + 0.015230760371802442 + ], + "commanded_contact_point": [ + -14.590532035827637, + 0.14231824113515537, + 0.11879406601741879 + ], + "centerline_face_intersection": [ + -14.465249210241561, + 0.14231824113515537, + 0.11879406601741879 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.598272323608398, + 0.14139463007450104, + 0.12508179247379303 + ], + "box_pose": [ + -14.39203929901123, + 0.1405702829360962, + 0.13603852689266205, + 0.0076387012377381325, + -0.004076608922332525, + 0.999946653842926, + -0.005620739422738552 + ], + "box_yaw_rad": -3.1302879394968377, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002256428934099869 + } + }, + { + "simulation_time_ns": 4040000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.46523731583581, + 0.14142923490358414, + 0.11996122671084725 + ], + "intended_face_normal": [ + -0.9998221350709642, + -0.011309315957759636, + 0.015091591911685465 + ], + "commanded_contact_point": [ + -14.590532035827637, + 0.14231824113515537, + 0.11879406601741879 + ], + "centerline_face_intersection": [ + -14.465264786071682, + 0.1423024872853862, + 0.11879592470396313 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.59697437286377, + 0.13723233342170715, + 0.12449643015861511 + ], + "box_pose": [ + -14.392057418823242, + 0.14055222272872925, + 0.136039599776268, + 0.007569493725895882, + -0.004142582416534424, + 0.9999469518661499, + -0.005623599048703909 + ], + "box_yaw_rad": -3.1302818081200483, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 4060000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465257553695409, + 0.14141305649472785, + 0.11994912700697148 + ], + "intended_face_normal": [ + -0.9998244269231955, + -0.011312093245487183, + 0.014926035145672801 + ], + "commanded_contact_point": [ + -14.5876768660646, + 0.14231840448404498, + 0.118793803941355 + ], + "centerline_face_intersection": [ + -14.465284669936539, + 0.1422865233256736, + 0.1187966085177452 + ], + "commanded_world_base_velocity": [ + 0.1374553600000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.596136093139648, + 0.13329347968101501, + 0.12357951700687408 + ], + "box_pose": [ + -14.392080307006836, + 0.14053396880626678, + 0.1360393911600113, + 0.007487084250897169, + -0.0042084320448338985, + 0.9999472498893738, + -0.005624834448099136 + ], + "box_yaw_rad": -3.1302790566251915, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002855169779738389 + } + }, + { + "simulation_time_ns": 4080000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465280246850703, + 0.14139338441118135, + 0.11993572314021035 + ], + "intended_face_normal": [ + -0.9998272335885943, + -0.011314568446510704, + 0.014734405090310744 + ], + "commanded_contact_point": [ + -14.584715956238725, + 0.14231879485946053, + 0.11879305181653832 + ], + "centerline_face_intersection": [ + -14.465306929581223, + 0.14226704236555113, + 0.11879800142586372 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.595399856567383, + 0.13092133402824402, + 0.12125158309936523 + ], + "box_pose": [ + -14.392106056213379, + 0.1405116766691208, + 0.13603973388671875, + 0.007391721475869417, + -0.004289407283067703, + 0.9999476075172424, + -0.005625872872769833 + ], + "box_yaw_rad": -3.1302766130696487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002960909947135753 + } + }, + { + "simulation_time_ns": 4100000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.46530709005946, + 0.1413739648371029, + 0.11991844343031902 + ], + "intended_face_normal": [ + -0.9998306027922719, + -0.011305036293346487, + 0.014505519384338493 + ], + "commanded_contact_point": [ + -14.581656241185637, + 0.14231925949227206, + 0.11879185500398436 + ], + "centerline_face_intersection": [ + -14.465333252392702, + 0.14224688676327385, + 0.11879839519760887 + ], + "commanded_world_base_velocity": [ + 0.11967872000000025, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.594687461853027, + 0.13099339604377747, + 0.12118057906627655 + ], + "box_pose": [ + -14.392136573791504, + 0.1404886394739151, + 0.1360389143228531, + 0.007277722470462322, + -0.004373784642666578, + 0.9999480843544006, + -0.005620978772640228 + ], + "box_yaw_rad": -3.130286183747319, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030597153224333055 + } + }, + { + "simulation_time_ns": 4120000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465337402157964, + 0.14134995016243923, + 0.11989990229263377 + ], + "intended_face_normal": [ + -0.9998345045110277, + -0.011307303944032777, + 0.014252769533658317 + ], + "commanded_contact_point": [ + -14.578504687859626, + 0.14231959371328226, + 0.1187902765515008 + ], + "centerline_face_intersection": [ + -14.465362961845408, + 0.14222304718596976, + 0.11879937021898496 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.592920303344727, + 0.13456901907920837, + 0.12318466603755951 + ], + "box_pose": [ + -14.392170906066895, + 0.14046135544776917, + 0.13603852689266205, + 0.007151899393647909, + -0.004473032895475626, + 0.9999486207962036, + -0.005621950142085552 + ], + "box_yaw_rad": -3.1302839601294714, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031515537390167693 + } + }, + { + "simulation_time_ns": 4140000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465372754983779, + 0.1413221403509369, + 0.11987843065218967 + ], + "intended_face_normal": [ + -0.9998387360286962, + -0.011310077544556835, + 0.013958585677753516 + ], + "commanded_contact_point": [ + -14.575268341065808, + 0.142319553259029, + 0.11878838675711142 + ], + "centerline_face_intersection": [ + -14.465397661088504, + 0.14219545153890256, + 0.11880061407732223 + ], + "commanded_world_base_velocity": [ + 0.09072000000000029, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.590959548950195, + 0.13681936264038086, + 0.12601980566978455 + ], + "box_pose": [ + -14.392210960388184, + 0.1404297649860382, + 0.1360381841659546, + 0.007005448918789625, + -0.004588131792843342, + 0.9999491572380066, + -0.005623182747513056 + ], + "box_yaw_rad": -3.1302812342929998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032363473458228782 + } + }, + { + "simulation_time_ns": 4160000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.46541141148638, + 0.14128979678708928, + 0.11985527036434077 + ], + "intended_face_normal": [ + -0.9998431320213286, + -0.011313714098533096, + 0.01363348701249369 + ], + "commanded_contact_point": [ + -14.571954218134922, + 0.1423188314666594, + 0.11878627571896912 + ], + "centerline_face_intersection": [ + -14.465435638607191, + 0.14216338877271176, + 0.11880255638496355 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.58799934387207, + 0.13718059659004211, + 0.1283012479543686 + ], + "box_pose": [ + -14.392254829406738, + 0.14039306342601776, + 0.13603834807872772, + 0.006843647453933954, + -0.0047217924147844315, + 0.9999496340751648, + -0.005624826066195965 + ], + "box_yaw_rad": -3.1302776473624396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033141236818340553 + } + }, + { + "simulation_time_ns": 4180000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465457581404623, + 0.1412522553701665, + 0.11982681110362009 + ], + "intended_face_normal": [ + -0.9998482388096956, + -0.011323417473168639, + 0.013242063984028857 + ], + "commanded_contact_point": [ + -14.568569597419383, + 0.14231707929244375, + 0.11878402331605767 + ], + "centerline_face_intersection": [ + -14.465481019759173, + 0.14212659660490748, + 0.11880432097625795 + ], + "commanded_world_base_velocity": [ + 0.05746048000000027, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.584051132202148, + 0.1378861665725708, + 0.1291656792163849 + ], + "box_pose": [ + -14.39230728149414, + 0.14035089313983917, + 0.13603799045085907, + 0.006648813374340534, + -0.0048760524950921535, + 0.9999501705169678, + -0.0056295692920684814 + ], + "box_yaw_rad": -3.1302680015456708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033846219185432254 + } + }, + { + "simulation_time_ns": 4200000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465509567242373, + 0.14120910865917705, + 0.11979487519643994 + ], + "intended_face_normal": [ + -0.9998536914042901, + -0.011328708098143896, + 0.012799049899854469 + ], + "commanded_contact_point": [ + -14.565121635150856, + 0.14231381920530725, + 0.118781753678892 + ], + "centerline_face_intersection": [ + -14.465532163423791, + 0.1420838584111863, + 0.11880659254065452 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.578553199768066, + 0.1401556134223938, + 0.13037824630737305 + ], + "box_pose": [ + -14.392366409301758, + 0.14030195772647858, + 0.13603784143924713, + 0.006428310181945562, + -0.005054558161646128, + 0.999950647354126, + -0.00563213974237442 + ], + "box_yaw_rad": -3.1302627725779013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034479645567508863 + } + }, + { + "simulation_time_ns": 4220000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465570862758327, + 0.14116062996461617, + 0.1197569123190811 + ], + "intended_face_normal": [ + -0.9998607350286504, + -0.01133082117828331, + 0.012280340823842752 + ], + "commanded_contact_point": [ + -14.561617855342298, + 0.14230859815390193, + 0.11877956003711748 + ], + "centerline_face_intersection": [ + -14.465592371033065, + 0.1420355428787717, + 0.11880868194742863 + ], + "commanded_world_base_velocity": [ + 0.026781440000000177, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.572076797485352, + 0.14363686740398407, + 0.13149355351924896 + ], + "box_pose": [ + -14.392436027526855, + 0.14024661481380463, + 0.13603711128234863, + 0.006170086562633514, + -0.005257369019091129, + 0.9999513626098633, + -0.005633246153593063 + ], + "box_yaw_rad": -3.130260739282475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003503784385246546 + } + }, + { + "simulation_time_ns": 4240000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465641178560672, + 0.14110627075842647, + 0.1197122825891441 + ], + "intended_face_normal": [ + -0.9998678787411561, + -0.011316118964222308, + 0.01167668395931339 + ], + "commanded_contact_point": [ + -14.558065714892404, + 0.14230072224008022, + 0.11877757655689594 + ], + "centerline_face_intersection": [ + -14.465661583477676, + 0.14198004843650805, + 0.11881066377178107 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.567004203796387, + 0.14657224714756012, + 0.131144180893898 + ], + "box_pose": [ + -14.392516136169434, + 0.14018313586711884, + 0.13603581488132477, + 0.0058695110492408276, + -0.005489895585924387, + 0.9999518990516663, + -0.005626107100397348 + ], + "box_yaw_rad": -3.1302755225093337, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003552149735017961 + } + }, + { + "simulation_time_ns": 4260000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465722774318346, + 0.14104035112883423, + 0.11966421722929024 + ], + "intended_face_normal": [ + -0.999875790223876, + -0.011314973726188142, + 0.011002345776061666 + ], + "commanded_contact_point": [ + -14.554472996789501, + 0.1422891886019856, + 0.11877617012189416 + ], + "centerline_face_intersection": [ + -14.465741957303484, + 0.1419140403770015, + 0.11881466764642945 + ], + "commanded_world_base_velocity": [ + 0.005564160000000094, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.563608169555664, + 0.14748051762580872, + 0.12887996435165405 + ], + "box_pose": [ + -14.392608642578125, + 0.14010754227638245, + 0.13603608310222626, + 0.005533881951123476, + -0.005767171736806631, + 0.9999523162841797, + -0.005625840276479721 + ], + "box_yaw_rad": -3.130276757281725, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003592736891256045 + } + }, + { + "simulation_time_ns": 4280000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465814825718134, + 0.14096353132807024, + 0.11960713393042817 + ], + "intended_face_normal": [ + -0.9998838444670322, + -0.011327247978736707, + 0.010211994514938007 + ], + "commanded_contact_point": [ + -14.550847300132673, + 0.14227322019876426, + 0.11877539448180215 + ], + "centerline_face_intersection": [ + -14.465832764731934, + 0.1418381683365011, + 0.11881861156829535 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.561980247497559, + 0.14527809619903564, + 0.12528258562088013 + ], + "box_pose": [ + -14.39271354675293, + 0.14002056419849396, + 0.13603565096855164, + 0.005140526220202446, + -0.006086787674576044, + 0.9999524354934692, + -0.005632602609694004 + ], + "box_yaw_rad": -3.1302645743205835, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036257319038852094 + } + }, + { + "simulation_time_ns": 4300000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.465925386789532, + 0.14087863844929085, + 0.11953708807881958 + ], + "intended_face_normal": [ + -0.9998930753608726, + -0.01132502726081494, + 0.009273325550572037 + ], + "commanded_contact_point": [ + -14.547197657640638, + 0.14225197629464043, + 0.11877526922889606 + ], + "centerline_face_intersection": [ + -14.46594190011157, + 0.14175310398429025, + 0.1188210453354292 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.562681198120117, + 0.14294084906578064, + 0.12153773009777069 + ], + "box_pose": [ + -14.392839431762695, + 0.139923095703125, + 0.13603293895721436, + 0.004673190414905548, + -0.006445558741688728, + 0.999952495098114, + -0.005632659886032343 + ], + "box_yaw_rad": -3.1302668995615814, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036497043221094044 + } + }, + { + "simulation_time_ns": 4320000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.466052501870777, + 0.1407802079030758, + 0.11945662188105996 + ], + "intended_face_normal": [ + -0.9999025689603684, + -0.011306659590774404, + 0.008187108168063072 + ], + "commanded_contact_point": [ + -14.54353203691659, + 0.14222347576177138, + 0.11877638627159069 + ], + "centerline_face_intersection": [ + -14.466067548940458, + 0.1416532551726672, + 0.11882445175383607 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.565093040466309, + 0.1426963210105896, + 0.12055736780166626 + ], + "box_pose": [ + -14.392984390258789, + 0.13980881869792938, + 0.13603034615516663, + 0.004132368601858616, + -0.006864870898425579, + 0.9999520778656006, + -0.0056252311915159225 + ], + "box_yaw_rad": -3.130285374192496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003665731689680541 + } + }, + { + "simulation_time_ns": 4340000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.466196179696912, + 0.14066372714387448, + 0.11936522044415257 + ], + "intended_face_normal": [ + -0.9999120437623572, + -0.011311333955566286, + 0.006950783237686685 + ], + "commanded_contact_point": [ + -14.539858709968245, + 0.14218617100671616, + 0.11877898614342347 + ], + "centerline_face_intersection": [ + -14.466209763431324, + 0.14153713534601065, + 0.11882851353452423 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.565710067749023, + 0.1430554986000061, + 0.12248250842094421 + ], + "box_pose": [ + -14.393148422241211, + 0.13967593014240265, + 0.1360275149345398, + 0.0035169401671737432, + -0.00734911672770977, + 0.9999510049819946, + -0.005630096420645714 + ], + "box_yaw_rad": -3.130280807148955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003673517289127681 + } + }, + { + "simulation_time_ns": 4360000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.466363351154556, + 0.14053044110837734, + 0.11926005542775586 + ], + "intended_face_normal": [ + -0.9999210342754294, + -0.011312119667945137, + 0.00552811193734124 + ], + "commanded_contact_point": [ + -14.536187688205128, + 0.1421382861920766, + 0.11878348423541982 + ], + "centerline_face_intersection": [ + -14.4663755463625, + 0.14140390997954147, + 0.11883320052917648 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.563582420349121, + 0.14374659955501556, + 0.12600529193878174 + ], + "box_pose": [ + -14.393339157104492, + 0.13952332735061646, + 0.13602420687675476, + 0.0028087615501135588, + -0.007909341715276241, + 0.9999489784240723, + -0.005634131841361523 + ], + "box_yaw_rad": -3.130280123173733, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036713368101522524 + } + }, + { + "simulation_time_ns": 4380000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.466556094130212, + 0.14037595091667496, + 0.11913753906635827 + ], + "intended_face_normal": [ + -0.9999283584413645, + -0.01132348807048817, + 0.003876515396036796 + ], + "commanded_contact_point": [ + -14.532528495566266, + 0.142077380256964, + 0.1187903110517895 + ], + "centerline_face_intersection": [ + -14.466567158177426, + 0.14125029760261013, + 0.11883821271317077 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.56016731262207, + 0.14434057474136353, + 0.13102594017982483 + ], + "box_pose": [ + -14.393559455871582, + 0.13934721052646637, + 0.13601987063884735, + 0.0019866807851940393, + -0.008558781817555428, + 0.9999454617500305, + -0.005645048338919878 + ], + "box_yaw_rad": -3.1302688382667343, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003659705849744746 + } + }, + { + "simulation_time_ns": 4400000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.466778919596889, + 0.1401992688823468, + 0.11899511474577268 + ], + "intended_face_normal": [ + -0.9999337972285283, + -0.011331923639312621, + 0.0019831409283119945 + ], + "commanded_contact_point": [ + -14.528891629541894, + 0.14200088839505035, + 0.11879943585143826 + ], + "centerline_face_intersection": [ + -14.466789143670892, + 0.14107426692337677, + 0.11884198589646244 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.556748390197754, + 0.14440877735614777, + 0.1332481950521469 + ], + "box_pose": [ + -14.393814086914062, + 0.13914556801319122, + 0.13601285219192505, + 0.0010442306520417333, + -0.009298492223024368, + 0.9999402165412903, + -0.005656590219587088 + ], + "box_yaw_rad": -3.130260464808551, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003637681781869055 + } + }, + { + "simulation_time_ns": 4420000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.467035445149786, + 0.13999653859909741, + 0.11882864422271451 + ], + "intended_face_normal": [ + -0.9999358367390894, + -0.011330397313867709, + -0.00021252958414607866 + ], + "commanded_contact_point": [ + -14.52528791905802, + 0.14190523103978214, + 0.11881158979208742 + ], + "centerline_face_intersection": [ + -14.467045354240362, + 0.14087141878442905, + 0.11884505476126982 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.555246353149414, + 0.14062710106372833, + 0.12927238643169403 + ], + "box_pose": [ + -14.394107818603516, + 0.1389133632183075, + 0.136003315448761, + -4.8769852583063766e-05, + -0.010147804394364357, + 0.9999324679374695, + -0.005666076205670834 + ], + "box_yaw_rad": -3.130262014147574, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003605000318928784 + } + }, + { + "simulation_time_ns": 4440000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.467329203626038, + 0.13976286688594342, + 0.11863837298922691 + ], + "intended_face_normal": [ + -0.9999321571122106, + -0.011324931162199677, + -0.0027184899423309643 + ], + "commanded_contact_point": [ + -14.521728685139182, + 0.14178635429234873, + 0.11882750368549104 + ], + "centerline_face_intersection": [ + -14.467339681001212, + 0.1406373250006581, + 0.11884828204348907 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.553373336791992, + 0.13423804938793182, + 0.12325377762317657 + ], + "box_pose": [ + -14.394444465637207, + 0.1386454850435257, + 0.13599196076393127, + -0.0012961815809831023, + -0.011125925928354263, + 0.9999211430549622, + -0.005677334498614073 + ], + "box_yaw_rad": -3.1302674382768734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003561254136127522 + } + }, + { + "simulation_time_ns": 4460000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.467660027685273, + 0.13951727994531418, + 0.11843107593525987 + ], + "intended_face_normal": [ + -0.9999210360445514, + -0.011300370365596224, + -0.005534032359596222 + ], + "commanded_contact_point": [ + -14.518224269667437, + 0.14164806031179072, + 0.11885020321649602 + ], + "centerline_face_intersection": [ + -14.467672222619989, + 0.1403898415904092, + 0.11885838798110214 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.548930168151855, + 0.13196353614330292, + 0.12174314260482788 + ], + "box_pose": [ + -14.394824028015137, + 0.13836246728897095, + 0.13598574697971344, + -0.002698175609111786, + -0.012156769633293152, + 0.9999063611030579, + -0.00568351848050952 + ], + "box_yaw_rad": -3.130291871921848, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035072166018617927 + } + }, + { + "simulation_time_ns": 4480000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.468007764696717, + 0.1392557516443757, + 0.1182137792565554 + ], + "intended_face_normal": [ + -0.9999002929828529, + -0.011265463243096963, + -0.008492175312664836 + ], + "commanded_contact_point": [ + -14.514776848095114, + 0.14148767400493195, + 0.11887731059552642 + ], + "centerline_face_intersection": [ + -14.468023163281686, + 0.1401256179250492, + 0.11886950523911378 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.543844223022461, + 0.13450194895267487, + 0.12181209027767181 + ], + "box_pose": [ + -14.395223617553711, + 0.13806015253067017, + 0.13597939908504486, + -0.004171107430011034, + -0.01326333824545145, + 0.9998871088027954, + -0.005688696634024382 + ], + "box_yaw_rad": -3.130326543664362, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00345125688333184 + } + }, + { + "simulation_time_ns": 4500000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.46816769629954, + 0.13908402340604487, + 0.11813628163686146 + ], + "intended_face_normal": [ + -0.9998875312857141, + -0.011262283124908855, + -0.009862420537107442 + ], + "commanded_contact_point": [ + -14.511303491152608, + 0.14135186847795217, + 0.11890483823577983 + ], + "centerline_face_intersection": [ + -14.468185065890522, + 0.1399536441328942, + 0.11889781153456082 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.539301872253418, + 0.1396101415157318, + 0.1212778091430664 + ], + "box_pose": [ + -14.395407676696777, + 0.13786353170871735, + 0.1359987109899521, + -0.0048521473072469234, + -0.013978577218949795, + 0.9998741745948792, + -0.005699684843420982 + ], + "box_yaw_rad": -3.130329579958005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003476119871665327 + } + }, + { + "simulation_time_ns": 4520000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.468155401763457, + 0.13907882612602743, + 0.11815151763263475 + ], + "intended_face_normal": [ + -0.9998885443691505, + -0.011274090708014488, + -0.009751309425614332 + ], + "commanded_contact_point": [ + -14.507800816023188, + 0.14128431347696774, + 0.11891470581139046 + ], + "centerline_face_intersection": [ + -14.468172614885807, + 0.1399493585791128, + 0.11890446805098112 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.534220695495605, + 0.14155104756355286, + 0.11903239786624908 + ], + "box_pose": [ + -14.395393371582031, + 0.137858584523201, + 0.13600578904151917, + -0.004796408582478762, + -0.013996683992445469, + 0.9998741745948792, + -0.005704896990209818 + ], + "box_yaw_rad": -3.130317783969015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035033404215782595 + } + }, + { + "simulation_time_ns": 4540000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.468119047043688, + 0.13909380177321992, + 0.11817989160176615 + ], + "intended_face_normal": [ + -0.999891687837178, + -0.011289974271107957, + -0.009437843009760263 + ], + "commanded_contact_point": [ + -14.504334717587513, + 0.14122657571491878, + 0.11892213563748844 + ], + "centerline_face_intersection": [ + -14.468135774664944, + 0.13996556068061558, + 0.11890863761241166 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.527848243713379, + 0.14038480818271637, + 0.11870025098323822 + ], + "box_pose": [ + -14.39535140991211, + 0.13787706196308136, + 0.13601163029670715, + -0.004639957100152969, + -0.013929187320172787, + 0.9998759031295776, + -0.005710326600819826 + ], + "box_yaw_rad": -3.130301936150507, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034665872579919127 + } + }, + { + "simulation_time_ns": 4560000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.468061168821333, + 0.13913317067524136, + 0.11821954216900289 + ], + "intended_face_normal": [ + -0.9998961177039916, + -0.011291642442353055, + -0.008934896730600422 + ], + "commanded_contact_point": [ + -14.500910884454818, + 0.14118205713910126, + 0.11892624956978368 + ], + "centerline_face_intersection": [ + -14.468077212262884, + 0.14000505839100338, + 0.11890945302482249 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.522777557373047, + 0.13703790307044983, + 0.11921432614326477 + ], + "box_pose": [ + -14.395284652709961, + 0.1379222720861435, + 0.13601535558700562, + -0.004389428999274969, + -0.013763832859694958, + 0.9998793005943298, + -0.00570692541077733 + ], + "box_yaw_rad": -3.130300318035972, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003424125019413262 + } + }, + { + "simulation_time_ns": 4580000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.467978109644404, + 0.1391911343486512, + 0.1182722608554079 + ], + "intended_face_normal": [ + -0.9999020744812779, + -0.01131358023274906, + -0.00823881229612546 + ], + "commanded_contact_point": [ + -14.497531773644438, + 0.14115156786132668, + 0.11892728168123765 + ], + "centerline_face_intersection": [ + -14.467993233084261, + 0.14006471599778517, + 0.11890842333311064 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.518383026123047, + 0.13383324444293976, + 0.12219610810279846 + ], + "box_pose": [ + -14.39518928527832, + 0.13799044489860535, + 0.13601842522621155, + -0.004042677115648985, + -0.013514713384211063, + 0.9998841881752014, + -0.005712087266147137 + ], + "box_yaw_rad": -3.1302784481668904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003379248515593634 + } + }, + { + "simulation_time_ns": 4600000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.467873697651985, + 0.13927177991715492, + 0.11833804434426633 + ], + "intended_face_normal": [ + -0.9999089822355114, + -0.011330696582230486, + -0.0073432842540296014 + ], + "commanded_contact_point": [ + -14.49420393692752, + 0.1411381633145224, + 0.11892444402204169 + ], + "centerline_face_intersection": [ + -14.467887754222227, + 0.1401466832105871, + 0.11890505834308215 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.514568328857422, + 0.13209876418113708, + 0.12517166137695312 + ], + "box_pose": [ + -14.395069122314453, + 0.1380840688943863, + 0.13602039217948914, + -0.0035967614967375994, + -0.013175196014344692, + 0.9998904466629028, + -0.005713362246751785 + ], + "box_yaw_rad": -3.130261410610047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003327864923438995 + } + }, + { + "simulation_time_ns": 4620000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.46774162935492, + 0.13937849290066828, + 0.11841825040133486 + ], + "intended_face_normal": [ + -0.999916306217608, + -0.011338809924499274, + -0.0062236378439965625 + ], + "commanded_contact_point": [ + -14.490928178784834, + 0.1411458162136362, + 0.11891668460678921 + ], + "centerline_face_intersection": [ + -14.467754554779193, + 0.14025402266837061, + 0.11889881055113016 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.510787010192871, + 0.13273943960666656, + 0.12613148987293243 + ], + "box_pose": [ + -14.394917488098145, + 0.13820667564868927, + 0.13602085411548615, + -0.003039444563910365, + -0.01273223478347063, + 0.9998980164527893, + -0.005708686076104641 + ], + "box_yaw_rad": -3.1302533806208506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032757762720852807 + } + }, + { + "simulation_time_ns": 4640000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.46759204972513, + 0.13950220544473624, + 0.118508360698469 + ], + "intended_face_normal": [ + -0.9999232153933251, + -0.011358124873996608, + -0.004955310427067328 + ], + "commanded_contact_point": [ + -14.487715355390588, + 0.14117216070461797, + 0.11890503613899062 + ], + "centerline_face_intersection": [ + -14.467603908075432, + 0.14037922662232719, + 0.11889098654862362 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.507482528686523, + 0.1342904269695282, + 0.12465609610080719 + ], + "box_pose": [ + -14.394745826721191, + 0.13834962248802185, + 0.13602064549922943, + -0.002408138941973448, + -0.01221614982932806, + 0.9999061822891235, + -0.005709016229957342 + ], + "box_yaw_rad": -3.1302341450202595, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032129525177980924 + } + }, + { + "simulation_time_ns": 4660000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.467439230629655, + 0.13962825874014373, + 0.11860186331149632 + ], + "intended_face_normal": [ + -0.9999286367200193, + -0.011377375905542803, + -0.0036470567353585857 + ], + "commanded_contact_point": [ + -14.484580437472129, + 0.1412081581977125, + 0.11889156397465306 + ], + "centerline_face_intersection": [ + -14.467450251699049, + 0.14050676639217866, + 0.11888347194216985 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.504289627075195, + 0.13691851496696472, + 0.1233062595129013 + ], + "box_pose": [ + -14.394570350646973, + 0.13849538564682007, + 0.13602092862129211, + -0.0017569545889273286, + -0.01168624684214592, + 0.9999138712882996, + -0.00570971192792058 + ], + "box_yaw_rad": -3.1302149566800233, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003135153532794668 + } + }, + { + "simulation_time_ns": 4680000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.467278709962299, + 0.1397632959703464, + 0.11869874398996935 + ], + "intended_face_normal": [ + -0.9999328030194201, + -0.011391441465836405, + -0.0022809071341989232 + ], + "commanded_contact_point": [ + -14.481526769990017, + 0.14125831705234082, + 0.11887509373195246 + ], + "centerline_face_intersection": [ + -14.467289087582882, + 0.1406428896990347, + 0.11887486495033936 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.501941680908203, + 0.13975349068641663, + 0.12335710227489471 + ], + "box_pose": [ + -14.394386291503906, + 0.138651043176651, + 0.1360204666852951, + -0.0010770693188533187, + -0.011119009926915169, + 0.9999213814735413, + -0.005708145443350077 + ], + "box_yaw_rad": -3.130200939399584, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030541238139438816 + } + }, + { + "simulation_time_ns": 4700000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.467106582728503, + 0.13990944871683278, + 0.11880387838065161 + ], + "intended_face_normal": [ + -0.9999350057350127, + -0.011395396239646197, + -0.0008027802829699785 + ], + "commanded_contact_point": [ + -14.478557800768469, + 0.14132447340401283, + 0.11885542153123607 + ], + "centerline_face_intersection": [ + -14.467116620159848, + 0.1407893478146223, + 0.11886586531220306 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.500054359436035, + 0.14088988304138184, + 0.1239977478981018 + ], + "box_pose": [ + -14.39418888092041, + 0.13881877064704895, + 0.136020228266716, + -0.00034153033629991114, + -0.010502880439162254, + 0.9999285936355591, + -0.005701692309230566 + ], + "box_yaw_rad": -3.1301970099742893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002969771354304821 + } + }, + { + "simulation_time_ns": 4720000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.466918371382812, + 0.1400730241829379, + 0.11891697351166167 + ], + "intended_face_normal": [ + -0.9999349749726154, + -0.011388147796332893, + 0.0008059141267176047 + ], + "commanded_contact_point": [ + -14.475676178997857, + 0.14141198765770702, + 0.11883091346512209 + ], + "centerline_face_intersection": [ + -14.466928413565123, + 0.1409523635899016, + 0.11885474459938151 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.498392105102539, + 0.13966049253940582, + 0.12504877150058746 + ], + "box_pose": [ + -14.393973350524902, + 0.13900555670261383, + 0.13601863384246826, + 0.0004588375159073621, + -0.009815731085836887, + 0.9999355673789978, + -0.005689936690032482 + ], + "box_yaw_rad": -3.1302042575977036, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00288305452927459 + } + }, + { + "simulation_time_ns": 4740000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.466711055743755, + 0.14025706511779312, + 0.11904178108951118 + ], + "intended_face_normal": [ + -0.9999320173971682, + -0.011378395981819502, + 0.0025936343010810985 + ], + "commanded_contact_point": [ + -14.472885418096373, + 0.14152490082564473, + 0.11880076315776261 + ], + "centerline_face_intersection": [ + -14.466721554696676, + 0.14113565153533794, + 0.11884151280278173 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.49709701538086, + 0.13684147596359253, + 0.12536096572875977 + ], + "box_pose": [ + -14.393735885620117, + 0.1392156183719635, + 0.13601593673229218, + 0.0013482295908033848, + -0.009041989222168922, + 0.9999421238899231, + -0.005677335895597935 + ], + "box_yaw_rad": -3.130213975130075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027932069085148457 + } + }, + { + "simulation_time_ns": 4760000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.466473851244695, + 0.14046402894327412, + 0.11918211855093458 + ], + "intended_face_normal": [ + -0.9999245041514842, + -0.01137521594253324, + 0.004604740706162453 + ], + "commanded_contact_point": [ + -14.47018275046137, + 0.1416670378330174, + 0.11876448760700868 + ], + "centerline_face_intersection": [ + -14.46648551055611, + 0.1413423698130872, + 0.11882656205182747 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.495361328125, + 0.1340191811323166, + 0.12371227145195007 + ], + "box_pose": [ + -14.393465042114258, + 0.13945238292217255, + 0.1360127180814743, + 0.0023488227743655443, + -0.00817287527024746, + 0.999947726726532, + -0.00566870765760541 + ], + "box_yaw_rad": -3.130217069507939, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027066457451498703 + } + }, + { + "simulation_time_ns": 4780000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.46623483551593, + 0.1406500937892772, + 0.11933358743727657 + ], + "intended_face_normal": [ + -0.9999135547235318, + -0.011371445386169677, + 0.006633467120486163 + ], + "commanded_contact_point": [ + -14.467596564058915, + 0.141802577479973, + 0.118733981994967 + ], + "centerline_face_intersection": [ + -14.46624818589131, + 0.14152814351439708, + 0.11882138219124702 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.492059707641602, + 0.13222827017307281, + 0.11782476305961609 + ], + "box_pose": [ + -14.393192291259766, + 0.1396651715040207, + 0.13601890206336975, + 0.0033587468788027763, + -0.007392279338091612, + 0.9999510645866394, + -0.005661170929670334 + ], + "box_yaw_rad": -3.1302207153463226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025899153840438856 + } + }, + { + "simulation_time_ns": 4800000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.466031359141013, + 0.14080872862837807, + 0.11946061696902746 + ], + "intended_face_normal": [ + -0.999900221656232, + -0.011367810778247188, + 0.008350782310418522 + ], + "commanded_contact_point": [ + -14.465165973659861, + 0.14192396278294203, + 0.11870557295554347 + ], + "centerline_face_intersection": [ + -14.466046768742096, + 0.14168649770610625, + 0.1188158086915224 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.489128112792969, + 0.13198554515838623, + 0.11404861509799957 + ], + "box_pose": [ + -14.392960548400879, + 0.1398465931415558, + 0.1360228806734085, + 0.004213632084429264, + -0.006725888699293137, + 0.9999524354934692, + -0.0056558339856565 + ], + "box_yaw_rad": -3.1302241982221415, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002433785354807117 + } + }, + { + "simulation_time_ns": 4820000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.463623261858443, + 0.1428801518520283, + 0.12027142590802653 + ], + "intended_face_normal": [ + -0.9998453670953058, + -0.0006541909645485233, + 0.01757544760994177 + ], + "commanded_contact_point": [ + -14.460944001527192, + 0.14286338060633647, + 0.1186684640519078 + ], + "centerline_face_intersection": [ + -14.463647143761603, + 0.14293066541271393, + 0.11891433220369084 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.486562728881836, + 0.135214701294899, + 0.11356903612613678 + ], + "box_pose": [ + -14.390417098999023, + 0.1412668526172638, + 0.13617224991321564, + 0.008788980543613434, + -0.0029176007956266403, + 0.9999570846557617, + -0.0003014656831510365 + ], + "box_yaw_rad": -3.1409383615435176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004325382249775439 + } + }, + { + "simulation_time_ns": 4840000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.461199201912702, + 0.14576999956394932, + 0.12178258324593533 + ], + "intended_face_normal": [ + -0.9995750928896372, + 0.008182686626985467, + 0.02797822764569391 + ], + "commanded_contact_point": [ + -14.456794334217744, + 0.14473492284906678, + 0.11916007859781974 + ], + "centerline_face_intersection": [ + -14.461264834531368, + 0.1451381708474077, + 0.1196222356155874 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.484216690063477, + 0.13849669694900513, + 0.11568868160247803 + ], + "box_pose": [ + -14.387845993041992, + 0.1437593549489975, + 0.13694323599338531, + 0.014008156023919582, + 0.004322024993598461, + 0.9998844265937805, + 0.0040312656201422215 + ], + "box_yaw_rad": 3.133406671456382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004578656353908005 + } + }, + { + "simulation_time_ns": 4860000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.457375863931128, + 0.14725407007923463, + 0.12542235395163912 + ], + "intended_face_normal": [ + -0.9985352125924325, + -0.001830737208589183, + 0.054074469644499974 + ], + "commanded_contact_point": [ + -14.451556133513453, + 0.1469862606619156, + 0.12029542728931622 + ], + "centerline_face_intersection": [ + -14.457602237886482, + 0.1473954310274852, + 0.12124697680344454 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.480469703674316, + 0.13986027240753174, + 0.12050807476043701 + ], + "box_pose": [ + -14.383634567260742, + 0.14633095264434814, + 0.13868695497512817, + 0.027030864730477333, + 0.01461323443800211, + 0.9995269179344177, + -0.0013109971769154072 + ], + "box_yaw_rad": -3.139759232860907, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005813457251694432 + } + }, + { + "simulation_time_ns": 4880000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.452365255729719, + 0.1488075770863221, + 0.12994091997708962 + ], + "intended_face_normal": [ + -0.9960533738420718, + -0.012849443297787672, + 0.0878210461632982 + ], + "commanded_contact_point": [ + -14.445487089392442, + 0.14946597749366933, + 0.12163332941853039 + ], + "centerline_face_intersection": [ + -14.45297594314523, + 0.14979975088414801, + 0.12315979032955965 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.475613594055176, + 0.1413019448518753, + 0.1256789267063141 + ], + "box_pose": [ + -14.378214836120605, + 0.14906692504882812, + 0.14072185754776, + 0.043776772916316986, + 0.02532315067946911, + 0.9986918568611145, + -0.007543154992163181 + ], + "box_yaw_rad": -3.1286930129596815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006691208726068558 + } + }, + { + "simulation_time_ns": 4900000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.445302702202723, + 0.1520816708000958, + 0.13312105822186504 + ], + "intended_face_normal": [ + -0.9935446067001201, + -0.01263421536186013, + 0.11273518595906237 + ], + "commanded_contact_point": [ + -14.437523506211502, + 0.15266411886097106, + 0.1225155738352679 + ], + "centerline_face_intersection": [ + -14.446302851273993, + 0.15305722570528654, + 0.12441617544917169 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.468762397766113, + 0.14446498453617096, + 0.12882386147975922 + ], + "box_pose": [ + -14.370909690856934, + 0.15276089310646057, + 0.14205402135849, + 0.05617852136492729, + 0.037826042622327805, + 0.9976680278778076, + -0.008461851626634598 + ], + "box_yaw_rad": -3.1288770348445127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00862699950712088 + } + }, + { + "simulation_time_ns": 4920000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.436940827051593, + 0.15731477591790263, + 0.13391023954009157 + ], + "intended_face_normal": [ + -0.9927498692356638, + 0.00019705355477434017, + 0.1201974161730403 + ], + "commanded_contact_point": [ + -14.428050734888844, + 0.1567013044864357, + 0.12266594405954469 + ], + "centerline_face_intersection": [ + -14.438064557715236, + 0.15729956036581336, + 0.1246291583189465 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.4605131149292, + 0.14937856793403625, + 0.12997040152549744 + ], + "box_pose": [ + -14.362480163574219, + 0.15758925676345825, + 0.142283633351326, + 0.0601266510784626, + 0.05351100116968155, + 0.9967504739761353, + -0.0031290785409510136 + ], + "box_yaw_rad": 3.1413941609399396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010298294786525447 + } + }, + { + "simulation_time_ns": 4940000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.428313037883887, + 0.16282453239779074, + 0.13433923426030214 + ], + "intended_face_normal": [ + -0.9919160986316209, + 0.010199799590944192, + 0.12648432282646546 + ], + "commanded_contact_point": [ + -14.418351424480788, + 0.16133611469751544, + 0.12256676417814415 + ], + "centerline_face_intersection": [ + -14.429566526950271, + 0.16203695167054225, + 0.12457270756838094 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.45195484161377, + 0.15438248217105865, + 0.13098061084747314 + ], + "box_pose": [ + -14.353797912597656, + 0.16305051743984222, + 0.142214834690094, + 0.06357461214065552, + 0.0734696164727211, + 0.9952689409255981, + 0.00043113715946674347 + ], + "box_yaw_rad": 3.131310090252255, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010750252310221744 + } + }, + { + "simulation_time_ns": 4960000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.419636608747126, + 0.16661700938139928, + 0.13535221223271024 + ], + "intended_face_normal": [ + -0.9901725532083399, + -0.001939781955307307, + 0.13983943541058627 + ], + "commanded_contact_point": [ + -14.408833324667913, + 0.1663509812923913, + 0.12239029958670848 + ], + "centerline_face_intersection": [ + -14.421161798894635, + 0.16676679025399807, + 0.12455446633028357 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.443257331848145, + 0.15760163962841034, + 0.13230575621128082 + ], + "box_pose": [ + -14.345041275024414, + 0.16856756806373596, + 0.14215773344039917, + 0.0696631669998169, + 0.0972881093621254, + 0.9927846193313599, + -0.007803594693541527 + ], + "box_yaw_rad": -3.1396336218356615, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010759844365243883 + } + }, + { + "simulation_time_ns": 4980000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.411880160122156, + 0.16853477345632215, + 0.13622969410068592 + ], + "intended_face_normal": [ + -0.9873355918031348, + -0.03469527680646278, + 0.1548041169478585 + ], + "commanded_contact_point": [ + -14.400550087538145, + 0.17142922454035914, + 0.12192161768614816 + ], + "centerline_face_intersection": [ + -14.413848475833941, + 0.1712137801461774, + 0.12427644561577406 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.435432434082031, + 0.15889449417591095, + 0.13247433304786682 + ], + "box_pose": [ + -14.337343215942383, + 0.1738107055425644, + 0.1417963206768036, + 0.07490431517362595, + 0.1231192797422409, + 0.9891963601112366, + -0.026859989389777184 + ], + "box_yaw_rad": -3.1064667991052586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009727293280117729 + } + }, + { + "simulation_time_ns": 5000000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.404967254152192, + 0.1712574909791968, + 0.13542869967531826 + ], + "intended_face_normal": [ + -0.9853644149467553, + -0.05999202179218788, + 0.15955697542731906 + ], + "commanded_contact_point": [ + -14.393174090729559, + 0.17662862356612904, + 0.12070612801428082 + ], + "centerline_face_intersection": [ + -14.40724422194912, + 0.17588979377406241, + 0.12310845773093823 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.428848266601562, + 0.1618657261133194, + 0.12839394807815552 + ], + "box_pose": [ + -14.330647468566895, + 0.17936618626117706, + 0.1404687464237213, + 0.07458777725696564, + 0.15091781318187714, + 0.98483806848526, + -0.041887734085321426 + ], + "box_yaw_rad": -3.080784631530131, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009105849454710853 + } + }, + { + "simulation_time_ns": 5020000000, + "phase": "normal_approach", + "intended_face_center": [ + -14.399963005135058, + 0.17566718908545642, + 0.13462806372894662 + ], + "intended_face_normal": [ + -0.983130479103723, + -0.07115171933184872, + 0.16850022187680236 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.18218121351129812, + 0.11908941276935163 + ], + "centerline_face_intersection": [ + -14.402590526880322, + 0.18116119142900364, + 0.12161726620258237 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.424278259277344, + 0.167768657207489, + 0.12339967489242554 + ], + "box_pose": [ + -14.325811386108398, + 0.18562310934066772, + 0.13875119388103485, + 0.07671880722045898, + 0.18071749806404114, + 0.9792376756668091, + -0.05048855021595955 + ], + "box_yaw_rad": -3.069346004996554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007740823506873615 + } + }, + { + "simulation_time_ns": 5040000000, + "phase": "straight_push", + "intended_face_center": [ + -14.395562189343119, + 0.18285579885058725, + 0.13498619933489583 + ], + "intended_face_normal": [ + -0.9796110652942578, + -0.06516633368279456, + 0.19004074606309207 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.18837740014598703, + 0.1203121434716703 + ], + "centerline_face_intersection": [ + -14.398743632492451, + 0.18788763776236175, + 0.1203121434716703 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.420178413391113, + 0.17564357817173004, + 0.12145902216434479 + ], + "box_pose": [ + -14.321401596069336, + 0.1933419406414032, + 0.13718344271183014, + 0.08648974448442459, + 0.20913948118686676, + 0.9726593494415283, + -0.0520959235727787 + ], + "box_yaw_rad": -3.0751678608007427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004897623836252685, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006315678837804382 + } + }, + { + "simulation_time_ns": 5060000000, + "phase": "straight_push", + "intended_face_center": [ + -14.390255634278489, + 0.19342222823083075, + 0.13475992659698718 + ], + "intended_face_normal": [ + -0.97579636413121, + -0.034577657579393684, + 0.21593064627067904 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.19700973873589545, + 0.11808677396209702 + ], + "centerline_face_intersection": [ + -14.394039772909295, + 0.19609215291514584, + 0.11808677396209702 + ], + "commanded_world_base_velocity": [ + 0.0006900411522633454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.415460586547852, + 0.18539656698703766, + 0.1215711385011673 + ], + "box_pose": [ + -14.315913200378418, + 0.20278899371623993, + 0.13454052805900574, + 0.10105979442596436, + 0.24334974586963654, + 0.9636799693107605, + -0.0434601791203022 + ], + "box_yaw_rad": -3.1061721528306263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0009175858207495957, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008914568917505795 + } + }, + { + "simulation_time_ns": 5080000000, + "phase": "straight_push", + "intended_face_center": [ + -14.385640496041459, + 0.20543631063086412, + 0.133626246691842 + ], + "intended_face_normal": [ + -0.969818560181027, + 0.0015959483276115627, + 0.24382227507246101 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.20667998994162717, + 0.11479943318352093 + ], + "centerline_face_intersection": [ + -14.390373960596468, + 0.20531307897976117, + 0.11479943318352093 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.411314964294434, + 0.1940799504518509, + 0.12553493678569794 + ], + "box_pose": [ + -14.311190605163574, + 0.21337196230888367, + 0.13065651059150696, + 0.11801204830408096, + 0.28184232115745544, + 0.9515640735626221, + -0.03411521762609482 + ], + "box_yaw_rad": 3.139947039706429, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013669109618660068, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010213734271873593 + } + }, + { + "simulation_time_ns": 5100000000, + "phase": "straight_push", + "intended_face_center": [ + -14.381771910317, + 0.21847161465010875, + 0.13116514930316145 + ], + "intended_face_normal": [ + -0.9636644327307522, + 0.03640767366768749, + 0.2646227588058814 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2176547891777167, + 0.11073221991385458 + ], + "centerline_face_intersection": [ + -14.387489024023564, + 0.21566038469907306, + 0.11073221991385458 + ], + "commanded_world_base_velocity": [ + 0.00583111111111104, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.407369613647461, + 0.19997304677963257, + 0.12864573299884796 + ], + "box_pose": [ + -14.307326316833496, + 0.22509339451789856, + 0.12581859529018402, + 0.13223804533481598, + 0.32253026962280273, + 0.936913251876831, + -0.02609306201338768 + ], + "box_yaw_rad": 3.103830166006973, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0019944044786436264, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011704206169297472 + } + }, + { + "simulation_time_ns": 5120000000, + "phase": "straight_push", + "intended_face_center": [ + -14.377929545150117, + 0.23136826934205848, + 0.1272204456547477 + ], + "intended_face_normal": [ + -0.9556637865778725, + 0.06449623218317813, + 0.2873106507482661 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2293697968655683, + 0.1050356635671208 + ], + "centerline_face_intersection": [ + -14.384935238197604, + 0.2263881725279294, + 0.1050356635671208 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.404927253723145, + 0.20170767605304718, + 0.12542098760604858 + ], + "box_pose": [ + -14.30367660522461, + 0.23728632926940918, + 0.1190926656126976, + 0.1469573676586151, + 0.36873018741607666, + 0.9175347089767456, + -0.023911358788609505 + ], + "box_yaw_rad": 3.0742064244668494, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002981624337638915, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.013026594310791109 + } + }, + { + "simulation_time_ns": 5140000000, + "phase": "straight_push", + "intended_face_center": [ + -14.374006207957255, + 0.24407218780990675, + 0.12092956876763411 + ], + "intended_face_normal": [ + -0.9474944052632353, + 0.09099465438864485, + 0.30655268549008063 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.24138989624366566, + 0.0972590069271232 + ], + "centerline_face_intersection": [ + -14.382339346226182, + 0.23704600700702474, + 0.0972590069271232 + ], + "commanded_world_base_velocity": [ + 0.015144032921810602, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.404484748840332, + 0.2029893845319748, + 0.11602187156677246 + ], + "box_pose": [ + -14.300073623657227, + 0.24945007264614105, + 0.10999186336994171, + 0.16019141674041748, + 0.41962236166000366, + 0.893120527267456, + -0.024322107434272766 + ], + "box_yaw_rad": 3.04584914317789, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0043438892366409135, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.014316395410708496 + } + }, + { + "simulation_time_ns": 5160000000, + "phase": "straight_push", + "intended_face_center": [ + -14.369853680142516, + 0.2567447456841807, + 0.11227340590838522 + ], + "intended_face_normal": [ + -0.9377425470928973, + 0.11934011603269923, + 0.32618504892498434 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.25340460974354756, + 0.0870869249624248 + ], + "centerline_face_intersection": [ + -14.379787293317305, + 0.24752986116248843, + 0.0870869249624248 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.404329299926758, + 0.20925837755203247, + 0.10557122528553009 + ], + "box_pose": [ + -14.296412467956543, + 0.2614172697067261, + 0.09816186130046844, + 0.17439520359039307, + 0.4743911325931549, + 0.862452507019043, + -0.026739420369267464 + ], + "box_yaw_rad": 3.015009903077684, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005874748581059152, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.015742445552733755 + } + }, + { + "simulation_time_ns": 5180000000, + "phase": "straight_push", + "intended_face_center": [ + -14.365354822319102, + 0.26998603990991765, + 0.10130229241888773 + ], + "intended_face_normal": [ + -0.922351906295745, + 0.15202886712246766, + 0.3551822288723301 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.26562345958680134, + 0.07387678512074655 + ], + "centerline_face_intersection": [ + -14.377850806951313, + 0.258247083211456, + 0.07387678512074655 + ], + "commanded_world_base_velocity": [ + 0.02761744855967067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.403096199035645, + 0.22070638835430145, + 0.09636262059211731 + ], + "box_pose": [ + -14.292773246765137, + 0.2734537720680237, + 0.08301372081041336, + 0.19433894753456116, + 0.5291790962219238, + 0.8253153562545776, + -0.03250354528427124 + ], + "box_yaw_rad": 2.9782340643796212, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007376376375345334, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.01799466826948132 + } + }, + { + "simulation_time_ns": 5200000000, + "phase": "straight_push", + "intended_face_center": [ + -14.361327646347492, + 0.2849885487693266, + 0.08650116145111046 + ], + "intended_face_normal": [ + -0.9076047194965042, + 0.2058233130307734, + 0.3659099914242461 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2778471733233252, + 0.05824730659995572 + ], + "centerline_face_intersection": [ + -14.376322591181728, + 0.26909583704336326, + 0.05824730659995572 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.399954795837402, + 0.234721839427948, + 0.08839085698127747 + ], + "box_pose": [ + -14.289589881896973, + 0.2855274975299835, + 0.06486827880144119, + 0.21291369199752808, + 0.590792179107666, + 0.7776676416397095, + -0.0294162780046463 + ], + "box_yaw_rad": 2.9185880714830454, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008751336279961944, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.019841869275457495 + } + }, + { + "simulation_time_ns": 5220000000, + "phase": "straight_push", + "intended_face_center": [ + -14.357296397517388, + 0.29942591768703103, + 0.0671509401729334 + ], + "intended_face_normal": [ + -0.8947693207892442, + 0.2622385340005444, + 0.3614119493948147 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2893089455915684, + 0.03924440304906804 + ], + "centerline_face_intersection": [ + -14.374502839491985, + 0.27917708696450366, + 0.03924440304906804 + ], + "commanded_world_base_velocity": [ + 0.04223999999999988, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.393585205078125, + 0.2446640282869339, + 0.08302879333496094 + ], + "box_pose": [ + -14.286446571350098, + 0.2964930832386017, + 0.04293771833181381, + 0.2280064970254898, + 0.6542904376983643, + 0.72061687707901, + -0.025066306814551353 + ], + "box_yaw_rad": 2.856496983691645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010131858627064736, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.022191948244654147 + } + }, + { + "simulation_time_ns": 5240000000, + "phase": "straight_push", + "intended_face_center": [ + -14.350632230450392, + 0.30054144638407027, + 0.06555352372637496 + ], + "intended_face_normal": [ + -0.8891842081998504, + 0.24405729461354575, + 0.38702405113549787 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2932274389485788, + 0.03566934012667107 + ], + "centerline_face_intersection": [ + -14.368811970158491, + 0.281696485768109, + 0.03566934012667107 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.381742477416992, + 0.2467191219329834, + 0.08895044028759003 + ], + "box_pose": [ + -14.28067684173584, + 0.2991741895675659, + 0.03874017298221588, + 0.23085010051727295, + 0.6690778732299805, + 0.7049304246902466, + -0.04600176960229874 + ], + "box_yaw_rad": 2.87371620805196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01153095318046976, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005304306277736241 + } + }, + { + "simulation_time_ns": 5260000000, + "phase": "straight_push", + "intended_face_center": [ + -14.338671137122901, + 0.29639962507488055, + 0.0742171483977461 + ], + "intended_face_normal": [ + -0.8693854826599505, + 0.19445186208738985, + 0.45426621103800624 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2945960549421716, + 0.03914084031308691 + ], + "centerline_face_intersection": [ + -14.360357232978858, + 0.2813849635031391, + 0.03914084031308691 + ], + "commanded_world_base_velocity": [ + 0.0580003292181069, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.36099910736084, + 0.23938150703907013, + 0.10960611701011658 + ], + "box_pose": [ + -14.27088737487793, + 0.298868864774704, + 0.04237617179751396, + 0.23935426771640778, + 0.6677393317222595, + 0.6991544365882874, + -0.08953719586133957 + ], + "box_yaw_rad": 2.921548415707172, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013211091439032518, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037315443561886405 + } + }, + { + "simulation_time_ns": 5280000000, + "phase": "straight_push", + "intended_face_center": [ + -14.32761403113609, + 0.2918638328900483, + 0.0800473183729914 + ], + "intended_face_normal": [ + -0.8527461293516154, + 0.15190048644163934, + 0.49975020203288434 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.295134789146157, + 0.041458949645717676 + ], + "centerline_face_intersection": [ + -14.352317976518288, + 0.28013478914615697, + 0.041458949645717676 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.339010238647461, + 0.22739486396312714, + 0.14318209886550903 + ], + "box_pose": [ + -14.26174259185791, + 0.2976113557815552, + 0.04479820281267166, + 0.2416624277830124, + 0.6680644154548645, + 0.692865788936615, + -0.12339449673891068 + ], + "box_yaw_rad": 2.965310687336921, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023798876907479517 + } + }, + { + "simulation_time_ns": 5300000000, + "phase": "straight_push", + "intended_face_center": [ + -14.318731909109214, + 0.28725348580481, + 0.0822514885286851 + ], + "intended_face_normal": [ + -0.8480999861853391, + 0.11584591306676373, + 0.5170166128620242 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.29330840726200275, + 0.04232988846911549 + ], + "centerline_face_intersection": [ + -14.344290662191991, + 0.27830840726200273, + 0.04232988846911549 + ], + "commanded_world_base_velocity": [ + 0.07388707818930032, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.323685646057129, + 0.21632254123687744, + 0.17541757225990295 + ], + "box_pose": [ + -14.253874778747559, + 0.29576680064201355, + 0.04570484533905983, + 0.23461417853832245, + 0.6710624694824219, + 0.6882769465446472, + -0.14458978176116943 + ], + "box_yaw_rad": 3.005838159198977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00202341424845936 + } + }, + { + "simulation_time_ns": 5320000000, + "phase": "straight_push", + "intended_face_center": [ + -14.312371173711346, + 0.2824283574281692, + 0.08122119033287266 + ], + "intended_face_normal": [ + -0.8569826595978753, + 0.08174005165763987, + 0.5088221026706421 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2911167736802874, + 0.04193233195008111 + ], + "centerline_face_intersection": [ + -14.336300361218985, + 0.27611677368028736, + 0.04193233195008111 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.314984321594238, + 0.2097363919019699, + 0.1998513787984848 + ], + "box_pose": [ + -14.247565269470215, + 0.2935371994972229, + 0.04528551176190376, + 0.21777337789535522, + 0.6765901446342468, + 0.6860882639884949, + -0.1551889181137085 + ], + "box_yaw_rad": 3.046499110840055, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002227399591974748 + } + }, + { + "simulation_time_ns": 5340000000, + "phase": "straight_push", + "intended_face_center": [ + -14.308556008442999, + 0.2773285465427127, + 0.0769698791787834 + ], + "intended_face_normal": [ + -0.8787604520928909, + 0.04640656977721136, + 0.47500144910597797 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28874524868981233, + 0.040292493177677365 + ], + "centerline_face_intersection": [ + -14.328570688665524, + 0.2737452486898123, + 0.040292493177677365 + ], + "commanded_world_base_velocity": [ + 0.08888888888888882, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.311508178710938, + 0.2084711194038391, + 0.21411360800266266 + ], + "box_pose": [ + -14.242915153503418, + 0.29109516739845276, + 0.04355822876095772, + 0.19046436250209808, + 0.684181272983551, + 0.6864956021308899, + -0.15602265298366547 + ], + "box_yaw_rad": 3.0888325389245845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028832623848561367 + } + }, + { + "simulation_time_ns": 5360000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307130766193511, + 0.2720276611208557, + 0.06944259776332867 + ], + "intended_face_normal": [ + -0.9103326390928217, + 0.008555000361139875, + 0.41378834559070654 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2863670840824578, + 0.037491800765647676 + ], + "centerline_face_intersection": [ + -14.321660133762482, + 0.2713670840824578, + 0.037491800765647676 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.311650276184082, + 0.21174150705337524, + 0.21935459971427917 + ], + "box_pose": [ + -14.240006446838379, + 0.2886044383049011, + 0.04056156426668167, + 0.15232114493846893, + 0.693254292011261, + 0.6888866424560547, + -0.14707759022712708 + ], + "box_yaw_rad": 3.1321952661304713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003674172680546511 + } + }, + { + "simulation_time_ns": 5380000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307620094991265, + 0.26795062251584983, + 0.062096333079882646 + ], + "intended_face_normal": [ + -0.9375706809110227, + -0.024029932136773624, + 0.3469632944067911 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28480610126906136, + 0.0353054533865156 + ], + "centerline_face_intersection": [ + -14.31758207293277, + 0.26980610126906135, + 0.0353054533865156 + ], + "commanded_world_base_velocity": [ + 0.10199440329218103, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.313278198242188, + 0.2151605784893036, + 0.2192710041999817 + ], + "box_pose": [ + -14.239136695861816, + 0.28690052032470703, + 0.03831598907709122, + 0.1159181147813797, + 0.696405291557312, + 0.6955609321594238, + -0.13333261013031006 + ], + "box_yaw_rad": -3.115968268173936, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002686406932308805 + } + }, + { + "simulation_time_ns": 5400000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307828291478808, + 0.2678271774850517, + 0.061789569306045636 + ], + "intended_face_normal": [ + -0.9387466383275864, + -0.024907580688278586, + 0.3437070479020434 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847504241466716, + 0.035250121708715706 + ], + "centerline_face_intersection": [ + -14.317596300066363, + 0.2697504241466716, + 0.035250121708715706 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.315255165100098, + 0.21575848758220673, + 0.21516361832618713 + ], + "box_pose": [ + -14.23927116394043, + 0.2868388593196869, + 0.03827238455414772, + 0.11448904871940613, + 0.6961432695388794, + 0.696245551109314, + -0.13235929608345032 + ], + "box_yaw_rad": -3.1150660730985247, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 7.849545544649836e-05 + } + }, + { + "simulation_time_ns": 5420000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307895606336459, + 0.2677864363023079, + 0.06167597877585179 + ], + "intended_face_normal": [ + -0.939139671233562, + -0.02516605442323616, + 0.34261258703075725 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28472964109451043, + 0.035221040318262 + ], + "centerline_face_intersection": [ + -14.317598843364074, + 0.2697296410945104, + 0.035221040318262 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.317376136779785, + 0.21407678723335266, + 0.20760996639728546 + ], + "box_pose": [ + -14.239312171936035, + 0.28681594133377075, + 0.03825010731816292, + 0.11403398960828781, + 0.6959904432296753, + 0.6965394020080566, + -0.13200917840003967 + ], + "box_yaw_rad": -3.1148021408664346, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.574440554625978e-05 + } + }, + { + "simulation_time_ns": 5440000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307887647997632, + 0.26778484787749773, + 0.0616524798261163 + ], + "intended_face_normal": [ + -0.9390945384999725, + -0.025180177931956038, + 0.34273537103052476 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847291432208596, + 0.03518806056344116 + ], + "centerline_face_intersection": [ + -14.317598321405141, + 0.2697291432208596, + 0.03518806056344116 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.319098472595215, + 0.2112259566783905, + 0.1985350102186203 + ], + "box_pose": [ + -14.239307403564453, + 0.286815345287323, + 0.03821806609630585, + 0.11407602578401566, + 0.6959735155105591, + 0.696540117263794, + -0.13205841183662415 + ], + "box_yaw_rad": -3.1147858252373566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.298351264215047e-05 + } + }, + { + "simulation_time_ns": 5460000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307880857377674, + 0.2677842549873422, + 0.06163269557988106 + ], + "intended_face_normal": [ + -0.939052380694477, + -0.02518764493109238, + 0.34285004793897933 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28472912689738633, + 0.03515942150372121 + ], + "centerline_face_intersection": [ + -14.317598477338539, + 0.2697291268973863, + 0.03515942150372121 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.318942070007324, + 0.20623503625392914, + 0.1908472627401352 + ], + "box_pose": [ + -14.239303588867188, + 0.2868152856826782, + 0.03819002956151962, + 0.11411628872156143, + 0.6959632635116577, + 0.6965352296829224, + -0.13210324943065643 + ], + "box_yaw_rad": -3.1147766764311906, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.863906437191928e-05 + } + }, + { + "simulation_time_ns": 5480000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307874453659126, + 0.26778458096025903, + 0.06161550754390416 + ], + "intended_face_normal": [ + -0.9390151919899381, + -0.02518753540980967, + 0.34295117076101533 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28472944441358294, + 0.03513442523729719 + ], + "centerline_face_intersection": [ + -14.317598201664778, + 0.26972944441358293, + 0.03513442523729719 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.316411972045898, + 0.19964519143104553, + 0.184525266289711 + ], + "box_pose": [ + -14.239299774169922, + 0.2868156135082245, + 0.03816533088684082, + 0.11415331810712814, + 0.6959588527679443, + 0.696526288986206, + -0.1321411430835724 + ], + "box_yaw_rad": -3.114775731472174, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.499828297454464e-05 + } + }, + { + "simulation_time_ns": 5500000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307869705083112, + 0.2677841248045917, + 0.06160164857886277 + ], + "intended_face_normal": [ + -0.9389889675098431, + -0.025194174633764277, + 0.3430250456464492 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847295009076774, + 0.035114861999786855 + ], + "centerline_face_intersection": [ + -14.317597774577179, + 0.2697295009076774, + 0.035114861999786855 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.313645362854004, + 0.1944667100906372, + 0.18023163080215454 + ], + "box_pose": [ + -14.239296913146973, + 0.2868156433105469, + 0.038146134465932846, + 0.11417849361896515, + 0.695952832698822, + 0.6965228915214539, + -0.13217072188854218 + ], + "box_yaw_rad": -3.1147679173529896, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.956331908109165e-05 + } + }, + { + "simulation_time_ns": 5520000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307865044705498, + 0.26778292220133726, + 0.06159134692105334 + ], + "intended_face_normal": [ + -0.9389652424265265, + -0.02520907368165126, + 0.3430857957497109 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847294487390825, + 0.03509986950368392 + ], + "centerline_face_intersection": [ + -14.31759702392707, + 0.2697294487390825, + 0.03509986950368392 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.31125545501709, + 0.19234172999858856, + 0.18039250373840332 + ], + "box_pose": [ + -14.239294052124023, + 0.28681549429893494, + 0.03813168406486511, + 0.11419668048620224, + 0.6959432363510132, + 0.6965239644050598, + -0.1321978121995926 + ], + "box_yaw_rad": -3.1147513837947045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.4992586866808908e-05 + } + }, + { + "simulation_time_ns": 5540000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307862710272499, + 0.26778276236166537, + 0.06158194342535911 + ], + "intended_face_normal": [ + -0.9389454906629027, + -0.025211278428293404, + 0.3431401493654951 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847294591396147, + 0.03508626907648468 + ], + "centerline_face_intersection": [ + -14.31759794452643, + 0.2697294591396147, + 0.03508626907648468 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.308744430541992, + 0.1915571689605713, + 0.18374845385551453 + ], + "box_pose": [ + -14.239293098449707, + 0.28681549429893494, + 0.03811833634972572, + 0.11421612650156021, + 0.6959390044212341, + 0.6965211033821106, + -0.13221867382526398 + ], + "box_yaw_rad": -3.114748473012094, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.3600431175988907e-05 + } + }, + { + "simulation_time_ns": 5560000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307859661023837, + 0.2677820975769507, + 0.06157505306842498 + ], + "intended_face_normal": [ + -0.9389295636324988, + -0.02521771921060889, + 0.3431840180711845 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847292916819284, + 0.03507599138366986 + ], + "centerline_face_intersection": [ + -14.31759752005838, + 0.2697292916819284, + 0.03507599138366986 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.305809020996094, + 0.1904793083667755, + 0.18821659684181213 + ], + "box_pose": [ + -14.239291191101074, + 0.2868152856826782, + 0.03810841590166092, + 0.11423072218894958, + 0.6959325671195984, + 0.6965218186378479, + -0.13223668932914734 + ], + "box_yaw_rad": -3.1147411631096587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.0279056944708602e-05 + } + }, + { + "simulation_time_ns": 5580000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307855579828884, + 0.26778136367574434, + 0.06156974835145995 + ], + "intended_face_normal": [ + -0.9389144642500256, + -0.025230829021146484, + 0.34322396899715457 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.284729570058858, + 0.035067601843415 + ], + "centerline_face_intersection": [ + -14.317595927291054, + 0.269729570058858, + 0.035067601843415 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.30278491973877, + 0.1894264966249466, + 0.1926652044057846 + ], + "box_pose": [ + -14.239288330078125, + 0.28681549429893494, + 0.03810034319758415, + 0.11424129456281662, + 0.6959273219108582, + 0.6965216398239136, + -0.13225583732128143 + ], + "box_yaw_rad": -3.114726778837216, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.394157456400689e-06 + } + }, + { + "simulation_time_ns": 5600000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307853578854502, + 0.26778168605310887, + 0.0615642794625198 + ], + "intended_face_normal": [ + -0.938899851261489, + -0.025231133055171107, + 0.3432646535974886 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847299159123052, + 0.035058991480288695 + ], + "centerline_face_intersection": [ + -14.317596334625488, + 0.26972991591230516, + 0.035058991480288695 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300225257873535, + 0.18916085362434387, + 0.1965680718421936 + ], + "box_pose": [ + -14.239287376403809, + 0.2868158519268036, + 0.03809178248047829, + 0.11425577849149704, + 0.695927083492279, + 0.6965166330337524, + -0.1322714388370514 + ], + "box_yaw_rad": -3.114726037313552, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.61730629453087e-06 + } + }, + { + "simulation_time_ns": 5620000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307852811869996, + 0.267781698745508, + 0.061559736019476646 + ], + "intended_face_normal": [ + -0.9388893924313066, + -0.025233392051020154, + 0.34329265048990454 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473010303377794, + 0.0350522862484091 + ], + "centerline_face_intersection": [ + -14.317597291343864, + 0.2697301030337779, + 0.0350522862484091 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.298526763916016, + 0.18995101749897003, + 0.19915616512298584 + ], + "box_pose": [ + -14.239287376403809, + 0.2868160307407379, + 0.03808517009019852, + 0.11426522582769394, + 0.695925772190094, + 0.6965141892433167, + -0.13228274881839752 + ], + "box_yaw_rad": -3.114723333881518, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 6.7078423509128475e-06 + } + }, + { + "simulation_time_ns": 5640000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307851263206727, + 0.26778093139459946, + 0.061556732094202635 + ], + "intended_face_normal": [ + -0.9388822619122621, + -0.02524247407748792, + 0.3433114938549231 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847300369543941, + 0.035047827326790036 + ], + "centerline_face_intersection": [ + -14.317596917861602, + 0.26973003695439407, + 0.035047827326790036 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.298149108886719, + 0.19214066863059998, + 0.1989538073539734 + ], + "box_pose": [ + -14.239286422729492, + 0.28681591153144836, + 0.03808095306158066, + 0.11426951736211777, + 0.6959214806556702, + 0.6965159177780151, + -0.13229252398014069 + ], + "box_yaw_rad": -3.1147134636676537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 4.459411226824958e-06 + } + }, + { + "simulation_time_ns": 5660000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307850761361742, + 0.26778106213211994, + 0.06155313124731735 + ], + "intended_face_normal": [ + -0.9388759501433483, + -0.025244690042267592, + 0.34332797936289516 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847303387983306, + 0.0350429535462317 + ], + "centerline_face_intersection": [ + -14.317597456267313, + 0.2697303387983306, + 0.0350429535462317 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.299051284790039, + 0.1958249807357788, + 0.19477781653404236 + ], + "box_pose": [ + -14.239286422729492, + 0.28681620955467224, + 0.03807607293128967, + 0.11427450180053711, + 0.6959220767021179, + 0.6965130567550659, + -0.1322997361421585 + ], + "box_yaw_rad": -3.1147109245276123, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 4.8831185417538484e-06 + } + }, + { + "simulation_time_ns": 5680000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307850315948853, + 0.26778132446250263, + 0.06155017632349607 + ], + "intended_face_normal": [ + -0.9388701356114382, + -0.02524542999140067, + 0.34334471841340175 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473065826411786, + 0.03503870611137097 + ], + "centerline_face_intersection": [ + -14.317597969161433, + 0.26973065826411785, + 0.03503870611137097 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300605773925781, + 0.20053152740001678, + 0.1878865510225296 + ], + "box_pose": [ + -14.239286422729492, + 0.2868165373802185, + 0.03807179629802704, + 0.11428003013134003, + 0.6959230899810791, + 0.6965099573135376, + -0.1323065459728241 + ], + "box_yaw_rad": -3.1147099705682946, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 4.259432037886808e-06 + } + }, + { + "simulation_time_ns": 5700000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307849877255348, + 0.2677814544035383, + 0.06154792411843518 + ], + "intended_face_normal": [ + -0.9388644881556161, + -0.025246816209881118, + 0.34336020052024985 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473089524244866, + 0.035035258450569796 + ], + "centerline_face_intersection": [ + -14.317598461244765, + 0.26973089524244864, + 0.035035258450569796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.302292823791504, + 0.20581769943237305, + 0.180592879652977 + ], + "box_pose": [ + -14.239286422729492, + 0.2868167757987976, + 0.038068339228630066, + 0.1142849549651146, + 0.6959236860275269, + 0.6965073347091675, + -0.1323130577802658 + ], + "box_yaw_rad": -3.114708333524276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.455795672376953e-06 + } + }, + { + "simulation_time_ns": 5720000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307849480170214, + 0.26778161514565146, + 0.06154604051129782 + ], + "intended_face_normal": [ + -0.9388595042756407, + -0.02524820042779652, + 0.34337329944071016 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473116286738265, + 0.0350323634061772 + ], + "centerline_face_intersection": [ + -14.317598885575167, + 0.26973116286738263, + 0.0350323634061772 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.304388046264648, + 0.21123233437538147, + 0.17588642239570618 + ], + "box_pose": [ + -14.239286422729492, + 0.2868170440196991, + 0.03806541860103607, + 0.11428897082805634, + 0.6959245800971985, + 0.6965046525001526, + -0.13231872022151947 + ], + "box_yaw_rad": -3.1147067175835637, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.9073880271471556e-06 + } + }, + { + "simulation_time_ns": 5740000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307849137971965, + 0.2677817734537203, + 0.06154447984945675 + ], + "intended_face_normal": [ + -0.9388553509979616, + -0.02525002235393181, + 0.3433846672682108 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473146185604997, + 0.03502992497396716 + ], + "centerline_face_intersection": [ + -14.317599227900716, + 0.26973146185604996, + 0.03502992497396716 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.306262016296387, + 0.2159367799758911, + 0.17390155792236328 + ], + "box_pose": [ + -14.239286422729492, + 0.286817342042923, + 0.03806295990943909, + 0.11429223418235779, + 0.6959253549575806, + 0.6965023875236511, + -0.13232384622097015 + ], + "box_yaw_rad": -3.1147046595239147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.456694092911089e-06 + } + }, + { + "simulation_time_ns": 5760000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307848888593707, + 0.2677817219115462, + 0.06154333969175696 + ], + "intended_face_normal": [ + -0.9388525279951523, + -0.0252527452429554, + 0.34339223595182844 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847316205626066, + 0.035028200397985945 + ], + "centerline_face_intersection": [ + -14.317599443798414, + 0.2697316205626066, + 0.035028200397985945 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.306509017944336, + 0.2183387577533722, + 0.1757645308971405 + ], + "box_pose": [ + -14.239286422729492, + 0.2868174910545349, + 0.03806125000119209, + 0.11429396271705627, + 0.6959253549575806, + 0.6965013742446899, + -0.13232772052288055 + ], + "box_yaw_rad": -3.1147016805799987, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.7318631834240864e-06 + } + }, + { + "simulation_time_ns": 5780000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307848617081552, + 0.2677818320522518, + 0.06154227674547269 + ], + "intended_face_normal": [ + -0.9388493706898444, + -0.025254416699597826, + 0.3434007353249813 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473185976536153, + 0.03502648116993563 + ], + "centerline_face_intersection": [ + -14.317599692662368, + 0.2697318597653615, + 0.03502648116993563 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.305480003356934, + 0.21908774971961975, + 0.18104353547096252 + ], + "box_pose": [ + -14.239286422729492, + 0.286817729473114, + 0.038059499114751816, + 0.11429622024297714, + 0.695926308631897, + 0.6964992880821228, + -0.1323317289352417 + ], + "box_yaw_rad": -3.114699811153106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.735788883173585e-06 + } + }, + { + "simulation_time_ns": 5800000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307848389310116, + 0.2677820590979156, + 0.06154149166445588 + ], + "intended_face_normal": [ + -0.9388460484355861, + -0.025253299039416532, + 0.343409350342041 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473200051054354, + 0.035025030877672204 + ], + "centerline_face_intersection": [ + -14.317600012455364, + 0.2697320005105435, + 0.035025030877672204 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.303447723388672, + 0.21947917342185974, + 0.1871996521949768 + ], + "box_pose": [ + -14.239286422729492, + 0.28681787848472595, + 0.03805803135037422, + 0.11429961025714874, + 0.6959267854690552, + 0.6964976191520691, + -0.13233470916748047 + ], + "box_yaw_rad": -3.1147009056353157, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.457105643260014e-06 + } + }, + { + "simulation_time_ns": 5820000000, + "phase": "straight_push", + "intended_face_center": [ + -14.30784818553861, + 0.2677818880922643, + 0.06154100212988089 + ], + "intended_face_normal": [ + -0.9388440558768778, + -0.025256865659755157, + 0.343414380716764 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847321049026013, + 0.03502415292113388 + ], + "centerline_face_intersection": [ + -14.317600137092667, + 0.2697321049026013, + 0.03502415292113388 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.30173110961914, + 0.22065478563308716, + 0.1893351823091507 + ], + "box_pose": [ + -14.239286422729492, + 0.2868179678916931, + 0.03805717080831528, + 0.11430013924837112, + 0.6959267258644104, + 0.6964969635009766, + -0.13233791291713715 + ], + "box_yaw_rad": -3.1146970523874193, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.841410435629957e-07 + } + }, + { + "simulation_time_ns": 5840000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847994672228, + 0.2677819951110253, + 0.061540649606152034 + ], + "intended_face_normal": [ + -0.9388412326246822, + -0.025256147993148126, + 0.34342284725402283 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473215650651, + 0.03502314665107284 + ], + "centerline_face_intersection": [ + -14.317600411549295, + 0.26973215650651, + 0.03502314665107284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300999641418457, + 0.22122637927532196, + 0.18341907858848572 + ], + "box_pose": [ + -14.239286422729492, + 0.2868180274963379, + 0.03805616497993469, + 0.11430340260267258, + 0.6959268450737, + 0.6964958310127258, + -0.13234089314937592 + ], + "box_yaw_rad": -3.11469773541148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.00759237747235e-06 + } + }, + { + "simulation_time_ns": 5860000000, + "phase": "straight_push", + "intended_face_center": [ + -14.30784792767456, + 0.26778191630098774, + 0.06154039289285917 + ], + "intended_face_normal": [ + -0.938840736625572, + -0.025258916258262154, + 0.3434241196774561 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847322914489322, + 0.035022791687205145 + ], + "centerline_face_intersection": [ + -14.317600426301402, + 0.2697322914489322, + 0.035022791687205145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300941467285156, + 0.22205719351768494, + 0.17079536616802216 + ], + "box_pose": [ + -14.239286422729492, + 0.28681814670562744, + 0.03805586323142052, + 0.11430304497480392, + 0.6959258913993835, + 0.6964966058731079, + -0.13234221935272217 + ], + "box_yaw_rad": -3.11469477474275, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.797483438713439e-07 + } + }, + { + "simulation_time_ns": 5880000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847844306474, + 0.267782290788966, + 0.06153953782403415 + ], + "intended_face_normal": [ + -0.9388390737423222, + -0.025255770450998583, + 0.34342804623928824 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847324230324151, + 0.03502163342767566 + ], + "centerline_face_intersection": [ + -14.317600617007392, + 0.26973242303241507, + 0.03502163342767566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.301522254943848, + 0.22513802349567413, + 0.1534893959760666 + ], + "box_pose": [ + -14.239286422729492, + 0.2868182957172394, + 0.03805465251207352, + 0.11430538445711136, + 0.6959269046783447, + 0.696494996547699, + -0.13234277069568634 + ], + "box_yaw_rad": -3.1146980754422353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.165709805485673e-06 + } + }, + { + "simulation_time_ns": 5900000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847835249303, + 0.26778228658512854, + 0.06153875798310095 + ], + "intended_face_normal": [ + -0.9388389082269271, + -0.025255841344598906, + 0.34342847012193545 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847324243026492, + 0.0350208208565108 + ], + "centerline_face_intersection": [ + -14.317600635230264, + 0.2697324243026492, + 0.0350208208565108 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.306380271911621, + 0.23263365030288696, + 0.12874306738376617 + ], + "box_pose": [ + -14.239286422729492, + 0.2868182957172394, + 0.03805385157465935, + 0.11430555582046509, + 0.6959266662597656, + 0.6964951753616333, + -0.13234291970729828 + ], + "box_yaw_rad": -3.1146979952456713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 8.12572157693568e-07 + } + }, + { + "simulation_time_ns": 5920000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847834477336, + 0.26778240304981304, + 0.06153793040730953 + ], + "intended_face_normal": [ + -0.9388389068729168, + -0.0252553921537082, + 0.3434296017431251 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847325060829181, + 0.035019905902234 + ], + "centerline_face_intersection": [ + -14.317600634681462, + 0.2697325060829181, + 0.035019905902234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.320805549621582, + 0.24466004967689514, + 0.09297589957714081 + ], + "box_pose": [ + -14.239286422729492, + 0.28681838512420654, + 0.03805290907621384, + 0.1143060103058815, + 0.6959272623062134, + 0.6964945793151855, + -0.13234326243400574 + ], + "box_yaw_rad": -3.1146984733145535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 9.186018403075302e-07 + } + }, + { + "simulation_time_ns": 5940000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847806919664, + 0.2677820120982809, + 0.0615380802064084 + ], + "intended_face_normal": [ + -0.938839243058851, + -0.025260081291694547, + 0.343427695557601 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473247720464756, + 0.03502020288804648 + ], + "centerline_face_intersection": [ + -14.317600551714047, + 0.26973247720464755, + 0.03502020288804648 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.342108726501465, + 0.25509557127952576, + 0.06086820363998413 + ], + "box_pose": [ + -14.239286422729492, + 0.28681832551956177, + 0.038053300231695175, + 0.11430398374795914, + 0.6959254741668701, + 0.6964964866638184, + -0.13234394788742065 + ], + "box_yaw_rad": -3.114693491940493, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.983865401166794e-07 + } + }, + { + "simulation_time_ns": 5960000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847662444805, + 0.26778257344871276, + 0.061537658494974085 + ], + "intended_face_normal": [ + -0.9388367482649826, + -0.025256349253679033, + 0.3434343083070015 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847327503845925, + 0.03501927057109139 + ], + "centerline_face_intersection": [ + -14.31760081842849, + 0.2697327503845925, + 0.03501927057109139 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.36202621459961, + 0.25886374711990356, + 0.042014092206954956 + ], + "box_pose": [ + -14.239286422729492, + 0.28681862354278564, + 0.038052283227443695, + 0.11430735886096954, + 0.6959272027015686, + 0.6964938640594482, + -0.13234542310237885 + ], + "box_yaw_rad": -3.114697392792467, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 9.715154075288508e-07 + } + }, + { + "simulation_time_ns": 5980000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847696747048, + 0.2677822447027703, + 0.061537502929284796 + ], + "intended_face_normal": [ + -0.9388372502314866, + -0.02525810113103777, + 0.3434329088287571 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.2847325569104102, + 0.035019223066554056 + ], + "centerline_face_intersection": [ + -14.317600769997048, + 0.2697325569104102, + 0.035019223066554056 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.374658584594727, + 0.2600420117378235, + 0.03805984556674957 + ], + "box_pose": [ + -14.239286422729492, + 0.28681841492652893, + 0.03805231675505638, + 0.11430654674768448, + 0.6959255337715149, + 0.6964957118034363, + -0.13234524428844452 + ], + "box_yaw_rad": -3.11469554250762, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.9922083294276253e-07 + } + }, + { + "simulation_time_ns": 6000000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847743938519, + 0.26778214848331827, + 0.06153712887794411 + ], + "intended_face_normal": [ + -0.9388379154143536, + -0.02525860819804393, + 0.34343179663112977 + ], + "commanded_contact_point": [ + -14.388028672837669, + 0.28473249984429627, + 0.035018934893902294 + ], + "centerline_face_intersection": [ + -14.317600707553726, + 0.26973249984429626, + 0.035018934893902294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.379276275634766, + 0.26083746552467346, + 0.04536803066730499 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.03805204853415489, + 0.11430604755878448, + 0.6959251165390015, + 0.6964963674545288, + -0.13234491646289825 + ], + "box_yaw_rad": -3.1146950218454585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 2.9376864806234457e-07 + } + }, + { + "simulation_time_ns": 6020000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847744717622, + 0.2677821503149285, + 0.061536693761438055 + ], + "intended_face_normal": [ + -0.9388379154143536, + -0.02525857713884072, + 0.3434319522591256 + ], + "commanded_contact_point": [ + -14.3869677734375, + 0.28473249927766037, + 0.03501848776053169 + ], + "centerline_face_intersection": [ + -14.31760070833283, + 0.26973249927766035, + 0.03501848776053169 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.37696361541748, + 0.26219916343688965, + 0.05776533484458923 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.03805160149931908, + 0.11430611461400986, + 0.6959251165390015, + 0.6964963674545288, + -0.13234496116638184 + ], + "box_yaw_rad": -3.114695054904134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010608994943952668 + } + }, + { + "simulation_time_ns": 6040000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847743354602, + 0.26778214630070957, + 0.06153641861758426 + ], + "intended_face_normal": [ + -0.9388379154143536, + -0.02525863930832095, + 0.34343176549531584 + ], + "commanded_contact_point": [ + -14.38440143585205, + 0.2847325000638774, + 0.03501822703770408 + ], + "centerline_face_intersection": [ + -14.31760070696981, + 0.2697325000638774, + 0.03501822703770408 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.371549606323242, + 0.264937162399292, + 0.0704057365655899 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.038051340728998184, + 0.1143060252070427, + 0.6959251165390015, + 0.6964963674545288, + -0.13234491646289825 + ], + "box_yaw_rad": -3.1146949887324213, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025663375986931915 + } + }, + { + "simulation_time_ns": 6060000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847744133703, + 0.2677821481323199, + 0.06153624427139899 + ], + "intended_face_normal": [ + -0.9388379154143536, + -0.025258608249117742, + 0.34343192112331167 + ], + "commanded_contact_point": [ + -14.38172924041748, + 0.2846887756905864, + 0.03501804067465426 + ], + "centerline_face_intersection": [ + -14.31760070774891, + 0.26973249949724154, + 0.03501804067465426 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.367269515991211, + 0.27082559466362, + 0.08051858842372894 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.03805115446448326, + 0.11430609226226807, + 0.6959251165390015, + 0.6964963674545288, + -0.13234496116638184 + ], + "box_yaw_rad": -3.1146950217910967, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014956276193344862, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002672553141864404 + } + }, + { + "simulation_time_ns": 6080000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847753514324, + 0.2677821298879323, + 0.06153603523725751 + ], + "intended_face_normal": [ + -0.9388380817445139, + -0.025258869357422498, + 0.34343141165476077 + ], + "commanded_contact_point": [ + -14.379209632873534, + 0.2843412084722117, + 0.03501787097928687 + ], + "centerline_face_intersection": [ + -14.317600689715169, + 0.26973250141441374, + 0.03501787097928687 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.366042137145996, + 0.2784217298030853, + 0.0853627473115921 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.03805099055171013, + 0.11430583894252777, + 0.6959249973297119, + 0.6964965462684631, + -0.13234484195709229 + ], + "box_yaw_rad": -3.114694748636741, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014608707057797998, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002543467156381496 + } + }, + { + "simulation_time_ns": 6100000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847774804234, + 0.2677821228253879, + 0.0615357750285287 + ], + "intended_face_normal": [ + -0.9388384138599761, + -0.025258983377542066, + 0.34343015245394426 + ], + "commanded_contact_point": [ + -14.377078170776366, + 0.2838057363131346, + 0.03501770800014439 + ], + "centerline_face_intersection": [ + -14.317600656266174, + 0.2697325031559686, + 0.03501770800014439 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.367241859436035, + 0.2831193506717682, + 0.0835665613412857 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.038050826638936996, + 0.11430534720420837, + 0.6959249973297119, + 0.6964966654777527, + -0.13234440982341766 + ], + "box_yaw_rad": -3.1146946367870956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014073233157166014, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021976945036498116 + } + }, + { + "simulation_time_ns": 6120000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847731448309, + 0.26778235403488565, + 0.06153546681886591 + ], + "intended_face_normal": [ + -0.9388377471814024, + -0.025257748953473325, + 0.34343293799348196 + ], + "commanded_contact_point": [ + -14.375313873291015, + 0.28326785147039135, + 0.03501718470417178 + ], + "centerline_face_intersection": [ + -14.3176007227915, + 0.2697326390490244, + 0.03501718470417178 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.368555068969727, + 0.28318315744400024, + 0.07777413725852966 + ], + "box_pose": [ + -14.239286422729492, + 0.2868185043334961, + 0.03805025294423103, + 0.11430658400058746, + 0.6959260702133179, + 0.6964953541755676, + -0.13234518468379974 + ], + "box_yaw_rad": -3.114695931587541, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013535212421366979, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001844469027853126 + } + }, + { + "simulation_time_ns": 6140000000, + "phase": "straight_push", + "intended_face_center": [ + -14.3078476885387, + 0.26778229685289634, + 0.0615354548954798 + ], + "intended_face_normal": [ + -0.9388370836304958, + -0.02525774010856896, + 0.34343437705441815 + ], + "commanded_contact_point": [ + -14.373763198852538, + 0.2828971380133864, + 0.03501706166324374 + ], + "centerline_face_intersection": [ + -14.317600789247726, + 0.269732581184073, + 0.03501706166324374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.367692947387695, + 0.2789989709854126, + 0.07211963832378387 + ], + "box_pose": [ + -14.239286422729492, + 0.2868184447288513, + 0.03805014491081238, + 0.11430715769529343, + 0.695925772190094, + 0.6964954137802124, + -0.13234569132328033 + ], + "box_yaw_rad": -3.1146959220009673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013164556829313395, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015943712542843458 + } + }, + { + "simulation_time_ns": 6160000000, + "phase": "straight_push", + "intended_face_center": [ + -14.30784771774787, + 0.2677816877554565, + 0.06153637826372867 + ], + "intended_face_normal": [ + -0.938838253001478, + -0.025263861313202796, + 0.34343038752826516 + ], + "commanded_contact_point": [ + -14.37234317779541, + 0.28287646058435867, + 0.03501829308400687 + ], + "centerline_face_intersection": [ + -14.31760062572233, + 0.2697324447373705, + 0.03501829308400687 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.363055229187012, + 0.2702459692955017, + 0.06928877532482147 + ], + "box_pose": [ + -14.239286422729492, + 0.286818265914917, + 0.038051530718803406, + 0.11430411040782928, + 0.6959227323532104, + 0.6964988708496094, + -0.13234588503837585 + ], + "box_yaw_rad": -3.114689440224962, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013144015846988146, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014201721287075693 + } + }, + { + "simulation_time_ns": 6180000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847596201565, + 0.26778183833345637, + 0.06153672134621006 + ], + "intended_face_normal": [ + -0.9388364255386321, + -0.025262974076580846, + 0.3434355624325818 + ], + "commanded_contact_point": [ + -14.370513076782226, + 0.28323411774753754, + 0.03501823658462701 + ], + "centerline_face_intersection": [ + -14.317600805376753, + 0.26973252680711607, + 0.03501823658462701 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.356266021728516, + 0.26079314947128296, + 0.06387211382389069 + ], + "box_pose": [ + -14.239286422729492, + 0.28681835532188416, + 0.038051459938287735, + 0.11430621147155762, + 0.6959230899810791, + 0.6964978575706482, + -0.13234759867191315 + ], + "box_yaw_rad": -3.1146903322373554, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01350159094042147, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018647220618689944 + } + }, + { + "simulation_time_ns": 6200000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847522556024, + 0.26778213542523766, + 0.061536670013771194 + ], + "intended_face_normal": [ + -0.9388352595820493, + -0.025260845116845232, + 0.34343860466065657 + ], + "commanded_contact_point": [ + -14.368117446899413, + 0.28390345347222623, + 0.03501795034559235 + ], + "centerline_face_intersection": [ + -14.317600923903418, + 0.26973265951060305, + 0.03501795034559235 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.350629806518555, + 0.2530025839805603, + 0.059170931577682495 + ], + "box_pose": [ + -14.239286422729492, + 0.2868185043334961, + 0.038051098585128784, + 0.11430776864290237, + 0.6959246397018433, + 0.6964958906173706, + -0.13234825432300568 + ], + "box_yaw_rad": -3.114692564862944, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01417079396162318, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024873787266320247 + } + }, + { + "simulation_time_ns": 6220000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307847326938964, + 0.2677829553404803, + 0.061536260118128606 + ], + "intended_face_normal": [ + -0.9388325932146699, + -0.02525705425659197, + 0.3434468683665841 + ], + "commanded_contact_point": [ + -14.3654776763916, + 0.28473272111885095, + 0.03501690236530249 + ], + "centerline_face_intersection": [ + -14.317601167756251, + 0.26973318671338126, + 0.03501690236530249 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.346020698547363, + 0.24901467561721802, + 0.05961282551288605 + ], + "box_pose": [ + -14.239286422729492, + 0.28681907057762146, + 0.0380498543381691, + 0.11431129276752472, + 0.6959288120269775, + 0.6964907646179199, + -0.13235071301460266 + ], + "box_yaw_rad": -3.114696523425197, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014999534405469708, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027669611963158885 + } + }, + { + "simulation_time_ns": 6240000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307846294163092, + 0.2677828310222631, + 0.06153729033645078 + ], + "intended_face_normal": [ + -0.938831932346389, + -0.025260445400686393, + 0.3434493940751935 + ], + "commanded_contact_point": [ + -14.36290657043457, + 0.2847333242434198, + 0.03501773756024155 + ], + "centerline_face_intersection": [ + -14.3176002439047, + 0.2697333242434198, + 0.03501773756024155 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.34189510345459, + 0.24842211604118347, + 0.06361782550811768 + ], + "box_pose": [ + -14.239285469055176, + 0.286819189786911, + 0.03805077075958252, + 0.11431126296520233, + 0.6959273219108582, + 0.6964920163154602, + -0.13235263526439667 + ], + "box_yaw_rad": -3.114692895025582, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025711061634229363 + } + }, + { + "simulation_time_ns": 6260000000, + "phase": "straight_push", + "intended_face_center": [ + -14.307846166518624, + 0.26778307328601525, + 0.06153711747789635 + ], + "intended_face_normal": [ + -0.9388301033082556, + -0.02525911149158322, + 0.34345365073846956 + ], + "commanded_contact_point": [ + -14.360586280822753, + 0.2847334635089619, + 0.03501723602209604 + ], + "centerline_face_intersection": [ + -14.317600417722758, + 0.2697334635089619, + 0.03501723602209604 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.336329460144043, + 0.24886244535446167, + 0.0697871744632721 + ], + "box_pose": [ + -14.239285469055176, + 0.28681933879852295, + 0.03805021941661835, + 0.11431305855512619, + 0.6959283947944641, + 0.6964902877807617, + -0.1323539763689041 + ], + "box_yaw_rad": -3.1146942624372285, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002320289670200368 + } + }, + { + "simulation_time_ns": 6280000000, + "phase": "straight_push", + "intended_face_center": [ + -14.30784598574565, + 0.2677833765952493, + 0.0615373004991924 + ], + "intended_face_normal": [ + -0.9388274437413955, + -0.02525731933874109, + 0.3434605306373264 + ], + "commanded_contact_point": [ + -14.35845863342285, + 0.28473362843655164, + 0.035016887809842176 + ], + "centerline_face_intersection": [ + -14.317600675301374, + 0.26973362843655163, + 0.035016887809842176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.327674865722656, + 0.24838364124298096, + 0.07766787707805634 + ], + "box_pose": [ + -14.239285469055176, + 0.2868195176124573, + 0.03804981708526611, + 0.1143159344792366, + 0.6959295868873596, + 0.6964881420135498, + -0.1323561668395996 + ], + "box_yaw_rad": -3.1146960938206396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021276474347889708 + } + }, + { + "simulation_time_ns": 6300000000, + "phase": "straight_push", + "intended_face_center": [ + -14.301854571052774, + 0.2669184489057915, + 0.06763025540758032 + ], + "intended_face_normal": [ + -0.9156667276511286, + -0.03373460231796521, + 0.4005202778387673 + ], + "commanded_contact_point": [ + -14.356565589904784, + 0.28452327681345074, + 0.036703956426363545 + ], + "centerline_face_intersection": [ + -14.315477952486994, + 0.26952327681345073, + 0.036703956426363545 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.317658424377441, + 0.24729129672050476, + 0.0865040123462677 + ], + "box_pose": [ + -14.235132217407227, + 0.28659021854400635, + 0.039778321981430054, + 0.1315053105354309, + 0.6964091658592224, + 0.6876391768455505, + -0.15771178901195526 + ], + "box_yaw_rad": -3.1047677356998022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025444178280081566 + } + }, + { + "simulation_time_ns": 6320000000, + "phase": "straight_push", + "intended_face_center": [ + -14.293422684751157, + 0.2654330840423531, + 0.07593683644149898 + ], + "intended_face_normal": [ + -0.8836829415782077, + -0.04992075950069719, + 0.4654162130411965 + ], + "commanded_contact_point": [ + -14.354911918640136, + 0.28428773115789685, + 0.03999957745205029 + ], + "centerline_face_intersection": [ + -14.312567808829957, + 0.26928773115789684, + 0.03999957745205029 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.308314323425293, + 0.24630165100097656, + 0.09521476924419403 + ], + "box_pose": [ + -14.2293119430542, + 0.28629088401794434, + 0.04323599487543106, + 0.14914380013942719, + 0.694278359413147, + 0.6780995726585388, + -0.18951153755187988 + ], + "box_yaw_rad": -3.085160924122835, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00369475687323575 + } + }, + { + "simulation_time_ns": 6340000000, + "phase": "straight_push", + "intended_face_center": [ + -14.287025920538701, + 0.2637040226711505, + 0.08076042404009523 + ], + "intended_face_normal": [ + -0.861441945258413, + -0.06637489640861105, + 0.5034994618218587 + ], + "commanded_contact_point": [ + -14.353268737792968, + 0.2838291811331806, + 0.041882555041280314 + ], + "centerline_face_intersection": [ + -14.310144369861579, + 0.2688291811331806, + 0.041882555041280314 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.301660537719727, + 0.24613288044929504, + 0.10144713521003723 + ], + "box_pose": [ + -14.224862098693848, + 0.28575751185417175, + 0.04520931839942932, + 0.15668752789497375, + 0.6934641003608704, + 0.6706925630569458, + -0.21148978173732758 + ], + "box_yaw_rad": -3.06469367019651, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025408494688212886 + } + }, + { + "simulation_time_ns": 6360000000, + "phase": "straight_push", + "intended_face_center": [ + -14.283024351365839, + 0.26181127023853357, + 0.08208532200856201 + ], + "intended_face_normal": [ + -0.8535666706360487, + -0.08402522518712274, + 0.514163473691406 + ], + "commanded_contact_point": [ + -14.35137855529785, + 0.2832993043778365, + 0.04238402798568471 + ], + "centerline_face_intersection": [ + -14.307577892825353, + 0.2682993043778365, + 0.04238402798568471 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.29906940460205, + 0.24726299941539764, + 0.10271193087100983 + ], + "box_pose": [ + -14.221793174743652, + 0.2851358950138092, + 0.04573579877614975, + 0.1534758359193802, + 0.6944124698638916, + 0.6667643189430237, + -0.22284957766532898 + ], + "box_yaw_rad": -3.043468651218543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002026088437031081 + } + }, + { + "simulation_time_ns": 6380000000, + "phase": "straight_push", + "intended_face_center": [ + -14.281514233161928, + 0.2596039002801165, + 0.0800647038923474 + ], + "intended_face_normal": [ + -0.8606533556261198, + -0.10413746821274827, + 0.49842855525698226 + ], + "commanded_contact_point": [ + -14.349228973388671, + 0.28264490757810623, + 0.04157838653575501 + ], + "centerline_face_intersection": [ + -14.304775703378352, + 0.2676449075781062, + 0.04157838653575501 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.300515174865723, + 0.24958761036396027, + 0.09849904477596283 + ], + "box_pose": [ + -14.220158576965332, + 0.28436538577079773, + 0.04489465802907944, + 0.1396024227142334, + 0.6969640851020813, + 0.6667591333389282, + -0.22401884198188782 + ], + "box_yaw_rad": -3.0211798583551457, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023870474862504637 + } + }, + { + "simulation_time_ns": 6400000000, + "phase": "straight_push", + "intended_face_center": [ + -14.28235719890752, + 0.25697668945672136, + 0.0745364254101488 + ], + "intended_face_normal": [ + -0.8813668951319826, + -0.12750053859809185, + 0.45490200778800194 + ], + "commanded_contact_point": [ + -14.347164268493652, + 0.28182168356845044, + 0.039411024079854806 + ], + "centerline_face_intersection": [ + -14.301910770782916, + 0.26682168356845043, + 0.039411024079854806 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.305845260620117, + 0.2531474530696869, + 0.0905742198228836 + ], + "box_pose": [ + -14.219923973083496, + 0.28339534997940063, + 0.04261893033981323, + 0.11468380689620972, + 0.7006251215934753, + 0.6706771850585938, + -0.21485839784145355 + ], + "box_yaw_rad": -2.9979270200183663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003104539271588803 + } + }, + { + "simulation_time_ns": 6420000000, + "phase": "straight_push", + "intended_face_center": [ + -14.285275238474053, + 0.2541981177412988, + 0.06520934908858915 + ], + "intended_face_normal": [ + -0.912853137346886, + -0.15091797010092467, + 0.37937205747777636 + ], + "commanded_contact_point": [ + -14.345130081176757, + 0.28085129617751875, + 0.03591601658121456 + ], + "centerline_face_intersection": [ + -14.299375783941114, + 0.26585129617751874, + 0.03591601658121456 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.313981056213379, + 0.257554292678833, + 0.08332429826259613 + ], + "box_pose": [ + -14.220983505249023, + 0.28226587176322937, + 0.038877688348293304, + 0.0787855014204979, + 0.7050604224205017, + 0.6777288317680359, + -0.19330374896526337 + ], + "box_yaw_rad": -2.977749104915326, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00415868334262725 + } + }, + { + "simulation_time_ns": 6440000000, + "phase": "straight_push", + "intended_face_center": [ + -14.28774706525265, + 0.2527524989294541, + 0.06163544148387778 + ], + "intended_face_normal": [ + -0.9271580947639109, + -0.1600805157011127, + 0.33875168867660044 + ], + "commanded_contact_point": [ + -14.342949981689452, + 0.2801131662004204, + 0.035478623504684365 + ], + "centerline_face_intersection": [ + -14.299437974442858, + 0.2651131662004204, + 0.035478623504684365 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.321983337402344, + 0.2612742781639099, + 0.07888217270374298 + ], + "box_pose": [ + -14.222514152526855, + 0.2814549207687378, + 0.03849624842405319, + 0.06217270344495773, + 0.7024630308151245, + 0.6856564283370972, + -0.18043188750743866 + ], + "box_yaw_rad": -2.9706210767437224, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023428577295759724 + } + }, + { + "simulation_time_ns": 6460000000, + "phase": "straight_push", + "intended_face_center": [ + -14.287757620537526, + 0.25273468939956784, + 0.061647157275938495 + ], + "intended_face_normal": [ + -0.9263827112662426, + -0.15995972788915935, + 0.3409216186821169 + ], + "commanded_contact_point": [ + -14.340840454101562, + 0.2800860300017175, + 0.035322787470203273 + ], + "centerline_face_intersection": [ + -14.29957810810632, + 0.2650860300017175, + 0.035322787470203273 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.32479190826416, + 0.26237252354621887, + 0.07995563745498657 + ], + "box_pose": [ + -14.222579002380371, + 0.2814289927482605, + 0.0383455865085125, + 0.06296670436859131, + 0.702453076839447, + 0.6853838562965393, + -0.1812283992767334 + ], + "box_yaw_rad": -2.9706073579647807, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021154498072500976 + } + }, + { + "simulation_time_ns": 6480000000, + "phase": "straight_push", + "intended_face_center": [ + -14.287731908133336, + 0.2527380157651133, + 0.06162721657483543 + ], + "intended_face_normal": [ + -0.9262325386992103, + -0.1599473904563382, + 0.3413353616458821 + ], + "commanded_contact_point": [ + -14.338924522399902, + 0.28008840372851485, + 0.03527089947627443 + ], + "centerline_face_intersection": [ + -14.29957750531334, + 0.26508840372851483, + 0.03527089947627443 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.320808410644531, + 0.2608370780944824, + 0.08690357208251953 + ], + "box_pose": [ + -14.222563743591309, + 0.28143149614334106, + 0.03829539939761162, + 0.06311807036399841, + 0.7024362683296204, + 0.6853463053703308, + -0.1813829243183136 + ], + "box_yaw_rad": -2.9705931072434026, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001916635668018116 + } + }, + { + "simulation_time_ns": 6500000000, + "phase": "straight_push", + "intended_face_center": [ + -14.28771028445693, + 0.2527399865118523, + 0.06161097513651151 + ], + "intended_face_normal": [ + -0.9261135606832909, + -0.15994318283092213, + 0.34166036474957195 + ], + "commanded_contact_point": [ + -14.337068672180175, + 0.2800900495821365, + 0.035229562821276914 + ], + "centerline_face_intersection": [ + -14.29957577847339, + 0.2650900495821365, + 0.035229562821276914 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.310833930969238, + 0.2578190565109253, + 0.09720654785633087 + ], + "box_pose": [ + -14.222550392150879, + 0.28143319487571716, + 0.03825570270419121, + 0.06323660910129547, + 0.7024167776107788, + 0.6853228807449341, + -0.18150575459003448 + ], + "box_yaw_rad": -2.9705759764496675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018563112524411574 + } + }, + { + "simulation_time_ns": 6520000000, + "phase": "straight_push", + "intended_face_center": [ + -14.287691938919542, + 0.2527423151247064, + 0.061597397452941266 + ], + "intended_face_normal": [ + -0.9260125992385184, + -0.15993049352414612, + 0.3419395668597742 + ], + "commanded_contact_point": [ + -14.335106010437011, + 0.2800913983861846, + 0.035194426459122664 + ], + "centerline_face_intersection": [ + -14.299574318998175, + 0.26509139838618456, + 0.035194426459122664 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.298388481140137, + 0.25462964177131653, + 0.10644537210464478 + ], + "box_pose": [ + -14.222538948059082, + 0.28143465518951416, + 0.03822183609008789, + 0.06334110349416733, + 0.702402651309967, + 0.6853005290031433, + -0.18160821497440338 + ], + "box_yaw_rad": -2.970570998537478, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001962976694028126 + } + }, + { + "simulation_time_ns": 6540000000, + "phase": "straight_push", + "intended_face_center": [ + -14.287676382995857, + 0.25274548417560666, + 0.061585565331897865 + ], + "intended_face_normal": [ + -0.925924138843591, + -0.1599112147080799, + 0.34218791224037837 + ], + "commanded_contact_point": [ + -14.332878227233886, + 0.28009307881725043, + 0.03516341827155746 + ], + "centerline_face_intersection": [ + -14.299573559933215, + 0.2650930788172504, + 0.03516341827155746 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.2870512008667, + 0.24992917478084564, + 0.110078826546669 + ], + "box_pose": [ + -14.222529411315918, + 0.2814365029335022, + 0.038191623985767365, + 0.06343521177768707, + 0.7023968696594238, + 0.6852741837501526, + -0.1816970556974411 + ], + "box_yaw_rad": -2.9705751943983083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00222799962559928 + } + }, + { + "simulation_time_ns": 6560000000, + "phase": "straight_push", + "intended_face_center": [ + -14.287661848295931, + 0.2527460153325295, + 0.06157779809239998 + ], + "intended_face_normal": [ + -0.9258515861597303, + -0.15990859902272092, + 0.34238584800531946 + ], + "commanded_contact_point": [ + -14.330254669189452, + 0.2800934080032072, + 0.03514036735983535 + ], + "centerline_face_intersection": [ + -14.299571162329551, + 0.2650934080032072, + 0.03514036735983535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.280030250549316, + 0.24733373522758484, + 0.10715202987194061 + ], + "box_pose": [ + -14.222519874572754, + 0.28143686056137085, + 0.03816969320178032, + 0.06350812315940857, + 0.7023823857307434, + 0.6852625608444214, + -0.18177162110805511 + ], + "box_yaw_rad": -2.970564796062621, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00262365932723874 + } + }, + { + "simulation_time_ns": 6580000000, + "phase": "straight_push", + "intended_face_center": [ + -14.287651045716292, + 0.25274658820774226, + 0.06157163002058948 + ], + "intended_face_normal": [ + -0.9257916147342158, + -0.1599062837949603, + 0.3425490127605464 + ], + "commanded_contact_point": [ + -14.327251548767089, + 0.2800938021073816, + 0.03512160047023071 + ], + "centerline_face_intersection": [ + -14.299570392942703, + 0.2650938021073816, + 0.03512160047023071 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.279269218444824, + 0.2501954436302185, + 0.09692022204399109 + ], + "box_pose": [ + -14.222513198852539, + 0.2814372777938843, + 0.038151856511831284, + 0.06356832385063171, + 0.702370285987854, + 0.6852530837059021, + -0.18183302879333496 + ], + "box_yaw_rad": -2.970556360292643, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030031790860151754 + } + }, + { + "simulation_time_ns": 6600000000, + "phase": "straight_push", + "intended_face_center": [ + -14.28870422940392, + 0.2529335906594149, + 0.05932651725415335 + ], + "intended_face_normal": [ + -0.9318421485227333, + -0.15883880015992702, + 0.3262518619034189 + ], + "commanded_contact_point": [ + -14.324081535339355, + 0.28019837847507983, + 0.03413487732308974 + ], + "centerline_face_intersection": [ + -14.299614829050348, + 0.2651983784750798, + 0.03413487732308974 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.276490211486816, + 0.2554476261138916, + 0.09074561297893524 + ], + "box_pose": [ + -14.223150253295898, + 0.2815510332584381, + 0.03700392693281174, + 0.05769072473049164, + 0.7049463391304016, + 0.6848151087760925, + -0.17535866796970367 + ], + "box_yaw_rad": -2.9727585925824105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033216778768870667 + } + }, + { + "simulation_time_ns": 6620000000, + "phase": "straight_push", + "intended_face_center": [ + -14.28929136975928, + 0.2531430340272599, + 0.05770024681544717 + ], + "intended_face_normal": [ + -0.9350959471323748, + -0.15775836654092812, + 0.31734559211596824 + ], + "commanded_contact_point": [ + -14.320822830200195, + 0.28032439582187335, + 0.03319630730180152 + ], + "centerline_face_intersection": [ + -14.299662392504764, + 0.26532439582187334, + 0.03319630730180152 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.272808074951172, + 0.2609066963195801, + 0.08583793044090271 + ], + "box_pose": [ + -14.223514556884766, + 0.2816864848136902, + 0.0359455905854702, + 0.054522398859262466, + 0.7069726586341858, + 0.6839134693145752, + -0.171695739030838 + ], + "box_yaw_rad": -2.9744582664433175, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003393516353363081 + } + }, + { + "simulation_time_ns": 6640000000, + "phase": "straight_push", + "intended_face_center": [ + -14.289460085360632, + 0.25303505076959515, + 0.05717919908203749 + ], + "intended_face_normal": [ + -0.9358876996641428, + -0.15838463367721367, + 0.3146876535222778 + ], + "commanded_contact_point": [ + -14.317696685791015, + 0.28026476997772937, + 0.03288049313126097 + ], + "centerline_face_intersection": [ + -14.2997001151941, + 0.26526476997772935, + 0.03288049313126097 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.272079467773438, + 0.26161471009254456, + 0.08436168730258942 + ], + "box_pose": [ + -14.223636627197266, + 0.28162214159965515, + 0.03562391549348831, + 0.05337914451956749, + 0.7069737911224365, + 0.6842016577720642, + -0.1708998680114746 + ], + "box_yaw_rad": -2.973946436406242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003142621946504147 + } + }, + { + "simulation_time_ns": 6660000000, + "phase": "straight_push", + "intended_face_center": [ + -14.29227647249674, + 0.2522247637460743, + 0.05622882613356907 + ], + "intended_face_normal": [ + -0.9495036635291001, + -0.16304825774708753, + 0.268062890500925 + ], + "commanded_contact_point": [ + -14.314591522216796, + 0.2798145861507287, + 0.03553026589553271 + ], + "centerline_face_intersection": [ + -14.30028201418291, + 0.26481458615072867, + 0.03553026589553271 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.275543212890625, + 0.2606334984302521, + 0.08395741879940033 + ], + "box_pose": [ + -14.22554874420166, + 0.2811315655708313, + 0.03816267102956772, + 0.03569396585226059, + 0.7067033052444458, + 0.6894361972808838, + -0.15483546257019043 + ], + "box_yaw_rad": -2.9715318078476964, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004106823833940802 + } + }, + { + "simulation_time_ns": 6680000000, + "phase": "straight_push", + "intended_face_center": [ + -14.295271844744349, + 0.25153775818704655, + 0.05545438780543853 + ], + "intended_face_normal": [ + -0.9620166267007164, + -0.16679257704421957, + 0.21611103235464668 + ], + "commanded_contact_point": [ + -14.311452026367187, + 0.2794166993816137, + 0.03876730660244955 + ], + "centerline_face_intersection": [ + -14.301253440761114, + 0.26441669938161366, + 0.03876730660244955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.279088973999023, + 0.2599581182003021, + 0.08401288092136383 + ], + "box_pose": [ + -14.227728843688965, + 0.28069785237312317, + 0.04123428836464882, + 0.016373276710510254, + 0.7066377401351929, + 0.6940255165100098, + -0.13683396577835083 + ], + "box_yaw_rad": -2.9699211628364255, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00452693943067366 + } + }, + { + "simulation_time_ns": 6700000000, + "phase": "straight_push", + "intended_face_center": [ + -14.297705120325181, + 0.25091695492405797, + 0.054714114905837434 + ], + "intended_face_normal": [ + -0.9703623269802009, + -0.16999679957762778, + 0.17174924506513842 + ], + "commanded_contact_point": [ + -14.30836498260498, + 0.27904331116738434, + 0.04145244303408028 + ], + "centerline_face_intersection": [ + -14.302351981645291, + 0.26404331116738433, + 0.04145244303408028 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.2819242477417, + 0.25942882895469666, + 0.08398258686065674 + ], + "box_pose": [ + -14.229644775390625, + 0.28029152750968933, + 0.04378235340118408, + -9.862530714599416e-05, + 0.7060031890869141, + 0.6976680159568787, + -0.12173235416412354 + ], + "box_yaw_rad": -2.9681636152782964, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004108432256320811 + } + }, + { + "simulation_time_ns": 6720000000, + "phase": "straight_push", + "intended_face_center": [ + -14.29848902339722, + 0.25051225118774456, + 0.05460684732940021 + ], + "intended_face_normal": [ + -0.9725871043937389, + -0.17148981261629181, + 0.1570525660804556 + ], + "commanded_contact_point": [ + -14.305614585876464, + 0.27875389090152525, + 0.04247998413890097 + ], + "centerline_face_intersection": [ + -14.302782074283545, + 0.26375389090152523, + 0.04247998413890097 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.282735824584961, + 0.25921952724456787, + 0.08438371121883392 + ], + "box_pose": [ + -14.230302810668945, + 0.2799863815307617, + 0.0447835847735405, + -0.0056495144963264465, + 0.7052987813949585, + 0.6991760730743408, + -0.11693808436393738 + ], + "box_yaw_rad": -2.9670632534082713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029503028618458028 + } + }, + { + "simulation_time_ns": 6740000000, + "phase": "straight_push", + "intended_face_center": [ + -14.29811364880835, + 0.2505994730069967, + 0.05539077206100035 + ], + "intended_face_normal": [ + -0.971488568643629, + -0.1712940054187253, + 0.16391593122731568 + ], + "commanded_contact_point": [ + -14.303133125305175, + 0.2788259934065512, + 0.04273395197619748 + ], + "centerline_face_intersection": [ + -14.302581297654923, + 0.26382599340655116, + 0.04273395197619748 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.28216552734375, + 0.25954124331474304, + 0.08552892506122589 + ], + "box_pose": [ + -14.229994773864746, + 0.28006070852279663, + 0.04507399722933769, + -0.0031533590517938137, + 0.7051355838775635, + 0.6989478468894958, + -0.11935576796531677 + ], + "box_yaw_rad": -2.967065359543622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024954648866442344 + } + }, + { + "simulation_time_ns": 6760000000, + "phase": "straight_push", + "intended_face_center": [ + -14.297832808798447, + 0.2533054183099351, + 0.05630261457221217 + ], + "intended_face_normal": [ + -0.9682377678136191, + -0.16318264260132087, + 0.18943931314271711 + ], + "commanded_contact_point": [ + -14.300543899536132, + 0.2809056172832941, + 0.04167499854073006 + ], + "centerline_face_intersection": [ + -14.302818323480492, + 0.2659056172832941, + 0.04167499854073006 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.281320571899414, + 0.26239556074142456, + 0.08653581142425537 + ], + "box_pose": [ + -14.22978401184082, + 0.2822032868862152, + 0.04410194605588913, + 0.008648929186165333, + 0.7054138779640198, + 0.6975027918815613, + -0.12572336196899414 + ], + "box_yaw_rad": -2.974625997570073, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034857291820053525 + } + }, + { + "simulation_time_ns": 6780000000, + "phase": "straight_push", + "intended_face_center": [ + -14.298478688798767, + 0.2581072831465314, + 0.056764724234355454 + ], + "intended_face_normal": [ + -0.9661968407378723, + -0.1469104831932233, + 0.2118520647917932 + ], + "commanded_contact_point": [ + -14.297959442138671, + 0.28445102222317725, + 0.04040650054867084 + ], + "centerline_face_intersection": [ + -14.303790249069195, + 0.26945102222317724, + 0.04040650054867084 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.281171798706055, + 0.2679778039455414, + 0.08668912947177887 + ], + "box_pose": [ + -14.230276107788086, + 0.28586500883102417, + 0.04289031773805618, + 0.022300276905298233, + 0.7057815790176392, + 0.6963984370231628, + -0.12807950377464294 + ], + "box_yaw_rad": -2.9906981649449857, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004567100106511422 + } + }, + { + "simulation_time_ns": 6800000000, + "phase": "straight_push", + "intended_face_center": [ + -14.298679908780022, + 0.259739997907436, + 0.05647202838786624 + ], + "intended_face_normal": [ + -0.9669456750689918, + -0.14313937780134367, + 0.2110130300839903 + ], + "commanded_contact_point": [ + -14.295623893737792, + 0.2857437172444576, + 0.04017859103052722 + ], + "centerline_face_intersection": [ + -14.303871757427544, + 0.27079254989745466, + 0.04017859103052722 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.280097961425781, + 0.2720133662223816, + 0.08583082258701324 + ], + "box_pose": [ + -14.230367660522461, + 0.2872341275215149, + 0.04261249676346779, + 0.023207832127809525, + 0.7067115306854248, + 0.695723831653595, + -0.12644518911838531 + ], + "box_yaw_rad": -2.9946274724651682, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014951167347002923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002679139693885223 + } + }, + { + "simulation_time_ns": 6820000000, + "phase": "straight_push", + "intended_face_center": [ + -14.297140360393769, + 0.2600679407007384, + 0.056772880763482664 + ], + "intended_face_normal": [ + -0.9609486303151158, + -0.1412791805940108, + 0.23794473538387972 + ], + "commanded_contact_point": [ + -14.293654556274413, + 0.2858002218604128, + 0.03839990332724234 + ], + "centerline_face_intersection": [ + -14.30329362734891, + 0.27097685697945567, + 0.03839990332724234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.277139663696289, + 0.2741719186306, + 0.08496691286563873 + ], + "box_pose": [ + -14.229211807250977, + 0.2874357998371124, + 0.04092070460319519, + 0.033243320882320404, + 0.7067068219184875, + 0.6935703158378601, + -0.13572217524051666 + ], + "box_yaw_rad": -2.9956178752673965, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01482336488095715, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002654281967332925 + } + }, + { + "simulation_time_ns": 6840000000, + "phase": "straight_push", + "intended_face_center": [ + -14.293711990466429, + 0.2604430212867183, + 0.058097094817534126 + ], + "intended_face_normal": [ + -0.9453287876110892, + -0.13890170021755477, + 0.2950587689971016 + ], + "commanded_contact_point": [ + -14.29190647125244, + 0.285849294825682, + 0.03531403934710046 + ], + "centerline_face_intersection": [ + -14.302399039572803, + 0.27116835967184927, + 0.03531403934710046 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.273077964782715, + 0.2747291028499603, + 0.0850750207901001 + ], + "box_pose": [ + -14.226825714111328, + 0.2876492738723755, + 0.03808145225048065, + 0.054295238107442856, + 0.7048734426498413, + 0.6897954940795898, + -0.15616530179977417 + ], + "box_yaw_rad": -2.9957017921692373, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014680935153832708, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003546937538765318 + } + }, + { + "simulation_time_ns": 6860000000, + "phase": "straight_push", + "intended_face_center": [ + -14.29112500574211, + 0.25872929236277736, + 0.05877454432199099 + ], + "intended_face_normal": [ + -0.9385250936126184, + -0.1408463584059323, + 0.315171032207719 + ], + "commanded_contact_point": [ + -14.290226097106933, + 0.2841511843224618, + 0.03443851413428003 + ], + "centerline_face_intersection": [ + -14.300929537456703, + 0.2696047881403743, + 0.03443851413428003 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.27033519744873, + 0.27296826243400574, + 0.08557482063770294 + ], + "box_pose": [ + -14.224754333496094, + 0.2860754430294037, + 0.03728729858994484, + 0.060682740062475204, + 0.7042505741119385, + 0.6879634261131287, + -0.16448408365249634 + ], + "box_yaw_rad": -2.992632269654846, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01454639618208745, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025443625819293507 + } + }, + { + "simulation_time_ns": 6880000000, + "phase": "straight_push", + "intended_face_center": [ + -14.28995119148983, + 0.2578962861629539, + 0.05865208885871135 + ], + "intended_face_normal": [ + -0.9360184672031124, + -0.14266290797899916, + 0.32173987454237096 + ], + "commanded_contact_point": [ + -14.288313980102538, + 0.28335505932132826, + 0.0338088434480955 + ], + "centerline_face_intersection": [ + -14.300169597625631, + 0.26891204738607094, + 0.0338088434480955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.267603874206543, + 0.27149665355682373, + 0.08483318984508514 + ], + "box_pose": [ + -14.22377872467041, + 0.2853699326515198, + 0.03672076016664505, + 0.06251544505357742, + 0.7032982707023621, + 0.6880267262458801, + -0.16757845878601074 + ], + "box_yaw_rad": -2.9903420506257716, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014443011935257339, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002164830623620391 + } + }, + { + "simulation_time_ns": 6900000000, + "phase": "straight_push", + "intended_face_center": [ + -14.288601642093578, + 0.2564179543400235, + 0.058764838117265246 + ], + "intended_face_normal": [ + -0.9339141764207, + -0.14785290363466963, + 0.3254895585909994 + ], + "commanded_contact_point": [ + -14.286160583496093, + 0.2822074251967051, + 0.03363205967576584 + ], + "centerline_face_intersection": [ + -14.299168405344924, + 0.26783446270689215, + 0.03363205967576584 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.264886856079102, + 0.2695856988430023, + 0.0847495049238205 + ], + "box_pose": [ + -14.222665786743164, + 0.28425756096839905, + 0.03658381104469299, + 0.06202265992760658, + 0.7028100490570068, + 0.6877609491348267, + -0.170868381857872 + ], + "box_yaw_rad": -2.984580469323076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014372962489812933, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024465145678717807 + } + }, + { + "simulation_time_ns": 6920000000, + "phase": "straight_push", + "intended_face_center": [ + -14.28576954701219, + 0.2529090937584477, + 0.0590884056254207 + ], + "intended_face_normal": [ + -0.9303703753684047, + -0.159966770987634, + 0.32988099223141454 + ], + "commanded_contact_point": [ + -14.284014816284179, + 0.279582202012164, + 0.033616541256855384 + ], + "centerline_face_intersection": [ + -14.296924873001009, + 0.26526097819565697, + 0.033616541256855384 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.261950492858887, + 0.26655444502830505, + 0.08522284030914307 + ], + "box_pose": [ + -14.220306396484375, + 0.28160253167152405, + 0.03659746050834656, + 0.05907237157225609, + 0.7028022408485413, + 0.6864795684814453, + -0.1769893616437912 + ], + "box_yaw_rad": -2.971318754287178, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014321223816507009, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033906274519184677 + } + }, + { + "simulation_time_ns": 6940000000, + "phase": "straight_push", + "intended_face_center": [ + -14.282290106789677, + 0.2487034389805625, + 0.0593178442846245 + ], + "intended_face_normal": [ + -0.9263762196502867, + -0.17436534234861512, + 0.33380289898102866 + ], + "commanded_contact_point": [ + -14.2819815826416, + 0.27645766678317607, + 0.033543148655256344 + ], + "centerline_face_intersection": [ + -14.29411167969882, + 0.26216711362528616, + 0.033543148655256344 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.258529663085938, + 0.2629338800907135, + 0.08554033935070038 + ], + "box_pose": [ + -14.217375755310059, + 0.2784079611301422, + 0.03655049577355385, + 0.05506482720375061, + 0.7028852105140686, + 0.6849383115768433, + -0.1837930828332901 + ], + "box_yaw_rad": -2.9555463173971566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014290553157889916, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037285581551677054 + } + }, + { + "simulation_time_ns": 6960000000, + "phase": "straight_push", + "intended_face_center": [ + -14.2774682404528, + 0.24397638275475428, + 0.0596229139779317 + ], + "intended_face_normal": [ + -0.921806672296789, + -0.1902697480804889, + 0.3377412291151045 + ], + "commanded_contact_point": [ + -14.280084724426269, + 0.27295019712214497, + 0.033544118950974006 + ], + "centerline_face_intersection": [ + -14.290055841991851, + 0.25866812108063947, + 0.033544118950974006 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.253890991210938, + 0.25888004899024963, + 0.08600492775440216 + ], + "box_pose": [ + -14.213176727294922, + 0.2747931480407715, + 0.036568522453308105, + 0.05040455237030983, + 0.7031869888305664, + 0.6829578280448914, + -0.19119584560394287 + ], + "box_yaw_rad": -2.9380416802720206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014282076041505509, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003987532501886354 + } + }, + { + "simulation_time_ns": 6980000000, + "phase": "straight_push", + "intended_face_center": [ + -14.271430888694546, + 0.23907005866526224, + 0.059979139359747066 + ], + "intended_face_normal": [ + -0.9177474081557833, + -0.20492436272500214, + 0.34021466892810004 + ], + "commanded_contact_point": [ + -14.278320426940917, + 0.269183991543139, + 0.03370935690118788 + ], + "centerline_face_intersection": [ + -14.284702427185247, + 0.25489335766117466, + 0.03370935690118788 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.248135566711426, + 0.254679411649704, + 0.08667726814746857 + ], + "box_pose": [ + -14.2077054977417, + 0.2709069848060608, + 0.03673979267477989, + 0.04564113914966583, + 0.7035787105560303, + 0.6810658574104309, + -0.19759368896484375 + ], + "box_yaw_rad": -2.9219058441227728, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014290633881964335, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004162253435381425 + } + }, + { + "simulation_time_ns": 7000000000, + "phase": "straight_push", + "intended_face_center": [ + -14.265414780835158, + 0.2346083403560622, + 0.06022569584076866 + ], + "intended_face_normal": [ + -0.9143534097752379, + -0.21689298999032047, + 0.3419287586336117 + ], + "commanded_contact_point": [ + -14.276688690185546, + 0.26566621270298774, + 0.033823559407526016 + ], + "centerline_face_intersection": [ + -14.279260692170343, + 0.25135580066335517, + 0.033823559407526016 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.242478370666504, + 0.25086134672164917, + 0.08719086647033691 + ], + "box_pose": [ + -14.202157020568848, + 0.26727494597435, + 0.03686056286096573, + 0.041637320071458817, + 0.7038235664367676, + 0.6795653700828552, + -0.2027057707309723 + ], + "box_yaw_rad": -2.9086881964830273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014310412039632575, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003879481282271999 + } + }, + { + "simulation_time_ns": 7020000000, + "phase": "straight_push", + "intended_face_center": [ + -14.261671209053755, + 0.2317281367915356, + 0.060315246266112496 + ], + "intended_face_normal": [ + -0.9112701814027915, + -0.22526653801490237, + 0.3447338889552256 + ], + "commanded_contact_point": [ + -14.275184745788573, + 0.26346327785206314, + 0.03369651081452394 + ], + "centerline_face_intersection": [ + -14.276040917602332, + 0.24912216323809916, + 0.03369651081452394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.23853874206543, + 0.24835459887981415, + 0.08717653155326843 + ], + "box_pose": [ + -14.198792457580566, + 0.2649734616279602, + 0.03674427419900894, + 0.039375729858875275, + 0.7039476037025452, + 0.6783014535903931, + -0.2069164365530014 + ], + "box_yaw_rad": -2.8992504478673196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014341114613963975, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002670376762104448 + } + }, + { + "simulation_time_ns": 7040000000, + "phase": "straight_push", + "intended_face_center": [ + -14.261366748897885, + 0.23153162204438116, + 0.060099299316872815 + ], + "intended_face_normal": [ + -0.9104171040264788, + -0.22587969193984847, + 0.3465820539109785 + ], + "commanded_contact_point": [ + -14.273630256652831, + 0.26334873395576386, + 0.03333785722806568 + ], + "centerline_face_intersection": [ + -14.275881725121378, + 0.24897299336373546, + 0.03333785722806568 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.237013816833496, + 0.24810734391212463, + 0.08639971911907196 + ], + "box_pose": [ + -14.198561668395996, + 0.26481935381889343, + 0.036392129957675934, + 0.0397709459066391, + 0.7039331793785095, + 0.6780019402503967, + -0.2078695148229599 + ], + "box_yaw_rad": -2.898397634456215, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014375740592028409, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015994340162692813 + } + }, + { + "simulation_time_ns": 7060000000, + "phase": "straight_push", + "intended_face_center": [ + -14.261395522029547, + 0.23155700381920907, + 0.0597054130160901 + ], + "intended_face_normal": [ + -0.9105868414781995, + -0.2257339382728496, + 0.3462300324308316 + ], + "commanded_contact_point": [ + -14.27186595916748, + 0.2633656876618256, + 0.03297115237637609 + ], + "centerline_face_intersection": [ + -14.275881582378528, + 0.2489871207234123, + 0.03297115237637609 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.236077308654785, + 0.24891646206378937, + 0.08521407842636108 + ], + "box_pose": [ + -14.198578834533691, + 0.26483476161956787, + 0.03601507097482681, + 0.03964817523956299, + 0.7041269540786743, + 0.6778632998466492, + -0.2076883614063263 + ], + "box_yaw_rad": -2.8985919939759963, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014378566938413327, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001802083653224723 + } + }, + { + "simulation_time_ns": 7080000000, + "phase": "straight_push", + "intended_face_center": [ + -14.2615536722902, + 0.23154062918312246, + 0.05917046441876579 + ], + "intended_face_normal": [ + -0.9115285631810721, + -0.2258282624237049, + 0.3436828511649881 + ], + "commanded_contact_point": [ + -14.269917602539062, + 0.26331051279132467, + 0.03263288518008322 + ], + "centerline_face_intersection": [ + -14.275879411197977, + 0.2489780293562434, + 0.03263288518008322 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.235063552856445, + 0.2501301169395447, + 0.08362528681755066 + ], + "box_pose": [ + -14.1986722946167, + 0.26482483744621277, + 0.03566135838627815, + 0.03869948163628578, + 0.7043026685714722, + 0.6780280470848083, + -0.20673227310180664 + ], + "box_yaw_rad": -2.8987357939569693, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014332483435081277, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019782726085964156 + } + }, + { + "simulation_time_ns": 7100000000, + "phase": "straight_push", + "intended_face_center": [ + -14.261788516923177, + 0.2315762922478727, + 0.05865496035813273 + ], + "intended_face_normal": [ + -0.912898613642831, + -0.22564031653394956, + 0.3401493615903055 + ], + "commanded_contact_point": [ + -14.268121833801269, + 0.2632153189332979, + 0.032390220626162064 + ], + "centerline_face_intersection": [ + -14.275881337209672, + 0.24899918012011785, + 0.032390220626162064 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.234447479248047, + 0.2519077956676483, + 0.08218972384929657 + ], + "box_pose": [ + -14.198813438415527, + 0.26484763622283936, + 0.035379812121391296, + 0.03739648312330246, + 0.7049033641815186, + 0.6779089570045471, + -0.20530937612056732 + ], + "box_yaw_rad": -2.8992801491103375, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.014216138813180058, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018145890212305164 + } + }, + { + "simulation_time_ns": 7120000000, + "phase": "straight_push", + "intended_face_center": [ + -14.262230658474682, + 0.23169871875054449, + 0.058236378230905175 + ], + "intended_face_normal": [ + -0.9153004774316074, + -0.2251680090995114, + 0.33395265368401494 + ], + "commanded_contact_point": [ + -14.266269798278808, + 0.2631441716964962, + 0.03245011924513622 + ], + "centerline_face_intersection": [ + -14.275916062764237, + 0.2490851372559768, + 0.03245011924513622 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.23482894897461, + 0.2530127465724945, + 0.08148452639579773 + ], + "box_pose": [ + -14.199090957641602, + 0.26493772864341736, + 0.035364408046007156, + 0.03512848541140556, + 0.7060941457748413, + 0.6775553822517395, + -0.2027701735496521 + ], + "box_yaw_rad": -2.9003780099089815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01405903444051935, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018543692594293866 + } + }, + { + "simulation_time_ns": 7140000000, + "phase": "straight_push", + "intended_face_center": [ + -14.263260931233008, + 0.2315013355675325, + 0.05783297037218796 + ], + "intended_face_normal": [ + -0.920792758729732, + -0.22632961595198609, + 0.3176718225630877 + ], + "commanded_contact_point": [ + -14.2641593170166, + 0.2628761432883746, + 0.03330384087216051 + ], + "centerline_face_intersection": [ + -14.276019058887808, + 0.2489774479107203, + 0.03330384087216051 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.23576545715332, + 0.2529859244823456, + 0.08137960731983185 + ], + "box_pose": [ + -14.199748039245605, + 0.264819860458374, + 0.03614038974046707, + 0.029013928025960922, + 0.7067108154296875, + 0.678937554359436, + -0.1968800574541092 + ], + "box_yaw_rad": -2.900572095472687, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01389869537765434, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022923374538091385 + } + }, + { + "simulation_time_ns": 7160000000, + "phase": "straight_push", + "intended_face_center": [ + -14.265149522762416, + 0.230953400159646, + 0.05758964662557772 + ], + "intended_face_normal": [ + -0.9302635601263773, + -0.22940978876238471, + 0.28632302155192857 + ], + "commanded_contact_point": [ + -14.261998291015624, + 0.2624033972069144, + 0.03548112463637414 + ], + "centerline_face_intersection": [ + -14.276322626126221, + 0.2486673490132902, + 0.03548112463637414 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.237499237060547, + 0.2527335286140442, + 0.08212925493717194 + ], + "box_pose": [ + -14.201000213623047, + 0.26448172330856323, + 0.03821702301502228, + 0.017233090475201607, + 0.706712007522583, + 0.6824147701263428, + -0.1859334409236908 + ], + "box_yaw_rad": -2.89980965608819, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.01373604819362418, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003103882540358281 + } + }, + { + "simulation_time_ns": 7180000000, + "phase": "straight_push", + "intended_face_center": [ + -14.267458756037005, + 0.2299251052589407, + 0.057406672121015884 + ], + "intended_face_normal": [ + -0.939162895184019, + -0.23492330005516177, + 0.25056696781590326 + ], + "commanded_contact_point": [ + -14.259887809753417, + 0.26163858816942454, + 0.03805906504527374 + ], + "centerline_face_intersection": [ + -14.277158166674658, + 0.24806478161781095, + 0.03805906504527374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.239729881286621, + 0.25212082266807556, + 0.08320179581642151 + ], + "box_pose": [ + -14.202762603759766, + 0.2638285756111145, + 0.04068716987967491, + 0.0030894943047314882, + 0.7062889337539673, + 0.6861030459403992, + -0.1743815690279007 + ], + "box_yaw_rad": -2.896481134372452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013573806551613596, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034183096369098318 + } + }, + { + "simulation_time_ns": 7200000000, + "phase": "straight_push", + "intended_face_center": [ + -14.268259380002224, + 0.22910439157775894, + 0.057579575022816146 + ], + "intended_face_normal": [ + -0.9407298838127929, + -0.23849596868601075, + 0.24113798530639396 + ], + "commanded_contact_point": [ + -14.257784004211425, + 0.2609290441331475, + 0.038960029791411215 + ], + "centerline_face_intersection": [ + -14.277700844684762, + 0.24751993266646174, + 0.038960029791411215 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.240424156188965, + 0.2516373097896576, + 0.08389744162559509 + ], + "box_pose": [ + -14.203511238098145, + 0.2632518410682678, + 0.041572898626327515, + -0.001365638803690672, + 0.7058497667312622, + 0.6871252059936523, + -0.1721433699131012 + ], + "box_yaw_rad": -2.893301676996239, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013409111466685763, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023960776222226037 + } + }, + { + "simulation_time_ns": 7220000000, + "phase": "straight_push", + "intended_face_center": [ + -14.267135583452973, + 0.22907366566904064, + 0.057795850299742726 + ], + "intended_face_normal": [ + -0.9357682285458182, + -0.2378394267583911, + 0.2603278680120105 + ], + "commanded_contact_point": [ + -14.255539054870605, + 0.26067919198712997, + 0.03769455225129994 + ], + "centerline_face_intersection": [ + -14.277395371826012, + 0.24743851166670627, + 0.03769455225129994 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.239139556884766, + 0.25164929032325745, + 0.08355212211608887 + ], + "box_pose": [ + -14.202720642089844, + 0.2631777226924896, + 0.04041162133216858, + 0.005602797027677298, + 0.7052222490310669, + 0.6859633326530457, + -0.1791217178106308 + ], + "box_yaw_rad": -2.8926979537702007, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013240680320423715, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025891421440788465 + } + }, + { + "simulation_time_ns": 7240000000, + "phase": "straight_push", + "intended_face_center": [ + -14.264476435159018, + 0.22972528001717557, + 0.05859817646180733 + ], + "intended_face_normal": [ + -0.9230151557803836, + -0.23418509564003998, + 0.30528724572654276 + ], + "commanded_contact_point": [ + -14.253032798767089, + 0.26087455372956053, + 0.03502532594987403 + ], + "centerline_face_intersection": [ + -14.27686105133781, + 0.24780795569040137, + 0.03502532594987403 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.236381530761719, + 0.2521600127220154, + 0.08271151781082153 + ], + "box_pose": [ + -14.200916290283203, + 0.2635830044746399, + 0.037901729345321655, + 0.022292999550700188, + 0.705167293548584, + 0.6813564896583557, + -0.19492416083812714 + ], + "box_yaw_rad": -2.8931182411252054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.013066598039159154, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003666640821656611 + } + }, + { + "simulation_time_ns": 7260000000, + "phase": "straight_push", + "intended_face_center": [ + -14.262688245041842, + 0.230514573642318, + 0.05923627452776889 + ], + "intended_face_normal": [ + -0.9135208177066545, + -0.2298259790214292, + 0.33564834995807047 + ], + "commanded_contact_point": [ + -14.250370140075683, + 0.26108334790560106, + 0.033319081821900284 + ], + "centerline_face_intersection": [ + -14.276675411989373, + 0.24826065875746123, + 0.033319081821900284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.232856750488281, + 0.2543583810329437, + 0.08120952546596527 + ], + "box_pose": [ + -14.199771881103516, + 0.2640748620033264, + 0.036218468099832535, + 0.033774860203266144, + 0.7065976858139038, + 0.676372766494751, + -0.2051800936460495 + ], + "box_yaw_rad": -2.8951250025043627, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012822689148139855, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003169324113926276 + } + }, + { + "simulation_time_ns": 7280000000, + "phase": "straight_push", + "intended_face_center": [ + -14.26278918712669, + 0.23049736440016533, + 0.05844382790598035 + ], + "intended_face_normal": [ + -0.9141037828029894, + -0.22993525552952754, + 0.3339821567860035 + ], + "commanded_contact_point": [ + -14.247619743347167, + 0.2606381585132155, + 0.032655290828929984 + ], + "centerline_face_intersection": [ + -14.276677434870274, + 0.2482518873351845, + 0.032655290828929984 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.228858947753906, + 0.2591623365879059, + 0.07781481742858887 + ], + "box_pose": [ + -14.199832916259766, + 0.264065146446228, + 0.03554638475179672, + 0.03315137326717377, + 0.7066693902015686, + 0.6765133142471313, + -0.20457053184509277 + ], + "box_yaw_rad": -2.895163468816517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.012386271178030999, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002864174268732717 + } + }, + { + "simulation_time_ns": 7300000000, + "phase": "straight_push", + "intended_face_center": [ + -14.260119379572748, + 0.23235428302927175, + 0.05893281975953894 + ], + "intended_face_normal": [ + -0.9071450869110436, + -0.228553286396874, + 0.3533435930936619 + ], + "commanded_contact_point": [ + -14.244757766723632, + 0.26179885341600195, + 0.03164928330021642 + ], + "centerline_face_intersection": [ + -14.27519292138197, + 0.2500020967838972, + 0.03164928330021642 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.223384857177734, + 0.2647399604320526, + 0.07584869861602783 + ], + "box_pose": [ + -14.197644233703613, + 0.2658271789550781, + 0.034622225910425186, + 0.040354982018470764, + 0.7060962915420532, + 0.6745373010635376, + -0.21165789663791656 + ], + "box_yaw_rad": -2.8947815284754177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011796756632104782, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032481031385786637 + } + }, + { + "simulation_time_ns": 7320000000, + "phase": "straight_push", + "intended_face_center": [ + -14.258089799876707, + 0.23309494876461412, + 0.05988043853938026 + ], + "intended_face_normal": [ + -0.898603320872013, + -0.22720127035064586, + 0.37535516004894465 + ], + "commanded_contact_point": [ + -14.241672630310058, + 0.2617649556174145, + 0.03089727202792295 + ], + "centerline_face_intersection": [ + -14.274632004544953, + 0.2506383661758167, + 0.03089727202792295 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.218629837036133, + 0.2673925459384918, + 0.07466764748096466 + ], + "box_pose": [ + -14.196208000183105, + 0.2664746642112732, + 0.03397643566131592, + 0.04857027158141136, + 0.7050635814666748, + 0.6724485158920288, + -0.21986183524131775 + ], + "box_yaw_rad": -2.8939445071454006, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.011126589441597777, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003175647446548045 + } + }, + { + "simulation_time_ns": 7340000000, + "phase": "straight_push", + "intended_face_center": [ + -14.2574860785047, + 0.23172963999898294, + 0.05977677573886578 + ], + "intended_face_normal": [ + -0.8979552005722695, + -0.2296377944017589, + 0.3754229817056416 + ], + "commanded_contact_point": [ + -14.238632316589355, + 0.2599277776360099, + 0.03078837235689662 + ], + "centerline_face_intersection": [ + -14.274140348644307, + 0.249461194379645, + 0.03078837235689662 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.21782112121582, + 0.26596134901046753, + 0.07446174323558807 + ], + "box_pose": [ + -14.195676803588867, + 0.2652772068977356, + 0.03391653299331665, + 0.04797489941120148, + 0.7040981650352478, + 0.6732186675071716, + -0.2207275927066803 + ], + "box_yaw_rad": -2.8912244835252965, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.010466583256364875, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035539540787696135 + } + }, + { + "simulation_time_ns": 7360000000, + "phase": "straight_push", + "intended_face_center": [ + -14.25726752919225, + 0.22602123537033963, + 0.059419189432179755 + ], + "intended_face_normal": [ + -0.9016387560226704, + -0.23071954891066238, + 0.36580872460762626 + ], + "commanded_contact_point": [ + -14.235598678588866, + 0.2536389745910921, + 0.031173153930059122 + ], + "centerline_face_intersection": [ + -14.27328606818477, + 0.2438363177649818, + 0.031173153930059122 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.217977523803711, + 0.26043447852134705, + 0.07463043928146362 + ], + "box_pose": [ + -14.195197105407715, + 0.25964319705963135, + 0.034291379153728485, + 0.0444350428879261, + 0.7038050889968872, + 0.67489093542099, + -0.21726974844932556 + ], + "box_yaw_rad": -2.8910790144484153, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009802656826110265, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006992857793121447 + } + }, + { + "simulation_time_ns": 7380000000, + "phase": "straight_push", + "intended_face_center": [ + -14.25673038731636, + 0.2198158900487724, + 0.05931090031340232 + ], + "intended_face_normal": [ + -0.9050423442058815, + -0.2264657510909558, + 0.36001592300840457 + ], + "commanded_contact_point": [ + -14.232486839294433, + 0.2464196568110651, + 0.031512157805192266 + ], + "centerline_face_intersection": [ + -14.272164055554995, + 0.2373025141094501, + 0.031512157805192266 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.217605590820312, + 0.2544403672218323, + 0.07495371997356415 + ], + "box_pose": [ + -14.194326400756836, + 0.2531445622444153, + 0.034622400999069214, + 0.04419577121734619, + 0.7035428881645203, + 0.6764233708381653, + -0.21336710453033447 + ], + "box_yaw_rad": -2.896400645521649, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.009117142701614978, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007868736660401724 + } + }, + { + "simulation_time_ns": 7400000000, + "phase": "straight_push", + "intended_face_center": [ + -14.256174625640755, + 0.21309992693646818, + 0.0591774325549135 + ], + "intended_face_normal": [ + -0.9082579409762843, + -0.2219326588147359, + 0.35470121166558943 + ], + "commanded_contact_point": [ + -14.229397888183593, + 0.2386428035624498, + 0.0317890671513876 + ], + "centerline_face_intersection": [ + -14.271057944943976, + 0.23023652685404808, + 0.0317890671513876 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.217140197753906, + 0.24800817668437958, + 0.07515087723731995 + ], + "box_pose": [ + -14.19344711303711, + 0.24611543118953705, + 0.03489134833216667, + 0.04420451447367668, + 0.703299880027771, + 0.6778630018234253, + -0.20956352353096008 + ], + "box_yaw_rad": -2.9019388416043075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.008406276708401718, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008372439560944427 + } + }, + { + "simulation_time_ns": 7420000000, + "phase": "straight_push", + "intended_face_center": [ + -14.254788661450252, + 0.20596709620474507, + 0.059307911955996384 + ], + "intended_face_normal": [ + -0.9103151245980499, + -0.2170717988986226, + 0.352429153431002 + ], + "commanded_contact_point": [ + -14.226644630432128, + 0.23039367406875616, + 0.032094984242279224 + ], + "centerline_face_intersection": [ + -14.269321013365204, + 0.22272836329802276, + 0.032094984242279224 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.21583080291748, + 0.24125251173973083, + 0.07562798261642456 + ], + "box_pose": [ + -14.19182014465332, + 0.2386464625597, + 0.03519139811396599, + 0.04531791806221008, + 0.703175961971283, + 0.678749680519104, + -0.2068544179201126 + ], + "box_yaw_rad": -2.9075063303768425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.007665310770733395, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008701847557629762 + } + }, + { + "simulation_time_ns": 7440000000, + "phase": "straight_push", + "intended_face_center": [ + -14.253443163536708, + 0.19955828718005597, + 0.059465253767318704 + ], + "intended_face_normal": [ + -0.9123683621563146, + -0.21107790777943158, + 0.3507560981058351 + ], + "commanded_contact_point": [ + -14.224039192199706, + 0.22274928566743823, + 0.032381511545725515 + ], + "centerline_face_intersection": [ + -14.267626085173266, + 0.21585673408901432, + 0.032381511545725515 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.214518547058105, + 0.2351757138967514, + 0.07609100639820099 + ], + "box_pose": [ + -14.190214157104492, + 0.23182253539562225, + 0.035471703857183456, + 0.047052182257175446, + 0.7030621767044067, + 0.6796232461929321, + -0.20396530628204346 + ], + "box_yaw_rad": -2.914240924028149, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006892551578423911, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.008081279620752512 + } + }, + { + "simulation_time_ns": 7460000000, + "phase": "straight_push", + "intended_face_center": [ + -14.25306124289711, + 0.19712288039619122, + 0.059508962981105556 + ], + "intended_face_normal": [ + -0.9135451962285543, + -0.20869439049215366, + 0.3491158730823667 + ], + "commanded_contact_point": [ + -14.221234436035155, + 0.21933921609618062, + 0.03255187124958488 + ], + "centerline_face_intersection": [ + -14.26704427184818, + 0.2132372832695991, + 0.03255187124958488 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.21413516998291, + 0.23300275206565857, + 0.07630044221878052 + ], + "box_pose": [ + -14.189702033996582, + 0.22922173142433167, + 0.03563731536269188, + 0.04741087555885315, + 0.7030101418495178, + 0.6801097989082336, + -0.2024342566728592 + ], + "box_yaw_rad": -2.917002099441211, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.006101932826581532, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004418625810373824 + } + }, + { + "simulation_time_ns": 7480000000, + "phase": "straight_push", + "intended_face_center": [ + -14.253170467291186, + 0.19714900155610032, + 0.05938537431182717 + ], + "intended_face_normal": [ + -0.9142032560371547, + -0.20850092885907934, + 0.3475051616339684 + ], + "commanded_contact_point": [ + -14.218383903503417, + 0.21855321573147554, + 0.03255265417041531 + ], + "centerline_face_intersection": [ + -14.267041842994837, + 0.21324846622878052, + 0.03255265417041531 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.214225769042969, + 0.233178049325943, + 0.0762450098991394 + ], + "box_pose": [ + -14.189765930175781, + 0.22923460602760315, + 0.03561649098992348, + 0.046829886734485626, + 0.7033721208572388, + 0.6799774169921875, + -0.20175567269325256 + ], + "box_yaw_rad": -2.9173595329687716, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.005304749502695033, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029569127313432506 + } + }, + { + "simulation_time_ns": 7500000000, + "phase": "straight_push", + "intended_face_center": [ + -14.253140472202695, + 0.19712223287895198, + 0.05914438306393466 + ], + "intended_face_normal": [ + -0.9140310822906272, + -0.20864976632679078, + 0.3478685122969778 + ], + "commanded_contact_point": [ + -14.215705986022948, + 0.21774003912014986, + 0.032283606687018594 + ], + "centerline_face_intersection": [ + -14.26704105222667, + 0.2132331900834233, + 0.032283606687018594 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.214214324951172, + 0.2331807017326355, + 0.07589210569858551 + ], + "box_pose": [ + -14.18974781036377, + 0.2292180210351944, + 0.035357583314180374, + 0.046953413635492325, + 0.7031821012496948, + 0.6801106333732605, + -0.20194020867347717 + ], + "box_yaw_rad": -2.917163919989623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.004506849036726546, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028115626938998396 + } + }, + { + "simulation_time_ns": 7520000000, + "phase": "straight_push", + "intended_face_center": [ + -14.252957929200294, + 0.1970398583983773, + 0.05895865914037619 + ], + "intended_face_normal": [ + -0.91304485229535, + -0.20908571884063853, + 0.35018859296594496 + ], + "commanded_contact_point": [ + -14.213307495117187, + 0.21689648706734613, + 0.031918737006305965 + ], + "centerline_face_intersection": [ + -14.267025910379164, + 0.21318447781305586, + 0.031918737006305965 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.214078903198242, + 0.2330554723739624, + 0.07544581592082977 + ], + "box_pose": [ + -14.1896333694458, + 0.2291654795408249, + 0.03503118082880974, + 0.047776736319065094, + 0.7025089263916016, + 0.6804437041282654, + -0.20296527445316315 + ], + "box_yaw_rad": -2.916475846094664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0037120092542902838, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025685537905043754 + } + }, + { + "simulation_time_ns": 7540000000, + "phase": "straight_push", + "intended_face_center": [ + -14.252250461933299, + 0.19572387000843372, + 0.058965134020650116 + ], + "intended_face_normal": [ + -0.9117720522135784, + -0.21162477042076722, + 0.35197465724722 + ], + "commanded_contact_point": [ + -14.211012001037597, + 0.21498450053891383, + 0.03178730037243523 + ], + "centerline_face_intersection": [ + -14.26653477800437, + 0.21206454308790923, + 0.03178730037243523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.21360969543457, + 0.23186583817005157, + 0.07537497580051422 + ], + "box_pose": [ + -14.189057350158691, + 0.22802525758743286, + 0.034927062690258026, + 0.04754937067627907, + 0.7020958065986633, + 0.6804024577140808, + -0.20457980036735535 + ], + "box_yaw_rad": -2.9135281134276245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00291995745100459, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029903613733229467 + } + }, + { + "simulation_time_ns": 7560000000, + "phase": "straight_push", + "intended_face_center": [ + -14.249616488184062, + 0.18922579953993474, + 0.05901794435775212 + ], + "intended_face_normal": [ + -0.9099967483045717, + -0.2189820041206172, + 0.35206867806070097 + ], + "commanded_contact_point": [ + -14.208987350463866, + 0.20826745043066242, + 0.03183285086291009 + ], + "centerline_face_intersection": [ + -14.264203100116614, + 0.206134563729064, + 0.03183285086291009 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.211594581604004, + 0.22581133246421814, + 0.0755663514137268 + ], + "box_pose": [ + -14.186688423156738, + 0.22203651070594788, + 0.034974355250597, + 0.04475509375333786, + 0.702250599861145, + 0.6795899271965027, + -0.20736077427864075 + ], + "box_yaw_rad": -2.9054422155051833, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002132886701598424, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007015700032758663 + } + }, + { + "simulation_time_ns": 7580000000, + "phase": "straight_push", + "intended_face_center": [ + -14.244789130821728, + 0.18269542021153945, + 0.05872122302051819 + ], + "intended_face_normal": [ + -0.9060474171745412, + -0.23077703503963765, + 0.35471075633671134 + ], + "commanded_contact_point": [ + -14.206894035339355, + 0.2018766178839631, + 0.03133212062221543 + ], + "centerline_face_intersection": [ + -14.260050550624156, + 0.200514941415676, + 0.03133212062221543 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.20720386505127, + 0.21979519724845886, + 0.07482011616230011 + ], + "box_pose": [ + -14.18234920501709, + 0.21631984412670135, + 0.034529637545347214, + 0.04140958935022354, + 0.7014977335929871, + 0.6789143085479736, + -0.21274739503860474 + ], + "box_yaw_rad": -2.892188372056682, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0013616764682871092, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006743547999711046 + } + }, + { + "simulation_time_ns": 7600000000, + "phase": "straight_push", + "intended_face_center": [ + -14.240971650040317, + 0.17718576440710407, + 0.05869028002236637 + ], + "intended_face_normal": [ + -0.9030192015461722, + -0.24032430180970143, + 0.3560910216127682 + ], + "commanded_contact_point": [ + -14.204603309631347, + 0.1963384322181782, + 0.031194600007491833 + ], + "centerline_face_intersection": [ + -14.256752681368653, + 0.19574248081188733, + 0.031194600007491833 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.203654289245605, + 0.21488560736179352, + 0.07459330558776855 + ], + "box_pose": [ + -14.178924560546875, + 0.21146708726882935, + 0.03441000357270241, + 0.03826741501688957, + 0.7014111876487732, + 0.6778878569602966, + -0.21685495972633362 + ], + "box_yaw_rad": -2.8814874345630033, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005959514062908617, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005994817483252279 + } + }, + { + "simulation_time_ns": 7620000000, + "phase": "straight_push", + "intended_face_center": [ + -14.238894188921932, + 0.17169141794234913, + 0.05878679953137657 + ], + "intended_face_normal": [ + -0.9023913738945453, + -0.2441173480469585, + 0.3550999178124252 + ], + "commanded_contact_point": [ + -14.202362174987792, + 0.19036130739005688, + 0.03136764790756432 + ], + "centerline_face_intersection": [ + -14.25478318925419, + 0.1905410156030228, + 0.03136764790756432 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.201680183410645, + 0.20993250608444214, + 0.07477632164955139 + ], + "box_pose": [ + -14.176968574523926, + 0.20623327791690826, + 0.034565821290016174, + 0.03636210039258003, + 0.7017937898635864, + 0.6772600412368774, + -0.21790355443954468 + ], + "box_yaw_rad": -2.877393701944232, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0001797082129659116, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006385816414304818 + } + }, + { + "simulation_time_ns": 7640000000, + "phase": "straight_push", + "intended_face_center": [ + -14.237276354199624, + 0.16558915568742427, + 0.05875108291994633 + ], + "intended_face_normal": [ + -0.9023352899741681, + -0.24646442077937447, + 0.3536188949379162 + ], + "commanded_contact_point": [ + -14.200260276794433, + 0.18364929961247634, + 0.03144628894229932 + ], + "centerline_face_intersection": [ + -14.25317500344405, + 0.18461998330590443, + 0.03144628894229932 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.200217247009277, + 0.2043943703174591, + 0.07477359473705292 + ], + "box_pose": [ + -14.175402641296387, + 0.20029205083847046, + 0.03462778404355049, + 0.034866999834775925, + 0.7021015882492065, + 0.6769202351570129, + -0.21821239590644836 + ], + "box_yaw_rad": -2.8749559136639617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009706836934280988, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00703386158762691 + } + }, + { + "simulation_time_ns": 7660000000, + "phase": "straight_push", + "intended_face_center": [ + -14.23463158736445, + 0.160656274302364, + 0.05867952855220964 + ], + "intended_face_normal": [ + -0.9011496241918451, + -0.2499546852060579, + 0.35419218442474243 + ], + "commanded_contact_point": [ + -14.19830238342285, + 0.1781849464663211, + 0.031330467846875217 + ], + "centerline_face_intersection": [ + -14.250734378439272, + 0.17995660378418443, + 0.031330467846875217 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.19776439666748, + 0.1999809443950653, + 0.07456186413764954 + ], + "box_pose": [ + -14.172907829284668, + 0.19559836387634277, + 0.034517381340265274, + 0.03372636064887047, + 0.7020890712738037, + 0.6764951944351196, + -0.2197447270154953 + ], + "box_yaw_rad": -2.871021510842276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017716573178633338, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005805679657587617 + } + }, + { + "simulation_time_ns": 7680000000, + "phase": "straight_push", + "intended_face_center": [ + -14.23183527330724, + 0.15710028199184886, + 0.058767766455101955 + ], + "intended_face_normal": [ + -0.8994541209392679, + -0.25368235739311995, + 0.35584758714523 + ], + "commanded_contact_point": [ + -14.196453208923339, + 0.17410743204602233, + 0.03129088330905523 + ], + "centerline_face_intersection": [ + -14.248230503138762, + 0.17668844485175222, + 0.03129088330905523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.195185661315918, + 0.19692233204841614, + 0.07454702258110046 + ], + "box_pose": [ + -14.170303344726562, + 0.19229756295681, + 0.0344870388507843, + 0.032858364284038544, + 0.7020658850669861, + 0.6758924126625061, + -0.22179552912712097 + ], + "box_yaw_rad": -2.866692936216092, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025810128057298905, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004477402942892595 + } + }, + { + "simulation_time_ns": 7700000000, + "phase": "straight_push", + "intended_face_center": [ + -14.228879786239363, + 0.15460996028158977, + 0.058977385896814186 + ], + "intended_face_normal": [ + -0.8975413302150628, + -0.25658364293195746, + 0.35858595835941287 + ], + "commanded_contact_point": [ + -14.194760437011718, + 0.17102326299265286, + 0.03128905855785829 + ], + "centerline_face_intersection": [ + -14.245605664918667, + 0.17442214681512117, + 0.03128905855785829 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.19245433807373, + 0.19486892223358154, + 0.07464265823364258 + ], + "box_pose": [ + -14.167540550231934, + 0.19000564515590668, + 0.03449838235974312, + 0.032677680253982544, + 0.7020115852355957, + 0.6752409934997559, + -0.22396734356880188 + ], + "box_yaw_rad": -2.863145430357052, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033988838224683054, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003518178338892475 + } + }, + { + "simulation_time_ns": 7720000000, + "phase": "straight_push", + "intended_face_center": [ + -14.226287870879203, + 0.15326344459126756, + 0.05922569716356753 + ], + "intended_face_normal": [ + -0.8946335984223026, + -0.25911654440195964, + 0.36399114347066863 + ], + "commanded_contact_point": [ + -14.193307991027831, + 0.16904995726041372, + 0.03112000675949659 + ], + "centerline_face_intersection": [ + -14.243517884475304, + 0.17327120990691194, + 0.03112000675949659 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.189602851867676, + 0.1938304305076599, + 0.07436998188495636 + ], + "box_pose": [ + -14.165202140808105, + 0.18883216381072998, + 0.034366458654403687, + 0.03364386782050133, + 0.7016102075576782, + 0.6745812892913818, + -0.22704921662807465 + ], + "box_yaw_rad": -2.859672627725536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.004221252646498224, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002456036107129907 + } + }, + { + "simulation_time_ns": 7740000000, + "phase": "straight_push", + "intended_face_center": [ + -14.225324955973983, + 0.15307970258040368, + 0.0594600299407676 + ], + "intended_face_normal": [ + -0.8916529102355426, + -0.259472607792397, + 0.37098363432459447 + ], + "commanded_contact_point": [ + -14.192063446044921, + 0.16806386933028394, + 0.03081441216038792 + ], + "centerline_face_intersection": [ + -14.243073646356084, + 0.17311496144251304, + 0.03081441216038792 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.187466621398926, + 0.1938609480857849, + 0.07382647693157196 + ], + "box_pose": [ + -14.164454460144043, + 0.1886727213859558, + 0.03411245718598366, + 0.03606569394469261, + 0.7009535431861877, + 0.6741591691970825, + -0.2299407720565796 + ], + "box_yaw_rad": -2.858411388810791, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0050510921122290985, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016169878414629016 + } + }, + { + "simulation_time_ns": 7760000000, + "phase": "straight_push", + "intended_face_center": [ + -14.224084921910958, + 0.15260555301340445, + 0.059616956650564865 + ], + "intended_face_normal": [ + -0.8888805270197011, + -0.2603013058857795, + 0.37700693906977456 + ], + "commanded_contact_point": [ + -14.190791244506835, + 0.166815800715433, + 0.030506247503501848 + ], + "centerline_face_intersection": [ + -14.242317778314371, + 0.17270480005893213, + 0.030506247503501848 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.186182022094727, + 0.19365248084068298, + 0.07335434854030609 + ], + "box_pose": [ + -14.163421630859375, + 0.18825513124465942, + 0.03385552763938904, + 0.037999916821718216, + 0.7002460360527039, + 0.6738662719726562, + -0.23262767493724823 + ], + "box_yaw_rad": -2.8567159539876625, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.005888999343499133, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018086286176652955 + } + }, + { + "simulation_time_ns": 7780000000, + "phase": "straight_push", + "intended_face_center": [ + -14.223335529854849, + 0.1519584937406684, + 0.05945040724440991 + ], + "intended_face_normal": [ + -0.8877175911217847, + -0.2617514158014096, + 0.37873945201771875 + ], + "commanded_contact_point": [ + -14.189418907165527, + 0.16543642590336113, + 0.030205921566215755 + ], + "centerline_face_intersection": [ + -14.241771982387968, + 0.17216971147853755, + 0.030205921566215755 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.185680389404297, + 0.19327686727046967, + 0.07289016246795654 + ], + "box_pose": [ + -14.162772178649902, + 0.1877070516347885, + 0.033591147512197495, + 0.03823550045490265, + 0.699617326259613, + 0.6740878224372864, + -0.23383589088916779 + ], + "box_yaw_rad": -2.8548591300917097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.006733285575176417, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019688017470367654 + } + }, + { + "simulation_time_ns": 7800000000, + "phase": "straight_push", + "intended_face_center": [ + -14.223429994524814, + 0.15195250689360532, + 0.059071313478269966 + ], + "intended_face_normal": [ + -0.8883561382309892, + -0.26176617030462257, + 0.3772295415503013 + ], + "commanded_contact_point": [ + -14.187989349365234, + 0.16458062632294965, + 0.02994341601079561 + ], + "centerline_face_intersection": [ + -14.24175461921371, + 0.17216486390507169, + 0.02994341601079561 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.18592643737793, + 0.19343866407871246, + 0.07237420976161957 + ], + "box_pose": [ + -14.162822723388672, + 0.18770207464694977, + 0.03331651911139488, + 0.03766728565096855, + 0.6997853517532349, + 0.6741502285003662, + -0.2332448959350586 + ], + "box_yaw_rad": -2.855038849981028, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.007584237582122048, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016866942796006 + } + }, + { + "simulation_time_ns": 7820000000, + "phase": "straight_push", + "intended_face_center": [ + -14.223817627854286, + 0.15136232043508158, + 0.058840242503460795 + ], + "intended_face_normal": [ + -0.890429461100851, + -0.26299746604146224, + 0.37143965391410694 + ], + "commanded_contact_point": [ + -14.186219329833984, + 0.16322682345364614, + 0.030159413027327144 + ], + "centerline_face_intersection": [ + -14.241779772736436, + 0.17166975233338583, + 0.030159413027327144 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.186322212219238, + 0.1931370347738266, + 0.07241120934486389 + ], + "box_pose": [ + -14.163090705871582, + 0.18719588220119476, + 0.033487215638160706, + 0.03503799065947533, + 0.7004221081733704, + 0.6742578148841858, + -0.23142500221729279 + ], + "box_yaw_rad": -2.854397929624306, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00844292887973968, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022388403384545753 + } + }, + { + "simulation_time_ns": 7840000000, + "phase": "straight_push", + "intended_face_center": [ + -14.224347805549627, + 0.14806346089493563, + 0.05864379834825065 + ], + "intended_face_normal": [ + -0.8925670063141595, + -0.2671657967849894, + 0.3632450802979452 + ], + "commanded_contact_point": [ + -14.184101219177245, + 0.15938141058575403, + 0.03059571544625931 + ], + "centerline_face_intersection": [ + -14.241937226989227, + 0.16869275176008805, + 0.03059571544625931 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.186860084533691, + 0.1904030591249466, + 0.07262124121189117 + ], + "box_pose": [ + -14.163551330566406, + 0.18418115377426147, + 0.03386711701750755, + 0.030429579317569733, + 0.701181948184967, + 0.6742606163024902, + -0.22976215183734894 + ], + "box_yaw_rad": -2.8507571139987182, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00931134117433402, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004411796989833572 + } + }, + { + "simulation_time_ns": 7860000000, + "phase": "straight_push", + "intended_face_center": [ + -14.224023294629571, + 0.14570883551028638, + 0.0585350574372506 + ], + "intended_face_normal": [ + -0.8928029721658746, + -0.2700507468090494, + 0.36052170620385615 + ], + "commanded_contact_point": [ + -14.18204605102539, + 0.15637021928821676, + 0.030697260720832627 + ], + "centerline_face_intersection": [ + -14.241571631684899, + 0.1665608886971654, + 0.030697260720832627 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.186261177062988, + 0.18854409456253052, + 0.07258085906505585 + ], + "box_pose": [ + -14.163269996643066, + 0.18202292919158936, + 0.033940207213163376, + 0.028242284432053566, + 0.7016552090644836, + 0.6738556623458862, + -0.22978469729423523 + ], + "box_yaw_rad": -2.8478665942998425, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.010190669408948624, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036470948171871504 + } + }, + { + "simulation_time_ns": 7880000000, + "phase": "straight_push", + "intended_face_center": [ + -14.223966077493097, + 0.143136155142306, + 0.05860819634515022 + ], + "intended_face_normal": [ + -0.8931710248667315, + -0.2739449066629933, + 0.3566500222967135 + ], + "commanded_contact_point": [ + -14.180158729553222, + 0.15320915006365748, + 0.031069352916988133 + ], + "centerline_face_intersection": [ + -14.241450356433349, + 0.1642888971047286, + 0.031069352916988133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.185873985290527, + 0.18651583790779114, + 0.0728558748960495 + ], + "box_pose": [ + -14.163264274597168, + 0.1797150820493698, + 0.0342801995575428, + 0.025276947766542435, + 0.7021368145942688, + 0.6734904646873474, + -0.2297290563583374 + ], + "box_yaw_rad": -2.843990889481595, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011079747041071127, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037003774921218354 + } + }, + { + "simulation_time_ns": 7900000000, + "phase": "straight_push", + "intended_face_center": [ + -14.222580225034598, + 0.1406262721853162, + 0.058689328570594564 + ], + "intended_face_normal": [ + -0.8920603227056745, + -0.2764763788298019, + 0.3574762534336031 + ], + "commanded_contact_point": [ + -14.178358192443847, + 0.14999678470970904, + 0.03108668744583414 + ], + "centerline_face_intersection": [ + -14.240257906824112, + 0.161974482565757, + 0.03108668744583414 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.184341430664062, + 0.18442325294017792, + 0.07286639511585236 + ], + "box_pose": [ + -14.162008285522461, + 0.1773771196603775, + 0.034296777099370956, + 0.024532314389944077, + 0.702242374420166, + 0.6729679107666016, + -0.23101520538330078 + ], + "box_yaw_rad": -2.8410507217847543, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.011977697856047964, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003682597661349273 + } + }, + { + "simulation_time_ns": 7920000000, + "phase": "straight_push", + "intended_face_center": [ + -14.220820415935925, + 0.13839545729263816, + 0.05850502415115136 + ], + "intended_face_normal": [ + -0.8896722282835583, + -0.2802225749966869, + 0.3604968013709646 + ], + "commanded_contact_point": [ + -14.176609153747558, + 0.14715648324149055, + 0.030669150469223014 + ], + "centerline_face_intersection": [ + -14.238914838766805, + 0.16003293138607882, + 0.030669150469223014 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.182726860046387, + 0.1825016885995865, + 0.07223957777023315 + ], + "box_pose": [ + -14.160481452941895, + 0.17540061473846436, + 0.03392037749290466, + 0.024290475994348526, + 0.7016294002532959, + 0.6727200746536255, + -0.2336100935935974 + ], + "box_yaw_rad": -2.8364565512010573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01287644814458827, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003361664159061426 + } + }, + { + "simulation_time_ns": 7940000000, + "phase": "straight_push", + "intended_face_center": [ + -14.219798502757635, + 0.13711320940924887, + 0.05824093743075554 + ], + "intended_face_normal": [ + -0.8876354575648762, + -0.2827876141915793, + 0.3635039848230175 + ], + "commanded_contact_point": [ + -14.174831504821777, + 0.14517440213535684, + 0.030172863134587655 + ], + "centerline_face_intersection": [ + -14.238249345752752, + 0.15894874380931828, + 0.030172863134587655 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.181998252868652, + 0.18139608204364777, + 0.07149389386177063 + ], + "box_pose": [ + -14.159643173217773, + 0.1742924004793167, + 0.03346940875053406, + 0.02454126626253128, + 0.7009103894233704, + 0.6727126836776733, + -0.23575448989868164 + ], + "box_yaw_rad": -2.8331735207660134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.01377434167396145, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027083172511991518 + } + }, + { + "simulation_time_ns": 7960000000, + "phase": "straight_push", + "intended_face_center": [ + -14.21951378767533, + 0.13707575180819223, + 0.05814354407928722 + ], + "intended_face_normal": [ + -0.886238362910241, + -0.28264829215680987, + 0.36700302564587384 + ], + "commanded_contact_point": [ + -14.172933692932128, + 0.1442251689252751, + 0.029805290247593545 + ], + "centerline_face_intersection": [ + -14.238209641438258, + 0.15890052841361216, + 0.029805290247593545 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.18218994140625, + 0.18142597377300262, + 0.07109946012496948 + ], + "box_pose": [ + -14.159457206726074, + 0.17424537241458893, + 0.03311944380402565, + 0.025808576494455338, + 0.7007671594619751, + 0.6723425984382629, + -0.23709630966186523 + ], + "box_yaw_rad": -2.832860321767266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.014675359488337068, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002153565295705302 + } + }, + { + "simulation_time_ns": 7980000000, + "phase": "straight_push", + "intended_face_center": [ + -14.218903244703181, + 0.13737426138757106, + 0.05846141562444147 + ], + "intended_face_normal": [ + -0.8826313737393008, + -0.2809099636933987, + 0.37689727138690676 + ], + "commanded_contact_point": [ + -14.17111789703369, + 0.14406481241500751, + 0.029359174501937032 + ], + "centerline_face_intersection": [ + -14.23823366932051, + 0.1590648124150075, + 0.029359174501937032 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.182270050048828, + 0.18183542788028717, + 0.07061223685741425 + ], + "box_pose": [ + -14.159095764160156, + 0.17442508041858673, + 0.032676082104444504, + 0.029572855681180954, + 0.7013166546821594, + 0.6704257130622864, + -0.24043665826320648 + ], + "box_yaw_rad": -2.833465070581797, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018766587898950385 + } + }, + { + "simulation_time_ns": 8000000000, + "phase": "straight_push", + "intended_face_center": [ + -14.218349858798662, + 0.13775619022911786, + 0.05874961754320593 + ], + "intended_face_normal": [ + -0.8792739745165932, + -0.2786035590199054, + 0.3863384098652345 + ], + "commanded_contact_point": [ + -14.169417495727538, + 0.1442686514956837, + 0.028918375949416056 + ], + "centerline_face_intersection": [ + -14.238273569414034, + 0.1592686514956837, + 0.028918375949416056 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.181668281555176, + 0.18281181156635284, + 0.06958487629890442 + ], + "box_pose": [ + -14.158774375915527, + 0.17464882135391235, + 0.03221140801906586, + 0.0332152284681797, + 0.7023650407791138, + 0.6680721044540405, + -0.24343329668045044 + ], + "box_yaw_rad": -2.8347439303729525, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017683942820197341 + } + }, + { + "simulation_time_ns": 8020000000, + "phase": "straight_push", + "intended_face_center": [ + -14.217273139578277, + 0.1376451982357891, + 0.058661371427018896 + ], + "intended_face_normal": [ + -0.8790426506567215, + -0.2777671767556633, + 0.38746582468744517 + ], + "commanded_contact_point": [ + -14.16749584197998, + 0.14409307798327153, + 0.028743076143823616 + ], + "centerline_face_intersection": [ + -14.23723782139322, + 0.15909307798327155, + 0.028743076143823616 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.179519653320312, + 0.18330897390842438, + 0.06856293976306915 + ], + "box_pose": [ + -14.157702445983887, + 0.1744808852672577, + 0.03203342854976654, + 0.03387511521577835, + 0.7024742364883423, + 0.6678707003593445, + -0.24358005821704865 + ], + "box_yaw_rad": -2.835533012387102, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019376039857534036 + } + }, + { + "simulation_time_ns": 8040000000, + "phase": "straight_push", + "intended_face_center": [ + -14.211718662699484, + 0.1333004595393658, + 0.05869891367298598 + ], + "intended_face_normal": [ + -0.8810165062080273, + -0.27501037073068524, + 0.3849406633496617 + ], + "commanded_contact_point": [ + -14.165548439025878, + 0.13953547164423658, + 0.028975599515164676 + ], + "centerline_face_intersection": [ + -14.231334132764308, + 0.1545354716442366, + 0.028975599515164676 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.174638748168945, + 0.1794278472661972, + 0.06925486028194427 + ], + "box_pose": [ + -14.151945114135742, + 0.1699497252702713, + 0.03226909041404724, + 0.03422214835882187, + 0.7022014856338501, + 0.6688956022262573, + -0.24149662256240845 + ], + "box_yaw_rad": -2.8390255732555163, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004961675213622406 + } + }, + { + "simulation_time_ns": 8060000000, + "phase": "straight_push", + "intended_face_center": [ + -14.206249075655238, + 0.12355898158575937, + 0.05873124049720993 + ], + "intended_face_normal": [ + -0.8829376047805368, + -0.27433546612405735, + 0.3810003484245499 + ], + "commanded_contact_point": [ + -14.16342746734619, + 0.1297418807195691, + 0.029312178993241064 + ], + "centerline_face_intersection": [ + -14.225525512611307, + 0.14474188071956912, + 0.029312178993241064 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.169784545898438, + 0.17070092260837555, + 0.06983247399330139 + ], + "box_pose": [ + -14.146320343017578, + 0.1601628214120865, + 0.03259148448705673, + 0.03316783905029297, + 0.702247679233551, + 0.6695647835731506, + -0.23964786529541016 + ], + "box_yaw_rad": -2.8403415078939522, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010026276966592718 + } + }, + { + "simulation_time_ns": 8080000000, + "phase": "straight_push", + "intended_face_center": [ + -14.202153597943555, + 0.11361765882023872, + 0.05895163217192926 + ], + "intended_face_normal": [ + -0.8873857342798175, + -0.2669305780148261, + 0.37589216516094703 + ], + "commanded_contact_point": [ + -14.160964126586913, + 0.1192287871942151, + 0.029927000642176637 + ], + "centerline_face_intersection": [ + -14.220648203624991, + 0.1342287871942151, + 0.029927000642176637 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.16575813293457, + 0.16166597604751587, + 0.07070177793502808 + ], + "box_pose": [ + -14.141764640808105, + 0.14971843361854553, + 0.03317392244935036, + 0.0342826209962368, + 0.7024775147438049, + 0.6709830164909363, + -0.23480185866355896 + ], + "box_yaw_rad": -2.8493969614060703, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.010815321947550017 + } + }, + { + "simulation_time_ns": 8100000000, + "phase": "straight_push", + "intended_face_center": [ + -14.20084256336701, + 0.10271627859173457, + 0.059162595296546786 + ], + "intended_face_normal": [ + -0.893477193984566, + -0.25469021350498267, + 0.3699075095582671 + ], + "commanded_contact_point": [ + -14.158287162780761, + 0.10738226337769297, + 0.03060007082780694 + ], + "centerline_face_intersection": [ + -14.218273577156186, + 0.12238226337769297, + 0.03060007082780694 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.164125442504883, + 0.15160171687602997, + 0.07154175639152527 + ], + "box_pose": [ + -14.13978385925293, + 0.13798244297504425, + 0.03381079062819481, + 0.03698204457759857, + 0.7026351094245911, + 0.6730843186378479, + -0.22780205309391022 + ], + "box_yaw_rad": -2.863902554478523, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.012163851578741839 + } + }, + { + "simulation_time_ns": 8120000000, + "phase": "straight_push", + "intended_face_center": [ + -14.200071245769383, + 0.09293968607171665, + 0.059318841065152464 + ], + "intended_face_normal": [ + -0.8989342780356822, + -0.24140327239939907, + 0.36556924157481774 + ], + "commanded_contact_point": [ + -14.155849571228027, + 0.09657971552928463, + 0.031091297320586606 + ], + "centerline_face_intersection": [ + -14.216556259643884, + 0.11157971552928463, + 0.031091297320586606 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.162798881530762, + 0.14250633120536804, + 0.07213205099105835 + ], + "box_pose": [ + -14.138370513916016, + 0.1272958517074585, + 0.03427387773990631, + 0.040627509355545044, + 0.7026855945587158, + 0.6750556230545044, + -0.22109289467334747 + ], + "box_yaw_rad": -2.879238524755956, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011085043800649695 + } + }, + { + "simulation_time_ns": 8140000000, + "phase": "straight_push", + "intended_face_center": [ + -14.199078696026065, + 0.08489952165768433, + 0.05932377059638537 + ], + "intended_face_normal": [ + -0.9025380190721037, + -0.2320409629903808, + 0.362742075044002 + ], + "commanded_contact_point": [ + -14.153522605895995, + 0.08781663745529895, + 0.031314527402976355 + ], + "centerline_face_intersection": [ + -14.214942470032438, + 0.10281663745529895, + 0.031314527402976355 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.161348342895508, + 0.1350213885307312, + 0.07234455645084381 + ], + "box_pose": [ + -14.136944770812988, + 0.11861210316419601, + 0.0344759076833725, + 0.043238017708063126, + 0.7027527689933777, + 0.6763191223144531, + -0.21647490561008453 + ], + "box_yaw_rad": -2.8899445044003658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009069516892146322 + } + }, + { + "simulation_time_ns": 8160000000, + "phase": "straight_push", + "intended_face_center": [ + -14.197277228120136, + 0.0792588848549028, + 0.05909318660979624 + ], + "intended_face_normal": [ + -0.9038333507911105, + -0.22797185661891817, + 0.362097130734397 + ], + "commanded_contact_point": [ + -14.151144142150878, + 0.08186180332670591, + 0.03113374299370878 + ], + "centerline_face_intersection": [ + -14.212918371359564, + 0.09686180332670591, + 0.03113374299370878 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.159242630004883, + 0.12975463271141052, + 0.07200022041797638 + ], + "box_pose": [ + -14.134970664978027, + 0.11269107460975647, + 0.03429877385497093, + 0.04463996738195419, + 0.7025401592254639, + 0.6770184636116028, + -0.21468734741210938 + ], + "box_yaw_rad": -2.8945183817745406, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006414812724353501 + } + }, + { + "simulation_time_ns": 8180000000, + "phase": "straight_push", + "intended_face_center": [ + -14.19497644023766, + 0.07624907824273833, + 0.0589306176047764 + ], + "intended_face_normal": [ + -0.9019000892280928, + -0.23049301982938175, + 0.36530623164177456 + ], + "commanded_contact_point": [ + -14.148913497924804, + 0.07904666912325933, + 0.0307233822547523 + ], + "centerline_face_intersection": [ + -14.210949985718585, + 0.09404666912325933, + 0.0307233822547523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.156916618347168, + 0.12699316442012787, + 0.0713919997215271 + ], + "box_pose": [ + -14.132845878601074, + 0.10985486209392548, + 0.03393017128109932, + 0.04496454447507858, + 0.701899528503418, + 0.676969051361084, + -0.21685940027236938 + ], + "box_yaw_rad": -2.891384360765121, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003615127962162605 + } + }, + { + "simulation_time_ns": 8200000000, + "phase": "straight_push", + "intended_face_center": [ + -14.192597714700648, + 0.07336060097792313, + 0.05881056903213076 + ], + "intended_face_normal": [ + -0.8996297327917375, + -0.2337600419970105, + 0.3688123118344926 + ], + "commanded_contact_point": [ + -14.146934623718261, + 0.07641045600067321, + 0.03033261059942726 + ], + "centerline_face_intersection": [ + -14.208962626906393, + 0.09141045600067321, + 0.03033261059942726 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.154562950134277, + 0.12431398034095764, + 0.07081738114356995 + ], + "box_pose": [ + -14.130681991577148, + 0.10719122737646103, + 0.03358137235045433, + 0.04509600251913071, + 0.7012883424758911, + 0.6767640113830566, + -0.21943442523479462 + ], + "box_yaw_rad": -2.8873742071034383, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003319377236715013 + } + }, + { + "simulation_time_ns": 8220000000, + "phase": "straight_push", + "intended_face_center": [ + -14.189812282407962, + 0.0686717794964902, + 0.0586025149515936 + ], + "intended_face_normal": [ + -0.8978049913413955, + -0.2385676991542791, + 0.3701779113518815 + ], + "commanded_contact_point": [ + -14.145015830993652, + 0.07209285927581735, + 0.030019111323477603 + ], + "centerline_face_intersection": [ + -14.206492537773054, + 0.08709285927581735, + 0.030019111323477603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.151918411254883, + 0.11999586969614029, + 0.07027658820152283 + ], + "box_pose": [ + -14.128111839294434, + 0.10283295065164566, + 0.03329143673181534, + 0.04381788894534111, + 0.7009844779968262, + 0.6764046549797058, + -0.22176001965999603 + ], + "box_yaw_rad": -2.881871211169821, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0047351545692322335 + } + }, + { + "simulation_time_ns": 8240000000, + "phase": "straight_push", + "intended_face_center": [ + -14.187199449742252, + 0.06202528445919824, + 0.05838854667383074 + ], + "intended_face_normal": [ + -0.8968370949252247, + -0.2437538624202844, + 0.3691439264250107 + ], + "commanded_contact_point": [ + -14.142884368896484, + 0.06584681546310597, + 0.029884982516422774 + ], + "centerline_face_intersection": [ + -14.20404726050287, + 0.08084681546310597, + 0.029884982516422774 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.149496078491211, + 0.11387476325035095, + 0.06993517279624939 + ], + "box_pose": [ + -14.125665664672852, + 0.09654253721237183, + 0.03315497562289238, + 0.04144781827926636, + 0.7010980248451233, + 0.675929069519043, + -0.22330141067504883 + ], + "box_yaw_rad": -2.876210591910861, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0066010744972963085 + } + }, + { + "simulation_time_ns": 8260000000, + "phase": "straight_push", + "intended_face_center": [ + -14.184721963803705, + 0.05554727264587877, + 0.058063661231605355 + ], + "intended_face_normal": [ + -0.8958929586502862, + -0.24788791262550092, + 0.36868328512455806 + ], + "commanded_contact_point": [ + -14.140976066589355, + 0.05968801563410793, + 0.02959566563681241 + ], + "centerline_face_intersection": [ + -14.201733410005106, + 0.07468801563410793, + 0.02959566563681241 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.147353172302246, + 0.10797439515590668, + 0.06934404373168945 + ], + "box_pose": [ + -14.123331069946289, + 0.09034794569015503, + 0.03287136182188988, + 0.03972547873854637, + 0.7010440826416016, + 0.6756357550621033, + -0.22466731071472168 + ], + "box_yaw_rad": -2.8716525319479946, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006454156589817705 + } + }, + { + "simulation_time_ns": 8280000000, + "phase": "straight_push", + "intended_face_center": [ + -14.180901922238839, + 0.049828937567928, + 0.057732294350020974 + ], + "intended_face_normal": [ + -0.8931490181435962, + -0.2531414095056306, + 0.3717580646658458 + ], + "commanded_contact_point": [ + -14.13888084411621, + 0.05437533096688914, + 0.029026878687739024 + ], + "centerline_face_intersection": [ + -14.198390030536489, + 0.06937533096688914, + 0.029026878687739024 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.14387035369873, + 0.1028585135936737, + 0.06829406321048737 + ], + "box_pose": [ + -14.119802474975586, + 0.08498929440975189, + 0.03233177214860916, + 0.03884425759315491, + 0.7007219195365906, + 0.6749542951583862, + -0.22785206139087677 + ], + "box_yaw_rad": -2.8654101088648796, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00573917190705312 + } + }, + { + "simulation_time_ns": 8300000000, + "phase": "straight_push", + "intended_face_center": [ + -14.178463779732121, + 0.044899027211112635, + 0.05750691108764128 + ], + "intended_face_normal": [ + -0.891666967862939, + -0.25739264951003094, + 0.37239581272875055 + ], + "commanded_contact_point": [ + -14.136543388366698, + 0.04977368144152641, + 0.028752251508485725 + ], + "centerline_face_intersection": [ + -14.1962100193851, + 0.06477368144152641, + 0.028752251508485725 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.141419410705566, + 0.09848817437887192, + 0.06771953403949738 + ], + "box_pose": [ + -14.117547988891602, + 0.08035000413656235, + 0.03206927701830864, + 0.037463027983903885, + 0.7005937099456787, + 0.6745383143424988, + -0.22970183193683624 + ], + "box_yaw_rad": -2.860567516834595, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005168587604247509 + } + }, + { + "simulation_time_ns": 8320000000, + "phase": "straight_push", + "intended_face_center": [ + -14.177753810745777, + 0.04158254755326327, + 0.05732001793310973 + ], + "intended_face_normal": [ + -0.8920965314017053, + -0.25947167718132835, + 0.3699166924399515 + ], + "commanded_contact_point": [ + -14.13441478729248, + 0.04661773455794684, + 0.028756784405278013 + ], + "centerline_face_intersection": [ + -14.195425183409775, + 0.06161773455794684, + 0.028756784405278013 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.14043140411377, + 0.09557585418224335, + 0.06751599907875061 + ], + "box_pose": [ + -14.116848945617676, + 0.07717551290988922, + 0.03205502778291702, + 0.0357329361140728, + 0.7008849382400513, + 0.674394965171814, + -0.22951018810272217 + ], + "box_yaw_rad": -2.858545767410703, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038066998584461776 + } + }, + { + "simulation_time_ns": 8340000000, + "phase": "straight_push", + "intended_face_center": [ + -14.176526565275603, + 0.036480181988365744, + 0.057374114859225334 + ], + "intended_face_normal": [ + -0.892525094428521, + -0.26110333327138857, + 0.3677276346999214 + ], + "commanded_contact_point": [ + -14.132575149536132, + 0.041641357830238826, + 0.0289799101119603 + ], + "centerline_face_intersection": [ + -14.194123285323679, + 0.056641357830238825, + 0.0289799101119603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.1388578414917, + 0.09092992544174194, + 0.06773163378238678 + ], + "box_pose": [ + -14.11562728881836, + 0.0721845030784607, + 0.032253243029117584, + 0.03422684594988823, + 0.7013100385665894, + 0.6741118431091309, + -0.2292724847793579 + ], + "box_yaw_rad": -2.8569896975966658, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005310214448742748 + } + }, + { + "simulation_time_ns": 8360000000, + "phase": "straight_push", + "intended_face_center": [ + -14.174114342033725, + 0.031003171359011324, + 0.057539564370775814 + ], + "intended_face_normal": [ + -0.8927832489831928, + -0.2604276352967423, + 0.3675805383770676 + ], + "commanded_contact_point": [ + -14.13076316833496, + 0.03611217296966277, + 0.029156717712255156 + ], + "centerline_face_intersection": [ + -14.191666112660409, + 0.05111217296966277, + 0.029156717712255156 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.13599681854248, + 0.08576488494873047, + 0.06795243918895721 + ], + "box_pose": [ + -14.113186836242676, + 0.06666137278079987, + 0.032421600073575974, + 0.034385617822408676, + 0.70146644115448, + 0.6740448474884033, + -0.22896721959114075 + ], + "box_yaw_rad": -2.8577649740055002, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005821204516536568 + } + }, + { + "simulation_time_ns": 8380000000, + "phase": "straight_push", + "intended_face_center": [ + -14.170766724222178, + 0.02782319468647703, + 0.057860456768336496 + ], + "intended_face_normal": [ + -0.890785149725076, + -0.2604309441233097, + 0.37239421870872214 + ], + "commanded_contact_point": [ + -14.128913993835448, + 0.03293245178921056, + 0.029105920271937823 + ], + "centerline_face_intersection": [ + -14.188666778606919, + 0.04793245178921056, + 0.029105920271937823 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.13240909576416, + 0.08274522423744202, + 0.06794838607311249 + ], + "box_pose": [ + -14.10998249053955, + 0.06348158419132233, + 0.032398004084825516, + 0.03608757629990578, + 0.7011839151382446, + 0.6735975742340088, + -0.23087894916534424 + ], + "box_yaw_rad": -2.8571586556515047, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00367867550825071 + } + }, + { + "simulation_time_ns": 8400000000, + "phase": "straight_push", + "intended_face_center": [ + -14.166200463580271, + 0.025991026573499318, + 0.058288775955050776 + ], + "intended_face_normal": [ + -0.8874133765885475, + -0.25841607175962666, + 0.38173052695437626 + ], + "commanded_contact_point": [ + -14.127295608520507, + 0.030944704674179577, + 0.02881333348668997 + ], + "centerline_face_intersection": [ + -14.184690224415013, + 0.045944704674179576, + 0.02881333348668997 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.127584457397461, + 0.08085986971855164, + 0.06750644743442535 + ], + "box_pose": [ + -14.105627059936523, + 0.06151171028614044, + 0.03214069455862045, + 0.040061961859464645, + 0.7009461522102356, + 0.6725928783416748, + -0.23385515809059143 + ], + "box_yaw_rad": -2.858227331530697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025799063253989793 + } + }, + { + "simulation_time_ns": 8420000000, + "phase": "straight_push", + "intended_face_center": [ + -14.160927546390244, + 0.023228041040270472, + 0.05831627174712711 + ], + "intended_face_normal": [ + -0.8862508244117748, + -0.26014206042540877, + 0.38325615168268 + ], + "commanded_contact_point": [ + -14.126064414978027, + 0.028314991897586683, + 0.028723027686459283 + ], + "centerline_face_intersection": [ + -14.1796212128483, + 0.04331499189758668, + 0.028723027686459283 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.122217178344727, + 0.07823432981967926, + 0.0671008825302124 + ], + "box_pose": [ + -14.100470542907715, + 0.0588664747774601, + 0.032059237360954285, + 0.039922431111335754, + 0.7008861303329468, + 0.6722232103347778, + -0.23511849343776703 + ], + "box_yaw_rad": -2.8560812685620207, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002905061438933231 + } + }, + { + "simulation_time_ns": 8440000000, + "phase": "straight_push", + "intended_face_center": [ + -14.156748623494487, + 0.0199729363658046, + 0.05823605040321309 + ], + "intended_face_normal": [ + -0.8855252103296891, + -0.2630645711657955, + 0.38293860033666505 + ], + "commanded_contact_point": [ + -14.125125999450683, + 0.025285549807349317, + 0.028667326169410808 + ], + "centerline_face_intersection": [ + -14.175569710802634, + 0.040285549807349316, + 0.028667326169410808 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.118033409118652, + 0.07521620392799377, + 0.06681801378726959 + ], + "box_pose": [ + -14.096395492553711, + 0.05581071600317955, + 0.03201138600707054, + 0.038725584745407104, + 0.7007660865783691, + 0.6720784902572632, + -0.23608829081058502 + ], + "box_yaw_rad": -2.852824438357003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003171946679732037 + } + }, + { + "simulation_time_ns": 8460000000, + "phase": "straight_push", + "intended_face_center": [ + -14.154508883774973, + 0.017121533789946852, + 0.05806173730966921 + ], + "intended_face_normal": [ + -0.8854139114623791, + -0.26578585672083976, + 0.3813132059615323 + ], + "commanded_contact_point": [ + -14.124311561584472, + 0.022644272149866973, + 0.028618518412772687 + ], + "centerline_face_intersection": [ + -14.173349525977748, + 0.03764427214986697, + 0.028618518412772687 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.115781784057617, + 0.07256060838699341, + 0.0665978491306305 + ], + "box_pose": [ + -14.094209671020508, + 0.053144849836826324, + 0.031967587769031525, + 0.037179265171289444, + 0.7006222605705261, + 0.6721870303153992, + -0.23645435273647308 + ], + "box_yaw_rad": -2.8499683376529297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002764423791487421 + } + }, + { + "simulation_time_ns": 8480000000, + "phase": "straight_push", + "intended_face_center": [ + -14.153909534454613, + 0.014853536477429041, + 0.05774722606992089 + ], + "intended_face_normal": [ + -0.8864732513693525, + -0.2674233475890091, + 0.37769049928521525 + ], + "commanded_contact_point": [ + -14.123592491149902, + 0.02050271420876197, + 0.028583735606245244 + ], + "centerline_face_intersection": [ + -14.172564165218263, + 0.03550271420876197, + 0.028583735606245244 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.115188598632812, + 0.07041379809379578, + 0.0664261132478714 + ], + "box_pose": [ + -14.0935640335083, + 0.05098845809698105, + 0.031915660947561264, + 0.035275496542453766, + 0.7008013725280762, + 0.6723942756652832, + -0.23562483489513397 + ], + "box_yaw_rad": -2.8486034595806258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022593234714429356 + } + }, + { + "simulation_time_ns": 8500000000, + "phase": "straight_push", + "intended_face_center": [ + -14.154334055634212, + 0.014753596053558443, + 0.05719283961994401 + ], + "intended_face_normal": [ + -0.8891467768682517, + -0.2670466166950849, + 0.3716228794637373 + ], + "commanded_contact_point": [ + -14.122810478210448, + 0.020373684390656885, + 0.02849786232547905 + ], + "centerline_face_intersection": [ + -14.172520341339332, + 0.035373684390656884, + 0.02849786232547905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.11558723449707, + 0.07043647766113281, + 0.06590399146080017 + ], + "box_pose": [ + -14.093805313110352, + 0.05086274445056915, + 0.03175706788897514, + 0.03299993649125099, + 0.7019593715667725, + 0.6721803545951843, + -0.23310399055480957 + ], + "box_yaw_rad": -2.8498236793181273, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007972246557789708 + } + }, + { + "simulation_time_ns": 8520000000, + "phase": "straight_push", + "intended_face_center": [ + -14.155146228596395, + 0.01479741789156331, + 0.05682067757012952 + ], + "intended_face_normal": [ + -0.8931617493693267, + -0.26705436245670033, + 0.3618622599894612 + ], + "commanded_contact_point": [ + -14.121624107360839, + 0.020418104320076375, + 0.02887936957234089 + ], + "centerline_face_intersection": [ + -14.172632121539456, + 0.035418104320076374, + 0.02887936957234089 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.116226196289062, + 0.07064598798751831, + 0.06591317057609558 + ], + "box_pose": [ + -14.094355583190918, + 0.050906822085380554, + 0.03201764449477196, + 0.029088271781802177, + 0.7038910984992981, + 0.6716533303260803, + -0.22928816080093384 + ], + "box_yaw_rad": -2.851054570979602, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012469950690923374 + } + }, + { + "simulation_time_ns": 8540000000, + "phase": "straight_push", + "intended_face_center": [ + -14.15624467689354, + 0.013262553308188596, + 0.056827595932506525 + ], + "intended_face_normal": [ + -0.8945249986456503, + -0.27080634280698246, + 0.3556531763690065 + ], + "commanded_contact_point": [ + -14.120168800354003, + 0.019172950077238238, + 0.029365724275573667 + ], + "centerline_face_intersection": [ + -14.173493554448589, + 0.03417295007723824, + 0.029365724275573667 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.1171236038208, + 0.06937944144010544, + 0.06647692620754242 + ], + "box_pose": [ + -14.095431327819824, + 0.04962728172540665, + 0.03245701640844345, + 0.025349734351038933, + 0.7045314908027649, + 0.6714892983436584, + -0.22824318706989288 + ], + "box_yaw_rad": -2.8476262043282747, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019760740041709557 + } + }, + { + "simulation_time_ns": 8560000000, + "phase": "straight_push", + "intended_face_center": [ + -14.156401676465766, + 0.009767233056509124, + 0.0568759637708766 + ], + "intended_face_normal": [ + -0.8945540702775148, + -0.27253336150152885, + 0.35425835522926685 + ], + "commanded_contact_point": [ + -14.118719215393066, + 0.01581098211618908, + 0.02952179366609905 + ], + "centerline_face_intersection": [ + -14.173645503981406, + 0.03081098211618908, + 0.02952179366609905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.11671257019043, + 0.06595870852470398, + 0.06670428812503815 + ], + "box_pose": [ + -14.095619201660156, + 0.0462493821978569, + 0.03260403499007225, + 0.02417348138988018, + 0.7046529054641724, + 0.6713727116584778, + -0.2283390313386917 + ], + "box_yaw_rad": -2.8458676474739955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003664489430296691 + } + }, + { + "simulation_time_ns": 8580000000, + "phase": "straight_push", + "intended_face_center": [ + -14.156391616415407, + 0.005114448168898757, + 0.05702664722003456 + ], + "intended_face_normal": [ + -0.8950179520313739, + -0.2716978124551108, + 0.3537264593059892 + ], + "commanded_contact_point": [ + -14.117334480285644, + 0.011093680046671148, + 0.02971354762594111 + ], + "centerline_face_intersection": [ + -14.173554887585965, + 0.026093680046671147, + 0.02971354762594111 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.115888595581055, + 0.06126422435045242, + 0.06702730059623718 + ], + "box_pose": [ + -14.095560073852539, + 0.04153982922434807, + 0.03279254585504532, + 0.024314817041158676, + 0.704674243927002, + 0.6715230345726013, + -0.22781486809253693 + ], + "box_yaw_rad": -2.846866707817677, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004920081271068594 + } + }, + { + "simulation_time_ns": 8600000000, + "phase": "straight_push", + "intended_face_center": [ + -14.154896983504191, + -0.0012021683425961216, + 0.05712436105739917 + ], + "intended_face_normal": [ + -0.8949696900557598, + -0.27033415205281486, + 0.35489280075596596 + ], + "commanded_contact_point": [ + -14.115749473571777, + 0.004671768069144384, + 0.029721202042117832 + ], + "centerline_face_intersection": [ + -14.172068633546397, + 0.019671768069144384, + 0.029721202042117832 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.113712310791016, + 0.05495859682559967, + 0.06710022687911987 + ], + "box_pose": [ + -14.094038963317871, + 0.0351305790245533, + 0.03281768038868904, + 0.025336802005767822, + 0.7043666243553162, + 0.6718277335166931, + -0.22775700688362122 + ], + "box_yaw_rad": -2.848247425939662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0066146245789305965 + } + }, + { + "simulation_time_ns": 8620000000, + "phase": "straight_push", + "intended_face_center": [ + -14.152304732153922, + -0.009034070142680213, + 0.05709416299374657 + ], + "intended_face_normal": [ + -0.8936197535859378, + -0.2719470642112771, + 0.3570562634947603 + ], + "commanded_contact_point": [ + -14.113900299072265, + -0.0030355922123124646, + 0.029523951523953536 + ], + "centerline_face_intersection": [ + -14.169710951352181, + 0.011964407787687535, + 0.029523951523953536 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.1107816696167, + 0.04740345478057861, + 0.06681716442108154 + ], + "box_pose": [ + -14.091567039489746, + 0.027408435940742493, + 0.0326511524617672, + 0.02559097856283188, + 0.7038882970809937, + 0.6718267202377319, + -0.22920601069927216 + ], + "box_yaw_rad": -2.8461765660171836, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007928540635245498 + } + }, + { + "simulation_time_ns": 8640000000, + "phase": "straight_push", + "intended_face_center": [ + -14.149560586677515, + -0.014365712519587695, + 0.05705584769589099 + ], + "intended_face_normal": [ + -0.8911643708313619, + -0.27394522226080076, + 0.36163507141114826 + ], + "commanded_contact_point": [ + -14.111881370544433, + -0.008212946188181311, + 0.029132082135493884 + ], + "centerline_face_intersection": [ + -14.167394473079977, + 0.006787053811818688, + 0.029132082135493884 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.108048439025879, + 0.04248584806919098, + 0.066257044672966 + ], + "box_pose": [ + -14.089028358459473, + 0.022212620824575424, + 0.03230802342295647, + 0.026571903377771378, + 0.7031942009925842, + 0.6716398596763611, + -0.23175786435604095 + ], + "box_yaw_rad": -2.843359443612478, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005570873199916751 + } + }, + { + "simulation_time_ns": 8660000000, + "phase": "straight_push", + "intended_face_center": [ + -14.14839922449443, + -0.015048674972741052, + 0.05712833199460845 + ], + "intended_face_normal": [ + -0.88750784641406, + -0.27402265272558113, + 0.3704606025056183 + ], + "commanded_contact_point": [ + -14.109795684814452, + -0.008889929823690348, + 0.028523100280316682 + ], + "centerline_face_intersection": [ + -14.166872428948306, + 0.006110070176309651, + 0.028523100280316682 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.106264114379883, + 0.04208102077245712, + 0.06511348485946655 + ], + "box_pose": [ + -14.08813190460205, + 0.02153455652296543, + 0.03174928203225136, + 0.02963920310139656, + 0.7027050852775574, + 0.6707901954650879, + -0.23530299961566925 + ], + "box_yaw_rad": -2.842123055999674, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022757967191571085 + } + }, + { + "simulation_time_ns": 8680000000, + "phase": "straight_push", + "intended_face_center": [ + -14.148120730217144, + -0.0148623713328538, + 0.057087135597158535 + ], + "intended_face_normal": [ + -0.8858642109974681, + -0.2728688130508128, + 0.3752163464434708 + ], + "commanded_contact_point": [ + -14.107907409667968, + -0.008792720276493802, + 0.028114687621823068 + ], + "centerline_face_intersection": [ + -14.166882273041912, + 0.006207279723506197, + 0.028114687621823068 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.103950500488281, + 0.0429084487259388, + 0.0633888989686966 + ], + "box_pose": [ + -14.087965965270996, + 0.021641740575432777, + 0.03132989630103111, + 0.031484831124544144, + 0.7032137513160706, + 0.6696435809135437, + -0.2368050366640091 + ], + "box_yaw_rad": -2.8427893268712996, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019343819748215622 + } + }, + { + "simulation_time_ns": 8700000000, + "phase": "straight_push", + "intended_face_center": [ + -14.148047024201897, + -0.014899978830038296, + 0.057014054088801946 + ], + "intended_face_normal": [ + -0.8854262712750725, + -0.27311547631267263, + 0.376069515616718 + ], + "commanded_contact_point": [ + -14.106345291137695, + -0.008811281592483374, + 0.027975728387934634 + ], + "centerline_face_intersection": [ + -14.166885494684703, + 0.006188718407516626, + 0.027975728387934634 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.101459503173828, + 0.043865785002708435, + 0.061754390597343445 + ], + "box_pose": [ + -14.087922096252441, + 0.021621068939566612, + 0.031211204826831818, + 0.03180127218365669, + 0.7028447389602661, + 0.6698674559593201, + -0.23722468316555023 + ], + "box_yaw_rad": -2.8423957847552592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015683967909166895 + } + }, + { + "simulation_time_ns": 8720000000, + "phase": "straight_push", + "intended_face_center": [ + -14.147433909333271, + -0.01507114888951639, + 0.05719134442579446 + ], + "intended_face_normal": [ + -0.8847612016553015, + -0.27255379510208577, + 0.37803676969936983 + ], + "commanded_contact_point": [ + -14.104697341918945, + -0.00902582204295509, + 0.02800111658339163 + ], + "centerline_face_intersection": [ + -14.166389286300966, + 0.005974177957044909, + 0.02800111658339163 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.098061561584473, + 0.04469447582960129, + 0.06058703362941742 + ], + "box_pose": [ + -14.087332725524902, + 0.021412096917629242, + 0.03127995878458023, + 0.03295610100030899, + 0.7020423412322998, + 0.6704604029655457, + -0.23776717483997345 + ], + "box_yaw_rad": -2.8427637908570005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001662049575956116 + } + }, + { + "simulation_time_ns": 8740000000, + "phase": "straight_push", + "intended_face_center": [ + -14.145009973858746, + -0.016537857657876034, + 0.05763235209689629 + ], + "intended_face_normal": [ + -0.8843412653255385, + -0.27060891072153304, + 0.3804094188993643 + ], + "commanded_contact_point": [ + -14.103126640319823, + -0.010642705669280566, + 0.028258919401714162 + ], + "centerline_face_intersection": [ + -14.164039218363222, + 0.004357294330719434, + 0.028258919401714162 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.095154762268066, + 0.043731510639190674, + 0.06109194457530975 + ], + "box_pose": [ + -14.084891319274902, + 0.019813422113656998, + 0.031576402485370636, + 0.03475188463926315, + 0.7013342380523682, + 0.671044647693634, + -0.2379530817270279 + ], + "box_yaw_rad": -2.8446399024783715, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022688936660178725 + } + }, + { + "simulation_time_ns": 8760000000, + "phase": "straight_push", + "intended_face_center": [ + -14.14389809722287, + -0.018950569764642607, + 0.0577331816650464 + ], + "intended_face_normal": [ + -0.8843312138207935, + -0.2715758621127815, + 0.37974273189181407 + ], + "commanded_contact_point": [ + -14.101696128845214, + -0.012980754320834781, + 0.02841122741643294 + ], + "centerline_face_intersection": [ + -14.16292911028697, + 0.0020192456791652182, + 0.02841122741643294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.093978881835938, + 0.04182397946715355, + 0.06164856255054474 + ], + "box_pose": [ + -14.083797454833984, + 0.017466489225625992, + 0.031727612018585205, + 0.03415345400571823, + 0.7013357877731323, + 0.6710392832756042, + -0.23805010318756104 + ], + "box_yaw_rad": -2.843637221926378, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027451834742638153 + } + }, + { + "simulation_time_ns": 8780000000, + "phase": "straight_push", + "intended_face_center": [ + -14.143470221143247, + -0.019884728490850274, + 0.057800778447691256 + ], + "intended_face_normal": [ + -0.8845001462980022, + -0.2717912935599802, + 0.37919436916734384 + ], + "commanded_contact_point": [ + -14.100191230773925, + -0.01389827844022061, + 0.0285211661989851 + ], + "centerline_face_intersection": [ + -14.162471513578373, + 0.0011017215597793895, + 0.0285211661989851 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.09338665008545, + 0.041265711188316345, + 0.06203828752040863 + ], + "box_pose": [ + -14.08336067199707, + 0.016547013074159622, + 0.03183642402291298, + 0.033889561891555786, + 0.701330304145813, + 0.6711079478263855, + -0.237910196185112 + ], + "box_yaw_rad": -2.843468256675741, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017659714750055653 + } + }, + { + "simulation_time_ns": 8800000000, + "phase": "straight_push", + "intended_face_center": [ + -14.143643140111232, + -0.019852051290124628, + 0.057766031468182585 + ], + "intended_face_normal": [ + -0.8855756713468566, + -0.27149275520124494, + 0.3768917142998358 + ], + "commanded_contact_point": [ + -14.098515625, + -0.013888652972579314, + 0.02866421943790077 + ], + "centerline_face_intersection": [ + -14.162455362469826, + 0.0011113470274206859, + 0.02866421943790077 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.093304634094238, + 0.041614167392253876, + 0.0624556839466095 + ], + "box_pose": [ + -14.08345890045166, + 0.01655927300453186, + 0.03194640204310417, + 0.033047158271074295, + 0.7018817663192749, + 0.6709320545196533, + -0.23689667880535126 + ], + "box_yaw_rad": -2.8441174081241636, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016817287499489902 + } + }, + { + "simulation_time_ns": 8820000000, + "phase": "straight_push", + "intended_face_center": [ + -14.143904798287696, + -0.01986945018788134, + 0.057660712236528265 + ], + "intended_face_normal": [ + -0.8870748275775284, + -0.27116486076426405, + 0.37358749861759266 + ], + "commanded_contact_point": [ + -14.096879119873046, + -0.013931370342217315, + 0.028814036257381943 + ], + "centerline_face_intersection": [ + -14.162453907988118, + 0.001068629657782684, + 0.028814036257381943 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.093281745910645, + 0.04173082858324051, + 0.06281006336212158 + ], + "box_pose": [ + -14.08361530303955, + 0.01651947572827339, + 0.03205598145723343, + 0.03185483440756798, + 0.7025196552276611, + 0.6708230376243591, + -0.23547354340553284 + ], + "box_yaw_rad": -2.8449290845634345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001643903550580784 + } + }, + { + "simulation_time_ns": 8840000000, + "phase": "straight_push", + "intended_face_center": [ + -14.1441802226985, + -0.02089969129623722, + 0.057635042865727654 + ], + "intended_face_normal": [ + -0.8873178577629588, + -0.27100781874033064, + 0.37312340826661483 + ], + "commanded_contact_point": [ + -14.095257873535155, + -0.014973737499748502, + 0.02882420176871535 + ], + "centerline_face_intersection": [ + -14.162686725762542, + 2.626250025149733e-05, + 0.02882420176871535 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.093262672424316, + 0.04060684144496918, + 0.06298364698886871 + ], + "box_pose": [ + -14.083871841430664, + 0.015478532761335373, + 0.032059647142887115, + 0.03172525018453598, + 0.7026248574256897, + 0.670803427696228, + -0.2352326363325119 + ], + "box_yaw_rad": -2.8451675322102257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001927452286528535 + } + }, + { + "simulation_time_ns": 8860000000, + "phase": "straight_push", + "intended_face_center": [ + -14.143769355575593, + -0.0228155831290213, + 0.057709003187409125 + ], + "intended_face_normal": [ + -0.8861366640676991, + -0.26939044240532617, + 0.37708176464580134 + ], + "commanded_contact_point": [ + -14.093452568054198, + -0.017014515553952888, + 0.02859251636000459 + ], + "centerline_face_intersection": [ + -14.162483061314376, + -0.0020145155539528885, + 0.02859251636000459 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.092350006103516, + 0.03833285719156265, + 0.06275002658367157 + ], + "box_pose": [ + -14.083513259887695, + 0.013452582992613316, + 0.03185549005866051, + 0.03379631042480469, + 0.702258825302124, + 0.6707465052604675, + -0.23619799315929413 + ], + "box_yaw_rad": -2.846465128147592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00273451660713648 + } + }, + { + "simulation_time_ns": 8880000000, + "phase": "straight_push", + "intended_face_center": [ + -14.142549016853497, + -0.02469439572634899, + 0.05772591320450071 + ], + "intended_face_normal": [ + -0.8854713190386647, + -0.2696211200415579, + 0.37847783846689254 + ], + "commanded_contact_point": [ + -14.09165298461914, + -0.01887551630518659, + 0.028501628098757083 + ], + "centerline_face_intersection": [ + -14.16137957236421, + -0.0038755163051865903, + 0.028501628098757083 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.090716361999512, + 0.036055788397789, + 0.0624852180480957 + ], + "box_pose": [ + -14.082338333129883, + 0.011589589528739452, + 0.03178888559341431, + 0.0343184620141983, + 0.7018360495567322, + 0.6709409952163696, + -0.2368263304233551 + ], + "box_yaw_rad": -2.846017609713836, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002590383178578468 + } + }, + { + "simulation_time_ns": 8900000000, + "phase": "straight_push", + "intended_face_center": [ + -14.140452181931625, + -0.026909120708250182, + 0.057835060664102524 + ], + "intended_face_normal": [ + -0.885048192165506, + -0.2693096894366045, + 0.3796867939016586 + ], + "commanded_contact_point": [ + -14.08992015838623, + -0.02111428849901089, + 0.028517425684958495 + ], + "centerline_face_intersection": [ + -14.159357099387407, + -0.006114288499010892, + 0.028517425684958495 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.088292121887207, + 0.03353223577141762, + 0.062346115708351135 + ], + "box_pose": [ + -14.080262184143066, + 0.009353737346827984, + 0.0318206325173378, + 0.03493594378232956, + 0.7015665173530579, + 0.6710652112960815, + -0.23718221485614777 + ], + "box_yaw_rad": -2.8462064215911203, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002831084112673494 + } + }, + { + "simulation_time_ns": 8920000000, + "phase": "straight_push", + "intended_face_center": [ + -14.138235210908322, + -0.028964709956210068, + 0.05794071223110228 + ], + "intended_face_normal": [ + -0.8845854038937162, + -0.26889245907210757, + 0.38105752815505145 + ], + "commanded_contact_point": [ + -14.08790599822998, + -0.02320209432053879, + 0.028517235576293366 + ], + "centerline_face_intersection": [ + -14.157221506222399, + -0.00820209432053879, + 0.028517235576293366 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.085890769958496, + 0.03126393258571625, + 0.062167853116989136 + ], + "box_pose": [ + -14.078069686889648, + 0.007269739173352718, + 0.03183034062385559, + 0.03560078889131546, + 0.7014317512512207, + 0.6710336804389954, + -0.23757041990756989 + ], + "box_yaw_rad": -2.8464924393799134, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002900995401508268 + } + }, + { + "simulation_time_ns": 8940000000, + "phase": "straight_push", + "intended_face_center": [ + -14.136636359818281, + -0.030373891261691204, + 0.05794596334429838 + ], + "intended_face_normal": [ + -0.8841521740625709, + -0.26893278132661846, + 0.3820335823002461 + ], + "commanded_contact_point": [ + -14.085445518493652, + -0.02460816213048025, + 0.028447120362273693 + ], + "centerline_face_intersection": [ + -14.155698878661507, + -0.009608162130480252, + 0.028447120362273693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.08420181274414, + 0.029647082090377808, + 0.0618261843919754 + ], + "box_pose": [ + -14.076502799987793, + 0.005863264203071594, + 0.031765781342983246, + 0.035929422825574875, + 0.7013737559318542, + 0.6709328889846802, + -0.23797662556171417 + ], + "box_yaw_rad": -2.8463143532677297, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028347668973430465 + } + }, + { + "simulation_time_ns": 8960000000, + "phase": "straight_push", + "intended_face_center": [ + -14.135606021575164, + -0.030903471371877038, + 0.057819713138457546 + ], + "intended_face_normal": [ + -0.8841095927827851, + -0.26835746350835743, + 0.3825368236012894 + ], + "commanded_contact_point": [ + -14.08326732635498, + -0.025182165586601954, + 0.028282012221399602 + ], + "centerline_face_intersection": [ + -14.15467603453666, + -0.010182165586601953, + 0.028282012221399602 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.082497596740723, + 0.028884531930088997, + 0.06070725619792938 + ], + "box_pose": [ + -14.075453758239746, + 0.005294784903526306, + 0.031628649681806564, + 0.03652369603514671, + 0.7008002400398254, + 0.6715160608291626, + -0.23793108761310577 + ], + "box_yaw_rad": -2.846896671651862, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022585972768057864 + } + }, + { + "simulation_time_ns": 8980000000, + "phase": "straight_push", + "intended_face_center": [ + -14.13142710707298, + -0.03380712584665419, + 0.057560689996673964 + ], + "intended_face_normal": [ + -0.8860864427234816, + -0.2633215539746492, + 0.381461619270556 + ], + "commanded_contact_point": [ + -14.081383819580077, + -0.028474669396853995, + 0.028106011319532543 + ], + "centerline_face_intersection": [ + -14.150149629395123, + -0.013474669396853994, + 0.028106011319532543 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.077220916748047, + 0.025689713656902313, + 0.059680670499801636 + ], + "box_pose": [ + -14.071015357971191, + 0.002048475667834282, + 0.03149578347802162, + 0.03850233182311058, + 0.6997154355049133, + 0.6733806729316711, + -0.23553015291690826 + ], + "box_yaw_rad": -2.852730841571791, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037972563027909054 + } + }, + { + "simulation_time_ns": 9000000000, + "phase": "straight_push", + "intended_face_center": [ + -14.127874777008518, + -0.03600455729361334, + 0.0578154235402748 + ], + "intended_face_normal": [ + -0.8867299617697881, + -0.25898372061408814, + 0.38293276485788574 + ], + "commanded_contact_point": [ + -14.07955467224121, + -0.031007048008444373, + 0.028247149894798283 + ], + "centerline_face_intersection": [ + -14.146484369003081, + -0.016007048008444373, + 0.028247149894798283 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.073047637939453, + 0.023396547883749008, + 0.059813663363456726 + ], + "box_pose": [ + -14.067325592041016, + -0.00044490769505500793, + 0.031664155423641205, + 0.04087670519948006, + 0.6991255283355713, + 0.674231767654419, + -0.23444432020187378 + ], + "box_yaw_rad": -2.857430508836961, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031270819492225277 + } + }, + { + "simulation_time_ns": 9020000000, + "phase": "straight_push", + "intended_face_center": [ + -14.127762545681223, + -0.03589973445903834, + 0.0580250099165259 + ], + "intended_face_normal": [ + -0.8867507028159309, + -0.2580025576195979, + 0.3835467491556521 + ], + "commanded_contact_point": [ + -14.077977294921874, + -0.030977985982487216, + 0.02840932728076066 + ], + "centerline_face_intersection": [ + -14.146368499383218, + -0.015977985982487217, + 0.02840932728076066 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.072587013244629, + 0.023516710847616196, + 0.0599956214427948 + ], + "box_pose": [ + -14.067208290100098, + -0.00040712766349315643, + 0.031794510781764984, + 0.04122114181518555, + 0.6998146772384644, + 0.6735241413116455, + -0.23436196148395538 + ], + "box_yaw_rad": -2.8584566140179115, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015859587994099193 + } + }, + { + "simulation_time_ns": 9040000000, + "phase": "straight_push", + "intended_face_center": [ + -14.127462637785566, + -0.03584955657349482, + 0.05835422900223432 + ], + "intended_face_normal": [ + -0.886043041041745, + -0.2569156258071681, + 0.38590469400891614 + ], + "commanded_contact_point": [ + -14.076642150878905, + -0.031011735878040795, + 0.02855647691443844 + ], + "centerline_face_intersection": [ + -14.146192779919565, + -0.016011735878040795, + 0.02855647691443844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.071956634521484, + 0.023467011749744415, + 0.06018829345703125 + ], + "box_pose": [ + -14.066950798034668, + -0.00043129175901412964, + 0.03192609176039696, + 0.042274583131074905, + 0.7002547979354858, + 0.6728036403656006, + -0.23492856323719025 + ], + "box_yaw_rad": -2.859373601448177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013436523678453148 + } + }, + { + "simulation_time_ns": 9060000000, + "phase": "straight_push", + "intended_face_center": [ + -14.126345290672772, + -0.0362100470465727, + 0.05866997862300992 + ], + "intended_face_normal": [ + -0.8853227339217398, + -0.2555796620132931, + 0.38843592401511984 + ], + "commanded_contact_point": [ + -14.075713272094726, + -0.03147538321483705, + 0.02867677681570297 + ], + "centerline_face_intersection": [ + -14.145201954563877, + -0.016475383214837047, + 0.02867677681570297 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.070418357849121, + 0.022855959832668304, + 0.06038939952850342 + ], + "box_pose": [ + -14.06585693359375, + -0.0008830521255731583, + 0.03206656500697136, + 0.043746426701545715, + 0.6999366879463196, + 0.6728670001029968, + -0.23542477190494537 + ], + "box_yaw_rad": -2.8605483655603603, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001045110862474239 + } + }, + { + "simulation_time_ns": 9080000000, + "phase": "straight_push", + "intended_face_center": [ + -14.124351970532533, + -0.03705578864738033, + 0.05888467992954894 + ], + "intended_face_normal": [ + -0.8852845898324588, + -0.2531138401624822, + 0.39013419059303445 + ], + "commanded_contact_point": [ + -14.074972267150878, + -0.03251152402390473, + 0.02876034593532301 + ], + "centerline_face_intersection": [ + -14.143215337639699, + -0.017511524023904733, + 0.02876034593532301 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.067941665649414, + 0.02166225016117096, + 0.06052817404270172 + ], + "box_pose": [ + -14.063809394836426, + -0.0018973052501678467, + 0.032181516289711, + 0.04548800364136696, + 0.6993010640144348, + 0.6735134124755859, + -0.23513522744178772 + ], + "box_yaw_rad": -2.8631098435776012, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012765813333964174 + } + }, + { + "simulation_time_ns": 9100000000, + "phase": "straight_push", + "intended_face_center": [ + -14.120666963778291, + -0.03914564157791114, + 0.05906481518924715 + ], + "intended_face_normal": [ + -0.8861566063811281, + -0.24798591931612002, + 0.39144551446635045 + ], + "commanded_contact_point": [ + -14.074311370849609, + -0.03499733097230039, + 0.028839226910503557 + ], + "centerline_face_intersection": [ + -14.139377168709334, + -0.019997330972300394, + 0.028839226910503557 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.063650131225586, + 0.019206974655389786, + 0.060710325837135315 + ], + "box_pose": [ + -14.059962272644043, + -0.004338141530752182, + 0.03227004036307335, + 0.047996945679187775, + 0.6990318298339844, + 0.674116313457489, + -0.23370499908924103 + ], + "box_yaw_rad": -2.8687282907380642, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025733717791973486 + } + }, + { + "simulation_time_ns": 9120000000, + "phase": "straight_push", + "intended_face_center": [ + -14.116720070440735, + -0.042380430677219104, + 0.05914479891226189 + ], + "intended_face_normal": [ + -0.8877619596681043, + -0.241820061852001, + 0.3916653795926708 + ], + "commanded_contact_point": [ + -14.073801155090331, + -0.0387082186912335, + 0.028902233678771296 + ], + "centerline_face_intersection": [ + -14.13514874986602, + -0.023708218691233497, + 0.028902233678771296 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.05909252166748, + 0.015694119036197662, + 0.06089840829372406 + ], + "box_pose": [ + -14.055784225463867, + -0.007995719090104103, + 0.03232884779572487, + 0.05046520754694939, + 0.6989621520042419, + 0.6747835874557495, + -0.23145687580108643 + ], + "box_yaw_rad": -2.8756518471977617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003746328554250285 + } + }, + { + "simulation_time_ns": 9140000000, + "phase": "straight_push", + "intended_face_center": [ + -14.114457962388716, + -0.046273535931489855, + 0.058977005326610044 + ], + "intended_face_normal": [ + -0.8902377157702475, + -0.23599060951130824, + 0.38959573168558226 + ], + "commanded_contact_point": [ + -14.073557968139648, + -0.04305144693792261, + 0.028894248605951446 + ], + "centerline_face_intersection": [ + -14.132453590618036, + -0.02805144693792261, + 0.028894248605951446 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.056294441223145, + 0.011608593165874481, + 0.06094428896903992 + ], + "box_pose": [ + -14.053234100341797, + -0.012289365753531456, + 0.03230692073702812, + 0.0519975945353508, + 0.6989834308624268, + 0.6756781935691833, + -0.22842347621917725 + ], + "box_yaw_rad": -2.882465461251313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004350038535140682 + } + }, + { + "simulation_time_ns": 9160000000, + "phase": "straight_push", + "intended_face_center": [ + -14.114021529351046, + -0.05008833582839816, + 0.05867116251859321 + ], + "intended_face_normal": [ + -0.8938799084949665, + -0.22863930384189768, + 0.38561920849727205 + ], + "commanded_contact_point": [ + -14.0736714553833, + -0.04743388020975338, + 0.02889545428419609 + ], + "centerline_face_intersection": [ + -14.131382512601778, + -0.03243388020975338, + 0.02889545428419609 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.055234909057617, + 0.007451444864273071, + 0.06101082265377045 + ], + "box_pose": [ + -14.052401542663574, + -0.01661033183336258, + 0.03227461129426956, + 0.05336923524737358, + 0.699276328086853, + 0.6767219305038452, + -0.22407947480678558 + ], + "box_yaw_rad": -2.891178596310516, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004383902620973827 + } + }, + { + "simulation_time_ns": 9180000000, + "phase": "straight_push", + "intended_face_center": [ + -14.115285574727737, + -0.053091048580850904, + 0.058344152531563304 + ], + "intended_face_normal": [ + -0.8969173943120268, + -0.2224823448306772, + 0.3821534936964266 + ], + "commanded_contact_point": [ + -14.074218864440917, + -0.05091200448499737, + 0.028836050553440983 + ], + "centerline_face_intersection": [ + -14.132119477004817, + -0.03591200448499737, + 0.028836050553440983 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.056066513061523, + 0.004129983484745026, + 0.061003297567367554 + ], + "box_pose": [ + -14.053340911865234, + -0.020037712529301643, + 0.032173190265893936, + 0.05436920002102852, + 0.6998105049133301, + 0.6772916316986084, + -0.22042101621627808 + ], + "box_yaw_rad": -2.898448039943618, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035214391878364898 + } + }, + { + "simulation_time_ns": 9200000000, + "phase": "straight_push", + "intended_face_center": [ + -14.11582848723227, + -0.05356770500909079, + 0.05805773431392177 + ], + "intended_face_normal": [ + -0.8981218923953591, + -0.2204670901014083, + 0.3804880610495487 + ], + "commanded_contact_point": [ + -14.074775810241698, + -0.051544269439769266, + 0.028678229240426487 + ], + "centerline_face_intersection": [ + -14.132453926397925, + -0.03654426943976927, + 0.028678229240426487 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.056445121765137, + 0.003688603639602661, + 0.06070272624492645 + ], + "box_pose": [ + -14.053773880004883, + -0.02065322920680046, + 0.031972434371709824, + 0.05432365462183952, + 0.7005801200866699, + 0.6769405007362366, + -0.21906152367591858 + ], + "box_yaw_rad": -2.9008766777999995, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008572369362563609 + } + }, + { + "simulation_time_ns": 9220000000, + "phase": "straight_push", + "intended_face_center": [ + -14.115833326378208, + -0.05343053007936475, + 0.058061354651386544 + ], + "intended_face_normal": [ + -0.8981616731329112, + -0.21959768980708105, + 0.38089648649243024 + ], + "commanded_contact_point": [ + -14.07500373840332, + -0.051474225526684396, + 0.028650312879109744 + ], + "centerline_face_intersection": [ + -14.13245188595352, + -0.036474225526684396, + 0.028650312879109744 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.056215286254883, + 0.003891207277774811, + 0.06047333776950836 + ], + "box_pose": [ + -14.053775787353516, + -0.020575709640979767, + 0.031907930970191956, + 0.054541587829589844, + 0.7013539671897888, + 0.6761534214019775, + -0.21896184980869293 + ], + "box_yaw_rad": -2.901800105168597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000240076487498004 + } + }, + { + "simulation_time_ns": 9240000000, + "phase": "straight_push", + "intended_face_center": [ + -14.11567000228422, + -0.05328516982815119, + 0.058584523908297506 + ], + "intended_face_normal": [ + -0.8971585180787613, + -0.2186675356909662, + 0.38378467662030147 + ], + "commanded_contact_point": [ + -14.075025672912597, + -0.05140068741753266, + 0.028950469628661216 + ], + "centerline_face_intersection": [ + -14.132462148326399, + -0.03640068741753266, + 0.028950469628661216 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.055688858032227, + 0.004015423357486725, + 0.060866788029670715 + ], + "box_pose": [ + -14.053681373596191, + -0.02049427106976509, + 0.03218859061598778, + 0.05569525808095932, + 0.7018867135047913, + 0.6752290725708008, + -0.21981507539749146 + ], + "box_yaw_rad": -2.90252056580357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003098113143449663 + } + }, + { + "simulation_time_ns": 9260000000, + "phase": "straight_push", + "intended_face_center": [ + -14.115865441193293, + -0.0524617990024733, + 0.0591581966106489 + ], + "intended_face_normal": [ + -0.8981714128494787, + -0.2185351597666667, + 0.38148514324146987 + ], + "commanded_contact_point": [ + -14.074654693603515, + -0.050587538040403876, + 0.029701701522708922 + ], + "centerline_face_intersection": [ + -14.132482316455558, + -0.03558753804040388, + 0.029701701522708922 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.055437088012695, + 0.004835061728954315, + 0.06204156577587128 + ], + "box_pose": [ + -14.053818702697754, + -0.019679849967360497, + 0.032887887209653854, + 0.054652903228998184, + 0.7028703689575195, + 0.6745805740356445, + -0.218923419713974 + ], + "box_yaw_rad": -2.9029191762608293, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011675559583704826 + } + }, + { + "simulation_time_ns": 9280000000, + "phase": "straight_push", + "intended_face_center": [ + -14.11450575269017, + -0.04886294498166482, + 0.059877652171467115 + ], + "intended_face_normal": [ + -0.8990786452449271, + -0.21687987414271337, + 0.38029021166470844 + ], + "commanded_contact_point": [ + -14.073903198242187, + -0.047116497418662036, + 0.030513424100329457 + ], + "centerline_face_intersection": [ + -14.130965826597748, + -0.032116497418662036, + 0.030513424100329457 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.0537109375, + 0.008181191980838776, + 0.06341280043125153 + ], + "box_pose": [ + -14.052376747131348, + -0.01619524136185646, + 0.03365956246852875, + 0.05464371293783188, + 0.703609049320221, + 0.6741465926170349, + -0.21788695454597473 + ], + "box_yaw_rad": -2.90489010344491, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036430429339905667 + } + }, + { + "simulation_time_ns": 9300000000, + "phase": "straight_push", + "intended_face_center": [ + -14.10953995454599, + -0.0424744179456881, + 0.06046206578894504 + ], + "intended_face_normal": [ + -0.9039195046778445, + -0.20702160641882905, + 0.3742606104967994 + ], + "commanded_contact_point": [ + -14.072574729919433, + -0.041489179619608046, + 0.03156341526474825 + ], + "centerline_face_intersection": [ + -14.125166302840467, + -0.026489179619608047, + 0.03156341526474825 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.04785442352295, + 0.013639770448207855, + 0.06525301933288574 + ], + "box_pose": [ + -14.046859741210938, + -0.010489573702216148, + 0.03471836447715759, + 0.05661443620920181, + 0.7028137445449829, + 0.6767662763595581, + -0.21174253523349762 + ], + "box_yaw_rad": -2.9164489608436286, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005876564910002095 + } + }, + { + "simulation_time_ns": 9320000000, + "phase": "straight_push", + "intended_face_center": [ + -14.102711225943967, + -0.03688634606127025, + 0.061077402246892426 + ], + "intended_face_normal": [ + -0.9050577194835938, + -0.20465385913236522, + 0.37280975712390907 + ], + "commanded_contact_point": [ + -14.070525283813476, + -0.03608393408517746, + 0.032290779821322835 + ], + "centerline_face_intersection": [ + -14.118142257599146, + -0.021083934085177464, + 0.032290779821322835 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.04085636138916, + 0.01892886310815811, + 0.06659512221813202 + ], + "box_pose": [ + -14.039898872375488, + -0.0050659868866205215, + 0.03545216843485832, + 0.05710902437567711, + 0.7025300860404968, + 0.6774808764457703, + -0.21026089787483215 + ], + "box_yaw_rad": -2.919210114622279, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005826316832001601 + } + }, + { + "simulation_time_ns": 9340000000, + "phase": "straight_push", + "intended_face_center": [ + -14.099895440913729, + -0.03625836011615891, + 0.061940005058369746 + ], + "intended_face_normal": [ + -0.8980501192612849, + -0.20361055539471096, + 0.3899337387176516 + ], + "commanded_contact_point": [ + -14.067957038879394, + -0.03553650716567407, + 0.03183114901862564 + ], + "centerline_face_intersection": [ + -14.116533293215491, + -0.02053650716567407, + 0.03183114901862564 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.038212776184082, + 0.019602801650762558, + 0.0659431666135788 + ], + "box_pose": [ + -14.037576675415039, + -0.004509519785642624, + 0.035052068531513214, + 0.0634397566318512, + 0.7020508050918579, + 0.6753885746002197, + -0.21668002009391785 + ], + "box_yaw_rad": -2.91863678870534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026658617271762353 + } + }, + { + "simulation_time_ns": 9360000000, + "phase": "straight_push", + "intended_face_center": [ + -14.098478931329698, + -0.03614110982315976, + 0.06188810372507655 + ], + "intended_face_normal": [ + -0.8897400267413929, + -0.202668001608048, + 0.40900913438801645 + ], + "commanded_contact_point": [ + -14.065398330688476, + -0.03549203645919051, + 0.03030633502066033 + ], + "centerline_face_intersection": [ + -14.116561505600616, + -0.020492036459190514, + 0.03030633502066033 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03703498840332, + 0.019822150468826294, + 0.06364047527313232 + ], + "box_pose": [ + -14.036738395690918, + -0.0044572483748197556, + 0.033624690026044846, + 0.07064414024353027, + 0.7007737755775452, + 0.6736364960670471, + -0.22391833364963531 + ], + "box_yaw_rad": -2.917630522766998, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029789298377767806 + } + }, + { + "simulation_time_ns": 9380000000, + "phase": "straight_push", + "intended_face_center": [ + -14.098800167720636, + -0.03646691011300709, + 0.060555831479758626 + ], + "intended_face_normal": [ + -0.8918735307955359, + -0.20475976011040764, + 0.4032794929200474 + ], + "commanded_contact_point": [ + -14.063266868591308, + -0.035656320959651225, + 0.02941647883989163 + ], + "centerline_face_intersection": [ + -14.116510401295269, + -0.020656320959651225, + 0.02941647883989163 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03621768951416, + 0.01975996047258377, + 0.06110700964927673 + ], + "box_pose": [ + -14.036909103393555, + -0.004638833925127983, + 0.03278810530900955, + 0.06834933161735535, + 0.6994644999504089, + 0.6757856011390686, + -0.22224180400371552 + ], + "box_yaw_rad": -2.915919541946423, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002315591520801447 + } + }, + { + "simulation_time_ns": 9400000000, + "phase": "straight_push", + "intended_face_center": [ + -14.099025173686279, + -0.03687637476982391, + 0.059545124824862794 + ], + "intended_face_normal": [ + -0.893606928004786, + -0.2071986679806388, + 0.39816462029964317 + ], + "commanded_contact_point": [ + -14.061682815551757, + -0.03587746457966707, + 0.028800718679997325 + ], + "centerline_face_intersection": [ + -14.11643362338577, + -0.02087746457966707, + 0.028800718679997325 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.035140991210938, + 0.019617415964603424, + 0.05874030292034149 + ], + "box_pose": [ + -14.037010192871094, + -0.004880901426076889, + 0.032250236719846725, + 0.06628599017858505, + 0.6976539492607117, + 0.678293764591217, + -0.22091315686702728 + ], + "box_yaw_rad": -2.913751038069619, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001713852125271268 + } + }, + { + "simulation_time_ns": 9420000000, + "phase": "straight_push", + "intended_face_center": [ + -14.099064698858195, + -0.03690719603936983, + 0.05909434227089719 + ], + "intended_face_normal": [ + -0.8948453036036028, + -0.20673381959121073, + 0.3956171784960567 + ], + "commanded_contact_point": [ + -14.06029426574707, + -0.035944179263523904, + 0.028546637644566778 + ], + "centerline_face_intersection": [ + -14.116257946229425, + -0.020944179263523904, + 0.028546637644566778 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03437614440918, + 0.020016998052597046, + 0.05647493898868561 + ], + "box_pose": [ + -14.036956787109375, + -0.004943931475281715, + 0.031973548233509064, + 0.0654822438955307, + 0.6980088949203491, + 0.6783850193023682, + -0.21974851191043854 + ], + "box_yaw_rad": -2.9145486658036965, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001413180307570577 + } + }, + { + "simulation_time_ns": 9440000000, + "phase": "straight_push", + "intended_face_center": [ + -14.099277765323553, + -0.03692183249648387, + 0.05876005335637307 + ], + "intended_face_normal": [ + -0.8962607803403699, + -0.2068183264268315, + 0.3923553253417067 + ], + "commanded_contact_point": [ + -14.05921947479248, + -0.03595229049879782, + 0.028464213745288805 + ], + "centerline_face_intersection": [ + -14.11622543881963, + -0.020952290498797824, + 0.028464213745288805 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034497261047363, + 0.020289167761802673, + 0.05615943670272827 + ], + "box_pose": [ + -14.037071228027344, + -0.004952846094965935, + 0.03187305107712746, + 0.06426500529050827, + 0.6982519030570984, + 0.6786565184593201, + -0.21849392354488373 + ], + "box_yaw_rad": -2.9148055476554373, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010779773130163743 + } + }, + { + "simulation_time_ns": 9460000000, + "phase": "straight_push", + "intended_face_center": [ + -14.099680445075842, + -0.03685522734150714, + 0.05832322842623579 + ], + "intended_face_normal": [ + -0.8988739403860677, + -0.20636962010696536, + 0.3865705451079826 + ], + "commanded_contact_point": [ + -14.058128471374511, + -0.0359203323431636, + 0.02847406243680721 + ], + "centerline_face_intersection": [ + -14.116175883814256, + -0.0209203323431636, + 0.02847406243680721 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034699440002441, + 0.020476333796977997, + 0.05619877576828003 + ], + "box_pose": [ + -14.037293434143066, + -0.004917057231068611, + 0.03182053938508034, + 0.06213480234146118, + 0.6993051767349243, + 0.6785346269607544, + -0.21610687673091888 + ], + "box_yaw_rad": -2.915916710778032, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010915158168600494 + } + }, + { + "simulation_time_ns": 9480000000, + "phase": "straight_push", + "intended_face_center": [ + -14.099919834659131, + -0.036803074614109574, + 0.05808894404756662 + ], + "intended_face_normal": [ + -0.9004019102533505, + -0.20602479015516284, + 0.38318488942193696 + ], + "commanded_contact_point": [ + -14.056704635620116, + -0.03589480576874054, + 0.028501202524732108 + ], + "centerline_face_intersection": [ + -14.116151515730143, + -0.02089480576874054, + 0.028501202524732108 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034661293029785, + 0.020664095878601074, + 0.05633470416069031 + ], + "box_pose": [ + -14.03742790222168, + -0.00488855317234993, + 0.031805772334337234, + 0.060887206345796585, + 0.700029730796814, + 0.6783504486083984, + -0.21469028294086456 + ], + "box_yaw_rad": -2.9166507297298723, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014243231535949247 + } + }, + { + "simulation_time_ns": 9500000000, + "phase": "straight_push", + "intended_face_center": [ + -14.100110661635446, + -0.03660707948851395, + 0.057929151949578414 + ], + "intended_face_normal": [ + -0.9016102678452356, + -0.20477831609203, + 0.3810043139453896 + ], + "commanded_contact_point": [ + -14.054938430786132, + -0.03579505752921218, + 0.028509784246673085 + ], + "centerline_face_intersection": [ + -14.116134106282335, + -0.02079505752921218, + 0.028509784246673085 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03454875946045, + 0.02090313285589218, + 0.056443288922309875 + ], + "box_pose": [ + -14.037534713745117, + -0.004778185859322548, + 0.031742315739393234, + 0.0601806640625, + 0.7014214992523193, + 0.6773573756217957, + -0.21347840130329132 + ], + "box_yaw_rad": -2.91825643984132, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001769040099271425 + } + }, + { + "simulation_time_ns": 9520000000, + "phase": "straight_push", + "intended_face_center": [ + -14.100234035222732, + -0.03652271090742391, + 0.057817540768284666 + ], + "intended_face_normal": [ + -0.902394738959039, + -0.20424972811479236, + 0.3794272274848316 + ], + "commanded_contact_point": [ + -14.053039665222167, + -0.03575150403471436, + 0.028519948291496802 + ], + "centerline_face_intersection": [ + -14.116122456636248, + -0.020751504034714357, + 0.028519948291496802 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034369468688965, + 0.020926430821418762, + 0.0565495491027832 + ], + "box_pose": [ + -14.037604331970215, + -0.004730159416794777, + 0.031715232878923416, + 0.059627167880535126, + 0.702121376991272, + 0.6769216656684875, + -0.21271349489688873 + ], + "box_yaw_rad": -2.919001351426239, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018992922054251898 + } + }, + { + "simulation_time_ns": 9540000000, + "phase": "straight_push", + "intended_face_center": [ + -14.100217545816719, + -0.03644184540312937, + 0.05790499413528066 + ], + "intended_face_normal": [ + -0.9022173451484861, + -0.20346207355736867, + 0.380272065286531 + ], + "commanded_contact_point": [ + -14.051056022644042, + -0.035731457524325064, + 0.028542167242430333 + ], + "centerline_face_intersection": [ + -14.116136488939507, + -0.02073145752432506, + 0.028542167242430333 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.034138679504395, + 0.020793311297893524, + 0.05683700740337372 + ], + "box_pose": [ + -14.037595748901367, + -0.00470363162457943, + 0.03171766921877861, + 0.06007396802306175, + 0.7025571465492249, + 0.676403820514679, + -0.21279659867286682 + ], + "box_yaw_rad": -2.9197896324823707, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019838682975716333 + } + }, + { + "simulation_time_ns": 9560000000, + "phase": "straight_push", + "intended_face_center": [ + -14.09997324327172, + -0.03635511061184925, + 0.05834495369064388 + ], + "intended_face_normal": [ + -0.9007055552825136, + -0.20292122759076836, + 0.3841255605901681 + ], + "commanded_contact_point": [ + -14.048871154785155, + -0.03568648432413371, + 0.028684577948266957 + ], + "centerline_face_intersection": [ + -14.116152568144944, + -0.020686484324133714, + 0.028684577948266957 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.03377628326416, + 0.020701251924037933, + 0.057112306356430054 + ], + "box_pose": [ + -14.037455558776855, + -0.004654161632061005, + 0.03186534717679024, + 0.06156301870942116, + 0.7026108503341675, + 0.6757889986038208, + -0.21414296329021454 + ], + "box_yaw_rad": -2.920000857106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021899659720343995 + } + }, + { + "simulation_time_ns": 9580000000, + "phase": "straight_push", + "intended_face_center": [ + -14.099194723701633, + -0.03635518456012477, + 0.058982466037145756 + ], + "intended_face_normal": [ + -0.8988571787755077, + -0.2010266655634485, + 0.38941547541214216 + ], + "commanded_contact_point": [ + -14.046849365234374, + -0.035832847474073434, + 0.02891362786122534 + ], + "centerline_face_intersection": [ + -14.115693058572061, + -0.020832847474073435, + 0.02891362786122534 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.032950401306152, + 0.020478837192058563, + 0.05731695890426636 + ], + "box_pose": [ + -14.036775588989258, + -0.004785569384694099, + 0.03211624547839165, + 0.06415732949972153, + 0.702325701713562, + 0.675401508808136, + -0.2155350148677826 + ], + "box_yaw_rad": -2.921566437295384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002039980152338441 + } + }, + { + "simulation_time_ns": 9600000000, + "phase": "straight_push", + "intended_face_center": [ + -14.097210313983398, + -0.03712655964074029, + 0.059414130783689595 + ], + "intended_face_normal": [ + -0.8976844185915311, + -0.1988854545113199, + 0.3932013344336429 + ], + "commanded_contact_point": [ + -14.045114631652831, + -0.0367695568382297, + 0.029052966314999547 + ], + "centerline_face_intersection": [ + -14.113911431137897, + -0.021769556838229707, + 0.029052966314999547 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.030879020690918, + 0.01955755054950714, + 0.05758340656757355 + ], + "box_pose": [ + -14.034810066223145, + -0.00570625439286232, + 0.032329920679330826, + 0.06672535836696625, + 0.7008301019668579, + 0.676520049571991, + -0.2161146104335785 + ], + "box_yaw_rad": -2.9235607007569664, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001976395769204924 + } + }, + { + "simulation_time_ns": 9620000000, + "phase": "straight_push", + "intended_face_center": [ + -14.095068186086587, + -0.038227675064694565, + 0.05959666941265303 + ], + "intended_face_normal": [ + -0.8972149416538429, + -0.19730345482669076, + 0.39506558130697034 + ], + "commanded_contact_point": [ + -14.043240661621093, + -0.037992826864440415, + 0.02909155653643059 + ], + "centerline_face_intersection": [ + -14.111850562859095, + -0.022992826864440413, + 0.02909155653643059 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.028647422790527, + 0.018349461257457733, + 0.05776625871658325 + ], + "box_pose": [ + -14.032642364501953, + -0.00691838376224041, + 0.032442912459373474, + 0.0684572234749794, + 0.6992567181587219, + 0.6779730916023254, + -0.21611610054969788 + ], + "box_yaw_rad": -2.925131473005348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022382230545834408 + } + }, + { + "simulation_time_ns": 9640000000, + "phase": "straight_push", + "intended_face_center": [ + -14.093770405098438, + -0.03902857036045866, + 0.05962661007419415 + ], + "intended_face_normal": [ + -0.8970258731357035, + -0.1966282535748647, + 0.3958294867894665 + ], + "commanded_contact_point": [ + -14.041005249023437, + -0.03884585803681766, + 0.0290625119963421 + ], + "centerline_face_intersection": [ + -14.110585520183953, + -0.023845858036817658, + 0.0290625119963421 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.027284622192383, + 0.01748446375131607, + 0.05782879889011383 + ], + "box_pose": [ + -14.031318664550781, + -0.007767487317323685, + 0.03247701749205589, + 0.0694018304347992, + 0.6979050636291504, + 0.6792948246002197, + -0.21603287756443024 + ], + "box_yaw_rad": -2.9258053503322468, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023928174289143973 + } + }, + { + "simulation_time_ns": 9660000000, + "phase": "straight_push", + "intended_face_center": [ + -14.093572289896379, + -0.03902073256485248, + 0.05951033693324187 + ], + "intended_face_normal": [ + -0.8974883013173098, + -0.1954181804841877, + 0.39538115951914854 + ], + "commanded_contact_point": [ + -14.038553352355956, + -0.03893145641476388, + 0.02898085658630248 + ], + "centerline_face_intersection": [ + -14.11030734636707, + -0.023931456414763883, + 0.02898085658630248 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.026795387268066, + 0.01758715510368347, + 0.05660690367221832 + ], + "box_pose": [ + -14.031078338623047, + -0.007843218743801117, + 0.0323617048561573, + 0.06949601322412491, + 0.6985636949539185, + 0.6787878274917603, + -0.2154671549797058 + ], + "box_yaw_rad": -2.9272000149192534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002454748858090699 + } + }, + { + "simulation_time_ns": 9680000000, + "phase": "straight_push", + "intended_face_center": [ + -14.092423536395073, + -0.0388403191278729, + 0.06023778381869194 + ], + "intended_face_normal": [ + -0.8951948325030585, + -0.19256039288339366, + 0.40192883827506165 + ], + "commanded_contact_point": [ + -14.036409492492675, + -0.03897170794447183, + 0.02920272240122346 + ], + "centerline_face_intersection": [ + -14.10955610323185, + -0.02397170794447183, + 0.02920272240122346 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.025259971618652, + 0.01767498254776001, + 0.05596655607223511 + ], + "box_pose": [ + -14.03003978729248, + -0.007861427962779999, + 0.032612480223178864, + 0.07294660806655884, + 0.6981035470962524, + 0.6784164309501648, + -0.21698248386383057 + ], + "box_yaw_rad": -2.9297166597427027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021556854452499975 + } + }, + { + "simulation_time_ns": 9700000000, + "phase": "straight_push", + "intended_face_center": [ + -14.090968764557738, + -0.038220857428200555, + 0.06144769002535179 + ], + "intended_face_normal": [ + -0.8922355259135486, + -0.1872438006541799, + 0.41092044974103636 + ], + "commanded_contact_point": [ + -14.034572715759277, + -0.038762768582717336, + 0.02971833850596839 + ], + "centerline_face_intersection": [ + -14.108615920996675, + -0.023762768582717333, + 0.02971833850596839 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.023412704467773, + 0.018139615654945374, + 0.055497124791145325 + ], + "box_pose": [ + -14.028728485107422, + -0.007610699161887169, + 0.03309725597500801, + 0.07775027304887772, + 0.6989040374755859, + 0.6764990091323853, + -0.2187170684337616 + ], + "box_yaw_rad": -2.9347353516246883, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019191832618894273 + } + }, + { + "simulation_time_ns": 9720000000, + "phase": "straight_push", + "intended_face_center": [ + -14.090819297565616, + -0.037868840650756116, + 0.06203630086354199 + ], + "intended_face_normal": [ + -0.891342723922186, + -0.18496199137698, + 0.4138805325556536 + ], + "commanded_contact_point": [ + -14.033131713867187, + -0.03858694242489792, + 0.030078385620424072 + ], + "centerline_face_intersection": [ + -14.108622075075045, + -0.023586942424897922, + 0.030078385620424072 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.023011207580566, + 0.01845700293779373, + 0.05521179735660553 + ], + "box_pose": [ + -14.028641700744629, + -0.007416360080242157, + 0.033380184322595596, + 0.079072505235672, + 0.700580894947052, + 0.6744314432144165, + -0.2192627340555191 + ], + "box_yaw_rad": -2.93698705671057, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014956721617413059 + } + }, + { + "simulation_time_ns": 9740000000, + "phase": "straight_push", + "intended_face_center": [ + -14.090181763548376, + -0.03753880068130441, + 0.06246584591467697 + ], + "intended_face_normal": [ + -0.8912560022251412, + -0.1827476634660119, + 0.41505011728564245 + ], + "commanded_contact_point": [ + -14.032051200866698, + -0.03842788248019448, + 0.030417620819486936 + ], + "centerline_face_intersection": [ + -14.107999666455436, + -0.02342788248019448, + 0.030417620819486936 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.021993637084961, + 0.01860734075307846, + 0.05574977397918701 + ], + "box_pose": [ + -14.027992248535156, + -0.007240200415253639, + 0.03367273882031441, + 0.0799974873661995, + 0.7015316486358643, + 0.6734102368354797, + -0.2190263718366623 + ], + "box_yaw_rad": -2.9393507895852182, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011436297173982807 + } + }, + { + "simulation_time_ns": 9760000000, + "phase": "straight_push", + "intended_face_center": [ + -14.088389689136948, + -0.03622892297355916, + 0.06317584536224041 + ], + "intended_face_normal": [ + -0.8903782942476965, + -0.17673449559873156, + 0.4195130471638553 + ], + "commanded_contact_point": [ + -14.031233901977538, + -0.037582313416923446, + 0.03078301373553944 + ], + "centerline_face_intersection": [ + -14.10636076819556, + -0.02258231341692345, + 0.03078301373553944 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.01968002319336, + 0.01949489116668701, + 0.05656072497367859 + ], + "box_pose": [ + -14.026188850402832, + -0.006349390372633934, + 0.03397227078676224, + 0.08335955440998077, + 0.7028356194496155, + 0.6717225909233093, + -0.21877381205558777 + ], + "box_yaw_rad": -2.9456458631177793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001231453002791754 + } + }, + { + "simulation_time_ns": 9780000000, + "phase": "straight_push", + "intended_face_center": [ + -14.085151905921139, + -0.032951165564299806, + 0.06355292884415774 + ], + "intended_face_normal": [ + -0.8917784667516528, + -0.16709721059106997, + 0.4204868275705911 + ], + "commanded_contact_point": [ + -14.030490036010741, + -0.03504870199478467, + 0.03108490645766985 + ], + "centerline_face_intersection": [ + -14.102878708998265, + -0.020048701994784677, + 0.03108490645766985 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.015664100646973, + 0.022010203450918198, + 0.057586267590522766 + ], + "box_pose": [ + -14.022689819335938, + -0.0037454068660736084, + 0.03422565013170242, + 0.08714208751916885, + 0.7034518718719482, + 0.6715986132621765, + -0.21567773818969727 + ], + "box_yaw_rad": -2.956365222298799, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026577551863604773 + } + }, + { + "simulation_time_ns": 9800000000, + "phase": "straight_push", + "intended_face_center": [ + -14.08055202735048, + -0.0286462276783386, + 0.06381101159516843 + ], + "intended_face_normal": [ + -0.893667819101438, + -0.15672572633900117, + 0.42047007535723324 + ], + "commanded_contact_point": [ + -14.029581184387206, + -0.0315446015210745, + 0.03134428273609367 + ], + "centerline_face_intersection": [ + -14.09794988777507, + -0.016544601521074502, + 0.03134428273609367 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.010351181030273, + 0.025432556867599487, + 0.058651670813560486 + ], + "box_pose": [ + -14.017776489257812, + -0.00016757287085056305, + 0.03443789482116699, + 0.09090154618024826, + 0.7039482593536377, + 0.6717817783355713, + -0.2119034081697464 + ], + "box_yaw_rad": -2.9679845293600735, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003629326033476096 + } + }, + { + "simulation_time_ns": 9820000000, + "phase": "straight_push", + "intended_face_center": [ + -14.076674923087054, + -0.02619314528709947, + 0.06398386898327375 + ], + "intended_face_normal": [ + -0.894683783036335, + -0.14995491160591712, + 0.4207786101438433 + ], + "commanded_contact_point": [ + -14.028552169799804, + -0.02961432971488664, + 0.0314933165137983 + ], + "centerline_face_intersection": [ + -14.093896220392923, + -0.014614329714886642, + 0.0314933165137983 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006048202514648, + 0.027278117835521698, + 0.05951179563999176 + ], + "box_pose": [ + -14.013708114624023, + 0.0018097087740898132, + 0.03456273674964905, + 0.09350533783435822, + 0.7041292190551758, + 0.6719701886177063, + -0.20955884456634521 + ], + "box_yaw_rad": -2.9755295810112012, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021924943178369865 + } + }, + { + "simulation_time_ns": 9840000000, + "phase": "straight_push", + "intended_face_center": [ + -14.076023139698988, + -0.02665189502998867, + 0.06349145003802922 + ], + "intended_face_normal": [ + -0.8948370301002484, + -0.15112482587351028, + 0.42003370603430223 + ], + "commanded_contact_point": [ + -14.027663345336913, + -0.02998274416035417, + 0.03105841557320592 + ], + "centerline_face_intersection": [ + -14.093217823724132, + -0.01498274416035417, + 0.03105841557320592 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.005457878112793, + 0.026798173785209656, + 0.059623196721076965 + ], + "box_pose": [ + -14.013038635253906, + 0.0014324802905321121, + 0.03418611362576485, + 0.09319066256284714, + 0.7029123902320862, + 0.6732998490333557, + -0.20951628684997559 + ], + "box_yaw_rad": -2.974286079539901, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010558773402200156 + } + }, + { + "simulation_time_ns": 9860000000, + "phase": "straight_push", + "intended_face_center": [ + -14.076330532503546, + -0.027153761070821094, + 0.0625583835008918 + ], + "intended_face_normal": [ + -0.8965522779185022, + -0.15320426073084548, + 0.4155990310293838 + ], + "commanded_contact_point": [ + -14.02713882446289, + -0.03032404598591907, + 0.03046777385866847 + ], + "centerline_face_intersection": [ + -14.093227686937592, + -0.01532404598591907, + 0.03046777385866847 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.005864143371582, + 0.02636067569255829, + 0.05950044095516205 + ], + "box_pose": [ + -14.013216972351074, + 0.0010750498622655869, + 0.033672504127025604, + 0.09142307937145233, + 0.7012209296226501, + 0.6756961941719055, + -0.20824433863162994 + ], + "box_yaw_rad": -2.972345813308213, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008605037584880046 + } + }, + { + "simulation_time_ns": 9880000000, + "phase": "straight_push", + "intended_face_center": [ + -14.077036159806369, + -0.027367306568547512, + 0.06145684310222076 + ], + "intended_face_normal": [ + -0.9004644798658887, + -0.153203958037464, + 0.4070532917882961 + ], + "commanded_contact_point": [ + -14.027056808471679, + -0.030537614856209955, + 0.030026095398103306 + ], + "centerline_face_intersection": [ + -14.093257050675076, + -0.015537614856209955, + 0.030026095398103306 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006488800048828, + 0.026091471314430237, + 0.05935654044151306 + ], + "box_pose": [ + -14.013625144958496, + 0.0008601881563663483, + 0.03322860971093178, + 0.0885745957493782, + 0.7009950876235962, + 0.6773759126663208, + -0.2047494351863861 + ], + "box_yaw_rad": -2.9730675852445314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004974114470926962 + } + }, + { + "simulation_time_ns": 9900000000, + "phase": "straight_push", + "intended_face_center": [ + -14.077553158751687, + -0.027435700741617455, + 0.06046028754784518 + ], + "intended_face_normal": [ + -0.9036584016737521, + -0.15330518499943935, + 0.39987414660049225 + ], + "commanded_contact_point": [ + -14.027085418701171, + -0.030598192757634673, + 0.029583879793019796 + ], + "centerline_face_intersection": [ + -14.093224350248509, + -0.015598192757634674, + 0.029583879793019796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006915092468262, + 0.02614247053861618, + 0.058926910161972046 + ], + "box_pose": [ + -14.013914108276367, + 0.0007984340190887451, + 0.03275672346353531, + 0.08596171438694, + 0.701397716999054, + 0.678137481212616, + -0.20194421708583832 + ], + "box_yaw_rad": -2.973543183075215, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004472615216537119 + } + }, + { + "simulation_time_ns": 9920000000, + "phase": "straight_push", + "intended_face_center": [ + -14.077821993209707, + -0.027450179513263614, + 0.0599270491457791 + ], + "intended_face_normal": [ + -0.9054222644511611, + -0.1534128556619736, + 0.39582125656462086 + ], + "commanded_contact_point": [ + -14.026829833984374, + -0.030604357705274195, + 0.02936358656732207 + ], + "centerline_face_intersection": [ + -14.093190526382253, + -0.015604357705274196, + 0.02936358656732207 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.00698471069336, + 0.026247575879096985, + 0.05868138372898102 + ], + "box_pose": [ + -14.014060020446777, + 0.0007913652807474136, + 0.032515306025743484, + 0.08444119244813919, + 0.7017157673835754, + 0.6784586310386658, + -0.2003956288099289 + ], + "box_yaw_rad": -2.9737488495346596, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003374769019175192 + } + }, + { + "simulation_time_ns": 9940000000, + "phase": "straight_push", + "intended_face_center": [ + -14.07778676919699, + -0.02734022404559176, + 0.060215037892521486 + ], + "intended_face_normal": [ + -0.9051790521593048, + -0.1527009328869191, + 0.3966532074462119 + ], + "commanded_contact_point": [ + -14.026392097473144, + -0.030549373578158876, + 0.029587335965583505 + ], + "centerline_face_intersection": [ + -14.093196996209011, + -0.015549373578158877, + 0.029587335965583505 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006646156311035, + 0.026341266930103302, + 0.05915357172489166 + ], + "box_pose": [ + -14.014041900634766, + 0.0008520074188709259, + 0.032712798565626144, + 0.08482623100280762, + 0.7022756934165955, + 0.6777893304824829, + -0.2005370408296585 + ], + "box_yaw_rad": -2.97446923142925, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004946719122016236 + } + }, + { + "simulation_time_ns": 9960000000, + "phase": "straight_push", + "intended_face_center": [ + -14.07799083828618, + -0.026098528140431756, + 0.06096229802710024 + ], + "intended_face_normal": [ + -0.9054783678250402, + -0.15041851449489219, + 0.39684183105665394 + ], + "commanded_contact_point": [ + -14.025704498291015, + -0.02948391532561647, + 0.03032003146887086 + ], + "centerline_face_intersection": [ + -14.09334975541469, + -0.014483915325616471, + 0.03032003146887086 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.006406784057617, + 0.02739451825618744, + 0.06047320365905762 + ], + "box_pose": [ + -14.014198303222656, + 0.0019338801503181458, + 0.03340728580951691, + 0.08553212136030197, + 0.7029947638511658, + 0.677154004573822, + -0.1998627930879593 + ], + "box_yaw_rad": -2.976975433659162, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014645260747807008 + } + }, + { + "simulation_time_ns": 9980000000, + "phase": "straight_push", + "intended_face_center": [ + -14.077273257533045, + -0.02156365523822196, + 0.061682243608861584 + ], + "intended_face_normal": [ + -0.9068982061533291, + -0.14319894772022224, + 0.3962700931668728 + ], + "commanded_contact_point": [ + -14.024765129089355, + -0.0255065035382174, + 0.03108412397126673 + ], + "centerline_face_intersection": [ + -14.092389033883565, + -0.010506503538217402, + 0.03108412397126673 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.005035400390625, + 0.031144052743911743, + 0.061881691217422485 + ], + "box_pose": [ + -14.013252258300781, + 0.005960168316960335, + 0.03414439409971237, + 0.08797372877597809, + 0.7032084465026855, + 0.677456259727478, + -0.19700658321380615 + ], + "box_yaw_rad": -2.984985941668943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0041576503431368875 + } + }, + { + "simulation_time_ns": 10000000000, + "phase": "straight_push", + "intended_face_center": [ + -14.073729101149286, + -0.014211528214119317, + 0.062292165051592976 + ], + "intended_face_normal": [ + -0.9086699482990355, + -0.1330559015497279, + 0.39574565014381946 + ], + "commanded_contact_point": [ + -14.023265953063964, + -0.01893757500818769, + 0.03173454044665184 + ], + "centerline_face_intersection": [ + -14.088542059962627, + -0.003937575008187689, + 0.03173454044665184 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -14.000837326049805, + 0.037427499890327454, + 0.06310611963272095 + ], + "box_pose": [ + -14.009394645690918, + 0.01259557344019413, + 0.03477788716554642, + 0.09162269532680511, + 0.7030528783798218, + 0.6782710552215576, + -0.1930548995733261 + ], + "box_yaw_rad": -2.996196652239532, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006769150048506588 + } + }, + { + "simulation_time_ns": 10020000000, + "phase": "straight_push", + "intended_face_center": [ + -14.069402301971648, + -0.009207207255966927, + 0.06355294360345762 + ], + "intended_face_normal": [ + -0.9054686498800564, + -0.12373796529291958, + 0.40597432677756373 + ], + "commanded_contact_point": [ + -14.021075363159179, + -0.014652741423111522, + 0.03220550852134332 + ], + "centerline_face_intersection": [ + -14.084762884696179, + 0.00034725857688847755, + 0.03220550852134332 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.996251106262207, + 0.041692569851875305, + 0.06370152533054352 + ], + "box_pose": [ + -14.005135536193848, + 0.016941012814641, + 0.0352574922144413, + 0.09871076047420502, + 0.7026796936988831, + 0.6774773597717285, + -0.19370540976524353 + ], + "box_yaw_rad": -3.0057776626807757, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00483531735360999 + } + }, + { + "simulation_time_ns": 10040000000, + "phase": "straight_push", + "intended_face_center": [ + -14.067683006660694, + -0.009358323210176326, + 0.06357699864614325 + ], + "intended_face_normal": [ + -0.9015498305875695, + -0.12373670029019124, + 0.4146044179957826 + ], + "commanded_contact_point": [ + -14.018477554321288, + -0.014803955054903686, + 0.03156318836152984 + ], + "centerline_face_intersection": [ + -14.083716859148824, + 0.0001960449450963131, + 0.03156318836152984 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.994685173034668, + 0.041627541184425354, + 0.06279638409614563 + ], + "box_pose": [ + -14.003694534301758, + 0.016790134832262993, + 0.034657929092645645, + 0.10187600553035736, + 0.7019856572151184, + 0.6767503619194031, + -0.1970946043729782 + ], + "box_yaw_rad": -3.0051959644015787, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002680308099522373 + } + }, + { + "simulation_time_ns": 10060000000, + "phase": "straight_push", + "intended_face_center": [ + -14.066994433589997, + -0.009781212675411002, + 0.06308779135221519 + ], + "intended_face_normal": [ + -0.8993018247712143, + -0.1257159489771027, + 0.4188700461269832 + ], + "commanded_contact_point": [ + -14.016021842956542, + -0.015074016211469699, + 0.030744609252421676 + ], + "centerline_face_intersection": [ + -14.08341596112715, + -7.401621146969906e-05, + 0.030744609252421676 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.993412017822266, + 0.04137669503688812, + 0.06111273169517517 + ], + "box_pose": [ + -14.00316333770752, + 0.016505176201462746, + 0.03394675627350807, + 0.10322225093841553, + 0.6998786926269531, + 0.6781008243560791, + -0.19923442602157593 + ], + "box_yaw_rad": -3.0026999033719943, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00260259929553076 + } + }, + { + "simulation_time_ns": 10080000000, + "phase": "straight_push", + "intended_face_center": [ + -14.067028120874157, + -0.010211119207876304, + 0.062331043845466796 + ], + "intended_face_normal": [ + -0.9011214583958491, + -0.12768052226186377, + 0.4143399956820648 + ], + "commanded_contact_point": [ + -14.01400577545166, + -0.015352227601050147, + 0.030337651012812304 + ], + "centerline_face_intersection": [ + -14.083135764993493, + -0.00035222760105014725, + 0.030337651012812304 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.991828918457031, + 0.04103807359933853, + 0.059209540486335754 + ], + "box_pose": [ + -14.003069877624512, + 0.016211673617362976, + 0.033595021814107895, + 0.10128100216388702, + 0.6986764073371887, + 0.6800088286399841, + -0.19794288277626038 + ], + "box_yaw_rad": -3.0008389078539084, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020754625437050538 + } + }, + { + "simulation_time_ns": 10100000000, + "phase": "straight_push", + "intended_face_center": [ + -14.06696119427676, + -0.010342188272036257, + 0.062155406641787425 + ], + "intended_face_normal": [ + -0.9017838115926224, + -0.1278121741169045, + 0.41285600573325354 + ], + "commanded_contact_point": [ + -14.012480850219726, + -0.015473131125896104, + 0.030276600558871807 + ], + "centerline_face_intersection": [ + -14.082954757401467, + -0.0004731311258961042, + 0.030276600558871807 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.990042686462402, + 0.04086468368768692, + 0.057304441928863525 + ], + "box_pose": [ + -14.002952575683594, + 0.016089357435703278, + 0.03353982791304588, + 0.10076554119586945, + 0.6985180377960205, + 0.6804149150848389, + -0.19736874103546143 + ], + "box_yaw_rad": -3.000797813348531, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015309284056526753 + } + }, + { + "simulation_time_ns": 10120000000, + "phase": "straight_push", + "intended_face_center": [ + -14.066841324096007, + -0.01023496561341207, + 0.062112774289592325 + ], + "intended_face_normal": [ + -0.9022301566709672, + -0.12613715069613196, + 0.4123954948785675 + ], + "commanded_contact_point": [ + -14.0111714553833, + -0.015495245926515883, + 0.030269526696880912 + ], + "centerline_face_intersection": [ + -14.08275806269496, + -0.0004952459265158832, + 0.030269526696880912 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.989174842834473, + 0.041046060621738434, + 0.054854393005371094 + ], + "box_pose": [ + -14.00279426574707, + 0.016079755499958992, + 0.03347556293010712, + 0.10089928656816483, + 0.6996540427207947, + 0.679410994052887, + -0.19673389196395874 + ], + "box_yaw_rad": -3.0026870298173587, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001309600680203098 + } + }, + { + "simulation_time_ns": 10140000000, + "phase": "straight_push", + "intended_face_center": [ + -14.067012143517859, + -0.010247915818036569, + 0.06182179261437197 + ], + "intended_face_normal": [ + -0.9033541750525984, + -0.12622965484939908, + 0.4098995035725439 + ], + "commanded_contact_point": [ + -14.010346527099609, + -0.015501053393907751, + 0.030171273773875393 + ], + "centerline_face_intersection": [ + -14.082735602491109, + -0.0005010533939077515, + 0.030171273773875393 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.989290237426758, + 0.041201189160346985, + 0.05433720350265503 + ], + "box_pose": [ + -14.002887725830078, + 0.016073284670710564, + 0.033364176750183105, + 0.09993923455476761, + 0.6998781561851501, + 0.6795937418937683, + -0.19579361379146576 + ], + "box_yaw_rad": -3.0027572145988817, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008307791745046847 + } + }, + { + "simulation_time_ns": 10160000000, + "phase": "straight_push", + "intended_face_center": [ + -14.067360918749474, + -0.010277490048789938, + 0.061137680019891213 + ], + "intended_face_normal": [ + -0.9056269722003734, + -0.126438167596163, + 0.4047871865807773 + ], + "commanded_contact_point": [ + -14.00947582244873, + -0.015514527247465205, + 0.029881910340728672 + ], + "centerline_face_intersection": [ + -14.082694368448376, + -0.0005145272474652053, + 0.029881910340728672 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.98933219909668, + 0.041210658848285675, + 0.054439619183540344 + ], + "box_pose": [ + -14.00307846069336, + 0.01605815440416336, + 0.03305250033736229, + 0.09799652546644211, + 0.7002334594726562, + 0.6800636649131775, + -0.19386351108551025 + ], + "box_yaw_rad": -3.0028753515247644, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009176270104101679 + } + }, + { + "simulation_time_ns": 10180000000, + "phase": "straight_push", + "intended_face_center": [ + -14.067515196605978, + -0.010301158481323045, + 0.06079364000603573 + ], + "intended_face_normal": [ + -0.9066216259241244, + -0.12659915328206583, + 0.4025046790848137 + ], + "commanded_contact_point": [ + -14.008157844543456, + -0.015525765119726073, + 0.029714114859679234 + ], + "centerline_face_intersection": [ + -14.08267830325272, + -0.0005257651197260738, + 0.029714114859679234 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.989106178283691, + 0.041223734617233276, + 0.05469164252281189 + ], + "box_pose": [ + -14.00316333770752, + 0.016045622527599335, + 0.03287828713655472, + 0.09712565690279007, + 0.700316846370697, + 0.6803433895111084, + -0.19301769137382507 + ], + "box_yaw_rad": -3.0028514218249667, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001328663754312024 + } + }, + { + "simulation_time_ns": 10200000000, + "phase": "straight_push", + "intended_face_center": [ + -14.067752026699422, + -0.01035497371908856, + 0.06037163487864425 + ], + "intended_face_normal": [ + -0.9081359696674127, + -0.12697156142020383, + 0.39895741888728686 + ], + "commanded_contact_point": [ + -14.006385917663573, + -0.015550824746202091, + 0.029566012541965336 + ], + "centerline_face_intersection": [ + -14.082656182344898, + -0.0005508247462020915, + 0.029566012541965336 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.988958358764648, + 0.041172221302986145, + 0.05491127073764801 + ], + "box_pose": [ + -14.003294944763184, + 0.016017602756619453, + 0.032724734395742416, + 0.09575338661670685, + 0.7003524899482727, + 0.6808629631996155, + -0.19173741340637207 + ], + "box_yaw_rad": -3.0026775871082942, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017782820780299692 + } + }, + { + "simulation_time_ns": 10220000000, + "phase": "straight_push", + "intended_face_center": [ + -14.067934231286179, + -0.010348347256803152, + 0.05997610318977912 + ], + "intended_face_normal": [ + -0.9092793195801008, + -0.12691221105082562, + 0.3963644446994783 + ], + "commanded_contact_point": [ + -14.00434600830078, + -0.015548781041318984, + 0.029370698168976098 + ], + "centerline_face_intersection": [ + -14.082643188849925, + -0.0005487810413189846, + 0.029370698168976098 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.988790512084961, + 0.04100444167852402, + 0.055205658078193665 + ], + "box_pose": [ + -14.003397941589355, + 0.016020121052861214, + 0.03251059725880623, + 0.09478876739740372, + 0.7006793022155762, + 0.6809465289115906, + -0.19072368741035461 + ], + "box_yaw_rad": -3.0029140519575575, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020492393929056325 + } + }, + { + "simulation_time_ns": 10240000000, + "phase": "straight_push", + "intended_face_center": [ + -14.068078874360147, + -0.010366090079946922, + 0.05975189642647863 + ], + "intended_face_normal": [ + -0.9100541333470602, + -0.12688128961391687, + 0.3945918996599689 + ], + "commanded_contact_point": [ + -14.002096290588378, + -0.015568911472920256, + 0.029283359027323496 + ], + "centerline_face_intersection": [ + -14.08265570477984, + -0.0005689114729202568, + 0.029283359027323496 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.988630294799805, + 0.04072354733943939, + 0.055702075362205505 + ], + "box_pose": [ + -14.003485679626465, + 0.01599995233118534, + 0.03241816908121109, + 0.09417311102151871, + 0.7007344365119934, + 0.6811742186546326, + -0.19001157581806183 + ], + "box_yaw_rad": -3.0030639454163692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002251502419594059 + } + }, + { + "simulation_time_ns": 10260000000, + "phase": "straight_push", + "intended_face_center": [ + -14.067700842390897, + -0.01033149899047963, + 0.06043254444812761 + ], + "intended_face_normal": [ + -0.9078225440003465, + -0.12669613717516715, + 0.3997578931578545 + ], + "commanded_contact_point": [ + -13.99971019744873, + -0.015548616987132492, + 0.029565113239368786 + ], + "centerline_face_intersection": [ + -14.08265855457305, + -0.0005486169871324921, + 0.029565113239368786 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.988247871398926, + 0.04055653512477875, + 0.05614636838436127 + ], + "box_pose": [ + -14.003263473510742, + 0.016021816059947014, + 0.03272136673331261, + 0.09611430019140244, + 0.7004144787788391, + 0.6806840896606445, + -0.19196557998657227 + ], + "box_yaw_rad": -3.002927822958212, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024027562866915965 + } + }, + { + "simulation_time_ns": 10280000000, + "phase": "straight_push", + "intended_face_center": [ + -14.066210912257397, + -0.01046869013105901, + 0.061667256234097856 + ], + "intended_face_normal": [ + -0.9039664758554196, + -0.12448498278961218, + 0.4090820705538025 + ], + "commanded_contact_point": [ + -13.997609252929687, + -0.01585654310769915, + 0.03007985574074497 + ], + "centerline_face_intersection": [ + -14.081829194988172, + -0.0008565431076991495, + 0.03007985574074497 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.986833572387695, + 0.0401812419295311, + 0.056402936577796936 + ], + "box_pose": [ + -14.002013206481934, + 0.015728887170553207, + 0.03326087445020676, + 0.10026516020298004, + 0.7000172734260559, + 0.6796756982803345, + -0.19484268128871918 + ], + "box_yaw_rad": -3.0047436547911452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021848904344490445 + } + }, + { + "simulation_time_ns": 10300000000, + "phase": "straight_push", + "intended_face_center": [ + -14.063289209686864, + -0.010901446103722772, + 0.06293356298532314 + ], + "intended_face_normal": [ + -0.9003762270994713, + -0.1198630077442644, + 0.418276601945486 + ], + "commanded_contact_point": [ + -13.995825881958007, + -0.016646186334380274, + 0.030636203864292843 + ], + "centerline_face_intersection": [ + -14.079525320087319, + -0.0016461863343802743, + 0.030636203864292843 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.983909606933594, + 0.039423197507858276, + 0.056746840476989746 + ], + "box_pose": [ + -13.999258041381836, + 0.014968233183026314, + 0.03385867923498154, + 0.10542535781860352, + 0.6990833878517151, + 0.6793162226676941, + -0.19671636819839478 + ], + "box_yaw_rad": -3.0092453601105533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020281695399173042 + } + }, + { + "simulation_time_ns": 10320000000, + "phase": "straight_push", + "intended_face_center": [ + -14.061043482343182, + -0.011685647426890551, + 0.06279186658087084 + ], + "intended_face_normal": [ + -0.9011479290518594, + -0.11695081370607241, + 0.4174379134327779 + ], + "commanded_contact_point": [ + -13.993937606811523, + -0.017655253634378067, + 0.030559267056623214 + ], + "centerline_face_intersection": [ + -14.077146565490574, + -0.0026552536343780672, + 0.030559267056623214 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.98141098022461, + 0.038388416171073914, + 0.05661363899707794 + ], + "box_pose": [ + -13.996903419494629, + 0.013976960442960262, + 0.03377358242869377, + 0.10621984302997589, + 0.6990703344345093, + 0.6796135902404785, + -0.19530296325683594 + ], + "box_yaw_rad": -3.0125341789629756, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002142362975111785 + } + }, + { + "simulation_time_ns": 10340000000, + "phase": "straight_push", + "intended_face_center": [ + -14.060018793965808, + -0.012186177232063153, + 0.0627331652967975 + ], + "intended_face_normal": [ + -0.901352929775797, + -0.11579267275780758, + 0.41731860942720367 + ], + "commanded_contact_point": [ + -13.991720314025878, + -0.018245209656424625, + 0.030509777868791176 + ], + "centerline_face_intersection": [ + -14.07608655989096, + -0.0032452096564246254, + 0.030509777868791176 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.980279922485352, + 0.03774320334196091, + 0.05635233223438263 + ], + "box_pose": [ + -13.995835304260254, + 0.01339340303093195, + 0.03373756632208824, + 0.1067124754190445, + 0.6987060904502869, + 0.6800634264945984, + -0.19477152824401855 + ], + "box_yaw_rad": -3.01382703195183, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022949694082781496 + } + }, + { + "simulation_time_ns": 10360000000, + "phase": "straight_push", + "intended_face_center": [ + -14.060067539821308, + -0.012145890447302316, + 0.06259099043673602 + ], + "intended_face_normal": [ + -0.90228173334188, + -0.11517718948749511, + 0.41547781246164206 + ], + "commanded_contact_point": [ + -13.989309425354003, + -0.018252447605588206, + 0.030509740724272764 + ], + "centerline_face_intersection": [ + -14.075975403789824, + -0.0032524476055882066, + 0.030509740724272764 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.980208396911621, + 0.03771431744098663, + 0.054984137415885925 + ], + "box_pose": [ + -13.995818138122559, + 0.013390792533755302, + 0.0337037518620491, + 0.1061158999800682, + 0.6993621587753296, + 0.6797304153442383, + -0.19390340149402618 + ], + "box_yaw_rad": -3.0146282748434348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024108995369909155 + } + }, + { + "simulation_time_ns": 10380000000, + "phase": "straight_push", + "intended_face_center": [ + -14.059368084779212, + -0.012178338492106273, + 0.06289622086171452 + ], + "intended_face_normal": [ + -0.9014152427708382, + -0.11433619672877882, + 0.41758500581229185 + ], + "commanded_contact_point": [ + -13.987194175720214, + -0.018349833170253686, + 0.030652263553208745 + ], + "centerline_face_intersection": [ + -14.07542511727018, + -0.003349833170253686, + 0.030652263553208745 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.979183197021484, + 0.037558577954769135, + 0.05437763035297394 + ], + "box_pose": [ + -13.995162963867188, + 0.013298481702804565, + 0.03385811299085617, + 0.1072310209274292, + 0.6991029977798462, + 0.6796783208847046, + -0.19440612196922302 + ], + "box_yaw_rad": -3.0154256284678738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021222812533257442 + } + }, + { + "simulation_time_ns": 10400000000, + "phase": "straight_push", + "intended_face_center": [ + -14.058773567555185, + -0.012077422771844645, + 0.06298572741293101 + ], + "intended_face_normal": [ + -0.9012904382110563, + -0.11317507564674045, + 0.41817084637405166 + ], + "commanded_contact_point": [ + -13.985306854248046, + -0.01833857377883084, + 0.0306965342415469 + ], + "centerline_face_intersection": [ + -14.074852098495587, + -0.003338573778830841, + 0.0306965342415469 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.978217124938965, + 0.037616271525621414, + 0.05376911163330078 + ], + "box_pose": [ + -13.994563102722168, + 0.013317422941327095, + 0.03388764709234238, + 0.10778878629207611, + 0.6993672847747803, + 0.6793604493141174, + -0.1942584216594696 + ], + "box_yaw_rad": -3.016676429121884, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018878742031839453 + } + }, + { + "simulation_time_ns": 10420000000, + "phase": "straight_push", + "intended_face_center": [ + -14.058455545607398, + -0.011961829864777763, + 0.06325009847779307 + ], + "intended_face_normal": [ + -0.900535635371746, + -0.112428871093746, + 0.41999392238871813 + ], + "commanded_contact_point": [ + -13.983740921020507, + -0.01828059929056557, + 0.030820135919652075 + ], + "centerline_face_intersection": [ + -14.074664166632816, + -0.0032805992905655702, + 0.030820135919652075 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.977591514587402, + 0.03766866773366928, + 0.05364157259464264 + ], + "box_pose": [ + -13.994290351867676, + 0.013380460441112518, + 0.03400672972202301, + 0.108669713139534, + 0.6994605660438538, + 0.6789865493774414, + -0.19473819434642792 + ], + "box_yaw_rad": -3.017388637558841, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015718731784819474 + } + }, + { + "simulation_time_ns": 10440000000, + "phase": "straight_push", + "intended_face_center": [ + -14.057849742494172, + -0.01160630498506579, + 0.06344553436681447 + ], + "intended_face_normal": [ + -0.9007964361165719, + -0.10989519900810407, + 0.4201058291657951 + ], + "commanded_contact_point": [ + -13.982462997436523, + -0.018120712696295085, + 0.031006930891752667 + ], + "centerline_face_intersection": [ + -14.074013400968342, + -0.0031207126962950853, + 0.031006930891752667 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.976373672485352, + 0.03771961107850075, + 0.05420792102813721 + ], + "box_pose": [ + -13.993632316589355, + 0.013556663878262043, + 0.034161947667598724, + 0.1094953715801239, + 0.6999961137771606, + 0.6785305142402649, + -0.19393959641456604 + ], + "box_yaw_rad": -3.0201947383723993, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013013626593432537 + } + }, + { + "simulation_time_ns": 10460000000, + "phase": "straight_push", + "intended_face_center": [ + -14.056446312529612, + -0.010018539649064927, + 0.06378395783504633 + ], + "intended_face_normal": [ + -0.9015804427001513, + -0.10075394405706461, + 0.4207159309933495 + ], + "commanded_contact_point": [ + -13.981476898193359, + -0.01723879223088322, + 0.031298245155851966 + ], + "centerline_face_intersection": [ + -14.072474893239471, + -0.002238792230883222, + 0.031298245155851966 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.97401237487793, + 0.038408368825912476, + 0.0549980103969574 + ], + "box_pose": [ + -13.992023468017578, + 0.014494194649159908, + 0.03440017253160477, + 0.11292750388383865, + 0.7005980014801025, + 0.6781980991363525, + -0.19093795120716095 + ], + "box_yaw_rad": -3.0303018271692017, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013546362704241791 + } + }, + { + "simulation_time_ns": 10480000000, + "phase": "straight_push", + "intended_face_center": [ + -14.053295850878342, + -0.006834316641684528, + 0.06425813883083226 + ], + "intended_face_normal": [ + -0.9017024995812903, + -0.09062801025874379, + 0.4227513794596369 + ], + "commanded_contact_point": [ + -13.980599517822265, + -0.014836446380386604, + 0.03161525835936295 + ], + "centerline_face_intersection": [ + -14.06930341387127, + 0.00016355361961339562, + 0.03161525835936295 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.970076560974121, + 0.040577635169029236, + 0.05590105056762695 + ], + "box_pose": [ + -13.988703727722168, + 0.01695689558982849, + 0.03465384617447853, + 0.11717389523983002, + 0.7013643980026245, + 0.6774505376815796, + -0.18819913268089294 + ], + "box_yaw_rad": -3.0414213905339076, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002577122285065111 + } + }, + { + "simulation_time_ns": 10500000000, + "phase": "straight_push", + "intended_face_center": [ + -14.048601621462721, + -0.0033006721014416963, + 0.06502179972098447 + ], + "intended_face_normal": [ + -0.9004105376868239, + -0.08319225624356896, + 0.42701314088921727 + ], + "commanded_contact_point": [ + -13.979601020812987, + -0.011876955920593731, + 0.03204984600291447 + ], + "centerline_face_intersection": [ + -14.064831814673594, + 0.003123044079406268, + 0.03204984600291447 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.964905738830566, + 0.04331091046333313, + 0.05702607333660126 + ], + "box_pose": [ + -13.983981132507324, + 0.0199594609439373, + 0.03505947068333626, + 0.12135346233844757, + 0.7015681862831116, + 0.6767624020576477, + -0.18726491928100586 + ], + "box_yaw_rad": -3.049460529703992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031534816440037332 + } + }, + { + "simulation_time_ns": 10520000000, + "phase": "straight_push", + "intended_face_center": [ + -14.044457498736815, + -0.001607198418009298, + 0.06519975745344986 + ], + "intended_face_normal": [ + -0.9002413850795463, + -0.08148461216284453, + 0.4276974952313779 + ], + "commanded_contact_point": [ + -13.978535766601562, + -0.010315338510903476, + 0.03217496110002327 + ], + "centerline_face_intersection": [ + -14.060716866348928, + 0.004684661489096523, + 0.03217496110002327 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.960579872131348, + 0.044705890119075775, + 0.05791211128234863 + ], + "box_pose": [ + -13.979829788208008, + 0.021531494334340096, + 0.0351591594517231, + 0.12210090458393097, + 0.7020149827003479, + 0.6762363910675049, + -0.18700408935546875 + ], + "box_yaw_rad": -3.051324452718345, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018944839024738664 + } + }, + { + "simulation_time_ns": 10540000000, + "phase": "straight_push", + "intended_face_center": [ + -14.043837483550735, + -0.0024264964136466033, + 0.06424076378369263 + ], + "intended_face_normal": [ + -0.9025354415639981, + -0.08461889200216355, + 0.42221958268435067 + ], + "commanded_contact_point": [ + -13.97764980316162, + -0.010892622104861475, + 0.031638946167164145 + ], + "centerline_face_intersection": [ + -14.05970170090847, + 0.004107377895138525, + 0.031638946167164145 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.959931373596191, + 0.043970465660095215, + 0.05807332694530487 + ], + "box_pose": [ + -13.979070663452148, + 0.020933862775564194, + 0.03467502072453499, + 0.11931199580430984, + 0.7010165452957153, + 0.6781176328659058, + -0.18573345243930817 + ], + "box_yaw_rad": -3.048109068949488, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011855376725409636 + } + }, + { + "simulation_time_ns": 10560000000, + "phase": "straight_push", + "intended_face_center": [ + -14.04400108081428, + -0.0029805581723626635, + 0.0634871819743188 + ], + "intended_face_normal": [ + -0.9035187285380815, + -0.08688156675355785, + 0.41964936268256814 + ], + "commanded_contact_point": [ + -13.977181549072265, + -0.01127197072236914, + 0.031083824702049415 + ], + "centerline_face_intersection": [ + -14.059696266366197, + 0.00372802927763086, + 0.031083824702049415 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.960238456726074, + 0.04348735511302948, + 0.05798952281475067 + ], + "box_pose": [ + -13.979162216186523, + 0.020537644624710083, + 0.0342058390378952, + 0.1180620938539505, + 0.6992545127868652, + 0.6802958846092224, + -0.18520799279212952 + ], + "box_yaw_rad": -3.0457282799471117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008193455356772381 + } + }, + { + "simulation_time_ns": 10580000000, + "phase": "straight_push", + "intended_face_center": [ + -14.044328023093922, + -0.0034804745427982273, + 0.06275837538922813 + ], + "intended_face_normal": [ + -0.9048364363266046, + -0.08889273939978182, + 0.41637627502623786 + ], + "commanded_contact_point": [ + -13.97719871520996, + -0.011616593765596421, + 0.030607750607801933 + ], + "centerline_face_intersection": [ + -14.059797005575549, + 0.0033834062344035784, + 0.030607750607801933 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.960672378540039, + 0.043046481907367706, + 0.057966798543930054 + ], + "box_pose": [ + -13.979390144348145, + 0.02017701417207718, + 0.03381055220961571, + 0.11663517355918884, + 0.6975688934326172, + 0.6825070381164551, + -0.18433134257793427 + ], + "box_yaw_rad": -3.043665117286347, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000587967908495155 + } + }, + { + "simulation_time_ns": 10600000000, + "phase": "straight_push", + "intended_face_center": [ + -14.044727533190017, + -0.003621094637986693, + 0.061951152478084644 + ], + "intended_face_normal": [ + -0.9071519574612594, + -0.08946827366703403, + 0.41118213274037263 + ], + "commanded_contact_point": [ + -13.977324600219726, + -0.011712773801672217, + 0.030201595023762205 + ], + "centerline_face_intersection": [ + -14.059799899816502, + 0.003287226198327782, + 0.030201595023762205 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.961043357849121, + 0.043039560317993164, + 0.05763813853263855 + ], + "box_pose": [ + -13.97962760925293, + 0.020076241344213486, + 0.03340265154838562, + 0.11461154371500015, + 0.6975518465042114, + 0.6833720803260803, + -0.1824505776166916 + ], + "box_yaw_rad": -3.0432851221149515, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004359587061521832 + } + }, + { + "simulation_time_ns": 10620000000, + "phase": "straight_push", + "intended_face_center": [ + -14.044788918009266, + -0.0035614110242426153, + 0.061915660034232343 + ], + "intended_face_normal": [ + -0.9075854235391958, + -0.08911405140351114, + 0.41030058559171323 + ], + "commanded_contact_point": [ + -13.977128143310546, + -0.011680441571200482, + 0.030234171519721374 + ], + "centerline_face_intersection": [ + -14.059787161565927, + 0.003319558428799517, + 0.030234171519721374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.961007118225098, + 0.04317199066281319, + 0.057519763708114624 + ], + "box_pose": [ + -13.979660034179688, + 0.020111458376049995, + 0.033413030207157135, + 0.11431476473808289, + 0.697996973991394, + 0.6830760836601257, + -0.18204177916049957 + ], + "box_yaw_rad": -3.043718321748837, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00020174716449231975 + } + }, + { + "simulation_time_ns": 10640000000, + "phase": "straight_push", + "intended_face_center": [ + -14.044715747862782, + -0.003473636398593629, + 0.06227108590434052 + ], + "intended_face_normal": [ + -0.9070984691575887, + -0.0885708122384461, + 0.411494660117663 + ], + "commanded_contact_point": [ + -13.976716156005859, + -0.011634613328210981, + 0.030497396550474697 + ], + "centerline_face_intersection": [ + -14.059797263727864, + 0.0033653866717890182, + 0.030497396550474697 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.960630416870117, + 0.043257907032966614, + 0.05797186493873596 + ], + "box_pose": [ + -13.979620933532715, + 0.02016150951385498, + 0.033659420907497406, + 0.1148373931646347, + 0.6983512043952942, + 0.6825355887413025, + -0.18238204717636108 + ], + "box_yaw_rad": -3.0442593008715546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004910409187575545 + } + }, + { + "simulation_time_ns": 10660000000, + "phase": "straight_push", + "intended_face_center": [ + -14.045049683642638, + -0.002080501524439976, + 0.06278380624541685 + ], + "intended_face_normal": [ + -0.907867637116631, + -0.08714566088660014, + 0.4100995923330757 + ], + "commanded_contact_point": [ + -13.976029510498046, + -0.010351521963061425, + 0.031117837488465673 + ], + "centerline_face_intersection": [ + -14.059999689300934, + 0.004648478036938575, + 0.031117837488465673 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.9605073928833, + 0.04448294639587402, + 0.05911692976951599 + ], + "box_pose": [ + -13.979889869689941, + 0.021454183384776115, + 0.034237418323755264, + 0.11465954780578613, + 0.6991589069366455, + 0.6819902062416077, + -0.18143673241138458 + ], + "box_yaw_rad": -3.0458964584075368, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015820089956304173 + } + }, + { + "simulation_time_ns": 10680000000, + "phase": "straight_push", + "intended_face_center": [ + -14.044385732193293, + 0.00235997517390105, + 0.06326665420259357 + ], + "intended_face_normal": [ + -0.9091424071171232, + -0.0827887760106858, + 0.4081743779738014 + ], + "commanded_contact_point": [ + -13.975074882507323, + -0.0062474634980901195, + 0.031749341476740564 + ], + "centerline_face_intersection": [ + -14.059118049924797, + 0.00875253650190988, + 0.031749341476740564 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.959336280822754, + 0.048334620893001556, + 0.060355156660079956 + ], + "box_pose": [ + -13.979063034057617, + 0.025582879781723022, + 0.034837376326322556, + 0.11549239605665207, + 0.6995333433151245, + 0.6820735335350037, + -0.17913782596588135 + ], + "box_yaw_rad": -3.0507806216961466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004260681608825153 + } + }, + { + "simulation_time_ns": 10700000000, + "phase": "straight_push", + "intended_face_center": [ + -14.041195027069273, + 0.00937892356022178, + 0.06364075519716453 + ], + "intended_face_normal": [ + -0.9105827657968604, + -0.0750205615959727, + 0.40646064305201524 + ], + "commanded_contact_point": [ + -13.973527069091796, + 0.00017165977366718002, + 0.03225576905125822 + ], + "centerline_face_intersection": [ + -14.05568178166791, + 0.01517165977366718, + 0.03225576905125822 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.955605506896973, + 0.05438772216439247, + 0.06138816475868225 + ], + "box_pose": [ + -13.975630760192871, + 0.03204399347305298, + 0.03531764820218086, + 0.11773964017629623, + 0.6995736956596375, + 0.6825599074363708, + -0.17562976479530334 + ], + "box_yaw_rad": -3.05939088822431, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006622487360164185 + } + }, + { + "simulation_time_ns": 10720000000, + "phase": "straight_push", + "intended_face_center": [ + -14.037340605940772, + 0.014167165860462096, + 0.06530451330650856 + ], + "intended_face_normal": [ + -0.9049221632996733, + -0.06334277110444475, + 0.42083672608809763 + ], + "commanded_contact_point": [ + -13.971299285888671, + 0.004058197815312161, + 0.03280947339615426 + ], + "centerline_face_intersection": [ + -14.052794884739312, + 0.01905819781531216, + 0.03280947339615426 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.951512336730957, + 0.05812458693981171, + 0.06177103519439697 + ], + "box_pose": [ + -13.971981048583984, + 0.03599413111805916, + 0.03587166592478752, + 0.12722539901733398, + 0.6989784836769104, + 0.6810948252677917, + -0.17706668376922607 + ], + "box_yaw_rad": -3.0717086097431068, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004513843644925713 + } + }, + { + "simulation_time_ns": 10740000000, + "phase": "straight_push", + "intended_face_center": [ + -14.03530102458894, + 0.013747029906343175, + 0.066263336056511 + ], + "intended_face_normal": [ + -0.8984781676877063, + -0.06542524008953521, + 0.4341159415266773 + ], + "commanded_contact_point": [ + -13.968733901977538, + 0.003798860357587832, + 0.032742937357569155 + ], + "centerline_face_intersection": [ + -14.051864862328404, + 0.01879886035758783, + 0.032742937357569155 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.94941234588623, + 0.05795321613550186, + 0.061167553067207336 + ], + "box_pose": [ + -13.970450401306152, + 0.03572634607553482, + 0.03583493083715439, + 0.13121351599693298, + 0.6986050009727478, + 0.6791098117828369, + -0.18315011262893677 + ], + "box_yaw_rad": -3.068903108991208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025793172687571036 + } + }, + { + "simulation_time_ns": 10760000000, + "phase": "straight_push", + "intended_face_center": [ + -14.03585985630476, + 0.013413131063404436, + 0.0640566564268399 + ], + "intended_face_normal": [ + -0.9032855788040095, + -0.06751002991958543, + 0.4236945794736062 + ], + "commanded_contact_point": [ + -13.966227645874023, + 0.0036259392158157974, + 0.03134094647021069 + ], + "centerline_face_intersection": [ + -14.05159510309437, + 0.018625939215815797, + 0.03134094647021069 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.948101043701172, + 0.05750112980604172, + 0.05863264203071594 + ], + "box_pose": [ + -13.970685005187988, + 0.03553975746035576, + 0.0344385989010334, + 0.12681199610233307, + 0.6985287666320801, + 0.6809554696083069, + -0.17965468764305115 + ], + "box_yaw_rad": -3.0669930456429793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002876942791561424 + } + }, + { + "simulation_time_ns": 10780000000, + "phase": "straight_push", + "intended_face_center": [ + -14.036076346649487, + 0.012953836035255146, + 0.0631570276880079 + ], + "intended_face_normal": [ + -0.9055241252340878, + -0.06997755299614994, + 0.41848439182312624 + ], + "commanded_contact_point": [ + -13.964073295593261, + 0.003357174756607153, + 0.030843624006347995 + ], + "centerline_face_intersection": [ + -14.051427421503417, + 0.018357174756607152, + 0.030843624006347995 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.945993423461914, + 0.056928470730781555, + 0.05643320083618164 + ], + "box_pose": [ + -13.970741271972656, + 0.03525209426879883, + 0.03402463346719742, + 0.12452416121959686, + 0.6968164443969727, + 0.6835268139839172, + -0.17813384532928467 + ], + "box_yaw_rad": -3.064467432027513, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022272828962245175 + } + }, + { + "simulation_time_ns": 10800000000, + "phase": "straight_push", + "intended_face_center": [ + -14.03554206018511, + 0.012730900320798603, + 0.06319731069450571 + ], + "intended_face_normal": [ + -0.9048112600721225, + -0.06980681757894835, + 0.4200514159642079 + ], + "commanded_contact_point": [ + -13.962315673828124, + 0.00312105565331559, + 0.030762908751885382 + ], + "centerline_face_intersection": [ + -14.05101536112802, + 0.01812105565331559, + 0.030762908751885382 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.943704605102539, + 0.05652817338705063, + 0.05402861535549164 + ], + "box_pose": [ + -13.970246315002441, + 0.035015907138586044, + 0.033966802060604095, + 0.12526707351207733, + 0.6963227391242981, + 0.683769166469574, + -0.17861250042915344 + ], + "box_yaw_rad": -3.0645944870927977, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017752468708673989 + } + }, + { + "simulation_time_ns": 10820000000, + "phase": "straight_push", + "intended_face_center": [ + -14.035085976765375, + 0.01262692800815473, + 0.06321061712670206 + ], + "intended_face_normal": [ + -0.9050148744810613, + -0.0688564273475869, + 0.419770173190372 + ], + "commanded_contact_point": [ + -13.960726852416991, + 0.0029436986606187765, + 0.03079793143314879 + ], + "centerline_face_intersection": [ + -14.050524355690108, + 0.017943698660618776, + 0.03079793143314879 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.942270278930664, + 0.05669667571783066, + 0.05130228400230408 + ], + "box_pose": [ + -13.969758987426758, + 0.034843508154153824, + 0.0339977853000164, + 0.12551149725914001, + 0.6963420510292053, + 0.6838239431381226, + -0.17815572023391724 + ], + "box_yaw_rad": -3.0656557526096164, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015990733465152238 + } + }, + { + "simulation_time_ns": 10840000000, + "phase": "straight_push", + "intended_face_center": [ + -14.03529459190816, + 0.012565307157649312, + 0.06274521537803189 + ], + "intended_face_normal": [ + -0.9066221892908288, + -0.06915910544548609, + 0.4162366156525863 + ], + "commanded_contact_point": [ + -13.959570999145507, + 0.0029054491944567606, + 0.030605374438982876 + ], + "centerline_face_intersection": [ + -14.05045760213164, + 0.01790544919445676, + 0.030605374438982876 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.942193984985352, + 0.056985825300216675, + 0.05011947453022003 + ], + "box_pose": [ + -13.969852447509766, + 0.03480248153209686, + 0.03380712866783142, + 0.12417256087064743, + 0.6962780952453613, + 0.684476375579834, + -0.17683325707912445 + ], + "box_yaw_rad": -3.0654579331116887, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011724069271652326 + } + }, + { + "simulation_time_ns": 10860000000, + "phase": "straight_push", + "intended_face_center": [ + -14.035538049639662, + 0.012663890895463475, + 0.06270087710776195 + ], + "intended_face_normal": [ + -0.9069449503786373, + -0.06767929946506435, + 0.4157767909638377 + ], + "commanded_contact_point": [ + -13.958384628295898, + 0.0028897692489646375, + 0.03059654167639889 + ], + "centerline_face_intersection": [ + -14.050645828364326, + 0.017889769248964637, + 0.03059654167639889 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.9423246383667, + 0.05702883005142212, + 0.050057366490364075 + ], + "box_pose": [ + -13.970051765441895, + 0.034795165061950684, + 0.03378143906593323, + 0.12448517978191376, + 0.6965397596359253, + 0.684328019618988, + -0.17615605890750885 + ], + "box_yaw_rad": -3.0671073277766854, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011865073413967447 + } + }, + { + "simulation_time_ns": 10880000000, + "phase": "straight_push", + "intended_face_center": [ + -14.035374525408866, + 0.01281209857630869, + 0.06323644866622627 + ], + "intended_face_normal": [ + -0.9056008574802519, + -0.06645806709027546, + 0.41889215765333354 + ], + "commanded_contact_point": [ + -13.956744308471679, + 0.0029436790886317177, + 0.03089155921798455 + ], + "centerline_face_intersection": [ + -14.050712450247675, + 0.017943679088631717, + 0.03089155921798455 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.942109107971191, + 0.05716317892074585, + 0.050196170806884766 + ], + "box_pose": [ + -13.969974517822266, + 0.034857381135225296, + 0.03405723348259926, + 0.12593339383602142, + 0.6969135403633118, + 0.6834558844566345, + -0.1770322322845459 + ], + "box_yaw_rad": -3.068338362332616, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016675103437104094 + } + }, + { + "simulation_time_ns": 10900000000, + "phase": "straight_push", + "intended_face_center": [ + -14.035383830637702, + 0.012861422271743455, + 0.06334065616976528 + ], + "intended_face_normal": [ + -0.9051549640925671, + -0.06574634394828927, + 0.41996634678478095 + ], + "commanded_contact_point": [ + -13.95465003967285, + 0.0029380468582399823, + 0.030912822870538592 + ], + "centerline_face_intersection": [ + -14.05079818773286, + 0.01793804685823998, + 0.030912822870538592 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.941938400268555, + 0.0571800172328949, + 0.05019073188304901 + ], + "box_pose": [ + -13.97000503540039, + 0.034855809062719345, + 0.03407566249370575, + 0.12656621634960175, + 0.6969382166862488, + 0.6832675933837891, + -0.1772102266550064 + ], + "box_yaw_rad": -3.0690845336875254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020943843168540303 + } + }, + { + "simulation_time_ns": 10920000000, + "phase": "straight_push", + "intended_face_center": [ + -14.035700106471824, + 0.012738240162786255, + 0.06307109068295902 + ], + "intended_face_normal": [ + -0.9059637237387079, + -0.06493249596056216, + 0.41834558853580006 + ], + "commanded_contact_point": [ + -13.952408905029296, + 0.0027520232214342417, + 0.03076840474070194 + ], + "centerline_face_intersection": [ + -14.050975861559595, + 0.01775202322143424, + 0.03076840474070194 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.941964149475098, + 0.05681489408016205, + 0.050358787178993225 + ], + "box_pose": [ + -13.970235824584961, + 0.034672003239393234, + 0.03395209461450577, + 0.12643098831176758, + 0.6964066624641418, + 0.6841049790382385, + -0.1761624813079834 + ], + "box_yaw_rad": -3.0700427102443117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022534741800644058 + } + }, + { + "simulation_time_ns": 10940000000, + "phase": "straight_push", + "intended_face_center": [ + -14.035862281152374, + 0.012593226449126908, + 0.06294889324076841 + ], + "intended_face_normal": [ + -0.9060714572790403, + -0.06463362467380307, + 0.41815916911426143 + ], + "commanded_contact_point": [ + -13.950100059509277, + 0.0025839320675486756, + 0.03066060173266464 + ], + "centerline_face_intersection": [ + -14.05111958355598, + 0.017583932067548675, + 0.03066060173266464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.941912651062012, + 0.056397512555122375, + 0.05063420534133911 + ], + "box_pose": [ + -13.970369338989258, + 0.03450322151184082, + 0.033876433968544006, + 0.12666165828704834, + 0.6956794261932373, + 0.6848838329315186, + -0.1758440136909485 + ], + "box_yaw_rad": -3.0703793649855404, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023174649425332697 + } + }, + { + "simulation_time_ns": 10960000000, + "phase": "straight_push", + "intended_face_center": [ + -14.03587673595222, + 0.012591684798794536, + 0.06306468147501 + ], + "intended_face_normal": [ + -0.9059436318468812, + -0.06356943946142479, + 0.41859821535340913 + ], + "commanded_contact_point": [ + -13.947670097351073, + 0.002500219021982608, + 0.030742488873728796 + ], + "centerline_face_intersection": [ + -14.051155932661437, + 0.017500219021982608, + 0.030742488873728796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.94180679321289, + 0.05610419064760208, + 0.05084943771362305 + ], + "box_pose": [ + -13.970379829406738, + 0.03442583233118057, + 0.03394419699907303, + 0.12714456021785736, + 0.6959193348884583, + 0.6845933794975281, + -0.17567665874958038 + ], + "box_yaw_rad": -3.071538169609948, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002432782248407941 + } + }, + { + "simulation_time_ns": 10980000000, + "phase": "straight_push", + "intended_face_center": [ + -14.035010879553806, + 0.01234689809418521, + 0.06326603476178738 + ], + "intended_face_normal": [ + -0.905286343350852, + -0.061301647729317565, + 0.42035561020415635 + ], + "commanded_contact_point": [ + -13.945429916381835, + 0.002080324066892854, + 0.03080814436543939 + ], + "centerline_face_intersection": [ + -14.050402712138457, + 0.017080324066892853, + 0.03080814436543939 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.940879821777344, + 0.05554671585559845, + 0.05091288685798645 + ], + "box_pose": [ + -13.969521522521973, + 0.034017812460660934, + 0.03400690108537674, + 0.12861502170562744, + 0.6958422064781189, + 0.6844317317008972, + -0.17554210126399994 + ], + "box_yaw_rad": -3.0739806669058845, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022801388536312765 + } + }, + { + "simulation_time_ns": 11000000000, + "phase": "straight_push", + "intended_face_center": [ + -14.033120777242138, + 0.01203009832158718, + 0.06342848284937008 + ], + "intended_face_normal": [ + -0.9052892481617079, + -0.05676914554276635, + 0.42098537423650484 + ], + "commanded_contact_point": [ + -13.943487281799316, + 0.0014135457151559956, + 0.030921965025574167 + ], + "centerline_face_intersection": [ + -14.048512111847813, + 0.016413545715155995, + 0.030921965025574167 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.938815116882324, + 0.054760903120040894, + 0.050922244787216187 + ], + "box_pose": [ + -13.967552185058594, + 0.033374086022377014, + 0.03410656377673149, + 0.13049863278865814, + 0.6958343386650085, + 0.6844407916069031, + -0.17414216697216034 + ], + "box_yaw_rad": -3.078966361434098, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020570312671953413 + } + }, + { + "simulation_time_ns": 11020000000, + "phase": "straight_push", + "intended_face_center": [ + -14.031051926064274, + 0.011261399059736353, + 0.06346701956163675 + ], + "intended_face_normal": [ + -0.9056025992473735, + -0.053808723616473486, + 0.4206998892677163 + ], + "commanded_contact_point": [ + -13.941505546569823, + 0.0004162565449561638, + 0.030982545549322834 + ], + "centerline_face_intersection": [ + -14.046389552421356, + 0.015416256544956163, + 0.030982545549322834 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.936643600463867, + 0.05369459092617035, + 0.050949811935424805 + ], + "box_pose": [ + -13.965409278869629, + 0.03239155560731888, + 0.034155942499637604, + 0.13147354125976562, + 0.6958634853363037, + 0.6845256090164185, + -0.17295481264591217 + ], + "box_yaw_rad": -3.0822448398169433, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002219353556481253 + } + }, + { + "simulation_time_ns": 11040000000, + "phase": "straight_push", + "intended_face_center": [ + -14.029749891825656, + 0.010550893473915798, + 0.06338581180392402 + ], + "intended_face_normal": [ + -0.905898183654422, + -0.0524755416280005, + 0.4202315722648855 + ], + "commanded_contact_point": [ + -13.939210052490234, + -0.0003971911066054101, + 0.030937499035993757 + ], + "centerline_face_intersection": [ + -14.045036873848991, + 0.01460280889339459, + 0.030937499035993757 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.93529987335205, + 0.05281304568052292, + 0.050853073596954346 + ], + "box_pose": [ + -13.964057922363281, + 0.03158392757177353, + 0.03411541506648064, + 0.13184578716754913, + 0.6956636309623718, + 0.6848366260528564, + -0.172242671251297 + ], + "box_yaw_rad": -3.0837307803050105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024357790005717205 + } + }, + { + "simulation_time_ns": 11060000000, + "phase": "straight_push", + "intended_face_center": [ + -14.02904201943822, + 0.01079264744894513, + 0.0640830659592307 + ], + "intended_face_normal": [ + -0.9044040511705376, + -0.04945598982890864, + 0.4238006713470952 + ], + "commanded_contact_point": [ + -13.936753387451171, + -0.0003885927716148034, + 0.031359164085286585 + ], + "centerline_face_intersection": [ + -14.04458518693507, + 0.014611407228385196, + 0.031359164085286585 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.934459686279297, + 0.05290956050157547, + 0.0500025600194931 + ], + "box_pose": [ + -13.963435173034668, + 0.031612273305654526, + 0.034471187740564346, + 0.1338985711336136, + 0.6969134211540222, + 0.6830180883407593, + -0.1728266179561615 + ], + "box_yaw_rad": -3.0869635504114914, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002492604753929449 + } + }, + { + "simulation_time_ns": 11080000000, + "phase": "straight_push", + "intended_face_center": [ + -14.027584526262215, + 0.011026999057889692, + 0.06449427717204306 + ], + "intended_face_normal": [ + -0.9039224847027185, + -0.045427469764963035, + 0.4252765046873357 + ], + "commanded_contact_point": [ + -13.934659118652343, + -0.0004653046040063273, + 0.03165641836345131 + ], + "centerline_face_intersection": [ + -14.043210362833857, + 0.014534695395993672, + 0.03165641836345131 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.932623863220215, + 0.052820347249507904, + 0.04965616762638092 + ], + "box_pose": [ + -13.961954116821289, + 0.031557030975818634, + 0.034732796251773834, + 0.1357736587524414, + 0.6974033117294312, + 0.682341456413269, + -0.17205862700939178 + ], + "box_yaw_rad": -3.091378964232046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021166498559896706 + } + }, + { + "simulation_time_ns": 11100000000, + "phase": "straight_push", + "intended_face_center": [ + -14.02704114994112, + 0.011349732035663716, + 0.06509604941071667 + ], + "intended_face_normal": [ + -0.9025558388298833, + -0.042731691987079046, + 0.42844697714977187 + ], + "commanded_contact_point": [ + -13.93279182434082, + -0.0003507269535870973, + 0.03201338157569034 + ], + "centerline_face_intersection": [ + -14.04290185884928, + 0.014649273046412902, + 0.03201338157569034 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.931746482849121, + 0.052983030676841736, + 0.04920734465122223 + ], + "box_pose": [ + -13.961487770080566, + 0.0316883809864521, + 0.03503488376736641, + 0.13762693107128143, + 0.6984173655509949, + 0.6808018088340759, + -0.1725713461637497 + ], + "box_yaw_rad": -3.0942827760711205, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019045573813134089 + } + }, + { + "simulation_time_ns": 11120000000, + "phase": "straight_push", + "intended_face_center": [ + -14.026785417836933, + 0.011463743065153867, + 0.06562115264038176 + ], + "intended_face_normal": [ + -0.9010339606502455, + -0.04198727619113285, + 0.43171195346200975 + ], + "commanded_contact_point": [ + -13.931269760131835, + -0.0002941962234615618, + 0.03228637863449257 + ], + "centerline_face_intersection": [ + -14.04290813912774, + 0.014705803776538438, + 0.03228637863449257 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.931364059448242, + 0.053023409098386765, + 0.04930560290813446 + ], + "box_pose": [ + -13.961337089538574, + 0.0317499078810215, + 0.035296730697155, + 0.13900157809257507, + 0.6986183524131775, + 0.6800363063812256, + -0.173671156167984 + ], + "box_yaw_rad": -3.0950273450213253, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015473857223828912 + } + }, + { + "simulation_time_ns": 11140000000, + "phase": "straight_push", + "intended_face_center": [ + -14.026069619013365, + 0.01170730087754555, + 0.06657187279173048 + ], + "intended_face_normal": [ + -0.8980167490700595, + -0.04039243224827338, + 0.4381026034382476 + ], + "commanded_contact_point": [ + -13.930062408447265, + -0.00017378478675752693, + 0.03274364274182796 + ], + "centerline_face_intersection": [ + -14.042713243050988, + 0.014826215213242473, + 0.03274364274182796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.930557250976562, + 0.053056180477142334, + 0.0496734082698822 + ], + "box_pose": [ + -13.960803031921387, + 0.03187764436006546, + 0.035782136023044586, + 0.1420300155878067, + 0.6978951096534729, + 0.6796696186065674, + -0.1755533367395401 + ], + "box_yaw_rad": -3.0966433526613235, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001296644696199052 + } + }, + { + "simulation_time_ns": 11160000000, + "phase": "straight_push", + "intended_face_center": [ + -14.025705526801909, + 0.013061406102372601, + 0.06523631643590949 + ], + "intended_face_normal": [ + -0.9033127358044482, + -0.033286277859694735, + 0.4276894365255757 + ], + "commanded_contact_point": [ + -13.929124946594237, + 0.0006316164962522769, + 0.03221214233798114 + ], + "centerline_face_intersection": [ + -14.041436106720843, + 0.015631616496252276, + 0.03221214233798114 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.929369926452637, + 0.05352706462144852, + 0.04974023997783661 + ], + "box_pose": [ + -13.959933280944824, + 0.03271521255373955, + 0.035197656601667404, + 0.14081567525863647, + 0.6984737515449524, + 0.6810218691825867, + -0.1688627004623413 + ], + "box_yaw_rad": -3.1047602003363712, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013453618962363345 + } + }, + { + "simulation_time_ns": 11180000000, + "phase": "straight_push", + "intended_face_center": [ + -14.02386480626374, + 0.014872096109799417, + 0.06516975275075798 + ], + "intended_face_normal": [ + -0.9039674111914806, + -0.028166623591786788, + 0.42667309196528436 + ], + "commanded_contact_point": [ + -13.928286666870116, + 0.0020469907922645476, + 0.03222405601709469 + ], + "centerline_face_intersection": [ + -14.0394829283898, + 0.017046990792264547, + 0.03222405601709469 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.927169799804688, + 0.05467313528060913, + 0.05015559494495392 + ], + "box_pose": [ + -13.957958221435547, + 0.03415420651435852, + 0.035184670239686966, + 0.14230120182037354, + 0.6986148953437805, + 0.6811174154281616, + -0.16663360595703125 + ], + "box_yaw_rad": -3.110443838808483, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016450347198265418 + } + }, + { + "simulation_time_ns": 11200000000, + "phase": "straight_push", + "intended_face_center": [ + -14.019994614210129, + 0.01750227426068246, + 0.06525503502027714 + ], + "intended_face_normal": [ + -0.9042785221252245, + -0.023028008269061928, + 0.42632194573868887 + ], + "commanded_contact_point": [ + -13.92742835998535, + 0.004280389147933269, + 0.03233645215272925 + ], + "centerline_face_intersection": [ + -14.035559326234454, + 0.01928038914793327, + 0.03233645215272925 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.923020362854004, + 0.0565718412399292, + 0.05092896521091461 + ], + "box_pose": [ + -13.953973770141602, + 0.03641030192375183, + 0.03528309240937233, + 0.14408771693706512, + 0.6985130310058594, + 0.6813360452651978, + -0.16461943089962006 + ], + "box_yaw_rad": -3.1161325417183288, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023952853305703272 + } + }, + { + "simulation_time_ns": 11220000000, + "phase": "straight_push", + "intended_face_center": [ + -14.015413821679918, + 0.019435899891241885, + 0.06536677453329293 + ], + "intended_face_normal": [ + -0.9041724658581671, + -0.022731588175783912, + 0.42656257464752656 + ], + "commanded_contact_point": [ + -13.926610107421874, + 0.006191126607940571, + 0.03242961142901296 + ], + "centerline_face_intersection": [ + -14.03099673868698, + 0.02119112660794057, + 0.03242961142901296 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.91844367980957, + 0.05832210183143616, + 0.05168704688549042 + ], + "box_pose": [ + -13.949399948120117, + 0.038323014974594116, + 0.03536631911993027, + 0.1442350298166275, + 0.6987068057060242, + 0.6810984015464783, + -0.16465137898921967 + ], + "box_yaw_rad": -3.1164571826246745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002080656999476086 + } + }, + { + "simulation_time_ns": 11240000000, + "phase": "straight_push", + "intended_face_center": [ + -14.013972803050757, + 0.019129727327011785, + 0.06510521721963285 + ], + "intended_face_normal": [ + -0.9042228553261467, + -0.02236718284594552, + 0.42647503005010634 + ], + "commanded_contact_point": [ + -13.92602741241455, + 0.005856816371776, + 0.03217481389892394 + ], + "centerline_face_intersection": [ + -14.029547070210993, + 0.020856816371776, + 0.03217481389892394 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917044639587402, + 0.05785564333200455, + 0.05193611979484558 + ], + "box_pose": [ + -13.947933197021484, + 0.03798805922269821, + 0.03514331206679344, + 0.14451256394386292, + 0.6979821920394897, + 0.6818594336509705, + -0.16433121263980865 + ], + "box_yaw_rad": -3.116861336170109, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007184835327997776 + } + }, + { + "simulation_time_ns": 11260000000, + "phase": "straight_push", + "intended_face_center": [ + -14.014290435833463, + 0.018533618513815346, + 0.06416876291410713 + ], + "intended_face_normal": [ + -0.9061173167960135, + -0.02393856908202352, + 0.4223488414893737 + ], + "commanded_contact_point": [ + -13.92589199066162, + 0.0053820426400744345, + 0.03155696453837297 + ], + "centerline_face_intersection": [ + -14.02953988411473, + 0.020382042640074434, + 0.03155696453837297 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917399406433105, + 0.05729018151760101, + 0.05187292397022247 + ], + "box_pose": [ + -13.948105812072754, + 0.03750031441450119, + 0.03459779918193817, + 0.1428208351135254, + 0.6965177059173584, + 0.684048056602478, + -0.16292206943035126 + ], + "box_yaw_rad": -3.1151799566681384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007908773481480039 + } + }, + { + "simulation_time_ns": 11280000000, + "phase": "straight_push", + "intended_face_center": [ + -14.014606328894383, + 0.018113351812533495, + 0.06370935467083798 + ], + "intended_face_normal": [ + -0.9069572916273003, + -0.024640389150167863, + 0.42050052845142183 + ], + "commanded_contact_point": [ + -13.926306838989257, + 0.0050159671956637, + 0.031240274366535876 + ], + "centerline_face_intersection": [ + -14.029711996189011, + 0.0200159671956637, + 0.031240274366535876 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917789459228516, + 0.05682550370693207, + 0.052020251750946045 + ], + "box_pose": [ + -13.948342323303223, + 0.03712572902441025, + 0.034346312284469604, + 0.14223287999629974, + 0.6951389312744141, + 0.6857554316520691, + -0.1621449887752533 + ], + "box_yaw_rad": -3.1144311437626455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006374974751963395 + } + }, + { + "simulation_time_ns": 11300000000, + "phase": "straight_push", + "intended_face_center": [ + -14.014840535471487, + 0.017930808591856907, + 0.06342710135690893 + ], + "intended_face_normal": [ + -0.9073521053429943, + -0.024604441232238372, + 0.41965044230706994 + ], + "commanded_contact_point": [ + -13.926796073913573, + 0.004830648245219719, + 0.031023660721094738 + ], + "centerline_face_intersection": [ + -14.02987867181232, + 0.01983064824521972, + 0.031023660721094738 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.918033599853516, + 0.05669258534908295, + 0.052040234208106995 + ], + "box_pose": [ + -13.948532104492188, + 0.03693776950240135, + 0.03416096791625023, + 0.14210553467273712, + 0.69444739818573, + 0.6865994930267334, + -0.16164742410182953 + ], + "box_yaw_rad": -3.1144825460042886, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005662291020036305 + } + }, + { + "simulation_time_ns": 11320000000, + "phase": "straight_push", + "intended_face_center": [ + -14.014718025664394, + 0.018000287913961993, + 0.06370885429468869 + ], + "intended_face_normal": [ + -0.9065727223356888, + -0.024198991564430727, + 0.4213547232085215 + ], + "commanded_contact_point": [ + -13.926818962097167, + 0.0048688206439497506, + 0.03117381707407563 + ], + "centerline_face_intersection": [ + -14.029889502675779, + 0.01986882064394975, + 0.03117381707407563 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917890548706055, + 0.05684635043144226, + 0.05217313766479492 + ], + "box_pose": [ + -13.948464393615723, + 0.036979034543037415, + 0.03430067002773285, + 0.14281485974788666, + 0.6946482062339783, + 0.6861124038696289, + -0.16222645342350006 + ], + "box_yaw_rad": -3.1149061604869663, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00015661395631791003 + } + }, + { + "simulation_time_ns": 11340000000, + "phase": "straight_push", + "intended_face_center": [ + -14.014778895470366, + 0.01818501928318338, + 0.0638408807836354 + ], + "intended_face_normal": [ + -0.906974751568626, + -0.02319306462607429, + 0.4205460458410393 + ], + "commanded_contact_point": [ + -13.926493759155273, + 0.004975879048853972, + 0.03136828583980556 + ], + "centerline_face_intersection": [ + -14.029881575645872, + 0.01997587904885397, + 0.03136828583980556 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917675971984863, + 0.05693169683218002, + 0.05273205041885376 + ], + "box_pose": [ + -13.948495864868164, + 0.03709329292178154, + 0.03445349633693695, + 0.14269587397575378, + 0.6954826712608337, + 0.6854131817817688, + -0.16171127557754517 + ], + "box_yaw_rad": -3.1160263287452588, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00039374681753890625 + } + }, + { + "simulation_time_ns": 11360000000, + "phase": "straight_push", + "intended_face_center": [ + -14.015031534118906, + 0.02005735891157818, + 0.06404113005991845 + ], + "intended_face_normal": [ + -0.9084958094050108, + -0.021202998970847986, + 0.4173553458392423 + ], + "commanded_contact_point": [ + -13.92580997467041, + 0.006694555132976104, + 0.03181490601832459 + ], + "centerline_face_intersection": [ + -14.029874227210463, + 0.021694555132976103, + 0.03181490601832459 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.917434692382812, + 0.058445043861866, + 0.05403658747673035 + ], + "box_pose": [ + -13.948615074157715, + 0.038821980357170105, + 0.03486371040344238, + 0.1421344131231308, + 0.6961191296577454, + 0.6853218674659729, + -0.15984311699867249 + ], + "box_yaw_rad": -3.118258313103206, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019028605539380692 + } + }, + { + "simulation_time_ns": 11380000000, + "phase": "straight_push", + "intended_face_center": [ + -14.014011388624361, + 0.025145188050514307, + 0.06407725626772237 + ], + "intended_face_normal": [ + -0.9108287802957946, + -0.019645330341177214, + 0.41231716451171785 + ], + "commanded_contact_point": [ + -13.924805755615234, + 0.011662108399702203, + 0.03224005697887605 + ], + "centerline_face_intersection": [ + -14.028456243313537, + 0.026662108399702202, + 0.03224005697887605 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.915903091430664, + 0.06306345760822296, + 0.05548137426376343 + ], + "box_pose": [ + -13.947404861450195, + 0.0437963604927063, + 0.035262543708086014, + 0.1408035159111023, + 0.6965612769126892, + 0.6857235431671143, + -0.15735341608524323 + ], + "box_yaw_rad": -3.1200273657532276, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005085842575994376 + } + }, + { + "simulation_time_ns": 11400000000, + "phase": "straight_push", + "intended_face_center": [ + -14.01029777182241, + 0.032585569384020754, + 0.06423022558392098 + ], + "intended_face_normal": [ + -0.9120251054331234, + -0.018334909547622402, + 0.40972408475187727 + ], + "commanded_contact_point": [ + -13.92319309234619, + 0.019001305180278247, + 0.03259325176272816 + ], + "centerline_face_intersection": [ + -14.024539050778271, + 0.034001305180278246, + 0.03259325176272816 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.911906242370605, + 0.07006961107254028, + 0.05660852789878845 + ], + "box_pose": [ + -13.943587303161621, + 0.05114167183637619, + 0.03559521213173866, + 0.14027918875217438, + 0.696900486946106, + 0.6858150362968445, + -0.15591388940811157 + ], + "box_yaw_rad": -3.1214918471410593, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007522581921034723 + } + }, + { + "simulation_time_ns": 11420000000, + "phase": "straight_push", + "intended_face_center": [ + -14.005445000052218, + 0.036628468546063, + 0.06758242597824493 + ], + "intended_face_normal": [ + -0.8991257855945065, + -0.01625099625924875, + 0.4373882443932189 + ], + "commanded_contact_point": [ + -13.920936698913573, + 0.022883294323594497, + 0.033809355386249774 + ], + "centerline_face_intersection": [ + -14.021896931250108, + 0.037883294323594496, + 0.033809355386249774 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.907783508300781, + 0.07385322451591492, + 0.05721449851989746 + ], + "box_pose": [ + -13.939637184143066, + 0.05503826588392258, + 0.0368417352437973, + 0.15110479295253754, + 0.6960614323616028, + 0.6819540858268738, + -0.1661456674337387 + ], + "box_yaw_rad": -3.123520402459466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0046518876872432766 + } + }, + { + "simulation_time_ns": 11440000000, + "phase": "straight_push", + "intended_face_center": [ + -14.003093883919231, + 0.03634561333703158, + 0.06884279522910983 + ], + "intended_face_normal": [ + -0.8909053232771456, + -0.017315905371251716, + 0.45385887065699215 + ], + "commanded_contact_point": [ + -13.918357009887695, + 0.02268266640593354, + 0.033797940059839444 + ], + "centerline_face_intersection": [ + -14.020972966553613, + 0.03768266640593354, + 0.033797940059839444 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.905953407287598, + 0.07378649711608887, + 0.05649225413799286 + ], + "box_pose": [ + -13.937911987304688, + 0.0548371858894825, + 0.036843374371528625, + 0.1566588133573532, + 0.6957716941833496, + 0.6792307496070862, + -0.17322054505348206 + ], + "box_yaw_rad": -3.1221587980079533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025875040756029905 + } + }, + { + "simulation_time_ns": 11460000000, + "phase": "straight_push", + "intended_face_center": [ + -14.003860317157645, + 0.03567977309897985, + 0.06532139388800529 + ], + "intended_face_normal": [ + -0.90266105200417, + -0.017301823380984516, + 0.43000428725921047 + ], + "commanded_contact_point": [ + -13.915931816101073, + 0.022015738822582828, + 0.03211847786402119 + ], + "centerline_face_intersection": [ + -14.01970293016948, + 0.03701573882258283, + 0.03211847786402119 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.904865264892578, + 0.07279062271118164, + 0.05445094406604767 + ], + "box_pose": [ + -13.937812805175781, + 0.054164692759513855, + 0.035144999623298645, + 0.14802907407283783, + 0.6962977647781372, + 0.6830080151557922, + -0.16357527673244476 + ], + "box_yaw_rad": -3.122427425471922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030243925954284213 + } + }, + { + "simulation_time_ns": 11480000000, + "phase": "straight_push", + "intended_face_center": [ + -14.003803765138693, + 0.03546603353122002, + 0.06473271127994144 + ], + "intended_face_normal": [ + -0.9042055689773889, + -0.017252033906801856, + 0.42674907557587183 + ], + "commanded_contact_point": [ + -13.913900489807128, + 0.021798154744944495, + 0.03178114744793453 + ], + "centerline_face_intersection": [ + -14.019380999610613, + 0.036798154744944495, + 0.03178114744793453 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + -13.903311729431152, + 0.07223232835531235, + 0.05225743353366852 + ], + "box_pose": [ + -13.93763256072998, + 0.053945012390613556, + 0.03482484444975853, + 0.14697566628456116, + 0.6959208846092224, + 0.6839568018913269, + -0.1621585637331009 + ], + "box_yaw_rad": -3.122515198757919, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.015, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020706088845874582 + } + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/raw-validation.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/raw-validation.json new file mode 100644 index 0000000000000000000000000000000000000000..0291de8a60d2407b83bdb1eb9f17bacabf0804c1 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/raw-validation.json @@ -0,0 +1,12 @@ +{ + "contract_valid": true, + "diagnostic_only": false, + "raw_actions": 575, + "raw_boundaries": 576, + "physics_steps": 5750, + "controller_steps": 1150, + "sensor_updates": 1151, + "sensor_rate": "observed timestamps, not assumed 200Hz", + "video_validation": "passed", + "published": false +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/review/terminal_pre_reset_ego.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/review/terminal_pre_reset_ego.png new file mode 100644 index 0000000000000000000000000000000000000000..1a5b38452e751dfb9c501a3fd21eed1ad4e161d1 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/review/terminal_pre_reset_ego.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17da0fb8555c3f140c9d98e6c67ba7a43135f9a84a5406763f85d3372485f482 +size 303024 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/review/terminal_pre_reset_task_centric.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/review/terminal_pre_reset_task_centric.png new file mode 100644 index 0000000000000000000000000000000000000000..0f34895c38ba67850118adb3550b31c27e52173a --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/review/terminal_pre_reset_task_centric.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0dbeb025745eb7feaa8043ad5de48fbc8010d8a2c7fa5b7bdbbee2170b4806b +size 679167 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/camera_index.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/camera_index.parquet new file mode 100644 index 0000000000000000000000000000000000000000..53e139b886f6a7b0aa7a941023989968c26434bd --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/camera_index.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8a9499621ff0ba1ebf49953ec68372c1e8d79e0373b9b59481118515e876e3d +size 15275 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/contact_sensor.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/contact_sensor.parquet new file mode 100644 index 0000000000000000000000000000000000000000..98efe2d1223f8fd434c55878d79e94117218ea2e --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/contact_sensor.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de78683d8ec6a6be007c532ed38e9f43551d223f8923f3a43a57ca5107ecba8b +size 106482 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/controller_100hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/controller_100hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9ae5a816c9e7692c445b7fb10709455f9a405eeb --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/controller_100hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a952297982cd84d0d537ea54b79bb37673225663e7f7a490842bb19f7f1fd0a +size 421085 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/physics_500hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/physics_500hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3103381f30f3013ba2c965e43a739d4f6892815b --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/physics_500hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65086762f75a976beaa6c8c61a405d509c34ed548a1ce45aafcdf64aa2d9d855 +size 2341028 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/policy_50hz.parquet b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/policy_50hz.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d1c4579c5e5b6f9778983123029f7b571c41ccc8 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/streams/policy_50hz.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9043cf8d227d9c252a1822f0c4de7abe9e5e00bf35cd402e022d1f50759b3a61 +size 242226 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/summary.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..05e28ca1d6f5051bc2c255bba6d6f88809b27161 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0086/summary.json @@ -0,0 +1,111 @@ +{ + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 575, + "n_boundaries": 576, + "initial_geometry": { + "center": [ + -14.389753416145531, + 0.14394692701822176, + 0.13983054459767388 + ], + "face_center": [ + -14.46696873005697, + 0.14394692733204145, + 0.13983054446862794 + ], + "face_normal": [ + -1.0, + 4.064215630457299e-09, + -1.6712480294604223e-09 + ], + "footprint_xy": [ + [ + -14.466968730482257, + 0.0886285673831379 + ], + [ + -14.312538101808805, + 0.0886285673831379 + ], + [ + -14.312538101808805, + 0.19926528665330565 + ], + [ + -14.466968730482257, + 0.19926528665330565 + ] + ], + "projected_box_corners": [ + [ + -14.312538101808805, + 0.19926528595432397 + ], + [ + -14.31253810220973, + 0.1992652860256663 + ], + [ + -14.312538102258456, + 0.0886285673831379 + ], + [ + -14.312538102659381, + 0.08862856745448021 + ], + [ + -14.466968729631681, + 0.19926528658196335 + ], + [ + -14.466968730032606, + 0.19926528665330565 + ], + [ + -14.466968730081332, + 0.08862856801077727 + ], + [ + -14.466968730482257, + 0.08862856808211958 + ] + ], + "yaw_rad": 3.1415926495255775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + -14.822178840637207, + 0.1420000046491623, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0086", + "seed": 202610070086, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "004d3b12c373bcb464263caa317446bb477a5968ce5bda9ab218e58de4982ec7", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.021706397035868047, + "approach_continuity_verified": true +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/cameras/ego.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/cameras/ego.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e65e1a16c928912ab40a11d5cc9c3a211d1abb9 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/cameras/ego.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41261722152ebe65e221e6d65b4c8e4b9922536991d836a9567b8c9e06bc34ba +size 2464910 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/cameras/observer.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/cameras/observer.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03869ac13fefa9af9f13a407d891eb32b67da433 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/cameras/observer.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:831aeab0381a3b1e1b46c98a26eec53b91190e3b759af1e5a39833bea2d9e103 +size 938910 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/cameras/task_centric.mp4 b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/cameras/task_centric.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fffb148928f4d735b82b6f8d9d43807934d742e5 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/cameras/task_centric.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c07e6d47a78a8f2b470b0a5b0ab3659a871b489360b7166cbc073b5100d4f9cb +size 3224583 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/capture.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/capture.json new file mode 100644 index 0000000000000000000000000000000000000000..57d5bb7309596b742df5c4bdbefe473c6886431b --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/capture.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29f38004b57ac2a5e072e739067074a216ba2bbb04f38d2b869509027f673d47 +size 19913963 diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/manifest.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4796b78cf4757c4faabbfee0f517b88df2c0af38 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/manifest.json @@ -0,0 +1,289 @@ +{ + "dataset_schema_version": "wam-quadruped-v2.1.0", + "profile_hash": "905d76c38f7c95a8bad986b945d1535f9ef0668476cc9f825005fc8d4da4603e", + "diagnostic_only": false, + "episode_uid": "push_box__ep0087", + "n_actions": 460, + "n_boundaries": 461, + "reset_epoch": 0, + "streams": { + "policy": "streams/policy_50hz.parquet", + "controller": "streams/controller_100hz.parquet", + "physics": "streams/physics_500hz.parquet", + "contact_sensor": "streams/contact_sensor.parquet", + "camera_index": "streams/camera_index.parquet" + }, + "stream_sha256": { + "policy": "2d539f8669d4e27765134ae3686f11634ca00c85ab5b5fe4fa86c835935971b3", + "controller": "2f904db65b845140d4ebb40d5cf708bd83482489543a903e87137602e1c200c8", + "physics": "55879a13d0ccbc46ed6fd2c000203c4901125729256423f219da6fdfc294d14e", + "contact_sensor": "0d19081702176d27e6956eec538fe21dada84af00aaadbad7200274fd7b0de9e", + "camera_index": "52c846f0f5a77ac596347bb599acc4446d2202cc9e593152bcedc6c835de2f3a" + }, + "videos": { + "observation.images.ego": { + "path": "cameras/ego.mp4", + "sha256": "41261722152ebe65e221e6d65b4c8e4b9922536991d836a9567b8c9e06bc34ba", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0087__a02/raw/push_box__ep0087/cameras/ego.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + }, + "observation.images.task_centric": { + "path": "cameras/task_centric.mp4", + "sha256": "c07e6d47a78a8f2b470b0a5b0ab3659a871b489360b7166cbc073b5100d4f9cb", + "encoding": { + "profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b", + "encoder": "libx264", + "crf": 18, + "preset": "medium", + "gop": 50, + "keyint_min": 50, + "scenecut": 0, + "color_range": "tv", + "command": [ + "/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg", + "-hide_banner", + "-loglevel", + "error", + "-f", + "rawvideo", + "-pix_fmt", + "rgb24", + "-s", + "1280x720", + "-framerate", + "50", + "-i", + "pipe:0", + "-vf", + "scale=in_range=full:out_range=tv:out_color_matrix=bt709", + "-c:v", + "libx264", + "-threads", + "2", + "-crf", + "18", + "-preset", + "medium", + "-g", + "50", + "-keyint_min", + "50", + "-sc_threshold", + "0", + "-pix_fmt", + "yuv420p", + "-color_range", + "tv", + "-color_primaries", + "bt709", + "-color_trc", + "bt709", + "-colorspace", + "bt709", + "-fps_mode", + "cfr", + "/home/jalen/workspace/WAM-Policy/data/qlm_bench/scaleup_v1/tasks/push_box/QLM-DATA-001-20261008-normal-v2/attempts/push_box__ep0087__a02/raw/push_box__ep0087/cameras/task_centric.partial.mp4" + ], + "encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers" + } + } + }, + "observer": { + "present": true, + "source_key": "approved_fixed_observer", + "canonical_key": "monitor.images.observer", + "reason": "monitor only", + "path": "cameras/observer.mp4", + "crf": 23, + "sha256": "831aeab0381a3b1e1b46c98a26eec53b91190e3b759af1e5a39833bea2d9e103" + }, + "terminal": { + "simulation_time_ns": 9200000000, + "state": { + "observation.state.base.position": [ + 15.564167022705078, + -14.934734344482422, + 0.28349441289901733 + ], + "observation.state.base.orientation": [ + -0.0014429590664803982, + -0.029709767550230026, + 0.007039770483970642, + 0.9995327591896057 + ], + "observation.state.base.linear_velocity": [ + 0.07877969741821289, + 0.04670249670743942, + -0.0492447130382061 + ], + "observation.state.base.angular_velocity": [ + 0.286459356546402, + -0.11237986385822296, + 0.0730200931429863 + ], + "observation.state.projected_gravity": [ + -0.059371452778577805, + 0.0033028696198016405, + -0.998230516910553 + ], + "observation.state.joint_position": [ + -0.35467982292175293, + 0.5442046523094177, + 0.02568342536687851, + -0.04629368707537651, + 0.2062516212463379, + 1.0171648263931274, + 0.9275870323181152, + 1.1256639957427979, + -1.6590720415115356, + -1.8299115896224976, + -1.881342887878418, + -1.8502488136291504 + ], + "observation.state.joint_velocity": [ + -0.002752390457317233, + -0.36809664964675903, + -0.40849342942237854, + -0.420046329498291, + 1.4601914882659912, + 0.5703174471855164, + 0.5976829528808594, + 0.6494004726409912, + -0.8336785435676575, + -0.2915716767311096, + -0.4388294517993927, + -0.33834517002105713 + ], + "observation.state.fl_ee_position": [ + 0.37563395500183105, + 0.05418318882584572, + 0.053024694323539734 + ], + "observation.state.fl_ee_velocity": [ + -0.28879547119140625, + 0.04093695804476738, + -0.07347266376018524 + ], + "observation.state.fl_contact_force": [ + 0.0, + 0.0, + 0.0 + ], + "task.object.position": [ + 16.098527908325195, + -14.883709907531738, + 0.04180889576673508 + ], + "task.object.orientation": [ + 0.38301634788513184, + -0.584492564201355, + 0.45998406410217285, + -0.5477969646453857 + ], + "task.object.linear_velocity": [ + -0.00013970606960356236, + 0.0005369831342250109, + 0.0005086727906018496 + ], + "task.object.angular_velocity": [ + -0.013658111914992332, + -0.0021792526822537184, + 0.00016286321624647826 + ], + "observation.state.foot_contact": [ + false, + true, + true, + true + ], + "task.goal.position": [ + 16.150253733545487, + -14.85853997608426, + 0.0 + ], + "task.progress": [ + 0.4784019554626511 + ], + "task.success": [ + true + ], + "task.contact.fl_object": [ + false + ], + "task.contact.body_object": [ + false + ] + } + }, + "extensions": { + "task_profile_version": "push-box-v2-2", + "contact_diagnostics": { + "path": "metadata/contact_provenance.json", + "sha256": "fc4b56199025f931b14487bfdbd9cb4f348db15d13d026ab35612d863d9fd2d1" + }, + "provenance": { + "path": "metadata/provenance.json", + "sha256": "880d3db1c4debac41400c06826326b1e296174b5961e45d674711a94e841e781" + }, + "origin": "real_isaac_acquisition", + "purpose": "demonstration", + "task_review": { + "path": "metadata/task_review.json", + "sha256": "d5296e47e068b167ec9c118e8838dfee8c20cb46c6ec36dfd8333bdb5b045ae8" + } + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/metadata/contact_provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/metadata/contact_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..573825b148177388b3af50df45f09c3e5b6287a3 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/metadata/contact_provenance.json @@ -0,0 +1,3696 @@ +{ + "version": "push-box-contact-diagnostic-v1", + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns_are_invalid_placeholders": true, + "rows": [ + { + "simulation_time_ns": 0, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 20000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 40000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 60000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 80000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 1980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 2980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 3980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 4980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 5980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 6980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 7980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8220000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8240000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8260000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8280000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8300000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8320000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8340000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8360000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8380000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8400000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8420000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8440000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8460000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8480000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8500000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8520000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8540000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8560000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8580000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8600000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8620000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8640000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8660000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8680000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8700000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8720000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8740000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8760000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8780000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8800000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8820000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8840000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8860000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8880000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8900000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8920000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8940000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8960000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 8980000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9000000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9020000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9040000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9060000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9080000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9100000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9120000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9140000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9160000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9180000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + }, + { + "simulation_time_ns": 9200000000, + "fl_object": null, + "body_object": null, + "status": "unknown", + "valid": false, + "reason": "No reliable target-pair sensor configured; bool columns are invalid placeholders" + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/metadata/provenance.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/metadata/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..123c30d690f3c1e9e3aaedef0af0ac717dc305ab --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/metadata/provenance.json @@ -0,0 +1,317 @@ +{ + "work_id": "QLM-DATA-001", + "scenario": { + "id": "push_box__ep0087", + "seed": 202610070087, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "task_profile": { + "task_profile_version": "push-box-v2-2", + "asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a", + "scale": 1, + "initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command", + "initial_floor_clearance": 0.02, + "goal_x": [ + 15.950253733545486, + 16.350253733545486 + ], + "goal_y": [ + -15.10853997608426, + -14.60853997608426 + ], + "goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal", + "success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks", + "fall": { + "base_height_lt": 0.1, + "projected_gravity_error_gt": 0.75 + }, + "contact": { + "role": "diagnostic_only", + "unavailable": "unknown", + "bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact" + }, + "observer": { + "position": [ + 1.8, + 2.0, + 1.5 + ], + "look_at": [ + 0.65, + 0.1, + 0.2 + ], + "fps": 25, + "model_input": false + }, + "policy_rgb_fps": 50, + "policy_fps": 50, + "controller_fps": 100, + "physics_fps": 500, + "force_zero": true, + "success_policy_ticks": 3, + "initial_box_yaw_rad": 0.0, + "push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)", + "robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment", + "expert": { + "settle_seconds": 2.1, + "normal_approach_seconds": 1.0, + "standoff_m": 0.1, + "penetration_m": 0.015, + "align_base_speed": 0.14, + "push_base_speed": 0.12, + "face_distance_for_foot_approach": 0.405, + "approach_foot_x": 0.28, + "push_foot_x": 0.38, + "motion": "coordinated", + "transition_s": 0.45, + "leg_finish_max_x": 0.4, + "lateral_tracking_gain": 2.0, + "lateral_tracking_limit_m": 0.015, + "corner_recovery": false + }, + "initial_face_distance_x": 0.54, + "asset_id": "cardboard-box-01", + "source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00", + "goal_color": [ + 0.05, + 0.8, + 0.15 + ], + "scaleup_recovery": false, + "recovery_progress_m": 0.12, + "episode_scenario": { + "work_id": "QLM-DATA-001", + "authorization": "qlm-scaleup-push-v1", + "selected_face": "local_y_min" + }, + "instruction": "Push the box into the target area.", + "scaleup_metadata": { + "episode_uid": "push_box__ep0087", + "task_id": "push_box", + "split": "train", + "difficulty": "randomized", + "trajectory_type": "normal", + "recovery_type": null, + "appearance_preset": "ap_03", + "asset_id": "cardboard-box-01", + "initial_condition_id": "ic_0087", + "goal_condition_id": "gc_0087", + "environment_seed": 202610070087 + }, + "scaleup_motion_revision": "continuous-v2", + "canonical_goal_position": [ + 16.150253733545487, + -14.85853997608426, + 0.0 + ], + "environment_origin": [ + 15.0, + -15.0, + 0.0 + ], + "initial_center_x_world": 15.60342660831039 + }, + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706", + "capture_sha256": "29f38004b57ac2a5e072e739067074a216ba2bbb04f38d2b869509027f673d47", + "terminal_gate": { + "passed": true, + "status": "success", + "outcome": "success", + "terminal_before_reset": true, + "n_actions": 460, + "n_boundaries": 461, + "initial_geometry": { + "center": [ + 15.603426356530672, + -14.851330831580723, + 0.13983054458908187 + ], + "face_center": [ + 15.548107999138546, + -14.851330824148212, + 0.13983054449001223 + ], + "face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "footprint_xy": [ + [ + 15.54810798854917, + -14.92854615030756 + ], + [ + 15.658744724512175, + -14.92854615030756 + ], + [ + 15.658744724512175, + -14.77411551285389 + ], + [ + 15.54810798854917, + -14.77411551285389 + ] + ], + "projected_box_corners": [ + [ + 15.548108009727923, + -14.77411551285389 + ], + [ + 15.548108009298293, + -14.774115512905597 + ], + [ + 15.658744724512175, + -14.774115527718912 + ], + [ + 15.658744724082544, + -14.77411552777062 + ], + [ + 15.548107988978801, + -14.928546135390828 + ], + [ + 15.54810798854917, + -14.928546135442536 + ], + [ + 15.658744703763052, + -14.928546150255851 + ], + [ + 15.65874470333342, + -14.92854615030756 + ] + ], + "yaw_rad": -1.5707964611537577, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.177821159362793, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + "scenario": { + "id": "push_box__ep0087", + "seed": 202610070087, + "asset": "cardboard-box-01", + "appearance": "ap_03" + }, + "mode": "demonstration", + "source": { + "package": "qlm_bench", + "version": "0.1.0", + "implementation": { + "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407", + "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2", + "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e", + "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b" + }, + "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9", + "source_dirty": true, + "dirty_source_sha256": "954a10a09510ebf89e1c06fc4bbfe549e38a8431f8d05d46c526d8a4b4ab46c8", + "branch": "scaleup/v1/push_box" + }, + "recovery_verified": true, + "approach_max_native_target_step_m": 0.004524987630278618, + "approach_continuity_verified": true + }, + "collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench", + "fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4", + "initial_geometry": { + "center": [ + 15.603426356530672, + -14.851330831580723, + 0.13983054458908187 + ], + "face_center": [ + 15.548107999138546, + -14.851330824148212, + 0.13983054449001223 + ], + "face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "footprint_xy": [ + [ + 15.54810798854917, + -14.92854615030756 + ], + [ + 15.658744724512175, + -14.92854615030756 + ], + [ + 15.658744724512175, + -14.77411551285389 + ], + [ + 15.54810798854917, + -14.77411551285389 + ] + ], + "projected_box_corners": [ + [ + 15.548108009727923, + -14.77411551285389 + ], + [ + 15.548108009298293, + -14.774115512905597 + ], + [ + 15.658744724512175, + -14.774115527718912 + ], + [ + 15.658744724082544, + -14.77411552777062 + ], + [ + 15.548107988978801, + -14.928546135390828 + ], + [ + 15.54810798854917, + -14.928546135442536 + ], + [ + 15.658744703763052, + -14.928546150255851 + ], + [ + 15.65874470333342, + -14.92854615030756 + ] + ], + "yaw_rad": -1.5707964611537577, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.177821159362793, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + } +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/metadata/task_review.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/metadata/task_review.json new file mode 100644 index 0000000000000000000000000000000000000000..d1b067f42cf9bda74affd681025b74124ad730d4 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/metadata/task_review.json @@ -0,0 +1,81966 @@ +{ + "boundaries": [ + { + "simulation_time_ns": 0, + "center": [ + 15.603426356530672, + -14.851330831580723, + 0.13983054458908187 + ], + "face_center": [ + 15.548107999138546, + -14.851330824148212, + 0.13983054449001223 + ], + "face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "footprint_xy": [ + [ + 15.54810798854917, + -14.92854615030756 + ], + [ + 15.658744724512175, + -14.92854615030756 + ], + [ + 15.658744724512175, + -14.77411551285389 + ], + [ + 15.54810798854917, + -14.77411551285389 + ] + ], + "projected_box_corners": [ + [ + 15.548108009727923, + -14.77411551285389 + ], + [ + 15.548108009298293, + -14.774115512905597 + ], + [ + 15.658744724512175, + -14.774115527718912 + ], + [ + 15.658744724082544, + -14.77411552777062 + ], + [ + 15.548107988978801, + -14.928546135390828 + ], + [ + 15.54810798854917, + -14.928546135442536 + ], + [ + 15.658744703763052, + -14.928546150255851 + ], + [ + 15.65874470333342, + -14.92854615030756 + ] + ], + "yaw_rad": -1.5707964611537577, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.177821159362793, + -14.857999801635742, + 0.08869010210037231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": null + }, + { + "simulation_time_ns": 20000000, + "center": [ + 15.60342635664924, + -14.851330831930275, + 0.13767234981316268 + ], + "face_center": [ + 15.548108003920104, + -14.851330824497763, + 0.13767234975590475 + ], + "face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "footprint_xy": [ + [ + 15.54810799342139, + -14.928546144239007 + ], + [ + 15.658744719877092, + -14.928546144239007 + ], + [ + 15.658744719877092, + -14.774115519621542 + ], + [ + 15.54810799342139, + -14.774115519621542 + ] + ], + "projected_box_corners": [ + [ + 15.548108014418819, + -14.774115519621542 + ], + [ + 15.548108014170511, + -14.774115519854574 + ], + [ + 15.658744719877092, + -14.774115534486565 + ], + [ + 15.658744719628784, + -14.774115534719597 + ], + [ + 15.548107993669696, + -14.928546129140953 + ], + [ + 15.54810799342139, + -14.928546129373984 + ], + [ + 15.65874469912797, + -14.928546144005976 + ], + [ + 15.658744698879662, + -14.928546144239007 + ] + ], + "yaw_rad": -1.570796461153769, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.197816848754883, + -14.845781326293945, + 0.05081215500831604 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.548107999138546, + -14.851330824148212, + 0.13983054449001223 + ], + "intended_face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "commanded_contact_point": [ + 15.193400382995605, + -14.857999801635742, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.548107995351613, + -14.851330831580723, + 0.13983054458908187 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.177821159362793, + -14.857999801635742, + 0.08869010210037231 + ], + "box_pose": [ + 15.604987144470215, + -14.855631828308105, + 0.15702493488788605, + -7.093858833684408e-10, + 5.569715799680353e-10, + 0.7071068286895752, + -0.7071067094802856 + ], + "box_yaw_rad": -1.5707964611537577, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 40000000, + "center": [ + 15.60342635664924, + -14.851330831930275, + 0.13159014284866988 + ], + "face_center": [ + 15.548108003920104, + -14.851330824497763, + 0.13159014279141196 + ], + "face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "footprint_xy": [ + [ + 15.54810799342139, + -14.928546144239007 + ], + [ + 15.658744719877092, + -14.928546144239007 + ], + [ + 15.658744719877092, + -14.774115519621542 + ], + [ + 15.54810799342139, + -14.774115519621542 + ] + ], + "projected_box_corners": [ + [ + 15.548108014418819, + -14.774115519621542 + ], + [ + 15.548108014170511, + -14.774115519854574 + ], + [ + 15.658744719877092, + -14.774115534486565 + ], + [ + 15.658744719628784, + -14.774115534719597 + ], + [ + 15.548107993669696, + -14.928546129140953 + ], + [ + 15.54810799342139, + -14.928546129373984 + ], + [ + 15.65874469912797, + -14.928546144005976 + ], + [ + 15.658744698879662, + -14.928546144239007 + ] + ], + "yaw_rad": -1.570796461153769, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.207003593444824, + -14.865071296691895, + 0.050359368324279785 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.548108003920104, + -14.851330824497763, + 0.13767234975590475 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 15.190520286560059, + -14.857992172241211, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54810799080719, + -14.851330831930275, + 0.13767234981316268 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.197816848754883, + -14.845781326293945, + 0.05081215500831604 + ], + "box_pose": [ + 15.604987144470215, + -14.855631828308105, + 0.15486674010753632, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002880106540726015 + } + } + }, + { + "simulation_time_ns": 60000000, + "center": [ + 15.60342635664924, + -14.851330831930275, + 0.12158395350235641 + ], + "face_center": [ + 15.548108003920104, + -14.851330824497763, + 0.12158395344509847 + ], + "face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "footprint_xy": [ + [ + 15.54810799342139, + -14.928546144239007 + ], + [ + 15.658744719877092, + -14.928546144239007 + ], + [ + 15.658744719877092, + -14.774115519621542 + ], + [ + 15.54810799342139, + -14.774115519621542 + ] + ], + "projected_box_corners": [ + [ + 15.548108014418819, + -14.774115519621542 + ], + [ + 15.548108014170511, + -14.774115519854574 + ], + [ + 15.658744719877092, + -14.774115534486565 + ], + [ + 15.658744719628784, + -14.774115534719597 + ], + [ + 15.548107993669696, + -14.928546129140953 + ], + [ + 15.54810799342139, + -14.928546129373984 + ], + [ + 15.65874469912797, + -14.928546144005976 + ], + [ + 15.658744698879662, + -14.928546144239007 + ] + ], + "yaw_rad": -1.570796461153769, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.180109977722168, + -14.891141891479492, + 0.03378972411155701 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.548108003920104, + -14.851330824497763, + 0.13159014279141196 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 15.190152168273926, + -14.858139038085938, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.54810799080719, + -14.851330831930275, + 0.13159014284866988 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.207003593444824, + -14.865071296691895, + 0.050359368324279785 + ], + "box_pose": [ + 15.604987144470215, + -14.855631828308105, + 0.14878453314304352, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003963340124594486 + } + } + }, + { + "simulation_time_ns": 80000000, + "center": [ + 15.605343524127338, + -14.849492825882496, + 0.11921281888466798 + ], + "face_center": [ + 15.550031678538074, + -14.84952352330897, + 0.12006115165638499 + ], + "face_normal": [ + -0.9998822507317209, + -0.0005549229382589838, + 0.015335465163334047 + ], + "footprint_xy": [ + [ + 15.548131927161148, + -14.928626805049937 + ], + [ + 15.662555121093531, + -14.928626805049937 + ], + [ + 15.662555121093531, + -14.770358846715057 + ], + [ + 15.548131927161148, + -14.770358846715057 + ] + ], + "projected_box_corners": [ + [ + 15.548131927161148, + -14.774215528356267 + ], + [ + 15.551808286426684, + -14.770420241568006 + ], + [ + 15.658755618339677, + -14.77415413350332 + ], + [ + 15.662431977605214, + -14.770358846715057 + ], + [ + 15.548255070649464, + -14.928626805049937 + ], + [ + 15.551931429915001, + -14.924831518261675 + ], + [ + 15.658878761827994, + -14.928565410196988 + ], + [ + 15.662555121093531, + -14.924770123408726 + ] + ], + "yaw_rad": -1.569998823757253, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.163036346435547, + -14.906710624694824, + 0.023787319660186768 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.548108003920104, + -14.851330824497763, + 0.12158395344509847 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 15.190797805786133, + -14.858139991760254, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.54810799080719, + -14.851330831930275, + 0.12158395350235641 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.180109977722168, + -14.891141891479492, + 0.03378972411155701 + ], + "box_pose": [ + 15.604987144470215, + -14.855631828308105, + 0.13877834379673004, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006456382174156724 + } + } + }, + { + "simulation_time_ns": 100000000, + "center": [ + 15.605794861619378, + -14.848695697697575, + 0.11947825795211423 + ], + "face_center": [ + 15.550485089462653, + -14.848980737035722, + 0.12041077518023141 + ], + "face_normal": [ + -0.9998447689161841, + -0.005152707741661433, + 0.01685728282906704 + ], + "footprint_xy": [ + [ + 15.548050182347476, + -14.92893013055276 + ], + [ + 15.663539540891282, + -14.92893013055276 + ], + [ + 15.663539540891282, + -14.76846126484239 + ], + [ + 15.548050182347476, + -14.76846126484239 + ] + ], + "projected_box_corners": [ + [ + 15.548050182347476, + -14.774542285185749 + ], + [ + 15.552064779171229, + -14.769031343518684 + ], + [ + 15.658669726660928, + -14.773972206509455 + ], + [ + 15.662684323484681, + -14.76846126484239 + ], + [ + 15.548905399754076, + -14.92893013055276 + ], + [ + 15.55291999657783, + -14.923419188885696 + ], + [ + 15.65952494406753, + -14.928360051876467 + ], + [ + 15.663539540891282, + -14.922849110209402 + ] + ], + "yaw_rad": -1.5652569745404101, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.161595344543457, + -14.906967163085938, + 0.023129373788833618 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550031678538074, + -14.84952352330897, + 0.12006115165638499 + ], + "intended_face_normal": [ + -0.9998822507317209, + -0.0005549229382589838, + 0.015335465163334047 + ], + "commanded_contact_point": [ + 15.191505432128906, + -14.858214378356934, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.550018650378345, + -14.849492825882496, + 0.11921281888466798 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.163036346435547, + -14.906710624694824, + 0.023787319660186768 + ], + "box_pose": [ + 15.607171058654785, + -14.853520393371582, + 0.13644710183143616, + 0.011012247763574123, + 0.0001715594989946112, + 0.706824779510498, + -0.7073029279708862 + ], + "box_yaw_rad": -1.569998823757253, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007115254091573946 + } + } + }, + { + "simulation_time_ns": 120000000, + "center": [ + 15.6052607474076, + -14.848729899345054, + 0.11919643697061247 + ], + "face_center": [ + 15.549948155142463, + -14.849300064212041, + 0.11975617223711574 + ], + "face_normal": [ + -0.9998957485267136, + -0.010306973568097955, + 0.010118435791154123 + ], + "footprint_xy": [ + [ + 15.547949463857362, + -14.929221916798463 + ], + [ + 15.662572030957838, + -14.929221916798463 + ], + [ + 15.662572030957838, + -14.768237881891645 + ], + [ + 15.547949463857362, + -14.768237881891645 + ] + ], + "projected_box_corners": [ + [ + 15.547949463857362, + -14.774839506979747 + ], + [ + 15.550320051442176, + -14.76937821162562 + ], + [ + 15.658574648387638, + -14.773699177245772 + ], + [ + 15.660945235972452, + -14.768237881891645 + ], + [ + 15.549576258842748, + -14.929221916798463 + ], + [ + 15.551946846427562, + -14.923760621444336 + ], + [ + 15.660201443373024, + -14.92808158706449 + ], + [ + 15.662572030957838, + -14.922620291710363 + ] + ], + "yaw_rad": -1.5602592793455792, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.160523414611816, + -14.90687084197998, + 0.023203939199447632 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550485089462653, + -14.848980737035722, + 0.12041077518023141 + ], + "intended_face_normal": [ + -0.9998447689161841, + -0.005152707741661433, + 0.01685728282906704 + ], + "commanded_contact_point": [ + 15.192178726196289, + -14.858580589294434, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.550467913871723, + -14.848695697697575, + 0.11947825795211423 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.161595344543457, + -14.906967163085938, + 0.023129373788833618 + ], + "box_pose": [ + 15.607666969299316, + -14.852592468261719, + 0.13673780858516693, + 0.014045758172869682, + 0.0021679571364074945, + 0.7051427960395813, + -0.7089229822158813 + ], + "box_yaw_rad": -1.5652569745404101, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007664433130000028 + } + } + }, + { + "simulation_time_ns": 140000000, + "center": [ + 15.60481900684272, + -14.84976148903625, + 0.11897526355508994 + ], + "face_center": [ + 15.549504835407783, + -14.85034539458671, + 0.11932346734034521 + ], + "face_normal": [ + -0.9999242954651747, + -0.010555366391921117, + 0.006294542892308186 + ], + "footprint_xy": [ + [ + 15.547945785886228, + -14.929221801203092 + ], + [ + 15.661692227799213, + -14.929221801203092 + ], + [ + 15.661692227799213, + -14.77030117686941 + ], + [ + 15.547945785886228, + -14.77030117686941 + ] + ], + "projected_box_corners": [ + [ + 15.547945785886228, + -14.774814826322238 + ], + [ + 15.549420444944213, + -14.771468987970328 + ], + [ + 15.658574128756099, + -14.77364701522132 + ], + [ + 15.660048787814086, + -14.77030117686941 + ], + [ + 15.549589225871353, + -14.929221801203092 + ], + [ + 15.55106388492934, + -14.925875962851183 + ], + [ + 15.660217568741226, + -14.928053990102173 + ], + [ + 15.661692227799213, + -14.924708151750263 + ] + ], + "yaw_rad": -1.5601531681463257, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15953540802002, + -14.906822204589844, + 0.02327027916908264 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549948155142463, + -14.849300064212041, + 0.11975617223711574 + ], + "intended_face_normal": [ + -0.9998957485267136, + -0.010306973568097955, + 0.010118435791154123 + ], + "commanded_contact_point": [ + 15.192147254943848, + -14.859288215637207, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.549936620500269, + -14.848729899345054, + 0.11919643697061247 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.160523414611816, + -14.90687084197998, + 0.023203939199447632 + ], + "box_pose": [ + 15.607036590576172, + -14.852622032165527, + 0.13646720349788666, + 0.011566899716854095, + 0.004495140630751848, + 0.7033581733703613, + -0.710727334022522 + ], + "box_yaw_rad": -1.5602592793455792, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007083258294860786 + } + } + }, + { + "simulation_time_ns": 160000000, + "center": [ + 15.605503724255646, + -14.850181752849675, + 0.11885497689083165 + ], + "face_center": [ + 15.55019260616745, + -14.850777093265997, + 0.11952338828145576 + ], + "face_normal": [ + -0.9998690995631608, + -0.01076207653316874, + 0.012082993770174966 + ], + "footprint_xy": [ + [ + 15.547916084772515, + -14.929227776541726 + ], + [ + 15.66309136373878, + -14.929227776541726 + ], + [ + 15.66309136373878, + -14.771135729157624 + ], + [ + 15.547916084772515, + -14.771135729157624 + ] + ], + "projected_box_corners": [ + [ + 15.547916084772515, + -14.7748143952763 + ], + [ + 15.550787989550615, + -14.772326409990265 + ], + [ + 15.658538320948908, + -14.773623714443659 + ], + [ + 15.66141022572701, + -14.771135729157624 + ], + [ + 15.549597222784284, + -14.929227776541726 + ], + [ + 15.552469127562384, + -14.926739791255692 + ], + [ + 15.660219458960679, + -14.928037095709085 + ], + [ + 15.66309136373878, + -14.92554911042305 + ] + ], + "yaw_rad": -1.5599095009276038, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.158736228942871, + -14.906850814819336, + 0.02332291007041931 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549504835407783, + -14.85034539458671, + 0.11932346734034521 + ], + "intended_face_normal": [ + -0.9999242954651747, + -0.010555366391921117, + 0.006294542892308186 + ], + "commanded_contact_point": [ + 15.190317153930664, + -14.860640525817871, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.549496459389406, + -14.84976148903625, + 0.11897526355508994 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15953540802002, + -14.906822204589844, + 0.02327027916908264 + ], + "box_pose": [ + 15.606531143188477, + -14.853805541992188, + 0.13621753454208374, + 0.00711904838681221, + 0.0027200866024941206, + 0.7033289670944214, + -0.7108235359191895 + ], + "box_yaw_rad": -1.5601531681463257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022755246742637808 + } + } + }, + { + "simulation_time_ns": 180000000, + "center": [ + 15.606016331781042, + -14.850752207376997, + 0.11884640815416685 + ], + "face_center": [ + 15.550708674566804, + -14.851364907719839, + 0.11974622208568822 + ], + "face_normal": [ + -0.9998065367177433, + -0.011075895069100672, + 0.01626609941332305 + ], + "footprint_xy": [ + [ + 15.547902792154277, + -14.929238248624332 + ], + [ + 15.664129871407807, + -14.929238248624332 + ], + [ + 15.664129871407807, + -14.772266166129663 + ], + [ + 15.547902792154277, + -14.772266166129663 + ] + ], + "projected_box_corners": [ + [ + 15.547902792154277, + -14.77481943064466 + ], + [ + 15.551790446164233, + -14.773491566815348 + ], + [ + 15.658518106582749, + -14.773594029958977 + ], + [ + 15.662405760592707, + -14.772266166129663 + ], + [ + 15.549626902969377, + -14.929238248624332 + ], + [ + 15.553514556979334, + -14.92791038479502 + ], + [ + 15.660242217397851, + -14.928012847938648 + ], + [ + 15.664129871407807, + -14.926684984109336 + ] + ], + "yaw_rad": -1.559631630678156, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.158178329467773, + -14.90695858001709, + 0.023359715938568115 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55019260616745, + -14.850777093265997, + 0.11952338828145576 + ], + "intended_face_normal": [ + -0.9998690995631608, + -0.01076207653316874, + 0.012082993770174966 + ], + "commanded_contact_point": [ + 15.186514854431152, + -14.862253189086914, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.550178122824658, + -14.850181752849675, + 0.11885497689083165 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.158736228942871, + -14.906850814819336, + 0.02332291007041931 + ], + "box_pose": [ + 15.607316970825195, + -14.854287147521973, + 0.13607239723205566, + 0.00789633858948946, + -0.0006085759960114956, + 0.7032471895217896, + -0.7109013199806213 + ], + "box_yaw_rad": -1.5599095009276038, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004130153060524868 + } + } + }, + { + "simulation_time_ns": 200000000, + "center": [ + 15.606505565682188, + -14.851378005344156, + 0.11885496148036867 + ], + "face_center": [ + 15.55120213900355, + -14.851995869631123, + 0.1199818935588276 + ], + "face_normal": [ + -0.9997300605594939, + -0.011169244622359686, + 0.02037175529087748 + ], + "footprint_xy": [ + [ + 15.547896121557933, + -14.929232336349655 + ], + [ + 15.665115009806442, + -14.929232336349655 + ], + [ + 15.665115009806442, + -14.773523674338657 + ], + [ + 15.547896121557933, + -14.773523674338657 + ] + ], + "projected_box_corners": [ + [ + 15.547896121557933, + -14.774811348733936 + ], + [ + 15.552782959723052, + -14.774759402912593 + ], + [ + 15.658502974915208, + -14.773575620159999 + ], + [ + 15.663389813080327, + -14.773523674338657 + ], + [ + 15.549621318284048, + -14.929232336349655 + ], + [ + 15.554508156449167, + -14.92918039052831 + ], + [ + 15.660228171641323, + -14.927996607775718 + ], + [ + 15.665115009806442, + -14.927944661954374 + ] + ], + "yaw_rad": -1.5596247562611445, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.157803535461426, + -14.90711784362793, + 0.023382604122161865 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550708674566804, + -14.851364907719839, + 0.11974622208568822 + ], + "intended_face_normal": [ + -0.9998065367177433, + -0.011075895069100672, + 0.01626609941332305 + ], + "commanded_contact_point": [ + 15.18101692199707, + -14.863826751708984, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.550687268353235, + -14.850752207376997, + 0.11884640815416685 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.158178329467773, + -14.90695858001709, + 0.023359715938568115 + ], + "box_pose": [ + 15.607903480529785, + -14.854940414428711, + 0.13603591918945312, + 0.007665680721402168, + -0.0038153764326125383, + 0.7031381726264954, + -0.7110018134117126 + ], + "box_yaw_rad": -1.559631630678156, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005718685196440522 + } + } + }, + { + "simulation_time_ns": 220000000, + "center": [ + 15.607009298955608, + -14.852040573648114, + 0.11886755285385547 + ], + "face_center": [ + 15.551711181747914, + -14.852664475676448, + 0.12022749937816198 + ], + "face_normal": [ + -0.9996340802916185, + -0.011278389966572044, + 0.024583999631758502 + ], + "footprint_xy": [ + [ + 15.547894596301884, + -14.930523013467852 + ], + [ + 15.666124001609335, + -14.930523013467852 + ], + [ + 15.666124001609335, + -14.773558133828377 + ], + [ + 15.547894596301884, + -14.773558133828377 + ] + ], + "projected_box_corners": [ + [ + 15.547894596301884, + -14.774805937885045 + ], + [ + 15.553807143250896, + -14.77610448052848 + ], + [ + 15.658490830717273, + -14.773558133828377 + ], + [ + 15.664403377666286, + -14.774856676471812 + ], + [ + 15.549615220244931, + -14.929224470824417 + ], + [ + 15.555527767193944, + -14.930523013467852 + ], + [ + 15.660211454660322, + -14.92797666676775 + ], + [ + 15.666124001609335, + -14.929275209411184 + ] + ], + "yaw_rad": -1.5596541879199455, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.157550811767578, + -14.907312393188477, + 0.023401081562042236 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55120213900355, + -14.851995869631123, + 0.1199818935588276 + ], + "intended_face_normal": [ + -0.9997300605594939, + -0.011169244622359686, + 0.02037175529087748 + ], + "commanded_contact_point": [ + 15.174568176269531, + -14.865561485290527, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 15.551172269757652, + -14.851378005344156, + 0.11885496148036867 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157803535461426, + -14.90711784362793, + 0.023382604122161865 + ], + "box_pose": [ + 15.608464241027832, + -14.855657577514648, + 0.1360139399766922, + 0.00723911402747035, + -0.007166458759456873, + 0.7031095027923584, + -0.711008608341217 + ], + "box_yaw_rad": -1.5596247562611445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006677995362195987 + } + } + }, + { + "simulation_time_ns": 240000000, + "center": [ + 15.607520145353199, + -14.85259235137956, + 0.11892017207750226 + ], + "face_center": [ + 15.552228403883165, + -14.853223449124851, + 0.12051545811261613 + ], + "face_normal": [ + -0.9995188249271552, + -0.011408468245309944, + 0.028838274593030955 + ], + "footprint_xy": [ + [ + 15.547897398839725, + -14.931636605431196 + ], + [ + 15.667142891866673, + -14.931636605431196 + ], + [ + 15.667142891866673, + -14.773548097327922 + ], + [ + 15.547897398839725, + -14.773548097327922 + ] + ], + "projected_box_corners": [ + [ + 15.547897398839725, + -14.774810292818506 + ], + [ + 15.554843226205113, + -14.77722386899571 + ], + [ + 15.658480881779793, + -14.773548097327922 + ], + [ + 15.665426709145182, + -14.775961673505126 + ], + [ + 15.549613581561216, + -14.929223029253992 + ], + [ + 15.556559408926605, + -14.931636605431196 + ], + [ + 15.660197064501284, + -14.927960833763407 + ], + [ + 15.667142891866673, + -14.930374409940612 + ] + ], + "yaw_rad": -1.5596825281436169, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.157370567321777, + -14.907520294189453, + 0.023412644863128662 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551711181747914, + -14.852664475676448, + 0.12022749937816198 + ], + "intended_face_normal": [ + -0.9996340802916185, + -0.011278389966572044, + 0.024583999631758502 + ], + "commanded_contact_point": [ + 15.167991638183594, + -14.867541313171387, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.55167069018243, + -14.852040573648114, + 0.11886755285385547 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157550811767578, + -14.907312393188477, + 0.023401081562042236 + ], + "box_pose": [ + 15.609041213989258, + -14.856416702270508, + 0.13599362969398499, + 0.006740854121744633, + -0.010666322894394398, + 0.703075647354126, + -0.7110030651092529 + ], + "box_yaw_rad": -1.5596541879199455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006868083548872612 + } + } + }, + { + "simulation_time_ns": 260000000, + "center": [ + 15.607608478774749, + -14.8526242559214, + 0.11894827000561567 + ], + "face_center": [ + 15.552317943169623, + -14.85325637129112, + 0.12058449370103969 + ], + "face_normal": [ + -0.9994970262888158, + -0.011426864026398031, + 0.02957831209303674 + ], + "footprint_xy": [ + [ + 15.547897566342257, + -14.931699838902443 + ], + [ + 15.667319391207242, + -14.931699838902443 + ], + [ + 15.667319391207242, + -14.773548672940358 + ], + [ + 15.547897566342257, + -14.773548672940358 + ] + ], + "projected_box_corners": [ + [ + 15.547897566342257, + -14.774812903679798 + ], + [ + 15.555021653022072, + -14.777287529578725 + ], + [ + 15.658478637552511, + -14.773548672940358 + ], + [ + 15.665602724232325, + -14.776023298839286 + ], + [ + 15.549614233317174, + -14.929225213003514 + ], + [ + 15.556738319996988, + -14.931699838902443 + ], + [ + 15.660195304527427, + -14.927960982264075 + ], + [ + 15.667319391207242, + -14.930435608163002 + ] + ], + "yaw_rad": -1.559679361685955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15721607208252, + -14.907723426818848, + 0.023424476385116577 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.552228403883165, + -14.853223449124851, + 0.12051545811261613 + ], + "intended_face_normal": [ + -0.9995188249271552, + -0.011408468245309944, + 0.028838274593030955 + ], + "commanded_contact_point": [ + 15.161935806274414, + -14.869828224182129, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.552175155438052, + -14.85259235137956, + 0.11892017207750226 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157370567321777, + -14.907520294189453, + 0.023412644863128662 + ], + "box_pose": [ + 15.609625816345215, + -14.857048034667969, + 0.13601680099964142, + 0.0066025047563016415, + -0.013832674361765385, + 0.7030307054519653, + -0.7109941840171814 + ], + "box_yaw_rad": -1.5596825281436169, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00647325745535481 + } + } + }, + { + "simulation_time_ns": 280000000, + "center": [ + 15.607579153040591, + -14.85259334144706, + 0.11894516777612252 + ], + "face_center": [ + 15.552288223209052, + -14.853225325909397, + 0.12056836905702682 + ], + "face_normal": [ + -0.9995041527910876, + -0.011424497589961002, + 0.029342903547160015 + ], + "footprint_xy": [ + [ + 15.547895835175094, + -14.931638403889622 + ], + [ + 15.66726247090609, + -14.931638403889622 + ], + [ + 15.66726247090609, + -14.773548279004498 + ], + [ + 15.547895835175094, + -14.773548279004498 + ] + ], + "projected_box_corners": [ + [ + 15.547895835175094, + -14.774812247929175 + ], + [ + 15.554962761305326, + -14.77722566410337 + ], + [ + 15.658477694838174, + -14.773548279004498 + ], + [ + 15.665544620968404, + -14.77596169517869 + ], + [ + 15.54961368511278, + -14.929224987715427 + ], + [ + 15.55668061124301, + -14.931638403889622 + ], + [ + 15.660195544775858, + -14.92796101879075 + ], + [ + 15.66726247090609, + -14.930374434964943 + ] + ], + "yaw_rad": -1.559671732578184, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.157049179077148, + -14.90791130065918, + 0.02343502640724182 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.552317943169623, + -14.85325637129112, + 0.12058449370103969 + ], + "intended_face_normal": [ + -0.9994970262888158, + -0.011426864026398031, + 0.02957831209303674 + ], + "commanded_contact_point": [ + 15.156575202941895, + -14.872313499450684, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.552262281807067, + -14.8526242559214, + 0.11894827000561567 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15721607208252, + -14.907723426818848, + 0.023424476385116577 + ], + "box_pose": [ + 15.609726905822754, + -14.857084274291992, + 0.13604219257831573, + 0.006773239932954311, + -0.014186494052410126, + 0.7030225396156311, + -0.7109937071800232 + ], + "box_yaw_rad": -1.559679361685955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005908693700764664 + } + } + }, + { + "simulation_time_ns": 300000000, + "center": [ + 15.607537560584477, + -14.852545781172173, + 0.11894130387570699 + ], + "face_center": [ + 15.55224605838171, + -14.853177492327596, + 0.1205449612857871 + ], + "face_normal": [ + -0.9995144996494553, + -0.011419556971348332, + 0.028989605454508682 + ], + "footprint_xy": [ + [ + 15.547895790113682, + -14.931543272050257 + ], + [ + 15.667179331055275, + -14.931543272050257 + ], + [ + 15.667179331055275, + -14.77354829029409 + ], + [ + 15.547895790113682, + -14.77354829029409 + ] + ], + "projected_box_corners": [ + [ + 15.547895790113682, + -14.774811712604935 + ], + [ + 15.554876888327318, + -14.777129922006047 + ], + [ + 15.658478794519217, + -14.77354829029409 + ], + [ + 15.665459892732853, + -14.7758664996952 + ], + [ + 15.549615228436101, + -14.929225062649145 + ], + [ + 15.556596326649737, + -14.931543272050257 + ], + [ + 15.660198232841639, + -14.927961640338298 + ], + [ + 15.667179331055275, + -14.93027984973941 + ] + ], + "yaw_rad": -1.5596614912377949, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156871795654297, + -14.908092498779297, + 0.023448795080184937 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.552288223209052, + -14.853225325909397, + 0.12056836905702682 + ], + "intended_face_normal": [ + -0.9995041527910876, + -0.011424497589961002, + 0.029342903547160015 + ], + "commanded_contact_point": [ + 15.151871681213379, + -14.874837875366211, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.55223335069338, + -14.85259334144706, + 0.11894516777612252 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157049179077148, + -14.90791130065918, + 0.02343502640724182 + ], + "box_pose": [ + 15.60969352722168, + -14.857048988342285, + 0.13604073226451874, + 0.006780155468732119, + -0.014012032188475132, + 0.7030233144760132, + -0.7109964489936829 + ], + "box_yaw_rad": -1.559671732578184, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005338126114430853 + } + } + }, + { + "simulation_time_ns": 320000000, + "center": [ + 15.607476534971653, + -14.852479917097542, + 0.11893571259109664 + ], + "face_center": [ + 15.552184235339489, + -14.853111032967982, + 0.12051186155265131 + ], + "face_normal": [ + -0.9995289149250763, + -0.01140879589689503, + 0.028492330248217457 + ], + "footprint_xy": [ + [ + 15.54789359205097, + -14.93141084023603 + ], + [ + 15.667059477892337, + -14.93141084023603 + ], + [ + 15.667059477892337, + -14.773548993959055 + ], + [ + 15.54789359205097, + -14.773548993959055 + ] + ], + "projected_box_corners": [ + [ + 15.54789359205097, + -14.774811225699935 + ], + [ + 15.554753889379299, + -14.77699666991514 + ], + [ + 15.658478191315298, + -14.773548993959055 + ], + [ + 15.665338488643627, + -14.77573443817426 + ], + [ + 15.549614581299679, + -14.929225396020824 + ], + [ + 15.556474878628007, + -14.93141084023603 + ], + [ + 15.660199180564007, + -14.927963164279943 + ], + [ + 15.667059477892337, + -14.930148608495148 + ] + ], + "yaw_rad": -1.5596515076919877, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156681060791016, + -14.908245086669922, + 0.02346104383468628 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55224605838171, + -14.853177492327596, + 0.1205449612857871 + ], + "intended_face_normal": [ + -0.9995144996494553, + -0.011419556971348332, + 0.028989605454508682 + ], + "commanded_contact_point": [ + 15.147669792175293, + -14.87723445892334, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.552192331170604, + -14.852545781172173, + 0.11894130387570699 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156871795654297, + -14.908092498779297, + 0.023448795080184937 + ], + "box_pose": [ + 15.60964584350586, + -14.85699462890625, + 0.1360393911600113, + 0.00679544173181057, + -0.01374523714184761, + 0.7030249238014221, + -0.7109999060630798 + ], + "box_yaw_rad": -1.5596614912377949, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00483730133800732 + } + } + }, + { + "simulation_time_ns": 340000000, + "center": [ + 15.607398796865029, + -14.852390541018057, + 0.11892973213451696 + ], + "face_center": [ + 15.552105492313038, + -14.85302110985571, + 0.1204707793579008 + ], + "face_normal": [ + -0.9995470810428025, + -0.01139890708614899, + 0.027857789769719088 + ], + "footprint_xy": [ + [ + 15.547890667462905, + -14.931232762096888 + ], + [ + 15.666906926267155, + -14.931232762096888 + ], + [ + 15.666906926267155, + -14.773548319939225 + ], + [ + 15.547890667462905, + -14.773548319939225 + ] + ], + "projected_box_corners": [ + [ + 15.547890667462905, + -14.774809457614534 + ], + [ + 15.554596737805356, + -14.776817550642726 + ], + [ + 15.658477276566888, + -14.773548319939225 + ], + [ + 15.66518334690934, + -14.775556412967417 + ], + [ + 15.549614246820719, + -14.929224669068695 + ], + [ + 15.556320317163172, + -14.931232762096888 + ], + [ + 15.660200855924701, + -14.927963531393386 + ], + [ + 15.666906926267155, + -14.92997162442158 + ] + ], + "yaw_rad": -1.5596348112498193, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156481742858887, + -14.908382415771484, + 0.023472636938095093 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.552184235339489, + -14.853111032967982, + 0.12051186155265131 + ], + "intended_face_normal": [ + -0.9995289149250763, + -0.01140879589689503, + 0.028492330248217457 + ], + "commanded_contact_point": [ + 15.143868446350098, + -14.879359245300293, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.552132103750532, + -14.852479917097542, + 0.11893571259109664 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156681060791016, + -14.908245086669922, + 0.02346104383468628 + ], + "box_pose": [ + 15.609576225280762, + -14.856919288635254, + 0.13603731989860535, + 0.006815153639763594, + -0.01337153185158968, + 0.7030285596847534, + -0.7110032439231873 + ], + "box_yaw_rad": -1.5596515076919877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004354876258949543 + } + } + }, + { + "simulation_time_ns": 360000000, + "center": [ + 15.607301933543756, + -14.85227797172917, + 0.11892249403514514 + ], + "face_center": [ + 15.55200741977265, + -14.852907924447411, + 0.12041944648652575 + ], + "face_normal": [ + -0.9995689403157337, + -0.011387769383905177, + 0.027060680589824804 + ], + "footprint_xy": [ + [ + 15.547887832064099, + -14.93100695640023 + ], + [ + 15.666716035023411, + -14.93100695640023 + ], + [ + 15.666716035023411, + -14.773548987058113 + ], + [ + 15.547887832064099, + -14.773548987058113 + ] + ], + "projected_box_corners": [ + [ + 15.547887832064099, + -14.774808892494594 + ], + [ + 15.554400121067058, + -14.776590599644253 + ], + [ + 15.65847685960631, + -14.773548987058113 + ], + [ + 15.66498914860927, + -14.775330694207772 + ], + [ + 15.549614718478242, + -14.929225249250571 + ], + [ + 15.556127007481201, + -14.93100695640023 + ], + [ + 15.660203746020452, + -14.92796534381409 + ], + [ + 15.666716035023411, + -14.929747050963748 + ] + ], + "yaw_rad": -1.5596134802108237, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156275749206543, + -14.908515930175781, + 0.023485302925109863 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.552105492313038, + -14.85302110985571, + 0.1204707793579008 + ], + "intended_face_normal": [ + -0.9995470810428025, + -0.01139890708614899, + 0.027857789769719088 + ], + "commanded_contact_point": [ + 15.140467643737793, + -14.881223678588867, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.552055371492928, + -14.852390541018057, + 0.11892973213451696 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156481742858887, + -14.908382415771484, + 0.023472636938095093 + ], + "box_pose": [ + 15.609487533569336, + -14.856817245483398, + 0.1360359638929367, + 0.0068519278429448605, + -0.012882936745882034, + 0.7030317187309265, + -0.7110089063644409 + ], + "box_yaw_rad": -1.5596348112498193, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038783462839881338 + } + } + }, + { + "simulation_time_ns": 380000000, + "center": [ + 15.607183507791209, + -14.852139521345107, + 0.11891339872603925 + ], + "face_center": [ + 15.551887535625527, + -14.852768544944224, + 0.12035597268890338 + ], + "face_normal": [ + -0.9995953039786394, + -0.011370973529244877, + 0.02607767080394674 + ], + "footprint_xy": [ + [ + 15.547885802317849, + -14.930729239229654 + ], + [ + 15.66648121326457, + -14.930729239229654 + ], + [ + 15.66648121326457, + -14.77354980346056 + ], + [ + 15.547885802317849, + -14.77354980346056 + ] + ], + "projected_box_corners": [ + [ + 15.547885802317849, + -14.774807850658794 + ], + [ + 15.55415912147, + -14.776311620907794 + ], + [ + 15.658477746649213, + -14.77354980346056 + ], + [ + 15.664751065801365, + -14.77505357370956 + ], + [ + 15.549615949781055, + -14.929225468980654 + ], + [ + 15.555889268933205, + -14.930729239229654 + ], + [ + 15.660207894112418, + -14.92796742178242 + ], + [ + 15.66648121326457, + -14.92947119203142 + ] + ], + "yaw_rad": -1.55959245583669, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156068801879883, + -14.908644676208496, + 0.023497968912124634 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55200741977265, + -14.852907924447411, + 0.12041944648652575 + ], + "intended_face_normal": [ + -0.9995689403157337, + -0.011387769383905177, + 0.027060680589824804 + ], + "commanded_contact_point": [ + 15.137544631958008, + -14.882939338684082, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 15.551959718460402, + -14.85227797172917, + 0.11892249403514514 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156275749206543, + -14.908515930175781, + 0.023485302925109863 + ], + "box_pose": [ + 15.609376907348633, + -14.856688499450684, + 0.13603457808494568, + 0.006903397385030985, + -0.012263846583664417, + 0.7030351758003235, + -0.7110158205032349 + ], + "box_yaw_rad": -1.5596134802108237, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033893196120499624 + } + } + }, + { + "simulation_time_ns": 400000000, + "center": [ + 15.607046583757839, + -14.851981113237985, + 0.11890304987339105 + ], + "face_center": [ + 15.551749016925195, + -14.852609480573758, + 0.12028324519902199 + ], + "face_normal": [ + -0.9996241310621333, + -0.011359110137928896, + 0.024950040880738822 + ], + "footprint_xy": [ + [ + 15.547882121871305, + -14.930411415944388 + ], + [ + 15.666211045644372, + -14.930411415944388 + ], + [ + 15.666211045644372, + -14.77355081053158 + ], + [ + 15.547882121871305, + -14.77355081053158 + ] + ], + "projected_box_corners": [ + [ + 15.547882121871305, + -14.77480754520313 + ], + [ + 15.553881321654941, + -14.775992640813186 + ], + [ + 15.658477255536594, + -14.77355081053158 + ], + [ + 15.664476455320228, + -14.774735906141636 + ], + [ + 15.54961671219545, + -14.929226320334331 + ], + [ + 15.555615911979086, + -14.930411415944388 + ], + [ + 15.660211845860738, + -14.927969585662783 + ], + [ + 15.666211045644372, + -14.92915468127284 + ] + ], + "yaw_rad": -1.5595637718753177, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155837059020996, + -14.908770561218262, + 0.02351328730583191 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551887535625527, + -14.852768544944224, + 0.12035597268890338 + ], + "intended_face_normal": [ + -0.9995953039786394, + -0.011370973529244877, + 0.02607767080394674 + ], + "commanded_contact_point": [ + 15.135130882263184, + -14.884636878967285, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.55184275232206, + -14.852139521345107, + 0.11891339872603925 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156068801879883, + -14.908644676208496, + 0.023497968912124634 + ], + "box_pose": [ + 15.609241485595703, + -14.85653018951416, + 0.13603264093399048, + 0.006965058855712414, + -0.011502210982143879, + 0.7030405402183533, + -0.711022675037384 + ], + "box_yaw_rad": -1.55959245583669, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002950903353951084 + } + } + }, + { + "simulation_time_ns": 420000000, + "center": [ + 15.606908159390748, + -14.851821882457703, + 0.1188926015523018 + ], + "face_center": [ + 15.551609028399143, + -14.852448865912928, + 0.12020934126518823 + ], + "face_normal": [ + -0.9996524066469552, + -0.011334093478597596, + 0.02380294227615215 + ], + "footprint_xy": [ + [ + 15.547880555791336, + -14.93009091556584 + ], + [ + 15.665935762990161, + -14.93009091556584 + ], + [ + 15.665935762990161, + -14.773552849349567 + ], + [ + 15.547880555791336, + -14.773552849349567 + ] + ], + "projected_box_corners": [ + [ + 15.547880555791336, + -14.774806816260018 + ], + [ + 15.553600923900968, + -14.775671211693403 + ], + [ + 15.658478817774544, + -14.773552849349567 + ], + [ + 15.664199185884176, + -14.774417244782951 + ], + [ + 15.54961713289732, + -14.929226520132454 + ], + [ + 15.555337501006953, + -14.93009091556584 + ], + [ + 15.660215394880527, + -14.927972553222004 + ], + [ + 15.665935762990161, + -14.92883694865539 + ] + ], + "yaw_rad": -1.5595509749356449, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155600547790527, + -14.908902168273926, + 0.023525983095169067 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551749016925195, + -14.852609480573758, + 0.12028324519902199 + ], + "intended_face_normal": [ + -0.9996241310621333, + -0.011359110137928896, + 0.024950040880738822 + ], + "commanded_contact_point": [ + 15.1332368850708, + -14.886392593383789, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 15.55170742420112, + -14.851981113237985, + 0.11890304987339105 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155837059020996, + -14.908770561218262, + 0.02351328730583191 + ], + "box_pose": [ + 15.609085083007812, + -14.856348991394043, + 0.13603045046329498, + 0.007035552524030209, + -0.010628803633153439, + 0.703044056892395, + -0.7110320329666138 + ], + "box_yaw_rad": -1.5595637718753177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002582587555184941 + } + } + }, + { + "simulation_time_ns": 440000000, + "center": [ + 15.606764995302484, + -14.85165781065237, + 0.1188819934097961 + ], + "face_center": [ + 15.551464294250115, + -14.852282435032624, + 0.12013241972743612 + ], + "face_normal": [ + -0.999680788919772, + -0.011291448053071917, + 0.022604183019680923 + ], + "footprint_xy": [ + [ + 15.547882014343138, + -14.929758194186928 + ], + [ + 15.665647976261832, + -14.929758194186928 + ], + [ + 15.665647976261832, + -14.773557427117813 + ], + [ + 15.547882014343138, + -14.773557427117813 + ] + ], + "projected_box_corners": [ + [ + 15.547882014343138, + -14.774806675878322 + ], + [ + 15.553311007796895, + -14.775337780162797 + ], + [ + 15.658483416447876, + -14.773557427117813 + ], + [ + 15.663912409901632, + -14.774088531402287 + ], + [ + 15.549617580703337, + -14.929227089902453 + ], + [ + 15.555046574157092, + -14.929758194186928 + ], + [ + 15.660218982808075, + -14.927977841141944 + ], + [ + 15.665647976261832, + -14.928508945426419 + ] + ], + "yaw_rad": -1.5595575712350251, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155450820922852, + -14.909029006958008, + 0.023534119129180908 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551609028399143, + -14.852448865912928, + 0.12020934126518823 + ], + "intended_face_normal": [ + -0.9996524066469552, + -0.011334093478597596, + 0.02380294227615215 + ], + "commanded_contact_point": [ + 15.131806373596191, + -14.888221740722656, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.551570565125216, + -14.851821882457703, + 0.1188926015523018 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155600547790527, + -14.908902168273926, + 0.023525983095169067 + ], + "box_pose": [ + 15.608926773071289, + -14.85616683959961, + 0.13602818548679352, + 0.0071022226475179195, + -0.00974541436880827, + 0.703052282333374, + -0.7110359072685242 + ], + "box_yaw_rad": -1.5595509749356449, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023220988500484868 + } + } + }, + { + "simulation_time_ns": 460000000, + "center": [ + 15.606613440294266, + -14.85148365757275, + 0.11887130233129348 + ], + "face_center": [ + 15.551311174982411, + -14.852106156230965, + 0.12005173852647091 + ], + "face_normal": [ + -0.9997090663218233, + -0.011253020990780072, + 0.02133895889939874 + ], + "footprint_xy": [ + [ + 15.547882957641649, + -14.929406071426786 + ], + [ + 15.665343922946885, + -14.929406071426786 + ], + [ + 15.665343922946885, + -14.773561243718714 + ], + [ + 15.547882957641649, + -14.773561243718714 + ] + ], + "projected_box_corners": [ + [ + 15.547882957641649, + -14.774806241035146 + ], + [ + 15.553004436762599, + -14.774985249360233 + ], + [ + 15.65848748826536, + -14.773561243718714 + ], + [ + 15.66360896738631, + -14.7737402520438 + ], + [ + 15.549617913202225, + -14.929227063101699 + ], + [ + 15.554739392323174, + -14.929406071426786 + ], + [ + 15.660222443825935, + -14.927982065785267 + ], + [ + 15.665343922946885, + -14.928161074110355 + ] + ], + "yaw_rad": -1.55956155585316, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15539836883545, + -14.909123420715332, + 0.023538410663604736 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551464294250115, + -14.852282435032624, + 0.12013241972743612 + ], + "intended_face_normal": [ + -0.999680788919772, + -0.011291448053071917, + 0.022604183019680923 + ], + "commanded_contact_point": [ + 15.130538940429688, + -14.889775276184082, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.551428972145164, + -14.85165781065237, + 0.1188819934097961 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155450820922852, + -14.909029006958008, + 0.023534119129180908 + ], + "box_pose": [ + 15.608762741088867, + -14.855978965759277, + 0.1360260397195816, + 0.007169250398874283, + -0.008824934251606464, + 0.7030667662620544, + -0.7110329866409302 + ], + "box_yaw_rad": -1.5595575712350251, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020049586683922277 + } + } + }, + { + "simulation_time_ns": 480000000, + "center": [ + 15.606448784296582, + -14.851294591401123, + 0.11885930877552914 + ], + "face_center": [ + 15.551144909814747, + -14.851914968704047, + 0.11996290231184908 + ], + "face_normal": [ + -0.9997381555790118, + -0.011214672866938336, + 0.019949860237582273 + ], + "footprint_xy": [ + [ + 15.547885870535318, + -14.929227594958299 + ], + [ + 15.665011698057846, + -14.929227594958299 + ], + [ + 15.665011698057846, + -14.773361587843947 + ], + [ + 15.547885870535318, + -14.773361587843947 + ] + ], + "projected_box_corners": [ + [ + 15.547885870535318, + -14.77480672353548 + ], + [ + 15.552669780381594, + -14.774602342449795 + ], + [ + 15.65849361949899, + -14.773565968929633 + ], + [ + 15.663277529345265, + -14.773361587843947 + ], + [ + 15.5496200392479, + -14.929227594958299 + ], + [ + 15.554403949094175, + -14.929023213872615 + ], + [ + 15.660227788211571, + -14.927986840352451 + ], + [ + 15.665011698057846, + -14.927782459266767 + ] + ], + "yaw_rad": -1.5595666542778697, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155400276184082, + -14.90918254852295, + 0.023538559675216675 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551311174982411, + -14.852106156230965, + 0.12005173852647091 + ], + "intended_face_normal": [ + -0.9997090663218233, + -0.011253020990780072, + 0.02133895889939874 + ], + "commanded_contact_point": [ + 15.12919807434082, + -14.890822410583496, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.551278982351294, + -14.85148365757275, + 0.11887130233129348 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15539836883545, + -14.909123420715332, + 0.023538410663604736 + ], + "box_pose": [ + 15.608589172363281, + -14.855779647827148, + 0.13602422177791595, + 0.007240462116897106, + -0.007853003218770027, + 0.7030797004699707, + -0.711030900478363 + ], + "box_yaw_rad": -1.55956155585316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001701297245842195 + } + } + }, + { + "simulation_time_ns": 500000000, + "center": [ + 15.606263036011105, + -14.851085478017323, + 0.11884541993295261 + ], + "face_center": [ + 15.55095749484601, + -14.851703989432952, + 0.11986337989142617 + ], + "face_normal": [ + -0.9997682845141711, + -0.011180942884387979, + 0.018401846541003075 + ], + "footprint_xy": [ + [ + 15.547886694599152, + -14.929227788557862 + ], + [ + 15.66463937742306, + -14.929227788557862 + ], + [ + 15.66463937742306, + -14.772943167476782 + ], + [ + 15.547886694599152, + -14.772943167476782 + ] + ], + "projected_box_corners": [ + [ + 15.547886694599152, + -14.774807321309103 + ], + [ + 15.552294483472231, + -14.774180190308043 + ], + [ + 15.658497776929343, + -14.773570298477843 + ], + [ + 15.662905565802424, + -14.772943167476782 + ], + [ + 15.549620506219789, + -14.929227788557862 + ], + [ + 15.554028295092868, + -14.928600657556801 + ], + [ + 15.66023158854998, + -14.927990765726602 + ], + [ + 15.66463937742306, + -14.927363634725541 + ] + ], + "yaw_rad": -1.5595689370618204, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15540599822998, + -14.90920639038086, + 0.023539036512374878 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551144909814747, + -14.851914968704047, + 0.11996290231184908 + ], + "intended_face_normal": [ + -0.9997381555790118, + -0.011214672866938336, + 0.019949860237582273 + ], + "commanded_contact_point": [ + 15.12781047821045, + -14.891378402709961, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.551115936413472, + -14.851294591401123, + 0.11885930877552914 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155400276184082, + -14.90918254852295, + 0.023538559675216675 + ], + "box_pose": [ + 15.608400344848633, + -14.855563163757324, + 0.13602183759212494, + 0.007313989568501711, + -0.0067906794138252735, + 0.7030925750732422, + -0.7110283374786377 + ], + "box_yaw_rad": -1.5595666542778697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014948412177255926 + } + } + }, + { + "simulation_time_ns": 520000000, + "center": [ + 15.60605488140494, + -14.850848299426668, + 0.11883042073211211 + ], + "face_center": [ + 15.550747638965209, + -14.85146569901166, + 0.11975198609361228 + ], + "face_normal": [ + -0.9997990387638803, + -0.01116084412058238, + 0.016659303952642146 + ], + "footprint_xy": [ + [ + 15.54788786319178, + -14.929230456367447 + ], + [ + 15.664221899618099, + -14.929230456367447 + ], + [ + 15.664221899618099, + -14.772466142485886 + ], + [ + 15.54788786319178, + -14.772466142485886 + ] + ], + "projected_box_corners": [ + [ + 15.54788786319178, + -14.774811084187624 + ], + [ + 15.551872189340658, + -14.773700941655871 + ], + [ + 15.658502348071243, + -14.773576285017638 + ], + [ + 15.66248667422012, + -14.772466142485886 + ], + [ + 15.54962308858976, + -14.929230456367447 + ], + [ + 15.553607414738636, + -14.928120313835697 + ], + [ + 15.660237573469221, + -14.927995657197462 + ], + [ + 15.664221899618099, + -14.926885514665711 + ] + ], + "yaw_rad": -1.5595597031638868, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.1553955078125, + -14.909193992614746, + 0.023539066314697266 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55095749484601, + -14.851703989432952, + 0.11986337989142617 + ], + "intended_face_normal": [ + -0.9997682845141711, + -0.011180942884387979, + 0.018401846541003075 + ], + "commanded_contact_point": [ + 15.126463890075684, + -14.891519546508789, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.55093185563417, + -14.851085478017323, + 0.11884541993295261 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15540599822998, + -14.90920639038086, + 0.023539036512374878 + ], + "box_pose": [ + 15.608187675476074, + -14.855323791503906, + 0.13601848483085632, + 0.0073893205262720585, + -0.0056135645136237144, + 0.70310378074646, + -0.7110267877578735 + ], + "box_yaw_rad": -1.5595689370618204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013539649835350985 + } + } + }, + { + "simulation_time_ns": 540000000, + "center": [ + 15.605851735867242, + -14.850593436694904, + 0.11882300453841949 + ], + "face_center": [ + 15.550542995359015, + -14.851208815203726, + 0.11965085692729376 + ], + "face_normal": [ + -0.9998261196194108, + -0.011124308760598112, + 0.014965237573303813 + ], + "footprint_xy": [ + [ + 15.547890230495241, + -14.929230531301105 + ], + [ + 15.663813241239243, + -14.929230531301105 + ], + [ + 15.663813241239243, + -14.771956342088703 + ], + [ + 15.547890230495241, + -14.771956342088703 + ] + ], + "projected_box_corners": [ + [ + 15.547890230495241, + -14.774813008034462 + ], + [ + 15.551462392645506, + -14.773187099106348 + ], + [ + 15.658507711511696, + -14.773582251016817 + ], + [ + 15.662079873661959, + -14.771956342088703 + ], + [ + 15.549623598072525, + -14.929230531301105 + ], + [ + 15.553195760222788, + -14.927604622372991 + ], + [ + 15.660241079088978, + -14.92799977428346 + ], + [ + 15.663813241239243, + -14.926373865355346 + ] + ], + "yaw_rad": -1.5595715982684544, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155375480651855, + -14.909160614013672, + 0.023540198802947998 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550747638965209, + -14.85146569901166, + 0.11975198609361228 + ], + "intended_face_normal": [ + -0.9997990387638803, + -0.01116084412058238, + 0.016659303952642146 + ], + "commanded_contact_point": [ + 15.1253080368042, + -14.891327857971191, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 15.550725403038982, + -14.850848299426668, + 0.11883042073211211 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1553955078125, + -14.909193992614746, + 0.023539066314697266 + ], + "box_pose": [ + 15.607949256896973, + -14.85505199432373, + 0.13601535558700562, + 0.007484537549316883, + -0.004278034903109074, + 0.7031099200248718, + -0.7110289931297302 + ], + "box_yaw_rad": -1.5595597031638868, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011716404231448575 + } + } + }, + { + "simulation_time_ns": 560000000, + "center": [ + 15.605679423249965, + -14.850372104901735, + 0.11881756412021462 + ], + "face_center": [ + 15.550369537143325, + -14.850987250161735, + 0.11956557558971935 + ], + "face_normal": [ + -0.999846828809397, + -0.01112009227938604, + 0.013521938813169751 + ], + "footprint_xy": [ + [ + 15.547891540180146, + -14.929233117259457 + ], + [ + 15.663467306319784, + -14.929233117259457 + ], + [ + 15.663467306319784, + -14.771511092544014 + ], + [ + 15.547891540180146, + -14.771511092544014 + ] + ], + "projected_box_corners": [ + [ + 15.547891540180146, + -14.774817809243292 + ], + [ + 15.551112395953274, + -14.772741383064014 + ], + [ + 15.658511312393424, + -14.773587518723291 + ], + [ + 15.661732168166552, + -14.771511092544014 + ], + [ + 15.549626678333379, + -14.929233117259457 + ], + [ + 15.552847534106506, + -14.92715669108018 + ], + [ + 15.660246450546657, + -14.928002826739457 + ], + [ + 15.663467306319784, + -14.92592640056018 + ] + ], + "yaw_rad": -1.5595599723735734, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155344009399414, + -14.909106254577637, + 0.023541927337646484 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550542995359015, + -14.851208815203726, + 0.11965085692729376 + ], + "intended_face_normal": [ + -0.9998261196194108, + -0.011124308760598112, + 0.014965237573303813 + ], + "commanded_contact_point": [ + 15.124478340148926, + -14.890859603881836, + 0.049999941140413284 + ], + "centerline_face_intersection": [ + 15.550523756131476, + -14.850593436694904, + 0.11882300453841949 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155375480651855, + -14.909160614013672, + 0.023540198802947998 + ], + "box_pose": [ + 15.60771656036377, + -14.85476016998291, + 0.13602016866207123, + 0.007644893601536751, + -0.0029111963231116533, + 0.7031211853027344, + -0.7110229730606079 + ], + "box_yaw_rad": -1.5595715982684544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009527110962186948 + } + } + }, + { + "simulation_time_ns": 580000000, + "center": [ + 15.605531374968493, + -14.850183330549264, + 0.11881237918397919 + ], + "face_center": [ + 15.550220587431282, + -14.850797556772763, + 0.11949157446816241 + ], + "face_normal": [ + -0.9998631241331025, + -0.01110347869011008, + 0.012277936167208847 + ], + "footprint_xy": [ + [ + 15.547894546699139, + -14.929235301866987 + ], + [ + 15.663168203237847, + -14.929235301866987 + ], + [ + 15.663168203237847, + -14.77113135923154 + ], + [ + 15.547894546699139, + -14.77113135923154 + ] + ], + "projected_box_corners": [ + [ + 15.547894546699139, + -14.774822307313439 + ], + [ + 15.550812665170426, + -14.77235981167854 + ], + [ + 15.65851612177356, + -14.77359385486644 + ], + [ + 15.661434240244848, + -14.77113135923154 + ], + [ + 15.549628509692138, + -14.929235301866987 + ], + [ + 15.552546628163425, + -14.926772806232087 + ], + [ + 15.66025008476656, + -14.928006849419988 + ], + [ + 15.663168203237847, + -14.925544353785087 + ] + ], + "yaw_rad": -1.5595674135819486, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155313491821289, + -14.909036636352539, + 0.023543596267700195 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550369537143325, + -14.850987250161735, + 0.11956557558971935 + ], + "intended_face_normal": [ + -0.999846828809397, + -0.01112009227938604, + 0.013521938813169751 + ], + "commanded_contact_point": [ + 15.124009132385254, + -14.890161514282227, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.550352589487373, + -14.850372104901735, + 0.11881756412021462 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155344009399414, + -14.909106254577637, + 0.023541927337646484 + ], + "box_pose": [ + 15.607519149780273, + -14.854506492614746, + 0.13602523505687714, + 0.007797698024660349, + -0.0017302966443821788, + 0.7031210064888, + -0.7110254168510437 + ], + "box_yaw_rad": -1.5595599723735734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008411212864881142 + } + } + }, + { + "simulation_time_ns": 600000000, + "center": [ + 15.605400801825823, + -14.850020558221413, + 0.11880715917974774 + ], + "face_center": [ + 15.550089294651332, + -14.850634001635283, + 0.11942566441727877 + ], + "face_normal": [ + -0.9998761331465478, + -0.011089327698650897, + 0.011180831201769187 + ], + "footprint_xy": [ + [ + 15.547897473140502, + -14.929238722867426 + ], + [ + 15.662904130511142, + -14.929238722867426 + ], + [ + 15.662904130511142, + -14.7708023935754 + ], + [ + 15.547897473140502, + -14.7708023935754 + ] + ], + "projected_box_corners": [ + [ + 15.547897473140502, + -14.774828081147453 + ], + [ + 15.550548661013973, + -14.772029280403139 + ], + [ + 15.658520487489481, + -14.773601194319713 + ], + [ + 15.661171675362953, + -14.7708023935754 + ], + [ + 15.549629928288692, + -14.929238722867426 + ], + [ + 15.552281116162163, + -14.926439922123112 + ], + [ + 15.660252942637673, + -14.928011836039687 + ], + [ + 15.662904130511142, + -14.925213035295373 + ] + ], + "yaw_rad": -1.559577006426679, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155290603637695, + -14.908953666687012, + 0.023544520139694214 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550220587431282, + -14.850797556772763, + 0.11949157446816241 + ], + "intended_face_normal": [ + -0.9998631241331025, + -0.01110347869011008, + 0.012277936167208847 + ], + "commanded_contact_point": [ + 15.123878479003906, + -14.889259338378906, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.550205442897985, + -14.850183330549264, + 0.11881237918397919 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155313491821289, + -14.909036636352539, + 0.023543596267700195 + ], + "box_pose": [ + 15.607349395751953, + -14.854290008544922, + 0.13602899014949799, + 0.007926189340651035, + -0.0007157728541642427, + 0.7031254768371582, + -0.711021363735199 + ], + "box_yaw_rad": -1.5595674135819486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009115874436813927 + } + } + }, + { + "simulation_time_ns": 620000000, + "center": [ + 15.60528656814061, + -14.849876584322582, + 0.11880263181673374 + ], + "face_center": [ + 15.549974505791381, + -14.850490496057889, + 0.11936888537801696 + ], + "face_normal": [ + -0.9998861691408729, + -0.011097793630098773, + 0.010236268186477084 + ], + "footprint_xy": [ + [ + 15.547896872324534, + -14.929240092165138 + ], + [ + 15.662676263956687, + -14.929240092165138 + ], + [ + 15.662676263956687, + -14.770513076480023 + ], + [ + 15.547896872324534, + -14.770513076480023 + ] + ], + "projected_box_corners": [ + [ + 15.547896872324534, + -14.774831771123955 + ], + [ + 15.550318162354243, + -14.771740899950638 + ], + [ + 15.658520997022993, + -14.77360394765334 + ], + [ + 15.660942287052702, + -14.770513076480023 + ], + [ + 15.54963084922852, + -14.929240092165138 + ], + [ + 15.552052139258228, + -14.926149220991821 + ], + [ + 15.660254973926978, + -14.928012268694523 + ], + [ + 15.662676263956687, + -14.924921397521207 + ] + ], + "yaw_rad": -1.55956698366156, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155275344848633, + -14.90886116027832, + 0.02354443073272705 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550089294651332, + -14.850634001635283, + 0.11942566441727877 + ], + "intended_face_normal": [ + -0.9998761331465478, + -0.011089327698650897, + 0.011180831201769187 + ], + "commanded_contact_point": [ + 15.124011993408203, + -14.888193130493164, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.550075589580272, + -14.850020558221413, + 0.11880715917974774 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155290603637695, + -14.908953666687012, + 0.023544520139694214 + ], + "box_pose": [ + 15.607199668884277, + -14.854103088378906, + 0.13603152334690094, + 0.00803340133279562, + 0.0001727520429994911, + 0.7031292915344238, + -0.7110167145729065 + ], + "box_yaw_rad": -1.559577006426679, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010745349471570262 + } + } + }, + { + "simulation_time_ns": 640000000, + "center": [ + 15.60518493316435, + -14.849750172379448, + 0.11879790317265414 + ], + "face_center": [ + 15.54987243068223, + -14.85036444886037, + 0.11931737256909167 + ], + "face_normal": [ + -0.9998941255028309, + -0.011104387202624966, + 0.00939054236506992 + ], + "footprint_xy": [ + [ + 15.547897254026172, + -14.92924177101245 + ], + [ + 15.662472612302528, + -14.92924177101245 + ], + [ + 15.662472612302528, + -14.770258573746448 + ], + [ + 15.547897254026172, + -14.770258573746448 + ] + ], + "projected_box_corners": [ + [ + 15.547897254026172, + -14.774835730202968 + ], + [ + 15.550112747567113, + -14.77148712670829 + ], + [ + 15.658522258990411, + -14.773607177241125 + ], + [ + 15.66073775253135, + -14.770258573746448 + ], + [ + 15.54963211379735, + -14.92924177101245 + ], + [ + 15.55184760733829, + -14.925893167517772 + ], + [ + 15.660257118761589, + -14.928013218050607 + ], + [ + 15.662472612302528, + -14.92466461455593 + ] + ], + "yaw_rad": -1.5595611007365338, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155268669128418, + -14.908760070800781, + 0.023542821407318115 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549974505791381, + -14.850490496057889, + 0.11936888537801696 + ], + "intended_face_normal": [ + -0.9998861691408729, + -0.011097793630098773, + 0.010236268186477084 + ], + "commanded_contact_point": [ + 15.124330520629883, + -14.88700008392334, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.549961911201786, + -14.849876584322582, + 0.11880263181673374 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155275344848633, + -14.90886116027832, + 0.02354443073272705 + ], + "box_pose": [ + 15.60706901550293, + -14.853938102722168, + 0.13603366911411285, + 0.008129335939884186, + 0.0009414810338057578, + 0.7031251788139343, + -0.7110190987586975 + ], + "box_yaw_rad": -1.55956698366156, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001234835903582264 + } + } + }, + { + "simulation_time_ns": 660000000, + "center": [ + 15.605093232025945, + -14.84963694153862, + 0.11879322135576173 + ], + "face_center": [ + 15.549780340269171, + -14.850251044448738, + 0.11927084388924124 + ], + "face_normal": [ + -0.9999011624912684, + -0.011101249531769941, + 0.008634069044124587 + ], + "footprint_xy": [ + [ + 15.547897605907622, + -14.929241833293759 + ], + [ + 15.662288858144269, + -14.929241833293759 + ], + [ + 15.662288858144269, + -14.770032049783483 + ], + [ + 15.547897605907622, + -14.770032049783483 + ] + ], + "projected_box_corners": [ + [ + 15.547897605907622, + -14.77483788740245 + ], + [ + 15.549929069054302, + -14.771260255603718 + ], + [ + 15.65852338942117, + -14.773609681582215 + ], + [ + 15.66055485256785, + -14.770032049783483 + ], + [ + 15.54963161148404, + -14.929241833293759 + ], + [ + 15.55166307463072, + -14.925664201495024 + ], + [ + 15.660257394997588, + -14.928013627473524 + ], + [ + 15.662288858144269, + -14.92443599567479 + ] + ], + "yaw_rad": -1.5595664798224496, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155268669128418, + -14.908655166625977, + 0.023543715476989746 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54987243068223, + -14.85036444886037, + 0.11931737256909167 + ], + "intended_face_normal": [ + -0.9998941255028309, + -0.011104387202624966, + 0.00939054236506992 + ], + "commanded_contact_point": [ + 15.124762535095215, + -14.885701179504395, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.549860716455132, + -14.849750172379448, + 0.11879790317265414 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155268669128418, + -14.908760070800781, + 0.023542821407318115 + ], + "box_pose": [ + 15.606952667236328, + -14.853793144226074, + 0.13603481650352478, + 0.00820971094071865, + 0.0016241812845692039, + 0.7031219005584717, + -0.7110199928283691 + ], + "box_yaw_rad": -1.5595611007365338, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001368864197120053 + } + } + }, + { + "simulation_time_ns": 680000000, + "center": [ + 15.605011757294239, + -14.849533828100135, + 0.11878913282949684 + ], + "face_center": [ + 15.54969855373839, + -14.85014787253725, + 0.11922877035275514 + ], + "face_normal": [ + -0.9999067989396069, + -0.01110019250469585, + 0.007947407134556772 + ], + "footprint_xy": [ + [ + 15.547899698958473, + -14.929242854371246 + ], + [ + 15.662123815630004, + -14.929242854371246 + ], + [ + 15.662123815630004, + -14.769824801829026 + ], + [ + 15.547899698958473, + -14.769824801829026 + ] + ], + "projected_box_corners": [ + [ + 15.547899698958473, + -14.774840997706798 + ], + [ + 15.54976408417014, + -14.771052890703254 + ], + [ + 15.65852610607017, + -14.773612908832572 + ], + [ + 15.660390491281838, + -14.769824801829026 + ], + [ + 15.549633023306638, + -14.929242854371246 + ], + [ + 15.551497408518307, + -14.9254547473677 + ], + [ + 15.660259430418336, + -14.928014765497018 + ], + [ + 15.662123815630004, + -14.924226658493472 + ] + ], + "yaw_rad": -1.559570739373905, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155285835266113, + -14.908549308776855, + 0.02354249358177185 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549780340269171, + -14.850251044448738, + 0.11927084388924124 + ], + "intended_face_normal": [ + -0.9999011624912684, + -0.011101249531769941, + 0.008634069044124587 + ], + "commanded_contact_point": [ + 15.125275611877441, + -14.884347915649414, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.549769404671084, + -14.84963694153862, + 0.11879322135576173 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155268669128418, + -14.908655166625977, + 0.023543715476989746 + ], + "box_pose": [ + 15.606847763061523, + -14.853663444519043, + 0.13603533804416656, + 0.008279438130557537, + 0.002232598839327693, + 0.7031221985816956, + -0.711017370223999 + ], + "box_yaw_rad": -1.5595664798224496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014472632264190025 + } + } + }, + { + "simulation_time_ns": 700000000, + "center": [ + 15.605006890437492, + -14.849533059593293, + 0.11878998685480101 + ], + "face_center": [ + 15.549693668671534, + -14.850147492376884, + 0.1192267964745031 + ], + "face_normal": [ + -0.999907128127071, + -0.011107212714290604, + 0.007896286609784892 + ], + "footprint_xy": [ + [ + 15.54790048613194, + -14.929243664311912 + ], + [ + 15.662113294743044, + -14.929243664311912 + ], + [ + 15.662113294743044, + -14.769822454874676 + ], + [ + 15.54790048613194, + -14.769822454874676 + ] + ], + "projected_box_corners": [ + [ + 15.54790048613194, + -14.7748418439334 + ], + [ + 15.549752554862916, + -14.771051320441856 + ], + [ + 15.658526929663857, + -14.773612978366218 + ], + [ + 15.660378998394835, + -14.769822454874676 + ], + [ + 15.54963478248015, + -14.929243664311912 + ], + [ + 15.551486851211127, + -14.92545314082037 + ], + [ + 15.660261226012068, + -14.928014798744732 + ], + [ + 15.662113294743044, + -14.924224275253188 + ] + ], + "yaw_rad": -1.5595644422668495, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155299186706543, + -14.908438682556152, + 0.023538738489151 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54969855373839, + -14.85014787253725, + 0.11922877035275514 + ], + "intended_face_normal": [ + -0.9999067989396069, + -0.01110019250469585, + 0.007947407134556772 + ], + "commanded_contact_point": [ + 15.12584400177002, + -14.882969856262207, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 15.549688241798338, + -14.849533828100135, + 0.11878913282949684 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155285835266113, + -14.908549308776855, + 0.02354249358177185 + ], + "box_pose": [ + 15.606754302978516, + -14.853545188903809, + 0.1360359936952591, + 0.008346516638994217, + 0.0027886987663805485, + 0.7031217813491821, + -0.711014986038208 + ], + "box_yaw_rad": -1.559570739373905, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014906759359572992 + } + } + }, + { + "simulation_time_ns": 720000000, + "center": [ + 15.605006153523089, + -14.849534699820031, + 0.11878992271868649 + ], + "face_center": [ + 15.549692920161593, + -14.850148843690736, + 0.11922609644794972 + ], + "face_normal": [ + -0.9999073377416794, + -0.011101989983733462, + 0.007884791503149802 + ], + "footprint_xy": [ + [ + 15.547901512538795, + -14.929243247153709 + ], + [ + 15.662110794507383, + -14.929243247153709 + ], + [ + 15.662110794507383, + -14.769826152486353 + ], + [ + 15.547901512538795, + -14.769826152486353 + ] + ], + "projected_box_corners": [ + [ + 15.547901512538795, + -14.77484137188733 + ], + [ + 15.549750883589894, + -14.771054440227763 + ], + [ + 15.658527979261786, + -14.77361308414592 + ], + [ + 15.660377350312885, + -14.769826152486353 + ], + [ + 15.549634956733295, + -14.929243247153709 + ], + [ + 15.551484327784392, + -14.925456315494142 + ], + [ + 15.660261423456284, + -14.928014959412298 + ], + [ + 15.662110794507383, + -14.924228027752731 + ] + ], + "yaw_rad": -1.5595699646266388, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15532398223877, + -14.908330917358398, + 0.023537665605545044 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549693668671534, + -14.850147492376884, + 0.1192267964745031 + ], + "intended_face_normal": [ + -0.999907128127071, + -0.011107212714290604, + 0.007896286609784892 + ], + "commanded_contact_point": [ + 15.126447677612305, + -14.881590843200684, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.549683393155089, + -14.849533059593293, + 0.11878998685480101 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155299186706543, + -14.908438682556152, + 0.023538738489151 + ], + "box_pose": [ + 15.606748580932617, + -14.853544235229492, + 0.1360369771718979, + 0.008332055993378162, + 0.002810465870425105, + 0.7031194567680359, + -0.711017370223999 + ], + "box_yaw_rad": -1.5595644422668495, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015053576144222725 + } + } + }, + { + "simulation_time_ns": 740000000, + "center": [ + 15.60500768298514, + -14.849537055539614, + 0.11878958654433307 + ], + "face_center": [ + 15.549694454200997, + -14.85015139056822, + 0.11922691207864757 + ], + "face_normal": [ + -0.9999072549960181, + -0.01110544557972637, + 0.007905612891674907 + ], + "footprint_xy": [ + [ + 15.547900241776752, + -14.92924229016118 + ], + [ + 15.662115124193527, + -14.92924229016118 + ], + [ + 15.662115124193527, + -14.769831820918048 + ], + [ + 15.547900241776752, + -14.769831820918048 + ] + ], + "projected_box_corners": [ + [ + 15.547900241776752, + -14.77484033026551 + ], + [ + 15.549754673683836, + -14.771060490975259 + ], + [ + 15.658526699345032, + -14.773611660208298 + ], + [ + 15.660381131252118, + -14.769831820918048 + ], + [ + 15.549634234718159, + -14.92924229016118 + ], + [ + 15.551488666625245, + -14.925462450870931 + ], + [ + 15.66026069228644, + -14.92801362010397 + ], + [ + 15.662115124193527, + -14.924233780813719 + ] + ], + "yaw_rad": -1.559566417212264, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155352592468262, + -14.908230781555176, + 0.02353513240814209 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549692920161593, + -14.850148843690736, + 0.11922609644794972 + ], + "intended_face_normal": [ + -0.9999073377416794, + -0.011101989983733462, + 0.007884791503149802 + ], + "commanded_contact_point": [ + 15.127091407775879, + -14.88026237487793, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.549682667838374, + -14.849534699820031, + 0.11878992271868649 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15532398223877, + -14.908330917358398, + 0.023537665605545044 + ], + "box_pose": [ + 15.6067476272583, + -14.853546142578125, + 0.13603687286376953, + 0.008322770707309246, + 0.002809221623465419, + 0.7031214237213135, + -0.7110155820846558 + ], + "box_yaw_rad": -1.5595699646266388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001476216992217397 + } + } + }, + { + "simulation_time_ns": 760000000, + "center": [ + 15.6050126895531, + -14.849545537975374, + 0.11878938272476294 + ], + "face_center": [ + 15.549699487453625, + -14.850159960599482, + 0.11922895174813673 + ], + "face_normal": [ + -0.9999067726124691, + -0.011107029059488127, + 0.007946168849737867 + ], + "footprint_xy": [ + [ + 15.54790019632148, + -14.929243574144067 + ], + [ + 15.662125182784719, + -14.929243574144067 + ], + [ + 15.662125182784719, + -14.769847501806682 + ], + [ + 15.54790019632148, + -14.769847501806682 + ] + ], + "projected_box_corners": [ + [ + 15.54790019632148, + -14.774841490303228 + ], + [ + 15.549764516525627, + -14.771076347054898 + ], + [ + 15.658526600520428, + -14.773612645055012 + ], + [ + 15.660390920724575, + -14.769847501806682 + ], + [ + 15.549634458381624, + -14.929243574144067 + ], + [ + 15.551498778585769, + -14.925478430895737 + ], + [ + 15.660260862580571, + -14.92801472889585 + ], + [ + 15.662125182784719, + -14.92424958564752 + ] + ], + "yaw_rad": -1.5595646834726054, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155383110046387, + -14.908136367797852, + 0.023533254861831665 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549694454200997, + -14.85015139056822, + 0.11922691207864757 + ], + "intended_face_normal": [ + -0.9999072549960181, + -0.01110544557972637, + 0.007905612891674907 + ], + "commanded_contact_point": [ + 15.127751350402832, + -14.879012107849121, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.549684192722221, + -14.849537055539614, + 0.11878958654433307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155352592468262, + -14.908230781555176, + 0.02353513240814209 + ], + "box_pose": [ + 15.606749534606934, + -14.853549003601074, + 0.13603638112545013, + 0.008319680579006672, + 0.0027913113590329885, + 0.703120231628418, + -0.7110169529914856 + ], + "box_yaw_rad": -1.559566417212264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014137510085618112 + } + } + }, + { + "simulation_time_ns": 780000000, + "center": [ + 15.605021163707482, + -14.849555558219972, + 0.11878930001468475 + ], + "face_center": [ + 15.549707992912298, + -14.850170125242132, + 0.11923220129895311 + ], + "face_normal": [ + -0.9999062067191217, + -0.011109639369191071, + 0.008006406733464033 + ], + "footprint_xy": [ + [ + 15.547901145980573, + -14.929243907333941 + ], + [ + 15.66214118143439, + -14.929243907333941 + ], + [ + 15.66214118143439, + -14.769867209106003 + ], + [ + 15.547901145980573, + -14.769867209106003 + ] + ], + "projected_box_corners": [ + [ + 15.547901145980573, + -14.774841636620417 + ], + [ + 15.549780129631086, + -14.77109634315032 + ], + [ + 15.658527487570938, + -14.7736125025761 + ], + [ + 15.660406471221453, + -14.769867209106003 + ], + [ + 15.54963585619351, + -14.929243907333941 + ], + [ + 15.551514839844025, + -14.925498613863844 + ], + [ + 15.660262197783876, + -14.928014773289625 + ], + [ + 15.66214118143439, + -14.924269479819529 + ] + ], + "yaw_rad": -1.5595617949299985, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155413627624512, + -14.90805721282959, + 0.02353113889694214 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549699487453625, + -14.850159960599482, + 0.11922895174813673 + ], + "intended_face_normal": [ + -0.9999067726124691, + -0.011107029059488127, + 0.007946168849737867 + ], + "commanded_contact_point": [ + 15.128421783447266, + -14.877849578857422, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.549689172600552, + -14.849545537975374, + 0.11878938272476294 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155383110046387, + -14.908136367797852, + 0.023533254861831665 + ], + "box_pose": [ + 15.606755256652832, + -14.853558540344238, + 0.13603585958480835, + 0.00831239391118288, + 0.0027551117818802595, + 0.7031197547912598, + -0.7110175490379333 + ], + "box_yaw_rad": -1.5595646834726054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013419963203495544 + } + } + }, + { + "simulation_time_ns": 800000000, + "center": [ + 15.605032931365116, + -14.849567114361246, + 0.11879034020893814 + ], + "face_center": [ + 15.549719800100878, + -14.850181261645751, + 0.11923836645580863 + ], + "face_normal": [ + -0.9999054921110796, + -0.011102051695613402, + 0.008099051610649832 + ], + "footprint_xy": [ + [ + 15.547902225834257, + -14.92924277810011 + ], + [ + 15.662163636895974, + -14.92924277810011 + ], + [ + 15.662163636895974, + -14.769891450622385 + ], + [ + 15.547902225834257, + -14.769891450622385 + ] + ], + "projected_box_corners": [ + [ + 15.547902225834257, + -14.77484025421265 + ], + [ + 15.549803740107194, + -14.771119745191395 + ], + [ + 15.658528488362734, + -14.77361195964364 + ], + [ + 15.66043000263567, + -14.769891450622385 + ], + [ + 15.549635860094561, + -14.92924277810011 + ], + [ + 15.551537374367497, + -14.925522269078854 + ], + [ + 15.660262122623038, + -14.928014483531099 + ], + [ + 15.662163636895974, + -14.924293974509844 + ] + ], + "yaw_rad": -1.5595687809620071, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155441284179688, + -14.907983779907227, + 0.02352851629257202 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549707992912298, + -14.850170125242132, + 0.11923220129895311 + ], + "intended_face_normal": [ + -0.9999062067191217, + -0.011109639369191071, + 0.008006406733464033 + ], + "commanded_contact_point": [ + 15.129081726074219, + -14.876809120178223, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.549697615444787, + -14.849555558219972, + 0.11878930001468475 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155413627624512, + -14.90805721282959, + 0.02353113889694214 + ], + "box_pose": [ + 15.606764793395996, + -14.853569984436035, + 0.13603533804416656, + 0.008304468356072903, + 0.0027042769361287355, + 0.7031189203262329, + -0.7110186219215393 + ], + "box_yaw_rad": -1.5595617949299985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012321032968021692 + } + } + }, + { + "simulation_time_ns": 820000000, + "center": [ + 15.605048944392465, + -14.849583777105286, + 0.1187910702329644 + ], + "face_center": [ + 15.549735860296133, + -14.850198308966904, + 0.11924569206623642 + ], + "face_normal": [ + -0.9999046394482898, + -0.011109003765742198, + 0.008218281220615076 + ], + "footprint_xy": [ + [ + 15.547903218118517, + -14.929243177471884 + ], + [ + 15.66219467066641, + -14.929243177471884 + ], + [ + 15.66219467066641, + -14.76992437673869 + ], + [ + 15.547903218118517, + -14.76992437673869 + ] + ], + "projected_box_corners": [ + [ + 15.547903218118517, + -14.77484030054329 + ], + [ + 15.549833685168545, + -14.771153440461926 + ], + [ + 15.65852938631118, + -14.773611236820052 + ], + [ + 15.660459853361209, + -14.76992437673869 + ], + [ + 15.549638035423719, + -14.929243177471884 + ], + [ + 15.551568502473748, + -14.92555631739052 + ], + [ + 15.660264203616384, + -14.928014113748647 + ], + [ + 15.66219467066641, + -14.924327253667283 + ] + ], + "yaw_rad": -1.559561145532911, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15546703338623, + -14.907917976379395, + 0.023526042699813843 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549719800100878, + -14.850181261645751, + 0.11923836645580863 + ], + "intended_face_normal": [ + -0.9999054921110796, + -0.011102051695613402, + 0.008099051610649832 + ], + "commanded_contact_point": [ + 15.129714965820312, + -14.875886917114258, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.549709343564032, + -14.849567114361246, + 0.11879034020893814 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155441284179688, + -14.907983779907227, + 0.02352851629257202 + ], + "box_pose": [ + 15.606778144836426, + -14.853583335876465, + 0.13603579998016357, + 0.008300745859742165, + 0.0026345921214669943, + 0.7031216621398926, + -0.7110161781311035 + ], + "box_yaw_rad": -1.5595687809620071, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011186827375420315 + } + } + }, + { + "simulation_time_ns": 840000000, + "center": [ + 15.605063627007004, + -14.849604566253939, + 0.11879170606746049 + ], + "face_center": [ + 15.549750620603186, + -14.850219632514305, + 0.11925407975284075 + ], + "face_normal": [ + -0.9999032349866431, + -0.01111866418869556, + 0.00835841285518163 + ], + "footprint_xy": [ + [ + 15.547900149695852, + -14.9292433653904 + ], + [ + 15.662227104318156, + -14.9292433653904 + ], + [ + 15.662227104318156, + -14.76996576711748 + ], + [ + 15.547900149695852, + -14.76996576711748 + ] + ], + "projected_box_corners": [ + [ + 15.547900149695852, + -14.77484010635726 + ], + [ + 15.549864676790078, + -14.771195899638212 + ], + [ + 15.658526162503488, + -14.773609973836527 + ], + [ + 15.660490689597713, + -14.76996576711748 + ], + [ + 15.549636564416295, + -14.9292433653904 + ], + [ + 15.55160109151052, + -14.925599158671352 + ], + [ + 15.66026257722393, + -14.928013232869667 + ], + [ + 15.662227104318156, + -14.92436902615062 + ] + ], + "yaw_rad": -1.559550828906304, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155497550964355, + -14.907862663269043, + 0.02352452278137207 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549735860296133, + -14.850198308966904, + 0.11924569206623642 + ], + "intended_face_normal": [ + -0.9999046394482898, + -0.011109003765742198, + 0.008218281220615076 + ], + "commanded_contact_point": [ + 15.130311012268066, + -14.875082969665527, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 15.549725309414518, + -14.849583777105286, + 0.1187910702329644 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15546703338623, + -14.907917976379395, + 0.023526042699813843 + ], + "box_pose": [ + 15.606796264648438, + -14.853602409362793, + 0.13603575527668, + 0.008293315768241882, + 0.0025423357728868723, + 0.7031192779541016, + -0.7110190987586975 + ], + "box_yaw_rad": -1.559561145532911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010008011136526868 + } + } + }, + { + "simulation_time_ns": 860000000, + "center": [ + 15.605082877396296, + -14.84962796254054, + 0.11879257158320738 + ], + "face_center": [ + 15.549769955204342, + -14.850243192835425, + 0.11926342079626318 + ], + "face_normal": [ + -0.9999017126735122, + -0.011121629470405958, + 0.008511626504049463 + ], + "footprint_xy": [ + [ + 15.547900569681767, + -14.929244112590208 + ], + [ + 15.662265185110822, + -14.929244112590208 + ], + [ + 15.662265185110822, + -14.77001181249087 + ], + [ + 15.547900569681767, + -14.77001181249087 + ] + ], + "projected_box_corners": [ + [ + 15.547900569681767, + -14.774840441615998 + ], + [ + 15.54990235819445, + -14.77124227308064 + ], + [ + 15.658526414065673, + -14.773609981026228 + ], + [ + 15.660528202578357, + -14.77001181249087 + ], + [ + 15.549637552214234, + -14.929244112590208 + ], + [ + 15.551639340726917, + -14.92564594405485 + ], + [ + 15.66026339659814, + -14.928013652000438 + ], + [ + 15.662265185110822, + -14.92441548346508 + ] + ], + "yaw_rad": -1.5595471819197877, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155525207519531, + -14.907814979553223, + 0.02352219820022583 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549750620603186, + -14.850219632514305, + 0.11925407975284075 + ], + "intended_face_normal": [ + -0.9999032349866431, + -0.01111866418869556, + 0.00835841285518163 + ], + "commanded_contact_point": [ + 15.13086223602295, + -14.874410629272461, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.549739914321615, + -14.849604566253939, + 0.11879170606746049 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155497550964355, + -14.907862663269043, + 0.02352452278137207 + ], + "box_pose": [ + 15.606813430786133, + -14.853626251220703, + 0.13603542745113373, + 0.008280028589069843, + 0.002429304178804159, + 0.7031159996986389, + -0.7110227942466736 + ], + "box_yaw_rad": -1.559550828906304, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000869418904969199 + } + } + }, + { + "simulation_time_ns": 880000000, + "center": [ + 15.605105391061834, + -14.849656406714988, + 0.118793770514696 + ], + "face_center": [ + 15.549792536782528, + -14.850271358863932, + 0.11927494708779117 + ], + "face_normal": [ + -0.9999004850042982, + -0.011116601375836699, + 0.008698316061960365 + ], + "footprint_xy": [ + [ + 15.547900765412754, + -14.929244971497173 + ], + [ + 15.662310016710915, + -14.929244971497173 + ], + [ + 15.662310016710915, + -14.770067841932802 + ], + [ + 15.547900765412754, + -14.770067841932802 + ] + ], + "projected_box_corners": [ + [ + 15.547900765412754, + -14.774840713003552 + ], + [ + 15.549947975547756, + -14.771297746230688 + ], + [ + 15.658526473971367, + -14.773610808705666 + ], + [ + 15.66057368410637, + -14.770067841932802 + ], + [ + 15.5496370980173, + -14.929244971497173 + ], + [ + 15.551684308152302, + -14.92570200472431 + ], + [ + 15.660262806575913, + -14.928015067199288 + ], + [ + 15.662310016710915, + -14.924472100426422 + ] + ], + "yaw_rad": -1.559551433449192, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155548095703125, + -14.907780647277832, + 0.023521006107330322 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549769955204342, + -14.850243192835425, + 0.11926342079626318 + ], + "intended_face_normal": [ + -0.9999017126735122, + -0.011121629470405958, + 0.008511626504049463 + ], + "commanded_contact_point": [ + 15.131348609924316, + -14.873872756958008, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.549759080482612, + -14.84962796254054, + 0.11879257158320738 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155525207519531, + -14.907814979553223, + 0.02352219820022583 + ], + "box_pose": [ + 15.60683536529541, + -14.853652954101562, + 0.1360352486371994, + 0.008266407996416092, + 0.0023065954446792603, + 0.7031151056289673, + -0.7110241055488586 + ], + "box_yaw_rad": -1.5595471819197877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007251663257309172 + } + } + }, + { + "simulation_time_ns": 900000000, + "center": [ + 15.605132149590519, + -14.849689789695345, + 0.11879470161834403 + ], + "face_center": [ + 15.549819407323444, + -14.850304548090998, + 0.11928784608377033 + ], + "face_normal": [ + -0.9998984601389005, + -0.011113098862501669, + 0.008914661819240277 + ], + "footprint_xy": [ + [ + 15.547901520161377, + -14.929245385061941 + ], + [ + 15.662362779019661, + -14.929245385061941 + ], + [ + 15.662362779019661, + -14.77013419432875 + ], + [ + 15.547901520161377, + -14.77013419432875 + ] + ], + "projected_box_corners": [ + [ + 15.547901520161377, + -14.774840521820835 + ], + [ + 15.55000138524315, + -14.771363711120054 + ], + [ + 15.658527004695527, + -14.77361100502953 + ], + [ + 15.6606268697773, + -14.77013419432875 + ], + [ + 15.549637429403738, + -14.929245385061941 + ], + [ + 15.551737294485513, + -14.925768574361161 + ], + [ + 15.660262913937888, + -14.928015868270638 + ], + [ + 15.662362779019661, + -14.924539057569858 + ] + ], + "yaw_rad": -1.5595542190377085, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155570983886719, + -14.907753944396973, + 0.023518234491348267 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549792536782528, + -14.850271358863932, + 0.11927494708779117 + ], + "intended_face_normal": [ + -0.9999004850042982, + -0.011116601375836699, + 0.008698316061960365 + ], + "commanded_contact_point": [ + 15.131772994995117, + -14.87344741821289, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.549781526222068, + -14.849656406714988, + 0.118793770514696 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155548095703125, + -14.907780647277832, + 0.023521006107330322 + ], + "box_pose": [ + 15.606861114501953, + -14.85368537902832, + 0.13603518903255463, + 0.00825115479528904, + 0.0021583931520581245, + 0.7031170725822449, + -0.7110230326652527 + ], + "box_yaw_rad": -1.559551433449192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000600845850805617 + } + } + }, + { + "simulation_time_ns": 920000000, + "center": [ + 15.605161209604962, + -14.849727133549614, + 0.11879592581730669 + ], + "face_center": [ + 15.549848580661358, + -14.850341484080946, + 0.11930286150986465 + ], + "face_normal": [ + -0.9998964115699797, + -0.011105725825298451, + 0.009163968329949743 + ], + "footprint_xy": [ + [ + 15.547900860278405, + -14.92924405167561 + ], + [ + 15.662421558931518, + -14.92924405167561 + ], + [ + 15.662421558931518, + -14.770210215423617 + ], + [ + 15.547900860278405, + -14.770210215423617 + ] + ], + "projected_box_corners": [ + [ + 15.547900860278405, + -14.774838443605594 + ], + [ + 15.550061424125003, + -14.77143891648628 + ], + [ + 15.65852611816561, + -14.77360974254293 + ], + [ + 15.660686682012209, + -14.770210215423617 + ], + [ + 15.549635737197713, + -14.92924405167561 + ], + [ + 15.55179630104431, + -14.925844524556297 + ], + [ + 15.66026099508492, + -14.928015350612949 + ], + [ + 15.662421558931518, + -14.924615823493635 + ] + ], + "yaw_rad": -1.5595609582062027, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155587196350098, + -14.907740592956543, + 0.023518383502960205 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549819407323444, + -14.850304548090998, + 0.11928784608377033 + ], + "intended_face_normal": [ + -0.9998984601389005, + -0.011113098862501669, + 0.008914661819240277 + ], + "commanded_contact_point": [ + 15.132128715515137, + -14.873147964477539, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 15.549808172715998, + -14.849689789695345, + 0.11879470161834403 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155570983886719, + -14.907753944396973, + 0.023518234491348267 + ], + "box_pose": [ + 15.606891632080078, + -14.853723526000977, + 0.13603462278842926, + 0.008230270817875862, + 0.0019834127742797136, + 0.7031185626983643, + -0.7110221982002258 + ], + "box_yaw_rad": -1.5595542190377085, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004649834708901102 + } + } + }, + { + "simulation_time_ns": 940000000, + "center": [ + 15.605196114200654, + -14.849772158302914, + 0.11879731616132308 + ], + "face_center": [ + 15.549883643685842, + -14.850386978848812, + 0.11932048110235338 + ], + "face_normal": [ + -0.9998935476240098, + -0.011114222363751702, + 0.009457347394006055 + ], + "footprint_xy": [ + [ + 15.547899536764598, + -14.929244843220369 + ], + [ + 15.662492691636709, + -14.929244843220369 + ], + [ + 15.662492691636709, + -14.770299473385458 + ], + [ + 15.547899536764598, + -14.770299473385458 + ] + ], + "projected_box_corners": [ + [ + 15.547899536764598, + -14.774838443525823 + ], + [ + 15.55013146449406, + -14.771529114477255 + ], + [ + 15.658524477794222, + -14.773608802434028 + ], + [ + 15.660756405523681, + -14.770299473385458 + ], + [ + 15.549635822877626, + -14.929244843220369 + ], + [ + 15.551867750607085, + -14.9259355141718 + ], + [ + 15.660260763907248, + -14.928015202128572 + ], + [ + 15.662492691636709, + -14.924705873080004 + ] + ], + "yaw_rad": -1.5595518904327537, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15560245513916, + -14.907730102539062, + 0.0235174298286438 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549848580661358, + -14.850341484080946, + 0.11930286150986465 + ], + "intended_face_normal": [ + -0.9998964115699797, + -0.011105725825298451, + 0.009163968329949743 + ], + "commanded_contact_point": [ + 15.132418632507324, + -14.872962951660156, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54983711938372, + -14.849727133549614, + 0.11879592581730669 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155587196350098, + -14.907740592956543, + 0.023518383502960205 + ], + "box_pose": [ + 15.606925010681152, + -14.853766441345215, + 0.13603410124778748, + 0.008204679936170578, + 0.0017802176298573613, + 0.7031214833259583, + -0.7110202312469482 + ], + "box_yaw_rad": -1.5595609582062027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00034392093125219103 + } + } + }, + { + "simulation_time_ns": 960000000, + "center": [ + 15.605236941453498, + -14.849822773903396, + 0.11879910280795634 + ], + "face_center": [ + 15.5499246381163, + -14.85043686654125, + 0.11934116847550365 + ], + "face_normal": [ + -0.9998905255240164, + -0.011101063838199199, + 0.0097990192505307 + ], + "footprint_xy": [ + [ + 15.54789991970584, + -14.929242810494253 + ], + [ + 15.662573963201156, + -14.929242810494253 + ], + [ + 15.662573963201156, + -14.770402737312537 + ], + [ + 15.54789991970584, + -14.770402737312537 + ] + ], + "projected_box_corners": [ + [ + 15.54789991970584, + -14.774835453379863 + ], + [ + 15.550215030872241, + -14.771630922588244 + ], + [ + 15.658524526380235, + -14.773607268104156 + ], + [ + 15.660839637546637, + -14.770402737312537 + ], + [ + 15.549634245360359, + -14.929242810494253 + ], + [ + 15.55194935652676, + -14.926038279702635 + ], + [ + 15.660258852034755, + -14.928014625218546 + ], + [ + 15.662573963201156, + -14.924810094426928 + ] + ], + "yaw_rad": -1.5595646552109435, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155617713928223, + -14.907730102539062, + 0.02351638674736023 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549883643685842, + -14.850386978848812, + 0.11932048110235338 + ], + "intended_face_normal": [ + -0.9998935476240098, + -0.011114222363751702, + 0.009457347394006055 + ], + "commanded_contact_point": [ + 15.132637023925781, + -14.872876167297363, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54987186551734, + -14.849772158302914, + 0.11879731616132308 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15560245513916, + -14.907730102539062, + 0.0235174298286438 + ], + "box_pose": [ + 15.606965065002441, + -14.8538179397583, + 0.13603344559669495, + 0.008175593800842762, + 0.001542225363664329, + 0.7031188011169434, + -0.71102374792099 + ], + "box_yaw_rad": -1.5595518904327537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00023500284526161753 + } + } + }, + { + "simulation_time_ns": 980000000, + "center": [ + 15.605284457217495, + -14.849882753730816, + 0.11880116883058034 + ], + "face_center": [ + 15.549972384088466, + -14.850496795637662, + 0.1193649706049203 + ], + "face_normal": [ + -0.9998863640092511, + -0.011100146764611574, + 0.010191946789838924 + ], + "footprint_xy": [ + [ + 15.547899915150072, + -14.929242847323616 + ], + [ + 15.662668999284918, + -14.929242847323616 + ], + [ + 15.662668999284918, + -14.770522660138013 + ], + [ + 15.547899915150072, + -14.770522660138013 + ] + ], + "projected_box_corners": [ + [ + 15.547899915150072, + -14.774834507215205 + ], + [ + 15.5503106461738, + -14.771750743951708 + ], + [ + 15.65852406140813, + -14.77360642340151 + ], + [ + 15.66093479243186, + -14.770522660138013 + ], + [ + 15.549634122003132, + -14.929242847323616 + ], + [ + 15.55204485302686, + -14.926159084060119 + ], + [ + 15.66025826826119, + -14.928014763509921 + ], + [ + 15.662668999284918, + -14.924931000246424 + ] + ], + "yaw_rad": -1.5595654960088785, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155627250671387, + -14.907736778259277, + 0.02351507544517517 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.5499246381163, + -14.85043686654125, + 0.11934116847550365 + ], + "intended_face_normal": [ + -0.9998905255240164, + -0.011101063838199199, + 0.0097990192505307 + ], + "commanded_contact_point": [ + 15.132801055908203, + -14.872878074645996, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.549912525556465, + -14.849822773903396, + 0.11879910280795634 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155617713928223, + -14.907730102539062, + 0.02351638674736023 + ], + "box_pose": [ + 15.607011795043945, + -14.853876113891602, + 0.1360328495502472, + 0.008142175152897835, + 0.0012654068414121866, + 0.7031238675117493, + -0.71101975440979 + ], + "box_yaw_rad": -1.5595646552109435, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001640430747095354 + } + } + }, + { + "simulation_time_ns": 1000000000, + "center": [ + 15.605340370007347, + -14.849950867880814, + 0.11880385553932452 + ], + "face_center": [ + 15.550028538694024, + -14.850563900433677, + 0.11939324549563995 + ], + "face_normal": [ + -0.9998819926629267, + -0.011081900489817942, + 0.0106545089899105 + ], + "footprint_xy": [ + [ + 15.547901202520658, + -14.92924061654594 + ], + [ + 15.662779537494036, + -14.92924061654594 + ], + [ + 15.662779537494036, + -14.770661119215688 + ], + [ + 15.547901202520658, + -14.770661119215688 + ] + ], + "projected_box_corners": [ + [ + 15.547901202520658, + -14.774831075501742 + ], + [ + 15.550424522250166, + -14.771887184321415 + ], + [ + 15.658524865147303, + -14.773605010396016 + ], + [ + 15.661048184876812, + -14.770661119215688 + ], + [ + 15.549632555137883, + -14.92924061654594 + ], + [ + 15.55215587486739, + -14.926296725365612 + ], + [ + 15.660256217764527, + -14.928014551440214 + ], + [ + 15.662779537494036, + -14.925070660259886 + ] + ], + "yaw_rad": -1.5595840658640316, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155635833740234, + -14.907747268676758, + 0.023514151573181152 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549972384088466, + -14.850496795637662, + 0.1193649706049203 + ], + "intended_face_normal": [ + -0.9998863640092511, + -0.011100146764611574, + 0.010191946789838924 + ], + "commanded_contact_point": [ + 15.132909774780273, + -14.872962951660156, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.549959811060923, + -14.849882753730816, + 0.11880116883058034 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155627250671387, + -14.907736778259277, + 0.02351507544517517 + ], + "box_pose": [ + 15.60706615447998, + -14.853944778442383, + 0.13603216409683228, + 0.0081033268943429, + 0.0009467056952416897, + 0.7031246423721313, + -0.71101975440979 + ], + "box_yaw_rad": -1.5595654960088785, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001379271571912585 + } + } + }, + { + "simulation_time_ns": 1020000000, + "center": [ + 15.605402719675435, + -14.85003074748489, + 0.1188063083623637 + ], + "face_center": [ + 15.550091221024744, + -14.850644116242142, + 0.1194247644368451 + ], + "face_normal": [ + -0.9998759790603108, + -0.011087978117456765, + 0.011179942472416741 + ], + "footprint_xy": [ + [ + 15.54789957320838, + -14.929240171535868 + ], + [ + 15.662905866142491, + -14.929240171535868 + ], + [ + 15.662905866142491, + -14.770821323433912 + ], + [ + 15.54789957320838, + -14.770821323433912 + ] + ], + "projected_box_corners": [ + [ + 15.54789957320838, + -14.774829424579412 + ], + [ + 15.550550747722145, + -14.772048060948418 + ], + [ + 15.658522570509763, + -14.773602687064908 + ], + [ + 15.66117374502353, + -14.770821323433912 + ], + [ + 15.54963169432734, + -14.929240171535868 + ], + [ + 15.552282868841107, + -14.926458807904872 + ], + [ + 15.660254691628726, + -14.928013434021363 + ], + [ + 15.662905866142491, + -14.925232070390368 + ] + ], + "yaw_rad": -1.5595791770513439, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.155640602111816, + -14.90776252746582, + 0.023514091968536377 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550028538694024, + -14.850563900433677, + 0.11939324549563995 + ], + "intended_face_normal": [ + -0.9998819926629267, + -0.011081900489817942, + 0.0106545089899105 + ], + "commanded_contact_point": [ + 15.132957458496094, + -14.873116493225098, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.550015481979043, + -14.849950867880814, + 0.11880385553932452 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155635833740234, + -14.907747268676758, + 0.023514151573181152 + ], + "box_pose": [ + 15.60713005065918, + -14.854022979736328, + 0.1360316425561905, + 0.008061028085649014, + 0.0005749259726144373, + 0.7031316161155701, + -0.711013913154602 + ], + "box_yaw_rad": -1.5595840658640316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001607754632992858 + } + } + }, + { + "simulation_time_ns": 1040000000, + "center": [ + 15.60547512752682, + -14.850121477045498, + 0.11880961628332538 + ], + "face_center": [ + 15.550164022110561, + -14.850734917580843, + 0.11946162228177819 + ], + "face_normal": [ + -0.9998688704902182, + -0.011089275663017095, + 0.011786430524569291 + ], + "footprint_xy": [ + [ + 15.547898650238915, + -14.929239635887942 + ], + [ + 15.663051604814724, + -14.929239635887942 + ], + [ + 15.663051604814724, + -14.771003318203054 + ], + [ + 15.547898650238915, + -14.771003318203054 + ] + ], + "projected_box_corners": [ + [ + 15.547898650238915, + -14.774827583170335 + ], + [ + 15.55069737976882, + -14.772230199273741 + ], + [ + 15.65852086107143, + -14.773600702099648 + ], + [ + 15.661319590601336, + -14.771003318203054 + ], + [ + 15.549630664452302, + -14.929239635887942 + ], + [ + 15.552429393982207, + -14.926642251991348 + ], + [ + 15.660252875284819, + -14.928012754817255 + ], + [ + 15.663051604814724, + -14.92541537092066 + ] + ], + "yaw_rad": -1.559579964151911, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.156481742858887, + -14.908880233764648, + 0.026531308889389038 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550091221024744, + -14.850644116242142, + 0.1194247644368451 + ], + "intended_face_normal": [ + -0.9998759790603108, + -0.011087978117456765, + 0.011179942472416741 + ], + "commanded_contact_point": [ + 15.132966995239258, + -14.87332534790039, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.550077498903974, + -14.85003074748489, + 0.1188063083623637 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155640602111816, + -14.90776252746582, + 0.023514091968536377 + ], + "box_pose": [ + 15.60720157623291, + -14.854114532470703, + 0.136030375957489, + 0.008007538504898548, + 0.00014722412743140012, + 0.7031300663948059, + -0.7110161185264587 + ], + "box_yaw_rad": -1.5595791770513439, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002090722958112492 + } + } + }, + { + "simulation_time_ns": 1060000000, + "center": [ + 15.6055584936032, + -14.850225368355193, + 0.11881255150298453 + ], + "face_center": [ + 15.5502478429149, + -14.8508390807727, + 0.11950264302894163 + ], + "face_normal": [ + -0.9998606502905594, + -0.011094190526105718, + 0.012474909503269127 + ], + "footprint_xy": [ + [ + 15.54789859914524, + -14.929237891115086 + ], + [ + 15.663218388061159, + -14.929237891115086 + ], + [ + 15.663218388061159, + -14.771212845595299 + ], + [ + 15.54789859914524, + -14.771212845595299 + ] + ], + "projected_box_corners": [ + [ + 15.54789859914524, + -14.774824392372972 + ], + [ + 15.550864873588546, + -14.77244027043031 + ], + [ + 15.65851990052184, + -14.77359696753796 + ], + [ + 15.661486174965146, + -14.771212845595299 + ], + [ + 15.549630812241253, + -14.929237891115086 + ], + [ + 15.552597086684559, + -14.926853769172425 + ], + [ + 15.660252113617853, + -14.928010466280075 + ], + [ + 15.663218388061159, + -14.925626344337413 + ] + ], + "yaw_rad": -1.559578781354882, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.154987335205078, + -14.91523551940918, + 0.04320529103279114 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550164022110561, + -14.850734917580843, + 0.11946162228177819 + ], + "intended_face_normal": [ + -0.9998688704902182, + -0.011089275663017095, + 0.011786430524569291 + ], + "commanded_contact_point": [ + 15.132671356201172, + -14.873392105102539, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.550149513420571, + -14.850121477045498, + 0.11880961628332538 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156481742858887, + -14.908880233764648, + 0.026531308889389038 + ], + "box_pose": [ + 15.607284545898438, + -14.854218482971191, + 0.1360294371843338, + 0.007951128296554089, + -0.0003410925855860114, + 0.7031302452087402, + -0.7110164165496826 + ], + "box_yaw_rad": -1.559579964151911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003030824392866829 + } + } + }, + { + "simulation_time_ns": 1080000000, + "center": [ + 15.605654260250043, + -14.850345991100665, + 0.11881618583365092 + ], + "face_center": [ + 15.550344179236966, + -14.85095969238428, + 0.11955051211261178 + ], + "face_normal": [ + -0.9998503521683723, + -0.01109398925670424, + 0.01327454914506293 + ], + "footprint_xy": [ + [ + 15.547898092462482, + -14.929236343824401 + ], + [ + 15.663410428037603, + -14.929236343824401 + ], + [ + 15.663410428037603, + -14.771455638376931 + ], + [ + 15.547898092462482, + -14.771455638376931 + ] + ], + "projected_box_corners": [ + [ + 15.547898092462482, + -14.774821353644793 + ], + [ + 15.551058958469193, + -14.772683040944157 + ], + [ + 15.658518254488635, + -14.773593951077567 + ], + [ + 15.661679120495346, + -14.771455638376931 + ], + [ + 15.549629400004738, + -14.929236343824401 + ], + [ + 15.55279026601145, + -14.927098031123766 + ], + [ + 15.660249562030891, + -14.928008941257175 + ], + [ + 15.663410428037603, + -14.92587062855654 + ] + ], + "yaw_rad": -1.559584753370534, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.143999099731445, + -14.916486740112305, + 0.051419198513031006 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.5502478429149, + -14.8508390807727, + 0.11950264302894163 + ], + "intended_face_normal": [ + -0.9998606502905594, + -0.011094190526105718, + 0.012474909503269127 + ], + "commanded_contact_point": [ + 15.13186264038086, + -14.873699188232422, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.550232424645973, + -14.850225368355193, + 0.11881255150298453 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.154987335205078, + -14.91523551940918, + 0.04320529103279114 + ], + "box_pose": [ + 15.607379913330078, + -14.854337692260742, + 0.13602745532989502, + 0.007880616933107376, + -0.0009019620483741164, + 0.7031292915344238, + -0.7110177874565125 + ], + "box_yaw_rad": -1.559578781354882, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008650556795263213 + } + } + }, + { + "simulation_time_ns": 1100000000, + "center": [ + 15.605765940866604, + -14.850485867217492, + 0.11882039265750255 + ], + "face_center": [ + 15.550456564687169, + -14.851099116971364, + 0.11960611245318754 + ], + "face_normal": [ + -0.9998376107629636, + -0.011085826871799709, + 0.014203599055216953 + ], + "footprint_xy": [ + [ + 15.547898730570314, + -14.929235012739305 + ], + [ + 15.663633151162893, + -14.929235012739305 + ], + [ + 15.663633151162893, + -14.771736721695678 + ], + [ + 15.547898730570314, + -14.771736721695678 + ] + ], + "projected_box_corners": [ + [ + 15.547898730570314, + -14.774818502029945 + ], + [ + 15.551285665851887, + -14.772963221203423 + ], + [ + 15.658517482929183, + -14.7735920025222 + ], + [ + 15.661904418210757, + -14.771736721695678 + ], + [ + 15.54962746352245, + -14.929235012739305 + ], + [ + 15.553014398804024, + -14.927379731912785 + ], + [ + 15.660246215881319, + -14.928008513231562 + ], + [ + 15.663633151162893, + -14.92615323240504 + ] + ], + "yaw_rad": -1.5596015346919545, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13742733001709, + -14.91090202331543, + 0.05455939471721649 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550344179236966, + -14.85095969238428, + 0.11955051211261178 + ], + "intended_face_normal": [ + -0.9998503521683723, + -0.01109398925670424, + 0.01327454914506293 + ], + "commanded_contact_point": [ + 15.132684707641602, + -14.875064849853516, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.550327621452922, + -14.850345991100665, + 0.11881618583365092 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.143999099731445, + -14.916486740112305, + 0.051419198513031006 + ], + "box_pose": [ + 15.607489585876465, + -14.854475975036621, + 0.13602538406848907, + 0.007801515515893698, + -0.0015505912015214562, + 0.7031302452087402, + -0.7110165953636169 + ], + "box_yaw_rad": -1.559584753370534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001593996939971176 + } + } + }, + { + "simulation_time_ns": 1120000000, + "center": [ + 15.605894237362111, + -14.850645575607874, + 0.11882471066556131 + ], + "face_center": [ + 15.55058572560319, + -14.851259342651154, + 0.11966945523641637 + ], + "face_normal": [ + -0.9998219844767647, + -0.01109517800612625, + 0.015270600606461904 + ], + "footprint_xy": [ + [ + 15.547898333520259, + -14.92923295719803 + ], + [ + 15.663890141203963, + -14.92923295719803 + ], + [ + 15.663890141203963, + -14.772058194017719 + ], + [ + 15.547898333520259, + -14.772058194017719 + ] + ], + "projected_box_corners": [ + [ + 15.547898333520259, + -14.774814950150812 + ], + [ + 15.551544882493152, + -14.77328572810428 + ], + [ + 15.658515357038098, + -14.773587416064252 + ], + [ + 15.662161906010992, + -14.772058194017719 + ], + [ + 15.54962656871323, + -14.92923295719803 + ], + [ + 15.553273117686123, + -14.927703735151498 + ], + [ + 15.660243592231069, + -14.92800542311147 + ], + [ + 15.663890141203963, + -14.926476201064936 + ] + ], + "yaw_rad": -1.5596048662114335, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.138678550720215, + -14.906325340270996, + 0.0592169314622879 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550456564687169, + -14.851099116971364, + 0.11960611245318754 + ], + "intended_face_normal": [ + -0.9998376107629636, + -0.011085826871799709, + 0.014203599055216953 + ], + "commanded_contact_point": [ + 15.134381294250488, + -14.876381874084473, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.550438597015855, + -14.850485867217492, + 0.11882039265750255 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13742733001709, + -14.91090202331543, + 0.05455939471721649 + ], + "box_pose": [ + 15.607617378234863, + -14.854636192321777, + 0.13602297008037567, + 0.0077134002931416035, + -0.0023003891110420227, + 0.7031341195106506, + -0.7110116481781006 + ], + "box_yaw_rad": -1.5596015346919545, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002147780004199035 + } + } + }, + { + "simulation_time_ns": 1140000000, + "center": [ + 15.60604063096599, + -14.850831111610844, + 0.11882898813446355 + ], + "face_center": [ + 15.550733219788578, + -14.851445953681576, + 0.11974186232083708 + ], + "face_normal": [ + -0.9998020890655009, + -0.0111146114720726, + 0.016502192005743155 + ], + "footprint_xy": [ + [ + 15.547895901075545, + -14.929230983891213 + ], + [ + 15.664185360856434, + -14.929230983891213 + ], + [ + 15.664185360856434, + -14.772431239330475 + ], + [ + 15.547895901075545, + -14.772431239330475 + ] + ], + "projected_box_corners": [ + [ + 15.547895901075545, + -14.77481166620417 + ], + [ + 15.551842129618576, + -14.773660923471938 + ], + [ + 15.65851072343037, + -14.773581982062707 + ], + [ + 15.6624569519734, + -14.772431239330475 + ], + [ + 15.54962430995858, + -14.929230983891213 + ], + [ + 15.55357053850161, + -14.928080241158982 + ], + [ + 15.660239132313404, + -14.928001299749749 + ], + [ + 15.664185360856434, + -14.926850557017518 + ] + ], + "yaw_rad": -1.559603836537418, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.142627716064453, + -14.902722358703613, + 0.0635228306055069 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55058572560319, + -14.851259342651154, + 0.11966945523641637 + ], + "intended_face_normal": [ + -0.9998219844767647, + -0.01109517800612625, + 0.015270600606461904 + ], + "commanded_contact_point": [ + 15.13580322265625, + -14.876956939697266, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.55056602879652, + -14.850645575607874, + 0.11882471066556131 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138678550720215, + -14.906325340270996, + 0.0592169314622879 + ], + "box_pose": [ + 15.60776424407959, + -14.854819297790527, + 0.13601961731910706, + 0.00761067122220993, + -0.003163024550303817, + 0.703131914138794, + -0.7110117673873901 + ], + "box_yaw_rad": -1.5596048662114335, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015338125217275508 + } + } + }, + { + "simulation_time_ns": 1160000000, + "center": [ + 15.606210367303927, + -14.851043197608725, + 0.11883346967211644 + ], + "face_center": [ + 15.550904339044294, + -14.85165999767189, + 0.11982504838262799 + ], + "face_normal": [ + -0.9997770898103367, + -0.011150006455921124, + 0.017924947943454228 + ], + "footprint_xy": [ + [ + 15.547893199173608, + -14.929228383364345 + ], + [ + 15.664527535434244, + -14.929228383364345 + ], + [ + 15.664527535434244, + -14.772858011853103 + ], + [ + 15.547893199173608, + -14.772858011853103 + ] + ], + "projected_box_corners": [ + [ + 15.547893199173608, + -14.774808055320863 + ], + [ + 15.5521855927252, + -14.774091611979435 + ], + [ + 15.658505255692873, + -14.773574455194531 + ], + [ + 15.662797649244466, + -14.772858011853103 + ], + [ + 15.549623085363386, + -14.929228383364345 + ], + [ + 15.553915478914979, + -14.928511940022917 + ], + [ + 15.660235141882653, + -14.927994783238015 + ], + [ + 15.664527535434244, + -14.927278339896587 + ] + ], + "yaw_rad": -1.5595943441727125, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.145959854125977, + -14.896718978881836, + 0.06756454706192017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550733219788578, + -14.851445953681576, + 0.11974186232083708 + ], + "intended_face_normal": [ + -0.9998020890655009, + -0.0111146114720726, + 0.016502192005743155 + ], + "commanded_contact_point": [ + 15.136706352233887, + -14.877321243286133, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.550711321405037, + -14.850831111610844, + 0.11882898813446355 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.142627716064453, + -14.902722358703613, + 0.0635228306055069 + ], + "box_pose": [ + 15.607932090759277, + -14.855031967163086, + 0.1360149383544922, + 0.007488966453820467, + -0.0041618989780545235, + 0.7031263113021851, + -0.7110133767127991 + ], + "box_yaw_rad": -1.559603836537418, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009738378407044428 + } + } + }, + { + "simulation_time_ns": 1180000000, + "center": [ + 15.60640528414368, + -14.851287168249659, + 0.11883753802806601 + ], + "face_center": [ + 15.551100955219727, + -14.851905924811591, + 0.11991885996126844 + ], + "face_normal": [ + -0.9997463706114869, + -0.011185374438488327, + 0.019547252434221174 + ], + "footprint_xy": [ + [ + 15.547892478711772, + -14.929226983085075 + ], + [ + 15.664918089575588, + -14.929226983085075 + ], + [ + 15.664918089575588, + -14.773347353414243 + ], + [ + 15.547892478711772, + -14.773347353414243 + ] + ], + "projected_box_corners": [ + [ + 15.547892478711772, + -14.77480608081279 + ], + [ + 15.552579614188886, + -14.774584866538108 + ], + [ + 15.65850113655968, + -14.773568567688926 + ], + [ + 15.663188272036795, + -14.773347353414243 + ], + [ + 15.549622296250567, + -14.929226983085075 + ], + [ + 15.554309431727681, + -14.929005768810393 + ], + [ + 15.660230954098473, + -14.927989469961211 + ], + [ + 15.664918089575588, + -14.927768255686528 + ] + ], + "yaw_rad": -1.5595948303396292, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.144811630249023, + -14.889652252197266, + 0.06861661374568939 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550904339044294, + -14.85165999767189, + 0.11982504838262799 + ], + "intended_face_normal": [ + -0.9997770898103367, + -0.011150006455921124, + 0.017924947943454228 + ], + "commanded_contact_point": [ + 15.137199401855469, + -14.878251075744629, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.550879674243049, + -14.851043197608725, + 0.11883346967211644 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.145959854125977, + -14.896718978881836, + 0.06756454706192017 + ], + "box_pose": [ + 15.608126640319824, + -14.85527515411377, + 0.13600903749465942, + 0.007352631539106369, + -0.005311533808708191, + 0.7031151652336121, + -0.7110180854797363 + ], + "box_yaw_rad": -1.5595943441727125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010524667837490576 + } + } + }, + { + "simulation_time_ns": 1200000000, + "center": [ + 15.606628484491967, + -14.851568696506257, + 0.11884112753761526 + ], + "face_center": [ + 15.551326290412284, + -14.852190113257237, + 0.12002537137929843 + ], + "face_normal": [ + -0.9997077786449657, + -0.01123346315770224, + 0.02140779041491908 + ], + "footprint_xy": [ + [ + 15.547891553656058, + -14.929575144682998 + ], + [ + 15.665365415327877, + -14.929575144682998 + ], + [ + 15.665365415327877, + -14.773562248329517 + ], + [ + 15.547891553656058, + -14.773562248329517 + ] + ], + "projected_box_corners": [ + [ + 15.547891553656058, + -14.774805081831476 + ], + [ + 15.553031450632728, + -14.775154414967808 + ], + [ + 15.658495941815426, + -14.773562248329517 + ], + [ + 15.663635838792098, + -14.77391158146585 + ], + [ + 15.549621130191838, + -14.929225811546665 + ], + [ + 15.554761027168508, + -14.929575144682998 + ], + [ + 15.660225518351206, + -14.927982978044707 + ], + [ + 15.665365415327877, + -14.92833231118104 + ] + ], + "yaw_rad": -1.5595963783186155, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.140436172485352, + -14.884517669677734, + 0.06739364564418793 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551100955219727, + -14.851905924811591, + 0.11991885996126844 + ], + "intended_face_normal": [ + -0.9997463706114869, + -0.011185374438488327, + 0.019547252434221174 + ], + "commanded_contact_point": [ + 15.137436866760254, + -14.879836082458496, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.551072890937032, + -14.851287168249659, + 0.11883753802806601 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.144811630249023, + -14.889652252197266, + 0.06861661374568939 + ], + "box_pose": [ + 15.608349800109863, + -14.855554580688477, + 0.13600115478038788, + 0.007197191473096609, + -0.006622463930398226, + 0.7031041979789734, + -0.7110195755958557 + ], + "box_yaw_rad": -1.5595948303396292, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016026964357397145 + } + } + }, + { + "simulation_time_ns": 1220000000, + "center": [ + 15.606875921565043, + -14.851894401729329, + 0.1188482319899546 + ], + "face_center": [ + 15.551576324998276, + -14.852518488166417, + 0.12014646002285989 + ], + "face_normal": [ + -0.9996608229335301, + -0.01128172355701984, + 0.023468303284320147 + ], + "footprint_xy": [ + [ + 15.54789224688889, + -14.9302327822115 + ], + [ + 15.665859596241198, + -14.9302327822115 + ], + [ + 15.665859596241198, + -14.77355602124716 + ], + [ + 15.54789224688889, + -14.77355602124716 + ] + ], + "projected_box_corners": [ + [ + 15.54789224688889, + -14.774804194121335 + ], + [ + 15.55353390270431, + -14.775813364457091 + ], + [ + 15.658491440022427, + -14.77355602124716 + ], + [ + 15.664133095837848, + -14.774565191582916 + ], + [ + 15.549618747292241, + -14.929223611875743 + ], + [ + 15.555260403107662, + -14.9302327822115 + ], + [ + 15.660217940425778, + -14.927975439001568 + ], + [ + 15.665859596241198, + -14.928984609337324 + ] + ], + "yaw_rad": -1.5596162013087402, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13697624206543, + -14.88444995880127, + 0.06662985682487488 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551326290412284, + -14.852190113257237, + 0.12002537137929843 + ], + "intended_face_normal": [ + -0.9997077786449657, + -0.01123346315770224, + 0.02140779041491908 + ], + "commanded_contact_point": [ + 15.137296676635742, + -14.88166618347168, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.551293955275266, + -14.851568696506257, + 0.11884112753761526 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140436172485352, + -14.884517669677734, + 0.06739364564418793 + ], + "box_pose": [ + 15.60860538482666, + -14.855876922607422, + 0.13599084317684174, + 0.007015127222985029, + -0.008129829540848732, + 0.7030889391899109, + -0.7110208868980408 + ], + "box_yaw_rad": -1.5595963783186155, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018354626092114141 + } + } + }, + { + "simulation_time_ns": 1240000000, + "center": [ + 15.607136807644684, + -14.852243313929474, + 0.11885796858894827 + ], + "face_center": [ + 15.551840169215692, + -14.85286959478885, + 0.12027627237787619 + ], + "face_normal": [ + -0.999607348141162, + -0.011321392526145613, + 0.025638934473916963 + ], + "footprint_xy": [ + [ + 15.54789528717033, + -14.930937045861004 + ], + [ + 15.666378328119038, + -14.930937045861004 + ], + [ + 15.666378328119038, + -14.773549581997944 + ], + [ + 15.54789528717033, + -14.773549581997944 + ] + ], + "projected_box_corners": [ + [ + 15.54789528717033, + -14.774802143716693 + ], + [ + 15.554065661688599, + -14.776520246892035 + ], + [ + 15.658488564028314, + -14.773549581997944 + ], + [ + 15.664658938546582, + -14.775267685173286 + ], + [ + 15.549614676742786, + -14.929218942685662 + ], + [ + 15.555785051261054, + -14.930937045861004 + ], + [ + 15.66020795360077, + -14.927966380966913 + ], + [ + 15.666378328119038, + -14.929684484142255 + ] + ], + "yaw_rad": -1.5596620555802623, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135055541992188, + -14.888605117797852, + 0.06598226726055145 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551576324998276, + -14.852518488166417, + 0.12014646002285989 + ], + "intended_face_normal": [ + -0.9996608229335301, + -0.01128172355701984, + 0.023468303284320147 + ], + "commanded_contact_point": [ + 15.13672924041748, + -14.883601188659668, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.551538793194583, + -14.851894401729329, + 0.1188482319899546 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13697624206543, + -14.88444995880127, + 0.06662985682487488 + ], + "box_pose": [ + 15.608888626098633, + -14.856249809265137, + 0.13598185777664185, + 0.00677256565541029, + -0.009840709157288074, + 0.7030741572380066, + -0.7110161185264587 + ], + "box_yaw_rad": -1.5596162013087402, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020164892609579573 + } + } + }, + { + "simulation_time_ns": 1260000000, + "center": [ + 15.607387794683563, + -14.852511036787114, + 0.11888907163332385 + ], + "face_center": [ + 15.552094274334788, + -14.853140663193763, + 0.12042252985186852 + ], + "face_normal": [ + -0.9995509820403174, + -0.011381870590174925, + 0.02772060195473014 + ], + "footprint_xy": [ + [ + 15.547897988034604, + -14.931475781966762 + ], + [ + 15.66687760133252, + -14.931475781966762 + ], + [ + 15.66687760133252, + -14.773546291607465 + ], + [ + 15.547897988034604, + -14.773546291607465 + ] + ], + "projected_box_corners": [ + [ + 15.547897988034604, + -14.774805544420763 + ], + [ + 15.55457387537348, + -14.77706197817486 + ], + [ + 15.658485028732152, + -14.773546291607465 + ], + [ + 15.665160916071027, + -14.775802725361562 + ], + [ + 15.549614673296098, + -14.929219348212666 + ], + [ + 15.556290560634974, + -14.931475781966762 + ], + [ + 15.660201713993645, + -14.927960095399367 + ], + [ + 15.66687760133252, + -14.930216529153464 + ] + ], + "yaw_rad": -1.5596793508596194, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.132698059082031, + -14.893230438232422, + 0.06462730467319489 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551840169215692, + -14.85286959478885, + 0.12027627237787619 + ], + "intended_face_normal": [ + -0.999607348141162, + -0.011321392526145613, + 0.025638934473916963 + ], + "commanded_contact_point": [ + 15.135871887207031, + -14.885818481445312, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.551796718970404, + -14.852243313929474, + 0.11885796858894827 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135055541992188, + -14.888605117797852, + 0.06598226726055145 + ], + "box_pose": [ + 15.609187126159668, + -14.856649398803711, + 0.13597416877746582, + 0.00649684015661478, + -0.011663535609841347, + 0.7030626535415649, + -0.7110027074813843 + ], + "box_yaw_rad": -1.5596620555802623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023772761355675253 + } + } + }, + { + "simulation_time_ns": 1280000000, + "center": [ + 15.607410336271894, + -14.852516957546946, + 0.11889763164119523 + ], + "face_center": [ + 15.552117107077823, + -14.853146865145549, + 0.12044137764154104 + ], + "face_normal": [ + -0.9995457187840336, + -0.011386953748045547, + 0.02790657604965996 + ], + "footprint_xy": [ + [ + 15.54789829144341, + -14.931487281900997 + ], + [ + 15.666922381100377, + -14.931487281900997 + ], + [ + 15.666922381100377, + -14.773546633192893 + ], + [ + 15.54789829144341, + -14.773546633192893 + ] + ], + "projected_box_corners": [ + [ + 15.54789829144341, + -14.7748064483901 + ], + [ + 15.554618924591384, + -14.777073556534983 + ], + [ + 15.658484749831553, + -14.773546633192893 + ], + [ + 15.665205382979527, + -14.775813741337778 + ], + [ + 15.549615289564262, + -14.929220173756114 + ], + [ + 15.556335922712234, + -14.931487281900997 + ], + [ + 15.660201747952405, + -14.927960358558908 + ], + [ + 15.666922381100377, + -14.93022746670379 + ] + ], + "yaw_rad": -1.5596773193532045, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.128216743469238, + -14.897476196289062, + 0.0608677864074707 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.552094274334788, + -14.853140663193763, + 0.12042252985186852 + ], + "intended_face_normal": [ + -0.9995509820403174, + -0.011381870590174925, + 0.02772060195473014 + ], + "commanded_contact_point": [ + 15.134834289550781, + -14.888809204101562, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.552044585303012, + -14.852511036787114, + 0.11888907163332385 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132698059082031, + -14.893230438232422, + 0.06462730467319489 + ], + "box_pose": [ + 15.609474182128906, + -14.856955528259277, + 0.13599097728729248, + 0.00643980922177434, + -0.01320208515971899, + 0.703041672706604, + -0.7109969854354858 + ], + "box_yaw_rad": -1.5596793508596194, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031656011913881476 + } + } + }, + { + "simulation_time_ns": 1300000000, + "center": [ + 15.607404398868496, + -14.852494509031864, + 0.11890279339471445 + ], + "face_center": [ + 15.55211110811433, + -14.853124237989674, + 0.12044424328718738 + ], + "face_normal": [ + -0.999546831617016, + -0.011383724426083153, + 0.027865068891773648 + ], + "footprint_xy": [ + [ + 15.547897333849809, + -14.931441676897789 + ], + [ + 15.666911463887185, + -14.931441676897789 + ], + [ + 15.666911463887185, + -14.773547341165937 + ], + [ + 15.547897333849809, + -14.773547341165937 + ] + ], + "projected_box_corners": [ + [ + 15.547897333849809, + -14.774806799081558 + ], + [ + 15.554607487633291, + -14.77702768011403 + ], + [ + 15.658483915358142, + -14.773547341165937 + ], + [ + 15.665194069141624, + -14.775768222198408 + ], + [ + 15.54961472859537, + -14.92922079586532 + ], + [ + 15.556324882378853, + -14.931441676897789 + ], + [ + 15.660201310103703, + -14.927961337949698 + ], + [ + 15.666911463887185, + -14.930182218982168 + ] + ], + "yaw_rad": -1.559674770633357, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.123856544494629, + -14.900196075439453, + 0.06262725591659546 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.552117107077823, + -14.853146865145549, + 0.12044137764154104 + ], + "intended_face_normal": [ + -0.9995457187840336, + -0.011386953748045547, + 0.02790657604965996 + ], + "commanded_contact_point": [ + 15.134256362915039, + -14.89192008972168, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.552066835473463, + -14.852516957546946, + 0.11889763164119523 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.128216743469238, + -14.897476196289062, + 0.0608677864074707 + ], + "box_pose": [ + 15.60949993133545, + -14.856962203979492, + 0.1359989494085312, + 0.006489553488790989, + -0.013284082524478436, + 0.7030394077301025, + -0.7109972238540649 + ], + "box_yaw_rad": -1.5596773193532045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003164112598886486 + } + } + }, + { + "simulation_time_ns": 1320000000, + "center": [ + 15.607374617208247, + -14.852442826360777, + 0.11890488077982503 + ], + "face_center": [ + 15.552080912219344, + -14.853072151894358, + 0.12043182368244525 + ], + "face_normal": [ + -0.9995543198133857, + -0.011376431653224328, + 0.02760282340871767 + ], + "footprint_xy": [ + [ + 15.547898621575676, + -14.931337769586577 + ], + [ + 15.666850612840818, + -14.931337769586577 + ], + [ + 15.666850612840818, + -14.773547883134976 + ], + [ + 15.547898621575676, + -14.773547883134976 + ] + ], + "projected_box_corners": [ + [ + 15.547898621575676, + -14.774806534202138 + ], + [ + 15.55454468596933, + -14.776923133158087 + ], + [ + 15.658486031553483, + -14.773547883134976 + ], + [ + 15.665132095947136, + -14.775664482090924 + ], + [ + 15.54961713846936, + -14.929221170630628 + ], + [ + 15.556263202863011, + -14.931337769586577 + ], + [ + 15.660204548447167, + -14.927962519563467 + ], + [ + 15.666850612840818, + -14.930079118519414 + ] + ], + "yaw_rad": -1.559667550488894, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.120704650878906, + -14.900967597961426, + 0.06956583261489868 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55211110811433, + -14.853124237989674, + 0.12044424328718738 + ], + "intended_face_normal": [ + -0.999546831617016, + -0.011383724426083153, + 0.027865068891773648 + ], + "commanded_contact_point": [ + 15.134392738342285, + -14.895026206970215, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 15.55206095968606, + -14.852494509031864, + 0.11890279339471445 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.123856544494629, + -14.900196075439453, + 0.06262725591659546 + ], + "box_pose": [ + 15.609493255615234, + -14.85693645477295, + 0.13600505888462067, + 0.006542711053043604, + -0.013200787827372551, + 0.7030400633811951, + -0.7109975814819336 + ], + "box_yaw_rad": -1.559674770633357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031091096186019844 + } + } + }, + { + "simulation_time_ns": 1340000000, + "center": [ + 15.607323067384966, + -14.852365215143138, + 0.11890512876540368 + ], + "face_center": [ + 15.55202870394807, + -14.852994564377633, + 0.12040772502737677 + ], + "face_normal": [ + -0.9995662226970079, + -0.011376860098944785, + 0.027162704776105606 + ], + "footprint_xy": [ + [ + 15.54789836583997, + -14.931183140964091 + ], + [ + 15.666747768929962, + -14.931183140964091 + ], + [ + 15.666747768929962, + -14.773547289322185 + ], + [ + 15.54789836583997, + -14.773547289322185 + ] + ], + "projected_box_corners": [ + [ + 15.54789836583997, + -14.774805987791176 + ], + [ + 15.554437119451729, + -14.776767680614794 + ], + [ + 15.658487092713763, + -14.773547289322185 + ], + [ + 15.66502584632552, + -14.775508982145805 + ], + [ + 15.549620288444412, + -14.929221448140472 + ], + [ + 15.55615904205617, + -14.931183140964091 + ], + [ + 15.660209015318204, + -14.927962749671481 + ], + [ + 15.666747768929962, + -14.9299244424951 + ] + ], + "yaw_rad": -1.559645557097387, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.12205696105957, + -14.901202201843262, + 0.07700291275978088 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.552080912219344, + -14.853072151894358, + 0.12043182368244525 + ], + "intended_face_normal": [ + -0.9995543198133857, + -0.011376431653224328, + 0.02760282340871767 + ], + "commanded_contact_point": [ + 15.13500690460205, + -14.898416519165039, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.552031592633133, + -14.852442826360777, + 0.11890488077982503 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.120704650878906, + -14.900967597961426, + 0.06956583261489868 + ], + "box_pose": [ + 15.609458923339844, + -14.856877326965332, + 0.13600963354110718, + 0.006603328511118889, + -0.012952919118106365, + 0.7030420899391174, + -0.7109996676445007 + ], + "box_yaw_rad": -1.559667550488894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003445492268676264 + } + } + }, + { + "simulation_time_ns": 1360000000, + "center": [ + 15.607245454752423, + -14.852265150233011, + 0.1189019696851769 + ], + "face_center": [ + 15.551950124074969, + -14.852893402282291, + 0.12036925239094887 + ], + "face_normal": [ + -0.9995837076797809, + -0.01135702608306488, + 0.02652433522470904 + ], + "footprint_xy": [ + [ + 15.547896889446346, + -14.930981799363712 + ], + [ + 15.6665940200585, + -14.930981799363712 + ], + [ + 15.6665940200585, + -14.773548501102312 + ], + [ + 15.547896889446346, + -14.773548501102312 + ] + ], + "projected_box_corners": [ + [ + 15.547896889446346, + -14.77480500520087 + ], + [ + 15.554280210499085, + -14.776565280348796 + ], + [ + 15.658487550801256, + -14.773548501102312 + ], + [ + 15.664870871853996, + -14.775308776250238 + ], + [ + 15.54962003765085, + -14.929221524215786 + ], + [ + 15.55600335870359, + -14.930981799363712 + ], + [ + 15.660210699005761, + -14.927965020117227 + ], + [ + 15.6665940200585, + -14.929725295265154 + ] + ], + "yaw_rad": -1.559637697552159, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.12655258178711, + -14.905110359191895, + 0.07957307994365692 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55202870394807, + -14.852994564377633, + 0.12040772502737677 + ], + "intended_face_normal": [ + -0.9995662226970079, + -0.011376860098944785, + 0.027162704776105606 + ], + "commanded_contact_point": [ + 15.1360445022583, + -14.901615142822266, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.551980701837305, + -14.852365215143138, + 0.11890512876540368 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12205696105957, + -14.901202201843262, + 0.07700291275978088 + ], + "box_pose": [ + 15.609399795532227, + -14.856788635253906, + 0.1360136717557907, + 0.006675556302070618, + -0.012566812336444855, + 0.7030412554740906, + -0.7110066413879395 + ], + "box_yaw_rad": -1.559645557097387, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003362707569403638 + } + } + }, + { + "simulation_time_ns": 1380000000, + "center": [ + 15.607147131960105, + -14.852138482401315, + 0.11889725798532813 + ], + "face_center": [ + 15.551850616125545, + -14.852765630096533, + 0.12031919143725021 + ], + "face_normal": [ + -0.9996051319794137, + -0.011337062474682913, + 0.02570454854926285 + ], + "footprint_xy": [ + [ + 15.547896096587639, + -14.930726557171834 + ], + [ + 15.66639816733257, + -14.930726557171834 + ], + [ + 15.66639816733257, + -14.773550407630797 + ], + [ + 15.547896096587639, + -14.773550407630797 + ] + ], + "projected_box_corners": [ + [ + 15.547896096587639, + -14.774804703021232 + ], + [ + 15.554079852369146, + -14.776308915379385 + ], + [ + 15.658489128256758, + -14.773550407630797 + ], + [ + 15.664672884038266, + -14.77505461998895 + ], + [ + 15.549621379881943, + -14.929222344813681 + ], + [ + 15.555805135663451, + -14.930726557171834 + ], + [ + 15.660214411551063, + -14.927968049423244 + ], + [ + 15.66639816733257, + -14.929472261781399 + ] + ], + "yaw_rad": -1.55962395368202, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.131868362426758, + -14.909653663635254, + 0.07881233096122742 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551950124074969, + -14.852893402282291, + 0.12036925239094887 + ], + "intended_face_normal": [ + -0.9995837076797809, + -0.01135702608306488, + 0.02652433522470904 + ], + "commanded_contact_point": [ + 15.136856079101562, + -14.90400505065918, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.551904057268066, + -14.852265150233011, + 0.1189019696851769 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12655258178711, + -14.905110359191895, + 0.07957307994365692 + ], + "box_pose": [ + 15.6093111038208, + -14.856674194335938, + 0.13601556420326233, + 0.006746291648596525, + -0.012041139416396618, + 0.7030476331710815, + -0.7110088467597961 + ], + "box_yaw_rad": -1.559637697552159, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025239485813850857 + } + } + }, + { + "simulation_time_ns": 1400000000, + "center": [ + 15.607022604722069, + -14.85199042981786, + 0.11888987929872855 + ], + "face_center": [ + 15.551724651280342, + -14.852616636926715, + 0.12025565533510563 + ], + "face_normal": [ + -0.9996311198645352, + -0.01132005932462743, + 0.024689380777292436 + ], + "footprint_xy": [ + [ + 15.547891993938135, + -14.930426345025682 + ], + [ + 15.666153215506, + -14.930426345025682 + ], + [ + 15.666153215506, + -14.77355451461004 + ], + [ + 15.547891993938135, + -14.77355451461004 + ] + ], + "projected_box_corners": [ + [ + 15.547891993938135, + -14.774806928827749 + ], + [ + 15.553828783964834, + -14.776007539762215 + ], + [ + 15.658487900821587, + -14.77355451461004 + ], + [ + 15.664424690848286, + -14.774755125544507 + ], + [ + 15.54962051859585, + -14.929225734091215 + ], + [ + 15.555557308622548, + -14.930426345025682 + ], + [ + 15.660216425479302, + -14.927973319873507 + ], + [ + 15.666153215506, + -14.929173930807973 + ] + ], + "yaw_rad": -1.5596030497485671, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135202407836914, + -14.912006378173828, + 0.07587312161922455 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551850616125545, + -14.852765630096533, + 0.12031919143725021 + ], + "intended_face_normal": [ + -0.9996051319794137, + -0.011337062474682913, + 0.02570454854926285 + ], + "commanded_contact_point": [ + 15.137150764465332, + -14.905552864074707, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.55180692059479, + -14.852138482401315, + 0.11889725798532813 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131868362426758, + -14.909653663635254, + 0.07881233096122742 + ], + "box_pose": [ + 15.609198570251465, + -14.856529235839844, + 0.13601726293563843, + 0.0068333144299685955, + -0.011369968764483929, + 0.703053891658783, + -0.7110127210617065 + ], + "box_yaw_rad": -1.55962395368202, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015756160170013831 + } + } + }, + { + "simulation_time_ns": 1420000000, + "center": [ + 15.606894145848617, + -14.851833811324264, + 0.11888257764888024 + ], + "face_center": [ + 15.551594765271144, + -14.852459360035205, + 0.12018948387852899 + ], + "face_normal": [ + -0.9996569184559216, + -0.011308157346299974, + 0.023625180618636166 + ], + "footprint_xy": [ + [ + 15.547889615785692, + -14.930111051277205 + ], + [ + 15.665898675911542, + -14.930111051277205 + ], + [ + 15.665898675911542, + -14.773556571371323 + ], + [ + 15.547889615785692, + -14.773556571371323 + ] + ], + "projected_box_corners": [ + [ + 15.547889615785692, + -14.774807668793203 + ], + [ + 15.553567529334416, + -14.775691347104484 + ], + [ + 15.658488376940639, + -14.773556571371323 + ], + [ + 15.664166290489362, + -14.774440249682602 + ], + [ + 15.549622001207872, + -14.929227372965926 + ], + [ + 15.555299914756594, + -14.930111051277205 + ], + [ + 15.660220762362819, + -14.927976275544044 + ], + [ + 15.665898675911542, + -14.928859953855325 + ] + ], + "yaw_rad": -1.5595781162802886, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135893821716309, + -14.912046432495117, + 0.07017531991004944 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551724651280342, + -14.852616636926715, + 0.12025565533510563 + ], + "intended_face_normal": [ + -0.9996311198645352, + -0.01132005932462743, + 0.024689380777292436 + ], + "commanded_contact_point": [ + 15.137110710144043, + -14.906513214111328, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.55168383206252, + -14.85199042981786, + 0.11888987929872855 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135202407836914, + -14.912006378173828, + 0.07587312161922455 + ], + "box_pose": [ + 15.60905647277832, + -14.856359481811523, + 0.13601753115653992, + 0.006921287160366774, + -0.01055888645350933, + 0.7030590772628784, + -0.7110193967819214 + ], + "box_yaw_rad": -1.5596030497485671, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009611849680887869 + } + } + }, + { + "simulation_time_ns": 1440000000, + "center": [ + 15.606756664091478, + -14.851672399215056, + 0.11887389616820135 + ], + "face_center": [ + 15.551455806616579, + -14.852296495195553, + 0.12011746225530416 + ], + "face_normal": [ + -0.9996836165982012, + -0.01128189607494201, + 0.022480169389743343 + ], + "footprint_xy": [ + [ + 15.547889156027876, + -14.9297834701795 + ], + [ + 15.66562417215508, + -14.9297834701795 + ], + [ + 15.66562417215508, + -14.773561328250613 + ], + [ + 15.547889156027876, + -14.773561328250613 + ] + ], + "projected_box_corners": [ + [ + 15.547889156027876, + -14.774809520211607 + ], + [ + 15.553288643730857, + -14.775363084017712 + ], + [ + 15.658490870977676, + -14.773561328250613 + ], + [ + 15.663890358680657, + -14.77411489205672 + ], + [ + 15.549622969502298, + -14.929229906373394 + ], + [ + 15.555022457205279, + -14.9297834701795 + ], + [ + 15.6602246844521, + -14.9279817144124 + ], + [ + 15.66562417215508, + -14.928535278218506 + ] + ], + "yaw_rad": -1.5595689191634645, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135965347290039, + -14.910930633544922, + 0.06500649452209473 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551594765271144, + -14.852459360035205, + 0.12018948387852899 + ], + "intended_face_normal": [ + -0.9996569184559216, + -0.011308157346299974, + 0.023625180618636166 + ], + "commanded_contact_point": [ + 15.136877059936523, + -14.906903266906738, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.551556801341425, + -14.851833811324264, + 0.11888257764888024 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135893821716309, + -14.912046432495117, + 0.07017531991004944 + ], + "box_pose": [ + 15.608909606933594, + -14.856180191040039, + 0.13601817190647125, + 0.007011545356363058, + -0.009710646234452724, + 0.7030624151229858, + -0.7110272645950317 + ], + "box_yaw_rad": -1.5595781162802886, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00045467967298587627 + } + } + }, + { + "simulation_time_ns": 1460000000, + "center": [ + 15.606611154095349, + -14.851498150844725, + 0.11886474720264448 + ], + "face_center": [ + 15.551308779903243, + -14.852119881458199, + 0.12004041571061459 + ], + "face_normal": [ + -0.9997110345698337, + -0.011239136906874059, + 0.02125277255423419 + ], + "footprint_xy": [ + [ + 15.547891997242253, + -14.929431641119423 + ], + [ + 15.665330310948445, + -14.929431641119423 + ], + [ + 15.665330310948445, + -14.773564660570024 + ], + [ + 15.547891997242253, + -14.773564660570024 + ] + ], + "projected_box_corners": [ + [ + 15.547891997242253, + -14.774808121796973 + ], + [ + 15.5529930616785, + -14.77501081075406 + ], + [ + 15.658496745626465, + -14.773564660570024 + ], + [ + 15.663597810062711, + -14.77376734952711 + ], + [ + 15.549624498127987, + -14.929228952162337 + ], + [ + 15.554725562564233, + -14.929431641119423 + ], + [ + 15.6602292465122, + -14.927985490935388 + ], + [ + 15.665330310948445, + -14.928188179892475 + ] + ], + "yaw_rad": -1.5595774504619675, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135696411132812, + -14.909405708312988, + 0.06132534146308899 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551455806616579, + -14.852296495195553, + 0.12011746225530416 + ], + "intended_face_normal": [ + -0.9996836165982012, + -0.01128189607494201, + 0.022480169389743343 + ], + "commanded_contact_point": [ + 15.136621475219727, + -14.906930923461914, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.551420797456156, + -14.851672399215056, + 0.11887389616820135 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135965347290039, + -14.910930633544922, + 0.06500649452209473 + ], + "box_pose": [ + 15.608752250671387, + -14.855995178222656, + 0.1360177844762802, + 0.0070927622728049755, + -0.008814075030386448, + 0.7030709385871887, + -0.7110297083854675 + ], + "box_yaw_rad": -1.5595689191634645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002570767055955109 + } + } + }, + { + "simulation_time_ns": 1480000000, + "center": [ + 15.606447637543896, + -14.851312497620524, + 0.1188539834203979 + ], + "face_center": [ + 15.551143719805196, + -14.85193223549582, + 0.11995524382659058 + ], + "face_normal": [ + -0.999738937541178, + -0.011203113817919497, + 0.019907683821698108 + ], + "footprint_xy": [ + [ + 15.547890656729741, + -14.929230195963466 + ], + [ + 15.66500461835805, + -14.929230195963466 + ], + [ + 15.66500461835805, + -14.77339479927758 + ], + [ + 15.547890656729741, + -14.77339479927758 + ] + ], + "projected_box_corners": [ + [ + 15.547890656729741, + -14.774809318680687 + ], + [ + 15.552664778821958, + -14.774634275028175 + ], + [ + 15.658498492207142, + -14.773569842930092 + ], + [ + 15.663272614299359, + -14.77339479927758 + ], + [ + 15.549622660788435, + -14.929230195963466 + ], + [ + 15.554396782880652, + -14.929055152310955 + ], + [ + 15.660230496265834, + -14.927990720212872 + ], + [ + 15.66500461835805, + -14.92781567656036 + ] + ], + "yaw_rad": -1.5595806708221622, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135772705078125, + -14.9098539352417, + 0.0589340478181839 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551308779903243, + -14.852119881458199, + 0.12004041571061459 + ], + "intended_face_normal": [ + -0.9997110345698337, + -0.011239136906874059, + 0.02125277255423419 + ], + "commanded_contact_point": [ + 15.136301040649414, + -14.906590461730957, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.551276805095794, + -14.851498150844725, + 0.11886474720264448 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135696411132812, + -14.909405708312988, + 0.06132534146308899 + ], + "box_pose": [ + 15.608585357666016, + -14.855795860290527, + 0.13601741194725037, + 0.007175501435995102, + -0.00785739440470934, + 0.7030853033065796, + -0.7110259532928467 + ], + "box_yaw_rad": -1.5595774504619675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00046753877319914244 + } + } + }, + { + "simulation_time_ns": 1500000000, + "center": [ + 15.60626778031674, + -14.851104239153182, + 0.11884190269133045 + ], + "face_center": [ + 15.550962242164246, + -14.851722368424811, + 0.11985998786976214 + ], + "face_normal": [ + -0.999768230054824, + -0.011174034798061672, + 0.018404110164865872 + ], + "footprint_xy": [ + [ + 15.5478917106632, + -14.929230791851834 + ], + [ + 15.664643849970282, + -14.929230791851834 + ], + [ + 15.664643849970282, + -14.77297768645453 + ], + [ + 15.5478917106632, + -14.77297768645453 + ] + ], + "projected_box_corners": [ + [ + 15.5478917106632, + -14.774810276016181 + ], + [ + 15.552300392217846, + -14.774213944997786 + ], + [ + 15.658502786968187, + -14.773574017472924 + ], + [ + 15.662911468522836, + -14.77297768645453 + ], + [ + 15.549624092110646, + -14.929230791851834 + ], + [ + 15.554032773665295, + -14.92863446083344 + ], + [ + 15.660235168415635, + -14.927994533308576 + ], + [ + 15.664643849970282, + -14.927398202290181 + ] + ], + "yaw_rad": -1.5595782009767631, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135801315307617, + -14.911896705627441, + 0.05795620381832123 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.551143719805196, + -14.85193223549582, + 0.11995524382659058 + ], + "intended_face_normal": [ + -0.999738937541178, + -0.011203113817919497, + 0.019907683821698108 + ], + "commanded_contact_point": [ + 15.13605785369873, + -14.905794143676758, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.55111483294028, + -14.851312497620524, + 0.1188539834203979 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135772705078125, + -14.9098539352417, + 0.0589340478181839 + ], + "box_pose": [ + 15.6083984375, + -14.855583190917969, + 0.13601607084274292, + 0.007256207522004843, + -0.006819120608270168, + 0.7030972838401794, + -0.7110238671302795 + ], + "box_yaw_rad": -1.5595806708221622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008326237671064377 + } + } + }, + { + "simulation_time_ns": 1520000000, + "center": [ + 15.606063706089321, + -14.850870172734984, + 0.11882759338259286 + ], + "face_center": [ + 15.550756493796298, + -14.851486326143565, + 0.11975169016344504 + ], + "face_normal": [ + -0.9997984937964001, + -0.011138316763870892, + 0.016705064878756337 + ], + "footprint_xy": [ + [ + 15.547892930400511, + -14.929231048430704 + ], + [ + 15.66423448177813, + -14.929231048430704 + ], + [ + 15.66423448177813, + -14.772509297039264 + ], + [ + 15.547892930400511, + -14.772509297039264 + ] + ], + "projected_box_corners": [ + [ + 15.547892930400511, + -14.774811524843832 + ], + [ + 15.551888710072678, + -14.773741603856426 + ], + [ + 15.65850735498656, + -14.773579218026672 + ], + [ + 15.662503134658726, + -14.772509297039264 + ], + [ + 15.549624277519916, + -14.929231048430704 + ], + [ + 15.553620057192083, + -14.928161127443298 + ], + [ + 15.660238702105964, + -14.927998741613544 + ], + [ + 15.66423448177813, + -14.926928820626136 + ] + ], + "yaw_rad": -1.5595848262252783, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.133588790893555, + -14.910757064819336, + 0.05984550714492798 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550962242164246, + -14.851722368424811, + 0.11985998786976214 + ], + "intended_face_normal": [ + -0.999768230054824, + -0.011174034798061672, + 0.018404110164865872 + ], + "commanded_contact_point": [ + 15.135597229003906, + -14.90455436706543, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.550936596925807, + -14.851104239153182, + 0.11884190269133045 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135801315307617, + -14.911896705627441, + 0.05795620381832123 + ], + "box_pose": [ + 15.608192443847656, + -14.855344772338867, + 0.1360144168138504, + 0.007345004007220268, + -0.005659996531903744, + 0.703106701374054, + -0.7110239267349243 + ], + "box_yaw_rad": -1.5595782009767631, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013225812477371409 + } + } + }, + { + "simulation_time_ns": 1540000000, + "center": [ + 15.60586461102168, + -14.850622968446237, + 0.11882014328643026 + ], + "face_center": [ + 15.550555927985846, + -14.851237575034414, + 0.11965268977367517 + ], + "face_normal": [ + -0.9998250806805377, + -0.011110354611281292, + 0.015050093639739137 + ], + "footprint_xy": [ + [ + 15.547893965617455, + -14.929232791283633 + ], + [ + 15.663835256425903, + -14.929232791283633 + ], + [ + 15.663835256425903, + -14.772013145608842 + ], + [ + 15.547893965617455, + -14.772013145608842 + ] + ], + "projected_box_corners": [ + [ + 15.547893965617455, + -14.774815003159844 + ], + [ + 15.551487104369079, + -14.773242358785195 + ], + [ + 15.658511331689121, + -14.773585789983489 + ], + [ + 15.662104470440743, + -14.772013145608842 + ], + [ + 15.549624751602614, + -14.929232791283633 + ], + [ + 15.553217890354237, + -14.927660146908984 + ], + [ + 15.660242117674281, + -14.928003578107278 + ], + [ + 15.663835256425903, + -14.92643093373263 + ] + ], + "yaw_rad": -1.5595883336464667, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.131463050842285, + -14.908659934997559, + 0.06411652266979218 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550756493796298, + -14.851486326143565, + 0.11975169016344504 + ], + "intended_face_normal": [ + -0.9997984937964001, + -0.011138316763870892, + 0.016705064878756337 + ], + "commanded_contact_point": [ + 15.135368347167969, + -14.903809547424316, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.550734197564518, + -14.850870172734984, + 0.11882759338259286 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133588790893555, + -14.910757064819336, + 0.05984550714492798 + ], + "box_pose": [ + 15.607958793640137, + -14.855076789855957, + 0.1360117346048355, + 0.007441764697432518, + -0.004353867843747139, + 0.7031183838844299, + -0.7110205888748169 + ], + "box_yaw_rad": -1.5595848262252783, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007791939377485656 + } + } + }, + { + "simulation_time_ns": 1560000000, + "center": [ + 15.605698054199609, + -14.850408204278827, + 0.11881540443670079 + ], + "face_center": [ + 15.550388254498982, + -14.851021625739989, + 0.11957126164676939 + ], + "face_normal": [ + -0.9998452668322819, + -0.011088930855601364, + 0.0136637676863538 + ], + "footprint_xy": [ + [ + 15.547895442391448, + -14.929233886234266 + ], + [ + 15.663500666007769, + -14.929233886234266 + ], + [ + 15.663500666007769, + -14.771582522323385 + ], + [ + 15.547895442391448, + -14.771582522323385 + ] + ], + "projected_box_corners": [ + [ + 15.547895442391448, + -14.774818150889246 + ], + [ + 15.551151144744416, + -14.772809365245712 + ], + [ + 15.658515041792704, + -14.77359130796692 + ], + [ + 15.661770744145672, + -14.771582522323385 + ], + [ + 15.549625364253547, + -14.929233886234266 + ], + [ + 15.552881066606513, + -14.927225100590732 + ], + [ + 15.660244963654803, + -14.928007043311942 + ], + [ + 15.663500666007769, + -14.925998257668406 + ] + ], + "yaw_rad": -1.5595937800406565, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.129502296447754, + -14.906094551086426, + 0.06826391816139221 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550555927985846, + -14.851237575034414, + 0.11965268977367517 + ], + "intended_face_normal": [ + -0.9998250806805377, + -0.011110354611281292, + 0.015050093639739137 + ], + "commanded_contact_point": [ + 15.135583877563477, + -14.903542518615723, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.550536573793467, + -14.850622968446237, + 0.11882014328643026 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131463050842285, + -14.908659934997559, + 0.06411652266979218 + ], + "box_pose": [ + 15.607730865478516, + -14.854793548583984, + 0.13601621985435486, + 0.007596718613058329, + -0.0030202888883650303, + 0.7031266689300537, + -0.7110176682472229 + ], + "box_yaw_rad": -1.5595883336464667, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00034315847077154136 + } + } + }, + { + "simulation_time_ns": 1580000000, + "center": [ + 15.605555751324353, + -14.850226942775171, + 0.11881069625201268 + ], + "face_center": [ + 15.550245090278324, + -14.85083980567468, + 0.11950060137659525 + ], + "face_normal": [ + -0.9998608375291191, + -0.01107883363539408, + 0.012471539891860992 + ], + "footprint_xy": [ + [ + 15.547897413839028, + -14.929236495323517 + ], + [ + 15.66321408880968, + -14.929236495323517 + ], + [ + 15.66321408880968, + -14.771217390226825 + ], + [ + 15.547897413839028, + -14.771217390226825 + ] + ], + "projected_box_corners": [ + [ + 15.547897413839028, + -14.774822946726504 + ], + [ + 15.550862964152078, + -14.772443116025842 + ], + [ + 15.658518735931088, + -14.773597220927487 + ], + [ + 15.661484286244137, + -14.771217390226825 + ], + [ + 15.54962721640457, + -14.929236495323517 + ], + [ + 15.55259276671762, + -14.926856664622855 + ], + [ + 15.66024853849663, + -14.928010769524501 + ], + [ + 15.66321408880968, + -14.92563093882384 + ] + ], + "yaw_rad": -1.5595943938889176, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.1273832321167, + -14.902542114257812, + 0.07323877513408661 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550388254498982, + -14.851021625739989, + 0.11957126164676939 + ], + "intended_face_normal": [ + -0.9998452668322819, + -0.011088930855601364, + 0.0136637676863538 + ], + "commanded_contact_point": [ + 15.135709762573242, + -14.903484344482422, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.550371134004394, + -14.850408204278827, + 0.11881540443670079 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129502296447754, + -14.906094551086426, + 0.06826391816139221 + ], + "box_pose": [ + 15.607540130615234, + -14.854547500610352, + 0.13602164387702942, + 0.007748551666736603, + -0.0018809458706527948, + 0.7031326293945312, + -0.7110140919685364 + ], + "box_yaw_rad": -1.5595937800406565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00013867683870743758 + } + } + }, + { + "simulation_time_ns": 1600000000, + "center": [ + 15.605432483512697, + -14.85007144803254, + 0.11880607099152705 + ], + "face_center": [ + 15.550121143414792, + -14.850684564124347, + 0.11943909583963666 + ], + "face_normal": [ + -0.9998731128728465, + -0.011083410638423441, + 0.011443304831972378 + ], + "footprint_xy": [ + [ + 15.547897854516071, + -14.929239047109705 + ], + [ + 15.662967112509323, + -14.929239047109705 + ], + [ + 15.662967112509323, + -14.770903848955376 + ], + [ + 15.547897854516071, + -14.770903848955376 + ] + ], + "projected_box_corners": [ + [ + 15.547897854516071, + -14.774827666725738 + ], + [ + 15.55061316036499, + -14.77213008113899 + ], + [ + 15.65852053471188, + -14.773601434542126 + ], + [ + 15.6612358405608, + -14.770903848955376 + ], + [ + 15.549629126464593, + -14.929239047109705 + ], + [ + 15.552344432313514, + -14.926541461522957 + ], + [ + 15.660251806660401, + -14.928012814926094 + ], + [ + 15.662967112509323, + -14.925315229339345 + ] + ], + "yaw_rad": -1.559584721774174, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.123299598693848, + -14.896181106567383, + 0.07733438909053802 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550245090278324, + -14.85083980567468, + 0.11950060137659525 + ], + "intended_face_normal": [ + -0.9998608375291191, + -0.01107883363539408, + 0.012471539891860992 + ], + "commanded_contact_point": [ + 15.135375022888184, + -14.903308868408203, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.550229692727742, + -14.850226942775171, + 0.11881069625201268 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1273832321167, + -14.902542114257812, + 0.07323877513408661 + ], + "box_pose": [ + 15.607377052307129, + -14.854339599609375, + 0.136025533080101, + 0.007873202674090862, + -0.0009071169188246131, + 0.7031348347663879, + -0.7110123634338379 + ], + "box_yaw_rad": -1.5595943938889176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00037794511469695633 + } + } + }, + { + "simulation_time_ns": 1620000000, + "center": [ + 15.605326791286354, + -14.84993674369098, + 0.11880201081023137 + ], + "face_center": [ + 15.550014924240264, + -14.850550040061854, + 0.11938600311017543 + ], + "face_normal": [ + -0.999882638610641, + -0.011086669575790853, + 0.010556934578067945 + ], + "footprint_xy": [ + [ + 15.547899086827595, + -14.929241070945546 + ], + [ + 15.66275449574511, + -14.929241070945546 + ], + [ + 15.66275449574511, + -14.770632416436417 + ], + [ + 15.547899086827595, + -14.770632416436417 + ] + ], + "projected_box_corners": [ + [ + 15.547899086827595, + -14.774831819584419 + ], + [ + 15.550398661777159, + -14.771859009178165 + ], + [ + 15.658522820919776, + -14.77360522684267 + ], + [ + 15.66102239586934, + -14.770632416436417 + ], + [ + 15.549631186703367, + -14.929241070945546 + ], + [ + 15.552130761652931, + -14.926268260539292 + ], + [ + 15.660254920795548, + -14.928014478203798 + ], + [ + 15.66275449574511, + -14.925041667797544 + ] + ], + "yaw_rad": -1.5595792059719442, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.11724853515625, + -14.889920234680176, + 0.0789104700088501 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550121143414792, + -14.850684564124347, + 0.11943909583963666 + ], + "intended_face_normal": [ + -0.9998731128728465, + -0.011083410638423441, + 0.011443304831972378 + ], + "commanded_contact_point": [ + 15.134927749633789, + -14.902549743652344, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.550107104148658, + -14.85007144803254, + 0.11880607099152705 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.123299598693848, + -14.896181106567383, + 0.07733438909053802 + ], + "box_pose": [ + 15.6072359085083, + -14.854161262512207, + 0.1360282301902771, + 0.007977365516126156, + -7.058320625219494e-05, + 0.7031320333480835, + -0.7110145688056946 + ], + "box_yaw_rad": -1.559584721774174, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008810923678788979 + } + } + }, + { + "simulation_time_ns": 1640000000, + "center": [ + 15.605235118680875, + -14.849821195568335, + 0.1187985845265244 + ], + "face_center": [ + 15.54992280319296, + -14.850434524986861, + 0.11934056799282292 + ], + "face_normal": [ + -0.9998907451747239, + -0.011087266984155297, + 0.009797533283668086 + ], + "footprint_xy": [ + [ + 15.54789932010928, + -14.929242907152164 + ], + [ + 15.662570917252468, + -14.929242907152164 + ], + [ + 15.662570917252468, + -14.770399483984509 + ], + [ + 15.54789932010928, + -14.770399483984509 + ] + ], + "projected_box_corners": [ + [ + 15.54789932010928, + -14.774835560424673 + ], + [ + 15.550214063676796, + -14.771626142821559 + ], + [ + 15.65852395108511, + -14.773608901587624 + ], + [ + 15.660838694652625, + -14.770399483984509 + ], + [ + 15.549631542709124, + -14.929242907152164 + ], + [ + 15.551946286276639, + -14.926033489549049 + ], + [ + 15.660256173684953, + -14.928016248315114 + ], + [ + 15.662570917252468, + -14.924806830711999 + ] + ], + "yaw_rad": -1.5595782729117864, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.112200736999512, + -14.893890380859375, + 0.07517300546169281 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550014924240264, + -14.850550040061854, + 0.11938600311017543 + ], + "intended_face_normal": [ + -0.999882638610641, + -0.011086669575790853, + 0.010556934578067945 + ], + "commanded_contact_point": [ + 15.134801864624023, + -14.901588439941406, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 15.55000193899923, + -14.84993674369098, + 0.11880201081023137 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.11724853515625, + -14.889920234680176, + 0.0789104700088501 + ], + "box_pose": [ + 15.607114791870117, + -14.85400676727295, + 0.13603046536445618, + 0.00806909054517746, + 0.0006524818018078804, + 0.7031298279762268, + -0.7110152840614319 + ], + "box_yaw_rad": -1.5595792059719442, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009695111453850913 + } + } + }, + { + "simulation_time_ns": 1660000000, + "center": [ + 15.605154274958723, + -14.849719644012994, + 0.11879470457469032 + ], + "face_center": [ + 15.549841627941364, + -14.850333653542528, + 0.11929952302455388 + ], + "face_normal": [ + -0.9998967382925714, + -0.011099561474017805, + 0.009125694550290442 + ], + "footprint_xy": [ + [ + 15.54789904703167, + -14.929243816887174 + ], + [ + 15.662409502885776, + -14.929243816887174 + ], + [ + 15.662409502885776, + -14.770195471138816 + ], + [ + 15.54789904703167, + -14.770195471138816 + ] + ], + "projected_box_corners": [ + [ + 15.54789904703167, + -14.774838352650539 + ], + [ + 15.550050278385715, + -14.771423490197881 + ], + [ + 15.658524341066393, + -14.773610333591474 + ], + [ + 15.660675572420438, + -14.770195471138816 + ], + [ + 15.54963297749701, + -14.929243816887174 + ], + [ + 15.551784208851055, + -14.925828954434516 + ], + [ + 15.660258271531733, + -14.92801579782811 + ], + [ + 15.662409502885776, + -14.924600935375452 + ] + ], + "yaw_rad": -1.5595670766339689, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.113471031188965, + -14.904339790344238, + 0.06739102303981781 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54992280319296, + -14.850434524986861, + 0.11934056799282292 + ], + "intended_face_normal": [ + -0.9998907451747239, + -0.011087266984155297, + 0.009797533283668086 + ], + "commanded_contact_point": [ + 15.134869575500488, + -14.901135444641113, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.549910714937218, + -14.849821195568335, + 0.1187985845265244 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.112200736999512, + -14.893890380859375, + 0.07517300546169281 + ], + "box_pose": [ + 15.607009887695312, + -14.853874206542969, + 0.13603241741657257, + 0.008148870430886745, + 0.0012731692986562848, + 0.7031286954879761, + -0.7110149264335632 + ], + "box_yaw_rad": -1.5595782729117864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00045802784546848283 + } + } + }, + { + "simulation_time_ns": 1680000000, + "center": [ + 15.605082738581608, + -14.849629873632514, + 0.1187910048782068 + ], + "face_center": [ + 15.549769789051744, + -14.850243981337131, + 0.11926256106326158 + ], + "face_normal": [ + -0.999902206865871, + -0.011101336202794965, + 0.00852440656492115 + ], + "footprint_xy": [ + [ + 15.547900388615002, + -14.929245209282458 + ], + [ + 15.662265088548216, + -14.929245209282458 + ], + [ + 15.662265088548216, + -14.770014537982572 + ], + [ + 15.547900388615002, + -14.770014537982572 + ] + ], + "projected_box_corners": [ + [ + 15.547900388615002, + -14.774841450272234 + ], + [ + 15.549905308154505, + -14.771242753391805 + ], + [ + 15.658526287674729, + -14.773613234863001 + ], + [ + 15.660531207214232, + -14.770014537982572 + ], + [ + 15.549634269948985, + -14.929245209282458 + ], + [ + 15.551639189488489, + -14.925646512402029 + ], + [ + 15.660260169008712, + -14.928016993873225 + ], + [ + 15.662265088548216, + -14.924418296992796 + ] + ], + "yaw_rad": -1.5595672707895856, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.121428489685059, + -14.911065101623535, + 0.060547009110450745 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549841627941364, + -14.850333653542528, + 0.11929952302455388 + ], + "intended_face_normal": [ + -0.9998967382925714, + -0.011099561474017805, + 0.009125694550290442 + ], + "commanded_contact_point": [ + 15.13508415222168, + -14.9010648727417, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.549830202814979, + -14.849719644012994, + 0.11879470457469032 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.113471031188965, + -14.904339790344238, + 0.06739102303981781 + ], + "box_pose": [ + 15.606917381286621, + -14.853757858276367, + 0.13603320717811584, + 0.008213725872337818, + 0.0018165496876463294, + 0.7031235694885254, + -0.711017906665802 + ], + "box_yaw_rad": -1.5595670766339689, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002258839600066013 + } + } + }, + { + "simulation_time_ns": 1700000000, + "center": [ + 15.605019578351934, + -14.849548116605888, + 0.11878773504674973 + ], + "face_center": [ + 15.54970638527861, + -14.850161991367125, + 0.11922979861116854 + ], + "face_normal": [ + -0.9999066094451217, + -0.01109712524312867, + 0.007991263120017023 + ], + "footprint_xy": [ + [ + 15.547902365929849, + -14.929243789743806 + ], + [ + 15.66213679077402, + -14.929243789743806 + ], + [ + 15.66213679077402, + -14.76985244346797 + ], + [ + 15.547902365929849, + -14.76985244346797 + ] + ], + "projected_box_corners": [ + [ + 15.547902365929849, + -14.774841638248654 + ], + [ + 15.549777581706687, + -14.771080192990445 + ], + [ + 15.658528752076498, + -14.77361388872618 + ], + [ + 15.660403967853336, + -14.76985244346797 + ], + [ + 15.549635188850534, + -14.929243789743806 + ], + [ + 15.551510404627372, + -14.925482344485596 + ], + [ + 15.660261574997183, + -14.928016040221333 + ], + [ + 15.66213679077402, + -14.924254594963124 + ] + ], + "yaw_rad": -1.559574007940305, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.129140853881836, + -14.911066055297852, + 0.05586366355419159 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549769789051744, + -14.850243981337131, + 0.11926256106326158 + ], + "intended_face_normal": [ + -0.999902206865871, + -0.011101336202794965, + 0.00852440656492115 + ], + "commanded_contact_point": [ + 15.135544776916504, + -14.900491714477539, + 0.04999994859099388 + ], + "centerline_face_intersection": [ + 15.549758969011197, + -14.849629873632514, + 0.1187910048782068 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.121428489685059, + -14.911065101623535, + 0.060547009110450745 + ], + "box_pose": [ + 15.60683536529541, + -14.853654861450195, + 0.13603366911411285, + 0.008271755650639534, + 0.0023028110153973103, + 0.7031222581863403, + -0.7110172510147095 + ], + "box_yaw_rad": -1.5595672707895856, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007353132026130088 + } + } + }, + { + "simulation_time_ns": 1720000000, + "center": [ + 15.605007898868172, + -14.849538214536357, + 0.11878881677135791 + ], + "face_center": [ + 15.549694670872132, + -14.850152438186383, + 0.11922548257065693 + ], + "face_normal": [ + -0.9999072407493889, + -0.011103432168964922, + 0.007893686742309614 + ], + "footprint_xy": [ + [ + 15.547902063767047, + -14.929244760035031 + ], + [ + 15.662113733969296, + -14.929244760035031 + ], + [ + 15.662113733969296, + -14.769831669037684 + ], + [ + 15.547902063767047, + -14.769831669037684 + ] + ], + "projected_box_corners": [ + [ + 15.547902063767047, + -14.774842846227159 + ], + [ + 15.549753610411527, + -14.771060116337736 + ], + [ + 15.658528519759129, + -14.773614398927107 + ], + [ + 15.660380066403608, + -14.769831669037684 + ], + [ + 15.549635731332735, + -14.929244760035031 + ], + [ + 15.551487277977214, + -14.925462030145608 + ], + [ + 15.660262187324816, + -14.928016312734979 + ], + [ + 15.662113733969296, + -14.924233582845556 + ] + ], + "yaw_rad": -1.5595685209243904, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.1350736618042, + -14.909071922302246, + 0.05318500101566315 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54970638527861, + -14.850161991367125, + 0.11922979861116854 + ], + "intended_face_normal": [ + -0.9999066094451217, + -0.01109712524312867, + 0.007991263120017023 + ], + "commanded_contact_point": [ + 15.136436462402344, + -14.899286270141602, + 0.04999994486570358 + ], + "centerline_face_intersection": [ + 15.549696052371552, + -14.849548116605888, + 0.11878773504674973 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129140853881836, + -14.911066055297852, + 0.05586366355419159 + ], + "box_pose": [ + 15.606762886047363, + -14.853561401367188, + 0.1360340714454651, + 0.00832286849617958, + 0.002733584027737379, + 0.703123152256012, + -0.7110142111778259 + ], + "box_yaw_rad": -1.559574007940305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014993995640639342 + } + } + }, + { + "simulation_time_ns": 1740000000, + "center": [ + 15.60500968667202, + -14.849539044597705, + 0.11878923032103861 + ], + "face_center": [ + 15.549696474203596, + -14.850153566386824, + 0.11922620692453899 + ], + "face_normal": [ + -0.999906960053812, + -0.011108821683321057, + 0.007899305206150453 + ], + "footprint_xy": [ + [ + 15.54790277433694, + -14.92924495491678 + ], + [ + 15.662116599007097, + -14.92924495491678 + ], + [ + 15.662116599007097, + -14.769833134278633 + ], + [ + 15.54790277433694, + -14.769833134278633 + ] + ], + "projected_box_corners": [ + [ + 15.54790277433694, + -14.774843058841812 + ], + [ + 15.549755669905577, + -14.771062177856868 + ], + [ + 15.658529199273783, + -14.773614015263577 + ], + [ + 15.66038209484242, + -14.769833134278633 + ], + [ + 15.549637278501617, + -14.92924495491678 + ], + [ + 15.551490174070254, + -14.925464073931835 + ], + [ + 15.660263703438462, + -14.928015911338544 + ], + [ + 15.662116599007097, + -14.9242350303536 + ] + ], + "yaw_rad": -1.5595631019976475, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.140705108642578, + -14.908269882202148, + 0.05655422806739807 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549694670872132, + -14.850152438186383, + 0.11922548257065693 + ], + "intended_face_normal": [ + -0.9999072407493889, + -0.011103432168964922, + 0.007893686742309614 + ], + "commanded_contact_point": [ + 15.137194633483887, + -14.897963523864746, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.549684407817008, + -14.849538214536357, + 0.11878881677135791 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1350736618042, + -14.909071922302246, + 0.05318500101566315 + ], + "box_pose": [ + 15.606749534606934, + -14.85354995727539, + 0.13603568077087402, + 0.008319733664393425, + 0.002799833193421364, + 0.7031209468841553, + -0.7110161185264587 + ], + "box_yaw_rad": -1.5595685209243904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015246249064526504 + } + } + }, + { + "simulation_time_ns": 1760000000, + "center": [ + 15.605013826474742, + -14.849544820496027, + 0.11878904122709324 + ], + "face_center": [ + 15.5497006308118, + -14.850159380722005, + 0.11922799811103503 + ], + "face_normal": [ + -0.9999066562580997, + -0.011109516513434059, + 0.00793510309435555 + ], + "footprint_xy": [ + [ + 15.547902502568881, + -14.92924457040701 + ], + [ + 15.662125150380604, + -14.92924457040701 + ], + [ + 15.662125150380604, + -14.769845070585044 + ], + [ + 15.547902502568881, + -14.769845070585044 + ] + ], + "projected_box_corners": [ + [ + 15.547902502568881, + -14.774842550624511 + ], + [ + 15.54976412350947, + -14.771074191037002 + ], + [ + 15.658528893894765, + -14.773613430172553 + ], + [ + 15.660390514835354, + -14.769845070585044 + ], + [ + 15.549637138114132, + -14.92924457040701 + ], + [ + 15.551498759054722, + -14.9254762108195 + ], + [ + 15.660263529440014, + -14.92801544995505 + ], + [ + 15.662125150380604, + -14.92424709036754 + ] + ], + "yaw_rad": -1.5595622602050585, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.141497611999512, + -14.908050537109375, + 0.06131540238857269 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549696474203596, + -14.850153566386824, + 0.11922620692453899 + ], + "intended_face_normal": [ + -0.999906960053812, + -0.011108821683321057, + 0.007899305206150453 + ], + "commanded_contact_point": [ + 15.137307167053223, + -14.89646053314209, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.549686180090351, + -14.849539044597705, + 0.11878923032103861 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140705108642578, + -14.908269882202148, + 0.05655422806739807 + ], + "box_pose": [ + 15.606751441955566, + -14.853550910949707, + 0.13603605329990387, + 0.008318978361785412, + 0.002795102773234248, + 0.7031190395355225, + -0.711017906665802 + ], + "box_yaw_rad": -1.5595631019976475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015071977032702587 + } + } + }, + { + "simulation_time_ns": 1780000000, + "center": [ + 15.60501939729648, + -14.849554021805861, + 0.11878952725421196 + ], + "face_center": [ + 15.549706227133575, + -14.850169026946693, + 0.1192318851301059 + ], + "face_normal": [ + -0.999906195289318, + -0.011117559319807513, + 0.007996583441858163 + ], + "footprint_xy": [ + [ + 15.547899988939035, + -14.929245266030305 + ], + [ + 15.662138805653925, + -14.929245266030305 + ], + [ + 15.662138805653925, + -14.769862777581416 + ], + [ + 15.547899988939035, + -14.769862777581416 + ] + ], + "projected_box_corners": [ + [ + 15.547899988939035, + -14.774843059294257 + ], + [ + 15.549776530697335, + -14.77109278786308 + ], + [ + 15.658526329264845, + -14.773613049012592 + ], + [ + 15.660402871023145, + -14.769862777581416 + ], + [ + 15.549635923569816, + -14.929245266030305 + ], + [ + 15.551512465328114, + -14.925494994599129 + ], + [ + 15.660262263895625, + -14.92801525574864 + ], + [ + 15.662138805653925, + -14.924264984317464 + ] + ], + "yaw_rad": -1.5595538612228148, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13967514038086, + -14.90733528137207, + 0.06545917689800262 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.5497006308118, + -14.850159380722005, + 0.11922799811103503 + ], + "intended_face_normal": [ + -0.9999066562580997, + -0.011109516513434059, + 0.00793510309435555 + ], + "commanded_contact_point": [ + 15.1375732421875, + -14.895177841186523, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.54969030308446, + -14.849544820496027, + 0.11878904122709324 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.141497611999512, + -14.908050537109375, + 0.06131540238857269 + ], + "box_pose": [ + 15.606756210327148, + -14.853557586669922, + 0.13603559136390686, + 0.008313208818435669, + 0.0027638168539851904, + 0.7031188607215881, + -0.7110182642936707 + ], + "box_yaw_rad": -1.5595622602050585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013099979503630827 + } + } + }, + { + "simulation_time_ns": 1800000000, + "center": [ + 15.605030434589743, + -14.84956484184119, + 0.11878991297062856 + ], + "face_center": [ + 15.549717304795315, + -14.850180255999398, + 0.11923649208294534 + ], + "face_normal": [ + -0.9999054655410615, + -0.011124953200990717, + 0.008072891497219153 + ], + "footprint_xy": [ + [ + 15.547901197305064, + -14.929245549754825 + ], + [ + 15.662159671874424, + -14.929245549754825 + ], + [ + 15.662159671874424, + -14.769884133927555 + ], + [ + 15.547901197305064, + -14.769884133927555 + ] + ], + "projected_box_corners": [ + [ + 15.547901197305064, + -14.774843139291098 + ], + [ + 15.549796265160834, + -14.77111496224397 + ], + [ + 15.658527456893921, + -14.773612310974682 + ], + [ + 15.660422524749691, + -14.769884133927555 + ], + [ + 15.549638344429797, + -14.929245549754825 + ], + [ + 15.551533412285567, + -14.925517372707697 + ], + [ + 15.660264604018654, + -14.928014721438409 + ], + [ + 15.662159671874424, + -14.92428654439128 + ] + ], + "yaw_rad": -1.559546024231219, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.138740539550781, + -14.905904769897461, + 0.06924191117286682 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549706227133575, + -14.850169026946693, + 0.1192318851301059 + ], + "intended_face_normal": [ + -0.999906195289318, + -0.011117559319807513, + 0.007996583441858163 + ], + "commanded_contact_point": [ + 15.137971878051758, + -14.894140243530273, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 15.54969584840139, + -14.849554021805861, + 0.11878952725421196 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13967514038086, + -14.90733528137207, + 0.06545917689800262 + ], + "box_pose": [ + 15.606762886047363, + -14.853568077087402, + 0.13603566586971283, + 0.008308278396725655, + 0.0027151587419211864, + 0.7031160593032837, + -0.711021363735199 + ], + "box_yaw_rad": -1.5595538612228148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011115392251412753 + } + } + }, + { + "simulation_time_ns": 1820000000, + "center": [ + 15.605044698279242, + -14.849582412446457, + 0.11879054816285411 + ], + "face_center": [ + 15.549731605416572, + -14.850197343707299, + 0.11924341748901487 + ], + "face_normal": [ + -0.9999047979189731, + -0.011116223777841161, + 0.008186600832152863 + ], + "footprint_xy": [ + [ + 15.54790227863761, + -14.929245857785583 + ], + [ + 15.662187117920874, + -14.929245857785583 + ], + [ + 15.662187117920874, + -14.769918967107332 + ], + [ + 15.54790227863761, + -14.769918967107332 + ] + ], + "projected_box_corners": [ + [ + 15.54790227863761, + -14.774843069617242 + ], + [ + 15.549825036732738, + -14.771148829629015 + ], + [ + 15.658528464362949, + -14.773613207095558 + ], + [ + 15.660451222458079, + -14.769918967107332 + ], + [ + 15.549638174100403, + -14.929245857785583 + ], + [ + 15.551560932195533, + -14.925551617797357 + ], + [ + 15.660264359825744, + -14.9280159952639 + ], + [ + 15.662187117920874, + -14.924321755275674 + ] + ], + "yaw_rad": -1.5595541571968532, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.139293670654297, + -14.903074264526367, + 0.07161742448806763 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549717304795315, + -14.850180255999398, + 0.11923649208294534 + ], + "intended_face_normal": [ + -0.9999054655410615, + -0.011124953200990717, + 0.008072891497219153 + ], + "commanded_contact_point": [ + 15.138522148132324, + -14.893099784851074, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.549706845318571, + -14.84956484184119, + 0.11878991297062856 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138740539550781, + -14.905904769897461, + 0.06924191117286682 + ], + "box_pose": [ + 15.606775283813477, + -14.853580474853516, + 0.13603554666042328, + 0.008302693255245686, + 0.0026552893687039614, + 0.7031134963035583, + -0.7110241651535034 + ], + "box_yaw_rad": -1.559546024231219, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011770095274933183 + } + } + }, + { + "simulation_time_ns": 1840000000, + "center": [ + 15.60505948159252, + -14.849601456032058, + 0.11879126998724263 + ], + "face_center": [ + 15.549746457800929, + -14.850216286262151, + 0.11925172147925578 + ], + "face_normal": [ + -0.9999035493085768, + -0.01111439742671605, + 0.008323665017539061 + ], + "footprint_xy": [ + [ + 15.547900546387018, + -14.929244915426755 + ], + [ + 15.662218416798023, + -14.929244915426755 + ], + [ + 15.662218416798023, + -14.76995799663736 + ], + [ + 15.547900546387018, + -14.76995799663736 + ] + ], + "projected_box_corners": [ + [ + 15.547900546387018, + -14.774841749434238 + ], + [ + 15.549856642442844, + -14.771187657097547 + ], + [ + 15.658526593970201, + -14.773612088974051 + ], + [ + 15.660482690026026, + -14.76995799663736 + ], + [ + 15.549636273159013, + -14.929244915426755 + ], + [ + 15.55159236921484, + -14.925590823090065 + ], + [ + 15.660262320742197, + -14.928015254966569 + ], + [ + 15.662218416798023, + -14.924361162629879 + ] + ], + "yaw_rad": -1.5595552771006196, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.138948440551758, + -14.899250984191895, + 0.07131233811378479 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549731605416572, + -14.850197343707299, + 0.11924341748901487 + ], + "intended_face_normal": [ + -0.9999047979189731, + -0.011116223777841161, + 0.008186600832152863 + ], + "commanded_contact_point": [ + 15.138957977294922, + -14.892353057861328, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.549721072069303, + -14.849582412446457, + 0.11879054816285411 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.139293670654297, + -14.903074264526367, + 0.07161742448806763 + ], + "box_pose": [ + 15.606791496276855, + -14.85360050201416, + 0.13603541254997253, + 0.008292964659631252, + 0.002564547350630164, + 0.7031167149543762, + -0.7110215425491333 + ], + "box_yaw_rad": -1.5595541571968532, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008646087316849648 + } + } + }, + { + "simulation_time_ns": 1860000000, + "center": [ + 15.605078768222501, + -14.84962384485753, + 0.11879203965363908 + ], + "face_center": [ + 15.549765810791525, + -14.85023793942308, + 0.11926105889955953 + ], + "face_normal": [ + -0.9999023496957261, + -0.011101098685496802, + 0.008478545856702713 + ], + "footprint_xy": [ + [ + 15.547902007646714, + -14.929243596245803 + ], + [ + 15.66225552879829, + -14.929243596245803 + ], + [ + 15.66225552879829, + -14.77000409346926 + ], + [ + 15.547902007646714, + -14.77000409346926 + ] + ], + "projected_box_corners": [ + [ + 15.547902007646714, + -14.774839962264938 + ], + [ + 15.54989582678345, + -14.771232282600357 + ], + [ + 15.658527922508668, + -14.77361177313384 + ], + [ + 15.660521741645404, + -14.77000409346926 + ], + [ + 15.5496357947996, + -14.929243596245803 + ], + [ + 15.551629613936337, + -14.925635916581221 + ], + [ + 15.660261709661555, + -14.928015407114703 + ], + [ + 15.66225552879829, + -14.924407727450124 + ] + ], + "yaw_rad": -1.5595678715874812, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.136505126953125, + -14.89529037475586, + 0.06861318647861481 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549746457800929, + -14.850216286262151, + 0.11925172147925578 + ], + "intended_face_normal": [ + -0.9999035493085768, + -0.01111439742671605, + 0.008323665017539061 + ], + "commanded_contact_point": [ + 15.139141082763672, + -14.89207935333252, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.549735786298264, + -14.849601456032058, + 0.11879126998724263 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138948440551758, + -14.899250984191895, + 0.07131233811378479 + ], + "box_pose": [ + 15.60680866241455, + -14.853622436523438, + 0.13603521883487701, + 0.008282318711280823, + 0.002456305781379342, + 0.7031174898147583, + -0.7110211849212646 + ], + "box_yaw_rad": -1.5595552771006196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032930499812539943 + } + } + }, + { + "simulation_time_ns": 1880000000, + "center": [ + 15.605100451811047, + -14.849652226727319, + 0.11879285301508163 + ], + "face_center": [ + 15.549787566096345, + -14.85026591979211, + 0.11927183089180285 + ], + "face_normal": [ + -0.9999010532676481, + -0.01109384068355268, + 0.008658569829383123 + ], + "footprint_xy": [ + [ + 15.547902349126742, + -14.929243851347408 + ], + [ + 15.662298554495353, + -14.929243851347408 + ], + [ + 15.662298554495353, + -14.770060602107229 + ], + [ + 15.547902349126742, + -14.770060602107229 + ] + ], + "projected_box_corners": [ + [ + 15.547902349126742, + -14.774839641063325 + ], + [ + 15.549940007469516, + -14.771287988236809 + ], + [ + 15.658528120556149, + -14.773612254933745 + ], + [ + 15.660565778898922, + -14.770060602107229 + ], + [ + 15.549635124723174, + -14.929243851347408 + ], + [ + 15.551672783065948, + -14.925692198520894 + ], + [ + 15.660260896152579, + -14.928016465217828 + ], + [ + 15.662298554495353, + -14.924464812391314 + ] + ], + "yaw_rad": -1.559574464020745, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13428783416748, + -14.890883445739746, + 0.06677410006523132 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549765810791525, + -14.85023793942308, + 0.11926105889955953 + ], + "intended_face_normal": [ + -0.9999023496957261, + -0.011101098685496802, + 0.008478545856702713 + ], + "commanded_contact_point": [ + 15.139182090759277, + -14.892223358154297, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.549755006554747, + -14.84962384485753, + 0.11879203965363908 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.136505126953125, + -14.89529037475586, + 0.06861318647861481 + ], + "box_pose": [ + 15.606830596923828, + -14.85364818572998, + 0.13603493571281433, + 0.008268800564110279, + 0.0023324303328990936, + 0.7031223773956299, + -0.7110168933868408 + ], + "box_yaw_rad": -1.5595678715874812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00014972990524141384 + } + } + }, + { + "simulation_time_ns": 1900000000, + "center": [ + 15.605128061497885, + -14.849683658123157, + 0.11879432603380922 + ], + "face_center": [ + 15.549815284946432, + -14.85029701560734, + 0.11928563249841037 + ], + "face_normal": [ + -0.9998990799037958, + -0.011087774332155353, + 0.008881435945427701 + ], + "footprint_xy": [ + [ + 15.547903354228625, + -14.92924190629364 + ], + [ + 15.662352768767143, + -14.92924190629364 + ], + [ + 15.662352768767143, + -14.770125409952673 + ], + [ + 15.547903354228625, + -14.770125409952673 + ] + ], + "projected_box_corners": [ + [ + 15.547903354228625, + -14.774837068982954 + ], + [ + 15.549995244955001, + -14.77135212492104 + ], + [ + 15.65852890733153, + -14.773610354014588 + ], + [ + 15.660620798057906, + -14.770125409952673 + ], + [ + 15.549635324937862, + -14.92924190629364 + ], + [ + 15.551727215664238, + -14.925756962231727 + ], + [ + 15.660260878040766, + -14.928015191325274 + ], + [ + 15.662352768767143, + -14.924530247263359 + ] + ], + "yaw_rad": -1.5595797217686005, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.133505821228027, + -14.888554573059082, + 0.0666675716638565 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549787566096345, + -14.85026591979211, + 0.11927183089180285 + ], + "intended_face_normal": [ + -0.9999010532676481, + -0.01109384068355268, + 0.008658569829383123 + ], + "commanded_contact_point": [ + 15.139056205749512, + -14.892728805541992, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.549776618412919, + -14.849652226727319, + 0.11879285301508163 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13428783416748, + -14.890883445739746, + 0.06677410006523132 + ], + "box_pose": [ + 15.606855392456055, + -14.853680610656738, + 0.13603448867797852, + 0.00825000461190939, + 0.0021853740327060223, + 0.7031251788139343, + -0.7110149264335632 + ], + "box_yaw_rad": -1.559574464020745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005208877981867933 + } + } + }, + { + "simulation_time_ns": 1920000000, + "center": [ + 15.605157046846173, + -14.849722937167375, + 0.11879562542625854 + ], + "face_center": [ + 15.549844386658553, + -14.850336367078398, + 0.1193008504526002 + ], + "face_normal": [ + -0.9998969763737479, + -0.011089083605268835, + 0.009133044306923743 + ], + "footprint_xy": [ + [ + 15.547901688610155, + -14.929243083470276 + ], + [ + 15.662412405082192, + -14.929243083470276 + ], + [ + 15.662412405082192, + -14.770202790864474 + ], + [ + 15.547901688610155, + -14.770202790864474 + ] + ], + "projected_box_corners": [ + [ + 15.547901688610155, + -14.77483750796455 + ], + [ + 15.550054796562007, + -14.771429650686521 + ], + [ + 15.658527008985397, + -14.773610648142503 + ], + [ + 15.660680116937248, + -14.770202790864474 + ], + [ + 15.549633976755098, + -14.929243083470276 + ], + [ + 15.55178708470695, + -14.925835226192246 + ], + [ + 15.66025929713034, + -14.928016223648228 + ], + [ + 15.662412405082192, + -14.9246083663702 + ] + ], + "yaw_rad": -1.5595777197915706, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13457202911377, + -14.889739990234375, + 0.06700204312801361 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549815284946432, + -14.85029701560734, + 0.11928563249841037 + ], + "intended_face_normal": [ + -0.9998990799037958, + -0.011087774332155353, + 0.008881435945427701 + ], + "commanded_contact_point": [ + 15.138777732849121, + -14.89372444152832, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + 15.549804118914684, + -14.849683658123157, + 0.11879432603380922 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133505821228027, + -14.888554573059082, + 0.0666675716638565 + ], + "box_pose": [ + 15.606886863708496, + -14.853716850280762, + 0.13603444397449493, + 0.008230612613260746, + 0.0020072555635124445, + 0.7031275629997253, + -0.7110132575035095 + ], + "box_yaw_rad": -1.5595797217686005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010338463026650653 + } + } + }, + { + "simulation_time_ns": 1940000000, + "center": [ + 15.605192863217328, + -14.849765166771693, + 0.11879739179261156 + ], + "face_center": [ + 15.54988036898892, + -14.850378857891936, + 0.11931903226003322 + ], + "face_normal": [ + -0.9998939762989684, + -0.011093805531618539, + 0.00942978920847204 + ], + "footprint_xy": [ + [ + 15.547901163780224, + -14.92924135479802 + ], + [ + 15.662484562654429, + -14.92924135479802 + ], + [ + 15.662484562654429, + -14.770288978745368 + ], + [ + 15.547901163780224, + -14.770288978745368 + ] + ], + "projected_box_corners": [ + [ + 15.547901163780224, + -14.774835012007191 + ], + [ + 15.550126443229562, + -14.771516360985853 + ], + [ + 15.658526152237037, + -14.773607629766706 + ], + [ + 15.660751431686375, + -14.770288978745368 + ], + [ + 15.549634294748278, + -14.92924135479802 + ], + [ + 15.551859574197616, + -14.925922703776681 + ], + [ + 15.660259283205091, + -14.928013972557535 + ], + [ + 15.662484562654429, + -14.924695321536195 + ] + ], + "yaw_rad": -1.5595723177476741, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.1360502243042, + -14.894244194030762, + 0.06698644161224365 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549844386658553, + -14.850336367078398, + 0.1193008504526002 + ], + "intended_face_normal": [ + -0.9998969763737479, + -0.011089083605268835, + 0.009133044306923743 + ], + "commanded_contact_point": [ + 15.138433456420898, + -14.89522933959961, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.549832987875407, + -14.849722937167375, + 0.11879562542625854 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13457202911377, + -14.889739990234375, + 0.06700204312801361 + ], + "box_pose": [ + 15.60692024230957, + -14.853761672973633, + 0.13603399693965912, + 0.008206083439290524, + 0.0018035441171377897, + 0.703127384185791, + -0.7110143899917603 + ], + "box_yaw_rad": -1.5595777197915706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015437760413990404 + } + } + }, + { + "simulation_time_ns": 1960000000, + "center": [ + 15.605232819600364, + -14.849815175860966, + 0.11879963891126506 + ], + "face_center": [ + 15.549920479963264, + -14.850428240929846, + 0.11933989937858548 + ], + "face_normal": [ + -0.9998911817239333, + -0.01108248828776226, + 0.009766386319073672 + ], + "footprint_xy": [ + [ + 15.547901149365936, + -14.929241210316325 + ], + [ + 15.662564489834793, + -14.929241210316325 + ], + [ + 15.662564489834793, + -14.770389141405607 + ], + [ + 15.547901149365936, + -14.770389141405607 + ] + ], + "projected_box_corners": [ + [ + 15.547901149365936, + -14.774833922876926 + ], + [ + 15.550208332501695, + -14.771615271543368 + ], + [ + 15.658525828640137, + -14.773607792739165 + ], + [ + 15.660833011775896, + -14.770389141405607 + ], + [ + 15.549632627424833, + -14.929241210316325 + ], + [ + 15.551939810560592, + -14.926022558982766 + ], + [ + 15.660257306699034, + -14.928015080178563 + ], + [ + 15.662564489834793, + -14.924796428845005 + ] + ], + "yaw_rad": -1.5595830899270062, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.135431289672852, + -14.900657653808594, + 0.0653270035982132 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54988036898892, + -14.850378857891936, + 0.11931903226003322 + ], + "intended_face_normal": [ + -0.9998939762989684, + -0.011093805531618539, + 0.00942978920847204 + ], + "commanded_contact_point": [ + 15.137824058532715, + -14.897038459777832, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.549868638252647, + -14.849765166771693, + 0.11879739179261156 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1360502243042, + -14.894244194030762, + 0.06698644161224365 + ], + "box_pose": [ + 15.606961250305176, + -14.85381031036377, + 0.13603372871875763, + 0.008179650641977787, + 0.0015658242627978325, + 0.7031260132789612, + -0.7110164761543274 + ], + "box_yaw_rad": -1.5595723177476741, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019090001587362456 + } + } + }, + { + "simulation_time_ns": 1980000000, + "center": [ + 15.605280385734728, + -14.849873342545209, + 0.11880184048662928 + ], + "face_center": [ + 15.54996826235628, + -14.850485880507245, + 0.11936379004061817 + ], + "face_normal": [ + -0.9998872723770958, + -0.011072959681831307, + 0.010158463867080636 + ], + "footprint_xy": [ + [ + 15.547901937516661, + -14.929239727749259 + ], + [ + 15.662658833952797, + -14.929239727749259 + ], + [ + 15.662658833952797, + -14.77050695734116 + ], + [ + 15.547901937516661, + -14.77050695734116 + ] + ], + "projected_box_corners": [ + [ + 15.547901937516661, + -14.774831429688682 + ], + [ + 15.550304543405032, + -14.771732033265229 + ], + [ + 15.658526184273557, + -14.773606353764613 + ], + [ + 15.660928790161927, + -14.77050695734116 + ], + [ + 15.549631981307531, + -14.929239727749259 + ], + [ + 15.552034587195902, + -14.926140331325806 + ], + [ + 15.660256228064426, + -14.92801465182519 + ], + [ + 15.662658833952797, + -14.924915255401737 + ] + ], + "yaw_rad": -1.5595924509474177, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.132468223571777, + -14.908526420593262, + 0.06090188026428223 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.549920479963264, + -14.850428240929846, + 0.11933989937858548 + ], + "intended_face_normal": [ + -0.9998911817239333, + -0.01108248828776226, + 0.009766386319073672 + ], + "commanded_contact_point": [ + 15.137105941772461, + -14.89925479888916, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + 15.549908440011158, + -14.849815175860966, + 0.11879963891126506 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135431289672852, + -14.900657653808594, + 0.0653270035982132 + ], + "box_pose": [ + 15.607007026672363, + -14.853867530822754, + 0.13603368401527405, + 0.008151471614837646, + 0.001297926064580679, + 0.7031303644180298, + -0.7110132575035095 + ], + "box_yaw_rad": -1.5595830899270062, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00232977482662385 + } + } + }, + { + "simulation_time_ns": 2000000000, + "center": [ + 15.605332653354836, + -14.849939783765812, + 0.11880406621280024 + ], + "face_center": [ + 15.55002079921878, + -14.850552622732854, + 0.11939075710356567 + ], + "face_normal": [ + -0.9998824052335925, + -0.011078401003866922, + 0.0106057174931114 + ], + "footprint_xy": [ + [ + 15.547899667066105, + -14.929238428688915 + ], + [ + 15.662765639643567, + -14.929238428688915 + ], + [ + 15.662765639643567, + -14.770641138842711 + ], + [ + 15.547899667066105, + -14.770641138842711 + ] + ], + "projected_box_corners": [ + [ + 15.547899667066105, + -14.774829049399838 + ], + [ + 15.550411087067218, + -14.771866816776795 + ], + [ + 15.658523375338214, + -14.773603371465754 + ], + [ + 15.661034795339328, + -14.770641138842711 + ], + [ + 15.549630511370342, + -14.929238428688915 + ], + [ + 15.552141931371457, + -14.926276196065873 + ], + [ + 15.660254219642452, + -14.928012750754831 + ], + [ + 15.662765639643567, + -14.925050518131789 + ] + ], + "yaw_rad": -1.5595873456882143, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.130295753479004, + -14.913568496704102, + 0.060769811272621155 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.54996826235628, + -14.850485880507245, + 0.11936379004061817 + ], + "intended_face_normal": [ + -0.9998872723770958, + -0.011072959681831307, + 0.010158463867080636 + ], + "commanded_contact_point": [ + 15.13692855834961, + -14.900969505310059, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.549955789838952, + -14.849873342545209, + 0.11880184048662928 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132468223571777, + -14.908526420593262, + 0.06090188026428223 + ], + "box_pose": [ + 15.607061386108398, + -14.853934288024902, + 0.13603316247463226, + 0.00811457447707653, + 0.000981767661869526, + 0.7031341791152954, + -0.7110103368759155 + ], + "box_yaw_rad": -1.5595924509474177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001723857010347894 + } + } + }, + { + "simulation_time_ns": 2020000000, + "center": [ + 15.605395270786675, + -14.850017191815077, + 0.11880671012061811 + ], + "face_center": [ + 15.55008372558985, + -14.850629710897284, + 0.11942177237646408 + ], + "face_normal": [ + -0.9998768204831655, + -0.011072618387763189, + 0.011118591798259556 + ], + "footprint_xy": [ + [ + 15.547900705290322, + -14.92923770617319 + ], + [ + 15.662889836283025, + -14.92923770617319 + ], + [ + 15.662889836283025, + -14.770796677456964 + ], + [ + 15.547900705290322, + -14.770796677456964 + ] + ], + "projected_box_corners": [ + [ + 15.547900705290322, + -14.774827115111417 + ], + [ + 15.550536935110179, + -14.772021715621378 + ], + [ + 15.658523795683971, + -14.773602076947006 + ], + [ + 15.661160025503827, + -14.770796677456964 + ], + [ + 15.549630516069522, + -14.92923770617319 + ], + [ + 15.552266745889376, + -14.926432306683148 + ], + [ + 15.66025360646317, + -14.928012668008776 + ], + [ + 15.662889836283025, + -14.925207268518736 + ] + ], + "yaw_rad": -1.5595941261613893, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.12793254852295, + -14.911001205444336, + 0.06557558476924896 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55002079921878, + -14.850552622732854, + 0.11939075710356567 + ], + "intended_face_normal": [ + -0.9998824052335925, + -0.011078401003866922, + 0.0106057174931114 + ], + "commanded_contact_point": [ + 15.137397766113281, + -14.902050971984863, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.550007788154643, + -14.849939783765812, + 0.11880406621280024 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130295753479004, + -14.913568496704102, + 0.060769811272621155 + ], + "box_pose": [ + 15.607121467590332, + -14.854010581970215, + 0.13603225350379944, + 0.008070770651102066, + 0.0006194568704813719, + 0.7031327486038208, + -0.7110125422477722 + ], + "box_yaw_rad": -1.5595873456882143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011788664445996713 + } + } + }, + { + "simulation_time_ns": 2040000000, + "center": [ + 15.605466920146258, + -14.850107032823159, + 0.11880959234060837 + ], + "face_center": [ + 15.550155749835252, + -14.850719479573016, + 0.1194576121240742 + ], + "face_normal": [ + -0.9998700436043323, + -0.011071310822799552, + 0.011714370994271556 + ], + "footprint_xy": [ + [ + 15.547900491745066, + -14.929236642097564 + ], + [ + 15.66303334854745, + -14.929236642097564 + ], + [ + 15.66303334854745, + -14.770977423548754 + ], + [ + 15.547900491745066, + -14.770977423548754 + ] + ], + "projected_box_corners": [ + [ + 15.547900491745066, + -14.774824714192018 + ], + [ + 15.550681700035838, + -14.77220231704847 + ], + [ + 15.658522832367078, + -14.773599820692302 + ], + [ + 15.66130404065785, + -14.770977423548754 + ], + [ + 15.549629799634667, + -14.929236642097564 + ], + [ + 15.55241100792544, + -14.926614244954015 + ], + [ + 15.660252140256679, + -14.928011748597847 + ], + [ + 15.66303334854745, + -14.925389351454298 + ] + ], + "yaw_rad": -1.5595974795347916, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.126886367797852, + -14.905985832214355, + 0.07214820384979248 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55008372558985, + -14.850629710897284, + 0.11942177237646408 + ], + "intended_face_normal": [ + -0.9998768204831655, + -0.011072618387763189, + 0.011118591798259556 + ], + "commanded_contact_point": [ + 15.138022422790527, + -14.903002738952637, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.550070096572853, + -14.850017191815077, + 0.11880671012061811 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12793254852295, + -14.911001205444336, + 0.06557558476924896 + ], + "box_pose": [ + 15.607192993164062, + -14.85409927368164, + 0.13603129982948303, + 0.008021256886422634, + 0.0002046597801381722, + 0.7031353712081909, + -0.7110106945037842 + ], + "box_yaw_rad": -1.5595941261613893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001138444696399677 + } + } + }, + { + "simulation_time_ns": 2060000000, + "center": [ + 15.605547578394807, + -14.850210070683616, + 0.11881238057684214 + ], + "face_center": [ + 15.550236859174305, + -14.850822754140411, + 0.11949800395671437 + ], + "face_normal": [ + -0.9998618891595998, + -0.011075589816950338, + 0.012394138017227524 + ], + "footprint_xy": [ + [ + 15.547898822789358, + -14.929234708556317 + ], + [ + 15.663196334000256, + -14.929234708556317 + ], + [ + 15.663196334000256, + -14.771185432810917 + ], + [ + 15.547898822789358, + -14.771185432810917 + ] + ], + "projected_box_corners": [ + [ + 15.547898822789358, + -14.774821343611968 + ], + [ + 15.550845467934291, + -14.772410799724504 + ], + [ + 15.658520261230363, + -14.773595976698381 + ], + [ + 15.661466906375296, + -14.771185432810917 + ], + [ + 15.549628250414319, + -14.929234708556317 + ], + [ + 15.552574895559252, + -14.926824164668853 + ], + [ + 15.660249688855323, + -14.92800934164273 + ], + [ + 15.663196334000256, + -14.925598797755265 + ] + ], + "yaw_rad": -1.5595968084237704, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.127967834472656, + -14.905111312866211, + 0.07563790678977966 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550155749835252, + -14.850719479573016, + 0.1194576121240742 + ], + "intended_face_normal": [ + -0.9998700436043323, + -0.011071310822799552, + 0.011714370994271556 + ], + "commanded_contact_point": [ + 15.138374328613281, + -14.903648376464844, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.550141370951703, + -14.850107032823159, + 0.11880959234060837 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.126886367797852, + -14.905985832214355, + 0.07214820384979248 + ], + "box_pose": [ + 15.607275009155273, + -14.854202270507812, + 0.13602997362613678, + 0.007962522096931934, + -0.0002783967647701502, + 0.7031365036964417, + -0.711010217666626 + ], + "box_yaw_rad": -1.5595974795347916, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007353132021600496 + } + } + }, + { + "simulation_time_ns": 2080000000, + "center": [ + 15.605641646912106, + -14.850329022641514, + 0.11881590269849925 + ], + "face_center": [ + 15.55033148080401, + -14.850941517250066, + 0.11954513535854375 + ], + "face_normal": [ + -0.9998518904464844, + -0.01107217597305743, + 0.013182470873361885 + ], + "footprint_xy": [ + [ + 15.547898203731082, + -14.929233005659063 + ], + [ + 15.663385090093133, + -14.929233005659063 + ], + [ + 15.663385090093133, + -14.771425039623967 + ], + [ + 15.547898203731082, + -14.771425039623967 + ] + ], + "projected_box_corners": [ + [ + 15.547898203731082, + -14.774818138238711 + ], + [ + 15.551036692252964, + -14.772650028841069 + ], + [ + 15.658518535947278, + -14.77359314902161 + ], + [ + 15.661657024469159, + -14.771425039623967 + ], + [ + 15.549626269355056, + -14.929233005659063 + ], + [ + 15.552764757876936, + -14.927064896261419 + ], + [ + 15.66024660157125, + -14.92800801644196 + ], + [ + 15.663385090093133, + -14.925839907044317 + ] + ], + "yaw_rad": -1.559605736682572, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.130956649780273, + -14.905010223388672, + 0.07591377198696136 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.550236859174305, + -14.850822754140411, + 0.11949800395671437 + ], + "intended_face_normal": [ + -0.9998618891595998, + -0.011075589816950338, + 0.012394138017227524 + ], + "commanded_contact_point": [ + 15.138497352600098, + -14.903963088989258, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.550221577988802, + -14.850210070683616, + 0.11881238057684214 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.127967834472656, + -14.905111312866211, + 0.07563790678977966 + ], + "box_pose": [ + 15.607367515563965, + -14.854320526123047, + 0.13602788746356964, + 0.007891014218330383, + -0.0008340755011886358, + 0.7031357884407043, + -0.7110113501548767 + ], + "box_yaw_rad": -1.5595968084237704, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003379036466373015 + } + } + }, + { + "simulation_time_ns": 2100000000, + "center": [ + 15.605752424331222, + -14.850464708739583, + 0.11881996049558477 + ], + "face_center": [ + 15.550442976712167, + -14.851078241408453, + 0.11960007680685163 + ], + "face_normal": [ + -0.999838902189919, + -0.011090941177446911, + 0.014102303852493836 + ], + "footprint_xy": [ + [ + 15.547897002705817, + -14.929232655467603 + ], + [ + 15.663607845956628, + -14.929232655467603 + ], + [ + 15.663607845956628, + -14.771696762011564 + ], + [ + 15.547897002705817, + -14.771696762011564 + ] + ], + "projected_box_corners": [ + [ + 15.547897002705817, + -14.774816354058142 + ], + [ + 15.551259210506863, + -14.772923827349302 + ], + [ + 15.658515897943925, + -14.773589288720403 + ], + [ + 15.661878105744973, + -14.771696762011564 + ], + [ + 15.54962674291747, + -14.929232655467603 + ], + [ + 15.552988950718518, + -14.927340128758763 + ], + [ + 15.66024563815558, + -14.928005590129864 + ], + [ + 15.663607845956628, + -14.926113063421024 + ] + ], + "yaw_rad": -1.559594997324588, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.133993148803711, + -14.904131889343262, + 0.07399687170982361 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "settle", + "intended_face_center": [ + 15.55033148080401, + -14.850941517250066, + 0.11954513535854375 + ], + "intended_face_normal": [ + -0.9998518904464844, + -0.01107217597305743, + 0.013182470873361885 + ], + "commanded_contact_point": [ + 15.138650894165039, + -14.904122352600098, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.550315093235351, + -14.850329022641514, + 0.11881590269849925 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130956649780273, + -14.905010223388672, + 0.07591377198696136 + ], + "box_pose": [ + 15.607475280761719, + -14.854456901550293, + 0.1360257863998413, + 0.007812893949449062, + -0.001473674550652504, + 0.7031378746032715, + -0.71100914478302 + ], + "box_yaw_rad": -1.559605736682572, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022122366491015164 + } + } + }, + { + "simulation_time_ns": 2120000000, + "center": [ + 15.60587711345201, + -14.850622004060227, + 0.11882397746852257 + ], + "face_center": [ + 15.550568516593652, + -14.851236660383307, + 0.11966230955241694 + ], + "face_normal": [ + -0.999823522834694, + -0.011111253678128041, + 0.015154680918251673 + ], + "footprint_xy": [ + [ + 15.547893888227904, + -14.929231794962272 + ], + [ + 15.663860338676114, + -14.929231794962272 + ], + [ + 15.663860338676114, + -14.772012213158183 + ], + [ + 15.547893888227904, + -14.772012213158183 + ] + ], + "projected_box_corners": [ + [ + 15.547893888227904, + -14.774814002742541 + ], + [ + 15.551512118592806, + -14.773241525804343 + ], + [ + 15.658511081944617, + -14.773584690096381 + ], + [ + 15.66212931230952, + -14.772012213158183 + ], + [ + 15.5496249145945, + -14.929231794962272 + ], + [ + 15.553243144959401, + -14.927659318024073 + ], + [ + 15.660242108311213, + -14.928002482316112 + ], + [ + 15.663860338676114, + -14.926430005377911 + ] + ], + "yaw_rad": -1.559586777444108, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13592529296875, + -14.903618812561035, + 0.06940802931785583 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550442976712167, + -14.851078241408453, + 0.11960007680685163 + ], + "intended_face_normal": [ + -0.999838902189919, + -0.011090941177446911, + 0.014102303852493836 + ], + "commanded_contact_point": [ + 15.13874340057373, + -14.904044151306152, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.550425151943209, + -14.850464708739583, + 0.11881996049558477 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133993148803711, + -14.904131889343262, + 0.07399687170982361 + ], + "box_pose": [ + 15.6076021194458, + -14.854612350463867, + 0.1360233724117279, + 0.007732352241873741, + -0.0022091777063906193, + 0.7031320929527283, + -0.711013674736023 + ], + "box_yaw_rad": -1.559594997324588, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00012113165580301641 + } + } + }, + { + "simulation_time_ns": 2140000000, + "center": [ + 15.606021170473813, + -14.850801595838151, + 0.11882774246615846 + ], + "face_center": [ + 15.550713635565597, + -14.851417385775525, + 0.11973251092856266 + ], + "face_normal": [ + -0.9998043257696477, + -0.011131746229034567, + 0.01635566336545058 + ], + "footprint_xy": [ + [ + 15.547892651585604, + -14.929229040965758 + ], + [ + 15.664149689362022, + -14.929229040965758 + ], + [ + 15.664149689362022, + -14.772374150710545 + ], + [ + 15.547892651585604, + -14.772374150710545 + ] + ], + "projected_box_corners": [ + [ + 15.547892651585604, + -14.774809918573867 + ], + [ + 15.551803108434637, + -14.773605730585293 + ], + [ + 15.658507721402035, + -14.773578338699119 + ], + [ + 15.662418178251068, + -14.772374150710545 + ], + [ + 15.549624162696558, + -14.929229040965758 + ], + [ + 15.55353461954559, + -14.928024852977185 + ], + [ + 15.660239232512989, + -14.92799746109101 + ], + [ + 15.664149689362022, + -14.926793273102437 + ] + ], + "yaw_rad": -1.5595837352428132, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.137236595153809, + -14.9030179977417, + 0.06412941217422485 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550568516593652, + -14.851236660383307, + 0.11966230955241694 + ], + "intended_face_normal": [ + -0.999823522834694, + -0.011111253678128041, + 0.015154680918251673 + ], + "commanded_contact_point": [ + 15.138723552838563, + -14.903499205627837, + 0.05012687636003297 + ], + "centerline_face_intersection": [ + 15.550548990016031, + -14.850622004060227, + 0.11882397746852257 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13592529296875, + -14.903618812561035, + 0.06940802931785583 + ], + "box_pose": [ + 15.607745170593262, + -14.854792594909668, + 0.13601985573768616, + 0.007633245084434748, + -0.0030577266588807106, + 0.7031259536743164, + -0.7110178470611572 + ], + "box_yaw_rad": -1.559586777444108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005598749705045236 + } + } + }, + { + "simulation_time_ns": 2160000000, + "center": [ + 15.606185015005403, + -14.851009747811961, + 0.11883178578269621 + ], + "face_center": [ + 15.550878799355079, + -14.85162731791355, + 0.11981278559864433 + ], + "face_normal": [ + -0.9997804773057999, + -0.011163926579975891, + 0.01773371135039442 + ], + "footprint_xy": [ + [ + 15.547889564763212, + -14.929228226180449 + ], + [ + 15.664480465247594, + -14.929228226180449 + ], + [ + 15.664480465247594, + -14.772791269443474 + ], + [ + 15.547889564763212, + -14.772791269443474 + ] + ], + "projected_box_corners": [ + [ + 15.547889564763212, + -14.774808032686796 + ], + [ + 15.552135338037026, + -14.774026409646652 + ], + [ + 15.65850199606386, + -14.773572892483617 + ], + [ + 15.662747769337672, + -14.772791269443474 + ], + [ + 15.549622260673134, + -14.929228226180449 + ], + [ + 15.553868033946948, + -14.928446603140307 + ], + [ + 15.660234691973782, + -14.92799308597727 + ], + [ + 15.664480465247594, + -14.927211462937128 + ] + ], + "yaw_rad": -1.559576141410216, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13787841796875, + -14.902836799621582, + 0.059980615973472595 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550713635565597, + -14.851417385775525, + 0.11973251092856266 + ], + "intended_face_normal": [ + -0.9998043257696477, + -0.011131746229034567, + 0.01635566336545058 + ], + "commanded_contact_point": [ + 15.138909899024963, + -14.902525817606586, + 0.050498994475972156 + ], + "centerline_face_intersection": [ + 15.550691984692376, + -14.850801595838151, + 0.11882774246615846 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137236595153809, + -14.9030179977417, + 0.06412941217422485 + ], + "box_pose": [ + 15.60791015625, + -14.854998588562012, + 0.1360149085521698, + 0.007515707053244114, + -0.004030624404549599, + 0.7031199336051941, + -0.7110201716423035 + ], + "box_yaw_rad": -1.5595837352428132, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001058622233523564 + } + } + }, + { + "simulation_time_ns": 2180000000, + "center": [ + 15.606374941928957, + -14.851248757905775, + 0.11883605799956018 + ], + "face_center": [ + 15.551070364586812, + -14.851867688857213, + 0.11990459188230115 + ], + "face_normal": [ + -0.9997508613121044, + -0.011188526909180818, + 0.01931608052987316 + ], + "footprint_xy": [ + [ + 15.547889341543447, + -14.929226755574636 + ], + [ + 15.664860542314464, + -14.929226755574636 + ], + [ + 15.664860542314464, + -14.773270760236915 + ], + [ + 15.547889341543447, + -14.773270760236915 + ] + ], + "projected_box_corners": [ + [ + 15.547889341543447, + -14.774805906609005 + ], + [ + 15.55252016308589, + -14.774508622139793 + ], + [ + 15.658498496227736, + -14.773568044706128 + ], + [ + 15.663129317770178, + -14.773270760236915 + ], + [ + 15.549620566087736, + -14.929226755574636 + ], + [ + 15.554251387630178, + -14.928929471105423 + ], + [ + 15.660229720772023, + -14.927988893671758 + ], + [ + 15.664860542314464, + -14.927691609202546 + ] + ], + "yaw_rad": -1.5595857161177544, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.138163566589355, + -14.903450012207031, + 0.05710463225841522 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550878799355079, + -14.85162731791355, + 0.11981278559864433 + ], + "intended_face_normal": [ + -0.9997804773057999, + -0.011163926579975891, + 0.01773371135039442 + ], + "commanded_contact_point": [ + 15.139326376457213, + -14.901090082729638, + 0.05110343463995803 + ], + "centerline_face_intersection": [ + 15.550854509418151, + -14.851009747811961, + 0.11883178578269621 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13787841796875, + -14.902836799621582, + 0.059980615973472595 + ], + "box_pose": [ + 15.608098030090332, + -14.855237007141113, + 0.1360088735818863, + 0.007380858529359102, + -0.005146970506757498, + 0.7031099200248718, + -0.711024284362793 + ], + "box_yaw_rad": -1.559576141410216, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016124937210098814 + } + } + }, + { + "simulation_time_ns": 2200000000, + "center": [ + 15.606593138650881, + -14.851521590980688, + 0.11883998735112475 + ], + "face_center": [ + 15.551290615856752, + -14.852142723383606, + 0.12000923918973791 + ], + "face_normal": [ + -0.9997137208755422, + -0.01122832294628473, + 0.021136777260089 + ], + "footprint_xy": [ + [ + 15.547888644581576, + -14.92948377865942 + ], + [ + 15.665297632720188, + -14.92948377865942 + ], + [ + 15.665297632720188, + -14.773559403301956 + ], + [ + 15.547888644581576, + -14.773559403301956 + ] + ], + "projected_box_corners": [ + [ + 15.547888644581576, + -14.774801668107791 + ], + [ + 15.552962534230256, + -14.775062949706854 + ], + [ + 15.658493690169836, + -14.773559403301956 + ], + [ + 15.663567579818515, + -14.773820684901018 + ], + [ + 15.549618697483249, + -14.929222497060357 + ], + [ + 15.554692587131926, + -14.92948377865942 + ], + [ + 15.660223743071509, + -14.927980232254523 + ], + [ + 15.665297632720188, + -14.928241513853585 + ] + ], + "yaw_rad": -1.559593301047455, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.137691497802734, + -14.904138565063477, + 0.05729039013385773 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551070364586812, + -14.851867688857213, + 0.11990459188230115 + ], + "intended_face_normal": [ + -0.9997508613121044, + -0.011188526909180818, + 0.01931608052987316 + ], + "commanded_contact_point": [ + 15.140091087188722, + -14.89923805283733, + 0.05192740310621979 + ], + "centerline_face_intersection": [ + 15.551042797265444, + -14.851248757905775, + 0.11883605799956018 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138163566589355, + -14.903450012207031, + 0.05710463225841522 + ], + "box_pose": [ + 15.608315467834473, + -14.855510711669922, + 0.13600148260593414, + 0.00722737330943346, + -0.006427531596273184, + 0.7031027674674988, + -0.7110224962234497 + ], + "box_yaw_rad": -1.5595857161177544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002166499771124842 + } + } + }, + { + "simulation_time_ns": 2220000000, + "center": [ + 15.606839172109474, + -14.851839891841967, + 0.11884597425475618 + ], + "face_center": [ + 15.551539172696742, + -14.852463339820543, + 0.12012767130591234 + ], + "face_normal": [ + -0.9996681052529499, + -0.011270182026876574, + 0.023169469733169745 + ], + "footprint_xy": [ + [ + 15.547891537531367, + -14.930125431911856 + ], + [ + 15.665786806687581, + -14.930125431911856 + ], + [ + 15.665786806687581, + -14.773554351772079 + ], + [ + 15.547891537531367, + -14.773554351772079 + ] + ], + "projected_box_corners": [ + [ + 15.547891537531367, + -14.774801247729233 + ], + [ + 15.553460317877747, + -14.775705697172162 + ], + [ + 15.658491536356827, + -14.773554351772079 + ], + [ + 15.664060316703209, + -14.774458801215008 + ], + [ + 15.54961802751574, + -14.929220982468927 + ], + [ + 15.55518680786212, + -14.930125431911856 + ], + [ + 15.6602180263412, + -14.927974086511773 + ], + [ + 15.665786806687581, + -14.928878535954702 + ] + ], + "yaw_rad": -1.5596162917202148, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13453483581543, + -14.902880668640137, + 0.060711875557899475 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551290615856752, + -14.852142723383606, + 0.12000923918973791 + ], + "intended_face_normal": [ + -0.9997137208755422, + -0.01122832294628473, + 0.021136777260089 + ], + "commanded_contact_point": [ + 15.140803508758545, + -14.897146262756085, + 0.052957958223879796 + ], + "centerline_face_intersection": [ + 15.55125893833887, + -14.851521590980688, + 0.11883998735112475 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137691497802734, + -14.904138565063477, + 0.05729039013385773 + ], + "box_pose": [ + 15.608565330505371, + -14.855823516845703, + 0.13599182665348053, + 0.00704888254404068, + -0.007902937941253185, + 0.7030904293060303, + -0.7110217213630676 + ], + "box_yaw_rad": -1.559593301047455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024382727672839456 + } + } + }, + { + "simulation_time_ns": 2240000000, + "center": [ + 15.607095838297687, + -14.85218463631475, + 0.11885591709888121 + ], + "face_center": [ + 15.55179872879176, + -14.852810140662099, + 0.12025593595755554 + ], + "face_normal": [ + -0.9996158638842659, + -0.011307355377635941, + 0.025308394477978613 + ], + "footprint_xy": [ + [ + 15.5478941065425, + -14.93082123431338 + ], + [ + 15.666297570052874, + -14.93082123431338 + ], + [ + 15.666297570052874, + -14.773548038316118 + ], + [ + 15.5478941065425, + -14.773548038316118 + ] + ], + "projected_box_corners": [ + [ + 15.5478941065425, + -14.774799047010818 + ], + [ + 15.553983897368393, + -14.77640391618777 + ], + [ + 15.658488325554357, + -14.773548038316118 + ], + [ + 15.66457811638025, + -14.77515290749307 + ], + [ + 15.549613560215125, + -14.929216365136428 + ], + [ + 15.555703351041018, + -14.93082123431338 + ], + [ + 15.660207779226981, + -14.927965356441728 + ], + [ + 15.666297570052874, + -14.92957022561868 + ] + ], + "yaw_rad": -1.5596616779524801, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.13170337677002, + -14.901472091674805, + 0.06544992327690125 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551539172696742, + -14.852463339820543, + 0.12012767130591234 + ], + "intended_face_normal": [ + -0.9996681052529499, + -0.011270182026876574, + 0.023169469733169745 + ], + "commanded_contact_point": [ + 15.142137929210662, + -14.895672084222323, + 0.054182418128624614 + ], + "centerline_face_intersection": [ + 15.55150244685545, + -14.851839891841967, + 0.11884597425475618 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13453483581543, + -14.902880668640137, + 0.060711875557899475 + ], + "box_pose": [ + 15.608846664428711, + -14.85618782043457, + 0.13598211109638214, + 0.006820982787758112, + -0.009579179808497429, + 0.7030777931213379, + -0.7110157608985901 + ], + "box_yaw_rad": -1.5596162917202148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023352049911649713 + } + } + }, + { + "simulation_time_ns": 2260000000, + "center": [ + 15.607373525810821, + -14.85250057208682, + 0.1188840502033728 + ], + "face_center": [ + 15.552079830491904, + -14.853129668573718, + 0.12041137579955091 + ], + "face_normal": [ + -0.9995541450073038, + -0.011372291134870038, + 0.027609741429476697 + ], + "footprint_xy": [ + [ + 15.547897462431761, + -14.931457880938211 + ], + [ + 15.666849589189882, + -14.931457880938211 + ], + [ + 15.666849589189882, + -14.773543263235428 + ], + [ + 15.547897462431761, + -14.773543263235428 + ] + ], + "projected_box_corners": [ + [ + 15.547897462431761, + -14.774801456209225 + ], + [ + 15.554546577327592, + -14.777043978557396 + ], + [ + 15.658484853069597, + -14.773543263235428 + ], + [ + 15.665133967965428, + -14.775785785583597 + ], + [ + 15.549613083656213, + -14.929215358590042 + ], + [ + 15.556262198552046, + -14.931457880938211 + ], + [ + 15.660200474294049, + -14.927957165616244 + ], + [ + 15.666849589189882, + -14.930199687964414 + ] + ], + "yaw_rad": -1.5596862479170117, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.130403518676758, + -14.899450302124023, + 0.0702148973941803 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.55179872879176, + -14.852810140662099, + 0.12025593595755554 + ], + "intended_face_normal": [ + -0.9996158638842659, + -0.011307355377635941, + 0.025308394477978613 + ], + "commanded_contact_point": [ + 15.144262085978985, + -14.894611936261361, + 0.05558809897552715 + ], + "centerline_face_intersection": [ + 15.551756221066483, + -14.85218463631475, + 0.11885591709888121 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13170337677002, + -14.901472091674805, + 0.06544992327690125 + ], + "box_pose": [ + 15.609140396118164, + -14.856582641601562, + 0.13597488403320312, + 0.0065465872175991535, + -0.011378085240721703, + 0.7030671834945679, + -0.7110023498535156 + ], + "box_yaw_rad": -1.5596616779524801, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002758966168493549 + } + } + }, + { + "simulation_time_ns": 2280000000, + "center": [ + 15.607412797683306, + -14.852521463043681, + 0.11889589554532437 + ], + "face_center": [ + 15.552119593869357, + -14.853150399400052, + 0.12044116981543573 + ], + "face_normal": [ + -0.9995452599829713, + -0.01136939642631396, + 0.02793420285901027 + ], + "footprint_xy": [ + [ + 15.547898918516001, + -14.931499095407286 + ], + [ + 15.66692667685061, + -14.931499095407286 + ], + [ + 15.66692667685061, + -14.773543830680074 + ], + [ + 15.547898918516001, + -14.773543830680074 + ] + ], + "projected_box_corners": [ + [ + 15.547898918516001, + -14.774801703392816 + ], + [ + 15.554626322886023, + -14.777085423175684 + ], + [ + 15.6584853261439, + -14.773543830680074 + ], + [ + 15.665212730513922, + -14.775827550462942 + ], + [ + 15.549612864852689, + -14.929215375624418 + ], + [ + 15.55634026922271, + -14.931499095407286 + ], + [ + 15.660199272480588, + -14.927957502911676 + ], + [ + 15.66692667685061, + -14.930241222694544 + ] + ], + "yaw_rad": -1.5596970767798177, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.131295204162598, + -14.896050453186035, + 0.07666796445846558 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552079830491904, + -14.853129668573718, + 0.12041137579955091 + ], + "intended_face_normal": [ + -0.9995541450073038, + -0.011372291134870038, + 0.027609741429476697 + ], + "commanded_contact_point": [ + 15.146534527893065, + -14.893665186450153, + 0.057163958578023304 + ], + "centerline_face_intersection": [ + 15.552030491557096, + -14.85250057208682, + 0.1188840502033728 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130403518676758, + -14.899450302124023, + 0.0702148973941803 + ], + "box_pose": [ + 15.609457969665527, + -14.85694408416748, + 0.13598644733428955, + 0.006421239115297794, + -0.013141975738108158, + 0.7030452489852905, + -0.7109947204589844 + ], + "box_yaw_rad": -1.5596862479170117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029229541468639075 + } + } + }, + { + "simulation_time_ns": 2300000000, + "center": [ + 15.607410263989252, + -14.852501359432546, + 0.11890131577898382 + ], + "face_center": [ + 15.552117033010738, + -14.853130260017023, + 0.12044557807553281 + ], + "face_normal": [ + -0.9995457510417367, + -0.01136874977129576, + 0.027915909229635938 + ], + "footprint_xy": [ + [ + 15.547898453608932, + -14.931459595194637 + ], + [ + 15.666922074369571, + -14.931459595194637 + ], + [ + 15.666922074369571, + -14.773543123670457 + ], + [ + 15.547898453608932, + -14.773543123670457 + ] + ], + "projected_box_corners": [ + [ + 15.547898453608932, + -14.77480092483941 + ], + [ + 15.554621035271472, + -14.77704568934134 + ], + [ + 15.658484915565962, + -14.773543123670457 + ], + [ + 15.665207497228502, + -14.775787888172387 + ], + [ + 15.549613030750002, + -14.929214830692706 + ], + [ + 15.556335612412543, + -14.931459595194637 + ], + [ + 15.660199492707031, + -14.927957029523753 + ], + [ + 15.666922074369571, + -14.930201794025685 + ] + ], + "yaw_rad": -1.55969300892187, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.131185531616211, + -14.891454696655273, + 0.08117882907390594 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552119593869357, + -14.853150399400052, + 0.12044116981543573 + ], + "intended_face_normal": [ + -0.9995452599829713, + -0.01136939642631396, + 0.02793420285901027 + ], + "commanded_contact_point": [ + 15.148575277050734, + -14.89251584053063, + 0.058894049630701543 + ], + "centerline_face_intersection": [ + 15.552069271481665, + -14.852521463043681, + 0.11889589554532437 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131295204162598, + -14.896050453186035, + 0.07666796445846558 + ], + "box_pose": [ + 15.609502792358398, + -14.85696792602539, + 0.13599684834480286, + 0.0064749810844659805, + -0.013318409211933613, + 0.7030457854270935, + -0.7109904885292053 + ], + "box_yaw_rad": -1.5596970767798177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029118496214275823 + } + } + }, + { + "simulation_time_ns": 2320000000, + "center": [ + 15.607382534260207, + -14.852453928391688, + 0.11890446965161326 + ], + "face_center": [ + 15.552088979279189, + -14.853082686843601, + 0.12043676628667022 + ], + "face_normal": [ + -0.9995516080936717, + -0.011366180415223637, + 0.027699603799637984 + ], + "footprint_xy": [ + [ + 15.547896056547124, + -14.931363828566038 + ], + [ + 15.666869011973288, + -14.931363828566038 + ], + [ + 15.666869011973288, + -14.773544028217339 + ], + [ + 15.547896056547124, + -14.773544028217339 + ] + ], + "projected_box_corners": [ + [ + 15.547896056547124, + -14.774801545121166 + ], + [ + 15.554565663139568, + -14.776949376168128 + ], + [ + 15.65848316650916, + -14.773544028217339 + ], + [ + 15.665152773101605, + -14.775691859264299 + ], + [ + 15.549612295418807, + -14.929215997519076 + ], + [ + 15.556281902011252, + -14.931363828566038 + ], + [ + 15.660199405380844, + -14.927958480615247 + ], + [ + 15.666869011973288, + -14.93010631166221 + ] + ], + "yaw_rad": -1.5596822880497312, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.129340171813965, + -14.889796257019043, + 0.08157263696193695 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552117033010738, + -14.853130260017023, + 0.12044557807553281 + ], + "intended_face_normal": [ + -0.9995457510417367, + -0.01136874977129576, + 0.027915909229635938 + ], + "commanded_contact_point": [ + 15.15098653435707, + -14.89101777456229, + 0.06076583436232262 + ], + "centerline_face_intersection": [ + 15.552066764976885, + -14.852501359432546, + 0.11890131577898382 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131185531616211, + -14.891454696655273, + 0.08117882907390594 + ], + "box_pose": [ + 15.60949993133545, + -14.856945037841797, + 0.1360030323266983, + 0.006525637581944466, + -0.013254165649414062, + 0.7030455470085144, + -0.7109914422035217 + ], + "box_yaw_rad": -1.55969300892187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003400285506305272 + } + } + }, + { + "simulation_time_ns": 2340000000, + "center": [ + 15.607332580960863, + -14.852383183671767, + 0.11890441369375201 + ], + "face_center": [ + 15.552038375025726, + -14.85301109589394, + 0.12041357946990257 + ], + "face_normal": [ + -0.9995633755092138, + -0.011350882966933762, + 0.027281463073753953 + ], + "footprint_xy": [ + [ + 15.547896035863614, + -14.931220354252742 + ], + [ + 15.666769126058114, + -14.931220354252742 + ], + [ + 15.666769126058114, + -14.773546013090792 + ], + [ + 15.547896035863614, + -14.773546013090792 + ] + ], + "projected_box_corners": [ + [ + 15.547896035863614, + -14.774801837535138 + ], + [ + 15.554463689137593, + -14.776805055070085 + ], + [ + 15.65848444773389, + -14.773546013090792 + ], + [ + 15.66505210100787, + -14.775549230625739 + ], + [ + 15.549613060913856, + -14.929217136717796 + ], + [ + 15.556180714187837, + -14.931220354252742 + ], + [ + 15.660201472784134, + -14.92796131227345 + ], + [ + 15.666769126058114, + -14.929964529808396 + ] + ], + "yaw_rad": -1.5596772582956122, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.12852954864502, + -14.894697189331055, + 0.07827720046043396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552088979279189, + -14.853082686843601, + 0.12043676628667022 + ], + "intended_face_normal": [ + -0.9995516080936717, + -0.011366180415223637, + 0.027699603799637984 + ], + "commanded_contact_point": [ + 15.153858560029267, + -14.889336428065414, + 0.06276671294477842 + ], + "centerline_face_intersection": [ + 15.552039359543, + -14.852453928391688, + 0.11890446965161326 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129340171813965, + -14.889796257019043, + 0.08157263696193695 + ], + "box_pose": [ + 15.609468460083008, + -14.856890678405762, + 0.13600844144821167, + 0.006591629236936569, + -0.013033559545874596, + 0.7030458450317383, + -0.7109944820404053 + ], + "box_yaw_rad": -1.5596822880497312, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003883165281834195 + } + } + }, + { + "simulation_time_ns": 2360000000, + "center": [ + 15.607261765122102, + -14.852285576614427, + 0.11890291556908793 + ], + "face_center": [ + 15.551966666757265, + -14.85291250906737, + 0.12037941804325078 + ], + "face_normal": [ + -0.9995795081225056, + -0.01133317150105917, + 0.026691002647784623 + ], + "footprint_xy": [ + [ + 15.547895545548846, + -14.93102441491504 + ], + [ + 15.666627984695358, + -14.93102441491504 + ], + [ + 15.666627984695358, + -14.773546738313815 + ], + [ + 15.547895545548846, + -14.773546738313815 + ] + ], + "projected_box_corners": [ + [ + 15.547895545548846, + -14.774800603219697 + ], + [ + 15.554319332651467, + -14.77660808531661 + ], + [ + 15.65848574227852, + -14.773546738313815 + ], + [ + 15.664909529381141, + -14.77535422041073 + ], + [ + 15.549614000863063, + -14.929216932818127 + ], + [ + 15.556037787965684, + -14.93102441491504 + ], + [ + 15.660204197592737, + -14.927963067912245 + ], + [ + 15.666627984695358, + -14.92977055000916 + ] + ], + "yaw_rad": -1.5596680712446638, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.132922172546387, + -14.898995399475098, + 0.07437761127948761 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552038375025726, + -14.85301109589394, + 0.12041357946990257 + ], + "intended_face_normal": [ + -0.9995633755092138, + -0.011350882966933762, + 0.027281463073753953 + ], + "commanded_contact_point": [ + 15.156678440551758, + -14.887648626926032, + 0.06488335686260352 + ], + "centerline_face_intersection": [ + 15.551990057774265, + -14.852383183671767, + 0.11890441369375201 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12852954864502, + -14.894697189331055, + 0.07827720046043396 + ], + "box_pose": [ + 15.609411239624023, + -14.856809616088867, + 0.13601194322109222, + 0.006656553130596876, + -0.01267042476683855, + 0.7030506730079651, + -0.7109957337379456 + ], + "box_yaw_rad": -1.5596772582956122, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003909038286086786 + } + } + }, + { + "simulation_time_ns": 2380000000, + "center": [ + 15.607165867971863, + -14.852163046188867, + 0.11889833694805099 + ], + "face_center": [ + 15.551869603052813, + -14.852789159769339, + 0.12033080542344288 + ], + "face_normal": [ + -0.9996005961342902, + -0.01131836859510793, + 0.02589499207661694 + ], + "footprint_xy": [ + [ + 15.547893949446268, + -14.930778058698358 + ], + [ + 15.66643778649746, + -14.930778058698358 + ], + [ + 15.66643778649746, + -14.773548033679376 + ], + [ + 15.547893949446268, + -14.773548033679376 + ] + ], + "projected_box_corners": [ + [ + 15.547893949446268, + -14.774800260840317 + ], + [ + 15.554123990441711, + -14.776360589067702 + ], + [ + 15.658486479284367, + -14.773548033679376 + ], + [ + 15.66471652027981, + -14.77510836190676 + ], + [ + 15.549615215663916, + -14.929217730470974 + ], + [ + 15.55584525665936, + -14.930778058698358 + ], + [ + 15.660207745502015, + -14.927965503310032 + ], + [ + 15.66643778649746, + -14.929525831537417 + ] + ], + "yaw_rad": -1.5596499523798195, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.140215873718262, + -14.898587226867676, + 0.07218194007873535 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551966666757265, + -14.85291250906737, + 0.12037941804325078 + ], + "intended_face_normal": [ + -0.9995795081225056, + -0.01133317150105917, + 0.026691002647784623 + ], + "commanded_contact_point": [ + 15.159593302608728, + -14.885784413302769, + 0.06710300173524199 + ], + "centerline_face_intersection": [ + 15.55192013513061, + -14.852285576614427, + 0.11890291556908793 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132922172546387, + -14.898995399475098, + 0.07437761127948761 + ], + "box_pose": [ + 15.609330177307129, + -14.856698036193848, + 0.13601529598236084, + 0.00673580402508378, + -0.012170230969786644, + 0.7030562162399292, + -0.7109982371330261 + ], + "box_yaw_rad": -1.5596680712446638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004110782967386271 + } + } + }, + { + "simulation_time_ns": 2400000000, + "center": [ + 15.60704296769063, + -14.8520148575991, + 0.11889153905885437 + ], + "face_center": [ + 15.551745287652201, + -14.85264019390488, + 0.12026870311619835 + ], + "face_normal": [ + -0.9996261775036165, + -0.011304317659760144, + 0.02489524409489563 + ], + "footprint_xy": [ + [ + 15.547889387278406, + -14.93047885653782 + ], + [ + 15.666196548102853, + -14.93047885653782 + ], + [ + 15.666196548102853, + -14.77355085866038 + ], + [ + 15.547889387278406, + -14.77355085866038 + ] + ], + "projected_box_corners": [ + [ + 15.547889387278406, + -14.774801531271942 + ], + [ + 15.553876194630144, + -14.776060217696532 + ], + [ + 15.658484747355265, + -14.77355085866038 + ], + [ + 15.664471554707003, + -14.77480954508497 + ], + [ + 15.549614380674257, + -14.92922017011323 + ], + [ + 15.555601188025994, + -14.93047885653782 + ], + [ + 15.660209740751116, + -14.927969497501667 + ], + [ + 15.666196548102853, + -14.929228183926258 + ] + ], + "yaw_rad": -1.5596259029334434, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.147258758544922, + -14.894070625305176, + 0.0711246132850647 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551869603052813, + -14.852789159769339, + 0.12033080542344288 + ], + "intended_face_normal": [ + -0.9996005961342902, + -0.01131836859510793, + 0.02589499207661694 + ], + "commanded_contact_point": [ + 15.16311234725952, + -14.883619418513119, + 0.06941210161887179 + ], + "centerline_face_intersection": [ + 15.551825405491625, + -14.852163046188867, + 0.11889833694805099 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140215873718262, + -14.898587226867676, + 0.07218194007873535 + ], + "box_pose": [ + 15.609220504760742, + -14.856557846069336, + 0.13601692020893097, + 0.006818113848567009, + -0.011520756408572197, + 0.7030606865882874, + -0.711003839969635 + ], + "box_yaw_rad": -1.5596499523798195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004733161730393474 + } + } + }, + { + "simulation_time_ns": 2420000000, + "center": [ + 15.606913387078528, + -14.851863436764333, + 0.11888364999168874 + ], + "face_center": [ + 15.55161426615988, + -14.852487772755241, + 0.12020255361180793 + ], + "face_normal": [ + -0.9996522245562743, + -0.011286234786620497, + 0.023842059619123224 + ], + "footprint_xy": [ + [ + 15.547885006188357, + -14.930172032692077 + ], + [ + 15.665941767968699, + -14.930172032692077 + ], + [ + 15.665941767968699, + -14.773554840836589 + ], + [ + 15.547885006188357, + -14.773554840836589 + ] + ], + "projected_box_corners": [ + [ + 15.547885006188357, + -14.774803512818405 + ], + [ + 15.553615660671701, + -14.775752418632766 + ], + [ + 15.658483248025648, + -14.773554840836589 + ], + [ + 15.664213902508994, + -14.77450374665095 + ], + [ + 15.549612871648062, + -14.929223126877716 + ], + [ + 15.555343526131406, + -14.930172032692077 + ], + [ + 15.660211113485355, + -14.9279744548959 + ], + [ + 15.665941767968699, + -14.928923360710261 + ] + ], + "yaw_rad": -1.559607376710392, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.15442180633545, + -14.89008617401123, + 0.07104521989822388 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551745287652201, + -14.85264019390488, + 0.12026870311619835 + ], + "intended_face_normal": [ + -0.9996261775036165, + -0.011304317659760144, + 0.02489524409489563 + ], + "commanded_contact_point": [ + 15.167264620512725, + -14.881162244219588, + 0.07179771658624282 + ], + "centerline_face_intersection": [ + 15.551703921424615, + -14.8520148575991, + 0.11889153905885437 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.147258758544922, + -14.894070625305176, + 0.0711246132850647 + ], + "box_pose": [ + 15.60908031463623, + -14.856388092041016, + 0.13601770997047424, + 0.006908628158271313, + -0.010718084871768951, + 0.7030647993087769, + -0.7110114693641663 + ], + "box_yaw_rad": -1.5596259029334434, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005382400714421811 + } + } + }, + { + "simulation_time_ns": 2440000000, + "center": [ + 15.606781078880779, + -14.851704481982942, + 0.11887571908107043 + ], + "face_center": [ + 15.55148051126482, + -14.852327063236974, + 0.12013311012784406 + ], + "face_normal": [ + -0.9996783767656254, + -0.011254514090290213, + 0.022730085689672608 + ], + "footprint_xy": [ + [ + 15.547886175626365, + -14.929849376448724 + ], + [ + 15.665675982135193, + -14.929849376448724 + ], + [ + 15.665675982135193, + -14.773559587517159 + ], + [ + 15.547886175626365, + -14.773559587517159 + ] + ], + "projected_box_corners": [ + [ + 15.547886175626365, + -14.774804750025222 + ], + [ + 15.553346396104759, + -14.77542903855185 + ], + [ + 15.658487310858284, + -14.773559587517159 + ], + [ + 15.663947531336678, + -14.774183876043788 + ], + [ + 15.54961462642488, + -14.929225087922095 + ], + [ + 15.555074846903274, + -14.929849376448724 + ], + [ + 15.660215761656799, + -14.927979925414032 + ], + [ + 15.665675982135193, + -14.92860421394066 + ] + ], + "yaw_rad": -1.5596036390731793, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.162537574768066, + -14.888919830322266, + 0.07434029877185822 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.55161426615988, + -14.852487772755241, + 0.12020255361180793 + ], + "intended_face_normal": [ + -0.9996522245562743, + -0.011286234786620497, + 0.023842059619123224 + ], + "commanded_contact_point": [ + 15.171546938476563, + -14.878866389640947, + 0.07424705493582448 + ], + "centerline_face_intersection": [ + 15.551575782733028, + -14.851863436764333, + 0.11888364999168874 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15442180633545, + -14.89008617401123, + 0.07104521989822388 + ], + "box_pose": [ + 15.608932495117188, + -14.85621452331543, + 0.13601762056350708, + 0.006992298178374767, + -0.009884336963295937, + 0.7030704021453857, + -0.7110173106193542 + ], + "box_yaw_rad": -1.559607376710392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00544136506222563 + } + } + }, + { + "simulation_time_ns": 2460000000, + "center": [ + 15.606636010293716, + -14.851536129655429, + 0.1188661706907074 + ], + "face_center": [ + 15.551333955329167, + -14.852156578049843, + 0.1200572299293921 + ], + "face_normal": [ + -0.9997052638354822, + -0.011215958000703186, + 0.02153099358091226 + ], + "footprint_xy": [ + [ + 15.547885723493025, + -14.929509167798317 + ], + [ + 15.66538629709441, + -14.929509167798317 + ], + [ + 15.66538629709441, + -14.773563091512539 + ], + [ + 15.547885723493025, + -14.773563091512539 + ] + ], + "projected_box_corners": [ + [ + 15.547885723493025, + -14.77480398830137 + ], + [ + 15.553054444544532, + -14.775088362612996 + ], + [ + 15.658489833422124, + -14.773563091512539 + ], + [ + 15.663658554473633, + -14.773847465824167 + ], + [ + 15.5496134661138, + -14.92922479348669 + ], + [ + 15.55478218716531, + -14.929509167798317 + ], + [ + 15.6602175760429, + -14.92798389669786 + ], + [ + 15.66538629709441, + -14.928268271009486 + ] + ], + "yaw_rad": -1.5596082583913888, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.167280197143555, + -14.889528274536133, + 0.07872386276721954 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.55148051126482, + -14.852327063236974, + 0.12013311012784406 + ], + "intended_face_normal": [ + -0.9996783767656254, + -0.011254514090290213, + 0.022730085689672608 + ], + "commanded_contact_point": [ + 15.175374124305247, + -14.876656685563537, + 0.07674747599498269 + ], + "centerline_face_intersection": [ + 15.551444922201497, + -14.851704481982942, + 0.11887571908107043 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.162537574768066, + -14.888919830322266, + 0.07434029877185822 + ], + "box_pose": [ + 15.608780860900879, + -14.856032371520996, + 0.1360178291797638, + 0.007077095564454794, + -0.009007644839584827, + 0.7030808329582214, + -0.7110177278518677 + ], + "box_yaw_rad": -1.5596036390731793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005077622371748432 + } + } + }, + { + "simulation_time_ns": 2480000000, + "center": [ + 15.606482209705801, + -14.851355484973025, + 0.11885613269648079 + ], + "face_center": [ + 15.551178621282927, + -14.851973557582774, + 0.11997534353531479 + ], + "face_normal": [ + -0.9997329844393484, + -0.011173010510965975, + 0.020232177043715827 + ], + "footprint_xy": [ + [ + 15.547889026978122, + -14.929225860433903 + ], + [ + 15.66507539243348, + -14.929225860433903 + ], + [ + 15.66507539243348, + -14.77348510951215 + ], + [ + 15.547889026978122, + -14.77348510951215 + ] + ], + "projected_box_corners": [ + [ + 15.547889026978122, + -14.774804864773303 + ], + [ + 15.552742024805713, + -14.774721254731643 + ], + [ + 15.658496203823871, + -14.77356871955381 + ], + [ + 15.66334920165146, + -14.77348510951215 + ], + [ + 15.549615217760142, + -14.929225860433903 + ], + [ + 15.55446821558773, + -14.929142250392243 + ], + [ + 15.660222394605888, + -14.927989715214407 + ], + [ + 15.66507539243348, + -14.927906105172749 + ] + ], + "yaw_rad": -1.5596183203363922, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.170382499694824, + -14.889832496643066, + 0.08397708833217621 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551333955329167, + -14.852156578049843, + 0.1200572299293921 + ], + "intended_face_normal": [ + -0.9997052638354822, + -0.011215958000703186, + 0.02153099358091226 + ], + "commanded_contact_point": [ + 15.179466408319474, + -14.874535234718552, + 0.07928533951444543 + ], + "centerline_face_intersection": [ + 15.55130134188019, + -14.851536129655429, + 0.1188661706907074 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.167280197143555, + -14.889528274536133, + 0.07872386276721954 + ], + "box_pose": [ + 15.608614921569824, + -14.855839729309082, + 0.1360168159008026, + 0.007153710350394249, + -0.008077300153672695, + 0.7030937671661377, + -0.7110152840614319 + ], + "box_yaw_rad": -1.5596082583913888, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005261947679729228 + } + } + }, + { + "simulation_time_ns": 2500000000, + "center": [ + 15.606307972222805, + -14.851153791227844, + 0.11884484527539088 + ], + "face_center": [ + 15.551002817661907, + -14.851770339974202, + 0.11988421910783176 + ], + "face_normal": [ + -0.9997612958000826, + -0.011145463356467156, + 0.01878894901916528 + ], + "footprint_xy": [ + [ + 15.547888300375165, + -14.929225711347788 + ], + [ + 15.664727644070446, + -14.929225711347788 + ], + [ + 15.664727644070446, + -14.7730818711079 + ], + [ + 15.547888300375165, + -14.7730818711079 + ] + ], + "projected_box_corners": [ + [ + 15.547888300375165, + -14.774805005969077 + ], + [ + 15.552390513690627, + -14.774314968600615 + ], + [ + 15.658498609496963, + -14.773571908476361 + ], + [ + 15.663000822812425, + -14.7730818711079 + ], + [ + 15.549615121633186, + -14.929225711347788 + ], + [ + 15.554117334948648, + -14.928735673979327 + ], + [ + 15.660225430754984, + -14.927992613855073 + ], + [ + 15.664727644070446, + -14.927502576486612 + ] + ], + "yaw_rad": -1.5596142169896128, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.173873901367188, + -14.888909339904785, + 0.08910360932350159 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551178621282927, + -14.851973557582774, + 0.11997534353531479 + ], + "intended_face_normal": [ + -0.9997329844393484, + -0.011173010510965975, + 0.020232177043715827 + ], + "commanded_contact_point": [ + 15.183885413267614, + -14.872422154226687, + 0.08184811953339591 + ], + "centerline_face_intersection": [ + 15.551149075612384, + -14.851355484973025, + 0.11885613269648079 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.170382499694824, + -14.889832496643066, + 0.08397708833217621 + ], + "box_pose": [ + 15.608438491821289, + -14.855632781982422, + 0.13601595163345337, + 0.007236422039568424, + -0.0070699118077754974, + 0.7031081914901733, + -0.7110109925270081 + ], + "box_yaw_rad": -1.5596183203363922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005528160211346949 + } + } + }, + { + "simulation_time_ns": 2520000000, + "center": [ + 15.606109618071494, + -14.850928257680751, + 0.11883111302591332 + ], + "face_center": [ + 15.550802802190914, + -14.851543437918721, + 0.11977937505898334 + ], + "face_normal": [ + -0.9997913277768791, + -0.01112072458246205, + 0.017141904519879347 + ], + "footprint_xy": [ + [ + 15.547888031752906, + -14.929228105103512 + ], + [ + 15.664331204390082, + -14.929228105103512 + ], + [ + 15.664331204390082, + -14.772628410257992 + ], + [ + 15.547888031752906, + -14.772628410257992 + ] + ], + "projected_box_corners": [ + [ + 15.547888031752906, + -14.774808219829428 + ], + [ + 15.551989979600151, + -14.773858770733929 + ], + [ + 15.65850166351407, + -14.77357785935349 + ], + [ + 15.662603611361314, + -14.772628410257992 + ], + [ + 15.549615624781675, + -14.929228105103512 + ], + [ + 15.55371757262892, + -14.928278656008015 + ], + [ + 15.660229256542838, + -14.927997744627575 + ], + [ + 15.664331204390082, + -14.927048295532076 + ] + ], + "yaw_rad": -1.5596091603614597, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.178122520446777, + -14.885798454284668, + 0.09288926422595978 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551002817661907, + -14.851770339974202, + 0.11988421910783176 + ], + "intended_face_normal": [ + -0.9997612958000826, + -0.011145463356467156, + 0.01878894901916528 + ], + "commanded_contact_point": [ + 15.188680305480958, + -14.870204657454742, + 0.08442244163667595 + ], + "centerline_face_intersection": [ + 15.550976405059743, + -14.851153791227844, + 0.11884484527539088 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.173873901367188, + -14.888909339904785, + 0.08910360932350159 + ], + "box_pose": [ + 15.60823917388916, + -14.855401992797852, + 0.13601472973823547, + 0.00732465460896492, + -0.005954287946224213, + 0.7031170725822449, + -0.7110114097595215 + ], + "box_yaw_rad": -1.5596142169896128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005876684231997085 + } + } + }, + { + "simulation_time_ns": 2540000000, + "center": [ + 15.605907360537758, + -14.850680056816463, + 0.11882158772811896 + ], + "face_center": [ + 15.550599008031876, + -14.851294068785489, + 0.11967607866921452 + ], + "face_normal": [ + -0.9998191056307494, + -0.011099605573156257, + 0.015446787506550347 + ], + "footprint_xy": [ + [ + 15.547890008383447, + -14.929228954422836 + ], + [ + 15.663924712692069, + -14.929228954422836 + ], + [ + 15.663924712692069, + -14.77213115921009 + ], + [ + 15.547890008383447, + -14.77213115921009 + ] + ], + "projected_box_corners": [ + [ + 15.547890008383447, + -14.774810663058467 + ], + [ + 15.55157968968748, + -14.77335918314814 + ], + [ + 15.658506713395212, + -14.773582639120418 + ], + [ + 15.662196394699244, + -14.77213115921009 + ], + [ + 15.549618326376272, + -14.929228954422836 + ], + [ + 15.553308007680304, + -14.92777747451251 + ], + [ + 15.660235031388037, + -14.928000930484789 + ], + [ + 15.663924712692069, + -14.926549450574461 + ] + ], + "yaw_rad": -1.5596043506777892, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.181678771972656, + -14.880838394165039, + 0.09454987943172455 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550802802190914, + -14.851543437918721, + 0.11977937505898334 + ], + "intended_face_normal": [ + -0.9997913277768791, + -0.01112072458246205, + 0.017141904519879347 + ], + "commanded_contact_point": [ + 15.193539485744239, + -14.868117668841359, + 0.08699457606988532 + ], + "centerline_face_intersection": [ + 15.550779712971599, + -14.850928257680751, + 0.11883111302591332 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.178122520446777, + -14.885798454284668, + 0.09288926422595978 + ], + "box_pose": [ + 15.608012199401855, + -14.855143547058105, + 0.13601230084896088, + 0.007418876048177481, + -0.0046877022832632065, + 0.7031248807907104, + -0.7110123038291931 + ], + "box_yaw_rad": -1.5596091603614597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005880733784652765 + } + } + }, + { + "simulation_time_ns": 2560000000, + "center": [ + 15.605736738468666, + -14.850462104614575, + 0.11881622238558276 + ], + "face_center": [ + 15.550427201459698, + -14.851075298412995, + 0.11959166631030105 + ], + "face_normal": [ + -0.9998405181075906, + -0.011084815354989952, + 0.014017840274598292 + ], + "footprint_xy": [ + [ + 15.547891881237888, + -14.929231604011099 + ], + [ + 15.663581595699446, + -14.929231604011099 + ], + [ + 15.663581595699446, + -14.77169260521805 + ], + [ + 15.547891881237888, + -14.77169260521805 + ] + ], + "projected_box_corners": [ + [ + 15.547891881237888, + -14.774815255477767 + ], + [ + 15.551233794750956, + -14.772918992814894 + ], + [ + 15.658510955255826, + -14.773588867880923 + ], + [ + 15.661852868768896, + -14.77169260521805 + ], + [ + 15.549620608168437, + -14.929231604011099 + ], + [ + 15.552962521681508, + -14.927335341348225 + ], + [ + 15.660239682186376, + -14.928005216414254 + ], + [ + 15.663581595699446, + -14.926108953751383 + ] + ], + "yaw_rad": -1.5596015619264816, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.184138298034668, + -14.875551223754883, + 0.09395617246627808 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550599008031876, + -14.851294068785489, + 0.11967607866921452 + ], + "intended_face_normal": [ + -0.9998191056307494, + -0.011099605573156257, + 0.015446787506550347 + ], + "commanded_contact_point": [ + 15.198158712558746, + -14.866287368344883, + 0.0895551999426738 + ], + "centerline_face_intersection": [ + 15.550578992661956, + -14.850680056816463, + 0.11882158772811896 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.181678771972656, + -14.880838394165039, + 0.09454987943172455 + ], + "box_pose": [ + 15.607780456542969, + -14.854859352111816, + 0.13601480424404144, + 0.007558668497949839, + -0.003340895054861903, + 0.7031309008598328, + -0.7110124230384827 + ], + "box_yaw_rad": -1.5596043506777892, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055896378137720885 + } + } + }, + { + "simulation_time_ns": 2580000000, + "center": [ + 15.605592931581416, + -14.850275642397614, + 0.11881154899163779 + ], + "face_center": [ + 15.55028249538345, + -14.850887799775013, + 0.11951985582412039 + ], + "face_normal": [ + -0.9998567729099297, + -0.01106607978446017, + 0.012804190898464851 + ], + "footprint_xy": [ + [ + 15.547895477576763, + -14.929232310159316 + ], + [ + 15.66329038558607, + -14.929232310159316 + ], + [ + 15.66329038558607, + -14.771318974635912 + ], + [ + 15.547895477576763, + -14.771318974635912 + ] + ], + "projected_box_corners": [ + [ + 15.547895477576763, + -14.774818083913098 + ], + [ + 15.55094203608295, + -14.772543289390711 + ], + [ + 15.658516349972693, + -14.773593769158298 + ], + [ + 15.66156290847888, + -14.771318974635912 + ], + [ + 15.549622954683953, + -14.929232310159316 + ], + [ + 15.55266951319014, + -14.926957515636929 + ], + [ + 15.660243827079883, + -14.928007995404515 + ], + [ + 15.66329038558607, + -14.925733200882128 + ] + ], + "yaw_rad": -1.5596095010286808, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.187564849853516, + -14.869906425476074, + 0.09479029476642609 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550427201459698, + -14.851075298412995, + 0.11959166631030105 + ], + "intended_face_normal": [ + -0.9998405181075906, + -0.011084815354989952, + 0.014017840274598292 + ], + "commanded_contact_point": [ + 15.202621791137457, + -14.864676214198603, + 0.09209186991948383 + ], + "centerline_face_intersection": [ + 15.55040955549923, + -14.850462104614575, + 0.11881622238558276 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.184138298034668, + -14.875551223754883, + 0.09395617246627808 + ], + "box_pose": [ + 15.607584953308105, + -14.854609489440918, + 0.13601985573768616, + 0.007708149030804634, + -0.002173601882532239, + 0.7031345367431641, + -0.7110118865966797 + ], + "box_yaw_rad": -1.5596015619264816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00538048163774156 + } + } + }, + { + "simulation_time_ns": 2600000000, + "center": [ + 15.605468906768577, + -14.850118386412053, + 0.11880720904556855 + ], + "face_center": [ + 15.550157764602318, + -14.85072995256689, + 0.11945819487483517 + ], + "face_normal": [ + -0.9998695348266472, + -0.011055392147122034, + 0.011767988741418822 + ], + "footprint_xy": [ + [ + 15.547897188167395, + -14.929233497739443 + ], + [ + 15.663040625369758, + -14.929233497739443 + ], + [ + 15.663040625369758, + -14.771003275084665 + ], + [ + 15.547897188167395, + -14.771003275084665 + ] + ], + "projected_box_corners": [ + [ + 15.547897188167395, + -14.774821359027754 + ], + [ + 15.550691607532446, + -14.772226407394339 + ], + [ + 15.658519472499915, + -14.773598226718079 + ], + [ + 15.661313891864966, + -14.771003275084665 + ], + [ + 15.549623921672188, + -14.929233497739443 + ], + [ + 15.552418341037239, + -14.926638546106028 + ], + [ + 15.660246206004707, + -14.928010365429769 + ], + [ + 15.663040625369758, + -14.925415413796353 + ] + ], + "yaw_rad": -1.559614164900647, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.191822052001953, + -14.86586856842041, + 0.09775599837303162 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.55028249538345, + -14.850887799775013, + 0.11951985582412039 + ], + "intended_face_normal": [ + -0.9998567729099297, + -0.01106607978446017, + 0.012804190898464851 + ], + "commanded_contact_point": [ + 15.206987721862793, + -14.86322413018967, + 0.09458988269753954 + ], + "centerline_face_intersection": [ + 15.550266648073231, + -14.850275642397614, + 0.11881154899163779 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.187564849853516, + -14.869906425476074, + 0.09479029476642609 + ], + "box_pose": [ + 15.607419967651367, + -14.854395866394043, + 0.13602396845817566, + 0.007836271077394485, + -0.0011810569558292627, + 0.7031397819519043, + -0.7110074758529663 + ], + "box_yaw_rad": -1.5596095010286808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005235452884590767 + } + } + }, + { + "simulation_time_ns": 2620000000, + "center": [ + 15.605364106851034, + -14.849984588824643, + 0.1188035541280634 + ], + "face_center": [ + 15.550052412543398, + -14.850596298310096, + 0.1194056975304571 + ], + "face_normal": [ + -0.9998795159863337, + -0.011057983160622231, + 0.01088505534455586 + ], + "footprint_xy": [ + [ + 15.54789885943368, + -14.929236149145472 + ], + [ + 15.662829354268387, + -14.929236149145472 + ], + [ + 15.662829354268387, + -14.770733028503814 + ], + [ + 15.54789885943368, + -14.770733028503814 + ] + ], + "projected_box_corners": [ + [ + 15.54789885943368, + -14.774826027388045 + ], + [ + 15.550478387758067, + -14.771956447474722 + ], + [ + 15.658522248048953, + -14.77360260841714 + ], + [ + 15.661101776373341, + -14.770733028503814 + ], + [ + 15.549626437328728, + -14.929236149145472 + ], + [ + 15.552205965653114, + -14.926366569232147 + ], + [ + 15.660249825944002, + -14.928012730174565 + ], + [ + 15.662829354268387, + -14.925143150261242 + ] + ], + "yaw_rad": -1.5596085510416577, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.196911811828613, + -14.864660263061523, + 0.10112424194812775 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550157764602318, + -14.85072995256689, + 0.11945819487483517 + ], + "intended_face_normal": [ + -0.9998695348266472, + -0.011055392147122034, + 0.011767988741418822 + ], + "commanded_contact_point": [ + 15.211236543953419, + -14.8619575686802, + 0.09703618890258135 + ], + "centerline_face_intersection": [ + 15.550143329421944, + -14.850118386412053, + 0.11880720904556855 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.191822052001953, + -14.86586856842041, + 0.09775599837303162 + ], + "box_pose": [ + 15.607277870178223, + -14.854215621948242, + 0.1360270231962204, + 0.007941211573779583, + -0.0003381345886737108, + 0.7031424045562744, + -0.7110045552253723 + ], + "box_yaw_rad": -1.559614164900647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005063702327732309 + } + } + }, + { + "simulation_time_ns": 2640000000, + "center": [ + 15.605272404552052, + -14.849870652254676, + 0.11879945843012579 + ], + "face_center": [ + 15.549960269824169, + -14.850482666068377, + 0.11935960565743767 + ], + "face_normal": [ + -0.9998874775429116, + -0.0110634845574753, + 0.010125882881304948 + ], + "footprint_xy": [ + [ + 15.547898607904495, + -14.92923777920811 + ], + [ + 15.66264620119961, + -14.92923777920811 + ], + [ + 15.66264620119961, + -14.770503525301242 + ], + [ + 15.547898607904495, + -14.770503525301242 + ] + ], + "projected_box_corners": [ + [ + 15.547898607904495, + -14.774829521908106 + ], + [ + 15.550293398914302, + -14.771727552928645 + ], + [ + 15.658522877360262, + -14.773605494280705 + ], + [ + 15.660917668370072, + -14.770503525301242 + ], + [ + 15.549627140734033, + -14.92923777920811 + ], + [ + 15.552021931743843, + -14.926135810228647 + ], + [ + 15.660251410189801, + -14.928013751580707 + ], + [ + 15.66264620119961, + -14.924911782601246 + ] + ], + "yaw_rad": -1.5596022322585126, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.201739311218262, + -14.866402626037598, + 0.10357837378978729 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550052412543398, + -14.850596298310096, + 0.1194056975304571 + ], + "intended_face_normal": [ + -0.9998795159863337, + -0.011057983160622231, + 0.01088505534455586 + ], + "commanded_contact_point": [ + 15.21540661154747, + -14.860871028119877, + 0.09941816345840707 + ], + "centerline_face_intersection": [ + 15.550039081784366, + -14.849984588824643, + 0.1188035541280634 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.196911811828613, + -14.864660263061523, + 0.10112424194812775 + ], + "box_pose": [ + 15.607157707214355, + -14.8540620803833, + 0.1360296607017517, + 0.0080332700163126, + 0.0003828126937150955, + 0.7031404376029968, + -0.711005449295044 + ], + "box_yaw_rad": -1.5596085510416577, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00492380309443682 + } + } + }, + { + "simulation_time_ns": 2660000000, + "center": [ + 15.605195973504257, + -14.849773552989987, + 0.11879639301514078 + ], + "face_center": [ + 15.549883481421528, + -14.85038517553733, + 0.11932074870636868 + ], + "face_normal": [ + -0.9998939375111521, + -0.01105641156462478, + 0.009478872800995436 + ], + "footprint_xy": [ + [ + 15.54790112300867, + -14.929240192652873 + ], + [ + 15.662490823999844, + -14.929240192652873 + ], + [ + 15.662490823999844, + -14.7703069133271 + ], + [ + 15.54790112300867, + -14.7703069133271 + ] + ], + "projected_box_corners": [ + [ + 15.54790112300867, + -14.774833649460756 + ], + [ + 15.550138469794575, + -14.771530158421784 + ], + [ + 15.658526107174126, + -14.773610404366075 + ], + [ + 15.660763453960032, + -14.7703069133271 + ], + [ + 15.549628493048482, + -14.929240192652873 + ], + [ + 15.551865839834388, + -14.925936701613901 + ], + [ + 15.660253477213939, + -14.928016947558191 + ], + [ + 15.662490823999844, + -14.92471345651922 + ] + ], + "yaw_rad": -1.5596096377596926, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.204750061035156, + -14.870080947875977, + 0.10442185401916504 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549960269824169, + -14.850482666068377, + 0.11935960565743767 + ], + "intended_face_normal": [ + -0.9998874775429116, + -0.0110634845574753, + 0.010125882881304948 + ], + "commanded_contact_point": [ + 15.219469908087252, + -14.859858343352162, + 0.1017221485909818 + ], + "centerline_face_intersection": [ + 15.549947820008269, + -14.849870652254676, + 0.11879945843012579 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.201739311218262, + -14.866402626037598, + 0.10357837378978729 + ], + "box_pose": [ + 15.60705280303955, + -14.853931427001953, + 0.1360308825969696, + 0.008106929250061512, + 0.0009971597464755177, + 0.7031376361846924, + -0.7110068202018738 + ], + "box_yaw_rad": -1.5596022322585126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004779566580777951 + } + } + }, + { + "simulation_time_ns": 2680000000, + "center": [ + 15.60512939651542, + -14.849688781088485, + 0.11879366029202741 + ], + "face_center": [ + 15.549816619256761, + -14.85030044529698, + 0.11928718334266998 + ], + "face_normal": [ + -0.9998990926880689, + -0.011057164680857046, + 0.008921505572763777 + ], + "footprint_xy": [ + [ + 15.547902126891804, + -14.929241579260347 + ], + [ + 15.662356666139035, + -14.929241579260347 + ], + [ + 15.662356666139035, + -14.77013598291662 + ], + [ + 15.547902126891804, + -14.77013598291662 + ] + ], + "projected_box_corners": [ + [ + 15.547902126891804, + -14.77483661348712 + ], + [ + 15.550003821119928, + -14.771359311333612 + ], + [ + 15.658527681409117, + -14.773613285070128 + ], + [ + 15.660629375637242, + -14.77013598291662 + ], + [ + 15.549629417393596, + -14.929241579260347 + ], + [ + 15.55173111162172, + -14.925764277106842 + ], + [ + 15.660254971910911, + -14.928018250843357 + ], + [ + 15.662356666139035, + -14.924540948689849 + ] + ], + "yaw_rad": -1.559610038546316, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.206710815429688, + -14.873895645141602, + 0.1020628958940506 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549883481421528, + -14.85038517553733, + 0.11932074870636868 + ], + "intended_face_normal": [ + -0.9998939375111521, + -0.01105641156462478, + 0.009478872800995436 + ], + "commanded_contact_point": [ + 15.223256709594727, + -14.858900482206746, + 0.10393637067547751 + ], + "centerline_face_intersection": [ + 15.549871746393443, + -14.849773552989987, + 0.11879639301514078 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.204750061035156, + -14.870080947875977, + 0.10442185401916504 + ], + "box_pose": [ + 15.606965065002441, + -14.853819847106934, + 0.13603238761425018, + 0.008174839429557323, + 0.0015258744824677706, + 0.7031393647193909, + -0.7110034227371216 + ], + "box_yaw_rad": -1.5596096377596926, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004490004796253967 + } + } + }, + { + "simulation_time_ns": 2700000000, + "center": [ + 15.605071194871982, + -14.849615756720663, + 0.11879060056381027 + ], + "face_center": [ + 15.549758179441872, + -14.850227171626656, + 0.1192570503592216 + ], + "face_normal": [ + -0.9999033981565785, + -0.011052657994373827, + 0.008432097434473373 + ], + "footprint_xy": [ + [ + 15.547903716392474, + -14.929243388572914 + ], + [ + 15.66223867335149, + -14.929243388572914 + ], + [ + 15.66223867335149, + -14.76998812486841 + ], + [ + 15.547903716392474, + -14.76998812486841 + ] + ], + "projected_box_corners": [ + [ + 15.547903716392474, + -14.774839859443613 + ], + [ + 15.549886329243298, + -14.771210954680397 + ], + [ + 15.658529747252695, + -14.773617029631625 + ], + [ + 15.66051236010352, + -14.76998812486841 + ], + [ + 15.549630029640445, + -14.929243388572914 + ], + [ + 15.55161264249127, + -14.9256144838097 + ], + [ + 15.660256060500668, + -14.928020558760927 + ], + [ + 15.66223867335149, + -14.924391653997711 + ] + ], + "yaw_rad": -1.559616262900376, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.21042251586914, + -14.874473571777344, + 0.10385523736476898 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549816619256761, + -14.85030044529698, + 0.11928718334266998 + ], + "intended_face_normal": [ + -0.9998990926880689, + -0.011057164680857046, + 0.008921505572763777 + ], + "commanded_contact_point": [ + 15.227389243986606, + -14.857819314926275, + 0.10604748022750539 + ], + "centerline_face_intersection": [ + 15.549805454639566, + -14.849688781088485, + 0.11879366029202741 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.206710815429688, + -14.873895645141602, + 0.1020628958940506 + ], + "box_pose": [ + 15.606888771057129, + -14.85372257232666, + 0.1360335797071457, + 0.008233624510467052, + 0.0019816518761217594, + 0.7031384110450745, + -0.7110025882720947 + ], + "box_yaw_rad": -1.559610038546316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004764823892767101 + } + } + }, + { + "simulation_time_ns": 2720000000, + "center": [ + 15.605019481735994, + -14.849551791707746, + 0.11878755412309451 + ], + "face_center": [ + 15.549706283711663, + -14.85016299606419, + 0.11923054859334356 + ], + "face_normal": [ + -0.9999066989453688, + -0.011048851852004327, + 0.00800809127331481 + ], + "footprint_xy": [ + [ + 15.547903859020344, + -14.929244376423624 + ], + [ + 15.662135104451643, + -14.929244376423624 + ], + [ + 15.662135104451643, + -14.769859206991871 + ], + [ + 15.547903859020344, + -14.769859206991871 + ] + ], + "projected_box_corners": [ + [ + 15.547903859020344, + -14.774842181434295 + ], + [ + 15.549783303138716, + -14.771081615704755 + ], + [ + 15.658530255069007, + -14.77361977272141 + ], + [ + 15.66040969918738, + -14.769859206991871 + ], + [ + 15.549629264284608, + -14.929244376423624 + ], + [ + 15.55150870840298, + -14.925483810694084 + ], + [ + 15.66025566033327, + -14.928021967710738 + ], + [ + 15.662135104451643, + -14.9242614019812 + ] + ], + "yaw_rad": -1.5596220462103274, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.214417457580566, + -14.86946964263916, + 0.1089504063129425 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549758179441872, + -14.850227171626656, + 0.1192570503592216 + ], + "intended_face_normal": [ + -0.9999033981565785, + -0.011052657994373827, + 0.008432097434473373 + ], + "commanded_contact_point": [ + 15.232207553386688, + -14.856611748826992, + 0.10804206468551737 + ], + "centerline_face_intersection": [ + 15.549747491214632, + -14.849615756720663, + 0.11879060056381027 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.21042251586914, + -14.874473571777344, + 0.10385523736476898 + ], + "box_pose": [ + 15.60682201385498, + -14.853638648986816, + 0.13603393733501434, + 0.00828377716243267, + 0.0023803459480404854, + 0.7031394243240356, + -0.7109997868537903 + ], + "box_yaw_rad": -1.559616262900376, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005352820613396563 + } + } + }, + { + "simulation_time_ns": 2740000000, + "center": [ + 15.605009517944815, + -14.849541850847267, + 0.11878766562813503 + ], + "face_center": [ + 15.549696278115498, + -14.850153221437909, + 0.11922591752063498 + ], + "face_normal": [ + -0.9999074546616871, + -0.011051856897740353, + 0.007922358836374377 + ], + "footprint_xy": [ + [ + 15.547904077728983, + -14.929244917071411 + ], + [ + 15.662114958160647, + -14.929244917071411 + ], + [ + 15.662114958160647, + -14.769838784623122 + ], + [ + 15.547904077728983, + -14.769838784623122 + ] + ], + "projected_box_corners": [ + [ + 15.547904077728983, + -14.774842921662502 + ], + [ + 15.54976271172942, + -14.771061525804406 + ], + [ + 15.65853055738762, + -14.773620180481217 + ], + [ + 15.660389191388056, + -14.769838784623122 + ], + [ + 15.549629844501574, + -14.929244917071411 + ], + [ + 15.551488478502012, + -14.925463521213317 + ], + [ + 15.66025632416021, + -14.928022175890128 + ], + [ + 15.662114958160647, + -14.924240780032031 + ] + ], + "yaw_rad": -1.559619690715108, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.21827507019043, + -14.8627347946167, + 0.11567601561546326 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549706283711663, + -14.85016299606419, + 0.11923054859334356 + ], + "intended_face_normal": [ + -0.9999066989453688, + -0.011048851852004327, + 0.00800809127331481 + ], + "commanded_contact_point": [ + 15.237287546674013, + -14.855388275206352, + 0.1099075128278454 + ], + "centerline_face_intersection": [ + 15.549695960707544, + -14.849551791707746, + 0.11878755412309451 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.214417457580566, + -14.86946964263916, + 0.1089504063129425 + ], + "box_pose": [ + 15.606762886047363, + -14.853565216064453, + 0.13603384792804718, + 0.008327697403728962, + 0.0027262307703495026, + 0.7031402587890625, + -0.7109970450401306 + ], + "box_yaw_rad": -1.5596220462103274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055482534433263725 + } + } + }, + { + "simulation_time_ns": 2760000000, + "center": [ + 15.60500867836788, + -14.849542673661587, + 0.11878760994747566 + ], + "face_center": [ + 15.549695431143522, + -14.850154062831853, + 0.11922548737319844 + ], + "face_normal": [ + -0.999907588343159, + -0.011052192764969493, + 0.00791558953262067 + ], + "footprint_xy": [ + [ + 15.547904020088914, + -14.929244863342166 + ], + [ + 15.662113336646847, + -14.929244863342166 + ], + [ + 15.662113336646847, + -14.769840483981008 + ], + [ + 15.547904020088914, + -14.769840483981008 + ] + ], + "projected_box_corners": [ + [ + 15.547904020088914, + -14.774842837089182 + ], + [ + 15.549761049033835, + -14.77106326232154 + ], + [ + 15.65853051453763, + -14.773620058748648 + ], + [ + 15.66038754348255, + -14.769840483981008 + ], + [ + 15.54962981325321, + -14.929244863342166 + ], + [ + 15.55148684219813, + -14.925465288574525 + ], + [ + 15.660256307701927, + -14.928022085001633 + ], + [ + 15.662113336646847, + -14.924242510233992 + ] + ], + "yaw_rad": -1.5596195220404803, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.22278881072998, + -14.860448837280273, + 0.11927823722362518 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549696278115498, + -14.850153221437909, + 0.11922591752063498 + ], + "intended_face_normal": [ + -0.9999074546616871, + -0.011051856897740353, + 0.007922358836374377 + ], + "commanded_contact_point": [ + 15.241967104797363, + -14.854240188056417, + 0.11163374654314408 + ], + "centerline_face_intersection": [ + 15.54968603872912, + -14.849541850847267, + 0.11878766562813503 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.21827507019043, + -14.8627347946167, + 0.11567601561546326 + ], + "box_pose": [ + 15.606751441955566, + -14.853553771972656, + 0.13603445887565613, + 0.008328072726726532, + 0.002787589095532894, + 0.7031391859054565, + -0.7109979391098022 + ], + "box_yaw_rad": -1.559619690715108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005118227346795491 + } + } + }, + { + "simulation_time_ns": 2780000000, + "center": [ + 15.605011165581109, + -14.8495470201128, + 0.11878735836292599 + ], + "face_center": [ + 15.54969792437263, + -14.850158401914866, + 0.11922642369146343 + ], + "face_normal": [ + -0.9999074795930285, + -0.011052059568689376, + 0.007937063466952554 + ], + "footprint_xy": [ + [ + 15.547903903784526, + -14.929246308363732 + ], + [ + 15.662118427377692, + -14.929246308363732 + ], + [ + 15.662118427377692, + -14.76984773186187 + ], + [ + 15.547903903784526, + -14.76984773186187 + ] + ], + "projected_box_corners": [ + [ + 15.547903903784526, + -14.77484421324909 + ], + [ + 15.549766149675406, + -14.771070495466002 + ], + [ + 15.658530386201484, + -14.773621449644956 + ], + [ + 15.660392632092364, + -14.76984773186187 + ], + [ + 15.549629699069854, + -14.929246308363732 + ], + [ + 15.551491944960734, + -14.925472590580643 + ], + [ + 15.660256181486812, + -14.928023544759599 + ], + [ + 15.662118427377692, + -14.92424982697651 + ] + ], + "yaw_rad": -1.5596195132894506, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.228506088256836, + -14.85948657989502, + 0.12085792422294617 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549695431143522, + -14.850154062831853, + 0.11922548737319844 + ], + "intended_face_normal": [ + -0.999907588343159, + -0.011052192764969493, + 0.00791558953262067 + ], + "commanded_contact_point": [ + 15.246059262658356, + -14.853182090918734, + 0.11320506674746429 + ], + "centerline_face_intersection": [ + 15.549685206548595, + -14.849542673661587, + 0.11878760994747566 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.22278881072998, + -14.860448837280273, + 0.11927823722362518 + ], + "box_pose": [ + 15.60675048828125, + -14.853554725646973, + 0.13603438436985016, + 0.008323021233081818, + 0.002787297125905752, + 0.7031391263008118, + -0.7109981179237366 + ], + "box_yaw_rad": -1.5596195220404803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004509364999262097 + } + } + }, + { + "simulation_time_ns": 2800000000, + "center": [ + 15.605017919481801, + -14.849554536368434, + 0.11878773982206864 + ], + "face_center": [ + 15.549704700467085, + -14.850165590546105, + 0.11922965837155139 + ], + "face_normal": [ + -0.9999070783923335, + -0.011046137043149828, + 0.00798864165875296 + ], + "footprint_xy": [ + [ + 15.547904832134616, + -14.929246223548494 + ], + [ + 15.662131006828984, + -14.929246223548494 + ], + [ + 15.662131006828984, + -14.769862849188373 + ], + [ + 15.547904832134616, + -14.769862849188373 + ] + ], + "projected_box_corners": [ + [ + 15.547904832134616, + -14.774843978394859 + ], + [ + 15.54977963732726, + -14.771084957543716 + ], + [ + 15.658531270164046, + -14.773621870039516 + ], + [ + 15.66040607535669, + -14.769862849188373 + ], + [ + 15.54962976360691, + -14.929246223548494 + ], + [ + 15.551504568799555, + -14.92548720269735 + ], + [ + 15.66025620163634, + -14.928024115193152 + ], + [ + 15.662131006828984, + -14.924265094342008 + ] + ], + "yaw_rad": -1.5596251180136722, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.235349655151367, + -14.857170104980469, + 0.12295044958591461 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54969792437263, + -14.850158401914866, + 0.11922642369146343 + ], + "intended_face_normal": [ + -0.9999074795930285, + -0.011052059568689376, + 0.007937063466952554 + ], + "commanded_contact_point": [ + 15.249730499973296, + -14.852243080835313, + 0.11460852910337711 + ], + "centerline_face_intersection": [ + 15.549687687744832, + -14.8495470201128, + 0.11878735836292599 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.228506088256836, + -14.85948657989502, + 0.12085792422294617 + ], + "box_pose": [ + 15.6067533493042, + -14.853559494018555, + 0.13603399693965912, + 0.00832198653370142, + 0.0027709812857210636, + 0.7031391859054565, + -0.7109981775283813 + ], + "box_yaw_rad": -1.5596195132894506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00404096893626242 + } + } + }, + { + "simulation_time_ns": 2820000000, + "center": [ + 15.605027051808909, + -14.849564478529212, + 0.11878798834061242 + ], + "face_center": [ + 15.549713869914877, + -14.850175678263126, + 0.1192341845719023 + ], + "face_normal": [ + -0.9999064073550635, + -0.01104876828973611, + 0.00806597008754889 + ], + "footprint_xy": [ + [ + 15.54790437164855, + -14.929245945961291 + ], + [ + 15.66214973196927, + -14.929245945961291 + ], + [ + 15.66214973196927, + -14.769883011097132 + ], + [ + 15.54790437164855, + -14.769883011097132 + ] + ], + "projected_box_corners": [ + [ + 15.54790437164855, + -14.77484349796151 + ], + [ + 15.549797950720286, + -14.771105410564962 + ], + [ + 15.658530735436617, + -14.773621098493681 + ], + [ + 15.660424314508354, + -14.769883011097132 + ], + [ + 15.549629789109465, + -14.929245945961291 + ], + [ + 15.551523368181202, + -14.925507858564742 + ], + [ + 15.660256152897533, + -14.928023546493462 + ], + [ + 15.66214973196927, + -14.924285459096913 + ] + ], + "yaw_rad": -1.5596219855367064, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.243093490600586, + -14.854058265686035, + 0.12537439167499542 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549704700467085, + -14.850165590546105, + 0.11922965837155139 + ], + "intended_face_normal": [ + -0.9999070783923335, + -0.011046137043149828, + 0.00798864165875296 + ], + "commanded_contact_point": [ + 15.25305458381772, + -14.85143246462245, + 0.11583201745895867 + ], + "centerline_face_intersection": [ + 15.549694419447643, + -14.849554536368434, + 0.11878773982206864 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.235349655151367, + -14.857170104980469, + 0.12295044958591461 + ], + "box_pose": [ + 15.60676097869873, + -14.853568077087402, + 0.1360340416431427, + 0.008318603970110416, + 0.0027308522257953882, + 0.7031413316726685, + -0.7109962105751038 + ], + "box_yaw_rad": -1.5596251180136722, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036336697436009455 + } + } + }, + { + "simulation_time_ns": 2840000000, + "center": [ + 15.605038777831776, + -14.849577640520623, + 0.11878804487363337 + ], + "face_center": [ + 15.549725626989558, + -14.85018881208868, + 0.11923939873580491 + ], + "face_normal": [ + -0.9999058460257613, + -0.011048259130415405, + 0.00815920551514071 + ], + "footprint_xy": [ + [ + 15.547904785293184, + -14.929244681004748 + ], + [ + 15.662172770370367, + -14.929244681004748 + ], + [ + 15.662172770370367, + -14.769910600036496 + ], + [ + 15.547904785293184, + -14.769910600036496 + ] + ], + "projected_box_corners": [ + [ + 15.547904785293184, + -14.774841911870887 + ], + [ + 15.549821056503488, + -14.77113294317261 + ], + [ + 15.658531086977622, + -14.773619568734775 + ], + [ + 15.660447358187923, + -14.769910600036496 + ], + [ + 15.549630197475627, + -14.929244681004748 + ], + [ + 15.551546468685931, + -14.925535712306472 + ], + [ + 15.660256499160063, + -14.928022337868635 + ], + [ + 15.662172770370367, + -14.924313369170358 + ] + ], + "yaw_rad": -1.5596220429578165, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.250357627868652, + -14.850594520568848, + 0.12684933841228485 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549713869914877, + -14.850175678263126, + 0.1192341845719023 + ], + "intended_face_normal": [ + -0.9999064073550635, + -0.01104876828973611, + 0.00806597008754889 + ], + "commanded_contact_point": [ + 15.255934276733397, + -14.850763279728294, + 0.11686192531378566 + ], + "centerline_face_intersection": [ + 15.549703514647145, + -14.849564478529212, + 0.11878798834061242 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.243093490600586, + -14.854058265686035, + 0.12537439167499542 + ], + "box_pose": [ + 15.606771469116211, + -14.8535795211792, + 0.1360338032245636, + 0.008315098471939564, + 0.0026723365299403667, + 0.7031404376029968, + -0.7109973430633545 + ], + "box_yaw_rad": -1.5596219855367064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031306788242487964 + } + } + }, + { + "simulation_time_ns": 2860000000, + "center": [ + 15.605053712162974, + -14.849598674880099, + 0.11878849334787228 + ], + "face_center": [ + 15.549740630587312, + -14.850209636232858, + 0.11924697378585514 + ], + "face_normal": [ + -0.9999045938817063, + -0.01104445903040363, + 0.008288033916838605 + ], + "footprint_xy": [ + [ + 15.5479043542687, + -14.92924620850341 + ], + [ + 15.662203070057249, + -14.92924620850341 + ], + [ + 15.662203070057249, + -14.76995114125679 + ], + [ + 15.5479043542687, + -14.76995114125679 + ] + ], + "projected_box_corners": [ + [ + 15.5479043542687, + -14.774843083434957 + ], + [ + 15.549851979227745, + -14.771173063962307 + ], + [ + 15.658530517420026, + -14.773621160729439 + ], + [ + 15.660478142379072, + -14.76995114125679 + ], + [ + 15.549629281946878, + -14.92924620850341 + ], + [ + 15.551576906905924, + -14.925576189030759 + ], + [ + 15.660255445098205, + -14.92802428579789 + ], + [ + 15.662203070057249, + -14.92435426632524 + ] + ], + "yaw_rad": -1.55962520624075, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.255851745605469, + -14.847737312316895, + 0.12688791751861572 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549725626989558, + -14.85018881208868, + 0.11923939873580491 + ], + "intended_face_normal": [ + -0.9999058460257613, + -0.011048259130415405, + 0.00815920551514071 + ], + "commanded_contact_point": [ + 15.258459578137396, + -14.850247575526375, + 0.11768528612314971 + ], + "centerline_face_intersection": [ + 15.549715209612366, + -14.849577640520623, + 0.11878804487363337 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.250357627868652, + -14.850594520568848, + 0.12684933841228485 + ], + "box_pose": [ + 15.60678482055664, + -14.853594779968262, + 0.13603320717811584, + 0.008305199444293976, + 0.0025960293132811785, + 0.7031407356262207, + -0.7109975814819336 + ], + "box_yaw_rad": -1.5596220429578165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027057385363914474 + } + } + }, + { + "simulation_time_ns": 2880000000, + "center": [ + 15.605071970594341, + -14.849622982727219, + 0.11878920790270003 + ], + "face_center": [ + 15.549758965640423, + -14.85023408967583, + 0.11925628955066919 + ], + "face_normal": [ + -0.9999032087765344, + -0.011047090992965303, + 0.008443519547601586 + ], + "footprint_xy": [ + [ + 15.547903522757943, + -14.929247580331994 + ], + [ + 15.66224041843074, + -14.929247580331994 + ], + [ + 15.66224041843074, + -14.769998385122445 + ], + [ + 15.547903522757943, + -14.769998385122445 + ] + ], + "projected_box_corners": [ + [ + 15.547903522757943, + -14.774844012119152 + ], + [ + 15.549888957598425, + -14.771220599019664 + ], + [ + 15.658529532665778, + -14.773621798221933 + ], + [ + 15.66051496750626, + -14.769998385122445 + ], + [ + 15.549628973682424, + -14.929247580331994 + ], + [ + 15.551614408522905, + -14.925624167232506 + ], + [ + 15.660254983590258, + -14.928025366434776 + ], + [ + 15.66224041843074, + -14.924401953335288 + ] + ], + "yaw_rad": -1.5596218499000485, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.259574890136719, + -14.84708023071289, + 0.12549889087677002 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549740630587312, + -14.850209636232858, + 0.11924697378585514 + ], + "intended_face_normal": [ + -0.9999045938817063, + -0.01104445903040363, + 0.008288033916838605 + ], + "commanded_contact_point": [ + 15.260734577627181, + -14.849891732173223, + 0.11828977677650188 + ], + "centerline_face_intersection": [ + 15.549730074663877, + -14.849598674880099, + 0.11878849334787228 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.255851745605469, + -14.847737312316895, + 0.12688791751861572 + ], + "box_pose": [ + 15.606801986694336, + -14.853618621826172, + 0.13603277504444122, + 0.008293422870337963, + 0.002492493251338601, + 0.7031422257423401, + -0.7109964489936829 + ], + "box_yaw_rad": -1.55962520624075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002380683960649659 + } + } + }, + { + "simulation_time_ns": 2900000000, + "center": [ + 15.605095454323747, + -14.849649517660172, + 0.11879015177698506 + ], + "face_center": [ + 15.549782527551487, + -14.85026050546921, + 0.11926747199155033 + ], + "face_normal": [ + -0.9999017954725409, + -0.011044937285349388, + 0.008628603970356363 + ], + "footprint_xy": [ + [ + 15.547904675053418, + -14.92924662500974 + ], + [ + 15.662286233594077, + -14.92924662500974 + ], + [ + 15.662286233594077, + -14.770052410310601 + ], + [ + 15.547904675053418, + -14.770052410310601 + ] + ], + "projected_box_corners": [ + [ + 15.547904675053418, + -14.774842497353639 + ], + [ + 15.54993513392732, + -14.771274385928677 + ], + [ + 15.658530528597936, + -14.773620521735564 + ], + [ + 15.66056098747184, + -14.770052410310601 + ], + [ + 15.549629921175654, + -14.92924662500974 + ], + [ + 15.551660380049558, + -14.92567851358478 + ], + [ + 15.660255774720174, + -14.928024649391666 + ], + [ + 15.662286233594077, + -14.924456537966703 + ] + ], + "yaw_rad": -1.5596232166228323, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.260109901428223, + -14.848991394042969, + 0.12299871444702148 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549758965640423, + -14.85023408967583, + 0.11925628955066919 + ], + "intended_face_normal": [ + -0.9999032087765344, + -0.011047090992965303, + 0.008443519547601586 + ], + "commanded_contact_point": [ + 15.262764109715222, + -14.849694427004522, + 0.11866237785008266 + ], + "centerline_face_intersection": [ + 15.54974825645877, + -14.849622982727219, + 0.11878920790270003 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.259574890136719, + -14.84708023071289, + 0.12549889087677002 + ], + "box_pose": [ + 15.606822967529297, + -14.853646278381348, + 0.13603243231773376, + 0.008279767818748951, + 0.0023681388702243567, + 0.703141450881958, + -0.7109977602958679 + ], + "box_yaw_rad": -1.5596218499000485, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002072863089067779 + } + } + }, + { + "simulation_time_ns": 2920000000, + "center": [ + 15.605121146005741, + -14.849682127721955, + 0.11879131941693928 + ], + "face_center": [ + 15.549808341228852, + -14.850294363185848, + 0.11928063745568712 + ], + "face_normal": [ + -0.999899590140153, + -0.011067491368122684, + 0.008845490811136086 + ], + "footprint_xy": [ + [ + 15.547902345810845, + -14.929248654308948 + ], + [ + 15.662339946200639, + -14.929248654308948 + ], + [ + 15.662339946200639, + -14.770115601134963 + ], + [ + 15.547902345810845, + -14.770115601134963 + ] + ], + "projected_box_corners": [ + [ + 15.547902345810845, + -14.774843965119517 + ], + [ + 15.54998547196082, + -14.771340072062747 + ], + [ + 15.658527955364626, + -14.773619494191733 + ], + [ + 15.6606110815146, + -14.770115601134963 + ], + [ + 15.549631210496882, + -14.929248654308948 + ], + [ + 15.551714336646858, + -14.925744761252176 + ], + [ + 15.660256820050662, + -14.928024183381163 + ], + [ + 15.662339946200639, + -14.924520290324393 + ] + ], + "yaw_rad": -1.5595998246027694, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.256795883178711, + -14.850696563720703, + 0.12120574712753296 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549782527551487, + -14.85026050546921, + 0.11926747199155033 + ], + "intended_face_normal": [ + -0.9999017954725409, + -0.011044937285349388, + 0.008628603970356363 + ], + "commanded_contact_point": [ + 15.264315872192382, + -14.849649517660172, + 0.11879015177698506 + ], + "centerline_face_intersection": [ + 15.54977166199127, + -14.849649517660172, + 0.11879015177698506 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.260109901428223, + -14.848991394042969, + 0.12299871444702148 + ], + "box_pose": [ + 15.606849670410156, + -14.853676795959473, + 0.1360321193933487, + 0.008263792842626572, + 0.002220367779955268, + 0.7031424045562744, + -0.7109975814819336 + ], + "box_yaw_rad": -1.5596232166228323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015576616484740363 + } + } + }, + { + "simulation_time_ns": 2940000000, + "center": [ + 15.605149228459688, + -14.849719621005539, + 0.11879264416050661 + ], + "face_center": [ + 15.549836542206789, + -14.850332038030682, + 0.11929569578697938 + ], + "face_normal": [ + -0.9998974475604746, + -0.011070773483739527, + 0.009093755363850514 + ], + "footprint_xy": [ + [ + 15.547900037994161, + -14.929248965379589 + ], + [ + 15.662398418925214, + -14.929248965379589 + ], + [ + 15.662398418925214, + -14.770190276631487 + ], + [ + 15.547900037994161, + -14.770190276631487 + ] + ], + "projected_box_corners": [ + [ + 15.547900037994161, + -14.774843561326417 + ], + [ + 15.550043552631458, + -14.771415110681774 + ], + [ + 15.658525410499957, + -14.773618727276132 + ], + [ + 15.660668925137253, + -14.770190276631487 + ], + [ + 15.54962953178212, + -14.929248965379589 + ], + [ + 15.551773046419418, + -14.925820514734946 + ], + [ + 15.660254904287916, + -14.928024131329304 + ], + [ + 15.662398418925214, + -14.924595680684659 + ] + ], + "yaw_rad": -1.5595958025950458, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.255276679992676, + -14.851839065551758, + 0.12231771647930145 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549808341228852, + -14.850294363185848, + 0.11928063745568712 + ], + "intended_face_normal": [ + -0.999899590140153, + -0.011067491368122684, + 0.008845490811136086 + ], + "commanded_contact_point": [ + 15.266055374145507, + -14.849682127721955, + 0.11879131941693928 + ], + "centerline_face_intersection": [ + 15.549797231653661, + -14.849682127721955, + 0.11879131941693928 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.256795883178711, + -14.850696563720703, + 0.12120574712753296 + ], + "box_pose": [ + 15.606879234313965, + -14.853713989257812, + 0.13603182137012482, + 0.008245831355452538, + 0.0020481001120060682, + 0.7031345963478088, + -0.7110059857368469 + ], + "box_yaw_rad": -1.5595998246027694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017398079849334713 + } + } + }, + { + "simulation_time_ns": 2960000000, + "center": [ + 15.605182508316226, + -14.849760245339098, + 0.11879438003499107 + ], + "face_center": [ + 15.549869967720186, + -14.850372021328562, + 0.11931302648121478 + ], + "face_normal": [ + -0.9998948144950621, + -0.011059185365669189, + 0.00937566574500337 + ], + "footprint_xy": [ + [ + 15.54789999350487, + -14.929247012227869 + ], + [ + 15.66246502312758, + -14.929247012227869 + ], + [ + 15.66246502312758, + -14.770273478450326 + ], + [ + 15.54789999350487, + -14.770273478450326 + ] + ], + "projected_box_corners": [ + [ + 15.54789999350487, + -14.774840843550805 + ], + [ + 15.550112122020352, + -14.771497030429256 + ], + [ + 15.658525074696948, + -14.773617291571878 + ], + [ + 15.66073720321243, + -14.770273478450326 + ], + [ + 15.549627813420022, + -14.929247012227869 + ], + [ + 15.551839941935503, + -14.925903199106317 + ], + [ + 15.6602528946121, + -14.928023460248939 + ], + [ + 15.66246502312758, + -14.92467964712739 + ] + ], + "yaw_rad": -1.5596066974091507, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.258131980895996, + -14.852083206176758, + 0.12717430293560028 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549836542206789, + -14.850332038030682, + 0.11929569578697938 + ], + "intended_face_normal": [ + -0.9998974475604746, + -0.011070773483739527, + 0.009093755363850514 + ], + "commanded_contact_point": [ + 15.268238334655761, + -14.849719621005539, + 0.11879264416050661 + ], + "centerline_face_intersection": [ + 15.549825195559556, + -14.849719621005539, + 0.11879264416050661 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.255276679992676, + -14.851839065551758, + 0.12231771647930145 + ], + "box_pose": [ + 15.606911659240723, + -14.85375690460205, + 0.13603143393993378, + 0.008222528733313084, + 0.0018480186117812991, + 0.7031337022781372, + -0.7110077738761902 + ], + "box_yaw_rad": -1.5595958025950458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021832828700348 + } + } + }, + { + "simulation_time_ns": 2980000000, + "center": [ + 15.605222684120356, + -14.849810295361939, + 0.118795819150193 + ], + "face_center": [ + 15.54991030711413, + -14.850422103716124, + 0.11933222789898046 + ], + "face_normal": [ + -0.9998918572523574, + -0.011059770428609061, + 0.009696758105534886 + ], + "footprint_xy": [ + [ + 15.547901181078714, + -14.929247690438807 + ], + [ + 15.662544187161997, + -14.929247690438807 + ], + [ + 15.662544187161997, + -14.77037290028507 + ], + [ + 15.547901181078714, + -14.77037290028507 + ] + ], + "projected_box_corners": [ + [ + 15.547901181078714, + -14.774840624092063 + ], + [ + 15.550191449591017, + -14.771596516993442 + ], + [ + 15.658525935091165, + -14.773617007383692 + ], + [ + 15.660816203603467, + -14.77037290028507 + ], + [ + 15.549629164637244, + -14.929247690438807 + ], + [ + 15.551919433149548, + -14.926003583340187 + ], + [ + 15.660253918649694, + -14.928024073730436 + ], + [ + 15.662544187161997, + -14.924779966631814 + ] + ], + "yaw_rad": -1.5596057027711487, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.263357162475586, + -14.850919723510742, + 0.13568717241287231 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549869967720186, + -14.850372021328562, + 0.11931302648121478 + ], + "intended_face_normal": [ + -0.9998948144950621, + -0.011059185365669189, + 0.00937566574500337 + ], + "commanded_contact_point": [ + 15.270485191345214, + -14.849760245339098, + 0.11879438003499107 + ], + "centerline_face_intersection": [ + 15.549858329728973, + -14.849760245339098, + 0.11879438003499107 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.258131980895996, + -14.852083206176758, + 0.12717430293560028 + ], + "box_pose": [ + 15.606949806213379, + -14.853803634643555, + 0.13603124022483826, + 0.008197641931474209, + 0.001622333424165845, + 0.7031381130218506, + -0.7110041379928589 + ], + "box_yaw_rad": -1.5596066974091507, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022472245843879564 + } + } + }, + { + "simulation_time_ns": 3000000000, + "center": [ + 15.605268373449787, + -14.849868630051517, + 0.1187979616012204 + ], + "face_center": [ + 15.549956218984706, + -14.85048089314129, + 0.11935573334381053 + ], + "face_normal": [ + -0.9998878343357995, + -0.0110679907661555, + 0.010082940813745278 + ], + "footprint_xy": [ + [ + 15.547899468857493, + -14.9292483093388 + ], + [ + 15.662637278042082, + -14.9292483093388 + ], + [ + 15.662637278042082, + -14.770488950764236 + ], + [ + 15.547899468857493, + -14.770488950764236 + ] + ], + "projected_box_corners": [ + [ + 15.547899468857493, + -14.774840271455579 + ], + [ + 15.550283666634346, + -14.771713476943779 + ], + [ + 15.658523777787654, + -14.773615745276036 + ], + [ + 15.660907975564509, + -14.770488950764236 + ], + [ + 15.549628771335064, + -14.9292483093388 + ], + [ + 15.552012969111919, + -14.926121514827 + ], + [ + 15.660253080265226, + -14.928023783159256 + ], + [ + 15.662637278042082, + -14.924896988647456 + ] + ], + "yaw_rad": -1.5595972324700997, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.26773452758789, + -14.84818172454834, + 0.14213038980960846 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54991030711413, + -14.850422103716124, + 0.11933222789898046 + ], + "intended_face_normal": [ + -0.9998918572523574, + -0.011059770428609061, + 0.009696758105534886 + ], + "commanded_contact_point": [ + 15.272607116699218, + -14.849810295361939, + 0.118795819150193 + ], + "centerline_face_intersection": [ + 15.549898341908385, + -14.849810295361939, + 0.118795819150193 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.263357162475586, + -14.850919723510742, + 0.13568717241287231 + ], + "box_pose": [ + 15.606995582580566, + -14.853860855102539, + 0.1360304206609726, + 0.00816439464688301, + 0.0013603954575955868, + 0.7031382918357849, + -0.7110049724578857 + ], + "box_yaw_rad": -1.5596057027711487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002122516026748335 + } + } + }, + { + "simulation_time_ns": 3020000000, + "center": [ + 15.605323437235883, + -14.849934344508638, + 0.11880097268838258 + ], + "face_center": [ + 15.550011529284903, + -14.850546572104744, + 0.11938377721274203 + ], + "face_normal": [ + -0.9998833780557396, + -0.01106734914073726, + 0.01053546294369645 + ], + "footprint_xy": [ + [ + 15.547899796664703, + -14.929247631073062 + ], + [ + 15.662747077807063, + -14.929247631073062 + ], + [ + 15.662747077807063, + -14.770621057944213 + ], + [ + 15.547899796664703, + -14.770621057944213 + ] + ], + "projected_box_corners": [ + [ + 15.547899796664703, + -14.774838461704691 + ], + [ + 15.550394051218754, + -14.771845513136425 + ], + [ + 15.658523612566663, + -14.773614006512478 + ], + [ + 15.661017867120714, + -14.770621057944213 + ], + [ + 15.549629007351053, + -14.929247631073062 + ], + [ + 15.552123261905104, + -14.926254682504798 + ], + [ + 15.660252823253012, + -14.92802317588085 + ], + [ + 15.662747077807063, + -14.925030227312586 + ] + ], + "yaw_rad": -1.5595979089212635, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.269183158874512, + -14.848074913024902, + 0.14113594591617584 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549956218984706, + -14.85048089314129, + 0.11935573334381053 + ], + "intended_face_normal": [ + -0.9998878343357995, + -0.0110679907661555, + 0.010082940813745278 + ], + "commanded_contact_point": [ + 15.274997024536132, + -14.849868630051517, + 0.1187979616012204 + ], + "centerline_face_intersection": [ + 15.549943808647637, + -14.849868630051517, + 0.1187979616012204 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.26773452758789, + -14.84818172454834, + 0.14213038980960846 + ], + "box_pose": [ + 15.607048034667969, + -14.853927612304688, + 0.13602988421916962, + 0.008128199726343155, + 0.0010492242872714996, + 0.7031357884407043, + -0.7110083103179932 + ], + "box_yaw_rad": -1.5595972324700997, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002390620629679219 + } + } + }, + { + "simulation_time_ns": 3040000000, + "center": [ + 15.605385107785514, + -14.850010992592445, + 0.11880391048026405 + ], + "face_center": [ + 15.550073507660526, + -14.850623172948975, + 0.11941500354970785 + ], + "face_normal": [ + -0.9998778134295184, + -0.01106649518236047, + 0.011046840096773529 + ], + "footprint_xy": [ + [ + 15.54789969176509, + -14.929247710688726 + ], + [ + 15.662870523805935, + -14.929247710688726 + ], + [ + 15.662870523805935, + -14.770774274496164 + ], + [ + 15.54789969176509, + -14.770774274496164 + ] + ], + "projected_box_corners": [ + [ + 15.54789969176509, + -14.77483734135844 + ], + [ + 15.550518352417912, + -14.771998635209224 + ], + [ + 15.658522892015066, + -14.77361298064538 + ], + [ + 15.661141552667887, + -14.770774274496164 + ], + [ + 15.54962866290314, + -14.929247710688726 + ], + [ + 15.552247323555962, + -14.92640900453951 + ], + [ + 15.660251863153114, + -14.928023349975666 + ], + [ + 15.662870523805935, + -14.92518464382645 + ] + ], + "yaw_rad": -1.5595995471196398, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.268674850463867, + -14.854361534118652, + 0.13356775045394897 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550011529284903, + -14.850546572104744, + 0.11938377721274203 + ], + "intended_face_normal": [ + -0.9998833780557396, + -0.01106734914073726, + 0.01053546294369645 + ], + "commanded_contact_point": [ + 15.277674942016601, + -14.849934344508638, + 0.11880097268838258 + ], + "centerline_face_intersection": [ + 15.549998625863223, + -14.849934344508638, + 0.11880097268838258 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.269183158874512, + -14.848074913024902, + 0.14113594591617584 + ], + "box_pose": [ + 15.607110977172852, + -14.854002952575684, + 0.13602980971336365, + 0.008091132156550884, + 0.0006899565923959017, + 0.7031364440917969, + -0.7110086679458618 + ], + "box_yaw_rad": -1.5595979089212635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002678725347757888 + } + } + }, + { + "simulation_time_ns": 3060000000, + "center": [ + 15.605455077039197, + -14.850101022383077, + 0.11880669174474745 + ], + "face_center": [ + 15.550143853462599, + -14.850712750399962, + 0.11945010749674057 + ], + "face_normal": [ + -0.9998710064961187, + -0.01105831815666436, + 0.01163114308346247 + ], + "footprint_xy": [ + [ + 15.54789970205806, + -14.929247822650646 + ], + [ + 15.663010452020334, + -14.929247822650646 + ], + [ + 15.663010452020334, + -14.77095422211551 + ], + [ + 15.54789970205806, + -14.77095422211551 + ] + ], + "projected_box_corners": [ + [ + 15.54789970205806, + -14.774836151739015 + ], + [ + 15.550660574717888, + -14.772177678149278 + ], + [ + 15.658522149211262, + -14.773612695705244 + ], + [ + 15.661283021871087, + -14.77095422211551 + ], + [ + 15.54962713220731, + -14.929247822650646 + ], + [ + 15.552388004867135, + -14.926589349060912 + ], + [ + 15.660249579360508, + -14.928024366616876 + ], + [ + 15.663010452020334, + -14.925365893027141 + ] + ], + "yaw_rad": -1.559609619985813, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.270222663879395, + -14.860088348388672, + 0.12857218086719513 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550073507660526, + -14.850623172948975, + 0.11941500354970785 + ], + "intended_face_normal": [ + -0.9998778134295184, + -0.01106649518236047, + 0.011046840096773529 + ], + "commanded_contact_point": [ + 15.28021457672119, + -14.850010992592445, + 0.11880391048026405 + ], + "centerline_face_intersection": [ + 15.550059988513336, + -14.850010992592445, + 0.11880391048026405 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.268674850463867, + -14.854361534118652, + 0.13356775045394897 + ], + "box_pose": [ + 15.607181549072266, + -14.854090690612793, + 0.1360291987657547, + 0.00804486870765686, + 0.0002795341133605689, + 0.7031372785568237, + -0.711008608341217 + ], + "box_yaw_rad": -1.5595995471196398, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025407927881134994 + } + } + }, + { + "simulation_time_ns": 3080000000, + "center": [ + 15.60553487482716, + -14.850201750656911, + 0.11881008011083105 + ], + "face_center": [ + 15.550224101058612, + -14.8508143042699, + 0.11949067139246741 + ], + "face_normal": [ + -0.9998628752344942, + -0.011073242606964406, + 0.012303171866010279 + ], + "footprint_xy": [ + [ + 15.547897296769532, + -14.929247865795707 + ], + [ + 15.663172452884787, + -14.929247865795707 + ], + [ + 15.663172452884787, + -14.771155635518117 + ], + [ + 15.547897296769532, + -14.771155635518117 + ] + ], + "projected_box_corners": [ + [ + 15.547897296769532, + -14.774834806145089 + ], + [ + 15.550821637833801, + -14.772380742744094 + ], + [ + 15.658518844306629, + -14.773609698919113 + ], + [ + 15.661443185370896, + -14.771155635518117 + ], + [ + 15.549626564283423, + -14.929247865795707 + ], + [ + 15.552550905347692, + -14.92679380239471 + ], + [ + 15.66024811182052, + -14.92802275856973 + ], + [ + 15.663172452884787, + -14.925568695168733 + ] + ], + "yaw_rad": -1.559597823053836, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.273761749267578, + -14.860956192016602, + 0.1267448216676712 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550143853462599, + -14.850712750399962, + 0.11945010749674057 + ], + "intended_face_normal": [ + -0.9998710064961187, + -0.01105831815666436, + 0.01163114308346247 + ], + "commanded_contact_point": [ + 15.282862930297851, + -14.850101022383077, + 0.11880669174474745 + ], + "centerline_face_intersection": [ + 15.550129581124033, + -14.850101022383077, + 0.11880669174474745 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.270222663879395, + -14.860088348388672, + 0.12857218086719513 + ], + "box_pose": [ + 15.607261657714844, + -14.854193687438965, + 0.13602784276008606, + 0.007986187003552914, + -0.00019533513113856316, + 0.7031408548355103, + -0.7110055685043335 + ], + "box_yaw_rad": -1.559609619985813, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026498848589404916 + } + } + }, + { + "simulation_time_ns": 3100000000, + "center": [ + 15.605628373076069, + -14.850318277804535, + 0.11881379473885725 + ], + "face_center": [ + 15.550318118546715, + -14.850929756774134, + 0.11953698320918646 + ], + "face_normal": [ + -0.9998534888535479, + -0.01105381608379119, + 0.01307320896116243 + ], + "footprint_xy": [ + [ + 15.547899490918548, + -14.929246095006476 + ], + [ + 15.663357255233592, + -14.929246095006476 + ], + [ + 15.663357255233592, + -14.771390460602591 + ], + [ + 15.547899490918548, + -14.771390460602591 + ] + ], + "projected_box_corners": [ + [ + 15.547899490918548, + -14.774831496379944 + ], + [ + 15.551011248268482, + -14.772613418541791 + ], + [ + 15.658519999977255, + -14.773608538440744 + ], + [ + 15.661631757327191, + -14.771390460602591 + ], + [ + 15.549624988824949, + -14.929246095006476 + ], + [ + 15.552736746174883, + -14.927028017168324 + ], + [ + 15.660245497883656, + -14.928023137067276 + ], + [ + 15.663357255233592, + -14.925805059229123 + ] + ], + "yaw_rad": -1.55962234384809, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.2776460647583, + -14.85882568359375, + 0.12572965025901794 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550224101058612, + -14.8508143042699, + 0.11949067139246741 + ], + "intended_face_normal": [ + -0.9998628752344942, + -0.011073242606964406, + 0.012303171866010279 + ], + "commanded_contact_point": [ + 15.285885124206542, + -14.850201750656911, + 0.11881008011083105 + ], + "centerline_face_intersection": [ + 15.550208928984217, + -14.850201750656911, + 0.11881008011083105 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.273761749267578, + -14.860956192016602, + 0.1267448216676712 + ], + "box_pose": [ + 15.607353210449219, + -14.85430908203125, + 0.1360265016555786, + 0.00792282447218895, + -0.0007372318068519235, + 0.7031362652778625, + -0.7110105156898499 + ], + "box_yaw_rad": -1.559597823053836, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030238739537066872 + } + } + }, + { + "simulation_time_ns": 3120000000, + "center": [ + 15.605733988584293, + -14.850450378786084, + 0.11881820734126923 + ], + "face_center": [ + 15.550424406167124, + -14.851062405356506, + 0.11959059842845718 + ], + "face_normal": [ + -0.9998413389598189, + -0.011063715163014631, + 0.013962653577636153 + ], + "footprint_xy": [ + [ + 15.547897403672547, + -14.929243414150164 + ], + [ + 15.663570573496036, + -14.929243414150164 + ], + [ + 15.663570573496036, + -14.771657343422005 + ], + [ + 15.547897403672547, + -14.771657343422005 + ] + ], + "projected_box_corners": [ + [ + 15.547897403672547, + -14.774827314101119 + ], + [ + 15.55122556234602, + -14.772881396562846 + ], + [ + 15.658516568506883, + -14.773603260960275 + ], + [ + 15.661844727180355, + -14.771657343422005 + ], + [ + 15.54962324998823, + -14.929243414150164 + ], + [ + 15.552951408661702, + -14.927297496611892 + ], + [ + 15.660242414822564, + -14.928019361009323 + ], + [ + 15.663570573496036, + -14.92607344347105 + ] + ], + "yaw_rad": -1.5596201964664367, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.281852722167969, + -14.857722282409668, + 0.12409301102161407 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550318118546715, + -14.850929756774134, + 0.11953698320918646 + ], + "intended_face_normal": [ + -0.9998534888535479, + -0.01105381608379119, + 0.01307320896116243 + ], + "commanded_contact_point": [ + 15.289206771850585, + -14.850318277804535, + 0.11881379473885725 + ], + "centerline_face_intersection": [ + 15.550301907846626, + -14.850318277804535, + 0.11881379473885725 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.2776460647583, + -14.85882568359375, + 0.12572965025901794 + ], + "box_pose": [ + 15.607460021972656, + -14.854442596435547, + 0.13602474331855774, + 0.007847783155739307, + -0.0013607568107545376, + 0.7031440138816833, + -0.7110028862953186 + ], + "box_yaw_rad": -1.55962234384809, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033236930432533718 + } + } + }, + { + "simulation_time_ns": 3140000000, + "center": [ + 15.605854638297266, + -14.850605252460902, + 0.11882210540960102 + ], + "face_center": [ + 15.55054588487742, + -14.851218673996037, + 0.11965030956977324 + ], + "face_normal": [ + -0.9998263530250864, + -0.011088932192782175, + 0.014971596606769277 + ], + "footprint_xy": [ + [ + 15.547895061894163, + -14.92924338520444 + ], + [ + 15.66381421470037, + -14.92924338520444 + ], + [ + 15.66381421470037, + -14.771967119717365 + ], + [ + 15.547895061894163, + -14.771967119717365 + ] + ], + "projected_box_corners": [ + [ + 15.547895061894163, + -14.77482583727282 + ], + [ + 15.551468739075167, + -14.773193962787634 + ], + [ + 15.658512568733855, + -14.773598994202553 + ], + [ + 15.66208624591486, + -14.771967119717365 + ], + [ + 15.549623030679673, + -14.92924338520444 + ], + [ + 15.553196707860678, + -14.927611510719252 + ], + [ + 15.660240537519364, + -14.928016542134172 + ], + [ + 15.66381421470037, + -14.926384667648986 + ] + ], + "yaw_rad": -1.5596065579644656, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.287717819213867, + -14.860466003417969, + 0.12305693328380585 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550424406167124, + -14.851062405356506, + 0.11959059842845718 + ], + "intended_face_normal": [ + -0.9998413389598189, + -0.011063715163014631, + 0.013962653577636153 + ], + "commanded_contact_point": [ + 15.292426376342773, + -14.850450378786084, + 0.11881820734126923 + ], + "centerline_face_intersection": [ + 15.550406851037506, + -14.850450378786084, + 0.11881820734126923 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.281852722167969, + -14.857722282409668, + 0.12409301102161407 + ], + "box_pose": [ + 15.60758113861084, + -14.854594230651855, + 0.13602280616760254, + 0.0077616022899746895, + -0.002080366248264909, + 0.703141450881958, + -0.7110046148300171 + ], + "box_yaw_rad": -1.5596201964664367, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003222316437983741 + } + } + }, + { + "simulation_time_ns": 3160000000, + "center": [ + 15.605995378741511, + -14.850782475817708, + 0.11882657812408182 + ], + "face_center": [ + 15.55068763512735, + -14.85139762736823, + 0.11971947263811572 + ], + "face_normal": [ + -0.9998080985848228, + -0.011120205994315291, + 0.016141015850165585 + ], + "footprint_xy": [ + [ + 15.54789339160603, + -14.929242226015157 + ], + [ + 15.664097365876993, + -14.929242226015157 + ], + [ + 15.664097365876993, + -14.772322725620258 + ], + [ + 15.54789339160603, + -14.772322725620258 + ] + ], + "projected_box_corners": [ + [ + 15.54789339160603, + -14.774823279037447 + ], + [ + 15.551751625799195, + -14.773553028721304 + ], + [ + 15.658508878834352, + -14.7735929759364 + ], + [ + 15.662367113027518, + -14.772322725620258 + ], + [ + 15.549623644455504, + -14.929242226015157 + ], + [ + 15.55348187864867, + -14.927971975699013 + ], + [ + 15.660239131683825, + -14.92801192291411 + ], + [ + 15.664097365876993, + -14.926741672597966 + ] + ], + "yaw_rad": -1.559591869845147, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.293463706970215, + -14.862482070922852, + 0.1245386004447937 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.55054588487742, + -14.851218673996037, + 0.11965030956977324 + ], + "intended_face_normal": [ + -0.9998263530250864, + -0.011088932192782175, + 0.014971596606769277 + ], + "commanded_contact_point": [ + 15.294579772949218, + -14.850605252460902, + 0.11882210540960102 + ], + "centerline_face_intersection": [ + 15.550526671477607, + -14.850605252460902, + 0.11882210540960102 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.287717819213867, + -14.860466003417969, + 0.12305693328380585 + ], + "box_pose": [ + 15.607719421386719, + -14.854771614074707, + 0.13601936399936676, + 0.007656007073819637, + -0.002904564142227173, + 0.7031336426734924, + -0.7110105156898499 + ], + "box_yaw_rad": -1.5596065579644656, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021589622494936193 + } + } + }, + { + "simulation_time_ns": 3180000000, + "center": [ + 15.606155936016409, + -14.850986238143818, + 0.1188311408675205 + ], + "face_center": [ + 15.550849469189856, + -14.85160239369316, + 0.11979875839126164 + ], + "face_normal": [ + -0.9997850178639863, + -0.011138355462795402, + 0.017491797230384076 + ], + "footprint_xy": [ + [ + 15.547891273982039, + -14.929239082683344 + ], + [ + 15.664420598050778, + -14.929239082683344 + ], + [ + 15.664420598050778, + -14.772733393604293 + ], + [ + 15.547891273982039, + -14.772733393604293 + ] + ], + "projected_box_corners": [ + [ + 15.547891273982039, + -14.774819003368375 + ], + [ + 15.552078225793245, + -14.773965704702976 + ], + [ + 15.658504207635145, + -14.773586692269692 + ], + [ + 15.662691159446352, + -14.772733393604293 + ], + [ + 15.549620712586465, + -14.929239082683344 + ], + [ + 15.553807664397674, + -14.928385784017944 + ], + [ + 15.660233646239572, + -14.928006771584661 + ], + [ + 15.664420598050778, + -14.927153472919262 + ] + ], + "yaw_rad": -1.5595972242592, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.296286582946777, + -14.863203048706055, + 0.128628671169281 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.55068763512735, + -14.85139762736823, + 0.11971947263811572 + ], + "intended_face_normal": [ + -0.9998080985848228, + -0.011120205994315291, + 0.016141015850165585 + ], + "commanded_contact_point": [ + 15.296779899597167, + -14.850782475817708, + 0.11882657812408182 + ], + "centerline_face_intersection": [ + 15.550666401746932, + -14.850782475817708, + 0.11882657812408182 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.293463706970215, + -14.862482070922852, + 0.1245386004447937 + ], + "box_pose": [ + 15.607880592346191, + -14.854974746704102, + 0.13601531088352203, + 0.0075370920822024345, + -0.003856370458379388, + 0.7031238079071045, + -0.7110171914100647 + ], + "box_yaw_rad": -1.559591869845147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022072574363650047 + } + } + }, + { + "simulation_time_ns": 3200000000, + "center": [ + 15.606341616411374, + -14.85122016034423, + 0.11883538702969834 + ], + "face_center": [ + 15.551036726283797, + -14.851837952883036, + 0.11988878850635996 + ], + "face_normal": [ + -0.9997565155910378, + -0.011167947617850449, + 0.019042529284413745 + ], + "footprint_xy": [ + [ + 15.54789008267142, + -14.929237242079543 + ], + [ + 15.66479315015133, + -14.929237242079543 + ], + [ + 15.66479315015133, + -14.773203078608917 + ], + [ + 15.54789008267142, + -14.773203078608917 + ] + ], + "projected_box_corners": [ + [ + 15.54789008267142, + -14.774816403226124 + ], + [ + 15.552454380581821, + -14.77443866368653 + ], + [ + 15.658499862926575, + -14.77358081814851 + ], + [ + 15.663064160836976, + -14.773203078608917 + ], + [ + 15.549619071985772, + -14.929237242079543 + ], + [ + 15.554183369896174, + -14.92885950253995 + ], + [ + 15.660228852240929, + -14.92800165700193 + ], + [ + 15.66479315015133, + -14.927623917462336 + ] + ], + "yaw_rad": -1.5596001884911277, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.297937393188477, + -14.86296272277832, + 0.13067567348480225 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550849469189856, + -14.85160239369316, + 0.11979875839126164 + ], + "intended_face_normal": [ + -0.9997850178639863, + -0.011138355462795402, + 0.017491797230384076 + ], + "commanded_contact_point": [ + 15.299485473632812, + -14.850986238143818, + 0.1188311408675205 + ], + "centerline_face_intersection": [ + 15.55082568171456, + -14.850986238143818, + 0.1188311408675205 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.296286582946777, + -14.863203048706055, + 0.128628671169281 + ], + "box_pose": [ + 15.608064651489258, + -14.855208396911621, + 0.13600996136665344, + 0.00740093132480979, + -0.004954657983034849, + 0.7031188011169434, + -0.7110166549682617 + ], + "box_yaw_rad": -1.5595972242592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027132399021324188 + } + } + }, + { + "simulation_time_ns": 3220000000, + "center": [ + 15.606555788160508, + -14.851489019099546, + 0.11883902379946275 + ], + "face_center": [ + 15.551252893731998, + -14.852108714557547, + 0.11999082126921222 + ], + "face_normal": [ + -0.9997204389775146, + -0.011202347032747917, + 0.02082125147282604 + ], + "footprint_xy": [ + [ + 15.547890646542093, + -14.92940396303275 + ], + [ + 15.665220929778922, + -14.92940396303275 + ], + [ + 15.665220929778922, + -14.773574075166344 + ], + [ + 15.547890646542093, + -14.773574075166344 + ] + ], + "projected_box_corners": [ + [ + 15.547890646542093, + -14.774813466082344 + ], + [ + 15.552887804461127, + -14.774983066127504 + ], + [ + 15.658496435399112, + -14.773574075166344 + ], + [ + 15.663493593318144, + -14.773743675211506 + ], + [ + 15.549617983002872, + -14.929234362987588 + ], + [ + 15.554615140921905, + -14.92940396303275 + ], + [ + 15.66022377185989, + -14.927994972071588 + ], + [ + 15.665220929778922, + -14.92816457211675 + ] + ], + "yaw_rad": -1.5596108949209226, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.300115585327148, + -14.862151145935059, + 0.13024483621120453 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551036726283797, + -14.851837952883036, + 0.11988878850635996 + ], + "intended_face_normal": [ + -0.9997565155910378, + -0.011167947617850449, + 0.019042529284413745 + ], + "commanded_contact_point": [ + 15.30265167236328, + -14.85122016034423, + 0.11883538702969834 + ], + "centerline_face_intersection": [ + 15.551009784687437, + -14.85122016034423, + 0.11883538702969834 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.297937393188477, + -14.86296272277832, + 0.13067567348480225 + ], + "box_pose": [ + 15.608277320861816, + -14.855476379394531, + 0.136002779006958, + 0.007249163463711739, + -0.006210955325514078, + 0.703109860420227, + -0.7110173106193542 + ], + "box_yaw_rad": -1.5596001884911277, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031748310233082697 + } + } + }, + { + "simulation_time_ns": 3240000000, + "center": [ + 15.606799872554292, + -14.851798071054274, + 0.11884340326163406 + ], + "face_center": [ + 15.551499460992304, + -14.852420359555774, + 0.1201077084020242 + ], + "face_normal": [ + -0.9996755557497536, + -0.01124922194974387, + 0.022855073012250537 + ], + "footprint_xy": [ + [ + 15.547890874811404, + -14.930028103941744 + ], + [ + 15.665708870297182, + -14.930028103941744 + ], + [ + 15.665708870297182, + -14.773568038166806 + ], + [ + 15.547890874811404, + -14.773568038166806 + ] + ], + "projected_box_corners": [ + [ + 15.547890874811404, + -14.774812615169806 + ], + [ + 15.553382991178069, + -14.775608087725127 + ], + [ + 15.658491697935384, + -14.773568038166806 + ], + [ + 15.663983814302048, + -14.774363510722129 + ], + [ + 15.549615930806537, + -14.929232631386421 + ], + [ + 15.555108047173203, + -14.930028103941744 + ], + [ + 15.660216753930516, + -14.927988054383423 + ], + [ + 15.665708870297182, + -14.928783526938744 + ] + ], + "yaw_rad": -1.5596255972289976, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.3023099899292, + -14.860461235046387, + 0.12819841504096985 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551252893731998, + -14.852108714557547, + 0.11999082126921222 + ], + "intended_face_normal": [ + -0.9997204389775146, + -0.011202347032747917, + 0.02082125147282604 + ], + "commanded_contact_point": [ + 15.305917053222656, + -14.851489019099546, + 0.11883902379946275 + ], + "centerline_face_intersection": [ + 15.551221959693251, + -14.851489019099546, + 0.11883902379946275 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.300115585327148, + -14.862151145935059, + 0.13024483621120453 + ], + "box_pose": [ + 15.608522415161133, + -14.85578441619873, + 0.1359931379556656, + 0.007072380743920803, + -0.007654757704585791, + 0.7030994296073914, + -0.7110151648521423 + ], + "box_yaw_rad": -1.5596108949209226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032764325741844514 + } + } + }, + { + "simulation_time_ns": 3260000000, + "center": [ + 15.607056507104145, + -14.852144580147844, + 0.11885385594334481 + ], + "face_center": [ + 15.55175895688264, + -14.852769033830523, + 0.1202365276295614 + ], + "face_normal": [ + -0.9996238307795902, + -0.011288362322110057, + 0.024994806499560873 + ], + "footprint_xy": [ + [ + 15.54789299527167, + -14.93072685063199 + ], + [ + 15.666220018936622, + -14.93072685063199 + ], + [ + 15.666220018936622, + -14.773562309663696 + ], + [ + 15.54789299527167, + -14.773562309663696 + ] + ], + "projected_box_corners": [ + [ + 15.54789299527167, + -14.774811217029056 + ], + [ + 15.553906332072835, + -14.776309075154561 + ], + [ + 15.658488095714683, + -14.773562309663696 + ], + [ + 15.664501432515848, + -14.7750601677892 + ], + [ + 15.549611581692444, + -14.929228992506486 + ], + [ + 15.55562491849361, + -14.93072685063199 + ], + [ + 15.660206682135456, + -14.927980085141126 + ], + [ + 15.666220018936622, + -14.92947794326663 + ] + ], + "yaw_rad": -1.5596673265017853, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.304200172424316, + -14.858491897583008, + 0.12441009283065796 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551499460992304, + -14.852420359555774, + 0.1201077084020242 + ], + "intended_face_normal": [ + -0.9996755557497536, + -0.01124922194974387, + 0.022855073012250537 + ], + "commanded_contact_point": [ + 15.308732299804687, + -14.851798071054274, + 0.11884340326163406 + ], + "centerline_face_intersection": [ + 15.55146355972017, + -14.851798071054274, + 0.11884340326163406 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.3023099899292, + -14.860461235046387, + 0.12819841504096985 + ], + "box_pose": [ + 15.60880184173584, + -14.856138229370117, + 0.13598215579986572, + 0.006870198529213667, + -0.00930576678365469, + 0.7030847668647766, + -0.7110120058059692 + ], + "box_yaw_rad": -1.5596255972289976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002832162708611365 + } + } + }, + { + "simulation_time_ns": 3280000000, + "center": [ + 15.607336337363908, + -14.852490371399359, + 0.11887250307214782 + ], + "face_center": [ + 15.552042211286668, + -14.853118380230747, + 0.12038472260794159 + ], + "face_normal": [ + -0.9995619319035004, + -0.01135262938921966, + 0.02733666643991739 + ], + "footprint_xy": [ + [ + 15.547893788983671, + -14.931424493179389 + ], + [ + 15.666778885744142, + -14.931424493179389 + ], + [ + 15.666778885744142, + -14.773556249619329 + ], + [ + 15.547893788983671, + -14.773556249619329 + ] + ], + "projected_box_corners": [ + [ + 15.547893788983671, + -14.774812267282107 + ], + [ + 15.554476853675581, + -14.777010282168387 + ], + [ + 15.65848204113815, + -14.773556249619329 + ], + [ + 15.66506510583006, + -14.77575426450561 + ], + [ + 15.549607568897754, + -14.929226478293108 + ], + [ + 15.556190633589663, + -14.931424493179389 + ], + [ + 15.660195821052232, + -14.92797046063033 + ], + [ + 15.666778885744142, + -14.930168475516611 + ] + ], + "yaw_rad": -1.5596981931386067, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.307071685791016, + -14.855351448059082, + 0.12253403663635254 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.55175895688264, + -14.852769033830523, + 0.1202365276295614 + ], + "intended_face_normal": [ + -0.9996238307795902, + -0.011288362322110057, + 0.024994806499560873 + ], + "commanded_contact_point": [ + 15.311269073486327, + -14.852144580147844, + 0.11885385594334481 + ], + "centerline_face_intersection": [ + 15.55171733092379, + -14.852144580147844, + 0.11885385594334481 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.304200172424316, + -14.858491897583008, + 0.12441009283065796 + ], + "box_pose": [ + 15.609095573425293, + -14.856534957885742, + 0.1359754353761673, + 0.006593193858861923, + -0.011107861995697021, + 0.7030735015869141, + -0.7109998464584351 + ], + "box_yaw_rad": -1.5596673265017853, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025603512497987106 + } + } + }, + { + "simulation_time_ns": 3300000000, + "center": [ + 15.60740308151833, + -14.852529558601745, + 0.11889398115235714 + ], + "face_center": [ + 15.552109811691036, + -14.85315775048901, + 0.12043695279235848 + ], + "face_normal": [ + -0.9995464533181332, + -0.011355938523438525, + 0.027892577797461904 + ], + "footprint_xy": [ + [ + 15.547895128719224, + -14.93150306221211 + ], + [ + 15.666911034317435, + -14.93150306221211 + ], + [ + 15.666911034317435, + -14.773556054991381 + ], + [ + 15.547895128719224, + -14.773556054991381 + ] + ], + "projected_box_corners": [ + [ + 15.547895128719224, + -14.77481243876591 + ], + [ + 15.554612439620097, + -14.777089343502823 + ], + [ + 15.65848166837381, + -14.773556054991381 + ], + [ + 15.665198979274683, + -14.775832959728294 + ], + [ + 15.549607183761976, + -14.929226157475197 + ], + [ + 15.55632449466285, + -14.93150306221211 + ], + [ + 15.660193723416562, + -14.927969773700669 + ], + [ + 15.666911034317435, + -14.93024667843758 + ] + ], + "yaw_rad": -1.5597093268379616, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.309660911560059, + -14.851754188537598, + 0.12319952249526978 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552042211286668, + -14.853118380230747, + 0.12038472260794159 + ], + "intended_face_normal": [ + -0.9995619319035004, + -0.01135262938921966, + 0.02733666643991739 + ], + "commanded_contact_point": [ + 15.313756256103515, + -14.852490371399359, + 0.11887250307214782 + ], + "centerline_face_intersection": [ + 15.551993734249512, + -14.852490371399359, + 0.11887250307214782 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.307071685791016, + -14.855351448059082, + 0.12253403663635254 + ], + "box_pose": [ + 15.609416007995605, + -14.85693073272705, + 0.13597629964351654, + 0.00639049056917429, + -0.01297876425087452, + 0.7030525207519531, + -0.710990846157074 + ], + "box_yaw_rad": -1.5596981931386067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025111743619822048 + } + } + }, + { + "simulation_time_ns": 3320000000, + "center": [ + 15.60740386159547, + -14.85251103040931, + 0.1189005175833299 + ], + "face_center": [ + 15.552110614998446, + -14.853139497881298, + 0.12044401177107603 + ], + "face_normal": [ + -0.9995460333803683, + -0.011360920318398637, + 0.027902023987687485 + ], + "footprint_xy": [ + [ + 15.54789429727683, + -14.931467810182188 + ], + [ + 15.666913425914112, + -14.931467810182188 + ], + [ + 15.666913425914112, + -14.773554250636431 + ], + [ + 15.54789429727683, + -14.773554250636431 + ] + ], + "projected_box_corners": [ + [ + 15.54789429727683, + -14.774811185580408 + ], + [ + 15.554613506584065, + -14.777053908299477 + ], + [ + 15.65848079047088, + -14.773554250636431 + ], + [ + 15.665199999778114, + -14.7757969733555 + ], + [ + 15.549607723412828, + -14.929225087463118 + ], + [ + 15.556326932720062, + -14.931467810182188 + ], + [ + 15.660194216606877, + -14.927968152519142 + ], + [ + 15.666913425914112, + -14.930210875238211 + ] + ], + "yaw_rad": -1.559700461743003, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.311483383178711, + -14.849989891052246, + 0.12458059191703796 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552109811691036, + -14.85315775048901, + 0.12043695279235848 + ], + "intended_face_normal": [ + -0.9995464533181332, + -0.011355938523438525, + 0.027892577797461904 + ], + "commanded_contact_point": [ + 15.316146163940429, + -14.852529558601745, + 0.11889398115235714 + ], + "centerline_face_intersection": [ + 15.552059621390033, + -14.852529558601745, + 0.11889398115235714 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.309660911560059, + -14.851754188537598, + 0.12319952249526978 + ], + "box_pose": [ + 15.609492301940918, + -14.856975555419922, + 0.13599514961242676, + 0.0064703733660280704, + -0.013293414376676083, + 0.7030506134033203, + -0.7109861373901367 + ], + "box_yaw_rad": -1.5597093268379616, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023903255873841925 + } + } + }, + { + "simulation_time_ns": 3340000000, + "center": [ + 15.607378652222222, + -14.852463381925615, + 0.11890432043658382 + ], + "face_center": [ + 15.552085094564013, + -14.853092243187723, + 0.12043680602422546 + ], + "face_normal": [ + -0.9995516564897421, + -0.011368038933730729, + 0.027703019529734307 + ], + "footprint_xy": [ + [ + 15.547891622922233, + -14.93137399025891 + ], + [ + 15.666865681522212, + -14.93137399025891 + ], + [ + 15.666865681522212, + -14.77355277359232 + ], + [ + 15.547891622922233, + -14.77355277359232 + ] + ], + "projected_box_corners": [ + [ + 15.547891622922233, + -14.774810496116537 + ], + [ + 15.554562066740294, + -14.77695952266887 + ], + [ + 15.658478738238651, + -14.77355277359232 + ], + [ + 15.665149182056712, + -14.77570180014465 + ], + [ + 15.549608122387731, + -14.929224963706577 + ], + [ + 15.556278566205794, + -14.93137399025891 + ], + [ + 15.66019523770415, + -14.92796724118236 + ], + [ + 15.666865681522212, + -14.930116267734691 + ] + ], + "yaw_rad": -1.559680601725936, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.313521385192871, + -14.851911544799805, + 0.12554898858070374 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552110614998446, + -14.853139497881298, + 0.12044401177107603 + ], + "intended_face_normal": [ + -0.9995460333803683, + -0.011360920318398637, + 0.027902023987687485 + ], + "commanded_contact_point": [ + 15.31841209411621, + -14.85251103040931, + 0.1189005175833299 + ], + "centerline_face_intersection": [ + 15.552060378215808, + -14.85251103040931, + 0.1189005175833299 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.311483383178711, + -14.849989891052246, + 0.12458059191703796 + ], + "box_pose": [ + 15.609493255615234, + -14.856954574584961, + 0.1360023021697998, + 0.0065237730741500854, + -0.013246148824691772, + 0.7030483484268188, + -0.7109887003898621 + ], + "box_yaw_rad": -1.559700461743003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002266015353072613 + } + } + }, + { + "simulation_time_ns": 3360000000, + "center": [ + 15.607330280626377, + -14.852392495012253, + 0.11890492194122049 + ], + "face_center": [ + 15.552036103559134, + -14.853020802218538, + 0.12041525165589138 + ], + "face_normal": [ + -0.9995628536590324, + -0.011358023166236575, + 0.027302503801197087 + ], + "footprint_xy": [ + [ + 15.547890706702873, + -14.93123170778196 + ], + [ + 15.666769854549882, + -14.93123170778196 + ], + [ + 15.666769854549882, + -14.773553282242547 + ], + [ + 15.547890706702873, + -14.773553282242547 + ] + ], + "projected_box_corners": [ + [ + 15.547890706702873, + -14.774809896655116 + ], + [ + 15.554463459582731, + -14.77681641824937 + ], + [ + 15.658479060837358, + -14.773553282242547 + ], + [ + 15.665051813717218, + -14.775559803836801 + ], + [ + 15.549608747535537, + -14.929225186187706 + ], + [ + 15.556181500415397, + -14.93123170778196 + ], + [ + 15.660197101670022, + -14.927968571775137 + ], + [ + 15.666769854549882, + -14.929975093369391 + ] + ], + "yaw_rad": -1.5596706801642592, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.31501293182373, + -14.856983184814453, + 0.12515810132026672 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552085094564013, + -14.853092243187723, + 0.12043680602422546 + ], + "intended_face_normal": [ + -0.9995516564897421, + -0.011368038933730729, + 0.027703019529734307 + ], + "commanded_contact_point": [ + 15.320583610534667, + -14.852463381925615, + 0.11890432043658382 + ], + "centerline_face_intersection": [ + 15.552035480184609, + -14.852463381925615, + 0.11890432043658382 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.313521385192871, + -14.851911544799805, + 0.12554898858070374 + ], + "box_pose": [ + 15.609464645385742, + -14.856900215148926, + 0.13600826263427734, + 0.0065910713747143745, + -0.013036558404564857, + 0.7030451893806458, + -0.7109951972961426 + ], + "box_yaw_rad": -1.559680601725936, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021720424478632564 + } + } + }, + { + "simulation_time_ns": 3380000000, + "center": [ + 15.607258581626597, + -14.852298436046652, + 0.11890275354986958 + ], + "face_center": [ + 15.551963510250392, + -14.852925717991777, + 0.12038020044886746 + ], + "face_normal": [ + -0.9995790202441154, + -0.011339489334576736, + 0.02670807518658025 + ], + "footprint_xy": [ + [ + 15.547889879323982, + -14.931041112953832 + ], + [ + 15.666627283929213, + -14.931041112953832 + ], + [ + 15.666627283929213, + -14.773555759139473 + ], + [ + 15.547889879323982, + -14.773555759139473 + ] + ], + "projected_box_corners": [ + [ + 15.547889879323982, + -14.774810323029724 + ], + [ + 15.554317852292245, + -14.776624822377867 + ], + [ + 15.658480022076393, + -14.773555759139473 + ], + [ + 15.664907995044656, + -14.775370258487616 + ], + [ + 15.549609168208539, + -14.929226613605689 + ], + [ + 15.556037141176802, + -14.931041112953832 + ], + [ + 15.66019931096095, + -14.927972049715438 + ], + [ + 15.666627283929213, + -14.92978654906358 + ] + ], + "yaw_rad": -1.5596626708994032, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.315711975097656, + -14.862202644348145, + 0.12179665267467499 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.552036103559134, + -14.853020802218538, + 0.12041525165589138 + ], + "intended_face_normal": [ + -0.9995628536590324, + -0.011358023166236575, + 0.027302503801197087 + ], + "commanded_contact_point": [ + 15.322527198791503, + -14.852392495012253, + 0.11890492194122049 + ], + "centerline_face_intersection": [ + 15.551987728546642, + -14.852392495012253, + 0.11890492194122049 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.31501293182373, + -14.856983184814453, + 0.12515810132026672 + ], + "box_pose": [ + 15.60940933227539, + -14.856819152832031, + 0.13601234555244446, + 0.00665908632799983, + -0.01268285047262907, + 0.7030481100082397, + -0.7109981179237366 + ], + "box_yaw_rad": -1.5596706801642592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019448806206048476 + } + } + }, + { + "simulation_time_ns": 3400000000, + "center": [ + 15.60716328950754, + -14.852175806287642, + 0.11889882258274512 + ], + "face_center": [ + 15.551867080061003, + -14.852802540839258, + 0.12033328989832665 + ], + "face_normal": [ + -0.9995995933476398, + -0.011329594002954857, + 0.02593112547275256 + ], + "footprint_xy": [ + [ + 15.547886259217924, + -14.930795673151632 + ], + [ + 15.666440319797157, + -14.930795673151632 + ], + [ + 15.666440319797157, + -14.773555939423652 + ], + [ + 15.547886259217924, + -14.773555939423652 + ] + ], + "projected_box_corners": [ + [ + 15.547886259217924, + -14.774809408526883 + ], + [ + 15.55412508222841, + -14.77637824946623 + ], + [ + 15.658478678110999, + -14.773555939423652 + ], + [ + 15.664717501121485, + -14.775124780362999 + ], + [ + 15.549609077893596, + -14.929226832212285 + ], + [ + 15.555847900904082, + -14.930795673151632 + ], + [ + 15.660201496786671, + -14.927973363109054 + ], + [ + 15.666440319797157, + -14.929542204048403 + ] + ], + "yaw_rad": -1.559639896668352, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.317070007324219, + -14.864152908325195, + 0.12225984036922455 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551963510250392, + -14.852925717991777, + 0.12038020044886746 + ], + "intended_face_normal": [ + -0.9995790202441154, + -0.011339489334576736, + 0.02670807518658025 + ], + "commanded_contact_point": [ + 15.324715881347656, + -14.852298436046652, + 0.11890275354986958 + ], + "centerline_face_intersection": [ + 15.551916924623749, + -14.852298436046652, + 0.11890275354986958 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.315711975097656, + -14.862202644348145, + 0.12179665267467499 + ], + "box_pose": [ + 15.60932731628418, + -14.856711387634277, + 0.13601496815681458, + 0.006731503177434206, + -0.012186741456389427, + 0.7030540108680725, + -0.7110002040863037 + ], + "box_yaw_rad": -1.5596626708994032, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002190703796166099 + } + } + }, + { + "simulation_time_ns": 3420000000, + "center": [ + 15.607042258269242, + -14.852024867911872, + 0.11889223796974942 + ], + "face_center": [ + 15.551744645842291, + -14.852650867011024, + 0.12027151605958722 + ], + "face_normal": [ + -0.9996249552786781, + -0.011316299095550875, + 0.02493345984317763 + ], + "footprint_xy": [ + [ + 15.547883262086815, + -14.930492989350675 + ], + [ + 15.66620125445167, + -14.930492989350675 + ], + [ + 15.66620125445167, + -14.773556746473071 + ], + [ + 15.547883262086815, + -14.773556746473071 + ] + ], + "projected_box_corners": [ + [ + 15.547883262086815, + -14.774808744671372 + ], + [ + 15.55387933152651, + -14.776074415812936 + ], + [ + 15.658478486940716, + -14.773556746473071 + ], + [ + 15.66447455638041, + -14.774822417614633 + ], + [ + 15.549609960158074, + -14.929227318209113 + ], + [ + 15.555606029597769, + -14.930492989350675 + ], + [ + 15.660205185011977, + -14.92797532001081 + ], + [ + 15.66620125445167, + -14.929240991152374 + ] + ], + "yaw_rad": -1.5596148602727742, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.319409370422363, + -14.861188888549805, + 0.1255291998386383 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551867080061003, + -14.852802540839258, + 0.12033328989832665 + ], + "intended_face_normal": [ + -0.9995995933476398, + -0.011329594002954857, + 0.02593112547275256 + ], + "commanded_contact_point": [ + 15.327719955444335, + -14.852175806287642, + 0.11889882258274512 + ], + "centerline_face_intersection": [ + 15.551822771510395, + -14.852175806287642, + 0.11889882258274512 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.317070007324219, + -14.864152908325195, + 0.12225984036922455 + ], + "box_pose": [ + 15.60921859741211, + -14.856571197509766, + 0.13601717352867126, + 0.006818307563662529, + -0.01154628861695528, + 0.7030566930770874, + -0.7110074162483215 + ], + "box_yaw_rad": -1.559639896668352, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030065785685126165 + } + } + }, + { + "simulation_time_ns": 3440000000, + "center": [ + 15.606913130763553, + -14.851864878328945, + 0.11888534479686333 + ], + "face_center": [ + 15.551614046335523, + -14.852489255704473, + 0.12020507487277549 + ], + "face_normal": [ + -0.9996515649087985, + -0.011286982903907172, + 0.023856999610179175 + ], + "footprint_xy": [ + [ + 15.547882926901298, + -14.930170111206087 + ], + [ + 15.665943334625808, + -14.930170111206087 + ], + [ + 15.665943334625808, + -14.773559645451805 + ], + [ + 15.547882926901298, + -14.773559645451805 + ] + ], + "projected_box_corners": [ + [ + 15.547882926901298, + -14.774808400202861 + ], + [ + 15.553617090230448, + -14.775750526757426 + ], + [ + 15.658481095757358, + -14.773559645451805 + ], + [ + 15.664215259086507, + -14.774501772006367 + ], + [ + 15.549611002440598, + -14.929227984651522 + ], + [ + 15.555345165769747, + -14.930170111206087 + ], + [ + 15.660209171296659, + -14.927979229900465 + ], + [ + 15.665943334625808, + -14.928921356455028 + ] + ], + "yaw_rad": -1.5596060142887955, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.321759223937988, + -14.857068061828613, + 0.12995123863220215 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551744645842291, + -14.852650867011024, + 0.12027151605958722 + ], + "intended_face_normal": [ + -0.9996249552786781, + -0.011316299095550875, + 0.02493345984317763 + ], + "commanded_contact_point": [ + 15.331154136657714, + -14.852024867911872, + 0.11889223796974942 + ], + "centerline_face_intersection": [ + 15.551703144341088, + -14.852024867911872, + 0.11889223796974942 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.319409370422363, + -14.861188888549805, + 0.1255291998386383 + ], + "box_pose": [ + 15.60908031463623, + -14.856398582458496, + 0.13601820170879364, + 0.006911791395395994, + -0.01074209250509739, + 0.703060507774353, + -0.7110152244567871 + ], + "box_yaw_rad": -1.5596148602727742, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034375029246144495 + } + } + }, + { + "simulation_time_ns": 3460000000, + "center": [ + 15.606775709492885, + -14.851702549437869, + 0.11887684426813533 + ], + "face_center": [ + 15.551475112782954, + -14.85232446060293, + 0.1201332837156327 + ], + "face_normal": [ + -0.9996789027026226, + -0.011242400770594574, + 0.022712883457203348 + ], + "footprint_xy": [ + [ + 15.54788375319391, + -14.929840177927469 + ], + [ + 15.66566766579186, + -14.929840177927469 + ], + [ + 15.66566766579186, + -14.77356492094827 + ], + [ + 15.54788375319391, + -14.77356492094827 + ] + ], + "projected_box_corners": [ + [ + 15.54788375319391, + -14.77480874327839 + ], + [ + 15.553339690380335, + -14.775419797258145 + ], + [ + 15.658484946613772, + -14.77356492094827 + ], + [ + 15.663940883800198, + -14.774175974928024 + ], + [ + 15.549610535185572, + -14.929229123947714 + ], + [ + 15.555066472371998, + -14.929840177927469 + ], + [ + 15.660211728605434, + -14.927985301617595 + ], + [ + 15.66566766579186, + -14.928596355597348 + ] + ], + "yaw_rad": -1.5596144477287004, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.324466705322266, + -14.85693359375, + 0.1316087394952774 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551614046335523, + -14.852489255704473, + 0.12020507487277549 + ], + "intended_face_normal": [ + -0.9996515649087985, + -0.011286982903907172, + 0.023856999610179175 + ], + "commanded_contact_point": [ + 15.334240226745605, + -14.851864878328945, + 0.11888534479686333 + ], + "centerline_face_intersection": [ + 15.551575489902019, + -14.851864878328945, + 0.11888534479686333 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.321759223937988, + -14.857068061828613, + 0.12995123863220215 + ], + "box_pose": [ + 15.608932495117188, + -14.856215476989746, + 0.13601940870285034, + 0.0070074861869215965, + -0.009879606775939465, + 0.7030699849128723, + -0.7110174298286438 + ], + "box_yaw_rad": -1.5596060142887955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030902420961883485 + } + } + }, + { + "simulation_time_ns": 3480000000, + "center": [ + 15.606630084126069, + -14.851529131885451, + 0.11886753429650948 + ], + "face_center": [ + 15.551327977341725, + -14.852149096834946, + 0.12005632812764902 + ], + "face_normal": [ + -0.9997062005912954, + -0.011207218679302855, + 0.021490041398410598 + ], + "footprint_xy": [ + [ + 15.547885299877665, + -14.929490539992113 + ], + [ + 15.665374868374473, + -14.929490539992113 + ], + [ + 15.665374868374473, + -14.77356772377879 + ], + [ + 15.547885299877665, + -14.77356772377879 + ] + ], + "projected_box_corners": [ + [ + 15.547885299877665, + -14.774807653677778 + ], + [ + 15.553043943494538, + -14.775069709859892 + ], + [ + 15.658489513446353, + -14.77356772377879 + ], + [ + 15.663648157063227, + -14.773829779960904 + ], + [ + 15.549612011188911, + -14.92922848381 + ], + [ + 15.554770654805784, + -14.929490539992113 + ], + [ + 15.6602162247576, + -14.927988553911012 + ], + [ + 15.665374868374473, + -14.928250610093126 + ] + ], + "yaw_rad": -1.5596149379281095, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.327733039855957, + -14.857917785644531, + 0.13083191215991974 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551475112782954, + -14.85232446060293, + 0.1201332837156327 + ], + "intended_face_normal": [ + -0.9996789027026226, + -0.011242400770594574, + 0.022712883457203348 + ], + "commanded_contact_point": [ + 15.336815147399902, + -14.851702549437869, + 0.11887684426813533 + ], + "centerline_face_intersection": [ + 15.551439581926283, + -14.851702549437869, + 0.11887684426813533 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.324466705322266, + -14.85693359375, + 0.1316087394952774 + ], + "box_pose": [ + 15.60877513885498, + -14.856029510498047, + 0.13601922988891602, + 0.007090483792126179, + -0.008981858380138874, + 0.7030850052833557, + -0.7110137939453125 + ], + "box_yaw_rad": -1.5596144477287004, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002580046376286901 + } + } + }, + { + "simulation_time_ns": 3500000000, + "center": [ + 15.606468507015812, + -14.85134527601716, + 0.11885636374984467 + ], + "face_center": [ + 15.551164825709677, + -14.851963467093412, + 0.11997057385999142 + ], + "face_normal": [ + -0.9997346635068982, + -0.011175152051450254, + 0.0201417779655107 + ], + "footprint_xy": [ + [ + 15.547885883684701, + -14.92923099449637 + ], + [ + 15.665051130346923, + -14.92923099449637 + ], + [ + 15.665051130346923, + -14.773459557537947 + ], + [ + 15.547885883684701, + -14.773459557537947 + ] + ], + "projected_box_corners": [ + [ + 15.547885883684701, + -14.774810029510139 + ], + [ + 15.552716852851729, + -14.774695939690455 + ], + [ + 15.658493246296974, + -14.773573647357633 + ], + [ + 15.663324215464002, + -14.773459557537947 + ], + [ + 15.549612798567624, + -14.92923099449637 + ], + [ + 15.55444376773465, + -14.929116904676686 + ], + [ + 15.660220161179897, + -14.927994612343864 + ], + [ + 15.665051130346923, + -14.927880522524179 + ] + ], + "yaw_rad": -1.5596136295662992, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.332660675048828, + -14.856918334960938, + 0.1308692991733551 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551327977341725, + -14.852149096834946, + 0.12005632812764902 + ], + "intended_face_normal": [ + -0.9997062005912954, + -0.011207218679302855, + 0.021490041398410598 + ], + "commanded_contact_point": [ + 15.339202194213867, + -14.851529131885451, + 0.11886753429650948 + ], + "centerline_face_intersection": [ + 15.551295467562849, + -14.851529131885451, + 0.11886753429650948 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.327733039855957, + -14.857917785644531, + 0.13083191215991974 + ], + "box_pose": [ + 15.60860824584961, + -14.855831146240234, + 0.13601866364479065, + 0.007172048091888428, + -0.008029625751078129, + 0.7030966877937317, + -0.7110127210617065 + ], + "box_yaw_rad": -1.5596149379281095, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023933559733390983 + } + } + }, + { + "simulation_time_ns": 3520000000, + "center": [ + 15.606290384827016, + -14.851139390347399, + 0.11884379756914532 + ], + "face_center": [ + 15.550985078239169, + -14.851755918504757, + 0.11987537551431644 + ], + "face_normal": [ + -0.9997640440187607, + -0.01114509116541007, + 0.01864802135300847 + ], + "footprint_xy": [ + [ + 15.54788749907164, + -14.929230559545017 + ], + [ + 15.664693270582394, + -14.929230559545017 + ], + [ + 15.664693270582394, + -14.773048221149782 + ], + [ + 15.54788749907164, + -14.773048221149782 + ] + ], + "projected_box_corners": [ + [ + 15.54788749907164, + -14.774809889962356 + ], + [ + 15.552355470996867, + -14.7742812774645 + ], + [ + 15.658498112247335, + -14.773576833647638 + ], + [ + 15.662966084172561, + -14.773048221149782 + ], + [ + 15.549614685481473, + -14.929230559545017 + ], + [ + 15.554082657406699, + -14.928701947047161 + ], + [ + 15.660225298657167, + -14.9279975032303 + ], + [ + 15.664693270582394, + -14.927468890732444 + ] + ], + "yaw_rad": -1.559611850037141, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.339035987854004, + -14.854263305664062, + 0.13143004477024078 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.551164825709677, + -14.851963467093412, + 0.11997057385999142 + ], + "intended_face_normal": [ + -0.9997346635068982, + -0.011175152051450254, + 0.0201417779655107 + ], + "commanded_contact_point": [ + 15.34150722503662, + -14.85134527601716, + 0.11885636374984467 + ], + "centerline_face_intersection": [ + 15.551135465855126, + -14.85134527601716, + 0.11885636374984467 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.332660675048828, + -14.856918334960938, + 0.1308692991733551 + ], + "box_pose": [ + 15.608423233032227, + -14.855620384216309, + 0.13601690530776978, + 0.007249295711517334, + -0.006992602255195379, + 0.7031072974205017, + -0.7110124230384827 + ], + "box_yaw_rad": -1.5596136295662992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002312378614168451 + } + } + }, + { + "simulation_time_ns": 3540000000, + "center": [ + 15.606087822587964, + -14.850909653053138, + 0.11882984519908325 + ], + "face_center": [ + 15.550780836350565, + -14.85152427243012, + 0.11976866219074689 + ], + "face_normal": [ + -0.9997944073479339, + -0.011110585796834882, + 0.016971164795701654 + ], + "footprint_xy": [ + [ + 15.547887381405122, + -14.929232212639327 + ], + [ + 15.664288263770807, + -14.929232212639327 + ], + [ + 15.664288263770807, + -14.77258709346695 + ], + [ + 15.547887381405122, + -14.77258709346695 + ] + ], + "projected_box_corners": [ + [ + 15.547887381405122, + -14.774812423378826 + ], + [ + 15.551947854864057, + -14.773816332220916 + ], + [ + 15.65850135387992, + -14.77358318462486 + ], + [ + 15.662561827338855, + -14.77258709346695 + ], + [ + 15.549613817837072, + -14.929232212639327 + ], + [ + 15.553674291296007, + -14.928236121481415 + ], + [ + 15.660227790311872, + -14.928002973885361 + ], + [ + 15.664288263770807, + -14.92700688272745 + ] + ], + "yaw_rad": -1.559616642421526, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.344429969787598, + -14.851430892944336, + 0.13099898397922516 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550985078239169, + -14.851755918504757, + 0.11987537551431644 + ], + "intended_face_normal": [ + -0.9997640440187607, + -0.01114509116541007, + 0.01864802135300847 + ], + "commanded_contact_point": [ + 15.343518524169921, + -14.851139390347399, + 0.11884379756914532 + ], + "centerline_face_intersection": [ + 15.550958969763089, + -14.851139390347399, + 0.11884379756914532 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.339035987854004, + -14.854263305664062, + 0.13143004477024078 + ], + "box_pose": [ + 15.608219146728516, + -14.855384826660156, + 0.1360146403312683, + 0.007331633009016514, + -0.0058470056392252445, + 0.7031171321868896, + -0.7110122442245483 + ], + "box_yaw_rad": -1.559611850037141, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020218484170497863 + } + } + }, + { + "simulation_time_ns": 3560000000, + "center": [ + 15.605892953604434, + -14.850664849289288, + 0.11882275476851059 + ], + "face_center": [ + 15.550584515038205, + -14.851278990170817, + 0.11967147523455676 + ], + "face_normal": [ + -0.999820661359209, + -0.0111019359478709, + 0.015342473583941058 + ], + "footprint_xy": [ + [ + 15.547887924874136, + -14.929234050059458 + ], + [ + 15.663897982334731, + -14.929234050059458 + ], + [ + 15.663897982334731, + -14.772095648519118 + ], + [ + 15.547887924874136, + -14.772095648519118 + ] + ], + "projected_box_corners": [ + [ + 15.547887924874136, + -14.774815926505468 + ], + [ + 15.5515521236686, + -14.773323930282178 + ], + [ + 15.658504802006592, + -14.773587644742408 + ], + [ + 15.662169000801056, + -14.772095648519118 + ], + [ + 15.54961690640781, + -14.929234050059458 + ], + [ + 15.553281105202275, + -14.927742053836168 + ], + [ + 15.660233783540265, + -14.928005768296398 + ], + [ + 15.663897982334731, + -14.926513772073108 + ] + ], + "yaw_rad": -1.5596000420146336, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.347616195678711, + -14.849427223205566, + 0.12901009619235992 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550780836350565, + -14.85152427243012, + 0.11976866219074689 + ], + "intended_face_normal": [ + -0.9997944073479339, + -0.011110585796834882, + 0.016971164795701654 + ], + "commanded_contact_point": [ + 15.34531524658203, + -14.850909653053138, + 0.11882984519908325 + ], + "centerline_face_intersection": [ + 15.550758087915481, + -14.850909653053138, + 0.11882984519908325 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.344429969787598, + -14.851430892944336, + 0.13099898397922516 + ], + "box_pose": [ + 15.607987403869629, + -14.855121612548828, + 0.13601218163967133, + 0.007427232339978218, + -0.00455784285441041, + 0.7031283974647522, + -0.7110096216201782 + ], + "box_yaw_rad": -1.559616642421526, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018114042395833527 + } + } + }, + { + "simulation_time_ns": 3580000000, + "center": [ + 15.605728838345389, + -14.850456089121963, + 0.1188176677386257 + ], + "face_center": [ + 15.550419289889492, + -14.851069482691681, + 0.1195909090682477 + ], + "face_normal": [ + -0.9998407250357714, + -0.011088426656923667, + 0.013978023564111264 + ], + "footprint_xy": [ + [ + 15.54788851908453, + -14.929236890475428 + ], + [ + 15.663569157606245, + -14.929236890475428 + ], + [ + 15.663569157606245, + -14.771675287768495 + ], + [ + 15.54788851908453, + -14.771675287768495 + ] + ], + "projected_box_corners": [ + [ + 15.54788851908453, + -14.774820710594184 + ], + [ + 15.551220623711641, + -14.772902074907934 + ], + [ + 15.658507615996323, + -14.773593923454746 + ], + [ + 15.661839720623435, + -14.771675287768495 + ], + [ + 15.54961795606734, + -14.929236890475428 + ], + [ + 15.552950060694453, + -14.927318254789178 + ], + [ + 15.660237052979134, + -14.928010103335989 + ], + [ + 15.663569157606245, + -14.926091467649739 + ] + ], + "yaw_rad": -1.5595969519749482, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.34933853149414, + -14.849528312683105, + 0.12609384953975677 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550584515038205, + -14.851278990170817, + 0.11967147523455676 + ], + "intended_face_normal": [ + -0.999820661359209, + -0.0111019359478709, + 0.015342473583941058 + ], + "commanded_contact_point": [ + 15.347084312438964, + -14.850664849289288, + 0.11882275476851059 + ], + "centerline_face_intersection": [ + 15.550564671819988, + -14.850664849289288, + 0.11882275476851059 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.347616195678711, + -14.849427223205566, + 0.12901009619235992 + ], + "box_pose": [ + 15.60776424407959, + -14.854841232299805, + 0.1360168755054474, + 0.007581361103802919, + -0.00324376136995852, + 0.7031298279762268, + -0.711013674736023 + ], + "box_yaw_rad": -1.5596000420146336, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017859376145793187 + } + } + }, + { + "simulation_time_ns": 3600000000, + "center": [ + 15.605590732015665, + -14.850278893852671, + 0.11881276815669646 + ], + "face_center": [ + 15.550280316866951, + -14.850891548159534, + 0.11952190504911539 + ], + "face_normal": [ + -0.9998563923988102, + -0.011075062868361352, + 0.01281919604227344 + ], + "footprint_xy": [ + [ + 15.547890812653474, + -14.929238642027528 + ], + [ + 15.663290651377856, + -14.929238642027528 + ], + [ + 15.663290651377856, + -14.771319145677817 + ], + [ + 15.547890812653474, + -14.771319145677817 + ] + ], + "projected_box_corners": [ + [ + 15.547890812653474, + -14.774824476803285 + ], + [ + 15.550940892438136, + -14.772544454291541 + ], + [ + 15.658511642950902, + -14.77359916818956 + ], + [ + 15.661561722735566, + -14.771319145677817 + ], + [ + 15.549619741295766, + -14.929238642027528 + ], + [ + 15.552669821080428, + -14.926958619515784 + ], + [ + 15.660240571593194, + -14.928013333413803 + ], + [ + 15.663290651377856, + -14.925733310902059 + ] + ], + "yaw_rad": -1.5596000975138815, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.348610877990723, + -14.850948333740234, + 0.12314444780349731 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550419289889492, + -14.851069482691681, + 0.1195909090682477 + ], + "intended_face_normal": [ + -0.9998407250357714, + -0.011088426656923667, + 0.013978023564111264 + ], + "commanded_contact_point": [ + 15.3489058303833, + -14.850456089121963, + 0.1188176677386257 + ], + "centerline_face_intersection": [ + 15.55040166682653, + -14.850456089121963, + 0.1188176677386257 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.34933853149414, + -14.849528312683105, + 0.12609384953975677 + ], + "box_pose": [ + 15.607576370239258, + -14.854601860046387, + 0.13602176308631897, + 0.007726927753537893, + -0.002126290462911129, + 0.7031330466270447, + -0.7110130786895752 + ], + "box_yaw_rad": -1.5595969519749482, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018334487467263857 + } + } + }, + { + "simulation_time_ns": 3620000000, + "center": [ + 15.60547429218974, + -14.850129900821527, + 0.11880806129156422 + ], + "face_center": [ + 15.550163190813628, + -14.850741703877762, + 0.1194631109623916 + ], + "face_normal": [ + -0.9998687974557798, + -0.011059674656589524, + 0.011841451541350623 + ], + "footprint_xy": [ + [ + 15.54789339453969, + -14.929239113748427 + ], + [ + 15.66305518983979, + -14.929239113748427 + ], + [ + 15.66305518983979, + -14.771020687894627 + ], + [ + 15.54789339453969, + -14.771020687894627 + ] + ], + "projected_box_corners": [ + [ + 15.54789339453969, + -14.774826868981586 + ], + [ + 15.550705564475962, + -14.772244294007098 + ], + [ + 15.658515597291915, + -14.773603262869116 + ], + [ + 15.661327767228187, + -14.771020687894627 + ], + [ + 15.549620817151293, + -14.929239113748427 + ], + [ + 15.552432987087565, + -14.926656538773939 + ], + [ + 15.660243019903518, + -14.928015507635957 + ], + [ + 15.66305518983979, + -14.925432932661469 + ] + ], + "yaw_rad": -1.5596097103654012, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.344139099121094, + -14.85180377960205, + 0.12102623283863068 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550280316866951, + -14.850891548159534, + 0.11952190504911539 + ], + "intended_face_normal": [ + -0.9998563923988102, + -0.011075062868361352, + 0.01281919604227344 + ], + "commanded_contact_point": [ + 15.350594787597656, + -14.850278893852671, + 0.11881276815669646 + ], + "centerline_face_intersection": [ + 15.550264427452191, + -14.850278893852671, + 0.11881276815669646 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.348610877990723, + -14.850948333740234, + 0.12314444780349731 + ], + "box_pose": [ + 15.607418060302734, + -14.854398727416992, + 0.13602524995803833, + 0.007849175482988358, + -0.001178649254143238, + 0.7031364440917969, + -0.7110105752944946 + ], + "box_yaw_rad": -1.5596000975138815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016982339771909152 + } + } + }, + { + "simulation_time_ns": 3640000000, + "center": [ + 15.60537608943305, + -14.850005127919363, + 0.11880375609181931 + ], + "face_center": [ + 15.550064466146893, + -14.850616764514948, + 0.11941330996261193 + ], + "face_normal": [ + -0.9998782321182115, + -0.011056665517262587, + 0.011019015723978003 + ], + "footprint_xy": [ + [ + 15.547894754289832, + -14.92924043561223 + ], + [ + 15.662857424576272, + -14.92924043561223 + ], + [ + 15.662857424576272, + -14.770769820226496 + ], + [ + 15.547894754289832, + -14.770769820226496 + ] + ], + "projected_box_corners": [ + [ + 15.547894754289832, + -14.77483003560261 + ], + [ + 15.550506787366023, + -14.771993093417665 + ], + [ + 15.658518000862149, + -14.77360676241144 + ], + [ + 15.661130033938342, + -14.770769820226496 + ], + [ + 15.549622144927762, + -14.92924043561223 + ], + [ + 15.552234178003955, + -14.926403493427287 + ], + [ + 15.660245391500078, + -14.928017162421062 + ], + [ + 15.662857424576272, + -14.925180220236118 + ] + ], + "yaw_rad": -1.5596097837723881, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.34170913696289, + -14.852435111999512, + 0.12157723307609558 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550163190813628, + -14.850741703877762, + 0.1194631109623916 + ], + "intended_face_normal": [ + -0.9998687974557798, + -0.011059674656589524, + 0.011841451541350623 + ], + "commanded_contact_point": [ + 15.352609901428222, + -14.850129900821527, + 0.11880806129156422 + ], + "centerline_face_intersection": [ + 15.550148674042285, + -14.850129900821527, + 0.11880806129156422 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.344139099121094, + -14.85180377960205, + 0.12102623283863068 + ], + "box_pose": [ + 15.607284545898438, + -14.854228019714355, + 0.136027529835701, + 0.007948883809149265, + -0.00038259816938079894, + 0.7031407952308655, + -0.7110061645507812 + ], + "box_yaw_rad": -1.5596097103654012, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020206199118213866 + } + } + }, + { + "simulation_time_ns": 3660000000, + "center": [ + 15.605293867433604, + -14.849900202763395, + 0.11879969238540125 + ], + "face_center": [ + 15.54998182415654, + -14.850510429727287, + 0.11937085441979173 + ], + "face_normal": [ + -0.9998858243698744, + -0.011031183349830775, + 0.010324999543853727 + ], + "footprint_xy": [ + [ + 15.547898405165222, + -14.929239531789921 + ], + [ + 15.662689329701983, + -14.929239531789921 + ], + [ + 15.662689329701983, + -14.770560873736871 + ], + [ + 15.547898405165222, + -14.770560873736871 + ] + ], + "projected_box_corners": [ + [ + 15.547898405165222, + -14.774830781837682 + ], + [ + 15.550341648075056, + -14.771781327664653 + ], + [ + 15.658522491719351, + -14.7736103279099 + ], + [ + 15.660965734629185, + -14.770560873736871 + ], + [ + 15.54962200023802, + -14.929239531789921 + ], + [ + 15.552065243147855, + -14.92619007761689 + ], + [ + 15.66024608679215, + -14.928019077862139 + ], + [ + 15.662689329701983, + -14.924969623689108 + ] + ], + "yaw_rad": -1.5596342424531022, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.34454345703125, + -14.85263442993164, + 0.12642280757427216 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550064466146893, + -14.850616764514948, + 0.11941330996261193 + ], + "intended_face_normal": [ + -0.9998782321182115, + -0.011056665517262587, + 0.011019015723978003 + ], + "commanded_contact_point": [ + 15.355005531311035, + -14.850005127919363, + 0.11880375609181931 + ], + "centerline_face_intersection": [ + 15.550050993327694, + -14.850005127919363, + 0.11880375609181931 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.34170913696289, + -14.852435111999512, + 0.12157723307609558 + ], + "box_pose": [ + 15.607172012329102, + -14.854084968566895, + 0.13602906465530396, + 0.008032538928091526, + 0.0002868112060241401, + 0.703140914440155, + -0.7110051512718201 + ], + "box_yaw_rad": -1.5596097837723881, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023988808530819735 + } + } + }, + { + "simulation_time_ns": 3680000000, + "center": [ + 15.605224053836903, + -14.849810405853535, + 0.11879650473958421 + ], + "face_center": [ + 15.549911676333712, + -14.85042054992959, + 0.11933500778345661 + ], + "face_normal": [ + -0.999891866236101, + -0.011029684971410658, + 0.009734617057101394 + ], + "footprint_xy": [ + [ + 15.547900216920347, + -14.929240689255796 + ], + [ + 15.66254789075346, + -14.929240689255796 + ], + [ + 15.66254789075346, + -14.770380122451273 + ], + [ + 15.547900216920347, + -14.770380122451273 + ] + ], + "projected_box_corners": [ + [ + 15.547900216920347, + -14.774833468674197 + ], + [ + 15.55019978741879, + -14.771600410603384 + ], + [ + 15.658524971926727, + -14.773613180522085 + ], + [ + 15.660824542425171, + -14.770380122451273 + ], + [ + 15.549623565248634, + -14.929240689255796 + ], + [ + 15.551923135747078, + -14.926007631184984 + ], + [ + 15.660248320255016, + -14.928020401103685 + ], + [ + 15.66254789075346, + -14.924787343032873 + ] + ], + "yaw_rad": -1.5596357297166226, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.350261688232422, + -14.851387023925781, + 0.13478150963783264 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54998182415654, + -14.850510429727287, + 0.11937085441979173 + ], + "intended_face_normal": [ + -0.9998858243698744, + -0.011031183349830775, + 0.010324999543853727 + ], + "commanded_contact_point": [ + 15.357387809753417, + -14.849900202763395, + 0.11879969238540125 + ], + "centerline_face_intersection": [ + 15.549969191418265, + -14.849900202763395, + 0.11879969238540125 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.34454345703125, + -14.85263442993164, + 0.12642280757427216 + ], + "box_pose": [ + 15.607077598571777, + -14.853964805603027, + 0.13602986931800842, + 0.008100097998976707, + 0.0008485181606374681, + 0.7031491994857788, + -0.7109956741333008 + ], + "box_yaw_rad": -1.5596342424531022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00238459144909703 + } + } + }, + { + "simulation_time_ns": 3700000000, + "center": [ + 15.605164838126493, + -14.849736464340053, + 0.11879387060517568 + ], + "face_center": [ + 15.54985221170594, + -14.850346561230625, + 0.11930543196171034 + ], + "face_normal": [ + -0.9998963659603486, + -0.011028831990879118, + 0.009247587295451082 + ], + "footprint_xy": [ + [ + 15.54790013922207, + -14.929242045225685 + ], + [ + 15.662429537030915, + -14.929242045225685 + ], + [ + 15.662429537030915, + -14.770230883454419 + ], + [ + 15.54790013922207, + -14.770230883454419 + ] + ], + "projected_box_corners": [ + [ + 15.54790013922207, + -14.774836194106143 + ], + [ + 15.550081183015632, + -14.771451077235563 + ], + [ + 15.658525392063178, + -14.773616000325 + ], + [ + 15.660706435856738, + -14.770230883454419 + ], + [ + 15.549623240396249, + -14.929242045225685 + ], + [ + 15.55180428418981, + -14.925856928355104 + ], + [ + 15.660248493237356, + -14.928021851444543 + ], + [ + 15.662429537030915, + -14.924636734573962 + ] + ], + "yaw_rad": -1.5596372312179105, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.354902267456055, + -14.848560333251953, + 0.14084790647029877 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549911676333712, + -14.85042054992959, + 0.11933500778345661 + ], + "intended_face_normal": [ + -0.999891866236101, + -0.011029684971410658, + 0.009734617057101394 + ], + "commanded_contact_point": [ + 15.359609870910644, + -14.849810405853535, + 0.11879650473958421 + ], + "centerline_face_intersection": [ + 15.549899712122004, + -14.849810405853535, + 0.11879650473958421 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.350261688232422, + -14.851387023925781, + 0.13478150963783264 + ], + "box_pose": [ + 15.6069974899292, + -14.853861808776855, + 0.13603085279464722, + 0.008161632344126701, + 0.0013305387692525983, + 0.7031490206718445, + -0.7109944820404053 + ], + "box_yaw_rad": -1.5596357297166226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002223877117234963 + } + } + }, + { + "simulation_time_ns": 3720000000, + "center": [ + 15.60511496915221, + -14.849671431883058, + 0.11879197277605097 + ], + "face_center": [ + 15.549802123716843, + -14.850280557431713, + 0.11928044197237526 + ], + "face_normal": [ + -0.9999003251307834, + -0.011011272867103794, + 0.008830146132904393 + ], + "footprint_xy": [ + [ + 15.547902260803523, + -14.929240668518425 + ], + [ + 15.662327677500894, + -14.929240668518425 + ], + [ + 15.662327677500894, + -14.770102195247693 + ], + [ + 15.547902260803523, + -14.770102195247693 + ] + ], + "projected_box_corners": [ + [ + 15.547902260803523, + -14.774835996568116 + ], + [ + 15.549981771883312, + -14.771320446345001 + ], + [ + 15.658527951674255, + -14.773617745470808 + ], + [ + 15.660607462754044, + -14.770102195247693 + ], + [ + 15.549622475550374, + -14.929240668518425 + ], + [ + 15.551701986630162, + -14.92572511829531 + ], + [ + 15.660248166421106, + -14.928022417421117 + ], + [ + 15.662327677500894, + -14.924506867198001 + ] + ], + "yaw_rad": -1.559655837592312, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.355924606323242, + -14.84792709350586, + 0.13981810212135315 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54985221170594, + -14.850346561230625, + 0.11930543196171034 + ], + "intended_face_normal": [ + -0.9998963659603486, + -0.011028831990879118, + 0.009247587295451082 + ], + "commanded_contact_point": [ + 15.362008361816406, + -14.849736464340053, + 0.11879387060517568 + ], + "centerline_face_intersection": [ + 15.549840745381678, + -14.849736464340053, + 0.11879387060517568 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.354902267456055, + -14.848560333251953, + 0.14084790647029877 + ], + "box_pose": [ + 15.606929779052734, + -14.853776931762695, + 0.13603165745735168, + 0.00821327231824398, + 0.001729061477817595, + 0.7031487226486206, + -0.710993230342865 + ], + "box_yaw_rad": -1.5596372312179105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023996318282398796 + } + } + }, + { + "simulation_time_ns": 3740000000, + "center": [ + 15.605072603542135, + -14.849618154248363, + 0.11879001428336097 + ], + "face_center": [ + 15.549759579375992, + -14.850227147234905, + 0.1192586175660518 + ], + "face_normal": [ + -0.9999035560794058, + -0.011008876517798027, + 0.008471026414061944 + ], + "footprint_xy": [ + [ + 15.547903687240646, + -14.929240696661065 + ], + [ + 15.662241519843626, + -14.929240696661065 + ], + [ + 15.662241519843626, + -14.769995611835661 + ], + [ + 15.547903687240646, + -14.769995611835661 + ] + ], + "projected_box_corners": [ + [ + 15.547903687240646, + -14.774837039152533 + ], + [ + 15.549895857287828, + -14.771213597808744 + ], + [ + 15.658529735572932, + -14.773619053179448 + ], + [ + 15.660521905620113, + -14.769995611835661 + ], + [ + 15.549623301464159, + -14.929240696661065 + ], + [ + 15.55161547151134, + -14.925617255317276 + ], + [ + 15.660249349796445, + -14.92802271068798 + ], + [ + 15.662241519843626, + -14.924399269344192 + ] + ], + "yaw_rad": -1.5596596532298517, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.354846954345703, + -14.853839874267578, + 0.1325097233057022 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549802123716843, + -14.850280557431713, + 0.11928044197237526 + ], + "intended_face_normal": [ + -0.9999003251307834, + -0.011011272867103794, + 0.008830146132904393 + ], + "commanded_contact_point": [ + 15.364625244140624, + -14.849671431883058, + 0.11879197277605097 + ], + "centerline_face_intersection": [ + 15.549791095466743, + -14.849671431883058, + 0.11879197277605097 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.355924606323242, + -14.84792709350586, + 0.13981810212135315 + ], + "box_pose": [ + 15.60687255859375, + -14.853702545166016, + 0.13603270053863525, + 0.008257752284407616, + 0.002070774557068944, + 0.703154444694519, + -0.7109861373901367 + ], + "box_yaw_rad": -1.559655837592312, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026176909521612116 + } + } + }, + { + "simulation_time_ns": 3760000000, + "center": [ + 15.605035099538716, + -14.849572556885654, + 0.11878841897613941 + ], + "face_center": [ + 15.54972193299301, + -14.850181437572216, + 0.1192398903461717 + ], + "face_normal": [ + -0.9999061299005404, + -0.0110068464507308, + 0.008161329726022237 + ], + "footprint_xy": [ + [ + 15.547903983866586, + -14.929242175509222 + ], + [ + 15.662166215210846, + -14.929242175509222 + ], + [ + 15.662166215210846, + -14.769902938262085 + ], + [ + 15.547903983866586, + -14.769902938262085 + ] + ], + "projected_box_corners": [ + [ + 15.547903983866586, + -14.774839457428811 + ], + [ + 15.54982080895195, + -14.77112069963521 + ], + [ + 15.658530316957997, + -14.773621696055686 + ], + [ + 15.660447142043358, + -14.769902938262085 + ], + [ + 15.549623057034074, + -14.929242175509222 + ], + [ + 15.551539882119437, + -14.92552341771562 + ], + [ + 15.660249390125484, + -14.928024414136097 + ], + [ + 15.662166215210846, + -14.924305656342495 + ] + ], + "yaw_rad": -1.5596630892296242, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.356266975402832, + -14.858929634094238, + 0.12813857197761536 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549759579375992, + -14.850227147234905, + 0.1192586175660518 + ], + "intended_face_normal": [ + -0.9999035560794058, + -0.011008876517798027, + 0.008471026414061944 + ], + "commanded_contact_point": [ + 15.36717918395996, + -14.849618154248363, + 0.11879001428336097 + ], + "centerline_face_intersection": [ + 15.549748908622503, + -14.849618154248363, + 0.11879001428336097 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.354846954345703, + -14.853839874267578, + 0.1325097233057022 + ], + "box_pose": [ + 15.606823921203613, + -14.853641510009766, + 0.13603319227695465, + 0.008289636112749577, + 0.0023583555594086647, + 0.7031549215316772, + -0.710984468460083 + ], + "box_yaw_rad": -1.5596596532298517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002554496220948859 + } + } + }, + { + "simulation_time_ns": 3780000000, + "center": [ + 15.605007611247565, + -14.849541001647225, + 0.11878750717240391 + ], + "face_center": [ + 15.549694352360989, + -14.850150170972272, + 0.11922627422436366 + ], + "face_normal": [ + -0.9999077991632116, + -0.011012064220875861, + 0.007931671467234336 + ], + "footprint_xy": [ + [ + 15.54790402818849, + -14.929243057048955 + ], + [ + 15.66211119430664, + -14.929243057048955 + ], + [ + 15.66211119430664, + -14.769838946245494 + ], + [ + 15.54790402818849, + -14.769838946245494 + ] + ], + "projected_box_corners": [ + [ + 15.54790402818849, + -14.774841020787191 + ], + [ + 15.549765019794208, + -14.771057284895587 + ], + [ + 15.658530545961645, + -14.773622682137097 + ], + [ + 15.660391537567362, + -14.769838946245494 + ], + [ + 15.54962368492777, + -14.929243057048955 + ], + [ + 15.551484676533486, + -14.925459321157351 + ], + [ + 15.660250202700924, + -14.928024718398863 + ], + [ + 15.66211119430664, + -14.924240982507259 + ] + ], + "yaw_rad": -1.5596592609792204, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.360061645507812, + -14.858543395996094, + 0.1273200809955597 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.54972193299301, + -14.850181437572216, + 0.1192398903461717 + ], + "intended_face_normal": [ + -0.9999061299005404, + -0.0110068464507308, + 0.008161329726022237 + ], + "commanded_contact_point": [ + 15.369896202087402, + -14.849572556885654, + 0.11878841897613941 + ], + "centerline_face_intersection": [ + 15.549711547025746, + -14.849572556885654, + 0.11878841897613941 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.356266975402832, + -14.858929634094238, + 0.12813857197761536 + ], + "box_pose": [ + 15.606781005859375, + -14.853589057922363, + 0.13603374361991882, + 0.008320466615259647, + 0.002609728369861841, + 0.7031552791595459, + -0.7109828591346741 + ], + "box_yaw_rad": -1.5596630892296242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027174011793138545 + } + } + }, + { + "simulation_time_ns": 3800000000, + "center": [ + 15.605006769438049, + -14.849543671434814, + 0.1187880915221582 + ], + "face_center": [ + 15.549693501801382, + -14.850153187427384, + 0.11922641256804697 + ], + "face_normal": [ + -0.9999079573401539, + -0.011018330992493608, + 0.007923608934709059 + ], + "footprint_xy": [ + [ + 15.547903674128703, + -14.929244700966972 + ], + [ + 15.662109864747395, + -14.929244700966972 + ], + [ + 15.662109864747395, + -14.769842641902656 + ], + [ + 15.547903674128703, + -14.769842641902656 + ] + ], + "projected_box_corners": [ + [ + 15.547903674128703, + -14.774842621846654 + ], + [ + 15.549762738550728, + -14.771061673887797 + ], + [ + 15.658530209402034, + -14.773623589861513 + ], + [ + 15.660389273824059, + -14.769842641902656 + ], + [ + 15.549624265052037, + -14.929244700966972 + ], + [ + 15.551483329474062, + -14.925463753008115 + ], + [ + 15.66025080032537, + -14.928025668981832 + ], + [ + 15.662109864747395, + -14.924244721022975 + ] + ], + "yaw_rad": -1.559653214487791, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.363868713378906, + -14.855484962463379, + 0.12708231806755066 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549694352360989, + -14.850150170972272, + 0.11922627422436366 + ], + "intended_face_normal": [ + -0.9999077991632116, + -0.011012064220875861, + 0.007931671467234336 + ], + "commanded_contact_point": [ + 15.372987060546874, + -14.849541001647225, + 0.11878750717240391 + ], + "centerline_face_intersection": [ + 15.549684151092652, + -14.849541001647225, + 0.11878750717240391 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.360061645507812, + -14.858543395996094, + 0.1273200809955597 + ], + "box_pose": [ + 15.606749534606934, + -14.85355281829834, + 0.13603432476520538, + 0.008334941230714321, + 0.0027876903768628836, + 0.7031532526016235, + -0.71098393201828 + ], + "box_yaw_rad": -1.5596592609792204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030910196668659465 + } + } + }, + { + "simulation_time_ns": 3820000000, + "center": [ + 15.605005964148502, + -14.849544309189914, + 0.11878809045800899 + ], + "face_center": [ + 15.549692691646015, + -14.850153535534313, + 0.11922599408906563 + ], + "face_normal": [ + -0.9999080453004564, + -0.011013094970028003, + 0.007916063251186906 + ], + "footprint_xy": [ + [ + 15.547904159326542, + -14.92924293535431 + ], + [ + 15.662107768970461, + -14.92924293535431 + ], + [ + 15.662107768970461, + -14.769845683025517 + ], + [ + 15.547904159326542, + -14.769845683025517 + ] + ], + "projected_box_corners": [ + [ + 15.547904159326542, + -14.774840808521224 + ], + [ + 15.549761481096587, + -14.771064135714315 + ], + [ + 15.658530704331513, + -14.773622355832426 + ], + [ + 15.660388026101558, + -14.769845683025517 + ], + [ + 15.549623902195446, + -14.92924293535431 + ], + [ + 15.55148122396549, + -14.9254662625474 + ], + [ + 15.660250447200417, + -14.928024482665512 + ], + [ + 15.662107768970461, + -14.924247809858603 + ] + ], + "yaw_rad": -1.55965870975413, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.368143081665039, + -14.853899002075195, + 0.1257069706916809 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549693501801382, + -14.850153187427384, + 0.11922641256804697 + ], + "intended_face_normal": [ + -0.9999079573401539, + -0.011018330992493608, + 0.007923608934709059 + ], + "commanded_contact_point": [ + 15.376333503723144, + -14.849543671434814, + 0.1187880915221582 + ], + "centerline_face_intersection": [ + 15.549683318034837, + -14.849543671434814, + 0.1187880915221582 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.363868713378906, + -14.855484962463379, + 0.12708231806755066 + ], + "box_pose": [ + 15.606748580932617, + -14.853555679321289, + 0.13603487610816956, + 0.008327992632985115, + 0.00278643355704844, + 0.7031511068344116, + -0.7109862565994263 + ], + "box_yaw_rad": -1.559653214487791, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003346444292264749 + } + } + }, + { + "simulation_time_ns": 3840000000, + "center": [ + 15.60500932166759, + -14.84954861160188, + 0.11878836425481626 + ], + "face_center": [ + 15.549696063628485, + -14.850158136367954, + 0.11922765075595099 + ], + "face_normal": [ + -0.999907783843311, + -0.011018489592672043, + 0.007941061644052366 + ], + "footprint_xy": [ + [ + 15.547904076138348, + -14.929244266511299 + ], + [ + 15.66211456719683, + -14.929244266511299 + ], + [ + 15.66211456719683, + -14.769852956692462 + ], + [ + 15.547904076138348, + -14.769852956692462 + ] + ], + "projected_box_corners": [ + [ + 15.547904076138348, + -14.77484208264103 + ], + [ + 15.549767447824275, + -14.771072006224607 + ], + [ + 15.65853059221656, + -14.773623033108885 + ], + [ + 15.660393963902486, + -14.769852956692462 + ], + [ + 15.549624679432695, + -14.929244266511299 + ], + [ + 15.551488051118621, + -14.925474190094876 + ], + [ + 15.660251195510904, + -14.928025216979156 + ], + [ + 15.66211456719683, + -14.924255140562732 + ] + ], + "yaw_rad": -1.559653141934862, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.374999046325684, + -14.855466842651367, + 0.12492462992668152 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549692691646015, + -14.850153535534313, + 0.11922599408906563 + ], + "intended_face_normal": [ + -0.9999080453004564, + -0.011013094970028003, + 0.007916063251186906 + ], + "commanded_contact_point": [ + 15.379510192871093, + -14.849544309189914, + 0.11878809045800899 + ], + "centerline_face_intersection": [ + 15.549682517612005, + -14.849544309189914, + 0.11878809045800899 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.368143081665039, + -14.853899002075195, + 0.1257069706916809 + ], + "box_pose": [ + 15.6067476272583, + -14.853556632995605, + 0.13603481650352478, + 0.008319094777107239, + 0.0027827725280076265, + 0.7031530737876892, + -0.7109844088554382 + ], + "box_yaw_rad": -1.55965870975413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003176689211967553 + } + } + }, + { + "simulation_time_ns": 3860000000, + "center": [ + 15.605014239648579, + -14.849556831367376, + 0.11878834966987001 + ], + "face_center": [ + 15.549700999042255, + -14.850165891709846, + 0.11923028494483763 + ], + "face_normal": [ + -0.9999074687077761, + -0.01101009412309617, + 0.007988944008372273 + ], + "footprint_xy": [ + [ + 15.547903787795683, + -14.92924306008547 + ], + [ + 15.662124691501475, + -14.92924306008547 + ], + [ + 15.662124691501475, + -14.769870602649283 + ], + [ + 15.547903787795683, + -14.769870602649283 + ] + ], + "projected_box_corners": [ + [ + 15.547903787795683, + -14.774840683105662 + ], + [ + 15.549778878908024, + -14.771088723334222 + ], + [ + 15.658530269008333, + -14.773622562420721 + ], + [ + 15.660405360120672, + -14.769870602649283 + ], + [ + 15.549623119176486, + -14.92924306008547 + ], + [ + 15.551498210288827, + -14.925491100314032 + ], + [ + 15.660249600389134, + -14.928024939400531 + ], + [ + 15.662124691501475, + -14.924272979629091 + ] + ], + "yaw_rad": -1.559661392503501, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.380366325378418, + -14.857732772827148, + 0.124698206782341 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549696063628485, + -14.850158136367954, + 0.11922765075595099 + ], + "intended_face_normal": [ + -0.999907783843311, + -0.011018489592672043, + 0.007941061644052366 + ], + "commanded_contact_point": [ + 15.38202121734619, + -14.84954861160188, + 0.11878836425481626 + ], + "centerline_face_intersection": [ + 15.549685860665049, + -14.84954861160188, + 0.11878836425481626 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.374999046325684, + -14.855466842651367, + 0.12492462992668152 + ], + "box_pose": [ + 15.606751441955566, + -14.853561401367188, + 0.13603493571281433, + 0.008318193256855011, + 0.002764115808531642, + 0.7031511664390564, + -0.7109863758087158 + ], + "box_yaw_rad": -1.559653141934862, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025110281759177615 + } + } + }, + { + "simulation_time_ns": 3880000000, + "center": [ + 15.605023397301789, + -14.849566859628641, + 0.118788978078055 + ], + "face_center": [ + 15.549710202106432, + -14.850176351848516, + 0.119235046054632 + ], + "face_normal": [ + -0.9999066478054669, + -0.011017901249139594, + 0.00806365160387515 + ], + "footprint_xy": [ + [ + 15.547903292000326, + -14.929243673125258 + ], + [ + 15.66214350260325, + -14.929243673125258 + ], + [ + 15.66214350260325, + -14.769890046132025 + ], + [ + 15.547903292000326, + -14.769890046132025 + ] + ], + "projected_box_corners": [ + [ + 15.547903292000326, + -14.774841130859121 + ], + [ + 15.549796496811004, + -14.771109030571772 + ], + [ + 15.658529682391038, + -14.773622146419374 + ], + [ + 15.660422887201715, + -14.769890046132025 + ], + [ + 15.549623907401863, + -14.929243673125258 + ], + [ + 15.551517112212538, + -14.925511572837909 + ], + [ + 15.660250297792574, + -14.928024688685513 + ], + [ + 15.66214350260325, + -14.924292588398163 + ] + ], + "yaw_rad": -1.5596530893946263, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.382647514343262, + -14.859646797180176, + 0.12641286849975586 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549700999042255, + -14.850165891709846, + 0.11923028494483763 + ], + "intended_face_normal": [ + -0.9999074687077761, + -0.01101009412309617, + 0.007988944008372273 + ], + "commanded_contact_point": [ + 15.384731559753417, + -14.849556831367376, + 0.11878834966987001 + ], + "centerline_face_intersection": [ + 15.549690761210035, + -14.849556831367376, + 0.11878834966987001 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.380366325378418, + -14.857732772827148, + 0.124698206782341 + ], + "box_pose": [ + 15.606757164001465, + -14.853570938110352, + 0.1360345333814621, + 0.008308508433401585, + 0.002720229560509324, + 0.7031542658805847, + -0.7109835743904114 + ], + "box_yaw_rad": -1.559661392503501, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027103548714454725 + } + } + }, + { + "simulation_time_ns": 3900000000, + "center": [ + 15.605035197271421, + -14.849580084629245, + 0.11878951932912686 + ], + "face_center": [ + 15.549722038035222, + -14.85018921388584, + 0.11924058885812693 + ], + "face_normal": [ + -0.9999059977652833, + -0.011011339896227934, + 0.00815406557290177 + ], + "footprint_xy": [ + [ + 15.547904585647258, + -14.929242622600057 + ], + [ + 15.662165808895583, + -14.929242622600057 + ], + [ + 15.662165808895583, + -14.769917546658432 + ], + [ + 15.547904585647258, + -14.769917546658432 + ] + ], + "projected_box_corners": [ + [ + 15.547904585647258, + -14.77483978689741 + ], + [ + 15.549819816669217, + -14.771135805171623 + ], + [ + 15.658530904119656, + -14.77362152838422 + ], + [ + 15.660446135141616, + -14.769917546658432 + ], + [ + 15.549624259401226, + -14.929242622600057 + ], + [ + 15.551539490423185, + -14.925538640874269 + ], + [ + 15.660250577873624, + -14.928024364086868 + ], + [ + 15.662165808895583, + -14.92432038236108 + ] + ], + "yaw_rad": -1.5596592084549936, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.384529113769531, + -14.860505104064941, + 0.1280786693096161 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549710202106432, + -14.850176351848516, + 0.119235046054632 + ], + "intended_face_normal": [ + -0.9999066478054669, + -0.011017901249139594, + 0.00806365160387515 + ], + "commanded_contact_point": [ + 15.38776424407959, + -14.849566859628641, + 0.118788978078055 + ], + "centerline_face_intersection": [ + 15.549699873443835, + -14.849566859628641, + 0.118788978078055 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.382647514343262, + -14.859646797180176, + 0.12641286849975586 + ], + "box_pose": [ + 15.606767654418945, + -14.853582382202148, + 0.13603469729423523, + 0.008305635303258896, + 0.002664245432242751, + 0.703151524066925, + -0.7109864354133606 + ], + "box_yaw_rad": -1.5596530893946263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030327009715976623 + } + } + }, + { + "simulation_time_ns": 3920000000, + "center": [ + 15.605051205406879, + -14.849596739700681, + 0.1187903562154826 + ], + "face_center": [ + 15.549738093489953, + -14.850206253641382, + 0.1192480376756559 + ], + "face_normal": [ + -0.9999051423661971, + -0.011018293900477372, + 0.008273590650265339 + ], + "footprint_xy": [ + [ + 15.54790553966804, + -14.929242961227327 + ], + [ + 15.662196871145715, + -14.929242961227327 + ], + [ + 15.662196871145715, + -14.769950518174035 + ], + [ + 15.54790553966804, + -14.769950518174035 + ] + ], + "projected_box_corners": [ + [ + 15.54790553966804, + -14.774839771955904 + ], + [ + 15.549849792582675, + -14.771169546055436 + ], + [ + 15.658531763501891, + -14.7736207440745 + ], + [ + 15.660476016416526, + -14.769950518174035 + ], + [ + 15.54962639439723, + -14.929242961227327 + ], + [ + 15.551570647311866, + -14.925572735326861 + ], + [ + 15.66025261823108, + -14.928023933345926 + ], + [ + 15.662196871145715, + -14.924353707445459 + ] + ], + "yaw_rad": -1.5596515862598919, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.387231826782227, + -14.859515190124512, + 0.12861494719982147 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549722038035222, + -14.85018921388584, + 0.11924058885812693 + ], + "intended_face_normal": [ + -0.9999059977652833, + -0.011011339896227934, + 0.00815406557290177 + ], + "commanded_contact_point": [ + 15.391036300659179, + -14.849580084629245, + 0.11878951932912686 + ], + "centerline_face_intersection": [ + 15.549711637447572, + -14.849580084629245, + 0.11878951932912686 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.384529113769531, + -14.860505104064941, + 0.1280786693096161 + ], + "box_pose": [ + 15.606781005859375, + -14.853597640991211, + 0.13603460788726807, + 0.008296236395835876, + 0.002590416930615902, + 0.7031539678573608, + -0.7109844088554382 + ], + "box_yaw_rad": -1.5596592084549936, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032720833506545773 + } + } + }, + { + "simulation_time_ns": 3940000000, + "center": [ + 15.605066753867082, + -14.849618414196808, + 0.11879112160168795 + ], + "face_center": [ + 15.549753719390957, + -14.85022790319706, + 0.11925696698979599 + ], + "face_normal": [ + -0.999903742454817, + -0.01101784304745701, + 0.008421171454182474 + ], + "footprint_xy": [ + [ + 15.547903198327653, + -14.929243120229174 + ], + [ + 15.662230309406509, + -14.929243120229174 + ], + [ + 15.662230309406509, + -14.769993708164442 + ], + [ + 15.547903198327653, + -14.769993708164442 + ] + ], + "projected_box_corners": [ + [ + 15.547903198327653, + -14.774839532099996 + ], + [ + 15.549883339215063, + -14.771212686164946 + ], + [ + 15.658529267279901, + -14.773620554099493 + ], + [ + 15.660509408167313, + -14.769993708164442 + ], + [ + 15.549624099566849, + -14.929243120229174 + ], + [ + 15.55160424045426, + -14.925616274294123 + ], + [ + 15.660250168519099, + -14.92802414222867 + ], + [ + 15.662230309406509, + -14.92439729629362 + ] + ], + "yaw_rad": -1.5596513138605748, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.389519691467285, + -14.857316017150879, + 0.1273205727338791 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549738093489953, + -14.850206253641382, + 0.1192480376756559 + ], + "intended_face_normal": [ + -0.9999051423661971, + -0.011018293900477372, + 0.008273590650265339 + ], + "commanded_contact_point": [ + 15.394140510559081, + -14.849596739700681, + 0.1187903562154826 + ], + "centerline_face_intersection": [ + 15.549727598254817, + -14.849596739700681, + 0.1187903562154826 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.387231826782227, + -14.859515190124512, + 0.12861494719982147 + ], + "box_pose": [ + 15.606799125671387, + -14.853616714477539, + 0.13603466749191284, + 0.008288753218948841, + 0.0024979012086987495, + 0.7031515836715698, + -0.7109873294830322 + ], + "box_yaw_rad": -1.5596515862598919, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003104254692262705 + } + } + }, + { + "simulation_time_ns": 3960000000, + "center": [ + 15.605085950088363, + -14.849640656009697, + 0.11879214378913822 + ], + "face_center": [ + 15.549772973797591, + -14.850249634870782, + 0.11926679054433675 + ], + "face_normal": [ + -0.9999026906276636, + -0.011008621169331545, + 0.008580275361170536 + ], + "footprint_xy": [ + [ + 15.547903741781997, + -14.929240842752712 + ], + [ + 15.66226815839473, + -14.929240842752712 + ], + [ + 15.66226815839473, + -14.770040469266682 + ], + [ + 15.547903741781997, + -14.770040469266682 + ] + ], + "projected_box_corners": [ + [ + 15.547903741781997, + -14.774836738899271 + ], + [ + 15.549922622243413, + -14.771258426988851 + ], + [ + 15.658529694363542, + -14.773618781177104 + ], + [ + 15.660548574824958, + -14.770040469266682 + ], + [ + 15.549623325351769, + -14.929240842752712 + ], + [ + 15.551642205813184, + -14.925662530842292 + ], + [ + 15.660249277933314, + -14.928022885030543 + ], + [ + 15.66226815839473, + -14.924444573120123 + ] + ], + "yaw_rad": -1.5596598839253148, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.391845703125, + -14.855212211608887, + 0.12400101125240326 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549753719390957, + -14.85022790319706, + 0.11925696698979599 + ], + "intended_face_normal": [ + -0.999903742454817, + -0.01101784304745701, + 0.008421171454182474 + ], + "commanded_contact_point": [ + 15.39676788330078, + -14.849618414196808, + 0.11879112160168795 + ], + "centerline_face_intersection": [ + 15.549743069259417, + -14.849618414196808, + 0.11879112160168795 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.389519691467285, + -14.857316017150879, + 0.1273205727338791 + ], + "box_pose": [ + 15.606817245483398, + -14.853641510009766, + 0.13603444397449493, + 0.008277061395347118, + 0.0023811371065676212, + 0.7031518816947937, + -0.7109874486923218 + ], + "box_yaw_rad": -1.5596513138605748, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002627462253472438 + } + } + }, + { + "simulation_time_ns": 3980000000, + "center": [ + 15.605109417108027, + -14.849671782122115, + 0.11879326642578822 + ], + "face_center": [ + 15.549796529050834, + -14.850280042652502, + 0.11927834342495623 + ], + "face_normal": [ + -0.9999010956132899, + -0.010995635775202794, + 0.008768824770519767 + ], + "footprint_xy": [ + [ + 15.547905284753423, + -14.92924275778846 + ], + [ + 15.662313549462633, + -14.92924275778846 + ], + [ + 15.662313549462633, + -14.77010080645577 + ], + [ + 15.547905284753423, + -14.77010080645577 + ] + ], + "projected_box_corners": [ + [ + 15.547905284753423, + -14.774838099493047 + ], + [ + 15.549970082042297, + -14.771317327516543 + ], + [ + 15.65853106086781, + -14.773621578432277 + ], + [ + 15.660595858156684, + -14.77010080645577 + ], + [ + 15.549622976059371, + -14.92924275778846 + ], + [ + 15.551687773348245, + -14.925721985811954 + ], + [ + 15.660248752173759, + -14.928026236727687 + ], + [ + 15.662313549462633, + -14.924505464751181 + ] + ], + "yaw_rad": -1.5596721776179734, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.395204544067383, + -14.85168743133545, + 0.12311744689941406 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549772973797591, + -14.850249634870782, + 0.11926679054433675 + ], + "intended_face_normal": [ + -0.9999026906276636, + -0.011008621169331545, + 0.008580275361170536 + ], + "commanded_contact_point": [ + 15.399226455688476, + -14.849640656009697, + 0.11879214378913822 + ], + "centerline_face_intersection": [ + 15.549762207284083, + -14.849640656009697, + 0.11879214378913822 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.391845703125, + -14.855212211608887, + 0.12400101125240326 + ], + "box_pose": [ + 15.606839179992676, + -14.853667259216309, + 0.13603436946868896, + 0.008261899463832378, + 0.002252627396956086, + 0.7031553387641907, + -0.7109847664833069 + ], + "box_yaw_rad": -1.5596598839253148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024586732049309877 + } + } + }, + { + "simulation_time_ns": 4000000000, + "center": [ + 15.605136850556246, + -14.84970592094071, + 0.11879473473641952 + ], + "face_center": [ + 15.549824074095142, + -14.850314096400073, + 0.11929264456717602 + ], + "face_normal": [ + -0.9998990782705708, + -0.010994097930890678, + 0.009000806191411595 + ], + "footprint_xy": [ + [ + 15.54790467293601, + -14.929242667077709 + ], + [ + 15.66236902817648, + -14.929242667077709 + ], + [ + 15.66236902817648, + -14.77016917480371 + ], + [ + 15.54790467293601, + -14.77016917480371 + ] + ], + "projected_box_corners": [ + [ + 15.54790467293601, + -14.774837356932858 + ], + [ + 15.55002589147644, + -14.771385525722435 + ], + [ + 15.65853022585822, + -14.773621006014134 + ], + [ + 15.66065144439865, + -14.77016917480371 + ], + [ + 15.54962225671384, + -14.929242667077709 + ], + [ + 15.551743475254272, + -14.925790835867287 + ], + [ + 15.66024780963605, + -14.928026316158986 + ], + [ + 15.66236902817648, + -14.924574484948563 + ] + ], + "yaw_rad": -1.559672920892191, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.397531509399414, + -14.848060607910156, + 0.12375253438949585 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549796529050834, + -14.850280042652502, + 0.11927834342495623 + ], + "intended_face_normal": [ + -0.9999010956132899, + -0.010995635775202794, + 0.008768824770519767 + ], + "commanded_contact_point": [ + 15.401625900268554, + -14.849671782122115, + 0.11879326642578822 + ], + "centerline_face_intersection": [ + 15.549785586052852, + -14.849671782122115, + 0.11879326642578822 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.395204544067383, + -14.85168743133545, + 0.12311744689941406 + ], + "box_pose": [ + 15.606865882873535, + -14.853702545166016, + 0.13603419065475464, + 0.008243908174335957, + 0.002100298646837473, + 0.7031601667404175, + -0.7109805941581726 + ], + "box_yaw_rad": -1.5596721776179734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023996467215099825 + } + } + }, + { + "simulation_time_ns": 4020000000, + "center": [ + 15.605166736236916, + -14.849744162659043, + 0.11879598617988635 + ], + "face_center": [ + 15.549854088330601, + -14.850352532689458, + 0.11930795800456434 + ], + "face_normal": [ + -0.9998967543623353, + -0.010997615227041901, + 0.00925500740242187 + ], + "footprint_xy": [ + [ + 15.547903445077747, + -14.929242306575583 + ], + [ + 15.662430027396084, + -14.929242306575583 + ], + [ + 15.662430027396084, + -14.770246018742505 + ], + [ + 15.547903445077747, + -14.770246018742505 + ] + ], + "projected_box_corners": [ + [ + 15.547903445077747, + -14.774836279698935 + ], + [ + 15.550086502449478, + -14.771462758803333 + ], + [ + 15.658528740890375, + -14.773619539638107 + ], + [ + 15.660711798262106, + -14.770246018742505 + ], + [ + 15.549621674211725, + -14.929242306575583 + ], + [ + 15.551804731583456, + -14.925868785679981 + ], + [ + 15.660246970024353, + -14.928025566514753 + ], + [ + 15.662430027396084, + -14.924652045619153 + ] + ], + "yaw_rad": -1.5596687934339266, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.399057388305664, + -14.847041130065918, + 0.1245577335357666 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549824074095142, + -14.850314096400073, + 0.11929264456717602 + ], + "intended_face_normal": [ + -0.9998990782705708, + -0.010994097930890678, + 0.009000806191411595 + ], + "commanded_contact_point": [ + 15.403905181884765, + -14.84970592094071, + 0.11879473473641952 + ], + "centerline_face_intersection": [ + 15.549812907882679, + -14.84970592094071, + 0.11879473473641952 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.397531509399414, + -14.848060607910156, + 0.12375253438949585 + ], + "box_pose": [ + 15.606897354125977, + -14.853741645812988, + 0.13603408634662628, + 0.008224429562687874, + 0.0019156449707224965, + 0.7031609416007996, + -0.7109805941581726 + ], + "box_yaw_rad": -1.559672920892191, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002279537738417227 + } + } + }, + { + "simulation_time_ns": 4040000000, + "center": [ + 15.60520158865689, + -14.849790028746176, + 0.11879748396908191 + ], + "face_center": [ + 15.549889100762108, + -14.85039861963144, + 0.1193259113584254 + ], + "face_normal": [ + -0.9998938618048675, + -0.011001607660155566, + 0.009552477625291808 + ], + "footprint_xy": [ + [ + 15.54790192254968, + -14.929242964218496 + ], + [ + 15.662501254764098, + -14.929242964218496 + ], + [ + 15.662501254764098, + -14.770337093273856 + ], + [ + 15.54790192254968, + -14.770337093273856 + ] + ], + "projected_box_corners": [ + [ + 15.54790192254968, + -14.77483613337154 + ], + [ + 15.550157346761361, + -14.771554275044384 + ], + [ + 15.658526898339243, + -14.773618951601012 + ], + [ + 15.660782322550922, + -14.770337093273856 + ], + [ + 15.549620854762855, + -14.929242964218496 + ], + [ + 15.551876278974536, + -14.92596110589134 + ], + [ + 15.660245830552418, + -14.92802578244797 + ], + [ + 15.662501254764098, + -14.924743924120813 + ] + ], + "yaw_rad": -1.5596642985120603, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.400845527648926, + -14.849899291992188, + 0.1250845491886139 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549854088330601, + -14.850352532689458, + 0.11930795800456434 + ], + "intended_face_normal": [ + -0.9998967543623353, + -0.010997615227041901, + 0.00925500740242187 + ], + "commanded_contact_point": [ + 15.40604522705078, + -14.849744162659043, + 0.11879598617988635 + ], + "centerline_face_intersection": [ + 15.549842664982307, + -14.849744162659043, + 0.11879598617988635 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.399057388305664, + -14.847041130065918, + 0.1245577335357666 + ], + "box_pose": [ + 15.606931686401367, + -14.853785514831543, + 0.1360335648059845, + 0.008199010044336319, + 0.0017092098714783788, + 0.7031599879264832, + -0.7109823822975159 + ], + "box_yaw_rad": -1.5596687934339266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002140387186403108 + } + } + }, + { + "simulation_time_ns": 4060000000, + "center": [ + 15.605243300292747, + -14.8498424990345, + 0.11879942590606052 + ], + "face_center": [ + 15.549930997479855, + -14.850450798885502, + 0.11934687659600512 + ], + "face_normal": [ + -0.9998905160460612, + -0.010996346581116923, + 0.009896365275735591 + ], + "footprint_xy": [ + [ + 15.547902352338257, + -14.92924274093249 + ], + [ + 15.662584248247237, + -14.92924274093249 + ], + [ + 15.662584248247237, + -14.770442257136509 + ], + [ + 15.547902352338257, + -14.770442257136509 + ] + ], + "projected_box_corners": [ + [ + 15.547902352338257, + -14.774834994105625 + ], + [ + 15.550241465361884, + -14.771658856838513 + ], + [ + 15.658526957964044, + -14.773618394403618 + ], + [ + 15.66086607098767, + -14.770442257136509 + ], + [ + 15.549620529597826, + -14.92924274093249 + ], + [ + 15.551959642621451, + -14.92606660366538 + ], + [ + 15.660245135223612, + -14.928026141230484 + ], + [ + 15.662584248247237, + -14.924850003963373 + ] + ], + "yaw_rad": -1.5596692532891692, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.401704788208008, + -14.855401992797852, + 0.12406225502490997 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549889100762108, + -14.85039861963144, + 0.1193259113584254 + ], + "intended_face_normal": [ + -0.9998938618048675, + -0.011001607660155566, + 0.009552477625291808 + ], + "commanded_contact_point": [ + 15.408046989440917, + -14.849790028746176, + 0.11879748396908191 + ], + "centerline_face_intersection": [ + 15.54987735735724, + -14.849790028746176, + 0.11879748396908191 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.400845527648926, + -14.849899291992188, + 0.1250845491886139 + ], + "box_pose": [ + 15.606971740722656, + -14.853837966918945, + 0.13603298366069794, + 0.008169232867658138, + 0.0014676019782200456, + 0.7031589150428772, + -0.7109842896461487 + ], + "box_yaw_rad": -1.5596642985120603, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020022883428435605 + } + } + }, + { + "simulation_time_ns": 4080000000, + "center": [ + 15.60529249618017, + -14.849902316296559, + 0.11880186809843919 + ], + "face_center": [ + 15.549980415759586, + -14.850510488473828, + 0.11937180124115536 + ], + "face_normal": [ + -0.9998864958199699, + -0.010994038599907663, + 0.010302784646481655 + ], + "footprint_xy": [ + [ + 15.547902503128197, + -14.929241459703338 + ], + [ + 15.66268248923214, + -14.929241459703338 + ], + [ + 15.66268248923214, + -14.770563172889778 + ], + [ + 15.547902503128197, + -14.770563172889778 + ] + ], + "projected_box_corners": [ + [ + 15.547902503128197, + -14.774832671746346 + ], + [ + 15.550340487867368, + -14.771779517244317 + ], + [ + 15.658526663969361, + -14.773616327391807 + ], + [ + 15.660964648708532, + -14.770563172889778 + ], + [ + 15.549620343651807, + -14.929241459703338 + ], + [ + 15.552058328390975, + -14.92618830520131 + ], + [ + 15.660244504492969, + -14.928025115348799 + ], + [ + 15.66268248923214, + -14.92497196084677 + ] + ], + "yaw_rad": -1.5596715088476696, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.401987075805664, + -14.861186981201172, + 0.12009216845035553 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549930997479855, + -14.850450798885502, + 0.11934687659600512 + ], + "intended_face_normal": [ + -0.9998905160460612, + -0.010996346581116923, + 0.009896365275735591 + ], + "commanded_contact_point": [ + 15.409759788513183, + -14.8498424990345, + 0.11879942590606052 + ], + "centerline_face_intersection": [ + 15.549918883871294, + -14.8498424990345, + 0.11879942590606052 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.401704788208008, + -14.855401992797852, + 0.12406225502490997 + ], + "box_pose": [ + 15.607019424438477, + -14.853898048400879, + 0.13603252172470093, + 0.008135208860039711, + 0.0011886490974575281, + 0.7031611800193787, + -0.7109829187393188 + ], + "box_yaw_rad": -1.5596692532891692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001713603677700891 + } + } + }, + { + "simulation_time_ns": 4100000000, + "center": [ + 15.605347340410859, + -14.849972921882431, + 0.11880395617621047 + ], + "face_center": [ + 15.550035524643445, + -14.850581127374683, + 0.11939959489518051 + ], + "face_normal": [ + -0.9998817116367092, + -0.01099464084089874, + 0.010767469004185959 + ], + "footprint_xy": [ + [ + 15.547901065469631, + -14.929239965498764 + ], + [ + 15.662793615352086, + -14.929239965498764 + ], + [ + 15.662793615352086, + -14.770705878266096 + ], + [ + 15.547901065469631, + -14.770705878266096 + ] + ], + "projected_box_corners": [ + [ + 15.547901065469631, + -14.774829996862504 + ], + [ + 15.550452140688888, + -14.771922289250602 + ], + [ + 15.658524697004458, + -14.773613585877998 + ], + [ + 15.661075772223713, + -14.770705878266096 + ], + [ + 15.549618908598003, + -14.929239965498764 + ], + [ + 15.55216998381726, + -14.926332257886862 + ], + [ + 15.66024254013283, + -14.928023554514258 + ], + [ + 15.662793615352086, + -14.925115846902356 + ] + ], + "yaw_rad": -1.5596715770383156, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.403502464294434, + -14.863463401794434, + 0.12027238309383392 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.549980415759586, + -14.850510488473828, + 0.11937180124115536 + ], + "intended_face_normal": [ + -0.9998864958199699, + -0.010994038599907663, + 0.010302784646481655 + ], + "commanded_contact_point": [ + 15.411773948669433, + -14.849902316296559, + 0.11880186809843919 + ], + "centerline_face_intersection": [ + 15.549967857316807, + -14.849902316296559, + 0.11880186809843919 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.401987075805664, + -14.861186981201172, + 0.12009216845035553 + ], + "box_pose": [ + 15.607075691223145, + -14.85396671295166, + 0.13603214919567108, + 0.008097859099507332, + 0.0008618844440206885, + 0.703162431716919, + -0.710982620716095 + ], + "box_yaw_rad": -1.5596715088476696, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002015049677841441 + } + } + }, + { + "simulation_time_ns": 4120000000, + "center": [ + 15.605413133534892, + -14.850054407498087, + 0.11880695434008667 + ], + "face_center": [ + 15.550101664812248, + -14.850662667256186, + 0.11943291617467064 + ], + "face_normal": [ + -0.9998754380455752, + -0.010995621814417711, + 0.011315625457224698 + ], + "footprint_xy": [ + [ + 15.547900546271332, + -14.92923881387328 + ], + [ + 15.662925720798453, + -14.92923881387328 + ], + [ + 15.662925720798453, + -14.770870001122894 + ], + [ + 15.547900546271332, + -14.770870001122894 + ] + ], + "projected_box_corners": [ + [ + 15.547900546271332, + -14.774827616352148 + ], + [ + 15.550584972768977, + -14.77208652063909 + ], + [ + 15.658523483716623, + -14.773611096835952 + ], + [ + 15.661207910214268, + -14.770870001122894 + ], + [ + 15.549618356855518, + -14.92923881387328 + ], + [ + 15.552302783353163, + -14.926497718160222 + ], + [ + 15.660241294300809, + -14.928022294357083 + ], + [ + 15.662925720798453, + -14.925281198644026 + ] + ], + "yaw_rad": -1.5596718763046191, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.405983924865723, + -14.86033821105957, + 0.12370665371417999 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550035524643445, + -14.850581127374683, + 0.11939959489518051 + ], + "intended_face_normal": [ + -0.9998817116367092, + -0.01099464084089874, + 0.010767469004185959 + ], + "commanded_contact_point": [ + 15.41466739654541, + -14.849972921882431, + 0.11880395617621047 + ], + "centerline_face_intersection": [ + 15.550022436832972, + -14.849972921882431, + 0.11880395617621047 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.403502464294434, + -14.863463401794434, + 0.12027238309383392 + ], + "box_pose": [ + 15.607138633728027, + -14.854047775268555, + 0.13603092730045319, + 0.008048059418797493, + 0.0004811135586351156, + 0.7031627893447876, + -0.7109832763671875 + ], + "box_yaw_rad": -1.5596715770383156, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028943099557266505 + } + } + }, + { + "simulation_time_ns": 4140000000, + "center": [ + 15.605490614951083, + -14.850149366567365, + 0.11881099867351592 + ], + "face_center": [ + 15.550179550012496, + -14.850757591659288, + 0.11947261063195022 + ], + "face_normal": [ + -0.9998681387680232, + -0.01099499514769231, + 0.011960079202974691 + ], + "footprint_xy": [ + [ + 15.547900280680265, + -14.929238721724907 + ], + [ + 15.663080949221902, + -14.929238721724907 + ], + [ + 15.663080949221902, + -14.771060011409823 + ], + [ + 15.547900280680265, + -14.771060011409823 + ] + ], + "projected_box_corners": [ + [ + 15.547900280680265, + -14.774826134042096 + ], + [ + 15.550741439996335, + -14.77227646159367 + ], + [ + 15.658522410557438, + -14.773609683858249 + ], + [ + 15.661363569873508, + -14.771060011409823 + ], + [ + 15.549617660028657, + -14.929238721724907 + ], + [ + 15.552458819344727, + -14.92668904927648 + ], + [ + 15.66023978990583, + -14.92802227154106 + ], + [ + 15.663080949221902, + -14.925472599092632 + ] + ], + "yaw_rad": -1.5596747688534611, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.408510208129883, + -14.855335235595703, + 0.1285756230354309 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550101664812248, + -14.850662667256186, + 0.11943291617467064 + ], + "intended_face_normal": [ + -0.9998754380455752, + -0.010995621814417711, + 0.011315625457224698 + ], + "commanded_contact_point": [ + 15.418047218322753, + -14.850054407498087, + 0.11880695434008667 + ], + "centerline_face_intersection": [ + 15.550087882827942, + -14.850054407498087, + 0.11880695434008667 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.405983924865723, + -14.86033821105957, + 0.12370665371417999 + ], + "box_pose": [ + 15.607213973999023, + -14.854141235351562, + 0.13603009283542633, + 0.007996591739356518, + 3.9298320189118385e-05, + 0.7031630277633667, + -0.7109836339950562 + ], + "box_yaw_rad": -1.5596718763046191, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033808052504030036 + } + } + }, + { + "simulation_time_ns": 4160000000, + "center": [ + 15.605577213494408, + -14.850259267066079, + 0.11881435435737311 + ], + "face_center": [ + 15.550266644778118, + -14.8508672457086, + 0.11951604042074279 + ], + "face_normal": [ + -0.9998591684677176, + -0.010990540037170815, + 0.012684506056064915 + ], + "footprint_xy": [ + [ + 15.54789989617827, + -14.929237921876657 + ], + [ + 15.663254530810546, + -14.929237921876657 + ], + [ + 15.663254530810546, + -14.771280612255502 + ], + [ + 15.54789989617827, + -14.771280612255502 + ] + ], + "projected_box_corners": [ + [ + 15.54789989617827, + -14.774823885611974 + ], + [ + 15.550917327815672, + -14.77249656954054 + ], + [ + 15.658521033610853, + -14.773607928326935 + ], + [ + 15.661538465248254, + -14.771280612255502 + ], + [ + 15.549615961740562, + -14.929237921876657 + ], + [ + 15.552633393377963, + -14.926910605805222 + ], + [ + 15.660237099173145, + -14.92802196459162 + ], + [ + 15.663254530810546, + -14.925694648520185 + ] + ], + "yaw_rad": -1.5596833803302759, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.411286354064941, + -14.854286193847656, + 0.13075140118598938 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550179550012496, + -14.850757591659288, + 0.11947261063195022 + ], + "intended_face_normal": [ + -0.9998681387680232, + -0.01099499514769231, + 0.011960079202974691 + ], + "commanded_contact_point": [ + 15.421127586364745, + -14.850149366567365, + 0.11881099867351592 + ], + "centerline_face_intersection": [ + 15.550164960356515, + -14.850149366567365, + 0.11881099867351592 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.408510208129883, + -14.855335235595703, + 0.1285756230354309 + ], + "box_pose": [ + 15.60730266571045, + -14.854249954223633, + 0.1360296905040741, + 0.007942624390125275, + -0.0004735248221550137, + 0.7031638622283936, + -0.710983395576477 + ], + "box_yaw_rad": -1.5596747688534611, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00308183400844332 + } + } + }, + { + "simulation_time_ns": 4180000000, + "center": [ + 15.605677947454845, + -14.850385880099875, + 0.11881824156402508 + ], + "face_center": [ + 15.550368004770531, + -14.850994934238308, + 0.11956632206216591 + ], + "face_normal": [ + -0.9998478515742684, + -0.011009981971587979, + 0.013523186656327 + ], + "footprint_xy": [ + [ + 15.547898239789784, + -14.929238434007093 + ], + [ + 15.663457655119906, + -14.929238434007093 + ], + [ + 15.663457655119906, + -14.771533326192658 + ], + [ + 15.547898239789784, + -14.771533326192658 + ] + ], + "projected_box_corners": [ + [ + 15.547898239789784, + -14.77482293804878 + ], + [ + 15.551119674764246, + -14.772751434469523 + ], + [ + 15.65851812515841, + -14.773604829771916 + ], + [ + 15.661739560132874, + -14.771533326192658 + ], + [ + 15.549616334776816, + -14.929238434007093 + ], + [ + 15.55283776975128, + -14.927166930427836 + ], + [ + 15.660236220145444, + -14.928020325730229 + ], + [ + 15.663457655119906, + -14.925948822150971 + ] + ], + "yaw_rad": -1.5596703443738975, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.414475440979004, + -14.854681015014648, + 0.130432590842247 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "base_approach", + "intended_face_center": [ + 15.550266644778118, + -14.8508672457086, + 0.11951604042074279 + ], + "intended_face_normal": [ + -0.9998591684677176, + -0.010990540037170815, + 0.012684506056064915 + ], + "commanded_contact_point": [ + 15.42370822906494, + -14.850259267066079, + 0.11881435435737311 + ], + "centerline_face_intersection": [ + 15.550251062542202, + -14.850259267066079, + 0.11881435435737311 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.411286354064941, + -14.854286193847656, + 0.13075140118598938 + ], + "box_pose": [ + 15.607401847839355, + -14.854375839233398, + 0.13602790236473083, + 0.007871460169553757, + -0.001060621696524322, + 0.7031662464141846, + -0.7109811305999756 + ], + "box_yaw_rad": -1.5596833803302759, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002582983957809858 + } + } + }, + { + "simulation_time_ns": 4200000000, + "center": [ + 15.605793633438527, + -14.85053060489736, + 0.11882185758368807 + ], + "face_center": [ + 15.550484437838476, + -14.85113990937014, + 0.11962360743468958 + ], + "face_normal": [ + -0.9998343463967542, + -0.011014507310944, + 0.01449337726851771 + ], + "footprint_xy": [ + [ + 15.547897043044912, + -14.929236435571912 + ], + [ + 15.663690223832141, + -14.929236435571912 + ], + [ + 15.663690223832141, + -14.771824774222805 + ], + [ + 15.547897043044912, + -14.771824774222805 + ] + ], + "projected_box_corners": [ + [ + 15.547897043044912, + -14.774819400566619 + ], + [ + 15.551354508498704, + -14.773043383168366 + ], + [ + 15.658515434245016, + -14.773600791621059 + ], + [ + 15.661972899698808, + -14.771824774222805 + ], + [ + 15.549614367178245, + -14.929236435571912 + ], + [ + 15.553071832632037, + -14.927460418173661 + ], + [ + 15.66023275837835, + -14.928017826626352 + ], + [ + 15.663690223832141, + -14.926241809228099 + ] + ], + "yaw_rad": -1.5596754466627942, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.41905689239502, + -14.853402137756348, + 0.1307469606399536 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550368004770531, + -14.850994934238308, + 0.11956632206216591 + ], + "intended_face_normal": [ + -0.9998478515742684, + -0.011009981971587979, + 0.013523186656327 + ], + "commanded_contact_point": [ + 15.42370822906494, + -14.850259267066079, + 0.11881435435737311 + ], + "centerline_face_intersection": [ + 15.550351170287206, + -14.850385880099875, + 0.11881824156402508 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.414475440979004, + -14.854681015014648, + 0.130432590842247 + ], + "box_pose": [ + 15.60751724243164, + -14.854520797729492, + 0.1360258311033249, + 0.007791347801685333, + -0.001737939310260117, + 0.7031602263450623, + -0.7109865546226501 + ], + "box_yaw_rad": -1.5596703443738975, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + } + }, + { + "simulation_time_ns": 4220000000, + "center": [ + 15.605925867630305, + -14.850696999125116, + 0.11882577952610608 + ], + "face_center": [ + 15.550617612281936, + -14.851307690245891, + 0.11968901054648573 + ], + "face_normal": [ + -0.9998173492967954, + -0.011039573997880692, + 0.015604783502761232 + ], + "footprint_xy": [ + [ + 15.547894172641817, + -14.929235130480246 + ], + [ + 15.663957562618794, + -14.929235130480246 + ], + [ + 15.663957562618794, + -14.772158867769987 + ], + [ + 15.547894172641817, + -14.772158867769987 + ] + ], + "projected_box_corners": [ + [ + 15.547894172641817, + -14.774816673124407 + ], + [ + 15.551622010550828, + -14.773380250011536 + ], + [ + 15.658510683338555, + -14.773595290882858 + ], + [ + 15.662238521247568, + -14.772158867769987 + ], + [ + 15.549613214013043, + -14.929235130480246 + ], + [ + 15.553341051922056, + -14.927798707367375 + ], + [ + 15.660229724709781, + -14.928013748238696 + ], + [ + 15.663957562618794, + -14.926577325125825 + ] + ], + "yaw_rad": -1.5596644297878706, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.424837112426758, + -14.85085391998291, + 0.13141964375972748 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550484437838476, + -14.85113990937014, + 0.11962360743468958 + ], + "intended_face_normal": [ + -0.9998343463967542, + -0.011014507310944, + 0.01449337726851771 + ], + "commanded_contact_point": [ + 15.426565187452715, + -14.85025939271242, + 0.11881410583881277 + ], + "centerline_face_intersection": [ + 15.550466108949143, + -14.85053060489736, + 0.11882185758368807 + ], + "commanded_world_base_velocity": [ + 0.1374553599999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.41905689239502, + -14.853402137756348, + 0.1307469606399536 + ], + "box_pose": [ + 15.607649803161621, + -14.854686737060547, + 0.13602252304553986, + 0.007699393667280674, + -0.0025208049919456244, + 0.7031596302986145, + -0.7109858989715576 + ], + "box_yaw_rad": -1.5596754466627942, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028569584013458603 + } + } + }, + { + "simulation_time_ns": 4240000000, + "center": [ + 15.606077382194607, + -14.85088853637252, + 0.11882957724885813 + ], + "face_center": [ + 15.550770291449671, + -14.851500853705552, + 0.11976274330375708 + ], + "face_normal": [ + -0.9997962965495689, + -0.011068971331412603, + 0.016869011788315402 + ], + "footprint_xy": [ + [ + 15.547892322445044, + -14.92923482853282 + ], + [ + 15.66426244194417, + -14.92923482853282 + ], + [ + 15.66426244194417, + -14.772542244212218 + ], + [ + 15.547892322445044, + -14.772542244212218 + ] + ], + "projected_box_corners": [ + [ + 15.547892322445044, + -14.774815157660619 + ], + [ + 15.551927746941788, + -14.773766878878284 + ], + [ + 15.658506503934913, + -14.773590522994553 + ], + [ + 15.662541928431656, + -14.772542244212218 + ], + [ + 15.549612835957557, + -14.92923482853282 + ], + [ + 15.5536482604543, + -14.928186549750484 + ], + [ + 15.660227017447426, + -14.928010193866754 + ], + [ + 15.66426244194417, + -14.92696191508442 + ] + ], + "yaw_rad": -1.5596549850643981, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.429431915283203, + -14.848262786865234, + 0.13090768456459045 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550617612281936, + -14.851307690245891, + 0.11968901054648573 + ], + "intended_face_normal": [ + -0.9998173492967954, + -0.011039573997880692, + 0.015604783502761232 + ], + "commanded_contact_point": [ + 15.429532082483355, + -14.850260538496913, + 0.11881331415253357 + ], + "centerline_face_intersection": [ + 15.55059740256166, + -14.850696999125116, + 0.11882577952610608 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.424837112426758, + -14.85085391998291, + 0.13141964375972748 + ], + "box_pose": [ + 15.60780143737793, + -14.854877471923828, + 0.13601844012737274, + 0.007592382375150919, + -0.0034192847087979317, + 0.7031518816947937, + -0.7109909653663635 + ], + "box_yaw_rad": -1.5596644297878706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002966895357512403 + } + } + }, + { + "simulation_time_ns": 4260000000, + "center": [ + 15.606253186878154, + -14.851107425375732, + 0.11883395198775225 + ], + "face_center": [ + 15.550947525122579, + -14.851721493295141, + 0.11984783564514162 + ], + "face_normal": [ + -0.9997704644501013, + -0.01110061699840248, + 0.018328158508009618 + ], + "footprint_xy": [ + [ + 15.547891763771178, + -14.92923306774896 + ], + [ + 15.66461460998513, + -14.92923306774896 + ], + [ + 15.66461460998513, + -14.772981783002503 + ], + [ + 15.547891763771178, + -14.772981783002503 + ] + ], + "projected_box_corners": [ + [ + 15.547891763771178, + -14.774812432291627 + ], + [ + 15.55228219496535, + -14.774209918841322 + ], + [ + 15.658503087282327, + -14.773584296452809 + ], + [ + 15.662893518476501, + -14.772981783002503 + ], + [ + 15.549612855279806, + -14.92923306774896 + ], + [ + 15.55400328647398, + -14.928630554298655 + ], + [ + 15.660224178790957, + -14.928004931910142 + ], + [ + 15.66461460998513, + -14.927402418459836 + ] + ], + "yaw_rad": -1.5596513121196183, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.432242393493652, + -14.846450805664062, + 0.12876097857952118 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550770291449671, + -14.851500853705552, + 0.11976274330375708 + ], + "intended_face_normal": [ + -0.9997962965495689, + -0.011068971331412603, + 0.016869011788315402 + ], + "commanded_contact_point": [ + 15.432603103159522, + -14.850264069883826, + 0.11881188871959872 + ], + "centerline_face_intersection": [ + 15.550747752072448, + -14.85088853637252, + 0.11882957724885813 + ], + "commanded_world_base_velocity": [ + 0.11967871999999971, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.429431915283203, + -14.848262786865234, + 0.13090768456459045 + ], + "box_pose": [ + 15.607975006103516, + -14.855096817016602, + 0.13601303100585938, + 0.007467953022569418, + -0.004444083198904991, + 0.7031427621841431, + -0.7109954953193665 + ], + "box_yaw_rad": -1.5596549850643981, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003071023037360143 + } + } + }, + { + "simulation_time_ns": 4280000000, + "center": [ + 15.606452137245947, + -14.851360532710153, + 0.11883823299992427 + ], + "face_center": [ + 15.551148260166517, + -14.851976669551659, + 0.11994420456128574 + ], + "face_normal": [ + -0.9997382025361942, + -0.011138017277859347, + 0.01999284822696301 + ], + "footprint_xy": [ + [ + 15.547890073925451, + -14.929231344754044 + ], + [ + 15.665014200566445, + -14.929231344754044 + ], + [ + 15.665014200566445, + -14.773489720666262 + ], + [ + 15.547890073925451, + -14.773489720666262 + ] + ], + "projected_box_corners": [ + [ + 15.547890073925451, + -14.774810287901378 + ], + [ + 15.552685602874623, + -14.774721994349274 + ], + [ + 15.658497828084311, + -14.773578014218366 + ], + [ + 15.663293357033483, + -14.773489720666262 + ], + [ + 15.549610917458413, + -14.929231344754044 + ], + [ + 15.554406446407585, + -14.929143051201942 + ], + [ + 15.660218671617272, + -14.927999071071033 + ], + [ + 15.665014200566445, + -14.92791077751893 + ] + ], + "yaw_rad": -1.5596529481720218, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.434219360351562, + -14.846631050109863, + 0.12583571672439575 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550947525122579, + -14.851721493295141, + 0.11984783564514162 + ], + "intended_face_normal": [ + -0.9997704644501013, + -0.01110061699840248, + 0.018328158508009618 + ], + "commanded_contact_point": [ + 15.435772726295914, + -14.850271656719295, + 0.11880971357476726 + ], + "centerline_face_intersection": [ + 15.55092212714734, + -14.851107425375732, + 0.11883395198775225 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.432242393493652, + -14.846450805664062, + 0.12876097857952118 + ], + "box_pose": [ + 15.608176231384277, + -14.855347633361816, + 0.13600672781467438, + 0.007327623199671507, + -0.005623617209494114, + 0.7031329870223999, + -0.7109984159469604 + ], + "box_yaw_rad": -1.5596513121196183, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003169632962675498 + } + } + }, + { + "simulation_time_ns": 4300000000, + "center": [ + 15.60668205559216, + -14.851652179232946, + 0.11884210793436004 + ], + "face_center": [ + 15.551380424441021, + -14.852270745927708, + 0.12005401484379333 + ], + "face_normal": [ + -0.999697602483693, + -0.011181942175263027, + 0.021907860700939308 + ], + "footprint_xy": [ + [ + 15.547889980119685, + -14.929731449621148 + ], + [ + 15.665474131064634, + -14.929731449621148 + ], + [ + 15.665474131064634, + -14.773572908844747 + ], + [ + 15.547889980119685, + -14.773572908844747 + ] + ], + "projected_box_corners": [ + [ + 15.547889980119685, + -14.77481004223427 + ], + [ + 15.553151515590828, + -14.775310791101406 + ], + [ + 15.658493242421962, + -14.773572908844747 + ], + [ + 15.663754777893107, + -14.774073657711883 + ], + [ + 15.549609333291212, + -14.929230700754012 + ], + [ + 15.554870868762356, + -14.929731449621148 + ], + [ + 15.660212595593489, + -14.927993567364487 + ], + [ + 15.665474131064634, + -14.928494316231623 + ] + ], + "yaw_rad": -1.5596625695409627, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.43414306640625, + -14.848197937011719, + 0.1229788213968277 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551148260166517, + -14.851976669551659, + 0.11994420456128574 + ], + "intended_face_normal": [ + -0.9997382025361942, + -0.011138017277859347, + 0.01999284822696301 + ], + "commanded_contact_point": [ + 15.439035628871117, + -14.850285424536857, + 0.11880662596310923 + ], + "centerline_face_intersection": [ + 15.551119291961793, + -14.851360532710153, + 0.11883823299992427 + ], + "commanded_world_base_velocity": [ + 0.09071999999999959, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.434219360351562, + -14.846631050109863, + 0.12583571672439575 + ], + "box_pose": [ + 15.608404159545898, + -14.855637550354004, + 0.13599860668182373, + 0.007159250322729349, + -0.006977742072194815, + 0.7031214237213135, + -0.710999608039856 + ], + "box_yaw_rad": -1.5596529481720218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003262933082583024 + } + } + }, + { + "simulation_time_ns": 4320000000, + "center": [ + 15.606936325771196, + -14.851986348523047, + 0.11884992906445417 + ], + "face_center": [ + 15.551637410023709, + -14.852607041815567, + 0.12017856357135659 + ], + "face_normal": [ + -0.9996485156400723, + -0.011220385068122618, + 0.02401796662195016 + ], + "footprint_xy": [ + [ + 15.547892719709035, + -14.930404292287728 + ], + [ + 15.665979931833357, + -14.930404292287728 + ], + [ + 15.665979931833357, + -14.773568404758365 + ], + [ + 15.547892719709035, + -14.773568404758365 + ] + ], + "projected_box_corners": [ + [ + 15.547892719709035, + -14.774809791343408 + ], + [ + 15.55366802628471, + -14.775985246494425 + ], + [ + 15.65849055120401, + -14.773568404758365 + ], + [ + 15.664265857779684, + -14.774743859909382 + ], + [ + 15.54960679376271, + -14.92922883713671 + ], + [ + 15.555382100338383, + -14.930404292287728 + ], + [ + 15.660204625257684, + -14.927987450551667 + ], + [ + 15.665979931833357, + -14.929162905702684 + ] + ], + "yaw_rad": -1.5596966360074627, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.430694580078125, + -14.849278450012207, + 0.12107343971729279 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551380424441021, + -14.852270745927708, + 0.12005401484379333 + ], + "intended_face_normal": [ + -0.999697602483693, + -0.011181942175263027, + 0.021907860700939308 + ], + "commanded_contact_point": [ + 15.442387002633604, + -14.85030796074059, + 0.1188023968053014 + ], + "centerline_face_intersection": [ + 15.551346963112035, + -14.851652179232946, + 0.11884210793436004 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.43414306640625, + -14.848197937011719, + 0.1229788213968277 + ], + "box_pose": [ + 15.608667373657227, + -14.855971336364746, + 0.13598810136318207, + 0.0069692544639110565, + -0.008531841449439526, + 0.7031077146530151, + -0.7109981179237366 + ], + "box_yaw_rad": -1.5596625695409627, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033514522019768124 + } + } + }, + { + "simulation_time_ns": 4340000000, + "center": [ + 15.607202151807117, + -14.852343689001776, + 0.11885945070470436 + ], + "face_center": [ + 15.551906344312831, + -14.852967252901921, + 0.12031056089974691 + ], + "face_normal": [ + -0.999592327184005, + -0.011272277562053401, + 0.026231981819107963 + ], + "footprint_xy": [ + [ + 15.547895036173399, + -14.931125386715697 + ], + [ + 15.666509267440835, + -14.931125386715697 + ], + [ + 15.666509267440835, + -14.773561991287856 + ], + [ + 15.547895036173399, + -14.773561991287856 + ] + ], + "projected_box_corners": [ + [ + 15.547895036173399, + -14.774809119088145 + ], + [ + 15.55420961477256, + -14.776709415814908 + ], + [ + 15.658486651161972, + -14.773561991287856 + ], + [ + 15.664801229761133, + -14.77546228801462 + ], + [ + 15.5496030738531, + -14.929225089988934 + ], + [ + 15.555917652452262, + -14.931125386715697 + ], + [ + 15.660194688841674, + -14.927977962188645 + ], + [ + 15.666509267440835, + -14.929878258915409 + ] + ], + "yaw_rad": -1.5597355018404466, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.429630279541016, + -14.85025405883789, + 0.12186801433563232 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551637410023709, + -14.852607041815567, + 0.12017856357135659 + ], + "intended_face_normal": [ + -0.9996485156400723, + -0.011220385068122618, + 0.02401796662195016 + ], + "commanded_contact_point": [ + 15.445821874972928, + -14.850342368515182, + 0.11879704422860879 + ], + "centerline_face_intersection": [ + 15.551598516110994, + -14.851986348523047, + 0.11884992906445417 + ], + "commanded_world_base_velocity": [ + 0.05746047999999954, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.430694580078125, + -14.849278450012207, + 0.12107343971729279 + ], + "box_pose": [ + 15.60895824432373, + -14.856353759765625, + 0.13597941398620605, + 0.006722376216202974, + -0.01028230506926775, + 0.7030964493751526, + -0.7109883427619934 + ], + "box_yaw_rad": -1.5596966360074627, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003435048839898446 + } + } + }, + { + "simulation_time_ns": 4360000000, + "center": [ + 15.607383933975527, + -14.85252303865561, + 0.1188885097111726 + ], + "face_center": [ + 15.552090408576836, + -14.853149093660189, + 0.12042304196422605 + ], + "face_normal": [ + -0.9995510733285546, + -0.011317309708094525, + 0.02774001747107313 + ], + "footprint_xy": [ + [ + 15.547896880315152, + -14.931486293427646 + ], + [ + 15.666870987635901, + -14.931486293427646 + ], + [ + 15.666870987635901, + -14.773559783883574 + ], + [ + 15.547896880315152, + -14.773559783883574 + ] + ], + "projected_box_corners": [ + [ + 15.547896880315152, + -14.77481189389273 + ], + [ + 15.554577319883851, + -14.777072417175502 + ], + [ + 15.65848393111253, + -14.773559783883574 + ], + [ + 15.66516437068123, + -14.775820307166343 + ], + [ + 15.549603497269823, + -14.929225770144877 + ], + [ + 15.556283936838522, + -14.931486293427646 + ], + [ + 15.6601905480672, + -14.927973660135718 + ], + [ + 15.666870987635901, + -14.930234183418488 + ] + ], + "yaw_rad": -1.559744551446257, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.433257102966309, + -14.850794792175293, + 0.12620709836483002 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551906344312831, + -14.852967252901921, + 0.12031056089974691 + ], + "intended_face_normal": [ + -0.999592327184005, + -0.011272277562053401, + 0.026231981819107963 + ], + "commanded_contact_point": [ + 15.449334690714, + -14.850390674559959, + 0.11879045247044114 + ], + "centerline_face_intersection": [ + 15.551861231532715, + -14.852343689001776, + 0.11885945070470436 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.429630279541016, + -14.85025405883789, + 0.12186801433563232 + ], + "box_pose": [ + 15.609262466430664, + -14.856762886047363, + 0.1359710693359375, + 0.006438554730266333, + -0.012144161388278008, + 0.7030806541442871, + -0.7109772562980652 + ], + "box_yaw_rad": -1.5597355018404466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035131540467163206 + } + } + }, + { + "simulation_time_ns": 4380000000, + "center": [ + 15.607396426769233, + -14.852519692860819, + 0.11889605962191259 + ], + "face_center": [ + 15.552103064835082, + -14.853145903837808, + 0.1204364170289727 + ], + "face_normal": [ + -0.9995481183504942, + -0.011320129249608568, + 0.027845319835096305 + ], + "footprint_xy": [ + [ + 15.547896741256793, + -14.931479873987403 + ], + [ + 15.666896112281675, + -14.931479873987403 + ], + [ + 15.666896112281675, + -14.773559511734236 + ], + [ + 15.547896741256793, + -14.773559511734236 + ] + ], + "projected_box_corners": [ + [ + 15.547896741256793, + -14.774811933688214 + ], + [ + 15.554602377724578, + -14.77706596256539 + ], + [ + 15.658483465125096, + -14.773559511734236 + ], + [ + 15.66518910159288, + -14.775813540611411 + ], + [ + 15.549603751945588, + -14.929225845110228 + ], + [ + 15.556309388413371, + -14.931479873987403 + ], + [ + 15.66019047581389, + -14.92797342315625 + ], + [ + 15.666896112281675, + -14.930227452033424 + ] + ], + "yaw_rad": -1.5597420044130195, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.43881893157959, + -14.850028038024902, + 0.13333971798419952 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.552090408576836, + -14.853149093660189, + 0.12042304196422605 + ], + "intended_face_normal": [ + -0.9995510733285546, + -0.011317309708094525, + 0.02774001747107313 + ], + "commanded_contact_point": [ + 15.452912221844059, + -14.850438380471715, + 0.11878510575769963 + ], + "centerline_face_intersection": [ + 15.552040729649429, + -14.85252303865561, + 0.1188885097111726 + ], + "commanded_world_base_velocity": [ + 0.026781439999999587, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.433257102966309, + -14.850794792175293, + 0.12620709836483002 + ], + "box_pose": [ + 15.60947036743164, + -14.85696792602539, + 0.13599030673503876, + 0.00644085044041276, + -0.01321461983025074, + 0.7030646204948425, + -0.7109739780426025 + ], + "box_yaw_rad": -1.559744551446257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003577853187023574 + } + } + }, + { + "simulation_time_ns": 4400000000, + "center": [ + 15.607384723241328, + -14.852488856794276, + 0.11890111012917812 + ], + "face_center": [ + 15.552091210192055, + -14.85311437955009, + 0.12043637733819809 + ], + "face_normal": [ + -0.9995508500859367, + -0.011307688150771766, + 0.027753303403194263 + ], + "footprint_xy": [ + [ + 15.547896614373748, + -14.931417293946659 + ], + [ + 15.66687283210891, + -14.931417293946659 + ], + [ + 15.66687283210891, + -14.773560419641894 + ], + [ + 15.547896614373748, + -14.773560419641894 + ] + ], + "projected_box_corners": [ + [ + 15.547896614373748, + -14.774811465153523 + ], + [ + 15.554579456593135, + -14.777002982988089 + ], + [ + 15.658483640472294, + -14.773560419641894 + ], + [ + 15.665166482691683, + -14.77575193747646 + ], + [ + 15.549602963790974, + -14.92922577611209 + ], + [ + 15.556285806010361, + -14.931417293946659 + ], + [ + 15.660189989889522, + -14.927974730600464 + ], + [ + 15.66687283210891, + -14.93016624843503 + ] + ], + "yaw_rad": -1.559746314939924, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.442882537841797, + -14.847762107849121, + 0.13747863471508026 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.552103064835082, + -14.853145903837808, + 0.1204364170289727 + ], + "intended_face_normal": [ + -0.9995481183504942, + -0.011320129249608568, + 0.027845319835096305 + ], + "commanded_contact_point": [ + 15.456535386425264, + -14.850476691947103, + 0.11877941300594247 + ], + "centerline_face_intersection": [ + 15.552053058831246, + -14.852519692860819, + 0.11889605962191259 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.43881893157959, + -14.850028038024902, + 0.13333971798419952 + ], + "box_pose": [ + 15.609484672546387, + -14.856964111328125, + 0.13599775731563568, + 0.006487392820417881, + -0.013242464512586594, + 0.7030631899833679, + -0.7109744548797607 + ], + "box_yaw_rad": -1.5597420044130195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036233716010183165 + } + } + }, + { + "simulation_time_ns": 4420000000, + "center": [ + 15.607349735069727, + -14.852431334518874, + 0.11890318809557583 + ], + "face_center": [ + 15.552055773881465, + -14.853057030258148, + 0.12042214376384974 + ], + "face_normal": [ + -0.9995589511755758, + -0.011310815204127689, + 0.027458436726801205 + ], + "footprint_xy": [ + [ + 15.547895700943597, + -14.931302409162015 + ], + [ + 15.666803769195855, + -14.931302409162015 + ], + [ + 15.666803769195855, + -14.773560259875731 + ], + [ + 15.547895700943597, + -14.773560259875731 + ] + ], + "projected_box_corners": [ + [ + 15.547895700943597, + -14.77481165135428 + ], + [ + 15.554506531080053, + -14.7768874421198 + ], + [ + 15.65848362332012, + -14.773560259875731 + ], + [ + 15.665094453456575, + -14.775636050641252 + ], + [ + 15.549605016682879, + -14.929226618396497 + ], + [ + 15.556215846819333, + -14.931302409162015 + ], + [ + 15.6601929390594, + -14.927975226917946 + ], + [ + 15.666803769195855, + -14.930051017683466 + ] + ], + "yaw_rad": -1.5597271541671067, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.443634986877441, + -14.84761905670166, + 0.13540156185626984 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.552091210192055, + -14.85311437955009, + 0.12043637733819809 + ], + "intended_face_normal": [ + -0.9995508500859367, + -0.011307688150771766, + 0.027753303403194263 + ], + "commanded_contact_point": [ + 15.460205680706968, + -14.850514506134871, + 0.1187735225649498 + ], + "centerline_face_intersection": [ + 15.552041506554716, + -14.852488856794276, + 0.11890111012917812 + ], + "commanded_world_base_velocity": [ + 0.005564159999999768, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.442882537841797, + -14.847762107849121, + 0.13747863471508026 + ], + "box_pose": [ + 15.609471321105957, + -14.856928825378418, + 0.13600416481494904, + 0.006546681746840477, + -0.013117015361785889, + 0.7030670642852783, + -0.7109724283218384 + ], + "box_yaw_rad": -1.559746314939924, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036704937984423443 + } + } + }, + { + "simulation_time_ns": 4440000000, + "center": [ + 15.607290342186669, + -14.852348830653542, + 0.11890313518585086 + ], + "face_center": [ + 15.551995647120528, + -14.85297358882537, + 0.12039561262494122 + ], + "face_normal": [ + -0.9995722176189525, + -0.011293866627591131, + 0.02697978498214537 + ], + "footprint_xy": [ + [ + 15.54789345301926, + -14.93113598341626 + ], + [ + 15.666687231354079, + -14.93113598341626 + ], + [ + 15.666687231354079, + -14.773561677890822 + ], + [ + 15.54789345301926, + -14.773561677890822 + ] + ], + "projected_box_corners": [ + [ + 15.54789345301926, + -14.774811194234479 + ], + [ + 15.554387570245156, + -14.776720088150428 + ], + [ + 15.658482843151544, + -14.773561677890822 + ], + [ + 15.664976960377441, + -14.775470571806771 + ], + [ + 15.549603723995899, + -14.929227089500312 + ], + [ + 15.556097841221796, + -14.93113598341626 + ], + [ + 15.660193114128182, + -14.927977573156655 + ], + [ + 15.666687231354079, + -14.929886467072603 + ] + ], + "yaw_rad": -1.5597210353253461, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.442497253417969, + -14.854453086853027, + 0.12834720313549042 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.552055773881465, + -14.853057030258148, + 0.12042214376384974 + ], + "intended_face_normal": [ + -0.9995589511755758, + -0.011310815204127689, + 0.027458436726801205 + ], + "commanded_contact_point": [ + 15.463914727175485, + -14.85054992018926, + 0.1187674640470242 + ], + "centerline_face_intersection": [ + 15.552006966921303, + -14.852431334518874, + 0.11890318809557583 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.443634986877441, + -14.84761905670166, + 0.13540156185626984 + ], + "box_pose": [ + 15.609431266784668, + -14.856863021850586, + 0.13600900769233704, + 0.006612568628042936, + -0.012840661220252514, + 0.7030653357505798, + -0.7109785676002502 + ], + "box_yaw_rad": -1.5597271541671067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037092204796297175 + } + } + }, + { + "simulation_time_ns": 4460000000, + "center": [ + 15.607206869395565, + -14.852241143738414, + 0.1188993981205479 + ], + "face_center": [ + 15.551911158967513, + -14.852865023277689, + 0.12035388696187845 + ], + "face_normal": [ + -0.9995905725001004, + -0.01127798342778863, + 0.026293058219992504 + ], + "footprint_xy": [ + [ + 15.54789150881518, + -14.930920573332195 + ], + [ + 15.66652222997595, + -14.930920573332195 + ], + [ + 15.66652222997595, + -14.773561714144634 + ], + [ + 15.54789150881518, + -14.773561714144634 + ] + ], + "projected_box_corners": [ + [ + 15.54789150881518, + -14.774809473223184 + ], + [ + 15.554218467406118, + -14.77650363135804 + ], + [ + 15.658482929671285, + -14.773561714144634 + ], + [ + 15.664809888262223, + -14.775255872279487 + ], + [ + 15.549603850528909, + -14.92922641519734 + ], + [ + 15.555930809119847, + -14.930920573332195 + ], + [ + 15.660195271385014, + -14.927978656118789 + ], + [ + 15.66652222997595, + -14.929672814253644 + ] + ], + "yaw_rad": -1.5597077020011876, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.444169044494629, + -14.86003303527832, + 0.12398292124271393 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551995647120528, + -14.85297358882537, + 0.12039561262494122 + ], + "intended_face_normal": [ + -0.9995722176189525, + -0.011293866627591131, + 0.02697978498214537 + ], + "commanded_contact_point": [ + 15.467653706158238, + -14.850581177310104, + 0.11876139168081544 + ], + "centerline_face_intersection": [ + 15.551948308554156, + -14.852348830653542, + 0.11890313518585086 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.442497253417969, + -14.854453086853027, + 0.12834720313549042 + ], + "box_pose": [ + 15.609363555908203, + -14.856768608093262, + 0.13601304590702057, + 0.006688876077532768, + -0.012422983534634113, + 0.7030706405639648, + -0.7109800577163696 + ], + "box_yaw_rad": -1.5597210353253461, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003739114562928313 + } + } + }, + { + "simulation_time_ns": 4480000000, + "center": [ + 15.607099117126774, + -14.852104615280695, + 0.11889455024957161 + ], + "face_center": [ + 15.551802131997354, + -14.852728173914498, + 0.12030008807278214 + ], + "face_normal": [ + -0.9996136155075936, + -0.01127218236144556, + 0.02540816179948746 + ], + "footprint_xy": [ + [ + 15.547887841335738, + -14.930645380681984 + ], + [ + 15.666310392917808, + -14.930645380681984 + ], + [ + 15.666310392917808, + -14.773563849879404 + ], + [ + 15.547887841335738, + -14.773563849879404 + ] + ], + "projected_box_corners": [ + [ + 15.547887841335738, + -14.77481096714701 + ], + [ + 15.553999412889851, + -14.776227254461006 + ], + [ + 15.658481811594578, + -14.773563849879404 + ], + [ + 15.664593383148691, + -14.774980137193399 + ], + [ + 15.549604851104855, + -14.929229093367988 + ], + [ + 15.55571642265897, + -14.930645380681984 + ], + [ + 15.660198821363695, + -14.927981976100382 + ], + [ + 15.666310392917808, + -14.929398263414377 + ] + ], + "yaw_rad": -1.5596775607904083, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.448966026306152, + -14.8593168258667, + 0.1230061948299408 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551911158967513, + -14.852865023277689, + 0.12035388696187845 + ], + "intended_face_normal": [ + -0.9995905725001004, + -0.01127798342778863, + 0.026293058219992504 + ], + "commanded_contact_point": [ + 15.471413814869605, + -14.850606030649223, + 0.11875517653611461 + ], + "centerline_face_intersection": [ + 15.551865851975569, + -14.852241143738414, + 0.1188993981205479 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.444169044494629, + -14.86003303527832, + 0.12398292124271393 + ], + "box_pose": [ + 15.609268188476562, + -14.856645584106445, + 0.13601469993591309, + 0.006762114819139242, + -0.011860422790050507, + 0.7030755877494812, + -0.7109839916229248 + ], + "box_yaw_rad": -1.5597077020011876, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037601959839595263 + } + } + }, + { + "simulation_time_ns": 4500000000, + "center": [ + 15.606972267191267, + -14.851947914978059, + 0.11888789434241098 + ], + "face_center": [ + 15.551673824051484, + -14.852569814101733, + 0.12023574364757962 + ], + "face_normal": [ + -0.9996399722250016, + -0.011242183096273228, + 0.024365316010369398 + ], + "footprint_xy": [ + [ + 15.547885736811276, + -14.930329447915673 + ], + [ + 15.66605879757126, + -14.930329447915673 + ], + [ + 15.66605879757126, + -14.773566382040444 + ], + [ + 15.547885736811276, + -14.773566382040444 + ] + ], + "projected_box_corners": [ + [ + 15.547885736811276, + -14.774810180287792 + ], + [ + 15.553743563395992, + -14.775910193003854 + ], + [ + 15.658482623090842, + -14.773566382040444 + ], + [ + 15.664340449675558, + -14.774666394756506 + ], + [ + 15.549604084706978, + -14.92922943519961 + ], + [ + 15.555461911291694, + -14.930329447915673 + ], + [ + 15.660200970986542, + -14.927985636952263 + ], + [ + 15.66605879757126, + -14.929085649668325 + ] + ], + "yaw_rad": -1.5596689775834633, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.453816413879395, + -14.855281829833984, + 0.12242746353149414 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551802131997354, + -14.852728173914498, + 0.12030008807278214 + ], + "intended_face_normal": [ + -0.9996136155075936, + -0.01127218236144556, + 0.02540816179948746 + ], + "commanded_contact_point": [ + 15.475186024792565, + -14.850621340409585, + 0.11874935422585765 + ], + "centerline_face_intersection": [ + 15.551759375423172, + -14.852104615280695, + 0.11889455024957161 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.448966026306152, + -14.8593168258667, + 0.1230061948299408 + ], + "box_pose": [ + 15.609145164489746, + -14.856489181518555, + 0.13601678609848022, + 0.006858154200017452, + -0.011133885942399502, + 0.7030767202377319, + -0.710993766784668 + ], + "box_yaw_rad": -1.5596775607904083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037722454839180897 + } + } + }, + { + "simulation_time_ns": 4520000000, + "center": [ + 15.606839939181183, + -14.851788092692479, + 0.11887996208063684 + ], + "face_center": [ + 15.55154001645483, + -14.852408401989807, + 0.12016629586399163 + ], + "face_normal": [ + -0.9996667189794429, + -0.01121344351748943, + 0.02325328878092403 + ], + "footprint_xy": [ + [ + 15.547886508420406, + -14.930005561929558 + ], + [ + 15.665793369941962, + -14.930005561929558 + ], + [ + 15.665793369941962, + -14.7735706234554 + ], + [ + 15.547886508420406, + -14.7735706234554 + ] + ], + "projected_box_corners": [ + [ + 15.547886508420406, + -14.77481124205006 + ], + [ + 15.553473893249146, + -14.775585447379543 + ], + [ + 15.658486353873116, + -14.7735706234554 + ], + [ + 15.664073738701855, + -14.774344828784884 + ], + [ + 15.549606139660513, + -14.929231356600074 + ], + [ + 15.555193524489253, + -14.930005561929558 + ], + [ + 15.660205985113222, + -14.927990738005416 + ], + [ + 15.665793369941962, + -14.9287649433349 + ] + ], + "yaw_rad": -1.559660729819283, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.458333015441895, + -14.852255821228027, + 0.12050646543502808 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551673824051484, + -14.852569814101733, + 0.12023574364757962 + ], + "intended_face_normal": [ + -0.9996399722250016, + -0.011242183096273228, + 0.024365316010369398 + ], + "commanded_contact_point": [ + 15.47896245376112, + -14.850626600011044, + 0.11874380302839237 + ], + "centerline_face_intersection": [ + 15.551633984586916, + -14.851947914978059, + 0.11888789434241098 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.453816413879395, + -14.855281829833984, + 0.12242746353149414 + ], + "box_pose": [ + 15.609000205993652, + -14.85630989074707, + 0.1360180526971817, + 0.006955016404390335, + -0.010294139385223389, + 0.7030864357948303, + -0.7109959125518799 + ], + "box_yaw_rad": -1.5596689775834633, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003776436711205831 + } + } + }, + { + "simulation_time_ns": 4540000000, + "center": [ + 15.606699235396718, + -14.851618913846853, + 0.11887153284353515 + ], + "face_center": [ + 15.551397809492773, + -14.852236924860655, + 0.120092852443497 + ], + "face_normal": [ + -0.9996938921930005, + -0.011171897029914168, + 0.022078015612439328 + ], + "footprint_xy": [ + [ + 15.547887657101152, + -14.929663492904162 + ], + [ + 15.665510813692283, + -14.929663492904162 + ], + [ + 15.665510813692283, + -14.773574334789545 + ], + [ + 15.547887657101152, + -14.773574334789545 + ] + ], + "projected_box_corners": [ + [ + 15.547887657101152, + -14.774810356817149 + ], + [ + 15.55318924825644, + -14.775242743687063 + ], + [ + 15.658490508909043, + -14.773574334789545 + ], + [ + 15.66379210006433, + -14.774006721659457 + ], + [ + 15.549606370729107, + -14.929231106034248 + ], + [ + 15.554907961884393, + -14.929663492904162 + ], + [ + 15.660209222536997, + -14.927995084006643 + ], + [ + 15.665510813692283, + -14.928427470876557 + ] + ], + "yaw_rad": -1.5596667171315566, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.464597702026367, + -14.852167129516602, + 0.1202707290649414 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.55154001645483, + -14.852408401989807, + 0.12016629586399163 + ], + "intended_face_normal": [ + -0.9996667189794429, + -0.01121344351748943, + 0.02325328878092403 + ], + "commanded_contact_point": [ + 15.482737900315199, + -14.850624175530818, + 0.11873840463351965 + ], + "centerline_face_intersection": [ + 15.551503137189748, + -14.851788092692479, + 0.11887996208063684 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.458333015441895, + -14.852255821228027, + 0.12050646543502808 + ], + "box_pose": [ + 15.608848571777344, + -14.85612678527832, + 0.136018306016922, + 0.007041526027023792, + -0.009415692649781704, + 0.7030957937240601, + -0.7109979391098022 + ], + "box_yaw_rad": -1.559660729819283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037754511920395487 + } + } + }, + { + "simulation_time_ns": 4560000000, + "center": [ + 15.60654500183221, + -14.851438785714112, + 0.11886171279751051 + ], + "face_center": [ + 15.551242045450337, + -14.852054775388034, + 0.12001245361756668 + ], + "face_normal": [ + -0.9997215589197034, + -0.011135356902784, + 0.020802150224941085 + ], + "footprint_xy": [ + [ + 15.5478871547475, + -14.929300596410506 + ], + [ + 15.665202848916921, + -14.929300596410506 + ], + [ + 15.665202848916921, + -14.77357697501772 + ], + [ + 15.5478871547475, + -14.77357697501772 + ] + ], + "projected_box_corners": [ + [ + 15.5478871547475, + -14.774808954365563 + ], + [ + 15.55287861377967, + -14.774879556076835 + ], + [ + 15.658493067511246, + -14.77357697501772 + ], + [ + 15.663484526543417, + -14.773647576728992 + ], + [ + 15.549605477121002, + -14.929229994699234 + ], + [ + 15.554596936153175, + -14.929300596410506 + ], + [ + 15.660211389884749, + -14.92799801535139 + ], + [ + 15.665202848916921, + -14.928068617062664 + ] + ], + "yaw_rad": -1.5596692714838996, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.469613075256348, + -14.853706359863281, + 0.12053334712982178 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551397809492773, + -14.852236924860655, + 0.120092852443497 + ], + "intended_face_normal": [ + -0.9996938921930005, + -0.011171897029914168, + 0.022078015612439328 + ], + "commanded_contact_point": [ + 15.48650376228438, + -14.850611508951395, + 0.11873339308373285 + ], + "centerline_face_intersection": [ + 15.55136393754445, + -14.851618913846853, + 0.11887153284353515 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.464597702026367, + -14.852167129516602, + 0.1202707290649414 + ], + "box_pose": [ + 15.608687400817871, + -14.85593318939209, + 0.13601842522621155, + 0.007129313889890909, + -0.00849099550396204, + 0.7031096816062927, + -0.7109950184822083 + ], + "box_yaw_rad": -1.5596667171315566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037658866059396383 + } + } + }, + { + "simulation_time_ns": 4580000000, + "center": [ + 15.606375995610026, + -14.851243117033945, + 0.11885071108205872 + ], + "face_center": [ + 15.55107143860096, + -14.851856816399348, + 0.11992333815734124 + ], + "face_normal": [ + -0.9997504937473515, + -0.01109395458085638, + 0.01939007391280073 + ], + "footprint_xy": [ + [ + 15.547888802985451, + -14.92923088156195 + ], + [ + 15.6648631882346, + -14.92923088156195 + ], + [ + 15.6648631882346, + -14.773255352505942 + ], + [ + 15.547888802985451, + -14.773255352505942 + ] + ], + "projected_box_corners": [ + [ + 15.547888802985451, + -14.774809893206461 + ], + [ + 15.55253706764553, + -14.774482751236745 + ], + [ + 15.658497917003581, + -14.773582494475658 + ], + [ + 15.66314618166366, + -14.773255352505942 + ], + [ + 15.549605809556391, + -14.92923088156195 + ], + [ + 15.55425407421647, + -14.928903739592233 + ], + [ + 15.660214923574522, + -14.928003482831146 + ], + [ + 15.6648631882346, + -14.92767634086143 + ] + ], + "yaw_rad": -1.559677787563745, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.472830772399902, + -14.856040000915527, + 0.12302374839782715 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.551242045450337, + -14.852054775388034, + 0.12001245361756668 + ], + "intended_face_normal": [ + -0.9997215589197034, + -0.011135356902784, + 0.020802150224941085 + ], + "commanded_contact_point": [ + 15.490250410515248, + -14.850586762479862, + 0.11872874402443881 + ], + "centerline_face_intersection": [ + 15.551211235352902, + -14.851438785714112, + 0.11886171279751051 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.469613075256348, + -14.853706359863281, + 0.12053334712982178 + ], + "box_pose": [ + 15.608510971069336, + -14.855727195739746, + 0.13601765036582947, + 0.007210986223071814, + -0.007500994019210339, + 0.7031218409538269, + -0.710993230342865 + ], + "box_yaw_rad": -1.5596692714838996, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037467328390838814 + } + } + }, + { + "simulation_time_ns": 4600000000, + "center": [ + 15.606185102631775, + -14.851023960466616, + 0.11883814497852856 + ], + "face_center": [ + 15.550878901923637, + -14.851635970962606, + 0.11982328346888604 + ], + "face_normal": [ + -0.9997802071931933, + -0.011063424582624992, + 0.017808526917284184 + ], + "footprint_xy": [ + [ + 15.547888399244199, + -14.929230807083652 + ], + [ + 15.664481806019351, + -14.929230807083652 + ], + [ + 15.664481806019351, + -14.77281711384958 + ], + [ + 15.547888399244199, + -14.77281711384958 + ] + ], + "projected_box_corners": [ + [ + 15.547888399244199, + -14.774810424293133 + ], + [ + 15.552152332523121, + -14.77404113484156 + ], + [ + 15.658500800660473, + -14.77358640330115 + ], + [ + 15.662764733939396, + -14.77281711384958 + ], + [ + 15.549605471324153, + -14.929230807083652 + ], + [ + 15.553869404603077, + -14.928461517632082 + ], + [ + 15.660217872740429, + -14.928006786091672 + ], + [ + 15.664481806019351, + -14.9272374966401 + ] + ], + "yaw_rad": -1.5596773197928546, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.476222038269043, + -14.857926368713379, + 0.12555699050426483 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.55107143860096, + -14.851856816399348, + 0.11992333815734124 + ], + "intended_face_normal": [ + -0.9997504937473515, + -0.01109395458085638, + 0.01939007391280073 + ], + "commanded_contact_point": [ + 15.493969043413426, + -14.85054700617458, + 0.11872477233420285 + ], + "centerline_face_intersection": [ + 15.551043830603291, + -14.851243117033945, + 0.11885071108205872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.472830772399902, + -14.856040000915527, + 0.12302374839782715 + ], + "box_pose": [ + 15.608317375183105, + -14.85550308227539, + 0.13601653277873993, + 0.007297490257769823, + -0.006409287452697754, + 0.7031356692314148, + -0.7109894156455994 + ], + "box_yaw_rad": -1.559677787563745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037188475324408336 + } + } + }, + { + "simulation_time_ns": 4620000000, + "center": [ + 15.60597926941979, + -14.850781836208787, + 0.11882731882703573 + ], + "face_center": [ + 15.550671448976345, + -14.851392484967855, + 0.11971790084957747 + ], + "face_normal": [ + -0.9998094874416753, + -0.011038808217623708, + 0.01609921252262586 + ], + "footprint_xy": [ + [ + 15.547888467813687, + -14.929233601352477 + ], + [ + 15.664070071025892, + -14.929233601352477 + ], + [ + 15.664070071025892, + -14.772330071065097 + ], + [ + 15.547888467813687, + -14.772330071065097 + ] + ], + "projected_box_corners": [ + [ + 15.547888467813687, + -14.774814519860378 + ], + [ + 15.55173685215493, + -14.773551368583233 + ], + [ + 15.658504108700573, + -14.773593222342242 + ], + [ + 15.662352493041816, + -14.772330071065097 + ], + [ + 15.549606045797763, + -14.929233601352477 + ], + [ + 15.553454430139006, + -14.927970450075332 + ], + [ + 15.660221686684649, + -14.928012303834342 + ], + [ + 15.664070071025892, + -14.926749152557196 + ] + ], + "yaw_rad": -1.559673950329015, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.480345726013184, + -14.857954025268555, + 0.12607242166996002 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550878901923637, + -14.851635970962606, + 0.11982328346888604 + ], + "intended_face_normal": [ + -0.9997802071931933, + -0.011063424582624992, + 0.017808526917284184 + ], + "commanded_contact_point": [ + 15.497648464887144, + -14.850487402150003, + 0.11872163701260627 + ], + "centerline_face_intersection": [ + 15.550854582095772, + -14.851023960466616, + 0.11883814497852856 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.476222038269043, + -14.857926368713379, + 0.12555699050426483 + ], + "box_pose": [ + 15.608098983764648, + -14.855252265930176, + 0.1360148787498474, + 0.007389458362013102, + -0.005191589239984751, + 0.7031455636024475, + -0.7109885811805725 + ], + "box_yaw_rad": -1.5596773197928546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00367990554922886 + } + } + }, + { + "simulation_time_ns": 4640000000, + "center": [ + 15.605806076760441, + -14.850560376459452, + 0.11882248953764024 + ], + "face_center": [ + 15.55049701897895, + -14.851169966177357, + 0.11963311445194154 + ], + "face_normal": [ + -0.9998318550256824, + -0.01101966373873342, + 0.014653813395228504 + ], + "footprint_xy": [ + [ + 15.547889840588477, + -14.929234811066994 + ], + [ + 15.663722312932407, + -14.929234811066994 + ], + [ + 15.663722312932407, + -14.77188594185191 + ], + [ + 15.547889840588477, + -14.77188594185191 + ] + ], + "projected_box_corners": [ + [ + 15.547889840588477, + -14.774817501793414 + ], + [ + 15.55138649464982, + -14.773105121287722 + ], + [ + 15.65850795615146, + -14.773598322357604 + ], + [ + 15.662004610212804, + -14.77188594185191 + ], + [ + 15.54960754330808, + -14.929234811066994 + ], + [ + 15.553104197369423, + -14.9275224305613 + ], + [ + 15.660225658871061, + -14.928015631631181 + ], + [ + 15.663722312932407, + -14.92630325112549 + ] + ], + "yaw_rad": -1.5596730150080274, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.483798027038574, + -14.856063842773438, + 0.1246115118265152 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550671448976345, + -14.851392484967855, + 0.11971790084957747 + ], + "intended_face_normal": [ + -0.9998094874416753, + -0.011038808217623708, + 0.01609921252262586 + ], + "commanded_contact_point": [ + 15.501282412672527, + -14.850405785962442, + 0.11872056091067439 + ], + "centerline_face_intersection": [ + 15.550650369283883, + -14.850781836208787, + 0.11882731882703573 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.480345726013184, + -14.857954025268555, + 0.12607242166996002 + ], + "box_pose": [ + 15.607863426208496, + -14.854974746704102, + 0.13601601123809814, + 0.007512292359024286, + -0.0038518686778843403, + 0.7031530141830444, + -0.710988461971283 + ], + "box_yaw_rad": -1.559673950329015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003634864353309415 + } + } + }, + { + "simulation_time_ns": 4660000000, + "center": [ + 15.60565963498817, + -14.850376658186722, + 0.11881727673343326 + ], + "face_center": [ + 15.550349611534543, + -14.850985038922463, + 0.11956003964162161 + ], + "face_normal": [ + -0.9998493116557647, + -0.010997808749170224, + 0.013427059619640455 + ], + "footprint_xy": [ + [ + 15.547892390281532, + -14.929237468458174 + ], + [ + 15.663426879694809, + -14.929237468458174 + ], + [ + 15.663426879694809, + -14.77151584791527 + ], + [ + 15.547892390281532, + -14.77151584791527 + ] + ], + "projected_box_corners": [ + [ + 15.547892390281532, + -14.774822047219892 + ], + [ + 15.551090589551452, + -14.77273260938675 + ], + [ + 15.658512437188785, + -14.77360528574841 + ], + [ + 15.661710636458706, + -14.77151584791527 + ], + [ + 15.549608633517636, + -14.929237468458174 + ], + [ + 15.552806832787555, + -14.927148030625034 + ], + [ + 15.660228680424888, + -14.928020706986693 + ], + [ + 15.663426879694809, + -14.925931269153551 + ] + ], + "yaw_rad": -1.5596823295155504, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.486714363098145, + -14.854164123535156, + 0.12123256921768188 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.55049701897895, + -14.851169966177357, + 0.11963311445194154 + ], + "intended_face_normal": [ + -0.9998318550256824, + -0.01101966373873342, + 0.014653813395228504 + ], + "commanded_contact_point": [ + 15.504883187119274, + -14.850319042802735, + 0.1187211915742635 + ], + "centerline_face_intersection": [ + 15.550478414406482, + -14.850560376459452, + 0.11882248953764024 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.483798027038574, + -14.856063842773438, + 0.1246115118265152 + ], + "box_pose": [ + 15.607665061950684, + -14.854721069335938, + 0.13602174818515778, + 0.007662519346922636, + -0.0026721644680947065, + 0.7031581997871399, + -0.7109870910644531 + ], + "box_yaw_rad": -1.5596730150080274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036018191778378313 + } + } + }, + { + "simulation_time_ns": 4680000000, + "center": [ + 15.605537329612625, + -14.850220071963129, + 0.11881278481892843 + ], + "face_center": [ + 15.550226561753322, + -14.850827540526428, + 0.11949886909726629 + ], + "face_normal": [ + -0.9998627684120378, + -0.010981319242704624, + 0.012402469762268165 + ], + "footprint_xy": [ + [ + 15.54789467816726, + -14.929237235575835 + ], + [ + 15.663179981057992, + -14.929237235575835 + ], + [ + 15.663179981057992, + -14.771202908350425 + ], + [ + 15.54789467816726, + -14.771202908350425 + ] + ], + "projected_box_corners": [ + [ + 15.54789467816726, + -14.774823688516241 + ], + [ + 15.55084359860938, + -14.77241784547702 + ], + [ + 15.65851621388587, + -14.773608751389645 + ], + [ + 15.661465134327988, + -14.771202908350425 + ], + [ + 15.549609524897264, + -14.929237235575835 + ], + [ + 15.55255844533938, + -14.926831392536613 + ], + [ + 15.660231060615873, + -14.928022298449239 + ], + [ + 15.663179981057992, + -14.925616455410019 + ] + ], + "yaw_rad": -1.5596912374505765, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.489917755126953, + -14.851038932800293, + 0.12045088410377502 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550349611534543, + -14.850985038922463, + 0.11956003964162161 + ], + "intended_face_normal": [ + -0.9998493116557647, + -0.010997808749170224, + 0.013427059619640455 + ], + "commanded_contact_point": [ + 15.508443926159504, + -14.850236905579884, + 0.11872106392806663 + ], + "centerline_face_intersection": [ + 15.550332938614309, + -14.850376658186722, + 0.11881727673343326 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.486714363098145, + -14.854164123535156, + 0.12123256921768188 + ], + "box_pose": [ + 15.607497215270996, + -14.854510307312012, + 0.1360253542661667, + 0.007783879060298204, + -0.00167717260774225, + 0.7031646370887756, + -0.7109824419021606 + ], + "box_yaw_rad": -1.5596823295155504, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035616862652808417 + } + } + }, + { + "simulation_time_ns": 4700000000, + "center": [ + 15.605434019700079, + -14.850090142933698, + 0.1188081982136565 + ], + "face_center": [ + 15.55012267980858, + -14.85069739208449, + 0.11944681597440067 + ], + "face_normal": [ + -0.999873109141637, + -0.01097735288307189, + 0.01154440892664893 + ], + "footprint_xy": [ + [ + 15.547895168402961, + -14.929237354474916 + ], + [ + 15.662972870997196, + -14.929237354474916 + ], + [ + 15.662972870997196, + -14.770942931392481 + ], + [ + 15.547895168402961, + -14.770942931392481 + ] + ], + "projected_box_corners": [ + [ + 15.547895168402961, + -14.774825583271431 + ], + [ + 15.550635338573104, + -14.772157429694062 + ], + [ + 15.658517848185962, + -14.77361108496985 + ], + [ + 15.661258018356104, + -14.770942931392481 + ], + [ + 15.549610021044053, + -14.929237354474916 + ], + [ + 15.552350191214197, + -14.926569200897546 + ], + [ + 15.660232700827054, + -14.928022856173335 + ], + [ + 15.662972870997196, + -14.925354702595966 + ] + ], + "yaw_rad": -1.5596910714672447, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.49252986907959, + -14.848206520080566, + 0.1216602772474289 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.550226561753322, + -14.850827540526428, + 0.11949886909726629 + ], + "intended_face_normal": [ + -0.9998627684120378, + -0.010981319242704624, + 0.012402469762268165 + ], + "commanded_contact_point": [ + 15.51195877422497, + -14.850157309620283, + 0.11872055106493376 + ], + "centerline_face_intersection": [ + 15.550211377858817, + -14.850220071963129, + 0.11881278481892843 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.489917755126953, + -14.851038932800293, + 0.12045088410377502 + ], + "box_pose": [ + 15.607357025146484, + -14.854331016540527, + 0.1360282003879547, + 0.007887422107160091, + -0.0008439646917395294, + 0.7031693458557129, + -0.7109781503677368 + ], + "box_yaw_rad": -1.5596912374505765, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035157492378044526 + } + } + }, + { + "simulation_time_ns": 4720000000, + "center": [ + 15.605349999251697, + -14.849982143867496, + 0.1188052705153303 + ], + "face_center": [ + 15.55003821537722, + -14.850589674174463, + 0.11940474631678048 + ], + "face_normal": [ + -0.9998811351022955, + -0.010982435394203405, + 0.010836832639147153 + ], + "footprint_xy": [ + [ + 15.547896260105798, + -14.929239908944423 + ], + [ + 15.662803738397596, + -14.929239908944423 + ], + [ + 15.662803738397596, + -14.77072437879057 + ], + [ + 15.547896260105798, + -14.77072437879057 + ] + ], + "projected_box_corners": [ + [ + 15.547896260105798, + -14.774829778485401 + ], + [ + 15.550464203289298, + -14.771939439404504 + ], + [ + 15.658519827854748, + -14.773614717871466 + ], + [ + 15.66108777103825, + -14.77072437879057 + ], + [ + 15.549612227465143, + -14.929239908944423 + ], + [ + 15.552180170648644, + -14.926349569863525 + ], + [ + 15.660235795214094, + -14.928024848330487 + ], + [ + 15.662803738397596, + -14.92513450924959 + ] + ], + "yaw_rad": -1.5596837351605108, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.495107650756836, + -14.847917556762695, + 0.12336459755897522 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.55012267980858, + -14.85069739208449, + 0.11944681597440067 + ], + "intended_face_normal": [ + -0.999873109141637, + -0.01097735288307189, + 0.01154440892664893 + ], + "commanded_contact_point": [ + 15.515420295770756, + -14.850082366661049, + 0.11871931641939287 + ], + "centerline_face_intersection": [ + 15.550108640129583, + -14.850090142933698, + 0.1188081982136565 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.49252986907959, + -14.848206520080566, + 0.1216602772474289 + ], + "box_pose": [ + 15.60723876953125, + -14.854182243347168, + 0.1360296756029129, + 0.007970195263624191, + -0.00015014424570836127, + 0.7031698226928711, + -0.7109772562980652 + ], + "box_yaw_rad": -1.5596910714672447, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034623329394250723 + } + } + }, + { + "simulation_time_ns": 4740000000, + "center": [ + 15.605279163032655, + -14.849893205629801, + 0.11880220188543171 + ], + "face_center": [ + 15.549967035629075, + -14.85050077588482, + 0.11936919451294441 + ], + "face_normal": [ + -0.9998873451401243, + -0.010983157542356348, + 0.010249628420566016 + ], + "footprint_xy": [ + [ + 15.547896419318295, + -14.929241412270125 + ], + [ + 15.662661906747013, + -14.929241412270125 + ], + [ + 15.662661906747013, + -14.770544998989477 + ], + [ + 15.547896419318295, + -14.770544998989477 + ] + ], + "projected_box_corners": [ + [ + 15.547896419318295, + -14.774832737343136 + ], + [ + 15.550321468583956, + -14.771760139499513 + ], + [ + 15.658520674125453, + -14.7736175968331 + ], + [ + 15.660945723391114, + -14.770544998989477 + ], + [ + 15.549612602674195, + -14.929241412270125 + ], + [ + 15.552037651939855, + -14.926168814426502 + ], + [ + 15.660236857481353, + -14.92802627176009 + ], + [ + 15.662661906747013, + -14.924953673916466 + ] + ], + "yaw_rad": -1.559682231726327, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.497732162475586, + -14.850711822509766, + 0.12423335015773773 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.55003821537722, + -14.850589674174463, + 0.11940474631678048 + ], + "intended_face_normal": [ + -0.9998811351022955, + -0.010982435394203405, + 0.010836832639147153 + ], + "commanded_contact_point": [ + 15.518823529709865, + -14.850011882175608, + 0.11871825998111075 + ], + "centerline_face_intersection": [ + 15.550025063773308, + -14.849982143867496, + 0.1188052705153303 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.495107650756836, + -14.847917556762695, + 0.12336459755897522 + ], + "box_pose": [ + 15.607142448425293, + -14.854058265686035, + 0.13603182137012482, + 0.008047039620578289, + 0.0004307087219785899, + 0.7031671404838562, + -0.7109790444374084 + ], + "box_yaw_rad": -1.5596837351605108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003403963927988986 + } + } + }, + { + "simulation_time_ns": 4760000000, + "center": [ + 15.605222808177595, + -14.849819003329763, + 0.11879942290970771 + ], + "face_center": [ + 15.549910411791977, + -14.850426034032656, + 0.11933957154429911 + ], + "face_normal": [ + -0.9998922075771423, + -0.010973403960854111, + 0.009764364698576111 + ], + "footprint_xy": [ + [ + 15.547899579514914, + -14.929240372479939 + ], + [ + 15.662546036840276, + -14.929240372479939 + ], + [ + 15.662546036840276, + -14.77039763417959 + ], + [ + 15.547899579514914, + -14.77039763417959 + ] + ], + "projected_box_corners": [ + [ + 15.547899579514914, + -14.774832952173782 + ], + [ + 15.550206597716379, + -14.771611695585374 + ], + [ + 15.658524372286147, + -14.773618890767997 + ], + [ + 15.660831390487614, + -14.77039763417959 + ], + [ + 15.549614225867575, + -14.929240372479939 + ], + [ + 15.551921244069042, + -14.926019115891531 + ], + [ + 15.66023901863881, + -14.928026311074154 + ], + [ + 15.662546036840276, + -14.924805054485745 + ] + ], + "yaw_rad": -1.5596920944047314, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.499669075012207, + -14.855088233947754, + 0.12262649834156036 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549967035629075, + -14.85050077588482, + 0.11936919451294441 + ], + "intended_face_normal": [ + -0.9998873451401243, + -0.010983157542356348, + 0.010249628420566016 + ], + "commanded_contact_point": [ + 15.522159796217453, + -14.849946319183825, + 0.11871654685486573 + ], + "centerline_face_intersection": [ + 15.549954571162917, + -14.849893205629801, + 0.11880220188543171 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.497732162475586, + -14.850711822509766, + 0.12423335015773773 + ], + "box_pose": [ + 15.607061386108398, + -14.85395622253418, + 0.13603290915489197, + 0.00810770969837904, + 0.000909594411496073, + 0.7031661868095398, + -0.7109788656234741 + ], + "box_yaw_rad": -1.559682231726327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033369110941631926 + } + } + }, + { + "simulation_time_ns": 4780000000, + "center": [ + 15.605174308310929, + -14.849757471860347, + 0.11879749406688475 + ], + "face_center": [ + 15.549861717480535, + -14.850365469491848, + 0.11931580307515628 + ], + "face_normal": [ + -0.9998957225905645, + -0.010990883304433097, + 0.00936956581802538 + ], + "footprint_xy": [ + [ + 15.547897648603387, + -14.929241888875325 + ], + [ + 15.66245096801847, + -14.929241888875325 + ], + [ + 15.66245096801847, + -14.77027305484537 + ], + [ + 15.547897648603387, + -14.77027305484537 + ] + ], + "projected_box_corners": [ + [ + 15.547897648603387, + -14.774835613474993 + ], + [ + 15.550108509634418, + -14.771489050108372 + ], + [ + 15.658522830264172, + -14.773619618211992 + ], + [ + 15.660733691295203, + -14.77027305484537 + ], + [ + 15.549614925326653, + -14.929241888875325 + ], + [ + 15.551825786357686, + -14.925895325508703 + ], + [ + 15.660240106987438, + -14.928025893612324 + ], + [ + 15.66245096801847, + -14.924679330245702 + ] + ], + "yaw_rad": -1.5596749787918573, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.502002716064453, + -14.859817504882812, + 0.11675465106964111 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549910411791977, + -14.850426034032656, + 0.11933957154429911 + ], + "intended_face_normal": [ + -0.9998922075771423, + -0.010973403960854111, + 0.009764364698576111 + ], + "commanded_contact_point": [ + 15.525424288324906, + -14.849884870274277, + 0.118714453538568 + ], + "centerline_face_intersection": [ + 15.549898485349201, + -14.849819003329763, + 0.11879942290970771 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.499669075012207, + -14.855088233947754, + 0.12262649834156036 + ], + "box_pose": [ + 15.606996536254883, + -14.85387134552002, + 0.13603352010250092, + 0.008155020885169506, + 0.0013024343643337488, + 0.7031691074371338, + -0.7109747529029846 + ], + "box_yaw_rad": -1.5596920944047314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032650710666204193 + } + } + }, + { + "simulation_time_ns": 4800000000, + "center": [ + 15.60513512480335, + -14.849707528509217, + 0.1187956586333262 + ], + "face_center": [ + 15.549822372376472, + -14.85031594714516, + 0.11929597998431117 + ], + "face_normal": [ + -0.9998986437995437, + -0.010998493877977467, + 0.00904439967935336 + ], + "footprint_xy": [ + [ + 15.547897350994731, + -14.929242401700204 + ], + [ + 15.662372898611972, + -14.929242401700204 + ], + [ + 15.662372898611972, + -14.77017265531823 + ], + [ + 15.547897350994731, + -14.77017265531823 + ] + ], + "projected_box_corners": [ + [ + 15.547897350994731, + -14.774837058412711 + ], + [ + 15.550029059398733, + -14.771389492590115 + ], + [ + 15.65852285584849, + -14.773620221140826 + ], + [ + 15.660654564252495, + -14.77017265531823 + ], + [ + 15.549615685354208, + -14.929242401700204 + ], + [ + 15.55174739375821, + -14.925794835877609 + ], + [ + 15.66024119020797, + -14.928025564428319 + ], + [ + 15.662372898611972, + -14.924577998605724 + ] + ], + "yaw_rad": -1.559668062769427, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.504968643188477, + -14.861653327941895, + 0.11421272158622742 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549861717480535, + -14.850365469491848, + 0.11931580307515628 + ], + "intended_face_normal": [ + -0.9998957225905645, + -0.010990883304433097, + 0.00936956581802538 + ], + "commanded_contact_point": [ + 15.528607199674063, + -14.849827272387046, + 0.11871235670938546 + ], + "centerline_face_intersection": [ + 15.549850179968553, + -14.849757471860347, + 0.11879749406688475 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.502002716064453, + -14.859817504882812, + 0.11675465106964111 + ], + "box_pose": [ + 15.606941223144531, + -14.853800773620605, + 0.13603441417217255, + 0.008199804462492466, + 0.0016285221790894866, + 0.7031623721122742, + -0.7109801769256592 + ], + "box_yaw_rad": -1.5596749787918573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031834331420492316 + } + } + }, + { + "simulation_time_ns": 4820000000, + "center": [ + 15.605103296387417, + -14.849667473347692, + 0.11879367635348162 + ], + "face_center": [ + 15.54979041994799, + -14.850276250970484, + 0.1192799238986369 + ], + "face_normal": [ + -0.999900885596801, + -0.011004983348258501, + 0.008789984942339124 + ], + "footprint_xy": [ + [ + 15.547895925885857, + -14.929242027277606 + ], + [ + 15.662310666888976, + -14.929242027277606 + ], + [ + 15.662310666888976, + -14.77009291941778 + ], + [ + 15.547895925885857, + -14.77009291941778 + ] + ], + "projected_box_corners": [ + [ + 15.547895925885857, + -14.774837431214245 + ], + [ + 15.549965697358545, + -14.77131047466336 + ], + [ + 15.65852167876471, + -14.773619875968663 + ], + [ + 15.660591450237398, + -14.77009291941778 + ], + [ + 15.549615142537435, + -14.929242027277606 + ], + [ + 15.551684914010123, + -14.925715070726723 + ], + [ + 15.660240895416289, + -14.928024472032025 + ], + [ + 15.662310666888976, + -14.924497515481141 + ] + ], + "yaw_rad": -1.5596622954708494, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.508563995361328, + -14.858341217041016, + 0.11448639631271362 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549822372376472, + -14.85031594714516, + 0.11929597998431117 + ], + "intended_face_normal": [ + -0.9998986437995437, + -0.010998493877977467, + 0.00904439967935336 + ], + "commanded_contact_point": [ + 15.531703460500804, + -14.849774377180232, + 0.11870992186239349 + ], + "centerline_face_intersection": [ + 15.549811158090698, + -14.849707528509217, + 0.1187956586333262 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.504968643188477, + -14.861653327941895, + 0.11421272158622742 + ], + "box_pose": [ + 15.60689640045166, + -14.853743553161621, + 0.13603486120700836, + 0.008233487606048584, + 0.0018938288558274508, + 0.7031592726707458, + -0.7109822034835815 + ], + "box_yaw_rad": -1.559668062769427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030967135706412587 + } + } + }, + { + "simulation_time_ns": 4840000000, + "center": [ + 15.605080149209126, + -14.849635735870011, + 0.11879184542490138 + ], + "face_center": [ + 15.549767176885501, + -14.850244448727604, + 0.11926683086512926 + ], + "face_normal": [ + -0.9999026189128332, + -0.011003812576054206, + 0.00858639783178794 + ], + "footprint_xy": [ + [ + 15.547897598201038, + -14.929241225890747 + ], + [ + 15.662262700217214, + -14.929241225890747 + ], + [ + 15.662262700217214, + -14.770030245849274 + ], + [ + 15.547897598201038, + -14.770030245849274 + ] + ], + "projected_box_corners": [ + [ + 15.547897598201038, + -14.77483723320501 + ], + [ + 15.549917839469357, + -14.77124767156446 + ], + [ + 15.65852354284829, + -14.773619807489823 + ], + [ + 15.660543784116609, + -14.770030245849274 + ], + [ + 15.549616514301643, + -14.929241225890747 + ], + [ + 15.551636755569962, + -14.925651664250198 + ], + [ + 15.660242458948895, + -14.928023800175561 + ], + [ + 15.662262700217214, + -14.92443423853501 + ] + ], + "yaw_rad": -1.5596641982471127, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.512125015258789, + -14.852532386779785, + 0.11784818768501282 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.54979041994799, + -14.850276250970484, + 0.1192799238986369 + ], + "intended_face_normal": [ + -0.999900885596801, + -0.011004983348258501, + 0.008789984942339124 + ], + "commanded_contact_point": [ + 15.534705712274317, + -14.84972604414752, + 0.11870689670742005 + ], + "centerline_face_intersection": [ + 15.549779453712175, + -14.849667473347692, + 0.11879367635348162 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.508563995361328, + -14.858341217041016, + 0.11448639631271362 + ], + "box_pose": [ + 15.606860160827637, + -14.853697776794434, + 0.13603466749191284, + 0.008260374888777733, + 0.0021019517444074154, + 0.7031566500663757, + -0.71098393201828 + ], + "box_yaw_rad": -1.5596622954708494, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030026423272134233 + } + } + }, + { + "simulation_time_ns": 4860000000, + "center": [ + 15.605060849845211, + -14.84961247063336, + 0.1187910138446584 + ], + "face_center": [ + 15.54974780349222, + -14.850220798489179, + 0.1192577356641438 + ], + "face_normal": [ + -0.9999039571550522, + -0.010996852829232018, + 0.008437014862929137 + ], + "footprint_xy": [ + [ + 15.547896977554641, + -14.929241316843003 + ], + [ + 15.66222472213578, + -14.929241316843003 + ], + [ + 15.66222472213578, + -14.769983624423718 + ], + [ + 15.547896977554641, + -14.769983624423718 + ] + ], + "projected_box_corners": [ + [ + 15.547896977554641, + -14.77483777877331 + ], + [ + 15.54988087576146, + -14.771200280135355 + ], + [ + 15.65852307026062, + -14.773621123061675 + ], + [ + 15.660506968467438, + -14.769983624423718 + ], + [ + 15.549614731222983, + -14.929241316843003 + ], + [ + 15.551598629429801, + -14.925603818205047 + ], + [ + 15.660240823928962, + -14.928024661131367 + ], + [ + 15.66222472213578, + -14.92438716249341 + ] + ], + "yaw_rad": -1.559671693074631, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.515987396240234, + -14.850382804870605, + 0.1222849190235138 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549767176885501, + -14.850244448727604, + 0.11926683086512926 + ], + "intended_face_normal": [ + -0.9999026189128332, + -0.011003812576054206, + 0.00858639783178794 + ], + "commanded_contact_point": [ + 15.537608781760067, + -14.849682171777442, + 0.11870362822115157 + ], + "centerline_face_intersection": [ + 15.549756402436927, + -14.849635735870011, + 0.11879184542490138 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.512125015258789, + -14.852532386779785, + 0.11784818768501282 + ], + "box_pose": [ + 15.606833457946777, + -14.85366153717041, + 0.13603425025939941, + 0.008280562236905098, + 0.0022671185433864594, + 0.7031568288803101, + -0.7109829783439636 + ], + "box_yaw_rad": -1.5596641982471127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029034028151384114 + } + } + }, + { + "simulation_time_ns": 4880000000, + "center": [ + 15.605046606566152, + -14.849594831921582, + 0.11878994398335427 + ], + "face_center": [ + 15.549733497518453, + -14.85020288255016, + 0.11925048279171206 + ], + "face_normal": [ + -0.999905090498672, + -0.010991841342211872, + 0.008325243450916009 + ], + "footprint_xy": [ + [ + 15.54789668358008, + -14.929239911522815 + ], + [ + 15.662196529552226, + -14.929239911522815 + ], + [ + 15.662196529552226, + -14.769949752320349 + ], + [ + 15.54789668358008, + -14.769949752320349 + ] + ], + "projected_box_corners": [ + [ + 15.54789668358008, + -14.77483666986368 + ], + [ + 15.549853416783908, + -14.771165853577505 + ], + [ + 15.658522901675479, + -14.773620568606523 + ], + [ + 15.660479634879305, + -14.769949752320349 + ], + [ + 15.549613578252998, + -14.929239911522815 + ], + [ + 15.551570311456826, + -14.925569095236641 + ], + [ + 15.660239796348398, + -14.928023810265659 + ], + [ + 15.662196529552226, + -14.924352993979484 + ] + ], + "yaw_rad": -1.5596772343571657, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.519697189331055, + -14.850138664245605, + 0.12558341026306152 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.54974780349222, + -14.850220798489179, + 0.1192577356641438 + ], + "intended_face_normal": [ + -0.9999039571550522, + -0.010996852829232018, + 0.008437014862929137 + ], + "commanded_contact_point": [ + 15.540402944923514, + -14.84964368840567, + 0.11870068302477668 + ], + "centerline_face_intersection": [ + 15.549737177116697, + -14.84961247063336, + 0.1187910138446584 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.515987396240234, + -14.850382804870605, + 0.1222849190235138 + ], + "box_pose": [ + 15.6068115234375, + -14.85363483428955, + 0.13603448867797852, + 0.008298331871628761, + 0.002391267567873001, + 0.7031590938568115, + -0.7109801173210144 + ], + "box_yaw_rad": -1.559671693074631, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002794429714279527 + } + } + }, + { + "simulation_time_ns": 4900000000, + "center": [ + 15.605039216001739, + -14.84958490983512, + 0.11878951311573631 + ], + "face_center": [ + 15.549726075463521, + -14.850192649641738, + 0.11924634396903122 + ], + "face_normal": [ + -0.9999056597584594, + -0.01098622255732773, + 0.00825821407566385 + ], + "footprint_xy": [ + [ + 15.547897866142959, + -14.929240212802018 + ], + [ + 15.662180565860517, + -14.929240212802018 + ], + [ + 15.662180565860517, + -14.76992960686822 + ], + [ + 15.547897866142959, + -14.76992960686822 + ] + ], + "projected_box_corners": [ + [ + 15.547897866142959, + -14.774837179294925 + ], + [ + 15.549838304349109, + -14.771145086481457 + ], + [ + 15.658524147219392, + -14.77362169968169 + ], + [ + 15.660464585425542, + -14.76992960686822 + ], + [ + 15.549613846577936, + -14.929240212802018 + ], + [ + 15.551554284784086, + -14.92554811998855 + ], + [ + 15.660240127654369, + -14.928024733188781 + ], + [ + 15.662180565860517, + -14.924332640375313 + ] + ], + "yaw_rad": -1.559683139750891, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.52416706085205, + -14.849267959594727, + 0.12572626769542694 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549733497518453, + -14.85020288255016, + 0.11925048279171206 + ], + "intended_face_normal": [ + -0.999905090498672, + -0.010991841342211872, + 0.008325243450916009 + ], + "commanded_contact_point": [ + 15.543082690633037, + -14.849609085858608, + 0.11869731176115958 + ], + "centerline_face_intersection": [ + 15.54972299654432, + -14.849594831921582, + 0.11878994398335427 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.519697189331055, + -14.850138664245605, + 0.12558341026306152 + ], + "box_pose": [ + 15.606795310974121, + -14.853614807128906, + 0.13603417575359344, + 0.00830788817256689, + 0.0024803790729492903, + 0.7031607627868652, + -0.7109781503677368 + ], + "box_yaw_rad": -1.5596772343571657, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026799712254778293 + } + } + }, + { + "simulation_time_ns": 4920000000, + "center": [ + 15.605034160323875, + -14.84958074168975, + 0.11878884395811709 + ], + "face_center": [ + 15.549721010648689, + -14.850188576920958, + 0.11924353308588606 + ], + "face_normal": [ + -0.9999058249291094, + -0.010987947564963019, + 0.008219497715424795 + ], + "footprint_xy": [ + [ + 15.547897385113183, + -14.929240234852523 + ], + [ + 15.662170935534567, + -14.929240234852523 + ], + [ + 15.662170935534567, + -14.769921248526975 + ], + [ + 15.547897385113183, + -14.769921248526975 + ] + ], + "projected_box_corners": [ + [ + 15.547897385113183, + -14.774837307399286 + ], + [ + 15.549828437883237, + -14.771136918989395 + ], + [ + 15.658523684463555, + -14.773621636936868 + ], + [ + 15.660454737233609, + -14.769921248526975 + ], + [ + 15.549613583414143, + -14.929240234852523 + ], + [ + 15.551544636184197, + -14.92553984644263 + ], + [ + 15.660239882764515, + -14.928024564390103 + ], + [ + 15.662170935534567, + -14.924324175980212 + ] + ], + "yaw_rad": -1.5596817212701921, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.529561042785645, + -14.847673416137695, + 0.12432289123535156 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549726075463521, + -14.850192649641738, + 0.11924634396903122 + ], + "intended_face_normal": [ + -0.9999056597584594, + -0.01098622255732773, + 0.00825821407566385 + ], + "commanded_contact_point": [ + 15.545643059876951, + -14.849580642644069, + 0.11869408838455879 + ], + "centerline_face_intersection": [ + 15.549715637476385, + -14.84958490983512, + 0.11878951311573631 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.52416706085205, + -14.849267959594727, + 0.12572626769542694 + ], + "box_pose": [ + 15.606786727905273, + -14.85360336303711, + 0.13603422045707703, + 0.008315530605614185, + 0.002535736421123147, + 0.703162670135498, + -0.7109759449958801 + ], + "box_yaw_rad": -1.559683139750891, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002560529256187691 + } + } + }, + { + "simulation_time_ns": 4940000000, + "center": [ + 15.605033538377688, + -14.849582438738157, + 0.11878845693915613 + ], + "face_center": [ + 15.549720375334507, + -14.850190247870362, + 0.11924208171824752 + ], + "face_normal": [ + -0.9999060665847772, + -0.010987475768531763, + 0.008200257291606422 + ], + "footprint_xy": [ + [ + 15.547899107368583, + -14.929240472895577 + ], + [ + 15.662167969386793, + -14.929240472895577 + ], + [ + 15.662167969386793, + -14.769924404580738 + ], + [ + 15.547899107368583, + -14.769924404580738 + ] + ], + "projected_box_corners": [ + [ + 15.547899107368583, + -14.774837503653373 + ], + [ + 15.549825578454874, + -14.771140022845149 + ], + [ + 15.658525433454946, + -14.773621885388962 + ], + [ + 15.660451904541235, + -14.769924404580738 + ], + [ + 15.549615172214141, + -14.929240472895577 + ], + [ + 15.551541643300432, + -14.925542992087353 + ], + [ + 15.660241498300502, + -14.928024854631165 + ], + [ + 15.662167969386793, + -14.924327373822942 + ] + ], + "yaw_rad": -1.5596825885031653, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.534730911254883, + -14.84608268737793, + 0.12293075025081635 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549721010648689, + -14.850188576920958, + 0.11924353308588606 + ], + "intended_face_normal": [ + -0.9999058249291094, + -0.010987947564963019, + 0.008219497715424795 + ], + "commanded_contact_point": [ + 15.548074011171922, + -14.849557307510068, + 0.11869049799509512 + ], + "centerline_face_intersection": [ + 15.549710590937213, + -14.84958074168975, + 0.11878884395811709 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.529561042785645, + -14.847673416137695, + 0.12432289123535156 + ], + "box_pose": [ + 15.606781005859375, + -14.853598594665527, + 0.13603375852108002, + 0.008314071223139763, + 0.0025617980863898993, + 0.7031620740890503, + -0.7109763622283936 + ], + "box_yaw_rad": -1.5596817212701921, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024310659427282215 + } + } + }, + { + "simulation_time_ns": 4960000000, + "center": [ + 15.60503599853508, + -14.849584899002213, + 0.11878863579043206 + ], + "face_center": [ + 15.549722856896258, + -14.850193015526205, + 0.11924346338022859 + ], + "face_normal": [ + -0.9999056796542913, + -0.010993032545532078, + 0.00822200071857504 + ], + "footprint_xy": [ + [ + 15.547898519275872, + -14.929240401268203 + ], + [ + 15.662173477794287, + -14.929240401268203 + ], + [ + 15.662173477794287, + -14.769929396736222 + ], + [ + 15.547898519275872, + -14.769929396736222 + ] + ], + "projected_box_corners": [ + [ + 15.547898519275872, + -14.774837407658325 + ], + [ + 15.549830249766185, + -14.771145629784206 + ], + [ + 15.658524802553515, + -14.77362117461034 + ], + [ + 15.660456533043828, + -14.769929396736222 + ], + [ + 15.549615464026333, + -14.929240401268203 + ], + [ + 15.551547194516646, + -14.925548623394084 + ], + [ + 15.660241747303974, + -14.928024168220219 + ], + [ + 15.662173477794287, + -14.9243323903461 + ] + ], + "yaw_rad": -1.5596768922057382, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.539023399353027, + -14.845556259155273, + 0.12257811427116394 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549720375334507, + -14.850190247870362, + 0.11924208171824752 + ], + "intended_face_normal": [ + -0.9999060665847772, + -0.010987475768531763, + 0.008200257291606422 + ], + "commanded_contact_point": [ + 15.550370731385147, + -14.849539792398325, + 0.11868706639802694 + ], + "centerline_face_intersection": [ + 15.549709982361536, + -14.849582438738157, + 0.11878845693915613 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.534730911254883, + -14.84608268737793, + 0.12293075025081635 + ], + "box_pose": [ + 15.606780052185059, + -14.85360050201416, + 0.13603335618972778, + 0.00830304529517889, + 0.0025643284898251295, + 0.7031623721122742, + -0.710976243019104 + ], + "box_yaw_rad": -1.5596825885031653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022967895621575215 + } + } + }, + { + "simulation_time_ns": 4980000000, + "center": [ + 15.605042643807087, + -14.849592295448462, + 0.11878919088692504 + ], + "face_center": [ + 15.54972952221202, + -14.850199758891089, + 0.11924729346454303 + ], + "face_normal": [ + -0.9999053173196795, + -0.010981226675391587, + 0.008281203266585324 + ], + "footprint_xy": [ + [ + 15.547898855834102, + -14.929239120213811 + ], + [ + 15.66218643178007, + -14.929239120213811 + ], + [ + 15.66218643178007, + -14.769945470683112 + ], + [ + 15.547898855834102, + -14.769945470683112 + ] + ], + "projected_box_corners": [ + [ + 15.547898855834102, + -14.774835946662968 + ], + [ + 15.549845011632009, + -14.771160397568364 + ], + [ + 15.658525099024232, + -14.773621019777716 + ], + [ + 15.660471254822138, + -14.769945470683112 + ], + [ + 15.549614032792034, + -14.929239120213811 + ], + [ + 15.55156018858994, + -14.925563571119207 + ], + [ + 15.660240275982165, + -14.928024193328561 + ], + [ + 15.66218643178007, + -14.924348644233955 + ] + ], + "yaw_rad": -1.5596883529472838, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.542194366455078, + -14.846892356872559, + 0.12341229617595673 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549722856896258, + -14.850193015526205, + 0.11924346338022859 + ], + "intended_face_normal": [ + -0.9999056796542913, + -0.010993032545532078, + 0.00822200071857504 + ], + "commanded_contact_point": [ + 15.552525478194157, + -14.849523991625183, + 0.11868377349462722 + ], + "centerline_face_intersection": [ + 15.549712421110538, + -14.849584899002213, + 0.11878863579043206 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.539023399353027, + -14.845556259155273, + 0.12257811427116394 + ], + "box_pose": [ + 15.606782913208008, + -14.85360336303711, + 0.13603340089321136, + 0.008302309550344944, + 0.0025481530465185642, + 0.7031604051589966, + -0.7109781503677368 + ], + "box_yaw_rad": -1.5596768922057382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002154807257873476 + } + } + }, + { + "simulation_time_ns": 5000000000, + "center": [ + 15.60505459435355, + -14.84960290556287, + 0.11878961564078958 + ], + "face_center": [ + 15.549741502663641, + -14.850209527498103, + 0.11925235705206448 + ], + "face_normal": [ + -0.9999047767187755, + -0.01096601459384372, + 0.008365060302781363 + ], + "footprint_xy": [ + [ + 15.547901755063085, + -14.929236767939194 + ], + [ + 15.662207433644017, + -14.929236767939194 + ], + [ + 15.662207433644017, + -14.769969043186547 + ], + [ + 15.547901755063085, + -14.769969043186547 + ] + ], + "projected_box_corners": [ + [ + 15.547901755063085, + -14.774833329127256 + ], + [ + 15.549868354253661, + -14.771182287057014 + ], + [ + 15.658527938442905, + -14.773620085256791 + ], + [ + 15.660494537633483, + -14.769969043186547 + ], + [ + 15.54961465107362, + -14.929236767939194 + ], + [ + 15.551581250264197, + -14.92558572586895 + ], + [ + 15.66024083445344, + -14.928023524068728 + ], + [ + 15.662207433644017, + -14.924372481998484 + ] + ], + "yaw_rad": -1.5597031428550268, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.542186737060547, + -14.848353385925293, + 0.12176918983459473 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.54972952221202, + -14.850199758891089, + 0.11924729346454303 + ], + "intended_face_normal": [ + -0.9999053173196795, + -0.010981226675391587, + 0.008281203266585324 + ], + "commanded_contact_point": [ + 15.55453264880369, + -14.849514072810177, + 0.11868050851594872 + ], + "centerline_face_intersection": [ + 15.549719046335, + -14.849592295448462, + 0.11878919088692504 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.542194366455078, + -14.846892356872559, + 0.12341229617595673 + ], + "box_pose": [ + 15.606790542602539, + -14.853611946105957, + 0.1360335797071457, + 0.008299386128783226, + 0.002503037452697754, + 0.7031646370887756, + -0.7109741568565369 + ], + "box_yaw_rad": -1.5596883529472838, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020071977727041126 + } + } + }, + { + "simulation_time_ns": 5020000000, + "center": [ + 15.605067938499975, + -14.849618688458834, + 0.11879011650592167 + ], + "face_center": [ + 15.549754887814533, + -14.850225410748042, + 0.11925890790589483 + ], + "face_normal": [ + -0.9999040354735879, + -0.010967828710818361, + 0.00847442704424628 + ], + "footprint_xy": [ + [ + 15.547901664989098, + -14.929236568540741 + ], + [ + 15.662234212010853, + -14.929236568540741 + ], + [ + 15.662234212010853, + -14.770000808376928 + ], + [ + 15.547901664989098, + -14.770000808376928 + ] + ], + "projected_box_corners": [ + [ + 15.547901664989098, + -14.774832784831528 + ], + [ + 15.549894852902744, + -14.771214252955344 + ], + [ + 15.658527766359983, + -14.773619340253111 + ], + [ + 15.660520954273629, + -14.770000808376928 + ], + [ + 15.549614922726322, + -14.929236568540741 + ], + [ + 15.551608110639968, + -14.925618036664558 + ], + [ + 15.660241024097207, + -14.928023123962324 + ], + [ + 15.662234212010853, + -14.924404592086141 + ] + ], + "yaw_rad": -1.5597008251885511, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.538175582885742, + -14.847983360290527, + 0.11820493638515472 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549741502663641, + -14.850209527498103, + 0.11925235705206448 + ], + "intended_face_normal": [ + -0.9999047767187755, + -0.01096601459384372, + 0.008365060302781363 + ], + "commanded_contact_point": [ + 15.55638665988719, + -14.849508627716865, + 0.11867698849408043 + ], + "centerline_face_intersection": [ + 15.549730966970628, + -14.84960290556287, + 0.11878961564078958 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.542186737060547, + -14.848353385925293, + 0.12176918983459473 + ], + "box_pose": [ + 15.606803894042969, + -14.85362434387207, + 0.13603344559669495, + 0.008293011225759983, + 0.002436883980408311, + 0.703170120716095, + -0.7109690308570862 + ], + "box_yaw_rad": -1.5597031428550268, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018540224209368358 + } + } + }, + { + "simulation_time_ns": 5040000000, + "center": [ + 15.60508535793544, + -14.849638682639615, + 0.11879119134666412 + ], + "face_center": [ + 15.54977238679832, + -14.85024587279383, + 0.11926815554356435 + ], + "face_normal": [ + -0.9999025974641668, + -0.010976286391270906, + 0.008622168174543976 + ], + "footprint_xy": [ + [ + 15.547900520268604, + -14.929237002159162 + ], + [ + 15.662270195602279, + -14.929237002159162 + ], + [ + 15.662270195602279, + -14.770040363120069 + ], + [ + 15.547900520268604, + -14.770040363120069 + ] + ], + "projected_box_corners": [ + [ + 15.547900520268604, + -14.774832855115816 + ], + [ + 15.54992956769865, + -14.771254743428496 + ], + [ + 15.658526462542843, + -14.773618474807389 + ], + [ + 15.660555509972891, + -14.770040363120069 + ], + [ + 15.549615205897991, + -14.929237002159162 + ], + [ + 15.551644253328037, + -14.925658890471842 + ], + [ + 15.660241148172233, + -14.928022621850733 + ], + [ + 15.662270195602279, + -14.924444510163413 + ] + ], + "yaw_rad": -1.5596916046771798, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.53567123413086, + -14.84710693359375, + 0.11637444794178009 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549754887814533, + -14.850225410748042, + 0.11925890790589483 + ], + "intended_face_normal": [ + -0.9999040354735879, + -0.010967828710818361, + 0.00847442704424628 + ], + "commanded_contact_point": [ + 15.558077288692203, + -14.849509407057141, + 0.11867338421313013 + ], + "centerline_face_intersection": [ + 15.549744270104744, + -14.849618688458834, + 0.11879011650592167 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.538175582885742, + -14.847983360290527, + 0.11820493638515472 + ], + "box_pose": [ + 15.606819152832031, + -14.853642463684082, + 0.13603320717811584, + 0.00828380323946476, + 0.0023498213849961758, + 0.703169584274292, + -0.7109701037406921 + ], + "box_yaw_rad": -1.5597008251885511, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016906328266520023 + } + } + }, + { + "simulation_time_ns": 5060000000, + "center": [ + 15.605107183500433, + -14.849665513854738, + 0.11879208661764303 + ], + "face_center": [ + 15.549794285556395, + -14.850272797126538, + 0.11927845057964519 + ], + "face_normal": [ + -0.999901274339564, + -0.010977969694717205, + 0.008792089430765704 + ], + "footprint_xy": [ + [ + 15.547901574816345, + -14.929238548220432 + ], + [ + 15.662312792184522, + -14.929238548220432 + ], + [ + 15.662312792184522, + -14.770092479489044 + ], + [ + 15.547901574816345, + -14.770092479489044 + ] + ], + "projected_box_corners": [ + [ + 15.547901574816345, + -14.774833888178646 + ], + [ + 15.549971946672976, + -14.771307046032641 + ], + [ + 15.658527370704421, + -14.77361932163505 + ], + [ + 15.660597742561052, + -14.770092479489044 + ], + [ + 15.549616624439814, + -14.929238548220432 + ], + [ + 15.551686996296445, + -14.925711706074427 + ], + [ + 15.660242420327892, + -14.928023981676835 + ], + [ + 15.662312792184522, + -14.924497139530828 + ] + ], + "yaw_rad": -1.5596892844560721, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.537165641784668, + -14.846161842346191, + 0.11757050454616547 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.54977238679832, + -14.85024587279383, + 0.11926815554356435 + ], + "intended_face_normal": [ + -0.9999025974641668, + -0.010976286391270906, + 0.008622168174543976 + ], + "commanded_contact_point": [ + 15.559600228986172, + -14.84951590045739, + 0.11866998866591871 + ], + "centerline_face_intersection": [ + 15.549761609976505, + -14.849638682639615, + 0.11879119134666412 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.53567123413086, + -14.84710693359375, + 0.11637444794178009 + ], + "box_pose": [ + 15.606839179992676, + -14.853665351867676, + 0.1360333412885666, + 0.008276469074189663, + 0.0022374000400304794, + 0.703166663646698, + -0.7109733819961548 + ], + "box_yaw_rad": -1.5596916046771798, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015229579222619685 + } + } + }, + { + "simulation_time_ns": 5080000000, + "center": [ + 15.605132920996631, + -14.849696124550581, + 0.11879352593472503 + ], + "face_center": [ + 15.549820134544252, + -14.85030330131559, + 0.1192920583877853 + ], + "face_normal": [ + -0.999899258884646, + -0.010976044352152492, + 0.00901206144756539 + ], + "footprint_xy": [ + [ + 15.54790076116806, + -14.929236875562008 + ], + [ + 15.662365080825202, + -14.929236875562008 + ], + [ + 15.662365080825202, + -14.770155373539156 + ], + [ + 15.54790076116806, + -14.770155373539156 + ] + ], + "projected_box_corners": [ + [ + 15.54790076116806, + -14.774831615170312 + ], + [ + 15.550024629609597, + -14.77136972706917 + ], + [ + 15.65852633407282, + -14.773617261640297 + ], + [ + 15.660650202514356, + -14.770155373539156 + ], + [ + 15.549615639478908, + -14.929236875562008 + ], + [ + 15.551739507920445, + -14.925774987460866 + ], + [ + 15.660241212383665, + -14.928022522031995 + ], + [ + 15.662365080825202, + -14.924560633930852 + ] + ], + "yaw_rad": -1.559690437001353, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.540305137634277, + -14.844606399536133, + 0.12317553162574768 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549794285556395, + -14.850272797126538, + 0.11927845057964519 + ], + "intended_face_normal": [ + -0.999901274339564, + -0.010977969694717205, + 0.008792089430765704 + ], + "commanded_contact_point": [ + 15.560949130208794, + -14.849530987063362, + 0.11866633177726442 + ], + "centerline_face_intersection": [ + 15.549783362334058, + -14.849665513854738, + 0.11879208661764303 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.537165641784668, + -14.846161842346191, + 0.11757050454616547 + ], + "box_pose": [ + 15.606863975524902, + -14.8536958694458, + 0.1360330730676651, + 0.008261056616902351, + 0.0021010052878409624, + 0.7031662464141846, + -0.7109745144844055 + ], + "box_yaw_rad": -1.5596892844560721, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013489905436679204 + } + } + }, + { + "simulation_time_ns": 5100000000, + "center": [ + 15.605160346830408, + -14.849733580947454, + 0.11879426460030279 + ], + "face_center": [ + 15.549847675712597, + -14.85034018823101, + 0.11930575692521089 + ], + "face_normal": [ + -0.9998971739607628, + -0.01096574973283726, + 0.009246339398234937 + ], + "footprint_xy": [ + [ + 15.547900521550048, + -14.92923628144625 + ], + [ + 15.662420172110767, + -14.92923628144625 + ], + [ + 15.662420172110767, + -14.770230880448658 + ], + [ + 15.547900521550048, + -14.770230880448658 + ] + ], + "projected_box_corners": [ + [ + 15.547900521550048, + -14.77483031736692 + ], + [ + 15.550081465408402, + -14.77144409501577 + ], + [ + 15.65852586378567, + -14.773617102799806 + ], + [ + 15.660706807644024, + -14.770230880448658 + ], + [ + 15.549613886016791, + -14.92923628144625 + ], + [ + 15.551794829875146, + -14.9258500590951 + ], + [ + 15.660239228252411, + -14.928023066879136 + ], + [ + 15.662420172110767, + -14.924636844527987 + ] + ], + "yaw_rad": -1.55970029071396, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.542798042297363, + -14.84131908416748, + 0.12797032296657562 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549820134544252, + -14.85030330131559, + 0.1192920583877853 + ], + "intended_face_normal": [ + -0.999899258884646, + -0.010976044352152492, + 0.00901206144756539 + ], + "commanded_contact_point": [ + 15.562116698251854, + -14.849551861814362, + 0.11866271327465366 + ], + "centerline_face_intersection": [ + 15.549808988316354, + -14.849696124550581, + 0.11879352593472503 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.540305137634277, + -14.844606399536133, + 0.12317553162574768 + ], + "box_pose": [ + 15.606893539428711, + -14.853731155395508, + 0.13603302836418152, + 0.008243201300501823, + 0.001926531083881855, + 0.7031671404838562, + -0.7109742760658264 + ], + "box_yaw_rad": -1.559690437001353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011677602425010326 + } + } + }, + { + "simulation_time_ns": 5120000000, + "center": [ + 15.605194519179364, + -14.84977433665583, + 0.11879629036892114 + ], + "face_center": [ + 15.549881983542633, + -14.850380602826638, + 0.11932350935621444 + ], + "face_normal": [ + -0.9998947248447436, + -0.010959583375871329, + 0.009530633122566204 + ], + "footprint_xy": [ + [ + 15.547900678883163, + -14.92923562655709 + ], + [ + 15.662488359475566, + -14.92923562655709 + ], + [ + 15.662488359475566, + -14.770313046754572 + ], + [ + 15.547900678883163, + -14.770313046754572 + ] + ], + "projected_box_corners": [ + [ + 15.547900678883163, + -14.77482888413459 + ], + [ + 15.55015076123182, + -14.771525579096187 + ], + [ + 15.658525750156624, + -14.773616351792977 + ], + [ + 15.66077583250528, + -14.770313046754572 + ], + [ + 15.549613205853449, + -14.92923562655709 + ], + [ + 15.551863288202105, + -14.925932321518683 + ], + [ + 15.66023827712691, + -14.928023094215476 + ], + [ + 15.662488359475566, + -14.92471978917707 + ] + ], + "yaw_rad": -1.55970576993851, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.543527603149414, + -14.840826034545898, + 0.12897634506225586 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549847675712597, + -14.85034018823101, + 0.11930575692521089 + ], + "intended_face_normal": [ + -0.9998971739607628, + -0.01096574973283726, + 0.009246339398234937 + ], + "commanded_contact_point": [ + 15.563093960640623, + -14.849581639274362, + 0.1186584555827273 + ], + "centerline_face_intersection": [ + 15.54983629879208, + -14.849733580947454, + 0.11879426460030279 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.542798042297363, + -14.84131908416748, + 0.12797032296657562 + ], + "box_pose": [ + 15.606925010681152, + -14.853774070739746, + 0.1360320746898651, + 0.008214709348976612, + 0.0017310883849859238, + 0.7031711339950562, + -0.7109711170196533 + ], + "box_yaw_rad": -1.55970029071396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000977725217823188 + } + } + }, + { + "simulation_time_ns": 5140000000, + "center": [ + 15.605234562878918, + -14.849825269449063, + 0.11879813468195488 + ], + "face_center": [ + 15.54992220573875, + -14.85043114671793, + 0.1193436424796133 + ], + "face_normal": [ + -0.9998914981300665, + -0.010952553125059383, + 0.009861243259983776 + ], + "footprint_xy": [ + [ + 15.547901185555979, + -14.9292363385036 + ], + [ + 15.662567940201859, + -14.9292363385036 + ], + [ + 15.662567940201859, + -14.770414200394526 + ], + [ + 15.547901185555979, + -14.770414200394526 + ] + ], + "projected_box_corners": [ + [ + 15.547901185555979, + -14.774828721539755 + ], + [ + 15.550231715478262, + -14.77162595493226 + ], + [ + 15.658525899836317, + -14.773616967002024 + ], + [ + 15.6608564297586, + -14.770414200394526 + ], + [ + 15.549612695999238, + -14.9292363385036 + ], + [ + 15.551943225921521, + -14.926033571896104 + ], + [ + 15.660237410279576, + -14.928024583965867 + ], + [ + 15.662567940201859, + -14.92482181735837 + ] + ], + "yaw_rad": -1.5597124153388429, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.541788101196289, + -14.846868515014648, + 0.12477156519889832 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549881983542633, + -14.850380602826638, + 0.11932350935621444 + ], + "intended_face_normal": [ + -0.9998947248447436, + -0.010959583375871329, + 0.009530633122566204 + ], + "commanded_contact_point": [ + 15.563878964155936, + -14.849616675098094, + 0.11865500036357814 + ], + "centerline_face_intersection": [ + 15.549870335631757, + -14.84977433665583, + 0.11879629036892114 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.543527603149414, + -14.840826034545898, + 0.12897634506225586 + ], + "box_pose": [ + 15.606964111328125, + -14.85382080078125, + 0.13603219389915466, + 0.00819315668195486, + 0.001507122186012566, + 0.7031735777854919, + -0.7109695672988892 + ], + "box_yaw_rad": -1.55970576993851, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007857925722082519 + } + } + }, + { + "simulation_time_ns": 5160000000, + "center": [ + 15.60528126815501, + -14.849884599149783, + 0.11880017412369234 + ], + "face_center": [ + 15.549969129879281, + -14.850490680485919, + 0.119366910377351 + ], + "face_normal": [ + -0.9998875416779389, + -0.010956242086018975, + 0.010244993903972599 + ], + "footprint_xy": [ + [ + 15.547901141799217, + -14.92923803779947 + ], + [ + 15.662661394510804, + -14.92923803779947 + ], + [ + 15.662661394510804, + -14.770531160500099 + ], + [ + 15.547901141799217, + -14.770531160500099 + ] + ], + "projected_box_corners": [ + [ + 15.547901141799217, + -14.774829451677284 + ], + [ + 15.550325011686844, + -14.771743323172366 + ], + [ + 15.658525418350674, + -14.773617289005017 + ], + [ + 15.660949288238303, + -14.770531160500099 + ], + [ + 15.549613248071719, + -14.92923803779947 + ], + [ + 15.552037117959346, + -14.926151909294552 + ], + [ + 15.660237524623176, + -14.928025875127203 + ], + [ + 15.662661394510804, + -14.924939746622284 + ] + ], + "yaw_rad": -1.5597086265933409, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.540491104125977, + -14.85265827178955, + 0.12027607858181 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.54992220573875, + -14.85043114671793, + 0.1193436424796133 + ], + "intended_face_normal": [ + -0.9998914981300665, + -0.010952553125059383, + 0.009861243259983776 + ], + "commanded_contact_point": [ + 15.564463925260418, + -14.849663776343977, + 0.11865098288730634 + ], + "centerline_face_intersection": [ + 15.549910200796585, + -14.849825269449063, + 0.11879813468195488 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.541788101196289, + -14.846868515014648, + 0.12477156519889832 + ], + "box_pose": [ + 15.607009887695312, + -14.85387897491455, + 0.13603174686431885, + 0.008162067271769047, + 0.0012405752204358578, + 0.7031764388084412, + -0.7109675407409668 + ], + "box_yaw_rad": -1.5597124153388429, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000586868095260992 + } + } + }, + { + "simulation_time_ns": 5180000000, + "center": [ + 15.605334523631239, + -14.849951140956492, + 0.11880255220188456 + ], + "face_center": [ + 15.55002263660177, + -14.85055716709533, + 0.11939401094840404 + ], + "face_normal": [ + -0.9998829998537889, + -0.010955244274479026, + 0.010691906885125516 + ], + "footprint_xy": [ + [ + 15.547900387680778, + -14.929237281604507 + ], + [ + 15.6627686595817, + -14.929237281604507 + ], + [ + 15.6627686595817, + -14.770665000308478 + ], + [ + 15.547900387680778, + -14.770665000308478 + ] + ], + "projected_box_corners": [ + [ + 15.547900387680778, + -14.774827575823092 + ], + [ + 15.550432974693758, + -14.771877052586152 + ], + [ + 15.658524161739715, + -14.773615523545418 + ], + [ + 15.661056748752694, + -14.770665000308478 + ], + [ + 15.549612298509784, + -14.929237281604507 + ], + [ + 15.552144885522761, + -14.926286758367565 + ], + [ + 15.66023607256872, + -14.928025229326833 + ], + [ + 15.6627686595817, + -14.925074706089893 + ] + ], + "yaw_rad": -1.5597099725767483, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.540879249572754, + -14.853575706481934, + 0.11836153268814087 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "normal_approach", + "intended_face_center": [ + 15.549969129879281, + -14.850490680485919, + 0.119366910377351 + ], + "intended_face_normal": [ + -0.9998875416779389, + -0.010956242086018975, + 0.010244993903972599 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.849720893708167, + 0.11864669795562116 + ], + "centerline_face_intersection": [ + 15.54995668715987, + -14.849884599149783, + 0.11880017412369234 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.540491104125977, + -14.85265827178955, + 0.12027607858181 + ], + "box_pose": [ + 15.607063293457031, + -14.853946685791016, + 0.1360311210155487, + 0.008126022294163704, + 0.0009312826441600919, + 0.7031755447387695, + -0.7109692692756653 + ], + "box_yaw_rad": -1.5597086265933409, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00038302574245345077 + } + } + }, + { + "simulation_time_ns": 5200000000, + "center": [ + 15.605397010528698, + -14.850026586833978, + 0.11880556668703396 + ], + "face_center": [ + 15.550085434526824, + -14.85063193661958, + 0.11942590498638658 + ], + "face_normal": [ + -0.9998773773516106, + -0.01094301771454842, + 0.011213967792320007 + ], + "footprint_xy": [ + [ + 15.547900690874105, + -14.929233939692024 + ], + [ + 15.662893330183289, + -14.929233939692024 + ], + [ + 15.662893330183289, + -14.770819233975933 + ], + [ + 15.547900690874105, + -14.770819233975933 + ] + ], + "projected_box_corners": [ + [ + 15.547900690874105, + -14.774823005533614 + ], + [ + 15.550560296695648, + -14.772029933547138 + ], + [ + 15.65852384287785, + -14.773612305962411 + ], + [ + 15.661183448699393, + -14.770819233975933 + ], + [ + 15.549610572358, + -14.929233939692024 + ], + [ + 15.552270178179544, + -14.926440867705546 + ], + [ + 15.660233724361746, + -14.92802324012082 + ], + [ + 15.662893330183289, + -14.925230168134343 + ] + ], + "yaw_rad": -1.5597232016470586, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.542284965515137, + -14.850763320922852, + 0.116785928606987 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.55002263660177, + -14.85055716709533, + 0.11939401094840404 + ], + "intended_face_normal": [ + -0.9998829998537889, + -0.010955244274479026, + 0.010691906885125516 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.849806158335474, + 0.11880255220188456 + ], + "centerline_face_intersection": [ + 15.550009691332178, + -14.849951140956492, + 0.11880255220188456 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.540879249572754, + -14.853575706481934, + 0.11836153268814087 + ], + "box_pose": [ + 15.607124328613281, + -14.854022979736328, + 0.1360303908586502, + 0.008084404282271862, + 0.0005714221042580903, + 0.7031763792037964, + -0.7109693884849548 + ], + "box_yaw_rad": -1.5597099725767483, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00014498262101767523, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000177653040357165 + } + } + }, + { + "simulation_time_ns": 5220000000, + "center": [ + 15.605468597848324, + -14.85011730913603, + 0.11880859338666744 + ], + "face_center": [ + 15.550157400768189, + -14.850722819855719, + 0.11946203783453073 + ], + "face_normal": [ + -0.9998705275147362, + -0.010945926949198381, + 0.011812433635093031 + ], + "footprint_xy": [ + [ + 15.547899792792865, + -14.929233442154363 + ], + [ + 15.663037402903782, + -14.929233442154363 + ], + [ + 15.663037402903782, + -14.771001176117696 + ], + [ + 15.547899792792865, + -14.771001176117696 + ] + ], + "projected_box_corners": [ + [ + 15.547899792792865, + -14.774821167095416 + ], + [ + 15.55070499901526, + -14.772212197557076 + ], + [ + 15.658522186953137, + -14.773610145656038 + ], + [ + 15.661327393175531, + -14.771001176117696 + ], + [ + 15.549609802521116, + -14.929233442154363 + ], + [ + 15.55241500874351, + -14.926624472616021 + ], + [ + 15.660232196681388, + -14.928022420714983 + ], + [ + 15.663037402903782, + -14.925413451176643 + ] + ], + "yaw_rad": -1.5597224673668058, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.543778419494629, + -14.848296165466309, + 0.11439280211925507 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.550085434526824, + -14.85063193661958, + 0.11942590498638658 + ], + "intended_face_normal": [ + -0.9998773773516106, + -0.01094301771454842, + 0.011213967792320007 + ], + "commanded_contact_point": [ + 15.565392715597715, + -14.849852134849407, + 0.11880556668703396 + ], + "centerline_face_intersection": [ + 15.550071867127498, + -14.850026586833978, + 0.11880556668703396 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.542284965515137, + -14.850763320922852, + 0.116785928606987 + ], + "box_pose": [ + 15.607195854187012, + -14.854109764099121, + 0.13602977991104126, + 0.008037237450480461, + 0.00015246828843373805, + 0.703181266784668, + -0.7109652757644653 + ], + "box_yaw_rad": -1.5597232016470586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00017445198457259893, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005519977996734589 + } + } + }, + { + "simulation_time_ns": 5240000000, + "center": [ + 15.605551971699052, + -14.85022126087734, + 0.11881172159515359 + ], + "face_center": [ + 15.550241241920316, + -14.8508266043908, + 0.1195033416060072 + ], + "face_normal": [ + -0.9998620800227114, + -0.01094290433188605, + 0.012502540201580786 + ], + "footprint_xy": [ + [ + 15.54790018480276, + -14.929231806567511 + ], + [ + 15.663203758595346, + -14.929231806567511 + ], + [ + 15.663203758595346, + -14.77121071518717 + ], + [ + 15.54790018480276, + -14.77121071518717 + ] + ], + "projected_box_corners": [ + [ + 15.54790018480276, + -14.774818114510687 + ], + [ + 15.55087330397088, + -14.772421402214087 + ], + [ + 15.658521644360233, + -14.773607427483768 + ], + [ + 15.661494763528353, + -14.77121071518717 + ], + [ + 15.549609179869753, + -14.929231806567511 + ], + [ + 15.552582299037873, + -14.926835094270912 + ], + [ + 15.660230639427226, + -14.928021119540592 + ], + [ + 15.663203758595346, + -14.925624407243994 + ] + ], + "yaw_rad": -1.5597291392315158, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.546249389648438, + -14.84865951538086, + 0.11568981409072876 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.550157400768189, + -14.850722819855719, + 0.11946203783453073 + ], + "intended_face_normal": [ + -0.9998705275147362, + -0.010945926949198381, + 0.011812433635093031 + ], + "commanded_contact_point": [ + 15.565798292860256, + -14.850015702898245, + 0.11880859338666744 + ], + "centerline_face_intersection": [ + 15.550143075429844, + -14.85011730913603, + 0.11880859338666744 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.543778419494629, + -14.848296165466309, + 0.11439280211925507 + ], + "box_pose": [ + 15.607277870178223, + -14.85421371459961, + 0.13602857291698456, + 0.00797781441360712, + -0.0003331428742967546, + 0.7031809091567993, + -0.7109662890434265 + ], + "box_yaw_rad": -1.5597224673668058, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00010160623778375567, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00043732891900897375 + } + } + }, + { + "simulation_time_ns": 5260000000, + "center": [ + 15.605647782016103, + -14.85034111261124, + 0.11881505329012897 + ], + "face_center": [ + 15.550337628131734, + -14.850947120014062, + 0.11955061836707823 + ], + "face_normal": [ + -0.9998516694758962, + -0.010954905580140895, + 0.01329694312066887 + ], + "footprint_xy": [ + [ + 15.54789945101606, + -14.929231284187608 + ], + [ + 15.663396113016146, + -14.929231284187608 + ], + [ + 15.663396113016146, + -14.771450941034873 + ], + [ + 15.54789945101606, + -14.771450941034873 + ] + ], + "projected_box_corners": [ + [ + 15.54789945101606, + -14.774816130214745 + ], + [ + 15.551065817181142, + -14.772662955840516 + ], + [ + 15.658519758784793, + -14.773604115409102 + ], + [ + 15.661686124949878, + -14.771450941034873 + ], + [ + 15.549609439082328, + -14.929231284187608 + ], + [ + 15.55277580524741, + -14.92707810981338 + ], + [ + 15.660229746851062, + -14.928019269381965 + ], + [ + 15.663396113016146, + -14.925866095007734 + ] + ], + "yaw_rad": -1.5597228140776416, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.547916412353516, + -14.851298332214355, + 0.1176309883594513 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.550241241920316, + -14.8508266043908, + 0.1195033416060072 + ], + "intended_face_normal": [ + -0.9998620800227114, + -0.01094290433188605, + 0.012502540201580786 + ], + "commanded_contact_point": [ + 15.565419322093312, + -14.850182124459415, + 0.11881172159515359 + ], + "centerline_face_intersection": [ + 15.550225981854195, + -14.85022126087734, + 0.11881172159515359 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.546249389648438, + -14.84865951538086, + 0.11568981409072876 + ], + "box_pose": [ + 15.607373237609863, + -14.85433292388916, + 0.1360267996788025, + 0.007909376174211502, + -0.0008930580224841833, + 0.7031827569007874, + -0.7109646797180176 + ], + "box_yaw_rad": -1.5597291392315158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 3.9136417924510184e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004139139571318217 + } + } + }, + { + "simulation_time_ns": 5280000000, + "center": [ + 15.605757701795008, + -14.850478217096533, + 0.11881941537257451 + ], + "face_center": [ + 15.55044825734008, + -14.851084185031226, + 0.11960581464915357 + ], + "face_normal": [ + -0.9998388449914525, + -0.010954192107618832, + 0.014215882154405834 + ], + "footprint_xy": [ + [ + 15.547899001549139, + -14.929228118017484 + ], + [ + 15.66361640204088, + -14.929228118017484 + ], + [ + 15.66361640204088, + -14.771728316175581 + ], + [ + 15.547899001549139, + -14.771728316175581 + ] + ], + "projected_box_corners": [ + [ + 15.547899001549139, + -14.774811469449865 + ], + [ + 15.551288946644789, + -14.772940252044968 + ], + [ + 15.658517890458997, + -14.77359953358048 + ], + [ + 15.661907835554647, + -14.771728316175581 + ], + [ + 15.54960756803537, + -14.929228118017484 + ], + [ + 15.552997513131022, + -14.927356900612587 + ], + [ + 15.66022645694523, + -14.928016182148099 + ], + [ + 15.66361640204088, + -14.926144964743202 + ] + ], + "yaw_rad": -1.559732126253165, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.549373626708984, + -14.854205131530762, + 0.12033599615097046 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.550337628131734, + -14.850947120014062, + 0.11955061836707823 + ], + "intended_face_normal": [ + -0.9998516694758962, + -0.010954905580140895, + 0.01329694312066887 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850263687409191, + 0.11881505329012897 + ], + "centerline_face_intersection": [ + 15.550321216111993, + -14.85034111261124, + 0.11881505329012897 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.547916412353516, + -14.851298332214355, + 0.1176309883594513 + ], + "box_pose": [ + 15.60748291015625, + -14.854470252990723, + 0.13602447509765625, + 0.007831709459424019, + -0.0015364194987341762, + 0.7031793594360352, + -0.7109677791595459 + ], + "box_yaw_rad": -1.5597228140776416, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 7.742520204914174e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005824269171392535 + } + } + }, + { + "simulation_time_ns": 5300000000, + "center": [ + 15.605884368092028, + -14.850639871006326, + 0.11882427363500797 + ], + "face_center": [ + 15.55057577862757, + -14.851245061838675, + 0.1196691325620238 + ], + "face_normal": [ + -0.9998233891738268, + -0.01094014428780088, + 0.015272667843492349 + ], + "footprint_xy": [ + [ + 15.547900001931097, + -14.9292272442608 + ], + [ + 15.663868734252958, + -14.9292272442608 + ], + [ + 15.663868734252958, + -14.772052497751854 + ], + [ + 15.547900001931097, + -14.772052497751854 + ] + ], + "projected_box_corners": [ + [ + 15.547900001931097, + -14.774809085517433 + ], + [ + 15.551547090632178, + -14.773262879416551 + ], + [ + 15.658517180860011, + -14.773598703852734 + ], + [ + 15.662164269561092, + -14.772052497751854 + ], + [ + 15.549604466622961, + -14.9292272442608 + ], + [ + 15.553251555324044, + -14.927681038159918 + ], + [ + 15.660221645551877, + -14.9280168625961 + ], + [ + 15.663868734252958, + -14.926470656495221 + ] + ], + "yaw_rad": -1.55975879410772, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.55162525177002, + -14.85597038269043, + 0.12397316098213196 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.55044825734008, + -14.851084185031226, + 0.11960581464915357 + ], + "intended_face_normal": [ + -0.9998388449914525, + -0.010954192107618832, + 0.014215882154405834 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850251715317116, + 0.11881941537257451 + ], + "centerline_face_intersection": [ + 15.550430426241851, + -14.850478217096533, + 0.11881941537257451 + ], + "commanded_world_base_velocity": [ + 0.015144032921810845, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.549373626708984, + -14.854205131530762, + 0.12033599615097046 + ], + "box_pose": [ + 15.607608795166016, + -14.85462760925293, + 0.13602225482463837, + 0.007741580717265606, + -0.002280985936522484, + 0.7031806111335754, + -0.7109653949737549 + ], + "box_yaw_rad": -1.559732126253165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00022650177941827113, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.27420073738397e-05 + } + } + }, + { + "simulation_time_ns": 5320000000, + "center": [ + 15.607265278324789, + -14.851243075740737, + 0.1189463942172565 + ], + "face_center": [ + 15.551974067178312, + -14.852536968880255, + 0.12009922190103985 + ], + "face_normal": [ + -0.9995092381721377, + -0.023389940631444617, + 0.020839874838507577 + ], + "footprint_xy": [ + [ + 15.54767130278461, + -14.930059858753394 + ], + [ + 15.666859253864967, + -14.930059858753394 + ], + [ + 15.666859253864967, + -14.772426292728078 + ], + [ + 15.54767130278461, + -14.772426292728078 + ] + ], + "projected_box_corners": [ + [ + 15.54767130278461, + -14.775672053149531 + ], + [ + 15.552656674999305, + -14.775014079007116 + ], + [ + 15.65825372507756, + -14.773084266870493 + ], + [ + 15.663239097292257, + -14.772426292728078 + ], + [ + 15.55129145935732, + -14.930059858753394 + ], + [ + 15.556276831572015, + -14.929401884610979 + ], + [ + 15.661873881650271, + -14.927472072474355 + ], + [ + 15.666859253864967, + -14.926814098331942 + ] + ], + "yaw_rad": -1.5473521610676622, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.554082870483398, + -14.856026649475098, + 0.12517298758029938 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.55057577862757, + -14.851245061838675, + 0.1196691325620238 + ], + "intended_face_normal": [ + -0.9998233891738268, + -0.01094014428780088, + 0.015272667843492349 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850200148759544, + 0.11882427363500797 + ], + "centerline_face_intersection": [ + 15.550556237259539, + -14.850639871006326, + 0.11882427363500797 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.55162525177002, + -14.85597038269043, + 0.12397316098213196 + ], + "box_pose": [ + 15.60775375366211, + -14.854812622070312, + 0.1360194832086563, + 0.007636877708137035, + -0.0031383426394313574, + 0.7031867504119873, + -0.7109571695327759 + ], + "box_yaw_rad": -1.55975879410772, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004397222467824236, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 5.179490876188587e-05 + } + } + }, + { + "simulation_time_ns": 5340000000, + "center": [ + 15.608303497140442, + -14.852331235421435, + 0.11891020908794647 + ], + "face_center": [ + 15.553028242923874, + -14.853935213434333, + 0.12039161314127783 + ], + "face_normal": [ + -0.9992207818600709, + -0.028995401049723535, + 0.02677960938218149 + ], + "footprint_xy": [ + [ + 15.547568036460817, + -14.931857960656961 + ], + [ + 15.669038957820066, + -14.931857960656961 + ], + [ + 15.669038957820066, + -14.772804510185907 + ], + [ + 15.547568036460817, + -14.772804510185907 + ] + ], + "projected_box_corners": [ + [ + 15.547568036460817, + -14.776012466211704 + ], + [ + 15.554037946866348, + -14.77749521101789 + ], + [ + 15.65811854489395, + -14.772804510185907 + ], + [ + 15.664588455299482, + -14.774287254992092 + ], + [ + 15.5520185389814, + -14.930375215850775 + ], + [ + 15.558488449386934, + -14.931857960656961 + ], + [ + 15.662569047414534, + -14.927167259824978 + ], + [ + 15.669038957820066, + -14.928650004631164 + ] + ], + "yaw_rad": -1.541972857521871, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.555272102355957, + -14.853947639465332, + 0.12482327222824097 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.551974067178312, + -14.852536968880255, + 0.12009922190103985 + ], + "intended_face_normal": [ + -0.9995092381721377, + -0.023389940631444617, + 0.020839874838507577 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.85061201054458, + 0.1189463942172565 + ], + "centerline_face_intersection": [ + 15.551919757570266, + -14.851243075740737, + 0.1189463942172565 + ], + "commanded_world_base_velocity": [ + 0.027617448559670976, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.554082870483398, + -14.856026649475098, + 0.12517298758029938 + ], + "box_pose": [ + 15.609283447265625, + -14.855459213256836, + 0.1361141800880432, + 0.008242219686508179, + -0.006474920082837343, + 0.6987396478652954, + -0.7152993083000183 + ], + "box_yaw_rad": -1.5473521610676622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006310651961568681, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00042958534260576175 + } + } + }, + { + "simulation_time_ns": 5360000000, + "center": [ + 15.609104003339551, + -14.85292968638051, + 0.1190941342372616 + ], + "face_center": [ + 15.553839890645644, + -14.854539946593334, + 0.1209398578565528 + ], + "face_normal": [ + -0.9990193745369955, + -0.02910896551561215, + 0.033365480161156924 + ], + "footprint_xy": [ + [ + 15.547579857180189, + -14.933057025882366 + ], + [ + 15.670628149498913, + -14.933057025882366 + ], + [ + 15.670628149498913, + -14.772802346878654 + ], + [ + 15.547579857180189, + -14.772802346878654 + ] + ], + "projected_box_corners": [ + [ + 15.547579857180189, + -14.776022867304302 + ], + [ + 15.555664974679788, + -14.778701446708023 + ], + [ + 15.658108082568, + -14.772802346878654 + ], + [ + 15.6661932000676, + -14.775480926282373 + ], + [ + 15.552014806611503, + -14.930378446478645 + ], + [ + 15.560099924111102, + -14.933057025882366 + ], + [ + 15.662543031999315, + -14.927157926052997 + ], + [ + 15.670628149498913, + -14.929836505456716 + ] + ], + "yaw_rad": -1.5420721973202258, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.555222511291504, + -14.851472854614258, + 0.12333762645721436 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.553028242923874, + -14.853935213434333, + 0.12039161314127783 + ], + "intended_face_normal": [ + -0.9992207818600709, + -0.028995401049723535, + 0.02677960938218149 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851635514063522, + 0.11891020908794647 + ], + "centerline_face_intersection": [ + 15.552941999171377, + -14.852331235421435, + 0.11891020908794647 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.555272102355957, + -14.853947639465332, + 0.12482327222824097 + ], + "box_pose": [ + 15.610450744628906, + -14.856691360473633, + 0.1360262930393219, + 0.007180424407124519, + -0.011826591566205025, + 0.6967429518699646, + -0.7171874642372131 + ], + "box_yaw_rad": -1.541972857521871, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006957213579127597, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001024142967007063 + } + } + }, + { + "simulation_time_ns": 5380000000, + "center": [ + 15.609220676787146, + -14.852971279390307, + 0.11912536328991588 + ], + "face_center": [ + 15.553958419062257, + -14.854582646373773, + 0.12102489498288026 + ], + "face_normal": [ + -0.9989858419261385, + -0.029128972808954767, + 0.034338178454599966 + ], + "footprint_xy": [ + [ + 15.547580737486367, + -14.933142213942803 + ], + [ + 15.670860616087927, + -14.933142213942803 + ], + [ + 15.670860616087927, + -14.77280034483781 + ], + [ + 15.547580737486367, + -14.77280034483781 + ] + ], + "projected_box_corners": [ + [ + 15.547580737486367, + -14.776023078804743 + ], + [ + 15.555901804453768, + -14.778787349154902 + ], + [ + 15.65810525293615, + -14.77280034483781 + ], + [ + 15.66642631990355, + -14.775564615187971 + ], + [ + 15.552015033670743, + -14.930377943592642 + ], + [ + 15.560336100638144, + -14.933142213942803 + ], + [ + 15.662539549120526, + -14.927155209625711 + ], + [ + 15.670860616087927, + -14.92991947997587 + ] + ], + "yaw_rad": -1.5420762930728202, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.554666519165039, + -14.849367141723633, + 0.12202291190624237 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.553839890645644, + -14.854539946593334, + 0.1209398578565528 + ], + "intended_face_normal": [ + -0.9990193745369955, + -0.02910896551561215, + 0.033365480161156924 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852292238293247, + 0.1190941342372616 + ], + "centerline_face_intersection": [ + 15.553731344214466, + -14.85292968638051, + 0.1190941342372616 + ], + "commanded_world_base_velocity": [ + 0.042240000000000236, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.555222511291504, + -14.851472854614258, + 0.12333762645721436 + ], + "box_pose": [ + 15.611366271972656, + -14.857375144958496, + 0.13617341220378876, + 0.007738974876701832, + -0.015979360789060593, + 0.6966962218284607, + -0.717146635055542 + ], + "box_yaw_rad": -1.5420721973202258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006374480872626976, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006819935296303803 + } + } + }, + { + "simulation_time_ns": 5400000000, + "center": [ + 15.608647558831175, + -14.852734879813651, + 0.11895468984779504 + ], + "face_center": [ + 15.553376556517152, + -14.85433890642752, + 0.12058685590913477 + ], + "face_normal": [ + -0.9991439194476817, + -0.028996279618279996, + 0.029504961506781502 + ], + "footprint_xy": [ + [ + 15.547586897529941, + -14.932657923894821 + ], + [ + 15.66970822013241, + -14.932657923894821 + ], + [ + 15.66970822013241, + -14.77281183573248 + ], + [ + 15.547586897529941, + -14.77281183573248 + ] + ], + "projected_box_corners": [ + [ + 15.547586897529941, + -14.776019888960219 + ], + [ + 15.554733783931646, + -14.778299212610353 + ], + [ + 15.658128902157985, + -14.77281183573248 + ], + [ + 15.66527578855969, + -14.775091159382614 + ], + [ + 15.55201932910266, + -14.930378600244689 + ], + [ + 15.559166215504364, + -14.932657923894821 + ], + [ + 15.662561333730704, + -14.92717054701695 + ], + [ + 15.66970822013241, + -14.929449870667083 + ] + ], + "yaw_rad": -1.5420890781340264, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.553624153137207, + -14.848876953125, + 0.12229214608669281 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.553958419062257, + -14.854582646373773, + 0.12102489498288026 + ], + "intended_face_normal": [ + -0.9989858419261385, + -0.029128972808954767, + 0.034338178454599966 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.85247799680971, + 0.11912536328991588 + ], + "centerline_face_intersection": [ + 15.55384615898724, + -14.852971279390307, + 0.11912536328991588 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.554666519165039, + -14.849367141723633, + 0.12202291190624237 + ], + "box_pose": [ + 15.611499786376953, + -14.857422828674316, + 0.13620081543922424, + 0.0079535823315382, + -0.016456803306937218, + 0.6966866254806519, + -0.7171428203582764 + ], + "box_yaw_rad": -1.5420762930728202, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004932825805957464, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018836528387305355 + } + } + }, + { + "simulation_time_ns": 5420000000, + "center": [ + 15.608143926702537, + -14.852174500788019, + 0.11891767789260915 + ], + "face_center": [ + 15.552866420636231, + -14.853771079345993, + 0.12032059645018775 + ], + "face_normal": [ + -0.9992614889556668, + -0.028861639762872482, + 0.025360812860260706 + ], + "footprint_xy": [ + [ + 15.547588257898452, + -14.931522257695551 + ], + [ + 15.668699595506622, + -14.931522257695551 + ], + [ + 15.668699595506622, + -14.772826743880488 + ], + [ + 15.547588257898452, + -14.772826743880488 + ] + ], + "projected_box_corners": [ + [ + 15.547588257898452, + -14.776019900996435 + ], + [ + 15.553707538445764, + -14.77715772501389 + ], + [ + 15.658143270031065, + -14.772826743880488 + ], + [ + 15.664262550578375, + -14.773964567897941 + ], + [ + 15.5520253028267, + -14.930384433678098 + ], + [ + 15.55814458337401, + -14.931522257695551 + ], + [ + 15.662580314959312, + -14.92719127656215 + ], + [ + 15.668699595506622, + -14.928329100579605 + ] + ], + "yaw_rad": -1.5420602986830039, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.552979469299316, + -14.850475311279297, + 0.1232248991727829 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.553376556517152, + -14.85433890642752, + 0.12058685590913477 + ], + "intended_face_normal": [ + -0.9991439194476817, + -0.028996279618279996, + 0.029504961506781502 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852395914300601, + 0.11895468984779504 + ], + "centerline_face_intersection": [ + 15.553281801997892, + -14.852734879813651, + 0.11895468984779504 + ], + "commanded_world_base_velocity": [ + 0.05800032921810725, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.553624153137207, + -14.848876953125, + 0.12229214608669281 + ], + "box_pose": [ + 15.61084270477295, + -14.857151985168457, + 0.13605007529258728, + 0.00697333924472332, + -0.013995885848999023, + 0.6967447400093079, + -0.7171486616134644 + ], + "box_yaw_rad": -1.5420890781340264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00033896551304970053, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000189385749588282 + } + } + }, + { + "simulation_time_ns": 5440000000, + "center": [ + 15.60762022022603, + -14.851605755486496, + 0.11888256574903872 + ], + "face_center": [ + 15.55233699547306, + -14.853196078952823, + 0.12004757065303173 + ], + "face_normal": [ + -0.9993648666902635, + -0.02874856533826753, + 0.021060004653761177 + ], + "footprint_xy": [ + [ + 15.547590640978315, + -14.930388562285822 + ], + [ + 15.667649799473747, + -14.930388562285822 + ], + [ + 15.667649799473747, + -14.77282294868717 + ], + [ + 15.547590640978315, + -14.77282294868717 + ] + ], + "projected_box_corners": [ + [ + 15.547590640978315, + -14.776021754150763 + ], + [ + 15.552644430078368, + -14.776003595619825 + ], + [ + 15.658157090484258, + -14.772841107218108 + ], + [ + 15.663210879584309, + -14.77282294868717 + ], + [ + 15.552029560867753, + -14.930388562285822 + ], + [ + 15.557083349967805, + -14.930370403754882 + ], + [ + 15.662596010373694, + -14.927207915353167 + ], + [ + 15.667649799473747, + -14.927189756822228 + ] + ], + "yaw_rad": -1.5420485859238942, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.551833152770996, + -14.853800773620605, + 0.12369599938392639 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.552866420636231, + -14.853771079345993, + 0.12032059645018775 + ], + "intended_face_normal": [ + -0.9992614889556668, + -0.028861639762872482, + 0.025360812860260706 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851903502855318, + 0.11891767789260915 + ], + "centerline_face_intersection": [ + 15.552784684004806, + -14.852174500788019, + 0.11891767789260915 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.552979469299316, + -14.850475311279297, + 0.1232248991727829 + ], + "box_pose": [ + 15.610265731811523, + -14.856510162353516, + 0.13604314625263214, + 0.007187351584434509, + -0.010800870135426521, + 0.696790874004364, + -0.7171568870544434 + ], + "box_yaw_rad": -1.5420602986830039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002709979327008228, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004938004822517394 + } + } + }, + { + "simulation_time_ns": 5460000000, + "center": [ + 15.60708248200219, + -14.851025684087833, + 0.11884337202676681 + ], + "face_center": [ + 15.551794503832724, + -14.85261084275182, + 0.11976398383551012 + ], + "face_normal": [ + -0.9994507950611542, + -0.02865520027092494, + 0.01664206640675031 + ], + "footprint_xy": [ + [ + 15.547596004889389, + -14.930393725071818 + ], + [ + 15.666568959114988, + -14.930393725071818 + ], + [ + 15.666568959114988, + -14.771657643103849 + ], + [ + 15.547596004889389, + -14.771657643103849 + ] + ], + "projected_box_corners": [ + [ + 15.547596004889389, + -14.776028450047894 + ], + [ + 15.55155555942336, + -14.774827960431825 + ], + [ + 15.658171961228318, + -14.772858132719918 + ], + [ + 15.662131515762288, + -14.771657643103849 + ], + [ + 15.552033448242089, + -14.930393725071818 + ], + [ + 15.55599300277606, + -14.929193235455747 + ], + [ + 15.662609404581017, + -14.927223407743842 + ], + [ + 15.666568959114988, + -14.926022918127773 + ] + ], + "yaw_rad": -1.5420578578796176, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.550216674804688, + -14.858257293701172, + 0.12132072448730469 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.55233699547306, + -14.853196078952823, + 0.12004757065303173 + ], + "intended_face_normal": [ + -0.9993648666902635, + -0.02874856533826753, + 0.021060004653761177 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851246956828431, + 0.11888256574903872 + ], + "centerline_face_intersection": [ + 15.552266704078521, + -14.851605755486496, + 0.11888256574903872 + ], + "commanded_world_base_velocity": [ + 0.07388707818930067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.551833152770996, + -14.853800773620605, + 0.12369599938392639 + ], + "box_pose": [ + 15.609665870666504, + -14.85585880279541, + 0.13603799045085907, + 0.0073678516782820225, + -0.007528495043516159, + 0.6968295574188232, + -0.7171594500541687 + ], + "box_yaw_rad": -1.5420485859238942, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00035879865806521144, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006574842568816788 + } + } + }, + { + "simulation_time_ns": 5480000000, + "center": [ + 15.60686763407061, + -14.850763422948864, + 0.11881240271850793 + ], + "face_center": [ + 15.55158482651737, + -14.852602003124995, + 0.11955574183120618 + ], + "face_normal": [ + -0.9993573248951466, + -0.033236346845302855, + 0.013437475772927629 + ], + "footprint_xy": [ + [ + 15.547431685644618, + -14.930809448992447 + ], + [ + 15.666303582496601, + -14.930809448992447 + ], + [ + 15.666303582496601, + -14.770717396905283 + ], + [ + 15.547431685644618, + -14.770717396905283 + ] + ], + "projected_box_corners": [ + [ + 15.547431685644618, + -14.776469901187404 + ], + [ + 15.550587941644086, + -14.77439455725754 + ], + [ + 15.657997300751097, + -14.772792740835147 + ], + [ + 15.661153556750563, + -14.770717396905283 + ], + [ + 15.552581711390657, + -14.930809448992447 + ], + [ + 15.555737967390124, + -14.928734105062583 + ], + [ + 15.663147326497134, + -14.92713228864019 + ], + [ + 15.666303582496601, + -14.925056944710326 + ] + ], + "yaw_rad": -1.5374405492826888, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.550090789794922, + -14.86428165435791, + 0.11318694055080414 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.551794503832724, + -14.85261084275182, + 0.11976398383551012 + ], + "intended_face_normal": [ + -0.9994507950611542, + -0.02865520027092494, + 0.01664206640675031 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850377621045235, + 0.11884337202676681 + ], + "centerline_face_intersection": [ + 15.55173372490584, + -14.851025684087833, + 0.11884337202676681 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.550216674804688, + -14.858257293701172, + 0.12132072448730469 + ], + "box_pose": [ + 15.609049797058105, + -14.855194091796875, + 0.1360287070274353, + 0.007545888889580965, + -0.004175103269517422, + 0.6968611478805542, + -0.7171542048454285 + ], + "box_yaw_rad": -1.5420578578796176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00064806304259875, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008702188528247105 + } + } + }, + { + "simulation_time_ns": 5500000000, + "center": [ + 15.608264738939083, + -14.852152824069352, + 0.1188853912198512 + ], + "face_center": [ + 15.553006038105647, + -14.854404511594542, + 0.12012139574217927 + ], + "face_normal": [ + -0.9989215433551055, + -0.040704163215775746, + 0.02234347761376876 + ], + "footprint_xy": [ + [ + 15.547178329933278, + -14.931678445606849 + ], + [ + 15.669351147944889, + -14.931678445606849 + ], + [ + 15.669351147944889, + -14.772627202531854 + ], + [ + 15.547178329933278, + -14.772627202531854 + ] + ], + "projected_box_corners": [ + [ + 15.547178329933278, + -14.777130577582234 + ], + [ + 15.552552885811835, + -14.777375860239411 + ], + [ + 15.657695731600151, + -14.772627202531854 + ], + [ + 15.663070287478709, + -14.772872485189032 + ], + [ + 15.553459190399456, + -14.93143316294967 + ], + [ + 15.558833746278015, + -14.931678445606849 + ], + [ + 15.66397659206633, + -14.926929787899292 + ], + [ + 15.669351147944889, + -14.92717507055647 + ] + ], + "yaw_rad": -1.5301139557789556, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.55062484741211, + -14.867103576660156, + 0.10853622853755951 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.55158482651737, + -14.852602003124995, + 0.11955574183120618 + ], + "intended_face_normal": [ + -0.9993573248951466, + -0.033236346845302855, + 0.013437475772927629 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.849574630649904, + 0.11881240271850793 + ], + "centerline_face_intersection": [ + 15.551513700189757, + -14.850763422948864, + 0.11881240271850793 + ], + "commanded_world_base_velocity": [ + 0.08888888888888913, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.550090789794922, + -14.86428165435791, + 0.11318694055080414 + ], + "box_pose": [ + 15.608797073364258, + -14.85486125946045, + 0.13601899147033691, + 0.007682844065129757, + -0.001721224864013493, + 0.6952142119407654, + -0.7187595963478088 + ], + "box_yaw_rad": -1.5374405492826888, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011887922989605925, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008035873773566122 + } + } + }, + { + "simulation_time_ns": 5520000000, + "center": [ + 15.609459105863266, + -14.853320007264962, + 0.11910106265399233 + ], + "face_center": [ + 15.55421543280322, + -14.855583156155088, + 0.1208717358666538 + ], + "face_normal": [ + -0.99864988357372, + -0.04091135238561616, + 0.0320087803674724 + ], + "footprint_xy": [ + [ + 15.547189394555124, + -14.934034513300379 + ], + [ + 15.67172881717141, + -14.934034513300379 + ], + [ + 15.67172881717141, + -14.772605501229544 + ], + [ + 15.547189394555124, + -14.772605501229544 + ] + ], + "projected_box_corners": [ + [ + 15.547189394555124, + -14.777131799009798 + ], + [ + 15.554981003643684, + -14.779742337811227 + ], + [ + 15.657676740675218, + -14.772605501229544 + ], + [ + 15.665468349763778, + -14.775216040030973 + ], + [ + 15.553449861962756, + -14.931423974498951 + ], + [ + 15.561241471051316, + -14.934034513300379 + ], + [ + 15.66393720808285, + -14.926897676718697 + ], + [ + 15.67172881717141, + -14.929508215520125 + ] + ], + "yaw_rad": -1.5302431677678083, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.551858901977539, + -14.863816261291504, + 0.10905085504055023 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.553006038105647, + -14.854404511594542, + 0.12012139574217927 + ], + "intended_face_normal": [ + -0.9989215433551055, + -0.040704163215775746, + 0.02234347761376876 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850366001666758, + 0.1188853912198512 + ], + "centerline_face_intersection": [ + 15.552886656792817, + -14.852152824069352, + 0.1188853912198512 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.55062484741211, + -14.867103576660156, + 0.10853622853755951 + ], + "box_pose": [ + 15.610383987426758, + -14.856404304504395, + 0.13603226840496063, + 0.007389738690108061, + -0.008435027673840523, + 0.6925267577171326, + -0.7213051319122314 + ], + "box_yaw_rad": -1.5301139557789556, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001786822402592776, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007947297702018286 + } + } + }, + { + "simulation_time_ns": 5540000000, + "center": [ + 15.610195308055502, + -14.853469888707306, + 0.1192405468726246 + ], + "face_center": [ + 15.554964092954867, + -14.85574898847274, + 0.12134748622557551 + ], + "face_normal": [ + -0.9984246787850517, + -0.04119969924756206, + 0.03808752428960116 + ], + "footprint_xy": [ + [ + 15.54718910425472, + -14.93434753431451 + ], + [ + 15.673201511856282, + -14.93434753431451 + ], + [ + 15.673201511856282, + -14.772592243100103 + ], + [ + 15.54718910425472, + -14.772592243100103 + ] + ], + "projected_box_corners": [ + [ + 15.54718910425472, + -14.777150442630973 + ], + [ + 15.556453123134409, + -14.780059398827065 + ], + [ + 15.657651534455988, + -14.772592243100103 + ], + [ + 15.666915553335677, + -14.775501199296196 + ], + [ + 15.553475062775325, + -14.931438578118417 + ], + [ + 15.562739081655014, + -14.93434753431451 + ], + [ + 15.663937492976594, + -14.926880378587546 + ], + [ + 15.673201511856282, + -14.929789334783639 + ] + ], + "yaw_rad": -1.5300771621527578, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.553853034973145, + -14.856538772583008, + 0.11391039192676544 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.55421543280322, + -14.855583156155088, + 0.1208717358666538 + ], + "intended_face_normal": [ + -0.99864988357372, + -0.04091135238561616, + 0.0320087803674724 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851113334701308, + 0.11910106265399233 + ], + "centerline_face_intersection": [ + 15.554065959380704, + -14.853320007264962, + 0.11910106265399233 + ], + "commanded_world_base_velocity": [ + 0.10199440329218103, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.551858901977539, + -14.863816261291504, + 0.10905085504055023 + ], + "box_pose": [ + 15.611750602722168, + -14.85774040222168, + 0.13618294894695282, + 0.007322895806282759, + -0.015485071577131748, + 0.6924526691436768, + -0.7212598919868469 + ], + "box_yaw_rad": -1.5302431677678083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022066725636544506, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007778308505284782 + } + } + }, + { + "simulation_time_ns": 5560000000, + "center": [ + 15.610117811774854, + -14.85345319427731, + 0.11921846513750456 + ], + "face_center": [ + 15.554885201253017, + -14.855731673243167, + 0.1212895691427204 + ], + "face_normal": [ + -0.9984499040668775, + -0.04118847694115357, + 0.037439722218139515 + ], + "footprint_xy": [ + [ + 15.547188445737008, + -14.934313614462313 + ], + [ + 15.6730471778127, + -14.934313614462313 + ], + [ + 15.6730471778127, + -14.772592774092306 + ], + [ + 15.547188445737008, + -14.772592774092306 + ] + ], + "projected_box_corners": [ + [ + 15.547188445737008, + -14.77714973202402 + ], + [ + 15.556295537271332, + -14.780025106431296 + ], + [ + 15.657653666780684, + -14.772592774092306 + ], + [ + 15.666760758315007, + -14.77546814849958 + ], + [ + 15.553474865234701, + -14.931438240055039 + ], + [ + 15.562581956769026, + -14.934313614462313 + ], + [ + 15.663940086278377, + -14.926881282123324 + ], + [ + 15.6730471778127, + -14.9297566565306 + ] + ], + "yaw_rad": -1.5300742775553244, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.556116104125977, + -14.852502822875977, + 0.12067204713821411 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.554964092954867, + -14.85574898847274, + 0.12134748622557551 + ], + "intended_face_normal": [ + -0.9984246787850517, + -0.04119969924756206, + 0.03808752428960116 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851140460788622, + 0.1192405468726246 + ], + "centerline_face_intersection": [ + 15.554789667088265, + -14.853469888707306, + 0.1192405468726246 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.553853034973145, + -14.856538772583008, + 0.11391039192676544 + ], + "box_pose": [ + 15.612592697143555, + -14.857911109924316, + 0.13630248606204987, + 0.008998236618936062, + -0.01813206449151039, + 0.6923288106918335, + -0.7212981581687927 + ], + "box_yaw_rad": -1.5300771621527578, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002329427918682541, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00014209740272232515 + } + } + }, + { + "simulation_time_ns": 5580000000, + "center": [ + 15.609293745248102, + -14.853201983391601, + 0.11897089270512776 + ], + "face_center": [ + 15.554047631622703, + -14.855470067794338, + 0.12065708896401084 + ], + "face_normal": [ + -0.9986940021156395, + -0.04100057254097855, + 0.03048167517365663 + ], + "footprint_xy": [ + [ + 15.547199098746995, + -14.933794722015922 + ], + [ + 15.67138839174921, + -14.933794722015922 + ], + [ + 15.67138839174921, + -14.772609244767281 + ], + [ + 15.547199098746995, + -14.772609244767281 + ] + ], + "projected_box_corners": [ + [ + 15.547199098746995, + -14.777145413572754 + ], + [ + 15.55461398103575, + -14.779501413783391 + ], + [ + 15.657691325997794, + -14.772609244767281 + ], + [ + 15.66510620828655, + -14.774965244977917 + ], + [ + 15.553481282209654, + -14.931438721805286 + ], + [ + 15.560896164498411, + -14.933794722015922 + ], + [ + 15.663973509460455, + -14.926902552999811 + ], + [ + 15.67138839174921, + -14.929258553210447 + ] + ], + "yaw_rad": -1.5301029520169154, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.557809829711914, + -14.85129451751709, + 0.1258939653635025 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.554885201253017, + -14.855731673243167, + 0.1212895691427204 + ], + "intended_face_normal": [ + -0.9984499040668775, + -0.04118847694115357, + 0.037439722218139515 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851161781214682, + 0.11921846513750456 + ], + "centerline_face_intersection": [ + 15.554713570600338, + -14.85345319427731, + 0.11921846513750456 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.556116104125977, + -14.852502822875977, + 0.12067204713821411 + ], + "box_pose": [ + 15.612504005432129, + -14.857892036437988, + 0.13628259301185608, + 0.008822186850011349, + -0.01784743182361126, + 0.6923351287841797, + -0.7213015556335449 + ], + "box_yaw_rad": -1.5300742775553244, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022914130626291752, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.069468346898751e-05 + } + } + }, + { + "simulation_time_ns": 5600000000, + "center": [ + 15.608540453715587, + -14.852462273351055, + 0.11891030485317516 + ], + "face_center": [ + 15.553284819237849, + -14.85472047849641, + 0.12026550836831652 + ], + "face_normal": [ + -0.9988661122877672, + -0.04082198341597809, + 0.024498259396032118 + ], + "footprint_xy": [ + [ + 15.547182050994508, + -14.932298019042493 + ], + [ + 15.669898856436665, + -14.932298019042493 + ], + [ + 15.669898856436665, + -14.772626527659616 + ], + [ + 15.547182050994508, + -14.772626527659616 + ] + ], + "projected_box_corners": [ + [ + 15.547182050994508, + -14.777142937950329 + ], + [ + 15.553098851052228, + -14.777997090365217 + ], + [ + 15.657693319949985, + -14.772626527659616 + ], + [ + 15.663610120007705, + -14.773480680074504 + ], + [ + 15.553470787423468, + -14.931443866627605 + ], + [ + 15.559387587481188, + -14.932298019042493 + ], + [ + 15.663982056378945, + -14.926927456336895 + ], + [ + 15.669898856436665, + -14.927781608751781 + ] + ], + "yaw_rad": -1.5300625611306564, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.559359550476074, + -14.85009765625, + 0.12700514495372772 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.554047631622703, + -14.855470067794338, + 0.12065708896401084 + ], + "intended_face_normal": [ + -0.9986940021156395, + -0.04100057254097855, + 0.03048167517365663 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850986868963952, + 0.11897089270512776 + ], + "centerline_face_intersection": [ + 15.553903045826251, + -14.853201983391601, + 0.11897089270512776 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.557809829711914, + -14.85129451751709, + 0.1258939653635025 + ], + "box_pose": [ + 15.61155891418457, + -14.857604026794434, + 0.13606102764606476, + 0.007160848472267389, + -0.014551302418112755, + 0.6924221515655518, + -0.7213102579116821 + ], + "box_yaw_rad": -1.5301029520169154, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022151144276487144, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003031277036633782 + } + } + }, + { + "simulation_time_ns": 5620000000, + "center": [ + 15.60935995149712, + -14.852075366665387, + 0.11894755869799466 + ], + "face_center": [ + 15.554141041045542, + -14.855132214538644, + 0.12023158353008659 + ], + "face_normal": [ + -0.9982022454154744, + -0.05525919265742907, + 0.023211549450750546 + ], + "footprint_xy": [ + [ + 15.547087797897564, + -14.932251989711155 + ], + [ + 15.671632105096675, + -14.932251989711155 + ], + [ + 15.671632105096675, + -14.77189874361962 + ], + [ + 15.547087797897564, + -14.77189874361962 + ] + ], + "projected_box_corners": [ + [ + 15.547087797897564, + -14.778057321912096 + ], + [ + 15.552662206065744, + -14.778012439366131 + ], + [ + 15.657525618800722, + -14.771943626165584 + ], + [ + 15.663100026968902, + -14.77189874361962 + ], + [ + 15.555619876025338, + -14.932251989711155 + ], + [ + 15.561194284193517, + -14.93220710716519 + ], + [ + 15.666057696928496, + -14.926138293964645 + ], + [ + 15.671632105096675, + -14.92609341141868 + ] + ], + "yaw_rad": -1.5155195361632112, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.561605453491211, + -14.848370552062988, + 0.1262047439813614 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.553284819237849, + -14.85472047849641, + 0.12026550836831652 + ], + "intended_face_normal": [ + -0.9988661122877672, + -0.04082198341597809, + 0.024498259396032118 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850341743607448, + 0.11891030485317516 + ], + "centerline_face_intersection": [ + 15.553159298418514, + -14.852462273351055, + 0.11891030485317516 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559359550476074, + -14.85009765625, + 0.12700514495372772 + ], + "box_pose": [ + 15.610698699951172, + -14.856757164001465, + 0.13604149222373962, + 0.007256709039211273, + -0.01012972742319107, + 0.6924856305122375, + -0.72132408618927 + ], + "box_yaw_rad": -1.5300625611306564, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0021205297436065252, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000647964206888793 + } + } + }, + { + "simulation_time_ns": 5640000000, + "center": [ + 15.610786532749072, + -14.852442948883155, + 0.11893580139127563 + ], + "face_center": [ + 15.555637057779089, + -14.856531290355532, + 0.1203293513695376 + ], + "face_normal": [ + -0.9969470476386072, + -0.07390568927161312, + 0.025191455355128345 + ], + "footprint_xy": [ + [ + 15.546887238278666, + -14.933795778095455 + ], + [ + 15.67468582721948, + -14.933795778095455 + ], + [ + 15.67468582721948, + -14.771090119670856 + ], + [ + 15.546887238278666, + -14.771090119670856 + ] + ], + "projected_box_corners": [ + [ + 15.546887238278666, + -14.779266802615608 + ], + [ + 15.552985740245585, + -14.77978784108796 + ], + [ + 15.657186188218633, + -14.771090119670856 + ], + [ + 15.663284690185552, + -14.771611158143207 + ], + [ + 15.558288375312593, + -14.933274739623103 + ], + [ + 15.564386877279512, + -14.933795778095455 + ], + [ + 15.668587325252561, + -14.92509805667835 + ], + [ + 15.67468582721948, + -14.925619095150703 + ] + ], + "yaw_rad": -1.4969015783894823, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.564210891723633, + -14.846548080444336, + 0.12562227249145508 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.554141041045542, + -14.855132214538644, + 0.12023158353008659 + ], + "intended_face_normal": [ + -0.9982022454154744, + -0.05525919265742907, + 0.023211549450750546 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850103029505876, + 0.11894755869799466 + ], + "centerline_face_intersection": [ + 15.553941964270926, + -14.852075366665387, + 0.11894755869799466 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.561605453491211, + -14.848370552062988, + 0.1262047439813614 + ], + "box_pose": [ + 15.611555099487305, + -14.856280326843262, + 0.13609635829925537, + 0.008053690195083618, + -0.008375638164579868, + 0.6872448921203613, + -0.7263329029083252 + ], + "box_yaw_rad": -1.5155195361632112, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0019723371595105734, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00024160354145415453 + } + } + }, + { + "simulation_time_ns": 5660000000, + "center": [ + 15.612002146631971, + -14.853211067564922, + 0.11899995722646053 + ], + "face_center": [ + 15.556894722742502, + -14.857719461708955, + 0.12072229829167062 + ], + "face_normal": [ + -0.9961868826399186, + -0.08149905749656994, + 0.03113507138413374 + ], + "footprint_xy": [ + [ + 15.546795473815402, + -14.935692851299873 + ], + [ + 15.67720881944854, + -14.935692851299873 + ], + [ + 15.67720881944854, + -14.770729283829972 + ], + [ + 15.546795473815402, + -14.770729283829972 + ] + ], + "projected_box_corners": [ + [ + 15.546795473815402, + -14.779746072118037 + ], + [ + 15.554455688968883, + -14.781781542963365 + ], + [ + 15.657010321594344, + -14.770729283829972 + ], + [ + 15.664670536747822, + -14.7727647546753 + ], + [ + 15.55933375651612, + -14.933657380454543 + ], + [ + 15.5669939716696, + -14.935692851299873 + ], + [ + 15.669548604295061, + -14.92464059216648 + ], + [ + 15.67720881944854, + -14.926676063011808 + ] + ], + "yaw_rad": -1.4895114865498038, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.56596565246582, + -14.845292091369629, + 0.12534993886947632 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.555637057779089, + -14.856531290355532, + 0.1203293513695376 + ], + "intended_face_normal": [ + -0.9969470476386072, + -0.07390568927161312, + 0.025191455355128345 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850706406461198, + 0.11893580139127563 + ], + "centerline_face_intersection": [ + 15.55529877197319, + -14.852442948883155, + 0.11893580139127563 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.564210891723633, + -14.846548080444336, + 0.12562227249145508 + ], + "box_pose": [ + 15.613097190856934, + -14.856654167175293, + 0.13606788218021393, + 0.007854330353438854, + -0.010053705424070358, + 0.6804303526878357, + -0.7327017188072205 + ], + "box_yaw_rad": -1.4969015783894823, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017365424219578074, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006034914949482753 + } + } + }, + { + "simulation_time_ns": 5680000000, + "center": [ + 15.612857994801875, + -14.85345458658072, + 0.11924911275422603 + ], + "face_center": [ + 15.557764372425511, + -14.857967708446397, + 0.12135769332492405 + ], + "face_normal": [ + -0.9959373901877853, + -0.08158452137704542, + 0.03811719288007098 + ], + "footprint_xy": [ + [ + 15.546810502002566, + -14.93618462559628 + ], + [ + 15.678905487601183, + -14.93618462559628 + ], + [ + 15.678905487601183, + -14.770724547565159 + ], + [ + 15.546810502002566, + -14.770724547565159 + ] + ], + "projected_box_corners": [ + [ + 15.546810502002566, + -14.779750791296516 + ], + [ + 15.556191425997046, + -14.782277378863196 + ], + [ + 15.656997746755295, + -14.770724547565159 + ], + [ + 15.666378670749774, + -14.773251135131838 + ], + [ + 15.559337318853977, + -14.9336580380296 + ], + [ + 15.568718242848457, + -14.93618462559628 + ], + [ + 15.669524563606704, + -14.924631794298243 + ], + [ + 15.678905487601183, + -14.927158381864922 + ] + ], + "yaw_rad": -1.4895833585965859, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.566373825073242, + -14.845540046691895, + 0.1250341385602951 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.556894722742502, + -14.857719461708955, + 0.12072229829167062 + ], + "intended_face_normal": [ + -0.9961868826399186, + -0.08149905749656994, + 0.03113507138413374 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851791284190776, + 0.11899995722646053 + ], + "centerline_face_intersection": [ + 15.556472044550123, + -14.853211067564922, + 0.11899995722646053 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.56596565246582, + -14.845292091369629, + 0.12534993886947632 + ], + "box_pose": [ + 15.614455223083496, + -14.857516288757324, + 0.13608881831169128, + 0.007701963651925325, + -0.014616929925978184, + 0.677636444568634, + -0.7352113723754883 + ], + "box_yaw_rad": -1.4895114865498038, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014197833741460642, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010867730486737043 + } + } + }, + { + "simulation_time_ns": 5700000000, + "center": [ + 15.612970975398218, + -14.853494916679207, + 0.11928012630778081 + ], + "face_center": [ + 15.557879350760409, + -14.8580089069281, + 0.12143812918597528 + ], + "face_normal": [ + -0.9959012767061173, + -0.08160021929770767, + 0.03901060888399288 + ], + "footprint_xy": [ + [ + 15.54681555315134, + -14.936263754804719 + ], + [ + 15.679126397645096, + -14.936263754804719 + ], + [ + 15.679126397645096, + -14.770726078553697 + ], + [ + 15.54681555315134, + -14.770726078553697 + ] + ], + "projected_box_corners": [ + [ + 15.54681555315134, + -14.779754059051484 + ], + [ + 15.556417790037667, + -14.782357271622276 + ], + [ + 15.65699880242696, + -14.770726078553697 + ], + [ + 15.666601039313287, + -14.773329291124488 + ], + [ + 15.55934091148315, + -14.933660542233927 + ], + [ + 15.568943148369476, + -14.936263754804719 + ], + [ + 15.669524160758769, + -14.92463256173614 + ], + [ + 15.679126397645096, + -14.927235774306931 + ] + ], + "yaw_rad": -1.4895923717588293, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.563741683959961, + -14.846943855285645, + 0.123172327876091 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.557764372425511, + -14.857967708446397, + 0.12135769332492405 + ], + "intended_face_normal": [ + -0.9959373901877853, + -0.08158452137704542, + 0.03811719288007098 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852351384802127, + 0.11924911275422603 + ], + "centerline_face_intersection": [ + 15.557313981864311, + -14.85345458658072, + 0.11924911275422603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.566373825073242, + -14.845540046691895, + 0.1250341385602951 + ], + "box_pose": [ + 15.615433692932129, + -14.857794761657715, + 0.13631106913089752, + 0.00938059389591217, + -0.017949508503079414, + 0.6775837540626526, + -0.7351667881011963 + ], + "box_yaw_rad": -1.4895833585965859, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011032017785930748, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006130180844406497 + } + } + }, + { + "simulation_time_ns": 5720000000, + "center": [ + 15.612325579402262, + -14.853325725086759, + 0.11908890494288688 + ], + "face_center": [ + 15.557222468613736, + -14.8578321987491, + 0.12094903321799991 + ], + "face_normal": [ + -0.9961089139329651, + -0.08146434060120067, + 0.03362587573340192 + ], + "footprint_xy": [ + [ + 15.546821767859647, + -14.935916545443195 + ], + [ + 15.677829390944877, + -14.935916545443195 + ], + [ + 15.677829390944877, + -14.770734904730322 + ], + [ + 15.546821767859647, + -14.770734904730322 + ] + ], + "projected_box_corners": [ + [ + 15.546821767859647, + -14.779747852055005 + ], + [ + 15.55509951128253, + -14.782006062061233 + ], + [ + 15.657027989436699, + -14.770734904730322 + ], + [ + 15.665305732859581, + -14.77299311473655 + ], + [ + 15.559345425944944, + -14.933658335436967 + ], + [ + 15.567623169367826, + -14.935916545443195 + ], + [ + 15.669551647521995, + -14.924645388112285 + ], + [ + 15.677829390944877, + -14.926903598118514 + ] + ], + "yaw_rad": -1.4896054473310099, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.558116912841797, + -14.8482027053833, + 0.12015463411808014 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.557879350760409, + -14.8580089069281, + 0.12143812918597528 + ], + "intended_face_normal": [ + -0.9959012767061173, + -0.08160021929770767, + 0.03901060888399288 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852653757356356, + 0.11928012630778081 + ], + "centerline_face_intersection": [ + 15.557424948317546, + -14.853494916679207, + 0.11928012630778081 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.563741683959961, + -14.846943855285645, + 0.123172327876091 + ], + "box_pose": [ + 15.615562438964844, + -14.857840538024902, + 0.13633830845355988, + 0.009575867094099522, + -0.018397221341729164, + 0.6775752305984497, + -0.7351608872413635 + ], + "box_yaw_rad": -1.4895923717588293, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008411593228505865, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000303958882178098 + } + } + }, + { + "simulation_time_ns": 5740000000, + "center": [ + 15.611405052789975, + -14.852738459431079, + 0.11893945773595278 + ], + "face_center": [ + 15.556288975001909, + -14.857233771302807, + 0.12039930272631198 + ], + "face_normal": [ + -0.9963433207322332, + -0.08126256689067479, + 0.026389882296082523 + ], + "footprint_xy": [ + [ + 15.546806374061097, + -14.93472484785734 + ], + [ + 15.676003731518854, + -14.93472484785734 + ], + [ + 15.676003731518854, + -14.770752071004818 + ], + [ + 15.546806374061097, + -14.770752071004818 + ] + ], + "projected_box_corners": [ + [ + 15.546806374061097, + -14.779742694748274 + ], + [ + 15.553244862553756, + -14.780806484047638 + ], + [ + 15.65703852963723, + -14.770752071004818 + ], + [ + 15.663477018129889, + -14.771815860304182 + ], + [ + 15.55933308745006, + -14.933661058557977 + ], + [ + 15.56577157594272, + -14.93472484785734 + ], + [ + 15.669565243026193, + -14.924670434814521 + ], + [ + 15.676003731518854, + -14.925734224113883 + ] + ], + "yaw_rad": -1.4895898663856464, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.554903030395508, + -14.849751472473145, + 0.11947031319141388 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.557222468613736, + -14.8578321987491, + 0.12094903321799991 + ], + "intended_face_normal": [ + -0.9961089139329651, + -0.08146434060120067, + 0.03362587573340192 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852689486552046, + 0.11908890494288688 + ], + "centerline_face_intersection": [ + 15.556791130797462, + -14.853325725086759, + 0.11908890494288688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.558116912841797, + -14.8482027053833, + 0.12015463411808014 + ], + "box_pose": [ + 15.614822387695312, + -14.857646942138672, + 0.13616739213466644, + 0.008233637548983097, + -0.01587825082242489, + 0.6776430010795593, + -0.7351735234260559 + ], + "box_yaw_rad": -1.4896054473310099, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006362385347122768, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00019453068091338015 + } + } + }, + { + "simulation_time_ns": 5760000000, + "center": [ + 15.610622876390911, + -14.851966110898664, + 0.11888529829958061 + ], + "face_center": [ + 15.555498188155381, + -14.856452946219623, + 0.12000715459067002 + ], + "face_normal": [ + -0.9964989733505432, + -0.08110933474718618, + 0.020279999363277956 + ], + "footprint_xy": [ + [ + 15.546813514779961, + -14.933669987060485 + ], + [ + 15.674432238001861, + -14.933669987060485 + ], + [ + 15.674432238001861, + -14.77026223473684 + ], + [ + 15.546813514779961, + -14.77026223473684 + ] + ], + "projected_box_corners": [ + [ + 15.546813514779961, + -14.779748513439127 + ], + [ + 15.551652981517073, + -14.77923590537876 + ], + [ + 15.657062891251021, + -14.770774842797207 + ], + [ + 15.661902357988133, + -14.77026223473684 + ], + [ + 15.559343394793691, + -14.933669987060485 + ], + [ + 15.564182861530801, + -14.933157379000118 + ], + [ + 15.669592771264751, + -14.924696316418565 + ], + [ + 15.674432238001861, + -14.924183708358198 + ] + ], + "yaw_rad": -1.4895710622783946, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.556197166442871, + -14.851346969604492, + 0.12193639576435089 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.556288975001909, + -14.857233771302807, + 0.12039930272631198 + ], + "intended_face_normal": [ + -0.9963433207322332, + -0.08126256689067479, + 0.026389882296082523 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852221700374683, + 0.11893945773595278 + ], + "centerline_face_intersection": [ + 15.555883669613603, + -14.852738459431079, + 0.11893945773595278 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.554903030395508, + -14.849751472473145, + 0.11947031319141388 + ], + "box_pose": [ + 15.613770484924316, + -14.856974601745605, + 0.13605791330337524, + 0.007465948350727558, + -0.01137046329677105, + 0.6777263283729553, + -0.7351884245872498 + ], + "box_yaw_rad": -1.4895898663856464, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005167590563949176, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004910787873578912 + } + } + }, + { + "simulation_time_ns": 5780000000, + "center": [ + 15.609816838947864, + -14.851184034469675, + 0.1188268201774461 + ], + "face_center": [ + 15.554685626506082, + -14.855664330044297, + 0.11959975468382242 + ], + "face_normal": [ + -0.9966169126086256, + -0.08099111456813102, + 0.013972477064727734 + ], + "footprint_xy": [ + [ + 15.546827440840204, + -14.933677666396509 + ], + [ + 15.672806237055527, + -14.933677666396509 + ], + [ + 15.672806237055527, + -14.768690402542843 + ], + [ + 15.546827440840204, + -14.768690402542843 + ] + ], + "projected_box_corners": [ + [ + 15.546827440840204, + -14.77976035526171 + ], + [ + 15.550018921014374, + -14.777650993692085 + ], + [ + 15.657089865723767, + -14.770799764112468 + ], + [ + 15.660281345897939, + -14.768690402542843 + ], + [ + 15.559352331997792, + -14.933677666396509 + ], + [ + 15.562543812171961, + -14.931568304826884 + ], + [ + 15.669614756881355, + -14.924717075247267 + ], + [ + 15.672806237055527, + -14.922607713677642 + ] + ], + "yaw_rad": -1.489601074572437, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.559151649475098, + -14.85138988494873, + 0.12893229722976685 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.555498188155381, + -14.856452946219623, + 0.12000715459067002 + ], + "intended_face_normal": [ + -0.9964989733505432, + -0.08110933474718618, + 0.020279999363277956 + ], + "commanded_contact_point": [ + 15.566037063598634, + -14.851474117494035, + 0.11888529829958061 + ], + "centerline_face_intersection": [ + 15.555110165625544, + -14.851966110898664, + 0.11888529829958061 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.556197166442871, + -14.851346969604492, + 0.12193639576435089 + ], + "box_pose": [ + 15.612874031066895, + -14.85608959197998, + 0.1360466182231903, + 0.007622747216373682, + -0.006692135240882635, + 0.6777811050415039, + -0.7351938486099243 + ], + "box_yaw_rad": -1.4895710622783946, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004919934046280617, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014101245788196613 + } + } + }, + { + "simulation_time_ns": 5800000000, + "center": [ + 15.610340292505198, + -14.850317204550583, + 0.11921613708095591 + ], + "face_center": [ + 15.55520933114505, + -14.854769322386609, + 0.12015257047323566 + ], + "face_normal": [ + -0.9966123737604398, + -0.08048174048402912, + 0.01692807603792444 + ], + "footprint_xy": [ + [ + 15.547088835266496, + -14.933576085275135 + ], + [ + 15.6735917497439, + -14.933576085275135 + ], + [ + 15.6735917497439, + -14.767058323826031 + ], + [ + 15.547088835266496, + -14.767058323826031 + ] + ], + "projected_box_corners": [ + [ + 15.547088835266496, + -14.779664861987277 + ], + [ + 15.550863655542043, + -14.775962559498081 + ], + [ + 15.65735075798679, + -14.770760626315226 + ], + [ + 15.661125578262338, + -14.767058323826031 + ], + [ + 15.559555006748058, + -14.933576085275135 + ], + [ + 15.563329827023605, + -14.929873782785942 + ], + [ + 15.669816929468354, + -14.924671849603085 + ], + [ + 15.6735917497439, + -14.92096954711389 + ] + ], + "yaw_rad": -1.489976895366718, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.561500549316406, + -14.848580360412598, + 0.13489742577075958 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.554685626506082, + -14.855664330044297, + 0.11959975468382242 + ], + "intended_face_normal": [ + -0.9966169126086256, + -0.08099111456813102, + 0.013972477064727734 + ], + "commanded_contact_point": [ + 15.567717437744141, + -14.850683807045884, + 0.1188268201774461 + ], + "centerline_face_intersection": [ + 15.554310697535113, + -14.851184034469675, + 0.1188268201774461 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559151649475098, + -14.85138988494873, + 0.12893229722976685 + ], + "box_pose": [ + 15.611949920654297, + -14.855193138122559, + 0.13603027164936066, + 0.007741378154605627, + -0.0019104091916233301, + 0.6778233647346497, + -0.7351815700531006 + ], + "box_yaw_rad": -1.489601074572437, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005002274237902783, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001857866401040768 + } + } + }, + { + "simulation_time_ns": 5820000000, + "center": [ + 15.611385856770855, + -14.85009707882945, + 0.11956591833529294 + ], + "face_center": [ + 15.556280523499298, + -14.854761462819189, + 0.12089531378312623 + ], + "face_normal": [ + -0.9961490901612577, + -0.08431891419008353, + 0.024031722288978097 + ], + "footprint_xy": [ + [ + 15.54702471514298, + -14.93378279994185 + ], + [ + 15.675746998398731, + -14.93378279994185 + ], + [ + 15.675746998398731, + -14.76641135771705 + ], + [ + 15.54702471514298, + -14.76641135771705 + ] + ], + "projected_box_corners": [ + [ + 15.54702471514298, + -14.77992570211727 + ], + [ + 15.552455477156338, + -14.775740125696526 + ], + [ + 15.657235381686094, + -14.770596934137792 + ], + [ + 15.662666143699452, + -14.76641135771705 + ], + [ + 15.560105569842259, + -14.93378279994185 + ], + [ + 15.565536331855617, + -14.929597223521107 + ], + [ + 15.670316236385371, + -14.924454031962375 + ], + [ + 15.675746998398731, + -14.920268455541631 + ] + ], + "yaw_rad": -1.4859807846255209, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.561861991882324, + -14.846681594848633, + 0.13570809364318848 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.55520933114505, + -14.854769322386609, + 0.12015257047323566 + ], + "intended_face_normal": [ + -0.9966123737604398, + -0.08048174048402912, + 0.01692807603792444 + ], + "commanded_contact_point": [ + 15.569569473266602, + -14.849886450892312, + 0.11921613708095591 + ], + "centerline_face_intersection": [ + 15.554833898302139, + -14.850317204550583, + 0.11921613708095591 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.561500549316406, + -14.848580360412598, + 0.13489742577075958 + ], + "box_pose": [ + 15.612513542175293, + -14.854212760925293, + 0.13644063472747803, + 0.011006980203092098, + -0.0005513412179425359, + 0.6779660582542419, + -0.7350106239318848 + ], + "box_yaw_rad": -1.489976895366718, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004307536582708594, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020536260768348317 + } + } + }, + { + "simulation_time_ns": 5840000000, + "center": [ + 15.611486335138185, + -14.850729927172218, + 0.119248198601571 + ], + "face_center": [ + 15.556406906149297, + -14.855727042068605, + 0.12043412515945812 + ], + "face_normal": [ + -0.9956808137517117, + -0.09033375105338504, + 0.021438209180509316 + ], + "footprint_xy": [ + [ + 15.546964569272099, + -14.934086427078377 + ], + [ + 15.676008101004271, + -14.934086427078377 + ], + [ + 15.676008101004271, + -14.767373427266058 + ], + [ + 15.546964569272099, + -14.767373427266058 + ] + ], + "projected_box_corners": [ + [ + 15.546964569272099, + -14.780298750893309 + ], + [ + 15.551862443627499, + -14.777367657058832 + ], + [ + 15.657123427249877, + -14.770304521100536 + ], + [ + 15.662021301605277, + -14.767373427266058 + ], + [ + 15.560951368671093, + -14.934086427078377 + ], + [ + 15.565849243026493, + -14.9311553332439 + ], + [ + 15.67111022664887, + -14.924092197285605 + ], + [ + 15.676008101004271, + -14.921161103451126 + ] + ], + "yaw_rad": -1.4800970896952022, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.559799194335938, + -14.851799964904785, + 0.13021482527256012 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.556280523499298, + -14.854761462819189, + 0.12089531378312623 + ], + "intended_face_normal": [ + -0.9961490901612577, + -0.08431891419008353, + 0.024031722288978097 + ], + "commanded_contact_point": [ + 15.571729545593263, + -14.849802944530412, + 0.11956591833529294 + ], + "centerline_face_intersection": [ + 15.55585364795597, + -14.85009707882945, + 0.11956591833529294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.561861991882324, + -14.846681594848633, + 0.13570809364318848 + ], + "box_pose": [ + 15.613694190979004, + -14.853950500488281, + 0.13678231835365295, + 0.014083435758948326, + -0.002433248795568943, + 0.6764925718307495, + -0.7363108396530151 + ], + "box_yaw_rad": -1.4859807846255209, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002941342990381913, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021898019761536396 + } + } + }, + { + "simulation_time_ns": 5860000000, + "center": [ + 15.611239579182218, + -14.851675717985616, + 0.11894246911694464 + ], + "face_center": [ + 15.556171970604819, + -14.856850484811178, + 0.1198916483067249 + ], + "face_normal": [ + -0.995467134032322, + -0.09354519715319476, + 0.017158484127844487 + ], + "footprint_xy": [ + [ + 15.54692507638872, + -14.934236952926899 + ], + [ + 15.675554081975717, + -14.934236952926899 + ], + [ + 15.675554081975717, + -14.769114483044332 + ], + [ + 15.54692507638872, + -14.769114483044332 + ] + ], + "projected_box_corners": [ + [ + 15.54692507638872, + -14.780484907894852 + ], + [ + 15.55096352287721, + -14.779464016695457 + ], + [ + 15.657060293543518, + -14.77013537424373 + ], + [ + 15.661098740032008, + -14.769114483044332 + ], + [ + 15.561380418332428, + -14.934236952926899 + ], + [ + 15.565418864820918, + -14.933216061727501 + ], + [ + 15.671515635487227, + -14.923887419275774 + ], + [ + 15.675554081975717, + -14.922866528076378 + ] + ], + "yaw_rad": -1.4770546468297905, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.558489799499512, + -14.856965065002441, + 0.12588411569595337 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.556406906149297, + -14.855727042068605, + 0.12043412515945812 + ], + "intended_face_normal": [ + -0.9956808137517117, + -0.09033375105338504, + 0.021438209180509316 + ], + "commanded_contact_point": [ + 15.573777084350587, + -14.850392991363877, + 0.119248198601571 + ], + "centerline_face_intersection": [ + 15.555928009094767, + -14.850729927172218, + 0.119248198601571 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559799194335938, + -14.851799964904785, + 0.13021482527256012 + ], + "box_pose": [ + 15.613780975341797, + -14.85466194152832, + 0.13644865155220032, + 0.011395861394703388, + -0.00341829308308661, + 0.6743168830871582, + -0.73834627866745 + ], + "box_yaw_rad": -1.4800970896952022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00033693580834089694, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021544178001548903 + } + } + }, + { + "simulation_time_ns": 5880000000, + "center": [ + 15.611673476311106, + -14.851941816122348, + 0.11887062832481113 + ], + "face_center": [ + 15.556610591250116, + -14.857128920069748, + 0.12000776717826771 + ], + "face_normal": [ + -0.9953817461706715, + -0.09376821753914355, + 0.020556265011148656 + ], + "footprint_xy": [ + [ + 15.54691474015424, + -14.934245509902546 + ], + [ + 15.676432212467974, + -14.934245509902546 + ], + [ + 15.676432212467974, + -14.76963812234215 + ], + [ + 15.54691474015424, + -14.76963812234215 + ] + ], + "projected_box_corners": [ + [ + 15.54691474015424, + -14.780495620690465 + ], + [ + 15.55182242218225, + -14.78001233023695 + ], + [ + 15.65704051027622, + -14.770121412795664 + ], + [ + 15.66194819230423, + -14.76963812234215 + ], + [ + 15.561398760317983, + -14.934245509902546 + ], + [ + 15.566306442345994, + -14.933762219449031 + ], + [ + 15.671524530439964, + -14.923871302007745 + ], + [ + 15.676432212467974, + -14.92338801155423 + ] + ], + "yaw_rad": -1.4768684525213414, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.559406280517578, + -14.8567533493042, + 0.12479619681835175 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.556171970604819, + -14.856850484811178, + 0.1198916483067249 + ], + "intended_face_normal": [ + -0.995467134032322, + -0.09354519715319476, + 0.017158484127844487 + ], + "commanded_contact_point": [ + 15.575944786071778, + -14.851127208296601, + 0.11894246911694464 + ], + "centerline_face_intersection": [ + 15.555669327393476, + -14.851675717985616, + 0.11894246911694464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.558489799499512, + -14.856965065002441, + 0.12588411569595337 + ], + "box_pose": [ + 15.613485336303711, + -14.855738639831543, + 0.13611893355846405, + 0.007240094244480133, + -0.0047917659394443035, + 0.6731827259063721, + -0.7394251823425293 + ], + "box_yaw_rad": -1.4770546468297905, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005485096890139119, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023089988683679392 + } + } + }, + { + "simulation_time_ns": 5900000000, + "center": [ + 15.611989270064068, + -14.852245873660262, + 0.11888820944568218 + ], + "face_center": [ + 15.556929554834493, + -14.857435774112416, + 0.12015865394459872 + ], + "face_normal": [ + -0.9953244445540657, + -0.09381877046206555, + 0.02296605530828566 + ], + "footprint_xy": [ + [ + 15.546915048919363, + -14.934376673830581 + ], + [ + 15.677063491208772, + -14.934376673830581 + ], + [ + 15.677063491208772, + -14.770115073489942 + ], + [ + 15.546915048919363, + -14.770115073489942 + ] + ], + "projected_box_corners": [ + [ + 15.546915048919363, + -14.780494874394249 + ], + [ + 15.552461400482866, + -14.780627206280124 + ], + [ + 15.657034479378513, + -14.770115073489942 + ], + [ + 15.662580830942016, + -14.770247405375818 + ], + [ + 15.561397709186119, + -14.934244341944705 + ], + [ + 15.566944060749622, + -14.934376673830581 + ], + [ + 15.67151713964527, + -14.9238645410404 + ], + [ + 15.677063491208772, + -14.923996872926274 + ] + ], + "yaw_rad": -1.4768769635258894, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.561358451843262, + -14.853219032287598, + 0.1231248676776886 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.556610591250116, + -14.857128920069748, + 0.12000776717826771 + ], + "intended_face_normal": [ + -0.9953817461706715, + -0.09376821753914355, + 0.020556265011148656 + ], + "commanded_contact_point": [ + 15.578522567749024, + -14.85120084510606, + 0.11887062832481113 + ], + "centerline_face_intersection": [ + 15.55609845748199, + -14.851941816122348, + 0.11887062832481113 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559406280517578, + -14.8567533493042, + 0.12479619681835175 + ], + "box_pose": [ + 15.613982200622559, + -14.856042861938477, + 0.1360296756029129, + 0.007630605716258287, + -0.00688672112300992, + 0.6730955839157104, + -0.7394840121269226 + ], + "box_yaw_rad": -1.4768684525213414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007409710162879435, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002579833687404548 + } + } + }, + { + "simulation_time_ns": 5920000000, + "center": [ + 15.612253008755987, + -14.852509915036299, + 0.1189063127111324 + ], + "face_center": [ + 15.557196068071956, + -14.857701206074639, + 0.12028645271464851 + ], + "face_normal": [ + -0.9952742885917193, + -0.09384390834042566, + 0.024949040812848988 + ], + "footprint_xy": [ + [ + 15.546920306164415, + -14.934909084436336 + ], + [ + 15.677585711347557, + -14.934909084436336 + ], + [ + 15.677585711347557, + -14.770110745636261 + ], + [ + 15.546920306164415, + -14.770110745636261 + ] + ], + "projected_box_corners": [ + [ + 15.546920306164415, + -14.780493327712941 + ], + [ + 15.552994875570237, + -14.781160567522276 + ], + [ + 15.657034187532474, + -14.770110745636261 + ], + [ + 15.663108756938296, + -14.770777985445596 + ], + [ + 15.561397260573676, + -14.934241844627 + ], + [ + 15.567471829979498, + -14.934909084436336 + ], + [ + 15.671511141941735, + -14.92385926255032 + ], + [ + 15.677585711347557, + -14.924526502359656 + ] + ], + "yaw_rad": -1.476913171580795, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.563482284545898, + -14.85011100769043, + 0.11994372308254242 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.556929554834493, + -14.857435774112416, + 0.12015865394459872 + ], + "intended_face_normal": [ + -0.9953244445540657, + -0.09381877046206555, + 0.02296605530828566 + ], + "commanded_contact_point": [ + 15.581414108276368, + -14.851465976298881, + 0.11888820944568218 + ], + "centerline_face_intersection": [ + 15.5564110517371, + -14.852245873660262, + 0.11888820944568218 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.561358451843262, + -14.853219032287598, + 0.1231248676776886 + ], + "box_pose": [ + 15.614343643188477, + -14.856390953063965, + 0.13603046536445618, + 0.007577751763164997, + -0.008735130541026592, + 0.673077404499054, + -0.7394816875457764 + ], + "box_yaw_rad": -1.4768769635258894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007798973613813587, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029037235175699886 + } + } + }, + { + "simulation_time_ns": 5940000000, + "center": [ + 15.615008770522355, + -14.852775905769045, + 0.11920066732321571 + ], + "face_center": [ + 15.560000508361105, + -14.858312634733808, + 0.12108639470528763 + ], + "face_normal": [ + -0.9943943181188405, + -0.10008845230170371, + 0.03408863542637697 + ], + "footprint_xy": [ + [ + 15.548108873115636, + -14.935885617321485 + ], + [ + 15.681908667929074, + -14.935885617321485 + ], + [ + 15.681908667929074, + -14.769666194216605 + ], + [ + 15.548108873115636, + -14.769666194216605 + ] + ], + "projected_box_corners": [ + [ + 15.548108873115636, + -14.780739652146133 + ], + [ + 15.556477910315374, + -14.782233481425731 + ], + [ + 15.658125397438136, + -14.769666194216605 + ], + [ + 15.666494434637874, + -14.771160023496202 + ], + [ + 15.563523106406835, + -14.934391788041886 + ], + [ + 15.571892143606574, + -14.935885617321485 + ], + [ + 15.673539630729335, + -14.923318330112357 + ], + [ + 15.681908667929074, + -14.924812159391957 + ] + ], + "yaw_rad": -1.4708118126130922, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.567230224609375, + -14.84978199005127, + 0.1203329861164093 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.557196068071956, + -14.857701206074639, + 0.12028645271464851 + ], + "intended_face_normal": [ + -0.9952742885917193, + -0.09384390834042566, + 0.024949040812848988 + ], + "commanded_contact_point": [ + 15.584236030578614, + -14.851825973968753, + 0.1189063127111324 + ], + "centerline_face_intersection": [ + 15.556671989614152, + -14.852509915036299, + 0.1189063127111324 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.563482284545898, + -14.85011100769043, + 0.11994372308254242 + ], + "box_pose": [ + 15.614645004272461, + -14.856693267822266, + 0.1360340565443039, + 0.007494447287172079, + -0.010299986228346825, + 0.6730690002441406, + -0.7394700050354004 + ], + "box_yaw_rad": -1.476913171580795, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006839410675465985, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002844850001396706 + } + } + }, + { + "simulation_time_ns": 5960000000, + "center": [ + 15.61912663556016, + -14.853811291793589, + 0.11987819514437063 + ], + "face_center": [ + 15.564313342082334, + -14.860587982935364, + 0.12299287058557876 + ], + "face_normal": [ + -0.9908698339160877, + -0.12250347315598187, + 0.056304552076968384 + ], + "footprint_xy": [ + [ + 15.547930304974917, + -14.93878444636385 + ], + [ + 15.690322966145402, + -14.93878444636385 + ], + [ + 15.690322966145402, + -14.768838137223325 + ], + [ + 15.547930304974917, + -14.768838137223325 + ] + ], + "projected_box_corners": [ + [ + 15.547930304974917, + -14.782391519506877 + ], + [ + 15.561925699709748, + -14.785530270173979 + ], + [ + 15.65755689193057, + -14.768838137223325 + ], + [ + 15.671552286665401, + -14.771976887890428 + ], + [ + 15.566700984454918, + -14.93564569569675 + ], + [ + 15.58069637918975, + -14.93878444636385 + ], + [ + 15.676327571410571, + -14.922092313413197 + ], + [ + 15.690322966145402, + -14.9252310640803 + ] + ], + "yaw_rad": -1.4489226335534418, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.57118034362793, + -14.851950645446777, + 0.12237817049026489 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.560000508361105, + -14.858312634733808, + 0.12108639470528763 + ], + "intended_face_normal": [ + -0.9943943181188405, + -0.10008845230170371, + 0.03408863542637697 + ], + "commanded_contact_point": [ + 15.586384658813477, + -14.852211721330209, + 0.11920066732321571 + ], + "centerline_face_intersection": [ + 15.559378566007267, + -14.852775905769045, + 0.11920066732321571 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.567230224609375, + -14.84978199005127, + 0.1203329861164093 + ], + "box_pose": [ + 15.617589950561523, + -14.857006072998047, + 0.13628940284252167, + 0.009393716230988503, + -0.015026952140033245, + 0.6707216501235962, + -0.7414973378181458 + ], + "box_yaw_rad": -1.4708118126130922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005641844388355821, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022027366969696164 + } + } + }, + { + "simulation_time_ns": 5980000000, + "center": [ + 15.623294781123084, + -14.854934893508089, + 0.12089882727953857 + ], + "face_center": [ + 15.568643635047303, + -14.861924166859161, + 0.125850978815473 + ], + "face_normal": [ + -0.9879386659613717, + -0.12634636025607227, + 0.0895209402427839 + ], + "footprint_xy": [ + [ + 15.547936764709942, + -14.941003764651596 + ], + [ + 15.698652797536228, + -14.941003764651596 + ], + [ + 15.698652797536228, + -14.768866022364584 + ], + [ + 15.547936764709942, + -14.768866022364584 + ] + ], + "projected_box_corners": [ + [ + 15.547936764709942, + -14.782844569066729 + ], + [ + 15.570215473040422, + -14.787844515036625 + ], + [ + 15.657239056861503, + -14.768866022364584 + ], + [ + 15.679517765191983, + -14.77386596833448 + ], + [ + 15.567071797054187, + -14.9360038186817 + ], + [ + 15.589350505384667, + -14.941003764651596 + ], + [ + 15.676374089205748, + -14.922025271979555 + ], + [ + 15.698652797536228, + -14.927025217949451 + ] + ], + "yaw_rad": -1.4465048088535393, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.574749946594238, + -14.85472583770752, + 0.12531885504722595 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.564313342082334, + -14.860587982935364, + 0.12299287058557876 + ], + "intended_face_normal": [ + -0.9908698339160877, + -0.12250347315598187, + 0.056304552076968384 + ], + "commanded_contact_point": [ + 15.58864486694336, + -14.853321533208625, + 0.11987819514437063 + ], + "centerline_face_intersection": [ + 15.563298556641898, + -14.853811291793589, + 0.11987819514437063 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.57118034362793, + -14.851950645446777, + 0.12237817049026489 + ], + "box_pose": [ + 15.622199058532715, + -14.858113288879395, + 0.1368674486875534, + 0.014431762509047985, + -0.026195203885436058, + 0.6622235178947449, + -0.7487093806266785 + ], + "box_yaw_rad": -1.4489226335534418, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000489758584963127, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026075404396292117 + } + } + }, + { + "simulation_time_ns": 6000000000, + "center": [ + 15.62774644197333, + -14.855951606373687, + 0.121812733921039 + ], + "face_center": [ + 15.573321818972424, + -14.863041247572534, + 0.12872777192871415 + ], + "face_normal": [ + -0.9838437673092558, + -0.12816072801883116, + 0.125004394508065 + ], + "footprint_xy": [ + [ + 15.548235691639256, + -14.94305739431469 + ], + [ + 15.7072571923074, + -14.94305739431469 + ], + [ + 15.7072571923074, + -14.76884581843268 + ], + [ + 15.548235691639256, + -14.76884581843268 + ] + ], + "projected_box_corners": [ + [ + 15.548235691639256, + -14.783025100830377 + ], + [ + 15.579350027720913, + -14.78996548527199 + ], + [ + 15.657084937641066, + -14.76884581843268 + ], + [ + 15.688199273722724, + -14.775786202874293 + ], + [ + 15.567293610223933, + -14.936117009873078 + ], + [ + 15.59840794630559, + -14.94305739431469 + ], + [ + 15.676142856225743, + -14.921937727475381 + ], + [ + 15.7072571923074, + -14.928878111916994 + ] + ], + "yaw_rad": -1.446946689823947, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.579069137573242, + -14.856698036193848, + 0.12863558530807495 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.568643635047303, + -14.861924166859161, + 0.125850978815473 + ], + "intended_face_normal": [ + -0.9879386659613717, + -0.12634636025607227, + 0.0895209402427839 + ], + "commanded_contact_point": [ + 15.591073875427247, + -14.854453497155149, + 0.12089882727953857 + ], + "centerline_face_intersection": [ + 15.567301062897913, + -14.854934893508089, + 0.12089882727953857 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.574749946594238, + -14.85472583770752, + 0.12531885504722595 + ], + "box_pose": [ + 15.62696647644043, + -14.85936164855957, + 0.13773640990257263, + 0.022914784029126167, + -0.04177054762840271, + 0.6605314016342163, + -0.7492853403091431 + ], + "box_yaw_rad": -1.4465048088535393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00048139635294035086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028675973473206006 + } + } + }, + { + "simulation_time_ns": 6020000000, + "center": [ + 15.632582186269785, + -14.857040910974924, + 0.12260500291275057 + ], + "face_center": [ + 15.578484555507439, + -14.864257612779632, + 0.13163201983070372 + ], + "face_normal": [ + -0.9779326693883885, + -0.1304576256040053, + 0.16318301978822625 + ], + "footprint_xy": [ + [ + 15.548724438218063, + -14.945260818818545 + ], + [ + 15.716439934321505, + -14.945260818818545 + ], + [ + 15.716439934321505, + -14.7688210031313 + ], + [ + 15.548724438218063, + -14.7688210031313 + ] + ], + "projected_box_corners": [ + [ + 15.548724438218063, + -14.783254406740717 + ], + [ + 15.58934938956436, + -14.792259741327028 + ], + [ + 15.656919699742755, + -14.7688210031313 + ], + [ + 15.697544651089052, + -14.777826337717611 + ], + [ + 15.567619721450516, + -14.936255484232234 + ], + [ + 15.608244672796813, + -14.945260818818545 + ], + [ + 15.675814982975208, + -14.92182208062282 + ], + [ + 15.716439934321505, + -14.93082741520913 + ] + ], + "yaw_rad": -1.4479207791189888, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.583857536315918, + -14.857736587524414, + 0.13010789453983307 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.573321818972424, + -14.863041247572534, + 0.12872777192871415 + ], + "intended_face_normal": [ + -0.9838437673092558, + -0.12816072801883116, + 0.125004394508065 + ], + "commanded_contact_point": [ + 15.593742256164552, + -14.855440352827939, + 0.121812733921039 + ], + "centerline_face_intersection": [ + 15.571519669874254, + -14.855951606373687, + 0.121812733921039 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.579069137573242, + -14.856698036193848, + 0.12863558530807495 + ], + "box_pose": [ + 15.63204288482666, + -14.860512733459473, + 0.13846561312675476, + 0.0320766344666481, + -0.05835629254579544, + 0.6594624519348145, + -0.748782217502594 + ], + "box_yaw_rad": -1.446946689823947, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005112535457467971, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029882043483530703 + } + } + }, + { + "simulation_time_ns": 6040000000, + "center": [ + 15.637093971959015, + -14.85773656313923, + 0.12298140714654074 + ], + "face_center": [ + 15.583391147436856, + -14.86512143800923, + 0.1340082422837798 + ], + "face_normal": [ + -0.9707956854776819, + -0.13349772056456455, + 0.1993340959429153 + ], + "footprint_xy": [ + [ + 15.549193135754093, + -14.946697905741015 + ], + [ + 15.724994808163935, + -14.946697905741015 + ], + [ + 15.724994808163935, + -14.768775220537448 + ], + [ + 15.549193135754093, + -14.768775220537448 + ] + ], + "projected_box_corners": [ + [ + 15.549193135754093, + -14.783544970277443 + ], + [ + 15.598751825091968, + -14.793791782104687 + ], + [ + 15.656598784798408, + -14.768775220537448 + ], + [ + 15.706157474136285, + -14.779022032364692 + ], + [ + 15.568030469781744, + -14.93645109391377 + ], + [ + 15.61758915911962, + -14.946697905741015 + ], + [ + 15.67543611882606, + -14.921681344173773 + ], + [ + 15.724994808163935, + -14.931928156001018 + ] + ], + "yaw_rad": -1.4482185429379, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.58752155303955, + -14.857949256896973, + 0.12918688356876373 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.578484555507439, + -14.864257612779632, + 0.13163201983070372 + ], + "intended_face_normal": [ + -0.9779326693883885, + -0.1304576256040053, + 0.16318301978822625 + ], + "commanded_contact_point": [ + 15.59627712249756, + -14.856501830367197, + 0.12260500291275057 + ], + "centerline_face_intersection": [ + 15.576015552372391, + -14.857040910974924, + 0.12260500291275057 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.583857536315918, + -14.857736587524414, + 0.13010789453983307 + ], + "box_pose": [ + 15.63754653930664, + -14.861743927001953, + 0.13903115689754486, + 0.04199691116809845, + -0.0762581154704094, + 0.658033013343811, + -0.7479395866394043 + ], + "box_yaw_rad": -1.4479207791189888, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005390806077264188, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028600650425808743 + } + } + }, + { + "simulation_time_ns": 6060000000, + "center": [ + 15.641221410669885, + -14.858433821125379, + 0.12329644266576746 + ], + "face_center": [ + 15.587952924277488, + -14.866142247566849, + 0.13607020596938627 + ], + "face_normal": [ + -0.9629440764392131, + -0.13934662092330263, + 0.23091363280807897 + ], + "footprint_xy": [ + [ + 15.549650799866505, + -14.948316602755499 + ], + [ + 15.732792021473266, + -14.948316602755499 + ], + [ + 15.732792021473266, + -14.76855103949526 + ], + [ + 15.549650799866505, + -14.76855103949526 + ] + ], + "projected_box_corners": [ + [ + 15.549650799866505, + -14.783967892378199 + ], + [ + 15.607113502549275, + -14.795575321549995 + ], + [ + 15.6561877726513, + -14.76855103949526 + ], + [ + 15.713650475334072, + -14.780158468667057 + ], + [ + 15.568792346005699, + -14.9367091735837 + ], + [ + 15.626255048688469, + -14.948316602755499 + ], + [ + 15.675329318790496, + -14.921292320700765 + ], + [ + 15.732792021473266, + -14.932899749872561 + ] + ], + "yaw_rad": -1.4461262111597069, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.590434074401855, + -14.858222007751465, + 0.12673698365688324 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.583391147436856, + -14.86512143800923, + 0.1340082422837798 + ], + "intended_face_normal": [ + -0.9707956854776819, + -0.13349772056456455, + 0.1993340959429153 + ], + "commanded_contact_point": [ + 15.598419075012208, + -14.857188974781195, + 0.12298140714654074 + ], + "centerline_face_intersection": [ + 15.580111477997503, + -14.85773656313923, + 0.12298140714654074 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.58752155303955, + -14.857949256896973, + 0.12918688356876373 + ], + "box_pose": [ + 15.642685890197754, + -14.862521171569824, + 0.13918077945709229, + 0.05240554362535477, + -0.09222564846277237, + 0.6561286449432373, + -0.7471567988395691 + ], + "box_yaw_rad": -1.4482185429379, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005475883580361086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002280747282780986 + } + } + }, + { + "simulation_time_ns": 6080000000, + "center": [ + 15.645075843128723, + -14.859218583109715, + 0.12346464946733592 + ], + "face_center": [ + 15.592247013870223, + -14.867066962996972, + 0.13787433093616708 + ], + "face_normal": [ + -0.9549963147995693, + -0.14187658471103104, + 0.26048642177614223 + ], + "footprint_xy": [ + [ + 15.55039153562148, + -14.949903357091873 + ], + [ + 15.739760150635966, + -14.949903357091873 + ], + [ + 15.739760150635966, + -14.768533809127556 + ], + [ + 15.55039153562148, + -14.768533809127556 + ] + ], + "projected_box_corners": [ + [ + 15.55039153562148, + -14.784230568902071 + ], + [ + 15.6152271223667, + -14.797265352423148 + ], + [ + 15.65604919413848, + -14.768533809127556 + ], + [ + 15.720884780883699, + -14.781568592648632 + ], + [ + 15.569266905373746, + -14.936868573570798 + ], + [ + 15.634102492118966, + -14.949903357091873 + ], + [ + 15.674924563890746, + -14.921171813796283 + ], + [ + 15.739760150635966, + -14.934206597317358 + ] + ], + "yaw_rad": -1.447759939390803, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.59314250946045, + -14.857489585876465, + 0.1246834546327591 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.587952924277488, + -14.866142247566849, + 0.13607020596938627 + ], + "intended_face_normal": [ + -0.9629440764392131, + -0.13934662092330263, + 0.23091363280807897 + ], + "commanded_contact_point": [ + 15.600373153686524, + -14.8578947053023, + 0.12329644266576746 + ], + "centerline_face_intersection": [ + 15.583774295474838, + -14.858433821125379, + 0.12329644266576746 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.590434074401855, + -14.858222007751465, + 0.12673698365688324 + ], + "box_pose": [ + 15.64737606048584, + -14.863302230834961, + 0.13926517963409424, + 0.06107429414987564, + -0.10690557211637497, + 0.6531436443328857, + -0.7471575736999512 + ], + "box_yaw_rad": -1.4461262111597069, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005391158230795413, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021013629891600367 + } + } + }, + { + "simulation_time_ns": 6100000000, + "center": [ + 15.648764291748948, + -14.85996061224756, + 0.12350322257011098 + ], + "face_center": [ + 15.596404345314776, + -14.867952299642267, + 0.13946222999133537 + ], + "face_normal": [ + -0.9465202350607143, + -0.14446718047887763, + 0.2884938676295974 + ], + "footprint_xy": [ + [ + 15.551205759704503, + -14.95140221432714 + ], + [ + 15.746322823793392, + -14.95140221432714 + ], + [ + 15.746322823793392, + -14.76851901016798 + ], + [ + 15.551205759704503, + -14.76851901016798 + ] + ], + "projected_box_corners": [ + [ + 15.551205759704503, + -14.784502384957394 + ], + [ + 15.623026680807603, + -14.79887185457867 + ], + [ + 15.655925652572849, + -14.76851901016798 + ], + [ + 15.72774657367595, + -14.782888479789255 + ], + [ + 15.569782009821948, + -14.937032744705867 + ], + [ + 15.641602930925048, + -14.95140221432714 + ], + [ + 15.674501902690293, + -14.921049369916451 + ], + [ + 15.746322823793392, + -14.935418839537727 + ] + ], + "yaw_rad": -1.449605915061761, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.594551086425781, + -14.856104850769043, + 0.1234508752822876 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.592247013870223, + -14.867066962996972, + 0.13787433093616708 + ], + "intended_face_normal": [ + -0.9549963147995693, + -0.14187658471103104, + 0.26048642177614223 + ], + "commanded_contact_point": [ + 15.602223281860352, + -14.858748627175967, + 0.12346464946733592 + ], + "centerline_face_intersection": [ + 15.587150636058993, + -14.859218583109715, + 0.12346464946733592 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59314250946045, + -14.857489585876465, + 0.1246834546327591 + ], + "box_pose": [ + 15.651739120483398, + -14.864182472229004, + 0.13919812440872192, + 0.06909660995006561, + -0.12082985788583755, + 0.6513734459877014, + -0.7458810210227966 + ], + "box_yaw_rad": -1.447759939390803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004699559337495175, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020446149647336052 + } + } + }, + { + "simulation_time_ns": 6120000000, + "center": [ + 15.65236632516874, + -14.860677466246063, + 0.12342515163386053 + ], + "face_center": [ + 15.60050949241687, + -14.86881664260412, + 0.1408820377072501 + ], + "face_normal": [ + -0.9374253579023772, + -0.14713336518238407, + 0.31557129131875783 + ], + "footprint_xy": [ + [ + 15.552101785340344, + -14.95284867304004 + ], + [ + 15.752630864997135, + -14.95284867304004 + ], + [ + 15.752630864997135, + -14.768506259452085 + ], + [ + 15.552101785340344, + -14.768506259452085 + ] + ], + "projected_box_corners": [ + [ + 15.552101785340344, + -14.7847846121682 + ], + [ + 15.63067848443374, + -14.800431230421186 + ], + [ + 15.655815450844083, + -14.768506259452085 + ], + [ + 15.734392149937479, + -14.78415287770507 + ], + [ + 15.5703405004, + -14.937202054787056 + ], + [ + 15.648917199493397, + -14.95284867304004 + ], + [ + 15.674054165903739, + -14.92092370207094 + ], + [ + 15.752630864997135, + -14.936570320323925 + ] + ], + "yaw_rad": -1.4516997166202497, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.59575366973877, + -14.856274604797363, + 0.1235353946685791 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.596404345314776, + -14.867952299642267, + 0.13946222999133537 + ], + "intended_face_normal": [ + -0.9465202350607143, + -0.14446718047887763, + 0.2884938676295974 + ], + "commanded_contact_point": [ + 15.603926544189454, + -14.859644886772951, + 0.12350322257011098 + ], + "centerline_face_intersection": [ + 15.590320364998618, + -14.85996061224756, + 0.12350322257011098 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.594551086425781, + -14.856104850769043, + 0.1234508752822876 + ], + "box_pose": [ + 15.655906677246094, + -14.865013122558594, + 0.1389964520931244, + 0.07676330953836441, + -0.13409651815891266, + 0.6495181322097778, + -0.7444808483123779 + ], + "box_yaw_rad": -1.449605915061761, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00031572547460882575, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019250640797598246 + } + } + }, + { + "simulation_time_ns": 6140000000, + "center": [ + 15.65596337740415, + -14.861371796930612, + 0.12322767362620629 + ], + "face_center": [ + 15.604654163672745, + -14.86966645537025, + 0.1421666263466934 + ], + "face_normal": [ + -0.9275259496853554, + -0.14994404293184083, + 0.3423628785284585 + ], + "footprint_xy": [ + [ + 15.553091519583347, + -14.954251008778147 + ], + [ + 15.758835235224955, + -14.954251008778147 + ], + [ + 15.758835235224955, + -14.768492585083075 + ], + [ + 15.553091519583347, + -14.768492585083075 + ] + ], + "projected_box_corners": [ + [ + 15.553091519583347, + -14.785081901962352 + ], + [ + 15.63835228330409, + -14.801953055860661 + ], + [ + 15.655709947046157, + -14.768492585083075 + ], + [ + 15.740970710766902, + -14.785363738981387 + ], + [ + 15.5709560440414, + -14.937379854879838 + ], + [ + 15.656216807762144, + -14.954251008778147 + ], + [ + 15.67357447150421, + -14.920790538000562 + ], + [ + 15.758835235224955, + -14.937661691898873 + ] + ], + "yaw_rad": -1.4540300814595133, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.596986770629883, + -14.859424591064453, + 0.12466126680374146 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.60050949241687, + -14.86881664260412, + 0.1408820377072501 + ], + "intended_face_normal": [ + -0.9374253579023772, + -0.14713336518238407, + 0.31557129131875783 + ], + "commanded_contact_point": [ + 15.605452423095704, + -14.860537855229403, + 0.12342515163386053 + ], + "centerline_face_intersection": [ + 15.593355376916417, + -14.860677466246063, + 0.12342515163386053 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59575366973877, + -14.856274604797363, + 0.1235353946685791 + ], + "box_pose": [ + 15.659969329833984, + -14.865814208984375, + 0.13866949081420898, + 0.0842430591583252, + -0.14701052010059357, + 0.6475619077682495, + -0.742936372756958 + ], + "box_yaw_rad": -1.4516997166202497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0001396110166608368, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017696875915943079 + } + } + }, + { + "simulation_time_ns": 6160000000, + "center": [ + 15.65962895833761, + -14.862087952660012, + 0.12291745272650363 + ], + "face_center": [ + 15.60892369540509, + -14.870549857785527, + 0.14335009266971105 + ], + "face_normal": [ + -0.916608221707075, + -0.15296739156394323, + 0.36936453298839655 + ], + "footprint_xy": [ + [ + 15.554204328117498, + -14.95569308369069 + ], + [ + 15.765053588557723, + -14.95569308369069 + ], + [ + 15.765053588557723, + -14.768482821629334 + ], + [ + 15.554204328117498, + -14.768482821629334 + ] + ], + "projected_box_corners": [ + [ + 15.554204328117498, + -14.785406631880363 + ], + [ + 15.646208015634922, + -14.803526339033919 + ], + [ + 15.65561485398254, + -14.768482821629334 + ], + [ + 15.747618541499964, + -14.78660252878289 + ], + [ + 15.571639375175257, + -14.937573376537134 + ], + [ + 15.663643062692682, + -14.95569308369069 + ], + [ + 15.673049901040297, + -14.920649566286105 + ], + [ + 15.765053588557723, + -14.93876927343966 + ] + ], + "yaw_rad": -1.4567152553736389, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.5969877243042, + -14.865180015563965, + 0.12389211356639862 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.604654163672745, + -14.86966645537025, + 0.1421666263466934 + ], + "intended_face_normal": [ + -0.9275259496853554, + -0.14994404293184083, + 0.3423628785284585 + ], + "commanded_contact_point": [ + 15.606909637451173, + -14.861310074148598, + 0.12322767362620629 + ], + "centerline_face_intersection": [ + 15.596322610151915, + -14.861371796930612, + 0.12322767362620629 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.596986770629883, + -14.859424591064453, + 0.12466126680374146 + ], + "box_pose": [ + 15.664019584655762, + -14.866588592529297, + 0.13820980489253998, + 0.09175160527229309, + -0.15984496474266052, + 0.6454530358314514, + -0.741229772567749 + ], + "box_yaw_rad": -1.4540300814595133, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 6.172278201447072e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016609615589935586 + } + } + }, + { + "simulation_time_ns": 6180000000, + "center": [ + 15.663445571816847, + -14.862825284687576, + 0.12246807109733727 + ], + "face_center": [ + 15.613419487190281, + -14.87146978001505, + 0.14444040426716284 + ], + "face_normal": [ + -0.9043305924583738, + -0.15626810771528765, + 0.39719784631334853 + ], + "footprint_xy": [ + [ + 15.555471513018379, + -14.957175783947754 + ], + [ + 15.771419630615316, + -14.957175783947754 + ], + [ + 15.771419630615316, + -14.768474785427397 + ], + [ + 15.555471513018379, + -14.768474785427397 + ] + ], + "projected_box_corners": [ + [ + 15.555471513018379, + -14.785763776082346 + ], + [ + 15.654428298880498, + -14.805153998205316 + ], + [ + 15.65552368227151, + -14.768474785427397 + ], + [ + 15.75448046813363, + -14.787865007550367 + ], + [ + 15.572410675500064, + -14.937785561824782 + ], + [ + 15.671367461362184, + -14.957175783947754 + ], + [ + 15.672462844753195, + -14.920496571169835 + ], + [ + 15.771419630615316, + -14.939886793292805 + ] + ], + "yaw_rad": -1.459828178161911, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.597134590148926, + -14.873013496398926, + 0.11880186200141907 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.60892369540509, + -14.870549857785527, + 0.14335009266971105 + ], + "intended_face_normal": [ + -0.916608221707075, + -0.15296739156394323, + 0.36936453298839655 + ], + "commanded_contact_point": [ + 15.608150367736817, + -14.86190254736184, + 0.12291745272650363 + ], + "centerline_face_intersection": [ + 15.599277809421915, + -14.862087952660012, + 0.12291745272650363 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.5969877243042, + -14.865180015563965, + 0.12389211356639862 + ], + "box_pose": [ + 15.668139457702637, + -14.867385864257812, + 0.137617290019989, + 0.09936084598302841, + -0.17293590307235718, + 0.6431514024734497, + -0.7393082976341248 + ], + "box_yaw_rad": -1.4567152553736389, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00018540529817258306, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001409493936396065 + } + } + }, + { + "simulation_time_ns": 6200000000, + "center": [ + 15.667499883821854, + -14.863599392847908, + 0.1218491143918292 + ], + "face_center": [ + 15.618251289482126, + -14.872446585152973, + 0.1454377513228642 + ], + "face_normal": [ + -0.8902757597250965, + -0.15993229769143325, + 0.4264160621477142 + ], + "footprint_xy": [ + [ + 15.556943889234683, + -14.958730033564848 + ], + [ + 15.778055878409026, + -14.958730033564848 + ], + [ + 15.778055878409026, + -14.76846875213097 + ], + [ + 15.556943889234683, + -14.76846875213097 + ] + ], + "projected_box_corners": [ + [ + 15.556943889234683, + -14.786163136741099 + ], + [ + 15.663202457752599, + -14.80687122007454 + ], + [ + 15.655441077914137, + -14.76846875213097 + ], + [ + 15.761699646432053, + -14.789176835464408 + ], + [ + 15.573300121211654, + -14.938021950231407 + ], + [ + 15.679558689729571, + -14.958730033564848 + ], + [ + 15.671797309891108, + -14.920327565621278 + ], + [ + 15.778055878409026, + -14.941035648954717 + ] + ], + "yaw_rad": -1.4635031116546322, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.597604751586914, + -14.877189636230469, + 0.11650983989238739 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.613419487190281, + -14.87146978001505, + 0.14444040426716284 + ], + "intended_face_normal": [ + -0.9043305924583738, + -0.15626810771528765, + 0.39719784631334853 + ], + "commanded_contact_point": [ + 15.609784011840821, + -14.86223235092095, + 0.12246807109733727 + ], + "centerline_face_intersection": [ + 15.602275066531591, + -14.862825284687576, + 0.12246807109733727 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.597134590148926, + -14.873013496398926, + 0.11880186200141907 + ], + "box_pose": [ + 15.6724214553833, + -14.868205070495605, + 0.13685810565948486, + 0.10730104148387909, + -0.1865573525428772, + 0.640587568283081, + -0.737109363079071 + ], + "box_yaw_rad": -1.459828178161911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005929337666265868, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017261249360287839 + } + } + }, + { + "simulation_time_ns": 6220000000, + "center": [ + 15.6719113936521, + -14.864437429521763, + 0.12100909732796034 + ], + "face_center": [ + 15.623560381359294, + -14.873475472791055, + 0.14631946369938995 + ], + "face_normal": [ + -0.8740500064939494, + -0.16338234513845107, + 0.45754007707928146 + ], + "footprint_xy": [ + [ + 15.558775405576089, + -14.96039744052313 + ], + [ + 15.785047381728113, + -14.96039744052313 + ], + [ + 15.785047381728113, + -14.768477418520398 + ], + [ + 15.558775405576089, + -14.768477418520398 + ] + ], + "projected_box_corners": [ + [ + 15.558775405576089, + -14.786553505058981 + ], + [ + 15.672794996245969, + -14.808711073601316 + ], + [ + 15.655477430161703, + -14.768477418520398 + ], + [ + 15.769497020831583, + -14.790634987062733 + ], + [ + 15.574325766472619, + -14.938239871980795 + ], + [ + 15.688345357142499, + -14.96039744052313 + ], + [ + 15.671027791058235, + -14.920163785442211 + ], + [ + 15.785047381728113, + -14.942321353984546 + ] + ], + "yaw_rad": -1.4686366803079363, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.599759101867676, + -14.875019073486328, + 0.11768849194049835 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.618251289482126, + -14.872446585152973, + 0.1454377513228642 + ], + "intended_face_normal": [ + -0.8902757597250965, + -0.15993229769143325, + 0.4264160621477142 + ], + "commanded_contact_point": [ + 15.612291221618653, + -14.86246284934598, + 0.1218491143918292 + ], + "centerline_face_intersection": [ + 15.60536367638128, + -14.863599392847908, + 0.1218491143918292 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.597604751586914, + -14.877189636230469, + 0.11650983989238739 + ], + "box_pose": [ + 15.676960945129395, + -14.869063377380371, + 0.13589243590831757, + 0.11575005948543549, + -0.20101656019687653, + 0.6376799941062927, + -0.734546422958374 + ], + "box_yaw_rad": -1.4635031116546322, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011365435019290262, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002592747152595292 + } + } + }, + { + "simulation_time_ns": 6240000000, + "center": [ + 15.676819866992416, + -14.865169610704418, + 0.11997794815949012 + ], + "face_center": [ + 15.629543347782096, + -14.87437655525849, + 0.14718611006567034 + ], + "face_normal": [ + -0.8546262004309302, + -0.16643560425462134, + 0.4918468706874002 + ], + "footprint_xy": [ + [ + 15.561021383247603, + -14.961844302245174 + ], + [ + 15.792618350737229, + -14.961844302245174 + ], + [ + 15.792618350737229, + -14.768494919163663 + ], + [ + 15.561021383247603, + -14.768494919163663 + ] + ], + "projected_box_corners": [ + [ + 15.561021383247603, + -14.786908808271807 + ], + [ + 15.683519661472236, + -14.810314888782836 + ], + [ + 15.655574421668241, + -14.768494919163663 + ], + [ + 15.778072699892874, + -14.791900999674692 + ], + [ + 15.575567034091957, + -14.938438221734145 + ], + [ + 15.698065312316588, + -14.961844302245174 + ], + [ + 15.670120072512596, + -14.920024332626001 + ], + [ + 15.792618350737229, + -14.94343041313703 + ] + ], + "yaw_rad": -1.4750972881011053, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.603199005126953, + -14.869183540344238, + 0.12206912040710449 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.623560381359294, + -14.873475472791055, + 0.14631946369938995 + ], + "intended_face_normal": [ + -0.8740500064939494, + -0.16338234513845107, + 0.45754007707928146 + ], + "commanded_contact_point": [ + 15.615240936279298, + -14.862877620261251, + 0.12100909732796034 + ], + "centerline_face_intersection": [ + 15.608621697553945, + -14.864437429521763, + 0.12100909732796034 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.599759101867676, + -14.875019073486328, + 0.11768849194049835 + ], + "box_pose": [ + 15.681880950927734, + -14.8699951171875, + 0.1346583366394043, + 0.12484274804592133, + -0.21663214266300201, + 0.6346046924591064, + -0.7312740683555603 + ], + "box_yaw_rad": -1.4686366803079363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015598092605116423, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003094911979195514 + } + } + }, + { + "simulation_time_ns": 6260000000, + "center": [ + 15.682252416413386, + -14.86582786468418, + 0.1186700186146428 + ], + "face_center": [ + 15.636261956295877, + -14.875190481597079, + 0.1479503708913224 + ], + "face_normal": [ + -0.8313778772807137, + -0.16924972168032149, + 0.5293062313275314 + ], + "footprint_xy": [ + [ + 15.563750534590037, + -14.963141242569193 + ], + [ + 15.800754298236734, + -14.963141242569193 + ], + [ + 15.800754298236734, + -14.768514486799166 + ], + [ + 15.563750534590037, + -14.768514486799166 + ] + ], + "projected_box_corners": [ + [ + 15.563750534590037, + -14.787239720624964 + ], + [ + 15.695445194265028, + -14.81175923489907 + ], + [ + 15.655731454825053, + -14.768514486799166 + ], + [ + 15.787426114500045, + -14.793034001073272 + ], + [ + 15.577078718326726, + -14.938621728295088 + ], + [ + 15.708773378001718, + -14.963141242569193 + ], + [ + 15.669059638561743, + -14.919896494469292 + ], + [ + 15.800754298236734, + -14.944416008743396 + ] + ], + "yaw_rad": -1.4829793872614732, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.607246398925781, + -14.866294860839844, + 0.12718476355075836 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.629543347782096, + -14.87437655525849, + 0.14718611006567034 + ], + "intended_face_normal": [ + -0.8546262004309302, + -0.16643560425462134, + 0.4918468706874002 + ], + "commanded_contact_point": [ + 15.617874984741212, + -14.863449244258314, + 0.11997794815949012 + ], + "centerline_face_intersection": [ + 15.612091732917309, + -14.865169610704418, + 0.11997794815949012 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.603199005126953, + -14.869183540344238, + 0.12206912040710449 + ], + "box_pose": [ + 15.687338829040527, + -14.870807647705078, + 0.1331743746995926, + 0.13556018471717834, + -0.23345217108726501, + 0.6311938166618347, + -0.7271299362182617 + ], + "box_yaw_rad": -1.4750972881011053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017203664461044358, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002885867963259355 + } + } + }, + { + "simulation_time_ns": 6280000000, + "center": [ + 15.688263792289208, + -14.866563529005472, + 0.11691466689441167 + ], + "face_center": [ + 15.643835636602695, + -14.876135343072026, + 0.14845258016126583 + ], + "face_normal": [ + -0.8031358171189114, + -0.1730314165164617, + 0.5701165702336333 + ], + "footprint_xy": [ + [ + 15.567009402451161, + -14.964593768666445 + ], + [ + 15.809518182127256, + -14.964593768666445 + ], + [ + 15.809518182127256, + -14.768533289344498 + ], + [ + 15.567009402451161, + -14.768533289344498 + ] + ], + "projected_box_corners": [ + [ + 15.567009402451161, + -14.787676917477604 + ], + [ + 15.708732310542064, + -14.813396327888324 + ], + [ + 15.655865713824186, + -14.768533289344498 + ], + [ + 15.79758862191509, + -14.794252699755218 + ], + [ + 15.578938962663328, + -14.938874358255726 + ], + [ + 15.720661870754231, + -14.964593768666445 + ], + [ + 15.667795274036353, + -14.919730730122621 + ], + [ + 15.809518182127256, + -14.94545014053334 + ] + ], + "yaw_rad": -1.492058901130095, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.610295295715332, + -14.865639686584473, + 0.12929414212703705 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.636261956295877, + -14.875190481597079, + 0.1479503708913224 + ], + "intended_face_normal": [ + -0.8313778772807137, + -0.16924972168032149, + 0.5293062313275314 + ], + "commanded_contact_point": [ + 15.620055084228516, + -14.86408881839185, + 0.1186700186146428 + ], + "centerline_face_intersection": [ + 15.615714250319131, + -14.86582786468418, + 0.1186700186146428 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.607246398925781, + -14.866294860839844, + 0.12718476355075836 + ], + "box_pose": [ + 15.693360328674316, + -14.871537208557129, + 0.1313427984714508, + 0.14788725972175598, + -0.25168004631996155, + 0.6272993683815002, + -0.7219985127449036 + ], + "box_yaw_rad": -1.4829793872614732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017390462923309973, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026215584184064475 + } + } + }, + { + "simulation_time_ns": 6300000000, + "center": [ + 15.694920191762195, + -14.867487059423311, + 0.11462891311923347 + ], + "face_center": [ + 15.652412828446177, + -14.877402985404519, + 0.1486130219037539 + ], + "face_normal": [ + -0.7684133055458773, + -0.1792519899227898, + 0.6143368896584604 + ], + "footprint_xy": [ + [ + 15.57087785120911, + -14.966421562037727 + ], + [ + 15.81896253231528, + -14.966421562037727 + ], + [ + 15.81896253231528, + -14.768552556808896 + ], + [ + 15.57087785120911, + -14.768552556808896 + ] + ], + "projected_box_corners": [ + [ + 15.57087785120911, + -14.788384408771309 + ], + [ + 15.72354825101143, + -14.815498134850698 + ], + [ + 15.655892577841144, + -14.768552556808896 + ], + [ + 15.808562977643463, + -14.795666282888284 + ], + [ + 15.581277405880927, + -14.93930783595834 + ], + [ + 15.733947805683247, + -14.966421562037727 + ], + [ + 15.666292132512961, + -14.919475983995927 + ], + [ + 15.81896253231528, + -14.946589710075315 + ] + ], + "yaw_rad": -1.5019989083873473, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.613612174987793, + -14.865058898925781, + 0.1277036964893341 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.643835636602695, + -14.876135343072026, + 0.14845258016126583 + ], + "intended_face_normal": [ + -0.8031358171189114, + -0.1730314165164617, + 0.5701165702336333 + ], + "commanded_contact_point": [ + 15.621987228393555, + -14.864861436409981, + 0.11691466689441167 + ], + "centerline_face_intersection": [ + 15.619385829052508, + -14.866563529005472, + 0.11691466689441167 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.610295295715332, + -14.865639686584473, + 0.12929414212703705 + ], + "box_pose": [ + 15.700007438659668, + -14.872347831726074, + 0.12896499037742615, + 0.16165511310100555, + -0.27207306027412415, + 0.622376024723053, + -0.7158854007720947 + ], + "box_yaw_rad": -1.492058901130095, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017020925954910385, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002722384862240354 + } + } + }, + { + "simulation_time_ns": 6320000000, + "center": [ + 15.70232036549982, + -14.868467299099215, + 0.11152125692346442 + ], + "face_center": [ + 15.662163102233267, + -14.87877492263606, + 0.1481445819227026 + ], + "face_normal": [ + -0.7259301213044234, + -0.18633277757983135, + 0.6620464791835623 + ], + "footprint_xy": [ + [ + 15.575681193894889, + -14.968354175509523 + ], + [ + 15.828959537104748, + -14.968354175509523 + ], + [ + 15.828959537104748, + -14.76858042268891 + ], + [ + 15.575681193894889, + -14.76858042268891 + ] + ], + "projected_box_corners": [ + [ + 15.575681193894889, + -14.789195669762597 + ], + [ + 15.740145298850159, + -14.817745345753572 + ], + [ + 15.655995720427994, + -14.76858042268891 + ], + [ + 15.820459825383264, + -14.797130098679885 + ], + [ + 15.584180905616373, + -14.939804499518546 + ], + [ + 15.748645010571643, + -14.968354175509523 + ], + [ + 15.664495432149478, + -14.919189252444859 + ], + [ + 15.828959537104748, + -14.947738928435834 + ] + ], + "yaw_rad": -1.514420448171618, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.618388175964355, + -14.863656997680664, + 0.12612929940223694 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.652412828446177, + -14.877402985404519, + 0.1486130219037539 + ], + "intended_face_normal": [ + -0.7684133055458773, + -0.1792519899227898, + 0.6143368896584604 + ], + "commanded_contact_point": [ + 15.623820190429688, + -14.865882093247722, + 0.11462891311923347 + ], + "centerline_face_intersection": [ + 15.622929820322316, + -14.867487059423311, + 0.11462891311923347 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.613612174987793, + -14.865058898925781, + 0.1277036964893341 + ], + "box_pose": [ + 15.707351684570312, + -14.873353958129883, + 0.12592577934265137, + 0.17681634426116943, + -0.2953292727470398, + 0.6157190799713135, + -0.7088065147399902 + ], + "box_yaw_rad": -1.5019989083873473, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016049661755898374, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031026054417330295 + } + } + }, + { + "simulation_time_ns": 6340000000, + "center": [ + 15.710517750990258, + -14.869484762282198, + 0.10734102128433842 + ], + "face_center": [ + 15.673256917566643, + -14.880246535656674, + 0.1467863579970769 + ], + "face_normal": [ + -0.6735708344357754, + -0.1945425264497782, + 0.7130604960478557 + ], + "footprint_xy": [ + [ + 15.58164576642241, + -14.970350889426486 + ], + [ + 15.839389735558106, + -14.970350889426486 + ], + [ + 15.839389735558106, + -14.76861863513791 + ], + [ + 15.58164576642241, + -14.76861863513791 + ] + ], + "projected_box_corners": [ + [ + 15.58164576642241, + -14.790142181886862 + ], + [ + 15.758699573313061, + -14.820103735873294 + ], + [ + 15.65616743326964, + -14.76861863513791 + ], + [ + 15.833221240160292, + -14.798580189124344 + ], + [ + 15.587814261820224, + -14.940389335440052 + ], + [ + 15.764868068710875, + -14.970350889426486 + ], + [ + 15.662335928667455, + -14.918865788691102 + ], + [ + 15.839389735558106, + -14.948827342677534 + ] + ], + "yaw_rad": -1.5297637152005832, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.623239517211914, + -14.862251281738281, + 0.12485300004482269 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.662163102233267, + -14.87877492263606, + 0.1481445819227026 + ], + "intended_face_normal": [ + -0.7259301213044234, + -0.18633277757983135, + 0.6620464791835623 + ], + "commanded_contact_point": [ + 15.625423316955567, + -14.867054744980368, + 0.11152125692346442 + ], + "centerline_face_intersection": [ + 15.626116943624734, + -14.868467299099215, + 0.11152125692346442 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.618388175964355, + -14.863656997680664, + 0.12612929940223694 + ], + "box_pose": [ + 15.71547794342041, + -14.874417304992676, + 0.12191631644964218, + 0.19396238029003143, + -0.32135382294654846, + 0.607628345489502, + -0.6999272108078003 + ], + "box_yaw_rad": -1.514420448171618, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00141255411884778, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036881775682792396 + } + } + }, + { + "simulation_time_ns": 6360000000, + "center": [ + 15.719512860681165, + -14.870543599906934, + 0.1017649426072622 + ], + "face_center": [ + 15.685822179624177, + -14.88183624320623, + 0.14416228184777263 + ], + "face_normal": [ + -0.6090325434825932, + -0.20413915823127082, + 0.7664243804055175 + ], + "footprint_xy": [ + [ + 15.589069456847593, + -14.972420213972628 + ], + [ + 15.849956264514738, + -14.972420213972628 + ], + [ + 15.849956264514738, + -14.768666985841241 + ], + [ + 15.589069456847593, + -14.768666985841241 + ] + ], + "projected_box_corners": [ + [ + 15.589069456847593, + -14.791252272439833 + ], + [ + 15.779273061408434, + -14.822593978382644 + ], + [ + 15.65645081896157, + -14.768666985841241 + ], + [ + 15.846654423522411, + -14.800008691784052 + ], + [ + 15.592371297839922, + -14.941078508029817 + ], + [ + 15.78257490240076, + -14.972420213972628 + ], + [ + 15.659752659953899, + -14.918493221431225 + ], + [ + 15.849956264514738, + -14.949834927374036 + ] + ], + "yaw_rad": -1.548762090896317, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.626534461975098, + -14.86197566986084, + 0.12236879765987396 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.673256917566643, + -14.880246535656674, + 0.1467863579970769 + ], + "intended_face_normal": [ + -0.6735708344357754, + -0.1945425264497782, + 0.7130604960478557 + ], + "commanded_contact_point": [ + 15.626881484985352, + -14.868361547385106, + 0.10734102128433842 + ], + "centerline_face_intersection": [ + 15.62839074005468, + -14.869484762282198, + 0.10734102128433842 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.623239517211914, + -14.862251281738281, + 0.12485300004482269 + ], + "box_pose": [ + 15.724431037902832, + -14.875513076782227, + 0.11665023863315582, + 0.21348652243614197, + -0.3505367636680603, + 0.5976221561431885, + -0.688763439655304 + ], + "box_yaw_rad": -1.5297637152005832, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001123214897091103, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00461609754302648 + } + } + }, + { + "simulation_time_ns": 6380000000, + "center": [ + 15.729227366418595, + -14.871636751843331, + 0.09440189115856687 + ], + "face_center": [ + 15.699929582618536, + -14.883536286735367, + 0.13979090020247312 + ], + "face_normal": [ + -0.5296213441328348, + -0.2151100474727059, + 0.82050533728912 + ], + "footprint_xy": [ + [ + 15.598058619901353, + -14.97454232204996 + ], + [ + 15.860396112935836, + -14.97454232204996 + ], + [ + 15.860396112935836, + -14.768731181636705 + ], + [ + 15.598058619901353, + -14.768731181636705 + ] + ], + "projected_box_corners": [ + [ + 15.598312465221877, + -14.792530251420777 + ], + [ + 15.801800545335718, + -14.825200521570867 + ], + [ + 15.656908032821994, + -14.768731181636705 + ], + [ + 15.860396112935836, + -14.801401451786795 + ], + [ + 15.598058619901353, + -14.94187205189987 + ], + [ + 15.801546700015196, + -14.97454232204996 + ], + [ + 15.65665418750147, + -14.918072982115797 + ], + [ + 15.860142267615313, + -14.950743252265887 + ] + ], + "yaw_rad": -1.5724960858391863, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.628169059753418, + -14.863374710083008, + 0.11863622069358826 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.685822179624177, + -14.88183624320623, + 0.14416228184777263 + ], + "intended_face_normal": [ + -0.6090325434825932, + -0.20413915823127082, + 0.7664243804055175 + ], + "commanded_contact_point": [ + 15.628313903808595, + -14.869763102211687, + 0.1017649426072622 + ], + "centerline_face_intersection": [ + 15.62868297009885, + -14.870543599906934, + 0.1017649426072622 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.626534461975098, + -14.86197566986084, + 0.12236879765987396 + ], + "box_pose": [ + 15.734188079833984, + -14.876644134521484, + 0.10976513475179672, + 0.2355857938528061, + -0.38324910402297974, + 0.5851749777793884, + -0.6746773719787598 + ], + "box_yaw_rad": -1.548762090896317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00078049769524732, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005925270713649651 + } + } + }, + { + "simulation_time_ns": 6400000000, + "center": [ + 15.73943194689611, + -14.872763511585768, + 0.08477173465389466 + ], + "face_center": [ + 15.715510815662745, + -14.885364563732962, + 0.13303262494000784 + ], + "face_normal": [ + -0.43242662187190817, + -0.22779150195212416, + 0.872420854656152 + ], + "footprint_xy": [ + [ + 15.605104011699352, + -14.976705684839475 + ], + [ + 15.873759882092868, + -14.976705684839475 + ], + [ + 15.873759882092868, + -14.768821338332062 + ], + [ + 15.605104011699352, + -14.768821338332062 + ] + ], + "projected_box_corners": [ + [ + 15.609729724150075, + -14.794023442626447 + ], + [ + 15.825917619626138, + -14.82792738199378 + ], + [ + 15.657571986616807, + -14.768821338332062 + ], + [ + 15.873759882092868, + -14.802725277699395 + ], + [ + 15.605104011699352, + -14.942801745472142 + ], + [ + 15.821291907175413, + -14.976705684839475 + ], + [ + 15.652946274166082, + -14.917599641177757 + ], + [ + 15.869134169642145, + -14.95150358054509 + ] + ], + "yaw_rad": -1.6018776250373308, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.626983642578125, + -14.865236282348633, + 0.11281371116638184 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.699929582618536, + -14.883536286735367, + 0.13979090020247312 + ], + "intended_face_normal": [ + -0.5296213441328348, + -0.2151100474727059, + 0.82050533728912 + ], + "commanded_contact_point": [ + 15.629794006347657, + -14.871186735818497, + 0.09440189115856687 + ], + "centerline_face_intersection": [ + 15.624778480627997, + -14.871636751843331, + 0.09440189115856687 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.628169059753418, + -14.863374710083008, + 0.11863622069358826 + ], + "box_pose": [ + 15.74463176727295, + -14.877801895141602, + 0.10082662105560303, + 0.26049506664276123, + -0.41980302333831787, + 0.5697256326675415, + -0.656749963760376 + ], + "box_yaw_rad": -1.5724960858391863, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004500160248343835, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007644080246093309 + } + } + }, + { + "simulation_time_ns": 6420000000, + "center": [ + 15.749751477434074, + -14.873876046748824, + 0.07237399117526688 + ], + "face_center": [ + 15.732333765796975, + -14.8872884987605, + 0.12313667610341171 + ], + "face_normal": [ + -0.31486312793872173, + -0.24245932426214267, + 0.9176462495221784 + ], + "footprint_xy": [ + [ + 15.613795138668895, + -14.978812422614912 + ], + [ + 15.885707816199254, + -14.978812422614912 + ], + [ + 15.885707816199254, + -14.76893967088274 + ], + [ + 15.613795138668895, + -14.76893967088274 + ] + ], + "projected_box_corners": [ + [ + 15.62369795163299, + -14.795764574906089 + ], + [ + 15.850872392925055, + -14.830685890961824 + ], + [ + 15.65853337490719, + -14.76893967088274 + ], + [ + 15.885707816199254, + -14.803860986938473 + ], + [ + 15.613795138668895, + -14.943891106559176 + ], + [ + 15.84096957996096, + -14.978812422614912 + ], + [ + 15.648630561943095, + -14.917066202535826 + ], + [ + 15.87580500323516, + -14.951987518591562 + ] + ], + "yaw_rad": -1.6375507360482737, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.622367858886719, + -14.866305351257324, + 0.10492829978466034 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.715510815662745, + -14.885364563732962, + 0.13303262494000784 + ], + "intended_face_normal": [ + -0.43242662187190817, + -0.22779150195212416, + 0.872420854656152 + ], + "commanded_contact_point": [ + 15.631200675964356, + -14.87261458473042, + 0.08477173465389466 + ], + "centerline_face_intersection": [ + 15.611506522124323, + -14.872763511585768, + 0.08477173465389466 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.626983642578125, + -14.865236282348633, + 0.11281371116638184 + ], + "box_pose": [ + 15.755473136901855, + -14.878981590270996, + 0.0893101692199707, + 0.2883048951625824, + -0.4604260325431824, + 0.5504403114318848, + -0.633958637714386 + ], + "box_yaw_rad": -1.6018776250373308, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00014892685534896116, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009836533242474261 + } + } + }, + { + "simulation_time_ns": 6440000000, + "center": [ + 15.759765546053284, + -14.874997824564842, + 0.05688421748582514 + ], + "face_center": [ + 15.75006841887727, + -14.889460012982228, + 0.10939071394266031 + ], + "face_normal": [ + -0.17529672429274257, + -0.2614355993951989, + 0.9491694463633493 + ], + "footprint_xy": [ + [ + 15.624638825608198, + -14.980824524030169 + ], + [ + 15.894892266498369, + -14.980824524030169 + ], + [ + 15.894892266498369, + -14.769171125099513 + ], + [ + 15.624638825608198, + -14.769171125099513 + ] + ], + "projected_box_corners": [ + [ + 15.640625322849363, + -14.79809550193429 + ], + [ + 15.875498012146343, + -14.8335194745046 + ], + [ + 15.66001957720139, + -14.769171125099513 + ], + [ + 15.894892266498369, + -14.804595097669823 + ], + [ + 15.624638825608198, + -14.945400551459858 + ], + [ + 15.859511514905176, + -14.980824524030169 + ], + [ + 15.644033079960224, + -14.916476174625082 + ], + [ + 15.878905769257203, + -14.951900147195394 + ] + ], + "yaw_rad": -1.6788997093100808, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.619997024536133, + -14.867670059204102, + 0.0983630120754242 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.732333765796975, + -14.8872884987605, + 0.12313667610341171 + ], + "intended_face_normal": [ + -0.31486312793872173, + -0.24245932426214267, + 0.9176462495221784 + ], + "commanded_contact_point": [ + 15.633007888793946, + -14.874029947713135, + 0.07237399117526688 + ], + "centerline_face_intersection": [ + 15.62308593443385, + -14.873876046748824, + 0.07237399117526688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.622367858886719, + -14.866305351257324, + 0.10492829978466034 + ], + "box_pose": [ + 15.766249656677246, + -14.880125999450684, + 0.07468263804912567, + 0.3189646005630493, + -0.5050053596496582, + 0.5263382196426392, + -0.6051439642906189 + ], + "box_yaw_rad": -1.6375507360482737, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00015390096431104866, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.012608461997647983 + } + } + }, + { + "simulation_time_ns": 6460000000, + "center": [ + 15.766263711231032, + -14.87727251545081, + 0.04613871453847762 + ], + "face_center": [ + 15.762634582112307, + -14.894717911324857, + 0.09850863810919469 + ], + "face_normal": [ + -0.06560442438266634, + -0.3153635809041315, + 0.9467005935650761 + ], + "footprint_xy": [ + [ + 15.633729367597798, + -14.984764210778081 + ], + [ + 15.898798054864265, + -14.984764210778081 + ], + [ + 15.898798054864265, + -14.769780820123541 + ], + [ + 15.633729367597798, + -14.769780820123541 + ] + ], + "projected_box_corners": [ + [ + 15.654303123482084, + -14.804671611871633 + ], + [ + 15.891539796626816, + -14.83998820054241 + ], + [ + 15.661561381719533, + -14.769780820123541 + ], + [ + 15.898798054864265, + -14.805097408794317 + ], + [ + 15.633729367597798, + -14.949447622107304 + ], + [ + 15.870966040742532, + -14.984764210778081 + ], + [ + 15.640987625835248, + -14.914556830359212 + ], + [ + 15.878224298979982, + -14.94987341902999 + ] + ], + "yaw_rad": -1.7119586477169644, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.622413635253906, + -14.869730949401855, + 0.09280019998550415 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.75006841887727, + -14.889460012982228, + 0.10939071394266031 + ], + "intended_face_normal": [ + -0.17529672429274257, + -0.2614355993951989, + 0.9491694463633493 + ], + "commanded_contact_point": [ + 15.63523853302002, + -14.875444836143583, + 0.05688421748582514 + ], + "centerline_face_intersection": [ + 15.63725162564746, + -14.874997824564842, + 0.05688421748582514 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.619997024536133, + -14.867670059204102, + 0.0983630120754242 + ], + "box_pose": [ + 15.77642822265625, + -14.881231307983398, + 0.05660025030374527, + 0.3517459034919739, + -0.5533556342124939, + 0.4955371022224426, + -0.5696625709533691 + ], + "box_yaw_rad": -1.6788997093100808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004470115787406567, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.015713394664554674 + } + } + }, + { + "simulation_time_ns": 6480000000, + "center": [ + 15.76715940873366, + -14.880041930744252, + 0.04615421594165565 + ], + "face_center": [ + 15.764635109345138, + -14.899984948370648, + 0.09769085564925553 + ], + "face_normal": [ + -0.04563221724436772, + -0.36051354168760064, + 0.9316371702481412 + ], + "footprint_xy": [ + [ + 15.635361709132763, + -14.988446132969374 + ], + [ + 15.898957108334558, + -14.988446132969374 + ], + [ + 15.898957108334558, + -14.771637728519131 + ], + [ + 15.635361709132763, + -14.771637728519131 + ] + ], + "projected_box_corners": [ + [ + 15.656528252059244, + -14.811523763771923 + ], + [ + 15.893908509557514, + -14.846133798120938 + ], + [ + 15.661576850836289, + -14.771637728519131 + ], + [ + 15.898957108334558, + -14.806247762868145 + ], + [ + 15.635361709132763, + -14.953836098620359 + ], + [ + 15.872741966631033, + -14.988446132969374 + ], + [ + 15.640410307909807, + -14.913950063367565 + ], + [ + 15.877790565408077, + -14.94856009771658 + ] + ], + "yaw_rad": -1.7184469415672046, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.627050399780273, + -14.870193481445312, + 0.0883525013923645 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.762634582112307, + -14.894717911324857, + 0.09850863810919469 + ], + "intended_face_normal": [ + -0.06560442438266634, + -0.3153635809041315, + 0.9467005935650761 + ], + "commanded_contact_point": [ + 15.637473945617677, + -14.878021189671509, + 0.04613871453847762 + ], + "centerline_face_intersection": [ + 15.644970600934899, + -14.87727251545081, + 0.04613871453847762 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.622413635253906, + -14.869730949401855, + 0.09280019998550415 + ], + "box_pose": [ + 15.782796859741211, + -14.883343696594238, + 0.04361334070563316, + 0.36466559767723083, + -0.5977243781089783, + 0.4575338363647461, + -0.5480943918228149 + ], + "box_yaw_rad": -1.7119586477169644, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007486742206988592, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011273885779715583 + } + } + }, + { + "simulation_time_ns": 6500000000, + "center": [ + 15.769421069594692, + -14.88025969333746, + 0.044237728380511036 + ], + "face_center": [ + 15.766016210510458, + -14.896565371028803, + 0.09698859015685118 + ], + "face_normal": [ + -0.06155025434966532, + -0.2947606888910581, + 0.9535868825031919 + ], + "footprint_xy": [ + [ + 15.637294506592081, + -14.986584190836764 + ], + [ + 15.901547632597303, + -14.986584190836764 + ], + [ + 15.901547632597303, + -14.773935195838154 + ], + [ + 15.637294506592081, + -14.773935195838154 + ] + ], + "projected_box_corners": [ + [ + 15.657326972783071, + -14.806546551220842 + ], + [ + 15.894737914428836, + -14.840657610477102 + ], + [ + 15.664136690951539, + -14.773935195838154 + ], + [ + 15.901547632597303, + -14.808046255094412 + ], + [ + 15.637294506592081, + -14.952473131580506 + ], + [ + 15.874705448237846, + -14.986584190836764 + ], + [ + 15.64410422476055, + -14.919861776197816 + ], + [ + 15.881515166406315, + -14.953972835454076 + ] + ], + "yaw_rad": -1.7072213134716665, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.630958557128906, + -14.867042541503906, + 0.08166052401065826 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.764635109345138, + -14.899984948370648, + 0.09769085564925553 + ], + "intended_face_normal": [ + -0.04563221724436772, + -0.36051354168760064, + 0.9316371702481412 + ], + "commanded_contact_point": [ + 15.639427070617677, + -14.881184542936909, + 0.04615421594165565 + ], + "centerline_face_intersection": [ + 15.645939665081466, + -14.880041930744252, + 0.04615421594165565 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.627050399780273, + -14.870193481445312, + 0.0883525013923645 + ], + "box_pose": [ + 15.783655166625977, + -14.885923385620117, + 0.04301093518733978, + 0.35699647665023804, + -0.6133792996406555, + 0.4385165274143219, + -0.5513825416564941 + ], + "box_yaw_rad": -1.7184469415672046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011426121926564289, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003717760272104883 + } + } + }, + { + "simulation_time_ns": 6520000000, + "center": [ + 15.773140895070837, + -14.878016797570686, + 0.04409306669389796 + ], + "face_center": [ + 15.76995519017012, + -14.893867997704403, + 0.0969959212260984 + ], + "face_normal": [ + -0.05758856448127858, + -0.2865450157674214, + 0.9563344830796225 + ], + "footprint_xy": [ + [ + 15.642488070640116, + -14.981797251490251 + ], + [ + 15.903793719501557, + -14.981797251490251 + ], + [ + 15.903793719501557, + -14.774236343651118 + ], + [ + 15.642488070640116, + -14.774236343651118 + ] + ], + "projected_box_corners": [ + [ + 15.65936276916131, + -14.805938743918555 + ], + [ + 15.897422309700124, + -14.835032563280324 + ], + [ + 15.665734178962744, + -14.774236343651118 + ], + [ + 15.903793719501557, + -14.803330163012888 + ], + [ + 15.642488070640116, + -14.952703432128482 + ], + [ + 15.88054761117893, + -14.981797251490251 + ], + [ + 15.64885948044155, + -14.921001031861046 + ], + [ + 15.886919020980363, + -14.950094851222815 + ] + ], + "yaw_rad": -1.6852715613100562, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.631750106811523, + -14.865758895874023, + 0.07118572294712067 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.766016210510458, + -14.896565371028803, + 0.09698859015685118 + ], + "intended_face_normal": [ + -0.06155025434966532, + -0.2947606888910581, + 0.9535868825031919 + ], + "commanded_contact_point": [ + 15.641398315429688, + -14.881930991603458, + 0.044237728380511036 + ], + "centerline_face_intersection": [ + 15.648216992973124, + -14.88025969333746, + 0.044237728380511036 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.630958557128906, + -14.867042541503906, + 0.08166052401065826 + ], + "box_pose": [ + 15.785975456237793, + -14.886308670043945, + 0.04179970547556877, + 0.37269163131713867, + -0.5925694108009338, + 0.46229925751686096, + -0.5442811846733093 + ], + "box_yaw_rad": -1.7072213134716665, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016712982659985438, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028488447294820218 + } + } + }, + { + "simulation_time_ns": 6540000000, + "center": [ + 15.774769189320699, + -14.876823091872451, + 0.044097731895833 + ], + "face_center": [ + 15.771757286963524, + -14.892642580844313, + 0.09702025169764626 + ], + "face_normal": [ + -0.05444670442275523, + -0.2859717673510911, + 0.9566899757201632 + ], + "footprint_xy": [ + [ + 15.64498272732804, + -14.979313704301884 + ], + [ + 15.904555651313357, + -14.979313704301884 + ], + [ + 15.904555651313357, + -14.774332479443016 + ], + [ + 15.64498272732804, + -14.774332479443016 + ] + ], + "projected_box_corners": [ + [ + 15.660153203893595, + -14.805971457386743 + ], + [ + 15.898531846599008, + -14.83230669174756 + ], + [ + 15.666177008607944, + -14.774332479443016 + ], + [ + 15.904555651313357, + -14.800667713803833 + ], + [ + 15.64498272732804, + -14.952978469941069 + ], + [ + 15.883361370033453, + -14.979313704301884 + ], + [ + 15.65100653204239, + -14.92133949199734 + ], + [ + 15.889385174747803, + -14.947674726358157 + ] + ], + "yaw_rad": -1.6736279263726968, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.62837028503418, + -14.874141693115234, + 0.059083640575408936 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.76995519017012, + -14.893867997704403, + 0.0969959212260984 + ], + "intended_face_normal": [ + -0.05758856448127858, + -0.2865450157674214, + 0.9563344830796225 + ], + "commanded_contact_point": [ + 15.643480186462403, + -14.88017841190455, + 0.04409306669389796 + ], + "centerline_face_intersection": [ + 15.652267041845281, + -14.878016797570686, + 0.04409306669389796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.631750106811523, + -14.865758895874023, + 0.07118572294712067 + ], + "box_pose": [ + 15.789823532104492, + -14.883742332458496, + 0.04175007343292236, + 0.38103991746902466, + -0.5857466459274292, + 0.45993050932884216, + -0.5478808879852295 + ], + "box_yaw_rad": -1.6852715613100562, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002161614333865031, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002725187993781879 + } + } + }, + { + "simulation_time_ns": 6560000000, + "center": [ + 15.774898915075125, + -14.87669654395363, + 0.044109097789371464 + ], + "face_center": [ + 15.771909393005537, + -14.892507248367314, + 0.0970355107086131 + ], + "face_normal": [ + -0.05404213191055263, + -0.2858129673018208, + 0.9567603523090327 + ], + "footprint_xy": [ + [ + 15.645197124094931, + -14.979062923500933 + ], + [ + 15.904600706055318, + -14.979062923500933 + ], + [ + 15.904600706055318, + -14.774330164406328 + ], + [ + 15.645197124094931, + -14.774330164406328 + ] + ], + "projected_box_corners": [ + [ + 15.660214305042539, + -14.805951573233695 + ], + [ + 15.898621661916144, + -14.832029545523342 + ], + [ + 15.666193349181713, + -14.774330164406328 + ], + [ + 15.904600706055318, + -14.800408136695975 + ], + [ + 15.645197124094931, + -14.952984951211286 + ], + [ + 15.883604480968536, + -14.979062923500933 + ], + [ + 15.651176168234105, + -14.921363542383919 + ], + [ + 15.88958352510771, + -14.947441514673566 + ] + ], + "yaw_rad": -1.6725778986640603, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.625802993774414, + -14.884512901306152, + 0.0505332350730896 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.771757286963524, + -14.892642580844313, + 0.09702025169764626 + ], + "intended_face_normal": [ + -0.05444670442275523, + -0.2859717673510911, + 0.9566899757201632 + ], + "commanded_contact_point": [ + 15.645653610229493, + -14.879091962156604, + 0.044097731895833 + ], + "centerline_face_intersection": [ + 15.654057142152983, + -14.876823091872451, + 0.044097731895833 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.62837028503418, + -14.874141693115234, + 0.059083640575408936 + ], + "box_pose": [ + 15.79151725769043, + -14.88235855102539, + 0.041764795780181885, + 0.38472598791122437, + -0.5831958651542664, + 0.4571652114391327, + -0.5503348708152771 + ], + "box_yaw_rad": -1.6736279263726968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022688702841536916, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002429848902765934 + } + } + }, + { + "simulation_time_ns": 6580000000, + "center": [ + 15.774899002677436, + -14.876689413986501, + 0.04411808029130349 + ], + "face_center": [ + 15.771911428506716, + -14.892490041567878, + 0.09704761822482168 + ], + "face_normal": [ + -0.054006919389951946, + -0.2856308065791193, + 0.9568168437581086 + ], + "footprint_xy": [ + [ + 15.645198164635042, + -14.979049509107394 + ], + [ + 15.90459984071983, + -14.979049509107394 + ], + [ + 15.90459984071983, + -14.77432931886561 + ], + [ + 15.645198164635042, + -14.77432931886561 + ] + ], + "projected_box_corners": [ + [ + 15.660217106640802, + -14.805930574028364 + ], + [ + 15.89862469237839, + -14.832007603683417 + ], + [ + 15.666192254982244, + -14.77432931886561 + ], + [ + 15.90459984071983, + -14.800406348520662 + ], + [ + 15.645198164635042, + -14.952972479452342 + ], + [ + 15.88360575037263, + -14.979049509107394 + ], + [ + 15.651173312976484, + -14.921371224289587 + ], + [ + 15.88958089871407, + -14.94744825394464 + ] + ], + "yaw_rad": -1.672583889621613, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.628095626831055, + -14.887115478515625, + 0.04677298665046692 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.771909393005537, + -14.892507248367314, + 0.0970355107086131 + ], + "intended_face_normal": [ + -0.05404213191055263, + -0.2858129673018208, + 0.9567603523090327 + ], + "commanded_contact_point": [ + 15.64814365386963, + -14.878652759943682, + 0.044109097789371464 + ], + "centerline_face_intersection": [ + 15.654201406661878, + -14.87669654395363, + 0.044109097789371464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.625802993774414, + -14.884512901306152, + 0.0505332350730896 + ], + "box_pose": [ + 15.79165267944336, + -14.882214546203613, + 0.04177570715546608, + 0.3851247727870941, + -0.5829654335975647, + 0.4569162130355835, + -0.5505068302154541 + ], + "box_yaw_rad": -1.6725778986640603, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0019562159900527822, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025285064953756526 + } + } + }, + { + "simulation_time_ns": 6600000000, + "center": [ + 15.77489901570997, + -14.876680307312302, + 0.0441231919880959 + ], + "face_center": [ + 15.771911861923684, + -14.892468528278808, + 0.09705644665537241 + ], + "face_normal": [ + -0.05399932002437069, + -0.2854065299550097, + 0.9568840318274283 + ], + "footprint_xy": [ + [ + 15.64519853257191, + -14.979032410883605 + ], + [ + 15.904599498848027, + -14.979032410883605 + ], + [ + 15.904599498848027, + -14.774328203741 + ], + [ + 15.64519853257191, + -14.774328203741 + ] + ], + "projected_box_corners": [ + [ + 15.660217580661673, + -14.805904645674012 + ], + [ + 15.898625191275455, + -14.831980023975843 + ], + [ + 15.666191888234245, + -14.774328203741 + ], + [ + 15.904599498848027, + -14.800403582042833 + ], + [ + 15.64519853257191, + -14.952957032581773 + ], + [ + 15.883606143185693, + -14.979032410883605 + ], + [ + 15.651172840144483, + -14.921380590648761 + ], + [ + 15.889580450758265, + -14.947455968950594 + ] + ], + "yaw_rad": -1.672577398446673, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.633261680603027, + -14.882814407348633, + 0.0444851815700531 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.771911428506716, + -14.892490041567878, + 0.09704761822482168 + ], + "intended_face_normal": [ + -0.054006919389951946, + -0.2856308065791193, + 0.9568168437581086 + ], + "commanded_contact_point": [ + 15.651038055419923, + -14.87822858739539, + 0.04411808029130349 + ], + "centerline_face_intersection": [ + 15.654201610130102, + -14.876689413986501, + 0.04411808029130349 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.628095626831055, + -14.887115478515625, + 0.04677298665046692 + ], + "box_pose": [ + 15.79165267944336, + -14.882207870483398, + 0.041785117238759995, + 0.38518545031547546, + -0.5829322934150696, + 0.45696473121643066, + -0.5504593253135681 + ], + "box_yaw_rad": -1.672583889621613, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015391734088878186, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029253313266029302 + } + } + }, + { + "simulation_time_ns": 6620000000, + "center": [ + 15.77900970859937, + -14.87555371986458, + 0.044132352065308036 + ], + "face_center": [ + 15.775790579956512, + -14.891285261813179, + 0.09706888870742139 + ], + "face_normal": [ + -0.05819277152161817, + -0.2843819330826669, + 0.956943360680981 + ], + "footprint_xy": [ + [ + 15.648178250285973, + -14.979524752470413 + ], + [ + 15.909841166912768, + -14.979524752470413 + ], + [ + 15.909841166912768, + -14.771582687258748 + ], + [ + 15.648178250285973, + -14.771582687258748 + ] + ], + "projected_box_corners": [ + [ + 15.665414321607658, + -14.803045771155945 + ], + [ + 15.903402909627053, + -14.832706787966366 + ], + [ + 15.671852578893372, + -14.771582687258748 + ], + [ + 15.909841166912768, + -14.801243704069169 + ], + [ + 15.648178250285973, + -14.94986373565999 + ], + [ + 15.886166838305368, + -14.979524752470413 + ], + [ + 15.654616507571687, + -14.918400651762793 + ], + [ + 15.892605095591083, + -14.948061668573215 + ] + ], + "yaw_rad": -1.687658975070899, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.638211250305176, + -14.878350257873535, + 0.04168134927749634 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.771911861923684, + -14.892468528278808, + 0.09705644665537241 + ], + "intended_face_normal": [ + -0.05399932002437069, + -0.2854065299550097, + 0.9568840318274283 + ], + "commanded_contact_point": [ + 15.65427101135254, + -14.877974116719736, + 0.0441231919880959 + ], + "centerline_face_intersection": [ + 15.654201635756579, + -14.876680307312302, + 0.0441231919880959 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.633261680603027, + -14.882814407348633, + 0.0444851815700531 + ], + "box_pose": [ + 15.79165267944336, + -14.88219928741455, + 0.0417914018034935, + 0.38525208830833435, + -0.582880437374115, + 0.45703125, + -0.5504121780395508 + ], + "box_yaw_rad": -1.672577398446673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012938094074345932, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032429593763191223 + } + } + }, + { + "simulation_time_ns": 6640000000, + "center": [ + 15.785438279250327, + -14.874713242993197, + 0.04454249967334739 + ], + "face_center": [ + 15.782654270973167, + -14.891607141539225, + 0.09714446598867962 + ], + "face_normal": [ + -0.05032702186246496, + -0.30539406381903333, + 0.950895272286786 + ], + "footprint_xy": [ + [ + 15.654448463878339, + -14.98002203058028 + ], + [ + 15.916428094622315, + -14.98002203058028 + ], + [ + 15.916428094622315, + -14.769404455406116 + ], + [ + 15.654448463878339, + -14.769404455406116 + ] + ], + "projected_box_corners": [ + [ + 15.673008597796988, + -14.803192252498173 + ], + [ + 15.910860078067993, + -14.834342812748023 + ], + [ + 15.67857661435131, + -14.769404455406116 + ], + [ + 15.916428094622315, + -14.800555015655966 + ], + [ + 15.654448463878339, + -14.94887147033043 + ], + [ + 15.892299944149343, + -14.98002203058028 + ], + [ + 15.660016480432663, + -14.915083673238371 + ], + [ + 15.897867960703667, + -14.946234233488223 + ] + ], + "yaw_rad": -1.697517759498313, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.644303321838379, + -14.876683235168457, + 0.04795557260513306 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.775790579956512, + -14.891285261813179, + 0.09706888870742139 + ], + "intended_face_normal": [ + -0.05819277152161817, + -0.2843819330826669, + 0.956943360680981 + ], + "commanded_contact_point": [ + 15.657438163757325, + -14.876735667751657, + 0.044132352065308036 + ], + "centerline_face_intersection": [ + 15.658099818753362, + -14.87555371986458, + 0.044132352065308036 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.638211250305176, + -14.878350257873535, + 0.04168134927749634 + ], + "box_pose": [ + 15.79567813873291, + -14.881324768066406, + 0.041799936443567276, + 0.3809276521205902, + -0.5857491493225098, + 0.46119752526283264, + -0.5468902587890625 + ], + "box_yaw_rad": -1.687658975070899, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011819478870764035, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034006902400377475 + } + } + }, + { + "simulation_time_ns": 6660000000, + "center": [ + 15.791006519281956, + -14.874300898804915, + 0.044723516738011476 + ], + "face_center": [ + 15.788864808430606, + -14.893030421376274, + 0.09673062046689104 + ], + "face_normal": [ + -0.038716094963920256, + -0.33857697179092483, + 0.9401418335706886 + ], + "footprint_xy": [ + [ + 15.660344996286224, + -14.980578434329056 + ], + [ + 15.92166804227769, + -14.980578434329056 + ], + [ + 15.92166804227769, + -14.768023363280776 + ], + [ + 15.660344996286224, + -14.768023363280776 + ] + ], + "projected_box_corners": [ + [ + 15.679527201512693, + -14.805482408423492 + ], + [ + 15.91738462057499, + -14.836661547419958 + ], + [ + 15.683810623215392, + -14.768023363280776 + ], + [ + 15.92166804227769, + -14.799202502277241 + ], + [ + 15.660344996286224, + -14.94939929533259 + ], + [ + 15.898202415348521, + -14.980578434329056 + ], + [ + 15.664628417988922, + -14.911940250189872 + ], + [ + 15.90248583705122, + -14.94311938918634 + ] + ], + "yaw_rad": -1.7033020284014662, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.6489839553833, + -14.878034591674805, + 0.05577382445335388 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.782654270973167, + -14.891607141539225, + 0.09714446598867962 + ], + "intended_face_normal": [ + -0.05032702186246496, + -0.30539406381903333, + 0.950895272286786 + ], + "commanded_contact_point": [ + 15.659917716979981, + -14.875816391193263, + 0.04454249967334739 + ], + "centerline_face_intersection": [ + 15.664458691781517, + -14.874713242993197, + 0.04454249967334739 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.644303321838379, + -14.876683235168457, + 0.04795557260513306 + ], + "box_pose": [ + 15.802047729492188, + -14.880526542663574, + 0.04191315174102783, + 0.3753832280635834, + -0.5947282910346985, + 0.4543021023273468, + -0.5468047261238098 + ], + "box_yaw_rad": -1.697517759498313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001103148200066001, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002676093166385924 + } + } + }, + { + "simulation_time_ns": 6680000000, + "center": [ + 15.794253903778054, + -14.874249228035826, + 0.04487756369888907 + ], + "face_center": [ + 15.79213356656392, + -14.893041453926822, + 0.09686291666556172 + ], + "face_normal": [ + -0.038329719852811195, + -0.33971047105677243, + 0.9397486411028027 + ], + "footprint_xy": [ + [ + 15.663413477205399, + -14.98087045050542 + ], + [ + 15.92509433035071, + -14.98087045050542 + ], + [ + 15.92509433035071, + -14.767628005566229 + ], + [ + 15.663413477205399, + -14.767628005566229 + ] + ], + "projected_box_corners": [ + [ + 15.683090138261305, + -14.805212457348222 + ], + [ + 15.920853655922443, + -14.837079796695255 + ], + [ + 15.687330812689572, + -14.767628005566229 + ], + [ + 15.92509433035071, + -14.799495344913263 + ], + [ + 15.663413477205399, + -14.949003111158389 + ], + [ + 15.901176994866537, + -14.98087045050542 + ], + [ + 15.667654151633668, + -14.911418659376395 + ], + [ + 15.905417669294806, + -14.943285998723427 + ] + ], + "yaw_rad": -1.7067940538871078, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.652112007141113, + -14.87967300415039, + 0.06088125705718994 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.788864808430606, + -14.893030421376274, + 0.09673062046689104 + ], + "intended_face_normal": [ + -0.038716094963920256, + -0.33857697179092483, + 0.9401418335706886 + ], + "commanded_contact_point": [ + 15.66225326538086, + -14.875254699290185, + 0.044723516738011476 + ], + "centerline_face_intersection": [ + 15.670029952414831, + -14.874300898804915, + 0.044723516738011476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.6489839553833, + -14.878034591674805, + 0.05577382445335388 + ], + "box_pose": [ + 15.807580947875977, + -14.88001537322998, + 0.04168793186545372, + 0.36850568652153015, + -0.6059629917144775, + 0.44149187207221985, + -0.549633800983429 + ], + "box_yaw_rad": -1.7033020284014662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009538004852704053, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024089523250847506 + } + } + }, + { + "simulation_time_ns": 6700000000, + "center": [ + 15.79753167276514, + -14.874418385632934, + 0.04529985631023782 + ], + "face_center": [ + 15.795703076017677, + -14.893256932028283, + 0.09727952557091074 + ], + "face_normal": [ + -0.0330558745971139, + -0.3405478152034416, + 0.9396458957200196 + ], + "footprint_xy": [ + [ + 15.667089521205082, + -14.98065076805803 + ], + [ + 15.9279738243252, + -14.98065076805803 + ], + [ + 15.9279738243252, + -14.76818600320784 + ], + [ + 15.667089521205082, + -14.76818600320784 + ] + ], + "projected_box_corners": [ + [ + 15.686443693801657, + -14.805863095998534 + ], + [ + 15.924316630830274, + -14.8368254155695 + ], + [ + 15.690100887296582, + -14.76818600320784 + ], + [ + 15.9279738243252, + -14.799148322778803 + ], + [ + 15.667089521205082, + -14.949688448487066 + ], + [ + 15.904962458233697, + -14.98065076805803 + ], + [ + 15.670746714700005, + -14.91201135569637 + ], + [ + 15.908619651728623, + -14.942973675267336 + ] + ], + "yaw_rad": -1.704559960747469, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.655610084533691, + -14.879497528076172, + 0.06535713374614716 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.79213356656392, + -14.893041453926822, + 0.09686291666556172 + ], + "intended_face_normal": [ + -0.038329719852811195, + -0.33971047105677243, + 0.9397486411028027 + ], + "commanded_contact_point": [ + 15.664671783447266, + -14.874986077476514, + 0.04487756369888907 + ], + "centerline_face_intersection": [ + 15.673229558894992, + -14.874249228035826, + 0.04487756369888907 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.652112007141113, + -14.87967300415039, + 0.06088125705718994 + ], + "box_pose": [ + 15.810807228088379, + -14.88000774383545, + 0.04181022197008133, + 0.36758342385292053, + -0.6071901917457581, + 0.44161882996559143, + -0.5487943291664124 + ], + "box_yaw_rad": -1.7067940538871078, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007368494406878047, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002438261221130523 + } + } + }, + { + "simulation_time_ns": 6720000000, + "center": [ + 15.801824713332183, + -14.874268150324161, + 0.04564351477377197 + ], + "face_center": [ + 15.800166650637035, + -14.893136038947038, + 0.09761826169522489 + ], + "face_normal": [ + -0.02997309964650441, + -0.34107823996491504, + 0.9395569137024111 + ], + "footprint_xy": [ + [ + 15.671447510443206, + -14.98055428090219 + ], + [ + 15.932201916221159, + -14.98055428090219 + ], + [ + 15.932201916221159, + -14.767982019746132 + ], + [ + 15.671447510443206, + -14.767982019746132 + ] + ], + "projected_box_corners": [ + [ + 15.691035535848066, + -14.805717796991885 + ], + [ + 15.928885790830861, + -14.836766635775385 + ], + [ + 15.694351661238361, + -14.767982019746132 + ], + [ + 15.932201916221159, + -14.799030858529632 + ], + [ + 15.671447510443206, + -14.949505442118692 + ], + [ + 15.909297765426004, + -14.98055428090219 + ], + [ + 15.674763635833504, + -14.911769664872939 + ], + [ + 15.9126138908163, + -14.942818503656436 + ] + ], + "yaw_rad": -1.706191711711129, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.660248756408691, + -14.87770938873291, + 0.06809276342391968 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.795703076017677, + -14.893256932028283, + 0.09727952557091074 + ], + "intended_face_normal": [ + -0.0330558745971139, + -0.3405478152034416, + 0.9396458957200196 + ], + "commanded_contact_point": [ + 15.66736972808838, + -14.874952069375892, + 0.04529985631023782 + ], + "centerline_face_intersection": [ + 15.67656299796978, + -14.874418385632934, + 0.04529985631023782 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.655610084533691, + -14.879497528076172, + 0.06535713374614716 + ], + "box_pose": [ + 15.814093589782715, + -14.880111694335938, + 0.04215807467699051, + 0.36946576833724976, + -0.6078172922134399, + 0.43956926465034485, + -0.5484815239906311 + ], + "box_yaw_rad": -1.704559960747469, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005336837429582876, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002731005837968774 + } + } + }, + { + "simulation_time_ns": 6740000000, + "center": [ + 15.805638392913115, + -14.873945699407916, + 0.04470971284628349 + ], + "face_center": [ + 15.803434154222067, + -14.892661282449357, + 0.09671922359586624 + ], + "face_normal": [ + -0.039846422047119745, + -0.3383249843838989, + 0.9401853457198968 + ], + "footprint_xy": [ + [ + 15.674703969915768, + -14.980615240368309 + ], + [ + 15.936572815910463, + -14.980615240368309 + ], + [ + 15.936572815910463, + -14.767276158447524 + ], + [ + 15.674703969915768, + -14.767276158447524 + ] + ], + "projected_box_corners": [ + [ + 15.694423767590296, + -14.804707324530407 + ], + [ + 15.932164338528366, + -14.836764136714715 + ], + [ + 15.698832244972392, + -14.767276158447524 + ], + [ + 15.936572815910463, + -14.799332970631832 + ], + [ + 15.674703969915768, + -14.948558428184 + ], + [ + 15.912444540853839, + -14.980615240368309 + ], + [ + 15.679112447297864, + -14.911127262101118 + ], + [ + 15.916853018235935, + -14.943184074285426 + ] + ], + "yaw_rad": -1.7070319563656908, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.66430377960205, + -14.874150276184082, + 0.06947171688079834 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.800166650637035, + -14.893136038947038, + 0.09761826169522489 + ], + "intended_face_normal": [ + -0.02997309964650441, + -0.34107823996491504, + 0.9395569137024111 + ], + "commanded_contact_point": [ + 15.669999961853028, + -14.874664184530769, + 0.04564351477377197 + ], + "centerline_face_intersection": [ + 15.680844502635695, + -14.874268150324161, + 0.04564351477377197 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.660248756408691, + -14.87770938873291, + 0.06809276342391968 + ], + "box_pose": [ + 15.818373680114746, + -14.879965782165527, + 0.042441897094249725, + 0.3699447512626648, + -0.6089485883712769, + 0.43886417150497437, + -0.5474675297737122 + ], + "box_yaw_rad": -1.706191711711129, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00039603420660831907, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026681657520302507 + } + } + }, + { + "simulation_time_ns": 6760000000, + "center": [ + 15.807970145796025, + -14.873388714991652, + 0.04457733268596507 + ], + "face_center": [ + 15.805443712236563, + -14.8915423070876, + 0.09677105593310706 + ], + "face_normal": [ + -0.04567079703896226, + -0.32816577227507615, + 0.94351538840262 + ], + "footprint_xy": [ + [ + 15.67647517688637, + -14.980439766316708 + ], + [ + 15.93946511470568, + -14.980439766316708 + ], + [ + 15.93946511470568, + -14.766337663666596 + ], + [ + 15.67647517688637, + -14.766337663666596 + ] + ], + "projected_box_corners": [ + [ + 15.69686936777359, + -14.802644847858488 + ], + [ + 15.934412247586758, + -14.836166368324944 + ], + [ + 15.701922234892512, + -14.766337663666596 + ], + [ + 15.93946511470568, + -14.799859184133052 + ], + [ + 15.67647517688637, + -14.946918245850254 + ], + [ + 15.914018056699536, + -14.980439766316708 + ], + [ + 15.681528044005292, + -14.91061106165836 + ], + [ + 15.919070923818458, + -14.944132582124816 + ] + ], + "yaw_rad": -1.7112238589597533, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.666855812072754, + -14.871084213256836, + 0.067463219165802 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.803434154222067, + -14.892661282449357, + 0.09671922359586624 + ], + "intended_face_normal": [ + -0.039846422047119745, + -0.3383249843838989, + 0.9401853457198968 + ], + "commanded_contact_point": [ + 15.672275428771973, + -14.874333550543478, + 0.04470971284628349 + ], + "centerline_face_intersection": [ + 15.684602366758675, + -14.873945699407916, + 0.04470971284628349 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.66430377960205, + -14.874150276184082, + 0.06947171688079834 + ], + "box_pose": [ + 15.82219123840332, + -14.879721641540527, + 0.04167269170284271, + 0.3674461543560028, + -0.6066514253616333, + 0.4425164759159088, + -0.5487591028213501 + ], + "box_yaw_rad": -1.7070319563656908, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00038785113556166, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024817442601016834 + } + } + }, + { + "simulation_time_ns": 6780000000, + "center": [ + 15.808808882256466, + -14.872977088012295, + 0.044419164225211374 + ], + "face_center": [ + 15.805980122803248, + -14.890380131068722, + 0.09685248963094173 + ], + "face_normal": [ + -0.05113599697730109, + -0.31459796134914697, + 0.947846720019875 + ], + "footprint_xy": [ + [ + 15.677064778469845, + -14.979789621523913 + ], + [ + 15.940552986043087, + -14.979789621523913 + ], + [ + 15.940552986043087, + -14.766164554500676 + ], + [ + 15.677064778469845, + -14.766164554500676 + ] + ], + "projected_box_corners": [ + [ + 15.697405577589123, + -14.800970640613532 + ], + [ + 15.934895467136654, + -14.834829701666319 + ], + [ + 15.703063096495558, + -14.766164554500676 + ], + [ + 15.940552986043087, + -14.800023615553465 + ], + [ + 15.677064778469845, + -14.945930560471124 + ], + [ + 15.914554668017374, + -14.979789621523913 + ], + [ + 15.68272229737628, + -14.911124474358271 + ], + [ + 15.92021218692381, + -14.944983535411058 + ] + ], + "yaw_rad": -1.7102062597613448, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.668187141418457, + -14.867855072021484, + 0.062396541237831116 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.805443712236563, + -14.8915423070876, + 0.09677105593310706 + ], + "intended_face_normal": [ + -0.04567079703896226, + -0.32816577227507615, + 0.94351538840262 + ], + "commanded_contact_point": [ + 15.674428825378419, + -14.873868746196607, + 0.04457733268596507 + ], + "centerline_face_intersection": [ + 15.68683338941476, + -14.873388714991652, + 0.04457733268596507 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.666855812072754, + -14.871084213256836, + 0.067463219165802 + ], + "box_pose": [ + 15.824499130249023, + -14.879297256469727, + 0.041668131947517395, + 0.36757463216781616, + -0.6043378710746765, + 0.4481138288974762, + -0.5466795563697815 + ], + "box_yaw_rad": -1.7112238589597533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004800312049543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022069627392337665 + } + } + }, + { + "simulation_time_ns": 6800000000, + "center": [ + 15.808598149933786, + -14.872417791970562, + 0.04426811424339316 + ], + "face_center": [ + 15.805504823334807, + -14.889108182253151, + 0.09691773683329467 + ], + "face_normal": [ + -0.05591862518933155, + -0.30171520808167074, + 0.9517567633936217 + ], + "footprint_xy": [ + [ + 15.676725635267012, + -14.978814450588514 + ], + [ + 15.940470664600563, + -14.978814450588514 + ], + [ + 15.940470664600563, + -14.766021133352611 + ], + [ + 15.676725635267012, + -14.766021133352611 + ] + ], + "projected_box_corners": [ + [ + 15.696801892224066, + -14.799401913917789 + ], + [ + 15.934284011402603, + -14.833196701551879 + ], + [ + 15.702988545422025, + -14.766021133352611 + ], + [ + 15.940470664600563, + -14.799815920986699 + ], + [ + 15.676725635267012, + -14.945019662954426 + ], + [ + 15.914207754445549, + -14.978814450588514 + ], + [ + 15.682912288464971, + -14.911638882389246 + ], + [ + 15.920394407643508, + -14.945433670023336 + ] + ], + "yaw_rad": -1.7078021871060949, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.668180465698242, + -14.864670753479004, + 0.058353886008262634 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.805980122803248, + -14.890380131068722, + 0.09685248963094173 + ], + "intended_face_normal": [ + -0.05113599697730109, + -0.31459796134914697, + 0.947846720019875 + ], + "commanded_contact_point": [ + 15.67648494720459, + -14.873661999856882, + 0.044419164225211374 + ], + "centerline_face_intersection": [ + 15.687645097066053, + -14.872977088012295, + 0.044419164225211374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.668187141418457, + -14.867855072021484, + 0.062396541237831116 + ], + "box_pose": [ + 15.82534408569336, + -14.878950119018555, + 0.04168206453323364, + 0.3698393404483795, + -0.5999479293823242, + 0.45378395915031433, + -0.5453087091445923 + ], + "box_yaw_rad": -1.7102062597613448, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006849118445867209, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020725342638970015 + } + } + }, + { + "simulation_time_ns": 6820000000, + "center": [ + 15.8089496961652, + -14.872083069540128, + 0.044108674885484256 + ], + "face_center": [ + 15.80560030129758, + -14.887897574002862, + 0.09701239900127692 + ], + "face_normal": [ + -0.06054761766029415, + -0.28588166147675587, + 0.956350202699717 + ], + "footprint_xy": [ + [ + 15.677204281441105, + -14.97751388023713 + ], + [ + 15.940695110889294, + -14.97751388023713 + ], + [ + 15.940695110889294, + -14.766652258843127 + ], + [ + 15.677204281441105, + -14.766652258843127 + ] + ], + "projected_box_corners": [ + [ + 15.696404758209916, + -14.798281267768594 + ], + [ + 15.933996321154057, + -14.831038524185285 + ], + [ + 15.703103547945153, + -14.766652258843127 + ], + [ + 15.940695110889294, + -14.799409515259818 + ], + [ + 15.677204281441105, + -14.944756623820439 + ], + [ + 15.914795844385246, + -14.97751388023713 + ], + [ + 15.683903071176342, + -14.913127614894972 + ], + [ + 15.921494634120483, + -14.945884871311662 + ] + ], + "yaw_rad": -1.7011365044458335, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.668787002563477, + -14.864480018615723, + 0.056858956813812256 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.805504823334807, + -14.889108182253151, + 0.09691773683329467 + ], + "intended_face_normal": [ + -0.05591862518933155, + -0.30171520808167074, + 0.9517567633936217 + ], + "commanded_contact_point": [ + 15.678261642456055, + -14.873412585354812, + 0.04426811424339316 + ], + "centerline_face_intersection": [ + 15.687430400287765, + -14.872417791970562, + 0.04426811424339316 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.668180465698242, + -14.864670753479004, + 0.058353886008262634 + ], + "box_pose": [ + 15.82514762878418, + -14.878424644470215, + 0.041696321219205856, + 0.3724174201488495, + -0.5954437255859375, + 0.4587457478046417, + -0.5443384051322937 + ], + "box_yaw_rad": -1.7078021871060949, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009947933842490632, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001800463747879395 + } + } + }, + { + "simulation_time_ns": 6840000000, + "center": [ + 15.810195593313438, + -14.872993323699474, + 0.04412011882342845 + ], + "face_center": [ + 15.807054353042352, + -14.888842481515454, + 0.09702623441344158 + ], + "face_normal": [ + -0.056784769318074524, + -0.28650809641975705, + 0.956393433812341 + ], + "footprint_xy": [ + [ + 15.679423172985432, + -14.977008269492515 + ], + [ + 15.940968013641443, + -14.977008269492515 + ], + [ + 15.940968013641443, + -14.768978377906434 + ], + [ + 15.679423172985432, + -14.768978377906434 + ] + ], + "projected_box_corners": [ + [ + 15.696681277198756, + -14.800676693538392 + ], + [ + 15.93468553309927, + -14.830284490346331 + ], + [ + 15.70296375774093, + -14.768978377906434 + ], + [ + 15.940968013641443, + -14.798586174714373 + ], + [ + 15.679423172985432, + -14.947400472684574 + ], + [ + 15.917427428885945, + -14.977008269492515 + ], + [ + 15.685705653527606, + -14.915702157052616 + ], + [ + 15.923709909428117, + -14.945309953860555 + ] + ], + "yaw_rad": -1.6878814292460302, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.669933319091797, + -14.867817878723145, + 0.057309359312057495 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.80560030129758, + -14.887897574002862, + 0.09701239900127692 + ], + "intended_face_normal": [ + -0.06054761766029415, + -0.28588166147675587, + 0.956350202699717 + ], + "commanded_contact_point": [ + 15.679744606018067, + -14.873381984961354, + 0.044108674885484256 + ], + "centerline_face_intersection": [ + 15.687837761021287, + -14.872083069540128, + 0.044108674885484256 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.668787002563477, + -14.864480018615723, + 0.056858956813812256 + ], + "box_pose": [ + 15.825538635253906, + -14.878064155578613, + 0.04173898696899414, + 0.3767966628074646, + -0.5891366004943848, + 0.46377089619636536, + -0.5439291596412659 + ], + "box_yaw_rad": -1.7011365044458335, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012989154212252876, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014918237895893362 + } + } + }, + { + "simulation_time_ns": 6860000000, + "center": [ + 15.811029278571016, + -14.874638258283465, + 0.0442794305175133 + ], + "face_center": [ + 15.808357932293259, + -14.891314401398278, + 0.09695666365928918 + ], + "face_normal": [ + -0.048290410494047364, + -0.30145765944932457, + 0.9522558843406443 + ], + "footprint_xy": [ + [ + 15.681185156508537, + -14.97803317786686 + ], + [ + 15.940873400633496, + -14.97803317786686 + ], + [ + 15.940873400633496, + -14.771243338700069 + ], + [ + 15.681185156508537, + -14.771243338700069 + ] + ], + "projected_box_corners": [ + [ + 15.697210759419582, + -14.804595624929693 + ], + [ + 15.935530708077978, + -14.831834515796853 + ], + [ + 15.702553451975099, + -14.771243338700069 + ], + [ + 15.940873400633496, + -14.79848222956723 + ], + [ + 15.681185156508537, + -14.950794286999702 + ], + [ + 15.919505105166936, + -14.97803317786686 + ], + [ + 15.686527849064055, + -14.917442000770079 + ], + [ + 15.924847797722451, + -14.944680891637239 + ] + ], + "yaw_rad": -1.6799756876326875, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.670414924621582, + -14.87360954284668, + 0.056974947452545166 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.807054353042352, + -14.888842481515454, + 0.09702623441344158 + ], + "intended_face_normal": [ + -0.056784769318074524, + -0.28650809641975705, + 0.956393433812341 + ], + "commanded_contact_point": [ + 15.681095962524415, + -14.874499256919751, + 0.04412011882342845 + ], + "centerline_face_intersection": [ + 15.689293662996443, + -14.872993323699474, + 0.04412011882342845 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.669933319091797, + -14.867817878723145, + 0.057309359312057495 + ], + "box_pose": [ + 15.826862335205078, + -14.878754615783691, + 0.04175182059407234, + 0.3807249367237091, + -0.5865851044654846, + 0.4602113366127014, + -0.546966016292572 + ], + "box_yaw_rad": -1.6878814292460302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015059332202784494, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017534514535583671 + } + } + }, + { + "simulation_time_ns": 6880000000, + "center": [ + 15.811943835656725, + -14.876607508716758, + 0.044454668473562886 + ], + "face_center": [ + 15.809905938242618, + -14.894534396087616, + 0.09674802087449755 + ], + "face_normal": [ + -0.03683944065632616, + -0.32406758989918316, + 0.9453164026604419 + ], + "footprint_xy": [ + [ + 15.683063504690352, + -14.979665510574902 + ], + [ + 15.940824166623099, + -14.979665510574902 + ], + [ + 15.940824166623099, + -14.773549506858611 + ], + [ + 15.683063504690352, + -14.773549506858611 + ] + ], + "projected_box_corners": [ + [ + 15.698165257721417, + -14.80940328160033 + ], + [ + 15.936748371794884, + -14.834462205269132 + ], + [ + 15.702241052549631, + -14.773549506858611 + ], + [ + 15.940824166623099, + -14.798608430527414 + ], + [ + 15.683063504690352, + -14.9546065869061 + ], + [ + 15.92164661876382, + -14.979665510574902 + ], + [ + 15.687139299518567, + -14.918752812164382 + ], + [ + 15.925722413592034, + -14.943811735833183 + ] + ], + "yaw_rad": -1.6744279379338718, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.670741081237793, + -14.8829984664917, + 0.05121603608131409 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.808357932293259, + -14.891314401398278, + 0.09695666365928918 + ], + "intended_face_normal": [ + -0.048290410494047364, + -0.30145765944932457, + 0.9522558843406443 + ], + "commanded_contact_point": [ + 15.682305221557618, + -14.876185340121214, + 0.0442794305175133 + ], + "centerline_face_intersection": [ + 15.690287502131321, + -14.874638258283465, + 0.0442794305175133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.670414924621582, + -14.87360954284668, + 0.056974947452545166 + ], + "box_pose": [ + 15.827739715576172, + -14.880191802978516, + 0.041729703545570374, + 0.38089919090270996, + -0.5896601676940918, + 0.45187053084373474, + -0.5504813194274902 + ], + "box_yaw_rad": -1.6799756876326875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015470818377498565, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020810007658602493 + } + } + }, + { + "simulation_time_ns": 6900000000, + "center": [ + 15.812632796152718, + -14.878628234680182, + 0.044734426752521164 + ], + "face_center": [ + 15.811102078897488, + -14.89758046790538, + 0.09668239151879093 + ], + "face_normal": [ + -0.027671053064466378, + -0.34260295261747586, + 0.939072767832414 + ], + "footprint_xy": [ + [ + 15.684627843787087, + -14.981210714004554 + ], + [ + 15.940637748518348, + -14.981210714004554 + ], + [ + 15.940637748518348, + -14.77604575535581 + ], + [ + 15.684627843787087, + -14.77604575535581 + ] + ], + "projected_box_corners": [ + [ + 15.69878169818252, + -14.813950221806207 + ], + [ + 15.937576314007888, + -14.836878929296555 + ], + [ + 15.70184313269298, + -14.77604575535581 + ], + [ + 15.940637748518348, + -14.798974462846159 + ], + [ + 15.684627843787087, + -14.958282006514205 + ], + [ + 15.923422459612455, + -14.981210714004554 + ], + [ + 15.68768927829755, + -14.920377540063809 + ], + [ + 15.926483894122917, + -14.943306247554156 + ] + ], + "yaw_rad": -1.668548484213784, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.67103099822998, + -14.89041805267334, + 0.0484963059425354 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.809905938242618, + -14.894534396087616, + 0.09674802087449755 + ], + "intended_face_normal": [ + -0.03683944065632616, + -0.32406758989918316, + 0.9453164026604419 + ], + "commanded_contact_point": [ + 15.68401611328125, + -14.877898952243509, + 0.044454668473562886 + ], + "centerline_face_intersection": [ + 15.691335241566655, + -14.876607508716758, + 0.044454668473562886 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.670741081237793, + -14.8829984664917, + 0.05121603608131409 + ], + "box_pose": [ + 15.828680992126465, + -14.881941795349121, + 0.0416271798312664, + 0.3792079985141754, + -0.5955899953842163, + 0.44064441323280334, + -0.5543522238731384 + ], + "box_yaw_rad": -1.6744279379338718, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012914435267521887, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024278231683776018 + } + } + }, + { + "simulation_time_ns": 6920000000, + "center": [ + 15.813856694752365, + -14.87981906264066, + 0.044663347273697473 + ], + "face_center": [ + 15.812497482988375, + -14.89872201119108, + 0.09663403074659084 + ], + "face_normal": [ + -0.024570717236436224, + -0.34171202462510664, + 0.9394834580068334 + ], + "footprint_xy": [ + [ + 15.686529875472981, + -14.981440568348702 + ], + [ + 15.941183514031747, + -14.981440568348702 + ], + [ + 15.941183514031747, + -14.77819755693262 + ], + [ + 15.686529875472981, + -14.77819755693262 + ] + ], + "projected_box_corners": [ + [ + 15.699487140090403, + -14.816003454033456 + ], + [ + 15.938465090503769, + -14.836932639525932 + ], + [ + 15.702205563618381, + -14.77819755693262 + ], + [ + 15.941183514031747, + -14.799126742425093 + ], + [ + 15.686529875472981, + -14.960511382856229 + ], + [ + 15.925507825886347, + -14.981440568348702 + ], + [ + 15.689248299000962, + -14.92270548575539 + ], + [ + 15.928226249414328, + -14.943634671247866 + ] + ], + "yaw_rad": -1.660221916258964, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.672608375549316, + -14.891139030456543, + 0.04975822567939758 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.811102078897488, + -14.89758046790538, + 0.09668239151879093 + ], + "intended_face_normal": [ + -0.027671053064466378, + -0.34260295261747586, + 0.939072767832414 + ], + "commanded_contact_point": [ + 15.686624412536622, + -14.879448085487208, + 0.044734426752521164 + ], + "centerline_face_intersection": [ + 15.692131025781666, + -14.878628234680182, + 0.044734426752521164 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.67103099822998, + -14.89041805267334, + 0.0484963059425354 + ], + "box_pose": [ + 15.829397201538086, + -14.883756637573242, + 0.041695356369018555, + 0.3779166340827942, + -0.5999569892883301, + 0.4311351776123047, + -0.557990312576294 + ], + "box_yaw_rad": -1.668548484213784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008198508070258717, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003046523183392803 + } + } + }, + { + "simulation_time_ns": 6940000000, + "center": [ + 15.816983814922393, + -14.879573620245182, + 0.044749634906314235 + ], + "face_center": [ + 15.815592172478308, + -14.898477545762024, + 0.09671910858005187 + ], + "face_normal": [ + -0.02515697251432414, + -0.341729685424081, + 0.9394615882483777 + ], + "footprint_xy": [ + [ + 15.68929932397612, + -14.981735558374867 + ], + [ + 15.944668305868666, + -14.981735558374867 + ], + [ + 15.944668305868666, + -14.777411682115495 + ], + [ + 15.68929932397612, + -14.777411682115495 + ] + ], + "projected_box_corners": [ + [ + 15.703012343785117, + -14.815219533149179 + ], + [ + 15.941885020980497, + -14.837299605424501 + ], + [ + 15.705795628673288, + -14.777411682115495 + ], + [ + 15.944668305868666, + -14.799491754390816 + ], + [ + 15.68929932397612, + -14.959655486099546 + ], + [ + 15.9281720011715, + -14.981735558374867 + ], + [ + 15.692082608864292, + -14.92184763506586 + ], + [ + 15.93095528605967, + -14.943927707341183 + ] + ], + "yaw_rad": -1.6654544647364693, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.676140785217285, + -14.8867769241333, + 0.05353240668773651 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.812497482988375, + -14.89872201119108, + 0.09663403074659084 + ], + "intended_face_normal": [ + -0.024570717236436224, + -0.34171202462510664, + 0.9394834580068334 + ], + "commanded_contact_point": [ + 15.689626579284669, + -14.88018611473505, + 0.044663347273697473 + ], + "centerline_face_intersection": [ + 15.693447368652368, + -14.87981906264066, + 0.044663347273697473 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.672608375549316, + -14.891139030456543, + 0.04975822567939758 + ], + "box_pose": [ + 15.830662727355957, + -14.884810447692871, + 0.04162607342004776, + 0.3808094561100006, + -0.5981835722923279, + 0.4291015565395355, + -0.5594930052757263 + ], + "box_yaw_rad": -1.660221916258964, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003670520943905578, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003092368775883279 + } + } + }, + { + "simulation_time_ns": 6960000000, + "center": [ + 15.822085630094747, + -14.878783364980217, + 0.04540025501506729 + ], + "face_center": [ + 15.820787772914347, + -14.897707389914888, + 0.09736483414647285 + ], + "face_normal": [ + -0.023461599316405568, + -0.34209302624057436, + 0.9393731087201473 + ], + "footprint_xy": [ + [ + 15.693589242425976, + -14.982330080566065 + ], + [ + 15.950582017763518, + -14.982330080566065 + ], + [ + 15.950582017763518, + -14.775236649394369 + ], + [ + 15.693589242425976, + -14.775236649394369 + ] + ], + "projected_box_corners": [ + [ + 15.70941995265332, + -14.813084699263714 + ], + [ + 15.947986303402718, + -14.838114145136055 + ], + [ + 15.71201566701412, + -14.775236649394369 + ], + [ + 15.950582017763518, + -14.80026609526671 + ], + [ + 15.693589242425976, + -14.957300634693722 + ], + [ + 15.932155593175374, + -14.982330080566065 + ], + [ + 15.696184956786775, + -14.919452584824379 + ], + [ + 15.934751307536173, + -14.94448203069672 + ] + ], + "yaw_rad": -1.680129467726384, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.681270599365234, + -14.883546829223633, + 0.05888664722442627 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.815592172478308, + -14.898477545762024, + 0.09671910858005187 + ], + "intended_face_normal": [ + -0.02515697251432414, + -0.341729685424081, + 0.9394615882483777 + ], + "commanded_contact_point": [ + 15.692403678894044, + -14.879652540184049, + 0.044749634906314235 + ], + "centerline_face_intersection": [ + 15.696521423409544, + -14.879573620245182, + 0.044749634906314235 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.676140785217285, + -14.8867769241333, + 0.05353240668773651 + ], + "box_pose": [ + 15.833762168884277, + -14.884645462036133, + 0.04169267416000366, + 0.379568487405777, + -0.599446177482605, + 0.4301894009113312, + -0.5581480264663696 + ], + "box_yaw_rad": -1.6654544647364693, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -7.891993886580823e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028292100659741866 + } + } + }, + { + "simulation_time_ns": 6980000000, + "center": [ + 15.827221891642024, + -14.878173417790519, + 0.045152337757763485 + ], + "face_center": [ + 15.825613622207744, + -14.89707385129787, + 0.09711682775864658 + ], + "face_normal": [ + -0.029072977851310355, + -0.34166655973603177, + 0.9393714974915497 + ], + "footprint_xy": [ + [ + 15.697852080330435, + -14.982862900340448 + ], + [ + 15.956591702953613, + -14.982862900340448 + ], + [ + 15.956591702953613, + -14.773483935240591 + ], + [ + 15.697852080330435, + -14.773483935240591 + ] + ], + "projected_box_corners": [ + [ + 15.7150776951818, + -14.811284802255292 + ], + [ + 15.953375164085053, + -14.838811499558991 + ], + [ + 15.718294234050362, + -14.773483935240591 + ], + [ + 15.956591702953613, + -14.80101063254429 + ], + [ + 15.697852080330435, + -14.95533620303675 + ], + [ + 15.936149549233688, + -14.982862900340448 + ], + [ + 15.701068619198997, + -14.917535336022048 + ], + [ + 15.939366088102249, + -14.945062033325748 + ] + ], + "yaw_rad": -1.689810840883979, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.686285018920898, + -14.881585121154785, + 0.06221775710582733 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.820787772914347, + -14.897707389914888, + 0.09736483414647285 + ], + "intended_face_normal": [ + -0.023461599316405568, + -0.34209302624057436, + 0.9393731087201473 + ], + "commanded_contact_point": [ + 15.694830780029298, + -14.878671746349346, + 0.04540025501506729 + ], + "centerline_face_intersection": [ + 15.701468561209543, + -14.878783364980217, + 0.04540025501506729 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.681270599365234, + -14.883546829223633, + 0.05888664722442627 + ], + "box_pose": [ + 15.838780403137207, + -14.88405990600586, + 0.042234133929014206, + 0.3770129382610321, + -0.6036889553070068, + 0.4322206974029541, + -0.553720235824585 + ], + "box_yaw_rad": -1.680129467726384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00011161863087082307, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026974215452643243 + } + } + }, + { + "simulation_time_ns": 7000000000, + "center": [ + 15.832435305302182, + -14.877630146465496, + 0.044670500594459296 + ], + "face_center": [ + 15.8303472371668, + -14.896180291095146, + 0.09674403203502904 + ], + "face_normal": [ + -0.037746385871670896, + -0.33533432424994025, + 0.9413426593462191 + ], + "footprint_xy": [ + [ + 15.702239981691271, + -14.98309876142401 + ], + [ + 15.962630628913091, + -14.98309876142401 + ], + [ + 15.962630628913091, + -14.772161531506981 + ], + [ + 15.702239981691271, + -14.772161531506981 + ] + ], + "projected_box_corners": [ + [ + 15.720393353840164, + -14.809261820766281 + ], + [ + 15.958454492642328, + -14.838863097731961 + ], + [ + 15.724569490110929, + -14.772161531506981 + ], + [ + 15.962630628913091, + -14.801762808472661 + ], + [ + 15.702239981691271, + -14.953497484458332 + ], + [ + 15.940301120493436, + -14.98309876142401 + ], + [ + 15.706416117962036, + -14.916397195199032 + ], + [ + 15.944477256764198, + -14.94599847216471 + ] + ], + "yaw_rad": -1.6959971238550025, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.691414833068848, + -14.879698753356934, + 0.062112852931022644 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.825613622207744, + -14.89707385129787, + 0.09711682775864658 + ], + "intended_face_normal": [ + -0.029072977851310355, + -0.34166655973603177, + 0.9393714974915497 + ], + "commanded_contact_point": [ + 15.697111015319825, + -14.877925331025077, + 0.045152337757763485 + ], + "centerline_face_intersection": [ + 15.706468725045385, + -14.878173417790519, + 0.045152337757763485 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.686285018920898, + -14.881585121154785, + 0.06221775710582733 + ], + "box_pose": [ + 15.843867301940918, + -14.883625030517578, + 0.042023126035928726, + 0.37342408299446106, + -0.6050208210945129, + 0.4355699419975281, + -0.5520716905593872 + ], + "box_yaw_rad": -1.689810840883979, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002480867654414717, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002412067947413269 + } + } + }, + { + "simulation_time_ns": 7020000000, + "center": [ + 15.838183332381456, + -14.87690158765091, + 0.04440372696978341 + ], + "face_center": [ + 15.83545596117516, + -14.894124501595028, + 0.09690185869664616 + ], + "face_normal": [ + -0.04930318327438954, + -0.311341734761168, + 0.949018235624628 + ], + "footprint_xy": [ + [ + 15.707174454338752, + -14.982476150794149 + ], + [ + 15.969192210424161, + -14.982476150794149 + ], + [ + 15.969192210424161, + -14.77132702450767 + ], + [ + 15.707174454338752, + -14.77132702450767 + ] + ], + "projected_box_corners": [ + [ + 15.725906108695996, + -14.805772852395906 + ], + [ + 15.96373746801157, + -14.83711452298817 + ], + [ + 15.731360851108589, + -14.77132702450767 + ], + [ + 15.969192210424161, + -14.802668695099934 + ], + [ + 15.707174454338752, + -14.951134480201887 + ], + [ + 15.945005813654323, + -14.982476150794149 + ], + [ + 15.712629196751344, + -14.91668865231365 + ], + [ + 15.950460556066915, + -14.948030322905913 + ] + ], + "yaw_rad": -1.698952516007726, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.697060585021973, + -14.877470970153809, + 0.06064184010028839 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.8303472371668, + -14.896180291095146, + 0.09674403203502904 + ], + "intended_face_normal": [ + -0.037746385871670896, + -0.33533432424994025, + 0.9413426593462191 + ], + "commanded_contact_point": [ + 15.699297790527345, + -14.877299315424397, + 0.044670500594459296 + ], + "centerline_face_intersection": [ + 15.711562263583495, + -14.877630146465496, + 0.044670500594459296 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.691414833068848, + -14.879698753356934, + 0.062112852931022644 + ], + "box_pose": [ + 15.849051475524902, + -14.883245468139648, + 0.04167839512228966, + 0.3712409734725952, + -0.603541374206543, + 0.44103625416755676, + -0.5508220195770264 + ], + "box_yaw_rad": -1.6959971238550025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003308310410989898, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023250910503587285 + } + } + }, + { + "simulation_time_ns": 7040000000, + "center": [ + 15.843125206118575, + -14.876067463865555, + 0.04417160570171628 + ], + "face_center": [ + 15.839800501399514, + -14.891706436515875, + 0.09712903971734553 + ], + "face_normal": [ + -0.06010128937293757, + -0.28270854111163857, + 0.957321126286935 + ], + "footprint_xy": [ + [ + 15.711629123013509, + -14.980992369190105 + ], + [ + 15.97462128922364, + -14.980992369190105 + ], + [ + 15.97462128922364, + -14.771142558541007 + ], + [ + 15.711629123013509, + -14.771142558541007 + ] + ], + "projected_box_corners": [ + [ + 15.730265422681478, + -14.802420503841645 + ], + [ + 15.96797187978552, + -14.834289072225163 + ], + [ + 15.736914832119599, + -14.771142558541007 + ], + [ + 15.97462128922364, + -14.803011126924524 + ], + [ + 15.711629123013509, + -14.949123800806586 + ], + [ + 15.94933558011755, + -14.980992369190105 + ], + [ + 15.71827853245163, + -14.917845855505947 + ], + [ + 15.95598498955567, + -14.949714423889466 + ] + ], + "yaw_rad": -1.6971534784488294, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.70192813873291, + -14.875420570373535, + 0.05868707597255707 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.83545596117516, + -14.894124501595028, + 0.09690185869664616 + ], + "intended_face_normal": [ + -0.04930318327438954, + -0.311341734761168, + 0.949018235624628 + ], + "commanded_contact_point": [ + 15.701110725402833, + -14.876547981309695, + 0.04440372696978341 + ], + "centerline_face_intersection": [ + 15.717193509824664, + -14.87690158765091, + 0.04440372696978341 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.697060585021973, + -14.877470970153809, + 0.06064184010028839 + ], + "box_pose": [ + 15.854784965515137, + -14.882710456848145, + 0.04171587526798248, + 0.37373778223991394, + -0.5966559052467346, + 0.4523817002773285, + -0.5474236607551575 + ], + "box_yaw_rad": -1.698952516007726, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00035360634121495675, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019805059912806544 + } + } + }, + { + "simulation_time_ns": 7060000000, + "center": [ + 15.845629504316218, + -14.875467077680755, + 0.044164568085528905 + ], + "face_center": [ + 15.842376863867154, + -14.89109969229117, + 0.09712835498424094 + ], + "face_normal": [ + -0.058798570512045956, + -0.2825936056727496, + 0.9574359685050489 + ], + "footprint_xy": [ + [ + 15.714524822839632, + -14.979799111218657 + ], + [ + 15.976734185792804, + -14.979799111218657 + ], + [ + 15.976734185792804, + -14.77113504414285 + ], + [ + 15.714524822839632, + -14.77113504414285 + ] + ], + "projected_box_corners": [ + [ + 15.732354437179028, + -14.802400273363684 + ], + [ + 15.970228904894675, + -14.832976610264113 + ], + [ + 15.738859718077158, + -14.77113504414285 + ], + [ + 15.976734185792804, + -14.80171138104328 + ], + [ + 15.714524822839632, + -14.949222774318228 + ], + [ + 15.952399290555277, + -14.979799111218657 + ], + [ + 15.72103010373776, + -14.917957545097394 + ], + [ + 15.958904571453406, + -14.948533881997824 + ] + ], + "yaw_rad": -1.6916411441579708, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.704611778259277, + -14.874249458312988, + 0.056568875908851624 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.839800501399514, + -14.891706436515875, + 0.09712903971734553 + ], + "intended_face_normal": [ + -0.06010128937293757, + -0.28270854111163857, + 0.957321126286935 + ], + "commanded_contact_point": [ + 15.702626113891602, + -14.875739733264021, + 0.04417160570171628 + ], + "centerline_face_intersection": [ + 15.722071809788506, + -14.876067463865555, + 0.04417160570171628 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.70192813873291, + -14.875420570373535, + 0.05868707597255707 + ], + "box_pose": [ + 15.859737396240234, + -14.881996154785156, + 0.04183334484696388, + 0.37869399785995483, + -0.5874539613723755, + 0.4639359712600708, + -0.5442904829978943 + ], + "box_yaw_rad": -1.6971534784488294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003277306015341716, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017330745680206635 + } + } + }, + { + "simulation_time_ns": 7080000000, + "center": [ + 15.846470585762173, + -14.875314088148277, + 0.04415895237269351 + ], + "face_center": [ + 15.843254234667361, + -14.890947101934021, + 0.09712483460216315 + ], + "face_normal": [ + -0.05814256128253703, + -0.2826008216374234, + 0.957473846178658 + ], + "footprint_xy": [ + [ + 15.715565511871615, + -14.979347040418059 + ], + [ + 15.977375659652733, + -14.979347040418059 + ], + [ + 15.977375659652733, + -14.771281135878498 + ], + [ + 15.715565511871615, + -14.771281135878498 + ] + ], + "projected_box_corners": [ + [ + 15.732986112227158, + -14.802547163449983 + ], + [ + 15.970942957463109, + -14.8324690116259 + ], + [ + 15.739418814416782, + -14.771281135878498 + ], + [ + 15.977375659652733, + -14.801202984054413 + ], + [ + 15.715565511871615, + -14.949425192242142 + ], + [ + 15.953522357107566, + -14.979347040418059 + ], + [ + 15.721998214061239, + -14.918159164670657 + ], + [ + 15.95995505929719, + -14.948081012846574 + ] + ], + "yaw_rad": -1.6888507141059728, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.705683708190918, + -14.873879432678223, + 0.0556672066450119 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.842376863867154, + -14.89109969229117, + 0.09712835498424094 + ], + "intended_face_normal": [ + -0.058798570512045956, + -0.2825936056727496, + 0.9574359685050489 + ], + "commanded_contact_point": [ + 15.704092864990235, + -14.87518805185393, + 0.044164568085528905 + ], + "centerline_face_intersection": [ + 15.724661607936396, + -14.875467077680755, + 0.044164568085528905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.704611778259277, + -14.874249458312988, + 0.056568875908851624 + ], + "box_pose": [ + 15.862274169921875, + -14.881306648254395, + 0.04183299466967583, + 0.3803541958332062, + -0.5862534046173096, + 0.4626379609107971, + -0.5455307364463806 + ], + "box_yaw_rad": -1.6916411441579708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002790258268235143, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015670866892491615 + } + } + }, + { + "simulation_time_ns": 7100000000, + "center": [ + 15.84648623595291, + -14.87532398184836, + 0.04415897759164768 + ], + "face_center": [ + 15.843271182982692, + -14.890972601296347, + 0.09712033097149302 + ], + "face_normal": [ + -0.05811909484910771, + -0.2828829280202694, + 0.9573919773437396 + ], + "footprint_xy": [ + [ + 15.715588134863259, + -14.979356401399283 + ], + [ + 15.977384337042558, + -14.979356401399283 + ], + [ + 15.977384337042558, + -14.77129156229744 + ], + [ + 15.715588134863259, + -14.77129156229744 + ] + ], + "projected_box_corners": [ + [ + 15.732994544247635, + -14.802588801193412 + ], + [ + 15.970954231102125, + -14.832489540439203 + ], + [ + 15.739424650188068, + -14.77129156229744 + ], + [ + 15.977384337042558, + -14.801192301543232 + ], + [ + 15.715588134863259, + -14.94945566215349 + ], + [ + 15.953547821717748, + -14.979356401399283 + ], + [ + 15.722018240803692, + -14.918158423257518 + ], + [ + 15.959977927658182, + -14.948059162503311 + ] + ], + "yaw_rad": -1.6887643226296079, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.703716278076172, + -14.872840881347656, + 0.054913416504859924 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.843254234667361, + -14.890947101934021, + 0.09712483460216315 + ], + "intended_face_normal": [ + -0.05814256128253703, + -0.2826008216374234, + 0.957473846178658 + ], + "commanded_contact_point": [ + 15.705618743896485, + -14.875092448540256, + 0.04415895237269351 + ], + "centerline_face_intersection": [ + 15.72554456687207, + -14.875314088148277, + 0.04415895237269351 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.705683708190918, + -14.873879432678223, + 0.0556672066450119 + ], + "box_pose": [ + 15.863131523132324, + -14.881108283996582, + 0.041830405592918396, + 0.3811737298965454, + -0.5856590270996094, + 0.4619590640068054, + -0.546172022819519 + ], + "box_yaw_rad": -1.6888507141059728, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00022163960802132088, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015288812793526176 + } + } + }, + { + "simulation_time_ns": 7120000000, + "center": [ + 15.846486226476847, + -14.87533403969499, + 0.04415832633976589 + ], + "face_center": [ + 15.843270589839294, + -14.890995531616674, + 0.09711584373796667 + ], + "face_normal": [ + -0.058129645909247074, + -0.2831156260587875, + 0.9573226336087828 + ], + "footprint_xy": [ + [ + 15.715587616013144, + -14.979374912894139 + ], + [ + 15.97738483694055, + -14.979374912894139 + ], + [ + 15.97738483694055, + -14.77129316649584 + ], + [ + 15.715587616013144, + -14.77129316649584 + ] + ], + "projected_box_corners": [ + [ + 15.732993988643797, + -14.802616150339212 + ], + [ + 15.970953563665445, + -14.832518902738963 + ], + [ + 15.7394252619189, + -14.77129316649584 + ], + [ + 15.97738483694055, + -14.80119591889559 + ], + [ + 15.715587616013144, + -14.949472160494388 + ], + [ + 15.953547191034794, + -14.979374912894139 + ], + [ + 15.722018889288249, + -14.918149176651017 + ], + [ + 15.959978464309897, + -14.948051929050768 + ] + ], + "yaw_rad": -1.688772711520661, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.698583602905273, + -14.870603561401367, + 0.05397997796535492 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.843271182982692, + -14.890972601296347, + 0.09712033097149302 + ], + "intended_face_normal": [ + -0.05811909484910771, + -0.2828829280202694, + 0.9573919773437396 + ], + "commanded_contact_point": [ + 15.707008247375489, + -14.875201666260368, + 0.04415897759164768 + ], + "centerline_face_intersection": [ + 15.725561661112518, + -14.87532398184836, + 0.04415897759164768 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.703716278076172, + -14.872840881347656, + 0.054913416504859924 + ], + "box_pose": [ + 15.863147735595703, + -14.881115913391113, + 0.04182881861925125, + 0.381121963262558, + -0.5857065320014954, + 0.4618490934371948, + -0.5462502241134644 + ], + "box_yaw_rad": -1.6887643226296079, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00012231558799314333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013937892341335124 + } + } + }, + { + "simulation_time_ns": 7140000000, + "center": [ + 15.846483221770853, + -14.87533604385171, + 0.04415557814501983 + ], + "face_center": [ + 15.843264098016023, + -14.891000165360747, + 0.09711209911083783 + ], + "face_normal": [ + -0.058192683159852265, + -0.28316316158560184, + 0.9573046209201266 + ], + "footprint_xy": [ + [ + 15.715582728684137, + -14.979378700358014 + ], + [ + 15.977383714857568, + -14.979378700358014 + ], + [ + 15.977383714857568, + -14.771293387345407 + ], + [ + 15.715582728684137, + -14.771293387345407 + ] + ], + "projected_box_corners": [ + [ + 15.732986335203154, + -14.80262163036348 + ], + [ + 15.97094546734791, + -14.832524942366005 + ], + [ + 15.739424582712813, + -14.771293387345407 + ], + [ + 15.977383714857568, + -14.801196699347932 + ], + [ + 15.715582728684137, + -14.94947538835549 + ], + [ + 15.953541860828892, + -14.979378700358014 + ], + [ + 15.722020976193795, + -14.918147145337416 + ], + [ + 15.95998010833855, + -14.94805045733994 + ] + ], + "yaw_rad": -1.6887559291689647, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.696438789367676, + -14.869099617004395, + 0.0556773841381073 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.843270589839294, + -14.890995531616674, + 0.09711584373796667 + ], + "intended_face_normal": [ + -0.058129645909247074, + -0.2831156260587875, + 0.9573226336087828 + ], + "commanded_contact_point": [ + 15.708864097595216, + -14.875400943238741, + 0.04415832633976589 + ], + "centerline_face_intersection": [ + 15.725561594806052, + -14.87533403969499, + 0.04415832633976589 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.698583602905273, + -14.870603561401367, + 0.05397997796535492 + ], + "box_pose": [ + 15.863147735595703, + -14.881125450134277, + 0.04182692617177963, + 0.3810523748397827, + -0.5857604742050171, + 0.4617805480957031, + -0.5462989807128906 + ], + "box_yaw_rad": -1.688772711520661, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -6.690354375173436e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018665186246854335 + } + } + }, + { + "simulation_time_ns": 7160000000, + "center": [ + 15.846482204767632, + -14.87534106781106, + 0.04415456724649297 + ], + "face_center": [ + 15.84326150504945, + -14.891011362967825, + 0.09710916672358852 + ], + "face_normal": [ + -0.05822117213480027, + -0.2832747637337363, + 0.9572698858204731 + ], + "footprint_xy": [ + [ + 15.715580813524893, + -14.979387738682703 + ], + [ + 15.977383596010371, + -14.979387738682703 + ], + [ + 15.977383596010371, + -14.771294396939417 + ], + [ + 15.715580813524893, + -14.771294396939417 + ] + ], + "projected_box_corners": [ + [ + 15.732983254242534, + -14.802634987252945 + ], + [ + 15.970942196574008, + -14.832539186325267 + ], + [ + 15.739424653678896, + -14.771294396939417 + ], + [ + 15.977383596010371, + -14.801198596011739 + ], + [ + 15.715580813524893, + -14.949483539610382 + ], + [ + 15.953539755856367, + -14.979387738682703 + ], + [ + 15.722022212961255, + -14.918142949296854 + ], + [ + 15.959981155292729, + -14.948047148369174 + ] + ], + "yaw_rad": -1.6887522431881061, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.699007034301758, + -14.869696617126465, + 0.05804567039012909 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.843264098016023, + -14.891000165360747, + 0.09711209911083783 + ], + "intended_face_normal": [ + -0.058192683159852265, + -0.28316316158560184, + 0.9573046209201266 + ], + "commanded_contact_point": [ + 15.711191062927247, + -14.875652404469355, + 0.04415557814501983 + ], + "centerline_face_intersection": [ + 15.72555836504156, + -14.87533604385171, + 0.04415557814501983 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.696438789367676, + -14.869099617004395, + 0.0556773841381073 + ], + "box_pose": [ + 15.863144874572754, + -14.88112735748291, + 0.041824985295534134, + 0.3810233175754547, + -0.5857542157173157, + 0.46177878975868225, + -0.5463272929191589 + ], + "box_yaw_rad": -1.6887559291689647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00031636061764437706, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002340514464717363 + } + } + }, + { + "simulation_time_ns": 7180000000, + "center": [ + 15.846481204224446, + -14.875346035325112, + 0.044154011247674776 + ], + "face_center": [ + 15.843259279491553, + -14.891021284651037, + 0.0971070709839185 + ], + "face_normal": [ + -0.058243316947638846, + -0.2833643211469621, + 0.9572420516462188 + ], + "footprint_xy": [ + [ + 15.715579087764976, + -14.979395966799746 + ], + [ + 15.977383320683916, + -14.979395966799746 + ], + [ + 15.977383320683916, + -14.771296103850476 + ], + [ + 15.715579087764976, + -14.771296103850476 + ] + ], + "projected_box_corners": [ + [ + 15.73298068496747, + -14.802646602502328 + ], + [ + 15.970939471218129, + -14.832551599585164 + ], + [ + 15.739424534433258, + -14.771296103850476 + ], + [ + 15.977383320683916, + -14.801201100933312 + ], + [ + 15.715579087764976, + -14.94949096971691 + ], + [ + 15.953537874015634, + -14.979395966799746 + ], + [ + 15.722022937230765, + -14.91814047106506 + ], + [ + 15.959981723481423, + -14.948045468147896 + ] + ], + "yaw_rad": -1.6887499091712013, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.703792572021484, + -14.869837760925293, + 0.06271757185459137 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.84326150504945, + -14.891011362967825, + 0.09710916672358852 + ], + "intended_face_normal": [ + -0.05822117213480027, + -0.2832747637337363, + 0.9572698858204731 + ], + "commanded_contact_point": [ + 15.713540916442872, + -14.87588320645609, + 0.04415456724649297 + ], + "centerline_face_intersection": [ + 15.725557251579916, + -14.87534106781106, + 0.04415456724649297 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.699007034301758, + -14.869696617126465, + 0.05804567039012909 + ], + "box_pose": [ + 15.863143920898438, + -14.881132125854492, + 0.04182378947734833, + 0.380984365940094, + -0.5857732892036438, + 0.46175050735473633, + -0.5463579297065735 + ], + "box_yaw_rad": -1.6887522431881061, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000542138645028202, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023611611812605713 + } + } + }, + { + "simulation_time_ns": 7200000000, + "center": [ + 15.84849802009808, + -14.87510077159968, + 0.044306187379513126 + ], + "face_center": [ + 15.845379852937828, + -14.89119541831832, + 0.09713951801994623 + ], + "face_normal": [ + -0.0563676725145541, + -0.29094584377580723, + 0.9550776870960611 + ], + "footprint_xy": [ + [ + 15.7172791239519, + -14.980027745767574 + ], + [ + 15.97971691624426, + -14.980027745767574 + ], + [ + 15.97971691624426, + -14.770173797431786 + ], + [ + 15.7172791239519, + -14.770173797431786 + ] + ], + "projected_box_corners": [ + [ + 15.7356765749859, + -14.802363090869067 + ], + [ + 15.973480581923756, + -14.833657700623544 + ], + [ + 15.741912909306405, + -14.770173797431786 + ], + [ + 15.97971691624426, + -14.801468407186263 + ], + [ + 15.7172791239519, + -14.948733136013097 + ], + [ + 15.955083130889754, + -14.980027745767574 + ], + [ + 15.723515458272406, + -14.916543842575816 + ], + [ + 15.96131946521026, + -14.947838452330293 + ] + ], + "yaw_rad": -1.695831993713462, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.70787239074707, + -14.867945671081543, + 0.06542475521564484 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.843259279491553, + -14.891021284651037, + 0.0971070709839185 + ], + "intended_face_normal": [ + -0.058243316947638846, + -0.2833643211469621, + 0.9572420516462188 + ], + "commanded_contact_point": [ + 15.715604667663575, + -14.876108504946133, + 0.044154011247674776 + ], + "centerline_face_intersection": [ + 15.7255561717202, + -14.875346035325112, + 0.044154011247674776 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.703792572021484, + -14.869837760925293, + 0.06271757185459137 + ], + "box_pose": [ + 15.863142967224121, + -14.881136894226074, + 0.041823070496320724, + 0.38095319271087646, + -0.585788905620575, + 0.46172773838043213, + -0.5463821887969971 + ], + "box_yaw_rad": -1.6887499091712013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007624696210209684, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020760127214697653 + } + } + }, + { + "simulation_time_ns": 7220000000, + "center": [ + 15.849952401381051, + -14.875095544876865, + 0.04442284319692742 + ], + "face_center": [ + 15.847035161704808, + -14.891876160639383, + 0.09705383696879041 + ], + "face_normal": [ + -0.05273546999437784, + -0.30334623042385367, + 0.9514200068759102 + ], + "footprint_xy": [ + [ + 15.718643339517122, + -14.98075486287199 + ], + [ + 15.98126146324498, + -14.98075486287199 + ], + [ + 15.98126146324498, + -14.769436226881739 + ], + [ + 15.718643339517122, + -14.769436226881739 + ] + ], + "projected_box_corners": [ + [ + 15.737700429678974, + -14.802997458406773 + ], + [ + 15.975426983892493, + -14.83505517570689 + ], + [ + 15.74353490903146, + -14.769436226881739 + ], + [ + 15.98126146324498, + -14.801493944181855 + ], + [ + 15.718643339517122, + -14.948697145571876 + ], + [ + 15.956369893730642, + -14.98075486287199 + ], + [ + 15.724477818869609, + -14.915135914046841 + ], + [ + 15.962204373083129, + -14.947193631346956 + ] + ], + "yaw_rad": -1.7008550605802715, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.709547996520996, + -14.865559577941895, + 0.063353031873703 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.845379852937828, + -14.89119541831832, + 0.09713951801994623 + ], + "intended_face_normal": [ + -0.0563676725145541, + -0.29094584377580723, + 0.9550776870960611 + ], + "commanded_contact_point": [ + 15.7177103805542, + -14.876149445241426, + 0.044306187379513126 + ], + "centerline_face_intersection": [ + 15.727494281210065, + -14.87510077159968, + 0.044306187379513126 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.70787239074707, + -14.867945671081543, + 0.06542475521564484 + ], + "box_pose": [ + 15.865118026733398, + -14.880966186523438, + 0.04186609387397766, + 0.3778751492500305, + -0.5897694230079651, + 0.4601493775844574, + -0.545568585395813 + ], + "box_yaw_rad": -1.695831993713462, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010486736417464463, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021116013971922394 + } + } + }, + { + "simulation_time_ns": 7240000000, + "center": [ + 15.850068631361117, + -14.875443119693465, + 0.04445447458212618 + ], + "face_center": [ + 15.847295756199715, + -14.892661693526456, + 0.09695163924734249 + ], + "face_normal": [ + -0.050125766512451264, + -0.31126327778624585, + 0.9490007538760921 + ], + "footprint_xy": [ + [ + 15.71883208799308, + -14.981354439596945 + ], + [ + 15.981305174729151, + -14.981354439596945 + ], + [ + 15.981305174729151, + -14.769531799789986 + ], + [ + 15.71883208799308, + -14.769531799789986 + ] + ], + "projected_box_corners": [ + [ + 15.738027203195072, + -14.803968947455967 + ], + [ + 15.975759424406348, + -14.836056252630229 + ], + [ + 15.743572953517877, + -14.769531799789986 + ], + [ + 15.981305174729151, + -14.801619104964248 + ], + [ + 15.71883208799308, + -14.949267134422682 + ], + [ + 15.956564309204357, + -14.981354439596945 + ], + [ + 15.724377838315883, + -14.9148299867567 + ], + [ + 15.96211005952716, + -14.946917291930962 + ] + ], + "yaw_rad": -1.7021441577934344, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.706930160522461, + -14.869396209716797, + 0.056530073285102844 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.847035161704808, + -14.891876160639383, + 0.09705383696879041 + ], + "intended_face_normal": [ + -0.05273546999437784, + -0.30334623042385367, + 0.9514200068759102 + ], + "commanded_contact_point": [ + 15.720038299560548, + -14.87652565719601, + 0.04442284319692742 + ], + "centerline_face_intersection": [ + 15.728909238755698, + -14.875095544876865, + 0.04442284319692742 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.709547996520996, + -14.865559577941895, + 0.063353031873703 + ], + "box_pose": [ + 15.86654281616211, + -14.880977630615234, + 0.0418265201151371, + 0.37447667121887207, + -0.5946486592292786, + 0.4561733305454254, + -0.5459542870521545 + ], + "box_yaw_rad": -1.7008550605802715, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014301123191452795, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023610063351511153 + } + } + }, + { + "simulation_time_ns": 7260000000, + "center": [ + 15.85012389985343, + -14.875620902395937, + 0.04444965837243636 + ], + "face_center": [ + 15.84741923427765, + -14.89306143728659, + 0.09687707293261642 + ], + "face_normal": [ + -0.04889272947914236, + -0.31527570802693816, + 0.9477398685942973 + ], + "footprint_xy": [ + [ + 15.718920174954473, + -14.981658337995928 + ], + [ + 15.981327624752389, + -14.981658337995928 + ], + [ + 15.981327624752389, + -14.769583466795945 + ], + [ + 15.718920174954473, + -14.769583466795945 + ] + ], + "projected_box_corners": [ + [ + 15.738184808749235, + -14.804464536577253 + ], + [ + 15.975918293600827, + -14.8365680790046 + ], + [ + 15.743594139900797, + -14.769583466795945 + ], + [ + 15.981327624752389, + -14.801687009223292 + ], + [ + 15.718920174954473, + -14.94955479556858 + ], + [ + 15.956653659806065, + -14.981658337995928 + ], + [ + 15.724329506106034, + -14.914673725787274 + ], + [ + 15.962062990957627, + -14.94677726821462 + ] + ], + "yaw_rad": -1.7028010984467927, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.704019546508789, + -14.876376152038574, + 0.05023688077926636 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.847295756199715, + -14.892661693526456, + 0.09695163924734249 + ], + "intended_face_normal": [ + -0.050125766512451264, + -0.31126327778624585, + 0.9490007538760921 + ], + "commanded_contact_point": [ + 15.722442512512208, + -14.877115108411676, + 0.04445447458212618 + ], + "centerline_face_intersection": [ + 15.729028354130632, + -14.875443119693465, + 0.04445447458212618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.706930160522461, + -14.869396209716797, + 0.056530073285102844 + ], + "box_pose": [ + 15.86665153503418, + -14.881303787231445, + 0.04176346957683563, + 0.372816264629364, + -0.5973036289215088, + 0.45318472385406494, + -0.5466808080673218 + ], + "box_yaw_rad": -1.7021441577934344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016719887182119913, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024756197602033934 + } + } + }, + { + "simulation_time_ns": 7280000000, + "center": [ + 15.850123962583524, + -14.875644200977748, + 0.04441794755446381 + ], + "face_center": [ + 15.847419876279956, + -14.893112417306963, + 0.09683617926191448 + ], + "face_normal": [ + -0.04888225787047418, + -0.3157761104054426, + 0.947573868502321 + ], + "footprint_xy": [ + [ + 15.71892019237193, + -14.98169726261545 + ], + [ + 15.981327732795119, + -14.98169726261545 + ], + [ + 15.981327732795119, + -14.769591139340044 + ], + [ + 15.71892019237193, + -14.769591139340044 + ] + ], + "projected_box_corners": [ + [ + 15.738186191849104, + -14.804527571998474 + ], + [ + 15.97591956018798, + -14.836633132789682 + ], + [ + 15.743594364456245, + -14.769591139340044 + ], + [ + 15.981327732795119, + -14.80169670013125 + ], + [ + 15.71892019237193, + -14.949591701824243 + ], + [ + 15.956653560710805, + -14.98169726261545 + ], + [ + 15.724328364979069, + -14.914655269165811 + ], + [ + 15.962061733317945, + -14.94676082995702 + ] + ], + "yaw_rad": -1.702833851186713, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.705864906311035, + -14.8781156539917, + 0.048032790422439575 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.84741923427765, + -14.89306143728659, + 0.09687707293261642 + ], + "intended_face_normal": [ + -0.04889272947914236, + -0.31527570802693816, + 0.9477398685942973 + ], + "commanded_contact_point": [ + 15.725166206359864, + -14.877262681128444, + 0.04444965837243636 + ], + "centerline_face_intersection": [ + 15.729084265996235, + -14.875620902395937, + 0.04444965837243636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.704019546508789, + -14.876376152038574, + 0.05023688077926636 + ], + "box_pose": [ + 15.866703033447266, + -14.881470680236816, + 0.04171210899949074, + 0.3719449043273926, + -0.5986267328262329, + 0.45168477296829224, + -0.5470685362815857 + ], + "box_yaw_rad": -1.7028010984467927, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016417787325065086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002727692995622982 + } + } + }, + { + "simulation_time_ns": 7300000000, + "center": [ + 15.851387568716175, + -14.875104662122691, + 0.04433693120292546 + ], + "face_center": [ + 15.848434632061416, + -14.892269686643976, + 0.09684181684914835 + ], + "face_normal": [ + -0.053380770740403705, + -0.31029525717974593, + 0.9491403274481627 + ], + "footprint_xy": [ + [ + 15.719537742354078, + -14.98185573711764 + ], + [ + 15.983237395078271, + -14.98185573711764 + ], + [ + 15.983237395078271, + -14.768353587127743 + ], + [ + 15.719537742354078, + -14.768353587127743 + ] + ], + "projected_box_corners": [ + [ + 15.739867891702122, + -14.802683636170313 + ], + [ + 15.977331521768754, + -14.836688993808393 + ], + [ + 15.745773765011641, + -14.768353587127743 + ], + [ + 15.983237395078271, + -14.802358944765823 + ], + [ + 15.719537742354078, + -14.94785037947956 + ], + [ + 15.95700137242071, + -14.98185573711764 + ], + [ + 15.725443615663597, + -14.91352033043699 + ], + [ + 15.962907245730229, + -14.94752568807507 + ] + ], + "yaw_rad": -1.7099382459031849, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.71053409576416, + -14.874431610107422, + 0.0467941015958786 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.847419876279956, + -14.893112417306963, + 0.09683617926191448 + ], + "intended_face_normal": [ + -0.04888225787047418, + -0.3157761104054426, + 0.947573868502321 + ], + "commanded_contact_point": [ + 15.728358154296876, + -14.877187121589696, + 0.04441794755446381 + ], + "centerline_face_intersection": [ + 15.72908426940501, + -14.875644200977748, + 0.04441794755446381 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.705864906311035, + -14.8781156539917, + 0.048032790422439575 + ], + "box_pose": [ + 15.866703033447266, + -14.881492614746094, + 0.041677094995975494, + 0.3718017637729645, + -0.5987504720687866, + 0.45152562856674194, + -0.547161877155304 + ], + "box_yaw_rad": -1.702833851186713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015429206119484456, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003192999601075099 + } + } + }, + { + "simulation_time_ns": 7320000000, + "center": [ + 15.855925487414979, + -14.873829875602645, + 0.04410744459280807 + ], + "face_center": [ + 15.85217824427244, + -14.889664573700193, + 0.09697842892406092 + ], + "face_normal": [ + -0.06773959298382692, + -0.28624670547073805, + 0.9557583596848005 + ], + "footprint_xy": [ + [ + 15.722307509970198, + -14.982105880237688 + ], + [ + 15.98954346485976, + -14.982105880237688 + ], + [ + 15.98954346485976, + -14.765553870967603 + ], + [ + 15.722307509970198, + -14.765553870967603 + ] + ], + "projected_box_corners": [ + [ + 15.745409164558433, + -14.797223267162698 + ], + [ + 15.982048978574682, + -14.836290077653409 + ], + [ + 15.752903650843512, + -14.765553870967603 + ], + [ + 15.98954346485976, + -14.804620681458314 + ], + [ + 15.722307509970198, + -14.943039069746975 + ], + [ + 15.958947323986447, + -14.982105880237688 + ], + [ + 15.729801996255278, + -14.91136967355188 + ], + [ + 15.966441810271526, + -14.950436484042593 + ] + ], + "yaw_rad": -1.727920785143343, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.715022087097168, + -14.870685577392578, + 0.04450726509094238 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.848434632061416, + -14.892269686643976, + 0.09684181684914835 + ], + "intended_face_normal": [ + -0.053380770740403705, + -0.31029525717974593, + 0.9491403274481627 + ], + "commanded_contact_point": [ + 15.731912498474122, + -14.87667450481525, + 0.04433693120292546 + ], + "centerline_face_intersection": [ + 15.730210384850345, + -14.875104662122691, + 0.04433693120292546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.71053409576416, + -14.874431610107422, + 0.0467941015958786 + ], + "box_pose": [ + 15.867924690246582, + -14.88110065460205, + 0.04166235029697418, + 0.37038135528564453, + -0.5984587669372559, + 0.45570826530456543, + -0.5449722409248352 + ], + "box_yaw_rad": -1.7099382459031849, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015698426925592195, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003592033148090725 + } + } + }, + { + "simulation_time_ns": 7340000000, + "center": [ + 15.861575187866435, + -14.873175043275685, + 0.04453243088884737 + ], + "face_center": [ + 15.857918966896587, + -14.889002319839507, + 0.09741201303353547 + ], + "face_normal": [ + -0.06609416868226603, + -0.28611254506140504, + 0.955913783915495 + ], + "footprint_xy": [ + [ + 15.727606600494624, + -14.982139359909953 + ], + [ + 15.995543775238245, + -14.982139359909953 + ], + [ + 15.995543775238245, + -14.764210726641416 + ], + [ + 15.727606600494624, + -14.764210726641416 + ] + ], + "projected_box_corners": [ + [ + 15.75183733277032, + -14.79586527976906 + ], + [ + 15.988231333298549, + -14.836494278345825 + ], + [ + 15.759149774710016, + -14.764210726641416 + ], + [ + 15.995543775238245, + -14.80483972521818 + ], + [ + 15.727606600494624, + -14.94151036133319 + ], + [ + 15.964000601022853, + -14.982139359909953 + ], + [ + 15.73491904243432, + -14.909855808205545 + ], + [ + 15.97131304296255, + -14.950484806782308 + ] + ], + "yaw_rad": -1.7356547385954177, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.720353126525879, + -14.869227409362793, + 0.05065883696079254 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.85217824427244, + -14.889664573700193, + 0.09697842892406092 + ], + "intended_face_normal": [ + -0.06773959298382692, + -0.28624670547073805, + 0.9557583596848005 + ], + "commanded_contact_point": [ + 15.735273246765138, + -14.875525490223607, + 0.04410744459280807 + ], + "centerline_face_intersection": [ + 15.734326448463502, + -14.873829875602645, + 0.04410744459280807 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.715022087097168, + -14.870685577392578, + 0.04450726509094238 + ], + "box_pose": [ + 15.87234878540039, + -14.880244255065918, + 0.04171732813119888, + 0.3684495687484741, + -0.5947055220603943, + 0.4702356457710266, + -0.5380042791366577 + ], + "box_yaw_rad": -1.727920785143343, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016956146209619043, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035591470483244745 + } + } + }, + { + "simulation_time_ns": 7360000000, + "center": [ + 15.866847388650008, + -14.872855989520794, + 0.044498888197595884 + ], + "face_center": [ + 15.86350659079639, + -14.889998601435048, + 0.09698784937011125 + ], + "face_normal": [ + -0.06039220788112942, + -0.3098901004230896, + 0.9488524578527304 + ], + "footprint_xy": [ + [ + 15.733083016801512, + -14.982519236826256 + ], + [ + 16.000611760498504, + -14.982519236826256 + ], + [ + 16.000611760498504, + -14.763192742215333 + ], + [ + 15.733083016801512, + -14.763192742215333 + ] + ], + "projected_box_corners": [ + [ + 15.757492814414803, + -14.79747796604384 + ], + [ + 15.993930164791268, + -14.838030123871597 + ], + [ + 15.764174410122042, + -14.763192742215333 + ], + [ + 16.000611760498504, + -14.80374490004309 + ], + [ + 15.733083016801512, + -14.941967078998497 + ], + [ + 15.969520367177976, + -14.982519236826256 + ], + [ + 15.739764612508749, + -14.90768185516999 + ], + [ + 15.976201962885213, + -14.94823401299775 + ] + ], + "yaw_rad": -1.7381547778419935, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.724696159362793, + -14.871726036071777, + 0.05790799856185913 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.857918966896587, + -14.889002319839507, + 0.09741201303353547 + ], + "intended_face_normal": [ + -0.06609416868226603, + -0.28611254506140504, + 0.955913783915495 + ], + "commanded_contact_point": [ + 15.737791900634766, + -14.875028563253162, + 0.04453243088884737 + ], + "centerline_face_intersection": [ + 15.739849704572727, + -14.873175043275685, + 0.04453243088884737 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.720353126525879, + -14.869227409362793, + 0.05065883696079254 + ], + "box_pose": [ + 15.877946853637695, + -14.8796968460083, + 0.042079608887434006, + 0.36726754903793335, + -0.5969870686531067, + 0.4712305963039398, + -0.5354089140892029 + ], + "box_yaw_rad": -1.7356547385954177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0018535199774775883, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026021466293761875 + } + } + }, + { + "simulation_time_ns": 7380000000, + "center": [ + 15.870785176153918, + -14.873415443342257, + 0.044937746818054035 + ], + "face_center": [ + 15.86823332691467, + -14.89209175901355, + 0.09694547784371707 + ], + "face_normal": [ + -0.04613024088574136, + -0.33761514102166323, + 0.9401531733282589 + ], + "footprint_xy": [ + [ + 15.73808631445425, + -14.982734137988576 + ], + [ + 16.003484037853585, + -14.982734137988576 + ], + [ + 16.003484037853585, + -14.76409674869594 + ], + [ + 15.73808631445425, + -14.76409674869594 + ] + ], + "projected_box_corners": [ + [ + 15.761520232677487, + -14.801449380038523 + ], + [ + 15.998380339375089, + -14.8394434194496 + ], + [ + 15.766623931155983, + -14.76409674869594 + ], + [ + 16.003484037853585, + -14.802090788107016 + ], + [ + 15.73808631445425, + -14.9447400985775 + ], + [ + 15.974946421151852, + -14.982734137988576 + ], + [ + 15.743190012932747, + -14.907387467234914 + ], + [ + 15.980050119630349, + -14.94538150664599 + ] + ], + "yaw_rad": -1.732902355718592, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.728419303894043, + -14.875576972961426, + 0.0623060017824173 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.86350659079639, + -14.889998601435048, + 0.09698784937011125 + ], + "intended_face_normal": [ + -0.06039220788112942, + -0.3098901004230896, + 0.9488524578527304 + ], + "commanded_contact_point": [ + 15.740178947448731, + -14.874754707636232, + 0.044498888197595884 + ], + "centerline_face_intersection": [ + 15.745144223239741, + -14.872855989520794, + 0.044498888197595884 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.724696159362793, + -14.871726036071777, + 0.05790799856185913 + ], + "box_pose": [ + 15.883208274841309, + -14.879302978515625, + 0.041789744049310684, + 0.3621203303337097, + -0.6042414903640747, + 0.46251899003982544, + -0.5383654236793518 + ], + "box_yaw_rad": -1.7381547778419935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001898718115438242, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002402938722298241 + } + } + }, + { + "simulation_time_ns": 7400000000, + "center": [ + 15.874719683795627, + -14.87440220484356, + 0.045964857904756753 + ], + "face_center": [ + 15.872920772051154, + -14.893209106693002, + 0.09795702088721447 + ], + "face_normal": [ + -0.0325192534215617, + -0.33997577101566634, + 0.9398717469915709 + ], + "footprint_xy": [ + [ + 15.743235456348424, + -14.982388898747969 + ], + [ + 16.006203911242828, + -14.982388898747969 + ], + [ + 16.006203911242828, + -14.766415510939154 + ], + [ + 15.743235456348424, + -14.766415510939154 + ] + ], + "projected_box_corners": [ + [ + 15.765298688577447, + -14.804029314638036 + ], + [ + 16.002606087753882, + -14.838902605217271 + ], + [ + 15.768896512066394, + -14.766415510939154 + ], + [ + 16.006203911242828, + -14.801288801518389 + ], + [ + 15.743235456348424, + -14.947515608168732 + ], + [ + 15.98054285552486, + -14.982388898747969 + ], + [ + 15.746833279837372, + -14.90990180446985 + ], + [ + 15.984140679013807, + -14.944775095049085 + ] + ], + "yaw_rad": -1.7233668009549696, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.732766151428223, + -14.877328872680664, + 0.06672383844852448 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.86823332691467, + -14.89209175901355, + 0.09694547784371707 + ], + "intended_face_normal": [ + -0.04613024088574136, + -0.33761514102166323, + 0.9401531733282589 + ], + "commanded_contact_point": [ + 15.742628936767579, + -14.875227700272928, + 0.044937746818054035 + ], + "centerline_face_intersection": [ + 15.749299230870742, + -14.873415443342257, + 0.044937746818054035 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.728419303894043, + -14.875576972961426, + 0.0623060017824173 + ], + "box_pose": [ + 15.887181282043457, + -14.879602432250977, + 0.041860319674015045, + 0.36023232340812683, + -0.6119206547737122, + 0.4488040804862976, + -0.5425501465797424 + ], + "box_yaw_rad": -1.732902355718592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0018122569306714804, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025335284852527865 + } + } + }, + { + "simulation_time_ns": 7420000000, + "center": [ + 15.87956469751088, + -14.874852707361063, + 0.046449215345717 + ], + "face_center": [ + 15.878133401768519, + -14.893722015273177, + 0.09843018636560358 + ], + "face_normal": [ + -0.02587379236921805, + -0.3411038967134843, + 0.9396694278570976 + ], + "footprint_xy": [ + [ + 15.748705253105255, + -14.98214844780187 + ], + [ + 16.010424141916506, + -14.98214844780187 + ], + [ + 16.010424141916506, + -14.767556966920255 + ], + [ + 15.748705253105255, + -14.767556966920255 + ] + ], + "projected_box_corners": [ + [ + 15.770048223267487, + -14.805295582744481 + ], + [ + 16.00756155043178, + -14.838568555038147 + ], + [ + 15.772910814752208, + -14.767556966920255 + ], + [ + 16.010424141916506, + -14.800829939213923 + ], + [ + 15.748705253105255, + -14.948875475508205 + ], + [ + 15.986218580269552, + -14.98214844780187 + ], + [ + 15.751567844589978, + -14.91113685968398 + ], + [ + 15.989081171754274, + -14.944409831977646 + ] + ], + "yaw_rad": -1.7183644875777995, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.738104820251465, + -14.876760482788086, + 0.06961719691753387 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.872920772051154, + -14.893209106693002, + 0.09795702088721447 + ], + "intended_face_normal": [ + -0.0325192534215617, + -0.33997577101566634, + 0.9398717469915709 + ], + "commanded_contact_point": [ + 15.745336418151856, + -14.876097395060748, + 0.045964857904756753 + ], + "centerline_face_intersection": [ + 15.753462723153461, + -14.87440220484356, + 0.045964857904756753 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.732766151428223, + -14.877328872680664, + 0.06672383844852448 + ], + "box_pose": [ + 15.891164779663086, + -14.880367279052734, + 0.042715493589639664, + 0.36589378118515015, + -0.612617552280426, + 0.44287002086639404, + -0.5428513288497925 + ], + "box_yaw_rad": -1.7233668009549696, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016951902171873452, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030235379366889367 + } + } + }, + { + "simulation_time_ns": 7440000000, + "center": [ + 15.883863644555442, + -14.875106094309382, + 0.04499807341718476 + ], + "face_center": [ + 15.881795133738668, + -14.893903359548851, + 0.09698369676377105 + ], + "face_normal": [ + -0.03739284468098347, + -0.3398015682718487, + 0.9397535288094723 + ], + "footprint_xy": [ + [ + 15.752884373039674, + -14.982004108273362 + ], + [ + 16.01484291607121, + -14.982004108273362 + ], + [ + 16.01484291607121, + -14.768208080345403 + ], + [ + 15.752884373039674, + -14.768208080345403 + ] + ], + "projected_box_corners": [ + [ + 15.773028173489438, + -14.805802610824342 + ], + [ + 16.010705894437663, + -14.838274651856246 + ], + [ + 15.777165195122983, + -14.768208080345403 + ], + [ + 16.01484291607121, + -14.800680121377304 + ], + [ + 15.752884373039674, + -14.949532067241458 + ], + [ + 15.9905620939879, + -14.982004108273362 + ], + [ + 15.75702139467322, + -14.911937536762517 + ], + [ + 15.994699115621446, + -14.94440957779442 + ] + ], + "yaw_rad": -1.7100401810171775, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.742378234863281, + -14.874312400817871, + 0.0705338567495346 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.878133401768519, + -14.893722015273177, + 0.09843018636560358 + ], + "intended_face_normal": [ + -0.02587379236921805, + -0.3411038967134843, + 0.9396694278570976 + ], + "commanded_contact_point": [ + 15.747967605590821, + -14.87647158656117, + 0.046449215345717 + ], + "centerline_face_intersection": [ + 15.7584128686616, + -14.874852707361063, + 0.046449215345717 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.738104820251465, + -14.876760482788086, + 0.06961719691753387 + ], + "box_pose": [ + 15.896034240722656, + -14.880703926086426, + 0.043117690831422806, + 0.36870652437210083, + -0.6128609776496887, + 0.43989038467407227, + -0.5430960655212402 + ], + "box_yaw_rad": -1.7183644875777995, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016188792001064196, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027014382740621176 + } + } + }, + { + "simulation_time_ns": 7460000000, + "center": [ + 15.885742607521372, + -14.87494033195047, + 0.044546645096379844 + ], + "face_center": [ + 15.88333789079545, + -14.893096288845854, + 0.09674530230839576 + ], + "face_normal": [ + -0.04347049979384465, + -0.3282085211828072, + 0.9436045805792794 + ], + "footprint_xy": [ + [ + 15.75477554990405, + -14.981217666994885 + ], + [ + 16.016709665138695, + -14.981217666994885 + ], + [ + 16.016709665138695, + -14.768662996906054 + ], + [ + 15.75477554990405, + -14.768662996906054 + ] + ], + "projected_box_corners": [ + [ + 15.774122207174962, + -14.80497491069682 + ], + [ + 16.01190023168685, + -14.83678618560401 + ], + [ + 15.778931640626803, + -14.768662996906054 + ], + [ + 16.016709665138695, + -14.800474271813242 + ], + [ + 15.75477554990405, + -14.949406392087697 + ], + [ + 15.992553574415941, + -14.981217666994885 + ], + [ + 15.75958498335589, + -14.91309447829693 + ], + [ + 15.997363007867781, + -14.944905753204118 + ] + ], + "yaw_rad": -1.7039541156726208, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.744765281677246, + -14.872544288635254, + 0.06772273778915405 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.881795133738668, + -14.893903359548851, + 0.09698369676377105 + ], + "intended_face_normal": [ + -0.03739284468098347, + -0.3398015682718487, + 0.9397535288094723 + ], + "commanded_contact_point": [ + 15.750266914367677, + -14.87675672124915, + 0.04499807341718476 + ], + "centerline_face_intersection": [ + 15.762795612401515, + -14.875106094309382, + 0.04499807341718476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.742378234863281, + -14.874312400817871, + 0.0705338567495346 + ], + "box_pose": [ + 15.900396347045898, + -14.880906105041504, + 0.041897859424352646, + 0.3671787679195404, + -0.6082274317741394, + 0.4419037997722626, + -0.5476862192153931 + ], + "box_yaw_rad": -1.7100401810171775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016506269397668655, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027338499480326585 + } + } + }, + { + "simulation_time_ns": 7480000000, + "center": [ + 15.886407296650756, + -14.874609733538877, + 0.04437951926344167 + ], + "face_center": [ + 15.883737865150989, + -14.891976751284949, + 0.09683313829221933 + ], + "face_normal": [ + -0.048255796705490184, + -0.31394672528898404, + 0.9482135715192577 + ], + "footprint_xy": [ + [ + 15.755443586088042, + -14.980238655852586 + ], + [ + 16.01737100721347, + -14.980238655852586 + ], + [ + 16.01737100721347, + -14.76898081122517 + ], + [ + 15.755443586088042, + -14.76898081122517 + ] + ], + "projected_box_corners": [ + [ + 15.774191503609858, + -14.803714846717313 + ], + [ + 16.012032144213936, + -14.83500621039503 + ], + [ + 15.779530366609393, + -14.76898081122517 + ], + [ + 16.01737100721347, + -14.800272174902886 + ], + [ + 15.755443586088042, + -14.948947292174868 + ], + [ + 15.99328422669212, + -14.980238655852586 + ], + [ + 15.760782449087575, + -14.914213256682725 + ], + [ + 15.998623089691653, + -14.945504620360444 + ] + ], + "yaw_rad": -1.699175409913407, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.745800018310547, + -14.87047290802002, + 0.06194844841957092 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.88333789079545, + -14.893096288845854, + 0.09674530230839576 + ], + "intended_face_normal": [ + -0.04347049979384465, + -0.3282085211828072, + 0.9436045805792794 + ], + "commanded_contact_point": [ + 15.752458457946778, + -14.876686800622846, + 0.044546645096379844 + ], + "centerline_face_intersection": [ + 15.76472564634045, + -14.87494033195047, + 0.044546645096379844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.744765281677246, + -14.872544288635254, + 0.06772273778915405 + ], + "box_pose": [ + 15.902314186096191, + -14.880730628967285, + 0.041641995310783386, + 0.3697889447212219, + -0.6028986573219299, + 0.4462643563747406, + -0.5482860207557678 + ], + "box_yaw_rad": -1.7039541156726208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017464686723754847, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00223864684171237 + } + } + }, + { + "simulation_time_ns": 7500000000, + "center": [ + 15.886191562529271, + -14.874051281150882, + 0.04423171116794841 + ], + "face_center": [ + 15.883248441172139, + -14.890703881004708, + 0.09690190576085311 + ], + "face_normal": [ + -0.053203337827461894, + -0.30103206365635593, + 0.9521286472178865 + ], + "footprint_xy": [ + [ + 15.755093760676244, + -14.97926248511803 + ], + [ + 16.017289364382297, + -14.97926248511803 + ], + [ + 16.017289364382297, + -14.768840077183736 + ], + [ + 15.755093760676244, + -14.768840077183736 + ] + ], + "projected_box_corners": [ + [ + 15.77357241880874, + -14.802145276891387 + ], + [ + 16.011403121668035, + -14.833373840827157 + ], + [ + 15.779458661523005, + -14.768840077183736 + ], + [ + 16.017289364382297, + -14.800068641119505 + ], + [ + 15.755093760676244, + -14.94803392118226 + ], + [ + 15.992924463535537, + -14.97926248511803 + ], + [ + 15.76098000339051, + -14.914728721474608 + ], + [ + 15.9988107062498, + -14.945957285410378 + ] + ], + "yaw_rad": -1.6967881625908465, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.745741844177246, + -14.867931365966797, + 0.057391345500946045 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.883737865150989, + -14.891976751284949, + 0.09683313829221933 + ], + "intended_face_normal": [ + -0.048255796705490184, + -0.31394672528898404, + 0.9482135715192577 + ], + "commanded_contact_point": [ + 15.754561309814454, + -14.876521675232008, + 0.04437951926344167 + ], + "centerline_face_intersection": [ + 15.765422195496692, + -14.874609733538877, + 0.04437951926344167 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.745800018310547, + -14.87047290802002, + 0.06194844841957092 + ], + "box_pose": [ + 15.903007507324219, + -14.880407333374023, + 0.04165874794125557, + 0.373291015625, + -0.5975112318992615, + 0.4513097107410431, + -0.5476803779602051 + ], + "box_yaw_rad": -1.699175409913407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00191194169312979, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021159355888406067 + } + } + }, + { + "simulation_time_ns": 7520000000, + "center": [ + 15.886629847996286, + -14.873739484600229, + 0.04408084637942701 + ], + "face_center": [ + 15.883435882207353, + -14.889523565880157, + 0.09700326468462092 + ], + "face_normal": [ + -0.05773789805375884, + -0.2853316960909922, + 0.9566881409473922 + ], + "footprint_xy": [ + [ + 15.755717172193998, + -14.977899812525187 + ], + [ + 16.01754252379857, + -14.977899812525187 + ], + [ + 16.01754252379857, + -14.76957915667527 + ], + [ + 15.755717172193998, + -14.76957915667527 + ] + ], + "projected_box_corners": [ + [ + 15.773203734143502, + -14.80114731923513 + ], + [ + 16.011154592220706, + -14.831155009168242 + ], + [ + 15.779591665721368, + -14.76957915667527 + ], + [ + 16.01754252379857, + -14.799586846608385 + ], + [ + 15.755717172193998, + -14.947892122592073 + ], + [ + 15.993668030271204, + -14.977899812525187 + ], + [ + 15.762105103771862, + -14.916323960032216 + ], + [ + 16.000055961849068, + -14.946331649965328 + ] + ], + "yaw_rad": -1.6894001265524732, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.746454238891602, + -14.868013381958008, + 0.05575111508369446 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.883248441172139, + -14.890703881004708, + 0.09690190576085311 + ], + "intended_face_normal": [ + -0.053203337827461894, + -0.30103206365635593, + 0.9521286472178865 + ], + "commanded_contact_point": [ + 15.756399993896485, + -14.876208019451376, + 0.04423171116794841 + ], + "centerline_face_intersection": [ + 15.765201406018418, + -14.874051281150882, + 0.04423171116794841 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.745741844177246, + -14.867931365966797, + 0.057391345500946045 + ], + "box_pose": [ + 15.902806282043457, + -14.8798828125, + 0.04167711362242699, + 0.37585607171058655, + -0.5929689407348633, + 0.4563071131706238, + -0.5467209219932556 + ], + "box_yaw_rad": -1.6967881625908465, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021567383004931877, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001871092284023477 + } + } + }, + { + "simulation_time_ns": 7540000000, + "center": [ + 15.88805265713245, + -14.874765571284623, + 0.04412488542077324 + ], + "face_center": [ + 15.88514979348399, + -14.890743601849342, + 0.09700585091314878 + ], + "face_normal": [ + -0.0524755919363713, + -0.2888377524400223, + 0.9559387909421915 + ], + "footprint_xy": [ + [ + 15.758269250830383, + -14.977443372687725 + ], + [ + 16.01783606343452, + -14.977443372687725 + ], + [ + 16.01783606343452, + -14.772087769881521 + ], + [ + 15.758269250830383, + -14.772087769881521 + ] + ], + "projected_box_corners": [ + [ + 15.773660408038195, + -14.804043831010961 + ], + [ + 16.012030336137595, + -14.830585453002232 + ], + [ + 15.779466135335117, + -14.772087769881521 + ], + [ + 16.01783606343452, + -14.798629391872792 + ], + [ + 15.758269250830383, + -14.950901750696454 + ], + [ + 15.996639178929785, + -14.977443372687725 + ], + [ + 15.764074978127304, + -14.918945689567014 + ], + [ + 16.002444906226707, + -14.945487311558283 + ] + ], + "yaw_rad": -1.675218173480621, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.747759819030762, + -14.87143611907959, + 0.05642031133174896 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.883435882207353, + -14.889523565880157, + 0.09700326468462092 + ], + "intended_face_normal": [ + -0.05773789805375884, + -0.2853316960909922, + 0.9566881409473922 + ], + "commanded_contact_point": [ + 15.757943992614747, + -14.876125267006412, + 0.04408084637942701 + ], + "centerline_face_intersection": [ + 15.765700786447386, + -14.873739484600229, + 0.04408084637942701 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.746454238891602, + -14.868013381958008, + 0.05575111508369446 + ], + "box_pose": [ + 15.903287887573242, + -14.879531860351562, + 0.04172716662287712, + 0.3804209232330322, + -0.5865169763565063, + 0.4611009359359741, + -0.5465013384819031 + ], + "box_yaw_rad": -1.6894001265524732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00238578240618203, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015535572707682723 + } + } + }, + { + "simulation_time_ns": 7560000000, + "center": [ + 15.888895446752548, + -14.876388533214914, + 0.04428731803945177 + ], + "face_center": [ + 15.8864705814427, + -14.89319582277021, + 0.09693478026013053 + ], + "face_normal": [ + -0.043834729394788496, + -0.3038284174070185, + 0.9517177100078982 + ], + "footprint_xy": [ + [ + 15.760032162992765, + -14.97847872271765 + ], + [ + 16.01775873051233, + -14.97847872271765 + ], + [ + 16.01775873051233, + -14.774298343712179 + ], + [ + 15.760032162992765, + -14.774298343712179 + ] + ], + "projected_box_corners": [ + [ + 15.774265119180644, + -14.807912922822767 + ], + [ + 16.012908999892634, + -14.83218023348496 + ], + [ + 15.77911484980034, + -14.774298343712179 + ], + [ + 16.01775873051233, + -14.798565654374372 + ], + [ + 15.760032162992765, + -14.954211412055459 + ], + [ + 15.998676043704755, + -14.97847872271765 + ], + [ + 15.76488189361246, + -14.920596832944868 + ], + [ + 16.00352577432445, + -14.944864143607061 + ] + ], + "yaw_rad": -1.6677782274249198, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.748274803161621, + -14.877071380615234, + 0.056489139795303345 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.88514979348399, + -14.890743601849342, + 0.09700585091314878 + ], + "intended_face_normal": [ + -0.0524755919363713, + -0.2888377524400223, + 0.9559387909421915 + ], + "commanded_contact_point": [ + 15.759369735717774, + -14.877284531779006, + 0.04412488542077324 + ], + "centerline_face_intersection": [ + 15.767336196832842, + -14.874765571284623, + 0.04412488542077324 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.747759819030762, + -14.87143611907959, + 0.05642031133174896 + ], + "box_pose": [ + 15.904790878295898, + -14.8803071975708, + 0.04173658415675163, + 0.38418179750442505, + -0.5846763849258423, + 0.4560542404651642, + -0.5500657558441162 + ], + "box_yaw_rad": -1.675218173480621, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025189604943833634, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018380907610809484 + } + } + }, + { + "simulation_time_ns": 7580000000, + "center": [ + 15.889776816856097, + -14.878207484498276, + 0.04446146427508499 + ], + "face_center": [ + 15.88798513263707, + -14.896276308189387, + 0.09671496430013136 + ], + "face_normal": [ + -0.032388600135039525, + -0.32663339846769723, + 0.9445959840434952 + ], + "footprint_xy": [ + [ + 15.761793027733386, + -14.98010634672395 + ], + [ + 16.017760605978808, + -14.98010634672395 + ], + [ + 16.017760605978808, + -14.776308622272602 + ], + [ + 15.761793027733386, + -14.776308622272602 + ] + ], + "projected_box_corners": [ + [ + 15.77533056909909, + -14.812446269654822 + ], + [ + 16.014177237540753, + -14.834861039514745 + ], + [ + 15.778913937537144, + -14.776308622272602 + ], + [ + 16.017760605978808, + -14.798723392132525 + ], + [ + 15.761793027733386, + -14.957691576864027 + ], + [ + 16.00063969617505, + -14.98010634672395 + ], + [ + 15.76537639617144, + -14.921553929481806 + ], + [ + 16.004223064613104, + -14.94396869934173 + ] + ], + "yaw_rad": -1.6637325047807778, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.74858570098877, + -14.886604309082031, + 0.05096465349197388 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.8864705814427, + -14.89319582277021, + 0.09693478026013053 + ], + "intended_face_normal": [ + -0.043834729394788496, + -0.3038284174070185, + 0.9517177100078982 + ], + "commanded_contact_point": [ + 15.760593299865723, + -14.878880179813285, + 0.04428731803945177 + ], + "centerline_face_intersection": [ + 15.768317563606407, + -14.876388533214914, + 0.04428731803945177 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.748274803161621, + -14.877071380615234, + 0.056489139795303345 + ], + "box_pose": [ + 15.905672073364258, + -14.881728172302246, + 0.04171542078256607, + 0.38421446084976196, + -0.5878919959068298, + 0.44773322343826294, + -0.5534411072731018 + ], + "box_yaw_rad": -1.6677782274249198, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002491646598370564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020173215482552427 + } + } + }, + { + "simulation_time_ns": 7600000000, + "center": [ + 15.89043435737862, + -14.88026006306135, + 0.044686672775708466 + ], + "face_center": [ + 15.889122785251546, + -14.89918482458409, + 0.09665063878670725 + ], + "face_normal": [ + -0.02370952689147643, + -0.34210634167649445, + 0.9393620252315067 + ], + "footprint_xy": [ + [ + 15.763371882583929, + -14.981513377628842 + ], + [ + 16.01749683217331, + -14.981513377628842 + ], + [ + 16.01749683217331, + -14.779006748493858 + ], + [ + 15.763371882583929, + -14.779006748493858 + ] + ], + "projected_box_corners": [ + [ + 15.775826235723995, + -14.816856271539338 + ], + [ + 16.014873687919163, + -14.83698031525136 + ], + [ + 15.778449379978143, + -14.779006748493858 + ], + [ + 16.01749683217331, + -14.79913079220588 + ], + [ + 15.763371882583929, + -14.961389333916822 + ], + [ + 16.0024193347791, + -14.981513377628842 + ], + [ + 15.765995026838077, + -14.923539810871342 + ], + [ + 16.005042479033246, + -14.943663854583361 + ] + ], + "yaw_rad": -1.6567535756270044, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.74887466430664, + -14.894261360168457, + 0.04857000708580017 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.88798513263707, + -14.896276308189387, + 0.09671496430013136 + ], + "intended_face_normal": [ + -0.032388600135039525, + -0.32663339846769723, + 0.9445959840434952 + ], + "commanded_contact_point": [ + 15.762293701171876, + -14.880363258113297, + 0.04446146427508499 + ], + "centerline_face_intersection": [ + 15.769301307820225, + -14.878207484498276, + 0.04446146427508499 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.74858570098877, + -14.886604309082031, + 0.05096465349197388 + ], + "box_pose": [ + 15.906569480895996, + -14.883349418640137, + 0.04160688444972038, + 0.3820590376853943, + -0.594235897064209, + 0.43670836091041565, + -0.5569563508033752 + ], + "box_yaw_rad": -1.6637325047807778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021557736150203503, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022630096679680262 + } + } + }, + { + "simulation_time_ns": 7620000000, + "center": [ + 15.891840638456415, + -14.88153647903709, + 0.044646968598263566 + ], + "face_center": [ + 15.890726940200786, + -14.900447086072516, + 0.09662070616719844 + ], + "face_normal": [ + -0.020132525078707886, + -0.341850468445676, + 0.93953866745413 + ], + "footprint_xy": [ + [ + 15.76558921104019, + -14.981669280068278 + ], + [ + 16.01809206587264, + -14.981669280068278 + ], + [ + 16.01809206587264, + -14.781403678005901 + ], + [ + 15.76558921104019, + -14.781403678005901 + ] + ], + "projected_box_corners": [ + [ + 15.776630862361424, + -14.819224892076754 + ], + [ + 16.01586466936138, + -14.836993912698349 + ], + [ + 15.778858258872685, + -14.781403678005901 + ], + [ + 16.01809206587264, + -14.799172698627496 + ], + [ + 15.76558921104019, + -14.963900259446683 + ], + [ + 16.004823018040145, + -14.981669280068278 + ], + [ + 15.76781660755145, + -14.92607904537583 + ], + [ + 16.007050414551408, + -14.943848065997425 + ] + ], + "yaw_rad": -1.646968848567195, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.750687599182129, + -14.895008087158203, + 0.04996253550052643 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.889122785251546, + -14.89918482458409, + 0.09665063878670725 + ], + "intended_face_normal": [ + -0.02370952689147643, + -0.34210634167649445, + 0.9393620252315067 + ], + "commanded_contact_point": [ + 15.764906768798829, + -14.881855784792085, + 0.044686672775708466 + ], + "centerline_face_intersection": [ + 15.770060039653039, + -14.88026006306135, + 0.044686672775708466 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.74887466430664, + -14.894261360168457, + 0.04857000708580017 + ], + "box_pose": [ + 15.907258033752441, + -14.885193824768066, + 0.04165293648838997, + 0.3816564381122589, + -0.5975267887115479, + 0.42811819911003113, + -0.5603702664375305 + ], + "box_yaw_rad": -1.6567535756270044, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015957217307360587, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030176940167417022 + } + } + }, + { + "simulation_time_ns": 7640000000, + "center": [ + 15.895143327611622, + -14.881305515866133, + 0.04469118084240656 + ], + "face_center": [ + 15.893985036682606, + -14.900217664605096, + 0.09666337843583696 + ], + "face_normal": [ + -0.02093863491205994, + -0.3418783380997379, + 0.9395108290380172 + ], + "footprint_xy": [ + [ + 15.768555164600222, + -14.981929915384214 + ], + [ + 16.021731490623022, + -14.981929915384214 + ], + [ + 16.021731490623022, + -14.780681116348052 + ], + [ + 15.768555164600222, + -14.780681116348052 + ] + ], + "projected_box_corners": [ + [ + 15.780261369096035, + -14.818505413825978 + ], + [ + 16.01941490876499, + -14.837310405813879 + ], + [ + 15.782577950954064, + -14.780681116348052 + ], + [ + 16.021731490623022, + -14.799486108335953 + ], + [ + 15.768555164600222, + -14.963124923396315 + ], + [ + 16.00770870426918, + -14.981929915384214 + ], + [ + 15.770871746458253, + -14.92530062591839 + ], + [ + 16.01002528612721, + -14.944105617906288 + ] + ], + "yaw_rad": -1.6515650830454616, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.754411697387695, + -14.890172958374023, + 0.05368848145008087 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.890726940200786, + -14.900447086072516, + 0.09662070616719844 + ], + "intended_face_normal": [ + -0.020132525078707886, + -0.341850468445676, + 0.93953866745413 + ], + "commanded_contact_point": [ + 15.767940406799317, + -14.882593336442982, + 0.044646968598263566 + ], + "centerline_face_intersection": [ + 15.771560088132533, + -14.88153647903709, + 0.044646968598263566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.750687599182129, + -14.895008087158203, + 0.04996253550052643 + ], + "box_pose": [ + 15.908711433410645, + -14.886305809020996, + 0.0416119322180748, + 0.38478294014930725, + -0.5955944061279297, + 0.4254607558250427, + -0.562309980392456 + ], + "box_yaw_rad": -1.646968848567195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010568574058915196, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031222617407022867 + } + } + }, + { + "simulation_time_ns": 7660000000, + "center": [ + 15.900462739836444, + -14.880343554032054, + 0.045195571339100904 + ], + "face_center": [ + 15.899288736038056, + -14.899266434043714, + 0.0971635132508131 + ], + "face_normal": [ + -0.021222679297601132, + -0.3420723292599277, + 0.9394338983088133 + ], + "footprint_xy": [ + [ + 15.77284204972495, + -14.982590089516242 + ], + [ + 16.028083429947937, + -14.982590089516242 + ], + [ + 16.028083429947937, + -14.778097018547864 + ], + [ + 15.77284204972495, + -14.778097018547864 + ] + ], + "projected_box_corners": [ + [ + 15.786887400972759, + -14.815942778571184 + ], + [ + 16.02573542235116, + -14.838183727997965 + ], + [ + 15.789235408569533, + -14.778097018547864 + ], + [ + 16.028083429947937, + -14.800337967974643 + ], + [ + 15.77284204972495, + -14.960349140089463 + ], + [ + 16.011690071103352, + -14.982590089516242 + ], + [ + 15.775190057321725, + -14.922503380066143 + ], + [ + 16.01403807870013, + -14.944744329492922 + ] + ], + "yaw_rad": -1.6677540437882348, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.759763717651367, + -14.88603401184082, + 0.05897635221481323 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.893985036682606, + -14.900217664605096, + 0.09666337843583696 + ], + "intended_face_normal": [ + -0.02093863491205994, + -0.3418783380997379, + 0.9395108290380172 + ], + "commanded_contact_point": [ + 15.770751838684083, + -14.882007675571709, + 0.04469118084240656 + ], + "centerline_face_intersection": [ + 15.774822407411722, + -14.881305515866133, + 0.04469118084240656 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.754411697387695, + -14.890172958374023, + 0.05368848145008087 + ], + "box_pose": [ + 15.911991119384766, + -14.886147499084473, + 0.04164344072341919, + 0.3836098313331604, + -0.5966547131538391, + 0.42650243639945984, + -0.5611971020698547 + ], + "box_yaw_rad": -1.6515650830454616, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007021597055759081, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028721251054488516 + } + } + }, + { + "simulation_time_ns": 7680000000, + "center": [ + 15.905417055243714, + -14.879450084178288, + 0.04474296950524587 + ], + "face_center": [ + 15.903755438775963, + -14.898320533391255, + 0.09671667605147878 + ], + "face_normal": [ + -0.030037341837484632, + -0.34112452821576866, + 0.9395381066511277 + ], + "footprint_xy": [ + [ + 15.776538392526401, + -14.983286134397515 + ], + [ + 16.034295717961026, + -14.983286134397515 + ], + [ + 16.034295717961026, + -14.77561403395906 + ], + [ + 15.776538392526401, + -14.77561403395906 + ] + ], + "projected_box_corners": [ + [ + 15.792463751533559, + -14.813354932384996 + ], + [ + 16.030972485025526, + -14.83906510175369 + ], + [ + 15.795786984469059, + -14.77561403395906 + ], + [ + 16.034295717961026, + -14.801324203327754 + ], + [ + 15.776538392526401, + -14.957575965028822 + ], + [ + 16.015047126018366, + -14.983286134397515 + ], + [ + 15.779861625461901, + -14.919835066602884 + ], + [ + 16.018370358953867, + -14.945545235971577 + ] + ], + "yaw_rad": -1.6807740506817341, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.764559745788574, + -14.882963180541992, + 0.06243947148323059 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.899288736038056, + -14.899266434043714, + 0.0971635132508131 + ], + "intended_face_normal": [ + -0.021222679297601132, + -0.3420723292599277, + 0.9394338983088133 + ], + "commanded_contact_point": [ + 15.77324188232422, + -14.88081809542528, + 0.045195571339100904 + ], + "centerline_face_intersection": [ + 15.779987913225074, + -14.880343554032054, + 0.045195571339100904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.759763717651367, + -14.88603401184082, + 0.05897635221481323 + ], + "box_pose": [ + 15.917223930358887, + -14.885425567626953, + 0.042062316089868546, + 0.3802119493484497, + -0.6008926033973694, + 0.4294213652610779, + -0.5567442774772644 + ], + "box_yaw_rad": -1.6677540437882348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00047454139322525106, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002805321376904687 + } + } + }, + { + "simulation_time_ns": 7700000000, + "center": [ + 15.910328638560856, + -14.878820713838524, + 0.04463950835976908 + ], + "face_center": [ + 15.90835730151168, + -14.89735838816963, + 0.09672203051168567 + ], + "face_normal": [ + -0.03563621688414287, + -0.3351088964045559, + 0.9415051860636225 + ], + "footprint_xy": [ + [ + 15.780683752085498, + -14.983481373393694 + ], + [ + 16.039973525036213, + -14.983481373393694 + ], + [ + 16.039973525036213, + -14.774160054283355 + ], + [ + 15.780683752085498, + -14.774160054283355 + ] + ], + "projected_box_corners": [ + [ + 15.79775849787082, + -14.811235402945565 + ], + [ + 16.036030850937863, + -14.83908905566269 + ], + [ + 15.801701171969173, + -14.774160054283355 + ], + [ + 16.039973525036213, + -14.802013707000478 + ], + [ + 15.780683752085498, + -14.955627720676569 + ], + [ + 16.01895610515254, + -14.983481373393694 + ], + [ + 15.78462642618385, + -14.918552372014357 + ], + [ + 16.02289877925089, + -14.946406024731482 + ] + ], + "yaw_rad": -1.6885021588863107, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.769457817077637, + -14.880935668945312, + 0.06184475123882294 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.903755438775963, + -14.898320533391255, + 0.09671667605147878 + ], + "intended_face_normal": [ + -0.030037341837484632, + -0.34112452821576866, + 0.9395381066511277 + ], + "commanded_contact_point": [ + 15.775517349243165, + -14.879784101716965, + 0.04474296950524587 + ], + "centerline_face_intersection": [ + 15.784770848537823, + -14.879450084178288, + 0.04474296950524587 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.764559745788574, + -14.882963180541992, + 0.06243947148323059 + ], + "box_pose": [ + 15.922115325927734, + -14.884777069091797, + 0.04168148338794708, + 0.3751262128353119, + -0.6023648977279663, + 0.43441691994667053, + -0.5547240972518921 + ], + "box_yaw_rad": -1.6807740506817341, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00033401753867707315, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002540027777025073 + } + } + }, + { + "simulation_time_ns": 7720000000, + "center": [ + 15.91611247979604, + -14.878174249647248, + 0.04434503130962523 + ], + "face_center": [ + 15.913475910033641, + -14.895227754442892, + 0.0969030691063072 + ], + "face_normal": [ + -0.047661749127208, + -0.3082792949010251, + 0.9501011684988647 + ], + "footprint_xy": [ + [ + 15.785819962039087, + -14.98254954947619 + ], + [ + 16.046404997552994, + -14.98254954947619 + ], + [ + 16.046404997552994, + -14.773798949818307 + ], + [ + 15.785819962039087, + -14.773798949818307 + ] + ], + "projected_box_corners": [ + [ + 15.802998507386162, + -14.807905959409595 + ], + [ + 16.041131858028194, + -14.836824594258363 + ], + [ + 15.808271646910958, + -14.773798949818307 + ], + [ + 16.046404997552994, + -14.802717584667075 + ], + [ + 15.785819962039087, + -14.953630914627421 + ], + [ + 16.023953312681122, + -14.98254954947619 + ], + [ + 15.791093101563884, + -14.919523905036133 + ], + [ + 16.02922645220592, + -14.948442539884901 + ] + ], + "yaw_rad": -1.6881381265854307, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.775168418884277, + -14.878948211669922, + 0.0599721223115921 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.90835730151168, + -14.89735838816963, + 0.09672203051168567 + ], + "intended_face_normal": [ + -0.03563621688414287, + -0.3351088964045559, + 0.9415051860636225 + ], + "commanded_contact_point": [ + 15.777767066955567, + -14.87907013317293, + 0.04463950835976908 + ], + "centerline_face_intersection": [ + 15.789562743602259, + -14.878820713838524, + 0.04463950835976908 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.769457817077637, + -14.880935668945312, + 0.06184475123882294 + ], + "box_pose": [ + 15.926986694335938, + -14.884315490722656, + 0.04165651276707649, + 0.3735160827636719, + -0.6019564867019653, + 0.4392394423484802, + -0.5524516105651855 + ], + "box_yaw_rad": -1.6885021588863107, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002494193344055155, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002362559010055031 + } + } + }, + { + "simulation_time_ns": 7740000000, + "center": [ + 15.921109883961222, + -14.877319553317681, + 0.0441610644356693 + ], + "face_center": [ + 15.917990437424777, + -14.893015188999389, + 0.0971142209137976 + ], + "face_normal": [ + -0.05639080002971042, + -0.28373284899275397, + 0.957243800466788 + ], + "footprint_xy": [ + [ + 15.790584168964644, + -14.980849960521551 + ], + [ + 16.051635598957798, + -14.980849960521551 + ], + [ + 16.051635598957798, + -14.773789146113812 + ], + [ + 15.790584168964644, + -14.773789146113812 + ] + ], + "projected_box_corners": [ + [ + 15.807292362099659, + -14.805180417477224 + ], + [ + 16.045396705884908, + -14.833926694139308 + ], + [ + 15.81353125517255, + -14.773789146113812 + ], + [ + 16.051635598957798, + -14.802535422775895 + ], + [ + 15.790584168964644, + -14.952103683859468 + ], + [ + 16.028688512749895, + -14.980849960521551 + ], + [ + 15.796823062037536, + -14.920712412496057 + ], + [ + 16.034927405822785, + -14.94945868915814 + ] + ], + "yaw_rad": -1.6840304104535535, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.780186653137207, + -14.8768949508667, + 0.05779430270195007 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.913475910033641, + -14.895227754442892, + 0.0969030691063072 + ], + "intended_face_normal": [ + -0.047661749127208, + -0.3082792949010251, + 0.9501011684988647 + ], + "commanded_contact_point": [ + 15.779685859680177, + -14.878392710500746, + 0.04434503130962523 + ], + "centerline_face_intersection": [ + 15.795276091761979, + -14.878174249647248, + 0.04434503130962523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.775168418884277, + -14.878948211669922, + 0.0599721223115921 + ], + "box_pose": [ + 15.93277645111084, + -14.883824348449707, + 0.0417049303650856, + 0.37742555141448975, + -0.5934717059135437, + 0.4510103166103363, + -0.5494824647903442 + ], + "box_yaw_rad": -1.6881381265854307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002184608534985692, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002056060244706595 + } + } + }, + { + "simulation_time_ns": 7760000000, + "center": [ + 15.923617588283653, + -14.876736290347036, + 0.04415445437502653 + ], + "face_center": [ + 15.920581396140456, + -14.892422231602389, + 0.09711532230093232 + ], + "face_normal": [ + -0.05488579528402937, + -0.2835576010917258, + 0.9573832017049497 + ], + "footprint_xy": [ + [ + 15.793551069118632, + -14.979578776385857 + ], + [ + 16.053684107448674, + -14.979578776385857 + ], + [ + 16.053684107448674, + -14.773893804308216 + ], + [ + 15.793551069118632, + -14.773893804308216 + ] + ], + "projected_box_corners": [ + [ + 15.809335024145703, + -14.80526568681892 + ], + [ + 16.04761172316228, + -14.832530470271918 + ], + [ + 15.815407408432097, + -14.773893804308216 + ], + [ + 16.053684107448674, + -14.801158587761213 + ], + [ + 15.793551069118632, + -14.95231399293286 + ], + [ + 16.03182776813521, + -14.979578776385857 + ], + [ + 15.799623453405026, + -14.920942110422153 + ], + [ + 16.037900152421603, + -14.94820689387515 + ] + ], + "yaw_rad": -1.6777254879420693, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.782953262329102, + -14.875499725341797, + 0.0558459609746933 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.917990437424777, + -14.893015188999389, + 0.0971142209137976 + ], + "intended_face_normal": [ + -0.05639080002971042, + -0.28373284899275397, + 0.957243800466788 + ], + "commanded_contact_point": [ + 15.781278495788575, + -14.87755499826922, + 0.0441610644356693 + ], + "centerline_face_intersection": [ + 15.800258775138172, + -14.877319553317681, + 0.0441610644356693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.780186653137207, + -14.8768949508667, + 0.05779430270195007 + ], + "box_pose": [ + 15.937798500061035, + -14.883028984069824, + 0.041821371763944626, + 0.38246670365333557, + -0.5850156545639038, + 0.46027469635009766, + -0.5473783612251282 + ], + "box_yaw_rad": -1.6840304104535535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00023544495153785688, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018088934096114765 + } + } + }, + { + "simulation_time_ns": 7780000000, + "center": [ + 15.924410579312246, + -14.87656341625796, + 0.04415032214782618 + ], + "face_center": [ + 15.921404588136944, + -14.892243541631455, + 0.09711463427645634 + ], + "face_normal": [ + -0.054339846917415, + -0.2834524663420037, + 0.9574454631814078 + ], + "footprint_xy": [ + [ + 15.794522768138094, + -14.979136200782651 + ], + [ + 16.054298390486398, + -14.979136200782651 + ], + [ + 16.054298390486398, + -14.773990631733268 + ], + [ + 15.794522768138094, + -14.773990631733268 + ] + ], + "projected_box_corners": [ + [ + 15.80994542857364, + -14.805350882480257 + ], + [ + 16.048286408135795, + -14.832039249607707 + ], + [ + 15.815957410924243, + -14.773990631733268 + ], + [ + 16.054298390486398, + -14.800678998860718 + ], + [ + 15.794522768138094, + -14.952447833655201 + ], + [ + 16.03286374770025, + -14.979136200782651 + ], + [ + 15.800534750488698, + -14.921087582908212 + ], + [ + 16.038875730050854, + -14.947775950035663 + ] + ], + "yaw_rad": -1.6752615589748538, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.783968925476074, + -14.874955177307129, + 0.05511319637298584 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.920581396140456, + -14.892422231602389, + 0.09711532230093232 + ], + "intended_face_normal": [ + -0.05488579528402937, + -0.2835576010917258, + 0.9573832017049497 + ], + "commanded_contact_point": [ + 15.782795791625977, + -14.877021197898785, + 0.04415445437502653 + ], + "centerline_face_intersection": [ + 15.802853895984768, + -14.876736290347036, + 0.04415445437502653 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.782953262329102, + -14.875499725341797, + 0.0558459609746933 + ], + "box_pose": [ + 15.94034194946289, + -14.882343292236328, + 0.04182229936122894, + 0.38436785340309143, + -0.5836275815963745, + 0.4587837755680084, + -0.5487782955169678 + ], + "box_yaw_rad": -1.6777254879420693, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00028490755174743684, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016084692059773367 + } + } + }, + { + "simulation_time_ns": 7800000000, + "center": [ + 15.924416208851829, + -14.876574860319892, + 0.0441515668887779 + ], + "face_center": [ + 15.921410762843651, + -14.892269787818899, + 0.09711153258323826 + ], + "face_normal": [ + -0.054329991832549496, + -0.2837200470458452, + 0.9573668919036997 + ], + "footprint_xy": [ + [ + 15.79452988631064, + -14.979155016603888 + ], + [ + 16.054302531393017, + -14.979155016603888 + ], + [ + 16.054302531393017, + -14.773994704035895 + ], + [ + 15.79452988631064, + -14.773994704035895 + ] + ], + "projected_box_corners": [ + [ + 15.809950103815684, + -14.805384559033909 + ], + [ + 16.048291639376664, + -14.832070139389259 + ], + [ + 15.815960995832036, + -14.773994704035895 + ], + [ + 16.054302531393017, + -14.800680284391245 + ], + [ + 15.79452988631064, + -14.952469436248538 + ], + [ + 16.032871421871622, + -14.979155016603888 + ], + [ + 15.800540778326992, + -14.921079581250524 + ], + [ + 16.038882313887974, + -14.947765161605872 + ] + ], + "yaw_rad": -1.6752536437083854, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.781815528869629, + -14.873943328857422, + 0.054320961236953735 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.921404588136944, + -14.892243541631455, + 0.09711463427645634 + ], + "intended_face_normal": [ + -0.054339846917415, + -0.2834524663420037, + 0.9574454631814078 + ], + "commanded_contact_point": [ + 15.784320716857911, + -14.876912653367741, + 0.04415032214782618 + ], + "centerline_face_intersection": [ + 15.803679456972759, + -14.87656341625796, + 0.04415032214782618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.783968925476074, + -14.874955177307129, + 0.05511319637298584 + ], + "box_pose": [ + 15.94114875793457, + -14.88213062286377, + 0.04182196408510208, + 0.38510650396347046, + -0.5830670595169067, + 0.45822128653526306, + -0.5493259429931641 + ], + "box_yaw_rad": -1.6752615589748538, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00034923710978070164, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015287890480732728 + } + } + }, + { + "simulation_time_ns": 7820000000, + "center": [ + 15.924416225453383, + -14.876583950286445, + 0.04415187630846554 + ], + "face_center": [ + 15.921410769134045, + -14.892291298836295, + 0.09710815279117058 + ], + "face_normal": [ + -0.05433017822927866, + -0.28394458463158934, + 0.957300201354613 + ], + "footprint_xy": [ + [ + 15.794529762279046, + -14.979172228355639 + ], + [ + 16.05430268862772, + -14.979172228355639 + ], + [ + 16.05430268862772, + -14.773995672217254 + ], + [ + 15.794529762279046, + -14.773995672217254 + ] + ], + "projected_box_corners": [ + [ + 15.809950337221665, + -14.80541036931695 + ], + [ + 16.048291775989043, + -14.832097844382398 + ], + [ + 15.81596124986034, + -14.773995672217254 + ], + [ + 16.05430268862772, + -14.800683147282701 + ], + [ + 15.794529762279046, + -14.952484753290191 + ], + [ + 16.032871201046426, + -14.979172228355639 + ], + [ + 15.800540674917722, + -14.921070056190493 + ], + [ + 16.0388821136851, + -14.94775753125594 + ] + ], + "yaw_rad": -1.675263446163976, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.776601791381836, + -14.871617317199707, + 0.05345131456851959 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.921410762843651, + -14.892269787818899, + 0.09711153258323826 + ], + "intended_face_normal": [ + -0.054329991832549496, + -0.2837200470458452, + 0.9573668919036997 + ], + "commanded_contact_point": [ + 15.785684471130372, + -14.877029358688171, + 0.0441515668887779 + ], + "centerline_face_intersection": [ + 15.803685368151722, + -14.876574860319892, + 0.0441515668887779 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781815528869629, + -14.873943328857422, + 0.054320961236953735 + ], + "box_pose": [ + 15.941154479980469, + -14.88214111328125, + 0.04182157292962074, + 0.3850364685058594, + -0.5831287503242493, + 0.45813414454460144, + -0.5493823885917664 + ], + "box_yaw_rad": -1.6752536437083854, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00045449836827948716, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013687393458405915 + } + } + }, + { + "simulation_time_ns": 7840000000, + "center": [ + 15.924415198488806, + -14.876589917981967, + 0.04415164811547503 + ], + "face_center": [ + 15.92140792290638, + -14.892303347824418, + 0.09710602154122161 + ], + "face_normal": [ + -0.05436306537764679, + -0.28405451725940445, + 0.9572657994492957 + ], + "footprint_xy": [ + [ + 15.79452766766062, + -14.97918219466604 + ], + [ + 16.054302729316994, + -14.97918219466604 + ], + [ + 16.054302729316994, + -14.773997641297896 + ], + [ + 15.79452766766062, + -14.773997641297896 + ] + ], + "projected_box_corners": [ + [ + 15.809946939387755, + -14.805424500982799 + ], + [ + 16.048288178152138, + -14.832112933066632 + ], + [ + 15.81596149055261, + -14.773997641297896 + ], + [ + 16.054302729316994, + -14.800686073381728 + ], + [ + 15.79452766766062, + -14.952493762582206 + ], + [ + 16.032868906425005, + -14.97918219466604 + ], + [ + 15.800542218825473, + -14.921066902897303 + ], + [ + 16.038883457589858, + -14.947755334981137 + ] + ], + "yaw_rad": -1.6752582934199958, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.7744722366333, + -14.869925498962402, + 0.05535140633583069 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.921410769134045, + -14.892291298836295, + 0.09710815279117058 + ], + "intended_face_normal": [ + -0.05433017822927866, + -0.28394458463158934, + 0.957300201354613 + ], + "commanded_contact_point": [ + 15.787519340515138, + -14.877237113978195, + 0.04415187630846554 + ], + "centerline_face_intersection": [ + 15.80368533572289, + -14.876583950286445, + 0.04415187630846554 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.776601791381836, + -14.871617317199707, + 0.05345131456851959 + ], + "box_pose": [ + 15.941154479980469, + -14.882149696350098, + 0.04182057082653046, + 0.38497141003608704, + -0.5831830501556396, + 0.45806628465652466, + -0.549426794052124 + ], + "box_yaw_rad": -1.675263446163976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000653163691749014, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001846593624873554 + } + } + }, + { + "simulation_time_ns": 7860000000, + "center": [ + 15.92441417762198, + -14.876594902990758, + 0.04415187982210718 + ], + "face_center": [ + 15.92140531316532, + -14.89231344216791, + 0.09710464767186469 + ], + "face_normal": [ + -0.054391787744926035, + -0.28414687962821716, + 0.9572367751613413 + ], + "footprint_xy": [ + [ + 15.79452577156784, + -14.979190468263571 + ], + [ + 16.05430258367612, + -14.979190468263571 + ], + [ + 16.05430258367612, + -14.773999337717944 + ], + [ + 15.79452577156784, + -14.773999337717944 + ] + ], + "projected_box_corners": [ + [ + 15.809943790710538, + -14.805436416072252 + ], + [ + 16.048284854762798, + -14.832125508507396 + ], + [ + 15.815961519623857, + -14.773999337717944 + ], + [ + 16.05430258367612, + -14.800688430153087 + ], + [ + 15.79452577156784, + -14.952501375828428 + ], + [ + 16.0328668356201, + -14.979190468263571 + ], + [ + 15.80054350048116, + -14.92106429747412 + ], + [ + 16.038884564533422, + -14.947753389909263 + ] + ], + "yaw_rad": -1.6752529022717846, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.777039527893066, + -14.870638847351074, + 0.05778118968009949 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.92140792290638, + -14.892303347824418, + 0.09710602154122161 + ], + "intended_face_normal": [ + -0.05436306537764679, + -0.28405451725940445, + 0.9572657994492957 + ], + "commanded_contact_point": [ + 15.789831047058106, + -14.877509658434498, + 0.04415164811547503 + ], + "centerline_face_intersection": [ + 15.80368420744752, + -14.876589917981967, + 0.04415164811547503 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.7744722366333, + -14.869925498962402, + 0.05535140633583069 + ], + "box_pose": [ + 15.941153526306152, + -14.882155418395996, + 0.04182026907801628, + 0.38493168354034424, + -0.5832003355026245, + 0.45803967118263245, + -0.5494585633277893 + ], + "box_yaw_rad": -1.6752582934199958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009197404525315982, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023277172666666492 + } + } + }, + { + "simulation_time_ns": 7880000000, + "center": [ + 15.924411141908166, + -14.876595971859325, + 0.04415138938854367 + ], + "face_center": [ + 15.921399315436593, + -14.892314412327819, + 0.09710401602385538 + ], + "face_normal": [ + -0.054445332624979415, + -0.2841450952538729, + 0.9572342224022279 + ], + "footprint_xy": [ + [ + 15.794521672996991, + -14.979190678395385 + ], + [ + 16.05430061081934, + -14.979190678395385 + ], + [ + 16.05430061081934, + -14.774001265323266 + ], + [ + 15.794521672996991, + -14.774001265323266 + ] + ], + "projected_box_corners": [ + [ + 15.809936041194323, + -14.80543814626025 + ], + [ + 16.048276957876194, + -14.832125512574427 + ], + [ + 15.815959694137467, + -14.774001265323266 + ], + [ + 16.05430061081934, + -14.800688631637442 + ], + [ + 15.794521672996991, + -14.952503312081209 + ], + [ + 16.032862589678864, + -14.979190678395385 + ], + [ + 15.800545325940137, + -14.921066431144224 + ], + [ + 16.03888624262201, + -14.9477537974584 + ] + ], + "yaw_rad": -1.6752282014399598, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.781742095947266, + -14.871100425720215, + 0.06221936643123627 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.92140531316532, + -14.89231344216791, + 0.09710464767186469 + ], + "intended_face_normal": [ + -0.054391787744926035, + -0.28414687962821716, + 0.9572367751613413 + ], + "commanded_contact_point": [ + 15.7921732711792, + -14.877752885668878, + 0.04415187982210718 + ], + "centerline_face_intersection": [ + 15.803683098080763, + -14.876594902990758, + 0.04415187982210718 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.777039527893066, + -14.870638847351074, + 0.05778118968009949 + ], + "box_pose": [ + 15.941152572631836, + -14.882160186767578, + 0.0418204627931118, + 0.38489818572998047, + -0.5832143425941467, + 0.45801740884780884, + -0.5494857430458069 + ], + "box_yaw_rad": -1.6752529022717846, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011579826781189689, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023548191808853355 + } + } + }, + { + "simulation_time_ns": 7900000000, + "center": [ + 15.925983628176985, + -14.876419703945452, + 0.04424336392548431 + ], + "face_center": [ + 15.923024244732456, + -14.892380687716784, + 0.09712634957709214 + ], + "face_normal": [ + -0.05349731052668005, + -0.2885295944684554, + 0.9559753097265222 + ], + "footprint_xy": [ + [ + 15.795842189930342, + -14.979623303608053 + ], + [ + 16.056125066423625, + -14.979623303608053 + ], + [ + 16.056125066423625, + -14.77321610428285 + ], + [ + 15.795842189930342, + -14.77321610428285 + ] + ], + "projected_box_corners": [ + [ + 15.811966379838202, + -14.805138071825516 + ], + [ + 16.050206299534572, + -14.832839719913903 + ], + [ + 15.817885146727257, + -14.77321610428285 + ], + [ + 16.056125066423625, + -14.800917752371237 + ], + [ + 15.795842189930342, + -14.951921655519666 + ], + [ + 16.034082109626713, + -14.979623303608053 + ], + [ + 15.801760956819399, + -14.919999687977 + ], + [ + 16.04000087651577, + -14.947701336065387 + ] + ], + "yaw_rad": -1.6802077335737617, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.785713195800781, + -14.869544982910156, + 0.0646151602268219 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.921399315436593, + -14.892314412327819, + 0.09710401602385538 + ], + "intended_face_normal": [ + -0.054445332624979415, + -0.2841450952538729, + 0.9572342224022279 + ], + "commanded_contact_point": [ + 15.794236068725587, + -14.877973776383008, + 0.04415138938854367 + ], + "centerline_face_intersection": [ + 15.803679987716794, + -14.876595971859325, + 0.04415138938854367 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781742095947266, + -14.871100425720215, + 0.06221936643123627 + ], + "box_pose": [ + 15.941149711608887, + -14.882161140441895, + 0.0418209582567215, + 0.38488760590553284, + -0.5831964612007141, + 0.45802727341651917, + -0.5495038628578186 + ], + "box_yaw_rad": -1.6752282014399598, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001377804523683394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00207459072240605 + } + } + }, + { + "simulation_time_ns": 7920000000, + "center": [ + 15.927301797780746, + -14.876398615011368, + 0.04433352631627521 + ], + "face_center": [ + 15.924497931154026, + -14.892861569340289, + 0.09707090259206598 + ], + "face_normal": [ + -0.05068600484415953, + -0.2976038071542888, + 0.953343102667283 + ], + "footprint_xy": [ + [ + 15.797085421145754, + -14.980163388571361 + ], + [ + 16.057518174415737, + -14.980163388571361 + ], + [ + 16.057518174415737, + -14.772633841451375 + ], + [ + 15.797085421145754, + -14.772633841451375 + ] + ], + "projected_box_corners": [ + [ + 15.813719772370044, + -14.805559750109218 + ], + [ + 16.051910441162295, + -14.833859983390928 + ], + [ + 15.819327505623486, + -14.772633841451375 + ], + [ + 16.057518174415737, + -14.800934074733085 + ], + [ + 15.797085421145754, + -14.95186315528965 + ], + [ + 16.035276089938005, + -14.980163388571361 + ], + [ + 15.802693154399195, + -14.918937246631808 + ], + [ + 16.040883823191447, + -14.94723747991352 + ] + ], + "yaw_rad": -1.684007798633143, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.787252426147461, + -14.867205619812012, + 0.06226596236228943 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.923024244732456, + -14.892380687716784, + 0.09712634957709214 + ], + "intended_face_normal": [ + -0.05349731052668005, + -0.2885295944684554, + 0.9559753097265222 + ], + "commanded_contact_point": [ + 15.796331291198731, + -14.878072497310546, + 0.04424336392548431 + ], + "centerline_face_intersection": [ + 15.805201292459675, + -14.876419703945452, + 0.04424336392548431 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.785713195800781, + -14.869544982910156, + 0.0646151602268219 + ], + "box_pose": [ + 15.942693710327148, + -14.88204288482666, + 0.04184863716363907, + 0.38286328315734863, + -0.5857084393501282, + 0.45733019709587097, + -0.5488264560699463 + ], + "box_yaw_rad": -1.6802077335737617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016527933650952059, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020995624184456186 + } + } + }, + { + "simulation_time_ns": 7940000000, + "center": [ + 15.927383021442852, + -14.876626705705956, + 0.04438009100415225 + ], + "face_center": [ + 15.92468052531627, + -14.89337206878451, + 0.09703377724072548 + ], + "face_normal": [ + -0.048853511953037554, + -0.3027089612709357, + 0.9518302226705089 + ], + "footprint_xy": [ + [ + 15.797219060804943, + -14.980558269912246 + ], + [ + 16.057546982080762, + -14.980558269912246 + ], + [ + 16.057546982080762, + -14.772695141499666 + ], + [ + 15.797219060804943, + -14.772695141499666 + ] + ], + "projected_box_corners": [ + [ + 15.8139447171702, + -14.806185867656776 + ], + [ + 16.052141989827597, + -14.834506504971449 + ], + [ + 15.819349709423362, + -14.772695141499666 + ], + [ + 16.057546982080762, + -14.801015778814339 + ], + [ + 15.797219060804943, + -14.952237632597573 + ], + [ + 16.03541633346234, + -14.980558269912246 + ], + [ + 15.802624053058105, + -14.918746906440465 + ], + [ + 16.040821325715502, + -14.947067543755137 + ] + ], + "yaw_rad": -1.6848182969966536, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.784585952758789, + -14.870931625366211, + 0.055612772703170776 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.924497931154026, + -14.892861569340289, + 0.09707090259206598 + ], + "intended_face_normal": [ + -0.05068600484415953, + -0.2976038071542888, + 0.953343102667283 + ], + "commanded_contact_point": [ + 15.798636322021485, + -14.878419128184438, + 0.04433352631627521 + ], + "centerline_face_intersection": [ + 15.806494487788559, + -14.876398615011368, + 0.04433352631627521 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.787252426147461, + -14.867205619812012, + 0.06226596236228943 + ], + "box_pose": [ + 15.943989753723145, + -14.882037162780762, + 0.04182341322302818, + 0.380368173122406, + -0.5893546342849731, + 0.45444267988204956, + -0.5490565896034241 + ], + "box_yaw_rad": -1.684007798633143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0020205131730694596, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002332691431221444 + } + } + }, + { + "simulation_time_ns": 7960000000, + "center": [ + 15.927394283052477, + -14.876667097518407, + 0.04438290531506227 + ], + "face_center": [ + 15.924705995598963, + -14.893462124980433, + 0.09702149030297391 + ], + "face_normal": [ + -0.04859665919654077, + -0.303606753326104, + 0.9515572346633334 + ], + "footprint_xy": [ + [ + 15.797236993967328, + -14.980628705402626 + ], + [ + 16.057551572137626, + -14.980628705402626 + ], + [ + 16.057551572137626, + -14.772705489634188 + ], + [ + 15.797236993967328, + -14.772705489634188 + ] + ], + "projected_box_corners": [ + [ + 15.81397722692437, + -14.806295544558239 + ], + [ + 16.052174997230598, + -14.834621871134136 + ], + [ + 15.819353801831397, + -14.772705489634188 + ], + [ + 16.057551572137626, + -14.801031816210083 + ], + [ + 15.797236993967328, + -14.952302378826731 + ], + [ + 16.035434764273557, + -14.980628705402626 + ], + [ + 15.802613568874355, + -14.918712323902678 + ], + [ + 16.040811339180582, + -14.947038650478575 + ] + ], + "yaw_rad": -1.6849516222589511, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.781739234924316, + -14.877731323242188, + 0.049601584672927856 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.92468052531627, + -14.89337206878451, + 0.09703377724072548 + ], + "intended_face_normal": [ + -0.048853511953037554, + -0.3027089612709357, + 0.9518302226705089 + ], + "commanded_contact_point": [ + 15.801024322509766, + -14.878875022092615, + 0.04438009100415225 + ], + "centerline_face_intersection": [ + 15.806579060755109, + -14.876626705705956, + 0.04438009100415225 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.784585952758789, + -14.870931625366211, + 0.055612772703170776 + ], + "box_pose": [ + 15.944066047668457, + -14.882251739501953, + 0.041807662695646286, + 0.37933096289634705, + -0.5910999178886414, + 0.4524970054626465, + -0.5495047569274902 + ], + "box_yaw_rad": -1.6848182969966536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022483163866592543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024315743578391725 + } + } + }, + { + "simulation_time_ns": 7980000000, + "center": [ + 15.92734831023716, + -14.876554908761165, + 0.04435144020809023 + ], + "face_center": [ + 15.924602241405049, + -14.893207165028375, + 0.09703238364894186 + ], + "face_normal": [ + -0.04964118364274839, + -0.30102585257886716, + 0.9523229560890414 + ], + "footprint_xy": [ + [ + 15.797163502117543, + -14.98042919301019 + ], + [ + 16.05753311835678, + -14.98042919301019 + ], + [ + 16.05753311835678, + -14.772680624512141 + ], + [ + 15.797163502117543, + -14.772680624512141 + ] + ], + "projected_box_corners": [ + [ + 15.813845807365274, + -14.80598513704656 + ], + [ + 16.052040980692556, + -14.83429353179358 + ], + [ + 15.819337945029496, + -14.772680624512141 + ], + [ + 16.05753311835678, + -14.800989019259163 + ], + [ + 15.797163502117543, + -14.952120798263168 + ], + [ + 16.035358675444826, + -14.98042919301019 + ], + [ + 15.802655639781767, + -14.918816285728749 + ], + [ + 16.04085081310905, + -14.94712468047577 + ] + ], + "yaw_rad": -1.6844605786391336, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.783834457397461, + -14.879176139831543, + 0.0476779043674469 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.924705995598963, + -14.893462124980433, + 0.09702149030297391 + ], + "intended_face_normal": [ + -0.04859665919654077, + -0.303606753326104, + 0.9515572346633334 + ], + "commanded_contact_point": [ + 15.803761367797852, + -14.878872844876115, + 0.04438290531506227 + ], + "centerline_face_intersection": [ + 15.806590574751436, + -14.876667097518407, + 0.04438290531506227 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781739234924316, + -14.877731323242188, + 0.049601584672927856 + ], + "box_pose": [ + 15.944076538085938, + -14.88228988647461, + 0.0418006107211113, + 0.379130095243454, + -0.5913906097412109, + 0.4521692097187042, + -0.5496002435684204 + ], + "box_yaw_rad": -1.6849516222589511, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002205747357708034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027370476009106995 + } + } + }, + { + "simulation_time_ns": 8000000000, + "center": [ + 15.929229047057868, + -14.875741212962028, + 0.04429837990279874 + ], + "face_center": [ + 15.926178687935359, + -14.892027563845643, + 0.09707688475118152 + ], + "face_normal": [ + -0.05514189433496597, + -0.294411314687272, + 0.9540865913231862 + ], + "footprint_xy": [ + [ + 15.798156068029279, + -14.980601002171964 + ], + [ + 16.060302026086458, + -14.980601002171964 + ], + [ + 16.060302026086458, + -14.770881423752094 + ], + [ + 15.798156068029279, + -14.770881423752094 + ] + ], + "projected_box_corners": [ + [ + 15.816341468207112, + -14.803454125519321 + ], + [ + 16.05420130784144, + -14.834362272007526 + ], + [ + 15.822442186452133, + -14.770881423752094 + ], + [ + 16.060302026086458, + -14.801789570240297 + ], + [ + 15.798156068029279, + -14.94969285568376 + ], + [ + 16.036015907663604, + -14.980601002171964 + ], + [ + 15.8042567862743, + -14.917120153916532 + ], + [ + 16.042116625908623, + -14.948028300404735 + ] + ], + "yaw_rad": -1.694515405454158, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.788740158081055, + -14.875105857849121, + 0.04645328223705292 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.924602241405049, + -14.893207165028375, + 0.09703238364894186 + ], + "intended_face_normal": [ + -0.04964118364274839, + -0.30102585257886716, + 0.9523229560890414 + ], + "commanded_contact_point": [ + 15.806962852478028, + -14.878655806876058, + 0.04435144020809023 + ], + "centerline_face_intersection": [ + 15.806543284845255, + -14.876554908761165, + 0.04435144020809023 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.783834457397461, + -14.879176139831543, + 0.0476779043674469 + ], + "box_pose": [ + 15.9440336227417, + -14.882184028625488, + 0.041802916675806046, + 0.37963563203811646, + -0.5904645919799805, + 0.45317089557647705, + -0.5494218468666077 + ], + "box_yaw_rad": -1.6844605786391336, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002100898114892899, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032089873330734616 + } + } + }, + { + "simulation_time_ns": 8020000000, + "center": [ + 15.93396331020508, + -14.874330429750355, + 0.044196625899389955 + ], + "face_center": [ + 15.930320810570699, + -14.889857312268521, + 0.09716613226589543 + ], + "face_normal": [ + -0.06584612561582759, + -0.2806822674910787, + 0.9575393603602542 + ], + "footprint_xy": [ + [ + 15.801122840498028, + -14.981171995232614 + ], + [ + 16.066803779912128, + -14.981171995232614 + ], + [ + 16.066803779912128, + -14.767488864268097 + ], + [ + 15.801122840498028, + -14.767488864268097 + ] + ], + "projected_box_corners": [ + [ + 15.822445688983654, + -14.79854262930443 + ], + [ + 16.05951878064337, + -14.834798414594056 + ], + [ + 15.829730688252416, + -14.767488864268097 + ], + [ + 16.066803779912128, + -14.803744649557723 + ], + [ + 15.801122840498028, + -14.944916209942988 + ], + [ + 16.03819593215774, + -14.981171995232614 + ], + [ + 15.80840783976679, + -14.913862444906655 + ], + [ + 16.045480931426503, + -14.950118230196281 + ] + ], + "yaw_rad": -1.7154529633955138, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.793462753295898, + -14.870769500732422, + 0.044447869062423706 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.926178687935359, + -14.892027563845643, + 0.09707688475118152 + ], + "intended_face_normal": [ + -0.05514189433496597, + -0.294411314687272, + 0.9540865913231862 + ], + "commanded_contact_point": [ + 15.810530548095704, + -14.877867525281438, + 0.04429837990279874 + ], + "centerline_face_intersection": [ + 15.808253711304387, + -14.875741212962028, + 0.04429837990279874 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.788740158081055, + -14.875105857849121, + 0.04645328223705292 + ], + "box_pose": [ + 15.945857048034668, + -14.881569862365723, + 0.041824907064437866, + 0.3775855004787445, + -0.5904704332351685, + 0.458501398563385, + -0.5463975071907043 + ], + "box_yaw_rad": -1.694515405454158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021263123194091797, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003654128526584235 + } + } + }, + { + "simulation_time_ns": 8040000000, + "center": [ + 15.939678016441524, + -14.873395217410234, + 0.04450211855217229 + ], + "face_center": [ + 15.936199374310497, + -14.889725221187089, + 0.0972406318875096 + ], + "face_normal": [ + -0.06288404385002977, + -0.2952004359447482, + 0.9533636574986488 + ], + "footprint_xy": [ + [ + 15.806186656830004, + -14.981995840568208 + ], + [ + 16.073169376053045, + -14.981995840568208 + ], + [ + 16.073169376053045, + -14.76479459425226 + ], + [ + 15.806186656830004, + -14.76479459425226 + ] + ], + "projected_box_corners": [ + [ + 15.829559365029175, + -14.79745460180597 + ], + [ + 16.06621209179099, + -14.836617059611761 + ], + [ + 15.836516649291228, + -14.76479459425226 + ], + [ + 16.073169376053045, + -14.80395705205805 + ], + [ + 15.806186656830004, + -14.942833382762416 + ], + [ + 16.04283938359182, + -14.981995840568208 + ], + [ + 15.813143941092058, + -14.910173375208705 + ], + [ + 16.049796667853872, + -14.949335833014498 + ] + ], + "yaw_rad": -1.7302033621648518, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.798830032348633, + -14.868550300598145, + 0.0507705956697464 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.930320810570699, + -14.889857312268521, + 0.09716613226589543 + ], + "intended_face_normal": [ + -0.06584612561582759, + -0.2806822674910787, + 0.9575393603602542 + ], + "commanded_contact_point": [ + 15.81388843536377, + -14.876599179230482, + 0.044196625899389955 + ], + "centerline_face_intersection": [ + 15.812586507124724, + -14.874330429750355, + 0.044196625899389955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.793462753295898, + -14.870769500732422, + 0.044447869062423706 + ], + "box_pose": [ + 15.950464248657227, + -14.88056755065918, + 0.04187305271625519, + 0.3733590245246887, + -0.5905718207359314, + 0.469320684671402, + -0.5399684906005859 + ], + "box_yaw_rad": -1.7154529633955138, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002268749480126501, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035908860309440114 + } + } + }, + { + "simulation_time_ns": 8060000000, + "center": [ + 15.944696750030628, + -14.872975442469622, + 0.044671623219816284 + ], + "face_center": [ + 15.941707819641865, + -14.891167170296045, + 0.09682762108745208 + ], + "face_normal": [ + -0.05403143598912763, + -0.3288551587819821, + 0.9428334198845114 + ], + "footprint_xy": [ + [ + 15.811191365346916, + -14.983057420348423 + ], + [ + 16.07820213471434, + -14.983057420348423 + ], + [ + 16.07820213471434, + -14.762893464590823 + ], + [ + 15.811191365346916, + -14.762893464590823 + ] + ], + "projected_box_corners": [ + [ + 15.835730742860422, + -14.799276920243669 + ], + [ + 16.072224273936815, + -14.839537510390276 + ], + [ + 15.841708603637949, + -14.762893464590823 + ], + [ + 16.07820213471434, + -14.803154054737432 + ], + [ + 15.811191365346916, + -14.942796830201814 + ], + [ + 16.04768489642331, + -14.983057420348423 + ], + [ + 15.817169226124442, + -14.906413374548968 + ], + [ + 16.053662757200833, + -14.946673964695577 + ] + ], + "yaw_rad": -1.7401411270896472, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.802990913391113, + -14.870732307434082, + 0.05802397429943085 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.936199374310497, + -14.889725221187089, + 0.0972406318875096 + ], + "intended_face_normal": [ + -0.06288404385002977, + -0.2952004359447482, + 0.9533636574986488 + ], + "commanded_contact_point": [ + 15.816392784118653, + -14.875857763562845, + 0.04450211855217229 + ], + "centerline_face_intersection": [ + 15.818085612433464, + -14.873395217410234, + 0.04450211855217229 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.798830032348633, + -14.868550300598145, + 0.0507705956697464 + ], + "box_pose": [ + 15.956087112426758, + -14.879790306091309, + 0.04196714609861374, + 0.3670598268508911, + -0.5983368158340454, + 0.46654781699180603, + -0.5381386876106262 + ], + "box_yaw_rad": -1.7302033621648518, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024625461526100872, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002629597999543749 + } + } + }, + { + "simulation_time_ns": 8080000000, + "center": [ + 15.94869840986539, + -14.873795394934968, + 0.04538475560808133 + ], + "face_center": [ + 15.946321375749152, + -14.892591304830601, + 0.09735767843243631 + ], + "face_normal": [ + -0.04297007624479221, + -0.3397770674758416, + 0.9395239391687937 + ], + "footprint_xy": [ + [ + 15.81600997155769, + -14.98330685139493 + ], + [ + 16.08138684817309, + -14.98330685139493 + ], + [ + 16.08138684817309, + -14.764283938475003 + ], + [ + 15.81600997155769, + -14.764283938475003 + ] + ], + "projected_box_corners": [ + [ + 15.839831828122332, + -14.80187575826627 + ], + [ + 16.076632779940613, + -14.840171340708693 + ], + [ + 15.84458589635481, + -14.764283938475003 + ], + [ + 16.08138684817309, + -14.802579520917426 + ], + [ + 15.81600997155769, + -14.94501126895251 + ], + [ + 16.052810923375972, + -14.98330685139493 + ], + [ + 15.820764039790168, + -14.90741944916124 + ], + [ + 16.057564991608448, + -14.945715031603664 + ] + ], + "yaw_rad": -1.7357134574058088, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.80662727355957, + -14.874808311462402, + 0.062289491295814514 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.941707819641865, + -14.891167170296045, + 0.09682762108745208 + ], + "intended_face_normal": [ + -0.05403143598912763, + -0.3288551587819821, + 0.9428334198845114 + ], + "commanded_contact_point": [ + 15.81875789642334, + -14.875527714023654, + 0.044671623219816284 + ], + "centerline_face_intersection": [ + 15.8230224960624, + -14.872975442469622, + 0.044671623219816284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.802990913391113, + -14.870732307434082, + 0.05802397429943085 + ], + "box_pose": [ + 15.961048126220703, + -14.879344940185547, + 0.041731610894203186, + 0.35856810212135315, + -0.6102866530418396, + 0.4549739956855774, + -0.5403496623039246 + ], + "box_yaw_rad": -1.7401411270896472, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025522715540316904, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023940385845798644 + } + } + }, + { + "simulation_time_ns": 8100000000, + "center": [ + 15.9527733518908, + -14.87490747093577, + 0.04563790995551081 + ], + "face_center": [ + 15.95081299689459, + -14.893764561186842, + 0.09760605361009277 + ], + "face_normal": [ + -0.0354376923235975, + -0.34088303584198343, + 0.9394375452512094 + ], + "footprint_xy": [ + [ + 15.821231175888775, + -14.982869951935838 + ], + [ + 16.084315527892826, + -14.982869951935838 + ], + [ + 16.084315527892826, + -14.766944989935704 + ], + [ + 15.821231175888775, + -14.766944989935704 + ] + ], + "projected_box_corners": [ + [ + 15.843058904122822, + -14.804659170437846 + ], + [ + 16.08039481790041, + -14.83942409864184 + ], + [ + 15.84697961411524, + -14.766944989935704 + ], + [ + 16.084315527892826, + -14.801709918139698 + ], + [ + 15.821231175888775, + -14.948105023731845 + ], + [ + 16.05856708966636, + -14.982869951935838 + ], + [ + 15.825151885881192, + -14.910390843229703 + ], + [ + 16.06248779965878, + -14.945155771433697 + ] + ], + "yaw_rad": -1.7218049340847084, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.81097412109375, + -14.876911163330078, + 0.06666949391365051 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.946321375749152, + -14.892591304830601, + 0.09735767843243631 + ], + "intended_face_normal": [ + -0.04297007624479221, + -0.3397770674758416, + 0.9395239391687937 + ], + "commanded_contact_point": [ + 15.82118881225586, + -14.876307149827902, + 0.04538475560808133 + ], + "centerline_face_intersection": [ + 15.827182116366224, + -14.873795394934968, + 0.04538475560808133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.80662727355957, + -14.874808311462402, + 0.062289491295814514 + ], + "box_pose": [ + 15.96507453918457, + -14.879996299743652, + 0.04222993180155754, + 0.3600529134273529, + -0.6137219667434692, + 0.4477425217628479, + -0.541510820388794 + ], + "box_yaw_rad": -1.7357134574058088, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002511754892934305, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026505527274381067 + } + } + }, + { + "simulation_time_ns": 8120000000, + "center": [ + 15.957607145011801, + -14.875623399021327, + 0.045589224609165334 + ], + "face_center": [ + 15.955846110227075, + -14.894504281417964, + 0.09755587053449438 + ], + "face_normal": [ + -0.03183454475996683, + -0.34131313076659175, + 0.9394104705282373 + ], + "footprint_xy": [ + [ + 15.826893585972943, + -14.982384127911393 + ], + [ + 16.08832070405066, + -14.982384127911393 + ], + [ + 16.08832070405066, + -14.768862670131261 + ], + [ + 15.826893585972943, + -14.768862670131261 + ] + ], + "projected_box_corners": [ + [ + 15.847083817709033, + -14.806624434924535 + ], + [ + 16.084798634481206, + -14.838703520201758 + ], + [ + 15.850605887278483, + -14.768862670131261 + ], + [ + 16.08832070405066, + -14.800941755408484 + ], + [ + 15.826893585972943, + -14.95030504263417 + ], + [ + 16.06460840274512, + -14.982384127911393 + ], + [ + 15.830415655542394, + -14.912543277840896 + ], + [ + 16.068130472314568, + -14.94462236311812 + ] + ], + "yaw_rad": -1.7104038242255017, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.816291809082031, + -14.87664794921875, + 0.06963872909545898 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.95081299689459, + -14.893764561186842, + 0.09760605361009277 + ], + "intended_face_normal": [ + -0.0354376923235975, + -0.34088303584198343, + 0.9394375452512094 + ], + "commanded_contact_point": [ + 15.823881034851075, + -14.877339078132932, + 0.04563790995551081 + ], + "centerline_face_intersection": [ + 15.83153095960373, + -14.87490747093577, + 0.04563790995551081 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.81097412109375, + -14.876911163330078, + 0.06666949391365051 + ], + "box_pose": [ + 15.969231605529785, + -14.88086223602295, + 0.04243660718202591, + 0.3650473356246948, + -0.6118600368499756, + 0.4430563449859619, + -0.544122040271759 + ], + "box_yaw_rad": -1.7218049340847084, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002431607197162008, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002894309183990321 + } + } + }, + { + "simulation_time_ns": 8140000000, + "center": [ + 15.961496351342005, + -14.875904801274453, + 0.04472434675991665 + ], + "face_center": [ + 15.959418195291418, + -14.894639750514216, + 0.09673208100857801 + ], + "face_normal": [ + -0.037567203319586184, + -0.3386750706585442, + 0.9401532315909833 + ], + "footprint_xy": [ + [ + 15.831036558215448, + -14.981905678094504 + ], + [ + 16.09195614446856, + -14.981905678094504 + ], + [ + 16.09195614446856, + -14.769903924454404 + ], + [ + 15.831036558215448, + -14.769903924454404 + ] + ], + "projected_box_corners": [ + [ + 15.849863227935073, + -14.80737382293393 + ], + [ + 16.087799832367384, + -14.837939775956825 + ], + [ + 15.854019540036248, + -14.769903924454404 + ], + [ + 16.09195614446856, + -14.800469877477298 + ], + [ + 15.831036558215448, + -14.951339725071609 + ], + [ + 16.06897316264776, + -14.981905678094504 + ], + [ + 15.835192870316623, + -14.913869826592084 + ], + [ + 16.07312947474894, + -14.944435779614977 + ] + ], + "yaw_rad": -1.7008301578614138, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.820517539978027, + -14.874554634094238, + 0.07032625377178192 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.955846110227075, + -14.894504281417964, + 0.09755587053449438 + ], + "intended_face_normal": [ + -0.03183454475996683, + -0.34131313076659175, + 0.9394104705282373 + ], + "commanded_contact_point": [ + 15.826495056152345, + -14.878014024210593, + 0.045589224609165334 + ], + "centerline_face_intersection": [ + 15.836558005741656, + -14.875623399021327, + 0.045589224609165334 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.816291809082031, + -14.87664794921875, + 0.06963872909545898 + ], + "box_pose": [ + 15.974132537841797, + -14.881391525268555, + 0.0423920601606369, + 0.3684263229370117, + -0.6097248792648315, + 0.44000622630119324, + -0.5467103719711304 + ], + "box_yaw_rad": -1.7104038242255017, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0023906251892650936, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002700190703300273 + } + } + }, + { + "simulation_time_ns": 8160000000, + "center": [ + 15.963535249159147, + -14.875772288657343, + 0.04463881891715739 + ], + "face_center": [ + 15.961431559750837, + -14.894302164033055, + 0.09671893771648585 + ], + "face_normal": [ + -0.03802877445171049, + -0.3349679132753849, + 0.9414617402235947 + ], + "footprint_xy": [ + [ + 15.833301703998517, + -14.981280590821699 + ], + [ + 16.093768794319775, + -14.981280590821699 + ], + [ + 16.093768794319775, + -14.770263986492987 + ], + [ + 15.833301703998517, + -14.770263986492987 + ] + ], + "projected_box_corners": [ + [ + 15.851513661908841, + -14.807323737244412 + ], + [ + 16.089561415503155, + -14.837033900105608 + ], + [ + 15.855721040725463, + -14.770263986492987 + ], + [ + 16.093768794319775, + -14.799974149354181 + ], + [ + 15.833301703998517, + -14.951570427960503 + ], + [ + 16.07134945759283, + -14.981280590821699 + ], + [ + 15.837509082815139, + -14.914510677209076 + ], + [ + 16.07555683640945, + -14.944220840070273 + ] + ], + "yaw_rad": -1.6963874497946327, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.82286262512207, + -14.8733491897583, + 0.06686273217201233 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.959418195291418, + -14.894639750514216, + 0.09673208100857801 + ], + "intended_face_normal": [ + -0.037567203319586184, + -0.3386750706585442, + 0.9401532315909833 + ], + "commanded_contact_point": [ + 15.828782920837403, + -14.878349433150927, + 0.04472434675991665 + ], + "centerline_face_intersection": [ + 15.840560045510937, + -14.875904801274453, + 0.04472434675991665 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.820517539978027, + -14.874554634094238, + 0.07032625377178192 + ], + "box_pose": [ + 15.978084564208984, + -14.881576538085938, + 0.04168388992547989, + 0.36935120820999146, + -0.6055682897567749, + 0.4407291114330292, + -0.5501133799552917 + ], + "box_yaw_rad": -1.7008301578614138, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024446318764736923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024687725023815233 + } + } + }, + { + "simulation_time_ns": 8180000000, + "center": [ + 15.964031978512136, + -14.875716307727554, + 0.04456769152186467 + ], + "face_center": [ + 15.961901969460154, + -14.894083106665567, + 0.09670447834082269 + ], + "face_normal": [ + -0.03850455941733699, + -0.33201995097487824, + 0.9424861382780811 + ], + "footprint_xy": [ + [ + 15.833961984950337, + -14.9808538736834 + ], + [ + 16.094101972073936, + -14.9808538736834 + ], + [ + 16.094101972073936, + -14.77057874177171 + ], + [ + 15.833961984950337, + -14.77057874177171 + ] + ], + "projected_box_corners": [ + [ + 15.851714926020996, + -14.807312339647735 + ], + [ + 16.089841953969973, + -14.836391509198585 + ], + [ + 15.85597494412496, + -14.77057874177171 + ], + [ + 16.094101972073936, + -14.799657911322557 + ], + [ + 15.833961984950337, + -14.951774704132552 + ], + [ + 16.072089012899312, + -14.9808538736834 + ], + [ + 15.8382220030543, + -14.915041106256526 + ], + [ + 16.076349031003275, + -14.944120275807373 + ] + ], + "yaw_rad": -1.693072980936312, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.823739051818848, + -14.871848106384277, + 0.06063765287399292 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.961431559750837, + -14.894302164033055, + 0.09671893771648585 + ], + "intended_face_normal": [ + -0.03802877445171049, + -0.3349679132753849, + 0.9414617402235947 + ], + "commanded_contact_point": [ + 15.830976371765138, + -14.878313844489778, + 0.04463881891715739 + ], + "centerline_face_intersection": [ + 15.84265541085968, + -14.875772288657343, + 0.04463881891715739 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.82286262512207, + -14.8733491897583, + 0.06686273217201233 + ], + "box_pose": [ + 15.980149269104004, + -14.881396293640137, + 0.04165108501911163, + 0.3711751699447632, + -0.6035062670707703, + 0.4412992596626282, + -0.5506941676139832 + ], + "box_yaw_rad": -1.6963874497946327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025415558324353776, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002195406235089124 + } + } + }, + { + "simulation_time_ns": 8200000000, + "center": [ + 15.963962043426974, + -14.875557518232998, + 0.044503564599697704 + ], + "face_center": [ + 15.961747990214025, + -14.893728615958032, + 0.09670538670590849 + ], + "face_normal": [ + -0.040023840937134736, + -0.32848222470270727, + 0.9436617929448623 + ], + "footprint_xy": [ + [ + 15.833852956153667, + -14.980589986580005 + ], + [ + 16.094071130700282, + -14.980589986580005 + ], + [ + 16.094071130700282, + -14.770525049885991 + ], + [ + 15.833852956153667, + -14.770525049885991 + ] + ], + "projected_box_corners": [ + [ + 15.85151388475277, + -14.806867245336061 + ], + [ + 16.089643024274384, + -14.835933816993284 + ], + [ + 15.85594199117867, + -14.770525049885991 + ], + [ + 16.094071130700282, + -14.799591621543213 + ], + [ + 15.833852956153667, + -14.951523414922782 + ], + [ + 16.071982095675278, + -14.980589986580005 + ], + [ + 15.838281062579565, + -14.915181219472712 + ], + [ + 16.07641020210118, + -14.944247791129934 + ] + ], + "yaw_rad": -1.692284096835578, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.823614120483398, + -14.869616508483887, + 0.05609883368015289 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.961901969460154, + -14.894083106665567, + 0.09670447834082269 + ], + "intended_face_normal": [ + -0.03850455941733699, + -0.33201995097487824, + 0.9424861382780811 + ], + "commanded_contact_point": [ + 15.83309352874756, + -14.87841259161372, + 0.04456769152186467 + ], + "centerline_face_intersection": [ + 15.843192382058609, + -14.875716307727554, + 0.04456769152186467 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.823739051818848, + -14.871848106384277, + 0.06063765287399292 + ], + "box_pose": [ + 15.98066520690918, + -14.881305694580078, + 0.041622161865234375, + 0.3725492060184479, + -0.6018983125686646, + 0.4418111741542816, + -0.5511155724525452 + ], + "box_yaw_rad": -1.693072980936312, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0026962838861664543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021206517368643468 + } + } + }, + { + "simulation_time_ns": 8220000000, + "center": [ + 15.964256905648028, + -14.875516112634607, + 0.04442305582418928 + ], + "face_center": [ + 15.961962803113149, + -14.89338704325229, + 0.09672494403283707 + ], + "face_normal": [ + -0.04147090702807077, + -0.32305604953719325, + 0.9454707060024674 + ], + "footprint_xy": [ + [ + 15.834283626228634, + -14.980104047855665 + ], + [ + 16.09423018506742, + -14.980104047855665 + ], + [ + 16.09423018506742, + -14.770928177413548 + ], + [ + 15.834283626228634, + -14.770928177413548 + ] + ], + "projected_box_corners": [ + [ + 15.851437728057087, + -14.806670038648914 + ], + [ + 16.089641979997666, + -14.835104833501148 + ], + [ + 15.856025933126844, + -14.770928177413548 + ], + [ + 16.09423018506742, + -14.799362972265783 + ], + [ + 15.834283626228634, + -14.95166925300343 + ], + [ + 16.072487878169213, + -14.980104047855665 + ], + [ + 15.838871831298391, + -14.915927391768065 + ], + [ + 16.077076083238968, + -14.9443621866203 + ] + ], + "yaw_rad": -1.6885537751946673, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.824490547180176, + -14.869889259338379, + 0.05469644069671631 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.961747990214025, + -14.893728615958032, + 0.09670538670590849 + ], + "intended_face_normal": [ + -0.040023840937134736, + -0.32848222470270727, + 0.9436617929448623 + ], + "commanded_contact_point": [ + 15.834928398132325, + -14.87849144250913, + 0.044503564599697704 + ], + "centerline_face_intersection": [ + 15.843123518499537, + -14.875557518232998, + 0.044503564599697704 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.823614120483398, + -14.869616508483887, + 0.05609883368015289 + ], + "box_pose": [ + 15.980600357055664, + -14.881156921386719, + 0.04160616546869278, + 0.373239666223526, + -0.6006078124046326, + 0.44322797656059265, + -0.550918698310852 + ], + "box_yaw_rad": -1.692284096835578, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002933924276130923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018376820685318963 + } + } + }, + { + "simulation_time_ns": 8240000000, + "center": [ + 15.965735998597944, + -14.876814652033136, + 0.04446578140341707 + ], + "face_center": [ + 15.963829523178914, + -14.89510128323041, + 0.09663938995985402 + ], + "face_normal": [ + -0.03446370144832045, + -0.3305707442056285, + 0.9431517714955966 + ], + "footprint_xy": [ + [ + 15.836837859833786, + -14.980194942439196 + ], + [ + 16.0946341373621, + -14.980194942439196 + ], + [ + 16.0946341373621, + -14.773434361627078 + ], + [ + 15.836837859833786, + -14.773434361627078 + ] + ], + "projected_box_corners": [ + [ + 15.852268417804082, + -14.810007624021623 + ], + [ + 16.090821186524042, + -14.835363056115932 + ], + [ + 15.85608136864214, + -14.773434361627078 + ], + [ + 16.0946341373621, + -14.798789793721388 + ], + [ + 15.836837859833786, + -14.954839510344886 + ], + [ + 16.07539062855375, + -14.980194942439196 + ], + [ + 15.840650810671846, + -14.91826624795034 + ], + [ + 16.079203579391805, + -14.94362168004465 + ] + ], + "yaw_rad": -1.6769370987369865, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.825882911682129, + -14.873373031616211, + 0.055656105279922485 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.961962803113149, + -14.89338704325229, + 0.09672494403283707 + ], + "intended_face_normal": [ + -0.04147090702807077, + -0.32305604953719325, + 0.9454707060024674 + ], + "commanded_contact_point": [ + 15.836478118896485, + -14.878675111042586, + 0.04442305582418928 + ], + "centerline_face_intersection": [ + 15.843456484464907, + -14.875516112634607, + 0.04442305582418928 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.824490547180176, + -14.869889259338379, + 0.05469644069671631 + ], + "box_pose": [ + 15.980916976928711, + -14.881088256835938, + 0.04159907251596451, + 0.3751036524772644, + -0.5981392860412598, + 0.4447125196456909, + -0.5511418581008911 + ], + "box_yaw_rad": -1.6885537751946673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0031589984079800353, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015626420703362851 + } + } + }, + { + "simulation_time_ns": 8260000000, + "center": [ + 15.966547041655744, + -14.87864535778429, + 0.0446183281469774 + ], + "face_center": [ + 15.965032402157728, + -14.897488821833326, + 0.09660631217276841 + ], + "face_normal": [ + -0.027380412535293885, + -0.34063671251984573, + 0.9397962032350193 + ], + "footprint_xy": [ + [ + 15.838616865415116, + -14.98106982893045 + ], + [ + 16.094477217896372, + -14.98106982893045 + ], + [ + 16.094477217896372, + -14.776220886638129 + ], + [ + 15.838616865415116, + -14.776220886638129 + ] + ], + "projected_box_corners": [ + [ + 15.852631634844148, + -14.8139078147362 + ], + [ + 16.09144793890034, + -14.83661244355589 + ], + [ + 15.855660913840177, + -14.776220886638129 + ], + [ + 16.094477217896372, + -14.798925515457817 + ], + [ + 15.838616865415116, + -14.95836520011076 + ], + [ + 16.07743316947131, + -14.98106982893045 + ], + [ + 15.841646144411145, + -14.920678272012688 + ], + [ + 16.08046244846734, + -14.943382900832377 + ] + ], + "yaw_rad": -1.667510288378508, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.82634449005127, + -14.879287719726562, + 0.05579213798046112 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.963829523178914, + -14.89510128323041, + 0.09663938995985402 + ], + "intended_face_normal": [ + -0.03446370144832045, + -0.3305707442056285, + 0.9431517714955966 + ], + "commanded_contact_point": [ + 15.837902908325196, + -14.880111315257793, + 0.04446578140341707 + ], + "centerline_face_intersection": [ + 15.845112062365994, + -14.876814652033136, + 0.04446578140341707 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.825882911682129, + -14.873373031616211, + 0.055656105279922485 + ], + "box_pose": [ + 15.982458114624023, + -14.882149696350098, + 0.04155204817652702, + 0.3775642216205597, + -0.5981635451316833, + 0.43836045265197754, + -0.5545139908790588 + ], + "box_yaw_rad": -1.6769370987369865, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003296663224657052, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020234952283273992 + } + } + }, + { + "simulation_time_ns": 8280000000, + "center": [ + 15.967270325963518, + -14.880411574229115, + 0.04458891430200385 + ], + "face_center": [ + 15.966050179824405, + -14.899282690664378, + 0.09657461191575913 + ], + "face_normal": [ + -0.022056802748146254, + -0.341136589714079, + 0.9397548713505373 + ], + "footprint_xy": [ + [ + 15.840622779337224, + -14.981060389199438 + ], + [ + 16.093917872589813, + -14.981060389199438 + ], + [ + 16.093917872589813, + -14.779762759258789 + ], + [ + 15.840622779337224, + -14.779762759258789 + ] + ], + "projected_box_corners": [ + [ + 15.852329922069904, + -14.81750499212932 + ], + [ + 16.091477580311587, + -14.83640419451052 + ], + [ + 15.85477021434813, + -14.779762759258789 + ], + [ + 16.093917872589813, + -14.79866196163999 + ], + [ + 15.840622779337224, + -14.96216118681824 + ], + [ + 16.079770437578908, + -14.981060389199438 + ], + [ + 15.843063071615452, + -14.924418953947708 + ], + [ + 16.082210729857135, + -14.943318156328909 + ] + ], + "yaw_rad": -1.651551132625452, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.826452255249023, + -14.889266967773438, + 0.05058690905570984 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.965032402157728, + -14.897488821833326, + 0.09660631217276841 + ], + "intended_face_normal": [ + -0.027380412535293885, + -0.34063671251984573, + 0.9397962032350193 + ], + "commanded_contact_point": [ + 15.839154129028321, + -14.881916326531256, + 0.0446183281469774 + ], + "centerline_face_intersection": [ + 15.846056214717644, + -14.87864535778429, + 0.0446183281469774 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.82634449005127, + -14.879287719726562, + 0.05579213798046112 + ], + "box_pose": [ + 15.983316421508789, + -14.883764266967773, + 0.04159073159098625, + 0.37878525257110596, + -0.5993098020553589, + 0.43151289224624634, + -0.5578047037124634 + ], + "box_yaw_rad": -1.667510288378508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003270968746966147, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002201565228247483 + } + } + }, + { + "simulation_time_ns": 8300000000, + "center": [ + 15.96775879370574, + -14.881819504439042, + 0.04457850263113988 + ], + "face_center": [ + 15.966777591883691, + -14.9007172860411, + 0.09655957984555463 + ], + "face_normal": [ + -0.01773736305127116, + -0.34161862076376437, + 0.9396713475548175 + ], + "footprint_xy": [ + [ + 15.842154049329988, + -14.981045573949423 + ], + [ + 16.09336353808149, + -14.981045573949423 + ], + [ + 16.09336353808149, + -14.782593434928662 + ], + [ + 15.842154049329988, + -14.782593434928662 + ] + ], + "projected_box_corners": [ + [ + 15.852033824994356, + -14.82038899813278 + ], + [ + 16.091401134437394, + -14.836265999235495 + ], + [ + 15.853996228638454, + -14.782593434928662 + ], + [ + 16.09336353808149, + -14.798470436031378 + ], + [ + 15.842154049329988, + -14.965168572846707 + ], + [ + 16.081521358773024, + -14.981045573949423 + ], + [ + 15.844116452974086, + -14.92737300964259 + ], + [ + 16.083483762417124, + -14.943250010745304 + ] + ], + "yaw_rad": -1.6389308176366928, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.826608657836914, + -14.896893501281738, + 0.048608750104904175 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.966050179824405, + -14.899282690664378, + 0.09657461191575913 + ], + "intended_face_normal": [ + -0.022056802748146254, + -0.341136589714079, + 0.9397548713505373 + ], + "commanded_contact_point": [ + 15.840907936096192, + -14.883328327234308, + 0.04458891430200385 + ], + "centerline_face_intersection": [ + 15.846946446676556, + -14.880411574229115, + 0.04458891430200385 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.826452255249023, + -14.889266967773438, + 0.05058690905570984 + ], + "box_pose": [ + 15.984119415283203, + -14.885262489318848, + 0.04156262055039406, + 0.3834889829158783, + -0.5962686538696289, + 0.4270455539226532, + -0.5612770318984985 + ], + "box_yaw_rad": -1.651551132625452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0029167530051932285, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002251766060453474 + } + } + }, + { + "simulation_time_ns": 8320000000, + "center": [ + 15.969223742443116, + -14.882867466296767, + 0.04459630284785654 + ], + "face_center": [ + 15.96842923133566, + -14.901782232550373, + 0.09657439459125623 + ], + "face_normal": [ + -0.014362521190363964, + -0.34192565538600483, + 0.9396173786545532 + ], + "footprint_xy": [ + [ + 15.844367990713689, + -14.981092309828977 + ], + [ + 16.094079494172544, + -14.981092309828977 + ], + [ + 16.094079494172544, + -14.784642622764558 + ], + [ + 15.844367990713689, + -14.784642622764558 + ] + ], + "projected_box_corners": [ + [ + 15.85299312363471, + -14.822472155271768 + ], + [ + 16.092490471957632, + -14.836240568666405 + ], + [ + 15.85458214584962, + -14.784642622764558 + ], + [ + 16.094079494172544, + -14.798411036159195 + ], + [ + 15.844367990713689, + -14.96732389643434 + ], + [ + 16.083865339036613, + -14.981092309828977 + ], + [ + 15.8459570129286, + -14.92949436392713 + ], + [ + 16.085454361251525, + -14.943262777321767 + ] + ], + "yaw_rad": -1.630270661423821, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.828433990478516, + -14.897395133972168, + 0.05024917423725128 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.966777591883691, + -14.9007172860411, + 0.09655957984555463 + ], + "intended_face_normal": [ + -0.01773736305127116, + -0.34161862076376437, + 0.9396713475548175 + ], + "commanded_contact_point": [ + 15.843584899902345, + -14.884133297570527, + 0.04457850263113988 + ], + "centerline_face_intersection": [ + 15.847545327510266, + -14.881819504439042, + 0.04457850263113988 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.826608657836914, + -14.896893501281738, + 0.048608750104904175 + ], + "box_pose": [ + 15.984667778015137, + -14.886456489562988, + 0.0415509007871151, + 0.3871796429157257, + -0.5938898324966431, + 0.4234177768230438, + -0.5640073418617249 + ], + "box_yaw_rad": -1.6389308176366928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0023137931314853684, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002795392792530646 + } + } + }, + { + "simulation_time_ns": 8340000000, + "center": [ + 15.972936202829048, + -14.882430438793227, + 0.044696793737722805 + ], + "face_center": [ + 15.972078731556042, + -14.901349415337341, + 0.09667234622859547 + ], + "face_normal": [ + -0.015500663506287538, + -0.342001765570096, + 0.9395714761267158 + ], + "footprint_xy": [ + [ + 15.847562634935818, + -14.981405905901555 + ], + [ + 16.09830977072228, + -14.981405905901555 + ], + [ + 16.09830977072228, + -14.783454971684899 + ], + [ + 15.847562634935818, + -14.783454971684899 + ] + ], + "projected_box_corners": [ + [ + 15.85719419119425, + -14.821292924773125 + ], + [ + 16.09659482817627, + -14.836623508029488 + ], + [ + 15.858909133740262, + -14.783454971684899 + ], + [ + 16.09830977072228, + -14.798785554941261 + ], + [ + 15.847562634935818, + -14.966075322645192 + ], + [ + 16.086963271917835, + -14.981405905901555 + ], + [ + 15.84927757748183, + -14.928237369556966 + ], + [ + 16.088678214463847, + -14.943567952813327 + ] + ], + "yaw_rad": -1.6372228115596992, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.832433700561523, + -14.892499923706055, + 0.05385679006576538 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.96842923133566, + -14.901782232550373, + 0.09657439459125623 + ], + "intended_face_normal": [ + -0.014362521190363964, + -0.34192565538600483, + 0.9396173786545532 + ], + "commanded_contact_point": [ + 15.846655731201173, + -14.884600152721237, + 0.04459630284785654 + ], + "centerline_face_intersection": [ + 15.849075548053785, + -14.882867466296767, + 0.04459630284785654 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.828433990478516, + -14.897395133972168, + 0.05024917423725128 + ], + "box_pose": [ + 15.98617172241211, + -14.887354850769043, + 0.0415613129734993, + 0.38982322812080383, + -0.5923264026641846, + 0.4208028316497803, + -0.5657848119735718 + ], + "box_yaw_rad": -1.630270661423821, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017326864244693492, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031061673241025755 + } + } + }, + { + "simulation_time_ns": 8360000000, + "center": [ + 15.978736072512225, + -14.881263970917642, + 0.04533934654663263 + ], + "face_center": [ + 15.977884239109708, + -14.900196304409636, + 0.09731012786509895 + ], + "face_normal": [ + -0.015398746700348909, + -0.3422432215361333, + 0.9394852267789773 + ], + "footprint_xy": [ + [ + 15.852154540720516, + -14.982134492368033 + ], + [ + 16.105317604303934, + -14.982134492368033 + ], + [ + 16.105317604303934, + -14.78039344946725 + ], + [ + 15.852154540720516, + -14.78039344946725 + ] + ], + "projected_box_corners": [ + [ + 15.864515663422525, + -14.818258116451238 + ], + [ + 16.1036139374989, + -14.837562841355384 + ], + [ + 15.86621933022756, + -14.78039344946725 + ], + [ + 16.105317604303934, + -14.799698174371395 + ], + [ + 15.852154540720516, + -14.962829767463887 + ], + [ + 16.09125281479689, + -14.982134492368033 + ], + [ + 15.853858207525551, + -14.924965100479898 + ], + [ + 16.092956481601924, + -14.944269825384044 + ] + ], + "yaw_rad": -1.6560905866855469, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.838190078735352, + -14.88824462890625, + 0.05895523726940155 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.972078731556042, + -14.901349415337341, + 0.09667234622859547 + ], + "intended_face_normal": [ + -0.015500663506287538, + -0.342001765570096, + 0.9395714761267158 + ], + "commanded_contact_point": [ + 15.849489097595216, + -14.883760345821184, + 0.044696793737722805 + ], + "centerline_face_intersection": [ + 15.852739471839593, + -14.882430438793227, + 0.044696793737722805 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.832433700561523, + -14.892499923706055, + 0.05385679006576538 + ], + "box_pose": [ + 15.989850997924805, + -14.887027740478516, + 0.041641268879175186, + 0.3880811333656311, + -0.5939629077911377, + 0.4223649501800537, + -0.5641001462936401 + ], + "box_yaw_rad": -1.6372228115596992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013299070279562382, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002956913791644186 + } + } + }, + { + "simulation_time_ns": 8380000000, + "center": [ + 15.98451234934356, + -14.880210407617032, + 0.044929839520917246 + ], + "face_center": [ + 15.983161791488904, + -14.899114263325723, + 0.09690042317667114 + ], + "face_normal": [ + -0.024414278950064983, + -0.3417284234894815, + 0.9394816535943242 + ], + "footprint_xy": [ + [ + 15.85653881394532, + -14.982865495553149 + ], + [ + 16.1124858847418, + -14.982865495553149 + ], + [ + 16.1124858847418, + -14.777555319680914 + ], + [ + 15.85653881394532, + -14.777555319680914 + ] + ], + "projected_box_corners": [ + [ + 15.871016568651472, + -14.815363031098295 + ], + [ + 16.109784769032483, + -14.83849790292249 + ], + [ + 15.87371768436079, + -14.777555319680914 + ], + [ + 16.1124858847418, + -14.80069019150511 + ], + [ + 15.85653881394532, + -14.959730623728955 + ], + [ + 16.095307014326334, + -14.982865495553149 + ], + [ + 15.859239929654638, + -14.921922912311574 + ], + [ + 16.09800813003565, + -14.945057784135768 + ] + ], + "yaw_rad": -1.670746125522828, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.843743324279785, + -14.885092735290527, + 0.06236426532268524 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.977884239109708, + -14.900196304409636, + 0.09731012786509895 + ], + "intended_face_normal": [ + -0.015398746700348909, + -0.3422432215361333, + 0.9394852267789773 + ], + "commanded_contact_point": [ + 15.852005844116212, + -14.882314651626054, + 0.04533934654663263 + ], + "centerline_face_intersection": [ + 15.858387341124727, + -14.881263970917642, + 0.04533934654663263 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.838190078735352, + -14.88824462890625, + 0.05895523726940155 + ], + "box_pose": [ + 15.995553016662598, + -14.886139869689941, + 0.04217743128538132, + 0.38428249955177307, + -0.5990127325057983, + 0.4256822168827057, + -0.5588428974151611 + ], + "box_yaw_rad": -1.6560905866855469, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001050680708411917, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029726955560596792 + } + } + }, + { + "simulation_time_ns": 8400000000, + "center": [ + 15.990030495686554, + -14.87941879077526, + 0.04465083448731213 + ], + "face_center": [ + 15.988225608915547, + -14.89793205938625, + 0.09674808139811766 + ], + "face_normal": [ + -0.032627265058415844, + -0.3346677097816766, + 0.9417713681969886 + ], + "footprint_xy": [ + [ + 15.861054980677542, + -14.983120482778443 + ], + [ + 16.119006010695568, + -14.983120482778443 + ], + [ + 16.119006010695568, + -14.775717098772075 + ], + [ + 15.861054980677542, + -14.775717098772075 + ] + ], + "projected_box_corners": [ + [ + 15.876892991901503, + -14.812743635994055 + ], + [ + 16.11539623715355, + -14.838545897388247 + ], + [ + 15.880502765443518, + -14.775717098772075 + ], + [ + 16.119006010695568, + -14.80151936016627 + ], + [ + 15.861054980677542, + -14.95731822138425 + ], + [ + 16.09955822592959, + -14.983120482778443 + ], + [ + 15.864664754219557, + -14.92029168416227 + ], + [ + 16.103167999471605, + -14.946093945556465 + ] + ], + "yaw_rad": -1.6799102917501176, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.849177360534668, + -14.882566452026367, + 0.06198696792125702 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.983161791488904, + -14.899114263325723, + 0.09690042317667114 + ], + "intended_face_normal": [ + -0.024414278950064983, + -0.3417284234894815, + 0.9394816535943242 + ], + "commanded_contact_point": [ + 15.854389076232911, + -14.881065795218504, + 0.044929839520917246 + ], + "centerline_face_intersection": [ + 15.863997247600054, + -14.880210407617032, + 0.044929839520917246 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.843743324279785, + -14.885092735290527, + 0.06236426532268524 + ], + "box_pose": [ + 16.00126075744629, + -14.885355949401855, + 0.041832100600004196, + 0.3787267506122589, + -0.6009765267372131, + 0.43093135952949524, + -0.5564993619918823 + ], + "box_yaw_rad": -1.670746125522828, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000855387601472088, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00272160497737177 + } + } + }, + { + "simulation_time_ns": 8420000000, + "center": [ + 15.995788542044325, + -14.878645077547525, + 0.044374624983855 + ], + "face_center": [ + 15.993305717574513, + -14.895777999030216, + 0.09691432099701494 + ], + "face_normal": [ + -0.04488246762698722, + -0.3097149247366584, + 0.9497696007560954 + ], + "footprint_xy": [ + [ + 15.865998549403596, + -14.982373544090606 + ], + [ + 16.125578534685058, + -14.982373544090606 + ], + [ + 16.125578534685058, + -14.774916611004441 + ], + [ + 15.865998549403596, + -14.774916611004441 + ] + ], + "projected_box_corners": [ + [ + 15.882299668915936, + -14.809182453969827 + ], + [ + 16.12061288574543, + -14.836601030260377 + ], + [ + 15.887265317855563, + -14.774916611004441 + ], + [ + 16.125578534685058, + -14.802335187294991 + ], + [ + 15.865998549403596, + -14.954954967800056 + ], + [ + 16.10431176623309, + -14.982373544090606 + ], + [ + 15.870964198343223, + -14.92068912483467 + ], + [ + 16.109277415172716, + -14.94810770112522 + ] + ], + "yaw_rad": -1.6821594082980982, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.85486125946045, + -14.880121231079102, + 0.059915691614151 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.988225608915547, + -14.89793205938625, + 0.09674808139811766 + ], + "intended_face_normal": [ + -0.032627265058415844, + -0.3346677097816766, + 0.9417713681969886 + ], + "commanded_contact_point": [ + 15.856710319519044, + -14.880148271926688, + 0.04465083448731213 + ], + "centerline_face_intersection": [ + 15.869381512769687, + -14.87941879077526, + 0.04465083448731213 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.849177360534668, + -14.882566452026367, + 0.06198696792125702 + ], + "box_pose": [ + 16.00673484802246, + -14.884772300720215, + 0.041669830679893494, + 0.37634849548339844, + -0.6002089381217957, + 0.437067449092865, + -0.5541509985923767 + ], + "box_yaw_rad": -1.6799102917501176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007294811514277906, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002511545976728122 + } + } + }, + { + "simulation_time_ns": 8440000000, + "center": [ + 16.000429410127154, + -14.877821741282704, + 0.0441749270387376 + ], + "face_center": [ + 15.99742575262562, + -14.893592762816562, + 0.09711238148076397 + ], + "face_normal": [ + -0.05429766067404884, + -0.285095612695903, + 0.9569599519162395 + ], + "footprint_xy": [ + [ + 15.870303609027854, + -14.98084301819841 + ], + [ + 16.130555211226454, + -14.98084301819841 + ], + [ + 16.130555211226454, + -14.774800464366995 + ], + [ + 15.870303609027854, + -14.774800464366995 + ] + ], + "projected_box_corners": [ + [ + 15.88629714233856, + -14.806342507434712 + ], + [ + 16.124547896223387, + -14.833887275932211 + ], + [ + 15.892304457341627, + -14.774800464366995 + ], + [ + 16.130555211226454, + -14.802345232864495 + ], + [ + 15.870303609027854, + -14.95329824970091 + ], + [ + 16.10855436291268, + -14.98084301819841 + ], + [ + 15.876310924030921, + -14.921756206633194 + ], + [ + 16.11456167791575, + -14.949300975130694 + ] + ], + "yaw_rad": -1.6792019805450686, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.859504699707031, + -14.877908706665039, + 0.05747206509113312 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.993305717574513, + -14.895777999030216, + 0.09691432099701494 + ], + "intended_face_normal": [ + -0.04488246762698722, + -0.3097149247366584, + 0.9497696007560954 + ], + "commanded_contact_point": [ + 15.858672027587891, + -14.879315512557689, + 0.044374624983855 + ], + "centerline_face_intersection": [ + 15.875043354912636, + -14.878645077547525, + 0.044374624983855 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.85486125946045, + -14.880121231079102, + 0.059915691614151 + ], + "box_pose": [ + 16.01248550415039, + -14.884186744689941, + 0.04171321541070938, + 0.37916192412376404, + -0.5927894711494446, + 0.4487524628639221, + -0.5508703589439392 + ], + "box_yaw_rad": -1.6821594082980982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000670435010164709, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002148971475808185 + } + } + }, + { + "simulation_time_ns": 8460000000, + "center": [ + 16.002614639271155, + -14.877299187349701, + 0.0441542601398171 + ], + "face_center": [ + 15.999654368107777, + -14.892986941738668, + 0.09711889180182755 + ], + "face_normal": [ + -0.05351335798109602, + -0.283590377436461, + 0.9574512394441967 + ], + "footprint_xy": [ + [ + 15.872887669910297, + -14.97965386712084 + ], + [ + 16.13234160863201, + -14.97965386712084 + ], + [ + 16.13234160863201, + -14.774944507578564 + ], + [ + 15.872887669910297, + -14.774944507578564 + ] + ], + "projected_box_corners": [ + [ + 15.888025196314015, + -14.806320016356498 + ], + [ + 16.12642106630526, + -14.832527411836466 + ], + [ + 15.893945738640769, + -14.774944507578564 + ], + [ + 16.13234160863201, + -14.801151903058532 + ], + [ + 15.872887669910297, + -14.953446471640872 + ], + [ + 16.11128353990154, + -14.97965386712084 + ], + [ + 15.87880821223705, + -14.922070962862938 + ], + [ + 16.117204082228294, + -14.948278358342906 + ] + ], + "yaw_rad": -1.6733234233371004, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.861824035644531, + -14.87657642364502, + 0.05511663854122162 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.99742575262562, + -14.893592762816562, + 0.09711238148076397 + ], + "intended_face_normal": [ + -0.05429766067404884, + -0.285095612695903, + 0.9569599519162395 + ], + "commanded_contact_point": [ + 15.860317115783692, + -14.878488697677575, + 0.0441749270387376 + ], + "centerline_face_intersection": [ + 15.879652566852434, + -14.877821741282704, + 0.0441749270387376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.859504699707031, + -14.877908706665039, + 0.05747206509113312 + ], + "box_pose": [ + 16.01714515686035, + -14.883443832397461, + 0.04181746393442154, + 0.3837955892086029, + -0.5844904780387878, + 0.4584246277809143, + -0.548560619354248 + ], + "box_yaw_rad": -1.6792019805450686, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006669563948712915, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018519765892754834 + } + } + }, + { + "simulation_time_ns": 8480000000, + "center": [ + 16.002941674847907, + -14.877230390504996, + 0.04415040406543472 + ], + "face_center": [ + 15.999991035740647, + -14.892912549816788, + 0.0971172332169661 + ], + "face_normal": [ + -0.05333923755812009, + -0.28348923421297023, + 0.9574909638602733 + ], + "footprint_xy": [ + [ + 15.87329820041613, + -14.97945386229475 + ], + [ + 16.132585149279684, + -14.97945386229475 + ], + [ + 16.132585149279684, + -14.775006918715244 + ], + [ + 15.87329820041613, + -14.775006918715244 + ] + ], + "projected_box_corners": [ + [ + 15.888258782867807, + -14.806371237338825 + ], + [ + 16.126683871065165, + -14.832302474078512 + ], + [ + 15.894160061082326, + -14.775006918715244 + ], + [ + 16.132585149279684, + -14.800938155454931 + ], + [ + 15.87329820041613, + -14.953522625555063 + ], + [ + 16.11172328861349, + -14.97945386229475 + ], + [ + 15.87919947863065, + -14.92215830693148 + ], + [ + 16.117624566828006, + -14.948089543671168 + ] + ], + "yaw_rad": -1.6721161573778265, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.862537384033203, + -14.875982284545898, + 0.05416455864906311 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.999654368107777, + -14.892986941738668, + 0.09711889180182755 + ], + "intended_face_normal": [ + -0.05351335798109602, + -0.283590377436461, + 0.9574512394441967 + ], + "commanded_contact_point": [ + 15.86191261291504, + -14.877995054292759, + 0.0441542601398171 + ], + "centerline_face_intersection": [ + 15.881911315161183, + -14.877299187349701, + 0.0441542601398171 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.861824035644531, + -14.87657642364502, + 0.05511663854122162 + ], + "box_pose": [ + 16.019363403320312, + -14.882832527160645, + 0.04182128608226776, + 0.3857472538948059, + -0.5827580094337463, + 0.4576066732406616, + -0.549716591835022 + ], + "box_yaw_rad": -1.6733234233371004, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006958669430585469, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001670246092114079 + } + } + }, + { + "simulation_time_ns": 8500000000, + "center": [ + 16.002941621483185, + -14.87724256594183, + 0.044151786431049785 + ], + "face_center": [ + 15.999990029053418, + -14.892940666510937, + 0.09711384065205339 + ], + "face_normal": [ + -0.05335647094171847, + -0.28377740720871536, + 0.9574046465762933 + ], + "footprint_xy": [ + [ + 15.873297764184892, + -14.979475937363281 + ], + [ + 16.132585478781476, + -14.979475937363281 + ], + [ + 16.132585478781476, + -14.775009194520377 + ], + [ + 15.873297764184892, + -14.775009194520377 + ] + ], + "projected_box_corners": [ + [ + 15.888257259059097, + -14.80640539565859 + ], + [ + 16.126682293921945, + -14.832337886490812 + ], + [ + 15.894160443918627, + -14.775009194520377 + ], + [ + 16.132585478781476, + -14.8009416853526 + ], + [ + 15.873297764184892, + -14.953543446531059 + ], + [ + 16.11172279904774, + -14.979475937363281 + ], + [ + 15.879200949044423, + -14.922147245392848 + ], + [ + 16.11762598390727, + -14.94807973622507 + ] + ], + "yaw_rad": -1.6721179628738774, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.860335350036621, + -14.874648094177246, + 0.0535307377576828 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.999991035740647, + -14.892912549816788, + 0.0971172332169661 + ], + "intended_face_normal": [ + -0.05333923755812009, + -0.28348923421297023, + 0.9574909638602733 + ], + "commanded_contact_point": [ + 15.863517646789552, + -14.877976181686419, + 0.04415040406543472 + ], + "centerline_face_intersection": [ + 15.882253142531154, + -14.877230390504996, + 0.04415040406543472 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.862537384033203, + -14.875982284545898, + 0.05416455864906311 + ], + "box_pose": [ + 16.019697189331055, + -14.882744789123535, + 0.04182104766368866, + 0.3860936760902405, + -0.5824524164199829, + 0.45736971497535706, + -0.5499944686889648 + ], + "box_yaw_rad": -1.6721161573778265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007457911814224611, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016051494581221413 + } + } + }, + { + "simulation_time_ns": 8520000000, + "center": [ + 16.002941599130985, + -14.8772517059469, + 0.04415230785146293 + ], + "face_center": [ + 15.99998927900837, + -14.892963035588602, + 0.09711039799719598 + ], + "face_normal": [ + -0.05336962557714031, + -0.28401655155009564, + 0.957332987269659 + ], + "footprint_xy": [ + [ + 15.873297256726733, + -14.97949362088785 + ], + [ + 16.132585941535233, + -14.97949362088785 + ], + [ + 16.132585941535233, + -14.775009791005951 + ], + [ + 15.873297256726733, + -14.775009791005951 + ] + ], + "projected_box_corners": [ + [ + 15.888256383903537, + -14.806432450289357 + ], + [ + 16.126681301290006, + -14.832366705223103 + ], + [ + 15.894161024148763, + -14.775009791005951 + ], + [ + 16.132585941535233, + -14.800944045939698 + ], + [ + 15.873297256726733, + -14.953559365954103 + ], + [ + 16.111722174113204, + -14.97949362088785 + ], + [ + 15.87920189697196, + -14.922136706670695 + ], + [ + 16.11762681435843, + -14.948070961604442 + ] + ], + "yaw_rad": -1.6721231053435552, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.855249404907227, + -14.871949195861816, + 0.05290856957435608 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.999990029053418, + -14.892940666510937, + 0.09711384065205339 + ], + "intended_face_normal": [ + -0.05335647094171847, + -0.28377740720871536, + 0.9574046465762933 + ], + "commanded_contact_point": [ + 15.864945297241212, + -14.878092135993835, + 0.044151786431049785 + ], + "centerline_face_intersection": [ + 15.882253062168997, + -14.87724256594183, + 0.044151786431049785 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860335350036621, + -14.874648094177246, + 0.0535307377576828 + ], + "box_pose": [ + 16.019697189331055, + -14.882756233215332, + 0.041821081191301346, + 0.3860072195529938, + -0.5825157761573792, + 0.45728516578674316, + -0.5500583648681641 + ], + "box_yaw_rad": -1.6721179628738774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008495700520057876, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014323523045914831 + } + } + }, + { + "simulation_time_ns": 8540000000, + "center": [ + 16.002939607209925, + -14.877257714179743, + 0.04415182057677541 + ], + "face_center": [ + 15.999985087699637, + -14.892976153294857, + 0.09710767184543087 + ], + "face_normal": [ + -0.053409384306508656, + -0.284145070788588, + 0.9572925146832247 + ], + "footprint_xy": [ + [ + 15.873294024520149, + -14.979504301048639 + ], + [ + 16.132585189899704, + -14.979504301048639 + ], + [ + 16.132585189899704, + -14.775011127310849 + ], + [ + 15.873294024520149, + -14.775011127310849 + ] + ], + "projected_box_corners": [ + [ + 15.888251544026359, + -14.806448005541075 + ], + [ + 16.126676150879124, + -14.832383405498584 + ], + [ + 15.894160583046938, + -14.775011127310849 + ], + [ + 16.132585189899704, + -14.800946527268357 + ], + [ + 15.873294024520149, + -14.953568901091131 + ], + [ + 16.111718631372913, + -14.979504301048639 + ], + [ + 15.879203063540729, + -14.922132022860904 + ], + [ + 16.117627670393492, + -14.948067422818413 + ] + ], + "yaw_rad": -1.6721164075225237, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.853280067443848, + -14.87005615234375, + 0.05496792495250702 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.99998927900837, + -14.892963035588602, + 0.09711039799719598 + ], + "intended_face_normal": [ + -0.05336962557714031, + -0.28401655155009564, + 0.957332987269659 + ], + "commanded_contact_point": [ + 15.866815452575684, + -14.878313376402309, + 0.04415230785146293 + ], + "centerline_face_intersection": [ + 15.882252980351307, + -14.8772517059469, + 0.04415230785146293 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.855249404907227, + -14.871949195861816, + 0.05290856957435608 + ], + "box_pose": [ + 16.019697189331055, + -14.88276481628418, + 0.04182044789195061, + 0.3859350085258484, + -0.5825695395469666, + 0.4572153687477112, + -0.5501101016998291 + ], + "box_yaw_rad": -1.6721231053435552, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010616704554091423, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018831963692820903 + } + } + }, + { + "simulation_time_ns": 8560000000, + "center": [ + 16.002935636740016, + -14.877259679078653, + 0.044150621014244704 + ], + "face_center": [ + 15.999977498405757, + -14.892979795909396, + 0.09710577957837505 + ], + "face_normal": [ + -0.053474802442813996, + -0.2841753991578706, + 0.9572799925380622 + ], + "footprint_xy": [ + [ + 15.873288048389679, + -14.979507442588863 + ], + [ + 16.13258322509035, + -14.979507442588863 + ], + [ + 16.13258322509035, + -14.775011915568445 + ], + [ + 15.873288048389679, + -14.775011915568445 + ] + ], + "projected_box_corners": [ + [ + 15.888242705162684, + -14.80645214922993 + ], + [ + 16.126666948421835, + -14.832387952998165 + ], + [ + 15.894158981831199, + -14.775011915568445 + ], + [ + 16.13258322509035, + -14.800947719336682 + ], + [ + 15.873288048389679, + -14.953571638820627 + ], + [ + 16.111712291648832, + -14.979507442588863 + ], + [ + 15.879204325058195, + -14.922131405159144 + ], + [ + 16.117628568317347, + -14.948067208927379 + ] + ], + "yaw_rad": -1.6720981096646277, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.8560152053833, + -14.870951652526855, + 0.05750150978565216 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.999985087699637, + -14.892976153294857, + 0.09710767184543087 + ], + "intended_face_normal": [ + -0.053409384306508656, + -0.284145070788588, + 0.9572925146832247 + ], + "commanded_contact_point": [ + 15.869139556884766, + -14.878607447108593, + 0.04415182057677541 + ], + "centerline_face_intersection": [ + 15.882250831240583, + -14.877257714179743, + 0.04415182057677541 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.853280067443848, + -14.87005615234375, + 0.05496792495250702 + ], + "box_pose": [ + 16.019695281982422, + -14.882770538330078, + 0.04181991145014763, + 0.3858881890773773, + -0.5825892090797424, + 0.4571846127510071, + -0.550147533416748 + ], + "box_yaw_rad": -1.6721164075225237, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013497329288488652, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023426349816444945 + } + } + }, + { + "simulation_time_ns": 8580000000, + "center": [ + 16.00293365645759, + -14.877263698766733, + 0.044151037372562284 + ], + "face_center": [ + 15.99997375766385, + -14.892988604576782, + 0.09710466877923771 + ], + "face_normal": [ + -0.05350662658772265, + -0.28426197040420753, + 0.9572523858361528 + ], + "footprint_xy": [ + [ + 15.873285147928643, + -14.979514525126577 + ], + [ + 16.13258216498654, + -14.979514525126577 + ], + [ + 16.13258216498654, + -14.775012872406888 + ], + [ + 15.873285147928643, + -14.775012872406888 + ] + ], + "projected_box_corners": [ + [ + 15.888238360681239, + -14.806462684026988 + ], + [ + 16.12666236739906, + -14.832399087389746 + ], + [ + 15.894158158268718, + -14.775012872406888 + ], + [ + 16.13258216498654, + -14.800949275769645 + ], + [ + 15.873285147928643, + -14.953578121763819 + ], + [ + 16.111709154646466, + -14.979514525126577 + ], + [ + 15.879204945516122, + -14.92212831014372 + ], + [ + 16.117628952233943, + -14.948064713506476 + ] + ], + "yaw_rad": -1.6720911654887913, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.860864639282227, + -14.87179183959961, + 0.06196589767932892 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.999977498405757, + -14.892979795909396, + 0.09710577957837505 + ], + "intended_face_normal": [ + -0.053474802442813996, + -0.2841753991578706, + 0.9572799925380622 + ], + "commanded_contact_point": [ + 15.871465568542481, + -14.878861733069574, + 0.044150621014244704 + ], + "centerline_face_intersection": [ + 15.88224667672199, + -14.877259679078653, + 0.044150621014244704 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.8560152053833, + -14.870951652526855, + 0.05750150978565216 + ], + "box_pose": [ + 16.019691467285156, + -14.882772445678711, + 0.04181967303156853, + 0.38586363196372986, + -0.5825780034065247, + 0.45718875527381897, + -0.5501733422279358 + ], + "box_yaw_rad": -1.6720981096646277, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016020539909207792, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00233987029997983 + } + } + }, + { + "simulation_time_ns": 8600000000, + "center": [ + 16.005159662064507, + -14.877199282870093, + 0.044401162854569104 + ], + "face_center": [ + 16.002510864246872, + -14.893687085187858, + 0.0971387888117983 + ], + "face_normal": [ + -0.04788279789640981, + -0.29805298874907393, + 0.9533476162038674 + ], + "footprint_xy": [ + [ + 15.875517521261163, + -14.980173258532867 + ], + [ + 16.13480180286785, + -14.980173258532867 + ], + [ + 16.13480180286785, + -14.774225307207319 + ], + [ + 15.875517521261163, + -14.774225307207319 + ] + ], + "projected_box_corners": [ + [ + 15.891110226408692, + -14.807200911842852 + ], + [ + 16.129504207232586, + -14.83375615132583 + ], + [ + 15.896407822043958, + -14.774225307207319 + ], + [ + 16.13480180286785, + -14.800780546690296 + ], + [ + 15.875517521261163, + -14.95361801904989 + ], + [ + 16.113911502085056, + -14.980173258532867 + ], + [ + 15.880815116896429, + -14.920642414414356 + ], + [ + 16.119209097720322, + -14.947197653897334 + ] + ], + "yaw_rad": -1.6768915545890315, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.86478328704834, + -14.870736122131348, + 0.06415164470672607 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 15.99997375766385, + -14.892988604576782, + 0.09710466877923771 + ], + "intended_face_normal": [ + -0.05350662658772265, + -0.28426197040420753, + 0.9572523858361528 + ], + "commanded_contact_point": [ + 15.873502616882325, + -14.879084627124339, + 0.044151037372562284 + ], + "centerline_face_intersection": [ + 15.882244576703604, + -14.877263698766733, + 0.044151037372562284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860864639282227, + -14.87179183959961, + 0.06196589767932892 + ], + "box_pose": [ + 16.019689559936523, + -14.882776260375977, + 0.04182014986872673, + 0.3858310580253601, + -0.5825895667076111, + 0.45716890692710876, + -0.5502002835273743 + ], + "box_yaw_rad": -1.6720911654887913, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0018209283576057084, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020492066445002887 + } + } + }, + { + "simulation_time_ns": 8620000000, + "center": [ + 16.006406648098878, + -14.877587001225761, + 0.04452427398228629 + ], + "face_center": [ + 16.004158046422514, + -14.895152670641764, + 0.0969314480440941 + ], + "face_normal": [ + -0.040648379767620924, + -0.31753778750588246, + 0.9473739774392875 + ], + "footprint_xy": [ + [ + 15.87696773145143, + -14.981180197620453 + ], + [ + 16.135845564746326, + -14.981180197620453 + ], + [ + 16.135845564746326, + -14.773993804831067 + ], + [ + 15.87696773145143, + -14.773993804831067 + ] + ], + "projected_box_corners": [ + [ + 15.892937277929342, + -14.809125143663072 + ], + [ + 16.1313483613936, + -14.835748387715212 + ], + [ + 15.897434481282067, + -14.773993804831067 + ], + [ + 16.135845564746326, + -14.800617048883206 + ], + [ + 15.87696773145143, + -14.954556953568316 + ], + [ + 16.115378814915687, + -14.981180197620453 + ], + [ + 15.881464934804155, + -14.91942561473631 + ], + [ + 16.119876018268414, + -14.946048858788448 + ] + ], + "yaw_rad": -1.6801659432231153, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.866289138793945, + -14.86867618560791, + 0.06168149411678314 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.002510864246872, + -14.893687085187858, + 0.0971387888117983 + ], + "intended_face_normal": [ + -0.04788279789640981, + -0.29805298874907393, + 0.9533476162038674 + ], + "commanded_contact_point": [ + 15.875553970336915, + -14.879278737657248, + 0.044401162854569104 + ], + "centerline_face_intersection": [ + 15.884455381433828, + -14.877199282870093, + 0.044401162854569104 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.86478328704834, + -14.870736122131348, + 0.06415164470672607 + ], + "box_pose": [ + 16.021886825561523, + -14.882715225219727, + 0.04187963902950287, + 0.38264670968055725, + -0.5881577134132385, + 0.4522775709629059, + -0.5505424737930298 + ], + "box_yaw_rad": -1.6768915545890315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002079454787155512, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002075642708028828 + } + } + }, + { + "simulation_time_ns": 8640000000, + "center": [ + 16.006653267770897, + -14.878250588622652, + 0.04461320328200904 + ], + "face_center": [ + 16.004714582720755, + -14.896654465797061, + 0.09674438204555469 + ], + "face_normal": [ + -0.03504596078369815, + -0.33269022096976286, + 0.9423847604446678 + ], + "footprint_xy": [ + [ + 15.877364727239454, + -14.982293629142681 + ], + [ + 16.135941808302338, + -14.982293629142681 + ], + [ + 16.135941808302338, + -14.774207548102623 + ], + [ + 15.877364727239454, + -14.774207548102623 + ] + ], + "projected_box_corners": [ + [ + 15.893654430084746, + -14.811015302451441 + ], + [ + 16.132064438202057, + -14.837674669343826 + ], + [ + 15.897531800185028, + -14.774207548102623 + ], + [ + 16.135941808302338, + -14.800866914995009 + ], + [ + 15.877364727239454, + -14.955634262250296 + ], + [ + 16.115774735356766, + -14.982293629142681 + ], + [ + 15.881242097339737, + -14.918826507901478 + ], + [ + 16.11965210545705, + -14.945485874793864 + ] + ], + "yaw_rad": -1.6829623302259584, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.863524436950684, + -14.872315406799316, + 0.05520574748516083 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.004158046422514, + -14.895152670641764, + 0.0969314480440941 + ], + "intended_face_normal": [ + -0.040648379767620924, + -0.31753778750588246, + 0.9473739774392875 + ], + "commanded_contact_point": [ + 15.877837066650391, + -14.880022888637631, + 0.04452427398228629 + ], + "centerline_face_intersection": [ + 15.885711026301808, + -14.877587001225761, + 0.04452427398228629 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.866289138793945, + -14.86867618560791, + 0.06168149411678314 + ], + "box_pose": [ + 16.023113250732422, + -14.883049964904785, + 0.041762545704841614, + 0.3786850869655609, + -0.5948746800422668, + 0.4447793960571289, + -0.5521711707115173 + ], + "box_yaw_rad": -1.6801659432231153, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024358874118695435, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024044637256533854 + } + } + }, + { + "simulation_time_ns": 8660000000, + "center": [ + 16.006758191607805, + -14.878581008563076, + 0.04467557530455957 + ], + "face_center": [ + 16.0049532511793, + -14.897389478265811, + 0.09666696445366005 + ], + "face_normal": [ + -0.032628235034710684, + -0.34000411338364067, + 0.9398577582658163 + ], + "footprint_xy": [ + [ + 15.877537949374267, + -14.98282148689159 + ], + [ + 16.135978433841345, + -14.98282148689159 + ], + [ + 16.135978433841345, + -14.77434053023456 + ], + [ + 15.877537949374267, + -14.77434053023456 + ] + ], + "projected_box_corners": [ + [ + 15.893960856347089, + -14.811957469640031 + ], + [ + 16.132368552984335, + -14.838608106640706 + ], + [ + 15.8975707372041, + -14.77434053023456 + ], + [ + 16.135978433841345, + -14.800991167235233 + ], + [ + 15.877537949374267, + -14.956170849890917 + ], + [ + 16.11594564601151, + -14.98282148689159 + ], + [ + 15.881147830231276, + -14.918553910485445 + ], + [ + 16.11955552686852, + -14.945204547486119 + ] + ], + "yaw_rad": -1.6841870601920395, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.860595703125, + -14.878792762756348, + 0.049513429403305054 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.004714582720755, + -14.896654465797061, + 0.09674438204555469 + ], + "intended_face_normal": [ + -0.03504596078369815, + -0.33269022096976286, + 0.9423847604446678 + ], + "commanded_contact_point": [ + 15.880202178955079, + -14.880923883307455, + 0.04461320328200904 + ], + "centerline_face_intersection": [ + 15.885957101576931, + -14.878250588622652, + 0.04461320328200904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.863524436950684, + -14.872315406799316, + 0.05520574748516083 + ], + "box_pose": [ + 16.02334213256836, + -14.88366985321045, + 0.04166446253657341, + 0.3755333125591278, + -0.6000929474830627, + 0.43889591097831726, + -0.5533837676048279 + ], + "box_yaw_rad": -1.6829623302259584, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0026732946848029822, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025324802129895875 + } + } + }, + { + "simulation_time_ns": 8680000000, + "center": [ + 16.00673337050359, + -14.878528039288106, + 0.04462386129256772 + ], + "face_center": [ + 16.004897727659422, + -14.897272000009115, + 0.09663746796711922 + ], + "face_normal": [ + -0.03318324816338958, + -0.33883797283716, + 0.940259388497406 + ], + "footprint_xy": [ + [ + 15.877499129812461, + -14.982734973670562 + ], + [ + 16.135967611194715, + -14.982734973670562 + ], + [ + 16.135967611194715, + -14.774321104905653 + ], + [ + 15.877499129812461, + -14.774321104905653 + ] + ], + "projected_box_corners": [ + [ + 15.893887260069814, + -14.811809026347667 + ], + [ + 16.13229632550638, + -14.838455859856081 + ], + [ + 15.897558545758145, + -14.774321104905653 + ], + [ + 16.135967611194715, + -14.800967938414065 + ], + [ + 15.877499129812461, + -14.956088140162148 + ], + [ + 16.11590819524903, + -14.982734973670562 + ], + [ + 15.881170415500792, + -14.918600218720131 + ], + [ + 16.11957948093736, + -14.945247052228545 + ] + ], + "yaw_rad": -1.6838978796462984, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.86274242401123, + -14.879853248596191, + 0.047838062047958374 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.0049532511793, + -14.897389478265811, + 0.09666696445366005 + ], + "intended_face_normal": [ + -0.032628235034710684, + -0.34000411338364067, + 0.9398577582658163 + ], + "commanded_contact_point": [ + 15.88291919708252, + -14.881245833080149, + 0.04467557530455957 + ], + "centerline_face_intersection": [ + 15.886060855205047, + -14.878581008563076, + 0.04467557530455957 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860595703125, + -14.878792762756348, + 0.049513429403305054 + ], + "box_pose": [ + 16.023439407348633, + -14.883976936340332, + 0.04164198040962219, + 0.3739449083805084, + -0.6025025248527527, + 0.4360769987106323, + -0.5540692806243896 + ], + "box_yaw_rad": -1.6841870601920395, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002664824517072119, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027367370042040698 + } + } + }, + { + "simulation_time_ns": 8700000000, + "center": [ + 16.008069253871874, + -14.877903330758963, + 0.044542581787637606 + ], + "face_center": [ + 16.005929975150373, + -14.89631631266, + 0.09666269646693171 + ], + "face_normal": [ + -0.03867212891216809, + -0.33285480876203444, + 0.9421847529897391 + ], + "footprint_xy": [ + [ + 15.878042826414239, + -14.982985029321998 + ], + [ + 16.13809568132951, + -14.982985029321998 + ], + [ + 16.13809568132951, + -14.77282163219593 + ], + [ + 15.878042826414239, + -14.77282163219593 + ] + ], + "projected_box_corners": [ + [ + 15.895668921766804, + -14.809647595998001 + ], + [ + 16.133817123886505, + -14.838554128567216 + ], + [ + 15.899947479209809, + -14.77282163219593 + ], + [ + 16.13809568132951, + -14.801728164765144 + ], + [ + 15.878042826414239, + -14.954078496752784 + ], + [ + 16.11619102853394, + -14.982985029321998 + ], + [ + 15.882321383857244, + -14.917252532950712 + ], + [ + 16.120469585976945, + -14.946159065519927 + ] + ], + "yaw_rad": -1.6922340882732325, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.86780834197998, + -14.875509262084961, + 0.04671700298786163 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.004897727659422, + -14.897272000009115, + 0.09663746796711922 + ], + "intended_face_normal": [ + -0.03318324816338958, + -0.33883797283716, + 0.940259388497406 + ], + "commanded_contact_point": [ + 15.886138801574708, + -14.881139855432854, + 0.04462386129256772 + ], + "centerline_face_intersection": [ + 15.886036727071263, + -14.878528039288106, + 0.04462386129256772 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.86274242401123, + -14.879853248596191, + 0.047838062047958374 + ], + "box_pose": [ + 16.02341651916504, + -14.883927345275879, + 0.041606951504945755, + 0.37416499853134155, + -0.6020616888999939, + 0.43655648827552795, + -0.5540223121643066 + ], + "box_yaw_rad": -1.6838978796462984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002611816144748715, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003221763288461188 + } + } + }, + { + "simulation_time_ns": 8720000000, + "center": [ + 16.01265741706362, + -14.87644855839659, + 0.044340916638102044 + ], + "face_center": [ + 16.009613144455212, + -14.893571008299235, + 0.0968544853605148 + ], + "face_normal": [ + -0.05503186731712617, + -0.30952562808754003, + 0.9492972929891152 + ], + "footprint_xy": [ + [ + 15.880465795439234, + -14.983671868375293 + ], + [ + 16.144849038688, + -14.983671868375293 + ], + [ + 16.144849038688, + -14.769225248417886 + ], + [ + 15.880465795439234, + -14.769225248417886 + ] + ], + "projected_box_corners": [ + [ + 15.901457520686606, + -14.803470148223177 + ], + [ + 16.13876049347119, + -14.838574352259055 + ], + [ + 15.907546065903418, + -14.769225248417886 + ], + [ + 16.144849038688, + -14.804329452453764 + ], + [ + 15.880465795439234, + -14.948567664339416 + ], + [ + 16.117768768223815, + -14.983671868375293 + ], + [ + 15.886554340656044, + -14.914322764534125 + ], + [ + 16.123857313440627, + -14.949426968570004 + ] + ], + "yaw_rad": -1.7144726852759546, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.87257194519043, + -14.871014595031738, + 0.04475986957550049 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.005929975150373, + -14.89631631266, + 0.09666269646693171 + ], + "intended_face_normal": [ + -0.03867212891216809, + -0.33285480876203444, + 0.9421847529897391 + ], + "commanded_contact_point": [ + 15.889722709655763, + -14.880610909650672, + 0.044542581787637606 + ], + "centerline_face_intersection": [ + 15.887240401476975, + -14.877903330758963, + 0.044542581787637606 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.86780834197998, + -14.875509262084961, + 0.04671700298786163 + ], + "box_pose": [ + 16.024707794189453, + -14.883478164672852, + 0.04159947484731674, + 0.37243518233299255, + -0.6018333435058594, + 0.44143474102020264, + -0.5515650510787964 + ], + "box_yaw_rad": -1.6922340882732325, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027075788917088057, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036236427986018932 + } + } + }, + { + "simulation_time_ns": 8740000000, + "center": [ + 16.018210414480837, + -14.875511152593988, + 0.04431757564006661 + ], + "face_center": [ + 16.01484669521064, + -14.892336620608063, + 0.0969075885419749 + ], + "face_normal": [ + -0.060806562480117066, + -0.30415703269885874, + 0.9506791882673333 + ], + "footprint_xy": [ + [ + 15.884898373442429, + -14.984194054989738 + ], + [ + 16.151522455519245, + -14.984194054989738 + ], + [ + 16.151522455519245, + -14.766828250198238 + ], + [ + 15.884898373442429, + -14.766828250198238 + ] + ], + "projected_box_corners": [ + [ + 15.908061310007676, + -14.800479186226388 + ], + [ + 16.14479501697885, + -14.839207987703412 + ], + [ + 15.91478874854807, + -14.766828250198238 + ], + [ + 16.151522455519245, + -14.805557051675263 + ], + [ + 15.884898373442429, + -14.945465253512713 + ], + [ + 16.121632080413605, + -14.984194054989738 + ], + [ + 15.891625811982822, + -14.911814317484563 + ], + [ + 16.128359518953996, + -14.950543118961587 + ] + ], + "yaw_rad": -1.7292173183561106, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.877799987792969, + -14.868508338928223, + 0.05113716423511505 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.009613144455212, + -14.893571008299235, + 0.0968544853605148 + ], + "intended_face_normal": [ + -0.05503186731712617, + -0.30952562808754003, + 0.9492972929891152 + ], + "commanded_contact_point": [ + 15.893072013854981, + -14.879373495822891, + 0.044340916638102044 + ], + "centerline_face_intersection": [ + 15.89139819462584, + -14.87644855839659, + 0.044340916638102044 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.87257194519043, + -14.871014595031738, + 0.04475986957550049 + ], + "box_pose": [ + 16.02916717529297, + -14.882522583007812, + 0.04167337343096733, + 0.36909088492393494, + -0.5991291999816895, + 0.4571751356124878, + -0.5438814163208008 + ], + "box_yaw_rad": -1.7144726852759546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0029249374263028466, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035762690660273723 + } + } + }, + { + "simulation_time_ns": 8760000000, + "center": [ + 16.023024063905797, + -14.875130529555383, + 0.04444974109279199 + ], + "face_center": [ + 16.01989516520133, + -14.892849895509007, + 0.09675992048919729 + ], + "face_normal": [ + -0.05656166858300793, + -0.32031618765378056, + 0.9456205873052497 + ], + "footprint_xy": [ + [ + 15.889586652550816, + -14.984728621831762 + ], + [ + 16.156461475260784, + -14.984728621831762 + ], + [ + 16.156461475260784, + -14.765532437279006 + ], + [ + 15.889586652550816, + -14.765532437279006 + ] + ], + "projected_box_corners": [ + [ + 15.913618422709051, + -14.800971169186253 + ], + [ + 16.15020367785185, + -14.840686096549778 + ], + [ + 15.919876220117986, + -14.765532437279006 + ], + [ + 16.156461475260784, + -14.80524736464253 + ], + [ + 15.889586652550816, + -14.945013694468235 + ], + [ + 16.12617190769361, + -14.984728621831762 + ], + [ + 15.89584444995975, + -14.90957496256099 + ], + [ + 16.132429705102545, + -14.949289889924515 + ] + ], + "yaw_rad": -1.7361117247391322, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.881770133972168, + -14.870863914489746, + 0.05830976366996765 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.01484669521064, + -14.892336620608063, + 0.0969075885419749 + ], + "intended_face_normal": [ + -0.060806562480117066, + -0.30415703269885874, + 0.9506791882673333 + ], + "commanded_contact_point": [ + 15.89554298400879, + -14.878716202566922, + 0.04431757564006661 + ], + "centerline_face_intersection": [ + 15.8966596039512, + -14.875511152593988, + 0.04431757564006661 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.877799987792969, + -14.868508338928223, + 0.05113716423511505 + ], + "box_pose": [ + 16.03462791442871, + -14.881850242614746, + 0.04169779270887375, + 0.3655085861682892, + -0.600557804107666, + 0.4629524350166321, + -0.5398228764533997 + ], + "box_yaw_rad": -1.7292173183561106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0032050499729334796, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025570046397190484 + } + } + }, + { + "simulation_time_ns": 8780000000, + "center": [ + 16.02693709020853, + -14.876050486042608, + 0.045185644891872066 + ], + "face_center": [ + 16.024605043897086, + -14.894810288736538, + 0.09717364365971629 + ], + "face_normal": [ + -0.042156823549390765, + -0.3391243510509341, + 0.9397964697297851 + ], + "footprint_xy": [ + [ + 15.894773455974144, + -14.984690831265471 + ], + [ + 16.15910072444292, + -14.984690831265471 + ], + [ + 16.15910072444292, + -14.767410140819747 + ], + [ + 15.894773455974144, + -14.767410140819747 + ] + ], + "projected_box_corners": [ + [ + 15.91732805244637, + -14.804929746207605 + ], + [ + 16.15443663182003, + -14.84131176802885 + ], + [ + 15.92199214506926, + -14.767410140819747 + ], + [ + 16.15910072444292, + -14.803792162640992 + ], + [ + 15.894773455974144, + -14.948308809444226 + ], + [ + 16.131882035347807, + -14.984690831265471 + ], + [ + 15.899437548597033, + -14.910789204056368 + ], + [ + 16.136546127970696, + -14.947171225877613 + ] + ], + "yaw_rad": -1.7268251617442054, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.885394096374512, + -14.87559986114502, + 0.06239335238933563 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.01989516520133, + -14.892849895509007, + 0.09675992048919729 + ], + "intended_face_normal": [ + -0.05656166858300793, + -0.32031618765378056, + 0.9456205873052497 + ], + "commanded_contact_point": [ + 15.897876625061036, + -14.878506244130943, + 0.04444974109279199 + ], + "centerline_face_intersection": [ + 15.901396983026796, + -14.875130529555383, + 0.04444974109279199 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.881770133972168, + -14.870863914489746, + 0.05830976366996765 + ], + "box_pose": [ + 16.039400100708008, + -14.881488800048828, + 0.04162494093179703, + 0.36095625162124634, + -0.6068403124809265, + 0.4577690362930298, + -0.5402804017066956 + ], + "box_yaw_rad": -1.7361117247391322, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033757145755589583, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023467915997082626 + } + } + }, + { + "simulation_time_ns": 8800000000, + "center": [ + 16.0309139625581, + -14.877427626562133, + 0.04609558864082004 + ], + "face_center": [ + 16.029394767947974, + -14.896303106759474, + 0.0980718195418909 + ], + "face_normal": [ + -0.027462756121948928, + -0.34121547423146126, + 0.9395837398707414 + ], + "footprint_xy": [ + [ + 15.900382386877325, + -14.984096821689786 + ], + [ + 16.161445538238873, + -14.984096821689786 + ], + [ + 16.161445538238873, + -14.770758431434482 + ], + [ + 15.900382386877325, + -14.770758431434482 + ] + ], + "projected_box_corners": [ + [ + 15.920683886045643, + -14.80850939182916 + ], + [ + 16.15840714901862, + -14.840392647286654 + ], + [ + 15.923722275265895, + -14.770758431434482 + ], + [ + 16.161445538238873, + -14.802641686891974 + ], + [ + 15.900382386877325, + -14.952213566232292 + ], + [ + 16.138105649850303, + -14.984096821689786 + ], + [ + 15.90342077609758, + -14.914462605837612 + ], + [ + 16.141144039070554, + -14.946345861295105 + ] + ], + "yaw_rad": -1.7111404372971688, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.889745712280273, + -14.878425598144531, + 0.0665612667798996 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.024605043897086, + -14.894810288736538, + 0.09717364365971629 + ], + "intended_face_normal": [ + -0.042156823549390765, + -0.3391243510509341, + 0.9397964697297851 + ], + "commanded_contact_point": [ + 15.900297050476075, + -14.87944422561407, + 0.045185644891872066 + ], + "centerline_face_intersection": [ + 15.905578453426836, + -14.876050486042608, + 0.045185644891872066 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.885394096374512, + -14.87559986114502, + 0.06239335238933563 + ], + "box_pose": [ + 16.04336929321289, + -14.882122039794922, + 0.04207106679677963, + 0.3623585104942322, + -0.6114661693572998, + 0.446244478225708, + -0.5437566041946411 + ], + "box_yaw_rad": -1.7268251617442054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033937395714625034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00269811468510118 + } + } + }, + { + "simulation_time_ns": 8820000000, + "center": [ + 16.035795190202958, + -14.878171679511626, + 0.04665958175729288 + ], + "face_center": [ + 16.03475379425122, + -14.897106812950344, + 0.09862589432476851 + ], + "face_normal": [ + -0.01882550323594856, + -0.3422938366801951, + 0.9394044443579439 + ], + "footprint_xy": [ + [ + 15.906188862088417, + -14.983760542411725 + ], + [ + 16.165401518317502, + -14.983760542411725 + ], + [ + 16.165401518317502, + -14.772582816611529 + ], + [ + 15.906188862088417, + -14.772582816611529 + ] + ], + "projected_box_corners": [ + [ + 15.925311220410357, + -14.810453083488966 + ], + [ + 16.163318726414026, + -14.83990233680025 + ], + [ + 15.927394012313835, + -14.772582816611529 + ], + [ + 16.165401518317502, + -14.802032069922811 + ], + [ + 15.906188862088417, + -14.95431128910044 + ], + [ + 16.144196368092082, + -14.983760542411725 + ], + [ + 15.908271653991893, + -14.916441022223001 + ], + [ + 16.14627915999556, + -14.945890275534286 + ] + ], + "yaw_rad": -1.702946680090046, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.895072937011719, + -14.878713607788086, + 0.06945125758647919 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.029394767947974, + -14.896303106759474, + 0.0980718195418909 + ], + "intended_face_normal": [ + -0.027462756121948928, + -0.34121547423146126, + 0.9395837398707414 + ], + "commanded_contact_point": [ + 15.902988319396973, + -14.8807814472703, + 0.04609558864082004 + ], + "centerline_face_intersection": [ + 15.909869124109525, + -14.877427626562133, + 0.04609558864082004 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.889745712280273, + -14.878425598144531, + 0.0665612667798996 + ], + "box_pose": [ + 16.04743003845215, + -14.883182525634766, + 0.04282725974917412, + 0.3696705102920532, + -0.6107324957847595, + 0.43901705741882324, + -0.5455395579338074 + ], + "box_yaw_rad": -1.7111404372971688, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033538207081665653, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003139918436636653 + } + } + }, + { + "simulation_time_ns": 8840000000, + "center": [ + 16.040134114186255, + -14.878468105044686, + 0.045607070925647315 + ], + "face_center": [ + 16.038654028581895, + -14.897358332885556, + 0.09757907628999353 + ], + "face_normal": [ + -0.02675577554134634, + -0.3414820700546386, + 0.9395073540780459 + ], + "footprint_xy": [ + [ + 15.910528244507312, + -14.983647535406035 + ], + [ + 16.1697399838652, + -14.983647535406035 + ], + [ + 16.1697399838652, + -14.773288674683336 + ], + [ + 15.910528244507312, + -14.773288674683336 + ] + ], + "projected_box_corners": [ + [ + 15.928622053216571, + -14.811069130365077 + ], + [ + 16.16677981265648, + -14.839672674315745 + ], + [ + 15.931582224425293, + -14.773288674683336 + ], + [ + 16.1697399838652, + -14.801892218634004 + ], + [ + 15.910528244507312, + -14.955043991455367 + ], + [ + 16.148686003947216, + -14.983647535406035 + ], + [ + 15.913488415716033, + -14.917263535773627 + ], + [ + 16.15164617515594, + -14.945867079724295 + ] + ], + "yaw_rad": -1.6958142953664266, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.899287223815918, + -14.876992225646973, + 0.07007881999015808 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.03475379425122, + -14.897106812950344, + 0.09862589432476851 + ], + "intended_face_normal": [ + -0.01882550323594856, + -0.3422938366801951, + 0.9394044443579439 + ], + "commanded_contact_point": [ + 15.905599479675294, + -14.881503823088734, + 0.04665958175729288 + ], + "centerline_face_intersection": [ + 15.914894910858035, + -14.878171679511626, + 0.04665958175729288 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.895072937011719, + -14.878713607788086, + 0.06945125758647919 + ], + "box_pose": [ + 16.052350997924805, + -14.88375473022461, + 0.04329557344317436, + 0.37374094128608704, + -0.6105257272720337, + 0.4349376857280731, + -0.5462649464607239 + ], + "box_yaw_rad": -1.702946680090046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033321435771081548, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027673223624226514 + } + } + }, + { + "simulation_time_ns": 8860000000, + "center": [ + 16.042061213772207, + -14.878496000664166, + 0.044673970015657836 + ], + "face_center": [ + 16.040108192623848, + -14.897012412810565, + 0.09676475103712193 + ], + "face_normal": [ + -0.03530511702771122, + -0.3347245360406177, + 0.9416544831442692 + ], + "footprint_xy": [ + [ + 15.912459775519812, + -14.983090665248831 + ], + [ + 16.171662652024597, + -14.983090665248831 + ], + [ + 16.171662652024597, + -14.7739013360795 + ], + [ + 15.912459775519812, + -14.7739013360795 + ] + ], + "projected_box_corners": [ + [ + 15.929470293477547, + -14.810934160372298 + ], + [ + 16.16775660972788, + -14.83866747321817 + ], + [ + 15.933376335774264, + -14.7739013360795 + ], + [ + 16.171662652024597, + -14.801634648925372 + ], + [ + 15.912459775519812, + -14.95535735240296 + ], + [ + 16.15074609177015, + -14.983090665248831 + ], + [ + 15.91636581781653, + -14.918324528110164 + ], + [ + 16.154652134066865, + -14.946057840956035 + ] + ], + "yaw_rad": -1.6880386159443137, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.901525497436523, + -14.876218795776367, + 0.06671591103076935 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.038654028581895, + -14.897358332885556, + 0.09757907628999353 + ], + "intended_face_normal": [ + -0.02675577554134634, + -0.3414820700546386, + 0.9395073540780459 + ], + "commanded_contact_point": [ + 15.90787208557129, + -14.881859283797702, + 0.045607070925647315 + ], + "centerline_face_intersection": [ + 15.919310110678225, + -14.878468105044686, + 0.045607070925647315 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.899287223815918, + -14.876992225646973, + 0.07007881999015808 + ], + "box_pose": [ + 16.05674171447754, + -14.883995056152344, + 0.04240987077355385, + 0.37296736240386963, + -0.6069827079772949, + 0.4360668659210205, + -0.5498299598693848 + ], + "box_yaw_rad": -1.6958142953664266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003391178753016674, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002529598569905496 + } + } + }, + { + "simulation_time_ns": 8880000000, + "center": [ + 16.042536803754356, + -14.87832789967496, + 0.04453803815603828 + ], + "face_center": [ + 16.040418118550857, + -14.896310748478669, + 0.09680895589309091 + ], + "face_normal": [ + -0.03829985615732312, + -0.32507921485648694, + 0.9449108471781074 + ], + "footprint_xy": [ + [ + 15.913064899822349, + -14.982304416288564 + ], + [ + 16.172008707686363, + -14.982304416288564 + ], + [ + 16.172008707686363, + -14.774351383061358 + ], + [ + 15.913064899822349, + -14.774351383061358 + ] + ], + "projected_box_corners": [ + [ + 15.929397200712542, + -14.810317080668776 + ], + [ + 16.16777133727937, + -14.837297904809706 + ], + [ + 15.933634571119535, + -14.774351383061358 + ], + [ + 16.172008707686363, + -14.801332207202288 + ], + [ + 15.913064899822349, + -14.955323592147634 + ], + [ + 16.151439036389174, + -14.982304416288564 + ], + [ + 15.917302270229342, + -14.919357894540214 + ], + [ + 16.155676406796168, + -14.946338718681144 + ] + ], + "yaw_rad": -1.6829551437761034, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.90221881866455, + -14.875345230102539, + 0.06050573289394379 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.040108192623848, + -14.897012412810565, + 0.09676475103712193 + ], + "intended_face_normal": [ + -0.03530511702771122, + -0.3347245360406177, + 0.9416544831442692 + ], + "commanded_contact_point": [ + 15.910063629150391, + -14.881978267612695, + 0.044673970015657836 + ], + "centerline_face_intersection": [ + 15.921302395494948, + -14.878496000664166, + 0.044673970015657836 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.901525497436523, + -14.876218795776367, + 0.06671591103076935 + ], + "box_pose": [ + 16.0587215423584, + -14.883983612060547, + 0.041690461337566376, + 0.37382423877716064, + -0.601815402507782, + 0.43919605016708374, + -0.5524315237998962 + ], + "box_yaw_rad": -1.6880386159443137, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0034822669485286175, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023848894556257076 + } + } + }, + { + "simulation_time_ns": 8900000000, + "center": [ + 16.04238067897517, + -14.877952509174744, + 0.04442391138134547 + ], + "face_center": [ + 16.040066292071067, + -14.895462470968297, + 0.09684686692515855 + ], + "face_normal": [ + -0.0418375912444624, + -0.31653075072516046, + 0.9476592621478197 + ], + "footprint_xy": [ + [ + 15.912815497626783, + -14.981665382986147 + ], + [ + 16.17194586032356, + -14.981665382986147 + ], + [ + 16.17194586032356, + -14.774239635363342 + ], + [ + 15.912815497626783, + -14.774239635363342 + ] + ], + "projected_box_corners": [ + [ + 15.928943558275572, + -14.809259558950448 + ], + [ + 16.167317086515354, + -14.836205861646318 + ], + [ + 15.93357233208378, + -14.774239635363342 + ], + [ + 16.17194586032356, + -14.801185938059213 + ], + [ + 15.912815497626783, + -14.954719080290277 + ], + [ + 16.151189025866564, + -14.981665382986147 + ], + [ + 15.917444271434992, + -14.919699156703171 + ], + [ + 16.15581779967477, + -14.946645459399042 + ] + ], + "yaw_rad": -1.6812219144584, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.902090072631836, + -14.873578071594238, + 0.05576147139072418 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.040418118550857, + -14.896310748478669, + 0.09680895589309091 + ], + "intended_face_normal": [ + -0.03829985615732312, + -0.32507921485648694, + 0.9449108471781074 + ], + "commanded_contact_point": [ + 15.912169342041016, + -14.881929473406386, + 0.04453803815603828 + ], + "centerline_face_intersection": [ + 15.921822474689696, + -14.87832789967496, + 0.04453803815603828 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.90221881866455, + -14.875345230102539, + 0.06050573289394379 + ], + "box_pose": [ + 16.059226989746094, + -14.883792877197266, + 0.04168263077735901, + 0.37668943405151367, + -0.5977571606636047, + 0.442227840423584, + -0.5524725317955017 + ], + "box_yaw_rad": -1.6829551437761034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003601573731425488, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021106598785150745 + } + } + }, + { + "simulation_time_ns": 8920000000, + "center": [ + 16.042989325427033, + -14.877850661184176, + 0.04425728889355853 + ], + "face_center": [ + 16.040469534798127, + -14.89465817552834, + 0.0969002317741067 + ], + "face_normal": [ + -0.04555071158015167, + -0.3038324809560997, + 0.9516360130778203 + ], + "footprint_xy": [ + [ + 15.913675517274436, + -14.980588506886921 + ], + [ + 16.172303133579632, + -14.980588506886921 + ], + [ + 16.172303133579632, + -14.775112815481432 + ], + [ + 15.913675517274436, + -14.775112815481432 + ] + ], + "projected_box_corners": [ + [ + 15.9287651477798, + -14.808727844169757 + ], + [ + 16.16726355232182, + -14.834388769060748 + ], + [ + 15.93380472903761, + -14.775112815481432 + ], + [ + 16.172303133579632, + -14.800773740372424 + ], + [ + 15.913675517274436, + -14.95492758199593 + ], + [ + 16.15217392181646, + -14.980588506886921 + ], + [ + 15.918715098532246, + -14.921312553307605 + ], + [ + 16.15721350307427, + -14.946973478198597 + ] + ], + "yaw_rad": -1.6736445830415088, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.903020858764648, + -14.873981475830078, + 0.05413249135017395 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.040066292071067, + -14.895462470968297, + 0.09684686692515855 + ], + "intended_face_normal": [ + -0.0418375912444624, + -0.31653075072516046, + 0.9476592621478197 + ], + "commanded_contact_point": [ + 15.91398609161377, + -14.88172906040939, + 0.04442391138134547 + ], + "centerline_face_intersection": [ + 15.921666041848658, + -14.877952509174744, + 0.04442391138134547 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.902090072631836, + -14.873578071594238, + 0.05576147139072418 + ], + "box_pose": [ + 16.05908203125, + -14.883440971374512, + 0.04168103262782097, + 0.37837931513786316, + -0.5946882367134094, + 0.4456048905849457, + -0.5519161224365234 + ], + "box_yaw_rad": -1.6812219144584, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0037765512346457078, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001831329926629349 + } + } + }, + { + "simulation_time_ns": 8940000000, + "center": [ + 16.044553033545455, + -14.87887939977574, + 0.04427226337909638 + ], + "face_center": [ + 16.04230497472452, + -14.895777849994559, + 0.09689839223400264 + ], + "face_normal": [ + -0.04063856647175612, + -0.3054763452324636, + 0.9513320628909554 + ], + "footprint_xy": [ + [ + 15.916395386472196, + -14.980039000385402 + ], + [ + 16.172710680618717, + -14.980039000385402 + ], + [ + 16.172710680618717, + -14.777719799166077 + ], + [ + 15.916395386472196, + -14.777719799166077 + ] + ], + "projected_box_corners": [ + [ + 15.929364340538326, + -14.811516699603715 + ], + [ + 16.168214562976843, + -14.83368425714697 + ], + [ + 15.933860458180199, + -14.777719799166077 + ], + [ + 16.172710680618717, + -14.79988735670933 + ], + [ + 15.916395386472196, + -14.957871442842148 + ], + [ + 16.155245608910715, + -14.980039000385402 + ], + [ + 15.920891504114069, + -14.924074542404508 + ], + [ + 16.159741726552586, + -14.946242099947764 + ] + ], + "yaw_rad": -1.659178619643245, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.904489517211914, + -14.87738037109375, + 0.05493864417076111 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.040469534798127, + -14.89465817552834, + 0.0969002317741067 + ], + "intended_face_normal": [ + -0.04555071158015167, + -0.3038324809560997, + 0.9516360130778203 + ], + "commanded_contact_point": [ + 15.915512924194337, + -14.881781979832986, + 0.04425728889355853 + ], + "centerline_face_intersection": [ + 15.922337893744345, + -14.877850661184176, + 0.04425728889355853 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.903020858764648, + -14.873981475830078, + 0.05413249135017395 + ], + "box_pose": [ + 16.059734344482422, + -14.88328742980957, + 0.04168286919593811, + 0.38243338465690613, + -0.5890901684761047, + 0.44925323128700256, + -0.5521676540374756 + ], + "box_yaw_rad": -1.6736445830415088, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003931318648809636, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015368087870353997 + } + } + }, + { + "simulation_time_ns": 8960000000, + "center": [ + 16.04541128795474, + -14.880327575628312, + 0.04438629191755603 + ], + "face_center": [ + 16.04363928405691, + -14.898054510543666, + 0.09675744032527606 + ], + "face_normal": [ + -0.03203283540427648, + -0.3204530131458849, + 0.9467227351654195 + ], + "footprint_xy": [ + [ + 15.918081022164664, + -14.981026004512122 + ], + [ + 16.172741553744814, + -14.981026004512122 + ], + [ + 16.172741553744814, + -14.779629146744501 + ], + [ + 15.918081022164664, + -14.779629146744501 + ] + ], + "projected_box_corners": [ + [ + 15.93015932642006, + -14.815083016575212 + ], + [ + 16.169197545949153, + -14.835320605823158 + ], + [ + 15.933703334215721, + -14.779629146744501 + ], + [ + 16.172741553744814, + -14.799866735992447 + ], + [ + 15.918081022164664, + -14.960788415264176 + ], + [ + 16.157119241693756, + -14.981026004512122 + ], + [ + 15.921625029960323, + -14.925334545433467 + ], + [ + 16.160663249489417, + -14.945572134681413 + ] + ], + "yaw_rad": -1.6535026090471163, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.905031204223633, + -14.882892608642578, + 0.055120959877967834 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.04230497472452, + -14.895777849994559, + 0.09689839223400264 + ], + "intended_face_normal": [ + -0.04063856647175612, + -0.3054763452324636, + 0.9513320628909554 + ], + "commanded_contact_point": [ + 15.916923408508302, + -14.882870679571829, + 0.04427226337909638 + ], + "centerline_face_intersection": [ + 15.924079317137513, + -14.87887939977574, + 0.04427226337909638 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.904489517211914, + -14.87738037109375, + 0.05493864417076111 + ], + "box_pose": [ + 16.06137466430664, + -14.88406753540039, + 0.04168427735567093, + 0.3865503668785095, + -0.5866420865058899, + 0.44479280710220337, + -0.5555080771446228 + ], + "box_yaw_rad": -1.659178619643245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003991279796089202, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017818410020293705 + } + } + }, + { + "simulation_time_ns": 8980000000, + "center": [ + 16.04613600808222, + -14.881881260185093, + 0.04458974442744096 + ], + "face_center": [ + 16.044902609098454, + -14.900723234867856, + 0.09658570036803935 + ], + "face_normal": [ + -0.022296376821287822, + -0.3406097889759785, + 0.9399403129828556 + ], + "footprint_xy": [ + [ + 15.919464751053335, + -14.982542705569722 + ], + [ + 16.17280726511111, + -14.982542705569722 + ], + [ + 16.17280726511111, + -14.781219814800465 + ], + [ + 15.919464751053335, + -14.781219814800465 + ] + ], + "projected_box_corners": [ + [ + 15.931197051797827, + -14.818903764165992 + ], + [ + 16.170340467143575, + -14.837859995766106 + ], + [ + 15.933663849765361, + -14.781219814800465 + ], + [ + 16.17280726511111, + -14.80017604640058 + ], + [ + 15.919464751053335, + -14.963586473969608 + ], + [ + 16.158608166399084, + -14.982542705569722 + ], + [ + 15.921931549020869, + -14.925902524604082 + ], + [ + 16.16107496436662, + -14.944858756204196 + ] + ], + "yaw_rad": -1.6517091479523454, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.905096054077148, + -14.892528533935547, + 0.050179556012153625 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.04363928405691, + -14.898054510543666, + 0.09675744032527606 + ], + "intended_face_normal": [ + -0.03203283540427648, + -0.3204530131458849, + 0.9467227351654195 + ], + "commanded_contact_point": [ + 15.91817367553711, + -14.884216254103832, + 0.04438629191755603 + ], + "centerline_face_intersection": [ + 15.925032320864375, + -14.880327575628312, + 0.04438629191755603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905031204223633, + -14.882892608642578, + 0.055120959877967834 + ], + "box_pose": [ + 16.062257766723633, + -14.885335922241211, + 0.0416124165058136, + 0.38606199622154236, + -0.590234100818634, + 0.43672603368759155, + -0.5584356188774109 + ], + "box_yaw_rad": -1.6535026090471163, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003888678475518574, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018403100206444136 + } + } + }, + { + "simulation_time_ns": 9000000000, + "center": [ + 16.04661205586674, + -14.883185958580606, + 0.04459474650425841 + ], + "face_center": [ + 16.045577920730143, + -14.90207122821292, + 0.09657933665302337 + ], + "face_normal": [ + -0.018694248165576965, + -0.3413924396205612, + 0.9397348515053245 + ], + "footprint_xy": [ + [ + 15.920787142569088, + -14.982705830934348 + ], + [ + 16.17243696916439, + -14.982705830934348 + ], + [ + 16.17243696916439, + -14.783666086226862 + ], + [ + 15.920787142569088, + -14.783666086226862 + ] + ], + "projected_box_corners": [ + [ + 15.931043901407017, + -14.821436625491494 + ], + [ + 16.170368698891195, + -14.837942710683707 + ], + [ + 15.933112171680213, + -14.783666086226862 + ], + [ + 16.17243696916439, + -14.800172171419076 + ], + [ + 15.920787142569088, + -14.966199745742134 + ], + [ + 16.160111940053266, + -14.982705830934348 + ], + [ + 15.922855412842281, + -14.928429206477503 + ], + [ + 16.16218021032646, + -14.944935291669719 + ] + ], + "yaw_rad": -1.6415301388767785, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.905238151550293, + -14.89973258972168, + 0.04845327138900757 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.044902609098454, + -14.900723234867856, + 0.09658570036803935 + ], + "intended_face_normal": [ + -0.022296376821287822, + -0.3406097889759785, + 0.9399403129828556 + ], + "commanded_contact_point": [ + 15.919924621582032, + -14.885344047710593, + 0.04458974442744096 + ], + "centerline_face_intersection": [ + 15.925809994002222, + -14.881881260185093, + 0.04458974442744096 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905096054077148, + -14.892528533935547, + 0.050179556012153625 + ], + "box_pose": [ + 16.062984466552734, + -14.886737823486328, + 0.041568998247385025, + 0.38353827595710754, + -0.5961477756500244, + 0.4273096024990082, + -0.5611708164215088 + ], + "box_yaw_rad": -1.6517091479523454, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0034627875255004168, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002092635514239683 + } + } + }, + { + "simulation_time_ns": 9020000000, + "center": [ + 16.048105117902384, + -14.884102063471303, + 0.044608596355099714 + ], + "face_center": [ + 16.047238530623247, + -14.903004564859504, + 0.09658999868206017 + ], + "face_normal": [ + -0.015665455200263523, + -0.3417039411927121, + 0.9396772246731899 + ], + "footprint_xy": [ + [ + 15.922940259146333, + -14.982740476907187 + ], + [ + 16.17326997665844, + -14.982740476907187 + ], + [ + 16.17326997665844, + -14.78546365003542 + ], + [ + 15.922940259146333, + -14.78546365003542 + ] + ], + "projected_box_corners": [ + [ + 15.93209124844696, + -14.823268652811821 + ], + [ + 16.171536802100157, + -14.83791180831051 + ], + [ + 15.933824423005241, + -14.78546365003542 + ], + [ + 16.17326997665844, + -14.800106805534107 + ], + [ + 15.922940259146333, + -14.968097321408498 + ], + [ + 16.16238581279953, + -14.982740476907187 + ], + [ + 15.924673433704614, + -14.930292318632095 + ], + [ + 16.16411898735781, + -14.944935474130784 + ] + ], + "yaw_rad": -1.6338973725879695, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.907108306884766, + -14.899698257446289, + 0.050238385796546936 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.045577920730143, + -14.90207122821292, + 0.09657933665302337 + ], + "intended_face_normal": [ + -0.018694248165576965, + -0.3413924396205612, + 0.9397348515053245 + ], + "commanded_contact_point": [ + 15.922589187622071, + -14.885986880860463, + 0.04459474650425841 + ], + "centerline_face_intersection": [ + 15.926377235804123, + -14.883185958580606, + 0.04459474650425841 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905238151550293, + -14.89973258972168, + 0.04845327138900757 + ], + "box_pose": [ + 16.063508987426758, + -14.88786792755127, + 0.04156910628080368, + 0.3864392042160034, + -0.5943397879600525, + 0.4242269694805145, + -0.5634326338768005 + ], + "box_yaw_rad": -1.6415301388767785, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002800922279857474, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002741016537905918 + } + } + }, + { + "simulation_time_ns": 9040000000, + "center": [ + 16.051891218327672, + -14.883537811188878, + 0.04470342901979352 + ], + "face_center": [ + 16.050942431434898, + -14.902442736744106, + 0.09668250755371871 + ], + "face_normal": [ + -0.017151392503819807, + -0.34174776329911616, + 0.939635217045609 + ], + "footprint_xy": [ + [ + 15.926129163279525, + -14.983036487938353 + ], + [ + 16.17765327337582, + -14.983036487938353 + ], + [ + 16.17765327337582, + -14.784039134439402 + ], + [ + 15.926129163279525, + -14.784039134439402 + ] + ], + "projected_box_corners": [ + [ + 15.936428644862733, + -14.821848985549858 + ], + [ + 16.175755699590272, + -14.838290293623935 + ], + [ + 15.938326218648282, + -14.784039134439402 + ], + [ + 16.17765327337582, + -14.800480442513477 + ], + [ + 15.926129163279525, + -14.966595179864278 + ], + [ + 16.165456218007066, + -14.983036487938353 + ], + [ + 15.928026737065073, + -14.92878532875382 + ], + [ + 16.167353791792614, + -14.945226636827897 + ] + ], + "yaw_rad": -1.64183205809894, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.9111909866333, + -14.894287109375, + 0.05392250418663025 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.047238530623247, + -14.903004564859504, + 0.09658999868206017 + ], + "intended_face_normal": [ + -0.015665455200263523, + -0.3417039411927121, + 0.9396772246731899 + ], + "commanded_contact_point": [ + 15.92565715789795, + -14.886279137992162, + 0.044608596355099714 + ], + "centerline_face_intersection": [ + 15.927930934155759, + -14.884102063471303, + 0.044608596355099714 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.907108306884766, + -14.899698257446289, + 0.050238385796546936 + ], + "box_pose": [ + 16.06503677368164, + -14.888651847839355, + 0.041575394570827484, + 0.38877904415130615, + -0.5929833650588989, + 0.42189913988113403, + -0.5649981498718262 + ], + "box_yaw_rad": -1.6338973725879695, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021770745208580422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030818902743403676 + } + } + }, + { + "simulation_time_ns": 9060000000, + "center": [ + 16.05786993625005, + -14.882209362334054, + 0.04537529202266596 + ], + "face_center": [ + 16.05691303226805, + -14.90113098628552, + 0.09734814566241479 + ], + "face_normal": [ + -0.0172981265959109, + -0.34204962323228116, + 0.9395226885061376 + ], + "footprint_xy": [ + [ + 15.930791013055194, + -14.983774048789968 + ], + [ + 16.18494885944491, + -14.983774048789968 + ], + [ + 16.18494885944491, + -14.78064467587814 + ], + [ + 15.930791013055194, + -14.78064467587814 + ] + ], + "projected_box_corners": [ + [ + 15.944061965191565, + -14.818487923781069 + ], + [ + 16.183035051480907, + -14.839276769102211 + ], + [ + 15.945975773155567, + -14.78064467587814 + ], + [ + 16.18494885944491, + -14.80143352119928 + ], + [ + 15.930791013055194, + -14.962985203468826 + ], + [ + 16.169764099344537, + -14.983774048789968 + ], + [ + 15.932704821019195, + -14.925141955565895 + ], + [ + 16.171677907308535, + -14.945930800887037 + ] + ], + "yaw_rad": -1.662381624503254, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.917113304138184, + -14.889562606811523, + 0.05902920663356781 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.050942431434898, + -14.902442736744106, + 0.09668250755371871 + ], + "intended_face_normal": [ + -0.017151392503819807, + -0.34174776329911616, + 0.939635217045609 + ], + "commanded_contact_point": [ + 15.92848861694336, + -14.885284913782291, + 0.04470342901979352 + ], + "centerline_face_intersection": [ + 15.931657532274958, + -14.883537811188878, + 0.04470342901979352 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.9111909866333, + -14.894287109375, + 0.05392250418663025 + ], + "box_pose": [ + 16.068784713745117, + -14.888214111328125, + 0.0416499488055706, + 0.3867413401603699, + -0.5948019623756409, + 0.4237419664859772, + -0.5631026029586792 + ], + "box_yaw_rad": -1.64183205809894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017471025934131744, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003002438232440554 + } + } + }, + { + "simulation_time_ns": 9080000000, + "center": [ + 16.06384487271408, + -14.881000092010837, + 0.045033400818875045 + ], + "face_center": [ + 16.06239084629125, + -14.899892115959494, + 0.09700548988149237 + ], + "face_normal": [ + -0.026284698996946076, + -0.341514538620423, + 0.9395088671068521 + ], + "footprint_xy": [ + [ + 15.935269303351905, + -14.98452919688216 + ], + [ + 16.19242044207625, + -14.98452919688216 + ], + [ + 16.19242044207625, + -14.777470987139512 + ], + [ + 15.935269303351905, + -14.777470987139512 + ] + ], + "projected_box_corners": [ + [ + 15.950936997683918, + -14.815255035036827 + ], + [ + 16.1895123892306, + -14.840280258861641 + ], + [ + 15.953845050529573, + -14.777470987139512 + ], + [ + 16.19242044207625, + -14.802496210964325 + ], + [ + 15.935269303351905, + -14.959503973057346 + ], + [ + 16.173844694898587, + -14.98452919688216 + ], + [ + 15.93817735619756, + -14.921719925160032 + ], + [ + 16.17675274774424, + -14.946745148984844 + ] + ], + "yaw_rad": -1.6789878638185627, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.922857284545898, + -14.886048316955566, + 0.062461331486701965 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.05691303226805, + -14.90113098628552, + 0.09734814566241479 + ], + "intended_face_normal": [ + -0.0172981265959109, + -0.34204962323228116, + 0.9395226885061376 + ], + "commanded_contact_point": [ + 15.931010131835938, + -14.883662335148369, + 0.04537529202266596 + ], + "centerline_face_intersection": [ + 15.937458159305463, + -14.882209362334054, + 0.04537529202266596 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.917113304138184, + -14.889562606811523, + 0.05902920663356781 + ], + "box_pose": [ + 16.074655532836914, + -14.887189865112305, + 0.042209845036268234, + 0.38249972462654114, + -0.6002484560012817, + 0.42739811539649963, + -0.5574285984039307 + ], + "box_yaw_rad": -1.662381624503254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014529728143143927, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030728160816071225 + } + } + }, + { + "simulation_time_ns": 9100000000, + "center": [ + 16.069430399372195, + -14.880136554724722, + 0.0446616473702525 + ], + "face_center": [ + 16.06749714354599, + -14.898736996283894, + 0.09672321555878885 + ], + "face_normal": [ + -0.03494781571925998, + -0.3362435509546593, + 0.9411263974724413 + ], + "footprint_xy": [ + [ + 15.939785394256823, + -14.984859696694024 + ], + [ + 16.199075404487566, + -14.984859696694024 + ], + [ + 16.199075404487566, + -14.77541341275542 + ], + [ + 15.939785394256823, + -14.77541341275542 + ] + ], + "projected_box_corners": [ + [ + 15.95694545281931, + -14.812614295873766 + ], + [ + 16.195208892835158, + -14.840535724185921 + ], + [ + 15.96081196447172, + -14.77541341275542 + ], + [ + 16.199075404487566, + -14.803334841067574 + ], + [ + 15.939785394256823, + -14.956938268381867 + ], + [ + 16.17804883427267, + -14.984859696694024 + ], + [ + 15.943651905909233, + -14.91973738526352 + ], + [ + 16.18191534592508, + -14.947658813575675 + ] + ], + "yaw_rad": -1.689140305234738, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.928353309631348, + -14.883367538452148, + 0.06195293366909027 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.06239084629125, + -14.899892115959494, + 0.09700548988149237 + ], + "intended_face_normal": [ + -0.026284698996946076, + -0.341514538620423, + 0.9395088671068521 + ], + "commanded_contact_point": [ + 15.93342197418213, + -14.882251135827362, + 0.045033400818875045 + ], + "centerline_face_intersection": [ + 15.943232374604014, + -14.881000092010837, + 0.045033400818875045 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.922857284545898, + -14.886048316955566, + 0.062461331486701965 + ], + "box_pose": [ + 16.080549240112305, + -14.88627815246582, + 0.04192086681723595, + 0.37653928995132446, + -0.6027158498764038, + 0.43296754360198975, + -0.5545185804367065 + ], + "box_yaw_rad": -1.6789878638185627, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001251043816525197, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028152009913542395 + } + } + }, + { + "simulation_time_ns": 9120000000, + "center": [ + 16.075004133902112, + -14.87940834230543, + 0.04442597388696606 + ], + "face_center": [ + 16.072497414972048, + -14.896842436654469, + 0.0968653647256929 + ], + "face_normal": [ + -0.04531441211267406, + -0.31515928118965775, + 0.9479563659507164 + ], + "footprint_xy": [ + [ + 15.944642868339086, + -14.984218487024236 + ], + [ + 16.205365399465144, + -14.984218487024236 + ], + [ + 16.205365399465144, + -14.774598197586624 + ], + [ + 15.944642868339086, + -14.774598197586624 + ] + ], + "projected_box_corners": [ + [ + 15.96227163793976, + -14.8094663862847 + ], + [ + 16.200351961605016, + -14.838886649731828 + ], + [ + 15.967285075799888, + -14.774598197586624 + ], + [ + 16.205365399465144, + -14.80401846103375 + ], + [ + 15.944642868339086, + -14.954798223577109 + ], + [ + 16.182723192004342, + -14.984218487024236 + ], + [ + 15.949656306199214, + -14.91993003487903 + ], + [ + 16.18773662986447, + -14.949350298326157 + ] + ], + "yaw_rad": -1.6915067210763097, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.933918952941895, + -14.880934715270996, + 0.0596928745508194 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.06749714354599, + -14.898736996283894, + 0.09672321555878885 + ], + "intended_face_normal": [ + -0.03494781571925998, + -0.3362435509546593, + 0.9411263974724413 + ], + "commanded_contact_point": [ + 15.935781364440919, + -14.881258359192149, + 0.0446616473702525 + ], + "centerline_face_intersection": [ + 15.948659986756152, + -14.880136554724722, + 0.0446616473702525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.928353309631348, + -14.883367538452148, + 0.06195293366909027 + ], + "box_pose": [ + 16.086084365844727, + -14.885632514953613, + 0.04165806621313095, + 0.37327614426612854, + -0.6025080680847168, + 0.43879738450050354, + -0.5523638129234314 + ], + "box_yaw_rad": -1.689140305234738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011218044674281202, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002586605587880878 + } + } + }, + { + "simulation_time_ns": 9140000000, + "center": [ + 16.079523961927457, + -14.878655877872468, + 0.04413258865019523 + ], + "face_center": [ + 16.07639197965145, + -14.89452508959878, + 0.0970332518934027 + ], + "face_normal": [ + -0.05661741086417038, + -0.28687061458898455, + 0.9562948707516128 + ], + "footprint_xy": [ + [ + 15.948709386926012, + -14.982760991780076 + ], + [ + 16.210338536928898, + -14.982760991780076 + ], + [ + 16.210338536928898, + -14.77455076396486 + ], + [ + 15.948709386926012, + -14.77455076396486 + ] + ], + "projected_box_corners": [ + [ + 15.966089353419523, + -14.806289187417486 + ], + [ + 16.20407457237689, + -14.836068460504759 + ], + [ + 15.972353317971532, + -14.77455076396486 + ], + [ + 16.210338536928898, + -14.804330037052134 + ], + [ + 15.948709386926012, + -14.952981718692802 + ], + [ + 16.18669460588338, + -14.982760991780076 + ], + [ + 15.95497335147802, + -14.921243295240178 + ], + [ + 16.192958570435387, + -14.951022568327451 + ] + ], + "yaw_rad": -1.6887254551189317, + "box_fully_inside": false, + "actual_fl_eef_world": [ + 15.938427925109863, + -14.878785133361816, + 0.05710999667644501 + ], + "success_count": 0, + "first_fully_inside_policy_ns": null, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.072497414972048, + -14.896842436654469, + 0.0968653647256929 + ], + "intended_face_normal": [ + -0.04531441211267406, + -0.31515928118965775, + 0.9479563659507164 + ], + "commanded_contact_point": [ + 15.937787895202638, + -14.880469091854236, + 0.04442597388696606 + ], + "centerline_face_intersection": [ + 15.954140832311133, + -14.87940834230543, + 0.04442597388696606 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.933918952941895, + -14.880934715270996, + 0.0596928745508194 + ], + "box_pose": [ + 16.09164810180664, + -14.885072708129883, + 0.04169192910194397, + 0.37550610303878784, + -0.5963733196258545, + 0.4487934112548828, + -0.5494711399078369 + ], + "box_yaw_rad": -1.6915067210763097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010607495488054752, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021690206589942904 + } + } + }, + { + "simulation_time_ns": 9160000000, + "center": [ + 16.081553527521866, + -14.878094171248502, + 0.04413804333320338 + ], + "face_center": [ + 16.07843902930633, + -14.893769023037201, + 0.09709764761237116 + ], + "face_normal": [ + -0.056301348336354806, + -0.28335713479452096, + 0.9573603585339967 + ], + "footprint_xy": [ + [ + 15.951088735052812, + -14.98151542734403 + ], + [ + 16.212018319990918, + -14.98151542734403 + ], + [ + 16.212018319990918, + -14.774672915152975 + ], + [ + 15.951088735052812, + -14.774672915152975 + ] + ], + "projected_box_corners": [ + [ + 15.967660802587721, + -14.806022618730374 + ], + [ + 16.205789323559852, + -14.83455782005779 + ], + [ + 15.973889799018789, + -14.774672915152975 + ], + [ + 16.212018319990918, + -14.803208116480391 + ], + [ + 15.951088735052812, + -14.952980226016612 + ], + [ + 16.189217256024943, + -14.98151542734403 + ], + [ + 15.95731773148388, + -14.921630522439214 + ], + [ + 16.19544625245601, + -14.95016572376663 + ] + ], + "yaw_rad": -1.6830896098426533, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 15.940624237060547, + -14.877449035644531, + 0.05466613173484802 + ], + "success_count": 1, + "first_fully_inside_policy_ns": 9160000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.07639197965145, + -14.89452508959878, + 0.0970332518934027 + ], + "intended_face_normal": [ + -0.05661741086417038, + -0.28687061458898455, + 0.9562948707516128 + ], + "commanded_contact_point": [ + 15.93947494506836, + -14.879711457201699, + 0.04413258865019523 + ], + "centerline_face_intersection": [ + 15.95861236040826, + -14.878655877872468, + 0.04413258865019523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.938427925109863, + -14.878785133361816, + 0.05710999667644501 + ], + "box_pose": [ + 16.0961856842041, + -14.884428024291992, + 0.04175538569688797, + 0.38049042224884033, + -0.5869236588478088, + 0.46020835638046265, + -0.5467687249183655 + ], + "box_yaw_rad": -1.6887254551189317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010555793292315486, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001872490964815201 + } + } + }, + { + "simulation_time_ns": 9180000000, + "center": [ + 16.081828590662408, + -14.878017592935725, + 0.04413728859772122 + ], + "face_center": [ + 16.07871978596773, + -14.893682557591921, + 0.09710015036326577 + ], + "face_normal": [ + -0.05619842552862053, + -0.2831784033095204, + 0.9574192447052212 + ], + "footprint_xy": [ + [ + 15.95142501577829, + -14.98133684378607 + ], + [ + 16.212232165546528, + -14.98133684378607 + ], + [ + 16.212232165546528, + -14.77469834208538 + ], + [ + 15.95142501577829, + -14.77469834208538 + ] + ], + "projected_box_corners": [ + [ + 15.967862071481596, + -14.806028271397773 + ], + [ + 16.206014556157175, + -14.83435425615126 + ], + [ + 15.974079680870949, + -14.77469834208538 + ], + [ + 16.212232165546528, + -14.803024326838866 + ], + [ + 15.95142501577829, + -14.953010859032583 + ], + [ + 16.18957750045387, + -14.98133684378607 + ], + [ + 15.957642625167644, + -14.92168092972019 + ], + [ + 16.19579510984322, + -14.950006914473676 + ] + ], + "yaw_rad": -1.6821635662551961, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 15.94122314453125, + -14.87675952911377, + 0.05363453924655914 + ], + "success_count": 2, + "first_fully_inside_policy_ns": 9160000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.07843902930633, + -14.893769023037201, + 0.09709764761237116 + ], + "intended_face_normal": [ + -0.056301348336354806, + -0.28335713479452096, + 0.9573603585339967 + ], + "commanded_contact_point": [ + 15.941105728149415, + -14.879175556001893, + 0.04413804333320338 + ], + "centerline_face_intersection": [ + 15.960714688710954, + -14.878094171248502, + 0.04413804333320338 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.940624237060547, + -14.877449035644531, + 0.05466613173484802 + ], + "box_pose": [ + 16.098247528076172, + -14.883790016174316, + 0.04180365428328514, + 0.3828062415122986, + -0.5847004055976868, + 0.46019649505615234, + -0.5475435853004456 + ], + "box_yaw_rad": -1.6830896098426533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010813847533903953, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017165876927713434 + } + } + }, + { + "simulation_time_ns": 9200000000, + "center": [ + 16.08182856377304, + -14.878028649142644, + 0.044140600492719353 + ], + "face_center": [ + 16.078718823752258, + -14.89370732571213, + 0.09709935050516583 + ], + "face_normal": [ + -0.056215333587999794, + -0.2834262760495676, + 0.9573449157997516 + ], + "footprint_xy": [ + [ + 15.951424340377415, + -14.981356832296726 + ], + [ + 16.212232787168663, + -14.981356832296726 + ], + [ + 16.212232787168663, + -14.77470046598856 + ], + [ + 15.951424340377415, + -14.77470046598856 + ] + ], + "projected_box_corners": [ + [ + 15.967860977955329, + -14.806057819127535 + ], + [ + 16.206013307127105, + -14.834385796376788 + ], + [ + 15.97408045799689, + -14.77470046598856 + ], + [ + 16.212232787168663, + -14.803028443237814 + ], + [ + 15.951424340377415, + -14.953028855047473 + ], + [ + 16.18957666954919, + -14.981356832296726 + ], + [ + 15.957643820418976, + -14.921671501908499 + ], + [ + 16.195796149590752, + -14.949999479157752 + ] + ], + "yaw_rad": -1.6821694375497929, + "box_fully_inside": true, + "actual_fl_eef_world": [ + 15.939006805419922, + -14.8753023147583, + 0.053024694323539734 + ], + "success_count": 3, + "first_fully_inside_policy_ns": 9160000000, + "expert": { + "phase": "straight_push", + "intended_face_center": [ + 16.07871978596773, + -14.893682557591921, + 0.09710015036326577 + ], + "intended_face_normal": [ + -0.05619842552862053, + -0.2831784033095204, + 0.9574192447052212 + ], + "commanded_contact_point": [ + 15.942734603881837, + -14.879149300241993, + 0.04413728859772122 + ], + "centerline_face_intersection": [ + 15.961001911061603, + -14.878017592935725, + 0.04413728859772122 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.94122314453125, + -14.87675952911377, + 0.05363453924655914 + ], + "box_pose": [ + 16.098527908325195, + -14.883699417114258, + 0.041806772351264954, + 0.38309186697006226, + -0.5844371914863586, + 0.4600558876991272, + -0.5477429032325745 + ], + "box_yaw_rad": -1.6821635662551961, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011317073062686233, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016290875010957816 + } + } + } + ], + "commands": [ + { + "simulation_time_ns": 0, + "phase": "settle", + "intended_face_center": [ + 15.548107999138546, + -14.851330824148212, + 0.13983054449001223 + ], + "intended_face_normal": [ + -0.9999999657714511, + 1.3435885648505064e-07, + -1.7908998506436868e-09 + ], + "commanded_contact_point": [ + 15.193400382995605, + -14.857999801635742, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.548107995351613, + -14.851330831580723, + 0.13983054458908187 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.177821159362793, + -14.857999801635742, + 0.08869010210037231 + ], + "box_pose": [ + 15.604987144470215, + -14.855631828308105, + 0.15702493488788605, + -7.093858833684408e-10, + 5.569715799680353e-10, + 0.7071068286895752, + -0.7071067094802856 + ], + "box_yaw_rad": -1.5707964611537577, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 20000000, + "phase": "settle", + "intended_face_center": [ + 15.548108003920104, + -14.851330824497763, + 0.13767234975590475 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 15.190520286560059, + -14.857992172241211, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54810799080719, + -14.851330831930275, + 0.13767234981316268 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.197816848754883, + -14.845781326293945, + 0.05081215500831604 + ], + "box_pose": [ + 15.604987144470215, + -14.855631828308105, + 0.15486674010753632, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002880106540726015 + } + }, + { + "simulation_time_ns": 40000000, + "phase": "settle", + "intended_face_center": [ + 15.548108003920104, + -14.851330824497763, + 0.13159014279141196 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 15.190152168273926, + -14.858139038085938, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.54810799080719, + -14.851330831930275, + 0.13159014284866988 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.207003593444824, + -14.865071296691895, + 0.050359368324279785 + ], + "box_pose": [ + 15.604987144470215, + -14.855631828308105, + 0.14878453314304352, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003963340124594486 + } + }, + { + "simulation_time_ns": 60000000, + "phase": "settle", + "intended_face_center": [ + 15.548108003920104, + -14.851330824497763, + 0.12158395344509847 + ], + "intended_face_normal": [ + -0.9999998814777484, + 1.3435885648505064e-07, + -1.035062200547834e-09 + ], + "commanded_contact_point": [ + 15.190797805786133, + -14.858139991760254, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.54810799080719, + -14.851330831930275, + 0.12158395350235641 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.180109977722168, + -14.891141891479492, + 0.03378972411155701 + ], + "box_pose": [ + 15.604987144470215, + -14.855631828308105, + 0.13877834379673004, + -7.093858833684408e-10, + 2.2513747810481988e-11, + 0.7071068286895752, + -0.7071066498756409 + ], + "box_yaw_rad": -1.570796461153769, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006456382174156724 + } + }, + { + "simulation_time_ns": 80000000, + "phase": "settle", + "intended_face_center": [ + 15.550031678538074, + -14.84952352330897, + 0.12006115165638499 + ], + "intended_face_normal": [ + -0.9998822507317209, + -0.0005549229382589838, + 0.015335465163334047 + ], + "commanded_contact_point": [ + 15.191505432128906, + -14.858214378356934, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.550018650378345, + -14.849492825882496, + 0.11921281888466798 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.163036346435547, + -14.906710624694824, + 0.023787319660186768 + ], + "box_pose": [ + 15.607171058654785, + -14.853520393371582, + 0.13644710183143616, + 0.011012247763574123, + 0.0001715594989946112, + 0.706824779510498, + -0.7073029279708862 + ], + "box_yaw_rad": -1.569998823757253, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007115254091573946 + } + }, + { + "simulation_time_ns": 100000000, + "phase": "settle", + "intended_face_center": [ + 15.550485089462653, + -14.848980737035722, + 0.12041077518023141 + ], + "intended_face_normal": [ + -0.9998447689161841, + -0.005152707741661433, + 0.01685728282906704 + ], + "commanded_contact_point": [ + 15.192178726196289, + -14.858580589294434, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.550467913871723, + -14.848695697697575, + 0.11947825795211423 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.161595344543457, + -14.906967163085938, + 0.023129373788833618 + ], + "box_pose": [ + 15.607666969299316, + -14.852592468261719, + 0.13673780858516693, + 0.014045758172869682, + 0.0021679571364074945, + 0.7051427960395813, + -0.7089229822158813 + ], + "box_yaw_rad": -1.5652569745404101, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007664433130000028 + } + }, + { + "simulation_time_ns": 120000000, + "phase": "settle", + "intended_face_center": [ + 15.549948155142463, + -14.849300064212041, + 0.11975617223711574 + ], + "intended_face_normal": [ + -0.9998957485267136, + -0.010306973568097955, + 0.010118435791154123 + ], + "commanded_contact_point": [ + 15.192147254943848, + -14.859288215637207, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.549936620500269, + -14.848729899345054, + 0.11919643697061247 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.160523414611816, + -14.90687084197998, + 0.023203939199447632 + ], + "box_pose": [ + 15.607036590576172, + -14.852622032165527, + 0.13646720349788666, + 0.011566899716854095, + 0.004495140630751848, + 0.7033581733703613, + -0.710727334022522 + ], + "box_yaw_rad": -1.5602592793455792, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007083258294860786 + } + }, + { + "simulation_time_ns": 140000000, + "phase": "settle", + "intended_face_center": [ + 15.549504835407783, + -14.85034539458671, + 0.11932346734034521 + ], + "intended_face_normal": [ + -0.9999242954651747, + -0.010555366391921117, + 0.006294542892308186 + ], + "commanded_contact_point": [ + 15.190317153930664, + -14.860640525817871, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.549496459389406, + -14.84976148903625, + 0.11897526355508994 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15953540802002, + -14.906822204589844, + 0.02327027916908264 + ], + "box_pose": [ + 15.606531143188477, + -14.853805541992188, + 0.13621753454208374, + 0.00711904838681221, + 0.0027200866024941206, + 0.7033289670944214, + -0.7108235359191895 + ], + "box_yaw_rad": -1.5601531681463257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022755246742637808 + } + }, + { + "simulation_time_ns": 160000000, + "phase": "settle", + "intended_face_center": [ + 15.55019260616745, + -14.850777093265997, + 0.11952338828145576 + ], + "intended_face_normal": [ + -0.9998690995631608, + -0.01076207653316874, + 0.012082993770174966 + ], + "commanded_contact_point": [ + 15.186514854431152, + -14.862253189086914, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.550178122824658, + -14.850181752849675, + 0.11885497689083165 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.158736228942871, + -14.906850814819336, + 0.02332291007041931 + ], + "box_pose": [ + 15.607316970825195, + -14.854287147521973, + 0.13607239723205566, + 0.00789633858948946, + -0.0006085759960114956, + 0.7032471895217896, + -0.7109013199806213 + ], + "box_yaw_rad": -1.5599095009276038, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004130153060524868 + } + }, + { + "simulation_time_ns": 180000000, + "phase": "settle", + "intended_face_center": [ + 15.550708674566804, + -14.851364907719839, + 0.11974622208568822 + ], + "intended_face_normal": [ + -0.9998065367177433, + -0.011075895069100672, + 0.01626609941332305 + ], + "commanded_contact_point": [ + 15.18101692199707, + -14.863826751708984, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.550687268353235, + -14.850752207376997, + 0.11884640815416685 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.158178329467773, + -14.90695858001709, + 0.023359715938568115 + ], + "box_pose": [ + 15.607903480529785, + -14.854940414428711, + 0.13603591918945312, + 0.007665680721402168, + -0.0038153764326125383, + 0.7031381726264954, + -0.7110018134117126 + ], + "box_yaw_rad": -1.559631630678156, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005718685196440522 + } + }, + { + "simulation_time_ns": 200000000, + "phase": "settle", + "intended_face_center": [ + 15.55120213900355, + -14.851995869631123, + 0.1199818935588276 + ], + "intended_face_normal": [ + -0.9997300605594939, + -0.011169244622359686, + 0.02037175529087748 + ], + "commanded_contact_point": [ + 15.174568176269531, + -14.865561485290527, + 0.049999967217445374 + ], + "centerline_face_intersection": [ + 15.551172269757652, + -14.851378005344156, + 0.11885496148036867 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157803535461426, + -14.90711784362793, + 0.023382604122161865 + ], + "box_pose": [ + 15.608464241027832, + -14.855657577514648, + 0.1360139399766922, + 0.00723911402747035, + -0.007166458759456873, + 0.7031095027923584, + -0.711008608341217 + ], + "box_yaw_rad": -1.5596247562611445, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006677995362195987 + } + }, + { + "simulation_time_ns": 220000000, + "phase": "settle", + "intended_face_center": [ + 15.551711181747914, + -14.852664475676448, + 0.12022749937816198 + ], + "intended_face_normal": [ + -0.9996340802916185, + -0.011278389966572044, + 0.024583999631758502 + ], + "commanded_contact_point": [ + 15.167991638183594, + -14.867541313171387, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.55167069018243, + -14.852040573648114, + 0.11886755285385547 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157550811767578, + -14.907312393188477, + 0.023401081562042236 + ], + "box_pose": [ + 15.609041213989258, + -14.856416702270508, + 0.13599362969398499, + 0.006740854121744633, + -0.010666322894394398, + 0.703075647354126, + -0.7110030651092529 + ], + "box_yaw_rad": -1.5596541879199455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.006868083548872612 + } + }, + { + "simulation_time_ns": 240000000, + "phase": "settle", + "intended_face_center": [ + 15.552228403883165, + -14.853223449124851, + 0.12051545811261613 + ], + "intended_face_normal": [ + -0.9995188249271552, + -0.011408468245309944, + 0.028838274593030955 + ], + "commanded_contact_point": [ + 15.161935806274414, + -14.869828224182129, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.552175155438052, + -14.85259235137956, + 0.11892017207750226 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157370567321777, + -14.907520294189453, + 0.023412644863128662 + ], + "box_pose": [ + 15.609625816345215, + -14.857048034667969, + 0.13601680099964142, + 0.0066025047563016415, + -0.013832674361765385, + 0.7030307054519653, + -0.7109941840171814 + ], + "box_yaw_rad": -1.5596825281436169, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00647325745535481 + } + }, + { + "simulation_time_ns": 260000000, + "phase": "settle", + "intended_face_center": [ + 15.552317943169623, + -14.85325637129112, + 0.12058449370103969 + ], + "intended_face_normal": [ + -0.9994970262888158, + -0.011426864026398031, + 0.02957831209303674 + ], + "commanded_contact_point": [ + 15.156575202941895, + -14.872313499450684, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.552262281807067, + -14.8526242559214, + 0.11894827000561567 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15721607208252, + -14.907723426818848, + 0.023424476385116577 + ], + "box_pose": [ + 15.609726905822754, + -14.857084274291992, + 0.13604219257831573, + 0.006773239932954311, + -0.014186494052410126, + 0.7030225396156311, + -0.7109937071800232 + ], + "box_yaw_rad": -1.559679361685955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005908693700764664 + } + }, + { + "simulation_time_ns": 280000000, + "phase": "settle", + "intended_face_center": [ + 15.552288223209052, + -14.853225325909397, + 0.12056836905702682 + ], + "intended_face_normal": [ + -0.9995041527910876, + -0.011424497589961002, + 0.029342903547160015 + ], + "commanded_contact_point": [ + 15.151871681213379, + -14.874837875366211, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.55223335069338, + -14.85259334144706, + 0.11894516777612252 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.157049179077148, + -14.90791130065918, + 0.02343502640724182 + ], + "box_pose": [ + 15.60969352722168, + -14.857048988342285, + 0.13604073226451874, + 0.006780155468732119, + -0.014012032188475132, + 0.7030233144760132, + -0.7109964489936829 + ], + "box_yaw_rad": -1.559671732578184, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005338126114430853 + } + }, + { + "simulation_time_ns": 300000000, + "phase": "settle", + "intended_face_center": [ + 15.55224605838171, + -14.853177492327596, + 0.1205449612857871 + ], + "intended_face_normal": [ + -0.9995144996494553, + -0.011419556971348332, + 0.028989605454508682 + ], + "commanded_contact_point": [ + 15.147669792175293, + -14.87723445892334, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.552192331170604, + -14.852545781172173, + 0.11894130387570699 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156871795654297, + -14.908092498779297, + 0.023448795080184937 + ], + "box_pose": [ + 15.60964584350586, + -14.85699462890625, + 0.1360393911600113, + 0.00679544173181057, + -0.01374523714184761, + 0.7030249238014221, + -0.7109999060630798 + ], + "box_yaw_rad": -1.5596614912377949, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00483730133800732 + } + }, + { + "simulation_time_ns": 320000000, + "phase": "settle", + "intended_face_center": [ + 15.552184235339489, + -14.853111032967982, + 0.12051186155265131 + ], + "intended_face_normal": [ + -0.9995289149250763, + -0.01140879589689503, + 0.028492330248217457 + ], + "commanded_contact_point": [ + 15.143868446350098, + -14.879359245300293, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.552132103750532, + -14.852479917097542, + 0.11893571259109664 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156681060791016, + -14.908245086669922, + 0.02346104383468628 + ], + "box_pose": [ + 15.609576225280762, + -14.856919288635254, + 0.13603731989860535, + 0.006815153639763594, + -0.01337153185158968, + 0.7030285596847534, + -0.7110032439231873 + ], + "box_yaw_rad": -1.5596515076919877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004354876258949543 + } + }, + { + "simulation_time_ns": 340000000, + "phase": "settle", + "intended_face_center": [ + 15.552105492313038, + -14.85302110985571, + 0.1204707793579008 + ], + "intended_face_normal": [ + -0.9995470810428025, + -0.01139890708614899, + 0.027857789769719088 + ], + "commanded_contact_point": [ + 15.140467643737793, + -14.881223678588867, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.552055371492928, + -14.852390541018057, + 0.11892973213451696 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156481742858887, + -14.908382415771484, + 0.023472636938095093 + ], + "box_pose": [ + 15.609487533569336, + -14.856817245483398, + 0.1360359638929367, + 0.0068519278429448605, + -0.012882936745882034, + 0.7030317187309265, + -0.7110089063644409 + ], + "box_yaw_rad": -1.5596348112498193, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0038783462839881338 + } + }, + { + "simulation_time_ns": 360000000, + "phase": "settle", + "intended_face_center": [ + 15.55200741977265, + -14.852907924447411, + 0.12041944648652575 + ], + "intended_face_normal": [ + -0.9995689403157337, + -0.011387769383905177, + 0.027060680589824804 + ], + "commanded_contact_point": [ + 15.137544631958008, + -14.882939338684082, + 0.050000037997961044 + ], + "centerline_face_intersection": [ + 15.551959718460402, + -14.85227797172917, + 0.11892249403514514 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156275749206543, + -14.908515930175781, + 0.023485302925109863 + ], + "box_pose": [ + 15.609376907348633, + -14.856688499450684, + 0.13603457808494568, + 0.006903397385030985, + -0.012263846583664417, + 0.7030351758003235, + -0.7110158205032349 + ], + "box_yaw_rad": -1.5596134802108237, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033893196120499624 + } + }, + { + "simulation_time_ns": 380000000, + "phase": "settle", + "intended_face_center": [ + 15.551887535625527, + -14.852768544944224, + 0.12035597268890338 + ], + "intended_face_normal": [ + -0.9995953039786394, + -0.011370973529244877, + 0.02607767080394674 + ], + "commanded_contact_point": [ + 15.135130882263184, + -14.884636878967285, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.55184275232206, + -14.852139521345107, + 0.11891339872603925 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156068801879883, + -14.908644676208496, + 0.023497968912124634 + ], + "box_pose": [ + 15.609241485595703, + -14.85653018951416, + 0.13603264093399048, + 0.006965058855712414, + -0.011502210982143879, + 0.7030405402183533, + -0.711022675037384 + ], + "box_yaw_rad": -1.55959245583669, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002950903353951084 + } + }, + { + "simulation_time_ns": 400000000, + "phase": "settle", + "intended_face_center": [ + 15.551749016925195, + -14.852609480573758, + 0.12028324519902199 + ], + "intended_face_normal": [ + -0.9996241310621333, + -0.011359110137928896, + 0.024950040880738822 + ], + "commanded_contact_point": [ + 15.1332368850708, + -14.886392593383789, + 0.05000004917383194 + ], + "centerline_face_intersection": [ + 15.55170742420112, + -14.851981113237985, + 0.11890304987339105 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155837059020996, + -14.908770561218262, + 0.02351328730583191 + ], + "box_pose": [ + 15.609085083007812, + -14.856348991394043, + 0.13603045046329498, + 0.007035552524030209, + -0.010628803633153439, + 0.703044056892395, + -0.7110320329666138 + ], + "box_yaw_rad": -1.5595637718753177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002582587555184941 + } + }, + { + "simulation_time_ns": 420000000, + "phase": "settle", + "intended_face_center": [ + 15.551609028399143, + -14.852448865912928, + 0.12020934126518823 + ], + "intended_face_normal": [ + -0.9996524066469552, + -0.011334093478597596, + 0.02380294227615215 + ], + "commanded_contact_point": [ + 15.131806373596191, + -14.888221740722656, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.551570565125216, + -14.851821882457703, + 0.1188926015523018 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155600547790527, + -14.908902168273926, + 0.023525983095169067 + ], + "box_pose": [ + 15.608926773071289, + -14.85616683959961, + 0.13602818548679352, + 0.0071022226475179195, + -0.00974541436880827, + 0.703052282333374, + -0.7110359072685242 + ], + "box_yaw_rad": -1.5595509749356449, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023220988500484868 + } + }, + { + "simulation_time_ns": 440000000, + "phase": "settle", + "intended_face_center": [ + 15.551464294250115, + -14.852282435032624, + 0.12013241972743612 + ], + "intended_face_normal": [ + -0.999680788919772, + -0.011291448053071917, + 0.022604183019680923 + ], + "commanded_contact_point": [ + 15.130538940429688, + -14.889775276184082, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.551428972145164, + -14.85165781065237, + 0.1188819934097961 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155450820922852, + -14.909029006958008, + 0.023534119129180908 + ], + "box_pose": [ + 15.608762741088867, + -14.855978965759277, + 0.1360260397195816, + 0.007169250398874283, + -0.008824934251606464, + 0.7030667662620544, + -0.7110329866409302 + ], + "box_yaw_rad": -1.5595575712350251, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020049586683922277 + } + }, + { + "simulation_time_ns": 460000000, + "phase": "settle", + "intended_face_center": [ + 15.551311174982411, + -14.852106156230965, + 0.12005173852647091 + ], + "intended_face_normal": [ + -0.9997090663218233, + -0.011253020990780072, + 0.02133895889939874 + ], + "commanded_contact_point": [ + 15.12919807434082, + -14.890822410583496, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.551278982351294, + -14.85148365757275, + 0.11887130233129348 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15539836883545, + -14.909123420715332, + 0.023538410663604736 + ], + "box_pose": [ + 15.608589172363281, + -14.855779647827148, + 0.13602422177791595, + 0.007240462116897106, + -0.007853003218770027, + 0.7030797004699707, + -0.711030900478363 + ], + "box_yaw_rad": -1.55956155585316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001701297245842195 + } + }, + { + "simulation_time_ns": 480000000, + "phase": "settle", + "intended_face_center": [ + 15.551144909814747, + -14.851914968704047, + 0.11996290231184908 + ], + "intended_face_normal": [ + -0.9997381555790118, + -0.011214672866938336, + 0.019949860237582273 + ], + "commanded_contact_point": [ + 15.12781047821045, + -14.891378402709961, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.551115936413472, + -14.851294591401123, + 0.11885930877552914 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155400276184082, + -14.90918254852295, + 0.023538559675216675 + ], + "box_pose": [ + 15.608400344848633, + -14.855563163757324, + 0.13602183759212494, + 0.007313989568501711, + -0.0067906794138252735, + 0.7030925750732422, + -0.7110283374786377 + ], + "box_yaw_rad": -1.5595666542778697, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014948412177255926 + } + }, + { + "simulation_time_ns": 500000000, + "phase": "settle", + "intended_face_center": [ + 15.55095749484601, + -14.851703989432952, + 0.11986337989142617 + ], + "intended_face_normal": [ + -0.9997682845141711, + -0.011180942884387979, + 0.018401846541003075 + ], + "commanded_contact_point": [ + 15.126463890075684, + -14.891519546508789, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.55093185563417, + -14.851085478017323, + 0.11884541993295261 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15540599822998, + -14.90920639038086, + 0.023539036512374878 + ], + "box_pose": [ + 15.608187675476074, + -14.855323791503906, + 0.13601848483085632, + 0.0073893205262720585, + -0.0056135645136237144, + 0.70310378074646, + -0.7110267877578735 + ], + "box_yaw_rad": -1.5595689370618204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013539649835350985 + } + }, + { + "simulation_time_ns": 520000000, + "phase": "settle", + "intended_face_center": [ + 15.550747638965209, + -14.85146569901166, + 0.11975198609361228 + ], + "intended_face_normal": [ + -0.9997990387638803, + -0.01116084412058238, + 0.016659303952642146 + ], + "commanded_contact_point": [ + 15.1253080368042, + -14.891327857971191, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 15.550725403038982, + -14.850848299426668, + 0.11883042073211211 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1553955078125, + -14.909193992614746, + 0.023539066314697266 + ], + "box_pose": [ + 15.607949256896973, + -14.85505199432373, + 0.13601535558700562, + 0.007484537549316883, + -0.004278034903109074, + 0.7031099200248718, + -0.7110289931297302 + ], + "box_yaw_rad": -1.5595597031638868, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011716404231448575 + } + }, + { + "simulation_time_ns": 540000000, + "phase": "settle", + "intended_face_center": [ + 15.550542995359015, + -14.851208815203726, + 0.11965085692729376 + ], + "intended_face_normal": [ + -0.9998261196194108, + -0.011124308760598112, + 0.014965237573303813 + ], + "commanded_contact_point": [ + 15.124478340148926, + -14.890859603881836, + 0.049999941140413284 + ], + "centerline_face_intersection": [ + 15.550523756131476, + -14.850593436694904, + 0.11882300453841949 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155375480651855, + -14.909160614013672, + 0.023540198802947998 + ], + "box_pose": [ + 15.60771656036377, + -14.85476016998291, + 0.13602016866207123, + 0.007644893601536751, + -0.0029111963231116533, + 0.7031211853027344, + -0.7110229730606079 + ], + "box_yaw_rad": -1.5595715982684544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009527110962186948 + } + }, + { + "simulation_time_ns": 560000000, + "phase": "settle", + "intended_face_center": [ + 15.550369537143325, + -14.850987250161735, + 0.11956557558971935 + ], + "intended_face_normal": [ + -0.999846828809397, + -0.01112009227938604, + 0.013521938813169751 + ], + "commanded_contact_point": [ + 15.124009132385254, + -14.890161514282227, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.550352589487373, + -14.850372104901735, + 0.11881756412021462 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155344009399414, + -14.909106254577637, + 0.023541927337646484 + ], + "box_pose": [ + 15.607519149780273, + -14.854506492614746, + 0.13602523505687714, + 0.007797698024660349, + -0.0017302966443821788, + 0.7031210064888, + -0.7110254168510437 + ], + "box_yaw_rad": -1.5595599723735734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008411212864881142 + } + }, + { + "simulation_time_ns": 580000000, + "phase": "settle", + "intended_face_center": [ + 15.550220587431282, + -14.850797556772763, + 0.11949157446816241 + ], + "intended_face_normal": [ + -0.9998631241331025, + -0.01110347869011008, + 0.012277936167208847 + ], + "commanded_contact_point": [ + 15.123878479003906, + -14.889259338378906, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.550205442897985, + -14.850183330549264, + 0.11881237918397919 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155313491821289, + -14.909036636352539, + 0.023543596267700195 + ], + "box_pose": [ + 15.607349395751953, + -14.854290008544922, + 0.13602899014949799, + 0.007926189340651035, + -0.0007157728541642427, + 0.7031254768371582, + -0.711021363735199 + ], + "box_yaw_rad": -1.5595674135819486, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009115874436813927 + } + }, + { + "simulation_time_ns": 600000000, + "phase": "settle", + "intended_face_center": [ + 15.550089294651332, + -14.850634001635283, + 0.11942566441727877 + ], + "intended_face_normal": [ + -0.9998761331465478, + -0.011089327698650897, + 0.011180831201769187 + ], + "commanded_contact_point": [ + 15.124011993408203, + -14.888193130493164, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.550075589580272, + -14.850020558221413, + 0.11880715917974774 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155290603637695, + -14.908953666687012, + 0.023544520139694214 + ], + "box_pose": [ + 15.607199668884277, + -14.854103088378906, + 0.13603152334690094, + 0.00803340133279562, + 0.0001727520429994911, + 0.7031292915344238, + -0.7110167145729065 + ], + "box_yaw_rad": -1.559577006426679, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010745349471570262 + } + }, + { + "simulation_time_ns": 620000000, + "phase": "settle", + "intended_face_center": [ + 15.549974505791381, + -14.850490496057889, + 0.11936888537801696 + ], + "intended_face_normal": [ + -0.9998861691408729, + -0.011097793630098773, + 0.010236268186477084 + ], + "commanded_contact_point": [ + 15.124330520629883, + -14.88700008392334, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.549961911201786, + -14.849876584322582, + 0.11880263181673374 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155275344848633, + -14.90886116027832, + 0.02354443073272705 + ], + "box_pose": [ + 15.60706901550293, + -14.853938102722168, + 0.13603366911411285, + 0.008129335939884186, + 0.0009414810338057578, + 0.7031251788139343, + -0.7110190987586975 + ], + "box_yaw_rad": -1.55956698366156, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001234835903582264 + } + }, + { + "simulation_time_ns": 640000000, + "phase": "settle", + "intended_face_center": [ + 15.54987243068223, + -14.85036444886037, + 0.11931737256909167 + ], + "intended_face_normal": [ + -0.9998941255028309, + -0.011104387202624966, + 0.00939054236506992 + ], + "commanded_contact_point": [ + 15.124762535095215, + -14.885701179504395, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.549860716455132, + -14.849750172379448, + 0.11879790317265414 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155268669128418, + -14.908760070800781, + 0.023542821407318115 + ], + "box_pose": [ + 15.606952667236328, + -14.853793144226074, + 0.13603481650352478, + 0.00820971094071865, + 0.0016241812845692039, + 0.7031219005584717, + -0.7110199928283691 + ], + "box_yaw_rad": -1.5595611007365338, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001368864197120053 + } + }, + { + "simulation_time_ns": 660000000, + "phase": "settle", + "intended_face_center": [ + 15.549780340269171, + -14.850251044448738, + 0.11927084388924124 + ], + "intended_face_normal": [ + -0.9999011624912684, + -0.011101249531769941, + 0.008634069044124587 + ], + "commanded_contact_point": [ + 15.125275611877441, + -14.884347915649414, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.549769404671084, + -14.84963694153862, + 0.11879322135576173 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155268669128418, + -14.908655166625977, + 0.023543715476989746 + ], + "box_pose": [ + 15.606847763061523, + -14.853663444519043, + 0.13603533804416656, + 0.008279438130557537, + 0.002232598839327693, + 0.7031221985816956, + -0.711017370223999 + ], + "box_yaw_rad": -1.5595664798224496, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014472632264190025 + } + }, + { + "simulation_time_ns": 680000000, + "phase": "settle", + "intended_face_center": [ + 15.54969855373839, + -14.85014787253725, + 0.11922877035275514 + ], + "intended_face_normal": [ + -0.9999067989396069, + -0.01110019250469585, + 0.007947407134556772 + ], + "commanded_contact_point": [ + 15.12584400177002, + -14.882969856262207, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 15.549688241798338, + -14.849533828100135, + 0.11878913282949684 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155285835266113, + -14.908549308776855, + 0.02354249358177185 + ], + "box_pose": [ + 15.606754302978516, + -14.853545188903809, + 0.1360359936952591, + 0.008346516638994217, + 0.0027886987663805485, + 0.7031217813491821, + -0.711014986038208 + ], + "box_yaw_rad": -1.559570739373905, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014906759359572992 + } + }, + { + "simulation_time_ns": 700000000, + "phase": "settle", + "intended_face_center": [ + 15.549693668671534, + -14.850147492376884, + 0.1192267964745031 + ], + "intended_face_normal": [ + -0.999907128127071, + -0.011107212714290604, + 0.007896286609784892 + ], + "commanded_contact_point": [ + 15.126447677612305, + -14.881590843200684, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.549683393155089, + -14.849533059593293, + 0.11878998685480101 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155299186706543, + -14.908438682556152, + 0.023538738489151 + ], + "box_pose": [ + 15.606748580932617, + -14.853544235229492, + 0.1360369771718979, + 0.008332055993378162, + 0.002810465870425105, + 0.7031194567680359, + -0.711017370223999 + ], + "box_yaw_rad": -1.5595644422668495, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015053576144222725 + } + }, + { + "simulation_time_ns": 720000000, + "phase": "settle", + "intended_face_center": [ + 15.549692920161593, + -14.850148843690736, + 0.11922609644794972 + ], + "intended_face_normal": [ + -0.9999073377416794, + -0.011101989983733462, + 0.007884791503149802 + ], + "commanded_contact_point": [ + 15.127091407775879, + -14.88026237487793, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.549682667838374, + -14.849534699820031, + 0.11878992271868649 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15532398223877, + -14.908330917358398, + 0.023537665605545044 + ], + "box_pose": [ + 15.6067476272583, + -14.853546142578125, + 0.13603687286376953, + 0.008322770707309246, + 0.002809221623465419, + 0.7031214237213135, + -0.7110155820846558 + ], + "box_yaw_rad": -1.5595699646266388, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001476216992217397 + } + }, + { + "simulation_time_ns": 740000000, + "phase": "settle", + "intended_face_center": [ + 15.549694454200997, + -14.85015139056822, + 0.11922691207864757 + ], + "intended_face_normal": [ + -0.9999072549960181, + -0.01110544557972637, + 0.007905612891674907 + ], + "commanded_contact_point": [ + 15.127751350402832, + -14.879012107849121, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.549684192722221, + -14.849537055539614, + 0.11878958654433307 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155352592468262, + -14.908230781555176, + 0.02353513240814209 + ], + "box_pose": [ + 15.606749534606934, + -14.853549003601074, + 0.13603638112545013, + 0.008319680579006672, + 0.0027913113590329885, + 0.703120231628418, + -0.7110169529914856 + ], + "box_yaw_rad": -1.559566417212264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014137510085618112 + } + }, + { + "simulation_time_ns": 760000000, + "phase": "settle", + "intended_face_center": [ + 15.549699487453625, + -14.850159960599482, + 0.11922895174813673 + ], + "intended_face_normal": [ + -0.9999067726124691, + -0.011107029059488127, + 0.007946168849737867 + ], + "commanded_contact_point": [ + 15.128421783447266, + -14.877849578857422, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.549689172600552, + -14.849545537975374, + 0.11878938272476294 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155383110046387, + -14.908136367797852, + 0.023533254861831665 + ], + "box_pose": [ + 15.606755256652832, + -14.853558540344238, + 0.13603585958480835, + 0.00831239391118288, + 0.0027551117818802595, + 0.7031197547912598, + -0.7110175490379333 + ], + "box_yaw_rad": -1.5595646834726054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013419963203495544 + } + }, + { + "simulation_time_ns": 780000000, + "phase": "settle", + "intended_face_center": [ + 15.549707992912298, + -14.850170125242132, + 0.11923220129895311 + ], + "intended_face_normal": [ + -0.9999062067191217, + -0.011109639369191071, + 0.008006406733464033 + ], + "commanded_contact_point": [ + 15.129081726074219, + -14.876809120178223, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.549697615444787, + -14.849555558219972, + 0.11878930001468475 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155413627624512, + -14.90805721282959, + 0.02353113889694214 + ], + "box_pose": [ + 15.606764793395996, + -14.853569984436035, + 0.13603533804416656, + 0.008304468356072903, + 0.0027042769361287355, + 0.7031189203262329, + -0.7110186219215393 + ], + "box_yaw_rad": -1.5595617949299985, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0012321032968021692 + } + }, + { + "simulation_time_ns": 800000000, + "phase": "settle", + "intended_face_center": [ + 15.549719800100878, + -14.850181261645751, + 0.11923836645580863 + ], + "intended_face_normal": [ + -0.9999054921110796, + -0.011102051695613402, + 0.008099051610649832 + ], + "commanded_contact_point": [ + 15.129714965820312, + -14.875886917114258, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.549709343564032, + -14.849567114361246, + 0.11879034020893814 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155441284179688, + -14.907983779907227, + 0.02352851629257202 + ], + "box_pose": [ + 15.606778144836426, + -14.853583335876465, + 0.13603579998016357, + 0.008300745859742165, + 0.0026345921214669943, + 0.7031216621398926, + -0.7110161781311035 + ], + "box_yaw_rad": -1.5595687809620071, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011186827375420315 + } + }, + { + "simulation_time_ns": 820000000, + "phase": "settle", + "intended_face_center": [ + 15.549735860296133, + -14.850198308966904, + 0.11924569206623642 + ], + "intended_face_normal": [ + -0.9999046394482898, + -0.011109003765742198, + 0.008218281220615076 + ], + "commanded_contact_point": [ + 15.130311012268066, + -14.875082969665527, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 15.549725309414518, + -14.849583777105286, + 0.1187910702329644 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15546703338623, + -14.907917976379395, + 0.023526042699813843 + ], + "box_pose": [ + 15.606796264648438, + -14.853602409362793, + 0.13603575527668, + 0.008293315768241882, + 0.0025423357728868723, + 0.7031192779541016, + -0.7110190987586975 + ], + "box_yaw_rad": -1.559561145532911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010008011136526868 + } + }, + { + "simulation_time_ns": 840000000, + "phase": "settle", + "intended_face_center": [ + 15.549750620603186, + -14.850219632514305, + 0.11925407975284075 + ], + "intended_face_normal": [ + -0.9999032349866431, + -0.01111866418869556, + 0.00835841285518163 + ], + "commanded_contact_point": [ + 15.13086223602295, + -14.874410629272461, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.549739914321615, + -14.849604566253939, + 0.11879170606746049 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155497550964355, + -14.907862663269043, + 0.02352452278137207 + ], + "box_pose": [ + 15.606813430786133, + -14.853626251220703, + 0.13603542745113373, + 0.008280028589069843, + 0.002429304178804159, + 0.7031159996986389, + -0.7110227942466736 + ], + "box_yaw_rad": -1.559550828906304, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000869418904969199 + } + }, + { + "simulation_time_ns": 860000000, + "phase": "settle", + "intended_face_center": [ + 15.549769955204342, + -14.850243192835425, + 0.11926342079626318 + ], + "intended_face_normal": [ + -0.9999017126735122, + -0.011121629470405958, + 0.008511626504049463 + ], + "commanded_contact_point": [ + 15.131348609924316, + -14.873872756958008, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.549759080482612, + -14.84962796254054, + 0.11879257158320738 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155525207519531, + -14.907814979553223, + 0.02352219820022583 + ], + "box_pose": [ + 15.60683536529541, + -14.853652954101562, + 0.1360352486371994, + 0.008266407996416092, + 0.0023065954446792603, + 0.7031151056289673, + -0.7110241055488586 + ], + "box_yaw_rad": -1.5595471819197877, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007251663257309172 + } + }, + { + "simulation_time_ns": 880000000, + "phase": "settle", + "intended_face_center": [ + 15.549792536782528, + -14.850271358863932, + 0.11927494708779117 + ], + "intended_face_normal": [ + -0.9999004850042982, + -0.011116601375836699, + 0.008698316061960365 + ], + "commanded_contact_point": [ + 15.131772994995117, + -14.87344741821289, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.549781526222068, + -14.849656406714988, + 0.118793770514696 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155548095703125, + -14.907780647277832, + 0.023521006107330322 + ], + "box_pose": [ + 15.606861114501953, + -14.85368537902832, + 0.13603518903255463, + 0.00825115479528904, + 0.0021583931520581245, + 0.7031170725822449, + -0.7110230326652527 + ], + "box_yaw_rad": -1.559551433449192, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000600845850805617 + } + }, + { + "simulation_time_ns": 900000000, + "phase": "settle", + "intended_face_center": [ + 15.549819407323444, + -14.850304548090998, + 0.11928784608377033 + ], + "intended_face_normal": [ + -0.9998984601389005, + -0.011113098862501669, + 0.008914661819240277 + ], + "commanded_contact_point": [ + 15.132128715515137, + -14.873147964477539, + 0.05000003054738045 + ], + "centerline_face_intersection": [ + 15.549808172715998, + -14.849689789695345, + 0.11879470161834403 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155570983886719, + -14.907753944396973, + 0.023518234491348267 + ], + "box_pose": [ + 15.606891632080078, + -14.853723526000977, + 0.13603462278842926, + 0.008230270817875862, + 0.0019834127742797136, + 0.7031185626983643, + -0.7110221982002258 + ], + "box_yaw_rad": -1.5595542190377085, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004649834708901102 + } + }, + { + "simulation_time_ns": 920000000, + "phase": "settle", + "intended_face_center": [ + 15.549848580661358, + -14.850341484080946, + 0.11930286150986465 + ], + "intended_face_normal": [ + -0.9998964115699797, + -0.011105725825298451, + 0.009163968329949743 + ], + "commanded_contact_point": [ + 15.132418632507324, + -14.872962951660156, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54983711938372, + -14.849727133549614, + 0.11879592581730669 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155587196350098, + -14.907740592956543, + 0.023518383502960205 + ], + "box_pose": [ + 15.606925010681152, + -14.853766441345215, + 0.13603410124778748, + 0.008204679936170578, + 0.0017802176298573613, + 0.7031214833259583, + -0.7110202312469482 + ], + "box_yaw_rad": -1.5595609582062027, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00034392093125219103 + } + }, + { + "simulation_time_ns": 940000000, + "phase": "settle", + "intended_face_center": [ + 15.549883643685842, + -14.850386978848812, + 0.11932048110235338 + ], + "intended_face_normal": [ + -0.9998935476240098, + -0.011114222363751702, + 0.009457347394006055 + ], + "commanded_contact_point": [ + 15.132637023925781, + -14.872876167297363, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.54987186551734, + -14.849772158302914, + 0.11879731616132308 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15560245513916, + -14.907730102539062, + 0.0235174298286438 + ], + "box_pose": [ + 15.606965065002441, + -14.8538179397583, + 0.13603344559669495, + 0.008175593800842762, + 0.001542225363664329, + 0.7031188011169434, + -0.71102374792099 + ], + "box_yaw_rad": -1.5595518904327537, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00023500284526161753 + } + }, + { + "simulation_time_ns": 960000000, + "phase": "settle", + "intended_face_center": [ + 15.5499246381163, + -14.85043686654125, + 0.11934116847550365 + ], + "intended_face_normal": [ + -0.9998905255240164, + -0.011101063838199199, + 0.0097990192505307 + ], + "commanded_contact_point": [ + 15.132801055908203, + -14.872878074645996, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.549912525556465, + -14.849822773903396, + 0.11879910280795634 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155617713928223, + -14.907730102539062, + 0.02351638674736023 + ], + "box_pose": [ + 15.607011795043945, + -14.853876113891602, + 0.1360328495502472, + 0.008142175152897835, + 0.0012654068414121866, + 0.7031238675117493, + -0.71101975440979 + ], + "box_yaw_rad": -1.5595646552109435, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001640430747095354 + } + }, + { + "simulation_time_ns": 980000000, + "phase": "settle", + "intended_face_center": [ + 15.549972384088466, + -14.850496795637662, + 0.1193649706049203 + ], + "intended_face_normal": [ + -0.9998863640092511, + -0.011100146764611574, + 0.010191946789838924 + ], + "commanded_contact_point": [ + 15.132909774780273, + -14.872962951660156, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.549959811060923, + -14.849882753730816, + 0.11880116883058034 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155627250671387, + -14.907736778259277, + 0.02351507544517517 + ], + "box_pose": [ + 15.60706615447998, + -14.853944778442383, + 0.13603216409683228, + 0.0081033268943429, + 0.0009467056952416897, + 0.7031246423721313, + -0.71101975440979 + ], + "box_yaw_rad": -1.5595654960088785, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001379271571912585 + } + }, + { + "simulation_time_ns": 1000000000, + "phase": "settle", + "intended_face_center": [ + 15.550028538694024, + -14.850563900433677, + 0.11939324549563995 + ], + "intended_face_normal": [ + -0.9998819926629267, + -0.011081900489817942, + 0.0106545089899105 + ], + "commanded_contact_point": [ + 15.132957458496094, + -14.873116493225098, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.550015481979043, + -14.849950867880814, + 0.11880385553932452 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155635833740234, + -14.907747268676758, + 0.023514151573181152 + ], + "box_pose": [ + 15.60713005065918, + -14.854022979736328, + 0.1360316425561905, + 0.008061028085649014, + 0.0005749259726144373, + 0.7031316161155701, + -0.711013913154602 + ], + "box_yaw_rad": -1.5595840658640316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0001607754632992858 + } + }, + { + "simulation_time_ns": 1020000000, + "phase": "settle", + "intended_face_center": [ + 15.550091221024744, + -14.850644116242142, + 0.1194247644368451 + ], + "intended_face_normal": [ + -0.9998759790603108, + -0.011087978117456765, + 0.011179942472416741 + ], + "commanded_contact_point": [ + 15.132966995239258, + -14.87332534790039, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.550077498903974, + -14.85003074748489, + 0.1188063083623637 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.155640602111816, + -14.90776252746582, + 0.023514091968536377 + ], + "box_pose": [ + 15.60720157623291, + -14.854114532470703, + 0.136030375957489, + 0.008007538504898548, + 0.00014722412743140012, + 0.7031300663948059, + -0.7110161185264587 + ], + "box_yaw_rad": -1.5595791770513439, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002090722958112492 + } + }, + { + "simulation_time_ns": 1040000000, + "phase": "settle", + "intended_face_center": [ + 15.550164022110561, + -14.850734917580843, + 0.11946162228177819 + ], + "intended_face_normal": [ + -0.9998688704902182, + -0.011089275663017095, + 0.011786430524569291 + ], + "commanded_contact_point": [ + 15.132671356201172, + -14.873392105102539, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.550149513420571, + -14.850121477045498, + 0.11880961628332538 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.156481742858887, + -14.908880233764648, + 0.026531308889389038 + ], + "box_pose": [ + 15.607284545898438, + -14.854218482971191, + 0.1360294371843338, + 0.007951128296554089, + -0.0003410925855860114, + 0.7031302452087402, + -0.7110164165496826 + ], + "box_yaw_rad": -1.559579964151911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003030824392866829 + } + }, + { + "simulation_time_ns": 1060000000, + "phase": "settle", + "intended_face_center": [ + 15.5502478429149, + -14.8508390807727, + 0.11950264302894163 + ], + "intended_face_normal": [ + -0.9998606502905594, + -0.011094190526105718, + 0.012474909503269127 + ], + "commanded_contact_point": [ + 15.13186264038086, + -14.873699188232422, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.550232424645973, + -14.850225368355193, + 0.11881255150298453 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.154987335205078, + -14.91523551940918, + 0.04320529103279114 + ], + "box_pose": [ + 15.607379913330078, + -14.854337692260742, + 0.13602745532989502, + 0.007880616933107376, + -0.0009019620483741164, + 0.7031292915344238, + -0.7110177874565125 + ], + "box_yaw_rad": -1.559578781354882, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008650556795263213 + } + }, + { + "simulation_time_ns": 1080000000, + "phase": "settle", + "intended_face_center": [ + 15.550344179236966, + -14.85095969238428, + 0.11955051211261178 + ], + "intended_face_normal": [ + -0.9998503521683723, + -0.01109398925670424, + 0.01327454914506293 + ], + "commanded_contact_point": [ + 15.132684707641602, + -14.875064849853516, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.550327621452922, + -14.850345991100665, + 0.11881618583365092 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.143999099731445, + -14.916486740112305, + 0.051419198513031006 + ], + "box_pose": [ + 15.607489585876465, + -14.854475975036621, + 0.13602538406848907, + 0.007801515515893698, + -0.0015505912015214562, + 0.7031302452087402, + -0.7110165953636169 + ], + "box_yaw_rad": -1.559584753370534, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001593996939971176 + } + }, + { + "simulation_time_ns": 1100000000, + "phase": "settle", + "intended_face_center": [ + 15.550456564687169, + -14.851099116971364, + 0.11960611245318754 + ], + "intended_face_normal": [ + -0.9998376107629636, + -0.011085826871799709, + 0.014203599055216953 + ], + "commanded_contact_point": [ + 15.134381294250488, + -14.876381874084473, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.550438597015855, + -14.850485867217492, + 0.11882039265750255 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13742733001709, + -14.91090202331543, + 0.05455939471721649 + ], + "box_pose": [ + 15.607617378234863, + -14.854636192321777, + 0.13602297008037567, + 0.0077134002931416035, + -0.0023003891110420227, + 0.7031341195106506, + -0.7110116481781006 + ], + "box_yaw_rad": -1.5596015346919545, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002147780004199035 + } + }, + { + "simulation_time_ns": 1120000000, + "phase": "settle", + "intended_face_center": [ + 15.55058572560319, + -14.851259342651154, + 0.11966945523641637 + ], + "intended_face_normal": [ + -0.9998219844767647, + -0.01109517800612625, + 0.015270600606461904 + ], + "commanded_contact_point": [ + 15.13580322265625, + -14.876956939697266, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.55056602879652, + -14.850645575607874, + 0.11882471066556131 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138678550720215, + -14.906325340270996, + 0.0592169314622879 + ], + "box_pose": [ + 15.60776424407959, + -14.854819297790527, + 0.13601961731910706, + 0.00761067122220993, + -0.003163024550303817, + 0.703131914138794, + -0.7110117673873901 + ], + "box_yaw_rad": -1.5596048662114335, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015338125217275508 + } + }, + { + "simulation_time_ns": 1140000000, + "phase": "settle", + "intended_face_center": [ + 15.550733219788578, + -14.851445953681576, + 0.11974186232083708 + ], + "intended_face_normal": [ + -0.9998020890655009, + -0.0111146114720726, + 0.016502192005743155 + ], + "commanded_contact_point": [ + 15.136706352233887, + -14.877321243286133, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.550711321405037, + -14.850831111610844, + 0.11882898813446355 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.142627716064453, + -14.902722358703613, + 0.0635228306055069 + ], + "box_pose": [ + 15.607932090759277, + -14.855031967163086, + 0.1360149383544922, + 0.007488966453820467, + -0.0041618989780545235, + 0.7031263113021851, + -0.7110133767127991 + ], + "box_yaw_rad": -1.559603836537418, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009738378407044428 + } + }, + { + "simulation_time_ns": 1160000000, + "phase": "settle", + "intended_face_center": [ + 15.550904339044294, + -14.85165999767189, + 0.11982504838262799 + ], + "intended_face_normal": [ + -0.9997770898103367, + -0.011150006455921124, + 0.017924947943454228 + ], + "commanded_contact_point": [ + 15.137199401855469, + -14.878251075744629, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.550879674243049, + -14.851043197608725, + 0.11883346967211644 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.145959854125977, + -14.896718978881836, + 0.06756454706192017 + ], + "box_pose": [ + 15.608126640319824, + -14.85527515411377, + 0.13600903749465942, + 0.007352631539106369, + -0.005311533808708191, + 0.7031151652336121, + -0.7110180854797363 + ], + "box_yaw_rad": -1.5595943441727125, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010524667837490576 + } + }, + { + "simulation_time_ns": 1180000000, + "phase": "settle", + "intended_face_center": [ + 15.551100955219727, + -14.851905924811591, + 0.11991885996126844 + ], + "intended_face_normal": [ + -0.9997463706114869, + -0.011185374438488327, + 0.019547252434221174 + ], + "commanded_contact_point": [ + 15.137436866760254, + -14.879836082458496, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.551072890937032, + -14.851287168249659, + 0.11883753802806601 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.144811630249023, + -14.889652252197266, + 0.06861661374568939 + ], + "box_pose": [ + 15.608349800109863, + -14.855554580688477, + 0.13600115478038788, + 0.007197191473096609, + -0.006622463930398226, + 0.7031041979789734, + -0.7110195755958557 + ], + "box_yaw_rad": -1.5595948303396292, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016026964357397145 + } + }, + { + "simulation_time_ns": 1200000000, + "phase": "settle", + "intended_face_center": [ + 15.551326290412284, + -14.852190113257237, + 0.12002537137929843 + ], + "intended_face_normal": [ + -0.9997077786449657, + -0.01123346315770224, + 0.02140779041491908 + ], + "commanded_contact_point": [ + 15.137296676635742, + -14.88166618347168, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.551293955275266, + -14.851568696506257, + 0.11884112753761526 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140436172485352, + -14.884517669677734, + 0.06739364564418793 + ], + "box_pose": [ + 15.60860538482666, + -14.855876922607422, + 0.13599084317684174, + 0.007015127222985029, + -0.008129829540848732, + 0.7030889391899109, + -0.7110208868980408 + ], + "box_yaw_rad": -1.5595963783186155, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018354626092114141 + } + }, + { + "simulation_time_ns": 1220000000, + "phase": "settle", + "intended_face_center": [ + 15.551576324998276, + -14.852518488166417, + 0.12014646002285989 + ], + "intended_face_normal": [ + -0.9996608229335301, + -0.01128172355701984, + 0.023468303284320147 + ], + "commanded_contact_point": [ + 15.13672924041748, + -14.883601188659668, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.551538793194583, + -14.851894401729329, + 0.1188482319899546 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13697624206543, + -14.88444995880127, + 0.06662985682487488 + ], + "box_pose": [ + 15.608888626098633, + -14.856249809265137, + 0.13598185777664185, + 0.00677256565541029, + -0.009840709157288074, + 0.7030741572380066, + -0.7110161185264587 + ], + "box_yaw_rad": -1.5596162013087402, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020164892609579573 + } + }, + { + "simulation_time_ns": 1240000000, + "phase": "settle", + "intended_face_center": [ + 15.551840169215692, + -14.85286959478885, + 0.12027627237787619 + ], + "intended_face_normal": [ + -0.999607348141162, + -0.011321392526145613, + 0.025638934473916963 + ], + "commanded_contact_point": [ + 15.135871887207031, + -14.885818481445312, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.551796718970404, + -14.852243313929474, + 0.11885796858894827 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135055541992188, + -14.888605117797852, + 0.06598226726055145 + ], + "box_pose": [ + 15.609187126159668, + -14.856649398803711, + 0.13597416877746582, + 0.00649684015661478, + -0.011663535609841347, + 0.7030626535415649, + -0.7110027074813843 + ], + "box_yaw_rad": -1.5596620555802623, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023772761355675253 + } + }, + { + "simulation_time_ns": 1260000000, + "phase": "settle", + "intended_face_center": [ + 15.552094274334788, + -14.853140663193763, + 0.12042252985186852 + ], + "intended_face_normal": [ + -0.9995509820403174, + -0.011381870590174925, + 0.02772060195473014 + ], + "commanded_contact_point": [ + 15.134834289550781, + -14.888809204101562, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.552044585303012, + -14.852511036787114, + 0.11888907163332385 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132698059082031, + -14.893230438232422, + 0.06462730467319489 + ], + "box_pose": [ + 15.609474182128906, + -14.856955528259277, + 0.13599097728729248, + 0.00643980922177434, + -0.01320208515971899, + 0.703041672706604, + -0.7109969854354858 + ], + "box_yaw_rad": -1.5596793508596194, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031656011913881476 + } + }, + { + "simulation_time_ns": 1280000000, + "phase": "settle", + "intended_face_center": [ + 15.552117107077823, + -14.853146865145549, + 0.12044137764154104 + ], + "intended_face_normal": [ + -0.9995457187840336, + -0.011386953748045547, + 0.02790657604965996 + ], + "commanded_contact_point": [ + 15.134256362915039, + -14.89192008972168, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.552066835473463, + -14.852516957546946, + 0.11889763164119523 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.128216743469238, + -14.897476196289062, + 0.0608677864074707 + ], + "box_pose": [ + 15.60949993133545, + -14.856962203979492, + 0.1359989494085312, + 0.006489553488790989, + -0.013284082524478436, + 0.7030394077301025, + -0.7109972238540649 + ], + "box_yaw_rad": -1.5596773193532045, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003164112598886486 + } + }, + { + "simulation_time_ns": 1300000000, + "phase": "settle", + "intended_face_center": [ + 15.55211110811433, + -14.853124237989674, + 0.12044424328718738 + ], + "intended_face_normal": [ + -0.999546831617016, + -0.011383724426083153, + 0.027865068891773648 + ], + "commanded_contact_point": [ + 15.134392738342285, + -14.895026206970215, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 15.55206095968606, + -14.852494509031864, + 0.11890279339471445 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.123856544494629, + -14.900196075439453, + 0.06262725591659546 + ], + "box_pose": [ + 15.609493255615234, + -14.85693645477295, + 0.13600505888462067, + 0.006542711053043604, + -0.013200787827372551, + 0.7030400633811951, + -0.7109975814819336 + ], + "box_yaw_rad": -1.559674770633357, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031091096186019844 + } + }, + { + "simulation_time_ns": 1320000000, + "phase": "settle", + "intended_face_center": [ + 15.552080912219344, + -14.853072151894358, + 0.12043182368244525 + ], + "intended_face_normal": [ + -0.9995543198133857, + -0.011376431653224328, + 0.02760282340871767 + ], + "commanded_contact_point": [ + 15.13500690460205, + -14.898416519165039, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.552031592633133, + -14.852442826360777, + 0.11890488077982503 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.120704650878906, + -14.900967597961426, + 0.06956583261489868 + ], + "box_pose": [ + 15.609458923339844, + -14.856877326965332, + 0.13600963354110718, + 0.006603328511118889, + -0.012952919118106365, + 0.7030420899391174, + -0.7109996676445007 + ], + "box_yaw_rad": -1.559667550488894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003445492268676264 + } + }, + { + "simulation_time_ns": 1340000000, + "phase": "settle", + "intended_face_center": [ + 15.55202870394807, + -14.852994564377633, + 0.12040772502737677 + ], + "intended_face_normal": [ + -0.9995662226970079, + -0.011376860098944785, + 0.027162704776105606 + ], + "commanded_contact_point": [ + 15.1360445022583, + -14.901615142822266, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.551980701837305, + -14.852365215143138, + 0.11890512876540368 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12205696105957, + -14.901202201843262, + 0.07700291275978088 + ], + "box_pose": [ + 15.609399795532227, + -14.856788635253906, + 0.1360136717557907, + 0.006675556302070618, + -0.012566812336444855, + 0.7030412554740906, + -0.7110066413879395 + ], + "box_yaw_rad": -1.559645557097387, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003362707569403638 + } + }, + { + "simulation_time_ns": 1360000000, + "phase": "settle", + "intended_face_center": [ + 15.551950124074969, + -14.852893402282291, + 0.12036925239094887 + ], + "intended_face_normal": [ + -0.9995837076797809, + -0.01135702608306488, + 0.02652433522470904 + ], + "commanded_contact_point": [ + 15.136856079101562, + -14.90400505065918, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.551904057268066, + -14.852265150233011, + 0.1189019696851769 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12655258178711, + -14.905110359191895, + 0.07957307994365692 + ], + "box_pose": [ + 15.6093111038208, + -14.856674194335938, + 0.13601556420326233, + 0.006746291648596525, + -0.012041139416396618, + 0.7030476331710815, + -0.7110088467597961 + ], + "box_yaw_rad": -1.559637697552159, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025239485813850857 + } + }, + { + "simulation_time_ns": 1380000000, + "phase": "settle", + "intended_face_center": [ + 15.551850616125545, + -14.852765630096533, + 0.12031919143725021 + ], + "intended_face_normal": [ + -0.9996051319794137, + -0.011337062474682913, + 0.02570454854926285 + ], + "commanded_contact_point": [ + 15.137150764465332, + -14.905552864074707, + 0.050000011920928955 + ], + "centerline_face_intersection": [ + 15.55180692059479, + -14.852138482401315, + 0.11889725798532813 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131868362426758, + -14.909653663635254, + 0.07881233096122742 + ], + "box_pose": [ + 15.609198570251465, + -14.856529235839844, + 0.13601726293563843, + 0.0068333144299685955, + -0.011369968764483929, + 0.703053891658783, + -0.7110127210617065 + ], + "box_yaw_rad": -1.55962395368202, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015756160170013831 + } + }, + { + "simulation_time_ns": 1400000000, + "phase": "settle", + "intended_face_center": [ + 15.551724651280342, + -14.852616636926715, + 0.12025565533510563 + ], + "intended_face_normal": [ + -0.9996311198645352, + -0.01132005932462743, + 0.024689380777292436 + ], + "commanded_contact_point": [ + 15.137110710144043, + -14.906513214111328, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.55168383206252, + -14.85199042981786, + 0.11888987929872855 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135202407836914, + -14.912006378173828, + 0.07587312161922455 + ], + "box_pose": [ + 15.60905647277832, + -14.856359481811523, + 0.13601753115653992, + 0.006921287160366774, + -0.01055888645350933, + 0.7030590772628784, + -0.7110193967819214 + ], + "box_yaw_rad": -1.5596030497485671, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009611849680887869 + } + }, + { + "simulation_time_ns": 1420000000, + "phase": "settle", + "intended_face_center": [ + 15.551594765271144, + -14.852459360035205, + 0.12018948387852899 + ], + "intended_face_normal": [ + -0.9996569184559216, + -0.011308157346299974, + 0.023625180618636166 + ], + "commanded_contact_point": [ + 15.136877059936523, + -14.906903266906738, + 0.05000002309679985 + ], + "centerline_face_intersection": [ + 15.551556801341425, + -14.851833811324264, + 0.11888257764888024 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135893821716309, + -14.912046432495117, + 0.07017531991004944 + ], + "box_pose": [ + 15.608909606933594, + -14.856180191040039, + 0.13601817190647125, + 0.007011545356363058, + -0.009710646234452724, + 0.7030624151229858, + -0.7110272645950317 + ], + "box_yaw_rad": -1.5595781162802886, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00045467967298587627 + } + }, + { + "simulation_time_ns": 1440000000, + "phase": "settle", + "intended_face_center": [ + 15.551455806616579, + -14.852296495195553, + 0.12011746225530416 + ], + "intended_face_normal": [ + -0.9996836165982012, + -0.01128189607494201, + 0.022480169389743343 + ], + "commanded_contact_point": [ + 15.136621475219727, + -14.906930923461914, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.551420797456156, + -14.851672399215056, + 0.11887389616820135 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135965347290039, + -14.910930633544922, + 0.06500649452209473 + ], + "box_pose": [ + 15.608752250671387, + -14.855995178222656, + 0.1360177844762802, + 0.0070927622728049755, + -0.008814075030386448, + 0.7030709385871887, + -0.7110297083854675 + ], + "box_yaw_rad": -1.5595689191634645, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002570767055955109 + } + }, + { + "simulation_time_ns": 1460000000, + "phase": "settle", + "intended_face_center": [ + 15.551308779903243, + -14.852119881458199, + 0.12004041571061459 + ], + "intended_face_normal": [ + -0.9997110345698337, + -0.011239136906874059, + 0.02125277255423419 + ], + "commanded_contact_point": [ + 15.136301040649414, + -14.906590461730957, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.551276805095794, + -14.851498150844725, + 0.11886474720264448 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135696411132812, + -14.909405708312988, + 0.06132534146308899 + ], + "box_pose": [ + 15.608585357666016, + -14.855795860290527, + 0.13601741194725037, + 0.007175501435995102, + -0.00785739440470934, + 0.7030853033065796, + -0.7110259532928467 + ], + "box_yaw_rad": -1.5595774504619675, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00046753877319914244 + } + }, + { + "simulation_time_ns": 1480000000, + "phase": "settle", + "intended_face_center": [ + 15.551143719805196, + -14.85193223549582, + 0.11995524382659058 + ], + "intended_face_normal": [ + -0.999738937541178, + -0.011203113817919497, + 0.019907683821698108 + ], + "commanded_contact_point": [ + 15.13605785369873, + -14.905794143676758, + 0.049999963492155075 + ], + "centerline_face_intersection": [ + 15.55111483294028, + -14.851312497620524, + 0.1188539834203979 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135772705078125, + -14.9098539352417, + 0.0589340478181839 + ], + "box_pose": [ + 15.6083984375, + -14.855583190917969, + 0.13601607084274292, + 0.007256207522004843, + -0.006819120608270168, + 0.7030972838401794, + -0.7110238671302795 + ], + "box_yaw_rad": -1.5595806708221622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008326237671064377 + } + }, + { + "simulation_time_ns": 1500000000, + "phase": "settle", + "intended_face_center": [ + 15.550962242164246, + -14.851722368424811, + 0.11985998786976214 + ], + "intended_face_normal": [ + -0.999768230054824, + -0.011174034798061672, + 0.018404110164865872 + ], + "commanded_contact_point": [ + 15.135597229003906, + -14.90455436706543, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.550936596925807, + -14.851104239153182, + 0.11884190269133045 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135801315307617, + -14.911896705627441, + 0.05795620381832123 + ], + "box_pose": [ + 15.608192443847656, + -14.855344772338867, + 0.1360144168138504, + 0.007345004007220268, + -0.005659996531903744, + 0.703106701374054, + -0.7110239267349243 + ], + "box_yaw_rad": -1.5595782009767631, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013225812477371409 + } + }, + { + "simulation_time_ns": 1520000000, + "phase": "settle", + "intended_face_center": [ + 15.550756493796298, + -14.851486326143565, + 0.11975169016344504 + ], + "intended_face_normal": [ + -0.9997984937964001, + -0.011138316763870892, + 0.016705064878756337 + ], + "commanded_contact_point": [ + 15.135368347167969, + -14.903809547424316, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.550734197564518, + -14.850870172734984, + 0.11882759338259286 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133588790893555, + -14.910757064819336, + 0.05984550714492798 + ], + "box_pose": [ + 15.607958793640137, + -14.855076789855957, + 0.1360117346048355, + 0.007441764697432518, + -0.004353867843747139, + 0.7031183838844299, + -0.7110205888748169 + ], + "box_yaw_rad": -1.5595848262252783, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007791939377485656 + } + }, + { + "simulation_time_ns": 1540000000, + "phase": "settle", + "intended_face_center": [ + 15.550555927985846, + -14.851237575034414, + 0.11965268977367517 + ], + "intended_face_normal": [ + -0.9998250806805377, + -0.011110354611281292, + 0.015050093639739137 + ], + "commanded_contact_point": [ + 15.135583877563477, + -14.903542518615723, + 0.04999999701976776 + ], + "centerline_face_intersection": [ + 15.550536573793467, + -14.850622968446237, + 0.11882014328643026 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131463050842285, + -14.908659934997559, + 0.06411652266979218 + ], + "box_pose": [ + 15.607730865478516, + -14.854793548583984, + 0.13601621985435486, + 0.007596718613058329, + -0.0030202888883650303, + 0.7031266689300537, + -0.7110176682472229 + ], + "box_yaw_rad": -1.5595883336464667, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00034315847077154136 + } + }, + { + "simulation_time_ns": 1560000000, + "phase": "settle", + "intended_face_center": [ + 15.550388254498982, + -14.851021625739989, + 0.11957126164676939 + ], + "intended_face_normal": [ + -0.9998452668322819, + -0.011088930855601364, + 0.0136637676863538 + ], + "commanded_contact_point": [ + 15.135709762573242, + -14.903484344482422, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.550371134004394, + -14.850408204278827, + 0.11881540443670079 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129502296447754, + -14.906094551086426, + 0.06826391816139221 + ], + "box_pose": [ + 15.607540130615234, + -14.854547500610352, + 0.13602164387702942, + 0.007748551666736603, + -0.0018809458706527948, + 0.7031326293945312, + -0.7110140919685364 + ], + "box_yaw_rad": -1.5595937800406565, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00013867683870743758 + } + }, + { + "simulation_time_ns": 1580000000, + "phase": "settle", + "intended_face_center": [ + 15.550245090278324, + -14.85083980567468, + 0.11950060137659525 + ], + "intended_face_normal": [ + -0.9998608375291191, + -0.01107883363539408, + 0.012471539891860992 + ], + "commanded_contact_point": [ + 15.135375022888184, + -14.903308868408203, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.550229692727742, + -14.850226942775171, + 0.11881069625201268 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1273832321167, + -14.902542114257812, + 0.07323877513408661 + ], + "box_pose": [ + 15.607377052307129, + -14.854339599609375, + 0.136025533080101, + 0.007873202674090862, + -0.0009071169188246131, + 0.7031348347663879, + -0.7110123634338379 + ], + "box_yaw_rad": -1.5595943938889176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00037794511469695633 + } + }, + { + "simulation_time_ns": 1600000000, + "phase": "settle", + "intended_face_center": [ + 15.550121143414792, + -14.850684564124347, + 0.11943909583963666 + ], + "intended_face_normal": [ + -0.9998731128728465, + -0.011083410638423441, + 0.011443304831972378 + ], + "commanded_contact_point": [ + 15.134927749633789, + -14.902549743652344, + 0.049999985843896866 + ], + "centerline_face_intersection": [ + 15.550107104148658, + -14.85007144803254, + 0.11880607099152705 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.123299598693848, + -14.896181106567383, + 0.07733438909053802 + ], + "box_pose": [ + 15.6072359085083, + -14.854161262512207, + 0.1360282301902771, + 0.007977365516126156, + -7.058320625219494e-05, + 0.7031320333480835, + -0.7110145688056946 + ], + "box_yaw_rad": -1.559584721774174, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008810923678788979 + } + }, + { + "simulation_time_ns": 1620000000, + "phase": "settle", + "intended_face_center": [ + 15.550014924240264, + -14.850550040061854, + 0.11938600311017543 + ], + "intended_face_normal": [ + -0.999882638610641, + -0.011086669575790853, + 0.010556934578067945 + ], + "commanded_contact_point": [ + 15.134801864624023, + -14.901588439941406, + 0.04999995976686478 + ], + "centerline_face_intersection": [ + 15.55000193899923, + -14.84993674369098, + 0.11880201081023137 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.11724853515625, + -14.889920234680176, + 0.0789104700088501 + ], + "box_pose": [ + 15.607114791870117, + -14.85400676727295, + 0.13603046536445618, + 0.00806909054517746, + 0.0006524818018078804, + 0.7031298279762268, + -0.7110152840614319 + ], + "box_yaw_rad": -1.5595792059719442, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0009695111453850913 + } + }, + { + "simulation_time_ns": 1640000000, + "phase": "settle", + "intended_face_center": [ + 15.54992280319296, + -14.850434524986861, + 0.11934056799282292 + ], + "intended_face_normal": [ + -0.9998907451747239, + -0.011087266984155297, + 0.009797533283668086 + ], + "commanded_contact_point": [ + 15.134869575500488, + -14.901135444641113, + 0.05000000819563866 + ], + "centerline_face_intersection": [ + 15.549910714937218, + -14.849821195568335, + 0.1187985845265244 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.112200736999512, + -14.893890380859375, + 0.07517300546169281 + ], + "box_pose": [ + 15.607009887695312, + -14.853874206542969, + 0.13603241741657257, + 0.008148870430886745, + 0.0012731692986562848, + 0.7031286954879761, + -0.7110149264335632 + ], + "box_yaw_rad": -1.5595782729117864, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00045802784546848283 + } + }, + { + "simulation_time_ns": 1660000000, + "phase": "settle", + "intended_face_center": [ + 15.549841627941364, + -14.850333653542528, + 0.11929952302455388 + ], + "intended_face_normal": [ + -0.9998967382925714, + -0.011099561474017805, + 0.009125694550290442 + ], + "commanded_contact_point": [ + 15.13508415222168, + -14.9010648727417, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.549830202814979, + -14.849719644012994, + 0.11879470457469032 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.113471031188965, + -14.904339790344238, + 0.06739102303981781 + ], + "box_pose": [ + 15.606917381286621, + -14.853757858276367, + 0.13603320717811584, + 0.008213725872337818, + 0.0018165496876463294, + 0.7031235694885254, + -0.711017906665802 + ], + "box_yaw_rad": -1.5595670766339689, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0002258839600066013 + } + }, + { + "simulation_time_ns": 1680000000, + "phase": "settle", + "intended_face_center": [ + 15.549769789051744, + -14.850243981337131, + 0.11926256106326158 + ], + "intended_face_normal": [ + -0.999902206865871, + -0.011101336202794965, + 0.00852440656492115 + ], + "commanded_contact_point": [ + 15.135544776916504, + -14.900491714477539, + 0.04999994859099388 + ], + "centerline_face_intersection": [ + 15.549758969011197, + -14.849629873632514, + 0.1187910048782068 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.121428489685059, + -14.911065101623535, + 0.060547009110450745 + ], + "box_pose": [ + 15.60683536529541, + -14.853654861450195, + 0.13603366911411285, + 0.008271755650639534, + 0.0023028110153973103, + 0.7031222581863403, + -0.7110172510147095 + ], + "box_yaw_rad": -1.5595672707895856, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007353132026130088 + } + }, + { + "simulation_time_ns": 1700000000, + "phase": "settle", + "intended_face_center": [ + 15.54970638527861, + -14.850161991367125, + 0.11922979861116854 + ], + "intended_face_normal": [ + -0.9999066094451217, + -0.01109712524312867, + 0.007991263120017023 + ], + "commanded_contact_point": [ + 15.136436462402344, + -14.899286270141602, + 0.04999994486570358 + ], + "centerline_face_intersection": [ + 15.549696052371552, + -14.849548116605888, + 0.11878773504674973 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129140853881836, + -14.911066055297852, + 0.05586366355419159 + ], + "box_pose": [ + 15.606762886047363, + -14.853561401367188, + 0.1360340714454651, + 0.00832286849617958, + 0.002733584027737379, + 0.703123152256012, + -0.7110142111778259 + ], + "box_yaw_rad": -1.559574007940305, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014993995640639342 + } + }, + { + "simulation_time_ns": 1720000000, + "phase": "settle", + "intended_face_center": [ + 15.549694670872132, + -14.850152438186383, + 0.11922548257065693 + ], + "intended_face_normal": [ + -0.9999072407493889, + -0.011103432168964922, + 0.007893686742309614 + ], + "commanded_contact_point": [ + 15.137194633483887, + -14.897963523864746, + 0.05000000447034836 + ], + "centerline_face_intersection": [ + 15.549684407817008, + -14.849538214536357, + 0.11878881677135791 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1350736618042, + -14.909071922302246, + 0.05318500101566315 + ], + "box_pose": [ + 15.606749534606934, + -14.85354995727539, + 0.13603568077087402, + 0.008319733664393425, + 0.002799833193421364, + 0.7031209468841553, + -0.7110161185264587 + ], + "box_yaw_rad": -1.5595685209243904, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015246249064526504 + } + }, + { + "simulation_time_ns": 1740000000, + "phase": "settle", + "intended_face_center": [ + 15.549696474203596, + -14.850153566386824, + 0.11922620692453899 + ], + "intended_face_normal": [ + -0.999906960053812, + -0.011108821683321057, + 0.007899305206150453 + ], + "commanded_contact_point": [ + 15.137307167053223, + -14.89646053314209, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.549686180090351, + -14.849539044597705, + 0.11878923032103861 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140705108642578, + -14.908269882202148, + 0.05655422806739807 + ], + "box_pose": [ + 15.606751441955566, + -14.853550910949707, + 0.13603605329990387, + 0.008318978361785412, + 0.002795102773234248, + 0.7031190395355225, + -0.711017906665802 + ], + "box_yaw_rad": -1.5595631019976475, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015071977032702587 + } + }, + { + "simulation_time_ns": 1760000000, + "phase": "settle", + "intended_face_center": [ + 15.5497006308118, + -14.850159380722005, + 0.11922799811103503 + ], + "intended_face_normal": [ + -0.9999066562580997, + -0.011109516513434059, + 0.00793510309435555 + ], + "commanded_contact_point": [ + 15.1375732421875, + -14.895177841186523, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.54969030308446, + -14.849544820496027, + 0.11878904122709324 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.141497611999512, + -14.908050537109375, + 0.06131540238857269 + ], + "box_pose": [ + 15.606756210327148, + -14.853557586669922, + 0.13603559136390686, + 0.008313208818435669, + 0.0027638168539851904, + 0.7031188607215881, + -0.7110182642936707 + ], + "box_yaw_rad": -1.5595622602050585, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013099979503630827 + } + }, + { + "simulation_time_ns": 1780000000, + "phase": "settle", + "intended_face_center": [ + 15.549706227133575, + -14.850169026946693, + 0.1192318851301059 + ], + "intended_face_normal": [ + -0.999906195289318, + -0.011117559319807513, + 0.007996583441858163 + ], + "commanded_contact_point": [ + 15.137971878051758, + -14.894140243530273, + 0.04999997094273567 + ], + "centerline_face_intersection": [ + 15.54969584840139, + -14.849554021805861, + 0.11878952725421196 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13967514038086, + -14.90733528137207, + 0.06545917689800262 + ], + "box_pose": [ + 15.606762886047363, + -14.853568077087402, + 0.13603566586971283, + 0.008308278396725655, + 0.0027151587419211864, + 0.7031160593032837, + -0.711021363735199 + ], + "box_yaw_rad": -1.5595538612228148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011115392251412753 + } + }, + { + "simulation_time_ns": 1800000000, + "phase": "settle", + "intended_face_center": [ + 15.549717304795315, + -14.850180255999398, + 0.11923649208294534 + ], + "intended_face_normal": [ + -0.9999054655410615, + -0.011124953200990717, + 0.008072891497219153 + ], + "commanded_contact_point": [ + 15.138522148132324, + -14.893099784851074, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.549706845318571, + -14.84956484184119, + 0.11878991297062856 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138740539550781, + -14.905904769897461, + 0.06924191117286682 + ], + "box_pose": [ + 15.606775283813477, + -14.853580474853516, + 0.13603554666042328, + 0.008302693255245686, + 0.0026552893687039614, + 0.7031134963035583, + -0.7110241651535034 + ], + "box_yaw_rad": -1.559546024231219, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011770095274933183 + } + }, + { + "simulation_time_ns": 1820000000, + "phase": "settle", + "intended_face_center": [ + 15.549731605416572, + -14.850197343707299, + 0.11924341748901487 + ], + "intended_face_normal": [ + -0.9999047979189731, + -0.011116223777841161, + 0.008186600832152863 + ], + "commanded_contact_point": [ + 15.138957977294922, + -14.892353057861328, + 0.04999997466802597 + ], + "centerline_face_intersection": [ + 15.549721072069303, + -14.849582412446457, + 0.11879054816285411 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.139293670654297, + -14.903074264526367, + 0.07161742448806763 + ], + "box_pose": [ + 15.606791496276855, + -14.85360050201416, + 0.13603541254997253, + 0.008292964659631252, + 0.002564547350630164, + 0.7031167149543762, + -0.7110215425491333 + ], + "box_yaw_rad": -1.5595541571968532, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008646087316849648 + } + }, + { + "simulation_time_ns": 1840000000, + "phase": "settle", + "intended_face_center": [ + 15.549746457800929, + -14.850216286262151, + 0.11925172147925578 + ], + "intended_face_normal": [ + -0.9999035493085768, + -0.01111439742671605, + 0.008323665017539061 + ], + "commanded_contact_point": [ + 15.139141082763672, + -14.89207935333252, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.549735786298264, + -14.849601456032058, + 0.11879126998724263 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138948440551758, + -14.899250984191895, + 0.07131233811378479 + ], + "box_pose": [ + 15.60680866241455, + -14.853622436523438, + 0.13603521883487701, + 0.008282318711280823, + 0.002456305781379342, + 0.7031174898147583, + -0.7110211849212646 + ], + "box_yaw_rad": -1.5595552771006196, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00032930499812539943 + } + }, + { + "simulation_time_ns": 1860000000, + "phase": "settle", + "intended_face_center": [ + 15.549765810791525, + -14.85023793942308, + 0.11926105889955953 + ], + "intended_face_normal": [ + -0.9999023496957261, + -0.011101098685496802, + 0.008478545856702713 + ], + "commanded_contact_point": [ + 15.139182090759277, + -14.892223358154297, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.549755006554747, + -14.84962384485753, + 0.11879203965363908 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.136505126953125, + -14.89529037475586, + 0.06861318647861481 + ], + "box_pose": [ + 15.606830596923828, + -14.85364818572998, + 0.13603493571281433, + 0.008268800564110279, + 0.0023324303328990936, + 0.7031223773956299, + -0.7110168933868408 + ], + "box_yaw_rad": -1.5595678715874812, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00014972990524141384 + } + }, + { + "simulation_time_ns": 1880000000, + "phase": "settle", + "intended_face_center": [ + 15.549787566096345, + -14.85026591979211, + 0.11927183089180285 + ], + "intended_face_normal": [ + -0.9999010532676481, + -0.01109384068355268, + 0.008658569829383123 + ], + "commanded_contact_point": [ + 15.139056205749512, + -14.892728805541992, + 0.05000001937150955 + ], + "centerline_face_intersection": [ + 15.549776618412919, + -14.849652226727319, + 0.11879285301508163 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13428783416748, + -14.890883445739746, + 0.06677410006523132 + ], + "box_pose": [ + 15.606855392456055, + -14.853680610656738, + 0.13603448867797852, + 0.00825000461190939, + 0.0021853740327060223, + 0.7031251788139343, + -0.7110149264335632 + ], + "box_yaw_rad": -1.559574464020745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005208877981867933 + } + }, + { + "simulation_time_ns": 1900000000, + "phase": "settle", + "intended_face_center": [ + 15.549815284946432, + -14.85029701560734, + 0.11928563249841037 + ], + "intended_face_normal": [ + -0.9998990799037958, + -0.011087774332155353, + 0.008881435945427701 + ], + "commanded_contact_point": [ + 15.138777732849121, + -14.89372444152832, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + 15.549804118914684, + -14.849683658123157, + 0.11879432603380922 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133505821228027, + -14.888554573059082, + 0.0666675716638565 + ], + "box_pose": [ + 15.606886863708496, + -14.853716850280762, + 0.13603444397449493, + 0.008230612613260746, + 0.0020072555635124445, + 0.7031275629997253, + -0.7110132575035095 + ], + "box_yaw_rad": -1.5595797217686005, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010338463026650653 + } + }, + { + "simulation_time_ns": 1920000000, + "phase": "settle", + "intended_face_center": [ + 15.549844386658553, + -14.850336367078398, + 0.1193008504526002 + ], + "intended_face_normal": [ + -0.9998969763737479, + -0.011089083605268835, + 0.009133044306923743 + ], + "commanded_contact_point": [ + 15.138433456420898, + -14.89522933959961, + 0.05000000074505806 + ], + "centerline_face_intersection": [ + 15.549832987875407, + -14.849722937167375, + 0.11879562542625854 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13457202911377, + -14.889739990234375, + 0.06700204312801361 + ], + "box_pose": [ + 15.60692024230957, + -14.853761672973633, + 0.13603399693965912, + 0.008206083439290524, + 0.0018035441171377897, + 0.703127384185791, + -0.7110143899917603 + ], + "box_yaw_rad": -1.5595777197915706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015437760413990404 + } + }, + { + "simulation_time_ns": 1940000000, + "phase": "settle", + "intended_face_center": [ + 15.54988036898892, + -14.850378857891936, + 0.11931903226003322 + ], + "intended_face_normal": [ + -0.9998939762989684, + -0.011093805531618539, + 0.00942978920847204 + ], + "commanded_contact_point": [ + 15.137824058532715, + -14.897038459777832, + 0.05000002682209015 + ], + "centerline_face_intersection": [ + 15.549868638252647, + -14.849765166771693, + 0.11879739179261156 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.1360502243042, + -14.894244194030762, + 0.06698644161224365 + ], + "box_pose": [ + 15.606961250305176, + -14.85381031036377, + 0.13603372871875763, + 0.008179650641977787, + 0.0015658242627978325, + 0.7031260132789612, + -0.7110164761543274 + ], + "box_yaw_rad": -1.5595723177476741, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019090001587362456 + } + }, + { + "simulation_time_ns": 1960000000, + "phase": "settle", + "intended_face_center": [ + 15.549920479963264, + -14.850428240929846, + 0.11933989937858548 + ], + "intended_face_normal": [ + -0.9998911817239333, + -0.01108248828776226, + 0.009766386319073672 + ], + "commanded_contact_point": [ + 15.137105941772461, + -14.89925479888916, + 0.04999995604157448 + ], + "centerline_face_intersection": [ + 15.549908440011158, + -14.849815175860966, + 0.11879963891126506 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.135431289672852, + -14.900657653808594, + 0.0653270035982132 + ], + "box_pose": [ + 15.607007026672363, + -14.853867530822754, + 0.13603368401527405, + 0.008151471614837646, + 0.001297926064580679, + 0.7031303644180298, + -0.7110132575035095 + ], + "box_yaw_rad": -1.5595830899270062, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00232977482662385 + } + }, + { + "simulation_time_ns": 1980000000, + "phase": "settle", + "intended_face_center": [ + 15.54996826235628, + -14.850485880507245, + 0.11936379004061817 + ], + "intended_face_normal": [ + -0.9998872723770958, + -0.011072959681831307, + 0.010158463867080636 + ], + "commanded_contact_point": [ + 15.13692855834961, + -14.900969505310059, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.549955789838952, + -14.849873342545209, + 0.11880184048662928 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132468223571777, + -14.908526420593262, + 0.06090188026428223 + ], + "box_pose": [ + 15.607061386108398, + -14.853934288024902, + 0.13603316247463226, + 0.00811457447707653, + 0.000981767661869526, + 0.7031341791152954, + -0.7110103368759155 + ], + "box_yaw_rad": -1.5595924509474177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001723857010347894 + } + }, + { + "simulation_time_ns": 2000000000, + "phase": "settle", + "intended_face_center": [ + 15.55002079921878, + -14.850552622732854, + 0.11939075710356567 + ], + "intended_face_normal": [ + -0.9998824052335925, + -0.011078401003866922, + 0.0106057174931114 + ], + "commanded_contact_point": [ + 15.137397766113281, + -14.902050971984863, + 0.050000015646219254 + ], + "centerline_face_intersection": [ + 15.550007788154643, + -14.849939783765812, + 0.11880406621280024 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130295753479004, + -14.913568496704102, + 0.060769811272621155 + ], + "box_pose": [ + 15.607121467590332, + -14.854010581970215, + 0.13603225350379944, + 0.008070770651102066, + 0.0006194568704813719, + 0.7031327486038208, + -0.7110125422477722 + ], + "box_yaw_rad": -1.5595873456882143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011788664445996713 + } + }, + { + "simulation_time_ns": 2020000000, + "phase": "settle", + "intended_face_center": [ + 15.55008372558985, + -14.850629710897284, + 0.11942177237646408 + ], + "intended_face_normal": [ + -0.9998768204831655, + -0.011072618387763189, + 0.011118591798259556 + ], + "commanded_contact_point": [ + 15.138022422790527, + -14.903002738952637, + 0.04999997839331627 + ], + "centerline_face_intersection": [ + 15.550070096572853, + -14.850017191815077, + 0.11880671012061811 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12793254852295, + -14.911001205444336, + 0.06557558476924896 + ], + "box_pose": [ + 15.607192993164062, + -14.85409927368164, + 0.13603129982948303, + 0.008021256886422634, + 0.0002046597801381722, + 0.7031353712081909, + -0.7110106945037842 + ], + "box_yaw_rad": -1.5595941261613893, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001138444696399677 + } + }, + { + "simulation_time_ns": 2040000000, + "phase": "settle", + "intended_face_center": [ + 15.550155749835252, + -14.850719479573016, + 0.1194576121240742 + ], + "intended_face_normal": [ + -0.9998700436043323, + -0.011071310822799552, + 0.011714370994271556 + ], + "commanded_contact_point": [ + 15.138374328613281, + -14.903648376464844, + 0.04999998211860657 + ], + "centerline_face_intersection": [ + 15.550141370951703, + -14.850107032823159, + 0.11880959234060837 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.126886367797852, + -14.905985832214355, + 0.07214820384979248 + ], + "box_pose": [ + 15.607275009155273, + -14.854202270507812, + 0.13602997362613678, + 0.007962522096931934, + -0.0002783967647701502, + 0.7031365036964417, + -0.711010217666626 + ], + "box_yaw_rad": -1.5595974795347916, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007353132021600496 + } + }, + { + "simulation_time_ns": 2060000000, + "phase": "settle", + "intended_face_center": [ + 15.550236859174305, + -14.850822754140411, + 0.11949800395671437 + ], + "intended_face_normal": [ + -0.9998618891595998, + -0.011075589816950338, + 0.012394138017227524 + ], + "commanded_contact_point": [ + 15.138497352600098, + -14.903963088989258, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.550221577988802, + -14.850210070683616, + 0.11881238057684214 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.127967834472656, + -14.905111312866211, + 0.07563790678977966 + ], + "box_pose": [ + 15.607367515563965, + -14.854320526123047, + 0.13602788746356964, + 0.007891014218330383, + -0.0008340755011886358, + 0.7031357884407043, + -0.7110113501548767 + ], + "box_yaw_rad": -1.5595968084237704, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003379036466373015 + } + }, + { + "simulation_time_ns": 2080000000, + "phase": "settle", + "intended_face_center": [ + 15.55033148080401, + -14.850941517250066, + 0.11954513535854375 + ], + "intended_face_normal": [ + -0.9998518904464844, + -0.01107217597305743, + 0.013182470873361885 + ], + "commanded_contact_point": [ + 15.138650894165039, + -14.904122352600098, + 0.04999999329447746 + ], + "centerline_face_intersection": [ + 15.550315093235351, + -14.850329022641514, + 0.11881590269849925 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130956649780273, + -14.905010223388672, + 0.07591377198696136 + ], + "box_pose": [ + 15.607475280761719, + -14.854456901550293, + 0.1360257863998413, + 0.007812893949449062, + -0.001473674550652504, + 0.7031378746032715, + -0.71100914478302 + ], + "box_yaw_rad": -1.559605736682572, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00022122366491015164 + } + }, + { + "simulation_time_ns": 2100000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550442976712167, + -14.851078241408453, + 0.11960007680685163 + ], + "intended_face_normal": [ + -0.999838902189919, + -0.011090941177446911, + 0.014102303852493836 + ], + "commanded_contact_point": [ + 15.13874340057373, + -14.904044151306152, + 0.049999989569187164 + ], + "centerline_face_intersection": [ + 15.550425151943209, + -14.850464708739583, + 0.11881996049558477 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.133993148803711, + -14.904131889343262, + 0.07399687170982361 + ], + "box_pose": [ + 15.6076021194458, + -14.854612350463867, + 0.1360233724117279, + 0.007732352241873741, + -0.0022091777063906193, + 0.7031320929527283, + -0.711013674736023 + ], + "box_yaw_rad": -1.559594997324588, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00012113165580301641 + } + }, + { + "simulation_time_ns": 2120000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550568516593652, + -14.851236660383307, + 0.11966230955241694 + ], + "intended_face_normal": [ + -0.999823522834694, + -0.011111253678128041, + 0.015154680918251673 + ], + "commanded_contact_point": [ + 15.138723552838563, + -14.903499205627837, + 0.05012687636003297 + ], + "centerline_face_intersection": [ + 15.550548990016031, + -14.850622004060227, + 0.11882397746852257 + ], + "commanded_world_base_velocity": [ + 0.0002581250000000005, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13592529296875, + -14.903618812561035, + 0.06940802931785583 + ], + "box_pose": [ + 15.607745170593262, + -14.854792594909668, + 0.13601985573768616, + 0.007633245084434748, + -0.0030577266588807106, + 0.7031259536743164, + -0.7110178470611572 + ], + "box_yaw_rad": -1.559586777444108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005598749705045236 + } + }, + { + "simulation_time_ns": 2140000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550713635565597, + -14.851417385775525, + 0.11973251092856266 + ], + "intended_face_normal": [ + -0.9998043257696477, + -0.011131746229034567, + 0.01635566336545058 + ], + "commanded_contact_point": [ + 15.138909899024963, + -14.902525817606586, + 0.050498994475972156 + ], + "centerline_face_intersection": [ + 15.550691984692376, + -14.850801595838151, + 0.11882774246615846 + ], + "commanded_world_base_velocity": [ + 0.0010150000000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137236595153809, + -14.9030179977417, + 0.06412941217422485 + ], + "box_pose": [ + 15.60791015625, + -14.854998588562012, + 0.1360149085521698, + 0.007515707053244114, + -0.004030624404549599, + 0.7031199336051941, + -0.7110201716423035 + ], + "box_yaw_rad": -1.5595837352428132, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001058622233523564 + } + }, + { + "simulation_time_ns": 2160000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550878799355079, + -14.85162731791355, + 0.11981278559864433 + ], + "intended_face_normal": [ + -0.9997804773057999, + -0.011163926579975891, + 0.01773371135039442 + ], + "commanded_contact_point": [ + 15.139326376457213, + -14.901090082729638, + 0.05110343463995803 + ], + "centerline_face_intersection": [ + 15.550854509418151, + -14.851009747811961, + 0.11883178578269621 + ], + "commanded_world_base_velocity": [ + 0.002244375000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13787841796875, + -14.902836799621582, + 0.059980615973472595 + ], + "box_pose": [ + 15.608098030090332, + -14.855237007141113, + 0.1360088735818863, + 0.007380858529359102, + -0.005146970506757498, + 0.7031099200248718, + -0.711024284362793 + ], + "box_yaw_rad": -1.559576141410216, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016124937210098814 + } + }, + { + "simulation_time_ns": 2180000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551070364586812, + -14.851867688857213, + 0.11990459188230115 + ], + "intended_face_normal": [ + -0.9997508613121044, + -0.011188526909180818, + 0.01931608052987316 + ], + "commanded_contact_point": [ + 15.140091087188722, + -14.89923805283733, + 0.05192740310621979 + ], + "centerline_face_intersection": [ + 15.551042797265444, + -14.851248757905775, + 0.11883605799956018 + ], + "commanded_world_base_velocity": [ + 0.003920000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.138163566589355, + -14.903450012207031, + 0.05710463225841522 + ], + "box_pose": [ + 15.608315467834473, + -14.855510711669922, + 0.13600148260593414, + 0.00722737330943346, + -0.006427531596273184, + 0.7031027674674988, + -0.7110224962234497 + ], + "box_yaw_rad": -1.5595857161177544, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002166499771124842 + } + }, + { + "simulation_time_ns": 2200000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551290615856752, + -14.852142723383606, + 0.12000923918973791 + ], + "intended_face_normal": [ + -0.9997137208755422, + -0.01122832294628473, + 0.021136777260089 + ], + "commanded_contact_point": [ + 15.140803508758545, + -14.897146262756085, + 0.052957958223879796 + ], + "centerline_face_intersection": [ + 15.55125893833887, + -14.851521590980688, + 0.11883998735112475 + ], + "commanded_world_base_velocity": [ + 0.006015625000000011, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.137691497802734, + -14.904138565063477, + 0.05729039013385773 + ], + "box_pose": [ + 15.608565330505371, + -14.855823516845703, + 0.13599182665348053, + 0.00704888254404068, + -0.007902937941253185, + 0.7030904293060303, + -0.7110217213630676 + ], + "box_yaw_rad": -1.559593301047455, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024382727672839456 + } + }, + { + "simulation_time_ns": 2220000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551539172696742, + -14.852463339820543, + 0.12012767130591234 + ], + "intended_face_normal": [ + -0.9996681052529499, + -0.011270182026876574, + 0.023169469733169745 + ], + "commanded_contact_point": [ + 15.142137929210662, + -14.895672084222323, + 0.054182418128624614 + ], + "centerline_face_intersection": [ + 15.55150244685545, + -14.851839891841967, + 0.11884597425475618 + ], + "commanded_world_base_velocity": [ + 0.008505000000000016, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13453483581543, + -14.902880668640137, + 0.060711875557899475 + ], + "box_pose": [ + 15.608846664428711, + -14.85618782043457, + 0.13598211109638214, + 0.006820982787758112, + -0.009579179808497429, + 0.7030777931213379, + -0.7110157608985901 + ], + "box_yaw_rad": -1.5596162917202148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023352049911649713 + } + }, + { + "simulation_time_ns": 2240000000, + "phase": "base_approach", + "intended_face_center": [ + 15.55179872879176, + -14.852810140662099, + 0.12025593595755554 + ], + "intended_face_normal": [ + -0.9996158638842659, + -0.011307355377635941, + 0.025308394477978613 + ], + "commanded_contact_point": [ + 15.144262085978985, + -14.894611936261361, + 0.05558809897552715 + ], + "centerline_face_intersection": [ + 15.551756221066483, + -14.85218463631475, + 0.11885591709888121 + ], + "commanded_world_base_velocity": [ + 0.011361875000000018, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.13170337677002, + -14.901472091674805, + 0.06544992327690125 + ], + "box_pose": [ + 15.609140396118164, + -14.856582641601562, + 0.13597488403320312, + 0.0065465872175991535, + -0.011378085240721703, + 0.7030671834945679, + -0.7110023498535156 + ], + "box_yaw_rad": -1.5596616779524801, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002758966168493549 + } + }, + { + "simulation_time_ns": 2260000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552079830491904, + -14.853129668573718, + 0.12041137579955091 + ], + "intended_face_normal": [ + -0.9995541450073038, + -0.011372291134870038, + 0.027609741429476697 + ], + "commanded_contact_point": [ + 15.146534527893065, + -14.893665186450153, + 0.057163958578023304 + ], + "centerline_face_intersection": [ + 15.552030491557096, + -14.85250057208682, + 0.1188840502033728 + ], + "commanded_world_base_velocity": [ + 0.014559999999999948, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.130403518676758, + -14.899450302124023, + 0.0702148973941803 + ], + "box_pose": [ + 15.609457969665527, + -14.85694408416748, + 0.13598644733428955, + 0.006421239115297794, + -0.013141975738108158, + 0.7030452489852905, + -0.7109947204589844 + ], + "box_yaw_rad": -1.5596862479170117, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029229541468639075 + } + }, + { + "simulation_time_ns": 2280000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552119593869357, + -14.853150399400052, + 0.12044116981543573 + ], + "intended_face_normal": [ + -0.9995452599829713, + -0.01136939642631396, + 0.02793420285901027 + ], + "commanded_contact_point": [ + 15.148575277050734, + -14.89251584053063, + 0.058894049630701543 + ], + "centerline_face_intersection": [ + 15.552069271481665, + -14.852521463043681, + 0.11889589554532437 + ], + "commanded_world_base_velocity": [ + 0.018073124999999947, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131295204162598, + -14.896050453186035, + 0.07666796445846558 + ], + "box_pose": [ + 15.609502792358398, + -14.85696792602539, + 0.13599684834480286, + 0.0064749810844659805, + -0.013318409211933613, + 0.7030457854270935, + -0.7109904885292053 + ], + "box_yaw_rad": -1.5596970767798177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029118496214275823 + } + }, + { + "simulation_time_ns": 2300000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552117033010738, + -14.853130260017023, + 0.12044557807553281 + ], + "intended_face_normal": [ + -0.9995457510417367, + -0.01136874977129576, + 0.027915909229635938 + ], + "commanded_contact_point": [ + 15.15098653435707, + -14.89101777456229, + 0.06076583436232262 + ], + "centerline_face_intersection": [ + 15.552066764976885, + -14.852501359432546, + 0.11890131577898382 + ], + "commanded_world_base_velocity": [ + 0.02187499999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.131185531616211, + -14.891454696655273, + 0.08117882907390594 + ], + "box_pose": [ + 15.60949993133545, + -14.856945037841797, + 0.1360030323266983, + 0.006525637581944466, + -0.013254165649414062, + 0.7030455470085144, + -0.7109914422035217 + ], + "box_yaw_rad": -1.55969300892187, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003400285506305272 + } + }, + { + "simulation_time_ns": 2320000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552088979279189, + -14.853082686843601, + 0.12043676628667022 + ], + "intended_face_normal": [ + -0.9995516080936717, + -0.011366180415223637, + 0.027699603799637984 + ], + "commanded_contact_point": [ + 15.153858560029267, + -14.889336428065414, + 0.06276671294477842 + ], + "centerline_face_intersection": [ + 15.552039359543, + -14.852453928391688, + 0.11890446965161326 + ], + "commanded_world_base_velocity": [ + 0.02593937499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.129340171813965, + -14.889796257019043, + 0.08157263696193695 + ], + "box_pose": [ + 15.609468460083008, + -14.856890678405762, + 0.13600844144821167, + 0.006591629236936569, + -0.013033559545874596, + 0.7030458450317383, + -0.7109944820404053 + ], + "box_yaw_rad": -1.5596822880497312, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003883165281834195 + } + }, + { + "simulation_time_ns": 2340000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552038375025726, + -14.85301109589394, + 0.12041357946990257 + ], + "intended_face_normal": [ + -0.9995633755092138, + -0.011350882966933762, + 0.027281463073753953 + ], + "commanded_contact_point": [ + 15.156678440551758, + -14.887648626926032, + 0.06488335686260352 + ], + "centerline_face_intersection": [ + 15.551990057774265, + -14.852383183671767, + 0.11890441369375201 + ], + "commanded_world_base_velocity": [ + 0.03023999999999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.12852954864502, + -14.894697189331055, + 0.07827720046043396 + ], + "box_pose": [ + 15.609411239624023, + -14.856809616088867, + 0.13601194322109222, + 0.006656553130596876, + -0.01267042476683855, + 0.7030506730079651, + -0.7109957337379456 + ], + "box_yaw_rad": -1.5596772582956122, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003909038286086786 + } + }, + { + "simulation_time_ns": 2360000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551966666757265, + -14.85291250906737, + 0.12037941804325078 + ], + "intended_face_normal": [ + -0.9995795081225056, + -0.01133317150105917, + 0.026691002647784623 + ], + "commanded_contact_point": [ + 15.159593302608728, + -14.885784413302769, + 0.06710300173524199 + ], + "centerline_face_intersection": [ + 15.55192013513061, + -14.852285576614427, + 0.11890291556908793 + ], + "commanded_world_base_velocity": [ + 0.03475062499999995, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.132922172546387, + -14.898995399475098, + 0.07437761127948761 + ], + "box_pose": [ + 15.609330177307129, + -14.856698036193848, + 0.13601529598236084, + 0.00673580402508378, + -0.012170230969786644, + 0.7030562162399292, + -0.7109982371330261 + ], + "box_yaw_rad": -1.5596680712446638, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004110782967386271 + } + }, + { + "simulation_time_ns": 2380000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551869603052813, + -14.852789159769339, + 0.12033080542344288 + ], + "intended_face_normal": [ + -0.9996005961342902, + -0.01131836859510793, + 0.02589499207661694 + ], + "commanded_contact_point": [ + 15.16311234725952, + -14.883619418513119, + 0.06941210161887179 + ], + "centerline_face_intersection": [ + 15.551825405491625, + -14.852163046188867, + 0.11889833694805099 + ], + "commanded_world_base_velocity": [ + 0.039444999999999966, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.140215873718262, + -14.898587226867676, + 0.07218194007873535 + ], + "box_pose": [ + 15.609220504760742, + -14.856557846069336, + 0.13601692020893097, + 0.006818113848567009, + -0.011520756408572197, + 0.7030606865882874, + -0.711003839969635 + ], + "box_yaw_rad": -1.5596499523798195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004733161730393474 + } + }, + { + "simulation_time_ns": 2400000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551745287652201, + -14.85264019390488, + 0.12026870311619835 + ], + "intended_face_normal": [ + -0.9996261775036165, + -0.011304317659760144, + 0.02489524409489563 + ], + "commanded_contact_point": [ + 15.167264620512725, + -14.881162244219588, + 0.07179771658624282 + ], + "centerline_face_intersection": [ + 15.551703921424615, + -14.8520148575991, + 0.11889153905885437 + ], + "commanded_world_base_velocity": [ + 0.04429687499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.147258758544922, + -14.894070625305176, + 0.0711246132850647 + ], + "box_pose": [ + 15.60908031463623, + -14.856388092041016, + 0.13601770997047424, + 0.006908628158271313, + -0.010718084871768951, + 0.7030647993087769, + -0.7110114693641663 + ], + "box_yaw_rad": -1.5596259029334434, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005382400714421811 + } + }, + { + "simulation_time_ns": 2420000000, + "phase": "base_approach", + "intended_face_center": [ + 15.55161426615988, + -14.852487772755241, + 0.12020255361180793 + ], + "intended_face_normal": [ + -0.9996522245562743, + -0.011286234786620497, + 0.023842059619123224 + ], + "commanded_contact_point": [ + 15.171546938476563, + -14.878866389640947, + 0.07424705493582448 + ], + "centerline_face_intersection": [ + 15.551575782733028, + -14.851863436764333, + 0.11888364999168874 + ], + "commanded_world_base_velocity": [ + 0.049279999999999956, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.15442180633545, + -14.89008617401123, + 0.07104521989822388 + ], + "box_pose": [ + 15.608932495117188, + -14.85621452331543, + 0.13601762056350708, + 0.006992298178374767, + -0.009884336963295937, + 0.7030704021453857, + -0.7110173106193542 + ], + "box_yaw_rad": -1.559607376710392, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00544136506222563 + } + }, + { + "simulation_time_ns": 2440000000, + "phase": "base_approach", + "intended_face_center": [ + 15.55148051126482, + -14.852327063236974, + 0.12013311012784406 + ], + "intended_face_normal": [ + -0.9996783767656254, + -0.011254514090290213, + 0.022730085689672608 + ], + "commanded_contact_point": [ + 15.175374124305247, + -14.876656685563537, + 0.07674747599498269 + ], + "centerline_face_intersection": [ + 15.551444922201497, + -14.851704481982942, + 0.11887571908107043 + ], + "commanded_world_base_velocity": [ + 0.05436812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.162537574768066, + -14.888919830322266, + 0.07434029877185822 + ], + "box_pose": [ + 15.608780860900879, + -14.856032371520996, + 0.1360178291797638, + 0.007077095564454794, + -0.009007644839584827, + 0.7030808329582214, + -0.7110177278518677 + ], + "box_yaw_rad": -1.5596036390731793, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005077622371748432 + } + }, + { + "simulation_time_ns": 2460000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551333955329167, + -14.852156578049843, + 0.1200572299293921 + ], + "intended_face_normal": [ + -0.9997052638354822, + -0.011215958000703186, + 0.02153099358091226 + ], + "commanded_contact_point": [ + 15.179466408319474, + -14.874535234718552, + 0.07928533951444543 + ], + "centerline_face_intersection": [ + 15.55130134188019, + -14.851536129655429, + 0.1188661706907074 + ], + "commanded_world_base_velocity": [ + 0.05953499999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.167280197143555, + -14.889528274536133, + 0.07872386276721954 + ], + "box_pose": [ + 15.608614921569824, + -14.855839729309082, + 0.1360168159008026, + 0.007153710350394249, + -0.008077300153672695, + 0.7030937671661377, + -0.7110152840614319 + ], + "box_yaw_rad": -1.5596082583913888, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005261947679729228 + } + }, + { + "simulation_time_ns": 2480000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551178621282927, + -14.851973557582774, + 0.11997534353531479 + ], + "intended_face_normal": [ + -0.9997329844393484, + -0.011173010510965975, + 0.020232177043715827 + ], + "commanded_contact_point": [ + 15.183885413267614, + -14.872422154226687, + 0.08184811953339591 + ], + "centerline_face_intersection": [ + 15.551149075612384, + -14.851355484973025, + 0.11885613269648079 + ], + "commanded_world_base_velocity": [ + 0.06475437499999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.170382499694824, + -14.889832496643066, + 0.08397708833217621 + ], + "box_pose": [ + 15.608438491821289, + -14.855632781982422, + 0.13601595163345337, + 0.007236422039568424, + -0.0070699118077754974, + 0.7031081914901733, + -0.7110109925270081 + ], + "box_yaw_rad": -1.5596183203363922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005528160211346949 + } + }, + { + "simulation_time_ns": 2500000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551002817661907, + -14.851770339974202, + 0.11988421910783176 + ], + "intended_face_normal": [ + -0.9997612958000826, + -0.011145463356467156, + 0.01878894901916528 + ], + "commanded_contact_point": [ + 15.188680305480958, + -14.870204657454742, + 0.08442244163667595 + ], + "centerline_face_intersection": [ + 15.550976405059743, + -14.851153791227844, + 0.11884484527539088 + ], + "commanded_world_base_velocity": [ + 0.06999999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.173873901367188, + -14.888909339904785, + 0.08910360932350159 + ], + "box_pose": [ + 15.60823917388916, + -14.855401992797852, + 0.13601472973823547, + 0.00732465460896492, + -0.005954287946224213, + 0.7031170725822449, + -0.7110114097595215 + ], + "box_yaw_rad": -1.5596142169896128, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005876684231997085 + } + }, + { + "simulation_time_ns": 2520000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550802802190914, + -14.851543437918721, + 0.11977937505898334 + ], + "intended_face_normal": [ + -0.9997913277768791, + -0.01112072458246205, + 0.017141904519879347 + ], + "commanded_contact_point": [ + 15.193539485744239, + -14.868117668841359, + 0.08699457606988532 + ], + "centerline_face_intersection": [ + 15.550779712971599, + -14.850928257680751, + 0.11883111302591332 + ], + "commanded_world_base_velocity": [ + 0.07524562499999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.178122520446777, + -14.885798454284668, + 0.09288926422595978 + ], + "box_pose": [ + 15.608012199401855, + -14.855143547058105, + 0.13601230084896088, + 0.007418876048177481, + -0.0046877022832632065, + 0.7031248807907104, + -0.7110123038291931 + ], + "box_yaw_rad": -1.5596091603614597, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005880733784652765 + } + }, + { + "simulation_time_ns": 2540000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550599008031876, + -14.851294068785489, + 0.11967607866921452 + ], + "intended_face_normal": [ + -0.9998191056307494, + -0.011099605573156257, + 0.015446787506550347 + ], + "commanded_contact_point": [ + 15.198158712558746, + -14.866287368344883, + 0.0895551999426738 + ], + "centerline_face_intersection": [ + 15.550578992661956, + -14.850680056816463, + 0.11882158772811896 + ], + "commanded_world_base_velocity": [ + 0.080465, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.181678771972656, + -14.880838394165039, + 0.09454987943172455 + ], + "box_pose": [ + 15.607780456542969, + -14.854859352111816, + 0.13601480424404144, + 0.007558668497949839, + -0.003340895054861903, + 0.7031309008598328, + -0.7110124230384827 + ], + "box_yaw_rad": -1.5596043506777892, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055896378137720885 + } + }, + { + "simulation_time_ns": 2560000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550427201459698, + -14.851075298412995, + 0.11959166631030105 + ], + "intended_face_normal": [ + -0.9998405181075906, + -0.011084815354989952, + 0.014017840274598292 + ], + "commanded_contact_point": [ + 15.202621791137457, + -14.864676214198603, + 0.09209186991948383 + ], + "centerline_face_intersection": [ + 15.55040955549923, + -14.850462104614575, + 0.11881622238558276 + ], + "commanded_world_base_velocity": [ + 0.085631875, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.184138298034668, + -14.875551223754883, + 0.09395617246627808 + ], + "box_pose": [ + 15.607584953308105, + -14.854609489440918, + 0.13601985573768616, + 0.007708149030804634, + -0.002173601882532239, + 0.7031345367431641, + -0.7110118865966797 + ], + "box_yaw_rad": -1.5596015619264816, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00538048163774156 + } + }, + { + "simulation_time_ns": 2580000000, + "phase": "base_approach", + "intended_face_center": [ + 15.55028249538345, + -14.850887799775013, + 0.11951985582412039 + ], + "intended_face_normal": [ + -0.9998567729099297, + -0.01106607978446017, + 0.012804190898464851 + ], + "commanded_contact_point": [ + 15.206987721862793, + -14.86322413018967, + 0.09458988269753954 + ], + "centerline_face_intersection": [ + 15.550266648073231, + -14.850275642397614, + 0.11881154899163779 + ], + "commanded_world_base_velocity": [ + 0.09072000000000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.187564849853516, + -14.869906425476074, + 0.09479029476642609 + ], + "box_pose": [ + 15.607419967651367, + -14.854395866394043, + 0.13602396845817566, + 0.007836271077394485, + -0.0011810569558292627, + 0.7031397819519043, + -0.7110074758529663 + ], + "box_yaw_rad": -1.5596095010286808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005235452884590767 + } + }, + { + "simulation_time_ns": 2600000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550157764602318, + -14.85072995256689, + 0.11945819487483517 + ], + "intended_face_normal": [ + -0.9998695348266472, + -0.011055392147122034, + 0.011767988741418822 + ], + "commanded_contact_point": [ + 15.211236543953419, + -14.8619575686802, + 0.09703618890258135 + ], + "centerline_face_intersection": [ + 15.550143329421944, + -14.850118386412053, + 0.11880720904556855 + ], + "commanded_world_base_velocity": [ + 0.09570312500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.191822052001953, + -14.86586856842041, + 0.09775599837303162 + ], + "box_pose": [ + 15.607277870178223, + -14.854215621948242, + 0.1360270231962204, + 0.007941211573779583, + -0.0003381345886737108, + 0.7031424045562744, + -0.7110045552253723 + ], + "box_yaw_rad": -1.559614164900647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005063702327732309 + } + }, + { + "simulation_time_ns": 2620000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550052412543398, + -14.850596298310096, + 0.1194056975304571 + ], + "intended_face_normal": [ + -0.9998795159863337, + -0.011057983160622231, + 0.01088505534455586 + ], + "commanded_contact_point": [ + 15.21540661154747, + -14.860871028119877, + 0.09941816345840707 + ], + "centerline_face_intersection": [ + 15.550039081784366, + -14.849984588824643, + 0.1188035541280634 + ], + "commanded_world_base_velocity": [ + 0.10055500000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.196911811828613, + -14.864660263061523, + 0.10112424194812775 + ], + "box_pose": [ + 15.607157707214355, + -14.8540620803833, + 0.1360296607017517, + 0.0080332700163126, + 0.0003828126937150955, + 0.7031404376029968, + -0.711005449295044 + ], + "box_yaw_rad": -1.5596085510416577, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00492380309443682 + } + }, + { + "simulation_time_ns": 2640000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549960269824169, + -14.850482666068377, + 0.11935960565743767 + ], + "intended_face_normal": [ + -0.9998874775429116, + -0.0110634845574753, + 0.010125882881304948 + ], + "commanded_contact_point": [ + 15.219469908087252, + -14.859858343352162, + 0.1017221485909818 + ], + "centerline_face_intersection": [ + 15.549947820008269, + -14.849870652254676, + 0.11879945843012579 + ], + "commanded_world_base_velocity": [ + 0.10524937500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.201739311218262, + -14.866402626037598, + 0.10357837378978729 + ], + "box_pose": [ + 15.60705280303955, + -14.853931427001953, + 0.1360308825969696, + 0.008106929250061512, + 0.0009971597464755177, + 0.7031376361846924, + -0.7110068202018738 + ], + "box_yaw_rad": -1.5596022322585126, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004779566580777951 + } + }, + { + "simulation_time_ns": 2660000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549883481421528, + -14.85038517553733, + 0.11932074870636868 + ], + "intended_face_normal": [ + -0.9998939375111521, + -0.01105641156462478, + 0.009478872800995436 + ], + "commanded_contact_point": [ + 15.223256709594727, + -14.858900482206746, + 0.10393637067547751 + ], + "centerline_face_intersection": [ + 15.549871746393443, + -14.849773552989987, + 0.11879639301514078 + ], + "commanded_world_base_velocity": [ + 0.10976000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.204750061035156, + -14.870080947875977, + 0.10442185401916504 + ], + "box_pose": [ + 15.606965065002441, + -14.853819847106934, + 0.13603238761425018, + 0.008174839429557323, + 0.0015258744824677706, + 0.7031393647193909, + -0.7110034227371216 + ], + "box_yaw_rad": -1.5596096377596926, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004490004796253967 + } + }, + { + "simulation_time_ns": 2680000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549816619256761, + -14.85030044529698, + 0.11928718334266998 + ], + "intended_face_normal": [ + -0.9998990926880689, + -0.011057164680857046, + 0.008921505572763777 + ], + "commanded_contact_point": [ + 15.227389243986606, + -14.857819314926275, + 0.10604748022750539 + ], + "centerline_face_intersection": [ + 15.549805454639566, + -14.849688781088485, + 0.11879366029202741 + ], + "commanded_world_base_velocity": [ + 0.11406062500000001, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.206710815429688, + -14.873895645141602, + 0.1020628958940506 + ], + "box_pose": [ + 15.606888771057129, + -14.85372257232666, + 0.1360335797071457, + 0.008233624510467052, + 0.0019816518761217594, + 0.7031384110450745, + -0.7110025882720947 + ], + "box_yaw_rad": -1.559610038546316, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004764823892767101 + } + }, + { + "simulation_time_ns": 2700000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549758179441872, + -14.850227171626656, + 0.1192570503592216 + ], + "intended_face_normal": [ + -0.9999033981565785, + -0.011052657994373827, + 0.008432097434473373 + ], + "commanded_contact_point": [ + 15.232207553386688, + -14.856611748826992, + 0.10804206468551737 + ], + "centerline_face_intersection": [ + 15.549747491214632, + -14.849615756720663, + 0.11879060056381027 + ], + "commanded_world_base_velocity": [ + 0.11812500000000004, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.21042251586914, + -14.874473571777344, + 0.10385523736476898 + ], + "box_pose": [ + 15.60682201385498, + -14.853638648986816, + 0.13603393733501434, + 0.00828377716243267, + 0.0023803459480404854, + 0.7031394243240356, + -0.7109997868537903 + ], + "box_yaw_rad": -1.559616262900376, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005352820613396563 + } + }, + { + "simulation_time_ns": 2720000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549706283711663, + -14.85016299606419, + 0.11923054859334356 + ], + "intended_face_normal": [ + -0.9999066989453688, + -0.011048851852004327, + 0.00800809127331481 + ], + "commanded_contact_point": [ + 15.237287546674013, + -14.855388275206352, + 0.1099075128278454 + ], + "centerline_face_intersection": [ + 15.549695960707544, + -14.849551791707746, + 0.11878755412309451 + ], + "commanded_world_base_velocity": [ + 0.12192687500000003, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.214417457580566, + -14.86946964263916, + 0.1089504063129425 + ], + "box_pose": [ + 15.606762886047363, + -14.853565216064453, + 0.13603384792804718, + 0.008327697403728962, + 0.0027262307703495026, + 0.7031402587890625, + -0.7109970450401306 + ], + "box_yaw_rad": -1.5596220462103274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0055482534433263725 + } + }, + { + "simulation_time_ns": 2740000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549696278115498, + -14.850153221437909, + 0.11922591752063498 + ], + "intended_face_normal": [ + -0.9999074546616871, + -0.011051856897740353, + 0.007922358836374377 + ], + "commanded_contact_point": [ + 15.241967104797363, + -14.854240188056417, + 0.11163374654314408 + ], + "centerline_face_intersection": [ + 15.54968603872912, + -14.849541850847267, + 0.11878766562813503 + ], + "commanded_world_base_velocity": [ + 0.12544000000000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.21827507019043, + -14.8627347946167, + 0.11567601561546326 + ], + "box_pose": [ + 15.606751441955566, + -14.853553771972656, + 0.13603445887565613, + 0.008328072726726532, + 0.002787589095532894, + 0.7031391859054565, + -0.7109979391098022 + ], + "box_yaw_rad": -1.559619690715108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005118227346795491 + } + }, + { + "simulation_time_ns": 2760000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549695431143522, + -14.850154062831853, + 0.11922548737319844 + ], + "intended_face_normal": [ + -0.999907588343159, + -0.011052192764969493, + 0.00791558953262067 + ], + "commanded_contact_point": [ + 15.246059262658356, + -14.853182090918734, + 0.11320506674746429 + ], + "centerline_face_intersection": [ + 15.549685206548595, + -14.849542673661587, + 0.11878760994747566 + ], + "commanded_world_base_velocity": [ + 0.12863812499999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.22278881072998, + -14.860448837280273, + 0.11927823722362518 + ], + "box_pose": [ + 15.60675048828125, + -14.853554725646973, + 0.13603438436985016, + 0.008323021233081818, + 0.002787297125905752, + 0.7031391263008118, + -0.7109981179237366 + ], + "box_yaw_rad": -1.5596195220404803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.004509364999262097 + } + }, + { + "simulation_time_ns": 2780000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54969792437263, + -14.850158401914866, + 0.11922642369146343 + ], + "intended_face_normal": [ + -0.9999074795930285, + -0.011052059568689376, + 0.007937063466952554 + ], + "commanded_contact_point": [ + 15.249730499973296, + -14.852243080835313, + 0.11460852910337711 + ], + "centerline_face_intersection": [ + 15.549687687744832, + -14.8495470201128, + 0.11878735836292599 + ], + "commanded_world_base_velocity": [ + 0.13149499999999997, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.228506088256836, + -14.85948657989502, + 0.12085792422294617 + ], + "box_pose": [ + 15.6067533493042, + -14.853559494018555, + 0.13603399693965912, + 0.00832198653370142, + 0.0027709812857210636, + 0.7031391859054565, + -0.7109981775283813 + ], + "box_yaw_rad": -1.5596195132894506, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00404096893626242 + } + }, + { + "simulation_time_ns": 2800000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549704700467085, + -14.850165590546105, + 0.11922965837155139 + ], + "intended_face_normal": [ + -0.9999070783923335, + -0.011046137043149828, + 0.00798864165875296 + ], + "commanded_contact_point": [ + 15.25305458381772, + -14.85143246462245, + 0.11583201745895867 + ], + "centerline_face_intersection": [ + 15.549694419447643, + -14.849554536368434, + 0.11878773982206864 + ], + "commanded_world_base_velocity": [ + 0.133984375, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.235349655151367, + -14.857170104980469, + 0.12295044958591461 + ], + "box_pose": [ + 15.60676097869873, + -14.853568077087402, + 0.1360340416431427, + 0.008318603970110416, + 0.0027308522257953882, + 0.7031413316726685, + -0.7109962105751038 + ], + "box_yaw_rad": -1.5596251180136722, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036336697436009455 + } + }, + { + "simulation_time_ns": 2820000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549713869914877, + -14.850175678263126, + 0.1192341845719023 + ], + "intended_face_normal": [ + -0.9999064073550635, + -0.01104876828973611, + 0.00806597008754889 + ], + "commanded_contact_point": [ + 15.255934276733397, + -14.850763279728294, + 0.11686192531378566 + ], + "centerline_face_intersection": [ + 15.549703514647145, + -14.849564478529212, + 0.11878798834061242 + ], + "commanded_world_base_velocity": [ + 0.13607999999999998, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.243093490600586, + -14.854058265686035, + 0.12537439167499542 + ], + "box_pose": [ + 15.606771469116211, + -14.8535795211792, + 0.1360338032245636, + 0.008315098471939564, + 0.0026723365299403667, + 0.7031404376029968, + -0.7109973430633545 + ], + "box_yaw_rad": -1.5596219855367064, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031306788242487964 + } + }, + { + "simulation_time_ns": 2840000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549725626989558, + -14.85018881208868, + 0.11923939873580491 + ], + "intended_face_normal": [ + -0.9999058460257613, + -0.011048259130415405, + 0.00815920551514071 + ], + "commanded_contact_point": [ + 15.258459578137396, + -14.850247575526375, + 0.11768528612314971 + ], + "centerline_face_intersection": [ + 15.549715209612366, + -14.849577640520623, + 0.11878804487363337 + ], + "commanded_world_base_velocity": [ + 0.137755625, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.250357627868652, + -14.850594520568848, + 0.12684933841228485 + ], + "box_pose": [ + 15.60678482055664, + -14.853594779968262, + 0.13603320717811584, + 0.008305199444293976, + 0.0025960293132811785, + 0.7031407356262207, + -0.7109975814819336 + ], + "box_yaw_rad": -1.5596220429578165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027057385363914474 + } + }, + { + "simulation_time_ns": 2860000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549740630587312, + -14.850209636232858, + 0.11924697378585514 + ], + "intended_face_normal": [ + -0.9999045938817063, + -0.01104445903040363, + 0.008288033916838605 + ], + "commanded_contact_point": [ + 15.260734577627181, + -14.849891732173223, + 0.11828977677650188 + ], + "centerline_face_intersection": [ + 15.549730074663877, + -14.849598674880099, + 0.11878849334787228 + ], + "commanded_world_base_velocity": [ + 0.138985, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.255851745605469, + -14.847737312316895, + 0.12688791751861572 + ], + "box_pose": [ + 15.606801986694336, + -14.853618621826172, + 0.13603277504444122, + 0.008293422870337963, + 0.002492493251338601, + 0.7031422257423401, + -0.7109964489936829 + ], + "box_yaw_rad": -1.55962520624075, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002380683960649659 + } + }, + { + "simulation_time_ns": 2880000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549758965640423, + -14.85023408967583, + 0.11925628955066919 + ], + "intended_face_normal": [ + -0.9999032087765344, + -0.011047090992965303, + 0.008443519547601586 + ], + "commanded_contact_point": [ + 15.262764109715222, + -14.849694427004522, + 0.11866237785008266 + ], + "centerline_face_intersection": [ + 15.54974825645877, + -14.849622982727219, + 0.11878920790270003 + ], + "commanded_world_base_velocity": [ + 0.13974187500000002, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.259574890136719, + -14.84708023071289, + 0.12549889087677002 + ], + "box_pose": [ + 15.606822967529297, + -14.853646278381348, + 0.13603243231773376, + 0.008279767818748951, + 0.0023681388702243567, + 0.703141450881958, + -0.7109977602958679 + ], + "box_yaw_rad": -1.5596218499000485, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002072863089067779 + } + }, + { + "simulation_time_ns": 2900000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549782527551487, + -14.85026050546921, + 0.11926747199155033 + ], + "intended_face_normal": [ + -0.9999017954725409, + -0.011044937285349388, + 0.008628603970356363 + ], + "commanded_contact_point": [ + 15.264315872192382, + -14.849649517660172, + 0.11879015177698506 + ], + "centerline_face_intersection": [ + 15.54977166199127, + -14.849649517660172, + 0.11879015177698506 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.260109901428223, + -14.848991394042969, + 0.12299871444702148 + ], + "box_pose": [ + 15.606849670410156, + -14.853676795959473, + 0.1360321193933487, + 0.008263792842626572, + 0.002220367779955268, + 0.7031424045562744, + -0.7109975814819336 + ], + "box_yaw_rad": -1.5596232166228323, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015576616484740363 + } + }, + { + "simulation_time_ns": 2920000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549808341228852, + -14.850294363185848, + 0.11928063745568712 + ], + "intended_face_normal": [ + -0.999899590140153, + -0.011067491368122684, + 0.008845490811136086 + ], + "commanded_contact_point": [ + 15.266055374145507, + -14.849682127721955, + 0.11879131941693928 + ], + "centerline_face_intersection": [ + 15.549797231653661, + -14.849682127721955, + 0.11879131941693928 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.256795883178711, + -14.850696563720703, + 0.12120574712753296 + ], + "box_pose": [ + 15.606879234313965, + -14.853713989257812, + 0.13603182137012482, + 0.008245831355452538, + 0.0020481001120060682, + 0.7031345963478088, + -0.7110059857368469 + ], + "box_yaw_rad": -1.5595998246027694, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017398079849334713 + } + }, + { + "simulation_time_ns": 2940000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549836542206789, + -14.850332038030682, + 0.11929569578697938 + ], + "intended_face_normal": [ + -0.9998974475604746, + -0.011070773483739527, + 0.009093755363850514 + ], + "commanded_contact_point": [ + 15.268238334655761, + -14.849719621005539, + 0.11879264416050661 + ], + "centerline_face_intersection": [ + 15.549825195559556, + -14.849719621005539, + 0.11879264416050661 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.255276679992676, + -14.851839065551758, + 0.12231771647930145 + ], + "box_pose": [ + 15.606911659240723, + -14.85375690460205, + 0.13603143393993378, + 0.008222528733313084, + 0.0018480186117812991, + 0.7031337022781372, + -0.7110077738761902 + ], + "box_yaw_rad": -1.5595958025950458, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021832828700348 + } + }, + { + "simulation_time_ns": 2960000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549869967720186, + -14.850372021328562, + 0.11931302648121478 + ], + "intended_face_normal": [ + -0.9998948144950621, + -0.011059185365669189, + 0.00937566574500337 + ], + "commanded_contact_point": [ + 15.270485191345214, + -14.849760245339098, + 0.11879438003499107 + ], + "centerline_face_intersection": [ + 15.549858329728973, + -14.849760245339098, + 0.11879438003499107 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.258131980895996, + -14.852083206176758, + 0.12717430293560028 + ], + "box_pose": [ + 15.606949806213379, + -14.853803634643555, + 0.13603124022483826, + 0.008197641931474209, + 0.001622333424165845, + 0.7031381130218506, + -0.7110041379928589 + ], + "box_yaw_rad": -1.5596066974091507, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022472245843879564 + } + }, + { + "simulation_time_ns": 2980000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54991030711413, + -14.850422103716124, + 0.11933222789898046 + ], + "intended_face_normal": [ + -0.9998918572523574, + -0.011059770428609061, + 0.009696758105534886 + ], + "commanded_contact_point": [ + 15.272607116699218, + -14.849810295361939, + 0.118795819150193 + ], + "centerline_face_intersection": [ + 15.549898341908385, + -14.849810295361939, + 0.118795819150193 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.263357162475586, + -14.850919723510742, + 0.13568717241287231 + ], + "box_pose": [ + 15.606995582580566, + -14.853860855102539, + 0.1360304206609726, + 0.00816439464688301, + 0.0013603954575955868, + 0.7031382918357849, + -0.7110049724578857 + ], + "box_yaw_rad": -1.5596057027711487, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002122516026748335 + } + }, + { + "simulation_time_ns": 3000000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549956218984706, + -14.85048089314129, + 0.11935573334381053 + ], + "intended_face_normal": [ + -0.9998878343357995, + -0.0110679907661555, + 0.010082940813745278 + ], + "commanded_contact_point": [ + 15.274997024536132, + -14.849868630051517, + 0.1187979616012204 + ], + "centerline_face_intersection": [ + 15.549943808647637, + -14.849868630051517, + 0.1187979616012204 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.26773452758789, + -14.84818172454834, + 0.14213038980960846 + ], + "box_pose": [ + 15.607048034667969, + -14.853927612304688, + 0.13602988421916962, + 0.008128199726343155, + 0.0010492242872714996, + 0.7031357884407043, + -0.7110083103179932 + ], + "box_yaw_rad": -1.5595972324700997, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002390620629679219 + } + }, + { + "simulation_time_ns": 3020000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550011529284903, + -14.850546572104744, + 0.11938377721274203 + ], + "intended_face_normal": [ + -0.9998833780557396, + -0.01106734914073726, + 0.01053546294369645 + ], + "commanded_contact_point": [ + 15.277674942016601, + -14.849934344508638, + 0.11880097268838258 + ], + "centerline_face_intersection": [ + 15.549998625863223, + -14.849934344508638, + 0.11880097268838258 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.269183158874512, + -14.848074913024902, + 0.14113594591617584 + ], + "box_pose": [ + 15.607110977172852, + -14.854002952575684, + 0.13602980971336365, + 0.008091132156550884, + 0.0006899565923959017, + 0.7031364440917969, + -0.7110086679458618 + ], + "box_yaw_rad": -1.5595979089212635, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002678725347757888 + } + }, + { + "simulation_time_ns": 3040000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550073507660526, + -14.850623172948975, + 0.11941500354970785 + ], + "intended_face_normal": [ + -0.9998778134295184, + -0.01106649518236047, + 0.011046840096773529 + ], + "commanded_contact_point": [ + 15.28021457672119, + -14.850010992592445, + 0.11880391048026405 + ], + "centerline_face_intersection": [ + 15.550059988513336, + -14.850010992592445, + 0.11880391048026405 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.268674850463867, + -14.854361534118652, + 0.13356775045394897 + ], + "box_pose": [ + 15.607181549072266, + -14.854090690612793, + 0.1360291987657547, + 0.00804486870765686, + 0.0002795341133605689, + 0.7031372785568237, + -0.711008608341217 + ], + "box_yaw_rad": -1.5595995471196398, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025407927881134994 + } + }, + { + "simulation_time_ns": 3060000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550143853462599, + -14.850712750399962, + 0.11945010749674057 + ], + "intended_face_normal": [ + -0.9998710064961187, + -0.01105831815666436, + 0.01163114308346247 + ], + "commanded_contact_point": [ + 15.282862930297851, + -14.850101022383077, + 0.11880669174474745 + ], + "centerline_face_intersection": [ + 15.550129581124033, + -14.850101022383077, + 0.11880669174474745 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.270222663879395, + -14.860088348388672, + 0.12857218086719513 + ], + "box_pose": [ + 15.607261657714844, + -14.854193687438965, + 0.13602784276008606, + 0.007986187003552914, + -0.00019533513113856316, + 0.7031408548355103, + -0.7110055685043335 + ], + "box_yaw_rad": -1.559609619985813, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026498848589404916 + } + }, + { + "simulation_time_ns": 3080000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550224101058612, + -14.8508143042699, + 0.11949067139246741 + ], + "intended_face_normal": [ + -0.9998628752344942, + -0.011073242606964406, + 0.012303171866010279 + ], + "commanded_contact_point": [ + 15.285885124206542, + -14.850201750656911, + 0.11881008011083105 + ], + "centerline_face_intersection": [ + 15.550208928984217, + -14.850201750656911, + 0.11881008011083105 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.273761749267578, + -14.860956192016602, + 0.1267448216676712 + ], + "box_pose": [ + 15.607353210449219, + -14.85430908203125, + 0.1360265016555786, + 0.00792282447218895, + -0.0007372318068519235, + 0.7031362652778625, + -0.7110105156898499 + ], + "box_yaw_rad": -1.559597823053836, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030238739537066872 + } + }, + { + "simulation_time_ns": 3100000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550318118546715, + -14.850929756774134, + 0.11953698320918646 + ], + "intended_face_normal": [ + -0.9998534888535479, + -0.01105381608379119, + 0.01307320896116243 + ], + "commanded_contact_point": [ + 15.289206771850585, + -14.850318277804535, + 0.11881379473885725 + ], + "centerline_face_intersection": [ + 15.550301907846626, + -14.850318277804535, + 0.11881379473885725 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.2776460647583, + -14.85882568359375, + 0.12572965025901794 + ], + "box_pose": [ + 15.607460021972656, + -14.854442596435547, + 0.13602474331855774, + 0.007847783155739307, + -0.0013607568107545376, + 0.7031440138816833, + -0.7110028862953186 + ], + "box_yaw_rad": -1.55962234384809, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033236930432533718 + } + }, + { + "simulation_time_ns": 3120000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550424406167124, + -14.851062405356506, + 0.11959059842845718 + ], + "intended_face_normal": [ + -0.9998413389598189, + -0.011063715163014631, + 0.013962653577636153 + ], + "commanded_contact_point": [ + 15.292426376342773, + -14.850450378786084, + 0.11881820734126923 + ], + "centerline_face_intersection": [ + 15.550406851037506, + -14.850450378786084, + 0.11881820734126923 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.281852722167969, + -14.857722282409668, + 0.12409301102161407 + ], + "box_pose": [ + 15.60758113861084, + -14.854594230651855, + 0.13602280616760254, + 0.0077616022899746895, + -0.002080366248264909, + 0.703141450881958, + -0.7110046148300171 + ], + "box_yaw_rad": -1.5596201964664367, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003222316437983741 + } + }, + { + "simulation_time_ns": 3140000000, + "phase": "base_approach", + "intended_face_center": [ + 15.55054588487742, + -14.851218673996037, + 0.11965030956977324 + ], + "intended_face_normal": [ + -0.9998263530250864, + -0.011088932192782175, + 0.014971596606769277 + ], + "commanded_contact_point": [ + 15.294579772949218, + -14.850605252460902, + 0.11882210540960102 + ], + "centerline_face_intersection": [ + 15.550526671477607, + -14.850605252460902, + 0.11882210540960102 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.287717819213867, + -14.860466003417969, + 0.12305693328380585 + ], + "box_pose": [ + 15.607719421386719, + -14.854771614074707, + 0.13601936399936676, + 0.007656007073819637, + -0.002904564142227173, + 0.7031336426734924, + -0.7110105156898499 + ], + "box_yaw_rad": -1.5596065579644656, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021589622494936193 + } + }, + { + "simulation_time_ns": 3160000000, + "phase": "base_approach", + "intended_face_center": [ + 15.55068763512735, + -14.85139762736823, + 0.11971947263811572 + ], + "intended_face_normal": [ + -0.9998080985848228, + -0.011120205994315291, + 0.016141015850165585 + ], + "commanded_contact_point": [ + 15.296779899597167, + -14.850782475817708, + 0.11882657812408182 + ], + "centerline_face_intersection": [ + 15.550666401746932, + -14.850782475817708, + 0.11882657812408182 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.293463706970215, + -14.862482070922852, + 0.1245386004447937 + ], + "box_pose": [ + 15.607880592346191, + -14.854974746704102, + 0.13601531088352203, + 0.0075370920822024345, + -0.003856370458379388, + 0.7031238079071045, + -0.7110171914100647 + ], + "box_yaw_rad": -1.559591869845147, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022072574363650047 + } + }, + { + "simulation_time_ns": 3180000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550849469189856, + -14.85160239369316, + 0.11979875839126164 + ], + "intended_face_normal": [ + -0.9997850178639863, + -0.011138355462795402, + 0.017491797230384076 + ], + "commanded_contact_point": [ + 15.299485473632812, + -14.850986238143818, + 0.1188311408675205 + ], + "centerline_face_intersection": [ + 15.55082568171456, + -14.850986238143818, + 0.1188311408675205 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.296286582946777, + -14.863203048706055, + 0.128628671169281 + ], + "box_pose": [ + 15.608064651489258, + -14.855208396911621, + 0.13600996136665344, + 0.00740093132480979, + -0.004954657983034849, + 0.7031188011169434, + -0.7110166549682617 + ], + "box_yaw_rad": -1.5595972242592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027132399021324188 + } + }, + { + "simulation_time_ns": 3200000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551036726283797, + -14.851837952883036, + 0.11988878850635996 + ], + "intended_face_normal": [ + -0.9997565155910378, + -0.011167947617850449, + 0.019042529284413745 + ], + "commanded_contact_point": [ + 15.30265167236328, + -14.85122016034423, + 0.11883538702969834 + ], + "centerline_face_intersection": [ + 15.551009784687437, + -14.85122016034423, + 0.11883538702969834 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.297937393188477, + -14.86296272277832, + 0.13067567348480225 + ], + "box_pose": [ + 15.608277320861816, + -14.855476379394531, + 0.136002779006958, + 0.007249163463711739, + -0.006210955325514078, + 0.703109860420227, + -0.7110173106193542 + ], + "box_yaw_rad": -1.5596001884911277, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031748310233082697 + } + }, + { + "simulation_time_ns": 3220000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551252893731998, + -14.852108714557547, + 0.11999082126921222 + ], + "intended_face_normal": [ + -0.9997204389775146, + -0.011202347032747917, + 0.02082125147282604 + ], + "commanded_contact_point": [ + 15.305917053222656, + -14.851489019099546, + 0.11883902379946275 + ], + "centerline_face_intersection": [ + 15.551221959693251, + -14.851489019099546, + 0.11883902379946275 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.300115585327148, + -14.862151145935059, + 0.13024483621120453 + ], + "box_pose": [ + 15.608522415161133, + -14.85578441619873, + 0.1359931379556656, + 0.007072380743920803, + -0.007654757704585791, + 0.7030994296073914, + -0.7110151648521423 + ], + "box_yaw_rad": -1.5596108949209226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032764325741844514 + } + }, + { + "simulation_time_ns": 3240000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551499460992304, + -14.852420359555774, + 0.1201077084020242 + ], + "intended_face_normal": [ + -0.9996755557497536, + -0.01124922194974387, + 0.022855073012250537 + ], + "commanded_contact_point": [ + 15.308732299804687, + -14.851798071054274, + 0.11884340326163406 + ], + "centerline_face_intersection": [ + 15.55146355972017, + -14.851798071054274, + 0.11884340326163406 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.3023099899292, + -14.860461235046387, + 0.12819841504096985 + ], + "box_pose": [ + 15.60880184173584, + -14.856138229370117, + 0.13598215579986572, + 0.006870198529213667, + -0.00930576678365469, + 0.7030847668647766, + -0.7110120058059692 + ], + "box_yaw_rad": -1.5596255972289976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002832162708611365 + } + }, + { + "simulation_time_ns": 3260000000, + "phase": "base_approach", + "intended_face_center": [ + 15.55175895688264, + -14.852769033830523, + 0.1202365276295614 + ], + "intended_face_normal": [ + -0.9996238307795902, + -0.011288362322110057, + 0.024994806499560873 + ], + "commanded_contact_point": [ + 15.311269073486327, + -14.852144580147844, + 0.11885385594334481 + ], + "centerline_face_intersection": [ + 15.55171733092379, + -14.852144580147844, + 0.11885385594334481 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.304200172424316, + -14.858491897583008, + 0.12441009283065796 + ], + "box_pose": [ + 15.609095573425293, + -14.856534957885742, + 0.1359754353761673, + 0.006593193858861923, + -0.011107861995697021, + 0.7030735015869141, + -0.7109998464584351 + ], + "box_yaw_rad": -1.5596673265017853, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025603512497987106 + } + }, + { + "simulation_time_ns": 3280000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552042211286668, + -14.853118380230747, + 0.12038472260794159 + ], + "intended_face_normal": [ + -0.9995619319035004, + -0.01135262938921966, + 0.02733666643991739 + ], + "commanded_contact_point": [ + 15.313756256103515, + -14.852490371399359, + 0.11887250307214782 + ], + "centerline_face_intersection": [ + 15.551993734249512, + -14.852490371399359, + 0.11887250307214782 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.307071685791016, + -14.855351448059082, + 0.12253403663635254 + ], + "box_pose": [ + 15.609416007995605, + -14.85693073272705, + 0.13597629964351654, + 0.00639049056917429, + -0.01297876425087452, + 0.7030525207519531, + -0.710990846157074 + ], + "box_yaw_rad": -1.5596981931386067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025111743619822048 + } + }, + { + "simulation_time_ns": 3300000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552109811691036, + -14.85315775048901, + 0.12043695279235848 + ], + "intended_face_normal": [ + -0.9995464533181332, + -0.011355938523438525, + 0.027892577797461904 + ], + "commanded_contact_point": [ + 15.316146163940429, + -14.852529558601745, + 0.11889398115235714 + ], + "centerline_face_intersection": [ + 15.552059621390033, + -14.852529558601745, + 0.11889398115235714 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.309660911560059, + -14.851754188537598, + 0.12319952249526978 + ], + "box_pose": [ + 15.609492301940918, + -14.856975555419922, + 0.13599514961242676, + 0.0064703733660280704, + -0.013293414376676083, + 0.7030506134033203, + -0.7109861373901367 + ], + "box_yaw_rad": -1.5597093268379616, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023903255873841925 + } + }, + { + "simulation_time_ns": 3320000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552110614998446, + -14.853139497881298, + 0.12044401177107603 + ], + "intended_face_normal": [ + -0.9995460333803683, + -0.011360920318398637, + 0.027902023987687485 + ], + "commanded_contact_point": [ + 15.31841209411621, + -14.85251103040931, + 0.1189005175833299 + ], + "centerline_face_intersection": [ + 15.552060378215808, + -14.85251103040931, + 0.1189005175833299 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.311483383178711, + -14.849989891052246, + 0.12458059191703796 + ], + "box_pose": [ + 15.609493255615234, + -14.856954574584961, + 0.1360023021697998, + 0.0065237730741500854, + -0.013246148824691772, + 0.7030483484268188, + -0.7109887003898621 + ], + "box_yaw_rad": -1.559700461743003, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002266015353072613 + } + }, + { + "simulation_time_ns": 3340000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552085094564013, + -14.853092243187723, + 0.12043680602422546 + ], + "intended_face_normal": [ + -0.9995516564897421, + -0.011368038933730729, + 0.027703019529734307 + ], + "commanded_contact_point": [ + 15.320583610534667, + -14.852463381925615, + 0.11890432043658382 + ], + "centerline_face_intersection": [ + 15.552035480184609, + -14.852463381925615, + 0.11890432043658382 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.313521385192871, + -14.851911544799805, + 0.12554898858070374 + ], + "box_pose": [ + 15.609464645385742, + -14.856900215148926, + 0.13600826263427734, + 0.0065910713747143745, + -0.013036558404564857, + 0.7030451893806458, + -0.7109951972961426 + ], + "box_yaw_rad": -1.559680601725936, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021720424478632564 + } + }, + { + "simulation_time_ns": 3360000000, + "phase": "base_approach", + "intended_face_center": [ + 15.552036103559134, + -14.853020802218538, + 0.12041525165589138 + ], + "intended_face_normal": [ + -0.9995628536590324, + -0.011358023166236575, + 0.027302503801197087 + ], + "commanded_contact_point": [ + 15.322527198791503, + -14.852392495012253, + 0.11890492194122049 + ], + "centerline_face_intersection": [ + 15.551987728546642, + -14.852392495012253, + 0.11890492194122049 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.31501293182373, + -14.856983184814453, + 0.12515810132026672 + ], + "box_pose": [ + 15.60940933227539, + -14.856819152832031, + 0.13601234555244446, + 0.00665908632799983, + -0.01268285047262907, + 0.7030481100082397, + -0.7109981179237366 + ], + "box_yaw_rad": -1.5596706801642592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019448806206048476 + } + }, + { + "simulation_time_ns": 3380000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551963510250392, + -14.852925717991777, + 0.12038020044886746 + ], + "intended_face_normal": [ + -0.9995790202441154, + -0.011339489334576736, + 0.02670807518658025 + ], + "commanded_contact_point": [ + 15.324715881347656, + -14.852298436046652, + 0.11890275354986958 + ], + "centerline_face_intersection": [ + 15.551916924623749, + -14.852298436046652, + 0.11890275354986958 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.315711975097656, + -14.862202644348145, + 0.12179665267467499 + ], + "box_pose": [ + 15.60932731628418, + -14.856711387634277, + 0.13601496815681458, + 0.006731503177434206, + -0.012186741456389427, + 0.7030540108680725, + -0.7110002040863037 + ], + "box_yaw_rad": -1.5596626708994032, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002190703796166099 + } + }, + { + "simulation_time_ns": 3400000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551867080061003, + -14.852802540839258, + 0.12033328989832665 + ], + "intended_face_normal": [ + -0.9995995933476398, + -0.011329594002954857, + 0.02593112547275256 + ], + "commanded_contact_point": [ + 15.327719955444335, + -14.852175806287642, + 0.11889882258274512 + ], + "centerline_face_intersection": [ + 15.551822771510395, + -14.852175806287642, + 0.11889882258274512 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.317070007324219, + -14.864152908325195, + 0.12225984036922455 + ], + "box_pose": [ + 15.60921859741211, + -14.856571197509766, + 0.13601717352867126, + 0.006818307563662529, + -0.01154628861695528, + 0.7030566930770874, + -0.7110074162483215 + ], + "box_yaw_rad": -1.559639896668352, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030065785685126165 + } + }, + { + "simulation_time_ns": 3420000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551744645842291, + -14.852650867011024, + 0.12027151605958722 + ], + "intended_face_normal": [ + -0.9996249552786781, + -0.011316299095550875, + 0.02493345984317763 + ], + "commanded_contact_point": [ + 15.331154136657714, + -14.852024867911872, + 0.11889223796974942 + ], + "centerline_face_intersection": [ + 15.551703144341088, + -14.852024867911872, + 0.11889223796974942 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.319409370422363, + -14.861188888549805, + 0.1255291998386383 + ], + "box_pose": [ + 15.60908031463623, + -14.856398582458496, + 0.13601820170879364, + 0.006911791395395994, + -0.01074209250509739, + 0.703060507774353, + -0.7110152244567871 + ], + "box_yaw_rad": -1.5596148602727742, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034375029246144495 + } + }, + { + "simulation_time_ns": 3440000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551614046335523, + -14.852489255704473, + 0.12020507487277549 + ], + "intended_face_normal": [ + -0.9996515649087985, + -0.011286982903907172, + 0.023856999610179175 + ], + "commanded_contact_point": [ + 15.334240226745605, + -14.851864878328945, + 0.11888534479686333 + ], + "centerline_face_intersection": [ + 15.551575489902019, + -14.851864878328945, + 0.11888534479686333 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.321759223937988, + -14.857068061828613, + 0.12995123863220215 + ], + "box_pose": [ + 15.608932495117188, + -14.856215476989746, + 0.13601940870285034, + 0.0070074861869215965, + -0.009879606775939465, + 0.7030699849128723, + -0.7110174298286438 + ], + "box_yaw_rad": -1.5596060142887955, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030902420961883485 + } + }, + { + "simulation_time_ns": 3460000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551475112782954, + -14.85232446060293, + 0.1201332837156327 + ], + "intended_face_normal": [ + -0.9996789027026226, + -0.011242400770594574, + 0.022712883457203348 + ], + "commanded_contact_point": [ + 15.336815147399902, + -14.851702549437869, + 0.11887684426813533 + ], + "centerline_face_intersection": [ + 15.551439581926283, + -14.851702549437869, + 0.11887684426813533 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.324466705322266, + -14.85693359375, + 0.1316087394952774 + ], + "box_pose": [ + 15.60877513885498, + -14.856029510498047, + 0.13601922988891602, + 0.007090483792126179, + -0.008981858380138874, + 0.7030850052833557, + -0.7110137939453125 + ], + "box_yaw_rad": -1.5596144477287004, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002580046376286901 + } + }, + { + "simulation_time_ns": 3480000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551327977341725, + -14.852149096834946, + 0.12005632812764902 + ], + "intended_face_normal": [ + -0.9997062005912954, + -0.011207218679302855, + 0.021490041398410598 + ], + "commanded_contact_point": [ + 15.339202194213867, + -14.851529131885451, + 0.11886753429650948 + ], + "centerline_face_intersection": [ + 15.551295467562849, + -14.851529131885451, + 0.11886753429650948 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.327733039855957, + -14.857917785644531, + 0.13083191215991974 + ], + "box_pose": [ + 15.60860824584961, + -14.855831146240234, + 0.13601866364479065, + 0.007172048091888428, + -0.008029625751078129, + 0.7030966877937317, + -0.7110127210617065 + ], + "box_yaw_rad": -1.5596149379281095, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023933559733390983 + } + }, + { + "simulation_time_ns": 3500000000, + "phase": "base_approach", + "intended_face_center": [ + 15.551164825709677, + -14.851963467093412, + 0.11997057385999142 + ], + "intended_face_normal": [ + -0.9997346635068982, + -0.011175152051450254, + 0.0201417779655107 + ], + "commanded_contact_point": [ + 15.34150722503662, + -14.85134527601716, + 0.11885636374984467 + ], + "centerline_face_intersection": [ + 15.551135465855126, + -14.85134527601716, + 0.11885636374984467 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.332660675048828, + -14.856918334960938, + 0.1308692991733551 + ], + "box_pose": [ + 15.608423233032227, + -14.855620384216309, + 0.13601690530776978, + 0.007249295711517334, + -0.006992602255195379, + 0.7031072974205017, + -0.7110124230384827 + ], + "box_yaw_rad": -1.5596136295662992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002312378614168451 + } + }, + { + "simulation_time_ns": 3520000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550985078239169, + -14.851755918504757, + 0.11987537551431644 + ], + "intended_face_normal": [ + -0.9997640440187607, + -0.01114509116541007, + 0.01864802135300847 + ], + "commanded_contact_point": [ + 15.343518524169921, + -14.851139390347399, + 0.11884379756914532 + ], + "centerline_face_intersection": [ + 15.550958969763089, + -14.851139390347399, + 0.11884379756914532 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.339035987854004, + -14.854263305664062, + 0.13143004477024078 + ], + "box_pose": [ + 15.608219146728516, + -14.855384826660156, + 0.1360146403312683, + 0.007331633009016514, + -0.0058470056392252445, + 0.7031171321868896, + -0.7110122442245483 + ], + "box_yaw_rad": -1.559611850037141, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020218484170497863 + } + }, + { + "simulation_time_ns": 3540000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550780836350565, + -14.85152427243012, + 0.11976866219074689 + ], + "intended_face_normal": [ + -0.9997944073479339, + -0.011110585796834882, + 0.016971164795701654 + ], + "commanded_contact_point": [ + 15.34531524658203, + -14.850909653053138, + 0.11882984519908325 + ], + "centerline_face_intersection": [ + 15.550758087915481, + -14.850909653053138, + 0.11882984519908325 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.344429969787598, + -14.851430892944336, + 0.13099898397922516 + ], + "box_pose": [ + 15.607987403869629, + -14.855121612548828, + 0.13601218163967133, + 0.007427232339978218, + -0.00455784285441041, + 0.7031283974647522, + -0.7110096216201782 + ], + "box_yaw_rad": -1.559616642421526, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018114042395833527 + } + }, + { + "simulation_time_ns": 3560000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550584515038205, + -14.851278990170817, + 0.11967147523455676 + ], + "intended_face_normal": [ + -0.999820661359209, + -0.0111019359478709, + 0.015342473583941058 + ], + "commanded_contact_point": [ + 15.347084312438964, + -14.850664849289288, + 0.11882275476851059 + ], + "centerline_face_intersection": [ + 15.550564671819988, + -14.850664849289288, + 0.11882275476851059 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.347616195678711, + -14.849427223205566, + 0.12901009619235992 + ], + "box_pose": [ + 15.60776424407959, + -14.854841232299805, + 0.1360168755054474, + 0.007581361103802919, + -0.00324376136995852, + 0.7031298279762268, + -0.711013674736023 + ], + "box_yaw_rad": -1.5596000420146336, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017859376145793187 + } + }, + { + "simulation_time_ns": 3580000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550419289889492, + -14.851069482691681, + 0.1195909090682477 + ], + "intended_face_normal": [ + -0.9998407250357714, + -0.011088426656923667, + 0.013978023564111264 + ], + "commanded_contact_point": [ + 15.3489058303833, + -14.850456089121963, + 0.1188176677386257 + ], + "centerline_face_intersection": [ + 15.55040166682653, + -14.850456089121963, + 0.1188176677386257 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.34933853149414, + -14.849528312683105, + 0.12609384953975677 + ], + "box_pose": [ + 15.607576370239258, + -14.854601860046387, + 0.13602176308631897, + 0.007726927753537893, + -0.002126290462911129, + 0.7031330466270447, + -0.7110130786895752 + ], + "box_yaw_rad": -1.5595969519749482, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018334487467263857 + } + }, + { + "simulation_time_ns": 3600000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550280316866951, + -14.850891548159534, + 0.11952190504911539 + ], + "intended_face_normal": [ + -0.9998563923988102, + -0.011075062868361352, + 0.01281919604227344 + ], + "commanded_contact_point": [ + 15.350594787597656, + -14.850278893852671, + 0.11881276815669646 + ], + "centerline_face_intersection": [ + 15.550264427452191, + -14.850278893852671, + 0.11881276815669646 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.348610877990723, + -14.850948333740234, + 0.12314444780349731 + ], + "box_pose": [ + 15.607418060302734, + -14.854398727416992, + 0.13602524995803833, + 0.007849175482988358, + -0.001178649254143238, + 0.7031364440917969, + -0.7110105752944946 + ], + "box_yaw_rad": -1.5596000975138815, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016982339771909152 + } + }, + { + "simulation_time_ns": 3620000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550163190813628, + -14.850741703877762, + 0.1194631109623916 + ], + "intended_face_normal": [ + -0.9998687974557798, + -0.011059674656589524, + 0.011841451541350623 + ], + "commanded_contact_point": [ + 15.352609901428222, + -14.850129900821527, + 0.11880806129156422 + ], + "centerline_face_intersection": [ + 15.550148674042285, + -14.850129900821527, + 0.11880806129156422 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.344139099121094, + -14.85180377960205, + 0.12102623283863068 + ], + "box_pose": [ + 15.607284545898438, + -14.854228019714355, + 0.136027529835701, + 0.007948883809149265, + -0.00038259816938079894, + 0.7031407952308655, + -0.7110061645507812 + ], + "box_yaw_rad": -1.5596097103654012, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020206199118213866 + } + }, + { + "simulation_time_ns": 3640000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550064466146893, + -14.850616764514948, + 0.11941330996261193 + ], + "intended_face_normal": [ + -0.9998782321182115, + -0.011056665517262587, + 0.011019015723978003 + ], + "commanded_contact_point": [ + 15.355005531311035, + -14.850005127919363, + 0.11880375609181931 + ], + "centerline_face_intersection": [ + 15.550050993327694, + -14.850005127919363, + 0.11880375609181931 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.34170913696289, + -14.852435111999512, + 0.12157723307609558 + ], + "box_pose": [ + 15.607172012329102, + -14.854084968566895, + 0.13602906465530396, + 0.008032538928091526, + 0.0002868112060241401, + 0.703140914440155, + -0.7110051512718201 + ], + "box_yaw_rad": -1.5596097837723881, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023988808530819735 + } + }, + { + "simulation_time_ns": 3660000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54998182415654, + -14.850510429727287, + 0.11937085441979173 + ], + "intended_face_normal": [ + -0.9998858243698744, + -0.011031183349830775, + 0.010324999543853727 + ], + "commanded_contact_point": [ + 15.357387809753417, + -14.849900202763395, + 0.11879969238540125 + ], + "centerline_face_intersection": [ + 15.549969191418265, + -14.849900202763395, + 0.11879969238540125 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.34454345703125, + -14.85263442993164, + 0.12642280757427216 + ], + "box_pose": [ + 15.607077598571777, + -14.853964805603027, + 0.13602986931800842, + 0.008100097998976707, + 0.0008485181606374681, + 0.7031491994857788, + -0.7109956741333008 + ], + "box_yaw_rad": -1.5596342424531022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00238459144909703 + } + }, + { + "simulation_time_ns": 3680000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549911676333712, + -14.85042054992959, + 0.11933500778345661 + ], + "intended_face_normal": [ + -0.999891866236101, + -0.011029684971410658, + 0.009734617057101394 + ], + "commanded_contact_point": [ + 15.359609870910644, + -14.849810405853535, + 0.11879650473958421 + ], + "centerline_face_intersection": [ + 15.549899712122004, + -14.849810405853535, + 0.11879650473958421 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.350261688232422, + -14.851387023925781, + 0.13478150963783264 + ], + "box_pose": [ + 15.6069974899292, + -14.853861808776855, + 0.13603085279464722, + 0.008161632344126701, + 0.0013305387692525983, + 0.7031490206718445, + -0.7109944820404053 + ], + "box_yaw_rad": -1.5596357297166226, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002223877117234963 + } + }, + { + "simulation_time_ns": 3700000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54985221170594, + -14.850346561230625, + 0.11930543196171034 + ], + "intended_face_normal": [ + -0.9998963659603486, + -0.011028831990879118, + 0.009247587295451082 + ], + "commanded_contact_point": [ + 15.362008361816406, + -14.849736464340053, + 0.11879387060517568 + ], + "centerline_face_intersection": [ + 15.549840745381678, + -14.849736464340053, + 0.11879387060517568 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.354902267456055, + -14.848560333251953, + 0.14084790647029877 + ], + "box_pose": [ + 15.606929779052734, + -14.853776931762695, + 0.13603165745735168, + 0.00821327231824398, + 0.001729061477817595, + 0.7031487226486206, + -0.710993230342865 + ], + "box_yaw_rad": -1.5596372312179105, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023996318282398796 + } + }, + { + "simulation_time_ns": 3720000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549802123716843, + -14.850280557431713, + 0.11928044197237526 + ], + "intended_face_normal": [ + -0.9999003251307834, + -0.011011272867103794, + 0.008830146132904393 + ], + "commanded_contact_point": [ + 15.364625244140624, + -14.849671431883058, + 0.11879197277605097 + ], + "centerline_face_intersection": [ + 15.549791095466743, + -14.849671431883058, + 0.11879197277605097 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.355924606323242, + -14.84792709350586, + 0.13981810212135315 + ], + "box_pose": [ + 15.60687255859375, + -14.853702545166016, + 0.13603270053863525, + 0.008257752284407616, + 0.002070774557068944, + 0.703154444694519, + -0.7109861373901367 + ], + "box_yaw_rad": -1.559655837592312, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026176909521612116 + } + }, + { + "simulation_time_ns": 3740000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549759579375992, + -14.850227147234905, + 0.1192586175660518 + ], + "intended_face_normal": [ + -0.9999035560794058, + -0.011008876517798027, + 0.008471026414061944 + ], + "commanded_contact_point": [ + 15.36717918395996, + -14.849618154248363, + 0.11879001428336097 + ], + "centerline_face_intersection": [ + 15.549748908622503, + -14.849618154248363, + 0.11879001428336097 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.354846954345703, + -14.853839874267578, + 0.1325097233057022 + ], + "box_pose": [ + 15.606823921203613, + -14.853641510009766, + 0.13603319227695465, + 0.008289636112749577, + 0.0023583555594086647, + 0.7031549215316772, + -0.710984468460083 + ], + "box_yaw_rad": -1.5596596532298517, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002554496220948859 + } + }, + { + "simulation_time_ns": 3760000000, + "phase": "base_approach", + "intended_face_center": [ + 15.54972193299301, + -14.850181437572216, + 0.1192398903461717 + ], + "intended_face_normal": [ + -0.9999061299005404, + -0.0110068464507308, + 0.008161329726022237 + ], + "commanded_contact_point": [ + 15.369896202087402, + -14.849572556885654, + 0.11878841897613941 + ], + "centerline_face_intersection": [ + 15.549711547025746, + -14.849572556885654, + 0.11878841897613941 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.356266975402832, + -14.858929634094238, + 0.12813857197761536 + ], + "box_pose": [ + 15.606781005859375, + -14.853589057922363, + 0.13603374361991882, + 0.008320466615259647, + 0.002609728369861841, + 0.7031552791595459, + -0.7109828591346741 + ], + "box_yaw_rad": -1.5596630892296242, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027174011793138545 + } + }, + { + "simulation_time_ns": 3780000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549694352360989, + -14.850150170972272, + 0.11922627422436366 + ], + "intended_face_normal": [ + -0.9999077991632116, + -0.011012064220875861, + 0.007931671467234336 + ], + "commanded_contact_point": [ + 15.372987060546874, + -14.849541001647225, + 0.11878750717240391 + ], + "centerline_face_intersection": [ + 15.549684151092652, + -14.849541001647225, + 0.11878750717240391 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.360061645507812, + -14.858543395996094, + 0.1273200809955597 + ], + "box_pose": [ + 15.606749534606934, + -14.85355281829834, + 0.13603432476520538, + 0.008334941230714321, + 0.0027876903768628836, + 0.7031532526016235, + -0.71098393201828 + ], + "box_yaw_rad": -1.5596592609792204, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030910196668659465 + } + }, + { + "simulation_time_ns": 3800000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549693501801382, + -14.850153187427384, + 0.11922641256804697 + ], + "intended_face_normal": [ + -0.9999079573401539, + -0.011018330992493608, + 0.007923608934709059 + ], + "commanded_contact_point": [ + 15.376333503723144, + -14.849543671434814, + 0.1187880915221582 + ], + "centerline_face_intersection": [ + 15.549683318034837, + -14.849543671434814, + 0.1187880915221582 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.363868713378906, + -14.855484962463379, + 0.12708231806755066 + ], + "box_pose": [ + 15.606748580932617, + -14.853555679321289, + 0.13603487610816956, + 0.008327992632985115, + 0.00278643355704844, + 0.7031511068344116, + -0.7109862565994263 + ], + "box_yaw_rad": -1.559653214487791, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003346444292264749 + } + }, + { + "simulation_time_ns": 3820000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549692691646015, + -14.850153535534313, + 0.11922599408906563 + ], + "intended_face_normal": [ + -0.9999080453004564, + -0.011013094970028003, + 0.007916063251186906 + ], + "commanded_contact_point": [ + 15.379510192871093, + -14.849544309189914, + 0.11878809045800899 + ], + "centerline_face_intersection": [ + 15.549682517612005, + -14.849544309189914, + 0.11878809045800899 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.368143081665039, + -14.853899002075195, + 0.1257069706916809 + ], + "box_pose": [ + 15.6067476272583, + -14.853556632995605, + 0.13603481650352478, + 0.008319094777107239, + 0.0027827725280076265, + 0.7031530737876892, + -0.7109844088554382 + ], + "box_yaw_rad": -1.55965870975413, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003176689211967553 + } + }, + { + "simulation_time_ns": 3840000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549696063628485, + -14.850158136367954, + 0.11922765075595099 + ], + "intended_face_normal": [ + -0.999907783843311, + -0.011018489592672043, + 0.007941061644052366 + ], + "commanded_contact_point": [ + 15.38202121734619, + -14.84954861160188, + 0.11878836425481626 + ], + "centerline_face_intersection": [ + 15.549685860665049, + -14.84954861160188, + 0.11878836425481626 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.374999046325684, + -14.855466842651367, + 0.12492462992668152 + ], + "box_pose": [ + 15.606751441955566, + -14.853561401367188, + 0.13603493571281433, + 0.008318193256855011, + 0.002764115808531642, + 0.7031511664390564, + -0.7109863758087158 + ], + "box_yaw_rad": -1.559653141934862, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025110281759177615 + } + }, + { + "simulation_time_ns": 3860000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549700999042255, + -14.850165891709846, + 0.11923028494483763 + ], + "intended_face_normal": [ + -0.9999074687077761, + -0.01101009412309617, + 0.007988944008372273 + ], + "commanded_contact_point": [ + 15.384731559753417, + -14.849556831367376, + 0.11878834966987001 + ], + "centerline_face_intersection": [ + 15.549690761210035, + -14.849556831367376, + 0.11878834966987001 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.380366325378418, + -14.857732772827148, + 0.124698206782341 + ], + "box_pose": [ + 15.606757164001465, + -14.853570938110352, + 0.1360345333814621, + 0.008308508433401585, + 0.002720229560509324, + 0.7031542658805847, + -0.7109835743904114 + ], + "box_yaw_rad": -1.559661392503501, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027103548714454725 + } + }, + { + "simulation_time_ns": 3880000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549710202106432, + -14.850176351848516, + 0.119235046054632 + ], + "intended_face_normal": [ + -0.9999066478054669, + -0.011017901249139594, + 0.00806365160387515 + ], + "commanded_contact_point": [ + 15.38776424407959, + -14.849566859628641, + 0.118788978078055 + ], + "centerline_face_intersection": [ + 15.549699873443835, + -14.849566859628641, + 0.118788978078055 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.382647514343262, + -14.859646797180176, + 0.12641286849975586 + ], + "box_pose": [ + 15.606767654418945, + -14.853582382202148, + 0.13603469729423523, + 0.008305635303258896, + 0.002664245432242751, + 0.703151524066925, + -0.7109864354133606 + ], + "box_yaw_rad": -1.5596530893946263, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030327009715976623 + } + }, + { + "simulation_time_ns": 3900000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549722038035222, + -14.85018921388584, + 0.11924058885812693 + ], + "intended_face_normal": [ + -0.9999059977652833, + -0.011011339896227934, + 0.00815406557290177 + ], + "commanded_contact_point": [ + 15.391036300659179, + -14.849580084629245, + 0.11878951932912686 + ], + "centerline_face_intersection": [ + 15.549711637447572, + -14.849580084629245, + 0.11878951932912686 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.384529113769531, + -14.860505104064941, + 0.1280786693096161 + ], + "box_pose": [ + 15.606781005859375, + -14.853597640991211, + 0.13603460788726807, + 0.008296236395835876, + 0.002590416930615902, + 0.7031539678573608, + -0.7109844088554382 + ], + "box_yaw_rad": -1.5596592084549936, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032720833506545773 + } + }, + { + "simulation_time_ns": 3920000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549738093489953, + -14.850206253641382, + 0.1192480376756559 + ], + "intended_face_normal": [ + -0.9999051423661971, + -0.011018293900477372, + 0.008273590650265339 + ], + "commanded_contact_point": [ + 15.394140510559081, + -14.849596739700681, + 0.1187903562154826 + ], + "centerline_face_intersection": [ + 15.549727598254817, + -14.849596739700681, + 0.1187903562154826 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.387231826782227, + -14.859515190124512, + 0.12861494719982147 + ], + "box_pose": [ + 15.606799125671387, + -14.853616714477539, + 0.13603466749191284, + 0.008288753218948841, + 0.0024979012086987495, + 0.7031515836715698, + -0.7109873294830322 + ], + "box_yaw_rad": -1.5596515862598919, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003104254692262705 + } + }, + { + "simulation_time_ns": 3940000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549753719390957, + -14.85022790319706, + 0.11925696698979599 + ], + "intended_face_normal": [ + -0.999903742454817, + -0.01101784304745701, + 0.008421171454182474 + ], + "commanded_contact_point": [ + 15.39676788330078, + -14.849618414196808, + 0.11879112160168795 + ], + "centerline_face_intersection": [ + 15.549743069259417, + -14.849618414196808, + 0.11879112160168795 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.389519691467285, + -14.857316017150879, + 0.1273205727338791 + ], + "box_pose": [ + 15.606817245483398, + -14.853641510009766, + 0.13603444397449493, + 0.008277061395347118, + 0.0023811371065676212, + 0.7031518816947937, + -0.7109874486923218 + ], + "box_yaw_rad": -1.5596513138605748, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002627462253472438 + } + }, + { + "simulation_time_ns": 3960000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549772973797591, + -14.850249634870782, + 0.11926679054433675 + ], + "intended_face_normal": [ + -0.9999026906276636, + -0.011008621169331545, + 0.008580275361170536 + ], + "commanded_contact_point": [ + 15.399226455688476, + -14.849640656009697, + 0.11879214378913822 + ], + "centerline_face_intersection": [ + 15.549762207284083, + -14.849640656009697, + 0.11879214378913822 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.391845703125, + -14.855212211608887, + 0.12400101125240326 + ], + "box_pose": [ + 15.606839179992676, + -14.853667259216309, + 0.13603436946868896, + 0.008261899463832378, + 0.002252627396956086, + 0.7031553387641907, + -0.7109847664833069 + ], + "box_yaw_rad": -1.5596598839253148, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024586732049309877 + } + }, + { + "simulation_time_ns": 3980000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549796529050834, + -14.850280042652502, + 0.11927834342495623 + ], + "intended_face_normal": [ + -0.9999010956132899, + -0.010995635775202794, + 0.008768824770519767 + ], + "commanded_contact_point": [ + 15.401625900268554, + -14.849671782122115, + 0.11879326642578822 + ], + "centerline_face_intersection": [ + 15.549785586052852, + -14.849671782122115, + 0.11879326642578822 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.395204544067383, + -14.85168743133545, + 0.12311744689941406 + ], + "box_pose": [ + 15.606865882873535, + -14.853702545166016, + 0.13603419065475464, + 0.008243908174335957, + 0.002100298646837473, + 0.7031601667404175, + -0.7109805941581726 + ], + "box_yaw_rad": -1.5596721776179734, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023996467215099825 + } + }, + { + "simulation_time_ns": 4000000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549824074095142, + -14.850314096400073, + 0.11929264456717602 + ], + "intended_face_normal": [ + -0.9998990782705708, + -0.010994097930890678, + 0.009000806191411595 + ], + "commanded_contact_point": [ + 15.403905181884765, + -14.84970592094071, + 0.11879473473641952 + ], + "centerline_face_intersection": [ + 15.549812907882679, + -14.84970592094071, + 0.11879473473641952 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.397531509399414, + -14.848060607910156, + 0.12375253438949585 + ], + "box_pose": [ + 15.606897354125977, + -14.853741645812988, + 0.13603408634662628, + 0.008224429562687874, + 0.0019156449707224965, + 0.7031609416007996, + -0.7109805941581726 + ], + "box_yaw_rad": -1.559672920892191, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002279537738417227 + } + }, + { + "simulation_time_ns": 4020000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549854088330601, + -14.850352532689458, + 0.11930795800456434 + ], + "intended_face_normal": [ + -0.9998967543623353, + -0.010997615227041901, + 0.00925500740242187 + ], + "commanded_contact_point": [ + 15.40604522705078, + -14.849744162659043, + 0.11879598617988635 + ], + "centerline_face_intersection": [ + 15.549842664982307, + -14.849744162659043, + 0.11879598617988635 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.399057388305664, + -14.847041130065918, + 0.1245577335357666 + ], + "box_pose": [ + 15.606931686401367, + -14.853785514831543, + 0.1360335648059845, + 0.008199010044336319, + 0.0017092098714783788, + 0.7031599879264832, + -0.7109823822975159 + ], + "box_yaw_rad": -1.5596687934339266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002140387186403108 + } + }, + { + "simulation_time_ns": 4040000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549889100762108, + -14.85039861963144, + 0.1193259113584254 + ], + "intended_face_normal": [ + -0.9998938618048675, + -0.011001607660155566, + 0.009552477625291808 + ], + "commanded_contact_point": [ + 15.408046989440917, + -14.849790028746176, + 0.11879748396908191 + ], + "centerline_face_intersection": [ + 15.54987735735724, + -14.849790028746176, + 0.11879748396908191 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.400845527648926, + -14.849899291992188, + 0.1250845491886139 + ], + "box_pose": [ + 15.606971740722656, + -14.853837966918945, + 0.13603298366069794, + 0.008169232867658138, + 0.0014676019782200456, + 0.7031589150428772, + -0.7109842896461487 + ], + "box_yaw_rad": -1.5596642985120603, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020022883428435605 + } + }, + { + "simulation_time_ns": 4060000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549930997479855, + -14.850450798885502, + 0.11934687659600512 + ], + "intended_face_normal": [ + -0.9998905160460612, + -0.010996346581116923, + 0.009896365275735591 + ], + "commanded_contact_point": [ + 15.409759788513183, + -14.8498424990345, + 0.11879942590606052 + ], + "centerline_face_intersection": [ + 15.549918883871294, + -14.8498424990345, + 0.11879942590606052 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.401704788208008, + -14.855401992797852, + 0.12406225502490997 + ], + "box_pose": [ + 15.607019424438477, + -14.853898048400879, + 0.13603252172470093, + 0.008135208860039711, + 0.0011886490974575281, + 0.7031611800193787, + -0.7109829187393188 + ], + "box_yaw_rad": -1.5596692532891692, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001713603677700891 + } + }, + { + "simulation_time_ns": 4080000000, + "phase": "base_approach", + "intended_face_center": [ + 15.549980415759586, + -14.850510488473828, + 0.11937180124115536 + ], + "intended_face_normal": [ + -0.9998864958199699, + -0.010994038599907663, + 0.010302784646481655 + ], + "commanded_contact_point": [ + 15.411773948669433, + -14.849902316296559, + 0.11880186809843919 + ], + "centerline_face_intersection": [ + 15.549967857316807, + -14.849902316296559, + 0.11880186809843919 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.401987075805664, + -14.861186981201172, + 0.12009216845035553 + ], + "box_pose": [ + 15.607075691223145, + -14.85396671295166, + 0.13603214919567108, + 0.008097859099507332, + 0.0008618844440206885, + 0.703162431716919, + -0.710982620716095 + ], + "box_yaw_rad": -1.5596715088476696, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002015049677841441 + } + }, + { + "simulation_time_ns": 4100000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550035524643445, + -14.850581127374683, + 0.11939959489518051 + ], + "intended_face_normal": [ + -0.9998817116367092, + -0.01099464084089874, + 0.010767469004185959 + ], + "commanded_contact_point": [ + 15.41466739654541, + -14.849972921882431, + 0.11880395617621047 + ], + "centerline_face_intersection": [ + 15.550022436832972, + -14.849972921882431, + 0.11880395617621047 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.403502464294434, + -14.863463401794434, + 0.12027238309383392 + ], + "box_pose": [ + 15.607138633728027, + -14.854047775268555, + 0.13603092730045319, + 0.008048059418797493, + 0.0004811135586351156, + 0.7031627893447876, + -0.7109832763671875 + ], + "box_yaw_rad": -1.5596715770383156, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028943099557266505 + } + }, + { + "simulation_time_ns": 4120000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550101664812248, + -14.850662667256186, + 0.11943291617467064 + ], + "intended_face_normal": [ + -0.9998754380455752, + -0.010995621814417711, + 0.011315625457224698 + ], + "commanded_contact_point": [ + 15.418047218322753, + -14.850054407498087, + 0.11880695434008667 + ], + "centerline_face_intersection": [ + 15.550087882827942, + -14.850054407498087, + 0.11880695434008667 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.405983924865723, + -14.86033821105957, + 0.12370665371417999 + ], + "box_pose": [ + 15.607213973999023, + -14.854141235351562, + 0.13603009283542633, + 0.007996591739356518, + 3.9298320189118385e-05, + 0.7031630277633667, + -0.7109836339950562 + ], + "box_yaw_rad": -1.5596718763046191, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033808052504030036 + } + }, + { + "simulation_time_ns": 4140000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550179550012496, + -14.850757591659288, + 0.11947261063195022 + ], + "intended_face_normal": [ + -0.9998681387680232, + -0.01099499514769231, + 0.011960079202974691 + ], + "commanded_contact_point": [ + 15.421127586364745, + -14.850149366567365, + 0.11881099867351592 + ], + "centerline_face_intersection": [ + 15.550164960356515, + -14.850149366567365, + 0.11881099867351592 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.408510208129883, + -14.855335235595703, + 0.1285756230354309 + ], + "box_pose": [ + 15.60730266571045, + -14.854249954223633, + 0.1360296905040741, + 0.007942624390125275, + -0.0004735248221550137, + 0.7031638622283936, + -0.710983395576477 + ], + "box_yaw_rad": -1.5596747688534611, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00308183400844332 + } + }, + { + "simulation_time_ns": 4160000000, + "phase": "base_approach", + "intended_face_center": [ + 15.550266644778118, + -14.8508672457086, + 0.11951604042074279 + ], + "intended_face_normal": [ + -0.9998591684677176, + -0.010990540037170815, + 0.012684506056064915 + ], + "commanded_contact_point": [ + 15.42370822906494, + -14.850259267066079, + 0.11881435435737311 + ], + "centerline_face_intersection": [ + 15.550251062542202, + -14.850259267066079, + 0.11881435435737311 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.411286354064941, + -14.854286193847656, + 0.13075140118598938 + ], + "box_pose": [ + 15.607401847839355, + -14.854375839233398, + 0.13602790236473083, + 0.007871460169553757, + -0.001060621696524322, + 0.7031662464141846, + -0.7109811305999756 + ], + "box_yaw_rad": -1.5596833803302759, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002582983957809858 + } + }, + { + "simulation_time_ns": 4180000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550368004770531, + -14.850994934238308, + 0.11956632206216591 + ], + "intended_face_normal": [ + -0.9998478515742684, + -0.011009981971587979, + 0.013523186656327 + ], + "commanded_contact_point": [ + 15.42370822906494, + -14.850259267066079, + 0.11881435435737311 + ], + "centerline_face_intersection": [ + 15.550351170287206, + -14.850385880099875, + 0.11881824156402508 + ], + "commanded_world_base_velocity": [ + 0.14, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.414475440979004, + -14.854681015014648, + 0.130432590842247 + ], + "box_pose": [ + 15.60751724243164, + -14.854520797729492, + 0.1360258311033249, + 0.007791347801685333, + -0.001737939310260117, + 0.7031602263450623, + -0.7109865546226501 + ], + "box_yaw_rad": -1.5596703443738975, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0 + } + }, + { + "simulation_time_ns": 4200000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550484437838476, + -14.85113990937014, + 0.11962360743468958 + ], + "intended_face_normal": [ + -0.9998343463967542, + -0.011014507310944, + 0.01449337726851771 + ], + "commanded_contact_point": [ + 15.426565187452715, + -14.85025939271242, + 0.11881410583881277 + ], + "centerline_face_intersection": [ + 15.550466108949143, + -14.85053060489736, + 0.11882185758368807 + ], + "commanded_world_base_velocity": [ + 0.1374553599999999, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.41905689239502, + -14.853402137756348, + 0.1307469606399536 + ], + "box_pose": [ + 15.607649803161621, + -14.854686737060547, + 0.13602252304553986, + 0.007699393667280674, + -0.0025208049919456244, + 0.7031596302986145, + -0.7109858989715576 + ], + "box_yaw_rad": -1.5596754466627942, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028569584013458603 + } + }, + { + "simulation_time_ns": 4220000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550617612281936, + -14.851307690245891, + 0.11968901054648573 + ], + "intended_face_normal": [ + -0.9998173492967954, + -0.011039573997880692, + 0.015604783502761232 + ], + "commanded_contact_point": [ + 15.429532082483355, + -14.850260538496913, + 0.11881331415253357 + ], + "centerline_face_intersection": [ + 15.55059740256166, + -14.850696999125116, + 0.11882577952610608 + ], + "commanded_world_base_velocity": [ + 0.13039488, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.424837112426758, + -14.85085391998291, + 0.13141964375972748 + ], + "box_pose": [ + 15.60780143737793, + -14.854877471923828, + 0.13601844012737274, + 0.007592382375150919, + -0.0034192847087979317, + 0.7031518816947937, + -0.7109909653663635 + ], + "box_yaw_rad": -1.5596644297878706, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002966895357512403 + } + }, + { + "simulation_time_ns": 4240000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550770291449671, + -14.851500853705552, + 0.11976274330375708 + ], + "intended_face_normal": [ + -0.9997962965495689, + -0.011068971331412603, + 0.016869011788315402 + ], + "commanded_contact_point": [ + 15.432603103159522, + -14.850264069883826, + 0.11881188871959872 + ], + "centerline_face_intersection": [ + 15.550747752072448, + -14.85088853637252, + 0.11882957724885813 + ], + "commanded_world_base_velocity": [ + 0.11967871999999971, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.429431915283203, + -14.848262786865234, + 0.13090768456459045 + ], + "box_pose": [ + 15.607975006103516, + -14.855096817016602, + 0.13601303100585938, + 0.007467953022569418, + -0.004444083198904991, + 0.7031427621841431, + -0.7109954953193665 + ], + "box_yaw_rad": -1.5596549850643981, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003071023037360143 + } + }, + { + "simulation_time_ns": 4260000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550947525122579, + -14.851721493295141, + 0.11984783564514162 + ], + "intended_face_normal": [ + -0.9997704644501013, + -0.01110061699840248, + 0.018328158508009618 + ], + "commanded_contact_point": [ + 15.435772726295914, + -14.850271656719295, + 0.11880971357476726 + ], + "centerline_face_intersection": [ + 15.55092212714734, + -14.851107425375732, + 0.11883395198775225 + ], + "commanded_world_base_velocity": [ + 0.10616703999999996, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.432242393493652, + -14.846450805664062, + 0.12876097857952118 + ], + "box_pose": [ + 15.608176231384277, + -14.855347633361816, + 0.13600672781467438, + 0.007327623199671507, + -0.005623617209494114, + 0.7031329870223999, + -0.7109984159469604 + ], + "box_yaw_rad": -1.5596513121196183, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003169632962675498 + } + }, + { + "simulation_time_ns": 4280000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551148260166517, + -14.851976669551659, + 0.11994420456128574 + ], + "intended_face_normal": [ + -0.9997382025361942, + -0.011138017277859347, + 0.01999284822696301 + ], + "commanded_contact_point": [ + 15.439035628871117, + -14.850285424536857, + 0.11880662596310923 + ], + "centerline_face_intersection": [ + 15.551119291961793, + -14.851360532710153, + 0.11883823299992427 + ], + "commanded_world_base_velocity": [ + 0.09071999999999959, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.434219360351562, + -14.846631050109863, + 0.12583571672439575 + ], + "box_pose": [ + 15.608404159545898, + -14.855637550354004, + 0.13599860668182373, + 0.007159250322729349, + -0.006977742072194815, + 0.7031214237213135, + -0.710999608039856 + ], + "box_yaw_rad": -1.5596529481720218, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003262933082583024 + } + }, + { + "simulation_time_ns": 4300000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551380424441021, + -14.852270745927708, + 0.12005401484379333 + ], + "intended_face_normal": [ + -0.999697602483693, + -0.011181942175263027, + 0.021907860700939308 + ], + "commanded_contact_point": [ + 15.442387002633604, + -14.85030796074059, + 0.1188023968053014 + ], + "centerline_face_intersection": [ + 15.551346963112035, + -14.851652179232946, + 0.11884210793436004 + ], + "commanded_world_base_velocity": [ + 0.07419775999999992, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.43414306640625, + -14.848197937011719, + 0.1229788213968277 + ], + "box_pose": [ + 15.608667373657227, + -14.855971336364746, + 0.13598810136318207, + 0.0069692544639110565, + -0.008531841449439526, + 0.7031077146530151, + -0.7109981179237366 + ], + "box_yaw_rad": -1.5596625695409627, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033514522019768124 + } + }, + { + "simulation_time_ns": 4320000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551637410023709, + -14.852607041815567, + 0.12017856357135659 + ], + "intended_face_normal": [ + -0.9996485156400723, + -0.011220385068122618, + 0.02401796662195016 + ], + "commanded_contact_point": [ + 15.445821874972928, + -14.850342368515182, + 0.11879704422860879 + ], + "centerline_face_intersection": [ + 15.551598516110994, + -14.851986348523047, + 0.11884992906445417 + ], + "commanded_world_base_velocity": [ + 0.05746047999999954, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.430694580078125, + -14.849278450012207, + 0.12107343971729279 + ], + "box_pose": [ + 15.60895824432373, + -14.856353759765625, + 0.13597941398620605, + 0.006722376216202974, + -0.01028230506926775, + 0.7030964493751526, + -0.7109883427619934 + ], + "box_yaw_rad": -1.5596966360074627, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003435048839898446 + } + }, + { + "simulation_time_ns": 4340000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551906344312831, + -14.852967252901921, + 0.12031056089974691 + ], + "intended_face_normal": [ + -0.999592327184005, + -0.011272277562053401, + 0.026231981819107963 + ], + "commanded_contact_point": [ + 15.449334690714, + -14.850390674559959, + 0.11879045247044114 + ], + "centerline_face_intersection": [ + 15.551861231532715, + -14.852343689001776, + 0.11885945070470436 + ], + "commanded_world_base_velocity": [ + 0.04136831999999989, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.429630279541016, + -14.85025405883789, + 0.12186801433563232 + ], + "box_pose": [ + 15.609262466430664, + -14.856762886047363, + 0.1359710693359375, + 0.006438554730266333, + -0.012144161388278008, + 0.7030806541442871, + -0.7109772562980652 + ], + "box_yaw_rad": -1.5597355018404466, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035131540467163206 + } + }, + { + "simulation_time_ns": 4360000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.552090408576836, + -14.853149093660189, + 0.12042304196422605 + ], + "intended_face_normal": [ + -0.9995510733285546, + -0.011317309708094525, + 0.02774001747107313 + ], + "commanded_contact_point": [ + 15.452912221844059, + -14.850438380471715, + 0.11878510575769963 + ], + "centerline_face_intersection": [ + 15.552040729649429, + -14.85252303865561, + 0.1188885097111726 + ], + "commanded_world_base_velocity": [ + 0.026781439999999587, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.433257102966309, + -14.850794792175293, + 0.12620709836483002 + ], + "box_pose": [ + 15.60947036743164, + -14.85696792602539, + 0.13599030673503876, + 0.00644085044041276, + -0.01321461983025074, + 0.7030646204948425, + -0.7109739780426025 + ], + "box_yaw_rad": -1.559744551446257, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003577853187023574 + } + }, + { + "simulation_time_ns": 4380000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.552103064835082, + -14.853145903837808, + 0.1204364170289727 + ], + "intended_face_normal": [ + -0.9995481183504942, + -0.011320129249608568, + 0.027845319835096305 + ], + "commanded_contact_point": [ + 15.456535386425264, + -14.850476691947103, + 0.11877941300594247 + ], + "centerline_face_intersection": [ + 15.552053058831246, + -14.852519692860819, + 0.11889605962191259 + ], + "commanded_world_base_velocity": [ + 0.014559999999999906, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.43881893157959, + -14.850028038024902, + 0.13333971798419952 + ], + "box_pose": [ + 15.609484672546387, + -14.856964111328125, + 0.13599775731563568, + 0.006487392820417881, + -0.013242464512586594, + 0.7030631899833679, + -0.7109744548797607 + ], + "box_yaw_rad": -1.5597420044130195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036233716010183165 + } + }, + { + "simulation_time_ns": 4400000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.552091210192055, + -14.85311437955009, + 0.12043637733819809 + ], + "intended_face_normal": [ + -0.9995508500859367, + -0.011307688150771766, + 0.027753303403194263 + ], + "commanded_contact_point": [ + 15.460205680706968, + -14.850514506134871, + 0.1187735225649498 + ], + "centerline_face_intersection": [ + 15.552041506554716, + -14.852488856794276, + 0.11890111012917812 + ], + "commanded_world_base_velocity": [ + 0.005564159999999768, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.442882537841797, + -14.847762107849121, + 0.13747863471508026 + ], + "box_pose": [ + 15.609471321105957, + -14.856928825378418, + 0.13600416481494904, + 0.006546681746840477, + -0.013117015361785889, + 0.7030670642852783, + -0.7109724283218384 + ], + "box_yaw_rad": -1.559746314939924, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036704937984423443 + } + }, + { + "simulation_time_ns": 4420000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.552055773881465, + -14.853057030258148, + 0.12042214376384974 + ], + "intended_face_normal": [ + -0.9995589511755758, + -0.011310815204127689, + 0.027458436726801205 + ], + "commanded_contact_point": [ + 15.463914727175485, + -14.85054992018926, + 0.1187674640470242 + ], + "centerline_face_intersection": [ + 15.552006966921303, + -14.852431334518874, + 0.11890318809557583 + ], + "commanded_world_base_velocity": [ + 0.0006540799999999703, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.443634986877441, + -14.84761905670166, + 0.13540156185626984 + ], + "box_pose": [ + 15.609431266784668, + -14.856863021850586, + 0.13600900769233704, + 0.006612568628042936, + -0.012840661220252514, + 0.7030653357505798, + -0.7109785676002502 + ], + "box_yaw_rad": -1.5597271541671067, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037092204796297175 + } + }, + { + "simulation_time_ns": 4440000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551995647120528, + -14.85297358882537, + 0.12039561262494122 + ], + "intended_face_normal": [ + -0.9995722176189525, + -0.011293866627591131, + 0.02697978498214537 + ], + "commanded_contact_point": [ + 15.467653706158238, + -14.850581177310104, + 0.11876139168081544 + ], + "centerline_face_intersection": [ + 15.551948308554156, + -14.852348830653542, + 0.11890313518585086 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.442497253417969, + -14.854453086853027, + 0.12834720313549042 + ], + "box_pose": [ + 15.609363555908203, + -14.856768608093262, + 0.13601304590702057, + 0.006688876077532768, + -0.012422983534634113, + 0.7030706405639648, + -0.7109800577163696 + ], + "box_yaw_rad": -1.5597210353253461, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003739114562928313 + } + }, + { + "simulation_time_ns": 4460000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551911158967513, + -14.852865023277689, + 0.12035388696187845 + ], + "intended_face_normal": [ + -0.9995905725001004, + -0.01127798342778863, + 0.026293058219992504 + ], + "commanded_contact_point": [ + 15.471413814869605, + -14.850606030649223, + 0.11875517653611461 + ], + "centerline_face_intersection": [ + 15.551865851975569, + -14.852241143738414, + 0.1188993981205479 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.444169044494629, + -14.86003303527832, + 0.12398292124271393 + ], + "box_pose": [ + 15.609268188476562, + -14.856645584106445, + 0.13601469993591309, + 0.006762114819139242, + -0.011860422790050507, + 0.7030755877494812, + -0.7109839916229248 + ], + "box_yaw_rad": -1.5597077020011876, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037601959839595263 + } + }, + { + "simulation_time_ns": 4480000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551802131997354, + -14.852728173914498, + 0.12030008807278214 + ], + "intended_face_normal": [ + -0.9996136155075936, + -0.01127218236144556, + 0.02540816179948746 + ], + "commanded_contact_point": [ + 15.475186024792565, + -14.850621340409585, + 0.11874935422585765 + ], + "centerline_face_intersection": [ + 15.551759375423172, + -14.852104615280695, + 0.11889455024957161 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.448966026306152, + -14.8593168258667, + 0.1230061948299408 + ], + "box_pose": [ + 15.609145164489746, + -14.856489181518555, + 0.13601678609848022, + 0.006858154200017452, + -0.011133885942399502, + 0.7030767202377319, + -0.710993766784668 + ], + "box_yaw_rad": -1.5596775607904083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037722454839180897 + } + }, + { + "simulation_time_ns": 4500000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551673824051484, + -14.852569814101733, + 0.12023574364757962 + ], + "intended_face_normal": [ + -0.9996399722250016, + -0.011242183096273228, + 0.024365316010369398 + ], + "commanded_contact_point": [ + 15.47896245376112, + -14.850626600011044, + 0.11874380302839237 + ], + "centerline_face_intersection": [ + 15.551633984586916, + -14.851947914978059, + 0.11888789434241098 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.453816413879395, + -14.855281829833984, + 0.12242746353149414 + ], + "box_pose": [ + 15.609000205993652, + -14.85630989074707, + 0.1360180526971817, + 0.006955016404390335, + -0.010294139385223389, + 0.7030864357948303, + -0.7109959125518799 + ], + "box_yaw_rad": -1.5596689775834633, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003776436711205831 + } + }, + { + "simulation_time_ns": 4520000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.55154001645483, + -14.852408401989807, + 0.12016629586399163 + ], + "intended_face_normal": [ + -0.9996667189794429, + -0.01121344351748943, + 0.02325328878092403 + ], + "commanded_contact_point": [ + 15.482737900315199, + -14.850624175530818, + 0.11873840463351965 + ], + "centerline_face_intersection": [ + 15.551503137189748, + -14.851788092692479, + 0.11887996208063684 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.458333015441895, + -14.852255821228027, + 0.12050646543502808 + ], + "box_pose": [ + 15.608848571777344, + -14.85612678527832, + 0.136018306016922, + 0.007041526027023792, + -0.009415692649781704, + 0.7030957937240601, + -0.7109979391098022 + ], + "box_yaw_rad": -1.559660729819283, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037754511920395487 + } + }, + { + "simulation_time_ns": 4540000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551397809492773, + -14.852236924860655, + 0.120092852443497 + ], + "intended_face_normal": [ + -0.9996938921930005, + -0.011171897029914168, + 0.022078015612439328 + ], + "commanded_contact_point": [ + 15.48650376228438, + -14.850611508951395, + 0.11873339308373285 + ], + "centerline_face_intersection": [ + 15.55136393754445, + -14.851618913846853, + 0.11887153284353515 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.464597702026367, + -14.852167129516602, + 0.1202707290649414 + ], + "box_pose": [ + 15.608687400817871, + -14.85593318939209, + 0.13601842522621155, + 0.007129313889890909, + -0.00849099550396204, + 0.7031096816062927, + -0.7109950184822083 + ], + "box_yaw_rad": -1.5596667171315566, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037658866059396383 + } + }, + { + "simulation_time_ns": 4560000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.551242045450337, + -14.852054775388034, + 0.12001245361756668 + ], + "intended_face_normal": [ + -0.9997215589197034, + -0.011135356902784, + 0.020802150224941085 + ], + "commanded_contact_point": [ + 15.490250410515248, + -14.850586762479862, + 0.11872874402443881 + ], + "centerline_face_intersection": [ + 15.551211235352902, + -14.851438785714112, + 0.11886171279751051 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.469613075256348, + -14.853706359863281, + 0.12053334712982178 + ], + "box_pose": [ + 15.608510971069336, + -14.855727195739746, + 0.13601765036582947, + 0.007210986223071814, + -0.007500994019210339, + 0.7031218409538269, + -0.710993230342865 + ], + "box_yaw_rad": -1.5596692714838996, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037467328390838814 + } + }, + { + "simulation_time_ns": 4580000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.55107143860096, + -14.851856816399348, + 0.11992333815734124 + ], + "intended_face_normal": [ + -0.9997504937473515, + -0.01109395458085638, + 0.01939007391280073 + ], + "commanded_contact_point": [ + 15.493969043413426, + -14.85054700617458, + 0.11872477233420285 + ], + "centerline_face_intersection": [ + 15.551043830603291, + -14.851243117033945, + 0.11885071108205872 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.472830772399902, + -14.856040000915527, + 0.12302374839782715 + ], + "box_pose": [ + 15.608317375183105, + -14.85550308227539, + 0.13601653277873993, + 0.007297490257769823, + -0.006409287452697754, + 0.7031356692314148, + -0.7109894156455994 + ], + "box_yaw_rad": -1.559677787563745, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0037188475324408336 + } + }, + { + "simulation_time_ns": 4600000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550878901923637, + -14.851635970962606, + 0.11982328346888604 + ], + "intended_face_normal": [ + -0.9997802071931933, + -0.011063424582624992, + 0.017808526917284184 + ], + "commanded_contact_point": [ + 15.497648464887144, + -14.850487402150003, + 0.11872163701260627 + ], + "centerline_face_intersection": [ + 15.550854582095772, + -14.851023960466616, + 0.11883814497852856 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.476222038269043, + -14.857926368713379, + 0.12555699050426483 + ], + "box_pose": [ + 15.608098983764648, + -14.855252265930176, + 0.1360148787498474, + 0.007389458362013102, + -0.005191589239984751, + 0.7031455636024475, + -0.7109885811805725 + ], + "box_yaw_rad": -1.5596773197928546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00367990554922886 + } + }, + { + "simulation_time_ns": 4620000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550671448976345, + -14.851392484967855, + 0.11971790084957747 + ], + "intended_face_normal": [ + -0.9998094874416753, + -0.011038808217623708, + 0.01609921252262586 + ], + "commanded_contact_point": [ + 15.501282412672527, + -14.850405785962442, + 0.11872056091067439 + ], + "centerline_face_intersection": [ + 15.550650369283883, + -14.850781836208787, + 0.11882731882703573 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.480345726013184, + -14.857954025268555, + 0.12607242166996002 + ], + "box_pose": [ + 15.607863426208496, + -14.854974746704102, + 0.13601601123809814, + 0.007512292359024286, + -0.0038518686778843403, + 0.7031530141830444, + -0.710988461971283 + ], + "box_yaw_rad": -1.559673950329015, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003634864353309415 + } + }, + { + "simulation_time_ns": 4640000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.55049701897895, + -14.851169966177357, + 0.11963311445194154 + ], + "intended_face_normal": [ + -0.9998318550256824, + -0.01101966373873342, + 0.014653813395228504 + ], + "commanded_contact_point": [ + 15.504883187119274, + -14.850319042802735, + 0.1187211915742635 + ], + "centerline_face_intersection": [ + 15.550478414406482, + -14.850560376459452, + 0.11882248953764024 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.483798027038574, + -14.856063842773438, + 0.1246115118265152 + ], + "box_pose": [ + 15.607665061950684, + -14.854721069335938, + 0.13602174818515778, + 0.007662519346922636, + -0.0026721644680947065, + 0.7031581997871399, + -0.7109870910644531 + ], + "box_yaw_rad": -1.5596730150080274, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036018191778378313 + } + }, + { + "simulation_time_ns": 4660000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550349611534543, + -14.850985038922463, + 0.11956003964162161 + ], + "intended_face_normal": [ + -0.9998493116557647, + -0.010997808749170224, + 0.013427059619640455 + ], + "commanded_contact_point": [ + 15.508443926159504, + -14.850236905579884, + 0.11872106392806663 + ], + "centerline_face_intersection": [ + 15.550332938614309, + -14.850376658186722, + 0.11881727673343326 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.486714363098145, + -14.854164123535156, + 0.12123256921768188 + ], + "box_pose": [ + 15.607497215270996, + -14.854510307312012, + 0.1360253542661667, + 0.007783879060298204, + -0.00167717260774225, + 0.7031646370887756, + -0.7109824419021606 + ], + "box_yaw_rad": -1.5596823295155504, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035616862652808417 + } + }, + { + "simulation_time_ns": 4680000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.550226561753322, + -14.850827540526428, + 0.11949886909726629 + ], + "intended_face_normal": [ + -0.9998627684120378, + -0.010981319242704624, + 0.012402469762268165 + ], + "commanded_contact_point": [ + 15.51195877422497, + -14.850157309620283, + 0.11872055106493376 + ], + "centerline_face_intersection": [ + 15.550211377858817, + -14.850220071963129, + 0.11881278481892843 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.489917755126953, + -14.851038932800293, + 0.12045088410377502 + ], + "box_pose": [ + 15.607357025146484, + -14.854331016540527, + 0.1360282003879547, + 0.007887422107160091, + -0.0008439646917395294, + 0.7031693458557129, + -0.7109781503677368 + ], + "box_yaw_rad": -1.5596912374505765, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035157492378044526 + } + }, + { + "simulation_time_ns": 4700000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.55012267980858, + -14.85069739208449, + 0.11944681597440067 + ], + "intended_face_normal": [ + -0.999873109141637, + -0.01097735288307189, + 0.01154440892664893 + ], + "commanded_contact_point": [ + 15.515420295770756, + -14.850082366661049, + 0.11871931641939287 + ], + "centerline_face_intersection": [ + 15.550108640129583, + -14.850090142933698, + 0.1188081982136565 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.49252986907959, + -14.848206520080566, + 0.1216602772474289 + ], + "box_pose": [ + 15.60723876953125, + -14.854182243347168, + 0.1360296756029129, + 0.007970195263624191, + -0.00015014424570836127, + 0.7031698226928711, + -0.7109772562980652 + ], + "box_yaw_rad": -1.5596910714672447, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034623329394250723 + } + }, + { + "simulation_time_ns": 4720000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.55003821537722, + -14.850589674174463, + 0.11940474631678048 + ], + "intended_face_normal": [ + -0.9998811351022955, + -0.010982435394203405, + 0.010836832639147153 + ], + "commanded_contact_point": [ + 15.518823529709865, + -14.850011882175608, + 0.11871825998111075 + ], + "centerline_face_intersection": [ + 15.550025063773308, + -14.849982143867496, + 0.1188052705153303 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.495107650756836, + -14.847917556762695, + 0.12336459755897522 + ], + "box_pose": [ + 15.607142448425293, + -14.854058265686035, + 0.13603182137012482, + 0.008047039620578289, + 0.0004307087219785899, + 0.7031671404838562, + -0.7109790444374084 + ], + "box_yaw_rad": -1.5596837351605108, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003403963927988986 + } + }, + { + "simulation_time_ns": 4740000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549967035629075, + -14.85050077588482, + 0.11936919451294441 + ], + "intended_face_normal": [ + -0.9998873451401243, + -0.010983157542356348, + 0.010249628420566016 + ], + "commanded_contact_point": [ + 15.522159796217453, + -14.849946319183825, + 0.11871654685486573 + ], + "centerline_face_intersection": [ + 15.549954571162917, + -14.849893205629801, + 0.11880220188543171 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.497732162475586, + -14.850711822509766, + 0.12423335015773773 + ], + "box_pose": [ + 15.607061386108398, + -14.85395622253418, + 0.13603290915489197, + 0.00810770969837904, + 0.000909594411496073, + 0.7031661868095398, + -0.7109788656234741 + ], + "box_yaw_rad": -1.559682231726327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0033369110941631926 + } + }, + { + "simulation_time_ns": 4760000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549910411791977, + -14.850426034032656, + 0.11933957154429911 + ], + "intended_face_normal": [ + -0.9998922075771423, + -0.010973403960854111, + 0.009764364698576111 + ], + "commanded_contact_point": [ + 15.525424288324906, + -14.849884870274277, + 0.118714453538568 + ], + "centerline_face_intersection": [ + 15.549898485349201, + -14.849819003329763, + 0.11879942290970771 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.499669075012207, + -14.855088233947754, + 0.12262649834156036 + ], + "box_pose": [ + 15.606996536254883, + -14.85387134552002, + 0.13603352010250092, + 0.008155020885169506, + 0.0013024343643337488, + 0.7031691074371338, + -0.7109747529029846 + ], + "box_yaw_rad": -1.5596920944047314, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032650710666204193 + } + }, + { + "simulation_time_ns": 4780000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549861717480535, + -14.850365469491848, + 0.11931580307515628 + ], + "intended_face_normal": [ + -0.9998957225905645, + -0.010990883304433097, + 0.00936956581802538 + ], + "commanded_contact_point": [ + 15.528607199674063, + -14.849827272387046, + 0.11871235670938546 + ], + "centerline_face_intersection": [ + 15.549850179968553, + -14.849757471860347, + 0.11879749406688475 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.502002716064453, + -14.859817504882812, + 0.11675465106964111 + ], + "box_pose": [ + 15.606941223144531, + -14.853800773620605, + 0.13603441417217255, + 0.008199804462492466, + 0.0016285221790894866, + 0.7031623721122742, + -0.7109801769256592 + ], + "box_yaw_rad": -1.5596749787918573, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031834331420492316 + } + }, + { + "simulation_time_ns": 4800000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549822372376472, + -14.85031594714516, + 0.11929597998431117 + ], + "intended_face_normal": [ + -0.9998986437995437, + -0.010998493877977467, + 0.00904439967935336 + ], + "commanded_contact_point": [ + 15.531703460500804, + -14.849774377180232, + 0.11870992186239349 + ], + "centerline_face_intersection": [ + 15.549811158090698, + -14.849707528509217, + 0.1187956586333262 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.504968643188477, + -14.861653327941895, + 0.11421272158622742 + ], + "box_pose": [ + 15.60689640045166, + -14.853743553161621, + 0.13603486120700836, + 0.008233487606048584, + 0.0018938288558274508, + 0.7031592726707458, + -0.7109822034835815 + ], + "box_yaw_rad": -1.559668062769427, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030967135706412587 + } + }, + { + "simulation_time_ns": 4820000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.54979041994799, + -14.850276250970484, + 0.1192799238986369 + ], + "intended_face_normal": [ + -0.999900885596801, + -0.011004983348258501, + 0.008789984942339124 + ], + "commanded_contact_point": [ + 15.534705712274317, + -14.84972604414752, + 0.11870689670742005 + ], + "centerline_face_intersection": [ + 15.549779453712175, + -14.849667473347692, + 0.11879367635348162 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.508563995361328, + -14.858341217041016, + 0.11448639631271362 + ], + "box_pose": [ + 15.606860160827637, + -14.853697776794434, + 0.13603466749191284, + 0.008260374888777733, + 0.0021019517444074154, + 0.7031566500663757, + -0.71098393201828 + ], + "box_yaw_rad": -1.5596622954708494, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030026423272134233 + } + }, + { + "simulation_time_ns": 4840000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549767176885501, + -14.850244448727604, + 0.11926683086512926 + ], + "intended_face_normal": [ + -0.9999026189128332, + -0.011003812576054206, + 0.00858639783178794 + ], + "commanded_contact_point": [ + 15.537608781760067, + -14.849682171777442, + 0.11870362822115157 + ], + "centerline_face_intersection": [ + 15.549756402436927, + -14.849635735870011, + 0.11879184542490138 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.512125015258789, + -14.852532386779785, + 0.11784818768501282 + ], + "box_pose": [ + 15.606833457946777, + -14.85366153717041, + 0.13603425025939941, + 0.008280562236905098, + 0.0022671185433864594, + 0.7031568288803101, + -0.7109829783439636 + ], + "box_yaw_rad": -1.5596641982471127, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029034028151384114 + } + }, + { + "simulation_time_ns": 4860000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.54974780349222, + -14.850220798489179, + 0.1192577356641438 + ], + "intended_face_normal": [ + -0.9999039571550522, + -0.010996852829232018, + 0.008437014862929137 + ], + "commanded_contact_point": [ + 15.540402944923514, + -14.84964368840567, + 0.11870068302477668 + ], + "centerline_face_intersection": [ + 15.549737177116697, + -14.84961247063336, + 0.1187910138446584 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.515987396240234, + -14.850382804870605, + 0.1222849190235138 + ], + "box_pose": [ + 15.6068115234375, + -14.85363483428955, + 0.13603448867797852, + 0.008298331871628761, + 0.002391267567873001, + 0.7031590938568115, + -0.7109801173210144 + ], + "box_yaw_rad": -1.559671693074631, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002794429714279527 + } + }, + { + "simulation_time_ns": 4880000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549733497518453, + -14.85020288255016, + 0.11925048279171206 + ], + "intended_face_normal": [ + -0.999905090498672, + -0.010991841342211872, + 0.008325243450916009 + ], + "commanded_contact_point": [ + 15.543082690633037, + -14.849609085858608, + 0.11869731176115958 + ], + "centerline_face_intersection": [ + 15.54972299654432, + -14.849594831921582, + 0.11878994398335427 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.519697189331055, + -14.850138664245605, + 0.12558341026306152 + ], + "box_pose": [ + 15.606795310974121, + -14.853614807128906, + 0.13603417575359344, + 0.00830788817256689, + 0.0024803790729492903, + 0.7031607627868652, + -0.7109781503677368 + ], + "box_yaw_rad": -1.5596772343571657, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026799712254778293 + } + }, + { + "simulation_time_ns": 4900000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549726075463521, + -14.850192649641738, + 0.11924634396903122 + ], + "intended_face_normal": [ + -0.9999056597584594, + -0.01098622255732773, + 0.00825821407566385 + ], + "commanded_contact_point": [ + 15.545643059876951, + -14.849580642644069, + 0.11869408838455879 + ], + "centerline_face_intersection": [ + 15.549715637476385, + -14.84958490983512, + 0.11878951311573631 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.52416706085205, + -14.849267959594727, + 0.12572626769542694 + ], + "box_pose": [ + 15.606786727905273, + -14.85360336303711, + 0.13603422045707703, + 0.008315530605614185, + 0.002535736421123147, + 0.703162670135498, + -0.7109759449958801 + ], + "box_yaw_rad": -1.559683139750891, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002560529256187691 + } + }, + { + "simulation_time_ns": 4920000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549721010648689, + -14.850188576920958, + 0.11924353308588606 + ], + "intended_face_normal": [ + -0.9999058249291094, + -0.010987947564963019, + 0.008219497715424795 + ], + "commanded_contact_point": [ + 15.548074011171922, + -14.849557307510068, + 0.11869049799509512 + ], + "centerline_face_intersection": [ + 15.549710590937213, + -14.84958074168975, + 0.11878884395811709 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.529561042785645, + -14.847673416137695, + 0.12432289123535156 + ], + "box_pose": [ + 15.606781005859375, + -14.853598594665527, + 0.13603375852108002, + 0.008314071223139763, + 0.0025617980863898993, + 0.7031620740890503, + -0.7109763622283936 + ], + "box_yaw_rad": -1.5596817212701921, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024310659427282215 + } + }, + { + "simulation_time_ns": 4940000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549720375334507, + -14.850190247870362, + 0.11924208171824752 + ], + "intended_face_normal": [ + -0.9999060665847772, + -0.010987475768531763, + 0.008200257291606422 + ], + "commanded_contact_point": [ + 15.550370731385147, + -14.849539792398325, + 0.11868706639802694 + ], + "centerline_face_intersection": [ + 15.549709982361536, + -14.849582438738157, + 0.11878845693915613 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.534730911254883, + -14.84608268737793, + 0.12293075025081635 + ], + "box_pose": [ + 15.606780052185059, + -14.85360050201416, + 0.13603335618972778, + 0.00830304529517889, + 0.0025643284898251295, + 0.7031623721122742, + -0.710976243019104 + ], + "box_yaw_rad": -1.5596825885031653, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022967895621575215 + } + }, + { + "simulation_time_ns": 4960000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549722856896258, + -14.850193015526205, + 0.11924346338022859 + ], + "intended_face_normal": [ + -0.9999056796542913, + -0.010993032545532078, + 0.00822200071857504 + ], + "commanded_contact_point": [ + 15.552525478194157, + -14.849523991625183, + 0.11868377349462722 + ], + "centerline_face_intersection": [ + 15.549712421110538, + -14.849584899002213, + 0.11878863579043206 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.539023399353027, + -14.845556259155273, + 0.12257811427116394 + ], + "box_pose": [ + 15.606782913208008, + -14.85360336303711, + 0.13603340089321136, + 0.008302309550344944, + 0.0025481530465185642, + 0.7031604051589966, + -0.7109781503677368 + ], + "box_yaw_rad": -1.5596768922057382, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002154807257873476 + } + }, + { + "simulation_time_ns": 4980000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.54972952221202, + -14.850199758891089, + 0.11924729346454303 + ], + "intended_face_normal": [ + -0.9999053173196795, + -0.010981226675391587, + 0.008281203266585324 + ], + "commanded_contact_point": [ + 15.55453264880369, + -14.849514072810177, + 0.11868050851594872 + ], + "centerline_face_intersection": [ + 15.549719046335, + -14.849592295448462, + 0.11878919088692504 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.542194366455078, + -14.846892356872559, + 0.12341229617595673 + ], + "box_pose": [ + 15.606790542602539, + -14.853611946105957, + 0.1360335797071457, + 0.008299386128783226, + 0.002503037452697754, + 0.7031646370887756, + -0.7109741568565369 + ], + "box_yaw_rad": -1.5596883529472838, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020071977727041126 + } + }, + { + "simulation_time_ns": 5000000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549741502663641, + -14.850209527498103, + 0.11925235705206448 + ], + "intended_face_normal": [ + -0.9999047767187755, + -0.01096601459384372, + 0.008365060302781363 + ], + "commanded_contact_point": [ + 15.55638665988719, + -14.849508627716865, + 0.11867698849408043 + ], + "centerline_face_intersection": [ + 15.549730966970628, + -14.84960290556287, + 0.11878961564078958 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.542186737060547, + -14.848353385925293, + 0.12176918983459473 + ], + "box_pose": [ + 15.606803894042969, + -14.85362434387207, + 0.13603344559669495, + 0.008293011225759983, + 0.002436883980408311, + 0.703170120716095, + -0.7109690308570862 + ], + "box_yaw_rad": -1.5597031428550268, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018540224209368358 + } + }, + { + "simulation_time_ns": 5020000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549754887814533, + -14.850225410748042, + 0.11925890790589483 + ], + "intended_face_normal": [ + -0.9999040354735879, + -0.010967828710818361, + 0.00847442704424628 + ], + "commanded_contact_point": [ + 15.558077288692203, + -14.849509407057141, + 0.11867338421313013 + ], + "centerline_face_intersection": [ + 15.549744270104744, + -14.849618688458834, + 0.11879011650592167 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.538175582885742, + -14.847983360290527, + 0.11820493638515472 + ], + "box_pose": [ + 15.606819152832031, + -14.853642463684082, + 0.13603320717811584, + 0.00828380323946476, + 0.0023498213849961758, + 0.703169584274292, + -0.7109701037406921 + ], + "box_yaw_rad": -1.5597008251885511, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016906328266520023 + } + }, + { + "simulation_time_ns": 5040000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.54977238679832, + -14.85024587279383, + 0.11926815554356435 + ], + "intended_face_normal": [ + -0.9999025974641668, + -0.010976286391270906, + 0.008622168174543976 + ], + "commanded_contact_point": [ + 15.559600228986172, + -14.84951590045739, + 0.11866998866591871 + ], + "centerline_face_intersection": [ + 15.549761609976505, + -14.849638682639615, + 0.11879119134666412 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.53567123413086, + -14.84710693359375, + 0.11637444794178009 + ], + "box_pose": [ + 15.606839179992676, + -14.853665351867676, + 0.1360333412885666, + 0.008276469074189663, + 0.0022374000400304794, + 0.703166663646698, + -0.7109733819961548 + ], + "box_yaw_rad": -1.5596916046771798, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015229579222619685 + } + }, + { + "simulation_time_ns": 5060000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549794285556395, + -14.850272797126538, + 0.11927845057964519 + ], + "intended_face_normal": [ + -0.999901274339564, + -0.010977969694717205, + 0.008792089430765704 + ], + "commanded_contact_point": [ + 15.560949130208794, + -14.849530987063362, + 0.11866633177726442 + ], + "centerline_face_intersection": [ + 15.549783362334058, + -14.849665513854738, + 0.11879208661764303 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.537165641784668, + -14.846161842346191, + 0.11757050454616547 + ], + "box_pose": [ + 15.606863975524902, + -14.8536958694458, + 0.1360330730676651, + 0.008261056616902351, + 0.0021010052878409624, + 0.7031662464141846, + -0.7109745144844055 + ], + "box_yaw_rad": -1.5596892844560721, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013489905436679204 + } + }, + { + "simulation_time_ns": 5080000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549820134544252, + -14.85030330131559, + 0.1192920583877853 + ], + "intended_face_normal": [ + -0.999899258884646, + -0.010976044352152492, + 0.00901206144756539 + ], + "commanded_contact_point": [ + 15.562116698251854, + -14.849551861814362, + 0.11866271327465366 + ], + "centerline_face_intersection": [ + 15.549808988316354, + -14.849696124550581, + 0.11879352593472503 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.540305137634277, + -14.844606399536133, + 0.12317553162574768 + ], + "box_pose": [ + 15.606893539428711, + -14.853731155395508, + 0.13603302836418152, + 0.008243201300501823, + 0.001926531083881855, + 0.7031671404838562, + -0.7109742760658264 + ], + "box_yaw_rad": -1.559690437001353, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0011677602425010326 + } + }, + { + "simulation_time_ns": 5100000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549847675712597, + -14.85034018823101, + 0.11930575692521089 + ], + "intended_face_normal": [ + -0.9998971739607628, + -0.01096574973283726, + 0.009246339398234937 + ], + "commanded_contact_point": [ + 15.563093960640623, + -14.849581639274362, + 0.1186584555827273 + ], + "centerline_face_intersection": [ + 15.54983629879208, + -14.849733580947454, + 0.11879426460030279 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.542798042297363, + -14.84131908416748, + 0.12797032296657562 + ], + "box_pose": [ + 15.606925010681152, + -14.853774070739746, + 0.1360320746898651, + 0.008214709348976612, + 0.0017310883849859238, + 0.7031711339950562, + -0.7109711170196533 + ], + "box_yaw_rad": -1.55970029071396, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000977725217823188 + } + }, + { + "simulation_time_ns": 5120000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549881983542633, + -14.850380602826638, + 0.11932350935621444 + ], + "intended_face_normal": [ + -0.9998947248447436, + -0.010959583375871329, + 0.009530633122566204 + ], + "commanded_contact_point": [ + 15.563878964155936, + -14.849616675098094, + 0.11865500036357814 + ], + "centerline_face_intersection": [ + 15.549870335631757, + -14.84977433665583, + 0.11879629036892114 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.543527603149414, + -14.840826034545898, + 0.12897634506225586 + ], + "box_pose": [ + 15.606964111328125, + -14.85382080078125, + 0.13603219389915466, + 0.00819315668195486, + 0.001507122186012566, + 0.7031735777854919, + -0.7109695672988892 + ], + "box_yaw_rad": -1.55970576993851, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007857925722082519 + } + }, + { + "simulation_time_ns": 5140000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.54992220573875, + -14.85043114671793, + 0.1193436424796133 + ], + "intended_face_normal": [ + -0.9998914981300665, + -0.010952553125059383, + 0.009861243259983776 + ], + "commanded_contact_point": [ + 15.564463925260418, + -14.849663776343977, + 0.11865098288730634 + ], + "centerline_face_intersection": [ + 15.549910200796585, + -14.849825269449063, + 0.11879813468195488 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.541788101196289, + -14.846868515014648, + 0.12477156519889832 + ], + "box_pose": [ + 15.607009887695312, + -14.85387897491455, + 0.13603174686431885, + 0.008162067271769047, + 0.0012405752204358578, + 0.7031764388084412, + -0.7109675407409668 + ], + "box_yaw_rad": -1.5597124153388429, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000586868095260992 + } + }, + { + "simulation_time_ns": 5160000000, + "phase": "normal_approach", + "intended_face_center": [ + 15.549969129879281, + -14.850490680485919, + 0.119366910377351 + ], + "intended_face_normal": [ + -0.9998875416779389, + -0.010956242086018975, + 0.010244993903972599 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.849720893708167, + 0.11864669795562116 + ], + "centerline_face_intersection": [ + 15.54995668715987, + -14.849884599149783, + 0.11880017412369234 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.540491104125977, + -14.85265827178955, + 0.12027607858181 + ], + "box_pose": [ + 15.607063293457031, + -14.853946685791016, + 0.1360311210155487, + 0.008126022294163704, + 0.0009312826441600919, + 0.7031755447387695, + -0.7109692692756653 + ], + "box_yaw_rad": -1.5597086265933409, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00038302574245345077 + } + }, + { + "simulation_time_ns": 5180000000, + "phase": "straight_push", + "intended_face_center": [ + 15.55002263660177, + -14.85055716709533, + 0.11939401094840404 + ], + "intended_face_normal": [ + -0.9998829998537889, + -0.010955244274479026, + 0.010691906885125516 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.849806158335474, + 0.11880255220188456 + ], + "centerline_face_intersection": [ + 15.550009691332178, + -14.849951140956492, + 0.11880255220188456 + ], + "commanded_world_base_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.540879249572754, + -14.853575706481934, + 0.11836153268814087 + ], + "box_pose": [ + 15.607124328613281, + -14.854022979736328, + 0.1360303908586502, + 0.008084404282271862, + 0.0005714221042580903, + 0.7031763792037964, + -0.7109693884849548 + ], + "box_yaw_rad": -1.5597099725767483, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00014498262101767523, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000177653040357165 + } + }, + { + "simulation_time_ns": 5200000000, + "phase": "straight_push", + "intended_face_center": [ + 15.550085434526824, + -14.85063193661958, + 0.11942590498638658 + ], + "intended_face_normal": [ + -0.9998773773516106, + -0.01094301771454842, + 0.011213967792320007 + ], + "commanded_contact_point": [ + 15.565392715597715, + -14.849852134849407, + 0.11880556668703396 + ], + "centerline_face_intersection": [ + 15.550071867127498, + -14.850026586833978, + 0.11880556668703396 + ], + "commanded_world_base_velocity": [ + 0.000690041152263406, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.542284965515137, + -14.850763320922852, + 0.116785928606987 + ], + "box_pose": [ + 15.607195854187012, + -14.854109764099121, + 0.13602977991104126, + 0.008037237450480461, + 0.00015246828843373805, + 0.703181266784668, + -0.7109652757644653 + ], + "box_yaw_rad": -1.5597232016470586, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00017445198457259893, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005519977996734589 + } + }, + { + "simulation_time_ns": 5220000000, + "phase": "straight_push", + "intended_face_center": [ + 15.550157400768189, + -14.850722819855719, + 0.11946203783453073 + ], + "intended_face_normal": [ + -0.9998705275147362, + -0.010945926949198381, + 0.011812433635093031 + ], + "commanded_contact_point": [ + 15.565798292860256, + -14.850015702898245, + 0.11880859338666744 + ], + "centerline_face_intersection": [ + 15.550143075429844, + -14.85011730913603, + 0.11880859338666744 + ], + "commanded_world_base_velocity": [ + 0.002675884773662555, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.543778419494629, + -14.848296165466309, + 0.11439280211925507 + ], + "box_pose": [ + 15.607277870178223, + -14.85421371459961, + 0.13602857291698456, + 0.00797781441360712, + -0.0003331428742967546, + 0.7031809091567993, + -0.7109662890434265 + ], + "box_yaw_rad": -1.5597224673668058, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00010160623778375567, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00043732891900897375 + } + }, + { + "simulation_time_ns": 5240000000, + "phase": "straight_push", + "intended_face_center": [ + 15.550241241920316, + -14.8508266043908, + 0.1195033416060072 + ], + "intended_face_normal": [ + -0.9998620800227114, + -0.01094290433188605, + 0.012502540201580786 + ], + "commanded_contact_point": [ + 15.565419322093312, + -14.850182124459415, + 0.11881172159515359 + ], + "centerline_face_intersection": [ + 15.550225981854195, + -14.85022126087734, + 0.11881172159515359 + ], + "commanded_world_base_velocity": [ + 0.005831111111111203, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.546249389648438, + -14.84865951538086, + 0.11568981409072876 + ], + "box_pose": [ + 15.607373237609863, + -14.85433292388916, + 0.1360267996788025, + 0.007909376174211502, + -0.0008930580224841833, + 0.7031827569007874, + -0.7109646797180176 + ], + "box_yaw_rad": -1.5597291392315158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 3.9136417924510184e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004139139571318217 + } + }, + { + "simulation_time_ns": 5260000000, + "phase": "straight_push", + "intended_face_center": [ + 15.550337628131734, + -14.850947120014062, + 0.11955061836707823 + ], + "intended_face_normal": [ + -0.9998516694758962, + -0.010954905580140895, + 0.01329694312066887 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850263687409191, + 0.11881505329012897 + ], + "centerline_face_intersection": [ + 15.550321216111993, + -14.85034111261124, + 0.11881505329012897 + ], + "commanded_world_base_velocity": [ + 0.010029300411522647, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.547916412353516, + -14.851298332214355, + 0.1176309883594513 + ], + "box_pose": [ + 15.60748291015625, + -14.854470252990723, + 0.13602447509765625, + 0.007831709459424019, + -0.0015364194987341762, + 0.7031793594360352, + -0.7109677791595459 + ], + "box_yaw_rad": -1.5597228140776416, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 7.742520204914174e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0005824269171392535 + } + }, + { + "simulation_time_ns": 5280000000, + "phase": "straight_push", + "intended_face_center": [ + 15.55044825734008, + -14.851084185031226, + 0.11960581464915357 + ], + "intended_face_normal": [ + -0.9998388449914525, + -0.010954192107618832, + 0.014215882154405834 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850251715317116, + 0.11881941537257451 + ], + "centerline_face_intersection": [ + 15.550430426241851, + -14.850478217096533, + 0.11881941537257451 + ], + "commanded_world_base_velocity": [ + 0.015144032921810845, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.549373626708984, + -14.854205131530762, + 0.12033599615097046 + ], + "box_pose": [ + 15.607608795166016, + -14.85462760925293, + 0.13602225482463837, + 0.007741580717265606, + -0.002280985936522484, + 0.7031806111335754, + -0.7109653949737549 + ], + "box_yaw_rad": -1.559732126253165, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00022650177941827113, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 1.27420073738397e-05 + } + }, + { + "simulation_time_ns": 5300000000, + "phase": "straight_push", + "intended_face_center": [ + 15.55057577862757, + -14.851245061838675, + 0.1196691325620238 + ], + "intended_face_normal": [ + -0.9998233891738268, + -0.01094014428780088, + 0.015272667843492349 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850200148759544, + 0.11882427363500797 + ], + "centerline_face_intersection": [ + 15.550556237259539, + -14.850639871006326, + 0.11882427363500797 + ], + "commanded_world_base_velocity": [ + 0.021048888888888916, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.55162525177002, + -14.85597038269043, + 0.12397316098213196 + ], + "box_pose": [ + 15.60775375366211, + -14.854812622070312, + 0.1360194832086563, + 0.007636877708137035, + -0.0031383426394313574, + 0.7031867504119873, + -0.7109571695327759 + ], + "box_yaw_rad": -1.55975879410772, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004397222467824236, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 5.179490876188587e-05 + } + }, + { + "simulation_time_ns": 5320000000, + "phase": "straight_push", + "intended_face_center": [ + 15.551974067178312, + -14.852536968880255, + 0.12009922190103985 + ], + "intended_face_normal": [ + -0.9995092381721377, + -0.023389940631444617, + 0.020839874838507577 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.85061201054458, + 0.1189463942172565 + ], + "centerline_face_intersection": [ + 15.551919757570266, + -14.851243075740737, + 0.1189463942172565 + ], + "commanded_world_base_velocity": [ + 0.027617448559670976, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.554082870483398, + -14.856026649475098, + 0.12517298758029938 + ], + "box_pose": [ + 15.609283447265625, + -14.855459213256836, + 0.1361141800880432, + 0.008242219686508179, + -0.006474920082837343, + 0.6987396478652954, + -0.7152993083000183 + ], + "box_yaw_rad": -1.5473521610676622, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006310651961568681, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00042958534260576175 + } + }, + { + "simulation_time_ns": 5340000000, + "phase": "straight_push", + "intended_face_center": [ + 15.553028242923874, + -14.853935213434333, + 0.12039161314127783 + ], + "intended_face_normal": [ + -0.9992207818600709, + -0.028995401049723535, + 0.02677960938218149 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851635514063522, + 0.11891020908794647 + ], + "centerline_face_intersection": [ + 15.552941999171377, + -14.852331235421435, + 0.11891020908794647 + ], + "commanded_world_base_velocity": [ + 0.03472329218107, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.555272102355957, + -14.853947639465332, + 0.12482327222824097 + ], + "box_pose": [ + 15.610450744628906, + -14.856691360473633, + 0.1360262930393219, + 0.007180424407124519, + -0.011826591566205025, + 0.6967429518699646, + -0.7171874642372131 + ], + "box_yaw_rad": -1.541972857521871, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006957213579127597, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001024142967007063 + } + }, + { + "simulation_time_ns": 5360000000, + "phase": "straight_push", + "intended_face_center": [ + 15.553839890645644, + -14.854539946593334, + 0.1209398578565528 + ], + "intended_face_normal": [ + -0.9990193745369955, + -0.02910896551561215, + 0.033365480161156924 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852292238293247, + 0.1190941342372616 + ], + "centerline_face_intersection": [ + 15.553731344214466, + -14.85292968638051, + 0.1190941342372616 + ], + "commanded_world_base_velocity": [ + 0.042240000000000236, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.555222511291504, + -14.851472854614258, + 0.12333762645721436 + ], + "box_pose": [ + 15.611366271972656, + -14.857375144958496, + 0.13617341220378876, + 0.007738974876701832, + -0.015979360789060593, + 0.6966962218284607, + -0.717146635055542 + ], + "box_yaw_rad": -1.5420721973202258, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006374480872626976, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006819935296303803 + } + }, + { + "simulation_time_ns": 5380000000, + "phase": "straight_push", + "intended_face_center": [ + 15.553958419062257, + -14.854582646373773, + 0.12102489498288026 + ], + "intended_face_normal": [ + -0.9989858419261385, + -0.029128972808954767, + 0.034338178454599966 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.85247799680971, + 0.11912536328991588 + ], + "centerline_face_intersection": [ + 15.55384615898724, + -14.852971279390307, + 0.11912536328991588 + ], + "commanded_world_base_velocity": [ + 0.05004115226337454, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.554666519165039, + -14.849367141723633, + 0.12202291190624237 + ], + "box_pose": [ + 15.611499786376953, + -14.857422828674316, + 0.13620081543922424, + 0.0079535823315382, + -0.016456803306937218, + 0.6966866254806519, + -0.7171428203582764 + ], + "box_yaw_rad": -1.5420762930728202, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004932825805957464, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00018836528387305355 + } + }, + { + "simulation_time_ns": 5400000000, + "phase": "straight_push", + "intended_face_center": [ + 15.553376556517152, + -14.85433890642752, + 0.12058685590913477 + ], + "intended_face_normal": [ + -0.9991439194476817, + -0.028996279618279996, + 0.029504961506781502 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852395914300601, + 0.11895468984779504 + ], + "centerline_face_intersection": [ + 15.553281801997892, + -14.852734879813651, + 0.11895468984779504 + ], + "commanded_world_base_velocity": [ + 0.05800032921810725, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.553624153137207, + -14.848876953125, + 0.12229214608669281 + ], + "box_pose": [ + 15.61084270477295, + -14.857151985168457, + 0.13605007529258728, + 0.00697333924472332, + -0.013995885848999023, + 0.6967447400093079, + -0.7171486616134644 + ], + "box_yaw_rad": -1.5420890781340264, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00033896551304970053, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000189385749588282 + } + }, + { + "simulation_time_ns": 5420000000, + "phase": "straight_push", + "intended_face_center": [ + 15.552866420636231, + -14.853771079345993, + 0.12032059645018775 + ], + "intended_face_normal": [ + -0.9992614889556668, + -0.028861639762872482, + 0.025360812860260706 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851903502855318, + 0.11891767789260915 + ], + "centerline_face_intersection": [ + 15.552784684004806, + -14.852174500788019, + 0.11891767789260915 + ], + "commanded_world_base_velocity": [ + 0.06599111111111118, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.552979469299316, + -14.850475311279297, + 0.1232248991727829 + ], + "box_pose": [ + 15.610265731811523, + -14.856510162353516, + 0.13604314625263214, + 0.007187351584434509, + -0.010800870135426521, + 0.696790874004364, + -0.7171568870544434 + ], + "box_yaw_rad": -1.5420602986830039, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002709979327008228, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004938004822517394 + } + }, + { + "simulation_time_ns": 5440000000, + "phase": "straight_push", + "intended_face_center": [ + 15.55233699547306, + -14.853196078952823, + 0.12004757065303173 + ], + "intended_face_normal": [ + -0.9993648666902635, + -0.02874856533826753, + 0.021060004653761177 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851246956828431, + 0.11888256574903872 + ], + "centerline_face_intersection": [ + 15.552266704078521, + -14.851605755486496, + 0.11888256574903872 + ], + "commanded_world_base_velocity": [ + 0.07388707818930067, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.551833152770996, + -14.853800773620605, + 0.12369599938392639 + ], + "box_pose": [ + 15.609665870666504, + -14.85585880279541, + 0.13603799045085907, + 0.0073678516782820225, + -0.007528495043516159, + 0.6968295574188232, + -0.7171594500541687 + ], + "box_yaw_rad": -1.5420485859238942, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00035879865806521144, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006574842568816788 + } + }, + { + "simulation_time_ns": 5460000000, + "phase": "straight_push", + "intended_face_center": [ + 15.551794503832724, + -14.85261084275182, + 0.11976398383551012 + ], + "intended_face_normal": [ + -0.9994507950611542, + -0.02865520027092494, + 0.01664206640675031 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850377621045235, + 0.11884337202676681 + ], + "centerline_face_intersection": [ + 15.55173372490584, + -14.851025684087833, + 0.11884337202676681 + ], + "commanded_world_base_velocity": [ + 0.08156181069958858, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.550216674804688, + -14.858257293701172, + 0.12132072448730469 + ], + "box_pose": [ + 15.609049797058105, + -14.855194091796875, + 0.1360287070274353, + 0.007545888889580965, + -0.004175103269517422, + 0.6968611478805542, + -0.7171542048454285 + ], + "box_yaw_rad": -1.5420578578796176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00064806304259875, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008702188528247105 + } + }, + { + "simulation_time_ns": 5480000000, + "phase": "straight_push", + "intended_face_center": [ + 15.55158482651737, + -14.852602003124995, + 0.11955574183120618 + ], + "intended_face_normal": [ + -0.9993573248951466, + -0.033236346845302855, + 0.013437475772927629 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.849574630649904, + 0.11881240271850793 + ], + "centerline_face_intersection": [ + 15.551513700189757, + -14.850763422948864, + 0.11881240271850793 + ], + "commanded_world_base_velocity": [ + 0.08888888888888913, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.550090789794922, + -14.86428165435791, + 0.11318694055080414 + ], + "box_pose": [ + 15.608797073364258, + -14.85486125946045, + 0.13601899147033691, + 0.007682844065129757, + -0.001721224864013493, + 0.6952142119407654, + -0.7187595963478088 + ], + "box_yaw_rad": -1.5374405492826888, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011887922989605925, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0008035873773566122 + } + }, + { + "simulation_time_ns": 5500000000, + "phase": "straight_push", + "intended_face_center": [ + 15.553006038105647, + -14.854404511594542, + 0.12012139574217927 + ], + "intended_face_normal": [ + -0.9989215433551055, + -0.040704163215775746, + 0.02234347761376876 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850366001666758, + 0.1188853912198512 + ], + "centerline_face_intersection": [ + 15.552886656792817, + -14.852152824069352, + 0.1188853912198512 + ], + "commanded_world_base_velocity": [ + 0.0957418930041153, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.55062484741211, + -14.867103576660156, + 0.10853622853755951 + ], + "box_pose": [ + 15.610383987426758, + -14.856404304504395, + 0.13603226840496063, + 0.007389738690108061, + -0.008435027673840523, + 0.6925267577171326, + -0.7213051319122314 + ], + "box_yaw_rad": -1.5301139557789556, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001786822402592776, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007947297702018286 + } + }, + { + "simulation_time_ns": 5520000000, + "phase": "straight_push", + "intended_face_center": [ + 15.55421543280322, + -14.855583156155088, + 0.1208717358666538 + ], + "intended_face_normal": [ + -0.99864988357372, + -0.04091135238561616, + 0.0320087803674724 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851113334701308, + 0.11910106265399233 + ], + "centerline_face_intersection": [ + 15.554065959380704, + -14.853320007264962, + 0.11910106265399233 + ], + "commanded_world_base_velocity": [ + 0.10199440329218103, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.551858901977539, + -14.863816261291504, + 0.10905085504055023 + ], + "box_pose": [ + 15.611750602722168, + -14.85774040222168, + 0.13618294894695282, + 0.007322895806282759, + -0.015485071577131748, + 0.6924526691436768, + -0.7212598919868469 + ], + "box_yaw_rad": -1.5302431677678083, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022066725636544506, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0007778308505284782 + } + }, + { + "simulation_time_ns": 5540000000, + "phase": "straight_push", + "intended_face_center": [ + 15.554964092954867, + -14.85574898847274, + 0.12134748622557551 + ], + "intended_face_normal": [ + -0.9984246787850517, + -0.04119969924756206, + 0.03808752428960116 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851140460788622, + 0.1192405468726246 + ], + "centerline_face_intersection": [ + 15.554789667088265, + -14.853469888707306, + 0.1192405468726246 + ], + "commanded_world_base_velocity": [ + 0.10752000000000007, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.553853034973145, + -14.856538772583008, + 0.11391039192676544 + ], + "box_pose": [ + 15.612592697143555, + -14.857911109924316, + 0.13630248606204987, + 0.008998236618936062, + -0.01813206449151039, + 0.6923288106918335, + -0.7212981581687927 + ], + "box_yaw_rad": -1.5300771621527578, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.002329427918682541, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00014209740272232515 + } + }, + { + "simulation_time_ns": 5560000000, + "phase": "straight_push", + "intended_face_center": [ + 15.554885201253017, + -14.855731673243167, + 0.1212895691427204 + ], + "intended_face_normal": [ + -0.9984499040668775, + -0.04118847694115357, + 0.037439722218139515 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851161781214682, + 0.11921846513750456 + ], + "centerline_face_intersection": [ + 15.554713570600338, + -14.85345319427731, + 0.11921846513750456 + ], + "commanded_world_base_velocity": [ + 0.11219226337448557, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.556116104125977, + -14.852502822875977, + 0.12067204713821411 + ], + "box_pose": [ + 15.612504005432129, + -14.857892036437988, + 0.13628259301185608, + 0.008822186850011349, + -0.01784743182361126, + 0.6923351287841797, + -0.7213015556335449 + ], + "box_yaw_rad": -1.5300742775553244, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022914130626291752, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 3.069468346898751e-05 + } + }, + { + "simulation_time_ns": 5580000000, + "phase": "straight_push", + "intended_face_center": [ + 15.554047631622703, + -14.855470067794338, + 0.12065708896401084 + ], + "intended_face_normal": [ + -0.9986940021156395, + -0.04100057254097855, + 0.03048167517365663 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850986868963952, + 0.11897089270512776 + ], + "centerline_face_intersection": [ + 15.553903045826251, + -14.853201983391601, + 0.11897089270512776 + ], + "commanded_world_base_velocity": [ + 0.11588477366255148, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.557809829711914, + -14.85129451751709, + 0.1258939653635025 + ], + "box_pose": [ + 15.61155891418457, + -14.857604026794434, + 0.13606102764606476, + 0.007160848472267389, + -0.014551302418112755, + 0.6924221515655518, + -0.7213102579116821 + ], + "box_yaw_rad": -1.5301029520169154, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0022151144276487144, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0003031277036633782 + } + }, + { + "simulation_time_ns": 5600000000, + "phase": "straight_push", + "intended_face_center": [ + 15.553284819237849, + -14.85472047849641, + 0.12026550836831652 + ], + "intended_face_normal": [ + -0.9988661122877672, + -0.04082198341597809, + 0.024498259396032118 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850341743607448, + 0.11891030485317516 + ], + "centerline_face_intersection": [ + 15.553159298418514, + -14.852462273351055, + 0.11891030485317516 + ], + "commanded_world_base_velocity": [ + 0.1184711111111111, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559359550476074, + -14.85009765625, + 0.12700514495372772 + ], + "box_pose": [ + 15.610698699951172, + -14.856757164001465, + 0.13604149222373962, + 0.007256709039211273, + -0.01012972742319107, + 0.6924856305122375, + -0.72132408618927 + ], + "box_yaw_rad": -1.5300625611306564, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0021205297436065252, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000647964206888793 + } + }, + { + "simulation_time_ns": 5620000000, + "phase": "straight_push", + "intended_face_center": [ + 15.554141041045542, + -14.855132214538644, + 0.12023158353008659 + ], + "intended_face_normal": [ + -0.9982022454154744, + -0.05525919265742907, + 0.023211549450750546 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850103029505876, + 0.11894755869799466 + ], + "centerline_face_intersection": [ + 15.553941964270926, + -14.852075366665387, + 0.11894755869799466 + ], + "commanded_world_base_velocity": [ + 0.1198248559670782, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.561605453491211, + -14.848370552062988, + 0.1262047439813614 + ], + "box_pose": [ + 15.611555099487305, + -14.856280326843262, + 0.13609635829925537, + 0.008053690195083618, + -0.008375638164579868, + 0.6872448921203613, + -0.7263329029083252 + ], + "box_yaw_rad": -1.5155195361632112, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0019723371595105734, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00024160354145415453 + } + }, + { + "simulation_time_ns": 5640000000, + "phase": "straight_push", + "intended_face_center": [ + 15.555637057779089, + -14.856531290355532, + 0.1203293513695376 + ], + "intended_face_normal": [ + -0.9969470476386072, + -0.07390568927161312, + 0.025191455355128345 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.850706406461198, + 0.11893580139127563 + ], + "centerline_face_intersection": [ + 15.55529877197319, + -14.852442948883155, + 0.11893580139127563 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.564210891723633, + -14.846548080444336, + 0.12562227249145508 + ], + "box_pose": [ + 15.613097190856934, + -14.856654167175293, + 0.13606788218021393, + 0.007854330353438854, + -0.010053705424070358, + 0.6804303526878357, + -0.7327017188072205 + ], + "box_yaw_rad": -1.4969015783894823, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017365424219578074, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006034914949482753 + } + }, + { + "simulation_time_ns": 5660000000, + "phase": "straight_push", + "intended_face_center": [ + 15.556894722742502, + -14.857719461708955, + 0.12072229829167062 + ], + "intended_face_normal": [ + -0.9961868826399186, + -0.08149905749656994, + 0.03113507138413374 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.851791284190776, + 0.11899995722646053 + ], + "centerline_face_intersection": [ + 15.556472044550123, + -14.853211067564922, + 0.11899995722646053 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.56596565246582, + -14.845292091369629, + 0.12534993886947632 + ], + "box_pose": [ + 15.614455223083496, + -14.857516288757324, + 0.13608881831169128, + 0.007701963651925325, + -0.014616929925978184, + 0.677636444568634, + -0.7352113723754883 + ], + "box_yaw_rad": -1.4895114865498038, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0014197833741460642, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0010867730486737043 + } + }, + { + "simulation_time_ns": 5680000000, + "phase": "straight_push", + "intended_face_center": [ + 15.557764372425511, + -14.857967708446397, + 0.12135769332492405 + ], + "intended_face_normal": [ + -0.9959373901877853, + -0.08158452137704542, + 0.03811719288007098 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852351384802127, + 0.11924911275422603 + ], + "centerline_face_intersection": [ + 15.557313981864311, + -14.85345458658072, + 0.11924911275422603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.566373825073242, + -14.845540046691895, + 0.1250341385602951 + ], + "box_pose": [ + 15.615433692932129, + -14.857794761657715, + 0.13631106913089752, + 0.00938059389591217, + -0.017949508503079414, + 0.6775837540626526, + -0.7351667881011963 + ], + "box_yaw_rad": -1.4895833585965859, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011032017785930748, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0006130180844406497 + } + }, + { + "simulation_time_ns": 5700000000, + "phase": "straight_push", + "intended_face_center": [ + 15.557879350760409, + -14.8580089069281, + 0.12143812918597528 + ], + "intended_face_normal": [ + -0.9959012767061173, + -0.08160021929770767, + 0.03901060888399288 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852653757356356, + 0.11928012630778081 + ], + "centerline_face_intersection": [ + 15.557424948317546, + -14.853494916679207, + 0.11928012630778081 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.563741683959961, + -14.846943855285645, + 0.123172327876091 + ], + "box_pose": [ + 15.615562438964844, + -14.857840538024902, + 0.13633830845355988, + 0.009575867094099522, + -0.018397221341729164, + 0.6775752305984497, + -0.7351608872413635 + ], + "box_yaw_rad": -1.4895923717588293, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0008411593228505865, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.000303958882178098 + } + }, + { + "simulation_time_ns": 5720000000, + "phase": "straight_push", + "intended_face_center": [ + 15.557222468613736, + -14.8578321987491, + 0.12094903321799991 + ], + "intended_face_normal": [ + -0.9961089139329651, + -0.08146434060120067, + 0.03362587573340192 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852689486552046, + 0.11908890494288688 + ], + "centerline_face_intersection": [ + 15.556791130797462, + -14.853325725086759, + 0.11908890494288688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.558116912841797, + -14.8482027053833, + 0.12015463411808014 + ], + "box_pose": [ + 15.614822387695312, + -14.857646942138672, + 0.13616739213466644, + 0.008233637548983097, + -0.01587825082242489, + 0.6776430010795593, + -0.7351735234260559 + ], + "box_yaw_rad": -1.4896054473310099, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006362385347122768, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00019453068091338015 + } + }, + { + "simulation_time_ns": 5740000000, + "phase": "straight_push", + "intended_face_center": [ + 15.556288975001909, + -14.857233771302807, + 0.12039930272631198 + ], + "intended_face_normal": [ + -0.9963433207322332, + -0.08126256689067479, + 0.026389882296082523 + ], + "commanded_contact_point": [ + 15.564842644107916, + -14.852221700374683, + 0.11893945773595278 + ], + "centerline_face_intersection": [ + 15.555883669613603, + -14.852738459431079, + 0.11893945773595278 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.554903030395508, + -14.849751472473145, + 0.11947031319141388 + ], + "box_pose": [ + 15.613770484924316, + -14.856974601745605, + 0.13605791330337524, + 0.007465948350727558, + -0.01137046329677105, + 0.6777263283729553, + -0.7351884245872498 + ], + "box_yaw_rad": -1.4895898663856464, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005167590563949176, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0004910787873578912 + } + }, + { + "simulation_time_ns": 5760000000, + "phase": "straight_push", + "intended_face_center": [ + 15.555498188155381, + -14.856452946219623, + 0.12000715459067002 + ], + "intended_face_normal": [ + -0.9964989733505432, + -0.08110933474718618, + 0.020279999363277956 + ], + "commanded_contact_point": [ + 15.566037063598634, + -14.851474117494035, + 0.11888529829958061 + ], + "centerline_face_intersection": [ + 15.555110165625544, + -14.851966110898664, + 0.11888529829958061 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.556197166442871, + -14.851346969604492, + 0.12193639576435089 + ], + "box_pose": [ + 15.612874031066895, + -14.85608959197998, + 0.1360466182231903, + 0.007622747216373682, + -0.006692135240882635, + 0.6777811050415039, + -0.7351938486099243 + ], + "box_yaw_rad": -1.4895710622783946, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004919934046280617, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014101245788196613 + } + }, + { + "simulation_time_ns": 5780000000, + "phase": "straight_push", + "intended_face_center": [ + 15.554685626506082, + -14.855664330044297, + 0.11959975468382242 + ], + "intended_face_normal": [ + -0.9966169126086256, + -0.08099111456813102, + 0.013972477064727734 + ], + "commanded_contact_point": [ + 15.567717437744141, + -14.850683807045884, + 0.1188268201774461 + ], + "centerline_face_intersection": [ + 15.554310697535113, + -14.851184034469675, + 0.1188268201774461 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559151649475098, + -14.85138988494873, + 0.12893229722976685 + ], + "box_pose": [ + 15.611949920654297, + -14.855193138122559, + 0.13603027164936066, + 0.007741378154605627, + -0.0019104091916233301, + 0.6778233647346497, + -0.7351815700531006 + ], + "box_yaw_rad": -1.489601074572437, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005002274237902783, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001857866401040768 + } + }, + { + "simulation_time_ns": 5800000000, + "phase": "straight_push", + "intended_face_center": [ + 15.55520933114505, + -14.854769322386609, + 0.12015257047323566 + ], + "intended_face_normal": [ + -0.9966123737604398, + -0.08048174048402912, + 0.01692807603792444 + ], + "commanded_contact_point": [ + 15.569569473266602, + -14.849886450892312, + 0.11921613708095591 + ], + "centerline_face_intersection": [ + 15.554833898302139, + -14.850317204550583, + 0.11921613708095591 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.561500549316406, + -14.848580360412598, + 0.13489742577075958 + ], + "box_pose": [ + 15.612513542175293, + -14.854212760925293, + 0.13644063472747803, + 0.011006980203092098, + -0.0005513412179425359, + 0.6779660582542419, + -0.7350106239318848 + ], + "box_yaw_rad": -1.489976895366718, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004307536582708594, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020536260768348317 + } + }, + { + "simulation_time_ns": 5820000000, + "phase": "straight_push", + "intended_face_center": [ + 15.556280523499298, + -14.854761462819189, + 0.12089531378312623 + ], + "intended_face_normal": [ + -0.9961490901612577, + -0.08431891419008353, + 0.024031722288978097 + ], + "commanded_contact_point": [ + 15.571729545593263, + -14.849802944530412, + 0.11956591833529294 + ], + "centerline_face_intersection": [ + 15.55585364795597, + -14.85009707882945, + 0.11956591833529294 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.561861991882324, + -14.846681594848633, + 0.13570809364318848 + ], + "box_pose": [ + 15.613694190979004, + -14.853950500488281, + 0.13678231835365295, + 0.014083435758948326, + -0.002433248795568943, + 0.6764925718307495, + -0.7363108396530151 + ], + "box_yaw_rad": -1.4859807846255209, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002941342990381913, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021898019761536396 + } + }, + { + "simulation_time_ns": 5840000000, + "phase": "straight_push", + "intended_face_center": [ + 15.556406906149297, + -14.855727042068605, + 0.12043412515945812 + ], + "intended_face_normal": [ + -0.9956808137517117, + -0.09033375105338504, + 0.021438209180509316 + ], + "commanded_contact_point": [ + 15.573777084350587, + -14.850392991363877, + 0.119248198601571 + ], + "centerline_face_intersection": [ + 15.555928009094767, + -14.850729927172218, + 0.119248198601571 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559799194335938, + -14.851799964904785, + 0.13021482527256012 + ], + "box_pose": [ + 15.613780975341797, + -14.85466194152832, + 0.13644865155220032, + 0.011395861394703388, + -0.00341829308308661, + 0.6743168830871582, + -0.73834627866745 + ], + "box_yaw_rad": -1.4800970896952022, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00033693580834089694, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021544178001548903 + } + }, + { + "simulation_time_ns": 5860000000, + "phase": "straight_push", + "intended_face_center": [ + 15.556171970604819, + -14.856850484811178, + 0.1198916483067249 + ], + "intended_face_normal": [ + -0.995467134032322, + -0.09354519715319476, + 0.017158484127844487 + ], + "commanded_contact_point": [ + 15.575944786071778, + -14.851127208296601, + 0.11894246911694464 + ], + "centerline_face_intersection": [ + 15.555669327393476, + -14.851675717985616, + 0.11894246911694464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.558489799499512, + -14.856965065002441, + 0.12588411569595337 + ], + "box_pose": [ + 15.613485336303711, + -14.855738639831543, + 0.13611893355846405, + 0.007240094244480133, + -0.0047917659394443035, + 0.6731827259063721, + -0.7394251823425293 + ], + "box_yaw_rad": -1.4770546468297905, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005485096890139119, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023089988683679392 + } + }, + { + "simulation_time_ns": 5880000000, + "phase": "straight_push", + "intended_face_center": [ + 15.556610591250116, + -14.857128920069748, + 0.12000776717826771 + ], + "intended_face_normal": [ + -0.9953817461706715, + -0.09376821753914355, + 0.020556265011148656 + ], + "commanded_contact_point": [ + 15.578522567749024, + -14.85120084510606, + 0.11887062832481113 + ], + "centerline_face_intersection": [ + 15.55609845748199, + -14.851941816122348, + 0.11887062832481113 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.559406280517578, + -14.8567533493042, + 0.12479619681835175 + ], + "box_pose": [ + 15.613982200622559, + -14.856042861938477, + 0.1360296756029129, + 0.007630605716258287, + -0.00688672112300992, + 0.6730955839157104, + -0.7394840121269226 + ], + "box_yaw_rad": -1.4768684525213414, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007409710162879435, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002579833687404548 + } + }, + { + "simulation_time_ns": 5900000000, + "phase": "straight_push", + "intended_face_center": [ + 15.556929554834493, + -14.857435774112416, + 0.12015865394459872 + ], + "intended_face_normal": [ + -0.9953244445540657, + -0.09381877046206555, + 0.02296605530828566 + ], + "commanded_contact_point": [ + 15.581414108276368, + -14.851465976298881, + 0.11888820944568218 + ], + "centerline_face_intersection": [ + 15.5564110517371, + -14.852245873660262, + 0.11888820944568218 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.561358451843262, + -14.853219032287598, + 0.1231248676776886 + ], + "box_pose": [ + 15.614343643188477, + -14.856390953063965, + 0.13603046536445618, + 0.007577751763164997, + -0.008735130541026592, + 0.673077404499054, + -0.7394816875457764 + ], + "box_yaw_rad": -1.4768769635258894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0007798973613813587, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029037235175699886 + } + }, + { + "simulation_time_ns": 5920000000, + "phase": "straight_push", + "intended_face_center": [ + 15.557196068071956, + -14.857701206074639, + 0.12028645271464851 + ], + "intended_face_normal": [ + -0.9952742885917193, + -0.09384390834042566, + 0.024949040812848988 + ], + "commanded_contact_point": [ + 15.584236030578614, + -14.851825973968753, + 0.1189063127111324 + ], + "centerline_face_intersection": [ + 15.556671989614152, + -14.852509915036299, + 0.1189063127111324 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.563482284545898, + -14.85011100769043, + 0.11994372308254242 + ], + "box_pose": [ + 15.614645004272461, + -14.856693267822266, + 0.1360340565443039, + 0.007494447287172079, + -0.010299986228346825, + 0.6730690002441406, + -0.7394700050354004 + ], + "box_yaw_rad": -1.476913171580795, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0006839410675465985, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002844850001396706 + } + }, + { + "simulation_time_ns": 5940000000, + "phase": "straight_push", + "intended_face_center": [ + 15.560000508361105, + -14.858312634733808, + 0.12108639470528763 + ], + "intended_face_normal": [ + -0.9943943181188405, + -0.10008845230170371, + 0.03408863542637697 + ], + "commanded_contact_point": [ + 15.586384658813477, + -14.852211721330209, + 0.11920066732321571 + ], + "centerline_face_intersection": [ + 15.559378566007267, + -14.852775905769045, + 0.11920066732321571 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.567230224609375, + -14.84978199005127, + 0.1203329861164093 + ], + "box_pose": [ + 15.617589950561523, + -14.857006072998047, + 0.13628940284252167, + 0.009393716230988503, + -0.015026952140033245, + 0.6707216501235962, + -0.7414973378181458 + ], + "box_yaw_rad": -1.4708118126130922, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005641844388355821, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022027366969696164 + } + }, + { + "simulation_time_ns": 5960000000, + "phase": "straight_push", + "intended_face_center": [ + 15.564313342082334, + -14.860587982935364, + 0.12299287058557876 + ], + "intended_face_normal": [ + -0.9908698339160877, + -0.12250347315598187, + 0.056304552076968384 + ], + "commanded_contact_point": [ + 15.58864486694336, + -14.853321533208625, + 0.11987819514437063 + ], + "centerline_face_intersection": [ + 15.563298556641898, + -14.853811291793589, + 0.11987819514437063 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.57118034362793, + -14.851950645446777, + 0.12237817049026489 + ], + "box_pose": [ + 15.622199058532715, + -14.858113288879395, + 0.1368674486875534, + 0.014431762509047985, + -0.026195203885436058, + 0.6622235178947449, + -0.7487093806266785 + ], + "box_yaw_rad": -1.4489226335534418, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.000489758584963127, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026075404396292117 + } + }, + { + "simulation_time_ns": 5980000000, + "phase": "straight_push", + "intended_face_center": [ + 15.568643635047303, + -14.861924166859161, + 0.125850978815473 + ], + "intended_face_normal": [ + -0.9879386659613717, + -0.12634636025607227, + 0.0895209402427839 + ], + "commanded_contact_point": [ + 15.591073875427247, + -14.854453497155149, + 0.12089882727953857 + ], + "centerline_face_intersection": [ + 15.567301062897913, + -14.854934893508089, + 0.12089882727953857 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.574749946594238, + -14.85472583770752, + 0.12531885504722595 + ], + "box_pose": [ + 15.62696647644043, + -14.85936164855957, + 0.13773640990257263, + 0.022914784029126167, + -0.04177054762840271, + 0.6605314016342163, + -0.7492853403091431 + ], + "box_yaw_rad": -1.4465048088535393, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00048139635294035086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028675973473206006 + } + }, + { + "simulation_time_ns": 6000000000, + "phase": "straight_push", + "intended_face_center": [ + 15.573321818972424, + -14.863041247572534, + 0.12872777192871415 + ], + "intended_face_normal": [ + -0.9838437673092558, + -0.12816072801883116, + 0.125004394508065 + ], + "commanded_contact_point": [ + 15.593742256164552, + -14.855440352827939, + 0.121812733921039 + ], + "centerline_face_intersection": [ + 15.571519669874254, + -14.855951606373687, + 0.121812733921039 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.579069137573242, + -14.856698036193848, + 0.12863558530807495 + ], + "box_pose": [ + 15.63204288482666, + -14.860512733459473, + 0.13846561312675476, + 0.0320766344666481, + -0.05835629254579544, + 0.6594624519348145, + -0.748782217502594 + ], + "box_yaw_rad": -1.446946689823947, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005112535457467971, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029882043483530703 + } + }, + { + "simulation_time_ns": 6020000000, + "phase": "straight_push", + "intended_face_center": [ + 15.578484555507439, + -14.864257612779632, + 0.13163201983070372 + ], + "intended_face_normal": [ + -0.9779326693883885, + -0.1304576256040053, + 0.16318301978822625 + ], + "commanded_contact_point": [ + 15.59627712249756, + -14.856501830367197, + 0.12260500291275057 + ], + "centerline_face_intersection": [ + 15.576015552372391, + -14.857040910974924, + 0.12260500291275057 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.583857536315918, + -14.857736587524414, + 0.13010789453983307 + ], + "box_pose": [ + 15.63754653930664, + -14.861743927001953, + 0.13903115689754486, + 0.04199691116809845, + -0.0762581154704094, + 0.658033013343811, + -0.7479395866394043 + ], + "box_yaw_rad": -1.4479207791189888, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005390806077264188, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028600650425808743 + } + }, + { + "simulation_time_ns": 6040000000, + "phase": "straight_push", + "intended_face_center": [ + 15.583391147436856, + -14.86512143800923, + 0.1340082422837798 + ], + "intended_face_normal": [ + -0.9707956854776819, + -0.13349772056456455, + 0.1993340959429153 + ], + "commanded_contact_point": [ + 15.598419075012208, + -14.857188974781195, + 0.12298140714654074 + ], + "centerline_face_intersection": [ + 15.580111477997503, + -14.85773656313923, + 0.12298140714654074 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.58752155303955, + -14.857949256896973, + 0.12918688356876373 + ], + "box_pose": [ + 15.642685890197754, + -14.862521171569824, + 0.13918077945709229, + 0.05240554362535477, + -0.09222564846277237, + 0.6561286449432373, + -0.7471567988395691 + ], + "box_yaw_rad": -1.4482185429379, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005475883580361086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002280747282780986 + } + }, + { + "simulation_time_ns": 6060000000, + "phase": "straight_push", + "intended_face_center": [ + 15.587952924277488, + -14.866142247566849, + 0.13607020596938627 + ], + "intended_face_normal": [ + -0.9629440764392131, + -0.13934662092330263, + 0.23091363280807897 + ], + "commanded_contact_point": [ + 15.600373153686524, + -14.8578947053023, + 0.12329644266576746 + ], + "centerline_face_intersection": [ + 15.583774295474838, + -14.858433821125379, + 0.12329644266576746 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.590434074401855, + -14.858222007751465, + 0.12673698365688324 + ], + "box_pose": [ + 15.64737606048584, + -14.863302230834961, + 0.13926517963409424, + 0.06107429414987564, + -0.10690557211637497, + 0.6531436443328857, + -0.7471575736999512 + ], + "box_yaw_rad": -1.4461262111597069, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005391158230795413, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021013629891600367 + } + }, + { + "simulation_time_ns": 6080000000, + "phase": "straight_push", + "intended_face_center": [ + 15.592247013870223, + -14.867066962996972, + 0.13787433093616708 + ], + "intended_face_normal": [ + -0.9549963147995693, + -0.14187658471103104, + 0.26048642177614223 + ], + "commanded_contact_point": [ + 15.602223281860352, + -14.858748627175967, + 0.12346464946733592 + ], + "centerline_face_intersection": [ + 15.587150636058993, + -14.859218583109715, + 0.12346464946733592 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59314250946045, + -14.857489585876465, + 0.1246834546327591 + ], + "box_pose": [ + 15.651739120483398, + -14.864182472229004, + 0.13919812440872192, + 0.06909660995006561, + -0.12082985788583755, + 0.6513734459877014, + -0.7458810210227966 + ], + "box_yaw_rad": -1.447759939390803, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004699559337495175, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020446149647336052 + } + }, + { + "simulation_time_ns": 6100000000, + "phase": "straight_push", + "intended_face_center": [ + 15.596404345314776, + -14.867952299642267, + 0.13946222999133537 + ], + "intended_face_normal": [ + -0.9465202350607143, + -0.14446718047887763, + 0.2884938676295974 + ], + "commanded_contact_point": [ + 15.603926544189454, + -14.859644886772951, + 0.12350322257011098 + ], + "centerline_face_intersection": [ + 15.590320364998618, + -14.85996061224756, + 0.12350322257011098 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.594551086425781, + -14.856104850769043, + 0.1234508752822876 + ], + "box_pose": [ + 15.655906677246094, + -14.865013122558594, + 0.1389964520931244, + 0.07676330953836441, + -0.13409651815891266, + 0.6495181322097778, + -0.7444808483123779 + ], + "box_yaw_rad": -1.449605915061761, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00031572547460882575, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019250640797598246 + } + }, + { + "simulation_time_ns": 6120000000, + "phase": "straight_push", + "intended_face_center": [ + 15.60050949241687, + -14.86881664260412, + 0.1408820377072501 + ], + "intended_face_normal": [ + -0.9374253579023772, + -0.14713336518238407, + 0.31557129131875783 + ], + "commanded_contact_point": [ + 15.605452423095704, + -14.860537855229403, + 0.12342515163386053 + ], + "centerline_face_intersection": [ + 15.593355376916417, + -14.860677466246063, + 0.12342515163386053 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.59575366973877, + -14.856274604797363, + 0.1235353946685791 + ], + "box_pose": [ + 15.659969329833984, + -14.865814208984375, + 0.13866949081420898, + 0.0842430591583252, + -0.14701052010059357, + 0.6475619077682495, + -0.742936372756958 + ], + "box_yaw_rad": -1.4516997166202497, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0001396110166608368, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017696875915943079 + } + }, + { + "simulation_time_ns": 6140000000, + "phase": "straight_push", + "intended_face_center": [ + 15.604654163672745, + -14.86966645537025, + 0.1421666263466934 + ], + "intended_face_normal": [ + -0.9275259496853554, + -0.14994404293184083, + 0.3423628785284585 + ], + "commanded_contact_point": [ + 15.606909637451173, + -14.861310074148598, + 0.12322767362620629 + ], + "centerline_face_intersection": [ + 15.596322610151915, + -14.861371796930612, + 0.12322767362620629 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.596986770629883, + -14.859424591064453, + 0.12466126680374146 + ], + "box_pose": [ + 15.664019584655762, + -14.866588592529297, + 0.13820980489253998, + 0.09175160527229309, + -0.15984496474266052, + 0.6454530358314514, + -0.741229772567749 + ], + "box_yaw_rad": -1.4540300814595133, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 6.172278201447072e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016609615589935586 + } + }, + { + "simulation_time_ns": 6160000000, + "phase": "straight_push", + "intended_face_center": [ + 15.60892369540509, + -14.870549857785527, + 0.14335009266971105 + ], + "intended_face_normal": [ + -0.916608221707075, + -0.15296739156394323, + 0.36936453298839655 + ], + "commanded_contact_point": [ + 15.608150367736817, + -14.86190254736184, + 0.12291745272650363 + ], + "centerline_face_intersection": [ + 15.599277809421915, + -14.862087952660012, + 0.12291745272650363 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.5969877243042, + -14.865180015563965, + 0.12389211356639862 + ], + "box_pose": [ + 15.668139457702637, + -14.867385864257812, + 0.137617290019989, + 0.09936084598302841, + -0.17293590307235718, + 0.6431514024734497, + -0.7393082976341248 + ], + "box_yaw_rad": -1.4567152553736389, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00018540529817258306, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001409493936396065 + } + }, + { + "simulation_time_ns": 6180000000, + "phase": "straight_push", + "intended_face_center": [ + 15.613419487190281, + -14.87146978001505, + 0.14444040426716284 + ], + "intended_face_normal": [ + -0.9043305924583738, + -0.15626810771528765, + 0.39719784631334853 + ], + "commanded_contact_point": [ + 15.609784011840821, + -14.86223235092095, + 0.12246807109733727 + ], + "centerline_face_intersection": [ + 15.602275066531591, + -14.862825284687576, + 0.12246807109733727 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.597134590148926, + -14.873013496398926, + 0.11880186200141907 + ], + "box_pose": [ + 15.6724214553833, + -14.868205070495605, + 0.13685810565948486, + 0.10730104148387909, + -0.1865573525428772, + 0.640587568283081, + -0.737109363079071 + ], + "box_yaw_rad": -1.459828178161911, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0005929337666265868, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017261249360287839 + } + }, + { + "simulation_time_ns": 6200000000, + "phase": "straight_push", + "intended_face_center": [ + 15.618251289482126, + -14.872446585152973, + 0.1454377513228642 + ], + "intended_face_normal": [ + -0.8902757597250965, + -0.15993229769143325, + 0.4264160621477142 + ], + "commanded_contact_point": [ + 15.612291221618653, + -14.86246284934598, + 0.1218491143918292 + ], + "centerline_face_intersection": [ + 15.60536367638128, + -14.863599392847908, + 0.1218491143918292 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.597604751586914, + -14.877189636230469, + 0.11650983989238739 + ], + "box_pose": [ + 15.676960945129395, + -14.869063377380371, + 0.13589243590831757, + 0.11575005948543549, + -0.20101656019687653, + 0.6376799941062927, + -0.734546422958374 + ], + "box_yaw_rad": -1.4635031116546322, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0011365435019290262, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002592747152595292 + } + }, + { + "simulation_time_ns": 6220000000, + "phase": "straight_push", + "intended_face_center": [ + 15.623560381359294, + -14.873475472791055, + 0.14631946369938995 + ], + "intended_face_normal": [ + -0.8740500064939494, + -0.16338234513845107, + 0.45754007707928146 + ], + "commanded_contact_point": [ + 15.615240936279298, + -14.862877620261251, + 0.12100909732796034 + ], + "centerline_face_intersection": [ + 15.608621697553945, + -14.864437429521763, + 0.12100909732796034 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.599759101867676, + -14.875019073486328, + 0.11768849194049835 + ], + "box_pose": [ + 15.681880950927734, + -14.8699951171875, + 0.1346583366394043, + 0.12484274804592133, + -0.21663214266300201, + 0.6346046924591064, + -0.7312740683555603 + ], + "box_yaw_rad": -1.4686366803079363, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0015598092605116423, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003094911979195514 + } + }, + { + "simulation_time_ns": 6240000000, + "phase": "straight_push", + "intended_face_center": [ + 15.629543347782096, + -14.87437655525849, + 0.14718611006567034 + ], + "intended_face_normal": [ + -0.8546262004309302, + -0.16643560425462134, + 0.4918468706874002 + ], + "commanded_contact_point": [ + 15.617874984741212, + -14.863449244258314, + 0.11997794815949012 + ], + "centerline_face_intersection": [ + 15.612091732917309, + -14.865169610704418, + 0.11997794815949012 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.603199005126953, + -14.869183540344238, + 0.12206912040710449 + ], + "box_pose": [ + 15.687338829040527, + -14.870807647705078, + 0.1331743746995926, + 0.13556018471717834, + -0.23345217108726501, + 0.6311938166618347, + -0.7271299362182617 + ], + "box_yaw_rad": -1.4750972881011053, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017203664461044358, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002885867963259355 + } + }, + { + "simulation_time_ns": 6260000000, + "phase": "straight_push", + "intended_face_center": [ + 15.636261956295877, + -14.875190481597079, + 0.1479503708913224 + ], + "intended_face_normal": [ + -0.8313778772807137, + -0.16924972168032149, + 0.5293062313275314 + ], + "commanded_contact_point": [ + 15.620055084228516, + -14.86408881839185, + 0.1186700186146428 + ], + "centerline_face_intersection": [ + 15.615714250319131, + -14.86582786468418, + 0.1186700186146428 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.607246398925781, + -14.866294860839844, + 0.12718476355075836 + ], + "box_pose": [ + 15.693360328674316, + -14.871537208557129, + 0.1313427984714508, + 0.14788725972175598, + -0.25168004631996155, + 0.6272993683815002, + -0.7219985127449036 + ], + "box_yaw_rad": -1.4829793872614732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017390462923309973, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026215584184064475 + } + }, + { + "simulation_time_ns": 6280000000, + "phase": "straight_push", + "intended_face_center": [ + 15.643835636602695, + -14.876135343072026, + 0.14845258016126583 + ], + "intended_face_normal": [ + -0.8031358171189114, + -0.1730314165164617, + 0.5701165702336333 + ], + "commanded_contact_point": [ + 15.621987228393555, + -14.864861436409981, + 0.11691466689441167 + ], + "centerline_face_intersection": [ + 15.619385829052508, + -14.866563529005472, + 0.11691466689441167 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.610295295715332, + -14.865639686584473, + 0.12929414212703705 + ], + "box_pose": [ + 15.700007438659668, + -14.872347831726074, + 0.12896499037742615, + 0.16165511310100555, + -0.27207306027412415, + 0.622376024723053, + -0.7158854007720947 + ], + "box_yaw_rad": -1.492058901130095, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0017020925954910385, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002722384862240354 + } + }, + { + "simulation_time_ns": 6300000000, + "phase": "straight_push", + "intended_face_center": [ + 15.652412828446177, + -14.877402985404519, + 0.1486130219037539 + ], + "intended_face_normal": [ + -0.7684133055458773, + -0.1792519899227898, + 0.6143368896584604 + ], + "commanded_contact_point": [ + 15.623820190429688, + -14.865882093247722, + 0.11462891311923347 + ], + "centerline_face_intersection": [ + 15.622929820322316, + -14.867487059423311, + 0.11462891311923347 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.613612174987793, + -14.865058898925781, + 0.1277036964893341 + ], + "box_pose": [ + 15.707351684570312, + -14.873353958129883, + 0.12592577934265137, + 0.17681634426116943, + -0.2953292727470398, + 0.6157190799713135, + -0.7088065147399902 + ], + "box_yaw_rad": -1.5019989083873473, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0016049661755898374, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031026054417330295 + } + }, + { + "simulation_time_ns": 6320000000, + "phase": "straight_push", + "intended_face_center": [ + 15.662163102233267, + -14.87877492263606, + 0.1481445819227026 + ], + "intended_face_normal": [ + -0.7259301213044234, + -0.18633277757983135, + 0.6620464791835623 + ], + "commanded_contact_point": [ + 15.625423316955567, + -14.867054744980368, + 0.11152125692346442 + ], + "centerline_face_intersection": [ + 15.626116943624734, + -14.868467299099215, + 0.11152125692346442 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.618388175964355, + -14.863656997680664, + 0.12612929940223694 + ], + "box_pose": [ + 15.71547794342041, + -14.874417304992676, + 0.12191631644964218, + 0.19396238029003143, + -0.32135382294654846, + 0.607628345489502, + -0.6999272108078003 + ], + "box_yaw_rad": -1.514420448171618, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00141255411884778, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036881775682792396 + } + }, + { + "simulation_time_ns": 6340000000, + "phase": "straight_push", + "intended_face_center": [ + 15.673256917566643, + -14.880246535656674, + 0.1467863579970769 + ], + "intended_face_normal": [ + -0.6735708344357754, + -0.1945425264497782, + 0.7130604960478557 + ], + "commanded_contact_point": [ + 15.626881484985352, + -14.868361547385106, + 0.10734102128433842 + ], + "centerline_face_intersection": [ + 15.62839074005468, + -14.869484762282198, + 0.10734102128433842 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.623239517211914, + -14.862251281738281, + 0.12485300004482269 + ], + "box_pose": [ + 15.724431037902832, + -14.875513076782227, + 0.11665023863315582, + 0.21348652243614197, + -0.3505367636680603, + 0.5976221561431885, + -0.688763439655304 + ], + "box_yaw_rad": -1.5297637152005832, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.001123214897091103, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00461609754302648 + } + }, + { + "simulation_time_ns": 6360000000, + "phase": "straight_push", + "intended_face_center": [ + 15.685822179624177, + -14.88183624320623, + 0.14416228184777263 + ], + "intended_face_normal": [ + -0.6090325434825932, + -0.20413915823127082, + 0.7664243804055175 + ], + "commanded_contact_point": [ + 15.628313903808595, + -14.869763102211687, + 0.1017649426072622 + ], + "centerline_face_intersection": [ + 15.62868297009885, + -14.870543599906934, + 0.1017649426072622 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.626534461975098, + -14.86197566986084, + 0.12236879765987396 + ], + "box_pose": [ + 15.734188079833984, + -14.876644134521484, + 0.10976513475179672, + 0.2355857938528061, + -0.38324910402297974, + 0.5851749777793884, + -0.6746773719787598 + ], + "box_yaw_rad": -1.548762090896317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00078049769524732, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.005925270713649651 + } + }, + { + "simulation_time_ns": 6380000000, + "phase": "straight_push", + "intended_face_center": [ + 15.699929582618536, + -14.883536286735367, + 0.13979090020247312 + ], + "intended_face_normal": [ + -0.5296213441328348, + -0.2151100474727059, + 0.82050533728912 + ], + "commanded_contact_point": [ + 15.629794006347657, + -14.871186735818497, + 0.09440189115856687 + ], + "centerline_face_intersection": [ + 15.624778480627997, + -14.871636751843331, + 0.09440189115856687 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.628169059753418, + -14.863374710083008, + 0.11863622069358826 + ], + "box_pose": [ + 15.74463176727295, + -14.877801895141602, + 0.10082662105560303, + 0.26049506664276123, + -0.41980302333831787, + 0.5697256326675415, + -0.656749963760376 + ], + "box_yaw_rad": -1.5724960858391863, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0004500160248343835, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.007644080246093309 + } + }, + { + "simulation_time_ns": 6400000000, + "phase": "straight_push", + "intended_face_center": [ + 15.715510815662745, + -14.885364563732962, + 0.13303262494000784 + ], + "intended_face_normal": [ + -0.43242662187190817, + -0.22779150195212416, + 0.872420854656152 + ], + "commanded_contact_point": [ + 15.631200675964356, + -14.87261458473042, + 0.08477173465389466 + ], + "centerline_face_intersection": [ + 15.611506522124323, + -14.872763511585768, + 0.08477173465389466 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.626983642578125, + -14.865236282348633, + 0.11281371116638184 + ], + "box_pose": [ + 15.755473136901855, + -14.878981590270996, + 0.0893101692199707, + 0.2883048951625824, + -0.4604260325431824, + 0.5504403114318848, + -0.633958637714386 + ], + "box_yaw_rad": -1.6018776250373308, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00014892685534896116, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.009836533242474261 + } + }, + { + "simulation_time_ns": 6420000000, + "phase": "straight_push", + "intended_face_center": [ + 15.732333765796975, + -14.8872884987605, + 0.12313667610341171 + ], + "intended_face_normal": [ + -0.31486312793872173, + -0.24245932426214267, + 0.9176462495221784 + ], + "commanded_contact_point": [ + 15.633007888793946, + -14.874029947713135, + 0.07237399117526688 + ], + "centerline_face_intersection": [ + 15.62308593443385, + -14.873876046748824, + 0.07237399117526688 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.622367858886719, + -14.866305351257324, + 0.10492829978466034 + ], + "box_pose": [ + 15.766249656677246, + -14.880125999450684, + 0.07468263804912567, + 0.3189646005630493, + -0.5050053596496582, + 0.5263382196426392, + -0.6051439642906189 + ], + "box_yaw_rad": -1.6375507360482737, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00015390096431104866, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.012608461997647983 + } + }, + { + "simulation_time_ns": 6440000000, + "phase": "straight_push", + "intended_face_center": [ + 15.75006841887727, + -14.889460012982228, + 0.10939071394266031 + ], + "intended_face_normal": [ + -0.17529672429274257, + -0.2614355993951989, + 0.9491694463633493 + ], + "commanded_contact_point": [ + 15.63523853302002, + -14.875444836143583, + 0.05688421748582514 + ], + "centerline_face_intersection": [ + 15.63725162564746, + -14.874997824564842, + 0.05688421748582514 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.619997024536133, + -14.867670059204102, + 0.0983630120754242 + ], + "box_pose": [ + 15.77642822265625, + -14.881231307983398, + 0.05660025030374527, + 0.3517459034919739, + -0.5533556342124939, + 0.4955371022224426, + -0.5696625709533691 + ], + "box_yaw_rad": -1.6788997093100808, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004470115787406567, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.015713394664554674 + } + }, + { + "simulation_time_ns": 6460000000, + "phase": "straight_push", + "intended_face_center": [ + 15.762634582112307, + -14.894717911324857, + 0.09850863810919469 + ], + "intended_face_normal": [ + -0.06560442438266634, + -0.3153635809041315, + 0.9467005935650761 + ], + "commanded_contact_point": [ + 15.637473945617677, + -14.878021189671509, + 0.04613871453847762 + ], + "centerline_face_intersection": [ + 15.644970600934899, + -14.87727251545081, + 0.04613871453847762 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.622413635253906, + -14.869730949401855, + 0.09280019998550415 + ], + "box_pose": [ + 15.782796859741211, + -14.883343696594238, + 0.04361334070563316, + 0.36466559767723083, + -0.5977243781089783, + 0.4575338363647461, + -0.5480943918228149 + ], + "box_yaw_rad": -1.7119586477169644, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007486742206988592, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.011273885779715583 + } + }, + { + "simulation_time_ns": 6480000000, + "phase": "straight_push", + "intended_face_center": [ + 15.764635109345138, + -14.899984948370648, + 0.09769085564925553 + ], + "intended_face_normal": [ + -0.04563221724436772, + -0.36051354168760064, + 0.9316371702481412 + ], + "commanded_contact_point": [ + 15.639427070617677, + -14.881184542936909, + 0.04615421594165565 + ], + "centerline_face_intersection": [ + 15.645939665081466, + -14.880041930744252, + 0.04615421594165565 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.627050399780273, + -14.870193481445312, + 0.0883525013923645 + ], + "box_pose": [ + 15.783655166625977, + -14.885923385620117, + 0.04301093518733978, + 0.35699647665023804, + -0.6133792996406555, + 0.4385165274143219, + -0.5513825416564941 + ], + "box_yaw_rad": -1.7184469415672046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011426121926564289, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003717760272104883 + } + }, + { + "simulation_time_ns": 6500000000, + "phase": "straight_push", + "intended_face_center": [ + 15.766016210510458, + -14.896565371028803, + 0.09698859015685118 + ], + "intended_face_normal": [ + -0.06155025434966532, + -0.2947606888910581, + 0.9535868825031919 + ], + "commanded_contact_point": [ + 15.641398315429688, + -14.881930991603458, + 0.044237728380511036 + ], + "centerline_face_intersection": [ + 15.648216992973124, + -14.88025969333746, + 0.044237728380511036 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.630958557128906, + -14.867042541503906, + 0.08166052401065826 + ], + "box_pose": [ + 15.785975456237793, + -14.886308670043945, + 0.04179970547556877, + 0.37269163131713867, + -0.5925694108009338, + 0.46229925751686096, + -0.5442811846733093 + ], + "box_yaw_rad": -1.7072213134716665, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016712982659985438, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028488447294820218 + } + }, + { + "simulation_time_ns": 6520000000, + "phase": "straight_push", + "intended_face_center": [ + 15.76995519017012, + -14.893867997704403, + 0.0969959212260984 + ], + "intended_face_normal": [ + -0.05758856448127858, + -0.2865450157674214, + 0.9563344830796225 + ], + "commanded_contact_point": [ + 15.643480186462403, + -14.88017841190455, + 0.04409306669389796 + ], + "centerline_face_intersection": [ + 15.652267041845281, + -14.878016797570686, + 0.04409306669389796 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.631750106811523, + -14.865758895874023, + 0.07118572294712067 + ], + "box_pose": [ + 15.789823532104492, + -14.883742332458496, + 0.04175007343292236, + 0.38103991746902466, + -0.5857466459274292, + 0.45993050932884216, + -0.5478808879852295 + ], + "box_yaw_rad": -1.6852715613100562, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002161614333865031, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002725187993781879 + } + }, + { + "simulation_time_ns": 6540000000, + "phase": "straight_push", + "intended_face_center": [ + 15.771757286963524, + -14.892642580844313, + 0.09702025169764626 + ], + "intended_face_normal": [ + -0.05444670442275523, + -0.2859717673510911, + 0.9566899757201632 + ], + "commanded_contact_point": [ + 15.645653610229493, + -14.879091962156604, + 0.044097731895833 + ], + "centerline_face_intersection": [ + 15.654057142152983, + -14.876823091872451, + 0.044097731895833 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.62837028503418, + -14.874141693115234, + 0.059083640575408936 + ], + "box_pose": [ + 15.79151725769043, + -14.88235855102539, + 0.041764795780181885, + 0.38472598791122437, + -0.5831958651542664, + 0.4571652114391327, + -0.5503348708152771 + ], + "box_yaw_rad": -1.6736279263726968, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022688702841536916, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002429848902765934 + } + }, + { + "simulation_time_ns": 6560000000, + "phase": "straight_push", + "intended_face_center": [ + 15.771909393005537, + -14.892507248367314, + 0.0970355107086131 + ], + "intended_face_normal": [ + -0.05404213191055263, + -0.2858129673018208, + 0.9567603523090327 + ], + "commanded_contact_point": [ + 15.64814365386963, + -14.878652759943682, + 0.044109097789371464 + ], + "centerline_face_intersection": [ + 15.654201406661878, + -14.87669654395363, + 0.044109097789371464 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.625802993774414, + -14.884512901306152, + 0.0505332350730896 + ], + "box_pose": [ + 15.79165267944336, + -14.882214546203613, + 0.04177570715546608, + 0.3851247727870941, + -0.5829654335975647, + 0.4569162130355835, + -0.5505068302154541 + ], + "box_yaw_rad": -1.6725778986640603, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0019562159900527822, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025285064953756526 + } + }, + { + "simulation_time_ns": 6580000000, + "phase": "straight_push", + "intended_face_center": [ + 15.771911428506716, + -14.892490041567878, + 0.09704761822482168 + ], + "intended_face_normal": [ + -0.054006919389951946, + -0.2856308065791193, + 0.9568168437581086 + ], + "commanded_contact_point": [ + 15.651038055419923, + -14.87822858739539, + 0.04411808029130349 + ], + "centerline_face_intersection": [ + 15.654201610130102, + -14.876689413986501, + 0.04411808029130349 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.628095626831055, + -14.887115478515625, + 0.04677298665046692 + ], + "box_pose": [ + 15.79165267944336, + -14.882207870483398, + 0.041785117238759995, + 0.38518545031547546, + -0.5829322934150696, + 0.45696473121643066, + -0.5504593253135681 + ], + "box_yaw_rad": -1.672583889621613, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015391734088878186, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029253313266029302 + } + }, + { + "simulation_time_ns": 6600000000, + "phase": "straight_push", + "intended_face_center": [ + 15.771911861923684, + -14.892468528278808, + 0.09705644665537241 + ], + "intended_face_normal": [ + -0.05399932002437069, + -0.2854065299550097, + 0.9568840318274283 + ], + "commanded_contact_point": [ + 15.65427101135254, + -14.877974116719736, + 0.0441231919880959 + ], + "centerline_face_intersection": [ + 15.654201635756579, + -14.876680307312302, + 0.0441231919880959 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.633261680603027, + -14.882814407348633, + 0.0444851815700531 + ], + "box_pose": [ + 15.79165267944336, + -14.88219928741455, + 0.0417914018034935, + 0.38525208830833435, + -0.582880437374115, + 0.45703125, + -0.5504121780395508 + ], + "box_yaw_rad": -1.672577398446673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012938094074345932, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032429593763191223 + } + }, + { + "simulation_time_ns": 6620000000, + "phase": "straight_push", + "intended_face_center": [ + 15.775790579956512, + -14.891285261813179, + 0.09706888870742139 + ], + "intended_face_normal": [ + -0.05819277152161817, + -0.2843819330826669, + 0.956943360680981 + ], + "commanded_contact_point": [ + 15.657438163757325, + -14.876735667751657, + 0.044132352065308036 + ], + "centerline_face_intersection": [ + 15.658099818753362, + -14.87555371986458, + 0.044132352065308036 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.638211250305176, + -14.878350257873535, + 0.04168134927749634 + ], + "box_pose": [ + 15.79567813873291, + -14.881324768066406, + 0.041799936443567276, + 0.3809276521205902, + -0.5857491493225098, + 0.46119752526283264, + -0.5468902587890625 + ], + "box_yaw_rad": -1.687658975070899, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011819478870764035, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0034006902400377475 + } + }, + { + "simulation_time_ns": 6640000000, + "phase": "straight_push", + "intended_face_center": [ + 15.782654270973167, + -14.891607141539225, + 0.09714446598867962 + ], + "intended_face_normal": [ + -0.05032702186246496, + -0.30539406381903333, + 0.950895272286786 + ], + "commanded_contact_point": [ + 15.659917716979981, + -14.875816391193263, + 0.04454249967334739 + ], + "centerline_face_intersection": [ + 15.664458691781517, + -14.874713242993197, + 0.04454249967334739 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.644303321838379, + -14.876683235168457, + 0.04795557260513306 + ], + "box_pose": [ + 15.802047729492188, + -14.880526542663574, + 0.04191315174102783, + 0.3753832280635834, + -0.5947282910346985, + 0.4543021023273468, + -0.5468047261238098 + ], + "box_yaw_rad": -1.697517759498313, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001103148200066001, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002676093166385924 + } + }, + { + "simulation_time_ns": 6660000000, + "phase": "straight_push", + "intended_face_center": [ + 15.788864808430606, + -14.893030421376274, + 0.09673062046689104 + ], + "intended_face_normal": [ + -0.038716094963920256, + -0.33857697179092483, + 0.9401418335706886 + ], + "commanded_contact_point": [ + 15.66225326538086, + -14.875254699290185, + 0.044723516738011476 + ], + "centerline_face_intersection": [ + 15.670029952414831, + -14.874300898804915, + 0.044723516738011476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.6489839553833, + -14.878034591674805, + 0.05577382445335388 + ], + "box_pose": [ + 15.807580947875977, + -14.88001537322998, + 0.04168793186545372, + 0.36850568652153015, + -0.6059629917144775, + 0.44149187207221985, + -0.549633800983429 + ], + "box_yaw_rad": -1.7033020284014662, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009538004852704053, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024089523250847506 + } + }, + { + "simulation_time_ns": 6680000000, + "phase": "straight_push", + "intended_face_center": [ + 15.79213356656392, + -14.893041453926822, + 0.09686291666556172 + ], + "intended_face_normal": [ + -0.038329719852811195, + -0.33971047105677243, + 0.9397486411028027 + ], + "commanded_contact_point": [ + 15.664671783447266, + -14.874986077476514, + 0.04487756369888907 + ], + "centerline_face_intersection": [ + 15.673229558894992, + -14.874249228035826, + 0.04487756369888907 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.652112007141113, + -14.87967300415039, + 0.06088125705718994 + ], + "box_pose": [ + 15.810807228088379, + -14.88000774383545, + 0.04181022197008133, + 0.36758342385292053, + -0.6071901917457581, + 0.44161882996559143, + -0.5487943291664124 + ], + "box_yaw_rad": -1.7067940538871078, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007368494406878047, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002438261221130523 + } + }, + { + "simulation_time_ns": 6700000000, + "phase": "straight_push", + "intended_face_center": [ + 15.795703076017677, + -14.893256932028283, + 0.09727952557091074 + ], + "intended_face_normal": [ + -0.0330558745971139, + -0.3405478152034416, + 0.9396458957200196 + ], + "commanded_contact_point": [ + 15.66736972808838, + -14.874952069375892, + 0.04529985631023782 + ], + "centerline_face_intersection": [ + 15.67656299796978, + -14.874418385632934, + 0.04529985631023782 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.655610084533691, + -14.879497528076172, + 0.06535713374614716 + ], + "box_pose": [ + 15.814093589782715, + -14.880111694335938, + 0.04215807467699051, + 0.36946576833724976, + -0.6078172922134399, + 0.43956926465034485, + -0.5484815239906311 + ], + "box_yaw_rad": -1.704559960747469, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0005336837429582876, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002731005837968774 + } + }, + { + "simulation_time_ns": 6720000000, + "phase": "straight_push", + "intended_face_center": [ + 15.800166650637035, + -14.893136038947038, + 0.09761826169522489 + ], + "intended_face_normal": [ + -0.02997309964650441, + -0.34107823996491504, + 0.9395569137024111 + ], + "commanded_contact_point": [ + 15.669999961853028, + -14.874664184530769, + 0.04564351477377197 + ], + "centerline_face_intersection": [ + 15.680844502635695, + -14.874268150324161, + 0.04564351477377197 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.660248756408691, + -14.87770938873291, + 0.06809276342391968 + ], + "box_pose": [ + 15.818373680114746, + -14.879965782165527, + 0.042441897094249725, + 0.3699447512626648, + -0.6089485883712769, + 0.43886417150497437, + -0.5474675297737122 + ], + "box_yaw_rad": -1.706191711711129, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00039603420660831907, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026681657520302507 + } + }, + { + "simulation_time_ns": 6740000000, + "phase": "straight_push", + "intended_face_center": [ + 15.803434154222067, + -14.892661282449357, + 0.09671922359586624 + ], + "intended_face_normal": [ + -0.039846422047119745, + -0.3383249843838989, + 0.9401853457198968 + ], + "commanded_contact_point": [ + 15.672275428771973, + -14.874333550543478, + 0.04470971284628349 + ], + "centerline_face_intersection": [ + 15.684602366758675, + -14.873945699407916, + 0.04470971284628349 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.66430377960205, + -14.874150276184082, + 0.06947171688079834 + ], + "box_pose": [ + 15.82219123840332, + -14.879721641540527, + 0.04167269170284271, + 0.3674461543560028, + -0.6066514253616333, + 0.4425164759159088, + -0.5487591028213501 + ], + "box_yaw_rad": -1.7070319563656908, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00038785113556166, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024817442601016834 + } + }, + { + "simulation_time_ns": 6760000000, + "phase": "straight_push", + "intended_face_center": [ + 15.805443712236563, + -14.8915423070876, + 0.09677105593310706 + ], + "intended_face_normal": [ + -0.04567079703896226, + -0.32816577227507615, + 0.94351538840262 + ], + "commanded_contact_point": [ + 15.674428825378419, + -14.873868746196607, + 0.04457733268596507 + ], + "centerline_face_intersection": [ + 15.68683338941476, + -14.873388714991652, + 0.04457733268596507 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.666855812072754, + -14.871084213256836, + 0.067463219165802 + ], + "box_pose": [ + 15.824499130249023, + -14.879297256469727, + 0.041668131947517395, + 0.36757463216781616, + -0.6043378710746765, + 0.4481138288974762, + -0.5466795563697815 + ], + "box_yaw_rad": -1.7112238589597533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0004800312049543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022069627392337665 + } + }, + { + "simulation_time_ns": 6780000000, + "phase": "straight_push", + "intended_face_center": [ + 15.805980122803248, + -14.890380131068722, + 0.09685248963094173 + ], + "intended_face_normal": [ + -0.05113599697730109, + -0.31459796134914697, + 0.947846720019875 + ], + "commanded_contact_point": [ + 15.67648494720459, + -14.873661999856882, + 0.044419164225211374 + ], + "centerline_face_intersection": [ + 15.687645097066053, + -14.872977088012295, + 0.044419164225211374 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.668187141418457, + -14.867855072021484, + 0.062396541237831116 + ], + "box_pose": [ + 15.82534408569336, + -14.878950119018555, + 0.04168206453323364, + 0.3698393404483795, + -0.5999479293823242, + 0.45378395915031433, + -0.5453087091445923 + ], + "box_yaw_rad": -1.7102062597613448, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006849118445867209, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020725342638970015 + } + }, + { + "simulation_time_ns": 6800000000, + "phase": "straight_push", + "intended_face_center": [ + 15.805504823334807, + -14.889108182253151, + 0.09691773683329467 + ], + "intended_face_normal": [ + -0.05591862518933155, + -0.30171520808167074, + 0.9517567633936217 + ], + "commanded_contact_point": [ + 15.678261642456055, + -14.873412585354812, + 0.04426811424339316 + ], + "centerline_face_intersection": [ + 15.687430400287765, + -14.872417791970562, + 0.04426811424339316 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.668180465698242, + -14.864670753479004, + 0.058353886008262634 + ], + "box_pose": [ + 15.82514762878418, + -14.878424644470215, + 0.041696321219205856, + 0.3724174201488495, + -0.5954437255859375, + 0.4587457478046417, + -0.5443384051322937 + ], + "box_yaw_rad": -1.7078021871060949, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009947933842490632, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001800463747879395 + } + }, + { + "simulation_time_ns": 6820000000, + "phase": "straight_push", + "intended_face_center": [ + 15.80560030129758, + -14.887897574002862, + 0.09701239900127692 + ], + "intended_face_normal": [ + -0.06054761766029415, + -0.28588166147675587, + 0.956350202699717 + ], + "commanded_contact_point": [ + 15.679744606018067, + -14.873381984961354, + 0.044108674885484256 + ], + "centerline_face_intersection": [ + 15.687837761021287, + -14.872083069540128, + 0.044108674885484256 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.668787002563477, + -14.864480018615723, + 0.056858956813812256 + ], + "box_pose": [ + 15.825538635253906, + -14.878064155578613, + 0.04173898696899414, + 0.3767966628074646, + -0.5891366004943848, + 0.46377089619636536, + -0.5439291596412659 + ], + "box_yaw_rad": -1.7011365044458335, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012989154212252876, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014918237895893362 + } + }, + { + "simulation_time_ns": 6840000000, + "phase": "straight_push", + "intended_face_center": [ + 15.807054353042352, + -14.888842481515454, + 0.09702623441344158 + ], + "intended_face_normal": [ + -0.056784769318074524, + -0.28650809641975705, + 0.956393433812341 + ], + "commanded_contact_point": [ + 15.681095962524415, + -14.874499256919751, + 0.04412011882342845 + ], + "centerline_face_intersection": [ + 15.689293662996443, + -14.872993323699474, + 0.04412011882342845 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.669933319091797, + -14.867817878723145, + 0.057309359312057495 + ], + "box_pose": [ + 15.826862335205078, + -14.878754615783691, + 0.04175182059407234, + 0.3807249367237091, + -0.5865851044654846, + 0.4602113366127014, + -0.546966016292572 + ], + "box_yaw_rad": -1.6878814292460302, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015059332202784494, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017534514535583671 + } + }, + { + "simulation_time_ns": 6860000000, + "phase": "straight_push", + "intended_face_center": [ + 15.808357932293259, + -14.891314401398278, + 0.09695666365928918 + ], + "intended_face_normal": [ + -0.048290410494047364, + -0.30145765944932457, + 0.9522558843406443 + ], + "commanded_contact_point": [ + 15.682305221557618, + -14.876185340121214, + 0.0442794305175133 + ], + "centerline_face_intersection": [ + 15.690287502131321, + -14.874638258283465, + 0.0442794305175133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.670414924621582, + -14.87360954284668, + 0.056974947452545166 + ], + "box_pose": [ + 15.827739715576172, + -14.880191802978516, + 0.041729703545570374, + 0.38089919090270996, + -0.5896601676940918, + 0.45187053084373474, + -0.5504813194274902 + ], + "box_yaw_rad": -1.6799756876326875, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015470818377498565, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020810007658602493 + } + }, + { + "simulation_time_ns": 6880000000, + "phase": "straight_push", + "intended_face_center": [ + 15.809905938242618, + -14.894534396087616, + 0.09674802087449755 + ], + "intended_face_normal": [ + -0.03683944065632616, + -0.32406758989918316, + 0.9453164026604419 + ], + "commanded_contact_point": [ + 15.68401611328125, + -14.877898952243509, + 0.044454668473562886 + ], + "centerline_face_intersection": [ + 15.691335241566655, + -14.876607508716758, + 0.044454668473562886 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.670741081237793, + -14.8829984664917, + 0.05121603608131409 + ], + "box_pose": [ + 15.828680992126465, + -14.881941795349121, + 0.0416271798312664, + 0.3792079985141754, + -0.5955899953842163, + 0.44064441323280334, + -0.5543522238731384 + ], + "box_yaw_rad": -1.6744279379338718, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0012914435267521887, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024278231683776018 + } + }, + { + "simulation_time_ns": 6900000000, + "phase": "straight_push", + "intended_face_center": [ + 15.811102078897488, + -14.89758046790538, + 0.09668239151879093 + ], + "intended_face_normal": [ + -0.027671053064466378, + -0.34260295261747586, + 0.939072767832414 + ], + "commanded_contact_point": [ + 15.686624412536622, + -14.879448085487208, + 0.044734426752521164 + ], + "centerline_face_intersection": [ + 15.692131025781666, + -14.878628234680182, + 0.044734426752521164 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.67103099822998, + -14.89041805267334, + 0.0484963059425354 + ], + "box_pose": [ + 15.829397201538086, + -14.883756637573242, + 0.041695356369018555, + 0.3779166340827942, + -0.5999569892883301, + 0.4311351776123047, + -0.557990312576294 + ], + "box_yaw_rad": -1.668548484213784, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008198508070258717, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003046523183392803 + } + }, + { + "simulation_time_ns": 6920000000, + "phase": "straight_push", + "intended_face_center": [ + 15.812497482988375, + -14.89872201119108, + 0.09663403074659084 + ], + "intended_face_normal": [ + -0.024570717236436224, + -0.34171202462510664, + 0.9394834580068334 + ], + "commanded_contact_point": [ + 15.689626579284669, + -14.88018611473505, + 0.044663347273697473 + ], + "centerline_face_intersection": [ + 15.693447368652368, + -14.87981906264066, + 0.044663347273697473 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.672608375549316, + -14.891139030456543, + 0.04975822567939758 + ], + "box_pose": [ + 15.830662727355957, + -14.884810447692871, + 0.04162607342004776, + 0.3808094561100006, + -0.5981835722923279, + 0.4291015565395355, + -0.5594930052757263 + ], + "box_yaw_rad": -1.660221916258964, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0003670520943905578, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003092368775883279 + } + }, + { + "simulation_time_ns": 6940000000, + "phase": "straight_push", + "intended_face_center": [ + 15.815592172478308, + -14.898477545762024, + 0.09671910858005187 + ], + "intended_face_normal": [ + -0.02515697251432414, + -0.341729685424081, + 0.9394615882483777 + ], + "commanded_contact_point": [ + 15.692403678894044, + -14.879652540184049, + 0.044749634906314235 + ], + "centerline_face_intersection": [ + 15.696521423409544, + -14.879573620245182, + 0.044749634906314235 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.676140785217285, + -14.8867769241333, + 0.05353240668773651 + ], + "box_pose": [ + 15.833762168884277, + -14.884645462036133, + 0.04169267416000366, + 0.379568487405777, + -0.599446177482605, + 0.4301894009113312, + -0.5581480264663696 + ], + "box_yaw_rad": -1.6654544647364693, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -7.891993886580823e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028292100659741866 + } + }, + { + "simulation_time_ns": 6960000000, + "phase": "straight_push", + "intended_face_center": [ + 15.820787772914347, + -14.897707389914888, + 0.09736483414647285 + ], + "intended_face_normal": [ + -0.023461599316405568, + -0.34209302624057436, + 0.9393731087201473 + ], + "commanded_contact_point": [ + 15.694830780029298, + -14.878671746349346, + 0.04540025501506729 + ], + "centerline_face_intersection": [ + 15.701468561209543, + -14.878783364980217, + 0.04540025501506729 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.681270599365234, + -14.883546829223633, + 0.05888664722442627 + ], + "box_pose": [ + 15.838780403137207, + -14.88405990600586, + 0.042234133929014206, + 0.3770129382610321, + -0.6036889553070068, + 0.4322206974029541, + -0.553720235824585 + ], + "box_yaw_rad": -1.680129467726384, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00011161863087082307, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026974215452643243 + } + }, + { + "simulation_time_ns": 6980000000, + "phase": "straight_push", + "intended_face_center": [ + 15.825613622207744, + -14.89707385129787, + 0.09711682775864658 + ], + "intended_face_normal": [ + -0.029072977851310355, + -0.34166655973603177, + 0.9393714974915497 + ], + "commanded_contact_point": [ + 15.697111015319825, + -14.877925331025077, + 0.045152337757763485 + ], + "centerline_face_intersection": [ + 15.706468725045385, + -14.878173417790519, + 0.045152337757763485 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.686285018920898, + -14.881585121154785, + 0.06221775710582733 + ], + "box_pose": [ + 15.843867301940918, + -14.883625030517578, + 0.042023126035928726, + 0.37342408299446106, + -0.6050208210945129, + 0.4355699419975281, + -0.5520716905593872 + ], + "box_yaw_rad": -1.689810840883979, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002480867654414717, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002412067947413269 + } + }, + { + "simulation_time_ns": 7000000000, + "phase": "straight_push", + "intended_face_center": [ + 15.8303472371668, + -14.896180291095146, + 0.09674403203502904 + ], + "intended_face_normal": [ + -0.037746385871670896, + -0.33533432424994025, + 0.9413426593462191 + ], + "commanded_contact_point": [ + 15.699297790527345, + -14.877299315424397, + 0.044670500594459296 + ], + "centerline_face_intersection": [ + 15.711562263583495, + -14.877630146465496, + 0.044670500594459296 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.691414833068848, + -14.879698753356934, + 0.062112852931022644 + ], + "box_pose": [ + 15.849051475524902, + -14.883245468139648, + 0.04167839512228966, + 0.3712409734725952, + -0.603541374206543, + 0.44103625416755676, + -0.5508220195770264 + ], + "box_yaw_rad": -1.6959971238550025, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003308310410989898, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023250910503587285 + } + }, + { + "simulation_time_ns": 7020000000, + "phase": "straight_push", + "intended_face_center": [ + 15.83545596117516, + -14.894124501595028, + 0.09690185869664616 + ], + "intended_face_normal": [ + -0.04930318327438954, + -0.311341734761168, + 0.949018235624628 + ], + "commanded_contact_point": [ + 15.701110725402833, + -14.876547981309695, + 0.04440372696978341 + ], + "centerline_face_intersection": [ + 15.717193509824664, + -14.87690158765091, + 0.04440372696978341 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.697060585021973, + -14.877470970153809, + 0.06064184010028839 + ], + "box_pose": [ + 15.854784965515137, + -14.882710456848145, + 0.04171587526798248, + 0.37373778223991394, + -0.5966559052467346, + 0.4523817002773285, + -0.5474236607551575 + ], + "box_yaw_rad": -1.698952516007726, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00035360634121495675, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0019805059912806544 + } + }, + { + "simulation_time_ns": 7040000000, + "phase": "straight_push", + "intended_face_center": [ + 15.839800501399514, + -14.891706436515875, + 0.09712903971734553 + ], + "intended_face_normal": [ + -0.06010128937293757, + -0.28270854111163857, + 0.957321126286935 + ], + "commanded_contact_point": [ + 15.702626113891602, + -14.875739733264021, + 0.04417160570171628 + ], + "centerline_face_intersection": [ + 15.722071809788506, + -14.876067463865555, + 0.04417160570171628 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.70192813873291, + -14.875420570373535, + 0.05868707597255707 + ], + "box_pose": [ + 15.859737396240234, + -14.881996154785156, + 0.04183334484696388, + 0.37869399785995483, + -0.5874539613723755, + 0.4639359712600708, + -0.5442904829978943 + ], + "box_yaw_rad": -1.6971534784488294, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0003277306015341716, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017330745680206635 + } + }, + { + "simulation_time_ns": 7060000000, + "phase": "straight_push", + "intended_face_center": [ + 15.842376863867154, + -14.89109969229117, + 0.09712835498424094 + ], + "intended_face_normal": [ + -0.058798570512045956, + -0.2825936056727496, + 0.9574359685050489 + ], + "commanded_contact_point": [ + 15.704092864990235, + -14.87518805185393, + 0.044164568085528905 + ], + "centerline_face_intersection": [ + 15.724661607936396, + -14.875467077680755, + 0.044164568085528905 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.704611778259277, + -14.874249458312988, + 0.056568875908851624 + ], + "box_pose": [ + 15.862274169921875, + -14.881306648254395, + 0.04183299466967583, + 0.3803541958332062, + -0.5862534046173096, + 0.4626379609107971, + -0.5455307364463806 + ], + "box_yaw_rad": -1.6916411441579708, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.0002790258268235143, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015670866892491615 + } + }, + { + "simulation_time_ns": 7080000000, + "phase": "straight_push", + "intended_face_center": [ + 15.843254234667361, + -14.890947101934021, + 0.09712483460216315 + ], + "intended_face_normal": [ + -0.05814256128253703, + -0.2826008216374234, + 0.957473846178658 + ], + "commanded_contact_point": [ + 15.705618743896485, + -14.875092448540256, + 0.04415895237269351 + ], + "centerline_face_intersection": [ + 15.72554456687207, + -14.875314088148277, + 0.04415895237269351 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.705683708190918, + -14.873879432678223, + 0.0556672066450119 + ], + "box_pose": [ + 15.863131523132324, + -14.881108283996582, + 0.041830405592918396, + 0.3811737298965454, + -0.5856590270996094, + 0.4619590640068054, + -0.546172022819519 + ], + "box_yaw_rad": -1.6888507141059728, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00022163960802132088, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015288812793526176 + } + }, + { + "simulation_time_ns": 7100000000, + "phase": "straight_push", + "intended_face_center": [ + 15.843271182982692, + -14.890972601296347, + 0.09712033097149302 + ], + "intended_face_normal": [ + -0.05811909484910771, + -0.2828829280202694, + 0.9573919773437396 + ], + "commanded_contact_point": [ + 15.707008247375489, + -14.875201666260368, + 0.04415897759164768 + ], + "centerline_face_intersection": [ + 15.725561661112518, + -14.87532398184836, + 0.04415897759164768 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.703716278076172, + -14.872840881347656, + 0.054913416504859924 + ], + "box_pose": [ + 15.863147735595703, + -14.881115913391113, + 0.04182881861925125, + 0.381121963262558, + -0.5857065320014954, + 0.4618490934371948, + -0.5462502241134644 + ], + "box_yaw_rad": -1.6887643226296079, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": 0.00012231558799314333, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013937892341335124 + } + }, + { + "simulation_time_ns": 7120000000, + "phase": "straight_push", + "intended_face_center": [ + 15.843270589839294, + -14.890995531616674, + 0.09711584373796667 + ], + "intended_face_normal": [ + -0.058129645909247074, + -0.2831156260587875, + 0.9573226336087828 + ], + "commanded_contact_point": [ + 15.708864097595216, + -14.875400943238741, + 0.04415832633976589 + ], + "centerline_face_intersection": [ + 15.725561594806052, + -14.87533403969499, + 0.04415832633976589 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.698583602905273, + -14.870603561401367, + 0.05397997796535492 + ], + "box_pose": [ + 15.863147735595703, + -14.881125450134277, + 0.04182692617177963, + 0.3810523748397827, + -0.5857604742050171, + 0.4617805480957031, + -0.5462989807128906 + ], + "box_yaw_rad": -1.688772711520661, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -6.690354375173436e-05, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018665186246854335 + } + }, + { + "simulation_time_ns": 7140000000, + "phase": "straight_push", + "intended_face_center": [ + 15.843264098016023, + -14.891000165360747, + 0.09711209911083783 + ], + "intended_face_normal": [ + -0.058192683159852265, + -0.28316316158560184, + 0.9573046209201266 + ], + "commanded_contact_point": [ + 15.711191062927247, + -14.875652404469355, + 0.04415557814501983 + ], + "centerline_face_intersection": [ + 15.72555836504156, + -14.87533604385171, + 0.04415557814501983 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.696438789367676, + -14.869099617004395, + 0.0556773841381073 + ], + "box_pose": [ + 15.863144874572754, + -14.88112735748291, + 0.041824985295534134, + 0.3810233175754547, + -0.5857542157173157, + 0.46177878975868225, + -0.5463272929191589 + ], + "box_yaw_rad": -1.6887559291689647, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00031636061764437706, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002340514464717363 + } + }, + { + "simulation_time_ns": 7160000000, + "phase": "straight_push", + "intended_face_center": [ + 15.84326150504945, + -14.891011362967825, + 0.09710916672358852 + ], + "intended_face_normal": [ + -0.05822117213480027, + -0.2832747637337363, + 0.9572698858204731 + ], + "commanded_contact_point": [ + 15.713540916442872, + -14.87588320645609, + 0.04415456724649297 + ], + "centerline_face_intersection": [ + 15.725557251579916, + -14.87534106781106, + 0.04415456724649297 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.699007034301758, + -14.869696617126465, + 0.05804567039012909 + ], + "box_pose": [ + 15.863143920898438, + -14.881132125854492, + 0.04182378947734833, + 0.380984365940094, + -0.5857732892036438, + 0.46175050735473633, + -0.5463579297065735 + ], + "box_yaw_rad": -1.6887522431881061, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000542138645028202, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023611611812605713 + } + }, + { + "simulation_time_ns": 7180000000, + "phase": "straight_push", + "intended_face_center": [ + 15.843259279491553, + -14.891021284651037, + 0.0971070709839185 + ], + "intended_face_normal": [ + -0.058243316947638846, + -0.2833643211469621, + 0.9572420516462188 + ], + "commanded_contact_point": [ + 15.715604667663575, + -14.876108504946133, + 0.044154011247674776 + ], + "centerline_face_intersection": [ + 15.7255561717202, + -14.875346035325112, + 0.044154011247674776 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.703792572021484, + -14.869837760925293, + 0.06271757185459137 + ], + "box_pose": [ + 15.863142967224121, + -14.881136894226074, + 0.041823070496320724, + 0.38095319271087646, + -0.585788905620575, + 0.46172773838043213, + -0.5463821887969971 + ], + "box_yaw_rad": -1.6887499091712013, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007624696210209684, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020760127214697653 + } + }, + { + "simulation_time_ns": 7200000000, + "phase": "straight_push", + "intended_face_center": [ + 15.845379852937828, + -14.89119541831832, + 0.09713951801994623 + ], + "intended_face_normal": [ + -0.0563676725145541, + -0.29094584377580723, + 0.9550776870960611 + ], + "commanded_contact_point": [ + 15.7177103805542, + -14.876149445241426, + 0.044306187379513126 + ], + "centerline_face_intersection": [ + 15.727494281210065, + -14.87510077159968, + 0.044306187379513126 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.70787239074707, + -14.867945671081543, + 0.06542475521564484 + ], + "box_pose": [ + 15.865118026733398, + -14.880966186523438, + 0.04186609387397766, + 0.3778751492500305, + -0.5897694230079651, + 0.4601493775844574, + -0.545568585395813 + ], + "box_yaw_rad": -1.695831993713462, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010486736417464463, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021116013971922394 + } + }, + { + "simulation_time_ns": 7220000000, + "phase": "straight_push", + "intended_face_center": [ + 15.847035161704808, + -14.891876160639383, + 0.09705383696879041 + ], + "intended_face_normal": [ + -0.05273546999437784, + -0.30334623042385367, + 0.9514200068759102 + ], + "commanded_contact_point": [ + 15.720038299560548, + -14.87652565719601, + 0.04442284319692742 + ], + "centerline_face_intersection": [ + 15.728909238755698, + -14.875095544876865, + 0.04442284319692742 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.709547996520996, + -14.865559577941895, + 0.063353031873703 + ], + "box_pose": [ + 15.86654281616211, + -14.880977630615234, + 0.0418265201151371, + 0.37447667121887207, + -0.5946486592292786, + 0.4561733305454254, + -0.5459542870521545 + ], + "box_yaw_rad": -1.7008550605802715, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014301123191452795, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023610063351511153 + } + }, + { + "simulation_time_ns": 7240000000, + "phase": "straight_push", + "intended_face_center": [ + 15.847295756199715, + -14.892661693526456, + 0.09695163924734249 + ], + "intended_face_normal": [ + -0.050125766512451264, + -0.31126327778624585, + 0.9490007538760921 + ], + "commanded_contact_point": [ + 15.722442512512208, + -14.877115108411676, + 0.04445447458212618 + ], + "centerline_face_intersection": [ + 15.729028354130632, + -14.875443119693465, + 0.04445447458212618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.706930160522461, + -14.869396209716797, + 0.056530073285102844 + ], + "box_pose": [ + 15.86665153503418, + -14.881303787231445, + 0.04176346957683563, + 0.372816264629364, + -0.5973036289215088, + 0.45318472385406494, + -0.5466808080673218 + ], + "box_yaw_rad": -1.7021441577934344, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016719887182119913, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024756197602033934 + } + }, + { + "simulation_time_ns": 7260000000, + "phase": "straight_push", + "intended_face_center": [ + 15.84741923427765, + -14.89306143728659, + 0.09687707293261642 + ], + "intended_face_normal": [ + -0.04889272947914236, + -0.31527570802693816, + 0.9477398685942973 + ], + "commanded_contact_point": [ + 15.725166206359864, + -14.877262681128444, + 0.04444965837243636 + ], + "centerline_face_intersection": [ + 15.729084265996235, + -14.875620902395937, + 0.04444965837243636 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.704019546508789, + -14.876376152038574, + 0.05023688077926636 + ], + "box_pose": [ + 15.866703033447266, + -14.881470680236816, + 0.04171210899949074, + 0.3719449043273926, + -0.5986267328262329, + 0.45168477296829224, + -0.5470685362815857 + ], + "box_yaw_rad": -1.7028010984467927, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016417787325065086, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002727692995622982 + } + }, + { + "simulation_time_ns": 7280000000, + "phase": "straight_push", + "intended_face_center": [ + 15.847419876279956, + -14.893112417306963, + 0.09683617926191448 + ], + "intended_face_normal": [ + -0.04888225787047418, + -0.3157761104054426, + 0.947573868502321 + ], + "commanded_contact_point": [ + 15.728358154296876, + -14.877187121589696, + 0.04441794755446381 + ], + "centerline_face_intersection": [ + 15.72908426940501, + -14.875644200977748, + 0.04441794755446381 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.705864906311035, + -14.8781156539917, + 0.048032790422439575 + ], + "box_pose": [ + 15.866703033447266, + -14.881492614746094, + 0.041677094995975494, + 0.3718017637729645, + -0.5987504720687866, + 0.45152562856674194, + -0.547161877155304 + ], + "box_yaw_rad": -1.702833851186713, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015429206119484456, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003192999601075099 + } + }, + { + "simulation_time_ns": 7300000000, + "phase": "straight_push", + "intended_face_center": [ + 15.848434632061416, + -14.892269686643976, + 0.09684181684914835 + ], + "intended_face_normal": [ + -0.053380770740403705, + -0.31029525717974593, + 0.9491403274481627 + ], + "commanded_contact_point": [ + 15.731912498474122, + -14.87667450481525, + 0.04433693120292546 + ], + "centerline_face_intersection": [ + 15.730210384850345, + -14.875104662122691, + 0.04433693120292546 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.71053409576416, + -14.874431610107422, + 0.0467941015958786 + ], + "box_pose": [ + 15.867924690246582, + -14.88110065460205, + 0.04166235029697418, + 0.37038135528564453, + -0.5984587669372559, + 0.45570826530456543, + -0.5449722409248352 + ], + "box_yaw_rad": -1.7099382459031849, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015698426925592195, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003592033148090725 + } + }, + { + "simulation_time_ns": 7320000000, + "phase": "straight_push", + "intended_face_center": [ + 15.85217824427244, + -14.889664573700193, + 0.09697842892406092 + ], + "intended_face_normal": [ + -0.06773959298382692, + -0.28624670547073805, + 0.9557583596848005 + ], + "commanded_contact_point": [ + 15.735273246765138, + -14.875525490223607, + 0.04410744459280807 + ], + "centerline_face_intersection": [ + 15.734326448463502, + -14.873829875602645, + 0.04410744459280807 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.715022087097168, + -14.870685577392578, + 0.04450726509094238 + ], + "box_pose": [ + 15.87234878540039, + -14.880244255065918, + 0.04171732813119888, + 0.3684495687484741, + -0.5947055220603943, + 0.4702356457710266, + -0.5380042791366577 + ], + "box_yaw_rad": -1.727920785143343, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016956146209619043, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035591470483244745 + } + }, + { + "simulation_time_ns": 7340000000, + "phase": "straight_push", + "intended_face_center": [ + 15.857918966896587, + -14.889002319839507, + 0.09741201303353547 + ], + "intended_face_normal": [ + -0.06609416868226603, + -0.28611254506140504, + 0.955913783915495 + ], + "commanded_contact_point": [ + 15.737791900634766, + -14.875028563253162, + 0.04453243088884737 + ], + "centerline_face_intersection": [ + 15.739849704572727, + -14.873175043275685, + 0.04453243088884737 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.720353126525879, + -14.869227409362793, + 0.05065883696079254 + ], + "box_pose": [ + 15.877946853637695, + -14.8796968460083, + 0.042079608887434006, + 0.36726754903793335, + -0.5969870686531067, + 0.4712305963039398, + -0.5354089140892029 + ], + "box_yaw_rad": -1.7356547385954177, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0018535199774775883, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026021466293761875 + } + }, + { + "simulation_time_ns": 7360000000, + "phase": "straight_push", + "intended_face_center": [ + 15.86350659079639, + -14.889998601435048, + 0.09698784937011125 + ], + "intended_face_normal": [ + -0.06039220788112942, + -0.3098901004230896, + 0.9488524578527304 + ], + "commanded_contact_point": [ + 15.740178947448731, + -14.874754707636232, + 0.044498888197595884 + ], + "centerline_face_intersection": [ + 15.745144223239741, + -14.872855989520794, + 0.044498888197595884 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.724696159362793, + -14.871726036071777, + 0.05790799856185913 + ], + "box_pose": [ + 15.883208274841309, + -14.879302978515625, + 0.041789744049310684, + 0.3621203303337097, + -0.6042414903640747, + 0.46251899003982544, + -0.5383654236793518 + ], + "box_yaw_rad": -1.7381547778419935, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001898718115438242, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002402938722298241 + } + }, + { + "simulation_time_ns": 7380000000, + "phase": "straight_push", + "intended_face_center": [ + 15.86823332691467, + -14.89209175901355, + 0.09694547784371707 + ], + "intended_face_normal": [ + -0.04613024088574136, + -0.33761514102166323, + 0.9401531733282589 + ], + "commanded_contact_point": [ + 15.742628936767579, + -14.875227700272928, + 0.044937746818054035 + ], + "centerline_face_intersection": [ + 15.749299230870742, + -14.873415443342257, + 0.044937746818054035 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.728419303894043, + -14.875576972961426, + 0.0623060017824173 + ], + "box_pose": [ + 15.887181282043457, + -14.879602432250977, + 0.041860319674015045, + 0.36023232340812683, + -0.6119206547737122, + 0.4488040804862976, + -0.5425501465797424 + ], + "box_yaw_rad": -1.732902355718592, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0018122569306714804, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025335284852527865 + } + }, + { + "simulation_time_ns": 7400000000, + "phase": "straight_push", + "intended_face_center": [ + 15.872920772051154, + -14.893209106693002, + 0.09795702088721447 + ], + "intended_face_normal": [ + -0.0325192534215617, + -0.33997577101566634, + 0.9398717469915709 + ], + "commanded_contact_point": [ + 15.745336418151856, + -14.876097395060748, + 0.045964857904756753 + ], + "centerline_face_intersection": [ + 15.753462723153461, + -14.87440220484356, + 0.045964857904756753 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.732766151428223, + -14.877328872680664, + 0.06672383844852448 + ], + "box_pose": [ + 15.891164779663086, + -14.880367279052734, + 0.042715493589639664, + 0.36589378118515015, + -0.612617552280426, + 0.44287002086639404, + -0.5428513288497925 + ], + "box_yaw_rad": -1.7233668009549696, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016951902171873452, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030235379366889367 + } + }, + { + "simulation_time_ns": 7420000000, + "phase": "straight_push", + "intended_face_center": [ + 15.878133401768519, + -14.893722015273177, + 0.09843018636560358 + ], + "intended_face_normal": [ + -0.02587379236921805, + -0.3411038967134843, + 0.9396694278570976 + ], + "commanded_contact_point": [ + 15.747967605590821, + -14.87647158656117, + 0.046449215345717 + ], + "centerline_face_intersection": [ + 15.7584128686616, + -14.874852707361063, + 0.046449215345717 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.738104820251465, + -14.876760482788086, + 0.06961719691753387 + ], + "box_pose": [ + 15.896034240722656, + -14.880703926086426, + 0.043117690831422806, + 0.36870652437210083, + -0.6128609776496887, + 0.43989038467407227, + -0.5430960655212402 + ], + "box_yaw_rad": -1.7183644875777995, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016188792001064196, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027014382740621176 + } + }, + { + "simulation_time_ns": 7440000000, + "phase": "straight_push", + "intended_face_center": [ + 15.881795133738668, + -14.893903359548851, + 0.09698369676377105 + ], + "intended_face_normal": [ + -0.03739284468098347, + -0.3398015682718487, + 0.9397535288094723 + ], + "commanded_contact_point": [ + 15.750266914367677, + -14.87675672124915, + 0.04499807341718476 + ], + "centerline_face_intersection": [ + 15.762795612401515, + -14.875106094309382, + 0.04499807341718476 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.742378234863281, + -14.874312400817871, + 0.0705338567495346 + ], + "box_pose": [ + 15.900396347045898, + -14.880906105041504, + 0.041897859424352646, + 0.3671787679195404, + -0.6082274317741394, + 0.4419037997722626, + -0.5476862192153931 + ], + "box_yaw_rad": -1.7100401810171775, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016506269397668655, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027338499480326585 + } + }, + { + "simulation_time_ns": 7460000000, + "phase": "straight_push", + "intended_face_center": [ + 15.88333789079545, + -14.893096288845854, + 0.09674530230839576 + ], + "intended_face_normal": [ + -0.04347049979384465, + -0.3282085211828072, + 0.9436045805792794 + ], + "commanded_contact_point": [ + 15.752458457946778, + -14.876686800622846, + 0.044546645096379844 + ], + "centerline_face_intersection": [ + 15.76472564634045, + -14.87494033195047, + 0.044546645096379844 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.744765281677246, + -14.872544288635254, + 0.06772273778915405 + ], + "box_pose": [ + 15.902314186096191, + -14.880730628967285, + 0.041641995310783386, + 0.3697889447212219, + -0.6028986573219299, + 0.4462643563747406, + -0.5482860207557678 + ], + "box_yaw_rad": -1.7039541156726208, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017464686723754847, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00223864684171237 + } + }, + { + "simulation_time_ns": 7480000000, + "phase": "straight_push", + "intended_face_center": [ + 15.883737865150989, + -14.891976751284949, + 0.09683313829221933 + ], + "intended_face_normal": [ + -0.048255796705490184, + -0.31394672528898404, + 0.9482135715192577 + ], + "commanded_contact_point": [ + 15.754561309814454, + -14.876521675232008, + 0.04437951926344167 + ], + "centerline_face_intersection": [ + 15.765422195496692, + -14.874609733538877, + 0.04437951926344167 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.745800018310547, + -14.87047290802002, + 0.06194844841957092 + ], + "box_pose": [ + 15.903007507324219, + -14.880407333374023, + 0.04165874794125557, + 0.373291015625, + -0.5975112318992615, + 0.4513097107410431, + -0.5476803779602051 + ], + "box_yaw_rad": -1.699175409913407, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00191194169312979, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021159355888406067 + } + }, + { + "simulation_time_ns": 7500000000, + "phase": "straight_push", + "intended_face_center": [ + 15.883248441172139, + -14.890703881004708, + 0.09690190576085311 + ], + "intended_face_normal": [ + -0.053203337827461894, + -0.30103206365635593, + 0.9521286472178865 + ], + "commanded_contact_point": [ + 15.756399993896485, + -14.876208019451376, + 0.04423171116794841 + ], + "centerline_face_intersection": [ + 15.765201406018418, + -14.874051281150882, + 0.04423171116794841 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.745741844177246, + -14.867931365966797, + 0.057391345500946045 + ], + "box_pose": [ + 15.902806282043457, + -14.8798828125, + 0.04167711362242699, + 0.37585607171058655, + -0.5929689407348633, + 0.4563071131706238, + -0.5467209219932556 + ], + "box_yaw_rad": -1.6967881625908465, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021567383004931877, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001871092284023477 + } + }, + { + "simulation_time_ns": 7520000000, + "phase": "straight_push", + "intended_face_center": [ + 15.883435882207353, + -14.889523565880157, + 0.09700326468462092 + ], + "intended_face_normal": [ + -0.05773789805375884, + -0.2853316960909922, + 0.9566881409473922 + ], + "commanded_contact_point": [ + 15.757943992614747, + -14.876125267006412, + 0.04408084637942701 + ], + "centerline_face_intersection": [ + 15.765700786447386, + -14.873739484600229, + 0.04408084637942701 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.746454238891602, + -14.868013381958008, + 0.05575111508369446 + ], + "box_pose": [ + 15.903287887573242, + -14.879531860351562, + 0.04172716662287712, + 0.3804209232330322, + -0.5865169763565063, + 0.4611009359359741, + -0.5465013384819031 + ], + "box_yaw_rad": -1.6894001265524732, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00238578240618203, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015535572707682723 + } + }, + { + "simulation_time_ns": 7540000000, + "phase": "straight_push", + "intended_face_center": [ + 15.88514979348399, + -14.890743601849342, + 0.09700585091314878 + ], + "intended_face_normal": [ + -0.0524755919363713, + -0.2888377524400223, + 0.9559387909421915 + ], + "commanded_contact_point": [ + 15.759369735717774, + -14.877284531779006, + 0.04412488542077324 + ], + "centerline_face_intersection": [ + 15.767336196832842, + -14.874765571284623, + 0.04412488542077324 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.747759819030762, + -14.87143611907959, + 0.05642031133174896 + ], + "box_pose": [ + 15.904790878295898, + -14.8803071975708, + 0.04173658415675163, + 0.38418179750442505, + -0.5846763849258423, + 0.4560542404651642, + -0.5500657558441162 + ], + "box_yaw_rad": -1.675218173480621, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025189604943833634, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018380907610809484 + } + }, + { + "simulation_time_ns": 7560000000, + "phase": "straight_push", + "intended_face_center": [ + 15.8864705814427, + -14.89319582277021, + 0.09693478026013053 + ], + "intended_face_normal": [ + -0.043834729394788496, + -0.3038284174070185, + 0.9517177100078982 + ], + "commanded_contact_point": [ + 15.760593299865723, + -14.878880179813285, + 0.04428731803945177 + ], + "centerline_face_intersection": [ + 15.768317563606407, + -14.876388533214914, + 0.04428731803945177 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.748274803161621, + -14.877071380615234, + 0.056489139795303345 + ], + "box_pose": [ + 15.905672073364258, + -14.881728172302246, + 0.04171542078256607, + 0.38421446084976196, + -0.5878919959068298, + 0.44773322343826294, + -0.5534411072731018 + ], + "box_yaw_rad": -1.6677782274249198, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002491646598370564, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020173215482552427 + } + }, + { + "simulation_time_ns": 7580000000, + "phase": "straight_push", + "intended_face_center": [ + 15.88798513263707, + -14.896276308189387, + 0.09671496430013136 + ], + "intended_face_normal": [ + -0.032388600135039525, + -0.32663339846769723, + 0.9445959840434952 + ], + "commanded_contact_point": [ + 15.762293701171876, + -14.880363258113297, + 0.04446146427508499 + ], + "centerline_face_intersection": [ + 15.769301307820225, + -14.878207484498276, + 0.04446146427508499 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.74858570098877, + -14.886604309082031, + 0.05096465349197388 + ], + "box_pose": [ + 15.906569480895996, + -14.883349418640137, + 0.04160688444972038, + 0.3820590376853943, + -0.594235897064209, + 0.43670836091041565, + -0.5569563508033752 + ], + "box_yaw_rad": -1.6637325047807778, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021557736150203503, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0022630096679680262 + } + }, + { + "simulation_time_ns": 7600000000, + "phase": "straight_push", + "intended_face_center": [ + 15.889122785251546, + -14.89918482458409, + 0.09665063878670725 + ], + "intended_face_normal": [ + -0.02370952689147643, + -0.34210634167649445, + 0.9393620252315067 + ], + "commanded_contact_point": [ + 15.764906768798829, + -14.881855784792085, + 0.044686672775708466 + ], + "centerline_face_intersection": [ + 15.770060039653039, + -14.88026006306135, + 0.044686672775708466 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.74887466430664, + -14.894261360168457, + 0.04857000708580017 + ], + "box_pose": [ + 15.907258033752441, + -14.885193824768066, + 0.04165293648838997, + 0.3816564381122589, + -0.5975267887115479, + 0.42811819911003113, + -0.5603702664375305 + ], + "box_yaw_rad": -1.6567535756270044, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0015957217307360587, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030176940167417022 + } + }, + { + "simulation_time_ns": 7620000000, + "phase": "straight_push", + "intended_face_center": [ + 15.890726940200786, + -14.900447086072516, + 0.09662070616719844 + ], + "intended_face_normal": [ + -0.020132525078707886, + -0.341850468445676, + 0.93953866745413 + ], + "commanded_contact_point": [ + 15.767940406799317, + -14.882593336442982, + 0.044646968598263566 + ], + "centerline_face_intersection": [ + 15.771560088132533, + -14.88153647903709, + 0.044646968598263566 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.750687599182129, + -14.895008087158203, + 0.04996253550052643 + ], + "box_pose": [ + 15.908711433410645, + -14.886305809020996, + 0.0416119322180748, + 0.38478294014930725, + -0.5955944061279297, + 0.4254607558250427, + -0.562309980392456 + ], + "box_yaw_rad": -1.646968848567195, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010568574058915196, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031222617407022867 + } + }, + { + "simulation_time_ns": 7640000000, + "phase": "straight_push", + "intended_face_center": [ + 15.893985036682606, + -14.900217664605096, + 0.09666337843583696 + ], + "intended_face_normal": [ + -0.02093863491205994, + -0.3418783380997379, + 0.9395108290380172 + ], + "commanded_contact_point": [ + 15.770751838684083, + -14.882007675571709, + 0.04469118084240656 + ], + "centerline_face_intersection": [ + 15.774822407411722, + -14.881305515866133, + 0.04469118084240656 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.754411697387695, + -14.890172958374023, + 0.05368848145008087 + ], + "box_pose": [ + 15.911991119384766, + -14.886147499084473, + 0.04164344072341919, + 0.3836098313331604, + -0.5966547131538391, + 0.42650243639945984, + -0.5611971020698547 + ], + "box_yaw_rad": -1.6515650830454616, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007021597055759081, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028721251054488516 + } + }, + { + "simulation_time_ns": 7660000000, + "phase": "straight_push", + "intended_face_center": [ + 15.899288736038056, + -14.899266434043714, + 0.0971635132508131 + ], + "intended_face_normal": [ + -0.021222679297601132, + -0.3420723292599277, + 0.9394338983088133 + ], + "commanded_contact_point": [ + 15.77324188232422, + -14.88081809542528, + 0.045195571339100904 + ], + "centerline_face_intersection": [ + 15.779987913225074, + -14.880343554032054, + 0.045195571339100904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.759763717651367, + -14.88603401184082, + 0.05897635221481323 + ], + "box_pose": [ + 15.917223930358887, + -14.885425567626953, + 0.042062316089868546, + 0.3802119493484497, + -0.6008926033973694, + 0.4294213652610779, + -0.5567442774772644 + ], + "box_yaw_rad": -1.6677540437882348, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00047454139322525106, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002805321376904687 + } + }, + { + "simulation_time_ns": 7680000000, + "phase": "straight_push", + "intended_face_center": [ + 15.903755438775963, + -14.898320533391255, + 0.09671667605147878 + ], + "intended_face_normal": [ + -0.030037341837484632, + -0.34112452821576866, + 0.9395381066511277 + ], + "commanded_contact_point": [ + 15.775517349243165, + -14.879784101716965, + 0.04474296950524587 + ], + "centerline_face_intersection": [ + 15.784770848537823, + -14.879450084178288, + 0.04474296950524587 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.764559745788574, + -14.882963180541992, + 0.06243947148323059 + ], + "box_pose": [ + 15.922115325927734, + -14.884777069091797, + 0.04168148338794708, + 0.3751262128353119, + -0.6023648977279663, + 0.43441691994667053, + -0.5547240972518921 + ], + "box_yaw_rad": -1.6807740506817341, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00033401753867707315, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002540027777025073 + } + }, + { + "simulation_time_ns": 7700000000, + "phase": "straight_push", + "intended_face_center": [ + 15.90835730151168, + -14.89735838816963, + 0.09672203051168567 + ], + "intended_face_normal": [ + -0.03563621688414287, + -0.3351088964045559, + 0.9415051860636225 + ], + "commanded_contact_point": [ + 15.777767066955567, + -14.87907013317293, + 0.04463950835976908 + ], + "centerline_face_intersection": [ + 15.789562743602259, + -14.878820713838524, + 0.04463950835976908 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.769457817077637, + -14.880935668945312, + 0.06184475123882294 + ], + "box_pose": [ + 15.926986694335938, + -14.884315490722656, + 0.04165651276707649, + 0.3735160827636719, + -0.6019564867019653, + 0.4392394423484802, + -0.5524516105651855 + ], + "box_yaw_rad": -1.6885021588863107, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002494193344055155, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002362559010055031 + } + }, + { + "simulation_time_ns": 7720000000, + "phase": "straight_push", + "intended_face_center": [ + 15.913475910033641, + -14.895227754442892, + 0.0969030691063072 + ], + "intended_face_normal": [ + -0.047661749127208, + -0.3082792949010251, + 0.9501011684988647 + ], + "commanded_contact_point": [ + 15.779685859680177, + -14.878392710500746, + 0.04434503130962523 + ], + "centerline_face_intersection": [ + 15.795276091761979, + -14.878174249647248, + 0.04434503130962523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.775168418884277, + -14.878948211669922, + 0.0599721223115921 + ], + "box_pose": [ + 15.93277645111084, + -14.883824348449707, + 0.0417049303650856, + 0.37742555141448975, + -0.5934717059135437, + 0.4510103166103363, + -0.5494824647903442 + ], + "box_yaw_rad": -1.6881381265854307, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0002184608534985692, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002056060244706595 + } + }, + { + "simulation_time_ns": 7740000000, + "phase": "straight_push", + "intended_face_center": [ + 15.917990437424777, + -14.893015188999389, + 0.0971142209137976 + ], + "intended_face_normal": [ + -0.05639080002971042, + -0.28373284899275397, + 0.957243800466788 + ], + "commanded_contact_point": [ + 15.781278495788575, + -14.87755499826922, + 0.0441610644356693 + ], + "centerline_face_intersection": [ + 15.800258775138172, + -14.877319553317681, + 0.0441610644356693 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.780186653137207, + -14.8768949508667, + 0.05779430270195007 + ], + "box_pose": [ + 15.937798500061035, + -14.883028984069824, + 0.041821371763944626, + 0.38246670365333557, + -0.5850156545639038, + 0.46027469635009766, + -0.5473783612251282 + ], + "box_yaw_rad": -1.6840304104535535, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00023544495153785688, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018088934096114765 + } + }, + { + "simulation_time_ns": 7760000000, + "phase": "straight_push", + "intended_face_center": [ + 15.920581396140456, + -14.892422231602389, + 0.09711532230093232 + ], + "intended_face_normal": [ + -0.05488579528402937, + -0.2835576010917258, + 0.9573832017049497 + ], + "commanded_contact_point": [ + 15.782795791625977, + -14.877021197898785, + 0.04415445437502653 + ], + "centerline_face_intersection": [ + 15.802853895984768, + -14.876736290347036, + 0.04415445437502653 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.782953262329102, + -14.875499725341797, + 0.0558459609746933 + ], + "box_pose": [ + 15.94034194946289, + -14.882343292236328, + 0.04182229936122894, + 0.38436785340309143, + -0.5836275815963745, + 0.4587837755680084, + -0.5487782955169678 + ], + "box_yaw_rad": -1.6777254879420693, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00028490755174743684, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016084692059773367 + } + }, + { + "simulation_time_ns": 7780000000, + "phase": "straight_push", + "intended_face_center": [ + 15.921404588136944, + -14.892243541631455, + 0.09711463427645634 + ], + "intended_face_normal": [ + -0.054339846917415, + -0.2834524663420037, + 0.9574454631814078 + ], + "commanded_contact_point": [ + 15.784320716857911, + -14.876912653367741, + 0.04415032214782618 + ], + "centerline_face_intersection": [ + 15.803679456972759, + -14.87656341625796, + 0.04415032214782618 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.783968925476074, + -14.874955177307129, + 0.05511319637298584 + ], + "box_pose": [ + 15.94114875793457, + -14.88213062286377, + 0.04182196408510208, + 0.38510650396347046, + -0.5830670595169067, + 0.45822128653526306, + -0.5493259429931641 + ], + "box_yaw_rad": -1.6752615589748538, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00034923710978070164, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015287890480732728 + } + }, + { + "simulation_time_ns": 7800000000, + "phase": "straight_push", + "intended_face_center": [ + 15.921410762843651, + -14.892269787818899, + 0.09711153258323826 + ], + "intended_face_normal": [ + -0.054329991832549496, + -0.2837200470458452, + 0.9573668919036997 + ], + "commanded_contact_point": [ + 15.785684471130372, + -14.877029358688171, + 0.0441515668887779 + ], + "centerline_face_intersection": [ + 15.803685368151722, + -14.876574860319892, + 0.0441515668887779 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781815528869629, + -14.873943328857422, + 0.054320961236953735 + ], + "box_pose": [ + 15.941154479980469, + -14.88214111328125, + 0.04182157292962074, + 0.3850364685058594, + -0.5831287503242493, + 0.45813414454460144, + -0.5493823885917664 + ], + "box_yaw_rad": -1.6752536437083854, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.00045449836827948716, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0013687393458405915 + } + }, + { + "simulation_time_ns": 7820000000, + "phase": "straight_push", + "intended_face_center": [ + 15.921410769134045, + -14.892291298836295, + 0.09710815279117058 + ], + "intended_face_normal": [ + -0.05433017822927866, + -0.28394458463158934, + 0.957300201354613 + ], + "commanded_contact_point": [ + 15.787519340515138, + -14.877237113978195, + 0.04415187630846554 + ], + "centerline_face_intersection": [ + 15.80368533572289, + -14.876583950286445, + 0.04415187630846554 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.776601791381836, + -14.871617317199707, + 0.05345131456851959 + ], + "box_pose": [ + 15.941154479980469, + -14.882149696350098, + 0.04182057082653046, + 0.38497141003608704, + -0.5831830501556396, + 0.45806628465652466, + -0.549426794052124 + ], + "box_yaw_rad": -1.675263446163976, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000653163691749014, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001846593624873554 + } + }, + { + "simulation_time_ns": 7840000000, + "phase": "straight_push", + "intended_face_center": [ + 15.92140792290638, + -14.892303347824418, + 0.09710602154122161 + ], + "intended_face_normal": [ + -0.05436306537764679, + -0.28405451725940445, + 0.9572657994492957 + ], + "commanded_contact_point": [ + 15.789831047058106, + -14.877509658434498, + 0.04415164811547503 + ], + "centerline_face_intersection": [ + 15.80368420744752, + -14.876589917981967, + 0.04415164811547503 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.7744722366333, + -14.869925498962402, + 0.05535140633583069 + ], + "box_pose": [ + 15.941153526306152, + -14.882155418395996, + 0.04182026907801628, + 0.38493168354034424, + -0.5832003355026245, + 0.45803967118263245, + -0.5494585633277893 + ], + "box_yaw_rad": -1.6752582934199958, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0009197404525315982, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023277172666666492 + } + }, + { + "simulation_time_ns": 7860000000, + "phase": "straight_push", + "intended_face_center": [ + 15.92140531316532, + -14.89231344216791, + 0.09710464767186469 + ], + "intended_face_normal": [ + -0.054391787744926035, + -0.28414687962821716, + 0.9572367751613413 + ], + "commanded_contact_point": [ + 15.7921732711792, + -14.877752885668878, + 0.04415187982210718 + ], + "centerline_face_intersection": [ + 15.803683098080763, + -14.876594902990758, + 0.04415187982210718 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.777039527893066, + -14.870638847351074, + 0.05778118968009949 + ], + "box_pose": [ + 15.941152572631836, + -14.882160186767578, + 0.0418204627931118, + 0.38489818572998047, + -0.5832143425941467, + 0.45801740884780884, + -0.5494857430458069 + ], + "box_yaw_rad": -1.6752529022717846, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011579826781189689, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023548191808853355 + } + }, + { + "simulation_time_ns": 7880000000, + "phase": "straight_push", + "intended_face_center": [ + 15.921399315436593, + -14.892314412327819, + 0.09710401602385538 + ], + "intended_face_normal": [ + -0.054445332624979415, + -0.2841450952538729, + 0.9572342224022279 + ], + "commanded_contact_point": [ + 15.794236068725587, + -14.877973776383008, + 0.04415138938854367 + ], + "centerline_face_intersection": [ + 15.803679987716794, + -14.876595971859325, + 0.04415138938854367 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781742095947266, + -14.871100425720215, + 0.06221936643123627 + ], + "box_pose": [ + 15.941149711608887, + -14.882161140441895, + 0.0418209582567215, + 0.38488760590553284, + -0.5831964612007141, + 0.45802727341651917, + -0.5495038628578186 + ], + "box_yaw_rad": -1.6752282014399598, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001377804523683394, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00207459072240605 + } + }, + { + "simulation_time_ns": 7900000000, + "phase": "straight_push", + "intended_face_center": [ + 15.923024244732456, + -14.892380687716784, + 0.09712634957709214 + ], + "intended_face_normal": [ + -0.05349731052668005, + -0.2885295944684554, + 0.9559753097265222 + ], + "commanded_contact_point": [ + 15.796331291198731, + -14.878072497310546, + 0.04424336392548431 + ], + "centerline_face_intersection": [ + 15.805201292459675, + -14.876419703945452, + 0.04424336392548431 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.785713195800781, + -14.869544982910156, + 0.0646151602268219 + ], + "box_pose": [ + 15.942693710327148, + -14.88204288482666, + 0.04184863716363907, + 0.38286328315734863, + -0.5857084393501282, + 0.45733019709587097, + -0.5488264560699463 + ], + "box_yaw_rad": -1.6802077335737617, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016527933650952059, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020995624184456186 + } + }, + { + "simulation_time_ns": 7920000000, + "phase": "straight_push", + "intended_face_center": [ + 15.924497931154026, + -14.892861569340289, + 0.09707090259206598 + ], + "intended_face_normal": [ + -0.05068600484415953, + -0.2976038071542888, + 0.953343102667283 + ], + "commanded_contact_point": [ + 15.798636322021485, + -14.878419128184438, + 0.04433352631627521 + ], + "centerline_face_intersection": [ + 15.806494487788559, + -14.876398615011368, + 0.04433352631627521 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.787252426147461, + -14.867205619812012, + 0.06226596236228943 + ], + "box_pose": [ + 15.943989753723145, + -14.882037162780762, + 0.04182341322302818, + 0.380368173122406, + -0.5893546342849731, + 0.45444267988204956, + -0.5490565896034241 + ], + "box_yaw_rad": -1.684007798633143, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0020205131730694596, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002332691431221444 + } + }, + { + "simulation_time_ns": 7940000000, + "phase": "straight_push", + "intended_face_center": [ + 15.92468052531627, + -14.89337206878451, + 0.09703377724072548 + ], + "intended_face_normal": [ + -0.048853511953037554, + -0.3027089612709357, + 0.9518302226705089 + ], + "commanded_contact_point": [ + 15.801024322509766, + -14.878875022092615, + 0.04438009100415225 + ], + "centerline_face_intersection": [ + 15.806579060755109, + -14.876626705705956, + 0.04438009100415225 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.784585952758789, + -14.870931625366211, + 0.055612772703170776 + ], + "box_pose": [ + 15.944066047668457, + -14.882251739501953, + 0.041807662695646286, + 0.37933096289634705, + -0.5910999178886414, + 0.4524970054626465, + -0.5495047569274902 + ], + "box_yaw_rad": -1.6848182969966536, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0022483163866592543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024315743578391725 + } + }, + { + "simulation_time_ns": 7960000000, + "phase": "straight_push", + "intended_face_center": [ + 15.924705995598963, + -14.893462124980433, + 0.09702149030297391 + ], + "intended_face_normal": [ + -0.04859665919654077, + -0.303606753326104, + 0.9515572346633334 + ], + "commanded_contact_point": [ + 15.803761367797852, + -14.878872844876115, + 0.04438290531506227 + ], + "centerline_face_intersection": [ + 15.806590574751436, + -14.876667097518407, + 0.04438290531506227 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.781739234924316, + -14.877731323242188, + 0.049601584672927856 + ], + "box_pose": [ + 15.944076538085938, + -14.88228988647461, + 0.0418006107211113, + 0.379130095243454, + -0.5913906097412109, + 0.4521692097187042, + -0.5496002435684204 + ], + "box_yaw_rad": -1.6849516222589511, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002205747357708034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027370476009106995 + } + }, + { + "simulation_time_ns": 7980000000, + "phase": "straight_push", + "intended_face_center": [ + 15.924602241405049, + -14.893207165028375, + 0.09703238364894186 + ], + "intended_face_normal": [ + -0.04964118364274839, + -0.30102585257886716, + 0.9523229560890414 + ], + "commanded_contact_point": [ + 15.806962852478028, + -14.878655806876058, + 0.04435144020809023 + ], + "centerline_face_intersection": [ + 15.806543284845255, + -14.876554908761165, + 0.04435144020809023 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.783834457397461, + -14.879176139831543, + 0.0476779043674469 + ], + "box_pose": [ + 15.9440336227417, + -14.882184028625488, + 0.041802916675806046, + 0.37963563203811646, + -0.5904645919799805, + 0.45317089557647705, + -0.5494218468666077 + ], + "box_yaw_rad": -1.6844605786391336, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002100898114892899, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0032089873330734616 + } + }, + { + "simulation_time_ns": 8000000000, + "phase": "straight_push", + "intended_face_center": [ + 15.926178687935359, + -14.892027563845643, + 0.09707688475118152 + ], + "intended_face_normal": [ + -0.05514189433496597, + -0.294411314687272, + 0.9540865913231862 + ], + "commanded_contact_point": [ + 15.810530548095704, + -14.877867525281438, + 0.04429837990279874 + ], + "centerline_face_intersection": [ + 15.808253711304387, + -14.875741212962028, + 0.04429837990279874 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.788740158081055, + -14.875105857849121, + 0.04645328223705292 + ], + "box_pose": [ + 15.945857048034668, + -14.881569862365723, + 0.041824907064437866, + 0.3775855004787445, + -0.5904704332351685, + 0.458501398563385, + -0.5463975071907043 + ], + "box_yaw_rad": -1.694515405454158, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021263123194091797, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003654128526584235 + } + }, + { + "simulation_time_ns": 8020000000, + "phase": "straight_push", + "intended_face_center": [ + 15.930320810570699, + -14.889857312268521, + 0.09716613226589543 + ], + "intended_face_normal": [ + -0.06584612561582759, + -0.2806822674910787, + 0.9575393603602542 + ], + "commanded_contact_point": [ + 15.81388843536377, + -14.876599179230482, + 0.044196625899389955 + ], + "centerline_face_intersection": [ + 15.812586507124724, + -14.874330429750355, + 0.044196625899389955 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.793462753295898, + -14.870769500732422, + 0.044447869062423706 + ], + "box_pose": [ + 15.950464248657227, + -14.88056755065918, + 0.04187305271625519, + 0.3733590245246887, + -0.5905718207359314, + 0.469320684671402, + -0.5399684906005859 + ], + "box_yaw_rad": -1.7154529633955138, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002268749480126501, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035908860309440114 + } + }, + { + "simulation_time_ns": 8040000000, + "phase": "straight_push", + "intended_face_center": [ + 15.936199374310497, + -14.889725221187089, + 0.0972406318875096 + ], + "intended_face_normal": [ + -0.06288404385002977, + -0.2952004359447482, + 0.9533636574986488 + ], + "commanded_contact_point": [ + 15.816392784118653, + -14.875857763562845, + 0.04450211855217229 + ], + "centerline_face_intersection": [ + 15.818085612433464, + -14.873395217410234, + 0.04450211855217229 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.798830032348633, + -14.868550300598145, + 0.0507705956697464 + ], + "box_pose": [ + 15.956087112426758, + -14.879790306091309, + 0.04196714609861374, + 0.3670598268508911, + -0.5983368158340454, + 0.46654781699180603, + -0.5381386876106262 + ], + "box_yaw_rad": -1.7302033621648518, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024625461526100872, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002629597999543749 + } + }, + { + "simulation_time_ns": 8060000000, + "phase": "straight_push", + "intended_face_center": [ + 15.941707819641865, + -14.891167170296045, + 0.09682762108745208 + ], + "intended_face_normal": [ + -0.05403143598912763, + -0.3288551587819821, + 0.9428334198845114 + ], + "commanded_contact_point": [ + 15.81875789642334, + -14.875527714023654, + 0.044671623219816284 + ], + "centerline_face_intersection": [ + 15.8230224960624, + -14.872975442469622, + 0.044671623219816284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.802990913391113, + -14.870732307434082, + 0.05802397429943085 + ], + "box_pose": [ + 15.961048126220703, + -14.879344940185547, + 0.041731610894203186, + 0.35856810212135315, + -0.6102866530418396, + 0.4549739956855774, + -0.5403496623039246 + ], + "box_yaw_rad": -1.7401411270896472, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025522715540316904, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023940385845798644 + } + }, + { + "simulation_time_ns": 8080000000, + "phase": "straight_push", + "intended_face_center": [ + 15.946321375749152, + -14.892591304830601, + 0.09735767843243631 + ], + "intended_face_normal": [ + -0.04297007624479221, + -0.3397770674758416, + 0.9395239391687937 + ], + "commanded_contact_point": [ + 15.82118881225586, + -14.876307149827902, + 0.04538475560808133 + ], + "centerline_face_intersection": [ + 15.827182116366224, + -14.873795394934968, + 0.04538475560808133 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.80662727355957, + -14.874808311462402, + 0.062289491295814514 + ], + "box_pose": [ + 15.96507453918457, + -14.879996299743652, + 0.04222993180155754, + 0.3600529134273529, + -0.6137219667434692, + 0.4477425217628479, + -0.541510820388794 + ], + "box_yaw_rad": -1.7357134574058088, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002511754892934305, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0026505527274381067 + } + }, + { + "simulation_time_ns": 8100000000, + "phase": "straight_push", + "intended_face_center": [ + 15.95081299689459, + -14.893764561186842, + 0.09760605361009277 + ], + "intended_face_normal": [ + -0.0354376923235975, + -0.34088303584198343, + 0.9394375452512094 + ], + "commanded_contact_point": [ + 15.823881034851075, + -14.877339078132932, + 0.04563790995551081 + ], + "centerline_face_intersection": [ + 15.83153095960373, + -14.87490747093577, + 0.04563790995551081 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.81097412109375, + -14.876911163330078, + 0.06666949391365051 + ], + "box_pose": [ + 15.969231605529785, + -14.88086223602295, + 0.04243660718202591, + 0.3650473356246948, + -0.6118600368499756, + 0.4430563449859619, + -0.544122040271759 + ], + "box_yaw_rad": -1.7218049340847084, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002431607197162008, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002894309183990321 + } + }, + { + "simulation_time_ns": 8120000000, + "phase": "straight_push", + "intended_face_center": [ + 15.955846110227075, + -14.894504281417964, + 0.09755587053449438 + ], + "intended_face_normal": [ + -0.03183454475996683, + -0.34131313076659175, + 0.9394104705282373 + ], + "commanded_contact_point": [ + 15.826495056152345, + -14.878014024210593, + 0.045589224609165334 + ], + "centerline_face_intersection": [ + 15.836558005741656, + -14.875623399021327, + 0.045589224609165334 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.816291809082031, + -14.87664794921875, + 0.06963872909545898 + ], + "box_pose": [ + 15.974132537841797, + -14.881391525268555, + 0.0423920601606369, + 0.3684263229370117, + -0.6097248792648315, + 0.44000622630119324, + -0.5467103719711304 + ], + "box_yaw_rad": -1.7104038242255017, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0023906251892650936, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002700190703300273 + } + }, + { + "simulation_time_ns": 8140000000, + "phase": "straight_push", + "intended_face_center": [ + 15.959418195291418, + -14.894639750514216, + 0.09673208100857801 + ], + "intended_face_normal": [ + -0.037567203319586184, + -0.3386750706585442, + 0.9401532315909833 + ], + "commanded_contact_point": [ + 15.828782920837403, + -14.878349433150927, + 0.04472434675991665 + ], + "centerline_face_intersection": [ + 15.840560045510937, + -14.875904801274453, + 0.04472434675991665 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.820517539978027, + -14.874554634094238, + 0.07032625377178192 + ], + "box_pose": [ + 15.978084564208984, + -14.881576538085938, + 0.04168388992547989, + 0.36935120820999146, + -0.6055682897567749, + 0.4407291114330292, + -0.5501133799552917 + ], + "box_yaw_rad": -1.7008301578614138, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024446318764736923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024687725023815233 + } + }, + { + "simulation_time_ns": 8160000000, + "phase": "straight_push", + "intended_face_center": [ + 15.961431559750837, + -14.894302164033055, + 0.09671893771648585 + ], + "intended_face_normal": [ + -0.03802877445171049, + -0.3349679132753849, + 0.9414617402235947 + ], + "commanded_contact_point": [ + 15.830976371765138, + -14.878313844489778, + 0.04463881891715739 + ], + "centerline_face_intersection": [ + 15.84265541085968, + -14.875772288657343, + 0.04463881891715739 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.82286262512207, + -14.8733491897583, + 0.06686273217201233 + ], + "box_pose": [ + 15.980149269104004, + -14.881396293640137, + 0.04165108501911163, + 0.3711751699447632, + -0.6035062670707703, + 0.4412992596626282, + -0.5506941676139832 + ], + "box_yaw_rad": -1.6963874497946327, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0025415558324353776, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002195406235089124 + } + }, + { + "simulation_time_ns": 8180000000, + "phase": "straight_push", + "intended_face_center": [ + 15.961901969460154, + -14.894083106665567, + 0.09670447834082269 + ], + "intended_face_normal": [ + -0.03850455941733699, + -0.33201995097487824, + 0.9424861382780811 + ], + "commanded_contact_point": [ + 15.83309352874756, + -14.87841259161372, + 0.04456769152186467 + ], + "centerline_face_intersection": [ + 15.843192382058609, + -14.875716307727554, + 0.04456769152186467 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.823739051818848, + -14.871848106384277, + 0.06063765287399292 + ], + "box_pose": [ + 15.98066520690918, + -14.881305694580078, + 0.041622161865234375, + 0.3725492060184479, + -0.6018983125686646, + 0.4418111741542816, + -0.5511155724525452 + ], + "box_yaw_rad": -1.693072980936312, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0026962838861664543, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021206517368643468 + } + }, + { + "simulation_time_ns": 8200000000, + "phase": "straight_push", + "intended_face_center": [ + 15.961747990214025, + -14.893728615958032, + 0.09670538670590849 + ], + "intended_face_normal": [ + -0.040023840937134736, + -0.32848222470270727, + 0.9436617929448623 + ], + "commanded_contact_point": [ + 15.834928398132325, + -14.87849144250913, + 0.044503564599697704 + ], + "centerline_face_intersection": [ + 15.843123518499537, + -14.875557518232998, + 0.044503564599697704 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.823614120483398, + -14.869616508483887, + 0.05609883368015289 + ], + "box_pose": [ + 15.980600357055664, + -14.881156921386719, + 0.04160616546869278, + 0.373239666223526, + -0.6006078124046326, + 0.44322797656059265, + -0.550918698310852 + ], + "box_yaw_rad": -1.692284096835578, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002933924276130923, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018376820685318963 + } + }, + { + "simulation_time_ns": 8220000000, + "phase": "straight_push", + "intended_face_center": [ + 15.961962803113149, + -14.89338704325229, + 0.09672494403283707 + ], + "intended_face_normal": [ + -0.04147090702807077, + -0.32305604953719325, + 0.9454707060024674 + ], + "commanded_contact_point": [ + 15.836478118896485, + -14.878675111042586, + 0.04442305582418928 + ], + "centerline_face_intersection": [ + 15.843456484464907, + -14.875516112634607, + 0.04442305582418928 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.824490547180176, + -14.869889259338379, + 0.05469644069671631 + ], + "box_pose": [ + 15.980916976928711, + -14.881088256835938, + 0.04159907251596451, + 0.3751036524772644, + -0.5981392860412598, + 0.4447125196456909, + -0.5511418581008911 + ], + "box_yaw_rad": -1.6885537751946673, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0031589984079800353, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015626420703362851 + } + }, + { + "simulation_time_ns": 8240000000, + "phase": "straight_push", + "intended_face_center": [ + 15.963829523178914, + -14.89510128323041, + 0.09663938995985402 + ], + "intended_face_normal": [ + -0.03446370144832045, + -0.3305707442056285, + 0.9431517714955966 + ], + "commanded_contact_point": [ + 15.837902908325196, + -14.880111315257793, + 0.04446578140341707 + ], + "centerline_face_intersection": [ + 15.845112062365994, + -14.876814652033136, + 0.04446578140341707 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.825882911682129, + -14.873373031616211, + 0.055656105279922485 + ], + "box_pose": [ + 15.982458114624023, + -14.882149696350098, + 0.04155204817652702, + 0.3775642216205597, + -0.5981635451316833, + 0.43836045265197754, + -0.5545139908790588 + ], + "box_yaw_rad": -1.6769370987369865, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003296663224657052, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020234952283273992 + } + }, + { + "simulation_time_ns": 8260000000, + "phase": "straight_push", + "intended_face_center": [ + 15.965032402157728, + -14.897488821833326, + 0.09660631217276841 + ], + "intended_face_normal": [ + -0.027380412535293885, + -0.34063671251984573, + 0.9397962032350193 + ], + "commanded_contact_point": [ + 15.839154129028321, + -14.881916326531256, + 0.0446183281469774 + ], + "centerline_face_intersection": [ + 15.846056214717644, + -14.87864535778429, + 0.0446183281469774 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.82634449005127, + -14.879287719726562, + 0.05579213798046112 + ], + "box_pose": [ + 15.983316421508789, + -14.883764266967773, + 0.04159073159098625, + 0.37878525257110596, + -0.5993098020553589, + 0.43151289224624634, + -0.5578047037124634 + ], + "box_yaw_rad": -1.667510288378508, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003270968746966147, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002201565228247483 + } + }, + { + "simulation_time_ns": 8280000000, + "phase": "straight_push", + "intended_face_center": [ + 15.966050179824405, + -14.899282690664378, + 0.09657461191575913 + ], + "intended_face_normal": [ + -0.022056802748146254, + -0.341136589714079, + 0.9397548713505373 + ], + "commanded_contact_point": [ + 15.840907936096192, + -14.883328327234308, + 0.04458891430200385 + ], + "centerline_face_intersection": [ + 15.846946446676556, + -14.880411574229115, + 0.04458891430200385 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.826452255249023, + -14.889266967773438, + 0.05058690905570984 + ], + "box_pose": [ + 15.984119415283203, + -14.885262489318848, + 0.04156262055039406, + 0.3834889829158783, + -0.5962686538696289, + 0.4270455539226532, + -0.5612770318984985 + ], + "box_yaw_rad": -1.651551132625452, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0029167530051932285, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002251766060453474 + } + }, + { + "simulation_time_ns": 8300000000, + "phase": "straight_push", + "intended_face_center": [ + 15.966777591883691, + -14.9007172860411, + 0.09655957984555463 + ], + "intended_face_normal": [ + -0.01773736305127116, + -0.34161862076376437, + 0.9396713475548175 + ], + "commanded_contact_point": [ + 15.843584899902345, + -14.884133297570527, + 0.04457850263113988 + ], + "centerline_face_intersection": [ + 15.847545327510266, + -14.881819504439042, + 0.04457850263113988 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.826608657836914, + -14.896893501281738, + 0.048608750104904175 + ], + "box_pose": [ + 15.984667778015137, + -14.886456489562988, + 0.0415509007871151, + 0.3871796429157257, + -0.5938898324966431, + 0.4234177768230438, + -0.5640073418617249 + ], + "box_yaw_rad": -1.6389308176366928, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0023137931314853684, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002795392792530646 + } + }, + { + "simulation_time_ns": 8320000000, + "phase": "straight_push", + "intended_face_center": [ + 15.96842923133566, + -14.901782232550373, + 0.09657439459125623 + ], + "intended_face_normal": [ + -0.014362521190363964, + -0.34192565538600483, + 0.9396173786545532 + ], + "commanded_contact_point": [ + 15.846655731201173, + -14.884600152721237, + 0.04459630284785654 + ], + "centerline_face_intersection": [ + 15.849075548053785, + -14.882867466296767, + 0.04459630284785654 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.828433990478516, + -14.897395133972168, + 0.05024917423725128 + ], + "box_pose": [ + 15.98617172241211, + -14.887354850769043, + 0.0415613129734993, + 0.38982322812080383, + -0.5923264026641846, + 0.4208028316497803, + -0.5657848119735718 + ], + "box_yaw_rad": -1.630270661423821, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017326864244693492, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0031061673241025755 + } + }, + { + "simulation_time_ns": 8340000000, + "phase": "straight_push", + "intended_face_center": [ + 15.972078731556042, + -14.901349415337341, + 0.09667234622859547 + ], + "intended_face_normal": [ + -0.015500663506287538, + -0.342001765570096, + 0.9395714761267158 + ], + "commanded_contact_point": [ + 15.849489097595216, + -14.883760345821184, + 0.044696793737722805 + ], + "centerline_face_intersection": [ + 15.852739471839593, + -14.882430438793227, + 0.044696793737722805 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.832433700561523, + -14.892499923706055, + 0.05385679006576538 + ], + "box_pose": [ + 15.989850997924805, + -14.887027740478516, + 0.041641268879175186, + 0.3880811333656311, + -0.5939629077911377, + 0.4223649501800537, + -0.5641001462936401 + ], + "box_yaw_rad": -1.6372228115596992, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013299070279562382, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002956913791644186 + } + }, + { + "simulation_time_ns": 8360000000, + "phase": "straight_push", + "intended_face_center": [ + 15.977884239109708, + -14.900196304409636, + 0.09731012786509895 + ], + "intended_face_normal": [ + -0.015398746700348909, + -0.3422432215361333, + 0.9394852267789773 + ], + "commanded_contact_point": [ + 15.852005844116212, + -14.882314651626054, + 0.04533934654663263 + ], + "centerline_face_intersection": [ + 15.858387341124727, + -14.881263970917642, + 0.04533934654663263 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.838190078735352, + -14.88824462890625, + 0.05895523726940155 + ], + "box_pose": [ + 15.995553016662598, + -14.886139869689941, + 0.04217743128538132, + 0.38428249955177307, + -0.5990127325057983, + 0.4256822168827057, + -0.5588428974151611 + ], + "box_yaw_rad": -1.6560905866855469, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001050680708411917, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0029726955560596792 + } + }, + { + "simulation_time_ns": 8380000000, + "phase": "straight_push", + "intended_face_center": [ + 15.983161791488904, + -14.899114263325723, + 0.09690042317667114 + ], + "intended_face_normal": [ + -0.024414278950064983, + -0.3417284234894815, + 0.9394816535943242 + ], + "commanded_contact_point": [ + 15.854389076232911, + -14.881065795218504, + 0.044929839520917246 + ], + "centerline_face_intersection": [ + 15.863997247600054, + -14.880210407617032, + 0.044929839520917246 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.843743324279785, + -14.885092735290527, + 0.06236426532268524 + ], + "box_pose": [ + 16.00126075744629, + -14.885355949401855, + 0.041832100600004196, + 0.3787267506122589, + -0.6009765267372131, + 0.43093135952949524, + -0.5564993619918823 + ], + "box_yaw_rad": -1.670746125522828, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000855387601472088, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00272160497737177 + } + }, + { + "simulation_time_ns": 8400000000, + "phase": "straight_push", + "intended_face_center": [ + 15.988225608915547, + -14.89793205938625, + 0.09674808139811766 + ], + "intended_face_normal": [ + -0.032627265058415844, + -0.3346677097816766, + 0.9417713681969886 + ], + "commanded_contact_point": [ + 15.856710319519044, + -14.880148271926688, + 0.04465083448731213 + ], + "centerline_face_intersection": [ + 15.869381512769687, + -14.87941879077526, + 0.04465083448731213 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.849177360534668, + -14.882566452026367, + 0.06198696792125702 + ], + "box_pose": [ + 16.00673484802246, + -14.884772300720215, + 0.041669830679893494, + 0.37634849548339844, + -0.6002089381217957, + 0.437067449092865, + -0.5541509985923767 + ], + "box_yaw_rad": -1.6799102917501176, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007294811514277906, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002511545976728122 + } + }, + { + "simulation_time_ns": 8420000000, + "phase": "straight_push", + "intended_face_center": [ + 15.993305717574513, + -14.895777999030216, + 0.09691432099701494 + ], + "intended_face_normal": [ + -0.04488246762698722, + -0.3097149247366584, + 0.9497696007560954 + ], + "commanded_contact_point": [ + 15.858672027587891, + -14.879315512557689, + 0.044374624983855 + ], + "centerline_face_intersection": [ + 15.875043354912636, + -14.878645077547525, + 0.044374624983855 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.85486125946045, + -14.880121231079102, + 0.059915691614151 + ], + "box_pose": [ + 16.01248550415039, + -14.884186744689941, + 0.04171321541070938, + 0.37916192412376404, + -0.5927894711494446, + 0.4487524628639221, + -0.5508703589439392 + ], + "box_yaw_rad": -1.6821594082980982, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.000670435010164709, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002148971475808185 + } + }, + { + "simulation_time_ns": 8440000000, + "phase": "straight_push", + "intended_face_center": [ + 15.99742575262562, + -14.893592762816562, + 0.09711238148076397 + ], + "intended_face_normal": [ + -0.05429766067404884, + -0.285095612695903, + 0.9569599519162395 + ], + "commanded_contact_point": [ + 15.860317115783692, + -14.878488697677575, + 0.0441749270387376 + ], + "centerline_face_intersection": [ + 15.879652566852434, + -14.877821741282704, + 0.0441749270387376 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.859504699707031, + -14.877908706665039, + 0.05747206509113312 + ], + "box_pose": [ + 16.01714515686035, + -14.883443832397461, + 0.04181746393442154, + 0.3837955892086029, + -0.5844904780387878, + 0.4584246277809143, + -0.548560619354248 + ], + "box_yaw_rad": -1.6792019805450686, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006669563948712915, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018519765892754834 + } + }, + { + "simulation_time_ns": 8460000000, + "phase": "straight_push", + "intended_face_center": [ + 15.999654368107777, + -14.892986941738668, + 0.09711889180182755 + ], + "intended_face_normal": [ + -0.05351335798109602, + -0.283590377436461, + 0.9574512394441967 + ], + "commanded_contact_point": [ + 15.86191261291504, + -14.877995054292759, + 0.0441542601398171 + ], + "centerline_face_intersection": [ + 15.881911315161183, + -14.877299187349701, + 0.0441542601398171 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.861824035644531, + -14.87657642364502, + 0.05511663854122162 + ], + "box_pose": [ + 16.019363403320312, + -14.882832527160645, + 0.04182128608226776, + 0.3857472538948059, + -0.5827580094337463, + 0.4576066732406616, + -0.549716591835022 + ], + "box_yaw_rad": -1.6733234233371004, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0006958669430585469, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001670246092114079 + } + }, + { + "simulation_time_ns": 8480000000, + "phase": "straight_push", + "intended_face_center": [ + 15.999991035740647, + -14.892912549816788, + 0.0971172332169661 + ], + "intended_face_normal": [ + -0.05333923755812009, + -0.28348923421297023, + 0.9574909638602733 + ], + "commanded_contact_point": [ + 15.863517646789552, + -14.877976181686419, + 0.04415040406543472 + ], + "centerline_face_intersection": [ + 15.882253142531154, + -14.877230390504996, + 0.04415040406543472 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.862537384033203, + -14.875982284545898, + 0.05416455864906311 + ], + "box_pose": [ + 16.019697189331055, + -14.882744789123535, + 0.04182104766368866, + 0.3860936760902405, + -0.5824524164199829, + 0.45736971497535706, + -0.5499944686889648 + ], + "box_yaw_rad": -1.6721161573778265, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0007457911814224611, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016051494581221413 + } + }, + { + "simulation_time_ns": 8500000000, + "phase": "straight_push", + "intended_face_center": [ + 15.999990029053418, + -14.892940666510937, + 0.09711384065205339 + ], + "intended_face_normal": [ + -0.05335647094171847, + -0.28377740720871536, + 0.9574046465762933 + ], + "commanded_contact_point": [ + 15.864945297241212, + -14.878092135993835, + 0.044151786431049785 + ], + "centerline_face_intersection": [ + 15.882253062168997, + -14.87724256594183, + 0.044151786431049785 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860335350036621, + -14.874648094177246, + 0.0535307377576828 + ], + "box_pose": [ + 16.019697189331055, + -14.882756233215332, + 0.041821081191301346, + 0.3860072195529938, + -0.5825157761573792, + 0.45728516578674316, + -0.5500583648681641 + ], + "box_yaw_rad": -1.6721179628738774, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0008495700520057876, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0014323523045914831 + } + }, + { + "simulation_time_ns": 8520000000, + "phase": "straight_push", + "intended_face_center": [ + 15.99998927900837, + -14.892963035588602, + 0.09711039799719598 + ], + "intended_face_normal": [ + -0.05336962557714031, + -0.28401655155009564, + 0.957332987269659 + ], + "commanded_contact_point": [ + 15.866815452575684, + -14.878313376402309, + 0.04415230785146293 + ], + "centerline_face_intersection": [ + 15.882252980351307, + -14.8772517059469, + 0.04415230785146293 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.855249404907227, + -14.871949195861816, + 0.05290856957435608 + ], + "box_pose": [ + 16.019697189331055, + -14.88276481628418, + 0.04182044789195061, + 0.3859350085258484, + -0.5825695395469666, + 0.4572153687477112, + -0.5501101016998291 + ], + "box_yaw_rad": -1.6721231053435552, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010616704554091423, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018831963692820903 + } + }, + { + "simulation_time_ns": 8540000000, + "phase": "straight_push", + "intended_face_center": [ + 15.999985087699637, + -14.892976153294857, + 0.09710767184543087 + ], + "intended_face_normal": [ + -0.053409384306508656, + -0.284145070788588, + 0.9572925146832247 + ], + "commanded_contact_point": [ + 15.869139556884766, + -14.878607447108593, + 0.04415182057677541 + ], + "centerline_face_intersection": [ + 15.882250831240583, + -14.877257714179743, + 0.04415182057677541 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.853280067443848, + -14.87005615234375, + 0.05496792495250702 + ], + "box_pose": [ + 16.019695281982422, + -14.882770538330078, + 0.04181991145014763, + 0.3858881890773773, + -0.5825892090797424, + 0.4571846127510071, + -0.550147533416748 + ], + "box_yaw_rad": -1.6721164075225237, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0013497329288488652, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023426349816444945 + } + }, + { + "simulation_time_ns": 8560000000, + "phase": "straight_push", + "intended_face_center": [ + 15.999977498405757, + -14.892979795909396, + 0.09710577957837505 + ], + "intended_face_normal": [ + -0.053474802442813996, + -0.2841753991578706, + 0.9572799925380622 + ], + "commanded_contact_point": [ + 15.871465568542481, + -14.878861733069574, + 0.044150621014244704 + ], + "centerline_face_intersection": [ + 15.88224667672199, + -14.877259679078653, + 0.044150621014244704 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.8560152053833, + -14.870951652526855, + 0.05750150978565216 + ], + "box_pose": [ + 16.019691467285156, + -14.882772445678711, + 0.04181967303156853, + 0.38586363196372986, + -0.5825780034065247, + 0.45718875527381897, + -0.5501733422279358 + ], + "box_yaw_rad": -1.6720981096646277, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0016020539909207792, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00233987029997983 + } + }, + { + "simulation_time_ns": 8580000000, + "phase": "straight_push", + "intended_face_center": [ + 15.99997375766385, + -14.892988604576782, + 0.09710466877923771 + ], + "intended_face_normal": [ + -0.05350662658772265, + -0.28426197040420753, + 0.9572523858361528 + ], + "commanded_contact_point": [ + 15.873502616882325, + -14.879084627124339, + 0.044151037372562284 + ], + "centerline_face_intersection": [ + 15.882244576703604, + -14.877263698766733, + 0.044151037372562284 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860864639282227, + -14.87179183959961, + 0.06196589767932892 + ], + "box_pose": [ + 16.019689559936523, + -14.882776260375977, + 0.04182014986872673, + 0.3858310580253601, + -0.5825895667076111, + 0.45716890692710876, + -0.5502002835273743 + ], + "box_yaw_rad": -1.6720911654887913, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0018209283576057084, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0020492066445002887 + } + }, + { + "simulation_time_ns": 8600000000, + "phase": "straight_push", + "intended_face_center": [ + 16.002510864246872, + -14.893687085187858, + 0.0971387888117983 + ], + "intended_face_normal": [ + -0.04788279789640981, + -0.29805298874907393, + 0.9533476162038674 + ], + "commanded_contact_point": [ + 15.875553970336915, + -14.879278737657248, + 0.044401162854569104 + ], + "centerline_face_intersection": [ + 15.884455381433828, + -14.877199282870093, + 0.044401162854569104 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.86478328704834, + -14.870736122131348, + 0.06415164470672607 + ], + "box_pose": [ + 16.021886825561523, + -14.882715225219727, + 0.04187963902950287, + 0.38264670968055725, + -0.5881577134132385, + 0.4522775709629059, + -0.5505424737930298 + ], + "box_yaw_rad": -1.6768915545890315, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002079454787155512, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002075642708028828 + } + }, + { + "simulation_time_ns": 8620000000, + "phase": "straight_push", + "intended_face_center": [ + 16.004158046422514, + -14.895152670641764, + 0.0969314480440941 + ], + "intended_face_normal": [ + -0.040648379767620924, + -0.31753778750588246, + 0.9473739774392875 + ], + "commanded_contact_point": [ + 15.877837066650391, + -14.880022888637631, + 0.04452427398228629 + ], + "centerline_face_intersection": [ + 15.885711026301808, + -14.877587001225761, + 0.04452427398228629 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.866289138793945, + -14.86867618560791, + 0.06168149411678314 + ], + "box_pose": [ + 16.023113250732422, + -14.883049964904785, + 0.041762545704841614, + 0.3786850869655609, + -0.5948746800422668, + 0.4447793960571289, + -0.5521711707115173 + ], + "box_yaw_rad": -1.6801659432231153, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0024358874118695435, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0024044637256533854 + } + }, + { + "simulation_time_ns": 8640000000, + "phase": "straight_push", + "intended_face_center": [ + 16.004714582720755, + -14.896654465797061, + 0.09674438204555469 + ], + "intended_face_normal": [ + -0.03504596078369815, + -0.33269022096976286, + 0.9423847604446678 + ], + "commanded_contact_point": [ + 15.880202178955079, + -14.880923883307455, + 0.04461320328200904 + ], + "centerline_face_intersection": [ + 15.885957101576931, + -14.878250588622652, + 0.04461320328200904 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.863524436950684, + -14.872315406799316, + 0.05520574748516083 + ], + "box_pose": [ + 16.02334213256836, + -14.88366985321045, + 0.04166446253657341, + 0.3755333125591278, + -0.6000929474830627, + 0.43889591097831726, + -0.5533837676048279 + ], + "box_yaw_rad": -1.6829623302259584, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0026732946848029822, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025324802129895875 + } + }, + { + "simulation_time_ns": 8660000000, + "phase": "straight_push", + "intended_face_center": [ + 16.0049532511793, + -14.897389478265811, + 0.09666696445366005 + ], + "intended_face_normal": [ + -0.032628235034710684, + -0.34000411338364067, + 0.9398577582658163 + ], + "commanded_contact_point": [ + 15.88291919708252, + -14.881245833080149, + 0.04467557530455957 + ], + "centerline_face_intersection": [ + 15.886060855205047, + -14.878581008563076, + 0.04467557530455957 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.860595703125, + -14.878792762756348, + 0.049513429403305054 + ], + "box_pose": [ + 16.023439407348633, + -14.883976936340332, + 0.04164198040962219, + 0.3739449083805084, + -0.6025025248527527, + 0.4360769987106323, + -0.5540692806243896 + ], + "box_yaw_rad": -1.6841870601920395, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002664824517072119, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027367370042040698 + } + }, + { + "simulation_time_ns": 8680000000, + "phase": "straight_push", + "intended_face_center": [ + 16.004897727659422, + -14.897272000009115, + 0.09663746796711922 + ], + "intended_face_normal": [ + -0.03318324816338958, + -0.33883797283716, + 0.940259388497406 + ], + "commanded_contact_point": [ + 15.886138801574708, + -14.881139855432854, + 0.04462386129256772 + ], + "centerline_face_intersection": [ + 15.886036727071263, + -14.878528039288106, + 0.04462386129256772 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.86274242401123, + -14.879853248596191, + 0.047838062047958374 + ], + "box_pose": [ + 16.02341651916504, + -14.883927345275879, + 0.041606951504945755, + 0.37416499853134155, + -0.6020616888999939, + 0.43655648827552795, + -0.5540223121643066 + ], + "box_yaw_rad": -1.6838978796462984, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002611816144748715, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003221763288461188 + } + }, + { + "simulation_time_ns": 8700000000, + "phase": "straight_push", + "intended_face_center": [ + 16.005929975150373, + -14.89631631266, + 0.09666269646693171 + ], + "intended_face_normal": [ + -0.03867212891216809, + -0.33285480876203444, + 0.9421847529897391 + ], + "commanded_contact_point": [ + 15.889722709655763, + -14.880610909650672, + 0.044542581787637606 + ], + "centerline_face_intersection": [ + 15.887240401476975, + -14.877903330758963, + 0.044542581787637606 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.86780834197998, + -14.875509262084961, + 0.04671700298786163 + ], + "box_pose": [ + 16.024707794189453, + -14.883478164672852, + 0.04159947484731674, + 0.37243518233299255, + -0.6018333435058594, + 0.44143474102020264, + -0.5515650510787964 + ], + "box_yaw_rad": -1.6922340882732325, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0027075788917088057, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0036236427986018932 + } + }, + { + "simulation_time_ns": 8720000000, + "phase": "straight_push", + "intended_face_center": [ + 16.009613144455212, + -14.893571008299235, + 0.0968544853605148 + ], + "intended_face_normal": [ + -0.05503186731712617, + -0.30952562808754003, + 0.9492972929891152 + ], + "commanded_contact_point": [ + 15.893072013854981, + -14.879373495822891, + 0.044340916638102044 + ], + "centerline_face_intersection": [ + 15.89139819462584, + -14.87644855839659, + 0.044340916638102044 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.87257194519043, + -14.871014595031738, + 0.04475986957550049 + ], + "box_pose": [ + 16.02916717529297, + -14.882522583007812, + 0.04167337343096733, + 0.36909088492393494, + -0.5991291999816895, + 0.4571751356124878, + -0.5438814163208008 + ], + "box_yaw_rad": -1.7144726852759546, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0029249374263028466, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0035762690660273723 + } + }, + { + "simulation_time_ns": 8740000000, + "phase": "straight_push", + "intended_face_center": [ + 16.01484669521064, + -14.892336620608063, + 0.0969075885419749 + ], + "intended_face_normal": [ + -0.060806562480117066, + -0.30415703269885874, + 0.9506791882673333 + ], + "commanded_contact_point": [ + 15.89554298400879, + -14.878716202566922, + 0.04431757564006661 + ], + "centerline_face_intersection": [ + 15.8966596039512, + -14.875511152593988, + 0.04431757564006661 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.877799987792969, + -14.868508338928223, + 0.05113716423511505 + ], + "box_pose": [ + 16.03462791442871, + -14.881850242614746, + 0.04169779270887375, + 0.3655085861682892, + -0.600557804107666, + 0.4629524350166321, + -0.5398228764533997 + ], + "box_yaw_rad": -1.7292173183561106, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0032050499729334796, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0025570046397190484 + } + }, + { + "simulation_time_ns": 8760000000, + "phase": "straight_push", + "intended_face_center": [ + 16.01989516520133, + -14.892849895509007, + 0.09675992048919729 + ], + "intended_face_normal": [ + -0.05656166858300793, + -0.32031618765378056, + 0.9456205873052497 + ], + "commanded_contact_point": [ + 15.897876625061036, + -14.878506244130943, + 0.04444974109279199 + ], + "centerline_face_intersection": [ + 15.901396983026796, + -14.875130529555383, + 0.04444974109279199 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.881770133972168, + -14.870863914489746, + 0.05830976366996765 + ], + "box_pose": [ + 16.039400100708008, + -14.881488800048828, + 0.04162494093179703, + 0.36095625162124634, + -0.6068403124809265, + 0.4577690362930298, + -0.5402804017066956 + ], + "box_yaw_rad": -1.7361117247391322, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033757145755589583, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023467915997082626 + } + }, + { + "simulation_time_ns": 8780000000, + "phase": "straight_push", + "intended_face_center": [ + 16.024605043897086, + -14.894810288736538, + 0.09717364365971629 + ], + "intended_face_normal": [ + -0.042156823549390765, + -0.3391243510509341, + 0.9397964697297851 + ], + "commanded_contact_point": [ + 15.900297050476075, + -14.87944422561407, + 0.045185644891872066 + ], + "centerline_face_intersection": [ + 15.905578453426836, + -14.876050486042608, + 0.045185644891872066 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.885394096374512, + -14.87559986114502, + 0.06239335238933563 + ], + "box_pose": [ + 16.04336929321289, + -14.882122039794922, + 0.04207106679677963, + 0.3623585104942322, + -0.6114661693572998, + 0.446244478225708, + -0.5437566041946411 + ], + "box_yaw_rad": -1.7268251617442054, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033937395714625034, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.00269811468510118 + } + }, + { + "simulation_time_ns": 8800000000, + "phase": "straight_push", + "intended_face_center": [ + 16.029394767947974, + -14.896303106759474, + 0.0980718195418909 + ], + "intended_face_normal": [ + -0.027462756121948928, + -0.34121547423146126, + 0.9395837398707414 + ], + "commanded_contact_point": [ + 15.902988319396973, + -14.8807814472703, + 0.04609558864082004 + ], + "centerline_face_intersection": [ + 15.909869124109525, + -14.877427626562133, + 0.04609558864082004 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.889745712280273, + -14.878425598144531, + 0.0665612667798996 + ], + "box_pose": [ + 16.04743003845215, + -14.883182525634766, + 0.04282725974917412, + 0.3696705102920532, + -0.6107324957847595, + 0.43901705741882324, + -0.5455395579338074 + ], + "box_yaw_rad": -1.7111404372971688, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033538207081665653, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003139918436636653 + } + }, + { + "simulation_time_ns": 8820000000, + "phase": "straight_push", + "intended_face_center": [ + 16.03475379425122, + -14.897106812950344, + 0.09862589432476851 + ], + "intended_face_normal": [ + -0.01882550323594856, + -0.3422938366801951, + 0.9394044443579439 + ], + "commanded_contact_point": [ + 15.905599479675294, + -14.881503823088734, + 0.04665958175729288 + ], + "centerline_face_intersection": [ + 15.914894910858035, + -14.878171679511626, + 0.04665958175729288 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.895072937011719, + -14.878713607788086, + 0.06945125758647919 + ], + "box_pose": [ + 16.052350997924805, + -14.88375473022461, + 0.04329557344317436, + 0.37374094128608704, + -0.6105257272720337, + 0.4349376857280731, + -0.5462649464607239 + ], + "box_yaw_rad": -1.702946680090046, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0033321435771081548, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0027673223624226514 + } + }, + { + "simulation_time_ns": 8840000000, + "phase": "straight_push", + "intended_face_center": [ + 16.038654028581895, + -14.897358332885556, + 0.09757907628999353 + ], + "intended_face_normal": [ + -0.02675577554134634, + -0.3414820700546386, + 0.9395073540780459 + ], + "commanded_contact_point": [ + 15.90787208557129, + -14.881859283797702, + 0.045607070925647315 + ], + "centerline_face_intersection": [ + 15.919310110678225, + -14.878468105044686, + 0.045607070925647315 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.899287223815918, + -14.876992225646973, + 0.07007881999015808 + ], + "box_pose": [ + 16.05674171447754, + -14.883995056152344, + 0.04240987077355385, + 0.37296736240386963, + -0.6069827079772949, + 0.4360668659210205, + -0.5498299598693848 + ], + "box_yaw_rad": -1.6958142953664266, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003391178753016674, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002529598569905496 + } + }, + { + "simulation_time_ns": 8860000000, + "phase": "straight_push", + "intended_face_center": [ + 16.040108192623848, + -14.897012412810565, + 0.09676475103712193 + ], + "intended_face_normal": [ + -0.03530511702771122, + -0.3347245360406177, + 0.9416544831442692 + ], + "commanded_contact_point": [ + 15.910063629150391, + -14.881978267612695, + 0.044673970015657836 + ], + "centerline_face_intersection": [ + 15.921302395494948, + -14.878496000664166, + 0.044673970015657836 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.901525497436523, + -14.876218795776367, + 0.06671591103076935 + ], + "box_pose": [ + 16.0587215423584, + -14.883983612060547, + 0.041690461337566376, + 0.37382423877716064, + -0.601815402507782, + 0.43919605016708374, + -0.5524315237998962 + ], + "box_yaw_rad": -1.6880386159443137, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0034822669485286175, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0023848894556257076 + } + }, + { + "simulation_time_ns": 8880000000, + "phase": "straight_push", + "intended_face_center": [ + 16.040418118550857, + -14.896310748478669, + 0.09680895589309091 + ], + "intended_face_normal": [ + -0.03829985615732312, + -0.32507921485648694, + 0.9449108471781074 + ], + "commanded_contact_point": [ + 15.912169342041016, + -14.881929473406386, + 0.04453803815603828 + ], + "centerline_face_intersection": [ + 15.921822474689696, + -14.87832789967496, + 0.04453803815603828 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.90221881866455, + -14.875345230102539, + 0.06050573289394379 + ], + "box_pose": [ + 16.059226989746094, + -14.883792877197266, + 0.04168263077735901, + 0.37668943405151367, + -0.5977571606636047, + 0.442227840423584, + -0.5524725317955017 + ], + "box_yaw_rad": -1.6829551437761034, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003601573731425488, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021106598785150745 + } + }, + { + "simulation_time_ns": 8900000000, + "phase": "straight_push", + "intended_face_center": [ + 16.040066292071067, + -14.895462470968297, + 0.09684686692515855 + ], + "intended_face_normal": [ + -0.0418375912444624, + -0.31653075072516046, + 0.9476592621478197 + ], + "commanded_contact_point": [ + 15.91398609161377, + -14.88172906040939, + 0.04442391138134547 + ], + "centerline_face_intersection": [ + 15.921666041848658, + -14.877952509174744, + 0.04442391138134547 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.902090072631836, + -14.873578071594238, + 0.05576147139072418 + ], + "box_pose": [ + 16.05908203125, + -14.883440971374512, + 0.04168103262782097, + 0.37837931513786316, + -0.5946882367134094, + 0.4456048905849457, + -0.5519161224365234 + ], + "box_yaw_rad": -1.6812219144584, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0037765512346457078, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001831329926629349 + } + }, + { + "simulation_time_ns": 8920000000, + "phase": "straight_push", + "intended_face_center": [ + 16.040469534798127, + -14.89465817552834, + 0.0969002317741067 + ], + "intended_face_normal": [ + -0.04555071158015167, + -0.3038324809560997, + 0.9516360130778203 + ], + "commanded_contact_point": [ + 15.915512924194337, + -14.881781979832986, + 0.04425728889355853 + ], + "centerline_face_intersection": [ + 15.922337893744345, + -14.877850661184176, + 0.04425728889355853 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.903020858764648, + -14.873981475830078, + 0.05413249135017395 + ], + "box_pose": [ + 16.059734344482422, + -14.88328742980957, + 0.04168286919593811, + 0.38243338465690613, + -0.5890901684761047, + 0.44925323128700256, + -0.5521676540374756 + ], + "box_yaw_rad": -1.6736445830415088, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003931318648809636, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0015368087870353997 + } + }, + { + "simulation_time_ns": 8940000000, + "phase": "straight_push", + "intended_face_center": [ + 16.04230497472452, + -14.895777849994559, + 0.09689839223400264 + ], + "intended_face_normal": [ + -0.04063856647175612, + -0.3054763452324636, + 0.9513320628909554 + ], + "commanded_contact_point": [ + 15.916923408508302, + -14.882870679571829, + 0.04427226337909638 + ], + "centerline_face_intersection": [ + 15.924079317137513, + -14.87887939977574, + 0.04427226337909638 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.904489517211914, + -14.87738037109375, + 0.05493864417076111 + ], + "box_pose": [ + 16.06137466430664, + -14.88406753540039, + 0.04168427735567093, + 0.3865503668785095, + -0.5866420865058899, + 0.44479280710220337, + -0.5555080771446228 + ], + "box_yaw_rad": -1.659178619643245, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003991279796089202, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017818410020293705 + } + }, + { + "simulation_time_ns": 8960000000, + "phase": "straight_push", + "intended_face_center": [ + 16.04363928405691, + -14.898054510543666, + 0.09675744032527606 + ], + "intended_face_normal": [ + -0.03203283540427648, + -0.3204530131458849, + 0.9467227351654195 + ], + "commanded_contact_point": [ + 15.91817367553711, + -14.884216254103832, + 0.04438629191755603 + ], + "centerline_face_intersection": [ + 15.925032320864375, + -14.880327575628312, + 0.04438629191755603 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905031204223633, + -14.882892608642578, + 0.055120959877967834 + ], + "box_pose": [ + 16.062257766723633, + -14.885335922241211, + 0.0416124165058136, + 0.38606199622154236, + -0.590234100818634, + 0.43672603368759155, + -0.5584356188774109 + ], + "box_yaw_rad": -1.6535026090471163, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.003888678475518574, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0018403100206444136 + } + }, + { + "simulation_time_ns": 8980000000, + "phase": "straight_push", + "intended_face_center": [ + 16.044902609098454, + -14.900723234867856, + 0.09658570036803935 + ], + "intended_face_normal": [ + -0.022296376821287822, + -0.3406097889759785, + 0.9399403129828556 + ], + "commanded_contact_point": [ + 15.919924621582032, + -14.885344047710593, + 0.04458974442744096 + ], + "centerline_face_intersection": [ + 15.925809994002222, + -14.881881260185093, + 0.04458974442744096 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905096054077148, + -14.892528533935547, + 0.050179556012153625 + ], + "box_pose": [ + 16.062984466552734, + -14.886737823486328, + 0.041568998247385025, + 0.38353827595710754, + -0.5961477756500244, + 0.4273096024990082, + -0.5611708164215088 + ], + "box_yaw_rad": -1.6517091479523454, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0034627875255004168, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002092635514239683 + } + }, + { + "simulation_time_ns": 9000000000, + "phase": "straight_push", + "intended_face_center": [ + 16.045577920730143, + -14.90207122821292, + 0.09657933665302337 + ], + "intended_face_normal": [ + -0.018694248165576965, + -0.3413924396205612, + 0.9397348515053245 + ], + "commanded_contact_point": [ + 15.922589187622071, + -14.885986880860463, + 0.04459474650425841 + ], + "centerline_face_intersection": [ + 15.926377235804123, + -14.883185958580606, + 0.04459474650425841 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.905238151550293, + -14.89973258972168, + 0.04845327138900757 + ], + "box_pose": [ + 16.063508987426758, + -14.88786792755127, + 0.04156910628080368, + 0.3864392042160034, + -0.5943397879600525, + 0.4242269694805145, + -0.5634326338768005 + ], + "box_yaw_rad": -1.6415301388767785, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.002800922279857474, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002741016537905918 + } + }, + { + "simulation_time_ns": 9020000000, + "phase": "straight_push", + "intended_face_center": [ + 16.047238530623247, + -14.903004564859504, + 0.09658999868206017 + ], + "intended_face_normal": [ + -0.015665455200263523, + -0.3417039411927121, + 0.9396772246731899 + ], + "commanded_contact_point": [ + 15.92565715789795, + -14.886279137992162, + 0.044608596355099714 + ], + "centerline_face_intersection": [ + 15.927930934155759, + -14.884102063471303, + 0.044608596355099714 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.907108306884766, + -14.899698257446289, + 0.050238385796546936 + ], + "box_pose": [ + 16.06503677368164, + -14.888651847839355, + 0.041575394570827484, + 0.38877904415130615, + -0.5929833650588989, + 0.42189913988113403, + -0.5649981498718262 + ], + "box_yaw_rad": -1.6338973725879695, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0021770745208580422, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030818902743403676 + } + }, + { + "simulation_time_ns": 9040000000, + "phase": "straight_push", + "intended_face_center": [ + 16.050942431434898, + -14.902442736744106, + 0.09668250755371871 + ], + "intended_face_normal": [ + -0.017151392503819807, + -0.34174776329911616, + 0.939635217045609 + ], + "commanded_contact_point": [ + 15.92848861694336, + -14.885284913782291, + 0.04470342901979352 + ], + "centerline_face_intersection": [ + 15.931657532274958, + -14.883537811188878, + 0.04470342901979352 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.9111909866333, + -14.894287109375, + 0.05392250418663025 + ], + "box_pose": [ + 16.068784713745117, + -14.888214111328125, + 0.0416499488055706, + 0.3867413401603699, + -0.5948019623756409, + 0.4237419664859772, + -0.5631026029586792 + ], + "box_yaw_rad": -1.64183205809894, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0017471025934131744, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.003002438232440554 + } + }, + { + "simulation_time_ns": 9060000000, + "phase": "straight_push", + "intended_face_center": [ + 16.05691303226805, + -14.90113098628552, + 0.09734814566241479 + ], + "intended_face_normal": [ + -0.0172981265959109, + -0.34204962323228116, + 0.9395226885061376 + ], + "commanded_contact_point": [ + 15.931010131835938, + -14.883662335148369, + 0.04537529202266596 + ], + "centerline_face_intersection": [ + 15.937458159305463, + -14.882209362334054, + 0.04537529202266596 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.917113304138184, + -14.889562606811523, + 0.05902920663356781 + ], + "box_pose": [ + 16.074655532836914, + -14.887189865112305, + 0.042209845036268234, + 0.38249972462654114, + -0.6002484560012817, + 0.42739811539649963, + -0.5574285984039307 + ], + "box_yaw_rad": -1.662381624503254, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0014529728143143927, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0030728160816071225 + } + }, + { + "simulation_time_ns": 9080000000, + "phase": "straight_push", + "intended_face_center": [ + 16.06239084629125, + -14.899892115959494, + 0.09700548988149237 + ], + "intended_face_normal": [ + -0.026284698996946076, + -0.341514538620423, + 0.9395088671068521 + ], + "commanded_contact_point": [ + 15.93342197418213, + -14.882251135827362, + 0.045033400818875045 + ], + "centerline_face_intersection": [ + 15.943232374604014, + -14.881000092010837, + 0.045033400818875045 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.922857284545898, + -14.886048316955566, + 0.062461331486701965 + ], + "box_pose": [ + 16.080549240112305, + -14.88627815246582, + 0.04192086681723595, + 0.37653928995132446, + -0.6027158498764038, + 0.43296754360198975, + -0.5545185804367065 + ], + "box_yaw_rad": -1.6789878638185627, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.001251043816525197, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0028152009913542395 + } + }, + { + "simulation_time_ns": 9100000000, + "phase": "straight_push", + "intended_face_center": [ + 16.06749714354599, + -14.898736996283894, + 0.09672321555878885 + ], + "intended_face_normal": [ + -0.03494781571925998, + -0.3362435509546593, + 0.9411263974724413 + ], + "commanded_contact_point": [ + 15.935781364440919, + -14.881258359192149, + 0.0446616473702525 + ], + "centerline_face_intersection": [ + 15.948659986756152, + -14.880136554724722, + 0.0446616473702525 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.928353309631348, + -14.883367538452148, + 0.06195293366909027 + ], + "box_pose": [ + 16.086084365844727, + -14.885632514953613, + 0.04165806621313095, + 0.37327614426612854, + -0.6025080680847168, + 0.43879738450050354, + -0.5523638129234314 + ], + "box_yaw_rad": -1.689140305234738, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011218044674281202, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.002586605587880878 + } + }, + { + "simulation_time_ns": 9120000000, + "phase": "straight_push", + "intended_face_center": [ + 16.072497414972048, + -14.896842436654469, + 0.0968653647256929 + ], + "intended_face_normal": [ + -0.04531441211267406, + -0.31515928118965775, + 0.9479563659507164 + ], + "commanded_contact_point": [ + 15.937787895202638, + -14.880469091854236, + 0.04442597388696606 + ], + "centerline_face_intersection": [ + 15.954140832311133, + -14.87940834230543, + 0.04442597388696606 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.933918952941895, + -14.880934715270996, + 0.0596928745508194 + ], + "box_pose": [ + 16.09164810180664, + -14.885072708129883, + 0.04169192910194397, + 0.37550610303878784, + -0.5963733196258545, + 0.4487934112548828, + -0.5494711399078369 + ], + "box_yaw_rad": -1.6915067210763097, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010607495488054752, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0021690206589942904 + } + }, + { + "simulation_time_ns": 9140000000, + "phase": "straight_push", + "intended_face_center": [ + 16.07639197965145, + -14.89452508959878, + 0.0970332518934027 + ], + "intended_face_normal": [ + -0.05661741086417038, + -0.28687061458898455, + 0.9562948707516128 + ], + "commanded_contact_point": [ + 15.93947494506836, + -14.879711457201699, + 0.04413258865019523 + ], + "centerline_face_intersection": [ + 15.95861236040826, + -14.878655877872468, + 0.04413258865019523 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.938427925109863, + -14.878785133361816, + 0.05710999667644501 + ], + "box_pose": [ + 16.0961856842041, + -14.884428024291992, + 0.04175538569688797, + 0.38049042224884033, + -0.5869236588478088, + 0.46020835638046265, + -0.5467687249183655 + ], + "box_yaw_rad": -1.6887254551189317, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010555793292315486, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.001872490964815201 + } + }, + { + "simulation_time_ns": 9160000000, + "phase": "straight_push", + "intended_face_center": [ + 16.07843902930633, + -14.893769023037201, + 0.09709764761237116 + ], + "intended_face_normal": [ + -0.056301348336354806, + -0.28335713479452096, + 0.9573603585339967 + ], + "commanded_contact_point": [ + 15.941105728149415, + -14.879175556001893, + 0.04413804333320338 + ], + "centerline_face_intersection": [ + 15.960714688710954, + -14.878094171248502, + 0.04413804333320338 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.940624237060547, + -14.877449035644531, + 0.05466613173484802 + ], + "box_pose": [ + 16.098247528076172, + -14.883790016174316, + 0.04180365428328514, + 0.3828062415122986, + -0.5847004055976868, + 0.46019649505615234, + -0.5475435853004456 + ], + "box_yaw_rad": -1.6830896098426533, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0010813847533903953, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0017165876927713434 + } + }, + { + "simulation_time_ns": 9180000000, + "phase": "straight_push", + "intended_face_center": [ + 16.07871978596773, + -14.893682557591921, + 0.09710015036326577 + ], + "intended_face_normal": [ + -0.05619842552862053, + -0.2831784033095204, + 0.9574192447052212 + ], + "commanded_contact_point": [ + 15.942734603881837, + -14.879149300241993, + 0.04413728859772122 + ], + "centerline_face_intersection": [ + 15.961001911061603, + -14.878017592935725, + 0.04413728859772122 + ], + "commanded_world_base_velocity": [ + 0.12, + 0.0, + 0.0 + ], + "actual_fl_eef_world": [ + 15.94122314453125, + -14.87675952911377, + 0.05363453924655914 + ], + "box_pose": [ + 16.098527908325195, + -14.883699417114258, + 0.041806772351264954, + 0.38309186697006226, + -0.5844371914863586, + 0.4600558876991272, + -0.5477429032325745 + ], + "box_yaw_rad": -1.6821635662551961, + "contact_evidence": "unknown_diagnostic_only", + "lateral_tracking_compensation_m": -0.0011317073062686233, + "motion_continuity": { + "revision": "continuous-v2", + "world_target_step_m": 0.0016290875010957816 + } + } + ] +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/raw-validation.json b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/raw-validation.json new file mode 100644 index 0000000000000000000000000000000000000000..378b5fb89b6e93bd1e1d6a3c8fcb3b9677fd37f9 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/raw-validation.json @@ -0,0 +1,12 @@ +{ + "contract_valid": true, + "diagnostic_only": false, + "raw_actions": 460, + "raw_boundaries": 461, + "physics_steps": 4600, + "controller_steps": 920, + "sensor_updates": 921, + "sensor_rate": "observed timestamps, not assumed 200Hz", + "video_validation": "passed", + "published": false +} diff --git a/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/review/terminal_pre_reset_ego.png b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/review/terminal_pre_reset_ego.png new file mode 100644 index 0000000000000000000000000000000000000000..2844677d8ee9c73813960dcab00d1fd2b8784c34 --- /dev/null +++ b/raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0087/review/terminal_pre_reset_ego.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:195ae19a84d254e771b2e1f9e0beae2eb67d2ec01cfebd1f525cf0187eb569b4 +size 223897